TWO DEGREE OF FREEDOM SYSTEMS

BITS Pilani, K K Birla Goa Campus

TWO DEGREE OF FREEDOM SYSTEMS

DANIEL Bernoulli (1700-1782):

Swiss mathematician who proposed
principal of super position

BITS Pilani, K K Birla Goa Campus

TWO DEGREE OF FREEDOM SYSTEMS
• Requires two independent coordinates to describe their motion
• Assumption:
• Mass is considered as rigid body with two possible motions.
• Vibration in vertical plane
• Idealised as a bar of mass, m and MI, J0 supported on two springs of stiffness k1
and k2
• Displacements given by x(t) and θ(t)
• Displacements can also be given by x1 (t) and x2 (t)

BITS Pilani, K K Birla Goa Campus

TWO DEGREE OF FREEDOM SYSTEMS
INTRODUCTION
• Packaging of instrument of mass , m
supported on springs from all 4 sides
• Here there is one point mass but two
displacements x and y and two DOF
• DOF = (No. of masses in the system) X
( No. of possible types of motion of each
mass)
• If a 2 DOF system is vibrating at one of the
natural frequency, the amplitudes of the 2
DOFs (coordinates) are related in a specific
manner & the configuration is called normal
/ principal/natural mode of vibration

BITS Pilani, K K Birla Goa Campus

TWO DEGREE OF FREEDOM SYSTEMS

• If an arbitrary initial excitation is given to the system, the resulting free

vibration will be a superposition of two normal modes of vibration.
• Generalized co-ordinates: The configuration of the system can be specified
by a set of independent coordinates such as displacement, angle or some
other physical parameters.
• The EOMs are generally coupled but we can find some generalized
coordinates which will give uncoupled equations.

BITS Pilani, K K Birla Goa Campus

TWO DEGREE OF FREEDOM SYSTEMS

Equation of Motion for Forced Vibration

By Newton’s Law
𝑚1 𝑥1 + (𝑐1 + 𝑐2 ) 𝑥1 - 𝑐2 𝑥2 + 𝑘1 + 𝑘2 𝑥1 − 𝑘2𝑥2 = 𝐹1
(1) Coupled 2nd Order Differential Equation
𝑚2 𝑥2 + (𝑐2 + 𝑐3 ) 𝑥2 - 𝑐2 𝑥1 + 𝑘2 + 𝑘3 𝑥2 − 𝑘2𝑥1 = 𝐹2

BITS Pilani, K K Birla Goa Campus

TWO DEGREE OF FREEDOM SYSTEMS

Equation of Motion for Forced Vibration

Equation (1) can be written in matrix form as
[m] 𝑥 (t) + [c] 𝑥 (t) + [k] 𝑥 𝑡 = F (t) (2)

𝑚1 0 𝑥1 (𝑡)
[m] = 𝑥 𝑡 ={ }
0 𝑚2 𝑥2 (𝑡)

𝑐1 + 𝑐2 −𝑐2 𝐹1 (𝑡)
[c] = −𝑐 𝑐2 + 𝑐3 F 𝑡 ={ }
2 𝐹2 (𝑡)

𝑘1 + 𝑘2 −𝑘2 [m],[c] and [k] are symmetric matrices

[k] = [m]T =[m], [c]T =[c], [k]T =[k]
−𝑘2 𝑘2 + 𝑘3
Equation (1) becomes uncoupled when c2
and k2 are zero
BITS Pilani, K K Birla Goa Campus
TWO DEGREE OF FREEDOM SYSTEMS

Free Vibration of an undamped system

For undamped free vibrations

By Newton’s Law
𝑚1 𝑥1 + 𝑘1 + 𝑘2 𝑥1 − 𝑘2𝑥2 = 0 (3)
𝑚2 𝑥2 + 𝑘2 + 𝑘3 𝑥2 − 𝑘2𝑥1 = 0 (4)

We are interested in knowing whether m1 and m2 can oscillate harmonically with the same
frequency and phase angle but with different amplitudes.
Take the solution as
𝑥1 = 𝑋1𝑐𝑜𝑠 (𝜔𝑡 + 𝜑) (5)
𝑥2 = 𝑋2𝑐𝑜𝑠 (𝜔𝑡 + 𝜑)

BITS Pilani, K K Birla Goa Campus

Free Vibration of an undamped system
Substituting (5) in (3 & 4)
[{-m1 𝜔2 + 𝑘1 + 𝑘2 }𝑋1 − 𝑘2 𝑋2 ] 𝑐𝑜𝑠 (𝜔𝑡 + 𝜑) = 0
[-𝑘2 𝑋1+ {-m2 𝜔2 + 𝑘2 + 𝑘3 }𝑋2] 𝑐𝑜𝑠 (𝜔𝑡 + 𝜑) = 0 (6)
Equation (6) must be satisfied for all values of time t,
∴ {-m1 𝜔2 + 𝑘1 + 𝑘2 }𝑿𝟏 − 𝑘2 𝑿𝟐= 0
-𝑘2 𝑿1+ {-m2 𝜔2 + 𝑘2 + 𝑘3 }𝑿𝟐 = 0 (7)
Trivial solution is 𝑋1= 𝑋2 = 0
No Vibration
For Non-trivial solution, determinants of coefficients must be zero
𝑚1 𝑚2 𝜔4 -{ 𝑘1 + 𝑘2 𝑚2 + 𝑘2 + 𝑘3 𝑚1 } 𝜔2 +{ 𝑘1 + 𝑘2 𝑘2 + 𝑘3 - 𝑘22 } = 0 (8)
This is quadratic equation in 𝜔2 with solutions 𝜔12 and 𝜔22

BITS Pilani, K K Birla Goa Campus

 {-m1 𝜔2 + 𝑘1 + 𝑘2 }𝑋1 − 𝑘2 𝑋2= 0
-𝑘2 𝑋1+ {-m2 𝜔2 + 𝑘2 + 𝑘3 }𝑋2 = 0
Free Vibration of an undamped system
Determination of X1 and X2
• Depends of 𝜔1 and 𝜔2
• 𝑋11 and 𝑋21 are values of X1 and X2 for 𝜔 = 𝜔1
• 𝑋12 and 𝑋22 are values of X1 and X2 for 𝜔 = 𝜔2
• Since equation (7) is homogeneous, only ratios
𝑋21 𝑋22
𝑟1 = 𝑋11
and 𝑟2 = 𝑋12
can be found
• Substituting 𝜔2 = 𝜔12 and 𝜔2 = 𝜔22 equation (7) gives
𝑋21 −m1 𝜔12 + 𝑘1+𝑘2 𝑘2
𝑟1 = = =
𝑋11 𝑘2 −m2 𝜔12 + 𝑘3+𝑘2
𝑋22 −m1 𝜔22 + 𝑘1+𝑘2 𝑘2
𝑟2 = = = (9)
𝑋12 𝑘2 −m2 𝜔22 + 𝑘3+𝑘2
BITS Pilani, K K Birla Goa Campus
Free Vibration of an undamped system
The two ratios given for each ri (i = 1,2) in equation (9) are identical.
The normal modes of vibration corresponding to 𝜔1 and 𝜔2 can be expressed
as
𝑋11 𝑋11
= 1 =
𝑋1 𝑋2 𝑟1 𝑋11
𝑋12 𝑋12
= 2 = (10)
𝑋2 𝑋2 𝑟2 𝑋12
and denotes normal modes of vibration and are called modal vectors of
𝑋1 𝑋2
the system

BITS Pilani, K K Birla Goa Campus

Free vibration solution / motion in time
1 = {𝑥11 (t) 𝑥21 (t)}T = {𝑋11 cos(𝜔1 t + 𝜑1) r1 𝑋11 cos(𝜔1 t + 𝜑1) }T First Mode
𝑥 (𝑡)
2 = {𝑥12 (t) 𝑥22 (t)}T = {𝑋12 cos(𝜔2 t + 𝜑2) r2 𝑋12 cos(𝜔2 t + 𝜑2) }T Second Mode (11)
𝑥 (𝑡)
𝑋11 , 𝑋12, 𝜑1 , 𝜑2 are constants to be determined from initial conditions.
Initial Conditions:
• At time t =0, x1 (t=0) and 𝑥1(t=0) , x2 (t=0) and 𝑥2(t=0) ???
• For any general initial conditions both modes will get excited.
• Resulting motion
• = c1 + c2 (12)
𝑥 (𝑡) 𝑥1 (𝑡) 𝑥2 (𝑡)

BITS Pilani, K K Birla Goa Campus

Free Vibration of an undamped system

𝑎𝑛𝑑 involves unknown constants 𝑋11 , 𝑋12 (see 11) ,

𝑥1 (𝑡) 𝑥2 (𝑡)

choose c1 = c2 =1 with no loss of generality

𝑥1 𝑡 = 𝑥11 (t) + 𝑥12 (t) = 𝑋11 cos(𝜔1 t + 𝜑1) + 𝑋12 cos(𝜔2 t + 𝜑2)
𝑥2 𝑡 = 𝑥21 (t) + 𝑥22 (t) = 𝑟1 𝑋11 cos(𝜔1 t + 𝜑1) + r2𝑋12 cos(𝜔2 t + 𝜑2) (13)

Constants 𝑋11 , 𝑋12 , 𝜑1,, 𝜑2 are to be determined from initial conditions

x1 (t=0)= x1(0) , 𝑥1(t=0)= 𝑥1(0)
x2 (t=0) = x2(0) , 𝑥2(t=0)= 𝑥2(0) (14)
BITS Pilani, K K Birla Goa Campus
Free Vibration of an undamped system
Substituting (14) in (13)
x1(0)= 𝑋11 cos 𝜑1 + 𝑋12 cos 𝜑2
𝑥1(0) = -𝜔1 𝑋11 sin 𝜑1 - 𝜔2 𝑋12 sin 𝜑2
x2(0) = r1 𝑋11 cos 𝜑1 + r2 𝑋12 cos 𝜑2
𝑥2(0) = -𝜔1 r1𝑋11 sin 𝜑1 - 𝜔2 r2𝑋12 sin 𝜑2 (15)
These four equations in four unknowns can be solved.

BITS Pilani, K K Birla Goa Campus

Coordinate Coupling and Principal Coordinates

• There can be n different coordinate systems defining coniguration of the

system called generalised coordinates.

• Lathe bed-rigid body (mass,inertia), headstock & tailstock-lumped masses.

BITS Pilani, K K Birla Goa Campus

Coordinate Coupling and Principal Coordinates

Assumptions:
• Lathe bed-rigid body (mass,inertia), headstock & tailstock-lumped masses.
• Bed supported on springs
• (x1, x2), (x,𝜃), (x1,𝜃), (y,𝜃)- generalised co-ordinates

BITS Pilani, K K Birla Goa Campus

Coordinate Coupling and Principal Coordinates

Equation of Motion using (x(t),𝜃(𝑡))

• Positive values of motion as per figure.
• 𝑉=0
m𝑥 = - k1(x – l1 𝜃) – k2(x + l2 𝜃) (17)
• 𝑀𝑐𝑔 = 0
J0𝜃 = k1(x – l1 𝜃) l1 – k2(x + l2 𝜃) l2 (18)
𝑚 0 𝑥 (k1 + k2) −(k1l1 − k2 l2) x 0
+ =
0 J0 𝜃 −(k1l1 − k2 l2) (k1l12 + k2l22) 𝜃 0

(19)
These equations become independent when
(k1l1 − k2 l2) = 0 Static /elastic Coupling

BITS Pilani, K K Birla Goa Campus

Coordinate Coupling and Principal Coordinates

Equation of Motion using (y(t),𝜃(𝑡))

• Positive values of motion as per figure.
• 𝑉=0
m𝑦 = - k1(y – l’1 𝜃) – k2(x + l’2 𝜃) - me𝜃 (20)
• 𝑀𝑝 = 0
Jp𝜃 = k1(y – l’1 𝜃) l’1 – k2(y + l’2 𝜃) l’2- me𝑦 (21)
𝑚 𝑚𝑒 𝑦 (k1 + k2) −(k1l’1 − k2 l’2) y 0
𝑚𝑒 Jp 𝜃 + =
−(k1l’1 − k2 l’2) (k1l’12 + k2l’22) 𝜃 0

Static /Elastic and Dynamic / Mass Coupling

(22)

BITS Pilani, K K Birla Goa Campus

Coordinate Coupling and Principal Coordinates

Equation of motion of viscously damped 2 dof system

𝑚11 𝑚12 𝑥1 𝑐11 𝑐12 𝑥1 𝑘11 𝑘12 𝑥1 0

+ + = (23)
𝑚21 𝑚22 𝑥2 𝑐21 𝑐22 𝑥2 𝑘21 𝑘22 𝑥2 0

Nondiagonal stiffness matrix Static / elastic Coupling

Nondiagonal mass matrix Dynamic / mass Coupling Dynamic
Nondiagonal damping matrix Velocity / damping Coupling coupling

• System vibrates in its own natural way regardless of coordinates used,

choice of coordinates are for convenience.
• (19) and (22) nature of coupling depends on choice of coordinates.
• Principal coordinates: No static/dynamic coupling
BITS Pilani, K K Birla Goa Campus
Forced Vibration Analysis
Equation of motion of viscously damped 2 dof system under external force

𝑚11 𝑚12 𝑥1 𝑐11 𝑐12 𝑥1 𝑘11 𝑘12 𝑥1 𝐹1

+ + = (23)
𝑚21 𝑚22 𝑥2 𝑐21 𝑐22 𝑥2 𝑘21 𝑘22 𝑥2 𝐹2

Assume Fj(t) = Fj0 𝑒 𝑖𝜔𝑡 , j = 1,2 (24)

Assume steady state solution as
xj(t) = Xj 𝑒 𝑖𝜔𝑡 , j = 1,2 (25)
X1and X2,in general complex quantities depends on 𝜔 and system parameters.

Substituting (24) and (25) in (23)

(−𝜔2𝑚11 + 𝑖𝜔𝑐11 + 𝑘11) (−𝜔2𝑚12 + 𝑖𝜔𝑐12 + 𝑘12) 𝑋1 𝐹10
= (26)
(−𝜔2𝑚12 + 𝑖𝜔𝑐12 + 𝑘12) (−𝜔2𝑚22 + 𝑖𝜔𝑐22 + 𝑘22) 𝑋2 𝐹20

BITS Pilani, K K Birla Goa Campus

Forced Vibration Analysis

Let Zrs(𝑖𝜔) = (−𝜔2𝑚𝑟𝑠 + 𝑖𝜔𝑐𝑟𝑠 + 𝑘𝑟𝑠), r,s = 1,2 Mechanical Impedence (27)

Substituting (27) in (26)

[Z(𝑖𝜔)] X = F0 (28)
(−𝜔2𝑚11 + 𝑖𝜔𝑐11 + 𝑘11) (−𝜔2𝑚12 + 𝑖𝜔𝑐12 + 𝑘12)
[Z(𝑖𝜔)]= IMPEDENCE MATRIX
(−𝜔2𝑚12 + 𝑖𝜔𝑐12 + 𝑘12) (−𝜔2𝑚22 + 𝑖𝜔𝑐22 + 𝑘22)
𝑋1 𝐹10 𝑍11 𝑍12
X= 𝑋2
, F0 = 𝐹20
, [Z(𝑖𝜔)] =
𝑍21 𝑍22
Solving
X = [Z(𝑖𝜔)]-1F0 (29)

Substituting (29) in (25) we get solution x1(t) and x2(t)

BITS Pilani, K K Birla Goa Campus
Vibration Absorber

Use: If a machine is operating a frequency near its natural frequency, vibrations

can be reduced by another spring mass system which acts as vibration
neutralizer / dynamic vibration absorber.

Principal: Natural frequency of resulting system is away from excitation

frequency.

Assumption: Machine to be single degree of freedom system.

BITS Pilani, K K Birla Goa Campus

Equation of Motion
𝑚1 𝑥1 + 𝑘1 𝑥1 + 𝑘2(𝑥1 − 𝑥2) =F0 sin ωt
𝑚2 𝑥2 + 𝑘2(𝑥2 − 𝑥1) = 0 (30)
Assume harmonic solution
xj(t) = Xj sin ωt , j = 1,2 (31)
Steady state solution is
𝑘2 −𝑚2 ω2 𝐹0
X1 = (32)
𝑘1 +𝑘2 −𝑚1 ω2 𝑘2 −𝑚2 ω2 −𝑘22

𝑘2 𝐹0
X2 = (33)
𝑘1 +𝑘2 −𝑚1 ω2 𝑘2 −𝑚2 ω2 −𝑘22

BITS Pilani, K K Birla Goa Campus

To make X1 = 0 (aim of absorber) ,
𝑘2 − 𝑚2 ω2 = 0
𝑘2
ω2 = (34)
𝑚2
If the machine , before addition of the dynamic vibration absorber,
𝑘
operates near its resonance, ω2 ≅ ω12 = 1
𝑚1
𝑘2 𝑘1
If ω2 = = (35)
𝑚2 𝑚1
Amplitude of vibration of machine, while operating at its original resonant
frequency, will be zero.
2 𝑘2
∴ ω2 = (36)
𝑚2
F0
𝛿𝑠𝑡= (37)
𝑘1

BITS Pilani, K K Birla Goa Campus

Equation (32), (33) becomes

(38)

(39)

• Two peaks for two natural frequencies.

• X1 = 0 at ω = ω1 Force exerted by the auxiliary spring is
𝑘1 F0
• X2 = - 𝛿𝑠𝑡= - (40) opposite to impressed force (𝑘2 X2 = - F0)
𝑘2 𝑘2
and neutralizes it making X1 = 0
BITS Pilani, K K Birla Goa Campus
Size of dynamic vibration absorber can be found
from (40) and (35):
𝑘2 X2 = - F0= 𝑚2 ω2 X2 (41)
Two new resonant frequencies Ω1 and Ω2 are
introduced in the system at which amplitude is
infinite.
Hence operating frequency ω should be away from
Ω1 and Ω2.
Setting denominator of (38) to zero, leads

+1 = 0

BITS Pilani, K K Birla Goa Campus

The values of Ω1 and Ω2 are

(42)

The difference between Ω1 and Ω2

𝑚2
• Machine must pass through Ω1 during increases with increasing values of
𝑚1
startup and stopping resulting in large
amplitude.
• As dynamic absorber is tuned to one
excitation frequency ω , the steady state
amplitude of the machine will be zero only
at that frequency.
BITS Pilani, K K Birla Goa Campus