MECHANICAL

ENGINEERING

ME 370
Vibration of Mechanical
Systems
Instructor: Dr. A. Scott Lewis ARL Science Park Building 814-865-0962
(Science Park Road)
E-Mail: asl103@[Link]

Forced Vibration
LECTURE 8 2
 Lecture Content

• Recap
• Harmonic Excitation of Undamped Systems
• Harmonic Excitation of Damped Systems
• Magnitude and Phase Data
• Comment about LaPlace Transforms

3
Free Responses of Undamped and Damped Systems
Introduction
 The responses of undamped and damped single degree-
of-freedom systems in the absence of forcing; that is,
f(t) = 0, are referred to as free responses.
 When the system is undamped or underdamped, the
responses are referred to as free oscillations.
 In the absence of forcing, the equation of motion for a
single degree-of-freedom reduces to
k
m
c
Note : Will introduce the concept of a damped natural frequency 4
ωd or =
ωnd ωn 1 − ζ 2
 A harmonic force may also be represented by sine or a
complex exponential. How does this change the solution?

(t ) + kx(t ) F0 sin ωt or x(t=

mx= ) + ωn2 x(t ) f 0 sin ωt
The particular solution then becomes a sine:
x p (t ) = X sin ωt
Substitution of (2.19) into (2.18) yields:

Solving for the homogenous solution and evaluating the constants yields
 v0 ω f0  f0
(t ) x0 cos ωnt +  −
x= 2 
sin ωnt + 2 sin ωt
 ωn ωn ωn − ω  ωn − ω
2 2

For 𝑥𝑥(𝑡𝑡)
̈ + 𝜔𝜔𝑛𝑛2 𝑥𝑥(𝑡𝑡) = 𝑓𝑓0 cos𝜔𝜔𝜔𝜔 5
v0  f  f
x(t )
= sin ωnt +  x0 − 2 0 2  cos ωnt + 2 0 2 cos ωt
ωn  ωn − ω  ωn − ω
Section 2.2 Harmonic Excitation of Damped Systems

Extending resonance and response

calculation to damped systems

6
 2.2 Harmonic excitation of damped systems
F0 cos ωt
mx(t ) + cx (t ) + kx(t ) = Displacement
x(t ) + 2ζωn x (t ) + ωn2 x(t ) =
 f 0 cos ωt x
x p (t ) X cos (ωt − θ ) k
 
now includes a phase shift F=F0cosωt
x p (t ) As cos ωt + Bs sin ωt
= M
B 
X = As 2 + Bs 2 , θ =tan −1  s 
 As  c
−ω As sin ωt + ω Bs cos ωt 
x p = −ω 2 As cos ωt − ω 2 Bs sin ωt
xp =
(−ω 2 As + 2ζωnω Bs + ωn2 As − f 0 ) cos ωt + ( −ω 2 Bs + 2ζωnω As + ωn2 Bs ) sin ωt =
0
(ωn2 − ω 2 ) As + (2ζωnω ) Bs =⇒
f0 solve for As and Bs
(−2ζωnω ) As + (ωn2 − ω 2 ) Bs =
0

Note: This is for the

Underdamped case

Add homogeneous and particular to get total solution: 7

 Comments About Damped Forced Response
• If ζ = 0, undamped equations result
• Steady state solution prevails for large t
• Often we ignore the transient term (how large is ζ, how
long is t?)
• Coefficients of transient terms (constants of
integration) are effected by the initial conditions AND
the forcing function
• For underdamped systems at resonance, the
amplitude is finite.

8
 Additional Cases for Damping
c k 1
mx +
= cx + kx F (t ) or
x+ =
 x + x F (t )
m m m Case 1
Consider homogenous case
ζ < 1 (underdamped )
−c ± c 2 − 4mk −c c2 k
2
ms + cs + k = 0 ⇒ s1,2 = = ± 2
− Already cov ered , response is decaying exp onential
2m 2m 4m m
s1t s2t
(t ) c1e + c2 e
x=
Case 2 ζ = 1 (critically damped )
Need To Consider 3 cases:
cc2 k s1,2 = ( c1 c2t ) e−ζωnt
−ζωn ⇒ x(t ) =+
Define 2
− =0 where cc is critical damping
4m m
k Case 3 ζ > 1 (overdamped )
=cc 2m= 2= km 2mωn
m
−ζωn + ωn ζ 2 − 1
s1 =
c c c cc c
Damping Ratio ζ = ⇒ = = ζωn ⇒ = 2ζωn
cc 2m cc 2m m s2 = −ζωn − ωn ζ 2 − 1
x + 2ζωn x + ωn2 x =
 −ζωn ± ωn ζ 2 − 1
0 ⇒ s1,2 =
=x(t ) c1e
( −ζω +ω
n n )
ζ 2 −1 t
+ c2 e
( −ζω −ω
n n )
ζ 2 −1 t

x(t ) c1e
( −ζω +ω
n n )
ζ 2 −1 t
+ c2 e
( −ζω −ω
n n )
ζ 2 −1 t

9
Damped natural frequency
ωd or =
ωnd ωn 1 − ζ 2
 Free Response of a Door
k t, c t
Assume that:
Jdoor = 20 kg m2, ct = 48 N m s/rad,
m/rad, θ0 4=
kt = 28.8 N = rad/s, θ 0 0
Jdoor
Equation of motion : J doorθ + ctθ + ktθ =
0

θ +
ct
θ +
kt
θ = 0 ⇒ θ + 2ζωnθ + ωn2θ = 0
θ
J door J door

Thedamping factor and the natural frequency of the systems are

kt 28.8 N ⋅ m/rad
ωn
= = = 1.2 rad/s
J door 20 kg ⋅ m 2
ct ct 48 N m ⋅ s/rad
2ζωn = ⇒ζ
= = = 1.0 Critically damped
J door 2 J doorωn 2 × 20 kg ⋅ m 2 × 1.2 rad/s

10
 Computing the Response of a Door
Since the system is critically damped, the response is given by
= θ (t ) θ=
te −ω t 4te −1.2t rad
o
n

Maximum value of the response occurs at the time t = tmax that satisfies
dθ/dt = 0; thus, tpeak = 1/1.2 = 0.833 s and, therefore, θ(tpeak) = 1.23 rad.
fontsize=12;
t=0:0.02:8;
theta=4*t.*exp(-1.2.*t);
figure('Name', ‘Theta');
plot(t,theta,'r.-','LineWidth',2);hold on
xlabel('Time (sec)','FontName','Times','FontSize',fontsize);
ylabel('\theta (rad)','FontName','Times','FontSize',fontsize);
set(gca,'FontName','Times','FontSize',fontsize)
grid; set(gca,'gridalpha',.8,'gridlinestyle','--')
1.4

1.2

0.8
(rad)

0.6

0.4

0.2 11
0
0 2 4 6 8
Time (sec)
Example 2.2.3: ωn = 10 rad/s, ω = 5 rad/s, ζ = 0.01, F0= 1000 N, m = 100 kg, and the initial conditions x0
= 0.05 m and v0 = 0. Compare amplitude A and phase Φ for forced and unforced case:

ωd = ωn 1 − ζ 2 = 10 1 − .012 = 9.9995rad / sec

f0 1000 /100
X = = 0.133m
(ωn2 − ω 2 ) + ( 2ζωnω )2 (102 − 52 ) + ( 2*.01*10*5)2
2 2

−1  2ζωnω   2*.01*10*5 
θ tan
=  2 2 
tan −1 =  .0133rad
 ωn − ω 
2 2
 10 − 5 

x(t ) Ae −0.1t sin(9.99t + φ ) + 0.133cos(5t − 0.013)

Differentiating yields:

x(0) =
0.05 =A sin φ + 0.133cos(−0.013)
v(0) =
0= −0.01A sin φ + 9.999 A cos φ + 0.665sin 0.013

The numbers in ( ) are those

obtained by incorrectly using the
free response values 12
 Proceeding with ignoring the transient
• Always check to make sure the transient is not significant
• For example, transients are very important in earthquakes
• However, in many machine applications transients may be ignored

Magnitude:

Frequency ratio:

Non dimensional
Form:

Phase: 13
 Magnitude And Phase Plots
40
• Resonance is close to r = 1
30
• For ζ = 0, r =1 defines resonance
20
• As ζ grows resonance moves r <1,

X (dB)
and X decreases 10
• The exact value of r, can be found
0
from differentiating the
magnitude -10

-20
0 0.5 1 1.5 2
r
3.5
ζ =0.01
• Resonance occurs at Φ = π/2 3
ζ =0.1
• The phase changes more rapidly 2.5 ζ =0.3
ζ =0.5
when the damping is small
Phase (rad)

2 ζ =1
• From low to high values of r the
1.5
phase always changes by 1800
or π radians 1
14
0.5

0
0 0.5 1 1.5 2
r
 Effect of Damping on Peak Value
30

• The top plot shows how the 25

peak value becomes very large 20

when the damping level is 15

small 10
• The lower plot shows how the 5
frequency at which the peak
0
value occurs reduces with 0 0.2 0.4 0.6 0.8
increased damping ζ
1
• Note that the peak value is
only defined for values ζ<0.707 0.8

0.6
rpeak
0.4

0.2

0
d  Xk  d  1  0 0.2 0.4 0.6 0.8
 =   = 0 ⇒ rpeak = 1 − 2ζ 2 < 1 ⇒ ζ < 1/ 2 ζ

dr  F0  dr  (1 − r ) + (2ζ r ) 2
2 2 
 15
 Xk  1
  =
 F0 max 2ζ 1 − ζ
2
 In Class Example Problem
A boy riding a bicycle can be modeled as spring-mass-damper system with an equivalent weight, stiffness,
and damping constant of800N, 50000N/m, and 1000 N-s/m, respectively. The differential setting of the
concrete blocks on the road caused the level surface to decrease suddenly as shown in the figure. If the
speed of the bicycle is 5m/s, determine the displacement of the boy in the vertical direction. Assume that the
bicycle is free of vertical vibration before encountering the step change in the vertical displacement.

What is the approach?

16
 2.3.3 Transfer Function Method
The Laplace Transform

• Changes ODE into algebraic equation

• Solve algebraic equation then compute the
inverse transform
• Rule and table based in many cases
• Is used extensively in control analysis to examine
the response
• Related to the frequency response function

17
 The Laplace Transform Approach:
• See appendix B and section 3.4 for details
• Transforms the time variable into an algebraic, complex variable
• Transforms differential equations into an algebraic equation
• Related to the frequency response method

Example
Take the transform of the equation of motion:
F0 s
+ kx F0 cos ωt ⇒ (ms 2 + cs + k ) =
mx + cx= X (s)
s2 + ω 2

Now solve algebraic equation in s for X(s)

18

To get the time response this must be “inverse transformed”