STRUCTURAL DYNAMICS

Unit-I Chapter –3
Harmonically Excited Vibration of SDOF Systems
(Undamped Forced Vibration)
 Harmonically excited vibration of SDOF systems
In this system an external harmonic load F(t) will be acting on a system.
The harmonic load F(t)= F0sinωt or F0cosωt
where, Fo = Amplitude of force,
ω=excitation or forcing frequency
T=Excited or force time period (2Π/ω)

There are 2 components for this type of vibrations.

1. Transient vibration component
2. Steady state vibration component.
Transient vibration are produced due to initial conditions at beginning. They occur at natural
frequency of the system or structures & die out quickly. Transient response is obtained from
complementary solution
Steady state vibrations are produced due to harmonic loading & have forcing or excitation
frequency. However these vibrations continues for long time after transient component has
died out. Steady state response is obtained from particular solution. https://nptel.ac.in/courses/105104189/
Response of harmonically excited undamped forced vibration
system
Equation of motion is,
̈+ = F(t)
where, F(t)= Fosinωt
Fo = Amplitude of force, ω=excitation or forcing frequency
mẍ + kx= Fosinωt ---------------------------- 1
The above eqn. is non homogenous second order differential eqn.
General solution x(t) = xc(t) + xp(t)
where, xc(t) is complementary solution which is as of undamped free vibration &
xp(t) is particular solution for present case
Let the particular solution be xp(t) = Csin ωt, ẍp(t)= -ω2Csinωt
Substituting the values of xp(t) & ẍp(t) in eqn.1
m(-ω2Csinωt) + k(Csin ωt)= Fosinωt
[-mω2+k] Csinωt = Fosinωt
Dividing through out by k, we get
[-(m/k) ω2+(k/k)] C = Fo/k
[-(ω2/ωn2) +1] C = Fo/k
[1-(ω/ωn)2]C= Fo/k
(ω/ωn) is called as frequency ratio ‘r’
The frequency ratio is the ratio of excitation frequency to normal frequency
of system
C = Fo/k [1/(1-r2)]
w.k.t. the particular solution xp(t) = Csin ωt
Substituting the value of C, we get response of particular solution
xp(t) = Fo/k [1/(1-r2)] sin ωt
Now xc(t) complementary solution will be as of undamped free vibration
xc(t) = A cos(ωnt) + B sin(ωnt)
The general solution x(t) = xc(t) + xp(t)
x(t) = A cos(ωnt) + B sin(ωnt) + Fo/k [1/(1-r2)] sin ωt
where A & B are constants found using initial conditions.
Applying initial conditions i.e, @t=0, (0)= 0 & ̇ (0)= 0̇ we get,
A = x0 & B = {(ẋ0/ωn) - Fo/k [r / (1-r2)]}
 x F r   F0 1 
x ( t )  x 0 cos  n t   0  0 sin  t  sin  t
n k 1  r 
2 
 k 1  r 
 2 
n
  x F0 r   F 1 
x ( t )  x 0 cos  n t   0  sin  n t   0
 n k 1  r 2


 k 1  r 2
 sin  t

Transient response Steady state response

For zero initial conditions i.e, when x0 & ẋ0 will be equal to zero, than
 F 0 r   F 0 1 
x (t )     t    t
 k 1  r 2
 sin n
 k 1  r 2
 sin

Transient response Steady state response

F0 1
x (t )  sin  t  r sin  n t 
k 1  r 
2

Even for zero initial condition there will be vibration due to applied external force
Steady state response x(t)= F0/k [1/(1-r2)]sinωt
Magnification factor: It is defined as the ratio of amplitude of vibration due
harmonic force(X) to the amplitude of vibration due to static force (Xst)
It is also known as Dynamic magnifier or Dynamic influence factor.
MF = X/Xst
Ignoring the dynamic effects signified by the acceleration in Eqn. of motion gives the static
displacement
mẍ + kx= Fosinωt xst= (Fo/k)sinωt
  F0  1 
MF

 
 k   1  r 2
 
  F0  
 k 
  
 1 
MF   2 
1 r 
where, r is frequency ratio (ω/ωn)
Graph between Magnification factor vs frequency ratio

For ω/ωn<1 or ω<ωn this factor is positive,

indicating that x(t) and F(t) have the same algebraic
sign i.e., when the force acts to the right, the system
would also be displaced to the right. The
displacement is said to be in phase with the
applied force.
For ω/ωn>1 or ω>ωn this factor is negative,
indicating that x(t) and F(t) have opposing
algebraic signs i.e., when the force acts to the right,
the system would be displaced to the left. The
displacement is said to be out of phase relative to
the applied force.
To describe the eqn. in terms of phase mathematically it can be written as
x(t)= F0/k Rd sin(ωt-Φ)
where, Rd=deformation response factor & Φ= phase angle
The deformation (or displacement) response factor Rd
is the ratio of the amplitude X of the dynamic (or vibratory)
deformation to the static deformation Xst
1
Rd  &
1 r 2

 0 o    n
  
180 o    n
For ω<ωn , φ = 0◦, indicating that the displacement
varies as sinωt, in phase with the applied force.

For ω>ωn, φ =180o, indicating that the displacement

varies as −sinωt, out of phase relative to the force.
Deformation response factor and phase angle vs frequency ratio
Observation made in graph as Rd plotted as a function of the
frequency ratio ω/ωn
If ω/ωn is small (i.e., for ω/ωn=0.1), Rd is only
slightly larger than 1 and the amplitude of the
dynamic deformation is essentially the same as the
static deformation
If ω/ωn >√2 (i.e., ω is higher than ωn√2), Rd < 1 and
the dynamic deformation amplitude is less than the
static deformation. As ω/ωn increases beyond √2, Rd
becomes smaller and approaches zero
If ω/ωn is close to 1 (i.e., ω is close to ωn), Rd is
many times larger than 1, implying that the
deformation amplitude is much larger than the static
deformation.
Deformation response factor and phase angle vs
If ω=ωn, Rd ∞ Resonance frequency ratio
When ω=ωn the particular solution doesn’t holds good. It is in the state of
Resonance.
Resonance describes the phenomenon of amplification that occurs when the
frequency of a periodically applied force is in harmonic proportion to a natural
frequency of the system on which it acts.
Eqn. of motion mẍ + kx= Fosinωt
General solution x(t) = xc(t) + xp(t)
Let the particular solution be xp(t) = Ctcosωnt
ẍp(t)= -ωn2Ctcos ωnt-2Cωnsin ωnt
Substituting the values of xp(t) & ẍp(t) in eqn. of motion we get,
m(-ωn2Ctcos ωnt-2Cωnsin ωnt) + k(Ctcosωnt) = Fosinωt
-(k/m)mCtcos ωnt - 2Cmωnsin ωnt + kCtcosωnt = Fosinωt
-2Cmωnsin ωnt = Fosinωt
-2Cmωn = Fo
C = -Fo/(2m ωn)
C = -Fo/[2(k/ ωn2) ωn]
C = - (Fo ωn)/(2k)
Substituting the values of C in xp(t)
xp(t) = - (Fo ωn)/(2k) tcosωnt
The general solution x(t) = xc(t) + xp(t)
x(t) = A cos(ωnt) + B sin(ωnt) - (Fo ωn)/(2k) tcosωnt
where A & B are constants found using initial conditions.
Applying initial conditions i.e, @t=0, (0)= 0 & ̇ (0)= 0̇ we get,
A = x0 & B = [(ẋ0/ωn) - Fo/2k]
 x F  F  
x ( t )  x 0 cos  n t   0  0  sin  n t   0 n  t cos  n t
n 2k   2k 
  x F0   F 0 
x ( t )  x 0 cos  n t   0   sin  n t  
n
 t cos  n t
 n 2k   2k
If initial condition is zero
F0 F  
x (t )  sin  n t   0 n  t cos  n t
2k  2k 
F0
x (t )    n t cos  n t  sin  n t 
2k
F0  2  t 2 t 2 t 
x (t )   
 cos  sin 
2 k  Tn Tn Tn 
An undamped spring mass system has a mass of 4.5kg & spring stiffness 3N/mm, it is
excited by an harmonic force having an amplitude of 100N & its excitation frequency 18
rad/sec. The initial displacement & initial velocity are 15mm & 150 mm/sec. Determine
i)Frequency ratio ii)Amplitude of force response iii)Displacement @ t=2sec iv)Vel. @ t=4sec
Soln:
3
m  4 . 5 kg or Ns 2 / m  4 . 5  10 Ns 2
/ mm
k  3 N / mm , F o  100 N ,   18 rad / sec
x o  15 mm , x o  150 mm / sec
  18 rad / sec,   k  25 . 82 rad / sec
n m
1 Frequency ratio r      0 . 6971
n

2 MF  1  1  1 . 9453
1  r 2
1  0 . 6971 2

X  MF  X st  1 . 9453  100  3
 64 . 84 mm
  x F r  Fo 1
3 x t   x o cos  n t   o  o   sin  t

 n k  
2 
1  r  
sin n t 
k

1  r 
2

x 2   2 . 925   38 . 637   64 . 311
x 2    100 . 02 mm

 xo Fo r  Fo 1
4xt   n xo sinnt  n       cost

 n k 1  
r 2



cos nt  

k 1  r 2

x4  148 939.77  1128.97
x4  337.20mm/ sec.