A cantilevered beam was excited by a periodically reciprocating friction contact surface. Frequency sweeps revealed frequency regions of dynamic responses in the flexural direction of the beam. Chaotic and quasiperiodic responses were observed when the input frequency was fixed. The quasiperiodic responses sometimes were accompanied by beam oscillations normal to the friction surface. Extremely low frequencies were observed (up to over 100 times lower than the driver). Two-frequency quasiperiodicity was observed, and underlying circle maps were extracted. Winding numbers were matched to frequencies quantified in FFTs. Impending torus folding and intermittency were revealed. Three-frequency quasiperiodicity was also evident. A torus doubling bifurcation was documented.

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