Lecture 1- Modelling systems as

multi degree of freedom systems

Learning Outcomes
At the end of this session you should be able to:
Describe continuous and discrete systems
Assess the suitability of lumped parameter
models
Derive equations of motion from free body
diagrams

Continuous System
It is not possible to identify
discrete masses, dampers or
springs
Properties assumed to be
continuous
Every point in body performs
simple harmonic motion
Infinite number of points= infinite
number of degrees of freedom
Partial differential equations
Harder to solve
Exact solution (if can be solved)

http://en.wikipedia.org/wiki/File:Standing_waves_on_a_string.gif#file

Discrete System
Mass, damping and elasticity
present only at certain
discrete points
Masses are rigid
x1
Springs are massless
Ordinary differential
equations
x
Easy to solve

Dont actually exist!

c1

k1
m1

k
m2

c2

F1(t)

F2(t)
k2

Lumped mass representations of continuous systems

Continuous system:
Lumped mass representation:
rigid masses
massless uniform elastic
members

Continuous
system:

lumped mass
representation:

fundamental frequency (rad/s)

Accuracy of lumped parameter models

Effect of number of degrees of freedom on fundamental
frequency calculated for the longitundinal vibration of a
steel rod
lumped
15900
parameter
15800
model
15700
15600

exact
solution for
continuous
system

15500
15400
0

1
2
3
4
5
6
degrees of freedom used in model

Continuous or discrete?

Type of system
Purpose of analysis
Influence of analysis on design
Computational time available

Analysing multi degree of freedom systems

1. Form equations of motion
The general form of the differential equations for a
linear system with viscous damping is:
+ + =
Where:
is a n x n mass matrix
is a n x n damping matrix
is a n x n stiffness matrix
is a n x1 force vector
is a n x 1 vector of generalised coordinates

2. Solve equations of motion

Free body diagrams and Newtons 2nd law

Draw free body diagrams for all of the
masses in the system/ model
Apply Newtons 2nd law to each mass
Rearrange equations
Put in matrix form
(solve)

Tips for drawing free body diagrams

Spring forces should be drawn in the opposite
direction to the direction of mass motion
The number of springs attached to a mass is
equal to the number of spring forces acting on
the mass
If a spring is not attached to a mass it cannot
exert a force on that mass
The forces acting on opposite ends of a spring
are equal and opposite

Example
The figure to the right shows a
four storey structure consisting of
4 slabs of masses m1, m2, m3 and
m4. The slabs are supported by
light columns of total shear
stiffness k1, k2, k3 and k4.
Assuming that the columns are
rigid in tension and compression,
derive the equations of motion
for the slabs.

m4
k4
m3
k3
m2
k2
m1
k1

Free body diagram practice

Draw free body diagrams for the masses in these
systems:
x1

k1

m1

x2

x3

k2

m2

mc

kp

m3

xg

mb
kt1

kt3

kt2
J1

J2

J3

xf

kt4

kq
ma
kr

J1, J2 and J3 have the angular displacements

of 1, 2 and 3 respectively

xh

Summary
In discrete systems rigid masses are connected by
massless springs and dampers and so are described by
ordinary differential equations
In continuous systems the properties (mass, stiffness
and damping) are assumed to be continuous so their
behaviour is described by partial differential equations
Lumped mass representations are often used to
represent actual systems since this simplifies the
analysis
The equations of motion for a multi-DOF system can be
derived by drawing free body diagrams of the masses
and applying Newtons 2nd law

Further Reading
Rao, S.S. Mechanical Vibrations (fifth edition in SI
units). Pearson Prentice Hall, 2011, Section 1.4.4Discrete and continuous systems, pg 16
Rao, S.S. Mechanical Vibrations (fifth edition in SI
units). Pearson Prentice Hall, 2011, Sections 6.16.3, pg 555-562

Tutorial Questions
1. Derive the differential equations governing the motion of the three
degree of freedom shown in Figure 1. (answer in form + = )
k2

k1
Figure 1

m1
x1

k4

k3
m2
x2

m3
x3

2. Two rotors supported in rigid bearings are shown in Figure 2. The

rotors of mass moments of inertia J1 and J2 are connected to light
shafts of torsional stiffness kt1 and kt2.
i. Derive the differential equations governing the motion of the rotors.
ii. Given that kt1= 36 kNm/rad, kt2= 42 kN/m, J1=0.5 kg m2 and J2=0.8
kg m2 find the natural frequencies of the system..
Figure 2