Chapter 3

Single Degree Of Freedom

FORCED
VIBRATION
 SUMMARY SO FAR

Step 1: m x + k x = 0 F(t)

x(t)
m

Step 2: m x + c x + k x = 0 K C

Step 3: m x + c x + k x = F (t )
 FORCED VIBRATION
x
k

m F 𝑚 𝑥ሷ 𝑡 + 𝑐 𝑥ሶ 𝑡 + 𝑘 𝑥 𝑡 = 𝐹(𝑡)
C ( 2nd-Order ODE with RHS )

Math 4 Solution : 𝒙 𝒕 = 𝒙𝒉 𝒕 + 𝒙𝒑 (𝒕)

Mech. Vib. Solution : 𝒙 𝒕 = 𝒙𝒕𝒓𝒂𝒏𝒔 𝒕 + 𝒙𝒔𝒔 (𝒕)

 1

0.8
𝑋𝑡𝑟𝑎𝑛𝑠 (𝑡) 𝑋𝑠𝑠 (𝑡)
0.6

0.4

0.2

-0.2

-0.4

-0.6

-0.8
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

1.5

x (t)
Steady State
1 Response

0.5

-0.5

-1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
 There are 4 categories of F(t) :
1) Harmonic (sin, cos) 3) Transient
F(t) F(t)

2) Periodic 4) Random
F(t) F(t)

t
t
 Lecture 1

Harmonically
𝑭𝟎 𝐬𝐢𝐧 𝝎𝒕 Excited
Vibration
 Harmonic Excitation

F(t)

x
m

𝐹0 𝐬𝐢𝐧 𝝎𝒕
k C
𝑚 𝑥ሷ 𝑡 + 𝑐 𝑥ሶ 𝑡 + 𝑘 𝑥 𝑡 =
𝐹0 𝐜𝐨𝐬 𝝎𝒕
 𝒎𝒙ሷ + 𝒄𝒙ሶ + 𝒌𝒙 = 𝑭𝟎 𝒔𝒊𝒏𝝎𝒕
Mechanical
System

M
INPUT C OUTPUT
K
𝐹(𝑡) = 𝐹0 𝑠𝑖𝑛𝜔𝑡 𝑥𝑠𝑠 (𝑡) = 𝑋 sin(𝜔𝑡 − ϕ)
Frequency
ω

𝑭𝟎
𝑿=
(𝒌 − 𝒎𝝎𝟐 )𝟐 +(𝑪𝝎)𝟐
 Equation 1: Vibration Amplitude

𝐹0
𝑋=
(𝑘 − 𝑚𝜔 2 )2 +(𝐶𝜔)2
𝝎
𝒓= Frequency Ratio
𝝎𝒏

𝑘𝑋 1
=
𝐹0 (1 − 𝑟 2 )2 +(2 ζ 𝑟)2
 Magnification Factor vs. Frequency Ratio

0.05

0.15
RESONANCE
Amplification Ratio : 𝑨𝑹 = 𝒌 𝑿/𝑭𝟎

0.2

1
0.3
𝐴𝑅 =
0.4 (1 − 𝑟 2 )2 +(2 ζ 𝑟)2
0.5
0.6
0.8
1.0
5.0

Frequency Ratio : 𝒓 = 𝝎/𝝎𝒏

 Equation 2: Force Transmitted to Ground

𝑭𝟎 𝑭𝑻
𝑻𝑹 =
𝑭𝟎

𝑭𝑻
𝐹𝑇 1 + (2 ζ 𝑟)2
=
𝐹0 (1 − 𝑟 2 )2 +(2 ζ 𝑟)2
 Lecture 2

m x=?
Base
𝑘 𝑐
𝒚 𝒕 = 𝒀 𝐬𝐢𝐧 𝝎𝒕
Excitation
Equation 1: Vibration Amplitude
Mechanical
System

M
INPUT C OUTPUT
K

Frequency
ω

𝑋 𝑘 2 + 𝑐𝜔 2
=
𝑌 𝑘 − 𝑚𝜔 2 2 + 𝑐𝜔 2
 X
Y
= Displacement Transmissibility

𝑋 𝑘 2 + 𝑐𝜔 2
=
𝑌 𝑘 − 𝑚𝜔 2 2 + 𝑐𝜔 2

𝑋 1+ 2ζ𝑟 2 2
= = 𝐴𝑅 × 1 + 2 ζ 𝑟
𝑌 1 − 𝑟2 2 + 2 ζ 𝑟 2

𝟏
where 𝑨𝑹 =
𝟏 − 𝒓𝟐 𝟐 + 𝟐𝜻𝒓 𝟐
 Displacement Transmissibility
𝑫𝒊𝒔𝒑𝒍𝒂𝒄𝒆𝒎𝒆𝒏𝒕 𝑻𝒓𝒂𝒏𝒔𝒎𝒊𝒔𝒊𝒃𝒊𝒍𝒊𝒕𝒚:
𝑿
𝒀
𝑻𝒅 =

𝝎
𝑭𝒓𝒆𝒒𝒖𝒆𝒏𝒄𝒚 𝑹𝒂𝒕𝒊𝒐: 𝒓 =
𝝎𝒏
Amplification Reduction
Equation 2: Force Transmitted to Mass

𝑭𝑻 2
1+ 2ζ𝑟 2
=𝑟 1 − 𝑟2 2 + 2 ζ 𝑟 2
𝒌𝒀

= 𝐴𝑅 × 𝑟 2 × 1 + 2 ζ 𝑟 2

𝟏
where 𝑨𝑹 =
𝟏 − 𝒓𝟐 𝟐 + 𝟐𝜻𝒓 𝟐
 Lecture 3

m

M
X C

Y
K
Rotating
Imbalance
Equation 1: Vibration Amplitude
Mechanical
System

M
INPUT C OUTPUT
K

Frequency
ω

𝑴𝑿 𝑟2
=
𝒎𝒆
(1 − 𝑟 2 )2 + (2ζ𝑟)2
Equation 1: Vibration Amplitude

MX = me
 Equation 2: Force Transmitted to Ground

𝑭𝟎

1 + (2  r )
2
FT
TR = =
𝑭𝑻 F0 (1 − r ) + (2  r )
2 2 2
 Formula Sheet
Harmonically Excited Vibration
𝐹0 𝑘𝑋 1
𝑋= = 𝐹𝑇 1 + (2 𝜁 𝑟)2
(𝑘 − 𝑚𝜔 2 )2 +(𝐶𝜔)2 𝐹0 (1 − 𝑟 2 )2 +(2 ζ 𝑟)2 =
𝐹0 (1 − 𝑟 2 )2 +(2 𝜁 𝑟)2

Base Excitation

𝑋 𝑘 2 + 𝑐𝜔 2 1+ 2ζ𝑟 2 𝐹𝑇 1+ 2𝜁𝑟 2
= = = 𝑟2
𝑌 𝑘 − 𝑚𝜔 2 2 + 𝑐𝜔 2
1 − 𝑟2 2 + 2 ζ 𝑟 2
𝑘𝑌 1 − 𝑟2 2 + 2 𝜁 𝑟 2

Rotating Imbalance
𝑀𝑋 𝑟2
= 𝐹𝑇 1 + (2 𝜁 𝑟)2
𝑚𝑒 =
(1 − 𝑟 2 )2 + (2𝜁𝑟)2 𝐹0 (1 − 𝑟 2 )2 +(2 𝜁 𝑟)2
 1
Problem
A 100 kg mass is suspended by a spring of stiffness 30 kN/m
with a viscous damping constant of 1000 N-s/m.
The mass is initially at rest.
Calculate the steady-state displacement amplitude if the mass
is excited by a harmonic force of 80 N at 3 Hz.
Which case
is this ?
Harmonic
Excitation
 1
Problem … Solution …
A 100 kg mass is suspended by a spring of
𝑚 = 100 𝑘𝑔
stiffness 30 kN/m with a viscous damping constant
𝑘 = 30 𝑘𝑁/𝑚
of 1000 N-s/m.
The mass is initially at rest. 𝑐 = 1000 𝑁𝑠/𝑚
Calculate the steady-state displacement amplitude 𝐹0 = 80 𝑁
if the mass is excited by a harmonic force of 80 N
𝑓 = 3 𝐻𝑧
at 3 Hz.

𝜔 = 2𝜋 𝑓 = 6𝜋 (rad/s)
 1
Problem … Solution … 𝑚 = 100 𝑘𝑔
𝑘 = 30 𝑘𝑁/𝑚
𝐹0
𝑋= 𝑐 = 1000 𝑁𝑠/𝑚
𝑘 − 𝑚 𝜔2 2 + 𝑐𝜔 2
𝐹0 = 80 𝑁
𝑓 = 3 𝐻𝑧

80
𝑋= = 0.0041 𝑚
30,000 − 100(6𝜋)2 2 + 1000 (6𝜋) 2

𝑋 = 4.1 𝑚𝑚
 1
Problem … Solution … 𝑚 = 100 𝑘𝑔 𝐹0 = 80 𝑁
𝑘 = 30 𝑘𝑁/𝑚 𝑓 = 3 𝐻𝑧
𝑘𝑋 1 𝑐 = 1000 𝑁𝑠/𝑚
=
𝐹0 1 − 𝑟2 2 + 2ζ𝑟 2

𝜔 = 2𝜋 𝑓 = 6𝜋 𝜔𝑛 = 𝑘/𝑚

𝜔𝑛 = 17.32 𝑟𝑎𝑑/𝑠

𝜔
𝑟= = 1.0883
𝜔𝑛
 1
Problem … Solution … 𝑚 = 100 𝑘𝑔 𝐹0 = 80 𝑁
𝑘 = 30 𝑘𝑁/𝑚 𝑓 = 3 𝐻𝑧
𝑘𝑋 1 𝑐 = 1000 𝑁𝑠/𝑚
=
𝐹0 1 − 𝑟2 2 + 2ζ𝑟 2

𝑐 = 1000 𝑁𝑠/𝑚 𝑐𝑐𝑟𝑖𝑡 = 2 𝑘 𝑚

𝑐𝑐𝑟𝑖𝑡 = 3464 𝑟𝑎𝑑/𝑠

𝑐
ζ= = 0.28867
𝑐𝑐
 1
Problem … Solution … 𝑚 = 100 𝑘𝑔 𝐹0 = 80 𝑁
𝑘 = 30 𝑘𝑁/𝑚 𝑓 = 3 𝐻𝑧
𝑘𝑋 1 𝑐 = 1000 𝑁𝑠/𝑚
=
𝐹0 1 − 𝑟2 2 + 2ζ𝑟 2

1
𝐴𝑅 = = 1.5272
1 − 1.08832 2 + 2 × 0.28867 × 1.0883 2

𝐹0 80
𝑋 = 𝐴𝑅 × = 1.5272 × = 0.0041 𝑚
𝑘 30 × 103
 2
Problem

A machine weighing 2000-N rests on a floor. The floor defects about

5-cm as a result of the weight of the machine. The floor is somewhat
flexible and moves, because of the motion of a nearby machine,
harmonically near resonance with an amplitude of 0.2-cm.

Assume a damping ratio of 𝜁 = 0.01, and calculate:

• the amplitude of the transmitted displacement
• the amplitude of the transmitted force
 2
Problem … Solution …
A machine weighing 2000-N rests on a floor. The floor defects about
5-cm as a result of the weight of the machine. The floor is
somewhat flexible and moves, because of the motion of a nearby
machine, harmonically near resonance with an amplitude of 0.2-cm.

Which case

Base
is this ?

Excitation
 2
Problem … Solution …

Given …

𝑚𝑔 = 2000 𝑁 𝑟=1
ζ = 0.01
𝑋𝑠𝑡𝑎𝑡𝑖𝑐 = 5 𝑐𝑚 𝑌 = 0.2 𝑐𝑚
 2
Problem … Solution …

Given …

Transmitted 𝑋 1+ 2ζ𝑟 2
=
Displacement 𝑌 1 − 𝑟2 2 + 2 ζ 𝑟 2

𝑋 1 + 2 × 0.01 × 1 2
=
0.2 1 − 12 2 + 2 × 0.01 × 1 2

𝑋 = 10 𝑐𝑚
 2
Problem … Solution …

Transmitted 𝐹𝑇 1+ 2ζ𝑟 2
2
=
Force 𝑘𝑌𝑟 1 − 𝑟2 2 + 2 ζ 𝑟 2
Unknown !

𝒎𝒈 2000 𝑁 2000 𝑁
𝒌= = =
𝑿𝒔𝒕𝒂𝒕𝒊𝒄 5 𝑐𝑚 0.05 𝑚

= 40 𝑘𝑁/𝑚
 2
Problem … Solution …

Transmitted 1+ 2ζ𝑟 2
𝐹𝑇 = 𝑘 𝑌 𝑟 2
Force 1 − 𝑟2 2 + 2 ζ 𝑟 2

1 + 2 × 0.01 2
𝐹𝑇 = 40 × 103 × 0.2 × 12 ×
2 × 0.01 2

𝐹𝑇 = 4001 𝑁
 3
Problem

A lathe can be modeled as an electric motor mounted on a steel

table. The table plus the motor has a mass of 50 kg. The rotating
parts of the lathe have a mass of 10 kg at a distance 0.1 m from the
center. The damping ratio of the system is measured to be ζ=0.06
(viscous damping) and its natural frequency is 7.5 Hz.
Calculate the amplitude of the steady-state displacement of the
motor, assuming 𝝎𝒓𝒐𝒕 = 𝟑𝟎 𝑯𝒛.
 3
Problem … Solution …
Which case
is this ?
Rotating
Imbalance

𝑀 = 50 𝑘𝑔 ζ = 0.06

𝑚 = 10 𝑘𝑔 𝜔𝑛 = 7.5 𝐻𝑧

𝑒 = 0.1 𝑚 𝜔 = 30 𝐻𝑧
 3
Problem … Solution …
𝑴𝑿 𝑟2
=
𝒎𝒆
(1 − 𝑟 2 )2 + (2ζ𝑟)2

𝜔 = 30 𝐻𝑧 𝜔 30
𝑟= = =4
𝜔𝑛 = 7.5 𝐻𝑧 𝜔𝑛 7.5

𝒎𝒆 𝑟2
𝑿= 𝑋 = 0.0213 𝑚
𝑀
(1 − 𝑟 2 )2 + (2ζ𝑟)2
 4
Problem

An electric motor of 10kg, has a rotating eccentric mass

and is set on two identical springs ( k = 3.2 N/mm ). The
motor runs at 1750 rpm, and the mass eccentricity is
100 mm from the center.
The springs are mounted 250 mm apart with the motor k

shaft in the center. Neglect damping and determine the

force transmissibility ratio for vertical vibration.
 4
Problem … Solution …
Which case
is this ? Rotating
Imbalance

𝑀 = 10 𝑘𝑔 𝑒 = 100 𝑚𝑚

𝑘 = 3.2 𝑁/𝑚𝑚 250 𝑚𝑚 ??

𝑁 = 1750 𝑟𝑝𝑚 ζ = 0.0
 4
Problem … Solution …

𝜔𝑛 = 2 × 3.2 × 103 /10

𝜔𝑛 = 25.3 𝑟𝑎𝑑/𝑠
𝜔 183.3
𝑟= = = 7.24
𝜔𝑛 25.3
𝑁
𝜔 = 2𝜋
60
𝜔 = 183.3 𝑟𝑎𝑑/𝑠
 4
Problem … Solution …

𝐹𝑇 1+ 2ζ𝑟 2
𝑇𝑅 = =
𝐹0 (1 − 𝑟 2 )2 + 2 ζ 𝑟 2

1
=
(1 − 7.242 )2

= 𝟎. 𝟎𝟏𝟗
 5
Problem

A fan of 45 kg has an imbalance that creates a harmonic force. A

spring-damper system is designed to minimize the force

transmitted to the base of the fan. A damper is used having a

damping ratio of ζ = 0.2. Calculate the required spring stiffness so

that only 10% of the force is transmitted to the ground when the

fan is turning at 10,000 rpm.

 5
Problem … Solution …
Which case
is this ? Rotating
Imbalance

𝑀 = 45 𝑘𝑔 𝑇𝑅 = 10 %

ζ = 0.2 𝑁 = 10,000 𝑟𝑝𝑚

 Road Map of the Solution

𝑇𝑅

𝜔𝑛

𝑘
 5
Problem … Solution …

𝐹𝑇
𝑇𝑅 = = 0.1
𝐹0

1+ 2ζ𝑟 2
0.1 = With ζ = 0.2
(1 − 𝑟 2 )2 + 2 ζ 𝑟 2
 5
Problem … Solution …

1+ 2ζ𝑟 2
0.1 =
(1 − 𝑟 2 )2 + 2 ζ 𝑟 2

1+ 4 ζ 𝑟 2 2 100 1 + 4 ζ2 𝑟 2
0.01 = 1=
(1 − 𝑟 2 )2 + 4 ζ2 𝑟 2 (1 − 𝑟 2 )2 +4 ζ2 𝑟 2

100 1 + 4 ζ2 𝑅
𝑹 = 𝒓𝟐 1=
(1 − 𝑅)2 +4 ζ2 𝑅

1 − 2𝑅 + 𝑅2 + 4 ζ2 𝑅 = 100 + 400 ζ2 𝑅
 5
Problem … Solution …
𝑅2 + 4 ζ2 − 2 − 400 ζ2 𝑅 + 1 − 100 = 0

2
𝑅 − 17.84 𝑅 − 99 = 0

𝑅 = 22.2829

𝑟 = 4.7205
 5
Problem … Solution …

𝑟 = 4.7205
𝜔 2𝜋 𝑓 2𝜋 𝑁/60 𝜋 𝑁
𝜔𝑛 = = = =
𝑟 𝑟 𝑟 30 𝑟
𝜔𝑛 = 221.84 𝑟𝑎𝑑/𝑠

2 2
𝑘 = 𝑀 𝜔𝑛 = 45 × 221.84 = 2,214.6 𝑘𝑁/𝑚
 6
Problem

A vibrating mass of 300 kg, mounted on a mass-less support by

a spring of stiffness 40,000 N/m and a damper of unknown
damping coefficient, is observed to vibrate with a 10-mm
amplitude while the support vibration has a maximum amplitude
of only 2.5 mm (at resonance). Calculate the damping constant
and the amplitude of the force transmitted to the base.
 6
Problem … Solution …
Which case
is this ?
Base
Excitation

𝑀 = 300 𝑘𝑔 𝑋 = 10 𝑚𝑚

𝑘 = 40 𝑘𝑁/𝑚 𝑌 = 2.5 𝑚𝑚
𝑟=1
Road Map of the Solution

𝑋
𝑌
ζ

𝐶
 6
Problem … Solution …

𝑋 1+ 2ζ𝑟 2
= With 𝑟 = 1
𝑌 (1 − 𝑟 2 )2 + 2 ζ 𝑟 2
 6
Problem … Solution …

10 1+ 4 ζ2 1 + 4 ζ2
= 16 =
2.5 4 ζ2 4 ζ2
2
1
ζ =
60
ζ = 0.1291

𝑐 = ζ 2 𝑘𝑚 𝑐 = 894.4 kg/s
 6
Problem … Solution …

𝐹𝑇 1+ 2ζ𝑟 2
2
=
𝑘𝑌𝑟 (1 − 𝑟 2 )2 + 2 ζ 𝑟 2

2
1+ 2ζ𝑟 2
𝐹𝑇 = 𝑘 𝑌 𝑟
(1 − 𝑟 2 )2 + 2 ζ 𝑟 2

𝐹𝑇 = 400 𝑁
 7
Problem 𝒌𝟏 = 𝒌𝟐 = 𝟓𝟎𝟎𝟎 𝑵/𝒎
𝒂 = 𝟎. 𝟐𝟓 𝒎
𝒃 = 𝟎. 𝟓𝟎 𝒎
𝑳 = 𝟏. 𝟎 𝒎
𝑴 = 𝟓𝟎 𝒌𝒈
𝒎 = 𝟏𝟎 𝒌𝒈
𝑭𝟎 = 𝟓𝟎𝟎 𝑵
𝝎 = 𝟏𝟎𝟎𝟎 𝒓𝒑𝒎

a. Compute the equation of motion (consider small angle approximation)

b. Deduce from the previous equation, the effective properties Ieq , keq , Ceq of the
equivalent system in terms of the known system properties.
c. Compute the steady-state response amplitude.
 7
Problem
𝑘𝑒𝑞

𝑀𝑒𝑞
𝑭𝟎 𝐬𝐢𝐧 𝝎𝒕

𝑴𝟎 𝐬𝐢𝐧 𝝎𝒕

𝐼𝑒𝑞
𝐾𝑡 𝑒𝑞
 7
Problem … Solution … F.B.D

𝜃
𝒌𝟐 𝒃 𝒔𝒊𝒏𝜽

𝒌𝟏 𝒂 𝒔𝒊𝒏𝜽

Ʃ 𝑴𝑶 = 𝑰𝑶 𝜽ሷ 𝑭(𝒕)

+ 𝐹 𝑡 (𝐿 cos 𝜃)
− 𝑘1 𝑎 𝑠𝑖𝑛𝜃 (𝑎 cos 𝜃) = 𝐼𝑏 + 𝐼𝑀 𝜃ሷ

− 𝑘2 𝑏 𝑠𝑖𝑛𝜃 (𝑏 cos 𝜃)
 7
Problem … Solution …
Small Motion sin 𝜃 = 𝜃 & cos 𝜃 = 1

+ 𝐹 𝑡 (𝐿 × 1)
− 𝑘1 𝑎 × 𝜃 (𝑎 × 1) = 𝐼𝑏 + 𝐼𝑀 𝜃ሷ

− 𝑘2 𝑏 × 𝜃 (𝑏 × 1)

𝐼𝑏 + 𝐼𝑀 𝜃ሷ + 𝑘1 𝑎2 + 𝑘2 𝑏 2 𝜃 = 𝐹𝑜 𝐿 sin 𝜔𝑡
 7
Problem … Solution …

𝐼𝑀 + 𝐼𝑏 ሷ 2 2
𝜃 + 𝑘1 𝑎 + 𝑘2 𝑏 𝜃 = 𝐹𝑜 𝐿 sin 𝜔𝑡
1
Where: 𝐼𝑏 = 𝑚 𝐿2 and 𝐼𝑀 = 𝑀 𝐿2
3

1
𝑚 + 𝑀 𝐿2 𝜃ሷ + 𝑘1 𝑎2 + 𝑘2 𝑏 2 𝜃 = 𝐹𝑜 𝐿 sin 𝜔𝑡
3

Of the type: 𝐼𝑒𝑞 𝜃ሷ + 𝐾𝑡𝑒𝑞 𝜃 = 𝑀0 sin 𝜔𝑡

 7
Problem … Solution …
𝐹0
𝑋=
2 2
𝐾𝑒𝑞 − 𝑀𝑒𝑞 𝜔2 + 𝐶𝑒𝑞 𝜔

𝑀0
𝜃=
2 2
𝐾𝑡𝑒𝑞 − 𝐼𝑒𝑞 𝜔2 + 𝐶𝑒𝑞 𝜔
 7
Problem … Solution …
𝑀0 𝑀0
𝜃= =
2 𝐾𝑡𝑒𝑞 − 𝐼𝑒𝑞 𝜔 2
𝐾𝑡𝑒𝑞 − 𝐼𝑒𝑞 𝜔 2

𝐹𝑜 𝐿
=
1
𝑘1 𝑎2 + 𝑘2 𝑏 2 − 𝑚 + 𝑀 𝐿2 𝜔 2
3

= 8.5718 10 −4 𝑟𝑎𝑑