VIBRATION ENGINEERING

PREPARED BY: ENGR. JAYSON D. CEREZO

 LECTURE NO. 5
UNDAMPED FORCED VIBRATION
 UNDAMPED FORCED VIBRATIONS
Consider the spring-mass system shown in the figure
which represents the vibrational characteristics of a system
subjected to a periodic force F = FO sin (ωt).
UNDAMPED FORCED VIBRATIONS

෍F = 0

mag – kxe = 0
UNDAMPED FORCED VIBRATIONS

෍ F = max

F + mag – kxT = mx’’

F + mag – kxe – kx = mx’’

mx’’ + kx = FO sin (ωt)

 UNDAMPED FORCED VIBRATIONS
mx’’ + kx = FO sin (ωt)

k FO
x’’ + x = sin (ωt)
m m

In Differential Equations:

x = xc + xp
 UNDAMPED FORCED VIBRATIONS
For the complementary solution, xc:

k
x’’ + x = 0
m
−k
D2 =
m

−k
D=± = ± ωni
m

xc = Asin(ωnt) + Bcos(ωnt)
 UNDAMPED FORCED VIBRATIONS
For the particular solution, xp:

Let xp = C sin(ωt)
xp’ = ωC cos(ωt)
xp’’ = -ω2C sin(ωt)
From
k FO
x’’ + x = sin (ωt)
m m
k FO
-ω2C sin(ωt) + C sin(ωt) = sin (ωt)
m m
UNDAMPED FORCED VIBRATIONS
k FO
-ω2C + C=
m m
FO
C= m
k − ω2
m
FO
C= m
k 1 − m ω2
m k
k
ωn2 =
m
UNDAMPED FORCED VIBRATIONS
FO • m
m k
C= ω
1− ω 2
n

FO
C= k → xmax (Amplitude)
1− ωω 2
n
 UNDAMPED FORCED VIBRATIONS
xO
C= ω → xmax (Amplitude)
1− ω 2
n
Thus

xO
xp = ω sin(ωt)
1− ω 2
n
 UNDAMPED FORCED VIBRATIONS
Hence, the equation of motion:

x = xc + xp
xO
x = Asin(ωnt) + Bcos(ωnt) + ω sin(ωt)
1− ω 2
n
 UNDAMPED FORCED VIBRATIONS
xO
x = Asin(ωnt) + Bcos(ωnt) + ω sin(ωt)
1− ω 2
n

where:

Asin(ωnt) + Bcos(ωnt) → transient vibration

xO
ω sin(ωt) → steady state vibration
1− ω 2
n

xO → steady state vibration

FO → impressed force
ω → forcing frequency
ωn → natural frequency
 UNDAMPED FORCED VIBRATIONS
The magnification factor, MF, is defined as the
ratio of the amplitude of the steady-state vibration, xmax
to the static deflection xO

xmax
MF =
xO

1
MF = ω
1− ω 2
n
 UNDAMPED FORCED VIBRATIONS

1
MF = ω
1− ω 2
n

When ω < ωn, the coefficient of sin(ωt) is positive or the

forced vibration is in phase with the impressed force.

When ω > ωn, the coefficient of sin(ωt) is negative or the

motion of the block is out of phase with the force.

When ω = ωn, the amplitude of the forced vibration becomes

infinite or the system is in resonance.
Sample Problem:

• A motor weighing 300 N is supported by four springs, each having a constant of

80 kN/m. The unbalanced of the rotor is equivalent to a weight of 8N located
12 cm 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
and (b) the amplitude of the vibration of the motor at a speed of 1200 rpm.
Solution:

(a) N (rpm)
k
ωn =
m

k T = k 1 + k2 + k 3 + k 4
kT = 80000 N/m ˣ 4 = 320000 N/m
W = mg
300 N = m ( 9.81 m/s2)
m = 30.581 kg
Solution:

320000 N/m
ωn =
30.581 kg

ωn = 102.294 rad/sec

60sec 1rev
ωn = 102.294 rad/sec ( )( )
min 2πrad

N = 976.836 rev/min
Solution:

(b) Amplitude, xmax

FO
xmax = k
1− ωω 2
n

FO = murω2

Wu = mug
8 N = mu (9.81 m/s2)

mu = 0.815 kg
Solution:

N →ω

min 2πrad
ω = 1200 rev/min ( )( )
60sec rev

ω = 125.664 rad/sec

FO = (0.815 kg) (0.12m) (125.664 rad/sec)2

FO = 1544.403 N
Solution:

FO
xmax = k
1− ωω 2
n

1544.403 N
xmax = 320000 N/m
1− 125.664 rad/sec 2
102.294 rad/sec

xmax = -0.00948 m → out of phase

Sample Problem:
The instrument shown in the figure is rigidly attached to a platform P which in
turn is supported by four springs, each having a stiffness k = 800N/m. Initially the
platform is at rest when the floor is subjected to a displacement y = 10sin(8t)
mm, where t is in seconds. If the instrument is constrained to move vertically,
and the total mass of the instrument and platform is 20 kg, (a) determine the
vertical displacement y of the platform measured from the equilibrium position
as a function of time and (b) what is the floor vibration required to cause
resonance?
Solution:

(a) Equation of motion, y

yO
y = Asin(ωnt) + Bcos(ωnt) + ω sin(ωt)
1− ω 2
n

k
ωn =
m

k T = k1 + k2 + k3 + k4
kT = 800 N/m ˣ 4 = 3200 N/m
Solution:

3200 N/m
ωn =
20kg

ωn = 12.649 rad/sec

yO
ymax = ω
1− ω 2
n

10mm
ymax =
1− 8rad/sec 2
12.649 rad/sec
Solution:

ymax = 16.667 mm

y = Asin(12.649t) + Bcos(12.649t) + 16.667 sin(8t)

velocity, y’

y’ = 12.649Acos(12.69t) - 12.649Bsin(12.649t) + 133.336sin(8t)

Solution:

Solving for A and B when t = 0, y = 0 and y’ = 0

y = Asin(12.649t) + Bcos(12.649t) + 16.667 sin(8t)

0 = Asin(12.649ˣ0) + Bcos(12.649ˣ0) + 16.667 sin(8ˣ0)

B=0
Solution:

y’ = 12.649Acos(12.69t) - 12.649Bsin(12.649t) + 133.336sin(8t)

0 = 12.649Acos(12.69ˣ0) - 12.649Bsin(12.649ˣ0) + 133.336sin(8ˣ0)

A = -10.541 mm

Hence, the equation of motion would be:

y = -10.541sin(12.649t) + 16.667 sin(8t)

Solution:

(b) Since 8 rad/sec < 12.649 rad/sec (from ω < ωn), the
force vibration is in phase with the impressed force. To
cause resonance, ω = ωn. Thus the forcing frequency where
resonance will occur

ω = 12.649 rad/sec
 HARMONIC SUPPORT DISPLACEMENT
Consider the spring-mass system where the support
undergoes the prescribed harmonic displacement y = Ysin(ωt)
as shown in the figure.
HARMONIC SUPPORT DISPLACEMENT

෍F = 0

mag – kxe = 0
HARMONIC SUPPORT DISPLACEMENT

෍ F = max

mag – k(xT – y) = mx’’

mag – kxe – kx - ky = mx’’

mx’’ + kx = ky
 HARMONIC SUPPORT DISPLACEMENT

mx’’ + kx = ky

Let
z=x–y
x=z+y

then
m( z’’ + y’’) + k(z + y) = ky

mz’’ + kz = -my’’
 HARMONIC SUPPORT DISPLACEMENT
Since
y = Y sin(ωt)

y’ = ωY cos(ωt)
y’’ = -ω2Y sin(ωt)

Thus
mz’’ + kz = mω2Y sin(ωt)

where
z → represents the position of the mass relative to the support.
 HARMONIC SUPPORT DISPLACEMENT

mz’’ + kz = mω2Y sin(ωt)

In Differential Equations
z = zc + zp

For the complementary solution, xc:

mz’’ + kz = 0

k
D2 + =0
m
HARMONIC SUPPORT DISPLACEMENT
−k
D2 =
m

−k
D=± = ± ωni
m

zc = Asin(ωnt) + Bcos(ωnt)
 HARMONIC SUPPORT DISPLACEMENT
For the particular solution, zp:

Let
zp = C sin(ωt)
zp’ = ω C cos(ωt)
zp’’ = - ω2C sin(ωt)

Thus
-mω2C sin(ωt) + kC sin(ωt) = mω2Y sin(ωt)

-mω2C + kC = mω2Y
HARMONIC SUPPORT DISPLACEMENT
-mω2C + kC = mω2Y

mω2Y
C=
k − mω2

mω2Y
C=
k(1 − mω2)
k
mω2Y
C= k m 2
(1 − ω )
k
 HARMONIC SUPPORT DISPLACEMENT
ω 2
C=Y ω n → z (Amplitude)
ω
1–ω 2
max
n

Hence, the equation of motion:

z = zc + zp

ω 2
z = Asin(ωnt) + Bcos(ωnt) + Y ω n sin(ω t)
ω
1–ω 2
n
n
Sample Problem:
When the mass m is attached to the end of a light electric rod, its static
deflection is 15.23mm. The sliding collar supporting the rod is then given a
vertical displacement of amplitude 8.20 mm at a circular frequency of
20rad/sec. Determine the steady-state amplitude of the mass relative to the
collar.
Solution:

Solving for amplitude, zmax

ω 2
zmax = Y ω n
ω
1–ω 2
n

k
ωn =
m

mg
kx = mg → k =
x
Solution:

mg
ωn = x
m

m(9.81 meter/sec2)
ωn = 0.01523meter
m

ωn = 25.380 rad/sec
Solution:

20 rad/sec 2
25.380 rad/sec
zmax = (8.20 mm)
1– 20 rad/sec 2
25.380 rad/sec

zmax = 13.435 mm
 END OF LECTURE
THANK YOU FOR LISTENING!
 Assignment:

1. The spring-mass system is at rest in the equilibrium position x = 0

when the harmonic force F = 100sin(25t) N is applied at t = 0. Determine
(a) the equation of motion, (b) the magnification factor, and (c) the
xmax.
2. A 5 lbf weight is suspended from a vertical spring having a stiffness k =
50 lbf/ft. An impressed force F = 0.25sin(8t) lbf where t is in seconds is
acting on the weight. Determine the equation of motion of the weight
when it is pulled down 3 inches from the equilibrium position and
released from rest.

3. A block which has a mass m is suspended from a spring having a

stiffness k. If an impressed downward force F = FO acts on the weight,
determine the equation which describes the position of the mass.
4. The block of weight 2.40 lbf is connected to the shaker table by a
spring of stiffness 12lbf/in. The system is at rest with the spring
undeformed when the harmonic displacement y = 0.25sin(60t) is
imposed on the table. Determine the displacement of the weight
relative to the table as a function of time.