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    Lecture 6

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    Fong Wei Jun
    This document discusses a two degree of freedom mechanical system undergoing free vibration without damping. It presents the mathematical model and characteristic frequency equation for determining the natural frequencies of the system. The general solution expresses the motion of the two masses as a combination of harmonic functions at the two natural frequencies, with the amplitude ratios depending on the system properties.

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    Lecture 6

    Uploaded by

    Fong Wei Jun
    37 views9 pages
    This document discusses a two degree of freedom mechanical system undergoing free vibration without damping. It presents the mathematical model and characteristic frequency equation for determining the natural frequencies of the system. The general solution expresses the motion of the two masses as a combination of harmonic functions at the two natural frequencies, with the amplitude ratios depending on the system properties.

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    This document discusses a two degree of freedom mechanical system undergoing free vibration without damping. It presents the mathematical model and characteristic frequency equation for determining the natural frequencies of the system. The general solution expresses the motion of the two masses as a combination of harmonic functions at the two natural frequencies, with the amplitude ratios depending on the system properties.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    37 views9 pages

    Lecture 6

    Uploaded by

    Fong Wei Jun
    This document discusses a two degree of freedom mechanical system undergoing free vibration without damping. It presents the mathematical model and characteristic frequency equation for determining the natural frequencies of the system. The general solution expresses the motion of the two masses as a combination of harmonic functions at the two natural frequencies, with the amplitude ratios depending on the system properties.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    of 9

    MECHANICAL VIBRATIONS

    BMM3553

    LECTURE 6
    Two Degree of Freedom System
    • Free Vibration without Damping Introducing the third dynamic
    characteristics, namely the
    mode shape

    • Keywords
    ▫ natural frequencies
    ▫ mode shapes
    Two Degree of Freedom System
    • Mathematical model for 2 DOF system (translation
    motion)
    m1 x 1  k1 x1  k ( x1  x 2 )  0

    m 2 x 2  k 2 x 2  k ( x 2  x1 )  0

    m1 x 1  ( k1  k ) x1  kx 2  0 ( 2.1 )

     kx1  m 2 x 2  ( k 2  k ) x 2  0 ( 2.2 )


    Two Degree of Freedom System
    • Vibrations are usually harmonic in nature and it is reasonable to
    assume that
    x1  A1 sin(t   )
    x2  A2 sin(t   )
    x1   2 A1 sin(t   )
    x2   2 A2 sin(t   )

    • Substitute into (2.1) and (2.2)

     m 1 2 A1 sin( t   )  ( k 1  k ) A1 sin( t   )  kA2 sin( t   )  0 ( 2.1a )

     kA1 sin( t   )  m 2 2 A2 sin( t   )  ( k 2  k ) A2 sin( t   )  0 ( 2.2a )


    Two Degree of Freedom System
    • and if vibration does occur
    sin ( t + )  0
    Hence,
     m1 2 A1  (k1  k ) A1  kA2  0
     kA1  m2 2 A2  (k 2  k ) A2  0
     m1 2  (k1  k ) k   A1  0
        
     k  m2  (k 2  k )  A2  0
    2

    • Trivial solution A1 = A2 = 0 gives only static equilibrium condition.


    Hence,
     m 1 2  ( k 1  k ) k
    2
    0
    k  m 2  ( k 2  k )

    • This is the characteristic or frequency equation for the system.


    Two Degree of Freedom System
    • Expand the equation to determine ω
     m 
    1
    2
     
     ( k 1  k )  m 2 2  ( k 2  k )  k 2  0

     k  k k 2  k  2 k 1 k 2  kk 1  kk 2
     4   1    0
     m 1 m 2  m 1 m 2

    2
    k  k k 2  k 1  k1  k k 2  k  k k  kk 1  kk 2
    2  1       4 1 2
    2 m1 2m 2 2  m1 m2  m1m2
    2
    k  k k 2  k 1  k1  k k 2  k  k k  kk 1  kk 2  kk k k  kk 1  kk 2
    2  1       4 1 2 4 1 2
    2 m1 2m 2 2  m1 m2  m1m2 m1 m 2
    2
    k  k k 2  k 1  k1  k k 2  k  kk
    2  1       4
    2 m1 2m 2 2  m1 m2  m1 m 2
    2
    k  k k2  k 1  k1  k k2  k  k2
    2  1       ( 2.3 )
    2 m1 2m 2 4  m1 m2  m1 m 2
    Two Degree of Freedom System
    • Quantities under the square root are positive, hence ω2 real. 
    • Four values of w: + w1 ; + w2
    • Negative sign gives no new solution and merely alter the sign of
    the arbitrary constants.
    • The general solution for the D.E. is, therefore,
    x1  A11 sin(1t  1 )  A12 sin(2t  2 ) (2.4)
    x2  A21 sin(1t  1 )  A22 sin(2t  2 ) (2.5)

    x 1  A111 cos(1t  1 )  A122 cos(2t  2 ) (2.4a)


    x 2  A211 cos(1t  1 )  A222 cos(2t  2 ) (2.5a)

    • Final solution for 2dof :


    x1  A11 cos 1t  A12 cos 2t (2.4b)
    x2  A21 cos 1t  A22 cos 2t (2.5b)
    Two Degree of Freedom System
    where, the natural frequencies,
    w1 = first natural frequency
    w2 = second natural frequency
    Aij = amplitude of mass i in mode j
    Two Degree of Freedom System
    • The amplitudes and phases are determined by the initial
    conditions.
    • The amplitude ratios are important and are obtained from (2.1)
    and (2.2)
    A11 k ( k 2  k )  m 2 12
     2
     ( 2.6 )
    A21 ( k 1  k )  m 1 1 k

    A12 k ( k 2  k )  m 2 22
     2
     ( 2. 7 )
    A22 ( k 1  k )  m 1 2 k

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