16-Nov-21

MCT-415 Mechanical Vibrations

Week 10
Dr. Ummul Baneen

Extension to 2-DOF
Systems
Recall – ignore damping and force
1. FBD
2. Differential EOM
𝑚 𝑥̈ + 𝑘 + 𝑘 𝑥 − 𝑘 𝑥 = 0
𝑚 𝑥̈ + 𝑘 + 𝑘 𝑥 − 𝑘 𝑥 = 0 𝑀 𝑋̈ + 𝐾 𝑋 = 0
3. Matrix form of EOM
𝑚 0 𝑘 +𝑘 −𝑘 𝑥
𝑀 ≡ , 𝐾 ≡ , 𝑋≡ 𝑥
0 𝑚 −𝑘 𝑘 +𝑘
4. Solution 𝐾 −𝜔 𝑀 𝑋=0
1. Roots – natural frequencies equal to the no. of degrees of freedom; 𝜔 , 𝜔
2. Eigenmodes – in the form of modes for each natural frequency; 𝑥̅ , 𝑥̅
5. Finding unknowns by using initial conditions to compute response.

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Extension to 2-DOF
Systems

Recall – for forced undamped system

1.FBD
2.Differential EOM
3.Matrix form of EOM
𝑀 𝑋̈ + 𝐾 𝑋 = 𝐹(𝑡)
4. Solution 𝐾 −𝜔 𝑀 𝑋 =𝐹

𝑘 + 𝑘 − 𝑚 𝜔 𝑓̅ + 𝑘 𝑓̅ 𝑘 𝑓̅ + 𝑘 + 𝑘 − 𝑚 𝜔 𝑓̅
𝑥̅ = , 𝑥̅ =
𝛥 𝜔 𝛥 𝜔

𝛥 𝜔 ⇒ det 𝐾 − 𝜔 𝑀 = 𝑘 + 𝑘 − 𝑚 𝜔 𝑘 +𝑘 −𝑚 𝜔 −𝑘

Spring Mass Damper System

• For a general 2-dof system, the equation of motion will be
𝑚 𝑚 𝑥̈ 𝑐 𝑐 𝑥̇ 𝑘 𝑘 𝑥 𝑓
𝑚 𝑚 + 𝑐 𝑐 + 𝑥 =
𝑥̈ 𝑥̇ 𝑘 𝑘 𝑓

• Assuming 𝑓 𝑡 = 𝑓 ̅ 𝑒 and 𝑓 𝑡 = 𝑓 ̅ 𝑒 ,

• Then 𝑥 𝑡 = 𝑥̅ 𝑒 and 𝑥 𝑡 = 𝑥̅ 𝑒 ,
−𝜔 𝑚 + 𝑖. 𝜔. 𝑐 +𝑘 −𝜔 𝑚 + 𝑖. 𝜔. 𝑐 +𝑘 𝑥̅ 𝑓̅ 𝑥̅ 𝐷 𝜔 𝐷 𝜔 𝑓̅
= =
−𝜔 𝑚 + 𝑖. 𝜔. 𝑐 +𝑘 −𝜔 𝑚 + 𝑖. 𝜔. 𝑐 +𝑘 𝑥̅ 𝑓̅ 𝑥̅ 𝐷 𝜔 𝐷 𝜔 𝑓̅
𝑥̅ 1 𝐷 𝜔 −𝐷 𝜔 𝑓̅
• Mechanical Impedance 𝐷 be: 𝑥̅
=
𝐷 𝜔 𝐷 𝜔 −𝐷 𝜔 −𝐷 𝜔 𝐷 𝜔 𝑓̅
𝐷 𝜔 𝐷 𝜔 𝑥̅ 𝑓̅
= • Here
𝐷 𝜔 𝐷 𝜔 𝑥̅ 𝑓̅
𝐷 𝜔 𝑓 ̅ −𝐷 𝜔 𝑓̅
Or 𝑥̅ =
𝐷 𝜔 𝐷 𝜔 −𝐷 𝜔
𝑥̅ 𝐻 𝜔 𝐻 𝜔 𝑓̅
=
𝑥̅ 𝐻 𝜔 𝐻 𝜔 𝑓̅ And
−𝐷 𝜔 𝑓 ̅ +𝐷 𝜔 𝑓̅
• Here 𝑥̅ = 𝐻 𝜔 𝑓̅ + 𝐻 𝜔 𝑓 ̅ and 𝑥̅ = 𝐻 𝜔 𝑓̅ + 𝐻 𝜔 𝑓̅ 𝑥̅ =
𝐷 𝜔 𝐷 𝜔 −𝐷 𝜔

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• Find the response of the

system shown, when the mass
𝑚 is excited by the force
𝐹 𝑡 = 𝐹 𝑐𝑜𝑠𝜔𝑡 . Also find the
natural frequencies of the
system.

𝑚 0 𝑥̈ 𝑘 +𝑘 −𝑘 𝑥 𝑓
+ 𝑥 =
0 𝑚 𝑥̈ −𝑘 𝑘 +𝑘 𝑓

MODAL ANALYSIS
MATHEMATICAL

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Mode Shapes

• As compared to Natural
Frequencies, a better
way to ascertain
structure’s condition is
to observe the changes
in Mode Shapes.

First Five Bending Modes of Free-

Free and Cantilever Beams

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Nodal Points in Each Mode

A building designed to withstand earthquakes and complex wind loads

• First, an analytical model is created and loaded with design

forces
• After construction, the design is verified by modal analysis of
the structure
o Top of building is excited by an electromagnetic shaker with a
known force in the frequency range of interest
o Response is measured at a number of selected points and modal
parameters are determined.
• Modal parameters found from both analytical and experimental
methods are directly comparable.
• If results do not agree, the analytical model is adjusted and
refined until sufficient agreement is achieved.
• Finally analytical computations are repeated with the modified
model and the response to the design forces can then be
predicted.

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Modal Analysis
• Normalization of mode shapes:
𝟏
o W.r.t unity 𝑿 = 𝒙
𝒙𝑻 𝒙
𝟏
o W.r.t mass matrix 𝑿 = 𝒙
𝒙𝑻 𝑴𝒙

1 0 −0.1
• Normalize the vectors , , first w.r.t unity and
−2 5 0.1
3 −0.1
then again w.r.t the matrix M, where 𝑀 =
−0.1 2

1. Calculate the characteristic equation for the above case (𝑓 (𝑡)=𝑓 (𝑡)=0) with 𝑚 =
9 𝑘𝑔, 𝑚 = 1 𝑘𝑔, 𝑘 = 24 𝑁/𝑚, 𝑘 = 3 𝑁/𝑚, 𝑘 = 3 𝑁/𝑚 and solve for the system’s natural
frequencies.
( ) ( )
𝑥̅ 𝑥̅
i. Calculate the eigenvectors and
𝑥̅ 𝑥̅
ii. For initial conditions 𝒙 0 = [1 0] and 𝒙̇ 0 = [0 0] calculate the free response of the system.
Plot the response 𝑥 and 𝑥 .
Remember for free vibration  𝑿(𝒕) = 𝒃𝟏 𝑿𝟏 𝐜𝐨𝐬 𝝎𝟏 𝒕 − 𝝓𝟏 + 𝒃𝟐 𝑿𝟐 𝐜𝐨𝐬 𝝎𝟐 𝒕 − 𝝓𝟐

2. Repeat above problem with 𝑘 = 𝑘 = 0 and solve the characteristic equation with
𝑚 = 9, 𝑚 = 1, 𝑘 = 10.
3. Compute the natural frequencies of the following system:
6 2 3 −1
𝒙̈ 𝑡 + 𝒙 𝑡 =0
2 4 −1 1

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• Determine the equation of motion in matrix form,

then calculate the natural frequencies and mode
shapes of the torsional system of figure shown.
Assume that the torsional stiffness values provided
by the shaft are equal (𝑘 =𝑘 ) and that disk 1 has
three times the inertia as that of disk 2 (𝐽 = 3𝐽 )

• Two subway cars have 2000 kg mass each and are connected
by a coupler. The coupler can be modelled as a spring of
stiffness k = 280,000 N/m. Write the equation of motion and
calculate the natural frequencies and (normalized) mode
shapes.

• Suppose that the subway cars are given the initial position of
𝑥 = 0, 𝑥 = 0.1 𝑚 and initial velocities of 𝑣 = 𝑣 = 0 .
Calculate the response of the cars.

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• A slightly more sophisticated model of a vehicle suspension

system is shown in figure. Write the equations of motion in
matrix form. Calculate the natural frequencies for 𝑘 =
10 𝑁/𝑚, 𝑘 = 10 𝑁/𝑚, 𝑚 = 50 𝑘𝑔, and 𝑚 = 2000 𝑘𝑔.

• For the given spring-mass system,

constrained to move in the vertical direction
only, find the natural frequencies and mode
shapes. Take 𝑛 = 1.
• Find the initial conditions that need to be
applied to this system, so as to make it
vibrate in (a) the first mode, and (b) the
second mode.