Vibration 04

Mechanical Vibrations
Fifth Edition in SI Units

Singiresu S. Rao
Chapter 4 Vibration Under General Forcing Condition
3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

4
Chapter Outline
4.1 Introduction
4.2 Response Under a General Periodic Force
4.3 Response Under a Periodic Force of Irregular Form
4.4 Response Under a Nonperiodic Force
4.5 Convolution Integral
4.6 Response Spectrum
4.7 Laplace Transforms
4.8 Numerical Methods
4.9 Response to Irregular Forcing Conditions Using Numerical
Methods

4.1
Introduction

4.1
4.1 Introduction
• Shock is defined as the small forcing function or excitation as

compared to the natural time period of the system.
• Some examples of general forcing functions include the motion

imparted by a cam to the follower; the vibration felt by an
instrument when its package is dropped from a height; etc.
• The transient response of a system can be found by using what is

known as the convolution integral.

4.2
Response Under a General Periodic Force

4.2
• The equation of motion can be expressed as
a0  
mx  cx  kx  F (t )    a j cos jt   b j sin jt (4.8)
2 j 1 j 1
• The steady-state solution of the equation is derived as:
a0  (a j / k )
x p (t )   cos( jt   j )
2k j 1 (1  j r )  (2jr )
2 2 2 2
 (b j / k )
 sin( jt   j )
j 1 (1  j r )  (2jr )
2 2 2 2

Example 4.5
Total Response Under Harmonic Base Excitation
Find the total response of a viscously damped single degree of

freedom system subjected to a harmonic base excitation for the
following data:
m  10kg, c  20 N - m/s, k  4000N/m,

y (t )  0.05 sin 5t m, x0  0.02 m, x 0  10 m/s.

Example 4.5
Solution
The equation of motion of the system is given by:
mx  cx  kx  ky  cy  kY sin t  cY cos t (E.1)
The steady-state response of the system can be expressed as
1  a1 b1 
x p (t )   cos( t  1 )  sin(t   )
1  (E.2)
(1  r 2 ) 2  (2r ) 2  k k 

Example 4.5
Solution
k 4000
We have, Y  0.05 m,   5 rad/s, n    20 rad/s,
m 10
 5 c c 20
r   0.25,      0.05,
n 20 cc 2 km 2 (4000)(10)
d  1   2 n  19.975 rad/s
a1  cY  (20)(5)(0.05)  5, b1  kY  (4000)(0.05)  200,
 2(0.05)(0.25) 
1  tan 1    0.02666 rad
 1  (0.25) 
2
(1  r 2 ) 2  (2r ) 2  (1  0.252 ) 2  (2(0.05)(0.25)) 2  0.937833

Example 4.5
Solution
The solution of the homogeneous equation is given by:

xh (t )  X 0 e  nt cos(d t  c  X 0e t cos(19.975t  0 ) (E.3)
where X0 and Φ0 are unknown constants

The total solution can be expressed as the superposition of xh(t) and
xp(t) as: 1  5 200 
t
x(t )  X 0e cos(19.975t  0 )  cos(5t  1 )  sin(5t  1 )
0.937833  4000 4000 
 X 0e t cos(19.975t  0 )  0.0013333 cos(5t  0.026666)
 0.053314 sin(5t  0.026666) (E.4)

Example 4.5
Solution
Using Eqs.(E.4) and (E.5), we find

x0 (t )  x(t  0)  0.02  X 0 cos0  0.001333cos(0.02666)  0.053314sin(0.02666)
X 0 cos 0  0.020088 (E.6)
x 0  x (t  0)  10   X 0 cos 0  19.975 X 0 sin 0

0.006665sin(0.02666)  0.266572 cos(0.02666)
 X 0 cos0  19.975 sin 0  9.733345 (E.7)

Example 4.5
Solution
The solution of (E.6) and (E.7) yields X0=0.488695 and Φ0=1.529683

rad.
Thus the total response of the mass under base excitation, in meters,
is given by
x(t )  0.488695e t cos(19.975t  1.529683)
 0.001333 cos(5t  0.02666)  0.053314 sin(5t  0.02666) (E.8)

4.3
Response Under a Periodic Force of Irregular Form

4.3
4.3 Response Under a Periodic Force of Irregular
Form
• In some cases, the force acting on a system may be quite irregular

and may be determined only experimentally.
• The application of trapezoidal rule gives:
2 N
a0   Fi (4.9)
N i 1
2 N 2 jti
a j   Fi cos , j  1,2,... (4.10)
N i 1 
2 N 2 jti
b j   Fi sin , j  1,2,... (4.11)
N i 1 

Form
• An irregular forcing function:
• Once the Fourier coefficients a0, aj, and bj are known, the steady-
state response of the system can be found using Eq.(4.13) with
 2 
r   
 n 
Form
Example 4.6
Steady-State Vibration of a Hydraulic Valve
Find the steady-state response of the valve in the figure below if the
pressure fluctuations in the chamber are found to be periodic. The
valves of pressure measured at 0.01 second intervals in one cycle are
given below.

Form
Example 4.6
Solution
Since the pressure fluctuations on the valve are periodic, the Fourier
analysis of the given data of pressures in a cycle gives:
p(t )  34083.3  26996.0 cos 52.36t  8307.7 sin 52.36t
1416.7 cos104.72t  3608.3 sin 104.72t
5833.3 cos157.08t  2333.3 sin 157.08t  ... N/m 2 (E.1)
Other quantities needed for the computation are

2 2 
   52.36 rad/s , n  100 rad/s , r  0.5236
 0.12 n

Form
Example 4.6
Solution
We have also
  0.2
A  0.000625 m 2
 2r  1  2  0.2  0.5236 
1  tan 1    tan    16.1
1 r   1  0.5236 
2 2
 4r  1  4  0.2  0.5236 

2  tan 1  2 
 tan  2 
 77.01
 1  4r   1  4  0.5236 
 6r  1  6  0.2  0.5236 
3  tan 1    tan  2 
 23.18
 1  9r   1  9  0.5236 
2

Form
Example 4.6
Solution
The steady-state response of the valve can be expressed as
34083.3 A (26996.0 A / k ) (8309.7 A / k )

x p (t )   cos(52.36t  1 )  sin(52.36t  1 )
k (1  r )  (2r )
2 2 2
(1  r )  (2r )
2 2 2
(1416.7 A / k ) (3608.3 A / k )
 cos(104.72t  2 )  sin(104.72t  2 )
(1  4r )  (4r )
2 2 2
(1  4r )  (4r )
2 2 2
(5833.3 A / k ) (2333.3 A / k )
 cos(157.08t  3 )  sin(157.08t  3 )
(1  9r )  (6r )
2 2 2
(1  9r )  (6r )
2 2 2

4.4
Response Under a Nonperiodic Force

4.4
4.4 Response Under a Nonperiodic Force
• When the exciting force F(t) is nonperiodic, such as that due to the
blast from an explosion, a different method of calculating the
response is required.
• Various methods can be used to find the response of the system to
an arbitrary excitation.
• Some of these methods are as follows:
1. Representing the excitation by a Fourier integral
2. Using the method of convolution integral
3. Using the method of Laplace transforms
4. First approximating F(t) by a suitable interpolation model and
then using a numerical procedure
5. Numerically integrating the equation of motion

4.5
Convolution Integral

4.5
• We have
Impulse  Ft  mx 2  mx 1 (4.12)
• By designating the magnitude of the impulse Ft by F, we can

write, in general,
t  t
F  t Fdt (4.13)
•A unit impulse is defined as
t  t
f  lim t Fdt  Fdt  1 (4.14)
t 0

• Response to an impulse
For an underdamped system, the solution of the equation of motion
mx  cx  kx  0 (4.17)

is given by
 n t  x 0   n x0 
x(t )  e  x0 cos d t  sin d t  (4.18)
 d 
c
where   (4.19)
2mn
2
k c
d  n 1  2    (4.20)
m m
k
n  ( 4.21)
m
A single-degree-of-freedom system subjected to an impulse

If the mass is at rest before the unit impulse is applied, we obtain,

from the impulse-momentum relation,
Impulse  f  1  mx (t  0)  mx (t  0  )  mx 0 (4.22)
Thus the initial conditions are given by
x(t  0)  x0  0 (4.23)
1
x (t  0)  x 0  (4.24)
m
Hence, Eq.(4.18) reduces to
e nt
x(t )  g (t )  sin d t (4.25)
md
If the magnitude of the impulse is F instead of unity, the initial

velocity x 0 is F / m and the response of the system becomes
Fe nt
x(t )  sin d t  Fg (t ) (4.26)
md
If the impulse is applied at an arbitrary time t =  , it will change the

velocity at t = , shown in Fig.4.4(a). Thus,
x(t )  Fg (t   ) (4.27)

Impulse Response

Example 4.7
Response of a Structure Under Impact
In the vibration testing of a structure, an impact hammer with a load

cell to measure the impact force is used to cause excitation, as shown
in Fig.4.5(a). Assuming m = 5kg, k = 2000 N/m, c = 10 N-s/m and
F = 20 N-s, find the response of the system.

Example 4.7
Response of a Structure Under Impact
Solution
From the known data,
k 2000 c c 10
n    20 rad/s,      0.05,
m 5 cc 2 km 2 2000(5)
d  1   2 n  19.975 rad/s
Assuming that the impact is given at t = 0, the response of the

systeme  nt 20
x1 (t )  F sin d t  e 0.05( 20) t sin 19.975t  0.20025e t sin 19.975t m (E.1)
md (5)(19.975)

• Response to General Forcing Condition
Consider the response of the system under an arbitrary external

force, the response is given by
x(t )  F ( )g (t   ) (4.28)
An arbitrary (nonperiodic) forcing function

• Response to General Forcing Condition
The total response at time t can be found by summing all the

responses due to the elementary impulses acting at all times  :
x(t )   F ( ) g (t   ) (4.29)
Letting   0 and replacing the summation by integration, we

obtain
1 t  n ( t  )
x(t )  0 F ( ) e sin d (t   )d (4.31)
md
which is called the convolution or Duhamel integral

• Response to Base Excitation
For an undamped system subjected to base excitation, the relative

displacement can be as
1 t  n ( t  )
z (t )   0 y
 ( ) e sin d (t   )d (4.34)
d
where the variable z replacing x

Example 4.12
Compacting Machine Under Linear Force
Determine the response of the compacting machine shown in Figure

(a) when a linearly varying force (shown in Figure (b)) is applied due
to the motion of the cam.

Example 4.12
Solution
Figure (b) is known as the ramp function.
F t n (t  )
x(t )  0 e sin d (t   )d
md
F t  n ( t  )
 0 (t   ) e sin d (t   )(d )
md
F  t t  n ( t  )
 0 e sin d (t   )(d )
md

Example 4.12
Solution
These integrals can be evaluated and the response expressed as
follows:
F  2  2   2
  
2 2
 
x(t )  t  e  n t
 cos d t   d n
 sin d t  (E.1)

 n  n  n d 
2
k 
For an undamped system, Eq.(E.1) reduces to
F
x(t )  nt  sin nt  (E.2)
n k
Fig. 4.13(c) shows the response given by Eq.(E.2)

4.6
Response Spectrum

4.6
• The graph showing the variation of the maximum response

(maximum displacement, velocity, acceleration, or any other
quantity) with the natural frequency (or natural period) of a single
degree of freedom system to a specified forcing function is known
as the response spectrum.
• Example 4.14 illustrates the construction of a response spectrum.

Example 4.11
Response Spectrum of a Sinusoidal Pulse
Find the undamped response spectrum for the sinusoidal pulse force
shown in the figure using the initial conditions

Example 4.14
Solution
The equation of motion of an undamped system can be expressed as
 F0 sin t , 0  t  t0
mx  kx  F (t )   (E.1)
0, t  t0

where   (E.2)
t0

Example 4.14
Solution
Superimposing the homogeneous solution xc(t) and the particular

solution xp(t),
x(t )  xc (t )  x p (t ) (E.3)
 F0 
x(t)  Acosn t  B sin nt   2 
sin t (E.4)
 k  m 
2 k
where n   (E.5)
n m

Example 4.14
Solution
Using the initial conditions, the constants can be found:

F0
A  0, B   (E.6)
n (k  m 2 )
Thus,
F0 / k   
x(t )  sin  t  sin  n ,
t 0  t  t0 (E.7)
1  ( / n ) 2  n 
x(t ) 1  t  n 2t 
 2 
sin  sin , 0  t  t0 (E.8)
 st   n   t0 2t0 n 
1    F0
where  st  (E.9)
 2t0  k
Example 4.14
Solution
The solution can be expressed as a free vibration solution

x(t )  A cos nt  B sin nt , t  t0 (E.10)
where the constants can be found by:
 n 2t0 
x(t  t0 )    sin   A cos nt0  B sin nt0 (E.11)
 2t0 n 
  2t0 
x (t  t0 )     cos   n A sin n t  n B cos nt (E.12)
 t0 t0 n 

Example 4.14
Solution
Where    st
2 (E.13)
 
1 n 
 2t0 
 
Hence,
A  sin nt0 , B   1  cos nt0  (E.14)
nt0 n t0
x(t ) ( n / t0 )   t0 t  t 
Therefore,  sin 2     sin 2 ,
2 
 st 21  ( n / 2t0 )   n n  n 
t  t0 (E.15)
• Response Spectrum for Base Excitation
For a harmonic oscillator (an undamped system under free

vibration), we notice that
x max  n2 x max and x max  n x max
Thus, the acceleration and displacement spectra can be obtained:

Sv
Sd  , S a  n S v (4.38)
n

• Response Spectrum for Base Excitation
The velocity response spectrum can be obtained:
e  nt
S v  z (t ) max  P2  Q2 (4.44)
1  2
max
Thus the pseudo response spectra are given by:

Sv
S d  z max  ; S v  z max ; S a  z max  n S v (4.45)
n

• Earthquake Response Spectra

The most direct description of an earthquake motion in time
domain is provided by accelerograms that are recorded by
instruments called strong motion accelerographs.
A typical accelerogram is shown in the figure below.

• Earthquake Response Spectra

A response spectrum is used to provide the most descriptive
representation of the influence of a given earthquake on a structure
of machine. It is possible to plot the maximum response of a single
degree freedom system using logarithmic scales.

Example 4.17
Derailment of Trolley of a Crane During Earthquake
The trolley of an electric overhead traveling (EOT) crane travels

horizontally on the girder as indicated in the figure. Assuming the
trolley as a point mass, the crane can be modeled as a single degree
of freedom system with a period 2 s and a damping ratio 2%.
Determine whether the trolley derails under a vertical earthquake
excitation.

Example 4.17

Example 4.17
Solution
For  n = 2 s and ζ = 0.02, Fig.4.16 gives the spectral acceleration as

Sa = 0.25 g and hence the trolley will not derail.

• Design Under a Shock Environment

When a force is applied for short duration, usually for a period of
less than one natural time period, it is called a shock load.
A shock may be described by a pulse shock, velocity shock, or a

shock response spectrum. The pulse shocks are introduced by
applied forces or displacements in different forms.
A velocity shock is caused by sudden changes in the velocity. The

shock response spectrum describes the way in which a machine or
structure responds to a specific shock.

• Design Under a Shock Environment
Typical shock pulses

Example 4.18
Design of a Bracket for Shock Loads
A printed circuit board (PCB) is mounted on a cantilevered aluminum

bracket, as shown in Figure (a). The bracket is placed in a container
that is expected to be dropped from a low-flying helicopter. The
resulting shock can be approximated as a half-sine wave pulse, as
shown in figure (b). Design the bracket to withstand an acceleration
level of 100g under the half-sine wave pulse shown in figure (b).
Assume a specific weight of 30 kN/m3, a Young’s modulus of 70 GPa,
and a permissible stress of 180 MPa for aluminum.

Example 4.18

Example 4.18
Solution
The self-weight of the beam is given by

w  (0.3)(0.015  d )(30  103 )  135d
The total weight is
W  Weight of beam  Weight of PCB  135d  2
The area moment of inertia of the cross section of the beam is
1
I  0.015  d 3  0.00125d 3
12
Example 4.18
Solution
The static deflection of the beam can be obtained
Wl 3 (135d  2)(0.3)3 10 135d  2

S st    (1.0286 10 )
3EI 3  (70 10 )(0.00125d )
9 3
d3
We adopt a trial and error procedure to determine the values of

unknown.

Example 4.18
Solution
Assuming d = 10 mm,
135  0.01  2
 st  (1.0286 10 10 ) 3
 3. 446  10 4
m
We have
0.01
 st 3.466  104
 n  2  2  0.03726 s
Hence, g 9.8
t0 0.1
  2.6841
 n 0.03726
Example 4.18
Solution
The dynamic load acting on the cantilever is given by:

 3.35 
Pd  Aa Mas  (1.1) (100g )  368.5 N
 g 
The maximum bending stress at the root of the cantilever bracket can
be computed as:
 0.01 
(368.5  0.3) 
M c  2   442.2 MPa
 max  b 
I 1.25  109
Example 4.18
Solution
Since this stress exceeds the permissible value, we assume the next
trial value of d as 20 mm. This yields:
135  0.02  2
 st  (1.0286 10 10 ) 3
 6.0430  10 5
m
0.02
 st 6.0430 10 5
 n  2  2  0.01560 (s)
g 9.8
t0 0.1
  6.4
 n 0.01560
Example 4.18
Solution
The dynamic load can be determined:

 4.7 
Pd  Aa Mas  (1.1) (100g )  517 (N)
 g 
The maximum bending stress at the root of the bracket will be:
 0.02 
(517  0.3) 
M bc  2   155.1 MPa
 max   8
I 10
Since this stress is within the permissible limit, the thickness of the bracket
can be taken as 20 mm.

4.7
Laplace Transforms

4.7
4.7 Laplace Transforms
• The Laplace transform of a function x(t) is defined as:
x t  0 lim sX  s   (4.46)
s 
• The general solution can be expressed as
x0  n t x 0  nt
x(t )  e sin(d t  1 )  e sin d t
(1   )
2 1/ 2
d
1 t  ( t  )
 0 F ( )e n sin d (t   )d
md

4.8
Numerical Methods

4.8
4.8 Numerical Methods
• The determination of the response of a system subjected to

arbitrary forcing functions using numerical methods is called
numerical simulation.
• Numerical simulations can be used to check the accuracy of

analytical solutions, especially if the system is complex.
• Several methods are available for numerically integrating ordinary

differential equations.
• The Runge-Kutta methods are quite popular for the numerical

solution of differential equations.

4.9
Response to Irregular Forcing Conditions Using Numerical
Methods

4.9
4.9 Response to Irregular Forcing Conditions Using
Numerical Methods
• Let the function vary with time in an arbitrary manner. The

response of the system can be found:
1 j 1   n ( t ti )  n 

x(t )   Fi 1  e  cos d (t  ti )  sin d (t  ti )
k i 1   d 

Numerical Methods
• Thus the response of the system at t = tj becomes
1 j 1
x j   Fi 1  e
k i 1

 n ( t j t i ) 
 cos d (t j  ti ) 
 n
d

sin d (t j  ti )
 

Numerical Methods
Example 4.31
Damped Response Using Numerical Methods
Find the response of a spring-mass-damper system subjected to the

forcing function
 t 
F (t )  F0 1  sin  (E.1)
 2t0 
in the interval 0  t  t 0 , using a numerical procedure.
Assume F0=1, k=1, m=1, ζ=0.1, and t0=τn/2, where τn denotes the
natural period of vibration given by
2 2
n    2 (E.2)
 n ( k / m)1/ 2
The values of x and x at t=0 are zero

Numerical Methods
Example 4.31
Solution
For the numerical computations, the time interval 0 to t0 is divided

into 10 equal steps with
t0 
ti   ; i  2,3,...,11 (E.3)
10 10
4 different methods are used to approximate the forcing function F(t).

Numerical Methods
Example 4.31
Solution
In the figure, F(t) is approximated by a series of rectangular impulses,

each starting at the beginning of the corresponding time step.

Numerical Methods
Example 4.31
Solution
In Fig. 4.36, piecewise linear (trapezoidal) impulses are used to

approximate the forcing function F(t). The numerical results are given
in Table 4.2. The results can be improved by using a higher-order
polynomial for interpolation instead of the linear function.

Numerical Methods
Example 4.31
Solution

Vibration 04

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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

5 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Shock is defined as the small forcing function or excitation as

• Some examples of general forcing functions include the motion

• The transient response of a system can be found by using what is

6 © 2011 Mechanical Vibrations Fifth Edition in SI Units

7 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• The equation of motion can be expressed as

• The steady-state solution of the equation is derived as:

8 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Find the total response of a viscously damped single degree of

m  10kg, c  20 N - m/s, k  4000N/m,

9 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The equation of motion of the system is given by:

mx  cx  kx  ky  cy  kY sin t  cY cos t (E.1)

The steady-state response of the system can be expressed as

10 © 2011 Mechanical Vibrations Fifth Edition in SI Units

(1  r 2 ) 2  (2r ) 2  (1  0.252 ) 2  (2(0.05)(0.25)) 2  0.937833

11 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The solution of the homogeneous equation is given by:

where X0 and Φ0 are unknown constants

12 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Using Eqs.(E.4) and (E.5), we find

x 0  x (t  0)  10   X 0 cos 0  19.975 X 0 sin 0

13 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The solution of (E.6) and (E.7) yields X0=0.488695 and Φ0=1.529683

14 © 2011 Mechanical Vibrations Fifth Edition in SI Units

15 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• In some cases, the force acting on a system may be quite irregular

• The application of trapezoidal rule gives:

16 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• An irregular forcing function:

18 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Other quantities needed for the computation are

19 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 4r  1  4  0.2  0.5236 

20 © 2011 Mechanical Vibrations Fifth Edition in SI Units

34083.3 A (26996.0 A / k ) (8309.7 A / k )

21 © 2011 Mechanical Vibrations Fifth Edition in SI Units

22 © 2011 Mechanical Vibrations Fifth Edition in SI Units

23 © 2011 Mechanical Vibrations Fifth Edition in SI Units

24 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• By designating the magnitude of the impulse Ft by F, we can

•A unit impulse is defined as

25 © 2011 Mechanical Vibrations Fifth Edition in SI Units

For an underdamped system, the solution of the equation of motion

mx  cx  kx  0 (4.17)

A single-degree-of-freedom system subjected to an impulse

27 © 2011 Mechanical Vibrations Fifth Edition in SI Units

If the mass is at rest before the unit impulse is applied, we obtain,

If the magnitude of the impulse is F instead of unity, the initial

If the impulse is applied at an arbitrary time t =  , it will change the

29 © 2011 Mechanical Vibrations Fifth Edition in SI Units

30 © 2011 Mechanical Vibrations Fifth Edition in SI Units

In the vibration testing of a structure, an impact hammer with a load

31 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Assuming that the impact is given at t = 0, the response of the

32 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Response to General Forcing Condition

Consider the response of the system under an arbitrary external