TWO DEGREE OF FREEDOM

SYSTEM

INTRODUCTION

Systems that require two independent coordinates to

describe their motion;
Two masses in the system X two possible types of motion of
each mass.
Example: motor pump system.

There are two equations of motion for a 2DOF system,

one for each mass (more precisely, for each DOF).
They are generally in the form of couple differential
equation that is, each equation involves all the
coordinates.

EQUATION OF MOTION FOR FORCED VIBRATION

Consider

a viscously damped two degree of

freedom spring-mass system, shown in Fig.5.3.

Figure 5.3: A two degree of freedom spring-mass-damper system

EQUATIONS OF MOTION FOR FORCED VIBRATION

The application of Newtons second law of motion to
each of the masses gives the equations of motion:
4

m1x1 (c1 c2 ) x1 c2 x2 (k1 k2 ) x1 k2 x2 F1

m2 x2 c2 x1 (c2 c3 ) x2 k2 x1 (k2 k3 ) x2 F2

(5.1)
(5.2)

Both equations can be written in matrix form as

[m]x (t ) [c]x (t ) [k ]x (t ) F (t )

(5.3)

where [m], [c], and [k] are called the mass,

damping, and stiffness matrices, respectively, and
are given by

EQUATIONS OF MOTION FOR FORCED VIBRATION

m1 0
[ m]

0
m
2

c1 c2 c2
[c ]

c
c

c
2
2
3

k1 k 2 k2
[k ]

k
k

k
2
2
3

And the displacement and force vectors are given

respectively:

x1 (t )
F1 (t )

x (t )
F (t )

x2 (t )
F2 (t )

It can be seen that the matrices [m], [c], and [k] are
all 2 x 2 matrices whose elements are known
masses, damping coefficient and stiffnesses of the
system, respectively.

EQUATIONS OF MOTION FOR FORCED VIBRATION

oFurther,

these matrices can be seen to be

symmetric, so that,

[m]T [m],

[c]T [c],

[k ]T [k ]

where the superscript T denotes the transpose of

the matrix.
oThe

solution of Eqs.(5.1) and (5.2) involves four

constants of integration (two for each equation).
Usually the initial displacements and velocities of
the two masses are specified as
x1(t = 0) = x1(0) and x1( t = 0) = x1(0),
x2(t = 0) = x2(0) and x2 (t = 0) = x2(0).

FREE VIBRATION ANALYSIS OF AN UNDAMPED SYSTEM

By setting F1(t) = F2(t) = 0, and damping disregarded,

i.e., c1 = c2 = c3 = 0, and the equation of motion is
reduced to:
m1x1 (t ) (k1 k2 ) x1 (t ) k2 x2 (t ) 0
(5.4)
m2 x2 (t ) k2 x1 (t ) (k2 k3 ) x2 (t ) 0
(5.5)
Assuming that it is possible to have harmonic motion
of m1 and m2 at the same frequency and the same
phase angle , we take the solutions as
x1 (t ) X 1 cos(t )
x2 (t ) X 2 cos(t )

(5.6)

FREE VIBRATION ANALYSIS OF AN UNDAMPED SYSTEM

Substituting into Eqs.(5.4) and (5.5),

m (k k )X k X cos(t ) 0
k X m (k k )X cos(t ) 0
2

(5.7)

Since Eq.(5.7)must be satisfied for all values of the

time t, the terms between brackets must be zero.
Thus,

m
1

(k1 k2 )X 1 k2 X 2 0

k2 X 1 m2 (k2 k3 )X 2 0
2

(5.8)

FREE VIBRATION ANALYSIS OF AN UNDAMPED

SYSTEM

m1 2 (k1 k 2 )
det
k 2

0
2
m1 (k1 k 2 )

k 2

or
(m1m2 ) 4 (k1 k2 )m2 (k2 k3 )m1
(k1 k2 )(k2 k3 ) k22 0

(5.9)

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:

FREE VIBRATION ANALYSIS OF AN UNDAMPED

SYSTEM
which is called the frequency or characteristic
equation. Hence the roots are:
1 (k1 k 2 )m2 (k 2 k3 )m1
,

2
m1m2

2
1

2
2

1 (k1 k 2 )m2 (k 2 k3 )m1

2
m1m2

1/ 2

(k1 k 2 )(k 2 k3 ) k
4

m1m2

2
2

(5.10)

The roots are called natural frequencies of the

system.
10

FREE VIBRATION ANALYSIS OF AN UNDAMPED SYSTEM

To determine the values of X1 and X2, given ratio

X 2( 2 ) m122 (k1 k 2 )
k2
r2 ( 2 )

X1
k2
m222 (k 2 k3 )

11

X 2(1) m112 (k1 k 2 )

k2
r1 (1)

X1
k2
m212 (k 2 k3 )
(5.11)

The normal modes of vibration corresponding to

12 and 22 can be expressed, respectively, as
(1)
(1)
( 2)
( 2)
(1)

X
X
X
X
1 1
1 1

( 2)
X (1) (1) and X ( 2)
( 2)

X 2

r1 X 1

X 2

r2 X 1

which are known as the modal vectors of the system.

(5.12)

FREE VIBRATION ANALYSIS OF AN UNDAMPED SYSTEM

The free vibration solution or the motion in time can
be expressed itself as
12

(1)
(1)

x
(
t
)
X
(1)
1
1 cos(1t 1 )

x (t ) (1) (1)
first mode

x2 (t )

r1 X 1 cos(1t 1 )

( 2)
( 2)

x
(
t
)
X
( 2)
1
1 cos(2t 2 )

x (t ) ( 2)
second mode
( 2)

x2 (t )

r2 X 1 cos(2t 2 )

(5.17)

Where the constants X 1(1), X 1( 2,) and 2are

determined by the initial conditions. The initial
conditions are
1

x1 (t 0) X 1(i ) some constant,

x1 (t 0) 0,

x2 (t 0) ri X 1(i ) ,

x2 (t 0) 0

13

FREE VIBRATION ANALYSIS OF AN UNDAMPED SYSTEM

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

x (t ) c1 x1 (t ) c2 x2 (t )
(5.14 )
Thus the components of the vector can be expressed
as
x1 (t ) x1(1) (t ) x1( 2) (t ) X 1(1) cos(1t 1 ) X 1( 2 ) cos(2t 2 )
x2 (t ) x2(1) (t ) x2( 2) (t )
r1 X 1(1) cos(1t 1 ) r2 X 1( 2 ) cos(2t 2 )

(5.15 )

where the unknown constants can be determined

from the initial conditions:

FREE VIBRATION ANALYSIS OF AN UNDAMPED SYSTEM

x1 (t 0) x1 (0),
x2 (t 0) x2 (0),

x1 (t 0) x1 (0),
x2 (t 0) x2 (0)

(5.16)

Substituting into Eq.(5.15) leads to

x1 (0) X 1(1) cos1 X 1( 2) cos2
x1 (0) 1 X 1(1) sin 1 2 X 1( 2) sin 2
x2 (0) r1 X 1(1) cos1 r2 X 1( 2) cos2
x2 (0) 1r1 X 1(1) sin 1 2 r2 X 1( 2) sin 2

(5.17)

The solution can be expressed as

r x (0) x2 (0)
X 1(1) cos1 2 1
,
r2 r1

r x (0) x2 (0)
X 1(1) sin 1 2 1
,
1 (r2 r1 )

r x (0) x2 (0)
X 1( 2) cos2 1 1

r
2
1

r x (0) x2 (0)
X 1( 2) sin 2 1 1

(
r

r
)
2 2 1 14

FREE VIBRATION ANALYSIS OF AN UNDAMPED SYSTEM

from which we obtain the desired solution

(1)
1

cos1 X
2

(1)
1

sin 1

2 1/ 2
15

(1)
1

1
r2 x1 (0) x 2 (0)
2

r2 x1 (0) x2 (0)

(r2 r1 )
12

( 2)
1

( 2)
1

cos2 X
2

( 2)
1

sin 2

1/ 2

2 1/ 2

1
r
x
(
0
)

x
(
0
)
2
1 1
2

r1 x1 (0) x2 (0)

(r2 r1 )
22

1/ 2

(1)

1 (0) x2 (0)
X
1
1 r2 x
1 sin 1
1 tan (1)
tan

X
cos

[
r
x
(
0
)

x
(
0
)
1
2
1
1 2 1

( 2)

X
r1 x1 (0) x2 (0)
1
1
1 sin 2
2 tan ( 2)
tan

X
cos

r
x
(
0
)

x
(
0
)
2
2
1
2 1 1

(5.18)

EXAMPLE 5.3:FREE VIBRATION RESPONSE OF A

TWO DEGREE OF FREEDOM SYSTEM

16

Find the free vibration response of the system shown

in Fig.5.3(a) with k1 = 30, k2 = 5, k3 = 0, m1 = 10, m2 =
1 and c1 = c2 = c3 = 0 for the initial conditions
x1 (0) 1, x1 (0) x2 (0) x2 (0).
Solution: For the given data, the eigenvalue
problem, Eq.(5.8), becomes
m1 2 k1 k2
X 1 0
k 2

2
k 2
m2 k2 k3 X 2 0

or
10 2 35
5 X 1 0
(E.1)

2
-5
5 X 2 0

EXAMPLE 5.3

SOLUTION

By setting the determinant of the coefficient matrix

in Eq.(E.1) to zero, we obtain the frequency
equation,
10 4 85 2 150 0
(E.2)
from which the natural frequencies can be found
as
12 2.5,
22 6.0
1 1.5811, 2 2.4495
(E.3)
The normal modes (or eigenvectors) are given by
(1) X 1(1) 1 (1)
X (1) X 1
X 2 2
( 2) X 1( 2) 1 ( 2)
X ( 2) X 1
X 2 5

(E.4)

(E.5)
17

EXAMPLE 5.3

SOLUTION

The free vibration responses of the masses m1

and m2 are given by (see Eq.5.15):
(E.6)

x2 (t ) 2 X 1(1) cos(1.5811t 1 ) 5 X 1( 2) cos(2.4495t 2 )

(E.7)

18

x1 (t ) X 1(1) cos(1.5811t 1 ) X 1( 2) cos(2.4495t 2 )

By using the given initial conditions in Eqs.(E.6)

and (E.7), we obtain
x1 (t 0) 1 X 1(1) cos1 X 1( 2) cos2

(E.8)

x2 (t 0) 0 2 X 1(1) cos1 5 X 1( 2) cos2

(E.9)

x1 (t 0) 0 1.5811X 1(1) sin 1 2.4495X 1( 2) sin 2 (E.10)

x2 (t 0) 3.1622 X 1(1) 12.2475X 1( 2) sin 2

(E.11)

EXAMPLE 5.3

SOLUTION

The solution of Eqs.(E.8) and (E.9) yields

5
2
(1)
( 2)
X 1 cos1 ;
X 1 cos2
7
7

(E.12)

while the solution of Eqs.(E.10) and (E.11) leads to

X 1(1) sin 1 0, X 1( 2) sin 2 0

(E.13)

Equations (E.12) and (E.13) give

X

(1)
1

5
,
7

( 2)
1

2
,
7

1 0, 2 0

(E.14)

19

EXAMPLE 5.3

SOLUTION

Thus the free vibration responses of m1 and m2 are

given by

5
2
x1 (t ) cos1.5811t cos 2.4495t
7
7
10
10
x2 (t ) cos1.5811t cos 2.4495t
7
7

(E.15)
(E.16)

20

TORSIONAL SYSTEM

x
1

a
n

Figure 5.6: Torsional system with discs mounted on a shaft

Consider a torsional system as shown in Fig.5.6. The

differential equations of rotational motion for the
discs can be derived as
21

TORSIONAL SYSTEM

2 2

t2

t3 2

t2

which upon rearrangement become

J11 (kt1 kt 2 )1 kt 2 2 M t1
J 22 kt 21 (kt 2 kt 3 ) 2 M t 2

(5.19)

For the free vibration analysis of the system,

Eq.(5.19) reduces to

J11 (kt1 kt 2 )1 kt 2 2 0
J 22 kt 21 (kt 2 kt 3 ) 2 0

(5.20)

22

J11 kt11 kt 2 ( 2 1 ) M t1
J k ( ) k M

EXAMPLE 5.4:NATURAL FREQUENCIES OF

TORSIONAL SYSTEM
Find the natural frequencies and mode shapes for
the torsional system shown in Fig.5.7 for J1 = J0 ,
J2 = 2J0 and kt1 = kt2 = kt .
Solution:
The differential equations of motion,
Eq.(5.20), reduce to (with kt3 = 0,
kt1 = kt2 = kt, J1 = J0 and J2 = 2J0):

J 01 2kt1 kt 2 0
2 J 02 kt1 kt 2 0

(E.1)

Fig.5.7:
Torsional system
23

EXAMPLE 5.4

SOLUTION

Rearranging and substituting the harmonic

solution:
i (t ) i cos(t ); i 1,2
(E.2)
gives the frequency equation:
2 4 J 02 5 2 J 0 kt kt2 0

(E.3)

The solution of Eq.(E.3) gives the natural

frequencies
kt
1
(5 17 ) and
4J 0

kt
2
(5 17 ) (E.4)
4J 0
24

EXAMPLE 5.4

SOLUTION

The amplitude ratios are given by

r2

( 2)
2
( 2)
1

(5 17 )
2
4

25

(21)
(5 17 )
r1 (1) 2
1
4
(E.5)

Equations (E.4) and (E.5) can also be obtained by

substituting the following in Eqs.(5.10) and (5.11).

k1 kt1 kt ,

k 2 k t 2 kt ,

m1 J1 J 0 , m2 J 2 2 J 0 and

k3 0

COORDINATE COUPLING AND PRINCIPAL

COORDINATES
Generalized coordinates are sets of n coordinates
used to describe the configuration of the system.
Equations of motion Using x(t) and (t).

26

COORDINATE COUPLING AND PRINCIPAL

COORDINATES

mx k1 ( x l1 ) k2 ( x l2 )

(5.21)

and the moment equation about C.G. can be

expressed as
J 0 k1 ( x l1 )l1 k 2 ( x l2 )l2

(5.22 )

Eqs.(5.21) and (5.22) can be rearranged and

written in matrix form as

27

From the free-body diagram shown in Fig.5.10a,

with the positive values of the motion variables as
indicated, the force equilibrium equation in the
vertical direction can be written as

COORDINATE COUPLING AND PRINCIPAL

COORDINATES
(k1l1 k 2l2 ) x 0

2
2
(k1l1 k 2l 2 ) 0

(5.23)

The lathe rotates in the vertical plane and has

vertical motion as well, unless k1l1 = k2l2. This is
known as elastic or static coupling.
Equations of motion Using y(t) and (t).

From Fig.5.10b, the equations of motion for

translation and rotation can be written as
my k1 ( y l1 ) k 2 ( y l2 ) me

28

m 0 x (k1 k 2 )
0 J (k l k l )

0
11
2 2

COORDINATE COUPLING AND PRINCIPAL

COORDINATES
J P k1 ( y l1 )l1 k 2 ( y l2 )l2 mey

(5.24 )

These equations can be rearranged and written in

matrix form as
m
me

me y (k1 k 2 )

J P (k1l1 k 2l2 )

(k 2l2 k1l1) y 0

2
2
(k1l1 k 2l 2 ) 0

(5.25)

If k1l1 k2l2, the system will have dynamic or inertia

coupling only.
Note the following characteristics of these
systems:
29

COORDINATE COUPLING AND PRINCIPAL

COORDINATES
1. In the most general case, a viscously damped
two degree of freedom system has the
equations of motions in the form:
m11 m12 x1 c11 c12 x1 k11 k12 x1 0



m

21 m22 x2 c21 c22 x2 k21 k22 x2 0

(5.26)

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
30
dynamically.

EXAMPLE 5.6:PRINCIPAL COORDINATES OF

SPRING-MASS SYSTEM
Determine the principal coordinates for the springmass system shown in Fig.5.4.

31

EXAMPLE 5.6

SOLUTION

Approach: Define two independent solutions as

principal coordinates and express them in terms of
the solutions x1(t) and x2(t).

The general motion of the system shown is

x1 (t ) B1 cos

x2 (t ) B1 cos

3k

t 1 B2 cos
t 2
m

3k

k
t 1 B2 cos
t 2
m

(E.1)

We define a new set of coordinates such that

32

EXAMPLE 5.6

SOLUTION

33

q1 (t ) B1 cos
t 1
m

3k

q2 (t ) B2 cos
t 2
m

(E.2)

Since the coordinates are harmonic functions, their

corresponding equations of motion can be written
as
k
q1 q1 0
m
3k
q2 q2 0
m

(E.3)

EXAMPLE 5.6

SOLUTION

From Eqs.(E.1) and (E.2), we can write

x2 (t ) q1 (t ) q2 (t )

34

x1 (t ) q1 (t ) q2 (t )
(E.4)

The solution of Eqs.(E.4) gives the principal

coordinates:
1
q1 (t ) [ x1 (t ) x2 (t )]
2
1
q2 (t ) [ x1 (t ) x2 (t )]
2

(E.5)

FORCED VIBRATION ANALYSIS

The equations of motion of a general two degree of
freedom system under external forces can be
written as
m11 m12 x1 c11 c12 x1 k11 k12 x1 F1


(5.27)
m

12 m22 x2 c21 c22 x2 k21 k22 x2 F2

Consider the external forces to be harmonic:

it

Fj (t ) Fj 0e , j 1,2

(5.28)

where is the forcing frequency. We can write the

steady-state solutions as
it

x j (t ) X j e , j 1,2

(5.29)
35

FORCED VIBRATION ANALYSIS

Substitution of Eqs.(5.28) and (5.29) into Eq.(5.27)
leads to

We defined as in section 3.5 the mechanical

impedance Zre(i) as
Z rs (i ) 2 mrs icrs k rs , r , s 1,2

(5.31)

36

( 2 m11 ic11 k11 ) ( 2 m12 ic12 k12 ) X 1

2
( m12 ic12 k12 ) (2 m22 ic22 k 22 ) X 2
F10

(5.30)
F20

FORCED VIBRATION ANALYSIS

And write Eq.(5.30) as:

(5.32)

Where,
Z11 (i ) Z12 (i )
Z (i )
Impedancematrix

Z12 (i ) Z 22 (i )
X1
X
X 2
F10
F0
F20

37

Z (i)X F0

FORCED VIBRATION ANALYSIS

Eq.(5.32) can be solved to obtain:

1
X Z (i) F0

(5.33)

where the inverse of the impedance matrix is given

Z (i )

Z 22 (i ) -Z12 (i )
1

Z (i ) Z (i ) (5.34)
2
Z11 (i ) Z 22 (i ) Z12 (i ) 12
11

Eqs.(5.33) and (5.34) lead to the solution

Z 22 (i ) F10 Z12 (i ) F20
X 1 (i )
Z11 (i ) Z 22 (i ) Z122 (i )
Z12 (i ) F10 Z11 (i ) F20
X 2 (i )
Z11 (i ) Z 22 (i ) Z122 (i )

(5.35)
38

EXAMPLE 5.8:STEADY-STATE RESPONSE OF

SPRING-MASS SYSTEM
Find the steady-state response of system shown in
Fig.5.13 when the mass m1 is excited by the force
F1(t) = F10 cos t. Also, plot its frequency response
curve.

39

EXAMPLE 5.8

SOLUTION

The equations of motion of the system can be

expressed as
m 0 x1 2k -k x1 F10 cost

0 m x -k 2k x
0

2
2

(E.1)

We assume the solution to be as follows.

x j (t ) X j cos t ;

j 1,2

(E.2)

Eq.(5.31) gives
Z11 ( ) Z 22 ( ) m 2 2k ,

Z12 ( ) k

(E.3)
40

EXAMPLE 5.8

SOLUTION

Hence,
(E.4)

41

( 2 m 2k ) F10
( 2 m 2k ) F10
X 1 ( )

2
2
2
( m 2k ) k
(m 2 3k )(m 2 k )
kF10
kF10
X 2 ( )

2
2
2
(m 2k ) k
(m 2 3k )(m 2 k )

(E.5)

Eqs.(E.4) and (E.5) can be expressed as

2
2 F10
1
X 1 ( )
2 2 2
k 2 1
1 1 1

(E.6)

EXAMPLE 5.8

SOLUTION

X 2 ( )

F10

k 2 1
1 1 1
2

Fig.5.14: Frequency response curves

(E.7)

42