SDOF Forced Vibrations

3.3 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.

 x0   cos ωt − cos ωnt 

x(t ) = x0 cos ωnt +   sin ωnt + δ st  

ω
 n  1 − (ω / ω n )2

For zero initial

δ st
conditions

x(t ) = (cos ωt − cos ωnt )

1 − (ω / ωn )
2

2δ st  (ω + ωn )t (ω − ωn )t 
= 2 
sin sin 
1 − (ω / ωn )  2 2 
How do you think it would look like?
SDOF Forced Vibrations
What happens when ω is near ωn?
2δ st  (ω + ωn )t (ω − ωn )t  For zero initial
x(t ) = 2 
sin sin 
1 − (ω / ωn ) 
conditions
2 2 
When the drive frequency and natural frequency are 2δ st
sin
(ω − ωn )t
1 − (ω / ωn )
close a beating phenomena occurs 2
2
1
Displacement (x)

0.5

0
Larger
amplitude
-0.5

-1
0 5 10 15 20 25 30
Time (sec)
SDOF Forced Vibrations
3.3 Undamped System Under Harmonic Force
The time between the points of zero amplitude or the
points of maximum amplitude is called the period of
beating and is given by

2π 2π
τb =
= (3.23)
2ε ωn − ω

with the frequency of beating defined as

ω=
b ε ωn − ω
2=
SDOF Forced Vibrations
Example 3.1 Plate Supporting A Pump
A reciprocating pump, having a mass of 68kg, is
mounted at the middle of a steel plate of thickness 1cm,
width 50cm, and length 250cm, clamped along two
edges as shown in Figure. During operation of the
pump, the plate is subjected to a harmonic force, F(t) =
220 cos 62.832t N. Find the amplitude of vibration of
the plate.
SDOF Forced Vibrations
Example 3.1 Plate Supporting A Pump
The plate can be modeled as a fixed-fixed beam having
Young’s modulus (E) = 200GPa, length = 250cm, and
area moment of inertia,
1
( I ) = (50 ×10 − 2 )(10 − 2 ) 3 = 41.667 ×10 −9 m 4
12
The bending stiffness of the beam is given by:
192 EI (192)(200 ×109 )(41.667 ×10 −9 )
k= = −2 3
= 102400.82 N/m (E.1)
l 3
(250 ×10 )

Thus,
F0 220
X= =
k − mω 2
102400.82 − 68(62.832) 2
= −0.00132487 m = −1.32487 mm (E.2)
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
The equation of motion is:

F0 cos ωt
mx(t ) + cx (t ) + kx (t ) =

The particular solution is assumed:

=
x p (t ) X cos (ωt − φ ) Due to damping (3.24)
 
now includes a phase shift Displacement
x
k
F=F0cosωt
M
c
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
The equation of motion can be derived as
[( ) ]
X k − mω 2 cos(ωt − φ ) − cω sin (ωt − φ ) = F0 cos ωt (3.26)

Using trigonometric relations, we obtain

[( ) ]
X k − mω 2 cos φ + cω sin φ = F0
X [(k − mω )sin φ − cω cos φ ] = 0
2
(3.27)

The solution gives

F0
X= (3.28)
(k − mω )
2 2
+ c 2ω 2
and
 cω 
φ = tan 
−1
2 
(3.29)
 k − mω 
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
Substituting the following,
c F0 ω
ωn =
k
; = 2ζω ; δ st = ; r =
ωn
n
m m k
We obtain
X 1 1
= = (3.30)
δ st
 2 2
 2
1/ 2
(1 − r ) + (2ζr )
2 2 2
  ω   ω 
1 −    + 2ζ
   
ω
  n    ω n 

and  
 2ζ
ω 
−1  ωn  −1  2ζ r 
φ = tan  2
= tan  2 
(3.31)
 ω   1− r 
1 −  ω  
  n 
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
The figure shows typical plots of the forcing function
and steady-state) response.
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
The following characteristics of the magnification
factor (M) can be noted from figure and as follows:

X 1
=
δ st (1 − r 2 ) 2 + (2ζr ) 2
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force

1. For an undamped system (ζ = 0) , Eq.(3.30) reduces

to Eq.(3.10), and M → ∞ as r → 1 .
2. Any amount of damping (ζ > 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 case of a constant force (when r = 0), the
value of M = 1.
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
The following characteristics of the magnification
factor (M) can be noted from figure and as follows:

X 1
=
δ st (1 − r 2 ) 2 + (2ζr ) 2
SDOF Forced Vibrations
3.4 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<ζ < , the maximum value of M occurs
2
when
r = 1 − 2ζ 2 or ω = ωn 1 − 2ζ 2 (3.32)
which can be seen to be lower than the undamped
natural frequency and the damped frequency
. ωd = ωn 1 − ζ 2
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
The following characteristics of the magnification
factor (M) can be noted from figure and as follows:

X 1
=
δ st (1 − r 2 ) 2 + (2ζr ) 2
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
8. The maximum value of X (when r = 1 − 2ζ 2
) is
given by: X  1
  = (3.33)
 δ st  max 2ζ 1 − ζ
2

and the value of X at ω = ωn by

X  1
  = (3.34)
 δ st ω =ωn 2ζ
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
The following characteristics of the phase angle can be
observed from figure and Eq.(3.31) as follows:

 2ζr 
φ = tan −1  2 
1− r 
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force

1. For an undamped system (ζ = 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 ζ = 0 .
2. For ζ > 0 and 0 < r < 1, the phase angle is given by
0 < Φ < 90°.
3. For ζ > 0 and r > 1, the phase angle is given by
90° < Φ < 180°.
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
The following characteristics of the phase angle can be
observed from figure and Eq.(3.31) as follows:

 2ζr 
φ = tan 
−1
2 
1− r 
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force

4. For ζ > 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 ζ > 0 and large values of r, the phase angle
approaches 180°.
SDOF Forced Vibrations
3.4 Damped System Under Harmonic Force
• Total response
For an underdamped system,
x(t ) = X 0 e −ζω nt cos(ωd t − φ0 ) + X cos(ωt − φ ) (3.35)

where
ωd = 1 − ζ 2 ωn (3.36)

For the initial conditions, Eq.(3.35) yields

x0 = X 0 cos φ0 + X cos φ
x0 = −ζω n X 0 cos φ0 + ωd X 0 sin φ0 + ωX sin φ0 (3.37)
SDOF Forced Vibrations
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 forceF (t ) = F0 cos ωt acts on the
system withF0 = 100 N and ω = 10 rad/s.
b. Free vibration with F(t) = 0.
SDOF Forced Vibrations
Example 3.2 Total Response of a System
a. From the given data,
k 4000
ωn = = = 20 rad/s
m 10
F0 100
δ st = = = 0.025m
k 4000
c c 20
ζ = = = = 0.05
cc 2 km 2 (4000)(10)
ωd = 1 − ζ 2 ωn = 1 − (0.05) 2 (20) = 19.974984 rad/s
ω 10
r= = = 0.5
ωn 20
δ st 0.025
X= = = 0.03326m (E.1)
(1 − r ) + (2ζr )
2 2 2
[(1 − 0.05 )
2 2
+ (2 ⋅ 0.5 ⋅ 0.5) ]
2 1/ 2
SDOF Forced Vibrations
Example 3.2 Total Response of a System
 2ζr  −1  2 ⋅ 0.05 ⋅ 0.5 
φ = 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 φ0 = −0.023186 (E.3)

0 = −(0.05)(20) X 0 cos φ0 + X 0 (19.974984) sin φ0

+(0.03326)(10) sin(3.814075°) (E.4)

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

X 0 sin φ0 = −0.002268 (E.5)
SDOF Forced Vibrations
Example 3.2 Total Response of a System
Hence,
[
X 0 = ( X 0 cos φ0 ) + ( X 0 sin φ0 )
2
]
2 1/ 2
= 0.023297 (E.6)

and X 0 sin φ0
tan φ0 = = 0.0978176
X 0 cos φ0
or φ0 = 5.586765° (E.7)
SDOF Forced Vibrations
Example 3.2 Total Response of a System
b. For free vibration, the total response is
x(t ) = X 0 e −ζω nt cos(ωd t − φ0 ) (E.8)
Using the initial conditions,
2 1/ 2
  ζω x     0.05 ⋅ 20 ⋅ 0.01 
2 1/ 2

X 0 =  x02 +  n 0   = 0.012 +    = 0.010012 (E.9)
  ωd     19.974984  

 x0 + ζω n x0  −1  0.05 ⋅ 20 

φ0 = tan  −
−1

 = tan  −  = −2.865984° (E.10)
 ωd x0   19.974984 