Curtin University

Discipline of Mechanical Engineering

Fundamentals of Mechanical Vibration

(MCEN 3005)

Assignment Report

Name: Wister Lim Kai Song

Student ID: 700020193/19319384

Lecturer: Dr. Wong King Jye

Contents
List of tables .............................................................................................................................................. 4
List of Figures ............................................................................................................................................ 4
List of Equations ........................................................................................................................................ 4
1. Question 1: Executive Summary ........................................................................................................... 6
1.1 Question 1.a: Free Body Diagram of Mass 𝑀 and mass 𝑚 ........................................................... 8
1.2 Question 1.b: The Kinetic Equation's Expression .......................................................................... 9
1.3 Question 1.c: The Potential Equation's Expression ..................................................................... 11
1.4 Question 1.d: Equation L’s Expression......................................................................................... 14
1.5 Question 1.e: Equation L’s Derivations ........................................................................................ 15
i. L's partial derivative in relation to 𝑥 ........................................................................................... 15
ii. L's partial derivative in relation to 𝑥 .......................................................................................... 15
iii. L's partial derivative in relation to 𝜃 ......................................................................................... 16
iv. L's partial derivative in relation to 𝜃 ......................................................................................... 16
v. The equation in (ii)'s time derivative .......................................................................................... 17
vi. The equation in (ii)'s time derivative .......................................................................................... 17
vii. Total frictional forces acting in the x direction ........................................................................ 17
viii. Total frictional forces acting in the θ direction ....................................................................... 18
1.6 Question 1.f: Subtract the expression ......................................................................................... 18
i. Question 1.f.i ............................................................................................................................... 18
ii. Question 1.f.ii .............................................................................................................................. 19
1.7 Question 1.g: Calculation for Natural Frequencies ..................................................................... 19
1.8 Question 1.h: Discussion and Damping Ratio Estimation ........................................................... 21
2. Question 2: Executive Summary ......................................................................................................... 22
2.1 Rearrangements of Torsional Vibration ...................................................................................... 22
2.2 Four-lowest Natural Frequency Computation............................................................................. 25
2.3 Graph of Residue in Relation to Frequency................................................................................. 27
2.4 Result Validation Using Microsoft Excel ...................................................................................... 30
2.5 Eigenvalue Method for Result Validation .................................................................................... 37
2.6 Calculation for Engine Speed ...................................................................................................... 41
3. Appendix ............................................................................................................................................. 43
3.1 Appendix A .................................................................................................................................. 43
3.2 Appendix B .................................................................................................................................. 47
4. References ........................................................................................................................................... 48
List of tables
Table 1: System's Parameters ...................................................................................................................... 23
Table 2: Equivalent Torsional Vibration Parameters ................................................................................... 23
Table 3: System parameters that are streamlined and grouped ................................................................... 25
Table 4: Several Natural Frequency Scales................................................................................................. 28
Table 5: Validation of Results for Mode Shape 1........................................................................................ 31
Table 6: Validation of Results for Mode Shape 2........................................................................................ 32
Table 7: Validation of Results for Mode Shape 3........................................................................................ 33
Table 8: Validation of Results for Mode Shape 4........................................................................................ 34

List of Figures
Figure 1: A diagram of the 2 DOF system. ................................................................................................... 8
Figure 2: Free Body Diagram of the system ................................................................................................. 8
Figure 3: Mass Displacement M in Vertical and Horizontal Directions ..................................................... 13
Figure 4: Different Kinds of Damping Systems ......................................................................................... 21
Figure 5: Diagram of the diesel-electric hybrid propulsion system ............................................................ 22
Figure 6: Graph of Frequency and Residue ................................................................................................ 27
Figure 7: Mode Shape 1 .............................................................................................................................. 28
Figure 8: Mode Shape 2 .............................................................................................................................. 29
Figure 9: Mode Shape 3 .............................................................................................................................. 29
Figure 10: Mode Shape 4 ............................................................................................................................ 30
Figure 11:Mode shape 1 created using Microsoft Excel. ............................................................................ 35
Figure 12: Mode shape 2 created using Microsoft Excel. ........................................................................... 35
Figure 13: Mode shape 3 created using Microsoft Excel. ........................................................................... 36
Figure 14: Mode shape 4 created using Microsoft Excel. ........................................................................... 36
Figure 15: Combination of four different mode shapes. ............................................................................. 37
Figure 16: MATLAB used the eigenvalue technique to produce natural frequencies. ............................... 40
Figure 17: Matrix of moment of inertias ..................................................................................................... 40
Figure 18:Mode-Form Propeller at the Top and the Natural Frequency of Every Rigid Body................... 41

List of Equations
Equation 1 ..................................................................................................................................................... 9
Equation 2 ..................................................................................................................................................... 9
Equation 3 ..................................................................................................................................................... 9
Equation 4 ................................................................................................................................................... 10
Equation 5 ................................................................................................................................................... 10
Equation 6 ................................................................................................................................................... 10
Equation 7 ................................................................................................................................................... 10
Equation 8 ................................................................................................................................................... 11
Equation 9 ................................................................................................................................................... 11
Equation 10 ................................................................................................................................................. 11
Equation 11 ................................................................................................................................................. 12
Equation 12 ................................................................................................................................................. 12
Equation 13 ................................................................................................................................................. 12
Equation 14 ................................................................................................................................................. 12
Equation 15 ................................................................................................................................................. 12
Equation 16 ................................................................................................................................................. 13
Equation 17 ................................................................................................................................................. 13
Equation 18 ................................................................................................................................................. 13
Equation 19 ................................................................................................................................................. 14
Equation 20 ................................................................................................................................................. 14
Equation 21 ................................................................................................................................................. 14
Equation 22 ................................................................................................................................................. 15
Equation 23 ................................................................................................................................................. 15
Equation 24 ................................................................................................................................................. 16
Equation 25 ................................................................................................................................................. 16
Equation 26 ................................................................................................................................................. 17
Equation 27 ................................................................................................................................................. 17
Equation 28 ................................................................................................................................................. 18
Equation 29 ................................................................................................................................................. 18
Equation 30 ................................................................................................................................................. 18
Equation 31 ................................................................................................................................................. 19
Equation 32 ................................................................................................................................................. 19
Equation 33 ................................................................................................................................................. 19
Equation 34 ................................................................................................................................................. 20
Equation 35 ................................................................................................................................................. 20
Equation 36 ................................................................................................................................................. 20
Equation 37 ................................................................................................................................................. 20
Equation 38 ................................................................................................................................................. 20
Equation 39 ................................................................................................................................................. 20
Equation 40 ................................................................................................................................................. 21
Equation 41 ................................................................................................................................................. 27
Equation 42 ................................................................................................................................................. 37
Equation 43 ................................................................................................................................................. 38
Equation 44 ................................................................................................................................................. 38
Equation 45 ................................................................................................................................................. 38
Equation 46 ................................................................................................................................................. 39
1. Question 1: Executive Summary
A system with two degrees of freedom (DOF) was examined in this assignment. A block with a
mass M was rigged up with two springs on both the top and bottom sides of this two-degrees-of-
freedom arrangement. The bottom spring, which had a spring constant of 𝑘2 , was linked to the
floor, while the top spring, which had a spring constant of 𝑘1 , was linked to the ceiling. In the
meanwhile, the block was linked to the ceiling by a dashpot that had a damping value of 𝑐1. The
mass M would have come into contact with the walls lined with viscous fluids that had damping
coefficients of 𝑐2 and 𝑐3 once it started moving along in the x-direction. At the same time, a
pendulum that had a bob that had a mass 𝑚 linked to it by a rope that had a length 𝑙 was swinging
in synchronise with the angle as the mass 𝑀 moved.

The free body diagrams (FBD) describing the two masses, block 𝑀 and pendulum bob 𝑚, were
first created in Q1(a). Block 𝑀 was thought to be heading downhill in a way that was good. During
movement, it was observed that the damping forces and the rope's internal tension were working
in the opposite direction.

Following that, as directed, the equation for the system's total kinetic energy was stated as the
quantity 𝑇 in Q1(b). To represent the kinetic energy of the system, the kinetic energies of each
mass were first independently measured. The only direction 𝑀 could go in for this problem was
vertical and in the positive 𝑥 − 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 . It was also anticipated that the pendulum bob's
displacement angle would only move in a positive manner. In this instance, it was thought to be
unimportant and hence disregarded for the cross terms that comprised the multiplication of both
masses' linear or angular velocities.

In addition, the mathematical representation of potential energy for the entire system was prepared,
and it was expressed as the word 𝑃𝑒 . This expression was created in Q1(c) by taking into
consideration the strain energy stored inside the springs along with the gravitational potential
energy that is acquired in the bob. Since the variable cos 𝜃 is a component of the equation for bob's
gravitational potential energy, a three-term Taylor series expansion was included to determine its
amplitude.

After completing Q1(d) and Q1(e), the difference in the system's kinetic energy 𝑇 and potential
energy 𝑃𝑒 was computed and denoted as the term 𝐿. This was done so that it could be followed by
the subsequent questions. Later, this phrase was used to distinguish between a few terms, including
𝑑𝐿 𝑑𝐿
𝑥, 𝑥̇ , 𝜃 and 𝜃̇. The derivation parameters ̇ and were then further distinguished with regard to
𝑑𝜃 𝑑𝑥̇

time 𝑡. Additionally, frictional forces and directions were calculated. Both the force of gravity on
mass 𝑀 and the force of air resistance were not taken into consideration.

Last but not least, a number of equations previously obtained were reorganized to follow the format
of the characteristic equation. Two natural frequency expressions were produced by comparing the
revised equations. The system was deemed to be underdamped since as time goes on, the
vibration's amplitude would progressively diminish.
1.1 Question 1.a: Free Body Diagram of Mass 𝑀 and mass 𝑚

Figure 1: A diagram of the 2 DOF system.

The free body diagrams of Mass M and mass m, which are derived from Figure 1, are shown below
Figure 2.

Figure 2: Free Body Diagram of the system

For Mass 𝑀, the gravitational force acts in a downward direction and has a magnitude equal to
𝑚𝑔, where 𝑔 is the acceleration that is caused by gravity. In addition to this, there is a force of
tension, shown by the letter 𝑇, that is acting in the x direction. Furthermore, the upward force
generated by springs 1 and 2 is equal to 𝑘1 𝑥 and 𝑘2 𝑥, where x is the displacement of mass 𝑀 from
its equilibrium condition. The dashpot's upward force 𝑥̇ is equal to 𝑐1 times the derivative of the
mass 𝑀 's displacement with respect to time. The existence of forces that are opposed to the
direction of motion of a particular mass, represented by the letter 𝑚, is the defining characteristic
of the phenomena known as viscous damping. These forces have a relationship that is inversely
proportional to the speed of the mass. A force that is comparable to 𝑥̇ times 𝑐2 and 𝑐3 , respectively,
is exerted on the left and right walls of the chamber by the damping fluid.

For mass, 𝑚, both the tension force from the rope and the mass of the bob itself, which is working
in the opposite direction from each other, contribute to the mass of the pendulum bob, which is
denoted by the symbol 𝑚.

1.2 Question 1.b: The Kinetic Equation's Expression

The kinetic energy of a system with two degrees of freedom is represented by the sum of the
kinetic energies of the two masses.

𝑇 = 𝐾𝑒𝑀 + 𝐾𝑒𝑚

Equation 1

Considering that mass 𝑀 only move in the x-direction, the equation for calculating kinetic
energy reads as follows:

1
𝐾𝑒𝑀 = 2 𝑀𝑥̇ 2

Equation 2

Since the mass of bob m is undergoing oscillations associated with angular displacement, the
movement may be further subdivided into vertical and horizontal displacements.

The displacement may be expressed in vertical and horizontal form as follows:

𝑉𝑒𝑟𝑡𝑖𝑐𝑎𝑙 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡, 𝐷𝑣 = 𝑥 + 𝑙cos 𝜃

Equation 3
𝐻𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡, 𝐷ℎ = 𝑙cos 𝜃

Equation 4

Differentiation is used to get the equation for bob 𝑚’𝑠 vertical and horizontal velocity and it is
shown below:

𝑑
𝑉𝑒𝑟𝑡𝑖𝑐𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑉𝑣 = [𝐷 ]
𝑑𝑡 𝑣
𝑑
= [𝑥 + 𝑙cos 𝜃]
𝑑𝑡
= 𝑥̇ − 𝜃̇𝑙 sin 𝜃

Equation 5

𝑑
𝐻𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑉ℎ = [𝐷 ]
𝑑𝑡 ℎ
𝑑
= [𝑙sin 𝜃]
𝑑𝑡
= 𝜃̇ 𝑙 cos 𝜃

Equation 6

Therefore, the calculation for the expression of the squared derivative velocity of bob 𝑚 is as
described below:

𝑉𝑚2 = 𝑉𝑣2 + 𝑉ℎ2

2 2
= (𝑥̇ − 𝜃̇𝑙 sin 𝜃) + (𝜃̇𝑙 cos 𝜃)
2 2
= 𝑥̇ 2 − 2𝑥̇ 𝜃̇𝑙 sin 𝜃 + (𝜃̇𝑙 sin 𝜃) + (𝜃̇ 𝑙 cos 𝜃)
2
= 𝑥̇ 2 − 2𝑥̇ 𝜃̇𝑙 sin 𝜃 + (𝜃̇𝑙) (sin2 𝜃 + cos2 𝜃)

Equation 7
The approximation 𝑠𝑖𝑛𝜃 = 𝜃 permits the elimination of cross terms for small angles. As a
consequence, 𝑥̇ 2 and 𝜃̇ 2 are kept but the product of 𝑥̇ 𝜃̇ = 0 , is ignored. Additionally, it is
commonly known that the formula sin2 𝜃 + cos2 𝜃 = 1. Hence,

1
𝑉𝑚 = 2 𝑚 (𝑥̇ 2 + 𝜃̇ 2 𝑙 2 )

Equation 8

When the mass 𝑀 experiences vertical displacement in the positive direction marked by 𝑥 and
the mass 𝑀 experiences rotational motion in the positive direction denoted by θ, the equation
expressing the system's total kinetic energy is finally calculated.

𝑇 = 𝐾𝑒𝑀 + 𝐾𝑒𝑚

1 1
𝑇 = 2 𝑀𝑥̇ 2 + 𝑚 (𝑥̇ 2 + 𝜃̇ 2 𝑙 2 )
2

Equation 9

By rearranging the equation, it can be shown that the equation is

1 1
𝑇 = 2 (𝑀 + 𝑚)𝑥̇ 2 + 𝑚𝜃̇ 2 𝑙 2
2

Equation 10

1.3 Question 1.c: The Potential Equation's Expression

The sum of the potential energy of elasticity held in the springs and the potential energy brought
on by gravity in the pendulum bob may be used to indicate the system's overall potential energy
and it is showed in Equation 11. Additionally, due to the springs are arranged in parallel,
Equation 12 shows the total quantity of spring constant:

1
𝑃𝑒𝑆𝑝𝑟𝑖𝑛𝑔 = 2 𝑘𝑒𝑞 𝑥 2
 Equation 11

𝑘𝑒𝑞 = 𝑘1 + 𝑘2

Equation 12

Due to their parallel design, both springs will have the same amplitude of displacement 𝑥. The
total potential energy kept in springs is as follows:

1
𝑃𝑒𝑆𝑝𝑟𝑖𝑛𝑔 = 2 (𝑘1 + 𝑘2 )𝑥 2

Equation 13

The potential energy of the pendulum bob 𝑚 may be expressed as in Equation 14 since it is
oscillating freely.

𝑃𝑒𝑚 = 𝑚𝑔ℎ

Equation 14

Therefore, the entire quantity of potential energy that the system has, denoted by the symbol Pe,
may be calculated by adding the results of Equation 13 and Equation 14, as shown below:

𝑃𝑜𝑡𝑒𝑛𝑡𝑖𝑎𝑙 𝑒𝑛𝑒𝑟𝑔𝑦, 𝑃𝑒 = 𝑃𝑒𝑆𝑝𝑟𝑖𝑛𝑔 + 𝑃𝑒𝑚

1
= 2 (𝑘1 + 𝑘2 )𝑥 2 + 𝑚𝑔ℎ

Equation 15

As a result of the fact that the bob of the pendulum is oscillating with angular displacement, the
quantity h in the equation is variable along the angle of rotation. When the principles of
trigonometry are used, one is able to get the expression of the word h, which is shown in Figure 3.
Consequently, the statement may be recast as by inserting the expression of h into the equation for
potential energy, which is denoted by Equation 15.
 1
𝑃𝑒 = 2 (𝑘1 + 𝑘2 )𝑥 2 + 𝑚𝑔(𝑙 − 𝑙 cos 𝜃)

Equation 16

Figure 3: Mass Displacement M in Vertical and Horizontal Directions

As the cos 𝜃 term is included in the equation for the gravitational potential energy of the pendulum
bob 𝑚, the Taylor series expansion is used to determine the value of the cos 𝜃 term's amplitude.
The fundamental equation of the Taylor series expansion may be stated as follows:

𝑓 ′ (𝑎) 𝑓 ′′ (𝑎)
𝑓(𝑥) = 𝑓(𝑎) + (𝑥 − 𝑎) + (𝑥 − 𝑎)2 + ⋯
1! 2!

Equation 17

It has been shown that an approximation of the value for the cosine term may be obtained using
Taylor series expansion with three components.

sin 0 cos 0
cos 𝜃 = cos 0 − (𝜃) + (𝜃)2
1! 2!

Equation 18
As a result of the fact that 𝑠𝑖𝑛 0 equals zero and 𝑐𝑜𝑠 (0) equals one, the equation is showed as
follows:

𝜃2
𝑐𝑜𝑠𝜃 = 1 − 2

Equation 19

The equation for the potential energy of the system may be stated as follows when Equation 19 is
substituted into Equation 16:

1 𝜃2
𝑃𝑜𝑡𝑒𝑛𝑡𝑖𝑎𝑙 𝑒𝑛𝑒𝑟𝑔𝑦, 𝑃𝑒 = 2 (𝑘1 + 𝑘2 )𝑥 2 + 𝑚𝑔 [𝑙 − 𝑙 (1 − )]
2
1 𝑙𝜃2
𝑃𝑒 = 2 (𝑘1 + 𝑘2 )𝑥 2 + 𝑚𝑔 [𝑙 − 𝑙 + ]
2
1 𝑙𝜃2
𝑃𝑒 = 2 (𝑘1 + 𝑘2 )𝑥 2 + 𝑚𝑔 ( )
2

Equation 20

1.4 Question 1.d: Equation L’s Expression

The difference between 𝑇 and 𝑃e is represented by the variable L in the equation for 𝐿, which can
be written as 𝐿 = 𝑇 − 𝑃e. Therefore,

𝐿 = 𝑇 − 𝑃𝑒

1 1 1 1 𝑚𝑔𝑙𝜃2
𝐿 = 2 (𝑀 + 𝑚)𝑥̇ 2 + 𝑚𝜃̇ 2 𝑙 2 − [ 2 (𝐾1 𝑥)2 + (𝐾2 𝑥)2 − ]
2 2 2

1 1 1 1 𝑚𝑔𝑙𝜃2
𝐿= (𝑀 + 𝑚)𝑥̇ 2 + 𝑚𝜃̇ 2 𝑙 2 − (𝐾1 𝑥)2 − (𝐾2 𝑥)2 −
2 2 2 2 2

Equation 21
1.5 Question 1.e: Equation L’s Derivations
i. L's partial derivative in relation to 𝑥
Due to the fact that the differentiation will be done with regard to 𝑥, the words 𝑥 ̇, 𝜃, 𝑎𝑛𝑑 𝜃 ̇will be
considered as constants.

1 1
𝐿 = − 2 (𝑘1 𝑥)2 − (𝑘2 𝑥)2
2

𝑑 𝑑 1 1 1 1
[𝐿] = [ (𝑀 + 𝑚)𝑥̇ 2 − 2 (𝑘1 + 𝑘2 )𝑥 2 + 2 𝑚𝑙 2 𝜃̇ 2 − 2 𝑔𝑙𝜃 2 ]
𝑑𝑥 𝑑𝑥 2

1
= −2 × (𝑘1 + 𝑘2 )𝑥
2

Hence,
𝑑𝐿
= −(𝑘1 + 𝑘2 )𝑥
𝑑𝑥

Equation 22

ii. L's partial derivative in relation to 𝑥̇

Due to the fact that the differentiation will be done with regard to 𝑥̇ , the words 𝑥 ̇, 𝜃, 𝑎𝑛𝑑 𝜃 ̇will be
considered as constants.

1
𝐿 = 2 (𝑀 + 𝑚)𝑥̇ 2

𝑑 𝑑 1 1 1 1
[𝐿] = [ (𝑀 + 𝑚)𝑥̇ 2 − 2 (𝑘1 + 𝑘2 )𝑥 2 + 2 𝑚𝑙 2 𝜃̇ 2 − 2 𝑔𝑙𝜃 2 ]
𝑑𝑥̇ 𝑑𝑥̇ 2

1
= 2 × 2 (𝑀 + 𝑚)𝑥̇

Hence,

𝑑𝐿
= (𝑀 + 𝑚)𝑥̇
𝑑𝑥̇

Equation 23
iii. L's partial derivative in relation to 𝜃
Due to the fact that the differentiation will be done with regard to 𝜃, the words 𝑥 ̇, 𝜃, 𝑎𝑛𝑑 𝜃 ̇will
be considered as constants.

𝑚𝑔𝑙𝜃2
𝐿=− 2

𝑑 𝑑 1 1 1 1
[𝐿] = [ (𝑀 + 𝑚)𝑥̇ 2 − 2 (𝑘1 + 𝑘2 )𝑥 2 + 2 𝑚𝑙 2 𝜃̇ 2 − 2 𝑔𝑙𝜃 2 ]
𝑑𝜃 𝑑𝜃 2

1
= −2 × 2 𝑔𝑙𝜃

Hence,

𝑑𝐿
= −𝑔𝑙𝜃
𝑑𝜃

Equation 24

iv. L's partial derivative in relation to 𝜃̇

Due to the fact that the differentiation will be done with regard to 𝜃̇, the words 𝑥 ̇, 𝜃, 𝑎𝑛𝑑 𝜃 ̇will be
considered as constants.

1
𝐿 = 2 𝑚𝜃̇ 2 𝑙 2

𝑑 𝑑 1 1 1 1
[𝐿] = [ (𝑀 + 𝑚)𝑥̇ 2 − 2 (𝑘1 + 𝑘2 )𝑥 2 + 2 𝑚𝑙 2 𝜃̇ 2 − 2 𝑔𝑙𝜃 2 ]
𝑑𝜃̇ ̇
𝑑𝜃 2

1
= 2 × 2 𝑚𝑙 2 𝜃̇

Hence,

𝑑𝐿
= 𝑚𝑙 2 𝜃̇
𝑑𝜃̇

Equation 25
v. The equation in (ii)'s time derivative
The differentiated equation from Equation 23 is further differentiated in this section. Since the
word (𝑀 + 𝑚) has nothing to do with time 𝑡, it is viewed as a constant in this context.

𝑑𝐿
= (𝑀 + 𝑚)𝑥̇
𝑑𝑥

𝑑 𝑑𝐿 𝑑
( ) = 𝑑𝑡 [(𝑀 + 𝑚)𝑥̇ ]
𝑑𝑡 𝑑𝑥̇

Hence,

𝑑 𝑑𝐿
( ) = (𝑀 + 𝑚)𝑥̈
𝑑𝑡 𝑑𝑥̇

Equation 26

vi. The equation in (ii)'s time derivative

The differentiated equation from Equation 25 is further differentiated in this section. Since the
word 𝑚𝑙 2 has nothing to do with time 𝑡, it is viewed as a constant in this context.

𝑑 𝑑𝐿 𝑑
( ) = 𝑑𝑡 [𝑚𝑙 2 𝜃̇]
𝑑𝑡 𝑑𝜃̇

Hence,

𝑑 𝑑𝐿
( ) = 𝑚𝑙 2 𝜃̈
𝑑𝑡 𝑑𝜃̇

Equation 27

vii. Total frictional forces acting in the x direction

The current system does not have motion in the horizontal direction. Therefore, the horizontal
frictional forces operating in that direction are zero. In the presence of damping, frictional forces
that operate vertically manifest themselves. The damping component of the system is a mass 𝑀
connected to a dashpot, which has a damping coefficient of 𝑐1. Additionally, the mass 𝑀 makes
contact with surfaces covered with viscous fluids that have damping coefficients of 𝑐2 and 𝑐3 .

The frictional forces caused by damping oppose the motion of the object and are inversely
proportional to the velocity of the item. As a result, the dashpot's frictional force on the mass 𝑀 is
−𝑐1 𝑥̇ ,, while the viscosity fluid on the walls' frictional forces on the mass 𝑀 are −𝑐2 𝑥̇ and −𝑐3 𝑥̇ ,
respectively, where 𝑥̇ signifies the mass's velocity. As a result, the following illustration shows the
total vertical frictional forces that are acting on Mass 𝑀:

𝑇𝑜𝑡𝑎𝑙 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛𝑎𝑙 𝑓𝑜𝑟𝑐𝑒𝑠, 𝑓𝑥 = −(𝑐1 + 𝑐2 + 𝑐3 )𝑥̇

Equation 28

viii. Total frictional forces acting in the θ direction

By examining Figure 1, one discovers that the only component of the pendulum that is moving in
the direction is the bob m. There is no other connection to the pendulum bob save the rope, and
because the air drag is not taken into account, there's nothing that adds to the frictional force in the
direction of motion.

𝑇𝑜𝑡𝑎𝑙 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛𝑎𝑙 𝑓𝑜𝑟𝑐𝑒𝑠, 𝑓𝜃 = 0

Equation 29

1.6 Question 1.f: Subtract the expression

i. Question 1.f.i
It is anticipated that the result of subtracting Equation 22 from Equation 26 will provide the same
value as the negative amplitude of the expression given by Equation 28. Simply by replacing the
following expressions:

(𝑀 + 𝑚)𝑥̈ − [−(𝑘1 + 𝑘2 )𝑥] = −(𝑐1 + 𝑐2 + 𝑐3 )𝑥̇

(𝑀 + 𝑚)𝑥̈ + (𝑘1 + 𝑘2 )𝑥 = −(𝑐1 + 𝑐2 + 𝑐3 )𝑥̇

(𝑀 + 𝑚)𝑥̈ + (𝑐1 + 𝑐2 + 𝑐3 )𝑥̇ + (𝑘1 + 𝑘2 )𝑥 = 0

Equation 30
ii. Question 1.f.ii
It is anticipated that the result of subtracting Equation 24 from Equation 27 will provide the same
value as the negative amplitude of the expression given by Equation 29. Simply by replacing the
following expressions:

𝑚𝑙 2 𝜃̈ − (−𝑔𝑙𝜃) = −0

𝑚𝑙 2 𝜃̈ + 𝑔𝑙𝜃 = 0

Equation 31

1.7 Question 1.g: Calculation for Natural Frequencies

The equation for the general form of the characteristic is stated as:

𝑥̈ + 𝐴𝑥̇ + 𝐵𝑥 = 0

Equation 32

𝑊ℎ𝑒𝑟𝑒:

𝐴 𝑖𝑠 𝑒𝑞𝑢𝑎𝑙 𝑡𝑜 2𝜁𝜔𝑁

2
𝐵 𝑖𝑠 𝑒𝑞𝑢𝑎𝑙 𝑡𝑜 𝜔𝑁

In order to fulfil the arrangement of Equation 30, Equations 31 and 32 are rearranged in a
different order.
By rearranging the terms in Equation 30, one new equation will be obtained:

(𝑀 + 𝑚)𝑥̈ + (𝑐1 + 𝑐2 + 𝑐3 )𝑥̇ + (𝑘1 + 𝑘2 )𝑥 = 0

𝑐1 +𝑐2 +𝑐3 𝑘1 +𝑘2

𝑥̈ + 𝑥̇ + 𝑥=0
𝑀+𝑚 𝑀+𝑚

Equation 33

By rearranging the terms in Equation 31, one new equation will be obtained:

𝑚𝑙 2 𝜃̈ + 𝑔𝑙𝜃 = 0
 𝑔𝑙
𝜃̈ + 𝑚𝑙2 𝜃 = 0

Equation 34

When Equation 33 is compared to Equation 32, the following is found to prove valid:

𝑐1 +𝑐2 +𝑐3
𝐴= 𝑀+𝑚

Equation 35

𝑘1 +𝑘2
𝐵= 𝑀+𝑚

Equation 36

The expression of the amplitude of the first natural frequency may be found by taking the square
root of the expression of 𝐵 in Equation 36. This results in the expression being as follows:

1 𝑘 +𝑘
2
𝜔𝑁1 = √ 𝑀+𝑚

Equation 37

On the other hand, when Equation 34 is compared to Equation 32, the following results are
obtained:

𝐴=0

Equation 38

2 𝑔𝑙
𝐵 = 𝜔𝑁 = 𝑚𝑙2

Equation 39
The expression of the amplitude of the second natural frequency may be found by taking the
square root of the expression of 𝐵 in Equation 38. This results in the expression being as follows:

𝑔𝑙
𝜔𝑁2 = √𝑚𝑙2

Equation 40

1.8 Question 1.h: Discussion and Damping Ratio Estimation

While a mass, 𝑀, goes through vertical oscillations for a period of time and then ultimately comes
to rest, it is possible to predict that the system is functioning in an underdamped situation, in which
the damping ratio is anticipated to be less than one, written as a negative number. The fact that it
takes the movement a few minutes to become still and quiet is one of the reasons why the condition
is thought to be inadequately dampened. In the scenario when the system was severely damped
𝜁 = 1, the amount of time it took for it to settle down and stop moving would have taken shorter.
of time. In addition, when the structure is excessively overdamped 𝜁 ≫ 1, then neither motion free
nor oscillation will take place once an external force has been applied. Figure 4 provides a visual
representation of each damping condition via the use of an illustrated graph (Pragna 2016).

Figure 4: Different Kinds of Damping Systems

2. Question 2: Executive Summary
In this investigation, the torsional natural frequencies and engine speeds at the times of the natural
frequencies of a real marine diesel-electric hybrid propulsion system are examined. It is well known that
the system has four cylinders, in addition to a flexible coupling and a gearbox. In order to make the analysis
go more smoothly, the total quantity of mass elements was cut down to 13, and some of the portions were
combined. When these lumped elements were combined, it required calculations of moment of inertia in
addition to the multiplication of gear ratios. The approach developed by Holzer is applied with the help of
MATLAB in order to reach four of the natural frequencies that are lowest. After some time has passed, the
findings that were obtained by MATLAB are manually applied in Microsoft Excel using Holzer's approach
in order to do further validation. Additionally, the Eigenvalue approach is used in order to carry out an
additional justification on the validation of the findings. When the graphs and natural frequencies that were
produced from each approach are compared to one another, there is very little to no difference in the results
that were received from each method. This indicates that the data are reliable. Last but not least, the
operating speed of the engine is calculated when it is brought into resonance with the inherent frequencies
of the system.

2.1 Rearrangements of Torsional Vibration

Figure 5 depicts a portion of the diesel-electric hybrid propulsion system's schematic design. The figure is
in partial schematic form. Table 1 also includes some basic information on the system that has been listed
in the meanwhile.

Figure 5: Diagram of the diesel-electric hybrid propulsion system

 𝑪𝒐𝒎𝒑𝒐𝒏𝒆𝒏𝒕 𝑻𝒚𝒑𝒆 𝑷𝒂𝒓𝒂𝒎𝒆𝒕𝒆𝒓𝒔

𝑅𝑎𝑡𝑒𝑑 𝑡𝑜𝑟𝑞𝑢𝑒 = 1.8 𝑘𝑁𝑚

𝐹𝑙𝑒𝑥𝑖𝑏𝑙𝑒 𝐶𝑜𝑢𝑝𝑙𝑖𝑛𝑔 𝐻𝐺𝑇𝐿1.8 𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑡𝑜𝑟𝑞𝑢𝑒 = 4.5 𝑘𝑁𝑚
𝑅𝑒𝑙𝑎𝑡𝑖𝑣𝑒 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 = 1.1

𝑃𝑜𝑤𝑒𝑟 = 60𝑘𝑊
𝑆𝑝𝑒𝑒𝑑 = 1500𝑟/𝑚𝑖𝑛
4 𝐶𝑦𝑙𝑖𝑛𝑑𝑒𝑟 𝐷𝑖𝑒𝑠𝑒𝑙 𝐸𝑛𝑔𝑖𝑛𝑒 𝑇𝐷226𝐵 − 4𝐶
𝐵𝑜𝑟𝑒 = 105𝑚𝑚
𝑆𝑡𝑟𝑜𝑘𝑒 = 120𝑚𝑚

𝐺𝑒𝑎𝑟𝑏𝑜𝑥 2𝐺𝑊𝐻100 4 𝑔𝑒𝑎𝑟𝑠

Table 1: System's Parameters

Table 2: Equivalent Torsional Vibration Parameters

Information on the system's various stiffness and damping properties are shown in the figure that
can be seen above, which is referred to as Table 2. The damping ratio is often discussed in relation
to a critical damping coefficient that is equal to 1.7 𝑘𝑔/𝑠.

The stiff shafts and the neighbouring shafts may be combined into one another in order to simplify
this system. The condensed list of the data for the variables is shown in Table 3. As a consequence
of this, the system has been simplified to the point where it is only necessary to take into account
13 sets of the moment of inertia, down from the original total of 20 sets.

𝑵𝒐. 𝑳𝒖𝒎𝒑𝒆𝒅 𝑰𝒏𝒆𝒓𝒕𝒊𝒂𝒔 𝑰𝒏𝒆𝒓𝒕𝒊𝒂 (𝒌𝒈𝒎𝟐 ) 𝑺𝒕𝒊𝒇𝒇𝒏𝒆𝒔𝒔 (𝑵𝒎/𝒓𝒂𝒅)

1 𝐼1 + 𝐼2 0.1012 −
− − 1100000
2 𝐼3 0.123
− − 1100000
3 𝐼4 0.123 −
− − 1100000
4 𝐼5 0.123
− − 1100000
5 𝐼6 0.123 −
− − 1734000
6 𝐼7 + 𝐼8 1.3088 −
− − 14100
7 𝐼9 + 𝐼10 0.1309 −
− − 679300
8 𝐼11 + 𝐼12 0.0430
− − 2620900
100 2
9 (𝐼13 + 𝐼14 ) × ( ) 0.1269 −
75
− − 4578667
100 2 100 60 2
10 𝐼15 × ( ) + 𝐼16 ( × ) 0.0844 −
75 75 25
− − 11264000
100 60 2
11 (𝐼17 + 𝐼18 ) ( × ) 0.4792 −
75 25
 − − 26838016
100 60 2
12 𝐼19 ( × ) 0.4178 −
75 25
− − 5668864
100 60 2
13 𝐼20 ( × ) 0.1679 −
75 25
Table 3: System parameters that are streamlined and grouped

2.2 Four-lowest Natural Frequency Computation

Using the condensed versions of the lumped system's characteristics, which are shown in Table 3,
one may use MATLAB to determine the system's four lowest natural frequencies. In the meanwhile,
mode forms may also be created with the help of the MATLAB code included in the holzer4.m
file, which can be discovered in Appendix A.

The information found in Table 3 is now being fed into the system in order to determine its mode
shapes and four of its lowest frequencies. The following constitutes the input code:

n1 = 100;
n2 = 75;
n3 = 60;
n4 = 25;
G1 = 100/75;
G2 = 60/25;

Iner = [
0.101+0.0002
0.123
0.123
0.123
0.123
1.1134+0.1954
0.1247+0.0062
0.0398+0.0032
0.0448+0.0462*G1^2
0.0463*G1^2+0.0002*(G1*G2)^2
(0.0448+0.002)*(G1*G2)^2
0.0408*(G1*G2)^2
0.0164*(G1*G2)^2
];

ks = [
1100000
1100000
1100000
1100000
1734000
14100
679300
2620900
2575500*G1^2
1100000*(G1*G2)^2
2620900*(G1*G2)^2
553600*(G1*G2)^2
];

modeshape=4;
tol = 10^(-4);
printon = 0;

[freqs,modeshapes]=holzer4(Iner',ks',modeshape,tol,0);
2.3 Graph of Residue in Relation to Frequency

Figure 6: Graph of Frequency and Residue

With the use of a graph that shows frequency versus residue, the four natural frequencies that are
the lowest may be determined to be 129.21 𝑟𝑎𝑑/𝑠 , 1097.23 𝑟𝑎𝑑/𝑠 , 1985.82 𝑟𝑎𝑑/𝑠 , and
2784.24 𝑟𝑎𝑑/𝑠, in that order. Utilizing the following formula will allow you to convert natural
frequency measured in radians per second to hertz; all of the values for this expression can be
found in Table 3 located further down on this page.
𝜔
𝑓= 2𝜋

Equation 41

Below is an example computation for 𝜔𝑁,1 = 129.21 𝑟𝑎𝑑/𝑠

129.21
𝑓= 2𝜋

𝑓 = 20.56𝐻𝑧

Table 4 contains the natural frequencies after they have been transformed and tabulated further.
The shapes of each mode, together with their corresponding natural frequencies, are shown in
Figure 7, Figure 8, Figure 9, and Figure 10, respectively.
𝑵𝒖𝒎𝒃𝒆𝒓 𝒐𝒇 𝑴𝒐𝒅𝒆 𝑺𝒉𝒂𝒑𝒆 𝒇𝑵 (𝑯𝒛) 𝝎𝑵 (𝒓𝒂𝒅/𝒔)
1 20.56 129.21
2 174.63 1097.23
3 316.05 1985.82
4 443.12 2784.24
Table 4: Several Natural Frequency Scales

Figure 7: Mode Shape 1

Figure 8: Mode Shape 2

Figure 9: Mode Shape 3

 Figure 10: Mode Shape 4

2.4 Result Validation Using Microsoft Excel

Microsoft Excel is used to build a verification procedure that will check the accuracy of the outputs
from MATLAB. Tables are built using Holzer's approach in this validation. These tables allow for
natural frequencies to be reached when the overall torque is close to zero. The four lowest natural
frequencies in radians that were received from MATLAB are used as the natural frequency values
in this approach, where amplitude is initially believed to be ∅ = 1 𝑟𝑎𝑑.

𝝎𝑵,𝟏 = 𝟏𝟐𝟗. 𝟐𝟏 𝒓𝒂𝒅/𝒔

Torsional
Inertia, 𝑰 ⍵𝟐
𝟑
Amplitude, ∅ 𝑰∅ (𝒌𝒈𝒎 ) ∑ 𝑰∅ stiffness ∑ 𝑰∅
(𝒌𝒈𝒎𝟐 ) 𝒌
, 𝒌 (𝑵𝒎/𝒓𝒂𝒅)
0.1012 1 0.1012 0.1012
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.0015359606
0.1230 0.9985 0.1228 0.2240
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.0033999228
0.1230 0.9951 0.1224 0.3464
 𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.0052575380
0.1230 0.9898 0.1217 0.4682
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.0071053382
0.1230 0.9827 0.1209 0.5890
𝟏𝟕𝟑𝟒𝟎𝟎𝟎 0.0056712003
1.3088 0.9770 1.2787 1.8678
𝟏𝟒𝟏𝟎𝟎 2.2115362246
0.1309 −1.2345 −0.1616 1.7062
𝟔𝟕𝟗𝟑𝟎𝟎 0.0419325261
0.0430 −1.2764 −0.0549 1.6513
𝟐𝟔𝟐𝟎𝟗𝟎𝟎 0.0105186831
0.1269 −1.2870 −0.1633 1.4880
𝟒𝟓𝟕𝟖𝟔𝟔𝟕 0.0054255615
0.0844 −1.2924 −0.1091 1.3789
𝟏𝟏𝟐𝟔𝟒𝟎𝟎𝟎 0.0020437474
0.4792 −1.2944 −0.6203 0.7586
𝟐𝟔𝟖𝟑𝟖𝟎𝟏𝟔 0.0004719016
0.4178 −1.2949 −0.5410 0.2176
𝟓𝟔𝟔𝟖𝟖𝟔𝟒 0.0006408060
0.1679 −1.2955 −0.2175 −0.0000029
Table 5: Validation of Results for Mode Shape 1

𝝎𝑵,𝟐 = 𝟏𝟎𝟗𝟕. 𝟐𝟑 𝒓𝒂𝒅/𝒔

Torsional
Inertia, 𝑰 ⍵𝟐
Amplitude, ∅ 𝑰∅ (𝒌𝒈𝒎 ) 𝟑
∑ 𝑰∅ stiffness, 𝒌 ∑ 𝑰∅
𝟐
(𝒌𝒈𝒎 ) 𝒌
(𝑵𝒎/𝒓𝒂𝒅)
𝟎. 𝟏𝟎𝟏𝟐 1.0000 0.1012 0.1012
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.1107600579
𝟎. 𝟏𝟐𝟑𝟎 0.8892 0.1094 0.2106
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.2304690391
𝟎. 𝟏𝟐𝟑𝟎 0.6588 0.0810 0.2916
 𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.3191524078
𝟎. 𝟏𝟐𝟑𝟎 0.3396 0.0418 0.3334
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.3648716588
𝟎. 𝟏𝟐𝟑𝟎 −0.0253 −0.0031 0.3303
𝟏𝟕𝟑𝟒𝟎𝟎𝟎 0.2293075555
𝟏. 𝟑𝟎𝟖𝟖 −0.2546 −0.3332 −0.0029
𝟏𝟒𝟏𝟎𝟎 −0.2473401837
𝟎. 𝟏𝟑𝟎𝟗 −0.0072 −0.0009 −0.0038
𝟔𝟕𝟗𝟑𝟎𝟎 −0.0068090643
𝟎. 𝟎𝟒𝟑𝟎 −0.0004 0.0000 −0.0039
𝟐𝟔𝟐𝟎𝟗𝟎𝟎 −0.0017729400
𝟎. 𝟏𝟐𝟔𝟗 0.0014 0.0002 −0.0037
𝟒𝟓𝟕𝟖𝟔𝟔𝟕 −0.0009694302
𝟎. 𝟎𝟖𝟒𝟒 0.0023 0.0002 −0.0035
𝟏𝟏𝟐𝟔𝟒𝟎𝟎𝟎 −0.0003730340
𝟎. 𝟒𝟕𝟗𝟐 0.0027 0.0013 −0.0022
𝟐𝟔𝟖𝟑𝟖𝟎𝟏𝟔 −0.0000984392
𝟎. 𝟒𝟏𝟕𝟖 0.0028 0.0012 −0.0010
𝟓𝟔𝟔𝟖𝟖𝟔𝟒 −0.0002173864
𝟎. 𝟏𝟔𝟕𝟗 0.0030 0.0005 −0.0005
Table 6: Validation of Results for Mode Shape 2

𝝎𝑵,𝟐 = 𝟏𝟎𝟗𝟕. 𝟐𝟑 𝒓𝒂𝒅/𝒔

Torsional
Inertia, 𝑰 ⍵𝟐
Amplitude, ∅ 𝑰∅ (𝒌𝒈𝒎 ) 𝟑
∑ 𝑰∅ stiffness, 𝒌 ∑ 𝑰∅
𝟐
(𝒌𝒈𝒎 ) 𝒌
(𝑵𝒎/𝒓𝒂𝒅)
𝟎. 𝟏𝟎𝟏𝟐 1.0000 0.1012 0.1012
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.1107600579
𝟎. 𝟏𝟐𝟑𝟎 0.8892 0.1094 0.2106
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.2304690391
𝟎. 𝟏𝟐𝟑𝟎 0.6588 0.0810 0.2916
 𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.3191524078
𝟎. 𝟏𝟐𝟑𝟎 0.3396 0.0418 0.3334
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 0.3648716588
𝟎. 𝟏𝟐𝟑𝟎 −0.0253 −0.0031 0.3303
𝟏𝟕𝟑𝟒𝟎𝟎𝟎 0.2293075555
𝟏. 𝟑𝟎𝟖𝟖 −0.2546 −0.3332 −0.0029
𝟏𝟒𝟏𝟎𝟎 −0.2473401837
𝟎. 𝟏𝟑𝟎𝟗 −0.0072 −0.0009 −0.0038
𝟔𝟕𝟗𝟑𝟎𝟎 −0.0068090643
𝟎. 𝟎𝟒𝟑𝟎 −0.0004 0.0000 −0.0039
𝟐𝟔𝟐𝟎𝟗𝟎𝟎 −0.0017729400
𝟎. 𝟏𝟐𝟔𝟗 0.0014 0.0002 −0.0037
𝟒𝟓𝟕𝟖𝟔𝟔𝟕 −0.0009694302
𝟎. 𝟎𝟖𝟒𝟒 0.0023 0.0002 −0.0035
𝟏𝟏𝟐𝟔𝟒𝟎𝟎𝟎 −0.0003730340
𝟎. 𝟒𝟕𝟗𝟐 0.0027 0.0013 −0.0022
𝟐𝟔𝟖𝟑𝟖𝟎𝟏𝟔 −0.0000984392
𝟎. 𝟒𝟏𝟕𝟖 0.0028 0.0012 −0.0010
𝟓𝟔𝟔𝟖𝟖𝟔𝟒 −0.0002173864
𝟎. 𝟏𝟔𝟕𝟗 0.0030 0.0005 −0.0005
Table 7: Validation of Results for Mode Shape 3

𝝎𝑵,𝟒 = 𝟐𝟕𝟖𝟒. 𝟐𝟒 𝒓𝒂𝒅/𝒔

Torsional
Inertia, 𝑰 ⍵𝟐
Amplitude, ∅ 𝑰∅ (𝒌𝒈𝒎𝟑 ) ∑ 𝑰∅ stiffness, 𝒌 ∑ 𝑰∅
(𝒌𝒈𝒎𝟐 ) 𝒌
(𝑵𝒎/𝒓𝒂𝒅)
𝟎. 𝟏𝟎𝟏𝟐 1.0000 0.1012 0.1012
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 7.13𝑥10 − 1
𝟎. 𝟏𝟐𝟑𝟎 0.2868 0.0353 0.1365
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 9.62𝑥10 − 1
𝟎. 𝟏𝟐𝟑𝟎 −0.6750 −0.0830 0.0535
 𝟏𝟏𝟎𝟎𝟎𝟎𝟎 3.77𝑥10 − 1
𝟎. 𝟏𝟐𝟑𝟎 −1.0517 −0.1294 −0.0759
𝟏𝟏𝟎𝟎𝟎𝟎𝟎 −5.35𝑥10 − 1
𝟎. 𝟏𝟐𝟑𝟎 −0.5168 −0.0636 −0.1395
𝟏𝟕𝟑𝟒𝟎𝟎𝟎 −6.24𝑥10 − 1
𝟏. 𝟑𝟎𝟖𝟖 0.1067 0.1397 0.0002
𝟏𝟒𝟏𝟎𝟎 1.12𝑥10 − 1
𝟎. 𝟏𝟑𝟎𝟗 −0.0051 −0.0007 −0.0005
𝟔𝟕𝟗𝟑𝟎𝟎 −5.25𝑥10 − 3
𝟎. 𝟎𝟒𝟑𝟎 0.0002 0.0000 −0.0005
𝟐𝟔𝟐𝟎𝟗𝟎𝟎 −1.34𝑥10 − 3
𝟎. 𝟏𝟐𝟔𝟗 0.0015 0.0002 −0.0003
𝟒𝟓𝟕𝟖𝟔𝟔𝟕 −4.39𝑥10 − 4
𝟎. 𝟎𝟖𝟒𝟒 0.0020 0.0002 −0.0001
𝟏𝟏𝟐𝟔𝟒𝟎𝟎𝟎 −6.49𝑥10 − 5
𝟎. 𝟒𝟕𝟗𝟐 0.0020 0.0010 0.0009
𝟐𝟔𝟖𝟑𝟖𝟎𝟏𝟔 2.53𝑥10 − 4
𝟎. 𝟒𝟏𝟕𝟖 0.0018 0.0007 0.0016
𝟓𝟔𝟔𝟖𝟖𝟔𝟒 2.21𝑥10 − 3
𝟎. 𝟏𝟔𝟕𝟗 −0.0004 −0.0001 0.0015
Table 8: Validation of Results for Mode Shape 4

There is a high degree of precision in the natural frequencies that were computed using MATLAB,
as shown by the fact that the final residue values are quite near to zero (as shown in Tables 5
through Table 8). The mode shape may be graphed, and then each pattern can be determined by
comparing the resulting graphs.
 Mode Shape 1 (𝜔𝑁,1=129.21 𝑟𝑎𝑑/𝑠)
1.5
Relative Displacement to Mass Element 1

1.0

0.5

0.0
0 2 4 6 8 10 12 14

-0.5

-1.0

-1.5
Number of Mass Element

Figure 11:Mode shape 1 created using Microsoft Excel.

Mode Shape 2 (𝜔𝑁,2=1097.23 𝑟𝑎𝑑/𝑠)

1
Relative Displacement to Mass Element 1

0
0 2 4 6 8 10 12 14
0

0
Number of Mass Element

Figure 12: Mode shape 2 created using Microsoft Excel.

 Mode Shape 3 (𝜔𝑁,3=1985.82 𝑟𝑎𝑑/𝑠)
400

350
Relative Displacement to Mass Element 1

300

250

200

150

100

50

0
0 2 4 6 8 10 12 14
-50

-100
Number of Mass Element

Figure 13: Mode shape 3 created using Microsoft Excel.

Mode Shape 4 (𝜔𝑁,4=2784.24 𝑟𝑎𝑑/𝑠)

1.5
Relative Displacement to Mass Element 1

1.0

0.5

0.0
0 2 4 6 8 10 12 14

-0.5

-1.0

-1.5
Number of Mass Element

Figure 14: Mode shape 4 created using Microsoft Excel.

 Combined Mode Shapes
400
Relative Displacement to Mass Element 1

350

300

250

200

150

100

50

0
0 2 4 6 8 10 12 14
-50

-100
Number of Mass Element

mode 1 mode 2 mode 3 mode 4

Figure 15: Combination of four different mode shapes.

2.5 Eigenvalue Method for Result Validation

Eigenvalue is another way that may be used to undertake result verification of the significance of
natural frequencies that have been produced. A mathematical expression of the system may be
created by adding together all of the torque amounts on each shaft. This is how the expression
should be written:

∑ 𝑇 = 𝐼𝜃̈

Equation 42

−𝑘1 (𝜃1 − 𝜃2 ) = 𝐼1 𝜃̈1

−𝑘1 (𝜃2 − 𝜃1 )−𝑘2 (𝜃2 − 𝜃3 ) = 𝐼2 𝜃̈2

−𝑘2 (𝜃3 − 𝜃2 )−𝑘3 (𝜃3 − 𝜃4 ) = 𝐼3 𝜃̈3

−𝑘3 (𝜃4 − 𝜃3 )−𝑘4 (𝜃4 − 𝜃5 ) = 𝐼4 𝜃̈4

−𝑘4 (𝜃5 − 𝜃4 )−𝑘5 (𝜃5 − 𝜃6 ) = 𝐼5 𝜃̈5

−𝑘5 (𝜃6 − 𝜃5 )−𝑘6 (𝜃6 − 𝜃7 ) = 𝐼6 𝜃̈6

−𝑘6 (𝜃7 − 𝜃6 )−𝑘7 (𝜃7 − 𝜃8 ) = 𝐼7 𝜃̈7

−𝑘7 (𝜃8 − 𝜃7 )−𝑘8 (𝜃8 − 𝜃9 ) = 𝐼8 𝜃̈8

−𝑘8 (𝜃9 − 𝜃8 )−𝑘9 (𝜃9 − 𝜃10 ) = 𝐼9 𝜃̈9

−𝑘9 (𝜃10 − 𝜃9 )−𝑘10 (𝜃10 − 𝜃11 ) = 𝐼10 𝜃̈10

−𝑘10 (𝜃11 − 𝜃10 )−𝑘11 (𝜃11 − 𝜃12 ) = 𝐼11 𝜃̈11

−𝑘11 (𝜃12 − 𝜃11 )−𝑘12 (𝜃12 − 𝜃13 ) = 𝐼12 𝜃̈12

𝑘12 (𝜃13 − 𝜃12 ) = 𝐼13 𝜃̈13

Normal mode will be assumed below:

𝜃𝑖 = 𝛩𝑖 𝑠𝑖𝑛(𝜔𝑛 𝑡)

Equation 43

𝜃̇𝑖 = 𝛩𝑖 𝜔𝑖 𝑐𝑜𝑠(𝜔𝑛 𝑡)

Equation 44

𝜃̈𝑖 = −𝛩𝑖 𝜔𝑖2 𝑠𝑖𝑛(𝜔𝑛 𝑡)

Equation 45

These equations are merged and transformed into matrix form by inserting Equation 43,
Equation 44, and Equation 45 into the 13 sets of second order differential equations that were
produced.

2 [𝑀][Θ]
[𝐾][Θ] = −𝜔𝑁
 Equation 46

𝑤ℎ𝑒𝑟𝑒,

[𝐾]𝑟𝑒𝑝𝑟𝑒𝑠𝑒𝑛𝑡 𝑚𝑎𝑡𝑟𝑖𝑥 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑆𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠,

[𝑀]𝑟𝑒𝑝𝑟𝑒𝑠𝑒𝑛𝑡 𝑚𝑎𝑡𝑟𝑖𝑥 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑀𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝐼𝑛𝑒𝑟𝑡𝑖𝑎

The following will demonstrate a diagonal pattern for each of them:

After that, the general equation of the system is rewritten in the form of an eigenvalue by
converting it from the matrix form:

2 [𝑀]
−[𝑀]−1 × [𝐾][Θ] = −𝜔𝑁 × [𝑀]−1 [Θ]

2
−[𝑀]−1 [𝐾]{Θ} = −𝜔𝑁 {Θ}

[𝐴]𝜆 = 𝜆𝑋

Calculating the equation for the eigenvalue is made much easier with the help of MATLAB. The
code for the program will be included in Appendix B. Following the acquisition of the input matrix,
the software code may then proceed to produce the system's natural frequencies.
 Figure 16: MATLAB used the eigenvalue technique to produce natural frequencies.

MATLAB's computed natural frequencies are shown in Figure 16. These frequencies were
determined using the Eigenvalue Method. In addition to the frequency of 0 ℎ𝑒𝑟𝑡𝑧, the next four
lowest natural frequencies are discovered to be 20.6 𝐻𝑧, 174.6 𝐻𝑧, 316.1 𝐻𝑧, and 443.1 𝐻𝑧
respectively. There is very little to no difference in the results of natural frequencies when
compared to the values that were acquired before in Table 4.

Figure 17: Matrix of moment of inertias

 Figure 18:Mode-Form Propeller at the Top and the Natural Frequency of Every Rigid Body

In MATLAB, the inertias are represented as a matrix variable after being stated in the manner
shown in Figure 17’s inertia table. In addition, a tabular representation of the stiffness of each rigid
body in each of its distinct mode forms at its various natural frequencies may be found in Figure
18.

2.6 Calculation for Engine Speed

It is feasible to determine the speed of the engine that will cause the frequency in the engine to
coincide with the lowest 4 natural frequencies through converting the natural frequencies that were
discovered in the previous section to revolutions per minute. This would allow the engine
frequency to be in sync with the natural frequencies. The natural frequencies need to be divided
by four in order to account for the fact that the engine powering the propulsion system will be of
the four-stroke kind.

60
𝜔𝑁𝑖 × 2𝜋
𝐸𝑛𝑔𝑖𝑛𝑒 𝑠𝑝𝑒𝑒𝑑, Ω𝐸𝑛𝑔𝑖𝑛𝑒 =
4

𝑭𝒐𝒓 𝝎𝑵𝟏 = 𝟏𝟐𝟗. 𝟗𝟐 𝒓𝒂𝒅/𝒔,

60
129.92 × 2𝜋
𝐸𝑛𝑔𝑖𝑛𝑒 𝑠𝑝𝑒𝑒𝑑, Ω𝐸𝑛𝑔 =
4
= 308.47 𝑅𝑃𝑀

𝑭𝒐𝒓 𝝎𝑵𝟐 = 𝟏𝟎𝟗𝟕. 𝟐𝟑 𝒓𝒂𝒅/𝒔,

60
1097.23 ×
𝐸𝑛𝑔𝑖𝑛𝑒 𝑠𝑝𝑒𝑒𝑑, Ω𝐸𝑛𝑔 = 2𝜋
4

= 2619.45 𝑅𝑃𝑀

𝑭𝒐𝒓 𝝎𝑵𝟑 = 𝟏𝟗𝟖𝟔. 𝟖𝟐 𝒓𝒂𝒅/𝒔,

60
1986.82 × 2𝜋
𝐸𝑛𝑔𝑖𝑛𝑒 𝑠𝑝𝑒𝑒𝑑, Ω𝐸𝑛𝑔 =
4

= 4740.81 𝑅𝑃𝑀

𝑭𝒐𝒓 𝝎𝑵𝟒 = 𝟐𝟕𝟖𝟒. 𝟐𝟒 𝒓𝒂𝒅/𝒔,

60
2784.24 × 2𝜋
𝐸𝑛𝑔𝑖𝑛𝑒 𝑠𝑝𝑒𝑒𝑑, Ω𝐸𝑛𝑔 =
4

= 6646.89 𝑅𝑃𝑀
3. Appendix
3.1 Appendix A
3.2 Appendix B
4. References
Pragna, Chukka. 2016. “Damping System and Its Types.” Engineering Notes. July 1, 2016.
http://engineeringwrittennotes.blogspot.com/2016/07/damping-system-damping-torque-
have.html.