CET422: Structural Dynamics

Even Semester Session 2023-24

Assignment: 3 Solution
1. A 45 kg machine is placed at the end of a 1.60 m cantilever beam of elastic
modulus of 2.0 × 1011 N/m2 and cross-sectional moment of inertia of 1.60×10-
5 m4. As it operates, the machine produces a harmonic force of magnitude
125 N. At what operating speeds will the machine’s steady state amplitude
be less than 0.20 mm?
Solution 1)
3EI
For a cantilever beam, k =
L3
[ E = 2 1011 N / m 2 ],[ I = 1.6 10−5 m 4 ],[ L = 1.6m]
Here, 3EI 3(2 1011 N / m 2 )(1.6 10−5 m 4 )
k= 3 = 3
= 2343750 N / m = 2.343  106 N / m
L (1.6m)
Given, m = 45 kg,

k 2343750 N / m
So, n = = = 228.218rad / s
m 45kg

We know, for a single degree of freedom system vibrating under the influence
of an external force, harmonic/ steady state amplitude, Xdynamic is given as:
X static
X dyn =
(1 −  2 )2 + (2 ) 2

F0 125 N
where, Xstatic = static amplitude = = = 5.33 10−5 m
k 2343750 N / m
β = frequency ratio = ω/ωn ,
ω = external/ forced harmonic frequency,
ωn = natural frequency,
ξ = damping ratio,
F0 = 125N (given)
Since in this case no damping has been given, the above equation reduces to:
X static
X dyn =
(1 −  2 ) 2

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

X static X static
If β>1, X dyn = =
(1 −  ) 2 2  2 −1

In order to limit the Xdny ≤ 0.20 mm, i.e.

X static X static
X dyn = =  0.20mm
(1 −  2 ) 2  2 −1
 2 −1 1

X static 0.20mm
X static
 2 −1 
0.20mm
5.33 10−5 m
 2 −1  = 0.26665
0.20mm
 2  1 + 0.26665 = 1.26665
  1.125

 1.125
n
  1.125  228.218
  256.85rad / s
f  40.88cps
X static
If β<1, X dyn =  0.20mm
1−  2

1−  2 1

X static 0.20mm
X static
1−  2 
0.20mm
− X static −5.33 10−5 m
 2 −1  = = −0.2665
0.20mm 0.20mm
 2  −0.2665 + 1
 2  0.73335
  0.856

 0.856
n
  0.856  n
  0.856  228.218rad / s
  195.44rad / s
f  31.10cps

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

For operating speeds less than 31.10 cps and more than 40.88 cps, the steady
state amplitude of machine will be less than 0.20 mm.
End of question 1.

2. A 45 kg machine is mounted on four parallel springs each of stiffness 2 ×105

N/m. When the machine operates at 32 Hz, the machine’s steady state
amplitude is measured as 1.50 mm. What is the magnitude of the excitation
provided to the machine at this speed?
Solution 2)
Given, m = 45 kg,
4 springs with same, k = 2×105 N/m
keq = 4×2×105 N/m = 8×105 N/m

k 800000 N / m
n = = = 133.333rad / s
m 45kg

f = 32 Hz = ω/2
ω = 2  × 32 Hz = 201.06 rad/s
 201.06rad / s
= = = 1.507
n 133.333rad / s
Since no damping ratio is given, so we can take ξ=0.
Given steady state amplitude, Xdyn = 1.50mm
X static
X dyn =
For, β>1,  2 −1
X static = (  2 − 1)  X dyn = (1.507 2 − 1) 1.50mm = 1.911mm

F0 = (keq ) X static = (8 105 N / m)  (1.911mm)

We know,
F0 = 1528.83N = 1.53kN

This is the magnitude of excitation provided to the machine at f = 32Hz.

End of question 2.

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

3. A damped single degree of freedom mass–spring system has mass m =

10kg, spring coefficient k = 4000 N/m, and damping coefficient c = 40 N-
s/m. The amplitude of the forcing function, F = 60 N, and the forcing
frequency ω = 40 rad/s. Determine the displacement of the mass as a
function of time.
Solution 3)
We know, for a damped oscillator with a harmonic force,
F(t) = F0 sin(ωt), acting on the mass, the differential equation is
mu + cu + ku = F0 sin(t )

Where,
F0 = peak amplitude of force = 60 N,
ω = forcing frequency = 40 rad/s
The solution for steady state condition will be the particular solution of above
differential equation, which can be obtained by assuming solution as,
xp (t ) = c1 cos(t ) + c2 sin(t ) , and then equating the coefficients of cosine and

sine functions, the steady state solution is obtained as:

xp (t ) = x(t ) = X sin(t −  ) .

F0 / k
X=
(1 −  2 )2 + (2 )2
Where,
2
tan  =
1−  2
Here, given, m = 10kg, k = 4000 N/m,

k 4000 N / m
So, n = = = 20rad / s
m 10kg

 40rad / s
= = =2
n 20rad / s
c 40 N − s / m
= = = 0.1
2mn 2 10kg  20rad / s

F0 / k 60 N / 4000 N / m
X= = = 4.96 10−3 m
(1 −  ) + (2 )
2 2 2
(1 − 2 ) + (2  0.1 2)
2 2 2

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

2 2  0.1 2
tan  = = = −0.1333
1−  2
1 − 22
 = tan −1 (−0.1333) = −0.1325rad
x(t ) = (4.96 10−3 )sin(40t + 0.133)
This is the equation for displacement of mass as a function of time.
End of question 3.

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

4. A weight 55 N suspended by a spring of stiffness 1.1 kN/m is forced to

vibrate by a harmonic force of 9 N. Assuming viscous damping coefficient
c = 77 N sec/m, find:
a) The resonant frequency
b) The amplitude at resonance
c) The phase angle at resonance
d) Frequency corresponding to peak amplitude
e) Peak amplitude, and
f) The phase angle corresponding to peak amplitude
Solution 4)
Given, W = 55N, so, mass, m = 5.606 kg,
Given, K = 1.1 kN/m = 1100 N/m,

k 1100 N / m
n = = = 14.007rad / s
m 5.606kg

Peak harmonic force, F0 = 9N.

c = 77 N − s / m =   2mn
c 77 N − s / m
= = = 0.490
2mn 2  5.606kg 14.007rad / s

As peak amplitude and resonance is same so part d, e and f will give same
result as a, b and c respectively.
a) Frequency corresponding to peak amplitude or resonance:
Let, the frequency corresponding to peak amplitude = ωp
Therefore, frequency ratio at peak, βp = ωp/ωn
We know, Dynamic magnification factor =
X dyn 1
D= =
X static (1 −  2 ) 2 + (2 ) 2

The frequency will be maximum when dynamic magnification factor is

maximum for a given ξ0,
i.e. dD/dβ = 0
Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

−1
dD d ((1 −  p ) + (2 p ) ) −1
2 2 2 2
) −3
= = [(1 −  p 2 ) 2 + (2 p ) 2 ) 2 ]  [2(1 −  p 2 )( −2  p ) + (2 ) 2 2  p )] = 0
d d 2
2(1 −  p 2 )(−2  p ) + (2 ) 2 2  p ) = 0
−4  p (1 −  p 2 ) + 8 2  p = 0
−4  p [1 −  p 2 − 2 2 ] = 0
[1 −  p 2 − 2 2 ] = 0
−1 +  p 2 + 2 2 = 0
 p 2 = 1 − 2 2
p
 p = 1 − 2 2 =
n
 p = n  1 − 2 2
This is the frequency corresponding to peak amplitude or resonance.

 p = n  1 − 2 2 = (14.007rad / s)  1 − 2  0.492 = 10.099rad / s

 p 10.099
So,  p = = = 0.72097
n 14.007
X dyn 1
D= = = 1.1706
X static (1 − 0.722 ) 2 + (2  0.49  0.72) 2

F0
Here, X static = = 8.1818 10−3 m
k
b) Xdyn = peak amplitude
X dyn
D= = 1.1706
X static
X dyn = 1.1706  8.1818 10−3 m = 9.578 10−3 m = 9.578mm

c) Phase angle corresponding to peak amplitude or resonance.

2 2  0.49  0.72097
tan  = = = 0.7066 / 0.4802 = 1.471
1−  2
1 − 0.72097 2
 = tan −1 (1.471) = 0.9738 = 55.80
Phase angle corresponding to peak amplitude or resonance.
End of question 4.

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

5. A 120 kg machine is mounted at the midspan of a 1.5 m long simply

supported beam of elastic modulus E = 200 × 109 N/m2 and cross section
moment of inertia I = 1.53× 10-6 m4. An experiment is run on the system
during which the machine is subject to a harmonic excitation of magnitude
2000 N at a variety of excitation frequencies. The largest steady state
amplitude recorded during the experiment is 2.50 mm. Estimate the
damping ratio of the system.
Solution 5)
Given, m = 120 kg, E = 200×109 N/m2,
I = 1.53×10-6 m4, L = 1.5m, F0 = 2000N
For a simply supported beam

48 EI 48  200 109 N / m 2 1.53  10−6 m 4

K = = = 4352000 N / m
L3 (1.5m)3
k 4352000 N / m
n = = = 190.44rad / s
m 120kg
F0 2000 N
X static = = = 4.5955  10−4 m
k 4352000 N / m
For largest steady state amplitude, Xdyn = 2.5mm, existing frequency should
also be largest, ωp.

We know, peak amplitude frequency,  p = n  1 − 2 2 for maximum dynamic

amplification factor.

 p n  1 − 2 2
= = = 1 − 2 2
n n
 2 = 1 − 2 2
Here, ξ =? (is to be found).

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

X dyn 1
D= =
X static (1 −  2 ) 2 + (2 ) 2
X dyn 2.5mm
= = 5.44
But given, X static 4.5955 10−4 m
1
= 5.44
(1 −  ) + (2 ) 2
2 2

(1 −  2 ) 2 + (2 ) 2 = 0.03379

Putting the value of [  2 = 1 − 2 2 ] in above equation:

(1 − (1 − 2 2 )) 2 + (2 ) 2 (1 − 2 2 ) = 0.03379
(1 − 1 + 2 2 ) 2 + 4 2 (1 − 2 2 ) = 0.03379
(2 2 ) 2 + 4 2 − 8 4 = 0.03379
4 4 + 4 2 − 8 4 = 0.03379
−4 4 + 4 2 = 0.03379
4 4 − 4 2 = −0.03379
 4 −  2 + 0.0084475 = 0
This is a quadratic equation in terms of ξ2, on solving of which we get,
ξ2 = 0.9915 or ξ2 = 0.00852
Thus, ξ1 = 0.996, or ξ2 = 0.092

If, ξ1 = 0.996 then,  p = n  1 − 2 2 gives imaginary solution which is not

possible.
Therefore, ξ1 = 0.996 is not a possible value.

If, ξ2 = 0.092 then,  p = n  1 − 2 2 = 190.4rad / s  1 − 2(0.092)2 = 188.81rad / s

ξ2 = 0.092 = 9.2% = Damping ratio of system.

End of question 5.

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

6. An 82 kg machine tool is mounted on an elastic foundation. An experiment

is run to determine the stiffness and damping properties of the foundation.
When the tool is excited with a harmonic force of magnitude 8000 N at a
variety of frequencies, the maximum steady state amplitude obtained 4.10
mm at a frequency of 40 Hz. Use this information to estimate the stiffness
and damping ratio of the foundation
Solution 6)
Given,
mass, m = 82 kg, F0 = 8000N, Xdyn|max = 4.1mm = 4.1X10-3m,
F = 40 Hz,  = 2  40 = 251.33rad / s
F0 8000 N 8000 N 97.56
We know, X static = = = = …(a)
k m(n ) 2
82kg (n ) 2
(n )2

X dyn|max 1
We know for peak amplitude, D p = = …(b)
X static (1 −  p 2 ) 2 + (2 p ) 2

p
Where,  p = = 1 − 2 2 , where ωp = ω = 251.33 rad/s
n

i.e.  p 2 = 1 − 2 2 …(c)

wp 2 wp 2 251.332
and,  p =2
or wn 2 = = …(d)
wn 2  p2 (1 − 2 2 ) 2

Substituting eq. (c) in (b), we have

X dyn|max 1
Dp = =
X static (1 − (1 − 2 2 )) 2 + (2 ) 2 (1 − 2 2 )
1 1 1
Dp = = =
(1 − 1 + 2 )) + (4 )(1 − 2 )
2 2 2 2
(4 ) + (4 − 8 )
4 2 4
(4 + 4 2 − 8 4 )
4

1 1 1 U dyn|max
Dp = = = =
(4 + 4 − 8 )
4 2 4
(4 − 4 )
2 4
2 (1 −  ) 2 U static

97.56
Where, X static = and, Xdyn|max = 4.1mm = 4.1×10-3m
(n )2

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

1 X dyn|max 4.1mm
Dp = = = = (n ) 2  4.20 10−5 …(f)
2 (1 −  2 ) X static 97.56
(n )2

1
(n )2  4.20 10−5 =
2 (1 −  2 )

 (1 −  2 )  (n )2 = 11897.56 …(g)

wp 2 251.332
Substituting equation (d) { wn 2 = = } in above equation (g),
 p2 (1 − 2 2 ) 2

251.332
 (1 −  )  (
2
) = 11897.56
(1 − 2 2 )2
Solving, rearranging and squaring both the sides,

 2 (1 −  2 ) = (1 + 4 4 − 4 2 )  (0.035)
1.14 4 − 1.14 2 + 0.035 = 0
[12 = 0.968],[ 2 2 = 0.0317]
[1 = 0.9836],[ 2 = 0.178]

But, [  0.9836] , since it will result in  p = n  1 − 2 2 with imaginary

solution.
Hence, damping ratio = [ = 0.178]

If, [ = 0.178] , then,  p = n  1 − 2 2 , where, ωp = 251.33 rad/s

wp = wn  1 − 2 2 = wn  1 − 2(0.178) 2 = 251.33rad / s
wn = 259.69rad / s
k
wn =
m
k = mwn 2 = (82kg )  (259.69rad / s ) 2 = 5.53 106 N / m
Hence, stiffness, k = 5.53 X 106 N/m.
End of question 6.

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

8. Estimate the damping in a SDOF system that is excited by a harmonic force.

The peak displacement amplitude at resonance was measured equal to 3
inch and equal to 0.2 inch at one-tenth of the natural frequency of the
system.
Solution 8)
Given system has damping, ξ≠0,
The peak displacement amplitude at resonance is 3 inches, when βp≈1 or

 p =  p / n = 2 1 −  2 .

We can write, magnification factor at resonance as,

X dyn 1
D= =
X static 2 1 −  2

F0
Where, Xdyn = 3 inch at resonance, Xstatic = static displacement = & ξ=?
k
3inch 1
=
So, X static 2 1 − 
2

X static = 6 1 −  2

Also, given that, ω = 1/10th of natural frequency, i.e. ω = 0.1 ωn, i.e. β = 0.1
X dyn 1
Therefore, D = =
X static (1 −  2 ) 2 + (2 ) 2

0.2inch 1
=
6 1 −  2 (1 − (0.1)2 )2 + (2 (0.1)) 2

Squaring both sides and rearranging the terms,

0.9801 + 0.04 2 = 900 2 (1 −  2 )

0.9801 + 0.04 2 = 900 2 − 900 4
900 4 − 899.96 2 + 0.9801 = 0
Squaring the quadratic equation for  2

[12 = 0.9988],[2 2 = 0.0010902]

[1 = 0.9994],[2 = 0.033]

Since system is given underdamped (since a harmonic force is acting)

Therefore, [ = 0.033 = 3.3%] End of question 8.
Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

9. Determine the damping in a system in which during a vibration test under a

harmonic force, it was observed that at a frequency 10% higher than the
resonant frequency, the displacement amplitude was exactly one-half of the
resonant amplitude.
Solution 9) At resonance, β = 1,
X dyn 1
=
X static (1 −  2 ) 2 + (2 ) 2
So,
X static X static
X dyn| =1 = =
(1 − 1 ) + (2 1)
2 2 2
(2 ) 2

X static
X dyn| =1 = …(a)
2

Also, given if ω = 1.1X ωn, i.e. β = 1.1, then, give that,

X dyn| =1
X dyn| =1.1 = …(b)
2
X static
i.e., X dyn| =1.1 = …(c)
(1 −  2 )2 + (2 )2

From equation (a), (b), (c),

X static
2 X static
=
2 (1 − (1.1) 2 ) 2 + (2 1.1) 2

On squaring and rearranging,

X static
2 X static
=
2 (1 − (1.1) 2 ) 2 + (2  1.1) 2
0.0441 + 4.84 2 = 16 2
11.16 2 = 0.0441
 2 = 3.9516 10−3
 = 0.06286 = 6.286%
End of question 9.

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India
 CET422: Structural Dynamics
Even Semester Session 2023-24

10. Determine the natural frequency and amplitude of vibration in the simple
supported beam carrying an engine of weight W = 30 KN (shown in below
figure). The engine rotates at 400 rpm and induces a vertical force F = 8 sin(ωt)
kN.

Solution 10) given, W = 30,000 N, ➔ [mass, m = 3058.104 kg],

2  400
Given, f = 400 rpm ➔  = rad / s = 41.89rad / s
60

3EIL 3  (2.11011 N / m2  8.95 10−5 m4  6m)

keq = 2 2
= 2 2
= 7.425 106 N / m
ab (1.5m) (4.5m)

keq
= 7.425 10 N / m
6
n = m 3058.104kg
= 49.275rad / s

 =   = 41.89rad / s 49.275rad / s = 0.85

n

F0
xstatic = = 8000 N = 1.077 10−3 m = 1.077mm
k 7.425 106 N / m
xstatic 1.077mm
xdyn = = = 3.88 10−3 m = 3.88mm = 0.388cm
(1 −  ) + (2 )
2 2 2
(1 − 0.85 )
2

End of question 10.

Course Coordinator
Dr. Dhiraj Raj
Assistant Professor
Department of Civil Engineering
MNIT Jaipur, India