Vibration Theory - 5th

Prof. Dr. Md.
Mokhlesur Rahman
Engineering - CE - 4303
Advanced Foundation
DUET
CE-4303
ADVANCED FOUNDATION ENGINEERING
NOTE NO 05
VIBRATION THEORY
PREPARED BY:
Dr. Md. Mokhlesur Rahman
Professor
Civil Engineering Department
Dhaka University of Engineering & Technology (DUET), Gazipur.
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Prof. Dr. Md. Mokhlesur Rahman

Advanced Foundation
Soil Dynamics:
Soil Dynamics is the branch of soil mechanics which deals with the engineering
properties and behavior of soil under dynamic stress, including the analysis of the
stability of earth supported and earth retaining structures. The study of Soil dynamics
include the machine foundations, impact loadings, dynamic soil properties, slope
stability, bearing capacity, settlement, vibratory compaction, pile driving analysis and
field testing, ground anchor systems, seismic design parameters, liquefaction, sheet pile
walls and laboratory testing.
Nature/sources of types of dynamic loading:
Dynamic loads on foundation and soil structure may act due to
Earthquake
Bomb blast
Operation of reciprocating and rotary machines and hammers
Construction operation such as pile driving
Quarrying
Fast moving traffic including landing aircraft
Wind
Loading due to wave action of water etc.
The nature of each of these loads is quite different from the nature of the loads in
the other cases.
Earthquakes constitute the single most important source of dynamic loads on
structures and foundation.
Every earth quake is associated with a certain amount of energy released at its
source and can be assigned a magnitude (m) which is just a number.
Table gives an idea of the energy associated with a particular magnitude
M (Richter)
E (1020ergs)
5.0
0.08
6.0
2.5
6.33
8.00
6.5
14.1
7.0
80
7.5
446
8.0
2500
8.6
20000
Earthquake:
The vibration of earth that accompanies an earthquake is one of the most
terrifying natural phenomena known. From geological point of view, earthquakes
provide the evidences of the instability of the earths crust and a logical starting point
for any examination of the dynamics of the earth.
Most earthquakes take place along faults in the upper 25 miles of the earth's
surface when one side rapidly moves relative to the other side of the fault.
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Due to ground motion during an earthquake

Footing may settle
Building may tilt
Soils may liquefy
Soils lose ability to support structures
light structures may float
Problems of dynamic loading of soils and soil structures:
Earthquake, ground vibration, wave propagation through soil
Dynamic stress, deformation and strength characteristics
Earth pressure problems and retaining walls
Dynamic bearing capacity and design of shallow footing
Embankments under earthquake loading
Piles foundation under dynamic loads
Liquefaction of soils
Machine foundation
Basic concepts:
For a proper understanding and appreciation of the different aspects of design of
foundation and soil structures subjected to dynamic loads, it is necessary to be familiar
with the simple theoretical concepts of harmonic vibration.
Basic Definitions:
Vibration or Oscillation: It is the time dependent, repeated motion of translational or
rotational type.
Periodic motion: It is the motion which repeats itself periodically in equal time
intervals.
Period (T): The time elapsed in which the motion repeats itself is called the period of
motion or simply period.
Cycle: The motion completed in the period is called the cycle of motion or simply
cycle.
Frequency (f): The number of cycles of motion in a unit of time is known as the
frequency of vibration. It is usually expressed in hertz (i.e. cycles per second).
The period ( T ) and the frequency ( f ) are interrelated as,
T=
1
f
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Free vibration: Free vibration occur under the influence of forces inherent in the system
itself, without any external force. However, to start free vibrations, some external force
or natural disturbance is required. Once started, the vibrations continue without an
external force.
Forced vibration: Forced vibrations occur under the influence of a continuous external
force.
Natural frequency: If an elastic system vibrates under the action of forces inherent in
the system and in the absence of any externally applied force, the frequency with which
it vibrates is its natural frequency.
Resonance: When the frequency of the exciting force is equal to one of the natural
frequencies of the system, the amplitudes of motion become excessively large. This
condition is known as resonance.
Damping: The resistance to motion which develops due to friction and other causes is
known as damping. Viscous damping is a type of damping in which the damping force
is proportional to the velocity.
It is expressed as,
F=c
dz
dt
Where,
c=damping coefficient
dz
=Velocity
dt
Degree of freedom (n): The number of independent co-ordinates required to describe

the motion of a system is called a degree of freedom. A system may in general have
several degrees of freedom; such a system is called a multi degree freedom system.
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k1
k2
k1
m1
z1
k2
m2
x
n=2
n=1
n =3
z2
k3
n=
m3
z3
(a)
(b)
(c)
(d)
Figure - 1: System with different degree of freedom (a) One degree of freedom n=1;
(b) Two degree of freedom n=2; (c) Three degree of freedom n=3;
(d) Infinite degree of freedom n=.
Principal modes of vibrations: A system with more than one degree of freedom
vibrates in complex modes. However, if each point in the system follows a definite
pattern of common natural frequency, the mode is systematic and orderly and is known
as the principal mode of vibration.
A system with n degrees of freedom has a principal modes and n natural
frequencies.
Normal mode of vibrations: When the amplitude of some point of the system vibrating
in one of the principal modes is mode equal to unity, the motion is then called the
normal mode of vibration.
Resonance: When the frequency of the exciting force is equal to one of the natural
frequencies of the system, the amplitudes of motion become excessively large. This
condition is known as resonance. It is important to avoid or control or minimize this
situation. In this condition a large magnitude of force and amplitude of motion can be
generated which is destructive to the structure.
Minimization or Control of resonance:
It is important; therefore, to avoid or minimize these situations by either avoiding
the equalization of the forcing and natural frequencies by use of appropriate damping
mechanism that will reduce the size of the otherwise increased effects at resonance.
Various damping mechanism are available, either inherent in the vibrating system or
especially designed into the system. Reference will be later to specific mechanisms, but
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for the moment it is sufficient that damping loads to the dissipation of energy per cycle
of motion and usually leads to a reduction or decay in amplitude of the motion.
Methods of avoid resonance:
Isolate resonant component
Change exciting frequency using springs, pads, pneumatic, suspending
components
Use Vibration absorption
Increase system damping
Reduce forcing amplitude
Avoid forcing a system at a natural frequency
Un-damped free vibration of a spring mass system:
k
+z
z
Mass
Static
Condition
(a)
-z
Mass
z=0
(b)
z = max
z = max
Mass
Mass
Mass
(c)
(d)
z stat
kz + kzstat
Mass
mg=W
Double
Amplitude
(e)
(e)
Figure - 2: Spring Mass System

a)
b)
c)
d)
e)
f)
Un-stretched Spring
Equilibrium Position
Mass in Oscillating Position
Mass in maximum Downward Position
Mass in upward position
Free body diagram of mass corresponding to (c)
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Un-damped Free vibration of a spring mass system:
Figure - 3: Free Vibration of a mass-spring system
Figure - 3 shows a foundation resisting on a spring. Let the spring represent the
elastic properties of soil. If the area of the foundation is equal to A, the intensity of load
transmitted to the sub grade
q=
The static deflection zstat of the spring is,
z stat =
W
A
W mg
=
k
k
Where,
k =Spring constant
( k is defined as force per
unit deflection)
W =Weight of mass
z stat =Static Deflection
If the foundation is disturbed from its static equilibrium position, the system will
vibrate. According to Newtons second law of motion,
( Wg ) z+ kz=0
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, z +
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( mk ) z=0
... (1)
Where,
g = acceleration due to gravity
z = Displacement
2
z = d z2 = Acceleration
dt
t = time
m = mass =
W
g
In order to solve the equation (1), we get
( n t)+ Bcos( n t )
z= Asin
...
(2)
Where, A and B are arbitrary constant and n is the circular natural frequency of
system.
Now,
( n t )n Bsin ( n t)
dz
z = = n Acos
dt
( n t )n2 Bcos (n t)
d2 z
z = 2 = n2 Asin
dt
( n t)+ Bcos( n t )
Asin
n2
= n2 z
( n t)+ Bcos( n t )
z= Asin
...(3)
From equation (1) and (3) we can write,
n2 z +
( mk ) z=0
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, n2+
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k
z=0
m
k
m
k
, n =
m
, n2=
(+)
One Cycle
Displacement, z
n t
Peak to Peak Amplitude
Time
(-)
Figure - 4: Plot of Displacement, amplitude and cycle for the free vibration of
mass spring system
From figure - 4 the magnitude of maximum displacement is equal to z. This
usually referred to as the single amplitude. The peak to peak displacement amplitude is
equal to 2z. The time required for the motion to repeat itself is called the period of the
vibration. When the time required to complete one cycle of motion is n T n=2 , the
time period T of this motion can be written as
T n=
2 2
=
n
m
k
1 1
f= =
Frequency,
T 2
k
1 kg
1
=
=
m 2 mg 2
g
1
=
mg 2
k
kg
z stat
Example: - 1
A mass supported by a spring has a static deflection of 0.5 mm, Determine its
natural frequency of vibration.
Solution:
Given,
g = 9810 mm/sec2
zstat = 0.5 mm
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f=
1
2
g
z stat
1
2
Advanced Foundation
9810
=22.32 Hz
0.5
(Ans)
Example: - 2
Find the fundamental frequency of vibration of a vertical cantilever as shown in
figure (5) that supports a mass m which is large relative to total mass of the cantilever.
Data - mass, m = 1000 kg, length, L= 20 m, Flexural rigidity, EI = 125102 N-m2.
W = 1000
Kg
EI = 125102 N-
L = 20
Figure - 5: Vertical Cantilever supporting mass

Solution:
Distribution mass of cantilever can be ignored. The lateral stiffness, k of the cantilever
3 EI
at the level of m is, k = 3
L
Now, frequency,
f=
1
2
k
1
=
m 2
3 EI
1
=
3
mL 2
3 125 103
=1.1 Hz
1000 203
(Ans)
Example: - 3
Determine the spring constant for the system of springs shown in figure
k1
k1
k2
c
x1
x2
(a)
k2
(b)
Figure - 6: Equivalent Spring Constant

Solution:
Let us consider that a unit load is applied at c.
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x2
x1 + x2
It is shared at a and b in the ratio of

The deflection of points a and b are of
x1
x1 + x2
and of
x2
1
x1 + x2 k1
and
respectively.
x1
1
x1 + x2 k2
respectively.
Therefore, deflection of point c is.

x1
x2
x
x2
1
1
1
+
1
x 1 + x 2 k 2 x 1+ x 2 k 1 x 1+ x 2 k 2 x 1 + x 2
x 1+ x 2 2
x 1+ x 2 2
x
2
( 1+ x 2)
Hence, the resulting equivalent spring constant at c is,
If x1 = x2 = x and k1 = k2 = k, then
x12 x 22
+
k 2 k1
k eqv =
k eqv =2 k
1
k 1 +k 2
On the application of a unit load in figure b the total deflection is, k + k = k k

2
1
1 2
Hence, equivalent spring constant,
k eqv =
If k1 = k2 = k, then
k1 k2
k 1+ k 2
k eqv =
k
2
Example: - 4
Write the equation of motion for the systems shown in figure (7) and determine the
natural frequencies.
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k1
k2
o
A
x
B
x
k3
Figure - 7: Equivalent Spring Constant

Solution:
On application of unit load at c for spring k1 and k2 the deflection
x+ x 2
2x
x2
1 k 2 +k 1
4 k1 k2
Hence, equivalent spring constant for k1 and k2,

k ' eqv =
4 k1 k2
k 1 +k 2
Total deflection is
1
1 k +k 1
+ = 2 1+
k ' eqv k 3 4 k 1 k 2 k 3
k
k ( 1+k 2 )+4 k 1 k 2
= 3
4 k1 k2 k3
Hence, the equivalent spring constant,
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k
k 3 ( 1+ k 2)+ 4 k 1 k 2
4k k k
k eqv = 1 2 3
We have,
( n t)n Bsin( n t)
dz
z = = n Acos
dt
Where,
k
1+
k 2 )+ 4 k 1 k 2
mk 3 (
n=
k eqv 4 k 1 k 2 k 3
=
A & B = Arbitrary constant

Example: - 5
We will consider the motion of the piston of a reciprocating machine on a soil
foundation. The soil displacement of the position from the extreme position is
S=l+r rcoslcos
Also,
lsin=rsin
rcos?
rcos
lcosf lcos
l+r
Figure - 8: Motion of a Piston of a reciprocating machine

Find the equation of velocity and acceleration.
Solution:
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[ () ]
1
2
2
r
cos=(1sin ) = 1
sin
l
2
1
2
[ () ]
r
sin
l
sin=
If we expand, the right hand side, by the binomial theorem we get,

2
or,
cos=1
1 r
1 r
1 r
sin
sin
sin ..
2 l
8 l
16 l
1cos=
1 r 2 2 1 r 4 4
1 r 6 6
sin +
sin +
sin ..
2 l
8 l
16 l
()
()
()
()
()
()
Substituting cos in the expression for S, we get,

S=r ( 1cos ) +l(1cos)
r 1cos +
2
1 r
1 r 3 4
1 r 5 6
sin +
sin +
sin ..
2 l
8 l
16 l
()
()
()
The series in brackets contains sin2 and even powers of sin .

1
2
sin = ( 1cos 2 )
2
1
4
2 2
2
sin =( sin ) = ( 1cos 2 )
4
1
2
( 12 cos 2 +cos 2 )
4
1
1 1
12cos 2+ + cos 4
4
2 2
Now,
(
)
1 3
1
( 2 cos 2 + cos 4 )
4 2
2
Now,
S=r 1cos+
If
r
l
is very small,
( ) ( 32 2 cos 2 + 12 cos 4 ) ..]
1 r
1 r
( 1cos 2 ) +
4 l
32 l
()
r
l
()
and higher powers can be neglected.
S=r 1cos+
lr
( 1cos 2 )
4l
Putting =t that S is a function of cos ( t ) and cos ( 2 nt ) where n = 1, 2, 3

.
S=r 1cos ( t ) +
lr
( 1cos ( 2 t ) )
4l
Velocity,
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ds
r
S = =r sin ( t ) + { sin ( 2 t ) }
dt
2l
Acceleration,
S=
d2 s
r
2
=r cos ( t ) + cos ( 2 t )
2
l
dt
Damped Free Vibration or Free Vibration with Viscous Damping

Field frictional resistance to motion of a body produces a viscous damping force that is
directly proportional to relative velocity, when it is low. At higher relative velocities, the
damping force may be proportional to the square of the velocity. Internal frictional
resistance of materials, associated with the internal molecular structure, will also lead to
decay of vibration.
If the force of damping Fd is proportional to velocity, it is termed viscous damping,
Thus
Fd =c x
....
(1)
Where c is a constant of proportionality, referred to as the viscous damping co-efficient.
Figure (9) shows a single degree of freedom oscillator to which is added a dashpot that
induces the damping forces. From the force body diagram the equation of motion is
m x +c x + kx=0
, x +
c
k
x + x=0
m
m
..
...(2)
x
rigid mass, m
m x
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Figure - 9: Spring mass Dashpot system

If we define a critical viscous damping co-efficient,
cc
is, c c =2 km
D=
c
cc
...
..(3)
And a damping ratio,
.....(4)
c
k
=c c =2 km=2m
=2 n m
D
m
,
c
=2 Dn
m
k
2
where, n = m
So equation (2) becomes,

x + 2 D n x + n2 x=0
.....(5)
The general solution of this equation is,

r1 t
x= A e + B e
.....(6)
r2 t
Where A & B are constants to be determined from the initial conditions at x (0) and
x (0) . r 1 ,r 2 are the roots of the auxiliary equation,
r 1,2= n [ D D 1 ]
2
The three cases,

D = 1.0 for Critically Damped Condition
D>=1.0, Over Damped Condition
D<1.0, Under Damped Condition
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Figure - 10: Free Vibration of a spring mass Dashpot system (a) Over Damped
case, (b) Critically Damped Case, (c) Under-Damped case.
If, D = 1, r 1=r 2 =n
The
t
A+Be
x=
if roots are equal.
By the initial condition i.e. x ( 0 )= A x and x ( 0 )= 0, we get the value of A & B.

x= A x et gives a periodic motion or non-oscillatory motion i.e. D=1 or D>1 are case
of over Damped condition.
For damping, the motion or velocity comes rapidly to zero.
If D=1, the system is under damped, i.e. gives oscillatory motion.
Then
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r 1= n [ D D 21 ]
r 2= n [ D D 21 ]
r 1r 2
Where,
are complex and conjugate roots.
For the initial conditions x ( 0 )= A x and x ( 0 )= 0, the solution of equation (7) gives,
n Dt
x=
or, x=
Axe
(1D )
A xe
n Dt
(1D )
2
{sin cos (1D )t +cos sin (1D )}

2
sin { n (1D )t + }
2
Where, sin = (1D2)cos =D and is the phage angle.

The motion is oscillatory with exponentially decaying amplitude, the general nature of
which shown in the following figure (11)
Maximum
(+)
Point of Tangency
x
Ax
Time
(-)
Figure - 11: Damped Free Oscillation

Damping ratio (D) or Damping factor (D) and its significance:
Damping factor may be defined as The ratio of the actual damping coefficient (C) to the
critical damping coefficient (Cc).
Actual Damping C
Mathematically, D= Critical Damping = C
c
Force
, D=
Energy absorbed
Energy applied
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Deformation
Figure - 12: Energy absorption of Materials

As usual case, D<1, for soil, D= 0.1~0.5
If D>1, the system is over damped and non-oscillatory and motion is a periodic motion.
If D=1, the system is critically damped and non oscillatory and motion is non periodic.
If D<1, the system is under damped and oscillatory and motion is periodic.
Only under-damped systems are of practical importance in the design of machine
foundation.
(a) (b)
Figure - 13: (a) Un-damped Vibration (Amplitude vs Time); (b) Damped Vibration
(Amplitude vs Time)
Since for over damped, the motion is a periodic, the system returns to its original
position in the minimum time, when critically damped.
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(+)
1.0
0.5
x
Ax
-0.5
D=8
D=5
D=1
0.5
D=2
1.0
1.5
2.0
2.5
3.0
3.5
Time
D = 0.2
-1.0
(-)
Figure - 14: Free vibration with various value of D

The envelope curve and the oscillatory curve have a common point where the
curve have the same slope; this point does not correspond to the maximum excursion
for the mean position, which occurs when x =0 , the difference is small for small
values of the damping ratio, D.
Natural frequency or Un-damped natural frequency ( n ) and Damped

frequency ( nd ) and operating frequency ( ) and their significance:
An elastic system vibrates under the action of forces inherent itself in the system
and in the absence of any externally applied force, the frequency with which vibrates is
its natural frequency or un-damped natural frequency ( n ).
System mass, m
System mass, m
Figure - 15: Spring mass with Dashpot system
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Mathematically,
n=
Advanced Foundation
k
m
Where,
k = Stiffness of spring and
M = Mass of System
Vibrations that occur under the excitation of externally applied forces are termed
forced vibrations. Forced vibrations occur at the operating frequency ( ) of the
exciting force. The operating frequency ( is independent of the natural frequency (
n ) of the system. But when, = n , the response of the system is infinite. The
condition is known as resonance. Damped frequency
( nd ) may be defined as
nd= n 1D2 .
Actual Damping C
Where, D = Damping factor Critical Damping = C
c
Always damped frequency
( nd ) is less than the un-damped natural frequency
( n) . However for small values of D, the influence of D is not great. As an ideal un
damped system is non-existent, damping always exists and the response is finite.
However, when operating frequency () is close to the natural un-damped frequency
( n) , the response is very high. To avoid this condition, the operating frequency
should not be close to the natural frequency. For a safe design, the frequency ratio
(
)
n
is normally kept outside the critical range of 0.40 to 1.50.
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Non Oscillatory and critically damped motion, Damped force vibration and their
significance:
When D>1, the system is over-damped, the motion of the system is called nonoscillatory or a periodic motion.
When D=1, the system is critically damped, the motion of the system is called critically
damped motion.
When D<1, the system is under-damped, the motion of the system varies sinusoidal is
called damped forced vibration.
Where,
Actual Damping C
C
C
D = Damping factor Critical Damping = C = 2 m = 2 km
c
n
(+)
1.0
0.5
x
Ax
-0.5
D=
D=8
D=5
D=1
0.5
D=2
1.0
1.5
2.0
2.5
3.0
3.5
Time
D = 0.2
-1.0
(-)
Figure - 16: Spring mass with dashpot system and free vibration with various value of
D
It is not intended to investigate the algebra of these above cases as they are rarely
of interest in machine foundation problems.
Figure (16) shows the behavior of these cases for the initial conditions x ( 0 )= A x
and x ( 0 )=0 .
In the case of critical damping, the mass, m returns to its equilibrium position in the
shortest possible time. Critical frequency may be defined as the frequency factor
( =1)
n
is one, i.e. the case where the operating frequency () of the system is
equal to natural frequency ( n) . At this case, the system reaches at resonance

condition where higher or uncontrolled velocity of the system is created. For machine
foundation design, the case is unexpected.
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Critical damping may be defined as the damping factor
( D= CC =1)
c
is one,
where actual damping and critical damping are equal. At this case, the system returns to
its equilibrium position in the shortest possible time. For machine foundation design,
this case is expected.
So the above two situations are opposite to each other.
n=
k
m
C c =2 km
Logarithmic Decrement and the experimental Determination of Damping:

Logarithmic decrement is a measure of the decay of successive maximum
amplitude of viscously damped vibration and is expressed as
=log e
xm
x m +1
(1)
In which x m and x m+1 are two successive peak amplitudes, from a
displacement verses time trace will enable the damping constant to be estimated.
(+)
50.7454
x
m
32.5000
x m+1
Time
(-)
Figure - 17: Amplitude of Viscously Damped vibration
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Here m is an arbitrary cycle number.

If x m occurs at time t , then from oscillatory damping motion equation, we have
A x e Dt
n
x m=
(1D )
2
sin { n (1D2 )t + }
.. (2)
Where,
=tan1
1D2
D
At a time interval of one periodic later,

T =t +
..
n (1D )
2
. (3)
A (e
=
n Dt
x m+1
2 D
(1D 2)
) sin { (1D ) (t+T )+ }
(1D )
2
.. (4)
The values of the sine functions are equal when the time is increased by the period,
T , so that the ratio of the displacements becomes,
2 D
xm
=e (1 D )
x m +1
2
.(5)
So,
2 D
x
2 D
=log e m =log e e (1D ) =
x m +1
(1D2 )
2
..
(6)
For small values of D , the equation (6) can be expressed in series form,
2
D2
1+
2 D
=
=2 D(1D 2) 2 =2 D ( + ) 2 D
2
(1D )
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Hence,
...
=2 D
..(7)
In practice, when interpreting a vibration trace or record, it is better to find the number
of cycles required for the amplitude to reduce to half its value.
Consider first the ratio of
x0 2
=
xn 1
after n cycles,
Now,
x0 x0 x1 x2
x
n
= , , n1 =( e ) =en
xn x1 x2 x3
xn
From which is found,

1 x
= ln 0
n xn
..
..(8)
For the case, when
x0 2
=
xn 1
ln
And,
x0
=ln2=0.693
xn
n 2 nD =ln
x0
=0.693
xn
Therefore,
nD=0.11=
If
D=0.1
D=0.2
D
0.693
2
n=1.1
n=0.55
Depends on materials, for soil If D=0.1 0.5 .
Determination of Viscous Damping (by Bandwidth Method)
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Advanced Foundation
Damping can be determined from either a free vibration or a forced vibration test
on a system. In a free-vibration test, the system is displaced from its equilibrium
position and a record of the amplitude of displacement is made. Then we have,
2
D2
1+
2 D
=2 D (1D 2) 2 =2 D ( + ) 2 D
2
(1D )
D=
1
=
log e m
2 2
x m+1
. (1)
D=
1
=
log e 0
2 2 n
xn
. (2)
In a forced-vibration test, the system may be excited with a constant force of excitation
and varying frequencies. Figure (18) shows a resonance curves.
Figure - 18: Determination of damping ratio from forced vibration

The amplitude of the motion is
Ax
=
xs
2 2
( )} (
1
n
+ 2D
n
.. (3)
Putting, frequency ratio,
=1 , We have,
n
Ax
1
=
xs 2 D
(4)
Page 26 of 46

Advanced Foundation
f
x
Putting, the frequency ratio r= x = f , when the amplitude of motion
s
n
0.707
A
1
= x ,
2 D xs
We get,
0.707
1
=
2
2D
( 1r 2 ) + ( 2 Dr )2
0.707
1
,
=
2
2D
( 1r 2 ) + ( 2 Dr )2
1
1
=
2
2 2 D 12 r + r 4 + 4 D2 r 2
, 12 r 2+ r 4 + 4 D2 r 2=8 D2
, r 4 2r 2 ( 12 D2 ) + ( 18 D2 )=0
, r 21,2=
2
1
2 ( 12 D2 ) 4 ( 12 D2 ) 4 ( 18 D2 )
2
1
2
2
4
2
2 ( 12 D ) 416 D +16 D 4+ 32 D ]
[
2
( 12 D 2 ) 2 d 1+ D2
Now,
r 22r 12=4 D 1+ D2 4 D
If D is very small.
Now,
f 22 f 12 f 1+ f 2
r 2 r 1 =
=
fn
f n2
2
( )(
f 1f 2
f +f
=2 2 1 .1
fn
fn
) ( )
Since,
f 1+ f 2
=2
fn
( )
So,
4 D=2
, D=
f 2+ f 1
fn
( )
1 f 2f 1
2 fn
This method for determining viscous damping is known as the bandwidth method.
Forced Harmonic Vibration with Viscous Damping
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Advanced Foundation
The harmonic force F0 cost acts on the system which has a spring constant
k and a viscous damping constant c as shown in figure (19). The circular
frequency of the force application is , and the amplitude is constant F0 .
F0 cost
rigid mass, m
F0 cost
m x
Figure - 19: Forced Harmonic Vibration with Viscous Damping

The equation of motion is found from the free body and is written as
m x +c x + kx=F 0 cost = F 0 e it
The solution of the equation,
.(1)
Re = Real
m x +c x + kx=0
is,
x= A e it
.(2)
Where, A is an arbitrary constant.
Equation (2) substituting into equation (1), we have
x=
F0 e
it
{m (i )2 +c ( i )+ k }
F
e
(
k )
, x=
{1( ) +i.2 D .( )}
0
it
Where, n=
k
m
c
and D=
2 km
The static deflection is x s=
F0
k
and phase angle is,

Page 28 of 46

Advanced Foundation
{ }
( )
1
( )
2D
=tan1
The phase angel is the angle, by which the response lags behind the disturbing fore,
i (t)
x=
xs e
2 2
( ) } { ( )}
1
n
+ 2D.
n
x s (cost)
2 2
( ) } { ( )}
1
n
+ 2 D.
n
The amplitude of the motion is

A x=
xs
2 2
( ) } { ( )}
1
n
+ 2 D.
n
Ax
=M =Magnificaiton factor
xs
Ax
=f
,D
xs
n
=f
( , D)
n
Ax
=1.0 for static case .
xs
Page 29 of 46

Ax
xs
Magnifcation factor,
M=
Advanced Foundation
Frequency ratio,
Frequency ratio,
Figure - 20: Magnification factor and phase angle in forced Vibration

Page 30 of 46

Advanced Foundation
Significance of the above figures:

The damping ratio ( D ) has a large influence on the amplitude A x and phase
angle in the frequency region near resonance when 1.

n
The maximum magnification factor (M ) occurs for < 1 when damping is

n
present.
When the damping is small, D 1, the amplitude and the phase angle are
almost independent of D.
The damping and inertia forces are then very small, so that the exciting force is
almost equal to spring force.
When is close to unity, the damping force and exciting force are almost
n
equal. The spring force and inertia force are almost balanced.
When the frequency ratio 1, the phase angle ( ) approaches 180.

n
The exciting force then almost equals to the inertia force.
The amplitude approaches the static displacement when 1 .

n
The amplitude becomes small when 1.

n
The phase angle ( ) is very sensitive to the ratio in the region of near
n
resonance for small damping.
2
When = 12 D , then
n
Ax
xs
reaches a maximum.
The amplitude at resonance is found to be A x =
xs
.
2D
Forced Vibration with Viscous Damping (Derivation for maximum magnification)

A spring-mass-dashpot system under the action of a force of excitation F such that,
F=F0 sintsint
(1)
Where,
= Frequency of force of excitation.
The equation of motion for free-body,
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Advanced Foundation
m x +c x + kx=F 0 sintsint
.(2)
The solution of the equation is,
x= A x sin ( t )
.(3)
Where,
=Phase Angle
Equation (3) substituting into equation (2), we have
( Fk )
0
A x=
2 2
And,
( ) } { ( )}
1
n
+ 2 D.
n
{ }
( )
1
( )
2D
=tan1
Where,
Ax
( ) { ( ) } { ( )}
F0
k
1
n
2 2
+ 2D.
n
c
2 km
k
n=Natural frequency=
m
D=Damping Factor =
M =Magnification factor=f
( , D )
n
For maximum value of magnification factor, M max

m
( )
1
1
2
,
[ {
=0
( ) } { ( )} ] [ { ( ) ( )
1
n
2 2
+ 2D.
n
2 1
[ { ( ) } { ( ) } ]
1
2 2
+ 2D.
( )}]
2
.1+2.2 D .
n
n
n
=0
Page 32 of 46

Advanced Foundation
{ ( )} ( ) ( )
, 04 1
+ 8 D2
=0
n
n
2
=2 D2
n
( )
, 1
,
= 12 D 2
n
fm
= 12 D2
fn
, f m =f n 12 D 2
Where,
=2 f m n=2 f n
Now,
2 2
{ ( )}
{ ( )} ( )
1
n
2D
And
=4 D2
So,
M max=
M max=
,
2
=4 D2 ( 12 D2 ) =4 D 28 D4
n
1
2 2
( ) } { ( )}
1
n
So,
= {1( 12 D2 ) } =4 D4
+ 2D.
n
1
( 4 D + 4 D28 D 4 )
4
{4 D ( 1D ) }
2
1
2 1D2
=f ( D )
1
=f ( D )
2 1D2
= 12 D 2=f ( D )
n
, f m =f n 12 D 2
f m f n , for maximum vibration, which is always avoided.
x s=
F0
=Static deflection
k
Page 33 of 46

Ax
xs
Magnifcation factor,
M=
Advanced Foundation
Frequency ratio,
Figure - 21(a): Plot of Magnification factor vs Frequency ratio in forced Vibration
Frequency ratio,
Figure - 21(b): Plot of phase angle vs frequency ratio in forced Vibration
Page 34 of 46

Advanced Foundation
Effect of frequency ratio, r= for a particular case

n
When D=0,
If, r=0, M =1
If, r=1, M =
If r= , M =0
At r=1, resonance occurs and amplitudes tend to infinity.
The introduction of damping reduces the amplitudes to finite values.
The phase angle is zero if r <1 ; the displacement, x is in the phase with the
exciting force, F0 and =180 if r >1.
Effect of Damping factor:
As the damping increases, the peak of the magnification factor M shifts
slightly to the left. This is due to the fact that the maximum amplitudes occur in damped
vibrations when the forcing frequency ( ) equals the systems damped natural
frequency nd , which slightly smaller than the un-damped natural frequency ( n).
For r=1, the phase angle is 90 for all values of damping, D

except when D=0.
For r <1, the phase angle is less then 90
For r >1, the phase angle is greater than 90
The maximum amplitude of motion at r=1 and D>0, is A x =
F0
.
c
Force transmitted to foundation:

The force FT transmitted to the foundation by the spring and damper system is given
by:
FT =c x + kx
..(1)
And after substitution from equation
Page 35 of 46

Advanced Foundation
F
e
(
k )
x=
1( ) +i .2 D . ( )
{
}
0
it
And,
x s=
( Fk )
0
F0 costx
rigid mass, m
Figure- 22: Force transmission by spring damper

We have,
FT =
x s ( k +it )
{ ( )
1
( )}
+ i.2 D .
n
n
.(2)
And as
c
=
k
c
, =
k
c .2 .
2 km .
c .2 .
2 km .
, =2 D
k
n
k
m
=2
c
cc n
k
m
(3)
Page 36 of 46

.
FT =
F0
c
. k 1+i . . e it
k
k
{ ( )
( )}
1
+ i.2 D.
n
n
. F 0 1+i.2 D .
, FT=
it
e
n
{ ( )
1
Advanced Foundation
( )}
+ i.2 D .
n
n
(4)
The amplitude of the force transmitted is given by
1+ 2 D .
n
( )
1
+ 2D.
{ ( ) } ( )
1+( 2 D . )
F
, =
F
{1( ) } +(2 D . )
FT =F 0
The ratio
FT
F0
2 2
2 2
is referred to as the transmissibility of the force.

T F=
FT
=f
,D
F0
n
Page 37 of 46

FT
F0
Force transmissibility,
T F=
Advanced Foundation
Frequency ratio,
Figure-23: Plot of force transmission and frequency ratio

F
T
Now, the ratio T F = F =1 , when
0
2 2
{ ( )} (
1
=1+ 2 D .
n
n
) ( )
, 1
( ) = 1
,
( ) =1 1=0,2
+ 2D.
=0, 2
n
, > 2 thenT F < 1

n
,
If
D 1, thenT F 1
Some damping is needed when must pass through the resonant condition, where a
magnification will occur.
Page 38 of 46

Advanced Foundation
If D is negligible and > 2 , then T F 1.

n
Some damping is needed when must pass through the resonant condition, where a
magnification will occur.
If D is negligible and > 2 , then

n
T F=
Replacing,
1
2
1
n
g
2
n =
x s and
( )
=2 f , we have
T F=
( 2 f )
xs
1
g
Where x s= k
If k is small, the x s is large.

f m=f n 12 D2=0
12 D2=0
D=
1
=0.707
2
=0
F0 sin t=0 is a static case.
Which means that the maximum response is the static response.

f = A x cd
c d =10.6
z
b
Where,
z=Depth of foundation ground level
a1+ a2 =Average of widthlangth of foundation

b=
2
Example: - 6
A machine of mass 100 kg is supported directly on springs which have a total stiffness
of 2000 KN/m. An unbalanced rotating mass results in a disturbing force of 200N at a
Page 39 of 46

Advanced Foundation
speed of 3000 rpm. Assuming a damping factor of D = 0.10 determine the amplitude of
vibration, the transmissibility, and the force transmitted to the foundation.
Solution:
The static deflection of the system is
w mg 100 9.81
x s= =
=
=0.49 103 m=0.49 mm
3
k
k 2000 1 0
The natural frequency of the single degree of freedom system is

f n=
1
2
k
1
=
m 2
2000 1 03
=22.5 Hz
100
The ration of forcing to the natural frequency, then becomes

f 3000
1
= =
=2.22
n f n
60
22.5
The amplitude of vibration,

A x=
xs
+ 2 D. ( )
(
)
{ } { }
2 2
( Ans . )
0.49
( 12.22 ) +( 2 0.10 2.22 )2

2 2
=0.124 mm
The transmissibility,
F
T F= T =
F0
( ) = 1+ ( 2 0.1 2.22 ) =0.277 ( Ans .)

{1( ) } +(2 D . ) {12.22 } +(2 0.1 2.22)
1+ 2 D .
2 2
2 2
The transmitted force is then

FT =T F F 0=0.277 200=55 N ( Ans . )
Example: - 7
A machine of mass 100 kg is supported directly on springs which have a total stiffness
of 100 KN/m. An unbalanced rotating mass results in a disturbing force of 200N at a
speed of 3000 rpm. Assuming a damping factor of D = 0.10 determine the amplitude of
vibration, the transmissibility, and the force transmitted to the foundation.
Solution:
Page 40 of 46

Advanced Foundation
The static deflection of the system is

w mg 100 9.81
3
x s= =
=
=9.8 10 m=9.81mm
3
k
k
100 1 0
The natural frequency of the single degree of freedom system is

f n=
1
2
k
1
=
m 2
100 1 03
=5.03 Hz
100
The ration of forcing to the natural frequency, then becomes

f 3000
1
= =
=9.94
n f n
60
5.03
The amplitude of vibration,

A x=
xs
+ 2 D. ( )
(
)
{ } { }
2 2
9.81
( 19.94 ) +( 2 0.10 9.94 )

2 2
=0.10 mm
( Ans . )
The transmissibility,
FT
T F= =
F0
( ) = 1+ ( 2 0.1 9.94 ) =0.0227 ( Ans .)

{ 19.94 } + ( 2 0.10 9.94 )
1
+ 2D.
{ ( ) } ( )
1+ 2 D .
2 2
The transmitted force is then

FT =T F F 0=0.0227 200=4.55 N ( Ans . )
Example - 8:
An unknown weight W attached to the end of an unknown spring k has a natural
frequency of 95 cpm. If 1 kg weight is added to W , the natural frequency is lowered
to 75 cpm. Determine the weight W and spring constant K.
Solution:
Let,
m=w kg
Page 41 of 46

Advanced Foundation
m' =( w+1 ) kg
f n=
1
2
k
m
, 95=
,
1 k
2 m
k
=95 2
m
k
=( 95 2 )2
m
(1)
k
2
=( 75 2 )
m'
(2)
Again,
f n' =
1
2
k
m'
, 75=
,
1
2
k
=75 2
m'
k
m'
(1)
Equation (2) we get,

2
m' ( 95 2 )
=
=1.60
m ( 75 2 )2
w+1
=1.60
w
, w=1.67 kg ( Ans . )
,
Again,
k
=( 95 2 )2
m
2
1.67 ( 95 2 )
, k=
=60.65 KN /m ( Ans . )
9.81 1000
Exercise - 1:
Page 42 of 46

Advanced Foundation
A body 65 kg weighing is suspended from a spring which deflects 1.57 cm under the
load. It is subjected to a damping effect adjusted to a value 0.25 times that required for
critical damping. Find the natural frequency of the un-damped and damped vibrations
and the latter case; determine the ratio of successive amplitudes. If the body is subjected
to a periodic disturbing force with a maximum value of 25 kg and a frequency equal to
0.75 times the natural un-damped frequency, find the amplitude of forced vibration and
the phase difference with respect to the disturbing force.
Solution:
k=
F 0 65 9.81 100
=
=40615 N /m
xs
1.57
Natural frequency of the un-damped,

f n=
1
2
Again,
k
1
=
m 2
40615
=3.98 Hz (Ans)
65
nd= n ( 1D 2)
, 2 f n=2 f n ( 1D2 )
, f nd =f n ( 1D 2) =3.98 ( 10.25 2 )
3.85 Hz ( Ans )
The ratio of successive amplitudes

2 D
2 0.25
xm
=e ( 1D ) =e ( 10.25 ) =5.06 5 ( Ans )
x m +1
2
Amplitude
A x=
xs
2 2
( ) } { ( )}
1
n
+ 2 D.
n
15.7
( 10.75 ) +( 2 0.25 0.75 )

2 2
=27.2mm ( Ans )
Phase Angle
{ }
( ) =tan 20.25 ( 0.75 ) =tan

{
1( 0.75 ) }
1
( )
2D
=tan1
( 0.875 ) =45 ( Ans)
Page 43 of 46

Advanced Foundation
Questions
On
Vibration Theory
1. What is soil dynamics?
2. What are the nature/sources of dynamics loading?
3. At what Richter Scales, the earthquake is very critical and?
4. What are situation when footing during earthquake settle?
5. What are the problems in soil & structure for dynamics loading?
6. Define periodic motion and natural frequency.
7. What is resonance?
8. What is dumping?
9. What are the principal of vibration?
10.How will you minimize the resonance for dynamic analysis?
11.Sketch the different positions for un-damped free vibration of a spring mass
system?
12.Define by figure for force transmitted to foundation by spring and damper system
and mention its initial equations.
13.Define spring constant.
14.A mass supported by a spring has a static deflection of 0.5 mm. determine its
natural frequency of vibration.
15.Write down the starting equation for damped and un-damped free vibrations
expression.
16.Define the damping condition by damping ratio.
17.Draw the sinusoidal curves (Amplitude verses time) for damped and un-damped
free vibrations.
18.Write down the name for the following soil dynamics term
z, n, C, z , Cc, D, z , K, Ax, Fd, , nd, sin, fn
Page 44 of 46

Advanced Foundation
19.Define the following terms

a. Damping factor
b. Critical frequency
c. Critical damping
20.Write down the relations for and s with D.
21.What are ranging values of D, (Poissons ration) used for soil.
22.Write down Richter Scale (M) values with respective energy (E) values used for
intensity of earthquake.
23.Write down the relations between
a.
Ax
Xs
and
b. D and f for bandwidth method

c. r and D
d. D and x
24.Define harmonic force with spring and dash pot system.
25.Define magnitude factor and write down a relation for it with frequency ratio and
damping factor.
26.Draw a graph for magnitude verses frequency ratio at different damping values.
27.Write down the significances against the figures drawn in question no 28
28.Draw the graph phase angle verses frequency ratio at different damping values.
29.Write down the 4 significances against the figures drawn in question no 29
30.What are the effect of magnification factor, frequency ratio and damping factor
when resonance occurred? Sketch proper graph.
31.What are effects of D on M and with variation of ?

n
32.Define transmission of force to foundation by the spring and damper system.
33.Define transmissibility force and draw the graph for transmissibility force against
frequency ratio at different damping.
34.What are values of frequency ratio when transmissibility force is one in
magnitude?
35.Practice the Examples.
36.Define natural frequency and forced frequency.
Math
1. At unknown weight w attached to the end of an unknown spring k has a natural
frequency of 95 cpm. If 2 kg weight is added to w, the natural frequency is
lowered to 60 cpm. Determine the weight w and spring constant k.
2. A body 65 kg is suspended from a spring which deflects 1.57 cm under the load.
It is subjected to a damping effect adjusted to a value 0.25 times that required for
critical damping. Find the natural frequency of un-damped and damped vibrations
and in the letter case, determine the ratio of successive amplitudes if the body is
Page 45 of 46

Advanced Foundation
subjected to a periodic disturbing force with a maximum value of 25 kg and a

frequency equal to 0.75 times of the natural un-damped frequency, find the
amplitude of forced vibrations and the phase difference with respect to disturbing
force.
Page 46 of 46

Vibration Theory - 5th

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Vibration Theory - 5th

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Prof. Dr. Md.

Prof. Dr. Md. Mokhlesur Rahman

Prof. Dr. Md. Mokhlesur Rahman

Due to ground motion during an earthquake

Prof. Dr. Md. Mokhlesur Rahman

Degree of freedom (n): The number of independent co-ordinates required to describe

Prof. Dr. Md. Mokhlesur Rahman

Prof. Dr. Md. Mokhlesur Rahman

Figure - 2: Spring Mass System

Prof. Dr. Md. Mokhlesur Rahman

Un-damped Free vibration of a spring mass system:

Figure - 3: Free Vibration of a mass-spring system

The static deflection zstat of the spring is,

( k is defined as force per

z stat =Static Deflection

Prof. Dr. Md. Mokhlesur Rahman

In order to solve the equation (1), we get

Prof. Dr. Md. Mokhlesur Rahman

Peak to Peak Amplitude

Prof. Dr. Md. Mokhlesur Rahman

Figure - 5: Vertical Cantilever supporting mass

Figure - 6: Equivalent Spring Constant

Prof. Dr. Md. Mokhlesur Rahman

It is shared at a and b in the ratio of

Therefore, deflection of point c is.

Hence, the resulting equivalent spring constant at c is,

On the application of a unit load in figure b the total deflection is, k + k = k k

Prof. Dr. Md. Mokhlesur Rahman

Figure - 7: Equivalent Spring Constant

Hence, equivalent spring constant for k1 and k2,

Hence, the equivalent spring constant,

Prof. Dr. Md. Mokhlesur Rahman

A & B = Arbitrary constant

Figure - 8: Motion of a Piston of a reciprocating machine

Prof. Dr. Md. Mokhlesur Rahman

If we expand, the right hand side, by the binomial theorem we get,

Substituting cos in the expression for S, we get,

The series in brackets contains sin2 and even powers of sin .

( ) ( 32 2 cos 2 + 12 cos 4 ) ..]

and higher powers can be neglected.

Putting =t that S is a function of cos ( t ) and cos ( 2 nt ) where n = 1, 2, 3

Prof. Dr. Md. Mokhlesur Rahman

Damped Free Vibration or Free Vibration with Viscous Damping

Prof. Dr. Md. Mokhlesur Rahman

Figure - 9: Spring mass Dashpot system

So equation (2) becomes,

The general solution of this equation is,

The three cases,

Prof. Dr. Md. Mokhlesur Rahman

if roots are equal.

By the initial condition i.e. x ( 0 )= A x and x ( 0 )= 0, we get the value of A & B.

Prof. Dr. Md. Mokhlesur Rahman

are complex and conjugate roots.

{sin cos (1D )t +cos sin (1D )}

Where, sin = (1D2)cos =D and is the phage angle.

Figure - 11: Damped Free Oscillation

Prof. Dr. Md. Mokhlesur Rahman

Figure - 12: Energy absorption of Materials

Prof. Dr. Md. Mokhlesur Rahman

Figure - 14: Free vibration with various value of D

Natural frequency or Un-damped natural frequency ( n ) and Damped

Figure - 15: Spring mass with Dashpot system

Prof. Dr. Md. Mokhlesur Rahman