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Vibration 3

2DOF and
Multiple DOF systems

Two Degrees of Freedom

x1 x2

m1 m2
k1
k2

Textbook: Chapter 5
2-

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Free-Body Diagram

k2(x2 -x1)

k1 x1 m1 m2

x1 x2

Equations of Motion

m1 &x&1 (t ) = k1 x1 (t ) + k 2 ( x2 (t ) x1 (t ) )
m2 &x&2 (t ) = k 2 ( x2 (t ) x1 (t ) )
Rearranging :
m1 &x&1 (t ) + (k1 + k 2 ) x1 (t ) k 2 x2 (t ) = 0
m2 &x&2 (t ) k 2 x1 (t ) + k 2 x2 (t ) = 0

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Initial Conditions
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

x1(0) = x10 x&1(0) = x&10

x2(0) = x20 x&2(0) = x&20
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Solution by Matrix Methods

x (t ) x& (t ) &x& (t )
x(t ) = 1 , x& (t ) = 1 , &x&(t ) = 1
x2 (t ) x& 2 (t ) &x&2 (t )

m 0 k + k k2
M = 1 ,K = 1 2
0 m2 k2 k 2

M&x& + Kx = 0

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Initial Conditions

x10 x&10
x(0) = , x& (0) =
x20 x& 20

Solution:

Let x(t ) = ue jt
j = 1, u =/ 0, unknown
( )
- 2 M + K ue jt = 0
(
- 2M + K u = 0 )
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Changes ODE into algebraic equation:

(- 2
)
M +K u=0
two algebraic equation in 3 uknowns
u
u = 1 , and
u 2

Condition for Solution:

inv(- 2 M + K ) exists u = 0

Require u =/ 0 (- 2 M + K ) does not exist

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or det(- 2 M + K ) = 0

One equation in one unknown

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Back to our specific system:

the characteristic equation
det(- 2 M + K ) = 0
2 m1 + k1 + k2 k2
det =0
k2 2 m2 + k2
m1m2 4 (m1k2 + m2 k1 + m2 k2 ) 2 + k1 k2 = 0

Quadratic in 2 so four solutions

21 and 22 or +1 and + 2
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Calculating the corresponding

vectors u1 and u2
A vector equation for each square frequency
( 12 M + K)u1 = 0
And:
( 22 M + K)u2 = 0

4 equations in the 4 unknowns (each

vector has 2 components, but...
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Numerical example

m1=9 kg,m2=1kg, k1=24 N/m and k2=3 N/m

Characteristic equation becomes
4-62+8=(2-2)(2-4)=0
2 =2 and 2 =4 or
1,3 = 2 rad/s, 2,4 = 2 rad/s
Each value of 2 yields an expression or u:

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Computing the vectors u

u11
For 12 = 2, let u1 = then we have
u12
(-12 M + K)u = 0
27 9(2) 3 u11 0
=
3 3 (2) u12 0
9u11 3u12 = 0 and 3u11 + u12 = 0
2 equations, 2 unknowns but DEPENDENT!
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continued
u11 1 1
= u11 = u12 from both equations :
u12 3 3
only the direction, not the magnitude can be determined!
This is because : det (12 M + K ) = 0.
The magnitude is arbitrary.
Suppose u1 satisfies
(12 M + K )u1 = 0, so does au1 , a arbitrary :
(12 M + K ) au1 = 0 (12 M + K )u1 = 0

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Likewise for the second value of 2:

u21
For 22 = 4, let u2 = then we have
u22
(-12 M + K)u = 0
27 9(4) 3 u21 0
=
3 3 (4) u22 0
1
9u21 3u22 = 0 or u21 = u22
3
Note that the other equation is the same
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What to do about the magnitude!

Several possibilities, here we just fix one element:

Choose:
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u12 = 1 u1 =
1
Choose:
13
u22 = 1 u 2 =
1
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Solution to the algebraic

matrix equation :
13
1,3 = 2, u1 =
1
13
2,4 = 2, u2 =
1

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Return the time response:

We have four solutions:
x(t) = u1e j1t ,u1e j1t ,u 2 e j2 t ,u 2 e j2 t
Since linear we can combine as:
x(t) = au1e j1t + bu1e j1t + cu 2e j 2 t + du 2 e j2 t
x(t) = (ae )u + (ce )u
j1t j 1t j 2 t j 2t
+ be 1 + de 2

= A1 sin( 1t + 1 )u1 + A2 sin(2t + 2 )u 2

where A1 , A2 , 1 , and 2 are constants of integration

determined by initial conditions
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Physical interpretation

Each of the TWO masses is oscillating

at TWO natural frequencies w1 and w2
The relative magnitude of each sine
term, and hence of the magnitude of
oscillation of m1 and m2 is determined
by the value of A1u1 and A2u2
The vectors u1 and u2 are called
mode shapes

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What is a mode shape?

First note that A1,A2, f1 and f2 are

determined by the initial conditions
Choose them so that A2 = f1 = f2 =0
Then: x1 (t) u11
x(t) = = A1 sin 1t
x2 (t) u12
Thus each mass oscillates at (one)
frequency w1 with magnitudes proportional
to u1 the1st mode shape

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Mode shapes:

1/3 1

Mode 1: m1 m2

-1/3 1
Mode 2: m2 m2

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Solution as a sum of modes

x(t) = u1 cos 1t + u2 cos 2 t

Determines how the second

frequency contributes to the
Determines how the first response
frequency contributes to the
response

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Things to note

Two degrees of freedom implies two

natural frequencies
Each mass oscillates at with these two
frequencies present in the response
Frequencies are not those of two
component systems
k1 k2
1 = 2 = 1.63 , 2 = 2 = 1.732
m1 m2

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