Elementary Tutorial

Fundamentals of Linear
Vibrations

Prepared by Dr. An Tran

in collaboration with Professor P. R. Heyliger

Department of Civil Engineering

Colorado State University
Fort Collins, Colorado
June 2003

Developed as part of the Research Experiences of Undergraduates Program on

“Studies of Vibration and Sound” , sponsored by National Science Foundation
and
Army Research Office (Award # EEC-0241979). This support is gratefully
 Fundamentals of Linear
Vibrations

1. Single Degree-of-Freedom
Systems
2. Two Degree-of-Freedom Systems
3. Multi-DOF Systems
4. Continuous Systems
Single Degree-of-Freedom
Systems

1. A spring-mass system
General solution for any simple oscillator
General approach
Examples
2. Equivalent springs
Spring in series and in parallel
Examples
3. Energy Methods
Strain energy & kinetic energy
Work-energy statement
Conservation of energy and example
A spring-mass system

Governing equation of motion:

mx  kx 0
General solution for any simple oscillator:
vo
x(t )  xo cos( n t )  sin( n t )
where:
 n
xo initialdisplaceme  o ; t time(sec.)
nt; vo initialvelocityx
k 2π
ωn  naturalfrequency(rads/sec.
)  ; T periodof vibration
m T
2
1 ω v 
fn frequency(cycles/se  x2o   o 
c. or Hz)   n ; C amplitude
T 2π  ωn 
Any simple oscillator

General approach:
1. Select coordinate system
2. Apply small displacement
3. Draw FBD
4. Apply Newton’s Laws:
d
 F  ( mx )
dt
d
 M  ( I )
dt
Simple oscillator – Example 1

I mass moment of inertia  M I +

I cg  md 2 ml 2  K I

K
ωn  ml 2  K 0
ml 2
Simple oscillator – Example 2

I I cg  md 2 ml 2  M o I o +

ωn 
k  a
 
 (ka )a ml  2

m l 
a k 
2 2
ml   ka  0
Note lim its: When 1, ωn 
l m
a
As  0 , ωn  0 (unstable)
l
Simple oscillator – Example 3

l/2
I cg r 2 dm 2  x 2 Adx
3
0
 M o I o +
2
Al ml
 
12 12 ml 2 
 (kb)b  
Io I cg  md 2 3
2

ml 2  m
 m  
ml 2 ml 2 
12  2 3   kb 2 0
3k  b 
3
ωn   
ml
Simple oscillator – Example 4

ma 2
From table : I  M z I +
2

TL  JG   T I
   T
JG  L 
JG ma 2  GJ
Equivalent stiffness : K     0
L 2 L
2GJ
  2
2
n
ma L
Equivalent springs

Springs in series: Springs in parallel:

same force - flexibilities add same displacement - stiffnesses add

 1 1
 1   2    P P k1  k 2 
 k1 k 2  ( k1  k 2 )  k eq 
( f1  f 2 ) P  f eq P

f eq  f1  f 2 keq k1  k 2
Equivalent springs – Example 1

mx  K eq x 0

 12 EI 3EI 
mx   3  3  x 0
 L1 L2 
Equivalent springs – Example 2

2
ω 
ka 2  Wl  M o I o +
n
ml 2
 ( ka )a  Wl ml 2
 n  n ( a )
ml 2   ( ka 2  Wl ) 0
Consider:
ka2 > Wl n2 is positive - vibration is stable
ka2 = Wl statics - stays in stable equilibrium
ka2 < Wl unstable - collapses
Equivalent springs – Example 3

We cannot define n  M o I o +

since we have sin term
 Wl sin ml 
2

If  < < 1, sin   :

ml 2  mgl sin 0
  g  0
l
g   g sin 0
ωn 
l
l
Energy methods

Strain energy U: Kinetic energy T:

energy in spring = work done
1  
T  mr r
1 2 1 2
U  k  P  
2 2 Incrementof work done F dr
   
Conservation of energy:  (mr) (r dt)  d( 2 mr r )  dT
1

work done = energy stored incrementof kineticenergyT

Work-Energy principles

Work done = Change in kinetic energy

 

r2 T2
 F dr 

r1 T dT T2  T1
1

Conservation of energy for conservative

systems
E = total energy = T + U = constant
Energy methods – Example
Work-energy principles have many
uses, but one of the most useful is
to derive the equations of motion.

Conservation of energy: E = const.

d
1 ( E ) 0
U  kx 2 dt
2
kxx  mx x 0
1 2
T  mx
2 mx  kx 0
1 2 1 2
E U  T  kx  mx Same as vector mechanics
2 2
Two Degree-of-Freedom
Systems

1. Model problem
Matrix form of governing equation
Special case: Undamped free vibrations
Examples
2. Transformation of
coordinates
Inertially & elastically coupled/uncoupled
General approach: Modal equations
Example
3. Response to harmonic forces
Model equation
Special case: Undamped system
Two-DOF model problem

Matrix form of governing equation:

 m1 0   x1   (c1  c2 )  c2   x1   (k1  k 2 )  k 2   x1   P1 

 0 m   x     c   
c2   x 2    k 2     
k 2   x2   P2 
 2 2  2

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}

Assumed general solutions:

 x1   A1 
    cos(t   )
 x2   A2 
Characteristic equation:
 (k1  k 2  m1 2 )  k2   A1  0
 2    
  k2 (k 2  m2 )  A2  0
Characteristic polynomial (for
det[ ]=0):
 k1  k 2 k 2  2 k1k 2
  
4
  
  0
 m1 m2  m1m2
Eigenvalues (characteristic values):
1
  2
 2
1   k  k k   k  k k  4 k k 
1 12   1 2
 2    1 2
 2   1 2
 
2 2 2  m1 m2    m1 m2  m1m2  
 
Undamped free vibrations
Special case when k1=k2=k and m1=m2=m

Eigenvalues and frequencies: k

ω1 0.618 fundamenta
l frequency
12  0.3819 k m
1  2    2π
2 
 1  2 . 618 m T   fundamenta
l period
ω

Two mode shapes (relative participation of each mass in the motion):

A2 2k  m 2 1.618 A2 k  0.618
st
1 modeshape   2nd modeshape  
A1 k 1 A1 k  m 2 1

The two eigenvectors are orthogonal:

 A1(1)   1   A1( 2 )   1 
Eigenvector (1) =
 (1)     ( 2 )  
Eigenvector (2) = 
A
 2  1.618 A
 2    0.618
Undamped free vibrations
(UFV)

Single-DOF: x(t ) C cos( nt   )

For two-DOF:

 x1 (t )   A1(1)   A1( 2 ) 
x   C1  (1)  cos(1t  1 )  C2  ( 2)  cos( 2t  2 )
 x2 (t )  A2   A2 
For any set of initial conditions:

We know {A}(1) and {A}(2), 1 and 2

Must find C1, C2, 1, and 2 – Need 4
I.C.’s
UFV – Example 1
 1.0 
Given: x  0 and xo    
1.618
No phase angle since initial velocity is 0:
 x1   1.0   1. 0 
x   C1   cos(1t )  C2   cos( 2t )
 x2  1.618  0.618
From the initial displacement: C1  ; C2 0;
1.0   1.0   1.0 
xo     C1   C 2   T1 
2
1.618 1.618   0.618 1
UFV – Example 2
1 
x 0 andxo    

Now both modes are involved:
2 
From the given initial displacement:
1  1   1   1 1   C1 
xo     C1   C 2 
   C 
2
  1.618   0.618  1.618  0 .618 2
Solve for C1 and C2:
 C1  1   0.618  1 1   1.171 
        
C
 2  0.618  1.618   1.618 1 2
    0.171
Hence, 1   1 
x (1.171)   cos(1t )  (  0 .171)   cos( 2t )
1.618  0.618
or x1 (t ) 1.171  (1) cos(1t )  0.171  (1) cos( 2t )
x2 (t ) 1.171  (1.618) cos(1t )  0.171  ( 0.618) cos( 2t )

Note: More contribution from mode 1

Transformation of coordinates
UFV model problem:
“inertially uncoupled”

 m1 0   x1   (k1  k 2 )  k 2   x1  0

 0 m   x     k     
k 2   x2  0
 2 2  2

“elastically coupled”

Introduce a new pair of coordinates that represents spring stretch:

z1(t) = x1(t) = stretch of spring 1

z2(t) = x2(t) - x1(t) = stretch of spring 2
or x1(t) = z1(t) x2(t) = z1(t) + z2(t)

Substituting maintains symmetry:

 (m1  m2 ) m2   z1   k1 0   z1  0

 m        
 2 m2  z2   0 k 2   z 2  0
“inertially coupled” “elastically uncoupled”
Transformation of
coordinates
We have found that we can select coordinates so that:
1)Inertially coupled, elastically uncoupled, or
2) Inertially uncoupled, elastically coupled.
Big question: Can we select coordinates so that both are uncoupled?

Notes in natural coordinates:

Eigenvectors (modal vectors) :
 A1(1)   1   A1( 2 )   1 
u1  (1)    u2   ( 2)   
A
 2   1 . 618 A
 2    0 . 618

The eigenvectors are orthogonal w.r.t [M]:u1 M  u2  0

T

u2 T M  u1 0
u1T K  u2  0
The modal vectors are orthogonal w.r.t [K]:
u2 T K  u1 0
Algebraic eigenvalue problem:K  u   M  u  K  u2  2 M  u2 
1 1 1
Transformation of coordinates
General approach for solution
Governing equation: M x  K x 0
Let x u1 q1 (t )  u2  q2 (t ) (**)
 x1 (t )  u11  u12 
or     q1 (t )   q2 (t )
 x2 (t ) u21  u 22 
We were calling “A” - Change to u to match Meirovitch
Substitution:
(*) M  u1 q1 (t )  u2  q2 (t )   K u1 q1 (t )  u2  q2 (t ) 0
Modal equations:
u1T (*)  q1 (t )  12 q1 (t ) 0 
 Known solutions
u2 T (*)  q2 (t )   22 q2 (t ) 0
Solve for these using initial conditions then substitute into (**).
Transformation - Example
1 0
Model problem with: xo     and x o   
2
  0
 
1) Solve eigenvalue problem:
u   1  u12   1 
1 0.618;  11    and  2 1 . 618;    
u
 21   1 . 618 u 22   0.618
2) Transformation:
q 1 (t )  12 q1 (t ) 0
x u1 q1 (t )  u2  q2 (t ) and 
q2 (t )   22 q2 (t ) 0
1   1   1 
     q1 (0)    q 2 ( 0)
2
   1 . 618   0 . 618
 q1 (0)   1.171   q1 (t ) q1 (0) cos(1t )
    and 
q
 2 ( 0 )    0 . 171 q2 (t ) q2 (0) cos( 2t )

 1   1 
So x   1.171  cos(1t )   (  0.171  ) cos( 2t )
1 . 618   0 . 618
As we had before.
More general procedure: “Modal analysis” – do a bit later.
Response to harmonic
forces
 F1  i t
Model equation: M x  C x  K x F (t )   e
 
 F2 
[M], [C], and [K] are full but symmetric. {F}
not function of time
Assume:  X 1 (i )  i t
x  X (i )  e
 X 2 (i )
Substituting gives:
  Mi C   K X (i )  F 
2

Z (i )  2x2impedance
matrix

 Z (i )  1 Z (i ) X (i )  Z (i )  1 F 

Hence:
Allzij are functionof (i ) :
 X1  1  z22  z12   F1 
X     2   F  zij  ω 2 mij  iω cij  kij i, j 1, 2
X z z  z
 2  11 22 12  12  z z11   2 
Special case: Undamped
system
Zero damping matrix [C]
Entries of impedance matrix [Z]:

z11 ( ) k11  m1 2 ; z 22 ( ) k 22  m2 2 ; z12 ( ) k12

Substituting for X1 and X2:

(k 22  m2 2 ) F1  k12 F2  k12 F1  (k11  m1 2 ) F2

X1  ; X2 
(k11  m1 )( k 22  m2 )  k12
2 2 2
(k11  m1 2 )( k 22  m2 2 )  k122
For our model problem (k1=k2=k and m1=m2=m), let F2 =0:
(k  m 2 ) F1 k F1
X1  2 2 ; X2 
m (  12 ) ( 2   22 ) m 2 ( 2  12 ) ( 2   22 )

Notes:
1) Denominator originally (-)(-) = (+).
As it passes through 1, changes
sign.
2) The plots give both amplitude
and phase angle (either 0o or 180o)
Multi-DOF Systems

1. Model Equation
Notes on matrices
Undamped free vibration: the eigenvalue
problem
Normalization of modal matrix [U]

2. General solution procedure

Initial conditions
Applied harmonic force
Multi-DOF model equation
Multi-DOF systems are so similar to two-DOF.

Model equation: M x  C x   K x Q

We derive using: 1) Vector mechanics (Newton or D’ Alembert)
2) Hamilton's principles
3) Lagrange's equations

Notes on matrices:

They are square and symmetric.

T  12 x  M x 
T
Kineticenergy:
Strainenergyin spring: U  12 x K  x
T

[M] is positive definite (since T is always positive)

[K] is positive semi-definite:
 all positive eigenvalues, except for some potentially 0-
eigenvalues which occur during a rigid-body motion.
 If restrained/tied down  positive-definite. All positive.
UFV: the eigenvalue
problem

Equation of motion:

M q  K q 0 in terms of the generalized D.O.F. qi

Substitution of
q u f (t ) f (t )  A1e i  t  A2 e  i  t
leads to
K u  2 M u Matrix eigenvalue problem

For more than 2x2, we usually solve using computational

techniques.

Total motion for any problem is a linear combination of the

natural modes contained in {u} (i.e. the eigenvectors).
Normalization of modal matrix
[U]
ui  M  u j  ui  M  u j  C  ij
T
We know that: where:
δij Kroneckerdelta
So far, we pick our 1  Let the 1st 1 if i  j

eigenvectors to look uk    entry be 1 0 if i  j
like:  
  1 
Instead, let us try to pick uk new  uk    
so that:  
 
uk Tnew M  uk new  2 uk T M  uk  1 Do this a row at a time to form [U].

Then: U T M U  I  and U T K U  

 12 0 . 0
This is a common technique  
0  22 . . 
for us to use after we have solved where:  

. . . . 
the eigenvalue problem.  
 0 . .  n2 
General solution procedure

Consider the cases of:

1. q o  andqo 
Initial excitation
2. Harmonic applied force
3. Arbitrary applied force

For all 3 problems:

1. Form [K]{u} = 2 [M]{u} (nxn system)

Solve for all 2 and {u}  [U].
2. Normalize the eigenvectors w.r.t. mass matrix
(optional).
Initial conditions
General solution for any D.O.F.:

q(t ) u1C1 cos(1t  1 )  u2 C2 cos( 2t  2 )    un Cn cos( nt  n )

2n constants that we need to determine by 2n conditions on qo i andq o i

Alternative: modal analysis q U 

Displacement vectors: q(t ) u11 (t )  u2 2 (t )    un n (t )
UFV model equation: M q  K q 0
U T M U η  U T K U η 0
   0
1  121 0 
n modal equations:

 2   2 2 0 
 2

  Need initial conditions on ,

  not q.
n   n n 0 
2

Initial conditions - Modal
analysis

Using displacement vectors: q U 

U T M  q U T M U η
or η U T M  q
ηo  U  M  qo 
 T
As a result, initial conditions:

η o  U  M  q o 
T

Since the solution of
    0 is:
2
C cos( t   ) or

 (t ) o cos( t )  o sin( t )

hence we can easily solve for ( o )1
1 (t ) (o )1 cos(1t )  sin(1t )
1

And then solve
( o ) n
q U η  n (t ) (o ) n cos( nt ) 
n
sin( n t )
Applied harmonic force
Driving force {Q} = {Qo}cos(t)
Equation of motion:
M q  K q Q
Substitution of
q U η and
U  known Q Qo  cos( t )
η unknown ω  driving frequency
leads to
U T M U η  U T K U η U T Qo  cos( t ) N 
Hence, u1  Qo 
1  2
T
cos( t ) then
1  2

u 2  Qo 
T q U η
2  2 cos( t )
2  2

etc.
Continuous Systems

1. The axial bar

Displacement field
Energy approach
Equation of motion
2. Examples
General solution - Free vibration
Initial conditions
Applied force
Motion of the base
3. Ritz method – Free vibration
Approximate solution
One-term Ritz approximation
Two-term Ritz approximation
The axial bar

Main objectives:
1. Use Hamilton’s Principle to derive the equations of
motion.
2. Use HP to construct variational methods of solution.

A = cross-sectional area = uniform

E = modulus of elasticity (MOE)
u = axial displacement
 = mass per volume

Displacement field: u(x, y, z) = u(x, t)

v(x, y, z) = 0
w(x, y, z) = 0
Energy approach

For the axial bar:

2
1  u  u E  u 
Uo strainenergydensity 12 σ ε  12 (E ε x )ε x   E    
2  x  x 2  x 
V potentialenergystrainenergyU  U o dV
V

T  kineticenergy 12 mu 2  12 ρ (Adx)u 2

Hamilton’s principle:
t2
0  (T  V ) dt
t1

t2  L   u    
0     Adx u u  A E   u  dx dt
t1 0
   x  x  
t2 L    u   u L L
0       Adx u u   A E  u  dx  A E u dt    A u u tt12 dx

  t x  x   x
t1 0 0 0

t2 L    u   u L
0       A u    AE   u dx  AE u dt

t1 0
  t x  x   x 0
Axial bar - Equation of
motion

Hamilton’s principle leads to:   A u     AE u  0
t x  x 

 2u 2
2  u E  F L2 
If area A = constant   where:   2
M 
t 2 x 2   L3 
Since x and t are independent, must have both sides equal to a constant.

Separation of variables: u ( x, t )  X ( x) T (t )

 2 d 2
X dx 2 

d 2T dt 2contant - p 2
X T
T  p 2 T 0 X    p   X 0
2

T  A cos( pt )  B sin( pt ) X C cos p x    D sin  p x  

Hence 
u ( x, t )    Ai cos( pi t )  Bi sin( pi t ) Ci cospi x    Di sin pi x  
i 1
Fixed-free bar – General
solution
E
Free vibration:   = wave speed

EBC: u (0) 0
u u
NBC: AE x L 0  x L 0
x x
General solution: 
u ( x, t )    Ai cos( pi t )  Bi sin( pi t ) Ci cos pi x    Di sin  pi x  
i 1

EBC  u (0, t )   Ci  Ai cos( pi t )  Bi sin( pi t ) 0  Ci 0
i 1

u 
Di pi
NBC  x L  cos pi L    Ai cos( pi t )  Bi sin( pi t ) 0
x i 1 
 p L pi L  3 5
EitherDi 0 (trivialsolution)or cos i  0  or or 
    2 2 2
i 
pi  (i 1, 3, 5, )
For any time dependent problem: 2L


 i x    i  t   i  t  
u ( x, t )   sin 
 2L 
  Ai cos
 2L 
  Bi sin 
 2L  

i 1, 3, 5,  
Fixed-free bar – Free vibration

 2u 2
2  u
For free vibration: 2

t x 2
General solution: u ( x, t )  A( x) cos( n t )

i E
Hence n  are the frequencies (eigenvalues)
2L 
(i 1, 3, 5, )
 i x  are the eigenfunctions
sin  
 2L 
Fixed-free bar – Initial
conditions
Give entire bar an initial stretch.
Release and compute u(x, t).
Initial conditions:
 L  L u
u ( x, 0)  o x and t 0 0
 L  t
u 
i   i x 
Initial t 0   Bi sin   0  Bi 0
t 2 L  2 L 
velocity: i 1, 3, 

 Lo  L  
 i x 
Initial   x   Ai sin  
displacement:  L  i 1, 3,   2L 
L  Lo  L   i x   L  i x   i x  L
0  L   2 L 
  x sin   dx   0 i  2 L   2 L 
i 1, 3, 
A sin   sin   dx  Ai
2
( i  1)
2( L  L ) L  i x  8( Lo  L)
or Ai  o 2 0 x sin 2 L  dx  i 2 2 ( 1) 2 (i 1, 3, )
L
( i  1)
8( Lo  L) 
1  i x   i  t 
Hence u ( x, t ) 
2

i 1, 3, 
( 1) 2
i2
sin 
 2L 
 cos
 2L 

Fixed-free bar – Applied force
u (0, t ) 0
Now, B.C’s: 
 u
 A E x L  Fo sin( t )
 x
 2u 2
2  u
From 2

t x 2
we assume: u ( x, t )  X ( x) sin( n t )
 x   x 
u ( x, t )  A1 cos   A 2 sin    sin  t 
      
Substituting:
B.C. at x = u (0, t ) 0  A1 0
0:
u  L
B.C. at x = L: AE x L  AE A 2 cos  sin( t ) Fo sin( t )
x   L 
Fo  L
or A2  sec 
A E   

Fo  L x
Hence u ( x, t )  sec  sin   sin  t 
A E      
Fixed-free bar – Motion of the
base
 2u 2
2  u
From 
t 2 x 2
Using our approach from before:

 x   x 
u ( x, t )  A1 cos   A 2 sin    sin  t 
      
B.C. at x = u (0, t )  A1 sin( t ) U o sin( t )  A1 U o
0:
u
B.C. at x = L: AE x L 0
x
u  U   L  A2    L  L
  o sin    cos   sin  t  0  A 2 U o tan 
x
x L
           

 x   L    x 
Hence u ( x, t )  U o  cos   tan   sin    sin  t 
         
 L  3   3 
Resonance at:  , , or  , , etc.
 2 2 2L 2L
Ritz method – Free vibration

Start with Hamilton’s principle after I.B.P. in time:

t2  L    u    
0       A u u  A E   u  dx dt
  t  x  x
t1 0
 

Seek an approximate solution to u(x, t):

In time: harmonic function  cos(t) ( = n)
In space: X(x) = a11(x)
where: a1 = constant to be determined
1(x) = known function of position
1(x) must satisfy the following:
1. Satisfy the homogeneous form of the EBC.
u(0) = 0 in this case.
2. Be sufficiently differentiable as required by HP.
One-term Ritz approximation
1
Pick: 1 ( x)  x  u ( x, t ) a1 1 ( x) cos( t ) a1 x cos( t )
Alsoapproximat
e: u 1 ( x) cos( t )  x cos( t )
 L 
Substituting:
t2
 
0    a1   2 A ( x)( x)  A E (1)(1) dx  cos 2 ( t ) dt
t1
 0 
 2    A x 2 dx  a1   A E dx  a1
 0
L

  0
L


in matrixform:  2 M  a K a
3
2 AL 3  E 3
  A E L   2  2    2  2
3 L  L 1RITZ  x

Hence 3 
 RITZ   1.732  x
1EXACT sin  
L L  2L 
 
 EXACT   1.571
2L L
Ritz estimate is higher than the exact
Only get one frequency
If we pick a different basis/trial/approximation
function 1, we would get a different result.
One-term Ritz approximation
2
 x d1   x
Whatif we pick: 1 ( x) sin     cos  
 2L  dx 2L  2L 
u ( x, t ) a1 1 ( x) cos( t ) a1 sin  x 2 L cos( t )
Alsoapproximat
e: u 1 ( x) cos( t ) sin  x 2 L cos( t )

Substituting: 0       A u u  A E  u   u  dx dt

t L
t 0  t
2


1  x  x  
 L   
2
 
 x    2  x 
t2
0   a1    A sin 
2 2
  A E   cos    dx  cos 2 ( t ) dt
t1

0
  2L   2L   2 L   

 E 
Hence  RITZ     EXACT
2L  2L

Both mode shape and natural frequency are exact.

But all other functions we pick will never give us a
frequency lower than the exact.
Two-term Ritz approximation
dX
Let: X ( x) a1 x  a2 x 2  a1  2a2 x
dx
t2  
  A 
L
e u 1  x : 0  
If approximat 2
(a1 x  a2 x 2 ) x  A E (a1  2a2 x)(1) dx dt
t1 0
 
t2  
  A 
L
e u  x 2 :
If approximat 0   2
(a1 x  a2 x 2 ) x 2  A E (a1  2a2 x)(2 x) dx dt
t1 0
 

In matrix form:  M 11 M 12   a1  E  K11 K12   a1 

2     K  
 M 21 M 22  a2    21 K 22  a2 
where:
 L L3 
 M 11  ( x)( x)dx 
 11 
K 
L
(1)(1)dx L

0 3 0
 L4 
L  L
 M 12 M 21   K12 K 21 
2
( x )( x)dx  (2 x)(1)dx L2

0 4 
0
3
 L L5  K  L (2 x)(2 x)dx  4 L
 M 22 
0
2 2
( x )( x )dx 
5 

22 0 3

Two-term Ritz approximation
(cont.)
E
Substitution of:   2 and  2 

 ( 2 L   L3 3) ( 2 L2   L4 4)   a1  0
leads to  2 2     
 ( L   L 4) ( 4 L 3   L 5)  a2  0
4 2 3 5

Solving characteristic polynomial (for det[ ]=0) yields 2 frequencies:

(1 ) RITZ 1.5767  L and ( 2 ) RITZ 5.67  L

(1 ) EXACT 1.5708  L and ( 2 ) EXACT 4.7123  L
Let a1 = 1:

Mode 1: Modeshape1:
 2 L (0.1713 a1  0.3785 L a2 ) 0  a2  0.4526 L  X 1 ( x)  x  0.4526 x 2 L
Mode 2: Modeshape2:
 2 L2 ( 7.043 a1  5.10 L a2 ) 0  a2  1.38 L  X 2 ( x)  x  1.38 x 2 L