Mechanical Vibration (ME-411)

Week 05-06

Engr. Muhammad Farooq

Method of
indeterminate
coefficients
Multiplying and dividing RHS by K
 Single Degree of freedom system – Forced Vibrations

Harmonically Excited Vibration-Forced Vibration

−𝑐𝑥 −𝑘(𝛿𝑠𝑡 + 𝑥)

F(t)

F(t) mg
By Newton’s 2nd law of motion where Fx= forces in x-direction

𝑏𝑢𝑡 𝑎𝑡 𝑠𝑡𝑎𝑡𝑖𝑐 𝑒𝑞𝑢𝑖𝑙𝑖𝑏𝑟𝑖𝑢𝑚 𝑚𝑔 = 𝑘𝛿𝑠𝑡

Equation of motion of the system
This derivation shows that
• Static forces must cancel in vibrating system
• Only dynamic forces need to be considered
 Single Degree of freedom system – Forced Vibrations

Consider harmonic excitation of the form

𝑓 𝑡 = 𝐹𝑠𝑖𝑛𝜔𝑡
Equation of motion of the system becomes
Eq. 14
• Eq. 14 is second order linear inhomogeneous ordinary differential equation.
• The general x(t) of Eq. 14 is sum of homogeneous solution, 𝑥 𝐶 (𝑡) and particular
solution, 𝑥 𝑝 (𝑡) and is given by
𝑥 𝑡 = 𝑥𝑐 𝑡 +
𝑥𝑝 (𝑡)
Complementary function Particular integral
Transient response
Or natural response Steady-state response
Transien Or forced response Steady-
t Varies state
with time Quantity
attains
a
constant
value does
not vary
with time
 Single Degree of freedom system – Forced Vibrations

• If no external force free vibration dies out after some time (transient, 𝑥 𝑐 𝑡 motion
dies out due to damping, four cases discussed earlier). Thus general solution reduce to
steady-state vibration.
• The rate at which transient motion decays depends on, K, m, and C
• The steady-state motion is present as long as there is external forcing function present

Complementary Function (CF)

• Gives transient response or natural motion of system

• Satisfies the following homogeneous equation

Recall: Roots of above equation are

Recall: General solution of above equation which is given by

Case 1: ζ = 0 undamped Case 2: ζ < 1 underdamped

Recall:
Case 3: ζ = 1 critically damped Case 4: ζ > 1 overdamped
 Single Degree of freedom system – Forced Vibrations

Oscillations are only possible under this Case : ζ < 1 underdamped

General solution for this case, which is CF

Particular Integral (PI):

• Gives the steady-state response of forced response
• It is the solution of the inhomogeneous equation
Equation of motion Forcing function
Eq. 14

Particular solution of above equation is also expected to be harmonic, assumed as in the form

𝑥 𝑝 𝑡 = 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙) Eq. 15
Differentiate twice Eq. 15 and then substitute into Eq. 14
 Single Degree of freedom system – Forced Vibrations

𝑚 −𝑋𝜔2sin(𝜔𝑡 − 𝜙) + 𝑐 𝑋𝜔cos(𝜔𝑡 − 𝜙) + 𝑘 𝑋𝑠𝑖𝑛(𝜔𝑡 − = 𝐹𝑠𝑖𝑛𝜔𝑡

𝜙) = 𝐹𝑠𝑖𝑛𝜔𝑡
−𝑋𝑚𝜔2 sin 𝜔𝑡 − 𝜙 + 𝑋𝑘𝑠𝑖𝑛 𝜔𝑡 − 𝜙 + 𝑋𝑐𝜔 cos 𝜔𝑡
−𝜙
𝑋 𝑘 − 𝑚𝜔 2 sin 𝜔𝑡 − 𝜙 + 𝑐𝜔cos(𝜔𝑡 − 𝜙) = 𝐹𝑠𝑖𝑛𝜔𝑡

Since sin 𝜔𝑡 − 𝜙 = 𝑠𝑖𝑛𝜔𝑡𝑐𝑜𝑠𝜙 − 𝑐𝑜𝑠𝜔𝑡𝑠𝑖𝑛𝜙

cos 𝜔𝑡 − 𝜙 = 𝑐𝑜𝑠𝜔𝑡𝑐𝑜𝑠𝜙 + 𝑠𝑖𝑛𝜔𝑡𝑠𝑖𝑛𝜙

𝑋 𝑠𝑖𝑛𝜔𝑡𝑐𝑜𝑠𝜙 − 𝑐𝑜𝑠𝜔𝑡𝑠𝑖𝑛𝜙 𝑘 − 𝑚𝜔 2 + 𝑐𝜔(𝑐𝑜𝑠𝜔𝑡𝑐𝑜𝑠𝜙 + 𝑠𝑖𝑛𝜔𝑡𝑠𝑖𝑛𝜙) = Fsinω𝑡

Equating coefficients of 𝑠𝑖𝑛𝜔𝑡 𝑎𝑛𝑑 𝑐𝑜𝑠𝜔𝑡 gives

𝑋 𝑘 − 𝑚𝜔 2 𝑐𝑜𝑠𝜙 + 𝜔𝑐𝑠𝑖𝑛𝜙 = 𝐹 Eq. 16

𝑋 𝑘 − 𝑚𝜔 2 𝑠𝑖𝑛𝜙 − 𝜔𝑐𝑐𝑜𝑠𝜙 = Eq. 17

0
From Eq. 17 𝜔𝑐
𝑡𝑎𝑛𝜙 =
𝑘 − 𝑚𝜔 2
Therefore
𝜔𝑐
𝑠𝑖𝑛𝜙 =
(𝑘 − 𝑚𝜔 2 )2 +(𝜔𝑐)2
 Single Degree of freedom system – Forced Vibrations

Eq. 18

Substituting Eq. 18 in Eq. 16 and simplifying gives the amplitude X and phase angle 𝜙 of the
steady-state response as

Eq. 19

Eq. 20
 Single Degree of freedom system – Forced Vibrations

Divide numerator and denominator by k

𝐹
𝑋= 𝑘
2 2
𝑚𝜔 2 𝜔𝑐
1− +
𝑘 𝑘
𝐹
𝑋= 𝑘
2 2 2
𝜔 𝜔
1− 𝜔 + 2𝜁
𝑛

𝜔𝑛
 Single Degree of freedom system – Forced Vibrations

Above equation can be written as

1 2𝜁𝑟
𝑋 Eq. 23
𝑀= 𝜙 = 𝑡𝑎𝑛 −1 Eq. 24
𝛿𝑠 𝑡 1 − 𝑟2 2 + 2𝜁𝑟 1− 𝑟2
= 2
𝑤ℎ𝑒𝑟𝑒

𝐹
𝑘 = 𝛿 𝑠𝑡 𝑠𝑡𝑎𝑡𝑖𝑐 𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛 𝑢𝑛𝑑𝑒𝑟 𝑠𝑡𝑎𝑡𝑖𝑐
𝑓𝑜𝑟𝑐𝑒
𝑋
= M is called magnification factor , dynamic magnifier or amplitude
𝛿𝑠 𝑡
ratio
𝜔
𝜔𝑛 = r, frequency ratio
𝜔, 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
𝜔 𝑛 , natural frequency

General solution: From Eq. 8A and Eq. 15

𝑥 𝑡 = 𝑥𝑐 𝑡 + 𝑥𝑝 (𝑡)
= 1 − 𝜁 2 𝜔 𝑛 𝑡 + 𝜙 + 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙)
𝑋 0 𝑒 −𝜁 𝜔 𝑛 𝑡 𝑠𝑖𝑛
Alternative derivation using complex notations
 Single Degree of freedom system – Forced Vibrations

Alternative derivation using complex notations

If forcing function 𝑓 𝑡 = 𝐹𝑒 𝑖 𝜔 𝑡 then equation of motion
is
Eq. 21
Steady state response is of the form
𝑥 𝑝 𝑡 = 𝑋 𝑒 𝑖(𝜔𝑡−𝜙)

= 𝑋 𝑒 𝑖 𝜔 𝑡 . 𝑒 −𝑖𝜙

= 𝑋 𝑒 −𝑖𝜙 . 𝑒 𝑖 𝜔 𝑡 Eq. 22
Where 𝑋 ∗ is a phasor quantity, i.e. a complex number having amplitude X and phase 𝜙
= 𝑋 ∗𝑒 𝑖 𝜔 𝑡
Differentiating Eq. 22 twice

Now substituting in Eq. 21

−𝑚𝑋 ∗ 𝜔 2 𝑒 𝑖 𝜔 𝑡 + 𝑐𝑋 ∗ 𝑖𝜔𝑒 𝑖 𝜔 𝑡 + 𝑘𝑋 ∗ 𝑒 𝑖 𝜔 𝑡 =
𝐹𝑒 𝑖 𝜔 𝑡
By equating coefficients
−𝑚𝑋 ∗ 𝜔 2 + 𝑐𝑋 ∗𝑖𝜔 + 𝑘𝑋 ∗ = 𝐹
 Single Degree of freedom system – Forced Vibrations

By re-arranging equation

𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑟 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛, 𝐹𝑅𝐹

𝐹
𝑋= 𝑋∗ = 1
(𝑘 − 𝑚𝜔 2)2+(𝜔𝑐)2 2

Divide numerator and denominator by k

𝐹
𝑋=
2 2
𝑘 𝑚𝜔 2 𝜔𝑐
1− +
𝑘 𝑘
𝐹
𝑋= 𝑘
2 2 2
𝜔 𝜔
1− 𝜔
𝑛 + 2𝜁 𝜔
𝑛
 Single Degree of freedom system – Forced Vibrations

Above equation can be written as

1 2𝜁𝑟
𝑋 Eq. 23
𝑀= = 𝜙 = 𝑡𝑎𝑛 −1 Eq. 24
𝛿𝑠 𝑡 1 − 𝑟2 2 + 2𝜁𝑟 2
1− 𝑟2
𝑤ℎ𝑒𝑟𝑒

𝐹
𝑘 = 𝛿 𝑠𝑡 𝑠𝑡𝑎𝑡𝑖𝑐 𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛 𝑢𝑛𝑑𝑒𝑟 𝑠𝑡𝑎𝑡𝑖𝑐 𝑓𝑜𝑟𝑐𝑒
𝑋
= M is called magnification factor , dynamic magnifier or amplitude ratio
𝛿𝑠 𝑡
𝜔
𝜔𝑛 = r, frequency ratio
𝜔, 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
𝜔 𝑛 , natural frequency

General solution: From Eq. 8A and Eq. 15

𝑥 𝑡 𝑥𝑐 𝑡 +
𝑥𝑝 (𝑡)2
= 1 − 𝜁 𝜔 𝑛 𝑡 + 𝜙 + 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙)
Observations: In terms of magnification factors
Observations: In terms of magnification factors
Observations: In terms of magnification factors
 Single Degree of freedom system – Forced Vibrations

Observations: In terms of magnification factors

• 𝜔 ≪ 𝜔𝑛 𝑋 = 𝐹𝐾 = 𝛿𝑠𝑡

• 𝜔 ≫ 𝜔𝑛 𝑎𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒 𝑋 ≅ 0 𝑡𝑜 𝑠𝑙𝑜𝑤 𝑡𝑜 𝑟𝑒𝑠𝑝𝑜𝑛𝑑𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚

(𝑜𝑟 𝑓𝑜𝑙𝑙𝑜𝑤 𝑡ℎ𝑒 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛)

• 𝐼𝑓 𝜁 𝑔𝑜𝑒𝑠 𝑑𝑜𝑤𝑛, 𝑋 𝑜𝑟 𝑀 𝑔𝑜𝑒𝑠 𝑢𝑝

𝜔
• 𝑇ℎ𝑒 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑋 𝑎𝑡 𝜔 = 𝜔 𝑛 , 𝜔
= 1,
𝑋
1 𝑛
= 2𝜁
𝛿𝑠 𝑡 𝜔 =𝜔
𝑛

• 𝑀𝑎𝑥. 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑋 𝑖𝑠 𝑔𝑖𝑣𝑒𝑛 𝑏𝑦 𝑟 = 1 − 𝜁 2

𝑋 1
=
𝛿𝑠 𝑡 𝑚 𝑎 2𝜁 1 − 𝜁 2
𝑥
Observations: In terms of phase angle
Observations: In terms of phase angle
 Single Degree of freedom system – Forced Vibrations

Observations: In terms of phase angle

• 𝑤ℎ𝑒𝑛 𝜁 = 0 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 𝑖𝑠 𝑧𝑒𝑟𝑜 , 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛

𝑎𝑛𝑑 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑛 𝑝ℎ𝑎𝑠𝑒 𝑓𝑜𝑟 0 < 𝑟 < 1

• 𝑤ℎ𝑒𝑛 𝜁 = 0 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 𝑖𝑠 180 , 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛

𝑎𝑛𝑑 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑜𝑢𝑡 𝑜𝑓 𝑝ℎ𝑎𝑠𝑒 𝑓𝑜𝑟 𝑟 > 1

• For 𝜁 > 0 and 0 < r < 1, the phase angle is

given by 0 < Φ < 90°, implying that the
response lags the excitation.

• For 𝜁 > 0 and r > 1, the phase angle is given by

90° < Φ < 180°, implying that the response
leads the excitation.

• 𝑤ℎ𝑒𝑛 𝑟 = 1, 𝜔 = 𝜔 𝑛 , 90𝜊 𝑝ℎ𝑎𝑠𝑒 𝑙𝑎𝑔

𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑎𝑛𝑑 𝑒𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛 𝑎𝑛𝑑 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒

• 𝐹𝑜𝑟 𝑙𝑎𝑟𝑔𝑒 𝑣𝑎𝑙𝑢𝑒𝑠 𝑜𝑓 𝑟 𝑡ℎ𝑒𝑟𝑒 𝑤𝑖𝑙𝑙 𝑏𝑒 180𝜊

 Single Degree of freedom system – Forced Vibrations

Resonance, Damping, Bandwidth

1
Consider equation again 𝑀=
1 − 𝑟2 2 + 2𝜁𝑟 2
At resonance , M is maximum

𝑑𝑀 𝑎𝑛𝑑 𝑟 = 𝑅
𝐹𝑜𝑟 𝑚𝑎𝑥. 𝑑𝑟 = 0
𝑑𝑀 1 3
1 − 𝑟 2 2 + 2𝜁𝑟 2 − 2 2 1 − 𝑟 2 −2𝑟 + 2 2𝜁𝑟 2𝜁
=
𝑑𝑟 2

2 1 − 𝑅 2 −2𝑅 + 2 2𝜁𝑅 2𝜁 = 0

𝑅 𝑅2 − 1 + 2𝑅𝜁 2
=0

𝑅 𝑅 2 − 1 + 2𝜁 2 =0
𝑆𝑖𝑛𝑐𝑒 𝑟 ≠ 0
𝑅 2 − 1 + 2𝜁 2 = 0

𝑅 2 = 1 − 2𝜁 2
Eq. 26
𝑅= 1 − 2𝜁 2
𝑖. 𝑒. 𝑀 𝑚 𝑎 𝑥 𝑜𝑐𝑐𝑢𝑟𝑠 𝑤ℎ𝑒𝑛 𝑅 = 1 − 2𝜁 2
 Single Degree of freedom system – Forced Vibrations

• Since 𝑅 > 0, then the range of values of 𝜁 for which Eq. 26 is valid is given by

1
1 − 2𝜁 2 > 0 ⇒ 𝜁 < 2
Substituting Eq. 26 in Eq. 23 gives

1
𝑅 = 𝑀𝑚 𝑎 𝑥 =
2𝜁 1 − 𝜁 2

• Now for 𝜁 ≤ 0.1 𝑀 𝑚 𝑎 𝑥 occurs when 𝑅

≈ 1

Substituting 𝑅 = 𝑟 ≈ 1 in Eq. 23 gives

1
Eq. 27
𝑀 𝑚 𝑎 𝑥 = 𝑓𝑜𝑟 𝜁 ≤ 0.1
2𝜁
The damping in a system is indicated by the sharpness of its response curve near resonance; it
Can be evaluated by the bandwidth of its half-power points
 Single Degree of freedom system – Forced Vibrations

Now at 𝑅1𝑎𝑛𝑑 𝑅2

𝑅1 = 𝑅2 = 𝑀 𝑚𝑎𝑥 = 𝑄 Eq. 28
2 Amplitude ratio at resonance
Substituting Eq. 27 and 28 in Eq. 23 gives is called quality factor
1 1 2
1 =
1 − 𝑟2 2 + 2𝜁𝑟 2

2𝜁 2
Squaring both sides simplifying gives

1 − 𝑟 2 2 + 4𝜁 2 𝛽 2 − 8𝜁 2 = 0

Roots of this equation are

1
𝑟1,2 ≈
1 ± 2𝜁 2 ≈ 1 ± 𝜁 𝑓𝑜𝑟 𝜁 ≤ 0.1
R1 and R2 where M falls
𝑄
Therefore bandwidth = 𝑟2 − 𝑟1 = 1 + 𝜁 − (1 − 𝜁) to 2 , called half power
𝜔 2 − 𝜔1 points
⇒ = 2𝜁
𝜔𝑛
𝜔 2 − 𝜔1
𝐻𝑒𝑛𝑐𝑒 𝜁 = 2𝜔𝑛
 Single Degree of freedom system – Forced Vibrations

Frequency response function, FRF

Single Degree of freedom system – Forced Vibrations