Additional Solved Problems

ME 5205W IIT Madras

1. Dynamic vibration absorber design: Add mass spring system to decrease the vibration amplitude of
the main mass to zero.

FBD

The equations of motion of the combined system can be shown to be

𝑚1 𝑥¨1 + (𝑘1 + 𝑘2 )𝑥1 − 𝑘2 𝑥2 = 𝐹0 sin 𝜔𝑡
(1)
𝑚2 𝑥¨2 − 𝑘2 𝑥1 + 𝑘2 𝑥2 = 0
and we note that, because the system is undamped, the complex notation is not necessary. Letting the
solution of Eqs. (1) be
𝑥1 (𝑡) = 𝑋1 sin 𝜔𝑡, 𝑥2 (𝑡) = 𝑋2 sin 𝜔𝑡 (2)
and following the steps outlined in notes, we obtain two algebraic equations in 𝑋1 and 𝑋2 having the
matrix form
𝑘 + 𝑘2 − 𝜔2 𝑚1 −𝑘2 𝑋 𝐹
[ 1 2 ] [ 1 ] = [ 1 ] (3)
−𝑘2 𝑘2 − 𝜔 𝑚2 𝑋2 0
The solution of Eq. (3) is
 Note : Forced-Vibration Analysis

The equations of motion of a general two-degree-of-freedom system under external forces can be written as
𝑚11 𝑚12 𝑥¨1 𝑐11 𝑐12 𝑥˙1 𝑘 𝑘12 𝑥1 𝐹
[𝑚 ] { } + [𝑐 ] { } + [ 11 ] { } = { 1 } (1)
12 𝑚22 𝑥¨2 12 𝑐22 𝑥˙2 𝑘12 𝑘22 𝑥2 𝐹2

We shall consider the external forces to be harmonic:

𝐹𝑗 (𝑡) = 𝐹𝑗0 𝑒 𝑖𝜔𝑡 , 𝑗 = 1,2 (2)
where 𝜔 is the forcing frequency. We can write the steady-state solutions as 𝑥𝑗 (𝑡) = 𝑋𝑗 𝑒 𝑖𝜔𝑡 , 𝑗 = 1,2 (3)
where 𝑋1 and 𝑋2 are, in general, complex quantities that depend on 𝜔 and the system parameters. Substitution of Eqs. (2) and
(3) into Eq. (1) leads to
(−𝜔2 𝑚11 + 𝑖𝜔𝑐11 + 𝑘11 ) (−𝜔2 𝑚12 + 𝑖𝜔𝑐12 + 𝑘12 ) 𝑋1 𝐹
[ ] { } = { 10 } (4)
(−𝜔2 𝑚12 + 𝑖𝜔𝑐12 + 𝑘12 ) (−𝜔2 𝑚22 + 𝑖𝜔𝑐22 + 𝑘22 ) 𝑋2 𝐹20

We define the mechanical impedance 𝑍𝑟𝑠 (𝑖𝜔) as

𝑍𝑟𝑠 (𝑖𝜔) = −𝜔2 𝑚𝑟𝑠 + 𝑖𝜔𝑐𝑟𝑠 + 𝑘𝑟𝑠 , 𝑟, 𝑠 = 1,2
⃗
and write Eq. (4) as [𝑍(𝑖𝜔)]𝑋 = 𝐹0 ⃗ (5)
𝑍11 (𝑖𝜔) 𝑍12 (𝑖𝜔)
[𝑍(𝑖𝜔)] = [ ] = Impedance matrix
𝑍12 (𝑖𝜔) 𝑍22 (𝑖𝜔)
where
𝑋
𝑋⃗ = { 1 }
𝑋2
𝐹
and 𝐹⃗0 = { 10 }
𝐹20
Equation (5) can be solved to obtain
𝑋⃗ = [𝑍(𝑖𝜔)]−1 𝐹⃗0 (6)

where the inverse of the impedance matrix is given by

1 𝑍 (𝑖𝜔) −𝑍12 (𝑖𝜔)
[𝑍(𝑖𝜔)]−1 = 2 (𝑖𝜔) [ 22 ] (7)
𝑍11 (𝑖𝜔)𝑍22 (𝑖𝜔)−𝑍12 −𝑍12 (𝑖𝜔) 𝑍11 (𝑖𝜔)

Equations (6) and (7) lead to the solution

𝑍22 (𝑖𝜔)𝐹10 − 𝑍12 (𝑖𝜔)𝐹20
𝑋1 (𝑖𝜔) = 2
𝑍11 (𝑖𝜔)𝑍22 (𝑖𝜔) − 𝑍12 (𝑖𝜔)
(8)
−𝑍12 (𝑖𝜔)𝐹10 + 𝑍11 (𝑖𝜔)𝐹20
𝑋2 (𝑖𝜔) = 2
𝑍11 (𝑖𝜔)𝑍22 (𝑖𝜔) − 𝑍12 (𝑖𝜔)
By substituting Eq. (8) into Eq. (3) we can find the complete solution, 𝑥1 (𝑡) and 𝑥2 (𝑡).

(𝑘2 −𝜔2 𝑚2 )𝐹0

𝑋1 = (𝑘 2 2 2
1 +𝑘2 −𝜔 𝑚1 )(𝑘2 −𝜔 𝑚2 )−𝑘2
𝑘2 𝐹0
(4)
𝑋2 = (𝑘1 +𝑘2 −𝜔2 𝑚1 )(𝑘2 −𝜔2 𝑚2 )−𝑘22
It is customary to introduce the notation:
𝜔𝑛 = √𝑘1 /𝑚1 = the natural frequency of the main system alone
𝜔𝑎 = √𝑘2 /𝑚2 = the natural frequency of the absorber alone
𝑥st = 𝐹1 /𝑘1 = the static deflection of the main system
𝜇 = 𝑚2 /𝑚1 = the ratio of the absorber mass to the main mass
so that Eqs. (4) can be rewritten as
[1−(𝜔/𝜔𝑎 )2 ]𝑥st
𝑋1 = [1+𝜇(𝜔 2 2 2 2
𝑎 /𝜔𝑛 ) −(𝜔/𝜔𝑛 ) ][1−(𝜔/𝜔𝑎 ) ]−𝜇(𝜔𝑎 /𝜔𝑛 )
𝑥st
(5)
𝑋2 = [1+𝜇(𝜔𝑎 /𝜔𝑛 )2 −(𝜔/𝜔𝑛 )2 ][1−(𝜔/𝜔𝑎 )2 ]−𝜇(𝜔𝑎 /𝜔𝑛 )2
From the first of Eqs. (5), we conclude that for 𝜔𝑎 = 𝜔 the amplitude 𝑋1 of the main mass reduces to
zero. Hence, the absorber can indeed perform the task for which it was designed, namely, to eliminate the
vibration of the main mass, provided the natural frequency of the absorber is the same as the operating
frequency of the machinery. Moreover, for 𝜔𝑎 = 𝜔, the second of Eqs. (5) reduces to
𝜔𝑛 2 𝑥st 𝐹0
𝑋2 = − ( ) =− (6)
𝜔𝑎 𝜇 𝑘2
so that, inserting Eq. (6) into the second of Eqs. (2), we obtain
𝐹
𝑥2 (𝑡) = − 𝑘0 sin 𝜔𝑡 (7)
2
from which we conclude that the force in the absorber spring at any time is
𝑘2 𝑥2 (𝑡) = −𝐹0 sin 𝜔𝑡 (8)
Hence, the absorber exerts on the main mass a force −𝐹1 sin 𝜔𝑡 which balances exactly the applied force
𝐹1 sin 𝜔𝑡. Because the same effect is obtained by any absorber provided its natural frequency is equal to
the operating frequency, there is a wide choice of absorber parameters. The actual choice is generally
dictated by space limitations, which restricts the amplitude 𝑋2 of the absorber motion.
Although a vibration absorber is designed for a given operating frequency 𝜔, the absorber can perform
satisfactorily for operating frequencies close in value to 𝜔. In this case, the motion of 𝑚1 is not zero, but
its amplitude is very small. This statement can be verified by using the first of Eqs. (5) and plotting
𝑋1 (𝜔)/𝑥st versus 𝜔/𝜔𝑎 .
2. Use Lagrange's equations to derive the differential equations governing the motion of the
system using x and θ as generalized coordinates.

LAGRANGE'S EQUATIONS
Let 𝒙𝟏 , 𝒙𝟐 , 𝒙𝟑 … , 𝒙𝒏 be a set of generalized coordinates for an 𝒏-degree-of-freedom system. The motion of the
system is governed by a set of 𝒏 ordinary differential equtions with the generalized coordinates as the dependent
variables and time as the independent variable. One method of deriving the differential equations, referred to as the
free body diagram method, involves applying conservation laws to free body diagrams of the system drawn at an
arbitrary instant.
An energy method provides an alternative to derive the differential equations governing the vibrations of a multi-
degree-of-freedom system. Let 𝑽(𝒙𝟏 , 𝒙𝟐 , … , 𝒙𝒏 ) be the potential energy of the system at an arbitrary instant. Let
𝑻(𝒙𝟏 , 𝒙𝟐 , … , 𝒙𝒏 , 𝒙˙𝟏 , 𝒙˙𝟐 , … , 𝒙˙𝒏 ) be the kinetic energy of the system at the same arbitrary instant. The lagrangian
𝑳(𝒙𝟏 , 𝒙𝟐 , … , 𝒙𝒏 , 𝒙˙𝟏 , 𝒙˙𝟐 , … , 𝒙˙𝒏 ) is defined as
𝑳=𝑻−𝑽
The lagrangian is viewed as a function of 𝟐𝒏 independent variables, with the time derivatives of the generalized
coordinates assumed to be independent of the generalized coordinates.
Let 𝜹𝒙𝟏 , 𝜹𝒙𝟐 , … , 𝜹𝒙𝒏 be variations of the generalized coordinates. The virtual work 𝜹𝑾 done by the
nonconservative forces in the system due to the variations of the generalized coordinates can be written as
𝒏

𝜹𝑾 = ∑ 𝑸𝒊 𝜹𝒙𝒊
𝒕=𝟏
Lagrange's equations are
𝒅 𝝏𝑳 𝝏𝑳
( )− = 𝑸𝒊 𝒊 = 𝟏, 𝟐 … , 𝒏
𝒅𝒕 𝝏𝒙˙𝟏 𝝏𝒙𝒊
Application of Lagrange's equations leads to a set of 𝒏 independent differential equations.

The kinetic energy of the system at an arbitrary instant is

2
1 1 1 1 1
2
𝑇 = 𝑚𝑥˙ + 2𝑚 (𝑥˙ + 𝐿𝜃) + ˙ 2𝑚𝐿2 𝜃˙ 2
2 2 2 2 12
The potential energy of the system at an arbitrary instant is
1 2 1 1
𝑉= 𝑘𝑥 + 2𝑘(𝑥 + 𝐿𝜃)2 − 2𝑚𝑔 cos 𝜃
2 2 2

If the variations 𝛿𝑥 and 𝛿𝜃 are introduced at an arbitary instant, the work done by the viscous
damping forces is
𝛿𝑊 = −𝑐𝑥˙𝛿𝑥 − 𝑐(𝑥˙ + 𝐿𝜃˙)𝛿(𝑥 + 𝐿𝜃)
= −𝑐(2𝑥˙ + 𝐿𝜃˙)𝛿𝑥 − 𝑐𝐿(𝑥˙ + 𝐿𝜃˙)𝛿𝜃
Application of Lagrange's equations leads to
𝑑 ∂𝐿 ∂𝐿
( )− = 𝑄1
𝑑𝑡 ∂𝑥˙ ∂𝑥
𝑑 𝐿
[𝑚𝑥˙ + 2𝑚 (𝑥˙ + 𝜃˙) (1)] + [𝑘𝑥 + 2𝑘(𝑥 + 𝐿𝜃)(1)] = −2𝑐𝑥˙ − 𝑐𝐿𝜃˙
𝑑𝑡 2
𝑑 ∂𝐿 ∂𝐿
( )− = 𝑄2
𝑑𝑡 ∂𝜃˙ ∂𝜃
𝑑 𝐿 𝐿 1
[2𝑚 (𝑥˙ + 𝜃˙) ( ) + 2𝑚𝐿2 𝜃˙ ] + 2𝑘(𝑥 + 𝐿𝜃)(𝐿) + 𝑚𝑔𝐿 sin 𝜃 = −𝑐𝐿𝑥˙ − 𝑐𝐿2 𝜃̇
𝑑𝑡 2 2 12
Rearranging and linearizing leads to
3𝑚 𝑚𝐿
2 𝑥¨ 2𝑐 𝑐𝐿 ẋ 3𝑘 2𝑘𝐿 𝑥 0
[ ][ ] + [ 2 ] [ ̇ ] + [2𝑘𝐿 2𝑘𝐿2 + 𝑚𝑔𝐿 ] [𝜃 ] = [ ]
𝑚𝐿 𝑚𝐿2 𝜃¨ 𝑐𝐿 𝑐𝐿 θ 0
3

3. Use Lagrange's Equations to derive the equations of motion for the double
pendulum. Use the angular displacements 𝜃1 and 𝜃2 as the generalized
coordinates for this two degree of freedom system.

𝑥1 = 𝐿1 sin 𝜃1 , 𝑦1 = 𝐿1 cos 𝜃1
(1)
𝑥2 = 𝐿1 sin 𝜃1 + 𝐿2 sin 𝜃2 , 𝑦2 = 𝐿1 cos 𝜃1 + 𝐿2 cos 𝜃2

Potential Energy (V)

𝑉 = 𝑚1 𝑔[𝐿1 (1 − cos 𝜃1 ) + 𝐿2 ] + 𝑚2 𝑔[𝐿1 (1 − cos 𝜃1 ) + 𝐿2 (1 − cos 𝜃2 )] (2)
1 1 1 1
𝑇 = 2 𝑚1 𝑣12 + 2 𝑚2 𝑣22 = 2 𝑚1 (𝑥̇ 12 + 𝑦̇12 ) + 2 𝑚2 (𝑥̇ 22 + 𝑦̇ 22 )
1 2 2 1 2 2
= 𝑚1 [(𝐿1 𝜃˙1 cos 𝜃1 ) + (−𝐿1 𝜃˙1 sin 𝜃1 ) ] + 𝑚2 [(𝐿1 𝜃˙1 cos 𝜃1 + 𝐿2 𝜃˙2 cos 𝜃2 ) + (−𝐿1 𝜃˙1 sin 𝜃1 − 𝐿2 𝜃˙2 sin 𝜃2 ) ]
2 2
1 1
= (𝑚1 + 𝑚2 )𝐿21 𝜃̇12 + 𝑚2 𝐿22 𝜃̇22 + 𝑚2 𝐿1 𝐿2 𝜃̇1 𝜃̇2 cos (𝜃1 − 𝜃2 ) (3)
2 2
The virtual work of the external forces is simply 𝛿𝒲 (𝑁𝐶) = 𝐹1 𝛿𝑥1 + 𝐹2 𝛿𝑥2

From (1) 𝛿𝑥1 = 𝐿1 cos 𝜃1 𝛿𝜃1 and 𝛿𝑥2 = 𝐿1 cos 𝜃1 𝛿𝜃1 + 𝐿2 cos 𝜃2 𝛿𝜃2

𝒲 (𝑁𝐶) = 𝑄1 𝛿𝜃1 + 𝑄2 𝛿𝜃2 = (𝐹1 + 𝐹2 )𝐿1 cos 𝜃1 𝛿𝜃1 + 𝐹2 𝐿2 cos 𝜃2 𝛿𝜃2 (4)

𝑄1 = (𝐹1 + 𝐹2 )𝐿1 cos 𝜃1 𝑎𝑛𝑑 𝑄2 = 𝐹2 𝐿2 cos 𝜃2

Hence
Using Lagrange’s equations of motion {𝑞1 , 𝑞1 } <> {𝜃1 , 𝜃2 }

𝑑 ∂𝐿 ∂𝐿
( )− = 𝑄1
𝑑𝑡 ∂𝑞˙1 ∂𝑞1

(𝑚1 + 𝑚2 )𝐿21 𝜃¨1 + 𝑚2 𝐿1 𝐿2 𝜃¨2 cos (𝜃2 − 𝜃1 ) − 𝑚2 𝐿1 𝐿2 𝜃˙22 sin (𝜃2 − 𝜃1 )

⇒ (5)
+(𝑚1 + 𝑚2 )𝑔𝐿1 sin 𝜃1 = (𝐹1 + 𝐹2 )𝐿1 cos 𝜃1

𝑑 ∂𝐿 ∂𝐿
( )− = 𝑄2 ⇒
𝑑𝑡 ∂𝑞˙2 ∂𝑞2

𝑚2 𝐿1 𝐿2 [𝜃¨1 cos (𝜃2 − 𝜃1 ) + 𝜃˙12 sin (𝜃2 − 𝜃1 )] + 𝑚2 𝐿22 [𝜃¨2 − 𝜃˙22 sin (𝜃2 − 𝜃1 ){1 − cos (𝜃2 − 𝜃1 )}] (6)
+ 𝑚2 𝑔𝐿2 sin 𝜃2 = 𝐹2 𝐿2 cos 𝜃2

Linearizing about 𝜃1 = 𝜃2 = 0 and putting the resulting expressions in matrix form gives the governing
equation for small angle motion, (neglect higher order terms , cos 𝜃i ~1, sin 𝜃𝑖 ~𝜃𝑖

(𝑚 + 𝑚2 )𝐿21 𝑚2 𝐿1 𝐿2 𝜃¨1 (𝑚1 + 𝑚2 )𝑔𝐿1 0 𝜃 (𝐹 + 𝐹2 )𝐿1

[ 1 2 ]{ ¨ } + [ ] { 1} = { 1 } (7)
𝑚2 𝐿1 𝐿2 𝑚2 𝐿2 𝜃2 0 𝑚2 𝑔𝐿2 𝜃2 𝐹2 𝐿2

4. For the double pendulum if 𝑚1 = 𝑚2 = 𝑚 and 𝐿1 = 𝐿2 = 𝐿

(a) Determine the natural frequencies of the system.
(b) Determine the corresponding natural modes, and sketch the mode shapes.
(c) Determine the free vibration response of the pendulum.
(𝑚 + 𝑚2 )𝐿1 2 𝑚2 𝐿1 𝐿2 2 1
𝐦=[ 1 ] = 𝑚𝐿2 [ ]
𝑚2 𝐿1 𝐿2 𝑚2 𝐿2 2 1 1
a)
(𝑚 + 𝑚2 )𝐿1 𝑔 0 2𝑔/𝐿 0
𝐤=[ 1 ] = 𝑚𝐿2 [ ]
0 𝑚2 𝐿2 𝑔 0 𝑔/𝐿

𝑔
2 ( − 𝜔2 ) −𝜔2
det [𝐤 − 𝜔2 𝐦] = 𝑚𝐿2 | 𝐿 𝑔 |=0
−𝜔2 ( − 𝜔2 )
𝐿

𝑔 𝑔 2
=> (𝜔2 )2 − 4 (𝜔2 ) + 2 ( ) = 0
𝐿 𝐿

𝜔1 = 0.765√𝑔/𝐿, 𝜔2 = 1.85√𝑔/𝐿

b) [𝐤 − 𝜔𝑗2 𝐦]𝐔(𝑗) = 0 (𝑗 = 1,2)

gives the equations for the modal matrices as

 𝑔
2 ( − 𝜔𝑗 2 ) −𝜔𝑗 2 (𝑗)
𝜃1 0
𝑚𝐿2 [ 𝐿 𝑔 ] { (𝑗) } = { } , (𝑗 = 1,2)
−𝜔𝑗 2 ( − 𝜔𝑗 2 ) 𝜃2 0
𝐿

Setting 𝑗 = 1 expanding the matrix equation gives two algebraic equations. The first is

𝑔 𝑔 (1) 𝑔 (1) (1) (1)

2 ( − (2 − √2) ) Ψ1 − (2 − √2) Ψ2 = 0 => Ψ2 = √2Ψ1
𝐿 𝐿 𝐿

1
=> 𝚿(𝟏) = { }
√2

Setting j = 2 as we obtain the algebraic equation

𝑔 𝑔 (2) 𝑔 (2) (2) (2)

2 ( − (2 + √2) ) Ψ1 − (2 + √2) Ψ2 = 0 => Ψ2 = −√2Ψ1
𝐿 𝐿 𝐿

1
=> 𝚿(𝟐) = { }
−√2

Mode Shapes[]

(c)

The general form of the free vibration response of the double pendulum is found by substituting the above
natural frequencies and modal matrices into 𝐮(𝑡) = ∑𝑁 (𝑗) (𝑗)
𝑗=1 𝐔 𝐴 cos (𝜔𝑗 𝑡 − 𝜙𝑗 )

𝜃1 (𝑡) 1 𝑔 1 𝑔
{ } = 𝐴(1) { } cos (0.765√ − 𝜙1 ) + 𝐴(2) { } cos (1.85√ − 𝜙2 )
𝜃2 (𝑡) √2 𝐿 −√2 𝐿

𝑔 𝑔
𝜃1 (𝑡) = 𝐴(1) cos (0.765√ 𝐿 − 𝜙1 ) + 𝐴(2) cos (1.85√𝐿 − 𝜙2 )
Hence,
𝑔 𝑔
𝜃2 (𝑡) = 𝐴(1) √2cos (0.765√ 𝐿 − 𝜙1 ) − 𝐴(2) √2cos (1.85√𝐿 − 𝜙2 )

The values of the amplitudes, 𝐴(1) and 𝐴(2) , and the phase angles, 𝜙1 and 𝜙2 , are found from the specific
initial conditions imposed on the system.
5. Determine the response of the double pendulum if the
bottom mass is subjected to the horizontally directed
triangular pulse indicated in the figure. Assume m=1 Kg
L=1m and g=10m/s2.

1 1
𝜓=[ ]
√2 −√2

2 1
𝑀=[ ]
1 1
20 1
𝐾=[ ]
1 10
2(√2 + 2) 0
𝜓 ⊤ 𝑀𝜓 = [ ]
0 −2(√2 − 2)
𝑚1𝑚 = (2√2 + 2) = 6.8284 𝑚2𝑚 = 2(2 − √2) = 1.1716

Mass normalized Eigen vectors

1 0.3827 1 0.9239
𝜙1 = 𝜓1 = [ ] 𝜙2 = 𝜓2 = [ ]
√𝑚1𝑚 0.5412 √𝑚2𝑚 −1.3066

0.3827 0.9239
Φ =[ ]
0.5412 −1.3066
(𝐹 + 𝐹2 )𝐿1 𝑃(𝑡) 1
F=[ 1 ]=[ ] = 𝑃(𝑡) [ ]
𝐹2 𝐿2 𝑃(𝑡) 1
The force P(t) can be written as the combination of three forces as shown.

0.9239
𝑔 = Φ⊤ 𝐹 = 𝑃(𝑡) [ ]
−0.3827

𝑦̈1 + 𝜔12 𝑦2 = 𝑔1 ⇒ 𝑦̈1 + 5.852𝑦1 = 0.924𝑃(𝑡)

Modal Eqns
𝑦¨2 + 𝜔22 𝑦2 = 𝑔2 ⇒ 𝑦¨2 + 34.22𝑦2 = −0.3827𝑃(t)
 Considering the undamped system, we have
1
ℎ(𝑡) = sin 𝜔𝑛 𝑡
𝑚𝜔𝑛
𝐹0 𝑡
𝑥(𝑡) = ∫ sin 𝜔𝑛 (𝑡 − 𝜉)𝑑𝜉
𝑚𝜔𝑛 0
𝐹0
= (1 − cos 𝜔𝑛 𝑡)
𝑘

𝑡
𝑓(𝑡) = 𝐹0 ( )
𝑡1
1 𝜔𝑛
ℎ(𝑡) = sin 𝜔𝑛 𝑡 = sin 𝜔𝑛 𝑡
𝑚𝜔𝑛 𝑘

𝜔𝑛 𝑡 𝜉
𝑥(𝑡) = ∫ 𝐹 sin 𝜔𝑛 (𝑡 − 𝜉)𝑑𝜉
𝑘 0 0 𝑡1
𝐹0 𝑡 sin 𝜔𝑛 𝑡
= ( − ) 𝑡 < 𝑡1
𝑘 𝑡1 𝜔𝑛 𝑡1

for 0 < 𝑡 < t0

0.924𝑃0 𝑡 sin 𝜔1 𝑡
𝑦11 = [ − ]
𝜔12 𝑡0 𝜔1 𝑡0
−0.3827𝑃0 𝑡 sin 𝜔2 𝑡
𝑦21 = [ − ]
𝜔22 𝑡0 𝜔2 𝑡0

for 𝑡 > t0

0.924𝑃0 𝑡 − 𝑡0 sin 𝜔1 (𝑡 − 𝑡0 ) 0.924𝑃0

𝑦12 = 𝑦11 − 2 [ − ]− [1 − cos 𝜔1 (𝑡 − 𝑡0 )]
𝜔1 𝑡0 𝜔1 𝑡0 𝜔12

0.924P0 sin 𝜔1 (𝑡 − 𝑡0 ) − sin 𝜔2 𝑡)

= [ + cos 𝜔1 (𝑡 − 𝑡0 )]
𝜔12 𝜔1 𝑡0

−0.3827𝑃0 sin 𝜔2 (𝑡 − 𝑡0 ) − sin 𝜔2 𝑡)

𝑦22 = [ + cos 𝜔2(𝑡 − 𝑡0 )]
𝜔22 𝜔2 𝑡0

x=Φy

𝑥1 = .3827𝑦1 + .9239𝑦2
𝑥2 = .5412𝑦1 − 1.3066𝑦2