CHAPTER 5: SYSTEMS WITH TWO DEGREE

OF FREEDOM
 Introduction – Two degree of freedom system
2

 DOF: Minimum number of coordinates to specify the position of

a system
 Many systems have more than 1 DOF
 Examples of 2 DOF systems
 car with sprung and unsprung mass (both heave)
 elastic pendulum (radial and angular)
 motions of a ship (roll and pitch)

Dr Asif Israr - Institute of Space Technology

 Two Degree of Freedom Model - Undamped
3

 A 2 Degree-of-Freedom system has

 Two equations of motion!
 Two natural frequencies (as we shall see)!

 A 2 degree of freedom system used to base much of the analysis

and conceptual development of MDOF systems on
 Let see an example

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 Two Degree of Freedom Model - Undamped
4

Free Body Diagram

kx1 k(x2-x1) kx2

m 2m

x1 x2

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 Two Degree of Freedom Model - Undamped
5

 Summing forces yields the equation of motion

mx1  kx1  k ( x2  x1 )
Eqn. 1
2mx2  k ( x2  x1 )  kx2
 Equations are coupled:
 Both have x1 and x2
 If only one mass moves, the other follows
 In this case the coupling is due to centrally spring element, k
 Mathematically and Physically
 If this spring element is zero, no coupling occurs and can be solved
as two independent SDOF systems
Dr Asif Israr - Institute of Space Technology
 Two Degree of Freedom Model - Undamped
6

 For the normal mode of oscillation, each mass undergoes

harmonic motion of the same frequency, passing through the
equilibrium position simultaneously

x1  A1 sin t or A1eit
it
Eqn. 2
x2  A2 sin t or A2e

 Substituting these into the differential equations i.e. Eqn. 1, we

have
(2k   2m) A1  kA2  0
Eqn. 3
 kA1  (2k  2 2m) A2  0

Dr Asif Israr - Institute of Space Technology

 Two Degree of Freedom Model - Undamped
7

 The two equations can be written in the form of a single matrix

equation
(2k   2 m) k   A1  0
     
 k (2k   m)  A2  0
2

 The determinant of the above equations is zero to satisfy for any

A1 and A2
(2k   2m) k
0
k (2k   m)
2

 Letting ω2=λ, the characteristic equation becomes

Dr Asif Israr - Institute of Space Technology
 Two Degree of Freedom Model - Undamped
8
2
 k  3 k 
   3      0
2

 m 2m

 The two roots of this equation are the eignvalues of the system
3 1  k k
1    3   0.634
2 2 m m
3 1  k k
2    3   2.366
2 2 m m
 And the natural frequencies of the system are
k
1  1  0.634
m
k
2  2  2.366
m
Dr Asif Israr - Institute of Space Technology
 Two Degree of Freedom Model - Undamped
9

 Two expressions for the ratio of the amplitudes are found from
Eqn. 3
 A1  k 2 k   2
m
  
 A  2k   2 m k
 2
 Substituting of the natural frequencies in either of these equations
leads to the ratio of the amplitudes
(1)
 A1  k 1
     0.731 For 12  0.634k / m
A  2k  1 m 2  0.634
2
 2
( 2)
 A1  k 1
     2. 73 For 22  2.366k / m
A  2k  22 m 2  2.366
 2

Dr Asif Israr - Institute of Space Technology

 Two Degree of Freedom Model - Undamped -
Normal Modes
10

 If one of the amplitudes is chosen equal to 1 or any other number,

we say that the amplitude ratio is normalised to that number
 The normalised amplitude ratio is then called the Normal Mode
and is designated by,i (x)

0.731 
2.73
1 ( x)    ,  ( x )   
   
2
 1.00   1.00 

 In order words, when the masses of a system oscillates in such a

manner that they reach maximum displacements simultaneously
and pass their equilibrium points simultaneously, or all moving
parts of the system oscillates in phase with one frequency, such a
state of motion is called Normal Mode of Vibration.
Dr Asif Israr - Institute of Space Technology
 Two Degree of Freedom Model - Undamped -
11
Normal Modes
 Each normal mode oscillation can then be written as
(1)
 x1  0.731
   A1  sin(1t   1 )
 x2   1.00 
( 2)
 x1   2.73
   A2   sin(2t   2 )
 x2   1.00 

Dr Asif Israr - Institute of Space Technology

 Problem 1
12

 Figure shows a double pendulum. Determine the natural

frequencies of the oscillation when m1=m2=m and l1=l2=l.

l1

m1

l2

m2
Dr Asif Israr - Institute of Space Technology
 Problem 1
13

Solution: Due to self weight of masses, the pendulum

roads are in tension
T1
T2  m2g l1

T1  m1g  T2
T1  m1g  m2g  (m1  m2 )g m1g T2

l2
 Above equations holds good for small oscillations T2

m2g

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 Problem 1
14

 Since
x1
sinθ1  θ1 
l1
1 l
x 2  x1 1
sinθ2  θ2  T1
l2 m1x1
 x1and x2 are generalized co-ordinates T2
l2
2
T2
m2x 2
T1sin1= T11 x1
x2
Mass 1 m1x1
T2sin2= T22 Free body diagram
Dr Asif Israr - Institute of Space Technology
 Problem 1
15

 The equation for mass m1 is:

m1x1  T1θ1  T2θ2
m x  T θ  T θ  0
1 1 1 1 2 2
 For small angle approximation:

x1 x  x1
m1x1  T1  T2 2 0
l1 l2

 Substituting the values of T1 and T2, we get

x1 x  x1
m1x1  (m1  m2 )g  (m2g) 2 0
l1 l2
Dr Asif Israr - Institute of Space Technology
 Problem 1
16

 Let m1 = m2 = m and l1 = l2 = l

x1 x 2  x1
mx1  (2m)g  (mg) 0
l l

 First equation of motion due to mass m1:

 3mg   mg 
mx1   
 1 
x x 2  0
 l   l 

Dr Asif Israr - Institute of Space Technology

 Problem 1
17

x1
sinθ1  θ1 
l1
x 2  x1 1 l
sinθ2  θ2 
1

l2 T1
m1x1
T2
T2sin2= T22
l2
Mass 2 m2x 2 2
T2
m2x 2
m x  T θ
2 2 2 2
x1
x2
m2x2  T2θ2  0
x 2  x1 Free body diagram
m2 x 2  T2
 0
l2
Dr Asif Israr - Institute of Space Technology
 Problem 1
18

 Substituting the value of T2, we get

 x 2  x1 
m2x2  m2g   0
 l2 
 Let m1 = m2 = m and l1 = l2 = l, the second EOM due to mass m2
is
 mg   mg 
mx 2  
  x1   x 2  0
 l   l 

Dr Asif Israr - Institute of Space Technology

 Problem 1
19

 Governing equation of motions:

 3mg   mg 
mx1   
 1 
x x 2  0
 l   l 
 mg   mg 
mx 2   
 1 
x x 2  0
 l   l 
 Or, we can write the above set of equations as:

x   3g x   g x  0

1   1  l  2
 l   
x   g x   g x  0
2  l  1  l  2
   
Dr Asif Israr - Institute of Space Technology
 Problem 1
20

 Solution to governing eqns.:

 Assume SHM x1  A1sinωt  φ
x 2  A 2sin(ωt  φ)
 The above equations have to satisfy the governing EoMs

 3g 2
 ω  A1sinωt  φ  A2sinωt  φ  0
g

 l  l
g g 2
 A1sin(ωt  φ)    ω  A2sin(ωt  φ)  0
l l 

Dr Asif Israr - Institute of Space Technology

 Problem 1
21

 In above equations sin(ωt  φ)  0

 The above equations reduces to: (characteristic equation)

 3g 2 g
  ω  A1  A 2  0
 l  l

g g 2
 A1    ω  A 2  0
l l 

Dr Asif Israr - Institute of Space Technology

 Problem 1
22

3g g
ω 2

l ........ l 0
g g
  mω2
l l
 The above equation is referred as a characteristic determinant
Solving, we get :

2 2
4ω g 2g
ω 
4
 2 0 Frequency equation
l l

Dr Asif Israr - Institute of Space Technology

 Problem 1
23

 Natural frequencies of the system are:

g g
ω1  0.27 ω2  3.73 rad/sec
l l

 Modal vectors and the mode shapes can be obtained by usual

meaner (1)
g
 A1  l
    0.342
 A2  g
3 12
l
( 2)
g
 A1  l
    0.092
Dr Asif Israr - Institute of Space Technology  A  g
 2 3   22
 Problem 2
24

 Obtain the natural frequencies of the string system shown in the

figure.
 For simplicity take m1 = m2 = m and l1 = l2 = l3 = l

m1 m2

l1 l2 l3

Dr Asif Israr - Institute of Space Technology

 Problem 2
25

x1
m1 θ1 
T m2 l
T x1 2 T x1  x 2
1 x2 3 θ2 
l
l1 l2 l3 x2
θ3 
Free body diagram l

 For small angular oscillations, it can be assumed that the tension

in the string (T) do not change

Dr Asif Israr - Institute of Space Technology

 Problem 2
26

mx1  Tθ1  Tθ2  0

x1 x  x2
m1 T 2 mx1  T T 1 0
T 1 l l
T
T mx1  2T  T
m x1  
  x1    x 2  0
 l  l

mx 2  Tθ 2  Tθ3  0
T 2 x1  x 2 x2
m2
T 3 mx2  T T 0
l l
mx 2
T  2T 
m x 2    x1  
 x 2  0
l  l 
Dr Asif Israr - Institute of Space Technology
 Problem 2
27

 Equations of motion
 2T  T
mx1    1  x 2  0 1 Eqn. of motion
x 
 l  l
T  2T 
m x 2    x1  
   x 2  0 2 Eqn. of motion
l  l 
 Solution to governing eqns.:
 Assume SHM: x1  A1sinωt  φ
x 2  A 2sin(ωt  φ)

 The above equations have to satisfy the governing EoMs

Dr Asif Israr - Institute of Space Technology
 Problem 2
28

 2T 2
 mω  A1sinωt  φ  A2sinωt  φ  0
T

 l  l
 2T 2
 A1sinωt  φ    mω  A2sinωt  φ  0
T
l  l 
 In above equations sin(ωt  φ)  0
 The above equations reduces to: (characteristic equation)
 2T 2 T
 l  mω  1 l A2  0
A 
 
T  2T 
 A1    mω2  A 2  0
l  l 
Dr Asif Israr - Institute of Space Technology
 Problem 2
29

2T T
 mω 2

l l
........ 0
T 2T
  mω2
l l

 The above equation is referred as a characteristic determinant

Solving, we get:

4Tmω2 3T2 Frequency equation

mω 
2 4
 2 0
l l

Dr Asif Israr - Institute of Space Technology

 Problem 2
30

 Natural frequencies of the overall system are

T 3T
ω1  ω2  rad/sec
ml ml

 As the system has two natural frequencies, under certain

conditions it may vibrate with first or second frequency, which are
referred as Principal Modes of Vibration

Dr Asif Israr - Institute of Space Technology

 Problem 2
31

 Characteristic equations of the system are

 2T 2 T
 l  mω  A1  l A 2  0
 
T  2T 
 A1    mω2  A 2  0
l  l 

 First Principal Mode of Vibration

 The system vibrates with first fundamental natural frequency, i.e .

ω  ω1

Dr Asif Israr - Institute of Space Technology

 Problem 2
32

 For vibrations under Mode-I, consider

 2T 2 T
  mω1  A1  A 2  0
 l  l
Substitute 1
 2T 2   2T T 
A2  l
 mω1   m 
A
  2  l ml
  1
A1  T  A1  T 
   
 l   l 
First modal vector
A1  A1  1
A1         
A 2  A1  1
Dr Asif Israr - Institute of Space Technology
 Problem 2
33

 For vibrations under Mode-II, consider

 2T 2 
  mω 2 
 2T  T A l
  mω 2
2 1A  A  0  2
  
2 A1  T 
 l  l  
 l 
 2T 3T 
m
A2  l 
ml   1
Substitute 2  
A1  T 
 
 l 
Second modal vector A1  A1  1 
A2         
A 2  - A1   1
Dr Asif Israr - Institute of Space Technology
 Problem 2
34

 Mode shapes of the system

m1 m2

l1 l2 l3

1 1
Mode I

Mode II 1
-1

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 Problem 3: Natural Frequencies of a Marine
35
Engine Propeller
The schematic diagram of a marine engine connected to a
propeller through gears is shown in figure. The mass
moments of inertia of the flywheel, engine, gear 1, gear 2,
and the propeller (in kg-m2) are 9000, 1000, 250, 150, and
2000, respectively. Find the natural frequencies and mode
shapes of the system in torsional vibration.
Approach: Find the equivalent mass moments of inertia of all
rotors with respect to one rotor and use a 2-DOF model
Assumptions:
1) The flywheel can be considered to be stationary since its mass
moment of inertia is very large compared to that of other rotors
Dr Asif Israr - Institute of Space Technology
 Problem 3: Natural Frequencies of a Marine
Engine Propeller
36

2) The engine and gears can

be replaced by a single
equivalent rotor

Dr Asif Israr - Institute of Space Technology

 Problem 3: Natural Frequencies of a Marine
Engine Propeller
37

 Since gear 1 and 2 have 40 and 20 teeth, shaft 2 rotates at twice

the speed of shaft 1. Thus the mass moments of inertia of gear 2
and propeller, referred to the engine are given by

(JG2)eq= (N1/N2)2 JG2 = (2)2(150) = 600 kg-m2

(Jp)eq = J2 = (2)2(2000) = 8000 kg-m2

 Since the distance between the engine and the gear unit is small,
the engine and the two gears can be replaced by a single rotor
with a mass moment of inertia of
J1 = Je+JG1+(JG2)eq = 1000+250+600 = 1850 kg-m2
Dr Asif Israr - Institute of Space Technology
 Problem 3: Natural Frequencies of a Marine
Engine Propeller
38

 Assuming a shear modulus, G of 80x109 N/m2 for steel, the

torsional stiffnesses of shafts 1 and 2 can be determined as
GI o1 G  d14  (80109 ) (0.10)4

kt1    981,750.0 N  m / rad
l1 l1  32 
 (0.8)(32)

GI o 2 G  d 24  (80109 ) (0.15)4

kt 2    3,976,087.5N  m / rad
l2 l2  32 
 (1.0)(32)

 Since the length of shaft 2 is not negligible, the propeller is

assumed to be a rotor connected at the end of the shaft 2. Thus the
system can be represented as a 2 DOF torsional system as
indicated in figure.

Dr Asif Israr - Institute of Space Technology

 Problem 3: Natural Frequencies of a Marine
Engine Propeller
39

 Equations of motion for this system is

J11  kt11  kt 2 (2  1)  J11  (kt 2  kt1)1  kt 22  0
J   k (   )
2 2 t2 2 1  J   k   k   0
2 2 t2 1 t2 2
 Let the system be harmonic
1  1 sin t , 2  2 sin t
 The system of equations becomes
 J1 21  (kt 2  kt1)1  kt 22  0  (kt 2  kt1  J1 2 )1  kt 22  0
 J 2 22  kt 21  kt 22  0  kt 21  (kt 2  J 2 2 )2  0
or (kt 2  kt1  J1 2 ) kt 2  1 
  0

     
  kt 2 2 
(kt 2  J 2 2 )    0

Dr Asif Israr - Institute of Space Technology
 Problem 3: Natural Frequencies of a Marine
Engine Propeller
40

 For natural frequency, let take the determinant of the above

equation, and equate to zero, we get
(kt 2  kt1  J1 2 ) kt 2
0
 kt 2 (kt 2  J 2 )
2

(kt 2  kt1  J1 2 )( kt 2  J 2 2 )  ( kt 2 ) 2  0

1  9.2364rad / sec and 2  55.6022rad / sec

 For the mode shapes
 1  kt 2
    0.828
  (kt 2  kt1  J1 )
2
 2  1
1

 1   kt 2
    5.219
  (kt 2  kt1  J1 )
2
 2  2
2

Dr Asif Israr - Institute of Space Technology

 Initial Conditions
41

 Two coupled, second -order, ordinary differential equations with

constant coefficients
 Needs 4 constants of integration to solve
 Thus 4 initial conditions on positions and velocities

x1(0)  x10 , x1(0)  x10 , x2 (0)  x20 , x2 (0)  x20

 When we know the normal mode frequencies and mode shapes, it
is possible to determine the free vibration of the system for any
initial conditions

Dr Asif Israr - Institute of Space Technology

 Initial Conditions
42

 For free vibration to take place in one of the normal modes for
any initial conditions, the response for mode, i, must be of the
(i )
form 
 x1 

   cii sin(it  i ) i  1, 2 Eqn. 4

x2 

 x1 (0) 
   c11 sin(1t   1 )  c22 sin(2t   2 )
 2 
x ( 0)
or Eqn. 5
 x1 (0) 
   1c11 sin(1t   1 )  2c22 sin(2t   2 )
 x2 (0)
 Let take the previous problem and determine the free vibration for
the following initial conditions

 x1 (0) 
  2.0
 
 x1 
  0

 
   and    

 x2 (0)  4.0
 
 x2   0

Dr Asif Israr - Institute of Space Technology
 Initial Conditions
43

 Substituting the initial conditions into Eqn. 5, we get


2.0

   c11 sin 1  c22 sin 2

4.0

Eqn. 6

0.0

   1c11 cos 1  2c22 cos 2

0.0

 As we know from previous Problem

0.732
1  0.634
k 1   
and  1.0 
m Eqn. 7
 2.732
2  2.366
k 2   
m  1.0 
Dr Asif Israr - Institute of Space Technology
 Initial Conditions
44

 Substituting Eqn. 7 in 6, we get


2.0
 
0.732
 
2.732

   c1   sin 1  c2   sin 2

4.0
 
 1.0 
 
 1.0 

0.0
 
0.732
 
 2.732

   1 1
c  cos  2 2
c  cos 2

0.0 
 1.0  
 1.0 
1
  
 Solving the above four equation for four unknown i.e. c1, c2, ψ1,
ψ2 yields:

c1 = 3.732, c2 = 0.268, and ψ1= ψ2 = π/2

Dr Asif Israr - Institute of Space Technology
 Initial Conditions
45

 The equations for the free vibration of the system becomes

 x1  0.732 2.732
   3.732  sin(1t   / 2)  0.268  sin(2t   / 2)
 x2   1.0   1.0 
2.732  0.732
  cos1t    cos2t
3.732  0.268 
 These initial conditions gives a response that is a combination of
modes. Both harmonic, but their summation is not
 Things to note:
 Two degrees of freedom implies two natural frequencies

 Each mass oscillates at with these two frequencies present in the

response and beats could result
Dr Asif Israr - Institute of Space Technology