Chapter 4-1

CHAPTER # 4
Vibration Under General

Forcing Conditions
Introduction
➢ In Chapter 3, we considered the response of single-degree-of-freedom systems subjected to
harmonic excitation.
➢ However, many practical systems are subjected to forcing functions that are not harmonic.
➢ The general forcing functions may be periodic (nonharmonic) or nonperiodic.
➢ The nonperiodic forces include forces such as a suddenly applied constant force (called a step
force), a linearly increasing force (called a ramp force), and an exponentially varying force.
➢ A forcing function or excitation of short duration compared to the natural time period of the system
is called a shock.
➢ If the forcing function is periodic but not harmonic, it can be replaced by a sum of harmonic
functions using the harmonic analysis procedure discussed previously.
➢ Then using the principle of superposition, the response of the system can be determined by
superposing the responses due to the individual harmonic forcing functions.
➢ The response of a system subjected to any type of nonperiodic force is commonly found using the
following methods:
➢ Convolution integral.
➢ Laplace transform.
➢ Numerical methods.
Harmonic Analysis-Fourier Series Expansion
❑Fourier series expansion can be used to represent any periodic function of time
as an infinite sum of sine and cosine terms
➢ If x(t) is a periodic function with period 𝜏 its Fourier series representation is
given by
❑ Where 𝜔 = 2𝜋/𝜏 is the fundamental frequency and a0, a1, a2, …., b0, b1, b2, … are
constant coefficients.
❑ To determine the coefficients an and bn , we multiply the equation by cos 𝑛𝜔𝑡 and
sin 𝑛𝜔𝑡 respectively, and integrate over one period for example, from 0 to 𝜏 = 2𝜋/𝜔
Then we notice that all terms except one on the right-hand side of the equation will be
zero, and we obtain
Example
Determine the Fourier series expansion of the motion of
the valve in the cam-follower system
Solution: If y(t) denotes the vertical motion of the pushrod, the motion of
the valve, x(t), can be determined from the relation:
cam-follower system
Response Under a General Periodic Force
➢When the external force 𝐹(𝑡) is periodic with period 𝜏 = 2𝜋Τ𝜔, it can be expanded
in a Fourier series (Fourier series expansion can be used to represent any periodic
function of time as an infinite sum of sine and cosine terms)
➢Where 𝜔 = 2𝜋/𝜏 is the fundamental frequency and ai and bi are constant coefficients
that can be obtained from:
Response Under a General Periodic Force
❑Second-Order Systems
➢Let a spring-mass-damper system shown be subjected to a periodic force
𝑓 𝑡 , which can be expressed in Fourier series so that the equation of
motion becomes
❑Example
Determine the steady-state response of a spring-mass-damper system
subjected to a periodic force 𝑓(𝑡), Assume the initial conditions as zero.
Solution
The right-hand side of the equation of motion is a constant plus a sum of harmonic functions.
Using the principle of superposition, the steady-state solution is the sum of the steady-state
solutions of the following equations:
The solution is
The solution is
The solution is
➢Thus the complete steady-state solution is given by
➢It can be seen from the solution that the amplitude and phase shift corresponding to the jth
term depend on j. If 𝑗𝜔 = 𝜔𝑛 for any 𝑗, the amplitude of the corresponding harmonic will be
comparatively large. This will be particularly true for small values of j and 𝜁
➢Further, as j becomes larger, the amplitude becomes smaller and the corresponding terms
tend to zero. Thus the first few terms are usually sufficient to obtain the response with
reasonable accuracy.
Example
In the study of vibrations of valves used in hydraulic control systems, the
valve and its elastic stem are modeled as a damped spring-mass system,
as shown. In addition to the spring force and damping force, there is a
fluid-pressure force on the valve that changes with the amount of
opening or closing of the valve. Find the steady-state response of the
valve when the pressure in the chamber varies as indicated.
Assume 𝑘 = 2500 𝑁Τ𝑚, 𝑐 = 10 𝑁 − 𝑠Τ𝑚 𝑎𝑛𝑑 𝑚 = 0.25 𝑘𝑔.
Solution
Since 𝑝(𝑡) is periodic with period 𝜏 = 2 seconds and A is a constant,

𝐹(𝑡) is also a periodic function of period 𝜏 = 2 seconds hence the
frequency of the forcing function is 𝜔 = (2𝜋Τ𝜏) = 𝜋 𝑟𝑎𝑑/𝑠.
𝐹(𝑡) can be expressed in a Fourier series as
The force is given by

the Fourier coefficients can be computed as
The steady-state response of the valve to the forcing function can be expressed as
Resolve Example 4.5

Response Under a Periodic Force of Irregular Form
➢ In some cases, although the force acting on a system is periodic it may be quite irregular and may be
determined only experimentally.
➢ In such cases, the forces will be available in graphical form and no analytical expression can be found to
describe 𝐹(𝑡).
➢ Sometimes, the value of 𝐹(𝑡) may be available only at a number of discrete points 𝑡1 , 𝑡2 , … , 𝑡𝑁 .
➢ In all these cases, it is possible to find the Fourier coefficients by using a numerical integration procedure.
➢ If 𝐹1 , 𝐹2 , … , 𝐹𝑁 denote the values of 𝐹(𝑡) at 𝑡1 , 𝑡2 , … , 𝑡𝑁 , respectively, where 𝑁 denotes an even number of
equidistant points in one time period τ(𝜏 = 𝑁 ∆𝑡) as shown, applying the trapezoidal rule to find Fourier
coefficients gives:
➢ Once the Fourier coefficients are known, the formula of the acting force can be found as summation of
harmonic functions and hence the steady-state response of the system can be found.
Example
Find the steady-state response of the valve shown if the pressure
fluctuations in the chamber are found to be periodic. The values of
pressure measured at 0.01-second intervals in one cycle are given
below. Assume 𝑘 = 2500 𝑁Τ𝑚, 𝑐 = 10 𝑁 − 𝑠Τ𝑚 𝑎𝑛𝑑 𝑚 = 0.25 𝑘𝑔.
Solution The Fourier analysis of the given data of pressures in a cycle

gives (using the trapezoidal rule)
The steady-state response of the valve can be expressed as
where
Laplace Transform
➢ The Laplace transform method can be used to find the response of a system under any type of excitation,
including the harmonic, periodic and nonperiodic type.
➢ A major advantage of the method is that it takes into account the initial conditions automatically.
➢ An introduction to Laplace transform is given in Appendix D along with a table of Laplace transform pairs.
➢ The application of the Laplace transform method for finding the response of a system basically involves the
following steps:
1. Write the equation of motion

of the system.
2. Transform each term of the
equation, using known initial
conditions.
3. Solve for the transformed
response of the system.
4. Obtain the desired solution
(response) by using inverse
Laplace
Laplace Transform
❑Response of Second-Order Systems
➢ For a spring-mass-damper system
❑Example-Unit Impulse Response

Find the response of an underdamped single-degree-of-freedom system to a unit
impulse.
Solution
By taking the Laplace
c 1
transform of both sides
Assuming zero initial condition
By taking the inverse Laplace transform

using the table
❑Example-Step Response of an Underdamped System
Find the response of an underdamped single-degree-of-freedom system to a unit step function.
Solution The equation of motion
By taking the Laplace transform and assuming zero initial conditions
We can express the right-hand side

in partial fractions as
Where 𝑠1 , 𝑠2 and 𝑠3 are the roots of the polynomial equation
Substituting the values of 𝑠1 , 𝑠2 and 𝑠3 ,and rearranging the terms leads to
By equating the coefficients of corresponding

terms on both sides, we obtain
Substituting
By taking the inverse Laplace transform using Laplace table, we obtain
where
Homework
4.5 , 4.8 , 4.14 , 4.59 , 4.74

Chapter 4-1

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CHAPTER # 4

Vibration Under General

➢Thus the complete steady-state solution is given by

Since 𝑝(𝑡) is periodic with period 𝜏 = 2 seconds and A is a constant,

The force is given by

Resolve Example 4.5

Solution The Fourier analysis of the given data of pressures in a cycle

1. Write the equation of motion

❑Example-Unit Impulse Response

Assuming zero initial condition

By taking the inverse Laplace transform

We can express the right-hand side

Where 𝑠1 , 𝑠2 and 𝑠3 are the roots of the polynomial equation

Substituting the values of 𝑠1 , 𝑠2 and 𝑠3 ,and rearranging the terms leads to

By equating the coefficients of corresponding

By taking the inverse Laplace transform using Laplace table, we obtain

4.5 , 4.8 , 4.14 , 4.59 , 4.74

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