Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration
• External energy supplied to system as applied force or imposed motion
(displacement, velocity or acceleration)
• This section deals only with harmonic excitation which results in
harmonic response (cf. steady-state or transient response from non-
harmonic excitation).
• Harmonic forcing function takes the form:
F( t ) F0 ei t or F( t ) F0 cos( t ) or F( t ) F0 sin( t )
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration
• Where F0 is the amplitude, the frequency and the phase angle.
• The response of a linear system subjected to harmonic excitation is also
harmonic.
• The response amplitude depends on the ratio of the excitation frequency
to the natural frequency.
• Some “common” harmonic forcing functions are:
• Rotating machine / element with (large) residual imbalance
• Vehicle travelling on pavement corrugations or sinusoidal surfaces
• Structures excited by regular (very narrow banded) ocean / water
waves
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration
• Equation of motion when a force is applied to a viscously damped SDOF
system is:
mx kx F t
cx non hom ogeneous differential eqn.
• The general solution to a nonhomogeneous DE is the sum of the
homogeneous solution xh(t) and the particular solution xp(t).
• The homogeneous solution represents the solution to the free SDOF
which is known to decay over time (transient) for all conditions
(underdamped, critically damped and overdamped).
• The general solution therefore reduces to the particular solution xp(t)
which represents the steady-state vibration which exists as long as the
forcing function is applied.
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) damped single DoF vibration
• Example of solution to harmonically excited damped SDOF system:
Homogenous solution: decaying vibration @ natural frequency
Particular solution: steady-state vibration @ excitation frequency
Complete solution
The variations of homogeneous, particular, and general solutions with time
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration – undamped.
• Let the forcing function acting on the mass of an undamped SDOF
F( t ) F0 cos( t )
system be:
• The eqn. of motion reduces to:
kx F0 cos( t )
mx
• Where the homogeneous solution is:
xh ( t ) C1 cos( n t ) C2 sin( n t )
where n k / m
• As the excitation is harmonic, the particular solution is also harmonic
x p ( t ) X cos( t )
with the same frequency:
• Substituting xp(t) in the eqn. of motion and solving for X gives:
F0
X where X is a constant that denotes the maximum amplitude of x p(t)
k m 2
• The maximum amplitude of the steady-state solution can be written as:
X 1 F
where st 0
st
2 k
1
n 5
Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration – undamped.
• δst=F0/k is the deflection of the mass under a force F0 and is
sometimes called static deflection because F0 is a constant (static)
force
• X/st is the ratio of the dynamic to the static amplitude and is known as
the amplification factor or amplification ratio and is dependent on the
frequency ratio r = /n.
• The complete solution becomes
F0
x( t ) xh ( t ) x p ( t ) C1 cos( nt ) C 2 sin( nt ) 2
cos( t )
k m
• Applying the initial conditions x( t 0 ) x0 and x( t 0 ) x0 gives:
F0 x0
C1 x0 and C2
k m 2 n
• The complete solution becomes:
F0 x0 F0
x( t ) x0 2
cos( n t ) sin( n t ) 2
cos( t6)
k m n k m
Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration – undamped.
Response of the system consist of three cases, from amplitude ratio vs frequency ratio plot :
• When /n < 1 the denominator of
the steady-state amplitude is
positive and the amplification factor
increases as approaches the
natural frequency n. The response
is in-phase with the excitation.
•When /n > 1 the denominator of the
steady-state amplitude is negative an the
amplification factor is redefined as:
X 1
st 2
1
n
and the steady state response becomes :
x p ( t ) X cos( t )
which shows that the response is out-of-
phase with the excitation and decreases
( zero ) as increases ( ) 7
Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration undamped.
• When /n = 1 the denominator
of the steady-state amplitude is
zero and the response becomes
infinitely large. This condition
when =n is known as
resonance.
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration-undamped.
• The complete solution:
F0 x0 F0
x( t ) x0 cos( n t ) sin( n t ) cos( t )
k m 2 n k m 2
Can be written as:
• The complete solution is a sum of two cosines with frequencies
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corresponding to the natural and forcing (excitation) frequencies.
A1
T1 T2
A2
Find periods T and
Amplitude of equations
T
T
A
A 10
Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration-undamped.
/n < 1
/n > 1
Beating: A kind of vibration, in which the amplitude builds up and then
diminishes in a regular patter 11
Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration undamped.
• When the excitation frequency is close but not exactly equal to the
natural frequency n beating may occur.
• Letting the initial conditions x0= x’0 =0 , the complete solution:
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration – undamped.
F0 / m
x( t ) sin t sin t
2
• Since is small, sin( t) has a long period. The solution can then be
considered as harmonic motion with a principal frequency .
• A variable amplitude equal to:
F0 / m
X( t ) sin t
2
Phenomenon of beats
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration – Damped.
• Steady-state Solution
• If the forcing function is harmonic:
F( t ) F0 cos( t )
• The equation of motion of a SDOF system with viscous damping is:
kx F0 cos( t )
cx
mx
• The steady-state response is given by the particular solution which is
also expected to be harmonic:
x p ( t ) X cos( t )
where the amplitude X and the phase angle are to be det er min ed
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration – Damped.
• Substituting xp into the steady-state eqn. of motion yields:
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration-Damped.
• Alternatively, the amplitude and phase can be written in terms of the
frequency ratio r = /n and the damping coefficient :
M= X 1
1
st 1 1
2 2 2 2 2 2 2 2
1 r 2 r
1 2
n n
𝑐 2𝜁
𝑤h𝑒𝑟𝑒 , =
2 𝑘 𝜔𝑛
n 2 r
a tan 2
a tan 2
1 r
1
n 16
Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration – Damped.
X 1 2 r
a tan
st 1
1 r2
2 2 2 2
1 r 2 r
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X 1 2 r
a tan
Mechanical Vibrations – Single Degree-of-Freedom systems st
2 2 2
1 r 2 r
1
2 1 r2
Forced (harmonically excited) single DoF vibration – Damped.
• The magnification ratio at all frequencies is
reduced with increased damping ratio.
• The effect of damping rat. on the magnification
ratio is greatest at or near resonance (r=1).
• The magnification ratio approaches 1 as the
frequency ratio (r) approaches 0
• The magnification ratio approaches 0 as the
frequency ratio (r) approaches
𝑑𝑀
=0
𝑑𝑟
• For 0 < < 1/ 2 the magnification ratio maximum
occurs at r = (1 - 22) or = n (1 - 22)
which is lower than both the undamped natural
frequency n and the damped natural frequency d
= n (1 - 2)
•When r = (1 - 22) Mmax= 1/[2 (1 - 2)]
if Mmax can be measured, the damping
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ratio can be determined.
Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration-Damped.
X 1 2 r
a tan
st
2 2 2
1
2 1 r2 • For undamped systems ( = 0) the
1 r 2 r
phase angle is 0o (response in phase
with excitation) for r<1 and 180o
(response out of phase with excitation)
for r>1.
• For damped systems ( > 0) when r < 1
the phase angle is less than 90o and
response lags the excitation and
• when r >1 the phase angle is greater
than 90o and the response leads the
excitation (approaches 180o for large
frequency ratios..
• For damped systems ( > 0) when r =1
the phase lag is always 90o.
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Mechanical Vibrations – Single Degree-of-Freedom systems
Forced (harmonically excited) single DoF vibration – Damped.
• Complete Solution
• The complete solution is the sum of the homogeneous solution xh(t)
and the particular solution xp(t):
x( t ) X 0 e nt cos( d t 0 ) X cos( t )
where d n 1 2 , X and are given as before, and X 0 and 0 are det er min ed from
the initial conditions
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Mechanical Vibrations – Single Degree-of-Freedom systems
Solved Problems
A reciprocating pump, weighing 150 lb, is mounted at the
middle of a steel plate of thickness 0.5 in., width 20 in.,
and length 100 in., clamped along two edges as shown in
Figure. During operation of the pump, the plate is
subjected to a harmonic force . Find the amplitude of
vibration of the plate.
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Mechanical Vibrations – Single Degree-of-Freedom systems
Solved Problems on Fundamentals of vibration
Let a mass m having a translational velocity be coupled to another mass moment of inertia
having a rotational velocity as in the rack-and-pinion arrangement shown in Figure below. Find
combined equivalent mass of system, either by a single equivalent translational mass ( eq = 1) or a
single equivalent rotational mass (eq = 1).
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Mechanical Vibrations – Single Degree-of-Freedom systems
Solved Problems on Fundamentals of vibration
Find the equivalent mass of the system shown in Fig. below, where the
rigid link 1 is attached to the pulley and rotates with it. (use single
equivalent translational mass (eq = 1) )
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Mechanical Vibrations – Single Degree-of-Freedom systems
Solved Problems on Undamped Free SDF vibration
A simply supported beam of square cross section 5mmx5mm and length
1m, carrying a mass of 2.3kg at the middle, is found to have a natural
frequency of transverse vibration of 30 rad/s. Determine the Young’s
modulus of elasticity of the beam.
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Mechanical Vibrations – Single Degree-of-Freedom systems
Solved Problems on Undamped Free SDF vibration
The column of the water tank shown in Fig. below
is 300ft high and is made of reinforced concrete
with a tubular cross section of inner diameter 8ft
and outer diameter 10ft. The tank weighs 6x105lb
when filled with water. By neglecting the mass of
the column and assuming the Young s modulus of
reinforced concrete as 4x106psi, determine the
following:
a) The natural frequency and the natural time
period of transverse vibration of the water tank.
b) The vibration response of the water tank due to
an initial transverse displacement of 10in.
c) The maximum values of the velocity and
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acceleration experienced by the water tank.
Mechanical Vibrations – Single Degree-of-Freedom systems
Solved Problems/forced-undamped
A spring-mass system, with a spring stiffness of 5,000 N/m, is subjected to a
harmonic force of magnitude 30 N and frequency 20 Hz. The mass is found to
vibrate with an amplitude of 0.2 m. Assuming that vibration starts from rest ()
determine the mass of the system.
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Solved Problems on Damped SDF vibration-Forced
Note that:
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