Chapter 4 V1

Chapter 4
Multiple Degree of Freedom [MDOF]

Systems
Dr.-Ing. Azmi Mohamed Yusof
Faculty of Mechanical Engineering
Content
1. Course outcomes
2. Derivation of the Equation of Motion
3. Lagrange’s Equation
4. Solution of problems: Zn & mode shape
5. Time response of free, undamped systems
6. Harmonic excitation of MDOF
7. Tutorial Problems
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 2

1.0 Course outcomes
At the end of this chapter students should be able to state, derive and
apply the fundamental principle of vibration involving:-
Derivation of the equation of motion for various MDOF systems
Finding the influence coefficient & Lagrange’s equation
Solution of problems for natural frequencies using analytical method
Finding the natural frequencies using:
¾ Dunkerley’s equation
¾ Rayleigh’s method
Introduction

2.0 Modeling the MDOF System
Most engineering systems are continuous Æ
possesses infinite DOF
Infinite DOF Æ require solving partial differential
equations which is difficult to do.
Therefore, a simplified continuous engineering
systems are represented as
¾ Definable DOF
¾ Replace the distributed mass and inertia by a finite
number of lumped masses or body
See fig. 1 and 2 for examples
A 3 story building is modelled with three lumped
masses and three column stiffness Æ this is a 3
DOF
Radial drilling m/c is modelled with 4 lumped
masses and 4 support stiffness Æ this is a 4 DOF
2.0 Modeling the MDOF System

Multi degree of freedom [MDOF] = a system whose motion is
described by more than one generalized coordinates (DOF)

2.0 Derivation of the Equation of Motion
Using FBD to derive the equations of motion
Set up suitable coordinates to describe the positions of various points of
masses
Draw FBD & KD for individual mass
Apply Newton’s second law of motion to each mass
(a) For translation systems (with mass ݉௜ ) – Translation motion
݉௜ ‫ݔ‬ሷ ௜ ൌ ෍ ‫ܨ‬௜௝
௝
(b) For rotational system (with rigid body of inertia ‫ܫ‬௜ ) – Rotational motion
‫ܫ‬௜ ߠሷ௜ ൌ ෍ ‫ܯ‬௜௝
௝

A. Translation Motion Systems
Consider a spring-mass system as shown below
‫ݔ‬ଵ ‫ݔ‬ଶ ‫ݔ‬ଷ ‫ݔ‬௜
݇ଵ ݇ଶ ݇ଷ ݇௜
݉ଵ ݉ଶ ݉ଷ ݉௜
The FBD for any one element can be as following

‫ݔ‬ଶ ǡ ‫ݔ‬ሷ ଶ ‫ݔ‬௜ ǡ ‫ݔ‬ሷ ௜
݇ଶ ሺ‫ݔ‬ଶ െ ‫ݔ‬ଵ ሻ ݇ଷ ሺ‫ݔ‬ଶ െ ‫ݔ‬ଷ ሻ ݇௜ ሺ‫ݔ‬௜ െ ‫ݔ‬ሺ௜ିଵሻ ሻ ݇ሺ௜ାଵሻ ሺ‫ݔ‬௜ െ ‫ݔ‬ሺ௜ାଵሻ ሻ
݉ଶ ݉௜
Applying Newton’s second law for the mass mi

െ݇௜ାଵ ‫ݔ‬௜ െ ‫ݔ‬ ௜ାଵ െ ݇௜ ‫ݔ‬௜ െ ‫ݔ‬௜ିଵ ൌ ݉௜ ‫ݔ‬ሷ ௜ ‫ݐ‬

Rearrange equation (1a)
݉௜ ‫ݔ‬ሷ ௜ ‫ ݐ‬൅ ݇௜ାଵ ‫ݔ‬௜ െ ݇௜ାଵ ‫ݔ‬ ௜ାଵ ൅ ݇௜ ‫ݔ‬௜ െ ݇௜ ‫ݔ‬௜ିଵ ൌ Ͳ
We can express the above equation into matrix form
݉ ‫ݔ‬ሷ ൅ ݇ ‫ ݔ‬ൌ Ͳ
Where [m], and [k] is the mass and stiffness matrix and it is given by
݉ଵ Ͳ ‫Ͳ ڮ‬ ሺ݇ଵ ൅݇૛ ሻ െ݇૛ ‫ڮ‬ Ͳ
Ͳ ݉૛ ‫Ͳ ڮ‬ െ݇૛ ሺ݇૛ ൅݇૜ ሻ ‫ڮ‬ Ͳ
݉ ൌ ݇ ൌ
‫ڭ‬ ‫ڭ‬ ‫Ͳ ڰ‬ ‫ڭ‬ ‫ڭ‬ ‫ڰ‬ Ͳ
Ͳ Ͳ Ͳ ݉࢔ Ͳ Ͳ Ͳ ሺ݇࢔ ൅݇࢔ା૚ ሻ
[DIAGONAL] [SYMMETRIC]
The size of matrix indicates the number of DOF

Example
Consider three blocks of spring-mass system slide on a frictionless
surface. Write down the equations of motion.
x1 x2 x3
k 2k k 3k
m 2m m
Solution
Step 1 : Draw the FBD for each mass
2k(x2 – x1) k(x3 – x2)
kx1 m 2m kx3
m
Step 2 : Applying Newton’s second law of motion for each mass

െ݇‫ݔ‬ଵ ൅ ʹ݇ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ൌ ݉‫ݔ‬ሷ ଵ
െʹ݇ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ൅ ݇ ‫ݔ‬ଷ െ ‫ݔ‬ଶ ൌ ʹ݉‫ݔ‬ሷ ଶ
െ݇ ‫ݔ‬ଷ െ ‫ݔ‬ଶ െ ݇‫ݔ‬ଶ ൌ ݉‫ݔ‬ሷ ଷ
Step 3 : Rewrite the equations into a matrix form ݉ ‫ݔ‬ሷ ൅ ݇ ‫ ݔ‬ൌ Ͳ
݉ Ͳ Ͳ ‫ݔ‬ሷ ଵ ͵݇ െʹ݇ Ͳ ‫ݔ‬ଵ Ͳ

Ͳ ʹ݉ Ͳ ‫ݔ‬ሷ ଶ ൅ െʹ݇ ͵݇ െ݇ ‫ݔ‬ଶ ൌ Ͳ
Ͳ Ͳ ݉ ‫ݔ‬ሷ ଷ Ͳ െ݇ Ͷ݇ ‫ݔ‬ଷ Ͳ

B. Rotational motion
Consider the pendulum shown below
Write the equations of motion into a matrix form
P Q
a
T1 k T2
ℓ ℓ
m1 m2

Solution
Draw FBD & KD for each mass
P Q
a ‫ܨ‬ଵ ൌ ݇ ‫ݔ‬ଵ െ ‫ݔ‬ଶ ൌ ݇ܽ ߠଵ െ ߠଶ

T1 T2 ‫ܨ‬ଶ ൌ ݇ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ൌ ݇ܽ ߠଶ െ ߠଵ
F1 F2
x1
ℓ x2 ℓ
T1 ‫ܫ‬ଵ ߠሷଵ T2 ‫ܫ‬ଶ ߠሷ ଶ
m1 m2
m1g sin T1 m2g sin T2
m1g m2g

Take σ ‫ܯ‬ሺி஻஽ሻ ൌ σ ‫ܯ‬ሺ௄஽ሻ
About point P : ‫ܨ‬ଵ ܽ ൅ ݉ଵ ݃κߠଵ ൌ െ݉ଵ κଶ ߠሷଵ
݉ଵ κଶ ߠሷଵ ൅ ݇ܽଶ ߠଵ െ ߠଶ ൅ ݉ଵ ݃κߠଵ ൌ Ͳ
݉ଵ κଶ ߠሷଵ ൅ ݇ܽ ଶ ൅ ݉ଵ ݃κ ߠଵ െ ݇ܽଶ ߠଶ ൌ Ͳ--- (1)
About point Q : ‫ܨ‬ଶ ܽ ൅ ݉ଶ ݃κߠଶ ൌ െ݉ଶ κଶ ߠሷଶ

݉ଶ κଶ ߠሷ ଶ ൅ ݇ܽ ଶ ߠଶ െ ߠଵ ൅ ݉ଶ ݃κߠଶ ൌ Ͳ
݉ଶ κଶ ߠሷ ଶ ൅ ݇ܽ ଶ ൅ ݉ଶ ݃κ ߠଶ െ ݇ܽଶ ߠଵ ൌ Ͳ--------- (2)
݉ଵ κଶ Ͳ ߠሷଵ ݇ܽଶ ൅ ݉ଵ ݃κ െ݇ܽଶ ߠଵ

൅ ൌͲ
Ͳ ݉ଶ κଶ ߠሷଶ െ݇ܽଶ ݇ܽଶ ൅ ݉ଶ ݃κ ߠଶ

Example (General Plane motion)
Derive the equation of motions for the lathe machine shown below

Draw FBD & KD
‫ߠܫ‬ሷ
݉‫ݔ‬ሷ

ܶܽ݇݁ ෍ ࡲሺி஻஽ሻ ൌ ෍ ࡲሺ௄஽ሻ
െ݇ଵ ‫ ݔ‬െ ݈ଵ ߠ െ ݇ଶ ‫ ݔ‬൅ ݈ଶ ߠ ൌ ݉‫ݔ‬ሷ
ܶܽ݇݁ ෍ ‫ܯ‬ሺி஻஽ሻ ൌ ෍ ‫ܯ‬ሺ௄஽ሻ
െ݇ଵ ‫ ݔ‬െ ݈ଵ ߠ ݈ଵ ൅ ݇ଶ ‫ ݔ‬൅ ݈ଶ ߠ ݈ଶ ൌ ‫ߠ ܫ‬ሷ

Write the equations in a matrix form
݉ Ͳ ‫ݔ‬ሷ ଵ ݇ଵ ൅ ݇ଶ െሺ݇ଵ ݈ଵ െ ݇ଶ ݈ଶ ሻ ‫ݔ‬ଵ

൅ ߠଶ ൌ Ͳ
Ͳ ‫ߠ ܫ‬ሷଶ െሺ݇ଵ ݈ଵ െ ݇ଶ ݈ଶ ሻ ݇ଵ ݈ଵ ଶ ൅ ݇ଶ ݈ଶ ଶ
Class exercise
Derive the equations of motion and write them into a matrix form. Use x1
and x2 as generalized coordinates.

Class exercise
Solution
Draw FBD & KD for the system
Apply Euler’s law & write the equations of motion
Class exercise
The equations are :

ଷ
݉‫ݔ‬ሷ ଵ ൅ ͻ݇‫ݔ‬ଵ െ Ͷ݇‫ݔ‬ଶ ൌ Ͳ
ଶ
ଵ ௠௚
݉‫ݔ‬ሷ ଶ ൅ ͵݇ െ ‫ݔ‬ଶ െ Ͷ݇‫ݔ‬ଵ ൌ Ͳ
ଷ ଶ௟
Tutorial 4.1
Derive the equations of motion for the following mechanical systems
aሻ
‫ܫ‬ଵ Ͳ Ͳ ߠሷଵ
Ans: Ͳ ‫ܫ‬ଶ Ͳ ߠሷଶ ൅
Ͳ Ͳ ݉ ‫ݔ‬ሷ
ͳ͵݇‫ ݎ‬ଶ െͳʹ݇‫ ݎ‬ଶ െ݇‫ߠ ݎ‬ଵ
െͳʹ݇‫ ݎ‬ଶ ͳʹ݇‫ ݎ‬ଶ Ͳ ߠଶ ൌ Ͳ
െ݇‫ݎ‬ Ͳ ݇ ‫ݔ‬
bሻ
௄௅
݉ Ͳ ‫ݔ‬ሷ ʹ݇ ‫ݔ‬
ସ
Ans: ൅ ൌͲ
Ͳ ‫ߠ ܫ‬ሷ ௄௅ ହ௄௅మ ߠ
ସ ଵ଺
3.0 Lagrange’s Equations

Lagrange’s equations (LE)
LE use energy method to derive the governing differential equation of
motion for the vibrating system
LE can be stated, for an n-DOF system, as
݀ ߲ܶ ߲ܶ ߲ܷ
െ ൅ ൌ ܳ௝௡
݀‫ݍ߲ ݐ‬ሶ ௝ ߲‫ݍ‬௝ ߲‫ݍ‬௝
డ௤ೕ
Where ‫ݍ‬ሶ ௝ ൌ is the generalized velocity, and ܳ௝௡ is the non-
డ௧
conservative generalized force corresponding to the generalized
coordinate ‫ݍ‬௝ .
ܳ௝௡ may be dissipative (damping) force or other external forces.
For free vibration system, ܳ௝௡ ൌ Ͳ

Example
Use Lagrange’s equations to derive the equations of motions for the
system shown below.
x1 x2 x3
k 2k k 3k
m 2m m
Solution
The potential energy (at maximum deflection)
ͳ ͳ ͳ ͳ
ܷ ൌ ݇‫ݔ‬ଵ ଶ ൅ ʹ݇ሺ‫ݔ‬ଶ െ ‫ݔ‬ଵ ሻଶ ൅ ݇ሺ‫ݔ‬ଷ െ ‫ݔ‬ଶ ሻଶ ൅ ͵݇‫ݔ‬ଷ ଶ
ʹ ʹ ʹ ʹ
The kinetic energy (at equilibrium position)
ͳ ͳ ͳ
ܶ ൌ ݉‫ݔ‬ሶ ଵ ଶ ൅ ʹ݉‫ݔ‬ሶ ଶ ଶ ൅ ݉‫ݔ‬ሶ ଷ ଶ
ʹ ʹ ʹ
డ் ௗ డ் డ் ௗ డ் డ் ௗ డ்
డ௫ሶ భ
ൌ ݉‫ݔ‬ሶ ଵ ; ௗ௧ డ௫ሶ భ
ൌ ݉‫ݔ‬ሷ ଵ ; డ௫ሶ మ
ൌ ʹ݉‫ݔ‬ሶ ଶ ; ௗ௧ డ௫ሶ మ
ൌ ʹ݉‫ݔ‬ሷ ଶ ; డ௫ሶ ൌ ݉‫ݔ‬ሶ ଵ ; ௗ௧ డ௫ሶ య
ൌ ݉‫ݔ‬ሷ ଷ
య
߲ܶ ߲ܶ ߲ܶ
ൌ ൌ ൌͲ
߲࢞ଵ ߲࢞ଶ ߲࢞ଷ

ͳ ͳ ͳ
ܷൌ ݇‫ݔ‬ଵ ଶ ൅ ݇ሺ‫ݔ‬ଶ ଶ െ ʹ‫ݔ‬ଵ ‫ݔ‬ଶ ൅ ‫ݔ‬ଵ ଶ ሻ ൅ ݇ ‫ݔ‬ଷ ଶ െ ʹ‫ݔ‬ଷ ‫ݔ‬ଶ ൅ ‫ݔ‬ଶ ଶ ൅ ͵݇‫ݔ‬ଷ ଶ
ʹ ʹ ʹ
డ௎
ൌ ݇‫ݔ‬ଵ െ ʹ݇‫ݔ‬ଶ ൅ ʹ݇‫ݔ‬ଵ ൌ ͵݇‫ݔ‬ଵ െ ʹ݇‫ݔ‬ଶ
డ࢞భ
డ௎
ൌ ʹ݇‫ݔ‬ଶ െ ʹ݇‫ݔ‬ଵ െ ݇‫ݔ‬ଷ ൅ ݇‫ݔ‬ଶ ൌ െʹ݇‫ݔ‬ଵ ൅ ͵݇‫ݔ‬ଶ െ ݇‫ݔ‬ଷ
డ࢞మ
డ௎
డ࢞య
ൌ ݇‫ݔ‬ଷ െ ݇‫ݔ‬ଶ ൅ ͵݇‫ݔ‬ଷ ൌ െ݇‫ݔ‬ଶ ൅ Ͷ݇‫ݔ‬ଷ
ௗ డ் డ் డ௎
െ ൅ ൌ Ͳ Æ ݉‫ݔ‬ሷ ଵ ൅ ͵݇‫ݔ‬ଵ െ ʹ݇‫ݔ‬ଶ ൌ Ͳ
ௗ௧ డ௫ሶ భ డ࢞భ డ࢞భ
െ ൅ ൌ Ͳ Æ ʹ݉‫ݔ‬ሷ ଶ െʹ݇‫ݔ‬ଵ ൅͵݇‫ݔ‬ଶ െ ݇‫ݔ‬ଷ ൌ Ͳ
ௗ௧ డ௫ሶ మ డ࢞మ డ࢞మ
ௗ௧ డ௫ሶ య
െ డ࢞ ൅ డ࢞ ൌ Ͳ Æ ݉‫ݔ‬ሷ ଷ െ ݇‫ݔ‬ଶ ൅ Ͷ݇‫ݔ‬ଷ ൌ Ͳ
య య
݉ Ͳ Ͳ ‫ݔ‬ሷ ଵ ͵݇ െʹ݇ Ͳ ‫ݔ‬ଵ Ͳ

Ͳ ʹ݉ Ͳ ‫ݔ‬ሷ ଶ ൅ െʹ݇ ͵݇ െ݇ ‫ݔ‬ଶ ൌ Ͳ
Ͳ Ͳ ݉ ‫ݔ‬ሷ ଷ Ͳ െ݇ Ͷ݇ ‫ݔ‬ଷ Ͳ

Example
Obtain the equations of motion for the system shown below using
Lagrange’s method.

Solution
The potential energy (at maximum deflection)
ଵ ଵ
ܶ ൌ ݉‫ݔ‬ሶ ଶ ൅ ‫ߠ ܫ‬ሶ ଶ and ܷ ൌ Ͳ
ଶ ଶ
The kinetic energy (at equilibrium position)
ଵ ଵ
ܷ ൌ ଶ ݇ଵ ‫ ݔ‬ଶ ൅ ଶ ݇ଶ ሺ‫ ݔ‬െ ‫ݔ‬ଶ ሻଶ ; and ܶ ൌ Ͳǡ also ‫ݔ‬ଶ ൌ ‫ߠݎ‬
ଵ ଵ ଵ
ܷ ൌ ݇ଵ ‫ ݔ‬ଶ ൅ ݇ଶ ‫ ݔ‬ଶ െ ݇ଶ ‫ ߠݔݎ‬൅ ݇ଶ ‫ ݎ‬ଶ ‫ ݔ‬ଶ
ଶ ଶ ଶ
డ் ௗ డ்
ൌ ݉‫;ݔ‬ሶ ൌ ݉‫ݔ‬ሷ ;
డ௫ሶ ௗ௧ డ௫ሶ
డ் ௗ డ்
ൌ ‫;ߠ ܫ‬ሶ ൌ ‫;ߠ ܫ‬ሷ
డఏሶ ௗ௧ డఏሶ
డ் డ்
ൌ ൌͲ
డ௫ డఏ

߲ܷ
ൌ ݇ଵ ‫ ݔ‬൅ ݇ଶ ‫ ݔ‬൅ ݇ଶ ‫ ߠݎ‬ൌ ݇ଵ ൅ ݇ଶ ‫ ݔ‬൅ ݇ଶ ‫ߠݎ‬
߲‫ݔ‬
߲ܷ
ൌ െ݇ଶ ‫ ݔݎ‬൅ ݇ଶ ‫ ݎ‬ଶ ߠ
߲ߠ
݀ ߲ܶ ߲ܶ ߲ܷ
െ ൅ ൌͲ
݀‫ݔ߲ ݐ‬ሶ ߲‫ݔ߲ ݔ‬
݉‫ݔ‬ሷ ൅ ݇ଵ ൅ ݇ଶ ‫ ݔ‬൅ ݇ଶ ‫ ߠݎ‬ൌ Ͳ
݀ ߲ܶ ߲ܶ ߲ܷ
െ ൅ ൌͲ
݀‫ߠ߲ ݐ‬ ߲ߠ ߲ߠ
‫ߠ ܫ‬ሷ െ ݇ଶ ‫ ݔݎ‬൅ ݇ଶ ‫ ݎ‬ଶ ߠ ൌ Ͳ
݉ Ͳ ‫ݔ‬ሷ ݇ଵ ൅ ݇ଶ െ݇ଶ ‫ݔ ݎ‬
൅ ൌͲ
Ͳ ‫ߠ ܫ‬ሷ െ݇ଶ ‫ݎ‬ ݇ଶ ‫ ݎ‬ଶ ߠ
4.0 Solution of problems: Zn & mode shape

Natural frequencies (eigenvalues) & Natural modes
(eigenvector)
General equation for the linear, undamped, n-DOF system is given by
‫ݔ ܯ‬ሷ ൅ ݇ ‫ ݔ‬ൌ Ͳ (1)
With the mass [M], and the stiffness [k] are symmetric of n x n matrices. x
is the n-dimensional column vector
The normal solution is given by
‫ ݐ ݔ‬ൌ ܺ݁ ௜ఠ௧ (2)
X contain n-dimensional of constant called mode shape
Each natural frequency Z, has at least one corresponding mode shape
Substitution of eqn. (2) into (1) leads to
െ߱ଶ ‫ ܺ ܯ‬൅ ݇ ܺ ݁ ௜ఠ௧ ൌ Ͳ
Since ݁ ௜ఠ௧ ് Ͳ, then െ߱ଶ ‫ ܺ ܯ‬൅ ݇ ܺ ൌ Ͳ Æ ሼሾሿ െ ߱ଶ ‫ ܯ‬ሽܺ ൌ Ͳ
ሼሾሿ െ ߱ଶ ‫ ܯ‬ሽܺ ൌ Ͳ is called eigenvalue equation or characteristic value
problem
From, ሼሾሿ െ ߱ଶ ‫ ܯ‬ሽܺ ൌ Ͳ
ሼఠሾ௞ሿమ െ ‫ ܯ‬ሽܺ ൌ Ͳ, and by letting O ൌ ఠଵమ, then becomes ሼO ሾሿ െ ‫ ܯ‬ሽܺ ൌ Ͳ
Premultiplying the above equation with [k]-1 leads to,
ሼO ሾሿ െ ሾ݇ሿିଵ ‫ ܯ‬ሽܺ ൌ Ͳ, and replacing ‫ ܦ‬ൌ ሾ݇ሿିଵ ‫ ܯ‬, finally leads to the
eigenvector equation
ሼO െ ‫ ܦ‬ሽܺ ൌ Ͳ
ͳ Ͳ Ͳ
Where I is the identity matrix, ‫ ܫ‬ൌ Ͳ ͳ Ͳ
Ͳ Ͳ ͳ
The frequencies can be solved by taking the determinant equals to zero
οൌ ȁO െ ‫ ܦ‬ȁ ൌ Ͳ

Eigenvector will give sets of mode shape
ሼO െ ‫ ܦ‬ሽܺ ൌ Ͳ
Where the mode shapes is,
ܺଵ
ܺ ൌ ܺଶ
ܺଷ

In summary
We have the characteristic equation: ሼሾሿ െ ߱ଶ ‫ ܯ‬ሽܺ ൌ Ͳ
Where ሾሿ and ‫ ܯ‬can be obtained from the differential equation of
motion
If we want to determine the natural frequencies then,
ሾሿ െ ߱ଶ ‫ ܯ‬ൌ Ͳ
The mode shape can be determined from
ሼሾሿ െ ߱ଶ ‫ ܯ‬ሽܺ ൌ Ͳ
The mode shape is the displacement configuration that correspond to the
natural frequency.
Example
Determine the frequencies and mode shapes for the system shown in the
figure. Assume m1 = 4, m2 = 1, k1 = 12 and k2 = 4.
x1 x2
k1 k2
m1 m2

Solution
The FBD for the system
kx1 m 2k(x1 – x2) 2k(x2 – x1) 2m
The differential equations of motion for the system are:

െ݇ଵ ‫ݔ‬ଵ െ ݇ଶ ‫ݔ‬ଵ െ ‫ݔ‬ଶ ൌ ݉ଵ ‫ݔ‬ሷ ଵ Æ Ͷ‫ݔ‬ሷ ଵ ൅ ͳ͸‫ݔ‬ଵ െ Ͷ‫ݔ‬ଶ ൌ Ͳ
െ݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ൌ ݉ଶ ‫ݔ‬ሷ ଶ Æ ‫ݔ‬ሷ ଶ െ Ͷ‫ݔ‬ଵ ൅ Ͷ‫ݔ‬ଶ ൌ Ͳ
Write the equation into matrix form [M]x + [k]x = 0
Ͷ Ͳ ‫ݔ‬ሷ ଵ ͳ͸ െͶ ‫ݔ‬ଵ Ͳ
൅ ‫ݔ‬ ൌ
Ͳ ͳ ‫ݔ‬ሷ ଶ െͶ Ͷ ଶ Ͳ

Finding the natural frequencies
Solve ሾሿ െ ߱ଶ ‫ ܯ‬ൌ Ͳ
ͳ͸ െͶ Ͷ Ͳ ଶ
െ ߱ଶ ൌ Ͳ Æ ͳ͸ െ Ͷ߱ െͶ ൌ Ͳ
െͶ Ͷ Ͳ ͳ െͶ Ͷ െ ߱ଶ
ͳ͸ െ Ͷ߱ଶ Ͷ െ ߱ଶ െ ͳ͸ ൌ Ͳ Æ Ͷͺ െ ͵ʹ߱ଶ ൅ Ͷ߱ସ ൌ Ͳ
ଶ
߱ଵǡଶ ൌ ͸ǡʹ Æ ߱ଵǡଶ ൌ ʹǤͶͷǡ ͳǤͶͳ‫݀ܽݎ‬Ȁ‫ݏ‬
Finding the mode shapes
ଶ ܺଵ
Solveሼሾሿ െ ߱ଶ ‫ ܯ‬ሽܺ ൌ Ͳ Æ ͳ͸ െ Ͷ߱ െͶ
ଶ ܺ ൌͲ
െͶ Ͷെ߱ ଶ
For ߱ଵ ൌ ʹǤͶͷ
െͺ െͶ ܺଵ ሺଵሻ
ൌ Ͳ ; െͺܺଵ െͶܺଶ ൌ Ͳ ; Ͷܺଶ ൌ െͺܺଵ Æ ܺଶ ൌ െʹܺଵ
െͶ െʹ ܺଶ

For ߱ଵ ൌ ͳǤͶͳ
ͺ െͶ ܺଵ ሺଶሻ
ൌ Ͳ ; ͺܺଵ െͶܺଶ ൌ Ͳ ; Ͷܺଶ ൌ ͺܺଵ Æ ܺଶ ൌ ʹܺଵ
െͶ ʹ ܺଶ
Therefore the first mode shape ܺ ሺଵሻ ൌ ܺଵ ͳ

െʹ
Therefore the second mode shape ܺ ሺଶሻ ൌ ܺଵ ͳ

ʹ
5.0 Time response of free, undamped systems

General equation for the linear, undamped, n-DOF system is given by
‫ ܯ‬ሼ‫ݔ‬ሽሷ ൅ ݇ ሼ‫ݔ‬ሽ ൌ Ͳ
The general solution (time response) for the above equations is:-
࢔
࢞ ࢚ ൌ ෍ ࢄሺ࢏ሻ ࡭࢏ ‫ܛܗ܋‬ሺ࣓࢏ ࢚ ൅ ࣐࢏ ሻ
࢏ୀ૚
Where ܺ ሺ௜ሻ is the modal vector (mode shape), ߱௜ the natural frequency,
‫ܣ‬௜ is the constant (amplitude) and ߮௜ is also the constant (phase angle).
The ‫ܣ‬௜ and ߮௜ can be evaluated using the initial condition and t = 0.
௡
‫ ݐ ݔ‬ൌ Ͳ ൌ ෍ ܺ ሺ௜ሻ ‫ܣ‬௜ ሺ ߮௜ ሻ

௜ୀଵ
௡
‫ݔ‬ሶ ‫ ݐ‬ൌ Ͳ ൌ െ ෍ ܺ ሺ௜ሻ ‫ܣ‬௜ ߱௜ ሺ ߮௜ ሻ

௜ୀଵ

How to write the time response equation
We have ࢞ ࢚ ൌ σ࢔࢏ୀ૚ ࢄሺ࢏ሻ ࡭࢏ ‫ܛܗ܋‬ሺ࣓࢏ ࢚ ൅ ࣐࢏ ሻ
Suppose i = 3 (three DOF)
Thus, the system have frequencies of ࣓૚ ǡ ࣓૛ and ࣓૜
ܵଵ ܶଵ ܷଵ
Also, the mode shapes are, ܺ ሺଵሻ ሺଶሻ ሺଷሻ
ൌ ܵଶ ǡ ܺ ൌ ܶଶ ܽ݊݀ ܺ ൌ ܷଶ
ܵଷ ܶଷ ܷଷ
The three time response equations are:-
‫ݔ‬ଵ ‫ ݐ‬ൌ ܵଵ ‫ܣ‬ଵ ሺ߱ଵ ‫ ݐ‬൅ ߮ଵ ሻ ൅ ܶଵ ‫ܣ‬ଶ ሺ߱ଶ ‫ ݐ‬൅ ߮ଶ ሻ ൅ ܷଵ ‫ܣ‬ଷ ሺ߱ଷ ‫ ݐ‬൅ ߮ଷ ሻ
‫ݔ‬ଶ ‫ ݐ‬ൌ ܵଶ ‫ܣ‬ଵ ሺ߱ଵ ‫ ݐ‬൅ ߮ଵ ሻ ൅ ܶଶ ‫ܣ‬ଶ ሺ߱ଶ ‫ ݐ‬൅ ߮ଶ ሻ ൅ ܷଶ ‫ܣ‬ଷ ሺ߱ଷ ‫ ݐ‬൅ ߮ଷ ሻ
‫ݔ‬ଷ ‫ ݐ‬ൌ ܵଷ ‫ܣ‬ଵ ሺ߱ଵ ‫ ݐ‬൅ ߮ଵ ሻ ൅ ܶଷ ‫ܣ‬ଶ ሺ߱ଶ ‫ ݐ‬൅ ߮ଶ ሻ ൅ ܷଷ ‫ܣ‬ଷ ሺ߱ଷ ‫ ݐ‬൅ ߮ଷ ሻ
The ‫ܣ‬ଵ , ‫ܣ‬ଶ , ‫ܣ‬ଷ , ߮ଵ , ߮ଶ and ߮ଷ are the constants that need to be
determined.

Example
Figure below shows a vibrating system consisting a disc that rolls without
slip and is connected to a block with springs.
¾ Derive the equation of motion for the system
¾ Find the natural frequencies and the mode shapes for m = 1 kg, k = 10 N/m
and r = 0,1 m.
¾ Obtain the time response for the displacement if x1(0) = 0.01m, x2(0) = 0m,
‫ݔ‬ሶ ଵ Ͳ ൌ ‫ݔ‬ሶ ଶ Ͳ ൌ Ͳ m/s.
‫ݔ‬ଶ
‫ݔ‬ଵ
ʹ݇ ʹ݇
݉
݇ ‫ݎ‬

Solution
We solve for deriving the equation of motion using Lagrange’s equation
Finding total energy
ଵ ଵ ଵ
The kinetic energy for the system : ܶ ൌ ଶ ݉ଵ ‫ݔ‬ሶ ଵଶ ൅ ଶ ‫ܫ‬ଵ ߠሶଵଶ ൅ ଶ ݉ଶ ‫ݔ‬ሶ ଶଶ
௫భ ଵ ଵ ௫ሶ మ ଵ
But ߠଵ ൌ ௥
, Thus ܶ ൌ ݉ଵ ‫ݔ‬ሶ ଵଶ ൅ ‫ܫ‬ଵ ௥భమ ൅ ݉ଶ ‫ݔ‬ሶ ଶଶ
ଶ ଶ ଶ
ଵ ଵ ଵ
The potential energy for the system : ൌ ݇‫ݔ‬ଵଶ ൅ ሺʹ݇ሻ ‫ ݔ‬ᇱଵ െ ‫ݔ‬ଶ ଶ
൅ ሺʹ݇ሻሺ‫ݔ‬ଶଶ ሻ
ଶ ଶ ଶ
ଵ
But ‫ ݔ‬ᇱଵ ൌ ʹ‫ݔ‬ଵ , Thus ൌ ݇‫ݔ‬ଵଶ ൅ ݇ሺͶ‫ݔ‬ଵଶ െ Ͷ‫ݔ‬ଵ ‫ݔ‬ଶ ൅ ‫ݔ‬ଶଶ ሻ ൅ ݇‫ݔ‬ଶଶ
ଶ
Satisfying the Lagrange’s equation

డ் ூభ ௗ డ் ூభ
ൌ ݉‫ݔ‬ሶ ଵ ൅ ‫ݔ‬ሶ ; Æ ௗ௧ ൌ ሺ݉ ൅ ሻ‫ݔ‬ሷ
డ௫ሶ భ ௥మ ଵ డ௫ሶ భ ௥మ ଵ
డ் ௗ డ்
డ௫ሶ మ
ൌ ݉‫ݔ‬ሶ ଶ ; Æ ௗ௧ డ௫ሶ మ
ൌ ݉‫ݔ‬ሷ ଶ ;

߲ܶ ߲ܶ ߲ܶ
ൌ ൌ ൌͲ
߲࢞ଵ ߲࢞ଶ ߲࢞ଷ
డ௎
ൌ ݇‫ݔ‬ଵ ൅ ݇ሺͺ‫ݔ‬ଵ െ Ͷ‫ݔ‬ଶ ሻ ൌ ͻ݇‫ݔ‬ଵ െ Ͷ݇‫ݔ‬ଶ
డ࢞భ
డ௎
ൌ ݇ െͶ‫ݔ‬ଵ ൅ ʹ‫ݔ‬ଶ ൅ ʹ݇‫ݔ‬ଶ ൌ െͶ݇‫ݔ‬ଵ ൅ Ͷ݇‫ݔ‬ଶ
డ࢞మ
݀ ߲ܶ ߲ܶ ߲ܷ
െ ൅ ൌͲ
݀‫ݔ߲ ݐ‬ሶ ߲‫ݔ߲ ݔ‬
ூ
݉ ൅ ௥భమ ‫ݔ‬ሷ ଵ ൅ ͻ݇‫ݔ‬ଵ െ Ͷ݇‫ݔ‬ଶ ൌ Ͳ ---------- (1)
݉‫ݔ‬ሷ ଶ െͶ݇‫ݔ‬ଵ ൅Ͷ݇‫ݔ‬ଶ ൌ Ͳ ------------ (2)
The equation of motion in a matrix form
‫ܫ‬ଵ
݉൅ Ͳ ‫ݔ‬ሷ ଵ ͻ݇ െͶ݇ ‫ݔ‬ଵ Ͳ
‫ݎ‬ଶ ൅ ൌ
‫ݔ‬ሷ ଶ െͶ݇ Ͷ݇ ‫ݔ‬ଶ Ͳ
Ͳ ݉
Ͳ ‫ݔ‬ሷ ଵ ͻͲ െͶͲ ‫ݔ‬ଵ Ͳ

Substitute values ͲǤͷ ‫ݔ‬ሷ
൅ ‫ݔ‬ ൌ
Ͳ ͲǤͳ ଶ െͶͲ ͶͲ ଶ Ͳ

Finding the natural frequencies
ሾሿ െ ߱ଶ ‫ ܯ‬ൌ Ͳ
ͻͲ െͶͲ ͲǤͷ Ͳ ଶ
െ ߱ଶ ൌ Ͳ Æ ͻͲ െ ͲǤͷ߱ െͶͲ ൌͲ
െͶͲ ͶͲ Ͳ ͲǤͳ െͶͲ ͶͲ െ ͲǤͳ߱ଶ
ͻͲ െ ͲǤͷ߱ଶ ͶͲ െ ͲǤͳ߱ଶ െ ͳ͸ͲͲ ൌ Ͳ Æ ʹͲͲͲ െ ʹͻ߱ଶ ൅ ͲǤͲͷ߱ସ ൌ Ͳ
ଶ
߱ଵǡଶ ൌ ͷͲͲǡͺͲ Æ ߱ଵǡଶ ൌ ʹʹǤ͵͸ǡ ͺǤͻͶ‫݀ܽݎ‬Ȁ‫ݏ‬
Finding the mode shape

ଶ ܺଵ
Solveሼሾሿ െ ߱ଶ ‫ ܯ‬ሽܺ ൌ Ͳ Æ ͻͲ െ ͲǤͷ߱ െͶͲ ൌͲ
െͶͲ ͶͲ െ ͲǤͳ߱ ଶ ܺଶ
For ߱ଵ ൌ ʹʹǤ͵͸
െͳ͸Ͳ െͶͲ ܺଵ ሺଵሻ
ൌ Ͳ ; െͳ͸Ͳܺଵ െͶͲܺଶ ൌ Ͳ ; ͶͲܺଶ ൌ െͳ͸Ͳܺଵ Æ ܺଶ ൌ െͶܺଵ
െͶͲ െͳͲ ܺଶ
For ߱ଵ ൌ ͺǤͻͶ
ͷͲ െͶͲ ܺଵ ሺଶሻ
ൌ Ͳ ; ͷͲܺଵ െͶͲܺଶ ൌ Ͳ ; ͶͲܺଶ ൌ ͷͲܺଵ Æ ܺଶ ൌ ͳǤʹͷܺଵ
െͶͲ ͵ʹ ܺଶ
ሺଵሻ ͳ
Therefore the first mode shape ܺ ൌ ܺଵ
െͶ
ሺଶሻ ͳ
Therefore the second mode shape ܺ ൌ ܺଵ
ͳǤʹͷ

The displacement times response
From ‫ ݐ ݔ‬ൌ σ௡௜ୀଵ ܺ ሺ௜ሻ ‫ܣ‬௜ ሺ ߮௜ ሻ, we have
‫ݔ‬ଵ ሺ‫ݐ‬ሻ ൌ ‫ܣ‬ଵ ሺ ߮ଵ ሻ ൅ ‫ܣ‬ଶ ሺ ߮ଶ ሻ
‫ݔ‬ଶ ‫ ݐ‬ൌ െͶ‫ܣ‬ଵ ሺ ߮ଵ ሻ ൅ ͳǤʹͷ‫ܣ‬ଶ ሺ ߮ଶ ሻ
From x1(0) = 0.01m, x2(0) = 0m

‫ݔ‬ଵ ሺ‫ ݐ‬ൌ Ͳሻ ൌ ‫ܣ‬ଵ ሺ ߮ଵ ሻ ൅ ‫ܣ‬ଶ ሺ ߮ଶ ሻ ൌ ͲǤͲͳ ----------(1)
‫ݔ‬ଶ ‫ ݐ‬ൌ Ͳ ൌ െͶ‫ܣ‬ଵ ሺ ߮ଵ ሻ ൅ ͳǤʹͷ‫ܣ‬ଶ ሺ ߮ଶ ሻ ൌ Ͳ ------------(2)
From ‫ݔ‬ሶ ‫ ݐ‬ൌ Ͳ ൌ െ σ௡௜ୀଵ ܺ ሺ௜ሻ ‫ܣ‬௜ ሺ ߮௜ ሻ, we have

௞
െʹʹǤ͵͸‫ܣ‬ଵ ሺ ߮ଵ ሻ െ ͺǤͻͶ ‫ ܣ‬ሺ ߮ଶ ሻ ൌ Ͳ ----------------(3)
௠ ଶ
ͺͻǤͶͶ‫ܣ‬ଵ ሺ ߮ଵ ሻ െ ͳͳǤͳ͹‫ܣ‬ଶ ሺ ߮ଶ ሻ ൌ Ͳ --------------(4)
Solving simultaneous equations for finding ‫ܣ‬ଵ , ‫ܣ‬ଶ , ߮ଵ and ߮ଶ yield

߮ଵ ൌ ߮ଶ ൌ Ͳ
‫ܣ‬ଵ ൅ ‫ܣ‬ଶ ൌ ͲǤͲͳ , െͶ‫ܣ‬ଵ ൅ ͳǤʹͷ‫ܣ‬ଶ ൌ Ͳ
Thus ‫ܣ‬ଵ ൌ ͲǤͲͲʹ͵ͺ , ‫ܣ‬ଶ ൌ ͲǤͲͲ762
The time response of the displacement are :
Æ ‫ݔ‬ଵ ‫ ݐ‬ൌ ͲǤͲͲʹ͵ͺ ʹʹǤ͵͸ ‫ ݐ‬൅ ͲǤͲͲ͹͸ʹ ͺǤͻͶ ‫ݐ‬
Æ ‫ݔ‬ଵ ‫ ݐ‬ൌ െͲǤͲͲͻʹͲ ʹʹǤ͵͸ ‫ ݐ‬൅ ͲǤͲͲͻʹͷ ͺǤͻͶ ‫ݐ‬
Class exercise
A mechanical system is shown below. If m = 1 kg, k = 100 N/m, l = 3r
and r = 0.1 m,
¾ obtain the natural frequencies and the mode shapes
¾ Find the response of x1(t) only if x1(0) = 0.01m, x2(0) = 0m, ‫ݔ‬ሶ ଵ Ͳ ൌ ‫ݔ‬ሶ ଶ Ͳ ൌ Ͳ

Class exercise
Solution
Draw FBD & KD
Use Lagrange equation & derive the equations of motion
Class exercise
Apply ሾሿ െ ߱ଶ ‫ ܯ‬ൌ Ͳ & find the natural frequencies

Class exercise
Apply ሼሾሿ െ ߱ଶ ‫ ܯ‬ሽܺ ൌ Ͳ & obtain the mode shapes
Tutorial 4.3
The identical disks of mass m and radius r as shown in figure below rolls
without slip.
a. Derive the equations of motion for the system
b. Obtain the natural frequencies and the mode shapes if m = 1 kg, r = 1 m and
k = 10 N/m
c. Find the response of x1(t) only if x1(0) = 0.01m, x2(0) = 0m, ‫ݔ‬ሶ ଵ Ͳ ൌ ‫ݔ‬ሶ ଶ Ͳ ൌ Ͳ
‫ݔ‬ଵ ‫ݔ‬ଶ
ʹ݇
݇ ‫ݎ‬ ‫ݎ‬ ʹ݇

End Chapter Problems
3. Use Lagrange’s equation to obtain the equations 6. A shaft of diameter 60mm is supported by two
of motion in (1). bearings A and B, carrying with them two rotating
disks of masses 45 kg and 70 kg at location as
4. Determine the fundamental natural frequency of shown in figure below. Using E = 209 MPa,
the system shown in Fig 1c) for m1 = m2 = m and a) find the flexibility influence coefficient of the
l1 = l2 = l3 = l using the following methods. system
ͳ b) determine the natural frequency of the system
i) Rayleigh's method (take a trial vector = )
ʹ using Dunkerley’s method
ii) Dunkerley's method
͹Ͳ݇݃
5. A simplified model of bicycle of mass 40 kg with
its rider of mass 80 kg is as shown in Figure Ͷͷ݇݃
below. The tyre is assumed to have a stiffness of ‫ܣ‬ ‫ܤ‬
50 N/m while the seat is assumed to have a
stiffness of 100 N/m. For the model determine:
i) the natural frequencies and mode shapes of the
system.
ii) find the free vibration response of the system if
‫ݔ‬ଵ Ͳ ൌ ͲǤͲͷ݉Ǣ ‫ݔ‬ሶ ଵ Ͳ ൌ ͲǢ ‫ݔ‬ଶ Ͳ ൌ ͲǢ ܽ݊݀ ‫ݔ‬ሶ ଶ Ͳ ൌ Ͳ
ͳͷͲ݉݉ ͳͷͲ݉݉
͸ͲͲ݉݉
27.03.2012 MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 49

7. The equation of motion for a vehicle is given by:- Answer
ͳͲ Ͳ ‫ݔ‬ሷ ଵ ͵ͷ െͷ ‫ݔ‬ଵ ݉ଵ Ͳ Ͳ ͹ െͳ െͷ
൅ ൌ Ͳ Find the free
Ͳ ͳ ‫ݔ‬ሷ ଶ െͷ ͷ ‫ݔ‬ଶ 1a) ‫ ܯ‬ൌ Ͳ ݉ଶ Ͳ ݇ ൌ ݇ െͳ ʹ െͳ
vibration response of the system for the initial Ͳ Ͳ ݉ଷ െͷ െͳ ͹
conditions: ‫ݔ‬ଵ Ͳ ൌ ͳ ݉ǡ ‫ݔ‬ଶ Ͳ ൌ ‫ݔ‬ሶ ଵ Ͳ ൌ ‫ݔ‬ሶ ଶ Ͳ ൌ ʹ݉ Ͳ ݇ Ͳ
ͲǤ 1b) ‫ ܯ‬ൌ ݇ ൌ
Ͳ ݈݉ ଶ Ͳ ݈݉݃
ଶ் ்
݉ Ͳ െ
8. A machine part can be simplified as two 1c) ‫ ܯ‬ൌ ݇ ൌ ௟் ଶ்
௟
components as shown below. If m = 5kg, I = 2 Ͳ ݉ െ

௟ ௟
kgm2, r = 0.1m and k1 = k2 = 1000 N/m
a) calculate the natural frequencies and modal ݉ Ͳ
1d) ‫ ܯ‬ൌ
vectors for the system Ͳ ‫ܫ‬
b) determine the free response of the system of ሺ݇ଵ ൅݇ଶ ሻ ሺ݇ଶ ݈ଶ ൅ ݇ଵ ݈ଵ ሻ
݇ ൌ
x(t) if ‫ Ͳ ݔ‬ൌ ͲǤͳ ݉ǡ ߠ Ͳ ൌ Ͳǡ ‫ݔ‬ଶ Ͳ ൌ ‫ݔ‬ሶ Ͳ ൌ Ͳ ሺ݇ଶ ݈ଶ ൅ ݇ଵ ݈ଵ ሻ ሺ݇ଶ ݈ଶଶ ൅ ݇ଵ ݈ଵଶ ሻ
ߠሶ Ͳ ൌ ͲǤ
‫ܫ‬ Ͳ Ͳ
1e) ‫ ܯ‬ൌ Ͳ ʹ݉ Ͳ
Ͳ Ͳ ݉
ͳ͵݇‫ ݎ‬ଶ െ݇‫ ݎ‬െ͸݇‫ݎ‬
݇ ൌ െ݇‫ݎ‬ ݇ Ͳ
െ͸݇‫ݎ‬ Ͳ ͵݇
27.03.2012 MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 50

Answer 5i) ߱ଵ ൌ ͳͺǤ͵Ͳ ‫݀ܽݎ‬Ȁ‫߱ ;ݏ‬ଶ ൌ ͸ͺǤ͵Ͳ ‫݀ܽݎ‬Ȁ‫;ݏ‬
ሺଵሻ ͳ ሺଶሻ ͳ
ܺଶ ൌ ܺଵ ; ܺଶ ൌ ܺଵ
ଶ௟ ௟ ͲǤ͹͵ʹ െʹǤ͹͵ʹ
ଷ் ଷ்
2c) ܽ௜௝ ൌ ௟ ଶ௟ 5ii) ‫ݔ‬ଵ ൌ ͲǤͲͳ ሺʹǤͳ͸‫ݐ‬ሻ ൅ ͲǤͲͶ ሺͲǤͷͺ‫ݐ‬ሻ
ଷ் ଷ்
‫ݔ‬ଶ ൌ െͲǤͲ͵ ሺʹǤͳ͸‫ݐ‬ሻ ൅ ͲǤͲ͵ ሺͲǤͷͺ‫ݐ‬ሻ
௟ ௟
6a) ‫ ܫ‬ൌ ͸Ǥ͵͸ ൈ ͳͲି଻ ݉ସ ;
் ்
2d) ܽ௜௝ ൌ ି଼
ʹǤ͵͵ ൈ ͳͲି଼
௟ ସ௟
ܽ௜௝ ൌ ͵Ǥ͵ͺ ൈ ͳͲି଼
் ் ʹǤ͵͵ ൈ ͳͲ ͳǤͻͲ ൈ ͳͲି଼
6b) ߱ଵ ൌ ͷͻʹ ‫݀ܽݎ‬Ȁ‫ݏ‬
ଵ ହ
௟ య ଶସ ସ଼
7) ߱ଵ ൌ ʹǤͶͷ ‫݀ܽݎ‬Ȁ‫߱ ; ݏ‬ଶ ൌ ͳǤͷͺ ‫݀ܽݎ‬Ȁ‫ݏ‬
2h) ܽ௜௝ ൌ ହ ଵ ‫ݔ‬ଵ ൌ ͲǤʹͻ ሺʹǤͶͷ‫ݐ‬ሻ ൅ ͲǤ͹ͳ ሺͳǤͷͺ‫ݐ‬ሻ
ாூ
ସ଼ ଷ
‫ݔ‬ଶ ൌ െͳǤͶͷ ʹǤͶͷ‫ ݐ‬൅ ͳǤͶʹ ሺͳǤͷͺ‫ݐ‬ሻ
4i) ͳǤͲͻͷ
்
; 4ii) 0.866
் 8) a) ߱ଵ ൌ ͳǤͷ͹ ‫݀ܽݎ‬Ȁ‫߱ ;ݏ‬ଶ ൌ ʹͲǤͲ͸ ‫݀ܽݎ‬Ȁ‫;ݏ‬
௟௠ ௟௠
ሺଵሻ ͳ ሺଶሻ ͳ
ܺଶ ൌߠ ; ܺଶ ൌ ߠ
ͲǤͲͷ െͺ
8) b)
27.03.2012 Azmi M.Yusof 51

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Chapter 4

Multiple Degree of Freedom [MDOF]

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 2

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 3

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2.0 Modeling the MDOF System

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2.0 Derivation of the Equation of Motion

 The FBD for any one element can be as following

 Applying Newton’s second law for the mass mi

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 The size of matrix indicates the number of DOF

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2.0 Derivation of the Equation of Motion

 Step 2 : Applying Newton’s second law of motion for each mass

݉ Ͳ Ͳ ‫ݔ‬ሷ ଵ ͵݇ െʹ݇ Ͳ ‫ݔ‬ଵ Ͳ

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2.0 Derivation of the Equation of Motion

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a ‫ܨ‬ଵ ൌ ݇ ‫ݔ‬ଵ െ ‫ݔ‬ଶ ൌ ݇ܽ ߠଵ െ ߠଶ

m1g sin T1 m2g sin T2

2.0 Derivation of the Equation of Motion

 About point Q : ‫ܨ‬ଶ ܽ ൅ ݉ଶ ݃κߠଶ ൌ െ݉ଶ κଶ ߠሷଶ

݉ଵ κଶ Ͳ ߠሷଵ ݇ܽଶ ൅ ݉ଵ ݃κ െ݇ܽଶ ߠଵ

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2.0 Derivation of the Equation of Motion

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ܶܽ݇݁ ෍ ࡲሺி஻஽ሻ ൌ ෍ ࡲሺ௄஽ሻ

െ݇ଵ ‫ ݔ‬െ ݈ଵ ߠ െ ݇ଶ ‫ ݔ‬൅ ݈ଶ ߠ ൌ ݉‫ݔ‬ሷ

ܶܽ݇݁ ෍ ‫ܯ‬ሺி஻஽ሻ ൌ ෍ ‫ܯ‬ሺ௄஽ሻ

െ݇ଵ ‫ ݔ‬െ ݈ଵ ߠ ݈ଵ ൅ ݇ଶ ‫ ݔ‬൅ ݈ଶ ߠ ݈ଶ ൌ ‫ߠ ܫ‬ሷ

݉ Ͳ ‫ݔ‬ሷ ଵ ݇ଵ ൅ ݇ଶ െሺ݇ଵ ݈ଵ െ ݇ଶ ݈ଶ ሻ ‫ݔ‬ଵ

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 Apply Euler’s law & write the equations of motion

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 The equations are :

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3.0 Lagrange’s Equations

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3.0 Lagrange’s Equations

݉ Ͳ Ͳ ‫ݔ‬ሷ ଵ ͵݇ െʹ݇ Ͳ ‫ݔ‬ଵ Ͳ

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3.0 Lagrange’s Equations

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4.0 Solution of problems: Zn & mode shape

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4.0 Solution of problems: Zn & mode shape

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 The differential equations of motion for the system are:

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4.0 Solution of problems: Zn & mode shape

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 Therefore the first mode shape ܺ ሺଵሻ ൌ ܺଵ ͳ

 Therefore the second mode shape ܺ ሺଶሻ ൌ ܺଵ ͳ

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5.0 Time response of free, undamped systems

The FBD for any one element can be as following

Applying Newton’s second law for the mass mi

The size of matrix indicates the number of DOF

Step 2 : Applying Newton’s second law of motion for each mass

About point Q : ‫ܨ‬ଶ ܽ ൅ ݉ଶ ݃κߠଶ ൌ െ݉ଶ κଶ ߠሷଶ

Apply Euler’s law & write the equations of motion

The equations are :

The differential equations of motion for the system are:

Therefore the first mode shape ܺ ሺଵሻ ൌ ܺଵ ͳ

Therefore the second mode shape ܺ ሺଶሻ ൌ ܺଵ ͳ

‫ ݐ ݔ‬ൌ Ͳ ൌ ෍ ܺ ሺ௜ሻ ‫ܣ‬௜ ሺ ߮௜ ሻ

‫ݔ‬ሶ ‫ ݐ‬ൌ Ͳ ൌ െ ෍ ܺ ሺ௜ሻ ‫ܣ‬௜ ߱௜ ሺ ߮௜ ሻ

Satisfying the Lagrange’s equation

Finding the mode shape

From ‫ݔ‬ሶ ‫ ݐ‬ൌ Ͳ ൌ െ σ௡௜ୀଵ ܺ ሺ௜ሻ ‫ܣ‬௜ ሺ ߮௜ ሻ, we have

ͺͻǤͶͶ‫ܣ‬ଵ ሺ ߮ଵ ሻ െ ͳͳǤͳ͹‫ܣ‬ଶ ሺ ߮ଶ ሻ ൌ Ͳ --------------(4)

Use Lagrange equation & derive the equations of motion

Apply ሾሿ െ ߱ଶ ‫ ܯ‬ൌ Ͳ & find the natural frequencies

Apply ሼሾሿ െ ߱ଶ ‫ ܯ‬ሽܺ ൌ Ͳ & obtain the mode shapes