Week 9

1
Part 1. Mainly based on the text book by D.J. Inman
Week 9
2
1. Undamped 2-DOF System
We review again the steps to solve the free undamped vibration of
a 2-DOF system
Focus on vectors and matrices
Easy to extend to more than 2-DOF systems
Week 9
3
Undamped 2-DOF System
A 2 Degree-of-Freedom system has
Two equations of motion!
Two natural frequencies (as we shall see)!
Week 9
4
Undamped 2-DOF System
The dynamics of a 2 DOF system consists of 2 homogeneous and
coupled equations
Free vibrations, so homogeneous eqs.
Equations are coupled: Both have x
1
and x
2
; if only one mass
moves, the other follows
In this case the coupling is due to k
2
.
Mathematically and Physically
If k
2
= 0, no coupling occurs and can be solved as two
independent SDOF systems
Week 9
5
Undamped 2-DOF System
Two coupled, second -order, ordinary differential equations with
constant coefficients
Needs 4 constants of integration to solve
Thus 4 initial conditions on positions and velocities
1 10 1 10 2 20 2 20
(0) , (0) , (0) , (0) x x x x x x x x = = = =
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6
Solution by Matrix Methods
The two equations can be written in the form of a single matrix equation:
(4.4), (4.5)
(4.6), (4.9)
The initial conditions can also be written in vector form:
10 10
20 20
(0) , and (0)
x x
x x
( (
= =
( (

x x
Week 9
7
Approach to a Solution
We assume a solution of the vector form:
Remember that the scalar e
jt
represents harmonic motion
(Euler Form):

Substitute into the vector EoM
The scalar e
jt
0 for any time t

(4.15)
(4.16)
(4.17)
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8
Approach to a Solution
This changes the differential equation of motion into algebraic vector
equation:
(4.17)
This is two algebraic equations
with three unknowns:
( )
( )
( )
2
1
2
2
If the inv - exists : which is the
static equilibrium position. For motion to occur
- does not exist
or det - (4.19)
M K
M K
M K
e
e
e

+ =
= +
/
+ =
u 0
u 0
0
Week 9
9
Approach to a Solution
The determinant results in 1 equation in one unknown , called
the characteristic equation.
For our specific system:

det -e
2
M + K
( )
= 0
det
e
2
m
1
+k
1
+ k
2
k
2
k
2
e
2
m
2
+ k
2



(

( = 0
m
1
m
2
e
4
(m
1
k
2
+m
2
k
1
+ m
2
k
2
)e
2
+k
1
k
2
= 0
(4.20)
(4.21)
Eq. (4.21) is quadratic in
2
so we have four solutions:
2 2
1 2 1 2
and and e e e e
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10
Approach to a Solution
With e known, use equation (4.17) again to calculate the corresponding
vectors u
1
and u
2
.
This yields vector equation for each squared frequency:
2
1 1
2
2 2
( ) (4.22)
and
( ) (4.23)
M K
M K
e
e
+ =
+ =
u 0
u 0
Each of these matrix equations represents two equations in the two
unknowns components of the vector u, but the coefficient matrix is
singular (what does this mean?) so each matrix equation results in
only one independent equation.
Week 9
11
Example: calculating u and e
Related to Examples 4.1.5 & 4.1.6 in the text book of D.J. Inman.
m
1
= 9 kg, m
2
= 1 kg, k
1
= 24 N/m and k
2
= 3 N/m
The characteristic equation becomes:

Each value of
2
yields an expression for u:
Week 9
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Example: calculating u and e
11 2
1 1
12
2
1 1
11
12
11 12 11 12
For =2, denote then we have
(- )
27 9(2) 3 0
3 3 (2) 0
9 3 0 and 3 0
u
u
M K
u
u
u u u u
e
e
(
=
(

+ =
(
( (
=
(
( (



= + =
u
u 0
See that we have 2 equations with 2 unknowns but DEPENDENT!
(the 2nd equation is -3 times the first).
When solving, only the direction of vectors u can be determined,
not the magnitude as it remains arbitrary why?
Week 9
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Example: calculating u and e
11
11 12
12
2
1
1 1
results from both equations:
3 3
only the direction, not the magnitude can be determined!
This is because: det( ) 0.
The magnitude of the vector is arbitrary. To see this suppose
t
u
u u
u
M K e
= =
+ =
1
2
1 1 1
2 2
1 1 1 1
hat satisfies
( ) , so does , arbitrary. So
( ) ( )
M K a a
M K a M K
e
e e
+ =
+ = + =
u
u 0 u
u 0 u 0
Week 9
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Example: calculating u and e
Likewise for the second value of
2
:
21 2
2 2
22
2
1
21
22
21 22 21 22
For = 4, let then we have
(- )
27 9(4) 3 0
3 3 (4) 0
1
9 3 0 or
3
u
u
M K
u
u
u u u u
e
e
(
=
(

+ =
(
( (
=
(
( (



= =
u
u 0
Also here we get only the direction of vectors u.
What to do about the magnitude?
Week 9
15
Example: calculating u and e
A numerical value for each element of the vector u may be obtained
by arbitrarily fixing one of the elements.
u
12
= 1 u
1
=
1
3
1

(
u
22
= 1 u
2
=
1
3
1

(
Choose:
Choose:
Thus the solution to the algebraic matrix equation is:
e
1, 3
= 2, has mode shape u
1
=
1
3
1

(
e
2, 4
= 2, has mode shape u
2
=
1
3
1

(
Week 9
16
Time Response
We have computed four solutions:
Since linear, we can combine as:
determined by initial conditions.
(4.24)
(4.26)
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17
Physical Interpretation of All That Math!
Each of the TWO masses is oscillating at TWO natural
frequencies
1
and
2

The relative magnitude of each sine term, and hence of the
magnitude of oscillation of m
1
and m
2
is determined by the value
of A
1
u
1
and A
2
u
2

The vectors u
1
and u
2
are called mode shapes because they
describe the relative magnitude of oscillation between the two
masses
What is a mode shape?
Week 9
18
Mode Shape
What is a mode shape?
Remember that A
1
, A
2
,
1
and
2
are determined by the initial
conditions
If we choose the initial conditions so that A
2
=
1
=
2
=

0

Then:


Thus each mass oscillates at (one) frequency
1
with
magnitudes proportional to u
1
1
st
mode shape
likewise for the 2
nd
mode shape
x(t) =
x
1
(t)
x
2
(t)

(
= A
1
u
11
u
12

(
sine
1
t = A
1
u
1
sine
1
t
Week 9
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Mode Shape
A graphic look at mode shapes:
If initial conditions correspond to mode 1 or 2, then the response is
purely in mode 1 or mode 2.
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20
Example: compute the time response
Related to Example 4.1.7 in the text book of D.J. Inman.
Given the initial conditions, calculate the solution of the system of
Examples 4.1.5 and 4.1.6 (previous slides).
Form of solution:
We have found:
Take the positive values
Week 9
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Example: compute the time response
Is written as:
Differentiating:
(4.26)
Week 9
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Example: compute the time response
At t = 0 this yields

Displacement:
Velocity:
4 equations in 4 unknowns:
Week 9
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Example: compute the time response
Solution of the 4 simultaneous equations:
So, the final solution is:
Remember that the time response was in the form:
x
1
(t ) = 0.5cos 2t + 0.5cos2t
x
2
(t ) = 1.5cos 2t 1.5cos2t
Week 9
24
Example: compute the time response
Final solution: x
1
(t ) = 0.5cos 2t + 0.5cos2t
x
2
(t ) = 1.5cos 2t 1.5cos2t
(4.34)
The initial conditions gives responses that are combinations of the
two modes. Each of both are harmonic, but their summation is not.
Figure 4.3
Week 9
25
Solution as a Sum of Modes

x(t) = a
1
u
1
cose
1
t + a
2
u
2
cose
2
t
Determines how the first
frequency contributes to the
response
Determines how the second
frequency contributes to the
response

Week 9
26
Things to Note
Two degrees of freedom implies two natural frequencies
Each mass oscillates with these two frequencies present in the
response and beats could result
Frequencies are not those of two component systems



The above method is not the most efficient way to calculate natural
frequencies.
e
1
= 2 =
k
1
m
1
=1.63, e
2
= 2 =
k
2
m
2
=1.732
Some Matrix and Vector Reminders
Week 9
27
1
2 2
1 2
1 2 2
1 1 2 2
2
1
0
0
0 0 for every value of except 0
T
T
T
a b d b
A A
c c c a ad cb
x x
m
M M m x m x
m
M M

( (
= =
( (


= +
(
= = +
(

> >
x x
x x
x x x
Then M is said to be positive definite
Week 10
28
3 Approaches to Compute Mode Shapes
and Frequencies

(i) e
2
Mu = Ku (ii) e
2
u = M
1
Ku (iii) e
2
v = M
1
2
KM
1
2
v
i. Is the Generalized Symmetric Eigenvalue Problem,
easy for hand computations, inefficient for computers
ii. Is the Asymmetric Eigenvalue Problem very
expensive computationally see in Rao, Kelly
iii. Is the Symmetric Eigenvalue Problem the cheapest
computationally
This was discussed today