Dr. S. K. Kudari, Professor, Department of Mechanical Engineering, B

Dr. S. K.
Kudari,
Professor,
Department of Mechanical Engineering,
B V B College of Engg. & Tech.,
HUBLI
email: skkudari@bvb.edu
CHAPTER-6
Systems with two degree of freedom
Recap
Mathematical modeling of two DOF system
Mathematical derivation of governing equations
Newton's method
Energy method (Lagrange’s method)
Solution to governing equations
Natural frequencies
Modal vectors and modal matrix
Mode shapes
Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Recap
Torsional systems
Equivalent shaft for a torsional system
Definite and semi-definite systems
A turbo-generator system

Practice problems (Linear definite systems)
K Steps
K
(i) derive the equations of motion,
m (ii) setup the frequency equation and
x1
obtain the fundamental natural
K frequencies
(iii) obtain the modal vectors and modal
m
K matrix
x2
(iv) draw mode shapes of the system.
K

Practice problems Governing equations
Newton’s method
K Kx1 Kx1
K
m m1 m1x 1
x1
K K(x2-x1)
m m2 m2x 2
x2 K
Kx2 Kx2
K
. Force equilibrium diagram

Practice problems Lagrange’s method
The Lagrange’s equation is :

K
K d  ∂T  ∂T ∂U  x1 
m
  − + = Qi { xi } =  
x1
dt  ∂x i  ∂x i ∂x i x 2 
K
1 1
T = mx1 + mx 22
 2
m 2 2
x2 K
1 2 1 2 1 1 2 1 2
K
U = Kx1 + Kx1 + K 2 (x 2 − x1 ) + Kx 2 + Kx 2
2
2 2 2 2 2

Practice problems
x1 x2 For the systems shown in
K K K Figure
m m (i) derive the equations of
motion,
(ii) setup the frequency equation
and obtain the fundamental
K natural frequencies
K
x1
K
x2
K
(iii) obtain the modal vectors
m m and modal matrix
(iv) draw mode shapes of the
system.

Practice problems (Torsional semi-definite systems)
K
2K For the systems shown in
θ 1 θ 2 figure, obtain natural
frequencies and mode shapes
J1 J2
Gears
For the systems shown
K1 in figure, obtain natural
J3 Generator frequencies and mode
J1 Shaft-1
shapes
K2
Turbine Neglect inertia of gears
J4 J2
Shaft-2
Take K 1 = K 2 = K
J1 =J2 = J and n = 2
Pendulum systems (double pendulum)
l1
Obtain the natural frequencies of the

m1
double pendulum shown in the figure.
l2
For simplicity take m1=m2=m and l1=l2=l
m2

T1 Due to self weight of masses, the pendulum

l1 roads are in tension
T2 = m2 g
m1g T2 T1 = m1g + T2
l2 T1 = m1g + m2g = (m1 + m2 )g
T2
Above equations holds good for small

m2g oscillations

x1 x 2 − x1
sinθ1 = θ1 = sinθ 2 = θ 2 =
l1 l2
θ l
1 x1and x2 are generalized co-ordinates
1
T1
m1x 1 T1sinθ 1=
1θ1 11
T2 Mass 1 Tm x
l2 T2sinθ 2=
θ
T2 T2θ 2
x1 2 m2 x 2 m1x 1 + T1θ1 − T2θ 2 = 0
x2
x1 x 2 − x1
m1x 1 + T1 − T2 =0
Free body diagram l1 l2

x1 x 2 − x1
m1x 1 + (m1 + m2 )g − (m2g) =0
l1 l2
m1=m2=m and l1=l2=l
x1 x 2 − x1
mx 1 + (2m)g − (mg) =0
l l
 3mg   mg 
m x1 + 
  x1 −   x 2 = 0 1 Eqn. of motion
 l   l 

x1 x 2 − x1
sinθ1 = θ1 = sinθ 2 = θ 2 =
l1 l2
θ l
1
1 T2sinθ 2=
T1 
m1x 1 Mass 2 Tm
2 θ2x2
2
T2
l2
θ m2x 2 + T2θ 2 = 0
T2
2 m2 x 2
x1 x2 x 2 − x1
m2x 2 + T2 =0
l2
Free body diagram

x 2 − x1
m2x 2 + T2 =0
l2
 x 2 − x1 
m2 x 2 + m2g
  = 0
 l2 
m1=m2=m and l1=l2=l
 mg   mg 
mx 2 − 
  x1 +  x 2 = 0 2nd Eqn. of motion
 l   l 

Governing equations of motions:
 3mg   mg 
m x1 + 
  x1 −   x 2 = 0 1 Eqn. of motion
 l   l 
 mg   mg 
mx 2 −   x1 +   x 2 = 0 2 Eqn. of motion
 l   l 
Solution to governing eqns.:
Assume SHM x1 = A 1sin( ωt + φ )
x 2 = A 2sin(ωt + φ)
The above equations have to satisfy the governing equations
of motions
 3mg 2 mg
 l − mω A
 1sin(ω + φ) − A 2 sin(ω + φ) = 0
l
mg  mg 2
− A 1sin(ω + φ) −  − mω  A 2 sin(ω + φ) = 0
l  l 
In above equations sin(ωt + φ) ≠ 0
The above equations reduces to: (characteristic equation)
 3mg 2 mg
 l − mω A
 1 − A2 = 0
l
mg  mg 
− A1 −  − mω 2  A 2 = 0
l  l 
3mg 2
∣ −m
ω
l  . . . . . .. .
m g
∣−
l
m
g
−
l
m
g 2
∣ −m
ω
¿ l  =0
¿
}
The above equation is referred as a characteristic determinant

Solving, we get :
4m2ω2g 2m2 g2
mω −
2
+
4
Frequency equation
l l2

Natural frequencies of the system
g g
ω1 = 0.27 ω2 = 3.73 radians/sec
l l
Modal vectors and the mode shapes can be

obtained by usual meaner

String systems
m1 m2
l1 l2 l3
Obtain the natural frequencies of the string

system shown in the figure.
For simplicity take m1=m2=m and l1=l2=l3=l

String systems
x1
m1 θ1 =
m2
l
T
T x1 θ T x1 − x 2
θ x2 θ θ2 =
2
l
1
l l2 3
l3 x2
θ3 =
1
l
Free body diagram
For small angular oscillations, it can be assumed that

the tension in the string (T) do not change

String systems
m1
T m2
T x1 θ T
θ 2
x2 θ
1 3
l1 l2 l3
Free body diagram

T
m1 T m2
T θ 2 T
T θ
θ 1
T 2
θ 3
mx 1 mx 2

String systems mx 1 + Tθ1 + Tθ 2 = 0
m1 T x1 x − x2
T
T θ mx 1 + T +T 1 =0
θ 1
T 2 l l
mx 1  2T  T
m x1 + 
  x1 −   x 2 = 0
 l  l
mx 2 − Tθ 2 + Tθ3 = 0
T
θ m2 x1 − x 2 x2
2 T mx 2 − T +T =0
θ 3
l l
mx 2 T  2T 
m x 2 −   x1 + 
 x 2 = 0
l  l 
String systems
Equations of motion
 2T  T
m x1 + 
  x1 −   x 2 = 0 1 Eqn. of motion
 l  l
T  2T 
mx 2 −   x1 +   x 2 = 0 2 Eqn. of motion
l  l 
Solution to governing eqns.:
Assume SHM x1 = A 1sin( ωt + φ )
x 2 = A 2sin(ωt + φ)
The above equations have to satisfy the governing equations
of motions
String systems
 2T 2 T
 l − mω A
 1sin(ω + φ) − A 2 sin(ω + φ) = 0
l
T  2T 2
− A 1sin(ω + φ) −  − mω  A 2 sin(ω + φ) = 0
l  l 
In above equations sin(ωt + φ) ≠ 0
The above equations reduces to: (characteristic equation)
 2T 2 T
 l − mω  1 l A 2 = 0
A −
T  2T 
− A1 −  − mω 2  A 2 = 0
l  l 
String systems
2T T
− mω 2
−
l l
........ =0
T 2T
− − mω2
l l
The above equation is referred as a characteristic determinant
Solving, we get :
4Tmω2 3T 2
mω −
2 4
+ 2 Frequency equation
l l

String systems
Natural frequencies of the system
T 3T
ω1 = ω2 = radians/sec
ml ml
As the system has two natural frequencies, under certain

conditions it may vibrate with first or second frequency,
which are referred as principal modes of vibration

String systems
Characteristic equations of the system are:
 2T 2 T
 l − mω  A 1 − l A 2 = 0
T  2T 2
− A1 −  − mω  A 2 = 0
l  l 
First principal mode of vibration
The system vibrates with first fundamental natural
frequency, i.e . ω = ω1

String systems
For vibrations under Mode-I, consider
A11 -amplitude of first mass (m1) due to frequency ω1

A21 -amplitude of second mass (m2) due to frequency ω1
Characteristic equations of the system changes to:
 2T 2 T
 l − mω1  A 11 − l A 21 = 0
T  2T 2
− A 11 −  l − mω1  A 21 = 0
l 
A 21
Let = μ1 amplitude ratio
A 11
String systems
 2T 2 
−
A 21  l 1 
mω
 2T 2 T
 l − mω1  A 11 − l A 21 = 0 μ1 = A =  T


11
 
 l 
 2T T 
−
A 21  l 
m
Substitute μ1 = = ml  = 1
A 11  T 
ω1  
 l 
A 11  A 11  1
First modal vector { A} 1 = = =
A 21  μ1A 11  1

String systems
For vibrations under Mode-II, consider
A12 -amplitude of first mass(m1) due to frequency ω 2

A22 -amplitude of second mass (m2) due to frequency ω 2
Characteristic equations of the system changes to:
 2T 2 T
 l − mω 2  A 12 − l A 22 = 0
T  2T 
− A 12 −  − mω22  A 22 = 0
l  l 
A 22
Let = μ2 amplitude ratio
A 12
String systems
 2T 2 
−
A 22  l 2 
mω
 2T 2 T
 l − mω 2  A 12 − l A 22 = 0 μ1 = A =  T


12
 
 l 
 2T 3T 
−
A 21  l 
m
μ1 = = ml  = 1
Substitute A 11  T 
ω2  
 l 
A 12  A 12  1 
Second modal vector { A} 2 = = = 
A 22  μ2 A 12  − 1

String systems
 A 11 A 12  1 1 
Modal matrix [ A ] = [{ A} 1{ A} 2 ] =  ...  = 
μ A μ A
 1 11 2 12   1 − 1
Mode shapes of the system
m1 m2
l1 l2 l3
1 1
Mode I
1
Mode II -1

Summary
Analysis of various 2DOF systems such as:

Linear systems
Torsional systems
Definite and semi-definite systems
String systems

Dr. S. K. Kudari, Professor, Department of Mechanical Engineering, B

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Dr. S. K.

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Equivalent shaft for a torsional system

Definite and semi-definite systems

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

The Lagrange’s equation is :

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Obtain the natural frequencies of the

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

T1 Due to self weight of masses, the pendulum

Above equations holds good for small

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

The above equation is referred as a characteristic determinant

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Natural frequencies of the system

Modal vectors and the mode shapes can be

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Obtain the natural frequencies of the string

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

For small angular oscillations, it can be assumed that

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Free body diagram

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Natural frequencies of the system

As the system has two natural frequencies, under certain

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

A11 -amplitude of first mass (m1) due to frequency ω1

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

A12 -amplitude of first mass(m1) due to frequency ω 2

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

Analysis of various 2DOF systems such as:

Dr. S. K. Kudari, Professor, BVB College of Engg. & Tech., Hubli

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