Introduction to Mechanical Vibration

For 2103541 Vibration Monitoring and Analysis

 What is vibration?
Vibration is the study of the repetitive motion of objects relative to a stationary frame
of reference or nominal position.

vibration waveforms

Equilibrium Vibration
x
x
m t
m m
m
x

t
 Importance of the study of vibration (5)
Machinery Diagnosis
Vibration spectrum
 Physical Explanation
Equilibrium Vibration

m v x
m m
1 m
2 Spring
Spring potential energy
3
potential
Kinetic energy (Motion) energy

Releases energy

Spring potential energy Kinetic energy (Motion)

Stores energy

A component that stores and release potential energy is

required.
 Elementary parts of vibrating systems (1)
1. Elastic components

Elastic components store or release potential (strain) energy as

displacements increase or decrease.
e.g., helical spring, elastic bar & beam.
k x F

k
F 1
x
fk F

Restoring force f k   F  kx

x
1 2
Potential energy V   kxdx  kx
0
2
 Elementary parts of vibrating systems (2)
Combination of springs

Parallel Series

k1
k1 k2
k2 F F

k3

1
1 1
keq    
keq  k1  k2  k3  k1 k 2 
1
n  n
1
keq   ki n springs keq     n springs
i 1  i 1 ki 
 Elementary parts of vibrating systems (3)
Elastic elements as springs

1. Thin rod

E, A
F EA
F keq  
l  l

2. Torsional bar

M
G, Jb  M GJ b
keq  
l  l
Samples of elastic components
 Elementary parts of vibrating systems (7)
3. Viscous damper

Viscous damper or dashpot dissipates energy. Energy is converted

to heat or sound.
c
F f d   F  cx
fd F

k, m, c for rotational motion

M
kT, cT  Fk  kx M k  kT

J Fd  cx M d  cT
F  mx M  J
Damper
Modeling example (1)

rider
rider
vehicle
strut
wheel
tire
 Example: Rotating unbalance
Cause: Small irregularities in the distribution of the mass in the
rotating component
 Degree of freedom (1)
Degree of freedom (DOF): The minimum number of
independent coordinates required to determine completely the
positions of all parts of a system at any instant of time.

Single degree of freedom systems

 Degree of freedom (2)
Single degree of freedom systems

Two degree of freedom systems

 Degree of freedom (3)
Three-degree of freedom systems
 Degree of freedom (4)
Infinite-number-of-degrees-of-freedom systems
(continuous or distributed systems)

Increasing number of degrees of freedom

•More accurate result

•More complexity
 Equations of motion
Procedures
(1) Geometry
Define coordinates and their positive directions
Note degrees of freedom (DOF)
Write geometric constraints and compatibility
(2) Kinematics
Write necessary kinematic relations
(3) Force equations
Draw free-body diagram
Apply Newton’s 2nd law on the free body
(4) Combine all relations
 Example 1: A spring-mass system (1)
kD
Unstretched k(D+x)
Position D Static equilibrium
x Position
m m
m
x x
mg
mg

(1) Geometry
x = mass position measured from equilibrium position
1 DOF, only 1 EOM required
(2) Kinematics
position, velocity, and acceleration are x, x , x
 Example 1: A spring-mass system (2)
kD
Unstretched k(D+x)
Position D Static equilibrium
x Position
m m
m
x x
mg
mg

(3) Force equations

At equilibrium  F  0 mg  kD  0 ; mg  kD
During vibration  F  ma  mg  k (D  x)  mx

(3) Combine all relations

EOM: mx  kx  0
 Example 2: m-c-k systems (2DOF) (1)
k1 k2

m1 m2 f(t)
c1 c2
l1
x1 x2
l2

(1) Geometry
l1, l2 = positions of m1 and m2 measured when both springs are
unstretched
x1, x2 = positions of m1 and m2 measured from their unstretched
positions
2 DOFs, 2 EOMs required
(2) Kinematics
x1 , x1 , x1 and x2 , x 2 , x2 for mass m1 and m2
 Example 2: m-c-k systems (2DOF) (2)
k1 k2 k1 x1 k 2 ( x2  x1 )
f(t) m1
m1 m2
c1 x1 c2 ( x2  x1 )
c1 c2
l1 k 2 ( x2  x1 )
x1 x2
m2 f(t)
l2
c2 ( x2  x1 )

(3) Force equations

 F x  max  k 2 ( x2  x1 )  c2 ( x2  x1 )  k1 x1  c1 x1  m1 x1

f (t )  k 2 ( x2  x1 )  c2 ( x2  x1 )  m2 x2

In matrix form, EOM is

m1 0   x1  c1  c2  c2   x1  k1  k 2  k2   x1   0 

0            
 m2   x2    c2 c2   x2    k2 k2   x2   f (t )
 Example 2: m-c-k systems (2DOF) (3)
In matrix form, EOM is

m1 0   x1  c1  c2  c2   x1  k1  k 2  k2   x1   0 

0            
 m2   x2    c2 c2   x2    k2 k2   x2   f (t )

or simply

  Cx
Mx   Kx  F(t )

where M is “mass or inertia matrix”

C is “damping matrix”
K is “stiffness matrix”
x is position vector
F is input vector
 Free vibration (Introduction)
A system is said to undergo free vibration when it oscillates
only under an initial disturbance with no external forces
after the initial disturbance.

Examples
• The oscillations of the pendulum of a clock
• The vertical oscillatory motion felt by a bicyclist after
hitting a road bump
• The motion of a child on a swing under an initial
push
 Free vibration (EOM)
EOM of a single degree of freedom system

mx(t )  cx (t )  kx(t )  F (t )

System’s characteristics External forces

Free vibration: External forces  0

mx(t )  cx (t )  kx(t )  0

The response of the system x(t) can be known from the solution of
the EOM
 Review differential equation (1)
Consider the differential equation shown below

2
d y dy
a1 2  a2  a3 y  0
dx dx

Auxiliary equation: a1r 2  a2 r  a3  0

Roots of the auxiliary equation: r1 , r2

 Review differential equation (2)
Case 1: r1 and r2 are real numbers and r1  r2

Solution of differential equation:

y  C1e  C2er1 x r2 x

Case 2: r1 and r2 are real numbers and r1  r2

Solution of differential equation:

y  (C1  C2 x)e r1 x
 Review differential equation (3)
Case 3: r1 and r2 are complex numbers r1  abi, r2  abi

Solution of differential equation:

( a bi ) x ( a bi ) x
y  C1e  C2e

From Euler identity: ei  cos   i sin 

y  eax ( A1 cos(bx)  A2 sin(bx))

or y  Ae sin(bx   )
ax
 Free vibration system (undamped)
EOM of the undamped free vibration system
mx(t )  kx(t )  0
Auxiliary equation: mr 2  k  0
Roots of the auxiliary equation: 
i k m 
(m and k are always positive, the roots of the aux. eq. are complex numbers)

Solution of differential equation:

k k
x  A1 cos( t )  A2 sin( t ))
m m
k
or x  A sin( t )
m
(A1 and A2 or A and  are obtained from initial conditions)
 Response of the free vibration system
Consider the response in the term

k m is call “natural frequency”

k
x  A sin( t )
m
n  k m
2

k m
and n  2f n  2 

• Free vibration only occurs at a

 certain frequency n.
k m • Response is sinusoidal and not
decaying (undamped).
 Initial condition (1)
Given EOM: mx(t )  kx(t )  0
Initial condition: x(0)  x0 , x (0)  v0

k
From given EOM x(t )  x(t )  0 x(t )  n2 x(t )  0
m

Response of the system is x(t )  A sin(nt   )

x (t )  An cos(nt   )

Initial condition: x(0)  x0 x0  A sin( ) (1)

x (0)  v0 v0  An cos( ) (2)
 Initial condition (2)
Given EOM: mx(t )  kx(t )  0
Initial condition: x(0)  x0 , x (0)  v0

Solving equations (1) and (2) yield,

n2 x02  v02 n x0

A and   tan 1

n v0

Therefore the response is

n2 x02  v02 1 n x0

x(t )  sin( nt  tan )
n v0
 Relationship between x, v, and a.

Displacement
x(t )  A sin(nt   )

Velocity
x (t )  n A cos(nt   )

Acceleration
x(t )  n2 A sin(nt   )
 Viscously damped free vibration (1)
k EOM of viscously damped free vibration
system:
m

c mx  cx  kx  0
Auxiliary equation: mr 2  cr  k  0
 c  c 2  4mk
Roots of the auxiliary equation: r1, 2 
2m
c 2  4mk  0 r1, r2 (different real numbers)

c 2  4mk  0 r   c 2m

c 2  4mk  0 r1, r2 (complex numbers)

 Viscously damped free vibration (2)
c 2  4mk  0 c = “the critical damping coefficient, ccr”

ccr  2 mk  2mn
Furthermore, nondimensional number z called the “damping ratio” defined by

c c c
z   
ccr 2mn 2 km
 Viscously damped free vibration (3)
With these definitions, EOM becomes

mx  cx  kx  0 x  2zn x  n2 x  0

Roots of auxiliary equation become

 c  c 2  4mk
r1, 2  r1, 2  zn  n z 2  1
2m

z 2 1  0 0  z 1 Underdamped motion

z 2 1  0 z 1 Overdamped motion

z 2 1  0 z 1 Critically damped motion

 Underdamped motion

z 2 1  0 0  z 1

Roots of auxiliary equation become r1, 2  zn  n 1  z 2 j

z nt
Solution of diff. equation: x(t )  Ae sin(d t   )

Where d  n 1  z 2

A and  are obtained from initial

condition.
 Overdamped motion

z 2 1  0 z 1
Roots of auxiliary equation become r1, 2  zn  n z 2  1
Solution of diff. equation:

z n t  n z 2 1t  n z 2 1t

x(t )  e (a1e  a2 e )
a1 and a2 are obtained from
initial condition.
 Critically damped motion

z 2 1  0 z 1

Roots of auxiliary equation become r1, 2  zn  n

Solution of diff. equation:

 n t
x(t )  (a1  a2t )e
a1 and a2 are obtained from
initial condition.

Note:

• Smallest value of damping rate that yield aperiodic motion.

• The value of damping ratio that provides fastest return to zero without oscillation.
 Forced vibration
A system is said to undergo forced vibration whenever external energy is supplied to
the system during vibration.
External energy can be supplied through either an applied force or an imposed
displacement excitation.

Applied force Displacement excitation

 Types of forced vibration
Classified by input

1. Harmonic (sinusoidal) input 2. Arbitrary periodic input

F F

t t

3. Impact 4. Arbitrary nonperiodic input

F F

t t
 Harmonic excitation (damped)
x EOM:
k
F(t)=F0cost mx  cx  kx  F0 cos t
m

c
x  2zn x  2n x  f 0 cos t

The response x(t) (solution) can be separated into 2 part;

1. Homogeneous solution xh(t) x
  2zn x   nx  0
2

2. Particular solution xp(t) x  2zn x  2n x  f 0 cos t

x(t )  xh (t )  x p (t )
 Homogeneous solution
Homogeneous solution xh(t) Same as free vibration

Under damped 0  z 1
xh (t )  Ae z nt sin(d t  ) where d  n 1  z 2

  z  z 2 1   t   z  z 2 1   t
Over damped 1 z xh (t )  A1e   n
 A2 e   n

Critically damped z 1 xh (t )  ( A1  A2t )e  nt

 Particular solution
From EOM x  2zn x  2n x  f 0 cos t
The particular solution xp(t) can be written in the form:

x p (t )  X cos(t  )

or x p (t )  As cos(t )  Bs sin(t )

Substitution xp(t) into EOM, the coefficients X and  (As and Bs)
can be determined. Then the particular solution is

f0 1 2z n 
x p (t )  cos(t  tan )
(2n  2 ) 2  (2z n ) 2 n  
2 2

X 
 Response of harmonic excitation (1)
Response of harmonic excitation x(t )  xh (t )  x p (t )

Depend on z
Ex Underdamped
 z nt
x(t )  Ae sin(d t  )  X cos(t  )

xh(t) xp(t)

Decrease with time Amplitude X is constant

Transient response Steady-state response

 Response of harmonic excitation (2)
Ex Underdamped
 z nt
x(t )  Ae sin(d t  )  X cos(t  )

xh(t) xp(t)

As t  , transient
response dies out and
total response
x(t)  xp(t)
 Steady-state response (1)
f0 2z n 
From steady-state response x p (t )  cos(t  tan 1 )
(2n  2 ) 2  (2z n ) 2 n  
2 2

Xk X2n 1 2zr 
  ,   tan 1 where r
F0 f0 (1  r 2 ) 2  (2zr ) 2 1 r 2 n

X2n
Amplitude response (r ) Phase response
f0
180º
4

90º
2

0º
0 1 2 0 1 2
r r
 Steady-state response (2)
f0 2z n 
From steady-state response x p (t )  cos(t  tan 1 )
(2n  2 ) 2  (2z n ) 2 n  
2 2

Xk X2n 1 
  where r
F0 f0 (1  r 2 ) 2  (2zr ) 2 n

Maximum amplitude occurs when

X2n
Amplitude response
d  1 
0
f0
dr  (1  r 2 ) 2  (2zr ) 2 
 
4

2 r  1  2z 2 or   n 1  2z 2

 Xk  1
  
0 1 2  F0  max 2z 1  z
2

r
 Frequency response method (1)
Euler’s formula e jt  cos t  j sin t
EOM mx(t )  cx (t )  kx(t )  F0 cos t

EOM (complex form) mz(t )  cz(t )  kz(t )  F0e jt

Real part of the complex solution corresponds to the solution of
EOM.
x p (t )  Re(z ) where z  Ze jt

Z is a complex-valued constant
Substituting z into EOM (complex form).

(2 m  jc  k ) Ze jt  F0e jt

 Frequency response method (2)
(2 m  jc  k ) Ze jt  F0e jt
1
Z  F0  H ( j) F0
(k  m )  (c) j
2

H(j)  (complex) frequency

response function
F0  j 1 c
Z  e , where   tan
[(k  m )  (c) ]
2 2 2 12
(k  m2 )
F0 j ( t  )
z  e
[(k  m2 ) 2  (c) 2 ] 1 2

F0
x p (t )  Re(z ) x p (t )   cos(t  )
[(k  m )  (c) ]
2 2 2 12
 Frequency response method (3)

F0 1 c
x p (t )   cos(t  ) ;   tan
[(k  m )  (c) ]
2 2 2 12
(k  m2 )
or
f0 2zn 1
x p (t )  cos(t  ) ;   tan
(n   )  (2z n )
2 2 2 2  2
n   2

xp(t) in the form of frequency response function

Z  H ( j) F0  H ( j) F0  e  j

z  H ( j) F0  e j ( t )

x p (t )  Re(z ) x p (t )  H ( j) F0  cos(t  )

 Rotating unbalance (1)
Rotating unbalance: Vibration caused by irregularities in the
distribution of the mass in the rotating component.
 Rotating unbalance (2)
m0 FBD 1 FBD 2
x(t )  xr (t ) m  m0
m0
x(t )
m e Fr

r t
Fr
kx cx

FBD 1 m0 ( x  xr )   Fr

mx  m0 xr  cx  kx  0
FBD 2 (m  m0 ) x  Fr  cx  kx
xr  e sin r t
xr  e2r sin r t

mx  cx  kx  m0e2r sin r t

 Rotating unbalance (3)
m0 e 2
mx  cx  kx  m0e sin r t 2
r x  2zn x   x 
2
n r sin r t
m

m0 e 2 jr t
z (t )  Ze jr t
, x(t )  Im[ z (t )] z  2zn z   z 
2
n r e
m

m0e  2r  m0e  r2 

Z  2   
m  n  r  j 2zn r  m 1  r 2  j 2zr 
2

H ()

m0 e 2zr
x(t )  H () sin( r t  ) ;    tan 1
m 1 r 2
 Rotating unbalance (4)
m0 e
x(t )  H () sin( r t  )  X sin( r t  )
m

mX
H () 
m0e
 Example: washing machine
A model of a washing machine is illustrated in the figure. A bundle of wet clothes
form a mass of 10 kg (m0) and causes a rotating unbalance. The rotating mass id
20 kg (including m0) and the diameter of the washer basket (2e) is 50 cm. Assume
that the spin cycle rotates at 300 rpm. Let k be 1000 N/m and z =0.01. (a)
Calculate the force transmitted to the sides of the washing machine. (b) The
quantities m, m0 e and  are all fixed by the previous design. Design the isolation
system so that the force transmitted to the side of the washing machine is less
than 100 N.
 Design for Vibration Suppression
Outlines:

1. Vibration Design Process

2. Design of Vibration Isolation
Moving base
Fixed base
3. Design of Vibration Absorbers
 Vibration Design Process

Actual system Modeling

Analysis
Solve EOM to predict dynamic
characteristics and vibration response

Design Criteria Make design decision

Choose physical parameters
• Nature of input
Change system
• Acceptable amplitude
level, displacement, • Isolations
velocity, or acceleration • Absorbers

Test
 Nature of input / Design objectives
Nature of Input
1. Vibration:
has some oscillatory features
2. Shock:
sharp, aperiadic, and relatively short time

Design objectives
1. To protect the device from motion of its point
of attachment (moving base)
Isolation
2. To protect the point of attachment (ground)
from vibration of the mass (isolate vibration
from the source)
3. To reduce vibration of the mass Absorber
 Vibration isolation (moving base)
Objective:
Vibration To isolate a device from the source of
isolator
vibration (moving base).
(To reduce vibration of machine
transmitted through moving base.)

Applications:
Automobile suspension Table isolator
 Base excitation (review)
EOM mx  cx  kx  cy  ky
x  2zn x  n2 x  2zn y  n2 y

Harmonic motion of the base

y(t )  Y cost  Re[Ye jt ]
FBD
The response in complex form is
z p (t )  Ze jt
Substituting zp(t) into EOM yields

n2  (2z n ) j  1  (2zr ) j  r   n

Z Y  Y ;
   n  (2z n ) j
2 2
1  r  (2zr ) j 
2
 Displacement transmissibility (1)
 1  (2zr ) j 
From Z  Y  T ( )Y
1  r  (2zr ) j 
2

Output Z 1  j (2zr )
T ( )   
Input Y 1  r 2  j (2zr )

Displacement transmissibility (T.R.)

Z 1  (2zr ) 2
T ( )  
Y (1  r 2 ) 2  (2zr ) 2

Tells how motion is transmitted from the base to the

mass at various driving frequencies
 Displacement transmissibility (2)

Z 1  (2zr ) 2 • r = 0, T.R. = 1
T ( )  
Y (1  r 2 ) 2  (2zr ) 2
• Isolation occurs when r > 2
• To increase r (decrease n), m
Isolation
region
or k are changed
• In the isolation region, T.R.
decreases with z decreased

In addition to T.R., another

design criteria such as
transmitted forces and
installation space need to be
considered.
 Force transmissibility (1)
EOM mx  cx  kx  cy  ky
Force transmitted to the mass
F (t )  k ( x  y )  c( x  y )  mx

F (t )  m 2 X cos(t   )
FBD
 m 2Y T ( ) cos(t   )

 FT cos(t   )

FT 1  ( 2z r ) 2
Force  r2
transmissibility kY (1  r 2 ) 2  (2zr ) 2
Tells how much force is transmitted from the base to
the mass at various driving frequencies.
 Force transmissibility (2)

• The force transmitted does not necessarily fall off for r > 2
• The force transmitted increase dramatically for r > , as2the
damping increases.
 Vibration isolation (Fixed base)
Objective:
Vibration To isolate the source of vibration
isolator
(machine) from the other system.
To reduce vibration (force) transmitted
from the machine to base.

Applications: Generator or the

other machines
Washing
machine
 Force transmissibility (1)
F(t) EOM mx  cx  kx  F0 cost
F0
x  2z n x   x  cos t
2
n
m
The steady-state response of EOM is

x(t )  X cos(t   )
FBD
F0 k
Where X ; r   n
(1  r 2 ) 2  (2zr ) 2
kx(t ) cx (t ) Force transmitted to base is
FT (t )  kx(t )  cx (t )

FT (t )  kX cos(t   )  cX sin( t   )

 Force transmissibility (2)
FT (t )  kX cos(t   )  cX sin( t   )
Im
kX Magnitude of FT (t) is
cX
Re FT (t )  (kX ) 2  (cX ) 2  X k 2  c 2 2
t-
F0 k
FT (t )  k 2  c 2 2
(1  r 2 ) 2  (2zr ) 2

Force transmissibility (T.R.)

FT (t ) 1  (2zr ) 2

F0 (1  r 2 ) 2  (2zr ) 2

Tells how much force is transmitted from the machine to

the base at various driving frequencies.
 Force transmissibility (3)
• Disp. T.R. (moving base) and
FT (t ) 1  (2zr ) 2 Force T.R. (fixed base) have the

F0 (1  r 2 ) 2  (2zr ) 2 same form
• Design consideration for both
Isolation
region cases are the same
• Isolation occurs when r > 2
• To increase r (decrease n), m
and k are changed
• In the isolation region, T.R.
decreases with z decreased
• Some damping is also desirable
to reduce vibration at
resonance
Force transmissibility (4)

For a large freq. ratio (r > 3) and

Isolation
region small damping (z < 0.2)

T.R. is not effected by damping

Damping term can be neglected

in common design
1
T .R.  2
r 1
 Shock Isolator

1.0

• Reduction of the acc. through isolation occurs only if the T.R.

falls below 1.
• Shock isolation enforces a boundary on the stiffness.
• Increasing the damping greatly reduces the max. acc.
 Periodic excitations
Periodic excitation repeats every T second (period)

Periodic function: f (t )  f (t  T )

Example: vibration of rotating

machines ex. engine, gear, …
 Basic concept

Periodic excitation
Sum of
F(t) Fourier harmonic
series excitations

mx  cx  kx  F (t ) mx  cx  kx 

a0 
  (an cos nt  bn sin nt )
2 n 1
Superposition

Sum of harmonic response x(t )  x1  x2  x3  

 Fourier series (1)
Concept: Any periodic function can be expressed as linear combinations of
harmonic functions whose frequencies are multiples of the fundamental
frequency

F (t )  C  a1 cos(0t )  a2 cos(20t )  a3 cos(30t )  

 b1 sin( 0t )  b2 sin( 20t )  b3 sin( 30t )  

Fourier
series
 Fourier series (2)

a0 
F (t )    (an cos nT t  bn sin nT t )
2 n1
2
Where T 
T
T
2
a0   F (t )dt
T 0
T
2
an   F (t ) cos nT t dt
T 0
T
2
bn   F (t ) sin nT t dt
T 0
 Superposition principle

F1(t) Linear system x1(t)

F2(t) Linear system x2(t)

c1F1(t)+ c2F2(t) Linear system c1x1(t)+ c2x2(t)

 Response to periodic excitation
Harmonic excitation (review)
F0 e jt F0 H ( j) e j ( t   )

F0 cos(t ) H ( j) F0 H ( j) cos(t  )

F0 sin(t ) F0 H ( j) sin( t  )

Periodic excitation

F (t ) x p (t )
Fourier Superposition
series

a0 2 (a0 2) H (0)

an cos(nT t ) H ( j) an H ( jnT ) cos(nT t  n )

bn sin(nT t ) bn H ( jnT ) sin( nT t  n )

 Fourier transform
For any signal: Fourier transform indicates density of the
amplitude of that signal at various frequency

1

 j t
Fourier transform of a signal x(t) is X ( )  x (t ) e dt
2 
 Frequency domain
Time domain vs Frequency domain

• Interchangeable (no information lost)

• The frequency domain representation of a signal is called the
“spectrum” of the signal

Time domain Frequency domain

Amplitude and phase

must be collected
Response to excitation (freq. domain)

H
 Application of Fourier analysis

Time waveform is difficult to

consider

Signal in freq. domain relates directly

with operating speeds of machines
 Response of MDOF systems
Degree of freedom (DOF): The minimum number of independent coordinates
required to determine completely the positions of all parts of a system at any instant
of time.

Two DOF systems Three DOF systems

 The normal mode analysis (EOM-1)
Example: Response of 2 DOF system

x1 x2

k k k
m 2m

kx1 k(x1-x2) kx2

FBD m 2m

EOM  kx1  k ( x1  x2 )  mx1

k ( x1  x2 )  kx2  2mx2

m 0   x1   2k  k   x1  0
In matrix form, EOM is  0 2m  x    k     
2k   x2  0
  2  
 EOM -2 (example)

EOM m 0   x1   2k  k   x1  0

 0 2m  x    k     
2k   x2  0
  2  
M ẍ K x F

In general form Mx(t )  Cx (t )  Kx(t )  F(t )

M is the inertia of mass matrix (n x n)

C is the damping matrix (n x n)
K is the stiffness matrix (n x n)
F is the external force vector (n x 1)
x is the position vector (n x 1)
 Synchronous motion
From observations, free vibration of undamped MDOF system is a
synchronous motion.

• All coordinates pass the

equilibrium points at the
same time
• All coordinates reach

time
extreme positions at the
same time
• Relative shape does not x1 x2 x1
x2
change with time

x1 x2  constant
x1  A1 sin( t   ) or  A1e j (t  )
No phase diff. between x1 and x2 x2  A2 sin( t   ) or  A2e j (t  )
 Response of 2DOF system (example-1)
EOM m 0   x1   2k  k   x1  0
 0 2m  x    k     
2k   x2  0
  2  
Synchronous motion x1  A1 sin( t   ) or  A1e j (t  )
x2  A2 sin( t   ) or  A2e j (t  )
Sub. into EOM
 2 m 0   x1   2k  k   x1  0
 2          2Mx(t )  Kx(t )  0
 0  2 m  x2   k 2k   x2  0
 2k   2 m k   A1  0
 2     (K  2M)x(t )  0
 k 2k  2 m  A2  0

2k  2 m k
0 det(K  2M)  0 Characteristic equation
k 2k  2 m
2 (CHE)
 Response of 2DOF system (example-2)
2
CHE 2k   m 2
k  k  2 3 k 
0    3      0
4

k 2k  2 m
2
 m 2m

k k Natural frequencies
Solve the CHE 1  0.634 ; 2  2.366
m m of the system

From
2k  2 m k   A1  0 A1 k 2k  22 m
 2      
 k 2k  2 m  A2  0 A2 2k   m
2
k

  1   2
(1) ( 2)
 A1  k  A1  k
    0.731     2.73
 A2  k  A2  k
2k  (0.634 )m 2k  (2.366 )m
m m
 Response of 2DOF system (example-3)

  1   2
(1) ( 2)
 A1   A1 
Amp. ratio    0.731 Amp. ratio    2.73
 A2   A2 

The first mode shape The second mode shape

0.731  2.73
1 ( x)    2 ( x)   
 1   1 
1
0.731 1

Opposite
same direction direction
-2.73
 Response of 2DOF system (example-4)
In general, the free vibration contains both modes simultaneously (vibrate at both
frequencies simultaneously)

 x1  0.732  2.73
   c1   sin(1t  1 )  c2   sin(2t   2 )
 x2   1   1 

c1 , c2 , 1 ,  2 are constants (depended on initial conditions)

 Initial conditions (1)
 x1  0.732  2.73
   c1   sin(1t  1 )  c2   sin(2t   2 )
 x2   1   1 
 x1 (0)  2  x1 (0)  0
Initial conditions      and   
 x2 (0) 4  x2 (0) 0
Velocity response
 x1  0.732  2.73
   1c1   cos(1t  1 )  2c2   cos(2t   2 )
 x2   1   1 

 x1 (0)  2 2  0.732  2.73

      c1   sin 1  c2   sin  2
 x2 (0) 4 4   1   1 
 x1 (0)  0 0 0.732  2.73
      1c1   cos 1  2 c2   cos  2
 x2 (0) 0 0  1   1 
 Initial conditions (2)
2  0.732  2.73
   c1   sin 1  c2   sin  2
4   1   1  4 Eqs.,
0 0.732  2.73 4 unknowns
   1c1   cos 1  2 c2   cos  2
0  1   1 

Solve for four unknowns

c1  3.732, c2  0.268, 1   2   / 2

The response is
 x1  0.732   2.73 
   3.732   sin(1t  )  0.268   sin(2t  )
 x2   1  2  1  2
 x1  2.732  0.732
   cos 1t    cos 2t
 x2  3.732  0.268 
 Initial conditions (3)
Try to do

 x1  0.732  2.73
   c1   sin(1t  1 )  c2   sin(2t   2 )
 x2   1   1 

 x1 (0)  1.464  x1 (0)  0

(a) Initial conditions    and   
x (
 2  0) 2   x2 (0) 0
 x1 (0)   2.73  x1 (0)  0
(b) Initial conditions    and   
 x2 (0)  1   x2 (0) 0
 Summary (Free-undamped) (1)
1 EOM Mx(t )  Kx(t )  0 Direct Method

2 The motion is synchronous:

constant  and  x  A sin( t  ) or  Ae j ( t )

3 Eigen value problem  2Mx(t )  Kx(t )  0

(K  2M)x(t )  0

4 Characteristics equation 5
det(K  2M)  0 (K  2ni M)xi  0
2n Eigen value xi Eigen vector
n1 , n 2 ,, nN N natural freq. x1 , x 2 ,, x N N mode shapes
 Summary (Free-undamped) (2)
6 Direct Method
Free-undamped response

x(t )  x1 A1 sin(1t  1 )  x 2 A2 sin(2t  2 )  x N AN sin(N t   N )

N
x(t )   xi Ai sin( i t  i )
i 1

where A and  are from initial condition x(0) and v(0)

 Forced harmonic vibration (1)
Example

EOM m1 0   x1   k11 k12   x1   F1 

0           sin t
 m2   x2  k21 k22   x2   0 

System is undamped, the solution can be assumed as

 x1   X 1 
 x    X  sin t
 2  2

Sub. into EOM k11  m12 k12   X 1   F1 

 2    
 k21 k22  m2   X 2   0 

 X 1   F1   X1  1  F1 
Simpler notation, Z ()      X   Z ()  0 
X2   0   2  
 Forced harmonic vibration (2)
 X1  1  F1  adjZ ()  F1 
 X   Z ()  0   Z ()  0 
 2    

Where Z ()  m1m2 (12  2 )(22  2 )

1 and 2 are natural frequencies

 X1  1 k 22  m22  k12   F1 
 X   Z ()   
 2   k21 k11  m12   0 

(k 22  m2 2 ) F1
The amplitudes are X1 
m1m2 (12  2 )(22  2 )

 k 21 F1
X2 
m1m2 (12  2 )(22  2 )
 Forced harmonic vibration (3)
x1 x2
Force response of a 2 DOF
system
k k k
m m
5   1   2
F1sint 4
3 X 1k X 2k
F1 F1
EOM 2
1
m 0   x1   2k  k   x1   F1  Xk
 0 m  x    k 
2k   x2   0 
sin t
F
0
  2   -1
-2 Same Opposite
k 3k direction direction
1  , 2  -3
m m
-4
-5
(2k  m2 ) F1 0 1 2 3
X1  2 2  1
m (1  2 )(22  2 )

kF1
X2 
m 2 (12  2 )(22  2 )
 Frequency response of MDOF system-1

EOM M 0   x1   2C  C   x1   2 K  K   x1   f1 

0             
 M   x2   C C   x2   K K   x2   f 2 

2 K   2 M  2Cj  K  Cj   X 1   F1 
     
  K  Cj K   M  Cj   X 2   F2 
2

1
 X 1  2 K   2 M  2Cj  K  Cj   F1 
X      
 2   K  Cj K   M  Cj   F2 
2

 X 1  1  K   2 M  Cj K  Cj   F1 
X   D   
 2  K  Cj 2 K   M  2Cj   F2 
2

D  ( K   2 M  Cj )(2K   2 M  2Cj )  ( K  Cj ) 2

Frequency response of MDOF system-2

 X 1  1  K   2 M  Cj K  Cj   F1 
X   D   
 2  K  C j 2 K   2
M  2Cj   F2 

D  ( K   2 M  Cj )(2K   2 M  2Cj )  ( K  Cj ) 2

 X 1   H11 ( j ) H12 ( j )   F1 
 X    H ( j ) H ( j )  F 
 2   21 22  2 

Frequency response function

H pq ( j ) p : the response degree of freedom

q : the input degree of freedom
 Frequency response of MDOF system-3
If f1 (t )  F1 cos(1t  1 )
f 2 (t )  F2 cos(2t  2 )

x1 p (t )  H11 ( j1 ) F1 cos(1t  1  H11 ( j1 ))

 H12 ( j2 ) F2 cos(2t  2  H12 ( j2 ))

x2 p (t )  H 21 ( j1 ) F1 cos(1t  1  H 21 ( j1 ))

 H 22 ( j2 ) F2 cos(2t  2  H 22 ( j2 ))
 Plots of FRFs

https://engineering.purdue.edu/~deadams/ME563/lecture1810.pdf
 Notes about plots of FRFs

1. At 0 Hz, response corresponds to

static response.
2. Resonance freq. are the same for
all FRFs.
3. Anti-resonant frequencies (zeros)
only occur in driving point FRFs
(for which input and output are the
same).
4. The phases at the resonances is
 90.

https://engineering.purdue.edu/~deadams/ME563/lecture1810.pdf