RESPONSE OF A

DAMPED SYSTEM
UNDER THE
HARMONIC MOTION
OF THE BASE
 y(t) = Displacement of the base

 From the figure, the equation of motion is

mx  c( x  y )  k ( x  y )  0 (3.64)
If y (t )  Y sin ,t
mx  cx  kx  ky  cy  kY sin t  cY cos t
 A sin(t   ) (3.65)
 c 
where 2 2
A  Y k  (c ) and   tan  1

 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

where
 c 
1  tan 1  2 
 k  m 

OR using trigonometric identities,

x p (t )  X sin(t   ) (3.67)
where
2 2 1/ 2 2 1/ 2
Displacement X  k  (c )   1  (2r ) 
   2
(3.68)
transmissibility Y  (k  m 2 )  (c ) 2   (1  r 2 2
)  ( 2 r ) 

 1 mc 3  1  2r 3 
  tan  2 2
 tan  2 2
(3.69)
 k (k  m )  (c)  1  (4  1)r 
 Ifexpressed in complex form, response of the system
can be expressed as
 1  i 2r  it 
x p (t )  Re  2
Ye  (3.70)
 1 - r  i 2r  

 and the displacement transmissibility as

X
Y

 Td  1  (2r ) 2 1/ 2

H (i ) (3.71)

Displacement transmissibility :
The ratio of the amplitude of the response x p (t )to that of the motion y(t).
 Thevariations of displacement transmissibility is
shown in the figure below.
EXAMPLE
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.
 SOLUTION
The frequency can be found by
 v 1000  1
  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,
1/ 2
k  400  10 3
n      18.2574 rad/s
m  1200 

Hence, the frequency ratio is

 5.81778
r   0.318653
n 18.2574
7
SOLUTION CON’T
The amplitude ratio can be found from Eq.(3.68):

8
1/ 2 1/ 2
X  1  (2r ) 2   1  (2  0.5  0.318653) 2 
   2
Y  (1  r 2 ) 2  (2r ) 2   (1  0.318653 2 2
)  ( 2  0. 5  0.318653) 
 1.100963582
Thus, the displacement amplitude of the vehicle is
given by
X  1.100963582Y  1.100963582(0.05)  0.0550481791m

This indicates that a 5cm bump in the road is

transmitted as a 5.5cm bump to the chassis and the
passengers of the car.
VIBRATION UNDER GENERAL
FORCING CONDITIONS
INTRODUCTION
 A general forcing function may be periodic (nonharmonic) or
nonperiodic. A nonperiodic forcing function may be acting for a
short, long, or infinite duration.
 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.
RESPONSE UNDER A GENERAL PERIODIC
FORCE
 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 (4.4)
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 ) (4.13)
2 2 2 2
j 1 (1  j r )  (2jr )
 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.
CONVOLUTION INTEGRAL
Impulse  Ft  mx 2  mx 1 (4.17)

By designating the magnitude of the impulse by F,

we can write, in general,
t  t
F  Fdt (4.18)
~ t

A unit impulse ( fis) defined as

~
t  t
f  lim  Fdt  Fdt  1 (4.19)
~ t 0 t
CONVOLUTION INTEGRAL
• Response to an impulse
For an undamped system, the solution of the equation of
motion mx  cx  kx  0 (4.20)
is given by Eq.(2.27) as
 n t  x 0   n x0 
x(t )  e  x0 cos d t  sin d t  (4.21)
 d 
c
where   (4.22)
2mn
2
2 k c
d  n 1     (4.23)
m m
k
n  (4.24)
m 14
CONVOLUTION INTEGRAL

Figure 4.3: A single degree of freedom system subjected to an impulse

15
CONVOLUTION INTEGRAL
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 (4.25)

~

Thus the initial conditions are given by

x(t  0)  x0  0
1
x (t  0)  x 0  (4.26)
m
Hence, Eq.(4.21) reduces to
e nt
x(t )  g (t )  sin d t (4.27)
md
16
CONVOLUTION INTEGRAL
which is also known as the impulse response function.
The Eq.(4.27) is shown in Fig.4.3(c). If the magnitude of
the impulse is instead of unity, the Finitial velocity is

x
and the response of the system
0 F/
~
m
becomes
~

 n t
Fe
x(t )  ~
sin d t  F g (t ) (4.28)
md ~

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

change the velocity at t = τ, shown in Fig.4.4(a). Thus,

x(t )  F g (t   ) (4.29)
~ 17
CONVOLUTION INTEGRAL

Figure 4.4: Impulse Response 18

EXAMPLE 4.4
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 = 20 N-s, find
F system.
the response of the
~

19
SOLUTION
From the known data, we can compute,
k 2000 c c 10
n    20 rad/s,      0.05,

20
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, we find the

response of the system as
e  nt
x1 (t )  F sin d t
~ m
d

20
 e 0.05( 20)t sin 19.975t
(5)(19.975)
 0.20025e t sin 19.975t m (E.1)
CONVOLUTION INTEGRAL
• Response to General Forcing Condition
Consider the response of the system under an arbitrary
external force, shown in Fig.4.6.
Hence, the response is given by
x(t )  F ( )g (t   ) (4.30)

Fig.4.6: An arbitrary (nonperiodic) forcing function 21

CONVOLUTION INTEGRAL
The total response at time t can be found by summing
all the responses due to the elementary impulses acting
at all times τ:
x(t )   F ( ) g (t   ) (4.31)

Letting   0and replacing the summation by

integration, we obtain
1 t

 n ( t  )
x(t )  F ( ) e sin d (t   )d (4.33)
md 0
which is called the convolution or Duhamel integral.

22
TWO DEGREE OF FREEDOM
SYSTEMS
INTRODUCTION
 As is evident from the systems shown in Figs.5.1 and
5.2, the configuration of a system can be specified by
a set of independent coordinates termed as generalized
coordinates, such as length, angle, or some other
physical parameters.
 Principle coordinates is defined as any set of
coordinates that leads a coupled equation of motion to
an uncoupled system of equations.

24
EQUATIONS OF MOTION FOR FORCED
VIBRATION
Consider a viscously damped two degree of freedom
spring-mass system, shown in Fig.5.3.

Figure 5.3: A two degree of freedom spring-mass-damper system

EQUATIONS OF MOTION FOR FORCED
VIBRATION
The application of Newton’s second law of motion to each
of the masses gives the equations of motion:

26
m1x1  (c1  c2 ) x 1  c2 x 2  (k1  k 2 ) x1  k 2 x2  F1 (5.1)
m2 x2  c2 x 1  (c2  c3 ) x 2  k 2 x1  (k 2  k3 ) x2  F2 (5.2)

Both equations can be written in matrix form as

   
[m]x (t )  [c]x (t )  [k ]x (t )  F (t ) (5.3)

where [m], [c], and [k] are called the mass, damping,
and stiffness matrices, respectively, and are given by
EQUATIONS OF MOTION FOR FORCED
VIBRATION

m1 0  c1  c2  c2 
[ m]    [c ]   
 0 m2   c 2 c 2  c3

27
k1  k 2  k 2 
[k ]   
  k 2 k 2  k 3

And the displacement and force vectors are given

respectively:
  x1 (t )    F1 (t ) 
x (t )    F (t )   
 x2 (t )  F2 (t )
It can be seen that the matrices [m], [c], and [k] are
symmetric:
EQUATIONS OF MOTION FOR FORCED
VIBRATION

[m]T  [m], [c]T  [c], [k ]T  [k ]

where the superscript T denotes the transpose of the
matrix.

The solution of Eqs.(5.1) and (5.2) involves four

constants of integration (two for each equation). We
shall first consider the free vibration solution of Eqs.
(5.1) and (5.2).

28