Fundamentals of Vibration

Introduction
• Satisfactory design of foundations for vibrating equipment is mostly
based on displacement considerations.

• Displacement due to vibratory loading can be classified under two

major divisions:
• Cyclic displacement due to the elastic response of the soil-
foundation system to the vibrating loading
• Permanent displacement due to compaction of soil below the
foundation
 Modes of Vibration for Foundation

*In order to estimate the cyclic

displacement, it is essential to know the
nature of the unbalanced forces (usually
supplied by the manufacturer of the
machine).

*There are six modes of vibrations for the

foundation.

*Note that a foundation can vibrate in any Six Modes of Vibrations for Foundation
or all six possible modes.
 Modes of Vibration for Foundation

For ease of analysis, each mode is

considered separately and design is
carried out by considering the
displacement due to each mode
separately.

Approximate mathematical models for

computing the displacement of
foundations under dynamic loads can be
developed by treating soil as a viscoelastic
material.
 Idealization of Foundation-Soil System

Dynamic load
Q = Qo sin wt Q = Qo sin wt

Real Problem Idealization

Soil is modeled as a spring of stiffness “k” and a dashpot coefficient “c”.

The mass of the foundation and the supported machinery on it are represented with a total mass “m”.
Q is the dynamic load on the system (an example of a dynamic load is shown in the figure).
The spring is responsible for the displacement occurring due to applied load.
The dashpot takes care of the viscous behavior of the soil. The viscous behavior of the soil is responsible for damping
the amplitude of vibration with time. If the soil is represented only with a spring (without a dashpot) the vibration will
not be damped (will continue with the same amplitude without stopping when the load is removed).
Units of “k” is that of (force/distance, say kN/m), and that of “c” is that of (force/velocity, say kN-s/m).
In order to understand how the model works and how it is used to calculate the displacement, it is important to
understand first the simple mass-spring system and some basic definition for a vibrating system.
 Degree of Freedom of Vibrating System

It is the number of independent coordinates required to describe the solution of a vibrating system.
Examples:

Mass = m2

z2

Mass = m Mass = m1

z
z z1

One degree of freedom Two degrees of freedom Two degrees of freedom

Mode of vibration: vertical Mode of vibration: vertical Mode of vibration: vertical + rotation
 System Vibration

Free Vibration Forced Vibration

Vibration of a system in the absence of Vibration of a system caused by an

externally applied forces. The system external force.
vibrates under the action of forces
inherent in the system itself. The
response of a system is called free
vibration when it is disturbed and then
left free to vibrate about some mean
position.

The frequency of vibration is called

natural frequency and the period of
vibration is called natural period.
 Important Definitions
To understand the meaning of frequency, period, and angular frequency, and the relation between frequency and angular
frequency, just refer to the case of simple harmonic motion that will occur if the soil-foundation system is modelled as a
spring-mass system without damping (without a dashpot).

s m Equilibrium level

k
k

Soil spring before application of Mass of the foundation & machinery Disturb the system (e.g. apply initial
the mass of the foundation & is added on the soil spring. displacement/velocity) and let the system
machinery. Static compression s occurs in the soil vibrates freely. The system will vibrate around
spring and the mass is stabilized at an the equilibrium position in a simple harmonic
equilibrium level. motion. It moves back and forth around the
equilibrium position and then repeats the
s = W / k = mg / k cycle.
 Important Definitions

*If there is no damping, the system will

keep oscillating (vibrating) freely in a
simple harmonic motion with a certain
Maximum displacement frequency (f) that is called undamped
above the equilibrium frequency or natural frequency (fn).
z position (Amplitude)
Equilibrium Equilibrium
Z *The frequency is the number of cycles
z=0
Position Position per unit time (cycles/s, 1/s, or s-1).
Z Maximum displacement *The time taken per one frequency is
below the equilibrium
position (Amplitude) called the period (T). In this free
undamped vibration, it is called natural
period (Tn). T is the reciprocal of f.
*The frequency can also be written in
terms of radian per time (rad/s). The
frequency (rad/s) is called the
System is in static System is freely angular/circular frequency  and the
equilibrium vibrating natural angular frequency is called n.
Note that  = 2f and n = 2fn
T = 1/f Tn = 1/fn
 Graph of Position with Time
Extreme Displacement
z
Z
Equilibrium Position
Z
Extreme Displacement

z Position z
Period = T
z=Z
Amplitude Z Peak-to-Peak
Amplitude Z Amplitude
Z Z (=2Z) / Double
Amplitude
z=0
Time (t)
Z

Period = T
 Frequency and Angular frequency
z

5 5
6
4
z=Z
6 4
3
Z 3
7 2 Z
z 2

 t
8 1 1 1
9 15 15
Z
14 14
10
13 13
11 z=-Z
12 T 12

The relationship between frequency (f) of a free vibrating mass-spring system in the vertical direction and the
angular frequency () can be obtained by realizing that the vertical displacement during oscillation (vibration) is
the vertical component of motion of the mass rotating with a circular speed around the center of a circle of radius
Z (the amplitude).
 Frequency and Angular frequency
z
5 5
6
4
z=Z
6 4
3
Z 3
7 2 Z
z 2

 t
8 1 1 1
9 15 15
Z
14 14
10
13 13
11 z=-Z
12 T 12

When the mass vibrates one complete cycle, it takes the same time to rotate (2) which is T (the period).
For the mass-spring system, the frequency is “how many oscillation the mass will make in one second”:
f = 1/T and T = 1/f (1)
For the corresponding circular motion, when the mass moves one complete cycle, it rotates a radian angle (2 ). The
angular frequency  is “how many (2) will be made in one second”. Therefore,
 = 2/T and T= 2/ (2)
From Eq. (1) and (2), 1/f = 2/. Therefore,  = 2f
 Static Displacement (Zs)

Foundation Mass: m
Weight: W = mg
zs Equilibrium
m position
Soil
k k

Soil is represented by A foundation is founded on the

a spring of stiffness k spring and the total mass
(spring & machinery) is “m” and
total weight is “W”

*The weight “W” will cause static displacement “zs” for the soil (spring).

zs = W / k
*The position of the foundation now is the foundation equilibrium position.
 Response of the System at Any Time

Equilibrium Equilibrium
m position
position z
m 𝑚 𝑧ሷ
k
kz
𝑑2𝑧
𝑧ሷ = = 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛
𝑑𝑡 2

*The system is subjected to initial disturbance (e.g., initial displacement, initial velocity, or both).
*It will undergo undamped free vertical oscillation (with its natural frequency) around the equilibrium position.

*Equation of motion:
𝑚 𝑧ሷ + 𝑘 𝑧 = 0

𝑘
𝑧ሷ + 𝑧=0
𝑚
 𝑘 Equilibrium
𝑧ሷ + 𝑧=0 (1) position
𝑚 z
m 𝑚 𝑧ሷ
The solution of this differential equation is in the
following sinusoidal equation form:
kz
(2)
𝑧 = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡
Where: A1 and A2 are constants
𝜔𝑛 is the undamped natural angular frequency (units: rad/s)
To determine 𝜔𝑛 in eq. (2), calculate 𝑧ሷ and then substitute the values of 𝑧 (eq. (2)) and 𝑧ሷ into eq. (1).
𝑑𝑧
= 𝑧ሶ = −𝐴1 𝜔𝑛 sin 𝜔𝑛 𝑡 + 𝐴2 𝜔𝑛 cos 𝜔𝑛 𝑡 (3)
𝑑𝑡
𝑑2𝑧
2 = 𝑧ሷ = −𝐴1 𝜔𝑛2 cos 𝜔𝑛 𝑡 − 𝐴2 𝜔𝑛2 sin 𝜔𝑛 𝑡 (4) Note that this means: 𝑧ሷ = −𝜔𝑛2 𝑧
𝑑𝑡

Substitute (2) & (4) in (1), then

𝑘
−𝜔𝑛2 (𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡)+ 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡 = 0 −𝜔𝑛2 +
𝑘
=0
𝑚
𝑚

𝒌
𝝎𝒏 =
𝒎
In order to determine A1 & A2 in Eq. (1), the initial boundary conditions should be known. Initial means at the start
of vibration (t=0). The boundary conditions are the initial displacement (zo) and initial velocity (vo) given to the
system to start vibration.
𝑧 = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡 (2)  = initial angular position
zo = initial displacement
At t=0, z = zo, and 𝑧ሶ = vo vo = initial velocity
substitute z=zo and t=0 into Eq. (2), yields,
zo = 𝐴1 cos(0) + 𝐴2 sin 0 = A1 + 0 nZ 𝒛ሶ =vo z
 z=Z
A1 = zo
substitute 𝑧ሶ = vo and t=0 into Eq. (3), yields, Z
 zo
𝑧ሶ = −𝐴1 𝜔𝑛 sin 𝜔𝑛 𝑡 + 𝐴2 𝜔𝑛 cos 𝜔𝑛 𝑡 t
𝑣𝑜 = −𝐴1 𝜔𝑛 sin(0) + 𝐴2 𝜔𝑛 cos 0 Z
𝑣𝑜 = 0 + 𝐴2 𝜔𝑛 z=-Z
A2 = 𝑣𝑜 / 𝜔𝑛
𝑧ሶ

The response equation (2) becomes: vo

𝑧 = zo cos 𝜔𝑛 𝑡 + (𝑣𝑜 / 𝜔𝑛 ) sin 𝜔𝑛 𝑡 (5) t

From figure,
𝑧𝑜 = Z sin 𝛼
vo = 𝜔𝑛 Z cos 𝛼
Substituting zo & vo into Eq. 5 yields,

𝑧 = 𝑍 sin(𝜔𝑛 𝑡 + 𝛼)

Where,
𝑧𝑜 𝜔𝑛
𝛼 = tan−1 𝑣𝑜

𝑍= 𝑧𝑜2 + 𝜔𝑛2 𝑣𝑜2

(i.e., the amplitude depends on the initial displacement and/or initial
velocity in addition to the natural frequency of the system)

This equation that gives the response “z” with time can also be written as:

𝑧 = 𝑍 cos(𝜔𝑛 𝑡 − 𝛼 ′ )
Where,
𝑣𝑜
𝛼 ′ = tan−1 𝑧𝑜 𝜔𝑛
 Displacement - Velocity - Acceleration
z
z=Z
Z
z=0 Displacement
Time (t)

Period = T
v=𝑧ሶ
v=vmax Maximum velocity
vmax
(Note: Velocity leads displacement
v=0 Velocity
Time (t) by /2 rad)
v=-vmax

a=𝑧ሷ
a=amax
amax
(Note: Acceleration leads velocity
a=0 Acceleration by  /2 rad, leads displacement by
Time (t)
, and a= 𝑧ሷ = -2z)
a=-amax
Calculation of Natural Frequency from the Static Displacement
𝑘
𝜔𝑛 =
𝑚
𝑊 𝑚𝑔
𝑧𝑠 = =
𝑘 𝑘
𝑧𝑠 𝑘
𝑚=
𝑔
𝑘𝑔
𝜔𝑛 =
𝑧𝑠 𝑘

𝑔
𝜔𝑛 =
𝑧𝑠

𝜔𝑛 = 2𝜋𝑓𝑛
1 𝑔
𝑓𝑛 =
2𝜋 𝑧𝑠
 Summary of Equations
𝑓 Frequency: number of cycles in a unit time (units example: Hertz, 1/s, s-1)
𝑓𝑛 Natural Frequency

𝜔 Circular/angular frequency (Rad/unit time: e.g., rad/s) - Circular frequency defines the rate of oscillation in
term of radians per unit time (2 represents one complete cycle of rotation)
𝜔𝑛 Circular/angular natural frequency
𝑇 Period of oscillation (time for one cycle of vibration: units example: s)
𝑇𝑛 Natural period of oscillation
𝑚 Mass of foundation and supported machinery
𝑊 Weight of foundation and supported machinery

𝑘 Soil spring stiffness

𝑧𝑠 Static displacement of system under W

𝑧 𝑜𝑟 𝑧(𝑡) Displacement of system at any time (t)

𝑍 Amplitude of displacement (maximum displacement)

𝑧𝑜 Initial displacement given to the system at time = 0

𝑣𝑜 Initial velocity given to the system at time = 0
 Summary of Equations

𝑊 = 𝑚𝑔

𝜔 = 2𝜋𝑓 𝜔𝑛 = 2𝜋𝑓𝑛

1 1
𝑇= 𝑇𝑛 =
𝑓 𝑓𝑛
1 1
𝑓= 𝑓𝑛 =
𝑇 𝑇𝑛
𝑘 1 𝑘
𝜔𝑛 = 𝑓𝑛 =
𝑚 2𝜋 𝑚

𝑔 1 𝑔
𝜔𝑛 = 𝑓𝑛 =
𝑧𝑠 2𝜋 𝑧𝑠
 Summary of Equations

𝑧 = 𝑍 sin(𝜔𝑛 𝑡 + 𝛼)
𝑍= 𝑧𝑜2 + 𝜔𝑛 𝑣𝑜2
𝑧𝑜 𝜔𝑛
𝛼 = tan−1 𝑣𝑜

𝑧 = 𝑍 cos(𝜔𝑛 𝑡 − 𝛼 ′ )
𝑣𝑜
𝛼 ′ = tan−1 𝑧𝑜 𝜔𝑛

𝑧ሶ = 𝜔𝑛 𝑧

𝑧ሷ = −𝜔𝑛2 𝑧
 EXAMPLE 1
A mass is supported by a spring. The static deflection of the spring due to the mass is 0.4 mm. Find the natural frequency
vibration.

1 𝑔
𝑓𝑛 =
2𝜋 𝑧𝑠

g = 9.81 m/s2

zs = 0.4 mm = 0.0004 m

1 9.81
𝑓𝑛 = = 24.92 𝐻𝑧
2𝜋 0.0004

𝑓𝑛 = 24.92 Hz
 EXAMPLE 2
For a machine foundation, given weight of the foundation = 45 kN and spring constant = 104 kN/m, determine
a) natural frequency of vibration,
b) natural circular frequency of vibration, and
c) Period of oscillation
(a)
1 𝑘
𝑓𝑛 =
2𝜋 𝑚
1 10000
𝑓𝑛 = 2𝜋 45 𝑓𝑛 = 7.43 Hz
(9.81)

(b)
𝜔𝑛 = 2𝜋𝑓𝑛
𝜔𝑛 = 2𝜋 7.43 = 𝟒𝟔. 𝟔𝟖 𝒓𝒂𝒅/𝒔

(c)
1
𝑇𝑛 =
𝑓𝑛
1
𝑇𝑛 = = 𝟎. 𝟏𝟑𝟓 𝒔
7.43
 Equivalent Stiffness for
Springs in Series
m m

 
k1
keq

k2

 (system) = 1 (from spring 1) + 2 (from spring 2)  (system) =  (from equivalent spring)

2 = W / k2  = W / keq (2)
1 = W / k1

 = W / k1 + W / k2 = W(k1 + k2) / K1 k2 (1)

From (1) & (2):  = W(k1 + k2) / K1 k2 = W / keq

𝑘1 𝑘2
𝑘𝑒𝑞 =
𝑘1 + 𝑘2
 Forced Vibration of a Spring-Mass System
Dynamic load 𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡 + 𝛽
Foundation & Machinery Mass: m
Foundation Weight: W = mg 𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡 + 𝛽
zs Equilibrium
m position m
Soil z
k k k

Real Problem Soil is represented by A foundation is founded on the

a spring of stiffness k spring and the total mass Idealization
(foundation & machinery) is
“m” and total weight is “W”
Note that  is different from n:
 is the frequency of the applied load
n is the natural frequency of the system
𝑘
𝜔𝑛 = 𝑚

What is the value of z(t)?

What is the maximum and minimum dynamic load acting on the subgrade?
What is the relation between the maximum dynamic displacement & its corresponding static displacement?
 Response of the System at Any Time
𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡 + 𝛽 𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡 + 𝛽

Equilibrium Equilibrium
m position
position z
m 𝑚 𝑧ሷ
k
kz
𝑑2𝑧
𝑧ሷ = = 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛
𝑑𝑡 2
Equation of motion:

𝑚𝑧ሷ + 𝑘𝑧 = 𝑄𝑜 sin(𝜔𝑡 + 𝛽)
It can be proved that the solution of the above deferential equations can take the following form:

𝑄𝑜
𝑄𝑜 /𝑘 𝜔 𝑄𝑜
𝑧= sin 𝜔𝑡 − sin 𝜔𝑛 𝑡 𝑍𝑠−𝑄𝑜 =
1 − 𝜔 2 /𝜔𝑛2 𝜔𝑛 𝑘
The static value of displacement
k due to applying Qo on the spring
 𝑄𝑜 /𝑘 𝜔
𝑧= sin 𝜔𝑡 − sin 𝜔𝑛 𝑡
1 − 𝜔 2 /𝜔𝑛2 𝜔𝑛 𝑄𝑜
𝑄𝑜
𝑄𝑜 𝑍𝑠−𝑄𝑜 =
= 𝑍𝑠−𝑄𝑜 𝑘
𝑘 static value of displacement due to

Let 𝑀 = 1−
1 k applying Qo on the spring
2
𝜔2 /𝜔𝑛

𝜔
𝑧 = 𝑍𝑠−𝑄𝑜 𝑀 sin 𝜔𝑡 − sin 𝜔𝑛 𝑡
𝜔𝑛

M is called magnification factor. (it represents the ratio of the maximum dynamic displacement (of particular solution) to the
static displacement)
𝜔
Note that when 𝜔 = 1, the magnification factor becomes infinity. This means that the response is infinity. This means
𝑛
𝜔
foundation problem. The case of =1 is called resonance.
𝜔𝑛
 𝝎
Effect of on magnification factor (M)
𝝎𝒏

1
𝑀=
1 − 𝜔 2 /𝜔𝑛2
𝜔
Note that when 𝜔 = 1, the magnification
𝑛
Magnification Factor (M)
factor becomes infinity. This means that
the response is infinity. This means
failure.
𝜔
The case of =1 is called resonance.
𝜔𝑛

𝜔
𝜔𝑛
 Vibration of displacement with time at resonance (𝝎 = 𝝎𝒏 )
Without diving into much mathematics, by knowing that the velocity at maximum amplitude is zero and that at
resonance (𝜔= 𝜔𝑛 ), it can also be proved that at resonance:
1
𝑍𝑚𝑎𝑥 𝑟𝑒𝑠 = 2 𝑛𝜋𝑍𝑠−𝑄𝑜 , 𝑛 = 1, 2, 3, … .

1
𝑍𝑚𝑎𝑥 𝑟𝑒𝑠 = 𝑛𝜋𝑍𝑠−𝑄𝑜
2
𝑛 = 1, 2, 3, … .

Resonance is characterized by the build–up of large amplitudes with time

 Maximum Dynamic Force on Subgrade
The maximum and minimum force on the foundation subgrade will occur at the time when the amplitude is maximum, i.e.,
when velocity is equal to zero. Calculating the velocity by differentiation of the displacement equation and then equating the
velocity to zero will lead to a relationship between 𝜔 and 𝜔𝑛 at the maximum displacement and by substituting this
relationship in the displacement equation will lead to the following equation for the amplitudes of displacement with time.

𝑄𝑜 /𝑘 2𝜋𝑚𝜔
𝑍𝑚𝑎𝑥 = sin (𝑍𝑚𝑎𝑥 is the amplitude at cycle no. 𝑚)
1 − 𝜔/𝜔𝑛 𝜔 + 𝜔𝑛
𝑚 = 1, 2, 3, … .

𝑄𝑜 /𝑘
𝑍𝑚𝑎𝑥 𝑚𝑎𝑥 = (𝑍max is the maximum amplitude)
1 − 𝜔/𝜔𝑛 𝑚𝑎𝑥

𝑄𝑜 /𝑘
𝐹𝑑𝑦𝑛 𝑚𝑎𝑥 = 𝑘𝑍𝑚𝑎𝑥 𝑚𝑎𝑥 =𝑘
1 − 𝜔/𝜔𝑛

Spring stiffness Maximum dynamic

displacement

𝑄𝑜
𝐹𝑑𝑦𝑛 𝑚𝑎𝑥 =
1 − 𝜔/𝜔𝑛
𝑄𝑜 𝑄𝑜
Total force on soil will range between: (𝑊 + 𝜔 ) and (𝑊 − 𝜔 )
1− 𝜔 1− 𝜔
𝑛 𝑛
 Example
A machine foundation can be idealized as a mass-spring system. This foundation can be subjected to a force that can be
given as: Q (kN) = 35.6 sin t f = 13.33 Hz
Weight of the machine + foundation = 178 kN Spring constant = 70,000 kN/m
Determine: the maximum and minimum force transmitted to the subgrade.

Maximum and minimum forces on soil are: 𝑊 + 𝐹𝑑𝑦𝑛 and 𝑊 − 𝐹𝑑𝑦𝑛

𝑊 (given) = 178 kN
𝑄𝑜
𝐹𝑑𝑦𝑛 =
1 − 𝜔/𝜔𝑛
𝑄𝑜 (given) = 35.6 kN
𝜔 of the applied dynamic force is: 𝜔 = 2f = 2(13.33 Hz) = 83.75 rad/s
𝑘
𝜔𝑛 (natural angular frequency): 𝜔𝑛 = 𝑚

m (mass of machine and foundation): m = W/g = (178x103 N)/(9.81 m/s2) = 18144.75 kg

k (spring constant – given): k = 70000x103 N/m
𝑘 70000 (𝑁/𝑚)
𝜔𝑛 = = = 62.11 𝑟𝑎𝑑/𝑠
𝑚 18144.75 (𝑘𝑔)
𝑄𝑜 35.6 (𝑘𝑁)
𝐹𝑑𝑦𝑛 = = = 102.18 kN
1− 𝜔/𝜔𝑛 1− 83.75/62.11
Maximum force on the subgrade = 𝑊 + 𝐹𝑑𝑦𝑛 = 178 + 102.18 = 280.18 kN
Minimum force on the subgrade = 𝑊 + 𝐹𝑑𝑦𝑛 = 178 - 102.18 = 75.82 kN
 Free Vibration with Viscous Damping
In the case of undamped free vibration, vibration would continue once the system has been set in motion.
In practical cases, all vibrations undergo a gradual decrease of amplitude with time. This characteristic of vibration is
referred to as damping.

𝑧
 Free Vibration with Viscous Damping
To account of the damping, the soil is represented by both a spring and a dashpot. The dashpot represents the damping
characteristic of the soil. The force acting on the mass from the dashpot is proportional to velocity 𝑧ሶ (F=c 𝑧).
ሶ The dashpot
has a coefficient equal to c.

Foundation & Machinery Mass: m

Weight: W = mg
zs Equilibrium Equilibrium
Soil position position
z

k c
𝑚𝑧ሷ
kz 𝑐𝑧ሶ

Soil is represented by A foundation is founded on the Apply disturbance. The system will
a spring of stiffness soil and the total mass vibrate around the equilibrium position.
“k” and a dashpot of (foundation & machinery) is The acting forces on the mass are:
coefficient “c” “m” and total weight is “W”. [Link] force (kz)
Equilibrium position after static [Link] force (c𝑧)ሶ
deformation under W is shown [Link] force (m𝑧)ሷ
 Equation of motion:
Equilibrium
𝑚𝑧ሷ + 𝑐 𝑧ሶ + 𝑘𝑧 = 0 position
z

𝑚𝑧ሷ
The solution of this equation can be given for three cases, based on the ratio kz 𝑐𝑧ሶ
of the damping constant “𝑐” to a quantity called critical damping constant
𝑐 𝑐
“𝑐𝑐 = 2 𝑘𝑚 ”. This ratio is called damping ratio (𝐷 = = ).
𝑐𝑐 2 𝑘𝑚

Case 1: 𝐷 > 1 (overdamped system case)

Case 2: 𝐷 = 1 (critically damped system case)
Case 3: 𝐷 < 1 (underdamped system case)
Case 1: 𝑫 > 𝟏

This is called case of overdamped system (c is larger than cc (=2 𝑘𝑚), i.e., 𝐷 > 1)
The solution for displacement can be obtained as:

𝑣𝑜 + 𝐷𝜔𝑛 𝑧𝑜
𝑧= 𝑒 −𝐷𝜔𝑛𝑡 𝑧𝑜 cosh 𝜔𝑛 𝐷2 −1𝑡 + sinh 𝜔𝑛 𝐷2 − 1 𝑡
𝜔𝑛 𝐷2 − 1

Where: 𝑧 is the displacement of the system at time t, 𝑧𝑜 is the initial displacement, 𝑣𝑜 is the initial velocity,
D is the damping ratio, and 𝜔𝑛 is the natural angular frequency.

𝒛 𝑫 >𝟏
Overdamped system

The relationship between the displacement 𝑧 and the time t

is shown in the figure. It can be seen that for this case there
is no oscillation at all.

t
Case 2: 𝐷 = 1

This is the case of critically damped system c = cc =2 𝑘𝑚

The solution for displacement can be obtained as:

𝑧 = 𝑧𝑜 + 𝑣𝑜 + 𝜔𝑛 𝑧𝑜 𝑡 𝑒 −𝜔𝑛𝑡

Where: 𝑧𝑜 is the initial displacement and 𝑣𝑜 is the initial velocity

𝑧
𝑫 =𝟏
The relationship between the displacement 𝑧 and the time t is Critically damped system
shown in the figure. It can be seen that this is similar to the case
of the overdamped system (no oscillation) except for the fact that
the sign of z changes only once.

Therefore, the critical damping is also defined as the minimum t

amount of damping for which the system will not vibrate when
initially disturbed, but will return to equilibrium position.
Case 3: 𝑫 < 𝟏

This is the case of underdamped system c < cc (=2 𝑘𝑚)

The solution for displacement can be obtained as:

𝑧 = 𝑍 cos 𝜔𝑑 𝑡 − 𝛼
Where: 2 𝑧
𝑣𝑜 + 𝐷𝜔𝑛 𝑧𝑜
𝑍 = 𝑒 −𝐷𝜔𝑛𝑡 𝑧𝑜2 + 𝑫 =𝟏
𝜔𝑛 1 − 𝐷2 Critically damped system

𝑣𝑜 + 𝐷𝜔𝑛 𝑧𝑜
𝛼 = tan−1 zn
𝜔𝑛 𝑧𝑜 1 − 𝐷2 Zn+1

𝜔𝑑 = damped natural angular frequency = 𝜔𝑛 1 − 𝐷2 tn tn+1 t

The relationship between the displacement 𝑧 and the time t

is shown in the figure. It can be seen that for this case there 𝑇
is oscillation and the amplitude of vibration is decreasing
gradually.
𝑇 is the period of oscillation = tn+1 – tn

2𝜋 2𝜋
𝑇= =
𝜔𝑑 𝜔𝑛 1 − 𝐷2
Case 3: 𝑫 < 𝟏 (Cont’d):
Describe how the amplitude of vibration decreases with time:

2 𝑧
𝑣𝑜 + 𝐷𝜔𝑛 𝑧𝑜
𝑍 = 𝑒 −𝐷𝜔𝑛𝑡 𝑧𝑜2 + 𝑫 =𝟏
𝜔𝑛 1 − 𝐷2 Critically damped system

Calculate the value of two successive

zn
amplitudes of the same sign (+ or -), say zn & Zn+1
Zn+1. The corresponding time is tn & tn+1.
tn tn+1 t

𝑍𝑛+1 𝑒𝑥𝑝 −𝐷𝜔𝑛 𝑡𝑛+1

= = 𝑒𝑥𝑝 −𝐷𝜔𝑛 𝑡𝑛+1 − 𝑡𝑛 𝑇
𝑍𝑛 𝑒𝑥𝑝 −𝐷𝜔𝑛 𝑡𝑛
𝑍𝑛+1 2𝜋
= 𝑒𝑥𝑝 −𝐷𝜔𝑛 𝑇 = 𝑒𝑥𝑝 −𝐷𝜔𝑛
𝑍𝑛 𝜔𝑛 1−𝐷2 𝑇 is the period of oscillation = tn+1 – tn

𝑍𝑛 2𝜋𝐷 2𝜋 2𝜋
𝛿 = ln = 𝑇= =
𝑍𝑛+1 1 − 𝐷2 𝜔𝑑 𝜔𝑛 1 − 𝐷2

𝛿 is called the logarithmic decrement

If 𝐷 is very small then 𝛿 ≈ 2𝜋𝐷
 Example
For a machine foundation, the weight = 60 kN, k = 11,000 kN/m, and c = 200 kN-s/m, determine:
(a) whether the system is overdamped, underdamped, or critically damped,
(b) the logarithmic decrement, and
(c) the ratio of two successive amplitudes.
(d) The damped natural frequency

(a) To know whether the system is overdamped, underdamped or critically damped, calculate D and see whether it is
greater than or equal to or less than one.
D = c/cc
cc= 𝑐𝑐 = 2 𝑘𝑚 = 2 (11000x103 N/m)x(60x103/9.81 kg) = 518761 N.s/m = 518.761 kN.s/m
D = 200 / 518.761 = 0.386 < 1 (underdamped system)

𝑍𝑛 2𝜋𝐷
(b) 𝛿 = ln =
𝑍𝑛+1 1−𝐷2

𝑍𝑛 2𝜋𝐷
𝛿 = ln = = 2𝜋(0.386)/sqrt[1-(0.386)2] = 2.63
𝑍𝑛+1 1−𝐷2

𝑍𝑛
(c) 𝛿 = ln 𝑍𝑛+1
𝑍𝑛
= 𝑒 𝛿 = 𝑒 2.63 = 13.87
𝑍𝑛+1
Example: (cont’d)
(d)
𝜔𝑑 = 𝜔𝑛 1 − 𝐷2

𝑓𝑑 = 𝑓𝑛 1 − 𝐷2

1 𝑘 1 11000𝑥103
𝑓𝑛 = = = 6.75 𝐻𝑧
2𝜋 𝑚 2𝜋 60𝑥103 /9.81

𝑓𝑑 = 6.75 1 − 0.3862 = 𝟔. 𝟐𝟑 𝑯𝒛
 Forced Vibration with Viscous Damping
Dynamic load 𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
Foundation & Machinery Mass: m 𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
Foundation Weight: W = mg
zst Equilibrium Equilibrium
Soil position z position
k c
k c
𝑚𝑧ሷ
kz 𝑐𝑧ሶ

Real Problem Soil is represented by A foundation is founded on the When Q is applied, the
a spring of stiffness spring and the dashpot and the system will vibrate around
“k” and a dashpot of total mass (foundation & the equilibrium position.
coefficient “c” machinery) is “m” and total The acting forces on the
weight is “W” mass are:
[Link] force (kz)
[Link] force (c𝑧)ሶ
[Link] force (m𝑧)ሷ
 Equation of motion:
𝑚𝑧ሷ + 𝑐 𝑧ሶ + 𝑘𝑧 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
The solution of this equation has two parts: Transient (without the
load) and Steady State (due to the load). Equilibrium
The transient part is exponentially decaying function and will be z position
damped out quickly and the motion will be described by the steady
state part (particular solution) (i.e. the transient part is ignored and
only the steady state part (particular solution) is considered). The 𝑚𝑧ሷ
system then will vibrate harmonically with frequency as the force kz 𝑐𝑧ሶ
frequency.
The solution for displacement can be obtained as:

𝑧 = 𝑍 sin 𝜔𝑡 − 𝛼
𝑄𝑜 /𝑘
Where 𝑍=
1 − 𝜔 2 /𝜔𝑛2 2 + 4𝐷2 𝜔 2 /𝜔𝑛2

𝑐𝜔 1 − 𝜔 2 /𝜔2
𝑛
𝛼 = tan−1 = tan −1
𝑘 − 𝑚𝜔 2 2𝐷 𝜔/𝜔𝑛
 𝑧 = 𝑍 sin 𝜔𝑡 − 𝛼

Where Z is the dynamic amplitude of displacement

𝑄𝑜 /𝑘 𝑐𝜔 1 − 𝜔 2 /𝜔2
𝑛
𝑍= 𝛼 = tan−1 = tan −1
1− 𝜔 2 /𝜔𝑛2 2 + 4𝐷2 𝜔 2 /𝜔𝑛2 𝑘 − 𝑚𝜔 2 2𝐷 𝜔/𝜔𝑛

Remember that 𝑄𝑜 /𝑘 is the static displacement (Zs-Qo) due to application of 𝑄𝑜 (𝑍𝑠−𝑄𝑜 = 𝑄𝑜 /𝑘 ).

The dynamic amplitude Z can be written as the static displacement times a magnification factor M, as before with
the undamped case.
𝑍
𝑍 = 𝑍𝑠−𝑄𝑜 𝑀 =𝑀
𝑍𝑠−𝑄𝑜
1
𝑀=
1 − 𝜔 2 /𝜔𝑛2 2 + 4𝐷2 𝜔 2 /𝜔𝑛2

The magnification factor M represents the ratio of the maximum dynamic displacement to the static displacement.

If we plot M (=𝑍 / 𝑍𝑠−𝑄𝑜 ) against 𝜔/𝜔𝑛 , it will be clear that the peak value of M (resonance) does not occur at
𝜔 𝜔
= 1 . Recall that the resonance occurs at = 1 for the undamped case.
𝜔𝑛 𝜔𝑛
 Resonance (peak value of M) is
function of (/n)

𝜔
𝜔𝑛
Dynamic Amplitude at Resonance (Peak Amplitude):

To determine the value of dynamic amplitude at resonance (Peak amplitude) as function of (/n),
differentiate (Z/Zs-Qo)with respect to (/n) and equate the differentiated value to zero. This leads to the
following value of  at the maximum amplitude (m).

𝜔𝑚 = 𝜔𝑛 1 − 2𝐷2

𝑓𝑚 = 𝑓𝑛 1 − 2𝐷2

𝜔𝑚 is the angular frequency of the applied dynamic force causing (at) maximum dynamic amplitude (the
resonant angular frequency for vibration with damping)

𝑓𝑚 is the frequency of the applied dynamic force causing (at) maximum dynamic amplitude (the resonant
frequency for vibration with damping)

Substituting the value of 𝜔𝑚 into the dynamic amplitude equation, gives the dynamic amplitude value at
resonance (Zres).

𝑄𝑜 1 1 𝑍𝑟𝑒𝑠 1 1
𝑍𝑟𝑒𝑠 = 𝑍𝑟𝑒𝑠 = 𝑍𝑠−𝑄𝑜 = 𝑀𝑟𝑒𝑠 =
𝑘 2𝐷 1 − 𝐷2 2𝐷 1 − 𝐷2 𝑍𝑠−𝑄𝑜 2𝐷 1 − 𝐷2 2𝐷 1 − 𝐷2
 Maximum Dynamic Force on Subgrade

In this case where the soil is represented by a spring and a dashpot, there are two components of force on the soil:
force on spring and force on the dashpot.

𝐹𝑑𝑦𝑛 = 𝑘𝑧 + 𝑐 𝑧ሶ

By mathematical manipulation, the following amplitude of maximum dynamic force on the soil can be obtained:

𝐹𝑑𝑦𝑛−𝑚𝑎𝑥 = 𝑍 𝑘 2 + 𝑐𝜔 2

Remember that 𝑍 is the amplitude of displacement and  the angular frequency of the applied dynamic load.
 Example
A machine and its foundation weigh 140 kN. The spring constant and the damping ratio of the soil supporting the
foundation may be taken as 12x104 kN/m and 0.2, respectively. Forced vibration of the foundation is caused by a force
that can be expressed as
Q (kN) = Q0 sint
Q0 = 46 kN,  = 157 rad/s
Determine
(a) the undamped natural frequency of the foundation,
(b) amplitude of motion, and
(c) maximum dynamic force transmitted to the subgrade.
(a) 𝑘 12𝑥104 𝑥103 𝑁
𝜔𝑛 = = = 91.67 𝑟𝑎𝑑/𝑠
𝑚 140𝑥103 /9.81 𝑘𝑔
𝜔𝑛
𝑓𝑛 = = 𝟏𝟒. 𝟓𝟗 𝑯𝒛
2𝜋
(b) 𝑄𝑜 /𝑘 46/12𝑥104
𝑍= = = 0.000187 𝑚 = 𝟎. 𝟏𝟖𝟕𝒎𝒎
2 2 2 1− 157/91.67 2 2 +4(0.2)2 157/91.67 2
1− 𝜔2 /𝜔𝑛 +4𝐷2 𝜔2 /𝜔𝑛

(c) 𝐹𝑑𝑦𝑛−𝑚𝑎𝑥 = 𝑍 𝑘 2 + 𝑐𝜔 2
𝑐 𝑐 140𝑥103 𝑠
𝐷= = 𝑐 = 2𝐷 𝑘𝑚 = 2 0.2 12𝑥104 𝑥103 = 523456 𝑁. = 523.46 𝑘𝑁. 𝑠/𝑚
𝑐𝑐 2 𝑘𝑚 9.81 𝑚
𝐹𝑑𝑦𝑛−𝑚𝑎𝑥 = 0.187 1402 + 523.46𝑥157 2 = 𝟐𝟕. 𝟐𝟎 𝒌𝑵
 Rotating-Mass-Type Excitation

𝑚𝑒 = rotating mass
𝑒 = eccentricity

𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
Generates 𝑄 = 2𝑚𝑒 𝑒𝜔2 sin 𝜔𝑡

Generates
Machine with counter rotating masses vertical vibrating force

In many cases of foundation equipment, vertical vibration of foundation is produced by counter-rotating masses.
Horizontal forces on the foundation at any instant cancel.
Net vibrating vertical force on the foundation = 𝑄 = 2𝑚𝑒 𝑒𝜔2 sin 𝜔𝑡 or, 𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡 where 𝑄𝑜 = 2𝑚𝑒 𝑒𝜔2
(where 𝑚𝑒 = mass of each counter-rotating element, 𝑒 = eccentricity, and 𝜔 = angular frequency of the masses)
 Rotating-Mass-Type Excitation (cont.)
The equation of motion for this case is similar to that of the forced vibration with viscous damping. However 𝑄𝑜 = 2𝑚𝑒 𝑒𝜔2
in our case depends on 𝜔, while for the previous case was just a constant that does not depend on 𝜔.

𝑚𝑧ሷ + 𝑐 𝑧ሶ + 𝑘𝑧 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡

𝑚𝑧ሷ + 𝑐 𝑧ሶ + 𝑘𝑧 = 2𝑚𝑒 𝑒𝜔2 𝑠𝑖𝑛 𝜔𝑡

The solution for this equation is obtained before for the case of forced vibration with viscous damping

𝑧 = 𝑍 sin 𝜔𝑡 − 𝛼
𝑄𝑜 /𝑘 𝑐𝜔 1 − 𝜔2 /𝜔𝑛2
𝑍= 𝛼= tan−1 = tan −1
1 − 𝜔 2 /𝜔𝑛2 2 + 4𝐷2 𝜔 2 /𝜔𝑛2 𝑘 − 𝑚𝜔 2 2𝐷 𝜔/𝜔𝑛

2𝑚𝑒 𝑒𝜔2 /𝑘 2𝑚 𝑒
𝑄𝑜 = 2𝑚𝑒 𝑒𝜔2 𝑍= ( 𝑚𝑒 ) 𝜔2 /𝜔𝑛2
1 − 𝜔 2 /𝜔𝑛2 2 + 4𝐷2 𝜔 2 /𝜔𝑛2 𝑍=
1 − 𝜔 2 /𝜔𝑛2 2 + 4𝐷2 𝜔 2 /𝜔𝑛2
𝑍 𝜔2 1
=
2𝑚𝑒 𝑒/𝑚 𝜔𝑛2 1 − 𝜔 2 /𝜔𝑛2 2 + 4𝐷2 𝜔 2 /𝜔𝑛2
𝑍 𝜔
A plot of the ratio 2𝑚 against 𝜔/𝜔𝑛 can be obtained. For a given value of 𝜔 the corresponding ratio can
𝑒 𝑒/𝑚 𝑛
be obtained and then 𝑍 can be obtained by multiplying the ratio times (2𝑚𝑒 𝑒/𝑚).
 Rotating-Mass-Type Excitation (cont.)

𝑍 𝜔2 1
=
2𝑚𝑒 𝑒/𝑚 𝜔𝑛2 1 − 𝜔 2 /𝜔𝑛2 2 + 4𝐷2 𝜔 2 /𝜔𝑛2

𝑍
2𝑚𝑒 𝑒/𝑚

𝜔
𝜔𝑛
 Rotating-Mass-Type Excitation (cont.)
Dynamic Amplitude at Resonance (Peak Amplitude):
For rotating-mass-type excitation, the angular resonant frequency (value of  at the maximum amplitude
(m)) and the resonant frequency (𝑓𝑚 ) can be obtained as:

𝜔𝑛 𝑓𝑛
𝜔𝑚 = 𝑓𝑚 =
1 − 2𝐷2 1 − 2𝐷2

𝜔𝑚 is the angular frequency of the applied dynamic force causing (at) maximum dynamic amplitude (the
resonant angular frequency for vibration with damping)

𝑓𝑚 is the frequency of the applied dynamic force causing (at) maximum dynamic amplitude (the resonant
frequency for vibration with damping)
Note that 𝜔𝑚 and 𝑓𝑚 are different from the values obtained for non-rotating excitation as the force
amplitude in the rotating excitation if function of 𝜔.
Similar to the procedure followed to determine Zres for the case of non-rotaing mass type excitation, the dynamic
amplitude value at resonance (Zres) is obtained as:

2𝑚𝑒 𝑒/𝑚
𝑍𝑟𝑒𝑠 =
2𝐷 1 − 𝐷2
 Vibration of Multiple Degree of Freedom Systems
m1
k1
m2
k2
m3
k3
m4
k4

Idealization 1st Mode 2nd Mode 3rd Mode 4th Mode

Four story Building
4-degree of
freedom system

Each lumped mass at floor level has one degree of freedom, but the system has number of degrees of freedom equal to the
number of masses. This example is for a 4-degree of freedom system.
Each mass, has its own natural frequency (𝜔𝑛𝑚1 , 𝜔𝑛𝑚2 , …). In free vibration, this system has four natural frequencies
(𝜔𝑛1 , 𝜔𝑛2 , 𝜔𝑛3 , 𝜔𝑛4 ) that are different from the natural frequencies of each mass.
 Vibration of Multiple Degree of Freedom Systems
m1
k1
m2
k2
m3
k3
m4
k4

Idealization 1st Mode 2nd Mode 3rd Mode 4th Mode

Four story Building
4-degree of
freedom system

For this system, at any time, the displacement of any mass is the combination of the displacement resulting from four
harmonics (modes) of these four natural frequencies, respectively. These modes are known as the principal modes of
vibration (1st mode is related to 𝜔𝑛1 , etc.…). The first mode of vibration is related to the case where all the masses are
vibrating in phase (same side of displacement). This mode corresponds to the lowest natural frequency of the system
and the mode is called also lowest mode or fundamental mode of vibration. If all adjacent masses are out phase of
each other, this is termed the highest mode of vibration and corresponds to the highest frequency of the system.
2-degree of freedom system
A sinusoidal force acting at m1 of the given system, calculate the
natural frequencies of the system and then calculate the magnitude of
displacements at m1 & m2
𝑚2 𝑧2ሷ
First step: calculated the natural frequencies of the system z2 z2
The system has two lumped masses, therefore it has k2 k2 𝑧2 − 𝑧1 𝑘2
two natural frequencies: 𝜔𝑛1 and 𝜔𝑛2
There are two equations of motions: one for m1 and 𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
another for m2: 𝑚1 𝑧1ሷ
z1 z1
𝑚1 𝑧1ሷ + 𝑘1 𝑧1 + 𝑧1 − 𝑧2 𝑘2 = 0 k1 k1
𝑘1 𝑧1
𝑚2 𝑧2ሷ + 𝑧2 − 𝑧1 𝑘2 = 0

Let 𝜔𝑛 be the natural frequency of the system, and

𝑧1 = 𝐴 sin 𝜔𝑛 𝑡
𝑧2 = 𝐵 sin 𝜔𝑛 𝑡

Substitute the values of 𝑧1 & 𝑧2 into the equations of motions yields,

𝑘1 + 𝑘2 − 𝑚1 𝜔𝑛2 𝐴 − 𝑘2 𝐵 = 0
−𝑘2 𝐴 + 𝑘2 − 𝑚2 𝜔𝑛2 𝐵 = 0
2-degree of freedom system
𝑘1 + 𝑘2 − 𝑚1 𝜔𝑛2 𝐴 − 𝑘2 𝐵 = 0
−𝑘2 𝐴 + 𝑘2 − 𝑚2 𝜔𝑛2 𝐵 = 0

For nontrivial solution, the determinant of the

coefficients of A & B should be zero.

𝑘1 +𝑘2 −𝑚1 𝜔𝑛2 −𝑘2

=0
−𝑘2 𝑘2 − 𝑚2 𝜔𝑛2

𝑘1 +𝑘2 −𝑚1 𝜔𝑛2 𝑘2 − 𝑚2 𝜔𝑛2 = 𝑘22

𝑘1 + 𝑘2 𝑘2 𝑘1 𝑘2
𝜔𝑛4 − + 2
𝜔 + =0
𝑚1 𝑚2 𝑛 𝑚1 𝑚2

Solution of this equation will give two

values of natural frequencies 𝜔𝑛1 and
𝜔𝑛2 . 𝜔𝑛1 (smaller value) corresponds
to the first mode and 𝜔𝑛2 (larger
value) corresponds to the second
mode.
 2-degree of freedom system (cont.)
Second step: calculate the amplitude of vibration of masses m1 & m2
There are two equations of motions: one for m1 and another for m2:

𝑚1 𝑧1ሷ + 𝑘1 𝑧1 + 𝑧1 − 𝑧2 𝑘2 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
𝑚2 𝑧2ሷ + 𝑧2 − 𝑧1 𝑘2 = 0 z2

Let: 𝑧1 = 𝐴1 sin 𝜔𝑡 k2
𝑧2 = 𝐴2 sin 𝜔𝑡
𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
Substitute the values of 𝑧1 & 𝑧2 into the equations of motions yields, z1
𝑘1 + 𝑘2 − 𝑚1 𝜔𝑛2 𝐴1 − 𝑘2 𝐴2 = 𝑄𝑜
k1
−𝑘2 𝐴1 + 𝑘2 − 𝑚2 𝜔𝑛2 𝐴2 = 0

These two equations can be solved to give:

𝑘2 𝑘2
𝑄𝑜 𝑚 − 𝜔 2 𝑄 𝑜 𝑚2
𝐴1 = 2 𝐴 2 =
𝑚1 ∆ 𝜔 2 𝑚1 ∆ 𝜔 2

2 4
𝑚2 𝑘1 𝑘2 2
𝑚2 𝑘1 𝑘2
∆ 𝜔 =𝜔 − 1+ + 𝜔 + 1+
𝑚1 𝑚1 + 𝑚2 𝑚2 𝑚1 𝑚1 + 𝑚2 𝑚2
 2-degree of freedom system (cont.)
Second step (cont.): calculate the amplitude of vibration of masses m1 & m2

𝑘 𝑘
𝑄𝑜 𝑚2 − 𝜔2 𝑄𝑜 𝑚2 z2
2
𝐴1 = 2 𝐴2 =
𝑚1 ∆ 𝜔 2 𝑚1 ∆ 𝜔 2
k2

2 4
𝑚2 𝑘1 𝑘2 2
𝑚2 𝑘1 𝑘2
∆ 𝜔 =𝜔 − 1+ + 𝜔 + 1+ 𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
𝑚1 𝑚1 + 𝑚2 𝑚2 𝑚1 𝑚1 + 𝑚2 𝑚2
z1
k1

If the system of k1 & m1 is our main system (say machine with foundation on
undamped soil) and the system of k2 & m2 is an auxiliary system (additional)
added to the main system, then from the equation of the amplitude of A1, the
vibration of the main system can be made equal to zero if we design the auxiliary
𝑘
system such that 𝑚2 is equal to 𝜔2 . This is the principle of vibration absorber.
2
 Example
Given: W1 = 111.20 N; W2 = 22.24 N k1 = 17.5 kN/m; k2 = 8.75 kN/m
Calculate: z2
(a) The natural frequencies of the system. k2
(b) The amplitude of vibration for m1 & m2 if
𝑄 = 44.5 𝑠𝑖𝑛 𝜔𝑡 and 𝜔=78.54 rad/s
𝑄 = 𝑄𝑜 𝑠𝑖𝑛 𝜔𝑡
(a) z1
𝑘1 + 𝑘2 𝑘2 𝑘1 𝑘2 k1
𝜔𝑛4 − + 2
𝜔 + =0
𝑚1 𝑚2 𝑛 𝑚1 𝑚2
3 + 8.75 ∗ 103 3 3 )(8.75 ∗ 103 )
17.5 ∗ 10 8.75 ∗ 10 (17.5 ∗ 10
𝜔𝑛4 − + 𝜔𝑛2 + =0
111.20/9.81 22.24/9.81 111.20 22.24
( 9.81 )( 9.81 )
𝜔𝑛4 − 6175.4 𝜔𝑛2 + 5958604.3 = 0

6175.4 ∓ 6175.4 2 − 4(1)(5958604.3)

2
𝜔𝑛1,2 =
2
2
𝜔𝑛1 = 1196.86 2
𝜔𝑛2 = 4978.54
𝝎𝒏𝟏 = 𝟑𝟒. 𝟔 𝒓𝒂𝒅/𝒔 𝝎𝒏𝟐 = 𝟕𝟎. 𝟓𝟔 𝒓𝒂𝒅/𝒔
 (b)
𝑘 𝑘2
𝑄𝑜 𝑚2 − 𝜔2 𝑄𝑜
2
𝑚2
𝐴1 = 𝐴2 =
𝑚1 ∆ 𝜔 2 𝑚1 ∆ 𝜔 2

2 4
𝑚2 𝑘1 𝑘2 2
𝑚2 𝑘1 𝑘2
∆ 𝜔 =𝜔 − 1+ + 𝜔 + 1+
𝑚1 𝑚1 + 𝑚2 𝑚2 𝑚1 𝑚1 + 𝑚2 𝑚2
22.24
2 4 9.81 17.5∗103 8.75∗103 2 22.24/9.81 17.5∗103 8.75∗103
∆ 𝜔 = (78.54) − 1 + 111.20 111.20 22.24 + 22.24 78.54 + 1+
+ 9.81 111.20/9.81 111.20/9.81+22.24/9.81 22.24/9.81
9.81 9.81 9.81
= 38050782.1 – (1.2)(5146.133)(6168.5316)+(1.2)(1286.533)(3859.6)= 5916484.586

8.75 ∗ 103
𝑘2 44.5 − (78.54)2
𝑄𝑜 𝑚 − 𝜔2 22.24/9.81 −102747.4642
2
𝐴1 = = = = −0.00153 𝑚 = 𝟏. 𝟓𝟑 𝒎𝒎
𝑚1 ∆ 𝜔 2 (111.20/9.81)(5916484.586) 67065554.12

𝑘 8.75∗103
𝑄𝑜 𝑚2 44.5 22.24/9.81 171752.192
2
𝐴2 = = = 67065554.12 = 0.00256 𝑚 = 𝟐. 𝟓𝟔 𝒎𝒎
𝑚1 ∆ 𝜔 2 (111.20/9.81)(5916484.586)