Single Degree of freedom system – Forced Vibrations

Harmonically Excited Vibration-Forced Vibration

−𝑐𝑥ሶ −𝑘(𝛿𝑠𝑡 + 𝑥)

F(t)

F(t) mg
By Newton’s 2nd law of motion 𝑚𝑥ሷ = ෍ 𝐹𝑥 where Fx= forces in x-direction

𝑚𝑥ሷ = 𝑐𝑥ሶ − 𝑘𝛿𝑠𝑡 − 𝑘𝑥 + 𝑚𝑔 + 𝑓(𝑡)

𝑏𝑢𝑡 𝑎𝑡 𝑠𝑡𝑎𝑡𝑖𝑐 𝑒𝑞𝑢𝑖𝑙𝑖𝑏𝑟𝑖𝑢𝑚 𝑚𝑔 = 𝑘𝛿𝑠𝑡

𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 𝑓(𝑡) Equation of motion of the system
This derivation shows that
• Static forces must cancel in vibrating system
• Only dynamic forces need to be considered
Don’t share on the web
 Single Degree of freedom system – Forced Vibrations

Consider harmonic excitation of the form

𝑓 𝑡 = 𝐹𝑠𝑖𝑛𝜔𝑡
Equation of motion of the system becomes
𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 𝐹𝑠𝑖𝑛𝜔𝑡 Eq. 14
• Eq. 14 is second order linear inhomogeneous ordinary differential equation.
• The general x(t) of Eq. 14 is sum of homogeneous solution, 𝑥𝐶 (𝑡) and particular
solution, 𝑥𝑝 (𝑡) and is given by
𝑥 𝑡 = 𝑥𝑐 𝑡 + 𝑥𝑝 (𝑡)

Complementary function Particular integral

Transient response
Or natural response Steady-state response
Transient Or forced response Steady-
Varies state
with time Quantity
attains a
constant
value does
not vary
with time

Don’t share on the web

 Single Degree of freedom system – Forced Vibrations

• If no external force free vibration dies out after some time (transient, 𝑥𝑐 𝑡 motion dies
out due to damping, four cases discussed earlier). Thus general solution reduce to
steady-state vibration.
• The rate at which transient motion decays depends on, K, m, and C
• The steady-state motion is present as long as there is external forcing function present

Complementary Function (CF)

• Gives transient response or natural motion of system

• Satisfies the following homogeneous equation

𝑚𝑥ሷ + 𝑐 𝑥ሶ + 𝑘𝑥 = 0
Recall: Roots of above equation are

Recall: General solution of above equation which is given by

Case 1: ζ = 0 undamped Case 2: ζ < 1 underdamped

Recall:
Case 3: ζ = 1 critically damped Case 4: ζ > 1 overdamped
Don’t share on the web
 Single Degree of freedom system – Forced Vibrations

Oscillations are only possible under this Case : ζ < 1 underdamped

General solution for this case, which is CF

𝑥𝑐 (𝑡) = 𝑋0 𝑒 −𝜁𝜔𝑛𝑡 𝑠𝑖𝑛 1 − 𝜁 2 𝜔𝑛 𝑡 + 𝜙

Particular Integral (PI):

• Gives the steady-state response of forced response
• It is the solution of the inhomogeneous equation
Equation of motion Forcing function
𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 𝐹𝑠𝑖𝑛𝜔𝑡 Eq. 14

Particular solution of above equation is also expected to be harmonic, assumed as in the form
(The phase shift is expected because of the effect of the damping force)
𝑥𝑝 𝑡 = 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙) Eq. 15
Differentiate twice Eq. 15 and then substitute into Eq. 14
𝑥𝑝ሶ 𝑡 = 𝑋𝜔𝑐𝑜𝑠(𝜔𝑡 − 𝜙)
𝑥𝑝ሷ 𝑡 = −𝑋𝜔2 𝑠𝑖𝑛(𝜔𝑡 − 𝜙)
Don’t share on the web
 Single Degree of freedom system – Forced Vibrations

𝑚 −𝑋𝜔2 sin(𝜔𝑡 − 𝜙) + 𝑐 𝑋𝜔cos(𝜔𝑡 − 𝜙) + 𝑘 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙) = 𝐹𝑠𝑖𝑛𝜔𝑡

−𝑋𝑚𝜔2 sin 𝜔𝑡 − 𝜙 + 𝑋𝑘𝑠𝑖𝑛 𝜔𝑡 − 𝜙 + 𝑋𝑐𝜔 cos 𝜔𝑡 − 𝜙 = 𝐹𝑠𝑖𝑛𝜔𝑡

𝑋 𝑘 − 𝑚𝜔2 sin 𝜔𝑡 − 𝜙 + 𝑐𝜔cos(𝜔𝑡 − 𝜙) = 𝐹𝑠𝑖𝑛𝜔𝑡

Since sin 𝜔𝑡 − 𝜙 = 𝑠𝑖𝑛𝜔𝑡𝑐𝑜𝑠𝜙 − 𝑐𝑜𝑠𝜔𝑡𝑠𝑖𝑛𝜙

cos 𝜔𝑡 − 𝜙 = 𝑐𝑜𝑠𝜔𝑡𝑐𝑜𝑠𝜙 + 𝑠𝑖𝑛𝜔𝑡𝑠𝑖𝑛𝜙

𝑋 𝑠𝑖𝑛𝜔𝑡𝑐𝑜𝑠𝜙 − 𝑐𝑜𝑠𝜔𝑡𝑠𝑖𝑛𝜙 𝑘 − 𝑚𝜔2 + 𝑐𝜔(𝑐𝑜𝑠𝜔𝑡𝑐𝑜𝑠𝜙 + 𝑠𝑖𝑛𝜔𝑡𝑠𝑖𝑛𝜙) = Fsinω𝑡

Equating coefficients of 𝑠𝑖𝑛𝜔𝑡 𝑎𝑛𝑑 𝑐𝑜𝑠𝜔𝑡 gives

𝑋 𝑘 − 𝑚𝜔 2 𝑐𝑜𝑠𝜙 + 𝜔𝑐𝑠𝑖𝑛𝜙 = 𝐹 Eq. 16

𝑋 𝑘 − 𝑚𝜔2 𝑠𝑖𝑛𝜙 − 𝜔𝑐𝑐𝑜𝑠𝜙 = 0 Eq. 17

From Eq. 17 𝜔𝑐
𝑡𝑎𝑛𝜙 =
𝑘 − 𝑚𝜔 2
Therefore
𝜔𝑐
𝑠𝑖𝑛𝜙 =
(𝑘 − 𝑚𝜔 2 )2 +(𝜔𝑐)2
Don’t share on the web
 Single Degree of freedom system – Forced Vibrations

𝑘−𝑚𝜔2
cos𝜙 = Eq. 18
(𝑘−𝑚𝜔2 )2 +(𝜔𝑐)2

Substituting Eq. 18 in Eq. 16 and simplifying gives the amplitude X and phase angle 𝜙 of the
steady-state response as

𝐹
X= Eq. 19
(𝑘−𝑚𝜔2 )2 +(𝜔𝑐)2

𝜔𝑐
𝜙 = 𝑡𝑎𝑛−1 Eq. 20
𝑘 − 𝑚𝜔 2

Don’t share on the web

 Single Degree of freedom system – Forced Vibrations

Alternative derivation using complex notations

If forcing function 𝑓 𝑡 = 𝐹𝑒 𝑖𝜔𝑡 then equation of motion is

𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 𝐹𝑒 𝑖𝜔𝑡 Eq. 21

Steady state response is of the form
𝑥𝑝 𝑡 = 𝑋𝑒 𝑖(𝜔𝑡−𝜙)
= 𝑋𝑒 𝑖𝜔𝑡 . 𝑒 −𝑖𝜙
= 𝑋𝑒 −𝑖𝜙 . 𝑒 𝑖𝜔𝑡
= 𝑋 ∗ 𝑒 𝑖𝜔𝑡 Eq. 22
Where 𝑋 ∗ is a phasor quantity, i.e. a complex number having amplitude X and phase 𝜙
Differentiating Eq. 22 twice
𝑥ሶ 𝑡 = 𝑋 ∗ 𝑖𝜔𝑒 𝑖𝜔𝑡
𝑥ሷ 𝑡 = −𝑋 ∗ 𝜔 2 𝑒 𝑖𝜔𝑡
Now substituting in Eq. 21
−𝑚𝑋 ∗ 𝜔2 𝑒 𝑖𝜔𝑡 + 𝑐𝑋 ∗ 𝑖𝜔𝑒 𝑖𝜔𝑡 + 𝑘𝑋 ∗ 𝑒 𝑖𝜔𝑡 = 𝐹𝑒 𝑖𝜔𝑡
By equating coefficients
−𝑚𝑋 ∗ 𝜔2 + 𝑐𝑋 ∗ 𝑖𝜔 + 𝑘𝑋 ∗ = 𝐹
Don’t share on the web
 Single Degree of freedom system – Forced Vibrations

By re-arranging equation 𝐹
𝑋∗ =
𝑘 − 𝑚𝜔 2 + 𝑖𝜔𝑐
1
= 𝐻 𝑖𝜔 𝑖𝑠 𝑐𝑎𝑙𝑙𝑒𝑑
𝑘 − 𝑚𝜔 2 + 𝑖𝜔𝑐
𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑟 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛, 𝐹𝑅𝐹

𝐹
𝑋= 𝑋∗ = 1
(𝑘 − 2 2 2
𝑚𝜔 ) +(𝜔𝑐) 2

Divide numerator and denominator by k

𝐹
𝑋= 𝑘
2
𝑚𝜔 2 𝜔𝑐 2
1− +
𝑘 𝑘
𝐹
𝑋= 𝑘
2 2 2
𝜔 𝜔
1− + 2𝜁
𝜔𝑛 𝜔𝑛
Don’t share on the web
 Single Degree of freedom system – Forced Vibrations

Above equation can be written as

𝑋 1 2𝜁𝑟
𝑀= = Eq. 23 𝜙= 𝑡𝑎𝑛−1 Eq. 24
𝛿𝑠𝑡 1 − 𝑟2 2 + 2𝜁𝑟 2
1 − 𝑟2
𝑤ℎ𝑒𝑟𝑒
𝐹
= 𝛿𝑠𝑡 𝑠𝑡𝑎𝑡𝑖𝑐 𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛 𝑢𝑛𝑑𝑒𝑟 𝑠𝑡𝑎𝑡𝑖𝑐 𝑓𝑜𝑟𝑐𝑒
𝑘
𝑋
= M is called magnification factor , dynamic magnifier or amplitude ratio
𝛿𝑠𝑡
𝜔
= r, frequency ratio
𝜔𝑛
𝜔, 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
𝜔𝑛 , natural frequency

General solution: From Eq. 8A and Eq. 15

𝑥 𝑡 = 𝑥𝑐 𝑡 + 𝑥𝑝 (𝑡)

= 𝑋0 𝑒 −𝜁𝜔𝑛𝑡 𝑠𝑖𝑛 1 − 𝜁 2 𝜔𝑛 𝑡 + 𝜙 + 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙)

Don’t share on the web
 Single Degree of freedom system – Forced Vibrations

Observations: In terms of magnification factors

𝐹
• 𝜔 ≪ 𝜔𝑛 𝑋 = 𝐾 = 𝛿𝑠𝑡

• 𝜔 ≫ 𝜔𝑛 𝑎𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒 𝑋 ≅ 0 𝑡𝑜 𝑠𝑙𝑜𝑤 𝑡𝑜 𝑟𝑒𝑠𝑝𝑜𝑛𝑑𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚

(𝑜𝑟 𝑓𝑜𝑙𝑙𝑜𝑤 𝑡ℎ𝑒 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛)

• 𝐼𝑓 𝜁 𝑔𝑜𝑒𝑠 𝑑𝑜𝑤𝑛, 𝑋 𝑜𝑟 𝑀 𝑔𝑜𝑒𝑠 𝑢𝑝

• 𝑀 𝑔𝑜𝑒𝑠 0, 𝑎𝑠 𝑟 𝑔𝑜𝑒𝑠 𝑡𝑜 ∞

i.e. amplitude of forced vibration becomes

smaller with increase of forcing frequency.
𝜔
• 𝑇ℎ𝑒 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑋 𝑎𝑡 𝜔 = 𝜔𝑛 , = 1,
𝜔𝑛
𝑋 1
=
𝛿𝑠𝑡 𝜔=𝜔𝑛
2𝜁

• 𝑀𝑎𝑥. 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑋 𝑖𝑠 𝑔𝑖𝑣𝑒𝑛 𝑏𝑦 𝑟 = 1 − 𝜁2 𝑋 1

=
𝛿𝑠𝑡 𝑚𝑎𝑥 2𝜁 1 − 𝜁 2
Don’t share on the web
 Single Degree of freedom system – Forced Vibrations

Observations: In terms of phase angle

• 𝑤ℎ𝑒𝑛 𝜁 = 0 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 𝑖𝑠 𝑧𝑒𝑟𝑜 , 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛

𝑎𝑛𝑑 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑛 𝑝ℎ𝑎𝑠𝑒 𝑓𝑜𝑟 0 < 𝑟 < 1

• 𝑤ℎ𝑒𝑛 𝜁 = 0 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 𝑖𝑠 180 , 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛

𝑎𝑛𝑑 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑜𝑢𝑡 𝑜𝑓 𝑝ℎ𝑎𝑠𝑒 𝑓𝑜𝑟 𝑟 > 1

• For 𝜁 > 0 and 0 < r < 1, the phase angle is

given by 0 < Φ < 90°, implying that the
response lags the excitation.

• For 𝜁 > 0 and r > 1, the phase angle is given by

90° < Φ < 180°, implying that the response
leads the excitation.

• 𝑤ℎ𝑒𝑛 𝑟 = 1, 𝜔 = 𝜔𝑛 , 90𝜊 𝑝ℎ𝑎𝑠𝑒 𝑙𝑎𝑔 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑎𝑛𝑑 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛 𝑎𝑛𝑑 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒

• 𝐹𝑜𝑟 𝑙𝑎𝑟𝑔𝑒 𝑣𝑎𝑙𝑢𝑒𝑠 𝑜𝑓 𝑟 𝑡ℎ𝑒𝑟𝑒 𝑤𝑖𝑙𝑙 𝑏𝑒 180𝜊 𝑝ℎ𝑎𝑠𝑒 𝑙𝑎𝑔. 𝑅𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑎𝑛𝑑
𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛 𝑜𝑢𝑡 𝑜𝑓 𝑝ℎ𝑎𝑠𝑒
Don’t share on the web