Twodegreeoffreedomsystems

Equationsofmotionforforcedvibration
Freevibrationanalysisofanundampedsystem

Introduction

Systemsthatrequiretwoindependentcoordinatestodescribetheir
h
d
d
d
d
b h
motionarecalledtwodegreeoffreedomsystems.
Number
N
b off
degrees of freedom Number of masses
of the system
y
in the system
y

number of possible types

of motion of each mass

Introduction

Therearetwoequationsforatwodegreeoffreedomsystem,oneforeach
h
f
d
ff d
f
h
mass(preciselyoneforeachdegreeoffreedom).

Theyaregenerallyintheformofcoupleddifferentialequationsthatis,
eachequationinvolvesallthecoordinates.

Ifaharmonicsolutionisassumedforeachcoordinate,theequationsof
motionleadtoafrequencyequationthatgivestwonaturalfrequenciesof
q
y q
g
q
thesystem.

Introduction

Ifwegivesuitableinitialexcitation,thesystemvibratesatoneofthese
If
i
it bl i iti l
it ti
th
t
ib t
t
f th
naturalfrequencies.Duringfreevibrationatoneofthenatural
frequencies,theamplitudesofthetwodegreesoffreedom(coordinates)
are related in a specified manner and the configuration is called a normal
arerelatedinaspecifiedmannerandtheconfigurationiscalledanormal
mode,principlemode,ornaturalmodeofvibration.

Thusatwodegreeoffreedomsystemhastwonormalmodesofvibration
correspondingtotwonaturalfrequencies.

Ifwegiveanarbitraryinitialexcitationtothesystem,theresultingfree
vibrationwillbeasuperpositionofthetwonormalmodesofvibration.
,
y
However,ifthesystemvibratesundertheactionofanexternalharmonic
force,theresultingforcedharmonicvibrationtakesplaceatthefrequency
oftheappliedforce.

Introduction

Asisevidentfromthesystemsshowninthefigures,theconfigurationofa
d
f
h
h
h f
h
f
f
systemcanbespecifiedbyasetofindependentcoordinatessuchas
length,angleorsomeotherphysicalparameters.Anysuchsetof
coordinatesiscalledgeneralizedcoordinates.

Althoughtheequationsofmotionofatwodegreeoffreedomsystemare
Although
the equations of motion of a two degree of freedom system are
generallycoupledsothateachequationinvolvesallcoordinates,itis
alwayspossibletofindaparticularsetofcoordinatessuchthateach
equationofmotioncontainsonlyonecoordinate.Theequationsofmotion
i
f
i
i
l
di
Th
i
f
i
arethenuncoupled andcanbesolvedindependentlyofeachother.Such
asetofcoordinates,whichleadstoanuncoupledsystemofequations,is
calledprinciplecopordinates.

Equationsofmotionforforced
vibration

Consideraviscouslydampedtwodegreeoffreedomspringmasssystem
d
l d
d
d
ff d
showninthefigure.

Themotionofthesystemiscompletelydescribedbythecoordinatesx1(t)
andx2(t),whichdefinethepositionsofthemassesm1 andm2 atanytimet
from the respective equilibrium positions
fromtherespectiveequilibriumpositions.

Equationsofmotionforforced
vibration

TheexternalforcesF
h
lf
1 andF
d 2 actonthemassesm
h
1 andm
d 2,respectively.
l
Thefreebodydiagramsofthemassesareshowninthefigure.
TheapplicationofNewtonssecondlawofmotiontoeachofthemasses
pp
givestheequationofmotion:

Equationsofmotionforforced
vibration

Itcanbeseenthatthefirstequationcontainstermsinvolvingx
b
h h f
l
2,whereas
h
thesecondequationcontainstermsinvolvingx1.Hence,theyrepresenta
systemoftwocoupledsecondorderdifferentialequations.Wecan
thereforeexpectthatthemotionofthem1 willinfluencethemotionof
m2,andvicaversa.

Equationsofmotionforforced
vibration

Theequationscanbewritteninmatrixformas:
h
b
f
where[m],[c]and[k]aremass,dampingandstiffnessmatrices,
where
[m] [c] and [k] are mass damping and stiffness matrices
respectivelyandx(t)andF(t)arecalledthedisplacementandforce
vectors,respectively.whicharegivenby:

Equationsofmotionforforced
vibration

Itcanbeseenthatthematrices[m],[c]and[k]areall2x2matriceswhose
b
h h
[ ] [ ] d [k]
ll
h
elementsaretheknownmasses,dampingcoefficienst,andstiffnessofthe
system,respectively.
Further,thesematricescanbeseentobesymmetric,sothat:

Freevibrationanalysisofanundampedsystem
Forthefreevibrationanalysisofthesystemshowninthefigure,weset
For the free vibration analysis of the system shown in the figure we set
F1(t)=F2(t)=0.Further,ifthedampingisdisregarded,c1=c2=c3=0,andthe
equationsofmotionreduceto:

Freevibrationanalysisofan
undampedsystem

Weareinterestedinknowingwhetherm
d k
h h
1 andm
d 2 canoscillate
ll
harmonicallywiththesamefrequencyandphaseanglebutwithdifferent
amplitudes.Assumingthatitispossibletohaveharmonicmotionofm1
andm2 atthesamefrequency andthesamephaseangle,wetakethe
solutionstotheequations

as:
whereX
h
X1 andX
d X2 areconstantsthatdenotethemaximumamplitudesof
h d
h
i
li d
f
x1(t)andx2(t)and isthephaseangle.Substitutingtheabovetwo
solutionsintothefirsttwoequations,wehave:

Freevibrationanalysisofan
undampedsystem

Sincetheaboveequationsmustbesatisfiedforallvaluesoftimet,the
termsbetweenbracketsmustbezero.Thisyields,

whichrepresentstwosimultaneoushomogeneousalgebraicequationsin
which
represents two simultaneous homogeneous algebraic equations in
theunknownsX1 andX2.Itcanbeseenthattheaboveequationcanbe
satisfiedbythetrivialsoutionX1=X2=0,whichimpliesthatthereisno
vibration.ForanontrivialsolutionofX
ib i
F
i i l l i
f X1 andX
d X2,thedeterminantof
h d
i
f
coefficientsofX1 andX2 mustbezero.

Freevibrationanalysisofan
undampedsystem
(m1m2 ) 4 {k1 k 2 m2 (k 2 k3 )m1} 2 {(k1 k 2 )(k 2 k3 ) k 22 } 0

Theaboveequationiscalledthefrequency orcharacteristicequation
becausesolutionofthisequationyieldsthefrequenciesofthe
characteristicvaluesofthesystem.Therootsoftheaboveequationare
g
givenby:
y

Freevibrationanalysisofan
undampedsystem

Thisshowsthatitispossibleforthesystemtohaveanontrivialharmonic
Thi
h
th t it i
ibl f th
t
t h
t i i lh
i
solutionoftheform

when=1 and=2 givenby:

WeshalldenotethevaluesofX1 andX2 correspondingto1 as

andthosecorrespondingto2 as.

Freevibrationanalysisofan
undampedsystem

F th
Further,since
i

theaboveequationishomogeneous,onlytheratiosand
r2=canbefound.For,theequations

give:

Noticethatthetworatiosareidentical.

Freevibrationanalysisofan
undampedsystem

Thenormalmodesofvibrationcorrespondingtocanbe
Th
l
d
f ib ti
di t
b
expressed,respectively,as:

Thevectors,whichdenotethenormalmodesofvibrationare
y
knownasthemodalvectorsofthesystem.Thefreevibrationsolutionor
themotionintimecanbeexpressedusing
as:

wheretheconstantsaredeterminedbytheinitial
conditions.

Freevibrationanalysisofan
undampedsystem
IInitialconditions:
iti l
diti
Eachofthetwoequationsofmotion,

involvessecondordertimederivatives;henceweneedtospecifytwo
initial conditions for each mass
initialconditionsforeachmass.
Thesystemcanbemadetovibrateinitsithnormalmode(i=1,2)by
subjectingittothespecificinitialconditions.

However,foranyothergeneralinitialconditions,bothmodeswillbe
excited.Theresultingmotion,whichisgivenbythegeneralsolutionofthe
equations
canbeobtainedbyalinearsuperpositionoftwonormalmodes.

Freevibrationanalysisofan
undampedsystem
I iti l
Initialconditions:
diti

x (t ) c1 x1 (t ) c2 x2 (t )
where c1 and c 2 are constants.

Sinceandalreadyinvolvetheunknownconstantsand
wecanchoosec1=c2=1withnolossofgenerality.Thus,thecomponentsofthe

x (t )
vectorcanbeexpressedas:

wheretheunknowncanbedeterminedfromtheinitial
conditions

Freevibrationanalysisofan
undampedsystem

Freevibrationanalysisofan
undampedsystem

Freevibrationanalysisofan
undampedsystem

Frequencies of a mass spring system

Frequenciesofamassspringsystem
Example:Findthenaturalfrequenciesand
l
d h
lf
d
modeshapesofaspringmasssystem,which
isconstrainedtomoveinthevertical
direction.
Solution:Theequationsofmotionaregiven
by:
Byassumingharmonicsolutionas:
thefrequencyequationcanbeobtainedby:

Frequencies of a mass spring system

Frequenciesofamassspringsystem

Thesolutiontotheaboveequationgivesthenaturalfrequencies:

Frequencies of a mass spring system

Frequenciesofamassspringsystem

From

theamplituderatiosaregivenby:

Frequencies of a mass spring system

Frequenciesofamassspringsystem

From

Thenaturalmodesaregivenby

Frequencies of a mass spring system

Frequenciesofamassspringsystem

Thenaturalmodesare
h
l
d
givenby:

Frequencies of a mass spring system

Frequenciesofamassspringsystem

Itcanbeseenthatwhenthesystemvibratesinitsfirstmode,the
b
h
h
h
b
f
d h
amplitudesofthetwomassesremainthesame.Thisimpliesthatthe
lengthofthemiddlespringremainsconstant.Thusthemotionsofthe
mass1andmass2areinphase.

Frequencies of a mass spring system

Frequenciesofamassspringsystem

Whenthesystemvibratesinitssecondmode,theequationsbelowshow
h
h
b
d
d h
b l
h
thatthedisplacementsofthetwomasseshavethesamemagnitudewith
oppositesigns.Thusthemotionsofthemass1andmass2areoutof
phase.Inthiscase,themidpointofthemiddlespringremainsstationary
foralltime.Suchapointiscalledanode.

Frequencies of a mass spring system

Frequenciesofamassspringsystem

Usingequations

themotion(generalsolution)ofthesystemcanbeexpressedas:

Forced vibration analysis

Forcedvibrationanalysis

Theequationofmotionofageneraltwodegreeoffreedomsystemunder
Th
ti
f
ti
f
lt d
ff d
t
d
externalforcescanbewrittenas:

Weshallconsidertheexternalforcestobeharmonic:
where istheforcingfrequency.Wecanwritethesteadystatesolution
as:
whereX1 andX2 are,ingeneral,complexquantitiesthatdependon and
thesystemparameters.Substitutingtheabovetwoequationsintothefirst
one:

Forced vibration analysis

Forcedvibrationanalysis

Weobtain:
b

IfwedefineatermcalledmechanicalimpedanceZrs(i) as:

and
d write
i the
h first
fi equation
i as:
where

Forced vibration analysis

Forcedvibrationanalysis

Theequation
h
canbesolvedtoobtain:
Where the inverse of the impedance matrix is given by:
Wheretheinverseoftheimpedancematrixisgivenby:

Therefore,thesolutionsare:

Bysubstitutingtheseintothebelowequation,thesolutionscanbe
By
substituting these into the below equation the solutions can be
obtained.

Multidegreeoffreedomsystems
Modelingofcontinuoussystemsasmultidegreeoffreedomsystems
Eigenvalueproblem

Multidegree of freedom systems

Multidegreeoffreedomsystems
A
Asstatedbefore,mostengineeringsystemsarecontinuous
t t db f
t
i
i
t
contin o s and
d
haveaninfinitenumberofdegreesoffreedom.Thevibration
analysisofcontinuoussystemsrequiresthesolutionofpartial
differential equations which is quite difficult
differentialequations,whichisquitedifficult.
Infact,analyticalsolutionsdonotexistformanypartialdifferential
equations.Theanalysisofamultidegreeoffreedomsystemonthe
ti
Th
l i f
ltid
ff d
t
th
otherhand,requiresthesolutionofasetofordinarydifferential
equations,whichisrelativelysimple.Hence,forsimplicityof
analysis continuous systems are often approximated as
analysis,continuoussystemsareoftenapproximatedas
multidegreeoffreedomsystems.
Forasystemhavingndegreesoffreedom,therearenassociated
ff
naturalfrequencies,eachassociatedwithitsownmodeshape.

Multidegree of freedom systems

Multidegreeoffreedomsystems

Differentmethodscanbeusedtoapproximateacontinuoussystemasa
Different
methods can be used to approximate a continuous system as a
multidegreeoffreedomsystem.Asimplemethodinvolvesreplacingthe
distributedmass orinertiaofthesystembyafinitenumberoflumpedmassesor
rigidbodies.

Thelumpedmassesareassumedtobeconnectedbymasslesselasticanddamping
members.

Linearcoordinatesareusedtodescribethemotionofthelumpedmasses.Such
modelsarecalledlumpedparameteroflumpedmassordiscretemasssystems.

Theminimumnumberofcoordinatesnecessarytodescribethemotionofthe
lumpedmassesandrigidbodiesdefinesthenumberofdegreesoffreedomofthe
system.Naturally,thelargerthenumberoflumpedmassesusedinthemodel,the
higher the accuracy of the resulting analysis
highertheaccuracyoftheresultinganalysis.

Multidegree of freedom systems

Multidegreeoffreedomsystems

Someproblemsautomatically
Some
problems automatically
indicatethetypeoflumped
parametermodeltobeused.

Forexample,thethreestorey
buildingshowninthefigure
y gg
g
automaticallysuggestsusinga
threelumpedmassmodelas
indicatedinthefigure.

Inthismodel,theinertiaofthe
systemisassumedtobe
concentratedasthreepoint
masses located at the floor
masseslocatedatthefloor
levels,andtheelasticitiesofthe
columnsarereplacedbythe
p g
springs.

Multidegree of freedom systems

Multidegreeoffreedomsystems

Anotherpopularmethodofapproximatingacontinuoussystemasa
h
l
h d f
multidegreeoffreedomsysteminvolvesreplacingthegeometryofthe
systembyalargenumberofsmallelements.
Byassumingasimplesolutionwithineachelement,theprinciplesof
compatibility andequilibrium areusedtofindanapproximatesolutionto
the original system This method is known as the finite element method
theoriginalsystem.Thismethodisknownasthefiniteelementmethod.

UsingNewtonssecondlawtoderive
equationsofmotion
Thefollowingprocedurecanbeadoptedtoderivetheequationsofmotionof
The
following procedure can be adopted to derive the equations of motion of
amultidegreeoffreedomsystemusingNewtonssecondlawofmotion.
1
1.

Setupsuitablecoordinatestodescribethepositionsofthevariouspoint
Set
up suitable coordinates to describe the positions of the various point
massesandrigidbodiesinthesystem.Assumesuitablepositivedirections
forthedisplacements,velocitiesandaccelerationsofthemassesandrigid
bodies.

2.

Determinethestaticequilibriumconfigurationofthesystemandmeasure
thedisplacementsofthemassesandrigidbodiesfromtheirrespectivestatic
equilibrium positions
equilibriumpositions.

3.

Drawthefreebodydiagramofeachmassorrigidbodyinthesystem.
Indicate the spring damping and external forces acting on each mass or rigid
Indicatethespring,dampingandexternalforcesactingoneachmassorrigid
bodywhenpositivedisplacementorvelocityaregiventothatmassorrigid
body.

UsingNewtonssecondlawtoderive
equationsofmotion
4.ApplyNewtonssecondlawofmotiontoeachmassorrigidbodyshownby
l

dl
f
h
db d h
b
thefreebodydiagramas:

Example:Derivetheequationsofmotionofthespringmassdampersystem
showninthefigure.
h
i h fi

UsingNewtonssecondlawtoderive
equationsofmotion

DrawfreebodydiagramsofmassesandapplyNewtonssecondlawof
f
b d d
f
d
l

dl
f
motion.Thecoordinatesdescribingthepositionsofthemasses,xi(t),are
measuredfromtheirrespectivestaticequilibriumpositions,asindicated
inthefigure.TheapplicationoftheNewtonssecondlawofmotionto
massmi gives:

or

Theequationsofmotionofthemassesm1 andm2 canbederivedfromthe

aboveequationsbysettingi=1alongwithxo=0andi=nalongwithxn+1=0,
respectively.
respectively

Equations of motion in matrix form

Equationsofmotioninmatrixform

Theequationsofmotioninmatrixformintheaboveexamplecanbe
h
f
f
h b
l
b
expressedas:

Equations of motion in matrix form

Equationsofmotioninmatrixform

Equations of motion in matrix form

Equationsofmotioninmatrixform

F
Foranundampedsystem,theequationsofmotionreduceto:
d
d t
th
ti
f
ti
d
t

Thedifferentialequationsofthespringmasssystemconsideredinthe
example,canbeseentobecoupled.Eachequationinvolvesmorethan
onecoordinate.Thismeansthattheequationscannotbesolved
individuallyoneatatime;theycanonlybesolvedsimultaneously.

Inaddition,thesystemcanbeseentobestaticallycoupledsince
stiffnesses are coupled thatisthestiffnessmatrixhasatleastone
stiffnessesarecoupled
that is the stiffness matrix has at least one
nonzerooffdiagonalterm.Ontheotherhand,ifthemassmatrixhasat
leastoneoffdiagonaltermnonzero,thesystemissaidtobedynamically
p
,
coupled.Further,ifboththestiffnessandthemassmatriceshavenonzero
offdiagonalterms,thesystemissaidtobecoupledbothstaticallyand
dynamically.

Undamped free vibrations

Undampedfreevibrations

Theequationsofmotionforafreelyvibratingundampedsystemcanbe
h
f
f
f l b
d
d
b
obtainedbyomittingthedampingmatrixandappliedloadvectorfrom:
mx cx kx 0
inwhich0isazerovector.Theproblemofvibrationanalysisconsistsof
determiningtheconditionsunderwhichtheequilibriumconditionexpressed
by the above equation will be satisfied.
bytheaboveequationwillbesatisfied.
ByanalogywiththebehavourofSDOFsystems,itwillbeassumedthatthe
freevibrationmotionissimpleharmonic(thefirstequationbelow),which
may be expressed for a multi degree of freedom system as:
maybeexpressedforamultidegreeoffreedomsystemas:
x(t ) x sin(t )
x 2 x sin(t ) 2 x

x
Intheaboveexpressions,representstheshapeofthesystem(whichdoes
notchangewithtime;onlytheamplitudevaries)and isaphaseangle.The
q
p
thirdequationaboverepresentstheaccelerationsinthefreevibration.

Undamped free vibrations

Undampedfreevibrations

S b tit ti
Substituting

x(t ) x sin(t )
x 2 x sin(t ) 2 x

intheequation

mx cx kx 0

weobtain:
we
obtain:
2mx sin(
i (t ) kx sin(
i (t ) 0
which(sincethesinetermisarbitraryandmaybeomitted)maybewritten:

k mx 0
2

Theaboveequationisonewayofexpressingwhatiscalledaneigenvalue
2
orcharacteristicvalueproblem.Thequantitiesaretheeigenvaluesor
characteristicvaluesindicatingthesquareofthefreevibration
x
frequencies,whilethecorrespondingdisplacementvectorsexpressthe
correspondingshapesofthevibratingsystem knownastheeigenvectors
ormodeshapes.

Undamped free vibrations

Undampedfreevibrations

ItcanbeshownbyCramersrulethatthesolutionofthissetof
It
b h
b C
l th t th
l ti
f thi
t f
simultaneousequationsisoftheform:
x

0
k 2m

Henceanontrivialsolutionispossibleonlywhenthedenominator
,
p
determinantvanishes.Inotherwords,finiteamplitudefreevibrationsare
possibleonlywhen
k 2m 0

Theaboveequationiscalledthefrequencyequationofthesystem.
The
above equation is called the frequency equation of the system
ExpandingthedeterminantwillgiveanalgebraicequationoftheNth
2
degreeinthefrequencyparameterforasystemhavingNdegreesof
freedom
freedom.
12 , 22 , 32 ,...., N2
TheNrootsofthisequationrepresentthefrequenciesof
theNmodesofvibrationwhicharepossibleinthesystem.

Undamped free vibrations

Undampedfreevibrations

Themodehavingthelowestfrequencyiscalledthefirstmode,thenext
Th
d h i th l
tf
i
ll d th fi t
d th
t
higherfrequencyisthesecondmode,etc.
Thevectormadeupoftheentiresetofmodalfrequencies,arrangedin
sequence,willbecalledthefrequencyvector.
ll b
ll d h f
1

2
3


N

Normalization:
It
Itwasnotedearlierthatthevibrationmodeamplitudesobtainedfromthe
t d
li th t th ib ti
d
lit d
bt i d f
th
eigenproblemsolutionarearbitrary;anyamplitudewillsatisfythebasic
frequencyequation
k 2m 0
andonlytheresultingshapesareuniquelydefined.

Normalization of modes
Normalizationofmodes

Intheanalysisprocessdescribedabove,theamplitudeofonedegreeof
h
l
d
b d b
h
l d f
d
f
freedom(thefirstactually)hasbeensettounity,andtheother
displacementshavebeendeterminedrelativetothisreferencevalue.This
iscallednormalizingthemodeshapeswithrespecttothespecified
referencecoordinate.

Othernormalizingproceduresalsoarefrequentlyused;e.g.,inmany
computerprograms,theshapesarenormalizedrelativetothemaximum
di l
displacementvalueineachmoderatherthanwithrespecttoany
l i
h
d
h h
ih
particularcoordinate.Thus,themaximumvalueineachmodalvectoris
unity,whichprovidesconvenientnumbersforuseinsubsequent
calculations.

Normalization of modes
Normalizationofmodes

Thenormalizingproceduremostoftenusedincomputerprogramsfor
Th
li i
d
t ft
di
t
f
structuralvibrationanalysis,however,involvesadjustingeachmodal
amplitudetotheamplitude,whichsatisfiesthecondition
n
nT mn 1

Thiscanbeaccomplishedbycomputingthescalarfactor
v nTmv m M n
v n
whererepresentsanarbitrarilydeterminedmodalamplitude,andthen
computingthenormalizedmodeshapesasfollows:
n v n M n1/ 2

Bysimplesubstitution,itiseasytoshowthatthisgivsthedesiredresult.A
consequenceofthistypeofnormalizingtogetherwiththemodal
orthogonalityrelationshipsrelativetothemassmatrixisthat
nT m
n I

where isthecompletesetofNnormalizedmodeshapesandIisanNxN
identitymatrix.Themodeshapesnormalizedinthisfashionaresaidtobe
orthonormalrelativetothemassmatrix.

Mode shapes of a four storey 2D frame

Modeshapesofafourstorey2Dframe
Amodelofafourstorythreebayframecanbeevaluatedto
determinethemodeshapes. This2Dmodelisfromatypical
building from the Marmara region in Turkey
buildingfromtheMarmararegioninTurkey.
Generally
Generally,thefirstmodeofvibrationistheoneofprimary
the first mode of vibration is the one of primary
interest. Thefirstmodeusuallyhasthelargestcontributionto
thestructure'smotion. Theperiodofthismodeisthelongest
p
g
andthenaturalfrequencyisthelowest.
Pleaseclickonthemovietostart!

Mode shapes of a four storey 2D frame

Modeshapesofafourstorey2Dframe
Firstmodeshape
st ode s ape

Mode shapes of a four storey 2D frame

Modeshapesofafourstorey2Dframe
Secondmodeshape
Seco d ode s ape

Mode shapes of a four storey 2D frame

Modeshapesofafourstorey2Dframe
Thirdmodeshape
d ode s ape

Undamped free vibrations

Undampedfreevibrations
Example:
l
Determine the eigenvalues and eigenvectors of a vibrating system for which
Determinetheeigenvaluesandeigenvectorsofavibratingsystemforwhich

Example

Example
Solution:
l
Whenthecharacteristicequationpossessesrepeatedroots,the
correspondingmodeshapesarenotunique.
p
g
p
q

Example
Solution:
l

Rigid body motion

Rigidbodymotion

Anunrestrainedsystemisonethathasnorestraintsorsupportsandthat
d
h h
d h
canmoveasarigidbody.Itisnotuncommontoseeinpracticesystems
thatarenotattachedtoanystationaryframe.
Suchsystemsarecapableofmovingasrigidbodies,whichcanbe
consideredasmodesofoscillationwithzerofrequency.
A semidefinite system such as this has a singular stiffness matrix In
Asemidefinitesystemsuchasthis,hasasingularstiffnessmatrix.In
systemsthatarenotproperlyrestrained,rigidbodydisplacementscan
takeplacewithouttheapplicationofanyforce.Thus,denotingapossible
rigidbodydisplacementbyu
i id b d di l
b r,wehave
h
fr Ku r 0

Foranonzerou
For
a nonzero ur,theaboveequationcanbesatisfiedprovidedonlythatK
the above equation can be satisfied provided only that K
issingular.Inthiscase,thebelowequationcanonlybesatisfiedwhen
=0.
K 2M ur 0

Rigid body motion

Rigidbodymotion

Therigidbodydisplacementsarethosedisplacementmodesthatthe
h
db d d l
h
d l
d h h
elementmustbeabletoundergoasarigidbodywithoutstressesbeing
developedinit.
Rigidbodydisplacementshapesarealsoreferredtoasrigidbodymodes.
Asystemcan,ofcourse,havemorethanonerigidbodymode.Inthemost
general case up to six rigid body modes are possible For example a
generalcase,uptosixrigidbodymodesarepossible.Forexample,a
spacecraftoranaeroplaneinflighthasallsixpossiblerigidbodymodes,
threetranslationsandthreerotations,onealongeachofthethreeaxis.

Rigidbodymodesofaplanestresselement
g
y
p

Orthogonality of modes
Orthogonalityofmodes

Thenaturalmodescorrespondingtodifferentnaturalfrequenciescanbe
h
l
d
d
d ff
lf
b

showntosatisfythefollowingorthogonalityconditions.When:
n

nT kr 0

nT mr 0

Proof: Thenthnaturalfrequencyandmodesatisfy

kn n2mn
Premultiplyingtheaboveequationby
Premultiplying
the above equation by r
T

rT kn n2rT mn

y
q
y
p
y
Similarlytherthnaturalfrequencyandmodeshapesatisfy

kr r2mr

Orthogonality of modes
Orthogonalityofmodes
kr r2mr b n
Premultiplyingbygives:
l l
T

nT kr r2nT mr

r kn n r mn
Thetransposeofthematrixontheleftsideofwill
equalthetransposeofthematrixontherightsideoftheequation:
T

nT kr n2nT mr
Subtractingthefirstequationfromthesecondequation:

2
n

r2 nT mr 0

nT mr 0
Theequationistruewhenwhichforsystemswith
q
y
positivenaturalfrequenciesimpliesthat
n

Modalequationsforundamped
systems

t
p

TheequationsofmotionforalinearMDOFsystemwithoutdampingis:
h
f
f
l
h
d
x
k
x
m

The simultaneous solution of these coupled equations of motion that we
Thesimultaneoussolutionofthesecoupledequationsofmotionthatwe
haveillustratedbeforefora2dofsystemsubjectedtoharmonic
excitationisnotefficientforsystemswithmoreDOF,norisitfeasiblefor
systems excited by other types of forces Consequently it is advantegous
systemsexcitedbyothertypesofforces.Consequently,itisadvantegous
totransformtheseequationstomodalcoordinates.
Thedisplacementvectorx ofaMDOFsystemcanbeexpandedinterms
ofmodalcontributions.Thus,thedynamicresponseofasystemcanbe
expressedas:
N

x(t ) r qr (t ) q(t )
r 1

Modalequationsforundamped
systems
N

t
p

x
k
x
m

x(t ) r qr (t ) q(t ) h
Usingtheequation,thecoupledequationsinx
h
l d
j(t)
()
r 1
givenbelow

r 1

t
p

canbetransformedtoasetofuncoupledequationswithmodal
coordinatesqn(t)astheunknowns.Substitutingthefirstequationintothe
second:

r qr(t ) r qr(t )
r 1

r 1

T
n

t
p

Premultiplying each term in this equation by nT gives :

r qr(t ) nT r qr(t ) nT
r 1

Modalequationsforundamped
systems

t
p

Becauseoftheorthogonalityrelations,all
B
f th
th
lit
l ti
nT kr 0
nT mr 0 ll
termsineachofthesummationsvanishexceptther=nterm,reducingthe
equationto:
nT n qn(t ) nT n qn(t ) nT
or

where

M n qn (t ) K n qn (t ) Pn (t )
M n nT mn

K n nT kn

Pn (t ) nT p(t )

Theaboveequationmaybeinterpretedastheequationgoverningthe
Th
b
ti
b i t
t d th
ti
i th
responseqn(t)oftheSDOFsystemwithmassMn,stiffnessKn,andexciting
forcePn(t).
Th f
ThereforeM
Mn iscalledthegeneralizedmassforthenthnaturalmode,K
i
ll d h
li d
f h
h
l
d Kn
thegeneralizedstiffnessforthenthmode,andPn(t)thegeneralizedforce
forthenthmode.Theseparametersonlydependonthenthmode.

Modal equations for damped systems

Modalequationsfordampedsystems

Usingthetransformation

t
p

Whendampingisincluded,theequationsofmotionforaMDOFsystem
h d
l d d h
f
f
are:

x
k
x
c
x
m

x(t ) r qr (t ) q(t )
r 1

t
p

r 1

wherer arethenaturalmodesofthesystemwithoutdamping,these
equationscanbewrittenintermsofthemodalcoordinates.Unlikethe
p
y
,
q
y
p
caseofundampedsystems,thesemodalequationsmaybecoupled
throughthedampingterms.However,forcertainformsofdampingthat
arereasonableidealizationsformanystructures,theequationsbecome
uncoupled just as for undamped systems Substituting the second
uncoupled,justasforundampedsystems.Substitutingthesecond
equationintothefirst,weobtain:

r qr((t ) r q r((t ) r qr((t )

r 1

r 1

Modal equations for damped systems

Modalequationsfordampedsystems

Premultiplyingeachterminthisequationbygives:
l l
h
h
b n
T

r qr((t ) r q r((t ) nT r qr((t ) nT

r 1

T
n

r 1

whichcanberewrittenas:
N

M n qn(t ) Cnr q r(t ) K n qn(t ) Pn(t )

r 1

where
h

t
p

r 1

T
n

Cnr nT cr

The above N equations can be written in matrix form as:

TheaboveNequationscanbewritteninmatrixformas:
Cq Kq P(t)
Mq

HereCisanondiagonalmatrixofcoefficientsCnr.

Modal equations for damped systems

Modalequationsfordampedsystems

Themodalequationswillbeuncoupledifthesystemhasclassical
damping.ForsuchsystemsCnr=0ifnrandCn canbeexpressedas:

Cn 2 n M nn

Forsuchsystems:
M n qn Cn q n K n qn Pn (t )

Dividing by Mn:
DividingbyM
qn 2 nn q n n2 qn

Pn (t )
Mn

where n is the damping ratio for the nth mode.