Chapter 3 Student

Chapter 3
Forced Vibrations of SDOF

Dr.-Ing. Azmi Mohamed Yusof
Faculty of Mechanical Engineering
Course outcome
At the end of this chapter students will be able to state, derive and apply
the fundamental principle of vibration involving:-
Forced vibration of undamped system with harmonic excitation

Forced vibration of damped system with harmonic excitation
Various applications, specifically the system with rotating unbalanced
and method for vibration isolation
MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Undamped system with harmonic oscillation
Consider the simplest vibrating system as shown in

=0
fig. (a)
The time varying external force is given by

cos
Applying Newtons second law for the FBD shown in

fig. (b),
cos
=0
cos
or
(1)
Where
is the natural frequency of the mass, while

is the frequency of the external force

The solution to this second order, linear, nonhomogeneous ODE contain
complementary solution
, and particular solution

---- (2)
The complementary solution :

0
cos
sin
---- (3)
Let assume the particular solution as :

cos
---- (4)
Obtaining the velocity and acceleration term for eqn. 4 gives

cos
sin
cos

Substituting the above equations into eqn. (1)
cos
cos
cos
;
From eqn. (2),
, the final solution gives
cos
sin
cos

The complementary solution defines the free
vibration (see figure (a)) and it will typically dampen
out.
Therefore xc is referred to as transient
The particular solution describes the force vibration
caused by the applied load (fig. (b))
There resultant vibration is shown in fig. c
As the free vibration will in time dampen out, the
remaining vibration will be the force vibration
Thus,
is called steady state (see fig. (d)).


We need to determine the constant D & E by using
initial conditions.
Suppose
and
, then we
have
and
By substituting into equation 1

cos
sin
cos
If the static deflection of the mass due to force Fo is

given by
written as,
, the maximum amplitude can be
1
1

The ratio,
is known as the magnification factor
(M)
M The ratio of the amplitude of vibration to the

amplitude of zero frequency deflection
The plot
or Magnification factor versus the
frequency ratio r
is shown in fig. (a)
The asymptote occurs at r =1, thus the system

response can be of three types
When 0 <
When
>1
When
=1
<1

Case 1, when 0 <
<1
The natural frequency of the free vibration response > natural frequency
of forced vibration
The amplitude of forced response > the static deflection

The harmonic response of the system xp(t) is in phase with the external
force. See the plots as shown in the figure
External force excitation
System response
9

Case 2, when
>1
The natural frequency of the free vibration

response < natural frequency of forced
vibration
cos
and
phase
When
, where
has opposite sign, 180o out of
, then X 0 : the response at
very high frequency is close to zero.

System response
10

Case 3, when
=1
The condition when = n is called resonance

Amplitude of oscillation increases linearly with
time or infinite
Undesirable condition which may harm overall

system
The equation of motion is

The response of the system at resonance is:
System response
11

Example
A weight of 50N is suspended from a spring of stiffness 5000 N/m and is

subjected to a harmonic force of amplitude 40N and frequency of 4 Hz.
Determine
a) the extension of the spring due to suspended spring
b) the static displacement of the spring due to the maximum applied
force
c) the amplitude of the forced motion of the weight
12

Solution
13

Example
A 50 kg mass is hanging from a spring of stiffness 5 x 104 N/m. A

harmonic force of magnitude 100 N and frequency 100 rad/s is applied to
the system. Determine
a) the amplitude of the forced response
b) the natural frequency of the system
14

Solution
15

Example
A reciprocating pump, having a mass of 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 the figure below. During operation of the pump, the plate
220 cos 62.832 N. Determine the
is subjected to a harmonic force,
amplitude of vibration of the plate. (Take the plate equivalent stiffness of the
beam as
, and Youngs modulus of the beam as 200 Gpa).
16

Solution
17

Forced vibration with viscous damping
Consider a viscously damped SDOF spring-mass

system as shown in fig. (a).
Suppose the external force applied is in the form of

sin
Using Newtons second law of motion for FBD shown in

fig. (b),
cos
cos
or
The particular solution can be assumed in the form

cos
sin
The velocity and acceleration terms become,

sin
cos
18

Substitute these results into equation 1,
cos
sin
cos
Extracting the algebraic equation involving term A and B,
and
0
Dividing both equations with k
2
Where
and
and
Solve the above equation for A and B yield,
The result for a steady state equation

1
2 sin
cos
19

It can also be written in a generalized form
Introducing the magnification factor M,
Where the phase angle is:
The plot for M versus r, and versus r are shown in the figure
20
21

Finally, The complete solution is given by
and
cos
cos
can be determined from the initial conditions

0
0
See textbook page 275 for complete solution (long equation).
22

Example
A SDOF spring-mass-damper system is subjected to a harmonic force.

The amplitude is found to be 25 mm at resonance and 10 mm at a
frequency 0.75 times the resonant frequency. Determine the damping
ratio for the system.
Solution
23

Example
A SDOF damped system is composed of a mass of 10 kg, a spring

having a constant of 2000 N/m, and a dashpot with damping constant of
50 Ns/m. The mass of the system is acted on by a harmonic force F = Fo
sin t having a maximum value of 250 N and a frequency of 5 Hz.
Determine the complete solution for the motion of the mass.
Solution
24
25

Example
A 25 kg mass is mounted on an oscillator pad whose stiffness is 5 x 105

N/m. When the system is subjected to a harmonic excitation of
magnitude 300 N and frequency 100 rad/s, the phase different between
the excitation and the steady state response is 25o. Determine:
a) the damping ratio of the isolator pad
b) the isolator pads maximum deflection due to this excitation
26
27

Response due to harmonic motion of
the base/support motion
Sometime the base or support of a

spring-mass-damper-system
harmonic motion.
undergoes
Example of this situation is the car

moving on bumpy road as shown in the
figure.
Let y(t) denote the displacement of the base and x(t) the displacement of
the mass
The system is simplified in the figure shown. The subsequent analysis is

based on the FBD shown.
The net elongation of the spring is

The relative velocity between two ends of the damper is
The equation of motion according to the FBD is obtained as:
k
28

Rearrange the equation
If
sin
If
sin
, then
cos
and -
sin
and substitute into eqn. 1 then

sin
where
, and
Recall our steady state response for a spring-mass-damper system
sin
sin
Therefore,
sin
sin
Where
29

The amplitude of oscillation is obtained as
or
Rearrange the equation,
If Z is the relative displacement between the mass and the base, then
30

The maximum force transmitted to the base is given by
31

Example
The simple model of motor vehicle

is shown in the figure, that can
vibrate in the vertical direction
while traveling over a rough road.
The vehicle has a mass of 1200
kg. The suspension system has a
spring constant of 400 kN/m and a
damping ratio of 0.5. If the vehicle
speed is 20 km/h, determine the
displacement amplitude of the
vehicle. The road surface varies
sinusoidally with an amplitude of Y
= 0.05m and a wavelength of 6m.
32

Solution
33

Class exercise
A 50 kg mass is attached to the base through a spring in parallel with a

damper as shown in fig. below. The base undergoes a harmonic
excitation of y(t) = 0.20 sin 30t. The stiffness of the spring is 30000 N/m
and the damping constant is 200 Ns/m. Determine a) the amplitude of the
masss absolute displacement, b) the amplitude of its displacement
relative to its base [ans: a) 0.38m; b) 0.56m]
m
x(t)
k
y(t) = 0.20 sin 30t
34

Solution
35

Class exercise
A racing car is modeled as a SDOF damped system vibrating in the

vertical direction. The elevation of the road is assumed to vary
sinusoidally. The distance from peak to through is 0.2 m and the distance
between peaks is 70m. The natural frequency of the system is 2 Hz and
the damping ratio of the damper is 0.15. Determine the amplitude of
vibration of the racing car at a speed of 120 km/h. [ans: 1.06 m]
36

Solution
37
Forced Vibrations of SDOF - Applications

Rotating unbalanced
Unbalanced forces in many rotating

mechanism is the common sources of
vibration excitation.
Consider the rotating component is

mounted
in
bearing
counterclockwise.
and
rotates
Variables:
M = total mass of the system
m = eccentric mass located at e from the
center of rotation.
x = the displacement of the machine in
vertical direction
= angular speed
t = time
38

The component of the displacement of the eccentric mass in vertical
direction is given by:
sin
the acceleration is obtained as

sin
The total inertia forces of the machine

Applying Newtons second law of motion
and using equation 3 yield,

sin
39

Comparing this equation with fundamental equation
Basic damped forced equation
Equation 4
sin
sin
We obtain that

Recall the steady state solution for the system
sin
, where
and
Finally the steady state response is obtained as:

/
40

This equation can also be written as
2
sin
Thus the amplitude of vibration is obtained as

2
Peak deflection of the mass M at resonance is given from
; thus
The force transmitted to the base

1
1
2
2
sin
41

Example
An electric generator weighing 981 N and operating at 600 rpm is

mounted on four parallel springs of stiffness 5000 N/m each. Determine
the maximum permissible unbalance in order to limit the steady state
deflection to 6 mm peak-to-peak.
Solution
42
43

Example
An electric motor of mass M, mounted on an elastic

foundation, is found to vibrate with a deflection of
0.15 m at resonance. It is known that the unbalanced
mass of the motor is 8% of the mass of the rotor due
to manufacturing tolerances used, and the damping
ratio of the foundation is 0.025, Determine:
a) the eccentricity or radial location of the
unbalanced mass (e).
b) the peak deflection of the motor when the
frequency ratio varies from resonance
c) the additional mass to be added uniformly to the
motor if the deflection of the motor is to be reduced
to 0.1 m.
44

Solution
45

Vibration isolation and force transmissibility
sin
To minimize excessive vibration excitation that may

contribute to system failure, an isolator is installed to
support the structure
The vibration isolator is typically designed on the

machine with flexible support
Good isolator design must consider proper selection of

the stiffness and damping coefficients.
Consider a spring-mass- damper system (fig.(a)) with

external force applied in the form of
sin
sin
The FBD for the system and the velocity triangle is

shown in fig. (b) and (c).
The force transmitted to the support can be written as
46

Transmissibility,
is defined as the ratio of the transmitted force to that

of the disturbing force
When the damping is negligible, then

1
1
M
To reduce the amplitude X without changing Td,

Isolated mass m can be mounted on larger mass M
The stiffness k must be increased to keep the ratio
constant
47

The plot Td versus r is shown in the figure below
At region Td >1 for r < 1.41, the amplitude of transmitted force is greater
than the amplitude of applied force.
For r < 1.41, the transmitted force to the support can be reduced by
increasing the damping factor.
Vibration isolation is best accomplished by an isolator composed only of
Transmissibility, Td
spring elements for which r > 1.41 with no damping element used in the
system.
48

Example
A machine of mass 100 kg is mounted on springs and

damper as shown in the figure. The total spring stiffness is
50,000 N/m and the damping factor is 0.20. A harmonic
force, F = 200 sin 13.2t acts on the mass. Determine:a) the amplitude of the motion of the machine
b) its phase with respect to the existing force
c) the transmissibility
d) the maximum dynamic force transmitted to the foundation
e) the maximum velocity of the motion
49

Solution
50

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Chapter 3

Forced Vibrations of SDOF

Forced vibration of undamped system with harmonic excitation

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

Consider the simplest vibrating system as shown in

The time varying external force is given by

Applying Newtons second law for the FBD shown in

is the natural frequency of the mass, while

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

, and particular solution

The complementary solution :

Let assume the particular solution as :

Obtaining the velocity and acceleration term for eqn. 4 gives

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

From eqn. (2),

, the final solution gives

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

is called steady state (see fig. (d)).

Forced Vibrations of SDOF

By substituting into equation 1

If the static deflection of the mass due to force Fo is

, the maximum amplitude can be

Forced Vibrations of SDOF

is known as the magnification factor

M The ratio of the amplitude of vibration to the

or Magnification factor versus the

is shown in fig. (a)

The asymptote occurs at r =1, thus the system

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

The amplitude of forced response > the static deflection

External force excitation

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

The natural frequency of the free vibration

External force excitation

has opposite sign, 180o out of

, then X 0 : the response at

very high frequency is close to zero.

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

The condition when = n is called resonance

Undesirable condition which may harm overall

The equation of motion is

Forced Vibrations of SDOF

A weight of 50N is suspended from a spring of stiffness 5000 N/m and is

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

A 50 kg mass is hanging from a spring of stiffness 5 x 104 N/m. A

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF

MEC 521 VIBRATIONS : Dr. Azmi M.Yusof

Forced Vibrations of SDOF