THE ENERGY METHOD

Introduction
Dynamic systems can be characterized in terms of one or more natural frequencies. The
natural frequency is the frequency at which the system would vibrate if it were given an
initial disturbance and then allowed to vibrate freely.
There are many available methods for determining the natural frequency. Some
examples are
1.
2.
3.
4.

Newtons Law of Motion

Rayleighs Method
Energy Method
Lagranges Equation

Not that the Rayleigh, Energy, and Lagrange methods are closely related.
Some of these methods directly yield the natural frequency. Others yield a governing
equation of motion, from which the natural frequency may be determined.
This tutorial focuses on the energy method, which is an example of a method which
yields an equation of motion.
Definition of the Energy Method
The total energy of a conservative system is constant. Thus,
d
( KE+ PE ) = 0
dt

(1)

where
KE = kinetic energy
PE = potential energy
Kinetic energy is the energy of motion, as calculated from the velocity.
Potential energy has several forms. One is strain energy. Another is the work done
against a gravity field.

Pendulum Example
Consider the pendulum shown in Figure A-1.

g
L

Figure A-1.

The potential energy is

PE = mgL(1 cos )

(A-1)

The kinetic energy is

KE =

1
m(L&)2
2

(A-2)

Apply the energy method to the pendulum example, using equations (1), (A-1), and (A2).

d 1

m(L&) 2 + mgL (1 cos ) = 0

dt 2

m(L2 &) &&+ mg L(sin ) & = 0

(A-3)

(A-4)

Divide through by m(L2 &) .

&&+ g (sin ) = 0
L

(A-5)

For small angles,

sin

(A-6)

Thus, the equation of motion is

&&+ g = 0
L

(A-7)

Again, assume a displacement of

(t ) = sin ( n t )

(A-8)

The velocity equation is

&(t ) = n cos( n t )

(A-9)

The acceleration equation is

&&(t ) = 2 sin ( t )
n
n

(A-10)

Substitute into equations (A-10) and (A-8) into (A-7).

g
n 2 sin ( n t ) + sin ( n t ) = 0
L

(A-11)

g
n 2 sin ( n t ) + sin ( n t ) = 0
L

(A-12)

g
n2 + = 0
L

(A-13)

g
n2 =
L

(A-14)

The pendulum natural frequency is

n =

g
L

(A-15)

This exercise has demonstrated that the equation of motion can be represented as

&&+ 2 = 0
n

(A-16)

Cantilever Beam with End Mass

Consider a mass mounted on the end of a cantilever beam, as shown in Figure B-1.
Assume that the end-mass is much greater than the mass of the beam.

EI
m

Figure B-1.
E
I
L
g
m
x

is the modulus of elasticity.

is the area moment of inertia.
is the length.
is gravity.
is the mass,
is the displacement.

The static stiffness at the end of the beam is

k=

3EI

(B-1)

L3

Equation (B-1) is derived in Reference 1.

The potential energy is
PE =

1 3EI 2

x
2 L3

(B-2)

1
m x&2
2

(B-3)

The kinetic energy is

KE =

Apply the energy method,

d1
2 1 3EI 2
m x& + 3 x = 0
dt 2
2 L

(B-4)

3EI
m x& &x& +
x x& = 0
L3

(B-5)

Divide through by the velocity term.

3EI
m &x& +
x = 0
L3

(B-6)

Divide through by mass. The equation of motion is

3EI
&x& +
x = 0
m L3

(B-7)

The governing equation of motion for simple harmonic systems is known to take the form
of

&x& + n 2 x = 0

(B-8)

Note that equation (B-8) was demonstrated in the pendulum example.

The natural frequency of the end mass supported by the cantilever beam is thus
3EI
n2 =

m L3

n =

(B-9)

3 EI

(B-10)

m L3

Spring-Mass System including the Mass of the Spring

Consider the system in Figure C-1.

k,

, L

Figure C-1.

The variables are

m is the block mass,
k is the spring stiffness,
is mass density (mass/length) of the spring,
L is the length of the spring,
x is the absolute displacement of the mass.

The potential energy of the spring is

PE =

1 2
kx
2

(C-1)

1
m x&2
2

(C-2)

The kinetic energy of the block is

KE block =

The kinetic energy of the spring is found in the following steps. Define a local variable
which is a measure of the distance along the spring.

0 L

(C-3)

The velocity at any point on the spring is thus

x&

(C-4)

Now divide the spring into n segments. The kinetic energy of the spring is thus

1
KE spring =
2

&
x
L

i = 1
n

(C-5)

Take the limit as n approaches infinity.

KE spring =

2
1 L
&
d
x
2 0 L

2
1 x&
KE spring = 3
6 L

(C-6)

(C-7)
0

KE spring =

2
1 x& 3
L
6 L

(C-8)

KE spring =

1
x& 2 L
6

(C-9)

The total kinetic energy is thus

KE =

1
1
m x& 2 + x& 2 L
2
6

(C-10)

Take the derivative of the energy terms.

d1
2 1
2 1 2
m x& + L x& + kx = 0
dt 2
6
2

m x& &x& +

1
L x& &x& + kx x& = 0
3

(C-11)

(C-12)

1
L &x& + kx = 0
3

(C-13)

m + 3 L &x& + kx = 0

(C-14)

m &x& +

k
&x& +
x = 0
m + 1 L
3

(C-15)

Again, the governing equation of motion for simple harmonic systems is known to take
the form of

&x& + n 2 x = 0

(C-16)

The natural frequency is thus

k
1
m+ L
3

(C-17)

Spring-Mass System with Pendulum

The energy method may also be applied to systems with multiple degrees-of-freedom.
Consider the previous example with an added pendulum, as shown in Figure D-1.