MECHANICAL

ENGINEERING

ME 370
Vibration of Mechanical
Systems
Instructor: Dr. A. Scott Lewis ARL Science Park Building 814-865-0962
(Science Park Road)
E-Mail: [email protected]

Free and Forced Vibration

LECTURE 7 2
 Lecture Content

• Harmonic Excitation of Undamped Systems

• Harmonic Excitation of Damped Systems
• Examples

3
Chapter 2 Response to Harmonic Excitation
Introduces the important concept of resonance

4
Free Responses of Undamped and Damped Systems
Introduction
 The responses of undamped and damped single degree-
of-freedom systems in the absence of forcing; that is,
f(t) = 0, are referred to as free responses.
 When the system is undamped or underdamped, the
responses are referred to as free oscillations.
 In the absence of forcing, the equation of motion for a
single degree-of-freedom reduces to
k
m
c
Note : Will introduce the concept of a damped natural frequency 5
ωd or =
ωnd ωn 1 − ζ 2
 Harmonic Excitation of Undamped Systems
• Consider a spring mass damper system with applied force F(t)=F0cosωt
• ω is the driving frequency
• F0 is the magnitude of the applied force
• Take c = 0 to start with

• Solution is the sum of

homogenous and particular
solution
• The particular solution assumes
form of forcing function
(physically the input wins):

6
Substitute particular solution into the equation of motion:
xp
 ωn2 x p
  
−ω X cos ωt + ωn2 X cos ωt =
2
f 0 cos ωt
f0 f0
solving yields: X= ⇒ x p (t=) cos(ωt )
ωn − ω
2 2
ωn − ω
2 2

Add particular and homogeneous solutions to get general solution:

particular
  
f
x(t=
) A1 sin ωnt + A2 cos ωnt + 2 0 2 cos ωt
 ωn − ω
homogeneous

A1 and A2 are constants of integration.

Apply initial conditions to evaluate the constants

f0 f f
x(0) = A1 sin 0 + A2 cos 0 + cos 0 = A2 + 2 0 2 = x0 ⇒ A2 = x0 − 2 0 2
ω −ω
2
n
2
ωn − ω ωn − ω
f0 v0
x (0) = ωn ( A1 cos 0 − A2 sin 0) − sin 0 = ω A
n 1 = v0 ⇒ A1 = ⇒
ωn2 − ω 2 ωn
v0  f  f 7
x(t )
= sin ωnt +  x0 − 2 0 2  cos ωnt + 2 0 2 cos ωt
ωn  ωn − ω  ωn − ω
Comparison of free and forced response

• Sum of two harmonic terms of different frequency

• Free response has amplitude and phase effected by
forcing function
• Our solution is not defined for ωn = ω because it
produces division by 0.
• If forcing frequency is close to natural frequency
the amplitude of particular solution is very large

8
Response for m=100 kg, k=1000 N/m, F=100 N, ω = ωn +5
v0=0.1m/s and x0= -0.02 m.

0.05
Displacement (x)

-0.05
0 2 4 6 8 10
Time (sec)
Note the obvious presence of two harmonic signals 9

Go to code demo
 What happens when ω is near ωn?

When the drive frequency and natural frequency are

close a beating phenomena occurs
1

0.5
Displacement (x)

0
Larger
amplitude
-0.5

-1
0 5 10 15 20 25 30 10
Time (sec)
Called beating
 What happens when ω is ωn?

5
When the drive Displacement (x)
frequency and natural
frequency are the same
the amplitude of the 0
vibration grows without
bounds. This is known as
a resonance condition.
The most important -5
concept in Chapter 2! 0 5 10 15 20 25 30
Time (sec) 11

Figure 2.5
Example 2.1.1: Compute and plot the response for m=10
kg, k=1000 N/m, x0=0,v0=0.2 m/s, F=23 N, ω =2ωn.

12
Example 2.1.2 Given zero initial conditions a harmonic input of 10
Hz with 20 N magnitude and k= 2000 N/m, and measured response
amplitude of 0.1m, compute the mass of the system.

13
 Example: Design a rectangular mount for a security camera.

0.02 x 0.02 m
in cross section

Compute  > 0.5 m so that the mount keeps the camera from
vibrating more then 0.01 m of maximum amplitude under a wind
load of 15 N at 10 Hz. The mass of the camera is 3 kg.

14
Solution: Modeling the mount and camera as a beam with a tip mass, and the wind as
harmonic, the equation of motion becomes:

From strength of materials:

Thus the frequency expression is:

Here we are interested computing  that will make the

amplitude less then 0.01m:

15
 Case (a) (assume aluminum for the material):

Case (b):

16
 Remembering the constraint that the length must be
at least 0.2 m, (a) and (b) yield

To check, note that

Next check the mass of the designed beam to

insure it does not change the frequency. Note it is
less then 5 % of the camera mass, so it is
reasonable to ignore the mass of the support
according to example 1.4.4. 17
 A harmonic force may also be represented by sine or a
complex exponential. How does this change the solution?

(t ) + kx(t ) F0 sin ωt or x(t=

mx= ) + ωn2 x(t ) f 0 sin ωt
The particular solution then becomes a sine:
x p (t ) = X sin ωt
Substitution of (2.19) into (2.18) yields:

Solving for the homogenous solution and evaluating the constants yields
 v0 ω f0  f0
(t ) x0 cos ωnt +  −
x= 2 
sin ωnt + 2 sin ωt
 ωn ωn ωn − ω  ωn − ω
2 2

For 𝑥𝑥(𝑡𝑡)
̈ + 𝜔𝜔𝑛𝑛2 𝑥𝑥(𝑡𝑡) = 𝑓𝑓0 cos𝜔𝜔𝜔𝜔 18
v0  f  f
x(t )
= sin ωnt +  x0 − 2 0 2  cos ωnt + 2 0 2 cos ωt
ωn  ωn − ω  ωn − ω