E5008C17 Dynamics and Control

A General Procedure for Solving Multi-Degree of Freedom Vibrating Systems

1 Produce Free Body Diagrams of the forces acting on each mass

2 Write the equations of motion for each mass
3 Write the equations of motion in matrix format
4 Put values into stiffness matrix i.e. K
5 Put values into M matrix
6 Use det(-M+K)=0 to solve for  (where =2)
7 =1/2 for the natural frequencies 1,2….
8 To solve further for the mode shape use (−𝜔12 𝑀 + 𝐾)𝒖1 = 0
𝑋11
where 𝒖1 is the vector ={ } with X1, X2 the magnitude and direction of body 1 & 2’s initial condition
𝑋21
in Mode 1

Example
Determine the natural frequency and mode shape of the following system:-

Inman 3rd Edn p192

m1=1kg m2=4kg k1=k3=10N/m k2=2N/m

1 PBarnes DWhite (Revised 7/1/20)

E5008C17 Dynamics and Control

Solution

1.

2. 𝑈𝑠𝑖𝑛𝑔 ∑ 𝐹 = 0
−𝑘1 𝑥1 − 𝑚1 𝑥̈ 1 − 𝑘2 𝑥1 + 𝑘2 𝑥2 = 0 𝑓𝑜𝑟 𝑚𝑎𝑠𝑠 1
−𝑚2 𝑥̈ 2 − 𝑘2 𝑥2 + 𝑘2 𝑥1 − 𝑘3 𝑥2 = 0 𝑓𝑜𝑟 𝑚𝑎𝑠𝑠 2

Multiply through by -1

𝑘1 𝑥1 + 𝑚1 𝑥̈ 1 + 𝑘2 𝑥1 − 𝑘2 𝑥2 = 0
𝑚2 𝑥̈ 2 + 𝑘2 𝑥2 − 𝑘2 𝑥1 + 𝑘3 𝑥2 = 0

Gather terms
𝑚1 𝑥̈ 1 + (𝑘1 + 𝑘2 )𝑥1 − 𝑘2 𝑥2 = 0
𝑚2 𝑥̈ 2 − 𝑘2 𝑥1 + (𝑘2 + 𝑘3 )𝑥2 = 0

3. Transfer into matrices

𝑚 0 ̈ 𝑘 + 𝑘2 −𝑘2
[ 1 ]𝑋 + [ 1 ]𝑋 = 0
0 𝑚2 −𝑘2 𝑘2 + 𝑘3

4. and 5.
1 0] 10 + 2 −2 ] [ 12 −2]
i.e. 𝑀 = [ 𝑎𝑛𝑑 𝐾 = [ =
0 4 −2 2 + 10 −2 12

using  as a surrogate for 2

−𝜆 + 12 −2 ]
6. −𝜆𝑀 + 𝐾 = [
−2 −4𝜆 + 12

So taking the determinant

𝑑𝑒𝑡(−𝜆𝑀 + 𝐾) = 4𝜆2 − 48𝜆 − 12𝜆 + 144 − 4

0= 4𝜆2 − 60𝜆 + 140

𝜆 = 2.89 𝑜𝑟 12.11
7. 𝑎𝑛𝑑 𝑎𝑠 𝜆 = 𝜔2 then 𝜔 = 1.70 𝑜𝑟 3.48 𝑟𝑎𝑑/𝑠

This eigenvalue solution gives the natural frequencies for the 2 modes of vibration.

2 PBarnes DWhite (Revised 7/1/20)

E5008C17 Dynamics and Control

So for Mode 1 𝜔 = 1.70 𝑎𝑛𝑑 𝜆 = 2.89

8. (−𝜆1 𝑀 + 𝐾)𝑢1 = 0

Using annotation 𝑋11 is the initial position X of body 1 in Mode 1, and 𝑋21 is the initial position X of body
2 in Mode 1

𝑋
(−2.89 [1 0] + [ 12 −2]) { 11 } = 0
0 4 −2 12 𝑋21
9.11 −2 𝑋11
[ ]{ } = 0
−2 0.44 𝑋21
9.11𝑋11 − 2𝑋21 = 0 𝑎𝑛𝑑
−2𝑋11 + 0.44𝑋21 = 0

Either gives 𝑋1 : 𝑋2 = 0.22 𝑓𝑜𝑟 𝑀𝑜𝑑𝑒 1

For Mode 2 𝜔 = 3.48 𝑎𝑛𝑑 𝜆 = 12.11

(−𝜆2 𝑀 + 𝐾)𝑢2 = 0

𝑋
(−12.11 [1 0 ] + [ 12 −2]) { 12 } = 0
0 4 −2 12 𝑋22

[−0.11 −2 ] {𝑋12 }
=0
−2 −36.44 𝑋22

−0.11𝑋12 − 2𝑋22 = 0 𝑎𝑛𝑑

−2𝑋12 − 36.44𝑋22 = 0

Either gives 𝑋1 : 𝑋2 = −18.2 𝑓𝑜𝑟 𝑀𝑜𝑑𝑒 2

Summarised

Mode n /Hz X1 X2
1 1.71 1 4.55
2 3.48 1 -0.55

3 PBarnes DWhite (Revised 7/1/20)