Assume harmonic motion.

Let,

x1 A1
x = A sin (t + )
2 2
&x&1 A1
= 2 sin (t + )
&x&2 A2

.......(2)

Substitute (2) into (1);

m1 2

k 2 A1
0 A1 (k1 + k 2 )
+
=0

2
(k 2 + k3 ) A2
m2 A2 k 2
7

k1 + k 2 m1 2

k2

A1 0
.......(3)
=

k 2 + k3 m2 2 A2 0
k2

For non-trivial solution, matrix [

k1 + k 2 m1 2

k2

Note:

]=0

=0
2
k 2 + k3 m2
k2

Cramers Rule; A11

A
21

A12
=0

A22

( A11 )( A22 ) ( A21 )( A12 ) = 0

8

(m1m2 ) 4 {(k1 + k2 )m2 + (k2 + k3 )m1}

+ (k1 + k2 )(k2 + k3 ) k22 = 0

k1 + k2 k2 + k3 2 (k1k2 ) + (k2 k3 ) + (k3k1 )
+
+

=0

m1m2

m1 m2
4

Substitute,
x = 2
Ax 2 + Bx + c = 0
B B 2 4 AC
x=
2A
9

The roots are;

1 (k1 + k 2 )m2 + (k 2 + k3 )m1
, =

2
m1m2

2
1

2
2

.......(4)
2 1/ 2

1 (k1 + k 2 )m2 + (k 2 + k3 ) m1 (k1 + k 2 )(k 2 + k3 ) k

4

2
m1m2
m1m2

2
2

The roots are called natural frequencies of the

system.

1 = first natural frequency = n1

2 = second natural frequency = n 2
10

Equation (3) can be shown as below;

k1 + k 2 m1 2

k2

1 0
A2 =
2
k 2 + k3 m2 A1 0
k2

A2
Replace,
=r
A1
k1 + k 2 m1 2

k2

1 0
=
2
k 2 + k3 m2 r 0
k2

11

(k

+
k

m
(1) + ( k 2 )r1 = 0
1
2
1

k 2 (1) + k 2 + k3 m2 2 r2 = 0
Amplitude ratio;

k1 + k 2 m11
r1 =
k2

k2
r2 =
2
k 2 + k3 m22

.......(5)

12

From equation (2), the solution will be (1 DOF),

1
x1 (t ) = A1 sin(1t + 1 )
r1
1
x2 (t ) = A2 sin(2t + 2 )
r2

.......(6)

The general solution is (2 DOF),

x1 (t )
1
1
x (t ) = A1 r sin(1t + 1 ) + A2 r sin(2t + 2 )
2
1
2
x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
x2 (t ) = A1r1 sin(1t + 1 ) + A2 r2 sin(2t + 2 )

.......(7)

Apply initial condition to get constant value;

A1 , A2 , 1 , 2

13

Example:
Find the free vibration response of the system
shown with k1 = k2 = k3 = k, m1 = m2 = m for the
initial conditions
x1 (0) = 1, x&1 (0) = 0
assume
x2 (0) = 0, x& 2 (0) = 0
x >x
1

14

FBD;

+ F = ma
k1 x1 k 2 ( x1 x2 ) = m1 &x&1
k3 x2 + k 2 ( x1 x2 ) = m2 &x&2
Rearrange;

m1 &x&1 + (k1 + k 2 ) x1 k 2 x2 = 0 ...(1)

m2 &x&2 + (k 2 + k3 ) x2 k 2 x1 = 0
15

In matrix form;

m1
0

k 2 x1 0
0 &x&1 (k1 + k 2 )
+
= .......(1)

m2 &x&2 k 2
( k 2 + k 3 ) x 2 0

16

Assume harmonic motion. Let,

x1 A1
x = A sin (t + )
2 2
&x&1 A1
= 2 sin (t + )
&x&2 A2

.......(2)

Substitute (2) into (1);

m1 2

k 2 A1
0 A1 (k1 + k 2 )
+
=0

2
(k 2 + k3 ) A2
m2 A2 k 2
17

k1 + k 2 m1 2

k2

A1 0
k2
.......(3)
=

k 2 + k3 m2 2 A2 0

For non-trivial solution, matrix [

k1 + k 2 m1 2

k2

Note:

]=0

=0
2
k 2 + k3 m2
k2

Cramers Rule; A11

A
21

A12
=0

A22

( A11 )( A22 ) ( A21 )( A12 ) = 0

18

(m1m2 ) 4 {(k1 + k2 )m2 + (k2 + k3 )m1}

+ (k1 + k2 )(k2 + k3 ) k22 = 0

k1 + k2 k2 + k3 2 (k1k2 ) + (k2 k3 ) + (k3k1 )
+
+

=0

m1m2

m1 m2
4

Substitute,
x = 2
Ax 2 + Bx + c = 0
B B 2 4 AC
x=
2A
19

The roots are;

1 (k1 + k 2 )m2 + (k 2 + k3 )m1
, =

m1m2
2

2
1

2
2

1 (k1 + k 2 )m2 + (k 2 + k3 )m1

m

m1m2
2

.......(4)

1/ 2

(k1 + k 2 )(k 2 + k3 ) k
4

m
m
1 2

2
2

20

k1 = k 2 = k3 = k

Given,

m1 = m2 = m
From equation (4),

2k k
=

m m
2

The two natural frequencies are;

k
1 =
m

&

3k
2 =
m

21

Equation (3) can be shown as below;

k1 + k 2 m1 2

k2

Replace, A2 = r
A1
k1 + k 2 m1 2

k2

1 0
A2 =
2
k 2 + k3 m2 A1 0
k2

1 0
=
2
k 2 + k3 m2 r 0
k2

22

(k

+
k

m
(1) + ( k 2 )r1 = 0
1
2
1

k 2 (1) + k 2 + k3 m2 2 r2 = 0
Amplitude ratio;

k1 + k 2 m11
r1 =
k2

k2
r2 =
2
k 2 + k3 m22

.......(5)

23

To determine the mode shape, from (5),

k
at 1 =
m

2k k
r1 =
=1
k
1
First mode =
1
Motion at first mode,

24

3k
at 2 =
m
k
r2 =
= 1
2k 3k

1
Second mode =
1
Motion at second mode,

25

From equation (2), the solution will be (1 DOF),

1
x1 (t ) = A1 sin(1t + 1 )
r1
1
x2 (t ) = A2 sin(2t + 2 )
r2

.......(6)

The general solution is (2 DOF),

x1 (t )
1
1
x (t ) = A1 r sin(1t + 1 ) + A2 r sin(2t + 2 )
2
1
2
x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
x2 (t ) = A1r1 sin(1t + 1 ) + A2 r2 sin(2t + 2 )

.......(7)

Apply initial condition to get constant value;

A1 , A2 , 1 , 2

26

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
x2 (t ) = A1r1 sin(1t + 1 ) + A2 r2 sin(2t + 2 )

Substitute value r1 & r2 into equation (7),

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
x2 (t ) = A1 (1) sin(1t + 1 ) + A2 (1) sin(2t + 2 )

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
x2 (t ) = A1 sin(1t + 1 ) A2 sin(2t + 2 )

.......(8)

27

Apply initial condition,

x1 (0) = 1, x&1 (0) = 0
x2 (0) = 0, x&2 (0) = 0

From equation (8),

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
1 = A1 sin(1t + 1 ) + A2 sin(2t + 2 )

.......(9)

x2 (t ) = A1 sin(1t + 1 ) A2 sin(2t + 2 )
0 = A1 sin(1t + 1 ) A2 sin(2t + 2 )

.......(10)

28

Equation (9) - (10),

1
A1 =
2 sin 1

1
.......(11)
A2 =
2 sin 2

From equation (8), the velocity equation & initial

condition,
x&1 (t ) = 1 A1 cos(1t + 1 ) + 2 A2 cos(2t + 2 )
0 = 1 A1 cos 1 + 2 A2 cos 2

.......(12)

x&2 (t ) = 1 A1 cos(1t + 1 ) 2 A2 cos(2t + 2 )

.......(13)

0 = 1 A1 cos 1 2 A2 cos 2

From equation (12) and (13),

1 2 0
&

A1 A2 0

29

So,
cos 1 = cos 2 = 0

1 = n

&

2 = m

Where m & n are odd numbers.

From equation (11),
1
A1 = A2 =
2
30

Substitute value of 1 , 2 , A1 , A2, 1 , 2 into equation (8),

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
x2 (t ) = A1 sin(1t + 1 ) A2 sin(2t + 2 )
So,

1 3k

1 k
x1 (t ) = sin
t + + sin
t +
2 m
2 2 m
2
1 3k

1 k
x2 (t ) = sin
t + sin
t +
2 m
2 2 m
2

Or,

11 k

x1 (t ) 1 1 k

t
t
=
sin
+
+
sin
+
x (t ) 2 1 m
2 1 m

2
2


2

31

Or,

3k
k 1
1
x1 (t ) = cos
t + cos
t
2
m
m 2
k 1
3k
1
x2 (t ) = cos
t cos
t
2
m 2
m
Or,

x1 (t ) 1 1
k
11
3k
x (t ) = 2 1 cos m t + 2 1 cos m t

2
32

OTHER EXAMPLE

33

Deriving 2-DOF mathematical model

34

Free Vibration of an Undamped 2-DOF

System

F = ma
k1 x1 k2 ( x1 x2 ) = m1&x&1
k3 x2 + k2 ( x1 x2 ) = m2 &x&2
35

Free Vibration of an Undamped 2-DOF

System
m1 &x&1 + (k1 + k 2 ) x1 k 2 x2 = 0
m2 &x&2 + (k 2 + k3 ) x2 k 2 x1 = 0

(1)

These are coupled eqns of motion. For normal mode of oscillation, each
mass undergoes harmonic motion of same freq passing through the
equilibrium position.
In matrix form, (1)

m1 0 &x&1 (k1 + k2 )
0 m &x& + k
2 2

k2

x1
=0

(k2 + k3 ) x2

36

Free Vibration of an Undamped 2-DOF

System

Assume harmonic motion. Let,

x1 X 1
x = X sin(t + )
2 2

(2)

&x&1 X 1
2
&x& = X ( sin(t + )
2 2
37

Subst. (2) into (1)

m1 2

0
or

X 1 ( k1 + k 2 )
+

2
m2 X 2 k 2
0

(k1 + k 2 m1 2

k 2

k2

X1
=0

( k 2 + k3 ) X 2

X1
= 0
2
(k 2 + k3 m2 ) X 2

k2

(3)

38

For non-trivial solution,

m1 2 + (k1 + k2 )
det
k2

=0
2
m2 + (k2 + k3 )

k2

Note : Cramer ' s Rule

A11

A12

A21

A22

=0

( A11 )( A22 ) ( A21 )( A12 ) = 0

39

or

(m1m2 ) 4 {(k1 + k2 )m2 + (k2 + k3 )m1}

+ (k1 + k2 )(k2 + k3 ) k22 = 0

k1 + k2 k2 + k3 2 (k1k2 ) + ( k2 k3 ) + ( k3k1 )
+
+
=0

m1m2

m1 m2

Substitute,
x = 2
Ax 2 + Bx + c = 0
B B 2 4 AC
x=
2A

40

which is called the frequency or characteristic

equation. Hence the roots are:
1 ( k1 + k 2 )m2 + (k 2 + k3 )m1

2
m1m2

12 , 22 =

1 (k + k )m + (k 2 + k3 )m1
m 1 2 2

2
m1m2

1/ 2

(k + k )(k + k ) k
4 1 2 2 3

m
m
1 2

2
2

The roots are called natural frequencies of the system.

1 = first natural frequency = n1

2 = second natural frequency = n 2
41

To determine the values of X1 and X2,

From (3)
X 2(1) m112 + (k1 + k 2 )
k2
r1 = (1) =
=
X1
k2
m212 + (k 2 + k3 )
X 2( 2 ) m122 + (k1 + k 2 )
k2
r2 = ( 2 ) =
=
X1
k2
m222 + (k 2 + k3 )
The normal modes of vibration corresponding to 12 and 22 can
be expressed, respectively, as

r (1) X 1(1) X 1(1)

r ( 2) X 1( 2 ) X 1( 2 )
X = (1) = (1) and X = ( 2 ) =
( 2)
X 2 r1 X 1
X 2 r2 X 1
Known as the modal vectors of the system.

42

Modal vector

First mode

Second mode

Values of X 1 and X 2 correspond to 1 as X 1(1) and X 2(1)

and at 2 as X 1( 2 ) and X 2( 2) .
43

The free vibration solution or the motion in time can be

expressed itself as
x1(1) (t ) X 1(1) cos(1t + 1 )
r (1)
x (t ) = (1) = (1)
= first mode
x2 (t ) r1 X 1 cos(1t + 1 )
x1( 2 ) (t ) X 1( 2 ) cos(2t + 2 )
r ( 2)
x (t ) = ( 2 ) =
= second mode
( 2)
x2 (t ) r2 X 1 cos(2t + 2 )

Initial conditions. The initial conditions are

x1 (t = 0) = X 1(i ) = some constant,

x&1 (t = 0) = 0,

x2 (t = 0) = ri X 1(i ) ,

x&2 (t = 0) = 0

44

Thus the components of the vector can be expressed

as

x1 (t ) = x1(1) (t ) + x1( 2 ) (t )
= X 1(1) cos(1t + 1 ) + X 1( 2 ) cos(2t + 2 )

( 4)

x2 (t ) = x2(1) (t ) + x2( 2 ) (t )
= r1 X 1(1) cos(1t + 1 ) + r2 X 1( 2 ) cos(2t + 2 )
where the unknown constants can be determined
from the initial conditions:

45

x1 (t = 0) = x1 (0),
x2 (t = 0) = x2 (0),

x&1 (t = 0) = x&1 (0),

x&2 (t = 0) = x&2 (0)

Substituting into Eq.(4) leads to

x1 (0) = X 1(1) cos 1 + X 1( 2 ) cos 2

x&1 (0) = 1 X 1(1) sin 1 2 X 1( 2 ) sin 2

(5)

x2 (0) = r1 X 1(1) cos 1 + r2 X 1( 2 ) cos 2

x&2 (0) = 1r1 X 1(1) sin 1 2 r2 X 1( 2 ) sin 2

46

The solution can be expressed as

r2 x1 (0) x2 (0)
X cos 1 =
,
r2 r1

r2 x&1 (0) x& 2 (0)

(1)
X 1 sin 1 =
,
1 (r2 r1 )
(1)
1

r1 x1 (0) + x2 (0)
X cos 2 =

r
r
2
1

r1 x&1 (0) x&2 (0)

( 2)
X 1 sin 2 =

(
)

r
2 2
1

( 2)
1

47

from which we obtain the desired solution

X

(1)
1

[{

= X

(1)
1

} {
2

cos 1 + X

(1)
1

sin 1

}]

2 1/ 2

{
r2 x&1 (0) x&2 (0)}
1
2
=
{r2 x1 (0) x2 (0)} +

12
(r2 r1 )

( 2)
1

[{

= X

( 2)
1

} {
2

cos 2 + X

( 2)
1

sin 2

1/ 2

}]

2 1/ 2

{
1
r1 x&1 (0) x& 2 (0)}
2
=
{ r1 x1 (0) + x2 (0)} +

22
(r2 r1 )

1/ 2

(1)

&1 (0) + x&2 (0)

X
1
1 r2 x
1 sin 1
1 = tan (1)
= tan

[
(
0
)
(
0
)
X
cos
r
x

1
2
1
1 2 1

( 2)

X
r1 x&1 (0) x& 2 (0)
1
1
1 sin 2
2 = tan ( 2 )
= tan

X 1 cos 2
2 [ r1 x1 (0) + x2 (0)
48

Example:
Find the free vibration response of the system
shown with k1 = 30, k2 = 5, k3 = 0, m1 = 10, and
m2 = 1 for the initial conditions
x1 (0) = 1, x&1 (0) = x2 (0) = x& 2 (0).

49

FBD;

+ F = ma
k1 x1 k 2 ( x1 x2 ) = m1 &x&1
k3 x2 + k 2 ( x1 x2 ) = m2 &x&2
Rearrange;

m1 &x&1 + (k1 + k 2 ) x1 k 2 x2 = 0 ...(1)

m2 &x&2 + (k 2 + k3 ) x2 k 2 x1 = 0
50

In matrix form;

m1
0

0 &x&1 (k1 + k 2 )
k 2 x1 0
+
= .......(1)

( k 2 + k 3 ) x 2 0
m2 &x&2 k 2

Assume harmonic motion. Let,

x1 A1
x = A sin (t + )
2 2
&x&1 A1
2
= sin (t + )
&x&2 A2

.......(2)

]
51

Assume harmonic motion. Let,

x1 A1
x = A sin (t + )
2 2
&x&1 A1
= 2 sin (t + )
&x&2 A2

.......(2)

Substitute (2) into (1);

m1 2

k 2 A1
0 A1 (k1 + k 2 )
+
=0

2
(k 2 + k3 ) A2
m2 A2 k 2
52

k1 + k 2 m1 2

k2

35 10

A1 0
=

2
k 2 + k3 m2 A2 0
k2

Note

5 A1 0
=

2
5 A2 0
: Cramer

A 11

A 12

A 21

A 22

.......(3)

' s Rule
= 0

( A 11 )( A 22 ) ( A 21 )( A 12 ) = 0

35 10 2

5 0
=
2
5 0

53

10 4 (35 + 50) 2 + [(35)(5) 25] = 0

10 4 85 2 + 150 = 0
Substitute,
x = 2
10 2 85 + 150 = 0
B B 2 4 AC
x=
2A
54

10 2 85 + 150 = 0
2
(
85
)
(
85
)

4(10)(150)
2
2
1 , 2 =
2(10)

85 35
, =
20 20
2
1

2
2

12 , 22 = 4.25 1.75

The two natural frequencies are;

12 = 2.5 ,
1 = 1.5811 ,

22 = 6
2 = 2.4494

55

Equation (3) can be shown as below;

35 10 2

5 1 0
=
2
5 r 0

(35 10 )(1) + ( 5)r = 0

5(1) + (5 )r = 0
2

56

(35 10 )(1) + ( 5)r = 0

5(1) + (5 )r = 0
2

Amplitude ratio;

35 1012
r1 =
5
5
r2 =
2
5 2

.......(5)

57

To determine the mode shape, from (5),

2

at
1 = 2.5

35 10(2.5)
r1 =
=2
5
1
First mode =
2
Motion at first mode,

58

at
2 =6

5
r2 =
= 5
56
1
Second mode =
5
Motion at second mode,

59

The general solution is (2 DOF),

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
x2 (t ) = A1r1 sin(1t + 1 ) + A2 r2 sin(2t + 2 )

.......(7)

Substitute value r1 & r2 into equation (7),

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
x2 (t ) = A1 (2) sin(1t + 1 ) + A2 (5) sin(2t + 2 )
x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
x2 (t ) = 2 A1 sin(1t + 1 ) 5 A2 sin(2t + 2 )

.......(8)
60

Apply initial condition,

x1 (0) = 1, x&1 (0) = 0
x2 (0) = 0, x&2 (0) = 0

From equation (8),

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
1 = A1 sin 1 + A2 sin + 2

.......(9)

x2 (t ) = A1 sin(1t + 1 ) A2 sin(2t + 2 )
0 = 2 A1 sin 1 5 A2 sin 2

.......(10)

61

Equation (9) X 2 - (10),

5
A1 =
7 sin 1

2
.......(11)
A2 =
7 sin 2

From equation (8), the velocity equation & initial

condition,
x&1 (t ) = 1 A1 cos(1t + 1 ) + 2 A2 cos(2t + 2 )
0 = 1 A1 cos 1 + 2 A2 cos 2

.......(12)

x&2 (t ) = 21 A1 cos(1t + 1 ) 52 A2 cos(2t + 2 )

.......(13)

0 = 21 A1 cos 1 52 A2 cos 2

From equation (12) and (13),

1 2 0
&

A1 A2 0

62

So,
cos 1 = cos 2 = 0

1 = n

&

2 = m

Where m & n are odd numbers.

From equation (11),
5
A1 =
7

2
A2 =
7
63

Substitute value of 1 , 2 , A1 , A2, 1 , 2 into equation (8),

x1 (t ) = A1 sin(1t + 1 ) + A2 sin( 2t + 2 )
x2 (t ) = 2 A1 sin(1t + 1 ) 5 A2 sin( 2t + 2 )
So,

5
2

x1 (t ) = sin 1.5811t + + sin 2.4494t +

7
2 7
2
10
10

x2 (t ) = sin 1.5811t + sin 2.4494 t +

7
2 7
2

64

Or,
x1 (t ) 5 1
2 1

x (t ) = 7 2 sin 1.5811t + 2 + 7 5 sin 2.4494 t + 2

Or,

Or,

5
2
x1 (t ) = cos(1.5811t ) + cos(2.4494t )
7
7
10
10
x2 (t ) = cos( 1.5811t ) cos(2.4494t )
7
7
x1 (t ) 5 1
2 1
x (t ) = 7 2 cos(1.5811t ) + 7 5 cos(2.4494 t )


2

65

QUESTION:
Determine the natural frequencies and mode shapes for
system,
m1 = m2 = m
k1 = k2 = k

x1 (t = 0) = x1 (0),
x2 (t = 0) = x2 (0),

x&1 (t = 0) = x&1 (0)

x&2 (t = 0) = x&2 (0)
66

Free Vibration of an Undamped 2-DOF

System
m1 &&
x1 + k1 x1 k2 ( x2 x1 ) = F1 = 0
m1 &&
x1 + (k1 + k2 ) x1 k2 x2 = 0
k1
m1

x1

m1 &&
x1 + (k1 + k2 ) x1 k2 x2 = 0
m2 &&
x2 k2 x1 + k2 x2 = 0

k2
m2

m2 &&
x2 + k2 ( x2 x1 ) = F2 = 0
m2 &&
x2 k2 x1 + k2 x2 = 0

x2

can be written in matrix

m1
0

0 &&
x1 (k1 + k2 ) k2 x1 0
+
=
m2 &&
x2 k2
k2 x2 0

x1 = A1 sin(t )
&&
x1 = A1 2 sin(t )
67

x2 = A2 sin(t )
&&
x2 = A2 2 sin(t )

x1 = A1 sin(t )
x2 = A2 sin(t )
&&
x1 = A1 2 sin(t )

m1
0

0 &&
x1 (k1 + k2 ) k2 x1 0
+
=

&&
m2 x2 k2
k2 x2 0

&&
x2 = A2 2 sin(t )

m1 2

A1 (k1 + k2 ) k2 A1 0
=
+
k2 A2 0
m2 2 A2 k2
0

(k1 + k2 ) m1 2
A 0
k2

1 =

k2 m2 2 A2 0
k

Can be solved
only if

68

(k1 + k2 ) m1 2

k2

k2

k2 m2
2

=0

(k1 + k2 ) m1 2

k2

k2

k2 m2
2

=0

(m1m2 ) 4 [ (k1 + k2 )m2 + k2 m1 ] 2 + (k1 + k2 )k2 k2 2 = 0

[(k1 + k2 )m2 + k2 m1 ] [(k1 + k2 )m2 + k2 m1 ]

12 , 2 2 =

1 = first natural frequency = n1

2 = first natural frequency = n 2

69

2(m1m2 )

4(m1m2 ) (k1 + k2 )k2 k2 2

at first natural frequency =n1

(k1 + k2 ) m1n12 A1(1) k2 A2 (1) = 0

A2 (1) (k1 + k2 ) m1n12

r1 = (1) =
A1
k2

(k1 + k2 ) m1n 2 2 A1(2) k2 A2(2) = 0

A2 (2) (k1 + k2 ) m1n 2 2

r2 = (2) =
A1
k2

Modal vector

(1)
(1)

A
A

(1)
1
1
A = (1) = (1)
A2 r1 A1

A(2)
70

(k1 + k2 ) m1n12
A 0
k2

1=

k2 m2n12 A2 0

k
2

A1(2) A1(2)
= (2) = (2)
A2 r2 A1

First mode

Second mode

For a case
m1 = m2 = m

(m 2 ) 4 [3km ] 2 + k 2 = 0

k1 = k2 = k

k
m

x1
k

(m1m2 ) 4 [ (k1 + k2 )m2 + k2 m1 ] 2 + (k1 + k2 )k2 k2 2 = 0

x2

2
n1

3km + 9k 2 m 2 4m 2 k 2 3km + 5m 2 k 2
=
=
2
2m
2m 2
3k
5k 2 3 k
5 k
=
+
=
+
2m
4m 2 2 m
4m

k
n1 = 1.618
m

n 2 = 0.618
71

k
m

Mode shapes

A2 (1) (2k ) m(1.618) 2 ( k / m)

=
= 0.618
(1)
A1
k

1.0

-0.618

72

1.0
1 =

0.618

A2(1) (2k ) m(0.618) 2 (k / m)

=
= 1.618
(1)
A1
k

1.0

1.0
2 =

1.618

1.618