Lecture 10

5.
Free Vibrations of Un-damped Multi

Degree of Freedom Systems
5.6 Orthogonal Properties of the
Eigenforms
The orthogonal properties of the eigenforms
constitute the basis of one of the most
attractive methods for solving dynamic
problems of multi degree-of-freedom
systems.
The Eigenforms or eigenvectors of the
system can be shown to be orthogonal with
respect to the mass and stiffness matrices
as follows
1
5.
Eigenforms
Consider the i th and the j th eigenforms.
the i th eigenform is obtained after substituting
the i th eigenvalue into eq.[5.14].
i M K i 0
Therefore
:
whereby:
x1,i
x 2,i
x n ,i
[5.24]
N.B. The 2nd index shows that it

is
the i th eigenvalue,which is
substituted into eq.[5.14]
2
5.
Eigenforms
Similarly the j th eigenform is obtained after
substituting the j th eigenvalue into eq.[5.14]..
Therefore
:
whereby:
j M K j 0
[5.25]
x1, j
x 2, j
xn , j
N.B. The 2nd index shows that it

is
the j th eigenvalue,which is
substituted into eq.[5.14]
3
5.
Eigenforms
Equations [5.24] and [5.25] give:
From eq.[5.24]
K i i M i
[5.26]
From eq.[5.25]
K j i M j
[5.27]
Premultiply eq.[5.26]
by
T
To obtain
j K i
iT K j
T
j
and eq.[5.27]
by
T
i
T
j
M i
[5.28]
T
i
[5.29]
4
5.
Eigenforms
Since K and M matrices are symmetrical, the
following relationships hold:
T
j
T
j
T
i i
T
i i
K j
[5.30]
M j
[5.31]
Thus, subtracting eq.[5.29] from eq.[5.28]

gives:
T
0 i j j M i
[5.32]
5
5.
Eigenforms
If
i j eq.[5.32] requires that:

T
j
M i 0
[5.33]
As a consequence of eq.[5.33] it is evident from eq.[5.28]

or eq.[5.29]
for i j
T
j
K i 0
[5.34]
5.
Eigenforms
Eq.[5.33] and eq.[5.34] define the othogonal properties of the eigenforms.

That is if
i j
then:
T
j
and
T
j
M i 0
K i 0
7
5.
5.7 Solution of the Equations of Motion
We saw in section 5.2 that the equations of motion for undamped multi degree of freedom system are given by:
M X K X 0
See eq.
[5.4]
We saw in section 5.2 that the equations are coupled.

By using the Orthogonal properties of the
eigenvectors, The equations of motion can be
uncoupled with the help of the following linear
transformation:
8
5.
X (t ) Y (t )
Where:
[5.35]
X(t) = The Displacement vector in eq.

[5.4]
= Modal Matrix
Y(t) = Natural coordinates
(also called Normal coordinate

or generalized
In eq.[5.35] it is apparent
that the coordinates)
modal
matrix serves to transform the geometrical
9
coordinates X to the generalized coordinates
5.
Since the modal matrix is not a function of time ( it

contains only the amplitudes) it follows:
X (t ) Y(t )
[5.36]
Substituting eq.[5.36] and eq.[5.35] into eq.[5.4] gives:
M Y(t ) K Y (t ) 0
[5.37]
10
5.
Pre-multiply eq.[5.37] by the transpose of the

modal matrix ( T ) to obtain:
M Y (t ) K Y (t ) 0
[5.38]
11
5.
Remember the modal matrix is built as
follows:x1,1 x1,i x1, j x1, n
x 2,1

x n ,1
x 2,i x 2, j x 2, n
1 i j n

x n ,i x n , j xn , n
i
j
12
5.
Let
M M
and
K K
Taking into account how the modal matrix is

built, it follows from matrix algebra:
T
M (i , j ) i M j and K (i , j ) i K j
*
Where
:
x1,i
x 2,i
xn ,i
x1, j
x 2, j
and j
xn , j
13
5.
From the othogonal properties of the

eigenforms we saw that if
i T
) then
j
M i 0
j
i j
(implying
and Tj K i 0
This implies that for
ij:
M*(i , j ) = K*( i , j) =0
In other words M* and K* are diagonal matrices.

Rememb
er *
M M
an
d
K * T K
5. Free Vibrations of Un-damped

Multi
5.7 Solution of the Equations of

From above it follows that eq.[5.38] has the form:
Motion
1T M1 0
0
0
0
0
0
0 iT Mi
0
0
0
0
0
0
0
0
0
0 nT M n
y1 1T K1

0

yi
0

0

y n
0
0
0 iT Ki
0
0
0
0
0
0
0
0
0
0 nT K n
y1 0
0

yi 0

0
y n 0
Carrying out the multiplication and addition

for the ith eigenform give:
T
i
M i
T
yi (t ) i
K i yi (t ) 0
[5.39]

Multi
5.7 Solution of the Equations of

It can be seen that eq.[5.39] is essentially a single
Motion
degree of freedom system with mass
*
mi
T
i
M i
And a spring constantki*

*
ki
*
mi
T
i
*given by:
mi
[5.40]
Given by
K i
[5.41]
*
ki are called generalized mass
and
and generalized stiffness respectively.

Multi
of the
Equations
From 5.7
aboveSolution
it follows that
eq.[5.39]
has theof
form:
Motion
*
mi yi (t )
*
ki
[5.42]
Which can be handled as a single degree of freedom system with a natural

frequency
yi (t ) 0
*
ki
*
mi
[5.43]
i is called modal frequency

17
5.
Hence the solution of eq.[5.42] is given by eq.[2.10]
y io
yi (t )
sin i t yio cos i t
[5.44]
Where yi(t)= response of the ith mode

yio = initial modal displacement
y io = initial modal velocity
i = modal frequency
yio and
are derived from the initial displacement vector and the initial velocity vector
as shown bellow. io
18
5.
Let the initial displacement vector be Xo and the initial

modal displacement vector be Yo: Transforming the
geometrical coordinates to the generalized
coordinates with the help of the modal matrix gives:
[5.45]
X 0 Y0
Pre-multiply eq.[5.45] byT M To get

T
M X 0 M Y0
[5.46]
5.
Expanding the right hand side of eq[5.46] and

taking into account the orthogonal properties of
the eigenforms gives:
T M X
1T M 1
0
0
0
0 Ti M
0
0
0
0
y 1o

y io

T
0 n M n y no
0
0
0
0
0
0
From the preceding sections it follows that Eq.[5.47] can be

written in the form:
[5.47]
5.
m 1* 0 0 0 0 y 1o

0 0 0 0
T M X 0 0 0 m i* 0 0 y io

0 0 0 0
0 0 0 0 m * y no
n
From eq.[5.48] it follows :
Eq.[5.49] gives:
[5.48]
Ti M X
y
io
m i* y
Ti M X
m
*
i
io
[5.49]
[5.50]
5.
With similar arguments one can show that the

initial modal velocity is given by:
y io
where
Ti M X 0
m i*
[5.51]
0 is the initial velocity vector.
When the response of each mode yi(t) has been determined from
eq.[5.44] the displacements expressed in geometrical coordinates
are given by the normal-coordinate transformation i.e. by eq.[5.35]
X ( t ) Y( t )
See eq.[5.35]

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5.

Free Vibrations of Un-damped Multi

N.B. The 2nd index shows that it

N.B. The 2nd index shows that it

Equations [5.24] and [5.25] give:

Thus, subtracting eq.[5.29] from eq.[5.28]

i j eq.[5.32] requires that:

As a consequence of eq.[5.33] it is evident from eq.[5.28]

Eq.[5.33] and eq.[5.34] define the othogonal properties of the eigenforms.

We saw in section 5.2 that the equations are coupled.

X(t) = The Displacement vector in eq.

(also called Normal coordinate

Since the modal matrix is not a function of time ( it

Substituting eq.[5.36] and eq.[5.35] into eq.[5.4] gives:

Pre-multiply eq.[5.37] by the transpose of the

Taking into account how the modal matrix is

From the othogonal properties of the

This implies that for

In other words M* and K* are diagonal matrices.

5. Free Vibrations of Un-damped

5.7 Solution of the Equations of

Carrying out the multiplication and addition

5. Free Vibrations of Un-damped

5.7 Solution of the Equations of

And a spring constantki*

5. Free Vibrations of Un-damped

Which can be handled as a single degree of freedom system with a natural

i is called modal frequency

Hence the solution of eq.[5.42] is given by eq.[2.10]

Where yi(t)= response of the ith mode

Let the initial displacement vector be Xo and the initial

Pre-multiply eq.[5.45] byT M To get

Expanding the right hand side of eq[5.46] and

From the preceding sections it follows that Eq.[5.47] can be

From eq.[5.48] it follows :

With similar arguments one can show that the

0 is the initial velocity vector.

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