36601

2012 The MITRE Corporation. All rights reserved. Approved for Public Release: 12-00003.
Distribution Unlimited

MODAL, HARMONIC, AND RANDOM VIBRATION ANALYSIS
TECHNIQUES FOR CONDUCTING AND VERIFYING FINITE
ELEMENT ANALYSIS

Dr. Anthony A. DiCarlo R. Paul Normandy
adicarlo@mitre.org pnormand@mitre.org
2012 The MITRE Corporation. All rights reserved.
Approved for Public Release: 12-00003. Distribution Unlimited
Page 2
About MITRE
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work in the public interest

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Engineering and Development Institute)
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MITRE has 7,600 scientists, engineers and support specialists
Improper analysis can lead to the amplification of loads perhaps
resulting in the failure of the electronic equipments ability to
function properly or at all.

Most designs are too complicated to analyze with hand
calculations and simplifying them may lead to a biased solution
that conceals other ill-fated phenomena.

The finite element (FE) method, which can be implemented
through computerized software, provides an efficient solution
while retaining most of the design details.

This presentation works through several finite element
techniques starting with a single degree of freedom model and
progressing to a pseudo-continuous model. Throughout these
examples, theoretical checks of the FE simulations are
presented.
Introduction
Page 3
Two Simple Oscillators Fixed Base
Modal Analysis
Page 4

m
1
k
1
m
2
k
2
x
y
z
0 1
0
2
0

1
0

1 2
3 4
Node
Numbers

0
Y
1
Y
2
Variable Name Value
m
1

m
2

k
1
, k
2

Mass 1
Mass 2
Spring Constant
2.085 lbf-s
2
/in
0.1303 lbf-s
2
/in
18500 lbf/in

n n n
m k f /
2
1
t
=

n n
m Y / 1 =

Resonant
Frequency (Hz)
Max. Modal Disp.

Mode Location Calculated FEA Calculated FEA
1 Y
1
(Node 3) 15 14.99 0.693 0.693
2 Y
2
(Node 4) 60 59.97 2.77 2.77
( ) ( )
2
s lbf in
Modal Analysis
ANSYS commercial software used for FEA model
Harmonic Analysis
Page 5
( )
2
2
n
n
f
g Q
Y
t
=
( ) 2 / 1
max
= Q
Y
1
(Node 3) Y
2
(Node 4)
Calculated FEA Calculated FEA
Resonant Frequency(Hz) 15 15.085 60 60.04
Maximum Displacement (in) 2.17 2.17 0.136 0.136
Maximum Acceleration (in/s
2
) 19304 19312 19304 19314
Finite Element Amplitude at Node 3
15 Hz.
2.17 in
15 Hz.,
19312.37 in/sec
2
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 20 40 60 80 100 120
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
FE Amplitude of the Acceleration and Displacement
at Node 3
Finite Element Amplitude at Node 4
60 Hz.
0.136 in.
60 Hz.
19314.45 in/sec
2
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 20 40 60 80 100 120
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
FE Amplitude of the Acceleration and Displacement
at Node 4
1% damping
Harmonic Analysis
Page 6
Finite Element: Real and Imaginary at Node 3
-2.25
-1.75
-1.25
-0.75
-0.25
0.25
0.75
0 10 20 30 40 50 60 70 80 90 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
.
)
Imaginary
Real
Finite Element: Real and Imaginary at Node 4
-0.15
-0.1
-0.05
0
0.05
0.1
0 10 20 30 40 50 60 70 80 90 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
.
)
Imaginary
Real
FE Results of the Real and Imaginary Components of the Displacement
Node 3 Node4
PSD Analysis
Page 7
Q S f Y
o n rms n
2
) (
t
=

2
) (
) (
n
rms n
rms n
Y
Y
e

=
Y
1
(Node 3) Y
2
(Node 4)
Resonant Frequency (Hz) 15 14.99 60 59.97
Max. 1 Displacement (in) 0.0149 0.0150 0.00187 0.00187
Max. 1 Acceleration
(in/s
2
)
132.6 132.9 265.1 265.7
Displacement Response PSD
1.0E-10
1.0E-08
1.0E-06
1.0E-04
1.0E-02
1.0E+00
1 10 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
2
/
H
z
.
)
Node 3
Node 4
0.474e-3 in
2
/Hz.
0.185e-5 in
2
/Hz.
PSD Displacement Responses for Nodes 3 and 4
Illustration of the Maximum Displacements at
Nodes 3 and 4 via Square Root of the Integrated
PSD
0.0E+00
2.0E-03
4.0E-03
6.0E-03
8.0E-03
1.0E-02
1.2E-02
1.4E-02
1.6E-02
0 20 40 60 80 100 120
A
m
p
l
i
t
u
d
e

(
i
n
)
Frequency (Hz.)
Displacement Based on Response PSD
Node 3
Node 4
1.87e-3 in.
0.0150 in.
}
=
t
e
2 100
0
d Y Y
RPSD
[1] Crandall
S
o
= 0.0001 g
2
/Hz
Two Simple Oscillators Attached to a Large Mass
Modal Analysis
Page 8
( ) ( )
2
s lbf in
Variable Name Value
m
1

m
2

m
3

k
1
, k
2

Mass 1
Mass 2
Mass 3
Spring Constant
2.085 lbf-s
2
/in
0.1303 lbf-s
2
/in
2215 lbf-s
2
/in
18500 lbf/in

x

y

z

0

10

2

1

m

3

1

rigid

m

1

m

2

k

2

1

2

3

4

Node

Y

1

Y

2

Y

3

10

20

k

1

(
(
(
(
(
(
3
2
1
3
2
1
1 2 2 1
2 2
1 1
3
2
1
3
2
1
) (
) (
) (
) (
0
0
0 0
0 0
0 0
t F
t F
t F
Y
Y
Y
k k k k
k k
k k
Y
Y
Y
m
m
m
K M

| |
| |
| | { } { } 0
2
=
|
|
.
|
\
|
Y I
M
K
e
97 . 59
00 . 15
0
2
1
3
2
1
3
2
1
e
e
e
t
f
f
f
s lbf
in
0
77 . 2
0
,
0
0
692 . 0
,
021 . 0
021 . 0
021 . 0
Resonant Frequency (Hz)
Max. Modal Disp.

1 All 0 0.335E-05 0.021 0.021
2 Node 3 15 14.99 0.692 0.692
3 Node 4 60 59.97 2.77 2.77
Modal Shapes
Page 9

x

y

z

0

10

2

1

m

3

1

rigid

m

1

m

2

k

2

1

2

3

4

Node

Y

1

Y

2

Y

3

10

20

k

1

Zero Value of Natural
Frequency (Rigid Body
Mode)
15 Hz Natural Frequency
s lbf
in
0
77 . 2
0
,
0
0
692 . 0
,
021 . 0
021 . 0
021 . 0
60 Hz Natural Frequency
Harmonic Analysis
Page 10

x

y

z

0

1

2

1

m

3

15

rigid arms

m

1

m

2

k

2

1

2

3

4

Node

Y

1

Y

2

Y

3

1

2

k

1

F= m
3 g

Finite Element: Amplitude at Node 3
1.00E-05
1.00E-04
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 20 40 60 80 100 120
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
15 Hz.
19294 in/sec
2
15 Hz.
2.17 in
FE Displacement and Acceleration of Node 3 in
Response to Excitation Frequency
1.00E-04
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 20 40 60 80 100 120
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
60 Hz.
19293 in/sec
2
60 Hz.
0.136 in
FE Displacement and Acceleration of Node 4 in
Response to Excitation Frequency
PSD Analysis
Page 11
Q S f Y
o n rms n
2
) (
t
=

2
) (
) (
n
rms n
rms n
Y
Y
e

=
Node 3 Node 4
Resonant Frequency (Hz) 15 14.99 60 59.97
Max. 1 Displacement (in) 0.0149 0.0150 0.00187 0.00187
Max. 1 Acceleration (in/s
2
) 132.6 138.01 265.1 266.0
FE Displacement PSD Response of Node 3 and 4 FE Acceleration PSD Response of Nodes 3 and 4
1.0E-11
1.0E-09
1.0E-07
1.0E-05
1.0E-03
1.0E-01
1.0E+01
1 10 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
2
/
H
z
.
)
Node 3
Node 4
0.472e-3 in
2
/Hz.
0.185e-5 in
2
/Hz.
Acceleration Response PSD
1.0E-06
1.0E-04
1.0E-02
1.0E+00
1.0E+02
1.0E+04
1.0E+06
1 10 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
/
s
e
c
2
)
2
/
H
z
.
)
Node 3
Node 4
37297.4
(in/sec
2
)
2
/Hz.
37221.59 (in/sec
2
)
2
/Hz.
Two Simple Oscillators Attached to Two Large
Masses - Modal Analysis
Page 12
| |
| |
| | { } { } 0
2
=
|
|
.
|
\
|
Y I
M
K
e
Variable Name Value
m
1
Mass 1 2.085 lbf-s
2
/in
m
2
Mass 2 0.1303 lbf-s
2
/in
m
3
Mass 3 2215 lbf-s
2
/in
m
4
Mass 4 130.3 lbf-s
2
/in
k
1
, k
2
Spring Constant 18500 lbf/in

x
y
z
0

1
0

m
3
m
1
m
2
k
2
1
2

3

4

Node

Y

1
Y

2

Y

3

m
4
Y

4

k
1
(
(
(
(
(
(
(
(
4
2
3
1
4
3
2
1
2 2
1 1
2 2
1 1
4
3
2
1
4
3
2
1
) (
) (
) (
) (
0 0
0 0
0 0
0 0
0 0 0
0 0 0
0 0 0
0 0 0
t F
t F
t F
t F
Y
Y
Y
Y
k k
k k
k k
k k
Y
Y
Y
Y
m
m
m
m
K M

Hz
f
f
f
f
60
0
15
0
2
1
4
3
2
1
4
3
2
1
e
e
e
e
t
,
0
/ 1
0
0
,
/ 1
0
/ 1
0
,
0
0
0
/ 1
,
0
/ 1
0
/ 1
2
4 2
4 2
1
3 1
3 1
|
|
|
|
|
.
|
\
|
|
|
|
|
|
.
|
\
|
+
+
|
|
|
|
|
.
|
\
|
|
|
|
|
|
.
|
\
|
+
+
m
m m
m m
m
m m
m m

Resonant Frequency
(Hz)
Max. Modal Disp.
1 Node 2 & 4 0 0 0.0876 0.0876
2 Node 1 & 3 0 0.476 E -8 0.212 0.0219
3 Node 3 15 15 0.69 0.69
4 Node 4 60 60 2.77 2.77
( ) ( )
2
s lbf in
Masses - Mode Shapes
Page 13
Rigid Body Motion of Masses 2 and 4 Rigid Body Motion of Masses 1 and 3
15 Hz Natural Frequency 60 Hz Natural Frequency
Masses - Harmonic Analysis
Page 14

x

y

z

0

1
0

m
3

m

1

m

2

k

2

1

2

3

4

Node
Numbers

Y

1

Y

2

Y

3

m

4

Y

4

k

1

F
3
=m
3
g
F
4
=m
4
g
1.00E-05
1.00E-04
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 20 40 60 80 100 120
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
15 Hz.
19303 in/sec
2
15 Hz.
2.17 in
FE Displacement and Acceleration of Node 3
1.00E-04
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 20 40 60 80 100 120
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
60 Hz.
19301.55 in/sec
2
60 Hz.
0.136 in
FE Displacement and Acceleration of Node 4
Masses - PSD Analysis
Page 15
1.0E-11
1.0E-09
1.0E-07
1.0E-05
1.0E-03
1.0E-01
1.0E+01
1 10 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
2
/
H
z
.
)
U3rpsd
U4rpsd
0.471E-3 in
2
/Hz.
0.184E-5 in
2
/Hz.
PSD Displacement Response for Node 3
(U3rpsd) and Node 4 (U4rpsd)
Acceleration Response PSD
1.0E-06
1.0E-04
1.0E-02
1.0E+00
1.0E+02
1.0E+04
1.0E+06
1 10 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
/
s
e
c
2
)
2
/
H
z
.
)
A3rpsd
A4rpsd
37196 (in/sec
2
)
2
/Hz.
37196 (in/sec
2
)
2
/Hz.
FE Acceleration PSD Response for Node 3
(A3rpsd) and Node 4 (A4rspd)
Simply Supported Beam
Modal Analysis
Page 16
Variable Name Value
W Weight per unit length 26 lbf/in
E Youngs Modulus 10
7
lbf/in
2

I Area moment of Inertia 3267 in
4

L Length 270 in.

x
y
z
0
Node Numbers
1
12
21
270 in
( )
( ) x mW
dx
x W d
EI
dx
d
2
2
2
2
2
e =
(
A
EI
n n
| e
2
=
|
1
, |
2
, |
3
= t, 2 t, 3 t
Hz
f
f
)
`
=
)
`
=
)
`
60
15
2
1
2
1
2
1
e
e
t
Resonant Frequency
(Hz)
Max. Modal Disp.
Mode Calculated FEA Calculated FEA
1 15 15.01 0.332 0.332
2 60 60.05 0.332 0.332
( ) ( )
2
s lbf in
Simply Supported Beam Mode Shapes
0.332 0.332
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0 30 60 90 120 150 180 210 240 270
Beam Length (in.)
A
m
p
l
i
t
u
d
e

(
l
b
.

s
e
c
2
/
i
n
2
)
Mode Shape 1
Mode Shape 2
( ) ( ) L x r mL x W
r
/ sin / 2 t =
r = 1, 2
First and Second Calculated Mode Shapes for a
Harmonic Analysis
Page 17

x
y
z
0
Node Numbers
1
12
21
270 in
( ) ( )
( ) t mg
t
t x y
m
x
t x y
EI e sin
, ,
2
2
4
4
=
c
c
+
c
c
( ) ( ) ( ) t x X t x y e sin , =
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
2
sin cos sinh cosh
e
e e e e e e e e
g
x a D x a C x a B x a A x X + + + + =
( ) ( )
4
2
/ EI m a e e =
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( ) L a
g L a g
D
g
C
L a
g L a g
B
g
A
e e
e
e
e
e
e e
e
e
e
e
sin 2
cos
,
2
,
sinh 2
cosh
,
2
2 2 2 2

=
=
Simply Supported Beam: Harmonic Response
1.E-04
1.E-03
1.E-02
1.E-01
1.E+00
1.E+01
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100
Natural Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
)
Calculated Harmonic Response
Finite Element: Amplitude at Node 12 (Mid Span)
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 20 40 60 80 100 120
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
15 Hz.
24549 in/sec
2
15 Hz.
2.76 in
Harmonic and PSD Analyses
Page 18
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 20 40 60 80 100 120
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
15 Hz.
24549 in/sec
2
15 Hz.
2.76 in
( )
( )
( )
3 2 3
2
24
1
x Lx L
EI
x Qg m
x y + =
( ) ( )
2
e x y x y =

Model Displacement (in)
Acceleration
(in.sec
2
)
Node Location Calculated FEA Calculated FEA
7 L/4 1.962 1.95 24460 24549
12 L/2 2.754 2.76 17430 17359
( )
( )
( )
( )
3 2 3
2
24
1
x Lx L
EI
x y m
x y
rms
rms
+ =

Mode
l
Displacement
(in)
Acceleration
(in/sec
2
)
12 L/2 0.019 0.019 167.9 169
LMM Applied to a Beam
Modal Analysis
Page 19

x
y
z
0
Node Numbers
1 12 21
2
270 in
x
y
z
0
1
12
21
270 in
22
Rigid Beam
Large Mass
(a) Undeformed
(b) Deformed
Variable Name Value
W
E
I
L
M
1

Weight per unit length
Youngs Modulus
Area moment of Inertia
Length
Large Mass
26 lbf/in
10
7
lbf/in
2

32.67 in
4

270 in.
18168 lbf s
2
/in
Mode
Resonant Frequency
(Hz)
Max. Modal Disp.
1 0 0 0.007415 0.007415
2 0 0.252E-4 0.235 0.234612
3 15 15 0.333 0.331338
4 60 59.77 0.332 0.330239
( ) ( )
2
s lbf in
Third FE Mode Shape Fourth FE Mode
LMM Applied to a Beam
Harmonic and PSD Analysis
Page 20
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 10 20 30 40 50 60 70 80 90 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
15 Hz.
24492 in/sec
2
15 Hz.
2.76 in
Model Displacement (in)
Acceleration
(in/sec
2
)
7 L/4 1.962 1.95 24460 24492
12 L/2 2.754 2.76 17430 17315
1.0E-10
1.0E-08
1.0E-06
1.0E-04
1.0E-02
1.0E+00
1 10 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
2
/
H
z
.
)
7.61E-4 in
2
/Hz.
Acceleration PSD Response
1.0E-04
1.0E-02
1.0E+00
1.0E+02
1.0E+04
1.0E+06
1 10 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
2
/
H
z
.
)
60018 (in/sec
2
)
2
/Hz.
FE PSD Displacement Response at Mid-Span
of the Beams Length
FE PSD Acceleration Response at Mid-Span
Beam with End Masses Mode Shape
0.332
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0 30 60 90 120 150 180 210 240 270
Beam Length (in.)
A
m
p
l
i
t
u
d
e

(
l
b
.

s
e
c
2
/
i
n
2
)
Mode Shape 1
Flexible Beam with Masses Pinned at the Ends
Modal Analysis
Page 21

x

y

z

0

Node Numbers
1

12

21

2

270 in

Variable Name Value
W Weight per unit length 26 lbf/in
E Youngs Modulus 10
7
lbf/in
2

I Area moment of Inertia 3267 in
4

L Length 270 in.
m
end
End Mass 9084 lbf s
2
/in
m
b
Beam Mass w L/g
( )
( )
(
(
+
+
=
b end b
end b
n
m m m L
m m EI
f
188 . 0
2
3
t
( )
|
|
.
|
\
|
+
|
.
|
\
|
=
ends b
b b
b
m m
m m
L
x
m
x Y
2
/ 2 2
sin
2
t
t
Resonant Frequency (Hz) Max. Modal Disp.
Mode Calculated FEA Calculated FEA
1 0 0 0.01049 0.01047
2 0 5.634E-7 0.01049 0.01047
3 0 6.446E-6 0.24194 0.23612
4 15 15.004 0.33145 0.33135
5 Not Calc. 59.799 Not Calc. 0.33032
[3] Steinberg
( ) ( )
2
s lbf in
Harmonic Analysis
Page 22
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1.00E+01
1.00E+02
1.00E+03
1.00E+04
1.00E+05
0 10 20 30 40 50 60 70 80 90 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e
Displacement
Acceleration
15 Hz.
24485 in/sec
2
15 Hz.
2.76 in
FE Displacement and Acceleration at Mid-Span
Finite Element: Real and Imaginary at Node 12 (Mid Span)
-1.2
-0.7
-0.2
0.3
0.8
1.3
1.8
2.3
2.8
3.3
0 10 20 30 40 50 60 70 80 90 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
.
)
IMAGINARY
REAL
FE Real and Imaginary Displacement
Components at Mid-Span
PSD Analysis
Page 23
1.0E-10
1.0E-08
1.0E-06
1.0E-04
1.0E-02
1.0E+00
1 10 100
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
2
/
H
z
.
) 7.61 E-4 in
2
/Hz.
The FE PSD Displacement Responses at Mid and Quarter-
Span of the Beams Length
Displacement Based on Response PSD
0.0E+00
2.0E-03
4.0E-03
6.0E-03
8.0E-03
1.0E-02
1.2E-02
1.4E-02
1.6E-02
1.8E-02
2.0E-02
0 20 40 60 80 100 120
Frequency (Hz.)
A
m
p
l
i
t
u
d
e

(
i
n
)
0.0190 in.
}
=
t
e
2 100
0
d Y Y
RPSD
Integration of the PSD Displacement Response Produces
the Maximum Displacement for the Beam
Results of the Hand Calculations and ANSYS Simulations of the Beam with End Masses
Model Displacement (in) Acceleration (in/sec
2
)
12 L/2 0.019 0.019 168.7 175
Q S f y
o n rms
2
) (
t
=
( )
( )
( )
( )
3 2 3
2
24
1
x Lx L
EI
x y m
x y
rms
rms
+ =

( ) ( )
2
e
rms rms
x y x y =
A complete work-through starting with simple oscillators and
ending with pseudo-continuous modeling has been presented.

The models were designed such that they produce responses in
agreement for equivalent excitations.

FE programs with an outline for simulating and verifying modal,
harmonic, and random vibration models

Closed form solutions are available and should be implemented
to check FEA
Concluding Remarks
Page 24
1. S. S. Rao, Mechanical Vibrations, 3rd ed., Addison-Wesley,
Reading, Massachusetts, 1995.

2. S. H. Crandall, Random Vibration, MIT Press and John Wiley
& Sons, New York, 1958.

3. Dave S. Steinberg, Vibration Analysis for Electronic
Equipment, John Wiley & Sons, 1973.
References
Page 25

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