That's a very interesting field.
The Bowles book chapter on foundation vibrations is pretty good.
The reference though is still Gazeta's "Foundation vibrations" in Foundation Engineering Handbook, Fang, 1991. Lots of plots, graphs, illustrations.
More recently, Wolf And Deeks 2004 proposed a cone-model, whose result are identical to Gazeta's model with axialsymmetrical foundations. Their book has a link to a standalone calculation program (CONAN).
Other authors are Puri and Prakash (various years of publication.
According to Gazetas when dealing with machinery vibrations the strains are so small that the dynamic shear modulus Go should be used (might not be the same when strong earthquakes are involved).
Go may be calculated from Vs, shear wave velocity, or Eo, young's modulus at small strains.
In the case of shallow rigid bedrock, I would suggest today to use Nakamura's method (microtremors) to measure directly the frequency of resonance of the ground, since the solutions give very high settlements when the frequency of machinery is close to that.