Mechanical Vibrations

Forced Vibration of a Single Degree of Freedom System

Philadelphia University
Faculty of Engineering
Mechanical Engineering Department

Dr. Adnan Dawood Mohammed

(Professor of Mechanical Engineering)
 Harmonically Excited Vibration

 Physical system

.. .
m x  c x  kx  F t  Equation of motion
F t  is a harmonic force. It may takes one of the following forms :
F t   Fo sin t
F t   Fo cos t Fo is the amplitude of force
F t   Fo e jt  is the frequency of force
 Harmonically Excited Vibration

Consider t he form :
.. .
m x  c x  kx  Fo e jt Equation of motion (1)
This 2nd order differenti al equation is non - homogenuos . Its solution has
two parts
1. Complement ary function (Transient response) : It is the solution for
the homogeneou s equation (described in previous chapter). for   1
The solution w as written as :
xc (t )  e  nt C1 cos d t  C2 sin d t 
2. Particular integral (steady state response : It is the solution for the
non homogenuos equation. Because the force (excitatio n) is harmaonic
with frequency  we can expect tha t the response (solution) is harmonic
with the same frequency . The solution can be written as
x p (t)  Xe jt , X is called the ' steadty state response amplitude'
Harmonically Excited Vibration

Substitute the particular integral into equation (1) and solve for X :
Fo
X 

k   2 m  jc

By writing k   2 m  jc  as

k   2
m   c  e
2 2 j
, where   tan -1
cw
k  m
2
is the " phase

angle" between Force and Response.

Fo
 X  X e  j whe re X 
k   m   c 
2 2 2

There for the particular integral can now be written as

x p  X e j t   , X denotes the " magnitude" of the
steady state response amplitude.
 Harmonically Excited Vibration

X and  may be written as :

 Fo 
 
 k  
X  , where r is the frequency ratio.
1  r   2r 
2 2 2 n
 2r 
  tan 1  2 
1 r 
The total solution (response) for the equation of motion (1) is :
x(t )  xc (t )  x p (t )
x(t )  e  nt C1 cos d t  C2 sin d t   X e j t  
Note that C1 and C2 are constants to be dermined from
knowing the inatial conditions of the motion.
Harmonically Excited Vibration

NOTES :
1. For the force form F(t)  Fo sin t  x p (t )  X sin t   
2. For the force form F(t)  Fo cos t  x p (t )  X cost   
3. Transient response ( xc (t )) represents a motion tha t decays with
time and can be neglected after a certain ti me.
4. Steady state response ( x p (t )) is a harmonic motion wit h constant
amplitude and frequency .
F
5. The term o is usually called the " static deflection ( st ). The ratio
k
X
is usually called the " Magnificat ion Factor (M)".
 st
1
M
1  r   2r 
2 2 2
 Damped Forced Vibration System

 Graphical representation for Magnification factor M and ϕ.

 Damped Forced Vibration System

 Notes on the graphical representation of X.

 For ζ = 0 , the system is reduced and becomes un-damped.

 for any amount of ζ > 0 , the amplitude of vibration decreases

(i.e. reduction in the magnification factor M). This is correct for

any value of r.
 For the case of r = 0, the magnification factor equals 1.

 The amplitude of the forced vibration approaches zero when the

frequency ratio ‘r’ approaches the infinity (i.e. M→0 when r →

∞)
 Damped Forced Vibration System

 Notes on the graphical representation for ϕ.

 For ζ = 0 , the phase angle is zero for 0<r<1 and 180o for r>1.

 For any amount of ζ > 0 and 0<r<1 , 0o<ϕ<90o.

 For ζ > 0 and r>1 , 90o<ϕ<180o.

 For ζ > 0 and r=1 , ϕ= 90o.

 For ζ > 0 and r>>1 , ϕ approaches 180o.

 Harmonically Excited Vibration

Variation of displaceme nt with frequency :

We have :
Fo
X k is the s.s response amplitude
1  r   2r 
2 2 2

Fo
1. At low frequency (r  0) then X  which means the displaceme nt
k
is Stiffness control.
Fo
2. At high frequency (r  1) then X  which means the displaceme nt
m 2

is Mass control.
Fo
3. At resonance (r  1) then X  which means the displaceme nt
2k
is Damping control. (for small  )
Harmonically Excited Vibration

Frequency of Maximum amplitude :

The s.s response amplitude can be written as :

X 
Fo
k
 
1  r  2r 
2 2

2
-1/2

d
X is maximum when (X)0
dr
This condition gives :

X is maximum when r   1  2 2 which is known as a
n
Resonance Frequency, i.e res  n 1  2 2
 Forced Vibration due to Rotating Unbalance

Unbalance in rotating machines is a

common source of vibration
excitation. If Mt is the total mass of
the system, m is the eccentric mass
and  is the speed of rotation, the
centrifugal force due to unbalanced
mass is meω2 where e is the
eccentricity.
 The vertical component (meω2
sin(ωt) is the effective one because
it is in the direction of motion of
the system. The equation of motion
is:
.. .
M t x  c x  kx  me 2 sin t 
 Forced Vibration due to Rotating Unbalance

 me 2 

 k 

X    , or
1  r 2 2
 2r 
2

 me  2

M  r
X   t 

1  r 2 2
 2r 
2

and
 2r 
  tan 1  2 
1 r 
The plots of X and  are shown in the figure below
 Transmissibility of Force

If the deflection of foundation is neglugible ,

then the force transmitt ed to the foundation is
Ftr e jt  kx  cx
Assume harmonic motion i.e, x  Xe jt
(k  jc) Fo
Ftr 

( k   2 m )  j c 
Ftr
define TR F
as the Force Transmissi bility, TR F

Fo
1  (2r ) 2 2r
TR  ,   tan 1

(1  r 2 )  (2r ) 2 (1 - r 2 )
F
 Transmissibility of displacement (support motion)

Physical system: The forcing function for the base excitation

..  . . 
Mathematical model: m x  c x  y   k  x  y   0
 
 Transmissibility of displacement (support motion)

Substitute the forcing function into the math. Model:

.. .
m x  c x  kx  kY sin t   cY cost   A sin t   
Where :
A  Y k  c 
2 2

 c 
  tan   
1

 k 
Assume x(t)  Xsin t (Harmonic motion)
k 2  c  1  2r 
2 2
X
Displaceme nt Transmissi bility(TR d )   
Y k  m   c 
2 2 2
1  r   2r 
2 2 2

 2r 
  tan 1  2 
 1  r 
 Transmissibility of displacement (support motion)

Graphical representation of Force or Displacement

Transmissibility ((TR) and the Phase angle (
 Example 3.1: Plate Supporting a Pump:
A reciprocating pump, weighing 68 kg, is mounted at the middle of a steel
plate of thickness 1 cm, width 50 cm, and length 250 cm. clamped along
two edges as shown in Fig. During operation of the pump, the plate is
subjected to a harmonic force, F(t) = 220 cos (62.832t) N. if E=200
Gpa, Find the amplitude of vibration of the plate.
 Example 3.1: solution

 The plate can be modeled as fixed – fixed beam has the

following stiffness:
192 EI
k
l3
1
But I  bh 3 
12
1
12
  3

50 x10  2 1x10  2  41.667 x10 9 m 4

So, k 
 
192 200 x109 41.667 x10 9   102,400.82 N / m

250 x10 
2 3

 The maximum amplitude (X) is found as:

-ve means that the
Fo 220
X   1.32487 mm response is out of
k  m 2
102,400.82  6862.832 phase with
excitation
Example 3.2:
Find the total response of a single-degree-of-freedom system
. with m =
10 kg, c = 20 N-s/m, k=4000 N/m, xo = 0.01m and x=o0 when
an external force F(t) = Fo cos(ωt) acts on the system with Fo = 100 N and
ω = 10 rad/sec .

Solution
a. From the given data

d  1   2 n
k 4000
n    20rad / s
m 10 d  1  0.052 20
c 20 d  19.975rad / s
    0.05
2mn 210 20 
 10
r   0.5
n 20
Example 3.2:
Solution
F 100  st
 st  o   0.025m X   0.3326m
k 4000 1  r   2r 
2 2 2

 2 r 
  tan 1    3.814 o

1 r 
2

Total solution:
X(t) = X c (t) + X p(t)

- n t
x (t)  Ae cos( t -  )  X cos(t - 0.066)
n
- 0.05*20 t
x (t)  Ae cos(19.97t -  )  0.3326cos( 20t - 0.066)
at t  0, xt   0.01m
0  Acos  0.3326 * cos0.066
 Acos  0.33187 (1)
-t
x (t)  Ae cos(19.97t -  )  0.3326cos( 20t - 0.066)
-t -t
x (t )  Ae * -19.97sin (19.97t -  )  A cos(19.97t -  ) * (-t)e
 0.3326 * 20sin( 20t - 0.066)
at t  0, x t   0
 0  19.97 A sin   0.438, A sin   0.0219 (2)
From (1) and (2)   0.066 rad and A  -0.3325
-t
 x(t)  -6.64e cos(19.97t - 0.066 ) - 0.3326cos( 20t - 0.066)