Laguna University Undamped Forced Vibration

Prepared by: Engr. Mark Augusto Agus Vibration Engineering

UNDAMPED FORCED VIBRATION

Undamped forced vibration is a result of continuous external stimulus in contrast to natural

vibration. It is considered as one of most important types of vibrating motion. Its principle can be
used to describe the motion of any types of machine and structure.

x
k
m FOsinωt

Free body diagram of the mass system

+
→ ∑ 𝐹𝑥 = 𝑚𝑎𝑥 :
W = mg

kx FOsinωt = ma

N=W

𝐹𝑜 𝑠𝑖𝑛𝜔𝑜 𝑡 − 𝑘𝑥 = 𝑚𝑥̈
𝑘 𝐹𝑜
𝑥̈ + 𝑥= 𝑠𝑖𝑛𝜔𝑜 𝑡
𝑚 𝑚
𝐹𝑜
𝑥̈ + 𝜔𝑛 2 𝑥 = 𝑠𝑖𝑛𝜔𝑜 𝑡
𝑚
Where:
𝜔𝑜 = forcing frequency

𝜔𝑛 = natural frequency

This equation is a non homogenous second order differential equation and has a general
solution:

𝑥 = 𝑥𝑐 + 𝑥𝑝

Complementary Solution 𝒙𝒄

Complementary solution 𝑥𝑐 is a solution of the homogenous equation obtained by setting

the right-hand side equal to zero.

𝑥̈ + 𝜔𝑛 2 𝑥 = 0 → has a solution for undamped free vibration.

Then,

𝑥𝑐 = 𝐶𝑠𝑖𝑛(𝜔𝑛 𝑡 + 𝜃)

Complementary solution defines the free vibration and dependent on natural frequency 𝜔𝑛
and constant C and 𝜃 (to be determined by initial conditions). It is also called transient vibration,
because in actual condition it will die out due to the unavoidable presence of damping caused by
friction.
Laguna University Undamped Forced Vibration
Prepared by: Engr. Mark Augusto Agus Vibration Engineering

Particular Solution 𝒙𝒑

The particular solution is referred to as the steady state vibration, because it continues even
if damping is present.

Let:
𝑥𝑝 = 𝑍𝑠𝑖𝑛𝜔𝑜 𝑡

𝑥𝑝̇ = −𝑍𝜔𝑜 𝑐𝑜𝑠𝜔𝑜 𝑡

𝑥𝑝̈ = −𝑍𝜔𝑜 2 𝑠𝑖𝑛𝜔𝑜 𝑡

Substituting this value to Equation 1

𝑚𝑥̈ + 𝑘𝑥 = 𝐹𝑜 𝑠𝑖𝑛𝜔𝑜 𝑡

𝑚(−𝑍𝜔𝑜 2 𝑠𝑖𝑛𝜔𝑜 𝑡) + 𝑘(𝑍𝑠𝑖𝑛𝜔𝑜 𝑡) = 𝐹𝑜 𝑠𝑖𝑛𝜔𝑜 𝑡

(𝑍𝑠𝑖𝑛𝜔𝑜 𝑡)(−𝑚𝜔𝑜 2 + 𝑘) = 𝐹𝑜 𝑠𝑖𝑛𝜔𝑜 𝑡

𝑍(𝑘 + 𝑚𝜔𝑜 2 ) = 𝐹𝑜
𝐹𝑜
𝐹𝑜 𝑘
𝑍= =
𝑘 + 𝑚𝜔𝑜 2 1 + 𝑚𝜔𝑜 2
𝑘
𝐹𝑜
𝑘
𝑍= 𝜔𝑜 2
1+
𝜔𝑛 2

Where;
Z = amplitude of the steady state motion
𝐹𝑜
= zero – frequency deflection of the spring mass system – deflection caused by
𝑘
constant force of magnitude 𝐹𝑜

Then the particular solution is equal to

𝐹𝑜
𝑘
𝑥𝑝 = ( 𝜔𝑜 2
)𝑠𝑖𝑛𝜔𝑜 𝑡
1+𝜔 2
𝑛

Summing the complementary and particular solution,

𝐹𝑜
𝑘
𝑥 = 𝐶𝑠𝑖𝑛(𝜔𝑛 𝑡 + 𝜃) + ( 𝜔𝑜 2
)𝑠𝑖𝑛𝜔𝑜 𝑡
1+
𝜔𝑛 2

Therefore the general solution is a sum of two sine functions having different frequencies.
Laguna University Undamped Forced Vibration
Prepared by: Engr. Mark Augusto Agus Vibration Engineering

Magnification Factor MF
𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒 𝑜𝑓 𝑠𝑡𝑒𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑣𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛
𝑀𝐹 =
𝑍𝑒𝑟𝑜 − 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛
|𝑍 |
𝑀𝐹 = 𝐹𝑜
𝑘

The absolute value of Z is used because the amplitude is by convention a positive number.

Note that if the force or displacement is applied with a frequency near to the natural frequency of
𝜔
the system 𝑜 ≈ 1, this condition is called resonance where the amplitude of vibration becomes
𝜔𝑛
very large and could cause tremendous stress on machine parts.

Examples

1. If the block is subjected to the impressed force 𝐹 = 𝐹𝑜 𝑐𝑜𝑠𝜔𝑡, show that the differential
𝑘 𝐹
equation of motion is 𝑦̈ + (𝑦) = 𝑜 𝑐𝑜𝑠𝜔𝑡, where y is measured from the equilibrium
𝑚 𝑚
position of the block. What is the general solution of this equation?

𝐹 = 𝐹𝑜 𝑐𝑜𝑠𝜔𝑜 𝑡
Laguna University Undamped Forced Vibration
Prepared by: Engr. Mark Augusto Agus Vibration Engineering

Consider the Free-body-diagram and mass acceleration diagram

𝑇 = 𝑘(𝛿𝑠𝑡 + 𝑦)

W ma
=

𝐹 = 𝐹𝑜 𝑐𝑜𝑠𝜔𝑜 𝑡

+
→ ∑ 𝐹𝑦 = 𝑚𝑎𝑦 ;

𝐹𝑜 𝑐𝑜𝑠𝜔𝑡 + 𝑊 − 𝑘𝛿𝑠𝑡 − 𝑘𝑦 = 𝑚𝑦̈

Since 𝑊 = 𝑘𝛿𝑠𝑡
𝑘 𝐹𝑜
𝑦̈ + ( ) 𝑦 = 𝑐𝑜𝑠𝜔𝑜 𝑡
𝑚 𝑚
This equation has a general solution:

𝑦 = 𝑦𝑐 + 𝑦𝑝

Where:

𝑦𝑐 = 𝐴𝑠𝑖𝑛𝜔𝑛 𝑡 + 𝐵𝑐𝑜𝑠𝜔𝑛 𝑡 = complementary solution

𝑦𝑝 = 𝐶𝑐𝑜𝑠𝜔𝑜 𝑡 = particular solution

Obtaining the 1st and 2nd derivative of the particular solution

𝑦̇ = 𝐶𝜔𝑜 𝑠𝑖𝑛𝜔𝑜 𝑡

𝑦̈ = −𝐶𝜔𝑜 2 𝑐𝑜𝑠𝜔𝑜 𝑡
Substituting this to original equation
𝑘 𝐹𝑜
−𝐶𝜔𝑜 2 𝑐𝑜𝑠𝜔𝑜 𝑡 + ( )𝐶𝜔𝑜 𝑠𝑖𝑛𝜔𝑜 𝑡 = 𝑐𝑜𝑠𝜔𝑡
𝑚 𝑚
𝑘 𝐹𝑜
𝐶 (−𝜔𝑜 2 + )=
𝑚 𝑚
𝐹𝑜
𝑚 𝐹𝑜 𝐹𝑜
𝐶= 𝑘 = 2
=
− 𝜔𝑜 2 (𝑘 − 𝑚𝜔𝑜 ) 𝑚
𝑘 (1 − 𝑘 𝜔𝑜 2 )
𝑚

Then
𝐹𝑜
𝑘
𝐶= 𝜔
1 − (𝜔𝑜 )2
𝑛

Therefore

𝐹𝑜
𝑘
𝑦 = 𝐴𝑠𝑖𝑛𝜔𝑛 𝑡 + 𝐵𝑐𝑜𝑠𝜔𝑛 𝑡 + [ ] 𝑐𝑜𝑠𝜔𝑜 𝑡
𝜔𝑜 2
1 − (𝜔 )
𝑛
Laguna University Undamped Forced Vibration
Prepared by: Engr. Mark Augusto Agus Vibration Engineering

2. A 5-kg block is suspended from a spring having a stiffness of 300N/m. If the block is acted
upon by a vertical force 𝐹 = (7𝑠𝑖𝑛8𝑡)N, where t is in seconds, determine the equation
which describes the motion of the block when it is pulled down 100mm from the equilibrium
position and released from rest at t = 0. Assume that positive displacement is measured
downward.

Given:
K = 300 N/m
𝐹 = 𝐹𝑜 𝑠𝑖𝑛𝜔𝑜 𝑡 = (7𝑠𝑖𝑛8𝑡)N

𝐹𝑜 = 7N 𝜔𝑜 = 8𝑟𝑎𝑑/𝑠
k = 300 N/m y

𝐹 = (7𝑠𝑖𝑛8𝑡)N

 Required:
Equation of motion when y = 0.1 m at t = 0
 Solution:
Solving for the natural frequency 𝜔𝑛

𝑁
𝑘 300 𝑚 𝑟𝑎𝑑
𝜔𝑛 = √ = √ = 7.746
𝑚 5𝑘𝑔 𝑠
Thus, for the general solution

𝐹𝑜
𝑘
𝑦 = 𝐴𝑠𝑖𝑛𝜔𝑛 𝑡 + 𝐵𝑐𝑜𝑠𝜔𝑛 𝑡 + [ ] 𝑠𝑖𝑛𝜔𝑜 𝑡
𝜔𝑜 2
1−( )
𝜔𝑛

7N
300 N/m
𝑦 = 𝐴𝑠𝑖𝑛7.746𝑡 + 𝐵𝑐𝑜𝑠7.746𝑡 + [ 2 ] 𝑠𝑖𝑛8𝑡
8
1−( )
7.746

For y = 0.1m when t = 0

0.1 = 0 + 𝐵 − 0

Then, B = 0.1

Obtaining the 1st derivatives of the general solution

𝑦̇ = 7.746𝐴𝑐𝑜𝑠7.746𝑡 − 7.746𝐵𝑠𝑖𝑛7.746𝑡 − (0.35)(8)𝑐𝑜𝑠8𝑡
For 𝑣𝑜 = 0 at t = 0
0 = 7.746𝐴 − 2.8
Then, A = 0.361

Therefore, the equation that will describe the motion

𝑦 = (0.361𝑠𝑖𝑛7.746𝑡 + 0.1𝑐𝑜𝑠7.746𝑡 + 0.35𝑠𝑖𝑛8𝑡) 𝑚

3. The instrument shown in figure below is rigidly attached to a platform, which in turn is
supposed by four spring, each having a stiffness k = 800 N/m. If the floor is subjected to a
Laguna University Undamped Forced Vibration
Prepared by: Engr. Mark Augusto Agus Vibration Engineering

vertical displacement𝛿 = 10𝑠𝑖𝑛8𝑡 𝑚𝑚, where t is in seconds, determine the amplitude of

steady-state vibration. What is the frequency of the floor vibration required to cause
resonance? The instrument and platform have a total mass of 20kg.

Given:
𝛿 = 𝛿𝑜 𝑐𝑜𝑠𝜔𝑜 𝑡 = 10𝑠𝑖𝑛8𝑡 mm

𝛿𝑜 = 10 mm 𝜔𝑜 = 8𝑟𝑎𝑑/𝑠
k = 300 N/m m = 20 kg

k k
Required:
a) The amplitude of steady-state vibration.
b) Frequency required to cause resonance

Solution:

The natural frequency is

𝑁
𝑘 4(800) 𝑟𝑎𝑑
𝜔𝑛 = √ = √ 𝑚
= 12.65
𝑚 20 𝑘𝑔 𝑠

a) The amplitude of steady-state vibration

𝐹𝑜
𝑘 𝛿𝑜 10 mm
𝑍= 𝜔 = 𝜔 = 8
1− (𝜔𝑜 )2 1− (𝜔𝑜 )2 1 − (12.65)2
𝑛 𝑛
𝑍 = 16.7 𝑚𝑚

b) The Frequency required to cause a resonance

𝜔𝑜 = 𝜔𝑛 = 12.65 𝑟𝑎𝑑/𝑠
Resonance will occur when the amplitude of vibration Z caused by the floor
displacement approaches infinity.

Problem Set

1. Write the equation of motion and calculate the response assuming: a) the system is initially
at rest, and b) the system has an initial displacement of 0.5m.
2 kN/m x
100kg F = 10sin10t

2. Write the equation of motion in Figure below and calculate the response assuming that the
system is initially at rest for the values k1 = 100 N/m and k2 = 500 N/m and m= 89 kg.

x
k1 k2
100kg F = 10sin10t
Laguna University Undamped Forced Vibration
Prepared by: Engr. Mark Augusto Agus Vibration Engineering

3. Write the equation of motion and calculate the response assuming that the system is
initially at rest for the values θ= 30°, k = 1000 N/m and m = 50 kg.

90sin2.5t N

4. The electric motor has a mass of 50 kg and is supported by four springs each having a
stiffness of 100 N/m if the motor turns the disk D which is mounted eccentrically, 20 mm
disk centre and produce 7 Hz of vibration and 0.5 kg of unbalanced force when the motor is
running. Determine the angular rotation 𝜔𝑛 at which resonance occurs and describe the
equation that will describe the motion of vibration at initial condition (x o= 0 at t = 0). Assume
that the motor vibrates only in vertical direction only and 𝐹 = 𝐹𝑜 𝑠𝑖𝑛𝜔𝑜 𝑡.

20 mm

k k