Module 10

Multiple Degree of Freedom [MDOF]

Systems
Dr.-Ing. Azmi Mohamed Yusof
Faculty of Mechanical Engineering
Content
1. Course outcomes
2. Introduction to MDOF systems
3. Derivation of the Equation of Motion using FBD method : Translation
system
4. Derivation of the Equation of Motion using FBD method : Rotation
system
5. Derivation of the Equation of Motion using FBD method : General plane
system

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1.0 Course outcomes

At the end module 10, 11 & 12, students should be able to state, derive
and apply the fundamental principle of vibration involving:-
▪ Derivation of the equation of motion using FBD method
▪ Derivation of the equation of motion using Lagrange’s equation
▪ Finding the natural frequencies and mode shapes using analytical
method
▪ Finding the time response for MDOF systems

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1.0 Introduction

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1.0 Introduction
▪ Most engineering systems are continuous
possesses infinite DOF
▪ Infinite DOF require solving partial differential
equations which is difficult to do.
▪ Therefore, a simplified continuous engineering
systems are represented as
Definable DOF
Replace the distributed mass and inertia by a finite
number of lumped masses or body

▪ See fig. 1 and 2 for examples

▪ A 3-storey building is modelled with three lumped
masses and three column stiffness this is a 3
DOF
▪ Radial drilling m/c is modelled with 4 lumped
masses and 4 support stiffness this is a 4 DOF
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1.0 Introduction
• Multi degree of freedom [MDOF] = a system whose motion is
described by more than one generalized coordinates (DOF)

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2.0 Derivation of the Equation of Motion
• Derivation of Equations of Motion for MDOF system

▪ FBD method
Applying the Newton’s law / Euler’s law
Drawing a complete FBD & KD is a must

▪ Lagrange’s equation
Applying the principle of energy conservation theorem
Does not necessary to draw FBD & KD

▪ Able to write the equation into matrix forms.

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2.0 Derivation of the Equations of Motion
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2.0 Derivation of the Equation of Motion
•

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2.0 Derivation of the Equation of Motion
•

[DIAGONAL] [SYMMETRIC]

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2.0 Derivation of the Equation of Motion
•

x1 x2 x3
k 2k k 3k
m 2m m

2k(x2 – x1) k(x3 – x2)

kx1 m 2m kx3
m

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2.0 Derivation of the Equation of Motion
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2.0 Derivation of the Equation of Motion
• B. Rotational motion system

▪ Consider the pendulum shown below

▪ Write the equations of motion into a matrix form
P Q

a
θ1 k θ2
ℓ ℓ

m1 m2

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2.0 Derivation of the Equation of Motion
• Solution

▪ Draw FBD & KD for each mass

P Q

a
θ1 θ2
F1 F2
x1
ℓ x2 ℓ
T1 T2

m1 m2

m1g sin θ1 m2g sin θ2

m1g m2g
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2.0 Derivation of the Equation of Motion
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2.0 Derivation of the Equation of Motion
• C. General Plane motion system

▪ Derive the equation of motions for the lathe machine shown below

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2.0 Derivation of the Equation of Motion
Draw FBD & KD

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2.0 Derivation of the Equation of Motion
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Class exercise
▪ Derive the equations of motion and write them into a matrix form. Use x1
and x2 as generalized coordinates.

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Class exercise
• Solution

▪ Draw FBD & KD for the system

▪ Apply Euler’s law & write the equations of motion

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Class exercise
•

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Guided Tutorial 10
▪ Derive the equations of motion for the following mechanical systems

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 Module 11
Multiple Degree of Freedom [MDOF]
Systems
Dr.-Ing. Azmi Mohamed Yusof
Faculty of Mechanical Engineering
Content
1. Course outcomes
2. Derivation of the Equation of Motion using Lagrange’s Equation

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2.0 Derivation of the Equation of Motion
•

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2.0 Derivation of the Equation of Motion
•

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2.0 Derivation of the Equation of Motion
•

x1 x2 x3
k 2k k 3k
m 2m m

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2.0 Derivation of the Equation of Motion
•

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2.0 Derivation of the Equation of Motion
• Example

▪ Obtain the equations of motion for the system shown below using
Lagrange’s method.

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2.0 Derivation of the Equation of Motion

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2.0 Derivation of the Equation of Motion
•

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2.0 Derivation of the Equation of Motion
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Guided Tutorial 11
▪ Derive the equations of motion using Lagrange’s equation method

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2.0 Derivation of the Equation of Motion

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2.0 Derivation of the Equation of Motion

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2.0 Derivation of the Equation of Motion

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 Module 12
Multiple Degree of Freedom [MDOF]
Systems
Dr.-Ing. Azmi Mohamed Yusof
Faculty of Mechanical Engineering
Content
1. Course outcomes
2. Finding the natural frequencies and mode shapes using analytical
method
3. Finding the time response of free, undamped systems

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Natural Frequencies ωn & mode shape
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Natural Frequencies ωn & mode shape
•

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Natural Frequencies ωn & mode shape
•

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Natural Frequencies ωn & mode shape
•

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Natural Frequencies ωn & mode shape
• Example

▪ Determine the frequencies and mode shapes for the system shown in the
figure. Assume m1 = 4, m2 = 1, k1 = 12 and k2 = 4.

x1 x2
k1 k2
m1 m2

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Natural Frequencies ωn & mode shape
•

kx1 m 2k(x1 – x2) 2k(x2 – x1) 2m

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Natural Frequencies ωn & mode shape
•

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Natural Frequencies ωn & mode shape
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Time response of free, undamped systems
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Time response of free, undamped systems
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Time response of free, undamped systems
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Time response of free, undamped systems
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Time response of free, undamped systems
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Time response of free, undamped systems
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Time response of free, undamped systems
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Time response of free, undamped systems
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Class exercise
•

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Class exercise
• Solution

▪ Draw FBD & KD

▪ Use Lagrange equation & derive the equations of motion

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Class exercise
•

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Class exercise
•

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Tutorial 12
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