Finally, the solution to the specific initial conditions becomes

  ( r !  r !  )
x1 (t) d k 4 2k 1
q(t) = = cos t + cos t .
x2 (t) 5 3m −6 m 1

Problem 99:
The two-degree-of-freedom system shown is
subject to a harmonic force applied to the
f (t)
block of mass 2m, of the form:

f (t) = (2 sin(t) N) ı̂. 2m m

k k 2k
If the mass and stiffness of the system are
assumed to be m = 2kg, and k = 4N/m, x1 z
find:

a) the equations of motion; x2

b) the forced, damped equation (single-

degree-of-freedom) that describes the
motion of each mode;
Solution:
a) We define the coordinates x1 , x2 , and z, which are related as

z = x2 − x1 .

The equations of motion become

     
2 0 2 −1 f (t)
m +k = .
0 1 −1 3 0

b) The corresponding eigenvalue problem can be written as

1 − 12
   
−1

k k
M K = u= β u
m −1 3 m

and the characteristic equation becomes

1 5
(1 − β) (3 − β) − = β 2 − 4 β + = 0.
2 2

This quadratic equation has the solutions

r ( √ √ √ √ )
3 2 ( 8 − 3) k ( 8 + 3) k
β =2± , −→ ω = √ , √ .
2 2m 2m

Returning to the eigenvalue equation, the eigenvectors satisfy the equation

1
ui1 − ui2 = βi ui1 −→ ui2 = 2 (1 − βi ) ui1
2

86
 so that
s √ √  
( 8 − 3) k 1
ω1 = √ , u1 = √ ,
2m 6−2
s √ √  
( 8 + 3) k √ 1
ω2 = √ , u2 = .
2m −( 6 + 2)

For each eigenvector the kinetic energy inner product is

√ √
uT1 M u1 = 14 − 4 6, uT2 M u2 = 14 + 4 6,

Finally, the modal equation for the first mode can be written as
uT1 M u1 Q̈1 + uT1 K u1 Q1 = uT1 f (t),



uT
1 f (t)
Q̈1 + ω12 Q1 = uT
,
 √ √  1 M u1
( 8− 3) k f (t)
Q̈1 + √
2m
Q1 = 14−4 6
√ ,

while the response of the second mode is governed by

uT2 M u2 Q̈2 + uT2 K u2 Q2 = uT2 f (t),



uT
2 f (t)
Q̈2 + ω22 Q2 = uT
,
 √ √  2 M u2
( 8+ 3) k f (t)
Q̈2 + √
2m
Q2 = 14+4 6
√ ,

4.2 Unsolved Problems

Problem 100:
For the system shown to the right the block
on the left is wrapped around an inner hub.
k1
a) Find the equations of motion using La-
grange’s equations (you may neglect
gravity or equivalently assume that all r2
coordinates are measured from static c1
equilibrium);

b) For the undamped system (c1 = c2 = I r1

0), with

m = 10kg, I = 0.50kg · m2 , ̂
r1 = 10cm, r2 = 20cm, m c2
k1 = 400N/m, k2 = 200N/m, ı̂
k2

find the mode shapes and natural fre-

quencies for this system; −f (t) ̂
m
c) Determine the modal equations for this
undamped system when

f (t) = (8N) sin(2 t).

You do not need to solve these modal

equations.

87
Problem 101:
For the mechanical system shown to the
right, the uniform rigid bar with mass m
and length ℓ is supported by identical springs
while a block of mass 2 m is suspended from
the bar. For this system find the equations k
of motion in terms of x, z, and θ. k
x
G
θ ℓ k z
4
m, ℓ

Problem 102:
For the mechanical system shown to the
right, the uniform rigid bar has mass m,
length ℓ and is pinned at point O while the ℓ
block is suspended with a spring from B. 3 B
k
Find the equations of motion for this system O
in terms of θ and x. Assume that the system
m θ
is in static equilibrium at θ = 0, and that all A
k
angles remain small. 2ℓ
3
m

x k

Problem 103:
For the system shown to the right

a) use Lagrange’s equations to determine

the equations of motion; F (t) ı̂
m 4m
b) find the mode shapes and natural fre-
2k k
quencies of the system;

c) determine the modal equations for this

system.

88
Problem 104:
For the system shown to the right

)
,d
m
(4
a) find the equations of motion;

b) are your equations statically coupled,

dynamically coupled, both or neither?

2 d)
k
k (m,

f (t)
m

2k b

Problem 105:
For the system shown to the right

a) use Lagrange’s equations to determine

the equations of motion;
4k k
b) find the mode shapes and natural fre-
3m
quencies of the system. Normalize the
mode shapes so that uT M u = 1. k k
m

89