Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-

freedom systems

I. Undamped 2-DOF systems

1. For the 2-DOF system shown below:

a) Derive the equations of motion and write them in matrix form.

b) Obtain the undamped natural frequencies of the system assuming 𝑚1 = 𝑚, 𝑚2 =
2𝑚, 𝑘1 = 𝑘, and 𝑘2 = 2𝑘.

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
freedom systems

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
freedom systems

2. The mass and stiffness matrices of a two-degree-of-freedom system are given by: 𝑀 =
𝑚1 0 27 −3
[ ],𝐾 = [ ]. The first vibration mode natural frequency and mode shape are
0 𝑚2 −3 3
1
given by 𝜔1 = √2, 𝑋 (1) = { }. Determine the masses 𝑚1 and 𝑚2 and the second natural
−1
frequency and second mode shape of the system.

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
freedom systems

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
freedom systems

3. Obtain the equations of motion of the two-degree-of-freedom system shown below and write
the equations in matrix form.

𝑘2
𝑚2
𝑚1

𝑘1

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 Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
freedom systems

4. A nonuniform rigid bar of mass 𝑚, length , and radius of gyration 𝑘 around centre of mass
, is supported at its two ends as shown below. Considering and motions as shown below,
obtain the equations of motion and write them in matrix form.

2 1

𝑘2 2 𝑘1 1

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
freedom systems

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
freedom systems

5. Considering gravity, for the system shown below:

a) Derive the equations of motion and write them in matrix form.

b) Calculate the natural frequencies and mode shapes.

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freedom systems

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
freedom systems

II. Undamped 3-DOF systems

6. For each of the systems shown below:

a) Draw the free-body-diagram for each mass.
b) Derive the equations of motion and write them in matrix form.
c) Calculate the natural frequencies and mode shapes using MATLAB assuming 𝑘 =
𝑁
100 𝑚 and 𝑚 = 1 kg.

(i) (ii)

(iii)

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
freedom systems

MATLAB:

clc
clear

m=1;
k=100;

M=[m 0 0;0 2*m 0; 0 0 m];

K=[5*k -k -3*k; -k 4*k -k; -3*k -k 5*k];

A=inv(M)*K;
[X,D]=eig(A);
omega=sqrt(D)
ModeShapes=X./X(1,:)

omega =

28.2843 0 0
0 17.3205 0
0 0 10.0000

ModeShapes =

1.0000 1.0000 1.0000

-0.0000 -1.0000 1.0000
-1.0000 1.0000 1.0000

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
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MATLAB results:

omega =

15.1022 0 0
0 4.6821 0
0 0 10.0000

ModeShapes =

1.0000 1.0001 -0.0000

-0.7807 1.2808 1.0000
-0.7807 1.2808 -1.0000

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Problem set 2 solution – KB6005 – Free vibration of undamped multi-degree-of-
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MATLAB results:

omega =

4.4504 0 0
0 12.4698 0
0 0 18.0194

ModeShapes =

1.0000 1.0000 1.0000

1.8019 0.4450 -1.2470
2.2470 -0.8019 0.5550

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