Two degrees of freedom

A system with two degrees of freedom requires at least

two independent co ordinates to completely specify the
configuration of the system.
A system with two degrees of freedom will have two
natural frequencies & the vibratory motion is a
combination of two harmonics of these two natural
frequencies.
The vibratory motion corresponding to the natural
frequencies are known as Principal modes of vibration.
If amplitude of vibration of one of the masses is unity, it
is known as Normal mode of vibration.

Determine the equations of motion & the natural
frequencies of the two degree of freedom spring mass
system shown in fig.
1
k
1
m
1
x
2
k
2
m
x
2
For the 2 d.o.f system shown in fig, the equations of
motion for free, undamped vibrations are given by;




Which may be rearranged as,



0 ) (
and 0 ) (
1 2 2 2 2
2 1 2 1 1 1 1
= +
= + +
x x k x m
x x k x k x m


0
and 0 ) (
1 2 2 2 2 2
2 2 1 2 1 1 1
= +
= + +
x k x k x m
x k x k k x m


The solutions of the above harmonic motions may
be given by

where A, B & are arbitrary constants
Substituting for x
1
& x
2
in the equations of motion,
& canceling out sin(t+) we get,


These are homogeneous linear algebraic
equations in A & B, whose solution is obtained by
equating the determinant of the coefficients A &
B to zero.



) sin( & ) sin(
2 1
| e | e + = + = t B x t A x
0 ) (
0 ) (
2
2 2 2
2 2 1
2
1
= +
= + +
B m k A k
B k A k k A m
e
e
The determinant of coefficients A & B will be


Expanding the determinant gives;


The two natural frequencies of the system are
obtained by solving the above equation.





0
2
2 2 2
2
2
1 2 1
=

+
e
e
m k k
k m k k
0
2 1
2 1
2
2
2
1
2 1
4
= +
(

+
+

m m
k k
m
k
m
k k
e e

+
+
+
+
=
2 1
2 1
2
2
2
1
2 1
2
2
1
2 1
2
4
1
2 2 m m
k k
m
k
m
k k
m
k
m
k k
e
Thus, the general solution of the equations of
motion is composed of two harmonic motions of
frequency
1
&
2
.


The amplitude ratios are;



) sin( ) sin(
) sin( ) sin(
2 2 2 1 1 1 2
2 2 2 1 1 1 1
| e | e
| e | e
+ + + =
+ + + =
t B t B x
t A t A x
2 2
2
2 2 2
2
2 1 2 1
2
2
2
1 2
2
1 2 2
2
1 1 2 1
2
1
1
1
1

e
e

e
e
=

=
+
=
=

=
+
=
k
m k
m k k
k
B
A
k
m k
m k k
k
B
A
Hence the general solutions finally become
) sin( ) sin(
) sin( ) sin(
2 2 2 2 1 1 1 1 2
2 2 2 1 1 1 1
| e | e
| e | e
+ + + =
+ + + =
t A t A x
t A t A x
The constants A
1
, A
2
,
1
&
2
can be evaluated
by the four initial conditions
) 0 ( and ) 0 ( ), 0 ( ), 0 (
2 2 1 1
x x x x

Prob.1 For the system discussed before,
Determine the natural frequencies , Modal
vectors & mode shapes. Also locate the node
for each mode of vibration. Given m
1
=2 kg,
m
2
=1 kg, k
1
=40N/m & k
2
=20 N/m.
Ans:
1
=3.162 rad/sec,
2
=6.325 rad/sec.

2 2
2
1 1
1
1
1 mode second for the ratio Amplitude
1
5 . 0 mode first for the ratio Amplitude

= =
= =
B
A
B
A
First Mode Second Mode
Modal Vector & Mode shapes:
The normal modes of vibration corresponding to

1
&
2
can be expressed respectively as;

1 1
1
1 1 1
2 2
2
2 2 2
0.5
( )
1.0
1.0
( )
1.0
A A
x
B A
A A
x
B A

= = =
` ` `
) ) )

= = =
` ` `
) ) )
0.5
1.0
-1.0
1.0
l
l
2
l
1
First Mode Second Mode
For first mode both modal displacements positive. Hence there is no
node.
For the second mode, the node (Point where amplitude is zero) may be
found from the geometry of the figure.




i.e. the node is located in the middle of the two masses.


1 2
2
1
2
1
2
2 1
5 . 0 2 1 1
1
1
l l
l
l
l
l
l
l l
= = = =

Prob 2. Set up the equations of motion and determine

the natural frequencies & mode shapes of the two d.o.f
system shown in fig.
m m
l
l
l
l
l l
o
|

x
x
1
2
T
T
T
Tsino
Tsin
Tsin|
Tsin|
Left mass
Right mass
1 1 2 2
Assuming the string tension T to be constant for for small oscillations,
( )
From the fig, sin = , sin = , sin =
Equation of equilibrium for the left mass is

x x x x
l l l
o |

Natural Frequencies of vibration :

1 1 2
1
1 1 2
1
2
1 2 2
2
mx sin sin 0
( )
. mx 0
Equation of equilibrium for the right mass is
mx sin sin 0
( )
.
2
mx 0 ...........
x
(i)
m
T
T T
x x x
i e T T
l l
T
x x
l l
T T
x x x
i e T T
l l
o |
|
| | | |
+ =
| |
\ . \
+ + =

+ + =

+ =

+
.
=
2 1 2
2
mx 0 ........ )
0
...(ii
T T
x x
l l
| | | |
+ =
| |
\ . \ .

2 2
1 2
1 2
2
A and B are arbitrary constants.
Now x sin( ) & x sin( )
Substituting in (i) & (ii) we get
2
m 0.........( )
x sin( ) and x sin( ) Let A t B
where
A t B t
T T
A B iii
t
l l
e e | e e |
| e
e
e |
= + = +
| | | |
=
| |
\ .
=
\
+
.
= +
2
2
and
2
m 0.........( )
i.e
2
m

2
T T
A B iv
l l
T T
l l
T T
l l
e
e
| | | |
+ =
| |
\ . \ .
| | | |

| |
\ . \ .
| |

|
\ .
For a non trivial solution of A & B, the determinant of the
coefficients of A & B must be zero.
2
0
me
=
| |

|
\ .
2 2
2
2 2
2
2
2 2
Cross multiplying, we get,
2
m 0 or
2
m . Taking square root,
2
m Taking +ve sign,
2
m m
T T
l l
T T
l l
T T
l l
T T
l l
e
e
e
e e
| | | |
=
| |
\ . \ .
| | | |
=
| |
\ . \ .
| | | |
=
| |
\ . \ .
| | | |
= =
| |
\ . \ .
2
2
or
3
Taking ve sign, m or

T
l
T
l
e
| |
|
\ .
| |
= =
|
\ .
1
T
=
ml
3T T
= 1.732
ml ml
2
1
1
2
1 1
1
2
2
2
2
2 2
2
Using equations (iii) & (iv) we get,
2
1

2
2
1

2
Substitut
T T
m
A
l l
T T
B
m
l l
T T
m
A
l l
T T
B
m
l l
e

e
e

e
| | | |

| |
\ . \ .
= = =
| | | |

| |
\ . \ .
| | | |

| |
\ . \ .
= = =
| | | |

| |
\ . \ .
Mode shapes :
2 2
1 1 2
1 2
1 1 2 2
3
ing or and we get
1 1
1 1


T T T
ml ml ml
A A
B B
e e e

= = =
= = = = and
2
1
1
2
1 1
1
2
2
2
2
2 2
2
Using equations (iii) & (iv) we get,
2
1

2
2
1

2
Substitut
T T
m
A
l l
T T
B
m
l l
T T
m
A
l l
T T
B
m
l l
e

e
e

e
| | | |

| |
\ . \ .
= = =
| | | |

| |
\ . \ .
| | | |

| |
\ . \ .
= = =
| | | |

| |
\ . \ .
Mode shapes :
2 2
1 1 2
1 2
1 1 2 2
3
ing or and we get
1 1
1 1


T T T
ml ml ml
A A
B B
e e e

= = =
= = = = and
1 2
1 1
1
1 1 1
2 2
2
2 2 2
The normal modes of vibration corresponding to &
can be expressed respectively as;
1
( )
1
1
( )
1
A A
x
B A
A A
x
B A
e e

= = =
` ` `
) ) )

= = =
` ` `
) ) )
Modal Vector & Mode shapes :
1
1
-1
1
O
l l
l
l
1
First Mode
Second mode
1 1
2 2

For the first mode, the two masses move in phase
(i.e. both A and B are positive).Hence there is no node.
For the second mode, the two masses move out of phase.
(i.e. A and B are
Location of node :
1
1
1 1 1
opposite in sign) Hence node exists
such that
1
1 1 2 0.5
1
. the node is located at the middle of the two masses.
l l l l
l l
l l l
i e

= = = =
Prob 3:
For the double pendulum shown in fig, obtain the
natural frequencies and mode shapes.
m
m
l
l
u
1
u
2
m
m
l
l
1
x
1
x
2
x
2
x - ( )
mg
u
2
T
2
cos u
2
T
2
sinu
2
T
1
T
2
mg
cosu
1
T
1
T
2
cos u
2
T
2
sinu
2
u
1
sin T
1
u
2
u
1
1
2
1 2 1
1 2 2 2 2
1 1 1 2 2
Let the tension in the upper string be T & that in the lower
string be T .From the free body diagrams of the masses,
sin , sin , T cos
cos T cos 2
x x x
T mg
l l
T T mg
u u u
u u

= = ~ =
~ = + =
Equations of Motion :
1 1 1 2 2
1 2 1
1
1 1 2
sin sin 0
2 0
3
0............( )

mg
mx T T
x x x
mx mg mg
l l
mg mg
mx x x i
l l
u u + =

| | | |
+ =
| |
\ . \ .
| | | |
+ =
| |
\ . \ .
Equilibrium equation of top bob will be
Equilibrium equation of bottom bob will be
2 2 2
2 1
2
2 1 2
sin 0
i.e. 0
0............( )
mx T
x x
mx mg
l
mg mg
mx x x ii
l l
u + =

| |
+ =
|
\ .
| | | |
+ =
| |
\ . \ .
1 2
2 2
1 2
2
Let x sin( ) and x sin( )
sin( ) and sin( )
substituting in the equations (i) & (ii), we get
3
0............( )

A t B t
x A t x B t
mg mg
m A B iii
l l
mg mg
A
l l
e | e |
e e | e e |
e
= + = +
= + = +
| | | |
=
| |
\ . \ .
| |
+
|
\ .
2
2
2
0............( )
To obtain the characteristic equation, equating the determinant of
the co efficients of A & B to zero,
3
0
m B iv
g g
l l
g g
l l
e
e
e
| |
=
|
\ .
| | | |

| |
\ . \ .
=
| | | |

| |
\ . \ .
2
2 2
2
4
2
2
1
1
Expanding the determinant,
3
0
4
2 0


Using equations (iii) & (iv) we get,

3
g g g
l l l
g g
l l
Solving
g
A
l
g B
l
e e
e e
e
| || | | |
=
| | |
\ .\ . \ .
| | | |
+ =
| |
\ . \ .
=

Mode shapes :
1
g
= 0.7654
l
g
=1.8477
l
2
1
1
2
2
2 2
2
1
0.414
3 0.5858
1
2.414
3 3 3.414
g
l
g g
l l
g g
A
l l
g g g B
l l l

e
= = =
| | | |

| |
\ . \ .
= = = =
| | | |

| |
\ . \ .
Modal Vector & Mode shapes:
The normal modes of vibration corresponding to
1
&
2
can be
expressed respectively as;

1 1
1
1 1 1
2 2
2
2 2 2
0.414
( )
1.0
2.414
( )
1.0
A A
x
B A
A A
x
B A

= = =
` ` `
) ) )

= = =
` ` `
) ) )
0.414
1.0
-2.414
1.0
Derive the frequency equation for the system shown in
fig. Assume the cord passing over the cylinder does
not slip.
k
r
2
k
1
m
2
u
m
1
X
( )
1
1 1
2
2 1
For the mass m , the equilibrium equation is
0
Equation of equilibrium for the cylinder is
I ( ) 0
m x k x r
k r k r x r
u
u u u
+ =

+ + =

Equations of motion :
1 1 1
2
1 2 1
m x + k x - k r = 0...........(i)
I +(k + k )r - k xr = 0
2
2
1
where I= , the mass moment of inertia of cylinder.
2
m r
.....( . ii)
{ }
2 2
2
1 1 1
2 2
1 1 2
)
Then x= sin( ) and = sin( )
substituting in (i) & (ii) and cancelling sin( ) through out,
( - ) 0..........( )
( ) 0...
A t B t
t
k m A k rB iii
k rA k k r I B
e | u e |
e e | u e e |
e |
e
e
+ +
+
=
+ + =
Assume x = Asin( t + & = Bsin ( t + )
2
1 1 1
2 2
1 1 2
2
2
.......( )
The frequency equation is obtained by equating the determinant
of the coefficients of A & B to zero.
( - )
0
( )
1
Simplifying & substituting I= , we get,
2
iv
k m k r
k r k k r I
m r
e
e

=
+
4
1 2
2
2(k + k )
-
m
(
(

2
1 1 2
1 1 2
k 2k k
+ + = 0
m m m
Two simple pendulums are connected by a spring as
shown in fig. Determine the natural frequencies of the
pendulum.
m m
L
L
k
a
u
1 u
2
2 2
1 1 1 2
2 2 2
1 1 2
2 2
2 2 2 1
2
Taking moments about the hinged points, we have
For the left pendulum;
( ) 0
( ) 0........( )
Similarly, for the right pendulum;
( ) 0
mL mgL ka
mL mgL ka ka i
mL mgL ka
mL
u u u u
u u u
u u u u
+ + =
+ + =
+ + =

2 2
2 2 1
1 2
( ) 0........( )
sin( ) and sin( )
, we get

mgL ka ka ii
Let A t Let B t
Simplifying
u u u
u e | u e |
+ + =
= + = +
2 2 2 2
2 2 2 2
(mgL+ ka - mL )A- ka B = 0.......(iii)
-ka A+(mgL+ ka - mL )B = 0.......(iv)
2 2 2 2
2 2 2 2
2 2 2 2
1
The non trivial solution for A & B may be obtained
by equating the determinant of coefficients of A & B to zero.
0
Taking +ve sign,
ra
mgL ka mL ka
ka mgL ka mL
mgL ka mL ka
g
L
e
e
e
e
+
=
+
+ =
=
2
2
2
d/sec Taking -ve sign,
2
rad/sec.
g ka
L mL
e = +
SEMI DEFINITE SYSTEMS
Sometimes if one of the roots of the characteristic
frequency equation is equal to zero, it indicates that
one of the natural frequencies of the system is zero.
Such systems are known as semi definite systems.
Practically this simply means that the system will move
as a rigid body without distortion of the springs that
connect the different masses of the system.
A vibrating system whose both ends are free will be a
semi definite system.
Two blocks m
1
and m
2
are connected together by a spring of
constant K are resting on a smooth horizontal surface as
shown in fig. Obtain an expression for the natural frequencies
for the system.
k
m
1
m
2
x
x
2
1
For the 2 d.o.f system shown in fig, the equations of
motion for free, undamped vibrations are given by;




Which may be rearranged as,



1 1 1 2
2 2 2 1
( ) 0 and
( ) 0
m x k x x
m x k x x
+ =
+ =
1 1 1 2
2 2 1 2
0 and
0
m x kx kx
m x kx kx
+ =
+ =
The solutions of the above harmonic motions may
be given by

where A, B & are arbitrary constants
Substituting for x
1
& x
2
in the equations of motion,
& canceling out sin(t+) we get,


These are homogeneous linear algebraic
equations in A & B, whose solution is obtained by
equating the determinant of the coefficients A &
B to zero.



) sin( & ) sin(
2 1
| e | e + = + = t B x t A x
2
2
1
2
( ) 0
( ) 0
k m A kB
kA k m B
e
e
=
+ =
The determinant of coefficients A & B will be


Expanding the determinant we get;








2
1
2
2
0
k m k
k k m
e
e

=

{ }
{ }
2 2 2
1 2
4 2 2 2
1 2 1 2
2 2
1 2 1 2
2
1
2 2
1 2 1 2
1 2
2
1 2
( )( ) =0
( ) 0
( ) 0
Hence either 0 0.
( ) 0
( )
k m k m k
m m m m k k k
m m m m k
or m m m m k
k m m
m m
e e
e e
e e
e e
e e
e

+ + =
+ =
= =
+ =
+
=
2
1 1 1
1
2
1 1 1 1
1
1 1
1 2
2
1 2
2
2
1
1
Amplitude ratio in first mode
1
Substituting 0,
1
1
0
k(m )
Put = , we get the amplitude ratio in second mode
m
k(m
A k m k
B k m k
A k k
B k k
m
m
A k
B
k m
e
e
e

= = = =

= = = =

+
=

Mode Shapes & Modal Vectors :

2
1
2
2 1
1 2 2
1 1
1
)
1 1
m
m
m
m m
m m

| |
|
\ .
= = =
| | | |
+

| |
\ . \ .
Modal Vector & Mode shapes:
The normal modes of vibration corresponding to

1
&
2
can be expressed respectively as;

1 1
1 1 1
2
2 2
1
2 2 2
1
1
1
A A
B A
m
A A
m
B A

= =
` ` `
) ) )

| |

|
= = \ .
` ` `
) )

)
1 1
-1
Node
First Mode
Second Mode
m
2
m
1
/
x
L
{ }
2
1
2
1
2 1
2 2
1 1
2
1
1 2
Let the node be at a distance x from the left end;
Taking ratio of corresponding sides from the two triangle,
1
( )
( )
1
m
m
m
L x x
m
x L x
m m
m m
m
x
m m
L x x
m m
m
| |
|
| |
= =
|
|
\ .
|
\ .
| |
+
| | | |
= + =
| |
|
\ . \ .
.
=
+
\

|
\
L
|
|
.
For the Torsional system shown in fig,
determine the natural frequencies, modal
vectors & location of the node.
2
I
I
1
K
t
Solution : Let u
1
and u
2
be the angular twists in the
shaft due to rotation of the rotors.
For the 2 d.o.f system shown in fig, the equations of
motion for free, undamped vibrations are given by;




Which may be rearranged as,



1 1 1 2
2 2 2 1
( ) 0 and
( ) 0
t
t
I k
I k
u u u
u u u
+ =
+ =
1 1 1 2
2 2 2 1
0 and
0
t t
t t
I k k
I k k
u u u
u u u
+ =
+ =
The solutions of the above harmonic motions may
be given by

where A, B & are arbitrary constants
Substituting for u
1
& u
2
in the equations of
motion, & canceling out sin(t+) we get,


These are homogeneous linear algebraic
equations in A & B, whose solution is obtained by
equating the determinant of the coefficients A &
B to zero.



1 2
sin( ) & sin( ) A t B t u e u e = + = +
2
2
1
2
( ) 0
( ) 0
t t
t t
k I A k B
k A k I B
e
e
=
+ =
The determinant of coefficients A & B will be


Expanding the determinant we get;








2
1
2
2
0
t t
t t
k I k
k k I
e
e

=

{ }
{ }
2 2 2
1 2
4 2 2 2
1 2 1 2
2 2
1 2 1 2
2
1
2 2
1 2 1 2
1 2
2
1 2
( )( ) =0
( ) 0
( ) 0
Hence either 0 0.
( ) 0
( )
t t t
t t t
t
t
k I k I k
I I I I k k k
I I I I k
or I I I I k
k I I
I I
e e
e e
e e
e e
e e
e

+ + =
+ =
= =
+ =
+
=
2
1 1 1
1
2
1 1 1 1
1
1 1
1 2
2
1 2
2
2
Amplitude ratio in first mode
1
Substituting 0,
1
1
0
k (I )
Put = , we get the amplitude ratio in second mode
I
t t
t t
t
t
t
t
t
k k I A
B k I k
k A
B k
I
I
k A
B
k
e
e
e

= = = =

= = =

+
=

Mode Shapes & Modal Vectors :

2
1
2
1 2 1
1
1 2 2
1 1
1
k (I )
1 1
I
t
I
I
I I
I
I I

| |
|
\ .
= = =
| | | |
+

| |
\ . \ .
Modal Vector & Mode shapes:
The normal modes of vibration corresponding to

1
&
2
can be expressed respectively as;

1 1
1 1 1
2
2 2
1
2 2 2
1
1
1
A A
B A
I
A A
I
B A

= =
` ` `
) ) )

| |

|
= = \ .
` ` `
) )

)
1 1
-1
Node
First Mode
Second Mode
/
I
2 I
1
{ }
2
1
2
1
2 1
2 2
1 1
2
1
1 2
Let the node be at a distance x from the left end;
Taking ratio of corresponding sides from the two triangle,
1
( )
( )
1
I
I
I
L x x
I
x L x
I I
I I
I
x
I I
L x x
I I
I
| |
|
| |
= =
|
|
\ .
|
\ .
| |
+
| | | |
= + =
| |
|
\ . \ .
.
=
+
\

|
\
L
|
|
.
K
t1
d
A
d
A
d
B
I
A
B
I L
A
L
B
Pinion
Gear
Rotor A
Rotor B
L
A
L
A
L
B'
d
A
I
A
B'
I
Geared Systems
Actual system
Equivalent system
d
A
d
A
d
B
I
A
B
I L
A
L
B
Pinion
Gear
Rotor A
Rotor B
L
A
L
A
L
B'
d
A
I
A
B'
I
Geared Systems
Actual system
Equivalent system
d
A
d
A
d
B
I
A
B
I L
A
L
B
Pinion
Gear
Rotor A
Rotor B
L
A
L
A
L
B'
d
A
I
A
B'
I
Geared Systems
Actual system
Equivalent system
K
t1
K
t2
K
t2'
1
The fig shows a geared system with a gear ratio = .
If the inertia of gears and shafts is negligible,
the second rotor system may be replaced by an
equivalent system B' (d =d ) such tha
A
B
B A
n
e
e
t:
(i) The kinetic energy of the original system
is same as that of the equivalent system.
(ii) The strain energies of the original & equivalent
system are the same.
2 ' ' 2 2
2
'
K.E of original system (B) =K.E of equivalent system (B')
1 1
i.e. But '
2 2
Mass moment of inertia of equivalent rotor
..
B B B B B A
B
B B
A
I I
I I
e e e e
e
e
= =

| |
= =
|
\ .
B
2
I
n
(1) Equating the kinetic energies :
2
2 ' ' 2
2
2
'
2 2
' 2
.......( )
Strain energy of section L Strain energy of section L'
1 1
But ,
2 2
Hence, Torsional stiffness of equivalent shaft
k
t B
B
B B
t B
B
t t
i
k k t
k k
u u u e
u
u
=
= =
| |
= =
|
|
\ .
(2) Equating the kinetic energies :
2 2
2 2
' 2 2
........( )
B
B B
t t
A
k ii
e e
e e
| |
| |
= =
|
|
|
\ .
\ .
t2
2
k
n
4
1
4
2
32
Also, as torsional stiffness of the driving shaft
32
Torsional stiffness of driven shaft
Also, Torsional stiffness of equivalent impeller shaft
A
A A
B
B B
d
G
GJ
L L
d
G
GJ
L L
G
t
t
| |
|
\ .
= =
| |
|
\ .
= =
=
t1
t2
'
t2
k
k
k
4
1
' '
4 4
' 2
'
Equivalent length of driven s
32
32 32
1
But

& Hence length of equivalent shaft
haft

A
B B
A B
B B
eq A B
d
G
J
L L
d d
G G
L n L
L L
t
t t
| |
|
\ .
=
| | | |
| |
\ . \ .
= =

| |
|
\ .
= +
' t2
t2
2
4
'
A
e
2
A
B
q A B
B
B
B
k
k
n
d
L = L n
d
d
L = L + L
d
L ..........( ) iii
| |
|
\ .
4
2
n
Problem
An engine drives a centrifugal pump through a
2:1 speed reducer gear box. The mass moment
of inertia of the engine flywheel and the pump
impeller are 500 kg-m
2
and 60 kg-m
2
respectively.
The length and diameter of the engine shaft are
250 mm & 50 mm respectively. The length &
diameter of the pump impeller shaft are 150 mm
& 40 mm respectively. The rigidity modulus of the
shaft material is 80 Gpa. Determine the natural
frequencies and location of node.
d
A
d
B
I
A
B
I L
A
L
B
Pinion
Gear
Flywheel A
Impeller B
L
A
L
A
L
B'
d
A
I
A
B'
I
Geared Systems
Actual system
Equivalent system
=0.05m
=0.04m
=0.25m
=0.15m
2 2
500 , 60 , Gear ratio n=2
Dia of engine shaft d 50 0.05
Length of engine shaft L 250 0.25
Dia of engine shaft d 40 0.04
Length of engine shaft L 150
A B
A
A
B
B
I kgm I kgm
mm m
mm m
mm m
mm
= =
= =
= =
= =
= =
Data :
4 4
7 4
1
4 4
7 4
2
0.15
Polar Moment of inertia of engine shaft
0.05
J 6.136 10
32 32
Polar Moment of inertia of pump shaft
0.04
J 2.5133 10
32 32
A
B
m
d
m
d
m
t t
t t

= = =

= = =
9 7
1
9 7
2
Torsional stiffness of engine shaft
80 10 6.136 10

0.25
Torsional stiffness of impeller shaft
80 10 2.5133 10
0.15
Mass moment of inertia of equ
A
B
GJ
L
GJ
L

= = =

= = =

t1
t2
k 352Nm / rad
k 34042.67Nm / rad
196
1
' 2
ivalent impeller

Also, Torsional stiffness of equivalent impeller shaft
B
I = = =
= = =
B
2 2
'
t2
t2
2 2
I 60
n 2
k 134042.67
k 33510.67 Nm / rad
n 2
15 kgm
t eq

= = =
+ +
|
\
'
t1 t2
'
t1 t2
1
eq A B
As the two shafts are in series, stiffness of the equivalent shaft
k k 196352 33510.67
(K 28625.3 Nm / rad
k k 196352 33510.67
Also the equivalent length of shaft
0.05
L = L + L = 0.25 + 0.15
0.04
)
|
|
.
4
2
2 =1.7148m
Equivalent system
500 kgm
2
15 kgm
2
K =28625.3 Nm/rad
t
L=1.7148m
1
1 2
2
1 2
2
1 2
0
k (I ) 28625.3 (500 15)
Also = = 44.34 / sec
I 500 15
Location of node on the equivalent shaft from left side rotor
15
x = 1.7148
500 15
t
I
rad
I
I
L
I I
e =
+ +
=

| |
| |
= =
|
|
+ +
\ .
\ .
As it is a semi definite system,
0.0499 0.05 . m ~
1 1
-1
Node
First Mode
Second Mode
x
L
/
I
2 I
1
Systems with two degree of freedom
Forced Vibration
m
1
K
1
m
2
K
2
x
1
x
2
F
1 t sin F F
0 1
=
Systems with two degree of freedom
Problem-1
Governing equations
Newtons method
. Force equilibrium diagram
m
1

K
1
x
1

K
2
(x
2
-x
1
)
1 1
x m

m
2

2 2
x m

m
1
K
1
m
2
K
2
x
1
x
2
F
1
t sin F F
0 1
=
Systems with two degree of freedom
Newtons method
. From Force equilibrium diagram of mass m
1
t sin F ) x (x K x K x m
0 1 2 2 1 1 1 1
= +

t sin F x K )x K (K x m
0 2 2 1 2 1 1 1
= + +

1
st
Eqn.
of motion
. From Force equilibrium diagram of mass m
2
0 ) x (x K x m
1 2 2 2 2
= +

0 x K x K x m
2 2 1 2 2 2
= +

2
nd
Eqn. of motion
Governing equations
m
1

K
1
x
1

K
2
(x
2
-x
1
)
1 1
x m

m
2

2 2
x m

t sin F
F
0
1
=
Solution of governing equations
It is possible to have pure harmonic free vibration for both the
masses.
Let us assume
) t | = +
1
x Asin(
| =
2
x Bsin(t + )
Be the forced response of the system, where A and B are the
amplitudes to be obtained
The above equations have to satisfy the governing equations
of motions
0 x K x K x m
2 2 1 2 2 2
= +

1
st
Eqn. of motion
2
nd
Eqn. of motion
t sin F x K )x K (K x m
0 2 2 1 2 1 1 1
= + +

where e is the forcing
frequency
Systems with two degree of freedom
Solution of governing equations
( + + + =

2
1 2 1 2 0
(K K ) m Asin(t ) K Bsin(t ) F sint
+ + =
2
2 2 2
K Asin(t ) (K m )Bsin(t ) 0
0 ) sin( = + t In above equations
B ( + =

2
1 2 1 2 0
(K K ) m A K F sint
=
2
2 2 2
K A (K m )B 0
The above equations reduces to: (characteristic equation)
Systems with two degree of freedom
B ( + =

2
1 2 1 2 0
(K K ) m A K F sint
=
2
2 2 2
K A (K m )B 0
From above equations obtain A
1
and A
2
by Cramers rule
Solution of governing equations

=
2
0
2
2 2
K
F
........
0 K m
A

Systems with two degree of freedom

B
+

=
2
0
1 2 1
2
F
(K K ) m
0 K

0
m K
K
........
K
m ) K (K

2
2 2
2
2
2
1 2 1
=

+
=
where A is the determinant of characteristic equations
Solution of governing equations
{ }{ }
2
2
2
2 2
2
1 2 1
K m K m ) K (K + =
m
1
K
1
m
2
K
2
x
1
x
2
F
1
Solution of governing equations
if is the natural frequency of system-I
1
1
1
m
K
=
if is the natural frequency of system-II
2
2
2
m
K
=
We have two resonant frequencies
Dynamic vibration absorber
m
2
K
2
x
2
x
1
m
1
K
1
F
1
Main system
having forced
vibration
Absorber
system
The system can be used as
Dynamic vibration absorber
(Tuned damper)
Choose K
2
, m
2
such that
vibrations of mass m
1
is
minimized
Dynamic vibration absorber
If the system has to be used as Dynamic vibration absorber,
the amplitude of vibration of mass m
1
, i.e. A=0

= =
2
0
2
2 2
K
F
0 K m
A 0

2
0
2
2 2
K
F
0
0 K m
0 m K F
2
2 2 0
= ) (
Dynamic vibration absorber

2
0
2
2 2
K
F
0
0 K m
0 m K
2
2 2
=
2
2
2
m
K
=
2
2
m
K
=
2
2
m
K
=
Dynamic vibration absorber
Natural frequency of absorber system
2
2
2

m
K
= =
Excitation frequency of the system is
equal to natural frequency of absorber
system
This shows that if excitation frequency of the system is
equal to natural frequency of absorber system, then
vibration of the main system is zero
Systems with two degree of freedom
Undesired maximum vibrations can occur only when main
system is under resonance, or near it i.e.

1
=
So, to reduce undesired vibration of main system mass m
1
,
we choose K
2
, m
2
in such a way that

2
=
1
2
2
1
1
m
K
m
K
=
2
2
1
1
m
K
m
K
= OR
Dynamic vibration absorber
Dynamic vibration absorber
{ }{ }

=
+
2
0 2 2
2 2 2
1 2 1 2 2 2
F (K m )
A
(K K ) m K m K

=
2
0
2
2 2
K
F
0 K m
A

Dynamic vibration absorber

To find the natural frequencies of the entire system, equate
the denominator of A to zero.
0
m K
K
........
K
m ) K (K

2
2 2
2
2
2
1 2 1
=

+
=
{ }{ }
1 2
2 2
2 1 2 2
1 1 2 1
k yields,
1 1 0
k m m k
k k k k
e e
= + =

| | | |

+ =
` `
| |

\ . \ . )
)
2 2 2
1 2 1 2 2 2
(K K ) m K m K 0
Dividing the entire equation by k
2 2 2
2
1 2 1 2
2 2
1 2 1 2
2 2
1 1
4 2
1
But , Hence , say.
Also let , the mass ratio
we get;
(2 ) 1 0
n n
m m m m
r
k k k k
k m
k m
r r
e e e
e e

= = = = =
| | | |
= =
| |
\ . \ .
+ + =
Note :(i)If it is stated that the natura l frequency of the entire
system(wi
minimum frequency
Impre
th absorber) is to be 20% away from the external
impressed frequency, then take r = 0.8
(ii) If the natural frequencies of the s ystem with dynamic absorber
are given then take r =
This is because a smaller value of r gives a larger mass ratio which increases
the safe range of operating speed.
ssed frequency
Systems with two degree of freedom
m
1
K
1
m
2
K
2
x
1
x
2
F
1
Derive expressions for amplitudes
of vibrations of the two masses
shown in Figure and explain the
principle of un-damped dynamic
vibration absorber
Problem-1
Dynamic vibration Absorber
A reciprocating machine of mass M runs at a
constant speed of N rpm. After it was
installed, it was found that the forcing
frequency is too close to the natural
frequency of the machine. What dynamic
absorber should be added, if the nearest
natural frequency of the system should be at
least 25% from the impressed frequency.
Problem-1
Systems with two degree of freedom
Machine
Vibration absorber
Data Given
Natural frequencies of machine must be 25% away from
the operating speed.
Hence r=0.75
4 2
4 2
2 2
1 1
1 1
2 2
we have;
(2 ) 1 0
(0.75) (2 )(0.75) 1 0
0.34028. And =
where m , are mass and stiffness of the main system
and m , are mass and stiffness of the absorber system
Mass of abso
r r
m k
m k
k
k
Hence

+ + =
+ + =
= =
1
1
rber =0.34028 m 0.34028
Stiffness of absorber =0.34028k
M =
Problem-2
A machine part vibrates with large amplitudes
when the compressor speed is 250 rpm. To
study the vibration, a spring mass system is
suspended from the machine part to act as an
absorber. A 2kg absorber mass tuned to 250
cpm resulted in two resonant frequencies of
200 cpm and 300 cpm. Determine the
equivalent spring and mass constants for the
machine part.
4 2
4 2
2 2
1 1
1 1
minimum critical speed 200
Frequency ratio r = 0.8
excitation frequency 250
we have;
(2 ) 1 0
(0.8) (2 )(0.8) 1 0
0.2025. And =
where m , are mass and stiffness of the main system
and
r r
m k
m k
k

= =
+ + =
+ + =
= =
2 2
2
1 1
m , are mass and stiffness of the absorber system
2
Main mass m = = m 9.876
0.2025
k
m
Hence kg