STRUCTURAL DYNAMICS

Lecture 7: MDOF

Dr. J. Mahachi, Pr.Eng, Pr.CPM, FSAICE

University of Johannesburg

School of Civil Engineering & Built Environment

Email: [email protected]
Cell: 082 904 9569
 Course Outline
• SDOF Free vibration, with no damping
• SDOF Free vibration with damping
• SDOF Forced vibration
– Harmonic Loading
– Periodic Loading
– Impulse or Pulse Loading (Blast Loading)
– Transient loading (Earthquake loading)
• MDOF
• Vibration of Continuous Structures
• Foundations of Reciprocating Machines
 Calculation of Eigenvalues and Eigenvectors

Eigenvector is a vector which, when pre-multiplied by the matrix 𝐴 yields

the same Eigenvector multiplied by a scalar (𝜆), this scalar being the
eigenvalue. This is given in the following form:
𝐴 𝑥 = 𝜆{𝓍} (1)

where;
𝐴 is a square matrix 𝑁 × 𝑁
{𝓍} is the eigenvector
𝜆 is the eigenvalue
 Eigenvalues and Eigenvectors (cont…)
1. Determinant Calculation Method
In vibration analysis, the Eigenvalues correspond to natural frequencies of
vibration, and the Eigenvectors to the relative vibration amplitudes.
From Equation (1), it follows that:
[A] {x} − λ{x} = 0
or [A] {x}-λ[I]{x} = 0

i.e. {[A] - λ[I]}{x} = 0

For non-trivial solutions, {x}=0

|[A]-λ[I]|=0 (2)
 Eigenvalues and Eigenvectors (cont…)
The characteristic equation is obtained from Equation (2) as
𝑎11 − 𝜆 𝑎12 … 𝑎1𝑛
𝑎21 𝑎22 − 𝜆 … 𝑎2𝑛
=0
⋮ ⋮ ⋮ ⋮
𝑎𝑛1 𝑎𝑛2 𝑎𝑛𝑛 − 𝜆

Expanding the above determinant yields a polynomial in 𝜆 given by:

𝑐1 𝜆𝑛 +𝑐2 𝜆𝑛−1 +𝑐3 𝜆𝑛−2 +…+𝑐𝑛+1 = 0
The solutions to the above polynomial are the following eigenvalues 𝜆1, 𝜆2 ,
𝜆3 , … 𝜆𝑛 , and the corresponding eigenvectors are 𝒙1 , 𝒙2 , 𝒙3 ...𝒙𝑛 .
 Eigenvalues and Eigenvectors (cont…)
Example 1: Determine the eigenvalues and eigenvectors for the
1 2
matrix [A]=
1 3
The characteristic equation is:
1−𝜆 2
=0
1 3−𝜆
1−𝜆 3−𝜆 −2=0
𝜆1 = 3.73 ; 𝜆2 = 0.27
 Eigenvalues and Eigenvectors (cont…)
Eigenvector for 𝜆1 = 3.73
1 2 𝑥1 𝑥1
= 3.73 𝑥
1 3 𝑥2 2

Expanding;
2𝑥2 = 2.73𝑥1
𝑥1
∴ = 0.73
𝑥2
Normalize the vector to its first element 𝑥1 = 1
1
1 𝒙 =
1.365

Similarly for 𝜆2 = 0.27

1
2 𝒙 =
−0.365
•
 Eigenvalues and Eigenvectors (cont…)
Note:
i. 𝐴 = 𝑛𝑖=1 𝜆𝑖
ii. 𝑛𝑖=1 𝜆𝑖 = 𝑛𝑖=1 𝑎𝑖𝑖 Trace of the Matrix
iii. Eigenvalues of 𝐴 are identical to those of 𝐴 𝑇
iv. The eigenvalues of both triangular and diagonal matrices are
simply the diagonal elements.
𝑝 𝑝 𝑝
v. If 𝜆1 , 𝜆2 ,…..𝜆𝑛 are the eigenvalues of A, then 𝜆1 , 𝜆2 , ….𝜆𝑛 are the
eigenvalues of 𝑨𝑝 , where p is a positive integer
vi. If 𝜆1 , 𝜆2 , …𝜆𝑛 are the eigenvalues of 𝐴 and if 𝛼 is scalar then;
𝛼𝜆1 , 𝛼𝜆2 ,..𝛼𝜆𝑛 are the eigenvalues of 𝛼 𝐴
 Eigenvalues and Eigenvectors (cont…)
2. Iterative Techniques to determine Eigenvalues

(a). The L – R Algorithm

The L - R method is based on the triangular decomposition of Matrix [A].

Step 1: Decompose Matrix [A]

A = LR (1)
where;
L = Unit Lower Triangular Matrix
R = Upper Triangular Matrix

Step 2:
A new Matrix 𝑨1 which is similar to [A] (i.e. 𝑨1 has the same eigenvalues as [A]), is obtained by multiplying LR in reverse order.

Hence 𝑨𝟏 = 𝑹𝑳 (2)
 Eigenvalues and Eigenvectors (cont…)
This process is repeated to obtain further matrices, which are similar to [A] as
follows
𝑨𝒊 =𝑳𝒊 𝑹𝒊 ; 𝑨𝒊+𝟏 =𝑹𝒊 𝑳𝒊

It can be proved that, if the eigenvalues of [A] are real, then:

lim 𝑨𝑖 → 𝑹𝑖 and,
𝑖→∞

i.e. 𝑨𝒊 → An upper triangular matrix

When 𝑨𝒊 has converged to an upper triangular matrix, the eigenvalues of 𝑨𝒊
(and hence those of A) are given by the diagonal elements of 𝑨𝒊
 Eigenvalues and Eigenvectors (cont…)
Example: L-R Algorithm
Find the eigenvalues of the matrix [A] by L-R Algorithm

2 −1 0
𝐴 = −1 2 −1
0 −1 2
 Eigenvalues and Eigenvectors (cont…)
• Solution using L-R Algorithm
Step 1: decompose [A] = [L][R]
2 −1 0 1 0 0 2 −1 0
𝐴 = −1 2 −1 = −0.5 1 0 ∙ 0 1.5 −1
0 −1 2 0 −0.667 1 0 0 1.333

Calculate new matrix [A1]=[R][L]

2 −1 0 1 0 0 2.5 −1 0
𝐴1 = 0 1.5 −1 ∙ −0.5 1 0 = −0.75 2.167 −1
0 0 1.333 0 −0.667 1 0 −0.889 1.333
 Eigenvalues and Eigenvectors (cont…)
Step 2: Repeat process to obtain A2

2.5 −1 0 1 0 0 2.5 0 0
𝐴1 = −0.75 2.167 −1 = −0.3 1 0 ∙ 0 1.876 −1
0 −0.889 1.333 0 0.476 1 0 0 0.857

Hence;

2.8 −1 0 1 0 0 2.8 0 0
𝐴2 = −0.56 2.343 −1 = −0.2 1 0 ∙ 0 2.143 −1
0 −0.408 0.857 0 0.19 1 0 0 0.667
 Eigenvalues and Eigenvectors (cont…)
Step 7: Process is repeated further to obtain:

3.35 −1 0 Upper Triangular Matrix

𝐴7 = −0.086 2.054 −1
0 −0.009 0.587
Zero elements
The iterations may be stopped at this stage giving:
𝜆1 = 0.587; 𝜆2 = 2.054; 𝜆3 = 3.35 Diagonal Elements

These compare reasonably well with the correct eigenvalues of:

𝜆1 = 0.586; 𝜆2 = 2.0; 𝜆3 = 3.414
Alternatively, a more accurate solution may be obtained with more iterations
 Eigenvalues and Eigenvectors (cont…)
Check Solution:
i. 𝐴 = 𝑛𝑖=1 𝜆𝑖
2 −1 0
𝐴 = −1 2 −1 = 2 4 − 1 + 1 −2 + 0 = 4
0 −1 2
𝑛
𝑖=1 𝜆𝑖 = 0.587 ∙ 2.054 ∙ 3.35 = 4.04

𝑛 𝑛
ii. 𝜆
𝑖=1 𝑖 = 𝑖=1 𝑎𝑖𝑖 Trace of the Matrix
𝑛
𝑖=1 𝜆𝑖 = 0.587 + 2.054 + 3.35 = 5.99
𝑛
𝑖=1 𝑎𝑖𝑖 = 2 + 2 + 2 = 6
 Eigenvalues and Eigenvectors (cont…)
b). Power Method: Determining the Dominant Eigenvalue and eigenvector
The dominant eigenvalue is the highest valued root of the characteristic equation.
Let us illustrate this through an example.
1 2
𝑨= ; 𝐴 𝑥 =𝜆 𝑥 .
1 3
1
Assume an arbitrary value for 𝑥 , say 1𝒙 =
1 Not Greater than 1.0
1 2 1 3
Pre-multiply 1𝒙 by [A]: i.e. = = 1𝒙∗ say.
1 3 1 4
∗ 0.75
Normalize 1𝒙 to the largest element (4) 2𝒙 =
1
 Eigenvalues and Eigenvectors (cont…)
Note:
• If this vector is equal to the previous one, it is the dominant
eigenvector, and the normalization factor (i.e. 4) is the dominant
eigenvalue.
• If 𝑛+𝑖𝒙 ≠ 𝑛𝒙 iteration process continues.
• Next iteration:
1 2 0.75 2.75
= = 2𝒙∗
1 3 1 3.75
0.735
∴ 𝟑𝒙 =
1 Normalise wrt 3.75
Eigenvalues and Eigenvectors (cont…)
Dominant
Eigenvalue

𝑨 𝟏𝒙 𝟏𝒙
∗
𝟐𝒙 𝟐𝒙
∗
𝟑𝒙 𝟑𝒙
∗
𝟒𝒙 𝟒𝒙
∗
𝟓𝒙

1 2 1 3 0.75 2.75 0.735 2.735 0.733 2.733 0.733

3 4 1 4 1 3.75 1 3.735 1 3.733 1 Eigenvector

𝟓𝒙 = 𝟒𝒙
 Eigenvalues and Eigenvectors (cont…)
Since 𝟓𝒙 = 𝟒𝒙 ∴ 𝜆 = 3.733 (dominant eigenvalue)
0.733
and 𝒙 = Corresponding eigenvector
1

Note:
With this iteration method, any arithmetic errors occurring
in the intermediate iteration will not affect the result.
 Eigenvalues and Eigenvectors (cont…)
c). Power Method: Determination of the Lowest Eigenvalue

Useful for calculating the lowest natural frequency

𝐴 𝑥 =𝜆 𝑥
[𝐴]−1 𝐴 {𝑥} = 𝜆[𝐴]−1 {𝑥}
𝑥 = 𝜆[𝐴]−1 𝑥
1
or [𝐴]−1 {𝑥} = 𝑥
𝜆

⟹ The eigenvalue of [A] is the reciprocal of an eigenvalue of [𝐴]−1

 Eigenvalues and Eigenvectors (cont…)
∴The dominant eigenvalue of the inverse is the reciprocal of the
lowest eigenvalue of [A]

−𝟏
Thus, performing the same iterative process on 𝑨 , results in the
lowest eigenvalue being found.
1 2
Let us consider the same matrix 𝐴 = .
1 3
3 −2
𝐴𝐷𝐽[𝐴] −1 1
[𝐴]−1 = = Note:
𝐴 1 Adj[A] = Transpose of cofactor Matrix [A]
3 −2
∴ [𝐴]−1 =
−1 1
Eigenvalues and Eigenvectors (cont…)
Dominant
Eigenvalue
1. Perform similar iterations as before

𝐴 ∗ ∗ ∗ ∗
1𝑥 1𝒙 2𝑥 2𝒙 3𝑥 3𝒙 4𝑥 4𝒙 𝟓𝑥

3 −2 1 1 3 1 1 3.666 1 3.726 1 Eigenvector

−1 1 1 0 -1 -0.333 -0.333 -1.333 -0.363 -1.363 -0.365

𝟓𝒙 = 𝟒𝒙
 Eigenvalues and Eigenvectors (cont…)

𝟓𝒙 = 𝟒𝒙 ; 𝝀 =3.726

𝝀 = 3.726 is the dominant eigenvalue of 𝑨−1 .

1
∴ lowest eigenvalue of 𝐴 is = 0.270
3.726

1
and the associated eigenvector is =
−0.365
 Matrix Decomposition Technique
If 𝑨𝑿 = 𝜆𝑩𝑿 (1)
where 𝑨 = 𝑠𝑦𝑚𝑚𝑒𝑡𝑟𝑖𝑐 𝑀𝑎𝑡𝑟𝑖𝑥
𝑩 = + 𝑣𝑒 𝑑𝑒𝑓𝑖𝑛𝑖𝑡𝑒 𝑀𝑎𝑡𝑟𝑖𝑥

Shift the origin of equation (1) to get:

𝑨 − 𝓁𝑩 𝑿 = 𝜆 − 𝓁 𝑩𝑿 (2)

If 𝑨 − 𝓁𝑩 can be decomposed as follows;

𝑨 − 𝓁𝑩 = 𝑳𝑫𝑳𝑻
where
L = Lower Triangular Matrix
D = Diagonal Matrix
 Matrix Decomposition (cont…)
• It can be proved that the number of positive eigenvalues of
𝑨 − 𝓁𝑩 = the number of positive elements on the diagonal
Matrix D;
• And if 𝐷 has “𝑟” negative elements; then

𝜆𝑟 < 𝓁
𝜆𝑟+1 > 𝓁
 Matrix Decomposition (cont…)
Example:

2 −1 𝑥1 1 0 𝑥1
𝑥2 = 𝜆 0 ; 𝜆 = 𝜔2
−1 1 1 𝑥2
A X B X
r=0

Shift origin by zero; 𝓁 = Ο

2 −1 1 0 2 0 1 −0.5
𝐴 − 𝓁𝐵 = =
−1 1 −0.5 1 0 0.5 0 1
L D 𝑳𝑻

From 𝜆𝑟 < 𝓁
𝜆𝑟+1 > 𝓁 ; ⇒ 𝜆𝑜 < 𝓁 (Not Possible)
∴ 𝜆1 > 0
Take 𝓁 = 0.6
 Matrix Decomposition (cont…)
𝐴 − 𝓁𝐵 = 𝐴 − 0.6𝐵
r=1
1.4 −1
=
−1 0.4
1 0 1.4 0 1 −0.71
=
−0.71 1 0 −0.31 0 1

∴ 𝜆1 < 0.6
𝜆2 > 0.6

More iterations will give upper & lower limits until the solution converges.
 Properties of Vibrating Systems
1. Flexibility Matrix Approach
𝑥 = 𝜙 𝐹 (1)

where 𝜙 is the flexibility matrix

∅𝑖𝑗 = Influence coefficient defined as the displacement which

occurs at point”𝒾" when unit force is applied at point “j”
Flexibility Matrix Approach
 Flexibility Matrix Approach
Part (b)
𝐹1 1 1 1
= = 𝑘1 ∴ 𝑥1 = ⇒ 𝜙11 =
𝑥1 𝑥1 𝑘1 𝑘1
1
Also 𝑥2 = 𝑥3 = 𝑥1 ⟹ 𝜙21 = 𝜙31 =
𝑘1

Part (c)
𝐹2 1
= = (𝑘𝑡𝑜𝑡 )2 (1)
𝑥2 𝑥2

where (𝑘𝑡𝑜𝑡 )2 is the total effective stiffness of all springs above 𝑚2 .

1 1 1
= + (2)
(𝑘𝑡𝑜𝑡 )2 𝑘1 𝑘2
 Flexibility Matrix Approach (cont…)
From Equation (1) ;
1
𝑥2 =
(𝑘𝑡𝑜𝑡 )2
1 1
∴ 𝑥2 = + from Equation (2)
𝑘1 𝑘2
1 1
⇒ 𝜙22 = +
𝑘1 𝑘2

For 𝑥1 : The deflection at 1 due to a unit force applied at 2 is the same as would be produced by
the same force applied at 1.
1
i.e. 𝜙12 =
𝑘1
Since 𝑥3 = 𝑥2
1 1
𝜙32 = +
𝑘1 𝑘2
 Flexibility Matrix Approach (cont…)
Part (d)
𝐹3 1
= = (𝑘𝑡𝑜𝑡 )3 ;
𝑥3 𝑥3
11 1 1
Where = + +
𝑘𝑡𝑜𝑡 3 𝑘1 𝑘2 𝑘3
1 1 1 1
∴ 𝑥3 = = + +
𝑘𝑡𝑜𝑡 3 𝑘1 𝑘2 𝑘3
1 1 1
Thus; 𝜙33 = + +
𝑘1 𝑘2 𝑘3
As in Part (c) above;
1 1 1
𝜙23 = + ; 𝜙13 =
𝑘1 𝑘2 𝑘1
 Flexibility Matrix Approach (cont…)

1 1 1
𝑘1 𝑘1 𝑘1
1 1 1 1 1
∴ 𝝓= + +
𝑘1 𝑘2 𝑘2 𝑘1 𝑘2
1 1 1 1 1 1
+ + +
𝑘1 𝑘1 𝑘2 𝑘1 𝑘2 𝑘3

Note: (i) The flexibility Matrix 𝝓 is symmetric

(ii) Reciprocity theorem:𝜙𝑖𝑗 = 𝜙𝑗𝑖
 2. Stiffness Matrix Approach
𝐹 = 𝐾 𝑥
where 𝐾 is the Stiffness Matrix

𝐾𝑖𝑗 −Stiffness coefficient i.e. the force which must be applied at point “𝒾” in order
to produce a unit displacement at point “j” and zero displacements at all other
points in the system.
Stiffness Matrix Approach (Cont…)
 Stiffness Matrix Approach (Cont…)
Part (b)
Force acting on 𝑚1
𝐹1 = 𝑥1 𝑘1 + 𝑥1 𝑘2 = 1 𝑘1 + 𝑘2 .
∴ 𝑘11 = 𝑘1 + 𝑘2 etc.

𝑘1 + 𝑘2 −𝑘2 0
∴ 𝐾 = −𝑘2 𝑘2 + 𝑘3 −𝑘3
0 −𝑘3 𝑘3
 Stiffness Matrix Approach (Cont…)
Note:
(i) The Stiffness Matrix is symmetric
(ii) 𝑘𝑖𝑗 = 𝑘𝑗𝑖 – Reciprocal theorem (Maxwell’s theorem).
(iii) Relationship between stiffness and flexibility matrices
𝑥 = 𝜙 𝐹
⇒ [𝜙]−1 𝑥 = 𝐹
But 𝐾 𝑥 = 𝐹
∴ 𝐾 = [𝜙]−1
 2 DoF
• Revise single dof
• Introduce 2 dof based on single dof
 Systems with several DOF
𝑴𝒙 + 𝑲𝒙 = 0 (1)
Equation (1) represents a set of n coupled equations

Let the general solution be represented by:

𝑥𝑟 = 𝑋𝑟 sin 𝜔𝑡 + ∅ ; 𝑟 = 1,2 … 𝑛 (2)

where 𝑋𝑟 = Amplitude of vibration

𝑀𝑟 = Mass.
∴ 𝑥𝑟 = −𝜔2 𝑋𝑟 sin 𝜔𝑡 + 𝜙 (3)

Equations (3) and (2) into equation (1)

−𝜔2 M X +K X= 𝟎
i.e. 𝑲 − 𝜔2 𝑴 X= 𝟎 (4)
 Systems with several DOF (cont…)
Equation (4) is an 𝑛𝑡ℎ order Eigen problem, where X is a vector of amplitudes of vibrations of
“n” masses.
𝑿 = 𝑋1 𝑋2 𝑋3 … 𝑋𝑛 𝑇

From Equation (4), for non-trivial solutions of X

𝑲 − 𝜔2 𝑴 = 𝟎
i.e. 𝑴{𝑴−1 𝑲 − 𝜔2 𝑰} = 𝟎
⇒ 𝑴 𝑴−1 𝑲 − 𝜔2 𝑰 = 𝟎
But M is non-singular,
⇒ 𝑴−𝟏 𝑲 − 𝜔2 𝑰 = 𝟎 (5)

This gives an nth order polynomial in 𝜔2 = 0

 Systems with several DOF (cont…)
𝜔2 are eigenvalues of the dynamic matrix {𝑴−1 𝑲}; and the corresponding
amplitude vectors X are the eigenvectors of the dynamic matrix. i.e. for n
eigenvalues, 𝜔12 , 𝜔22 … 𝜔𝑛2 , the corresponding eigenvectors are 𝟏𝑿, 𝟐𝑿 , …. 𝒏𝑿
𝒊𝑿𝟏

where; 𝑖𝑿 = 𝒊𝑿𝟐
⋮
𝒊𝑿𝒏
Note:
1). Each 𝜔 corresponds to a “natural mode frequency”, and
2). Each amplitude vector X corresponds to a normal mode shape.
 Systems with several DOF (cont…)
2
For a particular 𝜔𝑖 and 𝒊𝑿; substitute into Equation (4) to get
{K−𝜔𝑖2 M} 𝒊𝑿 = 0
⟹ 𝑲𝒊 𝑿 = 𝜔𝑖2 𝑴𝒊 𝑿 (6)
Similarly, for a particular 𝜔𝑗2 and 𝒋𝑿 we get
𝑲𝒋 𝑿 = 𝜔𝑗2 𝑴𝒋 𝑿 (7)
 Systems with several DOF (cont…)
From Equation (6);
𝑻 𝑻
𝑲 𝒊𝑿 = 𝜔𝑖2 𝑴 𝒊𝑿
⇒ 𝒊𝑿𝑻 𝑲 = 𝜔𝑖2 𝒊𝑿𝑻 𝑴𝑻

Post – multiply by 𝒋𝑿
𝒊𝑿
𝑻𝑲
𝒋𝑿 = 𝜔𝑖2 𝒊𝑿𝑻 𝑴𝑻 𝒋𝑿 (8)

From Equation (7), pre-multiply by 𝒊𝑿𝑻

𝑿 𝑻 𝑲 𝑿 = 𝜔 2 𝑿𝑻 𝑴𝑻 𝑿 (9)
𝒊 𝒋 𝑗 𝒊 𝒋

From Equations (8) and (9)

𝜔𝑖2 − 𝜔𝑗2 𝒊𝑿𝑻 𝑴 𝒋𝑿 = 𝟎 (10)
 Systems with several DOF (cont…)
For 2 different modes; 𝜔𝑖2 ≠ 𝜔𝑗2
⟹ 𝒊𝑿𝑻 𝑴𝒋 𝑿 = 𝟎 (11)
∴ Normal modes are orthogonal to one another with respect to the
mass matrix
Substitute Equation (11) into Equation (9)
𝑻
𝒊 𝑿 𝑲 𝒋𝑿 = 𝟎 (12)
∴ The normal modes are also orthogonal with respect to the
stiffness matrix
 Systems with several DOF (cont…)
Now for 𝜔𝑖2 = 𝜔𝑗2 & 𝒊𝑿 = 𝒋𝑿 , then 𝒊𝑿𝑻 𝑴 𝒊𝑿 is not necessarily equal to zero.

𝑻 2 2 2
𝒊 𝑿 𝑴 𝒊 𝑿 = 𝑋
𝑖 1 𝑀1 + 𝑋
𝑖 2 𝑀2 + ⋯ 𝑖 𝑋𝑛 𝑀𝑛
= 𝐿2𝑖 𝑆𝑎𝑦 {Note: all quantities are positive}

𝒊𝑿
Let 𝒊𝒁 = be a normalized vector
𝐿𝑖

Then;
𝒊𝑿𝑴 𝒊𝑿 𝐿2𝑖
𝒊 𝒁𝑻 𝑴 𝑖𝒁 = = =1
𝐿2𝑖 𝐿2𝑖
𝑻
𝒊𝑿 𝑴 𝒋𝑿 0
and 𝒊 𝒁𝑻 𝑴 𝒋𝒁 = = =0
𝐿𝑖 𝐿𝑗 𝐿𝑖 𝐿𝑗
 Systems with several DOF (cont…)
Let us now establish a normalized eigenvector matrix, called a “modal matrix”, Z
↑ ↑ ↑ ↑
𝒁 = 1𝒁 2𝒁 … 𝑟 𝒁 … 𝑛 𝒁
↓ ↓ ↓ ↓
𝑟𝑍1

where 𝑟𝒁 = 𝑟𝑍2
⋮
𝑟𝑍𝑛

Note, from Equation (4),

𝑲1 𝒁 = 𝜔12 𝑴 𝟏𝒁 Equation (4)
𝑲2 𝒁 = 𝜔22 𝑴 𝟐𝒁 𝑲 − 𝜔2 𝑴 X= 𝟎
…
𝑲𝑟 𝒁 = 𝜔𝑟2 𝑴 𝒓𝒁 ; 1< 𝑟 < 𝑛
 Systems with several DOF (cont…)
Hence;
𝑲 𝒁 = 𝑴 𝒁𝛀 (13)
where;

𝜔12 ⋯ 0
Ω= ⋮ 𝜔𝑖2 ⋮
0 ⋯ 𝜔𝑛2
 Systems with several DOF (cont…)
From Equation (13), pre-multiply by 𝒁𝑻 to get
𝒁𝑻 𝑲 𝒁 = 𝒁𝑻 M 𝒁 𝛀
But 𝒁𝑻 M 𝒁 = 𝑰
∴ 𝒁𝑻 𝑲 𝒁 = 𝐈 𝛀 = 𝛀 (14)
 Systems with several DOF (cont…)
Decoupling the equations:

From Equation (1),

𝑴𝒙 +𝑲𝒙 = 0 (15)

Introduce a linear transformation (i.e. a change of coordinates)

𝔁=𝒁𝒒 (16)
where 𝒒 =[ 𝑞1 𝑞2 … 𝑞𝑛 ]T

Substitute Equation (16) into Equation (15) to get

M 𝒁𝒒 + 𝑲 𝒁 𝒒 = 𝟎
Pre-multiply by 𝒁𝑻
𝒁𝑻 M 𝒁 𝒒 + 𝒁𝑻 𝑲 𝒁 𝒒 = 𝟎
 Systems with several DOF (cont…)
Using Equation (14); we get the following decoupled equations
𝒒 + 𝛀𝐪 = 𝟎 (17)

or 𝑞𝑟 + 𝜔𝑟2 𝑞𝑟 = 0 ; 1≤ 𝑟 ≤ 𝑛

Note:
From Equation (16),
𝒙= 𝒁𝒒 ⇒ 𝑴𝔁 = 𝑴𝒁𝒒
Pre-multiply by 𝒁𝑻
𝒁𝑻 M 𝒙 = 𝒁𝑻 M 𝒁𝒒 = 𝑰𝒒 = 𝒒
Systems with several DOF (cont…)

𝒒 = 𝒁𝑻 𝑴𝒙

𝑑𝒒 𝑻
𝑑𝒙
=𝒁 𝑴
𝑑𝑡 𝑑𝑡
 Example 1: Systems with several DOF
For the system shown, determine the natural modes if:
• 𝑚1 = 1𝑡𝑜𝑛𝑛𝑒
• 𝑚2 = 1/2 𝑡𝑜𝑛𝑛𝑒
 Example 1 (cont…)
Procedure:
1). Calculate the stiffness matrix (K)
2). Calculate the mass matrix (M)
3). Solve KX= 𝜔2 𝑴 𝑿
 Example 1 (cont…)

2 −1 𝑋1 1 0 𝑋1
∴ 104 =𝜔 2
−1 1 𝑋2 0 0.5 𝑋2
2
Let 𝜆2 = 𝜔 104

2 − 𝜆 𝑋1 − 𝑋2 = 0 (1)
−𝑋1 + 1 − 0.5𝜆 𝑋2 = 0 (2)

From Equation (1),

𝑋1 1
= (1a)
𝑋2 2−𝜆
From Equation (2),
𝑋1 1−0.5𝜆
= (2a)
𝑋2 1
 Example 1 (cont…)
1 1 − 0.5𝜆
∴ =
2−𝜆 1

2 − 𝜆 1 − 0.5𝜆 =1
2−𝜆 2 = 2
2−𝜆 = ± 2

Determination of Eigenvalues:
From Equation (1a),
𝑋1 1
= 2−𝜆
𝑋2

For 𝜆1 =2− 2
1𝑋1 1
𝟏𝑿 = =
1𝑋2
2
This is the 1st eigenvector or fundamental mode-associated with the lowest frequency
 Example 1 (cont…)
For 𝜆2 = 2+ 2

2𝑋1 1
𝟐𝑿 = =
2𝑋2
− 2
This is the 2nd eigenvector (harmonic or higher harmonic)
 Example 1 (cont…)
• Alternative Calculation
 Example 1 (cont…)
𝑚1 𝑥1 + 𝑘1 𝓍1 − 𝑘2 𝓍2 − 𝓍1 = 0 (1a)
𝑚2 𝑥2 + 𝑘2 𝓍2 − 𝓍1 = 0 (1b)

For free vibration,

𝑥1 = 𝑋1 sin 𝜔𝑡 + 𝜙 (2a)
𝑥2 = 𝑋2 sin 𝜔𝑡 + 𝜙 (2b)

∴ 𝑥1 = −𝜔2 𝑋1 sin 𝜔𝑡 + 𝜙 (3a)

𝑥2 = −𝜔2 𝑋2 sin 𝜔𝑡 + 𝜙 (3b)

Substitute Equations (2) & (3) into Equations (1), to get

𝑘1 + 𝑘2 − 𝑚1 𝜔2 −𝑘2 𝑋1
= 0
−𝑘2 𝑘2 − 𝑚2 𝜔2 𝑋2
 Example 1 (cont…)
For a non-trivial solution;
𝑘1 + 𝑘2 − 𝑚1 𝜔2 −𝑘2
=0 (4)
−𝑘2 𝑘2 − 𝑚2 𝜔2

∴ 𝑚1 𝑚2 𝜔4 − 𝑘1 + 𝑘2 𝑚2 + 𝑚1 𝑘2 𝜔2 + 𝑘1 𝑘2 = 0.
0.5𝜔4 − 2 × 0.5 + 1 104 𝜔2 + 108 = 0
0.5𝜔4 −2× 104 𝜔2 + 108 = 0
2×104 ± 2×104 2 −4×0.5×108
𝜔2 =
2×0.5

∴ 𝜔12 = 5857.86
𝜔22 =34142.14
⇒𝑓1 = 12.18 𝐻𝑧
𝑓2 = 29.4 𝐻𝑧 As before!
 Example 1 (cont…)
∴ 𝑇1 = 0.082 𝑠𝑒𝑐
𝑇2 = 0.034 𝑠𝑒𝑐

Substituting 𝜔12 = 5857.86 into Equation (4)

2 × 104 − 1 × 5857.86 𝑋1 − 104 𝑋2 = 0
i.e. 14142.14𝑋1 − 104 𝑋2 = 0
𝑋1
∴ =0.707
𝑋2
1 1
∴ 𝟏𝑿 = ; Similarly 𝟐𝑿 = as before!!
2 − 2
 Example 2:
For the system shown, check orthogonality with respect to mass
matrix, if
• 𝑘1 = 𝑘2 =3200 kN/m
• 𝑚1 = 2t
• 𝑚2 = 2t
 Example 2: (Cont…)
1 1
𝟏𝑿 = ; 𝟐𝑿 =
1.618 −0.618
𝑻
𝑿
Required to check that:
𝒔 𝑴 𝒓𝑿 = 𝟎 for 𝑟 ≠ 𝑠
𝑻 2 0 1
𝟏𝑿 𝑴 𝟐𝑿 = 1 1.618 =0
0 2 −0.618

Note:
𝑻 𝑴 X ≠ 0 = + 𝑣𝑒
𝟏 𝑿 𝟏
𝑿𝑻 𝑴 X ≠ 0 = + 𝑣𝑒
𝟐 𝟐
 Forced vibration with many DOF
𝑴𝒙 + 𝑲𝒙 = 𝑷 (1)
𝑇
where 𝑷 = 𝑃1 𝑃2 … 𝑃𝑛 is the Dynamic Force Vector

Introducing the change of coordinates

𝒙 = 𝒁𝒒 into Equation (1)

𝑴𝒁𝒒 + 𝑲𝒁𝒒 = 𝑷 (2)

Pre-multiply Equation (2) by 𝒁𝑻

∴ 𝒒 + 𝒁𝑻 𝑲 𝒁 𝒒 = 𝒁𝑻 𝑷
i.e. 𝒒 + 𝛀 𝒒 = 𝒁𝑻 𝑷 (3)
 Forced vibration with many DOF

Equation (3) is a set of “n” uncoupled equations, i.e.

𝑞1 + 𝜔12 𝑞1 = 1𝑍1 𝑃1 + 1𝑍2 𝑃2 + ⋯ + 1𝑍𝑛 𝑃𝑛
𝑞2 + 𝜔22 𝑞2 = 2𝑍1 𝑃1 + 2𝑍2 𝑃2 + ⋯ + 2𝑍𝑛 𝑃𝑛
.
.
.
𝑞𝑛 + 𝜔𝑛2 𝑞𝑛 = 𝑛𝑍1 𝑃1 + 𝑛𝑍2 𝑃2 + ⋯ + 𝑛𝑍𝑛 𝑃𝑛