Chapter 5: Two degrees of freedom systems

When the mass is attached to the lower end of the spring it deflects by from the position in Fig
5.x2a to that in Fig 5.2xb above.

Equations of motion, from equilibrium of the two masses:
m
1
x
1
= -k
1
x
1
+ k
2
(x
2
- x
1
) (i)
m
2
x
2
= -k
2
(x
2
- x
1
) - k
3
x
2
(ii)

m
1
x
1
+ k
1
x
1
- k
2
(x
2
- x
1
) = u (iii)
m
2
x
2
+ k
2
(x
2
- x
1
) + k
3
x
2
= u (iv)

Rearranging gives:
m
1
x
1
+ (k
1
+ k
2
)x
1
- k
2
x
2
= u (5.1a)
m
2
x
2
- k
2
x
1
+ (k
2
+ k
3
)x
2
= u (5.1b)
Let x
1
= X
1
cos t and hence x
1
= -X
1
sint and x
1
= -
2
X
1
cos t (5.2a)
x
2
x
1
m
1
m
2
k
1
k
2
k
3
m
1
m
2
k
1
x
1
k
2
(x
2
x
1
)

k
2
(x
2
x
1
)

K
3
x
2
m
1
x
1
m
2
x
2
Let x
2
= X
2
cos t and hence x
2
= -X
2
sint and x
2
= -
2
X
2
cos t (5.2b)
Substituting into equations 5.1a and 5.1b results in:
-m
1

2
X
1
cos t + (k
1
+ k
2
)X
1
cos t - k
2
X
2
cos t = u (v)
-m
2

2
X
2
cos t - k
2
X
1
cos t +(k
2
+ k
3
)X
2
cos t = u (vi)
Dividing through by cos t and results in:
|-m
1

2
+ k
1
+ k
2
]X
1
-k
2
X
2
= u (5.3a)
-k
2
X
1
+ |-m
2

2
+ k
2
+ k
3
]X
2
= u (5.3b)
In matrix form this can be expressed as:
_
-m
1

2
+ k
1
+ k
2
-k
2
-k
2
-m
2

2
+ k
2
+ k
3
_ _
X
1
X
2
_ = ]
u
u
(5.4)
The determinant for the matrix above is expressed as:
_
-m
1

2
+ k
1
+ k
2
-k
2
-k
2
-m
2

2
+ k
2
+ k
3
_ = u OR

(-m
1

2
+ k
1
+ k
2
)(-m
2

2
+ k
2
+ k
3
) - k
2
2
= u (5.5)
This determinant is known as the characteristic equation.
The solution of this equation can be expressed as:
m
1
m
2

4
- |(k
2
+ k
3
)m
1
+ (k
1
+ k
2
)m
2
]
2
+ |(k
1
+ k
2
) (k
2
+ k
3
) - k
2
2
] = u (5.6)
This is a quadratic equation in
2
which can be expressed as:
m
1
m
2
(
2
)
2
- |(k
2
+ k
3
)m
1
+ (k
1
+ k
2
)m
2
](
2
) + (k
1
k
2
+ k
1
k
3
+ k
2
k
3
) = u (5.7)

The solution can be written as:

2
1,2
=
|(k
2
+ k
3
)m
1
+ (k
1
+ k
2
)m
2
] _ |(k
2
+ k
3
)m
1
+ (k
1
+ k
2
)m
2
]
2
- 4m
1
m
2
(k
1
k
2
+ k
1
k
3
+ k
2
k
3
)
2m
1
m
2

(5.8a)
OR
2
1,2
=
b_

b
2
-4oc
2o
(5.8b)
Where a = m
1
m
2
, b = - [(k
2
+ k
3
)m
1
+ (k
1
+ k
2
)m
2
], and c = (k
1
k
2
+ k
1
k
3
+ k
2
k
3
)
And hence
2
1
=
-b+b
2
-4uc
2u
OR
1
=
_
-b+b
2
-4uc
2u
(5.9)
and
2
2
=
-b-b
2
-4uc
2u
OR
2
=
_
-b-b
2
-4uc
2u
(5.10)
Substitution of equation 5.9 into equation 5.4 gives the ratio, r
1
, of the amplitudes when =
1
.
The amplitudes are denoted by X
1
(1)
, and X
2
(1)
, where the superscript (1) are placed to indicate the
first mode of vibration relating to the speed =
1
. Substitution:
(-m
1

1
2
+ k
1
+ k
2
)X
1
(1)
- k
2
X
2
(1)
= u (From row 1) OR
- k
2
X
1
(1)
+ (-m
2

1
2
+ k
2
+ k
3
) X
2
(1)
= u (From row 2)
One of the equations should be used to determine the ratio. The ratio is given by:
r
1
=
X
2
(1)
X
1
(1)
_ =
(-m
1

1
2
+ k
1
+ k
2
)
-k
2
_ (5.11a)
OR r
1
=
-k
2
(-m
2

1
2
+ k
2
+ k
S
)
_
(5.11b)
Similarly, substitution of equation 5.10 into equation 5.4 gives the ratio of the amplitudes when
=
2
. The amplitudes are X
1
(2)
, and X
2
(2)
, and the superscript becomes (2). Substitution:
(-m
1

2
2
+k
1
+ k
2
)X
1
(2)
- k
2
X
2
(2)
= u (From row 1) OR
- k
2
X
1
(2)
+ (-m
2

2
2
+ k
2
+ k
3
) X
2
(2)
= u (From row 2)
Again only one equation should be used and the ratio is given by:
r
2
=
X
2
(2)
X
1
(2)
_ =
(-m
1

2
2
+ k
1
+ k
2
)
-k
2
_ (5.12a)
OR r
2
=
-k
2
(-m
2

2
2
+ k
2
+ k
S
)
_
(5.12b)

Mode shapes
Mode shapes show the typical relative positions of the masses, each with respect to its equilibrium
position. If r is positive, the masses are on the same direction of their equilibrium positions, and if
negative they fall on opposite sides.
Examples






l
2
k
2 k
1

l
1

G
M, k
x

k
2

k
1

G
1
2
-1
-2
r = 2
m
2

m
1

1
2
-1
-2
r = - 2
m
2
m
1

1
2
-1
-2
r = - 0.5
m
2

m
1

Consider the bar supported by two springs as in Fig 2xa above. As the bar vibrates it executes two
motions namely linear motion (up and down motion of the bar) and rotation about some centre. The
up and down motion is known as the bounce and the rotation, the spin. The coordinates x and can
be used to completely describe the motion of the bar. Consider the position when the bar has been
displaced downwards (positive) by x and the right hand side is displaced downwards (positive) by an
angle as in Fig 2xb. The free body diagram of the bar is shown in Fig 2x below.


For the equilibrium of the bar, the net of the forces in the spring must satisfy F = ma. Similarly the
moments must satisfy M
G
= J
G
, where J
G
is the moment of inertia of the bar about G, o = x and
o = 0

. The following equations can be formulated from the two conditions.

m x = -k
1
x
1
- k
2
x
2
(Negative because of upward direction of the forces) (i)
[
u
0

= (k
1
x
1
)l
1
- (k
2
x
2
)l
2
(Signs show directions of the moments) (ii)
From the free body diagram it can be seen that x
1
= (x l
1
) and x
2
= (x + l
2
). Substituting into
equations (i) and (ii) above and rearranging results in:
m x + k
1
( x - l
1
) + k
2
(x + l
2
) = u (iii)
[
u
0

- |k
1
( x - l
1
)]l
1
+ |k
2
(x + l
2
)]l
2
= u (iv)
OR
m x + (k
1
+ k
2
)x -(k
1
l
1
- k
2
l
2
) = u (5.13a)
[
u
0

- (k
1
l
1
- k
2
l
2
)x + (k
1
l
1
2
+ k
2
l
2
2
) = u (5.13b)
Let x = Xcos t and hence x = -Xsin t and x = -
2
Xcos t (5.14a)
Let = cos t and hence

= -sint and

= -
2
cos t (5.14b)
Substituting into equations 5.x and 5.x results in:
-m
1

2
Xcos t + (k
1
+ k
2
)Xcos t - (k
1
l
1
- k
2
l
2
)cos t = u (v)
-[
u

2
cos t - (k
1
l
1
-k
2
l
2
)Xcos t + (k
1
l
1
2
+ k
2
l
2
2
)cos t = u (vi)
k
1
x
1

k
2
x
2

x

x
1

x
2

l
1
l
2
Dividing through by cos t and rearranging leads to:
|-m
2
+ k
1
+ k
2
]X - (k
1
l
1
-k
2
l
2
) = u (5.15a)
-(k
1
l
1
- k
2
l
2
)X + |-[
u

2
+ k
1
l
1
2
+ k
2
l
2
2
] = u (5.15b)
In matrix form this can be expressed as:
_
(-m
2
+ k
1
+ k
2
) (k
1
l
1
-k
2
l
2
)
-(k
1
l
1
- k
2
l
2
) (-[
u

2
+ k
1
l
1
2
+ k
2
l
2
2
)
_ ]
X

= ]
u
u
(5.16)

The characteristic equation id then expressed as.
_
(-m
2
+k
1
+ k
2
) -(k
1
l
1
- k
2
l
2
)
-(k
1
l
1
- k
2
l
2
) (-[
u

2
+ k
1
l
1
2
+ k
2
l
2
2
)
_ = u OR

(-m
2
+ k
1
+ k
2
)(-[
u

2
+ k
1
l
1
2
+ k
2
l
2
2
) - (k
1
l
1
- k
2
l
2
)
2
= u (5.17)

m[
u

4
- |(k
1
l
1
2
+ k
2
l
2
2
)m+ (k
1
+ k
2
)[
u
]
2
+ j(k
1
+ k
2
) (k
1
l
1
2
+ k
2
l
2
2
) - (k
1
l
1
2
+
k
2
l
2
2
)
2

[
= u (5.18)
This equation can be expressed as:
o(
2
)
2
- b(
2
) + c = u (5.19)
Where: o = m[
u
, b = |(k
1
l
1
2
+ k
2
l
2
2
)m+ (k
1
+ k
2
)[
0
] onJ
c = j(k
1
+ k
2
) (k
1
l
1
2
+ k
2
l
2
2
) - (k
1
l
1
2
+ k
2
l
2
2
)
2
[
The solution can be written as:

2
1,2
=
b_

b
2
-4oc
2o
(5.20)

And hence
2
1
=
-b+b
2
-4uc
2u
OR
1
=
_
-b+b
2
-4uc
2u
(5.21)
and
2
2
=
-b-b
2
-4uc
2u
OR
2
=
_
-b-b
2
-4uc
2u
(5.22)

Substitution of equation 5.21 into equation 5.16 gives the ratio, r
1
, of the amplitudes when =
1
.
The amplitudes are denoted by X
(1)
, and
(1)
, where the superscript (1) are placed to indicate the
first mode of vibration relating to the speed =
1
. Substitution:
(-m
1

1
2
+ k
1
+ k
2
)X
(1)
- (k
1
l
1
- k
2
l
2
)
(1)
= u (From row 1) OR
- (k
1
l
1
- k
2
l
2
)X
(1)
+ (-[
u

1
2
+ k
1
l
1
2
+ k
2
l
2
2
)
(1)
= u (From row 2)
One of the equations should be used to determine the ratio. The ratio is given by:
r
1
=

(1)
X
(1)
_ =
(-m
1

1
2
+ k
1
+ k
2
)
-(k
1
l
1
- k
2
l
2
)
_
(5.23a)
OR r
1
=
-(k
1
l
1
- k
2
l
2
)
(-[
0

1
2
+ k
1
l
1
2
+ k
2
l
2
2
)
_ (5.23b)
Similarly, substitution of equation 5.22 into equation 5.16 gives the ratio of the amplitudes when
=
2
. The amplitudes are X
(2)
, and
(2)
, and the superscript denoting the second mode.
Substitution:
(-m
1

2
2
+k
1
+ k
2
)X
(2)
- (k
1
l
1
-k
2
l
2
)
(2)
= u (From row 1) OR
- (k
1
l
1
- k
2
l
2
)X
(2)
+ (-[
u

2
2
+ k
1
l
1
2
+k
2
l
2
2
)
(2)
= u (From row 2)
Again only one equation should be used and the ratio is given by:
r
2
=

(2)
X
(2)
_ =
(-m
1

2
2
+ k
1
+ k
2
)
-(k
1
l
1
- k
2
l
2
)
_
(5.24a)
OR r
2
=
-(k
1
l
1
- k
2
l
2
)
(-[
0

2
2
+ k
1
l
1
2
+ k
2
l
2
2
)
_ (5.24b)


Mode shapes
Mode shapes show the typical relative positions of the masses, each with respect to its equilibrium
position. If r is positive, the masses are on the same direction of their equilibrium positions, and if
negative they fall on opposite sides.
Examples



Vibration in structures
Structural work as in Fig 5.xa can be treated as vibration elements swinging from side to side as in
Fig 5.xb below. Each floor is taken as the mass element and the wall provides the spring
characteristics.


When the mass is attached to the lower end of the spring it deflects by from the position in Fig
1.x2a to that in Fig 1.2xb above.

Equations of motion, from equilibrium of the two masses:
m
1
x
1
= -k
1
x
1
+ k
2
(x
2
- x
1
) (i)
m
2
x
2
= -k
2
(x
2
- x
1
) (ii)
m
1
m
2
k
1
k
2
m
1
m
2
k
1
k
2
x
2
x
1
m
1
m
2
k
1
x
1
k
2
(x
2
x
1
)

k
2
(x
2
x
1
)

m
1
x
1
m
2
x
2
-1 1
-
0
r = 0.5
-1 2
1
0
r = - 1.5

m
1
x
1
+ k
1
x
1
- k
2
(x
2
- x
1
) = u (iii)
m
2
x
2
+ k
2
(x
2
- x
1
) = u (iv)

Rearranging gives:
m
1
x
1
+ (k
1
+ k
2
)x
1
- k
2
x
2
= u (5.1a)
m
2
x
2
- k
2
x
1
+ k
2
x
2
= u (5.1b)
Let x
1
= X
1
cos t and hence x
1
= -X
1
sint and x
1
= -
2
X
1
cos t (5.2a)
Let x
2
= X
2
cos t and hence x
2
= -X
2
sint and x
2
= -
2
X
2
cos t (5.2b)
Substituting into equations 5.1a and 5.1b results in:
-m
1

2
X
1
cos t + (k
1
+ k
2
)X
1
cos t - k
2
X
2
cos t = u (v)
-m
2

2
X
2
cos t - k
2
X
1
cos t +k
2
x
2
X
2
cos t = u (vi)
Dividing through by cos t and results in:
|-m
1

2
+ k
1
+ k
2
]X
1
-k
2
X
2
= u (5.3a)
-k
2
X
1
+ |-m
2

2
+ k
2
]X
2
= u (5.3b)
In matrix form this can be expressed as:
_
-m
1

2
+ k
1
+ k
2
-k
2
-k
2
-m
2

2
+ k
2
_ _
X
1
X
2
_ = ]
u
u
(5.4)
The determinant for the matrix above is expressed as:
_
-m
1

2
+ k
1
+ k
2
-k
2
-k
2
-m
2

2
+ k
2
_ = u OR

(-m
1

2
+ k
1
+ k
2
)(-m
2

2
+ k
2
) - k
2
2
= u (5.5)
This determinant is known as the characteristic equation.
The solution of this equation can be expressed as:
m
1
m
2

4
- |k
2
m
1
+ (k
1
+ k
2
)m
2
]
2
+ |(k
1
+ k
2
) k
2
- k
2
2
] = u (5.6)
This is a quadratic equation in
2
which can be expressed as:
m
1
m
2
(
2
)
2
- |k
2
m
1
+ (k
1
+ k
2
)m
2
](
2
) + k
1
k
2
= u (5.7)

The solution can be written as:

2
1,2
=
|k
2
m
1
+ (k
1
+ k
2
)m
2
] _|k
2
m
1
+ (k
1
+ k
2
)m
2
]
2
- 4m
1
m
2
(k
1
k
2
)
2m
1
m
2

(5.8a)
OR
2
1,2
=
b_

b
2
-4oc
2o
(5.8b)
Where a = m
1
m
2
, b = - [(k
2
)m
1
+ (k
1
+ k
2
)m
2
], and c = (k
1
k
2
)
And hence
2
1
=
-b+b
2
-4uc
2u
OR
1
=
_
-b+b
2
-4uc
2u
(5.9)
and
2
2
=
-b-b
2
-4uc
2u
OR
2
=
_
-b-b
2
-4uc
2u
(5.10)
Substitution of equation 5.9 into equation 5.4 gives the ratio, r
1
, of the amplitudes when =
1
.
The amplitudes are denoted by X
1
(1)
, and X
2
(1)
, where the superscript (1) are placed to indicate the
first mode of vibration relating to the speed =
1
. Substitution:
(-m
1

1
2
+ k
1
+ k
2
)X
1
(1)
- k
2
X
2
(1)
= u (From row 1) OR
- k
2
X
1
(1)
+ (-m
2

1
2
+ k
2
) X
2
(1)
= u (From row 2)
One of the equations should be used to determine the ratio. The ratio is given by:
r
1
=
X
2
(1)
X
1
(1)
_ =
(-m
1

1
2
+ k
1
+ k
2
)
-k
2
_ (5.11a)
OR r
1
=
-k
2
(-m
2

1
2
+ k
2
)
_
(5.11b)
Similarly, substitution of equation 5.10 into equation 5.4 gives the ratio of the amplitudes when
=
2
. The amplitudes are X
1
(2)
, and X
2
(2)
, and the superscript becomes (2). Substitution:
(-m
1

2
2
+k
1
+ k
2
)X
1
(2)
- k
2
X
2
(2)
= u (From row 1) OR
- k
2
X
1
(2)
+ (-m
2

2
2
+ k
2
) X
2
(2)
= u (From row 2)
Again only one equation should be used and the ratio is given by:
r
2
=
X
2
(2)
X
1
(2)
_ =
(-m
1

2
2
+ k
1
+ k
2
)
-k
2
_ (5.12a)
OR r
2
=
-k
2
(-m
2

2
2
+ k
2
)
_
(5.12b)







When the mass is attached to the lower end of the spring it deflects by from the position in Fig
1.x2a to that in Fig 1.2xb above.

Equations of motion, from equilibrium of the two masses:
[
1

1
= -k
t1

1
+ k
t2
(
2
-
1
) (i)
[
2

2
= -k
t2
(
2
-
1
) - k
t3

2
(ii)
J
1
0

1
J
1
k
t1
(0
2
-0
1
)
k
t1
0
1

J
2
0

2
J
2
k
t1
(0
2
-0
1
)
k
t3
0
2
k
t3

2
J
1
J
2
k
t2 k
t1


[
1

1
+ k
t1

1
- k
t2
(
2
-
1
) = u (iii)
[
2

2
+k
t2
(
2
-
1
) + k
t3

2
= u (iv)

Rearranging gives:
[
1

1
+ (k
t1
+ k
t2
)
1
- k
t2

2
= u (5.1a)
[
2

2
-k
t2

1
+(k
t2
+ k
t3
)
2
= u (5.1b)
Let
1
=
1
cos t and hence

1
= -
1
sint and

1
= -
2

1
cos t (5.2a)
Let
2
=
2
cos t and hence

2
= -
2
sint and

2
= -
2

2
cos t (5.2b)
Substituting into equations 5.1a and 5.1b results in:
-[
1

1
cos t + (k
t1
+ k
t2
)
1
cos t - k
t2

2
cos t = u (v)
-[
2

2
cos t - k
t2

1
cos t + (k
t2
+ k
t3
)
2
cos t = u (vi)
Dividing through by cos t and results in:
|-[
1

2
+ k
t1
+ k
t2
]
1
-k
t2

2
= u (5.3a)
-k
t2

1
+|-[
2

2
+ k
t2
+ k
t3
]
2
= u (5.3b)
In matrix form this can be expressed as:
_
-[
1

2
+ k
t1
+ k
t2
-k
t2
-k
t2
-[
2

2
+ k
t2
+ k
t3
_ _

2
_ = ]
u
u
(5.4)
The determinant for the matrix above is expressed as:
_
-[
1

2
+ k
t1
+ k
t2
-k
t2
-k
t2
-[
2

2
+ k
t2
+ k
t3
_ = u OR

(-[
1

2
+ k
t1
+ k
t2
)(-[
2

2
+ k
t2
+ k
t3
) - k
2
2
= u (5.5)
This determinant is known as the characteristic equation.
The solution of this equation can be expressed as:
[
1
[
2

4
- |(k
t2
+ k
t3
)[
1
+ (k
t1
+ k
t2
)[
2
]
2
+ |(k
t1
+ k
t2
) (k
t2
+ k
t3
) - k
t2
2
] = u (5.6)
This is a quadratic equation in
2
which can be expressed as:
[
1
[
2
(
2
)
2
- |(k
t2
+ k
t3
)[
1
+ (k
t1
+ k
t2
)[
2
](
2
) + (k
t1
k
t2
+ k
t1
k
t3
+ k
t2
k
t3
) = u (5.7)

The solution can be written as:

OR
2
1,2
=
b_

b
2
-4oc
2o
(5.8b)
Where a = m
1
m
2
, b = - [(k
t2
+ k
t3
)J
1
+ (k
t1
+ k
t2
)J
2
], and c = (k
t1
k
t2
+ k
t1
k
t3
+ k
t2
k
t3
)
And hence
2
1
=
-b+b
2
-4uc
2u
OR
1
=
_
-b+b
2
-4uc
2u
(5.9)
and
2
2
=
-b-b
2
-4uc
2u
OR
2
=
_
-b-b
2
-4uc
2u
(5.10)
Substitution of equation 5.9 into equation 5.4 gives the ratio, r
1
, of the amplitudes when =
1
.
The amplitudes are denoted by X
1
(1)
, and X
2
(1)
, where the superscript (1) are placed to indicate the
first mode of vibration relating to the speed =
1
. Substitution:
(-[
1

1
2
+ k
t1
+ k
t2
)
1
(1)
-k
t2

2
(1)
= u (From row 1) OR
- k
t2

1
(1)
+ (-[
2

1
2
+ k
t2
+ k
t3
)
2
(1)
= u (From row 2)
One of the equations should be used to determine the ratio. The ratio is given by:
r
1
=

2
(1)

1
(1)
_ =
(-[
1

1
2
+ k
t1
+ k
t2
)
-k
t2
_
(5.11a)
OR r
1
=
-k
t2
[-[
2

1
2
+ k
t2
+ k
tS

_
(5.11b)
Similarly, substitution of equation 5.10 into equation 5.4 gives the ratio of the amplitudes when
=
2
. The amplitudes are X
1
(2)
, and X
2
(2)
, and the superscript becomes (2). Substitution:
(-[
1

2
2
+ k
t1
+ k
t2
)
1
(2)
- k
2

2
(2)
= u (From row 1) OR
- k
t2

1
(2)
+ (-[
2

2
2
+ k
t2
+ k
t3
)
2
(2)
= u (From row 2)
Again only one equation should be used and the ratio is given by:
r
2
=

2
(2)

1
(2)
_ =
(-[
1

2
2
+ k
t1
+ k
t2
)
-k
t2
_
(5.12a)
OR r
2
=
-k
t2
[-[
2

2
2
+ k
t2
+ k
tS

_
(5.12b)