Vibration Chapter03

Mechanical Vibrations
Fifth Edition in SI Units

Singiresu S. Rao
Chapter 3
Harmonically Excited Vibration
3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

3
Chapter Outline
3.1 Introduction
3.2 Equation of Motion
3.3 Response of an Undamped System Under Harmonic Force
3.4 Response of a Damped System Under Harmonic Force
it
3.5 Response of a Damped System Under F (t )  F0 e
3.6 Response of a Damped System Under the Harmonic Motion of
the Base
3.7 Response of a Damped System Under Rotating Unbalance
3.8 Forced Vibration with Coulomb Damping
3.9 Forced Vibration with Hysteresis Damping
3.10 Forced Motion with Other Types of Damping
3.11 Self-Excitation and Stability Analysis

Chapter Outline
3.12 Transfer-Function Approach

3.13 Solutions Using Laplace Transforms
3.14 Frequency Transfer Functions

3.1
Introduction

3.1
3.1 Introduction
• Forcedvibrations occurs when external energy is supplied to the

system during vibration
• The external force can be supplied through either an applied force

or an imposed displacement excitation, which may be harmonic,
nonharmonic but periodic, nonperiodic, or random in nature.
• Harmonic response results when the system responses to a

harmonic excitation
• Transientresponse is defined as the response of a dynamic system

to suddenly applied nonperiodic excitations

3.2
Equation of Motion

3.2
• From the figure below, the equation of motion using Newton’s

Second Law of Motion states that
mx  cx  kx  F (t ) (3.1)
• The homogeneous solution of the equation is
mx  cx  kx  0 (3.2)
A spring-mass-damper system

• The variations of homogeneous and general solutions with time for

a typical case are shown in the figure below.
Homogenous and general solutions of Eq. (3.1) for an underdamped case

3.3
Response of an Undamped System Under Harmonic Force

3.3
3.3 Response of an Undamped System Under
Harmonic Force
• Consider an undamped system subjected to a harmonic force. If a

force F (t )  F0 cos t acts on the mass m of the system,
mx  kx  F0 cos t (3.3)
• The homogeneous solution is given by:
xh (t )  C1 cos nt  C2 sin nt (3.4)

where n  (k / m) is the natural frequency
1/ 2

Harmonic Force
• Because the exciting force and particular solution is harmonic and

has the same frequency, we can assume a solution in the form:
x p (t )  X cos t (3.5)
where X is the max amplitude of xp(t)
F0  st
X  (3.6)
k  m 2
 
2
1   
 n 
where  st  F0 / k denotes the static deflection
Thus,
F0
x(t )  C1 cos nt  C2 sin nt  cos t (3.7)
k  m 2

Harmonic Force
• Using initial conditions

F0 x 0
C1  x0  , C2  (3.8)
k  m 2 n
Hence
 F0   x 0 
x(t )   x0  2 
cos  n t    sin nt
 k  m   n 
 F0 
 2 
cos t (3.9)
 k  m 
The max amplitude can be expressed as

X 1
 (3.10)
 st  
2
1   
 n 
Harmonic Force
• The quantity X /  st is called the magnification factor, amplification

factor, or amplitude ratio.
• The variation of the amplitude ratio with

the frequency ratio is shown in the figure.
• The response of the system can be

identified to be of three types.
Magnification factor of an undamped system

Harmonic Force
• Case 1:
When 0 <  / n < 1, the denominator in Eq.(3.10) is positive and

the response is given by Eq.(3.5) without change. The harmonic
response of the system is in phase with external force, shown in
figure.
Harmonic response when 0   / n  1

Harmonic Force
• Case 2:
When  / n > 1, the denominator in Eq.(3.10) is negative and the

steady-state solution can be expressed as
x p (t )   X cos t (3.11)
where the amplitude is

 st
X 2
(3.12)
 
   1
 n 
The variations are shown in figure.

Harmonic response when  / n  1
Harmonic Force
• Case 3:
When  / n  1 , the amplitude X given by Eq.(3.10) or (3.12)

becomes infinite.
The forcing frequency is equal to the natural frequency of the

system is called resonance.
The total response if the

system at resonance is
x 0  t
x (t )  x0 cos nt  sin nt  st n sin nt (3.15)
n 2
Harmonic response when  / n  1
Harmonic Force
• Total Response
The total response of the system, Eq.(3.7) or Eq.(3.9), can also be

expressed as
 st 
x(t )  A cos(n t   )  cos t ; for 1 (3.16)
 
2
n
1   
 n 

Harmonic Force
• Total Response
And
 st 
x(t )  A cos(nt   )  cos t ; for 1 (3.17)
 
2
n
1   
 n 

Harmonic Force
• Beating Phenomenon
If the forcing frequency is close to, but not exactly equal to, the
natural frequency of the system, beating may occur.
The phenomenon of beating can be expressed as:
 F0 / m 
x(t )   sin t  sin t (3.22)
 2 
Phenomenon of beats
Harmonic Force
• Beating Phenomenon
The time between the points of zero amplitude or the points of

maximum amplitude is called the period of beating and is given by
2 2
b   (3.23)
2 n  
The frequency of beating defined as
b  2  n  

Harmonic Force
Example 3.1
Plate Supporting a Pump
A reciprocating pump, having a mass of 68kg, is mounted at the
middle of a steel plate of thickness 1cm, width 50cm, and length
250cm, clamped along two edges as shown in Figure. During
operation of the pump, the plate is subjected to a harmonic force, F(t)
= 220 cos 62.832t N. Find the amplitude of vibration of the plate.

Harmonic Force
Example 3.1
Solution
The plate can be modeled as a fixed-fixed beam having Young’s
modulus (E) = 200GPa, length = 250cm, and area moment of inertia,
1
(I )  (50 10  2 )(10 2 )3  41.667 109 m 4
12
The bending stiffness of the beam is given by:
192EI (192)(200 109 )(41.667 109 )

k  2 3
 102400.82 N/m (E.1)
l 3
(250  10 )

Harmonic Force
Example 3.1
Solution
Thus,
F0 220
X 
 m  2 102400.82  68(62.832) 2
k   
g
 0.00132487 m  1.32487 mm (E.2)

3.4
Response of a Damped System Under Harmonic Force

3.4
3.4 Response of Damped System Under Harmonic
Force
• The equation of motion can be derived as

 
X k  m 2 cos t     c sin  t     F0 cos t  (3.24)
• Using trigonometric relations, we obtain

 
X  k  m 2  cos   c sin   F0
X   k  m  sin   c cos    0
2
(3.27)
• The solution gives
F0
X
 k  m   c   1/ 2
(3.28)
2 2 2 2
 c 
  tan 1  2 
(3.29)
 k  m 
Force
• The figure shows typical plots of the forcing function and steady-
state response.
(a) Graphical representation (b) Vectorial representation

Force
• Substituting the following,
k c F0 
n  ;  2 n ;  st  ; r
m m k n
• We obtain
X 1 1
  (3.30)
 st  2 2
 2
1/ 2
(1  r 2 ) 2  (2r ) 2
     
 
1      2  

  n     n 

  
 2 
 n  1  2 r 
  tan 1  2
 tan  2 
(3.31)
     1  r 
1     
  n 
Force
• The following characteristics of the magnification factor (M) can be

noted from the figure as follows:

Force
1. For an undamped system (  0) , Eq.(3.30) reduces to Eq.


M and
(3.10), r as
1 .
2. Any amount of damping (  0) reduces the magnification factor

(M) for all values of the forcing frequency.
3. For any specified value of r, a higher value of damping reduces the

value of M.
4. In the degenerate case of a constant force (when r = 0), the value

of M = 1.

Force
5. The reduction in M in the presence of damping is very significant at

or near resonance.
6. The amplitude of forced vibration becomes smaller with increasing

values of the forcing frequency (that is, M   as r  1 ).
1
7. For 0    , the maximum value of M occurs when
2
r  1  2 2 or   n 1  2 2 (3.32)
which can be seen to be lower than the undamped natural

frequency and the damped frequency d  n 1  
2

Force
8. The maximum value of X (when r  1  2 2 ) is given by:

X  1
   (3.33)
  st  max 2 1  
2
and the value of X at   n by
X  1
   (3.34)
  st  n 2
1 dM 1
9. For   when r = 0. For
, 0 , the graph of M  
2 dr 2
monotonically decreases with increasing values of r.

Force
• The following characteristics of the phase angle can be observed

from the figure and Eq.(3.31) as follows:

Force
1. For an undamped system (  0) , Eq.(3.31) shows that the

phase angle is 0 for 0 < r < 1 and 180° for r > 1. This implies that
the excitation and response are in phase for 0 < r < 1 and out of
phase for r > 1 when
0 .
2. For   0 and 0 < r < 1, the phase angle is given by 0 < Φ <
90°, implying that the response lags the excitation.
3. For   0 and r > 1, the phase angle is given by 90° < Φ < 180°,
implying that the response leads the excitation.

Force
4. For   0 and r = 1, the phase angle is given by Φ = 90°,

implying that the phase difference between the excitation and the
response is 90°.
5. For   0 and large values of r, the phase angle approaches 180°,

implying that the response and the excitation are out of phase.

Force
• Total response
For an underdamped system,
x(t )  X 0 e  nt cos(d t  0 )  X cos(t   ) (3.35)
d  1   2 n (3.36)
For the initial conditions, Eq.(3.35) yields
x0  X 0 cos 0  X cos 
x 0   n X 0 cos 0  d X 0 sin 0  X sin 0 (3.37)

Force
Example 3.3
Total Response of a System
Find the total response of a single degree of freedom system with m
=10kg, c = 20 N-s/m, k = 4000 N/m, x0 = 0.01 m, x 0  0 under the
following conditions:
a. An external force F (t )  F0 cos t acts on the system with   10 rad/s

and
F0  100 N .
b. Free vibration with F(t) = 0.

Force
Example 3.3
Solution
a. From the given data,
n  k
m  4000
10  20 rad/s
 st  F0
k
 100
4000
 0.025 m
 c
cc
 c
2 km
 20
2  4000 10 
 0.05
d  1   2 n  1   0.05  20  19.974984 rad/s

2
r  n  10
20
 0.5
 st 0.025
X   0.03326m (E.1)
1  r    2r 
2 2 2
1  0.05    2 0.5 0.5 
2 2 2

Force
Example 3.3
Solution
1  2 r  1  2  0.05  0.5 
We have   tan  2 
 tan    3.814075 (E.2)
1 r   1  0 .5 
2
Using initial conditions x0  0.01 and x 0  0

X 0 cos 0  0.023186 (E.3)
0  (0.05)(20) X 0 cos 0  X 0 (19.974984) sin 0
(0.03326)(10) sin(3.814075) (E.4)

Force
Example 3.3
Solution
Substituting Eq.(E.3) into (E.4),
X 0 sin 0  0.002268 (E.5)

Hence,

X 0  ( X 0 cos 0 )  ( X 0 sin 0 )
2

2 1/ 2
 0.023297 (E.6)
X 0 sin 0
tan 0   0.0978176
X 0 cos 0
0  5.586765 (E.7)

Force
Example 3.3
Solution
b. For free vibration, the total response is

x(t )  X 0 e nt cos(d t  0 ) (E.8)
Using the initial conditions,

2 1/ 2 1/ 2
   x     0.05  20  0.01  
2
X 0   x02   n 0    0.01  
2
   0.010012 (E.9)
  d     19.974984  
 x   n x0  0.05  20 
0  tan 1   0   tan 1     2.865984 (E.10)
 d x0   19.974984 
Force
• Quality factor and bandwidth:
For values of damping (  0.05) ,

 X   X  1
      Q (3.38)
  st  max   st  n 2
Power absorbed by damper:
W  cX 2 (3.39)
From figure, R1 and R2 is the bandwidth of the system.
Set X /  st  Q / 2 , hence,
1 Q 1
 
(1  r )  (2r )
2 2 2
2 2 2

Force
• Quality factor and bandwidth:
Or r  r (2  4 )  (1  8 )  0
4 2 2 2
(3.40)
Solving the equation for small values of  ,
2 2
 1   2 
r  R     1  2 ,
1
2
1
2
r  R     1  2
2
2 2
2 (3.42)
 n   n 
22  12  (2  1 )(2  1 )  ( R22  R12 )n2  4n2 (3.43)
Using the relation, 2  1  2n (3.44)

1 n
Q  (3.46)
2 2  1

3.5
i t
Response of Damped System Under F (t )  F0 e

3.5
i t
3.5 Response of Damped System Under F (t )  F0 e
• The equation of motion becomes
mx  cx  kx  F0eit (3.47)

• Assuming the particular solution
x p (t )  Xeit (3.48)
• Substituting,
F0
X  (3.49)
(k  m 2 )  ic
 k  m 2 c 
X  F0   i 2 2
(3.50)
 ( k  m  2 2
)  c 
2 2
( k  m  2 2
)  c  

i t
i
• Using the relation x  iy  Ae
F0 i
X e (3.51)
(k  m ) 2 2
c  2

2 1/ 2
 c 
  tan 1  2 
(3.52)
 k  m 
• Hence, the steady-state solution becomes
F0
x p (t )  ei (t  ) (3.53)
(k  m 2 2
)  (c ) 
2 1/ 2

i t
• Frequency Response
The complex frequency response is given by:
kX 1
H (i )   (3.54)
F0 1  r 2  i 2r
The absolute value becomes,

 2r 
(3.56) where   tan 
 i 1
H (i )  H (i ) e 2 
(3.57)
1 r 
Thus, the steady-state solution becomes,
F0
x p (t )  H (i ) ei (t  ) (3.58)
k

i t
If F (t )  F0 cos t , the corresponding steady-state solution is given

by the real part of Eq.(3.53)
F0
x p (t )  cos(t   )
(k  m )  (c )
2 2

2 1/ 2
F  F 
 Re  0 H (i )eit   Re  0 H (i ) ei (t  )  (3.59)
k  k 

i t
If F (t )  F0 sin t , the corresponding steady-state solution is given

by the imaginary part of Eq.(3.53)
F0
x p (t )  sin(t   )
(k  m )  (c )
2 2

2 1/ 2
 F0 
 Im H (i )ei (t  )  (3.60)
k 

i t
• Complex Vector Representation of Harmonic Motion
Differentiating Eq.(3.58) with respect to time,

F0
Velocity  x p (t )  i
 H (i ) ei (t  )  ix p (t )
k
F
Acceleration  x p (t )  (i ) 2 0 H (i ) e i (t  )   2 x p (t ) (3.61)
k
The various terms of the equation of motion

can be represented in the figure.

3.6
Response of Damped System Under the Harmonic Motion
of the Base

3.6
3.6 Response of Damped System Under the Harmonic
Motion of the Base
• From the figure, the equation of motion is

mx  c( x  y )  k ( x  y )  0 (3.64)

Motion of the Base
• If y (t )  Y sin t
mx  cx  kx  ky  cy  kY sin t  cY cost  A sin(t   ) (3.65)
1  c 
where A  Y k 2
 ( c ) 2
and   tan  k 
• The steady-state response of the mass can be expressed as
Y k 2  (c ) 2
x p (t )  sin(t  1   ) (3.66)
(k  m ) 2 2
 (c ) 
2 1/ 2
1  c 
where 1  tan  2 
 k  m 

Motion of the Base
• Equation 3.33 can also be written as
x p (t )  X sin(t   ) (3.67)
where
1/ 2 1/ 2
X  k  (c ) 2
 2
 1  (2r ) 2

   2
(3.68)
Y  (k  m 2 )  (c ) 2   (1  r 2 2
)  ( 2 r ) 
 mc 3  1  2r 3 
  tan  1
2
 tan  2
(3.69)
 k ( k  m 2
)  ( c )  1  ( 4 2
 1) r 

Motion of the Base
• The variations of displacement transmissibility is shown in the

figure below.
 1  i 2r  it 
x p (t )  Re  Ye  (3.70)
 1 - r  i 2r 
2

X
Y
 1/ 2

 Td  1  (2r ) 2 H (i ) (3.71)

Motion of the Base
• The following aspects of displacement transmissibility can be noted

from the figure:
1. The value of Td is unity at r = 0 and close to unity for small values of

r.
2. For an undamped system (ζ = 0), Td →∞ at resonance (r = 1).
3. The value of Td is less than unity (Td < 1) for values of r >√2 (for
any amount of damping ζ ).
4. The value of Td = 1 for all values of ζ at r =√2.

Motion of the Base
5. For r <√2, smaller damping ratios lead to larger values of Td. On

the other hand, for r >√2, smaller values of damping ratio lead to
smaller values of Td.
6. The displacement transmissibility, Td, attains a maximum for 0 < ζ

< 1 at the frequency ratio r = rm < 1 given by:
rm 
1
2
 1  8 1
2
1/ 2

Motion of the Base
• Force transmitted
We have
F  k ( x  y )  c( x  y )  mx (3.72)
F  m 2 X sin(t   )  FT sin(t   ) (3.73)
The force transmissibility is given by:

1/ 2
FT 2 1  ( 2r )  2
r  2
(3.74)
kY  (1  r 2 2
)  ( 2 r ) 

Motion of the Base
• Relative Motion
The equation of motion can be written as

mz  cz  kz   my  m 2Y sin t (3.75)
The steady-state solution is given by:
m 2Y sin(t  1 )
z (t )   Z sin(t  1 ) (3.76)
(k  m )  (c )
2 2

2 1/ 2
where
m 2Y r2
(3.77) , 1  tan 1 
 c  1  2 r 
Z Y   tan  2 
 k  m  1 r 
2
( k  m )  ( c  )
2 2 2
(1  r 2 )2  (2r ) 2

Motion of the Base
Example 3.4
Vehicle Moving On a Rough Road
The figure below shows a simple model of a motor vehicle that can
vibrate in the vertical direction while traveling over a rough road. The
vehicle has a mass of 1200kg. The suspension system has a spring
constant of 400 kN/m and a damping ratio of ζ = 0.5. If the vehicle
speed is 20 km/hr, determine the displacement amplitude of the
vehicle. The road surface varies sinusoidally with an amplitude of Y =
0.05m and a wavelength of 6m.

Motion of the Base
Example 3.4

Motion of the Base
Example 3.4
Solution
 v 1000  1
The frequency can be found by   2 f  2    0.290889v rad/s
 3600  6
For v = 20 km/hr, ω = 5.81778 rad/s. The natural frequency is given
by, k  3 1/ 2
400 10 
n  
   18.2574 rad/s
m  1200 
The frequency ratio is

 5.81778
r   0.318653
n 18.2574

Motion of the Base
Example 3.4
Solution
The amplitude ratio can be found from Eq.(3.68):
1/ 2 1/ 2
X  1  (2r )2   1  ( 2  0.5  0.318653)2 
   2
 1.100964
Y  (1  r 2 )2  ( 2r ) 2   (1  0.318653 ) 2
 ( 2  0. 5  0.318653) 
The displacement amplitude of the vehicle is given by
X  1.100964Y  1.4100964(0.05)  0.055048 m

A 5cm bump in the road is transmitted as a 7.3cm bump to the chassis and
the passengers of the car.

3.7
Response of a Damped System Under Rotating Unbalance

3.7
3.7 Response of a Damped System Under Rotating
UnBalance
• The equation of motion can be derived by the usual procedure:

Mx  cx  kx  me 2 sin t (3.78)
• The solution can be expressed as

 me    2 
x p (t )  X sin(t   )  Im   H (i ) e i (t  )
 (3.79)
 M  n  
• The amplitude and phase angle is given by
2
me 2 me   
X    H (i )
 ( k  M ) 2 2
 ( c ) 2 
1/ 2
M  n 
 c 
  tan 1  2 
(3.80)
 k  M  
UnBalance
• By defining   c / cc and cc  2Mn

MX r2
  r 2
H (i )
me 
(1  r )  ( 2r )
2 2 2

1/ 2
 2r 
  tan 1  2 
(3.81)
 1  r 

UnBalance
• The following observations can be made from Eq.(3.81) and the

figure above:
1. All the curves begin at zero amplitude. The amplitude near

resonance is markedly affected by damping. Thus if the machine is
to be run near resonance, damping should be introduced
purposefully to avoid dangerous amplitudes.
2. At very high speeds (ω large), MX/me is almost unity, and the

effect of damping is negligible.
3. For 0 < ζ < 1/√2 , the maximum of MX/me

d  MX 
 0 (3.82)
dr  me 

UnBalance
1
The solution gives: r  1
1  2 2
 MX  1

With corresponding maximum value: me  
  max 2 1   2
Thus the peaks occur to the right of the resonance value of r = 1
4. For   1 2 ,
MX  
me , does not attain a maximum. Its value grows
from 0 at r = 0 to 1 at r → ∞ .
5. The magnitude (or maximum value) of F can be derived as

1/ 2
 1  4 2 r 2 
F  me 
2
 (3.84)
 1  r   4 r 
2 2 2 2

UnBalance
Example 3.7
Francis Water Turbine
The schematic diagram of a Francis water turbine is shown in the

figure in which water flows from A into the blades B and down into the
tail race C. The rotor has a mass of 250 kg and an unbalance (me) of
5kg-mm. The radial clearance between the rotor and the stator is
5mm. The turbine operates in the speed range 600 to 6000rpm. The
steel shaft carrying the rotor can be assumed to be clamped at the
bearings. Determine the diameter of the shaft so that the rotor is
always clear of the stator at all the operating speeds of the turbine.
Assume damping to be negligible.

UnBalance
Example 3.7

UnBalance
Example 3.7
Solution
The max amplitude can be obtained from Eq.(3.80) by setting c = 0

as me 2 me 2
X  (E.1)
(k  M 2 ) k (1  r 2 )
The value of 
ω600 2 from:
ranges 2
600rpm   20 rad/s to 6000rpm  6000   200 rad/s
60 60
While the natural  k

frequency k given by
is
n    0.625 k rad/s (E.2)
M 250
UnBalance
Example 3.7
Solution
For ω = 20π, Eq.(E.1) gives

(5.0  103 )  (20 )2 2 2
0.005    k  10. 04  10  N/m
4 2
(E.3)
 ( 20 )  2
k  10 
5 2
k 1  
 0. 004 k 
For ω = 200π, Eq.(E.1) gives
(5.0  103 )  (200 )2 200 2
0.005    k  10.04  10  N/m
6 2
(E.4)
 (200 )  2
k  10 
7 2
k 1  
 0 .004 k 
UnBalance
Example 3.7
Solution
The stiffness of the cantilever beam is given by

3EI 3E  d 4 
k  3  3   (E.5)
l l  64 
Diameter of the beam is

64kl 3 (64)(10.04  104  2 )( 23 ) 4
d 
4
  2.6005  10 m 4
3E 3 ( 2.07  1011 )
d  0.1270 m  127 mm (E.6)

3.8
Force Vibration with Coulomb Damping

3.8
3.8 Force Damping with Coulomb Damping
• The equation of motion is given by

mx  kx  N  F (t )  F0 sin t (3.85)
Single-degree-of-freedom system with Coulomb damping

• The equation of motion is given by

mx  kx  N  F (t )  F0 sin t (3.85)
• The energy dissipated by dry friction damping is
W  4 NX (3.86)
• If the equivalent viscous damping constant is denoted as ceq,
W  ceqX 2 (3.87)
4N
ceq  (3.88)
X
• Thus the steady-state response is: x p (t )  X sin(t   ) (3.89)

• The amplitude can be found from Eq.(3.60):

F0 ( F0 / k )
X  (3.90)
(k  m )  (ceq )
2 2

2 1/ 2
  2   2

2 1/ 2

1  2    2 eq  
 n   n  
where
ceq ceq 4N 2N
 eq     (3.91)
cc 2mn 2mnX m n X
( F0 / k )
• Sub Eq.(3.91) into (3.90) gives: X  1/ 2
(3.92)
  2   4 N  2 
2
1  2     
 n   kX  

• The solution is
1/ 2
  4 N  2 
1    
F0   F0  
X  (3.93)
k    2 2 
 1   
  n2  
• To avoid imaginary values of X, we need to have

2
 4N  F0 4
1     0 or 
 F0  N 

• The phase angle can be found:

 
 4 N 
  
 F
  tan 
1 0
1 / 2
 (3.96)
  
2
 

 1   4 N
   
   F0   
  
• The energy directed into the system over one cycle when it is
excited harmonically at resonance and that Φ = 90°,
2 / 
W   F0 X  sin 2 t dt  F0 X (3.98)
0

• For the non-resonant condition, the energy input is
2 / 
W   F0 X 0 sin t cos(t   )dt  F0 X sin  (3.98)
Energy input and energy dissipated with Coulomb damping

Example 3.8
Spring Mass System with Coulomb Damping
A spring-mass system, having a mass of 10kg and a spring of stiffness

of 4000 N/m, vibrates on a horizontal surface. The coefficient of
friction is 0.12. When subjected to a harmonic force of frequency 2
Hz, the mass is found to vibrate with an amplitude of 40 mm. Find the
amplitude of the harmonic force applied to the mass.

Example 3.8
Solution
The vertical force (weight) of the mass is N = mg = 10 X 9.81 =

98.1N. The natural frequency is
k 4000
n    20 rad/s
m 10
Frequency ratio is
 2  2
  0.6283
n 20

Example 3.8
Solution 1/ 2
  4 N  2 
1    
F  F0  
X  0  2 
k
 1    
2
  n2  
  4(0.12)(98.1)  2 
1    
F0   F0    F  97.9874 N
0.04 
4000   0
(1  0.62832 ) 2
 
 

3.9
Forced Vibration with Hysteresis Damping

3.9
• From the figure below, the equation of motion can be derived

k
mx  x  kx  F0 sin t (3.100)

• Steady-state solution can be assumed as
x p (t )  X sin(t   ) (3.101)
System with hysteresis damping

• From the figure below, the equation of motion can be derived

k
mx  x  kx  F0 sin t (3.100)

• The steady-state solution can be assumed as
x p (t )  X sin(t   ) (3.101)
System with hysteresis damping

• Substituting, we obtained
 
F0  
X (3.102) 
  tan 1  
1/ 2
  2  
2 (3.103)
    2
k 1  2    
2
 1  2  
 n     n  
X
• The amplitude ratio is
( F0 / k )
• It attains max value at the resonant frequency in the case of
hysteresis damping, while it occurs at a frequency below resonance
in the case of viscous damping.

• The phase angle has a value of tan-1(β) at ω = 0 in the case of

hysteresis damping, while it has a value of zero at ω = 0 in the
case of viscous damping.
• This indicates that the response can never be in phase with the
forcing function in the case of hysteresis damping.
• The equation of motion becomes
k
mx  x  kx  F0 e it (3.104)

mx  k (1  i ) x  F0 eit (3.105)
where the quantity k (1  i ) is called the complex stiffness or

complex damping.

• The steady-state solution is given by the real part of
F0 eit
x(t )  (3.106)
   2

k 1     i 
  n  
Steady-state response
3.10
Forced Motion with Other Types of Damping
3.10
3.10 Force Motion with Other Types of Damping
Example 3.9
Quadratic Damping
Find the equivalent viscous damping coefficient corresponding to

quadratic or velocity squared damping that is present when a body
moves in a turbulent fluid flow.

Example 3.9
Quadratic Damping
Solution
The damping force is assumed to be
Fd   a ( x ) 2 (E.1) where a is a constant
The energy dissipated per cycle is

x  /2 8 2 3
W  2 a ( x ) dx  2 X 2 3
 / 2 a 2
cos 3
td (t )   aX (E.2)
x 3
W  ceqX 2 (E.3)

Example 3.9
Quadratic Damping
Solution
8
The equivalent viscous damping coefficient is ceq  aX (E.4)
3
The amplitude of the steady-state response is

X 1  ceq ceq
 (E.5) where r  and  eq   (E.6)
 st (1  r 2 ) 2  (2 eq r ) 2 n cc 2mn
1/ 2
 2 
3m  (1  r 2 ) 2 (1  r 2 ) 4  8ar 2 st  
X      (E.7)
8ar 
2
2 4  3m  
 
3.11
Self-Excitation and Stability Analysis
3.11
• Dynamic Stability Analysis
Consider the equation of motion of a single degree of freedom system:
mx  cx  kx  0 (3.107)
This leads to a characteristic equation

c k
s2  s 0 (3.108)
m m
The roots of the equation are:

1/ 2

c 1 c
2
k 
s1, 2       4  (3.109)
2m 2  m   m 
• Dynamic Stability Analysis
Let the roots be expressed as
s1  p  iq, s2  p  iq (3.110)
where p and q are real numbers so that

c k
( s  s1 )(s  s2 )  s  ( s1  s2 ) s  s1s2  s  s   0
2 2
(3.111)
m m
Hence,
c k
 ( s1  s2 )  2 p,  s1s2  p 2  q 2 (3.112 )
m m

Example 3.10
Instability of Spring-Supported Mass on Moving Belt
Consider a spring-supported mass on a moving belt as shown in the

Figure (a). The kinetic coefficient of friction between the mass and the
belt varies with the relative (rubbing) velocity as shown in Figure (b).
As rubbing velocity increases, the coefficient of friction first decreases
from its static value linearly and then starts to increase. Assuming
that the rubbing velocity, v, is less than the transition value, vQ, the
coefficient of friction can be expressed as
a
  0  v
W

Example 3.10
Motion of a spring-supported mass due to belt friction

Example 3.10
Solution
Let the equilibrium position of mass m correspond to an extension of

x0 of the spring. Then,
W  kx0
W  0W aV
x0   
k k k
The rubbing velocity v is given by:

v  V  x
Example 3.10
Solution
The equation of motion for free vibration is

 a 
mx  k ( x0  x)  W  k ( x0  x)  W   0  (V  x ) 
 W 
mx  ax  kx  0 (E.1)
The solution is given by

x(t )  e ( a / 2 m )t C1e r1t  C2 e r2t  (E.2)
where C1 and C2 are constants

Example 3.10
Solution
Thus, 1/ 2
1  a   k 
2
r1     4 
2  m   m 
1/ 2
1  a   k 
2
r2      4 
2  m   m 

• Dynamic Instability Caused by Fluid Flow
The figure illustrates the phenomenon of galloping of wires:
Galloping of a wire

The figure illustrates the phenomenon of singing of wires:
Regular shedding occurs strongly in the range of from about 60 to

5000. In this case,
Vd
Re  (3.113)

For Re > 1000, the dimensionless frequency of vortex shedding,

expressed as Strouhal number (St), is approximately equal to 0.21.
fd
St   0.21 (3.114 )
V
The harmonically varying lift force (F) is given by
1
F (t )  cV 2 A sin t (3.115)
2
where c = constant (c = 1 for a cylinder)
A = projected area
ω = curcular frequency and t is time.
Example 3.12
Flow-Induced Vibration of a Chimney
A steel chimney has a height of 2m, an inner diameter 0.75m, and an

outer diameter 0.80m. Find the velocity of the wind flowing around
the chimney which will induce transverse vibration of the chimney in
the direction of airflow.
Instability of typical vibrating structures

Example 3.12
Model the chimney as a cantilever beam and equate the natural

frequency of the transverse vibration of the chimney to the frequency
of vortex shedding.
The natural frequency of transverse vibration of a cantilever beam is

EI
1  ( 1l ) 2
(E.1)
Al 4
where 1l  1.875104 (E.2)

Example 3.12
For the chimney, E = 207X109 Pa, ρg = 76.5X103 N/m3, l = 20m, d

= 0.75m, D = 0.80m,
 2 
A ( D  d 2 )  (0.80 2  0.75 2 )  0.0608685 m 2
4 4
 
I  ( D 4  d 4 )  (0.80 4  0.754 )  0.004574648 m 4
64 64
1/ 2
 
 
 ( 207  10 9
)( 0 .004574648 ) 
Thus, 1  (1.875104) 2    12.415417 rad/s  1.975970 Hz
  76 . 5  10 3
 4
 ( 0. 0608685)( 20 )
  9.81  
Example 3.12
The frequency of vortex shedding is given by Strouhal number:
fd
St   0.21
V
The velocity wind (V) which causes resonance can be determined as
f1d 1.975970(0.80)
V   7.527505 m/s
0.21 0.21

3.12
Self-Excitation and Stability Analysis
3.12
• The transfer-function approach is used for the formulation and

solution of dynamic problems in the controls literature.
• Also used for solving forced-vibration problems
• The transfer function of a linear, time-invariant differential equation

is defined as the ratio of the Laplace transform of the output or
response function to the Laplace transform of the input or forcing
function, assuming zero initial conditions.

Example 3.13
Transfer Function Corresponding to a Differential Equation
Consider the following nth-order linear, time-invariant differential

equation that governs the behavior of a dynamic system:
d n x t  d n 1 x t 
an n
 an 1 n 1
  a0 x t 
dt dt
d m f t d m 1 f  t 
 bm m
 bm 1 m 1
   b0 f  t   E.1
dt dt

Example 3.13
Solution
By taking Laplace transforms of both sides of Eq. (E.1), we obtain

an s n X  s   an 1s n 1 X  s    a0 X  s   initial consitions involving x t 
 bm s m F  s   bm 1s m 1 F  s    a0 X  s   initial consitions involving f  t   E.2
If all initial conditions are assumed to be zero, Eq. (E.2) reduces to

the following form:
a sn
n
  
 an 1s n 1   a0 X  s   bm s m  bm1s m 1  b0 F  s   E.3
Example 3.13
Solution
Transfer function of the system evaluated at zero initial conditions is

X  s
T  s   X  s  T  s F  s  E.5
F  s
By taking the inverse Laplace transform of Eq. (E.5), we can find the
output of the system in the time domain for any known input.

3.13
Solutions Using Laplace Transforms
3.13
Example 3.15
Response of a Damped System Using Laplace Transforms
Derive an expression for the complete response of a damped single-

degree-of-freedom system subjected to a general force, f(t), as shown
using Laplace transforms.

Example 3.15
Solution
The Laplace transform of Eq. (3.1) leads to the relation

F  s s  2wn 1
X  s   2 x 0  2 x  0  E.1
2

m s  2wn s  wn s  2wn s  wn
2 2

s  2wn s  wn
2
For convenience,
Fi  s   F  s 
1
Fs  s    E.3
m s 2  2wn s  wn2 
Example 3.15
Solution
The inverse Laplace transform of Fi  s  will be equal to the known

forcing function
1 wnt
f i  t   F0 cos wt and f s  t   e sin wd t where wd  1   2 wn
mwd
Inverse Laplace transform of the first term on the right-hand side of
Eq. (E.1) can be expressed as
t t
1
 Fi  s  FS  s    f i   f s  t    
1
 f  e wn  t   sin wd  t    d  E.7
r 0
mwd r 0
Example 3.15
Solution
The inverse Laplace transform of the coefficient of x(0) in Eq. (E.1)

yields
s  2wn wn wnt
1  e cos wd t  1   E.8
s  2wn s  wn wd
2 2
wn 
where 1  tan  tan 1 -1
 E.9
wd 1  2

Example 3.15
Solution
The complete response of the system can also be expressed as

t
1 wn wn 1 wn
x t    f  t   e
wn
sin wdd  e cos wd t  1   e sin wd t  E.13
mwd 0
wd wd

3.14
Frequency Transfer Functions
3.14
3.14 Frequency Transfer Functions
• The steady-state response of a linear system subjected to a

sinusoidal (or harmonic) input will also be sinusoidal (or harmonic)
of the same frequency.

Vibration Chapter03

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Vibration Chapter03

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Mechanical Vibrations

Fifth Edition in SI Units

3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

4 © 2011 Mechanical Vibrations Fifth Edition in SI Units

3.12 Transfer-Function Approach

5 © 2011 Mechanical Vibrations Fifth Edition in SI Units

6 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Forcedvibrations occurs when external energy is supplied to the

• The external force can be supplied through either an applied force

• Harmonic response results when the system responses to a

• Transientresponse is defined as the response of a dynamic system

7 © 2011 Mechanical Vibrations Fifth Edition in SI Units

8 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• From the figure below, the equation of motion using Newton’s

mx  cx  kx  F (t ) (3.1)

• The homogeneous solution of the equation is

mx  cx  kx  0 (3.2)

9 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• The variations of homogeneous and general solutions with time for

Homogenous and general solutions of Eq. (3.1) for an underdamped case

10 © 2011 Mechanical Vibrations Fifth Edition in SI Units

11 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Consider an undamped system subjected to a harmonic force. If a

mx  kx  F0 cos t (3.3)

• The homogeneous solution is given by:

xh (t )  C1 cos nt  C2 sin nt (3.4)

12 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Because the exciting force and particular solution is harmonic and

13 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Using initial conditions

The max amplitude can be expressed as

• The quantity X /  st is called the magnification factor, amplification

• The variation of the amplitude ratio with

• The response of the system can be

Magnification factor of an undamped system

When 0 <  / n < 1, the denominator in Eq.(3.10) is positive and

Harmonic response when 0   / n  1

When  / n > 1, the denominator in Eq.(3.10) is negative and the

where the amplitude is

The variations are shown in figure.

When  / n  1 , the amplitude X given by Eq.(3.10) or (3.12)

The forcing frequency is equal to the natural frequency of the

The total response if the

The total response of the system, Eq.(3.7) or Eq.(3.9), can also be

19 © 2011 Mechanical Vibrations Fifth Edition in SI Units

20 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The phenomenon of beating can be expressed as:

The time between the points of zero amplitude or the points of

22 © 2011 Mechanical Vibrations Fifth Edition in SI Units

23 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The bending stiffness of the beam is given by:

192EI (192)(200 109 )(41.667 109 )

24 © 2011 Mechanical Vibrations Fifth Edition in SI Units

25 © 2011 Mechanical Vibrations Fifth Edition in SI Units

26 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• The equation of motion can be derived as

• Using trigonometric relations, we obtain

(a) Graphical representation (b) Vectorial representation

28 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Substituting the following,

• The following characteristics of the magnification factor (M) can be

30 © 2011 Mechanical Vibrations Fifth Edition in SI Units

1. For an undamped system (  0) , Eq.(3.30) reduces to Eq.