14-08-2022

Vibrations of two degree of

freedom systems
Prof. Sripriya Ramamoorthy
IIT Bombay

Reference:
“Mechanical Vibrations”, S. S. Rao, 2011

Multiple modes of vibration in pump systems

➢ Physical systems are ‘continuous’ and have infinite
number of degrees of freedom.
➢ Discretization is done for simplifying the analysis.
▪ For example, complex systems are usually modelled as
multi-degree of-freedom (dof) models utilizing standard
finite-element procedures.
➢ For low frequencies, few dof lumped models are
usually sufficient.

Mesh picture is from www.mechsol.com

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Modes of vibration of a circular membrane

This animation is from: http://resource.isvr.soton.ac.uk/spcg/tutorial/tutorial/Tutorial_files/Web-standing-membrane.htm

Modes of vibration of a string

This animation is from: https://physics.stackexchange.com/questions/277198/what-are-the-first-second-etc-modes-of-vibration

First mode

Second mode

Third mode

Mode shape (continuous system) or modal vector

(discrete system) shows the relative displacements of
different dof in the system.

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Modal analysis using mini-shaker and accelerometers

An instrumentation setup, using broadband pseudorandom force
excitation provided by a vibration exciter

Reference: Bruel & Kjaer

Frequency response viewed as sum of multiple modes

The frequency response of simple structures can be split up into
individual modes, each mode behaving as a single-degree-of-
freedom system

Reference: Bruel & Kjaer

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Modal Analysis Example: sound from a bell

Reference: Bruel & Kjaer

Modal Analysis Example: sound from a bell

Reference: Bruel & Kjaer

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Introduction: two degree of freedom systems

Systems that require two independent coordinates to describe

their motion are called two degree of freedom systems

Number of degrees of freedom of the system =

Number of masses X Number of possible types of motion of each mass

Example: Two degree of freedom model of a car

The displacement of the car can be specified by the linear coordinate x(t) denoting the
vertical displacement of the C.G. of the body and the angular coordinate indicating the
rotation (pitching) of the body about its C.G.

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Example: Multiple DOF model of a motorbike

In this model, the equivalent stiffness

includes the stiffnesses of the tires, struts,
and rider. The equivalent damping
constant includes the damping of the
struts and the rider. The equivalent mass
includes the masses of the wheels, vehicle
body, and the rider.
This model can be refined by representing the
When the elasticity (as spring constant )
masses of wheels, elasticity of the tires, and
and damping (as damping constant ) of
elasticity and damping of the struts separately.
the rider are considered, the refined
The mass of the vehicle body and the mass of the
model is obtained
rider are shown as a single mass (mv + mr).
“Mechanical vibrations” by SS Rao

Damped two degree of freedom system

𝑥1 (𝑡) 𝑥2 (𝑡)
𝐹1 (𝑡) 𝐹2 (𝑡)
𝑘1 𝑘2 𝑘3

𝑚1 𝑚2
𝑐1 𝑐2 𝑐3

Free Body Diagrams 𝑥1 , 𝑥ሷ 1 𝑥2 , 𝑥ሷ 2

𝐹1 𝐹2

𝑘1 𝑥1 𝑘2 (𝑥2 − 𝑥1 ) 𝑘3 𝑥2
𝑚1 𝑚2
𝑐1 𝑥ሶ1 𝑐2 (𝑥ሶ 2 − 𝑥ሶ1 ) 𝑐3 𝑥ሶ 2

Spring 𝑘1 under Spring 𝑘2 under tension Spring 𝑘3 under

tension for +𝑥1 for +(𝑥2 −𝑥1 ) compression for +𝑥2

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Deriving the equations of motion

Free Body Diagrams 𝑥1 , 𝑥ሷ1 𝑥2 , 𝑥ሷ 2
𝐹1 𝐹2
𝑘1 𝑥1 𝑘2 (𝑥2 − 𝑥1 ) 𝑘3 𝑥2
𝑚1 𝑚2
𝑐1 𝑥ሶ1 𝑐2 (𝑥ሶ 2 − 𝑥ሶ1 ) 𝑐3 𝑥ሶ 2

Spring 𝑘1 under Spring 𝑘2 under Spring 𝑘3 under

tension for +𝑥1 tension for +(𝑥2 −𝑥1 ) compression for +𝑥2

Using Newton’s second law of motion,

𝑚1 𝑥ሷ1 + (𝑐1 + 𝑐2 )𝑥ሶ1 − 𝑐2 𝑥ሶ 2 + (𝑘1 + 𝑘2 )𝑥 1 − 𝑘2 𝑥2 = 𝐹1
𝑚2 𝑥ሷ 2 − 𝑐2 𝑥ሶ1 + (𝑐2 + 𝑐3 )𝑥ሶ 2 − 𝑘2 𝑥1 + (𝑘2 + 𝑘3 )𝑥 2 = 𝐹2
Note that these equations of motion are coupled – that is, 𝑥2 is seen in
the first equation for mass 𝑚1 and vice versa.

Deriving the equations of motion

𝑚1 𝑥ሷ 1 + (𝑐1 + 𝑐2 )𝑥ሶ 1 − 𝑐2 𝑥ሶ 2 + (𝑘1 + 𝑘2 )𝑥 1 − 𝑘2 𝑥2 = 𝐹1
𝑚2 𝑥ሷ 2 − 𝑐2 𝑥ሶ 1 + (𝑐2 + 𝑐3 )𝑥ሶ 2 − 𝑘2 𝑥1 + (𝑘2 + 𝑘3 )𝑥 2 = 𝐹2

We can represent these equations in matrix form:

𝑚1 0 𝑥ሷ1 𝑐 +𝑐 −𝑐2 𝑥ሶ1 𝑘1 + 𝑘2 −𝑘2 𝑥1 𝐹1
+ 1−𝑐 2 𝑐2 + 𝑐3 𝑥ሶ 2 + −𝑘2 𝑥2 = 𝐹2
0 𝑚2 𝑥ሷ 2 2 𝑘 2 + 𝑘3

mass matrix [𝑀] damping matrix [𝐶] stiffness matrix [𝐾]

Matrix representation is useful (and needed) for multiple d.o.f. systems

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Observations on the equations of motion

➢ There are two equations for a two degree of freedom

system, one for each d.o.f.

➢ They are generally in the form of coupled differential

equations. Each equation involves all coordinates.

➢ If a harmonic solution is assumed for each coordinate

(under free vibrations), the equations of motion lead to a
characteristic / frequency equation that gives two natural
frequencies of the system.

Undamped free vibrations

Set 𝐹1 = 0, 𝐹2 = 0. Also, for undamped, 𝑐1 = 𝑐2 = 𝑐3 = 0

Therefore, the EOM are:

𝑚1 0 𝑥ሷ 1 𝑘 + 𝑘2 −𝑘2 𝑥1 0
+ 1 𝑥2 = 0
0 𝑚2 𝑥ሷ 2 −𝑘2 𝑘2 + 𝑘3

OR, 𝑥ሷ 1 𝑥1 0
[𝑀] + 𝐾 𝑥 = Eq. (1)
𝑥ሷ 2 2 0

We are interested in knowing whether 𝑚1 and 𝑚2 can oscillate

harmonically with the same frequency and phase angle but with
different amplitudes.

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Undamped free vibrations

𝑥ሷ 1 𝑥1 0
[𝑀] + 𝐾 𝑥 = Eq. (1)
𝑥ሷ 2 2 0

We are interested in knowing whether 𝑚1 and 𝑚2 can oscillate

harmonically with the same frequency and phase angle but with
different amplitudes.
Assuming this is possible (other cases considered later), we take the
solutions to the equations to be of the form:
𝑥1 𝑋1
𝑥2 = 𝑋2 cos 𝜔𝑡 − 𝜑 Eq. (2)

Undamped free vibrations

Substituting Eq. (2) into Eq. (1), we get:
𝑋1 0
𝐾 − 𝜔2 𝑀 cos 𝜔𝑡 − 𝜑 = …. Eq. (3)
𝑋2 0

These equations must be satisfied for all time t. Therefore,

𝑋1 0
𝐾 − 𝜔2 𝑀 = …. Eq. (4)
𝑋2 0
Or, in expanded form:
−𝑚1 𝜔2 + (𝑘1 + 𝑘2 ) −𝑘2 𝑋1 0
=
−𝑘2 −𝑚2 𝜔 + (𝑘2 + 𝑘3 ) 𝑋2
2 0
…. Eq. (5)

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Undamped free vibrations

For non-trivial solution of Eq. (5), we cannot have 𝑋1 = 𝑋2 = 0
Therefore, for Eq. (5) to be satisfied, the determinant of the matrix
must be zero.
𝑑𝑒𝑡 𝐾 − 𝜔2 𝑀 = 0

Or, in expanded form:

−𝑚1 𝜔2 + (𝑘1 + 𝑘2 ) −𝑘2
𝑑𝑒𝑡 2 =0
−𝑘2 −𝑚2 𝜔 + (𝑘2 + 𝑘3 )

This gives a quadratic equation in 𝜔2 and will thus have two roots.

Undamped free vibrations

𝑚1 𝑚2 𝜔4 − 𝑘1 + 𝑘2 𝑚2 + 𝑘2 + 𝑘3 𝑚1 𝜔2 + 𝑘1 + 𝑘2 𝑘2 + 𝑘3 − 𝑘2 2 = 0

This is the CHARACTERISTIC EQUATION for the undamped two d.o.f. system.

It has two roots in 𝜔2 as given by (using standard method for quadratic equation)

2 2
𝜔1 , 𝜔2
1 𝑘1 + 𝑘2 𝑚2 + 𝑘2 + 𝑘3 𝑚1
=
2 𝑚1 𝑚2
2
1 𝑘1 + 𝑘2 𝑚2 + 𝑘2 + 𝑘3 𝑚1 𝑘1 + 𝑘2 𝑘2 + 𝑘3 − 𝑘2 2
± −4
2 𝑚1 𝑚2 𝑚1 𝑚2

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Undamped free vibrations

Assuming harmonic solution, we started with displacements of the form
𝑥(𝑡)
ҧ = 𝑋ത cos 𝜔𝑡 − 𝜑
2 2
and got two roots for 𝜔2 , that is: 𝜔2 = 𝜔1 and 𝜔2 = 𝜔2
Note: we are representing vectors by a bar ‾ over the variable.

2 2
Corresponding to these two roots 𝜔1 , 𝜔2 , let us refer to the X-
vectors as:
𝑋 (1)
𝑋ത (1) = 1 (1) 2
𝑋2 corresponding to 𝜔1

ത (2) 𝑋1 (2) 2
𝑋 = corresponding to 𝜔2
𝑋2 (2)

Undamped free vibrations

Here, we will see that the two components of the X-vector are related
to each other at each eigen frequency
[At this point, view this as a method. We will consider specific example after this.]

2
Substituting 𝜔2 = 𝜔1 into Eq. (5), we get:

𝑋2 (1) −𝑚1 𝜔1 2 + (𝑘1 + 𝑘2 ) 𝑘2

𝑟1 = = =
𝑋1 (1) 𝑘2 −𝑚2 𝜔1 2 + (𝑘2 + 𝑘3 )

Recall Eq. (5):

−𝑚1 𝜔2 + (𝑘1 + 𝑘2 ) −𝑘2 𝑋1 0
=
−𝑘2 −𝑚2 𝜔 + (𝑘2 + 𝑘3 ) 𝑋2
2 0

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Undamped free vibrations

𝑋2 (1) −𝑚1 𝜔1 2 + (𝑘1 + 𝑘2 ) 𝑘2
𝑟1 = = =
𝑋1 (1) 𝑘2 −𝑚2 𝜔1 2 + (𝑘2 + 𝑘3 )

2
Similarly, substituting 𝜔2 = 𝜔2 into Eq. (4), we get:

𝑋2 (2) −𝑚1 𝜔2 2 + (𝑘1 + 𝑘2 ) 𝑘2

𝑟2 = = =
𝑋1 (2) 𝑘2 −𝑚2 𝜔2 2 + (𝑘2 + 𝑘3 )

These expressions for ratios are identical, except for 𝜔1 2 and 𝜔2 2 .

Undamped free vibrations

2 2
The X-vectors corresponding to 𝜔1 and 𝜔2 can therefore be
expressed as:
𝑋 (1) 𝑋1 (1) 1
𝑋ത (1) = 1 (1) = = 𝑋1 (1)
𝑋2 𝑟1 𝑋1 (1) 𝑟1

𝑋1 (2) 𝑋1 (2) 1
ത (2)
𝑋 = = = 𝑋1 (2)
𝑋2 (2)
𝑟2 𝑋1 (2) 𝑟2

1 1
The vectors and are called “eigen vectors” or “modal
𝑟1 𝑟2
vectors” of the system. They are independent of initial conditions.

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Undamped free vibrations

The response as a function of time for each of these two modes
can be expressed as: 𝑥(𝑡)
ҧ = 𝑋ത cos 𝜔𝑡 − 𝜑

First mode:
1
𝑥ҧ 1
(𝑡) = 𝑋1 (1) cos 𝜔1 𝑡 − 𝜑1
𝑟1
Second mode:
1
𝑥ҧ 2
(𝑡) = 𝑋1 (2) cos 𝜔2 𝑡 − 𝜑2
𝑟2

Here we have four unknown constants: 𝑋1 (1) , 𝑋1 (2) , 𝜑1 , and 𝜑2 .

How do we determine them?

Undamped free vibrations

𝑚1 0 𝑥ሷ 1 𝑘 + 𝑘2 −𝑘2 𝑥1 0
Recall the EOM: + 1 𝑥2 = 0
0 𝑚2 𝑥ሷ 2 −𝑘2 𝑘2 + 𝑘3
There are two second order ODEs. So we have a total of four initial
conditions.
We can specify the initial conditions such that only one mode is non-
zero. But, in general, the response will be a linear combination of the
two modes:
𝑥ҧ 𝑡 = 𝐶1 𝑥ҧ 1 𝑡 + 𝐶2 𝑥ҧ 2 𝑡
1 1
= 𝐶1 𝑋1 (1) cos 𝜔1 𝑡 − 𝜑1 + 𝐶2 𝑋1 (2) cos 𝜔2 𝑡 − 𝜑2
𝑟1 𝑟2

Since 𝑋1 (1) and 𝑋1 (2) are also Example:

unknowns, we can assume 𝐶1 =

𝐶2 = 1 without loss of generality.

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Undamped free vibrations

𝑥1 (𝑡) cos 𝜔1 𝑡 − 𝜑1 cos 𝜔2 𝑡 − 𝜑2
𝑥ҧ 𝑡 = = 𝑋1 (1) + 𝑋1 (2)
𝑥2 (𝑡) 𝑟1 cos 𝜔1 𝑡 − 𝜑1 𝑟2 cos 𝜔2 𝑡 − 𝜑2

Here we have four unknown constants: 𝑋1 (1) , 𝑋1 (2) , 𝜑1 , and 𝜑2 to be

determined from four initial conditions
𝑥1 𝑡 = 0 = 𝑥1 0 = 𝑋1 (1) cos 𝜑1 + 𝑋1 (2) cos 𝜑2
𝑥2 𝑡 = 0 = 𝑥2 0 = 𝑟1 𝑋1 (1) cos 𝜑1 + 𝑟2 𝑋1 (2) cos 𝜑2
𝑥ሶ 1 𝑡 = 0 = 𝑥ሶ 1 (0) = 𝜔1 𝑋1 (1) sin 𝜑1 + 𝜔2 𝑋1 (2) sin 𝜑2
𝑥ሶ 2 𝑡 = 0 = 𝑥ሶ 2 (0) = 𝑟1 𝜔1 𝑋1 (1) sin 𝜑1 + 𝑟2 𝜔2 𝑋1 (2) sin 𝜑2

Example
Find the natural frequencies and mode shapes of the spring mass
system for 𝑚1 = 𝑚2 = 𝑚, and 𝑘1 = 𝑘2 = 𝑘3 = 𝑘.

The equations of motion are given by

𝑚𝑥ሷ 1 + 2𝑘𝑥1 − 𝑘𝑥2 = 0
Eq. (1)
𝑚𝑥ሷ 2 − 𝑘𝑥1 + 2𝑘𝑥2 = 0

Assuming harmonic solution will lead us to find the eigen values and
eigen vectors. That is,
𝑥1 𝑡 = 𝑋1 cos 𝜔𝑡 − 𝜑
Eq. (2)
𝑥2 𝑡 = 𝑋2 cos 𝜔𝑡 − 𝜑

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Example
Substituting Eq. (2) into Eq. (1), and taking the determinant of the
2 x 2 matrix to be equal to zero, we get: (characteristic equation)
𝑚2 𝜔4 − 4𝑘𝑚𝜔2 + 3𝑘 2 = 0

This gives 𝑘 3𝑘
𝜔1 2 = 𝜔2 2 =
𝑚 𝑚
The amplitude ratios are:
𝑋2 (1) −𝑚𝜔1 2 + 2𝑘
Corresponding to 𝜔1 2 𝑟1 = = =1
𝑋1 (1) 𝑘
𝑋2 (2) −𝑚𝜔2 2 + 2𝑘
Corresponding to 𝜔2 2 𝑟2 = = = −1
𝑋1 (2) 𝑘

Example

𝑘 𝑚 𝑘 𝑚 𝑘

𝑘
Mode 1 𝜔1 2 =
𝑚

3𝑘
𝜔2 2 =
Mode 2 𝑚

https://www.acs.psu.edu/drussell/Demos/multi-dof-springs/multi-dof-springs.html

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Example

Recall:
Displacements of the two masses in the first natural mode:
1
𝑥ҧ 1 (𝑡) = 𝑋1 (1) cos 𝜔1 𝑡 − 𝜑1
𝑟1

Displacements of the two masses in the second natural mode:

1
𝑥ҧ 2
(𝑡) = 𝑋1 (2) cos 𝜔2 𝑡 − 𝜑2
𝑟2

Example
First natural mode:
𝑘
cos 𝑡 − 𝜑1 The displacements of the two masses
𝑚
𝑥ҧ 1 (𝑡) = 𝑋1 (1)
are equal.
𝑘 Therefore, the middle spring is not
cos 𝑡 − 𝜑1 compressed or expanded.
𝑚

Second natural mode:

3𝑘 The displacements of the two
cos 𝑡 − 𝜑2
𝑚 masses are equal in magnitude
𝑥ҧ 2 (𝑡) = 𝑋1 (2) but opposite in sign.
3𝑘 Therefore, the midpoint of the
− cos 𝑡 − 𝜑2
𝑚 middle spring stays fixed. (that is,
it is a node)

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Example
For arbitrary initial conditions, the displacements of the two masses are:

𝑘 3𝑘
𝑥1 𝑡 = 𝑋1 (1) cos 𝑡 − 𝜑1 + 𝑋1 (2) cos 𝑡 − 𝜑2
𝑚 𝑚

𝑘 3𝑘
𝑥2 𝑡 = 𝑋1 (1) cos 𝑡 − 𝜑1 − 𝑋1 (2) cos 𝑡 − 𝜑2
𝑚 𝑚

To excite only the first mode, 𝑋1 (2) = 0

Example

𝑋1 (2) = 0 for only first mode to be excited.

This requires equal initial conditions: 𝑥1 0 = 𝑥2 0 and 𝑥ሶ 1 0 = 𝑥ሶ 2 0

Similarly, to excite only the second mode, 𝑋1 (1) = 0

This requires equal and opposite initial conditions to be
specified on the two dofs:
𝑥1 0 = −𝑥2 0 and 𝑥ሶ 1 0 = −𝑥ሶ 2 0

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Physical significance of two modes (an example)

Structural network at a cross-section in the cochlea

KTM CTM
TM
MTM
OHC KOHC
MBM
BM
KBM CBM

Physical significance of two modes (an example)

Second mode interacts with

this piezoelectric cell which is
part of a positive feedback loop
KTM CTM
MTM

KOHC
MBM
KBM CBM

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Things to note
➢ Given suitable initial conditions, the system will vibrate at
one of the two natural frequencies.

➢ During free vibration at one of the natural frequencies, the

amplitudes are related to each other in a specific
configuration called “natural mode” or eigen vector or
principle mode.

➢ Two d.o.f. system has two normal modes corresponding

to two natural frequencies.

➢ When the system is excited by arbitrary initial conditions

(free vibrations), the response is a superposition of the two
normal modes.

Two DOF (steady-state) response to harmonic force

𝑚1 0 𝑥ሷ 1 𝑘 + 𝑘2 −𝑘2 𝑥1 𝐹1
+ 1 𝑥2 =
0 𝑚2 𝑥ሷ 2 −𝑘2 𝑘2 + 𝑘3 𝐹2
Let 𝑘3 = 0 for this discussion (for simplified expressions)
F1 (t ) = F10 cos t F2 (t ) = F20 cos t
Then x1 (t ) = X 1 cos t x2 (t ) = X 2 cos t
x1 = − 2 X 1 cos t x2 (t ) = − 2 X 2 cos t

k1 + k 2 − m1 2 − k 2   X 1   F10 

   =  
 − k2 k 2 − m2 2   X 2   F20 
Or, in general for any multi-DOF system, 𝐾 − 𝜔2 𝑀 {𝑋} = {𝐹}

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Two DOF response to harmonic force

For the two DOF case,

 X1  1
 =
( )(
 X 2  k1 + k 2 − m1 k 2 − m2 − k 2
2 2 2
)
k 2 − m2 2 k2   F10 
 2  
 k 2 k1 + k 2 − m1   20 
F

Two DOF response to harmonic force

When ω = 𝜔1 𝑜𝑟 𝜔2 , the determinant approaches zero

i.e. (k 1 )( )
+ k 2 − m1 2 k 2 − m2 2 − k 22 approaches zero

Thus, X1 and X2 approach infinity, i.e. amplitude of vibration becomes

very high: RESONANCE occurs
This concept can be applied to any forcing function which can be
expressed as a superposition of harmonic excitations.
One application of analysis of a 2 DoF system is a VIBRATION ABSORBER

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Tuned Vibration Absorber

Suppose a force 𝐹10 cos 𝜔𝑡 acts on mass 𝑚1 (no force on 𝑚2 ).
And we want to prevent the vibrations of mass 𝑚1 . In other words,
we want 𝑋1 = 0.
In an application, mass 𝑚1 could represent a sensitive equipment.
𝑥1 (𝑡) 𝑥2 (𝑡)
𝐹1 (𝑡) 𝐹2 (𝑡)
𝑘1 𝑘2

𝑚1 𝑚2

Tuned Vibration Absorber

The amplitudes of vibrations of the two masses are:
 X1  1
 =
( )(
 X 2  k1 + k 2 − m1 k 2 − m2 − k 2
2 2 2
)
k 2 − m2 2 k2   F10 
 2  
 k2 k1 + k 2 − m1   0 

𝑋1 = 0 𝑘2 − 𝑚2 𝜔2 𝐹10 = 0 𝑘2
=𝜔
𝑚2
That is, we can tune the second spring-mass such that its SDOF
resonance frequency is equal to the forcing frequency.

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 14-08-2022

Tuned Vibration Absorber

𝑘2
=𝜔
𝑚2

𝑋1 = 0

𝐹10
𝑋2 = −
𝑘2
Thus, if the natural frequency of the absorber matches with the
excitation frequency, then the original mass will not vibrate.
Since the absorber frequency should be tuned to excitation
frequency it is called tuned vibration absorber.
The natural frequency of the original spring-mass does not matter.

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