Orthogonality of the Natural

Modes
Background:
| |{ } | |{ } { } 0 = + y K y M
{ } { } ) sin( o e = t a y let
{ } { } ) sin(
2
o e e = t a y
(a)
(b)
Subst. (b) to (a) results in
| | | | { } { } 0 ) (
2
= a M K e
Thus the solution of the equation of motion for the underdamped
vibration of the system with n-DOF gives n values of the natural
frequency and a corresponding modal vector (eigenvector for each).
{ }

=
n
w
w
w
.
.
2
1
e { }

=
1
21
11
1
.
.
n
a
a
a
a { }

=
2
22
12
2
.
.
n
a
a
a
a
etc.
Mode 1 Mode 2
Orthogonality:
If vibrating under mode r: { }
r r r
a ; ;
2
e e
| |{ } | |{ }
r r r
a K a M =
2
e
| | | | { } { } 0 ) (
2
= a M K e
If vibrating under mode s: { }
s s s
a ; ;
2
e e
| |{ } | |{ }
s s s
a K a M =
2
e
(1)
(2)
Pre-multiply (1) by:
{ }
T
s
a
Pre-multiply (2) by:
{ }
T
r
a
{ } | |{ } { } | |{ }
r
T
s r
T
s r
a K a a M a =
2
e
{ } | |{ } { } | |{ }
s
T
r s
T
r s
a K a a M a =
2
e
(4)
(3)
{ } | |{ } { } | |{ }
r
T
s r
T
s r
a K a a M a =
2
e
{ } | |{ } { } | |{ }
s
T
r s
T
r s
a K a a M a =
2
e
(4)
(3)
Note that:
{ } | |{ } { } | |{ }
s
T
r r
T
s
a K a a K a =
{ } | |{ } { } | |{ }
s
T
r r
T
s
a M a a M a =
{ } | |{ } 0 ) (
2 2
=
r
T
s s r
a M a e e
Subtract (4) from(3) and note that:
| | | | | | | |
| | | | . symmetric are M and K because
M M and K K
T T
= =
Note that:
0 ) (
2 2
=
s r
e e since mode r is different from mode s
(5)
{ } | |{ } 0 ) (
2 2
=
r
T
s s r
a M a e e
Subtract (4) from(3) and note that:
| | | | | | | |
| | | | . symmetric are M and K because
M M and K K
T T
= =
Note that:
0 ) (
2 2
=
s r
e e since mode r is different from mode s
(5)
Hence from (5):
{ } | |{ } 0 =
r
T
s
a M a
This is orthogonality of amplitudes a, with
respect to [M].
Also:
{ } | |{ } 0 =
r
T
s
a K a
This is orthogonality of amplitudes a, with
respect to [K].
{ } | |{ } 0 =
j
T
i
a M a
{ } | |{ } 0 =
j
T
i
a K a
Hence :
If ij
If ij
Or :
| | | | | || | 0
*
= = a M a M
T
is a diagonal matrix
| | | | | || | 0
*
= = a K a K
T
is a diagonal matrix
where :
| | { } { } { } | |
n
a a a a . . .
2 1
=
Mode shapes
Modal matrix or mode shape matrix
Other authors use [ ] instead of [a]
The amplitudes of vibration in a normal mode are only relative
values, which may be scaled or normalized to some extent as a
matter of choice.
The following is an especially convenient normalization for a
general system:
{ } | |{ }
j
T
i
ij
ij
a M a
a
= |
Example:
(

=
(

618 . 0 618 . 1
000 . 1 000 . 1
22 21
12 11
a a
a a
{ }
m m
m
m
526 . 0
618 . 3
0 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
0 . 1
11
= =
)
`

= |
(

=
22 21
12 11
| |
| |
|
Example:
(

=
(

618 . 0 618 . 1
000 . 1 000 . 1
22 21
12 11
a a
a a
{ }
m m
m
m
526 . 0
618 . 3
0 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
0 . 1
11
= =
)
`

= |
{ }
m m
m
m
851 . 0
618 . 3
618 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
618 . 1
21
= =
)
`

= |
{ }
m m
m
m
851 . 0
382 . 1
0 . 1
618 . 0
0 . 1
0
0
618 . 0 0 . 1
0 . 1
12
= =
)
`

= |
{ }
m m
m
m
526 . 0
382 . 1
618 . 0
618 . 0
0 . 1
0
0
618 . 0 0 . 1
618 . 0
22

=

=
)
`

= |
(

=
22 21
12 11
| |
| |
|
{ } | |{ }
j
T
i
ij
ij
a M a
a
= |
Example:
(

=
(

618 . 0 618 . 1
000 . 1 000 . 1
22 21
12 11
a a
a a
{ }
m m
m
m
526 . 0
618 . 3
0 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
0 . 1
11
= =
)
`

= |
{ }
m m
m
m
851 . 0
618 . 3
618 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
618 . 1
21
= =
)
`

= |
{ }
m m
m
m
851 . 0
382 . 1
0 . 1
618 . 0
0 . 1
0
0
618 . 0 0 . 1
0 . 1
12
= =
)
`

= |
{ }
m m
m
m
526 . 0
382 . 1
618 . 0
618 . 0
0 . 1
0
0
618 . 0 0 . 1
618 . 0
22

=

=
)
`

= |
Modal Matrix:
| | =
(

=
22 21
12 11
| |
| |
|
(
(
(
(

m m
m m
526 . 0 851 . 0
851 . 0 526 . 0
Example:
(

=
(

618 . 0 618 . 1
000 . 1 000 . 1
22 21
12 11
a a
a a
Modal Matrix:
| | =
(

=
22 21
12 11
| |
| |
|
(
(
(
(

m m
m m
526 . 0 851 . 0
851 . 0 526 . 0
Check Orthogonality Condition:
(

=
(
(
(
(

(
(
(
(

1 0
0 1
526 . 0 851 . 0
851 . 0 526 . 0
0
0
526 . 0 851 . 0
851 . 0 526 . 0
m m
m m
m
m
m m
m m
T
| | | || | | | I M
T
= | |
in
s k
m
2
1
0 . 1

=
in
s k
m
2
2
5 . 1

=
in
s k
m
2
3
2

=
in
k
k 600
1
=
in
k
k 1200
2
=
in
k
k 1800
3
=
Initial Conditions:
in t y

= =
3 . 0
4 . 0
5 . 0
) 0 (
sec /
0
9
0
) 0 ( in t y

= =

=
0 . 2
0
0
0
5 . 1
0
0
0
0 . 1
m

=
1800
1200
0
1200
1800
600
0
600
600
3
2
0
2
3
1
0
1
1
600 k