Mekelle University

Ethiopian Institute of Technology-Mekelle

School of Mechanical and Industrial Engineering

Mechanical Vibrations

Chapter Three
Forced Vibration of Single Degree of
Freedom Systems

Instructor: Zina G.
(M.Sc. in Mechanical System Design) 1
 3. Forced Vibration of Single Degree of
Freedom Systems
Introduction
 Free Vibration: Occur due to an energy source which is
removed while vibration occur.
 Forced Vibration:- Occurs when work is being done on a
system while vibration occur.
For example:
– Elastic structure vibrating due to earthquake
– rotating components constantly excited by harmonic force of the
driving motor
– reciprocating piston of an engine transmits a sinusoidally varying
force to adjacent components

2
 • For linear forced systems the total response is obtained by
superposition of the complimentary or homogenous response,
xh, and a particular response, xp. i.e.
Total response of Response of Response of
= +
a system initial condition External Forces
3.1. Harmonic Excitation
The source of energy, applied as a force or moment, is called
Periodic or Harmonic if there exists a period T such that:

k
m F(t)=Focosωdrt

c
 mx cx  kx  F (t )  Fo cos dr t
Frictionless

• where Fo is the maximum amplitude of excitation and ωdr is the

driving (forcing) frequency. 3
3.1.1 Undamped System (c=0)
(t )  kx(t )  F (t )  F0 cos dr t
mx
F(t) has a form of a sine or cosine (here we take cosine)
F
x (t )  n2 x (t )  f o cos dr t , f o  0 ..............(1)

m
• This is a linear non-homogenous ODE. and the total response
of the system will have the homogenous (complimentary) and
the particular part.
• Using Method of Undetermined Coefficient, the particular
solution, xp(t)
xp(t) = A0cosωdrt for F(t) which has cosine form and
xp(t) = A0sinωdrt for F(t) which has sine form.
– xp(t) is the particular solution where Ao is the amplitude of
the forced response.
4
 Substituting x p (t ) and 
x p (t ) in the differential equation
f0
and solving: Ao 
 n
 2
  2
dr

f0
 x p (t )  cos dr t
 2
n   dr 2

provided that the two frequencies are not equal n  dr
x(t )  xh (t )  x p (t )
xh (t )  A1 sin nt  A2 cos nt
 Having the initial conditions:
x(t  0)  xo and x (t  0)  vo

5
 v0 f0
A1  and A2  xo 
n  n
 2
  2
dr

v0  f0 
 xh (t )  sin nt   xo  2  cos nt
n     2 
 n dr 
 The total response will then be:
v0  f0  f0
x(t )  sin nt   xo  2  cos nt  2 cos dr t
n     2  n   dr 2
 n dr 
x(t) ............................(*)

6
• Two very important phenomenon occur when the driving
frequency becomes close to the systems natural frequency
– Case i. When ωn - ωdr becomes very small
• For x0=0 & v0= 0

f0
2 
x(t )  cos dr t  cos nt 
n   dr
2

• Using a simple trigonometric identities

2 f0  n  dr   n  dr 
x(t )  2 sin  t  sin  t
n   dr
2
 2   2 

7
but n  dr  n  dr
   dr 
 sin  n t  oscillates with a much longer period,
 2 
4  n  dr 
T  than the term sin  t
n  dr  2 
   dr 
x(t) sin  n t
 2 

t
   dr 
sin  n t
 2 
x(t)

The resulting motion is a rapid oscillation with slowly varying

amplitude and is called a BEAT.
9
 − Case ii. When ωn = ωdr
• In this case the choice of the function, xp=A0cosωdrt, fails
because it is also a solution of the homogenous equation.
• Hence, the possible particular solution that we could have is:
xp= tA0sinωdrt
• Inserting in equation (1) and solving for A0, then:
fo
Ao 
2dr
fo
 x p (t )  t sin dr t
2dr
• The total response will then be:

10
 This is a harmonic function with amplitude which grows
unboundedly as shown in the Figure.
x(t)

• This defines the phenomenon of Resonance. Resonance causes

our system to fail & break. 11
• This phenomenon of Resonance also makes the system
to vibrate with large amplitudes that it will no more be
treated with linear relationships.
• After plastic deformation of several components of the
system, it will behave non-linear and finally fails.
Hence, the proposed solution will not work till the end
since the assumptions of deformation in the linear
range will no more work.

12
The animation shows the motion of the Force and the
resulting motion of all three oscillators together.

13
Below Resounance

14
At Resonance

15
Above Resonance

16
Below Resonance

At Resonance

Above Resonance

17
3.1.2 Damped System
(t )  cx(t )  kx(t )  F0 cos dr t
mx
x(t )  2n x(t )  n2 x(t )  f 0 cos dr t.................(3)

• By the method of undetermined coefficients and
expecting a phase shift of the response because of the
effect of the damping force:

18
Engineering Vibrations
 x p (t )   Asdr sin dr t  Bsdr cos dr t
x p (t )  dr2  As cos dr t  Bs sin dr t 

Substituting x p (t ), xp (t ) and x p (t ) in equation (3) and
solving for As and Bs :

As 
 n  f0
 2
  2
dr
and
 n    2ndr 
2 2
 2
  2
dr

2ndr f 0
Bs 
    2  
2 2
2
n   dr
2
n dr

f0  1 2ndr

 x p (t )  cos  dr t  tan 
    
    2  
2 2 2
2
2
n   dr 2
n dr
 n dr 

Engineering Vibrations 19
The total response of the forced system will then be
x(t )  xh (t )  x p (t )
x(t )  Ae nt sin d t     Ao cos dr t   
Note:
• For large values of t, the xh(t) term approaches zero,
hence the x(t) approaches xp(t).
• Thus xp(t) is called the steady-state response and the
xh(t) is called the transient response.
• Let us observe how the system is responding
(specially
dr the particular solution) for a varying values
of r   (frequency ratio) and the damping ratio, ζ.
n

Engineering Vibrations 20
 f0 2ndr
i.e. Ao  ,   tan 1
n2   dr2
   
2
  2ndr 
2 2 2
n dr

f0 2 r
 Ao  ,  tan 1
1 r2
1  r    2 r 
2 2
 2
n
2

Hence the normalized amplitude of the steady-state response

will then be:
Ao k
Ao 2
1 m Ao
n
  
F0 F0
f0
1  r    2 r 
2 2
2
m k
Ao 1
M (r ,  )   ............(4)
 st
1  r    2 r 
2 2
2

where  st is the deflection of the spring under the static force F0 .

F0 is the amplitude of the excitation force.

21
The plot of Normalized amplitude for varying value of ζ

Variation of M with frequency ratio r

Engineering Vibrations 22
The plot of Phase angle for varying value of ζ

Variation of φ with frequency ratio r

23
• Note that as ωdr→ ωn (r → 1)
– the phase shift crosses through 900.
– the normalized amplitude approaches a maximum value
for a system with very small (light) damping (ζ< 0.1) and
– This defines Resonance for the undamped case (ζ = 0) .
fo Aon2
2  1
• As ωdr→0, A0→ n foand as ωdr becomes
very large the amplitude approaches zero
asymptotically.
• Note: Resonance does not exactly correspond
with the value of ωdr at which the peak value of the
steady-state response occurs.

24
Engineering Vibrations
• To find the value of r (frequency ratio) at which the
normalized amplitude (magnification factor) M, attain
maximum value:
 
dM d  A0 k  d  1 
     0
dr dr  F0  dr 
  2 
2
 1 r
2
  2 r  
 
 rpeak  1  2 2  1
Substituting this in (4):
1
 M max  ...........................(5)
2 1   2
25
Note: The rpeak value illustrates that the maximum value of M
occurs at:
2 1
i) r  1  2  1 if 0    and
2
1
ii ) r  0 if  
2  1 
  
• For the small damping case,  2  , the value of the
driving frequency corresponding to the maximum value
of M is called the peak frequency, ωp.
2 1
 p  n 1  2 for 0   
2
 Note: When   0   p  n , i.e. the usual undamped
resonance condition.
• The undamped resonance condition (ωdr= ωn) also works for
the lightly damped system. 26
Example 3.1

27
Solution

28
29
30
31
32
Example 3.2

33
Solution

34
35
36
3.2. Base Excitation
when the foundation of a mechanical system is continuously
moving or changing its shape while the system is moving on
it, the base is acting as a source of energy for the system to
continue oscillating, and hence the system is said to be
undergoing oscillation due to Base Excitation.

Some of the practical examples :

– Automobile excited by rough road surface
– Engine excited by the frame work supporting it
– Machinery excited by the surface on which the machinery is
mounted
– Airplane engine excited by wing or tail supporting engine
– Building excited by an earthquake, etc.
37
The physical model of a mechanical system under base excitation
x(t)
Model: m

k c Suspension system (Rubber mountings)

y(t)

Base (Foundation)
x(t)
FBD: m

k(x-y) c( x y )

• The equation of motion will then be:

mx c( x  y )  k ( x  y )  0........................(6)
• If we assume the base is excited harmonically,
- That is: y (t )  Y sin( b t )  y (t )  Y  b cos( b t )
where  b is the frequency of base oscillation
38
• Two important transmissibility ratios to be studied
– Displacement transmitted to the mass
– Force transmitted to the mass

a) Displacement transmitted to the mass

mx cx  kx  cy  ky
 mx cx  kx  cY  b cos( b t )  kY sin( b t )
• It is an equation of motion of mass-spring-damper
system with two harmonic excitations.
• Hence, the equation will have one homogenous (xh(t))
and two particular (xp1(t) and xp2(t) ) solutions, one for each
component of the excitation.

Engineering Vibrations 39
 x  2n x  n2 x  2n b Y cos( b t )  n2Y sin( b t )
 

F (1)
(t ) F (2) (t )

(1) (1)
 fo  2n b Y for Y (t )
2n b Y
 x (1)
p = cos(bt  1 )
 
2
  2nb 
2
n2  b 2

 2n 
where 1 = tan 1  2 b 
 n   2 
 b 
Engineering Vibrations 40
 and f o(2)  n2Y for Y (2) (t )
n2Y
 x (2)
p = sin(bt  2 )
 
2
  2nb 
2
n2  b 2

where 2  1
i.e. independent of the amplitude of excitation
 x p =x (1)
p + x (2)
p
1/ 2
 
n   2b 
2 2
 
 x p (t )  nY  cos(bt  1  3 )
2
 
2
 n   b   2nb  
2 2
 
n  1 
where 3  tan  
 2b 
Engineering Vibrations 41
 • The magnitude of the particular solution, xp(t) will then be:
1/ 2
 1  2 r 
 
2
b
X Y   where r 
 
 1  r 2   2 r 2 
2
n

1   2 r 
2
X
 
1  r 
2
Y   2 r 
2 2

• This is the ratio of the maximum response magnitude to

the input displacement magnitude and is known as the
Displacement Transmissibility.
• It shows how motion is transmitted from the base to the
mass as a function of the frequency ratio, r and the
damping ratio ζ.

Engineering Vibrations 42
 X
Y ζ increasing

ζ decreasing
1

1 2 r

Note:
X
i. For r  2,
Y
1 , i.e.
 the motion of the mass is an amplification of the motion
of the base
 Large ζ yields smaller transmissibility ratios.
X
ii. For r  2, 1, i.e.
Y
 the motion of the mass is smaller in amplitude than that
of the base for all ζ
 but it increases for increasing ζ.
Engineering Vibrations 43
 b) Force transmitted to the mass
• Force is transmitted to the mass through the spring and
damper
i.e. F (t )  k ( x  y )  c( x
 y )  mx(t )............(7)

• For the steady-state case (the transient solution does

not stay long and hence is ignored)
1/ 2
 
n   2b 
2 2
 
x(t )  nY  cos(bt  1  3 )
2
 
2
 n   b   2nb  
2 2
 

• Differentiating x(t) twice and substituting in equation (7)

Engineering Vibrations 44
 1/ 2
 
n   2b 
2 2
2  
F (t )  mn b Y  cos(b t  1  3 )
2
 
2
 n   b   2nb  
2 2
 
 F (t )  FT cos(bt  1  3 )

1   2 r 
2
where FT  kYr 2
 
2
  2 r 
2 2
1 r

• The Force Transmissibility will then be:

1   2 r 
2
FT
 r2
1  r    2 r 
2
kY 2 2

• Note: The force transmitted to the mass is in phase with

the displacement of the mass.

Engineering Vibrations 45
The force transmissibility is the amount of force transmitted to the
mass as compared to the static force developed in the spring due
to the base displacement amplitude Y.
FT
ζ=0.01
kY ζ increasing
ζ=0.1
ζ increasing
ζ=0.2 ζ=1
2

1 2 r

• Unlike the displacement transmissibility, the force

transmitted does not necessarily fall off for r  2 . In fact,
as the damping increases, the force transmitted increases
dramatically for r  2 .
Engineering Vibrations 46
 Three simple 1-DOF mass-spring oscillators have natural
frequencies (from left to right) of f1=1.6, f2=1.0, f3=0.63.

• At time t=0 the base starts moving with sinusoidal

displacement s(t) = S0sin(t) where the driving frequency
is f=1.001.
• The damping rate for all three oscillators is 0.1 so that
the initial transient motion decays and a steady-state is
47
• The animation shows the motion of the base and the
resulting motion of all three oscillators together.
• The masses are color coded to match the frequencies
above and the plots below. The horizontal lines
indicate the maximum displacement of the base.

Plots of Animation
• The following plots are showing transition from
transient to steady state motion.
• In all three plots below, the dashed gray curve
represents the displacement of the base, while the
colored curves represent the displacement of the
masses

Engineering Vibrations 48
Mass 1: Below Resonance - positive added mass

• The first oscillator is being driven below its natural frequency.

• Its motion is in-phase with that of the base and its
displacement is slightly larger than the base displacement.
• In terms of the input mechanical impedance as seen by the
base, this oscillator provides an apparent positive added
mass to the base.

Engineering Vibrations 49
 Mass 2: Apparent damping

• The second oscillator is being driven very near resonance.

• Its displacement lags that of the base by 90° and it grows
until steady state is reached.
• In terms of the input mechanical impedance as seen by the
base, this oscillator provides an apparent damping,
removing vibrational energy from the base.

Engineering Vibrations 50
 Mass 3: Above Resonance - negative added mass
• The third oscillator is being driven at twice its natural
frequency.
• The transient behavior takes longer time to decay.
• Once steady state has been achieved, the displacement is
less than that of the base and is almost 180° out of phase
with the base.
• In terms of the input mechanical impedance as seen by the
base, this oscillator provides an apparent negative added
mass to the base.

Engineering Vibrations 51
Example 3.3
A 1-DoF and simplified model of a motor vehicle traveling over a rough road with
a horizontal speed v, is shown below. The road contour is approximated by a
sinusoid with a peak to peak distance of 0.5m. The mass of the vehicle is
1100kg, the stiffness of its suspension system is 1x10 7 N/m and a damping ratio
of 0.3.
a) Mathematically model the unevenness of the road using appropriate
sinusoidal expression
b) Determine the maximum displacement and acceleration of the vehicle
traveling at v = 60 km/hr.
c) Determine the minimum cruising speed of the vehicle so that the
displacement of the vehicle body will not be greater than 15mm.

52
Solution

53
54
55
56
 3.3 Rotating Unbalanced Mass
• This is another form of excitation that most rotating
mechanical systems could be subjected to and is severe in
most cases.
• This kind of excitation is a result of small irregularities in the
distribution of a rotating mass.
• Let the frequency of rotation of machine be ωr.
mo
e x x(t) mo
o
m y(t) e
θ=ωr t
k c Rubber floor mountings as
a spring and damper

Assume that the system is constrained in the y-direction and hence

the system is having only one DoF in the vertical direction.
The x- component of motion of the mass mo is given by:
xr  e sin r t , xr  er cos r t , xr  er2 sin r t 57
• And the reaction force, Fr , generated by the rotating
mass mo has a component in the x-direction
xr  emor2 sin r t
Fr = mo 
• This force acts on the machine mass, m.
Note: The force in the horizontal direction are canceled by the
guides.
• Considering the machine and the unbalanced mass as
separate bodies the equation of motion of the entire system
will be:
d2
x  mo 2  x  e sin r t    kx  cx
(m  mo ) 
dt

Engineering Vibrations 58
The normalized amplitude as a function of the frequency ratio, r
could also be given as:

59
The normalized amplitude due to mass unbalance in a rotary body
mX

mo e
ζ=0.1

ζ increasing
Normalized
amplitude

ζ=0.25

1
ζ=0.707

ζ=1

1 r

1 1
rpeak  for 0   
(1  2 2 ) 2
1
 max 
2 (1   2 )
Engineering Vibrations 60
Note :
• The maximum deflection is less than or equal to 1 for any
1
system with   . This indicates that the increase in
2
amplification of the amplitude caused by the unbalance can
be eliminated by increasing the damping, which is not
always practical
• The magnitude of the dimensionless displacement
approaches unity if r is large. Hence if the running
frequency ωr is such that r >> 1, the effect of the unbalance
is limited. For large values of r, all the magnitude curves for
each value of ζ approaches unity, so that the choice of
damping coefficient for large r is not important.

Engineering Vibrations 61
Example 3.4

62
Solution

63
64
65
 Base Excitation Animation

This Video-animation shows the Response of the passive

response of the system to a vibration isolation system to
sinusoidal mechanical noise mechanical excitation.
excitation with the frequency High-frequency vibrations are
increasing from 0 to 7.5 Hz suppressed entirely. Residual
(transmissibility). oscillations occurs mainly at low
frequencies.

Engineering Vibrations 66