Module- II

Two Degree of Freedom Systems

In the preceding sections, system having single dof have been discussed, in this case the system
has natural frequency and require only one independent coordinate to describe the system
completely. System having two dof are important and they are introducing the coupling
phenomenon where the motion of any two-independent coordinate, depends also on the other
coordinate through spring coupling or dashpot
These systems require two independent coordinates to describe their motion
Considering an ideal case of two dof System (Spring mass system)
Let x1, x2- Displacement of mass m1 and m2 of ant instance measured from equilibrium position,
respectively.
Assuming = x1 × x2
The differential equation of motion for the system may be expressed as:-

Now, assuming a solution for x1 and x2 Under steady state conditions

X1=x1sinwt}-(4)

X2=x2sinwt}-(4)
Where x1 and x2 are the amplitude of two masses and is the frequency of harmonic motion.
(from eq (4)

X1=x1sinwt X2=x2sinwt
X1= wx1 coswt X2= wx2 coswt
X1= w2x1 sinwt X2= -w2x2 sinwt

Substituting the value of [eq- (5) in eq (3)] cancelling common term sinwt at later stage

Equation (10)- Give two values of w 2 and therefore two positive values of w corresponding to
the two-natural frequency wn1 and wn2 of the system. Eq10 is called the frequency eq as root of
this equation gives the natural frequency of the system
Now, Let m1=m2 =m and k1=k3=k (equation ii)
So, equation (10) reduces to m2w4-2m (k+k2) w2+(k2+2kk2) =0
Which gives wn1, wn2=√{(k1×k2)+- k2}/m

Or wn1=√k/m
Wn2= √(k+2k2)/m eq.(12)
Substituting the condition of eq. (11), eq. (8) and eq. (9) can be reduced to
X1/X2=k2/[(k+k2-nw2] (eq.13)
X1/X2=[(k2+k)-mw2]/k2 (equation 14)
Now, the substituting the value of Wn1 in (equation 12) in any of the Eq. (13) and Eq. (14) we
have

X1/X2 =+1
It means the system is vibrating with the first natural frequency w n1, the mode shape is such
that the ratio of amplitude is +1 so,
(x1/x2) L= Ratio of amplitude in the first mode shape corresponding to the first natural frequency
wn1
Now, substituting the value of wn2 from equation (12) in eq. (13) or eq. (14), we have
(x1/x2) = -1
And (x1/x2)2 = indicating Second node shape Corresponding to second natural frequency w n2
- The ratio of amplitude of two masses being +1 indicates the amplitude are equal, and
two motions are in phase i.e. the two masses move up and down together
- The ratio of amplitude of two masses being -1 means the amplitude are equal but the
motion is out of Phase i.e. when the mass moving down the other mass is moving up
and vice versa.
 -
Hence be seen that if the two masses are given equal initial displacement in the same
direction and replaced they will vibrate in first principle made of vibration with first
natural frequency also if they are given equal initial disc displacement in opposite
direction and released they will vibrate in second principal made of vibration with
second nature Frequency .
However, if the two masses are given an equal initial displacement any direction their
motion will be the upper position of 2 harmonic motions corresponding to the two
natural frequency as:
X1= X1’coswn1t + x1’’coswn1t} (Eq.15)
X2= X2’coswn2t + X2’’ coswn2t} (Eq.15)
Where, X1; and x1’’= Amplitude of mass, m1 at lower and higher frequency.
And they will have the relationship

(eq.16)
X1’ +x1’’= Initial displacement of m1 (Eq. 16)
X2’ + x2’’= Initial displacement of m2 (Eq. 16)

Example
for the system shown in figure find two natural frequency When:

m1=m2=m=9.8kg
k1=k3 =88.20 N/m

k2=3430 N/m
Find out the resultant motions of m1 and m2 for the following different cases:
(a)both masses are displayed 5mm in downward direction and released simultaneously
(b) both masses are displayed 5 mm; m1 in downward direction and m2 in upward direction and
released simultaneously
(c) Mass m1 is displayed 5mm downward and mass m2 is displayed to 7.5 mm downward and
released simultaneously
(d) Mass m1 displaced 5 mm upward while m2 is fixed and both masses are released
simultaneously.

Assignment
(1) Determined normal mode of vibration of the coupled pendulum as shown in the
figure.

Derive the equation of motion of the two masses and find natural frequencies of the system
when
k=150N/m
m1=3kg m2=5kg
L=0.3m a=0.15m
Q.2 Set up the differential equation of motion for the double pendulum shown in the figure
using coordinates X1 and X2 and assuming small amplitude find the natural frequencies ratio of
amplitude and draw the mode shape of X1 = X2 = X and l1 = l2 = l
M1=m2=m and l1=l2=l

Q. Determine the natural frequencies and amplitude ratio of the system Determine the
response of the system at k=1000N/m and m=20kg
Q.2 k1 and k2 =60N/m Determine the natural freq of the system

M1=m2=10kg
Q.3 Determine natural frequency if
m1=20kg, m2=85kg, k =300N/M
M1= 200 kg, M2= 50kg k1= 100,000N/m k2= 200000N/M
Q.5 Find the natural frequency of a vibration of the system as shown in the figure:
 Other cases of simple two dof systems
Different two dof systems are discussed in the section to find out the natural frequencies and
corresponding mode shape’s
1. Two masses fixed on a tightly stretched string

Consider two masses fixed on a tight string stretched between two supports and having tension
T. Let, amplitude of Vibration is small and tension T is large.
At any instant let Y1 and Y2 to be the displacement of two Masses, respectively.
The equation of the lateral portion of the masses are:

Now, we have sin 01 = y1/l1{equation 2}

sin 01= y1-y2/l2{equation-2}
sin 01=y2/l3{equation 2}

Assuming a study state solution for principal mode vibration

Y1 = y1sinwt {equation -4}

Y2 = y2sinwt {equation -4}

From {equation -4} we have

Substituting value in eq.3

From eq.5 the ratio of amplitude of vibration can be obtain as

Frequency eq. can be obtained by eq. (6 and 7)

We have-

The ratio of vibration amplitude can be expressed as

The corresponding principal mode shapes are obtained by in either of equation (10) The value
of Wn1 and wn2
(Y1/Y2)1= +1
(Y1/Y2)2= -1

2. Double Pendulum

Let m1 and m2 = Masses of the balls respectively.

l1 and l2 = length of strings
Now, the differential equation of motion of the two masses in horizontal direction

Substituting the value of T1 and t2 and sinQ1 and Q2 in above equation we have
Assuming the steady solution for the principal mode of vibration .

From equations (6)

X1 = wx1 coswt X2 = wx2 coswt {equation

X1 = -w2x1 sinwt X2 = -w2x2 sinwt (6)}

Substituting the value of x1, x1, x1 and x2, x2, x2 in equation no. 5 we have,

Cancelling out the Common term of sinwt from the equation

Considering special of m1=m2=m and l1=l2=l
Equation 10 and 11 can be written as:

Equation (12) and (13)

Corresponding mode shapes can be obtained by substitutions the value of wn1 and wn2. In
equations (12) and (13) for 1st and 2nd mode shapes respectively.
The modes are shown in fig.

Torsional system
– Consider A torsional system with two motor shown in fig.

Let= J1, J2= moment of inertia of motor and motor2 respectively

Kt= torsional stiffness of shaft

Q1, Q2= displacement of motor 1 and 2 respectively at any instant

Q then twist on the shaft Q2- Q1
Torque exerted by the shaft in the direction of rotation on J1 =kt(Q2-Q1)
And same torque is exerted on J2 in opposite direction.
the differential equation of motion is
Examples:
Determine the type of torsional vibration of shaft with two circular discs of uniform thickness at
the end the masses of the disc m1= 500 kg, m2 = 1000kg and their outer diameter are d1 =
125cm, d2 = 190 cm the length of the shaft is l =300 cm and its diameter d= 10 cm modules of
rigidity of the material of shafts is g= 0.53 × 10 11 N/m2.
Also find in what proportion with the natural frequency of this shaft will change if along half the
length of the shaft the diameter is increased from 10cm to 20 cm.

Given data m1 = 500kg, m2 = 1000kg

d1= 1.25m, d2 = 1.9 m
Length of shaft l= 300 cm = 3m
Dia of the shaft = 0.1 m
Module of rigidity of shaft g = 0.83×1011 N/M2
Now we have

We have the equation of the natural frequency

Example 2
Determine the natural frequency and mode shapes of the torsional system shown in the figure
take L1 = 1, l2 = 21
And kt1 =kt2 = k

Let Q1 and Q2 is the angular displacement of L1 and L2 respectively .

The equation of motion can be written as
Rearranging and substituting
L1 =1, L2= 21 and kt1=kt2=k

Assuming the steady state solution for principal mode of vibration

From eq – (3)

Substituting the value of Q in eq (2)

From eq – (6)
Equating eq (7) and (8)

The mode shapes are obtained from

 Semi definite system
When one of the natural frequencies of a system is zero, there is no relative motion in the
system and the system moves as a rigid body such a system are called semi-definite systems or
un-restrained system or degenerate system.

Taking an example as shown in the figure, where two masses m1 and m2 are connected with a
coupling spring k
The equation of motion of the system can be written as

Assuming the motion to be harmonic

From equation -(3)

Substituting the value of x in eq (2)

Rearranging and removing sinwt in equation (5)

The ratio of amplitude obtained from eq (6)

Equating eq (7) and (8) we have

The two values of natural frequencies obtained are

From the analysis it can be seen that one of the natural frequencies is zero and thus the system
is not is in semi definite state.
Undamped forced vibration with harmonic excitation
When a harmonic forcing equation acts on a system, the solution consists of transient port and
steady state part

The equation of the motion of the system can be expressed as

Assuming a steady solution

From eq – (3)

Substituting the value in (2)

From eq – (6) we have

Substituting the value x2 of eq (6)

It is observed denominators of equation 8 and 9 are identical comparing the denominators of
eq (8) and (9) with the frequency equation it is seen that whenever the exicition frequency w
becomes equal to any of the two natural frequencies wn1 and wn2. the amplitudes x1and x2
become infinite which is a resonance condition thus we have to resonance frequencies of the
system also x1 becomes zero when w = √ (v2+ v3) m2. there has making mass m. motion less at
this frequency. such condition is not applicable for mass = m2.
The mass which have eaiced can have zero amplitude of vibration under certain condition by
coupling it to another
Spring mass system for the principal of spring dynamic vibration
.
Example
For a system shown in the figure find the steady state amplitude of the mass m under the
exiting force for sinwt

Is there is any frequency at which the amplitude of the mass is

I) zero ii) infinity
The equation of a motion of a system

Let the steady solution be

From eq (2)

Substituting the value of x, x’’, Q, Q’’ in eq (1)

From eq (6)

Substituting the value of B in eq (5)

Example
For the System shown in fig find the steady state amplitude of the mass m under the emitting
force fosinwt is there any frequency at which the amplitude of the mass is i) zero, ii) infinity

Considering small amplitudes of vibration, the equation of motion for the system may written
as
Assuming a steady state solution of

We have

Subtracting the value of x, x’’ and q, q’’ in equation (1)

Solving the equation, we have

(i) Amplitude is zero at

Natural frequency of the system when mass m is considered to be fixed

 (ii) Amplitude is infinity when the denominator is equal to zero

Vibration Absorbers
When a machine or a system is subjected to an external rotation force whose rotation
frequency nearly conclude with the natural frequency of the machine or system excessive
vibration are induced in the system search vibration may be eliminated by coupling a
property designed an oscillatory spring mass system is called dynamic vibration absorber
This type of absorber is extremely effective at one spread only thus is suitable only for
constant speed machines a damped dynamic vibration absorber can take care of the entire
frequency Ranse of excitation but at the cost of reduced effectiveness.

Undamped dynamic Vibration absorbers

The Undamped dynamic Vibration absorbers are also called frahm vibration absorber
The principal Undamped dynamic Vibration absorbers can be analyzed by taking a two dof
spring mass system

The differential equation of motion may be written as:

Assuming a steady state solution

Substituting the values in eq (1)

From Equation (5)

Substituting the value of x2 in eq (4)

To bring this equation as dimensions forms dividing the numerators and denominators by k1k2
and introducing the following notation

Equation (7) and (8) can be written as dimension less form

Equation (9) indicates x1 =0, w= w2 i.e. when the exicition frequency is equal to the natural
frequency of absorber the Amplitude of Main system becomes zero even through its emitted by
a harmonic force.
Now substitutions w=w2 in eq – (10)
Equation 11 indicates the spring force v2x2 on the main mass due to amplitude x2 of the
absorber is equal an opposite to the acting force on the main mass so the main system
vibration has been reduced to zero and these vibrations have been taken by the absorber
Addition of a vibration absorber to main system is not much meaningful unless the mean
system is operating at resonance on at least near to it under these conditions we have

W=w1
But for the absorber to be effective We already have w2 = w
Therefore, for the effectiveness of the absorber at separating frequency corresponding to the
nature frequency of the main system alone we have
W2 = W1
Or k2/m2 = k1 /m1

When the above condition is fulfilled the absorber is known to be turned absorber.