CHAPTER 13 MULTIDEGREE OF FREEDOM SYSTEMS

A multi degrees of freedom (dof) system is one, which requires two or more
coordinates to describe its motion.

These coordinates are called generalized coordinates when they are independent
of each other and equal in number to the degrees of freedom of the system.

The N dof system differs from the single dof system in that it has N natural
frequencies, and for each of the natural frequencies there corresponds a natural
state of vibration with a displacement configuration known as the normal mode.
Mathematical terms associated with these quantities are eigenvalues and
eigenvectors.

Normal mode vibrations are free vibrations that depend only on the mass and
stiffness of the system and how they are distributed.

Analytical/closed-form solutions can be established for 2degrees of freedom systems. But

for more degree of freedom systems numerical analysis using computer is required to
find natural frequencies (eigen-values) and mode shapes (eigen vectors).
The equations of motion for these systems in matrix form can be written as
(1)
Mx + Kx = 0,
where M and K are mass and stiffness matrix respectfully. Premultiplying M 1 , the
above equation becomes,
Ix + Ax = 0
(2)
where A = M 1 K .
Assuming harmonic motion i.e., x = X sin t , equation (2) reduces to
[ A I ]X = 0 ,

(3)

where = 2
For non-trivial solution of X, equation (3) reduces to A I = 0 which is known as the
characteristic equation. One may find i (i= 1,2,n), by finding the roots of this
characteristic equation or by finding the eigenvalues of A. The eigenvector will
correspond to the normal modes of the system. For an n degree of freedom system one
will get n natural frequencies (square root of eigen values) and n normal modes (eigen
vectors).

It is possible to find eigenvectors from adjacent matrix of the system:

232

Let B = A I
1
B 1 =
adjB
B

(4)
(5)

Premultiplying equation (5) by B B

B BB 1 =

BB
adjB
B

(6)

or, B I = BadjB

(7)

Hence, A I I = ( A I )adj ( A I )

(8)

for = i , A I = 0, hence,

[ A I ] adj [ A I ] = 0

(9)

Comparing equation (3) and (9), one gets

X i = adj[ A I ]

(10)

Hence the normal modes of the system can be obtained by finding the adjoint
of [ A I ] .
Example 1
Find the normal modes for torsional vibration of a shaft with two rotors as shown in
figure 1.

I2

I1

Figure 1: A rotating shaft with two rotors.

Solution
Let 1 and 2 be the rotation of rotor 1 and 2 respectively. The equation of motion of the
system can be given by

233

 I1
0

0 1 k
+
I 2 2 k

k 1 0
=
k 2 0

1 X 1
Let us assume = sin t
2 X 2
I
So, A = 1
0

k
I
Hence, 1
k
- I
2

k
I
[ A I ] = 1
k
- I
2

k
k

0 k
I 2 k

I2

k
I1

I2

k
I1

and

solving A I = 0

one

will

get

k k
+ = 0
I1 I 2

Hence = 0, or, =

k k
+ . So the system is a degenerate system as discussed in the
I1 I 2

previous chapter. Corresponding to = 0, i.e, for rigid body motion, one may find the
normal mode X .

X = adj [ A I ] =0

k
I
1
=
k
- I
2

k k
I1 I 2
=
k k
I 2 I 2

k
I1

k
I1

One may note that, the normalized value of each column yield the same value and in this
case it is equal to the expected value of

X 1 1
X = 1
2
i.e., both the rotor will rotate same amount giving rising to rigid-body motion.
k k
Now to find the normal mode for, = + , one may find Adj A I which is equal to
I1 I 2

234

 k
I
Adj 2
k
- I
2

k k

I1 I1
=
k k
-
I1 I1

'

k k

I 2 I1
=
k k
-
I2 I2

k
I1

k
-
I2

X 1 k / I1
Hence, =

X 2 k / I2
To normalize the value, taking X 2 = 1

X 1 I 2 / I1
X = 1

2
Hence both the rotor rotate in opposite directions and their amplitude ratio is inversely
proportional to their inertia ratio.
Properties of Vibrating Systems:

Since the elastic behavior of motion may be expressed in terms of the stiffness or
flexibility, the equations of motion may be formulated by either the stiffness matrix [ k ]
or the flexibility matrix [ a ] .
-In stiffness formulation , the force f is expressed in terms of displacement x by

{ f } = [k ]{x} .

(11)

Also one may write { x} = [ k ]

{ f } = [ a ]{ f }

(12)

which leads to the flexibility approach.

-The choice as to which approach one should adopt depends on the problem. Some
problems are more easily pursued as the basis of stiffness, whereas for others the
flexibility approach may be desirable.
Flexibility matrix:
For a three degree-of-freedom system, the displacement as forces are related by
flexibility matrix as

x1 a11 a12 a13 f1

x2 = a21 a22 a23 f 2
x a a a f
3 31 32 33 3

(13)

235

The flexibility influence coefficient aij is defined as the displacement at i due to unit
force applied at j with all other forces equal to zero. Thus the first column represent
displacement corresponding to f1 = 1, f 2 = f 3 = 0. Similarly, second column represents
the displacements for f 2 = 1 and f1 = f3 = 0 and so on.
Example 2: Determine the flexibility matrix for the axial displacement of
the spring system shown in figure 3.

K1

To find a11 and a21 , one has to apply unit force at 1, and no force at 2.

So, a11 = 1/ K1 and a21 = 1/ K1 as the second spring will have a rigid body motion.

K2

Similarly to find a12 and a22 , one has to apply only unit force at 2.As spring 1 and 2
Are in series, displacement at 1 i.e., a12 = 1/ K1 and a22 = K1 K 2 /( K1 + K 2 )

2
Figure 3

Hence flexibility matrix can be given by

1/ K1
1/ K1

1/ K ( K + K ) /( K K )

1
1
2
1 2

Example 2: Determine the flexibility influence coefficient for the transverse vibration of
a cantilever beam with three equal mass placed at equal interval as shown in figure 4. The
flexibility of the rod is EI .

Figure 4
Solution
In this the flexibility influence coefficients can be obtained by finding the required
displacement, which can easily be obtained by using moment area method.
To find the first column of the flexibility matrix, one should apply only unit force at 1.
From the bending moment diagram ABC, shown in figure 5(a)

236

2
1/ 2(3l ).(3l ). .3l
3
3 = 9l
a11 =
(=area moment of the +ABC/EI about 1)
EI
EI
1
2
(2l.l.l ) + ( .2l.2l. .2l )
14l 3
2
3
a21 =
=
(= area moment of the trapesum 2BCE/EI about 2)
EI
3EI
1
2
(2l.l )l / 2 + ( .l.l. .l )
3
2
3 = 4l (= area moment of the trapesum 21BCD/EI about 3)
a31 =
EI
3EI

2l

3l

E
C

D
C

(b)

B
l
C

(c)

(a)

Figure 5: Bending moment diagram considering unit load at point (a) 1, (b) 2 , (c) 3
Now to find the second column of the flexibility matrix, one should apply unit force at 2
and draw the corresponding bending moment diagram as shown in Figure 5 (b). From
this figure
1
2
(2l.2l )(l + .2l )
14l 3
3
=
a12 = 2
(= area moment of the +2 BCabout 1)
EI
3EI
1
2
(2l.2l ). (2l )
8l 3
3
=
a22 = 2
(= area moment of the +2 BCabout 2)
EI
3EI
1
2
(2l.2l ). (2l )
8l 3
3
a32 = 2
=
(= area moment of the 3BCD about 3)
EI
3EI
Now to find the third column of the flexibility matrix, one should apply unit force at 3
and draw the corresponding bending moment diagram as shown in Figure 5 (c). From this
figure
1
2
(l.l )(2l + l )
3
3 = 4l
a31 = 2
EI
3EI

237

1
2
(l.l )(l + l )
5l 3
2
3
=
a32 =
EI
6 EI
1
2
(l.l ) l
3
3 = l
a33 = 2
EI
3EI
Hence, the flexibility matrix can be written as

27 14 4
l3
14 8 2.5
a=

3EI
4 2.5 1
In this example it may be observed that aij = a ji which is known as reciprocity theorem,
which is proved as below.
Reciprocity theorem:

States that in a linear system aij = a ji

Proof: Consider a linear system and now applying force fi ,
1
1
1
force displacement = fi ( faii ) = f i 2 aii
2
2
2
1
Then applying force f j , the work done = f j 2 a jj
2
However due to application of force f j , i undergoes further displacement, aij f j and the

the work done

additional work done by fi becomes ( aij f j ) f i .

So, total work done =

1 2
1
f i aii + f j 2 a jj + aij f j f i
2
2

(14)

Now if one reverses the order application of forces, i.e, first a force f j acts at j followed
1 2
1
f j a jj + f i 2 aii + a ji fi f j
2
2
Since the work done in the two cases must be equal

by a force fi acting at i, the work done will be =

(15)

hence, aij = a ji

(16)

Stiffness matrix:
For a three dof system, the force and displacements are related by stiffness matrix as

238

 f1 k11 k12 k13 x1

f 2 = k21 k22 k23 x2
f k k k x
3 31 32 33 3

(17)

The stiffness kij is defined, as the force required at point i to have unit displacement at
point j, displacement at other places being zero. So k11 , k21 and k31 are the forces required
at points 1,2,3 respectively to have unit displacement at 1, i.e., x1 = 1, x2 = x3 = 0 .
Example 3: Find stiffness matrix for the spring-mass system shown in Figure 6.

x1
k1

x2
k2

m1

x3
k3

m2

k4

m3

Figure 6
Solution: From the definition of the element of stiffness matrix, the first column
K i1 (i = 1, 2,3) can be obtained by finding the forces at mass 1,2, and 3 respectively to
have unit displacement for mass 1 and zero displacement for mass 2 and

3, i.e.,

x1 = 1, x2 = x2 = 0 which is depicted in figure 7.

k1

m1

k2 (1 0)

k2

m2

k3 0 = 0

k3 0

m3

(b)

(c )

Figure 7: Freebody diagram considering x1 = 1, x2 = x3 = 0

From the freebody diagram figure 7(a), to have the above-mentioned displacements, mass
1 will be subjected to a spring force of K1 + K 2 . Hence to overcome this a force
f1 = K1 + K 2 is required at 1. Similarly from Figure 7(b) it can be observed that a force
f 2 = K 2 (negative sign indicate the force to be applied to the left) and from figure 7(c) it
may be noted that no force is required at mass 3 i.e., f 3 = 0 .

239

k4 0
f3

f2

f1
(a)

x3 = 0

x2 = 0

x1 = 1

Hence, K11 = f1 = K1 + K 2 , K 21 = f 2 = K 2 , K 31 = f3 = 0 .
Similarly drawing freebody diagram to have x1 = 0, x2 = 1, x3 = 0 (Figure 8)
K12 = f1 = K 2 , K 22 = f 2 = K 2 + K 3 , and K 32 = f 3 = K 3
From freebody diagrams shown in figure 9 to have x1 = 0, x2 = 0, x3 = 1
K13 = f1 = 0 , K 23 = f 2 = K 3 , and K 33 = f 3 = K 3 + K 4

k1 0

k2 (1 0) k2 (1 0)

m1

x3 = 0

x2 = 1

x1 = 0

k3 (1 0) k3 1

m2

k4 0

m3

f3

f2

f1
(a)

(c )

(b)

Figure 8: Freebody diagram considering x1 = 0, x2 = 1, x3 = 0

k1 0

m1

x3 = 1

x2 = 0

x1 = 0
k2 0

k2 0

k3 1

m2

(a)

Figure 9: Freebody diagram considering x1 = 0, x2 = 0, x3 = 1

Hence the stiffness matrix can be given by

K3

0
K3
K3 + K 4

240

k4 1
f3

(c )

(b)

K2
K 2 + K3

m3

f2

f1

K1 + K 2
K = K 2
0

k3 1

Orthogonal Properties of the Eigen Vectors:

The normal modes or the eigenvectors of the system can be shown to be orthogonal with
respect to the mass and stiffness matrices. In equation (1) x = X sin t the equation for
the ith mode be
KX i = i MX i

(18)

Premultiplying by the transpose of mode j,

X j ' KX i = X j 'i MX i = i ( X j MX i )

(19)

Now start with the equation for the jth mode and premultiplying by X i ' to obtain,

X i ' KX j = i ( X i ' MX j )

(20)

Since K and M are symmetric matrices

X j ' MX i = X i ' MX j and X j ' KX i = X i ' KX j

(21)

Subtracting (20) from (19),

(i j ) X 2 ' MX = 0

(22)

As i j , X 2 ' MX j = 0 and X 2' KX j = 0

(23)

Equation (23) shows the orthogonal character of the normal modes. If i=j,

X 2' MX i = M i

(24)

X 2 KX i = Ki

M i and K i are known as the generalized mass and generalized stiffness of the ith mode.
Example 4: Determine the normal modes for the following system and show that the
modes are orthogonal.

x1 3k - k x1 0
2m 0 
+
=

x2 -k k x2 0
m 

Solution:
241

Here
3 k
2m 0 3k - k 2 m
=
A = M 1 K =
m -k k k
0

m
1

Solving A I = 0 , one will get 1 =

k
2m

k
m

1 k
k
, 2 = 2 .
2m
m

To obtain the normal modes, one may find the adj A I .

m i

Here, adj [ A I ] =
k
m

2m

3k

i
2m

Substituting i = 1 ,
0.5
adj[ A I ] =
1.0

0.5 k
1.0 m

One may note that the normalized value of both the columns of the above matrix are
0.5
same. Hence, X 1 = . Similarly substituting i = 2
1
1 0.5 k
adj [ A I ] =

1 0.5 m
1.0
Hence, X 2 =

1.0
Here X 1 and X 2 are the normal modes.
To verify that the normal modes of this system are orthogonal,
2m 0 1
X 1' MX 2 = (0.5 1)
= m + m = 0
0 m 1
Similarly X 2 ' MX 1 = 0 .

Modal Participation in Free Vibration

To find how much of each mode will be present in the resulting free vibration, one may
write the free vibration u (o) as

242

u (0) = C1 X 1 + C2 X 2 + " + Ci X i + "

(25)

where X i is the ith normal mode and the coefficient Ci represent the amount of ith mode
present in the free vibration. Premultiplying equation (25) by X 2 ' M and taking note of
the orthogonal property one gets,
X i ' Mu (0) = 0 + 0 + " + ( X i ' MX i )Ci + 0 = M i Ci

(26)

X i ' Mu (0)
So, Ci =
X i ' MX i

(27)

Modal matrix P:
The modal matrix for a three dof system can be given by
x1 x1 x1

P = x2 x2 x2 = [ X 1 X 2 X 3 ]
x3 x3 x3
1
2
3

(28)

( x1 x2 x3 )1 X 1
P = ( x1 x2 x3 ) 2 = X 2
(29)
( x1 x2 x3 )3 X 3
PMP and PKP will be diagonal matrices since the off diagonal terms simply expresses
the orthogonality relation and are zero.
'

For a 2DOF:
X MX 1
P ' MP = [ X 1 X 2 ]' [ M ][ X 1 X 2 ] = 1
X 2 MX 1

Similarly

K
PKP = 1
0

X 1MX 2 M 1 0
=
X 2 MX 2 0 M 2

0
K 2

(30)

(31)

Weighted Model Matrix:

If each column of the model matrix P is divided by the square root of the generalized
mass Mi, the new matrix is called weighted model matrix and designated as P
So P MP = I and P KP =

(32)

243

Here I is the unity matrix and matrix is a diagonal matrix with eigenvalues in the
diagonal elements.
Example 5. Find modal and weighted modal matrices for the system considered in
example 4.

x1 3k - k x1 0
2m 0 
+
=
0
x2 -k k x2 0
m 

Solution:
0.5 1
The modal matrix P =
1
1

Also,

2m
X 1MX 1 = [ 0.5 1]
0
2m
X 2 MX 2 = [ 1 1]
0
3k
X 1KX 1 = [ 0.5 1]
-k
3k
X 2 KX 2 = [ 1 1]
-k

0 0.5
= 1.5m
m 1
0 1
= 3m
m 1
- k 0.5
= 0.75k
k 1
- k 1
= 6k
k 1

1 0.5 / 1.5 1/ 3
1 0.408 0.5774
P =

m 1/ 1.5
m 0.8165 0.5774
1/ 3
1 0.4082 0.5774 2m 0 1 0.4082 0.5774 1 0
so P MP =

m 0.8165 0.5774 0 m m 0.8165 0.5774 0 1

Similarly,
1 0.4082 0.5774 3k 1 1 0.4082 0.5774 k 0.5 0
P KP =

m 0.8165 0.5774 1 1 m 0.8165 0.5774 m 0 2

  are the eigenvalues of the system.
It may be noted that the diagonal elements of PKP
To develop the uncoupled equation of motion by use of modal matrix P

For a given system M X + KX = F ,

substituting X = PY

(33)
(34)

one will obtain MPY + KPY = F

Premultiplying P in equation (35) yields

(35)

244

( P ' MP )Y + ( P ' KP )Y = P ' F

(36)

As ( P ' MP) and ( P ' KP) are diagonal matrices equation (36) represents a set of uncoupled
equation which can be easily solved by using the principles used for single dof system.
It can also be reduced to a simpler form by using weighted modal matrix.

(37)
Considering X = PY
equation (33) will reduce to
  + KPY
 =F
MPY

(38)

Now premultiplying P in equation (38) one will get

  + P KPY
 = P F
P MPY

(39)

But from equation (32) it is known that, P MP = I and P KP = , so the above equation
reduces to
(40)
IY + Y = P F
As this equation is a set of uncoupled equations, hence, each equation is similar to that of
a single degree of freedom system and the solution of this system of equations can be
easily obtained. Here Y is known as principal coordinates.
Summery
In this chapter the following concepts are learned

Flexibility influence coefficients

Reciprocity theorem

Stiffness matrix approach

Flexibility matrix approach

Normal mode of vibration

Eigenvalues and eigenvectors

Determination of normal modes by adjoint matrix method

Free vibration using normal modes

Orthogonality principle of normal modes

Modal matrix

Weighted modal matrix

Reduction of coupled equation of motion to uncoupled equation of motion.

Exercise problems

1.A centrifugal pump rotating at 400 rpm is driven by an electric motor at 1200 rpm
through a single stage reduction gearing. The moments of inertia of the pump impeller
and the motor are 1500 kg.m 2 and 450 kg.m 2 respectively. The inertia of the gear and

245

the pinion are 15 kg.m 2 and 5 kg.m 2 respectively. The lengths of the pump shaft and
motor shaft are 500 and 200 mm, and their diameters are 100 and 50 mm respectively.
Find the frequencies and the amplitudes of torsional vibration. G = 85 GN/ m 2 .
2. The system shown in figure below consists of two uniform rigid links of mass m and
length L, a massless roller free to move in horizontally and two linear springs of stiffness
k1 and k2, damper with damping coefficient c and a mass M. Derive the equation of
motion either by using Lagrange principle. Take m = 1kg, L = 1m, k1=k2=750N/m, c =
300 N-s/m, M = 2 kg. Determine the normal mode of vibration in this system.
c

k1

M
k2

m, L

m, L

3. The normal modes of a three-DOF system with m 1 = m 2 = m 3 and k 1 = k 2 = k 3 are

given as

0.737
0.591
0.328

X 1 = 0.591 , X 2 = 0.328 , X 3 = 0.737

0.328
0.737
0.591

Verify the orthogonal properties of these modes. If the system is given an initial
0.520

displacement of X = 0.100 and released, determine how much of each mode will
0.205

be present in the free vibration. If the second mass is subjected to a forcing

of 5sin 1t , determine the resulting oscillation.
4. A cantilever beam of length 1 m with two masses 2 kg each, one at the end and the
other at the middle is subjected to a vertical force of 5 sint N at the middle. Derive the
equation of motion using flexibility matrix method. Find the natural frequency and mode
shapes of the system. Use normal mode summation method i.e. using single mode
approximation find the forced response of the system. Also show how this response
differs when you consider all the modes participate in the resulting oscillation. E =
200GN/m 2 . Consider rectangular cross-section of the shaft with width 10mm and
thickness 5mm.

246