Jimma University

Jimma Institute of Technology

Faculty of Civil and Environmental Engineering

Structural Dynamics

By
Dr.Kabtamu Getachew, PhD in Civil Engineering, Concrete
Structures Earthquake Analysis

1
 CENG 6505 - Structural Dynamics [3]

Outline
• Introduction to structural dynamics.
• Systems with one degree of freedom. Systems with multi-degree of freedoms.
• Normal-mode method of dynamic analysis.
• Direct numerical integration methods.
• Distributed-parameter systems.
• Introduction to Finite Element Method in Structural Dynamics.
CENG 6505 - Structural Dynamics [3]
 Vibration
Vibration is a continuous cyclic
motion of a structure or a
component.
• Generally, engineers try to avoid
vibrations, because vibrations
have a number of unpleasant
effects:
• Cyclic motion implies cyclic
forces. Cyclic forces are very
damaging to materials.
• Even modest levels of vibration
can cause extreme discomfort;
• Vibrations generally lead to a loss
of precision in controlling
machinery.
 Vibration
No vibrations course is complete without a
mention of the Tacoma Narrows suspension
bridge. This bridge, constructed in the 1940s,
was at the time the longest suspension bridge
in the world. Because it was a new design, it
suffered from an unforseen source of
vibrations. In high wind, the roadway would
exhibit violent torsional vibrations, as shown in
the picture below.
.

Vibration
Important features of the Vibration response are
* The signal is often (although not always) periodic: that is to say, it repeats
itself at fixed intervals of time. Vibrations that do not repeat themselves in this way
are said to be random.
* The PERIOD of the signal, T, is the time required for one complete cycle of
oscillation, as shown in the picture.
* The FREQUENCY of the signal, f, is the number of cycles of oscillation per
second. Cycles per second is often given the name Hertz: thus, a signal which
repeats 100 times per second is said to oscillate at 100 Hertz.
• The ANGULAR FREQUENCY of the signal, , is defined as  . We specify
angular frequency in radians per second. Thus, a signal that oscillates at 100 Hz
has angular frequency 200 radians per second.
• Period, frequency and angular frequency are related by
 Importance of the Study of Vibration
• Why study vibration?
 Vibrations can lead to excessive deflections
and failure on the machines and structures
 To reduce vibration through proper design of
machines and their mountings
 To utilize profitably in several consumer and
industrial applications
 To improve the efficiency of certain machining,
casting, forging & welding processes
 To stimulate earthquakes for geological
research and conduct studies in design of
nuclear reactors
7
 Basic Concepts of Vibration
 Vibration = any motion that repeats itself
after an interval of time
 Vibratory System consists of:
1) spring or elasticity
2) mass or inertia
3) damper
 Involves transfer of potential energy to
kinetic
energy and vice versa
8
 Classification of Vibration

Free Vibration:
A system is left to vibrate on its own after an
initial disturbance and no external force acts on
the system. E.g. simple pendulum
Forced Vibration:
A system that is subjected to a repeating
external force. E.g. oscillation arises from diesel
engines
 Resonance occurs when the frequency of the external
force coincides with one of the natural frequencies of
9 the system
 Classification of Vibration

Undamped Vibration:
When no energy is lost or dissipated in friction
or other resistance during oscillations
Damped Vibration:
When any energy is lost or dissipated in friction
or other resistance during oscillations
Linear Vibration:
When all basic components of a vibratory
system, i.e. the spring, the mass and the damper
behave linearly
10
 Classification of Vibration

Nonlinear Vibration:
If any of the components behave nonlinearly
Deterministic Vibration:
If the value or magnitude of the excitation (force
or motion) acting on a vibratory system is known
at any given time
Nondeterministic or random Vibration:
When the value of the excitation at a given time
cannot be predicted

11
 Classification of Vibration

Examples of deterministic and random

excitation:

12
 Vibration Analysis Procedure

Step 1: Mathematical Modeling

Step 2: Derivation of Governing Equations
Step 3: Solution of the Governing Equations
Step 4: Interpretation of the Results

13
 Introduction to Structural Dynamics:

Single-Degree-of-Freedom (SDOF) Systems

Basic Concepts

• Degrees of Freedom
• Newton’s Law
• Equation of Motion (external force)
• Equation of Motion (base motion)
• Solutions to Equations of Motion
– Free Vibration
– Natural Period/Frequency
 Basic Concepts of Vibration

 Degree of Freedom (d.o.f.) =

min. no. of independent coordinates required to
determine completely the positions of all parts of
a system at any instant of time
 Examples of single degree-of-freedom systems:

16
 Basic Concepts of Vibration

 Examples of single degree-of-freedom

systems:

17
 Basic Concepts of Vibration

 Examples of Two degree-of-freedom

systems:

18
 Basic Concepts of Vibration

Examples of Three degree of freedom

systems:

19
 Basic Concepts of Vibration

Example of Infinite-number-of-degrees-of-
freedom system:

Infinite number of degrees of freedom

system are termed continuous or
distributed systems
Finite number of degrees of freedom are
20
termed discrete or lumped parameter
Degrees of Freedom

The number of variables required to describe the motion of the

masses is the number of degrees of freedom of the system

Continuous systems – infinite

number of degrees of freedom

Lumped mass systems – masses can be

assumed to be concentrated at specific
locations, and to be connected by massless
elements such as springs. Very useful for
buildings where most of mass is at (or attached
to) floors.
Degrees of Freedom

Single-degree-of-freedom (SDOF) systems

Vertical translation Horizontal translation Horizontal translation Rotation

 Vibration Analysis Procedure

Step 1: Mathematical Modeling

Step 2: Derivation of Governing Equations
Step 3: Solution of the Governing Equations
Step 4: Interpretation of the Results

23
 1.6 Vibration Analysis Procedure
Example of the modeling of a forging
hammer:

24
 Example 1.1
Mathematical Model of a Motorcycle
Figure 1.18(a) shows a motorcycle with a rider.
Develop a sequence of three mathematical
models of the system for investigating vibration in
the vertical direction. Consider the elasticity of the
tires, elasticity and damping of the struts (in the
vertical direction), masses of the wheels, and
elasticity, damping, and mass of the rider.

25
 Example 1.1 Solution
We start with the simplest model and refine it
gradually. When the equivalent values of the
mass, stiffness, and damping of the system are
used, we obtain a single-degree of freedom model
of the motorcycle with a rider as indicated in Fig.
1.18(b). In this model, the equivalent stiffness (keq)
includes the stiffness of the tires, struts, and rider.
The equivalent damping constant (ceq) includes
the damping of the struts and the rider. The
equivalent mass includes the mass of the wheels,
vehicle body and the rider.
26
 Example 1.1 Solution

27
 Example 1.1 Solution
Note that the models shown in Figs. 1.18(b) to (d)
are not unique. For example, by combining the
spring constants of both tires, the masses of both
wheels, and the spring and damping constants of
both struts as single quantities, the model shown
in Fig. 1.18(e) can be obtained instead of Fig.
1.18(c).

28
 Spring Elements

Linear spring is a type of mechanical link

that is generally assumed to have
negligible mass and damping
Spring force is given by:
F  kx 1.1
F = spring force,
k = spring stiffness or spring constant, and
x = deformation (displacement of one end
with respect to the other)

29
 Spring Elements

Work done (U) in deforming a spring or

the strain (potential) energy is given by:
1 2
U  kx 1.2
2
When an incremental force ΔF is added to F:

F  F  F ( x*  x)
dF
 F (x ) 
*
(x)
dx x*
1 d 2F
 (x)2  ... 1.3
2! dx2
30
x*
 Spring Elements

31
 Spring Elements
Static deflection of a beam at the free
end is given by:Wl 3
 st  1.6
3EI
W = mg is the weight of the mass m,
E = Young’s Modulus, and
I = moment of inertia of cross-section of beam

Spring Constant
W 3EI
is given by:
k  1.7
 st
l 3

32
 Spring Elements
Combination of Springs:
1) Springs in parallel – if we have n
spring constants k1, k2, …, kn in parallel,
then the equivalent spring constant keq is:
keq  k1  k2  ...  kn 1.11

33
 Spring Elements
Combination of
Springs:
2) Springs in series – if
we have n spring
constants k1, k2, …, kn
in series, then the
equivalent spring
constant keq is:
1 1 1 1
   ...  1.17
k k k
eq 1 2
k n

34
 Example 1.3
Torsional Spring Constant of a Propeller Shaft
Determine the torsional spring constant of the
speed propeller shaft shown in Fig. 1.25.

35
 Example 1.3 Solution

GJ G ( D  d ) (80 10 ) (0.3  0.2 )

4 4 9 4 4

k 
t12
 12
 12 12

l 12
32l 32(2)
12

 25.525510 N - m/rad
6

GJ G ( D  d ) (80 10 ) (0.25  0.15 )

4 4 9 4 4

k 
t 23
 23
 23 23

l 23
32l 32(3)
23

 8.901210 N - m/rad
6

36
 Example 1.5
Equivalent k of a Crane
The boom AB of crane is a uniform steel bar of
length 10 m and x-section area of 2,500 mm2.
A weight W is suspended while the crane is
stationary. Steel cable CDEBF has x-sectional
area of 100 mm2. Neglect effect of cable CDEB,
find equivalent spring constant of system in the
vertical direction.

37
 Example 1.5 Solution

A vertical displacement x of pt B will cause the

spring k2 (boom) to deform by x2 = x cos 45º and
the spring k1 (cable) to deform by an amount
x1 = x cos (90º – θ). Length of cable FB, l1 is as
shown.
l12  32  102  2(3)(10) cos135  151.426
 l1  12.3055 m

38
 Example 1.5 Solution

The angle θ satisfies the relation:

l12  32  2(l1)(3) cos   102
cos   0.8184,   35.0736

 The total potential energy (U):

1 2 1
U  k1( x cos 45)  k2[ x cos(90   )]2 E.1
2 2
A1E1 (100 106 )(207 109 )
k1    1.6822 106 N/m
l1 12.0355
A2 E2 (2500 106 )(207 109 )
k2    5.1750 107 N/m
l2 10 39
 Example 1.5 Solution

Potential Energy of the equivalent spring

is: 1
Ueq  keq x
2
E.2
2

By setting U = Ueq, hence:

keq  26.4304106 N/m

40
 Mass or Inertia Elements
Using mathematical model to represent the
actual vibrating system
E.g. In figure below, the mass and damping
of the beam can be disregarded; the system
can thus be modeled as a spring-mass
system as shown.

41
 Mass or Inertia Elements

Combination of Masses
E.g. Assume that the
mass of the frame is
negligible compared to
the masses of the floors.
The masses of various
floor levels represent the
mass elements, and the
elasticities of the vertical
members denote the
spring elements.
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 Damping Elements

Viscous Damping:
Damping force is proportional to the velocity of
the vibrating body in a fluid medium such as air,
water, gas, and oil.
Coulomb or Dry Friction Damping:
Damping force is constant in magnitude but
opposite in direction to that of the motion of the
vibrating body between dry surfaces
Material or Solid or Hysteretic Damping:
Energy is absorbed or dissipated by material
during deformation due to friction between
internal planes
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 Damping Elements

Hysteresis loop for elastic materials:

44
 Damping Elements

Shear Stress ( ) developed in the fluid layer at

a distance y from the fixed plate is:
du
  1.26
dy
where du/dy = v/h is the velocity gradient.
• Shear or Resisting Force (F) developed at the
bottom surface of the moving plate is:
Av
F  A    cv 1.27
h
where A is the surface area of the moving plate.
Where A is the surface area of the moving
A
45
plate and c  is the damping constant
h
 Damping Elements

A
and c 1.28
h
is called the damping constant.
If a damper is nonlinear, a linearization process
is used about the operating velocity (v*) and the
equivalent damping constant is:
dF
c 1.29
dv v*

46
 Piston-Cylinder Dashpot

Develop an expression for the damping

constant of the dashpot as shown in Fig.
1.36(a).

47
 Example 1.9 Solution

The damping constant of the dashpot can be

determined using the shear stress equation for
viscous fluid flow and the rate of fluid flow
equation. As shown in Fig. 1.36(a), the dashpot
consists of a piston diameter D and length l,
moving with velocity v0 in a cylinder filled with a
liquid of viscosity µ. Let the clearance between the
piston and the cylinder wall be d. At a distance y
from the moving surface, let the velocity and shear
stress be v and τ, and at a distance (y + dy) let the
velocity and shear stress be (v – dv) and (τ + dτ),
respectively (see Fig. 1.36b).
48
 Example 1.9 Solution
The negative sign for dv shows that the velocity
decreases as we move toward the cylinder wall.
The viscous force on this annular ring is equal to
d
F  Dld  Dl dy (E.1)
dy
But the shear stress is given by
dv
   (E.2)
dy
where the negative sign is consistent with a
decreasing velocity gradient. Using Eq. (E.2) in
Eq. (E.1), we obtain
49
 Example 1.9 Solution
dv 2

F  Dldy (E.3)
dy 2

The force on the piston will cause a pressure

difference on the ends of the element, given by
P 4P
p  (E.4)
 D  D
2 2

 
 4 
Thus the pressure force on the end of the element
is 4P
pDdy  dy (E.5)
D
50
 Example 1.9 Solution
where Ddy denotes the annular area between y
and (y + dy). If we assume uniform mean velocity
in the direction of motion of the fluid, the forces
given in Eqs. (E.3) and (E.5) must be equal. Thus
we get 4P dv 2

dy  Dldy
D dy 2

or
dv
2
4P
 (E.6)
dy 2
D l
2

51
 Example 1.9 Solution
Integrating this equation twice and using the
boundary conditions v  v at y = 0 and v = 0 at
0

y = d, we obtain
v
2P  y
 yd  y   v 1  
2
(E.7)
D l 2
 d
0

The rate of flow through the clearance space can

be obtained by integrating the rate of flow through
an element between the limits y = 0 and y = d:
 2Pd 1  3

Q   vDdy  D  v d
d

(E.8)
 6D l 2 
2 0
0

52
 Example 1.9 Solution
The volume of the liquid flowing through the
clearance space per second must be equal to the
volume per second displaced by the piston. Hence
the velocity of the piston will be equal to this rate of
flow divided by the piston area. This gives
Q
v  (E.9)
 D 
0

 
2

4 
Equations (E.8) and (E.9) lead to

53
 Example 1.9 Solution
  2d  
3D l 1  D  
3

P  v
0
(E.10)
 4d 
3

 
By writing the force as P = cv0, the damping
constant c can be found as

3D l  2d 
3

c   1   (E.11)
 4d  D 
3

54
 Example 1.10 Equivalent Spring and Damping
Constants of a Machine Tool Support

A precision milling machine is supported on four

shock mounts, as shown in Fig. 1.37(a). The
elasticity and damping of each shock mount can
be modeled as a spring and a viscous damper, as
shown in Fig. 1.37(b). Find the equivalent spring
constant, keq, and the equivalent damping
constant, ceq, of the machine tool support in terms
of the spring constants (ki) and damping constants
(ci) of the mounts.

55
 Example 1.10 Equivalent Spring and Damping
Constants of a Machine Tool Support

56
 Example 1.10 Solution
The free-body diagrams of the four springs and
four dampers are shown in Fig. 1.37(c). Assuming
that the center of mass, G, is located
symmetrically with respect to the four springs and
dampers, we notice that all the springs will be
subjected to the same displacement, x, and all the
dampers will be subject to the same relative
velocity x , where x and x denote the
displacement and velocity, respectively, of the
center of mass, G. Hence the forces acting on the
springs (Fsi) and the dampers (Fdi) can be
expressed as
57
 Example 1.10 Solution

58
 Example 1.10 Solution
F  k x;
si i
i  1,2,3,4
F  c x;
di i
i  1,2,3,4 (E.1)
Let the total forces acting on all the springs and all
the dampers be Fs and Fd, respectively (see Fig.
1.37d). The force equilibrium equations can thus
be expressed as

F F F F F
s s1 s2 s3 s4

F F F F F
d d1 d2 d3 d4
(E.2)
59
 Example 1.10 Solution
where Fs + Fd = W, with W denoting the total
vertical force (including the inertia force) acting on
the milling machine. From Fig. 1.37(d), we have
F k x
s eq

F  c x
d eq
(E.3)
Equation (E.2) along with Eqs. (E.1) and (E.3),
yield
k  k  k  k  k  4k
eq 1 2 3 4

c  c  c  c  c  4c
eq 1 2 3 4
(E.4)
60
 Example 1.10 Solution

where ki = k and ci = c for i = 1, 2, 3, 4.

Note: If the center of mass, G, is not located
symmetrically with respect to the four springs and
dampers, the ith spring experiences a
displacement of x and the ith damper experiences
a velocity of xi where x and xi can be related to
i

the displacement x and velocity x of the center of

mass of the milling machine, G. In such a case,
Eqs. (E.1) and (E.4) need to be modified suitably.

61
 Vibration Analysis Procedure

Step 1: Mathematical Modeling

Step 2: Derivation of Governing Equations
Step 3: Solution of the Governing Equations
Step 4: Interpretation of the Results

62
Newton’s Law-Equation of Motion
Consider a particle with mass, m, moving in
one dimension subjected to an external load,
F(t). The particle has:
position u
velocity u m
acceleration  u

F(t)
According to Newton’s Law:

d
mu   F (t )
dt
If the mass is constant:
d
mu   m d u   mu  F (t )
dt dt
Equation of Motion (external load)

Dashpot Mass

External load
Spring

Dashpot force
External load
Spring force

From Newton’s Law, F = mü

Q(t) - fD - fS = mü
Equation of Motion (external load)

Viscous resistance Elastic resistance

mu  cu  ku  Q(t )

Equation of Motion (base motion)

Newton’s law is expressed in terms of absolute velocity and

acceleration, üt(t). The spring and dashpot forces depend on
the relative motion, u(t).

mut  cu  ku
m(u  ub )  cu  ku
m(u  ub )  cu  ku  0
mu  cu  ku  mub
Solutions to Equation of Motion

mu  cu  ku  Q(t )

Four common cases
Free vibration: Q(t) = 0
Undamped: c = 0
Damped: c ≠ 0
Forced vibration: Q(t) ≠ 0
Undamped: c = 0
Damped: c ≠ 0
Solutions to Equation of Motion
Undamped Free Vibration

mu  ku  0
Solution:

u(t )  a sinot  b cosot

where

k
o  Natural circular frequency
m

How do we get a and b? From initial conditions

Solutions to Equation of Motion
Undamped Free Vibration

u(t )  a sinot  b cosot

Assume initial displacement (at t = 0) is uo. Then,

uo  a sin o (0)  b coso (0)

uo  a(0)  b(1)
uo  b
Solutions to Equation of Motion

Assume initial velocity (at t = 0) is uo. Then,

u  ao cosot  bo sin ot

uo  ao coso (0)  bo sin o (0)
uo  ao (1)  bo (0)
uo  ao
uo
a
o
Solutions to Equation of Motion
Assume initial velocity (at t = 0) is uo. Then,

where and are the 𝑈o initial displacement and 𝑢ሶ o velocity

of the system respectively. Noting that cosine and sine are
functions that repeat with period 2π we see that ω( t1+T)=
ω t1+2π and so the undamped natural period of the SDOF
system is

The natural frequency of the system is got from

Solutions to Equation of Motion
• Noting that cosine and sine are functions that repeat with
period 2π we see that ω( t1+T)= ω t1+2π and so the undamped
𝟐𝝅
natural period of the SDOF system is 𝑻 =
𝝎
The natural frequency of the system is got from
𝟏 𝝎 𝟏 𝑲
𝒇= = =
𝑻 𝟐𝝅 𝟐𝝅 𝒎
• The importance of this equation is that it shows the
𝐾
natural frequency of structures to be proportional to
𝑚
• This knowledge can aid a designer in addressing
problems with resonance in structures: by changing the
stiffness or mass of the structure, problems with dynamic
behaviour can be addressed
Solutions to Equation of Motion
• Noting that cosine and sine are functions that repeat with
period 2π we see that ω( t1+T)= ω t1+2π and so the undamped
𝟐𝝅
natural period of the SDOF system is 𝑻 =
𝝎
The natural frequency of the system is got from
𝟏 𝝎 𝟏 𝑲
𝒇= = =
𝑻 𝟐𝝅 𝟐𝝅 𝒎
• The importance of this equation is that it shows the
𝐾
natural frequency of structures to be proportional to
𝑚
• This knowledge can aid a designer in addressing
problems with resonance in structures: by changing the
stiffness or mass of the structure, problems with dynamic
behaviour can be addressed
Example:Harmonic and Free Vibration
Given : m=10kg,K=100N/m, compute the displacement u
for undampded equation up to time t=4s
𝑢ሶ 𝑜
𝑢 𝑡 = 𝑢𝑜 𝑐𝑜𝑠𝜔𝑡 + ( )sin𝜔𝑡
𝜔
 Example:Harmonic and Free Vibration
Fig. above shows the free-vibration response of a spring-mass
system for various initial states of the system. It can be seen
from (b) and (c) that when 𝑢𝑜ሶ ≠ 0 the amplitude of displacement
is not that of the initial displacement; this is obviously an
important characteristic to calculate. The cosine addition rule
may also be used to show that the equation( 𝑢 𝑡 = 𝑢𝑜 𝑐𝑜𝑠𝜔𝑡 +
𝑢ሶ
( 𝑜 )sin𝜔𝑡 ) can be written in the form:
𝜔
𝑢 𝑡 = 𝐶 𝑢𝑜 cos(𝜔𝑡 − 𝜃)
2 2 −𝐵
Where 𝐶 = 𝐴 + 𝐵 and tan 𝜃 = 𝐴 .Using A and B as
calculated earlier for initial conditions, we have then:
𝑢 𝑡 = 𝑝 𝑢𝑜 cos(𝜔𝑡 − 𝜃)
where ρ is the amplitude of displacement and θ is the phase angle, both given
by:
 Example:Harmonic and Free Vibration

𝑢 𝑡 = 𝐶 𝑢𝑜 cos(𝜔𝑡 − 𝜃)
−𝐵
Where 𝐶 = 𝐴2 + 𝐵 2 and tan 𝜃 = 𝐴 .Using A and B as
calculated earlier for initial conditions, we have then:
𝑢 𝑡 = 𝑝 𝑢𝑜 cos(𝜔𝑡 − 𝜃)
where ρ is the amplitude of displacement and θ is the phase
angle, both given by:
2
2
𝑢ሶ 𝑜
𝑝 = 𝑢𝑜 +
𝜔
𝑢ሶ 𝑜
tan 𝜃 =
𝑢𝑜𝜔
The phase angle determines the amount by which u(t) lags
behind the function cos 𝜔𝑡
Example:Harmonic and Free Vibration

Fig.Undamped free-vibration response.

Additional :Computer Implementation & Examples

Using MS Excel (uploaded on Group)-See
To illustrate an application we give the spreadsheet used to generate Figure
 Harmonic Motion

Periodic Motion: motion repeated after equal

intervals of time
Harmonic Motion: simplest type of periodic
motion x  Asin  Asint 1.30
Displacement (x): (on horizontal axis)
Velocity: dx
  A cos t 1.31
dt
Acceleration:
2
d x
2
  2
A sin t   2
x 1.32
dt
78
 Harmonic Motion

• Scotch yoke
mechanism:
The similarity
between cyclic
(harmonic) and
sinusoidal
motion.

79
 Harmonic Motion

Also, Eqn. (1.36) can be expressed as


X  A cos  iAsin 1.36

X  Acos  i sin   Aei 1.43

Thus,
A j  (a2j  b2j ); j  1, 2 1.47
1 b j

 j  tan  ; j  1, 2 1.48
aj 
80
 1.10 Harmonic Motion

Operations on Harmonic Functions:

 it
Rotating Vector, X  Ae 1.51
Displacement  Re[ Aeit ]  A cos t 1.54
Velocity  Re[iAeit ]  Asint
 A cost  90 1.55
Acceleration  Re[ 2 Aeit ]
  A cos t
2

  2 A cost  180 1.56

81
where Re denotes the real part
 Harmonic Motion

• Displacement, velocity, and accelerations as rotating

vectors

• Vectorial addition of
harmonic functions

82
 Example 1.11
Addition of Harmonic Motions
Find the sum of the two harmonic motions
x (t )  10 cost and x (t )  15 cos(t  2).
1 2

Solution:
Method 1: By using trigonometric relations: Since
the circular frequency is the same for both x1(t)
and x2(t), we express the sum as
x(t )  A cos(t   )  x (t )  x (t )
1 2
(E.1)

83
 Example 1.11 Solution
That is,
Acost cos  sin t sin    10 cost  15cos(t  2)
 10 cost  15(cost cos 2  sin t sin 2) (E.2)
That is,
cost ( A cos )  sin t ( Asin  )  cost (10  15cos 2)
 sin t (15sin 2) (E.3)

By equating the corresponding coefficients of

cosωt and sinωt on both sides, we obtain
A cos  10  15cos 2
A sin   15sin 2
A  10  15cos 2  (15sin 2)
2 2

 14.1477 (E.4)
84
 Example 1.11 Solution
and

  tan 
15sin 2 

1

 10  15 cos 2 
 74.5963 (E.5)

Method 2: By using vectors: For an arbitrary value

of ωt, the harmonic motions x1(t) and x2(t) can be
denoted graphically as shown in Fig. 1.43. By
adding them vectorially, the resultant vector x(t)
can be found to be
x(t )  14.1477cos(t  74.5963) (E.6)
85
 Example 1.11 Solution
Method 3: By using complex number
representation: the two harmonic motions can be
denoted in terms of complex numbers:
x (t )  ReA e   Re10e 
1 1
it it

x (t )  ReA e   Re15e
2 2
i ( t  2 ) i ( t  2 )
 (E.7)

The sum of x1(t) and x2(t) can be expressed as

x(t )  ReAe i ( t  )
 (E.8)
where A and α can be determined using Eqs. (1.47)
and (1.48) as A = 14.1477 and α = 74.5963º
86
 Harmonic Motion
Definitions of Terminology:
Amplitude (A) is the maximum displacement
of a vibrating body from its equilibrium
position
Period of oscillation (T) is time taken to
complete one cycle of motion
2
T 1.59

Frequency of oscillation (f) is the no. of
1 
cycles per unit time f   1.60
87
T 2
 Harmonic Motion

Definitions of Terminology:
 Natural frequency is the frequency which a system
oscillates without external forces
 Phase angle () is the angular difference between
two synchronous harmonic motions
x1  A1 sin t 1.61
x2  A2 sint    1.62

88
 Harmonically Excited Vibration
(Harmonically Damped Forced Vibration)

 Physical system

.. .
m x c x kx  F t  Equation of motion
F t  is a harmonic force.It may takes one of the following forms:
F t   Fo sin t
F t   Fo cost Fo is the amplitude of force
F t   Fo e jt  is the frequencyof force
 Harmonically Excited Vibration

Consider the form:

.. .
m x c x kx  Fo e jt Equation of motion (1)
This 2nd order differential equation is non - homogenuos. Its solution has
two parts
1. Complementary function (Transient response): It is the solutionfor
the homogeneous equation (describedin previous chapter).for   1
The solution was written as :
xc (t )  e  nt C1 cosd t  C2 sin d t 
2. Particularintegral (steady state response: It is the solutionfor the
non homogenuos equation. Because the force(excitation) is harmaonic
with frequency we can expect that the response(solution)is harmonic
with the same frequency. The solutioncan be written as
x p (t)  Xe jt , X is called the ' steadty state responseamplitude'
Harmonically Excited Vibration

Substitute the particular integral into equation (1) and solve for X :
Fo
X 

k   2 m  jc 
 
By writing k   2 m  jc as

k   m  c  e
2 2 2 j
, where   tan -1
cw
k  m
2
is the " phase
angle" between Force and Response.
Fo
 X  X e  j whe re X 
k   m  c 
2 2 2

There for the particular integral can now be written as

x p  X e j t   , X denotes the " magnitude" of the
steady state responseamplitude.
 Harmonically Excited Vibration

X and  may be written as :

 Fo 
 
 k  
X  , where r is the frequency ratio.
1  r   2r 
2 2 2 n
 2r 
  tan 1  2 
1 r 
The total solution(response)for the equation of motion (1) is :
x(t )  xc (t )  x p (t )
x(t )  e  nt C1 cosd t  C2 sin d t   X e j t  
Note that C1 and C2 are constants to be dermined from
knowing the inatial conditions of the motion.
Harmonically Excited Vibration

NOTES :
1. For the forceform F(t)  Fo sin t  x p (t )  X sint   
2. For the forceform F(t)  Fo cost  x p (t )  X cost   
3. Transient response( xc (t )) representsa motion that decays with
time and can be neglectedafter a certain time.
4. Steady state response( x p (t )) is a harmonic motion with constant
amplitude and frequency.
F
5. The term o is usually called the "static deflection( st ). The ratio
k
X
is usually called the " Magnification Factor (M)".
 st
1
M
1  r   2r 
2 2 2
 Damped Forced Vibration System

 Graphical representation for Magnification factor M and ϕ.

 Damped Forced Vibration System

 Notes on the graphical representation of X.

 For ζ = 0 , the system is reduced and becomes un-damped.

 for any amount of ζ > 0 , the amplitude of vibration decreases

(i.e. reduction in the magnification factor M). This is correct for

any value of r.
 For the case of r = 0, the magnification factor equals 1.

 The amplitude of the forced vibration approaches zero when the

frequency ratio ‘r’ approaches the infinity (i.e. M→0 when r →

∞)
 Damped Forced Vibration System

 Notes on the graphical representation for ϕ.

 For ζ = 0 , the phase angle is zero for 0<r<1 and 180o for r>1.

 For any amount of ζ > 0 and 0<r<1 , 0o<ϕ<90o .

 For ζ > 0 and r>1 , 90o<ϕ<180o .

 For ζ > 0 and r=1 , ϕ= 90o.

 For ζ > 0 and r>>1 , ϕ approaches 180o.

Harmonically Excited Vibration

Frequency of Maximum amplitude :

The s.s responseamplitude can be written as :

X
Fo
k
 
1  r  2r 
2 2

2
-1/2

d
X is maximum when ( X )  0
dr
This condition gives :

X is maximum when r   1  2 2 which is known as a
n
Resonance Frequency, i.e res  n 1  2 2
 Forced Vibration due to Rotating Unbalance

Unbalance in rotating machines is a

common source of vibration
excitation. If Mt is the total mass of
the system, m is the eccentric mass
and  is the speed of rotation, the
centrifugal force due to unbalanced
mass is meω2 where e is the
eccentricity.
 The vertical component (meω2
sin(ωt) is the effective one because
it is in the direction of motion of
the system. The equation of motion
is: .. .
M t x c x kx  me 2 sint 
 Transmissibility of Force

If the deflectionof foundation is neglugible,

then the force transmitted to the foundation is
Ftr e jt  kx  cx
Assume harmonic motion i.e, x  Xe jt
(k  jc) Fo
Ftr 

(k   2 m)  jc 
Ftr
define TR F as the Force Transmissibility, TR F

Fo
1  (2r ) 2
2r
TR  ,   tan 1

(1  r 2 )  (2r ) 2 (1- r 2 )
F
 Transmissibility of displacement (support motion)

Physical system: The forcing function for the base excitation

..  . . 
Mathematical model: m x c x y   k x  y   0
 
 Transmissibility of displacement (support motion)

Substitute the forcing function into the math. Model:

.. .
m x c x kx  kY sint   cY cost   A sint   
Where :
A  Y k  c 
2 2

 c 
  tan   
1

 k 
Assume x(t)  Xsint (Harmonic motion)
k 2  c  1  2r 
2 2
X
Displacement Transmissibility(TRd )   
Y k  m   c 
2 2 2
1  r   2r 
2 2 2

 2r 
  tan 1  2 
 1  r 
 Transmissibility of displacement (support motion)

Graphical representation of Force or Displacement

Transmissibility ((TR) and the Phase angle (
 Example 3.1: Plate Supporting a Pump:
A reciprocating pump, weighing 68 kg, is mounted at the middle of a steel
plate of thickness 1 cm, width 50 cm, and length 250 cm. clamped along
two edges as shown in Fig. During operation of the pump, the plate is
subjected to a harmonic force, F(t) = 220 cos (62.832t) N. if E=200
Gpa, Find the amplitude of vibration of the plate.
 Example 3.1: solution

 The plate can be modeled as fixed – fixed beam has the

following stiffness:
192EI
k
l3
1
But I  bh3 
12
1
12
  3

50x102 1x102  41.667x109 m4

So, k 
 
192 200x109 41.667x109 
 102,400.82 N / m
250x10 
2 3

 The maximum amplitude (X) is found as:

-ve means that the
Fo 220
X   1.32487mm response is out of
k  m 102,400.82  6862.832
2
phase with
excitation
Example 3.2:
Solution
F 100  st
 st  o   0.025m X   0.3326m
k 4000 1 r   2r 
2 2 2

 2 r 
  tan 1    3.814o

1 r 
2

Total solution:
X(t) = X c (t) + X p(t)

- nt
x (t)  Ae cos( n t -  )  X cos(t - 0.066)

-0.05*20t
x (t)  Ae cos(19.97t-  )  0.3326cos(
20t - 0.066)
at t  0, xt   0.01m
0  Acos  0.3326 * cos0.066
 Acos  0.33187 (1)
-t
x(t)  Ae cos(19.97t- )  0.3326cos(20t - 0.066)
-t -t
x (t )  Ae * -19.97sin (19.97t - )  A cos(19.97t -  ) * (-t)e
 0.3326 * 20sin(20t - 0.066)
at t  0, x t   0
 0  19.97 A sin  0.438, A sin  0.0219 (2)
From (1) and (2)   0.066 rad and A  -0.3325
-t
 x(t)  -6.64e cos(19.97t- 0.066) - 0.3326cos(20t - 0.066)
Any Question?
Thank you