Mechanical Vibration

Vibration Under General Forcing Conditions

Unggul Wasiwitono
Mechanical Engineering Deparment
Faculty of Industrial Technology and Systems Engineering

Institut Teknologi Sepuluh Nopember (ITS)

 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Introduction

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Introduction
1 Many practical systems are subjected to several types of forcing functions that are not
harmonic.
1 suddenly applied constant force (called a step force),
2 a linearly increasing force (called a ramp force), and
3 an exponentially varying force.
2 Forcing function may be acting for a short, long, or infinite duration.
1 excitation of short duration compared to the natural time period of the system is called a shock.
3 If the forcing function is periodic but not harmonic, it can be replaced by a sum of harmonic
functions using the harmonic analysis procedure
4 The response of a system subjected to any type of nonperiodic force is commonly found
using the following methods:
1 Convolution integral.
2 Laplace transform.
3 Numerical methods.

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response Under a General Periodic Force

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response Under a General Periodic Force

When the external force F (t) is periodic with period τ = 2π ω it can be expanded in a
Fourier series
∞ ∞
a0 X X
F (t) = + aj cos jωt + bj sin jωt (1)
2 j=1 j=1

where Z τ
2
aj = F (t) cos jωtdt, j = 0, 1, 2, · · · (2)
τ 0
Z τ
2
bj = F (t) sin jωtdt, j = 1, 2, · · · (3)
τ 0

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Second-Order Systems
Let a spring-mass-damper system be subjected to a periodic force

mẍ + cẋ + kx = f (t) (4)

If the forcing function f (t) is periodic, it can be expressed in Fourier series so that the
equation of motion becomes
∞ ∞
a0 X X
mẍ + cẋ + kx = F (t) = + aj cos jωt + bj sin jωt (5)
2 j=1 j=1

Note
The right hand side of equation (5) is a constant plus a sum of harmonic functions.
The steady-state solution can be found by using the principle of superposition

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Second-Order Systems
∞ ∞
a0 X X
mẍ + cẋ + kx = F (t) = + aj cos jωt + bj sin jωt (6)
2 j=1 j=1

a0
mẍ + cẋ + kx = (7)
2
∞
X
mẍ + cẋ + kx= aj cos jωt (8)
j=1
X∞
mẍ + cẋ + kx= bj sin jωt (9)
j=1

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Second-Order Systems
∞ ∞
a0 X X
mẍ + cẋ + kx = F (t) = + aj cos jωt + bj sin jωt (6)
2 j=1 j=1

a0
mẍ + cẋ + kx = (7)
2
∞
X
mẍ + cẋ + kx= aj cos jωt (8)
j=1
X∞
mẍ + cẋ + kx= bj sin jωt (9)
j=1

The solution of the equation (7) is given by

a0
xp (t) = (10)
2k
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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Second-Order Systems

The solutions of Eqs. (8) and (9), respectively, as

aj
k
xp (t)= q cos (jωt − φj ) (11)
2 2 2 2
(1 − j r ) + (2ζjr)
bj
k
xp (t)= q sin (jωt − φj ) (12)
2 2 2 2
(1 − j r ) + (2ζjr)

where  
2ζjr ω
φj = tan−1 and r=
1 − j 2 r2 ωn

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Second-Order Systems

The complete steady-state solution

∞ j a
a0 X k
xp (t) = + q cos (jωt − φj )
2k j=1 2 2
(1 − j 2 r2 ) + (2ζjr)
∞
X bj
k
+ q sin (jωt − φj ) (13)
2 2
j=1 (1 − j 2 r2 ) + (2ζjr)

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Second-Order Systems

The complete steady-state solution

∞ j a
a0 X k
xp (t) = + q cos (jωt − φj )
2k j=1 2 2
(1 − j 2 r2 ) + (2ζjr)
∞
X bj
k
+ q sin (jωt − φj ) (13)
2 2
j=1 (1 − j 2 r2 ) + (2ζjr)

Please read Example 4.4 and 4.5

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response Under a Periodic Force of Irregular Form

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response Under a Periodic Force of Irregular Form

1 In some cases, the force acting on a system may be quite irregular and may be determined
only experimentally
2 The forces will be available in graphical form and no analytical expression can be found to
describe F (t).
3 It is possible to find the Fourier coefficients by using a numerical integration procedure

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response Under a Periodic Force of Irregular Form

The application of trapezoidal rule gives
N
2 X
a0 = Fi (14)
N i=1
N
2 X 2jπti
aj = Fi cos , j = 1, 2, · · · (15)
N i=1 τ
N
2 X 2jπti
bj = Fi sin , j = 1, 2, · · · (16)
N i=1 τ

Once the Fourier coefficients a0 , aj and bj are known, the steady-state response of the
system can be found using Equation (13) with
2π
r=
τ ωn

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response Under a Periodic Force of Irregular Form

Please read Example 4.6

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response Under a Nonperiodic Force

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Convolution Integral

1 A nonperiodic exciting force usually has a magnitude that varies with time;
2 The simplest form is the impulsive force
3 If ẋ1 and ẋ2 denote the velocities of the mass m before and after the application of the
impulse, we have
Impulse = F ∆t = mẋ2 − mẋ1 (17)
in general Z t+∆t
F= F dt (18)
t

4 A unit impulse acting at t = 0 (f ) is defined as

Z t+∆t
f = lim F dt = F dt = 1 (19)
∆t→0 t

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Convolution Integral

The unit impulse, f = 1, acting at t = 0, is also denoted by Dirac delta function1 as

f = f δ (t) = δ (t) (20)

and the impulse of magnitude F, acting at t = 0, is denoted as

F = Fδ (t) (21)

1 The Diract delta function at time t = τ , denoted as δ (t − τ ) ,has the properties

δ (t − τ ) = 0 for t 6= τ ;
Z ∞ Z ∞
δ (t − τ ) dt, δ (t − τ ) F (t) dt = F (τ )
0 0
where 0 < τ < ∞. Thus an impulse of magitude F, acting at t = τ , can be denoted as F (t) = Fδ (t − τ )
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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Convolution Integral - Response to an Impulse

Consider a viscously damped spring-mass system subjected to a unit impulse at t = 0

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Convolution Integral - Response to an Impulse

For an underdamped system, the solution of the equation of motion
mẍ + cẋ + kx = 0 (22)
is given by  
ẋ0 + ζωn x0
x (t) = e−ζωn t x0 cos ωd t + sin ωd t (23)
ωd
If the mass is at rest before the unit impulse is applied, we obtain, from the
impulse-momentum relation,
Impluse = f = 1 = mẋ (t = 0) − mẋ t = 0− = mẋ0


(24)
Thus the initial conditions are given by
x (t = 0) = x0 = 0 (25)
1
ẋ (t = 0) = ẋ0 = (26)
m
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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Convolution Integral - Response to an Impulse

The solution of the equation of motion of a single-degree-of-freedom system to a unit
impulse
e−ζωn t
x (t) = g (t) = sin ωd t (27)
mωd
| {z }
impulse response function

F
If the magnitude of the impulse is F instead of unity, the initial velocity ẋ0 is m and the
response of the system becomes

F e−ζωn t
x (t) = sin ωd t = F g (t) (28)
mωd
If the impulse F is applied at an arbitrary time t = τ

x (t) = F g (t − τ ) (29)

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Convolution Integral - Response to an Impulse

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Convolution Integral - Response to an Impulse

Please read Example 4.7 and 4.8

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response to a General Forcing Condition

The force may be assumed to be made up of a series of impulses of varying magnitude.

The response of the system at t due to this impulse
∆x (t) = F (τ ) ∆τ g (t − τ ) (30)
The total response at time t can be found by summing all the responses due to the
elementary impulses acting at all times τ :
X
x (t) ' F (τ ) g (t − τ ) ∆t (31)
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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response to a General Forcing Condition

Letting ∆t → 0 and replacing the summation by integration, we obtain
Z t
x (t) = F (τ ) g (t − τ ) dτ (32)
0

substituting Eq. (27) into above Equation, we obtain

Z t
1
x (t) = F (τ ) e−ζωn (t−τ ) sin ωd (t − τ ) dτ (33)
mωd 0
| {z }
Convolution / Duhamel integral

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response to a General Forcing Condition

Letting ∆t → 0 and replacing the summation by integration, we obtain
Z t
x (t) = F (τ ) g (t − τ ) dτ (32)
0

substituting Eq. (27) into above Equation, we obtain

Z t
1
x (t) = F (τ ) e−ζωn (t−τ ) sin ωd (t − τ ) dτ (33)
mωd 0
| {z }
Convolution / Duhamel integral

Note
Above equation does not consider the effect of initial conditions of the system, because
the mass is assumed to be at rest before the application of the impulse.

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response to Base Excitation

The equation of motion of a spring-mass-damper system subjected to an arbitrary base
excitation can be expressed in terms of the relative displacement of the mass z = x − y
as follows
mz̈ + cż + kz = −mÿ (34)
This is similar to the equation
mẍ + cẋ + kx = F (35)

The relative displacement

Z t
1
z (t) = − ÿ (τ ) e−ζωn (t−τ ) sin ωd (t − τ ) dτ (36)
ωd 0

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 Introduction Response Under a General Periodic Force Response Under a Periodic Force of Irregular Form Response Under a Nonperiodic Force

Response to Base Excitation

The equation of motion of a spring-mass-damper system subjected to an arbitrary base
excitation can be expressed in terms of the relative displacement of the mass z = x − y
as follows
mz̈ + cż + kz = −mÿ (34)
This is similar to the equation
mẍ + cẋ + kx = F (35)

The relative displacement

Z t
1
z (t) = − ÿ (τ ) e−ζωn (t−τ ) sin ωd (t − τ ) dτ (36)
ωd 0

Please read Example 4.9 - 4.13

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