MODULE III

Multi Degree of Freedom System

Multi degree of freedom system are defined as those systems which require two or more
coordinate to describe their motion.

Equation of the motion

An undamped system having n dof the shown in the figure
Let x1, x2, x3…., xn = In Displacement of respective masses at any instance. Then the differential
equation of motion for each mass can be expressed using newton second law of motion as:
Equation (3)
Or[m]{x} + [x]{x} = {0}- (4)

[m]= Mass matrix of nth order

[k]= Stiffness matrix of nth order
{x}= Column matrix of n elements corresponding to the dynamic displacement of respective n
masses

And eq-(4) is similar to

Mx +kx =0 (i.e example of simple dof system)
Natural frequency and mode shapes (for a 3 dof system)
Assuming a steady solution of
X1 =x1sinwt
X2 =x2sinwt
X3 =x3sinwt} -(4)
Substituting the value of x1, x1, x2, x2, x3, x3 in equation (2)
[-m1w2+(k1 +k2)]x1-k2x2 =0
-k2x1+ [-m2w2+(k2 +k3)]x2=0
-k3x2+ [-m3w2+(k3 +k4)]x3=0
The characteristics frequency equation can be obtained by the determinant as under

Expanding the above determinant and solving for w2 three natural frequencies of the 3 dof
system can be obtained also the amplitude ratios for obtaining the principal mode of vibration
can be obtained as [from eq (5)]

Matrix method:
Matrix method is a widely used method to determine the natural frequency of a multi dof
system. the advantage of this method is that a computer, programme can be developed to
solve the equation and generate the given values and the risen factors directly with mech erase

We know that for a multi dof system the equation of motion in matrix form can be Expressed
as:
[m]{x} +[k]{x} =0 - (1)
Multiplying eq – (1) by [m]-1, we have [1] {x}+[c]{x} = 0 – (2)

Where [m]1[m]= [1], a unit matrix

[m]-1 [k]=[c], a dynamic matrix

The value of [m]-1 can be obtained as [m]-1=adj[m]/[m]

Assuming harmonic oscillation of frequency as w, {x} = [x]sinwt

We have {x} =-w2 {x3 =- x{x}sinwt
Where x = w2
The equation (2) can be written as
-x[1]{x} + [c]{x} =0
Or [[c]-x[1]] {x}=0
Or [x [1] – [c]] {x}=0-(3)
The characteristic frequency equation is given by {x[1]-[c]} =0 eq – (4)

The roots of the frequency equation (xi) are called Eisen values and square root of these
quantities are the system natural frequency i.e = wi √3i } – (5) once the Eisen values are
obtained this can be subtitled in eq (3) to find the mod shapes called Eisen values.

Example: For the 3dofsystem shown in figure find the natural frequency

The equation of motion may be written as:

Mx1 + kx1 + k (x1 +x2) =0
mx2 - k (x1 +x2) + 2k (x2+ x3) =0
2mx3- 2k (x2- x3) =0} -(1)
Or mx1 + 2kx1 – kx2 =0
Mx2 – kx1 + 3kx2 – 2kk3 =0
2mx3 – 2kx2 + 2kx3 =0} -(2)
In matrix form

0r [m]{x} + [u]{x} =0
Dynamic matrix [c] = [m]-1[v]
And [m]-1 = adj [m]/ |m|
|m| = 2m3
Adj [m]

Therefore [m]-1= adj [m]/ |m|

The dynamic matrix given by

[c] = [m]-1[k]

Therefore= [x[E] – [c]] can be written as

Solving the above equation, we have
X1 = 0.139 u/m
X2 = 1.796 u/m
X3 = 4.115 u/m
So, the natural frequency is
W1 = √x1 = 0.373 √u/m
W1 = √x1 = 1.32√u/m
W1 = √x1 = 2.03√u/m [Ans]

Example 2
find the natural frequency of the system

Influence coefficient:
The differential equation of the motion of a multi dof system can be expressed in matrix form
which includes mass matrix [m]and stiffness matrix [k]. In case of damping there will be the
damping matrix [c].
The equation can also be expressed in the terms of flexibility matrix [A] instead of stiffness
matrix [K].

(i) Stiffness influence coefficient:

Fluence matrix is the inverse of stiffness matrix
[A] = [k]-1
Which also means that [k] =[A]-1} – (1)
Or stiffness = 1/flexibility

The element kij, aij and cij of stiffness, flexibility and damping matrix, respectively
are referred to as influence coefficient.
The use of influence coefficient stands for facilitate the expression of differential
equation of motion of a multi dof system in matrix form.
A matrix stiffness influence coefficient is expressed as
[k]=

The stiffness influence coefficient denote force at point I due to unit

displacement at point i, when all the other points are fixed

Example:

Let x1 and x2 = displacement of mass m1 and m2 respectively

The stiffness influence coefficient kij can be determined in terms of the spring stiffness k1and k2

Let x1 =1unit while position of mass m2, x2=0

Writing the differential equation of motion
M1x1 + k1x1 + k2(x1 – k2) =0} -(1)
M2x2 – k2(x1 – x2) = 0} – (1)
Or m1x1 + (k1 + k2) x1 -k2 x2} – (2)
M2x2 – k2x1 + k2x2 = 0} – (2)
In matrix form:

So, stiffness influence coefficient

[A] = [k] -1

Problem
1. Determine the value of Influence coefficient for the system shown in the figure.

2. Determine the stiffness influence coefficients of the three dof system

Flexibility influent coefficient:

If two points I and j of a system are considered aij defined as the flexibility influence coefficient
which is defined as the deflection at point I due to unit rad at point j of the systems the element
of matrix are called Flexibility influence coefficients and aii, aji are called the direct influence
coefficient and aij, aji etc. are the cross-influence coefficient

The matrix of flexibility coefficient are

[A]=
Maxwell reciprocal theorem
It states that the deflection at any point in the system due to a unit load acting at any other
point of the system is equal to the deflection at the second point due to unit load acting at the
first point
i.e. aij= aji} – (2)

Considering a system and 2-point i and j in the system

(i) First apply load fi at point I raising its value gradually from zero to full value and
then apply fj in the same manner, while load fi acting on point i
(ii) First apply load Fj at point j gradually from zero to max value and then apply Fi at
point in same manner with load Fj acting at point j all the time.

As the final deflection curve would be same, so the work done or strain energy due to these
two loads will be same, independent of which load was applied first.

The work done in case(i) is

Similarly, the work done in second case is

Equating the above two equations we have

Matrix Iteration Method

This method is used to find the natural frequencies and mode shapes of a multi dof system, for
a multi dof system the governing e can be reduced to the eigen value problem by

Matrix literation method

This method is suitable amongst other iterative methods for determine the lower eigen values
(natural frequencies) and eigen vectors (mode shapes) of a multi degree of multi dof freedom
system
The advantage of this method is that the iterative method has results in the principal mode of
vibration of the system corresponding natural frequency simultaneously where as in case of
polynomial method separate operation is required to find both
The equation of motion in terms of flexibility can be represented as
[A][m] {x} + {x} =0} -(1)

Using a solution {x} ={x} sinwt

{x}= w{x} coswt
{x} = w2{x} sinwt

Substituting the value of {x} and {x} in eq – (1)

-w2{x}[A][m] + {x} = 0
Or {x}=w2[A][m] {x}
Or {x}=w2[B] {x} – (2)

Where [B] = [A][M]

In equation is in the form of
The process is started by calculating a set of deflection for the right column and then expanding
the right-hand side.

The process until the fist modes repeats the iteration with the process with the eq –(13)
converges at the lowest value of w2 so that the fundamental mode of vibration is obtained .
To obtain the next higher and the natural frequencies orthogonality principal is applied to
obtain a modified matrix equation which does not contains the lower modes and the iterative
process repeated as before.

Example:
Find the fundamental natural frequency and corresponding mode shapes are for the system
shown in figure using matrix al iteration method. also obtain the higher modes using principle
of orthogonality

The differential equation for the three masses using second law of motion are
In matrix form:

Now frequency matrix [A] = [k]-1

So [A] =

So, the equation can be expressed as

[A] [M]{x} + {x} = {0} – (5)

Assuming a steady state solution

{x} = {x} sinwt} -(6)
{x} = w{x} coswt} – (6)
{x} = -w2{x} sinwt} -(6)

Substituting the valuing eq (5)

The iterative process for eq (7) can be started assuming a simple deflection shape.
Ist iteration
Let x1 =1
X2 =2.9
X3 = 3

Second iteration method

Let x1 =1
X2 =2.9
X3 = 3.7

Third iteration =
Let x1 =1
X2 =3.1
X3 = 3.9

Fourth iteration =
Let x1 =1
X2 =3.15
X3 = 3.98

It can be seen that he modes of 3rd and 4th iteration repeative with sufficient anyway

Therefore = w2m/3k × 14.28 = 1

W= √3/14.28 = √u/m =0.458 √4m
And the mode shapes are (1,3.16,4.00)
Orthogonality principal:
The matrix form of equation of a motion for a dof system can be expressed as
[m]{x} +[k]{x} =0 – (1)

Assuming the harmonic motion of frequency w

{x} ={x}sinwt
{x} =-w2 {x} sinwt} – (2)

Substituting eq (2) in eq (1) we have

-[m]w2 {x} +[v]{x} = 0
Or [m]w2 {x} = [k] {x}=0} -(3)

Let r and s is two different types of mod vibration and {x}r be column giving amplitude of
various rth mode and wr be the natural frequency of rth mode
For the rth mode eq (3) may be written as
[m] w2r {x}r = [v]{x} r – (4)
Similarly, for the sth mode
[m]w2s {x} r =[v] {x}s – (5)
Multiplying eq – (4) by the transpose of eq –(5) by {x}1r we have

Since[m] and [k] are symmetric to the matrixes we have

Substituting eq (8) in eq (6) and eq (7) and subtracting eq (7)

From eq 6 we have
(w2r – w2s) {x}1r [m] {x} s =0 – (9)

Since r and s are two different modes wr not= ws so we have

{x}1r [m]{x} s =0 –(eq 10) for r not= s
Equation (10) may be expressed as in generalized form

This is called orthogonality principle.

Example:
For a 3 dof system the orthogonality principle may be written as
M1x11x12 + m2x21x22 +m3x31x32 =0
M1x11x13 + m2x21x23 +m3x31x33 =0
M1x12x13 + m2x22x23 +m3x32x33 =0} -(eq 12)

Calculation the higher modes (using sweeping matrix method)

M1x11x12 + m2x21x22 +m3x31x32 =0
Or x12 = -m2/m(x21/x11) x22 – (m3/m1) (x31/x11) x32

In matrix method

Or x=sx
Where s= sweeping matrix

In matrix form
[s2] =

So, the equation in matrix form

Starting with an assumed value. {101}

Now taking x1 = 1, x2= 3.14, x3 =4

As the modes are repetitive

1.68w2m/3k =1
W= √1.68w2m/3k = √u/m = 1.336√k/m
The final result may express as
W1 = 0.458 √k/m
W2 =√4m
W3 =1.336√k/m

So, the new equation for second mode

Taking trial value of {101}

Therefore w2m /k =1 or w = √k/m
And the mode shapes are (1,0, -1)

Third mode
For the third mode applying orthogonality principle as
M1x11x13 + m2x21x23 +m3x31x33 =0
And m1x1 = x13 +m2 x22x23 + m3x32x33 =0.
Or 4m x13 +2m (3.16) x23 + m (4)x33 = 0
And 4m x13 +m (-1) x33 = 0

On solving
X13 = 0.25x33
X23 = 0.79x33
And x33 = x33