EGB321 wk10&11

EGB321—Week 10&11
Single Degree of Freedom (SDOF)

Forced Vibration
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a university for the real world CRICOS No. 00213J
Exam-Vibration part
 There will be 2 questions for Vibration Part

 The questions will be alike the ones we do in tutorials and
classes.
 You will fail if you do NOT know how to derive Equation of
Motion; and/or you do NOT know how find
(or displacement count parts)
 Also important for the exam: everything we do in lecture and
tutorials
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Exam-Vibration part
 We may offer one or two drop-in session(s)
before exam (details to be announced in B.B.)
 Week 13 class will conduct a small mock
exam
Vibration practice lab
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Outline for this class
 Revision Free vibration of SDOF
 Complete example Free vibration of SDOF
 Forced vibration of SDOF
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Apply 7 steps for vibration analysis
SDOF
How about natural
frequency?
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SDOF free vibration example #1: pumpjack
Pulley like ‘Donkey head”:
• Position of a disc of radius r2
Spring: centred in the beam’s joint
• Stiffness: K • Rigidly pinned with the beam
• Free to move in • C.O.M. in G2 at the end of beam
horizontal (∆l: vertical) • Mass m2 and mass moment of
inertia J2 with respect to C.O.M.
Piston:
• Mass m3
Beam: • Only vertical movement
• Mass m1 uniformly distributed • No frication
• Length L1 and rigid body
• Connect with ground with full revolute
joint located at 2/3length
Cable:
Damper:
• Negligible mass and inertia
• Viscous damping coefficient C
• Only vertical movement
• No slide with pulley
Pulley:
• Mass m4, uniformly distributed
• Radius r4
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Free body diagrams
We will solve it in the class together

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Forced Vibration
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Forced Vibration
The Tacoma Bridge Failure Earthquake
R Suspension of a car
Forced vibration
• Forced vibration – occurs with the application of external
forces
• Why is this relevant? Vibration isolation, instrumentation
• Examples: rotating machinery, automotive engines, seismic
measurements etc
• Transient vibration – part of motion disappears after period
of time
• Steady state vibration – part of motion remaining after
transients have disappeared
• Assumptions
– Linear system dynamics
– SDOF
– Periodic forcing function
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Forced vibration
Excitation Force
F(t)
Forced vibration is the most important class of vibration in

engineering.
The system continuously excited by a disturbing force.
The force may be externally applied or may be generated within
system
The force may also be excited by the motion of the system foundation
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Forces or foundation displacement
Discussed in
this unit
Harmonic
Periodic nonharmonic
Nonperiodic
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SDOF Forced vibration by Harmonic Excitation for the coordinate in linear
ωf is the
frequency of
𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔𝑓𝑓 𝑡𝑡 force 𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔𝑓𝑓 𝑡𝑡
−𝑘𝑘𝑒𝑒𝑒𝑒 𝑥𝑥 − 𝑐𝑐𝑒𝑒𝑒𝑒 𝑥𝑥̇ + 𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔𝑓𝑓 𝑡𝑡 = 𝑚𝑚𝑒𝑒𝑒𝑒 𝑥𝑥̈
𝑚𝑚𝑒𝑒𝑒𝑒 𝑥𝑥̈ + 𝑐𝑐𝑒𝑒𝑒𝑒 𝑥𝑥̇ + 𝑘𝑘𝑒𝑒𝑒𝑒 𝑥𝑥 = 𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔𝑓𝑓 𝑡𝑡

Equation of motion for
𝐹𝐹0 damped forced vibration
𝑥𝑥̈ + 2ζ𝜔𝜔𝑛𝑛 𝑥𝑥̇ + 𝜔𝜔𝑛𝑛2 𝑥𝑥 = 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔𝑓𝑓 𝑡𝑡
𝑚𝑚
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Solution: SDOF damped forced vibration under harmonic excitation
ζ < 1 (underdamped)
𝐹𝐹0
𝑚𝑚
This is a linear second-order
The complete solution for it is: differential equation
=
x xc + x p
Complementary (or Particular solution

homogeneous) solution which should
for: determined by the force
𝑥𝑥̈ + 2ζ𝜔𝜔𝑛𝑛 𝑥𝑥̇ + 𝜔𝜔𝑛𝑛2 𝑥𝑥 =0 and other conditions.
x Ce −ζωn t sin(ωd t + ψ ) 𝑥𝑥𝑝𝑝 = 𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋(𝜔𝜔𝑓𝑓 𝑡𝑡 −ϕ)
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Substituting x into the motion equation to get:
=
x xc + x p 𝐹𝐹0
𝑚𝑚
=0 𝐹𝐹0
𝑥𝑥𝑐𝑐̈ + 2ζ𝜔𝜔𝑛𝑛 𝑥𝑥𝑐𝑐̇ + 𝜔𝜔𝑛𝑛2 𝑥𝑥𝑐𝑐 + 𝑥𝑥𝑝𝑝̈ + 2ζ𝜔𝜔𝑛𝑛 𝑥𝑥𝑝𝑝̇ + 𝜔𝜔𝑛𝑛2 𝑥𝑥𝑝𝑝 = 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔𝑓𝑓 𝑡𝑡
𝑚𝑚
𝐹𝐹0
0+ 𝑥𝑥𝑝𝑝̈ + 2ζ𝜔𝜔𝑛𝑛 𝑥𝑥𝑝𝑝̇ + 𝜔𝜔𝑛𝑛2 𝑥𝑥𝑝𝑝 = 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔𝑓𝑓 𝑡𝑡
𝑚𝑚
𝑥𝑥𝑝𝑝 = 𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋(𝜔𝜔𝑓𝑓 𝑡𝑡 −ϕ)
𝐹𝐹0 /𝑘𝑘𝑒𝑒𝑒𝑒
𝑋𝑋 = 2ζ𝜔𝜔𝑓𝑓 ⁄𝜔𝜔𝑛𝑛
2 1/2 ϕ = tan−1
𝜔𝜔𝑓𝑓 2 2 2ζ𝜔𝜔𝑓𝑓 2
1 − 𝜔𝜔 + 1 − 𝜔𝜔𝑓𝑓 ⁄𝜔𝜔𝑛𝑛
𝑛𝑛 𝜔𝜔𝑛𝑛
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Solution—cont.
• The complementary solution will die out in the true

engineering cases, because the damping is always
unavoidably. It usually called transient solution.
• If the time is long enough, the transient solution will
disappear. The final forced vibration will be under xp.
• Omitting transient terms, the solution is
𝑋𝑋 =
2 1/2
𝜔𝜔𝑓𝑓 2 2 2ζ𝜔𝜔𝑓𝑓
1 − 𝜔𝜔 + 𝜔𝜔𝑛𝑛
𝑛𝑛
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When time lasts long enough, the stable forced vibration solution is :
𝑥𝑥 = 𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋(𝜔𝜔𝑓𝑓 𝑡𝑡 −ϕ)
𝑋𝑋 = 2ζ𝜔𝜔𝑓𝑓 ⁄𝜔𝜔𝑛𝑛
2 1/2 ϕ = tan−1
𝜔𝜔𝑓𝑓 2 2 2ζ𝜔𝜔𝑓𝑓 2
1 − 𝜔𝜔 + 1 − 𝜔𝜔𝑓𝑓 ⁄𝜔𝜔𝑛𝑛
𝑛𝑛 𝜔𝜔𝑛𝑛
𝑓𝑓 ⁄𝜔𝜔world
𝜔𝜔real 𝜔𝜔𝑓𝑓 ⁄𝜔𝜔𝑛𝑛
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a university for the
𝑛𝑛 CRICOS No. 00213J
SDOF forced vibration for the coordinate in angular
Ω is the frequency
of external
moment
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𝜔𝜔𝑓𝑓 =4π rad/s
Transient
=
x xc + x p
stage
Stable
stage
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When 𝜔𝜔𝑓𝑓 ≈ 𝜔𝜔𝑛𝑛 ∶ RESONANCE
𝜔𝜔𝑓𝑓 ≈ 𝜔𝜔𝑛𝑛
𝜔𝜔𝑓𝑓 =𝜔𝜔𝑛𝑛
=
x xc + x p
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SDOF Forced vibration example: pulley system
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SDOF
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EGB321 wk10&11

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EGB321 wk10&11

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EGB321—Week 10&11

Single Degree of Freedom (SDOF)

 There will be 2 questions for Vibration Part

Vibration practice lab

We will solve it in the class together

The Tacoma Bridge Failure Earthquake

Forced vibration is the most important class of vibration in

−𝑘𝑘𝑒𝑒𝑒𝑒 𝑥𝑥 − 𝑐𝑐𝑒𝑒𝑒𝑒 𝑥𝑥̇ + 𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔𝑓𝑓 𝑡𝑡 = 𝑚𝑚𝑒𝑒𝑒𝑒 𝑥𝑥̈

𝑚𝑚𝑒𝑒𝑒𝑒 𝑥𝑥̈ + 𝑐𝑐𝑒𝑒𝑒𝑒 𝑥𝑥̇ + 𝑘𝑘𝑒𝑒𝑒𝑒 𝑥𝑥 = 𝐹𝐹0 𝑠𝑠𝑠𝑠𝑠𝑠𝜔𝜔𝑓𝑓 𝑡𝑡

Complementary (or Particular solution

x Ce −ζωn t sin(ωd t + ψ ) 𝑥𝑥𝑝𝑝 = 𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋(𝜔𝜔𝑓𝑓 𝑡𝑡 −ϕ)

𝑥𝑥𝑝𝑝 = 𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋(𝜔𝜔𝑓𝑓 𝑡𝑡 −ϕ)

• The complementary solution will die out in the true

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