Chapter-6: Energy Method (Lagrange's Method)

CHAPTER-6
SYSTEMS WITH TWO DEGREE OF FREEDOM

Topics covered:
Mathematical modeling of two DOF system
Mathematical derivation of governing equations
(i) Newton's method
(ii) Energy method (Lagranges method)
Solution to governing equations
Modes of Vibration
Co-ordinate coupling
Principal co-ordinates
Free vibration (linear, torsional, string and pendulum systems)
Forced Vibration
Applications
Introduction
In earlier classes we have discussed analysis of single degree of freedom systems. It is
well known that Degree of freedom is the number of independent co-ordinates
required to describe the motion of a vibratory system
Degree of freedom of a system=(Number of masses in a system) x (number of
possible types of motion of each mass.
A two-degree freedom system is one that requires two coordinates to describe its
motion. These coordinates are called generalized coordinates when they are
independent of each other. A two DOF system has two equations of motion, which
can be solved to obtain two natural frequencies
Examples of 2 DOF linear and torsional systems are shown in Fig.1.
Kt
K1
J1
m1
x1
Kt
K2
J2
m2
x2
Fig.1 Examples of 2DOF linear and torsional systems
VTU e-learning Course
ME65 Mechanical Vibrations
Obtain the equations of the motion of the linear system shown in Fig.1.
Governing equations can be obtained by
(i) Newtons method
(ii) Lagranges method (Generalized energy method).
Newtons method
The Newtons method use force balance equations to obtain governing equations. The
Force equilibrium diagram of given 2DOF linear system is shown in Fig.2.
K1x1
m1
m1x1
K2(x2-x1)
m2
m 2 x 2
Fig.2 Force equilibrium diagram of 2DOF linear system

From Force equilibrium diagram of mass m1:
m1x1 K1x1 K 2 (x 2 x1 ) 0
m1x1 (K1 K 2 )x1 K 2 x 2 0

From Force equilibrium diagram of mass m2 :
m2x 2 K 2 (x 2 x1 ) 0
m2x 2 K 2 x1 K 2 x 2 0
(1)
(2)
(3)
(4)
Eqns. (2) and (4) are Eqns of motion of the system.

Lagranges method (Generalized energy method).
The Lagranges equation is :
d T T U
Qi
dt x i x i x i
(5)
where,
T - Kinetic energy of the system,
U - Potential energy of the system,
xi - independent generalized displacement vector,
x i -independent generalized velocity vector and
Qi- generalized force vector.
Dr. S. K. Kudari, Professor

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
1
1
m1x 12 m 2 x 22
2
2
1
1
U K 1x12 K 2 (x 2 x1 )2
2
2
T
(6)
(7)
x1
x 2
xi
substitute Eqn.(6) and (7) in (5). The part differentials are given below.
T
m1x 1
x 1
d T
m1x1
dt x 1
T
0
x1
U
K 1x1 K 2 (x 2 x1 )( 1)
x1
U
x1(K 1 K 2 ) K 2 x 2
x1
Substitute above differentials in Eqn. (5), to obtain the equations of motion.

m1x1 (K1 K 2 )x1 K 2 x 2 0
m2x 2 K 2 x1 K 2 x 2 0
The above equations are similar to the equations obtained by Newtons method. So,
one can use any one method to obtain the Eqns of motions.
Solution of governing equations
It is possible to have pure harmonic free vibration for both the masses.
Let us assume
x1 A1sint
(8)
x 2 A 2sin(t )
(9)
The above equations have to satisfy the governing equations of motions. Substitute
Eqns. (8) and (9) in (2 ) and (4).
(K
K 2 ) m1 2 A 1sin(t ) K 2 A 2 sin(t ) 0
K 2 A 1sin(t ) (K 2 m2 )A 2 sin(t ) 0
2
(10)
(11)
In above equations sin(t ) 0

The above equations reduces to: (characteristic equation)
(K
K 2 ) m1 2 A 1 K 2 A 2 0
K 2 A 1 (K 2 m22 )A 2 0
(12)
(13)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
The solution of equations is:
(K1 K 2 ) m12
K2
K2
........
0
K 2 m 2 2
(14)
The above equation is referred as a characteristic determinant. Solving, we get :

m1m2 4 m2 (K 1 K 2 ) m1K 2 2 K 1K 2 0
(K K 2 ) K 2 2 K 1K 2
4 1
0

m2
m1 m2
m1
For simplification, let us consider :
(15)
(16)
K1 K 2 K
m1 m2 m
The frequency equation changes to:

2
2K K 2 K
4
2 0
m
m m
(17)
K2
3K
4 2 2 0
m
m
(18)
put 2 , in the above equation:
K2
3K
2 2 0
m
m
1, 2 12 , 22
- b b 2 4ac
2a
2
3K
4K 2
3K

2
m
m
m
1, 2 12 , 22
2
12 , 22
3 5 mK
2
3K
m
2
2
1 , 2
5K 2
m2
2
3 5 mK
2
and 2
3 5 mK
2
1 0.61n and 2 1.61n radians/sec
As the system has two natural frequencies, under certain conditions it may vibrate
with first or second frequencies, which are referred as principal modes of vibration.

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
First principal mode of vibration

The system vibrates with first fundamental natural frequency, i.e 1
For vibrations under Mode-I, consider.
A11-amplitude of first mass (m1) due to frequency 1
A21-amplitude of second mass (m2) due to frequency 1
Characteristic equations of the system changes to:
2K m A
2
1
11
KA 21 0
KA 11 (K m )A 21 0
2
1
Let
(19)
(20)
A 21
1 be amplitude ratio, from Eqn. (19) we get,
A 11
A 21 2K m12
A 11
K
(21)
Substitute 1 in the above equation.
A 21
2 (0.61)2 1.63
A 11
(22)
First modal vector is:
A 11 A 11 1
A 21 1A 11 1.63
A1
(23)
Second principal mode of vibration

The system vibrates with first fundamental natural frequency, i.e 2
For vibrations under Mode-II, consider
2K m A
2
2
12
KA 22 0
KA 12 (K m 22 )A 22 0
Let
(24)
(25)
A 22
2 be amplitude ratio, from Eqn. (24) we get,
A12
2K m A
2
2
12
KA 22 0
A 22 2K m22
A 12
K
(26)
(27)
Substitute 2 in above equation,
A 22
2 (1.61)2 0.59
A 21
(28)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
Second modal vector is:
A 12 A 12 1
A 22 2 A 12 0.59
The modal matrix is:
A2
A A1A2
(29)
A 12 1
1
...
...
1A 11 2 A 12 1.63 0.59
A 11
(30)
Mode shapes of the system

The given vibratory system has two principal modes, mode shapes of the system are
shown in Fig.3.
A
K1
B A11
A12
1
m1
x1
Node
K2
C
m2
x2
A21= 1A11
A21=1.63
Mode-I
A22= 2A12
A22=-0.59
Mode-II
Fig.3 Mode shapes of the system

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
Torsional Vibratory systems

A torsional system is a rotor system as shown in Fig.4.
Kt
1
J1
1
Kt
2
J2
Fig.4 Examples of 2DOF torsional system

Obtain the equations of motion of the system shown in Fig.4.
Newtons method
The Newtons method use force balance equations to obtain governing equations. The
Force equilibrium diagram of given 2DOF torsional system is shown in Fig.5.
K 11
J1
1
Disc-1
K 2 ( 2 1 )
Disc-2
J2
2
Fig.5 Force equilibrium diagram of 2DOF torsional system

From Force equilibrium diagram of disc 1
K K ( ) 0
J
1 1
1 1
(K K ) K 0
J1
1
1
2
1
2 2
(31)
From Force equilibrium diagram of disc 2

K ( ) 0
J
2

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
K K 0
J2
2
2 1
2 2
(32)
Eqns.(31) and (32) are the governing Eqns. of the system.

Equivalent shaft for a torsional system
Many engineering applications we find stepped shaft as shown in Fig.6. For
vibration it is required to have an equivalent system for the analysis. In this section
how to obtain the torsionally equivalent shaft is illustrated.
JB
JA
d1
d2
d3
d4
J1
J2
J3
J4
L1
L2
L3
L4
Fig.6. Stepped shaft

Let be the twist in the shaft by application of torque T, and 1, 2, 3 and 4 be
twists in section 1, 2, 3 and 4 respectively.
1 2 3 4
(33)
From theory of torsion,

T G
J
L
Where,
(34)
d4
32
TL 3
TL 1
TL 2
TL 4
J1G1 J2G2 J3G3 J4G 4

J
(35)
(36)
If material of shaft is same, then above equation can be written as:
32 T L1 L 2 L 3 L 4
G d14 d24 d34 d44

If de and Le are equivalent diameter and lengths of the shaft, then:
(37)
L e L1 L 2 L 3 L 4
de4 d14 d24 d34 d44
(38)
d
d
d
d
(39)
L e L1 e L 2 e L 3 e L 4 e
d1
d2
d4
d3
The equivalent shaft of a system shown in Fig.6 given by Eqn.(39) is shown in Fig.7.

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
JA
JB
de
Le
Fig.7. Equivalent shaft of the system shown in Fig.6

Definite and semi-definite systems
A system, which is free from both the ends, is referred as semi-definite system.
Ex: Train, Turbo-generator, etc.
For semi-definite systems, the first natural frequency is zero. A simple semi-definite
linear and a torsional systems are shown in Fig.8.
x1
m
(a)
(b)
1
J1
x2
K
2
J2
Fig.8. Semi-definite systems (a) linear and (b) torsional.

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
ME65 Mechanical Vibrations 10
A system, which is fixed from one end or both the ends is referred as definite system.
A definite system has nonzero lower natural frequency. Various definite linear and a
torsional systems are shown in Fig.9.
(a)
(b)
K1
K1
J1
m1
x1
K2
K2
J2
m2
x2
x1
K
m
(c)
x2
K
K
m
Fig.9. Various definite systems

Example 1
For the torsional system shown in the Fig.10,
(i) derive the equations of motion,
(ii) setup the frequency equation and obtain the fundamental natural frequencies
(iii) obtain the modal vectors and modal matrix
(iv) draw mode shapes of the system.
1
J1
2
J2
Fig.10. Turbo-generator
Solution:
Write the Equations of motions of the system, use Lagranges equation.

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
d T T U
Qi
dt i i i
(40)
where,
1 2 1 2
J11 J2 2
2
2
1
U K 2 ( 2 1 )2
2
T
(41)
(42)
substitute Eqn. (41) and (42) in Eqn.(40) to get the equations of motion:
K K 0
J
1 1
K K 0
J2
2
1
2
(43)
(44)
Assuming the vibration of the system is SHM,
1 A1sint
(45)
2 A 2sin(t )
(46)
The above equations have to satisfy the governing equations of motions Eqn. (43) and
(44). Simplifying, we get.
K J A sin(t ) KA sin(t ) 0
(47)
KA 1sin(t ) (K J2 2 )A 2 sin(t ) 0
(48)
In above equations
sin(t ) 0
K J A
2
KA 2 0
KA 1 (K J2 )A 2 0
2
(49)
(50)
The above equations can be written in the determent form as:
K J12
K
K
........
0
K J22
(51)
The above equation is referred as a characteristic determinant. Solving, we get the

determinant,
J1J2 4 J1 K J2K 2 0
(52)
K K
4 2 0
(53)
J1 J2
The above equation is referred as frequency equation. Solving the frequency
equations, we get.

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
1 0 rad/s and
J J2
rad/s.
2 K 1
J1J2
For simplification, let us consider,
J1 J2 J ,
(54)
2K
rad/s
J
As the system is semi-definite system, the estimated first natural frequency is found to
be ZERO. The system has two natural frequencies, under certain conditions it may
vibrate with first or second frequency, which are referred as principal modes of
vibration.
Now, the characteristic equations of the system due to condition in Eqn.(54) are:
then 1 0 rad/s and
K J A
2
KA 2 0
KA 1 (K J2 )A 2 0
2
(55)
(56)

The system vibrates with first fundamental natural frequency, i.e 1.
For vibrations under Mode-I, consider,
A11-amplitude of first disc (J1) due to frequency 1
A21-amplitude of second disc (J2) due to frequency 1
K J A
2
11
KA 21 0
KA 11 (K J22 )A 21 0
Let,
(57)
(58)
A 21
1 be amplitude ratio
A 11
Then, from Eqn. (57) one can obtain,
A 21 K J12
A 11
K
(59)
Substitute 1 in above equation.
A 21
1
A 11
A 11 A 11 1
A 21 1A 11 1
A1
(60)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
Second principal mode of vibration

For vibrations under Mode-II, consider,
A12-amplitude of first disc (J1) due to frequency 2
A22-amplitude of second disc (J2) due to frequency 2
K J A
2
12
KA 22 0
(61)
KA 12 (K J2 )A 22 0
2
Let
(62)
A 22
2 is the amplitude ratio,
A 12
From Eqn. (61) on can obtain,
A 21 K J 22
A 11
K
Substitute 2 in the above equation,
2K
KJ
A
J
1 21
A 11
K
A2
(63)
A 12 A 12 1

A 22 2 A 12 1
(64)
Modal matrix
A A1A2
A 12 1 1
...
1A 11 2 A 12 1 1
A 11
(65)
Mode shapes of the system

The mode shapes obtained from modal matrix Eqn. (65) are shown in Fig.11.
J2
J1
Mode I
Mode II
1
1
Node
-1
Fig.11. Mode shapes of the system

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
Various geared systems

A Turbo-generator geared system is shown in the fig.12. The analysis of this system is
complex due to the gears. The system can be made simple as discussed below.
Turbine
K1
Gears
J3
Generator
Shaft-1
J1
K2
J4
Shaft-2
J2
Fig.12 Turbo-generator geared system.
The speed ratio, n of the system is:
speed of turbine
speed of generator
For the system given in Fig. 12, the simplification can be made by,
(i) considering inertia of gears and (ii) neglecting inertia of gears.
Inertia of gears is considered
The system becomes 3 DOF system as shown in Fig.13.
Generator
Turbine
K1
n2K
J2+n2J3
J2
J1
Fig.13 Turbo-generator geared system considering the inertia of gears
Inertia of gears is neglected
The system becomes 2 DOF system as shown in Fig.14.
J1
K1
Turbine
J2
n K2
Generator
Fig.14 Turbo-generator geared system neglecting the inertia of gears

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
Two torsional springs are in series, therefore the effective stiffness can be obtained
from,
1 1 1
(66)
K eq K 1 n2K 2
Practice problems (Linear definite systems)
For the syetms shown in the Fig.15,
(i) derive the equations of motion,
(ii) setup the frequency equation and obtain the fundamental natural frequencies
(iii) obtain the modal vectors and modal matrix
(iv) draw mode shapes of the system.
x1
K
x2
K
m
x1
K
K
m
K
x2
K
x1
x2
Fig.15 Linear vibratory systems

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
Practice problems (Torsional semi-definite systems)

For the systems shown in figure, obtain natural frequencies and mode shapes
2K
K
1
2
J2
J1
Turbine
K
Gears
J3
n=2
Generator
Shaft-1
J
K
J4
Shaft-2
J
Fig.16 Torsional vibratory system.

Pendulum systems (double pendulum)
Estimate the natural frequencies of the double pendulum shown in the Fig.17. For
simplicity take m1=m2=m and l1=l2=l.
T
1
l1
l1
m1
m1g
T
2
l2
l2
T
2
m2
Fig.17 Double pendulum.
m2g
Fig.18 Static forces in Double pendulum.

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
Due to self weight of masses, the pendulum roads are in tension, the static forces in
the double pendulum is shown in the Fig.18. From this figure one can write,
T2 m2g
(67)
T1 m1g T2
(68)
T1 m1g m2g (m1 m2 )g
(69)
Above equations holds good for small oscillations.

When the system is disturbed, it starts vibrating, a position at any instant of
time with forces is shown ion Fig.19.
1 l1
T
1
m1x1
T
2
l2
x1
m2x 2
x2
Fig.19 Dynamic forces on Double pendulum
Consider x1 and x2 are generalized co-ordinates. From Fig.19, the relation between x
and can be written as:
sin1 1
x1
l1
(70)
sin 2 2
x 2 x1
l2
(71)
Resolving the forces on the mass m1, (Ref. Fig.19) we get,

m1x1 T11 T22 0
(72)
Substitute, Eqns. (67), (69), (70), and (71) in eqns. (72).

m1x1 T1
x1
x x1
T2 2
0
l1
l2
m1x1 (m1 m 2 )g
x1
x x1
(m 2 g) 2
0
l1
l2
Substitute m1=m2=m and l1=l2=l in the above Eqn.

x
x x1
mx1 (2m)g 1 (mg) 2
0
l
l
(73)
(74)
(75)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
3mg
mg
mx1
x1
x 2 0
l
l
Above Eqn. is first Eqn. of motion.
Resolving the forces on the mass m2, (Ref. Fig.19) we get,
m2x 2 T22 0
(76)
(77)
Substitute, Eqns. (67), (69), (70), and (71) in eqns. (77).

m 2 x 2 T2
x 2 x1
0
l2
x x1
0
m2x 2 m2g 2
l2
Substitute m1=m2=m and l1=l2=l in the above Eqn.
mg
mg
mx 2
x1
x 2 0
l
l
Above Eqn. is second Eqn. of motion.
Eqns.(76) and (80) are governing equations of motion of the system.
(78)
(79)
(80)
Solution to governing eqns.:

Solution to governing eqns. can be obtained by considering the response of each mass
as SHM:
x1 A1sint
(81)
x 2 A 2sin(t )
(82)
The above equations have to satisfy the governing equations of motions Eqns.(76) and
(80). Substitute eqns. (81) and (82) in Eqns.(76) and (80).
mg
3mg
2
l m A 1sin( ) l A 2 sin( ) 0
mg
mg
A 1sin( )
m 2 A 2 sin( ) 0
l
l
(83)
(84)
Therefore, the above equations reduces to: (characteristic equation)

mg
3mg
2
l m A 1 l A 2 0
mg
mg
A1
m 2 A 2 0
l
l
The above Eqns can be written in determinant form as:
(85)
(86)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
3mg
mg
m 2
l
........ l
0
mg
mg
2
m
l
l
(87)
The above equation is referred as a characteristic determinant, Solving, we get :
4m 2 2 g 2m 2 g2
l
l2
The above equation is referred as a frequency equation
Solving Eqn. (88), we get:
Natural frequencies of the system
m 2 4
(88)
g
g
radians/s 2 3.73
radians/s
l
l
Modal vectors and the mode shapes can be obtained by usual meaner, as explained
earlier.
1 0.27
String systems
Obtain the natural frequencies of the string system shown in the Fig.20. For simplicity
take m1=m2=m and l1=l2=l3=l
m1
l1
m2
l2
l3
Fig.20 String system

For the above system, small angular oscillations, it can be assumed that the tensions in
the string (T) do not change. The free body diagram of the system at any instant of
time is shown in Fig.21.
m1
T
1
l1
x1
m2
T
2
x2
l2
T
l3
Fig.21 Free body diagram of the system at time, t

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
Consider x1,x2 as generalized co-ordinates, from Fig.21, the relations between and x
are:
x1
l
x x2
2 1
l
x
3 2
l
Considering the force equilibrium of first mass, m1
mx1 T1 T2 0
1
(89)
Substitute for angular motions 1, 2, 3 from above eqns.

mx1 T
x1
x x2
T 1
0
l
l
2T
T
mx1
x1 x 2 0
l
l
Considering the force equilibrium of second mass, m2
mx 2 T 2 T 3 0
(90)
(91)
Substitute for angular motions 1, 2, 3 from above eqns.

mx 2 T
x1 x 2
x
T 2 0
l
l
T
2T
mx 2 x1
x 2 0
l
l
Eqns. (90) and (92) are two equations of motion of the system.
(92)

Solution to governing eqns. can be obtained by considering the response of each mass
as SHM:
x1 A1sint
(92)
x 2 A 2sin(t )
(93)
The above equations have to satisfy the governing equations of motions Eqns.(90) and
(92). Substitute eqns. (92) and (93) in Eqns.(90) and (92).
T
2T
2
l m A 1sin( ) l A 2 sin( ) 0
2T
2
l m A 2 sin( ) 0
T
A 1sin( )
l
(94)
(95)
Therefore, the above equations reduces to: (characteristic equation)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
T
2T
2
l m A 1 l A 2 0
T
2T
A1
m 2 A 2 0
l
l
(96)
(97)
2T
T
m2
l
........ l
0
T
2T
2
m
l
l
(98)
4Tm 2 3T 2
(99)
2
l
l
The above equation is referred as a frequency equation. Solving Eqn. (99), we get:
Natural frequencies of the system
m 2 4
T
3T
radians/s 2
radians/s
ml
ml
with first or second frequency, which is referred as principal modes of vibration.
1

For vibrations under Mode-I, consider,
The characteristic Eqns.(96) and (97) of the system changes to:
T
2T
2
l m1 A 11 l A 21 0
Let
T
2T
A 11
m12 A 21 0
l
l
(100)
(101)
A 21
1 is amplitude ratio. To compute 1 one can use any of the above eqns.
A 11
Consider Eqn.(100), we get 1 as:
2T
m12
A 21 l
A 11
T
(102)
Substitute 1 in the above Eqn.

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
T
2T
m
A 21 l
ml 1
1
A 11
T
A 11 A 11 1
A 21 1A 11 1
A1
(103)
(104)
Secondprincipal mode of vibration

For vibrations under Mode-II, consider,
The characteristic Eqns.(96) and (97) of the system changes to:
T
2T
2
l m 2 A 12 l A 22 0
Let
T
2T
A 12
m 22 A 22 0
l
l
(105)
(106)
A 22
2 is amplitude ratio. To compute 2 one can use any of the above eqns.
A 12
Consider Eqn.(105), we get 2 as:
2T
m22
A 22 l
A 12
T
(107)
Substitute 2 in the above Eqn.
3T
2T
m
A
ml 1
2 21 l
A 11
T
A2
A A
1
12 12
A 22 2 A 12 1
(108)
(109)
Modal matrix
A A1A2
A
1 1
... 12
1A 11 2 A 12 1 1
A 11
(110)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
Mode shapes of the system are shown in Fig.22.

m1
l1
Mode I
Mode II
m2
l2
1
1
l3
1
Fig.22. Mode shapes of the system

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
CO-ORDINATE COUPLING AND PRINCIPAL COORDINATES

Example-1
Obtain the equations of motion and natural frequencies of the system shown in the
Fig.23. The vibration is restricted in plane of paper.
m -mass of the system
J -mass MI of the system
G -centre of gravity
m,J
G
K2
K1
Fig.23. A 2 dof vibratory system

The system has two generalized co-ordinates, x and . x is in Cartesian and is in
Polar co-ordinate systems. For small disturbance the system moves as shown in
Fig.24(a). The amount displacements in two springs are shown in Fig.24(b).
m,J
G
Static equilibrium
line
K2
K1
a
(x-a)
x
G
(x+b)
Fig.24 (a) system under vibration (b) displacements in springs at point 1 and 2
Equations of motion
Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
d T T U
Qi
dt x i x i x i
(111)
generalized co-ordinates are:
x i
Kinetic energy of the system is:

1
1
T m x 2 J 2
2
2
Potential energy of the system is:
1
1
2
2
U K 1 x - a K 2 x b
2
2
First Lagranges Eqn is:
d T T U
Q1

dt x x x
(112)
(113)
(114)
Substitute Eqn. (112) and (113) in (114)

d T
mx
dt x
T
0
x
U
K 1 x - a (1) K 2 x b (1)
x
1st Equation of motion is:
U
K 1 x - a (1) K 2 x b (1)
x
U
K 1x - K 1a K 2 x K 2b
x
U
x(K 1 K 2 ) (K 1a - K 2b)
x
mx (K1 K 2 )x - (K1a - K 2b) 0
(115)
Second Lagranges Eqn is:

d T T U
Q2

dt
Substitute Eqn. (112) and (113) in (116)

(K a K b)x (K a 2 K b 2 ) 0
J
1
2
1
2
(116)
(117)
eqns.(115) and (117) are Eqns of motion

The above Eqns. can be written in matrix form.
Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
(K 1a K 2b) x 0
m 0 x (K 1 K 2 )
0 J (K a K b) (K a 2 K b 2 ) 0

1
2
1
2

Mx K x 0
(118)
where, M-Mass/inertia matrix
K - Stiffness matrix
x -generalized displacement vector
x -generalized acceleration vector
Stiffness matrix shows that co-ordinate x and are dependent on each other. Any
change in x reflects in change in . As seen from the matrix, the equations of motion
are coupled with stiffness. This condition is referred as STATIC COUPLING.
coupling in mass matrix is referred as DYNAMIC COUPLING
From the above equation Eqn. (118), it can be seen that system do not have dynamic
coupling But, it has static coupling
If the system has a condition K1a=K2b, then, stiffness matrix reduces to:
0
x 0
m 0 x (K 1 K 2 )
(119)

0 J
2
2
0
(K 1a K 2b ) 0

Therefore the condition K1a=K2b, uncouples the stiffness matrix.
In Eqn. (119) one can find, the system do not have either Dynamic or Static coupling,
the the Eqns. of motion can be written as:
(120)
mx (K1 K 2 )x 0
Contains only one coordinate, x
(K a 2 K b 2 ) 0
J
1
(121)
Contains only one coordinate,

Under such conditions, x and are independent of each other and are referred as
PRINCIPAL COORDINATES.
Solution of uncoupled Eqns. of motion:
The solution of un-coupled eqns of motion is simple, is solving single dof system as
shown below. From Eqn.(120).
K K2
x 1
x 0
m
(122)
K1 K 2
rad/s
m
From Eqn.(121)
1

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
2
2
K 1a K 2b 0
(122)
K 1a 2 K 2b 2
rad/s
J
Example-2
Obtain the equations of motion of the system shown in the Fig.25, check for dynamic
and static coupling of co-ordinates. The centre of gravity is away from geometric
centre by distance e. The vibration is restricted in plane of paper
m -mass of the system
J -mass MI of the system
G -centre of gravity
C -centre of geometry
m,J
G
K2
K1
Fig.25. A 2 dof vibratory system having unbalance
Static equilibrium
line
b
a
K1(x-a)
x
G
x+e
C
K1(x+b)
Fig.26 displacements in springs at point 1 and 2

due to vibration.
The system has two generalized co-ordinates, x and . x is in Cartesian and is in
Polar co-ordinate systems. For small disturbance the system the amount
displacements in two springs are shown in Fig.26.
Due to some eccentricity e, the changes are:
x=x+e
Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
J=J+me2
Substitute in Eqns. of motion of earlier problem having e=0:
Equations of motion for system having e=0, (Example-1) are:

mx (K1 K 2 )x - (K1a - K 2b) 0
(K a K b)x (K a 2 K b 2 ) 0
J
1
2
1
2
Substitute x=x+e and J=J+me2=Jn in above Eqns.

) (K K )x - (K a - K b) 0
m(x e
1
(K K )x - (K a - K b) 0
mx me
1
2
1
2
(123)
(K a K b)x (K a 2 K b 2 ) 0
Jn
1
2
1
2
(124)
Matrix form of Eqns. of motion is:

(K 1a K 2b) x 0
m me x (K 1 K 2 )
0 J (K a K b) (K a 2 K b 2 ) 0
n
1
2
1
2
(125)
Eqn.(125) indicates that the system has both dynamic and static coupling. If
eccentricity, e=0, one can get dynamic uncoupling.
Example-3
Derive expressions for two natural frequencies for small oscillation of pendulum
shown in Fig.27 in plane of the paper. Assume rods are rigid and mass less.
K
m
J1
1
Ka(2-1)
a
m
mg
J2
2
mg
Fig.27. A pendulum system
Fig.28. Equilibrium diagram
For small oscillations of the system the equilibrium diagram is shown in Fig.28.
For first mass:
Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
mg(asin ) Ka( )(acos ) 0

J1
1
1
2
1
1
(126)
as is smaller
mga Ka 2 ( ) 0
J1
1
1
2
1
mga Ka 2 Ka 2 0
(ma 2 )
1
1
2
1
The First Eqn. of motion is:

(mg Ka) Ka 0
ma
1
1
2
(127)
For second mass:

mg(2asin ) Ka( )(acos ) 0
J2
2
2
2
1
2
(128)
as is smaller
m(2a)
2
2mga 2 Ka 2 2 Ka 21 0
Second Eqn. of motion

Ka (2mg Ka) 0
(4ma)
1
1
2
(129)
Eqns. of motion in matrix form

(mg Ka)
0
Ka 1 0
ma
1

0 4ma Ka
(2mg Ka) 2 0
(130)
For static coupling Ka=0, which is not possible.

Assume SHM
x1 A1sint
x 2 A 2sin(t )
The above equations have to satisfy the governing equations of motions Eqns. (127)
and (129).
(mg Ka) ma A sin( ) KaA sin( ) 0

KaA sin( ) (2mg ka) 4ma A sin( ) 0
2
(131)
(132)

Characteristic Eqns. are:
(mg Ka) ma A KaA 0

KaA (2mg ka) 4ma A 0
2
(133)
(134)
(mg Ka) ma ........ Ka

2
Ka
(2mg Ka) 4ma2
(135)
(mg Ka) ma (2mg Ka) 4ma Ka

2
(136)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
The above Eqn. is referred as Frequency equation. Solve the frequency Eqn. for
Natural frequencies of the system 1....and...2 .
with first or second frequencies, which are referred as principal modes of vibration.
The modes of vibrations can be obtained by the procedure as shown in earlier
problems.
Forced Vibrations and Applications
Consider a Two dof system with a forcing function F1 F0 sint as shown in Fig.29.
K
1
F1
m1
x1
K
2
m2
x2
Fig.29 Two dof system with forcing function F1 on mass 1

The eqns of the motion of the system can be obtained by force balance method. The
force equilibrium diagram is shown in Fig.30.
K1x1
F1 F0 sint
m1
m1x1
K2(x2-x1)
m2
m2x 2
Fig.30 Force equilibrium diagram of the system

From Force equilibrium diagram of mass m1:
m1x1 K 1x1 K 2 (x 2 x1 ) F0 sint
m1x1 (K1 K 2 )x1 K 2 x 2 F0 sint
(137)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
From Force equilibrium diagram of mass m2 ;

m2x 2 K 2 (x 2 x1 ) 0
m2x 2 K 2 x1 K 2 x 2 0
(138)
It is possible to have pure harmonic free vibration for both the masses. Therefore,
Let us assume.
x1 A1sint
x 2 A 2sint where is the forcing frequency on the system.
Be the forced response of the system, where A1 and A2 are the amplitudes to be
obtained.
The above equations have to satisfy the governing equations of motions.
(K
K 2 ) m1 2 A 1sin(t ) K 2 A 2 sin(t ) F0 sint
K 2 A 1sin(t ) (K 2 m22 )A 2sin(t ) 0
(139)
(140)
In above equations,
sin(t ) 0
(K
K 2 ) m1 2 A 1 K 2 A 2 F0 sint
K 2 A 1 (K 2 m2 2 )A 2 0
(141)
(142)
From above equations obtain A1 and A2 by Cramers rule
K2
........
.0
K 2 m 2 2
A1
.F0
(K 1 K 2 ) m1 2
A2
K2
(143)
F.
........ 0
0
where is the determinant of characteristic equations.
Solving,
(144)
K2
K2
........
0
K 2 m 2 2
(145)
(146)
(K1 K 2 ) m12
(K1 K 2 ) m12 K 2 m22 K 22
If one considers the two vibratory systems separately as shown in Fig.31, the system 1
is a main system and system 2 is an secondary system. This system can be used as
Dynamic vibration absorber or Tuned damper by using the amplitude Eqns (143) and
(144).
If the system has to be used as Dynamic vibration absorber, the amplitude of vibration
of mass m1, i.e A1=0.
Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
K2
........
.0
K 2 m 2 2
A1
0
.F0
(147)
K1
F1
System-1
m1
x1
K2
System-2
m2
x2
Fig. 31 Concept of vibration absorber
K2
........
0
.0
K 2 m 2 2
.F0
F0 (K 2 m 2 2 ) 0
K 2 m 2 2 0
2
K2
m2
K2
rad/s
m2
(148)
The above Eqn. is the natural frequency of secondary or absorber system.

Excitation frequency of the system is equal to natural frequency of absorber system.
K2
2
m2
(149)
This shows that if excitation frequency of the system is equal to natural frequency of
absorber system, then vibration of the main system is zero.
Undesired maximum vibrations can occur only when main system is under resonance,
or near it i.e 1

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
So, to reduce undesired vibration of main system mass m1, we choose K2, m2 in such
a way that 1 2 .
K1
m1
K2
K
K
OR 1 2
m2
m1 m 2
(150)
The amplitude A1 Eqn to be solved to obtain the frequencies,
K2
........
.0
K 2 m 2 2
A1
.F0
A1
F0 (K 2 m22 )
(K 1 K 2 ) m12 K 2 m22 K 22
If st
F0
and 1
K1
K1
and 2
m1
K2
m2
Then,
2
1 -
2
A1
2
2
st
K 2
K2

) 1
(1
K1
1 2 K 1
Without
absorber
(151)
With
absorber
A1
st
1
Fig.32. Plot of Equation 151, considering with and
with out absorber.

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
To find 1 and 2
If frequency equation is zero, two masses have infinite amplitude of vibrations. The
Eqn. is quadratic in 2, therefore there are two values of for which amplitude of the
system is infinite. Solve for frequency equation .
(K1 K 2 ) m12
K2
K2
........
0
K 2 m 2 2
(K 1 K 2 ) m1 2 K 2 m2 2 K 22 0
m1m2 4 (K 1 K 2 )m2 K 2m1 2 K 1K 2 0
m1m2 4
K m
m
(1 2 ) 2 1 2 1 0
K 1K 2
K1 K 2 K1
For the absorber system, we have

K1
K
2
m1 m 2
m2 K 2
mass of absorber system
=Mass ratio
m1
K1
mass of main system
(152)
m1m2 4
K m
m
(1 2 ) 2 1 2 1 0
K 1K 2
K1 K 2 K1
m1m2 4
4
4

4 r4
K1 K 2
K 1K 2
2
m1 m2
r 4 (1 ) 1
2
1 0
K2
m2
r 4 2 r 2 1 0
The above Eqn. is quadratic in r2

2
r , r 1,2 1
2
2
2
1
2
2
2

4
(153)

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
2
K
m
2 1
1
K
m
0.25
0. 5
0. 75
1.0
m 2 /m1
Fig.33. Plot of Equation 153
The Fig.33 indicates that, if mass ratio is greater the spread between the two resonant
frequencies is greater. The plot is used to design the absorber system to a main
vibratory system to reduce the vibrations of a main system.

Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,

Chapter-6: Energy Method (Lagrange's Method)

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Chapter-6: Energy Method (Lagrange's Method)

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CHAPTER-6

SYSTEMS WITH TWO DEGREE OF FREEDOM

VTU e-learning Course

ME65 Mechanical Vibrations

Fig.2 Force equilibrium diagram of 2DOF linear system

m1x1 (K1 K 2 )x1 K 2 x 2 0

Eqns. (2) and (4) are Eqns of motion of the system.

Dr. S. K. Kudari, Professor

VTU e-learning Course

ME65 Mechanical Vibrations

Substitute above differentials in Eqn. (5), to obtain the equations of motion.

In above equations sin(t ) 0

Dr. S. K. Kudari, Professor

VTU e-learning Course

ME65 Mechanical Vibrations

The solution of equations is:

The above equation is referred as a characteristic determinant. Solving, we get :

The frequency equation changes to:

put 2 , in the above equation:

1 0.61n and 2 1.61n radians/sec

Dr. S. K. Kudari, Professor

VTU e-learning Course

ME65 Mechanical Vibrations

First principal mode of vibration

Substitute 1 in the above equation.

First modal vector is:

Second principal mode of vibration

Substitute 2 in above equation,

Dr. S. K. Kudari, Professor

VTU e-learning Course

ME65 Mechanical Vibrations

Second modal vector is:

Mode shapes of the system

Fig.3 Mode shapes of the system

Dr. S. K. Kudari, Professor

VTU e-learning Course

ME65 Mechanical Vibrations

Torsional Vibratory systems

Fig.4 Examples of 2DOF torsional system

Fig.5 Force equilibrium diagram of 2DOF torsional system

From Force equilibrium diagram of disc 2

Dr. S. K. Kudari, Professor

VTU e-learning Course

ME65 Mechanical Vibrations

Eqns.(31) and (32) are the governing Eqns. of the system.

Fig.6. Stepped shaft

From theory of torsion,

J1G1 J2G2 J3G3 J4G 4

If material of shaft is same, then above equation can be written as:

G d14 d24 d34 d44

de4 d14 d24 d34 d44

Dr. S. K. Kudari, Professor

VTU e-learning Course

ME65 Mechanical Vibrations

Fig.7. Equivalent shaft of the system shown in Fig.6

Fig.8. Semi-definite systems (a) linear and (b) torsional.

Dr. S. K. Kudari, Professor

VTU e-learning Course

ME65 Mechanical Vibrations 10

Fig.9. Various definite systems

Dr. S. K. Kudari, Professor

VTU e-learning Course

ME65 Mechanical Vibrations 11