CH.

3 Harmonically Excited Vibration

mit it KK to
3.1 Introduction

• Forced vibration occurs whenever external energy is supplied to

the system during vibration.
• External energy can be supplied to the system through either an
applied force or an imposed displacement excitation.
• The applied force or displacement excitation may be harmonic,
nonharmonic but periodic, nonperiodic, or random in nature.
• The response of a system to a harmonic excitation is called
harmonic response.
• The nonperiodic excitation may have a long or short duration; the
response of a dynamic system to suddenly applied nonperiodic
excitation is called transient response.
• Under a harmonic excitation, the response of the system will also
be harmonic.
 CH.3 Harmonically Excited Vibration
3.2 Equation of Motion
• Equation of Motion
mx&& + cx& + kx = F (t ) (3.1)
0

Solution: x(t)=xh(t) +xp(t)

• Homogeneous Equation
mx&& + cx& + kx = 0 (3.2)

• Steady-state Solution

x(t)=xh(t) +xp(t)

Homogeneous solution will be damped

out eventually.
 CH.3 Harmonically Excited Vibration
3.3 Response of an Undamped System Under Harmonic Force
• Equation of Motion of an Undamped System Subjected to a Harmonic Force
mx&& + kx = F0 cos ω t (3.3)

• Homogeneous Solution
xh (t ) = C1 cos ωn t + C2 sin ωn t (3.4)
joint
• Particular Solution

x p (t ) = X cos ω t (3.5)
called
Static Deflection
• Eq (3.5) -> Eq. (3.3) gives n n
F0 δ st
X=
k − mω 삯
2
=
⎛ω ⎞
1− ⎜ ⎟
2
(3.6) where δ st = F0 k

⎝ ωn ⎠
 CH.3 Harmonically Excited Vibration
3.3 Response of an Undamped System Under Harmonic Force
• Total Solution
F0
x(t ) = C1 cos ωn t + C2 sin ωn t + cos ωt (3.7)
k − mω 2

F0 x&0
W/ I.C.s C1 = x0 − , C = (3.8)
k − mω 2 ωn
2

⎛ F0 ⎞ ⎛ x& ⎞
x(t ) = ⎜ x0 − 2 ⎟
cos ωnt + ⎜ 0 ⎟ sin ωnt
⎝ k − mω ⎠ ⎝ ωn ⎠
⎛ F0 ⎞
+⎜ 2 ⎟
cos ωt (3.9)
⎝ k − mω ⎠

Called Magnification Factor, Amplification

Factor, or Amplitude Ratio
X 1
=
Maximum Amplitude δ st ⎛ω ⎞
2

1− ⎜ ⎟
⎝ ωn ⎠
ri
frequencyratio
 CH.3 Harmonically Excited Vibration
3.3 Response of an Undamped System Under Harmonic Force
• Case 1. 0 < ω ωn < 1
X 1
= (3.10)
δ st ⎛ω ⎞
2

1− ⎜ ⎟
t ⎝ ωn ⎠
Denominator=+

xp(t) is in-phase with external force

Denominator=-
• Case 2. ω ωn > 1

x p (t ) = − X cos ωt (3.11)

δ st
X= 2
(3.12)
⎛ω ⎞
⎜ ⎟ −1
⎝ ωn ⎠
xp(t) is out-of-phase with external force
 CH.3 Harmonically Excited Vibration
3.3 Response of an Undamped System Under Harmonic Force
• Case 3. ω ωn = 1 공진
X 1
= (3.10)
δ st ⎛ω ⎞
2

1− ⎜ ⎟
⎝ ωn ⎠ Denominator=0;
called Resonance
⎡ ⎤
⎛ F0 ⎞ ⎛ x& ⎞ ⎢ ⎥
x(t ) = ⎜ x0 − 2 ⎟
cos ωnt + ⎜ 0 ⎟ sin ωnt x (t ) = x0 cos ω n t +
x& 0
sin ω n t + δ st ⎢
⎢ cos ω t − cos ω n t ⎥
(3.13)
⎝ k − mω ⎠ ⎝ ωn ⎠ ωn 2 ⎥
⎢ 1− ⎛ ω ⎞ ⎥
⎛ F0 ⎞
+⎜ 2 ⎟
⎝ k − mω ⎠
cos ωt
⎡
⎢
⎤
⎥
⎡ d
⎢
⎢⎣
01 ⎜
ω
⎝ n⎠
⎟
⎤
(cos ω t − cos ω n t ) ⎥
⎥⎦ 분모 0 로피탈정군

⎢ cos ω t − cos ω n t ⎥ ⎢ dω ⎥
Application of lim ⎢
ω →ω n 2 ⎥ = ωlim →ω n ⎢ d ⎛ ω 2
⎞ ⎥
⎢ 1− ⎛ ω ⎞ ⎥ ⎢ ⎜ 1 − ⎟ ⎥
L’hospital’s Rule ⎢⎣ ⎜ ⎟ ⎥⎦ d ω ⎝ ωn ⎠ 2
⎝ ωn ⎠ ⎢⎣ ⎥⎦
⎡ ⎤
⎢ t sin ω t ⎥ ω t
= lim ⎢ ⎥ = n sin ω n t (3.14)
ω →ω n
⎢ 2 ω ⎥ 2
⎢⎣ ω n2 ⎥⎦

Response of System x&0 δ stωnt

x(t ) = x0 cos ωnt + sin ωnt + sin ωnt (3.15)
at Resonance ωn 2 t포함
for 븞 1
 CH.3 Harmonically Excited Vibration
3.3 Response of an Undamped System Under Harmonic Force
• Total Response
δ st ω
x(t ) = A cos(ωn t − φ ) + cos ω t ; for 〈1 (3.16)
⎛ω ⎞
2
ωn
1− ⎜ ⎟

1
⎝ ωn ⎠
δ st ω
x(t ) = A cos(ωn t − φ ) − cos ω t; for 〉1 (3.17)
⎛ω ⎞
2
ωn
1− ⎜ ⎟
⎝ ωn ⎠

• Beating Phenomenon
愼이
Beating occurs if the force frequency is close to, but not
一

土
exactly equal to, the natural frequency of the system.
 CH.3 Harmonically Excited Vibration
3.3 Response of an Undamped System Under Harmonic Force
⎛ F0 ⎞ ⎛ x&0 ⎞
x(t ) = ⎜ x0 − ⎟ cos ω t + ⎜ ⎟ sin ωn t
k − mω 2 ⎠ ⎝ ωn
n
⎝ ⎠
⎛ F0 ⎞
+⎜ 2 ⎟
cos ωt (3.9)
w/ zero ⎝ k − mω ⎠ wt_coswnt
initial ( F0 / m)
conditions x(t ) = (cos ωt − cos ωnt )
ωn2 − ω 2
E0 io o 쓶 fm
=
( F / m) ⎡
⎢
0
2sin
ω +ω
t sin
ω −ω ⎤
n
t⎥ n
(3.18)
ω −ω ⎣
2
n
2
2 2 ⎦

wi W2 Water Wn W
Let ωn − ω = 2ε
2W E+ ω 2ω
ω (3.20)
then n

and ωn2 − ω 2 = 4εω (3.21)

⎛ F /m ⎞
x(t ) = ⎜ 0 sin ε t ⎟ sin ω t (3.22)
⎝ 2εω ⎠
 CH.3 Harmonically Excited Vibration
3.3 Response of an Undamped System Under Harmonic Force

⎛ F /m ⎞
x(t ) = ⎜ 0 sin ε t ⎟ sin ω t (3.22)
⎝ 2εω ⎠
蝨 湫
2π 2π
Period of Beating τb = = (3.23)
2ε ωn − ω

Frequency of Beating ωb = 2ε = ωn − ω

o
쯜의절반i주기 쯢
Lagrange method
Multi DOFsystem 솗 E Et 븠 E 0.1t
Generalized coordinates q

[Link]
Generalized Force Q

iii
뿞 竿슬쁧 v Iki
흝 mi
mi
to t Kat 0
ki 0
0

횪 흝 mi to [Link]

Email
흝 mi to [Link] 0 0
[Link]
m [Link]
t옫[Link]
 CH.3 Harmonically Excited Vibration
3.4 Response of a Damped System Under Harmonic Force
• Equation of Motion of an Damped System Subjected to a Harmonic Force
mx&& + cx& + kx = F0 cos ωt (3.24)

• Particular Solution

x p (t ) = X cos(ω t − φ ) (3.25)

X ⎡⎣ ( k − mω 2 ) cos(ωt − φ ) − cω sin(ω t − φ ) ⎤⎦ = F0 cos ω t (3.26)

• Required Trigonometric Relations cos(ωt − φ ) = cos ωt cos φ + sin ωt sin φ

sin(ωt − φ ) = sin ωt cos φ − cos ωt sin φ

X ⎡⎣(k − mω 2 ) cos φ + cω sin φ ⎤⎦ = F0

X ⎡⎣(k − mω 2 ) sin φ − cω cos φ ⎤⎦ = 0 (3.27)

X=
Fo tune is
F0
⎡⎣(k − mω ) + c ω ⎤⎦
2 2 2 2 1/ 2

0 W
(3.28) φ = tan −1 ⎜
⎛ cω ⎞
2 ⎟
⎝ k − mω ⎠
(3.29)

k mm
 CH.3 Harmonically Excited Vibration
3.4 Response of a Damped System Under Harmonic Force

mic [Link] Ksc FoCosWE

 CH.3 Harmonically Excited Vibration
3.4 Response of a Damped System Under Harmonic Force
k
ωn = = undamped natural frequency,
m
c c c c
ζ = = = ; = 2ζωn ,
cc 2mωn 2 mk m
X 1 1
= =
M δ st ⎧⎡ 2 2 2⎫
1/ 2
(1 − r 2 ) 2 + (2ζ r ) 2
(3.30)
⎪ ⎛ω ⎞ ⎤ ⎡ ω⎤ ⎪
⎨ ⎢1 − ⎜ ⎟ ⎥ + ⎢ 2ζ ⎥ ⎬
⎪⎩ ⎢⎣ ⎝ ωn ⎠ ⎥⎦ ⎣ ωn ⎦ ⎪⎭
⎧ ω ⎫⎪
⎪ 2ζ
⎪ ωn ⎪ ⎛ 2ζ r ⎞
φ = tan −1 ⎨ 2⎬
= tan −1 ⎜ 2 ⎟
(3.31)
⎪ ⎛ω ⎞ ⎪ ⎝ 1− r ⎠
⎪1 − ⎜ ω ⎟ ⎪
⎩ ⎝ n⎠ ⎭

where
샤
F0
δ st = = deflection under the static force F0 , and
k
ω 0
r= = frequency ratio
ωn
 CH.3 Harmonically Excited Vibration
3.4 Response of a Damped System Under Harmonic Force
• Characteristics of Magnification Factor (M)
1. For an undamped system, M → ∞ as r → 1
2. Damping reduces the magnification factor (M).

wo
3. For a fixed r, the higher the damping ratio is, the smaller the magnification factor (M) is.
4. For a constant force (r=0), M=1.
5. M is most significantly varied at or near resonance.
6. M → 0 as r → ∞
7. For 0 < ζ < 1 2 , the maximum value of M occurs when
r = 1 − 2ζ 2 or ω = ωn 1 − 2ζ 2 ⎛X ⎞ 1
8. The maximum value of x (when r = 1 − 2ζ ) is ⎜⎜ ⎟⎟ =
2
and
δ
⎝ st ⎠ max 2ζ 1 − ζ
2

⎛X ⎞ 1
⎜⎜ ⎟⎟ =
⎝ δ st ⎠ω =ωn 2ζ
1 dM 1
9. For ζ = , = 0 when r = 0. For ζ > , the graph of M monotonically
2 dr 2
decreases with increasing values of r.

答 二 85t 21사가자 2 23H25

 I I

CH.3 Harmonically Excited Vibration

3.4 Response of a Damped System Under Harmonic Force
• Characteristics of Phase Angle
once phase phase
1. For an undamped system, Phase angle = 0 for 0 < r < 1 and 180° for r > 1. outfit
2. For ζ > 0 and 0 < r < 1 , the phase angle is given by 0 < φ < 90°

國
3. For ζ > 0 and r > 1 , the phase angle is given by 90° < φ < 180°
4. For ζ > 0 and r = 1 , the phase angle is given by φ <= 90°
5. For ζ > 0 and r → ∞ , the phase angle approaches φ → 180°

• Total Response
−ζωn t
under damping
x(t ) = X 0 e cos(ωd t − φ0 ) + X cos(ω t − φ ) (3.35)

where ωd = 1 − ζ 2 ω n (3.36)

x0 = X 0 cos φ0 + X cos φ
I.C.s
x&0 = −ζωn X 0 cos φ0 + ωd X 0 sin φ0 + ω X sin φ (3.37)
 CH.3 Harmonically Excited Vibration
3.4 Response of a Damped System Under Harmonic Force
• Quality Factor and Bandwidth
⎛X ⎞ ⎛X ⎞ 1
⎜ ⎟ ⎜ ⎟ = =Q (3.38)
For ζ < 0.05 ⎝ δ st ⎠max δ
⎝ st ⎠ω =ωn 2ζ

M at resonance e Quality Factor

쐊옶
f Equerry
Half-power points Q 례띲Iie
ㄿ
ft 슮 z쁢E핮f
0.707 ΔW = π cω X 2 (3.39)
一一

X 1 Q 1 To find
= = =
δ st (1 − r ) + (2ζ r )
2 2 2
2 2 2ζ R1, R2

or r 4 − r 2 (2 − 4ζ 2 ) + (1 − 8ζ 2 ) = 0 (3.40)
 CH.3 Harmonically Excited Vibration
3.4 Response of a Damped System Under Harmonic Force
• Quality Factor and Bandwidth

Solution gives r12 = 1 − 2ζ 2 − 2ζ 1 + ζ 2 , r22 = 1 − 2ζ 2 + 2ζ 1 + ζ 2 (3.41)

2
[Link] 2
⎛ω ⎞ ⎛ω ⎞
For small ζ r = R =⎜ 1 ⎟
2 2
1 − 2ζ , r = R = ⎜ 2 ⎟ 二 1 + 2ζ
2 2
(3.42)
⎝ ωn ⎠ ⎝ ωn ⎠
1 1 2 2

ω 22 − ω 12 = (ω2 + ω 1)(ω2 − ω 1) = ( R22 − R12 )ω 2n 4ζωn2 (3.43)

ω2 + ω 1= 2ωn Δω = ω2 − ω 1二 2ζωn (3.45)

Quality Factor 1 ωn
Q二 (3.46)
for small ζ 2ζ ω2 − ω 1
 CH.3 Harmonically Excited Vibration
i ωt
3.5 Response of a Damped System Under F (t ) = F0 e

Eq. of Motion mx&& + cx& + kx = F0 eiωt (3.47)

Assuming xp(t) x p (t ) = Xeiω t (3.48)

in the form

F0
X= (3.49)

×
[(k − mω 2
) − icω ] (k − mω 2 ) + icω

[(k − mω 2
) − icω ] ⎡
X = F0 ⎢
k − mω 2
− i
cω ⎤
(3.50)
⎥
⎣ (k − mω ) + c ω (k − mω 2 ) 2 + c 2ω 2 ⎦
2 2 2 2

F0
X= e − iφ (3.51)
2 1/ 2
⎡⎣(k − mω ) + c ω ⎤⎦
2 2 2

⎛ cω ⎞
φ = tan −1 ⎜ 2 ⎟
(3.52)
⎝ k − mω ⎠
F0
S.S. Solution x p (t ) = ei (ω t −φ ) (3.53)
2 1/ 2
⎡⎣(k − mω ) + (cω ) ⎤⎦
2 2
 CH.3 Harmonically Excited Vibration
i ωt
3.5 Response of a Damped System Under F (t ) = F0 e
• Frequency Response

Complex Frequency kX 1
= ≡ H (iω ) (3.54)
Response F0 1 − r 2 + i 2ζ r

Another Form of
Complex Frequency H (iω ) = H (iω ) e − iφ (3.56)
Response
kX 1
where H (iω ) = = 1/ 2
(3.55)
F0 ⎡⎣(1 − r 2 ) 2 + (2ζ r ) 2 ⎤⎦

S.S. ⎛ 2ζ r ⎞
φ = tan −1 ⎜ 2 ⎟
(3.57)
Solution ⎝ 1− r ⎠

F0 F0
x p (t ) = ei (ω t −φ ) x p (t ) = H (iω ) ei (ω t −φ ) (3.58)
2 1/ 2
⎡⎣(k − mω ) + (cω ) ⎤⎦
2 2
k
 CH.3 Harmonically Excited Vibration
i ωt
3.5 Response of a Damped System Under F (t ) = F0 e
• Frequency Response

F0
xp = cos(ω t − φ )
2 1/ 2
For F = F0 cos(ωt − φ ) ⎡⎣(k − mω ) − (cω ) ⎤⎦
2 2

⎡F ⎤ ⎡F ⎤
= Re ⎢ 0 H (iω )eiω t ⎥ = Re ⎢ 0 H (iω ) ei (ω t −φ ) ⎥
⎣k ⎦ ⎣k ⎦
F0
xp = sin(ω t − φ )
2 1/ 2
For F = F0 sin(ωt − φ ) ⎡⎣(k − mω ) − (cω ) ⎤⎦
2 2

⎡F ⎤ ⎡F ⎤
= Im ⎢ 0 H (iω )eiω t ⎥ = Im ⎢ 0 H (iω ) ei (ω t −φ ) ⎥
⎣k ⎦ ⎣k ⎦
 CH.3 Harmonically Excited Vibration
i ωt
3.5 Response of a Damped System Under F (t ) = F0 e
• Complex Vector Representation of Harmonic Motion
F0
Displacement x p (t ) = H (iω ) ei (ω t −φ ) (3.58)
k

F0
Velocity = x& p (t ) = iωH (iω ) ei (ω t −φ ) = iω x p (t )
k
F
x p (t ) = (iω )2 0 H (iω ) ei (ω t −φ ) = −ω 2 x p (t )
Acceleration = && (3.61)
k

π π i π2
i = cos + i sin =e (3.62)
2 2
−1 = cos π + i sin π = eiπ (3.63)

Velocity and acceleration

lead displacement by π/2
and π, respectively
 CH.3 Harmonically Excited Vibration
3.6 Response of a Damped System Under Harmonic Motion of the Base

Eq. of Motion
mx&& + c( x& − y& ) + k ( x − y ) = 0 (3.64)

With y (t ) = Y sin ωt
mx&& + cx& + kx = ky + cy& = k Y sin ω t + cω Y cos ω t
= A sin(ω t − α ) (3.65)

where A = Y k 2 + (cω ) 2 and α = tan −1 ⎡ − k ⎤

⎢⎣ cω ⎥⎦

Y k 2 + (cω ) 2
x p (t ) = sin(ω t − φ1 − α ) (3.66)
S.S. Response of Mass ⎡⎣(k − mω ) + (cω ) ⎤⎦
2 2 2 1/ 2

cω ⎞
where φ1 = tan −1 ⎛⎜ 2 ⎟
⎝ k − mω ⎠
 CH.3 Harmonically Excited Vibration
3.6 Response of a Damped System Under Harmonic Motion of the Base
Y k 2 + (cω ) 2
x p (t ) = sin(ω t − φ1 − α ) (3.66)
2 1/ 2
⎡⎣(k − mω ) + (cω ) ⎤⎦
2 2

Using
Trigonometric ⎛ cω ⎞
Identities
where φ1 = tan −1 ⎜ 2 ⎟
⎝ k − mω ⎠
x p (t ) = X sin(ω t − φ ) (3.67)
Displacement 1/ 2 1/ 2
Transmissibility X ⎡ k 2 + (cω ) 2 ⎤ ⎡ 1 + (2ζ r ) 2 ⎤
=⎢ ⎥ = ⎢ 2⎥
(3.68)
Y ⎣ (k − mω 2 ) 2 + (cω ) 2 ⎦ ⎣ (1 − r ) + (2ζ r ) ⎦
2 2

where −1 ⎡ mcω 3 ⎤ −1 ⎡ 2ζ r 3 ⎤
φ = tan ⎢ 2⎥
= tan ⎢ 2⎥
(3.69)
⎣ k (k − mω ) + (ω c) ⎦ ⎣1 + (4ζ − 1)r ⎦
2 2

⎧⎛ 1 + i 2ζ r ⎞ i ω t ⎫
x p (t ) = Re ⎨⎜ ⎟ Ye ⎬ (3.70)
Complex Form ⎩⎝ 1 − r 2
+ i 2ζ r ⎠ ⎭
X 1/ 2
and = Td = ⎡⎣1 + (2ζ r ) 2 ⎤⎦ H (iω ) (3.71)
Y
 CH.3 Harmonically Excited Vibration
3.6 Response of a Damped System Under Harmonic Motion of the Base
 CH.3 Harmonically Excited Vibration
3.6 Response of a Damped System Under Harmonic Motion of the Base
• Some aspects of displacement transmissibility

1. Td=1 at r=0 and Td≈1 for r <<1

2. For ζ=0, Td->∞ at resonance (r=1)
3. Td<1 for r>√2 and for any amount of damping
4. Td=1 at r= √2 for all values of ζ
5. Td attains maximum at r=rm (for 0<ζ<1)

rm =
1
2ζ
[ 1 + 8ζ −1]
2
1/ 2
 CH.3 Harmonically Excited Vibration
3.6 Response of a Damped System Under Harmonic Motion of the Base
• Force Transmitted

Transmitted Force
F = k ( x − y ) + c( x& − y& ) = − mx&& (3.72)

With
x p (t ) = X sin(ωt − φ ) (3.67)

F = mω 2 X sin(ωt − φ ) = FT sin(ωt − φ ) (3.73)

Amplitude of
Where Transmitted Force
1/ 2
FT 2 ⎡ 1 + (2ζ r ) 2 ⎤
=r ⎢ 2⎥
(3.74)
⎣ (1 − r ) + (2ζ r ) ⎦
2 2
kY
 CH.3 Harmonically Excited Vibration
3.6 Response of a Damped System Under Harmonic Motion of the Base
• Relative Motion
mz&& + cz& + kz = − my&& = mω 2Y sin ωt (3.75)

Relative displacement: z=x-y

S.S. Solution
mω 2Y sin(ωt − φ1 )
z (t ) = = Z sin(ωt − φ1 ) (3.76)
2 1/ 2
⎡⎣(k − mω ) + (cω ) ⎤⎦
2 2

Where
mω 2Y r2
Z= =Y (3.77)
(k − mω ) + (cω )
2 2 2
(1 − r ) + (2ζ r )
2 2 2

⎛ cω ⎞ −1 ⎛ 2ζ r ⎞
φ1 = tan −1 ⎜ 2 ⎟
= tan ⎜ 2 ⎟
⎝ k − mω ⎠ ⎝ 1− r ⎠
 CH.3 Harmonically Excited Vibration
3.6 Response of a Damped System Under Harmonic Motion of the Base
• Example 3.3 Vehicle Moving on a Rough Road

Figure 3.18 shows a simple model of a

motor vehicle that can vibrate in the
vertical direction while traveling over a
rough road. The vehicle has a mass of
1,200 kg. The suspension system has a
spring constant of 400 kN/m and a
damping ratio of ζ=0.5. If the vehicle
speed is 20 km/hr, determine the
displacement amplitude of the vehicle.
The road surface varies sinusoidally
with an amplitude of Y=0.05 m and a
wavelength of 6 m.
 CH.3 Harmonically Excited Vibration
3.6 Response of a Damped System Under Harmonic Motion of the Base
• Example 3.3 Vehicle Moving on a Rough Road

⎛ v ×1000 ⎞ 1 Length of one cycle

ω = 2π f = 2π ⎜ ⎟ = 0.290889v rad/s
⎝ 3600 ⎠ 6 of road roughness

For v=20 km/hr,ω=5.81778 rad/s

1/ 2
k ⎛ 400 × 103 ⎞ Natural freq. of
ωn = =⎜ ⎟ = 18.2574 rad/s vehicle
m ⎝ 1200 ⎠

ω 5.81778
Freq. Ratio r= = = 0.318653
ωn 18.2574
1/ 2 1/ 2
X ⎧ 1 + (2ζ r ) 2 ⎫ ⎧ 1 + (2 × 0.5 × 0.318653) 2 ⎫
Amp. Ratio =⎨ ⎬ =⎨ 2⎬
Y ⎩ (1 − r 2 ) 2 + (2ζ r ) 2 ⎭ ⎩ (1 − 0.318653) + (2 × 0.5 × 0.318653) ⎭
2

= 1.469237

X = 1.469237 Y = 1.469237(0.05) = 0.073462 m

 CH.3 Harmonically Excited Vibration
3.7 Response of a Damped System Under Rotating Unbalance
Eq. of Motion
Mx&& + cx& + kx = meω 2 sin ωt (3.78)

Particular Solution
⎡ me ⎛ ω ⎞ 2 ⎤
i (ωt −φ )
x p (t ) = X sin(ωt − φ ) = Im ⎢ ⎜ ⎟ H (iω ) e ⎥ (3.79)
⎢⎣ M ⎝ ωn ⎠ ⎥⎦
Where
2
meω 2 me ⎛ ω ⎞
X= = ⎜ ⎟ H (iω ) (3.80)
1/ 2
⎡⎣(k − M ω 2 ) 2 + (cω ) 2 ⎤⎦ M ⎝ ωn ⎠

⎛ cω ⎞
φ = tan −1 ⎜ 2 ⎟
(3.81)
⎝ k − Mω ⎠

MX r2
= 1/ 2
= r 2 H (iω ) (3.82)
me ⎡(1 − r ) + (2ζ r ) ⎤
2 2 2
⎣ ⎦
⎛ 2ζ r ⎞
and φ = tan −1 ⎜ 2 ⎟
(3.83)
⎝ 1− r ⎠
 CH.3 Harmonically Excited Vibration
3.7 Response of a Damped System Under Rotating Unbalance
• Observations on Rotating Unbalance

1. All curves begin at zero amplitude. At resonance, the amplitude

becomes large, so that damping should be introduced to avoid failure.
2. At very high speed (ω large), MX/me is almost unity, and the effect of
damping is negligible.
3. For 0 < ζ < 1 2 , the maximum of MX/me occurs when d ⎛⎜ MX ⎞⎟ = 0 ,
dr ⎝ me ⎠
which gives 1 MX ⎛ ⎞1
r= >1 and ⎜ ⎟ =
1 − 2ζ 2
⎝ me ⎠ max 2ζ 1 − ζ 2
Thus the peaks occur to the right of the resonance value of r=1.
4. For ζ > 1 2 , MX/me does not attain a maximum. Its value grows from
0 at r=0 to 1 at r->∞.
 CH.3 Harmonically Excited Vibration
3.8 Forced Vibration with Coulomb Damping

Eq. of Motion
mx&& + kx ± μ N = F (t ) = F0 sin ωt (3.85)

Dissipated Energy in a Cycle

ΔW = 4μ NX (3.86)
Dissipated Energy in a Cycle w/
Equivalent Viscous Damping
ΔW = π ceqω X 2 (3.87)

4μ N
ceq = (3.88)
πω X
 CH.3 Harmonically Excited Vibration
3.8 Forced Vibration with Coulomb Damping

S.S. Response
x p (t ) = X sin(ω t − φ ) (3.89)
F0 ( F0 / k )
where X= = (3.90)
2 1/ 2 2 1/ 2
⎡⎣( k − mω ) + (ceqω ) ⎤⎦
2 2
⎡⎛ ω ⎞ ⎛2
2
ω ⎞ ⎤
⎢⎜1 − 2 ⎟ + ⎜ 2ζ eq ⎟ ⎥
⎢⎣⎝ ω n ⎠ ⎝ ω n ⎠ ⎥
⎦
with ceq ceq 4μ N 2μ N
ζ eq = = = = (3.91)
cc 2mωn 2mωnπω X π mωωn X
( F0 / k )
X= 1/ 2
(3.92) Only valid the friction force is
⎡⎛ ω 2 ⎞ ⎛ 4 μ N ⎞
2 2 ⎤
⎢⎜ 1 − 2 ⎟ + ⎜ ⎥ small compared to F0.
⎟
⎢⎣⎝ ωn ⎠ ⎝ π kX ⎠ ⎥⎦
2
⎛ 4μ N ⎞ F0 4
1− ⎜ ⎟ >0 or >
⎡ ⎛ 4μ N ⎞2 ⎤
1/ 2
⎝ π F0 ⎠ μN π
⎢1 − ⎜ ⎟ ⎥
F0 ⎢ ⎝ π F0 ⎠ ⎥
X= ⎢ (3.93)
k ⎛ ω 2 ⎞2 ⎥
⎢ 1− ⎥
⎢⎣ ⎜⎝ ωn2 ⎟⎠ ⎥⎦
 CH.3 Harmonically Excited Vibration
3.8 Forced Vibration with Coulomb Damping

Phase Angle ⎡ ⎛ 4μ N ⎞2 ⎤
1/ 2

⎡
2ζ eq
ω ⎤ ⎧ 4μ N ⎫ ⎢1 − ⎜ ⎟ ⎥
⎛ c ω ⎞ ⎢ ωn ⎥ ⎪
−1 ⎪ π kX
⎪
⎪ F0 ⎢ ⎝ π F0 ⎠ ⎥
φ = tan −1 ⎜ eq 2 ⎟ = tan −1 ⎢ ⎥ = tan ⎨ X= ⎢ (3.93)
k ⎛ ω 2 ⎞2 ⎥
⎬ (3.94)
⎝ k − mω ⎠ ⎢ ω2 ⎥ ⎪1 − ω
2
⎪
⎢ 1− ω2 ⎥ ⎢ 1− ⎥
⎩⎪ ωn ⎭⎪ ⎢⎣ ⎜⎝ ωn2 ⎟⎠ ⎥⎦
2
⎣ n ⎦
⎡ ⎤ ⎡ ⎤
⎢ 4 μN ⎥ ⎢ 4 μN ⎥
⎢ π ⎥ ⎢ ⎥
F πF0
φ = tan ⎢
−1 0 ⎥ φ = ± tan −1 ⎢ ⎥ + for ω/ωn <1
⎢⎧ ⎛ 2 1/ 2 ⎥ ⎢⎧ ⎛ 2 1/ 2 ⎥
⎫ ⎫ - for ω/ωn >1
⎢ ⎪⎨1 − ⎜ 4 μN ⎞⎟ ⎪⎬ ⎥ ⎢ ⎪⎨1 − ⎜ 4 μN ⎞⎟ ⎪⎬ ⎥
⎢ ⎪ ⎜⎝ πF0 ⎟⎠ ⎪ ⎥ ⎢ ⎪ ⎜⎝ πF0 ⎟⎠ ⎪ ⎥
⎣⎩ ⎭ ⎦ ⎣⎩ ⎭ ⎦
Dissipated Energy for One Cycle
dx
F sin ωt ⋅ [ωX cos(ωt − φ )]dt
τ τ = 2π / ω
ΔW ′ = ∫ F ⋅ dx = ∫ F dt = ∫ (3.97)
cycle 0 dt 0

2π / ω
At resonance φ = 90° and ΔW ′ = F0 Xω ∫ sin 2 ωtdt = πF0 X (3.98)
0

2π / ω
ΔW ' = ω F0 X ∫ sin ωt cos(ωt − φ )dt = π F0 X sin φ (3.99) For ω/ωn≠1
0
 CH.3 Harmonically Excited Vibration
3.8 Forced Vibration with Coulomb Damping
 CH.3 Harmonically Excited Vibration
3.8 Forced Vibration with Hysteresis Damping

Eq. of Motion
βk
mx&& + x& + kx = F0 sin ωt (3.100)
ω
where (β k ω )x& = (h ω )x& denotes the damping force

Assumed S.S. Solution

x p (t ) = X sin(ωt − φ ) (3.101)

F0 ⎡ ⎤
X= (3.102) ⎢ ⎥
⎡⎛ ω 2 ⎞ 2 ⎤
1/ 2
−1 ⎢ β ⎥
φ = tan (3.103)
k ⎢⎜ 1 − 2 ⎟ + β 2 ⎥ ⎢⎛ ω ⎞ ⎥2

⎢⎣⎝ ωn ⎠ ⎥⎦ ⎢ ⎜1 − 2 ⎟ ⎥
⎣⎢ ⎝ ωn ⎠ ⎦⎥
 CH.3 Harmonically Excited Vibration
3.8 Forced Vibration with Hysteresis Damping
• Comparison w/ Viscous Damping
1. The amplitude ratio X/(F0/k) attains its maximum
value of F0/kβ at resonance in the case of hysteresis
damping, while it occurs at a frequency below
resonance in the case of viscous damping.
2. The phase angle φ has a value of tan-1(β) at ω=0 in
the case of hysteresis damping, while it has a value of
zero at ω=0 in the case of viscous damping. This
indicates that the response can never be in phase with
the forcing function in the case fo hysteresis damping.
Note: Complex Stiffness for the Harmonic Excitation
βk
mx&& + x& + kx = F0 eiωt (3.104) Eq. of Motion
ω
Fo eiωt
x(t ) = (3.106)
mx&& + k (1 + i β ) x = F0 eiωt (3.105) ⎡ ⎛ ω ⎞2 ⎤
k ⎢1 − ⎜ ⎟ + i β ⎥ S.S. Solution
⎢⎣ ⎝ ωn ⎠ ⎥⎦