Ch.3 Harmonic Loading

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Advanced Structural Dynamics
Part One:
Single Degree of Freedom (SDOF)
Chapter Three
RESPONSE TO HARMONIC
LOADING
1 Prof. Hasan Katkhuda
Undamped System
• Assume the system is subjected to a harmonically
varying load p(t) of sine‐wave form having an
amplitude po and circular frequency ω :
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Undamped System
• The equation of motion is:
• Assume no damping:
• Complementary solution of the free vibration is:
Undamped System
• The general solution of the equation of motion
must also include the particular solution which
depends upon the form of dynamic loading:
• Substituting back in the equation of motion :
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Prof. Hasan Katkhuda
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Undamped System
• Dividing through by sinωt and by k and noting
that k/m = ω2 :
• in which β is defined as the ratio of the applied loading
frequency to the natural free‐vibration frequency :
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Undamped System
• The general solution for equation of motion is
now obtained by combining the complementary
and particular solution:
• The values of A and B depend on the conditions with
which the response was initiated. For the system
starting from rest, i.e., v(0) = v˙(0) = 0 :
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Undamped System
• The displacement for undamped Harmonic Load is:
• Where po / k = vst is the displacement which would be

produced by the load po applied statically
• 1/(1 − β2 ) is the magnification factor (MF) representing
the amplification effect of the harmonically applied
loading.
• sinωt represents the response component at the
frequency of the applied loading; it is called forced
vibration or the steady‐state response and is directly
related to the loading no matter what the initial
conditions.
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Undamped System
• β sin ωt is the response component at the
natural vibration frequency. It is termed the
transient response. It depends on the initial
displacement and velocity.

• For this hypothetical undamped system, this term
will not damp out but will continue indefinitely.
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Undamped System
• The displacement for undamped Harmonic

Load For the system not starting from rest,
i.e., v(0), v˙(0) is: (From Chopra book)

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Undamped System
• The factor ( 1 / 1‐2) is plotted against :

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Undamped System
• Case1: For  < 1 or (ω<ω) :
This factor is positive. The v (t) and po(t) will
have the same algebraic sign (i.e.,when the
force acts to the right, the system would also
be displaced to the right).
The displacement is said to be in phase with
the applied force.
Undamped System
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Undamped System
• Case 2: For  > 1 or (ω>ω) :
This factor is negative. The v (t) and po(t) will
have opposing algebraic signs (i.e.,when the
force acts to the right, the system would also
be displaced to the left).
The displacement is said to be out of phase
relative to the applied force.
Undamped System
• Case 3: For  (almost) = 1 but not 1 or (ω
(almost) = ω) :
 The tendency for the two components to get
in phase and then out of phase again, causing
a “beating” effect in the total response.
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Undamped System
• Case 4: For  = 1 or (ω = ω) : (Resonance)
 The particular solution is not valid.
Undamped System ‐ Response Ratio
• Response Ratio: A convenient measure of the
influence of dynamic loading is provided by the
ratio of the dynamic displacement response to
the displacement produced by static application
of load po :

• The response ratio resulting from the sine‐wave

loading of an undamped system starting from rest is:

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SYSTEM WITH VISCOUS DAMPING
• The equation of motion is:
• Dividing by m, and noting that c/m = 2 ξ ω :
• The complementary solution of this equation is the

damped free‐vibration response:
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• The particular solution of this equation is:

• Substituting the complementary and particular
solutions and separating the multiples of cos ωt from
the multiples of sin ωt leads to:

• In order to satisfy this equation for all values of t, it is
necessary that each of the two square bracket
quantities equal zero, and divide by ω2, and note that
= ω / ω :

• Solving these two equations simultaneously:

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• The total response for damped system with
viscous damping is:
• The first term on the right hand side of this equation
represents the transient response, which damps out in
accordance with exp(−ξωt).
• The second term represents the steady‐state harmonic
response, which will continue indefinitely.
• The constants A and B can be evaluated for
any given initial conditions, v(0) and v˙(0).
• However, since the transient response damps
out quickly, it is usually of little interest.
• Steady‐State Harmonic Response:

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Dynamic Magnification Factor (D)
• Dynamic magnification factor (D) is the ratio of the
resultant harmonic response amplitude to the static
displacement which would be produced by the force po :

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• It is apparent that the steady‐state response amplitude
of an undamped system tends toward infinity as the
frequency ratio β approaches unity. This tendency can
be seen in Fig. 3‐3 for the case of ξ = 0.

• For low values of damping, it is seen in this same figure
that the maximum steady‐state response amplitude
occurs at a frequency ratio slightly less than unity. Even
so, the condition resulting when the frequency ratio
equals unity, i.e., when the frequency of the applied
loading equals the undamped natural vibration
frequency, is called resonance.
RESONANT RESPONSE
• The dynamic magnification factor when β = 1
is:
• To find the maximum or peak value of dynamic
magnification factor, differentiate equation below with
respect to β:
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RESONANT RESPONSE
• At β = 1.0 :
• Assuming that the system starts from rest [v(0) = v˙(0) = 0 ]:
RESONANT RESPONSE
• For the amounts of damping to be expected

in structural systems, the term (1 − ξ 2)1/2 is
nearly equal to unity:
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RESONANT RESPONSE
• For zero damping, this approximate equation
is indeterminate; but when L’Hospital’s rule is
applied, the response ratio for the undamped
system is found to be:
RESONANT RESPONSE
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RESONANT RESPONSE
RESONANT RESPONSE
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RESONANT RESPONSE
RESONANT RESPONSE
• The lighter the damping, the larger is the
number of cycles required to reach a certain
percentage of Vo , the steady state amplitude.
• For example, the number of cycles required to
reach 95% of Vo is 48 for ζ = 0.01, 24 for ζ =
0.02, 10 for ζ = 0.05, 5 for ζ = 0.10, and 2 for ζ =
0.20.

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VIBRATION ISOLATION
(1) Prevention of harmful vibrations in supporting structures
due to oscillatory forces produced by operating
equipment.
(2) Prevention of harmful vibrations in sensitive instruments
due to vibrations of their supporting structures.

• Case 1: Vibration from Machine:
Case 1: Vibration from Machine
• Steady state relative‐displacement response is :
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Case 1: Vibration from Machine
• Since these two forces are 90◦ out of phase with each
other, it is evident that the amplitude of the total base
reaction force is:
• Thus, the ratio of the maximum base force to the
amplitude of the applied force, which is known as the
transmissibility (TR) of the support system is:
Case 2: Vibration from Ground
• The harmonic support motion vg(t) forces a

steady‐state relative‐displacement.
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• where v¨g(t) is the vertical acceleration of the support.

Considering a harmonic support acceleration of the form
v¨g(t) = v¨g0 sin ωt, so that peff (t) = −m v¨g0 sin ωt, the
dynamic steady‐state response amplitude of motion v(t) is:
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VIBRATION ISOLATION
• Increasing the damping when β < √ 2 increases the
effectiveness of the vibration‐isolation system.
• Increasing the damping when β > √ 2 decreases the
effectiveness. Since the transmissibility values for β > √
2 are generally much lower than those for β < √ 2.
• One should take advantage of operating in the higher
frequency ratio range when it is practical to do so. This
is not always possible, however, because in many cases
the system must operate below β = √ 2 for some
intervals of time, and in some cases even operate near
the resonant condition β = 1.
Ex 1
The vehicle weight is 4,000 lb [1,814 kg] and its
spring stiffness is defined by a test which showed
that adding 100 lb [45.36 kg] caused a deflection of
0.08 in [0.203 cm]. The bridge profile is represented
by a sine curve having a wavelength (girder span) of
40 ft [12.2 m] and a (single) amplitude of 1.2 in
[3.05 cm]. From these data it is desired to predict
the steady‐state vertical motions in the car when it
is traveling at a speed of 45 mph [72.4 km/hr],
assuming that the damping is 40 percent of critical.
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Ex 1
Ex 1
• When the car is traveling at 45 mph = 66

ft/sec, the excitation period is:
• The natural period of the vehicle is:
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Ex 1
Isolation Effectiveness(IE)
• When designing a vibration‐isolation
system which will operate at frequencies
above the critical value represented by β =
√ 2, it is convenient to express the behavior
of the SDOF system in terms of isolation
effectiveness(IE) rather than
transmissibility:
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Isolation Effectiveness(IE)
• IE = 1 represents complete isolation
approachable only as β → ∞
• IE = 0 represents no isolation which takes
place at β = √ 2.
• For values of β below this critical value,
amplification of the motion of the mass
takes place; thus, actual vibration isolation
can take place only when the system
functions at values of β > √ 2. In this case
the isolation system should have as little
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damping as possible.
Isolation Effectiveness(IE)‐Small Damping
• For small damping:
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• where g is the acceleration of gravity and

st is the static deflection produced by the
dead weight W on its spring mounting.
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EX.2
A reciprocating machine weighing 20,000 lb [9,072
kg] is known to develop a vertically oriented
harmonic force of amplitude 500 lb [226.8 kg] at its
operating speed of 40 Hz. In order to limit the
vibrations excited in the building in which this
machine is to be installed, it is to be supported by a
spring at each corner of its rectangular base. The
designer wants to know what support stiffness will
be required of each spring to limit the total harmonic
force transmitted from the machine to the building to
80 lb [36.3 kg].
EX.2
• From Fig. 3‐14 for f = 40 Hz and IE = 0.84, one
finds that st is about 0.045 in [0.114 cm]; thus,
the required stiffness k of each spring is:
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Damping
• The actual energy‐loss mechanisms are
much more complicated than the simple
viscous (velocity proportional) damping
force that has been assumed in formulating
the SDOF equation of motion.

• It is possible to determine an appropriate
equivalent viscous‐damping property by
experimental methods.
Free‐Vibration Decay Method
• This is the simplest and most frequently
used method of finding the viscous
damping ratio ξ through experimental
measurements.
• When the system has been set into free
vibration by any means, the damping ratio
can be determined from the ratio of two
peak displacements measured over m
consecutive cycles.
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• represents the logarithmic decrement over

m cycles and ω and ωD are the undamped
and damped circular frequencies,
respectively.
• A major advantage of this free‐vibration
method is that equipment and
instrumentation requirements are minimal.

• The vibrations can be initiated by any
convenient method and only the relative‐
displacement amplitudes need be
measured.
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• Unfortunately, however, the damping ratio
so obtained often is found to be amplitude
dependent, i.e., m consecutive cycles in the
earlier portion of high‐amplitude free‐
vibration response will yield a different
damping ratio than m consecutive cycles in
a later stage of much lower response.
Resonant Amplification Method
• This method of determining the viscous‐
damping ratio is based on measuring the
steady‐state amplitudes of relative‐
displacement response produced by
separate harmonic loadings of amplitude
po at discrete values of excitation frequency
ω over a wide range including the natural
frequency.
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• For damping values in the practical range of

interest, one can use the approximate relation:
• The damping ratio can then be determined from
the experimental data using:
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• Obtaining the static displacement ρ0 may
present a problem because the typical
harmonic loading system cannot produce a
loading at zero frequency.
• The damping ratio for practical systems is
often amplitude dependent.
• In this case, the value of ξ depends on the
amplitude po of the applied harmonic
loading.
Half‐Power (Band‐Width) Method
• The damping ratio is determined from the frequencies at
which the response amplitude ρ is reduced to the level 1/
√ 2 times its peak value ρmax . (see Fig. 3‐15 above).
• The controlling frequency relation is obtained by setting
the response amplitude in equation below equal to 1/ √ 2
times its peak value given by Dmax equation:
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• Squaring both sides of this equation and
solving the resulting quadratic equation for
β2 gives:
• For small values of damping in the practical range
of interest, yields the frequency ratios:
• Subtracting β1 from β2:
• Adding β1 and β2 gives:
• where f1 and f2 are the frequencies at which

the amplitudes of response equal 1/ √ 2 times
the maximum amplitude. (see Fig. 3‐15 above)
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• It is evident that this method of obtaining the
damping ratio avoids the need for obtaining
the static displacement ρ0

• However, it does require that the frequency‐
response curve be obtained accurately at its
peak and at the level ρmax / √ 2.
EXAMPLE: Half‐Power (Band‐Width)
• Data from a frequency‐response test of a SDOF system have
been plotted in Figure below.
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EXAMPLE: Half‐Power (Band‐Width)
(1)Determine the peak response = 5.67 × 10−2 in
(2) Construct a horizontal line at 1/ √ 2 times the
peak level.
(3) Determine the two frequencies at which this
horizontal line cuts the response curve; f1 = 19.55,
f2 = 20.42 Hz.
(4) The damping ratio is given by
ξ = f2 − f1 / f2 + f1 = 0.022
showing 2.2 percent of critical damping in the
system
Resonance Energy Loss Per Cycle Method
• If instrumentation is available to measure the
phase relationship between the input force
and the resulting displacement response, the
damping ratio can be evaluated from a steady‐
state harmonic test conducted only at
resonance: β = 1.
• This procedure involves establishing resonance
by adjusting the input frequency until the
displacement response is 90◦ out‐of‐phase
with the applied loading.
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• If damping is nonlinear viscous form, the shape
of the applied‐force/displacement diagram will
not be elliptical; rather, it will be of a different
shape as illustrated by the solid line in Fig. 3‐16.

• The energy input per cycle, which equals the
damping energy loss per cycle ED , can be
obtained as the area under the applied‐
force/displacement diagram.
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• This permits one to evaluate an equivalent
viscous‐damping ratio for the corresponding
displacement amplitude, which when used in
the linear viscous form will dissipate the same
amount of energy per cycle as in the real
experimental case.
• This equivalent damping ratio is associated
with an elliptical applied‐force/displacement
diagram having the same area ED as the
measured non elliptical diagram.
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Ch.3 Harmonic Loading

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Advanced Structural Dynamics

1 Prof. Hasan Katkhuda

2 Prof. Hasan Katkhuda

3 Prof. Hasan Katkhuda

• Where po / k = vst is the displacement which would be

• The displacement for undamped Harmonic

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• The response ratio resulting from the sine‐wave

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• The complementary solution of this equation is the

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• For the amounts of damping to be expected

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• The harmonic support motion vg(t) forces a

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• where v¨g(t) is the vertical acceleration of the support.

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• When the car is traveling at 45 mph = 66

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• where g is the acceleration of gravity and

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• represents the logarithmic decrement over

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