Chapter 05

CHAPTER 5: TRANSIENT
VIBRATIONS OF SDOF SYSTEMS

Short Answer Problems
5.1 True: The convolution integral solves the differential equation for a SDOF system.
5.2 True: Alternate derivations of the convolution integral use variation of parameters
(assuming a particular solution which is a linear combination of the homogenous solution
with coefficients that vary with time and deriving integrals for the coefficients) or the
Laplace transform method (applying the Laplace transform method to the differential
equation, reducing the solution for the transform of the differential equation to the product
of two transforms and using the convolution property to invert)
5.3 False: The effect of an impulse applied to a SDOF system is to cause a discrete change
in velocity.
5.4 False: The Laplace transform method involves the initial conditions in the solution of
the differential equation.
5.5 True: Numerical integration of the convolution integral can be obtained by

interpolating the forcing function and exactly integrating the interpolation times .
The method uses piecewise impulses, piecewise constants or piecewise linear functions to
interpolate the forcing function.
5.6 True: Self-starting methods use initial conditions to start the integration process.
5.7 False: The transfer function for a SDOF system is the ratio of the Laplace transform of
the output to the Laplace transform of the input.
5.8 False: The transfer function is the Laplace transform of the impulsive response of a
system.
5.9 False: The maximum force transferred to the foundation from a machine mounted on
an isolator due to an impulsive force is minimized by selecting the damping ratio of the
system to be 0.25.
5.10 True: The transmitted force is flat for a damping ratio between 0.23-0.3.
5.11 The function is the response of a system due to a unit impulse, or the system's
impulsive response.
5.12 The principle of impulse and momentum is used in the derivation of the convolution
integral.
369
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Chapter 5: Transient Vibrations of SDOF Systems
5.13 The convolution integral represents the solution to the differential equation governing
the motion of a SDOF system due to any type of excitation.
5.14 1 1 represents the response of a system with an impulsive

response h(t) at a time of 1 second due to an applied force F(t).
5.15 A pulse of short duration is applied over a short enough time such that the shape of
the pulse has little effect on the response of the system. Only the total impulse imparted to
the system by the pulse has an effect. The system is then modeled as a system undergoing
free vibrations with an initial displacement equal to zero and an initial velocity equal to I/m
where I is the impulse imparted by the pulse.
5.16 The response spectrum of a pulse is a plot of / versus the nondimensional

time / 2 .
5.17 The impulsive response of a system due to motion input does not exist because an
impulsive motion input means an instantaneous change in motion input which is not
possible.
5.18 Given: m = 2 kg, k = 1000 N/m, 12 Ns. The velocity imparted to the system is
N
6 m/s.
5.19 Given: system shown,
370
5.22 Given: m = 5 kg, k = 1000 N/m, 0 The natural frequency of the system is
N/
14.1 rad/s. The impulsive response of an undamped system is
sin sin 14.1 0.141 sin 14.1 .

. /
5.23 Given: 15 N s, m = 0.5 kg, k = 200 N/m. The natural frequency of the system is
N/
20 rad/s. The response of the system is sin
.
N
sin 20 1.5 sin 20 .
. /
5.24 (a)-(vi); (b)-(iii); (c)-(i); (d)-(i); (e)-(iii); (f)-(ii)
371
Chapter Problems
5.1 A SDOF system with m = 20 kg, k = 10000 N/m and c = 540 N s/m is at rest in
equilibrium when a 50 N s impulse is applied. Determine the response of the system.
Given: m = 20 kg, k = 10000 N/m and c = 540 N s/m, I = 50 N s
Find:
Solution: The natural frequency and damping ratio of the system are
rad
22.36
s
0.604
2
The systems damped natural frequency is
1 17.83 rad/s
The response of an underdamped SDOF system to an impulse is

50 N s . .
sin sin 17.83
20 kg 17.83 rad/s
.
0.1402 sin 17.83
Problem 5.1 illustrates the response of a SDOF system subject to an impulse.
5.2 A SDOF system is with m = 10 kg, k = 40,000 N/m, and c = 300 N s/m is at rest in
equilibrium when a 80 N s impulse is applied. This is followed by a 40 N s impulse 0.02
sec later. Determine the response of the system.
Given: m = 10 kg, k = 40,000 N/m and c = 300 N s/m, = 80 N s, = 40 N s,

0.02 s
Find:
rad
63.25
s
0.237
2
372
The systems damped natural frequency is
1 61.44 rad/s
The response of an underdamped SDOF system to the two impulses is obtained using the
method of superposition as
sin sin
80 N s . .
sin 61.44
rad
10 kg 61.44
s
40 N s . . .
sin 61.44 0.02 0.02
rad
10 kg 61.44
s
.
0.1302 sin 61.44 0.0651 sin 61.44 0.02 0.02
Problem 5.2 illustrates application of multiple impulses to an underdamped SDOF system.
5.3 A SDOF system with m = 1.3 kg, k = 12,000 N/m, and c = 400 N s/m is at rest in
equilibrium when a 100 N s impulse is applied. This is followed by a 150 N s impulse
0.12 sec later. Determine the response of the system.
Given: m = 1.3 kg, k = 12,000 N/m, and c = 400 N s/m, = 100 N s, = 150 N s,
0.12 s
Find:
rad
96.07
s
1.60
2
The response of an overdamped SDOF system to the two impulses is obtained using the
method of superposition as
2 1

2 1
Noting that 1 120.2 rad/s
373
10 N s . . . .
rad
2 120.2
s
150 N s . . . . . .
0.12
rad
2 120.2
s
. . . . . .
0.4161 0.6242 0.12
Problem 5.3 illustrates application of multiple impulses to an overdamped SDOF system.
5.4 Use the method of variation of parameters to obtain the general solution of Equation
(5.1)
F (t )
&x& + 2 n x& + n2 x = (1)
m
and show that it can be written in the form of the convolution integral, Equation (5.25).
t
1
x(t ) = F ( )e
nt
sin d (t )d (2)
md 0
Given: Equation (1)

Show: Equation (2) using variation of parameters
Solution: The homogeneous solution of eq. (1) is
x h (t ) = C1 e nt cos d t + C 2 e nt sin d t
Application of the method of variation of parameters involves assuming a particular

solution of the form of the homogeneous solution, but with the constants replaced by
unknown functions of time,
x(t ) = C1 (t )e nt cos d t + C 2 (t )e nt sin d t (3)
Differentiating eq. (3) with respect to time
(
x& (t ) = C1 n e nt cos d t d e nt sin d t + C& 1e nt cos d t )
( )

+ C e nt sin t + e nt cos t + C& e nt sin t
2 n d d d 2 d
The algebra is simplified by choosing
e nt cos d tC& 1 + e nt sin d tC& 2 = 0 (4)
374
Then
(
&x&(t ) = C& 1 n e nt cos d t d e nt sin d t )
(
+ C 1 2 n2 e nt cos d t + 2 n d e nt sin d t d2 e nt cos d t ) (5)
( )

+ C& e nt sin t + e nt cos t
2 d d d
(
+ C 2 2 n2 e nt sin d t 2 n d e nt cos d t d2 e nt sin d t )
Substituting into eq.(1) and simplifying leads to
C&1e nt ( n cos d t d sin d t )

F (t ) (6)
+ C& 2 e nt ( n sin d t + d cos d t ) =
m
Equation (6) is simplified by using eq. (4)
F (t )
d C&1e nt sin d t + d C& 2 e nt cos d t = (7)
md
Equations (5) and (8) can be solved simultaneously yielding
F (t ) nt
C&1 = e sin d t
m d
F (t ) nt
C& 2 = e cos d t
m d
(8)
F ( ) n
t
C1 (t ) = e sin d d
0
m d
F ( ) n
t
C2 (t ) = e cos d d
0
m d
Substitution of eq. (8) into eq. (3) leads to
F ( ) n (t )
t
x(t ) = e ( cos d t sin d + sin d t cos d ) d
0
md

F ( ) n (t )
t
= e sin d (t ) d
0
md
Problem 5.4 illustrates derivation of the convolution integral using the method of variation
of parameters.
375
5.5 Use the convolution integral to determine the response of an underdamped SDOF
system of mass m and natural frequency n when the excitation is the unit step function,
u(t).
Given: m, n, < 1, F(t) = F0u(t)

Find: x(t)
Solution: Using the convolution integral
t
x(t ) = F ( ) h(t ) d
0
t
(1)
F u( )e sin d (t ) d
1 n (t )
= ~
m d
0
0
The integral is easiest evaluated by letting

u = t (2)
Changing the variable of integration from to u leads to

0
F
x(t ) = ~ 0 e nu sin d u du (3)
m d t
The integral in eq. (3) can be evaluated by referring to a table of integrals or integration by
parts twice. Either method leads to
u =0
F e nu ( sin d t + d cos d t )
x(t ) = ~ 0 d
m d n2 u =t
= ~ 0
F
m n d
[ (
1 2 e nt sin d t + 1 2 cos d t )]
Problem 5.5 illustrates the application of the convolution integral to determine the response
of an underdamped one-degree-of-freedom system to the unit step function.
5.6 Let g(t) be the response of an underdamped system to a unit step function and h(t) the
response of an underdamped system to the unit impulse function. Show
h(t ) =
dg
(1)
dt
376
Given: h(t), g(t)

Show: eq.(1)
Solution: The response of an underdamped system to a unit impulse is
h(t ) = ~
1
e nt sin d t (2)
m d
From problem 5.5 the response of an underdamped system to the unit step function is
F
g (t ) = ~ 0
m n d
[ 1 2
(
e nt sin d t + 1 2 cos d t )] (3)
Differentiating eq.(3) with respect to t, using the product rule
dg
dt
F
= ~ 0
m n d
[ (
n e nt sin d t + 1 2 cos d t

)
(
+ e nt d cos d t d 1 2 sin d t )]
dg F
[( ) (
= ~ 0 e nt n 1 2 + 2 sin d t + 1 2 1 2 cos d t
dt m n d
) ]
Hence
dg F
= ~ 0 e nt sin d t
dt m d
= h(t )
Problem 5.6 illustrates that the response of a system due to a unit impulse function equals
the derivative of the response of the system due to the unit step function.
5.7 Use the convolution integral and the notation and results of Chapter Problem 5.6 to
derive the following alternative expression for the response of a system subject to an
excitation, F(t):
dF ( )
t
x(t ) = F (0 ) g (t ) + g (t ) d (1)
0
d
Given: x(t)
Find: Show eq. (1)
377
Solution: The response of a one-degree-of-freedom system subject to the excitation F(t) is

determined using the convolution integral as
t
x(t ) = F ( ) h(t ) d (2)
0
The general integration by parts formula is
u dv = uv v du
Let
u = F ( )

dv = h (t ) d
The results of problem 5.6 show that
h(t ) =
dg

dt
Hence
dF
du = d
d
v = g (t )
Application of integration by parts to eq. (2) results in

t
x(t ) = [ F ( ) g (t )] g (t )d
dF
+
=t
=0
0
d
or
t
x(t ) = F (0 ) g (t ) F (t ) g (0 ) + g (t )d
dF
0
d
But g(0) = 0, hence eq.(1) is obtained

Problem 5.7 illustrates an alternate form of the convolution integral.
378
5.8 A SDOF undamped system is initially at rest in equilibrium and subject to a force
F(t) = F0te-t/2. Use the convolution integral to determine the response of the system.
Given: m, , F(t)
Find: x(t)
Solution: The convolution integral yields the response of an undamped system as
t
x(t ) = F ( )sin n (t ) d
1
m n 0
For the excitation given

t

x(t ) = sin n (t ) d
1
m n 0
F0e 2
Evaluation of the integral leads to

t

t
te 2
1 ne 2
x(t ) = 0 n
F

m n 2 + 1 2 2 1 2

n
4 n +
4

1 1 2 1
+ 2
n sin nt + n cos nt
2 1 4 2
n +
4
Problem 5.8 illustrates use of the convolution integral to determine the transient response
of an undamped one-degree-of-freedom system.
5.9 The mass of Figure P5.9 has a velocity v when it engages

the spring-dashpot system. Let x(t) be the displacement of
the mass from the position where the mechanism is engaged.
Use the convolution integral to determine x(t). Assume the
system is underdamped.
Given: m, v, k, c,
Find: x(t)
379
Solution: Since x(t) is measured from when the mechanism is engaged, the force in the
spring in the initial position is zero. Thus, consider free-body diagrams of the system at an
arbitrary time.
mg
Kx =
:
mx
.
N Cx
EXTERNAL FORCES EFFECTIVE FORCES

Summing forces in the direction along the surface
( F ) ext
= ( F )eff
leads to
mg sin kx c x& = m &x&

m&x& + cx& + kx = mg sin
&x& + 2 n x& + n2 x = mg sin
where
k c
n = , =
m 2 mk
The initial conditions for the motion are
x(0 ) = 0, x& (0 ) = v
The convolution integral with non-zero initial conditions, is used with
F (t ) = mg sin
leading to
t
x(t ) = sin d (t ) d
v 1
mg sin e
n t n
e sin d t +
d m d 0

v g sin
n t

= e nt sin d t + 1 + e sin t cos t
d n2 1 2
d d

380
Problem 5.9 illustrates (a) that when the generalized coordinate is measured from a
position other than the systems equilibrium position, nonhomogeneous terms occur in the
governing equation and, (b) the use of the convolution integral with non-zero initial
conditions.
5.10 Use the convolution integral to determine the

response of the system of Figure P5.10.
Given: System shown
Find: x(t)
Solution: Free body diagrams of the system at an arbitrary instant are shown below.
= L .2
m
6
L R L
:
K(
3
) Mo e-t/5 m
6
1 mL2
:
12
L
2K ( )
3
EXTERNAL FORCES EFFECTIVE FORCES

Summing moments about the point of support
( M ) 0 ext . = ( M 0 )eff .
L L L L 1 L L
k 2 k + M 0 e t / 5 = mL2&& + m &&
3 3 3 3 12 6 6
2 2 t
L L
m && + k = M 0e 5
9 3
The system is undamped with a natural frequency of
3k
n =
m
The convolution integral is used to write the solution as

t

(t ) = 2 0 e 5 sin n (t )
9M
mL n 0
Integration and application of limits results in
381

t

(t ) =
9M 0 1 1
e 5
+ sin nt n cos nt
mL n 2 + 1
2 n
n
5
25
Problem 5.10 illustrates application of the convolution integral to determine the response
of a one-degree-of-freedom system.
5.11 Use the convolution integral to determine the response of an underdamped SDOF
system of natural frequency n and damping ratio when subject to a harmonic excitation
F(t) = F0 sin t.
Given: F(t) = F0 sin t
Find: x(t)
Solution: The convolution integral for the response of the system is
t
1
x(t ) = F sin( )e n (t ) sin[ d (t )] d
m d
0
0
The integral is evaluated to yield
x(t ) =
F0
mD
[
2 n cos(t ) + ( n2 2 ) sin t ]
F 0 nt

m d D
e [
2 d cos( d t ) + ( n2 (1 2 2 ) 2 ) sin(t ) ]
where
D = ( n2 + 2 + 2 d )( n2 + 2 2 d )
Problem 5.11 illustrates the use of the convolution integral to determine the forced
response of a damped system.
5.12 A machine tool with a mass of 30 kg is

mounted on an undamped foundation of stiffness
1500 N/m. During operation, it is subject to the
machining forces shown in Figure P5.12. Use the
principle of superposition and the convolution
integral to determine the response of the system to
each force.
Given: m = 30 kg, k = 1500 N/m, F(t)
382
Find: x(t)
Solution: The natural frequency of the system is
N
1500
n =
k
= m = 7.07 rad
m 30 kg sec
The graphical breakdown of F(t) into functions whose response is presented in Table 5.1 is
shown below.
3000N 3000N
.5 .5
3000N
+ -
.5 2.0 2

The mathematical form of F(t) is
F (t ) = 6000t [u (t ) u (t 0.5 )]+ ( 2000t + 4000 )[u (t 0.5 ) u (t 2.)] N
The response of the system is given by
x(t ) = x1 (t ) x2 (t ) + x3 (t ) x4 (t )
where each xi(t), i = 1, 2, 3, 4 is determined using Table 5.1 as shown below.

x1(t): Ramp function, A = 6000 N/sec, B = 0, t0 = 0
N
6000
x1 (t ) = sec t 1 sin 7.07 t u (t )
N 7.07
1500
m
= 4 [t 0.141sin 7.07 t ]u (t ) m
x2(t): Ramp function, A = 6000 N/sec, B=0, t0 = 0.5 sec
N
6000
x2 (t ) = sec [t 0.5 cos 7.07(t 0.5) 0.141sin 7.07(t 0.5)]u (t 0.5)
N
1500
m
= 4 [t 0.5 cos(7.07t 3.54) 0.141sin (7.07t 3.54)]u (t 0.5) m
383
x3(t): Ramp function, A = -2000 N/sec, B = 4000 N, t0 = 0.5 sec

N
2000
x3 (t ) = sec [t 2. (0.5 2 ) cos 7.07(t 0.5)
N
1500
m
0.141sin 7.07(t 0.5)]u (t 0.5)
= 1.33 [t 2. + 1.5 cos(7.07t 3.54 ) 0.141sin (7.07t 3.54 )]u (t 0.5) m
N
2000
x4 (t ) = sec [t 2. 0.141sin 7.07(t 2.)]u (t 2.)
N
1500
m
= 1.33 [t 2. 0.141sin (7.07t 14.14 )]u (t 2.)
Problem 5.12 illustrates (a) graphical breakdown of an excitation whose form changes at
discrete times and (b) use of superposition and Table 5.1 to determine the response of an
undamped system.
5.13 A machine tool with a mass of 30 kg is mounted on an undamped foundation of

stiffness 1500 N/m. During operation, it is subject to the machining forces shown in Figure
P5.13. Use the principle of superposition and the convolution integral to determine the
response of the system to each force.
Given: m = 30 kg, k = 1500 N/m, F(t)
Find: x(t)
N
1500
n =
k
= m = 7.07 rad
m 30 kg sec
The graphical breakdown of the excitation into functions whose responses are available in
Table 4.1 is shown below.
-
2

384
The mathematical from of the excitation is
F (t ) = 1000 sin t [u (t ) u (t 2)] N
or since sint is periodic of period 2,
F (t ) = 1000 sin tu (t ) 1000 sin (t 2)u (t 2) N
The response of the system is
x(t ) = x1 (t ) x2 (t )
where x1(t) and x2(t) are obtained using Table 5.1
x1(t): Sinusoidal excitation, A = 1000 N, = rad/sec, t0 = 0
Note that /n = 0.444, then
1000 N
x1 (t ) =
1
(sin t sin 7.07t ) 1 (sin t + sin 7.07t )
N 0.444 1 0.444 + 1
21500
m
1
= ( 1.799 sin t + 1.7999 sin 7.07t 0.693 sin t 0.693 sin 7.07 t )
3
1
= ( 2.49 sin t + 1.097 sin 7.07 t ) m
3
x2(t): Sinusoidal excitation, A = 1000 N, = rad/sec, t0 = 2 sec
1000 N
x2 (t ) = { 1.799[sin (t 2) sin 7.07(t 2)]
N
21500
m
0.693[sin (t 2 ) + sin 7.07(t 2 )] }u (t 2 )
1
= [ 2.49 sin t + 1.097 sin (7.07 t 14.14)]u (t 2) m
3
Problem 5.13 illustrates (a) the graphical breakdown of an excitation whose form changes
with time and (b) application of superposition and Table 5.1 to determine the response of
an undamped system to an excitation whose form changes at discrete times.
385

integral to determine the response of the system to
each force.
Given: m = 30 kg, k = 1500 N/m, F(t) as shown
Find: x(t)
Solution: The systems natural frequency is
N
1500
n =
k
= m = 7.07 rad
m 30 kg sec
The graphical breakdown of the solution is as shown below
500 500
500
-
1 1.5 1.5

The mathematical form of the excitation is
F (t ) = 500[u (t ) u (t 1)] + ( 1000t + 1500 )[u (t 1) u (t 1.5 )]
The system response is given by
x(t ) = x1 (t ) x2 (t ) + x3 (t ) x4 (t )
where x1, x2, x3, and x4 are determined from Table 5.1 as follows
x1: Step function, A = 500 N, t0 = 0
500 N 1
x1 =
N
(1 cos 7.07 t ) u (t ) = (1 cos 7.07 t ) u (t ) m
1500 3
m
386
x2: Step function, A = 500 N, t0 = 1 sec
500 N 1
x2 (t ) =
N
[1 cos 7.07(t 1)]u (t 1) = [1 cos(7.07t 7.07 )]u (t 1) m
1500 3
m
x3: Ramp function, A = -1000 N/sec, B = 1500 N, t0 = 1 sec
N
1000
x3 (t ) = sec t 1.5 + 0.5 cos 7.07(t 1) 1 sin 7.70(t 1)u (t 1)
N 7.07
1500
m
2
= [t 1.5 + 0.5 cos(7.07t 7.07 ) 0.141sin (7.07t 7.07 )]u (t 1) m
3
x4: Ramp function, A = -1000 N/sec, B = 1500 N, t0 = 1.5 sec
N
1000
x4 (t ) = sec t 1.5 1 sin 7.07(t 1.5)u (t 1.5)
N 7.07
1500
m
2
= [t 1.5 0.141sin (7.07t 10.61)]u (t 1.5) m
3
Problem 5.14 illustrates (a) the graphical breakdown of an excitation whose form changes
with time, and (b) the use of Table 5.1 to and the superposition principle to determine the
response of an undamped system.

mounted on an undamped foundation of
stiffness 1500 N/m. During operation, it is
subject to the machining forces shown in
Figure P5.15. Use the principle of
superposition and the convolution integral to
determine the response of the system to each
force.
Given: m = 30 kg, k = 1500 N/m, F(t)
Find: x(t)
387
N
1500
n =
k
= m = 7.07 rad
m 30 kg sec
The graphical breakdown of F(t) into functions whose response are available from Table
5.1 is shown below.
1000 1000 1000

+
-
.1 .1 .1
1000 1000
-
+
.3 .3 - .5
-1000
+
0.5 0.6 -
-1000 .6

F (t ) = 10000 t [u (t ) u (t 0.1)] + 1000 [u (t 0.1) u (t 0.3 )]

+ ( 10000 t + 40000 )[u (t 0.3 ) u (t 0.5 )] + (10000 t 6000 )[u (t 0.5 ) u (t 0.6 )]
Superposition is used to write
x(t ) = x1 (t ) x2 (t ) + x3 (t ) x4 (t ) + x5 (t ) x6 (t ) + x7 (t ) x8 (t )
where xi(t), i = 1,,8 are determined from Table 5.1 as shown below
x1(t): Ramp function, A = 10000 N/sec, B = 0, t0 = 0
10000 N 1
x1 (t ) = t sin 7.07t u (t )
N
1500 7.07
m
= 6.67 (t 0.141sin 7.07t )u (t ) m
388
x2(t): Ramp function, A = 10000 N/sec, B = 0, t0 = 0.1 sec
10000 N
x2 (t ) =
N
[t 0.1cos 7.07(t 0.1) 0.141sin 7.07(t 0.1)]u (t 0.1)
1500
m
= 6.67[t 0.1 cos(7.07t 0.707 ) 0.141sin (7.07t 0.707 )]u (t 0.1) m
x3(t): Step function, A = 1000 N, t0 = 0.1 sec
1000 N
x3 (t ) =
N
[1 cos 7.07(t 0.1)]u (t 0.1)
1500
m
= 0.667[1 cos(7.07t 0.707 )]u (t 0.1) m
x4(t): Step function, A = 1000 N, t0 = 0.3 sec
1000 N
x4 (t ) =
N
[1 cos 7.07(t 0.3)]u (t 0.3)
1500
m
= 0.667[1 cos(7.07t 2.12 )]u (t 2.12 ) m
x5 (t ) = 6.67[t 0.4 + 0.1cos(7.07t 2.12) 0.141sin(7.07t 2.12)]u (t 0.3) m
x6 (t ) = 6.67[t 0.4 0.1cos(7.07t 3.54) 0.141sin(7.07t 3.54)]u (t 0.5) m
x7(t): Ramp function, A = 10000 N/sec, B = -6000 N, t0 = 0.5 sec
x7 (t ) = 6.67[t 0.6 + 0.1cos(7.07t 3.54) 0.141sin(7.07t 3.54)]u (t 0.5) m
x8(t): Ramp function, A = 10000 N/sec, B = -6000 N, t0 = 0.6 sec
x8 (t ) = 6.67[t 0.6 0.141sin(7.07t 4.24)]u (t 0.6) m
Problem 5.15 illustrates (a) graphical breakdown of an excitation that changes form at
discrete times to functions whose responses can be determined from Table 5.1 and (b) use
of superposition and Table 5.1 to determine the response of an undamped system due to an
excitation that changes form at discrete times.
389

integral to determine the response of the system
to each force.
Given: F(t), m = 30 kg, k = 1500 N/m,
Find: x(t)
Solution: the natural frequency of the system is
k 30 kg rad
n = = = 7.07
m N sec
1500
m
The graphical breakdown of F(t) is shown below.
.5
-
-1000t -1000t u(t-.5)
(1000t-1000) u(t-1.5)
500 u(t-1.5)
+ - +
.5 1.5 1.5
(1000t-1000) u(t-.5)

F (t ) = 1000 t [u (t ) u (t 0.5 )]

+ (1000 t 1000 )[u (t 0.5 ) u (t 1.5 )] + 500 u (t 1.5 )
x(t ) = x1 (t ) x2 (t ) + x3 (t ) x4 (t ) + x5 (t )
where x1 , x2 , x3 , x4 , and x5 are determined using Table 5.1 as show below
x1(t): Ramp function, A = -1000 N/sec, B = 0, t0 = 0

390
N
1000
x1 (t ) = sec (t 0.141sin 7.07t )u (t )
N
1500
m
x2: Ramp function, A = -1000 N/sec, B = 0, t0 = 0.5 sec
x2 (t ) = 0.667[t 0.5 cos(7.07t 3.54 ) 0.141sin(7.07t 3.54 )]u (t 0.5 )
x3: Ramp function, A= 1000 N/sec, B=-1000 N, t0=0.5 sec
x3 (t ) = 0.667[t 1 + 0.5 cos(7.07t 3.54 ) 0.141sin(7.07t 3.54 )]u (t 0.5 )
x4: Ramp function, A = 1000 N/sec, B = -1000 N, t0 = 1.5 sec
x4 (t ) = 0.667[t 1 0.5 cos(7.07t 10.61) 0.141sin(7.07t 10.61)]u (t 1.5 )
x5: Step function, A = 500 N, t0 = 1.5 sec
x5 (t ) = 0.333[1 cos(7.07t 10.61)]u (t 1.5 )
Problem 5.16 illustrates (a) graphical breakdown of an excitation whose form changes with
time and (b) the use of Table 5.1 and superposition to determine the response of a one-
degree-of-freedom system due to an excitation whose form changes at discrete values of
time.

Given: F(t), m = 30 kg, k = 1500 N/m
Find: x(t)
Solution: the natural frequency of the system is
k 30 kg rad
n = = = 7.07
m N sec
1500
m
391
-.2(t-2)
300tu (t) 300tu (t-2) 600e
- +
2 2

F (t ) = 300t [u (t ) u (t 2 )] + 600e 0.2(t 2 )u(t 2 )
x(t ) = x1 (t ) x2 (t ) + x3 (t )
where x1, x2, and x3 are determined using Table 5.1 as shown below
x1: Ramp function, A = 300 N/sec, B = 0, t0 = 0
N
300
x1 (t ) = sec (t 0.141sin 7.07t )u (t )
N
1500
m
x2: Ramp function, A = 300 N/sec, B = 0, t0 = 2 sec
x2 (t ) = 0.2[t 2 cos(7.07 t 14.14 ) 0.141sin(7.07t 14.14 )]u (t 2 )
x3: Exponential function, A = 600 N, = 0.2 sec-1, t0 = 2 sec
[ 0 .2
x3 (t ) = 0.4 e 0.2 (t 2 ) +
7.07
sin (7.07 t 14.14 )
cos(7.07 t 14.14 )] u (t 2 )
1
2

0 .2
1+
7.07
[
= 0.3997 e 0.2 (1 2 ) + 0.0283 sin (7.07 t 14.14 ) cos(7.07 t 14.14 ) u (t 2 ) ]
time.
392

Given: F(t), m = 30 kg, k = 1500 N/m
Find: x(t)
Solution: the natural frequency of the

system is
k 30 kg rad
n = = = 7.07
m N sec
1500
m
100tu (t-1) 100 u (t-1)

100tu (t)
- +
1 1
100 u (t-4)
450 (t-6)
- +
4 6
F (t ) = 100t [u (t ) u (t 1)] + 100[u (t 1) u (t 4 )] + 450 (t 6 )
x(t ) = x1 (t ) x2 (t ) + x3 (t ) x4 (t ) + x5 (t )
where x1, x2, x3, x4, and x5 are determined using Table 5.1 as show below
x1: Ramp function, A = 100 N/sec, B = 0, t0 = 0
393
N
100
x1 (t ) = sec (t 0.141sin 7.07t )u (t )
M
1500
m
x2: Ramp function, A = 100 N/sec, B = 0, t0 = 1 sec
x2 (t ) = 0.0333[t cos(7.07 t 7.07 ) 0.141sin (7.07 t 7.07 )]u (t 1)
x3 (t ) = 0.0333[1 cos(7.07t 7.07 )]u(t 1)
x4 (t ) = 0.0333[1 cos(7.07t 28.28 )]u(t 4 )
x5: Impulse function, A = 450 N-sec, t0 = 6 sec
(450 N sec) 7.07 rad

sec
x5 (t ) = sin (7.07t 42.42 )u (t 6 )
N
1500
m
= 2.12 sin (7.07t 42.42 )u (t 6 )
time.
5.19 The force applied to the 120 kg anvil of a forge hammer during operation is
approximated as a rectangular pulse of magnitude 2000 N for a duration of 0.3 s. The anvil
is mounted on a foundation of stiffness 2000 N/m and damping ratio 0.4. What is the
maximum displacement of the anvil?
Given: m = 120 kg, F = 2000 N, t0 = 0.3 s, k = 2000 N/m, = 0.4
Find: xmax
Solution: The natural frequency of the anvil is
k
n = = 4.08 rad/s
m
394
The damped natural frequency is
d = n 1 2 = 3.74 rad/s
The convolution integral is used to determine the response of the system for t < t0 as
t
1 ( t )
x(t ) =
m d F e
0
0 sin( d (t )) d
which is evaluated to
[
x(t ) = F0 5.88 10 2 5.88 10 3 e 4t cos(3.74t ) 6.29 10 3 sin(3.74) ]
A plot of the above expression reveals that x(t) does not reach a maximum in the interval
from t = 0 to t = 0.3 The appropriate expression for x(t) for t > 0.3 s is
t
1 0 ( t )
x(t ) =
m d 0 F0 e sin( d (t )) d
which is evaluated to
x(t ) = 0.396e 4t +1.2 cos(3.74t ) + 1.115e 4t +1.2 sin(3.74t ) 1.177e 4t cos(3.74t ) 0.126e 4t sin(3.74t )
The maximum value of x(t) is evaluated as xmax = 0.909 m.
Note: MATLAB was used to symbolically integrate the convolution integral and to
determine the maximum of x(t).
Problem 5.19 illustrates the use of the convolution integral to determine the maximum
response of a system.
5.20 A one-story frame structure houses a

chemical laboratory. Figure P5.20 shows
the results of a model test to predict the
transient force to which the structure
would be subject if an explosion would
occur. The equivalent mass of the structure
is 2000 kg and its equivalent stiffness is 5
106 N/m. Approximate the maximum displacement of the structure due to this blast.
Given: m = 2000 kg, k = 5 106 N/m, F(t)
Find: xmax
395
Solution: The blast force is approximated by the force shown. The natural frequency of the
structure is
N
5 10 6
n =
k
= m = 50 rad
m 2000 kg sec
The force for t < 0.2 sec is approximated by a ramp,
F (t ) = 2.5 104 t N, 0 < t < 0.2 sec
The response during this time is determined using Table 5.1 for a ramp function with
A = 2.5 104 N/sec, B = 0, t0 = 0,
2.5 10 4 N
x(t ) = (t 0.02 sin 50t ), 0 < t < 0.2 sec
6 N
5 10
sec
The extrema occur during this time interval at values of t such that
3
1 cos nt = 0, nt = 0, ,7 ,...
2 2
It is also possible for the absolute maximum during the interval to occur at t = 0.2 sec. The
values are checked and it is found that a maximum displacement of 1.055 10-3 m occurs
at t = 0.2 sec.
During the time interval between 0.2 sec and 1.0 sec, the excitation is approximated as a
constant force of 5000 N. The response during this period is obtained using the principle of
superposition and Table 5.1 The response is the response of the ramp function previously
obtained minus the response due to the same ramp function but starting at 0.2 sec plus the
response due to a step excitation starting at 0.2 sec. Using Table 5.1
Ramp function, A = 2.5 104 N/sec, B = 0, t0 = 0.2 sec
xb (t ) = 0.005[t 0.2 cos 50(t 0.2 ) 0.02 sin 50(t 0.2 )]
Step function, A = 5000 N, t0 = 0.2 sec
xc (t ) = 0.001[1 cos 50(t 0.2 )]
396
Combining the excitations
x(t ) = X a (t ) X b (t ) + X c (t ) = 0.001 1x10 4 sin 50t + 1 10 4 sin 50(t 0.2)
The times at which the maxima occur are obtained by taking the derivative and setting it to
zero. This leads to the equation
cos 50t = cos 50(t 0.2 )
whose solutions are
nt = tan 1 (3.380 )
This leads to a maximum of
xmax = 1.16 10 3 m
Problem 5.20 illustrates (a) the approximation of an excitation by a combination of

functions whose responses are catalogued, (b) The use of Table 5.1, and (c) determination
of the maximum response.
5.21 A 20 kg radio set is mounted in a ship on an

undamped foundation of stiffness 1000 N/m. The
ship is loosely tied to a dock. During a storm, the
ship experiences the displacement of Figure P5.21.
Determine the maximum acceleration of the radio.
Given: m = 20 kg, k = 1000 N/m
Find: amax
Solution: The natural frequency of the radio is
k
n = = 7.07 rad/s
m
The radio is subject to the base motion of the ship. The mathematical representation of the
base motion is
y (t ) = 0.15{1.67t [u (t ) u (t 0.6)] + (7 10t )[u (t 0.6) u (t 0.7)]}
397
The convolution integral solution is used

t
1
x(t ) = m 2
n y( ) m sin[ n (t )] d
0 n
Since the system is undamped, Table 5.1and the principle of linear superposition can be
used to determine the system response,
x(t ) = x a (t ) xb (t ) + xc (t ) x d (t )
where each x(t) is the response due to a ramp function. To this end, note that
k = m n2 = 1000 and 0.15k = 150. The responses to each of the ramp inputs are determined
using Table 5.1 as follows
xa(t): Ramp , A = 150(1.67) = 250, B = 0, t0 = 0
1
x a (t ) = 0.25 t sin n t u (t )
n
xb(t): Ramp, A = 250, B = 0, t0 = 0.6
1
xb (t ) = 0.25t 0.6 cos n (t 0.6) sin n (t 0.6)u (t 0.6)
n
xc(t): Ramp, A = 150(-10) = -1500, B = 150(7) = 1050, t0 = 0.6
1
xc (t ) = 1.5t 0.7 + 0.1 cos n (t 0.6) sin n (t 0.6)u (t 0.6)
n
xd(t): Ramp, A = -1500, B = 1050, t0 = 0.7
1
x d (t ) = 1.5t 0.7 sin n (t 0.7)u (t 0.7)
n
Note that the differential equation leads to
&x& + n2 x = n2 y

&x& = n2 ( y x)
398
To this end the acceleration is determined as

0 s < t < 0.6 s
0.25
&x& = n2 sin n t
n
0.6 s < t < 0.7 s
1
&x& = n2 (0.25 sin n t 1.25 sin n (t 0.6) )
n
t > 0.7 s
1
&x& = n2 (0.25 sin n t 1.25 sin n (t 0.6) + 1.5 sin n (t 0.7) )
n
The maximum acceleration is 0.1722 m/s2.

Problem 5.21 illustrates the maximum acceleration from a shock type input.
5.22 A personal computer of mass m is packed inside a box such that the stiffness and
damping coefficient of the packing material are k and c, respectively. The package is
accidentally dropped from a height h and lands on a hard surface without rebound. Set up
the convolution integral whose evaluation leads to displacement of the computer relative to
the package.
Given: m, k, c, h
Find: zmax
Solution: The velocity of the package is
v(t ) = gt [1 u (t t0 )], t0 =
2h

g
The velocity of the package acts as a base excitation to the computer. The displacement of
the computer relative to the package is
399
t
z (t ) = v( )e sin d (t )d
1 n (t )
1 2
0
[1 u ( t )]e sin d (t )d
g ( t )
= 0
n

1 2
0
t t
sin d (t )d u (t t 0 ) e n sin d (t )d
g
e
n t
= e n
1 2 0 t0
Note that
e sin d (t )d =
n
e
n
[
sin d (t ) 1 2 cos(t )
n
]

+
e n
n2
[(2 2
)
1 sin d (t ) 2 1 cos d (t ) 2
]
Thus the system response is
x(t ) =
g t

1 n
2
(
sin d 1 2 cos d )
+
n2
1
[(2 2
)
1 sin d + 2 1 2 cos d ]
+
e n
2
n
[(2 2
)
1 sin d (t ) 2 1 2 cos d (t )

]
u (t t0 )
t
g

1
(
n sin d + 1 2 cos d
2
)
n
+
1
[(2 1)sin + 2 1 cos ]
n2
2
d
2
d

e n (t t0 )
t

[ sin (t t ) 1 cos (t t
0
n
d 0
2
d 0 ) ]
+
e n (t t0 )
2
n
[(2 2
)
1 sin d (t t0 ) 2 1 2 cos d (t t0 )

]
The maximum response will probably occur for t > t0. However the algebra is too
complicated to obtain an analytical solution. A numerical solution must be used.
Problem 5.22 illustrates the use of the convolution integral to determine the time
dependent displacement of a one-degree-of-freedom system with viscous damping.
400
5.23 Use the Laplace transform method to determine the response of a system at rest in
equilibrium when subject to
F (t ) = F0 cost[1 u(t t0 )]
for (a) = 0, (b) 0 < < 1, (c) = 1, (d) > 1.
Given: F(t), , n
Find: x(t)
Solution: The Laplace transform of a system at rest in equilibrium when subject to an

excitation F(t) is
1 F (s )
X (s ) =
m s + 2 n s + n2
2
where, for this problem
F (s ) = F0
s
s +22
[
1 e st0 ]
Hence
X (s ) =
)[ ]
F0 s
1 e st0
2
( 2 2
)(
m s + s + 2 n s + n2
(a) 0.The system is undamped. Hence
A partial fraction decomposition yields
Setting up equations to solve for A, B, C and D lead to
401
0
The solutions of the above equations are
, 0, , 0
which leads to
Then
Using the second shifting theorem the inversion of this transform is
cos cos cos cos
(b) < 1, The quadratic term in the denominator has no real roots. Thus it is left as a
quadratic factor and partial faction decomposition yields
G (s ) =
s
( ) (
s + + s + 2 n s + n2
2 2 2
)
=
n2 2 s + 2 n 2
1 ( )

( 2
)
n2 2 + 4 2 2n2 s 2 + 2

( 2
n )
2 s + 2 n3

s + 2 n s + n2
2
Note that
s 2 + 2 n s + n2 = (s + n ) + d2
2
Hence after some algebra
g (t ) = L1 {G (s )} =
1
[( 2
)
2 cos t + 2 n sin t
( 2
n 2 2
) + 4 2 2 2
n
n

(
e
2
n
2
) nt
cos d t ( 2
+ e 2
n ) nt
sin d t
1 2
Note that
402
X (s ) =
F0
m
[
G(s ) 1 e st0 ]
Thus using linearity and the second shifting theorem
x(t ) =
F0
[g (t ) g (t t0 )u(t t0 )]
m
(c) = 1, The denominator has equal roots. Then
As + B
G (s ) =
C D
+ +
s +
2 2
s + n (s + n )2
where
n2 2
A=
n2 ( n2 + 2 ) + 2 ( 2 + n )
1 n 2 + 3 + 2 2 n
B=
( ) (
2 n2 2 + n2 + 2 2 + n )
C = A
n (2 2 + n2 + n )
D= 2 2
n ( n + 2 ) + 2 ( 2 + n )
then
g (t ) = A cost +
B
sin t + Ce nt + Dte nt

and
x(t ) =
F0
[g (t ) g (t t0 )u(t t0 )]
m
(d) > 1,The denominator has two real roots
(
s1 = n 2 1 )
= ( + 1)
s2 n 2
In this case
403
As + B
G (s ) =
C D
+ +
s +
2 2
s s1 s s2
where A,B,C, and D solve

A+C + D = 0
2 n A + B s2C s1 D = 0

A + 2 n B + 2C + 2 D = 1
2
n
A + n2 B 2 s2C 2 s1 D = 0
Then
g (t ) = A cost +
B
sin t + Ce s1t + Des2t

Problem 5.23 illustrates the use of the Laplace transform method to determine the transient
response of (a) an undamped system (b) an underdamped system, (c) a critically damped
system, and (d) an overdamped system.
5.24 Use the Laplace transform method to determine

the response of an undamped SDOF system initially at Fo
rest in equilibrium when subject to a symmetric
triangular pulse of magnitude F0 and total duration t0.
Given: m, k, F(t), x(0) = 0, x(0) = 0

t o/2 to
Find: x(t)
Solution: The graphical breakdown of the triangular pulse is shown below

(2Fo - 2Fo t ) u (t -t o/2)
to
2Fo - 2Fo
+ -
tu (t) tu (t -t o/2)
to to
to/2 to/2 to to
(2Fo - 2Fo t ) u (t -t o )
to
The mathematical form of the excitation is

404
2 F0 t t 2 F0 t
F (t ) = u (t ) u t 0 + t + 2 F0 u t 0 u (t t0 )
t0 2 t0 2

t0 t0 2 F0
= 0 tu (t ) 0 (t t0 )u (t t0 )
2F 4F
t u t +
t0 t0 2 2 t0
The Laplace transform of F(t) is obtained using the second shifting theorem and transform
pair 2 of Table B.1,
2 F0 t
s 0
F (s ) = 1 2 e 2
+ e st0
t0 s 2
The transform of the system response is
F (s )
X (s ) =
(
m s 2 + n2

)
Partial fraction decomposition yields
1 1 1 1
= 2 2 2
2
(
s s + n
2
n s
2
)s + n2 ( )
Hence
2 F0 1 1
t
s 0
X (s ) =
2 2

2
1 2 e 2
+ e st0
mt0 n s s + n
2

Application of the first shifting theorem and transform pairs 2 and 4 of table B1 are used to
invert the transform and obtain the system response

x(t ) = sin n t u (t )
2 F0 1
t
mt0 n2 n
t 1 t t
2 t 0 sin n t 0 u t 0
2 n 2 2

sin n (t t0 )u (t t0 )
1
+ t t0
n
Problem 5.24 illustrates application of the Laplace transform to determine the response of
an undamped one-degree-of-freedom system subject to an excitation whose form changes
with time.
405
5.25 Use the Laplace transform method to determine the response of an underdamped
SDOF system to a rectangular pulse of magnitude F0 and time t0.
Given: F(t) = F0[u(t) u(t t0)]
Find: x(t) using Laplace transform method
Solution: The Laplace transform of F(t) is obtained using the second shifting theorem
F ( s) =
F0
s
(
1 e st0 )
Assume the initial conditions are both zero then
F0 / m(1 e st0 )
X ( s) =
s( s 2 + 2 n s + n2 )
Partial fraction decomposition leads to
F0 1 s + 2n
X ( s) = 2 2
(1 e st0 )
mn2 s s + 2 n s + n
For an unerdamped system the quadratic denominator can be rewritten as ( s + n ) 2 + d2 .

Then application f both the First Shifting Theorem and the Second Shifting Theorem leads
to
F0 n
x(t ) = 2
1 e nt (cos d t + sin d t u (t )
m n d
F0 n
2
1 e n (t t0 ) (cos d (t t 0 ) + sin d (t t 0 )u (t t 0 )
m n d
Problem 5.25 illustrates the application of the Laplace transform method to derive the
response of an underdamped one-degree-of-freedom system to a rectangular pulse. The
solution requires application of the shifting theorems.
5.26 Use the Laplace transform method to derive the response of a SDOF system initially
at rest in equilibrium when subject to a harmonic force F0 sin t, when (a) n and
(b) = n.
Given: , n , F0
Find: x(t) when (a) n, (b) = n

406
Solution: The transform of the response of an undamped one-degree-of-freedom system is

attained using eq. (5. 25) with the initial conditions taken to be zero as
1 F (s )
X (s ) = ~ 2
m s + n2
(a) For F(t) = F0sint, n,
F0
F (s ) =
s + 2
2
Hence
F 1
X (s ) = 0~
(
m s + s 2 + n2
2 2

)( )
Partial fraction decomposition is used leading to
F 1 1
X (s ) = ~ 20 2 2 2
m n( ) s +
2
s + n2
Linearity and Table B.1 is used to invert the transform and give
F 1
x(t ) = ~ 20 2
1
sin t sin nt
(
m n ) n
(b) When = n,
F0 n
F (s ) =
s + n2
2
and
F0n 1
X (s ) =
~
(
m s 2 + n2 )2
A table of transforms more extensive than those listed in Table B.1 or use of properties not
listed in Table B.2 used in conjunction with transforms listed in Table B.1 are required to
invert the preceding transform. The result is
x(t ) = (sin nt nt cos nt )

F0
~
2 m n2
407
Problem 5.26 illustrates the use of the Laplace transform method to derive the response of
a one-degree-of-freedom undamped system.
5.27 Determine the transfer function for the relative displacement of a SDOF system with
base motion defined as where Z(s) is the Laplace transform of the relative
displacement and Y(s) is the Laplace transform of the motion of the base.
Given: y(t)
Determine:
Solution: The differential equation governing the relative displacement is

2
Taking the Laplace transform of the equation assuming all initial conditions are zero leads
to
2
Solving for Z(s) leads to
Problem 5.27 illustrates the transfer function of a system with base motion.
5.28 Determine the transfer function for the force transmitted to the foundation for a SDOF
system. The transfer function is defined as where is the Laplace
transform of the transmitted force and F(s) is the Laplace transform of the applied force.
Given: F(s)
Find:
Solution: The force transmitted to the foundation with a machine mounted on a spring and
viscous damper is

408
Taking the Laplace transform of this equation leads to

The transform of the system output is related to the transform of the system input by
Substituting for X(s) in the equation for leads to
Solving for the transfer function yields
which can also be written as

2

2
Problem 5.28 illustrates the transfer function for the transmitted force.
5.29 Use the transfer function to determine the response of an SDOF system excited by
motion of its base with m = 3 kg and k = 18,000 N/m where the base motion is shown in
Figure P5.29.
Given: m = 3 kg, k = 18,000 N/m
Find:
Solution: The equation for the displacement of

the undamped system due to motion of its base is
The transfer function is obtained as
409
The natural frequency of the system is
18000 N/m
77.5 rad/s
3 kg
Thus
6000

6000
The input motion is given by
0.05 0.2 0.02 0.05 0.2 0.5 0.005 0.5
0.05 0.02 0.01 0.2 0.025 0.05 0.5
0.05 0.01 2 2 0.05 0.5 0.5
The second shifting theorem is employed to take the Laplace transform of y(t) resulting in
0.05 0.01 .
0.05 .

Substituting Y(s) into the transfer function yields

6000 . .
0.05 0.01 0.05
6000
A partial fraction decomposition leads to

6000 1 1

6000 6000
Thus
1 1 . .
0.05 0.01 0.05
6000
Noting that and sin 77.5 0.0129 sin 77.5 and using
.
the second shifting theorem the inverse of X(s) is
0.05 0.0129 sin 77.5 0.01 0.2 0.0129 sin 77.5 0.2 0.2
0.05 0.5 0.0129 sin 77.5 0.5 0.5
Problem 5.29 illustrates the application of the Laplace transform method using transfer
functions.
410
5.30 Use the transfer function to determine

the response of a SDOF system with m =1 kg,
k = 100 N/m, and c = 6 N s/m when the
system is subject to motion of its base shown
in Figure P5.30.
Given: m = 1 kg, k = 100 N/m, c = 6 N s/m
Find: x(t)
Solution: The natural frequency for the system is 10 rad/s and its damping ratio is 0.3. The
transfer function for the system is
6 100

6 100
The motion of the base is given by
0.1 1 0.1 1
0.1 0.1 1 1
The Laplace transform of the base motion is

0.1 0.1

Then using the transfer function

6 100 0.1 0.1 6 100
0.1 0.1
6 100 6 100

6 100 1 1

6 100 6 100
Hence
1 1
0.1 0.1
6 100
It is noted that
1 1

6 100 3 91
411
and
1 1
sin 91 0.105 sin 9.54
6 100 91
The second shifting theorem is used to invert the transform yielding
0.1 0.105 sin 9.54 0.1 1 0.105 sin 9.54 1 1
Problem 5.30 illustrates application of the transfer function to determine the response of a
damped SDOF system due to base motion.
5.31 Repeat Chapter Problem 5.30 if the system parameters are m = 1 kg, k = 200 N/m, and
c = 30 N s/m.
Given: m = 1 kg, k = 200 N/m, c = 30 N s/m
Find: x(t)
Solution: The natural frequency for the system is 14.14rad/s and its damping ratio is 1.061
The transfer function for the system is
30 200

30 200
The motion of the base is given by
0.1 1 0.1 1
0.1 0.1 1 1

0.1 0.1

Then using the transfer function

30 200 0.1 0.1 30 200
0.1 0.1
30 200 30 200

30 200 1 1

30 200 30 200
412
Hence
1 1
0.1 0.1
30 200
It is noted that
1 1 0.1 0.1

30 200 10 20 10 20
1
0.1 0.1
30 200
The second shifting theorem is used to invert the transform yielding
0.1 0.1 0.1 0.1 1 0.1 0.1 1
Problem 5.31 illustrates application of the transfer function to determine the response of a
damped SDOF system due to base motion.
5.32 For the system of Figure P5.32(a), complete the following. (a) Determine its transfer
function defined as . (b) Use the transfer function to find the response of the
system due to y(t) as shown in Figure P5.32(b). Use m = 1 kg, k = 100 N/m, and
c = 30 N s/m.
Given: (b) m = 1 kg, k = 100 N/m and
c = 30 N s/m, F(t) as shown
Find: ,
Solution: (a) The differential equation governing
the motion of the block is
3
Taking the Laplace transform of both sides of the

equation setting all initial condition to zero leads to
3
Solving for the transfer function leads to
413
(b) Substituting numbers into the transfer function leads to

30 100

30 300
The base motion is given by
0.001
0.05 0.001 0.05
0.05
0.02 0.02 0.05 0.05

0.02 0.02 .

which when substituted into the transfer function yields

0.02 30 100 .
1
30 300

0.02 30 100 1 1 1 1
0.02 0.02
30 300 30 300 15 75
The inverse Laplace transform of X(s) is x(t),

1
0.02 sin 75
75
1 .
0.02 0.05 sin 75 0.05 0.05
75
Problem 5.32 illustrates the use of the transfer function is solving base motion problems.
414
5.33 For the system of Figure P5.33(a), complete the following.
(a) Determine its transfer function defined as where is the Laplace

transform of the angular displacement of the bar.
(b) Use the transfer function to determine due to y(t), as showing in Figure P5.33(b).
N N
Given: 1000 , 2000 , 12 kg, 20 cm, 80 cm,
Find: ,
Solution: FBDs of the system at an arbitrary instant are shown. Summing moments about
the point of support using leads to
1
1000 0.2 0.2 2000 0.8 0.8 12 0.3 0.3 12 1
12
which becomes upon simplification
2.08 155.2 200
Taking the Laplace transform of both sides of the above equation leads to
200

2.08 155.2
(b) The excitation is given by

0.1 0.1 0.002 0.1 0.1 0.2
0.1 0.2 0.1 0.1 0.1 2 0.2
The Laplace transform of y(t) is

0.1 . .
1 2
415
Substitution into the transfer function yields

20 . .
1 2
2.08 155.2

20 1 1 . .
1 2
2.08 74.61 74.61
Inversion leads to
0.129 0.116 sin 8.67 2 0.1 0.116 sin 8.67 0.1 0.1
0.2 0.116 sin 8.67 0.2 0.2
Problem 5.33 illustrates application of the transfer function to base motion problems.
5.34 During its normal operation, a 144-kg machine tool is subject to a 15,000 N s
impulse. Design an efficient isolator such that the maximum force transmitted through the
isolator is 2500 N and the maximum displacement is minimized.
Given: I = 25000 N s, m = 144 kg, FT,max. = 2500 N
Find: k and c such that xmax. is a minimum
Solution: For a given FT,max., xmax. is minimized by selecting such that S() is a minimum.
This requires setting
0.4
The natural frequency is calculated from
.
0.4
where from impulse-momentum

15000 N sec
and from eq. (5.110)

0.4 0.88
Thus
416
2500 N rad
0.189
15000 N sec 0.88 sec
The isolator stiffness is
rad N
144 kg 0.189 1.14
sec m
The isolator damping coefficient is
rad N sec
2 2 0.4 144 kg 0.189 43.55
sec m
Problem 5.34 illustrates design of an isolator to protect a foundation from impulsive
loading with minimum displacement.
5.35 A 110 kg pump is mounted on an isolator of stiffness 4 105 N/m and a damping
ratio of 0.15. The pump is given a sudden velocity of 30 m/s. What is the maximum force
transmitted through the isolator and what is the maximum displacement of the pump?
Given: m = 110 kg, k = 4 105 N/m, = 0.15, v = 30 m/sec
Find: FT,max , xmax.
N
4 10 rad
m 60.3
110 kg sec
The maximum transmitted force is calculated from
.
0.15
where Q(0.15) = 0.844 as calculated using eq.(5.110). Thus

m rad
0.844 110 kg 30 60.3 1.68 10 N
.
sec sec
The maximum displacement is obtained from
. ,
0.15
1
2
where S(0.15) = 1.823 is obtained from eq.(5.112). Then

417
m
1.823 110 kg 30
sec 0.537 m
. N
2 1.68 10
m
Problem 5.35 illustrates the use of Q() and S().
5.36 During operation, a 50-kg machine tool is subject to

the short-duration pulse of Figure P5.36. Design an
isolator that minimizes the maximum displacement and
reduces the maximum transmitted force to 5000 N. What
is the maximum displacement of the machine tool when
this isolator is used?
Given: m = 50 kg, Fmax =5000
Find: isolator design, xmax
Solution: The total impulse applied to the machine due to the impulsive excitation is
t0
I = F (t ) dt
0
1
I = (30,000 N) (0.005 s) + (0.005 s)
2
I = 225 N s
The initial velocity imparted to the machine due to the impulse is
I 225 N s
v= = = 4.5 m/s
m 50 kg
The maximum displacement is minimized by designing an isolator of damping ratio
= 0.4. Then if the maximum transmitted force is limited to 5,000 N, the maximum
displacement is
1 1
mv 2 (50 kg)(4.5 m/s) 2
x max = 2 S ( 0 .4 ) = 2 1.04 = 0.105 m
Fmax 5000 N
The natural frequency of the isolator is calculated by using Eq.(5.110)
Fmax 5000 N
n = = = 25.3 rad/s
mvQ (0.4) (50 kg)(4.5 m/s)(0.88)
The maximum isolator stiffness is
418
k = mn2 = (50 kg)(25.3 rad/s) 2 = 3.19 10 4 N/m
Problem 5.36 illustrates design of an isolator to protect against a short duration pulse.
5.37 Repeat Chapter Problem 5.36 for the short-duration pulse of Figure P5.37.
Given: m = 50 kg, Fmax = 5000 N
Find: isolator design, xmax
Solution: The total impulse applied to the machine due to
the impulsive excitation is
t0
I = F (t ) dt
0
1
I = (20,000 N)(0.01 s)
2
I = 100 N s
The initial velocity imparted to the machine due to the impulse is
I 100 N s
v= = = 2 m/s
m 50 kg
The maximum displacement is minimized by designing an isolator of damping ratio

= 0.4. Then if the maximum transmitted force is limited to 5,000 N, the maximum
displacement is
1 1
mv 2 (50 kg)(2 m/s) 2
x max = 2 S (0.4) = 2 1.04 = 0.0208 m
Fmax 5000 N
The natural frequency of the isolator is calculated by using Eq.(5.110)
Fmax 5000 N
n = = = 56.8 rad/s
mvQ (0.4) (50 kg)(2 m/s)(0.88)
The maximum isolator stiffness is
k = mn2 = (50 kg)(56.8 rad/s) 2 = 1.61 105 N/m
Problem 5.37 illustrates design of an isolator to protect against a short duration pulse.
419
5.38 A ship is moored at a dock in rough seas and frequently impacts the dock. The
maximum velocity change caused by the impact is 15 m/s. Design an isolator to protect a
sensitive 80-kg navigational control system such that its maximum acceleration is
30 m/s .
Given: m = 80 kg, 15 m/s, 30 m/s

Find: k,c
Solution: Since minimizing the transmitted accelerations is the only consideration, the
damping ratio is chosen as 0.25 such that is a minimum with a value of
Q(0.25) = 0.81. Then the maximum transmitted acceleration is
0.25 0.81
which leads to
30 m/s
2.47 rad/s
0.81 0.81 15 m/s
The maximum stiffness is calculated as

80 kg 2.47 rad/s 487.7 N/m
The isolator damping coefficient is

rad
2 2 0.25 80 kg 2.47 98.8 N s/m
s
Problem 5.38 illustrates shock isolation theory applied to a transmitted acceleration
problem.
5.39 A one-story frame structure with an equivalent mass

12,000 kg and stiffness 1.8 10 N/m is subject to a blast
whose force is given in Figure P5.39. What is the
maximum deflection of the structure?
N
Given: 12,000 kg, 1.8 10 ,
35000 N, 0.6 s
Find:
Solution: Calculations show that
420
0.6 s 1.8x 10 N/m

1.17
2 2 2 12000 kg
From the displacement spectrum for an undamped system subject to a triangular pulse
1.5
The maximum displacement is calculated as

1.5 35000 N
2.92 cm
1.8 10 N/m
Problem 5.39 illustrates use of a displacement spectrum to determine the maximum

displacement of a structure.
5.40 A 20 kg machine is on a foundation that is subject to an acceleration that is modeled

as a versed sine pulse of magnitude of 20 m/s and duration of 0.4 s. Design an undamped
isolator such that the maximum acceleration felt by the machine is 15 m/s . What is the
maximum displacement of the machine tool relative to its foundation when the isolator is
used?
Given: m = 20 kg, 20 m/s , = 15 m/s , 0.4 s, 0
Find: k,
Solution: The ratio of the acceleration of the machine to the acceleration of its foundation
is
0.75
The force spectrum for a versed sine pulse is used to determine that for the acceleration
ratio to be less than 0.76,
0.29 2
0.29 4.5 rad/s
2 0.4 s
The isolator stiffness is given by
rad
20 kg 4.5 400 N/m
s
The maximum relative displacement is determined using the displacement spectrum.
However since the isolator is undamped the displacement spectrum is the same as the force
spectrum. For transmitted acceleration problems the vertical scale of the displacement
spectrum becomes
421
0.75 20 m/s
0.75 0.74 m
4.5 rad/s
Problem 5.40 illustrates the use of force and displacement spectra to design an isolator to
protect a machine from a foundation acceleration.
5.41 During operation, a 100 kg machine tool is exposed to a force that is modeled as a
sinusoidal pulse of magnitude of 3100 N and duration of 0.05 s. Design an isolator with a
damping ratio of 0.1 such that the maximum force transmitted through the isolator is
2000 N and the maximum displacement of the machine tool is 3 cm.
Given: m = 100 kg, 3100 N, 0.05 s, 2000 N, = 3 cm, 0.1

Find: k, c
N
Solution: The maximum value of is 0.645. The force spectrum for a sinusoidal
N
.
pulse yields 0.25 or 31.4 rad/s. The displacement spectrum for a
.
sinusoidal pulse corresponding to a value of 0.25 on the horizontal scale yields
0.67 0.21 m which is less than the 3 cm required. The stiffness and damping
coefficient of such an isolator are
100 kg 31.4 rad/s 98600 N/m
rad
2 2 0.1 100 kg 31.4 528.0 N s/m
s
Problem 5.41 illustrates use of the force and displacement spectra for sinusoidal pulse
excitation.
5.42 During operation a 80 kg machine is subject to a triangular pulse with a magnitude of

30,000 N and duration of 0.15 s. What is the range of undamped isolator stiffness such that
the maximum transmitted force is 15,000 N and the maximum displacement is 5 cm?
Given: m = 80 kg, = 30,000 N, 0.15 s, 5 cm, 15,000N
Find: range of k
Solution: Limiting the maximum force to 15000 N implies that 0.5 which, from the
force spectrum for an undamped system subject to a triangular pulse, leads to 0.3
which implies
.
0.05 s.
422
This leads to
2
125.7 rad/s
0.05 s
which leads to
rad
80 kg 125.7 1.26 10 N/m
s
This is an upper bound on the stiffness. Checking the maximum displacement with this
stiffness
0.5 30000 N
0.5 1.19 cm
1.26 10 N/m
. N
The maximum value of is 1.6. With this value 4.8 10 N/m.
.
For this value of k, 1.89 1.1 3.3 10 . The iteration can
continue, but this is close enough. Thus
3.3 10 1.26 10 N/m
Problem 5.42 illustrates the use of the force and displacement spectra to determine a lower
bound and an upper bound on the stiffness.
423

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CHAPTER 5: TRANSIENT

VIBRATIONS OF SDOF SYSTEMS

5.5 True: Numerical integration of the convolution integral can be obtained by

5.14 1 1 represents the response of a system with an impulsive

5.16 The response spectrum of a pulse is a plot of / versus the nondimensional

5.19 Given: system shown,

5.20 Given: system shown,

5.21 Given: system shown,

sin sin 14.1 0.141 sin 14.1 .

5.24 (a)-(vi); (b)-(iii); (c)-(i); (d)-(i); (e)-(iii); (f)-(ii)

Given: m = 20 kg, k = 10000 N/m and c = 540 N s/m, I = 50 N s

The systems damped natural frequency is

The response of an underdamped SDOF system to an impulse is

Problem 5.1 illustrates the response of a SDOF system subject to an impulse.

Given: m = 10 kg, k = 40,000 N/m and c = 300 N s/m, = 80 N s, = 40 N s,

The systems damped natural frequency is

Problem 5.2 illustrates application of multiple impulses to an underdamped SDOF system.

Noting that 1 120.2 rad/s

Problem 5.3 illustrates application of multiple impulses to an overdamped SDOF system.

Given: Equation (1)

Application of the method of variation of parameters involves assuming a particular

x(t ) = C1 (t )e nt cos d t + C 2 (t )e nt sin d t (3)

Differentiating eq. (3) with respect to time

The algebra is simplified by choosing

e nt cos d tC& 1 + e nt sin d tC& 2 = 0 (4)

C&1e nt ( n cos d t d sin d t )

Equations (5) and (8) can be solved simultaneously yielding

Substitution of eq. (8) into eq. (3) leads to

Given: m, n, < 1, F(t) = F0u(t)

The integral is easiest evaluated by letting

Changing the variable of integration from to u leads to

Given: h(t), g(t)

Differentiating eq.(3) with respect to t, using the product rule

Solution: The response of a one-degree-of-freedom system subject to the excitation F(t) is

The general integration by parts formula is

The results of problem 5.6 show that

Application of integration by parts to eq. (2) results in

But g(0) = 0, hence eq.(1) is obtained

For the excitation given

Evaluation of the integral leads to

5.9 The mass of Figure P5.9 has a velocity v when it engages

EXTERNAL FORCES EFFECTIVE FORCES

mg sin kx c x& = m &x&

The initial conditions for the motion are

The convolution integral with non-zero initial conditions, is used with

5.10 Use the convolution integral to determine the

EXTERNAL FORCES EFFECTIVE FORCES

The system is undamped with a natural frequency of

The convolution integral is used to write the solution as

Integration and application of limits results in

The integral is evaluated to yield

5.12 A machine tool with a mass of 30 kg is

F (t ) = 6000t [u (t ) u (t 0.5 )]+ ( 2000t + 4000 )[u (t 0.5 ) u (t 2.)] N

The response of the system is given by

where each xi(t), i = 1, 2, 3, 4 is determined using Table 5.1 as shown below.

x2(t): Ramp function, A = 6000 N/sec, B=0, t0 = 0.5 sec

x3(t): Ramp function, A = -2000 N/sec, B = 4000 N, t0 = 0.5 sec

x4(t): Ramp function, A = -2000 N/sec, B = 4000 N, t0 = 2.0 sec

5.13 A machine tool with a mass of 30 kg is mounted on an undamped foundation of

The mathematical from of the excitation is

F (t ) = 1000 sin t [u (t ) u (t 2)] N

or since sint is periodic of period 2,

F (t ) = 1000 sin tu (t ) 1000 sin (t 2)u (t 2) N

The response of the system is