ADDIS ABABA SCIENCE AND TECHNOLOGY UNIVERSITY

College of Engineering
Department of Mechanical Engineering

Mechanical Vibration
MEng5103
Dr. Abdulbasit M.
 Introduction

Forced Vibration with Harmonic

3 TWO DOF SYSTEM

Excitation System

Coordinate Couplings and Principal Vibration absorbers

Lagrangean equation and their applications.

Multidegree of freedom
 Learning Objectives

✓ Formulate the EOM of TDOF.

✓ Identify the mass, damping, and stiffness matrices from the EOM.
✓ Compute the eigenvalues and the modal vectors.
✓ Determine the free-vibration solution using the initial conditions.
✓ Understand the coordinate coupling and principal coordinates concept.
✓ Determine the forced-vibration solutions under harmonic forces.
✓ Understand the concepts of self-excitation and stability of the system.
✓ Understand Lagrangean equation and their applications.
 Introduction

✓ Systems that require two independent coordinates to describe

their motion are called TDOF systems.
 Forced Vibrations of TDOF

❖ A mechanical system is said to be forced vibration whenever

external energy is supplied to the system during vibration.
❖ It can be supplied through either an applied force or an
imposed displacement excitation.
❖ The applied force or displacement excitation may be
harmonic, nonharmonic but periodic, nonperiodic, or
random in nature.
❖ Consider a viscously damped TDOF spring-mass system,
❖ The application of Newton’s second law of motion to each of
the masses gives the equations of motion:

(3.1)

(3.2)

❖ Both equations can be written in matrix form as

(3.3)
❖ where [m], [c], and [k] are called the mass, damping, and
stiffness matrices, respectively, and are given by

❖ We have
❖ And the displacement and force vectors are given respectively:

❖ It can be seen that the matrices [m], [c], and [k] are symmetric:
 Free-Vibration Analysis of an Undamped System

❖ The solution of Eq.(3.1) and (3.2) involves four constants of

integration (two for each equation). We shall first consider the
free vibration solution of Eq.(3.1) and (3.2).
❖ By setting F1(t) = F2(t) = 0, and damping disregarded, i.e., c1 =
c2 = c3 = 0, and the equation of motion is reduced to:

(3.4)

(3.5)
❖ Assuming that it is possible to have harmonic motion of m1
and m2 at the same frequency ω and the same phase angle ϕ,
we take the solutions as

(3.6)

❖ Substituting into Eq.(3.4) and (3.5),

 (3.7)

❖ Since Eq.(3.7)must be satisfied for all values of the time t, the

terms between brackets must be zero. Thus,

(3.8)
❖ which represent two simultaneous homogenous algebraic
equations in the unknown X1 and X2.

❖ For trivial solution, i.e., X1 = X2 = 0, there is no solution. For a

nontrivial solution, the determinant of the coefficients of X1
and X2 must be zero:
 (3.9)

❖ Which is called the frequency or characteristic equation.

❖ Hence the roots are:

(3.10)

❖ The roots are called natural frequencies of the system.

❖ To determine the values of X1 and X2,

(3.11)
❖ The normal modes of vibration corresponding to ω12 and ω22
can be expressed, respectively,

and

(3.12)
❖ To determine the values of X1 and X2,

= 1st Mode

= 2nd Mode (3.13)

❖ The initial conditions are

❖ The resulting motion can be obtained by a linear superposition
of the two normal modes, Eq.(5.13)

(3.14)
❖ Thus the components of the vector can be expressed as

(3.15)
❖ The unknown constants can be determined from the initial
conditions:

(3.16)
❖ Substituting into Eq.(3.15) leads to

(3.17)
❖ The solution can be expressed as

❖ We can obtain the desired solution as

(3.18)
 Torsional System

❖ Consider a torsional system as shown in Fig. The differential

equations of rotational motion for the discs can be derived as
❖ Upon rearrangement become

(3.19)

❖ For the free vibration analysis of the system, Eq.(5.19) reduces to

(3.20)
 Coordinate Coupling and Principal Coordinates

❖ Generalized coordinates are sets of n coordinates used to

describe the configuration of the system.
❖ From the free-body diagram shown in Figure (a), with the
positive values of the motion variables as indicated, the force
equilibrium equation in the vertical direction can be written as
 (3.21)

❖ The moment equation about C.G. can be expressed as

(3.22)

❖ Eq.(3.21) and (3.22) can be rearranged and written in matrix

form as

(3.23)
❖ The lathe rotates in the vertical plane and has vertical motion
as well, unless 𝑘1 𝑙1 = 𝑘2 𝑙2 , . This is known as elastic or static
coupling.
Equations of motion Using y(t) and θ(t)
❖ From Figure b, the equations of motion for translation and
rotation can be written as

(3.24)
❖ These equations can be rearranged and written in matrix form
as:

(3.25)

❖ If 𝑘1 𝑙1′ = 𝑘2 𝑙2′ , the system will have dynamic or inertia coupling

only.
❖ Note the following characteristics of these systems:
1. In the most general case, a viscously damped TDOF
system has the equations of motions in the form:

(3.26)
2. The system vibrates in its own natural way regardless of the
coordinates used. The choice of the coordinates is a mere
convenience.
3. Principal or natural coordinates are defined as system of
coordinates which give equations of motion that are
uncoupled both statically and dynamically.
 Forced-Vibration Analysis

❖ The equations of motion of a general two-degree-of-freedom

system under external forces can be written as

(3.27)

❖ Consider the external forces to be harmonic:

(3.28)

❖ where ω is the forcing frequency.

❖ We can write the steady-state solutions as
(3.29)

❖ Substitution of Eqs. (3.28) and (3.29) into Eq. (3.27) leads to

(3.30)

❖ We can write Eq.(3.30) as:

(3.31)
❖ Where,

= Impedance matrix

and

❖ Eq.(5.31) can be solved to obtain:

(3.32)
❖ The inverse of the impedance matrix is given

(3.33)

❖ Eqs.(3.32) and (3.33) lead to the solution

(3.34)
Multi-Degree of Freedom (MDOF)
System
✓ A typical n-DOF system is shown in Figure,
✓ For a MDOF system, it is more convenient to use matrix
notation to express the equations of motion and describe the
vibrational response.
✓ Let xi denote the displacement of mass mi measured from its
static equilibrium position; i = 1, 2, . . . , n.
✓ The equations of motion of the n-DOF system,

(1)
✓ Where [m], [c], and [k] denote the mass, damping, and
stiffness matrices, respectively:

(2)
(3)

(4)
✓ The vectors 𝑥, Ԧሶ 𝑥Ԧሷ and 𝑓Ԧ indicate, the vectors of displacements,
Ԧ 𝑥,
velocities, accelerations, and forces acting on the masses

(5)
 Eigenvalue Problem
✓ The free vibration of the undamped system is governed by the
equation
(6)

✓ The solution of Eq. (5) is assumed to be harmonic as

(7)

✓ So that
(8)
✓ where 𝑋 is the vector of amplitudes of 𝑥(t),
Ԧ ϕ is the phase angle,
and ω is the frequency of vibration.
✓ Substituting Eqs. (7) and (8) into Eq. (7), we obtain

(9)

✓ Eq. (9) represents a system of n algebraic homogeneous Eqs in

unknown coefficients X1, X2, . . . , Xn (Amplitudes of x1, x2, . . . , xn)
with ω2 playing the role of a parameter.
✓ For a nontrivial solution of the vector of coefficients 𝑋, the
determinant of the coefficient matrix must be equal to zero:

(10)

✓ Eq. (10) is a polynomial Eq. of nth degree in ω2 (ω2 is called the

eigenvalue) and is called the characteristic equation or
frequency equation.
✓ The roots of the polynomial give the n eigenvalues, ω12, ω22, . . .
, ω n 2.
✓ The positive square roots of the eigenvalues yield the natural
frequencies of the system, ω1, ω2, . . . , ωn.
✓ For each natural frequency ωi, a corresponding nontrivial
vector 𝑋 (𝑖) can be obtained from Eq. (9)

(11)
✓ The vector 𝑋 (𝑖) is called the eigenvector, characteristic vector,
modal vector, or normal mode corresponding to the natural
frequency ωi.

(12)
 Orthogonality of Modal Vectors

✓ The modal vectors possess an important property known as

orthogonality with respect to the mass matrix [m] as well as
the stiffness matrix [k] of the system.
✓ Consider two distinct eigenvalues ωi2 and ωj2 and the
corresponding eigenvectors 𝑋 (𝑖) and 𝑋 (𝑗)
✓ These solutions satisfy Eq. (9), so that
(13)

(14)

(𝑗)𝑇 (𝑖)𝑇
✓ Multiple of both sides of Eq. (13) by 𝑋 and Eq. (14) by 𝑋

(15)

(16)
✓ Subtract Eq. (16) from Eq. (15), to obtain
(17)
✓ Since the eigenvalues are distinct, ωi2 = ωj2 and it leads to
(18)
✓ Substitution of Eq. (18) in Eq. (15) results in
(19)
✓ When j = i, Eqs. (15) and (16) become
(20)
✓ If the eigenvectors are normalized
(21)

✓ We can be rewritten in matrix form as

(22)
 (23)

✓ Where the n×n matrix [X], called the modal matrix, contains the
eigenvectors 𝑋 (1) , 𝑋 (2) . . . , 𝑋 (𝑛) as columns:

(24)
✓ In this case, the matrix reduces to

(25)
 Expansion Theorem

✓ The eigenvectors are linearly independent and form a basis in

the n-dimensional space:

(26)

✓ Where x is an arbitrary vector in n-dimensional space and ci are

constants. the value of the constant ci can be determined as

(27)
✓ where Mii is the generalized mass in the ith normal mode. If the
modal vectors 𝑋 (𝑖) are normalized,

(28)

✓ This is known as the expansion theorem ,

 Free Vibration of Undamped Systems

✓ Free vibrations of an n degree-of-freedom (nDOF) system are

governed by a system of n differential equations.
✓ Equation of motion for free vibration of undamped system:

(29)

✓ General solution:
(30)
✓ initial conditions of the system.

and (31)

✓ The initial displacements and velocities:

(32)

(33)
 Forced Vibration of Undamped Systems Using Modal Analysis

✓ Forced vibration occur when external forces act on a system.

✓ Equations of motion is a set of 2nd order ODE:

(34)

✓ Modal analysis is a more convenient method to solve this when

the DOF is large.
✓ First we must solve the eigenvalue problem and find the natural
freq. and the corresponding normal modes.
✓ Eigenvalue problem: (35)

✓ And find the natural frequencies ω1, ω2, ..., ωn, and the
corresponding normal modes 𝑋 (1) , 𝑋 (2) . . . , 𝑋 (𝑛) .
✓ The solution vector of Eq. (34) can be expressed by a linear
combination of the normal modes.

(36)
✓ Where (37)

✓ And (38)

✓ Since [X] is not a function of time,

(39)
✓ Rewrite as
(40)

✓ Normalizing the normal modes by multiply both side

and we get

(41)

✓ Where is generalized forces

✓ Solution of this 2nd order ODE:

(42)
✓ Where
(43)

(44)
✓ Where
(45)
and

and (46)
 Lagrange’s equations
✓ Lagrange’s equations are derived using energy methods.
✓ It can be applied to linear and nonlinear MDOF systems to
derive the governing differential equations.
✓ The particle has a position vector r(t) and the variation of the
position vector is δr(t).
✓ Consider a system with nDOF with generalized coordinates of
x1, x2, . . . , xn.
✓ As the system’s position changes from (x1, x2, . . . , xn) to (x1 +
δx1, x2 + δx2, . . . , xn + δxn).
✓ The virtual work δW is the work done by external forces

(47)
✓ Where,

(48)

✓ The work done by conservative forces is written as

(49)
✓ Where δV is the variation of the potential energy.

✓ The term ma.δr is manipulated into the variation of kinetic

energy δT
✓ The principle of work and energy, the result is integrated
between two times t1 and t2 with the requirement that the
variation of the position vector is zero at these times.
✓ The result is Hamilton’s principle, which is stated as

(50)

✓ The Lagrangian is defined as

(51)

✓ The term ma.δr is manipulated into the variation of kinetic

energy δT
 𝑡2
✓ Using a theorem of calculus of variations, δ ‫𝑡𝑑𝐿 𝑡׬‬ =0 if
1

(52)

✓ This Equation called Lagrange’s equations