31 March 2017

Structural Dynamics

Lecture 4
Response of SDOF Systems to
Harmonic Excitation

1 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Idealized Single Degree of Freedom Structure

F(t)
Mass F ( t ), u( t )

Damping t
Stiffness

u(t)

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Equation of Dynamic Equilibrium

f I (t ) F (t )

fD (t )
0.5 f S ( t ) 0.5 f S ( t )

f I (t )  f D (t )  fS (t )  F (t )

m u( t )  c u ( t )  k u ( t )  F ( t )
3 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

( t )  c u ( t )  k u ( t )  F ( t )
Equation of Motion: m u
(3  1)
Initial Conditions: u 0  uo , u 0  uo ....(3  2)

 2 
u  2  u   2u    F t ....(3  3)
 k 

2  k / m ,   c / ccr ...(3  4a, b)

ccr  2 m  2k /  2 km ...(3  4c)

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Solution: u t   u p t   u c t ....(3  5)
u p t  Particular solution represents the forced motion,
related directly to applied force
uc t  Complementary solution represents natural motion
which makes it possible to satisfy arbitrary initial
conditions. It can be found by using

5 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Undamped Vibration Under Harmonic Loading

Equation of Motion: mu  ku  po cos  t.....(4  1)

Particular Solution: u p  U cos  t...( 4  2)

Complimentary Solution: uc (t )  A1 sin(t )  A2 cos(t )

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po
U .....(4  3)
k  m 2

k  m 2  0

U o  po / k ...(4  4) Static Displacement

1
H    ...( 4  5) frequency response function.
1 r2
r   / ........(4  6)

H     U / U o ...( 4  7)
H (Ω)is called the frequency response function. It gives the
magnitude and sign of the steady‐state motion as a function
of Prof.
theM.frequency ratio r.
7 Al-Samara Str. Dynamics Lecture Notes 31 March 2017

DS  H    ....(4  8) Steady‐state magnification factor

u t 
D  max Total dynamic magnification factor
Uo

8 Prof. M. Al-Samara Str. Dynamics Lecture Notes Fig. 4-3

31 March 2017

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 U 
u p   o 2  cos  t , r  1...(4 - 9)
1 r 

If r < 1, the response is in‐phase with the excitation, since (1 ‐ r2) is

positive.
If r > 1, the response is 180° out‐of‐phase with the excitation, that
is, up can be written as:

 U 
u p   2 o   cos  t  .....(4 - 10)
 r 1 

9 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Total response: Transient Response

(at STRUCTURE Frequency)
 U 
u   o 2  cos  t  A1 cos  t  A2 sin  t ...(4 - 11)
1 r 
Steady State
Response
(At LOADING Frequency)

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Equations 4.9 and 4.1 1 are not valid at r = 1. The condition r = 1, or

Ω = ω,, is called resonance, and it is obvious from Fig. 4.3 that at
excitation frequencies near resonance the response becomes very
large.
When r = 1 it is necessary to replace Eq. 4.2 by the assumed
solution

u p  Ct sin  t ,   .....( 4  13)

By substituting Eq. 4.13 into Eq. 4.1 we obtain
po
C .....( 4  14)
2 m
1
up  U o  t  sin  t...(4  15)
2
11 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Undamped Resonant Response Curve

80

40
U0
Displacement, in.

-40

Linear Envelope

-80
0.00 0.25 0.50 0.75 1.00 1.25 1.50 1.75 2.00
Time, seconds
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Example 4‐1
The system shown in Fig. has k = 40
lb/in., and the mass weighs 38.6 lb.
If the system is at rest when an
excitation p(t) = 10 cos(10t)
commences, determine an
expression for the resulting motion.
Sketch the resulting motion.

Solution
The total response is given by
 U 
u   o 2  cos  t  A1 cos  t  A2 sin  t ....(1)
1 r 

 Uo  
u    sin  t  A1 sin  t  A2 cos  t ...(2)
 1 r 
2

13 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

40 386
1/2 1/2
k   kg 
       20 rad / s...(3)
m  W  38.6
po 10
Uo    0.25 in....(4)
k 40
 10
r   0.5....(5)
 20
Uo 0.25 0.25 0.25
 2    0.33 in....(6)
1  r 1  0.5 1  0.25 0.75
2

Uo U
u 0   0   A1  A1   o 2   0.33 in...(7)
1 r 2
1 r

u 0  0  A2   A2  0...(8)
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u  0.33 cos 10 t   cos 20 t   in....(9)

15 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Response of Viscous‐Damped SDOF

Systems to Harmonic Excitation

The classical analytical model of a linear SDOF system is the spring‐

mass‐dashpot model. When this system is subjected to harmonic
excitation, P0 cos Ωt, its equation of motion is

m u  cu  ku  po cos  t.....( 4  16)

Due to the presence of the damping term in Eq. 4.16, the steady-
state response will be given by

u p  U cos   t    ....(4 - 17)

where U is the steady‐state amplitude and  is the phase

angle of the steady state response relative to the excitation
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u p    U sin   t  
up    2 U cos   t    (4 - 18)

Figure 4.4 shows the relationship of rotating vectors such that their
projections onto the real axis are P0 cos Ωt and the displacement,
velocity, and acceleration expressions

Figure 4.4. Rotating vectors representing up , u p , u p , p

17 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Substituting Eq. 4‐17 and 4‐18 into Eq 4‐16 yields:

 m 2 U cos   t    - c  Usin   t   
 kU cos   t     po cos  t (4-19)

This equation is conveniently

represented by a force vector
polygon.
Figure 4.5 shows a force vector
polygon for the case mΩ2U < kU, that
is, Ω < ω,. The projections of the
dotted‐line vectors in Fig. 4.5 onto
the horizontal (real) axis are the
terms on the left‐hand side of Eq.
4.19; the projection of the solid
vector onto the real axis gives the
18
right‐hand side of Eq. 4.19.
Prof. M. Al-Samara Str. Dynamics Lecture Notes Fig. 4.5 31 March 2017

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From Fig. 4.5 it is easily seen that:

po2  kU  m 2 U   c  U  .....( 4  20 a )

2 2

c
tan   ....(4  20b)
k  m 2
U 1
DS   .....( 4  21a )
Uo 
1 - r 2   .2  r 2
2

1/ 2

2 r
tan   ....( 4  21b)
1 r 2

19 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Resonance

1
Ds 
(1 r 2 )2  (2r)2

Slowly
Loaded
Rapidly
Loaded

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Figure 4.6. (a) Magnification factor versus frequency ratio.

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Figure 4.6. (b) Phase angle versus frequency ratio

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The total response is given by

u  u p  uc
Steady State Response
cos  t   
Uo
u
 1 - r   2  r  
2 2 2
1/ 2

 e   t  A1 cos d t  A2 sin d t .............(4  22)

Transient Response, Eventually Damps Out

A1 and A2 are constants to be determined from the initial

conditions.

23 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

From Eqs. 4.17 and 4.21 and Figs. 4.6 the following
significant features of steady‐state response can be
observed:
 The motion described by Eq. 4.17 is harmonic and is of
the same frequency as the excitation.
 The amplitude of the steady‐state response is a function
of the amplitude and frequency of the excitation as well
as of the natural frequency and damping factor of the
system. The steady‐state magnification factor can be
considerably greater than unity or less than unity.

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 The steady‐state response, up = U cos(Ωt ‐ ), and the

excitation, p = p0 cos Ωt, are not in phase; that is, they do
not attain their maximum values at the same time. The
response lags the excitation by the phase angle . This
corresponds to a time lag /Ω.
 At resonance, r = 1, the amplitude is limited only by the
damping force and

DS r 1  1 ......(4  23)

2
  90 
The equation of motion becomes

Uo
u sin  t  e    t  A1 cos  d t  A2 sin  d t ...( 4  25a )
2
25 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

If the system starts from rest u o  u o  0 

Uo
A1  0 A2 
2  1-  2

Uo Uo
u sin  t  e    t sin  d t
2 2 1- 2
(4-25b)
Uo  1 
  sin  t  e    t sin  d t 
2  1- 2



When  << 1  1 -  2  1, sin  t  sin  d t

u
Uo
1 - e    t  sin  t...(4  25c)
26
2
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Fig (4-7) when  

27 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Example 4‐2
If damping equivalent to   0.2 is added to the system in
Example 4.1 and the same excitation and initial conditions prevail,
determine an expression for the resulting motion. Sketch the
motion.

Solution
The total response function is given by
u  U cos  t     e   t  A1 cos  d t  A2 sin  d t  ...(1)
Uo
U
 1 - r  
....(2)
 2  r 
2 2 1/ 2

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1/ 2
k
     20 rad / s
m
p 10
Uo  o   0.25 in (3)
k 40
 10
r   0.5
 20
   0.220  4 rad / s
0.25 0.25
U 
1  0.5    2 0.20.5  
(4)
2 2 2
1/ 2
 0.75 2
 0.2  
2 1/ 2

0.25 0.25
   0.32 in
0.6025 0.776

2  r 2 0.2 5 0.2

tan      0.267....(5)
1  r 2 1  0.5
2
0.75
29 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

  0.26 rad ...(6)

d   1   2  20 1  0.2  20 0.98  19.6 rad / sec...(7)

2

u   U sin  t    (8)
e  t
  A2  d  A1  cos  d t   A1  d  A2  sin  d t 

u 0  0  0.32 cos - 0.26  A1 ....(9)

A1  0.32 cos - 0.26  0.32 0.966  0.31 in...(10)

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u 0   0   0.3210 sin - 0.26   A2 19.6   0.310.220 ...(11)

A2   0.11 in...(12)

u  0.32 cos 10 t  0.26 

 e  4t  0.31 cos 19.6 t   0.11 sin 19.6 t   in (13)

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‫ﺍﺳﺘﺠﺎﺑﺔ ﺟﻤﻠﺔ ﻭﺣﻴﺪﺓ ﺩﺭﺟﺔ ﺍﻟﺤﺮﻳﺔ ﺫﺍﺕ ﺗﺨﻤﻴﺪ ﻟﺰﺝ ﻹﺛﺎﺭﺓ ﺗﻮﺍﻓﻘﻴﺔ ﻓﻲ ﻣﺴﺎﻧﺪﻫﺎ‬

‫ﻟﻨﺪﺭﺱ ﺍﻫﺘﺰﺍﺯ ﺍﻟﺠﻤﻠﺔ ﺍﻟﻤﺒﻴﻨﺔ ﻓﻲ ﺍﻟﺸﻜﻞ ﻭﺍﻟﻨﺎﺗﺞ ﻋﻦ ﺗﻌﺮﺽ ﻣﺴﺎﻧﺪﻫﺎ ﺇﻟﻰ ﺍﻻﺛﺎﺭﺓ ﺗﻮﺍﻓﻘﻴﺔ‬
:‫ﺍﻟﺘﺎﻟﻴﺔ‬
u g (t )  u g 0 sin  t

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‫ ﻓﺗُﻛﺗب ﻣﻌﺎدﻟﺔ ﺣرﻛﺔ‬ug ‫ وﻛﺎﻧت ﺣرﻛﺔ اﻟﻘﺎﻋدة‬u ‫إذا ﻛﺎﻧت اﻟﺣرﻛﺔ اﻟﻛﻠﻳﺔ ﻟﻠﺟﻣﻠﺔ‬
:‫اﻟﺟﻣﻠﺔ ﻛﻣﺎ ﻳﻠﻲ‬

m u  c (u  u g )  k (u  u g )  0

m u  cu  ku  cu g  ku g

m u  cu  ku  cu go cos  t  ku go sin  t

m u  cu  ku  u go k 2  (c) 2 sin ( t   )

c 
tan    2 r , r
k 

2  k /m ,   c / ccr ccr  2 m  2 k /  2 km
33 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

:‫(ﻫﻮ‬4-26) ‫( ﻓﺈﻥ ﺍﻟﺤﻞ ﺍﻟﺨﺎﺹ ﻟﻠﻤﻌﺎﺩﻟﺔ‬4-16) ‫ﻛﻤﺎ ﺗﻢ ﻓﻲ ﺣﻞ ﺍﻟﻤﻌﺎﺩﻟﺔ‬

1  (2 r ) 2
u  u go sin(t     )
(1  r )  (2 r )
2 2 2

2 r
tan  
1 r2
‫ﻭﺗﻌﺮﻑ ﻧﺴﺒﺔ ﺍﻧﺘﻘﺎﻝ ﺍﻟﺤﺮﻛﺔ )ﺍﻟﻨﺎﻗﻠﻴﺔ( ﺑﺄﻧﻬﺎ ﺍﻟﻨﺴﺒﺔ ﺑﻴﻦ ﺳﻌﺔ ﺍﻻﻫﺘﺰﺍﺯ ﺍﻟﻤﻄﻠﻘﺔ‬
:‫)ﺍﻟﻤﻄﺎﻝ( ﻭﺳﻌﺔ ﺍﻫﺘﺰﺍﺯ ﺍﻟﻘﺎﻋﺪﺓ ﺃﻱ‬

u 1  (2 r ) 2
TR  max 
u go (1  r 2 ) 2  (2 r ) 2
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Example
 A spring-mounted body moves with velocity v along an
undulating surface, as shown. The body has a mass m and is
connected to the wheel by a spring of stiffness k, and a viscous
damper whose damping coefficient is c. The undulating surface
has a wavelength L and an amplitude h.
 Derive an expression for the ratio of amplitudes of the absolute
vertical displacement of the body to the surface undulations.

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The system can be considered as

u g (t )  h sin  t
2 v

L

u 1  (2 r ) 2
TR  max 
h (1  r 2 ) 2  (2 r ) 2

 2 v
r 
 L

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‫ﻋﺰﻝ ﺍﻻﻫﺘﺰﺍﺯ ‪Vibration Isolation‬‬

‫ﻳﻨﺘﺞ ﻋﻦ ﺍﻵﻻﺕ ﺍﻟﻤﻬﺘﺰﺓ ﻗﻮﻯ ﺩﻳﻨﺎﻣﻴﻜﻴﺔ ﻛﺒﻴﺮﺓ ﺃﺣﻴﺎﻧﺎ ً ﻭﻟﻜﻦ ﻳﻤﻜﻦ ﺗﺨﻔﻴﺾ ﺍﻟﻘﻮﻯ ﺍﻟﻤﻨﻘﻮﻟﺔ‬
‫ﻣﻦ ﻫﺬﻩ ﺍﻵﻻﺕ ﺇﻟﻰ ﻗﻮﺍﻋﺪﻫﺎ ﺑﺎﺳﺘﺨﺪﺍﻡ ﻣﺴﺎﻧﺪ ﻣﺮﻧﻪ‪.‬‬
‫ﻳﺒﻴﻦ ﺍﻟﺸﻜﻞ )‪ (4-11a‬ﺁﻟﺔ ﻣﻬﺘﺰﺓ ﻣﺜﺒﺘﻪ ﻋﻠﻰ ﺃﺭﺿﻴﺔ ﺻﻠﺒﺔ ﺑﻮﺍﺳﻄﺔ ﺑﺮﺍﻏﻲ )ﺩﻭﻥ ﻋﻮﺍﺯﻝ(‬
‫ﺗﻨﺘﻘﻞ ﺍﻟﻘﻮﺓ ﺍﻟﻤﺘﻮﻟﺪﺓ ﻓﻲ ﺍﻵﻟﺔ ﻛﺎﻣﻠﺔ ﺇﻟﻰ ﺍﻷﺭﺿﻴﺔ‪ .‬ﻳﻤﻜﻦ ﺗﺨﻔﻴﺾ ﻫﺬﻩ ﺍﻟﻘﻮﺓ ﺑﺈﺿﺎﻓﺔ ﻋﻮﺍﺯﻝ‬
‫ﺍﻫﺘﺰﺍﺯ ﻛﻤﺎ ﻓﻲ ﺍﻟﺸﻜﻞ )‪ .(4-11b‬ﺃﻭ ﺑﺈﺿﺎﻓﺔ ﻛﺘﻠﺔ ﻛﺒﻴﺮﺓ ﺗﺪﻋﻰ ﻛﺘﻠﺔ ﻋﻄﺎﻟﺔ ) ‪inertia‬‬
‫‪ (block‬ﺗﺘﺼﻞ ﻣﺒﺎﺷﺮﺓ ﻣﻊ ﺍﻵﻟﺔ ﻛﻤﺎ ﻓﻲ ﺍﻟﺸﻜﻞ )‪ .(4-11c‬ﺃﻭ ﺑﺈﺿﺎﻓﺔ ﻛﺘﻠﺔ ﺃﺧﺮﻯ ﻋﻠﻰ‬
‫ﻣﺴﺘﻮ ﺛﺎﻥ ﻛﻤﺎ ﻓﻲ ﺍﻟﺸﻜﻞ )‪ (4-11d‬ﺗﺪﻋﻰ ﺑﺎﻟﻜﺘﻠﺔ ﺍﻟﺰﻟﺰﺍﻟﻴﺔ )‪(seismic mass‬‬

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‫ﻭﻳﺒﻴﻦ ﺍﻟﺸﻜﻞ )‪ (4-12‬ﻧﻤﻮﺫﺟﺎ ً ﺭﻳﺎﺿﻴﺎ ً ﻟﻶﻟﺔ ﺍﻟﻤﺒﻴﻨﺔ ﻓﻲ ﺍﻟﺸﻜﻞ )‪ (4-11b‬ﺍﻟﺘﻲ ﺗﺘﻌﺮﺽ‬

‫ﺇﻟﻰ ﺍﻟﻘﻮﺓ ﺍﻟﺪﻳﻨﺎﻣﻴﻜﻴﺔ ﺍﻟﺘﺎﻟﻴﺔ‪:‬‬
‫‪F (t )  Fo sin  t‬‬

‫ﺍﻟﺸﻜﻞ )‪ :(4-12‬ﻧﻤﻮﺫﺟﺎ ً ﺭﻳﺎﺿﻴﺎ ً ﻵﻟﺔ ﻣﻬﺘﺰﺓ‬

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u  U sin   t    :‫ﻓﺘﻜﺘﺐ ﻣﻌﺎﺩﻟﺔ ﺍﻟﺤﺮﻛﺔ ﻋﻠﻰ ﺍﻟﻨﺤﻮ ﺍﻟﺘﺎﻟﻲ‬

Fo 1
U 
k (1  r 2 ) 2  (2 r ) 2

f T  k u  c u ‫ﺍﻟﻘﻮﺓ ﺍﻟﻤﻨﻘﻮﻟﺔ ﺇﻟﻰ ﻗﻮﺍﻋﺪ ﺍﻵﻟﺔ‬

f T  (kU ) sin   t     (c U ) cos   t   

:‫ﻭﻳﺤﺪﺩ ﻣﻄﺎﻝ ﻫﺬﻩ ﺍﻟﻘﻮﺓ ﺑﺎﻟﻌﻼﻗﺔ ﺍﻟﺘﺎﻟﻴﺔ‬

FT  (kU ) 2  (c U ) 2  kU 1  ( 2 r ) 2

39 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

FT kU 1  (2 r )
2
TR  
Fo Fo

1  (2 r ) 2
TR 
(1  r 2 ) 2  (2 r ) 2

40 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

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‫ﻳﺠﺐ ﺃﻥ ﻳﺆﻣﻦ ﺍﻟﻌﺰﻝ ﺍﻟﺠﻴﺪ ‪ r = Ω/ω ≥ 1.4‬ﺃﻱ ﻳﺠﺐ ﺃﻥ ﺗﻜﻮﻥ ‪ ω‬ﺃﺻﻐﺮ ﻣﺎ‬
‫ﻳﻤﻜﻦ ﺑﺎﻟﻤﻘﺎﺭﻧﺔ ﻣﻊ ﺗﻮﺍﺗﺮ ﺍﻹﺛﺎﺭﺓ ‪ Ω‬ﻭ ﻳﺘﺤﻘﻖ ﺫﻟﻚ ﻋﻨﺪﻣﺎ ﺗﻜﻮﻥ ﺍﻟﺼﻼﺑﺔ ‪ k‬ﺻﻐﻴﺮﺓ‬
‫ﻭﺑﺎﻟﺘﺎﻟﻲ ﻳﺠﺐ ﺃﻥ ﻳﻜﻮﻥ ﺍﻟﻤﺴﻨﺪ ﻣﺮﻧﺎ ً ﺇﻟﻰ ﺣﺪ ﻣﻘﺒﻮﻝ ﻻ ﻳﻨﺸﺄ ﻋﻨﺪﻩ ﻣﺸﺎﻛﻞ ﻓﻲ ﺍﻟﺘﺸﻐﻴﻞ‬
‫ﻭﺍﻻﺳﺘﺜﻤﺎﺭ‪ .‬ﺇﺫﺍ ً ﻣﻦ ﺍﻟﻤﺮﻏﻮﺏ ﻓﻴﻪ ﻧﻈﺮﻳﺎ ً ﺃﻥ ﻳﻜﻮﻥ ﻋﺎﺯﻝ ﺍﻻﻫﺘﺰﺍﺯ ﺫﺍ ﺻﻼﺑﺔ‬
‫ﻣﻨﺨﻔﻀﺔ ﻭﻟﻜﻦ ﺫﻟﻚ ﻗﺪ ﻳﺆﺩﻱ ﻟﻌﺪﻡ ﺍﺳﺘﻘﺮﺍﺭ ﺍﻵﻟﺔ ﺍﻟﻤﻌﺰﻭﻟﺔ ﻭﻟﻬﺬﺍ ﻳﺘﻢ ﺃﺣﻴﺎﻧﺎ ً ﺍﻟﻤﺤﺎﻓﻈﺔ‬
‫ﻋﻠﻰ ﺻﻼﺑﺔ ﻣﻌﻘﻮﻟﺔ ﻟﻠﻌﺎﺯﻝ ﻭﺗُﺴﻨﺪ ﺍﻵﻟﺔ ﻋﻠﻰ ﻛﺘﻠﺔ ﻛﺒﻴﺮﺓ ﻛﻤﺎ ﻓﻲ ﺍﻟﺸﻜﻞ )‪(4-11c‬‬
‫ﻣﻤﺎ ﻳﻨﺘﺞ ﻗﻴﻤﺔ ﻣﻨﺨﻔﻀﺔ ﻟﻠﺘﻮﺍﺗﺮ ‪.ω‬‬

‫ﻳﻠﻌﺐ ﺍﻟﺘﺨﻤﻴﺪ ﺩﻭﺭﺍ ً ﻣﻬﻤﺎ ً ﺑﺠﻮﺍﺭ ‪) r =1‬ﺣﺎﻟﺔ ﺍﻟﻄﻨﻴﻦ( ﺣﻴﺚ ﺗﻨﺨﻔﺾ ﺍﻟﻨﺎﻗﻠﻴﺔ ﻣﻊ ﺯﻳﺎﺩﺓ‬
‫ﻧﺴﺒﺔ ﺍﻟﺘﺨﻤﻴﺪ ﺇﻻ ﺃﻥ ﻫﺬﺍ ﺍﻟﺪﻭﺭ ﻳﻨﻌﻜﺲ ﻋﻨﺪﻣﺎ ﺗﺼﺒﺢ ‪r ≥ 1.4‬‬

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