TWO DOF SYSTEM

&
MULTI DOF SYSTEMS

Dr Mahmud R Ismail ,2017

 TWO DOF SYSTEM
 Systems that require two independent coordinates to describe
their motion;
 There are two equations of motion for a 2DOF system, one for
each mass (more precisely, for each DOF).
 They are generally in the form of couple differential equation
that is, each equation involves all the coordinates.
EXAMPLES
 EQUATION OF MOTION FOR FORCED VIBRATION

 Considera viscously damped two degree of freedom

spring-mass system, shown in figure

Free body
Diagram

A two degree of freedom spring-mass-damper system

 EQUATIONS OF MOTION FOR FORCED VIBRATION

The application of Newton’s second law of motion to each

of the masses gives the equations of motion:
Note :you
can also use
m1 x1  ( c1  c2 ) x 1  c2 x 2  ( k1  k2 ) x1  k2 x2  F1 Energy
method or
m2 x2  c2 x 1  ( c2  c3 ) x 2  k2 x1  ( k2  k3 ) x2  F2 Lagrange to
find EOM
Both equations can be written in matrix form as

   
[m ]x (t )  [c ] x (t )  [k ] x (t )  F (t )
where [m], [c], and [k] are called the mass, damping,
and stiffness matrices, respectively, and are given by
 EQUATIONS OF MOTION FOR FORCED VIBRATION

m1 0  c1  c2  c2 
[ m]    [c ]   
 0 m2   c 2 c 2  c3

k1  k 2  k 2 

6
[k ]   
  k 2 k 2  k 3

And the displacement and force vectors are given

respectively:
  x1 (t )    F1 (t ) 
x (t )    F (t )   
 x2 (t )  F2 (t )
It can be seen that the matrices [m], [c], and [k] are all 2 x
2 matrices whose elements are known masses, damping
coefficient and stiffness for the system, respectively.
LAGRANGE’S METHOD

i=1,2

f1= F1 ,f2=F2

By applying Lagrange equation above twice w.r.t x1 and x2

we get the same equations of motion derived by using
Newton Method
 EQUATIONS OF MOTION FOR FORCED VIBRATION

oFurther, these matrices can be seen to be symmetric,

so that,
[m]T  [m], [c]T  [c], [k ]T  [k ]

oThe solution involves four constants of integration (two

for each equation). Usually the initial displacements and
velocities of the two masses are specified as

x1(t = 0) = x1(0) and x 1( t = 0) = x1(0),

x2(t = 0) = x2(0) and x2 (t = 0) = 2x(0).

8
 FREE VIBRATION ANALYSIS OF AN UNDAMPED SYSTEM
By setting F1(t) = F2(t) = 0, and damping disregarded, i.e.,
c1 = c2 = c3 = 0, the equation of motion is reduced to:

m1 x1 (t )  ( k1  k2 ) x1 (t )  k2 x2 (t )  0
m2 x2 (t )  k2 x1 (t )  ( k2  k3 ) x2 (t )  0

Assuming that it is possible to have harmonic motion of

m1 and m2 at the same frequency ω and the same phase
angle Φ, we take the solutions as
x1 (t )  X 1 cos(t   )
x2 (t )  X 2 cos(t   ) 9
Substituting the solution we get ;

 m   (k  k )X  k X cos(t   )  0

1
2
1 2 1 2 2

 k X  m   (k  k )X cos(t   )  0
2 1 2
2
2 3 2

or
 m  1
2
 ( k1  k2 )X 1  k2 X 2  0
 k2 X 1 m2  ( k2  k3 )X 2  0
2

10
For a nontrivial solution, the determinant of the coefficients
of X1 and X2 must be zero:

 m1 2  (k1  k 2 ) k 2 

det  0
 k2 m1  (k1  k2 )
2

Eignvalue Problem

Expand the determinate gives

( m1m2 ) 4  ( k1  k2 )m2  ( k2  k3 )m1

( k1  k2 )( k2  k3 )  k22  0
This equation is called the Characteristics equation or Frequency equation
from which the natural frequencies can be found .
 NORMAL MODES OF FREE VIBRATION
To determine the normal modes or the values of X1 and
X2 , ratio;
X 2(1)  m112  ( k1  k2 ) k2
r1  (1)  
X1 k2  m212  ( k2  k3 )
X 2( 2 )  m122  ( k1  k2 ) k2
r2  ( 2 )  
X1 k2  m222  ( k2  k3 )
The normal modes of vibration corresponding to ω12
and ω22 can be expressed, respectively, as
 (1)  X 1(1)   X 1(1)   ( 2 )  X 1( 2 )   X 1( 2 ) 
X   (1)    (1)  and X   ( 2 )    ( 2) 
 X 2  r1 X 1   X 2  r2 X 1 

which are known as the modal vectors of the system.

The free vibration solution or the motion in time can be
expressed itself as ;

(1)  x1(1) (t )   X 1(1) cos(1t  1 ) 

x (t )   (1)    (1)   first mode
 x2 (t )  r1 X 1 cos(1t  1 ) 
   1 cos(2t  2 ) 
 
(2) (2)
( 2 )  1x ( t ) X
x (t )   ( 2 )    ( 2 )   second mode
 x2 (t )  r2 X 1 cos(2t  2 ) 

( 2) 
Where the constants ,X 1(1) , Xand
1 are determined
2 1 by
the initial conditions. The initial conditions are

13
The resulting motion can be obtained by a linear
superposition of the two normal modes,
  
x (t )  c1 x1 (t )  c2 x2 (t )

Thus the components of the vector can be expressed as;

x1 (t )  x1(1) (t )  x1( 2 ) (t )  X 1(1) cos(1t  1 )  X 1( 2 ) cos(2t  2 )

x2 (t )  x2(1) (t )  x2( 2 ) (t )
 r1 X 1(1) cos(1t  1 )  r2 X 1( 2 ) cos(2t  2 )

where the unknown constants can be determined from the

14
initial conditions:
 EXAMPLE 1:FREE VIBRATION RESPONSE OF A TWO DEGREE OF
FREEDOM SYSTEM

Find the free vibration response of the system shown in

Figure; with k1 = 30, k2 = 5, ;m1 = 10, m2 = 1 and c1 = c2 3 =
0 for the following initial conditions ;
x1 (0)  1, x 1 (0)  x2 (0)  x 2 (0).

Solution: For the given data, the eigenvalue

problem, becomes;
 m1 2  k1  k 2 k2   X 1  0
     
 k2  m2  k 2  k3   X 2  0
2

or
 10 2  35  5   X 1  0
      15
 -5   5  X 2  0
2
By setting the determinant of the coefficient matrix to
zero, we obtain the frequency equation,

10  85  150  0

4 2

from which the natural frequencies can be found as

12  2.5, 22  6.0
1  1.5811, 2  2.4495
The normal modes (or eigenvectors) are given by
 (1)  X 1(1)  1  (1)
X   (1)     X 1
 X 2  2
 ( 2 )  X 1( 2 )   1  ( 2 )
X   ( 2)     X 1
 X 2   5 16
PHYSICAL MEANING
The free vibration responses of the masses m1 and m2
are given by ;
x1 (t )  X 1(1) cos(1.5811t  1 )  X 1( 2 ) cos(2.4495t  2 )
x2 (t )  2 X 1(1) cos(1.5811t  1 )  5 X 1( 2 ) cos(2.4495t  2 )

By using the given initial conditions we obtain;

x1 (t  0)  1  X 1(1) cos 1  X 1( 2 ) cos 2

x2 (t  0)  0  2 X 1(1) cos 1  5 X 1( 2 ) cos 2
x 1 (t  0)  0  1.5811 X 1(1) sin 1  2.4495 X 1( 2 ) sin 2
x 2 (t  0)  3.1622 X 1(1)  12.2475 X 1( 2 ) sin 2 18
The solution of the above equations yields;
5 2
X 1 cos 1  ;
(1)
X 1 cos 2 
( 2)

7 7
and X 1(1) sin 1  0, X 1( 2) sin 2  0

Finally we get;
5 2
X (1)
1  , X ( 2)
1  , 1  0, 2  0
7 7

5 2
x1 (t )  cos 1.5811t  cos 2.4495t
7 7
10 10
x2 (t )  cos 1.5811t  cos 2.4495t
7 7 19
 TORSIONAL SYSTEM

Torsional system with discs mounted on a shaft

Consider a torsional system as shown in figure The

differential equations of rotational motion for the discs can
be derived as;
20
 TORSIONAL SYSTEM
J 11   kt11  kt 2 (1   2 )  M t1
J   k (   )  k   M
2 2 t2 1 2 t3 2 t2

which upon rearrangement become

J   ( k  k )  k   M
1 1 t1 t2 1 t2 2 t1

J 22  kt 21  ( kt 2  kt 3 ) 2  M t 2
For the free vibration analysis of the system, reduces to

J 11  ( kt1  kt 2 )1  kt 2 2  0

J 22  kt 21  ( kt 2  kt 3 ) 2  0
21
 EXAMPLE 2 NATURAL FREQUENCIES OF TORSIONAL SYSTEM

Find the natural frequencies and mode shapes for the

torsional system shown in Fig.5.7 for J1 = J0 , J2 = 2J0
and kt1 = kt2 = kt .

Solution:
The differential equations of motion, Eq.
(5.20), reduce to (with kt3 = 0,
kt1 = kt2 = kt, J1 = J0 and J2 = 2J0):

J 01  2kt1  kt 2  0 Fig.5.7:

2 J 02  kt1  kt 2  0

Torsional system

22
Rearranging and substituting the harmonic solution:
 i (t )  i cos(t   ); i  1,2
gives the frequency equation:
2 4 J 02  5 2 J 0 kt  kt2  0
The solution of gives the natural frequencies
kt kt
1  (5  17 ) and 2  (5  17 )
4J0 4J0
The amplitude ratios are given by  (21) (5  17 )
r1  (1)  2 
1 4
( 2)
(5  17 )
r2  2
 2
( 2)
1 4 23
 COORDINATE COUPLING AND PRINCIPAL COORDINATES
Generalized coordinates are sets of n coordinates used to
describe the configuration of the system.
•Equations of motion Using x(t) and θ(t).

24
 COORDINATE COUPLING AND PRINCIPAL COORDINATES
From the free-body diagram shown in Fig., with the
positive values of the motion variables as indicated, the
equilibrium in the vertical direction can be written as

mx   k1 ( x  l1 )  k2 ( x  l2 )

and the moment equation about C.G. can be expressed
as
J 0  k1 ( x  l1 )l1  k2 ( x  l2 )l2

These equations can be rearranged and written in matrix

form as
 COORDINATE COUPLING AND PRINCIPAL COORDINATES

m 0   x   ( k1  k2 )  ( k1l1  k2l2 )   x  0 

0 J       ( k l  k l ) 2  
 
( k1l1  k2l 2 )   0 
0   
2
  11 2 2

The lathe rotates in the vertical plane and has vertical

motion as well, unless k1l1 = k2l2. This is known as
static coupling.
•Equations of motion Using y(t) and θ(t).

From Fig. b, the equations of motion for translation and

rotation can be written as
my  k1 ( y  l1 )  k 2 ( y  l2 )  me
26
 COORDINATE COUPLING AND PRINCIPAL COORDINATES

J P  k1 ( y  l1 )l1  k 2 ( y  l2 )l2  mey (5.24)

These equations can be rearranged and written in

matrix form as
m me  y  (k1  k 2 ) (k 2l2  k1l1)   y  0
me      2  
  (5.25)
 J P    ( k1l1  k 2l2 ) (k1l1  k 2l 2 )   0
2

If k1l1  k 2l,2 the system will have dynamic coupling

only.

Note the following characteristics of these systems:

27
 COORDINATE COUPLING AND PRINCIPAL COORDINATES
1. In the most general case, a viscously damped two
degree of freedom system has the equations of
motions in the form:
m11 m12   x1  c11 c12   x 1  k11 k12   x1  0
m            
 21 m22   x2  c21 c22   x 2  k 21 k 22   x2  0
2. The system vibrates in its own natural way regardless of
the coordinates used. The choice of the coordinates is a
mere convenience.
3. Principal coordinates are defined as system of
coordinates which give equations of motion that are
uncoupled both statically and dynamically.
28
 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  k11 k12   x1   F1 

m            ( a )
  
 12 m22   x2  c21 c22   x2  k21 k22   x2   F2 

Consider the external forces to be harmonic:

F j (t )  F j 0eit , j  1,2 (b)

where ω is the forcing frequency. We can write the

steady-state solutions as
x j (t )  X j eit , j  1,2 ( c )
29
 FORCED VIBRATION ANALYSIS
Substitution of Eqs.(b) and (c) into Eq.(a) leads to

(  2 m11  ic11  k11 ) (  2 m12  ic12  k12 )   X 1 

  
(  m12  ic12  k12 ) ( 2 m22  ic22  k 22 )  X 2 
2

 F10 
 
F
 20 

We defined the Impedance Zrs(iω) as;

Z rs (i )   2mrs  icrs  k rs , r, s  1,2 30

 FORCED VIBRATION ANALYSIS
Which can be written as
 
Z (i )X  F0
Where,

 Z11 (i ) Z12 (i ) 

Z (i )     Impedance matrix
 Z12 (i ) Z 22 (i )
  X1 
X  
X 2 
  F10 
F0   
 F20  31
 FORCED VIBRATION ANALYSIS
Eq.(5.32) can be solved to obtain:
 
X  Z (i ) F0
1

where the inverse of the impedance matrix is given

1  Z 22 (i ) -Z12 (i )

Z (i )
1

Z11 (i ) Z 22 (i )  Z122 (i )   Z12 (i ) Z11 (i ) 

Finally we get the solution

Z 22 (i ) F10  Z12 (i ) F20
X 1 (i ) 
Z11 (i ) Z 22 (i )  Z122 (i )
 Z12 (i ) F10  Z11 (i ) F20
X 2 (i ) 
Z11 (i ) Z 22 (i )  Z122 (i ) 32
EXAMPLE :FORCED OR STEADY-STATE RESPONSE

Find the forced response of system shown in Figure when

the mass m1 is excited by the force F1(t) = F10 cos ωt. Also,
plot its frequency response curve.

33
 SOLUTION
The equations of motion of the system can be expressed
as

m 0  x1  2k -k   x1   F10 cos t 

0 m  x   -k 2k   x    0

  2    2   

We assume the solution to be as follows.

x j (t )  X j cos t ; j  1,2

In this case the impedance equations are;

Z11 ( )  Z 22 ( )   m 2  2k , Z12 ( )   k
34
Hence,
( 2 m  2k ) F10 ( 2 m  2k ) F10
X 1 ( )  
( m  2k )  k
2 2 2
( m 2  3k )( m 2  k )
kF10 kF10
X 2 ( )  
( m  2k )  k
2 2 2
( m 2  3k )( m 2  k )

Which can be expressed as;

    2 
2     F10
  1  
X 1 ( ) 
   2    2      2 
k  2      1    
 1   1     1   35
 F10
X 2 ( ) 
   2    2      2 
k  2      1    
 1   1     1  

: Frequency response curves 36

 MULTI DOF SYSTEMS
• As stated before, most engineering systems are continuous
and have an infinite number of degrees of freedom. The
vibration analysis of continuous systems requires the
solution of partial differential equations, which is quite
difficult.

• In fact, analytical solutions do not exist for many partial

differential equations. The analysis of a multidegree of
freedom system on the other hand, requires the solution of a set
of ordinary differential equations, which is relatively simple.
Hence, for simplicity of analysis, continuous systems are
often approximated as multidegree of freedom systems.

• For a system having N degrees of freedom, there are N

associated natural frequencies, each associated with its own
mode shape.
MULTIDEGREE OF FREEDOM
SYSTEMS
• Some problems
automatically indicate the
type of lumped parameter
model to be used.

• For example, the three

storey building shown in the
figure automatically
suggests using a three
lumped mass model as
indicated in the figure.

• In this model, the inertia of

the system is assumed to be
concentrated as three point
masses located at the floor
levels, and the elasticities of
the columns are replaced by
the springs.
USING NEWTON’S SECOND LAW TO DERIVE
EQUATIONS OF MOTION
4. Apply Newton’s second law of motion to each mass or rigid body
shown by the free body diagram as:

Example: Derive the equations of motion of the spring‐mass‐damper

system shown in the figure.
EQUATIONS OF MOTION IN MATRIX
FORM
• The equations of motion in matrix form in the above example can
be expressed as:
EQUATIONS OF MOTION IN MATRIX
FORM
THANK YOU