NOISE AND VIBRATION

Lecture 2 : Two Degree of Freedom

Systems
BDC 4013

1.Introduction

Two degree of freedom systems are defined as systems that

require two independent coordinates to describe their motion.

Consider the motor-pump system shown in Fig.1. The vertical

displacement of the system and the angular coordinate

denoting the rotation of the mass about its C.G. make up two
independent coordinates.


The general rule for the computation of the

number of degrees of freedom can be stated as

follows:
No. of degrees
No. of masses in the system
of freedom of = x no. of possible types of
the system
motion of each mass

2. 2-DOF System (a basic understanding

in multi-DOF)

3.Deriving 2-DOF mathematical

model Equation of Motion
F1

F2

F1
&x&1
k1x1

c1 x&1

F2
&x&2
k2 (x2-x1)

m1

c2 ( x&2 x&1 )

k3x2
m2

c3 x&2

F1
&x&1
k2 (x2-x1)

k1x1

c1 x&1

m1

c2 ( x&2 x&1 )
m1&&
x1 = F1 k1 x1 c1 x&1 + k2 ( x2 x1 ) + c2 ( x&2 x&1 )
m1&&
x1 + (c1 + c2 ) x&1 c2 x&2 + (k1 + k2 ) x1 k2 x2 = F1

F2
&x&2
k2 (x2-x1)

c2 ( x&2 x&1 )

k3x2
m2

c3 x&2
m2 &&
x2 = F2 k2 ( x2 x1 ) c2 ( x&2 x&1 ) k3 x2 c3 x&2
m2 &&
x2 c2 x&1 + (c2 + c3 ) x&2 k2 x1 + (k2 + k3 ) x2 = F2
6

m1&&
x1 + (c1 + c2 ) x&1 c2 x&2 + (k1 + k2 ) x1 k2 x2 = F1
m2 &&
x2 c2 x&1 + (c2 + c3 ) x&2 k2 x1 + (k2 + k3 ) x2 = F2
Rearrange in matrix notation

m1
0

x1
&&
+
&&
x
2

x&1
x& +
2

0 &&
x1 ( c1 + c2 )
+

m2 &&
x2 c2

x1 F1
x = F
2 2
c2 x&1 ( k1 + k2 )
+
( c2 + c3 ) x&2 k2

k2 x1 F1
=
( k2 + k3 ) x2 F2

General Multi-DOF Equation

[ M ]{&&x} + [C ]{ x&} + [ K ]{ x} = {F }

[ M ] , [C ] and [ K ] are symmetric matrices n x n

{&&x} , { x&} and { x} are vectors n row
n is the number of the degrees of freedom
n is the number of natural frequencies

4.Free Vibration of an Undamped 2-DOF

System
m1&&
x1 + k1 x1 k2 ( x2 x1 ) = F1 = 0
m1&&
x1 + (k1 + k2 ) x1 k2 x2 = 0
k1
m1

x1

m1&&
x1 + (k1 + k2 ) x1 k2 x2 = 0
m2 &&
x2 k2 x1 + k2 x2 = 0

k2
m2

m2 &&
x2 + k2 ( x2 x1 ) = F2 = 0
m2 &&
x2 k2 x1 + k2 x2 = 0

x2

can be written in matrix

m1
0

0 &&
x1 (k1 + k2 ) k2 x1 0
+
=
m2 &&
x2 k2
k2 x2 0

x1 = A1 sin(t )
&&
x1 = A1 2 sin(t )

x2 = A2 sin(t )
&&
x2 = A2 2 sin(t )
9

x1 = A1 sin(t )
x2 = A2 sin(t )
&&
x1 = A1 2 sin(t )
&&
x2 = A2 2 sin(t )

m1
0

0 &&
x1 (k1 + k2 ) k2 x1 0
+
=
m2 &&
x2 k2
k2 x2 0

m1 2

0 A1 (k1 + k2 ) k2 A1 0
=
+
k2 A2 0
m2 2 A2 k2

(k1 + k2 ) m1 2
A 0
k2

1=

k2 m2 2 A2 0

k
2

Can be solved
only if

(k1 + k2 ) m1 2

k2

k2

k2 m2
2

=0
10

(k1 + k2 ) m1 2

k2

k2

k2 m2
2

=0

(m1m2 ) 4 [ (k1 + k2 )m2 + k2 m1 ] 2 + (k1 + k2 )k2 k2 2 = 0

12 , 2 2 =

[(k1 + k2 )m2 + k2m1 ] [ (k1 + k2 )m2 + k2 m1 ]

4(m1m2 ) (k1 + k2 )k2 k2 2

2(m1m2 )

1 = first natural frequency = n1

2 = first natural frequency = n 2
11

at first natural frequency =n1

(k1 + k2 ) m1n12
A 0
k2

1 =

k2 m2n12 A2 0

k
2

(k1 + k 2 ) m1n12 A1(1) k2 A2 (1) = 0

A2(1) (k1 + k2 ) m1n12

r1 = (1) =
A1
k2

(k1 + k 2 ) m1n 2 2 A1(2) k2 A2(2) = 0

A2 (2) ( k1 + k2 ) m1n 2 2
r2 = (2) =
A1
k2

Modal vector

(1)
(1)

A
A

(1)
1
1
A = (1) = (1)
A2 r1 A1

A(2)

A1(2) A1(2)
= (2) = (2)
A2 r2 A1

First mode

Second mode
12

Example 1;
Draw FBD, determine equation of motion and find the
natural frequencies of the system shown below

(m1m2 ) 4 [ (k1 + k2 )m2 + k2 m1 ] 2 + (k1 + k2 )k2 k2 2 = 0

Given;
m1 = m2 = m

(m 2 ) 4 [3km ] 2 + k 2 = 0

k1 = k2 = k

k
m

n1
x1

k
m

x2

3km + 9k 2 m2 4m2 k 2 3km + 5m2 k 2

=
=
2
2m
2m 2
3k
5k 2 3 k
5 k
=
+
=
+
2m
4m 2 2 m
4m

k
n1 = 1.618
m

n 2 = 0.618

k
m
13

Free vibration with initial conditions

For a specific condition, the system can be made to
vibrate in its ith normal mode (i = 1, 2) by subjecting it to
the specific initial conditions

x1 (t = 0) = A1( i ) = some constant,

x&1 (t = 0) = 0,
x2 (t = 0) = ri A1( i ) ,
x&2 (t = 0) = 0.

14

However, for any other general initial conditions, both

modes will be excited. The resulting motion can be
obtained by a linear superposition of the two normal
modes

r
r
r
x (t ) = c1 x1 (t ) + c2 x2 (t )
where c1 and c2 are constants.
r
r
Since x (1) (t ) and x ( 2 ) (t ) already involve the unknown constants
A1(1) and A1( 2 ) , we can choose c1 = c2 = 1 with no loss of generality .
r
Thus the components of the vector x (t ) can be expressed as

x1 (t ) = x1(1) (t ) + x1( 2) (t ) = A1(1) cos(1t + 1 ) + A1( 2) cos(2t + 2 )

x2 (t ) = x2(1) (t ) + x2( 2 ) (t ) = r1 A1(1) cos(1t + 1 ) + r2 A1( 2) cos(2t + 2 )
15

where the unknown constants A1(1) , A1( 2) , 1 and 2 can be determined

from the initial conditions :

x1 (t = 0) = x1 (0),
x2 (t = 0) = x2 (0),

x&1 (t = 0) = x&1 (0)

x&2 (t = 0) = x&2 (0)

x1 (0) = A1(1) cos 1 + A1( 2 ) cos 2

x&1 (0) = 1 A1(1) sin 1 2 A1( 2) sin 2

Four algebric equation

with unknowns..

x2 (0) = r1 A1(1) cos 1 + r2 A1( 2) cos 2

x&2 (0) = 1r1 A1(1) sin 1 2 r2 A1( 2) sin 2
16

Example 2. Free Vibration Response of a Two

DOF System
Find the free vibration response of the system shown in
Fig.5.3(a) with k1 = 30, k2 = 5, k3 = 0, m1 = 10, m2 = 1 and
c1 = c2 = c3 = 0 for the initial conditions

x1 ( 0 ) = 1, x&1 ( 0 ) = x 2 ( 0 ) = x& 2 ( 0 ).

17

Solution: For the given data, the eigenvalue

problem, Eq.(5.8), becomes

m12 +k1 +k2

k2

or

X1 0
=

2
m2 +k2 +k3X2 0
k2

102 +35
5 X1 0

=
2
+5X2 0
-5

(E.1)

18

Related equations involved.

{ m

+ (k1 + k 2 ) X 1 k 2 X 2 = 0

k 2 X 1 m2 2 + (k 2 + k3 ) X 2 = 0

(5.8)

(m1m2 ) 4 {(k1 + k 2 )m2 + (k 2 + k3 )m1}

+ (k1 + k 2 )(k 2 + k3 ) k 22 = 0

(5.9)

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 )

(5.15)
19

Related equations involved.

x1 (0) = X 1(1) cos 1 + X 1( 2 ) cos 2
x&1 (0) = 1 X 1(1) sin 1 2 X 1( 2) sin 2
x2 (0) = r1 X 1(1) cos 1 + r2 X 1( 2) cos 2
x& 2 (0) = 1r1 X 1(1) sin 1 2 r2 X 1( 2) sin 2
r x (0) x2 (0)
X 1(1) cos 1 = 2 1
,
r2 r1

r x& (0) x&2 (0)

X 1(1) sin 1 = 2 1
,
1 (r2 r1 )

(5.17)

r x (0) + x2 (0)
X 1( 2) cos 2 = 1 1

r
r

2
1

r x& (0) x&2 (0)

X 1( 2) sin 2 = 1 1

(
r

r
)

2 2
1

20

Example 1 Solution
By setting the determinant of the coefficient matrix in
Eq.(E.1) to zero, we obtain the frequency equation,

10 4 85 2 + 150 = 0

(E.2)

from which the natural frequencies can be found as

12 = 2 .5,
1 = 1 .5811 ,

22 = 6 . 0
2 = 2 . 4495

( E.3)

The normal modes (or eigenvectors) are given by

r (1) X 1(1) 1 (1)
X = (1) = X 1
X 2 2
r ( 2 ) X 1( 2 ) 1 ( 2 )
X = (2) = X 1
X 2 5

(E.4)

(E.5)
21

Example 1.Solution
The free vibration responses of the masses m1 and m2 are
given by (see Eq.5.15):
x1 (t ) = X 1(1) cos(1.5811t + 1 ) + X 1( 2) cos(2.4495t + 2 )

(E.6)

x2 (t ) = 2 X 1(1) cos(1.5811t + 1 ) 5 X 1( 2) cos(2.4495t + 2 )

(E.7)

By using the given initial conditions in Eqs.(E.6) and (E.7),

we obtain

x1 (t = 0) = 1 = X 1(1) cos 1 + X 1( 2 ) cos 2

(E.8)

x2 (t = 0) = 0 = 2 X 1(1) cos 1 5 X 1( 2 ) cos 2

(E.9)

x&1 (t = 0) = 0 = 1.5811X 1(1) sin 1 2.4495 X 1( 2 ) sin 2 (E.10)

x& 2 (t = 0) = 3.1622 X 1(1) + 12.2475 X 1( 2) sin 2

(E.11)
22

Example 1. Solution
The solution of Eqs.(E.8) and (E.9) yields

(1)
1

5
cos 1 = ;
7

(2)
1

2
cos 2 =
7

(E.12)

while the solution of Eqs.(E.10) and (E.11) leads to

X 1(1) sin 1 = 0, X 1( 2 ) sin 2 = 0

(E.13)

Equations (E.12) and (E.13) give

X

(1 )
1

5
= ,
7

(2)
1

2
= ,
7

1 = 0 , 2 = 0

(E.14)

23

Example 1.Solution
Thus the free vibration responses of m1 and m2 are given
by

5
2
x1 (t ) = cos1.5811t + cos 2.4495t
7
7
10
10
x2 (t ) = cos1.5811t cos 2.4495t
7
7

(E.15)
(E.16)

24

25