Problem 3.

26  4 po
 j  1, 3, 5, 
 aj    2 j2 (c)
An SDF system with natural period Tn and damping ratio ζ  0
 j  2, 4, 6, 
is subjected to the periodic force shown in Fig. P3.26 with
an amplitude po and period T0. bn  0 because p ( t ) is an even function (d)
(a) Expand the forcing function in its Fourier series. Thus the Fourier series representation of p ( t ) is
(b) Determine the steady-state response of an undamped 
po 4 po 1
system. For what values of T0 is the solution p(t ) 
2

 2  j
2 cos ( j  0t ) (e)
indeterminate? j  1, 3, 5, 

(c) For T0/Tn = 2, determine and plot the response to indi- (b) The steady-state response of an undamped system is
vidual terms in the Fourier series. How many terms are obtained by substituting Eqs. (b), (c), and (d) in Eq.
necessary to obtain reasonable convergence of the series (3.13.6) to obtain
solution? 
u (t ) 1 4 1
  2  cos ( j 0 t ) (f)
(ust )o 2  j  1, 3, 5,  j (1   j2 )
2

where ( u st ) o  po k and  j  j  0  n . Equation (f) is

indeterminate when  j  1; corresponding values of T0
are Tn , 3Tn , 5Tn , etc.
(c) For T0 Tn  2 ,  j  j  0  n  j Tn T0  j 2
and Eq. (f) becomes
Figure P3.26 u(t ) 1 16  1 2  jt
( ust )o

2
 2  2 2 cos (
 j  1, 3, 5,  j ( 4  j ) T0
)
Solution:
(a) p ( t ) is an even function:
1
 2 
p (t )  po  1  t 0  t  T0 2 (a)
T0 
two terms
 0.8
three terms
T0 2 T0 2
1 2  2  p u (t ) 0.6
a0 
T0  p (t ) dt 
T0  po  1  t  dt  o
 T  2 ( u st ) o
T0 2 0 0 0.4

0.2
T0 2
2
aj   p  t  cos  j0 t  dt 0
T0  T0 2 0 0.2 0.4 0.6 0.8 1
T0 2 t T0
4 p0  2 
  1  T t  cos  j0 t  dt Because of the j 4 in the denominator of the series, two
T0 0  0 
terms are enough to obtain reasonable convergence of the
series solution.
 1 
T0 2
4 p0 2
 sin  j0 t   00 t cos  j0 t  dt 
T 2

T0

 j0

T0 
0 
T0 2
8 p0  2 jt 

T02 
0
t cos 
 T0 
 dt

4 p0    2 j  
T0 2
T   2 j  
0 T 2

  t sin  t   0 cos  t  
 jT0    T0   0 2 j   T0   0 
0 T 2
2 p0   2 j  
  cos  T t
 2 j2   0 0
(b)
26
Problem 4.5 Written in terms of ust o , the displacement response is

(a) Show that the motion of an undamped system starting u(t) 1  a  at 

  sin  nt  cos  nt  e  (c)
from rest due to a suddenly applied force po that decays ust o a
1 2
2
 n 
exponentially with time (Fig. P4.5) is n
u t  1 a  at  (b) The force p(t)  po e at is plotted for three values of
  sin n t  cos n t  e 
1  a / n  n  a n :
2 2
(ust ) o

Note that a has the same units as ωn.

(b) Plot this motion for selected values of a/ωn =0.01, 0.1,
and 1.0.
(c) Show that the steady-state amplitude is
uo 1

(ust 1  a / n
2 2

When is the steady-state motion reached?

The motion given by Eq. (c) is plotted next.

Figure P4.5

Solution:
(a) The equation of motion is

mu  ku  po e  at (a)

Using Duhamel’s integral the solution is

po t
u (t )  e  a
sin n  t     d (b)
mn 0

Integrate by parts letting v  sin n  t     and

a
dy  e d :

u(t)  vy  ydv 
or


po
u (t )   e  a sin   t     t

mn a   n  0

t
  n e  a cos n  t     d
0 
Integrating again by parts, this time with
v  cos n  t     and dy  e d gives
a

po
u(t )  a sin  n t   n cos  n t   n e  at
m n (a 2   2n )

11
  at
As t increases, term e becomes very small and the
system attains a steady state harmonic motion whose
amplitude is given by
usteady 1

b g
ust o 1  a 2  2n

12
Problem 4.10 The first integral in Eq. (c) is
tr t  tr
po po
The deformation response of an undamped SDF system to  tr
 sin n (t   ) d 
tr
 (   t ) sin n  d 
a step force having finite rise time is given by Eqs. (4.5.2) 0 t

and (4.5.4). Derive these results using Duhamel’s integral.

po  
t  tr t  tr

 
tr 
  sin n  d   t  sin n  d  
Solution: t t 
Equation of motion:     cos n  
t  tr t  tr
po  sin n    cos n  
     t  
 t n   n  t

tr  t 
2
 po 0  t  tr n

mu  ku  p (t )   tr
 (a)
 po t  tr po  (t  tr ) cos n (t  tr ) t cos n t sin n (t  tr ) 
    
tr  n n n2 

(a) Solution for 0  t  tr .
sin n t t cos n (t  tr ) t cos n t
Substituting p ( ) in Eq. (4.2.4) gives   
n2 n n
t
1 po
u (t ) 
mn  tr
 sin n (t   ) d

po  tr cos n (t  tr )
 
sin n (t  tr ) sin n t 

0 
tr  n n2 n2 
t
1 po

mn tr  [ (t   ) sin n (t   )

po 
cos n (t  tr ) 
sin n (t  tr )  sin n t 
0
n  n t r 

 t sin n (t   )] d sin  n t t cos  n (t  t r ) t cos  n t
  
Introducing   t   and integrating the first term by  2
n n n
parts gives
po  t cos  (t  t ) sin  (t  t ) sin  t 
r n r n r n
   
1 po   t   
0 0
  2 2

mn tr  t 
u (t )    sin n  d   t sin n  d   r n n n

t 
po sin  (t  t )  sin  t 
cos  (t  t ) 
n r n

1 po  1 1 
 
n
t
r

    cos n   t  2 sin n   t
0 0
 n n r

mn tr  n n (d)

t  The second integral in Eq. (c) is

cos n   t 
0

n 
t
po
 cos n   t  t
0
po sin n (t   ) d 
n r

sin n t
tr
po 1  
 t cos n t   t  t cos n t 
mn2 tr 
po
n   1  cos n (t  tr ) 
n
t sin n t 
 (ust )o   (b) (e)
 tr n tr 
Substituting Eqs. (d) and (e) in Eq. (c) gives
(b) Solution for t  tr . po
u (t )  cos n (t  tr )
Substituting p(  ) in Eq. (4.2.4) and separating into mn2
two integrals gives sin n (t  tr )  sin n t
  1  cos n (t  tr ) 
1  r po
t
n tr
mn  0 tr
u (t )    sin n (t   ) d
 1 
 (ust )o 1  sin n t  sin n (t  tr )
t
   t
n r 
 
tr
po sin n (t   ) d 

(c) (f)

17
Problem 4.21 u ( t d )
u( t )  u( t d ) cos  n ( t  t d )  sin  n ( t  t d ) (c)
n
An undamped system is subjected to the triangular pulse
in Fig. P4.21. From Eq. (b), u(td ) and u(td ) are determined:

g FGH1  sint t IJK

(a) Show that the displacement response is

 t  1  T  sin 2 t
u(t d )  ust b o
n d
n d

 t 2  t  T
n
0t t (d)

u (t )  bu g b1  cos t g
d

u (t ) 1

d d n

d st o n d
(u )o  2 1 T  2 1 T  2 t t d
st
cos (t  t )    sin (t  t )    sin n n
t t
 T 2  t 
d
T 2  t  T
d d

n d n d n
Substituting Eq. (d) in Eq. (c) gives
u(t ) sin  n t sin  n ( t  t d )
Plot the response for two values of td /Tn = 12 and 2.
(b) Derive equations for the deformation response factor
a f ust o
 cos  n ( t  t d ) 
 ntd

 ntd (e)
Rd during (i) the forced vibration phase, and (ii) the free t  td
vibration phase.
Rewriting in terms of t d Tn gives
(c) Plot Rd for the two phases against td /Tn . Also plot the
shock spectrum. u(t ) 2 1 FG IJ
Tn 2

Solution:
a f u st o
 cos
Tn
(t  t d ) 
2 H K
td
sin
Tn
(t  t d )

(f)
1 FG IJ Tn 2 t
H K
 sin t  td
2 td Tn

3. Response plots.
The normalized deformation u(t ) ust b g o
given by
Eqs. (b) and (f) is plotted as a function of t Tn for t d Tn
Figure P4.21a = 1/2 and 2 (Fig. P4.21 b–c).

Equation of motion: t d Tn t=d 1T2n  1 2

ustu(stt ) t(ust)uo st o
R| p bt t g
mu  ku  S o d 0  t  td
(a)
|T0 t  td
1

1. Forced vibration phase. uu(tt) 0

The response is given by Eq. (4.4.2) with t r replaced (uust )o
st o

by td :
-1

u( t ) t 1 sin  n t t t TnT
a f
ust o

td

td n
t  td
1 2 3 4
d n

Rewritting in terms of td / Tn gives Figure P4.21b

u( t )

t

1 FG T IJ sin 2 t
n
0  t  td (b)
b g
ust o t d 2 Ht K T d n

2. Free vibration phase.

The free vibration resulting from u(td ) and u(td ) is

32
 ttdd TTnn =22
ust ( t ) (u ) This equation is plotted in Fig. P4.21e.
1 st o

u( t ) Rd
0 Free Response
(u )
st o

-1
1

t Tn
1 2 3 4
Forced Response

Figure P4.21c 0 t d Tn
1 2 3 4
4. Response spectrum.
During the forced vibration phase u is a non- Figure P4.2e
decreasing function of t. Thus, the maximum value of u
during this phase can be found by evaluating Eq. (b) at The overall maximum response is the larger of the
t = td : maxima shown in Figs. P4.21d and e. This maximum is
always given by Eq. (i) and is plotted in Fig. P4.21f to
u( t d ) Tn 2 t d obtain the shock spectrum.
Rd   1 sin (g)
bu g
st o 2 t d Tn

This equation is plotted in Fig. P4.21d. Rd

Rd
Overall maximum

Forced Response 1

t d Tn
1 2 3 4

t d Tn Figure P4.21f
1 2 3 4

Figure P4.21d

In the free vibration phase the response of the system

is given by Eq. (c) with the amplitude

uo  u(t d )
2 L u(t ) OP
M d
2
(h)
N Q n

Substituting Eq. (d) and manipulating gives

2 4
 T  2 t  T2   t 
Rd  1  n sin  d   n sin  d 
 2 t d  T    Tn 
  t d
2 2
  n  
(i)

33