Normal Modes of Vibrations

Two-DOF model problem

Matrix Method
Matrix form of governing equation:
)
`

=
)
`

+
+
)
`

+
+
)
`

2
1
2
1
2 2
2 2 1
2
1
2 2
2 2 1
2
1
2
1
) ( ) (
0
0
P
P
x
x
k k
k k k
x
x
c c
c c c
x
x
m
m

where:
[M] = mass matrix; [C] = damping matrix;
[K] = stiffness matrix; {P} = force vector
Note: Matrices have positive diagonals and are symmetric.
Undamped free vibrations
Zero damping matrix [C] and force vector {P}
) cos(
2
1
2
1
| e
)
`

=
)
`

t
A
A
x
x
Assumed general solutions:
Characteristic polynomial (for det[ ]=0):
0
2 1
2 1
2
2
2
1
2 1
4
= +
|
|
.
|

\
|
+
+

m m
k k
m
k
m
k k
e e

(
(

|
|
.
|

\
|
+
+

+
+
= =
2
1
2 1
2 1
2
2
2
1
2 1
2
2
1
2 1
2
2
1
2
1
4
2
1
m m
k k
m
k
m
k k
m
k
m
k k
e
Eigenvalues (characteristic values):
Characteristic equation:
)
`

=
)
`

+
0
0
) (
) (
2
1
2
2 2 2
2
2
1 2 1
A
A
m k k
k m k k
e
e
Introduce notation:
[D] is called dynamical matrix, in general not symmetric

Matrix Method
How can we go about finding the eigenvalues (natural frequencies) and
eigenvectors (vibration modes) if we insist on using [a] instead of [k]?
The problem at hand (free undamped vibration):
Solution will be harmonic in nature:
Then by using the harmonic nature of the solution (after some massaging),
Static Coordinate Coupling
Dynamic Coordinate coupling
Static and Dynamic Coordinate
coupling

Influence Coefficients
Recall the expression of the generalized linear m-c-k problem we derive at the
beginning of Chapter 5:
9
The nomenclature we used:
[k] the stiffness matrix
[c] the damping matrix
We introduce a new concept: the flexibility matrix
Someties called compliance matrix
By definition, (it kind of makes sense):
Some more nomenclature: elements k
ij
, c
ij
, a
ij
are called stiffness, damping,
and flexibility influence coefficients, respectively
[Cntd]
Flexibility Influence Coefficients
Recall that we are dealing with a linear problem
Superposition at work (twice in the same expression!):
The total change in generalized coordinate i that comes out of the applied
forces F
1
, F
2
, ,F
p
is simply
10
Now do this for each of the p generalized coordinates x
1
,,x
p
to get
Matrix-Vector notation:
[Cntd]
Stiffness Influence Coefficients
Recall that we are dealing with a linear problem
Superposition at work (twice in the same expression!):
The total force at point i that comes out of the displacements X
1
, X
2
, , X
p
is
simply
11
Now do this for each of the p generalized coordinates to get
Matrix-Vector notation:
[Concluding Remarks]
Flexibility and Stiffness Coefficients
In summary
Easy to see that our original claim holds
Why is this relevant?
Because rather than obtaining [k] and working with it, sometimes it is easier to
obtain [a]. Maybe we should work with [a] if thats the case
Please see Example 6.6, pp.465 of textbook
Examples where computing the flexibility (compliance) matrix is easier:
Beams, rods, cables
Free Vibrations in Terms of Initial Conditions,
Forced Harmonic Vibrations,
Dunkerleys formula (approximation)

Holzer's method of finding natural frequency of a multi-
degree of freedom system