MEEM 3700

Mechanical Vibrations

Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

Lecture 21 & 22 MEEM 3700 1

Multiple Degree of Freedom Systems

(Text: S.S. Rao,
Rao, Chapter: 6 Sections: 1, 2, 3, 9, 10, 13, 14)

Topics: Section:
1.) Equations of Motion 1, 2, 3
2.) Eigenvalue Problem 9
3.) Orthogonality 10
4.) Modal Space 13
5.) Solving MDOF Problems in Simple Fashion 14

Lecture 21 & 22 MEEM 3700 2

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MDOF: Equations of Motion

Equations of Motion Using Newton’s Second Law:

1.) Choose suitable coordinates for the point masses and rigid
rigid bodies in the system.

2.) Determine static equilibrium position of the system. Measure motion from this
position.

3.) Draw free-

free-body diagram of each mass or rigid body. Indicate all forces acting
acting
on the mass or rigid body when positive displacement or velocity is present.

4.) Apply Newton’s Second Law: Translation: ∑F xi = mxi

Rotation: ∑ Mθ i
= Jθi

Lecture 21 & 22 MEEM 3700 3

MDOF: Equation of Motion

General Form n-
n-DOF System
[ m]{x} + [c ]{ x} + [ k ]{ x} = {F }
[ m] = n x n mass matrix
[c] = n x n viscous damping matrix
[k ] = n x n stiffness matrix
{x} = n x 1 acceleration vector
{ x} = n x 1 velocity vector
{ x} = n x 1 displacement vector
{F } = n x 1 externally applied force vector
Lecture 21 & 22 MEEM 3700 4

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MDOF: General Solution to Equation of Motion

(ωi) and mode

1.) Determine natural frequencies (ω
shapes {X}i from undamped Free Vibration.
(eigensolution)
eigensolution)

2.) Use orthogonality of mode shapes to transform

Equations of Motion into “MODAL
“MODAL SPACE”.
SPACE”.

3.) Solve “n” single degree of freedom problems.

4.) Use mode shapes to transform back to physical

space.

Lecture 21 & 22 MEEM 3700 5

MDOF: ωi and {X}i from Eigensolution

[ m]{x} + [ k ]{ x} = {0}
For Harmonic Motion: x = −ω 2 x


( −ω [ m] + [ k ]) {x} = {0}
2

[ k ]{ x} = ω 2 [ m]{ x} classic eigenvalue problem

Computer or calculator solution (MATLAB, Mathematica,
Mathematica, etc.)

Yields “n” eigenvalues ωi2 for i = 1, n

and “n” eigenvectors {X}i for i = 1, n

The natural frequencies are the square roots of the eigenvalues:
eigenvalues:
ωi = ωi2
The mode shapes are the corresponding eigenvectors.
Lecture 21 & 22 MEEM 3700 6

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MDOF: ωi and {X}i from Eigensolution

( −ω [ m] + [ k ]) {x} = {0}
2

To solve, the characteristic determinant = 0

[ k ] − ω 2 [ m] = 0 [ k ] − λ [ m] = 0
results in an “n” order polynomial
an ( λ ) + an −1 ( λ ) + ... + a1 ( λ ) + a0 = 0
n n −1

roots = λi for i = 1, n

natural frequencies ωi = λ i

Substitute ωi or λi into original equations for mode shape solution.

Lecture 21 & 22 MEEM 3700 7

MDOF: ωi and {X}i from Eigensolution

Alternate Method

( −ω [ m] + [ k ]) {x} = {0}
2

( λ [ k ] − [ m]) { x} = {0} λ=
1
ω2
(λ [k ] −1
[ k ] − [ k ] [ m]) { x} = {0}
−1

( λ [ I ] − [ D]) { x} = {0}
[ I ] = Identity Matrix
λ [ I ]{ x} = [ D ]{ x} [ D ] = [ k ] [ m] = dynamical matrix
−1

Solutions are the eigenvalues and eigenvectors of [D].

1
λi = for i = 1, n { X }i for i = 1, n
ωi2
Lecture 21 & 22 MEEM 3700 8

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Orthogonality of Mode Shape Vectors
( −ω [ m] + [ k ]) {x} = {0}
2

Using the ith natural frequency and mode shape

ωi2 [ m]{ X }i = [ k ]{ X }i 1
Using the jth natural frequency and mode shape

ω 2j [ m ]{ X } j = [ k ]{ X } j 2

Pre-multiply 1 by { X } j and 2 by { X }i
T T

ωi2 { X } j [ m ]{ X }i = { X } j [ k ]{ X }i
T T
3

ω 2j { X }i [ m ]{ X } j = { X }i [ k ]{ X } j
T T
4

Lecture 21 & 22 MEEM 3700 9

Orthogonality of Mode Shape Vectors

Because of the symmetry of [k] , [m]

{ X } j [ k ]{ X }i = { X }i [ k ]{ X } j
T T

{ X } j [ m]{ X }i = { X }i [ m]{ X } j
T T

∴ ωi2 { X } j [ m ]{ X }i = { X }i [ k ]{ X } j
T T
3

ω 2j { X } j [ m ]{ X }i = { X }i [ k ]{ X } j
T T
4

Subtract 3 – 4 (ω
i
2
− ω 2j ){ X } [m]{ X } = {0}
T
j i

{ X } j [ m]{ X }i = {0}
T

In general ωi ≠ ω j Also:
{ X } j [ k ]{ X }i = {0}
T

Modal vectors are orthogonal with respect to [m] , [k].

Lecture 21 & 22 MEEM 3700 10

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Modal Mass, Stiffness, & Damping

{ X }i [ m]{ X }i = M ii
T
Modal Mass

{ X }i [ k ]{ X }i = Kii
T
Modal Stiffness

if [ c ] = α [ m ] + β [ k ] Proportional Damping

{ X }i [c ]{ X }i = Cii
T
Modal Damping

Lecture 21 & 22 MEEM 3700 11

Modal Mass, Stiffness, & Damping

Define [ X ] = ⎡⎣{ X }1 { X }2 ⋅⋅⋅ { X }n ⎤⎦ Modal Matrix

⎛ m11 0 ⎞⎟
⎜
[X ] [ m][ X ] = ⎜ ⎟ = [M ]
Modal Mass Matrix
T
%
⎜ ⎟
⎝ 0 mnn ⎠

⎛ k11 0 ⎞⎟
⎜
[ ] [ ][ ] ⎜ ⎟ = [K ]
T
X k X = % Modal Stiffness Matrix
⎜ ⎟
⎝0 knn ⎠

For proportional damping:

⎛ c11 0 ⎞⎟
⎜
[ ] [ ][ ] ⎜ ⎟ = [C ]
T
X c X = % Modal Damping Matrix
⎜ ⎟
⎝0 cnn ⎠

Lecture 21 & 22 MEEM 3700 12

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Example
⎡10 0 0 ⎤ ⎡ 2 −1 0 ⎤ ⎡ 2000 −1000 0 ⎤
[ m] = ⎢⎢ 0 5 0 ⎥⎥ [c ] = ⎢⎢ −1 3 −2⎥⎥ [ k ] = ⎢ −1000 3000 −2000⎥⎥
⎢
⎢⎣ 0 0 20 ⎥⎦ ⎢⎣ 0 −2 4 ⎥⎦ ⎢⎣ 0 −2000 4000 ⎥⎦

⎧1.00 ⎫
ω1 = 9.15 { X }1 = ⎪⎨1.16⎪⎬
⎪ ⎪
⎩1.00 ⎭
⎧ 1.00 ⎫
⎪ ⎪
From ωi2 [ m ]{ X } = [ k ]{ X } ω2 = 14.14 { X }2 = ⎨ 0.00 ⎬
⎪ ⎪
⎩ −0.50 ⎭
⎧ 1.00 ⎫
ω3 = 26.76 { X }3 = ⎪⎨−5.16⎪⎬
⎪ ⎪
⎩ 1.00 ⎭

Lecture 21 & 22 MEEM 3700 13

Example (continued) ⎡1.00 1.00 1.00 ⎤

[ X ] = ⎢⎢1.16 0.00 −5.16⎥⎥
⎢⎣1.00 −0.50 1.00 ⎥⎦

⎡36.75 ⎤
⎢ ⎥
[M ] = [ X ] [ m][ X ] = ⎢
T
15.00 ⎥
⎢⎣ 163.25⎥⎦

⎡3.08 ⎤
[C ] = [ X ] [c ][ X ] = ⎢⎢ ⎥
T
3.00 ⎥
⎢⎣ 116.92 ⎥⎦

⎡3080 ⎤
[ K ] = [ X ] [ k ][ X ] = ⎢⎢ ⎥
T
3000 ⎥
⎢⎣ 116920 ⎥⎦

Lecture 21 & 22 MEEM 3700 14

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Modal Space
Original Equations of Motion:
[ m]{x} + [c ]{ x} + [ k ]{ x} = {F }
Define a new coordinate system

{ x} = [ X ]{q} {q} = Modal Space

principal coordinates
Modal Matrix
Substitute into equation of motion

[ m][ X ]{q} + [c ][ X ]{q} + [ k ][ X ]{q} = {F }

[X ]
T
Pre-
Pre-multiply by

[ X ] [ m][ X ]{q} + [ X ] [c ][ X ]{q} + [ X ] [ k ][ X ]{q} = [ X ] {F }

T T T T

Lecture 21 & 22 MEEM 3700 15

Modal Space
[ M ]{q} + [C ]{q} + [ K ]{q} = [ X ] {F }
T

Uncoupled equations of motion in the form of single degree of freedom

freedom systems.

M 11q1 + C11q1 + K11q1 = X 11 F1 + X 21 F2 + ⋅⋅⋅ + X n1 Fn

M 22 q2 + C22 q2 + K 22 q2 = X 12 F1 + X 22 F2 + ⋅⋅⋅ + X n2 Fn
#
M nn qn + Cnn qn + K nn qn = X 1n F1 + X 2n F2 + ⋅⋅⋅ + X nn Fn

⎧ x1 ( t ) ⎫ ⎧ q1 ( t ) ⎫
⎪ ⎪ ⎪ ⎪
•Solve each SDOF system ⎪ x2 ( t ) ⎪ ⎪ q2 ( t ) ⎪
•Transform back to physical space for total solution ⎨ ⎬ = [ X ]⎨ ⎬
⎪ # ⎪ ⎪ # ⎪
⎩ xn ( t ) ⎭ ⎩qn ( t ) ⎭
⎪ ⎪ ⎪ ⎪

Lecture 21 & 22 MEEM 3700 16

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Example
F2 ( t ) = 25sin (10t )
k1 k2 k3 k4

m1 m2 m3

c1 c2 c3 c4
x1 x2 x3

m1 = 10kg k1 = 1000 N m c1 = 10 N ⋅sec m

m2 = 15kg k2 = 2000 N m c2 = 20 N ⋅sec m
m3 = 5kg k3 = 1000 N m c3 = 10 N ⋅sec m
k4 = 500 N m c4 = 5 N ⋅sec m

Determine the total solution if the system starts from rest.

Lecture 21 & 22 MEEM 3700 17

Example
Equations of Motion
⎡10 x1 ⎫ ⎡ 30 −20 0 ⎤ ⎧ x1 ⎫ ⎡ 3000 −2000
⎤ ⎧  0 ⎤ ⎧ x1 ⎫ ⎧ 0 ⎫
⎢ ⎥ ⎪  ⎪ ⎢ ⎥ ⎪ x ⎪ + ⎢ −2000 3000 −1000 ⎥ ⎪ x ⎪ = ⎪25sin 10t ⎪
⎢ 15 ⎥ ⎨ x 2 ⎬ + ⎢ − 20 30 − 10 ⎥ ⎨ 2 ⎬ ⎢ ⎥ ⎨ 2 ⎬ ⎨ ( ) ⎬
⎢⎣ 5⎥⎦ ⎩⎪ 
x3 ⎭⎪ ⎣⎢ 0 −10 15 ⎦⎥ ⎩⎪ x3 ⎭⎪ ⎣⎢ 0 −1000 1500 ⎦⎥ ⎩⎪ x3 ⎭⎪ ⎩⎪ 0 ⎪
⎭

Determine the mode shapes and natural frequencies

[ k ]{ x} = ω 2 [ m]{ x} mode 1 mode 2 mode 3

ω1 = 6.62 rad sec ⎡1.00 1.00 1.00 ⎤

ω2 = 17.3 rad sec [ X ] = ⎢⎢1.28 0.00 −0.78⎥⎥
ω3 = 21.4 rad sec ⎢⎣1.00 −2.00 1.00 ⎥⎦

Lecture 21 & 22 MEEM 3700 18

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Example
Uncouple the Equations of Motion (transform to Modal Space)
Space)

{ x} = [ X ]{q}

[ X ] [ m][ X ]{q} + [ X ] [c ][ X ]{q} + [ X ] [ k ][ X ]{q} = [ X ] {F }

T T T T

⎡39.6 ⎤ ⎧ q1 ⎫ ⎡17.36 ⎤ ⎧ q1 ⎫ ⎡1737 ⎤ ⎧ q1 ⎫ ⎧ 1.28 ( 25sin (10t ) ) ⎫

⎢ ⎥ ⎪ q ⎪ + ⎢ ⎥ ⎪ q ⎪ + ⎢ ⎥ ⎪q ⎪ = ⎪⎪ ⎪⎪
⎢ 30 ⎥ ⎨ 2 ⎬ ⎢ 90 ⎥ ⎨ 2 ⎬ ⎢ 9000 ⎥⎨ 2⎬ ⎨ 0 ⎬
⎣⎢ 24.14 ⎦⎥ ⎩⎪ q3 ⎭⎪ ⎣⎢ 110.13⎦⎥ ⎩⎪ q3 ⎪⎭ ⎣⎢ 11, 013⎦⎥ ⎩⎪ q3 ⎭⎪ ⎪⎪−0.78 ( 25sin (10t ) ) ⎪⎪
⎩ ⎭

Lecture 21 & 22 MEEM 3700 19

Example
Solve each SDOF system
39.6q1 + 17.36q1 + 1737q1 = 32sin (10t )
17.36 ωn = ω1 = 6.62
ζ = = 0.033
2 39.6 (1737 ) ωd = 6.60

q1 ( t ) = e (
− 0.033( 6.62 ) )t
( A cos ( 6.6t ) + B sin ( 6.6t ) ) + Q sin (10t − φ )
XK
r=
10
= 1.51 from ( r , ζ ) = 0.78
6.62 F0

QK 0.78 ( 32 ) ⎛ 2ζ r ⎞
= 0.78 Q= = 0.0144 φ = tan −1 ⎜ 2 ⎟
=π
F0 1737 ⎝ 1− r ⎠
Lecture 21 & 22 MEEM 3700 20

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Example
q1 ( t ) = e−0.218t ( A cos ( 6.6t ) + B sin ( 6.6t ) ) + 0.0144sin (10t − π )
Initial conditions:

{ x ( 0 )} = [ X ]{q ( 0 )} { x ( 0 )} = [ X ]{q ( 0 )}
{q ( 0 )} = [ X ] { x ( 0 )}−1
{q ( 0 )} = [ X ] { x ( 0 )}
−1

For a system at rest: {q ( 0 )} = {0} , {q ( 0 )} = {0}

0 = q1 ( 0 ) = (1)( A + 0 ) + 0.0144sin ( −π ) A=0
q1 ( t ) = e −0.218 t
( 6.6 B cos ( 6.6t ) ) − 0.218e 0.218 t
( B sin ( 6.6t ) ) + 0.144 cos (10t − π )
0 = q1 = (1)( 6.6B) − (1)( 0) − 0.144 B = 0.022

∴ q1 ( t ) = e −0.218t
( 0.022sin ( 6.6t ) ) + 0.0144sin (10t − π )
Lecture 21 & 22 MEEM 3700 21

In a similar manner:
30q2 + 90q2 + 9000q2 = ( 0 ) ( 25sin (10t ) ) q2 ( t ) = 0

24.14q3 + 110q3 + 11, 013q3 = −19.5sin (10t )

q3 ( t ) = e −2.3t (1.25sin ( 21t ) ) − 0.0025sin (10t )

⎡1.00 1.00 1.00 ⎤ ⎧ q1 ( t ) ⎫

{ X } = [ X ]{q} = ⎢⎢1.28 0.00 −0.78⎥⎥ ⎪⎨q2 ( t )⎪⎬
⎢⎣1.00 −2.00 1.00 ⎥⎦ ⎪⎩ q3 ( t ) ⎭⎪

x1 ( t ) = q1 ( t ) + q2 ( t ) + q3 ( t )
x2 ( t ) = 1.28q1 ( t ) − 0.78q3 ( t )
x3 ( t ) = q1 ( t ) − 2.00q2 ( t ) + q3 ( t )
Lecture 21 & 22 MEEM 3700 22

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