MCT 456 Dynamic Modeling and Simulation

Forced vibration

Dr. Ahmed Asker

Production and Mechanical Design Engineering
Department
Mansoura University
2019/2020
 Introduction

 Forced vibrations occurs when external energy is supplied to the

system during vibration
 The external force can be supplied through either an applied force
or an imposed displacement excitation, which may be harmonic,
nonharmonic but periodic, nonperiodic, or random in nature.
 Harmonic response results when the system responses to a
harmonic excitation
 Transient response is defined as the response of a dynamic system
to suddenly applied nonperiodic excitations

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 2

 Equation of Motion

 From Figure, the equation of Motion Using Newton’s Second

Law of Motion:
mx  cx  kx  F (t ) (3.1)
 The homogeneous solution of the equation:
𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 0

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 3

 Equation of Motion

 The variations of homogeneous, particular, and general solutions

with time for a typical case are shown in Figure below.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 4

 Response of an Undamped System Under Harmonic Force

 Consider an undamped system subjected to a harmonic force. If a

force 𝐹 𝑡 = 𝐹0 cos 𝜔𝑡 acts on the mass m of the system,

mx  kx  F0 cos t (3.3)

 The homogeneous solution is given by:
xh (t )  C1 cos nt  C2 sin nt (3.4)
where 𝜔𝑛 = 𝑘 𝑚
 Because the exciting force and particular solution is harmonic and
has same frequency, we can assume a solution in the form:

x p (t )  X cos t (3.5)
 where X is the max amplitude of 𝑥𝑝 (𝑡)

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 5

 Response of an Undamped System Under Harmonic Force

F0  st
X  (3.6)
k  m 2
 
2

1   
 n 
where 𝛿𝑠𝑡 = 𝐹0 𝑘 denotes the static deflection
 Thus, F0
x(t )  C1 cos nt  C2 sin nt  cos t (3.7)
k  m 2

 Using initial conditions x(t  0)  x0 and x (t  ,0)  x0

F0 x0
C1  x0  , C2  (3.8)
 Hence, k  m 2
n
 F0   x0 
x(t )   x0  2 
cos n t    sin n t
 k  m   n 
 F0 
  cos t (3.9)
 k  m  2

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 6
 Response of an Undamped System Under Harmonic Force

 The maximum amplitude X in

Eq. (3.6) can be expressed as

 where the quantity 𝑋/𝛿𝑠 is

called the magnification factor,
amplification factor, or
amplitude ratio.
 The variation of the amplitude
ratio with the frequency ratio
is shown in the Figure.
 The response of the system
can be identified to be of three
types from the figure
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 7
 Response of an Undamped System Under Harmonic Force

 Case 1. When 0 < 𝜔 𝜔𝑛 < 1, the denominator in Eq.(3.10) is

positive and the response is given by Eq.(3.5) without change.
The harmonic response of the system is in phase with external
force, shown in figure.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 8

 Response of an Undamped System Under Harmonic Force

 Case 2. When 𝜔 𝜔𝑛 > 1, the denominator in Eq.(3.10) is

negative and the steady-state solution can be expressed as

x p (t )   X cos t (3.11)

where the amplitude,

 st
X 2
(3.12)
 
   1
 n 

The variations are shown in

figure.
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 9
 Response of an Undamped System Under Harmonic Force

 Case 3. When 𝜔 𝜔𝑛 = 1, the amplitude X given by Eq.(3.10) or

(3.12) becomes infinite. This condition, for which the forcing
frequency is equal to the natural frequency of the system, is
called resonance. Hence, the total response if the system at
resonance becomes
x0
x(t )  x0 cos nt  sin nt
n
 stnt
 sin nt (3.15)
2

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 10

 Response of an Undamped System Under Harmonic Force

Total Response
 The total response of the system, Eq.(3.7) or Eq.(3.9), can also be
expressed as
 st 
x(t )  A cos(nt   )  cos t ; for 1 (3.16)
 
2
n
1   
 n 

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 11

 Response of an Undamped System Under Harmonic Force

 and
 st 
x(t )  A cos(nt   )  cos t; for 1 (3.17)
 
2
n
1   
 n 

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 12

 Response of an Undamped System Under Harmonic Force

Beating Phenomenon
 If the forcing frequency is close to, but not exactly equal to, the
natural frequency of the system, beating may occur. The
phenomenon of beating can be expressed as:
 F0 / m 
x(t )   sin t  sin t (3.22)
 2 

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 13

 Example 3.1 Plate Supporting A Pump

 A reciprocating pump, of mass 75 kg, is mounted at the middle of

a steel plate of thickness 13 mm, width 500 mm, and length 2.5
m, clamped along two edges as shown in Fig. 3.9. During
operation of the pump, the plate is subjected to a harmonic force,
𝐹 𝑡 = 250 cos 62.8𝑡 N.
 Find the amplitude of vibration of the plate.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 15

 Example 3.1 Solution

 The plate can be modeled as a fixed-fixed beam having Young’s

modulus 𝐸 = 200 GPa, length 𝑙 = 2.5 m, and area moment of inertia
1
𝐼= 0.5 0.013 3 = 9.2 × 10−8 𝑚4
12
 The bending stiffness of the beam is given by

 The amplitude of harmonic response is given by Eq. (3.6) with 𝐹0 =

250 N, 𝑚 = 75 kg (neglecting the weight of the steel plate), 𝑘 =
221.6 kN/m, and 𝜔 = 62.832 rad/s. Thus Eq. (3.6) gives

 The negative sign indicates that the response 𝑥(𝑡) of the plate is out of
phase with the excitation 𝐹(𝑡).

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 16

 Response of a Damped System Under Harmonic Force

 The equation of motion can be derived as

 
X k  m 2 cost     c sint     F0 cos t (3.26) 
Using trigonometric relations, we obtain
  
X k  m 2 cos   c sin   F0
X k  m sin   c cos    0
2
(3.27)

The solution gives F0

X
k  m   c   1/ 2
(3.28)
2 2 2 2

and  c 
  tan 1
2 
(3.29)
 k  m 
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 17
 Response of a Damped System Under Harmonic Force

The figure shows typical plots of the forcing function and steady-
state) response.

Substituting the following,

n 
k c
  F0 
; 2 n ;  st  ; r
m m k n
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 18
 Response of a Damped System Under Harmonic Force

We obtain
X 1 1
  (3.30)
 st  2
 2 2 1/ 2
(1  r )  (2r )
2 2 2
     
1      2  
  n    n  

and
  
 2 
1  n  1  2r 
  tan  2
 tan  2 
(3.31)
    1 r 
1     
  n 

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 19

 Response of a Damped System Under Harmonic Force

The following characteristics of the magnification factor (M) can be

noted from figure and as follows:

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 20

 Response of a Damped System Under Harmonic Force

1. For an undamped system (  0) , Eq.(3.30)

reduces to Eq.(3.10), and M   as r  1 .
2. Any amount of damping (  0) reduces the
magnification factor (M) for all values of the
forcing frequency.
3. For any specified value of r, a higher value of
damping reduces the value of M.
4. In the degenerate case of a constant force
(when r = 0), the value of M = 1.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 21

 Response of a Damped System Under Harmonic Force

5. The reduction in M in the presence of damping

is very significant at or near resonance.
6. The amplitude of forced vibration becomes
smaller with increasing values of the forcing
frequency (that is, M   as r  1 ).
1
7. For 0  , the maximum value of M occurs
2
when
r  1  2 2 or   n 1  2 2 (3.32)
which can be seen to be lower than the
undamped natural frequency and the damped
frequency d  n 1   2 .
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 22
 Response of a Damped System Under Harmonic Force

8. The maximum value of X (when r  1  2 2 ) is

given by:  X  1
   (3.33)
  st  max 2 1  
2

and the value of X at   n by

X  1
   (3.34)
  st  n 2
1 dM 1
9. For   , 0
when r = 0. For , the  
2 dr 2
graph of M monotonically decreases with
increasing values of r.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 23

 Response of a Damped System Under Harmonic Force

The following characteristics of the phase angle can be observed

from figure and Eq.(3.31) as follows:

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 24

 Response of a Damped System Under Harmonic Force

1. For an undamped system (  0) , Eq.(3.31)

shows that the phase angle is 0 for 0 < r < 1
and 180° for r > 1. This implies that the
excitation and response are in phase for 0 < r <
1 and out of phase for r > 1 when   0 .
2. For   0 and 0 < r < 1, the phase angle is
given by 0 < Φ < 90°, implying that the
response lags the excitation.
3. For   0 and r > 1, the phase angle is given by
90° < Φ < 180°, implying that the response
leads the excitation.
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 25
 Response of a Damped System Under Harmonic Force

4. For   0 and r = 1, the phase angle is given

by Φ = 90°, implying that the phase difference
between the excitation and the response is 90°.
5. For   0 and large values of r, the phase
angle approaches 180°, implying that the
response and the excitation are out of phase.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 26

 Response of a Damped System Under Harmonic Force

Total response
For an underdamped system,
x(t )  X 0e nt cos(d t  0 )  X cos(t   ) (3.35)

where
d  1   2 n (3.36)

For the initial conditions, Eq.(3.35) yields

x0  X 0 cos 0  X cos 
x0   n X 0 cos 0  d X 0 sin 0  X sin 0 (3.37)

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 27

 Example 3.2 Total Response of a System

Find the total response of a single degree of

freedom system with m = 10kg, c = 20 N-s/m, k
= 4000 N/m, x0 = 0.01 m, x0  0 under the
following conditions:
a. An external force F (t )  F0 cos t acts on the
system with F0  100 N and   10 rad/s .
b. Free vibration with F(t) = 0.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 28

 Example 3.2 Solution

a. From the given data,

k 4000
n    20 rad/s
m 10
F0 100
 st    0.025m
k 4000
c c 20
     0.05
cc 2 km 2 (4000)(10)
d  1   2 n  1  (0.05) 2 (20)  19.974984 rad/s
 10
r   0.5
n 20
 st 0.025
X   0.03326m (E.1)
(1  r )  (2r )
2 2 2
(1  0.05 )
2 2
 (2  0.5  0.5) 
2 1/ 2

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 29

 Example 3.2 Solution

 2r  1  2  0.05  0.5 

  tan 1  2 
 tan    3.814075 (E.2)
1 r   1  0.5 
2

Using initial conditions x0  0.01 and x0 , 0

X 0 cos 0  0.023186 (E.3)

0  (0.05)(20) X 0 cos 0  X 0 (19.974984) sin 0

(0.03326)(10) sin(3.814075) (E.4)

Substituting Eq.(E.3) into (E.4),

X 0 sin 0  0.002268 (E.5)

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 30

 Example 3.2 Solution

Hence,

X 0  ( X 0 cos 0 )  ( X 0 sin 0 )
2

2 1/ 2
 0.023297 (E.6)

and X 0 sin 0
tan 0   0.0978176
X 0 cos 0
or 0  5.586765 (E.7)

a. From the given data,

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 31

 Example 3.2 Solution

b. For free vibration, the total response is

x(t )  X 0e nt cos(d t  0 ) (E.8)
Using the initial conditions,
2 1/ 2
   x     0.05  20  0.01 
2 1/ 2

X 0   x02   n 0    0.012      0.010012 (E.9)
  d     19.974984  

 x0   n x0  1  0.05  20 

0  tan   1

  tan     2.865984 (E.10)
 d x0   19.974984 

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 32

 Response of a Damped System Under Harmonic Force

 Quality factor and bandwidth:

For values of damping (  0.05) , we can take

 X   X  1
      Q (3.38)
  st  max   st  n 2

Power absorbed by damper:

W  cX 2 (3.39)
From figure, R1 and R2 is the bandwidth of the system.
Set X /  st  Q / 2 , hence,
1 Q 1
 
(1  r )  (2r )
2 2 2
2 2 2
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 33
 Response of a Damped System Under Harmonic Force

or r 4  r 2 (2  4 2 )  (1  8 2 )  0 (3.40)

Solving the equation for small values of ,

2 2
 1   2 
r  R     1  2 ,
2 2
r  R     1  2
2 2
(3.42)
 n   n 
1 1 2 2

22  12  (2  1 )(2  1 )  ( R22  R12 )n2  4 n2 (3.43)

Using the relation, 2  1  2n (3.44)

Thus, we obtained
1 n
Q  (3.46)
2 2  1
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 34
Response of a Damped System Under the Harmonic Motion of
the Base

 From the figure, the equation of motion is

mx  c( x  y )  k ( x  y)  0 (3.64)

If y(t )  Y sin ,t

mx  cx  kx  ky  cy  kY sin t  cY cos t
 A sin(t   ) (3.65)
 c 
where A  Y k 2  (c ) 2 and   tan 1 
 k 
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 35
Response of a Damped System Under the Harmonic Motion of
the Base

 The steady-state response of the mass can be expressed as

Y k 2  (c ) 2
x p (t )  sin(t  1   )
(k  m ) 
(3.66)
2 2
 (c ) 2 1/ 2

 c 
where 1  tan 1  2 
 k  m 
or x p (t )  X sin(t   ) (3.67)

where X  k 2  (c ) 2 
1/ 2
 1  (2r ) 2 
1/ 2

   2
(3.68)
Y  (k  m 2 )  (c ) 2   (1  r 2 2
)  ( 2 r ) 

 mc 3  1  2r 3 
and   tan  1
2
 tan  2
(3.69)
 k (k  m )  (c)  1  (4  1)r 
2 2

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 36

Response of a Damped System Under the Harmonic Motion of
the Base

 The variations of displacement transmissibility is shown in the

figure below.
 1  i 2r  it 
x p (t )  Re Ye  (3.70)
 1 - r  i 2r 
2

X
Y

 Td  1  (2r ) 
2 1/ 2
H (i ) (3.71)

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 37

Response of a Damped System Under the Harmonic Motion of
the Base

 The following aspects of displacement

transmissibility can be noted from the figure:
1. The value of Td is unity at 𝑟 = 0 and close to
unity for small values of r.
2. For an undamped system (ζ = 0), 𝑇𝑑 → ∞ at
resonance (𝑟 = 1).
3. The value of Td is less than unity (Td < 1) for
values of 𝑟 > 2 (for any amount of damping ζ ).
4. The value of Td = 1 for all values of ζ at 𝑟 = 2.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 38

Response of a Damped System Under the Harmonic Motion of
the Base

5. For r <√2, smaller damping ratios lead to larger values of Td. On

the other hand, for r >√2, smaller values of damping ratio lead to
smaller values of Td.
6. The displacement transmissibility, Td, attains a maximum for 0 <
ζ < 1 at the frequency ratio r = rm < 1 given by:

rm 
1
2
 1  8 1
2
1/ 2

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 39

Response of a Damped System Under the Harmonic Motion of
the Base

 Force transmitted:

F  k ( x  y)  c( x  y )  mx (3.72)
F  m 2 X sin(t   )  FT sin(t   ) (3.73)

The force transmissibility is

given by:
1/ 2
2 1  (2r )  2
FT
r  2
 (1  r )  (2r ) 
2 2
kY
(3.74)

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 40

Response of a Damped System Under the Harmonic Motion of
the Base

 Relative Motion:
The equation of motion can be written as
mz  cz  kz  my  m 2Y sin t (3.75)

The steady-state solution is given by:

m 2Y sin(t  1 )
z (t )   Z sin(t  1 )
(k  m ) 
(3.76)
2 2
 (c ) 2 1/ 2

where, the amplitude,

m 2Y r2
Z Y (3.77)
(k  m )  (c )
2 2 2
(1  r )  (2r )
2 2 2

 c  1  2r 
and 1  tan 1
2 
 tan  2 
 k  m  1 r 
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 41
Response of a Damped System Under the Harmonic Motion of
the Base

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 42

 Example 3.3 Vehicle Moving on a Rough Road

 The figure below shows a simple model of a motor vehicle that

can vibrate in the vertical direction while traveling over a rough
road. The vehicle has a mass of 1200kg. The suspension system
has a spring constant of 400 kN/m and a damping ratio of ζ = 0.5.
If the vehicle speed is 20 km/hr, determine the displacement
amplitude of the vehicle. The road surface varies sinusoidally
with an amplitude of Y = 0.05m and a wavelength of 6m.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 43

 Example 3.3 Solution

 The frequency can be found by

 v 1000  1
  2f  2    0.290889v rad/s
 3600  6

For v = 20 km/hr, ω = 5.81778 rad/s. The natural

frequency is given by,
1/ 2
k  400 10  3
n      18.2574 rad/s
m  1200 

Hence, the frequency ratio is

 5.81778
r   0.318653
n 18.2574
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 44
 Example 3.3 Solution

 The amplitude ratio can be found from Eq.(3.68):

1/ 2 1/ 2
X  1  (2r )  2
 1  (2  0.5  0.318653) 2

   2
Y  (1  r 2 ) 2  (2r ) 2   (1  0.318653 ) 2
 ( 2  0.5  0.318653) 
 1.469237

Thus, the displacement amplitude of the vehicle is

given by
X  1.469237Y  1.469237(0.05)  0.073462 m

This indicates that a 5cm bump in the road is

transmitted as a 7.3cm bump to the chassis and the
passengers of the car.
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 45
 Response of a Damped System Under Rotating Unbalance

 The equation of motion can be derived by the usual procedure:

Mx  cx  kx  me 2 sin t (3.78)

The solution can be expressed as
 me    2 
i (t  )
x p (t )  X sin(t   )  Im   H (i ) e  (3.79)
 M  n  

The amplitude and phase angle is given by

2
me 2
me   
X    H (i )
(k  M ) 
(3.80)
2 2
 (c ) 2 1/ 2 M  n 

 c 
  tan 1  2 
(3.81)
 k  M 
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 46
 Response of a Damped System Under Rotating Unbalance

By defining
  c / cc and cc  2M, n

MX r2

me 
(1  r 2 ) 2  (2r ) 2
1/ 2

 r 2 H (i ) (3.82)

and
 2r 
  tan  1
2 
(3.83)
1 r 

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 47

 Response of a Damped System Under Rotating Unbalance

 The following observations can be made from

Eq.(3.82) and the figure above:
1. All the curves begin at zero amplitude. The
amplitude near resonance is markedly affected
by damping. Thus if the machine is to be run
near resonance, damping should be introduced
purposefully to avoid dangerous amplitudes.
2. At very high speeds (ω large), MX/me is almost
unity, and the effect of damping is negligible.
3. For 0 < ζ < 1/√2 , the maximum of MX/me
occurs when d  MX 
0  
(3.84)
dr  me 
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 48
 Response of a Damped System Under Rotating Unbalance

The solution gives:

1
r 1
1  2 2

With corresponding maximum value

 MX  1
  
 me  max 2 1   2
Thus the peaks occur to the right of the resonance
value of r = 1.


4. For   1 2 , MX me , does not attain a 
maximum. Its value grows from 0 at r = 0 to 1
at r → ∞ .
MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 49
 Response of a Damped System Under Rotating Unbalance

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 50

 Example 3 . 7

 An electric motor of mass M, mounted on an elastic foundation, is

found to vibrate with a deflection of 0.15 m at resonance. It is
known that the unbalanced mass of the motor is 8% of the mass
of the rotor due to manufacturing tolerances used, and the
damping ratio of the foundation is 𝜁 = 0.025. Determine the
following:
◦ a. the eccentricity or radial location of the unbalanced mass (e),
◦ b. the peak deflection of the motor when the frequency ratio
varies from resonance, and
◦ c. the additional mass to be added uniformly to the motor if the
deflection of the motor at resonance is to be reduced to 0.1 m.
 Assume that the eccentric mass remains unaltered when the
additional mass is added to the motor.

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 51

 Example 3 . 7 Solution

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 52

 Example 3 . 7 Solution

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 53

 Questions

MCT 456 Dynamic Modeling and Simulation Dr. Ahmed Asker 54