MEEG 5113

Set 3

Vibration Analysis
It is quite common for engineering structures to be exposed to
excitation which is the result of the operation of one or more
mechanical systems. Many times this excitation will be periodic or at
least can be treated as if it is periodic. Non-periodic excitation (e.g.
shock, earthquake, impulse, and random excitation) also occurs in
specific situations. These forms of excitation require a more complex
analysis and will not be dealt with here.
Periodic excitation can result from unbalanced rotating or reciprocating
components of machinery or equipment, wind or current effects, or a
shaking foundation. Usually it is required to keep the amplitude of any
vibration low so as to avoid substantial dynamic stresses, noise,
fatigue, and other effects. Periodic excitation can be either harmonic
or non-harmonic. Non-harmonic forms are handled by using Fourier
analysis techniques to replace the original wave form with a series of
sine and cosine terms which when added together reproduce the
5 a
original excitation. In this manner, a complex wave is replaced with

Vibration Analysis
set of harmonic functions and the analysis can be easily performed.
Shown below is a damped single degree-of-freedom system which is
being acted on by a time-varying harmonic force, F sin t where is
the excitation or driving frequency of the external force. A free body
diagram of the system now contains three external forces. Summing
forces and gathering all system terms together gives an equation of
motion of the form
& cx& kx F sin t
mx&
The solution to this linear,
constant coefficient, second
order differential equation is
called the particular or forced
or steady-state solution which
gives x(t) due to the continuous
application of the excitation.
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Vibration Analysis

By steady-state it is meant that whatever transient vibration occurs due

to the initial application of the excitation has decayed away and only
the response due to the excitation remains. If the magnitude of either F
or changes, the transient response will return and remain active for
some amount of time which depends on the amount of damping
present. This is shown in the figure below which displays the free,
forced, and total responses.
x(t)Total x(t )Free x(t )Forced
As can be seen
in the figure,
each case is
solved
independently
and the results
combined to
produce the
7
total response.

Vibration Analysis
Returning to the forced response solution, since the excitation is a sine
wave, the solution will be as well except that it will have a different
phase angle than the excitation due to the presence of the damper. This
means that the solution will have the form
x(t) X sin( t )
AND

x&(t) X cos( t ) X sin( t 12 )

AND

&
x&
(t) X 2 sin( t ) X 2 sin( t )
The equation of motion can now be written as
mX 2 sin( t ) cX sin( t 12 ) kX sin( t ) F sin t
8

Vibration Analysis
A vector diagram containing each of these forces is shown below. The
phase angle is negative because response cannot occur until the
excitation is applied, i.e. the response lags the excitation. Because the
inertia and spring forces differ by radians, the previous equation may
be rewritten as
(k m 2 ) X sin( t ) cX sin( t 12 ) F sin t
The force polygon can now be
seen to form a right triangle and
following equation relates F and
X:
(kX mX 2 ) 2 (cX ) 2 F 2
This may be solved for X
and to get
9

Vibration Analysis
F

2
2
k

tan 1

AND

This yields the steady-state solution of

F
x(t)

k m

2 2

c
k m 2

c 2

sin( t )

And a complete solution of

F

x(t) X Freee t sin(dt )

k m

2 2

c 2

sin( t )

The steady-state solution can be non-dimensionalized as follows:

F
F
X

k 2 c

m
m

n2 2 2n

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Vibration Analysis
Continuing the process yields

2 2

m n2

22n
n

1 r

F
k

2 2

2 r

OR

XS

where

1 r

2 2

2 r

XS

XS = Static response (deflection) of the system

= Dynamic amplification (magnification) factor
r = Frequency ratio (/)
= Damping ratio (c/cc)

A non-dimensional plot is obtained when the magnitude of the 11

Vibration Analysis
amplitude ratio (X/XS) is plotted as a function of the frequency ratio (r
= /) for various values of damping ratio () as shown below.
Notice that if the system is either undamped or very lightly damped
and the frequency ratio is close to one, the amplitude ratio becomes
extremely large meaning that it is very likely that the system will be
damaged or destroyed.
Also note that this plot is
simply an edge view of a
three dimensional surface
which is a function of r and
. Each line represents a
slice through this surface at a
given value of . When
viewed in perspective and
from an elevation, the
surface can be easily seen.

12

Vibration Analysis
Dynamic Amplification Factor
5

3
X/XS
2
1

16

21

Frequency Ratio

26

31

36

41

46

51

S19

11

S13

Damping
Ratio

S1

S7

13

Vibration Analysis

Also note that as increases, the maximum amplitude is reduced and

occurs closer to the origin. To determine value of r at which the
maximum value occurs, the equation for m is differentiated with
respect to r and set equal to zero. The resulting equation allows one
to determine the value of r at the maximum for a given value of .
d 1 r 2 2 2 r 2 0.5 0

dr
0.5

1 r 2 r *
21 r 2r 2 2 r 2 0

0.5

r 2 1 2 2 0
r 1 2 0 0.707
2

For > 0.707, the static response is the largest system response. 14

Vibration Analysis
The phase angle () is also a function of the frequency ratio (r = /)
and damping ratio (). Shown below is the variation in phase angle
with frequency for different amounts of damping.
This graph can be divided into three areas of interest. These areas are
easier to understand for the undamped case where and are equal to
0 tan 1 0
1 2 1 2 tan 1

2
2
k

r
k m 1 r

When r is less than 1, is

positive or k > m2 and the
mass moves in the same
direction as F. This means
the phase angle between F and
x is zero as the stiffness
dominates the response.

15

Vibration Analysis
When r > 1, is negative or m2 > k and the mass moves in the
opposite direction of F. This means that the phase angle between F
and x is 180o and this results in the excitation force acting as a brake
to help bring the mass to rest at its extreme displacement value.
When r = 1, is undefined which requires x(t) to be redefined as a
cosine function in order to solve this problem. Redefining x(t) in this
manner makes = 90o.
For the damped case and
are given by
1

2
2
(k m 2 ) (c )
1

2
2 2
1

1
1 2 r

tan
tan
2
2
k

16

Vibration Analysis
Notice that the phase angle now continuously changes with r due to
presence of the damping term.
The three cases r < 1, r = 1, and r > 1 are illustrated in the three
figures below, (a), (b), and (c) respectively. As r, and hence ,
increases from zero, both the damping and inertia terms also increase
but the inertia term increases faster than the damping term which
causes to increase at an increasingly non-linear rate between 0o and
90o.
When r = 1, the inertia and spring terms
have equal magnitudes so = 90o.

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Vibration Analysis
When r > 1, the inertia term increases faster than the damping term
which causes to increase at a decreasingly non-linear rate.
The phase equation also represents a surface as shown below. By
rotating this plot it is possible to view the non-linear behavior of .
Phase Angle
180

135

90

45

S23

0
1

11

16

21

26

Frequency Ratio

31

36

41

46

S12 Damping Ratio

S1
51

18

Vibration Analysis

As mentioned earlier for the undamped case, when r = 1, is

undefined which means that X is infinite. However, the question
becomes How quickly does X grow to these extremely large values?
To answer this question requires x(t) to be redefined as a cosine
function and the equation of motion to be solved for this new
definition of x(t). Therefore, let x(t) be given by
x(t) Et cos(t)
x&(t) E cos(t) Et sin(t)
&
x&
(t) 2 E sin(t) Et 2 cos(t)
Substituting into the undamped equation of motion yields
m( 2 E sin(t) Et 2 cos(t)) k (Et cos(t)) F sin(t)
Equating like terms yields
mEt 2 kEt 0 2 k
m
2 mE F E F
2m

19

Vibration Analysis
For m = 1, = 4, and F = 40, the resonance response is given in the
figure below.

Undamped Resonance Response

30
20

10
Et
-Et
Et cos(wt)

0
-10
-20
-30
0

3
Time

20

Vibration Analysis

For the damped case, is determined from

xTotal (t) e t ( A cos(d t ) B sin(d t))

X S sin( t )
2
2 2
(1 r ) (2 r)

After the transient response decays out

xTotal (t) X S sin(2 t ) 2
(1 r 2 ) (2 r)
The amplitude becomes
XS
X
XS
2
2
(1 r 2 ) (2 r)
When r = 1, the amplitude of vibration reduces to
F

X
X S k X 1
X S 2
2
2
This means that the amplitude is bounded and the presence of the mass
causes the amplitude to build up to the peak value over time.
21

Vibration Analysis
For k = 16, c = 1, m = 1, = 4, and F = 40, the complete resonance
response (r =1, = , and = /2) is given in the figure below.

x(0) x&(0) 0 x(t) F e

2 k

sin d t sin t

Damped Resonance Response

10
8
6
4

2
0
-2
-4
-6
-8
-10
0

5
Time

10

22

Vibration Analysis
For rotating unbalance, F(t) = mee2 sin(t) and the response becomes
2
m
eer
(
)sin( t )
2
m
e

sin(

)
e
m
x(t)

2 2
2
(k m ) (c )
(1 r 2 )2 (2 r)2

This response plots as the mirror image of F(t) = F sin(t) which

means that when r = 0, x(t) = 0 and when r is large, x(t) approaches a
constant.

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Vibration Analysis

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