Contents

1 Introduction 3
1.1 Learning outcomes . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Denition and Scope of Vibration . . . . . . . . . . . . . . . . 3
1.3 Importance of the study of vibrations . . . . . . . . . . . . . . 4
1.4 Examples of vibrations . . . . . . . . . . . . . . . . . . . . . . 4
1.5 Degrees of freedom . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Free Undamped Vibration 5
2.1 Simple harmonic motion . . . . . . . . . . . . . . . . . . . . . 5
2.2 Equation of motion of simple harmonic motions: spring-mass
system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Forced Undamped Vibration 8
3.1 Types of forcing function . . . . . . . . . . . . . . . . . . . . . 8
3.2 General response . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.3 Amplitude ratio (Magnication factor) . . . . . . . . . . . . . 10
4 Free Damped Vibration 11
4.1 Damping Eect . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2 The EOM and Its Solution . . . . . . . . . . . . . . . . . . . . 11
4.3 Damping ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.4 Logarithmic decrement . . . . . . . . . . . . . . . . . . . . . 14
4.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5 Forced Damped Vibration 16
5.1 The EOM and Its Solution . . . . . . . . . . . . . . . . . . . . 16
5.2 Amplitude Ratio . . . . . . . . . . . . . . . . . . . . . . . . . 17
1
2 CONTENTS
5.3 Vibration due to movement of base . . . . . . . . . . . . . . . 18
5.3.1 Force Transmissibility due to Base Excitation . . . . . 19
5.4 Vibration due to unbalanced mass . . . . . . . . . . . . . . . . 20
5.4.1 Force Transmissibility due to Unbalanced Mass . . . . 21
6 Vibrations of 2-DOF System 22
6.1 Torsional Vibration . . . . . . . . . . . . . . . . . . . . . . . . 22
6.2 Free Vibration of a 2 dof System . . . . . . . . . . . . . . . . 22
6.2.1 EOM . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.3 Forced Vibration of a 2 dof System . . . . . . . . . . . . . . . 26
6.4 Design strategy for DVA . . . . . . . . . . . . . . . . . . . . . 29
Razi Abdul Rahman, Trans Krian, 22 January, 2009.
Chapter 1
Introduction
1.1 Learning outcomes
As in the PEO, at the end of the course, the students are able to:
1. Determine vibration response for a 1 degree-of-freedom (dof) system.
I.e., he/she should understand the response in terms of the displace-
ment, velocity, and acceleration.
2. Calculate natural frequencies and mode shapes for a 2 dof system.
3. Design a tuned vibration absorber (dynamic vibration absorber) sys-
tem.
1.2 Denition and Scope of Vibration
Vibration is
usually understood as oscillation between an equilibrium point.
in mechanical systems, can be viewed as the ow between kinetic
energy and potential energy
We limit to suciently small displacement, hence to linear vibration ,
and also harmonic/single frequency motion.
We only consider vibration of a particle only. Vibration of rigid bodies is
skipped.
3
4 CHAPTER 1. INTRODUCTION
1.3 Importance of the study of vibrations
Vibrations cause damages to machines, equipments, buildings, etc.
Vibrations create noise
We need to nd ways to limit the level of vibrations, and thus the
fundamentals of vibration must rst be well understood
1.4 Examples of vibrations
Noise from computer fans
Noise from automobile tires.
Vibration isolation in Shanghai tower as the application of dynamic
vibration absorber (DVA)
1.5 Degrees of freedom
denition: direction an object or particle is free to move
must be describable with independent coordinates
independent coordinates by denition imply the minimum number of
coordinates
Example 1: mass-spring
Example 2: Pendulum
Chapter 2
Free Undamped Vibration
2.1 Simple harmonic motion
Some denitions:
periodic motion a motion that is repeated after equal intervals of time.
harmonic motion periodic motion with one frequency
simple harmonic motion a harmonic motion where the acceleration is
proportional to the displacement and directed toward the mean po-
sition.
A simple harmonic motion can be described with a sinosoidal function
x = Asin = Asin t (2.1)
The 1st time derivative of x gives the velocity
x = Acos t (2.2)
The 2nd time derivative of x gives the acceleration
x =
2
Asin t (2.3)
Refer to Figure 1.41 of Ref. [3].
5
6 CHAPTER 2. FREE UNDAMPED VIBRATION
2.2 Equation of motion of simple harmonic
motions: spring-mass system
Undamped free vibration:
free: no input over time (no external force)
undamped: no energy transfer out of the system (no damping)
See Figure 8/1 (a) in Reference [2]: mass-spring system (horizontal)
The mass displaces to the right from the neutral position
First step: Draw free body diagram (FBD), then analyze the forces
acting on the mass.
Second step: Use Netwons Second Law of Motion:
F = ma = m x
kx = m x
Bring x and all its derivatives to the left hand side to write the equation of
motion:
m x + kx = 0 (2.4)
We now want to solve this equation to have x as a function of time x(t)...
Eq. 2.4 is a second order ordinary dierential equation. The principle in
calculus tells us the solution to Eq. 2.4 has the form of
x(t) = Ae
t
(2.5)
By substitution,
(m
2
+ k)e
t
= 0 (2.6)
The equation is zero if the parenthesis is zero.
Looking inside the parenthesis, youll see

1
= +i
_
k
m

2
= i
_
k
m
2.3. EXAMPLES 7
The form of Eq. 2.5 can now be expressed with two constants A
1
and A
2
x(t) = A
1
e
i

k
m
t
+ A
2
e
i

k
m
t
(2.7)
A
1
and A
2
are constants from the initial conditions. (Remember from calcu-
lus: When you integrate a second order ODE you get 2 constants)
We can express Eq. 2.7 in terms of a sinusoidal function using Eulers
formula.
Substituting this formula, youll get
x(t) = C
1
cos
_
_
k
m
t
_
+ C
2
sin
_
_
k
m
t
_
(2.8)
Introduce natural frequency
n
:

n
=
_
k
m
Then
x(t) = C
1
cos
n
t + C
2
sin
n
t (2.9)
This is the solution to the equation of motion of free undamped vibration.
Another form of the solution is in terms of the amplitude C and phase
x(t) = C sin(
n
t + ) (2.10)
With initial diplacement and velocity x
0
and v
0
C =

x
2
0
+
_
v
0

n
_
2
and
= tan
1
_
x
0

n
v
0
_
2.3 Examples
See various examples of problem solving in the references
Chapter 3
Forced Undamped Vibration
Denition:
Forced vibration: vibration due to external inputs (forces)
Implication: the right hand side of the equation of motion is NOT zero
3.1 Types of forcing function
periodic For our case, harmonic forces, e.g. F = F
0
sin t
general/random
shock/impact force that acts on short time, i.e., t < T, T=natural pe-
riod of system
Here we only deal with Type I forcing function.
3.2 General response
First step: Draw free body diagram (FBD), then analyze the forces acting
on the mass.
Second step: Use Netwons Second Law of Motion:

F
x
= ma
x
= m x
F
0
sin t kx = m x
8
3.2. GENERAL RESPONSE 9
Bring x and all its derivatives to the left hand side to write the equation of
motion:
m x + kx = F
0
sin t (3.1)
As before, We want to solve this equation to get x(t)...
Recall your calculus to understand Eq. 3.1. This is non-homogeneous
2nd order ODE, where you have to nd the particular solution for x(t).
For the particular solution, x should look like the forcing function, so we
set
x
p
= X sin t (3.2)
Then the derivatives are
x
p
= X cos t
x
p
= X
2
sin t
Find X to complete the solution ...
Substitute Eq. (3.2) and its derivatives into the EOM:
X
2
sin t +
k
m
X sin t =
F
0
m
sin t
Then
X
2
+
k
m
X =
F
0
m
X
2
+
k
m
X =
F
0
m
X =
F
0
m
k
m

2
Dividing by k/m
X =
F
0
k
1 (

n
)
2
We now have x
p
x
p
=
F
0
k
1 (

n
)
2
sin t (3.3)
10 CHAPTER 3. FORCED UNDAMPED VIBRATION
3.3 Amplitude ratio (Magnication factor)
The amplitude ratio or equivalently magnication ratio M (Meriam p.
616) is dened as:
M =
X

st
So,
M =
_
1
_

n
_
2
_
1
(3.4)
Figure: Refer [2] Figure 8/10.
Chapter 4
Free Damped Vibration
4.1 Damping Eect
Note: A damper causes energy to ow out of the system
Modes of damping:
1. Viscous eect
2. friction
3. Material hysterisis
Here we only deal with Type 1 damping, i.e., where we have F = c x, c =
damping coecient [N/(m/s)].
4.2 The EOM and Its Solution
See Figure 8/2 (a) in Reference [2]: mass-spring-dashpot system
The mass displaces to the right from the neutral position
First step: Draw free body diagram (FBD), then analyze the forces
acting on the mass.
Second step: Use Newtons Second Law of Motion:

F
x
= ma
x
= m x
kx c x = m x
Bring x and all its derivatives to the left hand side to write the equation of
motion:
11
12 CHAPTER 4. FREE DAMPED VIBRATION
m x + c x + kx = 0 (4.1)
Again, We want to solve this equation to have x as a function of time
x(t)...
Like before, Eq. (4.1) is a second order ordinary dierential equation.
The principle in calculus tells us the solution to Eq. (4.1) has the form of
x(t) = Ae
t
(4.2)
perform some algebraic tricks on Eq. (4.1) so that our solution later
provides more understanding on the nature of this damped free vibration:
Divide Eq. (4.1) by m, and use
n
:
x + c/m x +
2
n
x = 0 (4.3)
Instead of c/m as coecients, we introduce damping factor dened as
=
c
2m
n
(4.4)
Now we have the equation of motion for damped free vibration
x + 2
n
x +
2
n
x = 0 (4.5)
By substitution of x(t) = Ae
t
, we get
(
2
+ 2
n
+
2
n
)e
t
= 0 (4.6)
Now, the solution to x(t) depends on as discussed in the following
section.
4.3 Damping ratio
The root of the above is

1
=
n
( +
_

2
1)

2
=
n
(
_

2
1)
Case 1: > 1, so that
1
,
2
are negative
OVERDAMPEDNO OSCILLATION
4.3. DAMPING RATIO 13
Case 2: = 1,
The response is
x(t) = C
1
e
(+

2
1)nt
+ C
2
e
(

2
1)nt
(4.7)
CRITICAL DAMPINGNO OSCILLATION
Notes:
Critical damping constant c
c
is dened as the value that makes the radical
in the root to be zero: (cf. Rao p 140) so that
c
c
= 2m
_
k
m
= 2

km = 2m
n
(4.8)
Damping ratio can be given by
= c/c
c
(4.9)
Response is: (Note that the form is a bit dierent, due to the equal roots)
x(t) = A
1
e
nt
+ A
2
te
nt
(4.10)
x(t) is decaying over time, no oscillation.
Case 2: < 1,
UNDERDAMPEDOSCILLATION
Notice now that
1
,
2
are imaginary like in the undamped free vibration.
Using the Eulers formula again, we write
x = e
nt
(B
1
cos
d
t + B
2
sin
d
t) (4.11)
where

d
=
n
_
1
2
Or in terms of amplitude and phase
x = Ce
nt
sin(
d
t + ) (4.12)
where C =
_
B
2
1
+ B
2
2
and = tan
1
(B
1
/B
2
).
14 CHAPTER 4. FREE DAMPED VIBRATION
4.4 Logarithmic decrement
Refer Figure 8/7 in Reference [2].
can be approximated from experiment using the logarithmic decrement
.
= ln
_
x
1
x
2
_
=
2
_
1
2
Therefore,
=

4
2
+
2
.
4.5 Summary
E.O.M.
m x + c x + kx = 0
or
x + 2
n
x +
2
n
x = 0
The solution has 3 dierent forms for the underdamped case:
Form 1:
x(t) = e
nt
(A
1
e
i
d
t
+ A
2
e
i
d
t
)
Form 2:
x(t) = e
nt
(B
1
cos
d
t + B
2
sin
d
t)
Form 3:
x(t) = Ce
nt
sin(
d
t + )
where
d
=
_
1
2

n
.
The coecients are related as the following:
Given initial conditions x
0
and x
0
,
B
1
= A
1
+ A
2
= x
0
B
2
= i(A
1
A
2
) =
x
0
+
n
x
0
_
1
2

n
4.5. SUMMARY 15
C =
_
B
2
1
+ B
2
2
=

x
2
0
+
( x
0
+
n
x
0
)
2
(1
2
)
2
n
= tan
1
(B
1
/B
2
) = tan
1
_
1
2

n
x
0
x
0
+
n
x
0
Chapter 5
Forced Damped Vibration
sint F = F
0 k
c
m
Figure 5.1: A mass-spring-dashpot system with forcing function F =
F
0
sin t on mass m.
5.1 The EOM and Its Solution
See Figure 5.1: mass-spring-dashpot system with a forcing function F0 sint.
You should know how to:
i. draw free body diagram (FBD) and analyze the forces acting on the
mass.
ii. use Newtons Second Law of Motion to write down the equation of
motion.

F
x
= ma
x
= m x
F
0
sin t kx c x = m x
16
5.2. AMPLITUDE RATIO 17
Bring x and all its derivatives to the left hand side to write the equation of
motion:
m x + c x + kx = F
0
sin t
The equation of motion for forced damped vibration is
x + 2
n
x +
2
n
x =
F
0
m
sin t (5.1)
NOTE: With this nonhomogeneous, ordinary dierential equation, we are
always interested with the particular solution, i.e, the steady-state solu-
tion.
Again, we want to solve this equation to have x as a function of time
x(t)...
Set x
p
= X sin(t ), then we have (with the same process as before)
X =
F
0
/k
{[1 r
2
]
2
+ [2r]
2
}
1/2
where r =

n
.
= tan
1
_
2r
1 r
2
_
.
As before, the total solution is the combination of the homogenous solu-
tion and the particular solution.
x(t) = Ce
nt
sin(
d
t + ) + X sin(t )
NOTE: C and are found from the initial conditions, X and are NOT.
5.2 Amplitude Ratio
We use the same denition of M as before.
M = {[1 r
2
]
2
+ [2r]
2
}
1/2
(5.2)
You must learn Figures 8/11, 8/12, and 8/13 in Reference [2].
NOTE: the maximum M for damped system no longer occurs at r=1.
Two steps to reduce vibration:
1. At resonance, increase damping.
2. Run the system at higher frequency than the natural frequency.
18 CHAPTER 5. FORCED DAMPED VIBRATION
5.3 Vibration due to movement of base
Instead of directly applying force to a system, we apply a motion to its
foundation
m
x(t)
y(t)
k c
Base
Figure 5.2: A mass-spring-dashpot system with base excitation function y =
Y sin t.
Instead of force, we have here y(t) as the base harmonic movement with
Y amplitude.
To get the equation of motion you have to be able to draw the FBD with
relative coordinates (Refer to Fig. 3.14 of Reference [3]).
The EOM:
x +
c
m
( x y) +
k
m
(x y) = 0 (5.3)
Given
y(t) = Y sin t
Then
x +
c
m
x +
k
m
x =
k
m
Y sin t +
c
m
Y cos t (5.4)
which we can rewrite as
x +
c
m
x +
k
m
x = Asin(t ) (5.5)
If we set the x
p
= X sin(t ) as before, then
X = Y
_
1 + (2r)
2
(1 r
2
)
2
+ (2r)
2
_
1/2
(5.6)
5.3. VIBRATION DUE TO MOVEMENT OF BASE 19
and
= tan
1
_
2r
3
1 + (4
2
1)r
2
_
. Eq. (5.6) gives us displacement transmissibility ratio:
X
Y
=
_
1 + (2r)
2
(1 r
2
)
2
+ (2r)
2
_
1/2
(5.7)
Recall the amplitude ratio M from Eq. (5.2). The amplitude of x
p
X can be
written as
X = MY (1 + (2r)
2
)
1/2
(5.8)
From the graph of M vs.

n
, we can have cases where M = 1, Hence at
these ratios, the amplitude X becomes
X = Y (1 + (2r)
2
)
1/2
(5.9)
NOTE: the maximum M for damped system no longer occurs at r=1, also
dierent from the above section.
NOTE: The discussion here is quite dierent from older lecture materials.
5.3.1 Force Transmissibility due to Base Excitation
From the FBD, there is a force F transmitted to the base/support due to
reactions from the spring and the dashpot.
Newtons Second Law of motion gives
F = k(x y) + c( x y) = m x
With the form of x
p
above,
F = m
2
X sin(t ) = F
T
sin(t )
Then
F
T
kY
= r
2
_
1 + (2r)
2
(1 r
2
)
2
+ (2r)
2
_
1/2
(5.10)
This ratio is know as force transmissibility.
20 CHAPTER 5. FORCED DAMPED VIBRATION
5.4 Vibration due to unbalanced mass
Unbalance in rotating machinery is one of the main causes of vibration.
The unbalance mass always gives force excitation of
F(t) = me
2
sin t (5.11)
where m is the unbalanced mass, e is the eccentricity.
The EOM is then:
M x + c x + kx = F
0
sin t = me
2
sin t
where M is the total mass of the system.
Or in terms of the damping ratio
x + 2
n
x +
2
n
x =
me
2
M
sin t (5.12)
where the natural frequency
n
=
_
k/M.
With the particular solution of the usual form:
x
p
= X sin(t )
The amplitude X is expressed as
X =
me
2
_
(k M
2
)
2
+ (c
2
)
2
(5.13)
is expressed as
= tan
1
_
c
k M
2
_
.
A more useful and interesting form is by looking at the ratio. With
frequency ratio r
M X
m e
=
r
2
_
(1 r
2
)
2
+ (2r)
2
(5.14)
If no damping,
M X
m e
=
r
2
1 r
2
(5.15)
The amplitude is then
X =
m e r
2
M(1 r
2
)
(5.16)
5.4. VIBRATION DUE TO UNBALANCED MASS 21
5.4.1 Force Transmissibility due to Unbalanced Mass
Let F
T
be the resulting force transmitted to the base/ground due to the
vibrating system that is caused by the rotating unbalance mass. Then the
ratio of F
T
to the static force from the unbalance mass is given by
F
T
F
0
=
_
1 + (2r)
2
(1 r
2
)
2
+ (2r)
2
_
1/2
(5.17)
where F
0
= me
2
.
This ratio is the force transmissibilty ratio (F
TR
) due to unbalance mass.
Compare this with F
TR
for the base excitation in the Section 5.3.1.
Chapter 6
Vibrations of 2-DOF System
analysis of 2 dof system allows for understanding of multi-dof but much
reduced complexity
This chapter introduces the concept of mode shape
As an application, we introduce dierent methods of attenuation such
as tunable vibration absorbor or dynamic vibration absorber (DVA)
6.1 Torsional Vibration
To add.
6.2 Free Vibration of a 2 dof System
6.2.1 EOM
The setup of a 2 DOF system may be given as in Fig. 6.1.
You must know how to appropriately draw the FBD to get the EOM.
EOM for mass 1:
k
1
x
1
+ k
3
(x
2
x
1
) = m
1
x
1
EOM for mass 2:
k
2
x
2
k
3
(x
2
x
1
) = m
2
x
2
Arrange the two simultaneous equations:
22
6.2. FREE VIBRATION OF A 2 DOF SYSTEM 23
k
1
1
m
3
m
2
k
2
x
2
1
x
k
Figure 6.1: 2 dof spring-mass system.
m
1
x
1
+ k
1
x
1
+ k
3
x
1
k
3
x
2
= 0 (6.1)
m
2
x
2
k
3
x
1
+ k
2
x
2
+ k
3
x
2
= 0 (6.2)
We can cast these equations into matrix form:
_
m
1
0
0 m
2
__
x
1
x
2
_
+
_
k
1
+ k
3
k
3
k
3
k
2
+ k
3
__
x
1
x
2
_
=
_
0
0
_
(6.3)
which has the following general form
M x +K x = 0 (6.4)
M is mass matrix, K is stiness matrix.
The motivation is always to determine x
1
(t) and x
2
(t).
We assume rst that m
1
and m
2
oscillate with the same frequency and
phase angle:
x
1
= X
1
cos(t + ) (6.5)
x
2
= X
2
cos(t + ) (6.6)
We substitute the displacements and accelerations as we always do in 1-DOF
problem before.
Well get
_
k
1
+ k
3
m
1

2
k
3
k
3
k
2
+ k
3
m
2

2
__
X
1
X
2
_
=
_
0
0
_
(6.7)
24 CHAPTER 6. VIBRATIONS OF 2-DOF SYSTEM
This is the form of the standard eigenvalue problem:
A X = 0
Recall your Linear Algebra subject: This is an eigenvalue problem where you
have to nd the eigenvalues for the equation to obtain its non-trivial solutions
for X
1
, X
2
. (What is the trivial solutions?)
To nd the eigenvalues of A, set det(A) = 0.
Recall: For a 2 by 2 matrix, the formula for the determinant is simple:
det
_
a b
c d
_
= ad bc
Notice that ad bc = 0 for our case is the characteristic equation!
Take the determinant of the A matrix of Eq. (6.7):
det(A) = (k
1
+ k
3
m
1

2
)(k
2
+ k
3
m
2

2
) (k
3
)(k
3
)
Characteristic equation:
(k
1
+ k
3
m
1

2
)(k
2
+ k
3
m
2

2
) k
2
3
= 0
Rewrite:
m
1
m
2

4
[m
1
(k
1
+ k
3
) + m
2
(k
1
+ k
2
)]
2
+ k
1
k
2
+ k
3
(k
1
+ k
2
) = 0
The above equation is called the characteristic equation or frequency equation
of the 2-DOF system.
There are 2 roots of this equation which correspond to the 2 natural
frequencies of the system.
Let =
2
. Then
m
1
m
2

2
[m
1
(k
1
+ k
3
) + m
2
(k
1
+ k
2
)] + k
1
k
2
+ k
3
(k
1
+ k
2
) = 0
This is quadratic equation where the roots are

1,2
= (b

b
2
4ac)/2a
For the case of m
1
= m
2
= m; k
1
= k
2
= k
3
= k;

1
= k/m;
2
= 3k/m
6.2. FREE VIBRATION OF A 2 DOF SYSTEM 25
Meaning that the natural frequencies are

2
1
= k/m;
2
2
= 3k/m
The corresponding eigenvectors give the mode shapes of the vibration
system.
To nd the eigenvectors, use
2
1
= k/m in Eq. (6.7):
After simplication youll get:
_
1 1
1 1
__
X
1
X
2
_
=
_
0
0
_
(6.8)
To nd the eigenvector check for
X =
_
1
1
_
Then
_
1 1
1 1
__
1
1
_
=
_
0
0
_
(6.9)
Then this this is the eigenvector for
1
FOr the second eigenvector, use
2
2
= 3k/m in Eq. (6.7):
After simplication youll get:
_
1 1
1 1
__
X
1
X
2
_
=
_
0
0
_
(6.10)
To nd the eigenvector check for
X =
_
1
1
_
Then
_
1 1
1 1
__
1
1
_
=
_
0
0
_
(6.11)
Then this this is the eigenvector for
2
This two eigenvectors describe the mode shapes of the free vibration of
the 2-dof system with the above dened values of m
1
, m
2
, k
1
, k
2
, k
3
.
26 CHAPTER 6. VIBRATIONS OF 2-DOF SYSTEM
6.3 Forced Vibration of a 2 dof System
response of a 2 dof system is similar to a 1 dof system
Recall: resonance occurs when the forcing frequency is similar to the
the natural frequency of the system
for a 2 dof system there are 2 resonant frequencies because we have 2
natural frequencies
Example:
k
3
k
1
k
2
1
m
1
x
x
2
m
2
1
sin t f =F
1
Figure 6.2: 2 dof with forcing function on mass 1.
A forcing function f
1
(t) = F
1
sin t is applied to mass m
1
. Determine the
response of masses 1 and 2 with the changes in the forcing frequency .
Solution:
The steps for the solution is almost exactly the same as before for free
vibration. The only dierent is we have to take the inverse of the matrix as
will be shown.
6.3. FORCED VIBRATION OF A 2 DOF SYSTEM 27
i. Draw FBD
ii. Write the equation of motion
For mass 1:
k
1
x
1
+ k
3
(x
2
x
1
) + f
1
(t) = m
1
x
1
For mass 2:
k
2
x
2
k
3
(x
2
x
1
) = m
2
x
2
3. Due to the harmonic forcing function the response is expected to be
harmonic too
x
1
= X
1
sin tx
2
= X
2
sin t (6.12)
so the x
1
and x
2
are
x
1
= X
1

2
sin t x
2
= X
2

2
sin t (6.13)
As before, substitute Eqs. (6.12) and (6.13) into the equtions of motion. We
then get our matrix form of the equations of motion.
_
k
1
+ k
2
m
1

2
k
3
k
3
k
2
+ k
3
m
2

2
__
X
1
X
2
_
=
_
F
1
0
_
(6.14)
The determinant of the above matrix will give us the characteristic equation
() = (k
1
+ k
3
m
1

2
)(k
2
+ k
3
m
2

2
) k
2
3
= 0 (6.15)
and this will give us the natural frequencies of the system:
1
and
2
.
Recall from Linear Algebra:
Given
A x = F
then to solve for x we taken the inverse of A:
x = A
1
F
For a 2 by 2 matrix, the formula is simple:
_
a b
c d
_
1
=
_
d b
c a
_
1
(ad bc)
28 CHAPTER 6. VIBRATIONS OF 2-DOF SYSTEM
So the solution is
_
X
1
X
2
_
=
1
()
_
k
2
+ k
3
m
2

2
k
3
k
3
k
1
+ k
2
m
1

2
__
F
1
0
_
(6.16)
To write in individual X
1
and X
2
X
1
=
(k
2
+ k
3
m
2

2
)F
1
()
(6.17)
X
2
=
k
3
F
1
()
(6.18)
Notice that:
the denominator for both terms above is the same.
the denominator when set to equal zero is our characteristic equation!
if is either equal to any of the two natural frequencies, () will be
zerothis is how we found
1
and
2
before for free vibration
It means that our X
1
and X
2
will be innitywe will get resonance!
If we let: m
1
= m
2
= m and k
1
= k
3
= k, k
2
= 0, we will get

2
1
=k/m

2
2
=3k/m
If we plot the the amplitude ratios versus frequency ratios (see for example
Rao, Mechanical Vibrations, Sec. 5.6, Figure 5.14:
X
1
F
1
/k
vs. /
1
X
2
F
1
/k
vs. /
1
there is a point which X
1
becomes zero. This fact will be the basis in dy-
namic vibration absorber (DVA) or tunable vibration absorber.
6.4. DESIGN STRATEGY FOR DVA 29
x
1
1
m
F=F
1
sin t
k
2
k
1
m
2
2
x
Secondary
system
Primary
system
Figure 6.3: Secondary system as dynamic vibration absorber
6.4 Design strategy for DVA
Compare Fig. 6.3 with Fig. 6.2. The setup here is equivalent to Fig. 6.2
with k = 2 in Fig. 6.2 being zero. Look at Eq. 6.17. To make X
1
be zero,
we have to set the numerator to be zero. Hence:
k
2
+ k
3
m
2

2
=0

2
=
k
2
+ k
3
m
2
We use this fact as a strategy to design the DVA:
1. To absorb vibration at
n
, so that X
1
= 0, design such that
k
2
m
2
=
k
1
m
1
2. To absorb vibration at forcing frequency , so that X
1
= 0, design
such that
k
2
m
2
=
2
For further reading, see for example Rao, Mechanical Vibrations, Section
9.11.
References
[1] R. C. Hibbeler, Engineering Mechanics: Dynamics, Prentice Hall, (Latest
Edition; Chapter 22).
[2] J. L. Meriam and L. G. Kraige, Engineering Mechanics: Dynamics, John
Wiley and Sons. Latest Edition.
[3] S. S. Rao, Mechanical Vibrations, Pearson/Prentice Hall, 2004.
[4] R. F. Steidel Jr, An Introduction to Mechanical Vibrations, John Wiley
& Sons. (Latest Edition)
30