MEEM 3700

Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

MEEM 3700 1
Lecture 8-SDOF Forced
Vibration, No Damping

Single Degree of Freedom Forced Vibration

Free Body Diagram

F(t) kδ F(t)

X
m
x
m

kx
K C cx&
mg
&& + cx& + kx = F ( t )
mx

MEEM 3700 2
Lecture 8-SDOF Forced
Vibration, No Damping

1
 There are 4 categories of F(t) :
1) Harmonic (sin, cos) 3) Transient
F(t) F(t))

t
t

2) Periodic 4) Random
F(t) F(t))

t
t

MEEM 3700 3
Lecture 8-SDOF Forced
Vibration, No Damping

If F(t) = Fo cos (ωt) && + cx& + kx = Fo cos(ω t)

mx

If c = 0 && + kx = Fo cos(ω t)
mx
Xtrans(t) 2π/ωn

x(t) = x h (t) + x p (t)

t

or x(t) = x trans (t) + x ss (t)

x trans (t) = A cos(ω n t) + Bsin(ω n t)

MEEM 3700 4
Lecture 8-SDOF Forced
Vibration, No Damping

2
 To find xss Let X(t) 2π/ω
Fo
x ss (t) = X cos(ω t) K-mω2
x& ss (t) = -ω X sin(ω t) t

x ss (t) = -ω 2 X cos(ω t)
&&

EOM becomes
-mω2X cos(ω t) + kX cos(ω t) = Fo cos(ω t)
Fo Fo
Solving X = x (t) = cos(ω t)
k - mω 2
ss
k - mω2

MEEM 3700 5
Lecture 8-SDOF Forced
Vibration, No Damping

2
1.5
1
x trans ( t )
0.5

x ss ( t )
0
-0.5
-1
-1.5
-2 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

x (t)
3

-1

-2

-3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

MEEM 3700 6
Lecture 8-SDOF Forced
Vibration, No Damping

3
 F0
x(t) = A cos(ω n t) + B sin(ω n t) + cos(ω t)
k-mω 2

Fo Fo
x(0) = A + ⇒ A = x(0) -
K-mω 2
K-mω 2

& = -Aω n sin(ω n t) + Bω n cos(ω n t) - Xω sin(ω t)

x(t)

x(0)
&
x(0)
& = ω nB ⇒ B=
ωn

⎛ Fo ⎞ x(0)
& Fo
x(t) = ⎜ x(0) - 2 ⎟
cos(ω n t) + sin(ω n t) + cos(ω t)
⎝ k - mω ⎠ ωn k - mω 2

MEEM 3700 7
Lecture 8-SDOF Forced
Vibration, No Damping

Case 1: if ω << ωn
Fo Fo Fo
= ≈ = δst
k - mω 2
kω 2
k
k-
ω 2n
Case 2: if ω >> ωn
Fo Fo Fo
= ≈−
k - mω 2
kω 2
kω 2
k-
ω 2n ω 2n
Case 3: if ω =ωn (Resonance!!)
Fo Fo Foω n t
= ≈∞ ⇒ x(t) = sin(ω n t) ⇒
k - mω 2
0 2k
using L' Hospital's rule

MEEM 3700 8
Lecture 8-SDOF Forced
Vibration, No Damping

4
 +∞
+∞
3
10
200

150
F0 2
10 F0
k − mω
100 2
k − mω 2

log
amplitude

50
1
10
0

-50
0
-100 10

-150
-1
-200 10
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
frequency

−∞

MEEM 3700 9
Lecture 8-SDOF Forced
Vibration, No Damping

Example
To Find the Steady State Response
1000 N/m
Fo
xss (t) = cos(ω t)
k - mω2
10kg
X 100
x ss (t ) = cos(ω t )
1000 − 10ω 2
F (t ) = 100 cos(ω t )

1000
ωn = = 10 rad/sec
10

MEEM 3700 10
Lecture 8-SDOF Forced
Vibration, No Damping

5
 Case 1: if ω << ωn

100

50
Newtons

0 F(t) = 100 cos(4t)

-50

-100
0 1 2 3 4 5 6 7 8 9 10
seconds

0.2

100
0.1

x ss (t) = cos(4t)
meters

0
840
-0.1

-0.2
0 1 2 3 4 5 6 7 8 9 10

MEEM 3700 11
Lecture 8-SDOF Forced
Vibration, No Damping

Case 2: if ω >> ωn

100

50
Newtons

0 F(t) = 100 cos(20t)

-50

-100
0 1 2 3 4 5 6 7 8 9 10
seconds
0.04

0.02
100
meters

0 x ss (t) = - cos(20t)
-0.02
3000
-0.04
0 1 2 3 4 5 6 7 8 9 10

MEEM 3700 12
Lecture 8-SDOF Forced
Vibration, No Damping

6
 Case 3: if ω =ωn (Resonance!!)

100

50
Newtons

0 F(t) = 100 cos(10t)

-50

-100
0 1 2 3 4 5 6 7 8 9 10
seconds
5

1000t
meters

0 x ss (t) = sin(10t)
2000
-5
0 1 2 3 4 5 6 7 8 9 10

MEEM 3700 13
Lecture 8-SDOF Forced
Vibration, No Damping