1.

Use the Lagrangian formulation to write down the equation of motion in matrix form;

1 1 1
𝑇= 3𝑚Ẋ12 + 𝑚Ẋ22 + 4𝑚Ẋ32
2 2 2
1 2 1 1
𝑉= 𝑘𝑥1 + 3𝑘 (𝑥1 − 𝑥2 )2 + 2𝑘 (𝑥2 − 𝑥3 )2
2 2 2

.
𝑥1 = 𝑞𝑟1 → Ẋ1 = 𝑞𝑟1
.
Let 𝑥2 = 𝑞𝑟2 → Ẋ2 = 𝑞𝑟2
.
𝑥3 = 𝑞𝑟3 → Ẋ3 = 𝑞𝑟3

∂ ∂𝑇 ∂T ∂𝑣 ∂𝑓
( . )− + + . = 𝑄𝑟
∂𝑡 ∂𝑞 𝑟 ∂𝑞𝑟 ∂𝑞𝑣 ∂𝑞 𝑟

For X1 :
𝑑𝑇 𝑑𝑇 1
. = = (2)3𝑚Ẋ1 = 3𝑚Ẋ1
𝑑𝑞𝑟1 𝑑Ẋ1 2

∂ 𝑑𝑇 ..
( . ) = 3𝑚𝑥1
∂𝑡 𝑑𝑞𝑟1

𝑑𝑣 𝑑𝑣 1 1
= = (2) 𝑘𝑥1 + (2) 3𝑘(𝑥1 − 𝑥2 )
𝑑𝑞𝑟1 𝑑𝑥1 2 2

= 𝑘𝑥1 + 3𝑘𝑥1 − 3𝑘𝑥2

= 4𝑘𝑥1 − 3𝑘𝑥2
For X2 :
𝑑𝑇 𝑑𝑇 1
. = = (2) 𝑚Ẋ2 = 𝑚Ẋ2
𝑑𝑞𝑟2 𝑑Ẋ2 2

∂ 𝑑𝑇 ..
( . ) = m𝑥2
∂𝑡 𝑑𝑞𝑟2
𝑑𝑣 𝑑𝑣 1 1
= = (2) (3𝑘 )(𝑥1 − 𝑥2 )(−1) + (2) (2𝑘)(𝑥2 − 𝑥3 )
𝑑𝑞𝑟2 𝑑𝑥2 2 2
= −3𝑘𝑥1 + 3𝑘𝑥2 + 2𝑘𝑥2 − 2𝑘𝑥3
= −3𝑘𝑥1 + 5𝑘𝑥2 − 2𝑘𝑥3
For X3:
𝑑𝑇 𝑑𝑇 1
. = = (2) 4𝑚Ẋ3 = 4𝑚Ẋ3
𝑑𝑞𝑟3 𝑑Ẋ3 2

∂ 𝑑𝑇 ..
( . ) = 4m𝑥3
∂𝑡 𝑑𝑞𝑟3

∂𝑉 ∂𝑉 1
= = (2)(2𝑘 )(𝑋2 − 𝑋3 )(−1)
∂𝑞𝑟3 ∂𝑥3 2
= −2𝑘𝑥2 + 2𝑘𝑥3
Then:
..
3𝑚𝑥1 + 4𝑘𝑥1 − 3𝑘𝑥2 = 0 … … . … ①
..
𝑚𝑥2 − 3𝑘𝑥1 + 5𝑘𝑥2 − 2𝑘 𝑥3 = 0 … … … … ②
..
4𝑚𝑥3 − 2𝑘𝑥2 + 2𝑘𝑥3 = 0 … … … … ③
In Matrix:

3𝑚 0 0
𝑚= [ 0 𝑚 0 ]
0 0 4𝑚
4𝑘 −3𝑘 0
K = [−3𝑘 5𝑘 −2𝑘 ]
0 −2𝑘 2𝑘
Equation of motion is :

..
[𝑚][𝑞] + [𝑘][𝑞] = 0
..
3𝑚 0 0 𝑞.. 1 4𝑘 −3𝑘 0 𝑞1
[ 0 𝑚 0 ] [𝑞2] + K [−3𝑘 5𝑘 −2𝑘 ] [𝑞2] = 0
..
0 0 4𝑚 𝑞3 0 −2𝑘 2𝑘 𝑞3

M=9 kg

K=9*25

=225 (kg.s-2)

F=50*9

=450 (kg.m.s-2)
27 0 0
𝑚= [0 9 0]
0 0 36
900 −675 0
K = [−675 1125 −450]
0 −450 450
2. Use the iteration method to solve the Eigenvalue problem to obtain the natural frequencies and
natural modes for the free vibration problem;

Let {q} = [u] sin{wt+φ}

[k]{u}- 𝑤2 [m]{u}=0

Using of [𝑚]−1
−1
[𝐷]−1 [u]= 𝜆 [u]
1
Let first trail for Eigen vector to be[−1]
1
[𝐷]−1 = [𝑚]−1 [k]
1
[𝑚]−1 = adj [𝑚]
|𝑀|

3𝑚 0 0
𝑚= [ 0 𝑚 0 ]
0 0 4𝑚
|𝑚| = [3𝑚(𝑚 ∗ 4𝑚) − 0] − 0[(0 ∗ 4𝑚) − 0] + 0(0 × 0 − 𝑚 ∗ 0)]
= 3𝑚(4𝑚2 )
|𝑚| =12𝑚3

Minor:

4𝑚2 0 0
[ 0 12𝑚2 0 ]
0 0 3𝑚2
 4𝑚2 0 0
Cof. =[ 0 12𝑚2 0 ]
0 0 3𝑚2
Adj = [cof]𝑡

4𝑚2 0 0
= [ 0 12𝑚2 0 ]
0 0 3𝑚2
4𝑚2 0 0 1
[𝑚]−1 =[ 0 12𝑚2 0 ]* 12𝑚3
0 0 3𝑚2
1
0 0
3𝑚
1
[𝑚]−1 = 0 𝑚
0
1
[0 0
4𝑚]

[𝐷]−1 = [𝑚]−1 [k]

1
0 0
3𝑚 4𝑘 −3𝑘 0
−1 1
[𝐷] = 0 𝑚
0 ∗ [−3𝑘 5𝑘 −2𝑘 ]
1 0 −2𝑘 2𝑘
[0 0
4𝑚 ]
4𝑘 −𝑘
0
3𝑚 𝑚
−3𝑘 5𝑘 −2𝑘
= 𝑚 𝑚 𝑚
−2𝑘 2𝑘
[ 0 4𝑚 4𝑚 ]
 1.33 −1 0
𝑘
= [ −3 5 −2 ]
𝑚
0 −0.5 0.5
1 1.33 −1 0 1
−1 𝑘
[𝐷] [−1] =𝑚 [ −3 5 −2] [−1]
1 0 −0.5 0.5 1
2.33
𝑘
= [−10]
𝑚
1

2.33 1.33 −1 0 2.33

−1 𝑘
[𝐷] [−10] = 𝑚 [ −3 5 −2] [−10]
1 0 −0.5 0.5 1
13.09
𝑘
= [−58.99]
𝑚
5.5
2.38
𝑘
= 5.5 [−10.73]
𝑚
1
2.38 1.33 −1 0 2.38
−1 𝑘
[𝐷] [−10.73] =𝑚 [ −3 5 −2] [−10.73]
1 0 −0.5 0.5 1
13.89
𝑘
= [−62.79]
𝑚
5.865
2.37
𝑘
=5.865 [−10.71]
𝑚
1
 𝑘
𝜆−1
3 = 𝑊32 =5.865
𝑚

𝜆−1
3 =146.625

𝑘
𝑊3 = 2.422√
𝑚

𝑊3 = 2.422√225/9

=12.11 ( rad\sec)

2.37
[𝑢 3]
= [−10.71]
1
[𝑢3 ]𝑡 =[2.37 −10.71 1]

𝛼32 = [𝑢3 ]𝑡 [𝑚][𝑢3 ]

3𝑚 0 0 2.37
=[2.37 −10.71 1] [ 0 𝑚 0 ] [−10.71]
0 0 4𝑚 1
𝛼32 =135.5548 m

𝛼3 = 11.64 √m → (m=9)

𝛼3 = 34.92

1
[𝑈𝑁 3 ] = [𝑢3 ]
𝛼3
 2.37
= (1/11.64√m) *[−10.71]
1
0.20
[𝑈𝑁 3]
=1/√m [−0.92]
0.086

0.0666
=[−0.3064]
0.0286

[𝑈𝑁 3 ]𝑡 = 1/√m [0.20 -0.92 0.086]

=[0.0666 -0.3064 0.0286]

𝜆−1 3 3 𝑡
3 [𝑈𝑁 ] [𝑈𝑁 ] [m]

0.20
5.865 k/m * 1/√m [−0.92] * 1/√m [0.20 -0.92 0.086] *
0.086
3𝑚 0 0
[ 0 𝑚 0 ]
0 0 4𝑚

3𝑚 0 0
=[ 0 𝑚 0 ] * 1/√m [0.20 -0.92 0.086]
0 0 4𝑚
 0.20
= √m [0.6 -0.92 0.344] * 1/√m [−0.92]
0.086

0.12 −0.184 0.07

= [−0.552 0.85 −0.32] * 5.865 k/m
0.05 −0.079 0.03

0.70 −1.08 0.41

𝑘
=
𝑚
[−3.24 4.99 −1.88]
0.29 −0.46 0.18

[𝐷]−2 = [𝐷]−3 − 𝜆−1 3 3 𝑡

3 [𝑈𝑁 ] [𝑈𝑁 ] [𝑀]

1.33 −1 0 0.70 −1.08 0.41

𝑘 𝑘
=
𝑚
[ −3 5 −2 ] _ 𝑚
[−3.24 4.99 −1.88]
0 −0.5 0.5 0.29 −0.46 0.18

0.63 0.08 −0.41

−2 𝑘
[𝐷] = [ 0.24 0.01 −0.12]
𝑚
−0.29 −0.04 0.32
−1
The seconed trial for Eigen vector to be [ 0 ]
1
 −1 0.63 0.08 −0.41 −1
−2 𝑘
[𝐷] [ 0 ]= [ 0.24 0.01 −0.12] [ 0 ]
𝑚
1 −0.29 −0.04 0.32 1

−1.04
𝑘
= [−0.36]
𝑚
0.61

−1.04 0.63 0.08 −0.41 −1.04

−2 𝑘
[𝐷] [−0.36] = 𝑚 [ 0.24 0.01 −0.12] ∗ [−0.36]
0.61 −0.29 −0.04 0.32 0.61

−0.9 −1.8
𝑘 𝑘
=
𝑚
[−0.3] → 0.5
𝑚
[−0.6]
0.5 1

−1.8 0.63 0.08 −0.41 −1.8

−2 𝑘
[𝐷] [−0.6] =𝑚 [ 0.24 0.01 −0.12] ∗ [−0.6]
1 −0.29 −0.04 0.32 1

−1.6 −1.8
𝑘 𝑘
=
𝑚
[−0.56] → 0.9 𝑚 [−0.6]
0.9 1

𝑘
𝜆−1 2
2 = 𝑤2 = 0.9 𝑚

𝑘
𝑤2 = 0.95√ → 𝑤2 = 4.74 (rad/sec)
𝑚
 −1.8
[𝑢 2]
= [−0.6],
1

[𝑢2 ]𝑡 = [−1.8 −0.6 1]

𝛼22 = [𝑢2 ]𝑡 [𝑚][𝑢2 ]

3𝑚 0 0 −1.8
= [−1.8 −0.6 1] [ 0 𝑚 0 ] [−0.6]
0 0 4𝑚 1

−1.8
= [−5.4𝑚 −0.6𝑚 4𝑚] [−0.6]
1
𝛼22 =14.08 m

𝛼2 =3.75 √m → 𝛼2 = 11.25

1
[𝑈𝑁 2 ] = [𝑢2 ]
𝛼2
 −1.8 −0.48
2
=1/3.75 √m [−0.6] →[𝑢𝑁 ] = 1/√m [−0.16]
1 0.27
−0.1598
2
[𝑈𝑁 ] = [−0.0533]
0.08991

[𝑈𝑁 2 ]𝑡 = 1/√m [-0.48 -0.16 0.27]

[𝑢𝑁 2 ]𝑡 =[-0.1598 -0.0533 0.08991]

𝜆−1 2 2 𝑡
2 [𝑢𝑁 ] [𝑢𝑁 ] [m]

−0.48 3𝑚 0 0
𝑘
= 0.9 * 1/√m [−0.16] * 1/√m [-0.48 -0.16 0.27] * [ 0 𝑚 0 ]
𝑚
0.27 0 0 4𝑚

3𝑚 0 0
= [ 0 𝑚 0 ] ∗ 1/√m [-0.48 -0.16 0.27]
0 0 4𝑚
−0.48
= √m [-1.44 -0.16 1.08] * 1/√m [−0.16]
0.27
 0.69 0.08 −0.52
𝑘
= [ 0.23 0.03 −0.17] * 0.9 𝑚
−0.39 −0.04 0.29

0.621 0.072 −0.47

𝑘
= [ 0.21 0.027 −0.153]
𝑚
−0.351 −0.036 0.261

[𝐷]−1 =[𝐷]−2 _ 𝜆−1 2 2 𝑡

2 [𝑈𝑁 ] [𝑈𝑁 ] [m]

0.63 0.08 −0.41 0.621 0.072 −0.47

𝑘 𝑘
=𝑚 [ 0.24 0.01 −0.12] _ 𝑚
[ 0.21 0.027 −0.153]
−0.29 −0.04 0.32 −0.351 −0.036 0.261

0.009 0.008 0.06

𝑘
= [ 0.03 −0.017 0.033]
𝑚
0.061 −0.004 0.059

1
Let trail solution to be [1]
1
 1 0.009 0.008 0.06 1
−1 𝑘
[𝐷] [1] =𝑚 [ 0.03 −0.017 0.033] *[1]
1 0.061 −0.004 0.059 1

0.077
𝑘
= [0.046]
𝑚
0.116

0.664
𝑘
=0.116 [0.397]
𝑚
1

0.664 0.009 0.008 0.06 0.664

−1 𝑘
[𝐷] [0.397] = 𝑚 [ 0.03 −0.017 0.033] * [0.397]
1 0.061 −0.004 0.059 1

0.069
𝑘
= [0.046]
𝑚
0.098

0.7
𝑘
=0.098
𝑚
[0.46]
1
0.7 0.009 0.008 0.06 0.7
𝑘
[𝐷]−1 [0.46] = 𝑚 [ 0.03 −0.017 0.033] *[0.46]
1 0.061 −0.004 0.059 1
 0.07 0.7
𝑘 𝑘
=
𝑚
[ 0.05 ] →
𝑚
0.099 [0.5]
0.099 1

𝑘
𝜆1−1 = 𝑤12 = 0.099
𝑚

W1=0.315 √k/m

W1=1.575 (rad/sec)
0.7
1
[𝑢 ] =[0.5]
1
[𝑢1 ]𝑡 =[ 0.7 0.5 1]

𝛼12 =[𝑢1 ]𝑡 [𝑚] [𝑢1 ]

3𝑚 0 0 0.7
=[ 0.7 0.5 1] [ 0 𝑚 0 ] [0.5]
0 0 4𝑚 1
𝛼1 =2.392 √m → 𝛼1 = 7.175

1
(𝑈𝑁 1 ) = [𝑢1 ]
𝛼1
 0.293 0.976
=√1/m [0.209] → [0.0696]
0.418 0.1392
[𝑈𝑁 1 ]𝑡 = [0.976 0.0696 0.1392]

3. Use the condition of orthogonality of modal columns to illustrate whether the mode shapes
are
orthogonal each to others or not, and specify if there is an ortho-normalised mode shape;

[𝑢2 ]𝑡 [m] [𝑢1 ]

3𝑚 0 0 0.7
= [−1.8 −0.6 1] [ 0 𝑚 0 ] ∗ [0.5]
0 0 4𝑚 1
= - 0.72 (not orthogonal)

[𝑢3 ]𝑡 [m] [𝑢1 ]

3𝑚 0 0 0.7
= [2.37 -10.71 1] * [ 0 𝑚 0 ] ∗ [0.5]
0 0 4𝑚 1
= 32.6 (not orthogonal)

[𝑢3 ]𝑡 [m] [𝑢2 ]

 3𝑚 0 0 −1.8
= [2.37 -10.71 1] * [ 0 𝑚 0 ] ∗ [−0.6]
0 0 4𝑚 1
= - 21.348 (not orthogonal)

[𝑈𝑁 1 ]𝑡 [m] [𝑈𝑁 1 ]

3𝑚 0 0 0.976
=[0.976 0.0696 0.1392] * [ 0 𝑚 0 ] ∗ [0.0696]
0 0 4𝑚 0.1392
=1.0 (ortho normalized)

[𝑈𝑁 2 ]𝑡 [m] [𝑈𝑁 2 ]

3𝑚 0 0 −0.1598
= [−0.1598 -0.0533 0.08991] * [ 0 𝑚 0 ] ∗ [−0.0533]
0 0 4𝑚 0.08991
=1.0 (ortho normalized)

[𝑈𝑁 3 ]𝑡 [m] [𝑈𝑁 3 ]

3𝑚 0 0 0.0666
=[0.0666 -0.3064 0.0286] *[ 0 𝑚 0 ] ∗ [−0.3064]
0 0 4𝑚 0.0286
=0.995 ≈1 (ortho normalized)

4. Use the method of transfer matrix to estimate the frequency equation and the natural
frequencies, and determine the associated modal shapes for this system;
 1
X 1 XR
{ }1L = [ 𝑘 ] { }0
F 0 1 F
1
1 0
= [ 𝑘 ] { }R
0
0 1 1
1 1
X
{ }1L =[ 𝑘 ] → = [225]
F 1 1

X R 1 0 X L
{ } =[ ] { }
F 1 −𝑚𝑤 2 1 F 1
1 L
1 0
=[ ] {k }
−3𝑚𝑤 2 1 1
1
1 1
𝑘 225
=[ 3𝑚𝑤 2
] → = [ 27𝑤 2
]
1− 1−
𝑘 225

1
X 1 X R
{ }L2 = [ 𝑘] { }
F 0 1 F 1

1 R
1
1 𝑘
=[ 3𝑘 ] { }
3𝑚𝑤 2
0 1 1−
𝑘 1

1 1 3𝑚𝑤 2 4 𝑚𝑤 2
+ (1 − ) − 2
=[𝑘 3𝑘 𝑘
] → = [ 3𝑘 3𝑚𝑤
𝑘
2]
3𝑚𝑤 2
1− 1− 2
𝑘 𝑘
 4 9𝑤 2
XL −
675 (225)2
{ }2 = [ ]
F 1−
27
𝑤 2
225

X R 1 0 X L
{ } =[ ] { }
F 2 −𝑚𝑤 2 1 F 2
L
4 𝑚𝑤 2
1 0 − 2
=[ ] { 3𝑘 3𝑚𝑤
𝑘
2}
−𝑚𝑤 2 1 1− 2
𝑘 2

4 𝑤2 4 𝑤2
−𝑚 2 −9
675 (225)2
=[𝑚2 𝑤43𝑘 13𝑚𝑤𝑘 2 ] → [ 81 𝑤4 117𝑤2 ]
2 −
+1 2 −
+1
𝑘 3𝑘 (225) 675

1
XL 1 X R
{ }3 = [ 𝑘] { }
F 0 1 F 2
R
4 𝑤2
1
1 −𝑚
3𝑘 𝑘2
=[ 2𝑘] { 2 4 }
𝑚 𝑤 13𝑚𝑤 2
0 1 − +1
𝑘2 3𝑘 2

𝑚2 𝑤 4 19𝑚𝑤 2 11 81𝑤 4 171𝑤 2 11

− + − +
X 3 6𝑘 2 2(225) 3 6(225) 2 6(225)
{ }L3 =[ 𝑚2𝑘2 𝑤4 13𝑚𝑤 2
6k
]→ =[ 81𝑤 4 117𝑤 2
]
F − +1 − +1
𝑘2 3𝑘 (225)2 3(225)

X 1 0 X
{ }R3 =[ ] { }L3
F −4𝑚𝑤 2 1 F
 𝑚2 𝑤 4 19𝑚𝑤 2 11
1 0 − +
2𝑘 3 6𝑘 2 6k
=[ ][ ]
−4𝑚𝑤 2 1 𝑚2 𝑤 4
−
13𝑚𝑤 2
+1
𝑘2 3𝑘

𝑚2 𝑤 4 19𝑚𝑤 2 11
X 3
− +
6𝑘 2
{ }R3 =[ 2𝑚3 𝑤2𝑘
6 2 4
6𝑘
35𝑚𝑤 2
]
F − 3 +
41𝑚 𝑤
− +1
𝑘 2 3𝑘 3𝑘

𝑚3 41 𝑚2 35 𝑚 −𝑘3
𝐹3𝑅 = 0 = [−2 6
𝑤 + 𝑤4 − 𝑤2 + 1 ] ∗ ‫نضرب‬
𝑘3 3 𝑘2 3 𝑘 𝑚3

41 𝑘 35 𝑘 2 𝑘3
2𝑤 6 − 𝑤4 + 2
𝑤2 − = 0] ÷ 2 ‫نقسم‬
3 𝑚 3 𝑚 𝑚3

6 41 𝑘 4 35 𝑘 2 2 1 𝑘3
𝑤 − 𝑤 + 𝑤 − =0
6 𝑚 6 𝑚2 2 𝑚3

𝛼 = 𝑤 2 : ‫نفرض ان‬

41 𝑘 35 𝑘2 1 𝑘3
𝛼3 − 𝛼2 + 𝛼− =0
6 𝑚 6 𝑚2 2 𝑚3
41 225 35 225 2 1 225 3
𝛼3 − ( )𝑤 2 + ( ) 𝛼 − ( )
6 9 6 9 2 9

𝛼 3 − 170.833 𝛼 2 + 3645.83 𝛼 − 7812.5

𝛼3 = 146.273 → 𝑊3 = √146.273 =12.1 (rad/sec)

𝛼2 = 22.148 → 𝑤2 = √22.148 =4.7 (rad/sec)

𝛼1 = 2 ⋅ 411 → 𝑤1 =√2.411 =1.5 (rad/sec)

 1
𝑘
4 𝑤2
Mode shape = −𝑚
3𝑘 𝑘2
𝑚2 𝑤 4 19𝑚𝑤 2 11
[ − +
2𝑘 3 6𝑘 2 6𝑘]

When : 𝑊3 =12.1 (rad/sec)

4.44 × 10−3
=[ −0.254 ] → mode shape ③
1.948 × 10−3
When : 𝑤2 =4.7 (rad/sec)

4.44 × 10−3
=[ 1.99 × 10−3 ] →mode shape ②
−2.517 × 10−3
When : 𝑤1 = 1.5 (rad/sec)

4.44 × 10−3
=[5.526 × 10−3 ] →mode shape ①
6.899 × 10−3
5. Find the response of the system if the two forces given by 2F sin 𝛀t and 3F sin 𝛀t are forcing
the masses (3m) and (m), respectively. Substitute 𝛀2 with 5K/2m whenever you need to do
that.

5𝑘
Ω2 = =5*225/2*9 → Ω2 = 62.5
2𝑚

F = 50*9

=450(kg.m. s −2 )

[UN] = [𝑈𝑁 1 𝑈𝑁 2 𝑈𝑁 3 ]
 0.0976 −0.1598 0.0666
= [0.0696 −0.0533 −0.3064]
0.1392 0.08991 0.0286

0.0976 0.0696 0.1392

𝑡
[𝑢𝑁 ] =[−0.1598 −0.0533 0.08991]
0.0666 −0.3064 0.0286

2
Q=[3] F sin Ωt
0

[p̅] = [𝑢𝑁 ]𝑡 𝑄
0.0976 0.0696 0.1392 2
=[−0.1598 −0.0533 0.08991] * [3] F sin Ωt
0.0666 −0.3064 0.0286 0
0.404
=[−0.4795] F sin Ωt
−0.786
[𝑝̈ ] +[𝜔2 ][p]= [p̅]

[𝑝̈𝑖 ]= 𝐷2 𝑝𝑖

D =j Ω

𝑝̈𝑖 = -Ω2 𝑝𝑖
𝑝1
= -62.5 [𝑝2 ]
𝑝3
𝜔21 =2.475 (rad/sec)

𝜔2 2 =22.5 (rad/sec)

𝜔2 3 =146.625 (rad/sec)

𝑝1 2.475 0 0 𝑝1 0.404
-62.5 [𝑝2 ] + [ 0 22.5 0 ] [𝑝2 ] = [−0.4795] F sin Ωt
𝑝3 0 0 146.625 𝑝3 −0.786

−62.5𝑝1 + 2.475𝑝1 = 0.404 FsinΩt

−62.5p2 + 22.5p2 = −0.4795 Fsin Ωt
−62.5P3 + 146.625p3 = −0.786 FsinΩt

−60.025 𝑝1 =0.404 FsinΩt

𝑝1 = -3.03 sinΩt

-40 𝑝2 =−0.4795 Fsin Ωt

𝑝2 = 5.4 sinΩt

84.125 P3 = −0.786 FsinΩt

P3 = - 4.204 sinΩt
−3.03
[p]=[ 5.4 ] sinΩt
−4.204
[q]=[UN][p]
𝑞1 0.0976 −0.1598 0.0666 −3.03
[𝑞2] =[0.0696 −0.0533 −0.3064] *[ 5.4 ] sinΩt
𝑞3 0.1392 0.08991 0.0286 −4.204
𝑞1 −1.439
[𝑞2] =[ 0.789 ] sinΩt
𝑞3 −0.056
𝑞1 = -1.439 sinΩt

𝑞2 = 0.789 sinΩt

𝑞3 = -0.056 sinΩt