Chapter 2

2.1 a. Spring constant, k : The change in the force per unit length change of the spring.

b. Coefficient of subgrade reaction, k′:

k
Spring constant divided by the foundation contact area, k ′ =
A

k
c. Undamped natural circular frequency: ω n = rad/s
m
W
where m = mass =
g

1 k
d. Undamped natural frequency: f n = (in Hz)
2π m

Note: Circular frequency defines the rate of oscillation in term of radians per unit
time; 2π radians being equal to one complete cycle of rotation.

e. Period, T: The time required for the motion to begin repeating itself.

ωn
f. Resonance: Resonance occurs when =1
ω

g. Critical damping coefficient: cc = 2 km

W
where k = spring constant; m = mass =
g

c c
h. Damping ratio: D = =
c c 2 km

where c = viscous damping coefficient; cc = critical damping coefficient

i. Damped natural frequency:

ωd = ωn 1 − D 2

fd = 1 − D 2 fn

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 2.2 Weight of machine + foundation, W = 400 kN
Spring constant, k = 100,000 kN/m

W 400 kN
Mass of the machine + foundation, m = = = 40.77
g 9.81 m s2

Natural frequency of undamped free vibration is [Eq. (2.19)]

1 k 1 100,000
fn = = = 7.88 Hz
2π m 2π 40 .77

1 1
From Eq. (2.18), T = = = 0.127 s
f n 7.88

2.3 Weight of machine + foundation, W = 400 kN

Spring constant, k = 100,000 kN/m

Static deflection of foundation is [Eq. (2.2)]

W 400
zs = = = 4 × 10−3 m = 4 mm
k 100,000

2.4 External force to which the foundation is subjected, Q = 35.6 sin ω t kN

f = 13.33 Hz
Weight of the machine + foundation, W = 178 kN
Spring constant, k = 70,000 kN/m

For this foundation, let time t = 0, z = z0 = 0, zɺ = v 0 = 0

W 178 kN
a. Mass of the machine + foundation, m = = = 18.145
g 9.81 m s2

k 70,000
ωn = = = 62.11 rad/s
m 18.145

2π 2π
T= = = 0.101 s
ωn 62.11

b. The frequency of loading, f = 13.33 Hz

ω = 2π f = 2π (13.33) = 83.75 rad/s

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  Q0 k 
Force due to forced part, F1 = k  2 
sin ω t
 1 − ω ωn 
2

 35.6 70, 000 

= (70, 000)  2 
sin(83.75t)
 1 − 83.75 62.11 
2

= 43.51sin(83.75t ) kN

See the plot below for F1 vs. t

 Q0 k   ω 
c. Force due to free part, F2 = k  2 
− sin ωn t 
 1 − ω ωn   ωn
2

 35.6 70, 000   83.75 
= 70, 000  2 
− sin(62.11t) 
 1 − 83.75 62.11   62.11
2

= 58.67sin(62.11t ) kN

See the plot above in Part b for F2 vs. t.

d. Total dynamic force on the subgrade:

F = F1 + F2 = −43.51sin(83.75t ) + 58.67(62.11t ) kN

The plot of variation of the dynamic force on the subgrade of the foundation due
to (a) forced part, (b) free part, and (c) total of the response for time t = 0 to t = 2T
is shown in the figure above (Part b).

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 2.5 The natural frequency of the undamped free vibration of the spring mass system is given by
1 k eq
fn = where keq = equivalent stiffness of the spring system
2π m

For springs attached in series, the equivalent stiffness is given by

1 1 1 1 kk
= + , or = 1 2
k eq k1 k 2 k eq k1 + k 2

The natural frequency of the given undamped free vibration spring mass system is

1 k1k2 1
fn = ×
2π k1 + k2 m

2.6 The natural frequency of the undamped free vibration of the spring mass system is given by

1 k eq
fn = where keq = equivalent stiffness of the spring system
2π m

For springs attached in parallel, the equivalent stiffness is given by

keq = k1 + k2

The natural frequency of the given undamped free vibration spring mass system is

1 ( k1 + k2 )
fn =
2π m

2.7 The natural frequency of the undamped free vibration of the spring mass system is given by

1 keq
fn = where keq = equivalent stiffness of the spring system
2π m

In the given spring-mass system, springs with stiffness k1 and k2 are in series.
Hence, their equivalent stiffness is

k1k 2 100 × 200 20,000

k eq (1, 2 ) = = = = 66.67 N/mm
k1 + k 2 100 + 200 300

Similarly, springs with stiffness k4 and k5 are in series. Hence, their equivalent stiffness is

k4k5 100 × 150

k eq ( 4 ,5) = = = 60 N/mm
k 4 + k 5 100 + 150
Now, the given spring system can be reduced to three springs in series.

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 The resulting system will be three springs in parallel. Their equivalent stiffness is given by

k eq = k eq (1, 2 ) + k 3 + k eq ( 4 ,5) = 66 .67 + 150 + 60 = 276 .67 N/mm = 276.67 kN/m

The natural frequency of the undamped free vibration of the spring mass system is given by

1 keq 1 267.67 × 1000

fn = = = 8.37 Hz
2π m 2π 100

Time period T = (1/f n ) = (1 / 8.37) = 0.119 s

2.8 Sinusoidal–varying force, Q = 50 sin ω t N; Q0 = 50 N; ω = 47 rad/s

k eq 276.67 × 1000
ωn = = = 52.6 rad/s
m 100

Amplitude of vibration = static deflection zs × magnification M

Q0 50
zs = = = 0.1807 mm
keq 276.67

From Eq. (2.34),

1 1
M = = = 4.96
1 − (ω ωn ) 2 1 − ( 47 52.6) 2

Amplitude of vibration = 0.1807 × 4.96 = 0.896 mm

2.9 Weight of the body, W = 135 N

Mass of the body, m = W g = 135 9.81 = 13.76 kg
Spring constant, k = 2600 N/m
Dashpot resistance, c = 0.7 (60 1000) = 11.67 N-s/m

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 a. Damped natural frequency [Eq. (2.67)]
f d = 1− D 2 f n

c c 11 .67
D= = = = 0.031
cc 2 km 2 2600 × 13.76

1 k 1 2600
fn = = = 2.19 Hz
2π m 2π 13.76

f d = 1 − 0.031 2 × ( 2.19) = 2.18 Hz

b. Damping ratio [Eq. (2.47b)],

c c 11.67
D= = = = 0.031
cc 2 km 2 2600 × 13.76

c. Ratio of successive amplitudes of the body is given by [Eq. (2.70)],

Zn
= eδ
Z n +1

 Z  2πD 2π × 0.031
where δ = ln n  = = = 0.195
Z
 n +1  1− D 2
1 − 0.0312

Zn
= eδ = e 0.195 = 1.215
Z n +1

d. At time t = 0 s, amplitude Z0 = 25 mm.

After n cycles of disturbance

1 Z0 2πD Z 2π nD
ln = ; ln 0 =
n Zn 1 − D2 Zn 1 − D2

With n = 5,

Z 0 2π × 5 × D 2π × 5 × 0.031
ln = = = 0.974
Z5 1 − D2 1 − 0.0312

Z0 25
= e 0.974 = 2.649; Z 5 = = 9.44 mm
Z5 2 .649

After 5 cycles of disturbance, the amplitude of vibration = 9.44 mm

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 2.10 Q0 = 6.7 kN
ω = 3100 rad/min = 51.67 rad/s
Weight of machine + foundation, W = 290 kN
Spring constant, k = 875 MN/m = 875,000 kN/m

k 875,000 × 103
Natural angular frequency, ωn = = = 172.04 rad/s
m 290 × 103 9.81

Q0 6.7
From Eq. (2.43), Fdynam = = = 9.58 kN
1 − (ω ωn ) 1 − ( 51.67 172.04)

Maximum force on the subgrade = 290 + 9.58 = 299.58 kN

Minimum force on the subgrade = 290 − 9.58 = 280.42 kN

2.11 Q0 = 200 kN
ω = 6000 rad/min = 100 rad/s
Weight of machine + foundation, W = 400 kN
Spring constant, k = 120,000 kN/m

k 120,000 × 103
Natural angular frequency, ωn = = = 54.25 rad/s
m 400 × 103 9.81

Q0 200
Dynamic force, Fdynam = = = 237.16 kN
1 − ω ωn 1 − (100 54.25)

Maximum force on the subgrade = 400 + 237.16 = 637.16 kN

Minimum force on the subgrade = 400 − 237.16 = 162.84 kN

2.12 Weight of the body, W = 800 kN

Spring constant, k = 200,000 kN/m
Dashpot coefficient, c = 2340 kN-s/m

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 a. cc = 2 km = 2 200,000 × 800 9.81 = 8077.1 kN-s/m

c 2340
b. Damping ratio, D = = = 0.29
cc 8077 .1
2πD 2π × 0.29
c. δ= = = 1.9
1 − D2 1 − 0.29 2

1 200,000 × 9.81
d. f d = 1− D 2 f n ; f n = = 7.88 Hz
2π 800

f d = 1 − 0.29 2 × 7.88 = 7.54 Hz

2.13 Weight of the body, W = 800 kN

Spring constant, k = 200,000 kN/m
Dashpot coefficient, c = 2340 kN-s/m
Q0 = 25 kN
Operating frequency, ω = 100 rad/s

k 200,000 × 9.81
a. Natural circular frequency, ωn = = = 49.52 rad/s
m 800

From Problem 2.12, damping ratio, D = 0.29

From Eq. (2.28), the amplitude of vertical vibration of the foundation is

(Q0 k)
Z=
[1 − (ω ω2 2 2
n )] + 4 D 2 (ω 2 ωn2 )
( 25 200,000)
=
[1 − (100 49.522 )]2 + 4 × 0.29 2 (1002 49.522 )
2

= 3.795 × 10 −5 m = 3.795 × 10 −2 mm

b. From Eq. (2.90), the maximum dynamic force transmitted to the subgrade is

Z k 2 + (cω )2 = (3.795 × 10−5 ) 200,0002 + (2340 × 100)2 = 11.68 kN

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