842 J. S. NISBET AND J. N.

BRENNAN

•2co262 frequency, the shock spectrum is radically different

from that of the rectangularpulseat all but the lowest
2 .-) b frequencies.
5. CONCLUSION

x It is apparentthat caremust be exercisedin approxi-

mating the wave form of a shock machine by an
idealizedpulse.
+n•'co•b2[coscot+cosco(t--rn)
]. (43) The discontinuities in the acceleration, or time
derivative of the acceleration,which are not present
The shockspectrumof one suchpulse is shownin in the testpulsecanresultin markeddifferences between
Fig. 10. The machine resonancehas been chosento theoreticaland practical shockspectra.
correspondwith the secondcuspin the shockspectrum If ringingis presentin a pulse,the possibilityof its
of the "one minus cosine"pulseusedfor the rise and excitingresonantmodesin the test structureshouldbe
decay forms. investigated.A pulse of this type may cause little
It is apparentthat thoughthe largepeakin magnifica- excitation of resonantmodesof frequencyhigher than
tion factor has been removed at the machine resonant the ringing frequency.

THE JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA VOLUME 29, NUMBER 7 JULY, 1957

Use of Four-Pole Parameters in Vibration Calculations*

C. T. MOLLOY
Lockheed
Aircraft Corporation,Burbank,California
(ReceivedJanuary16, 1957)

Linear elastic systemswhich have a singleinput point and a
singleoutputpointcanbe characterized
by a pair of simplelinear
equations,namely,
Finput- a11Foutput-•a12 Voutput,
Finput-- a21Foutput-•-a
•2Voutput,
where the F's are forces,the V's are velocities,and the a's are the
four-poleparametersfor the system.The useof four-poleparam-
eterspermitscombinationsof mechanicalelementsto be handled
as a single entity, and, as the parametersbelong only to the
elastic systemfor which they are defined, they do not depend
upon what precedesthat particular systemor followsit in a
mechanicalnetwork. This permits the statement of results in a
rather generalform. These parametershave been used for many
yearsin the analysisof electricalcircuits,and it is the purposeof
this paper to show their utility in the field of mechanicalvibra-
tions. In particular, the four-poleparametersfor the basic me-
chanicalelementsof mass,spring,and resistance,will be obtained.
Also, a descriptionof mechanicalsourceswill be given. The rules
for the connectionof four polesand a method of experimentally
measuringfour-poleparameterswill be presented.A few specific
problems illustrating the use of four poles will be set forth,
namely: a generalizedvibration isolation problem, the response
of an elastically mounted mass on an electrodynamic shake
table, shockexcitation analysis, and somedistributed parameter
systems(i.e., helicalspringsand rubberin shear).

1. INTRODUCTION
single pair of input terminals and a single pair of
output terminals they were called four poles or four
ORmany
years,
electrical
engineers
have
been
usingblockdiagrams.Thesediagramshaveproved terminal networks.Over the years an extensivetheory
convenientin the discussionof complicatedelectrical of these electrical four poles has grown up in the
systems.Largely becausethey permitted the encom- literature,•-4 and they are still a subjectof researchas
passingof a rather complicatedarrangementof com- evidencedby thefact that severalpaperswerepublished
ponentsinto a singleentity whichcouldbe represented on four pole theoryin 1956.
as a so-called"black box." It was then relatively easy The success of the black box idea in electrical circuit
to connect the various black boxes together to form theory has encouragedvariouswriters to try a similar
the completesystem. thing for specialproblemsin acoustics 5.6and electro-
In order to use such a technique efficiently, the mechanical sysiems. 7However, theappearance of these
engineerscharacterizedthe various black boxesby • L. A. Pipes,Phil.Mag::30,
370(1940).
equationswhich describedtheir performance,
and, in • M. B. Reed, ElectricalNetworkSynthesis(PrenticeHall, Inc.,
New York, 1955), Chap. 2.
addition, gave methodsfor determiningthe charac- * L. C. Peterson,Bell SystemTech. J. 27, 593 (1948).
teristicsof theseboxesby measurements
madeat their 4 S. Darlington,J. Math. Phys. 18, 257 (1939).
accessible terminals. When these black boxes had a • W: P. Mason,Bell SystemTech.J. 6, 258 (1927).
0L. C. Petersonand B. P. Bogert,J. Acoust.Soc.Am. 22, 369
* Presentedby invitation at the Los Angelesmeetingof the (1950).
AcousticalSocietyof America,November16, 1956. 7W.R.MacLeanl
J.Acoust.
Soc.Am.12,140(1940).

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 FOUR-POLE PARAMETERS IN VIBRATION CALCULATIONS 843

isolatedeffortsdoesnot seemto have broughtforth, at the authorhasemployeddiagramswhichare essentially

least to the writer'sknowledge,any attempt to develop pictorial
andwhichhehopes areclea
r. Thedrawings
four poletheorysystematically as a workingtechnique have been made on an ad hocbasis,much as one defines
in fields other than the electrical field. convenientsymbolsin a mathematicalanalysis.They
For the past several years, the writer has been are thereforenot comparableto the mechanicalcircuits
workingvariousproblemsin soundand vibrationby or equivalentelectricalcircuitswhich are describedin
the four-poletechniqueand hasfoundit very useful. the literature. Figures17, 18, 19, and 21 are exceptions
It is the purposeof thispaperto presenta brief survey to the above remark. These are equivalent circuits in
of somefundamentalsand someapplicationsof this the usual meaning of the term and furthermore are
theory.As the subjectis quite extensive,only a very so labeled. Readers interested in symbolisms for
brief treatment of a few items is feasible. Much more representingmechanicalcircuitsor in the subject of
could be said about each topic and many additional equivalent circuits are referred to the literature,
onescouldbe presented.However,it is hopedthat even especiallythe excellentpaper by F. A. Firestone.at
the limitedsamplegivenherewill indicatesomeof the 2. FOUR-POLE PARAMETERS FOR MECHANICAL
areaswherethis theoryhasprovedusefuland perhaps ELEMENTS
encouragethe readerto try it himself.
A few examplesof subjectseffectivelytreated by (A) Four-Pole Parameter Definitions
four-poletheorybut whichhavebeenomittedfrom the
The term four-poleparametersis the name applied
presentpaperare mechanical filters,vibrationpickups, to the four coefficientsa•, a•2, a•.•, a•.•.in the pair of
generalpropertiesof four-poleparameters,and their
equationsshownbelow'
relation to other parameters.Someof the advantages
of the four poletechniqueare listedbelow: F•=a•F2q-a•2V2 (1)
(1) It is an essentiallysimple idea and for this Vl:ot21F2-[-ot22V2. (2)
reasonis helpfulin providinga point of view.
Theseequationsare the performanceequationsof the
(2) It is applicableto a very largeclassof systems,
mechanicalsystemshownin Fig. 1. The elasticsystem
for example,acousticalsystems, mechanical vibration
can be any combinationof lumped,linear, mechanical
problems,passiveelectrical networks, and active elementssuch as masses,springs,and resistances.It
electrical networks.
can also be combinationsof linear, distributed param-
(3) It is easyto handlemathematically.
eter systems,suchas beams,plates,diaphragms,etc.
(4) All of the pertinentpropertiesof a systemcanbe
The elasticsystemmust have two identifiableconnec-
expressed in termsof four poleparameters.
tion points(1) and (2) whichare calledthe input and
(5) Four-poleparametersbelongto the particular
outputpoints.At the input point thereexistsan input
systemfor whichthey are definedand do not depend force (F•) and a velocity (V•). The input force and
uponwhat precedes or what followsthat system.For
velocityare producedby connection of point (1) to
this reasonthey allow the packagingof the parts of a
that portionof the completemechanical systemwhich
systemand thehandlingof thesepackages in a manner
similar to the black box techniqueso commonand so precedes it. At the output point (2) there existsa force
usefulin electricalcircuit analysis.
(F2) and a velocity (V2) which result from the appli-
cationof (F•) and (V•) at point (1) and the reactionof
(6) They areusefulin obtainingequivalentelectrical
the portionof the mechanical systemfollowingthe four
circuitsfor dynamicalsystems.They are particularly
useful in obtainingequivalentelectricalcircuits for pole. It should be noted that Eqs. (1) and (2) are the
canonicalform adoptedin this paperfor the four pole
distributedparameter systems.
equations.The input quantitiesF• and V• are on the
In the followingdiscussion it is proposedfirst to left hand sideand the output quantitiesF2, and V2 are
developthefour-pole parameters for simplemechanical on the right-handside.Otherarrangements are possible
elements and mechanical sources.Next, rules will be but it is believed that this is the most convenient.
givenfor the combinationof four polesfor two im- The unitsemployedin Eqs. (1) and (2) may be any
portanttypesof connections.
A shortdiscussiononthe self-consistentset, such as those shownin Table I.
measurementof four-pole parametersfollows. The
four-poletechniqueis then appliedto a few specific 1 2
o 0
problems, namely:the generalized vibrationisolation Elastic
System 1=
2,l/2 + Direction
problem,the problemof the response of a four pole
on an electrodynamic shaketable, an outlineof the F•G. 1. Four-poleparameternotation.
method of applyingfour-poleparametersto shock 8F. A..Firestone,J. A½oust.Soc.Am. 28, tlt7 (1956):-'-
excitationproblems,and finallyto the discussionof a • The a:athorhasdiscussed this subjectwith Floyd A. Firestone
few distributedparametersystems in whichfour poles who has indicatedthat he prefersthe mechanicaland acoustical
symbolsset forth in his paper8 to theepictorial.representations
are a usefulanalyticaI tool. Throughoutthis paper employedin this paper.

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10:16:22
 844 C. T. MOLLOY

TABLE I.
whereFlo, F•.o,etc., may be complexfunctionsof mass,
stiffness, resistance, and frequency, but are time
Name of unit in which quantity is expressed
System System System System
independent.It is to be notedthat no phaseanglesare
Quantity No. 1 No. 2 No. 3 No. 4 necessary in the (e•t) term sincethe (F10),etc., terms
Length Feet Feet Centimeters Meters
are allowedto be complex.It is to be understoodthat
Mass Pounds Slugs Grams Kilograms displacements at eachinput and output point are to be
Time Seconds Seconds Seconds Seconds
measuredfrom the respectiveequilibriumpositionsof
Force Poundals Pounds Dynes Newtons
Velocity Feet per Feet per Centimetersper Meters per thesepoints.The equilibriumpositionis definedas the
second second second second positionoccupiedby the point when no sinusoidal
excitationis appliedto thepoint.Equations(3) and (4)
become
Other units may be employed,but if they are, care
mustbe exercisedto insurethat the properadjustments Fi= F•+ (mwi)V• (6)
are made.
Vi=O.F•-Ji--V2, (7)
The dimensions
of the four-poleparameters depend
of the othervariablesin the four and the four-poleparametersfor a mass(seeFig. 2) are
uponthe dimensions
poleequationand they canbe determinedby inspection. all = 1; a12=mooi; or21:0; ot22
= 1. (8)
In the caseof Eqs. (1) and (2) wherethe othervariables
are forcesand velocitiesit is readilyseenthat (a11)and (C) Four-Pole Parameters for a Massless Spring
(a•.•) are dimensionless,(a12) has the dimensionsof
forcedividedby velocity,i.e., (mass/time),and (a21) The' force applied at the input point (1) of the
has the dimensionsof velocity divided by force, i.e., springis the sameasthe forcewhichthe springdelivers
(time/mass). This is equivalentto assertingthat (a12) at its outputpoint (2). Alsothe magnitudeof the force
has the dimensionsof a mechanicalimpedanceand at either end is the springconstant(k) multipliedby
(a•.0 has the dimensionsof a mechanicaladmittance. the "stretch" of the spring. Keeping in mind our
We shallnow proceedto obtain the four-poleparam- complexnotation and also that velocity is the time
eters for a singlemass,a singlespring,and a single k
resistor. The general procedurefor determining the
four pole parametersof a system ordinarily requires + Direction
that three stepsbe taken, namely:
(1) Write the performanceequationsfor the given FIO. 3. Four-pole parameters for a masslessspring.
system.
(2) Solve the performanceequationssubjectto the derivative of displacementwe have
boundary condition that at the input the force and
velocity are respectivelyF1 and V1 and at the output (9)
the forceand velocity are F• and V•.
(3) Cast the solutionsthus found into the canonical
form in Eqs. (1) and (2).
F1--
L (.Oi (.0•J
k[V1V91, (10)

which can be rewritten

(B) Four-Pole Parameters for a Mass
Sincethe massis regardedas a rigid body, we have Fi= F2-3-0ßV2, (11)

V1= V2, (3)

Vi=--Fv.• - V•. (12)
and by Newton's law k

F•-- F•= mdV1/dt= mdV2/dt. (4) Hencethe four-poleparametersfor a spring(seeFig. 3)

are
Restricting ourselvesto sinusoidaltime variation for
the motion and adopting the conventionalcomplex wi
number representationwe have a11=1; Oil2=0; Or21=--3 Ot22
= 1. (13)
k
FI= Flo' eisa; F•.= F•' ei•t; Vi = Vloei•'t;
V•= V•oe•, (5) (D) Four-Pole Parameters for a Resistor
As in the caseof the spring,the input force F1 is
equal to the output force F, Also for the kind of
damping consideredhere, namely, viscousdamping,
suchas that providedby a dashpot,the force F1 is
Fro. 2. Four-poleparametersfor a mass. equalto the resistance(r) timesthe relativevelocity

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 FOUR-POLE PARAMETERS IN VIBRATION CALCULATIONS 845

pole parametersof the elastic portion of the source

2
0
are known.Input force (F s) known'
F20
V2 + Direction

Fro. 4. Four-poleparametersfor a resistor. F (a•-•)Fs--xT/V.

(19)
of point (1) with respectto point (2). We havethen Input velocity (Vs) known'
F•=F2 (14)
(20)
FI=r(V1-- V.O,
F= •-• Vs--• V.
and rearranging'
These equationsdescribethe sourcein terms of the
F•=F•.+0' Vs (16) quantitieswhich are assumedknown and are obtained
1 by directapplicationof Eqs. (1) and (2) to the system
V•=-F•Jr - V•. (17) shownin Fig. 6.

F,V
The four-poleparameters
for a resistor(seeFig. 4) are ß 0
2 + Direction

The precedingconstitute a few simple examplesof Fro. 6. Mechanical source.

four-poleparameters.We now proceedto apply some
of theseideasto the problemof describingmechanical In the Eq. (19) it is necessary
that the idealgenerator
sources.
always exert the force F s at the input to the elastic
system,regardlessof the load which is coupledto the
(E) Mechanical Sources output of the elasticsystem.This is a physicalcharac-
Devices which can supply vibratory mechanical teristicof the idealgeneratorand is an additionalpiece
energy are called mechanicalsources.They may be of information over and above the numerical value of
physically quite complicatedbut in general they the force (F s), whichmust be known if Eq. (19) is to
behavein a rather simplemanner; namely, as if they properly describe the mechanical source. Such
are constructed from two components, an ideal generators will be called "Ideal Constant-Force
generator,and an elasticsystem.The ideal generator Generators."
servesthe purposeof exertinga prescribedsinusoidal The samesituation which obtainsfor Eq. (19) also
forceor velocity (amplitude,and phase)at prescribed holdsfor Eq. (20). In this case,however,the generator
frequencies on the input point of the elasticstructure maintainsa constantsinusoidalvelocity (Vs) at the
associated with it. The mechanical source drives its input pointof the elasticstructure,again,independently
load throughthe output point of the elasticsystem. of the load attached to the output. This type of
It is to be noted that the term elastic system is used generatorwill be called an "Ideal Constant-Velocity
Generator."
herein the generalsensedescribed in Sec.2A.
It is possibleto employ different parameters in Frequentlysituationsarisewhereit is not feasibleto
describingthe performanceof mechanicalsources. physically separate the mechanical source into its
The choiceis based upon convenience,i.e., what is componentsand for thesecasesit is deskableto have
known or easily ascertainableabout a source. The a meansof describingthe sourcein terms of quantities
symbolswhichare employedto representa mechanical which can be measuredat the only accessiblejunction,
sourceare shownin Fig. 5. namely, the output point. It is possibleto do this by
The performanceequationsare given below for a measuringthe mechanicalimpedancelookinginto the
sourcewhen either the force or velocity at the input source(i.e., lookingfrom the output point toward the
to its elasticsystemis knownand in addition,the four- input point) and also measuringeither the "Blocked
Force" or the "Free Velocity" of the source. The
SYMBOLFOR IDEAL Blocked Force is the sinusoidal force which would be
MECHANICAL GEN-
measuredat point (2) in Fig. 6 if this junction is
restrainedsothat its velocityis zero.The FreeVelocity
is the velocity which would be measuredat point (2)
SYMBOLFORELASTIC SYMBOLFORCOMPLETE of Fig. 6 if this point were completelyunrestrainedso
SYSTEM OF SOURCE MECHANICAL SOURCE that the forceexertedat this point is equal to zero. It
Fro. 5. Symbol for ideal mechanicalgenerator;symbol for is to be noted that the Free Velocity is the velocity
elasticsystemof source;symbolfor completemechanicalsource. which is measuredby a vibration pickup at a point

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 846 C. T. MOLLOY

when no load exists at this point. This, of course, V-Vsc [-Outputvelocitybecomes"Free Velocity"
assumesthat the pickupitselfproducesnegligibleload. (V•).•
In describing mechanical sources two distinct
situationsarise' first, when the sourceis to be described Insertingthesein (21) and (22):
in terms of experimentallymeasuredquantities, and Fs-a12Vs½ (26)
second,when the nature of the ideal generator is
known (i.e., constantforceor constantvelocitytype) (27)
and the elasticstructureis alsofully described.In the Putting (26) in (21) and rearranging,
we obtain
first caseaboveit is not necessaryto know the type of
ideal generator, whereas in the second case this in- (0/12/0/11)
Wsc--.
(0/12/0/11) (28)
formationmust be taken into accountin the analysis. This is the performanceequationof an Ideal Constant-
This will be evidentfrom the following.Let us consider Force Generatorcoupledto a four pole, in terms of the
first a mechanicalsourcecomprising an Ideal Constant- freevelocitywhichit deliversand the four-poleparam-
Force Generatorcoupledto an elasticsystemsuch as eters of the elastic structure.If the above procedure
that shownin Fig. 6. Let us further arrangethat the is repeatedfor an "Ideal Constant-VelocityGenerator"
outputpoint (2) be restrainedfrom moving.Under this coupledto a four-poleelastic system,the pertinent
condition the input force and velocity and also the quantities have the values shownbelow.
output force and velocity of the sourcewill have the
values:
OutputPoint Restrained
Fs=F8 (This condition is what makes it an Ideal F•= F•o, (The particularvalueof F• underthe assumed
Constant-ForceGenerator.) conditions.)
Vs--V•o, (The particular value of V• under the Vs= V• (Ideal Constant-VelocityGenerator.)
assumedcondition.)
F= Fo, (The outputforcebecomes
the blockedforce.)
F-Foe [-The output force becomesthe Blocked
Force(Foc).• V-0 (No motionpermittedat the output point.)
V=0 (No motionpermittedat the output point.) OutputPoint Free to Move
Now for any input F•, V•, and any output F, V, the F•=Fs•, (The particularvalueof F• underthe assumed
four-poleelasticsystemwill obey the equations conditions.)
Fs=0/11Fq-0/•2V (21) Vs= V• (Ideal Constant-VelocityGenerator.)
V s- a21F-lt-a2•.
V, (22) F=0 (No forceexertedat the output.)
and for the specialvaluesabovetheseequationsbecome V= V•, (Output Velocitybecomes
the freevelocity.)
F•=al•Fo, (23) Inserting thesedata into Eqs. (21) and (22) the two
Vsoc--0/21Foc
-- (0/21/0/11)Fs, (24) alternativedescriptionsof an Ideal Constant-Velocity
Generatorcoupledto an elasticfour pole, given below,
If Eq. (23) is substitutedin (21) and rearranged,we are obtained.
have 0/22
F=Foc----V (29)
F-- Foc--(0/12/0/ll)
V. (25) 0/21

This is the performanceequationfor an Ideal Constant- 0/22 0/22

Force Generatorcoupledto a four-polein terms of the F=--V•,--•V. (30)
blockedforce which it can generateand the four-pole 0/21 0/21

parametersof the elasticsystem.

We now considerexactly the same"constantforce"
mechanicalsourcedescribedabove, only this time we
shall permit the output point to move in an unre-
strainedmanner. The values of the input and output
forces and velocities will then be'
Fs- F• (Ideal Constant-ForceGenerator.)
V•=V•c (The particular value of V8 under the
assumedconditions.)
F-0 (No forceexertedat output.)
The set of Eqs. (25), (28), (29), and (30), all describe
mechanical sources but all involve the four-pole
parameters of the elastic system. We now show how
these parameters may be eliminated and all four
equationsreplacedby two equations.The ratio (0/12/0/11)
is the mechanicalimpedanceof the elasticstructureof
the sourcewhen measuredat the output point (2),
lookingtoward the input point (1) when point (1) is
unrestrained(i.e., has zero force or zero impedance).
Similarlythe ratio (0/22/0/21)
is the mechanicalimpedance
at point (2) when point (1) is completelyrestrained

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 FOUR-POLE PARAMETERS IN VIBRATION CALCULATIONS 847

(i.e., has zerovelocityor infiniteimpedance).

These
assertionswill not be proved here but they are
readily deduciblefrom Eqs. (1) and (2). If we
labelthe firstof theseimpedances
(Zsc)FreeImpedance
and the second(Zoc)BlockedImpedancethen Eqs.
+ Direction
(25), (28), (29), and (30) become
Fro. 8. n-four polesin tandem.
(31)
F=Fo,-Zs,V
]"Constant
Force
Type,"
F=Z**Vs,-ZscV (32) written in the matrix form thus'

(33)
cfii
(1)c•l•.
(D]
F=Fo,-
Zo,V]"Constant
Velocity
F=Zo•V•-ZocV Type." (34)
(37)

Now if we consider that an Ideal Constant-Force where the superscriptssignify that the parameters
Type Generatorwouldautomaticallyterminatethe belongto the fourpolenumbered(1). If the outputof
elasticfourpolein a zeroimpedance and alsothat an four pole (1) is the input of four pole (2) then an
Ideal Constant-Velocity-Type Generatorwouldneces- equationsimilarto (23) canbe writtenfor it thus:
sarily terminateits elasticfour pole in an infinite
impedance, then if we measurethe mechanical im- (38)
pedance of the mechanical sourcethe measuredvalue
will be eitherZs, or Zo,dependinguponwhichtype of
sourceis beingmeasured. Therefore,
if we denotethis
measured impedance by (Z,) it wouldreplace(Z•,) If thematrixV•. IF2]
inEq.
(37)
isreplaced
byits
value
in (31) and (32) or it wouldreplaceZo, in Eqs. (33)
and (34). The experiment wouldyieldthenthe single from Eq.(38)theinputV• [F•]isrelated
tothe
output
pair of equations Fa .
F=Foc-Z.V (35)
C•11
(2)
F=ZsV**-Z•V (36) X . (39)
V1 [a•.•(•) .0•21
(2) 0•22
(2)] V3
for bothtypesof generators.
Equations
(35)and (36)
This process
describe the mechanical source in terms of the measured can obviouslybe generalized for (n)
quantitiesFo, and Z, (seeFig. 7) or the measured four polesin tandem.Theparameters for thiscomposite
fourpolearegivenby thematrixproductofthematrices
of the component four poles.This is shownbelow:
F, V
O

,• • i,v•c,z•,
I Direction

_C•21
(1) C•22(i)
J
Fro. 7. Mechanicalsourcecharacterizedby the pair of quantities
(FocandZ,) or by the pair (V,c andZ,).
X ] -au
t,ll(2)C•12
(2) (')
-O•21
a•.(')
,.,
(n) O•22
X ] (40)
(n) Vn+lJ'
quantities
V•candZ,. Thusin the casewhereexperi- [a•.l(2) •2(2)1
mental measurementsare made, it is not necessaryto
know whether the source is a Constant Force or a When the indicated multiplicationsare performed,
ConstantVelocity Type. the four-pole equationsfor the compositesystem
become
3. CONNECTION OF FOUR POLES

(A) Tandem Connection

Twofourpolesaresaidto be in tandemconnection
= X[V•+•/'
whenthe outputfromthefirstis precisely theinputto It should be noted that each matrix belongs to a
Thisis shownin Fig. 8 for (n) fourpolesin singlefourpole and that any changesmade in that
the second.
tandem. fourpoleaffectsonlyits ownmatrix.Thisis a consider-
The analysis
of thistypeof connection is efficiently
handledby matrixtechniques. The structure resulting
from the tandem connectionof four polesis simply •- Direction
anotherfour pole. Equations(1) and (2), i.e., the
canonicalequationsfor a singlefour pole can be Fro. 9. Springand massin tandem.

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10:16:22
 848 C. T. M OLLOY

able conveniencein certain problems. As a simple

illustrativeexampleof the useof the matrix technique J ClIn} J
the four-pole parametersof a spring and mass in i,j J•
tandem (see Fig. 9) are calculated.
1 1 + Direction

(42)
I c•fl) J
I
Spring Mass Combinedspring
RigidMassless Rigid/Vlassless
Bar
Bar Constrained Constrained to Move
matrix matrix and mass matrix to Move in Axial in Axial Direction.
Directionß Translation
Only.
TranslationOnly.
Four-polee.quationsfor systemare
FIG. 10. Parallel connectionof four poles.
Ft= F2q-(rood)V2 (43)
Four-poleequations for parallelconnection.--Asimple
= 1 V2. (44)
exampleof the applicationof the foregoingformulas
for parallel connectionis shownbelow. The four-pole
parameters of combinationspring and resistor (see
(B) Parallel Connection Fig. 11) are
Whenfourpolesare connectedsothat--(1) all their iXll=1 a•t=l/(rq-k/od)
input junctionsmovewith the samevelocity,(2) all iX12=0 iX22
= 1. (46)
their output junctionsmove with the samevelocity,
(3) the input forceto the compositefour pole is the ! k !
sum of the input forcesof the individualfour poles,
(4) the output forcefrom the composite four pole is
the sum of the output forcesof the individual four
poles,--thefour polesare said to be connected in
parallel.This is shownin Fig. 10. I i I
The four-poleparameters for the composite
systemof
(n) four polesare givenby the formulas(45). In the FiG. 11. Springand resistorin parallel.
generalcasetheseare somewhatcomplicated but for
4. MEASUREMENT OF FOUR-POLE PARAMETERS
manyimportantspecialcasesthey yield simpleresults.
AC The four-pole parameters of a structure can be
an=A/B ; al==----B measuredexperimentally.The measurementsrequired
are the "Free" and "Blocked"mechanicalimpedances
1 at the input and output junctions. The Blocked
a•=-- ; a•= C/B mechanicalimpedanceat the input (Z1oc)is the me-
B chanical impedanceat the input junction when the
(45) output junction is not permitted to move. The other
impedancesare defined in a similar manner. The
•:• xo•21
© •=1 o•21
(•) formulas relating the impedancesand the four-pole
parametersare shownbelow'

C=l----n(O122(l)•
1
Z (l)/
ß

l----1 \(X21 (•21--- ß

Note.--In derivingthe aboveequations,usehasbeen

made of the relation Choosesign of radical so a•x has positive real part.
Oll l -- Z loc' Ol21
1Xll
iX12
(X21
.__
1 (X22
ol22'-Z2oc' O•21 (47)
iX12"- Zlsc' Z2oc'ix21.
which is a consequence
of the fact that the system
obeysthe reciprocityprinciple. 5. VIBRATION ISOLATION PROBLEM

Fx- axlF•q-Otl• V•
We shallnow investigatethe problemof determining
V1-- ot21F2-•-a22
V2. the effectof insertinga four pole betweena massand a

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 FOUR-POLE PARAMETERS IN VIBRATION CALCULATIONS 849

mechanicalsourceof vibration.This is a generalization mounting system.

of the ordinaryvibrationisolationproblemwhereit is
commonpractice to regard the mechanicalsourceas V0
havinginfinitemechanicalimpedanceand to consider Insertionratio= r/=-- (50)
V•
the four polewhichis to performthe isolationfunction
as a springor possiblya spring-resistor combination. (mwi)an+ (Zoo)
In the caseto be analyzedhere the mechanicalsource n (Sl)
has an arbitrary internal impedance (Zoo) and a (Zoo+moji)
prescribedFree velocity (Vsc).Also the elasticsystem Insertionloss=a=20 Logx0]n (decibels). (52)
inserted between the mass and the source need not be
a simplespringor spring-resistor
combination
but may 6. ELECTRODYNAMIC SHAKE TABLE
be a very complicatedcombinationof linear mechanical
elements--a mechanical filter for example. This Figure 13 showsan idealizeddiagram of an electro-
illustratesoneof the advantagesof the four-polepoint dynamicshaketable. Figure 14 showsblockdiagram
of view, namely,that the equationswritten in termsof suitablefor four polerepresentation.
We note that the
four poleparameters applyto a wideclassof systems two input quantities,appliedvoltage,and current,are
and it is only necessaryto insert the appropriate electricalwhile the two output quantities,force, and
four-poleparametersto obtainresultsfor a particular velocity,aremechanical. Thesevariablesarerelatedby
system. Figure 12 showsthe mass-source prior to a pair of linearequationsandcanbeput in the canonical
four-poleform as shownin Eqs. (53).

E=anF+a•.V

Z.EZm
Mechanical Source
UNI SOLATEDSYSTEM
• •Mass
• au=Zs/K; a•2= 10-7Kq- (53)•:
K

c ai,j ,
1

Zoc,
Vs ß
ß

o
ß
ß

ß
.

.
a2l=-- ; a22= Zm/K
K

E= Applied Voltage
_1_
Mechanical
Source J- Isolating
Four-i-
Pole •i
- •as•J
ISOLATEDSYSTEM
I= Input Current (Amperes),
Fro. 12. Unisolated system; isolated system.
F=Output Force (dynes),
isolationand alsoafter the isolatingfour polehasbeen
inserted between the mass and the source.
By a straightforwardapplicationof the mechanical F,
V •Table
sourceequation,the four-poleequationsfor a massand
the four-poleequationsfor the isolator,the velocity •Table
Suplort• Output
of the massbeforeand after isolationcanbe computed
and the resultsare showain Eqs. (48) and (49).

Vo=Joe) 'v
zo,-moi
= (Velocityof massbeforeisolation) (48)
ilii! iiiiiiiiii!ii!iiii
Driving
Coil
Vl (•}77dDi)(Ell+
(Zoc)O122+
(got)(Jq•oi)(E21+(E12
= (Velocity of massafter isolation). (49)
Input

If we consider that the effectiveness of isolation is Fm. 13. Diagram of electrodynamicshaketable.

measured by the ratio of velocity before isolation to
that after isolationandif we callthisthe insertionratio, { Mixed unitshave beenemployedin Eq. (53). If eithercgsor
mks units were employedthroughout,the factor 10-* would be
then the functions below define the effectiveness of the replacedby unity.

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 850 C. T. MOLLOY

below and were obtainedby performingthe indicated

E J Table I F,
0V multiplicationof Eq. (56).
6 I •.i,j j Output + Direction

Input
SHAKETABLEWITH NO EXTERNALLOAD

I .•j.-
(57)
- Shake
TableI FV I Four-Pole
'c)•J Load JF,,
6Input I ai'J
+ Direction

Fro. 14. Shake table driving a four-pole load.

V- Output Velocity (cm/sec), Equation (58) showsthe four-poleequationsfor the

K= ForceFactor (dynes/amperes) combination,shaker,and load.

Flux Density (Gauss)X Coil Length (cm) E='•F•d-'•2V•

(58)
10 I = '• 2•F •+'• • V •.

Z•-Blocked ElectricalImpedance(ohms), Putting the output forceof the load equal to zero, the
response of theloadto theinputvoltage(E.)isobtained.
Zm-Open Circuit MechanicalImpedance,
(mechanicalohms). F•=0 and V•=E/'• (velocityof the load). (59)

The shaker and the load are simply two four poles Alsothe currentin the driving coilis givenby
in tandem and the problemof determiningthe motion
at the output of the load is bestdoneby useof matrix
notationas shownin the followingsetof equations. W12!' I:('•2)E (60)
Theseresultsare quite simplewhen expressed in terms
X Shakerequations. (54) of four-poleparameters.They are alsoquite generalin
L(X21 (X22J V
that the formulas include the effects of the source and
also permit the load to be any four-pole-typeelastic
structure.For exampleif the load werea pure massor a
V•
springsupportedmass,the quantities(•i. i) wouldhave
the valuesin Table II. Perhapsthe notablething about
=ca2• a•, X[• •]
this analysis is the ease with which the results were
Combinedequa- obtained and also their wide generality.
tion for shaker
7. SHOCK EXCITATION ANALYSIS
= X
nd,od, The four-pole parameter technique is useful in
where dealing with variousproblemsof shockexcitedelastic
systems. The theoryof transientanalysisis an extensive

['¾11
'¾12l
__
[(Xll
(X121
[/•11
X
/•121
721 •22-1[a21 a22JL/•21/•22J'
(56) subjectwhich is well treated in the literature and it is
not proposedto discussits detailshere. The objective
is merely to showhow someof theseproblemscan be
The specific form of the parameters Vii are given formulatedin terms of four-poletheory. In doing this,
TABLE II. the point of view of Fourier integral analysisas set
forth by Campbelland Foster in their book "Fourier
Pure mass Spring supported mass Integralsfor PracticalApplications"9hasbeenadopted.
/gn= 1 /gn= 1
The analysispresentedhere applies only to systems
• •2= mcoi • •• = rncoi whichare at rest at the time of applicationof the shock.
• =0 • =od/k If the systemis not initially at rest, then it is necessary
t•=1 =1_ mco_•
t•2• k• 0 G. Campbell and R. Foster, Fourier Integralsfor Practical
Application(D. Van NostrandCompany,Inc., New York, 1950).

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 FOUR-POLE PARAMETERS IN VIBRATION CALCULATIONS 851

to prescribeinitial conditionsfor eachof the coordinates where

required to describe the system and to solve the
differential equationsof the system subject to these
initial conditions.However, the "Initial-Rest" caseis
Vx(f)
=f vx(g)e-2'•fodg.
(64)
of sufficientimportanceto warrant its presentation. Now the resultantvelocityv2t) canalsobe written as a
The procedurefor calculatingthe response of a system Fourier integral thus'
initially at rest to a nonperiodicexcitationinvolvesthe
-Foe -Foe
followingthree steps.
Step v2(t)=f
f v2g)ei2•s(t-ø)dfd
number Operation (65)
(1) Determine the responseof the system to an = V2(f)ee•.•t.df,
applied, single frequency, sinusoidal
excitation.
(2) Analyze the shock excitation function into but V•(f) and V2(f) are related throughthe four-pole
its sinusoidal components by means of equations,i.e., Eq. (62) and we have
Fourier integral.
(3) Fromthe resultsof steps(1) and(2)determine
the responseof the systemto eachsinusoidal
v(t)
= (66)

componentof the shock and add all the

responses by use of a Fourier integral. The or in terms of the original velocity shock we have
result is the desiredresponseof the system
to the applied shock. •.e•'•i(t-o•dfdg. (67)
It is in step (1) that the four-poletechniqueis useful.
Since the four-pole equationsare relations between Of course,many other examplescould be cited such
as a force input or an accelerationinput or a displace-
ment output. Thesewould all be handledin a manner
0 ø'i,j 0 F2=O similar to that employedin the previousexample.
Input Output

8. DISTRIBUTED PARAMETER SYSTEMS

Fro. 15. Four-polesubjectto a velocityshock.
(A) Helical Springs
sinusoidalinput forcesand velocitiesand sinusoidal
outputforcesand velocities,the responsesrequiredfor The mechanicalsystemswhich we have discussed
the Fourier integral formulationof the problemcan up to now have all been of the "Lumped Parameter"
usuallybe readdirectlyfrom the four-poleequations. type,i.e.,systemswhoseperformance couldbedescribed
This is illustratedin the followingexample.Consider by one or more ordinary differentialequations.It will
an arbitraryfour-polesystemat whoseinput thereis now be shown that four-pole parameter techniquesare
applieda velocityshock(seeFig. 15)v•(t)andat whose also applicable to certain distributed parameter
outputno restrainingforceis applied.For sinusoidal systems.The particularsystemschosenfor illustration
excitationthe four-polbequationsare are all describedby a one-dimensional
wave equation.
The first case which will be considered is that of a
Fl=anF2+al2V2 helicalspringon whichelasticwavesare propagating.
(61) The equationsfor the systemof Fig. 16 are
V1 = a21F2-[-c[22V2.

SinceF2--0, the sinusoidalresponse functionrequired •=0 (68)

for step(1) of the transientanalysisis Ox• c• OF

V2= V•/a22. (62) o•

F= --kl.-- (69)
Theanalysis
of theinputvelocityshockisaccomplished Ox
as follows:
where•=displacementat point (x) and time (t), c=
speedof wavepropagation-l(k/m)•,
/-length of un-
vl(t)
=•_ f 7)l(g)'ei2rf(t-g)'dfdg
(63)
Input Output
=f V•
(/)'ee'•-•
t.d/, Fro. 16. Helical spring.

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 852 C. t. M OLLOY

z1 z2 The aboveequivalentcircuit is goodfor the whole

E1
0 0
17. Equivalent electrical"T" for mechanicalsystem•vhose
four-poleparametersare ot•,i.
frequencyrange for which the differentialequation
describingthe springmotion is valid. It can be em-
ployedfor the study of wave propagationin springs.
E2 if we restrict ourselvesto the lower frequencies,
namely, to situations where the argumentsof the
transcendental functionsare small, say lessthan one-
tenth, the approximateequivalentcircuit of Fig. 19 is
obtained.This approximation is obtainedby expanding

L =m
: L=-m
stretchedspring,k--spring stiffnessconstant,and m=
mass of spring. Solution of the equationsassuming
sinusoidaltime variation and subjectto the boundary ø
• • I1- i r•
El
ø Circuitvalid
• when
conditionsF•, V• at the input and F2, V•.at the output
yieldsthe four-poleequations' o -i-c__ I
o <0.,
Fzo. 19. Approximate equivalent circuit for helical spring.
m «
F2
the transcendental impedancefunctionsin a Maclaurin's
m « seriesand retaining the first term.
(70) The two precedingcircuits are typical and similar.
circuitscanbe obtainedfor otherdistributedparameter
systems.For example, the four-pole parametersand
Vi=
i(km)•
sin
• ßco]
.F2 equivalentcircuit for a uniformbar in which compres-
sionalwavesare travelingcanbe obtainedby replacing
the spring stiffness (k) in the precedingby the
ßcol'
Ve.(71) equivalentstiffnessof the bar.

An equivalent electrical "T" network can always be (B) Rubber in Shear

found for any systemwhosefour-poleparametersare The equationsfor the propagationof plane shear
known, and which obey the reciprocity relation of waves are identical with thosefor the propagationof
Eq. (45a). The equivalenceimplied here is simply that waveson a helicalspring.The only differencelies in the
the input and output currentsin the electricalcircuit definitionof the symbols.The diagram applicableto
are numericallyequal to the correspondinginput and the shear case is given in Fig. 20. The performance
output velocitiesand likewisefor forcesand voltages.
The relationship between the impedances of the
branchesof the electricalcircuit of Fig. 17 to its four-
poleparametersare givenin the equationset (72).
Z•= (,•- •)/,•
Z•.= (a•- 1)/c•_•, (72)
Za= 1/a•.
When these formulasare applied to a helical spring,
the exact equivalentcircuit of Fig. 18 is obtained.

i (km)2. Tan ß i (km)2. Tan ß y s••

+ø•
n
- j
20. Diagram for shearwaves.

equationsare numbers(73) and (74).

-i (km)
•. 1
Sin •ß
=0, (73)
Ox• cs OF
0 0
Input Output
F= --SG--, (74)
Fzo. 18. Exact equivalent circuit for a helical spring. Ox

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 FOUR-POLE PARAMETERS IN VIBRATION CALCULATIONS 853

L = m12 L= mlZ
where•/=displacementin shearplaneat distance(x) o rTC6-• • o
and time (t), c-speed of propagationof shearwaves=
(G/p)«, F= total shearforceon surface(S), G=shear
modulus,p= densityof material,andl- lengthofsample. ß '•' Output
If we follow the sameprocedureas was employedfor
the helicalspringthe first approximatecircuitof Fig.
21 is obtained.If we assumethat the particular elas-
Input TC
0 =S'-• 0

(a)
tomerbehavesasif it hasa complexshearmodulusthen
L = m12 L = m12
the secondcircuit of Fig. 21 results. o r'0•ft•F0• .r"Cr'C• o
c=•SG'
9. CONCLUSION
Input Output
The easewith which results can be achievedby the R__SG.__["
four-poletechniqueas well as the generalityof those
results make it a valuable addition to the collection of o o
methodsavailablefor solvingvibration problems. (b)

Fro. 21. (a) Equivalent circuit for plane shear wave. Propa-
ACKNOWLEDGMENTS gationin an elastomerwith a real shearmodulus;(b) equivalent
circuitfor planeshearwavepropagation in an elastomerwith a
The author wishesto thank his many friends with complexshearmodulus(G=G'+iG").
whomhe had the privilegeover the yearsof discussing
variousaspectsof four-poleparametertheory. These Lockheed Aircraft Corporation,and to Dr. F. A.
were most helpful in aiding the author to Firestonefor havingread the originalmanuscriptand
discussions
achieveclarity in his own thinking. He is particularly for havingprovidedmany constructive
suggestions
for
indebted to Mr. F. Mintz and Dr. S. Rubin of the this paper.

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