CHAPTER V

5.1 Multi-Degree-of-Freedom Systems

The discrete and lumped mass systems have more than one coordinate to
describe their motion. In general, have finite numbers of degrees of freedom.
Such systems are called multi-degree of freedom systems. For example,
there is one Equation of motion for each degree of freedom; if generalized
coordinates are used; there is one generalized coordinate for each degree of
freedom. The Equations of motion can be obtained from Newton's second law
of motion or by using the influence coefficients. However, it is often more
convenient to derive the Equations of motion of a multi-degree of freedom
system by using Lagrange's Equations. There are n natural frequencies, each
associated with its own mode shape, for a system having n degrees of
freedom. The method of determining the natural frequencies from the
characteristic Equation obtained by equating the determinant to zero also
applies to these systems. However, as the number of degrees of freedom
increases, the solution of the characteristic Equation becomes more
complex. The mode shapes exhibit a property known as orthogonality, which
often enables us to simplify the analysis of multidegree of freedom systems.
Some examples of systems having multi-degrees of freedom are shown.
A

particular structure can be analyzed by considering the equivalent system

shown below. To isolate a structure from the vibration generated by a

machine, the machine is mounted on a large block. The block is supported on
springs as shown in Figure 99. Figure 100 shows a multiple degrees of
freedom simplified model of a motor vehicle. A bridge structure can modeled
by a simply supported beam with lumped masses at different stations as
shown in Figure 101. The aircraft wing can also be modeled as cantilevered
beam with lumped masses that replaces the pylons, control surfaces, fuel
tanks, engines, and wing stations, see Figure 102.

Figure 98. Three Degree of Freedom Models of Structures

Figure 99. Model of Large Block Foundation of the Machine

Figure 100. A simplified model for a motor vehicle

Figure 101. Modeling of Bridge structure

Figure 102. Simplified Model of Aircraft Wing with Lumped Masses

5.2 Deriving
Systems
Example 1

the

Differential

E.o.M of

Multiple D.o.F

The two degree of freedom system shown consists of a pulley, a mass m, two
springs, a dashpot, and a cable connecting them as shown. The pulley's
centroidal mass moment of inertia is I, and the dashpot has a coefficient of c.
There is a sufficient friction between the cable and the pulley to prevent the
cable from slipping. Determine the differential Equations of motion of the
system when the pulley is subjected to a time varying moment M (t) as
shown.

Figure 103. Two Degrees of Freedom System

Solution
The generalized coordinates and x are selected
1. Pulley

M O =I
k 1 r 2 +k 2 ( xr ) r+ M ( t )=I
( k 1+ k 2 ) r 2 k 2 rx= M (t )
I +

(a)

2. Mass

F x =m x
k 2 ( xr )c x =m x
m x +c x + k 2 xk 2 r=0

(b)

Equations (a) and (b) are the differential Equations of motion of the system.

Example 2
Write the differential Equations of Example (1) in matrix form

[ ]{ } [ ]{ } [

]{ } { }

2
I 0 0 0 (k 1 +k 2) r k 2 r
M (t)
+
+
=
0 m x 0 c x
0
k 2 r
k2 x

Mass, Stiffness, and Damping Matrices

The matrix form of Equations will generally involve a mass matrix M, a
stiffness matrix K, and a damping matrix C.
The general form of the matrix Equation for an n-degree-of-freedom system
subjected to excitation forces or/and moments is;

m 11 m12
m 21 m22
.
.
mn 1 mn 2

.
.
.
.

.
.
.
.

]{ } [

x 1
. m1 n x 2 c 11 c 12
. m2 n .
c
c
+ 21 22
. .
.
.
.
. mnn .
c n1 c n 2
x n

or,
C X + KX=F (2)
M X+

.
.
.
.

.
.
.
.

]{ } [

x 1
. c 1 n x 2
k 11 k 12
. c2 n .
k
k
+ 21 22
. .
.
.
.
. c nn .
kn 1 kn 2
x n

.
.
.
.

.
.
.
.

]{ } { }

x1
F1
. k1 n x2
F2
. k2 n .
= . (1)
. .
.
.
. k nn .
.
xn
Fn

in which x1, x2, xn are the generalized coordinates,

F is a column matrix involving excitation forces and/or moments.

For undamped free vibration
KX=0(3)
M X+

in which 0 is a null column matrix

Notes
1. For linear systems, the mass, stiffness, and damping matrices are all
symmetric, that is, mij = mji , cij = cji ,
and kij = kji ,
2. The mass matrix is usually a diagonal matrix (in the dynamic coupling,
the mass matrix is non-diagonal).
3. In general, many of the elements of the stiffness matrix are zero
everywhere, except for those which are on the diagonal and
immediately above and below it. The stiffness matrix is thus referred to
as a banded matrix.

Example 3
Determine the differential Equations of motion in matrix form for the
undamped free vibration of the three-story building shown. Assume that the
mass distribution of the building can be represented by the lumped masses
at different levels, considering the columns as springs in parallel.

Figure 104. Undamped Model of Three Story Building

Solution
Assume x3 > x2 > x1
k 1 x 1 +k 2 ( x 2x 1) =m1 x 1

k 2 ( x 2x 1 ) + k 3 ( x 3x 2 ) =m2 x 2

k 3 ( x3 x2 ) =m3 x 3

Collecting and rearranging terms,

m1 x 1+ ( k 1 +k 2) x 1k 2 x 2=0

m2 x 2k 2 x 1+ ( k 2 +k 3) x 2k 3 x 3=0

m3 x 3k 3 x 2 +k 3 x 3=0

In matrix form,

]{ } [

]{ } { }

m1 0 0 x 1 k 1+ k 2 k 2
0 x1
0
0 m2 0 x 2 + k 2 k 2+ k 3 k 3 x 2 = 0
0
0 0 m3 x 3
0
k 3
k 3 x3

or,

KX =0
M X+

5.3 Influence Coefficients

(Stiffness, Flexibility, Damping and Inertia)
The differential Equations of motion can be written in terms of a flexibility
matrix A, which is the inverse of the stiffness matrix K, that is K -1 = A or A-1 =
K.
The elements kij, aij, cij and mij of the stiffness, flexibility, damping and
inertia matrices, respectively, are referred to as influence coefficients.
The differential Equations of motion and the Equations for determining the
natural frequencies can be written by simply inspecting the system and
applying the definition of the influence coefficient used.

Stiffness Influence Coefficients:

Designating the coordinates q1, q2 , , qn of an n-degree-of-freedom
system as the generalized coordinates that define linear and/or angular
displacements.
The stiffness coefficient kij is the force or moment required to hold a
particular coordinate qi fixed when a coordinate qj is given a unit linear (or
angular) displacement, with all other coordinates held fixed.
The stiffness coefficient kii (i=j) is the static force or moment required to
give the coordinate qi a unit linear or angular displacement.

The stiffness coefficient k1j , k2j ,, knj in the matrix K are the elements of
the jth column. If a stiffness coefficient (force or moment) acts in the same
sense assumed positive for the associated generalized coordinate, it will be
positive. If it acts in the opposite sense, it will be negative.

Example 4
It is desired to determine the stiffness matrix K for the three-story building of
Example (3).

Figure 105. Model of Three Story Building

Solution:
k11 =k1 + k2

k12 = -k2

k21 = - k2

k22 = k2 + k3

k31 = 0

k32 = -k3

k 1 +k 2 k 2
0
K= k 2 k 2 +k 3 k 3 stiffness
0
k 3
k3

k13 = 0
k23 = - k3
k33 = k3

KX=M X

Example 5
A shaft with three disks attached to it, is fixed at one end. Determine:
a. The stiffness matrix,
b. The differential Equations of motion.

Figure 106. Shaft with Three Disks

Solution

2 k k 0
K= k 2 k k stiffness
0 k k

[ ]{ } [
I1 0 0
0 I2 0
0 0 I3

1 2 k k 0 1
0
2 + k 2 k k 2 = 0
0 k k 3
0
3

]{ } { }

Example 7
For the six-degree-of-freedom system shown, five-story building with a spring
and mass system attached to the fourth floor. Determine the stiffness matrix.

Solution
In determining the fourth column of K, we visualize the horizontal forces
required to maintain the configuration of x 4 = 1, with all other masses
(stations) held fixed.

Example 7
Two identical bars of length l, mass,
and moment of inertia I, q1, q2,
and

q3

are

the

generalized

coordinates. Determine K.
Figure 107. Multiple Degrees of
Freedom System

Solution
k11 is the force applied at the mass
center to give it a unit translation
(q1 = 1).

k21 is the moment required to keep

the upper mass from rotating (q2

=0) when k11 is applied.

Figure 107. Model of Five Story

Building

k31 is the moment required to keep the lower bar from rotating ( q3 =0) when
k11 is applied.

Note: The kij has been given a sense the same as the sense assumed
positive.

F V =0=k 116 k
l

M G =0=k 214 k 2 +2 k 2
l

M O =0=k 31+2 k 2 k 2
the first column of K is then

l
6 k kl k T
2
T
[ k 11 k 21 k 31 ] =

[ ]
6

K=k l

l
2

3 2
l
2
3 2
l
4

l
2
3 2
l
4
3 2
l
4

Example 8
Two identical bars, each has a length l, a mass m, and a mass moment of
inertia Io about the pinned end. Determine the stiffness matrix and Equations
of motion.

Figure 108. Double Pendulum System

Solution
The spring force kl shown is based upon 1 is small so that
kl sin 1 kl 1=kl

M A =0=k 11 mg 2 k l2
M B =0=k 21 +k l2
which
2

k 11 =k l +mg

l
2

k 21=k l

M A =0=k 12+k l2
l

M B =0=k 22mg 2 k l2
which

k 12=k l 2

k 22=k l 2 +mg

l
2

Thus the differential Equations of motion is given by

l
2
k l + mg
I O 0 1
2
+

0 I O 2
2
k l

[ ]{ }

k l
2

k l + mg

l
2

]{ } { }
1
0
=
0
2

5.4 Flexibility Influence Coefficients

The flexibility coefficient aij is the linear (or angular) displacement that occurs
for a particular coordinate qi when a unit force or moment is applied at the
location of a coordinate qj with all other coordinates free to displace.
In using flexibility coefficients to obtain the differential Equations of motion,
let us use the concept of dynamic equilibrium. The inertia effects are equal in
magnitude to the forces that the various masses exerts, and can thus be
treated as if they were forces acting on the system. Note that the total
displacement of a particular mass is equal to the sum of the displacements

caused by each inertia effect (force), and remembering the definition of a

flexibility coefficient.
The total deflection at station i is given by:
n

x i= aij f j
j=0

x 1=a11 m1 x 1a12 m2 x 2+ a1 n mn x n
x 2=a21 m1 x 1a22 m 2 x 2 +a2 n m n x n

x n=an 1 m1 x1 an 2 m2 x 2+ ann mn xn

in matrix form;

{ } [ ][

]{ } { }

x 1 a11 a12 . . . a1 n m 11 m 12 . . . m 1 n x 1
0
x 2 a21 a22 . . . a2 n m 21 m 22 . . . m 2 n x 2
0
+
= ( 4)
:
:
. . .. . .
. . .. . .
:
0
x n a n1 an 2 . . . ann mn 1 mn 2 . . . mnn x n

or more simply;
X + AM X =0(5)

A is the flexibility matrix,

Multiplying by A-1
A1 X=0( 6)
M X+

it can be seen that A-1 = K or K-1 = A

Thus, the inverse of the flexibility matrix A is the stiffness matrix K.

A is symmetric matrix, since the inverse of a symmetric matrix is also

symmetric.

Example 9
Determine the flexibility matrix of the three-story building shown.

Figure 109. Three Story Building

Solution
( a ) F1 =( 3 k ) a11 a11=

1
3k

Since the horizontal forces on the columns supporting the upper two masses
are zero;

a21=a31=a11

(b) The columns in each of the first two stories are subjected to the unit force
F2, thus;
a12=

1
3k

a22=

1 1
5
+ =
3k 2k 6k

a32=a22 =

5
6k

(c) Similarly, the columns are subjected to the force F3,

a13=

1
3k

a23=

1 1
5
+ =
3 k 2k 6 k

a33=

1 1 1 11
+ + =
3k 2k k 6k

The differential Equations of motion are:

{ } [ ]{ } { }
x1
2 2 2 m1 x 1
0
1
x2 +
2 5 5 m2 x 2 = 0
6k
2 5 11 m3 x 3
0
x3

Example 10
A disk of mass m and centroidal moment of area I about a z-axis is attached
to the end of a cantilever beam of length l and negligible mass, stiffness
factor EI, the disk has general plane motion (it both translates and rotates)
as shown, so that it has two degrees of freedom that are defined by the

generalized coordinates q1 = y and q2 =. Show that AK=I, in which I is

the identity matrix.

Figure 110a. A Cantilever Beam with End Disc

Solution
From elementary beam theory, the deflection y and rotation of the disk due
to the application of a force P are:
2

y AB=

Px (
Pa (
x 3 a ) , y BC =
a3 x )
6 EI
6 EI

dy
Px (
Pa
, AB=
x2 a ) , BC =
dx
2 EI
2 EI

and due to the application of a moment M are:

M x2
dy Mx
y=
= =
2 EI
dx EI
we apply a unit force (P=1),
3

y=a11=

l
l
=a21=
3 EI
2 EI

we next apply unit moment (M=1)

2

l
l
y=a12=
,=a22=
2 EI
EI
Thus, the flexibility matrix,
A=

l 2 l2 3 l
6 EI 3 l 6

In determining the stiffness matrix K;

Figure 110b. A Cantilever Beam with End Disc

k11 is the force necessary to give the disk a positive unit translation, while
the moment k21 is the moment required to keep the disk from rotating when
the force k11 is applied;
P=k 11=

12 EI
6 EI
M =k 21 = 2
3
l
l

k22 is the moment necessary to give the disk a positive unit rotation, while
the moment k12 is the force required to keep the disk from translating when
the moment k22 is applied;

P=k 12 =

6 EI
4 EI
M =k 22 =
2
l
l

The stiffness matrix is thus

[ ]

2
6 EI l 2
K=
l 1
l

1
l
2
3

[ ][

2
l 6 EI 2l 2 3 l l 2
AK =
6 EI l 3 l 6 1
l

1
l
= 1 0 =I
0 1
2
3

5.5 Choice of Stiffness or Flexibility Matrix

In some problems it is easier to determine the flexibility coefficients a ij than
the stiffness coefficients kij , while in others the reverse is true. For example:
1. The lumped-mass model of an overhanging beam shown (a) becomes
statically indeterminate to the second degree (b) when stiffness
coefficients are considered as k21 and k31 act the same as unknown pin
reactions in keeping m2 and m3 fixed when k11 is applied. It is easy to
determine the flexibility coefficients, since the beam shown (c) for
determining the first column of A is for a statically determinate beam.

2.

Figure 111. Extended Beam with Lumped Masses

In the case shown (d) and (e), the stiffness coefficients can be
determined by simple inspection. For example, if F1 = k11 is applied to
station 1 (mass 1) so that x1 = 1, and m2 and m3 are held fixed by k21
and k31, respectively, a simple inspection, and a consideration of
statics, shows that:

k 11 =k 1 +k 2 , k 21 =k 2 , k 31=0

While, if a unit force (F1 =1) is applied in station 1, with m1, m2, and

m3 free to displace, it is found necessary to write three Equations of

equilibrium, which must solved simultaneously to obtain the flexibility
coefficients a11, a21, and a31.

Figure 112a. Three Degree of Freedom Systems

3. When systems are unconstrained (free-free) as shown (f) and (g), the
flexibility coefficients are infinite. For example, , if a unit force ( F1 =1)
is applied to m1 of the system (f), the displacements (the a ij's) become

a11 = a21 = a31 = , since there are no other external forces to resist
this statically applied force. These free-free systems are referred to as
semidefinite systems, and there Equations of motion must be
determined

using

stiffness

coefficients

rather

than

flexibility

coefficients. One of the natural frequencies of such systems will be

zero, corresponding to the zero root of the frequency Equation when
the system moves as a rigid body.

Figure 112b. Three Degree of Freedom Systems

Example 11
The flexible mass-less cantilever beam shown in Figure is carrying three
masses at stations (1), (2), and (3). The beam has a uniform cross section
with property EI. Determine the influence coefficients. Also, determine the
Equations of motion.

Figure 113. Flexible Mass-less Cantilever

Solution
The deflection of a cantilever beam at a point x due to a force F placed
at a distance a from the support is given by (x < a)

y=

F
6EI

(3a x2 - x3)

The slope of the deflection curve is given by

y =

F
2EI

(2ax x2)

Placing a unit force at station (1), a = L, then

a11 =
a21 =

L3
3EI
L3
3EI

+ L y|x = L =

5 L3
6EI

a31 =

L
3EI

+ 2 L y|x = L =

4 L3
3EI

Placing a unit force at station (2), a = 2 L, then

a12 =
a22 =
a32 =

5 L3
6EI
8 L3
3EI
8 L3
3EI

+ L y|x = 2 L =

14 L3
3EI

Placing a unit force at station (3), a = 3 L, then

a13 =

4 L3
3EI

14 L3
3EI

27 L3
3EI

a23 =
a33 =
It is clear that aij = aji. The flexibility matrix is written as
1 2. 5 4
L3
2.5 8 14

3 EI
4 14 27
If we consider the whole system, then

x 1 a11 a12
x a
2 21 a 22
x 3 a 31 a 32

a13
a 23
a 33

f1
f
2
f3

f1, f2 and f3 are the inertia forces acting on the masses. If there are
other forces acting on one of the masses, such as external or damping
forces, they should be included. The forces are given by

f1 = - m 1
Therefore,

y 1

f2 = - m2

y 2

f 3 = - m3

y 3

 y1
y
2
y 3

1 2. 5 4
L3
2.5 8 14

3 EI
4 14 27

m1
0

0
m2
0

0
0
m 3

y 1
y
2
y 3

The above Equations take the form

m 1 2. 5
L3
2 .5 8 m 2
3 EI
4
14

y 1 y 1
14 y 2 y 2 0
27 m 3 y 3 y 3
4

5.6 Damping Influence Coefficients

The damping coefficient cij is the force or moment required to hold a
particular coordinate qi fixed when a coordinate qj is given a unit linear (or
angular) velocity, with all other coordinates held fixed. cij = cji

Example 12
It is desired to determine the damping matrix for the three-story building
shown.

Solution

Figure 114. Three Story Building with Damping

c11 = c1 + c2
c21 = -c2
c31 = 0

c12 = -c2
c22 = c2 + c3
c32 = -c3

c13 = 0
c23 = -c3
c33 = c3

C X + KX=0
M X+

There is no practical means of determining accurate values for c ij elements of

the damping matrix for structural systems.

5.7 Inertia Influence Coefficients

The elements of the mass matrix, m ij, are known as the inertia influence
coefficients. Although it is more convenient to derive the inertia influence
coefficients from the expression for kinetic energy of the system (next
section), the coefficients mij can be computed using the impulse-momentum
relations. The inertia influence coefficients m ij are defined as the set of
impulses applied at points (i=1,2,,n), respectively, to produce a unit
velocity at point j and zero velocity at every other point. Thus, for a
multidegree of freedom system, the total impulse at point i,
found by summing up the impulses causing the velocities

n) as
n

Fi = m ij x j
j =1

In matrix form;

F =[ m ] x
where

x
F

are the velocity and impulse vectors given by

x j

Fi

, can be

(j = 1, 2, ,

{} {}

x 1
x2
x = . ,
F=
.
.
xn

F1
F2
.
.
.
Fn

and [m] is the mass matrix

For linear system the inertia influence coefficients are symmetric, that is m ij
= mji. The following procedure can be used to derive the inertia influence
coefficients,
1. Assume that a set of impulses

f ij

are applied at various points i

(i=1,2,,n) so as to produce a unit velocity at point j (

x j

=1 with

j=1 to start with) and a zero velocity at all other points. By definition,
the set of impulses

f ij

denote the inertia influence coefficients mij.

2. After step 1 for j=1, the procedure is repeated for j = 2, 3, , n.

Note that if xj denote an angular coordinate, then
velocity and

Fj

x j

represents an angular

indicate an angular impulse.

Example 13
Find the inertia influence coefficients of the system shown

Figure 115. Multiple Degrees of Freedom of Trailer

Solution
Let x(t) and (t) denote the coordinates to define the linear and angular
positions of the trailer (M) and the compound pendulum (m, l). To derive the
inertia influence coefficients, first, impulses of magnitudes m 11 and m21 are
applied along the directions x(t) and (t) to results in the velocities

x =1=0
. Then the linear impulse-linear momentum Equation gives

m11 = (M + m)(1)
and the angular impulse-angular momentum Equation (about O) yields
m21=m(1)

l
2

Next, impulses of magnitudes m12 and m22 are applied along the directions
x(t) and (t) to obtain the velocities
linear momentum Equation provides

x =0=1
. Then the linear impulse-

m12=m(1)

l
2

and the angular impulse-angular momentum Equation (about O) gives

m22=

m l2
(1)
3

Thus, the mass or inertia matrix of the system is given by

[ ]
M +m

[ m ]=

ml
2

ml
2
ml 2
3

5.8 Potential and Kinetic Energy Expressions in Matrix

Form
Let xi denote the displacement of mass m i and Fi the force applied in the
direction of xi at mass mi in an n degree of freedom system similar to the one
shown in Figure. The elastic potential energy (also known as strain energy or
energy of deformation) of the ith spring is given by

Figure 116. Multiple Degrees of Freedom System

1
V i= F i x i (7)
2

The total potential energy can be expressed as

1
V = V i = Fi xi
2 i=1
i=1

Fi = k ij x j

Since

i=1

1
1
V = ( k ij x j )x i= k ij x j x i
2 i=1 i=1
2 i=1 i=1

The last Equation can also be written in matrix form as

1
V = x T [ k ] x ( 8)
2

where

is the displacement vector and

[k ]

is the stiffness matrix.

The kinetic energy associated with mass mi is, by definition, equal to

1
T i = mi x 2i (9)
2

The total kinetic energy of the system can be expressed as

n

T = T i =
i=1

1
m x 2
2 i=1 i i

which can be written in matrix form as

1 T
T = x [ m ] x (10)
2

Where

is the velocity vector and [m] is the mass matrix.

It can be seen that the potential energy is a quadratic function of the

displacements, and the kinetic energy is a quadratic function of the
velocities. Hence they are said to be in quadratic form. Since kinetic energy,
by definition, cannot be negative and vanishes only when all the velocities
vanish, T is called positive definite quadratic forms and the mass matrix [m]
is called a positive definite matrix. On the other hand, the potential energy
expression, V is a positive definite quadratic form, but the matrix [k] is
positive definite only if the system is a stable one. There are systems for
which the potential energy is zero without the displacements or coordinates
x1, x2, , xn being zero. In these cases the potential energy will be a
positive quadratic function rather than positive definite; correspondingly, the
matrix [k] is said to be positive. A system for which [k] is positive and [m] is
positive definite is called a semi-definite system.

5.9 Solution of the Equations of Motion

The Equations of motion are usually written in the matrix form

M y C y K y f
(12)
Where M is the mass matrix, C is damping coefficients matrix, and K is
the stiffness matrix. All forces have the same frequency. A complete analysis
of a system with several degrees of freedom requires the determination of
the natural frequencies, the damping frequencies and damping factors, and
the forced response. These analyses are summarized as follows.

5.10 Determination of the Natural Frequencies and Mode

Shapes
(Eigen-Values and Eigen-Vectors)**

** The term Eigen-value comes from the German word "Eigenwert" in which
Eigen means "Characteristic" and Wert means "Value".

An n-degree-of-freedom system has n natural frequencies, and for each

natural frequency there is a corresponding normal mode shape that defines a
relationship between the amplitudes of the generalized coordinates for that
mode.
The square of the natural frequencies and sets of coordinate value describing
the normal mode shape are referred to as eigenvalues and eigenvectors
respectively.
It was shown that the damped natural frequency
d= 1 2

and that they are the same in magnitude for many real systems that have
damping of less than 20% (<0.2). For this reason, the eigenvalues and
eigenvectors of multi-degree-of-freedom systems, are usually determined
considering undamped free vibration.
The Equations of motion are in the form
KX =0
M X+

Premultiply by M-1 (the inverse of M) to obtain

X + M 1 KX =0(13)

Assume

x i=X i e

it

x i=2 X i eit

Substituting into Equation (13) we obtain

X + M KX=0

[ M 1 K2 I ] X=0

[ DI ] X=0
The dynamic matrix D or its inverse D 1 is formed as

D = M1 K
D-1 = K1 M
= 2
The Eigenvalues of D give the natural frequencies and the Eigenvectors
are the corresponding modal vectors. D-1 gives the inverse of natural
frequencies and the corresponding modal vectors.

Example 15
For the system shown determine
a. The eigenvalues of the system,
b. The natural frequencies in (Hz),
c. The eigenvectors.
l = 60 cm, d = 3.125 cm,
G = 84.4 GPa, I = 1.38 Kg.m2

Figure 117. Two Degrees of Freedom System

Solution

[ ]

M= I 0 ,
0 I

K= k k
k 2 k

[ ]

k
D=M 1 K = I
k
i

|D I|=0

k
I
2k
I

k
i

k
I =0
2k

3k
k 2
+
=0
I
I

()

1=21=

k 3 5
k 3+ 5
, 2= 22=
I
2
I
2

84.4109 (
4
0.031125 )
GJ
32
k= =
=13170.2 N .m/rad
l
0.6

1=1=3645.34, 2=2=25000

f 1=

=9.61 Hz , f 2= 2 =25.15 Hz
2
2

I
k
i

]{ } { }

k
1
I
0
=
2k
0
2

( kI ) kI =0( a)
1

k
2k
1+
2 =0(b)
I
I

The eigenvectors for 1 and 2 can be determined from either Equation (a) or
(b), using Equation (a)
k

2 I
=
1
k
I

21
=0.62 ( first mode )
11

22
=1.62 ( second mode )
12

Assuming a value of unity one of the eigenvectors components

( e . g . 1=1 )

{}{ }

1
= 1 eigenvector for first mode ( inphase )
2 1 0.62

{}{ }

1
= 1 eigenvector for second mode(180o out of phase)
2 2 1.62

Figure 118. Graphical Representation of Mode Shapes

Example 16
For the semidefinite system shown determine;
a. the natural frequencies,
b. the normal mode shapes (eigenvectors).

Figure 119. Example of Semidefinite System

Solution

] [

k k 0
I 0 0
K= k 2 k k M = 0 I 0
0 k k
0 0 2I

( kI )
(

k
I
0

k
I
2k

I
k
2I

)
(

k
I
k

2I

{ } {}
1
0
2 = 0
0
3

Expanding the determinant ,simplifying , gives the frequency equation as

7 k 2
k 2
+2
=0
2 I
I

() ()

( ) ] =0

7k
k
+2
2I
I

the roots are

1=0 f 1=0

k
1
k
2=0.72 f 2=
0.72
I
2
I

k
1
k
3 =2.78 f 3 =
2.78
I
2
I

b The first third equations are

( kI ) kI =0 2kI +( 2kI ) =0
1

I
3
k

I
2=
=
1
1

I
k
2

2I

=1, 3 =1 ( rigid body motion )

1 1
1 1

( ) ( )

=0.28, 3 =0.64 ( 1st vibration mode )

1 2
1 2

( )

( )

=1.78, 3 =0.39 ( 2nd vibration mode )

1 3
1 3

( )

( )

{ } { }{ } { } { } { }
1
1
1 1
1
1
2 = 1 , 2 = 0.28 2 = 1.78
0.39
3 1 1 3 2 0.64
3 3

** The components of the eigenvectors are said to be normalized w.r.t.

They can also be normalized w.r.t. either

or

. The magnitude of the

referencing components is referred to as the normalized factor. The

eigenvector can be normalized by giving it a unit magnitude, in which case

the normalized factor is the square root of the sum of the squares of the
eigenvector components.

Figure 119. Graphical Representation of Mode Shapes

Example 17
Determine

the

natural

frequencies

and

corresponding

configurations of the three-story building shown.

m = 8*105 kg, k = 4*108 N/m

Solution

( 35mk )

|D|=

k
2m
0

2 k
3I
3k

2m
k
m

)
(

k
=0
2m
k

normal

mode

Expanding the determinant ,simplifying , gives the frequency equation as

25 k 2 27 k 2
k 3
+

=0
6 m
6 m
m

( )

( ) ( )

3 20.83(10)2 2+11.25 (10)5 12.50(10)7=0

The roots can be determined by incremental-search method.

1=149.60 f 1=1.950 Hz

2=652.6 f 2=4.07 Hz
3 =1280.9 f 3=5.7 Hz

( 35mk )
(

k
2m
0

2k
3m
3k

2m
k
m

)
(

k
2m
k

{ } {}
X1
0
=
X2
0
0
X3

The first third equations are

( 35mk ) X 32mk X =0 mk X +( mk ) X =0
1

5k

3m
X 3
2k
5k

X2
3m
3 3m
=
=
X1
X1
2 k

()

X2
X
=2.05, 3 =2.93 ( 1st vibration mode )
X1 1
X1 1

( )

( )

X2
X
=0.54, 3 =1.78 ( 2nd vibrationmode )
X1 2
X1 2

( )

( )

X2
X
=1.34, 3 =0.86 ( 3rd vibration mode )
X1 3
X1 3

( )

( )

If we normalized these relationships w.r.t. X1 by assuming that X1 = 1

{ } { }{ } { } { } { }
X1
X1
X1
1
1
1
X 2 = 2.05 , X 2 = 0.54 X 2 = 1.34
0.86
X 3 1 2.93 X 3 2 1.78
X3 3

Figure 120. First Three Modes of Vibration