Module 7

Forced Vibrations of SDOF

Dr.-Ing. Azmi Mohamed Yusof

Faculty of Mechanical Engineering
Content

1. Learning Outcomes
2. Harmonic Excitation of SDOF Undamped System
3. Solution of differential equation of motion
4. Magnification factor

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Course Outcomes

At the end of modules 7, 8 & 9, students should be able to state, derive

and apply the fundamental principle of vibration involving:-
▪ Vibration of SDOF undamped system with harmonic excitation
▪ Vibration of SDOF damped system with harmonic excitation
▪ System with rotating unbalanced
▪ System with unbalanced mass
▪ Method for vibration isolation

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Introduction

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Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
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External force excitation

System response
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Harmonic excitation of SDOF undamped system
• Why do some buildings fall in
earthquakes?
▪ All buildings have a natural
frequency the number of seconds
it takes for the building to naturally
vibrate back and forth.
▪ The ground also has a specific
frequency.
Hard bedrock has higher frequencies
than softer sediments.

▪ Resonance occurred if the freq. of

ground motion matches the natural
frequency of a building,
▪ Building will undergo the largest
oscillations possible and suffer the
greatest damage
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Harmonic excitation of SDOF undamped system
• Example

▪ A weight of 50N is suspended from a spring of stiffness 5000 N/m and is

subjected to a harmonic force of amplitude 40N and frequency of 4 Hz.
Determine
a) the extension of the spring due to suspended spring
b) the static displacement of the spring due to the maximum applied
force
c) the amplitude of the forced motion of the weight

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2.0 Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
• Example

▪ A 50 kg mass is hanging from a spring of stiffness 5 x 104 N/m. A

harmonic force of magnitude 100 N and frequency 100 rad/s is applied to
the system. Determine
a) the amplitude of the forced response
b) the natural frequency of the system

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Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
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Harmonic excitation of SDOF undamped system
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Tutorial 7
▪ For what value of m will the resonance occur for the system shown
below?

Ans: 120 kg

▪ A 45 kg machine is mounted on four parallel springs each of stiffness 2 x

105 N/m. When the machine operates at 32 Hz, the machine steady state
amplitude is measured as 1.5 mm. Determine the magnitude of the
excitation provided to the machine at this speed.

Ans: 1.54 x 103 N

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 Module 8
Forced Vibrations of SDOF

Dr.-Ing. Azmi Mohamed Yusof

Faculty of Mechanical Engineering
Content

1. Learning Outcomes
2. Harmonic Excitation of SDOF Damped System
3. Magnification factor
4. Resonance and peak amplitude

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Harmonic excitation of SDOF damped system
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Harmonic excitation of SDOF damped system
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3.0 Harmonic excitation of SDOF damped system
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Harmonic excitation of SDOF damped system
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Harmonic excitation of SDOF damped system
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Harmonic excitation of SDOF damped system
• Plot Magnification factor Versus frequency ratio

• Summary
▪ Damping has a large
influence on the amplitude
and phase angle near
resonance.
▪ For r < 1 the inertia &
damping force are small
small phase angle.
Magnitude of impressed
force = spring force.
▪ For r = 1, inertia force
become larger but it is
balanced by the spring force.
Impressed force overcome
the damping force.
▪ For r > 1, the impressed
force is expended almost
entirely in overcoming the
large inertia force

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Harmonic excitation of SDOF damped system
• Plot φ Vs r

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Harmonic excitation of SDOF damped system
• Resonance And Machinery Failure

▪ During operation, the motor vibrations are

applied / transmitted to a pump.
▪ If the motor speed equals a natural frequency of
that component, vibrations will significantly
increase beyond expectations Resonance
▪ Structural vibrations of attached piping and
equipment supports may vibrate at any one of
their natural frequencies to crack that piping.
▪ Vibration is a common failure cause for
mechanical seals in pumps.
▪ Damaged to ball bearings if the motor vibrates
at natural frequency of the bearings.

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Harmonic excitation of SDOF damped system
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Harmonic excitation of SDOF damped system
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Harmonic excitation of SDOF damped system

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Harmonic excitation of SDOF damped system
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Harmonic excitation of SDOF damped system
• Example

▪ A 25 kg mass is mounted on an oscillator pad whose stiffness is 5 x 105

N/m. When the system is subjected to a harmonic excitation of
magnitude 300 N and frequency 100 rad/s, the phase different between
the excitation and the steady state response is 25o. Determine:
a) the damping ratio of the isolator pad
b) the isolator pad’s maximum deflection due to this excitation

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Harmonic excitation of SDOF damped system
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Harmonic excitation of SDOF damped system
• Example

▪ In a free vibration test, the damped oscillation frequency of a system is

obtained as 10Hz. While, in the harmonic excitation test at constant
vibrating force, the maximum amplitude is recorded when frequency
reaching 9.5 Hz. Find the damping factor and the natural frequency of
the system.

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Harmonic excitation of SDOF damped system
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Class exercise
▪ Consider the mechanical system shown in the figure below,
a. Write the equation of motion for the system
b. Determine the natural frequency and the damping ratio for the system
c. Find the frequency ratio, magnification factor and steady state amplitude of
the system.

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Class exercise
• Solution

▪ Draw FBD and KD. Identify the generalized coordinate of the system

▪ Apply Euler’s law & write the equation of motion

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Class exercise
▪ Determine the natural frequency and the damping ratio for the system

▪ Find the frequency ratio, magnification factor and steady state amplitude
of the system

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Tutorial 8
▪ Derive the equation of motion for the system shown below

▪ For the system shown below, given that ω = 100 rad/s and ℓ = 20 cm,
determine the steady state amplitude of angular oscillation of the bar.

Ans: 1.7o
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 Module 9
Forced Vibrations of SDOF

Dr.-Ing. Azmi Mohamed Yusof

Faculty of Mechanical Engineering
Content

1. Learning Outcomes
2. Response Due to Harmonic Motion of Support
3. Response Due to Rotating Unbalance
4. Vibration Isolation

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4.0 Response Due to Harmonic Motion of Support
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4.0 Response Due to Harmonic Motion of Support

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4.0 Response Due to Harmonic Motion of Support
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Fig. (a)

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4.0 Response Due to Harmonic Motion of Support
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4.0 Response Due to Harmonic Motion of Support
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4.0 Response Due to Harmonic Motion of Support
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4.0 Response Due to Harmonic Motion of Support
• Plot of displacement transmissibility (Td) versus frequency ratio
(r)

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4.0 Response Due to Harmonic Motion of Support
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4.0 Response Due to Harmonic Motion of Support
• Example

▪ The simple model of motor vehicle

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

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4.0 Response Due to Harmonic Motion of Support
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4.0 Response Due to Harmonic Motion of Support
• Class exercise

▪ A 20 kg laboratory equipment is to be mounted on a table that is bolted

to the floor. Measurements indicate that due to the operation of a nearby
pump that operates at 2000 rpm, the table has a steady state
displacement of 0.25 mm. The equipment’s acceleration amplitude is
required to be less than 4 m/s^2.
a) Write the equation of motion of the equipment
b) Determine the transmissibility ratio
c) Determine the minimum frequency ratio
d) Determine the maximum natural frequency and isolator stiffness
e) If a damping ratio of 0.1 is installed to the isolator, what is the expected
acceleration level of the equipment?

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Class exercise
• Solution

▪ Write the equation of motion of the equipment

▪ Determine the transmissibility ratio

▪ Determine the minimum frequency ratio

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Class exercise
▪ Determine the maximum natural frequency and isolator stiffness

▪ If a damping ratio of 0.1 is installed to the isolator, what is the expected

acceleration level of the equipment?

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Tutorial 3.3
▪ A simplified model of a vehicle
suspension system is shown in
fig. 3-20. The body of a 500 kg
vehicle is connected to the
wheel through a suspension
system that is modelled as a
spring in parallel with a viscous
damper. The wheels are
assumed to be rigid and follow
the road contour as shown in
fig. 3-21. If the vehicle travels at
52 km/hr, determine the
amplitude of the vehicle.

Ans: 11.7 m/s-2

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Response Due to Rotating Unbalance

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Response Due to Rotating Unbalance
• Rotating unbalanced

▪ Unbalanced forces in many rotating

mechanism is the common sources of
vibration excitation.

• Equation of motion

▪ Consider the rotating component is mounted

in bearing and rotates counterclockwise.
ω
▪ Variables: e
m
M = total mass of the system o
m = eccentric mass located at e from the center M
of rotation. e = eccentricity
x = the displacement of the machine in vertical k c
direction
ω = angular speed
t = time
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Response Due to Rotating Unbalance
•

m
e
ωt
o

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Response Due to Rotating Unbalance
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Basic damped forced equation Equation 4

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Response Due to Rotating Unbalance
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Response Due to Rotating Unbalance
• Variation of rotating unbalance (MX/me) with frequency ratio

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Response Due to Rotating Unbalance
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Response Due to Rotating Unbalance
• Example

▪ An electric generator weighing 981 N and operating at 600 rpm is

mounted on four parallel springs of stiffness 5000 N/m each. Determine
the maximum permissible unbalance in order to limit the steady state
deflection to 6 mm peak-to-peak.

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Response Due to Rotating Unbalance
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Response Due to Rotating Unbalance
• Example

▪ 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 0.025, Determine:
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
c) the additional mass to be added uniformly to the
motor if the deflection of the motor is to be reduced
to 0.1 m.

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Response Due to Rotating Unbalance
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Vibration Isolation
• Vibration isolation in industry

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Vibration Isolation
• Introduction

▪ Vibration isolation is the process of isolating an object, such as a piece of

equipment, from the source of vibration
▪ The effectiveness of isolation is expressed in terms of force or motion.
▪ Isolation means, lesser the amount of force or motion transmitted to the
foundation

• Types of vibration islolation

▪ PASSIVE VIBRATION ISOLATION vibration isolation or mitigation of

vibrations by passive techniques such as rubber pads or mechanical
springs
▪ ACTIVE VIBRATION ISOLATION Employs electric power, sensors,
actuators, and control systems for vibration isolation

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Vibration Isolation
• Passive

• Active

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Vibration Isolation
•

m k

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Vibration Isolation
▪ Material selection for vibration isolator
Reduce
vibration
transmission

Open spring mount Pneumatic isolator Pipe hangers

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Vibration Isolation
• Example

▪ A machine of mass 100 kg is mounted on springs and

damper as shown in the figure. The total spring stiffness is
50,000 N/m and the damping factor is 0.20. A harmonic
force, F = 500 sin 13.2t acts on the mass. Determine:-
a) the amplitude of the motion of the machine
b) its phase with respect to the existing force
c) the transmissibility
d) the maximum dynamic force transmitted to the foundation
e) the maximum velocity of the motion

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Vibration Isolation
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Tutorial 9
▪ A single cylinder vertical petrol engine of 300 kg total mass is mounted
upon a steel chassis frame and causes a vertical static deflection of 2
mm. The reciprocating parts of the engine of 20 kg mass and moves
through a vertical stroke of 0.15 m with simple harmonic motion. A
dashpot is provided whose damping resistance is directly proportional to
the velocity and amount to 1500 Ns/m. Considering the steady state of
vibration is reached, determine
a. The amplitude of forced vibrations when the driving shaft of the engine rotates
at 480 rev/min
b. The speed of the driving shaft at which the resonance will occur
Ans: a) 5.35 mm ; b) 668.83 rev/min

▪ A vertical single stage air compressor having a mass of 500 kg is

mounted on spring with k = 1.96 x 105 N/m and a dashpot with damping
factor of 0.2. The reciprocating unbalanced mass is 20 kg. The stroke is
0.2mm. Determine the dynamic amplitude of vertical motion and the
phase difference between the motion and exiting force if the compressor
is operated at 200 rev/min Ans: 0.01 m ; 105.9o

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 End Chapter Problems
1. An electric motor of mass 100 kg is mounted on b) Redesign the machine so that the dynamic
an elastic foundation of linear spring stiffness of 2 amplitude is reduced to one half of the original
X 106 N/m. When operating at 120 rad/s, the value, but maintains the same natural frequency.
motor is subjected to a harmonic force of
magnitude 2000N and the steady state amplitude
4. A machine has a resonant frequency at 400 rpm
of the electric motor is measured to be 2 mm.
when supported on four steel springs for which
Determine the damping ratio of the foundation.
damping factor can be neglected. At 800 rpm, the
undamped amplitude of vibration was 0.5 mm.
2. When an exhaust fan of mass 380kg is supported Determine: a) The amplitude of vibration if the
on springs with negligible damping, the resulting steel springs are replaced by four rubber isolators
static deflection is found to be 45mm. If the fan with damping ratio of 0.25. (The resonant
has rotating unbalance of 0.15 kg-m find: a) the frequency is unchanged) b) The amplitude of
amplitude of vibration at 1750 rpm, and b) the vibration at speed of 1200 rpm with the four
force transmitted to the ground at this speed. rubber isolators.

3. A machine weighting 114 kg has a rotor of 23 kg 5. A light machine tool of mass m = 80kg is mounted
with 5 mm eccentricity. The operating speed is on an elastic foundation. An experiment is carried
600 rpm. The machine is mounted on springs with out to determine the stiffness and damping
9 kg/mm springs constant. If the damping is properties of the foundation. When the mass is
neglected and the unit is considered to move excited with harmonic force of magnitude 4000N
vertically, a) Determine the dynamic amplitude of with increasing frequencies (0 ∞), the maximum
the machine. steady state amplitude of 4mm is

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 End Chapter Problems
obtained at operating frequency 40π rad/s. a) 7. A machine of mass 25kg is placed on an elastic
determine the relationship between the maximum foundation. A sinusoidal force of 25N is applied to
steady state amplitude and frequency ratio. b) the machine. A frequency sweep revealed that
determine the natural frequency and damping the maximum steady state amplitude of 1.4mm
ratio of the foundation. c) determine the stiffness occurs when the period of response is 0.2s.
of the foundation. Determine the equivalent stiffness and damping
ratio of the foundation.
6. A flow measuring device as shown in fig. 9.1 has
mass of 40kg and is placed on a laboratory table. 8. An electric motor with an unbalanced rotor is
A rubber pad which is represented as a spring supported with a dashpot and spring. The spring
and a damper has stiffness of 2 X 105 N/m and has stiffness 128 kN/m and the dashpot offers
damping ratio of 0.1. Measurement on the floor resistance of magnitude 500N at 4 m/s. The
indicate that the floor has steady state amplitude unbalanced mass of 0.5kg rotates at 5cm radius
of Y = 5mm at frequency 30 Hz. A) derive the and the total mass of vibratory system is 200 kg.
equation of motion for the measuring system, b) The motor runs at 4000 rpm. Determine: a) the
determine the natural frequency, frequency ratio damping factor; b) the amplitude of vibration and
and the absolute displacement of the mass. What phase angle, c) the resonant speed and the
is the acceleration amplitude of the mass, c) at resonance amplitude, d) the force exerted by
what frequency ratio will the maximum amplitude spring and dashpot on the motor.
occur?
m

x(t)
k c

y(t)
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End Chapter Problems
9. Consider the pivoted mechanism as shown in
fig. 9 which could be used to model a brake
pedal of automobile, with k = 4000 N/m, l1 =
0.05 m, l2 = 0.07 m, l = 0.1 m and m = 5 kg.
The mass of the beam is negligible and it is
pivoted at point o. The harmonic force F(t) is
applied at bottom end of the mechanism.
a) Write two assumption used for this model
and draw FBD to represent the system
b) Derive the equation of motion
c) Determine the natural frequency
d) Design the dashpot (c) if the damping ratio
of the system is 0.2
e) Determine the amplitude of steady state
response if a 10N force is applied to the
mass a frequency of 10 rad/s.

• Fig. 9

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End Chapter Problems
•

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