Multi-degree of Freedom Systems

Motivation: Many systems are too complex

to be represented by a single degree of
freedom model.
Objective of this chapter: Understand
vibration of systems with more than one
degree of freedom.
Free-vibration of undamped two-
degree of freedom system
We learn how to analyze free vibration by
considering an example
k
1

k
2
k
3

m
1

m
2

x
1
x
2

Deriving equations of motion
0 ) (
0 ) (
2 3 2 1 2 2 2
2 2 1 2 1 1 1
= + +
= + +
x k k x k x m
x k x k k x m










m
1

k
1
x
1

k
2
(x
1
-x
2
)
m
2

k
2
(x
2
-x
1
)

k
3
x
2









Interpretation of coefficients
First equation: k
1
+k
2
is the force on m
1
needed to move it slowly by one unit while m
2
is
held stationary. k
2
is the force on m
1
need to hold it steady if m
2
is displaced slowly by one
unit.
Second equation: k
1
+k
2
is the force on m
2
needed to move it slowly by one unit while m
1
is
held stationary. k
2
is the force on m
2
need to hold is steady if m
1
is displaced slowly by
one unit.
Maxwell reciprocity theorem: the force on m
1
need to hold it steady if m
2
is displaced slowly
by one unit=force on m
2
need to hold is steady if m
1
is displaced slowly by one unit.



Special case

Let m1=m2=m and k1=k2=k3=k. Then:

0 2
0 2
2 1 2
2 1 1
= +
= +
kx kx x m
kx kx x m


Solution of equations of motion
We know from experience that:

) sin( ) (
) sin( ) (
2
1
t B t x
t A t x
e
e
=
=
Substituting the above equation to eq. of motion, we
obtain two eqs w.r.t. A, B :

0 sin ) 2 (
0 sin ) 2 (
2
2
= +
= +
t kA kB mB
t kB kA mA
e e
e e
The above two equations are satisfied for every t

0 2
0 2
2
2
= +
= +
kA kB mB
kB kA mA
e
e
Trivial solution A, B=0. In order to have a nontrivial solution:

0
2
2
det
2
2
=
(
(

e
e
m k k
k m k
m
k
m
k 3
, = e
First natural frequency:

B A
m
k
= = e
The displacement for the first natural frequency is:

|
.
|

\
|
A
A
This vector is called mode shape. Constant cannot be determined.
Usually assume first entry is 1. Therefore, mode shape is:
|
.
|

\
|
1
1
Thus, both masses move in phase and the have
the same amplitudes.
Second natural frequency:

B A
m
k
= =
3
e
Mode shape for above frequency:

|
.
|

\
|
A
A
Usually assume first entry is 1. Therefore, mode shape is:
1
1
|
\

|
.
|
The two masses move in opposite directions.
)
3
sin(
1
1
) sin(
1
1
) (
) (
2 2 1 1
2
1
+ |
.
|

\
|

+ + |
.
|

\
|
= |
.
|

\
|
t
m
k
c t
m
k
c
t x
t x
Displacements of two masses are sums of displacements
in the two modes:

General expression for vibration of the
two-degree of freedom system
) sin( ) sin(
) (
) (
2 2
2
2
2 1 1
1
1
1
2
1
e e + |
.
|

\
|
+ + |
.
|

\
|
= |
.
|

\
|
t
B
A
c t
B
A
c
t x
t x
Observations:

System motion is superposition of two
harmonic (sinusoidal) motions with
frequencies e
1
and e
2
.
Participation of each mode depends on
initial conditions.
Four unknowns (c
1
, c
2
,
1
,
2
) can be
found using four initial conditions.
Can find specific initial conditions so that
only one mode is excited.
How to solve a free vibration problem
involving a two degree of freedom system

1) Write equations of motion for free vibration (no external force or moment)
2) Assume displacements are sinusoidal waves, and plug in equations of
motion: Obtain equation:


where

3) Solve det[C()]=0, obtain two natural frequencies,
1
,
2
.
4) Solve,


Assume A=1, and obtain first mode shape. Obtain second mode shape in a
similar manner.
)
`

=
)
`

0
0
* )] ( [
B
A
C e
[ ( )]* C
A
B
e
1
0
0

`
)
=

`
)
] [ ] [ )] ( [
2
M K C e e =
5) Find constants from initial conditions.
) sin( ) sin(
) (
) (
2 2
2
2
2 1 1
1
1
1
2
1
e e + |
.
|

\
|
+ + |
.
|

\
|
= |
.
|

\
|
t
B
A
c t
B
A
c
t x
t x
Free vibration response is: