Day 24

MATH24­1 (Differential Equations)

Ch 3.8  Forced Vibrations (Page 207­221)
Elementary Differential Equations and Boundary Value Problems, 10 th edition, by
William E. Boyce and Richard C. DiPrima, ©2013 by John Wiley & Sons, Inc.
• We continue the discussion of the last section, and now
consider the presence of a periodic external force:
m u(t )   u (t )  k u (t )  F0 cos  t
 Forced Vibrations with Damping

• Consider the equation below for damped motion and external

forcing funcion F0cost.
mu (t )   u (t )  ku (t )  F0 cos  t
• The general solution of this equation has the form
u (t )  c1u1 (t )  c2u2 (t )  A cos  t   B sin   t   uC (t )  U (t )
where the general solution of the homogeneous equation is
uC (t )  c1u1 (t )  c2u2 (t )
and the particular solution of the nonhomogeneous equation is
U (t )  A cos  t   B sin   t 
 Homogeneous Solution

• The homogeneous solutions u1 and u2 depend on the roots r1

and r2 of the characteristic equation:
    2
 4mk
mr 2   r  kr  0  r 
2m

• Since m, , and k are all positive constants, it follows that r1

and r2 are either real and negative, or complex conjugates with
negative
lim uCreal lim  c1eIn
(t )  part.  c2 e r t   case,
r t the first
1 2
0,
t  t 

while
liminuCthe lim  c1e case
(t ) second t
cos t  c2 e  t sin t   0.
t  t 

• Thuslim
inueither
(t )  case,
0
C
t 
 Transient and Steady-State Solutions

• Thus for the following equation and its general solution,

mu(t )   u(t )  ku (t )  F0 cos  t
u (t )  c1u1 (t )  c2u2 (t )  A cos  t   B sin   t  ,
              
uC ( t ) U (t )

we have
lim uC (t )  lim  c1u1 (t )  c2u2 (t )   0
t  t 

• Thus uC(t) is called the transient solution. Note however that

U (t )  A cos  t   B sin   t 
is a steady oscillation with same frequency as forcing function.
• For this reason, U(t) is called the steady-state solution, or
forced response.
 Transient Solution and Initial Conditions

• For the following equation and its general solution,

mu(t )   u(t )  ku (t )  F0 cos  t
u (t )  c1u1 (t )  c2u2 (t )  A cos  t   B sin   t 
              
uC ( t ) U (t )

the transient solution uC(t) enables us to satisfy whatever

initial conditions might be imposed.
• With increasing time, the energy put into system by initial
displacement and velocity is dissipated through damping
force. The motion then becomes the response U(t) of the
system to the external force F0cost.
• Without damping, the effect of the initial conditions would
persist for all time.
 Example 1 (1 of 2)

• Consider a spring-mass system satisfying the differential

equation and initial condition
u   u   1.25 u  3 cos t , u (0)  2, u (0)  3
• Begin by finding the solution to the homogeneous equation
• The methods of Chapter 3.3 yield the solution
uC (t )  c1e  t /2 cos t  c 2e  t /2 sin t
• A particular solution to the nonhomogeneous equation will
have the form U(t) = A cos t + B sin t and substitution gives A
= 12/17 and B = 48/17. So
U (t )  12/17 cos t  48/17 sin t
 u   u  1.25 u  0
Example 1 (2 of 2) u (0)  2, u (0)  3

• The general solution for the nonhomogeneous equation is

u (t )  c1e  t /2 cos t  c 2e  t /2 sin t  12/17 cos t  48/17 sin t
• Applying the initial conditions yields
u (0)  c1  12/17  2 
  c1  22/17 , c2  14/17
u ' (0)  1/2 c1  c2  48/17  3 
• Therefore, the solution to the IVP is
u (t )  22/17 e  t /2 cos t  14/17e  t /2 sin t  12/17 cos t  48/17 sin t
• The graph breaks the solution
u t
4

3
 full solution
into its steady state (U(t)) 2
 steady state
 transient
and transient (uC(t))
1

t
5 10 15

components.
 1

 2

 3
 Rewriting Forced Response

• Using trigonometric identities, it can be shown that

U (t )  A cos  t   B sin   t 
can be rewritten as
U (t )  R cos  t   
• It can also be shown that
F0
R ,
m (   )   
2 2
0
2 2 2 2

m(02   2 ) 
cos   , sin  
m 2 (02   2 ) 2   2 2 m 2 (02   2 ) 2   2 2
where
02  k / m
 Amplitude Analysis of Forced Response

• The amplitude R of the steady state solution

F0
R ,
m (   )   
2 2
0
2 2 2 2

depends on the driving frequency . For low-frequency

excitation we have
F0 F0 F0
lim R  lim  
 0  0
m (0   )   
2 2 2 2 2 2 m 02
k

where we recall (0)2 = k/m. Note that F0/k is the static

displacement of the spring produced by force F0.
• For high frequency excitation,
F0
lim R  lim 0
   
m (   )   
2 2
0
2 2 2 2
 Maximum Amplitude of Forced Response

• Thus
lim R  F0 k , lim R  0
 0  

• At an intermediate value of , the amplitude R may have a

maximum value. To find this frequency , differentiate R and
set the result equal to zero. Solving for max, we obtain
2 2 2 
 2
max  
2
0 2
 0 1  
2m  2mk 
where (0)2 = k/m. Note max < 0, and max is close to 0 for
small . The maximum value of R is
F0
Rmax 
0 1  ( 2 4mk )
 Maximum Amplitude for Imaginary  max

• We have
 2 
 2
max   1 
2
0 
 2mk 
and
F0 F0  2 
Rmax   1  
0 1  ( 2 4mk ) 0  8mk 
where the last expression is an approximation for small . If
 2 /(mk) > 2, then max is imaginary. In this case, Rmax= F0/k,
which occurs at  = 0, and R is a monotone decreasing
function of . Recall from Section 3.8 that critical damping
occurs when  2 /(mk) = 4.
 Resonance

• From the expression

F0 F0  2 
Rmax   1  
0 1  ( 2 4mk ) 0  8mk 
we see that Rmax F0 /( 0) for small .
• Thus for lightly damped systems, the amplitude R of the
forced response is large for  near 0, since max  0 for
small .
• This is true even for relatively small external forces, and the
smaller the  the greater the effect.
• This phenomena is known as resonance. Resonance can be
either good or bad, depending on circumstances; for example,
when building bridges or designing seismographs.
 Graphical Analysis of Quantities

• To get a better understanding of the quantities we have been

examining, we graph the ratios R/(F0/k) vs. /0 for several
values of  =  2 /(mk), as shown below.
• Note that the peaks tend to get higher as damping decreases.
• As damping decreases to zero, the values of R/(F0/k) become
asymptotic to  = 0. Also, if  2 /(mk) > 2, then Rmax= F0/k,
which occurs at  = 0.
 Analysis of Phase Angle

• Recall that the phase angle  given in the forced response

U (t )  R cos  t   
is characterized by the equations
m(02   2 ) 
cos   , sin  
m 2 (02   2 ) 2   2 2 m 2 (02   2 ) 2   2 2
• If   0, then cos   1, sin   0, and hence   0. Thus the
response is nearly in phase with the excitation.
• If  = 0, then cos  = 0, sin  = 1, and hence    /2. Thus
response lags behind excitation by nearly  /2 radians.
• If  large, then cos   −1, sin  = 0, and hence    . Thus
response lags behind excitation by nearly  radians, and hence
they are nearly out of phase with each other.
 Example 2:
Forced Vibrations with Damping (1 of 4)

• Consider the initial value problem

u (t )  0.125 u (t )  u (t )  3 cos  t , u (0)  2, u (0)  0
• Then 0 = 1, F0 = 3, and  =  2 /(mk) = 1/64 = 0.015625.
• The unforced motion of this system was discussed in Ch 3.7,
with the graph of the solution given below, along with the
graph of the ratios R/(F0/k) vs. /0 for different values of .
 Example 2:
Forced Vibrations with Damping (2 of 4)

• Recall that 0 = 1, F0 = 3, and  =  2 /(mk) = 1/64 = 0.015625.

• The solution for the low frequency case  = 0.3 is graphed
below, along with the forcing function.
• After the transient response is substantially damped out, the
steady-state response is essentially in phase with excitation,
and response amplitude is larger than static displacement.
• Specifically, R  3.2939 > F0/k = 3, and   0.041185.
 Example 2:
Forced Vibrations with Damping (3 of 4)

• Recall that 0 = 1, F0 = 3, and  =  2 /(mk) = 1/64 = 0.015625.

• The solution for the resonant case  = 1 is graphed below,
along with the forcing function.
• The steady-state response amplitude is eight times the static
displacement, and the response lags excitation by  /2 radians,
as predicted. Specifically, R = 24 > F0/k = 3, and  =  /2.
 Example 2:
Forced Vibrations with Damping (4 of 4)

• Recall that 0 = 1, F0 = 3, and  =  2 /(mk) = 1/64 = 0.015625.

• The solution for the relatively high frequency case  = 2 is
graphed below, along with the forcing function.
• The steady-state response is out of phase with excitation, and
response amplitude is about one third the static displacement.
• Specifically, R  0.99655  F0/k = 3, and   3.0585  .
 Undamped Equation:
General Solution for the Case  0  
• Suppose there is no damping term. Then our equation is
mu (t )  ku (t )  F0 cos  t
• Assuming 0  , then the method of undetermined
coefficients can be use to show that the general solution is
F0
u (t )  c1 cos 0t  c2 sin 0t  cos  t
m(0   )
2 2
 Undamped Equation:
Mass Initially at Rest (1 of 3)
• If the mass is initially at rest, then the corresponding initial
value problem is
mu (t )  ku (t )  F0 cos  t , u (0)  0, u (0)  0
• Recall that the general solution to the differential equation is
F0
u (t )  c1 cos 0t  c2 sin 0t  cos  t
m(0   )
2 2

• Using the initial conditions to solve for c1 and c2, we obtain

F0
c1   , c2  0
m(0   )
2 2

• Hence
F0
u (t )   cos  t  cos 0t 
m(0   )
2 2
 Undamped Equation:
Solution to Initial Value Problem (2 of 3)

• Thus our solution is

F0
u (t )   cos  t  cos 0t 
m(0   )
2 2

• To simplify the solution even further, let A = (0 + )/2 and

B = (0 − )/2. Then A + B = 0t and A − B = t. Using the
trigonometric identity
cos( A  B)  cos A cos B sin A sin B,
it follows that
cos  t  cos A cos B  sin A sin B
cos 0t  cos A cos B  sin A sin B
and hence
cos  t  cos 0t  2 sin A sin B
 Undamped Equation: Beats (3 of 3)

• Using the results of the previous slide, it follows that


u (t )  
2 F0
sin
 0    t  sin  0    t

 m ( 2
0   2
) 2  2
• When |0 − |  0, 0 +  is much larger than 0 − , and
sin[(0 + )t/2] oscillates more rapidly than sin[(0 − )t/2].
• Thus motion is a rapid oscillation with frequency ( 0 + )/2,
but with slowly varying sinusoidal amplitude given by
2 F0
sin
 0    t
m 02   2 2

• This phenomena is called a beat.

• Beats occur with two tuning forks of
nearly equal frequency.
 Example 3: Undamped Equation,
Mass Initially at Rest (1 of 2)

• Consider the initial value problem

u(t )  u (t )  0.5 cos 0.8 t , u (0)  0, u(0)  0
• Then 0 = 1,  = 0.8, and F0 = 0.5, and hence the solution is
u (t )  2.77778  sin 0.1t  sin 0.9 t 
• The displacement of the spring-mass system oscillates with a
frequency of 0.9, slightly less than natural frequency 0 = 1.
• The amplitude variation has a slow
frequency of 0.1 and period of 20.
• A half-period of 10 corresponds to
a single cycle of increasing and then
decreasing amplitude.
 Example 3: Increased Frequency (2 of 2)

• Recall our initial value problem

u(t )  u (t )  0.5 cos 0.8 t , u (0)  0, u(0)  0
• If driving frequency  is increased to  = 0.9, then the slow
frequency is halved to 0.05 with half-period doubled to 20.
• The multiplier 2.77778 is increased to 5.2632, and the fast
frequency only marginally increased, to 0.095.
 Undamped Equation:
General Solution for the Case  0 =  (1 of 2)

• Recall our equation for the undamped case:

mu (t )  ku (t )  F0 cos  t
• If forcing frequency equals natural frequency of system, i.e.,
 = 0 , then nonhomogeneous term F0cost is a solution of
homogeneous equation. It can then be shown that
F0
u (t )  c1 cos 0t  c2 sin 0t  t sin 0t
2m0
• Thus solution u becomes unbounded as t  .
• Note: Model invalid when u gets
large, since we assume small
oscillations u.
 Undamped Equation: Resonance (2 of 2)

• If forcing frequency equals natural frequency of system, i.e.,

 = 0 , then our solution is
F0
u (t )  c1 cos 0t  c2 sin 0t  t sin 0t
2m0
• Motion u remains bounded if damping present. However,
response u to input F0cost may be large if damping is small
and |0 − |  0, in which case we have resonance.
 Example 4

• Solve the initial value problem

u  u  0.5 cos t , u (0)  0, u(0)  0
and plot the graph of the solution.
The general solution of the differential equation is
u  c1 cos t  c2 sin t  0.25t sin t
And the initial conditions require that c1 = c2 = 0. Thus the
solution of the given initial value problem is
u  0.25t sin t
 Examples
In each of Problems 1 through 4, write the given expression
as a product of two trigonometric functions of different
frequencies.
1/217) cos 9t − cos 7t
2/217) sin 7t − sin 6t

5/217) A mass weighing 4 lb stretches a spring 1.5 in. The

mass is given a positive displacement of 2 in from its
equilibrium position and released with no initial velocity.
Assuming that there is no damping and that the mass is acted
on by an external force of 2 cos 3t lb, formulate the initial
value problem describing the motion of the mass.
 Examples
6/217) A mass of 5 kg stretches a spring 10 cm. The mass is
acted on by an external force of 10 sin(t/2) N (newtons) and
moves in a medium that imparts a viscous force of 2 N when
the speed of the mass is 4 cm/s. If the mass is set in motion
from its equilibrium position with initial velocity of 3 cm/s,
formulate the initial value problem describing the motion of
the mass.

7/217) (a) Find the solution of Problem 5.

(b) Plot the graph of the solution.
(c) If the given external force is replaced by a force 4 sin ωt
of frequency ω, find the value of ω for which resonance
occurs.
 Examples
8/217) (a) Find the solution of the initial value problem in
Problem 6.
(b) Identify the transient and steady parts of the solution.
(c) Plot the graph of the steady state solution.
(d) If the given external force is replaced by a force of 2 cos
ωt of frequency ω, find the value of ω for which the
amplitude of the forced response is maximum.

16/218) A series circuit has a capacitor of 0.25 × 10−6 F, a

resistor of 5 × 103 Ω, and an inductor of 1 H. The initial
charge on the capacitor is zero. If a 12-volt battery is
connected to the circuit is closed at t = 0, determine the
charge on the capacitor at t = 0.001 s, at t = 0.01 s, and at any
time t. Also determine the limiting charge as t → ∞.