ADDIS ABABA SCIENCE AND TECHNOLOGY UNIVERSITY

College of Engineering
Department of Mechanical Engineering

Mechanical Vibration
MEng5103
Dr. Abdulbasit M.
Forced Vibrations with
and without Damping
of SDOF
 Forced Vibrations

❖ A mechanical system is said to be forced vibration whenever

external energy is supplied to the system during vibration.
❖ It can be supplied 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 response of a dynamic system to suddenly applied
nonperiodic excitations is called transient response.
❖ Under a harmonic excitation, the response of the system will
also be harmonic.
 Equation of Motion

❖ If a force F(t) acts on a viscously damped spring-mass

system as shown in the Fig., the equation of motion can be
obtained using Newton’s second law:
❖ Equation of motion can be obtained using Newton’s 2nd law

(3.1)

❖ Since this equation is nonhomogeneous, the general solution:

𝒙 𝒕 = 𝒙𝒉 𝒕 + 𝒙𝒑 (𝒕) (3.2)
❖ The solution of the homogeneous equation

(3.3)
 Forced Vibrations Undamped System

❖ Forced vibrations without damping: where a system is

subjected to a continuous external periodic force, but no
energy is lost from the system due to damping
❖ Consider an undamped system subjected to a harmonic
force.
❖ If F(t)=F0cos(ωt) force acts on the mass m of the system,
 (3.4)

❖ The homogeneous solution is given by:

(3.5)

❖ where is ωn =(k /m)1/2 the natural frequency

❖ Because the exciting force and particular solution is harmonic
and has the same frequency,
 ❖ we can assume a solution in the form:
(3.6)

❖ where X is a constant that the maximum amplitude of xp(t)

(3.7)

❖ Where δst = F0 /k denotes the static deflection

❖ Thus the total solution of becomes
(3.8)

❖ Using initial conditions

(3.9)
❖ Hence,

(3.10)

❖ The max amplitude can be expressed as

(3.11)
❖ The quantity X/δst represents
the dynamic to the static
amplitude ratio of motion and
is called the magnification
factor or amplification factor
❖ The response of the system
can be identified to be of
three types.
❖ Case 1: When 0<ω/ωn<1, the
denominator in Eq.(3.11) is
positive and the response is
given by Eq.(3.6) without change.
❖ The harmonic response of the
system is in phase with external
force, shown in the figure.
❖ Case 2: When 0<ω/ωn>1, the
denominator in Eq.(3.11) is
negative and the steady-state
solution can be expressed as
(3.12)
❖ where the amplitude is

(3.13)
❖ Case 3: When 0<ω/ωn=1, the amplitude X given by Eq.(3.11)
or (3.13) becomes infinite.

❖ The forcing frequency is

equal to the natural
frequency of the system is
called resonance.
 ❖ The total response if the system at resonance is

(3.14)

❖ The total response of the system, Eq.(3.8) or Eq.(3.10), can also

be expressed as
(3.15)
(3.16)
❖ If the forcing frequency is close to, but not exactly equal to,
the natural frequency of the system, beating may occur.
❖ The phenomenon of beating can be expressed as:
(3.17)
❖ The time between the points of zero amplitude or the points
of maximum amplitude is called the period of beating and is
given by
(3.18)

❖ The phenomenon of beating can be expressed as:

(3.19)
 Damped System Under Harmonic Force

❖ If the forcing function is given by F(t)=F0 cos(ωt), the equation

of motion becomes

(3.20)

❖ we assume it in the form

(3.21)

➢ Where, X and ϕ are the amplitude and phase angle of the

response
❖ Substituting Eq. (3.21) to Eq. (3.20)

(3.22)

❖ Using trigonometric relations, we obtain

(3.23)

(3.24)
❖ The solution gives

(3.25)

❖ Substituting the following,

❖ we obtain
(3.26)

(3.27)

❖ The quantity M = X/δst is called the magnification factor,

amplification factor, or amplitude ratio.
❖ The following characteristics of M can be noted from Eq. (3.26):

1. For an undamped system (ζ = 0),

Eq. (3.26) reduces to Eq. (3.11),
and M → ∞ as r → 1.
2. Any amount of damping (ζ = 0),
reduces the magnification factor
(M) for all values of the forcing
frequency.
❖ The following characteristics of M can be noted from Eq. (3.26):

3. For any specified value of r, a

higher value of damping
reduces the value of M.
4. In the degenerate case of a
constant force (when r = 0), the
value of M = 1.
❖ The following characteristics of M can be noted from Eq. (3.26):

5. The reduction in M in the

presence of damping is very
significant at or near resonance.
6. The amplitude of forced
vibration becomes smaller with
increasing values of the forcing
frequency (i.e., M → ∞ as r → 1).
❖ The following characteristics of M can be noted from Eq. (3.26):
1
7. For , 0<ζ< the maximum value
2
of M occurs when

(3.28)
❖ The following characteristics of M can be noted from Eq. (3.26):
8. The maximum value of X (when
. ) is given by:

and the value of X at ω=ωn by

(3.29)
❖ The following characteristics of M can be noted from Eq. (3.26):

1 𝒅𝑴
9. For ζ = , 𝒅𝒓 = 𝟎 when r = 0.
2
1
For ζ > , the graph of M
2
monotonically decreases with
increasing values of r.
The characteristics of the phase angle from Eq. 3.27 & this Fig.

1. For ζ = 𝟎, Eq. (3.27) shows that the

phase angle is 𝟎 < 𝒓 < 𝟏 and 180°
for 𝒓 > 𝟏.
The excitation and response are in
phase for 𝟎 < 𝒓 < 𝟏 and out of
phase for 𝑟 > 1 when ζ = 𝟎.
The characteristics of the phase angle from Eq. 3.27 & this Fig.

2. For ζ > 𝟎 and 𝟎 < 𝒓 < 𝟏 ,the phase

angle is given by 0<ϕ<90°, implying
that the response lags the excitation.
3. For ζ > 𝟎 and 𝒓 > 𝟏, the phase angle
is given by 90°<ϕ<180°, implying
that the response leads the
excitation.
The characteristics of the phase angle from Eq. 3.27 & this Fig.
4. For ζ > 𝟎 and 𝒓 = 𝟏, the phase angle is
given by 𝛟 = 𝟗𝟎°, the phase
difference between the excitation and
the response is 90°.
5. For ζ > 𝟎 and r is large values, the
phase angle approaches 180°, the
response and the excitation are out of
phase.
Total Response
✓ For an underdamped system,

(3.30)
✓ For the initial conditions, Eq.(3.35) yields

(3.31)
Quality factor and bandwidth:
▪ For values of damping ζ < 𝟎. 𝟎𝟓

(3.32)

▪ The Q for two difference the frequencies associated with the

half-power points

(3.33)
 Response of Damped System Under 𝑭 𝒕 = 𝑭𝟎 𝒆𝒊𝝎𝒕

▪ The equation of motion becomes

(3.34)
▪ Assuming the particular solution
(3.35)
▪ Substituting Eq. (3.35) to Eq. (3.34) and simplify

(3.36)
▪ Using the relation 𝑥 + 𝑖𝑦 = 𝐴𝑒 𝑖𝜙

(3.37)

(3.38)

▪ Hence, the steady-state solution becomes

(3.39)
 Frequency Response:
▪ The complex frequency response is given by:

(3.40)

▪ The absolute value becomes,

(3.41)
▪ Thus, the steady-state solution becomes,
(3.42)
▪ If F=F0cos(ωt), the corresponding steady-state solution is
given by the real part of Eq.(3.39)

(3.42)

▪ If F=F0sin(ωt), the corresponding steady-state solution is

given by the real part of Eq.(3.39)
 (3.43)

▪ The Velocity and acceleration can be determined from:

(3.44)

(3.45)
 Damped System Under the Harmonic Motion of the Base

▪ From the figure, the equation of motion is

(3.46)
✓ If 𝑦(𝑡) = 𝑌 sin𝜔𝑡,

(3.46)
✓ Where,
✓ The steady-state response of the mass can be expressed as

(3.47)

✓ Where,
✓ Equation 3.47 can also be written as
(3.48)
✓ Where,

(3.49)

(3.50)
✓ X/Y, is called the displacement transmissibility (Td).
✓ If the harmonic excitation of the base is expressed in complex
form y t = 𝑹𝑒 𝑌𝑒𝑖𝜔𝑡 , the response of the system,

(3.51)

(3.52)
✓ The variations of displacement transmissibility is shown in Fig.
✓ The following aspects of Td can be noted from the figure

1. The value of Td is unity at r=0 and close to unity for small

values of r.
2. For (ζ=0), Td → ∞ at resonance (r = 1)
3. The value of Td < 1 for values of 𝑟 > 2
4. The value of Td =1 for all values of ζ at 𝑟 = 2.
5. For 𝑟 < 2, smaller damping ratios lead to larger values of
Td. On the other hand, for 𝑟 > 2 , smaller values of
damping ratio lead to smaller values of Td.
6. The displacement transmissibility, Td, attains a maximum for
0<ζ<1 at the frequency ratio 𝑟 = 𝑟𝑚 < 1 given by

(3.53)
 Damped System Under Rotating Unbalance

✓ The equation of motion can be derived by the usual procedure:

(3.54)
✓ The solution can be expressed as

(3.55)
✓ The amplitude and phase angle is given by

(3.56)

✓ By defining ζ = c / cc and cc = 2Mωn

(3.57)
✓ The following observations can be made from Eq.(3.57) and
the figure above:

1. All the curves begin at zero amplitude. The amplitude near

resonance is markedly affected by damping. Thus if the
machine is to be run near resonance, damping should be
introduced purposefully to avoid dangerous amplitudes.
2. At very high speeds (ω large), MX/me is almost unity, and
the effect of damping is negligible.
3. For 0 < ζ < 1/ 𝟐 , the maximum MX/me

(3.58)

The solution gives:

With corresponding maximum value:

 1 𝑀𝑋
4. For ζ > ,
2 𝑚𝑒
, does not attain a maximum. Its value grows

from 0 at r = 0 to 1 at r → ∞ .
5. The magnitude (or maximum value) of F can be derived as

(3.59)
 Force Damping with Coulomb Damping

✓ Let consider the following figure.

✓ The equation of motion is given by
(3.60)
✓ The energy dissipated by dry friction damping is
(3.61)
✓ If the equivalent viscous damping constant is denoted as ceq,
(3.62)

(3.63)
✓ Thus the steady-state response is:
(3.64)
✓ The amplitude can be found from Eq.(3.60):

(3.65)
✓ Where,

(3.66)

✓ Sub Eq.(3.66) into (3.65) gives:

(3.67)
✓ The solution is

(3.68)

✓ To avoid imaginary values of X, we need to have

(3.69)
✓ The phase angle can be found:

(3.70)

✓ The energy directed into the system over one cycle when it is
excited harmonically at resonance and that Φ = 90°,

(3.71)
✓ For the non-resonant condition, the energy input is
(3.72)
 Forced Vibration with Hysteresis Damping

✓ From the figure below, the equation of motion can be derived

(3.73)
✓ Steady-state solution can be assumed as

(3.74)
✓ Substituting, we obtained

(3.75)

✓ The amplitude ratio is

✓ If the harmonic excitation is assumed to be F(t)=F0eiωt

(3.76)
 (3.77)

✓ Where the quantity k(1+iβ) is called the complex stiffness or

complex damping.
✓ The steady-state solution is given by the real part of

(3.78)