Advanced Vibration - Chapter02 - Modif

Mechanical Vibrations
Fifth Edition in SI Units

Singiresu S. Rao
Chapter 3
Harmonically Excited Vibration
3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

3
Chapter Outline
3.1 Introduction
3.2 Equation of Motion
3.3 Response of an Undamped System Under Harmonic Force
3.4 Response of a Damped System Under Harmonic Force
3.5 Response of a Damped System Under
3.6
F (t )  F0 e it
Response of a Damped System Under the Harmonic Motion of t
he Base
3.7 Response of a Damped System Under Rotating Unbalance

3.1
Introduction

3.1
3.1 Introduction
• Forcedvibrations 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
• Transientresponse is defined as the response of a dynamic system

to suddenly applied nonperiodic excitations

3.2
Equation of Motion

3.2
3.2 Equation of Motion
• From the figure below, the equation of motion using Newton’s

Second Law of Motion states that
mx  cx  kx  F (t ) (3.1)
A spring-mass-damper system

3.3
Response of an Undamped System Under Harmonic Force

3.3
3.3 Response of an Undamped System Under
Harmonic Force
• Consider an undamped system subjected to a harmonic force. If a

force F (t )  F0 cos t acts on the mass m of the system,
mx  kx  F0 cos t (3.3)
• The homogeneous solution is given by:
xh (t )  C1 cos nt  C2 sin nt (3.4)

where n  (k / m) is the natural frequency
1/ 2

Harmonic Force
• Because the exciting force is harmonic the particular sol also harmonic
and has the same frequency, we can assume a solution in the form:
x p (t )  X cos t (3.5)
• Taking the second where
time Xderivative and substituting
is the max amplitude of xp(t) into the differential
equation
• Factoring outcos  and

Xmωt t  k ( X
cossolving 2
X t ) 
forcos F0 cos t
F0 F0 / m F0 / k  st
X    
k  m ( k / m)   1  ( /  n ) 1   / n 
2 2 2 2
where  st  F0 / k denotes the static deflection

Harmonic Force
• Thus, general solution is:
F0
x(t )  C1 cos nt  C2 sin nt  cos t (3.7)
k  m 2
• Using initial conditions, we get

F0 x 0
C1  x0  , C 2  (3.8)
k  m 2 n
Hence
 F0   x 0   F0 
x(t )   x0   cos  n t    sin  n t    cos t (3.9)
k  m 2  n   2
    k m 
The max amplitude can be expressed as

X 1
 (3.10)
 st  
2
1   
 n 
Harmonic Force
• The quantity X /  st is 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.
Magnification factor of an undamped system

Harmonic Force
• Case 1:
When 0 <  / n < 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.
Harmonic response when 0   / n  1

Harmonic Force
• Case 2:
When  / n > 1, the denominator in Eq.(3.10) is negative and the

steady-state solution can be expressed as
x p (t )   X cos t (3.11)
where the amplitude is

 st
X 2
(3.12)
 
   1
 n 
The variations are shown in figure.

Harmonic response when  / n  1
Harmonic Force
• Case 3:
When  / n  1 , the amplitude X given by Eq.(3.10) or (3.12)

becomes infinite.
The condition when the forcing frequency is equal to the natural

frequency of the system is called resonance.
The total response of the

system at resonance is
x 0  t
x(t )  x0 cos nt  sin nt  st n sin nt (3.15)
n 2
Harmonic response when  / n  1

Harmonic Force
• Total Response
The total response of the system, Eq.(3.7) or Eq.(3.9), can also be

expressed as
 st 
x(t )  A cos(n t   )  cos t ; for 1 (3.16)
 
2
n
1   
 n 

Harmonic Force
• Total Response
And
 st 
x(t )  A cos(nt   )  cos t ; for 1 (3.17)
 
2
n
1   
 n 

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 phenomenon of beating can be expressed as:
 F0 / m 
x(t )   sin t  sin t (3.22)
 2 
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
2 2
b   (3.23)
2 n  
The frequency of beating defined as
b  2  n  

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 Young’s
modulus (E) = 200GPa, length = 250cm, and area moment of inertia,
1
(I )  (50 10  2 )(10 2 )3  41.667 109 m 4
12
The bending stiffness of the beam is given by:
192EI (192)(200 109 )(41.667 109 )

k  2 3
 102400.82 N/m (E.1)
l 3
(250  10 )

Harmonic Force
Example 3.1
Solution
Thus,
F0 220
X 
k  m 2 102400.82  68(62.832) 2
 0.00132487 m  1.32487 mm (E.2)

3.4
Response of a Damped System Under Harmonic Force

3.4
3.4 Response of Damped System Under Harmonic
Force
The differential equation which describes the motion is:
mx  cx  kx  F0 cos t
The homogeneous solution is the

same as described in Ch. 2
The particular solution is expected to

A spring-mass-damper system
Be harmonic and is assumed as:
p  X cos(
-- where X and  are constants to be xdetermined. X and ) 
t   denote amplitude
and phase angle of response.

Force
• By substituting, the equation of motion can be derived as
 
X k  m 2 cos t     c sin  t     F0 cos t  (3.24)
• Using trigonometric relations, we obtain

 
X  k  m 2  cos   c sin   F0
X   k  m  sin   c cos    0
2
(3.27)
• The solution gives

F0
X
 k  m   c   1/ 2
(3.28)
2 2 2 2
 c 
  tan 1  2 
(3.29)
 k  m 

Force
• The figure shows typical plots of the forcing function and steady-
state response.
(a) Graphical representation (b) Vectorial representation

Force
• Substituting the following,
k c F0 
n  ;  2 n ;  st  ; r
m m k n
• We obtain
X 1 1
  (3.30)
 st  2 2
 2
1/ 2
(1  r 2 ) 2  (2r ) 2
     
 
1      2  

  n     n 

  
 2 
 n  1  2 r 
  tan 1  2
 tan  2 
(3.31)
     1  r 
1     
  n 
Force
• The following characteristics of the magnification factor (M) can be

noted from the figure as follows:

Force
1. For an undamped system (  0) , Eq.(3.30) reduces to Eq.


M and
(3.10), r as
1 .
2. Any amount of damping (  0) 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.

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, M  0 as r   ).
1
7. For 0    , the maximum value of M occurs when
2
r  1  2 2 or   n 1  2 2 (3.32)
which can be seen to be lower than the undamped natural

frequency and the damped frequency d  n 1  
2

Force
8. The maximum value of X (when r  1  2 2 ) is given by:

X  1
   (3.33)
  st  max 2 1  
2
and the value of X at   n by
X  1
   (3.34)
  st  n 2
1 dM 1
9. For   when r = 0. For
, 0 , the graph of M  
2 dr 2
monotonically decreases with increasing values of r.

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 (  0) , 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
0 .
2. For   0 and 0 < r < 1, the phase angle is given by 0 < Φ <
90°, implying that the response lags the excitation.
3. For   0 and r > 1, the phase angle is given by 90° < Φ < 180°,
implying that the response leads the excitation.

Force
4. For   0 and r = 1, the phase angle is given by Φ = 90°,

implying that the phase difference between the excitation and the
response is 90°.
5. For   0 and large values of r, the phase angle approaches 180°,

implying that the response and the excitation are out of phase.

Force
The total response of the system can be expressed (for underdamped
 
system) as:
x(t )  X 0 e  nt cos 1   2  n t   0  X cos(t   )
XH(t) Xp(t)
Transient or Homogenous solution Steady state or Particular solution
Constants X0 and 0 can be determined by considering initial conditions

F0
X 
 k  m  
(3.28)
2 2
c  2 2
1/ 2
Steady state amplitude
 c 
  tan 1  2 
(3.29) Steady state phase angle
 k  m 
Force
• Total response
For an underdamped system,
x(t )  X 0 e  nt cos(d t  0 )  X cos(t   ) (3.35)
d  1   2 n (3.36)
For the initial conditions, Eq.(3.35) yields
x0  X 0 cos 0  X cos 
x 0   n X 0 cos 0  d X 0 sin 0  X sin 0 (3.37)

Force
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, x0 = 0.01 m, x 0  0 under the
following conditions:
a. An external force F (t )  F0 cos t acts on the system with   10 rad/s

F0  100 N
and .
b. Free vibration with F(t) = 0.

Force
Example 3.3
Solution
a. From the given data,
n  k
m  4000
10  20 rad/s
 st  F0
k
 100
4000
 0.025 m
 c
cc
 c
2 km
 20
2  4000 10 
 0.05
d  1   2 n  1   0.05  20  19.974984 rad/s

2
r  n  10
20
 0.5
 st 0.025
X   0.03326m (E.1)
1  r    2r 
2 2 2
1  0.05    2 0.5 0.5 
2 2 2

Force
Example 3.3
Solution
1  2 r  1  2  0.05  0.5 
We have   tan  2 
 tan    3.814075 (E.2)
1 r   1  0 .5 
2
Using initial conditions x0  0.01 and x 0  0

X 0 cos 0  0.023186 (E.3)
0  (0.05)(20) X 0 cos 0  X 0 (19.974984) sin 0
(0.03326)(10) sin(3.814075) (E.4)

Force
Example 3.3
Solution
Substituting Eq.(E.3) into (E.4),
X 0 sin 0  0.002268 (E.5)

Hence,

X 0  ( X 0 cos 0 )  ( X 0 sin 0 )
2

2 1/ 2
 0.023297 (E.6)
X 0 sin 0
tan 0   0.0978176
X 0 cos 0
0  5.586765 (E.7)

Force
Example 3.3
Solution
b. For free vibration, the total response is

x(t )  X 0 e nt cos(d t  0 ) (E.8)
Using the initial conditions,

2 1/ 2 1/ 2
   x     0.05  20  0.01  
2
X 0   x02   n 0    0.01  
2
   0.010012 (E.9)
  d     19.974984  
 x   n x0  0.05  20 
0  tan 1   0   tan 1     2.865984 (E.10)
 d x0   19.974984 
Force
• Quality factor and bandwidth:
For values of damping (  0.05) ,

 X   X  1
      Q (3.38)
  st  max   st  n 2
Power absorbed by damper:
W  cX 2 (3.39)
From figure, R1 and R2 is the bandwidth of the system.
Set X /  st  Q / 2 , hence,
1 Q 1
 
(1  r )  (2r )
2 2 2
2 2 2

Force
• Quality factor and bandwidth:
Or r  r (2  4 )  (1  8 )  0
4 2 2 2
(3.40)
Solving the equation for small values of  ,
2 2
 1   2 
r  R     1  2 ,
1
2
1
2
r  R     1  2
2
2 2
2 (3.42)
 n   n 
22  12  (2  1 )(2  1 )  ( R22  R12 )n2  4n2 (3.43)
Using the relation, 2  1  2n (3.44)

1 n
Q  (3.46)
2 2  1

3.5
i t
Response of Damped System Under F (t )  F0 e

3.5
i t
3.5 Response of Damped System Under F (t )  F0 e
• The equation of motion becomes
mx  cx  kx  F0eit (3.47)

• Assuming the particular solution
x p (t )  Xeit (3.48)
• Substituting,
F0
X  (3.49)
(k  m 2 )  ic
 k  m 2 c 
X  F0   i 2 2
(3.50)
 ( k  m  2 2
)  c 
2 2
( k  m  2 2
)  c  

i t
i
• Using the relation x  iy  Ae
• A=Sqroot xsq+ySeq F0 i
X e (3.51)
(k  m ) 2 2
c  2

2 1/ 2
 c 
  tan 1  2 
(3.52)
 k  m 
• Hence, the steady-state solution becomes
F0
x p (t )  ei (t  ) (3.53)
(k  m )  (c )
2 2

2 1/ 2

i t
• Frequency Response
The complex frequency response is given by:
kX 1
H (i )   (3.54)
F0 1  r 2  i 2r
The vector H becomes,
 2r 
(3.56) where   tan 
 i 1
H (i )  H (i ) e 2 
(3.57)
1 r 
Thus, the steady-state solution becomes,
F0
x p (t )  H (i ) ei (t  ) (3.58)
k

i t
If F (t )  F0 cos t , the corresponding steady-state solution is given

by the real part of Eq.(3.53)
F0
x p (t )  cos(t   )
(k  m )  (c )
2 2

2 1/ 2
F  F 
 Re  0 H (i )eit   Re  0 H (i ) ei (t  )  (3.59)
k  k 

i t
If F (t )  F0 sin t , the corresponding steady-state solution is given

by the imaginary part of Eq.(3.53)
F0
x p (t )  sin(t   )
(k  m )  (c )
2 2

2 1/ 2
 F0 
 Im H (i )ei (t  )  (3.60)
k 

i t
• Complex Vector Representation of Harmonic Motion
Differentiating Eq.(3.58) with respect to time,

F0
Velocity  x p (t )  i
 H (i ) ei (t  )  ix p (t )
k
F
Acceleration  x p (t )  (i ) 2 0 H (i ) e i (t  )   2 x p (t ) (3.61)
k
The various terms of the equation of motion

can be represented in the figure.

3.6
Response of Damped System Under the Harmonic Motion
of the Base

3.6
3.6 Response of Damped System Under the Harmonic
Motion of the Base
• From the figure, the equation of motion is

mx  c( x  y )  k ( x  y )  0 (3.64)

Motion of the Base
• If y (t )  Y sin t
mx  cx  kx  ky  cy  kY sin t  cY cost  A sin(t   ) (3.65)
1  c 
where A  Y k 2
 ( c ) 2
and   tan  k 
• The steady-state response of the mass can be expressed as
Y k 2  (c ) 2
x p (t )  sin(t  1   ) (3.66)
(k  m ) 2 2
 (c ) 
2 1/ 2
1  c 
where 1  tan  2 
 k  m 

Motion of the Base
• Equation 3.66 can also be written as
x p (t )  X sin(t   ) (3.67)
where
1/ 2 1/ 2
X  k  (c ) 2
 2
 1  (2r ) 2

   2
(3.68)
Y  (k  m 2 )  (c ) 2   (1  r 2 2
)  ( 2 r ) 
 mc 3  1  2r 3 
  tan  1
2
 tan  2
(3.69)
 k ( k  m 2
)  ( c )  1  ( 4 2
 1) r 

Motion of the Base
• The variations of displacement transmissibility is shown in the

figure below.
 1  i 2r  it 
x p (t )  Re  Ye  (3.70)
 1 - r  i 2r 
2

X
Y
 1/ 2

 Td  1  (2r ) 2 H (i ) (3.71)

Motion of the Base
• The following aspects of displacement transmissibility can be noted

from the figure:
1. The value of Td is unity at r = 0 and close to unity for small values of

r.
2. For an undamped system (ζ = 0), Td →∞ at resonance (r = 1).
3. The value of Td is less than unity (Td < 1) for values of r >√2 (for
any amount of damping ζ ).
4. The value of Td = 1 for all values of ζ at r =√2.

Motion of the Base
5. For r <√2, smaller damping ratios lead to larger values of Td. On

the other hand, for r >√2, smaller values of damping ratio lead to
smaller values of Td.
6. The displacement transmissibility, Td, attains a maximum for 0 < ζ

< 1 at the frequency ratio r = rm < 1 given by:
rm 
1
2
 1  8 1
2
1/ 2

Motion of the Base
• Force transmitted
We have
F  k ( x  y )  c( x  y )  mx (3.72)
F  m 2 X sin(t   )  FT sin(t   ) (3.73)
The force transmissibility is given by:

1/ 2
FT 2 1  ( 2r )  2
r  2
(3.74)
kY  (1  r 2 2
)  ( 2 r ) 

Motion of the Base
• Relative Motion
The equation of motion can be written as

mz  cz  kz   my  m 2Y sin t (3.75)
The steady-state solution is given by:
m 2Y sin(t  1 )
z (t )   Z sin(t  1 ) (3.76)
(k  m )  (c )
2 2

2 1/ 2
where
m 2Y r2
(3.77) , 1  tan 1 
 c  1  2 r 
Z Y   tan  2 
 k  m  1 r 
2
( k  m )  ( c  )
2 2 2
(1  r 2 )2  (2r ) 2

Motion of the Base
Example 3.4
Vehicle Moving On a Rough Road
The figure below shows a simple model of a motor vehicle that can
vibrate in the vertical direction while traveling over a rough road. The
vehicle has a mass of 1200kg. The suspension system has a spring
constant of 400 kN/m and a damping ratio of ζ = 0.5. If the vehicle
speed is 20 km/hr, determine the displacement amplitude of the
vehicle. The road surface varies sinusoidally with an amplitude of Y =
0.05m and a wavelength of 6m.

Motion of the Base
Example 3.4

Motion of the Base
Example 3.4
Solution
 v 1000  1
The frequency can be found by   2 f  2    0.290889v rad/s
 3600  6
For v = 20 km/hr, ω = 5.81778 rad/s. The natural frequency is given
by, k  3 1/ 2
400 10 
n  
   18.2574 rad/s
m  1200 
The frequency ratio is

 5.81778
r   0.318653
n 18.2574

Motion of the Base
Example 3.4
Solution
The amplitude ratio can be found from Eq.(3.68):
1/ 2 1/ 2
X  1  (2r )2   1  ( 2  0.5  0.318653)2 
   2
 1.100964
Y  (1  r 2 )2  ( 2r ) 2   (1  0.318653 ) 2
 ( 2  0. 5  0.318653) 
The displacement amplitude of the vehicle is given by
X  1.100964Y  1.4100964(0.05)  0.055048 m

A 5cm bump in the road is transmitted as a 5.5cm bump to the chassis and
the passengers of the car.

3.7
Response of a Damped System Under Rotating Unbalance

3.7
3.7 Response of a Damped System Under Rotating
UnBalance
• The equation of motion can be derived by the usual procedure:

Mx  cx  kx  me 2 sin t (3.78)
• The solution can be expressed as

 me    2 
x p (t )  X sin(t   )  Im   H (i ) e i (t  )
 (3.79)
 M  n  
• The amplitude and phase angle is given by
2
me 2 me   
X    H (i )
 ( k  M ) 2 2
 ( c ) 2 
1/ 2
M  n 
 c 
  tan 1  2 
(3.80)
 k  M  
UnBalance
• By defining   c / cc and cc  2Mn

MX r2
  r 2
H (i )
me 
(1  r )  ( 2r )
2 2 2

1/ 2
 2r 
  tan 1  2 
(3.81)
 1  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 (ω large), MX/me is almost unity, and the

effect of damping is negligible.
3. For 0 < ζ < 1/√2 , the maximum of MX/me

d  MX 
 0 (3.82)
dr  me 

UnBalance
1
The solution gives: r  1
1  2 2
 MX  1

With corresponding maximum value: me  
  max 2 1   2
Thus the peaks occur to the right of the resonance value of r = 1
4. For   1 2 ,
MX  
me , 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  4 2 r 2 
F  me 
2
 (3.84)
 1  r   4 r 
2 2 2 2

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 me 2 me 2
X  (E.1)
(k  M 2 ) k (1  r 2 )
The value of 
ω600 2 from:
ranges 2
600rpm   20 rad/s to 6000rpm  6000   200 rad/s
60 60
While the natural  k

frequency k given by
is
n    0.625 k rad/s (E.2)
M 250
UnBalance
Example 3.7
Solution
For ω = 20π, Eq.(E.1) gives

(5.0  103 )  (20 )2 2 2
0.005    k  10. 04  10  N/m
4 2
(E.3)
 ( 20 )  2
k  10 
5 2
k 1  
 0. 004 k 
For ω = 200π, Eq.(E.1) gives
(5.0  103 )  (200 )2 200 2
0.005    k  10.04  10  N/m
6 2
(E.4)
 (200 )  2
k  10 
7 2
k 1  
 0 .004 k 
UnBalance
Example 3.7
Solution
The stiffness of the cantilever beam is given by

3EI 3E  d 4 
k  3  3   (E.5)
l l  64 
Diameter of the beam is

64kl 3 (64)(10.04  104  2 )( 23 ) 4
d 
4
  2.6005  10 m 4
3E 3 ( 2.07  1011 )
d  0.1270 m  127 mm (E.6)


Advanced Vibration - Chapter02 - Modif

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Mechanical Vibrations

Fifth Edition in SI Units

3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

4 © 2011 Mechanical Vibrations Fifth Edition in SI Units

5 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Forcedvibrations occurs when external energy is supplied to the

• The external force can be supplied through either an applied force

• Harmonic response results when the system responses to a

• Transientresponse is defined as the response of a dynamic system

6 © 2011 Mechanical Vibrations Fifth Edition in SI Units

7 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• From the figure below, the equation of motion using Newton’s

mx  cx  kx  F (t ) (3.1)

8 © 2011 Mechanical Vibrations Fifth Edition in SI Units

9 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Consider an undamped system subjected to a harmonic force. If a

mx  kx  F0 cos t (3.3)

• The homogeneous solution is given by:

xh (t )  C1 cos nt  C2 sin nt (3.4)

10 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Factoring outcos  and

where  st  F0 / k denotes the static deflection

11 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Using initial conditions, we get

The max amplitude can be expressed as

• The quantity X /  st is called the magnification factor, amplification

• The variation of the amplitude ratio with

• The response of the system can be

Magnification factor of an undamped system

When 0 <  / n < 1, the denominator in Eq.(3.10) is positive and

Harmonic response when 0   / n  1

When  / n > 1, the denominator in Eq.(3.10) is negative and the

where the amplitude is

The variations are shown in figure.

When  / n  1 , the amplitude X given by Eq.(3.10) or (3.12)

The condition when the forcing frequency is equal to the natural

The total response of the

Harmonic response when  / n  1

The total response of the system, Eq.(3.7) or Eq.(3.9), can also be

17 © 2011 Mechanical Vibrations Fifth Edition in SI Units

18 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The phenomenon of beating can be expressed as:

The time between the points of zero amplitude or the points of

20 © 2011 Mechanical Vibrations Fifth Edition in SI Units

21 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The bending stiffness of the beam is given by:

192EI (192)(200 109 )(41.667 109 )

22 © 2011 Mechanical Vibrations Fifth Edition in SI Units

23 © 2011 Mechanical Vibrations Fifth Edition in SI Units

24 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The differential equation which describes the motion is:

mx  cx  kx  F0 cos t

The homogeneous solution is the

The particular solution is expected to

25 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Using trigonometric relations, we obtain

• The solution gives

26 © 2011 Mechanical Vibrations Fifth Edition in SI Units

(a) Graphical representation (b) Vectorial representation

27 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Substituting the following,

• The following characteristics of the magnification factor (M) can be

29 © 2011 Mechanical Vibrations Fifth Edition in SI Units