Chapter 6

Multidegree of Freedom Systems

1 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 Chapter Outline

6.1 Introduction
6.2 Modeling of Continuous Systems as Multidegree-of-Freedom
Systems
6.3 Using Newton’s Second Law to derive Equations of Motion
6.4 Influence Coefficients
6.7 Using Lagrange’s Equations to Derive Equations of Motion
6.8 Equations of Motion of Undamped Systems in Matrix Form
6.9 Eigenvalue Problem
6.10 Solution of the Eigenvalue Problem
6.11 Expansion Theorem
6.12 Unrestrained Systems
6.13 Free Vibration of Undamped Systems
6.14 Forced Vibration of Undamped Systems Using Modal Analysis
6.15 Forced Vibration of Viciously Damped Systems
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 6.1
Introduction

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 6.1 Introduction

• For simplicity continuous systems are approximated as multidegree-

of-freedom (MOF) systems.

• Equations of motion of MOF systems can be obtained either from

Newton’s 2nd law of motion or from Lagrange’s equations.

• Analysis of MOF systems can be simplified using the orthogonality

property of the mode shapes of the system’s natural frequencies.

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 6.2
Modeling of Continuous systems as MOF systems

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 6.2 Modeling of Continuous systems as MOF systems

• Method 1: Lumped-mass system

• Replace distributed mass of the system by finite number of lumped
masses
• Lumped masses are connected by massless elastic and damping
members
• E.g. Model the 3-storey building as a 3-lumped-mass system

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 6.2 Modeling of Continuous systems as MOF systems

• Method 2: Finite Element Method (FEM)

• Replace geometry of the system by large number of small elements

• Principles of compatibility and equilibrium are used to find an

approx. solution to the original system

• Details covered in Chapter 12

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 6.3
Using Newton’s 2nd Law to derive Equations of Motion

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 6.3 Using Newton’s 2nd Law to derive Equations of
Motion

• Step 1: Set up suitable coordinates to describe positions of the

various masses in the system.

• Step 2: Measure displacements of the masses from their static

equilibrium positions

• Step 3: Draw free body diagram and indicate forces acting on each
mass

• Step 4: Apply Newton’s 2nd Law to each mass

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 6.3 Using Newton’s 2nd Law to derive Equations of
Motion

Example 6.1
Equations of Motion of a Spring-Mass-Damper System

Derive the equations of motion of the spring-mass-damper system

shown below.

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 6.3 Using Newton’s 2nd Law to derive Equations of
Motion

Example 6.1
Equations of Motion of a Spring-Mass-Damper System
Solution

Free-body diagram is as shown:

Applying Newton’s 2nd Law gives:

mi xi  ki xi  xi 1   ki 1 xi 1  xi   ci xi  xi 1   ci 1 xi 1  xi   Fi , i  2,3,..., n 1

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 6.3 Using Newton’s 2nd Law to derive Equations of
Motion

Example 6.1
Equations of Motion of a Spring-Mass-Damper System
Solution

Set i=1 with x0=0 and i=n with xn+1=0:

m1x1  c1  c2 x1  c2 x2  k1  k2 x1  k2 x2  F1

mn xn  cn  cn1 xn  cn xn1  kn  kn1 xn  kn xn1  Fn
The equations of motion can be expressed in matrix form:
m1 0 0
...
    0  
mx  cx  k x  F
 m  

m2 0
 0
[m] is the mass matrix
[c] is the damping matrix
  [k] is the stiffness matrix
0 ... 0 mn 

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 6.3 Using Newton’s 2nd Law to derive Equations of
Motion

Example 6.1
Equations of Motion of a Spring-Mass-Damper System
Solution

We have
k1  k 2  k2 0  0 
c1  c2  c2 0 0   k 
 c c2  c3  c3    2 k 2  k3  k3 0 0    x1 t    F1 t 
c   2 , k    0  k3 k3  k 4 0 , x   x2 t , F   F2 t 
 0 0  0     x t   F t 
   0     3   3 
    cn cn  cn 1 
 0 0 0  kn k n  k n 1 

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 6.3 Using Newton’s 2nd Law to derive Equations of
Motion

Example 6.2
Equations of Motion of a Trailer–Compound Pendulum System

Derive the equations of motion of the trailer-compound pendulum

system as shown.

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 6.3 Using Newton’s 2nd Law to derive Equations of
Motion

Example 6.2
Equations of Motion of a Trailer–Compound Pendulum System
Solution

Free-body diagram is as shown:

x(t) and θ(t) describes linear and angular displacement respectively.

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 6.3 Using Newton’s 2nd Law to derive Equations of
Motion

Example 6.2
Equations of Motion of a Trailer–Compound Pendulum System
Solution

, c2 x
External forces on trailer: F(t), k1x,k2x, c1 x

Horizontal translation:

Mx  mx  m  cos   m  sin   k1 x  k2 x  c1 x  c2 x  F t 

l  l 2
 
2 2
External forces on pendulum: M(t), mg
Rotational motion about hinge O:
 l  l  l  
2
 m    
 m 
  m
x l
cos   mg  l
sin   M t t 
 2  2  12  2 2
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 6.4
Influence Coefficients

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 6.4 Influence Coefficients

• One set of influence coefficients is associated with each matrix

involved in the equations of motion

Equation of Motion Influence coefficient

Stiffness matrix Stiffness influence coefficient
Mass matrix Inertia influence coefficient
Inverse stiffness matrix Flexibility influence coefficient
Inverse mass matrix Inverse inertia coefficient

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 6.4 Influence Coefficients

• Stiffness Influence Coefficient, kij

kij is the force at point i due to unit displacement at point j and

zero displacement at all other points.
n
Total force at point i, Fi   kij x j , i  1,2,..., n
j 1

Matrix form:
 k11 k12 ... k1n 
 k 
 k ... k
F  k x where k    21 22 2n 

   
 
 n1 n 2
k k ... k nn 

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 6.4 Influence Coefficients

• Stiffness Influence Coefficient, kij

kij = kji

kij for torsional systems is defined as the torque at point i due to

unit angular displacement at point j and zero angular displacements
at all other points.

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6.4 Influence Coefficients

Example 6.3
Stiffness Influence Coefficients

Find the stiffness influence coefficients of the system shown below.

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 6.4 Influence Coefficients

Example 6.3
Stiffness Influence Coefficients
Solution

Let x1, x2 and x3 be the displacements of m1, m2 and m3 respectively.

Set x1=1 and x2=x3=0.
Horizontal equilibrium of forces:
Mass m1: k1 = -k2 + k11 (E.1)
Mass m2: k21 = -k2 (E.2)
Mass m3: k31 = 0 (E.3)

Solving E.1 to E.3 gives

k11=k1+k2 , k21 = -k2 , k31 = 0

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 6.4 Influence Coefficients

Example 6.3
Stiffness Influence Coefficients
Solution

Next set x2=1 and x1=x3=0.

Horizontal equilibrium of forces:

Mass m1: k12 + k2 = 0 (E.4)
Mass m2: k22 - k3 = k2 (E.5)
Mass m3: k32 = - k3 (E.6)
Solving E.4 to E.6 gives
k22 = k2+k3
k12 = -k2
k32 = -k3

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 6.4 Influence Coefficients

Example 6.3
Stiffness Influence Coefficients
Solution

Finally set x3=1 and x1=x2=0.

Horizontal equilibrium of forces:

Mass m1: k13 = 0 (E.7)
Mass m2: k23 + k3 = 0 (E.8)
Mass m3: k33 = k3 (E.9)

Solving E7 to E9 gives
k33 = k3
k13 = 0
k23 = -k3

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 6.4 Influence Coefficients

Example 6.3
Stiffness Influence Coefficients
Solution
k1  k 2  k2 0 
  k3 
Thus the stiffness matrix is: k     k 2 k 2  k3
 0  k3 k3 

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 6.4 Influence Coefficients

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 6.4 Influence Coefficients

• Flexibility Influence Coefficient, aij

Have to solve n sets of linear equations to obtain all the kij’s in an n

DOF system

Generating aij’s is simpler.

aij is defined as the deflection at point i due to unit load at point j,

xij = aijFj, where xij is the displacement at point i due to external
force Fj
n n
xi   xij   aij Fj , i  1,2,..., n
j 1 j 1

 
Matrix form: x  aF
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 6.4 Influence Coefficients

• Flexibility Influence Coefficient, aij

Stiffness and flexibility matrices are the inverse of each other.

aij = aji

aij for torsional systems is defined as the angular deflection of point

i due to unit torque at point j.

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 6.4 Influence Coefficients

Example 6.5
Flexibility Influence Coefficients

Find the flexibility influence coefficients of the system shown below.

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 6.4 Influence Coefficients

Example 6.5
Flexibility Influence Coefficients
Solution

Let x1, x2 and x3 be the displacements of m1, m2 and m3 respectively.

Set F1=1 and F2=F3=0.

Horizontal equilibrium of forces:

Mass m1: k1a11 = k2(a21 – a11) + 1 (E.1)
Mass m2: k2(a21 – a11) = k3(a31 – a21) (E.2)
Mass m3: k3(a31 – a21) = 0 (E.3)

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 6.4 Influence Coefficients

Example 6.5
Flexibility Influence Coefficients
Solution

Solving E1 to E3 gives a11 = a21 = a31 = 1/k1

Next set F2=1 and F1=F3=0.

Horizontal equilibrium of forces:

Mass m1: k1a12 = k2(a22 – a12) (E.4)
Mass m2: k2(a22 – a12) = k3(a32 – a22) +1 (E.5)
Mass m3: k3(a32 – a22) = 0 (E.6)

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 6.4 Influence Coefficients

Example 6.5
Flexibility Influence Coefficients
Solution

Solving E.4 to E.6 gives

a12 = 1/k1
a22 = a32 = 1/k1 + 1/k2

Next set F3=1 and F1=F2=0.

Horizontal equilibrium of forces:

Mass m1: k1a13 = k2(a23 – a13) (E.7)
Mass m2: k2(a23 – a13) = k3(a33 – a23) (E.8)
Mass m3: k3(a33 – a23) = 1 (E.9)

32 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.4 Influence Coefficients

Example 6.5
Flexibility Influence Coefficients
Solution

Solving E.7 to E.9 gives

a13 = 1/k1
a23 = 1/k1 + 1/k2
a33 = 1/k1 + 1/k2 + 1/k3

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 6.4 Influence Coefficients

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 6.4 Influence Coefficients

• Inertia Influence coefficients, mij

mij is defined as the impulse applied at point i to produce a unit

velocity at point j and zero velocity at every other point.
n
~
Total impulse at point i, Fi   mij x j , j  1,2,..., n
j 1
 
Matrix form: Fi  mx
~
~
 x1   F1   m11 m12 ... m1n 
  ~  m
  x2  ~  F2  m22 ... m2 n 
where x   , F   , m   21 
     
 xn   F~n   
 n1
m mn2 ... m nn 

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 6.7
Using Lagrange’s Equations to Derive Equations of Motion

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 6.7 Using Lagrange’s Equations to Derive Equations of
Motion
d  T  T V
• The Lagrange’s Equations:    Q (j n ) , j  1,2,..., n
dt  q j  q j q j

• Qj(n) can be computed as follows:

xk yk zk
Q (n)
  Fxk Fyk  Fzk
q j q j q j
j
k

–Fxk,Fyk and Fzk are the external forces acting on the kth mass in
the x, y and z directions

–x k,yk and zk are the displacements of the kth mass in the x, y and
z directions

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 6.7 Using Lagrange’s Equations to Derive Equations of
Motion

• For a torsional system:

– Fxk is replaced by Mxk, the moment acting about the x-axis.
– xk is replaced by θxk, the angular displacement about the x-axis.

• For conservative system, Qj(n)=0

• Thus Lagrange’s equations reduce to

d  T  T V
   0, j  1,2,..., n
dt  q j  q q
 j j

• This is a set of n differential equations, one corresponding to each

of the n generalized coordinates

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 6.7 Using Lagrange’s Equations to Derive Equations of
Motion

Example 6.8
Equations of Motion of a Torsional System

Derive the equations of motion of the system shown below by treating

θi as generalized coordinates.
– Ji is the mass moments of inertia
– Mti are the external moments acting on the components
– kti are the torsional spring constants of the shaft between the
components.

39 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.7 Using Lagrange’s Equations to Derive Equations of
Motion

Example 6.8
Equations of Motion of a Torsional System
Solution

q1=θ1, q2=θ2, q3=θ3

1 2 1 2 1 2
Kinetic energy: T  J11  J 2 2  J 33 (E.1)
2 2 2

Potential energy (PE): V  (kt )d  1 kt 2
0 2
1 1 1
Total PE of system: V  kt112  kt 2 ( 2  1 ) 2  kt 3 (3   2 ) 2
2 2 2
3
 k 3
 k
Generalized force: Q
(n)
  M tk   M tk (E.2)
q j k 1  j
j
k 1
40 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.7 Using Lagrange’s Equations to Derive Equations of
Motion

Example 6.8
Equations of Motion of a Torsional System
Solution

Therefore
1  
Q1( n )  M t1  M t 2 2  M t 3 3  M t1
1 1 1
1  2 3
Q (n)
 M t1  Mt2  M t3  Mt2
 2  2  2
2

1  
Q3( n )  M t1  M t 2 2  M t3 3  M t3
3 3 3

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 6.7 Using Lagrange’s Equations to Derive Equations of
Motion

Example 6.8
Equations of Motion of a Torsional System
Solution

Substituting E.1, E.2 and E.3 into Lagrange’s equations, we get

J11  (kt1  kt 2 )1  kt 2 2  M t1

J 22  (kt 2  kt 3 ) 2  kt 21  kt 33  M t 2

J 33  kt 33  kt 3 2  M t 3

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 6.8
Equations of Motion of Undamped Systems in Matrix Form

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 6.8 Equations of Motion of Undamped Systems in
Matrix Form
d  T  T V
 
• Lagrange’s Equations: dt  xi   xi  xi  Fi , i  1,2,..., n
 
– Fi is the non-conservative generalized force corresponding to ith
generalized coordinate xi

Kinetic energy: T  1 x mx

T
•
 x1 
2 x 
 
Potential energy V  x k x where
1 T x   2
•
2 
 xn 
• Differentiating T wrt to xi
T 1  T  1  T  T   T 
  mx  x m   mx  mi x , i  1,2,..., n
xi 2 2

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 6.8 Equations of Motion of Undamped Systems in
Matrix Form
d  T   T 
• Differentiating wrt time: dt  x   mi x, i  1,2,..., n
 i
T
• T is a function of only xi  0
xi
• Differentiating V wrt xi:
•
V 1  T  1  T   T   T 
  k x  x k    k x  ki x , i  1,2,..., n
xi 2 2

• Substitute into Lagrange’s equations, we obtained the desired

equations of motion:  F1 
     F2 
mx  k x  F where F   

 Fn 

45 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.8 Equations of Motion of Undamped Systems in
Matrix Form

• For a conservative system, Fi =0

  
• Therefore equations of motion become mx  k x  0

• If xi are the same as the actual displacements, [m] is a diagonal

matrix

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 6.9
Eigenvalue Problem

47 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.9 Eigenvalue Problem

  
• To solve mx  k x  0 , assume a solution of the form xi(t)=XiT(t),
i=1,2,…,n

where Xi is constant and T is a function of time

  
• Substituting xi(t)=XiT(t) into mx  k x  0, we obtain
  
mXT t   k XT t   0

• Rewrite as
 n 
  kij X j 
 n    n  Tt   j 1 
 , i  1,2,..., n
  mij X j T t     kij X j T t   0, i  1,2,..., n  

 j 1



 j 1

 T t   n 
  mij X j 
 
 j 1 

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 6.9 Eigenvalue Problem

• Left side of equation is independent of i

• Right side of equation is independent of t
• Therefore both sides equal to a constant, which we named ω2.

Left hand side: T  t   T t  0  2


Solution gives: T(t)=C1cos(ωt+Φ)
• C1 is the amplitude
• Φ is the phase angle
i.e. all coordinates can perform a harmonic motion with frequency ω
and phase angle Φ

49 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.9 Eigenvalue Problem

 k 
n
Right hand side:   2
mij X j  0, i  1,2,..., n
ij
j 1

 
 
or k    m X  0 (Eigenvalue problem)
2

• For a non-trivial solution, determinant Δ of the coefficient matrix

must be zero.

• i.e. Δ= |kij-ω2mij| = |[k]- ω2[m]| =0 (Characteristic equation)

ω2 is the eigenvalue

50 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10
Solution of the Eigenvalue Problem

51 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

 
Eigenvalue problem:  k   mX  0 where   2
1
•

   
• Multiplying by [k] : I   DX  0 or IX  DX
-1

– [I] is identity matrix

– [D]=[k]-1[m] is dynamical matrix.


• For a non-trivial solution of X , characteristic determinant Δ=|λ[I]-
[D]|=0

• Use numerical methods to solve if DOF of system is large

52 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System

Find the natural frequencies and mode shapes of the system shown
below for k1=k2=k3=k and m1=m2=m3=m

53 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution

Dynamical matrix [D]=[k]-1[m] ≡[a][m]

1 1 1
Flexibility matrix a  1 1 2 2
k
1 2 3

1 0 0
   0 1 0 
Mass matrix m m  
0 0 1
1 1 1
Thus D  1 2 2
m
k
1 2 3

54 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution

Frequency equation:
 0 0  1 1 1
Δ=|λ[I]-[D]|=  0  0   1 2 2  0 where   2
m 1
  k   
 0 0   1 2 3

Dividing throughout by λ,
1  
m m 2
  1  2  2    5  6  1  0 where  
3 2

k k
  2 1  3
55 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution

We have 1  m 2
k
1
 0.19806, 1  0.44504
k m
m22 k
2   1.5553, 2  1.2471
k m
m32 k
3   3.2490, 3  1.8025
k m
Once the natural freq are known, the eigenvectors can be calculated
using  X 1i  
 i     i   i  
i I   DX  0, i  1,2,3 where X   X 2 
 X i  
 3 
56 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution
m
1st mode: Substitute λ1=5.0489 :
k
 1 0 0 1 1 1   X 1  0
1 4.0489 1  1   X 11  0
   
 m   m 1 2 2   X 1   0 i.e.   1 3.0489  2   X 21   0
 5.0489
k 
0 1 0  k   2   
 0 0 1 1 2 3   1      1 2 2.0489  X 31  0
 X 3  0

3 unknowns X1(1),X2(1), X3(1) in 3 equations

Can express any 2 unknowns in terms of the remaining one.

57 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution

X2(1) + X3(1) = 4.0489 X1(1)

3.0489 X2(1) – 2X3(1) = X1(1)

Solving the above, we get

X2(1)=1.8019X1(1) and X3(1)=2.2470X1(1)

Thus first mode shape

 1 
 1  
X  X 11 1.8019  where X1(1) can be chosen arbitrarily.
2.2470
 
58 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution

2nd mode: Substitute λ2=0.6430 m into (E.1)

k
2 
 1 0 0 1 1 1   X 1  0
 m   m 1 2 2   X 2    0
 0.6430
k 
0 1 0  k   2   
 0 0 1 1 2 3   2    
 X 3  0
 0.3570 1  1   X 12   0
   
i.e.   1  1.3570  2   X 22    0
  1 2  2.3570 
 X 2    
3  0
3 unknowns X1(2),X2(2), X3(2) in 3 equations
Can express any 2 unknowns in terms of the remaining one.

59 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution

2nd mode:
–X2(2) – X3(2) = 0.3570X1(2)
-1.3570X2(2) – 2X3(2) = X1(2)

Solving the above, we get

X2(2)=0.4450X1(2) and X3(2)=-0.8020X1(2)
 1 
 2   
Thus 2nd mode shape X  X 12   0.4450 
 0.8020 where X1(2) can be chosen arbitrarily.
 
60 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution
m
3rd mode: Substitute λ3=0.3078 k into (E1):
3 
 1 0 0 1 1 1   X 1  0
 m   m 1 2 2   X 3   0
 0.3780
k 
0 1 0  k   2   
 0 0 1 1 2 3  
 X 3    
3  0
 0.6922 1  1   X 13  0
   
i.e.   1  1.6922  2   X 23   0
  1 2  2.6922  3    
 X 3  0

3 unknowns X1(3),X2(3), X3(3) in 3 equations

Can express any 2 unknowns in terms of the remaining one.
61 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution

3rd mode:
X2(3) - X3(3) = 0.6922X1(3)
-1.6922X2(3) – 2X3(3) = X1(3)

Solving the above, we get

X2(3)=-1.2468X1(3) and X3(3)=0.5544X1(3)
 1 
Thus 3rd mode shape X 3   X 3   1.2468
1  
 0.5544 
  where X1(3) can be chosen arbitrarily

62 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.11
Natural Frequencies of a Three-Degree-of-Freedom System
Solution

When X1(1) = X1(2) = X1(3) =1, the mode shapes are as follows

63 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

• Orthogonality of Normal Modes

 
 
Recall: k    m X  0
2

 i 
ωi and modal vector X satisfy it such that
 i   i 
i mX  k X (6.69)
2

  j
Another freq ωj and its X will also satisfy it such that
  j   j
 j mX  k X
2
(6.70)

64 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

• Orthogonality of Normal Modes

 i T   j T
Pre-multiplying 2 equations by X and X respectively,
  j T  i    j T  i   i T   j
 X mX  X k X  X k X
i
2

 i    j   j  i   i    j
 j X mX   j X mX  X k X
T T T
2 2

Subtracting one from the other,

  j T  i 
   X mX  0
i
2 2
j

Since ωi2 ≠ ωj2 thus

  j T  i 
X mX  0, i  j
65 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.10 Solution of the Eigenvalue Problem

• Orthogonality of Normal Modes

  j T  i 
Similarly we can obtain X k X  0, i  j

 i    j
This shows that X and X are orthogonal wrt both [k] and [m]

  j T  i    j T  i 
When i=j, X k X  0 and X mX  0
Generalized mass coefficient of the ith mode:
 i T  i 
M ii  X mX , i  1,2,..., n
Generalized stiffness coefficient of the ith mode
 i T  i 
Kii  X k X , i  1,2,..., n
66 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.10 Solution of the Eigenvalue Problem

• Orthogonality of Normal Modes

 i 
If we normalize X such that M ii  1,

Kii reduces to
12 0 
 
  2
2 
  
 2
 0 n 

67 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.12
Orthonormalization of Eigenvectors

Orthonormalize the eigenvectors of Example 6.11 with respect to the

mass matrix.

68 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.12
Orthonormalization of Eigenvectors
Solution

 i   i T  i 
X is m- orthogonal if X mX  1

For i=1,
m X1  11 2 2

 1.80192  2.24702  1

or
1 1 0.3280
X1  
m9.2959 m

69 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.12
Orthonormalization of Eigenvectors
Solution

For i=2, m X 1  2 
 1
2 2 2

 0.44502   0.8020  1
2  0.7370
or X 1 
m
For i=3, m X  1  1.2468  0.5544   1
3
1
2 2 2 2

3  0.5911
or X 1 
m

70 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

• Repeated Eigenvalues

Modal shapes are not unique when characteristic equation has

repeated roots

Let λ1=λ2=λ and λ3 be a different eigenvalue.

 1  1
Recall: DX  X (6.83)
 2   2 
DX  X (6.84)
 3   3 
DX  3 X (6.85)
Multiply Eq.6.83 by constant p and add to 6.84:
   
 1  2   1  2 
D pX  X   pX  X (6.86)
71 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.10 Solution of the Eigenvalue Problem

• Repeated Eigenvalues

This shows that the new mode shape also satisfies Eq.6.85

Hence the mode shape corresponding to λ is not unique.

72 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.12
Repeated Eigenvalues

Determine the eigenvalues and eigenvectors of a vibrating system for

which

1 0 0  1 2 1 
m  0 2 0 and k    2 4  2
0 0 1  1  2 1 

73 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.12
Repeated Eigenvalues
Solution

Eigenvalue equation
1    2 1   X 1  0
 2    
22     2   X 2   0 where    2 (E.1)
 
 1 2 1     X 3  0
Characteristic Eq.: |[k] – λ[m]|= λ2(λ-4)=0

λ1=0, λ2=0 , λ3=4

74 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.12
Repeated Eigenvalues
Solution

Using λ3=4, (E1) gives

-3X1(3) – 2X2(3) + X3(3)=0

-2X1(3) – 4X2(3) – 2X3(3)=0
X1(3) – 2X2(3) – 3X3(3)=0

If X1(3) =1, 1

 3   
X   1
1
 

75 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.10 Solution of the Eigenvalue Problem

Example 6.12
Repeated Eigenvalues
Solution

λ1=λ2=0 indicates the system is degenerate. Using λ1=0 we obtain

X1(1) – 2X2(1) + X3(1)=0
-2X1(1) + 4X2(1) – 2X3(1)=0
X1(1) – 2X2(1) + X3(1)=0

All these equations are of the form X1(1)=2X2(1) – X3(1)

2 X 21  X 31 

Hence X 1   X 21 
 X 31 
 
76 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.10 Solution of the Eigenvalue Problem

Example 6.12
Repeated Eigenvalues
Solution
1
 1  
If X2(1) =1 and X3(1) =1, X  1
1

3
 1  
If X2(1) =1 and X3(1) =-1, X   1 
 1
 
 1  2 
Hence X and X are not unique.

77 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.11
Expansion Theorem

78 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.11 Expansion Theorem

• The eigenvectors are linearly independent and form a basis in the

n-dimensional space.
 n  i  
x   ci X where x is an arbitrary vector in n - dimensiona l space
i 1

 i T
• Pre-multiplying by X m , the value of the constants ci can be
determined.  
 
X mx X mx
i T
i T
ci   i T  i   , i  1,2,..., n
X mX M ii
 i   i T 
• If X are normalized, ci  X mx, i  1,2,..., n

• This is known as the expansion theorem

79 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.12
Unrestrained Systems

80 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.12 Unrestrained Systems

• Equation of motion for free vibration: q(t )   2 qt   0

• For rigid body translation: ω=0, q(t)=α+βt where α and β are

constants.

 0  If system undergoes rigid body translation

• Let X be the modal vector corresponding to rigid body mode.
 0   0 
Eigenvalue problem:  mX  k X 2
•

 0  
• When ω =0, k X  0
 0  
• If system undergoes rigid body translation, X 0

81 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.12 Unrestrained Systems

• Therefore determinant of [k] must be 0, i.e. [k] is singular.

1  0 T  0 
• Thus potential energy is V  X k X
2
  0   
• V is positive if x  X or x  0
If system undergoes rigid body translation

• [k] will then be a positive semidefinite matrix.

• When ω =0, we can have at most 6 rigid body modes, 3 for

translation and 3 for rotation.

82 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.12 Unrestrained Systems

Example 6.14
Natural Frequencies of a Free System

3 freight cars are coupled by 2 springs as shown below. Find the

natural frequencies and mode shapes of the system for m1=m2=m3=m
and k1=k2=k.

83 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.12 Unrestrained Systems

Example 6.14
Natural Frequencies of a Free System
Solution

Kinetic energy of the system:

1
2
2
 2 2

2

1  T
T  m1 x2  m2 x2  m3 x2  x mx


 x1   x1 
     
where x   x2 , x   x2 ,
x   x 
 3  3

84 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.12 Unrestrained Systems

Example 6.14
Natural Frequencies of a Free System
Solution

Potential energy of the system:

Elongation of spring k1=(x2-x1)
Elongation of spring k2=(x3-x2)

V
1
2
 2 2 1
2

k1 x2  x1   k2 x3  x2   x T k x 
 k1  k1 0 
where k    k1 k1  k 2  k 2 
 0  k2 k 2 
V=0 if x1= x2=x3=c (rigid body motion)

85 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.12 Unrestrained Systems

Example 6.14
Natural Frequencies of a Free System
Solution

 
 
Eigenvalue problem k    m X  0 2

Set determinant of coefficient matrix = 0:

k   m 2
k 0
k 2k   2 m  k 0
0 k  
k   2m

Expanding: m3ω6 – 4m2kω4 + 3mk2ω2=0

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 6.12 Unrestrained Systems

Example 6.14
Natural Frequencies of a Free System
Solution

~ ~ ~ k  ~ 3k 
By setting    , m         0
2

 m  m

~ ~ k  ~ 3k 
~
As m≠0,    , m       0
2

 m  m

~ ~ k ~ 3k
We have 1  1  0, 2  2  , 3  32 
2 2

m m

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 6.12 Unrestrained Systems

Example 6.14
Natural Frequencies of a Free System
Solution

 
 
For ω1=0, k    m X  0 gives
2

kX11  kX 21  0
 kX11  2kX 21  kX 31  0
 kX 21  kX 31  0
If we fix X1(1)=1, we can solve for X2(1) and X3(1): X2(1)= X3(1)=1
1
 1  
Thus 1st mode X  1
1

88 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.12 Unrestrained Systems

Example 6.14
Natural Frequencies of a Free System
Solution

 
 
For ω2 =(k/m)1/2, k    m X  0 gives
2

 kX 22   0
 kX12   kX 22   kX 32   0
 kX 22   0
If we fix X1(2)=1, we can solve for X2(2) and X3(2): X2(2)=0, X3(2)= -
X1(2)= -1
1
 2   
X 0
Thus 2 mode:
nd
 1
 
89 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.12 Unrestrained Systems

Example 6.14
Natural Frequencies of a Free System
Solution

 
 
For ω3 =(3k/m)1/2, k    m X  0 gives
2

 2kX13  kX 23  0
 kX13   kX 23  kX 33  0
 kX 23   2kX 33  0
If we fix X1(3)=1, we can solve for X2(3) and X3(3): X2(3)= -2X1(3) =-2,
X3(3)= -0.5X2(3)= 1
1
 3   
Thus 3rd mode X   2
1
 
90 © 2018 Mechanical Vibrations Sixth Edition in SI Units
 6.13
Free Vibration of Undamped Systems

91 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.13 Free Vibration of Undamped Systems

• Equation of motion for free vibration of undamped system:

  
mx  k x  0

n 

General solution: x t    X Ai cosi t  i 
i 
•
i 1

If system undergoes rigid body translation

• If initial displacements and velocities are
 x1 0  x1 0
 x 0  x 0
  2    2 
x 0    and x 0    respectively,
     
 xn 0  xn 0
n 

• Then x 0   X i  Ai cos i
i 1
n 

x 0   X i  Aii sin i
i 1

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 6.13 Free Vibration of Undamped Systems

Example 6.15
Free-Vibration Analysis of a Spring-Mass System

Find the free vibration response of the spring-mass system shown

below corresponding to the initial conditions x1(0)=x10, x2(0)=x3(0)=0.
Assume that ki=k and mi=m for i=1,2,3.

93 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.13 Free Vibration of Undamped Systems

Example 6.15
Free-Vibration Analysis of a Spring-Mass System
Solution

We have
k k k
1  0.44504 2  1.2471 3  1.8025
m m m
 1   1   1 
     
X 11 1.8019  X 12   0.4450  X 13   1.2468
2.2470  0.8020  0.5544 
     

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 6.13 Free Vibration of Undamped Systems

Example 6.15
Free-Vibration Analysis of a Spring-Mass System
Solution

Applying the initial conditions:

A1cosΦ1+ A2cosΦ2+ A3cosΦ3 = x10

1.8019A1cosΦ1+0.445A2cosΦ2–1.2468A3cosΦ3 =0
2.247A1cosΦ1–0.802A2cosΦ2+0.5544A3cosΦ3 =0

95 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.13 Free Vibration of Undamped Systems

Example 6.15
Free-Vibration Analysis of a Spring-Mass System
Solution

We have
k k k
 0.44504 A1 sin 1  1.2471 A2 sin 2  1.8025 A3 sin 3  0
m m m
k k k
 0.80192 A1 sin 1  0.55496 A2 sin 2  2.2474 A3 sin 3  0
m m m
k k k
 A1 sin 1  A2 sin 2  A3 sin 3  0
m m m

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 6.13 Free Vibration of Undamped Systems

Example 6.15
Free-Vibration Analysis of a Spring-Mass System
Solution

Solving the above equations gives:

A1=0.1076x10, A2=0.5431x10, A3=0.3493x10,

Φ1=Φ2=Φ3=0

97 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.13 Free Vibration of Undamped Systems

Example 6.15
Free-Vibration Analysis of a Spring-Mass System
Solution

Thus solution of system:

  k   k   k 
x1 t   x10 0.1076 cos 0.44504
    
t   0.5431cos1.2471 t   0.3493 cos1.8025 t 
  m   m   m 

  k   k   k 
x2 t   x10 0.1939 cos 0.44504 t   0.2417 cos1.2471 t   0.4355 cos1.8025 t 
  m   m   m 

  k   k   k 
x3 t   x10 0.2418 cos 0.44504
    
t   0.4356 cos1.2471 t   0.1937 cos1.8025 t 
  m   m   m 

98 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.14
Forced Vibration of Undamped Systems Using Modal
Analysis

99 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.14 Forced Vibration of Undamped Systems Using
Modal Analysis

• Forced vibration occur when external forces act on a system.

  
• Equations of motion is a set of 2nd order ODE: mx  k x  F


• Modal analysis is a more convenient method to solve this when the

If system undergoes rigid body translation
DOF is large.

• First we must solve the eigenvalue problem and find the natural
freq. and the corresponding normal modes.
 
Eigenvalue problem:  mX  k X
2
•

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 6.14 Forced Vibration of Undamped Systems Using
Modal Analysis

• According to expansion theorem,

  1  1  n  
x t   q1 t X  q2 t X  ...  qn t X  X q t 
 q1 t 
q t 
 1
where X   X  X
 2 

 n 
 X and q t    2 
  
If system undergoes rigid body translation
  
qn t 
 t 
• Since [X] is not a function of time, xt   X q
  
• Rewrite as mX q  k X q  F


• Normalizing the normal modes: [X]T[m][X]=[I], [X]T[k][X]=[ ω2 ]

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 6.14 Forced Vibration of Undamped Systems Using
Modal Analysis
 
Define generalized forces Qt   X  F t 
T
•

• i t   i2 qi t   Qi t , i  1,2,..., n

Therefore q

• Solution of this 2nd order ODE:

If system undergoes rigid body translation

 q 0 
qi t   qi 0 cos i t    Q  sin  t   d , i  1,2,..., n
1 t
 
 sin i t 
 i  i
i i
0

 
q 0  X  mx 0
T

 q1 0  q1 0  x1 0  x1 0

  q 0 q 0  x 0  x 0
q 0  X  mx 0   2  
where q 0      2  
   2  
   2 
T
, q 0    and x 0   , x 0   
           
qn 0 qn 0  xn 0  xn 0

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 6.14 Forced Vibration of Undamped Systems Using
Modal Analysis

Example 6.16
Free-Vibration Response Using Modal Analysis

Using modal analysis, find the vibration response of a 2 DOF system

with equations of motion:
m1 0   x1  k1  k2  k2   x1   0
 0 m   x     k  F  
k2  k3   x2 
(E.1)
 2  2   2 0

Assume the following data:m1=10, m2=1, k1=30, k2=5, k3=0 and

  x1 0 1   x1 0 0

x 0      , x 0       (E.2)
 x2 0 0  x2 0 0

103 © 2018 Mechanical Vibrations Sixth Edition in SI Units

 6.14 Forced Vibration of Undamped Systems Using
Modal Analysis

Example 6.16
Free-Vibration Response Using Modal Analysis
Solution

 1
We have 1  1.5811, X 1    X 11
2 
 2   1  2 
2  2.4495, X    X 1 where X 11 and X 12  are arbitrary constants
 5
Orthogonalizing normal modes wrt mass matrix:
 1T  1 10 0 1
X mX  1  X 11 1 2
2
 
   1 or X 1
1  0.2673
 0 1 2

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 6.14 Forced Vibration of Undamped Systems Using
Modal Analysis

Example 6.16
Free-Vibration Response Using Modal Analysis
Solution


E.1 can be expressed as qi t   i qi t   0, i  1,2
 2

qi 0
Solution qi t   qi 0 cos i t  sin i t
i
Using the initial conditions, we can find
  q 0  0.2673 0.5346  10 0 1 2.673
q 0   10   X  mx 0    
T
   
 20 
q 0   0.1690  0.8450  0 1   
0 1.690 
  q 0  0
q 0   10   X  mx 0   
T

q 20 0 0

 q1 t   2.673 cos 1.5811t , q2 t   1.69 cos 2.4495t

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 6.14 Forced Vibration of Undamped Systems Using
Modal Analysis

Example 6.16
Free-Vibration Response Using Modal Analysis
Solution

   0.2673 0.1690   2.673 cos 1.5811t 

Thus x t   X q t  x t     1.690 cos 2.4495t 
 0.5346  0 .845 
x1 t  0.7145 cos 1.5811t  0.2856 cos 2.4495t 
or   
x 
 1  
t  1.4280 cos 1 .5811t  1.4280 cos 2.4495 t 

106 © 2018 Mechanical Vibrations Sixth Edition in SI Units