Mee5206 Chapter 3

MEE 5206:
VIBRATION
Chapter 3
Harmonically Excited Vibration
Mechanical Vibrations

Fourth Edition
William T. Thomson
REFERENCES
Third Edition
Daniel J. INMAN
Fifth Edition
Singiresu S. Rao
TEXT BOOK
Chapter 3
Harmonically Excited Vibration
Introduction
Equation of Motion
Response of an Undamped System Under Harmonic Force
Response of a Damped System Under Harmonic Force
Response of a Damped System Under
Response of a Damped System Under Rotating Unbalance
Transfer-Function Approach
Solutions Using Laplace Transforms
Frequency Transfer Functions
t i
e F t F
e
0
) ( =
Chapter Outline
4
Learning Objectives
After completing this chapter, the reader should be able
to do the following:
Find the responses of undamped and viscously damped single-degree-of-
freedom systems subjected to different types of harmonic force, including base
excitation and rotating unbalance.

Distinguish between transient, steady-state, and total solutions.

Understand the variations of magnification factor and phase angles with the
frequency of excitation and the phenomena of resonance and beats.

Find the response of systems involving Coulomb, hysteresis, and other types of
damping.
2011 Mechanical Vibrations Fifth Edition in SI Units 5
Introduction
Forced vibrations occurs when external energy is supplied to the
system during vibration

The external force can be supplied through either an applied force
or an imposed displacement excitation, which may be harmonic,
nonharmonic but periodic, nonperiodic, or random in nature.

Harmonic response results when the system responses to a
harmonic excitation

Transient response is defined as the response of a dynamic system
to suddenly applied nonperiodic excitations
From the figure below, the equation of motion using Newtons
Second Law of Motion states that

The homogeneous solution of the equation is
) 1 . 3 ( ) (t F kx x c x m = + +
) 2 . 3 ( 0 = + + kx x c x m
A spring-mass-damper system
Equation of Motion
Since Eq. (3.1) is nonhomogeneous, its general solution x(t) is given by the
sum of the homogeneous solution x
h
(t) and the particular solution, x
p
(t).
Equation of Motion
The variations of homogeneous and general solutions with time for
a typical case are shown in the figure below.
Homogenous and general solutions of Eq. (3.1) for an underdamped case
Response of an Undamped System Under
Harmonic Force
Consider an undamped system subjected to a harmonic force. If a
force acts on the mass m of the system,

The homogeneous solution is given by:

t F t F e cos ) (
0
=
) 3 . 3 ( cos
0
t F kx x m e = +
) 4 . 3 ( sin cos ) (
2 1
t C t C t x
n n h
e e + =
2 / 1
) / ( m k
n
= e
where is the natural frequency
Because the exciting force and particular solution is harmonic and
has the same frequency, we can assume a solution in the form:

Thus, the total solution (General solution) will be:

where X is the max amplitude of x
p
(t)
) 5 . 3 ( cos ) ( t X t x
p
e =
) 6 . 3 (
1
2 2
0
|
|
.
|
\
|
=
n
st
m k
F
X
e
e
o
e
k F
st
/
0
= o
where denotes the static deflection
) 7 . 3 ( cos sin cos ) (
2
0
2 1
t
m k
F
t C t C t x
n n
e
e
e e
+ + =
Harmonic Force
Using initial conditions

Hence

The max amplitude can be expressed as
) 8 . 3 ( ,
0
2
2
0
0 1
n
x
C
m k
F
x C
e e

=
=
) 9 . 3 ( cos
sin cos ) (
2
0
0
2
0
0
t
m k
F
t
x
t
m k
F
x t x
n
n
n
e
e
e
e
e
e
|
.
|
\
|
+
|
|
.
|
\
|
+
|
.
|
\
|
=

) 10 . 3 (
1
1
2
|
|
.
|
\
|
=
n
st
X
e
e
o
Harmonic Force
The quantity is the ratio of the dynamic to static amplitude of
motion and called the magnification factor, amplification factor, or
amplitude ratio.

The variation of the amplitude ratio with
the frequency ratio is shown in the figure.

The response of the system can be
identified to be of three types.

st
X o /
Magnification factor of an undamped system
Harmonic Force
n
r
e
e
=
frequency ratio
Case 1:

When 0 < < 1, the denominator in Eq.(3.10) is positive and
the response is given by Eq.(3.5) without change. The harmonic
response of the system is in phase with external force, shown in
figure.

n
e e /
Harmonic response when 1 / 0 < <
n
e e
Harmonic Force
Case 2:

When > 1, the denominator in Eq.(3.10) is negative and the
steady-state solution can be expressed as

where the amplitude is

The variations are shown in figure.
n
e e /
) 11 . 3 ( cos ) ( t X t x
p
e =
) 12 . 3 (
1
2
|
|
.
|
\
|
=
n
st
X
e
e
o
Harmonic response when 1 / >
n
e e
Harmonic Force
Case 3:

When , the amplitude X given by Eq.(3.10) or (3.12)
becomes infinite.

The forcing frequency is equal to the natural frequency of the
system is called resonance.

The total response if the
system at resonance is
Harmonic response when 1 / =
n
e e
) 15 . 3 ( sin
2
sin cos ) (
0
0
t
t
t
x
t x t x
n
n st
n
n
n
e
e o
e
e
e + + =

1 / =
n
e e
Harmonic Force
Total Response

The total response of the system, Eq.(3.7) or Eq.(3.9), can also be
expressed as
) 16 . 3 ( 1 for ; cos
1
) cos( ) (
2
<
|
|
.
|
\
|
+ =
n
n
st
n
t t A t x
e
e
e
e
e
o
| e
Harmonic Force
Total Response

And
) 17 . 3 ( 1 for ; cos
1
) cos( ) (
2
>
|
|
.
|
\
|
=
n
n
st
n
t t A t x
e
e
e
e
e
o
| e
Harmonic Force
Beating Phenomenon

If the forcing frequency is close to, but not exactly equal to, the
natural frequency of the system, beating may occur. The amplitude
builds up and diminishes in a regular pattern.

The phenomenon of beating can be expressed as:
) 22 . 3 ( sin sin
2
/
) (
0
t t
m F
t x e c
ce
|
.
|
\
|
=
Phenomenon of beats
Harmonic Force
Beating Phenomenon

The time between the points of zero amplitude or the points of
maximum amplitude is called the period of beating and is given by

The frequency of beating defined as

e e c e = =
n b
2
) 23 . 3 (
2
2
2
e e
t
c
t
t
= =
n
b
Harmonic Force
Example 3.1
Plate Supporting a Pump
A reciprocating pump, having a mass of 68kg, is mounted at the
middle of a steel plate of thickness 1cm, width 50cm, and length
250cm, clamped along two edges as shown in Figure. During operation
of the pump, the plate is subjected to a harmonic force, F(t) = 220 cos
62.832t N. Find the amplitude of vibration of the plate.
Harmonic Force
Example 3.1
Solution
The plate can be modeled as a fixed-fixed beam having Youngs
modulus (E) = 200GPa, length = 250cm, and area moment of inertia,

The bending stiffness of the beam is given by:

4 9 3 2 2
m 10 667 . 41 ) 10 )( 10 50 (
12
1
) (

= = I
(E.1) N/m 82 . 102400
) 10 250 (
) 10 667 . 41 )( 10 200 )( 192 ( 192
3 2
9 9
3
=

= =

l
EI
k
Harmonic Force
Example 3.1
Solution
Thus,
(E.2) mm 32487 . 1 m 00132487 . 0
) 832 . 62 ( 68 82 . 102400
220
2
2
0
= =
=
|
|
.
|
\
|
=
e
g
m
k
F
X
Harmonic Force
Response of Damped System Under Harmonic
Force
The equation of motion can be derived as

Using trigonometric relations, we obtain
( ) ( ) ( ) | | ) 26 . 3 ( cos sin cos
0
2
t F t c t m k X e | e e | e e =
( ) | |
( ) | | ) 27 . 3 ( 0 cos sin
sin cos
2
0
2
=
= +
| e | e
| e | e
c m k X
F c m k X
) 24 . 3 ( cos
0
wt F kx x c x m = + +
The equation of motion for forcing function is:
wt F t F cos ) (
0
=
The particular equation of motion can be:
(3.25) ) cos( ) ( | = wt X t x
p
The figure shows typical plots of the forcing function and steady-
state response.
(a) Graphical representation (b) Vectorial representation
Force
( ) | |
) 28 . 3 (
2 / 1
2 2
2
2
0
e e c m k
F
X
+
=
) 29 . 3 ( tan
2
1
|
.
|
\
|
=

e
e
|
m k
c
The solution gives
Substituting the following,

We obtain
;
m
k
n
= e ; 2
n
m
c
,e =
;
0
k
F
st
= o
n
r
e
e
=
) 30 . 3 (
) 2 ( ) 1 (
1
2 1
1
2 2 2
2 / 1
2
2
2
r r
X
n n
st ,
e
e
,
e
e
o
+
=
+
(
(
|
|
.
|
\
|
=
) 31 . 3 (
1
2
tan
1
2
tan
2
1
2
1
|
.
|
\
|
|
|
.
|
\
|
=

r
r
n
n
,
e
e
e
e
,
|
Force
The following characteristics of the magnification factor ( ) can be
noted from the figure as follows:
Force
st
X
M
o
=
magnification factor
M
1. For an undamped system , Eq.(3.30) reduces to Eq.(3.10),
and as .

2. Any amount of damping reduces the magnification factor
(M) for all values of the forcing frequency.

3. For any specified value of r, a higher value of damping reduces the
value of M.

4. In the degenerate case of a constant force (when r = 0), the value
of M = 1.
) 0 ( = ,
M 1 r
) 0 ( = ,
Force
5. The reduction in M in the presence of damping is very significant at
or near resonance.

6. The amplitude of forced vibration becomes smaller with increasing
values of the forcing frequency (that is, as ).

7. For , the maximum value of M occurs when

which can be seen to be lower than the undamped natural
frequency and the damped frequency
M 1 r
2
1
0 < <,
) 32 . 3 ( 2 1 or 2 1
2 2
, e e , = =
n
r
2
1 , e e =
n d
Force
8. The maximum value of X (when ) is given by:

and the value of X at by

9. For when r = 0. For , the graph of M
monotonically decreases with increasing values of r.
2
2 1 , = r
) 33 . 3 (
1 2
1
2
max
, ,
o

=
|
|
.
|
\
|
st
X
) 34 . 3 (
2
1
, o
e e
=
|
|
.
|
\
|
=
n
st
X
0 ,
2
1
= =
dr
dM
,
2
1
> ,
n
e e =
Force
The following characteristics of the phase angle can be observed
from the figure and Eq.(3.31) as follows:
Force
1. For an undamped system , Eq.(3.31) shows that the phase
angle is 0 for 0 < r < 1 and 180 for r > 1. This implies that the
excitation and response are in phase for 0 < r < 1 and out of phase
for r > 1 when .

2. For and 0 < r < 1, the phase angle is given by 0 < < 90,
implying that the response lags the excitation.

3. For and r > 1, the phase angle is given by 90 < < 180,
implying that the response leads the excitation.
) 0 ( = ,
0 = ,
0 > ,
0 > ,
Force
4. For and r = 1, the phase angle is given by = 90,
implying that the phase difference between the excitation and the
response is 90.

5. For and large values of r, the phase angle approaches 180,
implying that the response and the excitation are out of phase.
0 > ,
0 > ,
Force
32
Total response
For an underdamped system,

For the initial conditions, Eq.(3.35) yields

) 35 . 3 ( ) cos( ) cos( ) (
0 0
| e | e
,e
+ =

t X t e X t x
d
t
n
) 36 . 3 ( 1
2
n d
e , e =
) 36 . 3 ( sin sin cos
cos cos
0 0 0 0 0
0 0 0
| e | e | ,e
| |
X X X x
X X x
d n
+ + =
+ =

Force
(3.37)
) cos (
sin cos
tan
) sin cos (
1
) cos [(
0
0
.
0
0
2
0
.
0
2
2
0 0
| e
| e | e e
|
| e | e e
e
|
X x
X X x x
X X x x X x X
d
n n
n n
d
+
=
+ + =
Example 3.3
Total Response of a System
Find the total response of a single degree of freedom system with m
=10kg, c = 20 N-s/m, k = 4000 N/m, x
0
= 0.01 m, under the
following conditions:

a. An external force acts on the system with
and .

b. Free vibration with F(t) = 0.

0
0
= x
t F t F e cos ) (
0
=
N 100
0
= F
rad/s 10 = e
Force
Example 3.3
Solution
a. From the given data,

( )( )
( ) ( )
( ) ( ) ( ) ( )( ) | |
(E.1) m 03326 . 0
5 . 0 5 . 0 2 05 . 0 1
025 . 0
2 1
5 . 0
rad/s 974984 . 19 20 05 . 0 1 1
05 . 0
m 025 . 0
rad/s 20
2
2
2
2
2
2
20
10
2
2
10 4000 2
20
2
4000
100
10
4000
0
=
+
=
+
=
= = =
= = =
= = = =
= = =
= = =
r r
X
r
st
n d
km
c
c
c
k
F
st
m
k
n
n
c
o
e e
o
e
e
e
Force
Example 3.3
Solution

We have

Using initial conditions
(E.2) 814075 . 3
5 . 0 1
5 . 0 05 . 0 2
tan
1
2
tan
2
1
2
1
=
|
.
|
\
|

=
|
.
|
\
|
=

r
r ,
|
(E.3) 023186 . 0 cos
0 0
= | X
(E.4) ) 814075 . 3 sin( ) 10 )( 03326 . 0 (
sin ) 974984 . 19 ( cos ) 20 )( 05 . 0 ( 0
0 0 0 0
+
+ = | | X X
0 and 01 . 0
0 0
= = x x
Force
Example 3.3
Solution

Substituting Eq.(E.3) into (E.4),

Hence,

(E.5) 002268 . 0 sin
0 0
= | X
(E.7) 586765 . 5
0978176 . 0
cos
sin
tan
0
0 0
0 0
0
=
= =
|
|
|
|
X
X
| | (E.6) 023297 . 0 ) sin ( ) cos (
2 / 1
2
0 0
2
0 0 0
= + = | | X X X
Force
Example 3.3
Solution

b. For free vibration, the total response is

Using the initial conditions,

(E.9) 010012 . 0
974984 . 19
01 . 0 20 05 . 0
01 . 0
2 / 1
2
2
2 / 1
2
0 2
0 0
=
(
(
|
.
|
\
|

+ =
(
(
|
|
.
|
\
|
+ =
d
n
x
x X
e
,e
(E.8) ) cos( ) (
0 0
| e
,e
=

t e X t x
d
t
n
(E.10) 865984 . 2
974984 . 19
20 05 . 0
tan tan
1
0
0 0
1
0
=
|
.
|
\
|

=
|
|
.
|
\
|
+
=

x
x x
d
n
e
,e
|

Force
Response of Damped System Under
The equation of motion becomes

Assuming the particular solution

Substituting,

) 47 . 3 (
0
t i
e F kx x c x m
e
= + +
) 48 . 3 ( ) (
t i
p
Xe t x
e
=
) 49 . 3 (
) (
2
0
e e ic m k
F
X
+
=
) 50 . 3 (
) ( ) (
2 2 2 2 2 2 2 2
2
0 (
+

=
e e
e
e e
e
c m k
c
i
c m k
m k
F X
t i
e F t F
e
0
) ( =
Using the relation

Hence, the steady-state solution becomes

t i
e F t F
e
0
) ( =
| |
) 51 . 3 (
) (
2 / 1
2 2 2 2
0
|
e e
i
e
c m k
F
X

+
=
) 52 . 3 ( tan
2
1
|
.
|
\
|
=

e
e
|
m k
c
| i
Ae iy x = +
| |
) 53 . 3 (
) ( ) (
) (
) (
2 / 1
2 2 2
0
| e
e e

+
=
t i
p
e
c m k
F
t x
Frequency Response

The complex frequency response is given by:

The absolute value becomes,

Thus, the steady-state solution becomes,

t i
e F t F
e
0
) ( =
) 54 . 3 (
2 1
1
) (
2
0
r i r F
kX
i H
,
e
+
=
) 56 . 3 ( ) ( ) (
|
e e
i
e i H i H

=
) 57 . 3 (
1
2
tan where
2
1
|
.
|
\
|
=

r
r ,
|
) 58 . 3 ( ) ( ) (
) (
0
| e
e

=
t i
p
e i H
k
F
t x
Frequency Response

If , the corresponding steady-state solution is given
by the real part of Eq.(3.53)
t i
e F t F
e
0
) ( =
| |
) 59 . 3 ( ) ( Re ) ( Re
) cos(
) ( ) (
) (
) (
0 0
2 / 1
2 2 2
0
(
=
(
+
=
| e e
e e
| e
e e
t i t i
p
e i H
k
F
e i H
k
F
t
c m k
F
t x
t F t F e cos ) (
0
=
Frequency Response

If , the corresponding steady-state solution is given
by the imaginary part of Eq.(3.53)
t i
e F t F
e
0
) ( =
| |
) 60 . 3 ( ) ( Im
) sin(
) ( ) (
) (
) (
0
2 / 1
2 2 2
0
(
+
=
| e
e
| e
e e
t i
p
e i H
k
F
t
c m k
F
t x
t F t F e sin ) (
0
=
Complex Vector Representation of Harmonic Motion

Differentiating Eq.(3.58) with respect to time,

The various terms of the equation of motion
can be represented in the figure.

t i
e F t F
e
0
) ( =
) 61 . 3 ( ) ( ) ( ) ( ) ( on Accelerati
) ( ) ( ) ( Velocity
2 ) (
0
2
) (
0
t x e i H
k
F
i t x
t x i e i H
k
F
i t x
p
t i
p
p
t i
p
e e e
e e e
| e
| e
= = =
= = =

Response of a Damped System Under Rotating
UnBalance
The equation of motion can be derived by the usual procedure:

The solution can be expressed as

The amplitude and phase angle is given by
) 78 . 3 ( sin
2
t me kx x c x M e e = + +
) 79 . 3 ( ) ( Im ) sin( ) (
) (
2
(
(
|
|
.
|
\
|
= =
| e
e
e
e
| e
t i
n
p
e i H
M
me
t X t x
| |
) (
) ( ) (
2
2 / 1
2 2 2
2
e
e
e
e e
e
i H
M
me
c M k
me
X
n
|
|
.
|
\
|
=
+
=
) 80 . 3 ( tan
2
1
|
.
|
\
|
=

e
e
|
M k
c
By defining
n c c
M c c c e , 2 and / = =
| |
) (
) 2 ( ) 1 (
2
2 / 1
2 2 2
2
e
,
i H r
r r
r
me
MX
=
+
=
) 81 . 3 (
1
2
tan
2
1
|
.
|
\
|
=

r
r ,
|
UnBalance
The following observations can be made from Eq.(3.81) and the
figure above:
1. All the curves begin at zero amplitude. The amplitude near
resonance is markedly affected by damping. Thus if the machine is
to be run near resonance, damping should be introduced
purposefully to avoid dangerous amplitudes.
2. At very high speeds ( large), MX/me is almost unity, and the
effect of damping is negligible.
3. For 0 < < 1/2 , the maximum of MX/me
) 82 . 3 ( 0 =
|
.
|
\
|
me
MX
dr
d
UnBalance
The solution gives:
With corresponding maximum value:

Thus the peaks occur to the right of the resonance value of r = 1
4. For , does not attain a maximum. Its value grows
from 0 at r = 0 to 1 at r .
5. The magnitude (or maximum value) of F can be derived as

1
2 1
1
2
>
=
,
r
2
max 1 2
1
, ,
=
|
.
|
\
|
me
MX
| |
me
MX
, 2 1 > ,
( )
(3.84)
4 1
4 1
2 / 1
2 2
2
2
2 2
2
(
(
+
+
=
r r
r
me F
e
UnBalance
Example 3.7
Francis Water Turbine

The schematic diagram of a Francis water turbine is shown in the
figure in which water flows from A into the blades B and down into the
tail race C. The rotor has a mass of 250 kg and an unbalance (me) of
5kg-mm. The radial clearance between the rotor and the stator is
5mm. The turbine operates in the speed range 600 to 6000rpm. The
steel shaft carrying the rotor can be assumed to be clamped at the
bearings. Determine the diameter of the shaft so that the rotor is
always clear of the stator at all the operating speeds of the turbine.
Assume damping to be negligible.
UnBalance
Example 3.7

UnBalance
Example 3.7
Solution

The max amplitude can be obtained from Eq.(3.80) by setting c = 0 as

The value of ranges from:

While the natural frequency is given by

(E.1)
) 1 ( ) (
2
2
2
2
r k
me
M k
me
X
=
e
e
e
rad/s 200
60
2
6000 6000rpm to rad/s 20
60
2
600 rpm 600 t
t
t
t
= = = =
(E.2) rad/s 625 . 0
250
k
k
M
k
n
= = = e
UnBalance
Example 3.7
Solution

For = 20, Eq.(E.1) gives

For = 200, Eq.(E.1) gives

(E.3) N/m 10 04 . 10
10
2
004 . 0
) 20 (
1
) 20 ( ) 10 0 . 5 (
005 . 0
2 4
2 5
2
2
2 3
t
t
t
t
t
=
=
(

=

k
k
k
k
(E.4) N/m 10 04 . 10
10
200
004 . 0
) 200 (
1
) 200 ( ) 10 0 . 5 (
005 . 0
2 6
2 7
2
2
2 3
t
t
t
t
t
=
=
(

=

k
k
k
k
UnBalance
Example 3.7
Solution

The stiffness of the cantilever beam is given by

Diameter of the beam is

(E.5)
64
3 3
4
3 3 |
|
.
|
\
|
= =
d
l
E
l
EI
k
t
(E.6) mm 127 m 1270 . 0
m 10 6005 . 2
) 10 07 . 2 ( 3
) 2 )( 10 04 . 10 )( 64 (
3
64
4 4
11
3 2 4 3
4
= =
=
= =

d
E
kl
d
t
t
t
UnBalance
The transfer-function approach is used for the formulation and
solution of dynamic problems in the controls literature.

Also used for solving forced-vibration problems

The transfer function of a linear, time-invariant differential equation
is defined as the ratio of the Laplace transform of the output or
response function to the Laplace transform of the input or forcing
function, assuming zero initial conditions.
Example 3.13
Transfer Function Corresponding to a Differential Equation

Consider the following nth-order linear, time-invariant differential
equation that governs the behavior of a dynamic system:
( ) ( )
( )
( ) ( )
( ) ( ) E.1
0
1
1
1
0
1
1
1
t f b
dt
t f d
b
dt
t f d
b
t x a
dt
t x d
a
dt
t x d
a
m
m
m
m
m
m
n
n
n
n
n
n
+ + + =
+ +
Example 3.13
Solution

By taking Laplace transforms of both sides of Eq. (E.1), we obtain

If all initial conditions are assumed to be zero, Eq. (E.2) reduces to the
following form:
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) E.2 involving consitions initial
involving consitions initial
0
1
1
0
1
1
t f s X a s F s b s F s b
t x s X a s X s a s X s a
m
m
m
m
n
n
n
n
+ + + =
+ + +
{ } ( ) { } ( ) ( ) E.3
0
1
1 0
1
1
s F b s b s b s X a s a s a
m
m
m
m
n
n
n
n
+ + = + +

Example 3.13
Solution

Transfer function of the system evaluated at zero initial conditions is

By taking the inverse Laplace transform of Eq. (E.5), we can find the
output of the system in the time domain for any known input.
( )
( )
( )
( ) ( ) ( ) ( ) E.5 s F s T s X
s F
s X
s T = =
Example 3.15
Response of a Damped System Using Laplace Transforms

Derive an expression for the complete response of a damped single-
degree-of-freedom system subjected to a general force, f(t), as shown
using Laplace transforms.
Example 3.15
Solution

The Laplace transform of Eq. (3.1) leads to the relation

For convenience,
( )
( )
( )
( ) ( ) ( ) E.1 0
2
1
0
2
2
2
2 2 2 2 2 2
x
w s w s
x
w s w s
w s
w s w s m
s F
s X
n n n n
n
n n
+ +
+
+ +
+
+
+ +
=
, ,
,
,
( ) ( )
( )
( )
( ) E.3
2
1
2 2
n n
s
i
w s w s m
s F
s F s F
+ +
=
=
,
Example 3.15
Solution

The inverse Laplace transform of will be equal to the known
forcing function

Inverse Laplace transform of the first term on the right-hand side of
Eq. (E.1) can be expressed as
( ) ( )
n d d
t w
d
s i
w w t w e
mw
t f wt F t f
n
2
0
1 where sin
1
and cos ,
,
= = =

( ) ( ) ( ) ( ) ( )
( )
( ) ( ) E.7 sin
1
0 0
1
t t t t t
t ,
d t w e f
mw
t f f s F s F
d
t w
t
r d
s
t
r
i S i
n
= =

= =
} }
( ) s F
i
Example 3.15
Solution

The inverse Laplace transform of the coefficient of x(0) in Eq. (E.1)
yields
( ) ( )
( ) E.9
1
tan tan where
E.8 cos
2
2
2
1 1 -
1
1
2 2
1
,
, ,
|
|
,
,
,
= =
=
+ +
+

d
n
d
t w
d
n
n n
n
w
w
t w e
w
w
w s w s
w s
n

Example 3.15
Solution

The complete response of the system can also be expressed as
( ) ( ) ( ) ( ) E.13 sin
1
cos sin
1
1
0
t w e
w
t w e
w
w
d w e t f
mw
t x
d
w
d
d
w
d
n
d
w
t
d
n n n
t , t , t ,
t
| t t t

=
+ + =
}
Frequency Transfer Functions
The steady-state response of a linear system subjected to a
sinusoidal (or harmonic) input will also be sinusoidal (or harmonic)
of the same frequency.

Mee5206 Chapter 3

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MEE 5206:

Response of Damped System Under Harmonic

Response of Damped System Under

Solutions Using Laplace Transforms

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