MTE561 – MECHANICAL VIBRATIONS

LECTURE NOTES
PART 4 – FORCED VIBRATIONS

DEPARTMENT OF MECHANICAL ENGINEERING

FACULTY OF ENGINEERING

UNIVERSITY OF BENIN

COURSE LECTURER – ENGR. DR. E. G. SADJERE

ASSISTANT LECTURER – ENGR. MRS A. G. OREAVBIERE

2021
MEE411 LECTURE NOTES 2021

Contents
Forced vibration (harmonically forced) ................................................ 3
Solution by Complex Numbers (Particular Solution) ............................ 3
Solution by Vector Method ............................................................. 6
Amplitude of the Steady State Motion – A......................................... 7
Resonance................................................................................... 8
Maximum Magnification ................................................................. 8
Transmissibility and Vibration Isolation ...........................................11
Force Transmissibility ...................................................................13
Rotating Unbalance ......................................................................14

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FORCED VIBRATION (HARMONICALLY FORCED)

Let us once again consider our spring-mass based system

Consideration is on a viscously damped spring – mass system where vibration is

maintained by a harmonic exciting force of circular frequency 𝜔
Equation of motion is
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝐹𝑠𝑖𝑛𝜔𝑡
In Standard form
𝑐 𝑘 𝐹
𝑥̈ + 𝑥̇ + 𝑥 = 𝑠𝑖𝑛𝜔𝑡
𝑚 𝑚 𝑚
From our previous works, we can write straight that
𝑘
𝜔𝑛 = √
𝑚
𝑐
= 2𝜁𝜔𝑛
𝑚
With which we can recast the equation of motion as
𝐹
𝑥̈ + 2𝜁𝜔𝑛 𝑥̇ + 𝜔𝑛 2 𝑥 = 𝑠𝑖𝑛𝜔𝑡
𝑚
The general solution consist of a complimentary function (homogeneous solution)
and a particular solution.
The homogeneous solution was obtained for free damped motion. The particular
solution can be determined using various methods including the method of
undetermined coefficients but for our problem we want to use the method of
complex numbers which is easier.

SOLUTION BY COMPLEX NUMBERS (PARTICULAR SOLUTION)

We know that in complex numbers

𝑒 𝑖𝜔𝑡 = cos 𝜔𝑡 + 𝑖 sin 𝜔𝑡
Let’s assume this as the forcing function, then take the imaginary part as our
forcing force as it is a sine function

Equation of motion

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𝐹 𝑖𝜔𝑡
𝑥̈ + 2𝜁𝜔𝑛 𝑥̇ + 𝜔𝑛 2 𝑥 = 𝑒
𝑚
We assume a particular solution of the form
𝑥𝑝 = 𝐴𝑒 𝑖(𝜔𝑡−𝜙)
Hence
𝑥̇ 𝑝 = 𝐴𝑖𝜔𝑒 𝑖(𝜔𝑡−𝜙)

𝑥̈ 𝑝 = −𝐴𝜔2 𝑒 𝑖(𝜔𝑡−𝜙)
Substitute into our equation

𝐹 𝑖𝜔𝑡
−𝐴𝜔2 𝑒 𝑖(𝜔𝑡−𝜙) + 2𝜁𝜔𝑛 𝐴𝑖𝜔𝑒 𝑖(𝜔𝑡−𝜙) + 𝜔𝑛 2 𝐴𝑒 𝑖(𝜔𝑡−𝜙) = 𝑒
𝑚

𝐹 𝑖𝜔𝑡
(−𝜔2 + 2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )𝐴𝑒 𝑖(𝜔𝑡−𝜙) =𝑒
𝑚
𝐹
(−𝜔2 + 2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )𝐴𝑒 𝑖𝜔𝑡 . 𝑒 −𝑖𝜙 = 𝑒 𝑖𝜔𝑡
𝑚
𝐹
(−𝜔2 + 2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )𝐴𝑒 −𝑖𝜙 =
𝑚
𝐹
(−𝜔2 + 2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )𝐴 = 𝑒 𝑖𝜙
𝑚
𝐹
([𝜔𝑛 2 − 𝜔2 ] + 2𝜁𝜔𝑛 𝑖𝜔)𝐴 = 𝑒 𝑖𝜙
𝑚
This can be represented by an argand diagram

Im

𝐹
𝑚
2𝜁𝜔𝑛 𝜔𝐴

𝜙
[𝜔𝑛 2 − 𝜔2 ]𝐴 Re

Squaring the magnitudes

𝐹 2
𝐴2 [(𝜔𝑛 2 −𝜔 2 )2
+ (2𝜁𝜔𝑛 𝜔) 2]
=[ ]
𝑚

Hence
𝐹⁄
𝑚
𝐴=
2
√(𝜔𝑛 − 𝜔 2 )2 + (2𝜁𝜔𝑛 𝜔)2

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While
2𝜁𝜔𝑛 𝜔
tan 𝜙 =
𝜔𝑛 2 − 𝜔 2
Divide numerator and denominator by 𝜔𝑛 2 , then,

𝐹⁄
𝐴= 𝑘
2 2 2
√(1 − [ 𝜔 ] ) + (2𝜁 𝜔 )
𝜔𝑛 𝜔 𝑛

Lets define the frequency ratio, Beta

𝜔
𝛽=
𝜔𝑛
Then,
𝐹⁄
𝐴= 𝑘
√(1 − 𝛽 ) + (2𝜁𝛽)2
2 2

And
𝜔
2𝜁 𝜔
𝑛
tan 𝜙 =
𝜔 2
1−( )
𝜔𝑛

2𝜁𝛽
tan 𝜙 =
1 − 𝛽2
Now recall our particular equation
𝑥𝑝 = 𝐴𝑒 𝑖(𝜔𝑡−𝜙)
Using Euler’s identity

𝑥𝑝 = 𝐴 cos(𝜔𝑡 − 𝜙) + 𝑖𝐴 sin(𝜔𝑡 − 𝜙)
For our general solution, we will consider the complementary function and the
imaginary part of the particular solution,
Hence,
General Solution
𝐹⁄
𝑥=𝑒 −𝜁𝜔𝑛 𝑡
[C cos √(1 2
− 𝜁 )𝜔𝑛 𝑡 + 𝐷 sin √(1 2
− 𝜁 )𝜔𝑛 𝑡] + 𝑘 sin(𝜔𝑡 − 𝜙)
√(1 − 𝛽 ) + (2𝜁𝛽)2
2 2

𝑒 −𝜁𝜔𝑛 𝑡 [C cos √(1 − 𝜁 2 )𝜔𝑛 𝑡 + 𝐷 sin √(1 − 𝜁 2 )𝜔𝑛 𝑡] … … … … . 𝑇𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑡𝑒𝑟𝑚

𝐹⁄
𝑘 sin(𝜔𝑡 − 𝜙) … … … … … … … 𝑆𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑡𝑒𝑟𝑚
√(1 − 𝛽 ) + (2𝜁𝛽)2
2 2

Transient term: this is the damped natural or free vibration and it dies down with
time due to exponential decay

Steady state term: this is applied and remains continuously as long as it is applied.
In forced vibration, we are interested in the steady state term,

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Vibration Plot

Forced vibration is a superposition of two motions, one with frequency 𝜔𝑛 √(1 − 𝜁 2 )

and exponentially decaying amplitude and the other with frequency 𝜔 and constant
amplitude. The transient vibration depends on the initial conditions while the
steady state is independent of initial conditions

SOLUTION BY VECTOR METHOD

Let us assume a particular solution of the form

𝑥𝑝 = 𝐴 sin(𝜔𝑡 − 𝜙)
Since the forcing function is a sine function

𝜋
𝑥̇ 𝑝 = 𝐴𝜔 cos(𝜔𝑡 − 𝜙) = 𝐴𝜔 sin (𝜔𝑡 − 𝜙 + )
2
𝑥̈ 𝑝 = −𝐴𝜔2 sin(𝜔𝑡 − 𝜙) = 𝐴𝜔2 sin(𝜔𝑡 − 𝜙 + 𝜋)
Equation of motion
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝐹𝑠𝑖𝑛𝜔𝑡
Substituting

𝜋
𝑚𝐴𝜔2 sin(𝜔𝑡 − 𝜙 + 𝜋) + 𝑐𝐴𝜔 sin (𝜔𝑡 − 𝜙 + ) + 𝑘𝐴 sin(𝜔𝑡 − 𝜙) = 𝐹𝑠𝑖𝑛𝜔𝑡
2
All these are forces and we can draw the force vector diagram

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The effect of the sine function is to rotate the forces from the diagram.
𝐹 2 = (𝐴𝑘 − 𝑚𝐴𝜔2 )2 + (𝑐𝐴𝜔)2
𝐹 2 = 𝐴2 [(𝑘 − 𝑚𝜔2 )2 + (𝑐𝜔)2 ]
𝐹 = 𝐴√(𝑘 − 𝑚𝜔 2 )2 + (𝑐𝜔)2

𝐹
𝐴=
√(𝑘 − 𝑚𝜔 2 )2 + (𝑐𝜔)2
Divide the top and bottom by k and take c= 2𝑚𝜁𝜔𝑛
𝐹⁄
𝐴= 𝑘
2 2 2
√(1 − 𝜔 ) + (2𝜁𝜔𝑛2𝜔)
𝜔𝑛 𝜔𝑛
𝐹⁄
𝐴= 𝑘
2 2 2
√(1 − 𝜔 ) + (2𝜁𝜔)
𝜔𝑛 𝜔𝑛

𝐹⁄
𝐴= 𝑘
√(1 − 𝛽 2 )2 + (2𝜁𝛽)2
And
2𝜁𝛽
tan 𝜙 =
1 − 𝛽2

From the diagram, the real motion of x lags behind the forcing function

AMPLITUDE OF THE STEADY STATE MOTION – A

The most important parameter in forced vibration is the amplitude of the steady
state motion.

𝐹⁄
𝐴= 𝑘
√(1 − 𝛽 2 )2 + (2𝜁𝛽)2

𝐹⁄ − 𝑆𝑡𝑎𝑡𝑖𝑐 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒 (𝑆𝑡𝑎𝑡𝑖𝑐 𝐷𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛)

𝑘
𝐴 − 𝐷𝑦𝑛𝑎𝑚𝑖𝑐 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒
Let’s define a parameter,
𝐴
𝑀= − 𝑀𝑎𝑔𝑛𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛 𝐹𝑎𝑐𝑡𝑜𝑟 (𝐷𝑦𝑛𝑎𝑚𝑖𝑐 𝑀𝑎𝑔𝑛𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛 𝐹𝑎𝑐𝑡𝑜𝑟)
𝐹⁄
𝑘

1
𝑀=
√(1 − 𝛽 2 )2 + (2𝜁𝛽)2
𝐷𝑦𝑛𝑎𝑚𝑖𝑐 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒
𝑀𝑎𝑔𝑛𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛 𝑓𝑎𝑐𝑡𝑜𝑟 =
𝑆𝑡𝑎𝑡𝑖𝑐 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒

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RESONANCE
Resonance is the large amplitude of vibration obtained when the forcing frequency
is close to the natural frequency of the vibrating system.
Let’s look at the case where there is no damping
i.e
𝜁=0
Then
𝐹⁄ 𝐹⁄
𝐴= 𝑘 = 𝑘
𝜔 2 1 − 𝛽2
1 − (𝜔 )
𝑛
And when 𝜔 = 𝜔𝑛 , then A =∞
That is, theoretically, the amplitude tends towards infinity.
This is the resonance frequency. When 𝜔 = 𝜔𝑛 , the amplitude of vibration becomes
very large (almost infinite) if the damping ratio, 𝜁 = 0. However, when there is
damping and 𝜔 = 𝜔𝑛 ,

𝐹⁄
𝐴𝑟𝑒𝑠 = 𝑘
2𝜁
And

𝐴𝑟𝑒𝑠 1
𝑀𝑟𝑒𝑠 = =
𝐹⁄ 2𝜁
𝑘
Which could still be very high because in most mechanical systems 𝜁 is often small.
For example in aircraft wings 𝜁 = 0.03 and this gives resonance amplitudes 16 times
of the static deflection. This is surely dangerous, hence it is necessary to strictly
avoid frequencies in the resonance frequency zone.

MAXIMUM MAGNIFICATION
𝐴 1
𝑀= =
𝐹⁄ 2 2 2
𝑘 √(1 − 𝛽 ) + (2𝜁𝛽)

1
𝑀=
√(1 − 𝛽 2 )2 + (2𝜁𝛽)2

1
𝑀 = [(1 − 𝛽 2 )2 + (2𝜁𝛽)2 ]−2

𝑑𝑀 1 3
= − [(1 − 𝛽 2 )2 + (2𝜁𝛽)2 ]−2 . [2(1 − 𝛽 2 )(−2𝛽) + 2(2𝜁𝛽)(2𝜁)] = 0
𝑑𝛽 2
𝑑𝑀 [2(1 − 𝛽 2 )(−2𝛽) + 2(2𝜁𝛽)(2𝜁)]
=− 3 =0
𝑑𝛽
2[(1 − 𝛽 2 )2 + (2𝜁𝛽)2 ]2

2(1 − 𝛽 2 )(−2𝛽) + 2(2𝜁𝛽)(2𝜁) = 0

𝛽 2 − 1 + 2𝜁 2 = 0

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𝛽 2 = 1 − 2𝜁 2
1
𝑀𝑚𝑎𝑥 =
√(1 − 1 − 2𝜁 2 )2 + 4𝜁 2 (1 − 2𝜁 2 )
1
𝑀𝑚𝑎𝑥 =
√4𝜁 + 4𝜁 2 − 8𝜁 4
4

1
𝑀𝑚𝑎𝑥 =
√4𝜁 2 − 4𝜁 4
1
𝑀𝑚𝑎𝑥 =
2𝜁√1 − 𝜁 2
But
1
𝑀𝑟𝑒𝑠 =
2𝜁
Therefore
𝑀𝑚𝑎𝑥 > 𝑀𝑟𝑒𝑠

We can plot M against 𝛽 for different values of 𝜁. The plot will be as shown.

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Class work 1

a. A mass m is suspended from a spring of stiffness 4000 N/m and is subjected

to a harmonic force having an amplitude of 100 N and a frequency of 5 Hz.
The amplitude of the forced motion of the mass is observed to be 20 mm. Find
the value of m.
b. A spring-mass system with m = 10 kg and k = 5000 N/m is subjected to a
harmonic force of amplitude 250 N and frequency ω. If the maximum
amplitude of the mass is observed to be 100 mm, find the value of ω.

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TRANSMISSIBILITY AND VIBRATION ISOLATION

Equipment and instruments are often mounted on supports or foundations and
when they vibrate, the vibrations are transmitted to the foundation or vice versa.
Let’s consider the case of an equipment supported on a vibrating foundation as
shown

𝑦 = 𝑦𝑜 sin 𝜔𝑡

𝑆𝑝𝑟𝑖𝑛𝑔 𝐹𝑜𝑟𝑐𝑒 = −𝑘(𝑥 − 𝑦)

𝐷𝑎𝑚𝑝𝑖𝑛𝑔 𝐹𝑜𝑟𝑐𝑒 = −𝑐(𝑥̇ − 𝑦̇ )
Where (𝑥̇ − 𝑦̇ ) is the velocity of the mass relative to the support
Equation of motion is
𝑚𝑥̈ = −𝑘(𝑥 − 𝑦) − 𝑐(𝑥̇ − 𝑦̇ )

𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑘𝑦 + 𝑐𝑦̇

Differentiate y and substitute
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑘𝑦𝑜 sin 𝜔𝑡 + 𝑐𝜔𝑦𝑜 cos 𝜔𝑡
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑦𝑜 √𝑘 2 + (𝑐𝜔)2 sin(𝜔𝑡 + 𝜓)
Where
𝑐𝜔
tan 𝜓 =
𝑘
This problem is equivalent to that of the sinusoidal forcing function treated earlier
but with amplitude
𝐹 = 𝑦𝑜 √𝑘 2 + (𝑐𝜔)2
Therefore referring to our equation of motion
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑘𝑦 + 𝑐𝑦̇
𝑦 = 𝑦𝑜 𝑒 𝑖𝜔𝑡
𝑦̇ = 𝑖𝜔𝑦𝑜 𝑒 𝑖𝜔𝑡
We again take the particular solution
𝑥𝑝 = 𝐴𝑒 𝑖(𝜔𝑡−𝜙)
Hence
𝑥̇ 𝑝 = 𝐴𝑖𝜔𝑒 𝑖(𝜔𝑡−𝜙)

𝑥̈ 𝑝 = −𝐴𝜔2 𝑒 𝑖(𝜔𝑡−𝜙)

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𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑘𝑦 + 𝑐𝑦̇

2 𝑖(𝜔𝑡−𝜙)
−𝑚𝐴𝜔 𝑒 + 𝑐𝐴𝑖𝜔𝑒 𝑖(𝜔𝑡−𝜙) + 𝑘𝐴𝑒 𝑖(𝜔𝑡−𝜙) = 𝑘𝑦𝑜 𝑒 𝑖𝜔𝑡 + 𝑐𝑖𝜔𝑦𝑜 𝑒 𝑖𝜔𝑡
𝐴𝑒 𝑖(𝜔𝑡−𝜙) (−𝑚𝜔2 + 𝑐𝑖𝜔 + 𝑘) = 𝑦𝑜 𝑒 𝑖𝜔𝑡 (𝑘 + 𝑐𝑖𝜔)
𝐴𝑒 −𝑖𝜙 (−𝑚𝜔2 + 𝑐𝑖𝜔 + 𝑘) = 𝑦𝑜 (𝑘 + 𝑐𝑖𝜔)
𝐴 −𝑖𝜙 𝑘 + 𝑐𝑖𝜔
𝑒 =
𝑦𝑜 (𝑘 − 𝑚𝜔 2 ) + 𝑐𝑖𝜔
These are complex numbers
Hence
𝐴 √𝑘 2 + (𝑐𝜔)2
𝑇𝑅 = =
𝑦𝑜 (𝑘 − 𝑚𝜔 2 )2 + (𝑐𝜔)2

Substitute for k and c

OR

𝑥̈ + 2𝜁𝜔𝑛 𝑥̇ + 𝜔𝑛 2 𝑥 = 2𝜁𝜔𝑛 𝑦̇ + 𝜔𝑛 2 𝑦
−𝐴𝜔2 𝑒 𝑖(𝜔𝑡−𝜙) + 2𝜁𝜔𝑛 𝐴𝑖𝜔𝑒 𝑖(𝜔𝑡−𝜙) + 𝜔𝑛 2 𝐴𝑒 𝑖(𝜔𝑡−𝜙) = 2𝜁𝜔𝑛 𝑖𝜔𝑦𝑜 𝑒 𝑖𝜔𝑡
+𝜔𝑛 2 𝑦𝑜 𝑒 𝑖𝜔𝑡
(−𝜔2 + 2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )𝐴𝑒 𝑖(𝜔𝑡−𝜙) = (2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )𝑦𝑜 𝑒 𝑖𝜔𝑡
(−𝜔2 + 2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )𝐴𝑒 𝑖𝜔𝑡 . 𝑒 −𝑖𝜙 = (2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )𝑦𝑜 𝑒 𝑖𝜔𝑡
([𝜔𝑛 2 − 𝜔2 ] + 2𝜁𝜔𝑛 𝑖𝜔)𝐴𝑒 𝑖𝜔𝑡 = (2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )𝑦𝑜
𝐴 𝑖𝜔𝑡 (2𝜁𝜔𝑛 𝑖𝜔 + 𝜔𝑛 2 )
𝑒 =
𝑦𝑜 ([𝜔𝑛 2 − 𝜔 2 ] + 2𝜁𝜔𝑛 𝑖𝜔)
These are complex numbers
Hence
𝐴 2 [2𝜁𝜔𝑛 𝜔]2 + [𝜔𝑛 2 ]2
( ) =
𝑦𝑜 [𝜔𝑛 2 − 𝜔 2 ]2 + [2𝜁𝜔𝑛 𝜔]2

Divide through by 𝜔𝑛 2
𝜔 2
𝐴 2 [2𝜁 𝜔 ] + 1
𝑛
( ) = 2
𝑦𝑜 𝜔 2 𝜔 2
[1 − 2] + [2𝜁 𝜔 ]
𝜔𝑛 𝑛
𝐴 √1 + [2𝜁𝛽]2
𝑇𝑅 = =
𝑦𝑜 √[1 − 𝛽 2 ]2 + [2𝜁𝛽]2
𝐴
The ratio 𝑦 is known as transmissibility TR or more precisely motion
𝑜

transmissibility. It is a measure of the effectiveness of the spring mount and can

be defined as the ratio of the amplitude of the absolute body vibration to the
amplitude of the foundation vibrations

MEE 411 – Mechanical Vibrations Page 12 of 15

MEE411 LECTURE NOTES 2021

FORCE TRANSMISSIBILITY
If it was a machinery that was vibrating, then it will transmit forces to the Vibration
The situation is shown below

Transmitted force
𝐹𝑡 = 𝑐𝑥̇ + 𝑘𝑥
This gives the equation of motion
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑘𝑥 + 𝑐𝑥̇
Which is equivalent to our earlier equation of the vibrating foundation replacing y
with x. the solution is exactly the same as if the foundation is vibrating. Hence
force transmissibility is the same as motion transmissibility.
Let’s go back to our equation

𝐴 √𝑘 2 + (𝑐𝜔)2
𝑇𝑅 = =
𝑦𝑜 (𝑘 − 𝑚𝜔 2 )2 + (𝑐𝜔)2
𝐴 √1 + [2𝜁𝛽]2
𝑇𝑅 =
=
𝑦𝑜 √[1 − 𝛽 2 ]2 + [2𝜁𝛽]2
Multiply and divide the conjugates of the denominator to obtain the value of tan 𝜙

2𝜁𝛽 2
tan 𝜙 =
[1 − 𝛽 2 ] + [2𝜁𝛽]

MEE 411 – Mechanical Vibrations Page 13 of 15

MEE411 LECTURE NOTES 2021

The Plot of transmissibility versus frequency ratio is shown below

ROTATING UNBALANCE

The unbalance is represented by an eccentric mass, m with eccentricity, e that is

rotating with angular frequency 𝜔.
Let x be the displacement of the non-rotating mass (M-m) from static
equilibrium
The displacement of m is
𝑥 + 𝑒 sin 𝜔𝑡
2
𝑑
(𝑀 − 𝑚)𝑥̈ + 𝑚 (𝑥 + 𝑒 sin 𝜔𝑡) = −𝑘𝑥 − 𝑐𝑥̇
𝑑𝑡

MEE 411 – Mechanical Vibrations Page 14 of 15

MEE411 LECTURE NOTES 2021

Hence
𝑀𝑥̈ − 𝑚𝑥̈ + 𝑚(𝑥̈ − 𝑒 𝜔2 sin 𝜔𝑡) = −𝑘𝑥 − 𝑐𝑥̇
𝑀𝑥̈ − 𝑚𝑥̈ + 𝑚𝑥̈ − 𝑚𝑒 𝜔2 sin 𝜔𝑡 = −𝑘𝑥 − 𝑐𝑥̇
𝑀𝑥̈ − 𝑚𝑒 𝜔2 sin 𝜔𝑡 = −𝑘𝑥 − 𝑐𝑥̇
𝑀𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑚𝑒 𝜔2 sin 𝜔𝑡
Which will yield a particular solution, steady state with amplitude
𝑚𝑒 𝜔2
𝐴=
√(𝑘 − 𝑀 𝜔 2 )2 + (𝑐𝜔)2
And
𝑐𝜔
tan 𝜙 =
𝑘 − 𝑀 𝜔2
𝑀
Multiply through by
𝑚
𝑀 𝐴 𝑀 𝑚 𝜔2
. = .
𝑚 𝑒 𝑚 √(𝑘 − 𝑀 𝜔 2 )2 + (𝑐𝜔)2
𝑀 𝐴 𝑀 𝜔2
. =
𝑚 𝑒 √(𝑘 − 𝑀 𝜔 2 )2 + (𝑐𝜔)2
Divide numerator and denominator by k and substitute c =2𝜁𝑚𝜔𝑛
𝑀 𝜔2
𝑀 𝐴 𝑘
. =
𝑚 𝑒 2
√(1 − 𝑀 𝜔 2 ) + (2𝜁𝑀𝜔𝑛 𝜔)2
𝑘
𝜔2
𝑀 𝐴 𝜔𝑛 2
. =
𝑚 𝑒 2 2 2
√(1 − 𝜔 2 ) + (2𝜁 𝜔 )
𝜔𝑛 𝜔𝑛

𝑀 𝐴 𝛽2
. =
𝑚 𝑒 √(1 − 𝛽 2 )2 + (2𝜁𝛽)2

2𝜁𝛽 2
tan 𝜙 =
1 − 𝛽2

Classwork 2

An Automobile is modeled as a single degree of freedom system vibrating in the

vertical direction. It is driven along a road whose elevation varies sinusoidally. The
distance from peak to trough is 0.2m and the distance along the road between peaks
is 35m. If the natural frequency of the automobile is 2Hz and the damping ratio of
the shock absorbers is 0.15, determine the amplitude of vibration of the automobile
at a speed of 60km/hr. If the speed of the automobile is varied, find the most
unfavorable speed for the passengers

A 50kg sewing machine operates at 1200rev/min has a rotating unbalance of 0.5kg-

m. What is the maximum stiffness of an undamped isolator such that the forces
transmitted to the machine is less than 2,000N.

MEE 411 – Mechanical Vibrations Page 15 of 15