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Chapter 2

2.1 a. Spring constant, k : The change in the force per unit length change of the spring.
b. Coefficient of subgrade reaction, k:

1
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 Spring constant divided by the foundation contact area,

k
k 
A
k
c. Undamped natural circular frequency:  n  rad/s
m
W
where m = mass =
g

1 k
d. Undamped natural frequency: f n  (in Hz)
2 m

Note: Circular frequency defines the rate of oscillation in term of radians per unit
time; 2π radians being equal to one complete cycle of rotation.

e. Period, T: The time required for the motion to begin repeating itself.

n
f. Resonance: Resonance occurs when 1

g. Critical damping coefficient: cc  2 km

W
where k = spring constant; m = mass =
g
c c
h. Damping ratio: D = 

cc 2 km

where c = viscous damping coefficient; cc = critical damping coefficient

i. Damped natural frequency:

d  n 1 D 2

f d  1  D 2 f n

2
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2.2 Weight of machine + foundation, W = 400 kN
Spring constant, k = 100,000 kN/m
W 400 kN
Mass of the machine + foundation, m = = = 40.77

g 9.81 m s2

Natural frequency of undamped free vibration is [Eq. (2.19)]

1 k 1 100,000
fn  = = 7.88 Hz
2 m 2 40.77

1 1
From Eq. (2.18), T = = = 0.127 s

fn 7.88

2.3 Weight of machine + foundation, W = 400 kN

Spring constant, k = 100,000 kN/m

Static deflection of foundation is [Eq. (2.2)]

W 400
zs    4 103 m = 4 mm
k 100,000

2.4 External force to which the foundation is subjected, Q  35.6sin  t kN

f = 13.33 Hz
Weight of the machine + foundation, W = 178 kN
Spring constant, k = 70,000 kN/m

For this foundation, let time t = 0, z = z0 = 0, zɺ = v 0 = 0

W 178 kN
a. Mass of the machine + foundation, m = = = 18.145

g 9.81 m s2

k 70,000
n   = 62.11 rad/s
m 18.145

2 2
T  = 0.101 s
 n 62.11

b. The frequency of loading, f = 13.33 Hz

  2 f  2 (13.33)  83.75 rad/s

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  Q k 
Force due to forced part, F  k 0
sin  t
 
1  n 
1 2 2

 35.670, 000 
 (70, 000) sin(83.75t)
 
1 83.752 62.112
 
 43.51sin(83.75t ) kN

See the plot below for F1 vs. t

 Q k  

 
c. Force due to free part, F  k 0
 sin  t
 2  
1  n    n
2 2 n

 35.670, 000   83.75 
 70, 000  sin(62.11t)
  
1 83.752 62.112  62.11
  
 58.67sin(62.11t) kN

See the plot above in Part b for F2 vs. t.

d. Total dynamic force on the subgrade:

F  F1  F2  43.51sin(83.75t)  58.67(62.11t) kN

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 The plot of variation of the dynamic force on the subgrade of the foundation due
to (a) forced part, (b) free part, and (c) total of the response for time t = 0 to t = 2T
is shown in the figure above (Part b).

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2.5 The natural frequency of the undamped free vibration of the spring mass system is given by
1 k eq
fn  where keq = equivalent stiffness of the spring system
2 m

For springs attached in series, the equivalent stiffness is given by

1 1 1 1 kk
  , or  1 2
k eq k1 k 2 k eq k1  k 2

The natural frequency of the given undamped free vibration spring mass system is
1 k1k2  
f  

k1  k2
n
2π m

2.6 The natural frequency of the undamped free vibration of the spring mass system is given by
1 k eq
fn  where keq = equivalent stiffness of the spring system
2 m

For springs attached in parallel, the equivalent stiffness is given by

keq = k1 + k2

The natural frequency of the given undamped free vibration spring mass system is
1 (k1 k2 )
fn 
2π m

2.7 The natural frequency of the undamped free vibration of the spring mass system is given by
1 k
 where k = equivalent stiffness of the spring system
eq
fn eq
2 m

In the given spring-mass system, springs with stiffness k1 and k2 are in series.
Hence, their equivalent stiffness is
kk 100200  20,000
k eq(1,2)  1 2    66.67 N/mm
k1  k 2 100  200 300

Similarly, springs with stiffness k4 and k5 are in series. Hence, their equivalent stiffness is
k k 100150
k eq(4,5)  4 5   60 N/mm
k 4  k 5 100  150
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 Now, the given spring system can be reduced to three springs in series.

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 The resulting system will be three springs in parallel. Their equivalent stiffness is given by

k eq  k eq (1,2)  k 3  k eq ( 4,5)  66.67  150  60  276.67 N/mm  276.67 kN/m

The natural frequency of the undamped free vibration of the spring mass system is given by
1 keq 1 267.67 1000
f  
= 8.37 Hz
2 m 2
n
100

Time period T  (1/f n )  (1/8.37)  0.119 s

2.8 Sinusoidal–varying force, Q  50 sin  t N; Q0  50 N; ω = 47 rad/s

k eq 276.671000
 n   = 52.6 rad/s
m 100

Amplitude of vibration = static deflection zs × magnification M

Q 50
zs  0  = 0.1807 mm
k eq 276.67

From Eq. (2.34),

1 1
M  = 4.96
1  ( n )2 1  (47 52.6) 2

Amplitude of vibration = 0.1807  4.96 = 0.896 mm

2.9 Weight of the body, W = 135 N

Mass of the body, m  W g  135 9.81  13.76 kg

Spring constant, k = 2600 N/m

Dashpot resistance, c  0.7 (60 1000)  11.67 N-s/m

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 a. Damped natural frequency [Eq. (2.67)]
f d  1 D2 f n

c c 11.67
D   = 0.031

cc 2 km 2 2600 13.76

1 k 1 2600
fn   = 2.19 Hz
2 m 2 13.76

f d  1  0.031 2  (2.19) = 2.18 Hz

b. Damping ratio [Eq. (2.47b)],

c c 11.67
D    0.031

cc 2 km 2 2600 13.76

c. Ratio of successive amplitudes of the body is given by [Eq. (2.70)],

Zn
 e
Z n1

 Z  2 D 2 0.031

where   ln n    = 0.195
Z  
 n1  1  D 1  0.0312
2

Zn
 e  e 0.195 = 1.215
Z n1

d. At time t = 0 s, amplitude Z0 = 25 mm.

After n cycles of disturbance
1 Z0 2D Z 2nD
ln  ; ln 0 

n Zn 1  D2 Zn 1 D2

With n = 5,

Z 0 25 D 25 0.031

ln   = 0.974
Z5 1  D2 1  0.0312

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 Z0 25
 e 0.974 = 2.649; Z 5  = 9.44 mm
Z5 2.649

After 5 cycles of disturbance, the amplitude of vibration = 9.44 mm

1
0
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2.10 Q0 = 6.7 kN

ω = 3100 rad/min = 51.67 rad/s

Weight of machine + foundation, W = 290 kN
Spring constant, k = 875 MN/m = 875,000 kN/m
k 875,000103
Natural angular frequency, n   = 172.04 rad/s
m 290103 9.81

0Q 6.7
From Eq. (2.43), Fdynam   = 9.58 kN
1  ( n ) 1 (51.67 172.04)

Maximum force on the subgrade = 290 + 9.58 = 299.58 kN

Minimum force on the subgrade = 290 − 9.58 = 280.42 kN

2.11 Q0 = 200 kN
ω = 6000 rad/min = 100 rad/s
Weight of machine + foundation, W = 400 kN
Spring constant, k = 120,000 kN/m

k 120,000 10w3
Natural angular frequency, n   = 54.25 rad/s
m 400 103 9.81

Q0 200
Dynamic force, Fdynam   = 237.16 kN

1   n 1  (100 54.25)

Maximum force on the subgrade = 400 + 237.16 = 637.16 kN

Minimum force on the subgrade = 400 − 237.16 = 162.84 kN

2.12 Weight of the body, W = 800 kN

Spring constant, k = 200,000 kN/m
Dashpot coefficient, c = 2340 kN-s/m

1
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 1
2
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 a. cc  2 km  2 200,000800 9.81 = 8077.1 kN-s/m

c  2340 = 0.29
b. Damping ratio, D 
cc 8077.1

2D 2  0.29
c.    = 1.9
1 D2 1  0.29 2

1 200,000  9.81
d. f d  1 D 2 f n ; f n  2 = 7.88 Hz
800

f d  1  0.29 2  7.88 = 7.54 Hz

2.13 Weight of the body, W = 800 kN

Spring constant, k = 200,000 kN/m
Dashpot coefficient, c = 2340 kN-s/m
Q0 = 25 kN
Operating frequency, ω = 100 rad/s
k 200,000 9.81
a. Natural circular frequency, n   = 49.52 rad/s
m 800

From Problem 2.12, damping ratio, D = 0.29

From Eq. (2.28), the amplitude of vertical vibration of the foundation is

(Q0 k)
Z
[1 ( n2 )]2  4D 2 ( 2 n2 )
2

(25200,000)

[1 (100 49.522 )]2  4  0.29 2 (1002 49.522 )
2

 3.795  10 5 m  3.795  10 2 mm

b. From Eq. (2.90), the maximum dynamic force transmitted to the subgrade is
Z k 2  (c) 2  (3.795105 ) 200,0002   11.68 kN
(2340100) 2

1
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Principles of Soil Dynamics, 3E Das/Luo

Chapter 2

Fundamentals
of Vibration

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accessible website, in whole or in part. 1
Principles of Soil Dynamics, 3E Das/Luo

2.1 Introduction
∗ Satisfactory design of foundations for vibrating
equipment is mostly based on displacement
considerations.

∗ Displacement due to vibratory loading can be classified

under two major divisions:
∗ Cyclic displacement due to the elastic response of the soil-
foundation system to the vibrating loading

∗ Permanent displacement due to compaction of soil below

the foundation

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2
Principles of Soil Dynamics, 3E Das/Luo

2.1 Introduction Cont’d

∗ In order to estimate the cyclic displacement, it is
essential to know the nature of the unbalanced forces.

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website, in whole or in part.
3
Principles of Soil Dynamics, 3E Das/Luo

2.1 Introduction Cont’d

∗ Note that a foundation can vibrate in any or all six
possible modes.

∗ For ease of analysis, each mode is considered

separately and design is carried out by considering the
displacement due to each mode separately.

∗ Approximate mathematical models for computing the

displacement of foundations under dynamic loads can
be developed by treating soil as a viscoelastic material.

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website, in whole or in part.
4
Principles of Soil Dynamics, 3E Das/Luo

2.2 Fundamentals of Vibration

∗ Following are some essential definitions for the
development of vibration theories:
Free Vibration: Vibration of a system under the action of forces
inherent in the system itself and in the absence of externally
applied forces. The response of a system is called free vibration
when it is disturbed and then left free to vibrate about some
mean position.

Forced Vibration: Vibration of a system caused by an external

force. Vibrations that result from regular (rotating or pulsating
machinery) and irregular (chemical process plant) exciting
agencies are also called as forced vibrations.

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website, in whole or in part.
5
Principles of Soil Dynamics, 3E Das/Luo

2.2 Fundamentals of Vibration Cont’d

Degree of Freedom: The number of independent coordinates
required to describe the solution of a vibrating system.

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website, in whole or in part.
6
Principles of Soil Dynamics, 3E Das/Luo
System with Single Degree of Freedom
2.3 Free Vibration of a Spring-Mass
System
∗ Figure 2.4 shows a foundation
resting on a spring. Let the spring
represent the elastic properties of
the soil. The load W represents
the weight of the foundation plus
that which comes from the
machinery supported by the
foundation.

∗ If the area of the foundation is

equal to A, the intensity of load
transmitted to the subgrade can
be given by:

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website, in whole or in part.
7
Principles of Soil Dynamics, 3E Das/Luo

2.3 Free Vibration of a Spring-Mass

System Cont’d
∗ If the foundation is disturbed from its static equilibrium position,
the system will vibrate.

∗ The equation of motion of the foundation when it has been

disturbed through a distance z can be written from Newton’s
second law of motion as:

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website, in whole or in part.
8
Principles of Soil Dynamics, 3E Das/Luo

2.3 Free Vibration of a Spring-Mass

System Cont’d
∗ In order to solve the equation;

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website, in whole or in part.
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Principles of Soil Dynamics, 3E Das/Luo

2.3 Free Vibration of a Spring-Mass

System Cont’d
∗ Substitutions yield: where

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website, in whole or in part.
10
Principles of Soil Dynamics, 3E Das/Luo

2.4
2.3Forced VibrationofofaaSpring-Mass
Free Vibration Spring-Mass
System
∗ Figure on the right shows a foundation that has
been idealized to a simple spring-mass system.
Weight W is equal to the weight of the
foundation itself and that supported by it; the
spring constant is k.
∗ This foundation is being subjected to an
alternating force:

∗ This type of problem is generally encountered

with foundations supporting reciprocating
engines, and so on.

∗ The equation of motion for this problem can be

given by:

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website, in whole or in part.
11
Principles of Soil Dynamics, 3E Das/Luo

2.4
2.3Forced VibrationofofaaSpring-Mass
Free Vibration Spring-Mass
System Cont’d
Maximum Force on Foundation Subgrade
The maximum and minimum force on the foundation subgrade will occur at
the time when the amplitude is maximum, i.e., when velocity is equal to
zero.

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website, in whole or in part.
12
Principles of Soil Dynamics, 3E Das/Luo

2.4
2.3Forced VibrationofofaaSpring-Mass
Free Vibration Spring-Mass
System Cont’d
∗ For maximum deflection;

∗ Since ω is not equal to zero,

∗ In order to determine the maximum dynamic force, the maximum value of

zmax is required:

∗ Hence:

∗ The total force on the subgrade will vary between the limits

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website, in whole or in part.
13
Principles of Soil Dynamics, 3E Das/Luo

2.52.3
Free Vibration
Free with
Vibration of Viscous Damping
a Spring-Mass
∗ In the case of undamped
free vibration, vibration
would continue once the
system has been set in
motion. However, in
practical cases, all
vibrations undergo a
gradual decrease of
amplitude with time. This
characteristic of vibration is
called damping.

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website, in whole or in part.
14
Principles of Soil Dynamics, 3E Das/Luo

2.52.3
Free Vibration
Free with
Vibration of Viscous Damping
a Spring-Mass
∗ For free vibration of the foundation, the differential equation of motion
can be given by:

∗ There are three general conditions that may be developed from these
equations:

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website, in whole or in part.
15
Principles of Soil Dynamics, 3E Das/Luo

2.6 Steady-State
2.3 Forced
Free Vibration Vibration with
of a Spring-Mass
Viscous Damping
∗ In the case of a foundation resting on a soil that can be approximated to
an equivalent spring and dashpot, the foundation is being subjected to a
sinusoidally varying force. The differential equation of motion for this
system can be given as:

∗ The transient part of the vibration is damped out quickly. Considering the
particular solution for the steady-state motion, let

where A1 and A2 are constants.

∗ Therefore:
∗ and;

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website, in whole or in part.
16
Principles of Soil Dynamics, 3E Das/Luo

2.6 Steady-State
2.3 Forced
Free Vibration Vibration with
of a Spring-Mass
Viscous Damping Cont’d

∗ The amplitude of vibration at

resonance can be obtained by:

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website, in whole or in part.
17
Principles of Soil Dynamics, 3E Das/Luo

2.6 Steady-State
2.3 Forced
Free Vibration Vibration with
of a Spring-Mass
Viscous Damping Cont’d
Maximum Dynamic Force Transmitted to the Subgrade
For vibrating foundations, it is sometimes necessary to determine the
dynamic force transmitted to the foundation. This can be given by summing
the spring force and the damping force caused by relative motion between
mass and dashpot; that is:

If we let;

Then;

Hence, the
magnitude of maximum dynamic force will be:

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website, in whole or in part.
18
Principles of Soil Dynamics, 3E Das/Luo

2.7Free
2.3 Rotating-Mass-Type Excitation
Vibration of a Spring-Mass

∗ In many cases of foundation equipment, vertical vibration of foundation

is produced by counter-rotating masses. Since horizontal forces on the
foundation at any instant cancel, the net vibrating force on the
foundation can be determined to be equal to 2meeω2sinωt (where me =
mass of each counter-rotating element, e = eccentricity, and ω =
angular frequency of the masses).

∗ In such cases, the equation of motion with viscous damping can be

modified to the form:

∗ The solution for displacement is:

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website, in whole or in part.
19
Principles of Soil Dynamics, 3E Das/Luo

2.72.3
Rotating-Mass-Type Excitation
Free Vibration of a Cont’d
Spring-Mass

∗ The angular resonant frequency for

rotating-mass-type excitation can be
obtained as:

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website, in whole or in part.
20
Principles of Soil Dynamics, 3E Das/Luo

2.8
2.3 Determination
Free Vibration of Damping Ratio
a Spring-Mass

∗ The damping ratio D can be determined from free and forced vibration
tests on a system. In a free vibration test, the system is displaced from
its equilibrium position, after which the amplitudes of displacement are

recorded with time:

∗ If D is small, then

∗ Where Zn = the peak amplitude of the nth cycle. Thus,

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website, in whole or in part.
21
Principles of Soil Dynamics, 3E Das/Luo

2.9
2.3 Vibration-Measuring Instrument
Free Vibration of a Spring-Mass

∗ Based on the theories of vibration presented in the preceding sections, it

is now possible to study the principles of a vibration-measuring
instrument, as shown below.

∗ The instrument consists of a spring-mass-

dashpot system. It is mounted on a
vibrating base. The relative motion of the
mass m with respect to the vibrating base
is monitored.

∗ Neglecting the transients let the absolute

motion of the mass be given as:

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website, in whole or in part.
22
Principles of Soil Dynamics, 3E Das/Luo

2.9
2.3 Vibration-Measuring Instrument
Free Vibration of a Spring-Mass
Cont’d
∗ So, the equation of motion for the mass can be written as:

∗ If the natural frequency of the instrument ωn is small and ω/ωn is large,

then for practically all values of D, the magnitude of Z/Z′ is about 1.
Hence the instrument works as a velocity pickup.

∗ If D = 0.69 and ω/ωn is varied from zero to 0.4, then:

∗ Thus;

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23
Principles of Soil Dynamics, 3E Das/Luo

System with Two Degrees of Freedom

2.3 Free Vibration of a Spring-Mass
2.10 Vibration of a Mass-Spring System
∗ A mass-spring with two degrees of
freedom is shown on the right.

∗ If the masses m1 and m2 are displaced

from their static equilibrium positions,
the system will start to vibrate. The
equations of motion of the two masses
can be given as:

where m1 and m2 are the masses of the

two bodies, k1, k2, and k3 are the spring
constants, and z1 and z2 are the
displacements of masses m1 and m2.

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24
Principles of Soil Dynamics, 3E Das/Luo

2.10
2.3Vibration of a Mass-Spring
Free Vibration System
of a Spring-Mass
Cont’d
∗ Let

∗ These equations yield to

∗ The general equation of motion of the two masses can now be written as

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website, in whole or in part.
25
Principles of Soil Dynamics, 3E Das/Luo

2.11
2.3Coupled Translation
Free Vibration of a and Rotation of
Spring-Mass
a Mass-Spring System (Free Vibration)
∗ The figure below shows a mass-spring system that will undergo
translation and rotation. The equations of motion of the mass m can be
given as

where:

© 2017 Cengage Learning®. May not be scanned, copied or duplicated, or posted to a publicly accessible
website, in whole or in part.
26
Principles of Soil Dynamics, 3E Das/Luo

2.11
2.3Coupled Translation
Free Vibration of a and Rotation of
Spring-Mass
a Mass-Spring System (Free Vibration)
Cont’d
∗ The general equations of motion can be given as:

and;

∗ The amplitude ratios can also be obtained:

and;

© 2017 Cengage Learning®. May not be scanned, copied or duplicated, or posted to a publicly accessible
website, in whole or in part.
27