-

Vibration 3

2DOF and Multiple DOF systems

1-
 -

Chapter 4 Multiple Degree of

Freedom Systems

Extending the first 3 chapters to

more then one degree of freedom

Rao’s textbook: Chap 5

2
 -

Two Degrees of Freedom (4.1)

x1 x2

m1 m2
k1
k2

3
 -

Free-Body Diagram

k2(x2 -x1)
k1 x1 m1 m2

x1 x2

4
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Equations of Motion

m1 &x&1 (t ) = − k1 x1 (t ) + k 2 ( x2 (t ) − x1 (t ) )
m2 &x&2 (t ) = −k 2 ( x2 (t ) − x1 (t ) )
Rearranging :
m1 &x&1 (t ) + (k1 + k 2 ) x1 (t ) − k 2 x2 (t ) = 0
m2 &x&2 (t ) − k 2 x1 (t ) + k 2 x2 (t ) = 0

5
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Initial Conditions
• Two coupled, second -order, ordinary
differential equations with constant
coefficients
• Needs 4 constants of integration to solve
• Thus 4 initial conditions on positions and
velocities

x1(0) = x10, x&1(0) = x&10, x2(0) = x20, x&2(0) = x&20

6
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Solution by Matrix Methods

⎡ x1 (t ) ⎤ ⎡ x&1 (t ) ⎤ ⎡ &x&1 (t ) ⎤
x(t ) = ⎢ ⎥ , x& (t ) = ⎢ ⎥ , &x&(t ) = ⎢ ⎥
⎣ 2 ⎦
x (t ) &
⎣ 2 ⎦
x (t ) &
x &
⎣ 2 ⎦ (t )

⎡m1 0⎤ ⎡k1 + k 2 − k2 ⎤
M=⎢ ⎥ ,K = ⎢
⎣0 m2 ⎦ ⎣ − k2 k 2 ⎥⎦

M&x& + Kx = 0

7
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Initial Conditions

⎡ x10 ⎤ ⎡ x&10 ⎤
x(0) = ⎢ ⎥, x& (0) = ⎢ ⎥
⎣ 20 ⎦
x &
⎣ 20 ⎦
x

8
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Solution:

jωt
Let x(t) = ue
j = −1, u =/ 0, ω unknown
⇒ (-ω M + K )ue
2 jω t
=0
⇒ (-ω M + K )u = 0
2

9
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Changes ODE into algebraic equation

(-ω 2
M + K )u = 0 ⇒
two algebraic equation in 3 uknowns
⎡ u1 ⎤
u= , and ω
⎢⎣u2 ⎥⎦

10
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Condition for Solution:

inv(-ω 2 M + K ) exists ⇒ u = 0

Require u =/ 0 ⇒ (-ω M + K ) does not exist

2 −1

or det(-ω 2 M + K ) = 0

One equation in one unknown w

11
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Back to our specific system: the

characteristic equation

det(-ω M + K ) = 0 ⇒
2

⎡ − ω 2
m1 + k1 + k2 −k2 ⎤
det =0⇒
⎢⎣ −k2 −ω m2 + k2 ⎥⎦
2

m1m2 ω − (m1k2 + m2 k1 + m2 k2 )ω + k1 k2 = 0
4 2

Quadratic in ω2 so four solutions

ω21 and ω22 or +ω1 and + ω2
12
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Calculating the corresponding

vectors u1 and u2

A vector equation for each square frequency

(− ω M + K)u1 = 0
2
1

And:
(− ω M + K)u2 = 0
2
2

4 equations in the 4 unknowns (each

vector has 2 components, but...
13
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Numerical examples

• m1=9 kg,m2=1kg, k1=24 N/m and k2=3 N/m

• Characteristic equation becomes
ω4-6ω2+8=(ω2-2)(ω2-4)=0
ω2 =2 and ω2 =4 or
ω1,3 = ± 2 rad/s, ω2,4 = ±2 rad/s
Each value of ω2 yields an expression or u:

14
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Computing the vectors u

⎡ u11 ⎤
For ω = 2, let u1 =
2
then we have
1
⎢⎣ u12 ⎥⎦
(-ω M + K)u = 0 ⇒
2
1

⎡27 − 9(2) −3 ⎤ ⎡u11 ⎤ ⎡ 0 ⎤

= ⇒
⎢⎣ −3 3 − (2)⎥⎦ ⎢⎣u12 ⎥⎦ ⎢⎣ 0 ⎥⎦
9u11 − 3u12 = 0 and − 3u11 + u12 = 0
2 equations, 2 unknowns but DEPENDENT!
15
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continued

u11 1 1
= ⇒ u11 = u12 from both equations :
u12 3 3
only the direction, not the magnitude can be determined!
This is because : det (−ω12 M + K ) = 0.
The magnitude is arbitrary. Suppose u1 satisfies
(−ω12 M + K )u1 = 0, so does au1 , a arbitrary :
(−ω12 M + K )au1 = 0 ⇔ (−ω12 M + K )u1 = 0

16
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Likewise for the second value of ω2:

⎡ u21 ⎤
For ω = 4, let u2 =
2
then we have
2
⎢⎣u22 ⎥⎦
(-ω12 M + K)u = 0 ⇒
⎡27 − 9(4) −3 ⎤ ⎡ u21 ⎤ ⎡ 0 ⎤
= ⇒
⎢⎣ −3 3 − (4)⎥⎦ ⎢⎣u22 ⎥⎦ ⎢⎣ 0 ⎥⎦
1
−9u21 − 3u22 = 0 or u21 = − u22
3
Note that the other equation is the same
17
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What to do about the magnitude!

Several possibilities, here we just fix one element:

Choose:
⎡ 3⎤ 1
u12 = 1 ⇒ u1 = ⎢ ⎥
⎣1⎦
Choose:
−
⎡ 3⎤1
u22 = 1 ⇒ u 2 = ⎢ ⎥
⎣ 1 ⎦
18-
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Thus the solution to the algebraic

matrix equation is:

⎡ 3⎤ 1
ω1,3 = ± 2, u1 =
⎢⎣ 1 ⎥⎦
−1
⎡ 3⎤
ω2,4 = ±2, u2 =
⎢⎣ 1 ⎥⎦

19
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Return now to the time response:

We have four solutions:
x(t) = u1e− jω1t ,u1e jω1t ,u 2 e − jω2 t ,u 2 e jω2 t ⇒
Since linear we can combine as:
x(t) = au1e − jω1t + bu1e jω1t + cu 2e − jω2 t + du 2 e jω2 t
⇒ x(t) = (ae − jω1t + be jω1t )u1 + (ce − jω2 t + de jω2t )u 2
= A1 sin( ω1t + φ1 )u1 + A2 sin(ω 2t + φ2 )u 2

where A1 , A2 , φ1 , and φ2 are constants of integration

determined by initial conditions
20
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Physical interpretation of all that

math!
• Each of the TWO masses is oscillating at
TWO natural frequencies ω1 and ω2
• The relative magnitude of each sine term,
and hence of the magnitude of oscillation
of m1 and m2 is determined by the value of
A1u1 and A2u2
• The vectors u1 and u2 are called
mode shapes

21
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What is a mode shape?

• First note that A1,A2, φ1 and φ2 are determined by

the initial conditions
• Choose them so that A2 = φ1 = φ2 =0
• Then: ⎡ x1 (t) ⎤ ⎡ u11 ⎤
x(t) = = A1 sin ω1t
⎢⎣ x2 (t)⎥⎦ ⎢⎣u12 ⎥⎦
• Thus each mass oscillates at (one) frequency ω1
with magnitudes proportional to u1 the 1st mode
shape

22
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Mode shapes:

1/3 1

Mode 1: m1 m2

-1/3 1
Mode 2: m2 m2

23
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Example (continue on)

⎡1⎤ ⎡0 ⎤
consider x(0) = ⎢ ⎥ mm, x& (0) = ⎢ ⎥
⎣0 ⎦ ⎣0 ⎦
⎡A
( )
⎡ x1 (t ) ⎤ ⎢ 1 sin 2t + φ1 − 2 sin (2t + φ 2 )⎥
A ⎤
⎢ x (t ) ⎥ = ⎢ 3 3
⎣ 2 ⎦
⎣ 1
A sin ( 2t + φ1 )
+ A 2 sin (2 t + φ )
2 ⎦
⎥

⎡A
( )
⎡ x&1 (t ) ⎤ ⎢ 1 2 cos 2t + φ1 − 2 2 cos(2t + φ2 )⎥
A ⎤
⎢ x& (t )⎥ = ⎢ 3 3
⎣ 2 ⎦
⎣ 1
A 2 cos (2 t + φ1 )+ A 2 2 cos ( 2t + φ )
2 ⎦
⎥

24
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At t=0 we have

⎡ ⎤
⎡1 mm⎤
= ⎢
A1
sin (φ ) −
A2
sin (φ )⎥
⎢ 0 ⎥
1 2
3 3
⎣ ⎦ ⎢⎣ A1 sin (φ1 ) + A2 sin (φ2 ) ⎥⎦
⎡ ⎤
2 sin (φ1 ) − 2 sin (φ 2 )⎥
A1 A2
⎡0 ⎤ ⎢
⎢0 ⎥ = ⎢ 3 3
⎥
⎣ A1 2 sin (φ1 ) + 2 A2 sin (φ2 ) ⎦
⎣ ⎦

25
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4 equations in 4 unknowns:

3 = A1 sin(φ1 ) − A2 sin (φ2 )

0 = A1 sin (φ1 ) + A2 sin(φ2 )
0 = A1 2 cos(φ1 ) − A2 2 cos(φ2 )
0 = A1 2 cos(φ1 ) + A2 2 cos(φ2 )
Yields: π
A1 = 1.5 mm, A2 = −1.5 mm, φ1 = φ2 = rad
2

26
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Solution:
x1 (t) = 0.5cos 2t + 0.5cos 2t
x2 (t) = 1.5cos 2t −1.5cos 2t
4

mm 2

x1 t

x2 t 0 5 10 15 20

t seconds

27
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Solution as a sum of modes

x(t) = u1 cos ω1t + u2 cos ω2 t

Determines how the second

frequency contributes to the
Determines how the first response
frequency contributes to the
response

28
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Things to note

• Two degrees of freedom implies two

natural frequencies
• Each mass oscillates at with these two
frequencies present in the response
• Frequencies are not those of two
component systems
k1 k2
ω1 = 2≠ = 1.63 , ω 2 = 2 ≠ = 1.732
m1 m2

29
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Motor-pump system on springs

Figs.5.1

30
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Packaging of an instrument (portable electronics)

Figs.5.2
31
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Principle coordinates

• As is evident from the systems shown in

Figs.5.1 and 5.2, the configuration of a
system can be specified by a set of
independent coordinates termed as
generalized coordinates, such as length,
angle, or some other physical parameters.
• Principle coordinates is defined as any set
of coordinates that leads a coupled
equation of motion to an uncoupled
system of equations.

32
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Equations of Motion for 2DOF System

m1 &x&1 + (c1 + c2 ) x&1 − c2 x&2 + (k1 + k 2 ) x1 − k 2 x2 = F1 (5.1)

m2 &x&2 − c2 x&1 + (c2 + c3 ) x&2 − k 2 x1 + (k 2 + k3 ) x2 = F2 (5.2)

r&& r& r r
[m]x (t ) + [c]x (t ) + [k ]x (t ) = F (t ) (5.3)

where [m], [c], and [k] are called the mass,

damping, and stiffness matrices, respectively, and
are given by
33
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Properties of M & K Matrices

⎡m1 0 ⎤ ⎡k1 + k 2 − k 2 ⎤
[ m] = ⎢ ⎥ [k ] = ⎢ ⎥
⎣ 0 m2 ⎦ ⎣ − k 2 k 2 + k3 ⎦
[m]T = [m], [k ]T = [k ]

where the superscript T denotes the transpose of

the matrix.

Matrices [m] and [k] are symmetric:

34
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Ex 5.3 Free Vibration Response of a Two Degree

of Freedom System
Find the free vibration response of the system
shown in Fig.5.3(a) with k1 = 30, k2 = 5, k3 = 0, m1
= 10, m2 = 1 and c1 = c2 = c3 = 0 for the initial
conditions x1 (0) = 1, x&1 (0) = x2 (0) = x&2 (0).
Solution: For the given data, the eigenvalue
problem, Eq.(5.8), becomes
⎡− m1ω 2 + k1 + k 2 −k 2 ⎤ ⎧ X 1 ⎫ ⎧0⎫
⎢ ⎥⎨ ⎬ = ⎨ ⎬
⎢⎣ −k2 − m2ω + k 2 + k3 ⎥⎦ ⎩ X 2 ⎭ ⎩0⎭
2

or ⎡− 10ω 2 + 35 − 5 ⎤ ⎧ X 1 ⎫ ⎧0⎫
⎢ ⎥⎨ ⎬ = ⎨ ⎬ (E.1)
⎢⎣ -5 −ω + 5⎥⎦ ⎩ X 2 ⎭ ⎩0⎭
2

35
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Example 5.3 Solution

By setting the determinant of the coefficient matrix
in Eq.(E.1) to zero, we obtain the frequency
equation,
10ω 4 − 85ω 2 + 150 = 0 (E.2)
from which the natural frequencies can be found
as ω12 = 2.5, ω22 = 6.0
ω1 = 1.5811, ω2 = 2.4495 (E.3)
The normal modes (or eigenvectors) are given by
X 1(1) 1
X (1)
(1)
X 1(1) (E.4)
X 2
2

⎪ 1 ⎫⎪ ⎧ 1 ⎫ ( 2 )
( 2)
X
X ( 2) ( 2) ⎬
= ⎨ ⎬ X1 (E.5)
⎪⎩ X 2 ⎪⎭ ⎩− 5⎭
36
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Example 5.3 Solution

The free vibration responses of the masses m1
and m2 are given by (see Eq.5.15):
x1 (t ) = X 1(1) cos(1.5811t + φ1 ) + X 1( 2 ) cos(2.4495t + φ2 ) (E.6)
x2 (t ) = 2 X 1(1) cos(1.5811t + φ1 ) − 5 X 1( 2) cos(2.4495t + φ2 ) (E.7)

By using the given initial conditions in Eqs.(E.6)

and (E.7), we obtain
x1 (t = 0) = 1 = X 1(1) cos φ1 + X 1( 2) cos φ2 (E.8)
x2 (t = 0) = 0 = 2 X 1(1) cos φ1 − 5 X 1( 2) cos φ2 (E.9)
x&1 (t = 0) = 0 = −1.5811X 1(1) sin φ1 − 2.4495 X 1( 2 ) sin φ2 (E.10)
x&2 (t = 0) = −3.1622 X 1(1) + 12.2475 X 1( 2 ) sin φ2 (E.11)
37
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Example 5.3 Solution

The solution of Eqs.(E.8) and (E.9) yields
5 2
X 1 cos φ1 = ;
(1)
X 1 cos φ2 =
( 2)
(E.12)
7 7
while the solution of Eqs.(E.10) and (E.11) leads to
X 1(1) sin φ1 = 0, X 1( 2 ) sin φ2 = 0 (E.13)

Equations (E.12) and (E.13) give

5 2
X (1)
1 = , X ( 2)
1 = , φ1 = 0, φ2 = 0 (E.14)
7 7

38
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Example 5.3 Solution

Thus the free vibration responses of m1 and m2
are given by
5 2
x1 (t ) = cos1.5811t + cos 2.4495t (E.15)
7 7
10 10
x2 (t ) = cos1.5811t − cos 2.4495t (E.16)
7 7

39
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5.4 Torsional System

Consider a torsional system as shown in Fig.5.6.
The differential equations of rotational motion for
the discs can be derived as
J1θ&&1 = − kt1θ1 + kt 2 (θ 2 − θ1 ) + M t1
J θ&& = −k (θ − θ ) − k θ + M
2 2 t2 2 1 t3 2 t2

which upon rearrangement become

J θ&& + (k + k )θ − k θ = M
1 1 t1 t2 1 t2 2 t1

J 2θ&&2 − kt 2θ1 + (kt 2 + kt 3 )θ 2 = M t 2 (5.19)

For the free vibration analysis of the system,
Eq.(5.19) reduces to
40
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5.4 Torsional System

J1θ&&1 + (kt1 + kt 2 )θ1 − kt 2θ 2 = 0
J 2θ&&2 − kt 2θ1 + (kt 2 + kt 3 )θ 2 = 0 (5.20)
F
r
o
m

d
y
n
a
Figure 5.6: mTorsional system with discs mounted on a shaft
41
i
 -

Ex 5.4 Natural Frequencies of a Torsional System

Find the natural frequencies and mode shapes for
the torsional system shown in Fig.5.7 for J1 = J0 ,
J2 = 2J0 and kt1 = kt2 = kt .

Solution:
The differential equations of motion,
Eq.(5.20), reduce to (with kt3 = 0,
kt1 = kt2 = kt, J1 = J0 and J2 = 2J0):

J 0θ&&1 + 2ktθ1 − ktθ 2 = 0

Fig.5.7:
2 J 0θ&&2 − ktθ1 + ktθ 2 = 0 (E.1) Torsional system

42
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Example 5.4 Solution

Rearranging and substituting the harmonic
solution:
θ i (t ) = Θi cos(ωt + φ ); i = 1,2 (E.2)

gives the frequency equation:

2ω 4 J 02 − 5ω 2 J 0 kt + kt2 = 0 (E.3)

The solution of Eq.(E.3) gives the natural

frequencies
kt kt
ω1 = (5 − 17 ) and ω2 = (5 + 17 ) (E.4)
4J0 4J0
= 0.4682 k t / J 0 = 1.5102 k t / J 0
43
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Example 5.4 Solution

The amplitude ratios are given by
Θ(1)
(5 − 17 )
r1 = 2
= 2− = 1.7808
Θ(1)
1 4
Θ (22 ) (5 + 17 )
r2 = ( 2 ) = 2 − = −0.2808 (E.5)
Θ1 4
Equations (E.4) and (E.5) can also be obtained by
substituting the following in Eqs.(5.10) and (5.11).
k1 = kt1 = kt , k 2 = kt 2 = kt ,
m1 = J1 = J 0 , m2 = J 2 = 2 J 0 and k3 = 0

44
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5.5 Coordinate Coupling and Principal Coordinates

Generalized coordinates are sets of n coordinates
used to describe the configuration of the system.
Equations of motion for a lathe Using x(t) and θ(t)

45
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5.5 Coordinate Coupling and Principal

Coordinates
From the free-body diagram shown in Fig.5.10a,
with the positive values of the motion variables as
indicated, the force equilibrium equation in the
vertical direction can be written as
m&x& = −k1 ( x − l1θ ) − k 2 ( x + l2θ ) (5.21)
and the moment equation about C.G. can be
expressed as
J 0θ&& = k1 ( x − l1θ )l1 − k 2 ( x + l2θ )l2 (5.22)

Eqs.(5.21) and (5.22) can be rearranged and

written in matrix form as

46
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5.5 Coordinate Coupling and Principal

Coordinates
⎡m 0 ⎤ ⎧ &x&⎫ ⎡ (k1 + k 2 ) − (k1l1 − k 2l2 ) ⎤ ⎧ x ⎫ ⎧0⎫
⎢0 J ⎥ ⎨ &&⎬ + ⎢− (k l − k l ) 2 ⎥⎨ ⎬
=⎨ ⎬
(k1l 1 + k 2l 2 )⎥⎦ ⎩θ ⎭ ⎩0⎭
(5.23)
0 ⎦ ⎩θ ⎭
2
⎣ ⎢⎣ 11 2 2

The lathe rotates in the vertical plane and has

vertical motion as well, unless k1l1 = k2l2. This is
known as elastic or static coupling.

•Equations of motion Using y(t) and θ(t).

From Fig.5.10b, the equations of motion for
translation and rotation can be written as
m&y& = −k ( y − l ′θ ) − k ( y + l ′θ ) − meθ&&
1 1 2 2

47
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5.5 Coordinate Coupling and Principal

Coordinates
J Pθ&& = k1 ( y − l1′θ )l1′ − k 2 ( y + l2′θ )l2′ − me&y& (5.24)

These equations can be rearranged and written in

matrix form as
⎡m me⎤ ⎧ &y&⎫ ⎡(k1 + k 2 ) (k 2l2′ − k1l1′) ⎤ ⎧ y ⎫ ⎧0⎫
⎢me ⎥ ⎨ &&⎬ + ⎢ 2 ⎥⎨ ⎬
=⎨ ⎬ (5.25)
⎣ J P ⎦ ⎩θ ⎭ ⎢⎣(− k1l1′ + k 2l2′ ) (k1l1′ + k 2l ′2 )⎥⎦ ⎩θ ⎭ ⎩0⎭
2

If k1l1′ = k 2l2′ , the system will have dynamic or inertia

coupling only.

Note the following characteristics of these

systems:

48
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5.5 Coordinate Coupling and Principal

Coordinates
1. In the most general case, a viscously damped
2DOF system has the equations of motions in
the form:
⎡m11 m12 ⎤ ⎧&x&1 ⎫ ⎡c11 c12 ⎤ ⎧ x&1 ⎫ ⎡k11 k12 ⎤ ⎧ x1 ⎫ ⎧0⎫
⎢m ⎥ ⎨ ⎬+ ⎢ ⎥ ⎨ ⎬+ ⎢ ⎥ ⎨ ⎬=⎨ ⎬ (5.26)
⎣ 21 m22 ⎦ ⎩&x&2 ⎭ ⎣c21 c22 ⎦ ⎩ x& 2 ⎭ ⎣k 21 k 22 ⎦ ⎩ x2 ⎭ ⎩0⎭
2. The system vibrates in its own natural way
regardless of the coordinates used. The choice
of the coordinates is a mere convenience.
3. Principal or natural coordinates are defined as
system of coordinates which give equations of
motion that are uncoupled both statically and
dynamically.
49
 -

Ex 5.6 Principal Coordinates of Spring-Mass

System
Determine the principal coordinates for the spring-
mass system shown in Fig.5.4.

50
 -

Example 5.6 Solution

Approach: Define two independent solutions as
principal coordinates and express them in terms of
the solutions x1(t) and x2(t).
The general motion of the system shown is
⎛ k ⎞ ⎛ 3k ⎞
x1 (t ) = B1 cos⎜⎜ t + φ1 ⎟⎟ + B2 cos⎜⎜ t + φ2 ⎟⎟
⎝ m ⎠ ⎝ m ⎠
⎛ k ⎞ ⎛ 3k ⎞
x2 (t ) = B1 cos⎜⎜ ⎟
t + φ1 ⎟ − B2 cos⎜ ⎜ t + φ2 ⎟⎟ (E.1)
⎝ m ⎠ ⎝ m ⎠

We define a new set of coordinates such that

51
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Example 5.6 Solution

⎛ k ⎞
q1 (t ) = B1 cos⎜⎜ t + φ1 ⎟⎟
⎝ m ⎠
⎛ 3k ⎞
q2 (t ) = B2 cos⎜⎜ t + φ2 ⎟⎟ (E.2)
⎝ m ⎠
Since the coordinates are harmonic functions, their
corresponding equations of motion can be written
as ⎛k⎞
q&&1 + ⎜ ⎟q1 = 0
⎝m⎠
⎛ 3k ⎞
q&&2 + ⎜ ⎟q2 = 0 (E.3)
⎝m⎠
52
 -

Example 5.6 Solution

From Eqs.(E.1) and (E.2), we can write
x1 (t ) = q1 (t ) + q2 (t )
x2 (t ) = q1 (t ) − q2 (t ) (E.4)

The solution of Eqs.(E.4) gives the principal

coordinates:
1
q1 (t ) = [ x1 (t ) + x2 (t )]
2
1
q2 (t ) = [ x1 (t ) − x2 (t )] (E.5)
2

53
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Forced Vibration Analysis

The equations of motion of a general 2DOF system
under external forces can be written as

⎡m11 m12 ⎤ ⎧ &x&1 ⎫ ⎡c11 c12 ⎤ ⎧ x&1 ⎫ ⎡k11 k12 ⎤ ⎧ x1 ⎫ ⎧ F1 ⎫

⎢m ⎥ ⎨ ⎬+ ⎢ ⎥ ⎨ ⎬+ ⎢ ⎥ ⎨ ⎬ = ⎨ ⎬ (5.27)
⎣ 12 m22 ⎦ ⎩ &x&2 ⎭ ⎣c21 c22 ⎦ ⎩ x& 2 ⎭ ⎣k 21 k 22 ⎦ ⎩ x2 ⎭ ⎩ F2 ⎭

Consider the external forces to be harmonic:

F j (t ) = F j 0 e iω t , j = 1,2 (5.28)
where ω is the forcing frequency. We can write
the steady-state solutions as
x j (t ) = X j e iω t , j = 1,2 (5.29)
54
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Forced Vibration Analysis

Substitution of Eqs.(5.28) and (5.29) into Eq.(5.27)
leads to
⎡(−ω 2 m11 + iωc11 + k11 ) (−ω 2 m12 + iωc12 + k12 ) ⎤ ⎧ X 1 ⎫
⎢ ⎥⎨ ⎬
⎢⎣(−ω m12 + iωc12 + k12 ) (−ω2 m22 + iωc22 + k 22 )⎥⎦ ⎩ X 2 ⎭
2

⎧ F10 ⎫
=⎨ ⎬ (5.30)
⎩ F20 ⎭

We defined as in Section 3.5 the mechanical

impedance Zre(iω) as
Z rs (iω ) = −ω mrs + iωcrs + k rs , r , s = 1,2
2
(5.31)

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Forced Vibration Analysis

And write Eq.(5.30) as:
r r
[Z (iω )]X = F0 (5.32)
where
⎡ Z11 (iω ) Z12 (iω ) ⎤
[Z (iω )] = ⎢ ⎥ = Impedance matrix
⎣ Z12 (iω ) Z 22 (iω )⎦
r ⎧ X1 ⎫
X =⎨ ⎬
⎩X 2 ⎭
r ⎧ F10 ⎫
F0 = ⎨ ⎬
⎩ F20 ⎭

Eq.(5.32) can be solved to obtain:

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Forced Vibration Analysis

r r
X = [Z (iω )] F0
−1
(5.33)

where the inverse of the impedance matrix is given

⎡ Z 22 (iω ) -Z12 (iω )⎤
[Z (iω )]
−1
=
1
⎢ ⎥ (5.34)
Z11 (iω ) Z 22 (iω ) − Z12 (iω ) ⎣− Z12 (iω ) Z11 (iω ) ⎦
2

Eqs.(5.33) and (5.34) lead to the solution

Z 22 (iω ) F10 − Z12 (iω ) F20
X 1 (iω ) =
Z11 (iω ) Z 22 (iω ) − Z122 (iω )
− Z12 (iω ) F10 + Z11 (iω ) F20
X 2 (iω ) = (5.35)
Z11 (iω ) Z 22 (iω ) − Z122 (iω )
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Ex 5.8 Steady-State Response of Spring-

Mass System
Find the steady-state response of system shown
in Fig.5.13 when the mass m1 is excited by the
force F1(t) = F10 cos ωt. Also, plot its frequency
response curve.

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Example 5.8 Solution

The equations of motion of the system can be
expressed as
⎡m 0⎤ ⎧&x&1 ⎫ ⎡2k -k ⎤ ⎧ x1 ⎫ ⎧ F10 cos ωt ⎫
⎢0 m⎥ ⎨&x& ⎬ + ⎢-k ⎥ ⎨ ⎬=⎨ ⎬ (E.1)
⎣ ⎦⎩ 2 ⎭ ⎣ 2 k ⎦ ⎩ x2 ⎭ ⎩ 0 ⎭

We assume the solution to be as follows.

x j (t ) = X j cos ωt ; j = 1,2 (E.2)

Eq.(5.31) gives
Z11 (ω ) = Z 22 (ω ) = −mω 2 + 2k , Z12 (ω ) = −k (E.3)

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Example 5.8 Solution

Hence,
(−ω 2 m + 2k ) F10 (−ω 2 m + 2k ) F10
X 1 (ω ) = = (E.4)
(−ω m + 2k ) − k
2 2 2
(− mω 2 + 3k )(− mω 2 + k )
kF10 kF10
X 2 (ω ) = = (E.5)
(− mω + 2k ) − k
2 2 2
(− mω 2 + 3k )(− mω 2 + k )

Eqs.(E.4) and (E.5) can be expressed as

⎧⎪ ⎛ ω ⎞ 2 ⎫⎪
⎨2 − ⎜⎜ ⎟⎟ ⎬ F10
⎪⎩ ⎝ ω1 ⎠ ⎪⎭
X 1 (ω ) = (E.6)
⎡⎛ ω ⎞ 2 ⎛ ω ⎞ 2 ⎤ ⎡ ⎛ ω ⎞ 2 ⎤
k ⎢⎜⎜ 2 ⎟⎟ − ⎜⎜ ⎟⎟ ⎥ ⎢1 − ⎜⎜ ⎟⎟ ⎥
⎢⎣⎝ ω1 ⎠ ⎝ ω1 ⎠ ⎥⎦ ⎢⎣ ⎝ ω1 ⎠ ⎥⎦

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Example 5.8 Solution

F10
X 2 (ω ) = (E.7)
⎡⎛ ω ⎞ ⎛ ω ⎞ ⎤ ⎡ ⎛ ω ⎞
2 2 2
⎤
k ⎢⎜⎜ 2 ⎟⎟ − ⎜⎜ ⎟⎟ ⎥ ⎢1 − ⎜⎜ ⎟⎟ ⎥
⎢⎣⎝ ω1 ⎠ ⎝ ω1 ⎠ ⎥⎦ ⎢⎣ ⎝ ω1 ⎠ ⎥⎦

Fig.5.14: Frequency response curves

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Semidefinite Systems
Semidefinite systems are also known as
unrestrained or degenerate systems. Two
examples of such systems are shown in Fig.5.15.
For Fig.5.15a, the equations of motion can be
written as
m1&x&1 + k ( x1 − x2 ) = 0
m2 &x&2 + k ( x2 − x1 ) = 0 (5.36)
For free vibration, we assume the motion to be
harmonic:
x j (t ) = X j cos(ωt + φ j ), j = 1,2 (5.37)

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Semidefinite Systems
Substituting Eq.(5.37) into Eq.(5.36) gives
(− m1ω 2 − k ) X 1 − kX 2 = 0
− kX 1 + (− m2ω 2 + k ) X 2 = 0 (5.38)

Fig.5.15: Semidefinite Systems

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Semidefinite Systems
We obtain the frequency equation as
ω 2 [m1m2ω 2 − k (m1 + m2 )] = 0 (5.39)

From which the natural frequencies can be

obtained:
k (m1 + m2 )
ω1 = 0 and ω2 = (5.40)
m1m2

Such systems, which have one of the natural

frequencies equal to zero, are called semidefinite
systems.

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Frequency (characteristic) equation for 2DOF mass-

spring system
(m1m2 )ω 4 − {(k1 + k 2 )m2 + (k 2 + k3 )m1}ω
{ }
+ (k1 + k 2 )(k 2 + k3 ) − k 22 = 0 (5.9)

1 ⎧ (k1 + k 2 )m2 + (k 2 + k3 )m1 ⎫

ω ,ω = ⎨
2
1
2
2 ⎬
2⎩ m1m2 ⎭
⎡
1 ⎧ (k1 + k 2 )m2 + (k 2 + k3 )m1 ⎫
2

m ⎢⎨ ⎬
2 ⎢⎩ m1m2 ⎭
⎣
1/ 2
⎧ (k1 + k 2 )(k 2 + k3 ) − k ⎫
2
− 4⎨ 2
⎬ (5.10)
⎩ m1m2 ⎭

65