232 | “ MECHANICAL VIBRATIONS 5.1 INTRODUCTI eS i aa ay | The system which requires two coordinates independently to describe its motion completely, ig | @ two degree of freedom system. In such a system there are two masses which will fie natural frequencies. So the system will be having two equations of motion which may be | ‘Coupled differential equations. Sometimes, non-harmonic motion of the masses makes the system | more complicated for analysis. | The system at its lowest or first natural frequency is called its first mode, at its next higher itis called the second mode, and so on. If the two masses vibrate at the same frequ, in phase, it is called a principal mode of vibration. If at the principal mode of vibration, ee amplitude of one of the masses is unity, it is known as normal mode of vibration. a mm R wile ee — 2 In Fig. 5.1 two masses of a simy, Pendulum are coupled together by _ means of a spring. Similarly, a shaft of torsional stiffness k is having two roto, - which can have angular displacements, and 0, independent of each other. Thusit is a two degree of freedom system, This chapter deals with the very useful mechanical and mathematical applications of two degrees of freedom systems besides making a link between the single and multidegree | systems. 2 Consider Fig. 5.1 where a shaft AB is carrying two rotors having moment of inertias as I, and I,. | Let 0, and 0, be the angular displacements of the rotors at any instant from the mean position. The | ‘equation of motion for each rotor can be written as | #6, | 1 ye +H, -0,)=0 2 8 a +K@, -0,)=0 G21) The solution may be assumed of the form 9, =m sin wt, 0, =a, sin ot i So 8, =-aF6,, 8, =-0%0, (5.22) Substituting these values in Eqn. (5.2.1), we get ~ 07 ay. +k(a, ~a,)=0 ~@ ya + Ka, ~m)=0 (-07h +k)a, ~ka, =0 (ol, +k), ~ka, =0 , ey Scanned with CamScannerTWO DEGREES oF FREEDOM syste 233 equating the determinant of the above equation (07h, +k)(- 07, +k)=k? 20 oth], 07k -o7kI, +k? -k? 30 @(07h Ty - hk 1,k)=0 2| 2k o [« “fe +hy|-0 $0 @, =0 and Susy a - (Ray ne i 1 Consider Eqn. (5.2.3) and putting the value of ©, from Eqn. (5.2.5) in it, we get equal to zero, we get AS.25) Similarly, putting the value of «, from Eqn. (6.25) in Eqn. (6.2.4), we get 2 4 rth +k -ol, % k k oo Mt b)elie ss lh | k hey hy bk a, h I So fuk (5.2.6) & q The section of the shaft where the angular displacement is zero, is known as node. The angular 4splacements of the rotors are inversely propor- mathe inertias (Eqn. 5.2.6). In Fig. 5.2 the first Second mode shapes are shown. Hy besh ". ‘Node a Second mode shape 04 | J Fig. 5.2 Torsional vibration. Scanned with CamScanneri TWO DEGREES OF FREEDOM SYSTEM | 269 egg] Consider two pendulums of length L as shown in Fi i ig. 5.27. Determine the natural frequency of each pendulum. If k= 100 N/m, m=2kg m,=5kg L=.20m a=.10m (PEC, 2011 ; J.M.L, 2009 ; P.U., 98) Solution. Let us say 0, and 0, are very small, ‘Taking moments about points A and B, we have m, 20, =-mgL0, —ka?(0, -0,) m0, =—m,gL0, —ka*(0, -0,) Let us assume the solution of the form 0, =4 sinot, 0, =4, sinat Putting these values in the above equations = mo? Pd, + mg, + ka*(, ~$))=0 = myo Tbe + mygly + ka"(by —$,)=0 t (— mo? 2 + mgh+ ka”) 4, —ka?4, =0 { (Cmo*L + mgL+ ka”), — ka, =0 . a ka? _ <0? 2 + mgl+ ka? $2, -o%m DE +m, gL+ ka” ka . The frequency equation can be written as (-0%m, 2 + mgL+ ka?)(— 0m, 2 + mygl-+ ka*)—K7a* =0 \ ohm mI! — am mg — om Pha? — 0? mymgl? + mms? C | + ry ghka? — @?m, Pka? + ka? mygL+ k7a* —K?a* =0 r ot 22981 010.10 ania), 100 x.1x.1x981 | 100x.1%.1%981_ 9 2 Beaded * 2xdx2 |) 22 S222 ~ 2x2x2x2 of - @7 (98,14 5 + 12.5) + 2405.9 + 245.25 + 613,125a4 - (115.6) +3264.275 =0 115.6 + /13363.36=19057.1 _ 11564175 eee er ee 2 2 @, =8.15 rad/sec, @ =7 rad/sec Scanned with CamScanner“Example 5.27 Determine the two natural frequencies and mode shapes for the system shown in Fig. 5.40. The string is stretched with a large tension T. (MLL, 2909) Solution. Assume the tension in the string as T and it does not change for small values of oscillation. Equation of motion for left ball (mass) mi, =-Tsin@, -Tsin®, ft) I i Scanned with CamScannerTWO DEGREES OF FREEDOM SyYSTE: ae ming the solution of Eqns. (1) and (2) of the form ~ x, = A, sin ot, %) =A; sinot We get (-mo? +27) 4,-Ta, <0 235 (2m 2) a Fao inéd with CamScanner20 Using Holzer method find the natural frequencies of the system shown in Fig. 6 64 ; Assume m, =m, =m, =1kgandk,=k,=k;=1N/m. (KU, 2013) Solution. Assuming the initial displacement x, =1and apres frequency @=30 rad/see. i wo =3x.3=.09 y@ 4 : fn shane 4, =x) -0* (mi Moa) - 91 9+ 9i)=0.74 2 42% - of Sh Seto Ms) 0.74 -.09(1+.91+.74)=051 q 3 Scanned with CamScannersimilarly, other deflections can be aie directly. put in the table 1 calculate it assumed frequency. The results for ify are obtained by drawing a curve forfeaee and displacement x as shown in at. The natural frequencies are oy ods rad/ see 1z4rad/sec and 3 =1.80 rad/ sec. SEVERAL DEGREES OF FREEDOM SYSTEM | 385 a ‘Toe 09 1.0 c o 09 0.91 0819 0.17 a1 17 09 | 074 | 0666 | 023 ™ 023 051 . 97050 28 10 0.25 0.25 1 0.25 oF =025 2 | 07 | o19 | oa 1 ons 23 0.31 0.07 0.51 1 O51 =0.20 ‘ o=075, 0.56 10 0.56 0.56. 1 056 a? = 056 0.56 0.44 0.24 0.80 1 0.80 0.56 -036 0.20 0.60 1 0.60 =096_ o=10 1 1 1 i 1 1 #10 1 0 0 1 1 1 a a 0 1 0 =i pls 1.56 10 | 156 .] 156 1 1.56 Pe 156 | -56 | -87 | 069 1 0.69 156 | 125 | -195 | -126 1 1.26 o ae 225 10 | 225 | 225 1 225 225 | 125 | -282 | -057 1 057 225 | 068 | -153 | 210 |, 1 2.10 = 175 ~~ fu P2396 3.06 3.06 1 3.06 3.06 “3.24 1 am feat 3.06 0.36, 1 os, O25 aay 40 40 | 40 Scanned with CamScanneraaa | wecuncaL weRamons 6.8 RAYLI ai ‘Triste the energy method to find the frequency, This method is used to find the natural eg Ot the system hen traneverse pont loads are acing on the beam or shaft Good estima of i fundamental frequency can be made by assuming the suitable deflection curve for the fundamental, mode. The maximum kinetic energy is equated to maximum potential energy of the system determine the natural frequency. Let us consider a shaft AB of negligible weight shown in Fig. 68. Several point loads A, Pz, Py, Py ete. are acting transversely. SUPPOSe ¥4 Yar Yar Yar Ct, be. the maximum deflections under the influence of point i Fig. 6.8 loads. 4 ‘The maximum potential energy of the system can be written as 1 1 1 1 PES Ry +3 Pave +5 Pads +3 Pave PE-3D Py (684), ‘The maximum kinetic energy of the system can be written as 1 1 1 KE AT Reon) +35 Plead +3, Paley) + Fe Blea? 8 py? 4 ape Py (682) where @, = natural frequency of vibration. Equating the maximum kinetic energy to maximum potential energy, we have oh Sey py? ab 2g PY m2 Py Scanned with CamScanner‘TWO DEGREES OF FREEDOM System | 29] mean Find the natural frequency and amplitude ratio of the system shown in Fig. 5.46. (PEC, 2010 ; J.M.L, 2010) Solution. The equation of motion can be obtained by using Lagrange’s equation. Lagrange’s equation is : 448 «KEy-2«KE)+2(@E)= at (KE.), ax, ay, 6 I | | [nig 546 | ‘ Toe 2 5 nha met con? KET =} mi? +5 2mx3 => mig + mig 1 PEqVad ep + Sky era (2) _ nz | Af OT). ni, Now (3) , ar -2 20 ox = kx, +k -%2) | The first equation of motion is mi, + kx, +k(xy—%2)=0 inky +2kx, ~kr, =0 : 0) | tnthesane way, (2°) ani : ST 29 = kay + k(x -42)(-1) =2kxy — ky Ae ‘The equation of motion can be written as ‘ - Gene 2mity +2kx, — kay =0 aaye Let us assume the motion is periodic and is composed of harmonic mation of various amplitudes and frequencies. : i 4 LBRARI “ eAYyasaheb Kore Institute 9 ‘gHicering and, Technak : sagen Ost, Kolhanws Scanned with CamScanner292| MECHANICAL VIBRATIONS Say x,=Asinot, %, 24; sinof So Eqn. (1) can be written as =motA, +2kA, ~kA, =0 — mas? 2k) A, = ky -2mo? +2k k er k 2(— moo? +2k)(—mo? +k)-k? =0 2(ne* — mke® -2mko* +2k?)-k? =0 2m —6mko™ + 4k? -k? =0 : ot ot 3H] 0 a So 2m 7 2 Ege 3. (38) -4x3(£) 3k 4. fk? ok? =m Van 2hm) im Vinee 2 2 o -2ik 6- =1.5k/mt.86k/m Scanned with CamScanner