IV.

HARMONICALY EXCITED VIBRATION

OF SINGLE DEGREE OF FREEDOM
SYSTEMS

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.1

4.1. Excitation by a Harmonic Force
Example 1 : Rotating unbalance.

F = F0 cos ωt,
F0 = meω2
F is the harmonic exciting force, F0 is its amplitude and ω is its circular
frequency. The exciting frequency is ω/2π [Hz].
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.2
Example 2 : Reciprocating masses
Inertia force of an engine rotating at a
uniform speed (ω) is a periodic function of
time [F(t)].
By harmonic analysis, F(t) can be
analyzed to harmonic components.
F(t) = c1 cos(ωt+φ1) + c2 cos(2ωt+φ2) + ….
Each component causes harmonically
excited vibration. Superposition of the
resulting vibrations gives the periodic
motion of the engine.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.3

Equation of Motion (System Response)
m x = - k x - c x + F0 cos ωt
m x + c x + k x = F0 cos ωt (D.E.O.M.)
Solution ▬►
x = xh (homogenous solution)
+ xp (particular solution)
1. xh (homogenous solution)
xh is the solution of the equation
m x + c x + k x = 0.
So, xh depends on the value of ζ as stated in chapter 3. Assuming that the
system under consideration is underdamped, xh is expressed as
xh = A e −ζωn t cos (ωdt - β) (1)

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.4

2. xp (particular solution)
xp is expressed as
xp = X cos (ωt - φ), (2)
X and φ are chosen to satisfy the D.E.O.M. ( m x + c x + k x = F0 cos ωt ),
which is represented by the vector diagram.
From the diagram
cx
k X – m ω2 X = F0 cos φ (3) mx
c ω X = F0 sin φ (4)
(3) and (4) ▬►
F0
X= (5)
2 2 2
(k − mω ) + (cω)
cω
tan φ = 2
(6)
k − mω

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.5

xp = X cos(ωt - φ), (2)
F0 cω
X= (5) tan φ = 2
(6)
2 2
(k − mω ) + (cω) 2 k − mω
In order to convert the magnitudes of
the vectors in the diagram to
dimensionless parameters, they are
F0
divided by kX and the frequency kX
ratio , which is defined by r = ω / ωn ,
is introduced. This gives
F0
X= (7)
2 2 2
k (1 − r ) + (2ζr )
2ζr
tan φ = 2
(8)
1− r
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.6
3. General solution (E.O.M.) (system response)
x = xh + x p ,
xh = A e −ζωn t cos (ωdt - β) (1), xp = X cos (ωt - φ) (2)
xh , xp and x are plotted for an xh
example system.
As shown, the system response t

(x) consists of:

(1) Transient response (xh) xp , x
x xp
It vanishes after some seconds.
(2) Steady state response (xp) t
It exists as long as the exciting
force is acting on the system.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.7

Practically, after some seconds the transient response (xh) vanishes ,and
the system response (x) becomes equal to the steady state response (xp).
The steady state response may be expressed as
● x = X cos (ωt - φ),
F0 2ζr
●X= ● tan φ =
2 2
k (1 − r ) + (2ζr ) 2 1− r 2
F0
X may be expressed as ●X= × (Magnification Factor),
k
1 X
● Magnification Factor (M.F.) = ▬► • M.F. =
2 2
(1 − r ) + (2ζr ) 2 F0 / k

• (F0 / k) is the displacement, which occurs if a static force of magnitude F0

acts on mass m.
• M.F. is the ratio between the amplitude X and the displacement (F0 / k).

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.8

Frequency Response Curve
2ζr 180
● tan φ = 2
▬►
1− r φ
• r = 1 → φ = π/2 90

(resonance) ζ=1

• r < 1 → φ < π/2 0

• r > 1 → φ > π/2

3
ζ=0
● r = 1− 2ζ 2 → M.F.
ζ=0.15
2
M.F. is max. ▬►
ζ=0.25
• ζ > 1/ 2 → ζ=0.5
1
M.F. has no peak. ζ=1

0
0 1 2 r 3

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.9

4.2. Energy Dissipated by Damping
x = X cos (ωt - φ) ▬► x = - ω X sin (ωt - φ)
Energy dissipated by damping per cycle (Ed) = Work done on damper
during one cycle.
Ed = ∫ c x dx

dx = x dt ▬►
T
Ed = ∫ c x 2 dt
0
T
T 2 2 2π
∫
2 2 2 2 2
=cω X sin (ωt - φ) dt = c ω X =cω X
0
2 2ω

● Ed = π c ω X2

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.10

4.3. Excitation by Rotating Unbalance

2 me ω 2 MX r2
F0 = meω ▬► X = ▬► ● =
k (1 − r 2 ) 2 + (2ζr ) 2 me (1 − r 2 ) 2 + (2ζr ) 2

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.11

Effect of r and ζ on (MX/me)

● r = 1/ 1 − 2ζ 2 →
(MX/me) is max. ▬► ζ=0
3
MX ζ=0.15
• ζ > 1/ 2 →
me ζ=0.25
(MX/me) has no peak. 2
ζ=0.5 ζ=1

0
0 1 2 r 3

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.12

4.4. Excitation by Harmonic Motion of the Support
m x = - k (x - y) - c ( x - y )
m x + c x + k x = k y + c y (9)
y = Y cos ωt, y = - ω Y sin ωt ▬►
k y + c y = k Y cos ωt - c ω Y sin ωt
k y + c y = F0 cos (ωt + ψ), (10)

F0 = (kY ) 2 + (cωY ) 2 = kY 1+ ( 2ζr ) 2 ,

cy
cωY
tan ψ = = 2ζr
kY
(9) and (10) ▬►
m x + c x + k x = F0 cos (ωt + ψ)
Solution ▬► x = X cos (ωt + ψ - φ)

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.13

● x = X cos (ωt + ψ - φ),

● tan ψ = 2ζr,

2ζr
● tan φ = 2
,
1− r
F0
X= , F0 = kY 1 + (2ζr ) 2 ▬►
k (1 − r 2 ) 2 + (2ζr ) 2

kY 1 + (2ζr ) 2
X= ▬►
2 2 2
k (1 − r ) + (2ζr )

X 1 + (2ζr ) 2
● = (11)
Y 2 2
(1 − r ) + (2ζr ) 2

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.14

4.5. Force Transmitted to Support
Force transmitted to support (Ft) = k x + c x ,
x = X cos (ωt - φ), x = - ω X sin (ωt - φ) ▬►
Ft = k X cos (ωt - φ) - c ω X sin (ωt - φ) ▬►
● Ft = Ft0 cos (ωt + ψ - φ),
cωX
tan ψ = ▬► ● tan ψ = 2ζr, c x
kX
Ft0 = (kX ) 2 + (cωX) 2 ▬► ● Ft0 = kX 1+ (2ζr ) 2 , cx
F0
X= ▬►
2 2 2
k (1 − r ) + (2ζr )

Ft 0 1 + (2ζr ) 2
● = (12)
F0 2 2
(1 − r ) + (2ζr ) 2

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.15

4.6. Vibration Isolation (Transmissibility)

X 1 + (2ζr ) 2 Ft 0 1 + (2ζr ) 2
= (11) = (12)
Y 2 2
(1 − r ) + (2ζr ) 2 F0 2 2
(1 − r ) + (2ζr ) 2

Equations (11) and (12) show that, the problem of isolating a mass from
the vibration of its support is identical to that of isolating a support carrying
a mass from the exciting force acting on this mass.
Each of the ratios (X/Y) and (Ft0/F0) is called transmissibility (TR).

X Ft 0 1 + (2ζr ) 2
● TR = = =
Y F0 (1 − r 2 ) 2 + (2ζr ) 2
●r= 2 → TR = 1, for any ζ.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.16

Effect of r and ζ on TR
●r= 2→
TR = 1, for any ζ. ζ=0
3
●r< 2→ ζ=0.15
TR
TR > 1, ζ=0.25
2
ζ=0.5
increase ζ,
ζ=1
to reduce TR. 1

●r> 2→
0
TR < 1, 0 1 2 r 3

decrease ζ,
to reduce TR.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.17

Example

It is required to reduce x.
1. Reduce TR1 to reduce Ft . This reduces y.
2. Reduce TR2 to reduce x.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.18
4.7. Harmonic Excitation with Hysteresis Damping (Strucural
Damping)
As stated in chapter 3, Hysteresis damping may be replaced by the
equivalent viscous damping, which dissipates the same energy per cycle.
The coefficient of this viscous damping (ce) is obtained from
2
ηk η m ωn
● ce = ▬► ζe = ▬►
ω ω ( 2mω n )
η
● ζe = ▬► • 2 ζe r = η
2r
Therefore, the steady state response may be expressed as
● x = X cos (ωt - φ),
F0 1 η
●X= × (M.F.), ● M.F. = , ● tan φ =
k (1 − r 2 ) 2 + η 2 1− r 2

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.19

Frequency Response Curve
η
● tan φ = 2
▬► 180
1− r
φ η=0.4
• r = 1 → φ = π/2
90
(resonance)
• r < 1 → φ < π/2
0
• r > 1 → φ > π/2
η=0
1 3
● M.F.= ▬► η=0.1
2 2 2
(1 − r ) + η M.F.
η=0.2
2
●r=1→ η=0.3
M.F. is max. η=0.4
1

0
0 1 2 r 3
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.20
4.8. Harmonic Excitation with Coulomb Damping (Dry Friction)
When Fd is small relative F0 (4Fd < πF0), Coulomb damping may be
replaced by the equivalent viscous damping, which dissipates the same
energy per cycle. The coefficient of this viscous damping (ce) is obtained
from
πceωX2 = 4FdX ▬►
4Fd
ce = (13)
πωX
The steady state response may be expressed as x = X cos (ωt - φ),
F0 c eω
X= , tan φ =
(k − mω 2 ) 2 + (c e ω) 2 k − mω 2

X depends on ce. So, equation (13) can not applied for direct calculation of
ce. Substitution for ce in the expressions of X and (tan φ) gives:

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.21

● x = X cos (ωt - φ),

F 1− γ 2 4 Fd
● X = 0 × (M.F.), ● M.F. = , ● γ= ,
k 1− r 2 π F0

γ −γ
● tan φ = , (r < 1), ● tan φ = , (r > 1)
2 2
1− γ 1− γ

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.22

Frequency Response Curve
●r<1→
180
γ
tan φ = ▬► φ γ=0.8
2
1− γ 90

• r < 1 → φ < π/2 γ=0.8

●r>1→ 0

−γ γ=0
tan φ = ▬► 3
1− γ 2 γ=0.2
M.F.
• r > 1 → φ > π/2 γ=0.4
2
γ=0.6
1− γ 2
● M.F. = ▬► γ=0.8
2
1− r 1

• r = 1 → M.F. = ∞ 0
0 1 2 r 3

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.23

4.9. Solved Examples
Example 4.1
m = 80 kg k = 800 N/mm
c = 1.6 N.s/mm
Harmonic force (F) has amplitude 1000 N
and frequency 19.1 Hz.
Find the steady sate response.
Find the frequency of F, which gives
maximum amplitude.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.24

Example 4.2
M = 80 kg k = 800 N/mm
c = 1.6 N.s/mm
me = 0.2 kg.m N = 763.9 rpm.
Find the steady sate response.
Find the speed, which gives maximum
amplitude.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.25

Example 4.3
L = 500 mm b = 400 mm
m = 6 kg
k1 = 12.5 N/mm
c1 = 125 N.s/m
k2 = 12 N/mm
c2 = 40 N.s/m
y = 10 sin 120t mm,
t is in seconds.
Find the steady sate response.
Find the force transmitted to support S1 in magnitude and phase.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.26

Example 4.4
m = 80 kg k = 800 N/mm
η = 0.072
Harmonic force (F) has amplitude 1000 N
and frequency 19.1 Hz.
Find the steady sate response.
Find the frequency of F, which gives
maximum amplitude.
Example 4.5
m = 2 kg k = 1800 N/m
μ = 0.2
F = 9 cos 6t N, t is in seconds.
Find the steady state response.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 4.27