Structural Dynamics - ESA 322

Lecture 2
19/2/2016
 Todays lecture overview
Simple harmonic motion
Vibration analysis procedure
Vibration responses
SDOF Free vibration
SDOF Undamped forced vibration
 The Big Picture (Part 1)
Week Syllabus Notes
Week 1 Introductory class
Introduction to vibration SHM
Week 2 SDOF Free Undamped Vibration
SDOF Force Undamped Vibration
Week 3 SDOF Free Damped Vibration System identification
SDOF Force Damped Vibration
Week 4 SDOF Base Excitation
SDOF Rotating Unbalanced Mass
Week 5 Numerical Methods Plot responses
2DOF Free Vibration
Week 6 2DOF Forced Vibration
Dynamic Vibration Absorber
Week 7 Test 1
 Simple Harmonic Motion
A type of periodic motion
where the restoring force is directly proportional to the
displacement and acts in the direction opposite to that of
displacement.
that undergoes sinusoidal oscillation where the
acceleration is proportional to the displacement and
directed toward the mean position.
Most physical systems exhibit this type of motion during
oscillation
The expression for SHM is given by
x(t) = Asin(wt + f )
Simple Harmonic Motion

x(t) = Asin(wt + f )
Phase angle

amplitude Oscillation
frequency
in rad/s

Example of simple harmonic motion response

 Simple Harmonic Motion
Phase angle
Simple Harmonic Motion
 Vibration analysis procedure
1. Convert the physical system to simplified model.
2. Draw free body diagram (FBD) of the simplified model.
3. Determine the equation of motion of the system from FBD
Newton's 2nd Law,
Lagrange's equation
D Alembert Principle
4. Solve the equation of motion to obtain the response.
Numerically integrate EOM (simulation)
Analytical method
5. Interpretation of the result for the physical system.
 Vibration analysis procedure
From physical structure to simplified model

FBD

Solve EOM
 Example of vibration responses

Amplitude
(y axis)

Time response or Spectral response or

Time history frequency response
Fourier transform/
Inverse Fourier transform
 Fourier Transform
The Fourier transform is used to perform
the mapping between a signal as a function of time, and the
constituent amplitudes as a function of frequency.
In other words, a signal can be viewed in the time domain or in the
frequency domain. The frequency domain representation is also
called the spectrum of the signal.
For certain signals, this can be performed analytically with calculus.
For arbitrary signals, the signal must first be digitized, and a Discrete
Fourier Transform (DFT) performed. The standard numerical algorithm
used for the DFT is called the Fast Fourier Transform (FFT) or Discrete
FFT (DFFT).
Due to limitations inherent in digitization and numerical algorithms,
the FFT will result in an approximation to the spectrum.
 Example of vibration responses
Example of real vibration measurement result

Time Frequency domain

domain
 SDOF Free Vibration
Lets consider a simple harmonic oscillator as
shown in figure 1
k - spring stiffness
x(t) m mass
k x(t) degree of freedom

m
Assumptions
1) Stiffness is linear
2) No friction exist
Figure 1
3) Spring has no mass
4) Oscillates with SHM
 SDOF Free Vibration
A spring is a type of mechanical link, which in
most applications and in this course is
assumed to have negligible mass and
damping.
 SDOF Free Vibration
Free body diagram
x(t) positive

Fs m Fs Elastic force

From Newtons 2nd law d 2x

where a

F ma dt 2
a x

Fs mx (1)
 SDOF Free Vibration
From Hookes law
Fs kx (2)

Substitute equation 2 into 1, we get

kx mx
Rearrange
mx kx 0 (3)

Divide by m
Equation of motion
k for free vibration
x x 0
m
 SDOF Free Vibration
k
x x 0 (4)
m
This is 2nd order ODE. To solve it, we must use trial
functions. We want to solve this as a function of
time.
Lets us assume that the solution for the equation is
x(t ) A cos(nt ) (5)

Substitute (5) into (4)

 SDOF Free Vibration
Before we can substitute we must differentiate (5) with
time twice,
d
x(t ) x n A sin(nt )
dt
d2
2
x (t )
x n A cos( n t )
2
(6)
Therefore, dt

k
A cos(nt ) A cos(nt ) 0
2
n
m
 SDOF Free Vibration
Simplifying, it becomes
k
n A cos(nt ) A cos(nt ) 0
2

m
k
n 0
2

m
k
n (7)
m
 SDOF Free Vibration
Substitute (7) into (5)
k
x(t ) A cos t
m
A can be found from initial conditions i.e.
x(0) - Initial displacement
x (0) - Initial velocity
 Free Vibration - SDOF
A natural frequency is the frequency at which the structure
would oscillate if it were disturbed from its rest position and
then allowed to vibrate freely.

k
n (rad / s)
m
There is no external force applied to the mass during
oscillation; hence the motion resulting from an initial
disturbance will be free vibration.
There is no element that causes dissipation of energy during
the motion of the mass, the amplitude of motion remains
constant with time.
 SDOF Forced Vibration
Lets consider a simple harmonic oscillator as shown
in figure 2 with external force acting on the system
x(t)
k
m F(t)

Figure 2
Assumptions
k spring stiffness 1) Stiffness is linear
m mass 2) No friction exist
F(t) External force 3) Spring has no mass
x(t) degree of freedom 4) Oscillates with shm
 SDOF Forced Vibration
Draw FBD,
x(t)

Fs m F(t)

Apply Newtons 2nd law

F mx
kx F (t ) mx
Equation of motion
for forced vibration
Rearrange
mx kx F (t ) (8)
 SDOF Forced Vibration
If F (t ) Fo cost (9)

Substitute (9) into (8)

mx kx Fo cost
(10)

Please keep in mind that is not equal to n

Is the forcing frequency applied by the external
n Is the natural frequency of the system
force
 SDOF Forced Vibration
In forced vibration, when external force is applied to the
system with frequency not equal to the system natural
frequency, the system will want to oscillate at n . Instead, it
will be forced to follow the forcing frequency .

Equation (10) is a non homogenous ODE. This means that it

has two solutions;
Steady state (particular solution)
Transient (homogenous solution)
The total response is the superposition of the transient
response and steady state response. Steady state response
will dominate after sometime.
 SDOF Forced Vibration
Transient and steady state response
 SDOF Forced Vibration
Assume the trial function to be in the form of
x(t ) A cost (11)

Differentiate x(t)
x A sin t
x 2 cost (12)

Substitute into
m 2 A cost kA cost Fo cost (13)
 SDOF Forced Vibration
Simplifying k mA cost F cost
2
o

Cancel out cos(wt)

k 2 Fo
A
m m
Fo
A m
k 2
m
Fo Simplify into
A k
2
1
n
 SDOF Forced Vibration
Equation (14) shows that
Fo
A k (14)
2
1
n

If 0 then A = Fo
k
which is the static deflection
If then A = 0
If n then A =
 SDOF Forced Vibration

Left figure shows that the displacement and excitation force

are in phase when the frequency ratio is less than 1, if it is
greater than 1 they have opposite sign, i.e. they are 180
degrees out of phase.
 SDOF Forced Vibration
Resonance response
 SDOF Forced Vibration
When the forcing frequency is close to but not at the natural
frequency, a beating phenomenon occurs. This appears as a
low frequency impressed over the frequency of the system.
Sometimes the two sinusoids add to each other, and at other
times they cancel each other out, resulting in a beating
phenomenon.
 Exercise
i. What effect does a decrease in mass have on the
natural frequency of a system?
ii. What effect does a decrease in stiffness have on
the natural frequency of a system?
iii. Why does the amplitude of free undamped
vibration does not diminish after initial
disturbance?
iv. Why is it important to know the natural frequency
of a system?
 Exercise
v. A harmonic oscillation test gave the natural
frequency of a water tower to be 0.41 Hz. Given
that the mass of the tank is 150 tonnes, what
deflection will result if a 50 kN horizontal load is
applied? You may neglect the mass of the tower.
vi. Describe in brief what is Fourier transform
 Exercise
vii. An SDOF system with m = 2 kg, k = 35 N/m) is given
an initial displacement of 10 mm.
vii. Find the natural frequency;
viii. Period of vibration;
ix. Amplitude of vibration;

An undamped system vibrates with a frequency of 10

Hz and amplitude 1 mm. Calculate the maximum
amplitude of the system's velocity and acceleration.
Past year Exam Question