MEEM 3700

Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

Lecture 18- Two DOF-Initial

Condition

MEEM 3700

2 DOF Free Vibration

K1

M1

K2
X1

M2

K3
X2

Given:

x1 ( 0 ) = 1

x&1 = 0

x2 ( 0 ) = 2

x&2 = 0

Lecture 18- Two DOF-Initial

Condition

x1 ( t ) = ?
Determine:
x2 ( t ) = ?
MEEM 3700

2 DOF Free Vibration: FBDs & EOM

M1

K1 X 1

M2

K3 X 2

K 2 ( X1 X 2 )
X1

Dynamic Equilibrium:

m1
0

Matrix Form:

X2

m1&&
x1 + ( k1 + k2 ) x1 k2 x2 = 0

m2 &&
x2 + ( k2 + k3 ) x2 k2 x1 = 0

0 &&
x1 k1 + k2
+

m2 &&
x2 k2

Lecture 18- Two DOF-Initial

Condition

k2 x1 0
=
k2 + k3 x2 0

MEEM 3700

2 DOF Free Vibration: Solution

Assume a Solution:

x1 ( t ) X 1

= sin (t + )
x2 ( t ) X 2

Substitution:

m
2 1
0

0 X1
k1 + k2
sin (t + ) +

m2 X 2
k2

k2 X 1
0
sin (t + ) =

k 2 + k3 X 2
0

Rearranging:

2 m1

0

Lecture 18- Two DOF-Initial

Condition

0 k1 + k2
+
m2 k2

k2 X 1
0
sin (t + ) =

k 2 + k3 X 2
0
MEEM 3700

2 DOF Free Vibration: Solution

Let = 2 and divide by sin (t + ) :

( k1 + k2 ) m1

k2

For a nonnon-trivial solution:

Using numerical values:

X 1 0
=
( k2 + k3 ) m2 X 2 0
k2

( k + k ) m1
det 1 2
k2

=0
( k2 + k3 ) m2
k2

k1 = 10 k2 = 40 k3 = 5 m1 = 2 m2 = 5

50 2
det
40
Lecture 18- Two DOF-Initial
Condition

40
=0
45 5

MEEM 3700

2 DOF Free Vibration: Eigen Solution

The solution becomes:

( 50 2 )( 45 5 ) 1600 = 0
where:

Therefore:

1 = 2.03

1 = 1.43

10 2 340 + 650 = 0
and

and

2 = 31.96
2 = 5.65

rad
sec

This means that there are two solutions and the total solution is
is the
superposition of each solution.

x1 ( t )
X1
X1

= A sin (1t + 1 ) + B sin (2t + 2 )

X 2 1
X 2 2
x2 ( t )
Lecture 18- Two DOF-Initial
Condition

MEEM 3700

2 DOF Free Vibration: Mode Shapes

Using

1 = 2.03

50 2 ( 2.03)
X 1 0
40

=
40
45 2 ( 2.03) X 2 1 0

( 50 2 ( 2.03) ) X

40 X 2 = 0

X 1 = 0.87 X 2
1

1.15

{ X }1 =

Lecture 18- Two DOF-Initial

Condition

mode shape for 1st natural frequency

MEEM 3700

2 DOF Free Vibration: Mode Shapes

Using

2 = 31.97

50 2 ( 31.97 )
X 1 0
40

=
40
45 2 ( 31.97 ) X 2 2 0

( 50 2 ( 31.97 ) ) X

40 X 2 = 0

X 1 = 2.87 X 2
1

0.35

{ X }2 =

Lecture 18- Two DOF-Initial

Condition

mode shape for 2nd natural frequency

MEEM 3700

2 DOF Free Vibration: Free Vibration Solution

Therefore the free vibration solution becomes:

x1 ( t )

A{ X }1 sin (1t + 1 ) + B { X }2 sin (2t + 2 )

x2 ( t )
x1 ( t ) 1
1

A
sin (1t + 1 ) + B
sin (2t + 2 )
0.352
x2 ( t ) 1.151
A, 1 , B, 2

Lecture 18- Two DOF-Initial

Condition

are determined from the initial conditions.

MEEM 3700

2 DOF Free Vibration: Initial Conditions

x1 ( t ) = AX 11 sin (1t + 1 ) + BX 12 sin ( 2t + 2 )
x2 ( t ) = AX 21 sin (1t + 1 ) + BX 22 sin ( 2t + 2 )
x&1 ( t ) = A1 X 11 cos (1t + 1 ) + B 2 X 12 cos ( 2t + 2 )

x&2 ( t ) = A1 X 21 cos (1t + 1 ) + B 2 X 22 cos ( 2t + 2 )

Using

x1 ( 0 ) = 1

x&1 ( 0 ) = 0

x2 ( 0 ) = 2

x&2 ( 0 ) = 0
B = 0.566

A = 1.566
Lecture 18- Two DOF-Initial
Condition

MEEM 3700

10

2 DOF Free Vibration: Initial Conditions

1 =

2 =

Therefore:

1
1

x1 ( t )

= 1.566
sin 1.43t + 0.566
sin 5.65t +
2
2
x2 ( t )
1.15
0.35

x1 ( t ) 1.566
0.566

=
cos (1.43t ) +
cos ( 5.65t )
0.1981
x2 ( t ) 1.801
Lecture 18- Two DOF-Initial
Condition

MEEM 3700

11

2 DOF Free Vibration: Initial Conditions

Eigen-solution method

k2 X 1
m
0 X1
k1 + k2
2 1
=
k

k 2 + k3 X 2
2

0 m2 X 2
50 40 X 1
2 0 X 1
40 45 X = 0 5 X

2
eigenvalues 1 = 2.033

2 = 31.96

natural frequencies 1 = 1.426 rad/sec 2 = 5.654 rad/sec

Eigenvectors (mode shapes)

X 11 .3411 1
1 =
=

X 2 .3917 1.15
Lecture 18- Two DOF-Initial
Condition

X 12 .6194 1
2 =
=

X 2 .216 .348
MEEM 3700

12