Response of Single Degree

of Freedom
System to Harmonic
Loading
 Un-damped Harmonic Excitation
 A harmonic force, 𝐹𝐹 𝑡𝑡 = 𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡, is acting on the simple oscillator.
• 𝐹𝐹0 = Peak amplitude, and 𝜔𝜔
� = frequency of the force in rad/s

𝑥𝑥
𝑘𝑘𝑘𝑘 𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡
𝑚𝑚𝑥𝑥̈
𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡

From the FBD the equation of motion of the un-damped SDF system
under harmonic loading can be expressed as:
𝑚𝑚𝑥𝑥̈ + 𝑘𝑘𝑘𝑘 = 𝐹𝐹𝑜𝑜 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡 (1)
The solution will be:
𝑥𝑥 𝑡𝑡 = 𝑥𝑥𝑐𝑐 𝑡𝑡 + 𝑥𝑥𝑝𝑝 𝑡𝑡
Where, 𝑥𝑥𝑐𝑐 𝑡𝑡 = complementary solution satisfying the homogenous eq.
𝑥𝑥𝑝𝑝 𝑡𝑡 = Particular solution based on the solution satisfying the
non-homogenous differential eq.
 Un-damped Harmonic Excitation
The complimentary solution is given by:
𝑥𝑥𝑐𝑐 𝑡𝑡 = 𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝜔𝜔𝑛𝑛 𝑡𝑡 + 𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝜔𝜔𝑛𝑛 𝑡𝑡 (2)

𝑘𝑘
Where, 𝜔𝜔𝑛𝑛 =
𝑚𝑚

From the nature of forcing function in equation (1), the particular

solution will be:
𝑥𝑥𝑝𝑝 𝑡𝑡 = 𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝜔𝜔
�𝑡𝑡 (3)
Where, 𝑋𝑋 = peak value of the particular solution.
From equation (1) and equation (3), one can obtain:
� 2 𝑋𝑋 + 𝑘𝑘𝑘𝑘 = 𝐹𝐹𝑜𝑜
−𝑚𝑚𝜔𝜔
𝐹𝐹𝑜𝑜 𝐹𝐹𝑜𝑜 ⁄𝑘𝑘
Or 𝑋𝑋 = �2
= (4)
𝑘𝑘−𝑚𝑚𝜔𝜔 1−𝑟𝑟 2
�
𝜔𝜔
Where, 𝑟𝑟 = = frequency ratio
𝜔𝜔𝑛𝑛
 Un-damped Harmonic Excitation
From equation (2), (3) and (4), one can obtain the following solution:
𝐹𝐹𝑜𝑜 ⁄𝑘𝑘
𝑥𝑥 𝑡𝑡 = 𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝜔𝜔𝑛𝑛 𝑡𝑡 + 𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝜔𝜔𝑛𝑛 𝑡𝑡 + 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡 (5)
1−𝑟𝑟 2

Assuming at t = 0, 𝑥𝑥0 = 0 and 𝑥𝑥̇ 0 = 0

𝑟𝑟𝐹𝐹𝑜𝑜 ⁄𝑘𝑘
Therefore, A = 0, and B = −
1−𝑟𝑟 2
𝐹𝐹𝑜𝑜 ⁄𝑘𝑘
Thus, 𝑥𝑥 t = (𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔�𝑡𝑡 − 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝜔𝜔𝑛𝑛 𝑡𝑡) (6)
1−𝑟𝑟 2
𝐹𝐹𝑜𝑜 ⁄𝑘𝑘
Where, 𝑥𝑥𝑝𝑝 t = 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡 Steady state response
1−𝑟𝑟 2
𝐹𝐹𝑜𝑜 ⁄𝑘𝑘
𝑥𝑥𝑐𝑐 t = − 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝜔𝜔𝑛𝑛 𝑡𝑡 Transient state response
1−𝑟𝑟 2

 Conclusion:
1. After some time, structure vibrates with the same frequency as that
of applied force.
2. Amplitude will be infinite if 𝜔𝜔 = 𝜔𝜔𝑛𝑛 .
 Damped Harmonic Excitation
 Consider SDOF system, vibrating under the influence of viscous
damping

𝑥𝑥
𝑐𝑐𝑥𝑥̇ 𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡
𝑚𝑚𝑥𝑥̈
𝑘𝑘𝑘𝑘
𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡

The equation of motion of the damped SDOF system under harmonic

loading is:
𝑚𝑚𝑥𝑥̈ + 𝑐𝑐𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 𝐹𝐹𝑜𝑜 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡 (7)
The solution will be:
𝑥𝑥 𝑡𝑡 = 𝑥𝑥𝑐𝑐 𝑡𝑡 + 𝑥𝑥𝑝𝑝 𝑡𝑡
Where, 𝑥𝑥𝑐𝑐 𝑡𝑡 = complementary solution
𝑥𝑥𝑝𝑝 𝑡𝑡 = Particular solution
 Damped Harmonic Excitation
The complimentary solution for the under-damped case (𝒄𝒄 < 𝒄𝒄𝒄𝒄𝒄𝒄 ) is
given as:
𝑥𝑥𝑐𝑐 𝑡𝑡 = 𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡 (𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝜔𝜔𝐷𝐷 𝑡𝑡 + 𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝜔𝜔𝐷𝐷 𝑡𝑡 ) (8)
𝑐𝑐
Where, 𝜉𝜉 =
𝑐𝑐𝑐𝑐𝑐𝑐

The particular solution of eq. (7) can be written as:

𝑥𝑥𝑝𝑝 𝑡𝑡 = 𝑐𝑐1 𝑐𝑐𝑐𝑐𝑐𝑐𝜔𝜔
�𝑡𝑡 + 𝑐𝑐2 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡 (9)
� 𝑡𝑡
Using Euler's relation, we know: 𝑒𝑒 𝑖𝑖𝜔𝜔 = 𝑐𝑐𝑐𝑐𝑐𝑐𝜔𝜔
�𝑡𝑡 + 𝑖𝑖 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡
� 𝑡𝑡
In this SDOF system only the imaginary component of the force, 𝐹𝐹𝑜𝑜 𝑒𝑒 𝑖𝑖𝜔𝜔 ,
i.e., 𝐹𝐹𝑜𝑜 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡 is acting, now we can write the eq. (7) as:
� 𝑡𝑡
𝑚𝑚𝑥𝑥̈ + 𝑐𝑐𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 𝐹𝐹𝑜𝑜 𝑒𝑒 𝑖𝑖𝜔𝜔 (10)
 Damped Harmonic Excitation
Now assuming that only imaginary components are acting, hence particular
solution will be:
� 𝑡𝑡
𝑥𝑥𝑝𝑝 𝑡𝑡 = 𝑋𝑋𝑒𝑒 𝑖𝑖𝜔𝜔 (11)
From eq. (10) and eq. (11) we can write,
� 2 𝑋𝑋 + 𝑖𝑖𝑖𝑖𝜔𝜔
𝑚𝑚𝜔𝜔 �𝑋𝑋 + 𝑘𝑘𝑘𝑘 = 𝐹𝐹𝑜𝑜
𝐹𝐹𝑜𝑜
or 𝑋𝑋 = � 2 +𝑖𝑖𝑖𝑖𝜔𝜔
�
𝑘𝑘−𝑚𝑚𝜔𝜔

� 𝑡𝑡
𝐹𝐹𝑜𝑜 𝑒𝑒 𝑖𝑖𝜔𝜔
Thus, 𝑥𝑥𝑝𝑝 (𝑡𝑡) = � 2 +𝑖𝑖𝑖𝑖𝜔𝜔�
(12)
𝑘𝑘−𝑚𝑚𝜔𝜔

Using polar co-ordinate form, the complex denominator of eq. (12) will be:
� 𝑡𝑡
𝐹𝐹𝑜𝑜 𝑒𝑒 𝑖𝑖𝜔𝜔
𝑥𝑥𝑝𝑝 (𝑡𝑡) =
� 2 )2 +(𝑐𝑐𝜔𝜔
(𝑘𝑘−𝑚𝑚𝜔𝜔 � )2 ×𝑒𝑒 𝑖𝑖𝑖𝑖

� 𝑡𝑡−𝜃𝜃)
𝐹𝐹𝑜𝑜 𝑒𝑒 𝑖𝑖(𝜔𝜔
or 𝑥𝑥𝑝𝑝 (𝑡𝑡) =
� 2 )2 +(𝑐𝑐𝜔𝜔
(𝑘𝑘−𝑚𝑚𝜔𝜔 � )2
�
𝑐𝑐𝜔𝜔
Where, tan 𝜃𝜃 = 𝑘𝑘−𝑚𝑚𝜔𝜔�2
 Damped Harmonic Excitation
The response to the force 𝐹𝐹𝑜𝑜 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔
�𝑡𝑡 (i.e., the imaginary part component of
� 𝑡𝑡
𝐹𝐹𝑜𝑜 𝑒𝑒 𝑖𝑖𝜔𝜔 ) will be:
� 𝑡𝑡−𝜃𝜃)
𝐹𝐹𝑜𝑜 sin (𝜔𝜔
𝑥𝑥𝑝𝑝 (𝑡𝑡) = 2 2 2
= 𝑋𝑋 sin 𝜔𝜔
�𝑡𝑡 − 𝜃𝜃
� ) +(𝑐𝑐𝜔𝜔
(𝑘𝑘−𝑚𝑚𝜔𝜔 �)
𝐹𝐹𝑜𝑜
Where, 𝑋𝑋 =
� 2 )2 +(𝑐𝑐𝜔𝜔
(𝑘𝑘−𝑚𝑚𝜔𝜔 � )2

𝐹𝐹𝑜𝑜
�𝑘𝑘 sin (𝜔𝜔
� 𝑡𝑡−𝜃𝜃) � 𝑡𝑡−𝜃𝜃)
𝑥𝑥𝑠𝑠𝑠𝑠 sin (𝜔𝜔
Thus, 𝑥𝑥𝑝𝑝 (𝑡𝑡) = =
2 1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2
� 2
𝜔𝜔 𝑐𝑐 2
1− �
+ 𝑘𝑘𝜔𝜔
𝜔𝜔

2𝜉𝜉𝜉𝜉 �
𝜔𝜔 𝑐𝑐 𝐹𝐹𝑜𝑜
Here, tan 𝜃𝜃 = ; 𝑟𝑟 = ; 𝜉𝜉 = ; 𝑥𝑥𝑠𝑠𝑠𝑠 = = static displacement
1−𝑟𝑟 2 𝜔𝜔 𝑐𝑐𝑐𝑐𝑐𝑐 𝑘𝑘

Thus, the total solution of equation (1) will be:

� 𝑡𝑡−𝜃𝜃)
𝑥𝑥𝑠𝑠𝑠𝑠 sin (𝜔𝜔
𝑥𝑥 𝑡𝑡 = 𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡 𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝜔𝜔𝐷𝐷 𝑡𝑡 + 𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝜔𝜔𝐷𝐷 𝑡𝑡 + (13)
1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2

A and B can be found out from the initial conditions.

 Response of SDOF system to Harmonic loading

Steady State Response Transient Response

Total Response

X(t)

t
 Dynamic magnification factor (D)
Dynamic Amplification Factor is a dimensionless number which describes
how many times the deflections or stresses should be multiplied to the
deflections or stresses caused by the static loads when a dynamic load is
applied on to a structure.
Steady State Amplitute 𝑥𝑥𝑝𝑝 (𝑡𝑡)𝑚𝑚𝑚𝑚𝑚𝑚
D= =
Static Deflection 𝑥𝑥𝑠𝑠𝑠𝑠

1
Therefore, 𝐷𝐷 =
1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2

If damping is absent,
1
𝐷𝐷 =
1 − 𝑟𝑟 2
If 𝜔𝜔
� = 𝜔𝜔
1
then, 𝐷𝐷 =
2𝜉𝜉
Dynamic Modification Factor

Dynamic : x(t)
(x st )0
D=1.29
x st (t)
Static :
(x st )0

r = 0.5
ξ =0.2
 Dynamic Modification Factor

D=2.5

D=0.32

r =1 r=2
ξ =0.2 ξ =0.2
 Phase angle
𝑥𝑥𝑝𝑝 (𝑡𝑡) = 𝑋𝑋0 𝑠𝑠𝑠𝑠𝑠𝑠(𝜔𝜔
�𝑡𝑡 − 𝜃𝜃�
Phase angle vs. Frequency ratio
𝐹𝐹0
�𝐾𝐾 for different damping ratio
Where, 𝑋𝑋0 =
1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2
180°
�
𝜔𝜔
𝑟𝑟 = , and
𝜔𝜔𝑛𝑛
2𝜉𝜉𝜉𝜉
𝜃𝜃 = tan−1 = Phase angle
1−𝑟𝑟 2

Phase angle, 𝜃𝜃
1
𝐷𝐷 = 90°
1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2

1
𝐷𝐷𝑚𝑚 = (𝑎𝑎𝑎𝑎 𝑟𝑟 = 1)
2𝜉𝜉
1
So, 𝜉𝜉 =
2𝐷𝐷𝑚𝑚

Here, 𝐷𝐷𝑚𝑚 is the maximum dynamic �

𝜔𝜔
Frequency ratio, 𝑟𝑟 = 𝜔𝜔
𝑛𝑛
magnification factor
Conclusions:

1) Free vibration part is transient & vanishes while the force part
persists.
2) With the increase of damping ratio, magnification factor D
decreases.
3) The maximum value of D is very sensitive to the damping
ratio.
4) The magnification factor significantly increases in the range
of 0.5 < r <1.5. The maximum value will be at 𝑟𝑟 ≈ 1.
5) Steady state vibration is independent of the initial condition in
the system.
Displacement, Velocity and Acceleration Response Factors
𝐹𝐹0
�𝑘𝑘sin(𝜔𝜔
� 𝑡𝑡−𝜃𝜃�
𝑥𝑥𝑝𝑝 (𝑡𝑡) = = 𝑋𝑋𝑠𝑠𝑠𝑠 𝐷𝐷sin(𝜔𝜔
�𝑡𝑡 − 𝜃𝜃)
1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2

𝑥𝑥𝑝𝑝 (𝑡𝑡�
= 𝐷𝐷sin 𝜔𝜔
�𝑡𝑡 − 𝜃𝜃 (i)
𝑥𝑥𝑠𝑠𝑠𝑠
𝑹𝑹𝒅𝒅 Displacement Response Factor
1
Thus, 𝑅𝑅𝑑𝑑 =
1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2
𝑥𝑥̇ 𝑝𝑝 (𝑡𝑡�
From eq. (i) we can have = 𝐷𝐷𝜔𝜔
�cos(𝜔𝜔
�𝑡𝑡 − 𝜃𝜃)
𝑥𝑥𝑠𝑠𝑠𝑠
𝑥𝑥̇ 𝑝𝑝 (𝑡𝑡� 𝜔𝜔
�
⇒ = 𝐷𝐷. cos 𝜔𝜔
�𝑡𝑡 − 𝜃𝜃 = 𝑟𝑟𝐷𝐷 cos(𝜔𝜔
�𝑡𝑡 − 𝜃𝜃)
𝐹𝐹0 𝜔𝜔𝑛𝑛
�
𝑘𝑘𝑘𝑘

Thus, 𝑅𝑅𝑣𝑣 = 𝑟𝑟𝑅𝑅𝑑𝑑 cos 𝜔𝜔

�𝑡𝑡 − 𝜃𝜃 = 𝑟𝑟𝑅𝑅𝑑𝑑 cos 𝜔𝜔
�𝑡𝑡 − 𝜃𝜃 −−−−− −(𝑖𝑖𝑖𝑖)
Differentiating equation, (ii)
𝑥𝑥̈ 𝑝𝑝 (𝑡𝑡�
� 2 sin(𝜔𝜔
= −𝐷𝐷𝜔𝜔 �𝑡𝑡 − 𝜃𝜃)
𝑥𝑥𝑠𝑠𝑠𝑠

𝑥𝑥̈ 𝑝𝑝 (𝑡𝑡� �2
𝜔𝜔
⇒ 𝐹𝐹0� = −𝐷𝐷 2 sin 𝜔𝜔
�𝑡𝑡 − 𝜃𝜃
𝑚𝑚 𝜔𝜔𝑛𝑛

Thus, Acceleration Response Factor,

�2
𝜔𝜔
𝑅𝑅𝑎𝑎 = −𝐷𝐷 2 sin �𝑡𝑡 − 𝜃𝜃 = −𝑅𝑅𝑑𝑑 𝑟𝑟2sin
𝜔𝜔 𝜔𝜔
�𝑡𝑡 − 𝜃𝜃
𝜔𝜔𝑛𝑛

Thus, for maximum value,

Ra ϖ
= =
R Rd
ϖ v
ωn
ωn
Ra
⇒ = R v = rR d
r
 Peak Response Factors
1
We, know 𝑅𝑅𝑑𝑑 =
1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2
𝑑𝑑𝑅𝑅𝑑𝑑
� = 𝜔𝜔𝑛𝑛 1 − 2𝜉𝜉 2
= 0 ⇒ 𝜔𝜔
𝑑𝑑𝑑𝑑
𝑜𝑜𝑜𝑜, 𝑟𝑟 = 1 − 2𝜉𝜉 2
r
Similarly, 𝑅𝑅𝑣𝑣 = 𝑟𝑟𝑟𝑟𝑑𝑑 =
1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2
𝑑𝑑𝑅𝑅𝑣𝑣
= 0 ⇒ 𝜔𝜔
� = 𝜔𝜔𝑛𝑛
𝑑𝑑𝑑𝑑
𝑜𝑜𝑜𝑜, 𝑟𝑟 = 1
𝑟𝑟2
Again, , 𝑅𝑅𝑎𝑎 = 𝑟𝑟𝑟𝑟𝑣𝑣 = 𝑟𝑟2𝑅𝑅𝑑𝑑 =
1−𝑟𝑟 2 2 + 2𝜉𝜉𝜉𝜉 2
𝑑𝑑𝑅𝑅𝑎𝑎 1
= 0 ⇒ 𝜔𝜔
�= 𝜔𝜔𝑛𝑛
𝑑𝑑𝑑𝑑 1 − 2𝜉𝜉2
1
𝑜𝑜𝑜𝑜, 𝑟𝑟 =
1 − 2𝜉𝜉2
 Displacement Response Factor

Resonance slightly at left.

 Velocity Response Factor

Resonance at exactly 𝑟𝑟 = 1
 Acceleration Response Factor

Resonance slightly at right.

Worked out example
Example 1:
A steel rigid frame as shown in figure below supports a rotating machine,
which exerts a horizontal force at the girder level of 50𝑆𝑆𝑆𝑆𝑆𝑆11𝑡𝑡 kN.
Assuming 4% critical damping, what is the steady-state amplitude of
vibration?
Moment of inertia and modulus of elasticity for columns are 1500 ×
10−7 m4 and 𝐸𝐸 = 2.1 × 1011 N/ m2 respectively. Assume mass of the
girder as 5000 Kg.
Solution:
3𝐸𝐸𝐸𝐸
Stiffness for each column =
𝑙𝑙 3
2×3×2.1×1011 ×1500×10−7
∴ Total Stiffness, 𝑘𝑘 =
43
= 2.95 × 106 𝑁𝑁/𝑚𝑚

𝑘𝑘 2.95×106
∴ Natural frequency, 𝜔𝜔𝑛𝑛 = = = 24.3 rad/sec
𝑚𝑚 5000
𝜔𝜔 11
Thus, frequency ratio, 𝑟𝑟 = = = 0.453
𝜔𝜔𝑛𝑛 24.3
Here, 𝜉𝜉 = 4% = 0.04 and 𝐹𝐹0 = 50 kN
𝐹𝐹�
𝑘𝑘
∴ 𝑋𝑋 = 𝓍𝓍𝑚𝑚𝑚𝑚𝑚𝑚 = = 2.13 cm
(1−𝑟𝑟 2 )2 +(2𝜉𝜉𝜉𝜉)2
Thus, 𝓍𝓍 𝑡𝑡 = Χ𝑆𝑆𝑆𝑆𝑆𝑆 𝜔𝜔𝑡𝑡 − 𝜃𝜃 ,
2𝜉𝜉𝜉𝜉
where, 𝜃𝜃 = 𝑡𝑡𝑡𝑡𝑡𝑡−1 = 2.610 = 0.0455 radian
1−𝑟𝑟 2
𝓍𝓍 𝑡𝑡 = 0.0213𝑆𝑆𝑆𝑆𝑆𝑆 11𝑡𝑡 − 0.0455
Example 2:
Find out the magnification factor of forced vibration produced by an
oscillator, fixed at the middle of the beam at a speed of 600 rpm. Assume
that the weight concentrated at the middle of the beam is W = 5000 N and
produces a static deflection of the beam equal to 𝛿𝛿𝑠𝑠𝑠𝑠 = 0.025 cm.

Neglect the weight of the beam and assume that the damping is
equivalent to a force acting at the middle of the beam proportional to the
velocity and equal to 500 N at a velocity of 2.5 cm/sec.
Solution:
600
Frequency of forcing function is, 𝜔𝜔 = 2𝜋𝜋 = 20𝜋𝜋 rad/sec
60
5000 0.025
𝑚𝑚 = Kg; 𝛿𝛿𝑠𝑠𝑠𝑠 = m
9.8 100
𝐹𝐹0 5000
∴ 𝑘𝑘 = = 0.025⁄ = 20 × 106 N/m
𝛿𝛿𝑠𝑠𝑠𝑠 100

500
Damping constant, 𝑐𝑐 = 2.5⁄ = 20,000 Ns/m (Because, 𝐹𝐹 = c𝓍𝓍̇ )
100

𝑘𝑘 20×106 ×9.81
Thus, 𝜔𝜔𝑛𝑛 = = = 198 rad/sec
𝑚𝑚 5000

𝜔𝜔 20𝜋𝜋
frequency ratio, 𝑟𝑟 = = = 0.32
𝜔𝜔𝑛𝑛 198
𝑐𝑐 𝑐𝑐
𝜉𝜉 = = = 0.099
𝑐𝑐𝑐𝑐𝑐𝑐 2𝑚𝑚𝜔𝜔𝑛𝑛

1
∴ 𝐷𝐷 = = 1.11
1−𝑟𝑟 2 2 +(2𝜉𝜉𝜉𝜉)2
 Response to Support Motion

x s (t)  x 0 sin t
x
k(x  x s )
mx
m
c(x  x s )

Support motion is given by,

sin
 x s (t)  x 0 sin t
x
k(x  x s )
mx
m
c(x  x s )

From the free body diagram,

0

⇒ sin cos
= sin

Where, 1 2 and tan 2

So,

sin
1 2

sin

So,

1 2
1 2
Graph:

Here all the curves pass through 2

Here all the curves pass through 2
Because: For,

1 2
1
1 2
⇒1 2ξ 1 2ξ
⇒1 1 2
⇒ 2 0
⇒ 2 0
⇒ 0, 2

So, at 0 and 2, 1
Example 1
A weight W=15 N is vertically suspended by a spring which cause a displacement
7.5 mm. Determine the natural frequency of the free vibration of the weight.
Solution

⇒ [Due to static weight]

According to D’ Alermbert’s principle,

⇒ 0

⇒ 0

So,
⁄
Now, 9.8 / and 7.5 7.5 10

.
So, 36.14 /
.

So, 5.75