EM3511/EA3538 Tutorial 3 Solution

Question 1.

The solution can be obtained by substituting

(t ) A cos(Ωt ) + B sin(Ωt )
x= (1)

into the equation

x + 2ζωn x + ωn2 x = f cos(Ωt ) .

 (2)

First we calculate the derivatives of the x(t):

x (t ) =− AΩ sin(Ωt ) + BΩ cos(Ωt ) (3)

x(t ) =− AΩ 2 cos(Ωt ) − BΩ 2 sin(Ωt )

 (4)

Substituting Eqs. (1), (3) and (4) into eq. (2), gives

− AΩ 2 cos(Ωt ) − BΩ 2 sin(Ωt ) + 2ζωn ( −ΩA sin(Ωt ) + BΩ cos(Ωt ) ) + ωn2 ( A cos(Ωt ) + B sin(Ω=

t ) ) f cos(Ωt )
Collecting terms in cos(Ωt ) and sin(Ωt ) , we obtain

cos(Ωt ) : − AΩ 2 + 2ζωn BΩ + ωn2 A = f

sin(Ωt ) : − BΩ 2 − 2ζωn ΩA + ωn2 B =0

Now we will divide both equations by ωn2 and substitute r = Ω ωn :

cos(Ωt ) : − Ar 2 + 2ζ rB + A =f ωn2 (5)

sin(Ωt ) : − Br 2 − 2ζ rA + B =
0 (6)

This can be re-written as

A(1 − r 2 ) + 2ζ rB =
f ωn2

−2ζ rA + B(1 − r 2 ) =
0

Simplifying
= F m) (k m) F k and solving eq.(6) for A and substituting it into eq.(5) we
f ωn2 (=
obtain
B(1 − r 2 )
A=
2ζ r

B(1 − r 2 ) 2 F
+ 2ζ rB =
2ζ r k
F
B(1 − r 2 ) 2 + ( 2ζ r ) B =
2
2ζ r
k
 And we have
F 2ζ r
B=
k (1 − r ) + ( 2ζ r )2
2 2

and
B(1 − r 2 ) F (1 − r 2 )
=A =
2ζ r k (1 − r 2 ) 2 + ( 2ζ r )2
Now we can calculate the amplitude of the response as
2 2
2 2 F 2
(1 − r 2 )   F 2  2ζ r 
X= A +B =     +  
k  (1 − r 2 ) 2 + ( 2ζ r )2   k   (1 − r 2 ) 2 + ( 2ζ r )2 
   
F k F k
X =
(1 − r 2 ) 2 + ( 2ζ r ) (1 − r ) 2 + 4ζ 2 r 2
2 2

And the phase shift

−1  B  −1  2ζ r 
=φ tan=   tan  2 
.
 A  1− r 
Thus we have shown that
F k
x(t ) X cos(Ωt =
= −φ) cos(Ωt − φ )
(1 − r 2 ) 2 + 4ζ 2 r 2

Question 2.

Now we would like to find the maximum of the amplitude X with respect to r. So we need to
differentiate expression for X

F k F
( (1 − r 2 ) 2 + 4ζ 2 r 2 )
−1/2
X= =
(1 − r 2 ) 2 + 4ζ 2 r 2 k
∂X F  1  F 2r 3 − 2r + 4ζ 2 r
⋅  −  ( (1 − r 2 ) 2 + 4ζ 2 r 2 ) ⋅ ( 2(1 − r 2 ) ⋅ (−2r ) + 2 ⋅ 4ζ 2 r )=
−3/2
=
∂r k  2  k
( (1 − r ) + 4ζ 2 r 2 )
2 2 3

For maximum value we need

∂X
=0
∂r
F 2r 3 − 2r + 4ζ 2 r
=0
k
( )
3
(1 − r 2 ) 2 + 4ζ 2 r 2
2r 3 − 2r + 4ζ 2 r =
0
2r ( r 2 − (1 − 2ζ 2 ) ) =0

r 0 or rmax=
= 1 − 2ζ 2

Therefore we obtain

rmax= 1 − 2ζ 2
Question 3.

You should obtain using Matlab the following outputs:

Q3.I:
Ω
Dynamic amplifier R as function of frequency ratio r = for the following values of the damping
ωn
ratio ς = 0, 0.1, 0.25, 0.5, 1

12

10

8
Dynamic amplifier

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

frequency ratio, r

Q3.II:
Ω
Phase shift as function of frequency ratio r = for the following values of the damping ratio
ωn
ς = 0.1, 0.25, 0.5, 1 .
3.5

2.5

2
Phase stift

1.5

0.5

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

frequency ratio, r
Question 4.
(a)
Amplitude of vibration is given by
F k
X=
(1 − r 2 ) 2 + 4r 2ζ 2
At very low frequency we assume that r ≈ 0 so
F
X low frec= = 0.012 mm
k
r rmax ≈ 1 (actual value is rmax = 1− 2ζ 2 )
At resonance, i.e.=
F
X=max = 0.12 mm
2ζ k
Thus we can calculate the damping ratio:
F X low frec
X=max =
2ζ k 2ζ
−3 0.012 ⋅10−3
0.12 ⋅10 =
2ζ
0.012
= 2ζ = 0.1
0.12
ζ = 0.05
Let us check if assumption rmax ≈ 1 is valid:
rmax = 1 − 2ζ 2 = 1 − 2 ⋅ 0.052 = 0.9975 ≈ 1
(b)
Now we can calculate the natural frequency using the definition of the resonance, i.e. resonance
Ω
occurs when the excitation frequency is equal to natural frequency: rmax = . The resonance
ωn
occurs at Ω =45 Hz so we have
Ω
= = 0.9975
rmax
ωn
Ω 45
=ωn = = 45.11 Hz
0.9975 0.9975
ωn = 2π ⋅ 45.11 = 283.45 rad/s
Now we can calculate stiffness:
k
ωn =
m
k= mωn2 = 300 ⋅ 283.452 = 24.1 ⋅106 N/m = 24.1 MN/m
(c)
Finally since we know stiffness, we can calculate the amplitude of the applied force:
F
X low frec= = 0.012 mm
k
F =k ⋅ X low frec =24.1 ⋅106 ⋅12 ⋅10−6 =289.2 N