Forced Vibrations Formula & Notes

Compiled by Luqmaan Hakiem bin Sulaiman (14/1/2018)

Reference: Rao, Mechanical Vibrations 5th Edition

Forced vibration of undamped system

Given
x (t) = A cos 𝑤 t + A sin 𝑤 t
mẍ + kx = F cos wt F
F x (t) = cos wt
k − mw
x(t) = A cos 𝑤 t + A sin 𝑤 t + cos wt
k − mw
X 1
M= =
δ 𝑤
1−
𝑤
Forced vibration of damped system

Given
M ,X occurs when
mẍ + c𝑥̇ + kx = F cos wt dM
= 0;
x (t) = X cos(wt − ϕ) dr
F
X= .
r=r = 1 − 2ζ
[(k − mw ) + (cw) ]
cw if and only if 0 < ζ <
ϕ = tan √
k − mw

Substitute r into M;
1
Not given M =
X 1 2ζ 1 − ζ
M= = .
δ [(1 − r ) + (2ζr) ]
2ζr
ϕ = tan
1−r
 Forced damped vibration from base excitation

Given
T , ,X occurs when
mẍ + c(ẋ − ẏ ) + k(x − y) = 0
dT
x (t) = X sin(wt − ϕ) =0;
dr
.
k + (cw) 1 .
X=Y r=r = ( 1 + 8ζ − 1)
(k − mw ) + (cw) 2ζ
𝑚𝑐𝑤 for 0 < ζ < 1
ϕ = 𝑡𝑎𝑛
k(k − mw ) + (cw)

T at unity when r = 0 & √2

Not given
.
X 1 + (2ζr)
T = =
Y (1 − r ) + (2ζr)
2ζr
ϕ = tan
1 + (4ζ − 1)r
F = mw X
 Forced damped vibration from unbalance force

Given
,X occurs when
Mẍ + cẋ + kx = mew sin wt
d MX 1
x (t) = X sin(wt − ϕ) = 0 ;r = r =
mew dr me 1 − 2ζ
X= .
[(k − Mw ) + (cw) ] if and only if 0 < ζ <
√
𝑐𝑤
ϕ = 𝑡𝑎𝑛
k − Mw
Substitute r into ;
MX 1
Not given =
me 2ζ 1 − ζ
MX r
= .
me [(1 − r ) + (2ζr) ]

2ζr
ϕ = tan
1−r

|F| = mew T

c c c w
ζ= = = r=
c 2mw 2√mk w
c
= 2ζw k
m w =
m
F F F r
δ = = =
k mw mw
1. mass, m [kg] 17. total solution, x(t) [m]
2. stiffness, k [N/m] 18. homogeneous/transient solution, xh(t) [m]
3. damping coefficient, c [Ns/m] 19. particular/steady-state solution, xp(t) [m]
4. critical damping coefficient, cc [Ns/m] 20. displacement amplitude, X [m]
5. time, t [s] 21. base displacement, y [m]
6. displacement, x [m] 22. base velocity, ẏ [m/s]
7. velocity, ẋ [m/s] 23. base acceleration, ÿ [m/s2]
8. acceleration, ẍ [m/s2] 24. base displacement amplitude, Y [m]
9. force/excitation amplitude, F [N] 25. displacement transmissibility, Td
10. force/excitation frequency, w [rad/s] 26. transmitted force – base excitation, FT [m]
11. undamped natural frequency, 𝑤 [rad/s] 27. transmitted force – rotating unbalance, |F| [m]
12. frequency ratio, ζ 28. total system mass including eccentric/unbalance mass, M
13. damping ratio, r [kg]
14. amplification factor/magnification factor/amplitude ratio, M 29. eccentric/unbalance mass, m [kg]
15. static deflection, δ [m] 30. eccentricity, e [m]
16. phase angle, ϕ [rad]