Vibration Chapter05

Mechanical Vibrations
Fifth Edition in SI Units

Singiresu S. Rao
2011 Mechanical Vibrations Fifth Edition in SI Units 3
Chapter 5
Two Degree Freedom Systems
Chapter Outline
5.1 Introduction
5.2 Equations of Motion for Forced Vibration
5.3 Free Vibration Analysis of an Undamped System
5.4 Torsional System
5.5 Coordinate Coupling and Principal Coordinates
5.6 Forced-Vibration Analysis
5.7 Semidefinite Systems
5.8 Self-Excitation and Stability Analysis
5.9 Transfer-Function Approach
5.10 Solutions Using Laplace Transform
5.11 Solutions Using Frequency Transfer Functions
5.1
Introduction
5.1 Introduction
Two-degree-of-freedom systems are defined as systems that
require two independent coordinates to describe their motion.

For simplicity, a two-degree-of-freedom model can be used as
shown in the figure.
5.1 Introduction
The general rule for the computation of the number of degrees of
freedom can be stated as follows:

=
No. of degrees
of freedom of
the system
No. of masses in the
system x no. of
possible types of
motion of each mass
5.1 Introduction
As is evident from the systems shown in figures earlier on, the
configuration of a system can be specified by a set of independent
coordinates termed as generalized coordinates, such as length,
angle, or some other physical parameters.

Principle coordinates is defined as any set of coordinates that leads
a coupled equation of motion to an uncoupled system of equations.
5.2
Equations of Motion for Forced Vibration
Consider a viscously damped two-degree-of-freedom spring-mass
system, shown in the figure below
The application of Newtons second law of motion to each of the
masses gives the equations of motion:

Both equations can be written in matrix form as

where [m], [c], and [k] are called the mass, damping, and stiffness
matrices, respectively, and are given by

) 2 . 5 ( ) ( ) (
) 1 . 5 ( ) ( ) (
2 2 3 2 1 2 2 3 2 1 2 2 2
1 2 2 1 2 1 2 2 1 2 1 1 1
F x k k x k x c c x c x m
F x k x k k x c x c c x m
= + + + +
= + + + +

) 3 . 5 ( ) ( ) ( ] [ ) ( ] [ ) ( ] [ t F t x k t x c t x m

= + +
We have

And the displacement and force vectors are given respectively:

It can be seen that the matrices [m], [c], and [k] are symmetric:

where the superscript T denotes the transpose of the matrix.
(
+
+
=
(
+
+
=
(
=
3 2 2
2 2 1
3 2 2
2 2 1
2
1

] [

] [
0
0
] [
k k k
k k k
k
c c c
c c c
c
m
m
m
)
`
=
)
`
=
) (
) (
) (
) (
) (
) (
2
1
2
1
t F
t F
t F
t x
t x
t x

] [ ] [ ], [ ] [ ], [ ] [ k k c c m m
T T T
= = =
5.3
Free-Vibration Analysis of an Undamped System
5.3 Free-Vibration Analysis of an Undamped System
The solution of Eqs.(5.1) and (5.2) involves four constants of
integration (two for each equation). We shall first consider the free
vibration solution of Eqs.(5.1) and (5.2).
By setting F
1
(t) = F
2
(t) = 0, and damping disregarded, i.e., c
1
= c
2

= c
3
= 0, and the equation of motion is reduced to:

Assuming that it is possible to have harmonic motion of m
1
and m
2

at the same frequency and the same phase angle , we take the
solutions as

) 5 . 5 ( 0 ) ( ) ( ) ( ) (
) 4 . 5 ( 0 ) ( ) ( ) ( ) (
2 3 2 1 2 2 2
2 2 1 2 1 1 1
= + +
= + +
t x k k t x k t x m
t x k t x k k t x m

) 6 . 5 ( ) cos( ) (
) cos( ) (
2 2
1 1
| e
| e
+ =
+ =
t X t x
t X t x
Substituting into Eqs.(5.4) and (5.5),

Since Eq.(5.7)must be satisfied for all values of the time t, the
terms between brackets must be zero. Thus,

which represent two simultaneous homogenous algebraic equations
in the unknown X
1
and X
2
.
{ } | |
{ } | | ) 7 . 5 ( 0 ) cos( ) (
0 ) cos( ) (
2 3 2
2
2 1 2
2 2 1 2 1
2
1
= + + +
= + + +
| e e
| e e
t X k k m X k
t X k X k k m
{ }
{ } ) 8 . 5 ( 0 ) (
0 ) (
2 3 2
2
2 1 2
2 2 1 2 1
2
1
= + +
= + +
X k k m X k
X k X k k m
e
e
For trivial solution, i.e., X
1
= X
2
= 0, there is no solution. For a
nontrivial solution, the determinant of the coefficients of X
1
and X
2

must be zero:

which is called the frequency or characteristic equation.

{ }
{ }
0
) (
) (
det
2 1
2
1 2
2 2 1
2
1
=
(
(
+ +
+ +
k k m k
k k k m
e
e
{ }
{ } ) 9 . 5 ( 0 ) )( (
) ( ) ( ) (
2
2 3 2 2 1
1 3 2 2 2 1
4
2 1
= + + +
+ + +
k k k k k
m k k m k k m m e e
Hence the roots are:

The roots are called natural frequencies of the system.

) 10 . 5 (
) )( (
4
) ( ) (
2
1
) ( ) (
2
1
,
2 / 1
2 1
2
2 3 2 2 1
2
2 1
1 3 2 2 2 1
2 1
1 3 2 2 2 1 2
2
2
1
)
`
+ +
)
`
+ + +
)
`
+ + +
=
m m
k k k k k
m m
m k k m k k
m m
m k k m k k
e e
To determine the values of X
1
and X
2
,

The normal modes of vibration corresponding to
1
2
and
2
2
can be
expressed, respectively, as

) 11 . 5 (
) (
) (
) (
) (
3 2
2
2 2
2
2
2 1
2
2 1
) 2 (
1
) 2 (
2
2
3 2
2
1 2
2
2
2 1
2
1 1
) 1 (
1
) 1 (
2
1
k k m
k
k
k k m
X
X
r
k k m
k
k
k k m
X
X
r
+ +
=
+ +
= =
+ +
=
+ +
= =
e
e
e
e
) 12 . 5 ( and
) 2 (
1 2
) 2 (
1
) 2 (
2
) 2 (
1 ) 2 (
) 1 (
1 1
) 1 (
1
) 1 (
2
) 1 (
1 ) 1 (
=
X r
X
X
X
X
X r
X
X
X
X

The free-vibration solution or the motion in time can be expressed
itself as

Initial conditions
The initial conditions are

(5.17) mode second
) cos(
) cos(
) (
) (
) (
mode first
) cos(
) cos(
) (
) (
) (
2 2
) 2 (
1 2
2 2
) 2 (
1
) 2 (
2
) 2 (
1 ) 2 (
1 1
) 1 (
1 1
1 1
) 1 (
1
) 1 (
2
) 1 (
1 ) 1 (
=
=
=
=
| e
| e
| e
| e
t X r
t X
t x
t x
t x
t X r
t X
t x
t x
t x
0 ) 0 ( , ) 0 (
, 0 ) 0 ( constant, some ) 0 (
2
) (
1 2
1
) (
1 1
= = = =
= = = = =
t x X r t x
t x X t x
i
i
i

The resulting motion can be obtained by a linear superposition of
the two normal modes, Eq.(5.13)

Thus the components of the vector can be expressed as

The unknown constants can be determined from the initial
conditions:

) 14 . 5 ( ) ( ) ( ) (
2 2 1 1
t x c t x c t x

+ =
) 15 . 5 ( ) cos( ) cos(
) ( ) ( ) (
) cos( ) cos( ) ( ) ( ) (
2 2
) 2 (
1 2 1 1
) 1 (
1 1
) 2 (
2
) 1 (
2 2
2 2
) 2 (
1 1 1
) 1 (
1
) 2 (
1
) 1 (
1 1
| e | e
| e | e
+ + + =
+ =
+ + + = + =
t X r t X r
t x t x t x
t X t X t x t x t x
) 16 . 5 ( ) 0 ( ) 0 ( ), 0 ( ) 0 (
), 0 ( ) 0 ( ), 0 ( ) 0 (
2 2 2 2
1 1 1 1
x t x x t x
x t x x t x

= = = =
= = = =
Substituting into Eq.(5.15) leads to

The solution can be expressed as

) 17 . 5 ( sin sin ) 0 (
cos cos ) 0 (
sin sin ) 0 (
cos cos ) 0 (
2
) 2 (
1 2 2 1
) 1 (
1 1 1 2
2
) 2 (
1 2 1
) 1 (
1 1 2
2
) 2 (
1 2 1
) 1 (
1 1 1
2
) 2 (
1 1
) 1 (
1 1
| e | e
| |
| e | e
| |
X r X r x
X r X r x
X X x
X X x
=
+ =
=
+ =
)
`
=
)
`

=
)
`
+
=
)
`
=
) (
) 0 ( ) 0 (
sin ,
) (
) 0 ( ) 0 (
sin
) 0 ( ) 0 (
cos ,
) 0 ( ) 0 (
cos
1 2 2
2 1 1
2
) 2 (
1
1 2 1
2 1 2
1
) 1 (
1
1 2
2 1 1
2
) 2 (
1
1 2
2 1 2
1
) 1 (
1
r r
x x r
X
r r
x x r
X
r r
x x r
X
r r
x x r
X
e
|
e
|
| |

We can obtain the desired solution as

{ } | { } |
{ }
{ }
{ } | { } |
{ }
{ }
) 18 . 5 (
) 0 ( ) 0 ( [
) 0 ( ) 0 (
tan
cos
sin
tan
) 0 ( ) 0 ( [
) 0 ( ) 0 (
tan
cos
sin
tan
) 0 ( ) 0 (
) 0 ( ) 0 (
) (
1
sin cos
) 0 ( ) 0 (
) 0 ( ) 0 (
) (
1
sin cos
2 1 1 2
2 1 1 1
2
) 2 (
1
2
) 2 (
1 1
2
2 1 2 1
2 1 2 1
1
) 1 (
1
1
) 1 (
1 1
1
2 / 1
2
2
2
2 1 1
2
2 1 1
1 2
2 / 1
2
2
) 2 (
1
2
2
) 2 (
1
) 2 (
1
2 / 1
2
1
2
2 1 2
2
2 1 2
1 2
2 / 1
2
1
) 1 (
1
2
1
) 1 (
1
) 1 (
1
)
`
+

=
)
`
=
)
`
+
=
)
`
=
(

+ +
=
+ =
(
=
+ =

x x r
x x r
X
X
x x r
x x r
X
X
x x r
x x r
r r
X X X
x x r
x x r
r r
X X X
e |
|
|
e |
|
|
e
| |
e
| |

Example 5.3
Free-Vibration Response of a Two-Degree-of-Freedom System

Find the free-vibration response of the system shown in Fig.5.3(a)
with k
1
= 30, k
2
= 5, k
3
= 0, m
1
= 10, m
2
= 1 and c
1
= c
2
= c
3
= 0 for
the initial conditions .

Example 5.3
Free-Vibration Response of a Two Degree of Freedom System
Solution

For the given data, the eigenvalue problem, Eq.(5.8), becomes

By setting the determinant of the coefficient matrix in Eq.(E.1) to zero,
we obtain the frequency equation,

(E.1)
0
0
5 5 -
5 35 10
0
0
2
1
2
2
2
1
3 2
2
2 2
2 2 1
2
1
)
`
=
)
`
(
(
+
+
)
`
=
)
`
(
(
+ +
+ +
X
X
X
X
k k m k
k k k m
e
e
e
e
(E.2) 0 150 85 10
2 4
= + e e
Example 5.3
Solution

The natural frequencies can be found as

The normal modes (or eigenvectors) are given by

E.3) ( 4495 . 2 , 5811 . 1
0 . 6 , 5 . 2
2 1
2
2
2
1
= =
= =
e e
e e
E.5) (
5
1
E.4) (
2
1
) 2 (
1
) 2 (
2
) 2 (
1 ) 2 (
) 1 (
1
) 1 (
2
) 1 (
1 ) 1 (
X
X
X
X
X
X
X
X
)
`
=
)
`

Example 5.3
Solution

The free-vibration responses of the masses m
1
and m
2
are given by
(see Eq.5.15):

By using the given initial conditions in Eqs.(E.6) and (E.7), we obtain

(E.7) ) 4495 . 2 cos( 5 ) 5811 . 1 cos( 2 ) (
(E.6) ) 4495 . 2 cos( ) 5811 . 1 cos( ) (
2
) 2 (
1 1
) 1 (
1 2
2
) 2 (
1 1
) 1 (
1 1
| |
| |
+ + =
+ + + =
t X t X t x
t X t X t x
(E.11) sin 2475 . 12 1622 . 3 ) 0 (
(E.10) sin 4495 . 2 sin 5811 . 1 0 ) 0 (
(E.9) cos 5 cos 2 0 ) 0 (
(E.8) cos cos 1 ) 0 (
2
) 2 (
1
) 1 (
1 2
2
) 2 (
1 1
) 1 (
1 1
2
) 2 (
1 1
) 1 (
1 2
2
) 2 (
1 1
) 1 (
1 1
|
| |
| |
| |
X X t x
X X t x
X X t x
X X t x
+ = =
= = =
= = =
+ = = =

Example 5.3
Solution

The solution of Eqs.(E.8) and (E.9) yields

The solution of Eqs.(E.10) and (E.11) leads to

Equations (E.12) and (E.13) gives

(E.12)
7
2
cos ;
7
5
cos
2
) 2 (
1 1
) 1 (
1
= = | | X X
(E.13) 0 sin , 0 sin
2
) 2 (
1 1
) 1 (
1
= = | | X X
(E.14) 0 , 0 ,
7
2
,
7
5
2 1
) 2 (
1
) 1 (
1
= = = = | | X X
Example 5.3
Solution

Thus the free vibration responses of m
1
and m
2
are given by

(E.16) 4495 . 2 cos
7
10
5811 . 1 cos
7
10
) (
(E.15) 4495 . 2 cos
7
2
5811 . 1 cos
7
5
) (
2
1
t t t x
t t t x
=
+ =
5.4
Torsional System
Consider a torsional system as shown in Fig.5.6. The differential
equations of rotational motion for the discs can be derived as

Upon rearrangement become

For the free vibration analysis of the
system, Eq.(5.19) reduces to
2 2 3 1 2 2 2 2
1 1 2 2 1 1 1 1
) (
) (
t t t
t t t
M k k J
M k k J
+ =
+ + =
u u u u
u u u u

) 19 . 5 ( ) (
) (
2 2 3 2 1 2 2 2
1 2 2 1 2 1 1 1
t t t t
t t t t
M k k k J
M k k k J
= + +
= + +
u u u
u u u

) 20 . 5 ( 0 ) (
0 ) (
2 3 2 1 2 2 2
2 2 1 2 1 1 1
= + +
= + +
u u u
u u u
t t t
t t t
k k k J
k k k J

Example 5.4
Natural Frequencies of a Torsional System

Find the natural frequencies and mode shapes for the torsional system
shown in the figure below for J
1
= J
0
, J
2
= 2J
0
and k
t1
= k
t2
= k
t
.

Example 5.4
Solution

The differential equations of motion, Eq.(5.20), reduce to (with k
t3
=
0, k
t1
= k
t2
= k
t
, J
1
= J
0
and J
2
= 2J
0
):

Rearranging and substituting the harmonic solution:

(E.1) 0 2
0 2
2 1 2 0
2 1 1 0
= +
= +
u u u
u u u
t t
t t
k k J
k k J

(E.2) 2 , 1 ); cos( ) ( = + O = i t t
i i
| e u
Example 5.4
Solution

This gives the frequency equation of

The solution of Eq.(E.3) gives the natural frequencies

(E.3) 0 5 2
2
0
2 2
0
4
= +
t t
k k J J e e
(E.4) ) 17 5 (
4
and ) 17 5 (
4
0
2
0
1
+ = =
J
k
J
k
t t
e e
Example 5.4
Solution

The amplitude ratios are given by

Equations (E.4) and (E.5) can also be obtained by substituting the
following in Eqs.(5.10) and (5.11).

(E.5)
4
) 17 5 (
2
4
) 17 5 (
2
) 2 (
1
) 2 (
2
2
) 1 (
1
) 1 (
2
1
+
=
O
O
=
=
O
O
=
r
r
0 and 2 ,
, ,
3 0 2 2 0 1 1
2 2 1 1
= = = = =
= = = =
k J J m J J m
k k k k k k
t t t t
5.5
Coordinate Coupling and Principal Coordinates
Generalized coordinates are sets of n coordinates used to describe
the configuration of the system.
Equations of motion Using x(t) and (t)

From the free-body diagram shown in Figure (a), with the positive
values of the motion variables as indicated, the force equilibrium
equation in the vertical direction can be written as

The moment equation about C.G. can be expressed as

Eqs.(5.21) and (5.22) can be rearranged and written in matrix form
as

) 21 . 5 ( ) ( ) (
2 2 1 1
u u l x k l x k x m + =
) 22 . 5 ( ) ( ) (
2 2 2 1 1 1 0
l l x k l l x k J u u u + =

) 23 . 5 (
0
0

) ( ) (
) ( ) (
0
0
2
2
2
1 2 2 1 1
2 2 1 1 2 1
0
2 1
)
`
=
)
`
(
(
+
+
+
)
`
u
u
x
l k l k l k l k
l k l k k k
x
J
m

The lathe rotates in the vertical plane and has vertical motion as
well, unless k
1
l
1
= k
2
l
2
. This is known as elastic or static coupling.

Equations of motion Using y(t) and (t)
From Figure b, the equations of motion for translation and rotation
can be written as

u u u

me l y k l y k y m ' + ' = ) ( ) (
2 2 1 1
) 24 . 5 ( ) ( ) (
2 2 2 1 1 1
y me l l y k l l y k J
P

' ' + ' ' = u u u
These equations can be rearranged and written in matrix form as

If , the system will have dynamic or inertia coupling only.

Note the following characteristics of these systems:
1.In the most general case, a viscously damped two degree of
freedom system has the equations of motions in the form:

) 25 . 5 (
0
0
) ( ) (
) ( ) (

2
2
2
1 1 2 2 1 1
1 1 2 2 2 1
2
)
`
=
)
`
(
(
' + ' ' + '

' ' +
+
)
`
u
u
y
l k l k l k l k
l k l k k k
y
J me
me m
P

2 2 1 1
l k l k
'
=
'
) 26 . 5 (
0
0

2
1
22 21
12 11
2
1
22 21
12 11
2
1
22 21
12 11
)
`
=
)
`
+
)
`
+
)
`
x
x
k k
k k
x
x
c c
c c
x
x
m m
m m

2. The system vibrates in its own natural way regardless of the
coordinates used. The choice of the coordinates is a mere
convenience.
3. Principal or natural coordinates are defined as system of
coordinates which give equations of motion that are uncoupled both
statically and dynamically.

Example 5.6
Principal Coordinates of Spring-Mass System

Determine the principal coordinates for the spring-mass system shown
in the figure.

Example 5.6
Solution
Define two independent solutions as principal coordinates and express
them in terms of the solutions x
1
(t) and x
2
(t).
The general motion of the system shown is

(E.1)
3
cos cos ) (
3
cos cos ) (
2 2 1 1 2
2 2 1 1 1
|
|
.
|
\
|
+
|
|
.
|
\
|
+ =
|
|
.
|
\
|
+ +
|
|
.
|
\
|
+ =
| |
| |
t
m
k
B t
m
k
B t x
t
m
k
B t
m
k
B t x
Example 5.6
Solution
We define a new set of coordinates such that

Since the coordinates are harmonic functions, their corresponding
equations of motion can be written as

(E.2)
3
cos ) (
cos ) (
2 2 2
1 1 1
|
|
.
|
\
|
+ =
|
|
.
|
\
|
+ =
|
|
t
m
k
B t q
t
m
k
B t q
(E.3) 0
3
and 0
2 2 1 1
=
|
.
|
\
|
+ =
|
.
|
\
|
+ q
m
k
q q
m
k
q
Example 5.6
Solution
From Eqs.(E.1) and (E.2), we can write

The solution of Eqs.(E.4) gives the principal coordinates:

(E.4) ) ( ) ( ) (
) ( ) ( ) (
2 1 2
2 1 1
t q t q t x
t q t q t x
=
+ =
(E.5) )] ( ) ( [
2
1
) (
)] ( ) ( [
2
1
) (
2 1 2
2 1 1
t x t x t q
t x t x t q
=
+ =
5.6
Forced-Vibration Analysis
The equations of motion of a general two-degree-of-freedom
system under external forces can be written as

Consider the external forces to be harmonic:

where is the forcing frequency.
We can write the steady-state solutions as

) 27 . 5 (

2
1
2
1
22 21
12 11
2
1
22 21
12 11
2
1
22 12
12 11
)
`
=
)
`
+
)
`
+
)
`
F
F
x
x
k k
k k
x
x
c c
c c
x
x
m m
m m

) 28 . 5 ( 2 , 1 , ) (
0
= = j e F t F
t i
j j
e
) 29 . 5 ( 2 , 1 , ) ( = = j e X t x
t i
j j
e
We can write Eq.(5.30) as:

where

Eq.(5.32) can be solved to obtain:

| | ) 32 . 5 ( ) (
0
F X i Z

= e
| |
)
`
=
)
`
=
=
(
=
20
10
0
2
1
22 12
12 11
matrix Impedance
) ( ) (
) ( ) (
) (
F
F
F
X
X
X
i Z i Z
i Z i Z
i Z
e e
e e
e
| | ) 33 . 5 ( ) (
0
1
F i Z X

= e
The inverse of the impedance matrix is given

Eqs.(5.33) and (5.34) lead to the solution

| | ) 34 . 5 (
) ( ) (
) ( ) (
) ( ) ( ) (
1
) (
11 12
12 22
2
12 22 11
1
(
e e
e e
e e e
e
i Z i Z
i -Z i Z
i Z i Z i Z
i Z
) 35 . 5 (
) ( ) ( ) (
) ( ) (
) (
) ( ) ( ) (
) ( ) (
) (
2
12 22 11
20 11 10 12
2
2
12 22 11
20 12 10 22
1
e e e
e e
e
e e e
e e
e
i Z i Z i Z
F i Z F i Z
i X
i Z i Z i Z
F i Z F i Z
i X
+
=
=
Example 5.8
Steady-State Response of Spring-Mass System
Find the steady-state response of system shown in Fig.5.15 when the
mass m
1
is excited by the force F
1
(t) = F
10
cos t. Also, plot its
frequency response curve.

Example 5.8
Solution
The equations of motion of the system can be expressed as

We assume the solution to be as follows

Eq.(5.31) gives

(E.1)
0
cos
2
2
0
0
10
2
1
2
1
)
`
=
)
`
+
)
`
t F
x
x
k -k
-k k
x
x
m
m e

E.2) ( 2 , 1 ; cos ) ( = = j t X t x
j j
e
(E.3) ) ( , 2 ) ( ) (
12
2
22 11
k Z k m Z Z = + = = e e e e
Example 5.8
Solution
Hence

Eqs.(E.4) and (E.5) can be expressed as

(E.5)
) )( 3 ( ) 2 (
) (
(E.4)
) )( 3 (
) 2 (
) 2 (
) 2 (
) (
2 2
10
2 2 2
10
2
2 2
10
2
2 2 2
10
2
1
k m k m
kF
k k m
kF
X
k m k m
F k m
k k m
F k m
X
+ +
=
+
=
+ +
+
=
+
+
=
e e e
e
e e
e
e
e
e
E.6) (
1
2
) (
2
1
2
1
2
1
2
10
2
1
1
(
(
|
|
.
|
\
|
(
(
|
|
.
|
\
|
|
|
.
|
\
|

)
|
|
.
|
\
|
=
e
e
e
e
e
e
e
e
e
k
F
X
Example 5.8
Solution

E.7) (
1
) (
2
1
2
1
2
1
2
10
2
(
(
|
|
.
|
\
|
(
(
|
|
.
|
\
|
|
|
.
|
\
|
=
e
e
e
e
e
e
e
k
F
X
5.7
Semidefinite Systems
Semidefinite systems are also known as unrestrained or degenerate
systems.
Two examples of such systems are shown in the figure. For Figure
(a), the equations of motion can be written as

For free vibration, we assume the motion to be harmonic:

Substituting Eq.(5.37) into Eq.(5.36) gives

) 36 . 5 ( 0 ) (
0 ) (
1 2 2 2
2 1 1 1
= +
= +
x x k x m
x x k x m

) 37 . 5 ( 2 , 1 ), cos( ) ( = + = j t X t x
j j j
| e
) 38 . 5 ( 0 ) (
0 ) (
2
2
2 1
2 1
2
1
= + +
=
X k m kX
kX X k m
e
e
We obtain the frequency equation as

From which the natural frequencies can be obtained:

Such systems, which have one of the natural frequencies equal to
zero, are called semidefinite systems.

) 39 . 5 ( 0 )] ( [
2 1
2
2 1
2
= + m m k m m e e
) 40 . 5 (
) (
and 0
2 1
2 1
2 1
m m
m m k +
= = e e
5.8
Self-Excitation and Stability Analysis
Given that the criterion for stability is that the real parts of s
i
must
be negative, all coefficients of equation a
i
must be positive and
hence, the condition

must be fulfilled.
The Routh-Hurwitz criterion states that the system will be stable if
all the coefficients a
0
, a
1
,,a
4
are positive and the determinants
defined below are positive:

) 46 . 5 (
2
1 4
2
3 0 3 2 1
a a a a a a a + >
) 49 . 5 ( 0
0

0
) 48 . 5 ( 0

) 47 . 5 ( 0
2
3 0 4
2
1 3 2 1
3 1
4 2 0
3 1
3
3 0 2 1
2 0
3 1
2
1 1
> = =
> = =
> =
a a a a a a a
a a
a a a
a a
T
a a a a
a a
a a
T
a T
5.9
Transfer-Function Approach
For two-degree-of-freedom system shown the equations of motion
are

By taking the Laplace transforms of Eqs. (5.50) and (5.51),
assuming zero initial conditions,

( ) ( ) ( )
( ) ( ) ( ) 5.51
5.50
2 1 2 2 3 2 1 2 2 3 2 2 2
1 2 2 1 2 1 2 2 1 2 1 1 1
f x k x k k x c x c c x m
f x k x k k x c x c c x m
= + + + +
= + + + +

( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) 5.53
5.52
2 1 2 2 3 2 1 2 2 3 2 2
2
2
1 2 2 1 2 1 2 2 1 2 1 1
2
1
s F s X k s X k k s sX c s sX c c s X s m
s F s X k s X k k s sX c s sX c c s X s m
= + + + +
= + + + +
It can be solved using Cramers rule as

where

( )
( )
( )
( ) ( )
( )
( )
( ) 5.57 and 5.56
2
2
1
1
s D
s D
s X
s D
s D
s X = =
Note that
1. The denominator, D(s), in the expressions of X
1
(s) and X
2
(s)
given by Eq. (5.60), is a fourth-order polynomial in s and
denotes the characteristic polynomial of the system The model
(or system) is a fourth-order model (or system).
2. Equations (5.56) and (5.57) permit us to apply inverse Laplace
transforms to obtain the fourth-order differential equations for
x
1
(t) and x
2
(t) .
3. Equations (5.56) and (5.57) can be used to derive the transfer
functions of and x
2
(t) corresponding to any specified forcing
function.

5.10
Solutions Using Laplace Transform
Example 5.12
Response Under Impulse Using Laplace Transform Method

Two railway cars, of masses m
1
= M and m
2
= m are connected by a
spring of stiffness k, as shown in the figure. If the car of mass M is
subjected to an impulse determine the time responses of the
cars using the Laplace transform method.

( ) t F o
0
Example 5.12
Solution

The responses of the cars can be determined using either of the
following approaches:
a. Consider the system to be undergoing free vibration due to the
initial velocity caused by the impulse applied to car M.
b. Consider the system to be undergoing forced vibration due to the
force applied to car M (with the displacements and velocities
of cars M and m considered to be zero initially).
( ) t F o
0
Example 5.12
Solution

Using the second approach, the equations of motion of the cars can be
expressed as

Using the Laplace transforms, Eqs. (E.1) and (E.2) can be written as
( ) ( ) ( )
( ) ( ) E.2 0
E.1
1 2 2
0 2 1 1
= +
= +
x x k x m
t F x x k x M

o
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) E.4 0
E.3
2
2
1
0 2 1
2
= + +
= +
s X k ms s kX
F s kX s X k Ms
Example 5.12
Solution

Equations (E.3) and (E.4) can be solved as
( )
( )
( ) { }
( )
( )
( ) { }
( ) E.6
E.5
2 2
0
2
2 2
2
0
1
m M k Mms s
k F
s X
m M k Mms s
k ms F
s X
+ +
=
+ +
+
=
Example 5.12
Solution

Using partial fractions, Eqs. (E.5) and (E.6) can be rewritten as

where
( ) ( )
( ) ( ) E.8
1 1
E.7
1
2 2 2
0
2
2 2 2
0
1
|
.
|
\
|
+
+
=
|
.
|
\
|
+
+
+
=
w s
w
w s m M
F
s X
w s
w
wM
m
s m M
F
s X
( ) E.9
1 1
2
|
.
|
\
|
+ =
m M
k w
Example 5.12
Solution

The inverse transforms of Eqs. (E.7) and (E.8), using the results of
Appendix D, yield the time responses of the cars as
( ) ( )
( ) ( ) E.11 sin
1
E.10 sin
0
2
0
1
|
.
|
\
|

+
=
|
.
|
\
|
+
+
=
wt
w
t
m M
F
s X
wt
wM
m
t
m M
F
s x
5.11
Solutions Using Frequency Transfer Functions
Example 5.13
Derivation of Frequency Transfer Functions

Derive the frequency transfer functions of x
1
(t) and x
2
(t) for the
system shown in figure.
Example 5.13
Solution

From the free-body diagrams of the masses, the equations of motion
of the system is
( ) ( ) ( )
( ) ( ) ( ) E.2 0
E.1 sin
2 1 2 2 1 2 2 2 2
0 1 2 1 2 2 1 2 1 1 1 1 1 1
= = + +
= = + + + +
p x x k x x c x m
wt P p x x k x x c x k x c x m

Example 5.13
Solution

By taking the Laplace transforms of Eqs. (E.1) and (E.2), assuming
zero initial conditions,
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) E.4 0
E.3
1 2 2 1 2 2 2 2
1 2 1 2 2 1 2 1 1 1 1 1
2
1
= + +
= + + + +
s X s X k s X s X c s X m
s P s X s X k s X s X c s X k s sX c s X s m
Example 5.13
Solution

The of Eqs. (E.3) and (E.4) is

where
( )
( )
( )
( ) ( )
( )
( )
( ) E.6 and E.5
2
2
1
1
s D
s D
s X
s D
s D
s X = =
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) E.7
E.7
1 2 2 2
1 2 2
2
2 1
s P k s c s D
s P k s c s m s D
+ =
+ + =
Example 5.13
Solution

We have

The general transfer functions is
( ) ( ) ( ) ( )
( ) ( ) ( ) E.9
2 1 1 2 2 1
2
2 1 2 2 1 2 2 1
3
2 2 1 2 2 1
4
2 2
k k s k c k c
s c c k m k m k m s c m c m c m s m m s D
+ + +
+ + + + + + + =
( )
( ) ( )
( )
( )
( ) ( )
( ) E.10 and E.9
2 2
1
2 2 2
2
2
1
1
s D
k s c
s P
s X
s D
k s c s m
s P
s X +
=
+ +
=
Example 5.13
Solution

The frequency transfer functions is

where
( )
( ) ( )
( )
( )
( ) ( )
( ) E.13 and E.12
2 2
1
2 2 2
2
2
1
1
iw D
k iwc
iw P
iw X
iw D
k iwc w m
iw P
iw X +
=
+ +
=
( ) ( ) | |
| | | | ( )
2 1 1 2 2 1 2 1 2 2 1 2 2 1
2
2 2 1 2 2 1
4
2 1
4
k k k c k c iw c c k m k m k m w
c m c m c m iw w m m w iw D
+ + + + + +
+ + =

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Mechanical Vibrations

Fifth Edition in SI Units

2011 Mechanical Vibrations Fifth Edition in SI Units 20

2011 Mechanical Vibrations Fifth Edition in SI Units 26

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