13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

A14_316

On the Dynamics of Multibody Systems with Springs

N.-D. Stnescu1 S. Mihalcea2
University of Piteti
Piteti, Romania
Abstract: 1In this paper we present a study for the
motion of two rigid bodies connected by linear elastic
springs, one of the bodies with imposed motion,
determine the equations of motion using Lagrange
equations and study the case of small oscillations around
the equilibrium position. Finally, an application is
completely solved.

the Bi attachment points coordinates x Bi , y Bi ,

z Bi , between body 2 and spring i , i = 1, n , coordinates

which are given in the mobile system O2 x 2 y 2 z 2 solidary

linked to the body 2 ;
the rotation matrix [A 2 ] of the O2 x 2 y 2 z 2 mobile
system which is solidary linked to the body 2 , with the
O0 XYZ fixed reference system;

Keywords: imposed motion, springs, Lagrange equations, multibody

I. Problem formulation

the C1 center of gravity coordinates xC1 , y C1 , z C1

It considers the system of Figure 1 consists of a body

connected by linear elastic springs of body 2, the last one
having imposed and known motion.
A

z1

z2

C1

of the body 1 , relative to the mobile reference system

O1 x1 y1 z1 ;
the 1 , 1 , 1 sequence of angles, which give the
rotation matrix for the body 1 ,
[A1 ] = [ 1 ][1 ][1 ] ;
(1)

y1
O1

x2

C2
O2

rotations axes of 1 , 1 , 1 angles for the body 1 ;

[ ]
[ Q ] = [[1 ]T {u } {u } {u }] ,
[Q] = [1 ]T [ Q ] .

the Q , [Q ] matrices defined as follows:

x1

O0

X
Fig. 1. Solid rigid linked by springs.

Knowing the items:

the m1 rigid mass;

(2)
(3)

With the following notations:

{1 } = [X O1 YO1 Z O1 ]T ,
{1 } = [ 1 1 1 ]T ,
T
{q1 } = [{1 }T {1 }T ] ,

J y1z1 , J z1x1 ;

the elastic constants of the n springs k i , i = 1, n

(in fig. 1 was drawn a single generic spring, AB ,
characterized by the elastic constant k );
mobile reference systems O1 x1 y1 z1 and respectively
O2 x 2 y 2 z 2 ;

m1
{m1 } = 0
0

the Ai attachment points coordinates x Ai , y Ai ,

0
{S1 } = m1 z C1
y
C1

z Ai , between body 1 and spring i , i = 1, n , coordinates

which are given in the mobile system O1 x1 y1 z1 solidary

linked to the body 1 ;

{J O }
1

II. Lagrange equations

the rigid 1 moments of inertia J x1 , J y1 , J z1 , J x1 y1 ,

{ }

{ } { }

the unit vectors u 1 , u 1 , and u 1 about the

y2

s_doru@yahoo.com, doru.stanescu@upit.ro
stelian_mihalcea_07@yahoo.com
1

Jx
1

= J y1x1
J
z1x1

0
m1
0

z C1
0
xC1

J x1 y1
J y1

J z1 y1

m1
0
0

(4)
(5)
(6)

(7)

y C1

x C1 ,
0

(8)

J x1z1

J y1z1 ,
J z1

(9)

13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

[M ] = [Q] [m[S][]A]
q1

[A ][S]T [Q]
,
[Q]T [J O1 ][Q]

the kinetic energy of body 1 becomes [1, 2, 7]

1
T = {q& 1 }T M q1 {q1 } ,
2
the Lagrange equations read [4, 5, 6, 8] as
d T T

= Fq1 ,
dt q& 1 q1

AB =

(10)

(12)

0 zB yB
{rB } = [x B y B z B ] , [rA ] = z B 0 x B ,(25)
y B x B
0
it results the generalized forces column matrix [7]:
X B X A
[I ]

k ( AB l 0 )

{F} =
[Q]T [r ][A ]T YB Y A , (26)
AB
A
1

Z B Z A

in which
T

T T

=
q& 1 q& 1

T T

=
q1 q 1

T
L
q 6

{Fq } = [Fq
1

Fq

T
,
q& 6

L Fq

(14)

],
T

(15)

{ } are both the

where within the generalized forces Fq

given forces and the bond forces.
On the other hand, we can write [7]
T

= M q 1 {q& 1 } ,
q& 1
T

q1

(13)

[ ]

[ ] {q& }

{ } [ ]
1

{ } { }
1

X A X O1
Y = Y + [A ]{r }
1
A ,
A O1
Z A Z O
1

(16)

Mq
Mq

1
1
{q& 1 } L {q& 1 }T
{q& 1 }T
X O1
1

and if we call
~
& {q& } + T ,
Fq = M
q1
1
1
q1
it results the Lagrange equations [7]
~
&& 1 } = Fq + Fq
M q {q

[ ]

where

[ ]

1
=
2

X A )2 + (Y B Y A )2 + (Z B Z A )2 . (22)

Given that the force F derives from the potential

k
(23)
V = ( AB l 0 )2 ,
2
and denoting
0 zA yA
T
{r A } = [x A y A z A ] , [r A ] = z A 0 x A ,(24)
y A x A
0

(11)

{ }

(X B

A14_316

(27)

X B X O2
Y = Y + [A ]{r }
(28)
2
B .
B O2

Z B
Z
O2
In the case of n springs, the equation (26) is rewritten as
n
k (A B l )
{F} = i i i 0 i
Ai Bi
i =1

(17)

X X A .
i
[I]
Bi

T
T Y Bi Y Ai .
[Q] r Ai [A1 ]

Z Bi Z Ai

(29)

[ ]

(18)

(19)

IV. Small oscillations around the equilibrium position

In fig. 2 the rigid is represented in equilibrium position
with continuous line. It is connected by several springs
Ai Bi (in fig. 2 is represented only one, AB ) with the
base which is also represented in continuous line.

III. Elastic forces

If we call the undistorted AB spring length, l 0 (fig.
1), then the force of this spring is
AB
(20)
F = k ( AB l 0 )
AB
with its components
X XA
FX = k ( AB l 0 ) B
,
AB
Y YA
(21)
FY = k ( AB l 0 ) B
,
AB
Z ZA
FZ = k ( AB l 0 ) B
,
AB
where

Z'
Z
C

uC O

mg

Y'

O'

A'
A

X'

u
k

O'0

O0
Base

Fig. 2. The small oscillations.

B'

13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

At one moment the rigid body and the base reach to

the positions represented with discontinuous line, points
A and B corresponding now to points A and B .
We will denote:
k , the stiffness of the spring AB ;
OXYZ , the rigid body reference system at the
considered equilibrium and the general reference system;
, the point O displacement;
X , Y , Z , the projections onto the OX , OY ,
OZ axes;
, the rigid body angular displacement (considered
to be small);
X , Y , Z , the projections onto the OX , OY ,
OZ axes;
B , the base point B displacement;
AB , the relative displacement defined by
AB = A B ;
(30)
a , b , c , the AB direction unit vector u projections
onto the OX , OY , OZ axes;
L , the length of the AB segment;
~
L , the undistorted length of the spring AB ;
s , the equilibrium spring elongation
~
(31)
s = L L;
r A , the OA vector;
X A , Y A , Z A , the OA vectors projections onto the
OX , OY , OZ axes;
F AB , the elastic force in the spring AB ;
M AB , the momentum defined by
M AB = OA F AB ;
(32)
F AB X , F ABY , F ABZ , M AB X , M ABY , M ABZ , the

a C , bC , cC , the u C vector projections onto the

OX , OY , OZ axes;
d C , eC , f C , the OC u C vector projections onto
the OX , OY , OZ axes;
{U C } , the column matrix
(37)
{U C } = [aC bC cC d C eC f C ]T ;
[u C ] , [rC ] , (36) relation type matrices;
[0] , [I ] , the null matrix, respectively the 3rd unity

matrix;
1) ,
2) ,
3) , [K
K (AB
K (AB
K (AB
AB ] , [K C ] , [K ] , the
rigidity matrices given by [3]
s

1)
K (AB
= k 1 {U}{U}T ,
L

[ ] [ ] [ ]

[ ]

[K ] = ksL [r[I]] [[rr

]T ,
2
A

A]
[K (AB3) ] = ks2 [[00]] [r ][u][0+] [u][r ] ,

A
A

(1)
( 2)
( 3)
[K AB ] = [K AB ] + [K AB ] + [K AB ] ,

[0]
[K C ] = mg [0]
,
2 [0] [rC ][u C ] + [u C ][rC ]
( 2)
AB

b c d e f ]T ,

{FAB } = [FABX FABY FABZ

{} = [ X Y Z

M ABX M ABY M ABZ

X Y Z ]T ,

[K ] = [K C ] + [K Ai Bi ] ;

(38)

(39)
(40)

(41)

i =1

J X , J Y , J Z , J XY , J XZ , J YZ , the inertial
moments of the rigid body;
[J O ] , [M ] , the matrix of the inertial moments,
respectively the inertial matrix
J X J XY J XZ
[J O ] = J YX J Y J YZ ,
J ZX J ZY
J Z
(42)

F AB , M AB , vectors projections onto the OX , OY ,

OZ axes;
{U} , {F AB } , {} , {u} , {r A } matrices given by:

{U} = [a

A14_316

[M ] = m[I ] m[rC ] ;
m[rC ] [J O ]

(33)
,(34)

, the displacement of the O0 base point;

X , Y , Z , the projections of the vector onto
the OX , OY , OZ axes;
, the angular displacement (considered small) of
the base;
X , Y , Z , the vector projections onto the
OX , OY , OZ axes;
X B , YB , Z B , the O 0 B vector projections onto the
OX , OY , OZ axes;
~
~
d , ~
e , f , the O B u vector projections onto the

(35)

0 c b
0 Z A YA

{u} = c 0 a , {r A } = Z A 0 X A ; (36)
b a 0
Y A X A
0
C , the weight centre of the rigid body;
m , the mass of the rigid body;
{u C } , the unit vector of the weight force at
equilibrium;
X C , YC , Z C , the OC vector projections onto the
OX , OY , OZ axes;

OX , OY , OZ axes;
{U} , {} , {rB } , the matrices given by [3]
3

13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

{U} = [a
{} = [ X Y

~
~T
b c d ~
e f ,

(43)

Z X Y Z ]T ,

(44)

where qi , i = 1, 6 , represent the displacements X , Y ,

Z , X , Y , Z , we get
{FAB } = ks{U} [K AB ]{} + {Fe } .
(55)
The column matrix of the excitation force {FeAB } ,
based on the expressions like
A
= i,
X
(56)
A
1
= i OA + [i ( OA ) + (i OA )] ,
X
2
by keeping the linear terms and taking into account the
(43)(47) notations, it results from (54) and we can write
(57)
{FeAB } = K~ AB {} .

0 Z B YB
{rB } = Z B 0 X B ;
(45)
YB X B
0
~
~ ( 2) , ~
, K
K AB , K , the matrices given by
AB

[ ][ ][ ][]
[K~ ] = k 1 Ls {U}{U~ } ,

~ (1)
K
AB

(1)
AB

[K~ ] = ksL [r[I]] [r[r ][r]

( 2)
AB

,
B ]

A
A
~ (1)
~ ( 2)
= K AB + K AB ,

[K~ ] [ ] [ ]
[K~ ] = [K ] ;
AB

(46)

(47)

Ai Bi

(49)

V. Column matrix of excitation force

The components of the {F AB } column matrix are

given by the partial derivatives of the V B spring potential
energy
k
~2
V AB =
A' B' L .
(50)
2
The deformed spring length is successively written:

A' B' =

(A' B')2
=

(Lu AB )2

VI. Vibration differential equation

[AB ( A B )]2

If the base has no rotational motion ( = 0) the (57)

relation becomes
{FeAB } = [K AB ]{} ,
(58)
and if the equilibrium elongations are insignificant
(s 0) , then
(59)
[K AB ] = K~ AB = k{U}{U}T .

(48)

i =1

A14_316

The potential energy of the gravity force is

VG = mg C u C ,
(60)
where [3],
1
(61)
C = + rC + ( rC ) ,
2
and from here, using the partial derivatives with respect
to X , Y , Z , X , Y , Z , and taking into account
the previous relations, it results the gravity force column
matrix
{G} = mg{U C } [K C ]{}.
(62)
At equilibrium, the displacements {} , {} , being
null, the following equation is obtained

(51)

and if we proceed on series development and we keep the

maximum second degree nonlinear terms, the following
formula is achieved
k
s

V AB = s 2 2 s (u AB ) + 1 (u AB )2
L
2

(52)
s
2
+ ( AB ) ,
L

where the displacement A reads

k s {U} + mg{U
i i

} = {0} .

(63)

i =1

1
(53)
( OA ) .
2
Further on, taking into account that the AB vectors
partial derivatives with respect to the arguments X , Y ,
Z , X , Y , Z , are equal to the A vectors partial
derivatives with respect to the same parameters and if we
call {FeAB } the column matrix of the excitation by
components

A
A
ks
s
,
B
+ 1 (u B ) u
(54)
L
L
q i
q i

The movement equation is obtained from the dynamic

equilibrium equality

A = + OA +

{F } + {G} + {F } = {0} ,
n

j =1

AjB j

(64)

where, for the small movements case

(65)
{Fi } = [M ] && ,
and taking into account the relation (63), it results the
expression[6,7,8]
(66)
[M ] && + [K ]{} = K~ {} ,

{}

{}

[ ]

13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

VII. Application

0 2l
0 2l
0 0
~ 1)
K (AB
,
0 0
0 0

0 4l 2
(70)
0
0 7l
1 0 0
0 1 0
0
0
5l

7l
5l
0
k0 0 1
~ 2)
=
K (AB
,
2
2
7l
5l
0
40 0 l
0 0 3l 21l 2 15l 2
0

0
0 22l 2
l 3l 0
and, in the same way, for the CD spring the successive
expressions were obtained
{U} = 2 [ 1 1 0 0 0 2l ]T ,
2
0 0 l
~
2
T
[ 1 1 0 0 0 2l ] , [rC ] = 0 0 3l ,
U =
2
l 3l 0 (71)

For the plate of mass m (Fig. 3) is requested the

excitation force knowing that the O0 base point has the
displacement = 0 cos t , parallel with the OX axis,
and the base rotation is = 0 cos t , about the OZ
axis. Let us consider that the AB , CD springs are
mg
identical, by the stiffness k =
, and at the
l
~
equilibrium position the EO0 spring (by stiffness k ) has
zero elongation.
2l

3l

3l

2l

[ ]

B
k

A
X

2l
l

mg

~
k

3l

E
3l

From equilibrium condition it results that the AB ,

CD spring elongations are equal and considering that
their common value is s , it results

mg
k 2

l
2

(67)

s
1
= .
L
4
For the AB spring the following relations were
reached
2
[1 1 0 0 0 2l ]T ,
2
0 0 l
~
2
T
U =
[1 1 0 0 0 2l ] , [r A ] = 0 0 3l ,
2
l 3l 0 (68)

{U} =

0 7l
1 0 0 0
0 1 0 0
0 5l

5l
0
k 0 0 1 7l
~ ( 2)
=
K CD
.
2
2
5l
0
4 0 0 l 7l
0 0 3l 21l 2 15l 2 0

0 22l 2
l 3l 0 0
The EF spring elongation being null, it results
{U} = U~ = [0 1 0 0 0 0]T

{}

(72)

(73)

[ ]

0 0 7l
0 0 5l ,

7l 5l 0

7l 2 5l 2
0
2

2
[rA ][rB ] = 21l 15l
0 ,
0
22l 2
0

0
0
0
0
0
0

[ ]

and knowing that L = 2l 2 , it follows

[rB ] =

0
0
0
0
0
0

0 7l
0

[rD ] = 0 0 5l ,
7l 5l 0
7l 2 5l 2
0

2
2
[rC ][rD ] = 21l 15l
0 ,
0
0
22l 2

1 1 0 0 0 2l
1 1 0 0 0 2l

~ (1)
3k 0 0 0 0 0 0
K CD =
,

8 0 0 0 0 0 0
0 0 0 0 0 0

2
2l 2l 0 0 0 4l

Fig. 3. Application.

s =

1
1
0
0
0
2l

{}

F
O0

1
1

3k 0
=

8 0
0

2l

[ ]

2l

A14_316

{}

(69)

(74)

13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011

[K~ ]
EF

[]

0
0

~ 0
= k
0
0

0
1
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
,
0
0

[3] Pandrea, N., Elements of the Solids Mechanics in Plckerian

Coordinates, The Publishing House of the Romanian Academy,
Bucharest, 2000.
[4] Lurie, A., I., Analytical Mechanics, Springer-Verlag, Berlin,
Heidelberg, New York, 2002.
[5] Stnescu, N.-D., Munteanu, L., Chiroiu, V., Pandrea, N.,
Dynamical Systems. Theory and Applications, Vol. 1, The
Publishing House of the Romanian Academy, Bucharest, 2007.
[6] Stnescu, N.-D., Munteanu, L., Chiroiu, V., Pandrea, N.,
Dynamical Systems. Theory and Applications, Vol. 2, The
Publishing House of the Romanian Academy, Bucharest, 2010 (in
press).
[7] Pandrea, N., Stnescu, N.-D., Ogaru, S., Multibody Dynamics, The
Publishing House of the Romanian Academy, Bucharest, 2011 (in
press).
[8] Stnescu, N.-D., Pandrea, N., Theoretical Mechanics, The
Publishing House of the Romanian Academy, Bucharest, 2011 (in
press).

(75)

~
and the K matrix is
~
~ 1)
~ 2)
~ (1)
~ ( 2)
~
K = K (AB
+ K (AB
+ K CD
+ K CD
+ K EF , (76)

[] [

] [ ] [ ] [ ] [ ]

wherefrom

0 ~ 0 0
0 20l
5

4k
0 0
0
0
0 5 +
k

~
k 0
0
2 14l
0
0
K =
.
4 0
0
2l 14l 2 0
0

0
0 0 30l 2
0
0
4l
0
0 0
0 32l 2

On the other hand, we can write

[]

{} = [ 0

0 0 0 0 0 ]T cos t ,
resulting the excitation force
5 0 20l 0

0
~
k
{Fe } = K {} =
cos t
0
4

2
4l 0 + 32l 0

[]

A14_316

(77)

(78)

(79)

VIII. Conclusions
In our work we presented, in a specific multibody type
form, the dynamics of a rigid body linked with linear
elastic springs by another one, with imposed motion. We
obtained the equations of motion and we studied the case
of small oscillations around the equilibrium position. For
the theory described we completely solved a practical
application. The presented method can be used in most
general situations such as vehicle suspensions, seismic
excitations, etc.
Acknowledgement
The second authors contribution to this paper is based on
the European Program Dezvoltarea colilor doctorale
prin acordarea de burse tinerilor doctoranzi cu frecven
POSDRU/88/1.5/S/52826.
References
[1] Shabana, A., A., Dynamics of Multibody Systems, 3rd edition,
Cambridge University Press, New York, 2005.
[2] Amironache, F., Fundamentals of multibody Dynamics. Theory and
Applications, Birkhuser, Boston, Basel, Berlin, 2006,
6