Presentation by

Dr. Gary Atkinson

Dynamics
Senior Lecturer in
Engineering Lecture 6:
Coupled oscillation
Introduction to laboratory
07 March 2022
UFMFH3-15-2

gary.atkinson@uwe.ac.uk
Today
• Oscillators with two degrees of freedom (DoF)
• Mechanical impedance matrix
• Resonance in 2 DoF oscillators
• Mode shapes

• Introduction to laboratory
2 DoF Equations
• For now, we’ll largely restrict multiple DoF oscillators to
2 masses with no damping or forcing.
o Can’t do everything!

• Apply Newton’s Second Law to first mass, 𝑚𝑚1 :

𝐹𝐹1 = 𝑚𝑚1 𝑥𝑥1̈ = −𝑘𝑘1 𝑥𝑥1 − 𝑘𝑘2 𝑥𝑥1 + 𝑘𝑘2 𝑥𝑥2
𝑚𝑚1 𝑥𝑥1̈ + 𝑘𝑘1 + 𝑘𝑘2 𝑥𝑥1 − 𝑘𝑘2 𝑥𝑥2 = 0

• Have a go at this for the second mass, 𝑚𝑚2 .

𝐹𝐹2 = 𝑚𝑚2 𝑥𝑥2̈ = 𝑘𝑘2 𝑥𝑥1 − 𝑘𝑘2 𝑥𝑥2 − 𝑘𝑘3 𝑥𝑥2
𝑚𝑚2 𝑥𝑥2̈ − 𝑘𝑘2 𝑥𝑥1 + 𝑘𝑘2 + 𝑘𝑘3 𝑥𝑥2 = 0
2 DoF Equations
𝑚𝑚1 𝑥𝑥1̈ + 𝑘𝑘1 + 𝑘𝑘2 𝑥𝑥1 − 𝑘𝑘2 𝑥𝑥2 = 0
𝑚𝑚2 𝑥𝑥2̈ − 𝑘𝑘2 𝑥𝑥1 + 𝑘𝑘2 + 𝑘𝑘3 𝑥𝑥2 = 0

• Now express these in a single matrix equation:

𝑚𝑚1 0 𝑥𝑥1̈ 𝑘𝑘1 + 𝑘𝑘2 −𝑘𝑘2 𝑥𝑥1 0
+ 𝑥𝑥2 =
0 𝑚𝑚2 𝑥𝑥2̈ −𝑘𝑘2 𝑘𝑘2 + 𝑘𝑘3 0

• Note this is of the form:

We’ll come back
𝑴𝑴 𝒙𝒙̈ + 𝒌𝒌 𝒙𝒙 = 𝟎𝟎
to this form later
in the module.
• With forcing and damping, this would be
𝑴𝑴 𝒙𝒙̈ + 𝒄𝒄 𝒙𝒙̇ + 𝒌𝒌 𝒙𝒙 = 𝑭𝑭
2 DoF Equations
𝑚𝑚1 𝑥𝑥1̈ + 𝑘𝑘1 + 𝑘𝑘2 𝑥𝑥1 − 𝑘𝑘2 𝑥𝑥2 = 0
𝑚𝑚2 𝑥𝑥2̈ − 𝑘𝑘2 𝑥𝑥1 + 𝑘𝑘2 + 𝑘𝑘3 𝑥𝑥2 = 0
• Using the knowledge that 𝑥𝑥𝑖𝑖̈ = −𝜔𝜔2 𝑥𝑥𝑖𝑖 :
−𝑚𝑚1 𝜔𝜔2 𝑥𝑥1 + 𝑘𝑘1 + 𝑘𝑘2 𝑥𝑥1 − 𝑘𝑘2 𝑥𝑥2 = 0
−𝑚𝑚2 𝜔𝜔2 𝑥𝑥2 − 𝑘𝑘2 𝑥𝑥1 + 𝑘𝑘2 + 𝑘𝑘3 𝑥𝑥2 = 0
• Now write in the form … 𝑥𝑥1 + … 𝑥𝑥2 = 0
𝑘𝑘1 + 𝑘𝑘2 − 𝑚𝑚1 𝜔𝜔2 𝑥𝑥1 − 𝑘𝑘2 𝑥𝑥2 = 0
−𝑘𝑘2 𝑥𝑥1 + 𝑘𝑘2 + 𝑘𝑘3 − 𝑚𝑚2 𝜔𝜔2 𝑥𝑥2 = 0
• Finally in matrix form:
𝑘𝑘1 + 𝑘𝑘2 − 𝑚𝑚1 𝜔𝜔2 −𝑘𝑘2 𝑥𝑥1 0
=
−𝑘𝑘2 𝑘𝑘2 + 𝑘𝑘3 − 𝑚𝑚2 𝜔𝜔2 𝑥𝑥2 0
2 DoF Equations
𝑘𝑘1 + 𝑘𝑘2 − 𝑚𝑚1 𝜔𝜔2 −𝑘𝑘2 𝑥𝑥1 0
𝑥𝑥2 =
−𝑘𝑘2 𝑘𝑘2 + 𝑘𝑘3 − 𝑚𝑚2 𝜔𝜔2 0

Mechanical impedance matrix (MIM)

• The determinant of the MIM gives the characteristic

equation of the system.

• At resonance, this determinant is zero (not proven here):

det MIM = MIM = 0
2 DoF Example
𝑘𝑘1 + 𝑘𝑘2 − 𝑚𝑚1 𝜔𝜔2 −𝑘𝑘2 𝑥𝑥1 0
𝑥𝑥2 =
−𝑘𝑘2 𝑘𝑘2 + 𝑘𝑘3 − 𝑚𝑚2 𝜔𝜔2 0

• Suppose a symmetrical system has

𝑘𝑘1 = 𝑘𝑘3 = 𝑘𝑘 = 10N/m, 𝑘𝑘2 = 2𝑘𝑘 = 20N/m
𝑚𝑚1 = 𝑚𝑚2 = 𝑚𝑚 = 1 kg
2 DoF Example
𝑘𝑘1 + 𝑘𝑘2 − 𝑚𝑚1 𝜔𝜔2 −𝑘𝑘2 𝑥𝑥1 0
𝑥𝑥2 =
−𝑘𝑘2 𝑘𝑘2 + 𝑘𝑘3 − 𝑚𝑚2 𝜔𝜔2 0

• Suppose a symmetrical system has

𝑘𝑘1 = 𝑘𝑘3 = 𝑘𝑘 = 10N/m, 𝑘𝑘2 = 2𝑘𝑘 = 20N/m
𝑚𝑚1 = 𝑚𝑚2 = 𝑚𝑚 = 1 kg

• Use the MIM to determine the natural frequencies (note

plural)
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 −2𝑘𝑘 𝑥𝑥1 0
=
−2𝑘𝑘 3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 𝑥𝑥2 0
2 DoF Example
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 −2𝑘𝑘 𝑥𝑥1 0
𝑥𝑥2 =
−2𝑘𝑘 3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 0

• At natural frequencies:
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 −2𝑘𝑘
=0
−2𝑘𝑘 3𝑘𝑘 − 𝑚𝑚𝜔𝜔2
• Applying matrix rules:
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 − 4𝑘𝑘 2 = 0
• A bit of algebra:
9𝑘𝑘 2 − 3𝑘𝑘𝑘𝑘𝜔𝜔2 − 3𝑘𝑘𝑘𝑘𝜔𝜔2 + 𝑚𝑚2 𝜔𝜔4 − 4𝑘𝑘 2 = 0
𝑚𝑚2 𝜔𝜔4 − 6𝑘𝑘𝑘𝑘𝜔𝜔2 + 5𝑘𝑘 2 = 0
2 DoF Example
𝑚𝑚2 𝜔𝜔4 − 6𝑘𝑘𝑘𝑘𝜔𝜔2 + 5𝑘𝑘 2 = 0

• Note this is quadratic in 𝜔𝜔2 . E.g. replace 𝜔𝜔2 = 𝐴𝐴

𝑚𝑚2 𝐴𝐴2 − 6𝑘𝑘𝑘𝑘𝑘𝑘 + 5𝑘𝑘 2 = 0

• We can now apply the quadratic formula to solve for the

natural frequencies
−𝑏𝑏 ± 𝑏𝑏2 − 4𝑎𝑎𝑎𝑎
𝑥𝑥 =
2𝑎𝑎
where
𝑎𝑎 = 𝑚𝑚2 , 𝑏𝑏 = −6𝑘𝑘𝑘𝑘, 𝑐𝑐 = 5𝑘𝑘 2 , 𝑥𝑥 = 𝐴𝐴 = 𝜔𝜔2
2 DoF Example
• Applying the quadratic formula and simplifying gives
2
𝑘𝑘 5𝑘𝑘
𝜔𝜔 = or
𝑚𝑚 𝑚𝑚

• Entering 𝑘𝑘 = 10 N/m and 𝑚𝑚 = 1 kg gives:

𝜔𝜔1 = 3.16 rad/s
𝜔𝜔2 = 7.07 rad/s
• Converting to Hertz:
𝜔𝜔1
𝑓𝑓1 = = 0.50 Hz
2𝜋𝜋
𝜔𝜔2
𝑓𝑓2 = = 1.13 Hz
2𝜋𝜋
Mode Shapes
• We now have the natural frequencies. What about the
amplitudes and phases?

• For free oscillation, the amplitudes depend on the initial

displacement

• But we cannot be sure each amplitude is the same or

that they will be in phase

• This is where mode shapes come in…

Mode shapes
• Return to the equation with the MIM
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 −2𝑘𝑘 𝑥𝑥1 0
=
−2𝑘𝑘 3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 𝑥𝑥2 0

• Let’s say the amplitude of 𝑚𝑚1 is 𝑋𝑋1 and that of 𝑚𝑚2 is 𝑋𝑋2
• Define the ratio of amplitudes, 𝑟𝑟:
𝑋𝑋2
𝑟𝑟 = → 𝑋𝑋2 = 𝑟𝑟𝑋𝑋1
𝑋𝑋1
• Substitute into above equation and simplify
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 −2𝑘𝑘 𝑋𝑋1 0
=
−2𝑘𝑘 3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 𝑟𝑟𝑋𝑋1 0
Mode shapes
• Return to the equation with the MIM
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 −2𝑘𝑘 𝑥𝑥1 0
=
−2𝑘𝑘 3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 𝑥𝑥2 0

• Let’s say the amplitude of 𝑚𝑚1 is 𝑋𝑋1 and that of 𝑚𝑚2 is 𝑋𝑋2
• Define the ratio of amplitudes, 𝑟𝑟:
𝑋𝑋2
𝑟𝑟 = → 𝑋𝑋2 = 𝑟𝑟𝑋𝑋1
𝑋𝑋1
• Substitute into above equation and simplify
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 −2𝑘𝑘 1 0
=
−2𝑘𝑘 3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 𝑟𝑟 0
Mode shapes
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 −2𝑘𝑘 1 0
=
−2𝑘𝑘 3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 𝑟𝑟 0
• Solve for 𝑟𝑟:
3𝑘𝑘 − 𝑚𝑚𝜔𝜔2 − 2𝑘𝑘𝑘𝑘 = 0

3𝑘𝑘 − 𝑚𝑚𝜔𝜔2
𝑟𝑟 =
2𝑘𝑘
• Using previously found values for 𝜔𝜔:
𝑟𝑟1 = 1
𝑟𝑟2 = −1
Mode shapes
𝑟𝑟1 = 1, 𝑟𝑟2 = −1
• This shows us that two normal modes have:
o 1st: in-phase, same amplitude
o 2nd: anti-phase, same amplitude

• The modes shapes are often written as a vector (for reasons

that will become clear with more DoF):
1 1
𝑟𝑟1 = , 𝑟𝑟2 =
1 −1
Mode shapes
1 1
𝑟𝑟1 = , 𝑟𝑟2 =
1 −1

https://youtu.be/16bEKJGjiyw https://youtu.be/dqdDjFkYl5w
Mode shapes
• Consider an asymmetric system (see tutorial) with the
following mode shapes:
1 1
𝑟𝑟1 = , 𝑟𝑟2 =
0.9 −0.4
Mode 1
1

0.5

0
1
/x

-0.5
2

-1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Time, t (s)
Relative Displacement, x

Mass 1 Mass 2
Mode 2
1

0.5

-0.5

-1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Time, t (s)
Mode shapes
1 1
𝑟𝑟1 = , 𝑟𝑟2 =
0.9 −0.4

https://youtu.be/W7K5kVSWfa4 https://youtu.be/tw26oQ6bHSA
Application in architecture
• 660 tonne tuned mass damper for earthquake protection

Force response with (red) and

without (blue) damper
(Note log scale)

[Wikipedia images]
Application in architecture
• 660 tonne tuned mass damper for earthquake protection

https://youtu.be/VCxm3vTWgvU https://youtu.be/tw26oQ6bHSA
Summary
• Equations of motion can be constructed in matrix form for multi-DoF oscillators

• The mechanical impedance matrix can be constructed whose discriminant is

zero at resonance. This allows for calculation of natural frequencies.

• The ratio of amplitudes can defined to simplify equations for a 2 DoF oscillator
to find the mode shapes.

• The method gets vary complicated with more than 2 DoF – see Lecture 8.
Laboratory / Coursework
• Lab work comprises 25% of module
• Aims
o Enhance experimentation skills
o Develop skills in error and uncertainties
o Assist in understanding theory
o Demonstrate differences between theory and practice
• Students work in groups of 4 or 5 – see Blackboard
• Attendance compulsory
• Experiments cannot be repeated (maybe scope for redoing small part)
• Assessment via presentation after Easter
Laboratory / Coursework
• Schedule
Date (w/c) Tutorial activity

7 March Theory (2 DoF free oscillation)

14 March Practical rota 1 of 3 (error analysis in lecture)

21 March Practical rota 2 of 3

28 March Practical rota 3 of 3

4 April Project week – no scheduled Dynamics session

11 April Easter – no scheduled Dynamics session

18 April Easter – no scheduled Dynamics session

25 April Error analysis, preparation for talks

2 May Presentations (dual track)

Damping experiment
• Parametrisation of an electromagnetic damper
=0

= 0.1

100 = 0.5

=1

50
Displacement, x (mm)

-50

-100

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

Time, t (s)

• Estimate the damping ratio of the damper as a function of electric current

Transmissibility experiment
• Investigation force transmission
6

= 0.1

= 0.3

= 0.5
5
= 0.9

4
D

3
Dynamic magnifier,

0
0 0.5 1 1.5 2 2.5 3 3.5

Normalised Frequency, f/ f
0

• Estimate the isolation properties of a rubber bush via its damping ratio.
Airtrack experiment
• Investigation of coupled oscillation

• Find stiffnesses experimentally, find resonant modes both experimentally and

theoretically.
Torsional vibration experiment
• Investigation of torsional oscillation

• Find the torsional stiffness of a rod and determine natural frequencies both
experimentally and theoretically.
Engine dynamics experiment
• Investigation of engine vibrations and balancing
Engine forces for OA/AB = 0.25
60
Prinary
Secondary
40
Total

20

F /N
0
e

-20

-40

-60
0 2 4 6 8 10 12 14 16 18 20
θ / rad

𝑂𝑂𝑂𝑂
𝐹𝐹𝑒𝑒 ≈ 𝑚𝑚𝑝𝑝 𝜔𝜔2 𝑂𝑂𝑂𝑂 cos 𝜃𝜃 + cos 2𝜃𝜃
𝐴𝐴𝐵𝐵

• Balance an engine, as best possible, against piston motion.

 The presentation
• 20 mins per group (strict)
• Presentation will include
o Overview • Group marks (group work policy applies):
o Aims o Theoretical aspects [15%]
o Assumptions o Experimentation and analysis [20%]
o Background o Presentation and teamwork [15%]
o Procedure • Individual marks
o Results o Technical aspects [30%]
o Comparison to theory o Presentation [20%]
o Significance
• Further support:
o Errors and uncertainties
o Next week’s lecture
o Summary/conclusion
o The actual lab sessions
o The week before presentations