UNIT -3
Two degrees of freedom systems
Introduction
Analysis of free vibration of undamped systems
Spring mass systems
Torsional systems
Double pendulum
Coupled pendulum
Masses on tightly stretched springs
Combined rectilinear and angular systems
Geared systems
Coordinate coupling and principal coordinates
Semi-definite system
Undamped dynamic vibration absorber
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13ME 352 Mechanical Vibration Unit III
Introduction:
Natural Frequency:
x1 x2
k1 k2 k3
m1 m2
The various forces acting on the masses 1 &2 are indicated in a free body diagram as shown in
Figure 3. Now, applying Newton’s equation of motion masses 1 & 2, we get
+ − −
= 0 1
+ −
+ = 0 2
− + +
= 0 4
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13ME 352 Mechanical Vibration Unit III
Assuming SHM, as
ݔଵ = ܺଵ cos ߱; ݐ ∴ ݔሷ ଵ = −ܺଵ ߱ଶ cos ߱ݔ ݀݊ܽ ݐଶ = ܺଶ cos ߱; ݐ ∴ ݔሷ ଶ = −ܺଶ ߱ଶ cos ߱݀݊ܽ ݐ
(݇ଵ + ݇ଶ ) − ݉ଵ ߱ଶ −݇ଶ ܺ 0
൨ ൜ ଵൠ = ቄ ቅ (6)
−݇ଶ (݇ଶ + ݇ଷ ) − ݉ଶ ߱ ଶ ܺଶ 0
It can be seen that equation (6) is satisfied by the trivial solutions X1 = X2 = 0, which implies that
there is no vibrations, which is not true. Therefore, for a non-trivial solutions of X1 and X2, the
determinant (∆) of the coefficients of X1 and X2 must be zero.
(݇ + ݇ଶ ) − ݉ଵ ߱ଶ −݇ଶ
ฬ ଵ ฬ=0 (7)
−݇ଶ (݇ଶ + ݇ଷ ) − ݉ଶ ߱ଶ
i.e.,
ቚ2݇ − ݉߱ −݇
ଶ
ቚ=0 (8)
−݇ 2݇ − ݉߱ଶ
On expansion, we get
Considering the first term, we get the first natural frequency of the system,
OR, ߱ = ට ݐ ݐ݁ܮℎ݅߱ ܾ݁ ݏଵ = ට ()ܣ
Considering the second term, we get the second natural frequency of the system,
ଷ ଷ
OR, ߱ = ට ݐ ݐ݁ܮℎ݅߱ ܾ݁ ݏଶ = ට ()ܤ
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13ME 352 Mechanical Vibration Unit III
(݇ଵ + ݇ଶ ) − ݉ଵ ߱ଶ −݇ଶ ܺ 0
൨ ൜ ଵൠ = ቄ ቅ (6)
−݇ଶ (݇ଶ + ݇ଷ ) − ݉ଶ ߱ ଶ ܺଶ 0
ሾ(݇ଵ + ݇ଶ ) − ݉ଵ ߱ଶ ሿܺଵ − ݇ଶ ܺଶ = 0
OR
ܺଵ ݇ଶ
൨= (11)
ܺଶ ሾ(݇ଵ + ݇ଶ ) − ݉ଵ ߱ ଶ ሿ
−݇ଶ ܺଵ + ሾ(݇ଶ + ݇ଷ ) − ݉ଶ ߱ଶ ሿ ܺଶ = 0
OR
ܺଵ (݇ଶ + ݇ଷ ) − ݉ଶ ߱ଶ
൨= (12)
ܺଶ ݇ଶ
Equation (11) and (12) gives the mode of oscillations by substituting the values of ω1 and ω2
First mode of oscillation is obtained by substituting the value of ω1 in either of the equation
(11) and (12).
Similarly Second mode of oscillation is obtained by substituting the value of ω2 in either of the
equation (11) and (12).
ܺଵ ݇ଶ
൨= (11)
ܺଶ ሾ(݇ଵ + ݇ଶ ) − ݉ଵ ߱ ଶ ሿ
ܺଵ ݇
൨=
ܺଶ
ቂ2݇ − ݉ ቃ
ܺଵ (ଵ) 1
൨ = (13)
ܺଶ 1
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13ME 352 Mechanical Vibration Unit III
Similarly by substituting the value of ω2 from equation (B), we get Second mode of oscillation
as
ܺଵ ݇ଶ
൨= (11)
ܺଶ ሾ(݇ଵ + ݇ଶ ) − ݉ଵ ߱ ଶ ሿ
ܺଵ ݇
൨=
ܺଶ ଷ
ቂ2݇ − ݉ ቃ
ܺଵ (ଶ) −1
൨ = (14)
ܺଶ 1
[Note:
• Equation (6) and (7) are very important and must be remembered as a general expression
for two-degree-of-freedom system
• Equation (6) can be used to obtain the Mode of oscillation and
• Equation (7) can be used to obtain Natural frequencies of the system]
Graphical representation of mode of oscillation is shown as follows:
1st Mode of oscillation:
+1
OR +1 +1
+1
+1
+1
OR
-1
-1
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13ME 352 Mechanical Vibration Unit III
Normal mode:
An N - dof has N natural frequencies, and for each of the natural frequencies, there corresponds a
natural state (pattern) of vibration with a displacement configuration known as the ‘normal
mode’. Normal mode vibrations are free-undamped vibrations that depend only on the mass and
stiffness of the system and how they are distributed. When vibrating at one of these normal
modes, all points in the system undergo simple harmonic motion that passes through their
equilibrium positions simultaneously. Mathematical terms related to normal modes are known as
ݔଵ
eigen values (λ = ߱ଶ ) and eigen vectorsቂ∅ = ቄ ݔቅቃ.
ଶ
Example 1:
Find the natural frequencies and normal mode (amplitude ratio’s) for the system given below
considering the cases mentioned thereafter:
x1 x2
k1 k2 k3
m1 m2
݁ݏܽܥ1: ݇ଵ = ݇ଶ = ݇ଷ = ݇ ܽ݊݀ ݉ଵ = ݉ଶ = ݉
݁ݏܽܥ2: ݇ଵ = ݇ଷ = ݇, ݇ଶ = 2݇ ܽ݊݀ ݉ଵ = ݉ଶ = ݉
݁ݏܽܥ3: ݇ଵ = ݇ଶ = ݇ଷ = ݇ ܽ݊݀ ݉ଵ = ݉ ܽ݊݀ ݉ଶ = 2݉
Solutions:
[Note: No derivation is required to solve the problems. You can start the solutions from the
equation (6). Case 1 is discussed already. Case 2 is explained below and each and every step is
very important and requires a sincere practice. Case 3 is left for practice purpose]
ࢇ࢙ࢋ : ݇ଵ = ݇ଷ = ݇, ݇ଶ = 2݇ ܽ݊݀ ݉ଵ = ݉ଶ = ݉
Natural frequency:
We know that the standard eigen equation for a two degree of freedom is given by, assuming the
SHM,
(݇ଵ + ݇ଶ ) − ݉ଵ ߱ଶ −݇ଶ ܺ 0
൨ ൜ ଵൠ = ቄ ቅ (1)
−݇ଶ (݇ଶ + ݇ଷ ) − ݉ଶ ߱ ܺଶ
ଶ 0
Substituting the given relation, ݇ଵ = ݇ଷ = ݇, ݇ଶ = 2݇ ܽ݊݀ ݉ଵ = ݉ଶ = ݉ in the above
equation, we get
ቂ3݇ − ݉߱
ଶ
−2݇ ቃ ൜ܺଵ ൠ = ቄ0ቅ (2)
−2݇ 3݇ − ݉߱ଶ ܺଶ 0
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13ME 352 Mechanical Vibration Unit III
Therefore, for a non-trivial solutions of X1 and X2, the determinant (∆) of the coefficients of X1
and X2 must be zero.
(3 − −2 ( = 0 3
−2 3 −
i.e.,
On expansion, we get
3 −
− −2
= 0 4
- 3 −
− 2.- 3 −
+ 2. = 0 5
Considering the first term of the equation (5), we get the first natural frequency of the
system,
3 −
− 2 = 0 /0 − = 0
= 13 45 ℎ78 +5 = 13 9
2 2
OR,
Considering the second term of the equation (5), we get the second first natural frequency of
the system,
3 −
+ 2 = 0 /0 5 − = 0
= 1 3 45 ℎ78 +5 = 1 3 :
E2 E2
OR,
;3 −
−2 < = 0 2
−2 3 − 0
OR
2
= 3
-3 − .
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13ME 352 Mechanical Vibration Unit III
2 1
= = 4
2
;3 − < 1
3
Similarly by substituting the value of ω2 in equation (3), we get Second mode of oscillation as
2 −1
= = 5
E2
;3 − < 1
3
+1
OR +1 +1
+1
+1
+1
OR
-1
-1
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13ME 352 Mechanical Vibration Unit III
Example 2:
Derive the characteristic equations of the system given in Figure 4. Also find the expression for
the natural frequencies and normal mode of vibrations.
O O’
a a
k k l
l
θ1 θ2
m m
m m
Solutions:
" + HF
− F −" 9 0
=
−" " + HF
− F : 0
H 9.81
= 1 = I = 3.1321 K"$/85M
F 1
Mode of vibrations:
- " + HF
− F .9 − " : = 0
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13ME 352 Mechanical Vibration Unit III
9 "
=
: - " + HF
− F .
9 " "
= =
: ; " + HF
− F S< - " + HF
− HF.
T
9
1 9
−1
= "#$ =
: 1 : 1
1st Mode of oscillation: 2nd Mode of oscillation:
+1
+1 +1
-1
Example 3:
Two masses 10 kg each are attached to a tightly stretched string having a uniform tension 250 N,
as shown in Figure 2. Determine the natural frequency and mode of vibration
m1 m2
Example 4:
Determine the pitch (angular motion) and bounce (up and down linear motion) frequencies and
the location of oscillation centers (nodes) of an automobile with following data:
Mass (m) : 1000 kg
Radius of gyrations (r) : 0.9 m
Distance between front axle and CG (l1) : 1.0 m
Distance between rear axle and CG (l2) : 1.5 m
Front spring stiffness (k1) : 18 kN/m
Rear spring stiffness (k2) : 22 kN/m
J = mr2
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13ME 352 Mechanical Vibration Unit III
Solution:
J = mr2
J = 1000x0.92 = 810
+ − F G
+ + F G
= 0 1
UG − − F G
F + + F G
F = 0 2
Equations (1) and (2) can be expressed in the matrix form as,
0 +
− F − F
0
+ V Y = 3
0 U G − F − F
W F + F X G 0
= cos ∴ = − X cos 4
− F + F
W F + F − U X
15,000
67,500 − 810
9 0
From which frequency equation can be derived as,
40,000 − 1000^2
+ 15,000 9 = 0
−15,000
= 8
9 40,000 − 1000
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13ME 352 Mechanical Vibration Unit III
−2.6462
=
9 1
And using ω2= 9.4341 rad/s , we get
= 0.3061
9
Vibration Absorbers
The vibration absorber, also called dynamic vibration absorber, is a mechanical device used to
reduce or eliminate unwanted vibration. It consists of another mass and stiffness attached to the
main (or original) mass that needs to be protected from vibration. Thus the main mass and the
attached absorber mass constitute a two-degree-of-freedom system; hence the vibration absorber
will have two natural frequencies. The vibration absorber is commonly used in machinery that
operates at constant speed, because the vibration absorber is tuned to one particular frequency
and is effective only over a narrow band of frequencies. Common applications of the vibration
absorber include reciprocating tools, such as sanders, saws, and compactors, and large
reciprocating internal combustion engines which run at constant speed (for minimum fuel
consumption). In these systems, the vibration absorber helps balance the reciprocating forces.
Without a vibration absorber, the unbalanced reciprocating forces might make the device
impossible to hold or control. Vibration absorbers are also used on high-voltage transmission
lines. In this case, the dynamic vibration absorbers, in the form of dumbbell-shaped devices as
shown in Figure 5 are hung from transmission lines to mitigate the fatigue effects of wind
induced vibration.
A machine or system may experience excessive vibration if it is acted upon by a force whose
excitation frequency nearly coincides with a natural frequency of the machine or system. In such
cases, the vibration of the machine or system can be reduced by using a vibration neutralizer or
dynamic vibration absorber, which is simply another spring-mass system. The dynamic vibration
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13ME 352 Mechanical Vibration Unit III
absorber is designed such that the natural frequencies of the resulting system are away from the
excitation frequency.
+ −
= 0 2
By assuming SHM, as
a = a sin , b = 1,2
We get the steady-state amplitude of the masses m1 and m2 as,
−
]^
= 3
+ −
−
−
]^
= 4
+ −
−
−
= = −]^
The size of the dynamic vibration absorber can be found as,
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13ME 352 Mechanical Vibration Unit III
Solution:
m2
Given:
W = 3,000 N, ∴ m1 = (3,000/9.81) kg
Speed, N = 6000 rpm
F0 = 250 N,
X2 = 2 mm = 0.0002 m
2cd 2c × 6000
The frequency of vibration of the machine is,
= = = 628.32 K"$/8
60 60
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13ME 352 Mechanical Vibration Unit III
]^ =
We know that,
=
The spring stiffness of the auxiliary mass,
= 0.31665 × 628.32
= 1,25,009 d/
We know that,
=
1,25,009 3,000
∴ = × = × = 12,07,29,676 N/m
0.31665 9.81
With absorber the whole system represents a two degree-of-freedom system.
We know that the standard eigen equation for a two degree of freedom free vibration is given by,
assuming the SHM,
+
− − 0
= 1
−
−
0
Substituting the values of , "#$ in the above equation, we get
3,000
12,07,29,676 + 1,25,009
− −1,25,009 0
g 9.81 h = 2
0
−1,25,009 1,25,009 − 0.31665
Therefore, for a non-trivial solutions of X1 and X2, the determinant (∆) of the coefficients of X1
and X2 must be zero.
i.e.,
12,07,29,676 + 1,25,009
−
,^^^
−1,25,009
i j.k i = 0 3
,^^^
; 12,07,29,676 + 1,25,009
−
j.k
l − 790020.53 + 155863844542.85 = 0
−+ ± √+ − 2"M
∴ =
2"
− −790020.53
± o −790020.53
− 2 × 1 × 155863844542.85
=
2×1
790020.53
± 558931.79
∴ = = 674476.16 "#$ 115544.37
2
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13ME 352 Mechanical Vibration Unit III
s^tu s^×k.slj
∴ = 821.2649 rad/s or N = v
= v
= 7842.50 rpm
And
60 60 × 339.92
∴ = 339.92 rad/s or N = = = 3246 rpm
2π 2π
Also practice Class room Problems:
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