Harmonically Excited

Vibrations
ME-304 Mechanical Vibrations

Undamped system under Harmonic Excitation:

+ = cos
= 0 :
= A1 cos + 2 sin

.

= cos

:
2 + =


= + = A1 cos + 2 sin + X cos
:
0 = ;
1 2

0 =

1 =

2 =

= ( ) cos +
sin + X cos

=
2


: =

: =

1
=
1 2
This term is called the
amplification factor, amplitude
ratio, magnification factor or
simply gain
Gain is a function of frequency
ratio

In Phase Response
(Frequency ratio, r < 1)

Out of Phase Response

(Frequency ratio, r > 1)

Resonance
(Frequency Ratio, r = 1)
: 0 = 0 ; 0 = 0

= X (cos cos )

=
2

=
=

() =

2 (cos

cos )

 = 1, = ;
,
() =

2 (cos

cos )

We can use L'Hpital's rule:

Beating Phenomenon
(Frequency Ratio, r close to 1)

We found the response of the system with zero initial

conditions to be:
() =

2 (cos

cos )

Using trigonometric identities, we can rewrite:

When the difference between the driving frequency

and natural frequency is small. We define a small
quantity epsilon, :

Rewriting the response of the system:

() =
2 (cos cos )

2
+

() = 2
(2 sin(
) sin(
) )
2
2
2

() =
(2 sin(
) sin(
) )
4
2
2

() =
(sin )
2

: sin

, sin

Damped System with Harmonic Force

+ + = cos
Many ways to get the particular solution.

1. Using undetermined coefficients

a. Assume a particular solution of the form:

b. Plug it back in to the EOM:

c. Use trigonometric identities to expand cos and sin terms:

d. Equate the coefficients of cos(t) and sin(t) in above equation

e. Solve for and X

f. Solution may be expressed in terms of dimensionless numbers

2. Using Complex Form

:
,
cos .
cos

+ + =
:
=

:
2 + + =
2 + =

 2 + =
This is called the Mechanical impedance of the system: = 2 +

=
2 +
There is an imaginary term in the denominator. We can get rid of that and
separate the real and imaginary parts by multiplying and dividing by the
complex conjugate of the denominator.

2
=

2
+ 2
=

2
2 2 +

1
2
2
= , = + = tan

2
2 2 +

2
2

2
=

tan1

Use these results to rewrite the particular solution of the system:

()

()

The real part of the particular solution is the same as what we got before:

cos


The equation, =
2 +
can rewritten in terms of dimensionless numbers:
/
=
2
1
+

=
; =

; = =

1
=
()
2
1 + 2
This term is called the Frequency Response Function

Total Solution:

Using ICs, we can find unknowns

Note that only the particular solution doesnt decay exponentially,

whereas the homogenous part will decay and die out eventually.
So the particular part is often called the Steady State solution,
and the homogenous part is called the transient solution

f. Solution may be expressed in terms of dimensionless numbers

=
2 2 + 2

=
1

+ 2

1
1 2

+ 2

This expression gives us the Gain of the system as a function of

frequency ratio r and damping ratio
This is plotted on the next slide, for different damping ratios

2
1
1
= tan
= tan
2

1 2

Base Excitation
Lets look at the response of the system when the base of a
mass-spring-damper system undergoes harmonic motion.

The Equation of Motion of the system (using the free-body

diagram) looks like:
=

= ( )
+ + = +
= sin

+ + = cos + sin
: cos + sin
rewritten in the fom A sin( )
A sin( ) = cos + sin
sin cos sin cos = cos + sin
Must find A and , by comparing the terms on either side of the
equation

 sin =
cos =
=

= tan1

+ 2

= tan1 (2)

And the equation of motion is:

+ + = sin( )
This shows that giving excitation of the base is equivalent to
applying a harmonic force of magnitude A.
Weve already solved this for a slightly different forcing function,
we dont really need to solve this again. We can just borrow
results we derived before with a few modifications.

One way of doing this, is by comparing with the solution we got

using complex notation
Harmonic Excitation

Base Excitation

cos

sin( )
()

+ + =

+ + = ()

Assume particular solution:

Assume particular solution:

= ()

Solution in complex form:

=

The real part of this solution

represents the solution for the
forcing function F cos

Solution in complex form:

() =

( )

The imaginary part of this solution

represents the solution for the forcing
function sin( )

()

Here, we were trying to compare the

static displacement st with the
magnitude of the particular solution,
(or steady state solution), X

1
1 2

+ 2

2 +
2

(1 )

()

= + 1
Were trying to compare the magnitude
of the input displacement, Y and the
magnitude of the particular solution, X

2 + 2
2 2 +

We can rewrite this in terms of

frequency ratio and damping ratio:

1 + 2 2
1 2 2 + 2

This term is called displacement

transmissibility:

Base Excitation Force Transmissibility

In base excitation, a force F is transmitted to the base or
support due to the reactions from the spring and the dashpot.
This force can be determined as:
= + =
Consider the particular solution:

2 +
2

2 +

()

= sin( )
=

 = 2 X sin
= 2

2 +
2

sin

The maximum value of this force FT is given by:

2 +

= 2

= 2

2 +
2

Lets try to rewrite this in terms of frequency ratio and

damping ratio:

= 2

1 + 2

1 2

+ 2

 2
=

= 2

1 + 2

1 2

1 + 2
1 2

+ 2

+ 2

This term is called the force transmissibility

Rotating Unbalance

Rotating Unbalance

Rotating Unbalance
=
+ + = mo e2 sin
This is effectively the same problem as before, with F= moe2
=

2
2

1
= tan
2

()

= sin( )
=

2
2

Time to make this non-dimensional. Rewrite in terms of zeta and r

1 2 2 + 2

1 2 2 + 2

1 2 2 + 2

2
2

2
1 2

+ 2

This term is the dimensionless displacement magnitude of the system.

The force F is transmitted to the foundation due to the rotating

unbalanced force is given by:
= + ()
The maximum value of this force FT is given by:

= 2

1 + 2

1 2

+ 2