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4.1 True: The steadystate response for a linear system occurs at the same frequency as the
input.
4.2 False: Resonance is characterized by a continual build up in amplitude (Beating is
characterized by a periodic build up and decay of amplitude)
4.3 False: for a machine with a rotating unbalance approaches one for large
frequencies.
4.4 False: A decrease in damping leads to an increase of the percentage of isolation.
4.5 False: The phase angle for an undamped system is either zero (if the excitation
frequency is less than the natural frequency) or (if the excitation frequency is greater
than the natural frequency).
4.7 False: If is positive in the equation sin the response leads the
excitation.
4.11 False: The amplitude of the acceleration response of a system is given by , if its
base is subject to a single frequency harmonic excitation.
4.12 True: Hysteretic damping is a nonlinear phenomena, but for a single frequency
excitation the hysteretic damping can be approximated by viscous damping.
4.13 True: The linear differential equation is not valid when the system is subject to a
multi-frequency excitation
4.14 True: A seismometer measures the displacement of the seismic mass relative to the
body whose vibrations are to be measured.
4.15 True: A complex stiffness can be used to model hysteretic damping.
220
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Chapter 4: Harmonic Excitation of SDOF Systems
4.16 True: For , , grows from 1 as r increase from zero. But , 0 for
large r. Thus , reaches a maximum for a value of 1 2
4.17 Resonance occurs for an undamped system when the excitation frequency coincides
with the natural frequency because the work done by the excitation force is not needed to
sustain the motion at that frequency. Any initial energy sustains the free vibrations of an
undamped system at the natural frequency.
4.18 The amplitude does not grow without bound for systems with viscous damping when
the excitation frequency coincides with the natural frequency because the damping
dissipates any initial energy. The work done by the excitation force is necessary to sustain
the motion.
4.19 The response out of phase with the excitation for an undamped system when the
frequency ratio is greater than one.
4.27 The frequency response for a machine on a moveable foundation is studied through
, . The displacement of the machine relative to the foundation is studied by
, .
4.28 Vibration isolation is difficult to achieve at low speeds because it requires a large
static deflection of the isolator ( 2, thus the required natural frequency for low speeds
is small. The static deflection is inversely proportional to the square of the natural
frequency.)
4.29 Percentage isolation is the percent by which an isolator reduces the transmitted force,
it is equal to 100 1 .
221
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Chapter 4: Harmonic Excitation of SDOF Systems
4.30 The transmitted force is . The force generated by the motion of a base
thats transmitted to the body is . Thus, the systems behave the same, only in the
first case the force is being transmitted to the foundation, in the second case the force is
being transmitted to the body.
4.31 Seismometers have a small natural frequency and thus operate only for large
frequency ratios.
4.32 Phase distortion during accelerometer measurements when a multi-frequency
excitation is being measured. Since the accelerometer is actually measuring the
displacement of the seismic mass relative to the body whose vibrations are to be measured
and the accelerometer has damping different phase angles are involved in the measurement
of the signal. In the range where accelerometers operate the phase angle is dependent of
frequency. For seismometers the ratio of the measured frequency to the natural frequency
of the seismometer is high, thus the phase angle is approximately .
4.33 The principle of linear superposition states that for a linear differential equation the
particular solution of a differential equation due to a summation on the right-hand side can
be obtained by summing the solutions due to each individual term. Thus it allows the
response due to multiple frequency input to be obtained as the sum of the responses due to
the individual frequencies.
4.34 The principle of linear superposition applies to general periodic input because the
input can be thought of as a summation of inputs applied over a very small interval of time.
4.35 Stick-slip may be present in the forced response of a system with Coulomb damping
when the spring and inertia forces are temporarily unable to overcome the friction force
and the motion stops.
4.36 /4
4.37 Damping is used in vibration isolation because the operating speed is greater than the
natural frequency. During start-up and stopping the natural frequency must be passed
through. The damping limits the vibrations during these times.
4.38 (a) No, an undamped system has the same natural frequency as excitation frequency,
thus a resonance condition exists. (b) Yes, the excitation frequency is the same as the
natural frequency, but the system is damped. (c) Yes, the undamped system has a natural
frequency that is different from the excitation frequency.
4.43 Given: 100 rad/s, = 5 kg, 3 cm. The amplitude of the harmonic excitation
experienced by the machine is 5 kg 0.03 m 100 rad/s 1500 N.
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Chapter 4: Harmonic Excitation of SDOF Systems
4.48
4.49 Given: undamped accelerometer, E = 1 percent, 200 rad/s. The percent error in
an accelerometer measurement for an undamped accelerometer is 100 1 . Setting
E = 1 percent leads to ,0 1.01 which gives r=0.0995 and 19.9 rad/s.
4.50 Given: undamped seismometer, E = 1.5 percent, 20 rad/s. The percent error in
an accelerometer measurement for an undamped accelerometer is 100 1 . Setting
E = 1.5 percent leads to , 0 1.015 which gives r = 8.10 and 162.1
rad/s.
4.51 Given: 3 2700 20 sin 10 . The differential equation is put into the standard
form 900 sin 10 . It is identified that 3, 30, 10, 0,
20. The frequency ratio is 1/3. The steady-state solution to the differential equation is
, 0 sin 10 , where ,0 | |
1.125 and 0 . Thus,
x 1.125 sin 10 8.33 10 sin 10 .
224
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Chapter 4: Harmonic Excitation of SDOF Systems
4.52 Given: 3 2700 20 sin 60 . The differential equation is put into the standard
form 900 sin 60 . It is identified that 3, 30, 60, 0,
20. The frequency ratio is 2. The steady-state solution to the differential equation is
2,0 sin 10 , where 2,0 | |
0.333 and . Thus,
0.333 sin 10 2.47 10 sin 10 .
4.53 Given: 3 30 2700 20 sin 10 . The differential equation is put into the
standard form 10 900 sin 10 . It is identified that 3, 30,
10, , 20. The frequency ratio is . The steady-state solution to the
differential equation is , sin 10 , where
4.54 Given: 3 30 2700 0.01 sin . The differential equation is put into the
standard form for a system subject to a frequency squared excitation: 10 900
.
sin 10 . It is identified that 3, 30, , 0.01 . The
frequency ratio is . The steady-state solution to the differential equation is
.
, sin , where , and tan .
.
4.56 Given: 3 2700 20 sin . The differential equation is put into
the standard form for a system with hysteretic damping where it is identified that
225
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Chapter 4: Harmonic Excitation of SDOF Systems
226
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Chapter 4: Harmonic Excitation of SDOF Systems
Chapter Problems
4.1 A 40 kg mass hangs from a spring with a stiffness of 4 104 N/m. A harmonic force of
magnitude of 100 N and frequency of 120 rad/sec is applied. Determine the amplitude of
the forced response.
where
N
4 10 4
k m = 31.6 rad
n = =
m 40 kg s
The negative sign indicates that the response is 180 out of phase with the excitation.
Problem 4.1 illustrates the determination of the amplitude of forced response for a one-
degree-of-freedom undamped system subject to a single frequency harmonic excitation.
227
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Chapter 4: Harmonic Excitation of SDOF Systems
Solution: Let x(t) be the displacement of the block measured from its equilibrium position.
The governing differential equation is derived by applying Newtons Laws to free body
diagrams of the pulley and block at an arbitrary instant.
:
mpg Ip ( xr )
R
=
Fo sin t
:
kx mx
( M ) 0 ext . = ( M 0 )eff .
&x&
F0 sin t (r ) kx (r ) = m&x& (r ) + I P
r
I
m + P2 &x& + kx = F0 sin t
r
k F0
&x& + x= sin t
I I
m + P2 m + P2
r r
The equivalent mass is
~ = m + I P = 30 kg + 0.68kg m = 98kg
2
m
r2 (0.1m)2
The natural frequency is obtained as
N
400
k m = 2.02 rad
n = ~ =
m 98kg s
228
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Chapter 4: Harmonic Excitation of SDOF Systems
F 200 N
x= ~ 20 2 = = 21.3 mm
( )
m n rad rad
2 2
98kg 2.02 10
s s
The negative sign indicates that the response is 180 out of phase with the excitation.
Problem 4.2 illustrates the derivation of the differential equation governing the forced
vibrations of a one-degree-of-freedom system and determination of the amplitude of
response for a single frequency harmonic excitation.
Find:
Solution: The kinetic energy of the system is
1 1 1 1 7
2 12 2 4 2 48
Hence using as a generalized coordinate
7 7
0.8 kg 0.4 m 0.0187 kg m
48 48
The potential energy of the system is
1 1 1
2 4 2 4 2 2
sin
229
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Chapter 4: Harmonic Excitation of SDOF Systems
sin
The differential equation is put into standard form by dividing by 0.0187 leading to
Hence
2 rad
3 1 10 N m/rad
360 531.4 N m
1 0.121
Find:
Solution: The kinetic energy of the system is
1 1 1 1 7
2 12 2 4 2 48
230
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Chapter 4: Harmonic Excitation of SDOF Systems
1 1 1
2 4 2 4 2 2
sin
sin
The differential equation is put into standard form by dividing by 0.0187 leading to
4.278 10 53.48 sin 25
Hence
2 rad m
3 1 10 N
,0 360 rad 1.75
300 N m
For 1 this implies
1
1.75 0.655
1
231
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Chapter 4: Harmonic Excitation of SDOF Systems
and
rad
0.655 206.8 135.4 rad/s
s
For 1 this implies
1
1.75 1.25
1
and
rad
1.25 206.8 258.5 rad/s
s
Thus 135.4 rad/s or 258.5 rad/s.
Problem 4.4 illustrates the frequency-amplitude relation for an undamped system.
kt 1
(1)
= 2
M 0 1- r
where
2 = I G
2 2 2
r = 2= (2)
n kt kt
IG
kt kt (3)
=
kt - I G
2
M0
232
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Chapter 4: Harmonic Excitation of SDOF Systems
M0 + (5)
I G
2
kt >
max .
or
M0 (6)
kt < I G -
2
max .
It is noted that
1 1
IG = m r G2 = (2kg)(0.2m )2 = 0.04kg m2
2 2
M 0 = 100 N m
rad
= 150
s
2
max . = 4 = 0.0698rad
360
M 0 = 100N m = 1432.N m
max . 4 rad
180
1 1 2 rad 2
I G = mG r G = (2kg)(0.2m ) (150
2 2 2
) = 900N m
2 2 s
4
rS G
kt = 2 > 2332N m
L
which gives
1
4
2(2332N m)(1m)
rS > = 11.67mm
9 N
80 10 2
m
233
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Chapter 4: Harmonic Excitation of SDOF Systems
When the values are substituted into eq.(6), the right hand side is negative and this case
does not lead to any additional permissible values for the shaft radius.
Problem 4.5 illustrates application of the frequency response equation for undamped
systems.
Find:
Solution: The natural frequency of the system and the frequency ratio are
N
4.3 10
m 207.4 rad/s
100 kg
60 rad/s
0.289
207.4 rad/s
200 1
0.289,0 50.8 m
N 1 0.289
4.3 10
m
Problem 4.6 illustrates the frequency amplitude relation for undamped systems.
4.7 A 40 kg pump is to be placed at the midspan of a 2.5-m long steel (E = 200 109
N/m2) beam. The pump is to operate at 3000 rpm. For what values of the cross-sectional
moment of inertia will the oscillations of the pump be within 3 Hz of resonance?
234
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Chapter 4: Harmonic Excitation of SDOF Systems
It is noted that 3Hz = 18.85 rad/s. Thus the desired frequency range is
3EI 24 EI
k= 3
= 3
( L / 2) L
24 EI
n =
mL3
or
mL3 n2
I=
24 E
Using n = 295.3 rad/s leads to I = 1.13 10-5 m4. Using n = 333.0 rad/s leads to
I = 1.45 10-5 m4
1.13105 m4 < I < 1.45105 m4
N
Given: m = 4 kg, d = 0.4 m, 0.5 , 3.6 10 , 50rad/s
Find:
Solution: The differential equation governing the angular displacement of the helicopter
from its equilibrium position assuming small is
235
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Chapter 4: Harmonic Excitation of SDOF Systems
2 sin
For this undamped system the maximum displacement occurs when excited at the natural
frequency which from the differential equation is
2
50 rad/s
Problem 4.8 illustrates how the natural frequency can be used to calculate system
parameters.
Find:
Solution: The differential equation governing the angular displacement of the helicopter
from its equilibrium position assuming small is
2 sin
236
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Chapter 4: Harmonic Excitation of SDOF Systems
For this undamped system the maximum displacement occurs when excited at the natural
frequency which from the differential equation is
2
50 rad/s
2 2 3 10 N/m 0.6 m
4 kg 0.2 m 8.04 kg m
50 150 rad/s
Problem 4.9 illustrates how the natural frequency can be used to calculate system
parameters.
34.929 rad/s
237
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Chapter 4: Harmonic Excitation of SDOF Systems
1
x (m)
-1
-2
-3
0 20 40 60 80 100 120 140 160 180 200
t (s)
40 rad/s
238
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Chapter 4: Harmonic Excitation of SDOF Systems
sin sin
200 20 rad/s
sin 20 sin 40
30 40 rad/s 20 rad/s 40 rad/s
5.6 sin 20 sin 40 mm
sin cos
2
200
sin 40 40 cos 40
2 30 40 /
2.1 sin 40 40 cos 40 mm
2
sin cos
2 2
2 200
sin 0.5 cos 40.5
30 40 rad/s 41 rad/s
0.1646 sin 0.5 cos 40.5 m
Problem 4.11 illustrates the forced response of an undamped system away from resonance,
at resonance, and at near resonance.
4.12 A 5 kg block is mounted on a helical coil spring such that the systems natural
frequency is 50 rad/s. The block is subject to a harmonic excitation of amplitude 45 N at a
frequency of 50.8 rad/s. What is the maximum displacement of the block from its
equilibrium position?
Find: X
Solution: The frequency ratio is
r= = 1.016
n
The magnification factor is
1
M= = 31.00
1 r2
239
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Chapter 4: Harmonic Excitation of SDOF Systems
MF0
X= = 0.112 m
m n2
Find: F0
Solution: Since the turbine is mounted on four springs in parallel the equivalent stiffness is
k eq
n = = 154.9 rad/s
m
1
M= = 0.613
1 r2
Problem 4.13 illustrates use of the magnification factor for an undamped system.
4.14 A system of equivalent mass 30 kg has a natural frequency 120 rad/sec and a damping
ratio of 0.12 and is subject to a harmonic excitation of amplitude 2000 N and frequency
150 rad/sec. What is the steadystate amplitude and phase angle of the response?
Find: X,
Solution: The frequency ratio is
rad
150
s = 1.25
r= =
n 120 rad
s
The magnification factor is
1
M (1.25,0.12) = = 1.569
[1 (1.25) ] + [2 (0.12)(1.25)]
2 2 2
(30 kg )120
s
2 (0.12)(1.25)
= tan 1 = 0.49 rad
1 (1.25)
2
Problem 4.14 illustrates the application of the magnification factor to determine the steady-
state amplitude of forced vibration of a one-degree-of-freedom system.
4.15 A 30-kg block is suspended from a spring with a stiffness of 300 N/m and attached to
a dashpot of damping coefficient 120 N s/m. The block is subject to a harmonic
excitation of amplitude 1150 N at a frequency of 20 Hz. What is the blocks steadystate
amplitude ?
241
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Chapter 4: Harmonic Excitation of SDOF Systems
N
300
k m = 3.16 rad
n = =
m 30 kg sec
N s
120
c m
= = = 0.633
2m n rad
2 (30 kg ) 3.16
s
cycles 2 rad
20
s 1cycle
r= = = 39.8
n 3.16
rad
s
The magnification factor is
1
M (39.8, .633) = = 6.31x 104
(1 (39.8) ) + [2 (39.8)(.633)]
2 2 2
Find: X
242
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Chapter 4: Harmonic Excitation of SDOF Systems
W = cx&dx
Ns
ceq. = c = 2700
m
When the 30 kg block moves through a virtual displacement x, the work done by the
external force is
r
W = F (t ) 1 x
r2
Hence the generalized force is
r 10 cm
Feq . = F (t ) 1 = 2000 sin 100t N = 1000 sin 100t N
r2 20 cm
243
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Chapter 4: Harmonic Excitation of SDOF Systems
N
k eq. 110 6
n = = m = 93.25 rad
meq. 115 kg s
N s
ceq. 2700
= = m = 0.126
2meq. n rad
2 (115 kg ) 93.25
s
rad
100
s = 1.072
r= =
n 93.25 rad
s
The magnification factor is
1
M (1.072,0.126) = = 3.24
([1 (1.072) ]) + [2 (0.126)(1.072)]
2 2 2
Problem 4.16 illustrates application of the magnification factor to determine the steady-
state amplitude of forced vibration when an equivalent system is used to model the original
one-degree-of-freedom system.
4.17 If = 16.5 rad/s, what is the maximum value of M0 such that the disk of Figure P4.17
rolls without slip?
Given: m = 20 kg, k = 4000 N/m,
c = 50 N sec/m, rD = 10 cm, = 16.5 rad/sec,
= 0.12
Find: M0 such that disk rolls without slip
Solution: Let x be the displacement of the center of the disk, measured from equilibrium.
Assume the disk rolls without slip. Free body diagrams of the disk at an arbitrary instant of
time are shown below
244
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Chapter 4: Harmonic Excitation of SDOF Systems
Mo sin t
:
mg 1 mr 2 ( x )
2 D rD
. =
:
k x+ c x G mx
c
F
N
EXTERNAL FORCES EFFECTIVE FORCES
( M ) c ext . = ( M c )eff .
1 2 &x&
kxrD cx&rD + M 0 sin t = m&x&rD + mrD
2 rD
3 M
m&x& + cx& + kx = 0 sin t
2 rD
2M 0
&x& + 2 n x& + n2 x = sin t
3rD
where
N
2 4000
2k m rad
n = = = 11.55
3m 3 (20 kg ) s
N s
2 50
2c m
= = = 0.144
3mn rad
3 (20 kg )11.55
s
rad
16.5
s = 1.429
r= =
n 11.5 rad
s
The steady-state response is given by
x (t ) = X sin (t )
245
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Chapter 4: Harmonic Excitation of SDOF Systems
where
M0
M (1.429, 0.144 )
rD
X=
3m 2
n
2
2M 0
=
[ ]
2
rad
3 (20 kg )11.55 (0.1m ) 1 (1.429 ) + [2 (0.144 )(1.429 )]
2 2 2
sec
= 2.23 10 3 M 0
Using the free body diagrams to sum moments about the mass center gives
( M ) G ext . = ( M G )eff .
M 0 sin t + FrD = m&x&rD
M0
F = m&x& sin t
rD
( )
F = m 2 2.23 10 3 M 0 sin (t ) M 0 sin t
= 12.14 M 0 sin (t ) 10M 0 sin t
F = 21.75M 0 sin (t k )
If the disk rolls without slip, the friction force must be less than the maximum mg. Thus
m
21.75M 0 < mg = 0.12 (20 kg ) 9.81 2 = 23.54 N
s
M 0 < 1.08 N m
Problem 4.17 illustrates (a) application of Newtons Laws to free body diagrams to derive
a governing differential equation, (b) the steady-state response of a one-degree-of-freedom
system with viscous damping, (c) the no-slip condition.
246
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Chapter 4: Harmonic Excitation of SDOF Systems
:
mg 1 mr 2 ( x )
2 D rD
. =
:
k x+ c x G mx
c
F
N
EXTERNAL FORCES EFFECTIVE FORCES
( M ) c ext . = ( M c )eff .
1 2 &x&
kxrD cx&rD + M 0 sin t = m&x&rD + mrD
2 rD
3 M
m&x& + cx& + kx = 0 sin t
2 rD
2M 0
&x& + 2 n x& + n2 x = sin t
3rD
where
N
2 4000
2k m rad
n = = = 11.55
3m 3 (20 kg ) s
N s
2 50
2c m
= = = 0.144
3mn rad
3 (20 kg )11.55
s
The steady-state response is given by
x (t ) = X sin (t )
Using the free body diagrams to sum moments about the mass center gives
247
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Chapter 4: Harmonic Excitation of SDOF Systems
( M ) G ext . = ( M G )eff .
M 0 sin t + FrD = m&x&rD
M0
F = m&x& sin t
rD
M
F = m 2 ( X )sin (t ) sin t
r d
M
= m 2 X (sin t cos cos t sin ) sin t
rD
= F sin(t )
cos sin
If the disk rolls without slip, the friction force must be less than the maximum mg. Thus
This is a trial and error equation to find r. Substituting given values and squaring
or
, 0.144 2 , 0.144 cos 0.3875
The function above is plotted using MATLAB. The values or r where the plot is greater
than zero yields the prohibited values of r.
248
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Chapter 4: Harmonic Excitation of SDOF Systems
15
10
0
f(r)-1.3875
-5
-10
-15
-20
-25
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
r
Problem 4.18 illustrates the use of the magnification factor.
Solution: Let be the angular displacement of the bar, measured positive clockwise with
respect to the systems equilibrium position. The equivalent system method is used to
derive the governing differential equation using as the generalized coordinate.
The kinetic energy of the system is
2
1 1 1 L
T = mL2 & 2 + m a &
2 12 2 2
249
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Chapter 4: Harmonic Excitation of SDOF Systems
2
1 L
I eq. = mL2 + m a = 8.90 kg m 2
12 2
1
k (d )
2
V=
2
Hence the equivalent torsional stiffness is
k teq . = kd 2 = 4 10 4 d 2
( )
W = c b& d (b ) = cb 2&d
N s m
cteq . = cb 2 = 177.8
rad
The work done by the external force as the bar rotates through a virtual displacement is
W = aF (t )
Since the equivalent torsional stiffness is in terms of d, the system properties can only be
determined in terms of d
k teq . 4 10 4 d 2
n = = = 67.04d
I eq. 8.9 kg m 2
N m s
cteq . 177.8
rad 0.149
= = =
(
2 I eq. n 2 8.9 kg m (67.04d )
2
d
)
rad
50
s = 0.746
r= =
n 67.04 d d
250
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Chapter 4: Harmonic Excitation of SDOF Systems
which simplifies to
1
1.047 >
[(d ]
2
)
2
0.557 + 0.0494
d > 1.22 m
Hence,
Problem 4.19 illustrates (a) derivation of differential equations for forced vibrations of a
one-degree-of-freedom system, (b) calculation of system properties, and (c) relation
between the steady-state amplitude and the magnification factor.
4.20 A 30-kg compressor is mounted on an isolator pad of stiffness 6 105 N/m. When
subject to a harmonic excitation of magnitude 350 N and frequency 100 rad/sec, the phase
difference between the excitation and the steadystate response is 24.3. What is the
damping ratio of the isolator and its maximum deflection due to this excitation?
Find: , X
Solution: The systems natural frequency and frequency ratio are
251
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Chapter 4: Harmonic Excitation of SDOF Systems
N
6 10 5
k m = 141.4 rad
n = =
m 30 kg sec
rad
100
sec = 0.707
r= =
n 141.1 rad
sec
2r
= tan 1 2
1 r
1 r2
= tan
2r
1 (.707 )
2
=
2 (.707 )
(
tan 24.3o = 0.160 )
The magnification factor is
1
M (0.707, 0.160) = = 1.822
[1 (0.707) ] + [2 (0.160)(0.707)]
2 2 2
mn2 X
= M (0.707, 0.160)
F0
F0 M (0.707, 0.160 )
X=
mn2
=
(350 N )(1.822) = 1.06 mm
2
Problem 4.20 illustrates (a) use of the phase angle to determine damping ratio, and (b)
relation between steady-state amplitude and magnification factor.
4.21 A thin disk with a mass of 5 kg and a radius 10 cm is connected to a torsional damper
of coefficient 4.1 Nsm/rad and a solid circular shaft with a radius 10 mm, length 40 cm,
and shear modulus 80 109 N/m2. The disk is subject to a harmonic moment of magnitude
250 Nm and frequency 600 Hz. What is the amplitude of the steadystate torsional
oscillations?
252
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Chapter 4: Harmonic Excitation of SDOF Systems
Find:
1 1
mD rD2 = (5 kg )(0.1 m ) = 0.025 kg m 2
2
ID =
2 2
The torsional stiffness of the shaft is
4 N
(0.01 m ) 80 109 2
r G 4
m Nm
kt = =s
= 3140
2 Ls 2 (0.4 m ) rad
Nm
3140
kt rad = 354.4 rad
n = =
ID 0.025 kg m 2 s
N sm
4.1
ct rad
= = = 0.231
2 I D n
( 2
2 0.025 kg m 354.4
rad
s
)
cycles 2 rad
600
sec 1cycle
r= = = 10.64
n 354.4
rad
s
The magnification factor is
1
M (10.64, 0.231) = = 0.0089
[1 (10.64) ] + [2 (0.231)(10.64)]
2 2 2
Problem 4.21 illustrates the relation between magnification factor and steady-state
amplitude for a torsional system.
253
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Chapter 4: Harmonic Excitation of SDOF Systems
Find: k,
Solution: The maximum magnification factor is
1 m n2 X max
M max = =
2 1 2 F0
(50 kg)(0.0025 m) n2 1
=
8000 N 2 1 2
1
1.56 10 5 n2 =
2 1 2
m
rmax = 1 2 2 =
n
(32 cycles/s)(2 rad/cycle)
= 1 2 2
n
201.1
n =
1 2 2
254
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Chapter 4: Harmonic Excitation of SDOF Systems
( )
(0.631) 2 4 2 (1 2 ) = (1 2 2 ) 2
1.593 1.593 4 = 1 4 2 + 4 4
2
5.593 4 5.593 2 + 1 = 0
2 =
1
2(5.593)
[
5.593 (5.593) 2 4(5.593) ]
2 = 0.233, 0.767
= 0.483, 0.876
Since a maximum occurs only for < 0.707 the appropriate damping ratio is = 0.483.
The natural frequency is obtained as
201.1
n = = 275.3 rad/s
1 2 2
k = m n2 = 3.79 10 6 N/m
0.0002 , ,
100 N
cycle rad 1 2
30 kg 30 2
s cycle
9.382x10
1 2
255
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Chapter 4: Harmonic Excitation of SDOF Systems
4.24 A 80-kg machine tool is placed on an elastic mounting. The phase angle is measured
as 35.5 when the machine is excited at 30 Hz. When the machine is excited at 60 Hz, the
phase angle is 113. Determine the equivalent damping coefficient and equivalent stiffness
of the mounting.
256
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Chapter 4: Harmonic Excitation of SDOF Systems
1 4
3.30
2 1
Solving for r yields r = 0.847. The using the first equation gives 0.119. Noting that for
f=30 Hz, 222.5 rad/s and 30 222.5 1.49 10 N/m. Also,
2 0.119 2 30 222.5 1.59 10 N s/m.
Problem 4.24 illustrates the use of the phase angle in determining system
parameters.
4.25 A 100-kg machine tool has a 2-kg rotating component. When the machine is mounted
on an isolator and its operating speed is very large, the steadystate vibration amplitude is
0.7 mm. How far is the center of mass of the rotating component from its axis of rotation?
Given: m = 100 kg, m0 = 2 kg, X (large r) = 0.7 mm
Find: e
Solution: When the frequency ratio is very large is approximately 1 for all values of .
Thus from the information given
mX
=
m0 e
1=
(100 kg )(0.0007 mm)
(2 kg )e
e = 0.035 m
4.26 A 1000 kg turbine with a rotating unbalance is placed on springs and viscous dampers
in parallel. When the operating speed is 20 Hz, the observed steadystate amplitude is
0.08 mm. As the operating speed is increased, the steadystate amplitude increases with an
amplitude of 0.25 mm at 40 Hz and an amplitude of 0.5 mm for much larger speeds.
Determine the equivalent stiffness and damping coefficient of the system.
257
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Chapter 4: Harmonic Excitation of SDOF Systems
mX
= 1as r
m0 e
Let
20 Hz.
r1 =
n
40 Hz.
r2 = = 2r1
n
Then
(r1 , ) =
(1000 kg )(0.08 mm) = r12
(1)
500 kg mm (1 r ) + (2r )
1
2 2
1
2
and
(r2 , ) =
(1000 kg )(0.25 mm) = r22
(2)
500 kg mm (1 r ) + (2r )
2
2 2
2
2
4r12
0 .5 =
(1 4r ) + (4r )
1
2 2
1
2
2 =
1
16 r12
(
48r14 + 8r12 1 ) (3)
whose solution is
r1 = 0.4118
258
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Chapter 4: Harmonic Excitation of SDOF Systems
rad
40
20 Hz. s = 305.0 rad
n = =
r1 0.4118 s
= 0.800
from which the equivalent viscous damping coefficient is calculated as
rad 5 N s
ceq . = 2 m n = 2 (0.800 )(1000 kg ) 305.0 = 4.88 10
s m
Problem 4.26 illustrates (a) the limit of (r,) for large r, (b) the use of in calculations.
4.27 A 120-kg fan with a rotating unbalance of 0.35 kg m is to be placed at the midspan
of a 2.6-m simply supported beam. The beam is made of steel (E = 210 109 N/m2) with a
uniform rectangular cross section of height of 5 cm. For what values of the cross-sectional
depth will the steadystate amplitude of the machine be limited to 5 mm for all operating
speeds between 50 and 125 rad/sec?
Given: m = 120 kg, m0e = 0.35 kg-m, L = 2.6 m, E = 210 109 N/m2, h = 5 cm,
Xmax = 5 mm,
Solution: The midspan deflection of a simply supported beam due to a concentrated unit
load at its midspan is obtained using Table D.2 of Appendix D. This table is used with
x = a = L/2,
1 1 1 L 3 3 L2 L L3
= + = (1)
EI 2 6 2 48 2 48 EI
Let x be the displacement of the machine from its equilibrium position. The vibrations of
the machine are modeled using one degree of freedom using x as the generalized
259
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Chapter 4: Harmonic Excitation of SDOF Systems
coordinate. Inertia effects of the beam are ignored. The equivalent stiffness is obtained
from eq. (1) as
1 48 EI
keq. = = 3 (2)
L
The moment of inertia of the cross section is expressed as
1 3
I= dh (3)
12
Substitution of eq. (3) into eq. (2) leads to
4 Edh 3
k eq . = (4)
L3
N
4 210 10 9 2 (.05 m ) d
3
k eq.4 Eh d
3
m
n = = = = 223.1 d (5)
m mL 3
(120 kg )(2.6 m )3
The machines rotating unbalance causes a harmonic excitation whose amplitude is
proportional to the square of its frequency. From the given information
mX max . (120 kg )(.005 m )
max . = = = 1.714 (6)
m0 e 0.35 kg m
r2
= (7)
1 r2
max . 1.714
r< = = 0.795
max . + 1 2.714
or
< 0.795
n
(8)
n >
0.795
260
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Chapter 4: Harmonic Excitation of SDOF Systems
In order for eq. (8) to hold over the entire operating range,
rad
125
n > s = 157.23 rad (9)
0.795 s
rad
223.1 d > 157.23
s (10)
d > 0.496 m
n < (12)
1.549
Requiring < max over the entire operating range in eg.(12) leads to
rad
n < 32.28 (13)
s
rad
223.1 d < 32.28
s (14)
d < 0.0209 m
Problem 4.27 illustrates the theory of rotating unbalance for an undamped system. It also
illustrates the modeling of a mass attached to a beam using one degree of freedom.
261
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Chapter 4: Harmonic Excitation of SDOF Systems
4.28 Solve Chapter Problem 4.27 assuming the damping ratio of the beam is 0.04.
Given: m = 120 kg, m0e = 0.35 kg-m, L = 2.6 m, E = 210 109 N/m2, h = 5 cm, = 0.04,
Xmax = 5 mm, 50 rad/s < < 125 rad/s
Find: d
It is necessary to find the values of r for which (r,0.04) < 1.714. To this end
r2
1.714 >
(1 r 2 ) 2 + [2(0.04)r ] 2
The quadratic formula is used to solve for r2 leading to r < 0.824 or r > 1.496. In
order for r < 0.824 over the entire frequency range r = 0.824 should correspond to
the highest frequency in the range, = 125 rad/s. To this end
125 rad/s
n > = = 151.7 rad/s
r 0.824
This leads to
k > (120 kg)(151.7 rad/s) 2 = 2.76 10 6 N/m
If r > 1.496 over the entire frequency range, then r = 1.496 must correspond to the lowest
frequency in the range, = 50 rad/s. Following the same procedure as above this leads to d
< 0.0224 m.
Problem 4.28 illustrates the use of (r,) for machines with a rotating unbalance.
4.29 A 620-kg fan has a rotating unbalance of 0.25 kgm. What is the maximum stiffness
of the fans mounting such that the steadystate amplitude is 0.5 mm or less at all
operating speeds greater than 100 Hz? Assume a damping ratio of 0.08.
Given: m = 620 kg, m0e = 0.25 kg-m, = 0.08, Xmax. = 0.5 mm, min. = 100 Hz.
Find: k
Solution: From the curve for , for a fixed , it is obvious that the steadystate amplitude
is lower at higher operating speeds. Thus, if = 0.5 mm for = 100 Hz, then
X < 0.5 mm for all > 100 Hz. Using this information, at 100 Hz.
=
mX
=
(620 kg )(0.0005 m ) = 1.24
M 0e 0.25 kg m
r2
1.24 =
(1 r ) + (0.16 r )
2 2 2
Thus
cycles 2 rad
100
sec 1cycle
n < =
r 2.26
rad
n < 278.0
s
2
rad 7 N
k = m n2 < (620 kg ) 278.0 = 4.8 10
s m
263
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Chapter 4: Harmonic Excitation of SDOF Systems
Given: mb = 2.1 kg, me = 25 kg, x = 170 mm, n = 150 rad/s, = 900 rpm, = 0.05, mp =
75 g, e = 25 cm
Find: X
Solution: When the particle is attached to a blade the total mass of the rotor is
m = 4 m b + m e + m p = 33 .38 kg
When the particle is attached to the blade it creates a rotating unbalance of magnitude
m0 e
X= (0.628,0.05)
m
0.0188 kg m (0.628) 2
X= = 0.36 mm
33.38 kg 2 2
[
1 (0.628) + [2(0.05)(0.628)]
2
]
Problem 4.30 illustrates the determination of the steady-state amplitude for a
system with a rotating unbalance.
264
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Chapter 4: Harmonic Excitation of SDOF Systems
Given: mb = 2.1 kg, me =25 kg, x = 170 mm, n = 150 rad/s, = 900 rpm, = 0.05
Find: X
Solution: The total mass of the rotor if one blade falls off is
m = 3m b + m e = 31 .2 kg
When one blade falls off, the system has a rotating unbalance of magnitude
The equivalent stiffness of the tail section is determined from the natural frequency when
all blades are attached
keq = mn2 = (33.3 kg)(150 rad/s) 2 = 7.49 105 N/m
The natural frequency of the tail section when one blade is missing is
k
n = = 155.2 rad/s
m
265
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Chapter 4: Harmonic Excitation of SDOF Systems
m0 e
X= (0.607,0.05)
m
0.357 kg - m (0.607) 2
X= = 6.7 mm
31.1 kg 1 (0.607) 2 2
[
+ [2(0.05)(0.607)]
2
]
Problem 4.31 illustrates the determination of the steady-state amplitude for a system with a
rotating unbalance.
Given: e
Show: X = e (r , )
Solution: The rotor is mounted on bearings of equivalent stiffness k and damping coefficient
c. Free body diagrams of the rotor at an arbitrary instant are shown. The rotor is rotating at a
constant angular speed . Let x(t) denote the distance between the geometric center of the
rotor and the axis of the shaft. Using the relative acceleration equation the acceleration of
the mass center is equal to the acceleration of the center of the rotor plus the relative
acceleration, a term equal to e2 directed from G to C.
F ext = Feff
kx cx& = m&x& + me 2 sin
266
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Chapter 4: Harmonic Excitation of SDOF Systems
The whirling leads to a harmonic excitation of the form Fsint where F = m2. Hence
whirling leads to a frequency squared excitation with A = m2. Then using the theory of
Sec. 3.5 the steady-state response is
x(t ) = X sin(t )
where
mX
= (r , )
me
4.33 A 30-kg rotor has an eccentricity of 1.2 cm. It is mounted on a shaft and bearing system
whose stiffness is 2.8 104 N/m and damping ratio is 0.07. What is the amplitude of
whirling when the rotor operates at 850 rpm?
Given: m = 30 kg, e = 1.2 cm, k = 2.8 104 N/m, = 0.07, = 850 rpm
Find: X
Solution: The natural frequency of the system is
k
n = = 30.6 rad/s
m
267
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Chapter 4: Harmonic Excitation of SDOF Systems
4.34 An engine flywheel has an eccentricity of 0.8 cm and mass 38 kg. Assuming a
damping ratio of 0.05, what is the necessary stiffness of the bearings to limit its whirl
amplitude to 0.8 mm at all speeds between 1000 and 2000 rpm? Refer to Chapter Problem
4.32 for an explanation of whirling.
Given: m = 38 kg, e = 0.8 cm, = 0.05, X = 0.8 mm, 1000 rpm < < 2000 rpm
Find: k
Solution: From Problem 4.32 the amplitude of whirl is
X = e(r, )
X all 0.0008 m
all = = = 0 .1
e 0.008 m
It is noted that < 0.1 only for small values of r. In order to find the appropriate values of
the bearing stiffness set
r2
0.1 = (r 0.05) =
(1 r 2 ) 2 + [2(0.05)r ] 2
r 2 = 0.111, 0.091
Only a positive root leads to a real solution r = 0.302. Thus the bearing stiffness must be
chosen such that r < 0.302 over the entire range of frequencies. This occurs if r-0.302
corresponds to the highest frequency in the range = 2000 rpm = 209.4 rad/s. To this end
209.4
< 0.302
n
n > 694.5 rad/s
268
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Chapter 4: Harmonic Excitation of SDOF Systems
I = [(0.45m )4 - (0.4m )4] = 0.0121 m4
4
kg
mb = AL = (7850 3
)(0.1336 m 2 )(6m) = 6290k g
m
Let x be a coordinate along the axis of the smokestack. Let z be the deflection at the end of
the smokestack. The deflection of a cantilever beam due to a concentrated load P applied at
the end of the beam is
Px 2
y(x) = (3L - x) (1)
6EI
PL3
z= (2)
3EI
269
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Chapter 4: Harmonic Excitation of SDOF Systems
where mb is the total mass of the beam. The kinetic energy of the differential element is
1 2
dT = y& dm (5)
2
Substitution of eqs.(3) and (4) in eq.(5) and integrating over the length of the beam leads to
L
1 x2 z& m
T = dT = [ 3 (3L - x) ] 2 b dx
2 2L L
0 (6)
1
= (0.236 mb ) z& 2
2
Hence the equivalent mass is
~ = 0.236(6290kg) = 1484 kg
m
1 1
max . = = = 10.01
2 1 - 2
2(.05) 1 - (.05 )2
8 r 03 L max .
X max . = ~
3.16 m
Assuming air at 20 C
kg
8(1.204 3
)(0.45 m )3 (6.0 m)(10.01)
X max . = m = 11.2 mm
3.16(1484 kg)
The wind speed at which the maximum amplitude occurs is calculated from
1
1.002
1 2
270
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Chapter 4: Harmonic Excitation of SDOF Systems
Thus
3 rad
1.002 1.002 1.002 150.79
s
Then
rad
150.79 0.45 m m
s 56.54
0.4 0.4 s
Problem 4.35 illustrates modeling of a continuous system using one degree of freedom. It
also illustrates application of the theory to determine the maximum response of a
circular cylinder sue to vortex shedding.
4.36 What is the steadystate amplitude of oscillation due to vortex shedding of the
smokestack of Chapter Problem 4.35 if the wind speed is 22 mph?
3EI 3E ( ro4 ri 4 )
k= 3
= 3
= 3.36 10 7 N/m
L 4L
k
n = = 150.5 rad/s
m
271
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Chapter 4: Harmonic Excitation of SDOF Systems
D
S = 0.2 =
2v
0.4v
=
D
0.4 (22 mi/hr)(1.61 10 3 m/mi)(1 hr/3600 s)
= = 13.74 rad/s
0.9 m
a Do3 L
X= (0.0913,0.11)
0.316m
(1.204 kg/m 3 )(0.9 m) 3 (6 m) (0.0913) 2
X=
0.316(1484 kg) [1 (0.0913) 2 ]2 + [2(0.11)(0.0913)]2
X = 9.43 10 5 m
Given: G = 80 109 N/m2, = 7800 kg/m3, Di = 14 cm, t = 1 cm, v = 5.5 m/sec., = 0.05,
< 1
Find: l
kg N s
= 998 3
= 1.003 10 3 2
m m
272
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Chapter 4: Harmonic Excitation of SDOF Systems
kg m
998 3 5.5 (0.15 m )
vDo m s
Re = = = 8.2 10 5
N s
1.003 10 3 2
m
and is approximately in the range where the frequency squared model of vortex induced
oscillations is valid.
Free body diagrams of the vertical pipe at an arbitrary instant are shown below.
.
K t + Ct
mL . 2
2
R
:
mL
2
h
=
mg
1 mL2
:
Fo sin t
12
( M ) 0 ext . = ( M 0 )eff .
L L L
mg kt ct& + F0 h sin t = m && + I&&
2 2 2
L 2
L
m + I && + ct& + kt + mg = F0 h sin t
2 2
(
) kg
[
m = r02 ri 2 L = 7800 3 (0.075 m ) (0.07 m ) (4 m ) = 71.06 kg
m
2 2
]
L 2 2 2
I=
12
[ ( ) (
r0 3r0 + L ri 2 3ri 2 + L2 = 94.66 kg m 2 )]
Assuming the amplitude of the excitation is proportional to the square of the frequency and
the drag coefficient is approximately 1.0, the magnitude of the exciting moment is
M 0 = F0 h = 0.316 D 3 Lh 2
273
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Chapter 4: Harmonic Excitation of SDOF Systems
L2
3.16 m + I
= 4
D Lh
3
1 2 rad
3.16 (284.3 kg )(4 m ) + 382 kg m 2 (1)
2
4 360
< = 0.62
kg
998 3 (0.15 m ) (4 m )(2.5 m )
3
r2
0.62 >
(1 r ) + (0.1r )
2 2 2
r=
n
m
0.4 5.5
0.4v s rad
= = = 46.1
Do 0.15m s
JG
kt =
l
and thus the natural frequency is
JG L
+ mg
n = l 2
L 2
m + I
4
274
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Chapter 4: Harmonic Excitation of SDOF Systems
2
[ m
]
(0.075m )4 (0.07m )4 80 109 N2
m 4m
+ (71.06kg ) 9.81 2
l s 4
1520 kg m 2
Problem 4.37 illustrates (a) torsional oscillations of a submerged vertical pipe induced by
vortex shedding, (b) calculation of steady-state amplitude induced by vortex shedding, and
(c) design calculations to avoid large oscillations.
Find: X
c k + k2 k Y
&x& + x& + 1 x = 2 sin t
m m m
Thus the natural frequency, damping ratio and frequency ratio are
275
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Chapter 4: Harmonic Excitation of SDOF Systems
k1 + k 2
n = = 126.8 rad/s
m
c
= = 0.14
2mn
r= = 0.789
n
m n2 X 1
= M (0.789,0.14) = = 2.28
k 2Y [1 (0.789) 2 ] + [2(0.14)(0.789)] 2
Problem 4.38 illustrates the derivation of the differential equation and the detemination of
the steady-state amplitude for a system undergoing base motion.
Find:
Solution: Let be the clockwise angular rotation of the bar from its equilibrium position.
Free body diagrams of the bar at an arbitrary instant are shown below.
276
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Chapter 4: Harmonic Excitation of SDOF Systems
mL . 2
=
4
3L +y
:
K( ) mL
4 1 mL2
:
4
R
12
.
CL
4
EXTERNAL FORCES EFFECTIVE FORCES
Summing moments about the point of support
( M ) 0 ext . = ( M 0 )eff .
3 3 L L 1 L L
k L + y L c & = mL2&& + m &&
4 4 4 4 12 4 4
7 1 9 2 3
mL2&& + cL2& + kL = kLY sin t
48 16 16 4
The system parameters are
N
271 10 5
27 k m rad
n = = = 277.7
7m 7(5 kg ) s
N s
3 400
3c m
= = = 0.062
14mn rad
14(5 kg ) 277.7
s
rad
250
s 0.900
r= =
n 277.7 rad
s
The magnification factor for this system is
1
M= = 4.54
[1 (0.900) ] + [2(0.062)(0.900)]
2 2 2
277
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Chapter 4: Harmonic Excitation of SDOF Systems
Problem 4.39 illustrates (a) derivation of the differential equation governing a system
undergoing a base excitation, and (b) determination of the steady-state vibration amplitude
using the magnification factor.
m&x& + kx = ky
278
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Chapter 4: Harmonic Excitation of SDOF Systems
N
8.59 10 6
k M = 273.3 rad
n = =
m 115kg s
rad
200
s = 0.732
r= =
n 273.3 rad
s
The steady-state amplitude is given by
m n2 X
X = YM (0.732, 0 ) = M (0.732,0 )
kY
or
1
X = (.08 m ) = 0.172 m
1 (0.732 )
2
Problem 4.40 illustrates the use of the function in the determination of steady-state
amplitude of a system subject to harmonic base motion.
Find:
Solution: Free body diagrams of the system are shown below at an arbitrary instant. Note
that the acceleration of the mass center of the bar is equal to the horizontal acceleration of
the support plus the acceleration relative to the support.
R
:
mL
= 2
:
mx
mL . 2
L/2 2
1 mL2
:
mg
12
EXTERNAL FORCES EFFECTIVE FORCES
279
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Chapter 4: Harmonic Excitation of SDOF Systems
( M ) 0 ext . = ( M 0 )eff .
L L L L 1 (1)
mg sin = m&x& cos + m && + mL2&&
2 2 2 2 12
L2 && L L
m + mg = m&x&
3 2 2
3g 3 &x&
&& + =
2L 2L
3g 3 2 X
&& + = sin t
2L 2L
m
3 9.81 2
3g s rad
n = = = 5.42
2L 2(0.5m) s
rad
10
s = 1.85
r= =
n 5.42 rad
s
Since r>1 the magnification factor is calculated as
1
M (1.85, 0) = = 0.416
r 1
2
n2
= M (1.85, 0)
3 2 L
2L
or
280
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Chapter 4: Harmonic Excitation of SDOF Systems
Problem 4.41 illustrates the derivation of governing differential equation for a base motion
problem.
4.42 Determine the amplitude of steady-state vibration for the system shown in Figure
P4.42. Use the indicated generalized coordinate.
Given: I = 1.5 kg-m2, L = 1.1 m, G = 80 109 N/m2, J = 4.6 10-6 m4, = 0.1 rad,
= 300 rad/s
Find:
Solution: The torsional stiffness of the shaft is
JG
kt = = 3.35 10 5 N m/rad
L
The natural frequency and frequency ratio are
kt
n = = 472.6 rad/s
I
r= = 0.636
n
I n2
M= =
kt
Hence
281
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Chapter 4: Harmonic Excitation of SDOF Systems
N
2 104
k m = 22.36 rad
n = =
m 40kg s
rad
30.1
s = 1.346
r= =
n 22.36 rad
s
The system's damping ratio is
N s
150
c m
= = = 0.0838
2mn 2(40kg)(22.36 rad )
s
The amplitude of the relative displacement is
Yr 2
Z = Y =
(1 - r 2 )2 + (2r )2
(0.15m)(1.346 )2
=
[(1 - (1.346 )2 )2 + [2(0.0838)(1.346) ]2
= 0.323m
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Chapter 4: Harmonic Excitation of SDOF Systems
1 + (2r )2
X = TY = Y
(1 - r 2 )2 + (2r )2
1 + [2(0.0838) (1.346) ]2
= 0.15m
[1 - (1.346 )2 )2 + [2(0.0838) (1.346) ]2
= 0.183m
Problem 4.43 illustrates the calculation of the absolute and relative amplitudes of a block
undergoing harmonic base motion.
Find: A
k
n = = 78.74 rad/s
m
110 rad/s
r= = = 1.40
n 78.74 rad/s
2X 1 + [2(0.04)(1.40)] 2
= T (1.40,0.04) = = 1.04
2Y [9 (1.4) 2 ] 2 + [2(0.04)(1.40)] 2
which leads to
Problem 4.44 illustrates the use of T(r,) to determine the absolute displacement and
acceleration of a system subject to a harmonic base excitation.
283
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Chapter 4: Harmonic Excitation of SDOF Systems
Find: 2X
Solution: The natural frequency and damping ratio for
the system are
k
n = = 30 rad/s
m
r= = 2.933
n
2X 1 + [2(0.03)(2.933)] 2
= T ( 2.933,0.03) = = 0.133
2Y [1 (2.933) 2 ] 2 + [2(0.03)(2.933)]2
Problem 4.45 illustrates the absolute acceleration of a structure whose base is subject to a
periodic motion.
4.46 What is the required column stiffness of a one-story structure to limit its acceleration
amplitude to 2.1 m/s2 during an earthquake whose acceleration amplitude is 150 mm/s2 at a
frequency of 50 rad/s? The mass of structure is 1800 kg. Assume a damping ratio of 0.05.
Find: k
Solution: The required acceleration ratio is
284
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Chapter 4: Harmonic Excitation of SDOF Systems
2X 2.1 m/s 2
T (r , ) = 2 = = 14.0
Y 150 mm/s 2
1 + [2(0.05)r ]
2
14.0 = r
(1 r 2 ) 2 + [2(0.05)r ] 2
Since the roots of the equation are complex, all values of r lead to values of T < 14.0 for a
damping ratio of 0.05. Hence any stiffness is OK.
Find: 2X
Solution: The natural frequency of the computer is
k 700 N/m
n = = = 5.92 rad/s
m 20 kg
285
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Chapter 4: Harmonic Excitation of SDOF Systems
2 X = 2 YT (1.59,0.04)
1 + [2(0.04)(1.59)] 2
2 X = (9.42 rad/s) 2 (0.2 m) = 11.61 m/s 2
[1 - (1.59) 2 ] 2 + [2(0.04)(1.59)] 2
Problem 4.47 illustrates the use of T(r,) for base excitation problems.
4.48 In a rough sea of Chapter Problem 4.47, what is the required stiffness of an elastic
foundation of damping ratio 0.05 to limit the acceleration of a 5-kg radio set to 1.5 m/s2?
Find: k
Solution: The frequency in rad/s is = 2(1.5) = 9.42 rad/s. The maximum of the ratio of
acceleration amplitude is
2X 1.5 m/s 2
= = 0.0844
2Y (9.42 rad/s) 2 (0.2 m)
1 + (0.1r )
2
0.0844 > T (r ,0.05) =
(1 r 2 ) 2 + (0.1r ) 2
r 2 = 10 .24 , 13 .65
286
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Chapter 4: Harmonic Excitation of SDOF Systems
r=
n
9.42 rad/s
n = = = 2.55 rad/s
r 3.695
k = m n2 = (5 kg)(2.55 rad/s) 2 = 32.5 N/m
Find: A
Solution: The natural frequency of the vehicle is
k
n = = 16.73 rad/s
m
If v is the horizontal speed of the vehicle the road contour provides a harmonic base motion
to the vehicle. The amplitude of the excitation is d and the frequency of the excitation is
2
= v = 0.628v
l
The acceleration amplitude is given by
A = 2 ( d )T ( r ,0.15)
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Chapter 4: Harmonic Excitation of SDOF Systems
1 + [2(0.15)(1.1265)]
2
A = (18.85 rad/s) (0.05 m) 2
= 43.4 m/s 2
[1 (1.1265) 2 ] 2 + [2(0.15)(1.1265)]2
(c) For v = 120 m/s the frequency and frequency ratio are
= 0.628(120 m/s) = 75.4 rad/s
r = 4.50
A = 2 ( d )T ( 4.50,0.15) = 24 .7 m/s 2
Problem 4.49 illustrates the acceleration amplitude for a harmonic base excitation problem.
A = 2 ( d )T ( r ,0.15)
288
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Chapter 4: Harmonic Excitation of SDOF Systems
where
2v
r= =
n 16.73 rad/s
100
90
80
70
60
A (m/s 2)
50
40
30
20
10
0
0 10 20 30 40 50 60
v (m/s)
, 0.15
0.18
0.16
0.14
0.12
0.1
X (m)
0.08
0.06
0.04
0.02
0
0 10 20 30 40 50 60
v (m/s)
289
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Chapter 4: Harmonic Excitation of SDOF Systems
4.51 What is the minimum static deflection of an undamped isolator that provides 75
percent isolation to a 200-kg washing machine at 5000 rpm?
Find:
4.52 What is the maximum allowable stiffness of an isolator of damping ratio 0.05 that
provides 81% isolation to a 40-kg printing press operating at 850 rpm?
Find: maximum k
Solution: Requiring the isolator to provide 81% isolation leads to T = 0.19. The minimum
required frequency ratio for a damping ratio of 0.05 is calculated from
1 0.1
, 0.05 0.19
1 0.1
2.267 26.7 0
2.53
rad N
40 kg 35.18 49500
sec m
4.53 When set on a rigid foundation and operating at 800 rpm, a 200-kg machine tool
provides a harmonic force with a magnitude 18,000 N to the foundation. An engineer has
determined that the maximum magnitude of a harmonic force to which the foundation
should be subjected to is 2600 N. (a) What is the maximum stiffness of an undamped
isolator that provides sufficient isolation between the tool and the foundation? (b) What is
the maximum stiffness of an isolator with a damping ratio of 0.11?
Find: k
2.82
rad N
200 kg 29.72 1.763 10
sec m
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Chapter 4: Harmonic Excitation of SDOF Systems
(b) The minimum frequency ratio for an isolator with = 0.11 is calculated from
1 0.22
0.144 , 0.11
1 0.22
rad N
200 kg 27.01 1.46x10
sec m
Problem 4.53 illustrates determination of the maximum stiffness for a damped isolator.
4.54 A 150-kg engine operates at 1500 rpm. (a) What percent isolation is achieved if the
engine is mounted on four identical springs each of stiffness 1.2 105 N/m? (b) What
percent isolation is achieved if the springs are in parallel with a viscous damper of
damping coefficient 1000 N s/m?
Given: m = 150 kg, = 1500 rpm = 314.2 rad/s, 4 springs, k = 1.2 105 N/m, c = 1000 N
s/m?
k eq
n = = 56.6 rad/s
m
292
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Chapter 4: Harmonic Excitation of SDOF Systems
314.2 rad/s
r= = = 5.55
n 566 rad/s
1
T (5.55,0) = = 0.0335
(5.55) 2 1
k eq
n = = 56.6 rad/s
m
314.2 rad/s
r= = = 5.55
n 566 rad/s
c 1000 N - s/m
= = = 0.0589
2m n 2(150 kg)(56.6 rad/s)
1 + [2(0.0589)(5.55)]
2
T (5.55,00589) = = 0.040
[1 (5.55) ] + [2(0.0589)(5.55)]
2 2 2
Problem 4.54 illustrates the percentage isolation achieved using a damped isolator.
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Chapter 4: Harmonic Excitation of SDOF Systems
4.55 A 150 kg engine operates at speeds between 1000 and 2000 rpm. It is desired to
achieve at least 85 percent isolation at all speeds. The only readily available isolator has a
stiffness of 5 105 N/m. How much mass must be added to the engine to achieve the
desired isolation?
Given: m = 150 kg, 1000 rpm < < 2000 rpm, k = 5 105 N/m, 85 percent isolation
Find: madd
Solution: Higher isolation is achieved at higher speeds. Thus better than 85 percent
isolation is achieved at all speeds if the system is designed such that 85 percent isolation is
achieved at = 1000 rpm = 104.7 rad/s. For an undamped isolator
1
T= 2
r 1
1
0.15 = 2
r 1
1
r = 1+
0.15
r = 2.77
104.7 rad/s
n = = = 37.8 rad/s
r 2.77
If the isolator is used without added mass the systems natural frequency is
k 5 x10 5 N/m
n = = = 57.8 rad/s
m 150 kg
Since the natural frequency exceeds the maximum allowable natural frequency, the isolator
can be used only if mass is added to the system. The required mass is
k 5 x10 5 N/m
m= = = 350 kg
n2 (37.8 rad/s) 2
Thus 200 kg must be added to the machine to achieve the desired isolation.
Problem 4.55 illustrates the addition of mass to a system as a means of vibration control.
294
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Chapter 4: Harmonic Excitation of SDOF Systems
4.56 Cork pads of stiffness of 6 105 N/m and a damping ratio of 0.2 are used to isolate a
40-kg machine tool from its foundation. The machine tool operates at 1400 rpm and
produces a harmonic force of magnitude 80,000 N. If the pads are placed in series, how
many are required such that the magnitude of the transmitted force is less than 10,000 N?
1 0.4
, 0.2 0.125
1 0.4
rad N
40 kg 56.82 1.29 10
sec m
When n pads are placed in series the equivalent stiffness is k/n. Thus in order to achieve
sufficient isolation
N
6 10 N
m 1.29 10
n m
which leads to
5
295
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Chapter 4: Harmonic Excitation of SDOF Systems
Problem 4.56 illustrates that isolator pads can be placed in series to help achieve sufficient
isolation.
4.57 A 100-kg machine operates at 1400 rpm and produces a harmonic force of magnitude
80,000 N. The magnitude of the force transmitted to the foundation is to be reduced to
20,000 N by mounting the machine on four identical undamped isolators in parallel. What
is the maximum stiffness of each isolator?
Find: k
which leads to
1.25
2.24
0.25
rad N
100 kg 65.44 4.28 10
sec m
Since the isolation system consists of four isolators in parallel, the maximum stiffness of
each isolator is
N
4.3 10 N
m 1.075 10
4 4 m
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Chapter 4: Harmonic Excitation of SDOF Systems
Find: k
Solution: (a) The isolation of the flow measuring device from the tables vibrations is a
similar problem to the isolation of a foundation from the forces produced in a reciprocating
machine. The transmissibility ratio is
m
0.7
sec 0.163
m
4.3
sec
The minimum frequency ratio for an undamped isolator to achieve this transmissibility is
determined from
1
,0 0.163
1
which gives
1.163
2.67
0.1623
rad N
10 kg 706.0 4.98 10
sec m
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Chapter 4: Harmonic Excitation of SDOF Systems
, 0.04 0.163
rad N
10 kg 698.1 4.87 10
sec m
Problem 4.58 illustrates isolation from surrounding vibration.
4.59 Rough seas cause a ship to heave with an amplitude of 0.4 m at a frequency of 20
rad/s. Design an isolation system with a damping ratio of 0.13 such that a 45 kg
navigational computer is subject to an acceleration of only 20 m/sec2.
Find: n
rad m
20 0.4 m 160
sec sec
1 0.26
, 0.13 0.125
1 0.26
3.42
Find: k, z
0.5
0.0588
8.5
1 0.1
, 0.05 0.0588
1 0.1
rad N
60 kg 8.133 3970
sec m
4.426,0.05
4.426,0.05
4.426,0.05
4.426,0.05
m
8.5 1
sec
rad
8.133 1 4.436 2 0.05 4.426
sec
6.9 m
4.61 A 200 kg engine operates at 1200 rpm. Design an isolator such that the
transmissibility ratio during start-up is less than 4.6 and the system achieves 80 percent
isolation.
Find: k,
Solution: The maximum transmissibilty during start up is determined by the damping ratio
of the system.
1/ 2
1 + 8 2
Tmax = 4 2
2 + 16 2 + (16 4 8 2 2) 1 + 8 2
Setting = 0.15 leads to Tmax = 3.51. Hence an isolator with a damping ratio of 0.15 is
acceptable. Eighty percent isolation is then achieved when
300
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Chapter 4: Harmonic Excitation of SDOF Systems
4.62 A 150 kg machine tool operates at speeds between 500 and 1500 rpm. At each speed
a harmonic force of magnitude 15,000 N is produced. Design an isolator such that the
maximum transmitted force during start-up is 60,000 N and the maximum transmitted
steadystate force is 2000 N.
Given: m = 150 kg, 500 rpm < < 1500 rpm, F0= 15,000 N, Fmax-start = 60,000 N,
Fmax = 2000 N
Find: k,
The maximum transmissibilty during start up is determined by the damping ratio of the
system. From Eq.(3.75)
1/ 2
1 + 8 2
Tmax = 4
2
2 + 16 2 + (16 4 8 2 2) 1 + 8 2
Setting = 0.15 leads to Tmax = 3.51. Hence an isolator with a damping ratio of 0.15 is
acceptable. Since the magnitude of the excitation is the same for all operating speeds, the
maximum transmitted force will occur at the lowest speed. The maximum transmissibilty
ratio is
301
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Chapter 4: Harmonic Excitation of SDOF Systems
Fmax 2000 N
T= = = 0.1333
F0 15000 N
4.63 A 200 kg testing machine operates at 500 rpm and produces a harmonic force of
magnitude 40,000 N. An isolation system for the machine consists of a damped isolator
and a concrete block for mounting the machine. Design the isolation system such that all of
the following are met:
Given: m = 200 kg, = 500 rpm, F0 = 40,000 N, Fmax, start up = 100,000 N, Fmax = 5000 N,
xmax = 2 cm
1 + 8 2
Fmax, startup = F0 Tmax = F0 4 2
2 + 16 2 + (16 4 8 2 2) 1 + 8 2
1 + 8 2
100000 = 4( 40000 ) 2
2 + 16 2
+ (16 4 8 2
2) 1 + 8 2
A trial and error solution leads to = 0.225. In order to set the maximum steady-state force
to 5000 N
FT max
= T (r ,0.225)
F0
5000 1 + [2(0.225)r ] 2
=
40000 (1 r 2 ) 2 + [2(0.225)r ] 2
which is solved for r= 4.2. The natural frequency is calculated as
The minimum mass required to limit the steady-state amplitude to 2 cm is obtained from
F0
m= M (4.2,0.225)
X max n2
40000 N 1
m= = 767 kg
(0.02 m)(12.47 rad/s) 2 [1 (4.2) 2 ] 2 + [2(0.225)(4.2)] 2
4.64 A 150-kg washing machine has a rotating unbalance of 0.45 kg m. The machine is
placed on isolators of equivalent stiffness 4 105 N/m and damping ratio 0.08. Over what
range of operating speeds will the transmitted force between the washing machine and the
floor be less than 3000 N?
Given: m = 150 kg, m0e = 0.45 kg m, k = 4 105 N/m, = 0.08, FT,max = 3000 N
Find: range of
N
4 10 rad
m 51.6
150 kg sec
. 3000 N
. 2.5
rad
0.45 kg m 51.6
sec
Since < 0.353 and Rmax > 2, there are two values of r such that
. , 0.08
1 . 16
2.5
1 . 16
1.28, 14.21
Thus the range of operating speeds for which the transmitted force is less than 3000 N is
rad rad
66.0 733.2
sec sec
Problem 4.64 illustrates the use of R(r,) to determine the effective operating range of a
machine with a rotating unbalance.
4.65 A 54-kg air compressor operates at speeds between 800 and 2000 rpm and has a
rotating unbalance of 0.23 kg m. Design an isolator with a damping ratio of 0.15 such that
the transmitted force is less than 1000 N at all operating speeds.
Given: m = 54 kg, m0e = 0.23 kg m, = 0.15,800 rpm 2000 rpm, FT,max = 1000 N
Find: k
Solution: From Figure 4.8 the value of r for which the minimum of R(r,) occurs for =
0.15 is r = 2.5. As a first trial select n such that r = 2.5 corresponds to the midpoint of the
range. That is
304
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Chapter 4: Harmonic Excitation of SDOF Systems
rad
58.6
sec
1.43,0.15
Since FT > 1000 N, the solution is unacceptable. It is imperative to require a larger value of
r corresponding to = 800 rpm.
Now, find the value of r such that the transmitted force is exactly 1000 N when the
machine operates at 800 rpm,
.
1000 N
0.619
rad
0.23 kg m 83.8
sec
1 0.3
0.619
1 0.3
The solution of the above equation is r = 1.65, which leads to a natural frequency of 50.8
rad/sec. Checking the transmitted force at 2000 rpm,
rad
209.4
sec 4.12
rad
50.8
sec
4.12,0.15
rad 1 2 . 15 4.12
0.23 kg m 50.8 4.12
sec 1 4.12 2 . 15 4.12
1000 N
305
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Chapter 4: Harmonic Excitation of SDOF Systems
Thus an isolator with a natural frequency of 50.8 rad/sec is acceptable. The required
isolator stiffness is
rad N
54 kg 50.8 1.39 10
sec m
Note that if a more flexible isolator is chosen, then the value of r corresponding to 2000
rpm is greater and the transmitted force when the machine is operating at 2000 rpm is
greater than 1000 N. If a stiffer isolator is chosen, the value of r corresponding to 800 rpm
is less than 1.65 and the transmitted force when the machine is operating is greater than
1000 N.
Problem 4.65 illustrates the logical process for the design of an isolator for a system with a
rotating unbalance.
4.66 A 1000 kg turbomachine has a rotating unbalance of 0.1 kg m. The machine operates
at speeds between 500 and 750 rpm. What is the maximum isolator stiffness of an
undamped isolator that can be used to reduce the transmitted force to 300 N at all operating
speeds?
Given: m = 1000 kg, 500 rpm < < 750 rpm, m0e=0.1 kg m, Fmax = 300 N
Find: kmax
F0 = m 0 e 2
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Chapter 4: Harmonic Excitation of SDOF Systems
n = = 44.92 rad/s
r
k = mn2 = 2.02 106 N/m
Obviously this isolator does not work appropriately. Requiring the transmitted force to be
300 N at the lowest operating speed leads to
300 N 1
= 2
(0.1 kg m)(52.36 rad/s) 2
r 1
r = 1.383
n = = 37.85 rad/s
r
k = m n2 = 1.43 10 6 N/m
r= = 2.075
n
1
FT = (612.8 N)
(2.075) 2 1
FT = 186 N
Hence the maximum allowable stiffness of the isolator is 1.43 106 N/m.
Problem 4.66 illustrates the design of an isolator to be used over a range of frequencies.
Given: y(z) = 0.2 sin (0.4z) m, 30 m/s v 80 m/s, = 0.1, m = 225 kg, amax.= 15 m/s2
307
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Chapter 4: Harmonic Excitation of SDOF Systems
Find: k
0.2sin0.4 m
0.4
, ,
Hence the suspension system can be designed using knowledge of R(r,). For = 0.1,
R(r,) has a minimum corresponding to r = 2.94. Since the value of R increases faster with
decreasing r, it is best to choose r = 2.94 to correspond to an excitation frequency less than
halfway into the operating range. Thus, let r = 2.94 correspond to = 20 rad/sec,
2.94
rad
20 rad
sec 6.8
2.94 sec
For = 12 rad/sec
rad
12
sec 1.77
rad
6.8
sec
and
1.77,0.1
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Chapter 4: Harmonic Excitation of SDOF Systems
m
14.2
sec
For = 32 rad/sec
rad
32
sec 4.71
rad
6.8
sec
m
4.71,0.1 13.2
sec
Problem 4.67 illustrates how the function R(r,) is used to design isolators to provide
protection from harmonic base excitation.
4.68 A suspension system is being designed for a 1000 kg vehicle. A first model of the
system used in the design process is a spring of stiffness k in parallel with a viscous
damper of damping coefficient c. The model is being analyzed as the vehicle traverses a
road with a sinusoidal contour, y(z) = Y sin (2 z/d) when the vehicle has a constant
horizontal speed v. The suspension system is to be designed such that the maximum
acceleration of the passengers is 2.5 m/s2 for all vehicle speeds less than 60 m/s for all
reasonable road contours. It is estimated that for such contours, Y < 0.01 m and 0.2 m < d
< 1 m. Specify k and c for such a design.
Given: m = 1000 kg, Amax=2.5 m/s2, v < 60 m/s, Y < 0.01 m, 0.2 m < d < 1 m
Find: k, c
Solution: If the vehicle is moving at a constant horizontal speed v, the time taken to travel
a distance z is t = z/d. Then the vertical displacement to the vehicle is
2v
y (t ) = Y sin t
d
which is a sinusoidal contour with a frequency
2v
=
d
From the given information, it is desired to isolate the passengers from frequencies ranging
from 0 to
309
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Chapter 4: Harmonic Excitation of SDOF Systems
k
4.69 The coefficient of friction between the
block and the surface is 0.15. What is the
steadystate amplitude? m
Find: X
Solution: Assume the friction force is small enough such that the equivalent viscous
damping theory of section 3.7 can be used. The normal force developed between the block
and the surface is
m
N = mg cos = (20 kg ) 9.81 cos30 = 170 N
sec 2
The friction force developed between the block and the surface is
310
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Chapter 4: Harmonic Excitation of SDOF Systems
Ff 25.48 N
= = = 0.085
F0 300 N
N
1 10 5
k m = 70.7 rad
n = =
m 20 kg sec
rad
80
sec = 1.13
r= =
n 70.7 rad
sec
4(.085)
2
1
M C (1.13,.085) = = 3.59
1 (1.13)
2 2
[ ]
m X 2
= M C (1.13,.085)
n
F0
M c F0
X= = 10.8 mm
mn2
Problem 4.69 illustrates calculation of steady-state amplitude for a system with Coulomb
damping.
Find:
311
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Chapter 4: Harmonic Excitation of SDOF Systems
N
1 10 5
k m = 70.7 rad
n = =
m 20 kg sec
rad
80
sec = 1.13
r= =
n 70.7 rad
sec
2
4
1
3.533 =
[ ]
1 (1.13)
2 2
= 0.1157
Then
mg cos 30
=
F0
F0
= = 0.204
mg cos 30
312
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Chapter 4: Harmonic Excitation of SDOF Systems
4.71 A 40 kg block is connected to a spring of stiffness 1 105 N/m and slides on a surface
with a coefficient of friction of 0.2. When a harmonic force of frequency 60 rad/sec is
applied to the block, the resulting amplitude of steadystate vibrations is 3 mm. What is
the amplitude of the excitation?
Find: F0
N
1 10 5
k m = 50 rad
n = =
m 40 kg sec
rad
60
sec = 1.2
r= =
n 50 rad
sec
m
F f = mg = (0.2 )(40 kg ) 9.81 2 = 78.4 N
sec
4 (78.5 N )
2
1
F0
M= (2)
[ ]
1 (1.2 )
2 2
F0 = 165.5 N
313
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Chapter 4: Harmonic Excitation of SDOF Systems
Problem 4.71 illustrates the forced response of a system with Coulomb damping.
Find: X
F ext = Feff
k ( x y ) mg = m&x&
m&x& + kx = mg + kY sin t
The natural frequency and frequency ratio for the system are
k
n = = 200 rad/s
m
180 rad/s
r= = = 0 .9
n 200 rad/s
m n X kX X
= = = M c (0.9,0.1)
kY kY Y
314
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Chapter 4: Harmonic Excitation of SDOF Systems
where
2
4
1
M c (0.9,0.1) = = 5.22
(1 r 2 ) 2
Find: X
Solution: Free-body diagrams of the system at an arbitrary instant are shown below.
315
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Chapter 4: Harmonic Excitation of SDOF Systems
F ext = Feff
kx k ( x y ) mg = m&x&
m&x& + 2kx = mg + kY sin t
The natural frequency and frequency ratio for the system are
2k 2(1 10 5 N/m)
n = = = 200 rad/s
m 5 kg
220 rad/s
r= = = 1.1
n 200 rad/s
m n2 X
= M c (1.1,0.169)
kY
2
4(0.169)
1
2kX
=
[1 (1.1) ]
2 2
kY
Y 1
X = (4.65) = (3.2 10 4 m)(4.65) = 7.44 10 4 m
2 2
Find: x(t) K C
system subject to both viscous damping and Coulomb damping. Free body diagrams for
the system at an arbitrary instant are shown below.
mg
Kx
:
mx
=
.
Cx
mg
N
.
EXTERNAL FORCES, x > 0 EFFECTIVE FORCES
Summing forces on the free body diagrams leads to the following differential equation
mg , x& < 0
m&x& + cx& + kx = F0 sin t + (1)
mg, x& > 0
The total damping force is the sum of the viscous damping force and the Coulomb
damping force. The equivalent viscous damping coefficient is calculated by requiring the
energy dissipated over one cycle of motion by the total damping force, when the system
executes harmonic motion of frequency and amplitude X, to the energy dissipated over
one cycle of motion by an viscous damping force of an equivalent damping coefficient.
Thus when the equivalent viscous damping coefficient is calculated,
4 mg
ceq. = c + (2)
X
Using this method of linearization, eq. (1) is replaced by the approximate equation
4 mg
m&x& + c + x& + kx = F0 sin t (3)
X
or
F0
&x& + 2 eq. n x& + n2 x = sin t (4)
m
where
c 2
eq . = + (5)
2 m n Mr
x(t ) = X sin (t )
where
MF0
X =
m n2
and
2 eq.r
= tan 1
2
1 r
1
M = (6)
(1 r ) + (2 r )
2 2
eq.
2
1
M=
2
c 2
(1 r )2 2
+ 2r +
2m n Mr
cr 4
2
8cr 4
(1 r ) +
2 2
M + M 3 + M 2 1 = 0 (7)
2 m n m n
Let
c
1 =
2 m n
[(1 r ) + ( r ) ]M
2
2 2 2 16 1r 4
4
+ M + M 2 1= 0
3
(8)
1
Equation (8) is a quartic equation whose solution yields the appropriate value of
M(r, 1, ).
318
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Chapter 4: Harmonic Excitation of SDOF Systems
Problem 4.74 illustrates the approximate steady-state response of a system subject to both
viscous damping and Coulomb damping when excited by a single frequency harmonic
excitation.
4.75 The area under the hysteresis curve for a particular helical coil spring is 0.2 N m
when subject to a 350 N load. The spring has a stiffness of 4 105 N/m. If a 44 kg block is
hung from the spring and subject to an excitation force of 350 sin 35t N, what is the
amplitude of the resulting steadystate oscillations?
Find: X
Solution: The hysteretic damping coefficient is related to the area under the hysteresis
curve by
E = khX 2
E
h=
kX 2
The displacement is given by
F 350N
X = = = 8.75 10 4 m
k 4 105 N
m
0.2 N m
h= = 0.208
(8.75 10 m )
5 N 4 2
4 10
m
319
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Chapter 4: Harmonic Excitation of SDOF Systems
N
4 10 5
k m = 95.35 rad
n = =
m 44 kg sec
rad
35
sec = 0.367
r= =
n 95.35 rad
sec
1 1
Mh = = = 1.124
(1 r ) 2 2
+h 2
[1 (0.367 ) ] 2 2
+ (0.208)
2
MF0 1.124(350 N )
X= = = 0.983 mm
m n2 2
Problem 4.75 illustrates calculation of the hysteretic damping coefficient and steady-state
amplitude of a system with hysteretic damping.
Given: m = 215 kg, E = 200 10 9 N/m2, I = 2.4 10-4 m4, F0 = 3000 N, = 2000 rpm,
ratio of amplitudes on successive cycles is 2.8 to 1, L = 3.1 m
Find: x(t)
3EI
k= 3
= 4.83 10 6 N/m
L
320
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Chapter 4: Harmonic Excitation of SDOF Systems
k
n = = 149.9 rad/s
m
(2000 rev/min)(2 rad/rev)(1 min/60 s)
r= = = 1.40
n 149.9 rad/s
The information about amplitude of successive cycles is used to determine the logarithmic
decrement
X 2.8
= ln 1 = ln = 1.03
X2 1
h= = 0.328
x (t ) = X h sin( t h )
where
m n2 X h
= M h (1.40,0.328)
F0
F0 1
Xh =
m n [1 (1.40) 2 ]2 + (0.328) 2
2
3000 N
X= (0.994)
(215 kg)(149.9 rad/s) 2
X = 6.17 10 4 m
and
h 1 0.328
h = tan 1 = tan
1 r 1 (1.40)
2 2
h = 0.329 rad
Problem 4.76 illustrates the steady-state response of a system with hysteretic damping.
Given: m = 215 kg, E = 200 109 N/m2, I = 2.4 10-4 m4, m0e = 0.25 kg m, 500 rpm <
< 2500 rpm, ratio of amplitudes on successive cycles is 2.8 to 1, L = 3.1 m
Find: m, Xm
3EI
k= 3
= 4.83 10 6 N/m
L
k
n = = 149.9 rad/s
m
The information about amplitude of successive cycles is used to determine the logarithmic
decrement
X 2.8
= ln 1 = ln = 1.03
X2 1
h= = 0.328
mX
= h ( r , h)
m0 e
322
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Chapter 4: Harmonic Excitation of SDOF Systems
where, as in the case for the magnification factor, to use (r, ) to determine h(r,h), is
replaced by h/2r leading to
r2
h ( r , h) =
(1 r 2 ) 2 + h 2
d2h
=0=
[ ]
4r 3 (1 r 2 ) 2 + h 2 r 4 2(1 r 2 )(2r ) [ ]
dr (1 r 2 ) 2 + h 2
0 = (1 r 2 ) 2 + h 2 + r 2 (1 r 2 )
0 = 1+ h 2 r 2
r = 1+ h 2
r = 1 + h 2 = 1 + (0.328) 2 = 1.052
m0 e
Xm = h (1.052,0.328)
m
0.25 kg - m (1.052) 2
Xm =
215 kg 2
[
1 (1.052) 2 + (0.328) 2 ]
X m = 0.0037 m
Problem 4.77 illustrates solution of frequency squared excitation problems for systems
with hysteretic damping.
4.78 When the pump at the end of the beam of Figure P4.76 operates at 1860 rpm, it is
noted that the phase angle between the excitation and response is 18. What is the steady
state amplitude of the pump if it has a rotating unbalance of 0.8 kg m and operates at
1860 rpm? Assume hysteretic damping.
Given: m = 215 kg , E = 200 109 N/m2, I = 2.4 10-4 m4, m0e = 0.8 kg m,
323
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Chapter 4: Harmonic Excitation of SDOF Systems
Find: X
3EI
k= 3
= 4.83 10 6 N/m
L
k
n = = 149.9 rad/s
m
(1860 rev/min)(2 rad/rev)(1 min/60 s)
r= = = 1.30
n 149.9 rad/s
h
h = tan 1 2
1 r
Note that since r > 1 for this situation it is assumed the phase angle is actually negative.
Using the given information the hysteretic damping coefficient is calculated from
h = (1 r 2 ) tan h = [1 (1.30 ) 2 ] tan( 18 ) = 0.224
m0 e
X= h (1.30,0.224)
m
0.8 kg - m (1.30) 2
X=
215 kg [2
1 (1.30) 2 + (0.224) 2 ]
X = 8.67 mm
324
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Chapter 4: Harmonic Excitation of SDOF Systems
(c) Assume r/ l << 1. Rearrange F(t) and use a binomial expansion such that
i
r
F (t ) = i (1)
i =1 l
(d) Truncate the preceding series after i = 3. Use trigonometric identities to approximate
2 3 (2)
Solution: (a) Let y(t) represent the displacement of the piston relative to the engine, and let
yG(t). Represent the vertical displacement of the mass center of the connecting rod relative
to the engine. Consider the free body diagrams of the engine at an arbitrary instant.
. .
mp ( x + y )
. .
= mr ( x + y G)
.
(m - mr - mp) x
.
kx Cx
325
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Chapter 4: Harmonic Excitation of SDOF Systems
( F ) ext .
= ( F )eff .
cx& kx = (m m p mr )&x& + m p (&x& + &y&) + mr (&x& + &y&G )
m&x& + cx& + kx = m p &y& mr &y&G
mp mr
&x& + 2 n x& + n2 x = &y& &y&G
m m
r
r sin = l sin (3) y
l l
yG = y cos (5)
2
Note that since only steady-state is considered and the crank speed is constant,
= t (6)
r cos = l cos
r cos (7)
=
l cos
Differentiating eq. (4) twice with respect to time, and using eqs. (7) and (8) leads to
326
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Chapter 4: Harmonic Excitation of SDOF Systems
Differentiating eq. (5) twice with respect to time and using eqs. (7) and (8) leads to
l
y& G = y& + sin
2
l l
&y&G = &y& + &&sin + 2 cos (10)
2 2
l r cos 2 r sin 2 2
2 4
&y&G = &y& + 2 +
2 l cos l 4 cos 3
F (t ) = m p &y& mr &y&G
r m cos 2 r
2
m sin 2
2 (11)
= l 2 m p cos + m p + r + mp + r
cos cos
3
l 2 l 2
It is noted that
2
r
cos = 1 sin 2 = 1 sin 2
l
(b) F(t) is periodic of period 2/ and thus a Fourier series representation could be used
for F(t). If this is tried
a0
2l 2l
F (t ) = + al cos t + bl sin t
2 l =1
where
2
a0 =
F (t ) dt
0
2
2l
al =
F (t )cos
0
t dt
327
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Chapter 4: Harmonic Excitation of SDOF Systems
2
2l
bl =
F (t )sin
0
t dt
(c) An alternative to the formal Fourier series development is to use binomial expansions
and trigonometric identities. To this end
1
1 r 2 2
= 1 sin 2
cos l
(12)
2
1r
= 1 + sin 2 + ...
2l
3
1 r 2 2
= 1 sin 2
cos 3 l (13)
2
3r
= 1+ sin + ...
2
2l
1
sin 2 = (1 cos 2 ) (14)
2
Substituting eqs. (12)-(14) in eq.(11), collecting terms on like powers of r/ l and truncating
after (r/ l )4 leads to
r m
F (t ) = l 2 m p cos t + m p + r cos 2t
l 2
mr 3 1 1 r
4
+ mp + + cos 2t + cos 4t + ...
2 8 4 8 l
or
r 1 r
4 2 4
3 m r r m
F (t ) = l 2 m p + r + m p cos t + m p + r + cos 2t
8 2 l l 2 l 4 l
1 mr r
4
+ mp + cos 4t + ...
8 2 l
328
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Chapter 4: Harmonic Excitation of SDOF Systems
4
l 2 3 mr r r
x(t ) = mp + + m p M 1 cos(t 1 )
m n2 8 2 l l
r 1 r
2 4 4
m 1 mr r
+ mp + r + M 2 cos(2t 2 ) + m p + M 4 cos(4t 4 ) + ...
2 l 4 l 8 2 l
where
i
ri =
n
1
Mi =
(1 r ) + (2r )
i
2 2
i
2
2ri
i = tan 1
2
1 ri
4.80 Using the results of Problem 4.79, determine the maximum steadystate response of a
single-cylinder engine with mr = 1.5 kg, mp = 1.7 kg, r = 5.0 cm, l = 15.0 cm, = 800 rpm,
k = 1 105 N/m, c = 500 N sec/m, and total mass 7.2 kg.
Given: single cylinder engine, mr = 1.5 kg, mp = 1.7 kg, r = 5.0 cm, l = 15 cm, = 800
rpm, k = 1 105 N/m, c = 500 N sec/m, m = 7.2 kg
Find: xmax.
329
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Chapter 4: Harmonic Excitation of SDOF Systems
N
110 5
k m = 117.9 rad
n = =
m 7.2 kg sec
N sec
500
c m
= = = 0.294
2m n rad
2(7.2 kg )117.9
sec
rev 2 rad 1min
800
min 1rev 60 sec
r1 = = = 0.711
n 117.9
rad
sec
Also,
mr
mp + = 2.45 kg
2
r 1
=
l 3
1
M1 = = 1.544
1
M2 = = 0.757
[1 (1.422) ] + [2(.294 )(1.422)]
2 2 2
1
M4 = = 0.1373
[1 (2.844) ] + [2(.294)(2.844)]
2 2 2
2(.294 )(.711)
1 = tan 1 2
= 0.702 rad
1 (. 711)
2(.294 )(1.422 )
2 = tan 1 2
= 0.686 rad
1 (1.422 )
2(.294 )(2.844 )
3 = tan 1 2
= 0.232 rad
1 (2.844 )
330
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Chapter 4: Harmonic Excitation of SDOF Systems
x(t ) = 0.119 + 8.13 cos (83.78t 0.702 ) + 2.41 cos (167.56t + 0.686 )
+ 0.005 cos (335 .0t + 0.232 ) mm
Problem 4.80 illustrates the calculations in the determination of the response due to a multi
frequency excitation.
Given: m = 5 kg, k = 10,000 N/m, = 0.04, Y1 = 0.8 mm, 1 = 140 rad/s, X2 = 1.2 mm,
2 = 200 rad/s
Find: x(t)
k
n = = 44.72 rad/s
m
140 rad/s
r1 = 1 = = 3.13
n 44.72 rad/s
2 200 rad/s
r2 = = = 4.47
n 44.72 rad/s
331
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Chapter 4: Harmonic Excitation of SDOF Systems
1 + [2(0.04)(3.13)]
2
X 1 = Y1T (r1 , ) = 0.0008 m = 9.37 10 5 m
[1 (3.13) ] + [2(0.04)(3.13)]
2 2 2
1 + [2(0.04)(4.47)]2
X 2 = Y2T (r2 , ) = 0.0012 m = 6.71 10 5 m
[1 (4.47) 2 ]2 + [2(0.04)(4.47)]2
2r1 2(0.04)(3.13)
1 = tan 1 = tan 1
2
= 0.0285 rad
1 r1 1 (3.13)
2
2r2 2(0.04)(4.47)
2 = tan 1 = tan 1
2
= 0.0188rad
1 r2 1 ( 4.47)
2
4.82 During operation a 100-kg press is subject to the periodic excitations shown. The
press is mounted on an elastic foundation of stiffness 1.6 105 N/m and damping ratio 0.2.
Determine the steadystate response of the press and approximate the maximum
displacement from equilibrium. Each excitation is shown
over one period.
Solution: Since the response is periodic, it is first necessary to develop its Fourier series
representation. It is noted that the given excitation is an odd function of period 0.3 sec.
Hence,
al = 0, l = 0,1,2,K
2l 20l
l = =
T 3
332
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Chapter 4: Harmonic Excitation of SDOF Systems
F 0 , 0 t 0.1 sec
F(t) = 0, 0.1 sec < t 0.2 sec
- F 0 , 0.2 sec < t < 0.3 sec
0 .1 sec 0 .3 sec
20 20l 20l
=
3
0
F 0 sin
3
t dt+ (- F 0 )sin
0 .2 sec
3
tdt
4l 2l
=- F 0 ( cos + cos )
l 3 3
1
20l
x(t) =
m 2 b M l l sin(
3
t -l )
n i=1
where
1
Ml=
(1 - r l2 ) + (0.4 r l )2
2
0.4 r l
l = tan -1 2
1 - rl
l = 20l = l
rl =
n 3(40) 6
The Fourier coefficients, frequency ratios, magnification factors, and response amplitudes
for the first 10 terms are given in the table below. Note that
bl M l
Xl=
m n2
333
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Chapter 4: Harmonic Excitation of SDOF Systems
Problem 4.82 illustrates calculation of the Fourier series for an odd function and
determination of the response of a one-degree-of-freedom system to a periodic excitation.
Solution: F(t) is periodic of period T = 0.2 sec. F(t) is neither even or odd. The
mathematical definition of F(t) is
= 10 F dt
0
0
= F0
0.2 sec
2
al =
0.2 sec F (t )cos 10lt dt
0
0.1 sec
= 10 F cos 10lt dt
0
0
=0
0.2 sec
2
bl =
0.2 sec F (t )sin 10lt dt
0
0.1 sec
= 10 F sin 10lt dt
0
0
F0
= (cosl 1)
l
( )
a0
X (t ) = + X l sin 10lt l
2m n2 l=1
335
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Chapter 4: Harmonic Excitation of SDOF Systems
where
bl M l
Xl =
m n2
0.4 rl
l = tan 1
2
1 rl
1
Ml =
(1 r ) + (0.4r )
l
2 2
l
2
10l l
rl = =
rad 4
40
sec
Note that
a0
=
(10000 N ) = 0.03125 m
2 m n2 rad
2
2(100 kg ) 40
sec
Values of the constants corresponding to the first 10 terms in the response are given in the
table below.
336
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Chapter 4: Harmonic Excitation of SDOF Systems
Problem 4.83 illustrates (a) development of the Fourier series for a periodic function that is
neither even or odd, (b) determination of the response of a system to a periodic excitation,
and (c) approximation of the maximum displacement due to a periodic excitation.
Solution: The excitation is periodic of period T = 0.3 sec. Its mathematical form is
t, 0 t 0.1 sec
F(t) = 10 F 0 - t + 0.2, 0.1 sec < t 0.2 sec
0, 0.2 sec < t < 0.3 sec
F(t) is neither even or odd, thus all Fourier coefficients must be calculated. To this end
0.3 sec
2
a0 =
0.3 sec
0
F(t) dt
2 F0
=
3
337
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Chapter 4: Harmonic Excitation of SDOF Systems
20l
0.3 sec
2
al =
0.3 sec
0
F(t) cos
3
t dt
=
3
0
t cos
3
t dt + (-t + 0.2) cos
0.1 sec
3
t dt
3 F0 2l 4l
= (2 cos - cos - 1)
2 l
2 2
3 3
20l
0.3 sec
2
bl =
0.3 sec
0
F(t) sin
3
t dt
=
3
0
t sin
2
t dt + (-t + 0.2) sin
0.1 sec
3
t dt
3 F0 2l 4l
= (2 sin - sin )
2 l
2 2
3 3
where
2 2
cl = a l + bl
al
l = tan -1
bl
a
20l
x(t) = 0
+ xl sin t + l l
2m n l=1
2
3
338
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Chapter 4: Harmonic Excitation of SDOF Systems
where
cl M l
Xl=
m n2
0.4 r l
l = tan-1
2
1 - rl
1
Ml=
(1 - rl2 )2 + (0.4rl )2
20l l
rl = =
rad
3(40 ) 6
sec
The Fourier coefficients and system response parameters for the first 10 terms are shown in
the table below.
l al bl cl l rl Ml X l (mm) l
It is noted that
a0 = 20.83 mm
2m 2n
339
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Chapter 4: Harmonic Excitation of SDOF Systems
20
x(t) = 20.83 + 37.72 sin(
t - .804)
3
40 80
+ 16.57 sin( t + 1.867) + 0.51 sin( t - .280) + K mm
3 3
Problem 4.84 illustrates (a) development of the Fourier series for a periodic function that is
neither even or odd, (b) determination of the response of a system due to a periodic
excitation, and (c) approximation of the maximum displacement due to a periodic
excitation.
Solution: F(t) is periodic of period T = 0.2 sec. The mathematical form of F(t) over one
period is
t, 0 t 0.1 sec
F(t) = 10 Fo
- t + 0.2, 0.1 sec < t < 0.2 sec
bl = 0, l = 1,2,K
340
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Chapter 4: Harmonic Excitation of SDOF Systems
0.2 sec
2
al =
0.2 sec
0
F(t) cos 10lt dt
a0
x(t) = + X l sin(10lt + - l )
2m n l=1
2
2
where
X l = al M2l
m n
0.4 rl
l = tan-1
2
1 - rl
1
Ml= 2 2
(1 - rl2 ) + (0.4 rl )
10l l
rl = =
rad 4
40
sec
The Fourier coefficients and the system response constants for the first 10 terms are given
in the table below.
341
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Chapter 4: Harmonic Excitation of SDOF Systems
It is noted that
a0 = 31.25 mm
2m n2
Hence
20
x(t) = 31.25 - 51.12 sin( t + 0.8830)
3
40 80
- 0.61 sin( t + 1.775) - 0.07 sin( t + 1.679) + K mm
3 3
Problem 4.85 illustrates (a) development of the Fourier series for an even function, (b)
determination of the response of a one-degree-of-freedom system subject to a periodic
342
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Chapter 4: Harmonic Excitation of SDOF Systems
Solution: F(t) is periodic of period T = 0.4 sec. The mathematical form of F(t) over one
period is
t, 0 t 0.1 sec
F(t) = 10 F 0 - t + 0.2, 0.1 sec t 0.3 sec
t - 0.4, 0.3 sec t 0.4 sec
a l = 0, l = 0,1,2, K
0.1 sec
= 50 F 0 t sin 5lt dt
0
0.3 sec
0.4 sec
+ (-t + 0.2)sin 5lt dt + (t - 0.4)sin 5lt dt
0.1 sec 0.3 sec
4 l 3l
= 2F 02 ( sin - sin )
l 2 2
x(t) = X l sin(5lt - l )
l=1
where
bl M l
Xl=
m n2
0.4
l = tan-1 r2l
1 - rl
1
Ml= 2 2 2
(1 - r ) + (0.4rl )
l
5l l
rl = =
rad 8
40
sec
The Fourier coefficients and the system response constants for the first 10 terms are given
in the table below.
344
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Chapter 4: Harmonic Excitation of SDOF Systems
Problem 4.86 illustrates (a) development of the Fourier series for an odd function, (b)
determination of the response of a one-degree-of-freedom system subject to a periodic
excitation, and (c) approximation of the maximum displacement of a system subject to a
periodic excitation.
4.87 Use of an accelerometer of natural frequency 100 Hz and a damping ratio of 0.15
reveals that an engine vibrates at a frequency of 20 Hz. and has an acceleration amplitude
of 14.3 m/sec2. Determine (a) The percent error in the measurement; (b) The actual
acceleration amplitude; (c) The displacement amplitude.
Find: E, 2Y, Y
Solution: (a) The percent error in amplitude measurement in using an accelerometer with a
damping ratio less than 0.707 is
E = 100 1 M (1)
20Hz.
r= = = 0.2
n 100Hz.
1
M (0.2,0.15) = = 1.0396
[1 (.2) ] + [2(.15)(.2)]
2 2 2
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Chapter 4: Harmonic Excitation of SDOF Systems
(b) The amplitude measured by the accelerometer is the amplitude of the displacement of
the seismic mass relative to the accelerometers point of attachment, multiplied by the
square of the natural frequency of the accelerometer. The actual acceleration amplitude is
Z
2Y = n2
M
mm
14.3
sec 2 = 13.76 mm
1.0396 sec 2
2Y
Y= 2
mm
13.76
= sec 2 = 8.7x10 4
mm
2
cycles 2 rad
20
sec 1 cycle
Problem 4.87 illustrates (a) the error in using an accelerometer to measure vibration
amplitude and (b) calculation of the actual amplitude using the measured amplitude and
accelerometer properties.
4.88 An accelerometer with a natural frequency 200 Hz and damping ratio 0.7 is used to
measure the vibrations of a system whose actual displacement is x(t ) = 1.6 sin 45.1t mm .
What is the accelerometer output?
Solution: The accelerometer measures the displacement of its seismic mass relative to the
accelerometers point of attachment. This is multiplied by the square of the natural
frequency of the accelerometer to approximate the acceleration of the point of attachment.
Thus the accelerometer actually records
n2 z (t ) = n2 X sin(t )
= 2 MX sin(t )
346
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Chapter 4: Harmonic Excitation of SDOF Systems
rad
45.1
sec
r= = = .0359
n cycles 2 rad
200
sec 1cycle
1
M= = 1.00007
[1 (.0359) ] + [2(0.7)(.0359)]
2 2 2
2r 2(0.7 )(.0359)
= tan 1 2
= tan 1 2
= 0.0502 rad
1 r 1 (.0359 )
Thus
2
rad
n2 (t ) = 1256.4 (1.00007 )(1.6 mm )sin (45.1t .0502)
sec
mm
= 2.52 x106 sin (45.1t .0502) 2
sec
Problem 4.88 illustrates the use of an accelerometer to measure a one frequency vibration.
4.89 An accelerometer with a natural frequency 200 Hz and damping ratio of 0.2 is used to
measure the vibrations of an engine operating at 1000 rpm. What is the percent error in the
measurement?
Find: E
E = 1001 M (r , )
(1000 rev/min)
r= = = 0.0833
n (200 rev/s)(60 s/1 min)
347
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Chapter 4: Harmonic Excitation of SDOF Systems
4.90 When a machine tool is placed directly on a rigid floor, it provides an excitation of the
form
to the floor. Determine the natural frequency of the system with an undamped isolator with
the minimum possible static deflection such that when the machine is mounted on the
isolator the amplitude of the force transmitted to the floor is less than 3500 N.
Find: n
Solution: The isolator with the minimum static deflection leads to the largest possible
natural frequency. The excitation is a two-frequency excitation. The total transmitted force
through an undamped isolator is
4000 5000 2
where
1 1
,
100 150
1 1
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Chapter 4: Harmonic Excitation of SDOF Systems
which yields
rad rad
61.72 , 128.5
sec sec
The larger solution is invalid, since 100/128< 1. Then the first term in eq.(2) should be
negative. Hence
rad
61.7
sec
Find: n, ST. ,
Solution: The period of the excitation is 1.0 sec. Over one period the mathematical form of
the excitation is
10 , 0 0.1 sec
1, 0.1 sec 0.3 sec
10 4, 0.3 sec 0.4 sec
0, 0.4 sec 1.0 sec
where F0 = 4000 N. The Fourier coefficients for the Fourier series representation of the
excitation are
2
1 sec
. . .
2 10 10 4
. .
0.6
349
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Chapter 4: Harmonic Excitation of SDOF Systems
2
2
1 sec
. . .
2 10 2 2 10 4 2
. .
5
1 0.2 0.6 0.8
2
2
2
1
. . .
2 10 2 2 10 4 2
. .
5
0.2 0.6 0.8
2
sin 2
2
where
tan
2
2
The repeating component of the force transmitted between the isolator and the foundation
is
350
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Chapter 4: Harmonic Excitation of SDOF Systems
where
1
1 2
and
1 2
1 2
Equation (1) is an equation that can be solved to determine an upper bound on the natural
frequency of the system when the machine is placed on an isolator. The solution of the
above equation is by trial and error. One convenient method is to develop a spreadsheet of
the relevant equations, programming n, to be changed. The value of n is changed and the
spreadsheet is recalculated until FT=1000 N. For this problem, that occurs when n=3.94
rad/sec. The spreadsheet for the first 20 terms is shown below.
a b r c M T cT cM/(mn2)
1 939.3 939.6 1.595 1345.7 0.634 0.666 896.38 0.110
2 -458.2 332.9 3.189 566.4 0.108 0.129 73.07 0.008
3 -273.2 -66.2 4.785 281.1 0.045 0.063 17.76 0.002
4 -43.7 134.6 6.38 141.6 0.025 0.041 5.78 0.0005
5 -81.1 0 7.97 81.06 0.016 0.030 2.44 0.0002
6 -19.45 -59.85 9.56 62.93 0.011 0.023 1.50 0.0001
7 -50.2 12.1 11.2 51.6 0.008 0.020 1.02 0.000
8 -28.6 -20.8 12.8 35.4 0.006 0.017 0.60 0.000
9 11.6 -11.9 14.3 16.5 0.005 0.015 0.25 0.000
10 0 0 15.95 0 0.004 0.013 0 0.000
11 7.8 8.0 17.54 11.12 0.003 0.012 0.13 0.000
12 -12.7 9.2 10.13 15.73 0.003 0.011 0.17 0.000
13 -14.6 -3.5 20.73 14.97 0.002 0.010 0.15 0.000
14 -3.6 11.0 22.3 11.56 0.002 0.009 0.10 0.000
15 -9.0 0 23.92 9.00 0.002 0.008 0.08 0.000
16 -2.7 -8.4 25.52 8.85 0.002 0.008 0.07 0.000
17 -8.5 2.1 27.11 8.76 0.001 0.008 0.07 0.000
18 -5.7 -4.1 28.70 6.99 0.001 0.007 0.05 0.000
19 2.6 -2.7 30.30 3.73 0.001 0.007 0.02 0.000
20 0 0 31.89 0 0.001 0.006 0 0.000
351
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Chapter 4: Harmonic Excitation of SDOF Systems
The a0/2 term in the excitation force contributes a static load to the system. Thus the static
deflection of the isolator is the deflection produced by a force
m 2400 N
500 kg 9.81 6105 N
2 sec 2
The total dynamic deflection is calculated from the spreadsheet as 0.1205 m which leads to
a total deflection of 0.907 m.
Problem 4.91 illustrates (a) development of the Fourier series for a periodic excitation and
(b) vibration isolation calculations for a periodic excitation.
Solution: For an undamped seismometer, the percent error in the amplitude measurement is
E = 100( - 1) (1)
352
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Chapter 4: Harmonic Excitation of SDOF Systems
4 > 100( - 1)
r
2 (2)
= 2
< 1.04
r -1
The seismometer must be designed such that the error is less than 4% over the entire
operating range. Thus
r= > 5.099, 2000 rpm 3000 rpm (4)
n
rad 1 min
(2000 rpm)(2 )( )
2000 rpm rev 60 sec = 41.07 rad
n < =
5.099 5.099 sec
The seismometer output is the displacement of its seismic mass relative to the
displacement of the sewing machine. Since the seismometer is undamped, it is
where
Z = 1Y (6)
rad 1min
(2500 rpm)(2 )( )
rev 60sec = 6.37
r1 = =
n rad
41.07
sec
353
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Chapter 4: Harmonic Excitation of SDOF Systems
N
5 106
k m = 95.35 rad
n = =
m 550kg sec
rad 1min
(2500rpm)(2 )( )
rev 60sec = 2.745
r2 = rad
93.35
sec
Hence
(2.745 )2
2 = = 1.147
[1 - (2.745 )2 ] 2 + [2(.12)(2.745) ] 2
Then
m0 e 2 (0.24 kg m)(1.147)
Y= = = 0.501 mm
m 550 kg
The phase difference between the steady state vibrations of the machine and the excitation
is
2 r 2
= tan-1 2
= -0.100 rad
1 - r2
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Chapter 4: Harmonic Excitation of SDOF Systems
Given: System shown with F(t) as above, n = 100 Hz., =0.7, m = 16.2 kg
Solution: In order to predict the accelerometer response, the response of point A must first
be determined. To this end let (t) represent the clockwise angular displacement of the bar
measured with respect to the systems equilibrium position. Let x(t) be the displacement of
point A. Then
The equivalent system method is used to derive the governing differential equation. The
kinetic energy of the system is
T=
11
2 12
2 1
mL2& 2 + m(0.15 m ) & 2 = 1.026 kg m 2 & 2 ( )
2
1 N 1 Nm 2
V= k 2 10 5 (.2 m ) 2 = 8000
2 m 2 rad
W = 400
N sec
m
( )
0.5 & d (.5 ) = 100
N sec m &
rad
d
When the bar moves through a virtual displacement , the work done by the external
force is
W = F (t ) (0.5 ) = 0.5 F (t )
355
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Chapter 4: Harmonic Excitation of SDOF Systems
8000 N m rad
n = = 88.3
1.026 kg m 2
sec
N sec m
100
2n = rad
1.026 kg m 2
= 0.552
The response of the system due to the multi-frequency excitation is obtained using the
principle of linear superposition
3
0.5 Fi M i
(t ) =
i =1 (1.026 kg m 2 ) n2 sin ( i t + i i )
3
FM
= i i sin ( i t + i i )
1=i 16000
where
i
ri =
n
1
Mi =
(1 r ) + (2r )
i
2 2
i
2
2ri
i = tan 1
2
1 ri
The calculations and results for the excitation given are summarized in the table below
356
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Chapter 4: Harmonic Excitation of SDOF Systems
The accelerometer measures the displacement of its seismic mass relative to point A. It
multiplies by the square of its natural frequency to produce an output approximating the
acceleration of A. That is the output of the accelerometer for this response is
3
n2 z (t ) = i2 M 1,i X i sin ( i t + 1,i 1,i )
i =1
where the magnification factor and phase angles are now calculated using the
accelerometer properties,
i
ri =
rad
628.3
sec
357
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Chapter 4: Harmonic Excitation of SDOF Systems
Problem 4.93 illustrates (a) the derivation of the differential equation governing forced
vibration of a one-degree-of-freedom system, (b) determination of the response due to a
multi-frequency excitation, and (c) accelerometer measurement of a multi-frequency
vibration.
F(t)
4.94 What is the output, in mm, of a
seismometer with a natural frequency of A
2.5 Hz and a damping ratio of 0.05 placed
20cm 20cm 30cm
at A for the system of Figure P4.93?
400 N-S
5
2 x 10 N/m
Given: System shown, n = 2.5 Hz., = m
0.05
Find: z(t)
Solution: The time dependent response of point A is determined in the solution of Problem
4.93 as
358
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Chapter 4: Harmonic Excitation of SDOF Systems
The seismometer measures the displacement of its seismic mass relative to the
instruments point of attachment. For the multi frequency vibration of the form of eq.(1),
its output is
3
z (t ) = i X i sin ( i t + i i )
i =1
where
i i
ri = =
cycles rad rad
2.5 2 15.7
sec cycle sec
ri 2
i =
(1 r ) + (0.1r )
i
2 2
i
2
0.1ri
i = tan 1
2
1 ri
Problem 4.94 illustrates (a) derivation of the differential equation governing forced
vibrations of a one-degree-of-freedom system, (b) response of a one-degree-of-freedom
system to a multi-frequency excitation, and (c) measurement of a multi-frequency vibration
using a seismometer.
Find: na2z(t)
Solution: Let y(t) denote the displacement of the support, x(t) denote the absolute
displacement of the 20 kg block, and z(t) denote the displacement of the accelerometer's
seismic mass with respect to the block. The accelerometer actually measures z(t). However
it is calibrated such that it multiplies z by na2 before output. Then
N
1 10 5
k m = 70.7 rad
n = =
m 20 kg sec
360
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Chapter 4: Harmonic Excitation of SDOF Systems
N sec
600
c1 m
1 = = = 0.212
2m n rad
2(20 kg ) 70.7
sec
rad
40
sec = 0.566
r1 = =
n 70.7 rad
sec
Then
X = YT( .566,.212 )
1 + [2(0.212)(0.566) ] 2
= 25 mm
[1 - (0.566 )2 ] 2 + [2(0.212)(0.566) ] 2
= 25 mm(1.427) = 35.7mm
and
2 1 r 13
= tan -1 2
= 0.104rad
1 + (4 2
1 - 1) r 1
The parameters used in calculating the displacement of the seismic mass are 2 = 0.2 and
rad
40
sec
r2 = = = 0.255
na 25 cycles (2 rad )
sec cycle
Then
Z = X( .255,.2 )
(0.255 )2
= 35.7 mm
[1 - (0.255 )2 ]2 + [2(0.2)(0.255) ]2
= 35.7 mm (0.069) = 2.47mm
and
2 2 r2
= tan-1 2
= 0.109rad
1 - r2
361
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Chapter 4: Harmonic Excitation of SDOF Systems
Then
mm
2na z(t) = 60945 sin (40t - 0.213) 2
sec
Problem 4.95 illustrates the use of an accelerometer to measure the motion of a block
excited by harmonic base motion.
Find: m, k
m m
8.0 2
7.5 2
E= sec sec = .0667
m
7.5 2
sec
The error is also given by
E = 1 M (1)
Setting E = .0667 in eq.(1) leads to M = 1.071. Noting that the frequency ratio is
50 Hz.
r= = = 0.625
n 80 Hz.
362
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Chapter 4: Harmonic Excitation of SDOF Systems
then
1
1.071 =
[1 (.625) ] + [2( )(.625)]
2 2 2
which is solved yielding = 0.566. Then the value of the seismic mass is
N sec
8.0
c m
m= = = 0.014 kg
2n cycles 2 rad
2(0.566) 80
sec 1cycle
4.97 Vibrations of a 30 kg machine occur at 150 rad/s with an amplitude of 0.003 mm.
(a) Design an energy harvester of damping ratio 0.2 that harvests theoretical maximum
power over one cycle of vibrations from the body. (b) What is the power harvested by this
harvester in one hour?
Find: ,
Solution: (a) The natural frequency is obtained from Eq.(4.208) as
. .
1 1
1 2 4 1 2 0.2 4 0.2 0.2 0.983
3 3
Hence
rad
150 rad
s 152.6
0.983 s
(b) The theoretical power harvester over one cycle is
363
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Chapter 4: Harmonic Excitation of SDOF Systems
0.0011 W
4.98 An energy harvester is being designed to harvest the vibrations from a 200 kg
machine that has a rotating unbalance of 0.1 kg m which operates at 1000 rpm. The
harvester is to have a mass of 1 kg and a damping ratio of 0.1. (a) What is the stiffness of
the harvester? (b) What is the power harvested from the machine if it operates continuously
in one day.
rad N
200 kg 105.1 2.21 10
s m
(b) The amplitude provided by the rotating unbalance is
0.1
5 10
200
The average power harvested per cycle of motion is
0.9962,0.1
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Chapter 4: Harmonic Excitation of SDOF Systems
rad
2 s 0.1 0.9963
200 kg 1000 rpm 5 10 m
60 rpm 0.9963 1 0.9963 2 0.1 0.9963
142.9 W
4.99 An energy harvester is being designed for a vehicle with a simplified suspension
system similar to that in the benchmark examples. The harvester, which is to be mounted
on the vehicle, is to harvest energy as the vehicle vibrates while traveling. The harvester
will have a mass of 0.1 kg, damping ratio 0.1 and natural frequency 30 rad/s. Estimate how
much power is harvested over one cycle of a sinusoidal road with a spatial period of 10 m
and amplitude of 5 mm while the vehicle is traveling at 50 m/s.
1.05,0.1
rad 0.1 1.05
0.1 kg 31.41 0.001 m
s 1.05 1 1.05 2 0.1 1.05
365
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Chapter 4: Harmonic Excitation of SDOF Systems
2.2 10 W
The energy harvested over one hour is
31.41 cycles 3600 s W W
2.2 10 39.6
2 s 1 hr cycle hr
Problem 4.99 illustrates the use of energy harvesters.
Given: Y(
Find: Energy harvested
Solution: Since the vehicle is traveling at 50 m/s the fundamental frequency of the Fourier
series is
2 50 m/s
112.2 rad/s
2.8 m
with a period of
2
0.056 s
.
1
sin 112.2 1 cos 0.224it
0.056 112.2 0.056
0.159
1 cos 0.224it
366
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Chapter 4: Harmonic Excitation of SDOF Systems
sin
2
where
r,
r, cos
r , r , cos cos
sin i j 2
r , r ,
2 i j
sin i j 2
i j
4.101 An energy harvester is being designed to harvest energy from a MEMS system. The
harvester consists of a micro-cantilever beam vibrating in a viscous liquid such that its
damping ratio is 0.2. The micro-cantilever is made of silicon ( 1.9 10 N/ ) is 30
m long, is rectangular in cross section, has a base width of 2 m, and a height of 0.5 m.
The mass density of silicon is 2.3 g/cm . (a) What is the natural frequency of the energy
harvester using a SDOF model? Use the equivalent mass of a cantilever beam at its end.
(b) What energy is harvested over one cycle of motion if the harvesting occurs at the
natural frequency with a vibration amplitude of 1 m? (c) What is the average power
harvested over one cycle? (d) What is the power harvested over one hour?
367
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Chapter 4: Harmonic Excitation of SDOF Systems
Find: , E,
Solution: (a) The equivalent mass of a fixed-free beam is approximately
kg
0.29 0.29 2300 2 10 m 0.5 10 m 30 10 m
m
2 10 kg
The stiffness is
N 1
3 3 1.9 10 2 10 m 0.5 10 m N
m 12 4.05 10
30 10 m m
The natural frequency is
N
4.05 10 rad
m 4.5 10
2 10 kg s
(b) The average power harvested over one cycle is
rad 0.2 1
1,0.1 2 10 kg 4.5 10 1 10
s 1 2 0.2
W
5.69 10
cycle
(c) The energy harvested is related to the power by
2 2 W
5.69 10 7.94 10 J
rad cycle
4.5 10
s
(d) The power harvested in one hour is
368
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