SEMIDEFINITE TWO-DEGREE-OF-FREEDOM SYSTEM

SUBJECTED TO A SINUSOIDAL FORCE

Revision C

By Tom Irvine
Email: tom@irvinemail.org

August 3, 2017
_______________________________________________________________________

Two-degree-of-freedom System
The method of generalized coordinates is demonstrated by an example. Consider the
system in Figure 1.

x1 x2

k
f1(t)
m1 m2

x1 x2

f1(t)
k (x1-x2) k (x1-x2)
m1 m2

Figure 1.

Consider the case of free vibration. The kinetic energy is

1 1
T= m1xɺ 12 + m 2 xɺ 2 2 (1)
2 2

1
The potential energy is

1
U= k ( x1 − x 2 ) 2 (2)
2

d
{T + U} = 0 (3)
dt

d 1 2 1 2 1 2
 m1xɺ 1 + m 2 xɺ 2 + k(x1 − x 2 )  = 0 (4)
dt  2 2 2 

m1xɺ 1ɺɺx1 + m 2 xɺ 2 ɺɺx 2 + k(x1 − x 2 )xɺ 1 − k(x1 − x 2 )xɺ 2 = 0 (5)

{m1xɺɺ1 + k(x1 − x 2 )} xɺ 1 + {m2 xɺɺ 2 − k(x1 − x 2 )} xɺ 2 = 0 (6)

Equation (6) yields two equations.

{m1xɺɺ1 + k(x1 − x 2 )} xɺ 1 = 0 (7)

{m2 xɺɺ 2 − k(x1 − x 2 )} xɺ 2 = 0 (8)

Divide through by the respective velocity terms

m1xɺɺ1 + k(x1 − x 2 ) = 0 (9)

m 2 xɺɺ 2 − k(x1 − x 2 ) = 0 (10)

2
Assemble the equations in matrix form.

 m1 0   xɺɺ1   k −k   x1  0 
  +   =   (11)
 0 m 2   ɺɺx 2   −k k   x 2  0 

Seek a solution of the form

x = q exp( j ωt ) (12)

The q vector is the generalized coordinate vector.

Note that

xɺ = j ω q exp ( j ωt ) (13)

xɺɺ = −ω2 q exp ( j ωt ) (14)

By substitution

− ω 2 M q exp( j ωt ) + K q exp( j ωt ) = 0 (15)

{− ω2M q + K q}exp( jωt ) = 0 (16)

− ωn 2 M q + K q = 0 (17)

{− ω2M + K}q = 0 (18)

{
det K − ω 2 M = 0 } (19)

 k − k m 0 
det  − ω2  1 = 0 (20)
 − k

k   0 m 2  

3
  k − ω 2 m  k − ω 2 m  − k 2 = 0 (21)
 1  2

k 2 − k ω 2 (m 1+ m 2 ) + ω 4 m 1m 2 − k 2 = 0 (22)

− k ω 2 (m 1+ m 2 ) + ω 4 m 1m 2 = 0 (23)

ω 2 − k (m 1+ m 2 ) + ω 2 m 1m 2  = 0 (24)
 

Thus the first root is

ω1 = 0 (25)

f1 = 0 (26)

Find the second root

− k (m + m ) + ω 2 m m  = 0 (27)
 1 2 1 2 

k (m 1+ m 2 )
ω2 = (28)
m 1m 2

k (m 1+ m 2 )
ω2 = (29)
m 1m 2

1 k (m 1+ m 2 )
f2 = (30)
2π m 1m 2

The eigenvectors are found via the following equations.

{K − ω12 M}q1 = 0 (31)

{K − ω2 2 M}q 2 = 0 (32)

4
For the first mode,

ω1 = 0 (33)

K q1 = 0 (34)

 k − k
− k k  q1 = 0 (35)
 

The eigenvector is

1
q1 = α   (36)
1

Mass-normalize as follows

[1 1] m1 0  1 [1 1]  m1 
 0 = m  = m1 + m 2 (37)
 m 2  1  2

The mass-normalized eigenvector is

1 1
q1 =  (38)
m1 + m 2 1

For the first mode,

k (m 1+ m 2 )
ω2 = (39)
m 1m 2

5
 {K − ω2 2 M}q 2 = 0 (40)

  k − k  k (m 1+ m 2 ) m1 0  
 − m m  0 m  q 2 = 0 (41)
 − k k  1 2  2 

  k − k m 0 
m 1m 2   − k (m 1+ m 2 )  1  q 2 = 0 (42)
  − k k   0 m 2 

  m 1m 2 − m 1m 2  m 0 
k   − k (m 1+ m 2 )  1  q2 = 0 (43)
 − m 1m 2 m 1m 2   0 m 2  

  m 1m 2 − m 1m 2  m 0 
  − (m 1+ m 2 )  1  q2 = 0 (44)
 − m 1m 2 m 1m 2   0 m 2  

 m 1m 2 − (m 1+ m 2 )m1 − m 1m 2 
  q2 = 0 (45)
 − m 1m 2 m 1m 2 − (m 1+ m 2 )m 2  

  − m 2 − m 1m 2  
1
  q 2 = 0 (46)
 − m 1m 2 − m 2 2  

The unscaled mode shape is

m 
q 2 = β 2  (47)
− m 1 

6
Mass-normalize as follows

[m 2 − m 1 ] m1 0   m 2  [m 2 − m 1 ]  m1m 2  2 2
0 = − m m  = m1m 2 + m 2 m 1
 m 2  − m 1   1 2

= m1m 2 (m1 + m 2 )

(48)

1  m2 
q2 =   (49)
m1m 2 (m1 + m 2 ) − m 1 

Q = [q1 q 2 ] (50)

 1 m2 
 
m1 + m 2 m1m 2 (m1 + m 2 ) 
Q= (51)
 1 − m1 
 m +m m1m 2 (m1 + m 2 ) 
 1 2

 m2 
1 
1  m1m 2 
Q= (52)
m1 + m 2 1 − m1 
 m1m 2 


 m2 
1 
1  m1 
Q= (53)
m1 + m 2  m1 
1 − 
 m 2 

7
Let r be the influence vector which represents the displacements of the masses resulting
from static application of a unit ground displacement.

Define a coefficient vector L as

L = φT M r (54)

 1 1 
1  m2 m1  m1 0  1
L= −  0 m  1 (55)
m1 + m 2  m m2 
  2 
 1

 1 1 
m 1   1 
1  m2 m
L= − (56)
m1 + m 2  m  m
m2   2 
 1

1 m1 + m 2 
L=   (57)
m1 + m 2  0 

 m + m2 
L= 1  (58)
 0 

The modal participation factor matrix Γ i for mode i is

Li
Γi= (59)
m̂ i i

Note that m̂ i i = 1 for each index if the eigenvectors have been normalized with respect
to the mass matrix.
8
 Γ1 = m1 + m 2 (60)

Γ2 = 0 (61)

The effective modal mass m eff , i for mode i is

Li 2
m eff , i = (62)
m̂ i i

m eff , 1= m1 + m 2 (63)

m eff , 2 = 0 (64)

Assemble the equations in matrix form with the applied force.

 m1 0   ɺɺx1   k −k   x1  f1 (t) 

 0 m   xɺɺ  +  −k k   x  =  0  (65)
 2  2    2  

Decoupling
Equation (65) is coupled via the stiffness matrix. An intermediate goal is to decouple the
equation.

Simplify,

M xɺɺ + K x = F (66)

where

m 0 
M= 1  (67)
 0 m2 

9
 k − k
K= (68)
− k k 

x 
x =  1 (69)
x 2 

f ( t ) 
F=1  (70)
 0 

Q = [q1 q 2 ] (71)

Q̂ T M Q̂ = I (72)

and

Q̂ T K Q̂ = Ω (73)

where

I is the identity matrix

Ω is a diagonal matrix of eigenvalues

The superscript T represents transpose.

Note the mass-normalized forms

 v̂ ŵ1 
Q̂ =  1 (74)
 v̂ 2 ŵ 2 

 v̂ v̂ 2 
Q̂ T =  1  (75)
 ŵ1 ŵ 2 

10
Rigorous proof of the orthogonality relationships is beyond the scope of this tutorial.

Further discussion is given in References 1 and 2.

Nevertheless, the orthogonality relationships are demonstrated by an example in this

tutorial.

Now define a generalize coordinate η( t ) such that

x = Q̂ η (76)

Substitute equation (76) into the equation of motion, equation (66).

ˆη
MQ ˆ η=F
ɺɺ + K Q (77)

Premultiply by the transpose of the normalized eigenvector matrix.

ˆ T MQ
Q ˆη ˆ T KQ
ɺɺ + Q ˆ η=Q
ˆTF (78)

The orthogonality relationships yield

Iη ˆTF
ɺɺ + Ω η = Q (79)

The equations of motion along with an added damping matrix become

1 0   η
ɺɺ 1   2ξ1 ω1 0   ηɺ 1  ω12 0   η1   vˆ 1 vˆ 2  f1 (t) 
0 1  η +
  +   = 
   ɺɺ 2   0 2ξ 2 ω2   ηɺ 2   0 ω22  η2   w
ˆ1 wˆ 2   0 

(80)

1 0   η
ɺɺ 1  0 0   ηɺ 1   0 0   η1   vˆ 1 vˆ 2  f1 (t) 
0 1  η +
   + 2  =ˆ
   ɺɺ 2  0 2ξ2ω2  ηɺ 2   0 ω2  η2   w ˆ 2   0 
1 w

(81)

11
Note that the two equations are decoupled in terms of the generalized coordinate.

Equation (81) yields two equations

η
ɺɺ 1= v̂1f1 (t) (82)

ɺɺ 2 + 2ξ 2 ω2 ηɺ 2 + ω22 η 2 = w
η ˆ 1f1 (t) (83)

The equations can be solved in terms of Laplace transforms, or some other differential
equation solution method.

Now consider the initial conditions. Recall

x = Q̂ η (84)

Thus
x (0) = Q̂ η (0) (85)

Premultiply by Q̂ T M.

Q̂ T M x (0) = Q̂ T MQ̂ η (0) (86)

Recall

Q̂ T M Q̂ = I (87)

Q̂ T M x (0) = I η (0) (88)

Q̂ T M x (0) = η (0) (89)

Finally, the transformed initial displacement is

η (0) = Q̂ T M x (0) (90)

12
Similarly, the transformed initial velocity is

ˆ T M x(0)
ηɺ (0) = Q ɺ (91)

A basis for a solution is thus derived.

Sinusoidal Force
Now consider the special case of a sinusoidal force applied to mass 1 with zero initial
conditions.

f1 ( t ) = A sin (ωt ) (92)

f 2 (t) = 0 (93)

Thus,

ɺɺ 1= v̂1A sin ( ωt )
η (94)

ɺɺ 2 + 2ξ 2 ω2 ηɺ 2 + ω22 η 2 = w
η ˆ 1A sin ( ωt ) (95)

The equations are solved using the methods in References 3 and 4.

Take the Laplace transform of equation (94).

ɺɺ 1= v̂1A sin ( ωt )
η (96)

L {η
ɺɺ 1} = L{vˆ 1A sin ( ωt )} (97)

 ω  (98)
s 2 ηˆ 1(s) − sη1 (0) − ηɺ 1(0) = vˆ 1A  2 
 s + ω2 

 ω 
s 2 ηˆ 1 (s) − sη1(0) − ηɺ 1(0) = vˆ 1A  2  (99)
 s + ω2 

13
  ω 
s 2 ηˆ 1 (s) = vˆ 1A  2  + sη1(0) + ηɺ 1(0) (100)
 s + ω2 

1 ω  1 1
ηˆ 1 (s) = vˆ 1A 2  2 2
+ η1(0) + 2 ηɺ 1(0) (101)
s s + ω  s s

11 −1  1 1
ηˆ 1 (s) = vˆ 1A  2+ 2  + η 1(0) + ηɺ 1(0) (102)
ω s s + ω2  s s2

The solution is found via References 3 and 4. The inverse Laplace transform for the
first modal coordinate is

1
η 1(t) = vˆ 1A {ωt − sin ( ωt )} + η1(0) + ηɺ 1(0) t (103)
ω2

For zero initial conditions,

1
η 1( t ) = v̂1A {ωt − sin (ωt )} (104)
ω2

Recall the equation for the second modal coordinate.

ɺɺ 2 + 2ξ 2 ω2 ηɺ 2 + ω22 η 2 = w
η ˆ 1A sin ( ωt ) (105)

14
From Reference (5),

η 2 (t) =
ŵ1A  1 2 
 − [ 2ξ 2ω2 ω] cos ( ωt ) −  ω − ω2  sin ( ωt ) 
2
+
 2 2
+ ( 2ξ2 β ω2 )  
ω 
(
 ω − ω2
2
) 2

 ω 
ŵ1A   exp ( −ξ2 ω2 t )
 ωd,2    2
(1 − 2ξ ) sin ( ω t )
2
+
 β 2 − ω 2 + 2ξ β ω 2  
2 ( )
  2ξ 2ω2 ωd,2  cos ωd,2 t +  ω − ω2

2
2
d,2
(
 2 ) ( 2 2) 


  ηɺ (0) + ( ξ2 ω2 ) η 2(0)  
+ exp ( −ξ2 ω2 t ) η 2(0) cos ( ωd,2 t ) +  2  sin ( ωd,2 t ) 
  ωd,2  
(106)

For zero initial conditions,

η 2 (t) =
ŵ 1A  1 2 2  
+  − [2ξ 2 ω 2 ω] cos(ωt ) − ω − ω 2  sin (ωt )
 2 2
2  ω  
 ω − ω 2  + (2ξ 2 β ω 2 )2 
  

 
 ω 
ŵ 1A   exp(− ξ 2 ω 2 t )
ω
 d,2  
+
 2 2   
 
 
  2
 
2
(
2ξ 2 ω 2 ω d,2  cos ω d,2 t  + ω − ω 2 1 − 2ξ 2
2 ) sin ωd,2 t 
2 
 β − ω 2  + (2ξ 2 β ω 2 )2 
  

(107)

The physical displacements are found via

x = Q̂ η (108)

15
An example is given in Appendix A.

The transfer function can be calculated using the method in Appendix B.

References

1. Bathe, Finite Element Procedures in Engineering Analysis, Prentice-Hall, New

Jersey, 1982. Section 12.3.1.
2. Weaver and Johnston, Structural Dynamics by Finite Elements, Prentice-Hall,
New Jersey, 1987. Chapter 4.
3. T. Irvine, Table of Laplace Transforms, Rev J, Vibrationdata, 2001.

4. T. Irvine, Partial Fraction Expansion, Rev K, Vibrationdata, 2013.

5. T. Irvine, Two-degree-of-freedom System Subjected to a Half-sine Pulse Force,

Vibrationdata, 2012.

6. R. Craig & A. Kurdila, Fundamentals of Structural Dynamics, Second Edition, Wiley,

New Jersey, 2006.

APPENDIX A

Example

Consider the system in Figure 1 with the values in Table A-1.

Assume 5% damping for each mode. Assume zero initial conditions.

Table A-1. Parameters

Variable Value Unit
m1 2 lbm
m2 1 lbm
k 2000 lbf/in
A 1 lbf
f 171.3 Hz

The analysis is performed using a Matlab script. Note that the system is driven at its
second natural frequency.
16
>> semidefinite_force
semidefinite_force.m ver 1.5 August 3, 2017

Response of a semi-definite two-degree-of-freedom

system subjected to an applied sinusoidal force.

By Tom Irvine Email: tom@irvinemail.org

Enter unit: 1=English 2=metric

1
Mass unit: lbm
Stiffness unit: lbf/in

Enter mass 1
2

Enter mass 2
1

Enter stiffness for spring between masses 1 & 2

2000

Natural Participation Effective

Mode Frequency Factor Modal Mass
1 5.096e-07 Hz 0.08816 0.007772
2 171.3 Hz 0 0

modal mass sum = 0.007772

mass matrix

m =

0.0052 0
0 0.0026

stiffness matrix

k =

2000 -2000
-2000 2000

17
ModeShapes =

11.3431 -8.0208
11.3431 16.0416

Enter viscous damping ratio 0.05

Apply sinusoidal force to mass 1

Enter force (lbf) 1

Enter excitation frequency (Hz) 171.3

Enter duration (sec) 0.1

18
Figure A-1.

19
Figure A-2.

20
Figure A-3.

21
Figure A-4.

22
 Transfer Function Magnitude H 1 1
0

-90

-180
0 50 100 150 200 250 300 350 400 450 500
2

1.5

0.5

0
0 50 100 150 200 250 300 350 400 450 500
Frequency(Hz)

Figure A-5.

23
 Transfer Function Magnitude H 1 2
180

90

0
0 50 100 150 200 250 300 350 400 450 500
3.5

2.5

1.5

0.5

0
0 50 100 150 200 250 300 350 400 450 500
Frequency(Hz)

Figure A-6.

Note that H12 = H21 by reciprocity.

24
 Transfer Function Magnitude H 2 2
0

-90

-180
0 50 100 150 200 250 300 350 400 450 500
7

0
0 50 100 150 200 250 300 350 400 450 500
Frequency(Hz)

Figure A-7.

25
 APPENDIX B

Transfer Function

The following is taken from Reference 6.

The variables are:

F Excitation frequency

fr Natural frequency for mode r

N Total degrees-of-freedom
H i j (f ) The steady state displacement at coordinate i due to a harmonic force
excitation only at coordinate j
ξr Damping ratio for mode r
φi r Mass-normalized eigenvector for physical coordinate i and mode number r
ω Excitation frequency (rad/sec)
ωr Natural frequency (rad/sec) for mode r

Receptance

The steady-state displacement at coordinate i due to a harmonic force excitation only at

coordinate j is:

N  φir φ j r 
 
Hi j (f ) = ∑  
r =1
( 2 2
)
 ωr − ω + ĵ ( 2 ξ r ωr ω) 

(B-1)

where

ˆj = − 1 (B-2)

Note that the phase angle is typically represented as the angle by which force leads
displacement. In terms of a C++ or Matlab type equation, the phase angle would be

Phase = - atan2(imag(H), real(H)) (B-3)

Note that both the phase and the transfer function vary with frequency.

26
A more formal equation is

 imag H i j (f ) ( )
Phase(f ) = − arctan 
 real H i j (f ) ( )  (B-4)

Mobility

The steady-state velocity at coordinate i due to a harmonic force excitation only at

coordinate j is

N  φir φ j r 
 
Ĥi j (f ) = ĵ ω ∑  
r =1
 (2 2
)
 ωr − ω + ĵ ( 2 ξ r ωr ω) 

(B-5)

Accelerance

The steady-state acceleration at coordinate i due to a harmonic force excitation only at

coordinate j is

N  φir φ j r 
 
ɶ (f ) = − ω2
H ij ∑  
r =1
( 2 2
)
 ωr − ω + ĵ ( 2 ξ r ωr ω) 

(B-6)

Relative Displacement

Consider two translational degrees-of-freedom i and j. A force is applied at degree-of-

freedom k.

The steady-state relative displacement transfer function Rij between i and j due to an
applied force at k is

R i j = Hik (f ) − H jk (f )

N  φir φk r  N  φ jr φk r  (B-7)
   
=∑  −∑  
r =1 ( 2 2
)
 ωr − ω + ˆj ( 2 ξ r ωr ω)  r =1
  ( 2 2
)
 ωr − ω + ˆj ( 2 ξ r ωr ω) 


27
 N  ( )
φir − φ j r φk r 
 
Ri j = ∑   (B-8)
(

2 2
)
r =1  ωr − ω + ĵ ( 2 ξ r ωr ω) 


28