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3.1 Introduction
3.2 Equation of Motion
3.3 Response of an Undamped System Under Harmonic Force
3.4 Response of a Damped System Under Harmonic Force
3.5 Response of a Damped System Under F(t) = F0eiwt
3.6 Response of a Damped System Under the Harmonic Motion of
the Base
3.7 Response of a Damped System Under Rotating Unbalance
3.8 Forced Vibration with Coulomb Damping
3.9 Forced Vibration with Hysteresis Damping
3.10 Forced Motion with Other Types of Damping
3.11 Self-Excitation and Stability Analysis
A spring-mass-damper system
F0 st
X (3.6)
k m 2
2
1
n
where st F0 / k denotes the static deflection
Thus,
F0
x(t ) C1 cos nt C2 sin nt cos t (3.7)
k m 2
1
n
13 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.3 Response of an Undamped System Under
Harmonic Force
• Case 1:
• Case 2:
• Case 3:
• Total Response
• Total Response
And
st
x(t ) A cos(nt ) cos t ; for 1 (3.17)
2
n
1
n
• Beating Phenomenon
If the forcing frequency is close to, but not exactly equal to, the
natural frequency of the system, beating may occur.
F0 / m
x(t ) sin t sin t (3.22)
2
Phenomenon of beats
20 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.3 Response of an Undamped System Under
Harmonic Force
• Beating Phenomenon
2 2
b (3.23)
2 n
The frequency of beating defined as
b 2 n
Example 3.1
Plate Supporting a Pump
A reciprocating pump, of mass 75 kg, is mounted at the middle of a
steel plate of thickness 13 mm, width 500 mm, and length 2.5 m,
clamped along two edges as shown in the Figure. During operation of
the pump, the plate is subjected to a harmonic force, F(t) = 250 cos
62.8t N. Find the amplitude of vibration of the plate.
Example 3.1
Plate Supporting a Pump
Solution
The plate can be modeled as a fixed-fixed beam having Young’s
modulus (E) = 200 GPa, length = 2.5 m, and area moment of inertia,
1
(I ) (0.5)(0.013) 3 9.2 10 8 m 4
12
Example 3.1
Plate Supporting a Pump
Solution
Thus,
F0 250
X
k m 2
(226.1 10 3 ) 75(62.832) 2
0.00357 m or 3.57 mm (E.2)
X k m 2 cost c sin t F0 cos t (3.24)
X k m 2 cos c sin F0
X k m sin c cos 0
2
(3.27)
• The solution gives
F0
X
k m c 1/ 2
(3.28)
2 2 2 2
c
tan 1 2
(3.29)
k m
26 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.4 Response of Damped System Under Harmonic
Force
• The figure shows typical plots of the forcing function and steady-
state response.
n
k
;
c
2 n ; st
F0
;
r
m m k n
• We obtain
X 1 1
(3.30)
st 2
2 2
1/ 2
(1 r ) (2r )
2 2 2
1
2
n n
2
n 1 2 r
tan 1 2
tan 2
(3.31)
1 r
1
n
28 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.4 Response of Damped System Under Harmonic
Force
1
7. For 0 , the maximum value of M occurs when
2
r 1 2 2 or n 1 2 2 (3.32)
1 dM 1
9. For 0
when r = 0. For
, , the graph of M
2 dr 2
monotonically decreases with increasing values of r.
2. For 0 and 0 < r < 1, the phase angle is given by 0 < Φ < 90°,
implying that the response lags the excitation.
3. For 0 and r > 1, the phase angle is given by 90° < Φ < 180°,
implying that the response leads the excitation.
• Total response
d 1 2 n (3.36)
x0 X 0 cos 0 X cos
x0 n X 0 cos 0 d X 0 sin 0 X sin 0 (3.37)
Example 3.3
Total Response of a System
Find the total response of a single degree of freedom system with m
=10kg, c = 20 N-s/m, k = 4000 N/m, x0 = 0.01 m, x0 0 under the
following conditions:
Example 3.3
Total Response of a System
Solution
a. From the given data,
n k
m 4000
10 20 rad/s
st F0
k 100
4000 0.025 m
cc c
c
2 km
20
2 4000 10
0.05
st 0.025
X 0.03326m (E.1)
1 r 2r
2 2 2
1 0.05 20.50.5
2 2 2
Example 3.3
Total Response of a System
Solution
Example 3.3
Total Response of a System
Solution
Example 3.3
Total Response of a System
Solution
X 0 x0
2
0.01
2
0.010012 (E.9)
d 19.974984
x0 n x0 0.05 20
0 tan 1
tan 1 2.865984 (E.10)
d x0 19.974984
41 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.4 Response of Damped System Under Harmonic
Force
Or r r (2 4 ) (1 8 ) 0
4 2 2 2
(3.40)
Solving the equation for small values of ,
2 2
1 2
r R 1 2 ,
2 2
r R 1 2
2 2
(3.42)
n n
1 1 2 2
x p (t ) Xeit (3.48)
• Substituting,
F0
X ( 3 .49 )
( k m ) ic
2
k m 2 c
X F0 i 2 2
(3.50)
( k m 2 2
) c
2 2
( k m 2 2
) c
c
tan 1
2
(3.52)
k m
F0
x p (t ) ei (t ) (3.53)
(k m 2 2
) (c )
2 1/ 2
• Frequency Response
kX 1
H (i ) (3.54)
F0 1 r 2 i 2r
The absolute value becomes,
1 2r
H (i ) H (i ) e i
(3.56) where tan 2
(3.57)
1 r
Thus, the steady-state solution becomes,
F0
x p (t ) H (i ) ei (t ) (3.58)
k
• Frequency Response
F0
x p (t ) cos(t )
(k m ) (c )
2 2
2 1/ 2
F0 i t F0
Re H (i )e Re H (i ) e i (t ) (3.59)
k k
• Frequency Response
F0
x p (t ) sin(t )
(k m ) (c )
2 2
2 1/ 2
F
Im 0 H (i )ei (t ) (3.60)
k
• If y (t ) Y sin t
mx cx kx ky cy kY sin t cY cos t A sin(t ) (3.65)
c
where A Y k 2 (c ) 2 and tan 1
k
Y k 2 (c)2
x p (t ) sin(t 1 ) (3.66)
(k m ) 2 2
(c)
2 1/ 2
1 c
where 1 tan k m 2
x p (t ) X sin(t ) (3.67)
where
1/ 2 1/ 2
X k (c ) 2
2
1 (2r ) 2
2
(3.68)
Y (k m 2 ) (c ) 2 (1 r 2 2
) ( 2 r )
mc 3 1 2r 3
tan 1
2
tan 2
(3.69)
k ( k m 2
) ( c ) 1 ( 4 2
1) r
3. The value of Td is less than unity (Td < 1) for values of r >√2 (for
any amount of damping ζ ).
rm
1
2
1 8 1
2
1/ 2
• Force transmitted
We have
F k ( x y ) c( x y ) mx (3.72)
F m 2 X sin(t ) FT sin(t ) (3.73)
• Relative Motion
m 2Y sin(t 1 )
z (t ) Z sin(t 1 ) (3.76)
(k m ) (c )
2 2
2 1/ 2
where
m 2Y r2
(3.77) , 1 tan 1
c 1 2 r
Z Y 2
tan 2
( k m ) ( c ) (1 r 2 ) 2 ( 2r ) 2 k m 1 r
2 2 2
Example 3.5
Vehicle Moving On a Rough Road
The figure below shows a simple model of a motor vehicle that can
vibrate in the vertical direction while traveling over a rough road. The
vehicle has a mass of 1200kg. The suspension system has a spring
constant of 400 kN/m and a damping ratio of ζ = 0.5. If the vehicle
speed is 20 km/hr, determine the displacement amplitude of the
vehicle. The road surface varies sinusoidally with an amplitude of Y =
0.05m and a wavelength of 6m.
Example 3.5
Vehicle Moving On a Rough Road
Example 3.5
Vehicle Moving On a Rough Road
Solution
v 1000 1
The frequency can be found by 2f 2 0.290889v rad/s
3600 6
For v = 20 km/hr, ω = 5.81778 rad/s. The natural frequency is given
by, 3 1/ 2
k 400 10
n 18.2574 rad/s
m 1200
Example 3.5
Vehicle Moving On a Rough Road
Solution
me 2
i (t )
x p (t ) X sin(t ) Im H (i ) e (3.79)
M n
• The amplitude and phase angle is given by
2
me 2
me
X H (i )
(k M ) 2 2
( c )
2 1/ 2 M n
c
tan 1 2
(3.80)
k M
65 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.7 Response of a Damped System Under Rotating
UnBalance
MX r2
2
H (i )
1/ 2
r
me (1 r ) ( 2r )
2 2 2
2r
tan 1 2
(3.81)
1 r
MX 1
With corresponding maximum value:
me max 2 1 2
4. For 1 2 ,
MX
me , does not attain a maximum. Its value grows
from 0 at r = 0 to 1 at r → ∞ .
1/ 2
1 4 r 2 2
F me 2
(3.84)
1 r 4 r
2 2 2 2
Example 3.8
Francis Water Turbine
Example 3.8
Francis Water Turbine
Example 3.8
Francis Water Turbine
Solution
Example 3.8
Francis Water Turbine
Solution
Example 3.8
Francis Water Turbine
Solution
3EI 3E d 4
k 3 3 (E.5)
l l 64
W 4 NX (3.86)
• If the equivalent viscous damping constant is denoted as ceq,
W ceqX 2 (3.87)
4 N
ceq (3.88)
X
• Thus the steady-state response is: x p (t ) X sin(t ) (3.89)
( F0 / k )
• Sub Eq.(3.91) into (3.90) gives: X 1/ 2
(3.92)
2 2 4 N 2
1 2
n kX
• The solution is
1/ 2
4 N 2
1
F0 F0
X (3 .93 )
k 2 2
1
2
n
• The energy directed into the system over one cycle when it is
excited harmonically at resonance and that Φ = 90°,
2 /
W F0 X sin 2 t dt F0 X (3.98)
0
2 /
W F0 X 0 sin t cos(t )dt F0 X sin (3.98)
Example 3.9
Spring Mass System with Coulomb Damping
Example 3.9
Spring Mass System with Coulomb Damping
Solution
Frequency ratio is
2 2
0.6283
n 20
Example 3.9
Spring Mass System with Coulomb Damping
Solution
1/ 2
4 N 2
1
F0 F0
X
k 2
1
2
n2
4 ( 0 . 12 )( 98 . 1)
2
1
F0 F0 F 97 .9874 N
0 . 04
4000 0
(1 0 . 6283 2 ) 2
x p (t ) X sin(t ) (3.101)
• Substituting, we obtained
X
F0
(3.102)
tan 1
1/ 2
2
2 (3.103)
2
k 1 2
2
1 2
n n
X
• The amplitude ratio is
( F0 / k )
• It attains max value at the resonant frequency in the case of
hysteresis damping, while it occurs at a frequency below resonance
in the case of viscous damping.
F0 e it
x(t ) (3.106)
2
k 1 i
n
Steady-state response
89 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.10
Forced Motion with Other Types of Damping
Example 3.10
Quadratic Damping
Example 3.10
Quadratic Damping
Solution
Example 3.10
Quadratic Damping
Solution
8
The equivalent viscous damping coefficient is ceq aX (E.4)
3
The amplitude of the steady-state response is
X 1 ceq ceq
(E.5) where r and eq (E.6)
st (1 r ) (2 eq r )
2 2 2 n cc 2mn
1/ 2
2
3m (1 r 2 ) 2 (1 r 2 ) 4 8ar 2 st
X (E.7)
8ar
2
2 4 3m
93 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.11
Self-Excitation and Stability Analysis
s1, 2 4 (3.109)
2m 2 m m
95 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.11 Self-Excitation and Stability Analysis
s1 p iq, s2 p iq (3.110)
c k
( s1 s2 ) 2 p, s1s2 p 2 q 2 (3.112)
m m
Example 3.11
Instability of Spring-Supported Mass on Moving Belt
Example 3.11
Instability of Spring-Supported Mass on Moving Belt
Example 3.11
Instability of Spring-Supported Mass on Moving Belt
Solution
v V x
99 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.11 Self-Excitation and Stability Analysis
Example 3.11
Instability of Spring-Supported Mass on Moving Belt
Solution
Example 3.11
Instability of Spring-Supported Mass on Moving Belt
Solution
Thus, 1/ 2
1 a k
2
r1 4
2 m m
1/ 2
1 a k
2
r2 4
2 m m
Galloping of a wire
Vd
Re (3.113)
103 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.11 Self-Excitation and Stability Analysis
Example 3.13
Flow-Induced Vibration of a Chimney
Example 3.13
Flow-Induced Vibration of a Chimney
EI
1 ( 1l ) 2
(E.1)
Al 4
Example 3.13
Flow-Induced Vibration of a Chimney
64 64
1/ 2
Thus, 1 (1.875104) 2 ( 207 10 9
)( 0. 004574648)
12.415417 rad/s 1.975970 Hz
76.5 10 (0.0608685)(20) 4
3
9.81
107 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.11 Self-Excitation and Stability Analysis
Example 3.13
Flow-Induced Vibration of a Chimney
fd
St 0.21
V
f1d 1.975970(0.80)
V 7.527505 m/s
0.21 0.21
Example 3.14
Transfer Function Corresponding to a Differential Equation
d n xt d n 1 xt
an n
an 1 n 1
a0 xt
dt dt
d m f t d m 1 f t
bm m
bm 1 m 1
b0 f t E.1
dt dt
Example 3.14
Transfer Function Corresponding to a Differential Equation
Solution
If all initial conditions are assumed to be zero, Eq. (E.2) reduces to the
following form:
a sn
n
an 1s n 1 a0 X s bm s m bm 1s m 1 b0 F s E.3
112 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.12 Transfer-Function Approach
Example 3.14
Transfer Function Corresponding to a Differential Equation
Solution
Example 3.16
Response of a Damped System Using Laplace Transforms
Example 3.16
Response of a Damped System Using Laplace Transforms
Solution
For convenience,
Fi s F s
1
Fs s E.3
m s 2 2wn s wn2
116 © 2018 Mechanical Vibrations Sixth Edition in SI Units
3.13 Solutions Using Laplace Transforms
Example 3.16
Response of a Damped System Using Laplace Transforms
Solution
Example 3.16
Response of a Damped System Using Laplace Transforms
Solution
wn
where 1 tan -1
tan 1
E.9
wd 1 2
Example 3.16
Response of a Damped System Using Laplace Transforms
Solution