Harmonically Excited Vibration

When a system is subjected to harmonic excitation, it is forced to vibrate at the

same frequency as that of the excitation.
3.1 FORCED HARMONIC VIBRATION
Although pure harmonic excitation is less likely to occur than periodic or other
types of excitation, understanding the behavior of a system undergoing harmonic
excitation is essential in order to comprehend how the system will respond to more
general types of excitation. The equation of motion is as follows

𝑚𝑥 + c𝑥 + k𝑥 = 𝐹𝑜 sin 𝜔𝑡
And the solution is
x = x𝑕 + x𝑝

where x𝑕 is a homogenous solution called Transient state.

And x𝑝 is a particular solution called steady state.
The particular solution to the preceding equation is a steady state oscillation of the
same frequency ωas that of the excitation. We can assure the particular solution to
be of the form
X = x sin 𝜔𝑡 − 𝜑
where X is the amplitude of oscillation and  is the phase of the displacement with
respect to the exciting force. By differentiating as follows

X = x sin 𝜔𝑡 − 𝜑 X = x 𝜔 𝑐𝑜𝑠 𝜔𝑡 − 𝜑 𝑋 = −x 𝜔2 𝑠𝑖𝑛 𝜔𝑡 − 𝜑

And substitute them in the main equation we get

−𝑚x 𝜔2 𝑠𝑖𝑛 𝜔𝑡 − 𝜑 + c x 𝜔 𝑐𝑜𝑠 𝜔𝑡 − 𝜑 + kx 𝜔 𝑐𝑜𝑠 𝜔𝑡 − 𝜑 = 𝐹𝑜 sin 𝜔𝑡

value direction vector

k𝑥 sin 𝜔𝑡 − 𝜑 k𝑥 = x sin 𝜔𝑡 − 𝜑
𝐹𝑜 sin 𝜔𝑡 𝐹 = 𝐹𝑜 sin 𝜔𝑡
c xω 𝑐𝑜𝑠 𝜔𝑡 − 𝜑 c𝑥 = c x 𝜔 𝑐𝑜𝑠 𝜔𝑡 − 𝜑
−x𝑚𝜔2 sin 𝜔𝑡 − 𝜑 𝑚x = −x m 𝜔2 𝑠𝑖𝑛 𝜔𝑡 − 𝜑

And these vectors as shown in the table below. Can be represented as a vector as
follows;

1
And the force F0 is :

𝐹𝑜 = 𝑘 − 𝑚𝜔 2 2 𝑥 2 + 𝑐𝜔 2 𝑥 2

𝐹𝑜 = 𝑥 𝑘 − 𝑚𝜔 2 2 + 𝑐𝜔 2

𝐹𝑜 𝑐𝜔
𝑥= and 𝜑 = tan−1
𝑘−𝑚 𝜔 2 2 + 𝑐𝜔 2 𝑘−𝑚 𝜔 2

now dividing both side by k

𝐹𝑜 𝑘
𝑥= ×
𝑘 − 𝑚𝜔 2 2 + 𝑐𝜔 2 𝑘

and the equation will be

𝐹𝑜 𝑐𝜔
−1 𝑘
𝑥= 𝑘
2
and 𝜑 = 𝑡𝑎𝑛 𝑚 2
𝑚 𝑐𝜔 2 1− 𝑘 𝜔
1− 𝜔 2 +
𝑘 𝑘

Noting that
𝑐𝜔 1 1 𝑚 𝜔
= 𝜉𝑐𝑐 𝜔 = 𝜉2 𝑘𝑚 × × 𝜔 = 2𝜔𝜉 = 2𝜉
𝑘 𝑘 𝑘 𝑘 𝜔𝑛
𝑐𝜔 𝜔
= 2𝜉
𝑘 𝜔𝑛
Then the steady-state solution is
𝜔
𝑥 1 2𝜉
−1 𝜔𝑛
𝐹𝑜 = And 𝜑 = 𝑡𝑎𝑛 𝜔 2
𝑘 𝜔 2 2 𝜔 2 1−
1− + 2𝜉 𝜔𝑛
𝜔𝑛 𝜔𝑛

𝑥
This equation shows that the non-dimensional amplitude 𝐹𝑜 and the phase angle
𝑘
𝜔
𝜑 are function of and the damping ration 𝜉.
𝜔𝑛
These curves show that the damping factor has a large influence on the amplitude
and phase angle in the frequency region near resonance.
2
 𝜔
𝑥𝑘 1 2𝜉
−1 𝜔𝑛
= And 𝜑 = 𝑡𝑎𝑛 𝜔 2
𝐹𝑜 2 1−
𝜔 2 𝜔 2 𝜔𝑛
1− + 2𝜉
𝜔𝑛 𝜔𝑛

3
 𝜔
The three concluded cases based on can be deduced
𝜔𝑛

𝜔
1. When of ≪ 1, both the inertia and damping
𝜔𝑛
forces are smalI, so Φ is small and Fo ≈k.x

𝜔
2. For = 1 The inertia force, which is now
𝜔𝑛
larger(Fo=k.x), is balanced by the spring
force and the impressed force overcomes the
damping force. The amplitude at resonance is
𝐹𝑜 𝐹𝑜
𝑥= =
𝑐𝜔𝑛 2𝜉𝑘

𝜔
3. At large values of ≫ 1φ approaches 180°,
𝜔𝑛
and the impressed force is expended almost
entirely in overcoming the large inertia force
as shown

4
Complex frequency response
If we represent the force by 𝐹𝑜 cos 𝜔𝑡 as a projectin on horizontal axis instead of
𝐹𝑜 sin 𝜔𝑡nothing will be change except the rotation of axis .
Let 𝐹𝑜 cos 𝜔𝑡 + i sin 𝜔𝑡 = 𝐹𝑜 𝑒 𝑖𝜔𝑡
And the displacement 𝑥 = 𝑋𝑒 𝑖 𝜔𝑡 −𝜑
= 𝑋𝑒 −𝑖𝜑 𝑒 𝑖𝜔𝑡 = 𝑋𝑒 𝑖𝜔𝑡
𝑥 = 𝑋𝑒 𝑖𝜔𝑡 𝑥 = 𝑖𝜔𝑋𝑒 𝑖𝜔𝑡 𝑥 = −𝜔2 𝑋𝑒 𝑖𝜔𝑡
Substituting in
𝑚𝑥 + c𝑥 + k𝑥 = 𝐹𝑜 𝑒 𝑖𝜔𝑡
We get -
−𝑚𝜔2 + iωc + k 𝑋𝑒 𝑖𝜔𝑡 = 𝐹𝑜 𝑒 𝑖𝜔𝑡
Simplifying
𝐹𝑜
𝑋=
𝑘 − 𝑚𝜔 2 + iωc
It is now convenient to introduce the complex frequency response (ω)
defined as the output divided by the input:
1
𝑋
frequency responseH ω = = 2
𝑘
𝐹𝑜 1−
𝜔
+𝑖 2𝜉
𝜔
𝜔𝑛 𝜔𝑛

Often the factor 1 / k is considered together with the forces the frequency
response H ω is:
𝑋 1
frequency response H ω = 𝐹𝑜 = 𝜔 2 𝜔
𝑘 1− +𝑖 2𝜉
𝜔𝑛 𝜔𝑛

The real and imaginary parts of H (ω) can be identified by multiplying and
dividing the last equation by the complex conjugate of the denominator.

𝜔 2 𝜔
1 1− − 𝑖 2𝜉
𝜔𝑛 𝜔𝑛
H ω = 2 × 2
𝜔 𝜔 𝜔 𝜔
1− + 𝑖 2𝜉 1− − 𝑖 2𝜉
𝜔𝑛 𝜔𝑛 𝜔𝑛 𝜔𝑛

5
And the result is
𝜔 2 𝜔
1− 2𝜉
𝜔𝑛 𝜔𝑛
H ω = −𝑖
𝜔 2 2 𝜔 2 𝜔 2 2
𝜔 2
1− 𝜔𝑛
+ 2𝜉 𝜔 1− 𝜔𝑛
+ 2𝜉 𝜔
𝑛 𝑛

This equation shows that at resonance, the real part is zero and the
response is given by the imaginary part, which is
1
H ω =𝑖
2𝜉
And the phase angle is
𝜔
2𝜉
𝜔𝑛
𝜑 = 𝑡𝑎𝑛−1 2
𝜔
1−
𝜔𝑛

6
3.2 ROTATING UNBALANCE
The common problem of unbalance in
rotating machines is due to eccentric mass m
with eccentricity e that rotates with angular
velocity of ω .

Let x is the displacement of the nonrotating mass (M— m)

the displacement of rotating mas m is
𝑥 + 𝑒 sin 𝜔𝑡
𝑑2
𝑀−𝑚 𝑥+𝑚 𝑥 + 𝑒 sin 𝜔𝑡 = −𝑐𝑥 − 𝑘𝑥
𝑑𝑡 2
which can be rearranged to
𝑀𝑥 + c𝑥 + k𝑥 = 𝑚𝑒𝜔2 sin 𝜔𝑡
the steady-state solution
𝑚𝑒 𝜔 2 𝑐𝜔
𝑋= and 𝜑=
𝑘−𝑀𝜔 2 2 + 𝑐𝜔 2 𝑘−𝑀𝜔 2

These can be further reduced to non

dimensional form:
𝜔 2 𝜔
𝑀𝑋 2𝜉
𝜔𝑛 𝜔𝑛
= and 𝜑= 𝜔 2
𝑚 𝑒 2 1−
𝜔 2 𝜔 2 𝜔𝑛
1− + 2𝜉
𝜔𝑛 𝜔𝑛

The complete solution is given by

−𝜉𝜔 𝑛 𝑡
𝑚𝑒𝜔2
𝑥𝑡 = 𝑋1 𝑒 sin 1− 𝜉 2 𝜔𝑛 𝑡 + 𝜑1 + sin 𝜔𝑡 − 𝜑
𝑘 − 𝑀𝜔 2 2 + 𝑐𝜔 2

7
Example 3.2-1
A counter rotating eccentric weight exciter is used to produce the forced
oscillation of a spring-supported mass, as shown in Fig. By varying the
speed of rotation, a resonant amplitude of 0.60 cm was recorded. When the
speed of rotation was increased considerably beyond the resonant frequency,
the amplitude appeared to approach a fixed value of 0.08 cm. Determine the
damping factor of the system.

𝜔 2
𝑀𝑋 𝜔𝑛
this equation = at resonance will be
𝑚 𝑒 2 2 2
𝜔 𝜔
1− + 2𝜉
𝜔𝑛 𝜔𝑛

𝑚𝑒
𝑀
𝑋= = 0.6
2𝜉
𝑀𝑋
the graph shows that when ω>>ωn the equation will be ≈1
𝑚 𝑒
𝑚𝑒
so X= = 0.08
𝑀
𝑚𝑒
𝑚𝑒
substituting for = 0.08 in 𝑀
= 0.6 we get
𝑀 2𝜉

0.08
= 0.6
2𝜉
And ξ=0.006

8
3.5 SUPPORT MOTIONIn many cases, the
dynamical system is excited by the motion of the
support point, let y be the harmonic displacement
of the support point and measure the
displacement x of the mass m from an inertial
reference. The unbalanced forces are due to the
damper and the springs, and the differential
equation of motion becomes.
𝑚𝑥 = −k 𝑥 − 𝑦 − c 𝑥 − 𝑦
let 𝑧 = 𝑥 − 𝑦
Then the equation becomes
𝑚𝑧 + c𝑧 + k𝑧 = −𝑚𝑦 let 𝑦 = 𝑌 sin 𝜔𝑡
the equation becomes
𝑚𝑧 + c𝑧 + k𝑧 = −𝑚𝜔2 𝑌 sin 𝜔𝑡
Now replacing z by x and 𝑚𝜔2 𝑌 by 𝑚𝑒𝜔2 in the following equation
𝑚𝑒 𝜔 2
So 𝑋=
𝑘−𝑀𝜔 2 2 + 𝑐𝜔 2

And assuming the solution of the form𝑧 = 𝑍 sin 𝜔𝑡 − 𝜑

𝑚 𝜔2𝑌 𝑐𝜔
We get 𝑍 = and 𝜑 =
𝑘−𝑚 𝜔 2 2 + 𝑐𝜔 2 𝑘−𝑚 𝜔 2

The equation after simplifying is

𝜔 2
Z 𝜔𝑛
=
Y
𝜔 2 2 𝜔 2
1− + 2𝜉
𝜔𝑛 𝜔𝑛

Z 𝜔
The relationship and shows
Y 𝜔𝑛
the curves of equation for different
values of ζ
If the absolute motion x of the mass
is desired, we can solve for x = z + y.

9
Using the exponential form of harmonic motion.
Let 𝑦 = Yeiωt
𝑧 = Zei ωt−φ
= Ze−iφ eiωt
𝑥 = Xei ωt−φ
= Xe−iφ eiωt
Substituting in
𝑚𝑧 + c𝑧 + k𝑧 = −𝑚𝑦
Ze−iφ eiωt −𝑚ω2 + iωc + k = 𝑚𝜔2 𝑌eiωt
Ze−iφ −𝑚ω2 + iωc + k = 𝑚𝜔2 𝑌

−iφ
𝑚𝜔2 𝑌
Ze =
𝑘 − 𝑚ω2 + iωc
Using 𝑥 = 𝑧 + 𝑦
𝑥 = Ze−iφ eiωt + Yeiωt or 𝑥 = Ze−iφ + Y eiωt
Substituting Ze−iφ we get
𝑚 𝜔2𝑌 𝑘+iωc
𝑥= + 1 Yeiωt or 𝑥= Yeiωt
𝑘−𝑚 ω2 +iωc 𝑘−𝑚 ω2 +iωc

Substitute for 𝑥 = Xe−iφ eiωt

𝑘 +iωc 𝑘+iωc
Xe−iφ eiωt = Yeiωt or Xe−iφ = Y
𝑘−𝑚 ω2 +iωc 𝑘−𝑚 ω2 +iωc

Rearranging and multiplying by complex conjugated next taking the absolute value
X
of we get :
𝑌

X 𝑘 2 + ωc 2 𝑚𝑐 ω3
= and tan  =
𝑌 𝑘−𝑚 ω2 2 + ωc 2 𝑘 𝑘−𝑚 ω2 + ωc 2

ωc 2 ω 2
X 1+ X 1+ 2𝜉
𝑘 ω𝑛
Simplifying to = 𝑚 2 2 ωc 2
or = 2
𝑌 1− ω + 𝑌 ω 2 ω 2
𝑘 𝑘 1− + 2𝜉
ω𝑛 ω𝑛

X ω
If =1 then = 2
𝑌 ω𝑛

10
 X
and the relation between
𝑌
ω
and is plotted as shown
ω𝑛

3.6 VIBRATION ISOLATION

The effects vibratory forces generated by machines can be minimized by proper
isolator design.
X
Figure for shows that the motion transmitted from the supporting
𝑌
structure to the mass m is less than 1 when the ratio ω ω𝑛 is greater than [Link]
indicates that the natural frequency ω𝑛 of the supported system must be small
compared to that of the disturbing frequency ω. This requirement can be met by
using a soft spring.
The other problem of reducing the force transmitted by the machine to the
supporting structure has the same requirement. The force to be isolated is
transmitted through the spring and damper, as shown in Fig. Its equation is

2 2 ω 2
𝐹𝑇 = 𝑘𝑥 + cωx or 𝐹𝑇 = 𝑘𝑥 1 + 2𝜉
ω𝑛

With the disturbing force equal to Fosin wt, the value of X in the preceding
𝐹𝑜

equation is 𝑋= 𝑘
2
ω 2 ω 2
1− + 2𝜉
ω𝑛 ω𝑛

11
 𝐹𝑜
ω 2
So 𝐹𝑇 = 𝑘𝑥 1 + 2𝜉 and 𝑋= 𝑘
ω𝑛 2
ω 2 ω 2
1− + 2𝜉
ω𝑛 ω𝑛

The transmissibility TR, defined as the ratio of the transmitted force 𝐹𝑇 to that of
the disturbing force 𝐹𝑜 , is then

ω 2
𝐹𝑇 1+ 2𝜉
ω𝑛
= 2 comparing it to the one previously been
𝐹𝑜 ω 2 ω 2
1− + 2𝜉
ω𝑛 ω𝑛

ω 2
𝑋 1+ 2𝜉
ω𝑛
derivative in paragraph 3.5 = 2
𝑌 ω 2 ω 2
1− + 2𝜉
ω𝑛 ω𝑛

ω 2
𝐹𝑇 𝑋 1+ 2𝜉
ω𝑛
we conclude that 𝑇𝑅 = = = 2
𝐹𝑜 𝑌 ω 2 ω 2
1− + 2𝜉
ω𝑛 ω𝑛

When the damping is negligible, the transmissibility equation reduces to

𝐹𝑇 𝑋 1
𝑇𝑅 = = =
𝐹𝑜 𝑌 ω 2 2
1− ω𝑛
ω
And for > 2 the equation will be
ω𝑛
𝐹𝑇 𝑋 1
𝑇𝑅 = = = 2
𝐹𝑜 𝑌 ω
−1
ω𝑛

∆
Substituting for the exciting frequency 𝜔 = 2𝜋𝑓 and 𝜔𝑛 = in TR formula
𝑔
Where Δ is the static deflection and g is the gravitational acceleration .
we get
1
𝑇𝑅 = ∆
2𝜋𝑓 2 − 1
𝑔

To reduce the amplitude X of the isolated mass m without changing TR,

m is often mounted on a large mass M, as shown in Fig.. The stiffness k must then
be increased to keep the ratio k/(m + M) constant.

12
The amplitude X is, however, reduced because k appears in the denominator of
Eq

𝐹𝑜
𝑘
𝑋=
ω 2 2 ω 2
1− + 2𝜉 ω
ω𝑛 𝑛

Example 3.6-1 A machine of 100 kg mass is supported on springs of total stiffness

700 kN/m and has an unbalanced rotating element, which results in a disturbing
force of 350 N at a speed of 3000 rpm. Assuming a damping factor of ζ =
0.20, determine (a) its amplitude of motion due to the unbalance, (b) the
transmissibility, and (c) the transmitted force.
𝑤 100×9.82
The static deflection ∆= = = 1.401 × 10−3 𝑚 = 1.401 𝑚𝑚
𝑘 700×1000

1 ∆ 1 1.401×10 −3
The natural frequency 𝑓𝑛 = = = 13.32 𝐻𝑧
2𝜋 𝑔 2𝜋 9.81

a. The amplitude of vibration

𝐹𝑜 350
𝑘 700×1000
𝑋= = = 0.0379 𝑚𝑚
ω 2 2 ω 2 50 2 2 50 2
1− + 2𝜉 ω 1 − 13.32 + 2 × 0.2 × 13.32
ω𝑛 𝑛

b. The transmissibility

ω 2 2
50
1 + 2𝜉 ω 1 + 2 × 0.2 × 13.32
𝑛
𝑇𝑅 = = = 0.137
ω 2 2 ω 2 50 2 2 50 2
1− + 2𝜉 ω 1 − 13.32 + 2 × 0.2 × 13.32
ω𝑛 𝑛

c. The force transmitted 𝐹𝑇𝑅 = 0.137 × 350 = 47.89 𝑁

13