CHAPTER-6

SYSTEMS WITH TWO DEGREE OF FREEDOM

Topics covered:
Mathematical modeling of two DOF system
Mathematical derivation of governing equations
(i) Newton's method
(ii) Energy method (Lagranges method)
Solution to governing equations
Modes of Vibration
Co-ordinate coupling
Principal co-ordinates
Free vibration (linear, torsional, string and pendulum systems)
Forced Vibration
Applications
Introduction
In earlier classes we have discussed analysis of single degree of freedom systems. It is
well known that Degree of freedom is the number of independent co-ordinates
required to describe the motion of a vibratory system
Degree of freedom of a system=(Number of masses in a system) x (number of
possible types of motion of each mass.
A two-degree freedom system is one that requires two coordinates to describe its
motion. These coordinates are called generalized coordinates when they are
independent of each other. A two DOF system has two equations of motion, which
can be solved to obtain two natural frequencies
Examples of 2 DOF linear and torsional systems are shown in Fig.1.
m
1
K
1
m
2
K
2
x
1
x
2
u
1
J
1
u
2
J
2
K
t
1
K
t
2
Fig.1 Examples of 2DOF linear and torsional systems
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2
Obtain the equations of the motion of the linear system shown in Fig.1.
Governing equations can be obtained by
(i) Newtons method
(ii) Lagranges method (Generalized energy method).
Newtons method
The Newtons method use force balance equations to obtain governing equations. The
Force equilibrium diagram of given 2DOF linear system is shown in Fig.2.
From Force equilibrium diagram of mass m1:
0 ) x (x K x K x m
1 2 2 1 1 1 1
= +

(1)
0 x K )x K (K x m
2 2 1 2 1 1 1
= + +

(2)
From Force equilibrium diagram of mass m2 :
0 ) x (x K x m
1 2 2 2 2
= +

(3)
0 x K x K x m
2 2 1 2 2 2
= +

(4)
Eqns. (2) and (4) are Eqns of motion of the system.
Lagranges method (Generalized energy method).
The Lagranges equation is :
i
i i i
Q
x
U
x
T
x
T
dt
d
=
c
c
+
c
c

.
|

\
|
c
c

(5)
where,
T - Kinetic energy of the system,
U - Potential energy of the system,
xi - independent generalized displacement vector,
i
x

-independent generalized velocity vector and

Qi- generalized force vector.
m
1
K
1
x
1
1 1
x m

m
2
2 2
x m

K
2
(x
2
-x
1
)
Fig.2 Force equilibrium diagram of 2DOF linear system
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3
2
2 2
2
1 1
x m
2
1
x m
2
1
T

+ = (6)
2
1 2 2
2
1 1
) x (x K
2
1
x K
2
1
U + = (7)
{ ;
)
`

=
2
1
i
x
x
x
substitute Eqn.(6) and (7) in (5). The part differentials are given below.
1 1
1
x m
x
T

=
c
c
1 1
1
x m
x
T
dt
d

.
|

\
|
c
c
0
x
T
1
=
c
c
1) )( x (x K x K
x
U
1 2 2 1 1
1
+ =
c
c
2 2 2 1 1
1
x K ) K (K x
x
U
+ =
c
c
Substitute above differentials in Eqn. (5), to obtain the equations of motion.
0 x K )x K (K x m
2 2 1 2 1 1 1
= + +

0 x K x K x m
2 2 1 2 2 2
= +

The above equations are similar to the equations obtained by Newtons method. So,
one can use any one method to obtain the Eqns of motions.
Solution of governing equations
It is possible to have pure harmonic free vibration for both the masses.
Let us assume
, ) t sin A x
1 1
+ = (8)
) sin( A x
2 2
+ = t (9)
The above equations have to satisfy the governing equations of motions. Substitute
Eqns. (8) and (9) in (2 ) and (4).
0 ) sin( A K ) sin( A m ) K (K
2 2 1
2
1 2 1
= + + + t t (10)
0 ) sin( )A m (K ) sin( A K
2
2
2 2 1 2
= + + t t (11)
In above equations 0 ) sin( = + t
The above equations reduces to: (characteristic equation)
0 A K A m ) K (K
2 2 1
2
1 2 1
= + (12)
0 )A m (K A K
2
2
2 2 1 2
= (13)
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4
The solution of equations is:
0
m K
K
........
K
m ) K (K
2
2 2
2
2
2
1 2 1
=

+
(14)
The above equation is referred as a characteristic determinant. Solving, we get :
0 K K K m ) K (K m m m
2 1
2
2 1 2 1 2
4
2 1
= + + + (15)
0
m m
K K

m
K
m
) K (K

2 1
2 1 2
2
2
1
2 1 4
= +
(

+
+
(16)
For simplification, let us consider :
m m m
K K K
2 1
2 1
= =
= =
The frequency equation changes to:
0
m
K

m
K
m
2K

2
2
2 4
= +
(

+ (17)
0
m
K

m
3K

2
2
2 4
= +
(

(18)
put
2
= , in the above equation:
0
m
K

m
3K

2
2
2
= +
(

2a
4ac b b -
, ,
2
2
2
2
1 2 1

= =
2
m
4K
m
3K
m
3K
, ,
2
2
2
2
2
2
1 2 1

.
|

\
|

= =
, )
2
m
K
5 3
,
2
2
2
1

=
2
m
5K
m
3K
,
2
2
2
2
2
1

=
, )
2
m
K
5 3

= and
, )
2
m
K
5 3

2
+
=
n 1
0.61 = and
n 2
1.61 = radians/sec
As the system has two natural frequencies, under certain conditions it may vibrate
with first or second frequencies, which are referred as principal modes of vibration.
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5
First principal mode of vibration
The system vibrates with first fundamental natural frequency, i.e
1
=
For vibrations under Mode-I, consider.
A
11
-amplitude of first mass (m
1
) due to frequency
1

A
21
-amplitude of second mass (m
2
) due to frequency
1

Characteristic equations of the system changes to:

0 KA A m 2K
21 11
2
1
= (19)
0 )A m (K KA
21
2
1 11
= (20)
Let
1
11
21

A
A
= be amplitude ratio, from Eqn. (19) we get,

.
|

\
|
= =
K
m 2K
A
A

2
1
11
21
1
(21)
Substitute e
1
in the above equation.
1.63 (0.61) 2
A
A

2
11
21
1
= = = (22)
First modal vector is:
{ ;
)
`

=
)
`

=
)
`

=
1.63
1
A
A
A
A
A
11 1
11
21
11
1
(23)
Second principal mode of vibration
The system vibrates with first fundamental natural frequency, i.e
2
=
For vibrations under Mode-II, consider
A
12
-amplitude of first mass (m
1
) due to frequency
2

A
22
-amplitude of second mass (m
2
) due to frequency
2

Characteristic equations of the system changes to:

0 KA A m 2K
22 12
2
2
= (24)
0 )A m (K KA
22
2
2 12
= (25)
Let
2
12
22

A
A
= be amplitude ratio, from Eqn. (24) we get,
0 KA A m 2K
22 12
2
2
= (26)

.
|

\
|
= =
K
m 2K
A
A

2
2
12
22
2
(27)
Substitute e
2
in above equation,
0.59 (1.61) 2
A
A

2
21
22
2
= = = (28)
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Second modal vector is:
{ ;
)
`

=
)
`

=
)
`

=
0.59
1
A
A
A
A
A
12 2
12
22
12
2
(29)
The modal matrix is:
{ ; { ;
(

=
(

= =
0.59
1
...
1.63
1
A
A
...
A
A
A A A
12 2
12
11 1
11
2 1
(30)
Mode shapes of the system
The given vibratory system has two principal modes, mode shapes of the system are
shown in Fig.3.
K
1
x
1
m
1
m
2
x
2
K
2
A
11
1
A
21
=
1
A
11
A
21
=1.63
A
B
C
A
12
1
A
22
=
2
A
12
A
22
=-0.59
Mode-II
Node
Mode-I
Fig.3 Mode shapes of the system
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7
Torsional Vibratory systems
A torsional system is a rotor system as shown in Fig.4.
Obtain the equations of motion of the system shown in Fig.4.
Newtons method
The Newtons method use force balance equations to obtain governing equations. The
Force equilibrium diagram of given 2DOF torsional system is shown in Fig.5.
From Force equilibrium diagram of disc 1
0 ) ( K K J
1 2 2 1 1 1 1
= +

0 K ) K (K J
2 2 1 2 1 1 1
= + +

(31)
From Force equilibrium diagram of disc 2
0 ) ( K J
1 2 2 2 2
= +

u
1
u
2
Disc-1
Disc-2
) ( K
1 2 2

2 2
J

1 1
J

1 1
K
Fig.5 Force equilibrium diagram of 2DOF torsional system
u
1
J
1
u
2
J
2
K
t
1
K
t
2
Fig.4 Examples of 2DOF torsional system
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8
0 K K J
2 2 1 2 2 2
= +

(32)
Eqns.(31) and (32) are the governing Eqns. of the system.
Equivalent shaft for a torsional system
Many engineering applications we find stepped shaft as shown in Fig.6. For
vibration it is required to have an equivalent system for the analysis. In this section
how to obtain the torsionally equivalent shaft is illustrated.
Let u be the twist in the shaft by application of torque T, and u
1
, u
2
, u
3
and u
4
be
twists in section 1, 2, 3 and 4 respectively.
4 3 2 1
+ + + = (33)
From theory of torsion,
L
G
J
T
= (34)
Where,
32
d
J
4
= (35)
4 4
4
3 3
3
2 2
2
1 1
1
G J
TL
G J
TL
G J
TL
G J
TL
+ + + = (36)
If material of shaft is same, then above equation can be written as:

.
|

\
|
+ + + =
4
4
4
4
3
3
4
2
2
4
1
1
d
L
d
L
d
L
d
L
G
T

32
(37)
If de and Le are equivalent diameter and lengths of the shaft, then:

.
|

\
|
+ + + =
4
4
4
4
3
3
4
2
2
4
1
1
4
e
e
d
L
d
L
d
L
d
L
d
L
(38)
4
4
e
4
4
3
e
3
4
2
e
2
4
1
e
1 e
d
d
L
d
d
L
d
d
L
d
d
L L

.
|

\
|
+

.
|

\
|
+

.
|

\
|
+

.
|

\
|
= (39)
The equivalent shaft of a system shown in Fig.6 given by Eqn.(39) is shown in Fig.7.
d
1
d
2 d
3
d
4
J
A
J
B
J
1
J
2
J
3
J
4
1
2 3 4
L
1
L
2
L
3
L
4
Fig.6. Stepped shaft
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9
Definite and semi-definite systems
A system, which is free from both the ends, is referred as semi-definite system.
Ex: Train, Turbo-generator, etc.
For semi-definite systems, the first natural frequency is zero. A simple semi-definite
linear and a torsional systems are shown in Fig.8.
L
e
d
e
J
B
J
A
Fig.7. Equivalent shaft of the system shown in Fig.6
m m
K
x
2
x
1
u
2
K
J
2
J
1
u
1
(a)
(b)
Fig.8. Semi-definite systems (a) linear and (b) torsional.
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A system, which is fixed from one end or both the ends is referred as definite system.
A definite system has nonzero lower natural frequency. Various definite linear and a
torsional systems are shown in Fig.9.
Example 1
For the torsional system shown in the Fig.10,
(i) derive the equations of motion,
(ii) setup the frequency equation and obtain the fundamental natural frequencies
(iii) obtain the modal vectors and modal matrix
(iv) draw mode shapes of the system.
Solution:
Write the Equations of motions of the system, use Lagranges equation.
The Lagranges equation is :
m
1
K
1
m
2
K
2
x
1
x
2
u
1
J
1
u
2
J
2
K
1
K
2
m m
K
K
K
x
1 x
2
(a)
(b)
(c)
Fig.9. Various definite systems
u
2
K
J
2 J
1
u
1
Fig.10. Turbo-generator
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11
i
i i i
Q

T
dt
d
=
c
c
+
c
c

.
|

\
|
c
c

(40)
where,
2
2 2
2
1 1
J
2
1
J
2
1
T

+ = (41)
2
1 2 2
) ( K
2
1
U = (42)
{ ;
)
`

=
2
1
i

substitute Eqn. (41) and (42) in Eqn.(40) to get the equations of motion:
0 K K J
2 1 1 1
= +

(43)
0 K K J
2 1 2 2
= +

(44)
Assuming the vibration of the system is SHM,
, ) t sin A
1 1
+ = (45)
) sin( A
2 2
+ = t (46)
The above equations have to satisfy the governing equations of motions Eqn. (43) and
(44). Simplifying, we get.
0 ) sin( KA ) sin( A J K
2 1
2
1
= + + t t (47)
0 ) sin( )A J (K ) sin( KA
2
2
2 1
= + + t t (48)
In above equations
0 ) sin( = + t
The above equations reduces to: (characteristic equation)
0 KA A J K
2 1
2
1
= (49)
0 )A J (K KA
2
2
2 1
= (50)
The above equations can be written in the determent form as:
0
J K
K
........
K
J K
2
2
2
1
=

(51)
The above equation is referred as a characteristic determinant. Solving, we get the
determinant,
0 K J K J J J
2
2 1
4
2 1
= + (52)
0
J
K
J
K

2
2 1
4
=
(

+ (53)
The above equation is referred as frequency equation. Solving the frequency
equations, we get.
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12
0
1
= rad/s and

.
|

\
| +
=
2 1
2 1
2
J J
J J
K rad/s.
For simplification, let us consider,
J J J
2 1
= = , (54)
then 0
1
= rad/s and
J
2K

2
= rad/s
As the system is semi-definite system, the estimated first natural frequency is found to
be ZERO. The system has two natural frequencies, under certain conditions it may
vibrate with first or second frequency, which are referred as principal modes of
vibration.
Now, the characteristic equations of the system due to condition in Eqn.(54) are:
0 KA A J K
2 1
2
1
= (55)
0 )A J (K KA
2
2
2 1
= (56)
First principal mode of vibration
The system vibrates with first fundamental natural frequency, i.e e
1.
For vibrations under Mode-I, consider,
A
11
-amplitude of first disc (J
1
) due to frequency e
1
A
21
-amplitude of second disc (J
2
) due to frequency e
1
Characteristic equations of the system changes to:
0 KA A J K
21 11
2
1
= (57)
0 )A J (K KA
21
2
2 11
= (58)
Let,
1
11
21

A
A
= be amplitude ratio
Then, from Eqn. (57) one can obtain,

.
|

\
|
= =
K
J K
A
A

2
1
11
21
1
(59)
Substitute e
1
in above equation.
1 = =
11
21
1
A
A

First modal vector is:

{ ;
)
`

=
)
`

=
)
`

=
1
1
A
A
A
A
A
11 1
11
21
11
1
(60)
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13
Second principal mode of vibration
For vibrations under Mode-II, consider,
A
12
-amplitude of first disc (J
1
) due to frequency e
2
A
22
-amplitude of second disc (J
2
) due to frequency e
2
Characteristic equations of the system changes to:
0 KA A J K
22 12
2
1
= (61)
0 )A J (K KA
22
2
2 12
= (62)
Let
2
12
22

A
A
= is the amplitude ratio,
From Eqn. (61) on can obtain,

.
|

\
|
= =
K
J K
A
A

2
2
11
21
2
Substitute e
2
in the above equation,
1 =

.
|

\
|

= =
K
J
2K
J K
A
A

11
21
1
(63)
Second modal vector is:
{ ;
)
`

=
)
`

=
)
`

=
1
1
A
A
A
A
A
12 2
12
22
12
2
(64)
Modal matrix
{ ; { ;
(

=
(

= =
1 1
1 1
12 2
12
11 1
11
2 1
A
A
...
A
A
A A A (65)
Mode shapes of the system
The mode shapes obtained from modal matrix Eqn. (65) are shown in Fig.11.
u
2
K
J
2
J
1
u
1
Fig.11. Mode shapes of the system
1
1
-1
1
Node
Mode I
Mode II
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14
Various geared systems
A Turbo-generator geared system is shown in the fig.12. The analysis of this system is
complex due to the gears. The system can be made simple as discussed below.
The speed ratio, n of the system is:
generator of speed
turbine of speed
n =
For the system given in Fig. 12, the simplification can be made by,
(i) considering inertia of gears and (ii) neglecting inertia of gears.
Inertia of gears is considered
The system becomes 3 DOF system as shown in Fig.13.
Inertia of gears is neglected
The system becomes 2 DOF system as shown in Fig.14.
Generator
Gears
Shaft-1
J
1
J
2
J
3
J
4
K
1
K
2
Turbine
Shaft-2
Fig.12 Turbo-generator geared system.
J
1
J
2
J
2
+n
2
J
3
Generator
K
1
n
2
K
Turbine
Fig.13 Turbo-generator geared system considering the inertia of gears
Turbine
J
1
J
2
K
1 n
2
K
2
Generator
Fig.14 Turbo-generator geared system neglecting the inertia of gears
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15
Two torsional springs are in series, therefore the effective stiffness can be obtained
from,
2
2
1 eq
K n
1
K
1
K
1
+ = (66)
Practice problems (Linear definite systems)
For the syetms shown in the Fig.15,
(i) derive the equations of motion,
(ii) setup the frequency equation and obtain the fundamental natural frequencies
(iii) obtain the modal vectors and modal matrix
(iv) draw mode shapes of the system.
m
K
m
K
K
x
1
x
2
K
K
Fig.15 Linear vibratory systems
m m
K K K
x
1 x
2
m m
K K K
x
1 x
2
K
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Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
16
Practice problems (Torsional semi-definite systems)
For the systems shown in figure, obtain natural frequencies and mode shapes
Pendulum systems (double pendulum)
Estimate the natural frequencies of the double pendulum shown in the Fig.17. For
simplicity take m
1
=m
2
=m and l
1
=l
2
=l.
u
2
K
2K
u
1
J
1
J
2
Fig.16 Torsional vibratory system.
Generator
Gears
Shaft-1
J
J
J
3
J
4
K
K
Turbine
Shaft-2
n=2
m
1
m
2
l
1
l
2
Fig.17 Double pendulum.
l
1
l
2
T
1
T
2
T
2
m
1
g
m
2
g
Fig.18 Static forces in Double pendulum.
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Due to self weight of masses, the pendulum roads are in tension, the static forces in
the double pendulum is shown in the Fig.18. From this figure one can write,
g m T
2 2
= (67)
2 1 1
T g m T + = (68)
)g m (m g m g m T
2 1 2 1 1
+ = + = (69)
Above equations holds good for small oscillations.
When the system is disturbed, it starts vibrating, a position at any instant of
time with forces is shown ion Fig.19.
Consider x
1
and x
2
are generalized co-ordinates. From Fig.19, the relation between x
and u can be written as:
1
1
1 1
l
x
sin = = (70)
2
1 2
2 2
l
x x
sin

= = (71)
Resolving the forces on the mass m
1
, (Ref. Fig.19) we get,
0 T T x m
2 2 1 1 1 1
= +

(72)
Substitute, Eqns. (67), (69), (70), and (71) in eqns. (72).
0
l
x x
T
l
x
T x m
2
1 2
2
1
1
1 1 1
=

+

(73)
0
l
x x
g) (m
l
x
)g m (m x m
2
1 2
2
1
1
2 1 1 1
=

+ +

(74)
Substitute m
1
=m
2
=m and l
1
=l
2
=l in the above Eqn.
0
l
x x
(mg)
l
x
(2m)g x m
1 2 1
1
=

+

(75)
l
2
x
1
u
2
l
1
u
1
T
1
T
2
1 1
x m

2 2
x m

T
2
x
2
Fig.19 Dynamic forces on Double pendulum
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0 x
l
mg
x
l
3mg
x m
2 1 1
=
.
|

\
|

.
|

\
|
+

(76)
Above Eqn. is first Eqn. of motion.
Resolving the forces on the mass m
2,
(Ref. Fig.19) we get,
0 T x m
2 2 2 2
= +

(77)
Substitute, Eqns. (67), (69), (70), and (71) in eqns. (77).
0
l
x x
T x m
2
1 2
2 2 2
=

+

(78)
0
l
x x
g m x m
2
1 2
2 2 2
=

.
|

\
|
+

(79)
Substitute m
1
=m
2
=m and l
1
=l
2
=l in the above Eqn.
0 x
l
mg
x
l
mg
x m
2 1 2
=
.
|

\
|
+
.
|

\
|

(80)
Above Eqn. is second Eqn. of motion.
Eqns.(76) and (80) are governing equations of motion of the system.
Solution to governing eqns.:
Solution to governing eqns. can be obtained by considering the response of each mass
as SHM:
, ) t sin A x
1 1
+ = (81)
) sin( A x
2 2
+ = t (82)
The above equations have to satisfy the governing equations of motions Eqns.(76) and
(80). Substitute eqns. (81) and (82) in Eqns.(76) and (80).
0 ) sin( A
l
mg
) sin( A m
l
3mg
2 1
2
= + +
(

(83)
0 ) sin( A m
l
mg
) sin( A
l
mg
2
2
1
= +
(

+ (84)
In above equations 0 ) sin( = + t
Therefore, the above equations reduces to: (characteristic equation)
0 A
l
mg
A m
l
3mg
2 1
2
=
(

(85)
0 A m
l
mg
A
l
mg
2
2
1
=
(

(86)
The above Eqns can be written in determinant form as:
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0
m
l
mg
l
mg
........
l
mg
m
l
3mg
2
2
=

(87)
The above equation is referred as a characteristic determinant, Solving, we get :
2
2 2 2 2
4 2
l
g 2m
l
g 4m
m + (88)
The above equation is referred as a frequency equation
Solving Eqn. (88), we get:
Natural frequencies of the system
l
g
0.27
1
= radians/s
l
g
3.73
2
= radians/s
Modal vectors and the mode shapes can be obtained by usual meaner, as explained
earlier.
String systems
Obtain the natural frequencies of the string system shown in the Fig.20. For simplicity
take m
1
=m
2
=m and l
1
=l
2
=l
3
=l
For the above system, small angular oscillations, it can be assumed that the tensions in
the string (T) do not change. The free body diagram of the system at any instant of
time is shown in Fig.21.
m
2
l
1
l
2 l
3
m
1
Fig.20 String system
Fig.21 Free body diagram of the system at time, t
m
2
l
1
l
2 l
3
m
1
x
1
x
2
u
1
u
2
u
3
T
T
T
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Consider x
1
,x
2
as generalized co-ordinates, from Fig.21, the relations between u and x
are:
l
x

1
1
=
l
x x

2 1
2

=
l
x

2
3
=
Considering the force equilibrium of first mass, m
1
0 T T x m
2 1 1
= + +

(89)
Substitute for angular motions u
1
, u
2
, u
3
from above eqns.
0
l
x x
T
l
x
T x m
2 1 1
1
=

+ +

0 x
l
T
x
l
2T
x m
2 1 1
=
.
|

\
|

.
|

\
|
+

(90)
Considering the force equilibrium of second mass, m
2
0 T T x m
3 2 2
= +

(91)
Substitute for angular motions u
1
, u
2
, u
3
from above eqns.
0
l
x
T
l
x x
T x m
2 2 1
2
= +

0 x
l
2T
x
l
T
x m
2 1 2
=
.
|

\
|
+
.
|

\
|

(92)
Eqns. (90) and (92) are two equations of motion of the system.
Solution to governing eqns.:
Solution to governing eqns. can be obtained by considering the response of each mass
as SHM:
, ) t sin A x
1 1
+ = (92)
) sin( A x
2 2
+ = t (93)
The above equations have to satisfy the governing equations of motions Eqns.(90) and
(92). Substitute eqns. (92) and (93) in Eqns.(90) and (92).
0 ) sin( A
l
T
) sin( A m
l
2T
2 1
2
= + +
(

(94)
0 ) sin( A m
l
2T
) sin( A
l
T
2
2
1
= +
(

+ (95)
In above equations 0 ) sin( = + t
Therefore, the above equations reduces to: (characteristic equation)
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0 A
l
T
A m
l
2T
2 1
2
=
(

(96)
0 A m
l
2T
A
l
T
2
2
1
=
(

(97)
The above Eqns can be written in determinant form as:
0
m
l
2T
l
T
........
l
T
m
l
2T
2
2
=

(98)
The above equation is referred as a characteristic determinant, Solving, we get :
2
2 2
4 2
l
3T
l
4Tm
m + (99)
The above equation is referred as a frequency equation. Solving Eqn. (99), we get:
Natural frequencies of the system
ml
T

1
= radians/s
ml
3T

2
= radians/s
As the system has two natural frequencies, under certain conditions it may vibrate
with first or second frequency, which is referred as principal modes of vibration.
First principal mode of vibration
The system vibrates with first fundamental natural frequency, i.e e
1
.
For vibrations under Mode-I, consider,
A
11
-amplitude of first mass (m
1
) due to frequency e
1
A
21
-amplitude of second mass (m
2
) due to frequency e
1
The characteristic Eqns.(96) and (97) of the system changes to:
0 A
l
T
A m
l
2T
21 11
2
1
=
(

(100)
0 A m
l
2T
A
l
T
21
2
1 11
=
(

(101)
Let
1
11
21

A
A
= is amplitude ratio. To compute
1
one can use any of the above eqns.
Consider Eqn.(100), we get
1
as:

.
|

\
|

= =
l
T
m
l
2T
A
A

2
1
11
21
1
(102)
Substitute e
1
in the above Eqn.
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22
1 =

.
|

\
|

= =
l
T
ml
T
m
l
2T
A
A

11
21
1
(103)
First modal vector is:
{ ;
)
`

=
)
`

=
)
`

=
1
1
A
A
A
A
A
11 1
11
21
11
1
(104)
Secondprincipal mode of vibration
The system vibrates with first fundamental natural frequency, i.e e
2
.
For vibrations under Mode-II, consider,
A
12
-amplitude of first mass (m
1
) due to frequency e
2
A
22
-amplitude of second mass (m
2
) due to frequency e
2
The characteristic Eqns.(96) and (97) of the system changes to:
0 A
l
T
A m
l
2T
22 12
2
2
=
(

(105)
0 A m
l
2T
A
l
T
22
2
2 12
=
(

(106)
Let
2
12
22

A
A
= is amplitude ratio. To compute
2
one can use any of the above eqns.
Consider Eqn.(105), we get
2
as:

.
|

\
|

= =
l
T
m
l
2T
A
A

2
2
12
22
2
(107)
Substitute e
2
in the above Eqn.
1 =

.
|

\
|

= =
l
T
ml
3T
m
l
2T
A
A

11
21
2
(108)
Second modal vector is:
{ ;
)
`

=
)
`

=
)
`

=
1
1
A
A
A
A
A
12 2
12
22
12
2
(109)
Modal matrix
{ ; { ;
(

=
(

= =
1 1
1 1
12 2
12
11 1
11
2 1
A
A
...
A
A
A A A (110)
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Mode shapes of the system are shown in Fig.22.
l
1
l
2 l
3
1
1
1
-
1
m
1
m
2
Mode II
Mode I
Fig.22. Mode shapes of the system
VTU e-learning Course ME65 Mechanical Vibrations
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24
CO-ORDINATE COUPLING AND PRINCIPAL COORDINATES
Example-1
Obtain the equations of motion and natural frequencies of the system shown in the
Fig.23. The vibration is restricted in plane of paper.
m -mass of the system
J -mass MI of the system
G -centre of gravity
The system has two generalized co-ordinates, x and u. x is in Cartesian and u is in
Polar co-ordinate systems. For small disturbance the system moves as shown in
Fig.24(a). The amount displacements in two springs are shown in Fig.24(b).
Equations of motion
G
K
1
K
2
m,J
a b
Fig.23. A 2 dof vibratory system
G
K
1
K
2
m,J
a b
(x-au)
(x+bu)
u
x
G
Static equilibrium
line
a b
Fig.24 (a) system under vibration (b) displacements in springs at point 1 and 2
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The Lagranges equation is :
i
i i i
Q
x
U
x
T
x
T
dt
d
=
c
c
+
c
c

.
|

\
|
c
c

(111)
generalized co-ordinates are:
{ ;
)
`

x
x
i
Kinetic energy of the system is:
2 2
J
2
1
x m
2
1
T

+ = (112)
Potential energy of the system is:
, ) , )
2
2
2
1
b x K
2
1
a - x K
2
1
U + + = (113)
First Lagranges Eqn is:
1
Q
x
U
x
T
x
T
dt
d
=
c
c
+
c
c

.
|

\
|
c
c

(114)
Substitute Eqn. (112) and (113) in (114)
x m
x
T
dt
d

=
.
|

\
|
c
c
0
x
T
=
c
c
, ) , ) ) 1 ( ) 1 ( b x K a - x K
x
U
2 1
+ + =
c
c
1st Equation of motion is:
, ) , ) ) 1 ( ) 1 ( b x K a - x K
x
U
2 1
+ + =
c
c
b K x K a K - x K
x
U
2 2 1 1
+ + =
c
c
) b K - a (K ) K x(K
x
U
2 1 2 1
+ =
c
c
0 b) K - a (K - )x K (K x m
2 1 2 1
= + +

(115)
Second Lagranges Eqn is:
2
Q

T
dt
d
=
c
c
+
c
c

.
|

\
|
c
c

(116)
Substitute Eqn. (112) and (113) in (116)
0 ) b K a K b)x K a K J
2
2
2
1 2 1
= + + ( (

(117)
eqns.(115) and (117) are Eqns of motion
The above Eqns. can be written in matrix form.
VTU e-learning Course ME65 Mechanical Vibrations
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26
)
`

=
)
`

+
+
)
`

0
0

x
) b K a (K b) K a (K
b) K a (K ) K (K

x
J 0
0 m
2
2
2
1 2 1
2 1 2 1


(118)
{ ; { ; 0 x K x M = +

where, M -Mass/inertia matrix
K - Stiffness matrix
{ ; x -generalized displacement vector
{ ; x

-generalized acceleration vector
Stiffness matrix shows that co-ordinate x and u are dependent on each other. Any
change in x reflects in change in u. As seen from the matrix, the equations of motion
are coupled with stiffness. This condition is referred as STATIC COUPLING.
coupling in mass matrix is referred as DYNAMIC COUPLING
From the above equation Eqn. (118), it can be seen that system do not have dynamic
coupling But, it has static coupling
If the system has a condition K
1
a=K
2
b, then, stiffness matrix reduces to:
)
`

=
)
`

+
+
)
`

0
0

x
) b K a (K 0
0 ) K (K

x
J 0
0 m
2
2
2
1
2 1


(119)
Therefore the condition K
1
a=K
2
b, uncouples the stiffness matrix.
In Eqn. (119) one can find, the system do not have either Dynamic or Static coupling,
the the Eqns. of motion can be written as:
0 )x K (K x m
2 1
= + +

(120)
Contains only one coordinate, x
0 ) b K a K J
2
2
2
1
= + + (

(121)
Contains only one coordinate, u
Under such conditions, x and u are independent of each other and are referred as
PRINCIPAL COORDINATES.
Solution of uncoupled Eqns. of motion:
The solution of un-coupled eqns of motion is simple, is solving single dof system as
shown below. From Eqn.(120).
0 x
m
K K
x
2 1
=
.
|

\
| +
+

(122)
m
K K

2 1
1
+
= rad/s
From Eqn.(121)
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27
0
J
b K a K

2
2
2
1
=

.
|

\
| +
+

(122)
J
b K a K

2
2
2
1
2
+
= rad/s
Example-2
Obtain the equations of motion of the system shown in the Fig.25, check for dynamic
and static coupling of co-ordinates. The centre of gravity is away from geometric
centre by distance e. The vibration is restricted in plane of paper
m -mass of the system
J -mass MI of the system
G -centre of gravity
C -centre of geometry
The system has two generalized co-ordinates, x and u. x is in Cartesian and u is in
Polar co-ordinate systems. For small disturbance the system the amount
displacements in two springs are shown in Fig.26.
Due to some eccentricity e, the changes are:
x=x+eu
C
K
1
K
2
m,J
a b
Fig.25. A 2 dof vibratory system having unbalance
G
K
1
(x-au)
K
1
(x+bu)
u
x
G
C
x+eu
Static equilibrium
line
a b
Fig.26 displacements in springs at point 1 and 2
due to vibration.
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28
J=J+me
2
Substitute in Eqns. of motion of earlier problem having e=0:
Equations of motion for system having e=0, (Example-1) are:
0 b) K - a (K - )x K (K x m
2 1 2 1
= + +

0 ) b K a K b)x K a K J
2
2
2
1 2 1
= + + ( (

Substitute x=x+eu and J=J+me
2
=Jn in above Eqns.
0 b) K - a (K - )x K (K e x m(
2 1 2 1
= + + + )


0 b) K - a (K - )x K (K me x m
2 1 2 1
= + + +


(123)
0 ) b K a K b)x K a K J
2
2
2
1 2 1 n
= + + ( (

(124)
Matrix form of Eqns. of motion is:
)
`

=
)
`

+
+
)
`

0
0

x
) b K a (K b) K a (K
b) K a (K ) K (K

x
J 0
me m
2
2
2
1 2 1
2 1 2 1
n


(125)
Eqn.(125) indicates that the system has both dynamic and static coupling. If
eccentricity, e=0, one can get dynamic uncoupling.
Example-3
Derive expressions for two natural frequencies for small oscillation of pendulum
shown in Fig.27 in plane of the paper. Assume rods are rigid and mass less.
For small oscillations of the system the equilibrium diagram is shown in Fig.28.
For first mass:
a
a
a
m
m
K
Fig.27. A pendulum system
a a
a
mg
mg
Ka(u
2
-u
1
)
u
1
u
2
2 2
J

1
J
1

Fig.28. Equilibrium diagram
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0 ) )(acos Ka( ) mg(asin J
1 1 2 1 1 1
= +

(126)
as u is smaller
0 ) ( Ka mga J
1 2
2
1 1 1
= +

0 Ka Ka mga ) (ma
1
2
2
2
1 1
2
= + +

The First Eqn. of motion is:
0 Ka Ka) (mg ma
2 1 1
= + +

(127)
For second mass:
0 ) )(acos Ka( ) mg(2asin J
2 1 2 2 2 2
= + +

(128)
as u is smaller
{ ; 0 Ka Ka 2mga m(2a)
1
2
2
2
2 1
2
= + +

Second Eqn. of motion
0 Ka) (2mg Ka (4ma)
2 1 1
= + +

(129)
Eqns. of motion in matrix form
)
`

=
)
`

+
+
+

0
0

Ka) (2mg Ka
Ka Ka) (mg

4ma 0
0 ma
2
1
2
1


(130)
For static coupling Ka=0, which is not possible.
Solution to governing eqns.:
Assume SHM
, ) t sin A x
1 1
+ =
) sin( A x
2 2
+ = t
The above equations have to satisfy the governing equations of motions Eqns. (127)
and (129).
0 ) sin( KaA ) sin( A ma Ka) (mg
2 1
2
= + + + (131)
0 ) sin( A 4ma ka) (2mg ) sin( KaA
2
2
1
= + + + (132)
In above equations 0 ) sin( = + t
Characteristic Eqns. are:
0 KaA A ma Ka) (mg
2 1
2
= + (133)
0 A 4ma ka) (2mg KaA
2
2
1
= + (134)
The above Eqns can be written in determinant form as:

0
4ma Ka) (2mg
Ka
........
Ka
ma Ka) (mg
2
2
=
+

+
(135)
The above equation is referred as a characteristic determinant, Solving, we get :

2 2 2
Ka 4ma Ka) (2mg ma Ka) (mg + + + (136)
VTU e-learning Course ME65 Mechanical Vibrations
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The above Eqn. is referred as Frequency equation. Solve the frequency Eqn. for
Natural frequencies of the system
2 1
....and... .
As the system has two natural frequencies, under certain conditions it may vibrate
with first or second frequencies, which are referred as principal modes of vibration.
The modes of vibrations can be obtained by the procedure as shown in earlier
problems.
Forced Vibrations and Applications
Consider a Two dof system with a forcing function t sin F F
0 1
= as shown in Fig.29.
The eqns of the motion of the system can be obtained by force balance method. The
force equilibrium diagram is shown in Fig.30.
From Force equilibrium diagram of mass m
1
:
t sin F ) x (x K x K x m
0 1 2 2 1 1 1 1
= +

t sin F x K )x K (K x m
0 2 2 1 2 1 1 1
= + +

(137)
m
1
K
1
m
2
K
2
x
1
x
2
F
1
Fig.29 Two dof system with forcing function F
1
on mass 1
m
1
K
1
x
1
K
2
(x
2
-x
1
)
1 1
x m

m
2
2 2
x m

t sin F F
0 1
=
Fig.30 Force equilibrium diagram of the system
VTU e-learning Course ME65 Mechanical Vibrations
Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
31
From Force equilibrium diagram of mass m
2
;
0 ) x (x K x m
1 2 2 2 2
= +

0 x K x K x m
2 2 1 2 2 2
= +

(138)
It is possible to have pure harmonic free vibration for both the masses. Therefore,
Let us assume.
t sin A x
1 1
=
t sin A x
2 2
= where e is the forcing frequency on the system.
Be the forced response of the system, where A
1
and A
2
are the amplitudes to be
obtained.
The above equations have to satisfy the governing equations of motions.
t t t sin F ) sin( A K ) sin( A m ) K (K
0 2 2 1
2
1 2 1
= + + + (139)
0 ) sin( )A m (K ) sin( A K
2
2
2 2 1 2
= + + t t (140)
In above equations,
0 ) sin( = + t
The above equations reduces to: (characteristic equation)
t sin F A K A m ) K (K
0 2 2 1
2
1 2 1
= + (141)
0 )A m (K A K
2
2
2 2 1 2
= (142)
From above equations obtain A
1
and A2 by Cramers rule

m K
K
........
.0
.F
A
2
2 2
2 0
1

= (143)

0
F
........
K
m ) K (K
A
0
2
2
1 2 1
2
.

+
= (144)
where A is the determinant of characteristic equations.
0
m K
K
........
K
m ) K (K

2
2 2
2
2
2
1 2 1
=

+
= (145)
Solving,
{ ;{ ;
2
2
2
2 2
2
1 2 1
K m K m ) K (K + = (146)
If one considers the two vibratory systems separately as shown in Fig.31, the system 1
is a main system and system 2 is an secondary system. This system can be used as
Dynamic vibration absorber or Tuned damper by using the amplitude Eqns (143) and
(144).
If the system has to be used as Dynamic vibration absorber, the amplitude of vibration
of mass m
1
, i.e A
1
=0.
VTU e-learning Course ME65 Mechanical Vibrations
Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
32
0

m K
K
........
.0
.F
A
2
2 2
2 0
1
=

= (147)
0
m K
K
........
.0
.F
2
2 2
2 0
=

0 m K F
2
2 2 0
= ) (
0 m K
2
2 2
=
2
2 2
m
K
=
2
2
m
K
= rad/s (148)
The above Eqn. is the natural frequency of secondary or absorber system.
Excitation frequency of the system is equal to natural frequency of absorber system.
2
2
2

m
K
= = (149)
This shows that if excitation frequency of the system is equal to natural frequency of
absorber system, then vibration of the main system is zero.
Undesired maximum vibrations can occur only when main system is under resonance,
or near it i.e
1
=
m
1
K
1
m
2
K
2
x
1
x
2
F
1
Fig. 31 Concept of vibration absorber
System-1
System-2
VTU e-learning Course ME65 Mechanical Vibrations
Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
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33
So, to reduce undesired vibration of main system mass m1, we choose K
2
, m
2
in such
a way that
2
=
1
.
2
2
1
1
m
K
m
K
= OR
2
2
1
1
m
K
m
K
= (150)
The amplitude A
1
Eqn to be solved to obtain the frequencies,

m K
K
........
.0
.F
A
2
2 2
2 0
1

=
{ ;{ ;
2
2
2
2 2
2
1 2 1
2
2 2 0
1
K m K m ) K (K
) m (K F
A
+

=
If
1
0
st
K
F
= and
1
1
1
m
K
= and
2
2
2
m
K
=
Then,
1
2
2
2
2
1 1
2
2
2
st
1
K
K

)
K
K
(1

- 1

.
|

\
|

.
|

\
|
+

.
|

\
|
= (151)
Without
absorber
With
absorber
1

st
1

A
Fig.32. Plot of Equation 151, considering with and
with out absorber.
VTU e-learning Course ME65 Mechanical Vibrations
Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9
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34
To find
1
and
2

If frequency equation is zero, two masses have infinite amplitude of vibrations. The
Eqn. is quadratic in e2, therefore there are two values of e for which amplitude of the
system is infinite. Solve for frequency equation .
0
m K
K
........
K
m ) K (K

2
2 2
2
2
2
1 2 1
=

+
=
{ ;{ ; 0 K m K m ) K (K
2
2
2
2 2
2
1 2 1
= + =
{ ; 0 K K m K )m K (K m m
2 1
2
1 2 2 2 1
4
2 1
= + + +
0 1
K
m
K
m
)
K
K
(1
K K
m m
2
1
1
2
2
1
2 4
2 1
2 1
= +
)
`

+ +
For the absorber system, we have
2
2
1
1
m
K
m
K
=
system main of mass
system absorber of mass

K
K
m
m
1
2
1
2
= = = =Mass ratio (152)
0 1
K
m
K
m
)
K
K
(1
K K
m m
2
1
1
2
2
1
2 4
2 1
2 1
= +
)
`

+ +
4
4
2
4
2
2
1
1
4
4
2 1
2 1
r

m
K
m
K

K K
m m
= = =
{ ; 0 1
m
K

1 ) (1 r
2
2
2
4
= +

.
|

\
|
+ +
{ ; 0 1 r 2 r
2 4
= + +
The above Eqn. is quadratic in r
2

.
|

\
|
+
)
`

+ =

.
|

\
|
=
4

r , r
2
2
2
1,2 2
2
2
1
(153)
VTU e-learning Course ME65 Mechanical Vibrations
Dr. S. K. Kudari, Professor Sessions: 5,6,7,8,9
Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
35
The Fig.33 indicates that, if mass ratio is greater the spread between the two resonant
frequencies is greater. The plot is used to design the absorber system to a main
vibratory system to reduce the vibrations of a main system.
0.25

.
|

\
|
2

m
K

1
1 2
/m m =
0. 5
0. 75 1.0

.
|

\
|
n
1 2

m
K

2
Fig.33. Plot of Equation 153