CHAPTER 5-2

Two-Degree-of-Freedom
Systems
 Forced-Vibration Analysis
The equations of motion of a general two-degree-of-freedom system under external
forces can be written as

Assuming the external forces to be harmonic:

We can write the steady-state solutions as:

where X1 and X2 are, in general, complex quantities that depend on ω and the system
parameters. Substitution leads to

Define the mechanical impedance Zrs(iω) as

 Forced-Vibration Analysis
where

Impedance matrix

Solving

where the inverse of the impedance matrix is given by

 Example
Find the steady-state response of the system shown, with 𝑓1 𝑡 = 𝐹10 cos 𝜔𝑡 and
plot its frequency-response curve.

Assuming the solution to be as

∵
 Example
To plot we define 𝜔12 = 𝑘/𝜔 and 𝜔22 = 3𝑘/ω

 It can be seen that the amplitudes X1 and X2 become infinite when 𝜔2 = 𝜔12 or 𝜔2 = 𝜔22
there are two resonance conditions for the system
 At a particular value of the frequency ω, the vibration of the first mass to which the force is
applied, is reduced to zero.
 This characteristic forms the basis of the dynamic vibration absorber.
 Semidefinite Systems
Semidefinite systems are also known as
unrestrained or degenerate systems

A train rolling down the track can be considered as a system having rigid-body, unrestrained,
translational motion.
At the same time, the rail cars can vibrate relative to one another.
The presence of an unrestrained degree of freedom in the equation of motion changes the
analysis.
The stiffness matrix of an unrestrained system will be singular.
One of the natural frequencies of an unrestrained two-degree-of-freedom system will be zero.
For such a system, the motion is composed of translation and vibration.
 Semidefinite Systems
The equations of motion of the system

Assuming the motion to be harmonic

By equating the determinant of the coefficients of X1 and X2 to zero, we obtain the

frequency equation as

 One of the natural frequencies of the system is zero the system is not oscillating.
 The system moves as a whole without any relative motion between the two masses (rigid-body
translation).
 Such systems, which have one of the natural frequencies equal to zero, are called semidefinite
systems.
Resolve Example 5.9
 Solutions Using Laplace Transform
Cramer’s rule
If you have two simultaneous linear algebraic equations in X1 and X2

These equations can be solved using Cramer’s rule as:

where
 Example
Find the free-vibration response of the system shown using Laplace transform
approach for the following data: m1 = 2 , m2 = 4 , k1 = 8 , k2 = 4 , k3 = 0 , c1 = 0 , c2 = 0 , c3 = 0
Assume the initial conditions as x1(0) = 0 , x2(0) = 1 and 𝑥1 0 = 𝑥2 0 = 0.
Solution

initial
conditions
 For all damped two-degree-of-freedom
systems the denominator is not a
quadratic in s2

The denominator is a quadratic in s2 (true for all undamped two-degree-of-freedom systems).

...…(1)

Using partial fractions, X1 can be written as

To determine the constants we equate this equation with eq. (1) to obtain (from the numerators)

By equating the corresponding terms on both sides we obtain

𝑐1 = 0 𝑐2 = 0.3481
𝑐3 = 0 𝑐4 = −0.3481
𝑐5 = 0 𝑐6 = 0.9352
𝑐7 = 0 𝑐8 = 0.0648

Resolve Example 5.12

 Homework

5.56 , 5.59 , 5.68 , 5.83