Forced vibration

(harmonic force) of
SDOF System
(Undamped)
Forced vibration (harmonic force) of SDOF System

Forced vibration without damping

Non-homogeneous second order differential equation

The general solution consists of two parts x = xc + xp

where
xc = complementary solution and
xp = particular solution
The complementary solution is obtained by setting right hand side as zero

EQ. 1

The particular solution

in EQ.1
 Static deflection =

The general solution

= +
free vibration (transient) part forced vibration (steady state) part
it is damped out by friction depends on P0 and forcing frequency, ω
Steady state vibration

𝑥𝑃 = 𝐴 sin ω𝑡 𝐴=

Magnification factor

𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑅𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛, H (ω)

Resonance occurs when β= 1

ω= ωn
Steady state and transient response when β< 1;
Steady state and transient response when
β > 1.
𝐹0

This indicates a phase

shift between the input
force and the system's
response.
Example:
A 1500 kg truck cab is assumed to be supported by four springs
each with stiffness 120 kN/m. Determine the resonant frequency
of the cab in unit of Hz and the amplitude of vibration if the
displacement input of each accelerator is d = 0.05 sin 6t.
Example
The undamped spring–mass system has a mass of 4.5 kg and a spring stiffness
of 3500 N/m. It is excited by a harmonic force having an amplitude
F0 = 100N and an excitation frequency of  =10 rad/s. The initial conditions are x(0) = 0.015
ሶ
m and 𝑋(0) = 0.15 m/s.

Determine
(a) the frequency ratio
(b) the amplitude of the forced response
(c) the displacement of the mass at time t = 2 s. and
(d) the velocity of mass at time t = 4 s.

Draw the forced response and total response curves.

If the excitation frequency is 40 rad/s determine how the forced response and total response
curves change.
Example 4.1 The system has a spring stiffness k = 40 lb/in., and the
mass weighs 38.6 lb. If the system is initially at rest, that is, u(0) =
ú (0) = 0, when an excitation p(t) = 10cos(10t) lb begins, determine
an expression for the resulting motion. Sketch the resulting motion.
 Forced vibration
(harmonic force) of
SDOF System
(Under-damped)
Forced vibration (harmonic force) of SDOF System

Forced vibration with damping

Non-homogeneous second order differential equation

The general solution consists of two parts x = xc + xp

where
xc = complementary solution = free vibration of under-damped system
xp = particular solution
 The complementary solution C
Similar to free vibration response

The particular solution,

Assume 𝑥𝑝 = A sin(𝜔𝑡 − 𝜓)

𝑥𝑝 = D cos 𝜔𝑡 + E sin 𝜔𝑡
Solving

𝑥𝑝 = D cos 𝜔𝑡 + E sin 𝜔𝑡
Replacing A A Replacing

A A

𝑥𝑝 = A sin(𝜔𝑡 − 𝜓)

free vibration (transient) part forced vibration (steady state) part

 C

A sin(𝜔𝑡 − 𝜓)

Steady state vibration

For undamped case

𝐹0
For under-damped case For undamped case
The following items are of interest in the diagram
Example

A weight attached to a spring of stiffness 530 N/m and undergoes

viscous damping and the weight was displaced and released. The
period of vibration was found to be 1.8 seconds. The ratio of
consecutive amplitudes was found to be 4.2/1. Determine the steady
state vibration amplitude and phase angle when a force of 200 cos 3t
acts on the system.
Ans: Amplitude: 0.779
Phase Angle: 51 deg 21 min

A sin(𝜔𝑡 − 𝜓)
A
How to evaluate damping in SDOF

1. Amplitude decrement in free vibration

For very small damping

How to evaluate damping in SDOF

2. Measuring resonant amplitude

Harmonic excitation is applied to the structure by applying harmonic load

F0sin (wt).
How to evaluate damping in SDOF

3. Bandwidth methods
Example

Data collected from a frequency response test of a structure were plotted to construct a
response curve similar to the one shown for DMF vs. frequency ratio. From the plot it was
determined that DMFmax was 1.35 and DMF at half power points was 0.95. The response
ratios corresponding to half power points are 0.91 and 1.05 respectively. Estimate the
amount of damping in the system.

Ans = 0.07
Problem
For the single-story, single-bay frame shown in Figure, assume the girder is rigid
relative to the column and determine the following:

a. The steady-state amplitude for the horizontal motion (damping ratio = 5 %)

b. The horizontal displacement at time t = 5.0 sec
c. The maximum flexural stress in the column

W10 × 33 wide-flange section properties: A = 9.71 in2, Ix = 170 in4, Zx = 38.8 in3, and
Sx = 35.0 in3.
 Example
The system has a spring stiffness k = 40 lb/in., and the mass weighs 38.6 lb. If the
system is initially at rest, that is, u(0) = ú (0) = 0, when an excitation p(t) = 10cos(10t)
lb begins, determine an expression for the resulting motion. Sketch the resulting
motion.

Example
The system has a spring stiffness k = 40 lb/in., and the mass weighs 38.6 lb. If the
system is initially at rest, that is, u(0) = ú (0) = 0, when an excitation p(t) = 10cos(10t)
lb begins, determine an expression for the resulting motion. Sketch the resulting
motion. Assume damping ratio, ρ = 0.2

Example
The damped spring–mass system has a mass of 4.5 kg and a spring stiffness of 3500 N/m. It is
excited by a harmonic force having an amplitude F0 =100N and an excitation frequency of 10
rad/s. The initial conditions are x(0) = 0.015 m and v(0) = 0.15 m/s. Determine (a) the
frequency ratio (b) the amplitude of the forced response (c) the displacement of the mass at
time t = 2 s. and (d) the velocity of mass at time t = 4 s. Draw the forced response and total
response curves. If the excitation frequency is 40 rad/s determine how the forced response and
total response curves change. Assume damping ratio ρ = 0.2
Problem
The water tank shown in Figure is subjected to a base excitation that has an
acceleration amplitude of 0.1g and is idealized as simple harmonic motion with
a frequency of 1 Hz. Determine the motion of the tower relative to the motion
of the foundation. What is the maximum shear force at the foundation if the
damping is assumed to be 5 percent critical?
 Derivation of EOM

Determine the natural frequency

Derivation of EOM
 Combination of Spring
Springs in Series
Springs in Parallel
Derivation of EOM
Derivation of EOM
 Derivation of EOM
Tortional System
Free vibration

From initial condition

Polar moment of inertia

Tortional stiffness
 Generalized-coordinate

The effect of the generalized-coordinate approach is to transform a multiple-degree-of-

freedom (MDOF) dynamic system into an equivalent SDOF system in terms of the
generalized coordinate.
 Generalized-coordinate

Determine the generalized stiffness, generalized mass, and generalized force for the
simply supported beam with uniform load shown in Figure.

= mass per unit length

Assume, shape function =

generalized stiffness

generalized mass

generalized force
 RESPONSE TO
PERIODIC LOADING
RESPONSE TO PERIODIC LOADING
FOURIER SERIES EXPRESSIONS
𝑝 𝑡

𝑃𝑜

𝑇𝑃 𝑇𝑃

PERIODIC LOADING
PERIODIC LOADING
(Harmonic)

𝑝 𝑡 = 𝑃𝑜 sinω𝑡
FOURIER SERIES

EXAMPLE
RESPONSE TO PERIODIC LOADING
FOURIER SERIES EXPRESSIONS

The coefficients are determined as follows:

Analytical integration is possible if p(t) is representable by equation.

Numerical integration such as trapezoidal method is required

if p(t) is arbitrary
 RESPONSE TO THE FOURIER SERIES LOADING

Having expressed the periodic loading as a series of harmonic terms,

The response of a linear system to this loading may be obtained by
simply adding up the responses to the individual harmonic loadings
The steady state response of an undamped by the nth sinewave harmonic force

where

Similarly, the steady state response produced by the nth cosine wave harmonic force

𝑃0
The steady state response to the constant load P0 is the static deflection 𝜐𝑜 =
𝑘
RESPONSE TO THE FOURIER SERIES LOADING
Undamped Case:

The steady state response (By summing up)

Viscous damped Case:

The steady state response

𝑎𝑛 cos 𝜔
ഥ𝑛 𝑡 − 𝜓𝑛 + 𝑏𝑛 sin 𝜔
ഥ𝑛 𝑡 − 𝜓𝑛
Example
Consider the system and loading shown in Fig.

SDOF system
periodic loading
Solution:
The Fourier coefficients of are found

Substituting these coefficients into p(t) function,

Example

The structure of Fig. is undamped, and

SDOF system
The period of loading = 4/3 the period of vibration of the structure

The steady state response

If, the structure is underdamped (damping ratio = 0.05)

𝑣 𝑡 =? Do yourself
Practice Problem:
Do yourself for the following loading acting on
the SDOF system

SDOF system

Rectangular-pulse-type periodic loading