Dr YK Lee MECH300G

Vibration 4

Multiple DOF systems

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More then 2 Degrees of

Freedom

Extending previous section to any

number of degrees of freedom

Textbook: Chap 6
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Why MOF?
For simplicity continuous systems are
approximated as multidegree of freedom
(MOF) systems.
Equations of motion of MOF systems can
be obtained either from Newtons 2nd law
of motion or from Lagranges equations.
Analysis of MOF systems can be
simplified using the orthogonality property
of the mode shapes of the systems
natural frequencies.
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Dr YK Lee MECH300G

Modeling of Continuous systems as

MOF systems
Method 1: Lumped-mass system
Replace distributed mass of the system by finite
number of lumped masses
Lumped masses are connected by massless
elastic and damping members

E.g. Model the 3-story building

as a 3 lumped mass system

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Dr YK Lee MECH300G

Modeling of Continuous systems as

MOF systems
Method 2: Finite Element Method (FEM)
Replace geometry of the system by large
number of small elements
Principles of compatibility and equilibrium
are used to find an approx. solution to the
original system
Details covered in Chapter 12

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Using Newtons 2nd Law to derive

Equations of Motion
Step 1: Set up suitable coordinates to describe
positions of the various masses in the system.
Step 2: Measure displacements of the masses
from their static equilibrium positions
Step 3: Draw free body diagram and indicate
forces acting on each mass
Step 4: Apply Newtons 2nd Law to each mass

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Example 6.1
Derive the equations of motion of the
spring-mass damper system shown below.

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Solution
Free-body diagram is as shown:

Applying Newtons 2nd Law gives:

mi &x&i = ki ( xi xi 1 ) + ki +1 ( xi +1 xi ) ci (x&i x&i 1 ) + ci +1 ( x&i +1 x&i ) + Fi , i = 2,3,..., n 1

Set i=1 with x0=0 and i=n with xn+1=0:

m1 &x&1 + (c1 + c2 )x&1 c2 x& 2 + (k1 + k 2 )x1 k 2 x2 = F1
mn &x&n + (cn + cn +1 )x&n cn x&n 1 + (k n + k n +1 )xn k n xn 1 = Fn

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Dr YK Lee MECH300G

Solution
Notes:
The equations of motion canr be expressed in
[m ]&xr& + [c ]xr& + [k ]xr = F
matrix form:
m1 0 0
...
[m] is the mass matrix 0 m2 0M
[m] =
M O 0
[c] is the damping matrix
0 ... 0 mn
[k] is the stiffness matrix
k1 + k 2 k2 0 L 0
c1 + c2 c2 k 0
0 0
c k 2 + k3 k3 0 x1 (t ) F1 (t )
c2 + c3 c3 M 2
r r
[c] = 2 , [k ] = 0 k3 k3 + k 4 0 , x = x2 (t ), F = F2 (t )
0 0 M 0 x (t ) F (t )
0 O O 3 3
M M cn cn + cn +1
0 0 0 kn k n + k n +1

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Example 6.2
Derive the equations of motion of the trailer-
compound pendulum system as shown.

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Solution

Free-body diagram:

x(t) and (t) describes linear and

angular displacement respectively.
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Solution

External forces on trailer: F(t), k1x,k2x, c1 x& , c2 x&

Horizontal translation:
Mx + mx + m cos m sin = k1 x k 2 x c1 x& c2 x& + F (t )
l && l &2
&& &&
2 2
External forces on pendulum: M(t), mg
Rotational motion about hinge O:
l && l l &&
2
m + m + (m&x&) cos = (mg ) sin + M t (t )
l l
2 2 12 2 2

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Influence Coefficients

One set of influence coefficients is associated with

each matrix involved in the equations of motion

Equation of Motion Influence coefficient

Stiffness matrix Stiffness influence coefficient
Mass matrix Inertia influence coefficient
Inverse stiffness matrix Flexibility influence coefficient
Inverse mass matrix Inverse inertia coefficient

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Stiffness Influence Coefficient, kij

kij is the force at point i due to unit

displacement at point j and zero displacement
at all other points. n
Fi = kij x j , i = 1,2,..., n
Total force at point i, j =1
k11 k12 ... k1n
Matrix
r r
form: k k ... k
F = [k ]x where [k ] = 21 22 2n

M M

k n1 kn 2 ... k nn
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Stiffness Influence Coefficient, kij

Note:
kij = kji
kij for torsional systems is defined as the torque
at point i due to unit angular displacement at
point j and zero angular displacements at all
other points.

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Example 6.3
Find the stiffness influence coefficients of the
system shown below.

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Solution
Let x1, x2 and x3 be the displacements of m1, m2 and
m3 respectively. 1 0 0

Set x1=1 and x2=x3=0.

Horizontal equilibrium of forces:
Mass m1: 0=- k1 -k2 + k11 (E1)
Mass m2: 0= k21 -k2 (E2)
Mass m3: 0 = k31 (E3)
Solving E1 to E3 gives
k11=k1+k2
k21 = -k2
k31 = 0

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Solution

Next set x2=1 and x1=x3=0.

Horizontal equilibrium of forces:
Mass m1: k12 + k2 = 0 (E4)
Mass m2: k22 - k3 - k2 = 0 (E5)
Mass m3: k32 + - k3 = 0 (E6)
Solving E4 to E6 gives
0 1 0
k22 = k2+k3
k12 = -k2
k32 = -k3

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Solution
Finally set x3=1 and x1=x2=0.
Horizontal equilibrium of forces:
Mass m1: k13 = 0 (E7)
Mass m2: k23 + k3 = 0 (E8)
Mass m3: k33 = k3 (E9)
Solving E7 to E9 gives 0 0 1
k33 = k3
k13 = 0
k23 = -k3 k1 + k 2 k2 0
[k ] = k2 k 2 + k3 k3
Thus the stiffness matrix is: 0 k3 k3
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Dr YK Lee MECH300G

Flexibility Influence Coefficient, aij

Have to solve n sets of linear equations to

obtain all the kijs in an n DOF system
Generating aijs is simpler.
aij is defined as the deflection at point i due to
unit load at point j,
xij = aijFj, where xij is the displacement at point
i due to external force Fj
n n
x = x = a F , i = 1,2,..., n
i ij ij j
j =1 j =1
r r r 1 r r
Matrix form: x = [a ]F F = [a] x = [k ]x
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Flexibility Influence Coefficient, aij

Note:
Stiffness and flexibility matrices are the
inverse of each other. [k ] = [a ]1 , [a ] = [k ]1
aij = aji
aij for torsional systems is defined as the
angular deflection of point i due to unit torque
at point j.

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Example 6.4
Find the flexibility influence coefficients of the
system shown below.

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Solution
Let x1, x2 and x3 be the displacements of m1,
m2 and m3 respectively.
Set F1=1 and F2=F3=0.

Horizontal equilibrium of forces:

Mass m1: k1a11 = k2(a21 a11) + 1 (E1)
Mass m2: k2(a21 a11) = k3(a31 a21) (E2)
Mass m3: k3(a31 a21) = 0 (E3)

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Solving E1 to E3 gives a11 = a21 = a31 = 1/k1
Dr YK Lee MECH300G

Solution
Next set F2=1 and F1=F3=0.

Horizontal equilibrium of forces:

Mass m1: k1a12 = k2(a22 a12) (E4)
Mass m2: k2(a22 a12) = k3(a32 a22) +1 (E5)
Mass m3: k3(a32 a22) = 0 (E6)
Solving E4 to E6 gives
a12 = 1/k1
a22 = a32 = 1/k1 + 1/k2
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Solution
Next set F3=1 and F1=F2=0.

Horizontal equilibrium of forces:

Mass m1: k1a13 = k2(a23 a13) (E7)
Mass m2: k2(a23 a13) = k3(a33 a23) (E8)
Mass m3: k3(a33 a23) = 1 (E9)
Solving E7 to E9 gives
a13 = 1/k1
a23 = 1/k1 + 1/k2
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a33 = 1/k1 + 1/k2 + 1/k3
Dr YK Lee MECH300G

Inertial Influence coefficients, mij

mij is defined as the impulse applied at point

i to produce a unit velocity at point j and
zero velocity at every other point.
n
~
Total impulser at point i, Fi = mij x& j , j = 1,2,..., n
r
Matrix form:Fi = [m]x~
~ j =1

x&1 F1 m11 m12 ... m1n

x& r ~ m ... m2 n
r& 2 ~ F2 m22
where x = , F = , [m] = 21
M M M M
x&n F~
n mn1 mn 2 ... mnn

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Example 6.5
Find the inertial influence coefficients of the
system shown below.

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Solution
Let x(t) and (t) be the linear and angular
position of the trailer and pendulum.
Apply impulse m11 and m21 such that x& = 1, & = 0
Linear impulse linear momentum equations:
m11 = (M+m)(1)
l
m21 = m(1)
2

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Solution
Next apply impulse m12 and m22 such that
x& = 0, & = 1
Linear impulse linear momentum equations:
l
m12 = m(1)2
ml 2
m22 = 3 (1)
ml
Inertial matrix: M + m 2
[m] = ml ml 2

2 3

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Potential and Kinetic Energy

expressions in Matrix form

Elastic potential energy of the ith spring,

Vi=0.5Fixi n
1 n
Total potential energy V =
n i =1
Vi = Fi xi
2 i =1
Since F = k x ,
i
j =1
ij j

1 n n 1 n n
V = kij x j xi = kij xi x j
2 i =1 j =1 2 i =1 j =1

1 rT r
Matrix form: V = x [k ]x
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Potential and Kinetic Energy

expressions in Matrix form
Kinetic energy of mass mi: 1
Ti = mi x&i2
2
n
1 n
Total KE of system: T = Ti = mi x&i2
i =1 2 i =1

Matrix form q&1

1 r& T r& r& q& 2
T = q [m]q where q =
2 M
q& n

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Equations of Motion of Undamped Systems in

Matrix form
Note:
For a conservative system, Fi =0
Therefore equations of motion become
r&& r r
[m]x + [k ]x = 0
If xi are the same as the actual displacements,
[m] is a diagonal matrix

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Eigenvalue Problem
r&& r r
To solve [m]x + [k ]x = 0, assume a solution
of the form xi(t)=XiT(t), i=1,2,,n
where Xi is constant and T is a function of time
r&& r r
Substituting xi(t)=XiT(t) into [m]x + [k ]x = 0,
r r r
we obtain [m]XT&&(t ) + [k ]XT (t ) = 0
Rewrite as
n && n
mij X j T (t ) + kij X j T (t ) = 0, i = 1,2,..., n

j =1 j =1
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Dr YK Lee MECH300G

Eigenvalue Problem
n
kij X j
T&&(t ) j =1
, i = 1,2,..., n
=
T (t ) n
mij X j

j =1
Left side of equation is independent of i
Right side of equation is independent of t
Therefore both sides equal to a constant,
which we named 2.

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Eigenvalue Problem

Left hand side: T&&(t ) + 2T (t ) = 0

Solution gives: T(t)=C1cos(t+)
C1 is the amplitude
is the phase angle
i.e. all coordinates (Xi) can perform a
harmonic motion with freqency and phase
angle

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Dr YK Lee MECH300G

Eigenvalue Problem

(k )
n
Right hand side: ij 2
mij X j = 0, i = 1,2,..., n
j =1

or [ ]
r r
[k ] [m] X = 0
2
(Eigenvalue problem)
For a non-trivial solution, determinant of
the coefficient matrix must be zero.
i.e. = |kij-2mij| = |[k]- 2[m]| =0
(Characteristic equation)
2 is the eigenvalue
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Solution of the Eigenvalue Problem

r r
Eigenvalue problem: [ [k ] [m]]X = 0 where = 2
1

Multiplying by [k]-1:
r r r r
[I] is identity matrix [ [I ] [D ]]X = 0 or [I]X = [D ]X
[D]=[k]-1[m] is dynamical matrix.
r
For a non-trivial solution of X,
characteristic determinant =|[I]-[D]|=0
Use numerical methods to solve if DOF of
system is large
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Example 6.7
Find the natural frequencies and mode shapes
of the system shown below for k1=k2=k3=k and
m1=m2=m3=m

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2 1 0
Solution k = k 1 2 1 Slide 19
0 1 1

Dynamical matrix [D]=[k]-1[m] [a][m]

1 1 1
1
Flexibility matrix [a ] = 1 2 2
k
1 2 3
1 0 0
[ ] = 0 1 0
Mass matrix m m
0 0 1
1 1 1
Thus [D] = m 1 2 2
k
1 2 3
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Solution
Frequency equation:
0 0 1 1 1
0 0 m 1 2 2 = 0 where = 1
=|[I]-[D]|= k 2
0 0 1 2 3

Dividing throughout by ,
1
m m 2
1 2 2 = 3 5 2 + 6 1 = 0 where = =
k k
2 1 3

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Solution
m 2
k
1 = = 0.19806, 1 = 0.44504
1
1=5.0489 k m
m22 k
2=0.6430 2 = = 1.5553, 2 = 1.2471
k m
3=0.3078 m32 k
3 = = 3.2490, 3 = 1.8025
k m

Once the natural freq are known, the

eigenvectors can be calculated using
(i )
X1
r (i ) r r (i ) (i )
[i [I ] [D]]X = 0, i = 1,2,3 where X = X 2 (E1)
X (i )
3
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Solution
m
1st mode: Substitute 1=5.0489 k into (E1):
(1)
1 0 0 1 1 1 X 1 0
m m (1)
5.0489 k 0 1 0 k 1 2 2 X 2 = 0
0 0 1 1 2 3 X 3(1) 0

4.0489 1 1 X 1(1) 0

i.e. 1 3.0489 2 X 2(1) = 0
1 2 2.0489 X 3(1) 0

3 unknowns X1(1),X2(1), X3(1) in 3 equations

Can express any 2 unknowns in terms of the
remaining one.
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Solution
X2(1) + X3(1) = 4.0489 X1(1)
3.0489 X2(1) 2X3(1) = X1(1)
Solving the above, we get
X2(1)=1.8019X1(1) and X3(1)=2.2470X1(1)
1
r (1) (1)
X = X 1 1.8019
Thus first mode shape 2.2470

where X1(1) can be chosen arbitrarily.

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Solution
m
2nd mode: Substitute 2=0.6430 k into (E1):
(2 )
1 0 0 1 1 1 X 1 0
m m 1 2 2 X (2 ) = 0
0.6430
k
0 1 0 k 2
0 0 1 1 2 3 X 3(2 ) 0

0.3570 1 1 X 1(2 ) 0

i.e. 1 1.3570 2 X 2(2 ) = 0
1 2 2.3570 X 3(2 ) 0

3 unknowns X1(2),X2(2), X3(2) in 3 equations

Can express any 2 unknowns in terms of the
44 remaining one.
Dr YK Lee MECH300G

Solution
X2(2) X3(2) = 0.3570X1(2)
-1.3570X2(2) 2X3(2) = X1(2)
Solving the above, we get
X2(2)=0.4450X1(2) and X3(2)=-0.8020X1(2)
1
r (2 ) (2 )
X = X 1 0.4450
Thus 2nd mode shape
0.8020

where X1(2) can be chosen arbitrarily.

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Solution
m
3rd mode: Substitute 3=0.3078 into (E1):
k
(3 )
1 0 0 1 1 1 X 1 0
m m 1 2 2 X (3 ) = 0
0.3780
k
0 1 0 k 2
0 0 1 1 2 3 X 3(3 ) 0

0.6922 1 1 X 1(3 ) 0

i.e. 1 1.6922 2 X 2(3 ) = 0
1 2 2.6922 X 3(3 ) 0

3 unknowns X1(3),X2(3), X3(3) in 3 equations

Can express any 2 unknowns in terms of the
46 remaining one.
Dr YK Lee MECH300G

Solution
-X2(3) - X3(3) = 0.6922X1(3)
-1.6922X2(3) 2X3(3) = X1(3)
Solving the above, we get
X2(3)=-1.2468X1(3) and X3(3)=0.5544X1(3)
1
r (3 ) (3 )
Thus 3rd mode shape X = X 1 1.2468
0.5544

where X1(3) can be chosen arbitrarily.
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Solution

When X1(1) = X1(2) =

X1(3) =1, the mode
shapes are as follows:

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Orthogonality of Normal modes

Recall: [ ]
r r
[k ] [m] X = 0
2

r (i )
i and rmodal vector
r (i ) X satisfy it such that
[m]X = [k ]X
2
i
(i )
Eq.1
r ( j)
Another freq j and
r ( j) its Xr ( j)will also satisfy it
such that j [m]X = [k ]X
2
Eq.2
Pre-multiplying Eq.1 and Eq.2 by
r (i ) r ( j)
T T
X and X respectively,
r ( j )T r (i ) r ( j )T r (i ) r (i )T r ( j)
X [m]X = X [k ]X X [k ]X
i
2

r (i )T r ( j) r ( j )T r (i ) r (i )T r ( j)
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j X [m]X j X [m]X = X [k ]X
2 2
Dr YK Lee MECH300G

Orthogonality of Normal modes

Subtracting one from the other,
r ( j )T r (i )
( )
i j X [m]X = 0
2 2

r r
i2 j2 thus X [m]X (i ) = 0, i j
( )T
j
r ( j) r (i )
Similarly we can obtain X [k ]X = 0, i j
T

r (i ) r ( j)
This shows that X and X are orthogonal
wrt both [k] and [m]

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Orthogonality of Normal modes

r ( j )T r (i ) r ( j )T r (i )
When i=j, X [k ]X 0 and X [m]X 0
Generalized
r mass
r coefficient of the ith mode:
M ii = X (i )T
[m]X (i )
, i = 1,2,..., n
Generalized
r (i )
stiffness
r (i )
coefficient of the ith mode:
[k ]X
T
K ii = X , i = 1,2,..., n
m 0 11

m22
r (i )
O
= [ X ]T [m][ X ]

If we normalize X such that M ii = 1, 0

mnn

12 0 k11 0

2
= k 22 = [ X ]T [k ][ X ]
Kii reduces to
2
O O

0 n2 0 k nn
r (1) r (2 ) r (n )
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Modal matrix [ X ] = [ X X L X ] (i)
X Modal vector
Dr YK Lee MECH300G

Example 6.8
Orthonormalize the eigenvectors of E.g. 6.7
with respect to the mass matrix.
r (i ) r (i )T r (i )
Solution X is [m2 ] - orthogonal if X [m]X = 1
For i=1, m ( X (1)
1 ) (
1 2
+ 1 . 8019 2
+ 2 .2470 2
)=1
(1) 1 0.3280
X1 = =
or m(9.2959 ) m

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Solution
For i=2,m(X 1
(2 )
) (1
2 2 2 2
)
+ 0.4450 + { 0.8020} = 1

(2 ) 0.7370
or X 1 =
m

For i=3, m X 1 ( (3 )
) (1 + { 1.2468} + 0.5544 ) = 1
2 2 2 2

(3 ) 0.5911
X1 =
or m

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Repeated Eigenvalues
Modal shapes are not unique when
characteristic equation has repeated roots
Let 1=2= rand 3 rbe a different eigenvalue.
Recall: [I]rX = [D ]rX Eq. 3
[D ]X (1) = X (1) Eq.4
r (2 ) r (2 )
[D]X = X Eq.5
r (3 ) r (3 )
[D]X = 3 X

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Repeated Eigenvalues
Multiply Eq.4 by constant p and add to Eq.5:
( ) ( )
r (1) r (2 ) r (1) r (2 )
[D] pX + X = pX + X
This shows that the new mode shape also
satisfies Eq.3
Hence the mode shape corresponding to is
not unique.

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Example 6.9
Determine the eigenvalues and eigenvectors of
a vibrating system for which
1 0 0 1 2 1
[m] = 0 2 0 and [k ] = 2 4 2
0 0 1 1 2 1

Solution:
Eigenvalue equation
(1 ) 2 1 X 1 0
2
2(2 ) 2 X 2 = 0 where = 2 (E1)
1 2 (1 ) X 3 0

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Solution
Characteristic eq: |[k] [m]|= 2(-4)=0
1=0, 2=0 , 3=4
Using 3=4, (E1) gives
-3X1(3) 2X2(3) + X3(3)=0
-2X1(3) 4X2(3) 2X3(3)=0
X1(3) 2X2(3) 3X3(3)=0
1
r (3 )
X = 1
If X1(3) =1, 1

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Solution
1=2=0 indicates the system is degenerate.
Using 1=0 we obtain
X1(1) 2X2(1) + X3(1)=0
-2X1(1) + 4X2(1) 2X3(1)=0
X1(1) 2X2(1) + X3(1)=0
All these eq are of the form X1(1)=2X2(1) X3(1)
2 X 2(1) X 3(1)
r (1)
X = X 2(1)
Hence X (1)
3
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Solution
1
r (1)
If X2 =1 and X3 =1, X = 1
(1) (1)
1

3
r (1)
If X2(1) =1 and X3(1) =-1,X = 1
1

r (1) r (2 )
Hence X and X are not unique.

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Expansion Theorem
The eigenvectors are linearly independent and
form arbasis in the n-dimensional space.
r n
r
x=
(i )
ci X where x is an arbitrary vector in n - dimensional space
i =1 r (i )T
Pre-multiplying by X [m] , the value of the
constants r ci can be r determined.
r r
X [m]x
(i )T
X [m]x
(i )T
ci = r (i )T r (i ) = , i = 1,2,..., n
X [m]X M ii
r (i )T r
normalized, ci = X [m]x , i = 1,2,..., n
r (i )
If X are

This is known as the expansion theorem.

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Unrestrained Systems
Systems that are not attached to any stationary
frame. E.g 2 moving railway cars
Equation of motion for free vibration:
&q&(t ) + 2 q(t ) = 0
For rigid body translation: =0, q(t)=+t
where and are constants.
r (0 )
Let X be the modal vector corresponding to
rigid body mode. r (0 ) r (0 )
Eigenvalue problem: [m]X = [k ]X
2

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Unrestrained Systems
r (0 ) r
When =0, [k ]X = 0
r (0 ) r
If system undergoes rigid body translation, X 0

Therefore determinant of [k] must be 0, i.e. [k]

is singular. 1 r (0 ) r (0 )
[ ]
T

Thus potential energy V = X k X

2
r r (0 ) r r
V is positive if x X or x 0
[k] will then be a positive semidefinite matrix.
When =0, we can have at most 6 rigid body
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modes, 3 for translation and 3 for rotation.
Dr YK Lee MECH300G

Free Vibration of Undamped

Systems
Equation of motion for free vibration r of
[m ]&xr& + [k ]xr = 0
undamped system: n r
r
General solution: x (t ) = X (i )
Ai cos(i t + i )
i =1

If initial displacements and velocities are

x1 (0) x&1 (0 )
x (0 ) x& (0 )
r r
x (0 ) = 2 and x& (0 ) = 2 respectively,
M M
xn (0 ) x& n (0 )
n r
r
x (0 ) = X (i ) Ai cos i
Then i =1
n r
r&
x (0 ) = X (i ) Aii sin i
63 i =1
Dr YK Lee MECH300G

Example 6.11
Find the free vibration response of the spring-
mass system shown below corresponding to
the initial conditions x&i (0) = 0(i = 1,2,3),
x1(0)=x10, x2(0)=x3(0)=0. Assume that
ki=k and mi=m for i=1,2,3.

64
Dr YK Lee MECH300G

Solution
(From Example 6.7)
k k k
1 = 0.44504 2 = 1.2471 3 = 1.8025
m m m
1 1 1

X 1(1) 1.8019 X 1(2 ) 0.4450 X 1(3 ) 1.2468
2.2470 0.8020 0.5544

n r
r
x (t ) = X (i ) Ai cos(i t + i )
i =1

65
Dr YK Lee MECH300G

Solution
Applying the initial conditions:
A1cos1+ A2cos2+ A3cos3 = x10
1.8019A1cos1+0.445A2cos21.2468A3cos3 =0
2.247A1cos10.802A2cos2+0.5544A3cos3 =0
0.44504 k A1 sin 1 1.2471 k A2 sin 2 1.8025 k A3 sin 3 = 0
m m m

k k k
0.80192 A1 sin 1 0.55496 A2 sin 2 + 2.2474 A3 sin 3 = 0
m m m

k k k
A1 sin 1 + A2 sin 2 A3 sin 3 = 0
m m m
66
Dr YK Lee MECH300G

Solution
Solving the above eqs gives:
A1=0.1076x10, A2=0.5431x10, A3=0.3493x10,
1=2=3=0
Thus solution of system:
k k k
x1 (t ) = x10 0.1076 cos 0.44504 t + 0.5431cos1.2471 t + 0.3493 cos1.8025 t
m m m

k k k
x2 (t ) = x10 0.1939 cos 0.44504 t + 0.2417 cos1.2471 t 0.4355 cos1.8025 t
m m m

k k k
x3 (t ) = x10 0.2418 cos 0.44504

t 0.4356 cos1.2471 t + 0.1937 cos1.8025 t
m m m

67
Dr YK Lee MECH300G

Forced Vibration of Undamped System

using Modal Analysis
Forced vibration occur when external forces act
on a system.
Equations of motion is a set of 2nd order ODE:
r&& r r
[m]x + [k ]x = F Eq.6
Modal analysis is a more convenient method to
solve this when the DOF is large.
First we must solve the eigenvalue problem and
find the natural freq. and the corresponding
normal modes.

68
Dr YK Lee MECH300G

Forced Vibration of Undamped System

using Modal Analysis
r r
Eigenvalue problem: 2
[m]X = [k ]X
According to expansion theorem, solution
of Eq.6:
r r (1) r (1) r (n ) r
x (t ) = q1 (t )X + q2 (t )X + ... + qn (t )X = [X ]q (t )
q1 (t )
q (t )
where [X ] = X[
r (1) r (2 )
X
r (n )
L X ] r 2
and q (t ) =
M


qn (t )

69
Dr YK Lee MECH300G

Forced Vibration of Undamped System

using Modal Analysis
r& r&
Since [X] is not a function of time, x (t ) = [ X ]q (t )
& &
r&& r r
Rewrite Eq.6 as [m][X ]q + [k ][X ]q = F
Pre-multiplying by [X]T,
r& r r
[X ] [m][X ]q + [X ] [k ][X ]q = [X ] F
T & T T

Normalizing the normal modes:

[X]T[m][X]=[I], [X]T[k][X]=[ 2 ]
r r
Define generalized forces Q(t ) = [X ] F (t )
T

Therefore q &&i (t ) + i2 qi (t ) = Qi (t ), i = 1,2,..., n

Solution of this 2nd order ODE:
q& (0 )
qi (t ) = qi (0 ) cos i t + Q ( )sin (t )d , i = 1,2,..., n
1 t
sin i t +
i i
i i
0

70
Dr YK Lee MECH300G

Forced Vibration of Undamped System

using Modal Analysis
r r r& r&
q (0 ) = [X ] [m]x (0 ) q (0 ) = [X ] [m]x (0 )
T T

q1 (0 ) q&1 (0)
q (0) q& (0 )
r 2 r& 2
where q (0) = , q ( 0 ) =
M M
qn (0) q& n (0 )
x1 (0 ) x&1 (0 )
x (0) x& (0 )
r 2 r& 2
x (0 ) = , x (0 ) =
M M
xn (0) x&n (0)

r r (1) r (1) r (n ) r
x (t ) = q1 (t )X + q2 (t )X + ... + qn (t )X = [X ]q (t )
71
Dr YK Lee MECH300G

Systems with Viscous Damping

Extending the previous results to

included the effects of damping
(dashpots)

72
Dr YK Lee MECH300G

Viscous Damping in MOF Systems

Two basic choices for including damping

Attribute some amount to each mode based
on experience, i.e., guess
Estimate damping due to viscoelasticity using
some approximation method
Model the damping mechanism directly (hard!)

73
Dr YK Lee MECH300G

Modal Damping
Decouple system based on M and K, i.e., use
the undamped modes
Attribute some i to each mode of the
decoupled system

q&&i + 2 i i q&i + q = 0
2
i i

qi (t ) = Ai e i i t
sin ( di t + i )

74
Dr YK Lee MECH300G

Modal Damping (cont)

Can also use modal summation approach
Again, modes are from undamped system
n
q(t ) = d i e i i t
sin ( i t + i )v i
i =1

where
T
v q(0) di v q(0) T
di = i
and i = tan 1 i
sin i v Ti q& (0) + i i v Ti q(0)

75
Dr YK Lee MECH300G

System-Level Damping
Can we decouple the system with the same coordinate
transformations as before?

M&x& + Cx& + Kx = 0
1 1
&& + [ X ] M CM [ X ] q& + q = 0
Iq T 2 2 T
144424443
diagonalizable?
In general, these can not be decoupled since K and C
can not be diagonalized simultaneously
76
Dr YK Lee MECH300G

Proportional Damping
It turns out that CM-1K = symmetric is a necessary and
sufficient condition for C to be diagonalizable by the
eigenvectors of the undamped system, i.e., those
based on M,K
best known example is proportional damping

C = M + K = linear combination of M and K.

CM K = ( M + K )M K = K + KM K
1 1 1
1442443
both symmetric
Textbook: p.503
77
Dr YK Lee MECH300G

Proportional Damping (cont)

Write the system as M&x& + ( M + K )x& + Kx = 0
q = M x Iq
1
2
( ) ~ ~
&& + I + K q& + Kq = 0
q = Vr I&r& + ( I + )r& + r = 0
14243
diagonal!
Thus, the damping ratios in the decoupled system are
i
2 i i = + i = +
2

i 2
i

78
Dr YK Lee MECH300G

Example 6.12
Using modal analysis, find the vibration
response of a 2 DOF system with equations
of motion:
m1 0 &x&1 k1 + k 2
r k 2 x1 0
0 + =F = (E1)
m2 &x&2 k 2 k 2 + k 3 x2 0
Assume the following data:m1=10, m2=1,
k1=30, k2=5, k3=0 and
r x1 (0 ) 1 r& x&1 (0 ) 0
x (0 ) = = , x (0 ) = =
x2 (0 ) 0 x&2 (0 ) 0

79
Dr YK Lee MECH300G

Solution
r (1) 1 (1)
1 = 1.5811, X = X 1
2
r (2 ) 1 (2 )
2 = 2.4495, X = X 1 where X 1(1) and X 1(2 ) are arbitrary constants
5

Orthogonalizing normal modes wrt mass

matrix:
r r
(1)
( )
10 0 1
X [m]X = 1 X 1 {1 2}
(1)T (1) 2
= 1 or X (1)
1 = 0.2673
0 1 2
r (2 )T r (2 ) 10 0 1
X [m]X = 1 (X 1 ) {1 5}
(2 ) 2
= 1 or X (1)
1 = 0.1690
0 1 5

Thus [X ] = X [ X = ]
r (1) r (2 ) 0.2673 0.169

0 . 5346 0 . 845
80
Dr YK Lee MECH300G

Solution
r&
E1 can be expressed as &
q i ( t ) + i qi (t ) = 0, i = 1,2
2
q&i 0
Solution qi (t ) = qi 0 cos i t + sin i t
i
Using the initial conditions, we can find
r q10 (0 ) r 0.2673 0.5346 10 0 1 2.673
( )
q 0 = = [X ] [m]x 0 =
( ) =
T

q20 (0 ) 0.1690 0.8450 0 1 0 1.690
r& q&10 (0 ) r& 0
q (0 ) = = [X ] [m]x (0 ) =
T

q20 (0 )
& 0
q1 (t ) = 2.673 cos1.5811t , q2 (t ) = 1.69 cos 2.4495t

81
Dr YK Lee MECH300G

Solution

r r r 0.2673 0.1690 2.673 cos1.5811t

x (t ) = [X ]q (t ) x (t ) =
0.5346 0.845 1.690 cos 2.4495t
x1 (t ) 0.7145 cos1.5811t + 0.2856 cos 2.4495t
or =
x1 (t ) 1.4280 cos1.5811t 1.4280 cos 2.4495t

82
Dr YK Lee MECH300G

Ex 6.6: Derive the flexibility matrix of the weightless beam

(simply supported). Assume the beam to be uniform with
stiffness EI

83
Dr YK Lee MECH300G

Ex 6.6 Solution
P
From Solid Mechanics

a b The deflection function

can be found as
l=a+b follows:

Pbx 2
y ( x) = (l b 2 x 2 ), 0 x a
6lEI

P
y ( x) = (b l )(l x)(b 2 2bl + l 2 2lx + x 2 ), a x l
6lEI

84
Dr YK Lee MECH300G

Ex 6.6 Solution

3
l 1* bx 2 9l
a11 = y ( ) |b =3l / 4 = (l b 2 x 2 ) =
4 6lEI 768 EI
2l P 11l 3
a12 = y ( ) |b =3l / 4 = (b l )(l x)(b 2bl + l 2lx + x ) =
2 2 2
, a xl
4 6lEI 768 EI
3l 7l 3
a13 = y ( ) |b =3l / 4 =
4 768 EI

9 l3 11 l 3 7 l3
a11 = a12 = a13 =
768 EI 768 EI 768 EI
85
Dr YK Lee MECH300G

Ex 6.6 Solution

l 1* bx 2 l3
a22 = y ( ) |b =l / 2 = (l b x ) =
2 2

2 6lEI 48 EI
3
11l
a12 = a21 =
768 EI
3l P 11l 3
a23 = y ( ) |b =l / 2 = (b l )(l x)(b 2bl + l 2lx + x ) =
2 2 2
, a xl
4 6lEI 768 EI

11 l 3 1 l3 11 l 3
a21 = a12 = a22 = a23 =
768 EI 48 EI 768 EI
86
Dr YK Lee MECH300G

Ex 6.6 Solution

3
3l 1* bx 2 9l
a33 = y ( ) |b =3l / 4 = (l b 2 x 2 ) =
4 6lEI 768 EI
7l 3 11 l 3
a13 = a31 = a23 = a32 =
768 EI 768 EI

9 l3 11 l 3 7 l3
a33 = a23 = a13 =
768 EI 768 EI 768 EI
87
Dr YK Lee MECH300G

Ex 6.6 Solution

9 l3 11 l 3
a11 = a12 = a13 =
7 l3
768 EI 768 EI 768 EI

11 l 3 1 l3 11 l 3
a21 = a12 = a22 = a23 =
768 EI 48 EI 768 EI

9 l3
a33 =
768 EI
9 11 7
11 16 11
3
l
a=
768EI
7 11 9

88
Dr YK Lee MECH300G

Lagranges Equation of Motion

1 2 1 2
T mq& V kq
2 2
Lagrangian function:

L T V 1 2 1 2
L = T V = mq& kq
2 2
d L L
= 0, i = 1,2,L, n
dt q& i qi

Ref: Raos textbook: Section 6.7

89
Dr YK Lee MECH300G

Lagranges Equation of Motion

d L L
=0
dt q& q

L 1 2 1 2
= ( mq& kq ) = mq&
q& q& 2 2
d L d
= (mq& ) = mq&&
dt q& dt

L 1 2 1 2
= ( mq& kq ) = kq
q q 2 2

d L L
= mq&& (kq) = mq&& + kq = 0
dt q& q

90
Dr YK Lee MECH300G

Example 6.10
3 freight cars are coupled by 2 springs as
shown below. Find the natural frequencies and
mode shapes of the system for m1=m2=m3=m
and k1=k2=k.

91
Dr YK Lee MECH300G

Solution
Kinetic energy of the system:
1
2
( 2 2 2

2
)
1 r& T
T = m1 x&2 + m2 x&2 + m3 x&2 = x [m]x
r&

x1 x&1 m1 0 0
r r&
where x = x2 , x = x&2 , [m] = 0 m2 0
x x& 0 0 m
3 3 3

92
Dr YK Lee MECH300G

Solution
Potential energy of the system:
Elongation of spring k1=(x2-x1)
Elongation of spring k2=(x3-x2)
V = 2 {k1 (x2 x1 ) + k2 (x3 x2 ) }= 2 x [k ]x
1 2 2 1 rT r

k1 k1 0
where [k ] = k1 k1 + k 2 k 2
0 k2 k 2

V=0 if x1= x2=x3=c (rigid body motion)

93
Dr YK Lee MECH300G

Solution
[ ]
r r
Eigenvalue problem [k ] [m] X = 0
2

Set determinant of coefficient matrix = 0:

(k m)
2
k 0
k (
2k 2 m ) k =0
0 k (k m)
2

Expanding: m36 4m2k4 + 3mk22=0

By setting ~ = 2 , m~ ~ k ~ 3k = 0
m m
~ ~ ~ k ~ 3k
= , m = 0
2

As m0, m m
94
Dr YK Lee MECH300G

Solution
~ k ~~ 3k
1 = = 0, 2 = = , 3 = 3 =
2 22
1
m
2
m
For 1=0, [[k ] [m]]X = 0 gives
2
r r

kX 1(1) kX 2(1) = 0
kX 1(1) + 2kX 2(1) kX 3(1) = 0
kX 2(1) + kX 3(1) = 0

If we fix X1(1)=1, we can solve for X2(1) and

(1) (1)
X3 : X2 = X3 =1 (1) 1
r (1)
X = 1
Thus 1 mode
st

1
95
Dr YK Lee MECH300G

Solution
[ ]
r r
For 2 =(k/m)1/2, [k ] [m] X = 0
2
gives
kX 2(2 ) = 0
kX 1(2 ) + kX 2(2 ) kX 3(2 ) = 0
kX 2(2 ) = 0

If we fix X1(2)=1, we can solve for X2(2) and

X3(2): X2(2)=0, X3(2)= -X1(2)= -1
1
r (2 )
X =0
Thus 2nd mode 1

96
Dr YK Lee MECH300G

Solution
[ ]
r r
For 3=(3k/m)1/2, [k ] [m] X = 0
2
gives
2kX 1(3 ) kX 2(3 ) = 0
kX 1(3 ) kX 2(3 ) kX 3(3 ) = 0
kX 2(3 ) 2kX 3(3 ) = 0

If we fix X1(3)=1, we can solve for X2(3) and

X3(3): X2(3)= -2X1(3) =-2, X3(3)= -0.5X2(3)= 1
1
r (3 )
X = 2
Thus 3rd mode 1

97
Dr YK Lee MECH300G

Lagranges equation for 2DOF system

x1 x2
k1 k2 k3
m1 m2

1 1 1 1 1
T = m1 x1 + m2 x& 22
& 2 V= k1 x12 + k 2 ( x1 x2 ) 2 + k3 x22
2 2 2 2 2

1 1 1 1 1
L = T V = m1 x&1 + m2 x& 2 k1 x1 k 2 ( x1 x2 ) k3 x22
2 2 2 2

2 2 2 2 2
d L L
= 0, i = 1,2
dt qi qi
&
d L d L
= m1 &x&1 = m2 &x&2
dt x&1 dt x& 2
98
Dr YK Lee MECH300G

Lagranges equation for 2DOF system

L L
= k1 x1 k 2 ( x1 x 2 ), = k 2 ( x1 x 2 )(1) k 3 x 2
x1 x 2

m1 &x&1 + (k1 + k 2 ) x1 k 2 x 2 = 0

m2 &x&2 + ( k 2 + k 3 ) x 2 k 2 x1 = 0

99
Dr YK Lee MECH300G

Ex 5.5: Equivalent Mass Moment of Inertia Jeq

for 2DOF torsional system
n1 = 40
1 1 1
T= J e 12 + J G1 12 + J G 2 22
2 2 2

n11 = n2 2 2 = n11 / n2

1 &2 1 1
T = J e1 + J G11 + J G 2&22
& 2
n2 = 20
2 2 2
1 1 1
= J e&12 + J G1&12 + J G 2 ( n1 / n2 ) 2&12
2 2 2
1
= ( J e + J G1 + ( n1 / n2 ) 2 J G 2 )&12
2

J eq = J e + J G1 + (n1 / n 2 ) 2 J G 2
100