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 (Lagrange’s 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.

K1 Kt
1

J1
m1 1
x1

Kt
K2 2
J2
2
m2
x2
Fig.1 Examples of 2DOF linear and torsional systems
VTU e-learning Course ME65 Mechanical Vibrations 2

Obtain the equations of the motion of the linear system shown in Fig.1.
Governing equations can be obtained by
(i) Newton’s method
(ii) Lagrange’s method (Generalized energy method).

Newton’s method
The Newton’s 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 m1x1

K2(x2-x1)

m2 m 2 x 2

Fig.2 Force equilibrium diagram of 2DOF linear system

From Force equilibrium diagram of mass m1:

m1x1  K1x1  K 2 (x 2  x1 )  0 (1)
m1x1  (K1  K 2 )x1  K 2 x 2  0 (2)
From Force equilibrium diagram of mass m2 :
m2x 2  K 2 (x 2  x1 )  0 (3)
m2x 2  K 2 x1  K 2 x 2  0 (4)
Eqns. (2) and (4) are Eqns of motion of the system.

Lagrange’s method (Generalized energy method).

The Lagrange’s equation is :
d  T  T U
    Qi (5)
dt  x i  x i x i
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.
VTU e-learning Course ME65 Mechanical Vibrations 3

1 1
T m1x 12  m 2 x 22 (6)
2 2
1 1
U  K 1x12  K 2 (x 2  x1 )2 (7)
2 2
 x1 
xi    
x 2 
substitute Eqn.(6) and (7) in (5). The part differentials are given below.
T
 m1x 1
x 1
d  T 
   m1x1
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.
m1x1  (K1  K 2 )x1  K 2 x 2  0
m2x 2  K 2 x1  K 2 x 2  0
The above equations are similar to the equations obtained by Newton’s 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  A1sinωt  φ (8)
x 2  A 2sin(ωt  φ) (9)
The above equations have to satisfy the governing equations of motions. Substitute
Eqns. (8) and (9) in (2 ) and (4).
(K 1 
 K 2 )  m1ω 2 A 1sin(ωt  φ)  K 2 A 2 sin(ωt  φ)  0 (10)
 K 2 A 1sin(ωt  φ)  (K 2  m2ω )A 2 sin(ωt  φ)  0
2
(11)
In above equations sin(ωt  φ)  0
The above equations reduces to: (characteristic equation)
(K 1 
 K 2 )  m1ω 2 A 1  K 2 A 2  0 (12)
 K 2 A 1  (K 2  m2ω2 )A 2  0 (13)

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 4

The solution of equations is:

(K1  K 2 )  m1ω2  K2
........ 0 (14)
 K2 K 2  m 2ω 2
The above equation is referred as a characteristic determinant. Solving, we get :
m1m2ω 4  m2 (K 1  K 2 )  m1K 2 ω 2  K 1K 2  0 (15)
 (K  K 2 ) K 2  2 K 1K 2
ω4   1  ω  0 (16)
 m1 m2  m1 m2
For simplification, let us consider :
K1  K 2  K
m1 m2  m
The frequency equation changes to:
 2K K  2 K
2
ω4    ω  2  0 (17)
 m m m
 3K  K2
ω 4   ω2  2  0 (18)
m m
put ω 2  λ , in the above equation:
 3K  K2
λ2   λ  2  0
m m
- b  b 2  4ac
λ1, λ 2  ω12 , ω22 
2a
2
3K  3K  4K 2
    2
m m m
λ1, λ 2  ω12 , ω 22 
2

3  5  mK
ω12 , ω 22 
2
3K 5K 2

ω1 , ω2 
2 2 m m2
2

3  5  mK 3  5  mK
ω1  and ω 2 
2 2
ω1  0.61ωn and ω2  1.61ωn 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.

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 5

First principal mode of vibration

The system vibrates with first fundamental natural frequency, i.e ω  ω1
For vibrations under Mode-I, consider.
A11-amplitude of first mass (m1) due to frequency ω1
A21-amplitude of second mass (m2) due to frequency ω1
Characteristic equations of the system changes to:
2K  mω A2
1 11  KA 21  0 (19)
 KA 11  (K  mω )A 21  0
2
1 (20)
A 21
Let  μ1 be amplitude ratio, from Eqn. (19) we get,
A 11
A 21  2K  mω12 
μ1    (21)
A 11  K 
Substitute 1 in the above equation.
A 21
μ1   2  (0.61)2  1.63 (22)
A 11
First modal vector is:
A 11  A 11  1 
A1      (23)
A 21  μ1A 11  1.63

Second principal mode of vibration

The system vibrates with first fundamental natural frequency, i.e ω  ω 2
For vibrations under Mode-II, consider
A12-amplitude of first mass (m1) due to frequency ω 2
A22-amplitude of second mass (m2) due to frequency ω 2
Characteristic equations of the system changes to:
2K  mω A2
2 12  KA 22  0 (24)
 KA 12  (K  mω 22 )A 22  0 (25)
A 22
Let  μ2 be amplitude ratio, from Eqn. (24) we get,
A12
2K  mω A2
2 12  KA 22  0 (26)
A 22  2K  mω22 
μ2    (27)
A 12  K 
Substitute 2 in above equation,
A 22
μ2   2  (1.61)2  0.59 (28)
A 21

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 6

Second modal vector is:

A 12  A 12  1 
A2
    (29)
A 22  μ2 A 12   0.59
The modal matrix is:

A   A1A2   
A 11 A 12  1 1 
...   ...  (30)
μ1A 11 μ2 A 12  1.63  0.59 

Mode shapes of the system

The given vibratory system has two principal modes, mode shapes of the system are
shown in Fig.3.

K1

B A11 A12
m1 1 1
x1

Node
K2

C
m2
A21= 1A11 A22= 2A12
x2
A21=1.63 A22=-0.59
Mode-I Mode-II

Fig.3 Mode shapes of the system

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 7

Torsional Vibratory systems

A torsional system is a rotor system as shown in Fig.4.

Kt
1

J1
1

Kt
2
J2
2

Fig.4 Examples of 2DOF torsional system

Obtain the equations of motion of the system shown in Fig.4.

Newton’s method
The Newton’s method use force balance equations to obtain governing equations. The
Force equilibrium diagram of given 2DOF torsional system is shown in Fig.5.

K 1θ1 
J1θ 1

Disc-1 1

K 2 (θ 2  θ1 )

J2θ 2

2
Disc-2

Fig.5 Force equilibrium diagram of 2DOF torsional system

From Force equilibrium diagram of disc 1

Jθ  K θ  K (θ  θ )  0
1 1 1 1 2 2 1

  (K  K )θ  K θ  0
J1θ (31)
1 1 2 1 2 2

From Force equilibrium diagram of disc 2

Jθ  K (θ  θ )  0
2 2 2 2 1

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 8

  K θ  K θ  0
J2 θ (32)
2 2 1 2 2

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.

JA JB
d1 d2 d3 d4
J1 J2 J3 J4

1 2 3 4

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.
θ  θ1  θ 2  θ3  θ 4 (33)
From theory of torsion,
T Gθ
 (34)
J L
Where,
πd4
J (35)
32
TL 1 TL 2 TL 3 TL 4
θ    (36)
J1G1 J2G2 J3G3 J4G 4
If material of shaft is same, then above equation can be written as:
32 T  L1 L 2 L 3 L 4 
θ      (37)
π G  d14 d24 d34 d44 
If de and Le are equivalent diameter and lengths of the shaft, then:
L e  L1 L 2 L 3 L 4 
     (38)
de4  d14 d24 d34 d44 
4 4 4 4
d  d  d  d 
L e  L1 e   L 2  e   L 3  e   L 4  e  (39)
 d1   d2   d3   d4 
The equivalent shaft of a system shown in Fig.6 given by Eqn.(39) is shown in Fig.7.

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 9

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 x2
K
(a) m m

K
(b) 1 2

J1 J2
Fig.8. Semi-definite systems (a) linear and (b) torsional.

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course 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

m1 J1 1
x1
K2
K2
J2 2
m2
x2

x1 x2
K K K
(c) m 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.

K
1 2

J1 J2
Fig.10. Turbo-generator
Solution:
Write the Equations of motions of the system, use Lagrange’s equation.
The Lagrange’s equation is :

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 11

d  T  T U
    Qi (40)
dt  θ i  θi θi
where,
1 2 1 2
T J1θ1  J2θ 2 (41)
2 2
1
U  K 2 (θ 2  θ1 )2 (42)
2
θ1 
θi    
θ 2 
substitute Eqn. (41) and (42) in Eqn.(40) to get the equations of motion:
Jθ  Kθ  Kθ  0 (43)
1 1 1 2

  Kθ  Kθ  0
J2 θ (44)
2 1 2

Assuming the vibration of the system is SHM,

θ1  A1sinωt  φ (45)
θ2  A 2sin(ωt  φ) (46)
The above equations have to satisfy the governing equations of motions Eqn. (43) and
(44). Simplifying, we get.
K  J ω A sin(ωt  φ)  KA sin(ωt  φ)  0
1
2
1 2 (47)
 KA 1sin(ωt  φ)  (K  J2ω 2 )A 2 sin(ωt  φ)  0 (48)
In above equations
sin(ωt  φ)  0
The above equations reduces to: (characteristic equation)
K  J ω A
1
2
1  KA 2  0 (49)
 KA 1  (K  J2ω )A 2  0 2
(50)
The above equations can be written in the determent form as:
K  J1ω2 K
........ 0 (51)
K K  J2ω2
The above equation is referred as a characteristic determinant. Solving, we get the
determinant,
J1J2ω 4  J1 K  J2K ω2  0 (52)
K K 
ω 4    ω2  0 (53)
 J1 J2 
The above equation is referred as frequency equation. Solving the frequency
equations, we get.

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 12

 J  J2 
ω1  0 rad/s and ω2  K  1  rad/s.
 J1J2 
For simplification, let us consider,
J1 J2  J , (54)
2K
then ω1  0 rad/s and ω2  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:
K  J ω A
1
2
1  KA 2  0 (55)
 KA 1  (K  J2ω )A 2  0
2
(56)

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 disc (J1) due to frequency 1
A21-amplitude of second disc (J2) due to frequency 1
Characteristic equations of the system changes to:
K  J ω A
1
2
11  KA 21  0 (57)
 KA 11  (K  J2ω2 )A 21  0 (58)
A 21
Let,  μ1 be amplitude ratio
A 11
Then, from Eqn. (57) one can obtain,
A 21  K  Jω12 
μ1    (59)
A 11  K 
Substitute 1 in above equation.
A 21
μ1  1
A 11
First modal vector is:
A 11  A 11  1
A1     (60)
A 21  μ1A 11  1

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 13

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
Characteristic equations of the system changes to:
K  J ω A
1
2
12  KA 22  0 (61)
 KA 12  (K  J2ω )A 22  0
2
(62)
A 22
Let  μ2 is the amplitude ratio,
A 12
From Eqn. (61) on can obtain,
A 21  K  Jω 22 
μ2   
A 11  K 
Substitute 2 in the above equation,
 2K 
 KJ 
A J
μ1  21     1 (63)
A 11  K 
 
 
Second modal vector is:
A 12  A 12  1 
A2     (64)
A 22  μ2 A 12   1
Modal matrix

A   A1A2   
A 11 A 12  1 1 
...   (65)
μ1A 11 μ2 A 12  1  1
Mode shapes of the system
The mode shapes obtained from modal matrix Eqn. (65) are shown in Fig.11.

K
1 2

J1 J2

Mode I 1 1

1
Mode II -1
Node

Fig.11. Mode shapes of the system

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 14

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
Gears
K1
J3
Generator
Shaft-1 K2
J1
J4
Shaft-2
J2
Fig.12 Turbo-generator geared system.

The speed ratio, n of the system is:

speed of turbine
n
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.

Turbine Generator
K1 n2K

J2+n2J3
J1 J2
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 J2
K1 2
n K2

Turbine Generator

Fig.14 Turbo-generator geared system neglecting the inertia of gears

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 15

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 x2

K K K K
K m m
m
x1
K

m K
x2 K
x1 x2
K K K K
m m

Fig.15 Linear vibratory systems

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 16

Practice problems (Torsional semi-definite systems)

For the systems shown in figure, obtain natural frequencies and mode shapes

K 2K
1 2

J1 J2

Turbine
Gears
K n=2
J3
Generator
Shaft-1 K
J
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 m2g

Fig.17 Double pendulum. Fig.18 Static forces in Double pendulum.

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 17

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
m1x1
T
2
l2
2
T
x1 2
m2x 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:
x1
sinθ1  θ1  (70)
l1
x 2  x1
sinθ 2  θ 2  (71)
l2
Resolving the forces on the mass m1, (Ref. Fig.19) we get,
m1x1  T1θ1  T2θ2  0 (72)
Substitute, Eqns. (67), (69), (70), and (71) in eqns. (72).
x1 x  x1
m1x1  T1  T2 2 0 (73)
l1 l2
x1 x  x1
m1x1  (m1  m 2 )g  (m 2 g) 2 0 (74)
l1 l2
Substitute m1=m2=m and l1=l2=l in the above Eqn.
x x  x1
mx1  (2m)g 1  (mg) 2 0 (75)
l l
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Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 18

 3mg   mg 
mx1    x1   x 2  0 (76)
 l   l 
Above Eqn. is first Eqn. of motion.
Resolving the forces on the mass m2, (Ref. Fig.19) we get,
m2x 2  T2θ2  0 (77)
Substitute, Eqns. (67), (69), (70), and (71) in eqns. (77).
x 2  x1
m 2 x 2  T2 0 (78)
l2
 x  x1 
m2x 2  m2g 2   0 (79)
 l2 
Substitute m1=m2=m and l1=l2=l in the above Eqn.
 mg   mg 
mx 2    x1   x 2  0 (80)
 l   l 
Above Eqn. is second Eqn. of motion.
Eqns.(76) and (80) are governing equations of motion of the system.

Solution to governing eqns.:

Solution to governing eqns. can be obtained by considering the response of each mass
as SHM:
x1  A1sinωt  φ (81)
x 2  A 2sin(ωt  φ) (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).
 3mg 2 mg
 l  mω  A 1sin(ω  φ)  l A 2 sin(ω  φ)  0 (83)

mg  mg 
 A 1sin(ω  φ)    mω 2  A 2 sin(ω  φ)  0 (84)
l  l 
In above equations sin(ωt  φ)  0
Therefore, the above equations reduces to: (characteristic equation)
 3mg 2 mg
 l  mω  A 1  l A 2  0 (85)

mg  mg 
 A1    mω 2  A 2  0 (86)
l  l 
The above Eqns can be written in determinant form as:

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 19

3mg mg
 mω 2 
l ........ l 0 (87)
mg mg
  mω 2

l l
The above equation is referred as a characteristic determinant, Solving, we get :
4m 2ω 2 g 2m 2 g2
m 2ω 4   (88)
l l2
The above equation is referred as a frequency equation
Solving Eqn. (88), we get:
Natural frequencies of the system
g g
ω1  0.27 radians/s ω2  3.73 radians/s
l l
Modal vectors and the mode shapes can be obtained by usual meaner, as explained
earlier.

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 m2

l1 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 m2
T x1 2 T
1 x2 3

l1 l2 l3

Fig.21 Free body diagram of the system at time, t

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 20

Consider x1,x2 as generalized co-ordinates, from Fig.21, the relations between  and x
are:
x1
θ1 
l
x  x2
θ2  1
l
x
θ3  2
l
Considering the force equilibrium of first mass, m1
mx1  Tθ1  Tθ2  0 (89)
Substitute for angular motions 1, 2, 3 from above eqns.
x1 x  x2
mx1  T T 1 0
l l
 2T  T
mx1    x1    x 2  0 (90)
 l  l
Considering the force equilibrium of second mass, m2
mx 2  Tθ 2  Tθ 3  0 (91)
Substitute for angular motions 1, 2, 3 from above eqns.
x1  x 2 x
mx 2  T T 2 0
l l
T  2T 
mx 2    x1   x 2  0 (92)
l  l 
Eqns. (90) and (92) are two equations of motion of the system.

Solution to governing eqns.:

Solution to governing eqns. can be obtained by considering the response of each mass
as SHM:
x1  A1sinωt  φ (92)
x 2  A 2sin(ωt  φ) (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).
 2T 2 T
 l  mω  A 1sin(ω  φ)  l A 2 sin(ω  φ)  0 (94)

T  2T 2
 A 1sin(ω  φ) 
 l  mω  A 2 sin(ω  φ)  0 (95)
l
In above equations sin(ωt  φ)  0
Therefore, the above equations reduces to: (characteristic equation)

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 21

 2T 2 T
 l  mω  A 1  l A 2  0 (96)

T  2T 
 A1    mω 2  A 2  0 (97)
l  l 
The above Eqns can be written in determinant form as:
2T T
 mω2 
l ........ l 0 (98)
T 2T
  mω 2

l l
The above equation is referred as a characteristic determinant, Solving, we get :
4Tmω 2 3T 2
m 2ω 4   2 (99)
l l
The above equation is referred as a frequency equation. Solving Eqn. (99), we get:
Natural frequencies of the system
T 3T
ω1  radians/s ω2  radians/s
ml ml
As the system has two natural frequencies, under certain conditions it may vibrate
with first or second frequency, which is referred as principal modes of vibration.

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
The characteristic Eqns.(96) and (97) of the system changes to:
 2T 2 T
 l  mω1  A 11  l A 21  0 (100)

T  2T 
 A 11    mω12  A 21  0 (101)
l  l 
A 21
Let  μ1 is amplitude ratio. To compute μ1 one can use any of the above eqns.
A 11
Consider Eqn.(100), we get μ1 as:
 2T 
 mω12 
A 21  l
μ1    (102)
A 11  T 
 
 l 
Substitute 1 in the above Eqn.

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Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 22

 2T T 
m
A 21  l 
ml   1
μ1   (103)
A 11  T 
 
 l 
First modal vector is:
A 11  A 11  1
A1     (104)
A 21  μ1A 11  1

Secondprincipal mode of vibration

The system vibrates with first fundamental natural frequency, i.e 2.
For vibrations under Mode-II, consider,
A12-amplitude of first mass (m1) due to frequency 2
A22-amplitude of second mass (m2) due to frequency 2
The characteristic Eqns.(96) and (97) of the system changes to:
 2T 2 T
 l  mω 2  A 12  l A 22  0 (105)

T  2T 
 A 12    mω 22  A 22  0 (106)
l  l 
A 22
Let  μ2 is amplitude ratio. To compute μ2 one can use any of the above eqns.
A 12
Consider Eqn.(105), we get μ 2 as:
 2T 
 mω22 
A 22  l
μ2    (107)
A 12  T 
 
 l 
Substitute 2 in the above Eqn.
 2T 3T 
 m 
A
μ2  21   l ml   1 (108)
A 11  T 
 
 l 
Second modal vector is:
A  A  1 
A2   12    12     (109)
A 22  μ2 A 12   1
Modal matrix

A   A1A2     1 1 
A 11 A
... 12     (110)
μ1A 11 μ2 A 12  1  1

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Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 23

Mode shapes of the system are shown in Fig.22.

m1 m2

l1 l2 l3

1 1
Mode I

1
Mode II -
1

Fig.22. Mode shapes of the system

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 24

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

K1 K2

a b
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

a b
K1 K2 (x-a) x
(x+b)
G


a b

Fig.24 (a) system under vibration (b) displacements in springs at point 1 and 2

Equations of motion

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Deptt. Mech. Engg.,
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VTU e-learning Course ME65 Mechanical Vibrations 25

The Lagrange’s equation is :

d  T  T U
    Qi (111)
dt  x i  x i x i
generalized co-ordinates are:

x i   
x

θ 
Kinetic energy of the system is:
1 1
T  m x 2  Jθ 2 (112)
2 2
Potential energy of the system is:
1 1
U  K 1 x - aθ   K 2 x  bθ 
2 2
(113)
2 2
First Lagrange’s Eqn is:
d  T  T U
    Q1 (114)
dt  x  x x
Substitute Eqn. (112) and (113) in (114)
d  T 
   mx
dt  x 
T
0
x
U
 K 1 x - aθ (1)  K 2 x  bθ (1)
x
1st Equation of motion is:
U
 K 1 x - aθ (1)  K 2 x  bθ (1)
x
U
 K 1x - K 1aθ  K 2 x  K 2bθ
x
U
 x(K 1  K 2 )  θ(K 1a - K 2b)
x
mx  (K1  K 2 )x - (K1a - K 2b)θ  0 (115)
Second Lagrange’s Eqn is:
d  T  T U
    Q2 (116)
dt  θ  θ θ
Substitute Eqn. (112) and (113) in (116)
  (K a  K b)x  (K a 2  K b 2 )θ  0
Jθ (117)
1 2 1 2

eqns.(115) and (117) are Eqns of motion

The above Eqns. can be written in matrix form.

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Deptt. Mech. Engg.,
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VTU e-learning Course ME65 Mechanical Vibrations 26

m 0 x  (K 1  K 2 )  (K 1a  K 2b)  x  0

 0 J     (K a  K b) (K a 2  K b 2 ) θ   0 (118)
  θ   1 2 1 2    
Mx  K x  0
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:
m 0 x (K 1  K 2 ) 0  x  0
 0 J     2  
 
(K 1a  K 2b ) θ  0
2
(119)
  θ   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:
mx  (K1  K 2 )x  0 (120)
Contains only one coordinate, x
  (K a 2  K b 2 )θ  0
Jθ (121)
1 2

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 (122)
 m 
K1  K 2
ω1  rad/s
m
From Eqn.(121)

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Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 27

   K 1a  K 2b θ  0
2 2
θ   (122)
 J 
K 1a 2  K 2b 2
ω2  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 C

K1 K2

a b
Fig.25. A 2 dof vibratory system having unbalance

Static equilibrium
line

a b
K1(x-a) x x+e
K1(x+b)

G C

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
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Deptt. Mech. Engg.,
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VTU e-learning Course ME65 Mechanical Vibrations 28

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:

mx  (K1  K 2 )x - (K1a - K 2b)θ  0
  (K a  K b)x  (K a 2  K b 2 )θ  0
Jθ 1 2 1 2

Substitute x=x+e and J=J+me2=Jn in above Eqns.

)  (K  K )x - (K a - K b)θ  0
m(x  eθ 1 2 1 2

  (K  K )x - (K a - K b)θ  0
mx  me θ (123)
1 2 1 2

  (K a  K b)x  (K a 2  K b 2 )θ  0
Jnθ (124)
1 2 1 2

Matrix form of Eqns. of motion is:

m me  x  (K 1  K 2 )  (K 1a  K 2b)  x  0
 0 J      (K a  K b) (K a 2  K b 2 ) θ   0 (125)
 n  θ   1 2 1 2    
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.

a a 1 a 2 a

K
m 
J1θ 1

Ka(2-1)
mg a
a

m 
J2θ 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:

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 29

  mg(asinθ )  Ka(θ  θ )(acosθ )  0

J1θ (126)
1 1 2 1 1

as  is smaller
  mgaθ  Ka 2 (θ  θ )  0
J1θ 1 1 2 1

  mgaθ  Ka 2θ  Ka 2θ  0
(ma 2 )θ 1 1 2 1

The First Eqn. of motion is:

ma θ  (mg  Ka)θ  Kaθ  0 (127)
1 1 2

For second mass:

  mg(2asin θ )  Ka(θ  θ )(acosθ )  0
J2 θ (128)
2 2 2 1 2

as  is smaller
m(2a) θ
2
1  2mgaθ 2  Ka 2θ 2  Ka 2θ1  0
Second Eqn. of motion
  Kaθ  (2mg  Ka)θ  0
(4ma) θ (129)
1 1 2

Eqns. of motion in matrix form

ma 0  θ  (mg  Ka)  Ka  θ1  0
1
 0 4ma       Ka
   
(2mg  Ka) θ 2  0
(130)
  θ 2  
For static coupling Ka=0, which is not possible.

Solution to governing eqns.:

Assume SHM
x1  A1sinωt  φ
x 2  A 2sin(ωt  φ)
The above equations have to satisfy the governing equations of motions Eqns. (127)
and (129).
(mg  Ka)  maω A sin(ω  φ)  KaA sin(ω  φ)  0
2
1 2 (131)
 KaA sin(ω  φ)  (2mg  ka)  4maω A sin(ω  φ)  0
1
2
2 (132)
In above equations sin(ωt  φ)  0
Characteristic Eqns. are:
(mg  Ka)  maω A  KaA  0
2
1 2 (133)
 KaA  (2mg  ka)  4maω A  0
1
2
2 (134)
The above Eqns can be written in determinant form as:
(mg  Ka)  maω ........ Ka
2
0 (135)
 Ka (2mg  Ka)  4maω2
The above equation is referred as a characteristic determinant, Solving, we get :
(mg  Ka)  maω (2mg  Ka)  4maω   Ka
2 2 2
(136)

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 30

The above Eqn. is referred as Frequency equation. Solve the frequency Eqn. for
Natural frequencies of the system ω1....and...ω2 .
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.
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 sinωt as shown in Fig.29.

K
1

F1 m1
x1

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 sinωt m1 m1x1

K2(x2-x1)

m2 m2x 2

Fig.30 Force equilibrium diagram of the system

From Force equilibrium diagram of mass m1:
m1x1  K 1x1  K 2 (x 2  x1 )  F0 sinωt
m1x1  (K1  K 2 )x1  K 2 x 2  F0 sinωt (137)
Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 31

From Force equilibrium diagram of mass m2 ;

m2x 2  K 2 (x 2  x1 )  0
m2x 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  A1sinωt
x 2  A 2sinωt 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 1 
 K 2 )  m1ω 2 A 1sin(ωt  φ)  K 2 A 2 sin(ωt  φ)  F0 sinωt (139)
 K 2 A 1sin(ωt  φ)  (K 2  m2ω2 )A 2sin(ωt  φ)  0 (140)
In above equations,
sin(ωt  φ)  0
The above equations reduces to: (characteristic equation)
(K 1 
 K 2 )  m1ω 2 A 1  K 2 A 2  F0 sinωt (141)
 K 2 A 1  (K 2  m2ω 2 )A 2  0 (142)
From above equations obtain A1 and A2 by Cramer’s rule
.F0 K2
........
.0 K 2  m 2ω 2
A1  (143)
Δ
(K 1  K 2 )  m1ω 2 F.
........ 0
 K2 0
A2  (144)
Δ
where  is the determinant of characteristic equations.
(K1  K 2 )  m1ω2  K2
Δ ........ 0 (145)
 K2 K 2  m 2ω 2
Solving,
 
Δ  (K1  K 2 )  m1ω2 K 2  m2ω2  K 22  (146)

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.

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 32

.F0  K2
........
.0 K 2  m 2ω 2
A1  0 (147)
Δ

K1 System-1

F1 m1
x1

K2
System-2

m2
x2

Fig. 31 Concept of vibration absorber

.F0  K2
........ 0
.0 K 2  m 2ω 2
F0 (K 2  m 2ω 2 )  0
K 2  m 2ω 2  0
K2
ω2 
m2
K2
ω rad/s (148)
m2
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
ω ω2 (149)
m2
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 ω1  ω

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 33

So, to reduce undesired vibration of main system mass m1, we choose K2, m2 in such
a way that ω1 ω2 .

K1 K2 K K
 OR 1  2 (150)
m1 m2 m1 m 2

The amplitude A1 Eqn to be solved to obtain the frequencies,

.F0  K2
........
.0 K 2  m 2ω 2
A1 
Δ
F0 (K 2  m2ω2 )
A1 
 
(K 1  K 2 )  m1ω2 K 2  m2ω2  K 22 
F0 K1 K2
If δ st  and ω1  and ω 2 
K1 m1 m2
Then,
2
 ω 
1 -  
A1  ω 2 
 (151)
δ st  K2  ω    ω   K 2
2 2

(1  )    1     
 K1  ω1    ω 2   K 1

Without
absorber With
absorber

A1
δ st

Ω1 ω Ω2
ω1
Fig.32. Plot of Equation 151, considering with and
with out absorber.

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 34

To find Ω1 and Ω 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 Δ.

(K1  K 2 )  m1ω2  K2
Δ ........ 0
 K2 K 2  m 2ω 2
  
Δ  (K 1  K 2 )  m1ω 2 K 2  m2ω 2  K 22  0
m1m2ω 4  (K 1  K 2 )m2  K 2m1ω 2  K 1K 2  0
m1m2 4  K m m 
ω  (1  2 ) 2  1 ω2  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
 μ =Mass ratio (152)
m1 K1 mass of main system
m1m2 4  K m m 
ω  (1  2 ) 2  1 ω2  1  0
K 1K 2  K1 K 2 K1 
m1m2 4 ω4 ω4
ω   4  r4
K 1K 2 K1 K 2 ω2
m1 m2
ω2
r 4  (1  μ)  1 1 0
 K2 
 
 m2 
r 4  2  μr 2  1  0
The above Eqn. is quadratic in r2
2
Ω   μ  μ2 
r , r   1,2   1   
1
2 2
2
 μ   (153)
 ω2   2  4

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
VTU e-learning Course ME65 Mechanical Vibrations 35

Ω2
K
m

 ω 2  ω1 
 Ω   
   ωn 
 ω2 

Ω1
K
m 0.25 0. 5 0. 75 1.0
μ  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.

Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.