Topic 2-- Forced Vibration of Mechanical Systems

Topic 2 Lecture 1
Mass/Spring/Damper Systems and
Magnification Factor

School of Engineering Undergraduate Programmes 6E5Z2102 Solid Mechanics & Dynamics 2018-19
Mass/Spring/Damper System

free response f(t )

m x  c x  kx  0 x m m
homogeneous D.E
trial solution of the form c k c 
x kx
x  Ae  t

forced response
m x  c x  kx  f ( t )
In Topic 2 we will look at the case of a sinusoidal force
m x  c x  kx  F0 sin  t
Mass/Spring/Damper System
 
m x  c x  kx  F 0 sin  t
This is a non-homogeneous D.E.
General solution = Homogeneous + Particular
Solution
decays to zero steady state

General solution  Particular Solution

 X sin(  t   )
Mass/Spring/Damper System
Graphically

 homogeneous

 particular solution

 general solution
Topic 2 Lecture 1
Force Vibration of a Mass/Spring

How the “Mass” will respond to the input? (or: what will
the particular solution x look like?)

F0 sin t
Topic 2 Lecture 1
Force Vibration of a Mass/Spring
E.O.M : F0 sin t F0 sin t

m x  kx  F0 sin  t x m m
kx
k

With no damping the particular solution is:

Hence
x  X sin t

x   2 X sin t
 
Topic 2 Lecture 1 m x  kx  F 0 sin  t
Force Vibration of a Mass/Spring
Natural Frequency


n  k
Substituting x , x into our EoM, we get m

[  m  ] X sin(  t )  [ k ] X sin(  t )  F 0 sin(  t )

2

Cancelling sin terms, we have

[  m  ] X  [ k ] X  F0
2

[ k  m  2 ] X  F0
Hence or
F0 F0 / k
X  X 
[k  m  ]
2 [1   /  n ]
2 2
Topic 2 Lecture 1
Force Vibration of a Mass/Spring
F0 / k
X 
[1   2 / n2 ]
where:
n  k m  natural frequency
Two final substitutions
 n  r  frequency ratio

F0 k  st  static deflection which would occur if a static

load of amplitude F0 was applied to the system
X 1
 st

[1  r 2 ] M Magnification Factor
(Undamped)
Represent the ratio of the dynamic to the static amplitude of motion
Topic 2 Lecture 1
Force Vibration of a Mass/Spring
X
X 1  st

 st [1  r ]
2

r (= / n)

1
Case 1: 0 < / n< 1 in phase

Case 2: / n =1 resonance

Case 3: / n >1 180º out of phase

Topic 2 Lecture 1
Mass/Spring/Damper System
Magnification Factor (Undamped)
X 1
 st

[1  r 2 ]
M

How to use this formula?

If we can calculate the static deflection ( st ) due to a

static load of amplitude F0, then multiply by the
magnification factor M will give us the amplitude of
vibration resulting from a dynamic load.
Topic 2 Lecture 1
Force Vibration of a Mass/Spring
Example 4 (study book P19)

A static load of 50 N when applied to mass/spring system is

known to give a static deflection of 10 mm. What will the
amplitude of vibration be if a dynamic load of 50 N is used to
drive the mass/spring system first at half its natural frequency
and then at twice its natural frequency. Sketch the displacement
over a period of time.
Example 4 -- Solution
a) At half n (r = ½)
M = 1.33 X = 13.3 mm F0 sin t
X sin t

b) At twice n (r = 2)
M = -0.33 X = -3.33 mm F0 sint
X sin t

The negative sign indicates that the response x(t) is out of phase with the excitation f(t)
Topic 2 Lecture 1
We just studied the response of a un-damped system under
harmonic input.
What the response will look like when a damped system
subjected to a harmonic input? (or: what will the particular
solution x look like?)

F0 sin t
Topic 2 Lecture 1
Force Vibration of a Mass/Spring/Damper
E.O.M :
F0 sin t F0 sin t
mx  cx  kx  F0 sint x m m

c k cx kx

With damping the particular solution is

x  X sin(  t   ) The phase shift is expected
because of the effect of the
Hence x   X cos(  t   ) damping force

x    2 X sin(  t   )
Topic 2 Lecture 1
Force Vibration of a Mass/Spring/Damper x  X sin(t   )
x  X cos(t   )
     2 X sin(t   )
x
Substituting x , x , x into our EoM we get
 m2 X sin(t  )  cX cos(t   )  kX sin(t  )  F0 sin(t )
Collecting terms
[k  m 2 ] X sin(t   )  cX cos(t   )  F0 sin(t )

Consider a) (  t   )  0
c  X  F0 sin(  )

b) ( t   )   / 2
[ k  m  2 ] X  F0 sin(  2   )

[ k  m  2 ] X  F0 cos(  )
 cX  F0 sin( ) [k  m ]X  F0 cos( )
2

Topic 2 Lecture 1
Force Vibration of a Mass/Spring/Damper
c sin 2   cos 2  1
Dividing tan  
k  m 2
 c 
hence   tan 1
2
 k  m 
Squaring and adding
[k  m 2 ]2 X 2  [c ]2 X 2  F02 [sin 2   cos2  ]
[ k  m  2 ]2 X 2  [ c  ]2 X 2  F02
hence
F0
X
(k  m2 )2  (c)2
Topic 2 Lecture 1
Force Vibration of a Mass/Spring/Damper
finally dividing by k we arrive at the following important ratios
X

1  2 r 
  tan 1
2
 st (1  r2 )2  (2r)2  1  r 

where
r
  Frequency ratio
n
X/st = M  Magnification factor (Damped)
 c  Damping ratio
2 km
Topic 2 Lecture 1
Force Vibration of a Mass/Spring/Damper
X 1  2r 
   tan 
1
st (1 r )  (2r)
2 2 2 2
1  r 
Topic 2 Lecture 1
Force Vibration of a Mass/Spring/Damper
X 1

st (1 r2 )2  (2r)2

When r=0, this is the degenerate case of a

constant force, the value of M=1.
As r¥, M0. This means the amplitude
of forced vibration becomes smaller with
increasing values of the forcing frequency
When near/at resonance, the reduction in
M in the presence of damping is very
significant
For any specified value of r, a higher value
of damping reduces the value of M
Topic 2 Lecture 1
Force Vibration of a Mass/Spring/Damper
 2r 
  tan 
1
2
 1  r 
For 0<r<1, phase angle is between 0~90º,
implying that the response lags the excitation
For r>1, phase angle is between 90º~180º,
implying that the response leads the excitation
For r=1, phase angle is exactly 90. This means
that the phase difference between the excitation
and the response is 90º
For large values of r, the phase angle
approaches 180º. This means the response and
the excitation are out of phase
Learning Outcomes:

Find the response of undamped and damped single-degree-of-freedom

systems subjected to a harmonic force input

Distinguish between transient, steady-state, and general solutions

Understand the variations of magnification factor and phase angles with

the frequency of excitation.