Vibration 07

Mechanical Vibrations
Fifth Edition in SI Units

Singiresu S. Rao
Chapter 7
Determination of Natural Frequencies and Mode shapes
3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

7
Chapter Outline
7.1 Introduction
7.2 Dunkerley’s Formula
7.3 Rayleigh’s Method
7.4 Holzer’s Method
7.5 Matrix Iteration Method
7.6 Jacobi’s Method
7.7 Standard Eigenvalue Problem

7.1
Introduction

7.1
7.1 Introduction
• Computing the natural frequencies and modes by solving a nth

degree polynomial equation can be tedious
• In this chapter we shall consider several other methods:

– Dunkerley’s formula
– Rayleigh’s method
– Holzer’s method
– Matrix iteration method
– Jacobi’s method

7.2
Dunkerley’s Formula

7.2
• It gives the approx. value of the fundamental frequency of a

composite system.
• Consider the following general n DOF system:

1
  k    2  m  0 or   I    a m  0
 2
• For a lumped mass system with diagonal mass matrix, the equation
becomes:
1 0 ... 0  a11 a12 ... a1n  m1 0 ... 0

1 0 1   a21 a22 ... a2 n   0 m2   
 2  0
    0         0
    
0 ... 0 1  an1 an 2 ... ann   0 ... 0 mn 

1
• i.e. 
2
 a11 m1 a12 m2 ... a1n mn
1
a21m1   a22 m2 ... a2 n mn
2 0
  
1
an1m1 an 2 m2 ...   ann mn
2
• Expanding:
n n 1
 1   1 
 
 2   a11m1  a22 m2  ...  ann mn  2 
   
 (a11a22 m1m2  a11a33m1m3  ...  an 1,n 1ann mn 1mn
n2
 1 
 a12 a21m1m2  ...  an 1,n an,n 1mn 1mn ) 2   ...  0 (E.1)
 

• Let the roots of this equation be 1/ω12, 1/ω22,…, 1/ωn2. Thus

n n 1
 1 1  1 1   1 1   1   1 1 1  1 
 2  2  2  2 ... 2  2    2    2  2  ...  2  2   ...  0 (E.2)
  1   2    n      1 2 n   
• Equating coefficients of (1/ω2)n-1 in (E.1) and (E.2):

1 1 1
 2  ...  2  a11m1  a22 m 2  ...ann m n
1 2
2
n
• In most cases,
1 1
 2 , i  2,3,..., n
i2
1

1
• Thus  2  a11m1  a22 m2  ...  ann m (Dunkerley' s formula)
i
• Can also be written as

1 1 1 1
   ... 
i2 12n 22n nn2
where ωin=(1/aiimi)1/2=(kii/mi)1/2

Example 7.1
Fundamental Frequency of a Beam
Estimate the fundamental natural frequency of a simply supported

beam carrying 3 identical equally spaced masses, as shown below.

Example 7.1
Fundamental Frequency of a Beam
Solution
3 l3 1 l3
We have a11  a33  , a22 
256 EI 48 EI
Since m1=m2=m3=m ,
1  3 1 3  ml 3 ml 3
     0.04427
1  256 48 256  EI
2
EI
EI
1  4.75375
ml 3
7.3
Rayleigh’s Method

7.3
• Based on Rayleigh’s Principle
• Kinetic and potential energies of an n-DOF discrete system:
1  1 
T  x T  m x , V  x T  k  x
2 2
  
• Assume harmonic motion to be x  X cos t where X is the
mode shape and ω is the natural frequency

1 T  2
• Maximum KE: Tmax  X  m  X
2
1 T 
• Maximum PE: Vmax  X  k  X
2
• For a conservative system, Tmax=Vmax

T 
X k X
 

  T
2
  R X Rayleigh's quotient
X  m X

• Properties of Rayleigh’s Quotient
  

R X has a stationary
 value when X is in the vicinity of any
eigenvector X r
   1   2   3
X  c1 X  c2 X  c3 X  ...
Proof: T    1 T   1   2T   2   3 T   3
Then X  k  X  c1 X  k  X  c2 X  k  X  c3 X  k  X  ...
2 2 2
T    1 T   1   2T   2   3 T   3
and X  m X  c1 X  m X  c2 X  m X  c3 X  m X  ...
2 2 2
T  T    i T  j   i T  j
Since X  k  X   X  m X and ci c j X  k  X  ci c j X  m X  0,
2
Rayleigh's quotient
  1 T   1   2T   2   3T   3
c1 X  k  X  c2 X  k  X  c3 X  k  X  ...
 
 2 2 2
  R X  2   1 T
2
  1   2T   2   3 T   3
c1 X  m X  c2 X  m X  c3 X  m X  ...
2 2

If normal modes are normalized,

c 
2 2
 c   ...
2 2
 2  1 12 22 2
c1  c2  ...
  r
If X  X , then cr  ci , (i  r )
2
 ci  2
cr r  cr  
2 2 2
 i
i 1, 2 ,...  cr 
 
 ir
RX  2
 ci 
c  c  
2
r
2
r 
i 1, 2 ,...  cr 
ir

    
ci 
Since   i  1, R X  r2 1  0  2 where 0(ε) is an expression in
cr
ε of the 2nd order or higher.
 

i.e. R X differs from by a small quantity of the 2nd order.
i.e. Rayleigh’s quotient has a stationary value in the neighborhood

of an eigenvector.


  1
The stationary value is a minimum value in the neighborhood of X
To see this, let r = 1.

2
 ci  2
1  cr    i
2 2
  i  2 , 3,...  c1 

RX  2
c 
1  cr2   i 
i  2 , 3,...  c1 
 12  
i  2 , 3,...
ii2  12
2

i  2 , 3,...
i
2
 12   
i  2 , 3,...
i
2

 12  i2

In general, Rayleigh’s quotient is never lower than the 1st

eigenvalue.
 

   for i  2,3,...  R X  12
i
2 2
1
 

Similarly we can show that R X  n
2
Rayleigh’s quotient is never higher than the highest eigenvalue.
 

   R X  n2
2
1

• Computation of Fundamental Natural Frequency
Rayleigh’s quotient can be used to approximate ω1.

T 
 X k X
Select a trial vector X and substitute into  T 
X  m X
This will yield a good estimate of 1
2
   1
The closer X
resembles the true mode X , the more accurate is
the estimated ω1.

Example 7.2
Fundamental Frequency of a Three-Degree-of-Freedom System
Estimate the fundamental frequency of vibration of the

system as shown. Assume that m1=m2=m3=m,
k1=k2=k3=k, and the mode shape is
1
  
X  2 
3 
 

Example 7.2
Fundamental Frequency of a Three-Degree-of-Freedom System
Solution  2 1 0 
 k   k  1 2  1
Stiffness matrix  0  1 1 
1 0 0
 m  m 0 1 0
Mass matrix 0 0 1 2 1 0  1 
 
1 2 3 k  1 2  1 2
 0 1 1  3
 
 k k
Substitute the assumed R X  2   0.2143   0.4629
1 0 0 1  m m
mode shape into 1 2 3 m 0 1

0 2

0 0 1 3

• Fundamental Frequency of Beams and Shafts
Static deflection curve is used to approximate the dynamic

deflective curve.
Consider a shaft carrying several masses as shown below.

• Fundamental Frequency of Beams and Shafts
Potential energy of the system is strain energy of the deflected

shaft, which is the work done by the static loads.
1
Vmax   m1 gw1  m2 gw2  
2
For free vibration, max kinetic energy due to the masses is
2
Tmax 
2
 m1w12  m2 w22  
Equating Vmax and Tmax,
g  m1w1  m2 w2  

m1w12  m2 w22  
7.4
Holzer’s Method

7.4
• A trial-and-error scheme to find natural frequencies of systems
• A trial frequency is first assumed, and a solution is found when the

constraints are satisfied.
• Requires several trials
• The method also gives mode shapes

• Torsional Systems
Consider the undamped torsional semidefinite system shown below.
Equations of motion
J11  kt1  2  1   0
J 22  kt1  2  1   kt 2  2   3   0
J   k      0 3 3 t2 3 2

Since the motion is harmonic, θi=Θicos(ωt+φ)
 2 J11  kt1  1   2 
 2 J 2 2  kt1  1   2   kt1  1   2 
 2 J 3 3  k t 2   3   2 
3
Summing these equations gives
 J i i  0
 2
i 1
This states that the sum of the inertia torques of the system must be
zero.
The trial freq must satisfy this requirement.

1 is arbitrarily chosen as 1.
 2 J11 2
 2  1  , 3   2   J11  J 2 2 
kt1 kt 2
3
Substitute these values into  J ii  0 to see whether the

 2
i 1
constraints are satisfied.
If not, repeat the process with a new trial value of ω.

These equations can be generalized for a n-disc system as follows:
n  2
 i 1


 J i i  0
2
i 1
 i   i 1   
kti 1  k 1
J k k , i  2,3,  , n


The graph below plots the torque Mt applied at the last disc against the
chosen ω.
The natural frequencies are the ω at which Mt=0.
The amplitudes (i=1,2,…,n) are the mode shapes of the system

1
Example 7.4
Natural Frequencies of a Torsional System
Solution
The arrangement of the compressor, turbine and generator in a

thermal power plant is shown below. Find the natural frequencies and
mode shapes of the system.

Example 5.4
Solution
This is an unrestrained torsional system.

The table below shows its parameters and the sequence of
computations.

Example 5.4
Solution
Mt3 is the torque to the right of the generator,

which must be zero at the natural frequencies.
Closely-spaced trial values of ω are used in the

vicinity of Mt3=0 to obtain accurate values of
the 1st two flexible mode shapes, as shown.

• Spring-Mass Systems
Holzer’s method is also applicable to vibration analysis of spring-

mass systems.
Equations of motion: m1 x1  k1  x1  x2   0

m2 x2  k1  x2  x1   k 2  x2  x3   0

For harmonic motion, xi(t)=Xicosωt where Xi is the amplitude of
mass mi. Thus
 2 m1 X 1  k1  X 1  X 2 
 2 m2 X 2  k1  X 2  X 1   k 2  X 2  X 3    2 m1 X 1  k 2  X 2  X 3 

• Spring-Mass Systems
 2 m1 X 1
X 2  X1 
k1
2
X3  X2   m1 X 1  m2 X 2 
k2
 2  i 1 
X i  X i 1    mk X k , i  2,3,..., n
ki 1  k 1 
The resultant force applied to the last (nth) mass can be computed as
follows:
 Repeat for several other trial frequencies ω.
 Plot a graph of F vs ω. The natural frequencies are those ω that give
F=0.

7.5
Matrix Iteration Method

7.5
• The method assume that the natural frequencies are distinct and
well separated.
• Procedure
1. Select a trial vector
2. Premultiply it by the dynamical matrix [D].
3. Normalize the resultant column vector.
4. Repeat step 2 and 3 until the successive normalized vectors
converge.

• Proof:    1   2  n
 Expansion theorem X 1  c1 X  c2 X  ...  cn X

 X 1 is a known vector selected arbitrarily.
  1
 X are constant vectors because they depend on the system
properties.
 ci are unknown numbers to be determined.


 Premultiplying X 1by [D]:
   1   2   n
 D X 1  c1  D X  c2  D X  ...  cn  D X
• Proof: i  i 1  i
 Recall:  D  X    I  X  2 X ; i  1,2,..., n
i
  c1   1 c2   2  cn   n 
 Hence  D X 1  X 2  2 X  2 X  ...  2 X
1 2 n

where X 2 is the 2nd trial vector
 Repeating the process for r iterations:
  c1   1 c2   2  cn   n 
 D X r  X r 1  2r X  2 r X  ...  2r X
1 2 n
 Since ω1<ω2<…<ωn, if r is large we have:
1 1 1
 2 r  ...  2 r
12r
2 n
• Proof:
 The only significant we have on the RHS is:
 c1  1
X r 1  2 r X
1
 c1   1
 Since X r  X , ω1 can be found by
12 r 1
X i ,r
  2
1 , for any i  1,2,..., n
X i ,r 1

• Discussion:
 A finite number of iterations is sufficient to obtain a good estimate
of ω1.
   1
 Actual no. of iterations depend on how close X 1 resembles X
 Advantage: Computational errors will not yield incorrect results.


 The method
  i  fails if X1 is exactly proportional to one of the
modes X , i  1

• Convergence to the Highest Natural Frequency

 n
To obtain ωn and the corresponding X
  
 D 1
X    I  X   X where  D    m  k 
2 2 1 1

Select an arbitrary X 1 and premultiply by [D]-1 to obtain an

improved trial vector X
2
The sequence of trial vectors will converge to the highest normal mode
 n
X
Constant of proportionality in this case is ω2 instead of 1/ ω2

• Computation of Intermediate Natural Frequencies

  1
Once ω1 and X is found, we can find the higher natural
frequencies.

Because any X i premultiplied by [D] would lead to the largest
eigenvalue, it is necessary to remove the largest eigenvalue from
[D].

Succeeding λi and Xi
can be obtained by eliminating the root λ1
from the characteristic equation
|[D] – λ[I]|=0

• Computation of Intermediate Natural Frequencies
Procedure:
i   i 1   i 1 T   i 1
To find X , normalize X wrt mass matrix: X  m X  1
Deflated matrix [Di] is constructed as:
  i 1   i 1 T
 Di    Di 1   i 1 X X  m, i  2,3,..., n, and  D1    D
  
Next the iterative scheme X r 1   Di  X r is used, where X1 is an
arbitrary trial eigenvector.

Example 7.5
Natural Frequencies of a Three-Degree-of-Freedom System
Find the natural frequencies and mode shapes of the system as shown
for k1=k2=k3=k and m1=m2=m3=m by the matrix iteration method.

Example 7.5
Solution
1 1 1
1 
Flexibility matrix [a]=[k]-1= 1 2 2
k 
1 2 3
1 1 1
m 
Dynamical matrix is  k  1
 m   1 2 2
k  
1 2 3
1 1 1
  1 2 2 and   k  1
Eigenvalue problem:  D  X   X where  D     m 2
1 2 3

Example 7.5
Solution
1st natural frequency:

1 3
     
Assume X 1  1 , hence X 2   D  X 1  5
1 6
  
By making the first element equal to unity we obtain

1.0000 
   k
X 2  3.01.6667 , 1  3.0, 1  0.5773
2.0000 m
 
Example 7.5
Solution
1st natural frequency:

 
Subsequent trial eigenvector can be obtained from X i 1   Di  X i
 
Corresponding eigenvalues
 are given by 1  X 1,i 1 where X i 1 is the
1st component of X 1,i 1 before normalization.

Example 7.5
Solution

The various λi and X i are shown:
The mode shape and natural

frequency converged in
8 iterations.

Example 7.5
Solution
2nd natural frequency:   1   1 T

Deflated matrix D2  D1      1 X X  m
1.00000 
  1  
Let the normalized vector X   1.80194 
2.24698
  T
1.00000  1 0 0 1.00000 
  1 T   1    
where α must be such that X  m X   2 m 1.80194  0 1 0 1.80194 
2.24698 0 0 1 2.24698
    
  2 m 9.29591  1
Example 7.5
Solution
2nd natural frequency: 0.32799

  1  
X  m 1/ 2 0.59102
α=0.32799m-1/2 , hence 0.73699
 
T
1 1 1 0.327990.32799 1 0 0
 D2   1 2 2  5.04892 0.591020.59102 0 1 0 
 
1 2 3 0.736990.73699 0 0 1
  
 0.45684 0.02127  0.22048
  0.02127 0.23641  0.19921
 0.22048  0.19921 0.25768 
Example 7.5
Solution
2nd natural frequency:

1
 
Let X 1  1
1  0.25763   1.00000 
     
X 
By using the iterative scheme, we obtain 2  0. 05847   0. 25763 0.22695 
 0.16201  0.62885
   
 2  0.25763

Example 7.5
Solution
2nd natural frequency:

Continuing the procedure,
Hence λ2=0.64307,
ω2=1.24701
 1.00000 
k   
, X  2    0.44496 
m  0.80192
 
Example 7.5
Solution
3rd natural frequency:

Use a similar procedure as before.
Before computing [D3], need to normalize
 0.73700 
  2   2  
X to give X   0.32794 
 0.59102
 

7.6
Jacobi’s Method

7.6
• Produces all the eigenvalues and eigenvectors of matrix [D]

simultaneously.
• [D]=[dij] is a real symmetric matrix of order n x n.
• [D] has only real eigenvalues.
• There exists a real orthogonal matrix [R] such that [R]T[D][R] is

diagonal.
• The diagonal elements are the eigenvalues, and the columns of [R]
are the eigenvectors.

• [R] is generated as a product of several rotation matrices of the

form ith column jth column
1 0 
0 1 
 
  
 
 cos   sin   ith row
 R1     jth row
n n 
 
 sin  cos  
  
 
 1
where all elements other than those in column and row i and j are
identical with those of the identity matrix [I].

• If the sine and cosine entries appear in positions (i,i), (i,j), (j,i) and
(j,j), the corresponding elements of [R]T[D][R] is as follows:
d ii  d ii cos2   2d ij sin  cos  d jj sin 2 


d ij  d ji   d jj  d ii  sin  cos  d ij cos2   sin 2  
d ji  d ii sin 2   2d ij sin  cos  d jj cos2 
 2d ij 
• 
If θ is chosen to be tan 2   d  d

 , then d ij  d ji  0
 ii jj 
• Successive matrices converge to the required diagonal form.

Example 7.6
Eigenvalue Solution Using Jacobi Method
Find the eigenvalues and eigenvectors of the matrix using Jacobi’s

method.
1 1 1
[D]  1 2 2
1 2 3

Example 7.6
Solution
First try to reduce d23=2 to zero.

1  2d 23  1 1  4 
1  tan 1    tan    37.981878
2  d 22  d 33  2  23
1 0 0 
 R1   0 0.7882054 0.6154122
0  0.6154122 0.7882054
 1 0.1727932 1.4036176
 D'   R1 T  D R1   0.1727932 0.4384472 0 

1.4036176 0 4.5615525
Example 7.6
Solution
Next try to reduce d13’=1.4036176 to zero.

 2d13  1
  tan 1  
1 2.8072352
2  tan 1    19.122686
2  d11  d 33
  2  1  4.5615525 
 0.9448193 0 0.3275920 
 R2    0 1 0 

 0.3275920 0 0.9448193 
0.5133313 0.1632584 0 
 D   R2 T  D R2   0.1632584 0.4384472 0.0566057 
 0 0.0566057 5.0482211 
Example 7.6
Solution
Next try to reduce d12’’=0.1632584 to zero.

1  2d12  1  0.3265167 
3  tan 1    tan 1    38.541515
2  d11  d 22
  2  0.5133313  0.4384472 
0.7821569  0.6230815 0
 R3   0.6230815 0.7821569 0 
 0 0 1 
 0.6433861 0 0.0352699 
 D   R3 T  D R3    0 0.3083924 0.0442745 
0.0352699 0.0442745 5.0482211 
Example 7.6
Solution
Assume that all the off-diagonal terms in [D”’] are close to zero.
Hence the eigenvalues are 0.6433861, 0.308924 and 5.0482211.
The corresponding eigenvectors are given by

 0.7389969  0.5886994 0.3275920 
 R    R1  R2  R3    0.3334301 0.7421160 0.5814533 
 0.5854125  0.3204631 0.7447116 
7.7
Standard Eigenvalue Problem

7.7
 
The eigenvalue problem  k  X    m X can be written in the form
2
•
of a standard eigenvalue problem
  1
 D X  X where  D   k   m and   2
1

Procedure:
• Use Choleski decomposition and express [k] as: [k]=[U]T[U] where
[U] is an upper triangular matrix.
 
Eigenvalue problem:  U  U  X   m X
T
•

Procedure:
• Premultiplying by ([U]T)-1,


 U  X  U  T  1 

 m X  U T  1
 mU  1

U  X (Eq.A)
  
• Define a new vector Y as Y  U  X
• Eq.A becomes  D Y

 

Y where  D   U  T
  1
 mU  1
 i 
• Its solution yields λi and Y
• Apply inverse transformation to find the desired eigenvectors.
i 
X  U  Y
1  i 

• Choleski Decomposition
Any symmetric and positive definite matrix [A] of order n x n can

be decomposed uniquely.
u11 u12 u13  u1n 
0 u22 u 23  u2 n 
[A]=[U]T[U] where 
U    0 0 u33  u3n 
 
 
 0 0 0  unn 
a
with u11   a11  ,
1/ 2
u1 j  1 j , j  2,3,..., n uij  0, i  j
u11
1/ 2
1  i 1
2  1  i 1

uii   aii   u ki  , uij   aij   uki ukj , i  2,3,..., n and j  i  1, i  2,...
uii  k 1  uii  k 1 

• Choleski Decomposition
If the inverse of [U] is denoted as [αij], the elements αij can be

determined from
1
[U][U]-1=[I] which gives  ii 
uii
1  j 
 ij    uik kj , i  j
uii  k i 1 
 ij  0, i  j
Thus the inverse of [U] is also an upper triangular matrix.

Example 7.7
Decomposition of a Symmetric Matrix
Decompose the matrix into the form [A]=[U]T[U]
5 1 0
 A  1 3 2
3 2 8

Example 7.7
Solution
u11  a11  5  2.2360680

u12  a12 / u11  1 / 2.2360680  0.4472136
u13  a13 / u11  0
u22  a22  u122  3  0.44721362  1.6733201
u23   a23  u12u13  / u22   2  0.4472136  0 / 1.6733201  1.1952286
u33  a33  u132  u23
2
 8  0 2  1.19522862  2.5634799

Example 7.7
Solution
Since uij=0 for i>j, we have
2.2360680 0.4472136 0 
U    0 1.6733201 1.1952286
 0 0 2.5634799

Vibration 07

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Vibration 07

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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

• Computing the natural frequencies and modes by solving a nth

• In this chapter we shall consider several other methods:

6 © 2011 Mechanical Vibrations Fifth Edition in SI Units

7 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• It gives the approx. value of the fundamental frequency of a

• Consider the following general n DOF system:

8 © 2011 Mechanical Vibrations Fifth Edition in SI Units

9 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Let the roots of this equation be 1/ω12, 1/ω22,…, 1/ωn2. Thus

• Equating coefficients of (1/ω2)n-1 in (E.1) and (E.2):

10 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Can also be written as

11 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Estimate the fundamental natural frequency of a simply supported

12 © 2011 Mechanical Vibrations Fifth Edition in SI Units

14 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Based on Rayleigh’s Principle

• Kinetic and potential energies of an n-DOF discrete system:

15 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• For a conservative system, Tmax=Vmax

16 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Properties of Rayleigh’s Quotient

17 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Properties of Rayleigh’s Quotient

If normal modes are normalized,

18 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Properties of Rayleigh’s Quotient

ε of the 2nd order or higher.

i.e. Rayleigh’s quotient has a stationary value in the neighborhood

19 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Properties of Rayleigh’s Quotient

To see this, let r = 1.

20 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Properties of Rayleigh’s Quotient

In general, Rayleigh’s quotient is never lower than the 1st

Rayleigh’s quotient is never higher than the highest eigenvalue.

21 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Computation of Fundamental Natural Frequency

Rayleigh’s quotient can be used to approximate ω1.

22 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Estimate the fundamental frequency of vibration of the

23 © 2011 Mechanical Vibrations Fifth Edition in SI Units

0 0 1 3

• Fundamental Frequency of Beams and Shafts

Static deflection curve is used to approximate the dynamic

Consider a shaft carrying several masses as shown below.

25 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Fundamental Frequency of Beams and Shafts

Potential energy of the system is strain energy of the deflected

Equating Vmax and Tmax,

27 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• A trial-and-error scheme to find natural frequencies of systems

• A trial frequency is first assumed, and a solution is found when the

• Requires several trials

• The method also gives mode shapes

28 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Consider the undamped torsional semidefinite system shown below.

29 © 2011 Mechanical Vibrations Fifth Edition in SI Units