Problems and Solutions for Section 4.6 (4.67 through 4.

76)
4.67

Calculate the response of the system of Figure 4.16 discussed in Example 4.6.1 if
F1(t) = (t) and the initial conditions are set to zero. This might correspond to a
two-degree-of-freedom model of a car hitting a bump.
Solution: From example 4.6.1, with F1(t) = (t), the modal equations are
r!!1 + 0.2r!1 + 2r1 = 0.7071! (t)

r!!2 + 0.4r!2 + 4r2 = 0.7071! (t)

Also from the example,

! n1 = 2 rad/s

"1 = 0.07071

! d1 = 1.4106 rad/s

! n2 = 2 rad/s
" 2 = 0.1
! d2 = 1.9899 rad/s
The solution to an impulse is given by equations (3.7) and (3.8):
ri (t) =

F "# i! ni t
e
sin ! dit
mi! di

This yields

"0.5012e!0.1t sin1.4106t %
r(t) = $
'
!0.2t
# 0.3553e sin1.9899t &
The solution in physical coordinates is
".2357 !.2357 % " 0.167e!0.1t sin1.4106t %
x(t) = M !1/ 2 Pr(t) = $
'
'$
!.02t
# .7071 .7071 & # !0.118e sin1.9899t &
"0.0394e!0.1t sin1.4106t + 0.0279e!0.2t sin1.9899t %
x(t) = $
'
!0.1t
!0.2t
# 0.118e sin1.4106t ! 0.0834e sin1.9899t &

4.68

For an undamped two-degree-of-freedom system, show that resonance occurs at

one or both of the systems natural frequencies.
Solution:
Undamped two-degree-of-freedom system:

M!!
x + Kx = F(t)
! F (t) $
Let F(t) = # 1 &
" 0 %
Note: placing F1 on mass 1 is one way to do this. A second force could be placed
on mass 2 with or without F1.
Proceeding through modal analysis,
I!!
r + !r = PT M "1/ 2F(t)

Or,

r!!1 + ! 12 r1 = b1 F1 (t)
r!!2 + ! 22 r2 = b2 F1 (t)
where b1 and b2 are constants from the matrix PTM-1/2.
If F1(t) = a cos t and = 1 then the solution for r1 is (from Section 2.1),
r1 (t) =

r!10
ba
sin ! 1t + r10 cos ! 1t + 1 t sin ! 1t
!1
2! 1

The solution for r2 is

r2 (t) =

#
r!20
ba &
ba
sin ! 2t + % r20 " 2 2 2 ( cos ! 2t + 2 2 2 t sin ! 1t
!2
! 2 " !1 '
! 2 " !1
$

If the initial conditions are zero,

r1 (t) =
r2 (t) =

b1a
t sin ! 1t
2! 1
b2 a

! " ! 12
2
2

(cos! t " cos! t )

1

Converting to physical coordinates X(t) = M-1/2Pr(t) yields

x1 (t) = c1r1 (t) + c2 r2 (t)

x2 (t) = c3r1 (t) + c4 r2 (t)
where ci is a constant from M-1/2P.
So, if the driving force contains just one natural frequency, both masses will be
excited at resonance. The driving force could contain the other natural frequency
( = n2), which would cause r1 and r2 to be

r1 (t) =
r2 (t) =

b1a

! 12 " ! 22

(cos! t " cos! t )

2

b2 a
t sin ! 2t
2! 2

and

x1 (t) = c1r1 (t) + c2 r2 (t)

x2 (t) = c3r1 (t) + c4 r2 (t)
so both masses still oscillate at resonance.
Also, if F1(t) = a1 cos 1t + a2 cos 2t where 1 = n1 and 2 = n2, then both r1
and r2 would be at resonance, so x1(t) and x2(t) would also be at resonance.

4.69

Use modal analysis to calculate the response of the drive train system of Problem
4.44 to a unit impulse on the car body (i.e., and location q3). Use the modal
damping of Problem 4.56. Calculate the solution in terms of physical coordinates,
and after subtracting the rigid-body modes, compare the responses of each part.
Solution:
Let k1 = hub stiffness and k2 = axle and suspension stiffness.
From Problems 41 and 51,

!75 0
! 1 '1 0 $
0 $
#
&
#
&
!! + 10,000 # '1 3 '2 & q = 0
0 &q
# 0 100
#0
# 0 '2 2 &
0 3000 &%
"
"
%
!.1155 0
0 $
#
&
M '1/ 2 = # 0
.1
0 &
# 0
0 .0183&%
"
!.1537 '.8803 .4488 $
#
&
P = # .1775 '.4222 '.88910 &
# .9721 .2163
.0913 &%
"
(1 = 0
) n1 = 0 rad/s

(2 = 77.951

) n2 = 8.8290 rad/s

(3 = 362.05

) n3 = 19.028 rad/s

The initial conditions are 0.

Also

!1 = ! 2 = ! 3 = .1
" d1 = 8.7848 rad/s
" d 2 = 18.932 rad/s
From equation (4.129):
!!
r + diag(2! i" ni )!r + #r = PT M $1/ 2F(t)

Modal force vector:

P M

!1/ 2

" .01775 %
$
'
F(t) = $.003949 ' ( (t)
$.001668 '
#
&

The modal equations are

r!!1 = .01775! (t)

r!!2 + 1.7658r!2 + 77.951r2 = .003949! (t)
r!!3 + 3.8055!r3 + 362.05r3 = .001668! (t)
The solution for r1 is
r1 (t) = .01775t

The solutions for r2 and r3 are given by equations 3.7 and (3.8)
ri (t) =

F "# i! i t
e
sin ! dit
mi! di

This yields

r2 (t) = 4.4949 ! 10"4 e".8829t sin8.7848t

r3 (t) = 8.8083 ! 10"5 e"1.9028t sin18.932t
The solution in physical coordinates is

q(t) = M !1/ 2 Pr(t)

#1& # !4.5691 " 10!5 &
(
% ( %
q(t) = 3.1496 " 10!4 t %1( + % !1.8978 " 10!5 ( e!.8829t sin8.7848t
%1( % 1.7749 " 10!6 (
$ ' $
'
!6
# 4.5647 " 10 &
%
(
+ % !7.8301 " 10!6 ( e!1.9028t sin18.932t m
% 1.4689 " 10!7 (
$
'
The magnitude of the components is much smaller than that in problem 51, but
they do oscillate at the same frequencies.

4.70

Consider the machine tool of Figure 4.28. Resolve Ex. 4.8.3 if the floor mass m =
1000 kg, is subject to a force of 10 sint (in Newtons). Calculate the response.
How much does this floor vibration affect the machines toolhead?
Solution:
From example 4.8.3, with F3(t) = 10 sint N and m3 = 1000 kg.

!.4 0 0 $
! 30 '30 0 $
! 0 $
#
&
#
&
#
&
103 # 0 2 0 & !!
x + 104 # '30 38 '8 & x = # 0 &
# 0 0 1&
# 0
#10sin t &
'8 88 &%
"
%
"
"
%

( )

( )

Calculating the eigenvalues and eigenvectors yields

!1 = 29.980

" 1 = 5.4761 rad/s

!2 = 868.2743

" 2 = 29.4665 rad/s

!3 = 921.7378

" 3 = 30.3601 rad/s

And

" !.4215 .4989

.7573 %
$
'
P = $ !.9048 !.1759 !.3877 '
$ !.0602 !.8486 .5255 '
#
&
Modal force vector:

" !.01904 %
$
'
PT M !1/ 2F(t) = $ !.2684 ' sin t
$ .1662 '
#
&
Undamped modal equations:

r!!1 + 29.9880r1 = !.01904sin t

r!!2 + 868.2743r2 = !.2684sin t
r!!3 + 921.7378r3 = .1662sin t
Inserting the damping terms,

!1 = .1

2!1" 1 = 1.0952

! 2 = .01

2! 2" 2 = .5893

! 3 = .05

2! 3" 3 = 3.0360

r!!1 + 1.0952r!1 + 29.9880r1 = #.01904sin t

r!!2 + .5893!r2 + 868.2734r2 = #.2684sin t
r!!3 + 3.0360r!3 + 921.7378r3 = .1662sin t
The damped natural frequencies are

! d1 = ! n1 1 " #12 = 5.4487 rad/s

! d 2 = ! n2 1 " # 22 = 29.4650 rad/s
! d 3 = ! n3 1 " # 32 = 30.3222 rad/s
The general solution is

ri (t) = Ai e

!" i # ni t

sin(# dit ! $ i ) + A0i sin(# t ! %i )

where
A0i =

(!

f0i

2
ni

"!2

) + ( 2# ! ! )
2

% 2# ! ! (
and $i = tan "1 ' 2i ni *
& ! ni " ! )

ni

Inserting values,
A01 = !6.5643 " 10!4 m

#1 = 3.7764 " 10!2 rad

A02 = !3.0943 " 10!4 m

#2 = 6.7952 " 10!4 rad

A03 = 1.8049 " 10!4 m

#3 = 3.2974 " 10!3 rad

So,
r1 (t) = A1e!.5476t sin(5.4487t ! "1 ) ! 6.543 # 10!4 sin(t ! 3.7764 # 10!2 )
r2 (t) = A2 e!.2947t sin(29.4650t ! " 2 ) ! 3.0943 # 10!4 sin(t ! 6.7952 # 10!4 )
r3 (t) = A3e!1.5180t sin(30.3222t ! " 3 ) + 1.8049 # 10!4 sin(t ! 3.2974 # 10!3 )

With zero initial conditions:

A1 = 1.2047 ! 10"4 m

#1 = .2072 rad

A2 = 1.0502 ! 10"5 m

# 2 = .02002 rad

A3 = "5.9524 ! 10"6 m

# 3 = .1002 rad

Now,
r1 (t) = 1.2047 ! 10"4 e".5476t sin(5.4487t " .2027) " 6.543 ! 10"4 sin(t " 3.7764 ! 10"2 )
r2 (t) = 1.0502 ! 10"5 e".2947t sin(29.4650t " .02002) " 3.0943 ! 10"4 sin(t " 6.7952 ! 10"4 )
r3 (t) = "5.9524 ! 10"6 e"1.5180t sin(30.3222t " .1002) + 1.8049 ! 10"4 sin(t " 3.2974 ! 10"3 )

Convert to physical coordinates:

x(t) = M

!1/ 2

" !.02108
.02494
.03786 %
$
'
Pr(t) = $ !.02023 !.003993 !.008670 ' r(t)
$ !.001904 !.02684
.01662 '&
#

Therefore

x1 (t) = !.02108r1 + .02494r2 + .03786r3

x2 (t) = !.02023r1 ! .003933r2 ! .008670r3
x3 (t) = !.001904r1 ! .02684r2 + .01662r3

4.71

Consider the airplane of Figure P4.46 with damping as described in Problem 4.57
with 1 = 0.1. Suppose that the airplane hits a gust of wind, which applies an
impulse of 3(t) at the end of the left wing and (t) at the end of the right wing.
Calculate the resulting vibration of the cabin [x2(t)].
Solution: From Problems 4.46 and 4.57

".01826
0
0 %
$
'
M
=$ 0
.009129
0 '
$ 0
0
.01826 '&
#
"0.4082 !0.7071 0.5774 %
$
'
P = $ 0.8165
0
!0.5774 '
$0.4082 0.7071 0.5774 '
#
&
(1 = 0
) n1 = 0 rad/s
!1/ 2

(2 = 4.485

) n2 = 2.118 rad/s

(3 = 6.727

) n3 = 2.594 rad/s

Also:

!1 = ! 2 = ! 3 = 0.1
" 3%
$ '
F(t) = $0 ' ( (t)
$1'
# &
) d1 = 0 rad/s, ) d 2 = 2.1072 rad/s, ) d 3 = 2.5807 rad/s
From equation (4.129):
!!
r + diag(2! i" ni )!r + #r = PT M $1/ 2F(t)
Modal force vector:
" !0.0298 %
$
'
PT M !1/ 2F(t) = $ 0.0258 ' ( (t)
$ 0.0422 '
#
&
The modal equations are
r!!1 = !0.02981" (t)

r!!2 + 0.424r!2 + 4.485r2 = 0.0258" (t)

r!!3 + 0.519r!3 + 6.727r3 = 0.0422" (t)
The solution for r1 is
r1 (t) = !0.02981t
The solutions for r2 and r3 are given by equations (3.7) and (3.8)

ri (t) =

F "# i! i t
e
sin ! dit
mi! di

This yields

r2 (t) = 1.2253 ! 10"2 e"0.212t sin 2.107t

r3 (t) = 1.6338 ! 10"2 e"0.259t sin 2.581t
The solution in physical coordinates is
x(t) = M !1/ 2 Pr(t)

For x2:
x2 (t) = 2.221 ! 10"4 t + 8.06 ! 10"5 e"0.259t sin 2.581t

4.72

Consider again the airplane of Figure P4.46 with the modal damping model of
Problem 4.57 (i = 0.1). Suppose that this is a propeller-driven airplane with an
internal combustion engine mounted in the nose. At a cruising speed the engine
mounts transmit an applied force to the cabin mass (4m at x2) which is harmonic
of the form 50 sin 10t. Calculate the effect of this harmonic disturbance at the
nose and on the wind tips after subtracting out the translational or rigid motion.
Solution: From Problems 4.47 and 4.57
".01826
0
0 %
$
'
M !1/ 2 = $ 0
.009129
0 ',
$ 0
0
.01826 '&
#
(1 = 0
) n1 = 0 rad/s

(2 = 17.94

) n2 = 4.2356 rad/s

(3 = 26.91

) n3 = 5.1875 rad/s

" !.4082 .7071 .5774 %

$
'
P = $ !.8165
0
!.5774 '
$ !.4082 !.7071 .5774 '
#
&

Also,
!1 = ! 2 = ! 3 = 0.1," # d1 = 0 rad/s, # d 2 = 4.2143 rad/s, # d 3 = 5.1615 rad/s

$
'
0
&
)
F(t) = &50sin10t )
&
)
0
%
(
The initial conditions are 0. From equation (4.129):
!!
r + diag(2! i" ni )!r + #r = PT M $1/ 2F(t)

Modal force vector:

P M

!1/ 2

" !.3727 %
$
'
F(t) = $ 0 ' sin10t
$ !.2635 '
#
&

The modal equations are

r!!1 = !.3727 sin10t

r!!2 + .8471!r2 + 17.94r2 = 0
r!!3 + 1.0375!r3 + 26.91r3 = !.2635sin10t
The solutions are

r1 (t) = .003727 sin10

r2 (t) = 0
r3 (t) = !.006915e!.5188t sin(5.1615t + .0726) + .003569sin(10t + .141)
The solutions in physical coordinates is
x(t) = M !1/ 2 Pr(t)

The wing tips are x1 and x3, so

x1 (t) = x3 (t) = 2.7780 ! 10"5 sin10t " 7.2891 ! 10"5 e".5188t sin(5.1615t + .0726)
+ 3.7621 ! 10"5 sin(10t + .141)

4.73

Consider the automobile model of Problem 4.14 illustrated in Figure P4.14. Add
modal damping to this model of 1 = 0.01 and 2 = 0.2 and calculate the response
of the body [x2(t)] to a harmonic input at the second mass of 10 sin3t N.
Solution: From problem 4.14

! 2000 0 $
! 1000 '1000 $
!.9999 '.1044 $
M=#
&, K = #
&, P = #
&
50 %
" 0
" '1000 11000 %
".1044 .9999 %
(1 = 0.4545
) 1 = 0.6741 rad/s, and (2 = 220.05
) 2 = 14.834 rad/s
Also,
!1 = .01, ! 2 = 0.2, " d1 = 0.6741 rad/s, " d 2 = 14.534 rad/s
# 0 &
F(t) = %
(
$10sin 3t '
The initial conditions are all 0. From equation (4.129):
!!
r + diag(2! i" ni )!r + #r = PT M $1/ 2F(t)
Modal force vector:
"0.02036 %
PT M !1/ 2F(t) = $
' sin 3t
# 1.4141 &
The modal equations are
r!!1 + 0.01348r!1 + 0.454r1 = 0.02036sin 3t

r!!2 + 5.9336r!2 + 220.046r2 = 1.4141sin 3t

The solutions are
r1 (t) = !0.1088e!0.006741t sin(0.6741t + 1.0914 " 10!4 ) + .002445sin(3t ! .004857)
r2 (t) = !0.07500e!2.9668t sin(14.534t + 1.3087) + .07586sin(3t + 1.26947)
The solutions in physical coordinates is
x(t) = M !1/ 2 Pr(t)
The response of the body is
x1 (t) = !.002433e!0.006741t sin(.6471t ! 1.0914 " 10!4 )
+ 5.4665 " 10!5 sin(3t ! .004857)
+ 2.4153 " 10!5 e!2.9668t sin(14.534t ! 1.3087)
! 2.4430 " 10!5 sin(3t + 1.2694)

4.74 Determine the modal equations for the following system and comment on
whether or not the system will experience resonance.
" 2 !1%
"1 %
!!
x+$
x = $ ' sin(0.618t)
'
# !1 1 &
#0 &
Solution: Here M = I so that the eigenvectors and mode shapes are the same.
Computing the natural frequencies from det(!" 2 I + K ) = 0 yields:
1 = 0.618 rad/s and 2 =1.681 rad/s
Next solve for the mode shapes and normalize them to get
" 0.526 !0.851%
" 1 % " 0.526 %
P=$
, so that P T $ ' = $
'
'
# 0.851 0.526 &
# 0 & # !0.851&
The modal equations then become:
!!
r1 + (0.618)2 r1 = !!
r1 + 0.3819r1 = 0.526 sin(0.618t)
!!
r2 + (1.618)2 r2 = !!
r2 + 2.6179r2 = !0.851sin(0.618t)
The driving frequency is equal to the natural frequency of mode one so the system
exhibits resonance.

4.75 Consider the following system and compute the solution using the mode
summation method.
!9 0 $
! 27 '3$
!1 $
!0 $
M =#
, K=#
, x(0) = # & , x! (0) = # &
&
&
"0 1 %
" '3 3 %
"0 %
"0 %

Solution: From Example 4.2.4

1
!3 0$
! 13 0$
1 !1 1 $
' 21
M2 =#
,
M
=
and V =
&
#
&
#
& . Also ( 1 = 2, ( 2 = 2 rad/s
2 "1 '1%
"0 1 %
" 0 1%
1
1
! 3$
!0 $
Appropriate IC are q 0 =M 2 x 0 = # & , q! 0 =M 2 v 0 = # &
"0 %
"0 %
%+ (
T
T
# v q(0)
# v q(0) % !1 ( ' 2 *
!i = tan "1 i T i
= tan "1 i i
$' *=' *
!
v i q(0)
0
&!2 ) ' + *
'& 2 *)
#3 2 &
v Ti q(0) # d1 & %
2(
di =
"% (=%
(
sin !i
$ d2 ' % 3 2 (
$
2'

! q1 (t) $ 3 2
' + 1 !1$ 3 2
'+ 1 ! 1 $
(
(
=
sin
2t
+
+
sin
2t
+
*
*
# q (t) &
)
)
2
2 , 2 #"1&%
2
2 , 2 #" .1&%
" 2 %

! q1 (t) $ 3
# q (t) & = 2 cos
" 2 %
x(t) = M

x(t) =

3
cos
2

'1/2

( 2t ) !#"1$&% + 23 cos ( 2t ) !#"'1$&%

1

3
q(t) = cos
2

( 2t ) !#"

! 1 3 0 $ !1$ 3
! 13 0$ ! 1 $
2t #
& # & + cos ( 2t ) # 0 1 & # '1&
" 0 1 % "1% 2
"
%" %

( )

1 / 3$ 3
!1 / 3$
+ cos ( 2t ) #
&
&
1 % 2
" '1 %

( 2t ) + 12 cos(2t) %'
'
3
( 2t ) ! 2 cos ( 2t )''&

"1
$ 2 cos
x(t) = $
$ 3 cos
$# 2