K. R.

Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN
ASSIGNMENT 2 Solutions

Term: Spring 2024

Date of posting: 2nd February 2024, Submission deadline: 11:30AM, 15th February 2024

Instructions:

i) Write all your assumptions (if any) clearly, ii) All questions are compulsory, iii) All questions carry
equal marks, iv) All symbols have usual meaning unless otherwise stated, v) Assignments need to
be submitted independently by each student. Repercussions of disobeying the institute academic
honor code would be very serious.

1. A lunar lander is modeled as a single degree of freedom spring-mass-damper system as shown. It

is dropped from a height of ℎ and it is expected that it continues to stay in contact with the ground
upon impact. a) Find the maximum force transmitted to the mass considering an under damped,
critically damped and over damped system, b) Find the logarithmic decrement in case of under
damped system

FBD Kinetic Diagram

Let 𝑡 = 0 correspond to the time instant when spring mass damper hit the ground. Equation of
motion is
𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 𝑚𝑔
With the initial conditions,
𝑥(0) = 0; 𝑥 (0) = 2𝑔ℎ
Let 𝑦 = 𝑥 ⁄ℎ , 𝑡 = 𝜏⁄𝑇 and we have the nondimensional equation of motion
𝑦̈ + 𝜉𝑦̇ + 𝑦 = 𝑓
With the nondimensional ICs

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 K. R. Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN
𝑦(0) = 0; 𝑦̇ (0) = 𝛼 2𝑔ℎ
Where,
𝑚 𝑐 𝑔𝑚 1 𝑚
𝑇= ;𝜉 = ;𝑓 = ;𝛼 =
𝑘 √𝑚𝑘 ℎ𝑘 ℎ 𝑘
For the homogeneous solution,
𝑦̈ + 𝜉𝑦̇ + 𝑦 = 0
Assuming solution of kind,
𝑦 = 𝐴𝑒 ⇒ 𝜆 + 𝜉𝜆 + 𝜆 = 0
𝜉 𝜉
=− ± 𝜆 , −1⇒𝑦 =𝐶 𝑒 +𝐶 𝑒
2 2
Whereas the particular integral is simply,
𝑦 =𝑓
As such, the complete solution is
𝑦=𝐶 𝑒 +𝐶 𝑒 +𝑓

a)
i) For an under-damped system (𝜉 ⁄2 < 1)

𝜉
𝜆 , = − ± 𝑖𝜔 ⇒ 𝑦 = 𝑒 (𝐷 cos(𝜔 𝑡) + 𝐷 sin(𝜔 𝑡)) + 𝑓
2

Where,
𝜉
𝜔 = 1−
2
Applying ICs

𝑦(0) = 𝐷 + 𝑓 = 0 ⇒ 𝐷 = −𝑓
𝜉
𝑦̇ (𝑡) = − 𝑒 {𝐷 cos(𝜔 𝑡) + 𝐷 sin(𝜔 𝑡)} + 𝑒 𝜔 {−𝐷 sin(𝜔 𝑡) + 𝐷 𝜔 cos(𝜔 𝑡)}
2

𝜉 2𝛼 2𝑔ℎ − 𝜉𝑓
𝑦̇ (0) = − (𝐷 ) + (𝐷 𝜔 ) = 𝛼 2𝑔ℎ ⇒ 𝐷 =
2 2𝜔
2𝛼 2𝑔ℎ − 𝜉𝑓
𝑦=𝑒 −𝑓 cos(𝜔 𝑡) + sin(𝜔 𝑡) + 𝑓
2𝜔
2𝛼 2𝑔ℎ − 𝜉𝑓
=𝑒 −𝑓 cos(𝜔 𝑡) + sin(𝜔 𝑡) + 𝑓 = 𝐴𝑒 sin(𝜔 𝑡 − 𝜙) + 𝑓
2𝜔
Where
2𝛼 2𝑔ℎ − 𝜉𝑓 𝑓
𝐴= 𝑓 + ; tan(𝜙) =
2𝜔 2𝛼 2𝑔ℎ − 𝜉𝑓
2𝜔
Force experienced by the mass is essentially
𝜉
𝐹 = 𝑦̈ ⇒ 𝐹 = 𝐴𝑒 − 𝜔 sin(𝜔 𝑡 − 𝜙) − 𝜉𝜔 cos(𝜔 𝑡 − 𝜙)
4
Maximum force (corresponding to 𝑦⃛ = 0) is experienced at

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 K. R. Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN
1 6𝜉 𝜔 − 8𝜔
𝑡∗ = tan
𝜔 𝜉(𝜉 − 12𝜔 )
The maximum force correspondingly is
∗
𝜉
𝐹 = 𝐴𝑒 −𝜔 sin(𝜔 𝑡 ∗ − 𝜙) − 𝜉𝜔 cos(𝜔 𝑡 ∗ − 𝜙)
4

ii) For a critically damped system (𝜉 ⁄2 = 1)

𝜉
𝜆 , = − ⇒ 𝑦 = 𝑒 (𝐶 + 𝐶 𝑡) + 𝑓
2
Applying IC
𝑦(0) = 𝐶 + 𝑓 = 0 ⇒ 𝐶 = −𝑓

𝑦̇ (𝑡) = −𝑒 (𝐶 + 𝐶 𝑡) + 𝑒 (𝐶 ) ⇒ 𝑦̇ (0) = −𝐶 + 𝐶 = 𝛼 2𝑔ℎ ⇒ 𝐶 = 𝛼 2𝑔ℎ − 𝑓

Force experienced by the mass is essentially
𝑦̈ = 𝑒 {𝐶 + 𝐶 (𝑡 − 2)}
Maximum force is experienced at
𝐶 ∗
𝑡∗ = 3 − ⇒ 𝐹 = 𝑒 {𝐶 + 𝐶 (𝑡 ∗ − 2)}
𝐶
iii) For over-damped (𝜉 ⁄2 > 1)

𝜉 𝜉
𝜆 , =− ± −1 ⇒𝑦 = 𝐶 𝑒 +𝐶 𝑒 +𝑓
2 2
Applying IC’s

𝑦(0) = 𝐶 + 𝐶 + 𝑓 = 0
𝑦̇ (0) = 𝐶 𝜆 + 𝐶 𝜆 = 𝛼 2𝑔ℎ
𝜉 𝜉
𝛼 2𝑔ℎ + 𝑓 − + −1
2 2
𝐶 = −𝑓 +
𝜉
2 −1
2
𝜉 𝜉
𝛼 2𝑔ℎ + 𝑓 − + −1
2 2
𝐶 =−
𝜉
2 −1
2
𝜉 𝜉 𝜉 𝜉
𝛼 2𝑔ℎ + 𝑓 − + −1 𝛼 2𝑔ℎ + 𝑓 − + −1
⎛ 2 2 ⎞ ⎛ 2 2 ⎞
𝑦 = ⎜−𝑓 + ⎟𝑒 + ⎜− ⎟𝑒 +𝑓
𝜉 𝜉
2 −1 2 −1
⎝ 2 ⎠ ⎝ 2 ⎠
Force experienced by the mass is essentially
𝑦̈ = 𝐶 𝜆 𝑒 + 𝐶 𝜆 𝑒
Maximum force is experienced at
1 𝐶 𝜆
𝑡∗ = ln −
(𝜆 − 𝜆 ) 𝐶𝜆

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 K. R. Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN
b) For finding the logarithmic decrement (𝛿), we consider the response at two points separated
by a time instants separated by 2𝜋⁄𝜔
𝜉
𝛼 2𝑔ℎ − 𝑓
𝑦(𝑡 ) = 𝑒 −𝑓 cos(𝜔 𝑡 ) + 2 sin(𝜔 𝑡 )
𝜔
𝜉
𝛼 2𝑔ℎ − 𝑓
𝑦(𝑡 ) = 𝑒 −𝑓 cos(𝜔 𝑡 ) + 2 sin(𝜔 𝑡 )
𝜔
Where
2𝜋
𝑡 =𝑡 +
𝜔
𝜉
2𝜋 2𝜋 𝛼 2𝑔ℎ − 𝑓 2𝜋
𝑦 𝑡 + =𝑒 −𝑓 cos 𝜔 𝑡 + + 2 sin 𝜔 𝑡 +
𝜔 𝜔 𝜔 𝜔
𝜉
2𝜋 𝛼 2𝑔ℎ − 𝑓
𝑦 𝑡 + =𝑒 −𝑓 cos(𝜔 𝑡 ) + 2 sin(𝜔 𝑡 )
𝜔 𝜔

𝑦(𝑡 )
𝛿 = ln
2𝜋
𝑦 𝑡 +
𝜔

𝜋𝜉 𝜋𝜉
𝛿= =
𝜔 𝜉
1−
2
2. A simple model for the vertical motion of an automobile as it travels along a road is as shown. The
excitation when the vehicle travels over a periodic strip of bumps spaced at a distance may be
represented as a periodic sequence of Dirac delta functions 𝑦 = 𝐴𝛿(𝑡), 𝐴𝛿 𝑡 − , 𝐴𝛿 𝑡 − ,…,
where 𝐴 is the area of the bump. Derive an analytical expression for the corresponding steady-state
vertical displacement 𝑧 of the sprung mass as a function of time.

FBD Kinetic Diagram

Equation of motion neglecting the acceleration due to gravity is

𝑚𝑧̈ + 𝑘(𝑧 − 𝑦) = 0
Where,

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ME208: Vibrations Mechanical Engineering, IITGN
𝑛𝐿
𝑦=𝐴 𝛿 𝑡−
𝑣
Note that 𝐴 has the dimension [LT]. Applying Fourier series expansion
𝑖𝜋𝜏 𝑖𝜋𝜏
𝑦(𝜏) = 𝑎 + 𝑎 cos + 𝑏 sin
𝑇 𝑇
Where 𝑇 = 𝐿⁄𝑣 and the Fourier coefficients are
1 𝐴
𝑎 = 𝑦(𝜏) 𝑑𝜏 =
2𝑇 2𝑇

1 𝑖𝜋𝜏 𝐴 𝐴
𝑎 = 𝑦(𝜏) cos 𝑑𝜏 = cos(𝑖𝜋) = (−1)
𝑇 𝑇 𝑇 𝑇

1 𝑖𝜋𝜏 𝐴
𝑏 = 𝑦(𝜏) sin 𝑑𝜏 = sin(𝑖𝜋) = 0
𝑇 𝑇 𝑇
The equation of motion is
𝑘𝐴 1 𝑖𝜋𝜏
⇒ 𝑚𝑧̈ + 𝑘𝑧 = + (−1) cos
𝑇 2 𝑇
Let 𝑥 = 𝑧⁄ℎ and 𝑡 = 𝜏⁄𝑇
ℎ 𝑘𝐴 1 𝑖𝜋𝑇𝑡
𝑚 𝑥 + 𝑘ℎ𝑥 = + (−1) cos
𝑇 𝑇 2 𝑇
Where 𝑇 = 𝑚⁄𝑘 and we have
𝐴 1
𝑥 +𝑥 = + (−1) cos(𝜔 𝑡)
ℎ𝑇 2
Where 𝜔 = 𝑖𝜋𝑇⁄𝑇. The homogeneous solution is,
𝑥 = 𝐶 cos(𝑡) + 𝐶 sin(𝑡)
Whereas the particular integral is
𝐴 1 cos(𝜔 𝑡)
𝑥 = + (−1)
ℎ𝑇 2 1−𝜔
Note that it is assumed that 𝜔 ≠ 1 in the above solution. Accordingly, the complete solution is
𝐴 1 cos(𝜔 𝑡)
𝑥 = 𝐶 cos(𝑡) + 𝐶 sin(𝑡) + + (−1)
ℎ𝑇 2 1−𝜔

3. Assuming the imposed displacement to be small enough to induce small oscillations of the
pendulum. Find the steady state response of the system considering a torsional damping 𝑐 at the
pivot. Plot the steady state amplitude and phase as a function of the excitation frequency.

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 K. R. Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN

Considering torsional damping at pivot 𝑐 , we get

𝑥 𝜔 𝑔
𝜃̈ − sin(𝜔𝑡) cos(𝜃) + 𝑐 𝜃̇ + sin(𝜃) = 0
𝑙 𝑙

As per the given assumption of 𝜃 being sufficient small

𝑔 𝑥 𝜔
𝜃̈ + 𝑐 𝜃̇ + 𝜃= sin(𝜔𝑡)
𝑙 𝑙

The homogenous solution (considering under-damped system) is of the form

⁄ {𝐶 sin(𝜔 𝑡) + 𝐶 cos(𝜔 𝑡)}

𝜃 =𝑒

Where the damped natural frequency is 𝜔 = − . Whereas the particular integral takes the
form by considering 𝜃 = 𝐷𝑒 and we finally consider the imaginary part of the solution

𝑥 𝜔 𝑥 𝜔
𝑔 𝑥 𝜔 𝑙 𝑙 𝑔
𝜃̈ + 𝑐 𝜃̇ + 𝜃 = 𝑒 ⇒𝐷= 𝑔 = −𝜔 − 𝑖𝜔𝑐
𝑙 𝑙 − 𝜔 + 𝑖𝜔𝑐 𝑔 𝑙
𝑙 −𝜔 + (𝜔𝑐 )
𝑙
= 𝑋(𝜔)𝑒

Where

𝑥 𝜔
𝑙 𝜔𝑐
𝑋(𝜔) = ; tan(𝜙) = 𝑔
𝑔 −𝜔
−𝜔 + (𝜔𝑐 ) 𝑙
𝑙

The particular integral thus is representable in the form

( )
𝜃 (𝑡) = 𝑋(𝜔)𝑒

The complete solution thus is

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 K. R. Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN
⁄ {𝐶 sin(𝜔 𝑡) + 𝐶 cos(𝜔 𝑡)} + 𝑋(𝜔)Im 𝑒 ( )
𝜃(𝑡) = 𝑒
⁄ {𝐶 sin(𝜔 𝑡) + 𝐶 cos(𝜔 𝑡)} + 𝑋(𝜔) sin(𝜔𝑡 − 𝜙)
=𝑒

During steady state oscillations, the response corresponding to the damped natural frequency is
negligibly small and the response is entirely dominated by the particular integral. Considering 𝑥 =
1, 𝑙 = 1, 𝑔 = 9.81, 𝑐 = 1

4. An internal combustion engine is modeled as shown. The engine casing and other components
have a total mass (excluding the moving piston mass 𝑚 and the eccentric mass 𝜇) of 𝑀 and
mounted on a foundation of stiffness 𝑘 and viscous damping coefficient 𝑘. Assuming the crank
rotates at a constant angular velocity of 𝜔, find the steady state response and plot the steady state
amplitude and phase as a function of 𝜔. Find the force experienced by the floor once the engine is
executing steady state vibration. Assume that the system can have only vertical motion, the links
(of length 𝑙, 𝑟 and 𝑒) are massless and neglect gravity in your calculations

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 K. R. Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN
Position and velocity vector of the eccentric mass are

𝑟⃗ = {𝑥 + 𝑎 − 𝑒 cos(𝜔𝑡)}𝚤̂ + {−𝑒 sin(𝜔𝑡)}𝚥̂

𝑟̇⃗ = {𝑥̇ + 𝑒𝜔 sin(𝜔𝑡)}𝚤̂ + {−𝑒𝜔 cos(𝜔𝑡)}𝚥̂

Similarly, the position vector of moving piston

𝑟⃗ = {𝑥 + 𝑎 + 𝑟 cos(𝜔𝑡) + 𝑙 cos(𝜙)}𝚤̂

From geometry,

𝑟 sin(𝜔𝑡) 𝑟 sin(𝜔𝑡)
𝑙 sin(𝜙) = 𝑟 sin(𝜔𝑡) ⇒ sin(𝜙) = ⇒ cos(𝜙) = 1−
𝑙 𝑙

⇒ 𝑙 cos(𝜙) = 𝑙 − 𝑟 sin (𝜔𝑡)

The position and the velocity vector of the sliding mass are

𝑟⃗ = 𝑥 + 𝑎 + 𝑟 cos(𝜔𝑡) + 𝑙 − 𝑟 sin (𝜔𝑡) 𝚤̂

−𝑟 𝜔 sin(2𝜔𝑡)
𝑟̇⃗ = 𝑥̇ − 𝑟𝜔 sin(𝜔𝑡) + 𝚤̂
2 𝑙 − 𝑟 sin (𝜔𝑡)

The total kinetic energy is

𝑀 𝜇 𝑚
𝒯= 𝑥̇ + 𝑟̇⃗ + 𝑟̇⃗
2 2 2
𝑀 𝜇 𝑚 𝑟 𝜔 sin(2𝜔𝑡)
= 𝑥̇ + {𝑥̇ + 𝑒 𝜔 + 2𝑥̇ 𝑒𝜔 sin(𝜔𝑡)} + 𝑥̇ − 𝑟𝜔 sin(𝜔𝑡) −
2 2 2 2 𝑙 − 𝑟 sin (𝜔𝑡)

The potential energy correspondingly is

1
𝒱 = 𝑘𝑥
2

The Lagrangian thus is

𝑀 𝜇 𝑚 𝑟 𝜔 sin(2𝜔𝑡) 1
ℒ= 𝑥̇ + [{𝑥̇ + 𝑒𝜔 sin(𝜔𝑡)} + {𝑒𝜔 cos(𝜔𝑡)} ] + 𝑥̇ − 𝑟𝜔 sin(𝜔𝑡) − − 𝑘𝑥
2 2 2 2 𝑙 − 𝑟 sin (𝜔𝑡) 2

Using Euler-Lagrange equation

𝑑 𝜕ℒ 𝜕ℒ
− =0
𝑑𝑡 𝜕𝑥̇ 𝜕𝑥

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 K. R. Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN
𝑑 𝑟 𝜔 sin(2𝜔𝑡)
⇒ 𝑀𝑥̇ + 𝜇{𝑥̇ + 𝑒𝜔 sin(𝜔𝑡)} + 𝑚 𝑥̇ − 𝑟𝜔 sin(𝜔𝑡) − − (−𝑘𝑥 ) = 0
𝑑𝑡 2 𝑙 − 𝑟 sin (𝜔𝑡)

⇒ 𝑀𝑥̈ + 𝜇{𝑥̈ + 𝑒𝜔 cos(𝜔𝑡)}

𝑟 𝜔 {(8𝑙 − 4𝑟 ) cos(2𝜔𝑡) + 𝑟 (3 + cos(4𝜔𝑡))}
+ 𝑚 𝑥̈ − 𝑟𝜔 cos(𝜔𝑡) − + 𝑘𝑥 = 0
8(𝑙 − 𝑟 sin (𝜔𝑡)) ⁄

𝑚𝑟 𝜔 {(8𝑙 − 4𝑟 ) cos(2𝜔𝑡) + 𝑟 (3 + cos(4𝜔𝑡))}

⇒ (𝑀 + 𝜇 + 𝑚)𝑥̈ + 𝑘𝑥 = + (𝑚𝑟 − 𝜇𝑒)𝜔 cos(𝜔𝑡)
8(𝑙 − 𝑟 sin (𝜔𝑡)) ⁄

Incorporating viscous damping, we have the damped system

𝑚𝑟 𝜔 {(8𝑙 − 4𝑟 ) cos(2𝜔𝑡) + 𝑟 (3 + cos(4𝜔𝑡))}

(𝑀 + 𝜇 + 𝑚)𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = + (𝑚𝑟 − 𝜇𝑒)𝜔 cos(𝜔𝑡)
8(𝑙 − 𝑟 sin (𝜔𝑡)) ⁄

(𝑀 + 𝜇 + 𝑚)𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥
𝑟 𝑟
𝑚𝑟 𝑙 𝜔 8−4 cos(2𝜔𝑡) + (3 + cos(4𝜔𝑡))
𝑙 𝑙
= ⁄
+ (𝑚𝑟 − 𝜇𝑒)𝜔 cos(𝜔𝑡)
𝑟
8𝑙 1− sin (𝜔𝑡)
𝑙

From the above equation we can see that forcing term has three frequencies. However, considering
(𝑟⁄𝑙) ≪ 1, we have the simplified equation in the form

𝑚𝑟 𝜔 cos(2𝜔𝑡)
(𝑀 + 𝜇 + 𝑚)𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = + (𝑚𝑟 − 𝜇𝑒)𝜔 cos(𝜔𝑡)
𝑙

The excitation on the engine block are at two different frequencies 𝜔 and 2𝜔, which are effectively due
to the reciprocating mass 𝑚. These are called the primary and secondary unbalance respectively. The
primary unbalance can be effectively eliminated by considering 𝑚𝑟 = 𝜇𝑒. However, the secondary
unbalance can seldom be eliminated.

𝑚𝑟 𝜔 cos(2𝜔𝑡)
(𝑀 + 𝜇 + 𝑚)𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 =
𝑙

The complete solution is a summation of homogeneous solution and the particular integral

𝑥 (𝑡) = 𝑥 (𝑡) + 𝑥 (𝑡)

𝑥 (𝑡) = 𝑒 {𝐶 sin(𝜔 𝑡) + 𝐶 cos(𝜔 𝑡)}

Where the characteristic roots considering under-damped system are

−𝑐 ± 𝑐 − 4(𝑀 + 𝑚 + 𝜇)𝑘 𝑐 𝑐 𝑘
𝜆 , = =− ± − = 𝛼 ± 𝑖𝜔
2(𝑀 + 𝑚 + 𝜇) 2(𝑀 + 𝑚 + 𝜇) 2(𝑀 + 𝑚 + 𝜇) (𝑀 + 𝑚 + 𝜇)

The particular integral is

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 K. R. Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN
( )
𝑥 (𝑡) = 𝑋(𝜔)𝑒

𝑚𝑟 𝜔
𝑙 2𝜔𝑐
𝑋(𝜔) = ; tan(𝜙) =
(𝑘 − 4(𝑀 + 𝜇 + 𝑚)𝜔 ) + (2𝜔𝑐 ) (𝑘 − 4(𝑀 + 𝜇 + 𝑚)𝜔 )

The complete solution thus is

{𝐶 sin(𝜔 𝑡) + 𝐶 cos(𝜔 𝑡)} + 𝑋(𝜔)Re 𝑒 ( )

𝑥 (𝑡) = 𝑒
⁄ {𝐶 sin(𝜔 𝑡) + 𝐶 cos(𝜔 𝑡)} + 𝑋(𝜔) cos(2𝜔𝑡 − 𝜙)
=𝑒

5. The total mass of a motor is 80kg. It is observed that gently placing the motor on a beam (of
negligible mass, but finite stiffness) produces a static downward displacement of 40mm. When the
motor rotates at an angular speed of 145rpm, the stead state amplitude of the beam is 10mm. It is
also observed that a rotation rate of 145rpm, the radial line to the center of mass of each rotor
makes an angle of 75° with the horizontal when the beam is at its static reference position (where
𝑞 = 0)
a. Determine the damping ratio for the system
b. Determine the imbalance 𝜀𝑚
c. Determine the smallest possible amplitude of vibration of the beam if the motor turns at a
rate that is much larger than the natural frequency of the system

Note: 1. The effective stiffness of the beam is

80 × 9.81
𝑘 = = 19620 N/m
40 × 10
2. The information provided with regard to the position of the radial line is necessary for finding
the phase angle between the excitation force and the response

Equation of motion
𝑚
(𝑀 + 𝑚)𝑦̈ + 𝑐𝑦̇ + 𝑘 𝑦 = 𝑚𝜀Ω sin(Ω𝑡) ⇒ 𝑦̈ + 𝜉𝑦̇ + 𝜔 𝑦 = 𝜀Ω sin(Ω𝑡)
𝑚+𝑀
Where,
𝑘 𝑘
𝜔 = ≈ = 15.66 rad/s
𝑚+𝑀 𝑀
𝑐
𝜉=
(𝑀 + 𝑚)
Let the particular integral be of the form
𝑦 = Im 𝑌𝑒

10
 K. R. Jayaprakash
ME208: Vibrations Mechanical Engineering, IITGN
Substituting back into the equation of motion,
𝑚𝜀Ω
{𝜔 − Ω + 𝑖𝜉Ω}𝑌𝑒 =𝑒
𝑚+𝑀
𝑚𝜀Ω 𝑚𝜀Ω (𝜔 − Ω − 𝑖𝜉Ω)
⇒𝑌= = = 𝑋(Ω)𝑒
(𝑚 + 𝑀)(𝜔 − Ω + 𝑖𝜉Ω) (𝑚 + 𝑀) {(𝜔 − Ω ) + 𝜉 Ω }
Where,
𝑚𝜀Ω 1 𝜉Ω
𝑋(Ω) = ; 𝜙 = tan
(𝑚 + 𝑀) (𝜔 − Ω ) + 𝜉 Ω 𝜔 −Ω
However, the eccentric mass is much smaller than the motor mass and we have
𝑚𝜀Ω 1
𝑋(Ω) =
𝑀 (𝜔 − Ω ) + 𝜉 Ω
The complete solution is
𝑦 = 𝑋(Ω)Im 𝑒 ( )
= 𝑋(Ω) sin(Ω𝑡 − 𝜙)
In the above solution, there are two unknowns, namely 𝑚𝜀 and the damping coefficient 𝜉. From the
information given, when Ω∗ = 145 × 2𝜋⁄60 = 15.184 rad/s, 𝑋(Ω∗ ) = 0.01m. Whereas, when Ω∗ 𝑡 =
75𝜋⁄180, 𝑦 = 0, i.e.
75𝜋 𝜉Ω∗ 75𝜋
𝑋(Ω∗ ) sin(Ω∗ 𝑡 − 𝜙) = 0 ⇒ 𝜙 = ⇒ tan ∗
= ⇒ 𝝃 = 𝟑. 𝟔𝟎𝟖𝟔
180 𝜔 −Ω 180
𝑚𝜀Ω∗ 1
𝑋(Ω∗ ) = ⇒ 0.01
𝑀 (𝜔 − Ω∗ ) + 𝜉 Ω∗
𝑚𝜀 × 15.184^2 1
= ⇒ 𝒎𝜺 = 𝟎. 𝟏𝟗𝟔𝟖
80 (15.66 − 15.184 ) + 3.6086 × 15.184

For finding the smallest steady state amplitude when Ω ≫ 𝜔 ,

𝑚𝜀Ω 1 𝒎𝜺
lim 𝑋(Ω) = lim =
→ → 𝑀 (𝜔 − Ω ) + 𝜉 Ω 𝑴

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