Vibration of Multi-Degreeof-Freedom (MDOF)

Systems Coordinate
Coupling
H.P. LEE
Department of Mechanical Engineering
EA-05-20
Email: mpeleehp@nus.edu.sg
Semester 2 2013/2014

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Coordinate Coupling

The differential equations of motion for 2-dof systems

are in general coupled, in that both coordinates appear
in each equation. In the most general case the two
equations for the un-damped system have the form

m11x1 m12 x2 k11 x1 k12 x2 0

m21x1 m22 x2 k 21 x1 k 22 x2 0

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Coordinate Coupling

In matrix form

m11 m12 x1 k11 k12 x1 0

m

21 m22 x2 k 21 k 22 x2 0

Mass or dynamical coupling exists if the mass matrix is

non-diagonal. (Mass matrix is a non diagonal matrix)
Stiffness or static coupling exists of the stiffness matrix is
non-diagonal. (Stiffness matrix is a non diagonal matrix)

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Revision Equation of motion for a rigid

body
F = R = m aG
MG = IG a
aG is the acceleration of the centre of mass of the rigid body.
This is the reason why the centre of mass need to be
determined before one can proceed with the dynamic
analysis. R is the resultant of all external forces

MG is the sum of all the moment of all external forces

about an axis passing through the centre of mass of the
rigid body as well as external couples acting on the rigid
body.
IG is the moment of inertia about an axis passing through the
centre of mass of the rigid body.
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Revision equation of motion of a rigid

body

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DAlemberts principle

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Example

The following figure shows a rigid bar with its

center of mass not coinciding with its geometric
center, and supported by two springs. It is a 2dof system as two coordinates are required to
specify its motion. The choice of coordinates will
define the type of coupling.

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This example is a further

simplification of a half car vehicle
model

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Example

Choose coordinates x and , as shown in the

figure where x is the linear displacement of the
center of mass, the system will have static
coupling as shown by the matrix equation
(k 2 l 2 k1l1 ) x 0
m 0 x (k1 k 2 )
0 J (k l k l ) (k l 2 k l 2 ) 0

2 2 1 1
1 1
2 2

If k1l1 = k2l2, the coupling disappears, and we

obtain uncoupled x and vibrations

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Dynamic Coupling

There is a point along the bar where a force

applied
normal to the bar produces pure
translation, i.e., k1l3 = k2l4.

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Dynamic coupling

The matrix equation is

0
m me xc (k1 k 2 )
xc 0

me J 0
2
2
(k1l3 k 2 l 4 ) 0
c

The coordinates chosen eliminate the static

coupling and introduce dynamic coupling.

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Static and Dynamic Couplings

If we choose x = x1 at the end of the bar, as

shown in the following figure,

The equation of motion becomes

m
ml
1

ml1 x1 (k1 k 2 ) k 2 l x1 0

2
J1 k 2l
k 2 l 0
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Static and dynamic coupling

Both the mass and the stiffness matrices are
non-diagonal matrices.
Both static and dynamic couplings are present

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