CHAPTER 3

Harmonically Excited
Vibration
x

F(t)

m
k

MAE 351: Wk 4

Dept. of Mechanical Eng., KAIST

3.1. General

F(t)

System subject to external dynamic forces

Forcing function, Exciting function
Harmonic excitation Harmonic response
Nonperiodic excitation Transient response
Harmonic excitations F (t ) = F0 ei(t + )

m
k

F (t ) = F0 cos ( t + )

F (t ) = F0 sin( t + )

Governing equation
9 mx + cx + kx = F (t )
(nonhomogeneous equation)
General soln:
x(t) = xh(t) + xp(t)
where xh(t) = homogeneous soln of mx + cx + kx = 0
xp(t) = particular soln
xh(t) : exponentially decaying (initial transient) vibration
xp(t) : steady-state vibration

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Dept. of Mechanical Eng., KAIST

Homogeneous, Particular, & General Solutions

(Underdamped 1-DOF Vibration)

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Dept. of Mechanical Eng., KAIST

3.2. Superposition Principle

2

mx + cx + kx = F (t ) or

d x
dx
m 2 + c + kx = F (t )
dt
dt

x(t) = output (response); F(t) = input (excitation)

d2
d
Introduce a linear differential operator

Gm

Then,

G [ x(t ) ] = F (t )

dt

+c

dt

+k

G = Black-box of the 2nd order system

Consider two excitations and responses:

F1(t)=G[x1(t)], F2(t)=G[x2(t)]

F(t)

x(t)

Next, consider
F3(t)=c1F1(t) + c2F2(t)
: linear combination of F1(t) & F2(t)
c1,c2 : known constants
If x3(t) = c1x1(t) +c2x2(t), the system is linear: otherwise nonlinear
G[x3(t)] = G[c1x1(t) + c2x2(t)] = c1G[x1(t)] + c2G[x2(t)]
= c1F1(t) + c2F2(t) = F3(t)
; principle of superposition
MAE 351: Wk 4

Dept. of Mechanical Eng., KAIST

3.3. Response of an Undamped System

under Harmonic Force
x

F(t)

mx + kx = Fo cos t
For

mx + kx = 0,
xh (t ) = C1 cos nt + C2 sin nt
k
n =
m

F(t) : harmonic xp(t): harmonic

with
with
Assume xp(t) = Xcos t, then

X (m 2 cos t + k cos t ) = F0 cos t

F0
; Amplitude of particular
X=
2
k m
solution
Q: What is the physical meaning of particular solution?
MAE 351: Wk 4

Dept. of Mechanical Eng., KAIST

General Solution
x(t) = total solution
=

F0
C1 cos nt + C2 sin nt +
cos t
2
k m

Two I.C.'s of x(0) & x (0)

Let x(0) = x0

Homogeneous
solution

C1 , C2

& x (0) = x0

F0
x0
C1 = x0
; C2 =
2
n
k m
Then,

Recall:
In free vib. case:
x
C1 = x0 ; C2 = 0

x0
F0

x(t ) = x0
cos nt + sin nt
2
k m

n
F0
+
cos t
2
k m

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Recall: free vib.

Dept. of Mechanical Eng., KAIST

From

F0
and
F0 = k st
2
k m
1
1
X
Look!

2
2
X infinity as r 1
1
r
st

RESONANCE
1
n
F0
where
st = = static deflection,
k

X=

r = frequency ratio ,
n
X

Dynamic ampl.
=
st
Static ampl.
= magnification factor
or amplification factor
or amplification ratio
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Dept. of Mechanical Eng., KAIST

A. Characteristics
F(t) & xp(t) are in phase

: 0 < /n < 1
: /n > 1
: /n = 1
(0<r<1)
out-of phase ( r > 1 )
xp(t) = -Xcost

MAE 351: Wk 4

Dept. of Mechanical Eng., KAIST

 (r=1)
X ; Resonance

=n

st
x(t ) = C1 cos nt + C2 sin nt +
cos t
2
1 (/ n )
x0

1
= x0 cos nt + sin nt + st
(cos t cos nt )
2
n
1 (/ n )
cos t cos nt
(t sin t ) 1
lim
= lim
= nt sin nt (L'Hospital's rule)
2
n
n

1 (/ n )
2
2

n2

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x(t ) = x0 cos nt +

x0

sin n t +

st nt
2

sin nt

Dept. of Mechanical Eng., KAIST

B. Total Response

+ for /n < 1
- for /n > 1

st
x(t ) = A cos( nt )
cos t
2
1 (/ n )
C2
where A = C + C2 ; = tan
C1
2
1

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Dept. of Mechanical Eng., KAIST

C. Beating
Linear superposition of individual vibrations:

x = A1 exp[i (1t + 1 )] + A2 exp[i (2t + 2 )]

Nonperiodic (aperiodic) oscillations in general
When 2 = 1 + , then

x = [ A1ei1 A2 ei (2 +t ) ]ei1t Aei (1t + )

where

A = [ A12 + A2 2 + 2 A1 A2 cos(1 2 t )]1/ 2

A1 sin 1 + A2 sin(2 + t )
= tan

+
+

s
cos(
)
A
co

t
1

1
2
2
1

; Approximately simple harmonic vibration

with slowly varying ampl. A and phase
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Dept. of Mechanical Eng., KAIST

Consider a special case of A1 = A2 and 1 = 2 = 0

Then,

A = A1 (2 + 2cos t )1/ 2

0 A 2 A1

sin t
1 + cos t
Beat frequency fb = f = f1 f 2 =

= tan 1

(Forcing freq., ) (Natural freq., n (system))

When x0 = x0 = 0,
( F0 / m)
x(t ) = 2
(cos t cos nt )
2
n
=
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+ n
n
( F0 / m)

2sin
t
sin
t
2
2
n
2
2
Dept. of Mechanical Eng., KAIST

As n - = 2
( : very small),
+n 2 & n2 - 2 = (n + )(n - ) 4
Then,
F0 / m

x(t )
sin t sin t
2

variable amplitude

2
2
2
b period of beating =
=
=
2 n

b = 2 = n =

MAE 351: Wk 4

Dept. of Mechanical Eng., KAIST