3.

4 RESPONSE OF A DAMPED SYSTEM UNDER HARMONIC FORCE 275

X and f are given by Eqs. (3.30) and (3.31), respectively, and X0 and f0 [different from
those of Eq. (2.70)] can be determined from the initial conditions. For the initial condi-
# #
tions, x(t = 0) = x0 and x(t = 0) = x0, Eq. (3.35) yields

x0 = X0 cos f0 + X cos f
#
x0 = - zvnX0 cos f0 + vdX0 sin f0 + vX sin f (3.36)

The solution of Eq. (3.36) gives X0 and f0 as

1
1 # 2
X0 = B(x0 - X cos f) + 2 (zvn x0 + x0 - zvnX cos f - vX sin f)2R
2
vd
# t (3.37)
zvnx0 + x0 - zvn X cos f - vX sin f
tan f0 =
vd(x0 - X cos f)

Total Response of a System

EXAMPLE 3.3
Find the total response of a single-degree-of-freedom system with m = 10 kg, c = 20 N-s/m,
#
k = 4000 N/m, x0 = 0.01 m, and x0 = 0 under the following conditions:

a. An external force F(t) = F0 cos v t acts on the system with F0 = 100 N and v = 10 rad/s.
b. Free vibration with F(t) = 0.

Solution:
a. From the given data, we obtain
k 4000
vn = = = 20 rad/s
Am A 10
F0 100
dst = = = 0.025 m
k 4000
c c 20
z = = = = 0.05
cc 22km 2 2(4000)(10)

vd = 21 - z2vn = 21 - (0.05)2(20) = 19.974984 rad/s

v 10
r = = = 0.5
vn 20
dst 0.025
X = = = 0.03326 m (E.1)
2 2
2(1 - r ) + (2 z r) 2
C (1 - 0.05 ) + (2 # 0.5 # 0.5)2 D 1/2
2 2

2zr 2 # 0.05 # 0.5

f = tan-1 ¢ 2
= tan -1 ¢ = 3.814075° (E.2)
1 - r 1 - 0.52
#
Using the initial conditions, x0 = 0.01 and x0 = 0, Eq. (3.36) yields:
0.01 = X0 cos f0 + (0.03326)(0.997785)
276 CHAPTER 3 HARMONICALLY EXCITED VIBRATION

or
X0 cos f0 = -0.023186 (E.3)
0 = - (0.05)(20) X0 cos f0 + X0 (19.974984) sin f0 + (0.03326)(10) sin (3.814075°) (E.4)
Substituting the value of X0 cos f0 from Eq. (E.3) into (E.4), we obtain
X0 sin f0 = - 0.002268 (E.5)
Solution of Eqs. (E.3) and (E.5) yields

X0 = C (X0 cos f0)2 + (X0 sin f0)2 D 1/2 = 0.023297 (E.6)

and
X0 sin f0
tan f0 = = 0.0978176
X0 cos f0
or
f0 = 5.586765° (E.7)
b. For free vibration, the total response is given by
x(t) = X0e - z vn t cos (vdt - f0) (E.8)
# #
Using the initial conditions x(0) = x0 = 0.01 and x(0) = x0 = 0, X0 and f0 of Eq. (E.8) can
be determined as (see Eqs. 2.73 and 2.75):

zvnx0 2 1/2
0.05 # 20 # 0.01 2 1/2
X0 = B x 20 + ¢ R = B 0.012 + ¢ R = 0.010012 (E.9)
vd 19.974984
#
x0 + zvnx0 0.05 # 20
f0 = tan -1 ¢ - = tan -1 ¢ - = -2.865984° (E.10)
vd x 0 19.974984

Note that the constants X0 and f0 in cases (a) and (b) are very different.

3.4.2 For small values of damping (z 6 0.05), we can take

Quality Factor
and Bandwidth X X 1
¢ M ¢ = = Q (3.38)
dst max dst v = vn 2z

The value of the amplitude ratio at resonance is also called Q factor or quality factor of the
system, in analogy with some electrical-engineering applications, such as the tuning circuit
of a radio, where the interest lies in an amplitude at resonance that is as large as possible
[3.2]. The points R1 and R2, where the amplification factor falls to Q/ 12, are called half-
power points because the power absorbed (¢W) by the damper (or by the resistor in an
electrical circuit), responding harmonically at a given frequency, is proportional to the
square of the amplitude (see Eq. (2.94)):
¢W = pcvX2 (3.39)
 3.6 RESPONSE OF A DAMPED SYSTEM UNDER THE HARMONIC MOTION OF THE BASE 285

7
z * 0.00
6

me (Rotating unbalance)
(Base motion)
5
z * 0.10
4
z * 0.15
Z 3
Y z * 0.25
2

MX
z * 0.50
1
z * 1.00
0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
v
r*v
n

FIGURE 3.17 Variation of (Z/Y) or (MX/me) with

frequency ratio r = (v/vn).

and f1 by
cv 2zr
f1 = tan -1 + 2*
= tan -1 + *
k - mv 1 - r2

The ratio Z/X is shown graphically in Fig. 3.17. The variation of f1 is same as that of f
shown in Fig. 3.11(b).

Vehicle Moving on a Rough Road

EXAMPLE 3.4
Figure 3.18 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 1200 kg. The suspension system has a spring
constant of 400 kN/m and a damping ratio of z = 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 = 0.05 m and a wavelength of 6 m.

Solution: The frequency v of the base excitation can be found by dividing the vehicle speed v km/hr
by the length of one cycle of road roughness:

v * 1000 1
v = 2pf = 2p + * = 0.290889v rad/s
3600 6

For v = 20 km/hr, v = 5.81778 rad/s. The natural frequency of the vehicle is given by

k 400 * 103 1/2

vn = = + * = 18.2574 rad/s
Am 1200
286 CHAPTER 3 HARMONICALLY EXCITED VIBRATION

x(t)

m v km/hr

k k
2 c 2
y(t)
Road surface Y

One cycle
(a)

x(t)

k c
y(t)

y(t) * Y sin vt

(b)

FIGURE 3.18 Vehicle moving over a rough road.

and hence the frequency ratio r is

v 5.81778
r = = = 0.318653
vn 18.2574

The amplitude ratio can be found from Eq. (3.68):

1/2 1/2
X 1 + (2zr)2 1 + (2 * 0.5 * 0.318653)2
= b r = b r
Y (1 - r2)2 + (2zr)2 (1 - 0.318653)2 + (2 * 0.5 * 0.318653)2

= 1.100964

Thus the displacement amplitude of the vehicle is given by

X = 1.100964Y = 1.100964(0.05) = 0.055048 m

This indicates that a 5-cm bump in the road is transmitted as a 5.5-cm bump to the chassis and the
passengers of the car. Thus in the present case the passengers feel an amplified motion (see Problem
3.107 for other situations).

*
 3.7 RESPONSE OF A DAMPED SYSTEM UNDER ROTATING UNBALANCE 287

Machine on Resilient Foundation

EXAMPLE 3.5
A heavy machine, weighing 3000 N, is supported on a resilient foundation. The static deflection of
the foundation due to the weight of the machine is found to be 7.5 cm. It is observed that the machine
vibrates with an amplitude of 1 cm when the base of the foundation is subjected to harmonic oscilla-
tion at the undamped natural frequency of the system with an amplitude of 0.25 cm. Find
a. the damping constant of the foundation,
b. the dynamic force amplitude on the base, and
c. the amplitude of the displacement of the machine relative to the base.
Solution:
a. The stiffness of the foundation can be found from its static deflection: k = weight of
machine/dst = 3000/0.075 = 40,000 N/m.
At resonance (v = vn or r = 1), Eq. (3.68) gives
1/2
X 0.010 1 + (2z)2
= = 4 = B R (E.1)
Y 0.0025 (2z)2

The solution of Eq. (E.1) gives z = 0.1291. The damping constant is given by

c = z # cc = z22km = 0.1291 * 2 * 240,000 * (3000/9.81)

= 903.0512 N-s/m (E.2)
b. The dynamic force amplitude on the base at r = 1 can be found from Eq. (3.74):
1/2
1 + 4z2
FT = Yk B R = kX = 40,000 * 0.01 = 400 N (E.3)
4z2
c. The amplitude of the relative displacement of the machine at r = 1 can be obtained from Eq. (3.77):
Y 0.0025
Z = = = 0.00968 m (E.4)
2z 2 * 0.1291

It can be noticed that X = 0.01 m, Y = 0.0025 m, and Z = 0.00968 m; therefore, Z Z X - Y.

This is due to the phase differences between x, y, and z.

3.7 Response of a Damped System Under Rotating Unbalance

Unbalance in rotating machinery is one of the main causes of vibration. A simplified
model of such a machine is shown in Fig. 3.19. The total mass of the machine is M, and
there are two eccentric masses m/2 rotating in opposite directions with a constant angular
velocity v. The centrifugal force (mev2)/2 due to each mass will cause excitation of the
mass M. We consider two equal masses m/2 rotating in opposite directions in order to have
the horizontal components of excitation of the two masses cancel each other. However, the
vertical components of excitation add together and act along the axis of symmetry A A in
 3.8 FORCED VIBRATION WITH COULOMB DAMPING 297

2p/v
¢W¿ = vF0X sin vt cos(vt - f) dt = pF0X sin f (3.99)
L0

Due to the presence of sin f in Eq. (3.99), the input energy curve in Fig. 3.23 is made to
coincide with the dissipated energy curve, so the amplitude is limited. Thus the phase of
the motion f can be seen to limit the amplitude of the motion.
The periodic response of a spring-mass system with Coulomb damping subjected to
base excitation is given in references [3.10, 3.11].

Spring-Mass System with Coulomb Damping

EXAMPLE 3.8
A spring-mass system, having a mass of 10 kg and a spring of stiffness of 4000 N/m, vibrates on a
horizontal surface. The coefficient of friction is 0.12. When subjected to a harmonic force of fre-
quency 2 Hz, the mass is found to vibrate with an amplitude of 40 mm. Find the amplitude of the har-
monic force applied to the mass.

Solution: The vertical force (weight) of the mass is N = mg = 10 * 9.81 = 98.1 N. The natural
frequency is

k 4000
vn = = = 20 rad/s
Am A 10

and the frequency ratio is

v 2 * 2p
= = 0.6283
vn 20

The amplitude of vibration X is given by Eq. (3.93):

1/2
4mN 2
1 - ¢
F0 pF0
X = E U
k v 2 2
b1 - ¢ r
vn

4(0.12)(98.1) 2 1/2
1 - b r
F0 pF0
0.04 = D T
4000 (1 - 0.62832)2

The solution of this equation gives F0 = 97.9874 N.