Lecture 3-ME2617 Forced Vibration of SDOF Systems

ME2617 – Dynamics of Machines
Forced Vibrations of SDOF Systems
Dr Cristinel Mares
[email protected]
OBJECTIVES
• Determine the response of a vibrating SDOF system to an
external force
• Calculate the steady-state response to a given harmonic

excitation force
• Obtain the transient and steady-state solutions for simple

cases
Brunel University London 2

Outline
1. Response of a Damped System Under Harmonic Force
2. Frequency Response Function (FRF)
3. Phasors
4. Response of Undamped System Under Harmonic Force
5. Response of a Damped System Under the Harmonic Motion of the Base
7. Displacement and Force Transmissibility
8. Response of a Damped System Under Rotating Unbalance
9. Conclusions

FORCED VIBRATION
𝑚𝑥̈ (𝑡) + 𝑐𝑥̇ (𝑡) + 𝑘𝑥(𝑡) = 𝐹(𝑡)
k c 𝜔 = ;𝑐 = 2 𝑘𝑚; 𝜁 =
𝐹(𝑡)
m 𝑥̈ (𝑡) + 2𝜁𝜔 𝑥̇ (𝑡) + 𝜔 𝑥(𝑡) =
𝑚
F(t) The general solution of a nonhomogeneous equation

𝑘𝑥 𝑐𝑥̇ consists of two parts:
•the general solution of homogeneous equation
𝑚 representing free vibration
𝑥
•a particular solution of the nonhomogeneous equation
𝑚𝑥̈ 𝐹

FORCED VIBRATION
If we consider the underdamped free oscillation <1, then the response is given by
x ( t )  exp(   n t )( A sin  d t  B cos  d t )  exp(   n t ) sin(  d t   )
To obtain the particular solution one must know the excitation F(t).
Let’s consider one type of oscillation only
When a linear system is subjected to a harmonic excitation of this form:

• It will respond harmonically at the same frequency
• There will be a phase lag between the force and the response
Input:
Output:
FORCED VIBRATION
The steady state solution can be found by inserting the particular solution
𝑥 𝑡 = 𝑋 cos (𝜔𝑡 − 𝜑)
in the equation of movement 𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝐹 𝑐𝑜𝑠𝜔𝑡
𝑥 = 𝑋 𝑐𝑜𝑠 𝜔𝑡 − 𝜑 ; 𝑥̇ = −𝜔𝑋 𝑠𝑖𝑛 𝜔𝑡 − 𝜑 ; 𝑥̈ = −𝜔 𝑋 𝑐𝑜𝑠 𝜔𝑡 − 𝜑
𝑋 k − mω cos 𝜔𝑡 − 𝜑 − 𝑐𝜔 sin 𝜔𝑡 − 𝜑 = 𝐹 𝑐𝑜𝑠𝜔𝑡
cos 𝜔𝑡 − 𝜑 = 𝑐𝑜𝑠𝜔𝑡𝑐𝑜𝑠𝜑 + 𝑠𝑖𝑛𝜔𝑡𝑠𝑖𝑛𝜑

sin 𝜔𝑡 − 𝜑 = 𝑠𝑖𝑛𝜔𝑡𝑐𝑜𝑠𝜑 − 𝑠𝑖𝑛𝜑𝑐𝑜𝑠 𝜔𝑡
𝑋 k − mω 𝑐𝑜𝑠𝜑 + 𝑐𝜔𝑠𝑖𝑛𝜑 𝑐𝑜𝑠𝜔𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡

𝑋 k − mω 𝑠𝑖𝑛𝜑 − 𝑐𝜔𝑐𝑜𝑠𝜑 𝑠𝑖𝑛𝜔𝑡 = 0

FORCED VIBRATION
𝑋 k − mω 𝑐𝑜𝑠𝜑 + 𝑐𝜔𝑠𝑖𝑛𝜑 𝑐𝑜𝑠𝜔𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡

𝑋 k − mω 𝑠𝑖𝑛𝜑 − 𝑐𝜔𝑐𝑜𝑠𝜑 𝑠𝑖𝑛𝜔𝑡 = 0
𝑐𝜔
k − mω 𝑠𝑖𝑛𝜑 − 𝑐𝜔𝑐𝑜𝑠𝜑 = 0 ⟹ 𝑡𝑎𝑛𝜑 =
k − mω
𝑐𝜔
𝑡𝑎𝑛𝜑 k − mω 𝑐𝜔
𝑠𝑖𝑛𝜑 = = =
1 + 𝑡𝑎𝑛𝜑 𝑐𝜔 k − mω + 𝑐𝜔
⟹ 1 +
k − mω
1 1
𝑐𝑜𝑠𝜑 = =
1 + 𝑡𝑎𝑛𝜑 k − mω + 𝑐𝜔
𝑋 k − mω 𝑐𝑜𝑠𝜑 + 𝑐𝜔𝑠𝑖𝑛𝜑 = 𝐹 ⟹ 𝑋 =𝐹
𝐹
⟹𝑋 =
k − mω + 𝑐𝜔

FORCED VIBRATION
One obtains
𝐹 𝑐𝜔
𝑋 = 𝑡𝑎𝑛𝜑 =
𝑘 − 𝑚𝜔 + 𝑐𝜔 𝑘 − 𝑚𝜔
𝜔 𝑐 𝜔 𝑘
𝑘 − 𝑚𝜔 + 𝑐𝜔 = 𝑘 1− + 2 𝑘𝑚 =𝑘 1−𝑟 + 2𝜁𝑟
𝜔 𝑐 𝜔 𝑚
𝜔 𝑐 𝐹
Let 𝑟= ; 𝜁= ; 𝛿 =
𝜔 2 𝑘𝑚 𝑘
𝑋 1 2𝜁𝑟 1
= 𝑡𝑎𝑛𝜑 = 𝑀=
𝛿 1−𝑟 + 2𝜁𝑟 1−𝑟 1−𝑟 + 2𝜁𝑟
M magnification factor

FORCED VIBRATION
1
𝑀=
1−𝑟 + 2𝜁𝑟 M magnification factor
At = 1 the response
increases and the lower level
of damping the bigger the
response level. This
phenomenon is called
resonance.
Damping is reducing the

response level at resonance,
having little effect elsewhere.
Damping has relatively little

effect on the resonant
frequency.

FORCED VIBRATION
2𝜁𝑟
𝑡𝑎𝑛𝜑 =
1−𝑟
There is a steep change of phase at 90°

and the phase 𝜑 > 90°
𝜑 = 90° at resonance =1
The response lags behind the excitation

with a phase smaller than 90°

Example
A mass-spring-dashpot vibrating system has the following data:

𝑚 = 1𝑘𝑔, 𝑘 = 10000 . The initial conditions are
3𝑚 k
𝑥 𝑡 = 0 = 𝑥 = 0.01𝑚; 𝑥̇ 𝑡 = 0 = 𝑥̇ = . c
𝑠
Determine the equation of motion and plot the displacement
variation in time when the system is excited by a harmonic
force F(t) m
x
𝑁𝑠
𝑐 = 20 ; 𝜔 = 50𝑟𝑎𝑑/𝑠; 𝐹 = 100𝑁
𝑚
The characteristics of the vibrating systems are: 𝐹 𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡
𝑘
𝜔 = = 100𝑟𝑎𝑑/𝑠
𝑚
𝑐 = 2 𝑘𝑚 = 200𝑁𝑠/𝑚
𝜁= = 0.1
Brunel University London
Example
04/02/2021
The underdamped free oscillation
𝑥 𝑡 =𝑒 𝐴 𝑐𝑜𝑠𝜔 𝑡 + 𝐵 𝑠𝑖𝑛𝜔 𝑡 =𝑒 𝐴 𝑐𝑜𝑠30 11𝑡 + 𝐵 𝑠𝑖𝑛30 11𝑡
The particular solution
1 2
𝑥 𝑡 = 𝑋 cos(𝜔𝑡 − 𝜑 = cos(50𝑡 − 𝐴𝑟𝑐𝑡𝑎𝑛 )
5 229 15
𝑥 𝑡 = 𝑥 (𝑡) + 𝑥 (𝑡

Example
𝑥 𝑡 = 𝑥 (𝑡) + 𝑥 (𝑡
𝑥 (𝑡)
𝑥 (𝑡)

FREQUENCY RESPONSE FUNCTION (FRF)
𝑥 𝑘
𝐹
Consider the expression

x0 1 1
 
F0 (k  m2 )2  (c)2 k (1 r 2 )2  (2 r)2
It is of the form
Such a function is called Transfer Function in general and Frequency

Response Function (FRF) in vibration analysis
FREQUENCY RESPONSE FUNCTION
The system response can be divided into three regions:

(1) Smaller than and not close to 1: 1
n

(2) 1 In this region the response becomes very large; damping has a great influence at
n
resonance. If damping is absent, the amplitude becomes infinite at resonance in
theory.
kx 1 
 at 1
(3)

1
F 2 n
n
𝜔
Beyond = 2 the non-dimensional response is smaller than 1, the amplitude is smaller than
𝜔
the static deflection.

PHASOR DIAGRAM

PHASOR DIAGRAM

PHASOR DIAGRAM
𝑥 𝑡 = 𝑥 𝑠𝑖𝑛 𝜔𝑡 − 𝜑
𝜋
𝑥̇ 𝑡 = 𝑥 𝜔𝑐𝑜𝑠 𝜔𝑡 − 𝜑 = 𝑥 𝜔𝑠𝑖𝑛 𝜔𝑡 − 𝜑 +
2
𝑥̈ 𝑡 = −𝑥 𝜔 𝑠𝑖𝑛 𝜔𝑡 − 𝜑 = 𝑥 𝜔 𝑠𝑖𝑛 𝜔𝑡 − 𝜑 + 𝜋 = −𝜔 𝑥(𝑡)

PHASOR DIAGRAM
The steady state solution using the phasor diagram
F0  c 
x0    arctan  2 
(k  m2 )2  (c)2  k  m 
Let and
x0 1  2 r 
   arctan  2 
F0 k (1 r 2 )2  (2 r)2 1 r 

Case
Stiffness control

Case
Damping control

Case
Inertia control

UNDAMPED SYSTEM UNDER HARMONIC FORCE
A mass-spring vibrating system subjected to a harmonic force:
𝑚𝑥̈ (𝑡) + 𝑘𝑥(𝑡) = 𝐹(𝑡) k
The homogeneous solution is given by : m

x
𝑘
𝑥 𝑡 = 𝐴𝑐𝑜𝑠𝜔 𝑡 + 𝐵𝑠𝑖𝑛𝜔 𝑡; 𝜔 =
𝑚
The particular solution is given by: 𝐹 𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡
𝐹 𝛿 𝐹
𝑥 𝑡 = 𝑋 𝑐𝑜𝑠𝜔𝑡 = 𝑐𝑜𝑠𝜔𝑡 = ;𝛿 =
𝑘 − 𝑚𝜔 𝜔 𝑘
1− 𝜔

Given initial conditions: 𝑥 , 𝑥̇
k
𝐹 𝑥̇ 𝑘
𝑥 𝑡 = 𝑥 − 𝑐𝑜𝑠𝜔 𝑡 + 𝑠𝑖𝑛𝜔 𝑡; 𝜔 =
𝑘 − 𝑚𝜔 𝜔 𝑚
m
x
The solution is 𝐹 𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡
𝐹 𝑥̇ 𝐹
𝑥 𝑡 = 𝑥 − 𝑐𝑜𝑠𝜔 𝑡 + 𝑠𝑖𝑛𝜔 𝑡 + 𝑐𝑜𝑠𝜔𝑡
𝑘 − 𝑚𝜔 𝜔 𝑘 − 𝑚𝜔

Plotting the magnification factor when

the excitation frequency 𝜔 is varied the
k
forced response displays three types of
response for:
- 𝜔<𝜔 𝑟<1 ; m
- 𝜔 = 𝜔 (𝑟 = 1); x
- 𝜔>𝜔 𝑟>1 .
𝐹 𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡
𝑋 1
=
𝛿 𝜔
1− 𝜔

When 𝜔 < 𝜔 𝑟<1

the denominator 1 −
is positive and the response is
in phase with the excitation force
𝑋 1
=
𝛿 𝜔
1−
𝜔

When 𝜔 > 𝜔 𝑟>1

is negative and the response is
out of phase with the excitation
force
𝑋 1
=−
𝛿 𝜔
−1
𝜔

When 𝜔 = 𝜔 𝑟=1
is zero and amplitude becomes
infinite, the system is at resonance.
𝑥̇ 𝛿 𝜔 𝑡
𝑥 𝑡 = 𝑥 𝑐𝑜𝑠𝜔 𝑡 + 𝑠𝑖𝑛𝜔 𝑡 + 𝑠𝑖𝑛𝜔 𝑡
𝜔 2
The amplitude of the response

increases in time as seen in
the response equation
determined at resonance.

When 𝜔 ≅ 𝜔 𝑟 ≅ 1
the beating phenomenon occurs.
The equation of motion, beating
circular frequency and period are:
𝐹 1
𝑥 𝑡 =( 𝑠𝑖𝑛𝜀𝑡)𝑠𝑖𝑛𝜔𝑡
𝑚 2𝜀𝜔
2𝜋 2𝜋
𝜔 = 2𝜀 = 𝜔 − 𝜔; 𝑇 = =
2𝜀 𝜔 − 𝜔

Example
A mass-spring vibrating system has the following data: 𝑚 =

1𝑘𝑔, 𝑘 = 10000 . The initial conditions are
𝑚
𝑥 𝑡 = 0 = 𝑥 = 0.01𝑚; 𝑥̇ 𝑡 = 0 = 𝑥̇ = 3 . k
𝑠
Determine the equation of motion and plot the displacement
variation in time when the system is excited by a harmonic m
force F(t) x
𝑐 = 0; 𝜔 = 5𝑟𝑎𝑑/𝑠; 𝐹 = 100𝑁
The characteristics of the vibrating systems are: 𝐹 𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡
𝑘
𝜔 = = 100𝑟𝑎𝑑/𝑠
𝑚

Example
04/02/2021
The underdamped free oscillation
̇
𝑥 𝑡 = 𝐴 𝑐𝑜𝑠𝜔 𝑡 + 𝐵 𝑠𝑖𝑛𝜔 𝑡= 𝑥 − 𝑐𝑜𝑠𝜔 𝑡 + 𝑠𝑖𝑛𝜔 𝑡
=−0.000025 𝑐𝑜𝑠100𝑡 − 𝑠𝑖𝑛100𝑡
The particular solution
𝐹 4
𝑥 𝑡 = cos 𝜔𝑡 = cos 5𝑡
𝑘 − 𝑚𝜔 399
𝑥 𝑡 = 𝑥 (𝑡) + 𝑥 (𝑡

Example
𝑥 𝑡 = 𝑥 (𝑡) + 𝑥 (𝑡
𝑥 (𝑡)
𝑥 (𝑡)

TRANSMISSIBILITY
The system under base excitation 𝑦 𝑡 = 𝑌𝑠𝑖𝑛𝜔𝑡 The system is loaded by the harmonic force
What is the ratio between displacements X 𝐹 𝑡 = 𝐹 𝑠𝑖𝑛𝜔𝑡
of mass m and Y at the source (base) ? What is the ratio between the force 𝐹
transmitted to the base and 𝐹 at the source of
excitation ?
𝐹
k c
𝐹 𝑠𝑖𝑛𝜔𝑡
33 © 2011 Mechanical Vibrations Fifth Edition in SI Units

RESPONSE UNDER HARMONIC MOTION OF THE BASE
The system under base excitation 𝑦 𝑡 = 𝑌𝑠𝑖𝑛𝜔𝑡
will have a response

𝑥 𝑡 and the EOM: 𝑚𝑥̈ + 𝑐 𝑥̇ − 𝑦̇ + 𝑘 𝑥 − 𝑦 = 0
Force transmitted to the base

will have a response 𝑥 𝑡 and the EOM: 𝑚𝑥̈ + 𝑐 𝑥̇ − 𝑦̇ + 𝑘 𝑥 − 𝑦 = 0

can be rewritten as:
𝑚𝑥̈ + 𝑐 𝑥̇ − 𝑦̇ + 𝑘 𝑥 − 𝑦 = 0
𝑦 = 𝑌𝑠𝑖𝑛𝜔𝑡; 𝑦̇ = 𝑌𝜔𝑐𝑜𝑠𝜔𝑡;
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑐𝑦̇ + 𝑘𝑦
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑐𝑜𝑠𝜔𝑡 + 𝒌𝒀𝑠𝑖𝑛𝜔𝑡
Observe that sin(𝜔𝑡 + 𝜙 ) = sin𝜔𝑡𝑐𝑜𝑠𝜙 + sin𝜙 cos𝜔𝑡 and the phase 𝜙 must be determined
𝐴 𝐵
𝐴𝑠𝑖𝑛𝜔𝑡 + 𝐵𝑐𝑜𝑠𝜔𝑡 = 𝐴 +𝐵 𝑠𝑖𝑛𝜔𝑡 + 𝑐𝑜𝑠𝜔𝑡 = 𝐶𝑠𝑖𝑛 𝜔𝑡 + 𝜙
𝐴 +𝐵 𝐴 +𝐵
will have a response 𝑥 𝑡 and the EOM: 𝑚𝑥̈ + 𝑐 𝑥̇ − 𝑦̇ + 𝑘 𝑥 − 𝑦 = 0
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑘𝑌𝑠𝑖𝑛𝜔𝑡 + 𝑐𝜔𝑌𝑐𝑜𝑠𝜔𝑡
𝑐𝜔
𝐹 = 𝑌 𝑘 + 𝑐𝜔 and 𝑡𝑎𝑛𝜙 = −
𝑘
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝐹 𝑠𝑖𝑛 𝜔𝑡 − 𝜙

When a linear system is subjected to a harmonic excitation 𝐹 𝑡 = 𝐹 𝑠𝑖𝑛𝜔𝑡
it will respond harmonically at the same frequency and there will be a phase lag between
the force and the response:
𝑥 𝑡 = 𝑋 cos(𝜔𝑡 − 𝜙 )
36
will have a response

𝑥 𝑡 and the EOM: 𝑚𝑥̈ + 𝑐 𝑥̇ − 𝑦̇ + 𝑘 𝑥 − 𝑦 = 0

𝑐𝜔
𝐹 = 𝑌 𝑘 + 𝑐𝜔 and 𝑡𝑎𝑛𝜙 = −
𝑘
In this case: 𝐹 𝑡 = 𝑌 𝑘 + 𝑐𝜔 𝑠𝑖𝑛 𝜔𝑡 − 𝜙 =𝐹 𝑠𝑖𝑛 𝜔𝑡 − 𝜙
The steady state response will be of the form: 𝑥 𝑡 = 𝑋 sin[(𝜔𝑡 − 𝜙 ) − 𝜙 ]
and the amplitude 𝑋 and phase 𝜙 are determined by:
𝐹 𝑐𝜔
𝑋 = 𝑡𝑎𝑛𝜙 =
𝑘 − 𝑚𝜔 + 𝑐𝜔 𝑘 − 𝑚𝜔
37
The EOM: 𝑚𝑥̈ + 𝑐 𝑥̇ − 𝑦̇ + 𝑘 𝑥 − 𝑦 = 0

𝑦 𝑡 = 𝑌𝑠𝑖𝑛𝜔𝑡 𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑘𝑌𝑠𝑖𝑛𝜔𝑡 + 𝑐𝜔𝑌𝑐𝑜𝑠𝜔𝑡
𝑥 𝑡 = 𝑋 sin[(𝜔𝑡 − 𝜙 ) − 𝜙 ]
𝑋 = =
𝑥 𝑡 = 𝑠𝑖𝑛 [𝜔𝑡 − 𝜙 + 𝜙 ]
𝑡𝑎𝑛𝜙 = − ; 𝜙 = 𝑡𝑎𝑛

The response can be written
The ratio of displacements X and Y is called displacement (motion) transmissibility
with
( )

𝑋 For 𝑟 < 2 smaller 𝜁 lead to larger 𝑇 .
The variation of the displacement transmissibility 𝑇 =
𝑌 For 𝑟 > 2 smaller 𝜁 lead to smaller 𝑇
𝑇 = 1 𝑎𝑡 𝑟 = 0 𝑎𝑛𝑑 For 0 < 𝜁 < 1, 𝑇 has a maximum at
𝑇 → ∞ 𝑎𝑡 𝑟𝑒𝑠𝑜𝑛𝑎𝑛𝑐𝑒 𝑤ℎ𝑒𝑛 𝜁 = 0
𝑓𝑜𝑟 𝑠𝑚𝑎𝑙𝑙 𝑣𝑎𝑙𝑢𝑒𝑠 𝑜𝑓 𝑟 1
𝑇 = 1 𝑎𝑡 𝑟 = 2 𝑓𝑜𝑟 𝑎𝑛𝑦 𝜁 𝑟 = 1 + 8𝜁 − 1
2𝜁
© 2011 Mechanical Vibrations Fifth Edition in SI Units
40
The force transmitted to the base 𝐹 = 𝑐 𝑥̇ − 𝑦̇ + 𝑘 𝑥 − 𝑦 = −𝑚𝑥̈
𝐹 = −𝑚𝑥̈ = 𝑚𝜔 𝑋𝑠𝑖𝑛 𝜔𝑡 − 𝜙 = 𝐹 𝑠𝑖𝑛 𝜔𝑡 − 𝜙
𝐹 𝑚𝜔 𝑌 𝑘 + 𝑐𝜔 1 + 2𝜁𝑟
= =𝑟
𝑘𝑌 𝑘𝑌 𝑘 − 𝑚𝜔 + 𝑐𝜔 1−𝑟 + 2𝜁𝑟
The force transmissibility is represented by ratio between max

transmitted force to the base to the force when the base was
moving only with the spring attached.

𝑚𝑥̈ + 𝑐 𝑥̇ − 𝑦̇ + 𝑘 𝑥 − 𝑦 = 0
𝑦 𝑡 = 𝑌𝑠𝑖𝑛𝜔𝑡 ⇒ 𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑘𝑌𝑠𝑖𝑛𝜔𝑡 + 𝑐𝜔𝑌𝑐𝑜𝑠𝜔𝑡
m𝜔 𝑋
𝑐𝜔𝑋
𝑐𝜔𝑌
𝑘𝑌
𝜑
𝑐𝜔𝑌 + 𝑘𝑌 𝑘𝑋
𝜔𝑡 − 𝜑

TRANSMISSIBILITY
For the general system loaded by the harmonic force 𝐹 𝑡 = 𝐹𝑠𝑖𝑛𝜔𝑡

the ratio between the force 𝐹 transmitted to the base and 𝐹 has a similar equation
as for the displacement transmissibility
𝐹
𝐹 = 𝑘𝑥
𝐹 𝐹 = 𝑐𝑥̇
𝐹 = 𝑐𝑥̇ + 𝑘𝑥 𝐹 𝐹
k c
k c
m
𝑥
𝐹𝑠𝑖𝑛𝜔𝑡 𝐹
𝐹
𝐹
mx  cx  kx  Fsint
𝑥 𝑡 = 𝐴𝑠𝑖𝑛 𝜔𝑡 − 𝜙 m
TRANSMISSIBILITY
The forces acting on the mass are the spring force proportional to displacement, the damping force
proportional to velocity, the inertia force proportional to acceleration.
The system is connected to the foundation through the spring and damper only. Therefore, the force
transmitted is the sum of the reactions at the fixed end of the spring and dashpot and this can be seen better
on a vector (phasor) diagram:
m𝜔 𝑋
𝑐𝜔𝑋
𝐹
𝐹 = 𝑐𝑥̇ + 𝑘𝑥
𝜑
𝐹 𝑘𝑋
𝜔𝑡 − 𝜑

TRANSMISSIBILITY
For the general system loaded by the harmonic force 𝐹 𝑡 = 𝐹 𝑠𝑖𝑛𝜔𝑡

the ratio between the force 𝐹 transmitted to the base and 𝐹 has a similar equation
as for the displacement transmissibility
𝐹 = 𝑐𝑥̇ + 𝑘𝑥
𝐹
𝑥 𝑡 = 𝐴𝑠𝑖𝑛 𝜔𝑡 − 𝜙
Force transmissibility:
k c
𝐹 𝑘 + 𝑐𝜔 1 + 2𝜁𝑟
= =
𝐹 𝑘 − 𝑚𝜔 + 𝑐𝜔 1−𝑟 + 2𝜁𝑟
m

ROTATING UNBALANCED MASSES
An unbalanced mass m with unbalanced radius e is rotating with angular

velocity 𝜔 about the mass centre of a flexibly supported body of mass M.
It is not uncommon to see that as a first approximation, the motion of the
unbalanced mass m may be treated as uncoupled from the motion of the
body M. In that case the force acting on M is simply given as
̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑚𝑒𝜔 𝑠𝑖𝑛𝜔𝑡 = 𝐹 𝑠𝑖𝑛𝜔𝑡; 𝜃 = 𝜔𝑡
𝑀𝑥
e
which is the same as the oscillation response under sinusoidal
excitation with constant amplitude, since 𝑒𝜔 is constant for constant
angular velocity. Considering the solution
𝑚𝑒𝜔
𝑥 𝑡 = 𝑋𝑠𝑖𝑛𝜔𝑡 = 𝑠𝑖𝑛𝜔𝑡
(𝑘 − 𝑀𝜔 ) +(𝑐𝜔)
And with
𝑐 𝑘 𝜔 𝑚𝑒𝑟
𝜁= ;𝜔 = ;𝑐 = 2 𝑘𝑀; 𝑐 = 2𝑀𝜔 ; 𝑟 = ;𝑋 =
static displacement 𝑐 𝑀 𝜔 𝑀
𝑋 1 𝑋𝑀 𝑟
𝑚𝑒𝜔 =
𝑋 = 𝑋 =
𝑘 1−𝑟 + 2𝜁𝑟 𝑚𝑒 1−𝑟 + 2𝜁𝑟
ROTATING UNBALANCED MASSES
𝑋𝑀 𝑟
= The curves begin at zero amplitude the damping level
𝑚𝑒 1−𝑟 + 2𝜁𝑟
affecting the response amplitude.
At very high speeds (ω large), MX/me is almost unity, and

the effect of damping is negligible.
For , the maximum of MX/me is
for
For MX/me varies between 0 and 1

Forced vibrations - Review
Forced Vibrations
Undamped 1 DOF under harmonic force: 𝑓 𝑡 = 𝐹 𝑠𝑖𝑛 𝜔𝑡
𝑣 − 𝜔𝑋
𝑥 𝑡 = 𝑠𝑖𝑛 𝜔 𝑡 + 𝑥 𝑐𝑜𝑠 𝜔 𝑡 + 𝑋𝑠𝑖𝑛 𝜔𝑡
𝜔
Undamped 1 DOF under harmonic force: 𝑓 𝑡 = 𝐹 𝑐𝑜𝑠 𝜔𝑡
𝑣
𝑥 𝑡 = 𝑠𝑖𝑛 𝜔 𝑡 + (𝑥 −𝑋)𝑐𝑜𝑠 𝜔 𝑡 + 𝑋𝑐𝑜𝑠 𝜔𝑡
𝜔
Permanent (particular) solution (frequency solution):

𝐹
𝑋=
𝑘 − 𝑚𝜔
Damped motion under harmonic force: 𝑓 𝑡 = 𝐹 𝑠𝑖𝑛 𝜔𝑡

Time domain solution:
𝑥 𝑡 =𝑒 𝐴𝑐𝑜𝑠 𝜔 𝑡 + 𝐵𝑠𝑖𝑛 𝜔 𝑡 + 𝑋𝑠𝑖𝑛 𝜔𝑡 − 𝜙
Forced Vibrations
Frequency domain solution:
𝐹 𝛿
𝑋= = ;
𝑘 − 𝑚𝜔 + 𝑐𝜔 1−𝑟 + 2𝜁𝑟
𝜔 𝐹
𝑟= ; 𝛿 =
𝜔 𝑘
𝑐𝜔
𝜙 = 𝑡𝑎𝑛
𝑘 − 𝑚𝜔
Frequency Response Function:
1
𝐻 𝜔 =
𝑘 − 𝑚𝜔 + 𝑐𝜔


CONCLUSIONS
Damped and undamped 1 dof system forced vibrations.

Effect of damping levels
FRF
Phasor representation
Base excitation response
Unbalanced response
Transmissibility
Examples

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Lecture 3-ME2617 Forced Vibration of SDOF Systems

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ME2617 – Dynamics of Machines

Forced Vibrations of SDOF Systems

• Calculate the steady-state response to a given harmonic

• Obtain the transient and steady-state solutions for simple

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𝑚𝑥̈ (𝑡) + 𝑐𝑥̇ (𝑡) + 𝑘𝑥(𝑡) = 𝐹(𝑡)

F(t) The general solution of a nonhomogeneous equation

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When a linear system is subjected to a harmonic excitation of this form:

in the equation of movement 𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝐹 𝑐𝑜𝑠𝜔𝑡

𝑥 = 𝑋 𝑐𝑜𝑠 𝜔𝑡 − 𝜑 ; 𝑥̇ = −𝜔𝑋 𝑠𝑖𝑛 𝜔𝑡 − 𝜑 ; 𝑥̈ = −𝜔 𝑋 𝑐𝑜𝑠 𝜔𝑡 − 𝜑

𝑋 k − mω cos 𝜔𝑡 − 𝜑 − 𝑐𝜔 sin 𝜔𝑡 − 𝜑 = 𝐹 𝑐𝑜𝑠𝜔𝑡

cos 𝜔𝑡 − 𝜑 = 𝑐𝑜𝑠𝜔𝑡𝑐𝑜𝑠𝜑 + 𝑠𝑖𝑛𝜔𝑡𝑠𝑖𝑛𝜑

𝑋 k − mω 𝑐𝑜𝑠𝜑 + 𝑐𝜔𝑠𝑖𝑛𝜑 𝑐𝑜𝑠𝜔𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡

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𝑋 k − mω 𝑐𝑜𝑠𝜑 + 𝑐𝜔𝑠𝑖𝑛𝜑 𝑐𝑜𝑠𝜔𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡

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Damping is reducing the

Damping has relatively little

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There is a steep change of phase at 90°

The response lags behind the excitation

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A mass-spring-dashpot vibrating system has the following data:

The underdamped free oscillation

𝑥 𝑡 =𝑒 𝐴 𝑐𝑜𝑠𝜔 𝑡 + 𝐵 𝑠𝑖𝑛𝜔 𝑡 =𝑒 𝐴 𝑐𝑜𝑠30 11𝑡 + 𝐵 𝑠𝑖𝑛30 11𝑡

The particular solution

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Consider the expression

Such a function is called Transfer Function in general and Frequency

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𝑥̈ 𝑡 = −𝑥 𝜔 𝑠𝑖𝑛 𝜔𝑡 − 𝜑 = 𝑥 𝜔 𝑠𝑖𝑛 𝜔𝑡 − 𝜑 + 𝜋 = −𝜔 𝑥(𝑡)

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The steady state solution using the phasor diagram

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A mass-spring vibrating system subjected to a harmonic force:

𝑚𝑥̈ (𝑡) + 𝑘𝑥(𝑡) = 𝐹(𝑡) k

The homogeneous solution is given by : m

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Given initial conditions: 𝑥 , 𝑥̇

The solution is 𝐹 𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡

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Plotting the magnification factor when

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When 𝜔 < 𝜔 𝑟<1

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When 𝜔 > 𝜔 𝑟>1

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The amplitude of the response

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A mass-spring vibrating system has the following data: 𝑚 =