Two Masses and Two Springs System
Using Differential Equations and Matrix Diagonalization
JESTIN LENUS A
August 27, 2024
Introduction
▶ Overview of mechanical systems
▶ Importance of differential equations in modeling
▶ Brief introduction to matrix diagonalization
System Description
▶ Two masses m1 and m2
▶ Two springs with constants k1 and k2
▶ Diagram of the system
Free Body Diagrams
▶ Free body diagram for m1
▶ Free body diagram for m2
Two-Mass Two-Spring System Diagram
x1 (t) x2 (t)
k1 k2
m1 m2
Equations of Motion
m1 ẍ1 = −k1 x1 + k2 (x2 − x1 )
m2 ẍ2 = −k2 (x2 − x1 )
Matrix Form of Equations
Mẍ + Kx = 0
where
m1 0 k1 + k2 −k2
M= , K=
0 m2 −k2 k2
Assumptions and Simplifications
▶ Neglect damping
▶ Assume small displacements
▶ Linearization of the system
Eigenvalue Problem
▶ Substitute x(t) = ϕe iωt
▶ Obtain the eigenvalue problem: Kϕ = ω 2 Mϕ
Solving the Eigenvalue Problem
▶ Determinant condition: det(K − ω 2 M) = 0
▶ Find the eigenvalues ω 2
Eigenvectors Calculation
▶ Substitute eigenvalues to find eigenvectors
▶ Normalize eigenvectors
Normal Modes
▶ Definition of normal modes
▶ Interpretation of eigenvectors as normal modes
Mode Shapes Visualization
▶ Plot mode shapes
▶ Discuss physical interpretation
Initial Conditions
▶ Specify initial displacements and velocities
▶ Express initial conditions in terms of normal modes
General Solution
x(t) = A cos(ωt) + B sin(ωt)
where A and B are determined by initial conditions.
Example 1: Specific Case
▶ Set specific values for m1 , m2 , k1 , k2
▶ Solve for eigenvalues and eigenvectors
Example 1: Solution
▶ Calculate mode shapes
▶ Apply initial conditions and solve for A and B
Example 1: Interpretation
▶ Discuss physical interpretation of results
▶ Compare with expectations
Example 2: Different Parameters
▶ Change parameters m1 , m2 , k1 , k2
▶ Solve for eigenvalues and eigenvectors
Example 2: Solution
▶ Calculate mode shapes
▶ Apply initial conditions and solve for A and B
Example 2: Interpretation
▶ Discuss physical interpretation of results
▶ Compare with expectations
Stability Analysis
▶ Discuss conditions for stability
▶ Role of eigenvalues in stability
Damping Considerations
▶ Introduce damping into the model
▶ Briefly discuss how it affects the solution
Coupled Oscillations
▶ Discuss the concept of coupled oscillations
▶ Relationship with normal modes
Energy in the System
▶ Calculate kinetic and potential energy
▶ Discuss energy transfer between masses
Real-World Applications
▶ Applications in engineering (e.g., buildings, vehicles)
▶ Other examples of two-mass, two-spring systems
Numerical Solutions
▶ Introduction to numerical methods
▶ Discuss when and why to use them
Matrix Diagonalization Overview
▶ Purpose of matrix diagonalization in solving coupled systems
▶ Simplifies the system of differential equations
Diagonalization Process
▶ Consider the eigenvalue equation: Kϕ = ω 2 Mϕ
▶ Define the matrix A = M−1 K
▶ Find the eigenvalues λi and eigenvectors ϕi of A
Diagonalization Example
1 0 2 −1
▶ Assume M = and K =
0 1 −1 2
2 −1
▶ Compute A = M−1 K =
−1 2
▶ Find eigenvalues: λ1 = 3, λ2 = 1
1 1
▶ Eigenvectors: ϕ1 = , ϕ2 =
1 −1
Constructing the Diagonal Matrix
1 1 λ1 0 3 0
P = ϕ1 ϕ2 = , D= =
1 −1 0 λ2 0 1
A = PDP−1
Solution in Terms of Normal Coordinates
▶ Transform the system using y = P−1 x
▶ The system decouples into two independent equations:
ÿ1 + λ1 y1 = 0, ÿ2 + λ2 y2 = 0
▶ Solve these equations separately
Back-Transformation
▶ Express the original coordinates x(t) in terms of y(t)
x(t) = Py(t)
▶ Substitute y(t) to obtain the full solution
Interpretation of Results
▶ Discuss the physical meaning of the diagonalization process
▶ Relate back to the original coupled system
Conclusion
▶ Summary of matrix diagonalization in solving the system
▶ Key takeaways
▶ Applications to more complex systems
Matrix Diagonalization Overview
▶ Purpose of matrix diagonalization in solving coupled systems
▶ Simplifies the system of differential equations
Diagonalization Process
▶ Consider the eigenvalue equation: Kϕ = ω 2 Mϕ
▶ Define the matrix A = M−1 K
▶ Find the eigenvalues λi and eigenvectors ϕi of A
Diagonalization Example
▶ Given:
1 0 5 −3
M= , K=
0 1.5 −3 3
5 −3
▶ Compute A = M−1 K =
−2 2
▶ Find eigenvalues: λ1 = 6, λ2 = 1
1 1
▶ Eigenvectors: ϕ1 = , ϕ2 =
1 −2
Constructing the Diagonal Matrix
1 1 λ1 0 6 0
P = ϕ1 ϕ2 = , D= =
1 −2 0 λ2 0 1
A = PDP−1
Solution in Terms of Normal Coordinates
▶ Transform the system using y = P−1 x
▶ The system decouples into two independent equations:
ÿ1 + λ1 y1 = 0, ÿ2 + λ2 y2 = 0
▶ Solve these equations separately
Back-Transformation
▶ Express the original coordinates x(t) in terms of y(t)
x(t) = Py(t)
▶ Substitute y(t) to obtain the full solution
Interpretation of Results
▶ Discuss the physical meaning of the diagonalization process
▶ Relate back to the original coupled system
Conclusion
▶ Summary of matrix diagonalization in solving the system
▶ Key takeaways
▶ Applications to more complex systems
Spring-Mass System Animation
x1 (t) x2 (t)
k1 k2
m1 m2
