MATH 2243: Linear Algebra & Differential Equations

Discussion Instructor: Jodin Morey [email protected]

Website: math.umn.edu/~moreyjc

7.5: Second-Order Systems and Mechanical Applications

Masses (n of them) connected to each other and connected to two walls by n 1 springs. Assume no
friction, and that each mass m j reacts to the spring(s) attached to it by the familiar formula
F mjxj kx. So, assuming the mass in question m j is reacting to two springs (k j and k j 1 ), we
have: F m j x j kj xj xj 1 kj 1 xj 1 xj .

Case: n 3
m1x1 k1x1 k2 x2 x1 ,
m2x2 k2 x2 x1 k3 x3 x2 ,
m3x3 k3 x3 x2 k4x3.
Observe that the initial k 1 and the final spring k n 1 only have one mass displacement effecting it (x 1
and x n , respectively).

We can put the displacement x j of each mass m j into a displacement vector: x x1 x2 x3 .

Similarly with the masses, we have a mass matrix:
m1 0 0
M 0 m2 0 .
0 0 m3
For the spring constants, we have this stiffness matrix:
k1 k2 k2 0
K k2 k2 k3 k3 .
0 k3 k3 k4

Using these mathematical objects, we can more elegantly represent the the above system as
Mx Kx. Since M is invertible, we can calculate M 1 and multiply both sides of the equation (on
the left) to simplify our equation further to our familiar x Ax, where A M 1 K.

Solution of Second-Order Homogeneous Systems: x Ax

Consider solutions of the form e rt , which we used for single equations. To solve for a system,
however, we will need to make this into a vector. Multiplying by a generic constant vector v , we have
v e rt . Assuming a solution of this form, and plugging it back into our DEQ, we get:
A v e rt v e rt r v e rt r 2 v e rt .
Dividing by e rt , we get A v r 2 v . But this is the eigenvector/eigenvalue equation where v is an
eigenvector for A, and r 2 is the associated eigenvalue.

Typically, when systems of equations like these model mechanical systems, we have eigenvalues
2
j j of A which are less than or equal to zero (where each j is a circular frequency). This
 2 i jt
gives us r j j j i. So, for the eigenpair j , v j of A we have: v j e cos jt i sin jt v j.
And from the real and imaginary parts, we get: x j t a j cos j t b j sin j t v j .
2 2 2 , with
Theorem: If the n n matrix A has n distinct nonpositive eigenvalues 1, 2, , n
eigenvectors v 1 , v 2 , , v n , then a general solution of x Ax is given by
n
x t a cos j t b j sin j t v j , where a j and b j are arbitrary constants. In the case where
j 1 j
2
j 0, the corresponding part x j t of the general solution is aj bjt v j .
n
We wish to convert the solution above to the form x t c cos j t
j 1 j j v j , where j is the
"phase shift" or "phase angle."
So, recall (or learn for the first time) that if we have: A cos t B sin t.
and wish to alter it to be like: C cos t , (where C turns out to be the amplitude of the
vibration)
we let A and B be the legs of a right triangle. Then the hypotenus is: C A2 B2 .

A B
With angle (opposite of B), recall we have: cos C
, sin C
,
tan 1 B if A, B 0 (1st quadrant),
A
where tan 1 BA if A 0 (2nd/3rd quadrant),
2 tan 1 BA if A 0, B 0 (4th quadrant).

Thus we transform into, A cos t B sin t C CA cos t CB sin t

C cos cos t sin sin t .
Recall the Trigonometric Identity: cos x cos y sin y sin x cos x y cos y x .
So we get: C cos t , where C is the amplitude,
is the circular frequency in radsec , and is the phase angle.
2 1 cycles
Period of Motion: T sec. Frequency: v T 2
in sec .
So returning to x t , we have x j t c j cos j cos 5t sin j sin 5t v j c j cos 5t j v j.

Superposition of Wave Frequecies 1 and 2 :

Here is a video showing the kinds of movements involved in this section:

https://www.youtube.com/watch?v cu4TvUwk17g

Forced Oscillations and Resonance:

 T
Let Mx Kx F where F F1 t F2 t Fn t are the external forces acting on the masses
m1, m2, , mn .
1 2 F t
n F t F t T
So, x Ax f , where f m1 m2 m2 is the external force vector per unit mass.
Often the external forces are periodic,
and we have f t F 0 cos t, where F 0 is some constant vector.
We obtain resonance when the external (forced) frequency is equal
to one of the system’s internal frequencies 1 , 2 , , n .
Undetermined coefficients suggests a trial solution of:
x trial t c cos t. (why not " b sin t" ??)
We solve for particular solution by plugging in this trial solution,
and determining the coefficients: c c1 c2 cn .

As with a single equation with forced oscillation, we have a periodic and transient solution
x t x tr t x sp t (see section 5.6). Given any damping, the transient solution eventually
disappears leaving only the periodic solution (which is being induced by the external force).

Problem: #7 Suppose a mass-and-spring system have the following stiffness matrix

k1 k2 k2
K
k2 k2 k3
and has the following values for the mass and spring constants...
m1 m2 1; k1 4, k 2 6, k 3 4.
Find the two natural frequencies of the system and describe its two natural modes of oscillation.

Mx Kx or x M 1 Kx.

m1 0 1 0
M
0 m2 0 1

M 1.

1 0 4 6 6 10 6
So, A .
0 1 6 6 4 6 10

10 6 2 2
10 36 20 64 16 4 .
6 10
Eigenvalues 1 4 and 2 16,
 T T
with associated eigenvectors v 1 11 and v 2 1 1 .

n 2
Recall: "x t j 1
a j cos jt b j sin jt v j" and "Eigenvalues: i"

1 1
Therefore: x t a 1 cos 2t b 1 sin 2t a 2 cos 4t b 2 sin 4t
1 1

x1 t a 1 cos 2t b 1 sin 2t a 2 cos 4t b 2 sin 4t,

x2 t a 1 cos 2t b 1 sin 2t a 2 cos 4t b 2 sin 4t.

"Describe its two natural modes of oscillation."

The natural frequencies are 1 2 and 2 4. In the natural mode with frequency 2, the two masses
m 1 and m 2 move in the same direction with equal amplitudes of oscillation. At frequencies 4, they
move in opposite directions with equal amplitudes.

Problem: #10 The mass-and-spring system of the problem #7 (above) is set in motion from rest [
x1 0 x2 0 0 ], at its equilibrium position [ x 1 0 x2 0 0 ], with external forces
F1 t 30 cos t and F 2 t 60 cos t acting on the masses m 1 and m 2 , respectively. Find the resulting
motion of the system and describe it as a superposition of oscillations.
10 6
Recall: x Ax f , m1 1, m 2 1, and A .
6 10

Observe that f M 1F F 30 cos t, 60 cos t (since M I.

So, forming the nonhomogeneous DEQ x Ax f , we have:

x1 10x 1 6x 2 30 cos t,
x2 6x 1 10x 2 60 cos t

Recall complementary solution from prob. 7:

x c,1 t a 1 cos 2t a 2 sin 2t b 1 cos 4t b 2 sin 4t
 x c,2 t a 1 cos 2t a 2 sin 2t b 1 cos 4t b 2 sin 4t

Recall from the review that the "trial solution is: x trial t c cos t, " where we can label the
components c : d1 d2 .

Taking derivatives of the of the trial solution x 1 d 1 cos t, x 2 d 2 cos t in order to substitute into
the system :
x1 d 1 sin t, x2 d 2 sin t, x1 d 1 cos t, x2 d 2 cos t.
d 1 cos t 10 d 1 cos t 6 d 2 cos t 30 cos t,
d 2 cos t 6 d 1 cos t 10 d 2 cos t 60 cos t.

Dividing by cos t :
d1 10d 1 6d 2 30 ,
d2 6d 1 10d 2 60 . (two equations in two unknowns)

2 10 2 2 10 20
9d 1 6d 2 30 , 9d 2 6d 1 60 ; d1 3
d2 3
, d2 3 3
d2 3 3
5 80 2 10
9
d2 9
, d2 16, d1 3
16 3
14.

So a general solution is given by:

x1 t a 1 cos 2t a 2 sin 2t b 1 cos 4t b 2 sin 4t 14 cos t,
x2 t a 1 cos 2t a 2 sin 2t b 1 cos 4t b 2 sin 4t 16 cos t.

Initial conditions: x 1 0 x2 0 0
0 a1 b1 14, 0 a1 b1 16;

So: a1 b1 14 , 0 b1 14 b1 16,
2b 1 2, b 1 1; a1 1 14 15.

Now taking the derivative for the initial condition: x 1 0 x2 0 0:

x1 a 1 sin 2t a 2 cos 2t b 1 sin 4t b 2 cos 4t 14 sin t,
x2 a 1 sin 2t a 2 cos 2t b 1 sin 4t b 2 cos 4t 16 sin t.
0 a2 b2, 0 a2 b2;
a2 b2, b2 b2 ; b2 0, a2 0.
The resulting particular solution from is:
x1 t cos 4t 15 cos 2t 14 cos t,
x2 t cos 4t 15 cos 2t 16 cos t.

"Describe it as a superposition of oscillations at three different frequencies."

We have a superposition of three oscillations, in which the two masses:

Move in opposite directions with frequency 3 4 and equal amplitudes.
Move in the same direction with frequency 2 2 and equal amplitudes;
Move in the same direction with frequency 1 1 and with the amplitude of motion of m 2 being
16, and m 1 being 14.

Problem: #11a Consider a mass-and-spring system containing two masses m 1 1 and m 2 1

whose displacement functions x t and y t satisfy the differential
equations: x 40x 8y, y 12x 60y.
What are the natural frequencies, and in what directions and amplitudes do the masses move?

40 8
A ,
12 60

Determining the eigenvalues:

40 8 2
40 60 96 100 2304
12 60
64 36 . So: 1,2 36, 64.

40 36 8 4 8 4 8
1 36 :
12 60 36 12 24 0 0

1 2 T
, y s, and x 2s, so v 1 21 , where s 1.
0 0

T
Similarly for 2 64 : v 2 1 3 .
 2 1
So we have the general solution: x a 1 cos 6t b 1 sin 6t a 2 cos 8t b 2 sin 8t
1 3
OR
xt 2a 1 cos 6t 2b 1 sin 6t a 2 cos 8t b 2 sin 8t,
yt a 1 cos 6t b 1 sin 6t 3a 2 cos 8t 3b 2 sin 8t.
What are the natural frequencies, and in what directions and amplitudes do the masses move?

Problem: #11b Assume that the two masses above start in motion with the initial conditions:
x0 19, x 0 12, and y 0 3, y 0 6, with no external force. Describe the resulting
motion as a superposition of oscillations at two different frequencies.

Applying the first set of initial conditions:

20 2a 1 cos 0 2b 1 sin 0 a 2 cos 0 b 2 sin 0,
3 a 1 cos 0 b 1 sin 0 3a 2 cos 0 3b 2 sin 0.

Simplifying:
20 2a 1 a2, 3 a1 3a 2 .
Solving two equations in two unknowns:
a 1 3 3a 2 , 20 2 3 3a 2 a2 6 7a 2 , a2 2
a1 3 6 9
x t 12a 1 sin 6t 12b 1 cos 6t 8a 2 sin 8t 8b 2 cos 8t,
y t 6a 1 sin 6t 6b 1 cos 6t 24a 2 sin 8t 24b 2 cos 8t.

Applying the derivative initial conditions:

12 12a 1 sin 0 12b 1 cos 0 8a 2 sin 0 8b 2 cos 0,
6 6a 1 sin 0 6b 1 cos 0 24a 2 sin 0 24b 2 cos 0.

Simplifying:
12 12b 1 8b 2 ,
6 6b 1 24b 2 .
Solving two equations in two unknowns:
b 1 1 4b 2 , 12 12 1 4b 2 8b 2 12 40b 2 , b2 0,
b 1 1.
So: xt 18 cos 6t 2 sin 6t 2 cos 8t,
yt 9 cos 6t sin 6t 6 cos 8t.
Describe the resulting motion as a superposition of oscillations at three different frequencies.

1
Problem: #15. Suppose that m 1 2, m 2 2
, k 1 75, k 2 25, F 0 0 100 , and 10
(all in mks units) in the forced mass-and-spring system shown. Find the solution of the system
Mx K x F that satisfies the initial conditions x 0 x 0 0.

Recall: For the spring constants, we have this stiffness matrix:

k1 k2 k2 100 25
K .
k2 k2 25 25
1
2 0 1 2
0
Mass matrix: M 1
, M
0 2 0 2

First we need the general solution of the homogeneous system x M 1 K x , with

1
50 25 2
M K A .
50 50

The eigenvalues of A are 1 25 and 2 75, so the natural frequencies of the system are 1 5
T T
and 2 5 3 . Associated eigenvectors are v 1 1 2 and v 2 1 2 .

So the complementary solution x c t is given by

x1 t a 1 cos 5t b 1 sin 5t a 2 cos 5 3 t b 2 sin 5 3 t ,
x2 t 2a 1 cos 5t 2b 1 sin 5t 2a 2 cos 5 3 t 2b 2 sin 5 3 t .
 T
Trial solution to "F 0 0 100 , and 10" is...

T
Recall that: x Ax f M 1K x M 1 F 0 cos t M 1K x 0 200 cos 10t

(note from image above that F 0 is only directly affecting m 2 ).

T
So trial solution: x trial t c1 c2 cos 10t, and we find...
x trial 10 c sin 10t, x trial 100 c cos 10t.

T
x trial A x trial 0 200 cos 10t

Substituting...
25
c1 50 2 c1 0
100 cos 10t cos 10t cos 10t,
c2 50 50 c2 200

25
100c 1 50c 1 2
c2
, (two equations in two unknowns)
100c 2 50c 1 50c 2 200

25 1
50c 1 2
c2, c1 c
4 2
50c 2 50c 1 200 50 14 c 2 200
1 3 16 4
c2 c
4 2
4, c
4 2
4, c2 3
and c 1 3
.

So a particular solution x sp t is described by

4 16
x sp 1 t 3
cos 10t, x sp 2 t 3
cos 10t.
General Solution:
x t xc t x sp t
4
x1 t a 1 cos 5t a 2 sin 5t b 1 cos 5 3 t b 2 sin 5 3 t 3
cos 10t,
8
x2 t 2a 1 cos 5t 2a 2 sin 5t 2b 1 cos 5 3 t 2b 2 sin 5 3 t 3
cos 10t.

" Initial conditions x 0 x 0 0"

Finally, when we impose the initial conditions on the solution x t xc t x sp t
2 4
0 a 1 cos 0 0 b 1 cos 0 0 3
cos 0 a1 b1 3
,
 8 16
0 2a 1 cos 0 0 2b 1 cos 0 0 3
cos 0 2a 1 2b 1 3
.

4 4 16
a1 b1 3
, 2b 1 2 b1 3 3
, 4b 1 8,
2
b1 2, a1 3
.

2
We find that a 1 3
, a2 0, b 1 2, and b 2 0.
Thus the solution we seek is described by
2 4
x1 t 3
cos 5t 2 cos 5 3 t 3
cos 10t,
4 16
x2 t 3
cos 5t 4 cos 5 3 t 3
cos 10t.

We have a superposition of 2 natural oscillations with the frequencies 1 5 and 2 5 3 and

forced oscillation with 10. In each of the two natural oscillations the amplitude of motion of m 2
is twice that of m 1 , while in the forced oscillation the amplitude of motion of m 2 is four times that of
m 1 . Regarding direction of motion, in oscillation 5 the masses are moving in the same direction,
while in the other two oscillations they are moving in opposite directions.