1

Two-Degree of Freedom Systems

Forced Vibration Analysis
2
Forced Vibration of Undamped System
A harmonic excitation force, F is
applied to mass m
1
.
Assume x
1
> x
2
3
4
Eqn. of motion
Assume harmonic motion of the form,
) 2 ( 0 ) (
) 1 ( sin ) (
2 1 2 2 2
1 1 2 1 2 1 1
= +
= + +
x x k x m
t F x k x x k x m
o


e
t X x t X x
t X x t X x
e e e e
e e
sin sin
sin sin
2
2
2 1
2
1
2 2 1 1
= =
= =

5
Eqn (1) and (2) becomes,
Eqn (4) can be written as,
) 4 ( ) (
) 3 ( ) (
2
2 2 2 1 2
2
1 1 1 1 2 1 2
e
e
X m X X k
X m X k X X k F
o
=
=
2
2
2
2
1
2
m k
k
X
X
e
=
6
Subst into (3). The amplitude of forced vib are,
Note:
Eqn (5) and (6) have the same denominator which is
actually the characteristic eqn of the system. It is a
quadratic and consequently 2 natural freq
es
can be
obtained.
) 5 (
) )( (
) (
2
2 2
2
2 1
2
2 1
2
2
2
1
k m k m k k
F m k
X
o
+

=
e e
e
) 6 (
) )( (
2
2 2
2
2 1
2
2 1
2
2
k m k m k k
F k
X
o
+
=
e e
7
Plotting X
1
and X
2
verses freq e gives the following
graph.
8
From the graph, it is observed that,
1) At e = 0, X
1
and X
2
have same amplitude.
9
(2)
The mode shape is associated with first natural
frequency.
2 1
2
2
, X with phase in is X
m
k
When < e
10
(3)
The mode shape is associated with second natural
frequency.
2 1
2
2
, X with phase of out is X
m
k
When > e
11
(4)
ie. Sys k
1
, m
1
has no vibration. System k
2
, m
2
acts as vibration
absorber.
Thus vibration absorber must be developed such that its
individual natural freq is the same as the excitation freq.
) 5 .( ( 0 ,
1
2
2
eqn X
m
k
When = = e
12
) 7 ( sin
sin
) 6 ( ,
2
2 2
2
2
2
2
t
k
F
t X x From
k
F
X
to reduces eqn
m
k
When
o
o
e
e
e
=
=
=
=
13
Thus the force in the absorber spring (k
2
) at any time is,
k
2
x
2
= - F
o
sin et
Note
When a forcing function F
o
sin et is applied to m
1
of the main sys,
then it can be ensured that when the forcing freq is set to ,
the mass m
1
has no motion after adding k
2
and m
2
. Although all
force is applied to m
1
, but all the energy is absorbed by m
2
(eqn.
(7)).
2
2
m
k
= e
14
Consider a viscously damped two degree of
freedom spring-mass system, shown in Fig.5.3.
Equations of Motion for Forced Vibration
Figure 5.3: A two degree of freedom spring-mass-damper system
15
Both equations can be written in matrix form as
The application of Newtons second law of motion
to each of the masses gives the equations of
motion:
Equations of Motion for Forced Vibration
) 2 . 5 ( ) ( ) (
) 1 . 5 ( ) ( ) (
2 2 3 2 1 2 2 3 2 1 2 2 2
1 2 2 1 2 1 2 2 1 2 1 1 1
F x k k x k x c c x c x m
F x k x k k x c x c c x m
= + + + +
= + + + +


) 3 . 5 ( ) ( ) ( ] [ ) ( ] [ ) ( ] [ t F t x k t x c t x m

= + +
where [m], [c], and [k] are called the mass,
damping, and stiffness matrices, respectively, and
are given by
16
And the displacement and force vectors are given
respectively:
Equations of Motion for Forced Vibration
(

+
+
=
(

+
+
=
(

=
3 2 2
2 2 1
3 2 2
2 2 1
2
1


] [


] [
0
0
] [
k k k
k k k
k
c c c
c c c
c
m
m
m
)
`

=
)
`

=
) (
) (
) (
) (
) (
) (
2
1
2
1
t F
t F
t F
t x
t x
t x

It can be seen that the matrices [m], [c], and [k]

are symmetric:
17
General Multi-DOF Equation
| |{ } | |{ } | |{ } { }
M x C x K x F + + =
| | | | | |
{ } { } { }
, and are symmetric matrices n x n
x , and are vectors n row
n is the number of the degrees of freedom
n is the number of natural frequencies
M C K
x x