MIT - 16.

20 Fall, 2002
Unit 22
Vibration of Multi Degree-Of-
Freedom Systems
Paul A. Lagace, Ph.D.
Professor of Aeronautics & Astronautics
and Engineering Systems
Paul A. Lagace 2001
MIT - 16.20 Fall, 2002
Previously saw (in Unit 19) that a multi degree-of-freedom
system has the same basic form of the governing equation as
a single degree-of-freedom system.
The difference is that it is a matrix equation:
mq + k q = F
(22-1)
~ ~ ~
~ ~
~ = matrix
So apply the same solution technique as for a single degree-of-freedom
system. Thus, first deal with
Free Vibration
Do this by again setting forces to zero:
F = 0
~ ~
mq + k q = 0 (22-2)
~ ~ ~
~ ~
Paul A. Lagace 2001
Unit 22 - 2
i t

MIT - 16.20 Fall, 2002
Again assume a solution which has harmonic motion. It now has multiple
components:

q t ( ) = Ae (22-3)
~
~
where are the natural frequencies of the system
and:
|
M
|
| |
A is a vector of constants =

A
i

~
| |
|
M
|
Substituting the assumed solution into the matrix set of governing
equations:
i t

2
mAe + k Ae
i t
= 0
~~
~~ ~
To be true for all cases:
[
k
2
m
]
A = 0
(22-4)
~ ~ ~ ~
This is a standard eigenvalue problem.
Either:
A = 0
(trivial solution)
~
or
Paul A. Lagace 2001
Unit 22 - 3
MIT - 16.20 Fall, 2002
The determinant:
k
2
m = 0
(22-5)
~ ~
There will be n eigenvalues for an n degree-of-freedom system.
In this case:
eigenvalue = natural frequency
n degree-of-freedom system has n natural frequencies
Corresponding to each eigenvalue (natural frequency), there is an
Eigenvector -- Natural Mode
Place natural frequency
r
into equation (22-4):
[
k
r
2
m
]
A =
~
0
~ ~ ~
Since determinant = 0, there is one dependent equation, so one
cannot solve explicitly for A. However, one can solve for the
~
relative values of the components of A in terms of (normalized
~
by) one component
Paul A. Lagace 2001
Unit 22 - 4
MIT - 16.20 Fall, 2002
Say divide through by A
n
:
|
M
|
|
A
A
i
n
|
| |
[
~
k
i
2
m
]
=
~
0
~
|
M
|
|
1
|
| |
Solve for A
i
/ A
n
for each
r
|
M
|
|
A
A
i
n
|
| |
r
Indicates solution
Call the eigenvector

=
i
( )
|
M
|
~ for
r
|
1
|
| |
Do this for each eigenvalue
frequency:
1
,
2
.
n
1 2

i
( )
associated mode:
i
( )

i
( ) n
~ ~ ~
Paul A. Lagace 2001
Unit 22 - 5
MIT - 16.20 Fall, 2002
For each eigenvalue, the homogeneous solution is:
r r r
q
i
hom
=
i
( )
e
i
r
t
= C
1

i
( )
sin
r
t + C
2

i
( )
cos
r
t
~ ~ ~ ~
homogeneous
Still an undetermined constant in each case (A
n
) which can
be determined from the Initial Conditions
Each homogeneous solution physically represents a possible free
vibration mode
Arrange natural frequencies from lowest (
1
) to highest (
n
)
By superposition, any combinations of these is a valid solution
Example: Two mass system (from Unit 19)
Figure 22.1 Representation of dual spring-mass system
Paul A. Lagace 2001
Unit 22 - 6
q
q
MIT - 16.20 Fall, 2002
The governing equation was:
|
m
1
0
| |

1
|
|
(
k
1
+ k
2
)
k
2
|
|
q
1
| |
F
1
|
|
0 m
2 | |

2 |
|

=

| |

+
|
|
k
2
k
2 |
|
q
2 | |
F
2 |
Thus, from equation (22-5):
(
k
1
+ k
2
)

2
m
1
k
2
= 0
2
k
2
k
2
m
2
This gives:
[
(
k
1
+ k
2
)

2
m
1
][
k
2

2
m
2
]
k
2
2
= 0
This leads to a quadratic equation in
2
. Solving gives two roots (
1
2
and

2
2
) and the natural frequencies are
1
and
2
Find the associated eigenvectors in terms of A
2
(i.e. normalized by A
2
)
Paul A. Lagace 2001
Unit 22 - 7
|
|
|
|
|
|
|
|
MIT - 16.20 Fall, 2002
Go back to equation (22-4) and divide through by A
2
:
|
(
k
1
+ k
2
)

r
2
m
1
k
2
|
|
A
1
|
| |

= 0
|
k
2
k
2

r
2
m
2 |
|
1
|
Normalized constant
k
A
1
=
k
1
+ k
2
2

r
2
m
1
for
r
mode
Thus the eigenvectors are:
|
k
2
| |
k
2
|
1
| k
1
+ k
2

1
2
m
1
|

( )
| k
1
+ k
2

2
2
m
1
|
2

i
( )
=

i
=

~ ~
| | | |
|
1
| |
1
|
For the case of Initial Conditions of 0, the cos term goes away and are left
with
r
q t ( ) =
( )
sin
r
t
~ ~
Physically the modes are:
Paul A. Lagace 2001
Unit 22 - 8

MIT - 16.20 Fall, 2002

Figure 22.2 Representation of modes of spring-mass system

(1)

1
(lowest
frequency)
masses move in same direction

(2)
frequency)

2
(higher
masses move in opposite direction
Paul A. Lagace 2001
Unit 22 - 9
MIT - 16.20 Fall, 2002
General Rules for discrete systems:
Can find various modes (without amplitudes) by considering
combinations of positive and negative (relative) motion.
However, be careful of (-1) factor across entire mode.
For example, in two degree-of-freedom case
+ + + -
same mode same mode
- - - +
The more reversals in direction, the higher the mode (and the
frequency)
It is harder to excite higher modes
This can be better illustrated by considering the vibration of a beam. So
look at:
Representation of a Beam as a Discrete
Mass System
Paul A. Lagace 2001
Unit 22 - 10
MIT - 16.20 Fall, 2002
How?
Lump mass into discrete locations with constraint that total mass be
the same
Connect masses by rigid connections with rotational springs at each
mass
Stiffnesses of connections are influence coefficients (dependent on
locations of point masses)
Forces applied to point masses
So:
Figure 22.3 Representation of cantilevered beam as single mass
system
A
becomes for
simplest case
with torsional
spring at joint
B
where: m = twl
length
density
thickness
width
Paul A. Lagace 2001
Unit 22 - 11
MIT - 16.20 Fall, 2002
Could also put mass at mid-point:
Figure 22.4 Representation of cantilevered beam as mid-point mass
system
get a different representation
Consider the next complicated representation (simplest multi-
mass/degree-of-freedom system)
Figure 22.5 Representation of cantilevered beam as dual spring-mass
system
Paul A. Lagace 2001
Unit 22 - 12
q
q
MIT - 16.20 Fall, 2002
each m is one half of total mass of beam for constant cross-section
case
Use influence coefficients, get C matrix, invert to get K. Resulting
~
~
equation is:
|
m
1
0
| |

1
| |
k
11
k
12
| |
q
1
| |
F
1
|
| |

+
| |

=

|
0 m
2 | |

2 | |
k
21
k
22 | |
q
2 | |
F
2 |
Same form as before, so solution takes same form. For initial rest
conditions:
r
q t ( ) =
( )
sin
r
t
~ ~
Have two eigenvalues (natural frequencies) and associated
eigenvectors (modes)
Modes have clear physical interpretation here:
Paul A. Lagace 2001
Unit 22 - 13

MIT - 16.20 Fall, 2002

Figure 22.6 Representation of deflection modes of cantilevered beam as
dual spring-mass system
q
2
(+)

(1)

1
(lowest
frequency)

(2)

2
(higher
frequency)
q
1
(+)
q
1
(-)
q
2
(+)
Paul A. Lagace 2001
Unit 22 - 14
MIT - 16.20 Fall, 2002
Can extend by dividing beam into more discrete masses
--> get better representation with more equations but same basic
treatment/approach
In considering the modes that result from such an analysis, there is a key
finding:
Orthogonality Relations
It can be shown that the modes of a system are orthogonal. That is:
transpose
r

( )
T
m
(s)
= 0
(22-6)
~
~
~
for r s
If r = s, then a finite value results:
r
T
r

( )
m
( )
= M
r
(22-7)
~
~
~
some value
So the general relation for equations (22-6) and (22-7) can be
written as:
Paul A. Lagace 2001
Unit 22 - 15
MIT - 16.20 Fall, 2002

( ) r
T
m
( s )
=
rs
M
r
(22-8)
~
~
~

rs
is the kronecker delta where:

rs
= 0 for r s

rs
= 1 for r = s
This relation allows the transformation of the governing equation into a
special set of equations based on the (normal) nodes
Normal Equations of Motion
These resulting equations are uncoupled and thus much easier to solve
The starting point is the eigenvectors (modes) and the orthogonality
relations
One must also note that:

( ) r
T
k
(s)
=
rs
M
r

r
2
(22-9)
~
~
~
Paul A. Lagace 2001
Unit 22 - 16
| | | |
MIT - 16.20 Fall, 2002
(can show using equations (22-2) and (22-8) )
Have shown that the homogeneous solution to the general equation:
mq + k q = F
(22-1)
~ ~
~
~
~
is the sum of the eigenvectors (modes):
n
r
q t
i
( )
t
i
( ) =

r
( )
(22-10)
~
r = 1
n = number of degrees of freedom
Where
r
(t) is basically a magnitude associated with the mode
(r)
at
time t. The
r
become the normalized coordinates.
Thus:
1 3
|
q
1
|
|
1
( )

(2)

( )
L
(n)
| |

1
|
1 1 1
| |
|

2
2
| |

| | |
|
( )
M M M
| |
2
| |
q
2
|
| |

q
3
=
|
M M M M
|

3

|
|
M
| |
M
|
|
|
M M M M
|
| | | |
n
|q
n
|
|
|
M M M L
n
( )
|
|
|
n
|
Paul A. Lagace 2001
Unit 22 - 17
MIT - 16.20 Fall, 2002
which can be written as:
q =
(22-11)
~ ~ ~
Placing (22-11) into (22-1)
m

+ k = F
(22-12)
~ ~ ~
~
~ ~~
Now multiply this equation by the transpose of :
~
2
|
( )
1
1

( )
L L|
|
2
|

T
=
|

2
( )
L
|
~
|
M
|
| |
n
|

( )
L L L
|

T
m

+
T
k =
T
F
(22-13)
~
~
~
~ ~~
~
~~ ~
Notice that the terms of
T
m and
T
k will result in most of the terms
~
~
~ ~ ~
~
being zero due to the orthogonality relation (equation 22-8). Only the
diagonal terms will remain.
Thus, (22-13) becomes a set of uncoupled equations: (via 22-8 and 22-9)
Paul A. Lagace 2001
Unit 22 - 18
MIT - 16.20 Fall, 2002

M
r r
+ M
r

r
2

r
=
r
(22-14)
r = 1, 2 n
That is:

M + M
2
=
1 1 1 1 1 1

M + M
2

2
2

2
=
2 2 2

M + M
2
=
n n n n n n
where:
r
|
1
( )
|
r

2
( )
L
]
m

2
( )
|
= Generalized mass
M
r
=
[

1
( ) r
~
|
r

| |
of rth mode
|
M
|
and:
Paul A. Lagace 2001
Unit 22 - 19
MIT - 16.20 Fall, 2002
|
F
1
|

r
=
[

1
( ) r
| |
r

2
( )
L
]
F
2

= Generalized force of rth mode
| |
|
M
|

r
(t) = normal coordinates
The equations have been transformed to normal coordinates and are now
uncoupled single degree-of-freedom systems
Implication: Each equation can be solved
separately
The overall solution is then a superposition of the individual solutions
(normal nodes)
Free Vibration ( = 0)
--> solutionuse same technique as before
For any equation r:
= a sin t + b cos t
r r r r r
Paul A. Lagace 2001
Unit 22 - 20
MIT - 16.20 Fall, 2002
Get a
r
and b
r
via transformed Initial Conditions
r

r
( ) =
1

( )
T
m q
i
( ) = b
r
0 0
~
M
~
r
r

r
( ) =
1

( )
T
m q
i
( ) = a
r

r
0 0
~
M ~
r
Notes:
KEY SIMPLIFICATION is that often only first few (lowest)
modes are excited so can solve only first few equations.
Can add more modes (equations) to improve solution if
needed.
This is a rigorous treatment -- no approximation made by
going to normal coordinates.
But, this has all been based on the homogeneous case (free vibration),
what about
Paul A. Lagace 2001
Unit 22 - 21
MIT - 16.20 Fall, 2002
Forced Vibration ( 0)
Response is still made up of the natural modes. Solution is found using
the same approach as for a single degree-of-freedom system
Break up each generalized force,
r
, into a series of impulses
Use Duhamels (convolution) integral to get response for each
degree of freedom
Stay in normalized coordinates
The solution for any mode will thus look like:
1
t

r
(t) =
r r

r
() sin
r
(t ) d
M
and equation (22-11) then gives:
n
r
q t
i
( )
t
i
( ) =

r
( )
r = 1
Again, use Initial Conditions to get constants
Paul A. Lagace 2001
Unit 22 - 22

MIT - 16.20 Fall, 2002

Exact same procedure as single degree-of-freedom system. Do it
multiple times and add up.
(Linear Superposition)
Can therefore represent any system by discrete masses. As
more and more discrete points are taken, get a better model of
the actual behavior. Taking this to the limit will allow the full
representation of the behavior of continuous systems.
Paul A. Lagace 2001
Unit 22 - 23