EMC 4923

Mechanical Vibration

Outcome 3
Mechanical vibrations of two and multiple degree of freedom
systems

Lesson 1

Learning outcomes
Analysis of a two degree of freedom system (FBD, equation of
motion, initial conditions, solution)

Vibrations of two degree of freedom systems

Systems that require two independent coordinates to describe their motion are
called two degree of freedom systems. In general
Number of Degree of Freedom of the system = Number of the masses in the
system X
number of possible types
of motion of each mass
In such case, we get
Two coupled differential equations
&
Two natural frequencies for harmonic solutions for each coordinate
If we give suitable initial excitation, the system vibrates at one of the natural
frequencies.
During free vibration at one of the natural frequencies, the amplitudes of the
two degrees of freedom (coordinates) are related in a specified manner and the
configuration is called a normal mode, principle mode, or natural mode of
vibration.
A mode is a description of motion. There are various kinds of modes, many with
modifying phrases, such as the 1st. mode, 2nd mode, a principle mode or a
coupled mode all describing a particular type of motion.
At natural frequency, a vibrating system moves in a principle mode. The motion
in which only one coordinate changes is called a principle mode of motion.
The coordinates used to describe motion also describe the mode. If the
amplitude of one mass is one unit of displacement, the mode is said to be
simply in a normal or principle mode. It means that all parts of a system have
same harmonic motion, with maximum displacements at identical times and
maximum velocities at still other identical times.
The number of principle modes that exist, will correspond to the number of
degrees of freedom. .
Thus a two degree of freedom system has two normal modes of vibration
corresponding to two natural frequencies.
If we give an arbitrary initial excitation to the system, the resulting free
vibration will be a superposition of the two normal modes of vibration.
However, if the system vibrates under the action of an external harmonic force,
the resulting forced harmonic vibration takes place at the frequency of the
applied force.
Examples of two degree of freedom systems

Free vibration analysis of an undamped system

Determine the natural frequencies and relative

amplitudes of the following spring-mass systems with two
degrees of freedom.
Consider a two degree freedom system with two masses & three springs as
shown below.
Steps
1.

Draw Free Body Diagram for each mass showing all the forces
due to spring stiffness as well as inertia force.

Write down the equation of motion for each mass applying

conditions of dynamic equilibrium.

Assume SHM and substitute x= X sin(t+) and

x X 2 sin ( t )

k1
m1
k2

Solve the resulting equations for amplitude ratio and natural

frequencies.

x1
x2 > x1

m2
k3

x2

Draw FBD of each mass separately

For mass m1

For mass m2
k2(x2 x1)

k1 x1

m1 x1

1
x

m1

m2 x2

x1
k2(x2 x1)

2
x

m2

k3 x2

x2

Write Equation of motion for each mass seperately

m1 x1

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

+k2(x2 x1) + k3 x2 = 0

m1 x1

m2 x2
+ k1 x1 k2x2 + k2x1 =0

+k2x2 k2x1+ k3 x2 = 0

m1 x1

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

k2 x1 + (k2+k3) x2 = 0

We are interested in knowing whether m1 and m2 can oscillate harmonically

with the same frequency
with the same phase angle
with different amplitudes X 1

and

X2 .

If motion is assumed to be in a principle mode, both generalized coordinates will

have a harmonic motion of the same frequency, .
Assuming that it is possible to have harmonic motion of m1 and m2, we take the
solutions to the above equations as follow:
x1 X 1 2 sin ( t )
x1 = X1 sin (t+ )

x2 X 2 2 sin ( t )

x2 = X2 sin (t+ )

Substituting the above two solutions into the first two equations, we have:

m1 x1

+ (k1+k2) x1 k2 x2 =0

m1 X 1 2 sin ( t ) ( k1 k 2 ) X 1 sin ( t ) k 2X 2 sin ( t ) 0

m
1

( k1 k2 ) X 1 k 2X 2 sin ( t ) 0
EQ# 1

m2 x2
k2 x1 + (k2+k3) x2 = 0

m2 X 2 2 sin ( t ) k2 X 1 sin ( t ) ( k 2 k3 ) X 2 sin ( t ) 0

k X m
2

( k2 k3 ) X 2 sin ( t ) 0
EQ# 2

Since the above equations #1 & #2 must be satisfied for all values of timet,
the terms between brackets must be zero. This yield,

m
1

( k1 k 2 ) X 1 k 2 X 2 0

k2 X 1 m2 2 ( k2 k3 ) X 2 0
3

which represents two simultaneous homogeneous algebraic equations in the

unknowns X1 and X2.
In each equation, the fraction X2/X1 which is the ratio of amplitudes can be
determined in terms of system constants and 2. Amplitude Ratio also defines
the modes of vibration.

m
1

X1
k2

X 2 k 1 k 2 m1 2

( k1 k 2 ) X 1 k 2 X 2 0

X 1 k 2 k 3 m2 2

X2
k2

k2 X 1 m2 2 ( k2 k3 ) X 2 0

OR

X 2 k1 k 2 m1 2
k2

X1
k2
k 2 k 3 m2 2
Equating the above two equations, X2 & X1 can be eliminated

k2
k1 k2 m1 2

k2 k3 m2 2
k2
Solving the above equation gives
m1m2 4 k1 k2 m2 k 2 k3 m1 2 k1k2 k2 k3 k3 k1 0
k1 k2 k2 k3 2 k1k2 k2 k3 k3 k1

0
m1
m2
m1m2

Alternately, solving by using determinants, for a non-zero solution of X1 and X2,

the determinant of coefficients of X1 and X2 must be zero.
det

m1 2+ ( k 1 +k 2)

k 2

k 2

m2 + ( k 2 +k 3 )

=0

m1 m2 4 [ ( k 1+ k 2 ) m2 + ( k 2 +k 3 ) m1 ] 2 + [ ( k 1+ k 2 ) ( k 2 +k 3 ) k 22 ]=0
The above equation is called the frequency or characteristic equation
because solution of this equation yields the frequencies of the characteristic
values of the system. The roots of the above equation are given by:

] {[

] [

( k 1 +k 2) ( k 2+ k 3 ) k 2
1 ( k 1+ k 2 ) m 2+ ( k 2 +k 3 ) m1
1 ( k 1 +k 2 ) m2 + ( k 2 +k 3 ) m1
2
2
1 , 2 =

4
2
m1 m2
2
m1 m2
m1 m2

1 /2

]}

This shows that it is possible for the system to have a non-zero harmonic
solution of the form
x1 = X1 sin (t+ )
x2 = X2 sin (t+ )

when

=1

and

=2

given by the rule stated above.

We shall denote the values of X1 and X2 corresponding to

X (1)
2
and those corresponding to

as

X (2)
1
and

as

X (1)
1
and

X (2)
2
.

X 2 1 k1 k 2 m112
k2

1
X1
k2
k 2 k3 m212
X 2 2
k1 k2 m122
k2

2
X1
k2
k2 k3 m222

k1 k 2 k 2 k 3 2 k1 k 2 k 2 k 3 k 3 k1

0

m1
m2
m1m2

Frequency or characteristic

equation

12,2
The roots (
) of the above equation which is quadratic can be determined
using the formula.
b b 2 4 ac
x1,2
applicable to quadratic equation ax 2 bx c 0
2a

where
a1
k1 k 2 k2 k3

m
m2
1

b
c

k1k2 k2 k3 k3 k1
m1m2

Example:
5

Find the natural frequencies and mode shapes of a spring

mass system, which is constrained to move in the vertical
direction.
Solution
m1=m2=m ; k 1=k 2=k 3 =k
The equation of the natural frequencies is
k1 k 2 k2 k3 2 k1k2 k2 k3 k3 k1

0
m1
m2
m1m2

2
2
2
2k 2k 2 k k k

0
m2
m m

2
4 k 2 3k

0
m2
m

12,2
Using quadratic formula to find the roots (
) for the above equation which
finally gives the natural frequencies 1 & 2
a = 1, b = 4k/m & c = 3k2/m2

4k
4k

m
m
2
1 ,2
2

3k 2
4 * 1* 2
m

16 k 2 12 k 2
4k
2

m
m2
m

2
1 4 k 2k

2 m m
3k k

,
m m

3k
m

k
m

The amplitude ratios are given by:

X 2 1
k1 k 2 m112
k2

1
X1
k2
k 2 k 3 m212

2k m
k

3k
m

k
3k
2k m
m

k
m

k
k
2k m
m

when 2

3k
m

X 2 2 k1 k2 m122
k2

2
X1
k2
k 2 k3 m222
2k m

when 2

k
m

Physically the above results mean x2 & x1 are in phase and equal for the first
mode, whatever their absolute values.
In the second mode, they are equal but out of phase.
The natural modes are given by

Exercis Problem
Determine the two natural frequencies and two modes of vibration for the
system shown:
m1 = m, m2 = 2m

k1

k1 = k, k2 = k3= 2k
m1
k2

x1
x2 > x1

m2
k3

x2

Answer:
1

k
m

X 2 1
1
X 1 1

Assignment Problem 1

k
m
1

, 2 2
,

X 2 2
X 1 2

(To be submitted in the next class session)

Determine the natural frequencies and relative amplitudes of the following

spring-mass systems with two degrees of freedom.
Show all the work should include the following:

k1

i. FBDs of the two masses

ii.
Equation of motion of each mass using equation of dynamic equilibrium
m1
iii.
Derivation of amplitude ratios (Modes of vibration)
iv.
Derivation of frequency equaion
k2

x1
x2 > x1

m2

x2

Assignment Problem 2
A large car manufacturer company analyzed the problem of a car by taking an
entire car apart. By weighing each section, the following values of equivalent
masses and spring constant were found:
m1, axle mass = 180 kg
m2, body mass = 670 kg
Springs, equivalent k1 = 538 N/mm
Tires, equivalent k2

= 45.5 N/mm

Determine the two natural frequencies and two modes of vibration for
above car.
m2
k2

(Hint:- mathematical model will be as shown by FBD)

x2 > x1
x2

m1

x1
k1

Exercise 1
Find the natural frequencies and mode shapes of a springmass system that is constrained to move in a vertical
direction. (m=3kg, k=2000 N/m).
Find the solution for the following set of initial conditions.
x 1 ( 0 ) =0.01 m; x 1 ( 0 ) =0
x 2 ( 0 ) =0.02 m; x 2 ( 0 )=0.1 m/s

10

Answer:

1 =15.958

First mode:

x (11) ( t )= X (11 ) cos ( 15.958 t + 1 ) ;

Second mode:
Responses:

rad
rad
; 2=41.778
;
s
s
x (21) ( t )=1.618 X (11) cos ( 15.958 t + 1) ;

( 2)
(2 )
x 1 ( t ) =X 1 cos ( 41.778 t+ 2 ) ;

( 2)
( 2)
x 2 ( t ) =0.618 X 1 cos ( 41.778t + 2 ) ;

x 1 ( t )=0.012cos ( 15.958t0.235 )0.002 cos ( 15.958 t0.56 ) ;

x 2 ( t )=0.019 cos ( 41.778 t0.235 ) 0.0012cos ( 41.778 t0.56 ) ;

Exercise 2
An overhead traveling crane can be modeled as indicated in the figure. The
girder has a span L=40 m, an area moment of inertia I = 0.02 m4, and a
EI
48 3
modulus of elasticity E = 2.06 x 1011 N/m2, a stiffness k1 =
L . The trolley
has the mass m1 = 1000 kg, the load being lifted has a mass m2 = 5000 kg, and
the cable through the mass m2 is lifted has a stiffness k = 3 x 105 N/m.

11

a) Determine the natural frequencies and the

mode shapes of the system.
b) For the initial conditions x 1 ( 0 ) =0 m; x 1 ( 0 )=0 ;
x 2 ( 0 ) =0.02 m; x 2 ( 0 )=0.1 m/ s
find the responses of the system.

Answer:

1 =7.389

First mode:

x (11) ( t )= X (11 ) cos ( 7.389 t + 1 ) ;

Second mode:
Responses:

rad
rad
; 2=58.27
;
s
s
x (21) ( t )=11.118 X (11) cos ( 7.389 t+ 1 ) ;

( 2)
(2 )
x 1 ( t ) =X 1 cos ( 58.27 t + 2 ) ;

( 2)
(2)
x 2 ( t ) =0.018 X 1 cos ( 58.27 t+ 2 ) ;

x 1 ( t )=0.0021cos ( 7.389t0.595 )0.0018 cos ( 7.389 t0.086 ) m ;

x 2 ( t )=0.024 cos ( 58.27 t0.595 ) +0.000032 cos ( 58.27 t0.086 )

12

m;

Exercise 1
Find the natural frequencies and mode shapes of a springmass system that is constrained to move in a vertical
direction. (m=3kg, k=2000 N/m).
Find the solution for the following set of initial conditions.
x 1 ( 0 ) =0.01 m; x 1 ( 0 ) =0
x 2 ( 0 ) =0.02 m; x 2 ( 0 )=0.1 m/s

13

First mode:

( 1)
(1 )
x 1 ( t )= X 1 cos ( 15.958 t + 1 ) ;

Second mode:
Responses:

(1)
(1)
x 2 ( t )=1.618 X 1 cos ( 15.958 t + 1) ;

x (12) ( t ) =X (12 ) cos ( 41.778 t+ 2 ) ;

x (22) ( t ) =0.618 X (12) cos ( 41.778t + 2 ) ;

x 1 ( t )=0.012cos ( 15.958t0.235 )0.002 cos ( 15.958 t0.56 ) ;

x 2 ( t )=0.019 cos ( 41.778 t0.235 ) 0.0012cos ( 41.778 t0.56 ) ;

14

Exercise 2
An overhead traveling crane can be modeled as indicated in the figure. The
girder has a span L=40 m, an area moment of inertia I = 0.02 m4, and a
modulus of elasticity E = 2.06 x 1011 N/m2, a stiffness
EI
48 3
k1 =
L . The trolley has the mass m1 = 1000 kg,
the load being lifted has a mass m2 = 5000 kg, and
the cable through the mass m2 is lifted has a stiffness
k = 3 x 105 N/m.
c) Determine the natural frequencies and the mode
shapes of the system.
d) For the initial conditions x 1 ( 0 ) =0 m; x 1 ( 0 )=0 ;
x 2 ( 0 ) =0.02 m; x 2 ( 0 )=0.1 m/ s
find the responses of the system.

15

Responses:

x 1 ( t )=0.0021cos ( 7.389t0.595 )0.0018 cos ( 7.389 t0.086 ) m ;

x 2 ( t )=0.024 cos ( 58.27 t0.595 ) +0.000032 cos ( 58.27 t0.086 )

16

m;