Chapter 6:

Multi-degree-of-
Freedom Systems
 6.6 Generalized Coordinates and
Generalized Forces

Any set of n independent

coordinates is called generalized
coordinates, for a system of n DoF.
Usually called

Virtual Work to
find generalized
forces
6.7 Using Lagrange s Equations to Derive
Equations of Motion

Lagrange s equations

system of n differential equations, one corresponding

to each of the n generalized coordinates.
 EXAMPLE 6.8: Equations of Motion of a Torsional
System

Derive the equations of motion of the system using Lagrange s equations by

treating the angular displacements of the components as generalized
coordinates.
In matrix form
EXAMPLE 6.9 Derive the equations of motion of the
trailer compound pendulum system

The generalized
forces
6.10 Solution of Eigenvalue Problem

For undamped free vibration system

assuming a solution of the form

Substituting
 characteristic
For a nontrivial solution equation

positive square roots give the n natural frequencies of

the system

Lowest value is called the fundamental

natural frequency
EXAMPLE 6.11 Find the natural frequencies and mode
shapes of the system shown in Fig.