CHAPTER 3: SINGLE DEGREE OF

FREEDOM SYSTEMS – FORCED

VIBRATORY SYSTEMS
 Introduction
2

 What happens when a mass/Spring/Damper system is acted on

by external forces?
 Now, consider such as system when a sinusoidally varying force
of the form F  Fo sin t is applied to the system
 Fo is the amplitude of the force and ω is that frequency at which
it is applied. Note that in general    n
 This is because  n is the system natural frequency and is a
property of the system, but ω is the frequency of the externally
applied force and is a variable
 Thus  n is fixed and ω is not

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 Sinusoidally Varying Forces
3

 If the system is subject to a sinusoidal force it is reasonable to

assume that the system response will also be sinusoidal at the
same frequency as the excitation
 It may also be assumed that the response will reach a peak at a
short time after the force reaches a peak
 We will see that this time is the characteristic of the system and
the forcing frequency

 The response may be of

the form

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 Sinusoidally Varying Force
4

 Thus, if the externally varying force is given by F  Fo sin t

 The response may be described by x  X sin(t   )
 X is the amplitude of the response sine wave and ϕ is the phase
lag relative to the forcing sine wave. It is a measure of the delay
between the force reaching a peak and the response reaching a
peak
 Differentiating the response, we get

x  X cos(t   )

and, x   2 X sin(t   )

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 Sinusoidally Excited Mass/Spring System
5

 We will be interested in how ‘x’ changes

when we change the excitation frequency
‘ω’

 Assuming for the sake of argument that the

applied force is acting in the positive ‘x’
direction at the instant of time in which we
examine it (although this doesn’t actually
matter), the FBD is

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 EoM – Forced Vibration
6

 If we apply Newton’s 2nd law:  kx  cx  Fo sin t  Mx

or, we can write Mx  cx  kx  Fo sin t
 We can now substitute for ‘x’ and its derivatives from an earlier
slide
M2 X sin(t )  cX cos(t )  kX sin(t )  Fo sint
 We can re-write this equation as one containing only sine terms
if we use the following identity:  
cos(t   )  sin t    
 Then  2

 
 M 2 X sin(t   )  cX sin t      kX sin(t   )  Fo sin t
 2
Call this Eqn. (1)

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 Solution – Forced Vibration
7

 Each term in this equation represents a

force projected onto the y-axis of a
Cartesian co-ordinate system
 This means that the equation can be
characterized by a vector diagram with
each term corresponding to a vector in the
diagram
 Projection of each of these vectors onto a
vertical axis leads to Eqn. (1)

 
 M 2 X sin(t   )  cX sin t      kX sin(t   )  Fo sin t
 2
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 Solution – Forced Vibration
8

 Since two of these vectors are parallel but of opposite directions

we can simply draw the vector diagram:

 This is a right angled triangle to which we can apply

Pythagoras’ theorem
 From the diagram, we can get 
 2 2

2 
Eqn. (2)
Fo 

k  M   c  X
 
 c 
  tan 1  2 
Eqn. (3)
 k  M 
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 Solution – Forced Vibration
9

 Our interest lies in the variation of the motion ‘X ’ of the mass as

we vary ‘ω’ whilst keeping ‘ Fo ’ constant. Re-arranging Eqn. (2),
we get
X 1
 Eqn. (4)
Fo
k  M   c 
2 2 2

 From this it can be seen that we can calculate ‘ X ’ for any

frequency ‘ω’ provided everything else is kept constant

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 Further Simplification of Equation
10

 It is more usual to express this type of Eqn. in standard form. To

do this we manipulate it as follows:
X 1

F0
k  M   c 
2 2 2

1

2 2
 k   c 
M    2     
 M   M 
 We have already seen that
k c
 n2 and  2 n
M M
 Therefore,
MX 1
 Eqn. (5)
Fo
 2
n 
  2  2 n 
2 2

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 MX 1

Fo

2
n 
  2  2 n 
2 2

Further Simplification of Equation

11

 It is conventional to further reduce this to an equation in terms of

a frequency ratio ‘n’ where 
n
n
 Taking Eqn. (5) MX

1
Fo 2 2
  2   2 
n2 1    
 2    
 n   n 

 Thus,
MXn2 1 1 Eqn. (6)
 
Fo
 2
1 
2
  2 
  
2
1  n   2n
2 2 2

 2    
 n   n 

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 Further Simplification of Equation
12

 Take the left hand side of this equation

MX MX k kX
 n 
2
 
Fo Fo M Fo
 If we apply a static load of magnitude ‘ Fo ’ to the spring of
stiffness ‘ k ’, it would deflect by an amount ‘Fo / k ’ which we call
the static deflection ‘ Yo ’. Thus:

Fo k 1 MX
 n2 
kX X
 Yo   leading to
Fo Fo

Yo
k Fo Yo

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 Further Simplification of Equation
13

 Eqn. (6) may now be written

X 1
 Eqn. 7
Yo
1  n   2n
2 2 2

X
‘ ’ is known as the amplitude ratio or the dynamic amplification
Yo

 By a similar argument
 2n 
  tan 1  2 
Eqn. 8
 1  n 
‘ ϕ ’ is known as the phase lag

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 Total Response of the SDOF System
14

 The total response of the system will be the combination of

complementary function, which is the solution of the
homogenous equation (as discussed earlier - Damped Free
Vibration Case) and the particular integral (as discussed in this
chapter)

x(t )  X oe t sin (n 1   2 t  o )  X sint   

n

Particular Integral

Homogenous Solution PI is a steady state oscillation of the

same frequency ω as that of the
excitation
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 Plot of amplitude ratio against ‘n’ for several
15
values of damping ratio ‘ζ ’

Resonant peak

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 Reson
ant
Observations peak
16

 When n << 1, excitation frequency ‘ω’ is less then the natural

frequency ‘  n ’ and X / Yo  1 . Means amplitude of oscillation of
mass is similar to static deflection. And both the inertial and
damping forces are small
 When n >> 1, excitation frequency is much greater then the
natural frequency and X / Yo  0 . Means that the amplitude of
mass motion is small and much less than the static deflection
 Between these extremes the excitation frequency is in the region
of the natural frequency and X / Yo passes through a peak known
as the resonant peak

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 Reson
ant
Observations peak
17

 Larger values of ‘ζ ’ lead to lower peaks until ‘   1 / 2 ’ when

peak ceases to exist
 If ζ = 0, peak would rise to infinity and peak would occur at
n=1
 For all other ‘ζ ’ below limiting value discussed above peak
occurs at values of n < 1
i.e. excitation frequency < natural frequency
 We can prove this statement

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 Prove of Statement
18

 Returning to the amplitude ratio equation X  1

Yo
1  n   2n
2 2 2

 The maximum value of this expression will occur when the

denominator is a minimum. Therefore:

d 1  n 2   2n 
2 2
0
 gives 2  (2n)  (1  n 2 )  8 2 n  0
dn
 Therefore, the peak occurs at a value of ‘n’ given by
n peak  1  2 2 provided  0
 The peak will occur at values of n < 1 i.e. at frequencies less than the
natural frequency
1
 If   2
a peak will not occur
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19

 If we substitute n peak into the expression for amplitude ratio we

find:
X  1
  
Y 
 o  peak 2 1   2

Note that when n = 1  X 

   1
Y 
 o  n 1 2
which is less than peak value demonstrating that the peak value
does occur at values of n < 1

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 Plot of phase lag against ‘n’ from Equation (8)
20

 At low values of frequency ratio (n < 1) the phase lag is less than
90o
 At high values of frequency ratio (n > 1) the phase lag tends
to180o regardless of the value of ζ
 When the forcing frequency is equal to the natural frequency
(n = 1) the phase is equal to 90o

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 Problem 1
21

 A body of mass 100 kg is suspended by a spring of

stiffness 30 kN/m and a dashpot of damping
constant 1000 N-s/m. Vibration is excited by a
harmonic force of amplitude 80 N and frequency
of 3 Hz.
 a) Calculate the steady-state amplitude of the
displacement for the vibration
 b) Calculate the phase angle between the
displacement and the excitation force.

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 Problem 1
22

 Recall EoM for this system

mx  cx  kx  Fo sin t
 Substituting the quantities yields the following
100x  1000x  30000x  80sin 6t

x  X sint   
 The steady state solution is

 a) The value of ‘X’ is determined by

Fo 80
X   4.07mm
k  m   c 
2 2 2
30000100 6    1000 6 
2 2 2

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 Problem 1
23

 The phase angle is determine by

 c 
  tan 
1
  tan 1 (3.40824)  73.65o or 106.36o
 k  m 2

 16.93 rad
 The steady state solution of the system becomes

x  X sint   

or, x  4.07 sin6t  16.93 m

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 Problem 2
24

 A foot pedal for a musical instrument is modeled by the sketch in

figure. With k = 2000 N/m, c = 25 kg/sec, m = 25 kg and
F(t) = 50 cos 2πt N, compute the response of the system
assuming the system starts from rest. Also use the small angle
approximation.

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 Problem 2
25

 FBD of the system is:

 Summing the moments w.r.t. the point ‘O’:

I o  k (a )a  c(2a)  2a  F (t )  3a
or I   ka 2  4ca 2  3aF (t )
o

or I o  ka 2  4ca 2  3aF (t )

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 Problem 2
26

where mass moment of inertia, Io = m(3a)2 = 9ma2

 After substituting the values of ‘k’, ‘c’, ‘m’, and F(t), the EoM
becomes

0.5625  0.25  5  7.5 cos 2t

 Observing the EoM, equivalent mass, damping and stiffness
coefficients are:
ceq= 0.25 kg/s, meq = 0.5625 kg, keq = 5 N/m, and ω = 2π rad

keq 5 ceq
n    2.981 rad/sec and    0.0745
meq 0.5625 2meqn
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 Problem 2
27

 The response of the system is

F0
meq
(t )   0.434
 2
n    2  
2 2
n
2

 2 n 
  tan  2
1   tan 1 (0.09123)  5.21o or 174.79o
  2 
 n 
 3.051rad

 The steady state response of the system is  (t )  (t ) cos(2t   )

 (t )  0.434cos2t  3.051 rad

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 Problem 3
28

 A SDOF spring-mass-damper system is subjected to a harmonic

force. The amplitude is found to be 25 mm at resonance and 10
mm at a frequency 0.75 times the resonant frequency.
Determine the damping ratio of the system.
Solution: At resonance n = 1

X 
   1
Y 
 o n 1 2
25
or, Yo  2 X  Yo  2   0.05
1000

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 Problem 3
29

 As we know, the dynamic amplification:

X 1

Yo
1  n   2n
2 2 2


where n  0.75
n

0.010 1
 Therefore, 
0.05
1  0.75   2  0.75
2 2 2

or, 0.1914 2.25 2  25 2

and ,   0.0917
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 Problem 4
30

 A harmonic force of amplitude 200 N and frequency 5 Hz acts

on the mass of a damped SDOF system having m = 10 kg,
k = 2000 N/m, and c = 50 N-s/m. Determine the complete
solution representing the motion of the mass if the initial
displacement and velocity of the mass are 10 mm and 5 m/s
respecively.
Solution: The complete solution for the motion of the mass is given
by
x(t )  X oe t sin (n 1   2 t  o )  X sint   
n

ω = 2π(5) = 31.416 rad/sec

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 Problem 4
31

 The natural frequency:

k 2000
n    14.142 rad/sec
m 10

 The static deflection: Y  Fo  200  0.1 m

o
k 2000

 The damping ratio and frequency ratio:

c 50  31.416
    0.1768 ; n    2.22
2mn 2  1014.142 n 14.142

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 Problem 4
32

 The steady state response of the system is:

X 1 Yo
 X 
Yo
1  n   2n
2 2 2
1  n   2n
2 2 2

0.1
or X  0.025 m
1  2.22   2  0.1768 2.22
2 2 2

 The phase angle:

 2n  1  2  0.1768 2.22 
  tan 
1
  tan  
  11. 3o
or 168.70o

 1  n 2
  1  2.222

 2.94 rad
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 Problem 4
33

 Thus the complete solution is the sum of complimentary solution

and particular integral

x(t )  X oe t sin (n 1   2 t  0 )  X sint   

n

 X oe0.176814.142 t sin ( 14.142 1  0.17682 t  o )  0.025sin31.416t  2.94

 X oe 2.5t sin(13.92t  o )  0.025sin31.416t  2.94 Eqn. 1
 Differentiating:

x (t )  2.5 X oe2.5t sin(13.92t  o )  X oe2.5t cos(13.92t  o ) 13.92

 0.025cos31.416t  2.94 31.416 Eqn. 2

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 Problem 4
34

 Determine the complete solution if the initial displacement and

velocity of the mass are 10 mm and 5m/s respectively. Therefore,
Eqn. 1  x(0)  0.01  X o sin o  0.025sin2.94

 X o sin o  0.00510 Eqn. 3

Eqn. 2  x (0)  5  2.5 X o sin o  13.92X o coso  0.7854cos2.94

or, 5  2.5  0.00510 13.92X o coso  0.77017

 X o coso  0.41636 Eqn. 4

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 Problem 4
35

 From Eqns. 3 & 4, we have

X o  0.005102  0.416362  0.416 m

 0.00510
o  tan 
1
  0.70178o or 0.01225rad
 0.41636
 Thus the complete solution is

x(t)  0.416e2.5t sin(13.92t  0.01225)  0.025sin31.416t  2.94 m

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 Problem 5
36

 Design a rectangular mount for a security camera. Compute ‘l’

that the mount keeps the camera from vibrating more then 0.01 m
of maximum amplitude under a wind load of 15 N at 10 Hz. The
mass of the camera is 3 kg.

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 Problem 5
37

Solution: Modeling the mount and camera as a beam with a tip

mass, and the wind as harmonic, the equation of motion becomes

3EI
mx  3 x  Fo sin t

l
bh3
 Form strength of materials: I 
12

 Thus the frequency expression is

3 3
3Ebh Ebh
n2  3

12ml 4ml 3

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 Problem 5
38

 Assume aluminum for material

k Ebh3
n  
mc 4mcl 3

7.11010  0.02 0.02

3
946.67
 
4  3 l 3
l3
946.67
 n 
2

l3
 Here, we are interested computing ‘l’ that will make the
amplitude less then 0.01 m, and damping is zero.

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 Problem 5
39

Therefore,
mc X 1

Fo
 2
n    2  
2 2
n
2

mc X 1
or  2
Fo n   2
Fo / mc
or X  2
n   2
and, Fo / mc
 0.01
n  
2 2

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 Problem 5
40

 Arises two cases

Fo / mc
(a)  0.01  2 , for n2   2  0
n   2

Fo / mc
(b)  0.01, for n2   2  0
n  
2 2

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 Problem 5
41

 Case (a)
Fo / mc
 0.01  2
n   2
 Fo / mc  0.01n2   2  
 946.67 2
 15 / 3  0.01 3
 20  
 l 
9.4667
5 3
 39.48
l
9.4667
 34.47  3
 l  0.65 m
l
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 Problem 5
42

 Case (b)
Fo / mc
 0.01
n  
2 2

 Fo / mc  0.01n2   2 
 946.67 2
 15 / 3  0.01 3
 20  
 l 
9.4667
5 3
 39.48
l
9.4667
 44.48  3
 l  0.597 m
l
Dr Asif Israr - Institute of Space Technology
 Problem 5
43

 The constraint that the length must be at least 0.5 m

 Case (a) and (b) yield
l > 0.65 or 0.5 < l < 0.597
 Less material is usually desired, therefore choose case (b), say
l = 0.51 m
 To check, note that n 2
  2

946.67
3
 20 2
 3188.70  0
l
 Thus the case (b) condition is met
 Next check the mass of the designed beam to insure it does not
change the frequency. Note it is much less then m.
m  lbh3
 2.7 103  0.51 0.02 0.023  2.2 10 4 kg
Dr Asif Israr - Institute of Space Technology