Mechanical

Vibrations

Prof. Dr. Kenan Y. Şanlıtürk

sanliturk@itu.edu.tr

Content

1. Introduction to Vibration and Free response

2. Response to Harmonic Excitation
3. General Forced Response
4. Multi-Degree-of-Freedom systems
5. Design for Vibration Suppression

Page 1
 2. Response to Harmonic Excitation
• Harmonic excitation of damped system

• Equation of motion and its solution

• Sample problem

• Transient vibrations: could they be ignored?

• Resonance for damped systems

Harmonic excitation of damped SDOF system

EOM

mx(t )  cx(t )  kx(t )  F0 cos t

x(t )  2n x(t )  n2 x(t )  f 0 cos t

x p (t )  X cos (t   )
f (t )  F0 cos t

X : Steady State Amplitude F0

f0 
There is a phase difference m
between the force and the displacement.
(Displacement is lagging the force, i.e., behind the force)

Alternative form: x p (t )  As cos t  Bs sin t

Page 2
 x p (t )  X cos (t   )
Alternative form:

x p (t )  As cos t  Bs sin t

Relationship between the two forms of solutions

B 
X  As 2  Bs 2 ,   tan 1  s 
 As 

x p (t )  As cos t  Bs sin t
x p   As sin t   Bs cos t
x p   2 As cos t   2 Bs sin t
Insert them into equation of motion 

The solution of the EOM

( 2 As  2n Bs  n2 As  f 0 ) cos t

   2 Bs  2n As  n2 Bs  sin t  0

sin and cos terms must be separately equal to zero:

(n2   2 ) As  (2n ) Bs  f 0  0
(2n ) As  (n2   2 ) Bs  0

2 Equations, 2 unknowns. Solve for As and Bs

Page 3
 The solution of the EOM
Write in matrix form and determine coefficients As and Bs:

 (n2   2 ) 2n   As   f 0 
 2  0
  2 n (  2
n   )  s  
B
(n2   2 ) f 0
As  2
(n   2 ) 2   2n 
2

2n f 0
Bs 
(n2   2 ) 2   2n 
2

The solution of the EOM

 Bs 
Using As and Bs X  As 2  Bs 2 ,   tan 1  , x p (t )  X cos (t   )
 As 

f0  2  
x p (t )  cos(t  tan 1  2 n 2 )
(n2   2 ) 2  (2n ) 2  n   
X 
General solution: Sum of homogeneous and particular solutions

x(t )  Ae nt sin(d t   )  X cos(t   )

homogeneous or transient solution Particular or
Steady State solution

f0 F0 1
X 
(n2   2 ) 2  (2n ) 2 m (n2   2 ) 2  (2n ) 2

Page 4
The solution of the EOM

General solution: Sum of homogeneous and particular solutions

x(t )  Ae nt sin(d t   )  X cos(t   )

homogeneous or transient solution Particular or
Steady State solution

Or: x(t )  Ae nt sin(d t   )  As cos t + Bs sin t

Note: After sufficient time,

• transient response decays to zero..
• x(t) becomes equal to xp(t)

Remarks

•  = 0, leads to undamped solution.

• Constants in homogeneous part are determined using initial conditions.

• As t Infinity (when t is long enough), steady-state solution is obtained.

• In many cases, transient response can be ignored in practice. (larger 

means quicker decay of transients).

Page 5
 Transient vibrations: could they be ignored?

 Should always be judged carefully.

 Transient vibrations are sometimes very important,
e.g., earthquakes.
 When they are important, mostly numerical solutions
are obtained in practice.

F0
Summary: Harmonic excitation f0 
m
f0
Steady State Amplitude: X 
(    )  ( 2n )2
2
n
2 2

F0 1
X
mn2 ( 1  r )  ( 2 r )2
2 2

Non-dimensional form: X 1

Magnification Factor F0 / k ( 1  r )  ( 2 r )2
2 2

 2 r 
Phase angle:   tan 1  2 
 1 r 

Normalised Frequency : r 
n
F0
Static displacement : X static 
k

Page 6
Magnification
r 0 , 0.01 .. 2 Factor with respect to frequency
1
X X r ,X
 1
  22 . . 2
F0 / k X static 1 (r1  r 22 )2r  ( 2 r )2
6
X X

Magnification Factor
F0 / k X static
X r , 0.1 4   0.1
X r , 0.5   0.25
X r , 0.7   0.5
X r , 0.25 2   0.7

0 0.5 1 1.5 2
r 
r
n
Magnification factor

Frequency ratio r

Page 7
Phase angle atan
 r, 
with2. r.respect

. 1 r
to frequency
atan
2. r. 
. r 1
1 r2 1 r2
f (t )  F0 cos t

 [rad ] 4 x p (t )  X cos (t   )

 ( r, )
 r , 0.1 3

 r , 0.5

 r , 0.7 2

 r , 0.25

z r 1

0 0.5 1 1.5 2
r

r
Note: Response is behind force n

Magnification factor in logarithmic scale

1
X r, 
2 2
X
1 r 2. .X
r 1 2

 
( 1  r 2 )2  ( 2 r )2
r 0 , 0.01 .. 2
F0 / k X static
100

X X

Magnification Factor

F0 / k X static
X r , 0.1 10

X r , 0.5

X r , 1.0

X r , 0.25

X r , 0.01 1

0.1
0 0.5 1 1.5 2
r

Page 8
 Steady-State Response of SDOF system
under harmonic excitation: EASY METHOD

EOM mx(t )  cx(t )  kx(t )  f (t )

Previously, it was assumed that f (t )  F0 cos(t )

Using complex algebra: assume that forcing is harmonic: f (t )  Fe jt

Response will also be harmonic: x(t )  Xe jt

Note: F and X are complex. This means they have magnitudes and phases.
j
For example: X  X e  X (cos( )  j sin( ))
jt
x(t )  Xe  X e j e jt  X e j (t  )  X (cos(t   )  j sin(t   ))

Steady-State Response of SDOF system

under harmonic excitation: EASY METHOD

EOM mx(t )  cx(t )  kx(t )  f (t )

f (t )  Fe jt
x(t )  Xe jt , x(t )  j Xe jt , x(t )   2 Xe jt

Insert into EOM

m 2 Xe jt  jcXe jt  kXe jt  Fe jt

(k   2 m  jc) Xe jt  Fe jt
X 1
(k   2 m  jc) X  F 
F (k   m  jc)
2

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 X 1
Receptance: 
F (k   m  jc)
2

X 1 1
 
F k (1   2 m  j c )  2

k (1  2  j 2 )
k k n n

Remembering that: r
n

X 1
Magnification Factor 
F / k (1  r )  j 2 r )
2

X 1
Magnification Factor 
F / k (1  r )  j 2 r )
2

X 1
Modulus of Magnification Factor 
F /k (1  r )  (2 r ) 2
2 2

Im  2 r 
Phase angle of Magnification Factor tan 1 ( )  tan 1  2 
Re  1 r 

According to complex algebra, if the phase angle is negative,

this means that X is ‘behind’ F, i.e., X is lagging F.
In other words, F is leading X.

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Remark on Resonance

 Resonance at r =1 if  = 0,

 As  increases, resonance frequency shifts to the left slightly , i.e.,

r peak<1 (See the figure in the next page)

 The exact value of the resonance frequency rpeak is determined by

setting the derivative of the response amplitude function to zero.

 At resonance, harmonic force is leading the response by 90o.

In other words, response is behind force by 90o.
Magnification factor

Frequency ratio r

r
n

Page 11
r Value for Maximum Amplitude
Differentiate with respect to r and set it to zero:
d  X  d  1 
    0

 (1  r )  (2 r )
dr  F0 / k  dr 2 2 2


peak
rpeak  1  2 2 =
n

peak  n 1  2 2 if   1/ 2 Note that: d  n 1  

2

 X  1
  =A peak  Normalised resonance amplitude
 F0 / k  max 2 1   2

Normalised peak amplitude versus  and rpeak versus 

 X  1
A peak   r  1 2. 

2
, r
A  peak  11  2 2
 F0 / k  max 2 1  
2
2
2.  . 1 
3
1 10
Normalised resonance

100
A 
10

0 0.2 0.4 0.6 0.8

peak

1
rpeak

r  0.5

0 0.2 0.4 0.6 0.8



Normalised resonance peak and rpeak as a function of 

Page 12