Quiz VB102

Harmonic Excitation
Lucas Montogue
PROBLEMS
Problem 1 (Kelly, 1996)
The system shown below is excited by a force that follows the harmonic
relationship 𝐹𝐹(𝑡𝑡) = 200 sin 50𝑡𝑡 N. The spring to the left has a stiffness of k =
2×105 N/m, while the one to the right has 𝑘𝑘 = 1 × 105 N/m. For what value of 𝑚𝑚 will
resonance occur in this system?

A) m = 80 kg
B) m = 100 kg
C) m = 120 kg
D) m = 140 kg

Problem 2 (Inman, 2014, w/ permission)

Compute the value of the damping coefficient c such that the steady-state
amplitude of the system shown is 0.01 m.

A) c = 53.9 kg/s
B) c = 65.6 kg/s
C) c = 74.8 kg/s
D) c = 81.5 kg/s

Problem 3 (Inman, 2014, w/ permission)

Write the equation of motion for the system given below for the case that
𝐹𝐹(𝑡𝑡) = 𝐹𝐹 cos 𝜔𝜔𝜔𝜔 and the surface is friction free. Does the angle 𝜃𝜃 affect the
magnitude of oscillation?

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Problem 4 (Rao, 2011, w/ permission)
A video camera of mass 2.0 kg is mounted on the top of a bank building for
surveillance. The video camera is fixed at one end of a tubular aluminum rod
whose other end is fixed to the building as shown. The wind-induced force acting
on the video camera, f(t), is found to be harmonic with f(t) = 25 cos 75.4𝑡𝑡 N.
Determine the diameter of the aluminum (E = 71×109 N/m2) tube if the maximum
applicable amplitude of the video camera is to be limited to 0.005 m.

A) D = 1.3 cm
B) D = 2.1 cm
C) D = 3.2 cm
D) D = 4.4 cm

Problem 5 (Rao, 2011, w/ permission)

A thin disk of mass 0.8 kg and radius 60 mm is attached to the end of a 1.2-
m steel (G = 80×109 N/m2, 𝜌𝜌 = 7500 kg/m3) shaft of diameter 20 mm. The disk is
subject to a harmonic torque of amplitude 12.5 N∙m at a frequency of 700 rad/s.
What is the steady-state amplitude of angular oscillations of the disk?
A) 𝜃𝜃 = 1.31o
B) 𝜃𝜃 = 2.26o
C) 𝜃𝜃 = 3.18o
D) 𝜃𝜃 = 4.40o

Problem 6 (Rao, 2011, w/ permission)

A uniform slender bar of mass 𝑚𝑚 may be supported in one of the two ways
illustrated below. Determine the arrangement that results in a reduced steady-
state response of the bar under a harmonic force, 𝐹𝐹0 sin 𝜔𝜔𝜔𝜔, applied to the middle
of the bar as shown.

Arrangement A Arrangement B

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Problem 7 (Inman, 2014, w/ permission)
A machine weighing 2000 N rests on a support as illustrated below. The
support deflects about 5 cm as a result of the weight of the machine. The floor
under the support is somewhat flexible and moves, because of the motion of the
nearby machine, harmonically near resonance (r = 1) with an amplitude of 0.2 cm.
Model the floor as base motion, assume a damping ratio of 𝜁𝜁 = 0.01, and calculate
the amplitude of the transmitted displacement.

A) 𝑋𝑋 = 0.03 m
B) 𝑋𝑋 = 0.10 m
C) 𝑋𝑋 = 0.17 m
D) 𝑋𝑋 = 0.24 m

Problem 8 (Rao, 2011, w/ permission)

A single-story building frame is modeled by a rigid floor of mass m and
columns of stiffness k/2, as shown in the following figure. It is proposed that the
damper shown in the figure is attached to absorb vibrations due to a horizontal
ground motion, 𝑦𝑦(𝑡𝑡) = 𝑌𝑌 cos 𝜔𝜔𝜔𝜔. Derive an expression for the damping constant of
the damper that absorbs maximum power.

Problem 9 (Rao, 2011, w/ permission)

A uniform bar of mass m is pivoted at point O and supported at the ends
by two springs as shown. End P of spring PQ is subjected to a sinusoidal
displacement 𝑥𝑥(𝑡𝑡) = 𝑥𝑥𝑜𝑜 sin 𝜔𝜔𝜔𝜔. Find the steady-state angular displacement of the
bar when 𝑙𝑙 = 1 m, 𝑘𝑘 = 1000 N/m, 𝑚𝑚 = 10 kg, 𝑥𝑥𝑜𝑜 = 1 cm, and 𝜔𝜔 = 10 rad/s.

A) 𝜃𝜃(𝑡𝑡) = 0.0056 sin 10𝑡𝑡

B) 𝜃𝜃(𝑡𝑡) = 0.0107 sin 10𝑡𝑡
C) 𝜃𝜃(𝑡𝑡) = 0.0157 sin 10𝑡𝑡
D) 𝜃𝜃(𝑡𝑡) = 0.0206 sin 10𝑡𝑡

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Problem 10 (Rao, 2011, w/ permission)
A single-cylinder air compressor of mass 100 kg is mounted on rubber
mounts, as illustrated below. The stiffness and damping constants of the rubber
mounts are 106 N/m and 2000 N∙s/m, respectively. If the unbalance of the
compressor is equivalent to a mass of 0.1 kg located at the end of the crank (point
A), determine the amplitude of the compressor’s motion, assuming that it
functions at a crank speed of 3000 rpm. Assume 𝑟𝑟 = 10 cm and 𝑙𝑙 = 40 cm.

A) 𝑋𝑋 = 0.11 mm
B) 𝑋𝑋 = 0.19 mm
C) 𝑋𝑋 = 0.27 mm
D) 𝑋𝑋 = 0.35 mm

Problem 11 (Rao, 2011, w/ permission)

One of the tail rotor blades of a helicopter has an unbalanced mass of m =
0.5 kg at a distance of e = 0.15 m from the axis of rotation, as shown in the figure
below. The tail section has a length of 4 m, a mass of 240 kg, a flexural stiffness EI
of 2.5 MN∙m2, and a damping ratio of 0.15. The mass of the tail rotor blades,
including their drive system, is 20 kg. Determine the forced response of the tail
section when the blades rotate at 1500 rpm.

A) 𝑥𝑥𝑝𝑝 (𝑡𝑡) = 2 sin(157.08𝑡𝑡 + 4.6o )

B) 𝑥𝑥𝑝𝑝 (𝑡𝑡) = 2 sin(157.08𝑡𝑡 + 9.2o )
C) 𝑥𝑥𝑝𝑝 (𝑡𝑡) = 4 sin(157.08𝑡𝑡 + 4.6o )
D) 𝑥𝑥𝑝𝑝 (𝑡𝑡) = 4 sin(157.08𝑡𝑡 + 9.2o )

Problem 12 (Inman, 2014, w/ permission)

A spring-mass system (𝑚𝑚 = 10 kg, 𝑘𝑘 = 4×103 N/m) vibrates harmonically on
a surface with coefficient of friction 𝜇𝜇 = 0.15. When excited harmonically at 5 Hz,
the steady-state displacement of the mass is 5 cm. Calculate the amplitude of the
harmonic force applied.
A) 𝐹𝐹0 = 141 N
B) 𝐹𝐹0 = 192 N
C) 𝐹𝐹0 = 243 N
D) 𝐹𝐹0 = 294 N

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 Problem 13 (Inman, 2014, w/ permission)
A system of unknown damping mechanism is driven harmonically at 10 Hz
with an adjustable magnitude. The magnitude is changed, and the energy lost per
cycle and amplitudes are measured for different amplitudes. The measured
quantities are given in the following table. Is the damping viscous or Coulomb?

Δ𝐸𝐸 (J) 0.25 0.45 0.80 1.18 1.56 2.18 2.55 3.54 4.35
𝑋𝑋 (m) 0.01 0.02 0.03 0.04 0.06 0.08 0.10 0.14 0.18

Problem 14 (Inman, 2014, w/ permission)

Derive a formula for equivalent viscous damping if the damping force has
the form 𝐹𝐹𝑑𝑑 = 𝑐𝑐 × 𝑥𝑥̇ 𝑛𝑛 .

SOLUTIONS
P.1sSolution
The springs attached to the block act in parallel, leading to an equivalent
stiffness 𝑘𝑘eq = 2 × 105 + 1 × 105 = 3 × 105 N/m. Resonance occurs when the
excitation frequency of 50 rad/s is equal to the natural frequency; that is,

keq
ωn
= = 50 rad/s
m
keq
∴ωn2 =
m
keq 300, 000
∴m= = = 120 kg
ω 2
n 502

g The correct answer is C.

P.2sSolution
The natural frequency of the system is 𝜔𝜔𝑛𝑛 = (𝑘𝑘⁄𝑚𝑚)0.5 = (2000⁄100)0.5 =
4.47 rad/s. From the equation of the driving force, 𝐹𝐹(𝑡𝑡) = 20 cos 6.3𝑡𝑡, we obtain F0
= 20 N and 𝜔𝜔 = 6.3 rad/s. The amplitude of the steady-state response, X, follows as

F0 m F0 m
=X =
(1 − r 2 ) + ( 2ζωnω )2
2 2
c 
(1 − r ) 2 2
+  ×ω 
m 
2
c   F 
(ωn2 − ω 2 ) +  m × ω  =
2
∴ 
0

 mX 
2 2
c   F0 
∴ (ωn2 − ω 2 ) +  × ω  =
2
 
m   mX 
2
c   F0 
 − ( ωn − ω )
2 2
ω
∴  ×= 
2

m   mX 
2 2
1  F0  m 2 2 1  20  1002
 − 2 (ω=
n −ω ) 2 (
− 6.32 )
2 2 2
=∴c 2  2   − 4.47 2 = 53.9 kg/s
ω X ω 6.3  0.01  6.3

g The correct answer is A.

P.3sSolution
The free-body diagram for the system is shown below.

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 From Hooke’s law, the static deflection in the spring is

kδ = mg sin θ
mg sin θ
∴δ =
k
We then consider equilibrium of forces along the plane,

F ( t ) + mg sin θ − Fs − cx =
mx

where 𝐹𝐹(𝑡𝑡) = 𝐹𝐹 cos 𝜔𝜔𝜔𝜔, and 𝐹𝐹𝑠𝑠 is the elastic force, given by 𝐹𝐹𝑠𝑠 = 𝑘𝑘(𝑥𝑥 + 𝛿𝛿).
Substituting, it follows that

F + mg sin θ − Fs − cx =
mx

 mg sin θ 
∴ mx + cx + k  x + =  F cos ωt + mg sin θ
 k 
F cos ωt
∴ mx + cx + kx =
Clearly, this equation of motion is independent of the angle of the inclined
surface 𝜃𝜃. This indicates that the magnitude of the response is not affected by the
angle of the incline.

P.4sSolution
The force function is 𝑓𝑓(𝑡𝑡) = 25 cos 75.4𝑡𝑡 N. Comparing this with the
general form 𝑓𝑓(𝑡𝑡) = 𝐹𝐹0 sin 𝜔𝜔𝜔𝜔, we have the amplitude F0 = 25 N and the frequency
𝜔𝜔 = 75.4 rad/s. Recall that, in this case, the displacement amplitude is related to
other variables by the expression

F0
X=
( k − mω 2 )
Substituting the maximum force 𝐹𝐹𝑜𝑜 = 25 N, the mass 𝑚𝑚 = 2.0 kg, and the
vibration frequency 𝜔𝜔 = 75.4 rad/s, along with the maximum allowable
displacement amplitude X = 0.005 m, we can solve for the transverse stiffness k,

F0 F
X= → k = 0 + mω 2
( k − mω )
2
X

25 2
∴
= k + 2 × 75.4
= 16,370 N/m
0.005
However, the transverse stiffness of the tubular rod is given by

3EI
k=
3
where ℓ = 0.5 m (the height of the rod), E = 71×109 N/m2 for aluminum, and k =
16,370 N/m as obtained just now. Thus,

3EI k 3
k= → I
=
3 3E
16,370 × 0.53
I
∴= = 9.607 ×10−9 m 4
3 × ( 71×10 )
9

The moment of inertia (with respect to a horizontal or vertical axis) for a

circular cross-section is 𝐼𝐼 = 𝜋𝜋𝐷𝐷4 ⁄64, where D is the diameter of the section.
Accordingly,

π D4 64 I
I= → D= 4
64 π
64 × 9.607 ×10−9
=D 4 = 0.021 =m 2.1 cm
π

g The correct answer is B.

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P.5sSolution
The torsional stiffness of the shaft is

π 
× 0.014  × ( 80 × 109 )
JG  2 
K =
= = 1047.2 N-m rad
L 1.2

The mass moment of inertia of the shaft, in turn, is

1 1
Im = ρπ LR 4 = × 7500 × π × 1.2 × 0.014 = 1.414 × 10−4 kg-m 2
2 2
The inertia effects of the shaft are included in a 1-DOF model by

1 1 1
I eq = I d + I m = × 0.8 × 0.062 + × 1.414 × 10−4 = 1.49 × 10−3 kg-m 2
3 2 3
The natural frequency of the system is

k 1047.2
ωn
= = = 838.34 rad/s
I eq 1.49 × 10−3

The frequency ratio r is such that 𝑟𝑟 = (𝜔𝜔⁄𝜔𝜔𝑛𝑛 ) = (700⁄838.34) = 0.835, and

the magnification factor follows as

1 1
M
= = 2
= 3.303
1− r 1 − 0.8352
Let Θ be the steady-state amplitude of torsional oscillation. We then have

I eqωn2 Θ MT0
=M =→Θ
T0 I eqωn2
3.303 × 12.5
=∴Θ = 0.0394
= rad 2.26o
(1.49 × 10 ) × 838.34
−3 2

g The correct answer is B.

P.6sSolution
The figure below represents the forces acting on the system under
arrangement A.

With reference to this figure, we take moments about hinge point O,

           
F0 sin ωt   −  kθ  +  +   − cθ ×  =I 0θ
2
    2 4  2 4 
F0  9
∴ sin ωt − k  2θ − c 2θ =
I 0θ
2 16
F0  9
∴ sin ω t =I 0θ + c 2θ + k  2θ
2 16
In this expression, F0 is the magnitude of the applied force, 𝜔𝜔 is the
frequency of the applied force, ℓ is the length of the bar, k is the stiffness of the
spring, I0 is the moment of inertia about hinge point O, c is the damping constant,
and 𝜃𝜃 is the angular displacement of the bar. Using the equation of motion above,
we can write the magnitude Θ𝐴𝐴 of the angular displacement of system
arrangement A as follows,

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 F0 
ΘA = 2
12
 9 2 2
2
2
 k  − I 0ω  + ( c ω ) 
2

 16  
We proceed to assess the movement of arrangement B, which is illustrated
below.

As before, we take moments about hinge point O,

           
F0 sin ωt   − cθ  +    +  − k θ ×  =I 0θ
 2    2 4   2 4 
F0  9
∴ sin ωt − c 2θ − k  2θ =
I 0θ
2 16
F0  9
∴ I 0θ + c 2θ + k  2θ
sin ωt =
2 16
The equation of motion above can be used to express the magnitude Θ𝐵𝐵 of
angular displacement for system arrangement B,

F0 
ΘB = 2
2 12
 2 9 2  
( k  − I 0ω ) +  c ω  
2 2

  16  
In many situations, the value of the damping constant c is small in
comparison to the spring constant k. Thus, in order to compare the steady-state
response of the two arrangements, we neglect the c term. In this manner, the
equation for Θ𝐴𝐴 becomes

F0  F0 
2 2 F0  2
ΘA = = =
 9 2 2
2
1 2
 9 2 2

1 2
9 2

 16
k  − I 0ω 2


+ c(
 2
ω 

) 
 16
k  − I 0ω 2
 
 
16
k  − I 0ω 2

The expression for Θ𝐵𝐵 , in turn, is simplified as

F0  F0 
2 2 F0  2
ΘB = = =
2 12 12
k  2 − I 0ω 2
  9 2   ( k  2 − I ω 2 ) 
2

( k  − I 0ω ) +  c ω  
2 2 2
 0 
  16  

The numerator of both equations is the same, but the denominator of Θ𝐴𝐴
is bound to be less than that of Θ𝐵𝐵 and, consequently, the steady-state response of
A will be greater than the steady-state response of B.

P.7sSolution
The stiffness of the machine can be obtained with Hooke’s law,

W= k×∆
The weight W of the machine is 2000 N and the deflection Δ is 5 cm.
Therefore,

W= k×∆
∴ 2000 =
k × 0.05
2000
k
∴= = 40, 000 N m
0.05

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 The amplitude of the transmitted displacement, X, is given by
12
 1 + ( 2ζ r )
2 
X =Y  
 (1 − r 2 )2 + ( 2ζ r )2 
 
Substituting Y = 0.2 cm, 𝜁𝜁 = 0.01, and r = 1 gives
12 12
 1 + 2ζ r 2   1 + 2 × 0.01 × 1 2 
( ) ( )
X=
Y  
 (1 − r 2 )2 + ( 2ζ r )2 
( 0.2 × 10 )  2 2
= −2   0.10 m
=
 (1 − 1 ) + ( 2 × 0.01 × 1) 
2

 

g The correct answer is B.

P.8sSolution
The horizontal ground motion is described by the harmonic function
𝑦𝑦(𝑡𝑡) = 𝑌𝑌 cos 𝜔𝜔𝜔𝜔. The first derivative of this expression is 𝑦𝑦̇ (𝑡𝑡) = −𝜔𝜔𝜔𝜔 sin 𝜔𝜔𝜔𝜔, while
the second derivative is 𝑦𝑦̈ (𝑡𝑡) = −𝜔𝜔2 𝑌𝑌 cos 𝜔𝜔𝜔𝜔. The equivalent stiffness keq of the
system is such that

k k
keq = + =k
2 2
The equation of motion of the rigid floor having mass m with a moving
base is

mx + c ( x − y ) + keq ( x − y ) =
0

∴ mx + c ( x − y ) + k ( x − y ) =
0

We assume 𝑧𝑧 = 𝑥𝑥 − 𝑦𝑦 and manipulate the equation above, giving

m (  y ) + cz + kz =
z +  0
∴ mz + cz + kz =−my
Note, however, that 𝑦𝑦̈ = −𝜔𝜔2 𝑌𝑌 cos 𝜔𝜔𝜔𝜔. Substituting in the expression above
brings to

−m ( −ω 2Y cos ωt ) =
mz + cz + kz = mω 2Y cos ωt

On the basis of the equation above, we are able to write the response of
the system as

z ( t ) Z cos (ωt − φ )
=
where

mω 2Y
Z= 12
( k − mω 2 )2 + ( cω )2 
 
and

 cω 
φ = tan −1  2 
 k − mω 
We utilize the following expression for the damping force Fd,

dz d
Fd =
c = c  Z cos (ωt − φ )  =
−cω Z sin (ωt − φ )
dt dt
Then, we compute the energy E absorbed by the damper per cycle,

π ω
=t 2= t 2π ω  dz 
=E d
=t 0= t 0 ∫=F dz ∫ Fd   dt
 dt 
t = 2π ω
∴
= E ∫  −cω Z sin (ωt − φ )   −ω Z sin (ωt − φ ) dt
t =0

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 t = 2π ω
=∴ E cω 2 Z 2 ∫ sin 2 (ωt − φ ) dt
t =0

π
=
ω

π
E cω 2 Z 2 ×= π cω Z 2
∴=
ω
Substituting the expression for Z obtained earlier yields

2
 
 mω Y 2
 π cω × m 2ω 4Y 2
=E π=
cω  
( k − mω ) + ( cω )
12 2 2 2
 ( k − mω 2 ) + ( cω )2  
2

   

π cm 2ω 5Y 2
∴E =
( k − mω 2 ) + ( cω )2
2

To obtain the value of c at which maximum power is absorbed by the

damper, we differentiate E with respect to c and equate it to zero,

dE 2π c 2 m 2Y 2ω 7 π m 2Y 2ω 5
=
− +
( k − mω 2 ) + ( cω )
2 2
dc ( k − mω 2 )2 + ( cω )2 
2

 

π m 2Y 2ω 5 ( k − mω 2 ) − ( cω ) 
2 2
dE   0
=∴ = 2
dc ( k − mω 2 ) + ( cω )2 
2

 
Setting the expression in square brackets in the numerator to zero, the
optimum value of c is determined to be

( k − mω ) − ( cω )
2 2 2
0
=

∴ ( k − mω 2 ) =
2
( cω )
2

∴ k − mω 2 =cω

k − mω 2
∴c=
ω

P.9sSolution
When the bar rotates by an angle 𝜃𝜃 counterclockwise, point Q will move
upwards by a distance (3𝑙𝑙 ⁄4)𝜃𝜃 and the net compression in the spring PQ will be
[(3𝑙𝑙 ⁄4)𝜃𝜃 − 𝑥𝑥(𝑡𝑡)]. The free-body diagram of the bar is shown below.

With reference to the figure above, we write the equilibrium of moments

for the bar about point O,

  l   l   3l    3l 
−  k   θ    − k   θ − x ( t )    = I 0θ
  4    4    4    4 
1 2 9 3
∴− kl θ − kl 2θ + klx ( t ) = I 0θ
16 16 4
5 3
∴− kl 2θ + klx0 sin ωt = I 0θ
8 4

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 3  5 
I 0θ +  kl 2  θ (I)
∴  klx0  sin ωt =
4  8 
The moment of inertia of the bar about point O is given by

2
1 l 1 1 7
I 0 = ml 2 + m   = ml 2 + ml 2 = ml 2
12  4  12 16 48
7
∴ I0 = × 10 × 12 = 1.46 kg ⋅ m 2
48
As usual, the steady-state response of the system has the general form

θ ( t ) = Θ sin ωt
where Θ is the amplitude of the bar’s angular displacement. Taking coefficients
from equation (I), this quantity is found to have the form

3 3
klx0 × 1000 × 1 × 0.01
=Θ = 4 4 = 0.0157 rad
5 2 5
kl − I 0ω 2
× 1000 × 1 − 1.46 × 102
2

8 8
Finally, the steady-state angular displacement of the bar is

θ ( t ) = 0.0157 sin10t

g The correct answer is C.

P.10sSolution
The equation of motion for an unbalanced rotating mass is

meω 2 sin ω t
Mx + cx + kx =
where, in the case at hand, M is the mass of the compressor, m is the unbalanced
mass, e is the eccentricity, and 𝜔𝜔 is the rotational speed of the compressor. The
steady-state response of the compressor is described by

x p ( t ) X sin (ω t − φ )
=
In which the amplitude X is

mrω 2
X=
( k − M ω ) + ( cω )
2 2 2

and the phase angle is given by

 cω 
φ = tan −1  2 
 k − Mω 
The frequency 𝜔𝜔, expressed in radians, is

2π
ω = 3000 × = 314.16 rad/s
60
We substitute 𝑚𝑚 = 0.1 kg, 𝑟𝑟 = 0.1 m, 𝜔𝜔 = 314.16 rad/s, 𝑘𝑘 = 106 N/m, 𝑀𝑀 = 100
kg, and 𝑐𝑐 = 2000 N∙s/m in the equation for X, giving

mrω 2 0.1 × 0.1 × 314.162

=X = = 0.000111 m
( k − M ω 2 ) + ( cω )2 (106 − 100 × 314.162 ) + ( 2000 × 314.16 )2
2 2

0.11 mm
∴X=

g The correct answer is A.

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 P.11sSolution
Assume the tail of the helicopter to be acting like a cantilever beam of
mass 𝑚𝑚𝑏𝑏 , with an end mass 𝑚𝑚1 of 20 kg placed at its free end and an unbalanced
rotating mass of 0.5 kg at its free end having an eccentricity of 0.15 m, as shown.

Since the tail is modeled as a cantilever beam, its stiffness is given by

3EI 3 × ( 2.5 × 10 )
6

=k = = 117,188 N/m
3 43
0.5
As usual, the natural frequency is 𝜔𝜔𝑛𝑛 = �𝑘𝑘⁄𝑚𝑚eq � , where 𝑚𝑚eq is the
equivalent mass of the system. With 𝑚𝑚𝑏𝑏 as the mass of the beam and 𝑚𝑚𝑙𝑙 as the end
mass, we have

33
meq =m1 + mb =20 + 0.236 × 240 =76.64 kg
140
We can then compute the natural frequency,

k 117,188
ωn
= = = 39.10 rad/s
meq 76.64

Knowing that the rotational speed of the blades is 1500 rpm, the operating
frequency can be calculated as 𝜔𝜔 = 2𝜋𝜋𝜋𝜋⁄60 = 2𝜋𝜋 × 1500⁄60 = 157.08 rad/s. The
frequency ratio follows as

ω 157.08
r
= = = 4.017
ωn 39.10
The forced response of the tail section of the helicopter is described by the
relation

x p ( t ) X sin (ω t − φ )
=

where the amplitude X is calculated as

 
 me   r2 
X =  
 m1   (1 − r ) + ( 2ζ r )
2 2 2

 
Substituting 𝑚𝑚 = 0.5 kg, 𝑒𝑒 = 0.15 m, 𝑟𝑟 = 4.017, 𝜁𝜁 = 0.15, and 𝑚𝑚1 = 20 kg gives

 
 0.5 × 0.15   4.017 2 
=X   = 0.004
= m 4 mm
20 2 
 
 (1 − 4.017 ) + ( 2 × 0.15 × 4.017 ) 
2 2

Next, the phase angle component of the response is

 2ζ r   2 × 0.15 × 4.017 
φ=
tan −1  2 
tan −1 
= 2 =tan −1 ( −0.0796 ) =
−4.6o
1− r   1 − 4.017 
Lastly, the forced response of the tail section of the helicopter is

=x p ( t ) 4sin (157.08t + 4.6o ) mm

g The correct answer is C.

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P.12sSolution
The natural frequency of the system is

k 4000
ωn
= = = 20 rad/s
m 10
The frequency of the motion of the mass is 𝜔𝜔 = 2𝜋𝜋𝜋𝜋 = 2𝜋𝜋 × 5 = 31.42 Hz.
The frequency ratio r is 𝑟𝑟 = 𝜔𝜔⁄𝜔𝜔𝑛𝑛 = 31.42⁄20 = 1.571. The amplitude of the
vibration of a harmonically excited system under Coulomb damping is given by

F0 k
X= 12
(1 − r 2 )2 + ( 4 µ mg π kX )2 
 
Solving for the harmonic force amplitude and substituting, we obtain
12
F0 = kX (1 − r 2 ) + ( 4 µ mg π kX ) 
2 2

 
12
∴ F0 = 4000 × 0.05 × (1 − 1.5712 ) + ( 4 × 0.15 × 10 × 9.81 (π × 4000 × 0.05 ) ) 
2 2
= 294 N
 

g The correct answer is D.

P.13sSolution
Recall that, for viscous damping, the expression for energy lost per cycle is

π kβ X 2
∆E =
in which k is the stiffness, 𝛽𝛽 is the hysteresis damping constant, and X is the
amplitude of vibration. In contrast, the energy lost per cycle in the case of Coulomb
damping is

∆E =4µ mgX
where 𝜇𝜇 is the coefficient of friction, m is the mass, g is the acceleration of gravity,
and X is the amplitude of vibration. Using a CAS such as Mathematica, we prepare
plots of Δ𝐸𝐸 versus X2 and Δ𝐸𝐸 versus X. The graph in which a linear trend is observed
will decide the form of damping. We begin by entering a list for the amplitudes.

𝑋𝑋 = {0.01,0.02,0.03,0.04,0.06,0.08,0.1,0.14,0.18}

Next, we type a list for the energy lost per cycle,

ΔE = {0.25,0.45,0.8,1.18,1.56,2.18,2.55,3.54,4.35}
In addition to these, we need a list for the squared amplitudes,

X2 = 𝑋𝑋 2

{0.0001,0.0004,0.0009,0.0016,0.0036,0.0064,0.01,0.0196,0.0324}

We then proceed to plot Δ𝐸𝐸 versus 𝑋𝑋.

list1 =Transpose@{ΔE,X};
ListPlot[list1,Joined->True,PlotMarkers->{Automatic,Medium},AxesLabel->{"X","ΔE"}]
E

0.15

0.10

0.05

X
1 2 3 4

Similarly, we plot Δ𝐸𝐸 versus 𝑋𝑋 2.

list2 =Transpose@{ΔE,X2};
ListPlot[list2,Joined->True,PlotMarkers->{Automatic,Medium},AxesLabel->{"X2","ΔE"}]

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 E

0.030

0.025

0.020

0.015

0.010

0.005

X2
1 2 3 4

Clearly, it is seen that the plot of Δ𝐸𝐸 versus X yields a straight line and the
plot of Δ𝐸𝐸 versus X2 yields a curve. Hence, the damping should follow an energy
loss of the form Δ𝐸𝐸 = 4𝜇𝜇𝜇𝜇𝜇𝜇𝜇𝜇 and is Coulomb in nature.

P.14sSolution
The steady-state response of the system is expected to have the form

x = X sin ωt
Accordingly, we have

x = ω X cos ωt
The energy lost per cycle is given by

∆E =∫ Fd dx
which, in the situation at hand, is written as

2π
ω
∆E =c ∫ x n dx
0

Substituting 𝑑𝑑𝑑𝑑 = 𝑥𝑥̇ 𝑑𝑑𝑑𝑑, we have

2π ω 2π ω
=∆E ∫ cx n ( xdt
=  ) ∫ cx n +1dt
0 0

Substituting the equation for 𝑥𝑥̇ gives

2π ω
∆E =c∫ ω n +1 X n +1 cos n +1 ωt dt
0

2π
∴∆E = cω n X n +1 ∫ cos n +1 udu
0

The energy loss for viscous damping as in the present case is

π ceqω X 2
∆E =

Equating the two foregoing expressions for Δ𝐸𝐸 and manipulating, we

obtain
2π
π ceqω X 2 = cω n X n +1 ∫ cos n +1 udu
0

cω n X n +1 2π
∴ ceq = 2 ∫ cos n +1 udu
πω X 0
cω n −1 X n −1 2π
∫ cos udu
n +1
∴ ceq =
π 0

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ANSWER SUMMARY
Problem 1 C
Problem 2 A
Problem 3 Open-ended pb.
Problem 4 B
Problem 5 B
Problem 6 Open-ended pb.
Problem 7 B
Problem 8 Open-ended pb.
Problem 9 C
Problem 10 A
Problem 11 C
Problem 12 D
Problem 13 Open-ended pb.
Problem 14 Open-ended pb.

REFERENCES
• INMAN, D. (2014). Engineering Vibrations. 4th edition. Upper Saddle River:
Pearson.
• KELLY, S. (1996). Schaum’s Outline of Theory and Problems of Mechanical
Vibrations. New York: McGraw-Hill.
• RAO, S. (2011). Mechanical Vibrations. 5th edition. Upper Saddle River:
Pearson.

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