Lecture 8

HARMONIC EXCITATION
RESPONSE - Forced Vibration

Hamonic Damped systems under Complex
Response 𝑭(𝒕) = 𝑭𝟎 𝒆𝒊𝝎𝒕
Let eqn of motion under this type of force represented as:
Eqn. i
Particular solution is assumed to be:

𝑥𝑝 (𝑡) = 𝑋𝑒 𝑖𝜔𝑡 Eqn. ii
Substitution eqn. ii into eqn. i yields, X can be expressed as:
Eqn. iii
Multiply RHS with 𝑘 − 𝑚𝜔2 − 𝑖𝑐𝜔
Eqn. iv
Eqn. iv can now be expressed as:
Eqn. v
Where:
The steady-state solution, Eqn i, becomes
Eqn. vi
This equation
can be re-written in the following form:
Eqn. vii
where:
𝐻(𝑖𝜔) is known as the complex frequency response of system
Eqn. viii
This denotes the magnification factor

Knowing that:
where:
Eqn. ix
The Equation;
can thus be expressed as:
Eqn. x
It can be seen that the complex frequency-response function 𝐻(𝑖𝜔),

contains both the magnitude and phase of the steady-state response
If 𝐹 𝑡 = 𝐹0 𝑐𝑜𝑠𝜔𝑡, the corresponding steady-state solution is given
by the real part of eqn.v; rewritten below
Similarly, if 𝐹 𝑡 = 𝐹0 𝑠𝑖𝑛𝜔𝑡, the corresponding steady-state

solution is given by the imaginary part of eqn. v
This can be expressed in the graphical form:
A graphical representation
Harmonic response to Coulomb Damping
For a SDOF system with Coulomb or dry-friction damping, subjected
to a harmonic force 𝐹(𝑡) = 𝐹0 𝑠𝑖𝑛𝜔𝑡 as in Fig below, equation of
motion is given by
𝑚𝑥ሷ + 𝑘𝑥 ± 𝜇𝑁 = 𝐹(𝑡) = 𝐹0 𝑠𝑖𝑛𝜔𝑡 Eqn. 1

• where the sign of the friction force (𝜇𝑁 = 𝜇𝑚𝑔) is positive (negative)
when the mass moves from left to right (right to left).
• The exact solution of Eq. 1 is quite involved. However, we can expect

that if the dry-friction damping force is large, the motion of the mass
will be discontinuous.
• If dry-friction force is small compared to the amplitude of the applied

force 𝐹0 , the steady-state solution is expected to be nearly harmonic.
In this case, we can find an approximate solution of Eq.1 by finding
an equivalent viscous-damping ratio.
• To find such a ratio, we equate the energy dissipated due to dry

friction to the energy dissipated by an equivalent viscous damper
during a full cycle of motion.
• If the amplitude of motion is denoted as X, the energy dissipated by
the friction force 𝜇𝑁 in a quarter cycle is 𝜇𝑁𝑋. Hence in a full cycle,
the energy dissipated by dry friction damping is given by
∆𝑊 = 4𝜇𝑁𝑋 Eqn. 2
• If the equivalent viscous-damping constant is denoted as the energy

dissipated during a full cycle will be
∆𝑊 = 𝜋𝐶𝑒𝑞 𝜔𝑋 2 Eqn. 3
Where:
𝐶𝑒𝑞 = Equivalent Viscous Damping
4𝜇𝑁
𝐶𝑒𝑞 = Eqn. 4
𝜋𝜔𝑋
Thus the steady-state response is given by
Eqn. 5
where the amplitude X can be found from
Eqn. 6
Eqn. 7
The solution of this equation gives the amplitude X as
Eqn. 7
As stated earlier, Eqn. 7 can be used only if the friction force is small
compared to 𝐹0 . In fact, the limiting value of the friction force 𝜇𝑁 can
be found from Eqn. (7). To avoid imaginary values of X, we need to
have:
The phase angle ∅ appearing in Eq. 5 can be found using
Eqn. 8
Substituting Eq. 7 into Eq. 8 for X, we obtain
Eqn. 9
• Eqn. 7 shows that friction serves to limit the amplitude of forced
vibration for 𝜔/𝜔𝑛 ≠ 1.
• However, at resonance the amplitude becomes infinite. This can be
explained as follows.
• The energy directed into the system over one cycle when it is
excited harmonically at resonance is:
EXAMPLE 1
A vibratory system (𝑚 = 10 kg, 𝑘 = 4 × 103 N/m) vibrates

horizontally on a surface with coefficient of friction 𝜇 = 0.15.
When excited harmonically at 5 Hz, the steady- state displacement of
the mass is 5 cm. Calculate the amplitude of the harmonic force
applied.
SOLUTION
Given: m = 10 kg,
k = 4 × 103 N/m,
µ = 0.15,
X = 5 cm = 0.05 m
2
2 2
4𝜇𝑚𝑔
𝐹0 = 𝑘𝑋 (1 − 𝑟 ) +
𝜋𝑘𝑋
EXAMPLE 2
Draw the solution for the magnitude X for the case m = 100 kg, c =
4000 N s/m, and k = 10,000 N/m. Assume that the system is driven at
resonance by a 10-N force.
SOLUTION
GIVEN:
m = 100 kg,
c = 4000 N s/m
k = 10,000 N/m
𝐹0 =10-N
𝑘
𝜔 = 𝜔𝑛 =10 rad/s
𝑚
𝜋
= 90° = rad
2
Graphical Representation
From the graphical representation, we have:

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HARMONIC EXCITATION

RESPONSE - Forced Vibration

Particular solution is assumed to be:

Substitution eqn. ii into eqn. i yields, X can be expressed as:

Multiply RHS with 𝑘 − 𝑚𝜔2 − 𝑖𝑐𝜔

The steady-state solution, Eqn i, becomes

can be re-written in the following form:

This denotes the magnification factor

can thus be expressed as:

It can be seen that the complex frequency-response function 𝐻(𝑖𝜔),

Similarly, if 𝐹 𝑡 = 𝐹0 𝑠𝑖𝑛𝜔𝑡, the corresponding steady-state

𝑚𝑥ሷ + 𝑘𝑥 ± 𝜇𝑁 = 𝐹(𝑡) = 𝐹0 𝑠𝑖𝑛𝜔𝑡 Eqn. 1

• The exact solution of Eq. 1 is quite involved. However, we can expect

• If dry-friction force is small compared to the amplitude of the applied

• To find such a ratio, we equate the energy dissipated due to dry

• If the equivalent viscous-damping constant is denoted as the energy

where the amplitude X can be found from

Substituting Eq. 7 into Eq. 8 for X, we obtain

A vibratory system (𝑚 = 10 kg, 𝑘 = 4 × 103 N/m) vibrates

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