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Example 5

Take the spring and mass example of Example 1 analyze if it is undamped and subjected to the forcing function psin(ϕt)
where:
ϕ 2 Hz po 100 N
Given:
m
g 9.81 ma 7 kg L 900 mm
2
s
mm
uo 500 mm Vo 1000
sec

Determine stiffness and frequency of the system:

ma g
N
k 76.3
L m
k
ω 3.3015 Hz
ma

The frequency ratio,

f t po sin ϕ t sec

ϕ
β 0.6058
ω

The complementary solution is given by,

C1U uo 0.5 m

Vo po β
C2U 0.9513 m
ω k 2
1 β

uuc t C1U cos ω t sec C2U sin ω t sec

The particular solution:

po sin ϕ t sec
uup t
k 2
1 β
The total solution is,
uuT t uuc t uup t

Forcing Function

y
128

64

0 x

-64

-128
-4 -2 0 2 4 6 8 10 12
f x t sec

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Transient Solution

3 y

0 x

-1

-2

-4 -2 0 2 4 6 8 10 12 14
-3
uuc x

Steady-State solution

y
2
Forcing function

f 1 90.9297 N
1

Steady state
0 x response

uup 1 1.8826 m
-1

-2 -4 -2 0 2 4 6 8 10 12
uup x

Total Solution
y
5

0 x
-1

-2

-3

-4
-6 -4 -2 0 2 4 6 8 10 12 14 16
-5
uuT x
t sec

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-1

-2

-3
-12 -8 -4 0 4 8 12 16 20 24
uuc x
uup x
uuT x

For the case of resonance,

N
ω 3.3015 Hz k 76.3
m

ϕ ω po 100 N

The frequency ratio,

f t po sin ϕ t sec

ϕ
β 1
ω
The complementary solution is given by,
C1U uo 0.5 m

Vo po
C2U 0.3524 m
ω 2 k

uuc t C1U cos ω t sec C2U sin ω t sec

The particular solution:

po
uup t ω t sec cos ω t sec
2 k

The total solution is,

uuT t uuc t uup t

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Forcing function,

128

64

0 x

-64

-128
-2 0 2 4 6 8 10 12 14
f x
Transient solution,
1.5 y

0.5

0 x

-0.5

-1

-4 -2 0 2 4 6 8 10 12
-1.5
uuc x
Steady state solution,

y
64

32

0 x

-32

-32 -16 0 16 32 48
uup x
Total solution,
y
24

16

0 x

-8

-16

-24 -16 -8 0 8 16
uuT x

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48

40

32

24

16

-8

-16

-24

-32
-28 -24 -20 -16 -12 -8 -4 0 4 8 12 16 20 24 28 32 36 40
b uuc x

r uup x

g uuT x

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Example 6

Take the spring and mass example of Example 4 analyze if it is damped and subjected to the forcing function psin(ϕt) where:
kg
ϕ 2 Hz po 100 N c 2.5
s
Given:
m
g 9.81 ma 7 kg L 900 mm
2
s
mm
uo 500 mm Vo 1000
sec

Determine stiffness and frequency of the system:

ma g
N
k 76.3
L m

k
ω 3.3015 Hz
ma

Determine the critical damping and damping ratio, The frequency ratio,

kg f t po sin ϕ t sec
ccr 2 ma ω 46.2212
s
ϕ
c β 0.6058
ξ 0.0541 ω
ccr

2
ωD ω 1 ξ 3.2967 Hz

Since c is less than the critical damping, the system is underdamped,

For the complementary solution,

po
2 ξ β
C1T uo 0.7121 m
k 2
2 2
1 β 2 ξ β

uo ω ξ Vo po 2
ϕ 1 β ω ξ 2 ξ β 1
C2T 0.9008 m
ωD k 2 ωD
2 2
1 β 2 ξ β

ω ξ t sec
uc t e C1T cos ωD t sec C2T sin ωD t sec

The particular solution:

po 2 po
1 β sin ϕ t sec 2 ξ β cos ϕ t sec
up t
k 2 k 2
2 2 2 2
1 β 2 ξ β 1 β 2 ξ β

up 0 0.2121 m uc 0 0.7121 m

The total solution is,

1
uT t uc t up t Rd 1.5713
2
2 2
1 β 2 ξ β
uT 0 0.5 m

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Forcing function,

128

64

0 x

-64

-128
0 2 4 6 8 10 12 14 16
f x
Transient solution,
y
1.5

0.5

0 x
-0.5

-1

-1.5 f 1
0 2 4 6 8 10 12 14 90.93 N
uc x
up 1 1.95 m
Steady state solution,

y
3
po
2 ust 1.3106 m
k
1
Rd 1.5713
0 x
-1 ud ust Rd 2.0594 m

-2

-3
0 2 4 6 8 10 12 14 16
up x
Total solution,
y

0 x

-1

-2

-3 0 2 4 6 8 10 12 14
uT x

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2.5

1.5

0.5

-0.5
u -1

-1.5

-2

-2.5

-3
0 2 4 6 8 10 12 14 16 18
blue uc x t sec
red up x

green uT x

-1

-2
u

-3

-4

-5 0 2 4 6 8 10 12 14 16 18
up x t sec
uT x

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For the case of resonance,
N
ω 3.3015 Hz k 76.3
m

ϕ ω po 100 N
The frequency ratio,

f t po sin ϕ t sec

ϕ
β 1
ω
The complementary solution is given by, Dynamic Magnification Factor

po 1
1 Rd 9.2442
C1r 12.1157 m 2
k 2 ξ 2 2
1 β 2 ξ β
po
1
C2r 0.6563 m
k 2
2 1 ξ

ω ξ t sec
ucr t e C1r cos ωD t sec C2r sin ωD t sec

The particular solution:

po
1
upr t cos ω t sec
k 2 ξ
The total solution is,
uTr t ucr t upr t

Transient solution,
y
12

0 x

-4

-8
-2 0 2 4 6 8 10 12 14 16 18 20 22 24
ucr x

Steady state solution,

y β 1
16
ust 1.3106 m

8 Rd 9.2442

0 x ud ust Rd 12.115

-8

0 2 4 6 8 10 12 14 16
-16
upr x

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Total solution,
y
16

0 x

-8

-16
0 4 8 12 16 20 24 28 32 36 40
uTr x

po
1
12.1157 m
k 2 ξ

24

20

16

12

-4

-8

-12

-16

-20
-4 -2 0 2 4 6 8 10 12 14 16 18 20 22 24 26 28
blue ucr x

red upr x
u
green Tr x

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Dynamic Magnification Factor

Given: po 100 N

m
g 9.81 ma 7 kg L 900 mm
2
s
Determine stiffness and frequency of the system:
ma g
N
k 76.3
L m

k
ω 3.3015 Hz
ma

Frequency Ratio,

f t po sin ϕ t sec

ϕ 2.5 Hz
Damping Ratio,
ϕ
β 0.7572
ω ξ 0.05
Steady-state Response

po 2 po
1 β sin ϕ t sec 2 ξ β cos ϕ t sec
up t
k 2 k 2
2 2 2 2
1 β 2 ξ β 1 β 2 ξ β
1
Rd 2.308 Static & Dynamic Vibration Amplitudes,
2
2 2 po
1 β 2 ξ β
ust 1.3106 m
k
2 ξ β
ψ atan 0.1757
2 ud ust Rd 3.0249 m
1 β
ψ
0.028
2 π

4 y

0 x

-1

-2

-3
0 2 4 6 8 10
f x
blue
k
red up x

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1
RD β
2
2 2
1 β 2 ξ β

y
11

10
ξ 0.05
9 Rd 2.308
8

0 x
-1

-2

-3 -0.5 0 0.5 1 1.5 2 2.5 3

if x 0
RD x
else
"not defined"

Example:

The steel frame shown in the figure supports a rotating machine that exerts a horizontal force
at the girder level F t 200 lbf sin 5.3 t . Assuming 5% damping ratio, determine the
steady-state amplitude of vibration and the maximum dynamic stress in the columns. Assume the
girder is rigid.

4
E 30000 ksi I 75.3 in
3
S 18.2 in
L 15 ft
ξ 0.05

ft
W 15 kip g 32.185
2
sec

F t Fo sin ϕ t sec

Fo 200 lbf
ϕ 5.3 Hz

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Determine natural frequency of system,

3 E I lbf
k 2 2324.0741
3 in
L
W
m 14994.8777 lb
g

k
ω 7.7357 Hz
m

The frequency ratio is,

ϕ
β 0.6851
ω

The static deflection is,

Fo
ust 0.0861 in
k

The dynamic magnification factor and the steady-state amplitude is,

1
Rd 1.8692
2
2 2
1 β 2 ξ β

ud ust Rd 0.1609 in

The maximum shear force at each column is,

VT k ud 373.8392 lbf

1
Vc V 186.9196 lbf
2 T

Vc L
σmax 1848.6551 psi
S

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