1

UNIT - IV

Force Vibration with Harmonic Excitation

Consider a spring mass system with viscous damping and subjected to a

harmonic excitation Fosint, in which Fo is constant.Consider the mass to be
displaced by a distance „x‟ downwards with respect to static equilibrium position
as the reference line. Selection of static equilibrium position as the reference line
eliminates the need to consider the weight of the mass [which is nullified by
spring force due to deflection] in the free body diagram.

The type of vibration which occurs under the influence of external force,
is called “FORCED VIBRATION”. The external force is called External
excitation.

The excitation may be periodic, impulsive or random in nature.

Sources of Excitation

 Thermal effect, (un even expansion of embers give rise to unbalance,

 Resonance (large amplitudes), loose or defective mating part, bent shaft
(because of critical speeds)
 2

From Neton‟s 2nd law of motion.

Rate of change of momentum = - Fs- Fd + Fo Sint

i.e, mx = -kx - 𝑐𝑥 + Fo Sint

 mx + cx + kx = Fo Sint … (1)

 Governing Differential Equation.

Eqn (1) is Non-homogeneous, 2nd order Differential equation of motion.

The complete solution consists of two parts (i) complementary function part [xc]
(ii) particular integral part [xp]

We know, that

Xc = X 𝑒− 𝑛 𝑡 .sin [d +]

where d = n 1 − 2

Due to exponential decay, xc dies out eventually. This part is called

‘transient motion’

Particular integral part [xp]

xp = Xsin [t -] …(2)

Fo
Where X= …(2A)
[k−m2 ]2 +[c]2

The amplitude of x of the particular Internal Part Replace  by does not

depend on time. In other words, the amplitude of vibration represented by Xp
does not change with time and therefore it is called steady state motion.
 3

2r
Also tan = …(3)
1−r 2


Where r = frequency ratio = &  = Phase angle
𝑛

(Note <n then r < 1

>n then r > 1)

Equation (2A) can be written as,

𝑥o
X= …(4)
[1−r ]2 +[2r]2
2

x
Let M = → Magnification Factor
𝑥𝑜

x 1
Then M = = …(5)
𝑥𝑜 [1−r 2 ]2 +[2r]2

Note 1 : Eqn. (5) has been got from (2A), as follows. In Eqn. 2A ÷ by K
(spring stiffness) in both Numerator & Denominator and be
simplified.

Note 2 : Magnification factor : (M) : It is the ratio of maximum

displacement of forced vibration to the static deflection due to
static force.
 4

Note 3 :

Note 4 : Vector representation of forced vibration with damping.

2r
Also tan =
1−r 2

Note 5 : The frequency at which max amplitude occurs is given by

 5

max
= 1 − 22 where max – force corresponding to maximum amplitude.
𝑛

Characteristic curves: A curve between frequency ratio and magnification factor

is known as frequency response curve. Similarly a curve between phase angle
and frequency ratio is known as phase – frequency response curve.

The following points are noted:

1. At zero frequency magnification is unity and damping does not have any
effect on it.
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2. Damping reduces the magnification factor for all values of frequency.

3. The maximum value of amplitude occurs, a little towards left at resonant
frequency.
4. At resonant frequency the phase angle is 90.
5. The phase angle increases for decreasing value of damping above
resonance.
6. The amplitude of vibration is infinite at resonant freq. and zero damping
factor.
7. The amplitude ratio is below unity for all values of damping which was
more than 0.70.
8. The variation in phase angle is because of damping without damping it is
either 180o or 0o )

Variation of frequency Ratio /n

 Three possibilities of  variation i.e., <n,  = n & >n


Case : i <<1
𝑛

 is very small

m 2 x cx
 ↑ & ↑ get reduced greatly
Inertia damping
force force

This results in small value of 

 7

Case : ii


= 1 when  = n i.e, Excitation  = natural Frequency
𝑛

Here, inertia force = spring force

𝐹𝑜
Excitation force balances the damping force.  x=
𝑐𝜔 𝑛


Case : iii >> 1
𝑛
 8

At very high frequencies of  inertia force increases very rapidly. Damping &

spring forces are small in magnitude. For high values of phase angle  is
𝑛

close to 180o.

List of Formulae :

2πN
1. = rad/s
60

2. K = load/deflection N/m

N N m
3. Static deflection Xo = Fo/k = x =m
𝑁/𝑚 1 𝑁

 2𝜋𝑁
4. r= → frequency ratio &  = rps
𝑛 60

𝐶
5. = ;
𝐶𝑐

6. Cc = 2 km = 2m𝑛

1 𝑥𝑜 𝑥1 2𝜋 
7. δ = log, decrement = ln ; = ln =
𝑛 𝑥𝑛 𝑥2
1−2

8. When damper is not present (=0)

𝑋max 1
= if r < 1
𝑋𝑜 𝑟 2 −1

𝑋max 1
= if r >1
𝑋𝑜 1−𝑟 2

9. When damper is present

𝑋max 1 𝐹o
== & xo =
𝑋𝑜 [1−r 2 ]2 +[2r]2 𝐾
 9

𝑘 𝑘
n = 2𝑛 = & K = 𝑚2𝑛
𝑚 𝑚

𝑥𝑜 𝑘 𝐹𝑜
10. Amplitude at resonance [Xmax] resonance = =
𝑐𝑛 𝑐𝑛

11. Force transmitted to the foundation, FT,

𝐹𝑇 1+(2 𝑟)2
=
𝐹𝑜 (1−𝑟 2 )2 +(2𝑟)2

Q. A 300 kg Single cylinder vertical petrol engine is mounted upon chasis

frame and cause defection = 1.5mm. Mass of reciprocating parts of engine = 25
kg and it has a stroke of 145mm. A dashpot is provided whose damping
resistance = 1.5 KN/(m/s) Determine (1) Amplitude of forced vibration when
driving shaft rotates at 480 rpm (2) speed of the driving shaft at which resonance
occurs.

m = 300 kg Deflection  = 1.5mm = 1.5 x 10-3m m = 25 kg

L
L = 145 x 10-3m  radius of crank = = 0.0725 m
2

𝑁
C = 1.5 x 103 𝑚 Forcing speed N = 480 rpm
( )
𝑆

2𝜋𝑁
Forcing angular speed  = = 50.3 rad/s
60

𝑙𝑜𝑎𝑑 300 (9.81)

K= = = 1.96 x 106 N/m
deflection 1.5 𝑥 10 −3

𝑁
C = 1.5 x 103
(𝑚 /𝑆)

𝑁
Cc = 2 km = 2 1.96 𝑥 106 (300) = 48497.4
(𝑚 /𝑆)
 10

𝐶
 = 𝐶 = 0.0309
𝑐

𝑘 1.96 𝑥 10 6
n = = = 80.83 rad/s
𝑚 300

 50.3
r = = = 0.622
𝑛 80.829

Let due to reciprocating parts centrifugal force gets developed,

Fo = m1, (eccentric radius)2

= 25 (0.0725) (50.3)2 = 4585.78N

𝑋𝑜 (4585.78/ 1.96 𝑥 10 6 )
X= =
[ 1−𝑟 2 ]2 +(2𝑟)2 [1−0.6222 ]2 + 2 0.0309 (0.622)]2

= 3.8 x 10-3 m = 3.8mm

Speed of driving shaft at which resonance occurs,

when =n resonance occurs.

𝐾
 = n = = 80.83 rps
𝑚

2𝜋𝑁
= 80.83  N = 771.86 rpm
60

1 
Note:1 For 0<< = 0.707, the max value of M occurs when 1 − 2 2 =
2 𝑛

x 1
2. The maximum value of x when r = 1 − 22 is given by =
x0
2 1−2

𝑥 1
and the value of x at  =n =
𝑥 0 = 2
𝑛
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3. For small values of damping (< 0.05), we

𝑥 𝑥 1
can take  = =Q
𝑥 0 𝑚𝑎𝑥 𝑥 0 = 2
𝑛

Q factor or Quality factor of the system

𝑥𝑜 𝐾 𝐹𝑜
4. 𝑋𝑚𝑎𝑥 𝑟𝑒𝑠𝑜𝑛𝑎𝑛𝑐𝑒 = =
𝐶𝑛 𝑐𝑛

Q. A machine part having a mass of 2.5kg executes vibration in a viscous

damping medium. A harmonic exciting force of 30N acts on the part and
causes a resonant amplitude of 14mm, with a period of 0.22S. Find the
damping coefficient when the frequency of exciting force is changed to 4
Hz. Determine the increase of forced vibration upon the removal of
damper.

I Impressed force 𝐹𝑜 =30N, m = 2.5kg, tp = 0.22s,

1
fn= = 4.545Hz
𝑡𝑝

𝑋𝑚𝑎𝑥 𝑟𝑒𝑠𝑜𝑛𝑎𝑛𝑐𝑒 = 14mm = 14 x 10-3m. c = ? when f = 4 Hz

n = 2πfn = 2π (4.545) = 28.56 rad/s

 = 2πf = 2π (4) = 25.13 rad/s

 25.13
r = = = 0.8817
𝑛 28.56

Critical damping co eff. Cc = 2mn = 2 𝑘𝑚

𝑁
= 2 (2.5) (28.56) = 142.8
(𝑚 /𝑠)
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𝑥𝑜 𝑘 𝐹𝑜
𝑋𝑚𝑎𝑥 𝑟𝑒𝑠𝑜𝑛𝑎𝑛𝑐𝑒 = =
𝑐𝑛 𝑐𝑛

30
i.e., 14 x 10-3 =
𝑐(28.56)

𝑁
 c = 75.03
(m /s)

𝑐
Damping factor,  =
𝑐𝑐

75.03
=
142.8

= 0.525

𝑋 1
When damper is not removed, =
𝑋𝑜 (1−𝑟 2 )2 +(2𝑟)2

𝑋 1
= = 1.0502
𝑋𝑜 [1−0.88172 ]2 +[2 0.525 (0.8817)]2

(F 𝑜 /𝑘) 30
X max = = [1.0502]
(1−𝑟 2 )2 +(2𝑟)2 m 2𝑛

30
= (1.0502)
2.5 (28.56)2

= 0.01545 m

= 15.45 mm

When damper is removed

X max 1
= r<1
X0 1−𝑟 2

𝐹𝑜 /𝑘 F0
X max = 𝑋𝑜 =
1−𝑟 2 𝑘
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30 1 2
= [ ]& 𝑘=𝑚 𝜔 𝑛
2.5(28.56)2 1−(0.8817)2

= 0.06609m

= 66.09mm

% increase in amplitude

[X max ]𝑁𝑜𝑑𝑎𝑚𝑝𝑖𝑛𝑔 − [X max ]damping

=
[X max ]damping

= 66.09 = 15.45

= 321.92%

Q. A 12 Kg mass is suspended from end of helical spring, other end is fixed,

spring stiffness =15 N/mm. Due to viscous damping, amplitude decreases to
1/10th of initial value in 4 oscillations. If a periodic force 150 cos 50t N is
applied at mass in vertical direction, find amplitude of forced vibration. What is
its value of resonance?

𝑁 1000mm N
m = 12 kg k = 15 x = 15 𝑥 103
mm 1m m

x4 = 0.1 xo

𝑥𝑜
 = 10
𝑥4

1
 Logarithmic decrement, δ = ln[10] = 0.5756
4
 14

𝛿
= = 0.09122
(2𝜋)2 +𝛿 2

𝑘 15 𝑥 10 3
n = = = 35.3 rps
𝑚 12

Fx = Fo cos t
= 150 cos 50t
 Fo = 150 N &  = 50 rad/s

 50
 frequency ratio r = = = 1.416
𝑛 35.3

𝑁
Cc =2 km = 2 15 𝑥 103 (12) = 848.52
(𝑚 /𝑠)

𝑐
 =
𝐶𝑐

𝑐 𝑁
0.09122 =  c = 77.40 =
848.52 (𝑚 /𝑠)

𝑋 1
=
𝐹𝑜/𝑘 [1−1.4162 ]2 +[2 0.09122 (1.416)]2

𝑋
= 0.09637
[150/15𝑥10 3

150
X = 0.9637
15 𝑥10 3

= 9.637 x 10-3m

= 9.637mm

Amplitude at resonance,

xo k 𝐹𝑜
𝑋𝑚𝑎𝑥 𝑟𝑒𝑠𝑜𝑛𝑎𝑛𝑐𝑒 = =
𝑐 𝑛 𝑐 𝑛
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150
=
77.40 (35.3)

= 0.05490m
= 54.9mm

Note:

Let Force transmitted to the foundation = FT

FT 1+ (2𝑟)2
=
𝐹𝑜 [1−𝑟 2 ]2 +(2𝑟)2

X 1
Also =M=
𝑋0 (1−𝑟 2 )2 +(2𝑟)2

Q. A machine of mass one tonne is acted upon by an external force of

2450N at a frequency of 1500 rpm. To reduce the effects of vibration, isolator of
rubber having a static deflection of 2mm under the m/c load and an estimated
damping  = 0.2 are used. Determine (1) the force transmitted to the foundation
(2) the amplitude of vibration of machine (3) The phase lag.

Given Static deflection  = 2 x 10-3m m= 1000kg F = 2450 N

2𝜋𝑁 2𝜋 (1500)
Forcing frequency  = = = 157 rad/s
60 60

Damping factor,  = 0.2

Force or load 𝑚𝑔 1000 (9.81)

K= = = = 49 x 105 N/m
𝑆𝑡𝑎𝑡𝑖𝑐 𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛 ∆ 2 𝑥 10 −3

k 49 x 10 5
n= = = 70 rad/s
𝑚 1000

 157
Frequency ratio, r = = = 2.2428
𝑛 70
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Let force transmitted to the foundation, = FT

FT 1+[2𝑟]2
=
𝐹𝑜 [1−𝑟 2 ]2 +[2𝑟]2

FT 1+[2 0.2 (2.24280]2

=
𝐹𝑜 [1−2.24282 )2 +[2 0.2 (2.2428)]2

FT 1.3434
=
2450 4.128

= 0.3254

Also

X 1
=
𝑋𝑜 (1−𝑟)2 +(2𝑟)2

𝐹𝑜 /𝑘
𝑋 =
(1−𝑟 2 )2 +(2𝑟)2

2450 /49x10 5
=
4.128

=1.211 x 10-4m

= 0.121mm

Let phase lay = 

2 𝑟 2 0.2 (2.24)
Tan  = = = -0.223  = tan-1 () = -12.57o
1−𝑟 2 1−2.24 2
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Q. A reciprocating pump 200 kg is driven through a belt by an electric motor

at 3000 rpm. The pump is mounted on isolators with total stiffness 5 MN/m and
damping 3.125 KN.S Determine (i) the vibratory amplitude of the pump at the
running speed due to fundamental harmonic force of excitation 1 KN (ii) Also
find the max vibratory amplitude when the pump is switched on and the motor
speed passes through resonant condition.
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RESPONSE OF A ROTATING AND RECIPRORATING UNBALANCE

SYSTEM

 A machine having rotor as one of its components is called a rotating

machine eg. Turbines and I.C. Engines.
 When C.G. of rotor does not coincide with axis of rotation then unbalance
occurs.
Let : e = Distance between axis of rotation & C.G. = Eccentric radius
mo= mass acting at distance 'e‟ (i.e, Eccentric mass)
Centrifugal force = moe2
At any moment vertical displacement = x + esint
The centrifugal force moe2 has two components vertical and horizontal.
The vertical component has the significance and is given by
moe2 sint.
When we consider single degree Problem(motion in vertical) the
excitation is available in vertical direction
i.e., Fo sint = moe2 sint.
d2x d2 dx
[m-mo] + mo x + e sint + kx + c =0
dt 2 dt 2 dt

(m-mo) x + mo x − mo e2 esint + kx + cx = 0

mx + cx + kx = mo e2 sint
 19

Where moe2 = Fo
It represents forced vibration.

Note -1 :

X 1
= holds good
𝑋𝑜 [1−𝑟 2 ]2 +[2𝑟]2

F0 𝑚 𝑜 𝑒𝜔 2
Where 𝑋𝑜 = =
k 𝑘

X 1
𝑚𝑜𝑒 =
[1−𝑟 2 ]2 +[2𝑟]2
𝑚

At resonance,  = n r=1

X 1 2𝑟
Then 𝑚𝑜𝑒 = and share angle tan  =
2 1−𝑟 2
𝑚

The complete solution x = xc + xp

−𝑤 𝑛 𝑡 (𝑚 𝑜 𝑒 𝜔 2 /𝑘)
x = 𝑥𝑒 cos(𝑑 𝑡 + ) +
(1−𝑟 2 )2 +(2𝑟)2

Characteristic Curve:

1. Damping plays very important role during resonance.

2. When <<n then the system is known as low speed system for a low
𝑋
speed system 𝑚 𝑜 → 0
𝑒
𝑚

3. When >>n, then the system is called high speed system.

𝑋
Here 𝑚𝑜 →1
𝑒
𝑚

4. At very high speed effect of damping is negligible.

 20

5. The peak occurs at the left (in comparison to the previous characteristic
curve

Amplitude frequency response curve

6. At resonance  = n&

𝑋 1
𝑚𝑜 =
𝑒 2
𝑚

Amplitude frequency response curve

Inertia force due to reciprocating mass approximately is equal to

𝑒
Fo = mo e2 [sint + sin 2t]
𝑙
 21

If e is very small as compared to „l‟, second term (2nd Harmonic) can be

neglected &

Fo = moe2 sint

Q. In a vibrating system the total mass of the system is 25kg. At speed of

1000 rpm., the system and eccentric mass have a phase difference of 90 and the
corresponding amplitude is 1.5cm. The eccentric unbalanced mass of 1 kg has a
radius of rotation 4cm. Determine (i) the natural frequency of the system (ii) the
damping factor (iii) the amplitude at 1500 rpm and (iv) the phase angle at 1500
rpm.
m =25 kg x = 1.5 x 10-2m mo = 1 kg e = 4 x 10-2m
At phase angle 90, the condition of resonance occurs [ = n]
(i) fn rps
𝑁 1000
fn = = = 16.67 cycles/s
60 60
 22

At resonance
X 1
ii. 𝑚𝑜𝑒 =
2
𝑚

1 𝑚𝑜 𝑒 1 𝑚𝑜 𝑒
 = =
𝑥 𝑚 𝑥 2𝑚𝑥

1 (4 𝑥 10 −2 )
=
2 25 (1.5 𝑥 10 −2 )

= 0.053

 𝑓 𝑁 1500
r= = = = = 1.5
𝑛 𝑓𝑛 𝑁𝑛 1000

Amplitude at 1500 rpm, is x

X 𝑟2
𝑚𝑜𝑒 =
(1−𝑟 2 )2 +(2𝑟)2
𝑚

X (1.5)2
1 =  x = 0.226 x 10-2m
4𝑥10 −2 [1−1.52 ]2 +[2(0.053)(1.5)]2
25

The phase angle at 1500 rpm.

1500
Now r = = 1.5
1000
2 𝑟
tan  =
1−𝑟 2
2 0.053 (1.5)
=
1−1.52

 = -7.249o= 180o– 7.249o = 172.75 o

Q. An electric motor is supported on a spring and a dashpot. The spring has
the stiffness 6400 N/m and the dashpot offers resistance of 500N at 4 m/s.The
unbalanced mass 0.5kg rotates at 5cm radius and the total mass of vibratory
system is 20 kg. The motor runs at 400 rpm. Determine 1) Damping factor, 2)
amplitude of vibration& phase angle, 3) resonant speed & resonant amplitude 4)
Force exerted by the spring and dashpot on the motor.

K = 6400 N/m
 23

Damping force = 500 N

Velocity = 4 M/s.

Damping force 500 𝑁

c= = = 125
velocity 4 (𝑚 /𝑠)

Eccentric mass, mo = 0.5 kg

Eccentric radius, e = 0.05m

Total mass, m = 20kg

2𝜋𝑁
Forcing speed, N = 400 rpm  = =41.866 rad/s
60

Determine, (i) Damping factor,  = ?

(ii) Amplitude, x & Phase angle,  = ?
(iii) Resonant speed= Critical speed = ?
and Xresonance = ?
(iv) Resultant force on motor = ?
Now
N
Cc = 2 𝑘𝑚 = 2 6400 ( 20) = 715.54
m/s

𝐶 125
(1) Damping ratio,  = = = 0.175
𝐶𝑐 715.54

𝑘 6400
𝑛 = = = 17.88 rad/s
𝑚 20

 41.866
Frequency ratio r = = = 2.342
𝑛 17.88

Let Amplitude = x

X 𝑟2
 𝑚𝑜𝑒 =
(1−𝑟 2 )2 +(2𝑟)2
𝑚
 24

X (2.342)2
0.5 =
(0.05) (1−2.3422 )2 +[2 0.175 (2.342)]2
20

X = 1.5 x 10-3m
And phase angle = 
2𝑟 2 0.175 (2.342)
Tan  = =
1−𝑟 2 1−2.3422

 = -10.36or 180 - 10.36 = 169.63

(3) Resonant speed = n = 17.88 rad/s
2𝜋𝑁 2𝜋𝑁
n =  17.88 =
60 60

 N = 170.74 rpm
Let Amplitude at resonance = X 𝑟𝑒𝑠𝑜

X 𝑟𝑒𝑠𝑜 1
 𝑚𝑜𝑒 =
2
𝑚

𝑚𝑜𝑒
X 𝑟𝑒𝑠𝑜 = where e = eccentricity
2𝑚 

0.5 (0.05)
= = 3.57 x 10−3 𝑚 = 3.57mm
2 0.175 (20)

4) Force because of dashpot on the motor Fd = cx

= 125 [41.866] [1.5 x 10-3]
= 7.85 N
Force because of spring, Fs = Kx
= (6400) (1.5 x 10-3)
= 22.4 N
Resultant force, F = Fd2 + F𝑠2
= 7. 852 + 9. 62
= 12.4N