Chapter IV: Forced vibrations and resonance

What is forced oscillation?

It is a free or damped oscillation which is influenced
by an externally applied harmonic force.

Most general differential equation of forced oscillation:

d 2x dx d 2 x b dx k F0
m 2  kx  b  F0 cos t  2   x  cos t
dt dt dt m dt m m
d 2x dx F0
 2    0 x  cos t  A linear differential equation
2

dt dt m
 Theory of linear diff. equation :
Theory of linear differential equations :
Most General Solution of an Inhomogeneous equation
 Most General Solution of Homogeneous Equation
+
Any Particular Solutions of Inhomogeneous Equation
i.e.: x  t   x0  t   x p.s.  t 
 Theory of linear diff. equation :
Let us consider a linear differential equation which
represents the oscillation of a damped oscillator
under an external periodic force in the form:
k b F0
x  t    x  x  cos t
m m m
F0
 x  t   0 x  x   R.P. e
2 it

m
2
d x dx F0 it
 2    0 x  e   1 ;
2

dt dt m
Let us take a trial solution in the form: x  t   Ae ;
it
Theory of linear diff. equation :
F0
Equation 1 become :  A  iA  A 
2 2
0
m

 A
F0


F0  0    i
 2 2

 
m  0    i
2 2
  m



2
0     
2 2
 2 2

 i
F0 e
 A 1
;
m
 
 2  2 2   22  2
 0 

tan     2 ; A    F0 m  
2
2
 2
 
2 2

0  2 0
Theory of linear diff. eq. : Effect of varying resistive term
Expressing the amplitude in terms of Q   0  

A
F0

F0 
 02  2  i
 
 2 2

m  0    i m  02  2
 
 
2
  22 

 i
F0 e
 A 1
;
m
 2    
2 2

 
2
 0    
2 0
 
  Q  

tan   2
0 Q 
and
0  2
Theory of linear diff. eq. : Effect of varying resistive term

The damping factor is . Expressing the amplitude

in terms of Q   0   by replacing  :
F0 1
A    1

m
 2  0 
2
2
 0     
2 2
 
  Q  
F0  0  , tan  
1Q
m0
2 1
0 
   1
2
 2 2

      
0  0
  0   Q  
 Variation of A() and  () with driving frequency 

Most of the change of phase, , takes place over a range

of frequencies roughly from 0 1  1 Q  to 0 1  1 Q  i.e.
band width of 20 Q around 0 .
 Theory of linear diff. eq. : Effect of varying resistive term

dA
At , A    Am for   m , then 0
d
dA   1 F0 4m  0     2   Q
2 2 2
m m 0
 0
d
3
2 m
m
 2 2 2  m 0  2  2
 0  m    
  Q 

 1  F0  1 
 m  0 1  2 
and A   Q 1 2 
 2Q  m
m 4Q 
Theory of linear diff. equation :
Therefore, the general solution of forced  damped
oscillation is :
x  t   x1  x2 . Where, x1 and x2 satisfied the equations :
2 2
d x1 dx1 d x2 dx2 F0 it
2
   x  0 and
2
0 1 2
  x 
2
0 2
e
dt dt dt dt m
2
d d F0
  x1  x2     x1  x2     x1  x2  
2
0
eit
dt 2 dt m
Here : x1  x0  t  and x2  x p . s .  t  ; Complete solution :
 x  t   Ae t cos  0t     A    ei  t  
Solution of forced oscillation without damping
It is a free oscillation which is influenced by an
externally applied harmonic force.
d 2x
So the differential equation is: m 2  kx  F0 cos t
dt
d 2x k F0 d 2x F0
 2  x  cos t  2
 0 x  cos t
2

dt m m dt m
So, use   0 in previous solution :
x  t   x0  t   x p.s.  t 
F0 m
 x  t   A cos  0t     2 cos t
  02
 Example of forced oscillation without damping

W .r.t fig .: X  t   displacement of the piston at time t  A cos t

and let x  t  be the displacement of the mass ' m '.
So, spring force : k  x  X   k  x  A cos t 
d 2x d 2x
 m 2  k  x  A cos t   2  02 x  A cos t
dt dt
F0 m
 x  A cos  0t     2 cos t
0  2
Example: Pendulum with oscillating point of
suspension

Displacement from the y axis is x. So, the

displacement from the equillibriumposition of the
pendulum : x  X .Vertical force T cos   mg
 T for   0; Horizontal force :
x X mg
mx  T sin   mg.  mx    x  A0 cos t 
l l
d 2x 2

dt 2
 2
0 x  2
A
0 0 cos  t 
d
dt
x
2
 2
0 x 
F0
m
cos  t F0  m 2
0 A0 
02 A0
 x  A cos  0t     2 cos t
0   2
(ii) Forced Oscillations with Damping contd.

Equation of Motion :
d 2x dx F0 F0 it
2
  0 x 
2
cos t  .Real part of e
dt dt m m
it
Here, e  cos t  i sin t
To obtain the particular solution, take the complex form :
d 2z dz F0 it
2
  0 z 
2
e ;
dt dt m
i  t  
Let thetrial solution is : z e
Substituting this trial solution in the above equation :
Substituting the trial solun :

  i  t   F0 it
 A  i A  0 A e 
2 2
e
m

  A  iA  m e
F0 F0
 0  
2 2 i
  cos   i sin  
m

  A  m cos  and A  m sin 

F0 F0
 0  
2 2


 
F0
 tan     A    A 
2

2 2 2 2 2
and 0
0  
2 2
m

F0
 A   
 
2
  
2 2 2 2
m 0
 d2z dz F0
Another method : 2
  z 2
0
e i t ; Trial solun :
dt dt m
i  t  
   A  i A  0 A  e i  t   F0 it

2 2
z e e
m
i
F0 e
 A

m 02  2  i A 
F0 1
 A AA  *

m
 
2
 
2
0
2
  2 2


and tan    
0  
2 2
 i ( t   )
F0 e
z p.s 
m (   )   
2
0
2 2 2 2

 x p.s  Re ( z p.s )

F0 cos(t   )
x p.s. 
m (   )   
2
0
2 2 2 2

 A() cos( t  )
 Forced Oscillations: Resonance
F0 m
A()  ; For amplitude reasonance:
 
2
2
0  2
  22
dA  
 0, i.e.Maximizing A   w.r.t.  one gets at   m
d m

dA  
d

  2 02  2   2    m
0
m

1/2
 2  
1/ 2
2
 1   1 
m  0   or m  0 1  2 
 0  1  2 
 2  2Q   4Q 
  
So, A   max is at m but not at 0 and      tan  2 2 
1

 0   
 Forced Oscillations: Amplitude Resonance
F0 m F0Q m 02 A0Q
So, A()    
m


2
0 2
m 
2

2 2
m

1  1 4Q 2  
1  1 4Q 2 
 Nature of different forced oscillation
Case I : Underdamped oscillatior with no damping force.
 b  0, i.e.   0 and 1  0  x  A0 cos  0t     A    cos  t   
F0 m F0 m
Here, A     2
  
 
2 2
2
0  2

2 2 0

F0 m
 x  A0 cos  0t     2 cos  t   
0  2

Beats: Two signals of different frequencies are overlapping

and creating beats. In absence of damping force, it will
continue up to infinite time.
 Nature of different forced oscillation
Case II : Forced damped oscillator with off reasonance :
t

Solun : x  A0 e 2
cos  1t     A   cos  t   
t
 F0 m
 A0 e 2
cos  1t     cos  t   
 
2
2
0  2
  22
After some time the amplitude reached to a steady value.
 Nature of different forced oscillation
Case III : Forced damped oscillator at steady state :
t
 F0 m
Solun : x  A0e 2
cos  1t     cos  t   
 
2
02  2   22
After some time, the first factor we can neglect . Initially with smooth
increase of amplitude for some time, then it achieved a steady state value.
 Chapter IV: Forced vibrations and resonance

Summary of last lecture

 Differential equation of forced-damped oscillator
 Solution of forced-damped oscillator
 Amplitude as a function of driving frequency and Q
 Amplitude variation with driving frequency and Q
 Calculation of maximum amplitude m
 Forced-damped oscillation: Different cases
 Solution of forced-damped oscillation for different
limiting values of  compare to 0
 Frequency resonance and amplitude resonance
 Power absorbed by a forced-damped oscillator
 Chapter IV: Forced vibrations and resonance

 Frequency resonance and amplitude resonance

 Power absorbed by a forced-damped oscillator
 Half-power frequency
 Steady-state energy balance and power transfer
 Relation between the average power supplied by the
driving force and the KE of the oscillator
 Average rate of work done by the damping force
 Problems for lecture:4.5, 4.6, 4.10 and 4.17
 Judge yourself: Answer the following questions
1. Write down the differential equation for forced-damped oscillator (2)
d2x dx F0
2
  02 x  cos t
dt dt m
2. Write down the complete solution of the above equation (2)

x  A0 e t 2 cos  1t     A   cos  t   

3. What is the value of 1 and A() for good Q (2)

2 02 1
1    2
0  0 
2
2
 0 1  2
 0 ;
4 4Q 4Q
F0 m F0 m F0 m
A      2
  
 
2
2

 
2 2
0  
2 2
2 2 2
02  2  0 2
0

4Q
 0 Q
4. Express tan in terms of known quantities. (2) tan   
02  2 02  2
 Judge yourself: Answer the following questions
1. Write down the differential equation for forced-damped oscillator (2)

mx  mx  m02 x  F0 cos t

2. Write down the complete solution of the equation (2)

x  A0 e t 2 cos  1t     A   cos  t   

3. What is the value of 1 and A() for good Q (2)

2 02 1
1    2
0 0 
2
2
 0 1  2
 0 ;
4 4Q 4Q
F0 m F0 m F0 m
A      2
  
 
2
2

 
2 2
2
0  2   22 2
2
2
 0 2
0
0
4Q
4. Express tan in terms of known quantities. (2)
 0 Q
tan   2  2
0  2
0  2
Prob. 4.5 A simple pendulum has a length of 1 m. In free vibration the amplitude
falls off by a factor e in 50 swings. The pendulum is set into forced vibration by
moving its point of suspension horizontally in SHM with an amplitude of 1 mm.
 a  Show that if the horizontal displacement of the bob is x and the horizontal
displacement of its point of suspension is  the equation of motion of the pendulum
d 2x dx g g
is : 2    x  . Solve the equation for steady state motion, if   0 cos t.
dt dt l l
 b  At exact resonance, what is the amplitude of the motion of the pedulum bob?
 c  At what angular frequencies is the amplitude half of its resonance value?
 A t 
t t nT n.2  0 n.
    . 
Solun.From the information given : A  t   A0e 2
 e 2
e 2
e 2 0 Q
e Q

A0
A t 
50.
1  50.
  e Q
  1  Q  50
A0 e Q
x
 a  Here, mg cos   T and mg sin   f driving ; For small oscillation, sin   .
l
d 2x x dx d 2x dx g g g
 m 2  mg. b  2
   x    0 cos t
dt l dt dt dt l l l
d 2x dx F
Further , 2    02 x  020 cos t  0 cos t
dt dt m
F0 F0Q
 
b At resonance : A  0
    A0Q
m0 m0 2

Given : A0  0  1mm;  Am  A  0   A0Q  50 mm  15.70 cm

 F0 m F0
 c  A    ; A  0    A0  Resonance amplitude
m0
 
2
02  2   22

A  0  F0 m F0 m
Let at   , A     
20
2
 
2
02  2   22
2
2 2  0  2 0 04
2

 
2
 02  2     4 0   0      2  4 2
2 2 2 2

  0  Q Q
2
2  0   2 1
2
4 21  x2 4
 2    2 . 2  2  x   x  2  2
0   0  0 Q Q x  Q Q
x2 
 4

2
 1  x  2  2 ; where,
2
 1  ,  is very small for high Q
Q Q 0
x2 1  2
   1  1  2     4 4
2
 1 x 2 2
 2; 1  x 2
 2  2  4 2  
Q Q Q2 Q2
1  2 1
For good quality factor ,  2
Q2 Q
1  2 1 4 3 3
 4 2   4 2
         5.5  103
Q 2
Q 2
Q 2
2Q 100

  x  1    1  0.0055     0 1  0.0055 
0
Prob. 4.6. Simple Seismograph as in figure below. It consists of a mass m hung from
a spring on a rigid framework attached to the earth. The spring force and damping
force depend on displacement and velocity relative to the earth’s surface, but the
dynamically significant acceleration is acceleration of m relative to the fixed stars.
d2y dy d 2
 a  Showthat the equation of motion is : 2    0 y   2 , y is displacement
2

dt dt dt
of m relative to earth and    is displacement of earth’s surface itself .
 b  Solve for y if  C cos t
 c  Plot a graph of amplitude versus driving frequency.
 d  Atypical long period seismometer has a period of about 30 sec. and quality of 2.
As a result of earthquake the earth’s surface may oscillate with a period of 20 min.
and with an amplitude such that the maximum acceleration is about 109 m  s 2 . How
small a value of the displacement of the block must be observable, if the quake is to
be detected
 Problems
 a  Since y is defined w.r.t. the earth’s frame, which is non  inertial ,
the forces are as shown.
d 2 dy
f fictitious  m 2 ; f spring  ky; f damping  b ; So, equation of motion :
dt dt
d2y dy d 2 d 2 y b dy k d 2 d2y dy d 2
m 2  ky  b  m 2  2   y 2  2
   0 y   2
2

dt dt dt dt m dt m dt dt dt dt
d2y dy F  
 b  Given,   c cos t; 2    02 y  2c cos t  cos t ;
dt dt m

x 
 F m  cos  t   

2 c cos  t   

   
2 2
02  2   22 02  2   22

 1 
 d  A  m   Amax  A0Q  4Q 2  ; Given Q  2. Amax  2.065 A0
1 
 
2
 0   1
Here : x  c2 0     cos  t     A   cos  t   
  0  Q 2
Here, amplitude is c. Acceleration  x   A   2 cos  t   
 Maximum Acceleration  amax  c2
F0 c2  30sec
Now, A0   ; Given :   0.025
m02 02 0 20 min
c2
 A0  2  2.25 108 m
0
A0 02 A0
 A      2.25nm (check )
2 2
  1   0   1
0  0    2    
  0  Q 0   0  Q 2
 Problems
Prob. 4.10.The power required to maintain forced vibration must be equal to the power
loss due to damping.  a  Find the instantaneous rate of doing work against the damping force.
 b  Find the mean rate of doing work against damping.  c  Substitute the value of A at any
arbitrary frequency and hence obtain the expression for average P.
Solun.
 a  Topic: Average rate of doing work by the damping force :
dW
 Pdam  t    Fdamping .  b2
dt
Here, the steady state solution is : x  A   cos  t    ;
dW
x     A sin  t      Pdam  t   bA22 sin 2  t   
dt
T
1 1
 b  Average power in one cycle  Pdam   bA22 sin 2  t    dt  bA22
T 0 2

c Pdam 
 bF
0
2
2m 2 02  So, in steady state : Pdam  Pdriv
   
2
1 
 0
   2
  0  Q 
 Spectacular Effect of Resonance

Bridge Collapse Due to Soldiers Marching in

Step

Broughton Bridge, England - 1831

Angers Bridge, France - 1850
Tacoma Narrows bridge, USA - 1940