TWO DEGREE OF FREEDOM SYSTEMS

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TWO DEGREE OF FREEDOM SYSTEMS

DANIEL Bernoulli (1700-1782):

Swiss mathematician who proposed
principal of super position

BITS Pilani, K K Birla Goa Campus

TWO DEGREE OF FREEDOM SYSTEMS

Requires two independent coordinates to describe their motion
Assumption:
Mass is considered as rigid body with two possible motions.
Vibration in vertical plane

Idealised as a bar of mass, m and MI, J0 supported on two springs of stiffness k1

and k2
Displacements given by x(t) and (t)
Displacements can also be given by x1 (t) and x2 (t)

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TWO
DEGREE OF FREEDOM SYSTEMS
INTRODUCTION
Packaging of instrument of mass , m
supported on springs from all 4 sides
Here there is one point mass but two
displacements x and y and two DOF
DOF = (No. of masses in the system) X
( No. of possible types of motion of each
mass)
If a 2 DOF system is vibrating at one of the
natural frequency, the amplitudes of the 2
DOFs (coordinates) are related in a specific
manner & the configuration is called normal
/ principal/natural mode of vibration
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TWO DEGREE OF FREEDOM SYSTEMS

If an arbitrary initial excitation is given to the system, the resulting free
vibration will be a superposition of two normal modes of vibration.
Generalized co-ordinates: The configuration of the system can be specified
by a set of independent coordinates such as displacement, angle or some
other physical parameters.
The EOMs are generally coupled but we can find some generalized
coordinates which will give uncoupled equations.

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TWO DEGREE OF FREEDOM SYSTEMS

Equation of Motion for Forced Vibration

By Newtons Law
1 1 + (1 + 2 ) 1 - 2 2 + 1 + 2 1 22 = 1
2 2 + (2 + 3 ) 2 - 2 1 + 2 + 3 2 21 = 2

(1) Coupled 2nd Order Differential Equation

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TWO DEGREE OF FREEDOM SYSTEMS

Equation of Motion for Forced Vibration
Equation (1) can be written in matrix form as
[m] (t) + [c] (t) + [k] = F (t)
1
[m] =
0

0
2

1 + 2
2
[c] =
2 + 3
2
1 + 2
[k] =
2

2
2 + 3

(2)

1 ()
={
}
2 ()
1 ()
F ={
}
2 ()
[m],[c] and [k] are symmetric matrices
[m]T =[m], [c]T =[c], [k]T =[k]
Equation (1) becomes uncoupled when c2
and k2 are zero
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TWO DEGREE OF FREEDOM SYSTEMS

Free Vibration of an undamped system
For undamped free vibrations
By Newtons Law
1 1 + 1 + 2 1 22 = 0
2 2 + 2 + 3 2 21 = 0

(3)
(4)

We are interested in knowing whether m1 and m2 can oscillate harmonically with the same
frequency and phase angle but with different amplitudes.
Take the solution as
1 = 1 ( + )
(5)
2 = 2 ( + )
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Free Vibration of an undamped system

Substituting (5) in (3 & 4)
[{-m1 2 + 1 + 2 }1 2 2 ] ( + ) = 0
[-2 1+ {-m2 2 + 2 + 3 }2] ( + ) = 0
Equation (6) must be satisfied for all values of time t,
{-m1 2 + 1 + 2 } 2 = 0
-2 1+ {-m2 2 + 2 + 3 } = 0
Trivial solution is 1= 2 = 0
No Vibration

(6)

(7)

For Non-trivial solution, determinants of coefficients must be zero

1 2 4 -{ 1 + 2 2 + 2 + 3 1 } 2 +{ 1 + 2 2 + 3 - 22 } = 0
This is quadratic equation in 2 with solutions 12 and 22

(8)

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{-m1 2 + 1 + 2 }1 2 2= 0
-2 1+ {-m2 2 + 2 + 3 }2 = 0

Free Vibration of an undamped system

Determination of X1 and X2
Depends of 1 and 2
11 and 21 are values of X1 and X2 for

= 1

12 and 22 are values of X1 and X2 for = 2

Since equation (7) is homogeneous, only ratios

1 =

21

1 and 2 =
1

22

2 can be found
1

Substituting 2 = 12 and 2 = 22 equation (7) gives

m1 12 + 1+2
2
21
1 = 1 =
=
2
m2 12 + 3+2
1
m1 22 + 1+2
2
22
2 = 2 =
=
2
m2 22 + 3+2
1

(9)
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Free Vibration of an undamped system

The two ratios given for each ri (i = 1,2) in equation (9) are identical.
The normal modes of vibration corresponding to 1 and 2 can be expressed
as

11
11
= 1 =
2
1 11

12
12
= 2 =
2
2 12

and

(10)

denotes normal modes of vibration and are called modal vectors of

the system

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Free vibration solution / motion in time

1 = {11 (t) 21 (t)}T = {11 cos(1 t + 1)
()

2 = {12 (t) 22 (t)}T = {12 cos(2 t + 2)

()
11 , 12

r1 11 cos(1 t + 1) }T

First Mode

r2 12 cos(2 t + 2) }T Second Mode (11)

, 1 , 2 are constants to be determined from initial conditions.

Initial Conditions:
At time t =0, x1 (t=0) and 1 (t=0) , x2 (t=0) and 2 (t=0) ???
For any general initial conditions both modes will get excited.
Resulting motion

()

= c1

1 ()

+ c2

2 ()

(12)

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Free Vibration of an undamped system

1 ()

2 ()

involves unknown constants 11 , 12 (see 11) ,

choose c1 = c2 =1 with no loss of generality

1 = 11 (t) + 12 (t) = 11 cos(1 t + 1) + 12 cos(2 t + 2)
2 = 21 (t) + 22 (t) = 1 11 cos(1 t + 1) + r212 cos(2 t + 2)

(13)

Constants 11 , 12 , 1,, 2 are to be determined from initial conditions

x1 (t=0)= x1(0) , 1(t=0)

= 1 (0)
x2 (t=0) = x2(0) , 2(t=0)

= 2 (0)

(14)
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Free Vibration of an undamped system

Substituting (14) in (13)
x1(0)= 11 cos 1 + 12 cos 2
1 (0) = -1 11 sin 1 - 2 12 sin 2
x2(0) = r1 11 cos 1 + r2 12 cos 2
2 (0) = -1 r111 sin 1 - 2 r212 sin 2
These four equations in four unknowns can be solved.

(15)

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Problem 1
Find the natural frequencies and
mode shapes of spring mass
system shown in figure which is
constrained to move in the vertical
direction only. Take n = 1.

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Mode Shapes

In phase mode

180 degree out of phase mode

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Torsional Systems
The EOM of the system is
J1 1 = -kt1 1 + kt2(2 - 1) + Mt1
J2 2 = -kt2(2 - 1) - kt32+ Mt2
Rearranging
J1 1 + (kt1 + kt2 )1 - kt22 = Mt1
J2 2 -kt21 + (kt2 +kt3 ) 2 = Mt2

(16)

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problem
Find the natural frequency and mode
shapes for the torsional system
shown in Figure for J1 = J0, J2 = 2J0
and kt1= kt2 = kt

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Coordinate Coupling and Principal Coordinates

There can be n different coordinate systems defining coniguration of the
system called generalised coordinates.

Lathe bed-rigid body (mass,inertia), headstock & tailstock-lumped masses.

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Coordinate Coupling and Principal Coordinates

Assumptions:
Lathe bed-rigid body (mass,inertia), headstock & tailstock-lumped masses.
Bed supported on springs
(x1, x2), (x,), (x1,), (y,)- generalised co-ordinates

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Coordinate Coupling and Principal Coordinates

Equation of Motion using (x(t),())
Positive values of motion as per figure.
= 0
m = - k1(x l1 ) k2(x + l2 )
= 0
J0 = k1(x l1 ) l1 k2(x + l2 ) l2

(17)
(18)

(k1 + k2)
(k1l1 k2 l2) x
0
+
=
0
(k1l1 k2 l2) (k1l12 + k2l22)
(19)
These equations become independent when
(k1l1 k2 l2) = 0
Static /elastic Coupling

0
J0

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Coordinate Coupling and Principal Coordinates

Equation of Motion using (y(t),())
Positive values of motion as per figure.
= 0
m = - k1(y l1 ) k2(x + l2 ) - me
(20)
= 0
Jp = k1(y l1 ) l1 k2(y + l2 ) l2- me
(21)

(k1 + k2)
(k1l1 k2 l2) y
0
+
=
0
Jp
(k1l1 k2 l2) (k1l12 + k2l22)
Static /Elastic and Dynamic / Mass Coupling
(22)

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Coordinate Coupling and Principal Coordinates

Equation of motion of viscously damped 2 dof system

11
21

12
22

1
2

11 12
+
21 22

1
2

11
+
21

12
22

1
2

Nondiagonal stiffness matrix

Static / elastic Coupling

Nondiagonal mass matrix

Dynamic / mass Coupling

Nondiagonal damping matrix

Velocity / damping Coupling

0
0

(23)

Dynamic
coupling

System vibrates in its own natural way regardless of coordinates used,

choice of coordinates are for convenience.
(19) and (22)
nature of coupling depends on choice of coordinates.
Principal coordinates: No static/dynamic coupling
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Problem 3
Determine the principal coordinates for the spring mass system shown below

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Problem 4
Determine the pitch (angular motion) and
bounce ( up and down motion) frequencies
and the location of oscillation centers
(nodes) of an automobile with following data:
Mass (m) =1000 kg
Radius of gyration ( r) =0.9m
Distance between front axle and CG (l1 ) = 1 m
Distance between rear axle and CG (l2 ) = 2 m
Front spring stiffness (kf) = 18 kN/m
Rear spring stiffness (kr) = 22 kN/m

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MODE SHAPES

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Forced Vibration Analysis

Equation of motion of viscously damped 2 dof system under external force
11
21

12
22

1
2

11 12
+
21 22

1
2

11
21

12
22

1
2

1
2

(23)

Assume Fj(t) = Fj0 , j = 1,2

(24)
Assume steady state solution as
xj(t) = Xj , j = 1,2
(25)
X1and X2,in general complex quantities depends on and system parameters.

Substituting (24) and (25) in (23)

(211 + 11 + 11) (212 + 12 + 12)
(212 + 12 + 12) (222 + 22 + 22)

1
2

10
20

(26)
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Forced Vibration Analysis

Let Zrs() = (2 + + ), r,s = 1,2 Mechanical Impedence

(27)

Substituting (27) in (26)

[Z()] X = F0

(28)

(211 + 11 + 11)
[Z()]=
(212 + 12 + 12)

X=

1
2

, F0 =

10
20

(212 + 12 + 12)
IMPEDENCE MATRIX
(222 + 22 + 22)
11 12
, [Z()] =
21 22

Solving
X = [Z()]-1F0

(29)

Substituting (29) in (25) we get solution x1(t) and x2(t)

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Problem 4
Find the steady state response of the system
shown in Figure. Plot the frequency response
curve

At a particular frequency
, vibration of mass m1 is zero forming
basis of vibration absorber
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Vibration Absorber
Use: If a machine is operating a frequency near its natural frequency, vibrations
can be reduced by another spring mass system which acts as vibration
neutralizer / dynamic vibration absorber.
Principal: Natural frequency of resulting system is away from excitation
frequency.
Assumption: Machine to be single degree of freedom system.

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Equation of Motion
1 1 + 1 1 + 2(1 2) =F0 sin t
2 2 + 2(1 2) = 0
Assume harmonic solution
xj(t) = Xj sin t ,
j = 1,2
Steady state solution is
X1 =
X2 =

2 2 2 0
1 +2 1 2 2 2 2 22
2
1 +2 1 2

0
2 2 2 22

(30)
(31)
(32)
(33)

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To make X1 = 0 (aim of absorber) ,

2 2 2 = 0

2 =

2
2

(34)

If the machine , before addition of the dynamic vibration absorber,

operates near its resonance, 2 12 = 1

1

If =

2
2

1
1

(35)

Amplitude of vibration of machine, while operating at its original resonant

frequency, will be zero.

2
2
2 =
2

F0
1

(36)

(37)
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Equation (32), (33) becomes

(38)

(39)

Two peaks for two natural frequencies.

X1 = 0 at = 1
1
F0
X2 = - = (40)
2

Force exerted by the auxiliary spring is

opposite to impressed force (2 X2 = - F0)
and neutralizes it making X1 = 0
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Size of dynamic vibration absorber can be found

from (40) and (35):
2 X2 = - F0= 2 2 X2
(41)
Two new resonant frequencies 1 and 2 are
introduced in the system at which amplitude is
infinite.
Hence operating frequency should be away from
1 and 2.
Setting denominator of (38) to zero, leads
+1 = 0

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The values of 1 and 2 are

(42)

Machine must pass through 1 during

startup and stopping resulting in large
amplitude.
As dynamic absorber is tuned to one
excitation frequency , the steady state
amplitude of the machine will be zero only
at that frequency.

The difference between 1 and 2

increases with increasing values of 2

1

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Problem 5
A diesel engine, weighing 3000 N, is supported on a pedestal mount. It has
been observed that the engine induces vibration into surrounding area
through its pedestal mount at an operating speed of 6000 rpm. Determine the
parameters of the vibration absorber that will reduce the vibration when
mounted on pedestal. The magnitude of the exciting force is 250 N, and the
amplitude of motion of the auxiliary mass is limited to 2 mm.

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Problem 6
A motor generator set shown in figure is designed to operate in the speed range of 2000 to
4000 rpm. However, the set is found to vibrate violently at a speed of 3000 rpm due to a
slight unbalance in the rotor. It is proposed to attach a cantilever mounted lumped mass
absorber system to eliminate the problem. When the cantilever carrying a trial mass of 2kg
tuned to 3000 rpm is attached to the set, the resulting natural frequencies of the system are
found to be 2500 rpm and 3500 rpm. Design the absorber to be attached by specifying its
mass and stiffness so that the natural frequencies of the total system fall outside the
operating speed range of the motor generator set.

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