Two Degree of freedom system

Introduction
The number of degrees of freedom of a system is determined by the number of
moving parts and the number of directions in which each part can move. Many
mechanical devices and structures cannot be modeled successfully by singledegree-of-freedom models. First we look into two-degree-of-freedom systems
and how to solve for the response of each degree of freedom. Then we will
move onto Multi-degree of freedom systems.

Two Degree of freedom system-Undamped

Two-degree-of-freedom system has two natural frequencies and two mode
shapes and each mode shape is associated with a natural frequency. A mode
shape is a vector that describes the relative motion between the two masses or
between two degrees of freedom.

Two Degree of freedom system

Eq. 1
Eq. 2

Neither equation can be solved by itself because each equation contains both
1 and 2 (i.e., the equations are coupled). Physically, this states that the
motion of 1 affects the motion of 2 , and vice versa. A convenient method of
solving this system is to use vectors and matrices. Above equations can be
written in matrix form
Mass matrix

Stiffness matrix

Eq. 3

Can be written as

+ = 0

Two Degree of freedom system

Assume harmonic motion, solutions of Eqs. 1 and 2 are

Eq. 4
Where and 1 2 are constants that denote the maximum amplitudes of 1 and 2
and is the phase angle. Substituting Eq.4 into Eqs. 1 and 2 we get
Eq. 5
These are two simultaneous homogenous equations, 1 2 are unknowns. For trivial
solution 1 = 2 = 0 which means there is no vibration. For a nontrivial solution
determinant must be zero

Eq. 6
This equation is called the frequency or characteristic equation

Two Degree of freedom system

Roots of the equations are

1 2 are the natural frequencies of the system

The values of 1 2 still need to be found

Correspond to 1
Ratio of
amplitudes

Correspond to 2
Eq. 5 gives only the ratio of the amplitudes and not their absolute values, which are
arbitrary.
If one of the amplitudes is chosen to be 1 or any number, we say that amplitudes ratio is
normalized to that number.
The normalized amplitude ratios are called the normal modes

Two Degree of freedom system

The normal modes of vibration corresponding to 1 2 can be expressed,

The normal modes of vibration, are known as the modal vectors of the system. The freevibration solution or the motion in time can be expressed as

Eq. 7

The general solution of Eq1 and 2, can be obtained by a linear superposition of the two
normal modes Eq. 7. and can be expressed as

Two Degree of freedom system

General solution

Two Degree of freedom system

Find the free-vibration response of the system shown

in Figure.

Done in the class