Forced Vibration of A Sdof System

Forced Vibration of a SDOF System
S. Ilanko
2007
Simple Harmonic Excitation

State 1 (equilibrium, springs unstressed)
k
c
F sin t
State 2 (at time t during vibration)

k
c
F sin t
T
T
F sin t
FREEBODY DIAGRAM

k
c
F sin t
T T F sin t mu
Newtons Second Law
F sin t

k
c
F sin t
T T F sin t mu
ku cu F sin t mu
Constitutive equations
F sin t

k
c
F sin t
T T F sin t mu
ku cu F sin t mu
ku cu mu F sin t
Rearrange.
F sin t

k
c
F sin t
ku cu mu F sin t
Now it is maths.

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
Try combination of sin t and cos t for u

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
u A cos t B sin t
u 2 A sin t 2 B cos t
Calculus

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
u A cos t B sin t
Substitute

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
u A cos t B sin t
k (A sin t + B cos t) + c (A cos t - B sin t)
m 2 (A sin t + B cos t) = F sin t

k
c
F sin t
ku cu mu F sin t
Group sin, cos terms
u A sin t B cos t
u A cos t B sin t
(kA-c m 2A - F) sin t + (k B+c m 2B) cos t = 0

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
u A cos t B sin t
Let us make some

space..


k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
Let us make some

space..

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
Let us make some

space..


k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
This is true for any

time t

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
This is true for any

time t

Therefore, both these
terms must vanish!

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
Consider this first

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
(k B+c m B) = 0 gives
2
cA
B
(k m 2 )

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
(k A-c m A) = F and
2
(c) 2 A
2
kA
A F
2
(k m )
cA
B
(k m 2 )
give

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
F (k m 2 )
A
(k m 2 ) 2 (c) 2

(k A-c m A) = F and
2
(c) 2 A
2
kA
A F
2
(k m )
cA
B
(k m 2 )
give

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
Fc
B
(k m 2 ) 2 (c) 2
(c) 2 A
2
kA
A F
2
(k m )
F (k m 2 )
A
(k m 2 ) 2 (c) 2
cA
B
(k m 2 )

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
Fc
B
(k m 2 ) 2 (c) 2
F (k m 2 )
A
(k m 2 ) 2 (c) 2

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
Substitute
Fc
B
(k m 2 ) 2 (c) 2
F (k m 2 )
A
(k m 2 ) 2 (c) 2

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
(k m
uF
) sin t c cos t
(k m 2 ) 2 (c) 2
2
Fc
B
(k m 2 ) 2 (c) 2
F (k m 2 )
A
(k m 2 ) 2 (c) 2

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
(k m
uF
) sin t c cos t
(k m 2 ) 2 (c) 2
(k m
uF
) sin t c cos t
(k m ) (c)
2 2
Just rewrite!

k
c
F sin t
ku cu mu F sin t
u
Again rewrite!
u A sin t B cos t
F
(k m 2 ) sin t c cos t
(k m 2 ) 2 (c) 2
(k m
uF
(k m 2 ) 2 (c) 2
) sin t c cos t
(k m ) (c)
2 2

k
c
F sin t
ku cu mu F sin t
u
Now the tricky
u A sin t B cos t
F
(k m 2 ) 2 (c) 2
(k m 2 ) 2 (c) 2

k
c
F sin t
ku cu mu F sin t
u
Now the tricky
u A sin t B cos t
F
(k m 2 ) 2 (c) 2
(k m 2 ) 2 (c) 2
trigonometry

k
c
F sin t
ku cu mu F sin t
u
u A sin t B cos t
F
(k m 2 ) 2 (c) 2
u
(k m 2 ) 2 (c) 2
F
(k m 2 ) 2 (c) 2
sin(t )

sin
c
T
F sin t
; cos
( k m 2 )

2
2 2
2 2
c
(k m
) (mc)
T
ku cu mu F sin t
(k m ) (c) 2
u A sin t B cos t
F
(k m 2 ) 2 (c) 2
u
(k m 2 ) 2 (c) 2
F
(k m 2 ) 2 (c) 2
sin(t )

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
F
u
sin(t )
(k m 2 ) 2 (c) 2
sin
c
(k m 2 ) 2 (c) 2
; cos
(k m 2 )
(k m 2 ) 2 (c) 2

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
F
u
sin(t )
(k m 2 ) 2 (c) 2
sin
c
(k m 2 ) 2 (c) 2
; cos
Or.
(k m 2 )
(k m 2 ) 2 (c) 2

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
F
u
sin(t )
(k m 2 ) 2 (c) 2
c
tan
(k m 2 )

k
c
F sin t
ku cu mu F sin t
u A sin t B cos t
F
u
sin(t )
(k m 2 ) 2 (c) 2
c
tan
(k m 2 )
phase change

This is the steady state response
k
c
F sin t
F
(k m 2 ) 2 (c) 2
sin(t )
c
tan
(k m 2 )
phase change

k
c
F sin t
Force dependent unlike transient

response, it doesnt decay with time
u
F
(k m 2 ) 2 (c) 2
sin(t )
c
tan
(k m 2 )
phase change

k
c
F sin t
Amplitude of steady state response

u
F
(k m 2 ) 2 (c) 2
sin(t )
c
tan
(k m 2 )
1.0
phase change

k
c
F sin t
Amplitude of steady state response

u
F
(k m 2 ) 2 (c) 2
c
tan
(k m 2 )
phase change

k
c
F sin t
F
u
k
Static displacement:
u
F
(k m 2 ) 2 (c) 2
c
tan
(k m 2 )
phase change

k
c
F sin t
Static displacement:
u
F
u
k
F
k (1 (m / k )) (c / k )
2
u
(1 (m 2 / k )) 2 (c / k ) 2
c
tan
(k m 2 )
phase change

k
c
F sin t
Dynamic Magnification factor:

u
1
R
u
(1 (m 2 / k )) 2 (c / k ) 2
c
tan
(k m 2 )
F
u
k
phase change

Let us simplify the formula for R
k
c
F sin t
Dynamic Magnification factor:

u
1
R
u
(1 (m 2 / k )) 2 (c / k ) 2
c
tan
(k m 2 )
F
u
k
phase change

k
c
F sin t
We know that k = m2
u
1
R
u
(1 (m 2 / k )) 2 (c / k ) 2
c
tan
(k m 2 )
F
u
k
phase change

k
c
F sin t
We know that k = m2
u
1
R
u
(1 ( / ) 2 ) 2 (c / k ) 2
c
tan
(k m 2 )
F
u
k
phase change

k
c
F sin t
We also know that c = cc= m

u
1
R
u
(1 ( / ) 2 ) 2 (c / k ) 2
c
tan
(k m 2 )
F
u
k
phase change

k
c
F sin t
We also know that c = cc= m

u
1
R
u
(1 ( / ) 2 ) 2 (c / k ) 2
c
tan
(k m 2 )
F
u
k
phase change

k
c
F sin t
Once again use k = m

u
1
R
u
(1 ( / ) 2 ) 2 (2m / k ) 2
c
tan
(k m 2 )
F
u
k
phase change

k
c
F sin t
Once again use k = m

u
1
R
u
(1 ( / ) 2 ) 2 (2 / ) 2
c
tan
(k m 2 )
F
u
k
phase change

k
c
F sin t
In terms of the frequency ratio = /

u
1
R
u
(1 2 ) 2 (2 ) 2
c
tan
(k m 2 )
F
u
k
phase change
Resonance occurs when R is maximum
R vs
Resonance occurs not when
R vs
Resonance occurs not when d
R vs

To find the resonance frequency, find when dR/d=0
k
c
F sin t
In terms of the frequency ratio = /

u
1
R
u
(1 2 ) 2 (2 ) 2
c
tan
(k m 2 )
F
u
k
phase change
Finding resonance frequency

u
1
R
u
(1 2 ) 2 (2 ) 2
dR
0
2
d

21 (1) 4 0
dR
1 2 1 2 (1) 4 2
2 1 2 (1) 4 2
2
3/ 2
3/ 2
2
2
2 2
d
2 1 2 2 2
2 1 2
2
1 2 2
dR
0
2
d

21 (1) 4 0
dR R 1uu 2(1 1 ) 1(22 )(1) 4 2

2 1 2 (1) 4 2
2
3/ 2
3/ 2
2
2
2 2
d
2 1 2 2 2
2 1 2
2 2
1 2 2
Peak occurs only if
1/ 2

u
1
R
u
(1 2 ) 2 (2 ) 2
1 2 2
Rmax
1 (1 2 )
2
1
2
4 (1 2 )
2
1
2 (1 2 )

u
1
R
u
(1 2 ) 2 (2 ) 2
Note that while the resonance depends on

damping there is something that only depends
on the natural frequency. What is it?

u
1
R
u
(1 2 ) 2 (2 ) 2

damping there is something that only depends on
the natural frequency. What is it?
It is the frequency at which phase change is
c
tan
(k m 2 )

u
1
R
u
(1 2 ) 2 (2 ) 2

damping there is something that only depends on
the natural frequency. What is it?
If the force were a cosine function then using F
sin (t+for the forcing function gives similar
results.
c
tan
(k m 2 )
Phase change
For cosine functions,
as
1, tan , / 2
(k m 2 )
tan
c
Phase change
180
150
120
90
60
30
0
0
0.5
1.5
2.5
Exercise
m
Show that the equation of motion of

the mass is of the form:
ku cu m(1 )u m 2 e(sin t )
2
Note, often 1 ku cu mu m e cos t
Very similar to the simple harmonic

excitation problem, except that an additional
term including 2 appears in the numerator.
Exercise
m
Show that the equation of motion of

the mass is of the form:
ku cu m(1 )u m 2 e(cos t )
2
Note, often 1 ku cu mu m e sin t
Very similar to the simple harmonic

excitation problem, except that an additional
term including 2 appears in the numerator.
Sketch the Freebody Diagrams for m and m
Exercise
Taking m as the mass of the machine
without the rotating mass m,
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Sketch the Freebody Diagrams for m and m
Exercise
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Applying Newtons second law to m gives
Exercise
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Fy ku cu mu
Exercise
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Fy ku cu mu
Exercise
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Fy ku cu mu
Fy m(u e 2 sin t )
Exercise
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Fy ku cu mu
Fy m(u e 2 sin t )
Eliminate Fy by adding these equations
Exercise
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Fy ku cu mu
Fy m(u e 2 sin t )
ku cu mu m(u e 2 sin t )
Exercise
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Fy ku cu mu
Fy m(u e 2 sin t )
Exercise
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Fy ku cu mu
Fy m(u e 2 sin t )
Let us rearrange this
Exercise
F1
u
Fx
Fy
F2
Fx
d 2 (e sin t )
u
dt 2
d (e cos t )
t
2
dt
F
2
ku cu
Fy ku cu mu
Fy m(u e 2 sin t )
ku cu m(1 )u me 2 sin t
Exercise
m
We have the equation of motion and

need to solve it. This is very similar
to the sdof subject to simple
harmonic force F sin t.
Instead of F we now have em2.
Exercise
m
Solution to ku cu mu F sin t
was
F sin(t )
(k m 2 ) 2 (c) 2
phase change
Exercise
m
was
F sin(t )
(k m 2 ) 2 (c) 2
Consider the similarity between these equations
phase change
Exercise
m
was
is
F sin(t )
(k m 2 ) 2 (c) 2
Solution to ku cu m(1 )u me 2 sin t

u
em 2 sin(t )
(k m(1 ) 2 ) 2 (c) 2
phase change
Exercise
Note in this question, t was
measured from the horizontal axis. If
it was measured from the vertical axis
then the sin t term in the equation of
motion would be replaced by cos t .
em 2 sin(t )
(k m(1 ) 2 ) 2 (c) 2

Forced Vibration of A Sdof System

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Forced Vibration of a SDOF System

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Try combination of sin t and cos t for u

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Group sin, cos terms

Simple Harmonic Excitation

State 2 (at time t during vibration)

Let us make some

k (A sin t + B cos t) + c (A cos t - B sin t)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Let us make some

Simple Harmonic Excitation

State 2 (at time t during vibration)

Let us make some

k (A sin t + B cos t) + c (A cos t - B sin t)

Simple Harmonic Excitation

State 2 (at time t during vibration)

This is true for any

(kA-c m 2A - F) sin t + (k B+c m 2B) cos t = 0

Simple Harmonic Excitation

State 2 (at time t during vibration)

This is true for any

(kA-c m 2A - F) sin t + (k B+c m 2B) cos t = 0

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

(kA-c m 2A - F) sin t + (k B+c m 2B) cos t = 0

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)

Simple Harmonic Excitation

State 2 (at time t during vibration)