MMÜ 342

Mechanical Vibrations

Week IV: Harmonically Excited

Vibration

Hakan Doğan

24/25 Fall, Week IV

 Previous Week
• SDOF free undamped vibration
• SDOF free damped vibration
• Physical interpretation of the roots
• Coulomb damping (friction)
• Hysteresis damping

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 Forced Vibration
• A mechanical or structural system is said to undergo forced vibration
whenever external energy is supplied to the system during vibration.
• The applied force or displacement may be harmonic, nonharmonic
but periodic, nonperiodic or random in nature.
• The response of a system to a harmonic excitation is called harmonic
response.

𝐹 𝑡 = 𝐹0 𝑒 ( 𝑖𝜔𝑡+∅) or 𝐹 𝑡 = 𝐹0 cos(𝜔𝑡 + ∅) or 𝐹 𝑡 = 𝐹0 sin(𝜔𝑡 + ∅)

Resonance: If the frequency of excitation In French: What provokes a

response in someone, what
coincides with the natural frequency of the moves them

system, the response will be very large.

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Forced Vibration (SDoF)

Equation of motion:

transient part

EoM that defines the motion is a 2nd order non-homogenous differential equation!

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 Undamped Forced Vibration (SDoF)

Equation of motion: Assuming that 𝐹(𝑡) is a harmonic excitation

First, the homogeneous solution is obtained (See free vibrations). The general solution eventually reduces to
the particular solution 𝑥𝑝 𝑡 , which represents the steady-state vibration.
Therefore, we are going to focus on the particular solution (steady-state response) and
first, we neglect the damping so 𝑐 = 0.

Equation of motion:

The homogeneous solution:

The particular solution 𝑥𝑝 𝑡 is also harmonic and has the same frequency 𝜔:

By substituting the particular solution into the EOM, 𝑋 is obtained as

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 Undamped Forced Vibration (SDoF)
The total solution can be written (homogeneous + particular):

Using the initial conditions 𝑥 𝑡 = 0 = 𝑥0 and 𝑥ሶ 𝑡 = 0 = 𝑥ሶ 0 𝑡 = 0 = 𝑥ሶ 0

The total solution becomes:

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 Undamped Forced Vibration (SDoF)
Steady-state response: The maximum amplitude 𝑋 can be expressed as

Magnification factor, amplification factor or amplitude ratio:

The ratio of the dynamic to the static amplitude of motion.

𝑤
𝑟=𝑤 frequency ratio
𝑛

• When 0 < 𝑟 < 1, the denominator of magnification factor is

positive, the response in phase.
• When 𝑟 > 1, the denominator is negative, 180 deg out of
phase with the external force. 𝑟 ∞, 𝑋 0
• When 𝑟 = 1, 𝑋 becomes infinite. This condition, for which the
forcing frequency 𝑤 is equal to the natural frequency 𝑤𝑛 , is
called resonance.

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 Undamped Forced Vibration (SDoF)

For 𝑟 > 1

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 Undamped Forced Vibration (SDoF)
The response in resonance case (𝑟 = 1):

Applying L’Hospital’s rule:

The response in resonance becomes:

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 Undamped Forced Vibration (SDoF)

The total response can also be written as

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 Beating Phenomenon
If the forcing frequency is close to, but not exactly equal to, the natural frequency of the system, beating may
occur. For zero initial conditions, the solution is written as

where 𝜀 is a small positive quality

The solution becomes

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 Damped Forced Vibration (SDoF)

Equation of motion:

The particular solution is also expected to be harmonic:

Substituting the particular solution and its derivatives into the EoM:

and using the trigonometric relations:

We obtain: The solution is written as

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Damped Forced Vibration (SDoF)

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 Damped Forced Vibration (SDoF)

The solution can also be written:

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Damped Forced Vibration (SDoF)

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 Frequency domain vs Time domain

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 Quality Factor and Bandwidth

For small value of damping

Factor or Quality Factor

The amplification factor is written

or

The roots are determined (gives the half-power points:

For small damping:

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 Quality Factor and Bandwidth

Bandwidth

Therefore, the Quality factor Q can be used for estimating the equivalent
viscous damping in a mechanical system.
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 Damped Forced Vibration (SDoF) – Under 𝑭 𝒕 = 𝑭𝟎 𝒆𝒊𝝎𝒕

Equation of motion:

Since the actual excitation is given only by the real part of 𝐹(𝑡), the response will also be given only by
the real part of 𝑥(𝑡). By assuming the particular solution:
𝑥𝑝 𝑡 = 𝑋𝑒 𝑖𝜔𝑡
We obtain: 𝐹0
𝑋=
𝑘−𝑚𝜔2 +𝑖𝑐𝜔

where

The steady-state response is written as

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 Damped Forced Vibration (SDoF) – Under 𝑭 𝒕 = 𝑭𝟎 𝒆𝒊𝝎𝒕
𝐹0
We obtained: 𝑋=
𝑘−𝑚𝜔2 +𝑖𝑐𝜔

Frequency Response – The above equation can be written as

𝐻(𝑖𝜔) is known as the complex frequency response of the system. The absolute value of 𝐻(𝑖𝜔)is
given by

The particular solution is written:

where

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 Damped Forced Vibration (SDoF) – Under 𝑭 𝒕 = 𝑭𝟎 𝒆𝒊𝝎𝒕
If the excitation is , the steady-state (particular) response is

If the excitation is , the steady-state (particular) response is

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 Damped Forced Vibration (SDoF) – Under 𝑭 𝒕 = 𝑭𝟎 𝒆𝒊𝝎𝒕

• The velocity leads the displacement

by the phase angle 𝜋/2, and
multiplied by 𝜔.
• The acceleration leads the
displacement by the phase angle 𝜋,
and multiplied by 𝜔2 .

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Damped Forced Vibration (SDoF) – Under the Harmonic
Motion of the Base

Equation of motion:

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 Damped Forced Vibration (SDoF) – Under the Harmonic
Motion of the Base
Equation of motion:

If 𝑦 𝑡 = 𝑌 sin 𝜔𝑡, the EoM becomes:

where

This is actually a harmonic excitation with an amplitude of A. We already obtained its solution:

where

or,
Displacement transmissiblity:
the ratio of the amplitude of the
where response x(t) to that of the base
motion y(t)

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Damped Forced Vibration (SDoF) – Under the Harmonic
Motion of the Base

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Damped Forced Vibration (SDoF) – Under the Harmonic
Motion of the Base
If 𝑦 𝑡 = 𝑅𝑒(𝑌𝑒 𝑖𝜔𝑡 ) – complex form, the response is written:

The displacement transmissibility:

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 Damped Forced Vibration (SDoF) – Under the Harmonic
Motion of the Base
A force is transmitted to the base or support due
to the reactions from the spring and the dashpot:

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 Damped Forced Vibration (SDoF) – Under the Harmonic
Motion of the Base
If the relative motion is considered 𝑧 = 𝑥 − 𝑦:

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Damped Forced Vibration (SDoF) – Under Rotating
Unbalance

Equation of motion:

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 Damped Forced Vibration (SDoF) – Under Rotating
Unbalance
Equation of motion:

If we replace 𝑚 and 𝐹0 by 𝑀 and 𝑚𝑒𝜔2 , respectively, the particular solution can be obtained as

where

or

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 Forced Vibration with Coulomb Damping
Equation of motion:

The sign of the friction force is positive (negative)

when the mass moves from left to right (right to left).

For small dry-friction force (compared to the amplitude of the applied force), a solution can be approximated by
finding an equivalent viscous-damping ratio. In a full cycle, the energy dissipated by dry-friction damping is given by:

The energy dissipation with a viscous damping during a full cycle:

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 Forced Vibration with Coulomb Damping

The steady-state response:

We assumed that the friction force is small compared to the excitation. The limiting value of the friction force 𝜇𝑁 can
be found by avoiding imaginary values of 𝑋:

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 Forced Vibration with Coulomb Damping
Phase angle: Ampitude:

In the resonance case, the amplitude becomes infite. The reason: The energy directed into the system
in one cycle is larger than the energy dissipate in one cycle.

directed

dissipated

Increase in the amplitude by time

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 Forced Vibration with Hysteresis Damping
Equation of motion: Damping force:

The steady-state response:

The amplitude and the phase angle can be calculated by substitutin the assumption into the EoM:

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Forced Vibration with Hysteresis Damping

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Self-excitation and Stability Analysis

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 Transfer-Function Approach

• Based on Laplace transforms

• TF = Output/Input
• Assumes zero initial conditions

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Bode Diagrams

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Next Week
• Quick review of Ch.2 & Ch.3
• Tutorial – 15 October at 16:30 Next Week

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