Example 1:

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).

BDA31103 Mohd Amran Hj. Madlan

 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)
BDA31103
m2 &x&2 + (k 2 + k3 ) x2 k 2 x1 = 0
 In matrix form;

m1 0 &x&1 (k1 + k 2 ) k 2 x1 0
0 + = .......(1)
m2 &x&2 k 2 ( k 2 + k 3 ) x 2 0

Assume harmonic motion. Let,

x1 A1
x = A sin (t + )
2 2 .......(2)
&x&1 A1
[
= sin (t + )
2
]
&x&2 A2
BDA31103 Mohd Amran Hj. Madlan
 Assume harmonic motion. Let,

x1 A1
x = A sin (t + )
2 2 .......(2)
&x&1 A1
[
= 2 sin (t + ) ]
&x&2 A2
Substitute (2) into (1);

m1 2 0 A1 (k1 + k 2 ) k 2 A1
2 + =0
0 m2 A2 k 2 (k 2 + k3 ) A2

BDA31103 Mohd Amran Hj. Madlan

 k1 + k 2 m1 2 k2 A1 0
2 =
k2 k 2 + k3 m2 A2 0

35 10 2
5 A1 0
2 = .......(3)
5 5 A2 0
Note : Cramer ' s Rule
A 11 A 12
= 0
A 21 A 22

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

35 10 2 5 0
2
=
BDA31103 5 5 0
 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

BDA31103 Mohd Amran Hj. Madlan

 10 2 85 + 150 = 0

( 85) ( 85) 2
4(10)(150)
1 , 2 =
2 2

2(10)

85 35
, =
1
2 2
2
20 20

12 , 22 = 4.25 1.75

The two natural frequencies are;

12 = 2.5 , 22 = 6
BDA31103 1 = 1.5811 , 2 = 2.4494
 Equation (3) can be shown as below;

35 10 2 5 1 0
2
=
5 5 r 0

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

2
1

5(1) + (5 )r = 02
2

BDA31103 Mohd Amran Hj. Madlan

 (35 10 )(1) + ( 5)r = 0
2
1

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

Amplitude ratio;

35 1012
r1 =
5
5 .......(5)
r2 =
5 22

BDA31103 Mohd Amran Hj. Madlan

 To determine the mode shape, from (5),

at 1 = 2.5
2

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

BDA31103 Mohd Amran Hj. Madlan

 at 2 =6
2

5
r2 = = 5
56

1
Second mode =
5

Motion at second mode,

BDA31103 Mohd Amran Hj. Madlan

 The general solution is (2 DOF),

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 ) .......(7)

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 (2) sin(1t + 1 ) + A2 (5) sin(2t + 2 )

x1 (t ) = A1 sin(1t + 1 ) + A2 sin(2t + 2 )
.......(8)
x2 (t ) = 2 A1 sin(1t + 1 ) 5 A2 sin(2t + 2 )

BDA31103 Mohd Amran Hj. Madlan

 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)

BDA31103 Mohd Amran Hj. Madlan

 Equation (9) X 2 - (10),
5 2
A1 = A2 = .......(11)
7 sin 1 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 )

0 = 21 A1 cos 1 52 A2 cos 2 .......(13)

From equation (12) and (13),

BDA31103 1 2 0 & A1 A2 0
 So,
cos 1 = cos 2 = 0

1 = n & 2 = m
2 2

Where m & n are odd numbers.

From equation (11),

5 2
A1 = , A2 =
7 7
BDA31103 Mohd Amran Hj. Madlan
 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

BDA31103 Mohd Amran Hj. Madlan

 Or,
x1 (t ) 5 1 2 1
x (t ) = 7 2 sin 1.5811t + 2 + 7 5 sin 2.4494 t + 2
2

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
Or,

x1 (t ) 5 1 2 1
x (t ) = 7 2 cos(1.5811t ) + 7 5 cos(2.4494 t )
BDA31103
2
 Example 2:
Determine the natural frequencies and mode shapes for
system,
m1 = m2 = m
k1 = k2 = k

x1 (t = 0) = x1 (0), x&1 (t = 0) = x&1 (0)

x2 (t = 0) = x2 (0), x&2 (t = 0) = x&2 (0)

BDA31103 Mohd Amran Hj. Madlan

 Free Vibration of an Undamped 2-DOF
System
x1 + k1 x1 k2 ( x2 x1 ) = F1 = 0
m1 &&
x1 + (k1 + k2 ) x1 k2 x2 = 0
m1 &&
k1 x2 + k2 ( x2 x1 ) = F2 = 0
m2 &&
m1 x2 k2 x1 + k2 x2 = 0
m2 &&
x1
x1 + (k1 + k2 ) x1 k2 x2 = 0
m1 &&
k2 x2 k2 x1 + k2 x2 = 0
m2 &&

m2 can be written in matrix

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

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

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

BDA31103 Mohd Amran Hj. Madlan

 x1 = A1 sin(t )
x2 = A2 sin(t ) m1 x1 (k1 + k2 ) k2 x1 0
0 &&
0 + =
x1 = A1 2 sin(t )
&& m2 x2 k2
&& k2 x2 0
x2 = A2 2 sin(t )
&&
m1 2 0 A1 (k1 + k2 ) k2 A1 0
+ =
0 m2 2 A2 k2 k2 A2 0

(k1 + k2 ) m1 2 k2 A 0
1 =
k k2 m2 2 A2 0
2

(k1 + k2 ) m1 2 k2
Can be solved =0
only if k2 k2 m2
2

BDA31103 Mohd Amran Hj. Madlan

 (k1 + k2 ) m1 2 k2
=0
k2 k2 m2
2

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

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

2
4(m1m2 ) (k1 + k2 )k2 k2 2
12 , 2 2 =
2(m1m2 )

1 = first natural frequency = n1

2 = first natural frequency = n 2

BDA31103 Mohd Amran Hj. Madlan

 (k1 + k2 ) m1n12 k2 A 0
at first natural frequency =n1 1=
k k2 m2n12 A2 0
2

A2 (1) (k1 + k2 ) m1n12

(k1 + k2 ) m1n12 A1(1) k2 A2 (1) = 0 r1 = (1) =
A1 k2
A2 (2) (k1 + k2 ) m1n 2 2
(k1 + k2 ) m1n 2 2 A1(2) k2 A2(2) = 0 r2 = (2) =
A1 k2

A (1)


A (1)

Modal vector A = (1) = (1)
(1) 1 1
First mode
A2 r1 A1
A1(2) A1(2)
A(2) = (2) = (2) Second mode
A2 r2 A1
BDA31103 Mohd Amran Hj. Madlan
 For a case (m1m2 ) 4 [ (k1 + k2 )m2 + k2 m1 ] 2 + (k1 + k2 )k2 k2 2 = 0
m1 = m2 = m
k1 = k2 = k (m 2 ) 4 [3km ] 2 + k 2 = 0

3km + 9k 2 m 2 4m 2 k 2 3km + 5m 2 k 2
k n1
2
= 2
=
2m 2m 2
m
x1 3k 5k 2 3 k 5 k
= + = +
2m 4m 2 2 m 4m
k
k
m n1 = 1.618
x2 m
k
n 2 = 0.618
m

BDA31103 Mohd Amran Hj. Madlan

 Mode shapes

A2 (1) (2k ) m(1.618) 2 ( k / m) A2(1) (2k ) m(0.618) 2 (k / m)

= = 0.618 (1)
= = 1.618
A1(1)
k A1 k

1.0
1.0 1.0 1.0 2 =
1 = 1.618
0.618

-0.618 1.618

BDA31103 Mohd Amran Hj. Madlan

 Free Vibration of Undamped
Torsional System
k1 1
I1&&1 = k11 + k2 ( 2 1 ) 2
k2
I && + (k + k ) k = 0
1 1 1 2 1 2 2

I1 k3
I 2&&2 = k2 ( 2 1 ) k3 2 I2
I && k + (k + k ) = 0
2 2 2 1 2 3 2

can be written in matrix

I1 0 &&1 (k1 + k2 ) k2 1 0
0 I && + k =
k2 + k3 2 0
2 2 2

BDA31103 Mohd Amran Hj. Madlan

 Example 3:
Find the natural frequencies and mode
shapes for the torsional system shown in
Fig.5.7 for J1 = J , J2 = 2J and kt1 = kt2 = k
.

Fig.5.7:
Torsional system

BDA31103 Mohd Amran Hj. Madlan

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