1

Unit - 6
Vibrations of Two Degree of Freedom Systems
Dr. T. Jagadish. Professor for Post Graduation, Department of Mechanical Engineering,
Bangalore Institute of Technology, Bangalore
Introduction
A two degree of freedom system is one that requires two coordinates to completely describe
its equation of motion. These coordinates are called generalized coordinates when they are
independent of each other. Thus system with two degrees of freedom will have two equation of
motion and hence has two frequencies.
A two degree freedom system differs from a single degree of freedom system in that it has
two natural frequencies and for each of these natural frequencies there correspond a natural state of
vibration with a displacement configuration known as NORMAL MODE. Mathematical terms
related to these quantities are known as Eigen values and Eigen vectors. These are established from
the two simultaneous equation of motion of the system and posses certain dynamic properties
associated.
A system having two degrees of freedom are important in as far as they introduce to the
coupling phenomenon where the motion of any of the two independent coordinates depends also on
the motion of the other coordinate through the coupling spring and damper. The free vibration of two
degrees of freedom system at any point is a combination of two harmonics of these two natural
frequencies.
Under certain condition, during free vibrations any point in a system may execute harmonic
vibration at any of the two natural frequencies and the amplitude are related in a specific manner and
the configuration is known as NORMALMODE or PRINCIPAL MODE of vibration. Thus system
with two degrees of freedom has two normal modes of vibration corresponding two natural
frequencies.

Free vibrations of two degrees of freedom system:
Consider an un-damped system with two degrees of freedom as shown in Figure 6.1a, where
the masses are constrained to move in the direction of the spring axis and executing free vibrations.
The displacements are measured from the un-stretched positions of the springs. Let x
1
and x
2
be the
displacement of the masses m
1
and m
2
respectively at any given instant of time measured from the
2

equilibrium position with x
2
> x
1
. Then the spring forces acting on the masses are as shown in free
body diagram in Figure 6.1b








(a) (b)
Figure 6.1
Based on Newtons second law of motion =
For mass m
1



for mass (2)



The solution for x
1
and x
2
are obtained by considering that they can have harmonic vibration under
steady state condition. Then considering the case when the mass m
1
execute harmonic vibration at
frequency
1
and the mass m
2
execute harmonic vibration at frequency
2
then we have
x
1
= X
1
sin
1
t, and x
2
= X
2
sin
2
t ----------- (3)
Where X
1
and X
2
are the amplitudes of vibrations of the two masses under steady state conditions.
Substituting equation (3) into equation (1) we have
- m
1

1
2
X
1
sin
1
t + (k
1
+ k
2
) X
1
sin
1
t = k
2
X
2
sin
2
t
Therefore X
1
= k2 sin
2
t
X
2
(k
1
+ k
2
) m
1
2
sin
1
t

Since X
1
and X
2
are the amplitude of two harmonic motions, their ratio must be constant and
independent of time. Therefore sin
2
t / sin
1
t = C a constant.

..
m

x
..
m
1
x
1
+ k
1
x
1
- k
2
x
2
+ k
2
x
1
= 0
..
m
1
x
1
+ (k
1
+ k
2
) x
1
= k
2
x
2
------------ (1)
=
..
m
1
x
1
- k
1
x
1
+ k
2
(x
2
x
1
)
..
m
2
x
2
+ k
3
x
2
+ k
2
x
2
- k
2
x
1
= 0
..
m
2
x
2

+
(k
2
+ k
3
) x
2
= k
2
x
1
------------ (2)
=
..
m
2
x
2
- k
3
x
2
- k
2
(x
2
x
1
)
k
1
x
1

k
2
(x
2
- x
1
)
k
3
x
2

..

m
1
x
1


..

m
2
x
2


m
1

m
2

m
k
2

k
1

x
1

x
2

k
3

3

Consider if C > 1. Then at time t = /2
1
, sin
1
t will be sin
1
x /2
1
= sin /2 = 1
Therefore sin
2
t / sin
1
t > 1 or sin
2
t > 1 which is impossible. Hence C > 1 is not possible.
Similarly it can be shown that C < 1 is also not possible. Thus the only possibility is that C = 1
Hence sin
2
t / sin
1
t = 1 which is only possible if
2
=
1
= . Hence the two harmonic motion
have to be of the same frequency. Thus the solution of equation (1) and (2) can be
x
1
= X
1
sin t, and x
2
= X
2
sin t ----------- (4)
------------------ (5)
Substitute equation (4) and (5) into the equation (1) and (2)
- m
1

2
X
1
sin t + (k
1
+ k
2
) X
1
sin t = k
2
X
2
sin t ----------------- (6)
- m
2

2
X
2
sin t + (k
2
+ k
3
) X
2
sin t
=
k
2
X
1
sin

t. ----------------- (7)
Canceling the common term sin t on both the sides and re arranging the terms we have from
equation (6)
X
1
/X
2
= k
2
/ (k
1
+ k
2
m
1

2
) ---------------- (8)
X
1
/X
2
= [(k
2
+ k
3
) m
2

2
] / k
2
----------- (9)
Thus equating equation (8) and (9) we have
X
1
/X
2
= k
2
/ (k
1
+ k
2
m
1

2
) = [(k
2
+ k
3
) m
2

2
] / k
2
-------------- (10)
Cross multiplying in equation (10) we have
(k
1
+ k
2
m
1

2
) (k
2
+ k
3
m
2

2
) = k
2
2
on simplification we get
m
1
m
2

4
[m
1
(k
2
+ k
3
) + m
2
(k
1
+ k
2
)]
2
+ [k
1
k
2
+ k
2
k
3
+ k
3
k
1
] = 0 ---------- (11)
The above equation (11) is quadratic in
2
and gives two values of
2
and therefore the two positive
values of correspond to the two natural frequencies
n1
and
n2
of the system. The above equation
is called frequency equation since the roots of the above equation give the natural frequencies of the
system.
Now considering m
1
= m
2
= m and k
1
= k
3
= k
Then the frequency equation (11) becomes
m
2

4
2m (k + k
2
)
2
+ (k
2
+ 2kk
2
) = 0 ------------------ (12)
Let:
2
=
2
=
4
, m
2

2
2 m (k + k
2
) + (k
2
+ 2kk
2
) = 0 ------------------ (13)
The roots of the above equation (13) are as follows: Let a = m
2
, b = -2 m (k + k
2
); c = (k
2
+ 2kk
2
)

1,2
= [- b (b
2
4ac)] / 2a

1,2
= [- (-2m) (k + k
2
) [-2m (k+k
2
)]
2
4 (m
2
) (k
2
+ 2kk
2
)]/2m
2

= [+ 2m (k +k
2
)] / 2m
2
[4m
2
[(k
2
+ k
2
2
+ 2 kk
2
) (k
2
+ 2kk
2
)]/4m
4
= (k+ k
2
)

/m (k
2
2
/m
2
)
= (k +k
2
)

/m k
2
/m
..
x
1
= -
2
X
1
sin t
..
x
2
= -
2
X
2
sin t
4

Thus
1
= (k + k
2
)

/m k
2
/ m = k/m. Then
n1
2
= K/m
n1
= (k/m) ----------------- (14)
and
2
= (k + 2k
2
)

/m Thus
n2
2
= (k + 2k
2
)

/m. Then
n2
= [(k + 2k
2
)

/m] --- (15)

n1
is called the first or fundamental frequency or 1
st
mode frequency,
n2
is called the second or 2
nd

mode frequency. Thus the number of natural frequencies of a system is equal to the number of
degrees of freedom of system.
Modes Shapes: From equation (10) we have X
1
/X
2
= k
2
/(k+k
2
) -m
2
= (k
2
+ k) - m
2
/k
2
---(16)
Substitute
n1
= (k/m) in any one of the above equation (16).
(X
1
/X
2
)
n1
= k
2
/ (k+ k
2
m(k/m)) or ((k
2
+ k) m(k/m))/k
2
= k
2
/k
2
= 1
(X
1
/X
2
)
n1
= 1 ----------------- (17)
Similarly substituting
n2
= [(k + 2k
2
)

/m] in any one of the above equation (16).
(X
1
/X
2
)
n2
= k
2
/ (k + k
2
m(k+ 2k
2
)/m) or ((k
2
+ k) m(k+ 2k
2
)/m))/k
2
= - k
2
/k
2
= -1
(X
1
/X
2
)
n2
= -1 ----------------- (18)

The displacements X
1
and X
2
corresponding to the two natural frequency of the system can be
plotted as shown in Figure 6.2, which describe the mode in which the masses vibrate. When the
system vibrates in principal mode the masses oscillate in such a manner that they reach maximum
displacements simultaneously and pass through their equilibrium points simultaneously or all
moving parts of the system oscillate in phase with one frequency. Since the ratio X
1
/X
2
is important
rather than the amplitudes themselves, it is customary to assign a unit value of amplitude to either X
1

or X
2
. When this is done, the principal mode is referred as normal mode of the system.







(a) (b) (c)
Figure 6.2

n1
= (k/m)
n2
= [(k + 2k
2
)

/m]
1
st
Mode 2
nd
Mode

m
1

m
2

k
3

k
2

k
1

x
1

x
2

x
1
= 1
x
2
= 1
Node
x
1
= 1
x
2
= -1
5

It can be observed from the figure 6.2b when the system vibrates at the first frequency, the
amplitude of two masses remain same. The motion of both the masses are in phase i.e., both the
masses move up or down together, the length of the middle spring remains constant, this spring
(coupling spring) is neither stretched nor compressed. It moves rigid bodily with both the masses and
hence totally ineffective as shown in Figure 6.3a. Even if the coupling spring is removed the two
masses will vibrate as two single degree of freedom systems with
n
= (K/m).

When the system vibrates at the second frequency the displacement of the two masses have
the same magnitude but with opposite signs. Thus the motions of m
1
and m
2
are 180
0
out of phase,
the midpoint of the middle spring remains stationary for all the time. Such a point which experiences
no vibratory motion is called a node, as shown in Figure 6.3b which is as if the middle of the
coupling spring is fixed

When the two masses are given equal initial displacements in the same direction and
released, they will vibrate at first frequency. When they are given equal initial displacements in
opposite direction and released they will vibrate at the second frequency as shown in Figures 6.3a
and 6.3b









(a) (b)
Figure 6.3

n1
= (k/m)
n2
= [(k + 2k
2
)

/m]
1
st
Mode 2
nd
Mode
If unequal displacements are given to the masses in any direction, the motion will be superposition
of two harmonic motions corresponding to the two natural frequencies.
m
1

m
2

k
3

k
1

x
1

x
2

m
1

m
2

k
3

k
1

x
1

x
2

= - T
1

6

Problems
1. Obtain the frequency equation for the system shown in Figure 6.4. Also determine the natural
frequencies and mode shapes when k
1
= 2k, k
2
= k, m
1
= m and m
2
= 2m.







(a) (b)
Figure 6.4.
Solution
Consider two degrees of freedom system shown in Figure 6.4a, where the masses are constrained to
move in the direction of the spring axis and executing free vibrations. The displacements are
measured from the un-stretched positions of the springs. Let x
1
and x
2
be the displacement of the
masses m
1
and m
2
respectively at any given instant of time measured from the equilibrium position
with x
2
> x
1
. Then the spring forces acting on the masses are as shown in free body diagram in
Figure 6.4b
Based on Newtons second law of motion =
For mass m
1



for mass (2)




The solution for x
1
and x
2
are obtained by considering that they can have harmonic vibration under
steady state condition. Then considering the case when the masses execute harmonic vibration at
frequency . Thus if x
1
= X
1
sin t, and x
2
= X
2
sin t ----------- (3)

k
1
x
1

k
2
(x
2
- x
1
)
..

m
1
x
1


..

m
2
x
2


m
1

m
2

k
2

k
1

x
1

x
2

..
m

x
..
m
1
x
1
+ k
1
x
1
- k
2
x
2
+ k
2
x
1
= 0
..
m
1
x
1
+ (k
1
+ k
2
) x
1
= k
2
x
2
------------ (1)
=
..
m
1
x
1
- k
1
x
1
+ k
2
(x
2
x
1
)
..
m
2
x
2
+ k
2
x
2
- k
2
x
1
= 0
..
m
2
x
2

+
k
2
x
2
= k
2
x
1
------------ (2)
=
..
m
2
x
2
- k
2
(x
2
x
1
)
7

Then we have x
1
= -
2
X
1
sin t, x
2
= -
2
X
2
sin t ------------------ (4)
Substitute equation (3) and (4) into the equation (1) and (2) we get
- m
1

2
X
1
sin t + (k
1
+ k
2
) X
1
sin t = k
2
X
2
sin t ----------------- (5)
- m
2

2
X
2
sin t + k
2
X
2
sin t
=
k
2
X
1
sin

t. ----------------- (6)
From equation (5) we have X
1
/X
2
= k
2
/[(k
1
+ k
2
) m
1

2
] -------------- (7)
From equation (6) we have X
1
/X
2
= [ k
2
m
2

2
] / k
2
-------------- (8)
Equating (7) and (8)
k
2
/ (k
1
+ k
2
m
1

2
) = [k
2
m
2

2
] /k
2

k
2
2
= (k
1
+ k
2
m
1

2
) (k
2
m
2

2
)
k
2
2
= (k
1
+ k
2
) k
2
m
1

2
k
2
m
2

2
(k
1
+ k
2
) + m
1
m
2

4

m
1
m
2

4
-
2
[m
1
k
2
+ m
2
(k
1
+ k
2
)] + k
1
k
2
= 0 --------------- (9)
letting
2
= m
1
m
2

2
[m
1
k
2
+ m
2
(k
1
+ k
2
)] + k
1
k
2
= 0 ---------------------- (10)
Equation (10) is the frequency equation of the system which is quadratic in and hence the solution
is
= [[m
1
k
2
+ m
2
(k
1
+ k
2
)] [[{m
1
k
2
+ m
2
(k
1
+k
2
)}
2
]- 4 m
1
m
2
k
1
k
2
]] / 2m
1
m
2


To determine the natural frequencies Given k
1
= 2 k, k
2
= k and m
1
= m, m
2
= 2m
= [mk + 2m (2k +k) [mk + 6mk)
2
4m 2mk
2
k]] / 2m . 2m
= [7mk [(7mk)
2
4 (4m
2
k
2
)]] / 4m
2

= [7mk (49m
2
k
2
16m
2
k
2
] / 4m
2

= [7mk 5.744 mk] /4m
2
Thus
1
= [7mk - 5.744 mk]/4m
2
and 2 = [7mk + 5.744 mk] /4m
2

1
=
n1
2
= [7 mk 5.744 mk] /4m
2
= 1.255 mk /4m
2
= 0.3138 k/m Thus
n1
= 0.56 (k/m)

2
=
n2
2
= [7mk + 5.744 mk] /4m
2
= 3.186 k/m. Thus
n2
= 1.784 (k/m)
Substituting the values of frequencies into the amplitude ratio equation as given by equation (7) and
(8) one can determine the mode shapes:

FOR THE FIRST MODE:
Substituting
n1
2
= 0.3138 K/m into either of the equation (7) or (8) we get first mode shape:
I.e. X
1
/X
2
= k
2
/[(k
1
+ k
2
) m
1

2
] -------------- (7) X
1
/X
2
= [ k
2
m
2

2
] / k
2
-------------- (8)
X
1
/X
2
= k / [(2k + k m

2
] = k/ [3k m.
n1
2
]
X
1
/X
2
= k/ [3k 2m. 0.3138k/m] = 1/(3 0.3138) =1/2.6862 = 0.3724
Thus we have X
1
/X
2
= 0.3724. Then If X
1
= 1, X
2
= 2.6852

FOR THE SECOND MODE:
Substituting
n2
2
= 3.186 K/m into either of the equation (7) or (8) we get first mode shape:
I.e. X
1
/X
2
= k
2
/[(k
1
+ k
2
) m
1

2
]
X
1
/X
2
= k / [(2k + k m

2
] = k/ [3k
X
1
/X
2
= k/ [3k 2m. 3.186k/m] = 1/(3
X
1
/X
2
= (k 2m.3.186 k/m)/k = [1
Thus we have X
1
/X
2
= -5.37. Then If






MODE SHAPE FOR FIRST MODE

Derive the frequency equation for a double pendulum shown in figure.6.
frequency and mode shapes of the double pendulum when m










Consider two masses m
1
and m
figure 6.6. Assume the system vibrates in vertical plane with small amplitude under which it only
has the oscillation.
Let
1
and
2
be the angle at any given instant of time with the vertical and x
horizontal displacement of the masses m
m
1

m
2

k
2

k
1

x
1

x
2


= 3.186 K/m into either of the equation (7) or (8) we get first mode shape:
] -------------- (7) X
1
/X
2
= [ k
2
m
2

2
] / k
2
--------------
] = k/ [3k m.
n1
2
]
] = 1/(3 3.186) = 1/ (-0.186) = - 5.37 or
)/k = [1-2(3.186)] = - 5.37
5.37. Then If X
1
= 1, X
2
= - 0.186
SHAPE FOR FIRST MODE SECOND MODE

n1
2
= 0.3138 K/m
n2
2
= 3.186 K/m
Figure 6.5.
Derive the frequency equation for a double pendulum shown in figure.6.6. Determine the natural
frequency and mode shapes of the double pendulum when m
1
= m
2
= m

l
1
= l
2
= l
Figure 6.6
and m
2
suspended by string of length l
1
and l
. Assume the system vibrates in vertical plane with small amplitude under which it only
be the angle at any given instant of time with the vertical and x
horizontal displacement of the masses m
1
and m
2
from the initial vertical position respectively.
x
1
= 1
x
2
= 2.6852
x
1
= 1
x
2
= -0.186
Node
8
= 3.186 K/m into either of the equation (7) or (8) we get first mode shape:
-------------- (8)
SECOND MODE
= 3.186 K/m
. Determine the natural
= l
and l
2
as shown in the
. Assume the system vibrates in vertical plane with small amplitude under which it only
be the angle at any given instant of time with the vertical and x
1
and x
2
be the
om the initial vertical position respectively.

For small angular displacement we have sin











Figure.6.
Figure 6.7hows the free body diagram for the two masses. For equilibrium under static condition the
summation of the vertical forces should be equal to zero. Thus we have
At mass m
1
T
1
cos
1
= mg + T
At mass m
2
T
2
cos
2
= mg -------
For smaller values of we have
T
2
= m
2
g ----- (4) and T
1
= m
When the system is in motion, t
derived by applying Newton Second Law of motion
Then we have for mass m
1


For mass m
2


Substituting the expression for T
equation (1) into the above equation (6) and (7) we have
Equation (6) becomes



= ..
m
2
x
2

+ T
2
sin
2
= 0 ----- (7)
- T
2
sin
2

..
m
2
x
2

..

m
1
x
1

+ [(m
1
+ m
2
) g](x
1
/l
1
) = m

+ [{(m
1
+ m
2
)/l
1
} + m
2
/l
2
]gx
..
m
1
x
1

..
m
1
x
1
+T
1
sin
1
= T
2
sin
2


..
m
1
x
1

= -T
1
sin
1
+ T
2
sin
2
For small angular displacement we have sin
1
= x
1
/ l
1
and sin
2
= (x
2
x
1
) / l
2

Figure.6.7 Free body diagram
hows the free body diagram for the two masses. For equilibrium under static condition the
summation of the vertical forces should be equal to zero. Thus we have
= mg + T
2
cos
2
----- (2)
------- (3)
cos = 1. Then the above equations can be written as
= m
1
g + m
2
g T
1
= (m
1
+ m
2
)g ----- (5)
the differential equation of motion in the horizontal direction can be
derived by applying Newton Second Law of motion.

Substituting the expression for T
2
and T
1
from equation (4) and (5) and for sinq
equation (1) into the above equation (6) and (7) we have
(7)
) = m
2
g[(x
2
x
1
)/l
2

gx
1
= (m
2
g/l
2
) x
2
--------- (8)
----- (6)
9
--- (1)
hows the free body diagram for the two masses. For equilibrium under static condition the
= 1. Then the above equations can be written as
ion of motion in the horizontal direction can be
from equation (4) and (5) and for sinq
1
and sinq
2
from
10

Equation (7) becomes



Equations (8) and (9) represent the governing differential equation of motion. Thus assuming the
solution for the principal mode as


Substitute in (10) into equation (8) and (9) and cancelling the common term sint we have
[-m
1

2
+{(m
1
+m
2
)/l
1
+m
2
/l
2
}g]A=(m
2
g

/l
2
)B --(11)
[-m
2

2
+(m
2
g/l
2
)]B = (m
2
g/l
2
)A

---------- (12)
From equation (11) we have
A/B=(m
2
g/l
2
)/[{(m
1
+m
2
)/l
1
+m
2
/l
2
}g]-m
1

2
-- (13)
From equation (12) we have
A/B = [(m
2
g / l
2
) -m
2

2
] / (m
2
g / l
2
) ------ (14)
Equating equation (13) and (14) we have
A/B = (m
2
g/l
2
)/[{(m
1
+m
2
)/l
1
+ m
2
/l
2
}g-m
1

2
] = [(m
2
g/l
2
) -m
2

2
]/(m
2
g/l
2
)
[{(m
1
+ m
2
)/l
1
+m
2
/l
2
}g-m
1

2
][(m
2
g/l
2
) -m
2

2
] = (m
2
g

/ l
2
)
2
------- (15)
Equation (15) is a the quadratic equation in w
2
which is known as the frequency equation.
Solving for
2
we get the natural frequency of the system.

Particular Case:
When m
1
= m
2
= m and l
1
= l
2
= l
Then equation (13) will be written as A/B = (mg/l)/[(3mg/l)-m
2
] = (g/l)/[(3g/l) -
2
]
A/B= 1/[3 (
2
l/g)] ------ (16)
and equation (14) will be written as A/B = [1 (
2
l/g)] ------ (17)
Equating equation (16) and (17) we get A/B = 1/[3- (
2
l/g)] = [1- (
2
l/g)]
[3- (
2
l/g)] * [1- (
2
l/g)] = 1 or (3g-
2
l)*(g-
2
l) = g
2

3g
2
3gl
2
gl
2
+l
2

4
= g
2
or l
2

4
4gl
2
+ 2g
2
= 0 or

4
(4g/l)
2
+ (2g
2
/l
2
) = 0 ------- (18)
letting =
2
in equation (18) we get
2
(4g/l) + (2g
2
/l
2
) = 0 ----- (19)
Which is a quadratic equation in l and the solution for the equation (19) is

..

m
2
x
2

+ m
2
g(x
2
x
1
)/l
2


+ (m
2
g/l
2
) x
1
= (m
2
g/l
2
) x
2
------ (9)
..

m
2
x
2

..

x
1


= -
2
Asint and
..

x
2


= -
2
Bsint -------- (10)

1,2
= (2g/l) + [(4g
2
/l
2
) (2g
2
/l
2

1
= (g/l)(2 -2) = 0.5858(g/l) -----
Since =
2
then the natural frequency
and
n2
= l
2
= 1.8478(g/l) thus
Substituting
n1
and
n2
from equation (23) and (24) into either of the equation (16) or (17) we
the mode shape

FOR THE FIRST MODE:
Mode shapes for the first natural frequency
I mode from equation (16) A/B= 1/[3
(A/B)
1
=1/[3-
n1
2
l/g] =1/[(3-{(g/l)(2
Thus when A =1 B = 2.4142
Also from equation (17) A/B = [1
For
n1
= 0.7654 (g/l) or
n1
(A/B)
1
= (1-
n1
2
l/g) = [1- {(g/l)(2
or (A/B)
1
= (12+2 ) = 2 -
Thus when A =1 B = 2.4142
Modes shape is shown in figure-6.8

FOR THE SECOND MODE:
Mode shapes for second natural frequency
II mode from equation (16) is given by
(A/B)
2
=1/[3-
n1
2
l/g] =1/[(3-{(g/l)(2+
(A/B)
2
= 1/(- 0.4142) = - 2.4142 or Thus when A =1 B =
Also from equation (17) A/B = [1

n2
= 1.8478(g/l) or
n2
2
= (g/
(A/B)
2
= (1-
n1
2
l/g) = [1- {(g/l)(2+
(A/B)
2
= (12-2 ) = -(1+2) =
Thus when A =1 B = -0.4142
Modes shape is shown in figure-6.



2
) or
1,2
= (g/l)(2 2) --------------------
----- (21) and
2
= (g/l)(2 +2) = 3.4142(g/l) ------
then the natural frequency
n1
= l
1
= 0.7654(g/l) thus
n1
= 0.7654
(g/l) thus
n2
= 1.8478(g/l) ---------- (24)
from equation (23) and (24) into either of the equation (16) or (17) we
Mode shapes for the first natural frequency
n1
= 0.7654(g/l) or
n1
2
= (g/l)(2
I mode from equation (16) A/B= 1/[3 (
2
l/g)]
{(g/l)(2- 2)*l/g}] = 1/(3-2+2) =1/(1+2) = 1/ 2.4142 = 0.4142
A/B = [1 (
2
l/g)]
n1
2
= (g/l)(2 - 2)
{(g/l)(2- 2)}l/g]
-1 = 0.4142
6.8
Figure- 6.8

Mode shapes for second natural frequency
n2
= 1.8478(g/l) or
n2
2
= (g/l)(2+
is given by A/B=1/[3(
2
l/g)]
{(g/l)(2+2)*l/g}] = 1/(3-2-2) =1/(1-2)
2.4142 or Thus when A =1 B = -0.4142
A/B = [1(
2
l/g)]
= (g/l)(2+2)
{(g/l)(2+2)}l/g]
= - 2.4142
6.9

Figure- 6.9
11
-------------------- (20)
------ (22)
= 0.7654(g/l) --- (23)
from equation (23) and (24) into either of the equation (16) or (17) we get
= (g/l)(2 - 2)
= 1/ 2.4142 = 0.4142
= (g/l)(2+2)

12

Determine the natural frequencies of the coupled pendulum shown in the figure 6.10. Assume that
the light spring of stiffness k is un-stretched and the pendulums are vertical in the equilibrium
position.







Figure 6.10.
Solution:
Considering counter clockwise angular displacement to be positive and taking the moments about
the pivotal point of suspension by D.Alemberts principle we have
----------------- (1)
----------------- (2)
Equation (1) and (2) can also be written as
----------------- (3)
----------------- (4)
Equation (3) and (4) are the second order differential equation and the solution for
1
and
2
are
obtained by considering that they can have harmonic vibration under steady state condition. Then
considering the case when the masses execute harmonic vibration at frequency
Thus if
1
= Asin t, and
2
= Bsin t ----------- (5)
Substitute equation (5) into the equation (3) and (4) and canceling the common terms we get
(- ml
2

2
+ mgl + ka
2
)A = ka
2
B ----------------- (6)
(- ml
2

2
+ mgl + ka
2
)B = ka
2
A ----------------- (7)
From equation (6) we have A/B = ka
2
/ [mgl + ka
2
ml
2

2
] -------------- (8)
From equation (7) we have A/B = [mgl + ka
2
ml
2

2
] / ka
2
-------------- (9)
Equating (8) and (9)
A/B = ka
2
/ [mgl + ka
2
ml
2

2
] = [mgl + ka
2
ml
2

2
] / ka
2

[mgl + ka
2
ml
2

2
]
2
= [ka
2
]
2
------------------- (10) or
mgl + ka
2
ml
2

2
= + ka
2

2
= ( mgl + ka
2
+ ka
2
) / ml
2
-------- (11)


2

m
m
m

1

k
mg
l
a
mg
ka(
1
-
2
)
m
ka(
1
-
2
)
= - mgl
2
+ ka(
1

2
)
..
ml
2

2

+ (mgl + ka)
1
= ka
2

..
ml
2

1

+ (mgl + ka)
2
= ka
1

..
ml
2

2

= - mgl
1
ka(
1

2
)
..
ml
2

1,2
= [( mgl + ka
2
+ ka
2
) / ml
2
]

1
= [( mgl + ka
2
- ka
2
) / ml
2
]

2
= [( mgl + ka
2
+ ka
2
) / ml
2
] =
Substituting the values of frequencies
(9) one can determine the mode shapes:

FOR THE FIRST MODE:
Substituting
n1
2
= g/l into either of the equation (8) or (9) we get first mode shape:
A/B = ka
2
/ [mgl + ka
2
ml
2

2
] = ka
A/B = 1

FOR THE SECOND MODE:
Substituting
n2
2
= [(g/l) + (2ka
shape:
A/B = ka
2
/ [mgl + ka
2
ml
2

2
] = ka
= ka
2
/ [mgl + ka
2
mlg - 2ka
2
] = (ka
Mode shapes at these two natural frequencies are as shown in figure

MODE SHAPES AT TWO DIFFERENT FREQUENCIES









FIRST MODE

n1
2
= g/l A/B = 1
Figure-6.10 Mode Shapes at first frequency

] -------- (12)
= (g/l) -------- (13)
] = [(g/l) + (2ka
2
/ml
2
)] -------- (14)
Substituting the values of frequencies into the amplitude ratio equation as given by equation (8) and
(9) one can determine the mode shapes:
= g/l into either of the equation (8) or (9) we get first mode shape:
] = ka
2
/ [mgl + ka
2
ml
2
g/l] = ka
2
/ [mgl + ka
2


= [(g/l) + (2ka
2
/ml
2
)] into either of the equation (8) or (9) we get second mode
] = ka
2
/ [mgl + ka
2
ml
2
[(g/l) + (2ka
2
/ml
2
)]]
] = (ka
2
/ -ka
2
) = -1 Thus A/B = -1
Mode shapes at these two natural frequencies are as shown in figure- 6.10
MODE SHAPES AT TWO DIFFERENT FREQUENCIES
SECOND MODE
= g/l A/B = 1
n2
2
= [(g/l) + (2ka
2
/ml
at first frequency Figure-6.11 Mode Shapes at second frequency
13
into the amplitude ratio equation as given by equation (8) and
= g/l into either of the equation (8) or (9) we get first mode shape:
mlg] = ka
2
/ ka
2

)] into either of the equation (8) or (9) we get second mode
SECOND MODE
/ml
2
)] A/B = -1
at second frequency
14


m

m
2

l
2
l
1

Derive the equation of motion of the system shown in figure 6.12. Assume that the initial tension T
in the string is too large and remains constants for small amplitudes. Determine the natural
frequencies, the ratio of amplitudes and locate the nodes for each mode of vibrations when m
1
= m
2

= m and l
1
= l
2
= l
3
= l.




Figure 6.12.
At any given instant of time let y
1
and y
2
be the displacement of the two masses m
1
and m
2
respectively. The configuration is as shown in the figure 6.13.






(a) (b)
Figure 6.13. Figure 6.14
The forces acting on the two masses are shown in the free body diagram in figure 6.14(a) and (b)
From figure 6.13 we have sin1 = (y
1
/l
1
) sin
2
= [(y
1
y
2
)/l
2
] and sin
3
= (y
2
/l
3
)
For small angle we have sin
1
=
1
= (y
1
/l
1
), sin
2
=
2
= [(y
1
y
2
)/l
2
] and sin
3
=
3
= (y
2
/l
3
)
and cos
1
= cos
2
= cos
3
= 1.0 Thus the equation of motion for lateral movement of the masses
For the mass m
1

or

For the mass m
2


or



sin


1




2





3


3

3
y
1

2
y
2



2



m
1


1



2


T
Tcos
T
Tcos
T(sin
1
+
T
T
Tcos Tcos
Tsin
..
y
2


2



3



m
2

y
1
..
m
1
y
1
+ [(T/l
1
) + (T/l
2
)]y
1
= (T/l
2
)y
2
---- (1)
..
..
m
1
y
1
= - (Tsin
1
+ Tsin
2
) = - T (
1
+
2
)
m
1
y
1
= - T [(y
1
/l
1
) + (y
1
- y
2
)

/l
2
]
..
..
m
2
y
2
= (Tsin
2
Tsin
3
)
m
2
y
2
= T[(y
1
- y
2
)

/l
2
- (y
2
/l
3
)]
..
y
2
+ [(T/l
2
) +(T/l
3
)]y
2
= (T/l
2
)y
1
----- (2)
15

Assuming harmonic motion as y
1
=Asint and y
2
= Bsint ------- (3) and substituting this
into equation (1) and (2) we have [-m
1

2
+ (T/l
1
) + (T/l
2
)] A = (T/l
2
) B ----- (4)
[-m
2

2
+ (T/l
2
) + (T/l
3
)] B = (T/l
2
) A ----- (5)
Thus from equation (4) we have A/B = (T/l
2
) / [(T/l
1
) + (T/l
2
) - m
1

2
] ----- (6)
and from equation (5) we have A/B = [(T/l
2
) + (T/l
3
) - m
2

2
] / (T/l
2
) ----- (7)
Equating equation (6) and (7) we have A/B=(T/l
2
)/[(T/l
1
)+(T/l
2
)- m
1

2
]/[(T/l
2
)+(T/l
3
)-m
2

2
]/(T/l
2
)
Thus we have [(T/l
1
)+(T/l
2
)m
1

2
][(T/l
2
)+(T/l
3
)-m
2

2
] = (T
2
/l
2
2
) -------------- (8)
Equation (8) is the equation on motion which is also known as frequency equation. Solving this
equation gives the natural frequencies of the system.
Particular Case: When m
1
= m
2
= m and l
1
= l
2
= l
3
= l then equation (6) can be written as
A/B = (T/l)/[(T/l)+(T/l)-m
2
] = (T/l)/[(2T/l)-m
2
] ---------- (9)
and equation (7) can be written as A/B = [(T/l)+(T/l) -m
2
]/(T/l) = [(2T/l) - m
2
]/(T/l) ---- (10)
Equating equation (9) and (10) we have [(2T/l - m
2
]
2
= (T/l)
2
-------- (11)
Thus 2T/l - m
2
= + (T/l) ------- (12) Therefore we have
2
= [(2T+T)]/ml ------ (13)

n1
= [(2T-T]/ml] = (T/ml) -------- (14) and
n2
= [(2T+T]/ml] = (3T/ml) --------- (15)
Substituting equation (14) and (15) into either of the equation (9) or (10) we have the ratio of
amplitudes for the two natural frequencies. For the first natural frequency
n1
= (T/ml) then from
equation (9) we have (A/B)
n1
= (T/l)/[(2T/l)-m
2
] = (T/l)/[(2T/l) m(T/ml)] = (T/l)/(T/l) = +1
or from equation (10) we have (A/B)
n1
= [(2T/l) - m
2
]/(T/l) = [(2T/l) m(T/ml)]/(T/l)
Thus (A/B)
n1
= (T/l)/(T/l) = +1
For the second natural frequency
n2
= (3T/ml) then from equation (9) we have
(A/B)
n2
= (T/l)/[(2T/l)-m
2
] = (T/l)/[(2T/l) m(3T/ml)] = (T/l)/(-T/l) = -1
Thus (A/B)
n2
= (T/l)/(-T/l) = -1 Then the mode shape will be as shown in figure 6.15(a) and (b)







Figure 6.15(a) Figure 6.15(b)
First Mode
n1
=(T/ml), (A/B)
n1
= +1 Second Mode
n2
=(3T/ml), (A/B)
n1
= -1
+1 +1

m
1

m
2

m
1

+1
m
2

-1
16






1

J
1






2

J
2

K
t1

K
t2

Torsional Vibratory systems

Derive the equation of motion of a torsional system shown in figure 6.16. Let J
1
and J
2
be the mass
moment of inertia of the two rotors which are coupled by shafts having torsional stiffness of K
t1
and
K
t2
.








Figure 6.16 Two Degree of Freedom Figure 6.17 Free Body Diagram
torsional system
If
1
and
2
are the angular displacement of the two rotors at any given instant of time, then the shaft
with the torsional stiffness K
t1
exerts a torque of K
t1

1
and the shaft with the torsional stiffness K
t2

exerts a torque of K
t2
(
2
-
1
) as shown in the free body diagram figure 6.17
Then by Newton second law of motion we have for the mass m
1


or
for the mass m
2

or
Equation (1) and (2) are the governing Equations of motion of the system.

Equivalent Shaft for a Torsional system
In many engineering applications we find shaft of different diameters as shown in Figure 6.18 are in
use.





Figure-6.18 Stepped shaft











Disc-1
Disc-2
K
t1

1

J
1

..
J
2
..

2

1

K
t2
(
2 -

1
)
..
J
1

1
= - K
1

1
+ K
2
(
2

1
)
..
J
1

1
+( K
1
+

K
2
)
1
= K
2

2
------ (1)
..
J
2

2
= - K
2
(
2

1
)
..
J
2

2
+ K
2

2
= K
2

1
-------- (2)


d
1
d
2
d
3
d
4

J
1

J
2
J
3
J
4

1m
2
2 3 4
L
1
L
2
L
3
L
4



J
a

J
B

17

For vibration analysis it is required to have an equivalent system. In this section we will study how
to obtain the torsionally equivalent shaft. Let be the total angle of twist in the shaft by application
of torque T, and
1
,
2
,
3
and
4
be twists in section 1, 2, 3 and 4 respectively. Then we have
=
1
+
2
+
3
+
4

From torsion theory we have,
T = G Where J = pd4/32 Polar moment of inertia of shaft.
J L
Thus =
1
+
2
+
3
+
4
will be
= TL
1
+ TL
2
+ TL
3
+ TL
4

J
1
G
1
J
2
G
2
J
3
G
3
J
4
G
4

If material of shaft is same, then the above equation can be written as
= 32T [ L
1
+ L
2
+ L
3
+ L
4
]
G [ d
1
4
d
2
4
d
3
4
d
4
4
]
If de and Le are equivalent diameter and lengths of the shaft, then:
L
e
= [ L
1
+ L
2
+ L
3
+ L
4
]
d
e
[ d
1
4
d
2
4
d
3
4
d
4
4
]

L
e
= L
1
[ d
e
] + L
2
[ d
e
] + L
3
[ d
e
] + L
4
[ d
e
]
[d
1
4
] [d
2
4
] [d
3
4
] [d
4
4
]

Equivalent shaft of the system shown in Figure- 6.19





Figure 6.19 Equivalent shaft of the system shown in figure 6.18

Definite and Semi-Definite Systems
Definite Systems
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. A system, which is free from both the ends, is referred
as semi-definite system. For semi-definite systems, the first natural frequency is zero.
Various definite linear and a torsional systems are shown in figure-6.19





d
e

L
e

J
A
J
B

18











Figure-6.19 Various definite systems
Semi Definite or Degenerate System Systems
Systems for which one of the natural frequencies is equal to zero are called semi definite systems.
Various definite linear and a torsional systems are shown in figure-6.20








Figure-6.20 Semi-Definite systems
Problem to solve
Derive the equation of motion of a torsional system shown in figure 6.21.





Figure-6.21 Two Rotor System


m
1

m
2

x
1

k
2

x
2

k
1









K
1

J
1


1

J
2

K
2


2


m
1
m
2

K
K
K
x
1
x
2



2

K
J
2
J
1


1


m m
K



2

K
J
2
J
1


x
2

l
2
x
1

19







Generator
Gears
Shaft-1
J
1

J
2

J
g1

J
g2

K
t1

K
t2

Turbine
Shaft-2
Vibration of Geared Systems
Consider a Turbo-generator geared system is shown in the figure 6.22.







Figure-6.22: Turbo-Generator Geared System.
The analysis of this system is complex due to the presence of gears. Let i be the speed ratio of the
system given by
i = Speed of Turbine
Speed of Generator
First step in the analysis of this system is to convert the original geared system into an equivalent
rotor system. Which is done with respect to either of the shafts.

When the Inertia of Gears is Neglected
The basis for this conversion is to consider the energies i.e. the kinetic and potential energy for the
equivalent system should be same as that of the original system. Thus if
1
and
2
are the angular
displacement of the rotors of moment of inertia J
1
and J
2
respectively then neglecting the inertia of
the gears the Kinetic and Potential energy of the original system are given by

Since
2
= i
1
Then the above equations can be written as



Thus the above equation shows that the original system can be converted into equivalent system with
respect to the first shaft as shown in figure- 6.23




Figure-6.23 Turbo-generator geared system neglecting the inertia of gears
U = 1/2 k
t1

1
2
+1/2 k
t2

2
2

T =1/2 J
1

1
2
+ 1/2 J
2

2
2
.

.

T =1/2 J
1

1
2
+ 1/2 J
2
(i
2
)
2
= 1/2 J
1

1
2
+ 1/2 (i
2
J
2
)
1
2

.

.

.

.

U = 1/2 k
t1

1
2
+1/2 k
t2
(i
2
)
2
= 1/2 k
t1

1
2
+1/2 (i
2
k
t2
)
1
2

Generator


J
1

k
t1

Turbine
i
2
k
t2

J
2

20


l
1
m, J
G
K
2

K
1

Which is obtained by multiplying the inertia and stiffness of the second shaft by i
2
and keeping this
part of the system in series with the first part. Thus the stiffness of this equivalent two rotor system is


Thus the frequency of the system is given by

When the Inertia of Gears is Considered
If the inertia of the gears is not negligible then the equivalent system with respect to the first shaft
can be obtained in the same manner and finally we have the three rotor system as shown in figure-
6.24




Figure-6.24 Considering the inertia of gears

CO-ORDINATE COUPLING AND PRINCIPAL COORDINATES.
Consider a two degree of freedom system as shown in the figure- 6.25. The vibration is restricted in
plane of paper.







Figure-6.25. Two degree of freedom system
If m is the mass of the system, J is the Mass Moment of Inertia the system and G is the centre of
gravity. k1 and k2 are the stiffness of the springs which are at a distance l1 and l2 from the line
passing through the centre of gravity of the mass.
Then the system has two generalized co-ordinates, x is in Cartesian and is in Polar co-ordinate
systems when it is vibrating.

k
te
= i
2
k
t1
k
t2
/ (k
t1
+ i
2
k
t2
)

n
= k
te
(J
1
+ i
2
J
2
) / i
2
J
1
J
2
rad/sec





J
1

J
2

J
g1
+i
2
J
g2

Generator
k
t1

i
2
k
t2
Turbine
21

At any given instant of time for a small disturbance the system occupy the position as shown in
figure-6.26(a).








Figure-6.26 (a) system under vibration (b) displacements at the springs
If x is the displacement at the center of gravity of the system. Then the amount of displacements
that take place at the left spring is (xl
1
)and at the right spring is (x+ l
2
) which is as shown in
figur-6.26(b).
At any given instant of time when the body is displaced through a rectilinear displacement x and an
angular displacement from its equilibrium position. The left spring with the stiffness k
1
and the
right spring with the stiffness k
2
are compressed through (xl
1
) and (x+l
2
) from their equilibrium
position, The forces acting on the system is as shown in the free body diagram in figure-6.26. The
differential equation of motion of the system in x and direction are written by considering the
forces and moments in their respective direction.
Thus we have the equation of motion



Rearranging the above two equation we have


Since J = mr
2
The above two equation can also be written as



Letting [(k
1
+ k
2
)/m = a, (k
1
l
1
- k
2
l
2
)/ m = b and (k
1
l
1
2

+ k
2
l
2
2
)/ mr
2
= c
Thus substituting these into equation (5) and (6) we have

G
K
1
K
2
m,J
l
1
l
2
Static equilibrium
(x l
1
)
(x + l
2
)

x
G
l
1
l
2
k
1
(x-l
1
) k
2
(x + l
2
)
- k (x+l )
..

J =+k
1
(x-l
1
)l
1
- k
2
(x+l
2
)l
2
----- (2)

..

mx + (k
1
+ k
2
)x = ( k
1
l
1
- k
2
l
2
) ----- (3) J + (k
1
l
1
2

+ k
2
l
2
2
) = (k
1
l
1
- k
2
l
2
) x ----- (4)
..
+ [(k
1
l
1
2

+ k
2
l
2
2
)/ mr
2
] = [(k
1
l
1
- k
2
l
2
)/ mr
2
] x ----- (6)
..
..

mx = - k
1
(x - l
1
)

- k
2
(x + l
2
) ----- (1)
..

x + [(k
1
+ k
2
)/m]x = [( k
1
l
1
- k
2
l
2
)/ m] ----- (5)
22




The above two differential equation (7) and (8) are coupled with respect to the coordinates in which
b is called the coupling coefficient or coordinate coupling.
Since if b=0 the two coordinate coupling equations (7) and (8) are independent of each other. The
two equations are then decoupled and each equation may be solved independently of the other. Such
a coordinate are called PRINCIPAL COORDINATE OR NORMAL COORDINATES.
Therefore the two i.e. rectilinear and angular motions can exists independently of each other with
their natural frequency as a and c.
Thus for the case of decoupled system when b=0 then (k
1
l
1
k
2
l
2
)/m = 0 or k
1
l
1
k
2
l
2
= 0 or k
1
l
1
=
k
2
l
2
. Then the natural in rectilinear and angular modes are
nl
= a and
na
= c

nl
= a = (k
1
+ k
2
)/m and
na
= c = (k
1
l
1
2

+ k
2
l
2
2
)/ mr
2

In general for a two degree of freedom under damped free vibration the equation of motion can be
written in the matrix form as
m
11
m
12
x
1
c
11
c
12
x
1
k
11
k
12
x
1
0


+ + =
m
21
m
22
x
2
c
21
c
22
x
2
k
21
k
22
x
2
0



Which reveal the type of coupling present in the system as Dynamic or Mass Coupling exist if the
mass matrix is non diagonal matrix. Where as stiffness or static Coupling exist if the stiffness matrix
is non diagonal. Where as damping Coupling exist if the damping matrix is non diagonal.

The system is dynamically decoupled when the mass matrix exists is a diagonal matrix.
m
11
0

x
1
c
11
c
12
x
1
k
11
k
12
x
1
0


+ + =
0

m
22
x
2
c
21
c
22
x
2
k
21
k
22
x
2
0



The system is damped decoupled when the damping matrix exists is a diagonal matrix.
m
11
m
12
x
1
c
11
0

x
1
k
11
k
12
x
1
0


+ + =
m
21
m
22
x
2
0

c
22
x
2
k
21
k
22
x
2
0






..

x + ax = b ----- (7)
+ c = (b/r
2
) x ----- (8)
..
..

..

.

.

..

.

.

..

..

.

.

23

The system is statically decoupled when the stiffness matrix exists is a diagonal matrix.
m
11
m
12
x
1
c
11
c
12
x
1
k
11
0

x
1
0


+ + =
m
21
m
22
x
2
c
21
c
22
x
2
0

k
22
x
2
0




Dynamic or Mass Coupling:
If there is some point C in the system along which a force is applied to the system produces pure
translation along the line of action of force as shown in figure-6.27










Figure-6.27 (a) system under vibration (b) displacements at the springs
Then the equation of motion is



Rearranging the above two equation we have



The above equation can be written in matrix form as




When k
2
l
4
k
1
l
3
= 0 or k
2
l
4
= k
1
l
3
then the system is statically decoupled but dynamically coupled in
which the equation of motion will be which was
Mx
c
+ me = -k
1
(x
c
-l
3
)

- k
2
(x
c
+l
4
)
..

..

J + mex
c
+ (k
2
l
4
- k
1
l
3
)x
c
+ (k
1
l
3
2
+ k
2
l
4
2
)

= 0
..

..

Mx
c
+ me + (k
1
+ k
2
)x
c
+ (k
2
l
4
- k
2
l
3
) = 0
..

..

J + mex
c
= -k
1
(x
c
-l
3
)

- k
2
(x
c
+l
4
)
..

..

..
x
c



..
(k
1
+ k
2
) (k
2
l
4
- k
1
l
3
)

(k
2
l
4
- k
1
l
3
) (k
1
l
3
2
+ k
2
l
4
2
)

+
x
c



0

0
=
M me

me J


(x
c
-l
3
)
(x
c
+ l
4
)

x
c
C
k
1
(x-l
3
)
k
2
(x+l
4
)
G
l
3
l
4
Static equilibrium line

G
k
1

k
2

M,J
l
1
l
2
C
l
3 l
4
e
e
..

..

.

.

24





Static/Stiffness and Dynamic/Mass Coupling: If there is a point C in the system along which a
displacement produces pure translation along the line of action of spring force as shown in
figure-6.28









Figure-6.28 (a) system under vibration (b) displacements at the springs

Then the equation of motion is
and
Rearranging the above two equation we have



The above equation can be written in matrix form as




In which both the mass matrix and stiffness matrix are non-diagonal matrix hence the system is both
statically and dynamically coupled.



..
x
c



..
(k
1
+ k
2
) 0

0 (k
1
l
3
2
+ k
2
l
4
2
)

+
x
c



0

0
=
M me

me J


x
c
(x
c
+ l )

C
k
1
x
c

k
2
(x
c
+ l )
G
l
1 l
2
Static equilibrium line

G
k
1

k
2

M,J
l
1
l
2
C
l
l
J + ml
1
x
c
+ k
2
lx
c
+ k
1
l
2

= 0
..

..

Mx
c
+ ml
1
+ (k
1
+ k
2
)x
c
+ k
2
l = 0
..

..

Mx
c
+ ml
1
= - k
1
x
c
- k
2
(x
c
+l)
..

..

J + m l
1
x
c
= -k
2
(x
c
+ l)l
..

..

+
..
x
c



..
(k
1
+ k
2
) k
2
l

k
2
l k
2
l
2


x
c



0

0
=
M ml
1


ml
1
J


25


x
K1
L1 L2
K2
Problem
Determine the normal mode of vibration of an automobile shown in figure-6.29 simulated by a
simplified two degree of freedom system with the following numerical values m = 1460 kg,
L
1
= 1.35m, L
2
= 2.65 m, K
1
= 4.2x10
5
N/m, K
2
= 4.55x10
5
N/m and J=mr
2
where r= 1.22 m





Figure-6.29
Automobile can be modeled as shown in figure -6.30









Figure-6.30 (a) system under vibration (b) displacements at the springs

Let at any given instant of time the translatory displacement be x and an angular displacement be
from its equilibrium position of the automobile. Then the left spring with the stiffness k
1
and the
right spring with the stiffness k
2
are compressed through (xl
1
) and (x+l
2
) from their equilibrium
position, The forces acting on the system are as shown in the free body diagram in figure-6.30(b).
The differential equation of motion of the automobile in x and direction are written by
considering the forces and moments in their respective direction.
Thus we have the equation of motion






G
K
1

K
2

m,J
l
1
l
2
Static equilibrium line
(x l
1
)
(x + l
2
)

x
G
l
1
l
2
k
1
(x-l
1
) k
2
(x + l
2
)
- k (x+l )
..

J =+k
1
(x-l
1
)l
1
- k
2
(x+l
2
)l
2
----- (2)

..

mx = - k
1
(x - l
1
)

- k
2
(x + l
2
) ----- (1)
26

Rearranging the above two equation we have



Equation (3) and (4) are the second order differential equation and the solution for x and are
obtained by considering that they can have harmonic vibration under steady state condition. Then
considering the case when the system execute harmonic vibration at frequency
Thus if x = Asint, and = Bsin t ---- (5) Substitute equation (5) into the equation (3) and (4) and
canceling the common term sint we get
[- m
2
+ (k
1
+ k
2
)] A = (k
1
l
1
k
2
l
2
) B ------- (6)
[- J
2
+ (k
1
l
1
2
+ k
2
l
2
2
)] B = (k
1
l
1
k
2
l
2
) A ---- (7)
From equation (6) we have A/B = (k
1
l
1
-k
2
l
2
)/ [(k
1
+ k
2
) m
2
] ---------- (8)
From equation (7) we have A/B = [(k
1
l
1
2
+ k
2
l
2
2
) - J
2
] / (k
1
l
1
k
2
l
2
) ---- (9)
Equating (8) and (9) A/B = (k
1
l
1
-k
2
l
2
)/ [(k
1
+ k
2
) m
2
] = [(k
1
l
1
2
+ k
2
l
2
2
) - J2] / (k
1
l
1
k
2
l
2
)
[(k
1
+k
2
)m
2
][(k
1
l
1
2
+k
2
l
2
2
)-J
2
]=(k
1
l
1
-k
2
l
2
)
2
Further Simplification will give
mJ
4
[J(k
1
+k
2
) + m(k
1
l
1
2
+k
2
l
2
2
)]
2
+ k
1
k
2
(l
1
+l
2
)
2
= 0 --------- (10)
Substituting the value of m, J, k
1
, k
2
, l
1
, l
2
into the above equation (10) we have
3.173x10
6

4
4.831x10
9

2
+1.72x10
12
=0 --- (11) or
4
1.523x103
2
+5.429x10
5
=0 ---- (12)
Letting
2
= we have
2
1.523x10
3
+5.429x10
5
= 0 ---- (13)
Equation (13) is quadratic equation in . Thus solving equation (13) we get two roots which are

1
= 569.59,
2
= 953.13 Since
2
= we have = . Thus
1
=23.86 rad/sec and
2
=30.87 rad/sec
Thus f
n1
= 3.797 Hz and f
n2
= 4.911 Hz

Un-damped Dynamic Vibration Absorber
Consider a two degree of freedom system with a forcing function F
1
= F
o
sint as shown in
figure-6.31(a).





(a) (b)
Figure- 6.31(a) Two degree of freedom system with forcing function F
1
on mass 1
..

mx + (k
1
+ k
2
)x = ( k
1
l
1
- k
2
l
2
) ----- (3)
J + (k
1
l
1
2

+ k
2
l
2
2
) = (k
1
l
1
- k
2
l
2
) x ----- (4)
..
m
1

m
2

k
2

k
1

x
1

x
2

F
1

m
1

m
2

k
2
(x
2

x )
k
1
x
1

F
1


= F
o
sin t
27

Let x
1
and x
2
be the displacement of the masses m
1
and m
2
respectively at any given instant of time
measured from the equilibrium position with x
2
> x
1
. Then the spring forces acting on the masses are
as shown in free body diagram in Figure 6.31(b)
Based on Newtons second law of motion =
For mass m
1
we have



for mass (2)



The solution for x
1
and x
2
are obtained by considering that the masses execute harmonic vibration at
frequency w. Thus if x
1
= X
1
sin t, and x
2
= X
2
sin t ----- (3)
Then we have and --------- (4)
Substituting equation (3) and (4) into the equation (1) and (2) we get
-m
1

2
X
1
sint + (k
1
+ k
2
)X
1
sint = k
2
X
2
sin t + F
o
sint ----------------- (5)
- m
2

2
X
2
sint + k
2
X
2
sint

=

k
2
X
1
sin

t -------------- (6)
Canceling the common term sinwt on both the sides of equation 95) and (6) we have
[(k
1
+ k
2
) - m
1

2
]X
1
- k
2
X
2
= F
o
----------- (7)
k
2
X
1
- [k
2
- m
2

2
]X
2
= 0----- (8)
Solving for X
1
and X
2
by cramers rule


-------- (9) -------- (10)
where is the determinant of characteristic equations.

-------- (11)


Solving the above determinant we get ------- (12)

..

x
1
= -
2
X
1
sint
..

x
2
= -
2
X
2
sint
..
m

x
..
m
2
x
2
+ k
2
x
2
- k
2
x
1
= 0
..
m
2
x
2

+
k
2
x
2
= k
2
x
1
------------ (2)
=
..
m
2
x
2
- k
2
(x
2
x
1
)
=
..
m
1
x
1
- k
1
x
1
+ k
2
(x
2
x
1
) + F
o
sint
..
m
1
x
1
+ k
1
x
1
- k
2
x
2
+ k
2
x
1
= F
o
sint ------------ (1)
{ }{ }
2
2
2
2 2
2
1 2 1
K m K m ) K (K + =

m K
K

0
F
X
2
2 2
2 0
1

0
F

K
m ) K (K
X
0
2
2
1 2 1
2

+
=
0
m K
K

K
m ) K (K

2
2 2
2
2
2
1 2 1

+
=
28

If the two vibratory masses are considered separately as shown in Figure- 6.32, the mass 1 is a main
system and mass 2 is an secondary system. This system can be used as Dynamic vibration absorber
or Tuned damper by using the amplitude Equations (9) and (10).







Figure- 6.32
If the system has to be used as a Dynamic vibration absorber, then the amplitude of vibration of
mass m
1
should be equal to zero, i.e X
1
=0.


-------- (13) Then we have

F
o
(k
2
m
2

2
) = 0 since F
o
cannot be equal to zero we have k
2
m
2

2
= 0


2
= k
2
/m
2
or

= k
2
/m
2
rad/sec -------- (14)

The above Eqn. is the natural frequency of secondary or absorber system.
0

m K
K

0
F
X
2
2 2
2 0
1
=

=
0
m K
K

0
F
2
2 2
2 0
=

m
1

m
2

k
2

k
1

x
1

x
2

F
1

Main System
Secondary System