MDPN471 & MDP410

CHAPTER

Mechanical Vibrations
Two-Degree-Of-Freedom
Vibration

2-DOF Vibration
5.1 Introduction
Two degree of freedom systems are defined as systems that
require two independent coordinates to describe their motion.
Consider the Automobile
Suspension system.

2-DOF Vibration
5.1 Introduction
Consider the motor-pump system.
The vertical displacement of the system and the angular
coordinate denoting the rotation of the mass about its C.G. make
up two independent coordinates.

Motor-pump system

2-DOF Vibration
5.1 Introduction
No. of degrees of freedom of the system =
No. of masses in the system X No. of possible types of motion of each mass

Packaging of an instrument

2-DOF Vibration
5.2 Eqs of Motion for Forced Vibration
Consider a viscously damped two degree of freedom
spring-mass system.

A two degree of freedom spring-mass-damper system

2-DOF Vibration
5.2 Eqs of Motion for Forced Vibration
The application of Newtons second law of motion to
each of the masses gives the equations of motion:
m1x1 (c1 c2 ) x1 c2 x2 (k1 k 2 ) x1 k 2 x2 F1
m2 x2 c2 x1 (c2 c3 ) x2 k 2 x1 (k 2 k3 ) x2 F2

Both equations can be written in matrix form as

[m]x (t ) [c]x (t ) [k ]x (t ) F (t )

(5.1)
(5.2)

(5.3)

where [m], [c], and [k] are called the mass, damping,
and stiffness matrices, respectively, and are given by

2-DOF Vibration
5.2 Eqs of Motion for Forced Vibration

[m]x (t ) [c]x (t ) [k ]x (t )
[ m]

m1

m2

[c ]

c1 c2
c2

c2
c2 c3

[k ]

F (t )
k1 k 2
k2

k2
k2

k3

And the displacement and force vectors are given

respectively:

x1 (t )
F1 (t )

x (t )
F (t )
x2 (t )
F2 (t )

It can be seen that the matrices [m], [c], and [k]

are symmetric:

2-DOF Vibration
5.2 Eqs of Motion for Forced Vibration
It can be seen that the matrices [m], [c], and [k]
are symmetric:

[m]T

[m],

[c]T

[c],

[k ]T

[k ]

The solution of Eqs.(5.1) and (5.2) involves four

constants of integration (two for each equation).
We shall first consider the free vibration solution

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
m1x1 (c1 c2 ) x1 c2 x2 (k1 k 2 ) x1 k 2 x2 F1
m2 x2 c2 x1 (c2 c3 ) x2 k 2 x1 (k 2 k3 ) x2 F2

(5.1)
(5.2)

By setting F1(t) = F2(t) = 0, and damping disregarded,

i.e., c1 = c2 = c3 = 0, and the equation of motion is
reduced to:
m1x1 (t ) (k1 k 2 ) x1 (t ) k 2 x2 (t ) 0
(5.4)
m2 x2 (t ) k 2 x1 (t ) (k 2 k3 ) x2 (t ) 0
(5.5)
Assuming solutions are harmonic motion of m1
and m2 at the same frequency and the same
phase angle , we take the solutions as
x1 (t )

X 1 cos( t

),

x2 (t )

X 2 cos( t

(5.6)

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
Substituting into Eqs.(5.4) and (5.5),
m1

(k1 k 2 ) X 1 k 2 X 2 cos( t

k2 X 1

m2

(k 2

k3 ) X 2 cos( t

) 0
) 0

(5.7)

For non-trivial solution, thus,

m1
k2 X 1

(k1 k2 ) X 1 k2 X 2
m2

( k 2 k3 ) X 2

0
0

(5.8)

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
These represent two simultaneous homogenous algebraic
equations in the unknown X1 and X2.
For trivial solution, i.e., X1 = X2 = 0, there is no solution.
For a nontrivial solution, the determinant of the coefficients of
X1 and X2 must be zero. Therefore,

det

or

m1

(m1m2 )

(k1 k 2 )

k2

k2
4

m2

(k1 k 2 )m2 (k 2
(k1 k 2 )( k 2

k3 ) k 22

(k1 k 2 )

k3 )m1
0

(5.9)

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
which is called the frequency or characteristic equation.

The roots are:

2
(1)

1 (k1 k 2 )m2 (k 2 k3 )m1

2
m1m2

2
( 2)

1
2
4

(k1 k 2 )m2 (k 2 k3 )m1

m1m2
(k1 k 2 )( k 2 k3 ) k
m1m2

2
2

1/ 2

(5.10)

The roots are called natural frequencies of the system.

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
Remember that:
x1 (t )

X 1 cos( t

), x2 (t )

X 2 cos( t

To find x1(t) and x2(t), we need to find X1, X2, and .

But at which ??
By a linear superposition:

x1 (t )

x1(1) (t ) x1( 2 ) (t )

x2 (t )

x2(1) (t ) x2( 2 ) (t )

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
Substituting the natural frequencies into Eq 5.8,

m1
k2 X 1

(k1 k 2 ) X 1 k 2 X 2
m2

(k 2

k3 ) X 2

(5.8)

we can determine the values of X1 and X2 at each mode,

r(1)

X
X

(1)
2
(1)
1

m1

r( 2 )

X 2( 2 )
X 1( 2 )

m1

2
1

(k1 k 2 )
k2

2
2

m2

2
1

k2
(k 2

2
2

k2
(k 2

(k1 k 2 )
k2

m2

k3 )
k3 )

(5.11)

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
The normal modes of vibration corresponding to (1)2
and (2)2 can be expressed, respectively, as
(1)
X

X 1(1)
X

(1)
2

X 1(1)
r(1) X

(1)
1

( 2)
and X

X 1( 2)
X

( 2)
2

X 1( 2)
r( 2) X

( 2)
1

which are known as the modal vectors of the system.

(5.12)

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
The free vibration solution or the motion in time can be
expressed itself as

x (1) (t )
( 2)
x (t )

x1(1) (t )

X 1(1) cos( 1t

(1)
2

(1)
1

x (t )

r1 X

cos( 1t

x1( 2 ) (t )

X 1( 2) cos( 2t

( 2)
2

x (t )

r2 X

( 2)
1

cos( 2t

first mode

second mode

(5.13)

The resulting motion can be obtained by a linear

superposition of the two normal modes, Eq.(5.13)

xi (t )

xi (1) (t ) xi ( 2) (t )

(5.14)

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
Thus the components of the vector can be expressed as
x1 (t )

x1(1) (t ) x1( 2) (t )

x2 (t )

x2(1) (t ) x2( 2) (t )
r(1) X 1(1) cos(

(1) t

X 1(1) cos(

(1) t

( 2)
)
X
(1)
1 cos(

( 2)
)
r
X
(1)
( 2 ) 1 cos(

( 2)

( 2)

where the 4 unknown constants can be

determined from the 4 initial conditions:

( 2)

( 2)

(5.15)

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
x1 (t

0)

x1 (0),

x2 (t

0)

x2 (0),

x1 (t 0) x1 (0),
x2 (t 0) x2 (0)

(5.16)

Substituting into Eq.(5.15) leads to

x1 (0)
x1 (0)
x2 (0)
x2 (0)

X 1(1) cos

X 1( 2 ) cos

(1)
X
1 1 sin

r1 X 1(1) cos

( 2)
X
2 1 sin

(1)
r
X
1 1 1 sin

r2 X 1( 2 ) cos
1

( 2)
r
X
2 2 1 sin

(5.17 )

The solution can be expressed as

X 1(1) cos
X 1(1) sin

r2 x1 (0) x2 (0)
,
r2 r1
r2 x1 (0) x2 (0)
,
r1 )
1 ( r2

X 1( 2) cos
X 1( 2) sin

r1 x1 (0) x2 (0)
r2 r1
r1 x1 (0) x2 (0)
r1 )
2 ( r2

2-DOF Vibration
5.3 Free Vib. Analysis of Undamped System
from which we obtain the desired solution
X

(1)
1

(1)
1

cos

1
(r2 r1 )
X

(2)
1

(2)
1

(r2 r1 )
1

tan
tan

(1)
1

2 1/2

sin

r2 x1 (0) x2 (0)

cos

(2)
1

X 1(2) sin
X 1(2) cos

2 1/2

sin

tan

tan

r1 x1 (0) x2 (0)

1/2

2
2

1
2

1/2

2
1

r1 x1 (0) x2 (0)

X 1(1) sin
X 1(1) cos

r2 x1 (0) x2 (0)

r2 x1 (0) x2 (0)
x2 (0)
1[ r2 x1 (0)
r1 x1 (0) x2 (0)
x2 (0)
2 [ r1 x1 (0)

(5.18)

2-DOF Vibration
Example 5.3 Free Vibration Response of a 2DOF
Find the free vibration response of the system shown in
Fig.5.3(a) with k1 = 30, k2 = 5, k3 = 0, m1 = 10, m2 = 1
and c1 = c2 = c3 = 0 for the initial conditions
x1 (0) 1, x1 (0) x2 (0) x2 (0).

Solution:
m1

k1 k 2
k2

k2
m2

k2

k3

X1

X2

2-DOF Vibration
Example 5.3 Free Vibration Response of a 2DOF
By setting the determinant of the coefficient matrix in
Eq.(E.1) to zero, we obtain the frequency equation,
4

10
85
150 0
(E.2)
from which the natural frequencies can be found as
2
2
2
.
5
,
6.0
1
2
1.5811,
2.4495
(E.3)
1
2
The normal modes (or eigenvectors) are given by
(1)
X

X 1(1)

(1)
2

( 2)
X

X 1( 2 )

( 2)
2

X 1(1)
1
5

X 1( 2 )

(E.4)

(E.5)

2-DOF Vibration
Example 5.3 Free Vibration Response of a 2DOF
The free vibration responses of the masses m1 and m2
are given by (see Eq.5.15):
x1 (t )

X 1(1) cos(1.5811t

x2 (t )

2 X 1(1) cos(1.5811t

( 2)
)
X
1
1 cos(2.4495 t

( 2)
)
5
X
1
1 cos(2.4495 t

(E.6)
2

(E.7)

By using the given initial conditions in Eqs.(E.6) and

(E.7), we obtain
x1 (t

0) 1 X 1(1) cos

x2 (t

0) 0 2 X 1(1) cos

x1 (t

0) 0

x2 (t

0)

X 1( 2 ) cos

1
1

5 X 1( 2) cos

1.5811 X 1(1) sin

(E.8)

(E.9)

2.4495 X 1( 2) sin

3.1622 X 1(1) 12.2475 X 1( 2 ) sin

(E.10)
(E.11)

2-DOF Vibration
Example 5.3 Free Vibration Response of a 2DOF
The solution of Eqs.(E.8) and (E.9) yields
5
2
(1)
( 2)
X 1 cos 1
;
X 1 cos 2
7
7

(E.12)

while the solution of Eqs.(E.10) and (E.11) leads to

X1(1) sin

0, X1( 2) sin

0,

(E.13)

Equations (E.12) and (E.13) give

X

(1)
1

5
,
7

( 2)
1

2
,
7

(E.14)

2-DOF Vibration
Example 5.3 Free Vibration Response of a 2DOF
Thus the free vibration responses of m1 and m2 are
given by

5
2
x1 (t )
cos1.5811t
cos 2.4495 t
7
7
10
10
x2 (t )
cos1.5811t
cos 2.4495 t
7
7

(E.15)
(E.16)

2-DOF Vibration
5.4 Torsional System
Consider a torsional system as shown in Fig.5.6. The
differential equations of rotational motion for the discs
can be derived as

J1 1
J

2 2

kt1

kt 2 (

kt 2 (

) M t1

) kt 3

which upon rearrangement become

J (k k )
k
1 1

t1

J 2 2 kt 2

t2

( kt 2

t2 2

kt 3 )

Mt2
M t1
M t2

(5.19)

For the free vibration analysis of the system,

Eq.(5.19) reduces to

2-DOF Vibration
5.4 Torsional System
J1 1 (kt1 kt 2 ) 1 kt 2 2 0
J 2 2 kt 2 1 (kt 2 kt 3 ) 2 0

Figure 5.6: Torsional system with discs mounted on a shaft

(5.20)

2-DOF Vibration
Example 5.4 Natural Frequencies of Torsional System
Find the natural frequencies and mode shapes for the
torsional system shown in Fig.5.7 for J1 = J0 , J2 = 2J0
and kt1 = kt2 = kt .
Solution:
The differential equations of motion,
Eq.(5.20), reduce to (with kt3 = 0,
kt1 = kt2 = kt, J1 = J0 and J2 = 2J0):

J 0 1 2kt
2 J 0 2 kt

kt

kt

(E.1)

Fig.5.7:
Torsional system

2-DOF Vibration
Example 5.4 Natural Frequencies of Torsional System
Rearranging and substituting the harmonic solution:
i

(t )

cos( t

); i 1,2

(E.2)

gives the frequency equation:

2

J 02 5

J 0 kt

kt2

(E.3)

The solution of Eq.(E.3) gives the natural frequencies

kt
(5
4J0

17 ) and

kt
(5
4J0

17 ) (E.4)

28

2-DOF Vibration
Example 5.4 Natural Frequencies of Torsional System
The amplitude ratios are given by

r1

(1)
2
(1)
1

r2

( 2)
2
( 2)
1

2
2

(5

17 )
4

(5

17 )
4

(E.5)

Equations (E.4) and (E.5) can also be obtained by

substituting the following in Eqs.(5.10) and (5.11).
k1 kt1 kt , k 2 kt 2 kt ,

m1

J1

J 0 , m2

J2

2 J 0 and

k3

0
29