Earthquake Engineering-17CV831 2020-21

Forced vibration of SDoF system:

Consider a SDoF system under forced vibration as illustrated.

̈+ ̇+ = ( ) (1)

This is a 2nd order ODE for which solution is of the form =+ (2).

CF-> Complimentary function which is the solution obtained by taking RHS in equation 1 as zero. Then, the
equation obtained is nothing but free vibration case.

PI-> This is the solution obtained which has direct linkage to the forcing function F(t).

F(t) which is the dynamic load varies with time. If F(t) is a harmonic function w.r.t time say F(t)=F0sin wt,
where F0->Amplitude, W->Angular frequency, then equation (1) is ̈+ ̇+ = sin (3).

Using the terms = and = .

̈ +2 ̇+ = sin  (4) the solution then is =( ) +( ) (5), where

( )
 (6).

The solution as PI is of the form ( ) = cos + sin  (7).

Therefore ( ̇) = − sin ( )+ cos ()

( ̈) = − w cos − sin . Substitute these values in equation (4)

− cos − sin +2 – sin +cos + { cos+ sin } = sin .

cos {− +2 + } + sin {− −2 + }= sin

Comparing coefficients, − +2 + =0

− −2 + =

( − )+2 =0 =
( )

( − )−2 =

( − )+2 = .

) .
( −) + ( =
( )

=
( ) ()

= .
( ) ( ) ()

By using trignometrical equations of cos = and sin =

( ) () ) ( )
(

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( )
=
( ) ( ) cos + sin
( ) ()

= {sin wt cos ϕ − cos wt sin ϕ }

( ) ( )

= sin( − ).
( ) ( )

( ) corresponds to free damped vibration which decays with elapse of time.

( ) corresponds to motion relating to the forcing function. Hence it will have the same frequency as the
force. The actual motion is superposition of ( ) and ( ) . Since ( ) is a decaying component, it is
termed as transient vibration, ( ) is termed as steady state vibration.

Eqn (9) is rewritten as = sin(wt − ϕ).

⋅

= = tuning factor = resonant frequency ratio.

= =damping ratio.

= ;

( )
∴ =  (10).
( ) ( )

=static displacement = .

= sin( − ).
( ) ( )

Max. amplitude of motion hence is = .

( ) ( )

The ratio of dynamic displacement (motion) with that of displacement of statics is known as Dynamic
Load Factor (DLF).
( )
= = .
( ) ( )

Maximum value of = .
( ) ( )

This maximum value of DLF known as magnification factor is .

( ) ( )

In order to get the maximum value of , we compute =

( ) ( )

( )
[() () ] =0

−4 (1 − )+8 =0

Or = 1−2  (11).

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being a small quantity, maximum value of obtained when frequency of external force is nearly equal
to the frequency of the system in free vibration, increases rapidly. This condition is called Resonance.

= tan = tan
〈 〉

= tan  (12)
( )

Conclusions:
1. The free vibration part is transient and vanishes, forced part persists.
2. With increase of , magnification factor reduces.
3. The magnitude of the maximum value of magnification factor is very sensitive to the value of .
4. Steady state vibration is independent of initial conditions of the system.

Effect of frequency of input motion and Resonance:

Resonance describes the phenomenon of increased amplitude that occurs when the frequency
of a periodically applied force is equal or close to a natural frequency of the system on which it
acts. When an oscillating force is applied at a resonant frequency of a dynamical system, the
system will oscillate at higher amplitude than when the same force is applied at other, non-
resonant frequencies.

Figure: Increase of amplitude as damping decreases and frequency approachesb resonant frequency of a driven damped
simple harmonic oscillator

Frequencies at which the response amplitude is a relative maximum are also known as resonant
frequencies or resonance frequencies of the system. Small periodic forces that are near a resonant
frequency of the system have the ability to produce large amplitude oscillations in the system
due to the storage of vibrational energy.

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 Earthquake Engineering-17CV831 2020-21

Example 1: A machine part of mass 1.95 kg vibrates in a viscous medium. Determine the damping coefficient
when a harmonic exciting force of 24.46 N results in resonant amplitude of 1.27 cm with a period of 0.20 s.
Solution:

If frequency ratio
β=ω/ωn  1 (i.e., forcing frequency is close to the natural frequency of the
system), then resonance occurs, Magnification factor is very sensitive to damping and, for smaller
damping values, it can be several times larger than 1, implies that the amplitude of dynamic response
can be much larger than the static deformation. The amplitude can be approximated by

f0 1 f0 1 f c f 2 km f f f
A 0= = = 0 0 = 0 √ = 0 = 0 ∴ A 0= 0
k 2 ζ k c k 2c k 2 c k cω n cω n
2
c0
For the problem, f0 = 24.46 N,
c
m √
The natural frequency can be determined from period at resonance.
1 1
T n =0 .2 s , which gives f n = = =5 cps ⇒ω n =2 π ×f n =2 π×5=31. 4 rads /sec
T n 0 .2
Amplitude = 1.27cm = 0.0127m
f0 f 24 . 46
A 0= ⇒ c= 0 = =61. 33 N −s/ m
cω n A 0 ω n 0 . 0127×31 . 4
c=61 .33 N −s /m
Answer: Damping Coefficient = 61.33N-s/m

Example 2: If the system of Example. 1 is excited by a harmonic force of frequency 4 cps, what will be the
percentage increase in the amplitude of forced vibration when the dashpot is removed?
Solution:
If the dashpot is removed, then there is no damping. i.e. c = 0
f n=5 cps

The forcing frequency f = 4 cps, ω=2πf =2×π×4=25.13rads /sec

f 4
β= = =0. 8
Frequency ratio =
fn 5
Magnification factor for un-damped forced vibration is given by:
ω n=31 . 4 rads /sec
k 2 2
=ω n =(31. 4 )2 =985 . 96 ⇒k =m×ω n =1 . 95×985 . 96=1922. 622 n/m
m
f0 24 . 46
A 0 ( nodamping)= 2
= =0 .0354 m
k−mω 1922. 62−1 . 95×25 . 132

Hence percentage increment of amplitude is given by

A0 (no damping ) 0 . 0354
A 0 (nodamping)= ×100= ×100=278 %
A 0 ( with damping ) 0 . 0127

Answer: Hence the percent increase in amplitude = 278%

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Example 3: A weight attached to a spring of stiffness 525 N/m has a viscous damping device. When the
weight is displaced and released, the period of vibration is found to be 1.80 sec, and the ratio of consecutive
amplitudes is 4.2 to 1.0. Determine the amplitude and phase when a force F = 2 cos 3t acts on the system.
Solution:
Stiffness (k) = 525N/m
Ak 4 .2
= =4 . 2
A k +1 1. 0
Ak
Logarithmic decrement δ=ln
( )
Ak +1
=ln ( 4 . 2 )=1 . 435≃2 πζ

1 . 435
Damping Ratio ζ = =0 . 228
2π
Period of vibration = 1.8 sec
1
T n =1. 8 s , which gives f n = =0 . 5555 cps ⇒ ωn =2 π×0 . 5555=3 . 49 rads /sec
1. 8
k 2 k 525
=ω n =( 3. 49 )2 =12. 18 ⇒m= 2 = =43 .1 kg
m n 12 . 18
ω

Applied force is F = 2 cos 3t

Amplitude of a SDF system under harmonic excitation is given by:
f0 1
A 0=
k 22
√( 1−β ) +( 2 ζβ ) 2

3
Frequency ratio β= =0 . 86
Here f0=2 and  = 3, which gives 3 . 49
2 1
A 0= =8 .09×10−3 m=8. 1 mm
525 ( 1−0 . 862 ) +(2×0 .228×0 . 86)2
2
√
Phase angle is given by:
2 ζβ 2×0 . 228×0 . 86
φ0 =tan−1 (− ) =tan−1 (− )=−800
22 22
( 1−β ) ( 1−0 . 86 )
Answer:
Amplitude = 8.1mm, Phase angle = - 800

Example 4: A spring mass is excited by a force F 0 sin t. At resonance the amplitude is measured to be 0.58
cm. At 0.80 resonant frequency, the amplitude is measured to be 0.46 cm. Determine the damping factor  of
the system.
Solution:
Frequency ratio  = 0.8, Amax = 0.58cm, A (at  = 0.8) = 0.46cm
Maximum magnification and its occurrence is given by:
1
M max =
2 ξ √ ( 1−ξ2 )
And it occurs at a frequency ratio of β = √1−2ξ 2
Magnification at any frequency ratio is given by:
1
M=
22
√ ( 1−β ) + ( 2 ξβ )2 ,

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22
M max
=
√ ( 1−β ) + ( 2ξβ ) = 0 . 58 =1 . 26 2

M 2 ξ √ ( 1−ξ 2 ) 0 . 46
22
For small value of ζ ,
√ ( 1−β ) =1 .26
2ξ
22
or ,
√ ( 1−0 . 8 ) + ( 2×0 . 8×ξ ) =1 . 26 2
or ,
√ 0 .1296 + 2.56 ξ 2 =1 .26
2 ξ √ ( 1−ξ 2 ) 2ξ √ ( 1−ξ 2 )
2
0 .1296 + 2 .56 ξ
or , =1. 5876
4 ξ 2 ( 1−ξ 2 ) i. e . , 0. 1296 + 2. 56 ξ 2=1 . 5876×4 ξ 2 ( 1−ξ2 )=6 . 35 ξ 2−1 . 5876 ξ 4
4 2 4 2
or ., 1.5876 ξ −3.79 ξ +0.1296 =0 i. e., ξ −2.387 ξ +0. 0816 =0
whichgives ,., ξ2 =1.1935±1.1585 i.e.,., ξ =1.533 or 0.187 , Hence ., ξ = 0.187

Example 5: In a forced vibration test under harmonic excitation it was noted that the amplitude of
motion at resonance was exactly four times at an excitation frequency 20% higher than resonant
frequency. Determine the damping ratio of the system.

At, resonance, amplitude A0  4 A 0

'

When amplitude is A 0 , w  1.2 wn

'

 B  1.2
fo 1
 A'0  
k  1  B    2 B 
2 2

fo 1
 A'0  
k
 1   1.2  
2
  2  1.2 
2 2

fo
A0 
cwn
A0 kx 0.1936  5.76 2
 
A0' cwn
1
 4    0.1936  5.76 2 
2

4 2

   0.058
 5.8% ( Ans )

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Example 6:: A steel rigid frame (one bay one storey) having hinged supports, carries a rotating
machine. This escorts a horizontal force at girder level in the form of “50000 sin 11 t” N assuming 4%
critical damping, what is steady state amplitude of vibration? I for columns =1500×10-7m4,
E=21×1010N/m2.

Stiffness for each column =

3EI/l3. Stiffness = 2(3EI/l3)

∴K= 2953125 N/m.

Natural frequency p = = 24.3 /.

=0.04

= 0.453

Therefore /
= 0.0213 = 21.33 .
( ) ( )
=

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