Mechanical Vibrations

Lecture 6:

Free Vibration with Coulomb

Damping
Examples

Lecture 7:

Forced Vibration of SDOF Systems

Examples

With many figures and models from Mechanical Vibrations, S. S. Rao

Forced vibration -1

Forced Vibrations
Forced vibrations 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

Transient response is defined as the response of a

dynamic system to suddenly applied nonperiodic
excitations

Mechanical Vibrations

Forced vibration -2

Forced Vibrations
From this figure, the equation of motion using
Newtons second law:

mx cx kx F (t )

Mechanical Vibrations

Forced vibration -3

Forced Vibrations

2nd order
linear
non-homogeneous
constant coefficients
Required solution

x(t ) ?
x(t ) xh (t ) x p (t )

x x(t )
dx
x
dt
d 2x
x 2
d t

Mechanical Vibrations

mx cx kx F (t )

Forced vibration -4

Forced Vibrations
Equation of Motion:

mx cx kx F (t )

Mechanical Vibrations

Forced vibration -5

Response of Forced Undamped System

mx kx F0 cos t
The homogeneous solution is given by:

xh (t ) C1 cos nt C2 sin nt
where n (k / m)1/ 2 is the natural frequency.

Mechanical Vibrations

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,

Forced vibration -6

Response of Forced Undamped System

x p (t ) X cos t
where X is the max amplitude of the particular solution xp(t)

Mechanical Vibrations

Because the exciting force is harmonic, the particular

solution is also harmonic and has same frequency,
therefore we can assume a solution in the form:

Forced vibration -7

Response of Forced Undamped System

st

1
n

where st F0 / k denotes the static deflection

Thus,
F0
x(t ) C1 cos nt C2 sin nt
cos t
2
k m

Mechanical Vibrations

F0
X

2
k m

Forced vibration -8

Response of Forced Undamped System

F0
x(t ) C1 cos nt C2 sin nt
cos t
2
k m

Hence,

F0
C1 x0
,
2
k m

C2

x0

x0
F0

x(t ) x0
cos nt sin nt
2
k m

n
F0

cos t
2
k m

Mechanical Vibrations

Using initial conditions x(t 0) x0 and x (t 0) x0 ,

Forced vibration -9

Amplitude Ratio (Magnification Factor)

st

1

1
n

Mechanical Vibrations

Forced vibration -10

Amplitude Ratio (Magnification Factor)

st

st

1

1
n

(3.10)

1
n

(3.5)

Mechanical Vibrations

Case 1. When 0 < / n< 1, the denominator in Eqn.

(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, as shown in figure.

Forced vibration -11

Amplitude Ratio (Magnification Factor)

x p (t ) X cos t
where the amplitude,

st
2

1
n

Mechanical Vibrations

Case 2. When / n > 1, the denominator in Eq.(3.10) is

negative and the steady-state solution can be expressed
as:

Forced vibration -12

Amplitude Ratio (Magnification Factor)

st

1

1
n

x(t ) x0 cos nt

stnt
2

x0

sin nt

Mechanical Vibrations

Case 3. When / n = 1, the amplitude X given by

Eq.(3.10) becomes infinite. This condition, for which the
forcing frequency is equal to the natural frequency of the
system, is called resonance. Hence, the response of the
system becomes:

sin nt
Forced vibration -13

 Total Response

for
1 The total response of the system is:
n
F0
x(t ) C1 cos nt C2 sin nt
cos t
2
k m

can also be expressed as:

x(t ) A cos(nt )

st

1
n

cos t

Mechanical Vibrations

Response of Undamped System Under

Harmonic Force

Forced vibration -14


and for
1
n
x(t ) A cos(nt )

st

1
n

cos t

Mechanical Vibrations

Response of Undamped System Under

Harmonic Force

Forced vibration -15

 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:

Mechanical Vibrations

Response of Undamped System Under

Harmonic Force

Forced vibration -16

The amplitude of vibration builds up and then

diminishes in a regular pattern

F0 / m

x(t )
sin t sin t
2

(n ) / 2

Mechanical Vibrations

Response of Undamped System Under

Harmonic Force

Forced vibration -17

The time between the points of zero amplitude or

the points of maximum amplitude is called the
and is given by

2
2
b

2 n
with the frequency of beating defined as

b 2 n

Mechanical Vibrations

Response of Undamped System Under

Harmonic Force

Forced vibration -18

Example 3.9
A spring-mass system with m=10 kg and k=5000
N/m is subjected to a harmonic force of amplitude
250 N and frequency . if the maximum amplitude
of the mass is observed to be 100 mm, find the
value of .

Mechanical Vibrations

Forced vibration -19

Example 3.9
Mechanical Vibrations
Forced vibration - 20