M.

E CAD 2015
ADVANCED VIBRATION ENGINEERING SPR5106
UNIT 1: FUNDAMENTALS OF VIBRATION
Introduction -Sources of Vibration-Mathematical Models- Displacement, velocity and AccelerationIntroduction to Single Degree of Freedom Systems: Free, Forced, Damped and Undamped systems. Two
Degree Freedom System: Free, Damped and Undamped systems -Forced Vibration with Harmonic
Excitation System Coordinate Couplings and Principal Coordinates.
INTRODUCTION
The number of independent co-ordinatesnvolved to define completely the motion of a
system/model constitutes the degrees of freedom.
System Type

Number of Degrees of Freedom

Discrete

Continuous

Systems

Systems

Finite:
Single,
Double,

Infinite
degrees

Multiple n degrees
Number of Natural
Frequencies

Same as the number of (n) degrees of freedom

Infinite for continuous systems

Analysis
1. System definition / description / modeling/sketch
2. Formulation of equations
3. Solution to equations
4. Interpretation of results
5. Applications Units 4 & 5)
Methods of Formulation of Equations
(i) Equilibrium or (ii) Energy methods
In the syllabus Newtons Law (a) stiffness & (b) flexibility methods only are included.
Both are equilibrium methods.
Solution Methods
(i)Exact methods & (ii) Approximate methods; (nothing about approx in syllabus)

S DoF SYSTEM
There are so many examples possible. Here, only a spring- damper-mass model is chosen
for analysis.
Mass x Acceleration = Applied Force in the same Direction of the
Acceleration ma = F

Free Vibration

mx cx kx

(1)

mx cx kx 0

(2)

x (c / m) x (k / m) x 0

(3)

(k / m) n2

Solution:

x(t ) Ae t
1, 2 = - (c/2m) [(c/2m)2 k/m]
Since k/m = 2, the radical in (6.8) can be rewritten as
(2 1)
where,

= c / 2m = c/cc

By definition

cc = 2m = 2(km)

From Eq (6.9)

c/2m =

and therefore c/m = 2

Similarly,
c/k = c (2m/2m) k = 2(c/2m)(m/k) = (c/m) / 2

c/k = 2 /
Important: Eqns (6.9), (6.10), (6.10A) & (6.10B) will be required frequently in future
derivations.
Now (6.8) becomes
1, 2 = - ( ) (2 1)
Under-damped - Vibratory motion
If < 1, [2 1] < 0, -ve,
1, 2 = - ( ) i(1 - 2)
( = 0 ie c = 0 is the case of undamped vibratory motion)
Now let us denote / define
=(k/m) = n = undamped natural frequency
n(1 - 2) = d = damped natural frequency
Note: The damped natural frequency d is less than the undamped natural frequency
n or d < n
The roots (6.12) now are expressed as
1, 2 = - ( n) id
In terms of A & B:

x(t ) ent ( A sin d t B cos d t )

Displacement
Velocity:

x (t ) e nt [cos d t ( Ad Bn ) sin d t ( Bd An )

In terms of C & :
Displacement:

x(t ) Cent sin(d t )

Velocity: x (t ) Ce nt [d cos(d t ) sin d t ( Bd An )
7. Logarithmic Decrement
ln(X0 / Xn) = n = n ( n) Td
The is called logarithmic decrement (of amplitude ratios) and is related to damping
ratio .

 = 2 / (1 - 2)
8. Application of Initial Conditions (ICs)
Let the initial conditions be: x(0) =X and x (0) = V.

x(t ) ent ( A sin d t B cos d t )

x(0) X 1(0 B) B
B=X

x (t ) e nt [n ( A sin d t B cos d t ) d ( A cos d t B sin d t )]

V = 1[- n(0 + B) + d A)
A = [1/(1 - 2)][V/ n + X ]
8.1 Special case: Starting from rest: V = 0
A = X [ /(1 - 2)]
B =X
Exercise 5(Seriously do it now itself)
The response of a damped free vibration of a single degree of freedom system is
given by
x(t) = e-12t (4 cos16 t + 3sin16 t)
Find
(i) Initial displacement
(ii) Initial velocity
(iii) Initial acceleration *
(iv) Damping ratio,
(v) Logarithmic decrement,
(vi) Damped natural frequency, fd in Hz
(vii) Undamped natural frequency, fn in Hz
If mass of this system is 10 kg find
(viii) the stiffness of spring
(ix) the critical damping coefficient cc
(x) the damping coefficient c

(xi) Calculate x, v & a at t = /32 seconds.

(xii)Express in the form x(t ) e nt C sin(d t )
5. FORCED VIBRATION
Single Degree of Freedom System
In forced vibrations the agent causing the disturbance continues to act on the system.
The response is represented by the particular integral solution.
Single Degree of Freedom System both undamped and damped
a) Step Forcing
b) Sinusoidal (as applied to vibration Isolation and vibration measuring
Instruments)
1 SINGLE DoF SYSTEM UNDAMPED
(This undamped system is only a special case of damped system, which is more
important)
Step Function:
The equation of motion is

mx kx f (t )
A constant force f(t) = Fo is applied suddenly at t = 0.

mx kx Fo
Find particular solution using differential operator, D
x = (Fo/m 2) = (Fo/m)/2 = Fo/k
This is the steady state solution, the particular integral (final value, even if there is
damping)

Figure 2

Total response consists of complementary solution xC and particular integral xP

x(t) = A sin t + B cos t + (Fo/k)
A specific example:
The system is loaded suddenly with a force Fo from rest.
Initial conditions are: x(0) = v(0) = 0. Therefore A= 0 and B = - (Fo/k) and the response is
x(t) = (Fo/k)( 1 - cos t)
This also could be expressed as
x(t) = [(Fo/m)/2]( 1 - cos t)
Eq is used in Modal Analysis
Note: Thus a suddenly applied load causes a maximum stress twice that of a gradually
applied load.
Exercise 1: Consider step force Fo and study free vibration of a single degree freedom
damped system, for initial conditions: x (0) 0 & x (0) 0 .
Note x(t) = xc + xp & xp = Fo/k
Answer: x (t ) ( Fo / k ){1 e t [cos d t ( / 1 2 ) sin d t ]}
Exercise 3: Apply a sudden displacement = Yo to the support.
The initial conditions: x (0) Yo & x (0) 0 .
Answer: x (t ) Yo e t [( / 1 2 ) sin d t cos d t ]
2

SINUSOIDAL FORCE-ON-MASS EXCITATION (Fig 2)

mx cx kx Fo sin t
Now dividing (5.8) by m and using the D operator

x(t ) ( Fo / k ) sin(t ) / [(1 r 2 )2 (2 r ) 2 ]0.5

Note: A different approach is adopted in Unit 2, for multi-degree freedom system, which
can also be used here.
Eq (5.15) can be expressed as
x(t) = X sin ( t )
where the amplitude of x(t) is X:

X ( Fo / k ) / [(1 r 2 )2 (2 r ) 2 ]0.5
Let

Xo = Fo/k

The amplitude X in non-dimensional form, is therefore

1

( X / Xo) 1/ [(1 r 2 )2 (2 r ) 2 ] 2
Note: Eq(5.19) is the popular standard equation; almost all other results are derived
from this. See Fig 3(a.) Be thorough with this.

Figure 3(a)

Figure 3(b)
The motion X lags the exciting force Fo by a phase angle ,[See Fig 3(b)] that depends
on the damping factor as well as exciting frequency , hence r.

tan = B/A = (2 r)/ (1- r2)

See Fig 3(b)

OTHER FORMS OF SINUSOIDAL EXCITATIONS ON MASS

1. Centrifugal Force type Excitation (Fig 6a)
2. Reciprocating Mass & Excitation - Figure 6(b)

Figure 6(a)

Centrifugal Type Force

Figure 6(b)

Reciprocating Type Force

1.
Centrifugal Force type Excitation (Fig 6a)
The disturbing/exciting force is ( me 2 e) sin t. Then simply substitute (me e 2) for
Fo in (5.17) (5.19). In non-dimensional form
1

(mX / me e) r 2 / [(1 r 2 ) 2 (2 r ) 2 ] 2

(5.19A)

The RHS of Eq (5.19A) differs from RHS of Eq (5.19) having r2 in numerator. The nondimensional plot therefore will start from zero. At r = , RHS = 1. Here Fig 3a will not
apply. Fig 6(c) will be appropriate. The phase relation remains the same as in Fig 3(b)

Fig 6(c)
2. Reciprocating Mass & Excitation - Figure 6(b)
In a reciprocating engine complete balancing is not possible in every case. For example in a
single cylinder engine, [See Fig 6(b)], the crank pin experiences, through the connecting rod.
The effect of the primary unbalanced force exerted by the reciprocating piston mass which
is reduced as an equivalent unbalanced mass me at the crank pin at an eccentricity = e
crank radius = stroke/2. Then the problem is same as that with the rotating unbalanced
mass and its solution is same as (5.19A). Fig 6(c) is relevant to this.
MAXIMUMM RESPONSE
(x/x0)/ = 0, = r2
1) For the constant amplitude sinusoidal force Fo excitation case, the maximum amplitude
occurs at rmax = (1 22)
The maximum amplitude is

(X/X0)max = 1/[2 (1 2)].

Special cases: a) For r = 1, X/X0 = 1/2

For = 0.5. rmax = 1/2 < 1. (X/X0)max = 2/3 = 1.1547
2) For the unbalanced (centrifugal - sinusoidal) force excitation case, the maximum
amplitude occurs at rmax =1/ (1 22) and the maximum amplitude is (same) (mX/me e)
max = 1/[2 (1 2)].
Special cases: a) For r = 1, (mX/ me e) = 1/2
For = 0.5. rmax = 2 > 1. (mX/ me e)max = 2/3 = 1.1547
SUPPORT EXCITATION (Fig 4)
(Also same as motion isolation)

1.
The disturbing motion is in the support.
2.
The motion is transmitted from the support to the mass.
a.
This is done through both the spring and the damper.
Note: In this case the spring force and damper force are due to relative motion (x
y) and relative velocity (vx - vy) and there is no external force applied on the mass.
The equation of motion is

mx c ( x y ) k ( x y ) 0

(5.32)

Or

mx cx kx cy ky f (t )

(5.33)

Let the support disturbance be

y(t) = Y sint

(5.34)

Then the force transmitted to the mass

f(t) = k Ysin t + c cos t ]

(5.35)

f(t) = k Y[sin t + (c/k) cos t ]

(5.35A)

f(t) = kY [1 +(2 r)2] sin(t + )

(5.36)

tan = (2 r)
Comparing this with (5.7), we can identify that
Fo kY [1 +(2 r) 2]

(5.37)

The solution for X therefore is from (5.19)

( X / Y ) [1 (2 r ) 2 ]0.5 / [(1 r 2 )2 (2 r )2 ]0.5

(5.38)

with a further phase difference of (- ), phase = ( )

MAXIMUM RESPONSE: (TR)max
The maximum amplitude of (X/Y) (also in this case motion Transmissibility Ratio, (TR)max
occurs at r = rmax ,
max = (rmax) 2 = - (0.25/ 2) + [(0.25/ 2) 2 + 0.5/ 2]0.5

(A)

*How do we get equation (A) for max? Set (TR)/ = 0

Now that max is given, compute (TR)max for << 1, from (B)
(TR) = (X/Y) = {1 + ((2 )2 / [(1 ) 2 + (2 ) 2]}0.5

(B)

Note that the maximum would occur below the resonant frequency. That is, rmax < 1.
For example for = 0.5, ,

(rmax) 2 = max = -1 + (1 + 2) = (3 1) = 0.732 < 1

(TR)max = {1 + ((2 )2 / [(1 )2 + (2 )2 ]} 0.5
= {1 + (3 1) / [(1 3 + 1)2 + (3 1)]} 0.5
= {3) / [(2 3 )2 + (3 1)]} 0.5
= {3 / (6 - 33) }0.5 = 2.1547 = 1.469
For = 1
(TR) = [(1 + 1)/(0 + 1)] 0.5 = 2 = 1.414
Note (TR) (at = 1) = 1.414 is less than (TR)max = 1.469
EXAMPLE
An automobile is modeled as a single degree-of-freedom system to study its vertical
vibration response. Its mass is 2000 kg, spring constant 200 kN/m and damping factor 0.5.
The road unevenness is modeled as a sine wave of 100 mm double amplitude (hill-to-valley)
with a wavelength of 10 m.
a) Find the amplitude of vertical vibration of the car (motion transmitted to the car), when
the speed of the car is 108 km/hr
(4marks)
b) What will be the amplitude at this speed, if there is no damping? (It will be smaller)
(1mark)
c) If the amplitude is smaller with no damping, then why do we use damping?
(1mark)
d) What will be the worst speeds that causes resonance/maximum amplitude for (i) = 0
and (2) = 0.5?
(2marks)
[Use expressions found for maximum amplitude]
e) Find the amplitude at these speeds.
SOLUTION
We need to compute .
Go back to 10th standard: Velocity = frequency x wave length.
Velocity =108 kmph = 108 x 1000 /3600 m/s = 108/3.6 = 30 m/s
Wave length = 10 m (Road waviness)
Frequency of excitation = ? (in cycles per second), f = 30/10 = 3 cycles/s or Hz.
2f = = 6 = 18.85 rad/s
Natural frequency of auto suspension: n2 = k/m =200 x1000/2000 = 100
n = 100 =10 rad/s

= (18.85/10) 2 =1.8852 = 3.553225

(2marks)

(a) Y = 100/2 = 50 mm. X = ?

(TR) = (X/Y) = {[1 + (2 ) 2 ]/ [(1 ) 2 + (2 ) 2]} 0.5

(B)

The rest is same as Problem 1 Do yourself to avoid disappointment in

Tests & Exam.
(TR) = (X/Y) = {[1 + (1)2 3.553 ]/ [(1 3.553) 2 + (1) 23.553]}0.5
= {4.553/ [( 2.553) 2 + 3.553]} 0.5 = 0.6748;
X = 0.6748 x 50 = 33.74 mm
b) For no damping X = 50 x 1/(3.553 - 1) = 50/ 2.553 = 19.58 mm < 33.74
c) With damping X is higher. Not advantageous. Yet damping is required to avoid damage
while crossing the resonant speed.
d) The worst speed is where the TR is maximum.
The condition for maximum leads to
(2 ) 2 2 + 2 - 2 = 0
That in turn leads to
max = (rmax) 2 = - (0.25/ 2) + [(0.25/ 2) 2 + 0.5/ 2]0.5

(A)

= 0.5: = -1 (1 + 2) = (3 -1 = 0.732 r = 0.8556

= n r = 0.8556 x 10 = 8.556 f = /2 = 1.362
V = f x wave length = 1.362 x 10 = 13.62 m/s = 13.62 x 3.6 = 49 km/h
e) Maximum X
i) = 0: = 1; r = 1; X
ii) = 0.5: = -1 (1 + 2) = (3 -1 = 0.732 r = 0.8556; 2 = 1
X = 50 x {(1 + 0.732)/[(1 0.732) 2 + 0.732]}0.5
= 50 x {1.732/0.8}0.5 = 73.57 mm
11 2-DoF FREEDOM SYSTEMS
There could be several examples to a 2-DoF system.
However for our purpose of studying basics, we will consider a 2-mass 3-spring system: (Fig
13)

Fig 13

Semi-Definite System
Newtons law of motion in its simplest form:
Mass x acceleration = Impressed force(s) in the same direction of
the acceleration
Two equations of motions, one each of the two masses m1 and m2:

m1
x1 k1 x1 k2 ( x1 x2 ) f1 (t )

(1.1)

m1
x1 k1 x1 k2 ( x1 x2 ) f1 (t )

(1.2)

m1
x1 (k1 k2 ) x1 k2 x2 f1 (t )

(1.2A)

Similarly

m2
x2 k3 x2 k2 ( x2 x1 ) f 2 (t )

(1.3)

Or

m2
x2 k3 x2 k2 ( x2 x1 ) f 2 (t )

(1.4)

m2
x22 (k2 k3 ) x2 k2 x1 f 2 (t )

(1.4A)

Or

Note: the static coupling between the two equations (1.2A) and (1.4A) through the
displacements. In first x1 equation, displacement x2 is found. In second x2 equation,
displacement x1 is found. Both are displacements. There is no dynamic coupling through
accelerations.
In a matrix form

m1
0

0
x1 (k1 k2 )
k2 x1 f1 (t )

(k2 k3 ) x2 f 2 (t )
m2
x2 k2

(1.5)

Note: If numerical values are given use them now itself

In a symbolical form (1.5) can be expressed as

M x K x F

(1.6)

where

m12 m1

m22 0

M m11

21

0
m2

(1.7)

Here there is no dynamic coupling.

K k11

21

k12 (k1 k2 )
k2

(k2 k3 )
k22 k2

(1.8)

Note coupling term (k12) = (k21) = (-k2), keeping symmetry.

f1 f1 (t )

f 2 f 2 (t )

(1.9)

The solution will have two parts:

1 Complementary solution
2 Particular integral
2. Complementary Solution - Free vibration
The complementary solution is obtained by setting both the elements on the right side equal
to zero. This is also the equations of motion of free vibration. Therefore (1.5) leads to

m1
0

0
x1 (k1 k2 )
k2 x1 0

(k2 k3 ) x2 0
m2 x2 k2

(2.1)

Equations (1.5) and (2.1) each is a set of two equations of second order linear
differential type. The solutions of (2.1) will have both sine and cosine functions of (t). But
without loss of generality let the solution be of the sine type only now for ease of solution:

xi (t ) X i sin t

(2.2)

The acceleration, therefore is

xi (t ) 2 X i sin t

(2.3)

Substituting (2.2) and (2.3) in (2.1) and striking out sin t, the common term we get

k2 X 1 0
m1 0 2 X 1 (k1 k2 )

0 m 2 k
(k2 k3 ) X 2 0
2

2 X 2

X1
Taking
as common factor in (2.4)
X2
(k1 k2 ) m1 2

k2

(2.4)

X1 0
k2

2
(k2 k3 ) m2 X 2 0

(2.5)

The square matrix is the characteristic matrix of the eigen value problem. Here it is called the
frequency matrix.
Solution:
The determinant of this matrix equated to zero gives a quadratic equation and has two
roots for 2, since it is a two degrees-of-freedom system.

(k1 k2 ) m1 2
k2

(A)

k2
0
(k2 k3 ) m2 2

Use numerical values & proceed. Dont mug up.

Example 1
If k1 = k, k2 = k3 =2k all in N/m; m1= m and m2 = 2m in kg, find the two natural
frequencies.
Solution:

3k m 2
2k

2 k
0
4k 2m 2

( B)

Dividing by k and letting (m 2 / k )

3
2

2
0
4 2

(3- )(4 - 2) 4 = 0
2 2 - 10 + 8 = 0
= 2.5 [(2.5) 2 4] = 2.5 [2.25] = (1, 4)
12, 22 = 1 k/m, 4 k/m
1 = 1k/m &

2 = 2k/m

Smaller is the First frequency?????????????????????????

(C )

VERY VERY IMPORTANT:

,s are in radians per second( rad/s), if only k is in N/m and m is in kg.
3. Mode Shapes
The eigen vectors are called mode shapes in vibration studies. For each frequency there
will be one mode: first mode (Mode I) and second mode (Mode II) and first and second
mode shapes.
To find the mode shapes, let us go to (B or C)
Take first row

(3 ) X 1 2 X 2 0

(3.3)

Mode I: 1 = 1 k/m. The motion is set to vibrate only in the first frequency. Substituting in row
one, to find that
X1 = X2 or X2 / X1 = 1
This first mode ratio is denoted as (X2 / X1)1 = 1. We will need it later
1 = 1 in this case, shows that both masses move together in the same direction, with
equal amplitude, in the first mode with the first or fundamental frequency.
Mode II: 2 = 4k/m. The motion is set to vibrate only in second frequency. Substituting in row
one, to find that
X1 = - 2X2 or X2 / X1 = - 0.5 = 2
2 = (- 0.5) shows that the masses move in opposite directions, mass 2(the heavier
mass) having half the amplitude of that of mass 1(the lighter mass) here.
Modal Matrix
The mode shapes are expressed in a matrix form

II
I

1
Modal (columns) Matrix: [G] = 1

1 0.5

(3.1)

4. Solution for Free Vibration Motion: General Complementary Solution

x1(t) = A sin 1t + B cos 1t + C sin 2t + D cos 2t
x2(t) = 1 A sin 1t + 1B cos 1t + 2C sin 2t + 2D cos 2t (4.2)
Example 2:
In Example 1, if m = 10 kg and k = 1000 N/m,
a)
b)

find the natural frequencies in Hertz,

If x1(0) = 10 mm; x2(0) = 0; v1(0) = 0 and v2(0) = 10 mm / sec,

(4.1)

write down the resulting expressions for x1(t) and x2(t) &
c)

find displacements, velocities and accelerations of the two masses after 20 seconds.
Solution:

a)

12 =k/m = 1000/10 = 100; 22 = 4 k/m = 400; 1 = 10; 2 = 20 radians/sec;

/2 Hertz
f1 = 1.592 Hertz;
f2 = 3.184 Hertz.
b)
Applying initial displacements in (4.1) and (4.3)
x1(0) = 10 mm = B + D
(1)
x2(0) = 0 mm = 1B + 2 D = B - 0.5 D
B = 0.5 D

f=

(2)
(3)

Therefore from (1) & (3)

1.5 D = 10
D = 10/1.5 = 20/3 mm;

B = 0.5D = 10/3 mm

The velocities of the masses are

v1(t) = 1A cos 1t - 1 B sin 1t + 2 C cos 2t 2 D sin 2t
For t = 0
v1(0) = 0 = k/m)A + 2(k/m) C

(4)

A=-2 C
v2(t) = 11A cos 1t - 1 1 B sin 1t + 22 C cos 2t 22 D sin 2t
For t = 0
v2(0) = 10 = k/m) A 0.5 (2k/m) C

(5)

From (4) and (5), noting that k/m = 100,

- 3(k/m) C = 10; C = - 1/3 mm; A = 2/3 mm
The general equations of motion are
x1(t) = (2/3) sin 1t + (10/3) cos 1t - (1/3) sin 2t + (20/3) cos 2t
x2(t) = (2/3) sin 1t + (10/3) cos 1t + (1/6) sin 2t - (10/3) cos 2t
c) For, 1 = 10 and 2 = 20 and for t = 20 s,
x1(t) = (2/3) sin 200 + (10/3) cos 200 - (1/3) sin 400 + (20/3) cos 400
x2(t) = (2/3) sin 200 + (10/3) cos 200 + (1/6) sin 400 - (10/3) cos 400
Compute the numerical values, yourself. Values 200 & 400 in sine & cosine are not degrees.
They are t radians.
Let us think in the example, say k3 = 0.

The characteristic matrix ( See 2.10) becomes

(k1 k2 ) m1 2

k2

X1 0

k2 m2 X 2 0
k2

The frequency determinant becomes

(k1 k2 ) m1 2

k2

k2

k2 m2 2

It could be solved as usual.

5. Semi-definite System
If in the example k1= k3 = 0, the system is not constrained externally and is free to move
rigidly - has rigid body motion.

The result is one of the frequencies will be zero. This case has the characteristic matrix (
See 3.1) as

k2 m1 2

k2

X1 0

k2 m2 X 2 0
k2

(4.3)

For the numerical substitution (see 3.2), letting = m 2/k,

2 X 1 0
(2 )

2
(2 2 ) X 2 0

(4.4)

The determinant of the characteristic equation is

(2 )

(2 2 )

0
Expanding it

(4.5)

(2 )(2 2 ) 4 0

(4.6)

2 2 6 ( 3) 0

(4.7)

This shows: 1 = 0 and 2 = 3 or 22 = 3 k/m .

From row1, Mode I: X21/X11 = 1 and Mode II: X22/X12 = - 0.5

1 1

1 0.5

Modal Matrix:

(4.8)

Another check for semi-definiteness

The determinant of K = 0.

k2
k2

Determinant of

k2
=0
k2

In other words, K -1 is not definable. (Why?)

That is, the flexibility matrix = K-1 does not exist. See later for
more details.]
6. Orthogonal Property of Modes
The mode shapes of the system of different modes are orthogonal to each other. This is
expressed as
ij

(X)i[M]{X}j = 0.
Also

(5.1)
ij

(X)i[K]{X}j = 0.

(5.2)

Let us check this for the example already studied.

A specific case:

1 1

1 0.5

Modal Matrix:

Orthogonal check (6.1)

m 0 1
?0

0 2m 0.5

1 1
Orthogonal check

3k
2k

1 1

2k 1

?0
4k 0.5

For Semi-definite case:

(6.2)

The modal matrix is similar and hence the orthogonality checks, but frequencies are
different.
PRINCIPAL COORDINATES
Principal coordinates
The principal coordinates are defined as q

such that

x G q

(4)

where xi,s are the physical coordinates and [G] is the modal matrix.
This will help diagonalise the resultant mass and stiffness matrices of a multi-degree
freedom system, thus decoupling the system so that each equation in qi will be a single
degree freedom system, easily solvable.
The procedure where principal coordinates are used to decouple the differential equations of
motion is known as Modal Analysis.
Modal Analysis
Replacing {x} by [G]{q}using (4) in (3)

M G q K G q

f (t )

(5)

Pre-multiplying by [G]T
T

G M G q G K G q G

f (t )

(6)

Eq (6) in this form would have diagonalised the resultant mass and stiffness matrices.
Example 2
Consider 2 DoF Free vibration of system (Fig 13).

m1
x1 (k1 k2 ) x1 k2 x2 f1 (t )

(1.2A)

m2
x22 (k2 k3 ) x2 k2 x1 f 2 (t )

(1.4A)

For free vibration f(t),s being zero (1.2A) and (1.4A) become in matrix form

m1
0

k2 x1 0
0
x1 (k1 k2 )

m2 x2 k2
(k2 k3 ) x2 0

(2)

In simpler form

M X K X 0

(3)

For simplicity consider m1 = m & m2 = 2m. k1 = k & k2 = k3 = 2k.

Equation (2) becomes

x1
1 0
3 2 x1 0
m
k

0 2 x2
2 4 x2 0

(7)

For this problem we computed in Example 1, mode shapes as:

1 1

1 0.5

Modal Matrix [G] =

x1 1 1 q1 q1 q2

x2 1 0.5 q2 q1 0.5q2
(If needed only
x1 x2 = 1.5 q2,

q2 = (2/3)(x1 x2)

x1 + 2x2 = 3q1

q1 = (1/3)(x1 + 2x2)

Or in general
1

x1 q1 1/ 3 2 / 3 x1


x2 q2 2 / 3 2 / 3 x2

Otherwise it can be skipped)

1 1 1 0 1 1
1 1 1 1
3 0
m
m
m

1 0.5 0 2 1 0.5
1 0.5 2 1
0 1.5
1 1 3 2 1 1
1 1 1 4
3 0
k
k
k

1 0.5 2 4 1 0.5
1 0.5 2 4
0 6

3 0 q1
3 0 q1 0
m
k

0 1.5 q2
0 6 q2 0
Dividing first row by 3m and second row by1.5 m,
1 0 q1
1 0 q1 0
0 1 q (k / m) 0 4 q 0

2
DoF DAMPED VIBRATION
Problem 6.2(Kelly)
Harmonic Excitation

(8)

In addition there is a damper c1 connected parallel to k1 and a harmonic force on mass

m1, Fo sint.

m1
x1 k1 x1 c1 x1 k2 ( x1 x2 ) F0 sin t
m2
x2 k2 ( x2 x1 ) 0

(1)
(2)

We look for steady state response. Therefore Let xi = Xi sint

[ 2 m1 X 1 k1 X 1 k2 ( X 1 X 2 )]sin t [c1 X 1 ]cos t F0 sin t (3)

[ 2 m2 X 2 k2 ( X 2 X 1 )]sin t 0

(4)

In these equations both sine and cosine terms are there. They cannot be cancelled as in the
case of undamped case!
A different approach treating sine and cosine terms separately is required.
Let

F(t) = R sint + S cost

(5)

In the problem above S is absent)

The steady state solution of equations (1) and (2) and hence (3) & (4) is
x(t) = U sint + V cost

(6)

where U and V are solutions of

(-2 M + K)U - CV = R
CU + (-2 M + K)V = S

(7)
(8)

If xi(t) = Xi sin(t i) then

Xi = (Ui2 + Vi2) and tan i = Ui / Vi

(9)

Example
Let m1 = m; m2 = 2m; k1 = k2 = k and c1 = c.

m1
x1 k1 x1 c1 x1 ) k2 ( x1 x2 ) F0 sin t
m2
x2 k3 x2 k2 ( x2 x1 ) 0

x1 c 0 x1 2k
m 0

0 2m

x2 0 0 x2 k

k x1 F0
sin t
k x2 x2

(10)
(11)

(12)

The redefined form of equations like (7) and (8) are

x1 c 0 x1 2k
m 0

0 2m

x2 0 0 x2 k

2k m2

k x1 F0
sin t
k x2 0

(14)

k U1 c 0 V1 F0


0 V2 0
k 2m2 U 2 0

c 0 U1 2k m2
0 0 U

2 k

(15)

V1 0

k 2m 2 V2 0
k

(16)

Equations (15) & (16) are 4 equations for 4 unkowns, (Ui, Vi), i =1,2. Solving them
leads to
U1 = (k- 2m2)(k2 5km 2 + 2m2 4)F0/D

(17)

U2 = k(k2 5km 2 + 2m2 4)F0/D

(18)

V1 = c(k- 2m2) 2 F0/D

(19)

V2 = kc(k- 2m2) F0/D

(20)

where,
D = k4 + (k2c2 10m k3) 2 +(29 k2m2 -4 c2km) 4
+ (4c2m2 - 20k m3) 6 + 4 m48

(21)

The steady state amplitudes are

X1 = (U12 + V12) = (k- 2m2) F0/D

(22)

X2 =

(23)

(U22 + V22) = k F0/D

Note, that the numerators are same as that obtained for undamped case
(since there is no damper parallel to k2. Value of D alone is different.
The students shall work out in their notes the steps to get eqns
(17) (23). In fact if numerical values are given, it will be easier to solve. For
example see Problem 6.31 worked out in Unit 2.
Free Vibration
Problem 5.45 Schaums OUT Lines series: Mechanical Vibrations by S.Graham Kelly, Tata
McGraw-Hill Edition 2004

m1
x1 k1 x1 c1 x1 c2 ( x1 x2 ) k2 ( x1 x2 ) 0
m2
x2 k3 x2 c3 x2 c2 ( x2 x1 ) k2 ( x2 x1 ) 0

(1)

m1
x1 k1 x1 c1 x1 c2 ( x1 x2 ) k2 ( x1 x2 ) 0
m2
x2 k3 x2 c3 x2 c2 ( x2 x1 ) k2 ( x2 x1 ) 0

(1)

x1 2c c x1 2k
m 0

0 m

x2 c 3c x2 k

k x1 0

2k x2 0

(2)

(2)

(3)

If we assume a solution of the type

xi = Xi sin t. The 2nd term in (3) will have cos
t term complicating the problem. The new approach is:
Redefine the problem:

M y K y 0
where

(4)

0 M
M 0
M
and K
(5)

K
M C
0
M and K are symmetric 2n x 2n matices and
x
x

y and y
x
x
are 2n x 1 column vectors.

(6)

The solution to Eq (4) is assumed as

y = e-t

(7)
1

The values of are the conjugate eigen values of M K and is a

corresponding eigen vector. The eigen vectors satisfy the orthogonality relation

Ti M j 0, i j
Example
m1 = m2 = m; k1 = k2 = k3 = k; c1 = c2 =c and c3 = 2c

0
0 0 m 0
m 0
0 0 0 m
0 m 0
and K
M
0
m 0 2c c
0 2k

0 k
0 m c 3c
0

0
0
(8)
k

2k

Further use numerical values: m = 1kg; k = 100 N/m; c = 2 N-s/m

0
0
M
1

0
0
0
1 0

0 0 1
0 1
0
0
& K
(9)
0 0 200 100
0 4 2

1 2 6
0 0 100 200

Inverse of M:

4 2
2 6
1
M
1 0

0 1

1 K 2
M
1

2
6
0
1

1 0
0 1
0 0

0 0

1
0
0
0

0 1
1 0
0 0

0 0

(10)

0 0
0 4
1 0
0 2

0 200 100 1

0 100 200 0

2 200 100
6 100 200
0 0
0

1 0
0

(11)

To find the conjugate eigen value(s), recall Equation (2.11A).

4
2
1
0

2
6
0
1

200 100
100 200
0
0
0
0
0

(12)

This results in
4 - 10 3 + 420 2 - 1600 + 30000 = 0

(13)

whose roots are

= 1.502 i 9.912, 3.497 i 16.918

(14)

Using (15) in (13), 2 modes corresponding to first 2 roots and 2 more modes corresponding
to 2nd 2 roots could be found. They are used in (16) to express x1 and x2.

x1 1.502
0.940
1.172
{C1
e
cos 9.912t C2
sin 9.912}
1
1
x2
1.071
0.704
e3.497 {C3
cos16.918t C4
sin19.918t}
1
1

(16)

Except for the mode shapes the other vales are taken from (15). For x1 use top values in
mode shape and for x2 use the bottom values. Here the X2 has been as one (1).
(But all my results are based as X1 = 1. Finally they will taken care of by Ci,s, which are
arbitrary constants, to be decided by the initial conditions, namely the TWO initial
displacements and TWO velocities of masses 1 & 2).
Note: This principle applies to all multi-degree-of-freedom systems.
Concluding Remarks
There are different other models of 2 DoF System - very especially bouncing and pitching of
an Automobile (Figs 15,16), Double pendulum (Fig 17), Mass-spring combined with
pendulum (Fig19), taut string attached with two masses (Fig18), beams with attached
masses (Figs 23, 24), two rotor (torsional) vibration (?) etc. All of them are frequent
examples appearing in Examinations and need study by students. Some of them will be
dealt as examples or exercises, not all. Read references: Grover & Seto