MULTI DEGREE OF

FREEDOM (M-DOF)
Outline

1 Using Newton’s Second Law to derive

Equations of Motion
2 Influence Coefficients
3 Eigenvalue problem
Using Newton’s 2nd Law to derive
Equations of Motion
Step 1: Set up suitable coordinates to describe
positions of the various masses in the system.
Step 2: Measure displacements of the masses
from their static equilibrium positions
Step 3: Draw free body diagram and indicate
forces acting on each mass.
Step 4: Apply Newton’s 2nd Law to each mass
Example 1

 Derive the equations of motion of the spring-

mass damper system shown below.
Solution
 Free-body diagram is as shown:

 Applying Newton’s 2nd Law gives:

mi xi  ki xi  xi 1   ki 1 xi 1  xi   ci xi  xi 1   ci 1 xi 1  xi   Fi , i  2,3,..., n  1

 Set i=1 with x0=0 and i=n with xn+1=0:

m1 x1  c1  c2 x1  c2 x2  k1  k 2 x1  k 2 x2  F1
mn xn  cn  cn 1 xn  cn xn 1  k n  k n 1 xn  k n xn 1  Fn
 Solution
Notes:
 The equations of motion can
   
be expressed in matrix form: mx  cx  k x  F


 [m] is the mass matrix m1 0 ... 0 

0 m 0  
 [c] is the damping matrix m   2 
  0
 
 [k] is the stiffness matrix  0 ... 0 mn

k1  k2  k2 0  0 
c1  c2  c2 0 0   k 
 c c  c  c    2 k 2  k 3  k 3 0 0    x1 t    F1 t 
c   2 2 3 3 , k    0  k3 k3  k 4 0 , x   x2 t , F  F2 t 
 0 0  0     x t   F t 
   0       3 
 cn cn  cn1 
3
  
 0 0 0  kn kn  kn1 
Stiffness Influence Coefficient, kij

 kij is the force at point i due to unit displacement

at point j and zero displacement at all other points.
n
 Total force at point i, Fi   kij x j , i  1,2,..., n
j 1

 Matrix form:  k11 k12 ... k1n 

  k 21 k 22 ... k 2 n  Note:
F  k x where k   
     kij = kji
 
k n1 k n 2 ... k nn 
Example 2

 Find the stiffness influence coefficients of the

system shown below.
 Solution
 FBD

 Set x1=1 and x2=x3=0.

 Horizontal equilibrium of forces:
 Mass m1: k1 = -k2 + k11 (E1)
 Mass m2: k21 = -k2 (E2)
 Mass m3: k31 = 0 (E3)
 Solving E1 to E3 gives
 k11=k1+k2

 k21 = -k2

 k31 = 0
Solution

 Next set x2=1 and x1=x3=0.

 Horizontal equilibrium of forces:
 Mass m1: k12 + k2 = 0 (E4)
 Mass m2: k22 - k3 = k2 (E5)
 Mass m3: k32 = - k3 (E6)
 Solving E4 to E6 gives
 k22 = k2+k3
 k12 = -k2
 k32 = -k3
Solution

 Finally set x3=1 and x1=x2=0.

 Horizontal equilibrium of forces:
 Mass m1: k13 = 0 (E7)
 Mass m2: k23 + k3 = 0 (E8)
 Mass m3: k33 = k3 (E9)
 Solving E7 to E9 gives
 k33 = k3
 k13 = 0
 k23 = -k3 k1  k2  k2 0 
 Thus the stiffness matrix is: k     k2 k 2  k3  k3 
 0  k3 k3 
Flexibility Influence Coefficient, aij
 Have to solve n sets of linear equations to
obtain all the kij’s in an n DOF system
 Generating aij’s is simpler.
 aij is defined as the deflection at point i due to
unit load at point j,
 xij = aijFj, where xij is the displacement at
pointn i due n
to external force Fj
xi   xij   aij Fj , i  1,2,..., n
j 1

j 1

 Matrix form: x  aF
Flexibility Influence Coefficient, aij

Note:
 Stiffness and flexibility matrices are the
inverse of each other. k   a1, a  k 1
 aij = aji
Example 3

 Find the flexibility influence coefficients of the

system shown below.
Solution
 Let x1, x2 and x3 be the displacements of m1,
m2 and m3 respectively.
 Set F1=1 and F2=F3=0.

 Horizontal equilibrium of forces:

 Mass m1: k1a11 = k2(a21 – a11) + 1 (E1)
 Mass m2: k2(a21 – a11) = k3(a31 – a21) (E2)
 Mass m3: k3(a31 – a21) = 0 (E3)
 Solving E1 to E3 gives a11 = a21 = a31 = 1/k1
Solution
 Next set F2=1 and F1=F3=0.

 Horizontal equilibrium of forces:

 Mass m1: k1a12 = k2(a22 – a12) (E4)
 Mass m2: k2(a22 – a12) = k3(a32 – a22) +1 (E5)
 Mass m3: k3(a32 – a22) = 0 (E6)
 Solving E4 to E6 gives
 a12 = 1/k1
 a22 = a32 = 1/k1 + 1/k2
Solution
 Next set F3=1 and F1=F2=0.

 Horizontal equilibrium of forces:

 Mass m1: k1a13 = k2(a23 – a13) (E7)
 Mass m2: k2(a23 – a13) = k3(a33 – a23) (E8)
 Mass m3: k3(a33 – a23) = 1 (E9)
 Solving E7 to E9 gives
 a13 = 1/k1
 a23 = 1/k1 + 1/k2
 a33 = 1/k1 + 1/k2 + 1/k3
Eigenvalue Problem
 
  2

k   m X  0 (Eigenvalue problem)
 For a non-trivial solution, determinant Δ of the
coefficient matrix must be zero.
 i.e. Δ= |kij-ω2mij| = |[k]- ω2[m]| =0
(Characteristic equation)
 ω2 is the eigenvalue
Solution of the Eigenvalue Problem
 
Eigenvalue problem: k   mX  0 where   2
1


   
 Multiplying by [k]-1: I   DX  0 or IX  DX
 [I] is identity matrix

 [D]=[k]-1[m] is dynamical matrix.


 For a non-trivial solution of X ,
characteristic determinant Δ=|λ[I]-[D]|=0
 Use numerical methods to solve if DOF of
system is large
Example 4

 Find the natural frequencies and mode

shapes of the system shown below for
k1=k2=k3=k and m1=m2=m3=m
Solution
 Dynamical matrix [D]=[k]-1[m] ≡[a][m]
1 1 1
Flexibility matrix a  1 2 2
1

k
1 2 3
1 0 0
 Mass matrix m  m0 1 0
0 0 1

1 1 1
 Thus D  1 2 2
m
k
1 2 3
Solution
 Frequency equation:
 0 0  1 1 1
Δ=|λ[I]-[D]|=  0  0   m 1 2 2  0 where   1
  k  2
 0 0   1 2 3

 Dividing throughout by λ,
1  
m m 2
  1  2  2    5  6  1  0 where  
3 2

k k
   2 1  3
 Solution
m12 k
1   0.19806 , 1  0.44504
k m
m22 k
2   1.5553, 2  1.2471
k m
m32 k
3   3.2490 , 3  1.8025
k m
 Spring mass system: Real natural frequency
 Spring mass damper system: complex natural frequency
 Eign frequency= 2
 If the natural freq are known, then the eigenvectors are:
 X 1i  
 i     i   i  
i I   DX  0, i  1,2,3 where X   X 2  (E1)
 X i  
 3 
Solution
1st mode: Substitute λ1=5.0489 m into (E1):
k
1
 1 0 0 1 1 1   X 1  0
 m   m 1 2 2   X 1   0
 5.0489
k
0 1 0  k  2   
 0 0 1 1 2 3   X 31  0

4.0489 1  1   X 11  0

   
i.e.   1 3.0489  2   X 21   0
  1 2 2.0489   X 31  0
 3 unknowns X1(1),X2(1), X3(1) in 3 equations
 Can express any 2 unknowns in terms of the
remaining one.
Solution
X2(1) + X3(1) = 4.0489 X1(1)
3.0489 X2(1) – 2X3(1) = X1(1)
 Solving the above, we get
X2(1)=1.8019X1(1) and X3(1)=2.2470X1(1)
 1 
 1
 Thus first mode shape X  X 11 1.8019 
2.2470 
 
where X1(1) can be chosen arbitrarily.
Solution
m
2nd mode: Substitute λ2=0.6430 into (E1):
k
2 
 1 0 0 1 1 1   X 1  0
 m  m    2    
0.6430 k 0 1 0  k 1 2 2   X 2   0
 0 0 1 1 2 3   X 32   0

 0.3570 1  1   X 12   0

   
i.e.   1  1.3570  2   X 22    0
  1 2  2.3570   X 32   0

 3 unknowns X1(2),X2(2), X3(2) in 3 equations

 Can express any 2 unknowns in terms of
the remaining one.
Solution

–X2(2) – X3(2) = 0.3570X1(2)

-1.3570X2(2) – 2X3(2) = X1(2)
 Solving the above, we get
X2(2)=0.4450X1(2) and X3(2)=-0.8020X1(2)
 1 
 Thus 2nd mode shape X 2   X 2   0.4450 
1
 0.8020 
 
where X1(2) can be chosen arbitrarily.
Solution
m
3rd mode: Substitute λ3=0.3078 k into (E1):
3 
 1 0 0 1 1 1   X 1  0
 m   m 1 2 2   X 3   0
 0.3780
k 
0 1 0  k   2   
 0 0 1 1 2 3   X 33  0

 0.6922 1  1   X 13  0

   
i.e.   1  1.6922  2   X 23   0
  1 2  2.6922   X 33  0

 3 unknowns X1(3),X2(3), X3(3) in 3 equations

 Can express any 2 unknowns in terms of the
remaining one.
Solution
-X2(3) - X3(3) = 0.6922X1(3)
-1.6922X2(3) – 2X3(3) = X1(3)
 Solving the above, we get
X2(3)=-1.2468X1(3) and X3(3)=0.5544X1(3)
 1 
 3  3   
 Thus 3 mode shape X  X 1  1.2468 
rd

 0.5544 
 
where X1(3) can be chosen arbitrarily.
Solution
 1   1 
 1    2   
X  X 11 1.8019  X  X 12   0.4450 
2.2470   0.8020 
   

 1 
 3   
X  X 13  1.2468 
 0.5544 
 

 When X1(1) = X1(2) = X1(3)

=1, the mode shapes are
as follows:
Orthogonalization of Eigenvectors
 1   1   1 
 1    2     3   
X  X 11 1.8019  X  X 12   0.4450  X  X 13  1.2468 
2.2470   0.8020   0.5544 
     

The vectors X(i) and X(j) are said to be orthogonal w.r.t. mass matrix if

The vectors X(i) and X(j) are said to be orthogonal w.r.t. stiffness matrix if
Generalized mass and stiffness matrices
 1   1   1 
 1    2     3   
X  X 11 1.8019  X  X 12   0.4450  X  X 13  1.2468 
2.2470   0.8020   0.5544 
     

Generalized mass

Generalized stiffness
Orthonormalization of Eigenvectors
 1   1   1 
 1    2     3   
X  X 11 1.8019  X  X 12   0.4450  X  X 13  1.2468 
2.2470   0.8020   0.5544 
     

The vector Xn(i) is said to be orthonormal if

or

Where mass orthonormal mode Xn(i) = X(i)/mii

} {

and stiffness orthonormal mode Xn(i) = X(i)/kii

} {

Orthonormal modal matrix Xn = [Xn(1) Xn(2) Xn(3)]

Properties of orthonormal modal matrix
XnT[m] Xn = I XnT[k] Xn = [i2]
 Modal analysis: Free vibration case

[m]{ẍ} + [k]{x}= 0
Let the solution vector {x} = Xn{q}

Where, Xn represents mass orthonormal

mode and q represents modal coefficients
[m] Xn{ q} + [k] Xn{q}= 0

Multiply the above equation by XnT

XnT[m]Xn{ q} + XnT[k]Xn{q}= 0  { q } + [i2]{q}= 0
 Modal analysis: Forced vibration case

Q1
[m]{ẍ} + [k]{x}= {F}
Let the solution vector {x} = Xn{q} Q2
Where, Xn represents mass orthonormal
mode and q represents modal coefficients
Q3
[m] Xn{ q} + [k] Xn{q}= {F}

Multiply the above equation by XnT

XnT[m]Xn{ q} + XnT[k]Xn{q}= XnT {F}  { q } + [i2]{q}= {Q}