CHAPTER-V

Two Degree of Freedom

Introduction
In earlier classes we have discussed analysis of single degree
of freedom systems

Degree of freedom:
K It is the number of
K independent co-ordinates
J required to describe the

m x motion of a vibratory system
Linear and Torsional
Vibratory systems
Systems with two degree of freedom
Introduction
Degree of freedom of a system =
(Number of masses in a system) x (number of possible types of
motion of each mass
It is well known that each mass point has SIX degrees of
freedom in space
z
y
z Translation: x, y and z direction
y
Rotation: x, y and z direction
m
x
x
Systems with two degree of freedom
Introduction

K1 Kt1

Linear and Torsional J1 1

m1
2 DOF Vibratory systems
x1
Kt2
K2
J2 2

m2
x2
Systems with two degree of freedom
Introduction

A two-degree freedom system is one that requires two

coordinates to describe its motion.
These coordinates are called generalized coordinates when
they are independent of each other.
A two DOF system has two equations of motion, which can be
solved to obtain two natural frequencies
Systems with two degree of freedom
Model Governing equations
Newton’s method

K1x1
K1
Obtain the
m1 m1x1
equations of
m1
the motion of K2(x2-x1)
x1
the system
K2 m2 m2x 2

m2 . Force equilibrium diagram

x2
Systems with two degree of freedom
Governing equations
Newton’s method
. From Force equilibrium diagram of mass m1

K1x1 m1x1  K1x1  K 2 (x2  x1)  0

st
m1 m1x1 m1x1  (K1  K 2 )x1  K 2 x2  0 1 Eqn. of
motion
. From Force equilibrium diagram of mass m2
K2(x2-x1)
m2x2  K 2 (x2  x1 )  0
m2 m2x 2 2nd Eqn. of
m2x2  K 2 x1  K 2 x2  0
motion
Systems with two degree of freedom
Governing equations
Matrix form

Mx  Kx  0

Mass matrix generalized
force vector

generalized Stiffness generalized

acceleration vector matrix displacement vector
Systems with two degree of freedom
Solution of governing equations
It is possible to have pure harmonic free vibration for both the
masses.
Let us assume x1  A1sinωt  φ

x 2  A 2sin(ωt  φ)

The above equations have to satisfy the governing equations of

motions
m1x1  (K1  K 2 )x1  K 2 x2  0 1st Eqn. of
motion
m2x2  K 2 x1  K 2 x2  0 2nd Eqn. of
motion
Systems with two degree of freedom
Solution of governing equations

(K1 
 K 2 )  m1ω2 A1sin(ωt  φ)  K 2 A 2sin(ωt  φ)  0

 K 2 A1sin(ωt  φ)  (K 2  m2ω2 )A 2sin(ωt  φ)  0

In above equations sin(ωt  φ)  0

The above equations reduces to: (characteristic equation)
(K1 
 K 2 )  m1ω2 A1  K 2 A 2  0

 K 2 A1  (K 2  m2ω2 )A 2  0
Systems with two degree of freedom
Solution of governing equations
The solution of equations is:

(K1  K 2 )  m1ω2  K2
........ 0
 K2 K 2  m 2ω 2

The above equation is referred as a characteristic determinant

Solving, we get :
m1m2ω4  m2 (K1  K 2 )  m1K 2 ω2  K1K 2  0
 (K1  K 2 ) K 2  2 K1K 2
ω 
4
 ω  0
 m1 m2  m1 m2
Frequency equation
Systems with two degree of freedom
Solution of governing equations
For simplification, let us consider : K1  K 2  K
m1 m 2  m
The frequency equation changes to:
 2K K  2 K
2
ω 
4
 ω  2  0
 m m m

 3K  2 K
2
ω   ω  2  0
4

m m
put ω 2  λ , in the above
equation:
Systems with two degree of freedom
Solution of governing equations

 3K  K 2
- b  b 2
 4ac
λ2   λ  2  0 λ1, λ 2  ω12 , ω22 
m m 2a
2
3K  3K  4K 2
    2
m m m
λ1, λ 2  ω1 , ω 2 
2 2

3K

5K 2 3 5
K
m

ω12 , ω22  m m2 ω12 , ω22 
2 2
Systems with two degree of freedom
Solution of governing equations


3 5
K
 
3 5
K
m

ω1  m ω2 
2 2

ω1  0.61ωn ω2  1.61ωn radians/sec

As the system has two natural frequencies, under certain

conditions it may vibrate with first or second frequency,
which are referred as principal modes of vibration
 Torsional Vibration

Equations of motion for

θ1:
J 11 = - K 1 1 - K 2 (  1 -  2 )
J 11 + K 1 1 + K 2 (  1 -  2 ) = 0
 Torsional Vibration

Equations of motion for θ2:

J 22 = - K 2 (  2 -  1 )
J 22 + K 2 (  2 -  1 ) = 0

Assume:
 1 = A Cos( t -  )  2 = B Cos( t -  )
Differentiating the above equations twice:

 1  A Cos( t -  )
  2  B Cos( t -  )

2 2
= - = -
 Torsional Vibration
Substituting equations the displacement equations the
EOM yields the following.
- J 1 2 A+( K1 + K 2 ) A - K 2 B = 0
- J 2  2 B + K 2 B - K 2 A= 0
Find the solutions to the two independent frequencies by solving
the determinant and finding the Eigenvalues.
( K 1 + K 2 - J 1  2 ) - K 2
 =0
 - K 2 ( K 2 - J 2  2 )

K 1 K 2 + K 2 - K 1 J 2  - K 2 J 2  - K 2 J 1 + J 1 J 2  - K 2 = 0
2 2 2 2 4 2

J 1 J 2  - ( K 1 + K 2 ) J 2  - K 2 J 1 + K 1 K 2 = 0
4 2 2
 Torsional Vibration

( K 1 + K 2 ) K 2  2 K 1 K 2
 -
4
+  + =0
 J1 J2  J1 J2
Solve for the Eigen Values:
+ 2
-b b - 4ac
 =2  1,2 = -
2a
Systems with two degree of freedom
Forced Vibration

K1

F1 m1 F1  F0sinωt
x1

K2

m2
x2
Systems with two degree of freedom
Problem-1 Governing equations
Newton’s method

K1x1
K1

F1  F0sinωt m1 m1x1
F1 m1
x1 K2(x2-x1)

K2 m2 m2x 2

m2 . Force equilibrium diagram

x2
Systems with two degree of freedom
Governing equations
Newton’s method
. From Force equilibrium diagram of mass m1
K1x1
m1x1  K1x1  K 2 (x2  x1 )  F0 sinωt
F1 
m1 m1x1 m1x1  (K1  K 2 )x1  K 2 x 2  F0sinωt 1 Eqn.
st
F0 sinωt of
K2(x2-x1) . From Force equilibrium diagram of mass m motion
2

m2 m2x 2 m2x2  K 2 (x2  x1 )  0

m2x2  K 2 x1  K 2 x2  0 2nd Eqn. of
motion
Systems with two degree of freedom
Solution of governing equations
It is possible to have pure harmonic free vibration for both the
masses.
Let us assume x1  A1sinωt where  is the forcing
x2  A 2sinωt frequency
Be the forced response of the system, where A1 and A2 are the
amplitudes to be obtained

The above equations have to satisfy the governing equations of

motions
m1x1  (K1  K 2 )x1  K 2 x 2  F0sinωt 1st Eqn. of
motion
m2x2  K 2 x1  K 2 x2  0 2nd Eqn. of
motion
Systems with two degree of freedom
Solution of governing equations

(K
1  K 2 )  m1ω
2
A1sin(ωt  φ)  K 2 A 2sin(ωt  φ)  F0sinωt

 K 2 A1sin(ωt  φ)  (K 2  m2ω2 )A 2sin(ωt  φ)  0

In above equations sin(ωt  φ)  0

The above equations reduces to: (characteristic equation)

(K 1  K 2 )  m1ω2
A1  K 2 A 2  F0sinωt

 K 2 A1  (K 2  m2ω2 )A 2  0
Systems with two degree of freedom
Solution of governing equations
(K  K )  m ω A
1 2 1
2
1  K 2 A 2  F0sinωt
 K 2 A1  (K 2  m2ω2 )A 2  0
Solution of governing equations
From above equations obtain A1 and A2 by Cramer’s rule
.F0  K2
........
.0 K 2  m2ω 2
A1 
Δ

(K 1  K 2 )  m1ω 2 F0 .
........
 K2 0
A2 
Δ

where  is the determinant of characteristic equations

(K1  K 2 )  m1ω2  K2
Δ ........ 0
 K2 K 2  m2ω 2

 
Δ  (K1  K 2 )  m1ω2 K 2  m2ω2  K 22 
Systems with two degree of freedom
Dynamic vibration absorber

The system can be used as

K1 Main system Dynamic vibration absorber
having forced (Tuned damper)
vibration
F1 m1
Choose K2, m2 such that
x1
vibrations of mass m1 is
K2
minimized
Absorber
system
m2
x2
Systems with two degree of freedom
Dynamic vibration absorber
Undesired maximum vibrations can occur only when main system
is under resonance, or near it i.e ω1  ω

So, to reduce undesired vibration of main system mass m1, we

choose K2, m2 in such a way that ω1 ω2

K1 K2 K1 K
 OR  2
m1 m2 m1 m2