MEEM 3700

Mechanical Vibrations
Dr. Mohan Rao
Professor Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

MEEM 3700

1 of 20

Lecture 2-harmonic Motion

& DEQ

x(t ) = C sin(2 ft + )
Amplitude

Harmonic Function

1.5

Period
amplitude

0.5

Peak to
Peak
Amplitude

C pp
-0.5

-1

-1.5

-1

Delay
1

2
seconds

MEEM 3700

2 of 20

Lecture 2-harmonic Motion

& DEQ

T = period =

1
(sec)
f

f =

rad

1 cycles

( Hz )
T sec

= 2 f

sec

C = amplitude
C pp = peak to peak amplitude
1/ 2

Crms

1 T

= C 2 sin 2 (2 ft + )dt
T
0

2
C = 0.707C
2

rms=root mean square

= phase = = 2 f

MEEM 3700

3 of 20

Lecture 2-harmonic Motion

& DEQ

x ( t ) = C sin (t + )
sin ( ) = sin ( ) cos ( ) cos ( ) sin ( )

x ( t ) = C sin ( ) cos t + C ( ) sin t

A = C sin
B = C cos

x ( t ) = A cos t + B sin t
MEEM 3700

Equivalent Forms
4 of 20

Lecture 2-harmonic Motion

& DEQ

x ( t ) = A cos t + B sin t

A C sin
=
B C cos
A
= tan
B

A = C sin
B = C cos

A2 + B 2 = C 2 sin 2 ( ) + C 2 cos 2 ( )

C 2 ( sin 2 ( ) + cos 2 ( ) ) = A2 + B 2

= tan 1
B

C = A2 + B 2

x ( t ) = C sin (t + )
MEEM 3700

5 of 20

Lecture 2-harmonic Motion

& DEQ

x(t ) = C sin(2 ft + )
Displacement

( = 2 f )

x(t ) = C sin(t + )
x& (t ) = C cos(t + )

Velocity

&&
x(t ) = 2C sin(t + )

Acceleration

maximum velocity = C

maximum acceleration = 2C

MEEM 3700

6 of 20

Lecture 2-harmonic Motion

& DEQ

Acceleration
40
30

Displacement

20
10
0
-10

Velocity

-20
-30
-40

10

MEEM 3700

7 of 20

Lecture 2-harmonic Motion

& DEQ

x ( t ) = C sin (t )
or

x ( t ) = C cos t
2

x ( t ) = C cos (t )
or

x ( t ) = C sin t +
2

x ( t ) = C sin t +
4

or

x ( t ) = C cos t
4

or
x ( t ) = A cos (t ) + B sin ( t )

MEEM 3700

8 of 20

Lecture 2-harmonic Motion

& DEQ

Rotating Vector or
Phasor

Vertical Axis Projection:

x = C cos t

Horizontal Axis Projection:

y = C sin t

MEEM 3700

9 of 20

Lecture 2-harmonic Motion

& DEQ

Vectors in complex form:

X = a + ib

REAL

IMAGINARY

Complex Trigonometric form:

Y (Imaginary)

X = C cos + iC sin

Eulers Identity: e i = cos i sin

Amplitude: C = a 2 + b 2

X = a + ib = Cei
b

X (Real)

MEEM 3700

10 of 20

Lecture 2-harmonic Motion

& DEQ

z = a + ib

Complex number without vector notation:

z1 = a1 + ib1 = C1ei1

z1 + z2 = C1ei1 + C2 ei2 = (a1 + ib1 ) + (a2 + ib2 )

Suppose
z2 = a2 + ib2 = C2 ei2

= (a1 + a2 ) + i(b1 + b2 )

Similarly
z1 z2 = C1ei1 C2 ei2 = (a1 + ib1 ) (a2 + ib2 )
= (a1 a2 ) + i (b1 b2 )

C j = a 2j + b 2j ; j = 1, 2

bj
a
j

j = tan 1

; j = 1, 2

MEEM 3700

11 of 20

Lecture 2-harmonic Motion

& DEQ

dX d
Aeit = i Aeit = i X
=
dt
dt

Velocity

d2 X d
i Aeit = 2 Aeit = 2 X
=
2
dt
dt

Acceleration

Imaginary

Real

Displacement = Im Ceit = C sin t

Displacement = Re Ceit = C cos t

Velocity = Im iCeit = C sin (t + 90 )

Velocity = Re iCeit = C sin t

= C cos (t + 90 )

Acceleration = Im 2Ceit = 2C sin (t + 180 )

Acceleration = Re 2Ceit = 2C cos t

= 2C cos (t + 180 )

MEEM 3700

12 of 20

Lecture 2-harmonic Motion

& DEQ

(Review)
x = x (t )

ax&& + bx& + cx = F ( t )

dx
dt
d 2x
&&
x= 2
d t
x& =

2nd order
linear

Required solution

non-homogeneous

x (t ) = ?

constant coefficients

x ( t ) = xh ( t ) + x p ( t )

MEEM 3700

13 of 20

Lecture 2-harmonic Motion

& DEQ

(Review)

xh ( t )

Homogeneous Solution

ax&& + bx& + cx = 0

xh (t ) = ?
assume a solution....
x(t ) = C sin(t )
or
x(t ) = Ce

x& ( t ) = sCe
&x&( t ) = s Ce

st

st

MEEM 3700

st

14 of 20

Lecture 2-harmonic Motion

& DEQ

(Review)

a&x& + bx& + cx = 0
substituti ng x ( t ), x& ( t ), &x&( t )

as Ce + bsCe + cCe = 0
2

st

st

st

rearranging

(as

Ce = 0
st

+ bs + c )Ce = 0
st

as + bs + c = 0
2

MEEM 3700

15 of 20

Lecture 2-harmonic Motion

& DEQ

(Review)

as + bs + c = 0
2

b b 4ac
s =
2a
2

1, 2

Therefore there are two solutions

x ( t ) = C e and x ( t ) = C e
s1t

x(t) = C e + C e
s1t

s2t

s2t

MEEM 3700

16 of 20

Lecture 2-harmonic Motion

& DEQ

(Review)

xh (t ) = C1e s1t + C2 e s2t

C1and C2 are determined by the initial conditions x ( 0 ) , x& ( 0 )

xh (0) = C1e s1 0 + C2 e s2 0 = C1 + C2
x&h (0) = s1C1e s1 0 + s2C2 e s2 0 = s1C1 + s2C2
s1 , s2 can be real or complex valued
MEEM 3700

17 of 20

Lecture 2-harmonic Motion

& DEQ

(Review)

xh (t ) = C1e s1t + C2 e s2t

s1 , s2 are real valued
1
0 .8
0 .6
0 .4

0 .2
0
-0 .2
-0 .4
-0 .6
-0 .8
-1

1 0

MEEM 3700

18 of 20

Lecture 2-harmonic Motion

& DEQ

(Review)

xh (t ) = C1e s1t + C2 e s2t

s1 , s2 are complex valued
s1 = + j

xh (t ) = C1e(

s 2 = j
+ j )t

+ C2 e (

j )t

xh (t ) = e t C1e( + j )t + C2 e( j )t

MEEM 3700

19 of 20

Lecture 2-harmonic Motion

& DEQ

(Review)
Eulers Identity

e j t = cos ( t ) + j sin ( t )

xh (t ) = e t ( ( C1 + C2 ) cos ( t ) + j ( C1 C2 ) sin ( t ) )
1

0 .5

-0 .5

-1

1 0

MEEM 3700

20 of 20

Lecture 2-harmonic Motion

& DEQ

10