Vibration Chapter06

Mechanical Vibrations
Fifth Edition in SI Units

Singiresu S. Rao
Chapter 6
Multidegree of Freedom Systems
3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

6
Chapter Outline
6.1 Introduction
6.2 Modeling of Continuous Systems as Multidegree-of-Freedom
Systems
6.3 Using Newton’s Second Law to derive Equations of Motion
6.4 Influence Coefficients
6.5 Potential and Kinetic Energy Expressions in Matrix Form
6.6 Generalized Coordinates and Generalized Forces
6.7 Using Lagrange’s Equations to Derive Equations of Motion
6.8 Equations of Motion of Undamped Systems in Matrix Form
6.9 Eigenvalue Problem
6.10 Solution of the Eigenvalue Problem

Chapter Outline
6.11 Expansion Theorem

6.12 Unrestrained Systems
6.13 Free Vibration of Undamped Systems
6.14 Forced Vibration of Undamped Systems Using Modal Analysis
6.15 Forced Vibration of Viciously Damped Systems
6.16 Self-Excitation and Stability Analysis

6.1
Introduction

6.1
6.1 Introduction
• For simplicity continuous systems are approximated as

multidegree-of-freedom (MOF) systems.
• Equations of motion of MOF systems can be obtained either from

Newton’s 2nd law of motion or from Lagrange’s equations.
• Analysis of MOF systems can be simplified using the orthogonality

property of the mode shapes of the system’s natural frequencies.

6.2
Modeling of Continuous systems as MOF systems

6.2
6.2 Modeling of Continuous systems as MOF systems
• Method 1: Lumped-mass system

• Replace distributed mass of the system by finite number of lumped
masses
• Lumped masses are connected by massless elastic and damping
members
• E.g. Model the 3-storey building as a 3-lumped-mass system

6.2 Modeling of Continuous systems as MOF systems
• Method 2: Finite Element Method (FEM)
• Replace geometry of the system by large number of small elements
• Principles of compatibility and equilibrium are used to find an

approx. solution to the original system
• Details covered in Chapter 12

6.3
Using Newton’s 2nd Law to derive Equations of Motion

6.3
6.3 Using Newton’s 2nd Law to derive Equations of
Motion
• Step 1: Set up suitable coordinates to describe positions of the

various masses in the system.
• Step 2: Measure displacements of the masses from their static

equilibrium positions
• Step 3: Draw free body diagram and indicate forces acting on each
mass
• Step 4: Apply Newton’s 2nd Law to each mass

Motion
Example 6.1
Equations of Motion of a Spring-Mass-Damper System
Derive the equations of motion of the spring-mass-damper system

shown below.

Motion
Example 6.1
Solution
Free-body diagram is as shown:
Applying Newton’s 2nd Law gives:

mi xi  ki  xi  xi 1   ki 1  xi 1  xi   ci  x i  x i 1   ci 1  x i 1  x i   Fi , i  2,3,..., n  1

Motion
Example 6.1
Solution
Set i=1 with x0=0 and i=n with xn+1=0:

m1 x1   c1  c2  x1  c2 x 2   k1  k 2  x1  k 2 x2  F1
mn xn   cn  cn 1  x n  cn x n 1   k n  k n 1  xn  k n xn 1  Fn
The equations of motion can be expressed in matrix form:
m1 0 ... 0 
  0 0  
 m x   c  x   k  x  F

 
 m  

m2
 0
[m] is the mass matrix
[c] is the damping matrix
  [k] is the stiffness matrix
0 ... 0 mn 

Motion
Example 6.1
Solution
We have
k1  k 2  k2 0  0 
c1  c2  c2 0 0   k 
 c c2  c3  c3    2 k 2  k3  k3 0 0    x1  t     F1  t  
 c   2 ,  k    0  k3 k3  k 4 0 , x   x2  t  , F   F2  t  
 0 0  0    x t   F  t  
   0     3   3 
    cn cn  cn 1 
 0 0 0  kn k n  k n 1 

Motion
Example 6.2
Equations of Motion of a Trailer–Compound Pendulum System
Derive the equations of motion of the trailer-compound pendulum

system as shown.

Motion
Example 6.2
Solution
Free-body diagram is as shown:
x(t) and θ(t) describes linear and angular displacement respectively.

Motion
Example 6.2
Solution
External forces on trailer: F(t), k1x,k2x, c1 x , c2 x

Horizontal translation:
l  l 2
Mx  mx  m  cos   m  sin   k1 x  k 2 x  c1 x  c2 x  F  t 
 
2 2
External forces on pendulum: M(t), mg
Rotational motion about hinge O:
 l   l  l  
2
l l
 m    
 m 
   mx
  cos     mg  sin   M t  t 
 2  2  12  2 2
6.4
Influence Coefficients

6.4
• One set of influence coefficients is associated with each matrix

involved in the equations of motion
Equation of Motion Influence coefficient

Stiffness matrix Stiffness influence coefficient
Mass matrix Inertia influence coefficient
Inverse stiffness matrix Flexibility influence coefficient
Inverse mass matrix Inverse inertia coefficient

• Stiffness Influence Coefficient, kij
kij is the force at point i due to unit displacement at point j and

zero displacement at all other points.
n
Total force at point i, Fi   kij x j , i  1,2,..., n
j 1
Matrix form:
 k11 k12 ... k1n 
 k k ... k 
F   k  x where  k    21 22
 2n 
  
 
k k
 n1 n 2 ... k nn 

• Stiffness Influence Coefficient, kij
kij = kji
kij for torsional systems is defined as the torque at point i due to

unit angular displacement at point j and zero angular displacements
at all other points.

Example 6.3
Stiffness Influence Coefficients
Find the stiffness influence coefficients of the system shown below.

Example 6.3
Solution
Let x1, x2 and x3 be the displacements of m1, m2 and m3 respectively.

Set x1=1 and x2=x3=0.
Horizontal equilibrium of forces:
Mass m1: k1 = -k2 + k11 (E.1)
Mass m2: k21 = -k2 (E.2)
Mass m3: k31 = 0 (E.3)
Solving E.1 to E.3 gives

k11=k1+k2 , k21 = -k2 , k31 = 0
Example 6.3
Solution
Next set x2=1 and x1=x3=0.

Mass m1: k12 + k2 = 0 (E.4)
Mass m2: k22 - k3 = k2 (E.5)
Mass m3: k32 = - k3 (E.6)
k22 = k2+k3
k12 = -k2
k32 = -k3

Example 6.3
Solution
Finally set x3=1 and x1=x2=0.

Mass m1: k13 = 0 (E.7)
Mass m2: k23 + k3 = 0 (E.8)
Mass m3: k33 = k3 (E.9)
Solving E7 to E9 gives
k33 = k3
k13 = 0
k23 = -k3

Example 6.3
Solution
k1  k 2  k2 0 
  k3 
Thus the stiffness matrix is:  k     k 2 k 2  k3
 0  k3 k3 


• Flexibility Influence Coefficient, aij
Have to solve n sets of linear equations to obtain all the kij’s in an n

DOF system
Generating aij’s is simpler.
aij is defined as the deflection at point i due to unit load at point j,

xij = aijFj, where xij is the displacement at point i due to external force
Fj n n
xi   xij   aij F j , i  1,2,..., n
j 1 j 1

x   a F
Matrix form: 
• Flexibility Influence Coefficient, aij
Stiffness and flexibility matrices are the inverse of each other.
aij = aji
aij for torsional systems is defined as the angular deflection of point

i due to unit torque at point j.

Example 6.5
Flexibility Influence Coefficients
Find the flexibility influence coefficients of the system shown below.

Example 6.5
Solution
Let x1, x2 and x3 be the displacements of m1, m2 and m3 respectively.
Set F1=1 and F2=F3=0.

Mass m1: k1a11 = k2(a21 – a11) + 1 (E.1)
Mass m2: k2(a21 – a11) = k3(a31 – a21) (E.2)
Mass m3: k3(a31 – a21) = 0 (E.3)

Example 6.5
Solution
Solving E1 to E3 gives a11 = a21 = a31 = 1/k1
Next set F2=1 and F1=F3=0.

Mass m1: k1a12 = k2(a22 – a12) (E.4)
Mass m2: k2(a22 – a12) = k3(a32 – a22) +1(E.5)
Mass m3: k3(a32 – a22) = 0 (E.6)

Example 6.5
Solution

a12 = 1/k1
a22 = a32 = 1/k1 + 1/k2
Next set F3=1 and F1=F2=0.

Mass m1: k1a13 = k2(a23 – a13) (E.7)
Mass m2: k2(a23 – a13) = k3(a33 – a23) (E.8)
Mass m3: k3(a33 – a23) = 1 (E.9)
Example 6.5
Solution

a13 = 1/k1
a23 = 1/k1 + 1/k2
a33 = 1/k1 + 1/k2 + 1/k3


• Inertia Influence coefficients, mij
mij is defined as the impulse applied at point i to produce a unit

velocity at point j and zero velocity at every other point.
n
Total impulse at point i, F~  m x , j  1,2,..., n
i  ij j j 1

~
Matrix form: F   m x
i
~
 x 1   F1   m11 m12 ... m1n 
  ~  m
  x 2  ~  F2  m22 ... m2 n 
where x   , F   ,  m   21 
      
 x n   F~n   
m
 n1 mn2 ... mnn 

6.5
Potential and Kinetic Energy Expressions in Matrix form

6.5
6.5 Potential and Kinetic Energy Expressions in Matrix
form
• Elastic potential energy of the ith spring, Vi=0.5Fixi
n
1 n
• Total potential energy V   Vi   Fi xi
i 1 2 i 1
n
• Since Fi  k
j 1
ij xj,
1 n  n  1 n n
V     kij x j  xi   kij xi x j
2 i 1  j 1  2 i 1 j 1
1 T 
• Matrix form: V  x kx
2

6.5 Potential and Kinetic Energy expressions in Matrix
form
1
Kinetic energy of mass mi: Ti  mi x i
2
•
2
n
1 n
• Total KE of system:T   Ti   mi x i2
i 1 2 i 1
• Matrix form
 q 1 
 
1  T  q 2 
T  q  m q where q   

2  
q n 

6.6
Generalized Coordinates and Generalized Forces

6.6
6.6 Generalized Coordinates and Generalized Forces
• n independent coordinates are needed to describe the motion of a n

DOF system.
• E.g. Consider the triple pendulum as shown.
• (xj,yj) are constrained by the following:

x12  y12  l12 ,  x2  x1    y2  y1   l22 ,  x3  x2    y3  y2   l32
2 2 2 2
• (xj,yj) are not independent, thus they cannot

be called generalized coordinates.

6.6 Generalized coordinates and Generalized forces
• If angular displacements θj are used to specify the locations of the

masses mj, there will be no constraints on θj.
• Thus they form a set of generalized coordinates and are denoted by

qj= θj, j=1,2,3
• When external forces act on the system, the new system configuration
is obtained by changing qj by δqj, j=1,2,…,n
• The corresponding generalized force Qj=Uj/δqj, where Uj is the work

done in changing qj by δqj.
• Qj will be a moment when qj is an angular displacement.

6.7
Using Lagrange’s Equations to Derive Equations of Motion

6.7
6.7 Using Lagrange’s Equations to Derive Equations of
Motion
d  T  T V

• The Lagrange’s Equations:   Q (j n ) , j  1,2,..., n
dt  q j  q q
 j j
• Qj(n) can be computed as follows:

xk yk z k
Q (n)
j   Fxk Fyk  Fzk
k q j q j q j
–Fxk,Fyk and Fzk are the external forces acting on the kth mass in
the x, y and z directions
–xk ,yk and zk are the displacements of the kth mass in the x, y and
z directions

Motion
• For a torsional system:
– Fxk is replaced by Mxk, the moment acting about the x-axis.
– xk is replaced by θxk, the angular displacement about the x-axis.
• For conservative system, Qj(n)=0
• Thus Lagrange’s equations reduce to
d  T  T V
   0, j  1,2,..., n
dt  q j  q q
 j j
• This is a set of n differential equations, one corresponding to each

of the n generalized coordinates

Motion
Example 6.8
Equations of Motion of a Torsional System
Derive the equations of motion of the system shown below by treating

θi as generalized coordinates.
– Ji is the mass moments of inertia
– Mti are the external moments acting on the components
– kti are the torsional spring constants of the shaft between the
components.

Motion
Example 6.8
Solution
q1=θ1, q2=θ2, q3=θ3

1 2 1 2 1 2
Kinetic energy: T  J11  J 2 2  J 3 3 (E.1)
2 2 2
 1
Potential energy (PE): V   (kt )d  kt 2
0 2
1 1 1
Total PE of system: V  kt112  kt 2 ( 2  1 ) 2  kt 3 ( 3   2 ) 2
2 2 2
3
 k 3
 k
Q
Generalized force: j
(n)
  M tk   M tk (E.2)
k 1 q j k 1  j
Motion
Example 6.8
Solution
Therefore
1  
Q1( n )  M t1  M t 2 2  M t 3 3  M t1
1 1 1
1  2  3
Q (n)
2  M t1  Mt2  M t3  Mt2
 2  2  2
1  
Q3( n )  M t1  M t2 2  M t3 3  M t3
 3  3  3

Motion
Example 6.8
Solution
Substituting E.1, E.2 and E.3 into Lagrange’s equations, we get
J11  (kt1  kt 2 )1  kt 2 2  M t1
J 22  (kt 2  kt 3 ) 2  kt 21  kt 3 3  M t 2
J 33  kt 3 3  kt 3 2  M t 3

6.8
Equations of Motion of Undamped Systems in Matrix Form

6.8
6.8 Equations of Motion of Undamped Systems in
Matrix Form
d  T  T V
    Fi , i  1,2,..., n
• Lagrange’s Equations: dt  x i  xi xi
– Fi is the non-conservative generalized force corresponding to ith
generalized coordinate xi
Kinetic energy: T  1 x  m x
T
•
 x1 
2 x 
1 T  
• Potential energy V  x  k  x where x   2
2  
 xn 
• Differentiating T wrt to x i
T 1 T  1  T  T
   m x  x  m    m x  mi x , i  1,2,..., n
 T 
x i 2 2

Matrix Form
d  T  T 
• Differentiating wrt time: dt  x   mi x , i  1,2,..., n
 i
T
• T is a function of only x i  0
xi
• Differentiating V wrt xi:
•
V 1 T  1 T  T  T 
   k  x  x  k     k  x  ki x , i  1,2,..., n
xi 2 2
• Substitute into Lagrange’s equations, we obtained the desired

equations of motion:  F1 
   F2 
 m x   k  x  F
  where F   
 
 Fn 

Matrix Form
• For a conservative system, Fi =0


Therefore equations of motion become  m  x   k  x  0

 
•
• If xi are the same as the actual displacements, [m] is a diagonal

matrix

6.9
Eigenvalue Problem

6.9

To solve  m  x   k  x  0 , assume a solution of the form

 
•
xi(t)=XiT(t), i=1,2,…,n
where Xi is constant and T is a function of time


Substituting xi(t)=XiT(t) into  m x   k  x  0,

 
• we obtain
  
 m XT  t    k  XT  t   0

• Rewrite as
 n 
  kij X j 
 n    n  T  t   j 1 
 , i  1,2,..., n
  mij X j T  t     kij X j T  t   0, i  1,2,..., n  

 j 1



 j 1

 T t  n 
  mij X j 
 
 j 1 

• Left side of equation is independent of i

• Right side of equation is independent of t
• Therefore both sides equal to a constant, which we named ω2.
Left hand side:


T  t    2
T t  0
Solution gives: T(t)=C1cos(ωt+Φ)
• C1 is the amplitude
• Φ is the phase angle
i.e. all coordinates can perform a harmonic motion with frequency
ω and phase angle Φ

 k 
n
Right hand side: ij   2
mij X j  0, i  1,2,..., n
j 1
 
 
or  k     m X  0
2
(Eigenvalue problem)
• For a non-trivial solution, determinant Δ of the coefficient matrix

must be zero.
• i.e. Δ= |kij-ω2mij| = |[k]- ω2[m]| =0 (Characteristic equation)

ω2 is the eigenvalue

6.10
Solution of the Eigenvalue Problem
6.10
  1
• Eigenvalue problem:    k    m   X  0 where  
2
   
• Multiplying by [k]-1:    I    D   X  0 or   I X   D  X
– [I] is identity matrix
– [D]=[k]-1[m] is dynamical matrix.

• For a non-trivial solution of X , characteristic determinant Δ=|λ[I]-
[D]|=0
• Use numerical methods to solve if DOF of system is large

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Find the natural frequencies and mode shapes of the system shown
below for k1=k2=k3=k and m1=m2=m3=m

Example 6.11
Solution
Dynamical matrix [D]=[k]-1[m] ≡[a][m]

1 1 1 
Flexibility matrix  a   1 1 2 2
k
1 2 3
1 0 0 
 m  m 0 1 0
Mass matrix
0 0 1
1 1 1 
m
Thus  D   1 2 2
k
1 2 3

Example 6.11
Solution
Frequency equation:
 0 0  1 1 1
 0  0   m 1 2 2  0 where   1
Δ=|λ[I]-[D]|=   k   2
 0 0   1 2 3
Dividing throughout by λ,
1  
m m 2
  1  2  2    5  6  1  0 where  
3 2

k k
   2 1  3
Example 6.11
Solution
m12 k
We have 1   0.19806, 1  0.44504
k m
m22 k
2   1.5553, 2  1.2471
k m
m32 k
3   3.2490, 3  1.8025
k m
Once the natural freq are known, the eigenvectors can be calculated
i
using  X 1

i  i  i 
 i  I    D  X  0, i  1,2,3 where X   X 2 
 X i 
 3 
Example 6.11
Solution
m
1 mode: Substitute λ1=5.0489 :
st
k
 1 0 0  1 1 1   X 1  0
 1 4.0489 1  1   X 1 1  0
   

5.0489
m
0 1 0   m 1 2 2   X  1   0 i.e.   1 3.0489  2   X 2 1   0
 k   k   2   
 0 0 1 1 2 3   X 3 1  0   1 2 2.0489  X 3 1  0
3 unknowns X1(1),X2(1), X3(1) in 3 equations
Can express any 2 unknowns in terms of the remaining one.

Example 6.11
Solution
X2(1) + X3(1) = 4.0489 X1(1)

3.0489 X2(1) – 2X3(1) = X1(1)
Solving the above, we get

X2(1)=1.8019X1(1) and X3(1)=2.2470X1(1)
Thus first mode shape

 1 
  1  
X  X 1 1 1.8019  where X1(1) can be chosen arbitrarily.
2.2470
 
Example 6.11
Solution
m
2nd mode: Substitute λ2=0.6430 into (E.1)
k
 2
 1 0 0  1 1 1    X 1  0

0.6430
m
0 1 0   m 1 2 2   X  2    0
 k   k   2   
 0 0 1 1 2 3   X 3 2   0
 0.3570 1  1   X 1 2   0
   
i.e.   1  1.3570  2   X 2 2    0
  1 2  2.3570  X 3 2   0


Example 6.11
Solution
2nd mode:
–X2(2) – X3(2) = 0.3570X1(2)
-1.3570X2(2) – 2X3(2) = X1(2)

X2(2)=0.4450X1(2) and X3(2)=-0.8020X1(2)
 1 
Thus 2nd mode shape   2  
X  X 1 2   0.4450 
 0.8020 where X1(2) can be chosen arbitrarily.
 
Example 6.11
Solution
m
3rd mode: Substitute λ3=0.3078 k into (E1):
 3
 1 0 0 1 1 1    X 1  0

0.3780
m
0 1 0   m 1 2 2   X  3    0
 k   k   2   
 0 0 1 1 2 3   X 3 3   0
 0.6922 1  1   X 1 3   0
   
i.e.   1  1.6922  2   X 2 3    0
  1 2  2.6922  X 3 3   0

Example 6.11
Solution
3rd mode:
X2(3) - X3(3) = 0.6922X1(3)
-1.6922X2(3) – 2X3(3) = X1(3)

X2(3)=-1.2468X1(3) and X3(3)=0.5544X1(3)
 1 
Thus 3rd mode shape   3  
X  X 1 3   1.2468
 0.5544  where X1(3) can be chosen arbitrarily
 
Example 6.11
Solution
When X1(1) = X1(2) = X1(3) =1, the mode shapes are as follows

• Orthogonality of Normal Modes
 
 
Recall:  k     m X  0
2
i
ωi and modal vector X satisfy it such that
i i
 i  m  X   k  X (6.69)
2
 j
Another freq ωj and its X will also satisfy it such that
 j  j
 j  m X   k  X
2
(6.70)


  i T   j T
Pre-multiplying 2 equations by X and X respectively,
  j T   i    j T   i    i T  j
 X  m X  X  k  X  X  k  X
i
2
  i T  j   j T   i    i T  j
 j X  m X   j X  m X  X  k  X
2 2
Subtracting one from the other,

 
  j T i
   X  m X  0
i
2 2
j
Since ωi2 ≠ ωj2 thus

  j T i
X  m X  0, i  j
  j T i
Similarly we can obtain X  k  X  0, i  j
This shows that   i are orthogonal

 j wrt both [k] and [m]
X and X
When i=j,   j T i   j T i
X  k  X  0 and X  m X  0
Generalized mass coefficient of the ith mode:
  i T i
M ii  X  of
Generalized stiffness coefficient
mthe
X ith, i mode
1,2,..., n
  i T i
K ii  X  k  X , i  1,2,..., n

i
If we normalize X such that M ii  1,
Kii reduces to
12 0 
 
  2
2 
  
 2
 0 n 

Example 6.12
Orthonormalization of Eigenvectors
Orthonormalize the eigenvectors of Example 6.11 with respect to the

mass matrix.

Example 6.12
Solution
i   i T i
X is  m - orthogonal if X  m X  1
For i=1,

m X1  1
 1
2 2

 1.8019 2  2.2470 2  1
or
 1 1 0.3280
X1  
m 9.2959 m

Example 6.12
Solution
For i=2, m X 1
 2
 1
2 2
 0.44502    0.8020  1
2

 2 0.7370
or X 1 
m
For i=3, m  X  1    1.2468
1
 3 2 2 2
 0.5544 2  1 
 3 0.5911
or X 1 
m

• Repeated Eigenvalues
Modal shapes are not unique when characteristic equation has

repeated roots
Let λ1=λ2=λ and λ3 be a different eigenvalue.

  1   1
Recall:
 D  X  X (6.83)
  2   2
 D  X  X (6.84)
  3   3
 D  X  3 X (6.85)
Multiply Eq.6.83 by constant p and add to 6.84:
   
  1   2    1   2 
 D  pX  X   pX  X (6.86)
• Repeated Eigenvalues
This shows that the new mode shape also satisfies Eq.6.85
Hence the mode shape corresponding to λ is not unique.

Example 6.12
Repeated Eigenvalues
Determine the eigenvalues and eigenvectors of a vibrating system for

which
1 0 0  1 2 1 
 m  0 2 0 and  k    2 4  2
0 0 1  1  2 1 

Example 6.12
Solution
Eigenvalue equation
1    2 1   X 1  0
 2    
2 2     2   X 2   0 where    2 (E.1)
 
 1 2 1      X 3  0
Characteristic Eq.: |[k] – λ[m]|= λ2(λ-4)=0
λ1=0, λ2=0 , λ3=4

Example 6.12
Solution
Using λ3=4, (E1) gives
-3X1(3) – 2X2(3) + X3(3)=0

-2X1(3) – 4X2(3) – 2X3(3)=0
X1(3) – 2X2(3) – 3X3(3)=0
If X1(3) =1, 1

  3  
X   1
1
 

Example 6.12
Solution
λ1=λ2=0 indicates the system is degenerate. Using λ1=0 we obtain

X1(1) – 2X2(1) + X3(1)=0
-2X1(1) + 4X2(1) – 2X3(1)=0
X1(1) – 2X2(1) + X3(1)=0
All these equations are of the form X1(1)=2X2(1) – X3(1)

2 X 2 1  X 3 1 
  1  
Hence X  X 2 1 
 X 3 1 
 
Example 6.12
Solution
1
  1  
If X2(1) =1 and X3(1) =1, X  1
1

3
  1  
If X2(1) =1 and X3(1) =-1, X   1 
 1
 
  1   2
Hence X and X are not unique.

6.11
Expansion Theorem
6.11
6.11 Expansion Theorem
• The eigenvectors are linearly independent and form a basis in the

n-dimensional space.
 n i 
x   ci X where x is an arbitrary vector in n - dimensional space
i 1
  i T
• Pre-multiplying by X  m , the value of the constants ci can be
determined.  
X  m x X  m x
  i T
 i T 
ci    i  T  i  , i  1,2,..., n
X  m X M ii
i   i T
If X are normalized, ci  X  m x , i  1,2,..., n

•
• This is known as the expansion theorem

6.12
Unrestrained Systems
6.12
• Equation of motion for free vibration: q(t )   2 q t   0
• For rigid body translation: ω=0, q(t)=α+βt where α and β are

constants.
  0 If system undergoes rigid body translation
• Let X be the modal vector corresponding to rigid body mode.
  0   0
Eigenvalue problem:   m X  k X 2
•
  0 
• When ω =0,  k  X 0
  0 
• If system undergoes rigid body translation, X 0

• Therefore determinant of [k] must be 0, i.e. [k] is singular.
1   0T   0
• Thus potential energy is V  X k X
2
   0  
• V is positive if x  X or x  0
If system undergoes rigid body translation
• [k] will then be a positive semidefinite matrix.
• When ω =0, we can have at most 6 rigid body modes, 3 for

translation and 3 for rotation.

Example 6.14
Natural Frequencies of a Free System
3 freight cars are coupled by 2 springs as shown below. Find the

natural frequencies and mode shapes of the system for m1=m2=m3=m
and k1=k2=k.

Example 6.14
Solution
Kinetic energy of the system:
T   m1 x 2  m2 x 2  m3 x 2   x  m x
1 2 2 2 1  T 
2 2
 x1   x 1 
     
where x   x2 , x   x 2 ,
x   x 
 3  3

Example 6.14
Solution
Potential energy of the system:

Elongation of spring k1=(x2-x1)
Elongation of spring k2=(x3-x2)
1
 1 T 
V  k1  x2  x1   k 2  x3  x2   x  k  x
2
2 2
2

 k1  k1 0 
where  k    k1 k1  k 2  k 2 
 0  k2 k 2 
V=0 if x1= x2=x3=c (rigid body motion)
Example 6.14
Solution
 
 
Eigenvalue problem  k     m X  0
2
Set determinant of coefficient matrix = 0:

 k   m2
k 0
k  2k   2 m  k 0
0 k  
k   2m
Expanding: m3ω6 – 4m2kω4 + 3mk2ω2=0

Example 6.14
Solution
~ ~ ~ k  ~ 3k 
By setting    2
, m         0
 m  m
~ ~ ~ k  ~ 3k 
As m≠0,    , m       0
2
 m  m
~ ~ k ~ 3k

We have 1  1
2
 0, 2   2
2  , 3   2
3 
m m

Example 6.14
Solution
 
 
For ω1=0,  k     m X  0 gives
2
kX 1 1  kX 2 1  0
 kX 1 1  2kX 2 1  kX 3 1  0
 kX 2 1  kX 3 1  0
If we fix X1(1)=1, we can solve for X2(1) and X3(1): X2(1)= X3(1)=1
1
  1  
Thus 1st mode X  1
1

Example 6.14
Solution
 
 
For ω2=(k/m)1/2,  k     m X  0 gives
2
 kX 2 2   0
 kX 1 2   kX 2 2   kX 3 2   0
 kX 2 2   0
If we fix X1(2)=1, we can solve for X2(2) and X3(2): X2(2)=0, X3(2)= -X1(2)=
-1 1
  2  
X 0
Thus 2nd mode:  1
 
Example 6.14
Solution
 
 
For ω3=(3k/m)1/2,  k     m X  0 gives 2
 2kX 1 3   kX 2 3   0
 kX 1 3   kX 2 3   kX 3 3   0
 kX 2 3   2kX 3 3   0
If we fix X1(3)=1, we can solve for X2(3) and X3(3): X2(3)= -2X1(3) =-2,
X3(3)= -0.5X2(3)= 1
1
  3  
X   2 
Thus 3rd mode
1
 
6.13
Free Vibration of Undamped Systems
6.13
• Equation of motion for free vibration of undamped system:

 
 m x   k  x  0


n 

• General solution: x  t    Ai cos it  i 
X i
i 1

• If initial displacements and velocities are
 x1  0    x 1  0  
 x  0   x  0  
 2   2 
x  0    and x  0  
 
 respectively,
     
 xn  0    x n  0  
n 

• Then x  0    X  i  Ai cos i
i 1
n 

x  0    X  i  Aii sin i
i 1

Example 6.15
Free-Vibration Analysis of a Spring-Mass System
Find the free vibration response of the spring-mass system shown

below corresponding to the initial conditions x1(0)=x10, x2(0)=x3(0)=0.
Assume that ki=k and mi=m for i=1,2,3.

Example 6.15
Solution
We have
k k k
1  0.44504 2  1.2471 3  1.8025
m m m
 1   1   1 
     
X 1 1 1.8019  X 1 2   0.4450  X 1 3   1.2468
2.2470  0.8020  0.5544 
     

Example 6.15
Solution
Applying the initial conditions:
A1cosΦ1+ A2cosΦ2+ A3cosΦ3 = x10

1.8019A1cosΦ1+0.445A2cosΦ2–1.2468A3cosΦ3 =0
2.247A1cosΦ1–0.802A2cosΦ2+0.5544A3cosΦ3 =0

Example 6.15
Solution
We have
k k k
 0.44504 A1 sin 1  1.2471 A2 sin 2  1.8025 A3 sin 3  0
m m m
k k k
 0.80192 A1 sin 1  0.55496 A2 sin 2  2.2474 A3 sin 3  0
m m m
k k k
 A1 sin 1  A2 sin 2  A3 sin 3  0
m m m

Example 6.15
Solution
Solving the above equations gives:
A1=0.1076x10, A2=0.5431x10, A3=0.3493x10,

Φ1=Φ2=Φ3=0

Example 6.15
Solution
Thus solution of system:

  k   k   k 
x1  t   x10 0.1076 cos 0.44504
  
t   0.5431 cos1.2471  
t   0.3493 cos1.8025 t 
  m   m   m 
  k   k   k 
x2  t   x10 0.1939 cos 0.44504
  
t   0.2417 cos1.2471  
t   0.4355 cos1.8025 t 
  m   m   m 
  k   k   k 
x3  t   x10 0.2418 cos 0.44504
    
t   0.4356 cos1.2471 t   0.1937 cos1.8025 t 
  m   m   m 

6.14
Forced Vibration of Undamped Systems Using Modal
Analysis
6.14
6.14 Forced Vibration of Undamped Systems Using
Modal Analysis
• Forced vibration occur when external forces act on a system.
 
• Equations of motion is a set of 2nd order ODE:  m x   k  x  F


• Modal analysis is a more convenient method to solve this when the

DOF is large.
• First we must solve the eigenvalue problem and find the natural
freq. and the corresponding normal modes.
 
Eigenvalue problem:   m X   k  X
2
•

Modal Analysis
• According to expansion theorem,

  1   1   n
x  t   q1  t  X  q2  t  X  ...  qn  t  X   X  q  t 
 
 q1  t  
q  t  
  1
where  X   X  X
  2   n

 X and q  t    2 
  
  
qn  t  
• Since [X] is not a function of time,



x  t    X  

q t
 
Rewrite as  m  X  q   k  X  q  F


•
• Normalizing the normal modes: [X]T[m][X]=[I], [X]T[k][X]=[ ω2 ]

Modal Analysis
 
Define generalized forces Q t    X  F  t 
T
•
• i  t   i qi  t   Qi  t  , i  1,2,..., n
Therefore q
2
• Solution of this 2nd order ODE:

 q  0  1
qi  t   qi  0 cos i t    Q   sin   t   d , i  1,2,..., n
t
 
 sin i t  i i
 i  i 0
q  0   X   m x  0
 T 
 q1  0   q 1  0   x1  0   x 1  0 
q  0  q  0   x  0   x  0  
q  0   X   m x  0
 T    2    2    2    2 
where q  0   , q  0     and x  0    , x  0    
           
qn  0  q n  0   xn  0   x n  0 

Modal Analysis
Example 6.16
Free-Vibration Response Using Modal Analysis
Using modal analysis, find the vibration response of a 2 DOF system

with equations of motion:
m1 0   x1  k1  k2  k2   x1   0
 0 m   x     k k  k   x   F  0 (E.1)
 2  2   2 2 3  2   
Assume the following data:m1=10, m2=1, k1=30, k2=5, k3=0 and
  x1  0  1    x 1  0  0
x  0      , x  0       (E.2)
 x2  0  0  x 2  0  0

Modal Analysis
Example 6.16
Solution
  1 1  1
We have 1  1.5811, X    X 1
2 
  2  1   2
2  2.4495, X    X 1 where X 1 1 and X 1 2  are arbitrary constants
 5
Orthogonalizing normal modes wrt mass matrix:
  1 2 100 0 1 
  1 T   1
X  m X  1  X 1 1  1
2
    1 or X 1  0.2673
 1  2 

Modal Analysis
Example 6.16
Solution
q  t    2 q  t   0, i  1,2
E.1 can be expressed as i i i
q i 0
Solution qi  t   qi 0 cos i t  sin i t
i
Using the initial conditions, we can find
q  0  0.2673 0.5346  10 0 1 2.673
q  0    10    X   m x  0   
 T 
     
q
 20   0   0 .1690  0.8450  0 1 0
   1. 690 
 q  0   0
q  0    10    X   m x  0    
 T 
q 20  0   0
 q1  t   2.673 cos 1.5811t , q2  t   1.69 cos 2.4495t

Modal Analysis
Example 6.16
Solution
0.2673 0.1690   2.673 cos1.5811t 

Thus x  t    X  q  t   x  t   
  
0.5346  0 .845  1.690 cos 2.4495t 
  
x1  t   0.7145 cos1.5811t  0.2856 cos 2.4495t 
or   
x 
 1  t  1 . 4280 cos 1 .5811t  1 . 4280 cos 2. 4495t 

6.15
Forced Vibration of Viscously Damped Systems
6.15
6.15 Forced Vibration of Viscously Damped Systems
• Modal analysis only applies to undamped systems
• Viscously damped system is opposed by a force proportional to

velocity but in the opposite direction

• We shall consider the equations of motion of viscously damped
systems using Lagrange’s equations
1  T 
• Rayleigh’s dissipation function: R  x  c x
2
• [c] is the damping matrix

• Lagrange’s equations:
d  T  T R V
      Fi , i  1,2,..., n
dt  x i  xi x i xi
where Fi is the force applied to mass m
 
Equations of motion of damped system:  m x   c  x   k  x  F

 
•
• Special case: Proportional damping
• [c]=α[m]+β[k] where α and β are constants.

• Equation of motion becomes:


 m x    m    k  x   k  x  F
  
x t    X q t  
 

 m X  q  t     m    k   X  q  t    k  X  q  t   F  t 

  
• Pre-multiplying by [X]T:
T  T
 T T 

 X   m X  q    X   m X     X   k  X  q   X   k  X  q   X  F
  T

 j
• By normalizing X , we obtain
qi  t     i2   q i  t   i2 qi  t   Qt  t  , i  1,2,..., n

• By writing α+ωi2β=2ζiωi where ζi is the modal damping ratio for the

ith normal mode,
qi  t   2 ii q i  t   i2 qi  t   Qt  t  , i  1,2,..., n
• Each of the n equations is uncoupled from all of the others.

• Hence solution when ζi<1 is


  t  i 
qi  t   e i i
cos dit  sin di t qi  0
 1 i2

 1  ii t 
 e sin di t q 0  0
 di 
1 t
  Qi   e  ii  t  
sin di  t    d where i  1,2,..., n and di  i 1   i2
di 0

Example 6.18
Equations of Motion of a Dynamic System
Derive the equations of motion of the system as shown:

Example 6.18
Solution
Use Lagrange’s equations with Rayleigh’s dissipation function.
Kinetic energy: T 
1
2

m1 x 12  m2 x 22  m3 x 32 
(E.1)
Potential energy: V 
1
2
k x
1 1
2
 k 2  x 2  x1  
2
 k 3  x3  x 2  2
(E.2) 
Rayleigh’s dissipation function:
1
2
 2 2

R  c1 x 12  c2  x 2  x1   c3  x 3  x 2   c4 x 22  c5  x 3  x1  (E.3)
2

Example 6.18
Solution
Lagrange’s equations R 
1
2
c x

1 1
2
 c 2  x
 2  x
 1  2
 c3 
 x
 3  x
 2  2
 c x

4 2
2
 c5  x
 3  x
 1  2
(E.3) 
Substituting (E.1) to (E.3) into (E.4),
differential equations of motion:
 
 m x   c  x   k  x  F

 
m1 0 0 c1  c2  c5  c2  c5 
where  m   0 m2 0 ,  c     c2 c2  c3  c4  c3 
 0 0 m3    c5  c3 c3  c5 
k1  k 2  k2 0   x1  t    F1  t  
 k     k2 k2  k3  k3 , x   x2  t  , F  F2  t  

 0  k3 k3  x t   F  t  
 3   3 
6.16
Self-Excitation and Stability Analysis
6.16
• Friction leads to negative damping, causing system instability (self-

excited vibration).
• Equations of motion for the system shown below is as follows:

 
 m x   c  x   k  x  F

 

  st
• We assume solution of the form x  t   Ce
 s is a complex number to be determined
 Cj is the amplitude of xj
 We have
 C1 
 C2  If system undergoes rigid body translation
C 
 
Cn 
• Real part of s determines the damping.
• Imaginary part gives the natural frequency.

  
 st 
•
  2

For free vibration F  0 ,  m s   c  s   k  Ce  0
• For nontrivial solution of Cj, determinant of coefficients of Cj is set

to zero: 2
D s    m s   c  s   k   0
Expanding, D s   a0 s  a1s
m 1
•
m
 ...  am 1s  am  0
• Let the roots be sj=bj+iωj, j=1,2,…,m
• If bj are all -ve, system is stable.

• If one or more bj are +ve, system is unstable.
• If bj=0, system is at borderline between stability and instability.
Solution to this D s   a0 s  a1s  ...  am 1s  am  0 is lengthy.

m m 1
•
• Simplified procedure: Routh-Hurwitz stability criterion
• Define the following mth order determinant Tm:

• Define the following sub-determinants:
a1 a3 a5
a1 a3
T1  a1 , T2  , T3  a0 a2 a4 ,...
a0 a2
0 a a
If system undergoes rigid body1translation
3
• Replace all ai with i>m or i<0 by zeros.
• A necessary and sufficient condition for stability is that all

coefficients a0, a1,…,am and all determinants T1,T2,…,Tm must be +ve
(Routh-Hurwitz stability criterion)

Vibration Chapter06

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Vibration Chapter06

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Mechanical Vibrations

Fifth Edition in SI Units

3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

4 © 2011 Mechanical Vibrations Fifth Edition in SI Units

6.11 Expansion Theorem

5 © 2011 Mechanical Vibrations Fifth Edition in SI Units

6 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• For simplicity continuous systems are approximated as

• Equations of motion of MOF systems can be obtained either from

• Analysis of MOF systems can be simplified using the orthogonality

7 © 2011 Mechanical Vibrations Fifth Edition in SI Units

8 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Method 1: Lumped-mass system

9 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Method 2: Finite Element Method (FEM)

• Replace geometry of the system by large number of small elements

• Principles of compatibility and equilibrium are used to find an

• Details covered in Chapter 12

10 © 2011 Mechanical Vibrations Fifth Edition in SI Units

11 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Step 1: Set up suitable coordinates to describe positions of the

• Step 2: Measure displacements of the masses from their static

• Step 4: Apply Newton’s 2nd Law to each mass

12 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Derive the equations of motion of the spring-mass-damper system

13 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Free-body diagram is as shown:

Applying Newton’s 2nd Law gives:

14 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Set i=1 with x0=0 and i=n with xn+1=0:

15 © 2011 Mechanical Vibrations Fifth Edition in SI Units

16 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Derive the equations of motion of the trailer-compound pendulum

17 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Free-body diagram is as shown:

x(t) and θ(t) describes linear and angular displacement respectively.

External forces on trailer: F(t), k1x,k2x, c1 x , c2 x

20 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• One set of influence coefficients is associated with each matrix

Equation of Motion Influence coefficient

21 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Stiffness Influence Coefficient, kij

kij is the force at point i due to unit displacement at point j and

22 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Stiffness Influence Coefficient, kij

kij for torsional systems is defined as the torque at point i due to

23 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Find the stiffness influence coefficients of the system shown below.

24 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Let x1, x2 and x3 be the displacements of m1, m2 and m3 respectively.

Solving E.1 to E.3 gives

Next set x2=1 and x1=x3=0.

Horizontal equilibrium of forces:

26 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Finally set x3=1 and x1=x2=0.

Horizontal equilibrium of forces:

27 © 2011 Mechanical Vibrations Fifth Edition in SI Units

28 © 2011 Mechanical Vibrations Fifth Edition in SI Units

29 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Flexibility Influence Coefficient, aij

Have to solve n sets of linear equations to obtain all the kij’s in an n

Generating aij’s is simpler.

aij is defined as the deflection at point i due to unit load at point j,