Vibration 05

Mechanical Vibrations
Fifth Edition in SI Units

Singiresu S. Rao
Chapter 5
Two Degree Freedom Systems
3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

5
Chapter Outline
5.1 Introduction
5.2 Equations of Motion for Forced Vibration
5.3 Free Vibration Analysis of an Undamped System
5.4 Torsional System5.5
Coordinate Coupling and Principal Coordinates
5.6 Forced-Vibration Analysis
5.7 Semidefinite Systems
5.8 Self-Excitation and Stability Analysis
5.9 Transfer-Function Approach
5.10 Solutions Using Laplace Transform
5.11 Solutions Using Frequency Transfer Functions

5.1
Introduction

5.1
5.1 Introduction
• Two-degree-of-freedom systems are defined as systems that

require two independent coordinates to describe their motion.
• For simplicity, a two-degree-of-freedom model can be used as

shown in the figure.

5.1 Introduction
• The general rule for the computation of the number of degrees of

freedom can be stated as follows:
No. of degrees No. of masses in the

of freedom of = system x no. of
the system possible types of
motion of each mass

5.1 Introduction
• As is evident from the systems shown in figures earlier on, the

configuration of a system can be specified by a set of independent
coordinates termed as generalized coordinates, such as length,
angle, or some other physical parameters.
• Principle coordinates is defined as any set of coordinates that leads

a coupled equation of motion to an uncoupled system of equations.

5.2
Equations of Motion for Forced Vibration

5.2
• Consider a viscously damped two-degree-of-freedom spring-mass

system, shown in the figure below

• The application of Newton’s second law of motion to each of the

masses gives the equations of motion:
m1 x1  (c1  c2 ) x 1  c2 x 2  (k1  k 2 ) x1  k 2 x2  F1 (5.1)
m2 x2  c2 x 1  (c2  c3 ) x 2  k 2 x1  (k 2  k3 ) x2  F2 (5.2)
• Both equations can be written in matrix form as

   

[m] x (t )  [c]x (t )  [k ]x (t )  F (t ) (5.3)
where [m], [c], and [k] are called the mass, damping, and stiffness
matrices, respectively, and are given by

m1 0  c1  c2  c2 
• We have [ m]    [c ]   
 0 m2   c 2 c 2  c3
k1  k 2  k 2 
[k ]   
  k 2 k 2  k3 
• And the displacement and force vectors are given respectively:
  x1 (t )    F1 (t ) 
x (t )    F (t )   
x
 2 (t ) F
 2 (t )
• It can be seen that the matrices [m], [c], and [k] are symmetric:
[m]T  [m], [c]T  [c], [k ]T  [k ]
where the superscript T denotes the transpose of the matrix.

5.3
Free-Vibration Analysis of an Undamped System

5.3
5.3 Free-Vibration Analysis of an Undamped System
• The solution of Eqs.(5.1) and (5.2) involves four constants of

integration (two for each equation). We shall first consider the free
vibration solution of Eqs.(5.1) and (5.2).
• By setting F1(t) = F2(t) = 0, and damping disregarded, i.e., c1 = c2
= c3 = 0, and the equation of motion is reduced to:
m1x1 (t )  (k1  k 2 ) x1 (t )  k 2 x2 (t )  0 (5.4)
m2 x2 (t )  k 2 x1 (t )  ( k 2  k3 ) x2 (t )  0 (5.5)
• Assuming that it is possible to have harmonic motion of m1 and m2

at the same frequency ω and the same phase angle Φ, we take the
x1 (t )  X 1 cos(t   )
solutions as
x2 (t )  X 2 cos(t   ) (5.6)

• Substituting into Eqs.(5.4) and (5.5),

 m   (k  k ) X  k X  cos(t   )  0
1
2
1 2 1 2 2
 k X  m   (k  k ) X  cos(t   )  0
2 1 2
2
2 3 2 (5.7)
• Since Eq.(5.7)must be satisfied for all values of the time t, the

terms between brackets must be zero. Thus,
 m  1
2

 (k1  k 2 ) X 1  k 2 X 2  0

 k 2 X 1  m2 2  (k 2  k3 ) X 2  0  (5.8)
which represent two simultaneous homogenous algebraic equations

in the unknown X1 and X2.

• For trivial solution, i.e., X1 = X2 = 0, there is no solution. For a

nontrivial solution, the determinant of the coefficients of X1 and X2
must be zero:
 m1 2  (k1  k 2 ) k2 
det  0
 k2 m1  (k1  k2 )
2
(m1m2 ) 4   (k1  k 2 )m2  (k 2  k3 )m1

(k1  k 2 )(k 2  k3 )  k 22   0 (5.9)
which is called the frequency or characteristic equation.

• Hence the roots are:
1  (k  k )m  (k 2  k3 )m1 
12 , 22   1 2 2 
2 m1m2 
1  ( k1  k 2 )m2  (k 2  k3 )m1 
2
  
2  m1m2 

1/ 2
 (k1  k 2 )(k 2  k3 )  k 22 
 4  (5.10)
 m1m2 
• The roots are called natural frequencies of the system.

• To determine the values of X1 and X2,

X 2(1)  m112  (k1  k 2 ) k2
r1  (1)  
X1 k2  m212  (k 2  k3 )
X 2( 2 )  m122  (k1  k 2 ) k2
r2  ( 2 )   (5.11)
X1 k2  m222  (k 2  k3 )
• The normal modes of vibration corresponding to ω12 and ω22 can be
expressed, respectively, as
 (1)  X 1(1)   X 1(1)   ( 2)  X 1( 2)   X 1( 2) 
X   (1)    (1)  and X   ( 2)     (5.12)
 X 2  r1 X 1   X 2  r2 X 1( 2) 

• The free-vibration solution or the motion in time can be expressed

itself as
(1)  x1(1) (t )  X 1(1) cos(1t  1 ) 
x (t )   (1)    (1)   first mode
 x2 (t ) r1 X 1 cos(1t  1 )
( 2 )  x1( 2 ) (t )  X 1( 2) cos(2t  2 ) 
x (t )   ( 2 )      second mode (5.17)
 x2 (t ) r2 X 1 cos(2t  2 )
( 2)
• Initial conditions
The initial conditions are

x1 (t  0)  X 1(i )  some constant, x 1 (t  0)  0,
x2 (t  0)  ri X 1(i ) , x 2 (t  0)  0

• The resulting motion can be obtained by a linear superposition of

the two normal modes, Eq.(5.13)
  
x (t )  c1 x1 (t )  c2 x2 (t ) (5.14)
• Thus the components of the vector can be expressed as
x1 (t )  x1(1) (t )  x1( 2 ) (t )  X 1(1) cos(1t  1 )  X 1( 2 ) cos(2t  2 )

x2 (t )  x2(1) (t )  x2( 2 ) (t )
 r1 X 1(1) cos(1t  1 )  r2 X 1( 2) cos(2t  2 ) (5.15)
• The unknown constants can be determined from the initial

conditions: x1 (t  0)  x1 (0), x 1 (t  0)  x 1 (0),
x2 (t  0)  x2 (0), x 2 (t  0)  x 2 (0) (5.16)

• Substituting into Eq.(5.15) leads to

x1 (0)  X 1(1) cos 1  X 1( 2 ) cos 2
x 1 (0)  1 X 1(1) sin 1  2 X 1( 2) sin 2
x2 (0)  r1 X 1(1) cos 1  r2 X 1( 2 ) cos 2
x 2 (0)  1r1 X 1(1) sin 1  2 r2 X 1( 2) sin 2 (5.17)
• The solution can be expressed as

 r x (0)  x2 (0)    r x (0)  x2 (0) 
X 1(1) cos 1   2 1 , X 1( 2) cos 2   1 1 
 r2  r1   r2  r1 
  r x (0)  x 2 (0)   r x (0)  x 2 (0) 
X 1(1) sin 1   2 1 , X 1( 2) sin 2   1 1 
  (
1 2r  r1 )   2 (r2  r1 ) 

• We can obtain the desired solution as

X (1)
1 
 X (1)
1 cos 1  X
2 (1)
1 sin 1  
2 1/ 2
  r2 x1 (0)  x 2 (0) 

1/ 2
1 
2
 r2 x1 (0)  x2 (0) 
2
 
(r2  r1 )  12 
X ( 2)
1 
 X ( 2)
1 cos 2   X
2 ( 2)
1 sin 2  
2 1/ 2
 r1 x 1 (0)  x 2 (0) 
1/ 2
1 
2
  r1 x1 (0)  x2 (0) 
2
 
(r2  r1 )  22 
 X 1(1) sin 1  1   r2 x 1 (0)  x 2 (0) 
1  tan  (1)1
  tan  
X
 1 cos 1  [ r
 1 2 1 x ( 0)  x 2 ( 0) 
1  X 1 sin 2  1  r1 x 1 (0)  x 2 (0) 
( 2)
2  tan  ( 2)   tan   (5.18)
 X 1 cos 2  2 [ r1 x1 (0)  x2 (0) 

Example 5.3
Free-Vibration Response of a Two-Degree-of-Freedom System
Find the free-vibration response of the system shown in Fig.5.3(a)

with k1 = 30, k2 = 5, k3 = 0, m1 = 10, m2 = 1 and c1 = c2 = c3 = 0 for
the initial conditions .

Example 5.3
Free-Vibration Response of a Two Degree of Freedom System
Solution
For the given data, the eigenvalue problem, Eq.(5.8), becomes

 m1 2  k1  k 2 k 2   X 1  0
     
 k 2 m2  k 2  k3   X 2  0
2
 10 2  35  5   X 1  0
      (E.1)
 -5   5  X 2  0
2
By setting the determinant of the coefficient matrix in Eq.(E.1) to zero,

we obtain the frequency equation, 10 4  85 2  150  0 (E.2)

Example 5.3
Solution
The natural frequencies can be found as

12  2.5, 22  6.0
1  1.5811, 2  2.4495 (E.3)
The normal modes (or eigenvectors) are given by
 (1)  X 1(1)  1  (1)
X   (1)     X 1 (E.4)
 X 2  2
 ( 2)  X 1( 2 )   1  ( 2 )
X   ( 2)     X 1 (E.5)
 X 2   5
Example 5.3
Solution
The free-vibration responses of the masses m1 and m2 are given by

(see Eq.5.15):
x1 (t )  X 1(1) cos(1.5811t  1 )  X 1( 2 ) cos(2.4495t  2 ) (E.6)
x2 (t )  2 X 1(1) cos(1.5811t  1 )  5 X 1( 2 ) cos(2.4495t  2 ) (E.7)
By using the given initial conditions in Eqs.(E.6) and (E.7), we obtain
x1 (t  0)  1  X 1(1) cos 1  X 1( 2 ) cos 2 (E.8)
x2 (t  0)  0  2 X 1(1) cos 1  5 X 1( 2 ) cos 2 (E.9)
x 1 (t  0)  0  1.5811X 1(1) sin 1  2.4495 X 1( 2 ) sin 2 (E.10)
x 2 (t  0)  3.1622 X 1(1)  12.2475 X 1( 2 ) sin 2 (E.11)

Example 5.3
Solution
The solution of Eqs.(E.8) and (E.9) yields

5 2
X 1(1) cos 1  ; X 1( 2) cos 2  (E.12)
7 7
The solution of Eqs.(E.10) and (E.11) leads to

X 1(1) sin 1  0, X 1( 2) sin 2  0 (E.13)
Equations (E.12) and (E.13) gives
5 2
X 1(1)  , X 1( 2)  , 1  0, 2  0 (E.14)
7 7

Example 5.3
Solution
Thus the free vibration responses of m1 and m2 are given by

5 2
x1 (t )  cos1.5811t  cos 2.4495t (E.15)
7 7
10 10
x2 (t )  cos1.5811t  cos 2.4495t (E.16)
7 7

5.4
Torsional System

5.4
5.4 Torsional System
• Consider a torsional system as shown in Fig.5.6. The differential

equations of rotational motion for the discs can be derived as
J    k   k (   )  M
1 1 t1 1 t2 2 1 t1
J 22   kt 2 ( 2  1 )  kt 3 2  M t 2
• Upon rearrangement become

J11  (kt1  kt 2 )1  kt 2 2  M t1
J   k   (k  k )  M
2 2 t2 1 t2 t3 2 t2 (5.19)
• For the free vibration analysis of the

system, Eq.(5.19) reduces to
J11  (kt1  kt 2 )1  kt 2 2  0
J 22  kt 21  (kt 2  kt 3 ) 2  0 (5.20)
Example 5.4
Natural Frequencies of a Torsional System
Find the natural frequencies and mode shapes for the torsional system
shown in the figure below for J1 = J0 , J2 = 2J0 and kt1 = kt2 = kt .

Example 5.4
Solution
The differential equations of motion, Eq.(5.20), reduce to (with kt3 =

0, kt1 = kt2 = kt, J1 = J0 and J2 = 2J0):
J 01  2kt1  kt 2  0
2 J 02  kt1  kt 2  0 (E.1)
Rearranging and substituting the harmonic solution:

 i (t )  i cos(t   ); i  1,2 (E.2)

Example 5.4
Solution
This gives the frequency equation of

2 4 J 02  5 2 J 0 kt  kt2  0 (E.3)
The solution of Eq.(E.3) gives the natural frequencies
kt kt
1  (5  17 ) and 2  (5  17 ) (E.4)
4J 0 4J 0

Example 5.4
Solution
The amplitude ratios are given by

 (21) (5  17 )
r1  (1)  2 
1 4
 (22 ) (5  17 )
r2  ( 2 )  2  (E.5)
1 4
Equations (E.4) and (E.5) can also be obtained by substituting the
following in Eqs.(5.10) and (5.11). k1  kt1  kt , k 2  kt 2  kt ,
m1  J1  J 0 , m2  J 2  2 J 0 and k3  0

5.5
Coordinate Coupling and Principal Coordinates

5.5
5.5 Coordinate Coupling and Principal Coordinates
• Generalized coordinates are sets of n coordinates used to describe

the configuration of the system.
• Equations of motion Using x(t) and θ(t)

From the free-body diagram shown in Figure (a), with the positive
values of the motion variables as indicated, the force equilibrium
equation in the vertical direction can be written as
mx  k1 ( x  l1 )  k 2 ( x  l2 ) (5.21)
The moment equation about C.G. can be expressed as

J 0  k1 ( x  l1 )l1  k 2 ( x  l2 )l2 (5.22)
Eqs.(5.21) and (5.22) can be rearranged and written in matrix form

as
m 0  x   (k1  k 2 )  (k1l1  k 2l2 )   x  0
0 J      (k l  k l ) 2  
 
(k1l 1  k 2l 2 )   0
2
(5.23)
 0     1 1 2 2

The lathe rotates in the vertical plane and has vertical motion as
well, unless k1l1 = k2l2. This is known as elastic or static coupling.
•Equations of motion Using y(t) and θ(t)
From Figure b, the equations of motion for translation and rotation

can be written as
my  k1 ( y  l1 )  k 2 ( y  l2 )  me
J P  k1 ( y  l1 )l1  k 2 ( y  l2 )l2  mey (5.24)

These equations can be rearranged and written in matrix form as

m me   y  (k1  k 2 ) (k 2l2  k1l1)   y  0
me      2  
  (5.25)
 J P    (k1l1  k 2l2 ) (k1l1  k 2l 2 )   0
2
If k1l1  k 2l2, the system will have dynamic or inertia coupling only.
•Note the following characteristics of these systems:
1.Inthe most general case, a viscously damped two degree of

freedom system has the equations of motions in the form:
m11 m12  x1  c11 c12   x 1  k11 k12   x1  0
m             (5.26)
 21 m22  x2  c21 c22   x 2  k 21 k 22   x2  0
2. The system vibrates in its own natural way regardless of the

coordinates used. The choice of the coordinates is a mere
convenience.
3. Principal or natural coordinates are defined as system of

coordinates which give equations of motion that are uncoupled both
statically and dynamically.

Example 5.6
Principal Coordinates of Spring-Mass System
Determine the principal coordinates for the spring-mass system shown

in the figure.

Example 5.6
Solution
Define two independent solutions as principal coordinates and express

them in terms of the solutions x1(t) and x2(t).
The general motion of the system shown is

 k   3k 
x1 (t )  B1 cos t  1   B2 cos t  2 
 m   m 
 k   3k 
x2 (t )  B1 cos  
t  1   B2 cos t  2  (E.1)
 m   m 

Example 5.6
Solution
We define a new set of coordinates such that

 k 
q1 (t )  B1 cos t  1 
 m 
 3k 
q2 (t )  B2 cos  t  2  (E.2)
 m 
Since the coordinates are harmonic functions, their corresponding
equations of motion can be written as
k  3k 
q1   q1  0 and q2   q2  0 (E.3)
m m
Example 5.6
Solution
From Eqs.(E.1) and (E.2), we can write

x1 (t )  q1 (t )  q2 (t )
x2 (t )  q1 (t )  q2 (t ) (E.4)
The solution of Eqs.(E.4) gives the principal coordinates:

1
q1 (t )  [ x1 (t )  x2 (t )]
2
1
q2 (t )  [ x1 (t )  x2 (t )] (E.5)
2

5.6
Forced-Vibration Analysis

5.6
• The equations of motion of a general two-degree-of-freedom

system under external forces can be written as
m11 m12   x1  c11 c12   x 1  k11 k12   x1   F1 

m               (5.27)
 12 m22   x2  c21 c22   x2  k 21 k 22   x2   F2 
  
• Consider the external forces to be harmonic:

F j (t )  F j 0 eit , j  1,2 (5.28)
where ω is the forcing frequency.

• We can write the steady-state solutions as
x j (t )  X j eit , j  1,2 (5.29)

• We can write Eq.(5.30) as:

 
 Z (i ) X  F0 (5.32)
where
 Z11 (i ) Z12 (i ) 
 Z (i )     Impedance matrix
 Z12 (i ) Z 22 (i )
  X1 
X  
X 2 
  F10 
F0   
 F20 
 
Eq.(5.32) can be solved to obtain: X   Z (i ) F0
1
• (5.33)

• The inverse of the impedance matrix is given
1  Z 22 (i ) -Z12 (i )

 Z (i ) 1
   (5.34)
Z11 (i ) Z 22 (i )  Z12 (i )  Z12 (i ) Z11 (i ) 
2
• Eqs.(5.33) and (5.34) lead to the solution

Z (i ) F10  Z12 (i ) F20
X 1 (i )  22
Z11 (i ) Z 22 (i )  Z122 (i )
 Z12 (i ) F10  Z11 (i ) F20
X 2 ( i )  (5.35)
Z11 (i ) Z 22 (i )  Z122 (i )

Example 5.8
Steady-State Response of Spring-Mass System
Find the steady-state response of system shown in Fig.5.15 when the
mass m1 is excited by the force F1(t) = F10 cos ωt. Also, plot its
frequency response curve.

Example 5.8
Solution
The equations of motion of the system can be expressed as

m 0 x1  2k -k   x1   F10 cos t 
0 m x   -k 2k   x    0
 (E.1)
  2    2   
We assume the solution to be as follows

x j (t )  X j cos t ; j  1,2 (E.2)
Z
Eq.(5.31) gives 11 ( )  Z 22 ( )   m 2
 2k , Z12 ( )  k (E.3)

Example 5.8
Solution
( 2 m  2k ) F10 ( 2 m  2k ) F10
Hence X 1 ( )   (E.4)
(  m  2k )  k
2 2 2
(m 2  3k )(m 2  k )
kF10 kF10
X 2 ( )   (E.5)
( m 2  2k ) 2  k 2 (m 2  3k )( m 2  k )
Eqs.(E.4) and (E.5) can be expressed as

    2 
2     F10
  1  
X 1 ( )  (E.6)
   2    2      2 
k  2      1    
 1   1     1  
Example 5.8
Solution
F10
X 2 ( )  ( E.7)
   2    2      2 
k  2      1    
 1   1     1  

5.7
Semidefinite Systems

5.7
• Semidefinite systems are also known as unrestrained or degenerate

systems.
• Two examples of such systems are shown in the figure. For Figure
(a), the equations of motion can be written as
m1x1  k ( x1  x2 )  0
m2 x2  k ( x2  x1 )  0 (5.36)
• For free vibration, we assume the motion to be harmonic:

x j (t )  X j cos(t   j ), j  1,2 (5.37)
• Substituting Eq.(5.37) into Eq.(5.36) gives
(m1 2  k ) X 1  kX 2  0
 kX 1  ( m2 2  k ) X 2  0 (5.38)

• We obtain the frequency equation as

 2 [m1m2 2  k (m1  m2 )]  0 (5.39)
• From which the natural frequencies can be obtained:
k (m1  m2 )
1  0 and 2  (5.40)
m1m2
• Such systems, which have one of the natural frequencies equal to

zero, are called semidefinite systems.

5.8
Self-Excitation and Stability Analysis

5.8
• Given that the criterion for stability is that the real parts of si must
be negative, all coefficients of equation ai must be positive and
hence, the condition
a1a2 a3  a0 a32  a4 a12 (5.46)
must be fulfilled.
• The Routh-Hurwitz criterion states that the system will be stable if
all the coefficients a0, a1,…,a4 are positive and the determinants
defined below are positive:

T1  a1  0 (5.47)
a1 a3
T2   a1a2  a0 a3  0 (5.48)
a0 a 2
a1 a3 0
T3  a0 a2 a4  a1a2 a3  a12 a4  a0 a32  0 (5.49)
0 a1 a3

5.9
Transfer-Function Approach

5.9
• For two-degree-of-freedom system shown the equations of motion

are
m1 x1   c1  c2  x 1  c2 x 2   k1  k 2  x1  k 2 x2  f1  5.50
m2 x2   c2  c3  x 2  c2 x 1   k 2  k3  x2  k 2 x1  f 2  5.51
• By taking the Laplace transforms of Eqs. (5.50) and (5.51),
assuming zero initial conditions,
m1s 2 X 1  s    c1  c2  sX 1  s   c2 sX 2  s    k1  k 2  X 1  s   k 2 X 2  s   F1  s   5.52
m2 s 2 X 2  s    c2  c3  sX 2  s   c2 sX 1  s    k 2  k3  X 2  s   k 2 X 1  s   F2  s   5.53

• It can be solved using Cramer’s rule as
D1  s  D2  s 
X1 s   5.56 and X 2  s   5.57
D s  D s 
where

• Note that
1. The denominator, D(s), in the expressions of X1(s) and X2(s)
given by Eq. (5.60), is a fourth-order polynomial in s and
denotes the characteristic polynomial of the system The model
(or system) is a fourth-order model (or system).
2. Equations (5.56) and (5.57) permit us to apply inverse Laplace
transforms to obtain the fourth-order differential equations for
x1(t) and x2(t) .
3. Equations (5.56) and (5.57) can be used to derive the transfer
functions of and x2(t) corresponding to any specified forcing
function.

5.10
Solutions Using Laplace Transform
5.10
Example 5.12
Response Under Impulse Using Laplace Transform Method
Two railway cars, of masses m1 = M and m2 = m are connected by a

spring of stiffness k, as shown in the figure. If the car of mass M is
subjected to an impulse F0  t  determine the time responses of the
cars using the Laplace transform method.

Example 5.12
Solution
The responses of the cars can be determined using either of the

following approaches:
a. Consider the system to be undergoing free vibration due to the
initial velocity caused by the impulse applied to car M.
b. Consider the system to be undergoing forced vibration due to the
force F0  t  applied to car M (with the displacements and velocities
of cars M and m considered to be zero initially).

Example 5.12
Solution
Using the second approach, the equations of motion of the cars can be
expressed as
Mx1  k  x1  x2   F0  t   E.1
mx2  k  x2  x1   0  E.2
Using the Laplace transforms, Eqs. (E.1) and (E.2) can be written as
 Ms 2
 k  X 1  s   kX 2  s   F0  E.3
 kX 1  s    ms 2  k  X 2  s   0  E.4

Example 5.12
Solution
Equations (E.3) and (E.4) can be solved as
X1 s  2
F0 ms 2  k    E.5

s Mms 2  k  M  m  
F0 k
X 2  s  2  E.6

s Mms 2  k  M  m  

Example 5.12
Solution
Using partial fractions, Eqs. (E.5) and (E.6) can be rewritten as

F0  1 m w 
X1 s   2 2 
 E.7
M ms wM s  w 
2
F0  1 1 w 
X 2  s   2 2 
 E.8
M ms w s w 
2
where  1 1
w2  k     E.9
M m
Example 5.12
Solution
The inverse transforms of Eqs. (E.7) and (E.8), using the results of
Appendix D, yield the time responses of the cars as
F0  m 
x1  s   t  sin wt   E.10
M  m  wM 
F0  1 
X 2  s   t  sin wt   E.11
M m w 

5.11
Solutions Using Frequency Transfer Functions
5.11
Example 5.13
Derivation of Frequency Transfer Functions
Derive the frequency transfer functions of x1(t) and x2(t) for the
system shown in figure.

Example 5.13
Solution
From the free-body diagrams of the masses, the equations of motion

of the system is
m1x1  c1 x 1  k1 x1  c2  x 1  x 2   k 2  x1  x2   p1  P0 sin wt  E.1

m2 x2  c2  x 2  x1   k 2  x2  x1   p2  0  E.2

Example 5.13
Solution
By taking the Laplace transforms of Eqs. (E.1) and (E.2), assuming

zero initial conditions,
m1s 2 X 1  s   c1sX 1  s   k1 X 1  s   c2  X 1  s   X 2  s    k 2  X 1  s   X 2  s    P1  s   E.3

m2 X 2  s   c2  X 2  s   X 1  s    k 2  X 2  s   X 1  s    0  E.4

Example 5.13
Solution
The of Eqs. (E.3) and (E.4) is
D1  s  D2  s 
X1 s   E.5 and X 2  s    E.6
D s  D s 
where
D1  s    m2 s 2  c2 s  k 2  P1  s   E.7 
D2  s    c2 s  k 2  P1  s   E.7 

Example 5.13
Solution
We have
D s    m2 m2  s 4   m1c2  m2 c1  m2 c2  s 3   m1k 2  m2 k1  m2 k 2  c1c2  s 2
  c1k 2  c2 k1  s   k1k 2   E.9
The general transfer functions is
X 1  s  m2 s 2  c2 s  k 2 X 2  s  c2 s  k 2
  E.9 and   E.10
P1  s  D s  P1  s  D s 

Example 5.13
Solution
The frequency transfer functions is
X 1  iw  m2 w2  iwc2  k 2 X 2  iw iwc2  k 2

  E.12 and   E.13
P1  iw D iw P1  iw D iw
where
D  iw  w 4  m1m2  w 4  iw m1c2  m2c1  m2 c2 
 w 2  m1k 2  m2 k1  m2 k 2  c1c2   iw c1k 2  c2 k1    k1k 2 

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Vibration 05

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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

5 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Two-degree-of-freedom systems are defined as systems that

• For simplicity, a two-degree-of-freedom model can be used as

6 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• The general rule for the computation of the number of degrees of

No. of degrees No. of masses in the

7 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• As is evident from the systems shown in figures earlier on, the

• Principle coordinates is defined as any set of coordinates that leads

8 © 2011 Mechanical Vibrations Fifth Edition in SI Units

9 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Consider a viscously damped two-degree-of-freedom spring-mass

10 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• The application of Newton’s second law of motion to each of the

• Both equations can be written in matrix form as

11 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• And the displacement and force vectors are given respectively:

12 © 2011 Mechanical Vibrations Fifth Edition in SI Units

13 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• The solution of Eqs.(5.1) and (5.2) involves four constants of

• Assuming that it is possible to have harmonic motion of m1 and m2

14 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Substituting into Eqs.(5.4) and (5.5),

• Since Eq.(5.7)must be satisfied for all values of the time t, the

which represent two simultaneous homogenous algebraic equations

15 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• For trivial solution, i.e., X1 = X2 = 0, there is no solution. For a

(m1m2 ) 4   (k1  k 2 )m2  (k 2  k3 )m1

which is called the frequency or characteristic equation.

16 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Hence the roots are:

• The roots are called natural frequencies of the system.

17 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• To determine the values of X1 and X2,

18 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• The free-vibration solution or the motion in time can be expressed

The initial conditions are

19 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• The resulting motion can be obtained by a linear superposition of

x1 (t )  x1(1) (t )  x1( 2 ) (t )  X 1(1) cos(1t  1 )  X 1( 2 ) cos(2t  2 )

• The unknown constants can be determined from the initial

20 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Substituting into Eq.(5.15) leads to

• The solution can be expressed as

21 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• We can obtain the desired solution as

  r2 x1 (0)  x 2 (0) 

22 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Find the free-vibration response of the system shown in Fig.5.3(a)

23 © 2011 Mechanical Vibrations Fifth Edition in SI Units

For the given data, the eigenvalue problem, Eq.(5.8), becomes

By setting the determinant of the coefficient matrix in Eq.(E.1) to zero,

24 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The natural frequencies can be found as

The free-vibration responses of the masses m1 and m2 are given by

26 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The solution of Eqs.(E.8) and (E.9) yields

The solution of Eqs.(E.10) and (E.11) leads to

27 © 2011 Mechanical Vibrations Fifth Edition in SI Units