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Problems

Problems
6.1. Determine the differential equation of motion of the two degree of freedom
system shown in Fig. PI. Obtain the characteristic equation and determine the
natural frequencies of the system in the special case of equal masses and spring
constants.

FIG. P6.l
6.2. Determine the differential equations of motion for the double pendulum shown
in Fig. P2 in terms of the coordinates 81 and 82 Identify the system mass and
stiffness matrices.

FIG. P6.2
6.3. Determine the differential equations of motion of the double pendulum shown
in Fig. P2 in terms of the coordinates Xl and X 2 . Identify the system mass and
stiffness matrices.
6.4. In the previous two problems, if m1 = m2 and 11 = 12, obtain the characteristic
equation and determine the natural frequencies of the system and the amplitude
ratios.

292

6. Two Degree of Freedom Systems

6.5. In Problem 1, if m 1 = m 2 = 10 kg and k1 =


system response to the initial conditions
X 10

= 0.02 m,

X 20

k2

k3

= 1000 N/m, determine the

= 0,

6.6. In Problem 2, if m 1 and m2 = 0.5 kg and 11 = 12 = 0.5 m, determine


function of time provided that the initial conditions are

{}1

and

{}2

as

6.7. Write down the differential equations of motion of the two degree of freedom
system shown in Fig. P3. Identify the system mass and stiffness matrices. Obtain
the characteristic equation and determine the system natural frequencies and
amplitude ratios in the following special case

a=b

FIG.

P6.3

6.8. In Problem 7, ifm1 = m 2 = 0.5 kg, a = b = 0.25 m, and k = 1000 N/m, determine
the response of the system to the initial conditions

820 = 3 radls
6.9. Determine the differential equations of motion of the two degree of freedom
system shown in Fig. P4. Identify the system mass and stiffness matrices. Obtain
the characteristic equation and determhle the system natural frequencies W 1 and
w2

Massless
rod

FIG.

P6.4

Problems

293

6.10. In Problem 9, ifml = m2 = 0.5 kg, I = 0.5 m, and k = 1000 N/m, determine the
system response to an initial displacement of 0.02 m to the mass m2.
6.11. Determine the differential equations of motion of the two degree of freedom system shown in Fig. P5. Identify the system mass and stiffness matrices.
Obtain the characteristic equation and determine the natural frequencies of the
system.

m,l, I

FIG. P6.5
6.12. Determine the differential equations of motion of the two degree of freedom
system shown in Fig. P6. Identify the system mass and stiffness matrices. Obtain
the characteristic equation and determine the natural frequencies WI and W 2 .
Assume small oscillations for the two rigid bodies.

FIG. P6.6

6.13. Determine the differential equations of motion of the two degree of freedom
system shown in Fig. P7. Identify the system mass and stiffness matrices.
6.14. Derive the differential equations of motion of the two degree offreedom system
shown in Fig. P8. Assume small oscillations.

294

6. Two Degree of Freedom Systems


m,I, I

FIG. P6.7

FIG. P6.8

6.15. Determine the differential equations of motion of the two degree of freedom
system shown in Fig. P9. Identify the system mass, stiffness, and damping
matrices.
6.16. In Problem 15, ifml = m2 = 5 kg, kl = k z = 1000 N/m, and C 1 = Cz = C 3 = 10
N's/m, determine the system response as a function of time due to an initial
displacement of m 2 equal to 0.01 m.
6.17. Determine the differential equations of motion of the system shown in Fig. PlO.
Determine the system natural frequencies.
6.18. Derive the differential equations of motion of the two degree of freedom system
shown in Fig. Pl1. Identify the system mass, stiffness, and damping matrices.
6.19. Derive the differential equations of motion ofthe two degree of freedom system
shown in Fig. P12.
6.20. Derive the system differential equations of motion of the two degree of freedom
system shown in Fig. P13. Identify the system mass, stiffness, and damping
matrices.

Problems

FIG.

P6.9

FIG.

P6.10

m,I

FIG.

P6.11

295

296

6. Two Degree of Freedom Systems

FIG. P6.12

FIG. P6.13
6.21. In Problem 20, ifm1 = m 2 = 0.5 kg, 1= 0.5 m, k = 1000 N/m, and c = 10 N slm,
determine the system response as a function of time to an initial angular displacement 01 = 30.
6.22. Derive the dfferential equations of motion of the two degree of freedom system
shown in Fig. P14.
m1

m2

m3

21/3

~
FIG. P6.14
6.23. In Fig. P12, let m1 = m2 = 10 kg, 1= 1 m, k = 1000 N/m, and c = 10 N slm,
determine the response of the system as a function of time due to an initial
rotation of the rod equal to 20.

Problems

297

6.24. Determine the forced response of the two degree of freedom system shown in
Fig. PIS to the harmonic forcing function F(t).

k2

F(t) = Fo sin wet

FIG. P6.15
6.25. Determine the forced response of the two degree of freedom system shown in
Fig. P16 to the base excitation y = Yo sin wft.

y = Yo sin wet
~

.o~{)m, J
bJo m
FIG. P6.I6

6.26. Assuming small oscillations, derive the differential equations of motion of the
two degree of freedom system shown in Fig. PI7. Determine the response of the
system, as a function of time, to the harmonic forcing function T(t).
6.27. Assuming small oscillations, derive the differential equations of motion of the
two degree offreedom system shown in Fig. PI8. Determine the system response
to the harmonic forcing function F(t).
6.28. Derive the differential equations of motion of the system shown in Fig. PI9, and
determine the system response as a function of time.

298

6. Two Degree of Freedom Systems

T(t) = To sin w,t

FIG. P6.17

F(t) = Fo sin w,t

FIG. P6.l8

F(t) =
Fo sin w,t

FIG. P6.19

Problems

299

6.29. Derive the differential equations of motion of the system shown in Fig. P20, and
obtain the response of the system to the forcing function T(t).

FIG. P6.20

6.30. Derive the differetial equations of motion of the two degree of freedom system
shown in Fig. P21, and obtain the steady state solution as a function of time.

y = Yo sin wft

...

FIG. P6.21

6.31. Derive the differential equations of motion of the system shown in Fig. P22, and
obtain the steady state solution as a function of time.
T(t) = To sin wft

I
FIG. P6.22

300

6. Two Degree of Freedom Systems

6.32. Determine the steady state solution of the two degree offreedom system shown
in Fig. P23.

T(t) = To sin wft

FIG. P6.23
6.33. Determine the steady state solution of the two degree of freedom system shown
in Fig. P24.
m,l, I

F(t) = Fo sin wft

FIG. P6.24
6.34. Study the effect of the Houdaille (viscous Lanchester) damper on the vibration
of a rotating system. Find the steady state solution of Eq. 144 and study the effect
of the viscous damping coefficient c on the system response.
6.35. In Problem 34 determine the optimum damping factor for which the peak
amplitude is minimum.

342

Answers to Selected Problems

CHAPTER 6
2

= (2 + j2)k ,

6.1.

W1

6.5.

Xl (t)

2
W2

(2 - j2)k
m

= -0.0171 sin ( 18.48t -

x 2 (t) = 7.07 x 10- 3 sin ( 18.48t

6.9. wi=O,

k(ml

~) + 2.927

-~)

7.07

10- 3 sin (7.65t


X

10- 3 sin (7.65t

+ m2)

W2=~~-=

6.11. wi = 0,

613
617

+:

[m,I' +~ ~J[:}[ ~~I -:I][:}[~J


2
W1

= -b + Jb 2

a= mI,
C

= klk 2a(1

4ac

2a
b = -[(kl

2 _
W2 -

-b - Jb 2
2a

klk2/2

4ac

--~---

+ k 2)I + k 1 ma + k2;/2]

+ I) + - 4 -

+ ~)

+~)