Compound System

Parallel Connections
• Forces
𝐹1 + 𝐹2 = 𝐹𝑇
• Deformation
𝛿1 = 𝛿2 = 𝛿𝑇
• Spring Constant
𝑘1 + 𝑘2 = 𝑘𝑒𝑞
Series Connections
• Forces
𝐹1 = 𝐹2 = 𝐹𝑇
• Deformation
𝛿1 + 𝛿2 = 𝛿𝑇
• Spring Constant
1 1
+𝑘 = 𝑘𝑒𝑞
𝑘1 2
Sample Problem
1. Each spring was subjected to 3kN of force. Determine the total force acted
on the system if the deflection of the spring is 0.5 m. What is the equivalent
constant spring for both figures?
2. Determine the equation for equivalent spring constant.
3. The 50-kg platform A is attached to springs B and D, each of which has a constant
k = 2 kN/m. Knowing that the frequency of vibration of the platform is to remain
unchanged when a 40-kg block is placed on it and a third spring C is added
between springs B and D, determine the required constant of spring C.
4.A building frame is modeled by four identical steel columns and a rigid floor of weight
W, as shown in the figure. The columns are fixed at the ground and have a bending rigidity
of EI each. Determine the natural circular of the horizontal vibration of the building frame
by assuming the connection between the floor and the columns are to be pivoted as
shown in the figure.
𝒙 = 𝑨 𝐬𝐢𝐧 (𝝎𝒕 + 𝝑)
Example: The simple harmonic motion has an amplitude of .5m, circular natural frequency of 6 rad/s
and phase angle of 60°. Determine the displacement @ t = 2s.

Given: A= 0.5m 𝜗 = 60°

𝑟𝑎𝑑
t=2s 𝜔=6
𝑠

Calculator Degree mode: 𝑥 = 𝐴 sin (𝜔𝑡 + 𝜗)

𝑟𝑎𝑑 180°
𝑥 = 0.5 sin [(6 𝑠
𝑥 2𝑠)( 𝜋
)+ 60°]

x = 0.2313 m

Calculator Radian mode: 𝑥 = 𝐴 sin (𝜔𝑡 + 𝜗)

𝑟𝑎𝑑 𝜋
𝑥 = 0.5 sin [(6 𝑠
𝑥 2𝑠) + 60° (180°)]

x = 0.2313 m

Forced Vibration
- occurs when an oscillating force is applied to a mechanical system. This externally
applied force causes the system to vibrate at a specific frequency, known as the
forcing frequency, which is equal to the frequency of the applied force. Modern
mechanical and civil engineering projects often involve vibration analysis to predict
the behavior of structures under vibrational forces.
- Common examples include bike riding on uneven surface, home appliances like
washing machines, wind-induced vibration of tall buildings, etc.
- In the field of engineering, the concept of forced vibration is integral to several
applications, including structural engineering and energy harvesting.
- Calculating the natural and forcing frequencies is vital to avoid 'resonance', a
condition where the forced vibration matches the system's natural frequency,
causing potentially catastrophic amplifications of movement.
Free Body Diagram
@ Equilibrium state: No periodic force applied

+↓ ∑ 𝐹𝑦 = 0
𝑊 =𝑇+𝑃 =0
𝑇 = 𝑘𝛿𝑠𝑡
𝑃 = 0;
no periodic force applied (𝑡 = 0)

𝑊 − 𝑘𝛿𝑠𝑡 = 0
𝑊 = 𝑘𝛿𝑠𝑡

@ Vibration State: Periodic Force applied (𝑃 = 𝑃𝑚 sin 𝜔𝑓 𝑡)

+↓ ∑ 𝐹𝑦 = 𝑚𝑎
𝑊 − 𝑇 + 𝑃 = 𝑚𝑎
𝑇 = 𝑘(𝛿𝑠𝑡 + 𝑥)
𝑃 = 𝑃𝑚 sin 𝜔𝑓 𝑡
𝑊 − 𝑘(𝛿𝑠𝑡 + 𝑥) + 𝑃𝑚 sin 𝜔𝑓 𝑡 = 𝑚𝑎
𝑊 − 𝑘𝛿𝑠𝑡 − 𝑘𝑥 + 𝑃𝑚 sin 𝜔𝑓 𝑡 = 𝑚𝑎
@ equilibrium: 𝑊 = 𝑘𝛿𝑠𝑡 & 𝑎 = 𝑥 ′′
−𝑘𝑥 + 𝑃𝑚 sin 𝜔𝑓 𝑡 = 𝑚𝑥 ′′
𝑚𝑥 ′′ + 𝑘𝑥 = 𝑃𝑚 sin 𝜔𝑓 𝑡

The equation used for determining the displacement of an object, subjected in

forced vibration, at any given time is:

𝑥 = 𝑥𝑐 + 𝑥𝑝

Where: 𝑥𝑐 = 𝑐𝑜𝑚𝑝𝑙𝑖𝑚𝑒𝑛𝑡𝑎𝑟𝑦 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛

𝑥𝑝 = 𝑝𝑎𝑟𝑡𝑖𝑐𝑢𝑙𝑎𝑟 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛
 Complimentary solution refers to the free vibration of the system. Therefore, the
equation for this solution is:
𝑚𝑥 ′′ + 𝑘𝑥 = 0
𝒙𝒄 = 𝑪𝟏 𝐬𝐢𝐧 𝝎𝒏 𝒕 + 𝑪𝟐 𝐜𝐨𝐬 𝝎𝒏 𝒕
Particular solution refers to the forced vibration of the system. Therefore, the
equation for this solution is:
𝑚𝑥 ′′ + 𝑘𝑥 = 𝑃𝑚 sin 𝜔𝑓 𝑡

Where: 𝑃𝑚 = 𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑝𝑒𝑟𝑖𝑜𝑑𝑖𝑐 𝑓𝑜𝑟𝑐𝑒

𝜔𝑓 = 𝑓𝑜𝑟𝑐𝑒𝑑 𝑐𝑖𝑟𝑐𝑢𝑙𝑎𝑟 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦

∴ 𝑥𝑝 = 𝐴1 sin 𝜔𝑓 𝑡 + 𝐴2 cos 𝜔𝑓 𝑡

𝑥𝑝′ = 𝜔𝑓 𝐴1 cos 𝜔𝑓 𝑡 − 𝜔𝑓 𝐴2 sin 𝜔𝑓 𝑡

𝑥𝑝′′ = −𝜔𝑓2 𝐴1 sin 𝜔𝑓 𝑡 − 𝜔𝑓2 𝐴2 cos 𝜔𝑓 𝑡

Substitute the equations shown above to the particular solution to get the
differential equation solution for 𝑥𝑝

𝑚𝑥 ′′ + 𝑘𝑥 = 𝑃𝑚 sin 𝜔𝑓 𝑡

𝑚(−𝜔𝑗2 𝐴1 sin 𝜔𝑗 𝑡 − 𝜔𝑗2 𝐴2 cos 𝜔𝑗 𝑡) + 𝑘(𝐴1 sin 𝜔𝑗 𝑡 + 𝐴2 cos 𝜔𝑗 𝑡) = 𝑃𝑚 sin 𝜔𝑗 𝑡

−𝑚𝜔𝑗2 𝐴1 sin 𝜔𝑗 𝑡 − 𝑚𝜔𝑗2 𝐴2 cos 𝜔𝑗 𝑡 + 𝑘𝐴1 sin 𝜔𝑗 𝑡 + 𝑘𝐴2 cos 𝜔𝑗 𝑡 = 𝑃𝑚 sin 𝜔𝑗 𝑡
−𝑚𝜔𝑗2 𝐴1 sin 𝜔𝑗 𝑡 + 𝑘𝐴1 sin 𝜔𝑗 𝑡 − 𝑚𝜔𝑗2 𝐴2 cos 𝜔𝑗 𝑡 + 𝑘𝐴2 cos 𝜔𝑗 𝑡 = 𝑃𝑚 sin 𝜔𝑗 𝑡
(−𝑚𝜔𝑓2 + 𝑘)𝐴1 sin 𝜔𝑗 𝑡 + (−𝑚𝜔𝑗2 + 𝑘)𝐴2 cos 𝜔𝑗 𝑡 = 𝑃𝑚 sin 𝜔𝑗 𝑡

Equate the terms with sine function on both sides, to determine value of 𝐴1

(−𝑚𝜔𝑓2 + 𝑘)𝐴1 sin 𝜔𝑓 𝑡 = 𝑃𝑚 sin 𝜔𝑓 𝑡

𝑃𝑚
𝐴1 =
−𝑚𝜔𝑓2 + 𝑘

Equate the terms with cos function on both sides, to determine value of 𝐴2

(−𝑚𝜔𝑓2 + 𝑘)𝐴2 cos 𝜔𝑓 𝑡 = 0

𝐴2 = 0
After determining the value of 𝐴1 𝑎𝑛𝑑 𝐴2 ,

𝑥𝑝 = 𝐴1 sin 𝜔𝑓 𝑡 + 𝐴2 cos 𝜔𝑓 𝑡

𝑷𝒎
𝒙𝒑 = ( ) 𝐬𝐢𝐧 𝝎𝒇 𝒕 + 𝟎
−𝒎𝝎𝟐𝒇 + 𝒌

Since we have already determined the equation for 𝑥𝑝 & 𝑥𝑐 , the differential
equation for the displacement of the object at any given time in a forced vibration system
is:

𝑥 = 𝑥𝑐 + 𝑥𝑝
𝑷𝒎
𝐱 = 𝑪𝟏 𝐬𝐢𝐧 𝝎𝒏 𝒕 + 𝑪𝟐 𝐜𝐨𝐬 𝝎𝒏 𝒕 +
−𝒎𝝎𝟐𝒇 + 𝒌

Where: 𝑃𝑚 = 𝑘𝛿𝑚 𝑜𝑟 𝑃𝑚 = 𝑚𝑟𝜔𝑓2

Maximum Velocity and Acceleration

𝑣max = 𝐴𝜔𝑓 , 𝑎max = 𝐴𝜔𝑓2

RESONANCE
- A phenomenon in which an external force or a vibrating system forces another
system around it to vibrate with greater amplitude at a specified frequency of
operation.
- It's essential to understand the interaction of forced vibration and resonance to
avoid potentially catastrophic outcomes in engineering structures.
- The infamous collapse of the Tacoma Narrows Bridge in 1940, highlighting how
disastrous resonance can be. The wind on that day caused forced vibrations on the
bridge with a frequency nearly equivalent to the bridge's natural frequency, ensuing
in destructive resonance. Negative damping, owing to the interaction of the bridge
deck and twisting winds, amplified the forced vibration, ultimately causing the
bridge's collapse.
To determine the equation for amplitude in forced vibration,

𝐴 = √𝐴12 + 𝐴22

Since 𝐴2 = 0, Therefore 𝐴 = 𝐴1
 𝑃𝑚
𝐴=
−𝑚𝜔𝑓2 + 𝑘

𝛿𝑚
𝐴=
𝜔𝑓 2
1 − (𝜔 )
𝑛

Resonance refers to the forced circular frequency of the system has equal same
value to the natural circular frequency.
𝜔𝑓 = 𝜔𝑛 Resonance

To avoid resonance, 𝜔𝑓 ≠ 𝜔𝑛 . This results to two types of motions which are in

phase and out of phase motion.
In Phase motion, refers to the forced circular frequency has the same direction of
motion to the natural circular frequency.
𝜔f < 𝜔𝑛

Out of Phase motion, refers to the forced circular frequency has opposite direction
of motion to the natural circular frequency.
𝜔f > 𝜔𝑛
Summary:

Displacement @ any given time

𝑷𝒎
𝐱 = 𝑪𝟏 𝐬𝐢𝐧 𝝎𝒏 𝒕 + 𝑪𝟐 𝐜𝐨𝐬 𝝎𝒏 𝒕 +
−𝒎𝝎𝟐𝒇 + 𝒌

Particular Solution (displacement, velocity and acceleration)

𝑥𝑝 = 𝐴1 sin 𝜔𝑓 𝑡 + 𝐴2 cos 𝜔𝑓 𝑡

𝑥𝑝′ = 𝜔𝑓 𝐴1 cos 𝜔𝑓 𝑡 − 𝜔𝑓 𝐴2 sin 𝜔𝑓 𝑡

𝑥𝑝′′ = −𝜔𝑓2 𝐴1 sin 𝜔𝑓 𝑡 − 𝜔𝑓2 𝐴2 cos 𝜔𝑓 𝑡

Complimentary Solution (displacement, velocity and acceleration)

𝑥𝑐 = 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡
𝑥𝑐′ = 𝜔𝑛 𝐶1 cos 𝜔𝑓𝑛 𝑡 − 𝜔𝑛 𝐶2 sin 𝜔𝑛 𝑡

𝑥𝑐′′ = −𝜔𝑛2 𝐶1 sin 𝜔𝑛 𝑡 − 𝜔𝑛2 𝐶2 cos 𝜔𝑛 𝑡

Magnification Factor
𝐴 1
𝑀𝐹 = =
𝛿𝑚 𝜔 2
1 − (𝜔𝑛 )
𝑛

Where 𝛿𝑚 = 𝑠𝑡𝑎𝑡𝑖𝑐 𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛

Frequency Raito
𝜔𝑓
frequency ratio =
𝜔𝑛
Resonance
𝜔𝑓 = 𝜔𝑛 Resonance

𝜔f < 𝜔𝑛 In Phase
𝜔𝑓 = 𝜔𝑛 Resonance

*For your practice, determine the general equation for velocity and acceleration
at any given time.
𝒙′ = 𝒙′𝒄 + 𝒙′𝒑

𝒙′′ = 𝒙′′ ′′
𝒄 + 𝒙𝒑
Sample Problems:
1. A motor weighing 350 lb is supported by four springs, each having a constant of
750 lb/in. The unbalance of the rotor is equivalent to a weight of 1 oz located 6 in.
from the axis of rotation. Knowing that the motor is constrained to move vertically,
determine (a) the speed in rpm at which resonance will occur, (b) the amplitude of
the vibration of the motor at a speed of 1200 rpm.
2. The uniform rod has a mass of m. If it is acted upon by a periodic force of
F=𝐹0 sin 𝑤𝑡 , determine the general equation of motion and amplitude of the steady
state vibration.
3. An 8 kg uniform disk of radius 200 mm is welded to a vertical shaft with a fixed end
at B. The disk rotates through an angle of 3 degrees when a static couple of
magnitude 50N-m is applied to it. If the disk is acted upon by a periodic torsional
couple of magnitude 𝑇 = 𝑇𝑚 𝑠𝑖𝑛𝑤𝑓 𝑡, where Tm= 60 N-m. Determine the range of
values of 𝑤𝑓 for which the amplitude of the vibration is less than the angle of
rotation caused by a static couple of magnitude Tm.
 4.A 50-kg instrument is supported by 4 springs (in parallel), each of stiffness is
7500 N/m. If the instrument foundation undergoes harmonic motion given in meters by
xB = 0.002cos50t, determine the amplitude of the steady-state motion of the instrument.
Damping is negligible.
5. A collar of mass m which slides on a frictionless horizontal rod is attached to a spring
of constant k and is acted upon by a periodic force of magnitude𝑃 = 𝑃𝑚 sin 𝜔𝑓 𝑡. Determine
the range of values of 𝜔𝑓 for which the amplitude of the vibration exceeds two times the
static deflection caused by a constant force of magnitude Pm.