Problems and Solutions for Section 4.1 (4.1 through 4.

16)
4.1

Consider the system of Figure P4.1. For c1 = c2 = c3 = 0, derive the equation of motion
and calculate the mass and stiffness matrices. Note that setting k3 = 0 in your solution
should result in the stiffness matrix given by Eq. (4.9).

Solution:
For mass 1:

(
)
" m x!! + ( k + k ) x ! k x
m1 x!!1 = !k1 x1 + k2 x2 ! x1
1 1

2 2

=0

For mass 2:

m2 x!!2 = !k3 x2 ! k2 x2 ! x1

" m2 x!!2 ! k2 x1 + k2 + k3 x2 = 0

x + Kx = 0
So, M!!

! m1
#
#" 0

!k + k
0$
x+# 1 2
& !!
m2 &%
#" 'k2

'k2 $
&x = 0
k2 + k3 &%

Thus:

!m
M=# 1
#" 0

0$
&
m2 &%

!k + k
K=# 1 2
#" 'k2

'k2 $
&
k2 + k3 &%

4.2

Calculate the characteristic equation from problem 4.1 for the case
m1 = 9 kg m2 = 1 kg k1 = 24 N/m k2 = 3 N/m k3 = 3 N/m

and solve for the system's natural frequencies.

Solution: Characteristic equation is found from Eq. (4.9):

det !" 2 M + K = 0
!" 2 m1 + k1 + k2
!k2

!k2

!9" 2 + 27
!3
=
=0
2
!" m1 + k2 + k3
!3
!" 2 + 6

9" 4 ! 81" 2 + 153 = 0

Solving for :

! 1 = 1.642
! 2 = 2.511

4.3

rad/s

Calculate the vectors u1 and u2 for problem 4.2.

Solution: Calculate u1:

)( )

" !2.697 9 + 27
% " u11 % "0 %
!3
$
'$ ' = $ '
!3
!2.697 + 6 '& $#u21 '& #0 &
$#
This yields

2.727u11 ! 3u21 = 0
!3u11 + 3.303u21 = 0

or, u21 = 0.909u11

" 1 %
u1 = $
'
#0.909 &
Calculate u2:

)( )

" !6.303 9 + 27
% " u12 % "0 %
!3
$
'$ ' = $ '
!3
!6.303 + 6 '& $#u22 '& #0 &
$#

!29.727u12 ! 3u22 = 0
!3u12 = 0.303u22 = 0

or, u12 = !0.101u22

This yields

" !0.101%
u2 = $
'
# 1 &
4.4

For initial conditions x(0) = [1 0]T and x! (0) = [0 0]T calculate the free response of the
system of Problem 4.2. Plot the response x1 and x2.

()

Solution: Given x(0) = [1 0]T, x! 0 = !"0 0 #$ , The solution is

()

x t = A1 sin ! 1t + "1 u1 + A2 sin ! 2t + "2 u 2

()
()

(
(

# x1 t & # A1 sin ! 1t + "1 ) 0.101A2 sin ! 2t + "2

%
(=%
%$ x2 t (' %$0.909 A1 sin ! 1t + "1 + A2 sin ! 2t + "2
Using initial conditions,

) &(
)('

1 = A1 sin !1 " 0.101A2 sin !2

0 = 0.909 A1 sin !1 + A2 sin !2
0 = 1.642 A1 cos !1 " 0.2536 A2 cos !2
0 = 6.033A1 cos !1 + 2.511A2 cos !2

#$1%&
#$ 2 %&
#$3%&
#$ 4 %&

From [3] and [4],

!1 = !2 = " / 2

From [1] and [2],

A1 = 0.916, and A2 = !0.833

So,

()
(
)
(
)
x ( t ) = 0.833sin (1.642t + ! / 2 ) " 0.833sin ( 2.511t + ! / 2 )
x1 t = 0.916sin 1.642t + ! / 2 + 0.0841sin 2.511t + ! / 2
2

()
x ( t ) = 0.833( cos1.642t ! cos 2.511t )

x1 t = 0.916cos1.642t + 0.0841cos 2.511t

2

4.5

Calculate the response of the system of Example 4.1.7 to the initial condition x(0) = 0, x!
(0) = [1 0]T, plot the response and compare the result to Figure 4.3.

()

Solution: Given: x(0) = 0, x! 0 = !"1 0 #$

From Eq. (4.27) and example 4.1.7,

!1
! x1 t $ # A1 sin
#
& = #3
x
t
#" 2 &% # A sin
" 1

()
()

(
(

) 13 A sin (2t + ' )$&&

2t + ' ) + A sin ( 2t + ' ) &
%
2t + '1 (
1

Using initial conditions:

0 = A1 sin !1 + A2 sin !2

#$1%&
#$ 2 %&

3 = 2 A1 cos !1 " 2 A2 cos !2

#$3%&

0 = 2 A1 cos !1 + 2 A2 cos !2

#$ 4 %&

0 = A1 sin !1 " A2 sin !2

From [1] and [2]:

!1 = !2 = 0
From [3] and [4]:

A1 =
The solution is

3 2
3
, and A2 = !
4
4

()
(
x ( t ) = 0.75(
x1 t = 0.25
2

)
2t ! sin 2t )

2 sin 2t + sin 2t
2 sin

As in Fig. 4.3, the second mass has a larger displacement than the first mass.

4.6 Repeat Problem 4.1 for the case that k1 = k3 = 0 .

Solution:
The equations of motion are

m1 x!!1 + k2 x1 ! k2 x2 = 0
m2 x!!2 ! k2 x1 + k2 x2 = 0
x + Kx = 0
So, M!!

! m1
#
#" 0

! k2 'k2 $
0$
& x!! + #
&x = 0
m2 &%
#" 'k2 k2 &%
!m 0 $
! k2 'k2 $
M=# 1
& and K = #
&
#" 0 m2 &%
#" 'k2 k2 &%

4.7

Calculate and solve the characteristic equation for Problem 4.6 with m1 = 9, m2 = 1, k2 =
10.
Solution:
The characteristic equation is found from Eq. (4.19):

det !" 2 M + K = 0
!9" 2 + 10
!10
= 9" 4 ! 100" 2 = 0
2
!10
!" + 10
2
" 1,2
= 0,11.111

"1 = 0
" 2 = 3.333

4.8

Compute the natural frequencies of the following system:

!6 2 $
! 3 '1$
x(t) + #
# 2 4 & !!
& x(t) = 0 .
"
%
" '1 1 %

Solution:

)
# 6 2 & # 3 !1&,
= 204-222+2=0, 2 = 0.1, 1
det(!" 2 M + K ) = det + !" 2 %
!%
(
(
.
*
$ 2 4 ' $ !1 1 '1,2 = 0.316, 1 rad/s

4.9

Calculate the solution to the problem of Example 4.1.7, to the initial conditions

!1$
x 0 = # 3&
# &
#" 1 &%

()

()

x! 0 = 0

Plot the response and compare it to that of Fig. 4.3.

()

()

Solution: Given: x 0 = !"1 / 3 1#$ , x! 0 = 0

From Eq. (4.27) and example 4.1.7,
!1
! x1 t $ # A1 sin
#
& = #3
#" x2 t &% # A sin
" 1
Using initial conditions:

()
()

(
(

) 13 A sin (2t + ' )$&&

2t + ' ) + A sin ( 2t + ' ) &
%
2t + '1 (
1

1 = A1 sin !1 + A2 sin !2
0 = 2 A1 cos !1 " 2 A2 cos !2

#$3%&

0 = 2 A1 cos !1 + 2 A2 cos !2

#$ 4 %&

!1 = !2 =

"
2

From [1] and [2]: A1 = 1, and A2 = 0

The solution is

#$1%&
#$ 2 %&

1 = A1 sin !1 " A2 sin !2

From [3] and [4]:

()
x ( t ) = cos

1
x1 t = cos 2t
3
2

2t

In this problem, both masses oscillate at only one frequency.

4.10

Calculate the solution to Example 4.1.7 for the initial condition

" 1%
!
x 0 = $ 3'
$ '
$# 1 '&

()

()

x! 0 = 0

Solution:

()

Given: x(0) = [-1/3 1]T, x! 0 = 0

From Eq. (4.27) and example 4.1.7,

!1
1
! x1 t $ # A1 sin 2t + '1 ( A2 2t + '2
3
#
& = #3
#" x2 t &% # A sin 2t + ' + A sin 2t + '
1
2
2
" 1

()
()

(
(

Using initial conditions:

1 = A1 sin "1 + A2 sin "2

#$1%&
#$ 2 %&

0 = 2 A1 cos "1 ! 2 A2 cos "2

#$3%&

0 = 2 A1 cos "1 + 2 A2 cos "2

#$ 4 %&

!1 = A1 sin "1 ! A2 sin "2

From [3] and [4]

!1 = !2 =

"
2

From [1] and [2]:

A1 = 0
A2 = 1
The solution is

()
()

1
x1 t = ! cos 2t
3
x2 t = cos 2t

)$&
&
) &%

In this problem, both masses oscillate at only one frequency (not the same frequency as in
Problem 4.9, though.)

4.11

Determine the equation of motion in matrix form, then calculate the natural frequencies
and mode shapes of the torsional system of Figure P4.11. Assume that the torsional
stiffness values provided by the shaft are equal k1 = k2 and that disk 1 has three times

the inertia as that of disk 2(J1 = 3J 2 ) .

Solution: Let k = k1 = k2 and J1 = 3J 2 . The equations of motion are

J !!! + 2k! " k! = 0
1 1

J 2!!!2 " k!1 + k! 2 = 0

So,
! 3 0 $ !!
! 2 (1$
J2 #
&' + k #
&' = 0
"0 1 %
" (1 1 %
Calculate the natural frequencies:

det !" J + K =
2

" 1 = 0.482

k
J2

" 2 = 1.198

k
J2

!3" 2 J 2 + 2k

!k

!k

!" J 2 + k
2

=0

Calculate the mode shapes: mode shape 1:

% "u %
' $ 11 ' = 0
! 0.2324 k + k '& $#u12 '&

% "u %
' $ 21 ' = 0
! 1.434 k + k '& $#u22 '&

" !3 0.2324 k + 2k
$
!k
$#
u11 = 0.7676u12

!k

!0.7676 $
So, u1 = #
&
" 1 %

mode shape 2:

" !3 1.434 k + 2k
$
!k
$#
u21 = !0.434u22

!k

" !0.434 %
So, u2 = $
'
# 1 &

4.12

Two subway cars of Fig. P4.12 have 2000 kg mass each and are connected by a coupler.
The coupler can be modeled as a spring of stiffness k = 280,000 N/m. Write the equation
of motion and calculate the natural frequencies and (normalized) mode shapes.

Solution: Given: m1 = m2 = m = 2000 kg

k = 280,000 N/m
The equations of motion are:
m!!
x1 + kx1 ! kx2 = 0

m!!
x2 ! kx1 + kx2 = 0
In matrix form this becomes:

!m 0 $
! k 'k $
#
& x!! + #
&x = 0
" 0 m%
" 'k k %
! 2000
! 280,000 '280,000 $
0 $
#
& x!! + #
&x = 0
2000 %
" 0
" '280,000 280,000 %
Natural frequencies:

det !" 2 M + K = 0
!2000" 2 + 280,000
!280,000
=0
!280,000
!2000" 2 + 280,000
4 # 106 " 4 ! 1.12 # 109 " 2 = 0

" 2 = 0,280 $ " 1 = 0 rad/sec and " 2 = 16.73 rad/sec

Mode shapes:
Mode 1, ! 12 = 0
" 280,000 !280,000 % " u11 % "0 %
$
'$ ' = $ '
# !280,000 280,000 & $#u12 &' #0 &
(u11 = u12
"1%
u1 = $ '
#1&

Mode 2, ! 22 = 280

" !280,000 !280,000 % " u21 % "0 %

$
'$ ' = $ '
!280,000
!280,000
#
& $#u22 '& #0 &
(u21 = u22
"1%
u2 = $ '
# !1&

Normalizing the mode shapes yields

1 !1$
1 !1$
u1 =
# & ,u 2 =
# &
2 "1%
2 " '1%
1 " !1%
Note that u 2 =
$ ' is also acceptable because a mode shape times a constant (-1 in
2#1&
this case) is still a mode shape.

4.13 Suppose that the subway cars of Problem 4.12 are given the initial position of x10 =
0, x20 = 0.1 m and initial velocities of v10 = v20 = 0. Calculate the response of the cars.
Solution:

()

()

Given: x 0 = !"0 0.1#$ , x! 0 = 0

From problem 12,

!1$
!1$
u1 = # & and u 2 = # &
"1%
" '1%
( 1 = 0 rad/s and ( 2 = 16.73 rad/s
The solution is

() (
)
(
)
" x! ( 0 ) = c u + 16.73Acos (! ) u and x ( 0 ) = c u
x t = c1 + c2t u1 + Asin 16.73t + ! u 2
2 1

1 1

()

+ Asin ! u 2

Using initial the conditions four equations in four unknowns result:

0 = c1 + Asin !
0.1 = c1 & Asin !
0 = c2 + 16.73Acos !
0 = c2 & 16.73Acos !
From [3] and [4]: c2 = 0, and ! =

"#1$%
"# 2 $%
"#3$%
"# 4 $%

"
rad
2

From [1] and [2]: c1 = 0.05 m and A = !0.05 m

The solution is

()
x ( t ) = 0.05 + 0.05cos16.73t
x1 t = 0.05 ! 0.05cos16.73t
2

1 " !1%
$ ' is chosen as the second mode shape the answer will remain the
2#1&
same. It might be worth presenting both solutions in class, as students are often skeptical
that the two choices will yield the same result.

Note that if u 2 =

4.14

A slightly more sophisticated model of a vehicle suspension system is given in Figure

P4.14. Write the equations of motion in matrix form. Calculate the natural frequencies
for k1 =103 N/m, k2 = 104 N/m, m2 = 50 kg, and m1 = 2000 kg.

Solution: The equations of motion are

2000!!
x1 + 1000x1 ! 1000x2 = 0

50!!
x2 ! 1000x1 + 11,000x2 = 0
In matrix form this becomes:
! 2000 0 $
! 1000 '1000 $
x+#
#
& !!
&x = 0
50 %
" 0
" '1000 11,000 %

Natural frequencies:
det !" 2 M + K = 0

!2000" 2 + 1000
!1000
= 100,000" 4 ! 2.205 # 107 " 2 + 107 = 0
2
!1000
!50" + 11,000
2
" 1,2
= 0.454, 220.046 $ " 1 = 0.674 rad/s and " 2 = 14.8 rad/s

4.15

Examine the effect of the initial condition of the system of Figure 4.1(a) on the responses
x1 and x2 by repeating the solution of Example 4.1.7, first for x10 = 0,x20 = 1 with
x!10 = x!20 = 0 and then for x10 = x20 = x!10 = 0 and x!20 = 1 . Plot the time response in each
case and compare your results against Figure 4.3.
Solution: From Eq. (4.27) and example 4.1.7,
!1
1
! x1 t $ # A1 sin 2t + '1 ( A2 sin 2t + '2
3
#
& = #3
#" x2 t &% # A sin 2t + ' + A sin 2t + '
1
2
2
" 1

()
()

()

()

(
(

)
)

)$&
&
&
%

(a) x 0 = !"0 1#$ , x! 0 = 0 . Using the initial conditions:

1 = A1 sin !1 + A2 sin !2

#$1%&
#$ 2 %&

0 = 2 A1 cos !1 " 2 A2 cos !2

#$3%&

0 = 2 A1 cos !1 + 2 A2 cos !2

#$ 4 %&

0 = A1 sin !1 " A2 sin !2

From [3] and [4]

!1 = !2 =

"
2

From [1] and [2]

A1 = A2 =

1
2

The solution is

()

1
1
x1 t = cos 2t ! cos 2t
6
6
1
1
x2 t = cos 2t + cos 2t
2
2
This is similar to the response of Fig. 4.3

()

()

()

(b) x 0 = 0, x! 0 = !"0 1#$ . Using these initial conditions:

#$1%&
0 = A1 sin !1 " A2 sin !2

0 = A1 sin !1 + A2 sin !2

#$ 2 %&

0 = 2 A1 cos !1 " 2 A2 cos !2

#$3%&

1 = 2 A1 cos !1 + 2 A2 cos !2

#$ 4 %&

From [1] and [2] !1 = !2 = 0

From [3] and [4] A1 =

2
1
, and A2 =
4
4

The solution is

x1 t =

()

2
1
sin 2t ! sin 2t
12
12

()

2
1
sin 2t + sin 2t
4
4

x2 t =

This is also similar to the response of Fig. 4.3

4.16

Refer to the system of Figure 4.1(a). Using the initial conditions of Example 4.1.7,
resolve and plot x1(t) for the cases that k2 takes on the values 0.3, 30, and 300. In each
case compare the plots of x1 and x2 to those obtained in Figure 4.3. What can you
conclude?
Solution: Let k2 = 0.3, 30, 300 for the example(s) in Section 4.1. Given

()

()

x 0 = !"1 0 #$ mm, x! 0 = !"0 0 #$

m1 = 9, m2 = 1, k1 = 24
Equation of motion becomes:

! 24 + k2
!9 0 $
#
& x!! + #
#" 'k2
"0 1 %

'k2 $
&x = 0
k2 &%

(a) k2 = 0.3

det !" 2 M + K =

!9" 2 + 24.3
!0.3
= 9" 4 ! 27" 2 + 7.2 = 0
!0.3
!" 2 + 0.3

" 2 = 0.2598,2.7042
" 1 = 0.5439
" 2 = 1.6444
Mode shapes:
Mode 1, ! 12 = 0.2958

" 21.6374
!0.3 % " u11 % "0 %
$
'$ ' = $ '
0.004159 & $#u12 '& #0 &
# !0.3
21.6374u11 ! 0.3u12 = 0
u11 = 0.01386u12
"0.01386 %
u1 = $
'
# 1 &
Mode 2, ! 22 = 2.7042

" !0.03744 !0.3 % " u21 % "0 %

$
'$ ' = $ '
2.4042 & $#u22 '& #0 &
# !0.3
!0.3u21 = 2.4042u22
u22 = !0.1248u 21

The solution is

" 1 %
u2 = $
'
# !0.1248 &
x t = A1 sin ! 1t + "1 u1 + A2 sin ! 2t + "2 u2

()

Using initial conditions

"#1$%
"# 2 $%

1 = A1 0.01386 sin !1 + A2 sin !2

(
)
0 = A ( 0.01386 ) ( 0.5439 ) cos ! + A (1.6444 ) cos !
0 = A ( 0.5439 ) cos ! + A (1.6444 ) ( &0.1248) cos !
0 = A1 sin !1 + A2 &0.1248 sin !2
1

2
2

"#3$%
"# 4 $%

From [3] and [4],

!1 = !2 = " / 2
From [1] and [2],

A1 = 0.1246
A2 = 0.9983
So,

()
(
)
x ( t ) = 0.1246 "#cos ( 0.5439t ) ! cos (1.6444t ) $% mm

x1 t = 0.001727 cos(0.5439t) + 0.9983cos 1.6444t mm

2

(b) k2 = 30

det !" 2 M + K =

!9" 2 + 54
!30
= 9" 4 ! 32" 2 + 720 = 0
2
!30
!" + 30

" 2 = 2.3795,33.6205
" 1 = 1.5426
" 2 = 5.7983

Mode shapes:
Mode 1, ! 12 = 2.3795

"32.5845
!30 % " u11 % "0 %
$
'$ ' = $ '
27.6205& $#u12 '& #0 &
# !30
30u11 = 27.6205u12
u11 = 0.9207u12
"0.9207 %
u1 = $
'
# 1 &
Mode 2, ! 22 = 33.6205

" !248.5845
!30 % " u21 % "0 %
$
'$ ' = $ '
!3.6205& $#u22 '& #0 &
# !30
30u21 = !3 / 6205u22
u21 = !0.1207u22
" !0.1207 %
u2 = $
'
# 1 &
The solution is

()

x t = A1 sin ! 1t + "1 u1 + A2 sin ! 2t + "2 u2

Using initial conditions,

1 = A1 0.9207 sin !1 + A2 ("0.1207 sin !2

0 = A1 sin !1 + A2 sin !2

(
)(
)
(
0 = A (1.5426 ) cos ! + A (5.7983) cos !

)(

0 = A1 0.9207 1.5426 cos !1 + A2 "0.1207 5.7983 cos !2

1

From [3] and [4]

!1 = !2 = " / 2
From [1] and [2]

#$1%&
#$ 2 %&
#$3%&
#$ 4 %&

A1 = 0.9602
A2 = !0.9602
So,

()
(
)
(
)
x ( t ) = 0.9602 "#cos (1.5426t ) ! cos (5.7983t ) $% mm

x1 t = 0.8841cos 1.5426t + 0.1159cos 5.7983t mm

2

(c) k2 = 300
!9" 2 + 324
!300
det !" M + K =
= 9" 4 ! 3024" 2 + 7200 = 0
2
!300
!" + 300

" 2 = 2.3981,333.6019
" 1 = 1.5486
" 2 = 18.2648
Mode shapes:
Mode 1, ! 12 = 2.3981

"302.4174
!300 % " u11 % "0 %
$
'$ ' = $ '
!300
297.6019
#
& $#u12 '& #0 &
302.4174u11 = 300u12
u11 = 0.9920u12
"0.9920 %
u1 = $
'
# 1 &
Mode 2, ! 22 = 333.6019

" !2678.4174
!300 % " u21 % "0 %
$
'$ ' = $ '
!33.6019 & $#u22 '& #0 &
# !300
300u21 = 33.6019u22
u21 = !0.1120u22
" !0.1120 %
u2 = $
'
# 1 &
The solution is

()

x t = A1 sin ! 1t + "1 u1 + A2 sin ! 2t + "2 u2

Using initial conditions

1 = A1 0.9920 sin !1 + A2 "0.1120 sin !2

0 = A1 sin !1 + A2 sin !2

(
)(
)
(
)(
0 = A (1.5486 ) cos ! + A (18.2648) cos !

0 = A1 0.9920 1.5486 cos !1 + A2 "0.1120 18.2648

1

#$1%&
#$ 2 %&
#$3%&
#$ 4 %&

From [3] and [4]

!1 = !2 = " / 2
From [1] and [2],
A1 = 0.9058 and A2 = -0.9058.
So,
x1 t = 0.8986cos 1.5486t + 0.1014cos 18.2648t mm

()
(
)
(
)
x ( t ) = 0.9058 "#cos (1.5486t ) ! cos (18.2648t ) $% mm
2

As the value of k2 increases the effect on mass 1 is small, but mass 2 oscillates similar to
mass 1 with a superimposed higher frequency oscillation.

4.17

Consider the system of Figure 4.1(a) described in matrix form by Eqs. (4.11), (4.9), and
(4.6). Determine the natural frequencies in terms of the parameters m1, m2, k1 and k2.
How do these compare to the two single-degree-of-freedom frequencies ! 1 = k1 / m1
and ! 2 = k2 / m2 ?
Solution:
The equation of motion is
M!!
x + Kx = 0
! m1
#
#" 0

! k1 + k2
0$
& x!! + #
m2 &%
#" 'k2

'k2 $
&x = 0
k2 &%

The characteristic equation is found from Eq. (4.19):

det !" 2 M + K = 0
!m1" 2 + k1 + k2

!k2

!k2

!m2" 2 + k2

))

m1m2" 4 ! k1m2 + k2 m1 + m2 " 2 + k1k2 = 0

2
! 1,2

k1m2 + k2 m1 + m2 "# k1m2 + k2 m1 + m2 $% & 4m1m2 k1k2

=
2m1m2

So,

! 1,2 =

k1m2 + k2 m1 + m2 "# k1m2 + k2 m1 + m2 $% & 4m1m2 k1k2

2m1m2

In two-degree-of-freedom systems, each natural frequency depends on all four

parameters (m1, m2, k1, k2), while a single-degree-of-freedom system's natural frequency
depends only on one mass and one stiffness.

4.18

Consider the problem of Example 4.1.7 and use a trig identity to show the x1(t)
experiences a beat. Plot the response to show the beat phenomena in the response.

Solution Applying the trig identity of Example 2.2.2 to x1 yields

x1 (t) = (cos 2t + cos 2t) = cos(

2!2
2+2
t)cos(
t) = cos0.586t cos3.414t
2
2

Plotting x1 and cos(0.586t) yields the clear beat: