Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng.

, KAIST
MAE 351 MAE 351: : Wk 4
CHAPTER 3
CHAPTER 3
Harmonically Excited
Harmonically Excited
Vibration
Vibration
m
c
k
x
F(t)
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
3.1. General
3.1. General
System subject to external dynamic forces
Forcing function, Exciting function
Harmonic excitation Harmonic response
Nonperiodic excitation Transient response
Harmonic excitations
Governing equation
(nonhomogeneous equation)
General soln: x(t) = x
h
(t) + x
p
(t)
where x
h
(t) = homogeneous soln of
x
p
(t) = particular soln
x
h
(t) : exponentially decaying (initial transient) vibration
x
p
(t) : steady-state vibration
( )
( )
0
0
0
( )
( ) cos
( ) sin( )
i t
F t F e
F t F t
F t F t



+
=
= +
= +
( ) mx cx kx F t + + =
0 mx cx kx + + =
m
c
k
x
F(t)
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
Homogeneous, Particular, & General Solutions
(Underdamped 1-DOF Vibration)
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
3.2. Superposition Principle
3.2. Superposition Principle

x(t) = output (response); F(t) = input (excitation)

Introduce a linear differential operator
Then, G = Black-box of the 2
nd
order system
( ) mx cx kx F t + + =
2
2
( )
d x dx
m c kx F t
dt dt
+ + =
2
2
d d
G m c k
dt dt
+ +
| |
( ) ( ) G x t F t =
or
Consider two excitations and responses:
F
1
(t)=G[x
1
(t)], F
2
(t)=G[x
2
(t)]
Next, consider
F
3
(t)=c
1
F
1
(t) + c
2
F
2
(t) : linear combination of F
1
(t) & F
2
(t)
c
1
,c
2
: known constants
If x
3
(t) = c
1
x
1
(t) +c
2
x
2
(t), the system is linear: otherwise nonlinear
G[x
3
(t)] = G[c
1
x
1
(t) + c
2
x
2
(t)] = c
1
G[x
1
(t)] + c
2
G[x
2
(t)]
= c
1
F
1
(t) + c
2
F
2
(t) = F
3
(t) ; principle of superposition
F(t)
G
x(t)
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
3.3. Response of an
3.3. Response of an
Undamped
Undamped
System
System
under Harmonic Force
under Harmonic Force
For
F(t) : harmonic x
p
(t): harmonic
with with
Assume x
p
(t) = Xcos t, then
cos
o
mx kx F t + =
1 2
0,
( ) cos sin
h n n
n
mx kx
x t C t C t
k
m

+ =
= +
=

2
0
( cos cos ) cos X m t k t F t + =
0
2
F
X
k m
=

m
k
x
F(t)
; Amplitude of particular
solution
Q: What is the physical meaning of particular solution?
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
x(t) = total solution
=
Then,
0
1 2
cos sin cos
n n
F
C t C t t
k m

2
+ +

1 2
0 0
0 0
1 0 2
2
Two I.C.'s of (0) & (0) ,
Let (0) & (0)
;
n
x x C C
x x x x
F x
C x C
k m

= =
= =

0 0
0
2
0
2
( ) cos sin
cos
n n
n
F x
x t x t t
k m
F
t
k m

| |
| |
= +
|
|

\ .
\ .
| |
+
|

\ .
Homogeneous
solution
Recall: free vib.
Recall:
In free vib. case:
0
1 0 2
;
n
x
C x C

= =

General Solution
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
From
0
0
2
2 2
0
n
and
1 1
1
1
where static deflection,
= frequency ratio ,
Dynamic ampl.
Static ampl.
magnification factor
or amplification factor
or amplification ratio
st
st
n
st
st
F
X F k
k m
X
r
F
k
r
X

= =

| |

|
\ .
= =

=
=
Look!
X infinity as r 1
RESONANCE
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
A. Characteristics
A. Characteristics

: 0 < /
n
< 1
: /
n
> 1
: /
n
= 1

F(t) & x
p
(t) are in phase

out-of phase ( r > 1 )

x
p
(t) = -Xcost
( 0 < r < 1 )
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4

(r=1)
X ; Resonance =
n
1 2
2
0
0
2
2
2
0
0
( ) cos sin cos
1 ( )
1
cos sin (cos cos )
1 ( )
cos cos ( sin ) 1
lim lim sin (L'Hospital's rule)
1 ( ) 2
2
( ) cos sin
n n
st
n n
n
n n st n
n n
n
n n
n
n
s
n n
n
x t C t C t t
x
x t t t t
t t t t
t t
x
x t x t t

= + +
/
= + +
/

= =
/

= + +

sin
2
t n
n
t
t

Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
B. Total Response
B. Total Response
2
2 2 1
2
1 2
1
( ) cos( ) cos
1 ( )
where ; tan
st
n
n
x t A t t
C
A C C
C

=
/
| |
= + =
|
\ .
+ for /
n
< 1
- for /
n
> 1
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
C. Beating
C. Beating
Linear superposition of individual vibrations:
1 1 1 2 2 2
exp[ ( )] exp[ ( )] x A i t A i t = + + +
Nonperiodic (aperiodic) oscillations in general
When
2
=
1
+ , then
1 2 1 1
( ) ( )
1 2
[ ]
i i t i t i t
x Ae A e e Ae
+ +
=
2 2 1/ 2
1 2 1 2
[ 2 cos( )] A A A A A t
1 2
= + +
1
1 1 2 2
1 1 2 2
sin sin( )
tan
s cos( )
A A t
Aco A t

( + +
=
(
+ +

where
; Approximately simple harmonic vibration
with slowly varying ampl. A and phase
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk 4
Consider a special case of A
1
= A
2
and
1
=
2
= 0
Then,
1/ 2
1 1
1
1 2
(2 2cos ) 0 2
sin
tan
1 cos
Beat frequency
b
A A t A A
t
t
f f f f

= +

(
=
(
+

= = =
(Forcing freq., ) (Natural freq.,
n
(system))
0 0
0
2
0
2
0,
( / )
( ) (cos cos )
( / )
2sin sin
2
n
n
n n
n
When x x
F m
x t t t
F m
t t




2
2
= =
=

+
=
2

Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST

MAE 351 MAE 351: : Wk 4
As
n
- = 2 ( : very small),
+
n
2 &
n
2
-
2
= (
n
+ )(
n
- ) 4
Then,
0
/
( ) sin sin
2
F m
x t t t

| |

|
\ .
variable amplitude
2 2 2
period of beating
2
b
n
b n

= = =
2
= = =