Vibration of

7 Multidegree of
Freedom System

LEARNING GOALS

After a careful study of the chapter, you would be able to understand:

The characteristics of an MDOF system
.What is stiffness matrix and how to
formulate it?
Lagrange's equation and its formulation
.What is a semi-definite system?
Orthogonaliry principles ofeigenvectors
What is modal analysis and its
applications?
.What is the expansion theorem?
How to find responses against forced
vibration?
.What is Rayleigh/proportional
damping?
.How to analyze arbitrary damping
with state-space variables?

7.1 Introduction
i he previous chapter, which discusses about the vibration of a system conthgured by two independent
COordinates, sets the
pathway for us to launch our studies to the more general plane where we have a
more complicated system whose dynamic position during motion needs to be configured with many
Coordinates. Such systems are commonly known as the multidegree offreedom (MDOF) systems. Figure
.1shows some of such MDOF systems. We observe that the system in Figure 7.1(a) has n DOE the
whose vibrational
sy'stem in Figure 7.1(b) has three DOF, while the system in Figure 7.1(c) has six DOE
characteristics we shall study now.
n doing so, we shall take up the route of handling our equations in matrix format, which we have
o u r basic thrust
uready done in o u r previous chapter of rwo-degree of freedom system. So once again,
will be to formulate the required equations of motion, which necessarily addresses all the possible modes
of displacements of the system. Matrix formulation of such large number of equations (our past experi-
ence of handling rwo DOF system helps us generalize the fact that number of motion equations is equal
DOF =4 will necessarily have four
h e number
of degree of freedom ofsystem. Hence, a system having
the only way perhaps to process them
cquations of motion, which are independent of each other) is
 F2
Kg Kn
K Kn+1
ww

C Ca Cn n+1

X) X() x,)
(a)

J6
e2
K 1 1

K T 6

m2 KT KT2 K13
4
Ja
ma K15
(b)
(c)
Figure 7.1
Figure (a) Translational system;
(b) triple pendulum (oscillatory system); (c) branchea lo
system.

in an elegant way. lf a system becomes large, numerical methods or approximate methods neea be
adopted to solve the problem.
Also, finite-element method (FEM) can also be used to study the vibration of a very large
tem.

Evtensive literature
exists Tor this
specialized subject, and attempt in this book has been
to
no
1
For example, using mathematd " Ke
MATLAB° (see: Gilat, Amos. MATLAB-An lntroduction with Appleut
n. Wiley
India, New Delhi, 2007) and MAPLE", etc.
2See Chapter 10 of this book.
3 See the following books:

(al Reddy, J.N. Introduction to Finite

venen MEhO4. Tata
McGraw-Hill, New Delhi.
 formulaton of Equations ot Morion (Force Method)
337

ders.
this method in an cxhaustive way as your author fecls that this very specialized subject needs to
died separately for iethodical grasying ot the concepts and giving a bircds ceye-view in the book
ration will not do the proper justice to this fascinating subject."
aally, in our way to formulate the cquations of motion of several connected bodics, our conven-
fane method using Newtons or Newton-Eulers cquations, sometimes become complicated, and
nal
kr we shall develoy a more generalized energy-bascd approach of analical dymamies in the form of
to handle such a system.
AgTamgesequations

.2 Formulation of Equations of Motion (Force Method)

tormulations ot cquations of motion of a typical multidegree of frecdom (MDOF) system used to
The
inik mamslatory vibrational motion, is cxplained with the system shown in Figure 7.1(a). Accordingly
Figur2 shows the free body diagram (FBD) of the system for dynamic equilibrium.

maX2
--
ka (a- X1) ka (X2-Xg)
X m2
C2 ( 2 - ) + - -X3)
F2

mXn
- Kn+1Xn
K,XnXn-1) mn - Cn+1X
Cnnn-1)

Fn

Figure 7.2 FBD of the system of masses shown in Figure 7.1 (a).

the system
Thus we can write the following equations of
For mass, m:
k2x2 A
(e t2)a -C2*2 (k, +k )x
- =
+
m ä +

for mass, m

)x2 -kza
=
F
ma-2 +(c2 +cg)*2 - c3*2 -kx + (k2 +k3,

New Delhi
New Age International,
Finite Element Methods in Structural Mechanies. New Delhi.
Energy and Element Analysis. Wiley lndia,
DShrasnes, Irving H., Clive Dym.
IL.
Plesha, R.J. Witt. Concepts
Applications
and of Finite short introductory exposure
k , RD., D.S. Malkus, M.E. mechanical vibrations, a very
of FEM in the field of material of the present
book.
in order w just describe the applicaion continuity of the content
HEVEr, the book in order to
maintain the logical
btEn provided in Appendix A of 2010.
aL Analytical Dynamics.
Dover Publications,
eirovitch, Leonard. Methods of
In this way, for mass m,
+¬+1 )*, -k,*,- +&, + k,+1 )x, F, =

m,, - c,*-+(C,
into matrix format as:
The above set of equation can be cast

0 o CtC2
C, +C3 0
0 m * 0 -C2

0 Cn-1tn
0 0 m
k+k -ka 0 (7.1)
-kk+k * 0 X2 Fa

0 0 k-+kLX,J F
also be written in a concise way as:
Equation (7.1) can

m{#}+[el{*} +[4]{«} ={F¢)} 7.2)

In this representation, [m], [c] and [k] are called respectively mass matrix, damping matrix and stiffness

matrix. On the other hand, {F(t)} is the externally applied

force vector (i.e. the column matrix). We also
note that {x}, {x} and {*} are called respectively displacement
column matrix, velocity column matrix and
acceleration column matrix or vectors. A careful observation reveals that:

All the matrices are of size n x n (i.e. square matrices whose sizes equal with total DOF of the

system).
All the matrices are symmetric.
Damping and stiftness matrices have similar structures.

For berter understanding, let us consider a system having DOF = 3. From Eq. (7.1), the following
matrices can be written quite easily:

0 0
m=|0 m
m2 0=Diagonal mass matrix, symmetric
0 0 ma

t2 -C2 0
=Symmetric damping matrix
-C2 C2 +C3 C3
0 C3 C3 t04

[k +k -k 0

k]=| k+k -kSymmeti stiftness matrix

-kk +k,
 Stitiness Matrix Formulation

3
339

erifv our observations quite casily from the above matrices. Purther
We can thus
general
(7.1) and (7.2) are in orders. Iftthe system is undamped, [e) will be a null matrix and remarks
for free
o fEgs.(7.1,
vibration obviously, {F} will b a null column matrix. Equation (7.2) is called the most general equation
bration ofa
fvibration of a large system (both mechanical and structural). Even the above equations can represent

Juation
ch e
cquation
of static equilibrium by setting {} and t o zero.
Foilowing the above imetlhod we can formulate Eq. (7.2) for the other systems as shown in Figure 7.1.
the above
Following
p.arr we
Before we proceed
proceed further, we now outline another variation of the force method in the next article,
h i s the basic method of formulation ot stiffness matrix for structural systems, such as a rod, truss,
whicd
n. plate and shell elements and, thereby, form the core of the subject popularly known as the matrix
beam.
structural analysis."
mephved of

1.3 Stiffness Matrix Formulation

In this method, we fhnd the stiffness matrix of a system, known as stiffness method, to find its any
edement Here k, = force (or moment) required at station (i) of a system due to a unit displacement

(or, roration) at station () of the system keeping all other stations fixed.

By Maxwell-Betti's reciprocity theorem,' if tan be proved that:

k (7.3)

moments, and
Hence if we have a body (deformable, of course) that is subjected to external force and
external force
several stations (i, suppose) can be identified on the body at the locations, where those
and moments are acting (or, assumed to be acting), then by the simple principle of linear superposition,
we can write that:
= Force (or, moment) acting (or, assumed to be acting at station (i) of the body

(7.4)

where ò,, represent the actual displacements (or, rotations),

.., d,, etc.,
which are occurring at the
identified stations, say, 1 to n of the body. Similarly, we can write the following other equations:

F =kao +kz2o t+k,o, (7.5)

F, = k,o 4+k,2ô, + + k n (7.6)
be put in elegant way into the matrix tormat as:
Thus, Eqs. (7.4)-(7.6) can an

k22 R2 (7.7a)
.. ,

6 International Textbook Company, 1970.

Refer to: Wang, Chu-kia. Matrix Methods of Structural Analysis.
of Strength ofMaterias, Wiley India, New Delhi,
2010.
Fundamentals
Refer to: Nag, Debabrata, Abhijit Chanda.
In a more concise way:

(7.7b)
The above the cquation
basicallywhich
is system, of statical cquilibrum, k] evidently represents the stiffness
and
matrix of the can be profitably used in the cquation of vibration [such as, in .1) or

K2 ka ka
ma ww-
mwHmw

k+K2
m

1.0

K2 K3
w- ma w

1.0

(a)
A, E, L

K1 K21

1.0

K22

(b) (c)
Figure 7.3 (a) Three DOF systerm; (b) bar element (two node); (c) bar element (threc iunode).
 Stiffness Matrix Formulation
341
72) of such a deformable body. Equation (7.7b) can be written as
Eq.
(7.8)
his format, [k is called the flexibility matrix and its elements called the
influence take a three-
are
tem, For application of this method for determining the stiffness matrix, we can coefficients
of
the
DOF system, as shown in Figure 7.3(a), as an example, and can build its stiffness matrix.
Following the above formulation, accordingly, to hnd k, we have to assume unit displacement of
station (1) koeping all other stations ixed. Clearly, now springs k, and k are in parallel for m, and
thus,
k=k +k, (7.9)
At this point, we make a remark that in the language of matrix analysis of structural mechanics, a "sta-
rion" is also described as a "node". Thus, in our discussion, "station" and "node" will be equivalent and
snonymous to each other. For k2 only station (2) has unit displacement and force acting on the fixed
station (1) is, obviously, k,. Thus, we get:

k2=-k= k21 (7.10)

Negative sign occurs, because the force is acting opposite to the displacement. For unit movement of
station (3), keeping (1) and (2) fixed, it is clear that,

1=0 (7.11)
In this way, stuftness matrix of the system can be built up quite eas1ly.
As a second example, let us consider a bar element, as shown in Figure 7.3(b). If we consider a unit
axial movement of station (1), keeping (2) fixed, we get:

AE AE
k and ka- (7.12)

where A, land E, respectively, denote the cross-sectional area, length and modulus of elasticity of the bar
element. Similarly keeping (1) fixed and giving a unit displacement at (2), we get:

AE
and ka2F (7.13)

Negative signs in Eqs. (7.12) and (7.13) occur, because the forces are acting in a direction opposite to
the assumed displacement direction. Accordingly, the stiffness matrix for the bar element shown is

k lbar (7.14)
k2
For a bar element having three nodes or stations, as shown in Figure 7.3(), we can formulate the stiff-
ness matrix of the whole system by what is known as the assemblage of the matrix tollowing the method
shown below: We write Eq. (7.7b) for the bar berween the stations (1) and (2) as:

1 -1 0 |
F-2 -1 0 {8, (7.15)
o8,
and

AE
0 0
(8|
Fl 0 -1-18 (7.16)

Now assembling Eqs. (7.15) and (7.16), we obtain:

-1 0
AE
F -1 2 1 (7.17)
0 -1
8,
Hence stiftnes matrix of the bar is given by:
1 -1 0

Jsystem
AE-1 2 -1 (7.18)
0 -1 0
This procedure can lead to ultimately form the stiffness matrix of a large structure or system.
Infiauence coefficiens ofa fiexibility matrix, [E as defined in Eq. (7.8) can be found by applying the
equations to a system having, say, totally n number of stations as:

o, 411 +42 t++ 4n,

a21R +a22b2t**t a2n
(7.19)
o, 4,
=
+4,2F2 t+4F
where a= displacement (or rotation) at station () caused due to a unit force (or moment) at (j) only,
having no forces (or moments) acting at the other stations.