Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.

in)

Example 2.1. Obtain the torsional natural frequency of the system shown in Figure 2.10 using the
transfer matrix method. Check results with closed form solution available. Take G = 0.81011 N/m2.

0.6m

1 2

0.1 m
22.6 kgm2 5.66 kgm2
Figure 2.10 Example 2.1

Solution: We have following properties of the rotor

p
G = 0.8 �1011 N/m2 ; l = 0.6 m; J= (0.1) 4 = 9.82 �10-6m 4
32

The torsional stiffness is given as

GJ 0.8 �1011
kt = = 9.82 �10-6 = 1.31�106 Nm/rad
l 0.6

Analytical method: The natural frequencies in the closed form are given as

wn = 0; and wn =
( I p + I p ) kt
1 2
=
( 22.6 + 5.66 ) 1.31�106 = 537.97 rad/sec
2 2 Ip Ip 22.6 �5.66
1 2

Mode shapes are given as

wn1 = 0 {q} 2 = {q} 0

R
For

I p1
{q} 2 { q } 0 = -4.0 { q } 0
R
and wn2 = 537.77 rad/s =-
I p2

Transfer matrix method: State vectors can be related between stations 0 & 1 and 1 & 2, as

{S }1R = [ P]1{S}0

{S }2R = [ P]2 [ F ]2{S}1R = [ P]2 [ F ]2 [ P]1{S}0

The overall transformation of state vectors between 2 & 0 is given as

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

q� � 1 1 kt
R
q� � 1
� 0��1 1 kt �� 1 0�� �� 1 0�� q�
�� = � 2 � �= � 2 �� 2 ��
T 2 �
�����-wn I p2 �
1 ��
0 1 ��
� 2 �
-wn I p1 1� T 0 �
-wn I p2
� ( 1- w I
2
n p2 )
kt �-w I 1 �
�� n p1 � T 0

� 1 - wn2 I p1 kt 1 kt ��
q�
=� 2 �� �
�
� (
-wn I p2 - wn2 I p1 1 - w 2 I p2 kt ) ( 1- w I 2
n p2 kt �T)
�� 0

On substituting values of various rotor parameters, it gives

q� �
�
R
( 1 - 1.73 �10-5 wn2 ) 7.64 �10-7 ��
q�
��= � �� � (A)
�� ( -5.66wn2 + 9.77 �10-5 wn4 - 22.6wn2 )
T 2 �
� 9.77 �10 -7 wn2 + 1�T
� 0

Since ends of the rotor are free, the following boundary conditions will apply
T0 = T2R = 0

On application of boundary conditions, we get the following condition

t21 = [-28.26wn2 + 9.77 �10-5 wn4 ]{q }0 = 0

Since { q } 0 �0 , we have

wn2 [9.77 �10-5 wn2 - 28.26] = 0

which gives the natural frequency as

wn1 = 0 and wn2 = 537.77 rad/sec

which are exactly the same as obtained by the closed form solution. Mode shapes can be obtained by
substituting these natural frequencies one at a time into equation (A), as

wn1 = 0 { q} 2 = { q} 0
R
For rigid body mode

wn2 = 537.77 rad/s {q} 2 = -4.0 { q } 0

R
and anti-phase mode

which are also exactly the same as obtained by closed form solutions.

Example 2.2. Find torsional natural frequencies and mode shapes of the rotor system shown in Figure
1. B is a fixed end and D 1 and D2 are rigid discs. The shaft is made of steel with modulus of rigidity G
= 0.8 (10)11 N/m2 and uniform diameter d = 10 mm. The various shaft lengths are as follows: BD 1 =
50 mm, and D1D2 = 75 mm. The polar mass moment of inertia of discs are: Ip1 = 0.08 kg-m2 and Ip2 =

72
 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

0.2 kg-m2. Consider the shaft as massless and use (i) the analytical method and (ii) the transfer matrix
method.

Figure 2.11 Example 2.2

B D1 D2

Solution:
Analytical method: From free body diagrams of discs as shown in Figure 2.12, equations of motion
can be written as

I p1q&
&+ k q + k (q - q ) = 0
1 1 1 2 1 2

I p2q&
&+ k (q - q ) = 0
2 2 2 1

The above equations for free vibrations and they are homogeneous second order differential
equations. In free vibrations discs will execute simple harmonic motions.

k1q1 k2( q2-q1) k2( q2-q1)

q1 q2

(a) D1 (b) D2
Figure 2.12 Free body diagram of discs

For the simple harmonic motion q&

&= -w q , hence equations of motion take the form
2
n

k1 + k2 - I p1w n2
� -k2 ��
q1 � ��
0
� � =
2 � � ��
� - k2
��� k2 - I p2 w n �q 2 0
�

On taking determinant of the above matrix, it gives the frequency equation as

I p1 I p2 w n4 - ( I p1 k2 + I p2 k1 + I p2 k2 )w n2 + k1k2 = 0

which can be solved for w n , as

2

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

( )
2
I p1 k2 + I p2 k1 + I p2 k2 � I p1 k2 + I p2 k1 + I p2 k 2 - 4k1k 2 I p1 I p2
w n2 =
2 I p1 I p2

For the present problem the following properties are gives

GJ1 GJ 2
k1 = = 1878 N/m and k 2 = = 523.598 N/m
l1 l2

I p1 = 0.08 kgm 2 and I p2 = 0.2 kgm 2

Natural frequencies are obtained as

wn1 = 44.792 rad/s and wn2 = 175.02 rad/s

The relative amplitude ratio can be obtained as (Figure 2.13)

q1 k2 - I p2 wn
2

= = 0.2336 for wn1 and -10.700 for wn2

q2 k2

0
1
-10.7
0.2336
0

(a) For w n1 (b) For w n2

Figure 2.13 Mode shapes

Transfer matrix method

k1 k2
0 1 2

Figure 2.14 Two-discs rotor system with station numbers

For Figure 2.14 state vectors can be related as

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

{ q } 2 = [ P] 2 [ F ] 2 [ P]1 [ F ]1 { q } 0
R

The above state vector at various stations can be related as

�1 1/ k1 � � 1 1/ k 2 �
q� �
� �� q� q� �
� �� q�
� �= � 2 -w n2 I p1 � � � and � �= � 2 -w n2 I p2 � ��
T 1 -w n I p1
R ����
+1 R T 0 T 2 -w n I p2 +1 R T 1
� k1 � R � k1 �
� � � �

which can be combined to give

�
� w n2 I p1 � 1 � w n2 I p1 � 1 �
�
�1- � 1- + �
�
q � � k2
� � k1 �
� k2 � � k2 �q
� � � � ��
� �= � �� � (A)
T 2 �
R �� �p w n I p2
2
��T 0
� p � - + 1��
�k1 k2 �
� � ��

with

�-w n2 I p2 �
p = -w n2 I p2 - w n2 I p1 � + 1�
� k2 �
� �

Boundary conditions are given as

At station 0  q = 0 and T = 1 (assumed)

and at right of station 2  T = 0

On application of boundary conditions the second equation of equation (A), we get

�p w n2 I p2 �
0 = p �0 + � - + 1�RT0
�k1 k2 �
� �

since RT0 �0 and on substituting for p, we get

1� 2 �-w n2 I p2 � w n2 I p
�
-w n I p2 - w n2 I p1 �
� + 1�
�- 2
+1 = 0
k1 � � k �
� k
� � 2 �
� 2

which can be solved to give

75
 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

1 �k 2k � 1 �k 2k � k k
w n2 = � 2 + 1 �� � 2 + 1 �- 4 1 2
2� � � �
�I p2 I p1 � 4 �I p2 I p1 � I p1 I p2

It should be noted that it is same as obtained by the analytical method.

Exercise 2.1. Obtain the torsional critical speed of a rotor system as shown in Figure E.2.1 Take the
polar mass moment of inertia, Ip = 0.04 kg-m2. Take shaft length a = 0.3 m and b = 0.7 m; modulus of
rigidity G = 0.8  1011 N/m2. The diameter of the shaft is 10 mm. Bearing A is flexible and provides a
torsional spring of stiffness equal to 5 percent of the stiffness of the shaft segment having length a and
bearing B is a fixed bearing. Use either the finite element method or the transfer matrix method.

A B

a b

Figure E2.1 An overhang rotor system

Exercise 2.2. Find the torsional critical speeds and the mode shapes of the rotor system shown in
Figure E2.2 by transfer matrix method. B 1 and B2 are frictionless bearings and D1 and D2 are rigid
discs. The shaft is made of steel with modulus of rigidity G = 0.8 (10)11 N/m2 and uniform diameter d
= 10 mm. The various shaft lengths are as follows: B 1D1 = 50 mm, D1D2 = 75 mm, and D2B2 = 50
mm. The polar mass moment of inertia of discs are: Jd1 = 0.0008 kg-m2 and Jd2 = 0.002 kg-m2.
Consider shaft as massless.

Figure E2.2

B1 B2
D1 D2

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

Exercise 2.3. Obtain the torsional critical speed of an overhang rotor system as shown in Figure E2.3.
The end B1 of the shaft is having fixed end conditions. The disc is thin and has 0.02 kg-m 2 of polar
mass moment of inertia. Neglect the mass of the shaft. Use (i) the finite element and (ii) the transfer
matrix method.

D1

Figure E2.3
B1

Exercise 2.4 Find the torsional natural frequencies and the mode shapes of the rotor system a shown
in Figure E2.4 by ONLY transfer matrix method. B1 and B2 are fixed supports and D1 and D2 are rigid
discs. The shaft is made of steel with modulus of rigidity G = 0.8 (10)11 N/m2 and uniform diameter d
= 10 mm. The various shaft lengths are as follows: B 1D1 = 50 mm, D1D2 = 75 mm, and D2B2 = 50
mm. The polar mass moment of inertia of discs are: Jd1 = 0.08 kg-m2 and Jd2 = 0.2 kg-m2. Consider
shaft as massless.

Figure E2.4
D1 D2
B1 B2

Exercise 2.5 Find all the torsional natural frequencies and draw corresponding mode shapes of the
rotor system shown in Figure E2.5. B and D represent bearing and disc respectively. B 1 is fixed
support (with zero angular displacement about shaft axis) and B 2 and B3 are simply supported (with
non-zero angular displacement about shaft axis). The shaft is made of steel with modulus of rigidity G
= 0.8 (10)11 N/m2 and uniform diameter d = 10 mm. The various shaft lengths are as follows: B 1D1 =
50 mm, D1B2 = 50 mm, B2D2 = 25 mm, D2B3 = 25 mm, and B3D3 = 30 mm. The polar mass moment
of inertia of the discs are: Ip1 = 2 kg-m2, Ip2 = 1 kg-m2, and Ip3 = 0.8 kg-m2. Use both the transfer
matrix method and the finite element method so as to verify your results. Give all the detailed steps in
obtaining the final system equations and application of boundary conditions. Consider the shaft as
massless and discs as lumped masses.

Figure E2.5

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

B1 B2 B3
D1 D2 D3

Exercise 2.6 Obtain the torsional critical speed of turbine-coupling-generator rotor as shown in Figure
E2.6 by the transfer matrix and finite element methods. The rotor is assumed to be supported on
frictionless bearings. The polar mass moment of inertias are IpT = 25 kg-m2, IpC = 5 kg-m2 and IpG =
50 kg-m2. Take modulus of rigidity G = 0.8  1011 N/m2. Assume the shaft diameter throughout is 0.2
m and lengths of shaft between bearing-turbine-coupling-generator-bearing are 1 m each so that the
total span is 5 m. Consider shaft as massless.

Coupling
Bearing Turbine Bearing
Generator

Figure E2.6 A turbine-generator set

Exercise 2.7 In a laboratory experiment one small electric motor drives another through a long coil
spring (n turns, wire diameter d, coil diameter D). The two motor rotors have inertias I1 and I2 and are
distance l apart, (a) Calculate the lowest torsional natural frequency of the set-up (b) Assuming the
ends of the spring to be “built-in” to the shafts, calculate rotational speed (assume excitation
frequency will be at the rotational frequency of the shaft) of the assembly at which the coil spring
bows out at its center, due to whirling.

Example 2.3. For geared system as shown in Figure 2.16 find the natural frequency and mode shapes.
Find also the location of nodal point on the shaft (i.e. the location of the point where the angular twist
due to torsional vibration is zero). The shaft ‘A’ has 5 cm diameter and 0.75 m length and the shaft ‘B’
has 4 cm diameter and 1.0 m length. Take modulus of rigidity of the shaft G equals to 0.8  1011 N/m2,
polar mass moment of inertia of discs are IA = 24 Nm2 and IB = 10 Nm2. Neglect the inertia of gears.

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

1 0 c m d ia m e t e r
B
G e a r P a ir

2 0 c m d ia m e t e r

Figure 2.17 Example problem 2.1

Solution: On taking shaft B has input shaft (or reference shaft) as shown in Figure 2.18 the gear ratio
can be defined as

input speed D T 20 �rpm of reference shaft � wB N B

Gear ratio = =n= A = A = =2=� �= =
output speed DB TB 10 � rpm of driven shaft � w A N A

10 cm B

d = 4 cm
Input
lB = 1 m
A
Output IPB=10 Nm2
d = 5 cm

lA = 0.75 m
IPA = 24 Nm2 20 cm
Figure 2.18 A geared system

The area moment of inertia and the torsional stiffness can be obtained as

π 4 π 4
JA = d A = 6.136 �10-7 m4 ; and JB = d B = 2.51�10-7 m4
32 32

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

GJ A 0.8 �1011 �6.136 �10-7

KA = = = 6.545 �10 4 Nm/rad
lA 0.75

K B = 2.011�104 Nm/rad

On replacing shaft A with reference to the shaft B by an equivalent system, the system will look as
shown in Figure 2.19. The equivalent system of the shaft system A has the following torsional
stiffness and mass moment of inertia properties

K A 6.545 �104 I PA 24
KA = = = 1.6362 �104 N m/rad and I PA = = = 6 Nm 2
e n2 22 n 2 22

GJ B 0.8 �1011 �2.513 �10-7

which gives the equivalent length as: lA = = = 1.2288m
e KA 1.6362 �104
e

Gear location

q Ae l Ae = 1.2288m l B = 1m qB

I PAe l eff = 2.2288 m I PB

Figure 2.19 Equivalent single shaft system

The equivalent stiffness of the full shaft is given as

1 1 1 1 1
= + = 4
+ 4
= 1.1085 �10-4 m/N
K e K A K B 2.011�10 1.6362 �10
e

which gives K e = 9021.2 N/m

The equivalent shaft length is given as

d B4
le = lA + lB = n lA 4 + lB = 1.2288 + 1 = 2.2288 m
2
e dA

The natural frequency of the equivalent two mass rotor system as shown in Figure 2.19 is given as

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

1
�1 1
�
2
( I PA + I PB ) K e � � ( 6 + 10 ) �9021.2 �
� 2

wn = � e � = �9.81 � = 153.62 rad/sec

�
�
( I PAe
I PB ) �
� � ( 6 �10 ) /9.812 �
� �

Gear location q B = 1.0

q Ae = 1.667 le
1
= 2.2288 l e =1.0
2

q Ae 0.8358 m qB
node point
I PAe I PB

Figure 2.20 Mode shape and nodal point location in the equivalent system

The node location can be obtained from Figure 2.20 as

qA qB
e
=
ln ln
1 2

which can be written as noting equation (9), as

ln qA I PB 10
1
= e
=- = - = -1.667
ln qB I PA 6
2 e

The negative sign indicates that both discs are either ends of node location. The absolute location of
the node position is given as

ln = 1.667 ln
1 2

Also from Figure 2.20 we have

ln + ln = 2.2288 which gives ln = 0.8358 m

1 2 2

The node is at 0.8356 m from end B. Alternatively, from similar triangle of the mode shape (Figure
2.20), we have

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

ln qB 1
2
= = � ln = 0.8358 m
2.2288 - ln q A 1.667 2
2 e

Let q B = 1rad then q A = -1.667 rad

e

qA
Hence, qA = e
= -0.8333rad
n

The mode shape and node location in the actual system is shown in Figure 2.21.

Gear pair
A B

node location
qB = 1

qA = - 0.8333 0.8358 m
q A = -1.667
e

0.75 m 1m

Gear pair position

Figure 2.21 Mode shape and nodal point location in the actual system

Alternative way to obtain natural frequency is to use the equivalent two mass rotor (Figure 2.19) can
be considered as two single DOF systems (one such system is shown in Figure 2.22).

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

ln
2

I PB

Figure 2.22 A single DOF system

The stiffness and mass moment of inertia properties of the system is given as

GJ B 0.8 �1011 �2.513 10

Kl = = = 2.435 �104 N/m and I PB = kgm 2
e2 ln 0.8358 9.81
2

It gives the natural frequency as

Kl
e2 2.435 �104 �9
wn = = = 154.62 rad/sec
2 I PB 10

which is same as obtained earlier.

The whole analysis can be done by replacing shaft B with reference to shaft A speed by an equivalent
system. For more clarity some of the basic steps are given as follows.

lB

IpB
lA
IpA

lA = 0.75 l Be = 0.61

le = 1.36 m.
IpA I PBe

Figure 2.23 Actual and equivalent geared systems

It is assumed here that we are choosing reference shaft as input shaft (i.e. for present case shaft A is
reference shaft hence it is assumed to be input shaft and according the gear ratio will be obtained).

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

wB DB 10
n= = = = 0.5
w A DA 20

It is assumed that equivalent shaft (i.e. B) has same diameter as the reference shaft (i.e. A). The
equivalent mass moment of inertia and stiffness can be written as

I PB I PB 2.011�104
I PB = 2 = 40N m and K B = 2 =
2
2
= 8.044 �104 N/m 2
e n e n (0.5)

which gives the equivalent length as

GJ A 0.8 �1011 �6.136 �10-7

since K Be = = 8.044 �104 \ lB = = 0.610 m
lB e 8.044 �104
e

The total equivalent length and the torsional stiffness would be

le = lAe + lB = 0.61 + 0.75 = 1.36 m

and
GJ A 0.8 �1011 �6.136 �10-7
Ke = = = 3.61�104 N/m 2
le 1.360

Alternatively the effective stiffness can be obtained as

1 1 1 K A .K B 6.545 �104 �8.044 �104

= + or Ke = e
= = 3.61�104 N/m 2
Ke K A K B K A + KB 6.545 �104 + 8.044 �104
e e

The natural frequencies of two mass rotor system is given by

1 1
( I PA + I PB ) �
� 2 � ( I PA + I PB ) � 2
wn = 0 and wn = � e
Ke � = �
9.81 e
Ke �
1
� I I � I PA I PB
� � �
2
� PA PBe � e �

A factor 9.81 is used since IPA is in Nm2.

1
� (24 + 40) �
2
wn2 = �
9.81� �3.61�10 4 � = 153.65 rad/s
� 24 �40 �

1.36 m

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

le1 = 0.8 m l e 2 = 0.51 m

0.75m

I PA Gear location I PB
e
node location

Figure 2.24 Equivalent two mass rotor system

The node location can be obtained as

ln I PB 10
e
1
=- =- = -1.667
ln2 I PA 6

we have
ln1 + ln2 = le + le = 1.36
1 2

which gives

(1.667ln ) + ln = 1.36 � ln = 0.85m and ln = 0.51m

1 2 1 2

The stiffness of ln2 will be (equivalent stiffness corresponding to shaft A speed)

GJ A
KB =
e2 ln
2

The shaft stiffness corresponding to shaft B speed can be defined in two ways i.e.

GJ B GJ A
KB = and K B = n2 K B = n2
2 l2 2 e2 ln
2

On equating above equations the location of the node in the actual system can be obtained as

JB
l2 = n 2le = 0.84
2
JA

which is same as by previous method.

Exercise Problem 2.8. For a geared system as shown in Figure E2.8 find the natural frequencies and
mode shapes. Find also the location of nodal point on the shaft (if any). The shaft ‘A’ has 5 cm

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

diameter and 0.75 m length and the shaft ‘B’ has 4 cm diameter and 1.0 m length. Take modulus of
rigidity of the shaft G equals to 0.8  1011 N/m2, polar mass moment of inertia of discs and gears are
IA = 24 Nm2, IB = 10 Nm2, IgA = 5 Nm2, IgB = 3 Nm2.

1 0 c m d ia m e t e r
B
G e a r P a ir

2 0 c m d ia m e t e r
Figure E2.8 A geared system

Example 2.4. Obtain the torsional critical speeds of the branched system as shown in Figure 2.26.
Take polar mass moment of inertia of rotors as: IPA = 0.01 kg-m2, IPE = 0.005 kg-m2, IPF = 0.006 kg-m2,
and IPB = IPC = IPD = 0. Take gear ratio as: nBC = 3 and nBD = 4. The shaft lengths are: lAB = lCE = lDF = 1
m and diameters are dAB = 0.4 m, dCE = 0.2 m and dDF = 0.1 m. Take shaft modulus of rigidity G = 0.8
 1011 N/m2.

E
A

Figure 2.26 A branched rotor system

Solution: The branched system has the following mass moment of inertias

I PA = 0.01 kg-m2; I PE = 0.005 kg-m2; I PF = 0.006 kg-m2

For branch A the state vector at stations are related as

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

{S }nA = [U ] A {S }OA

with

1 4.97 �10-9 �� 1
� 1 - 4.97 �10-11wn2
0� � 4.97 �10-9 �
[U ] A = [ F ] AB [ P ] A = � �� =� �
0
� 1 -0.01wn2
�� 1�
� � -0.01wn
2
1 �

For branch B the state vector at stations are related as

{S }nB = [U ]B {S }OB

with
� 1 7.95 �10-8 �
[ U ] B = [ P]B [ F ]CE = � �
-0.005wn2
� -3.97 �10 wn + 1�
-10 2

Similarly, for branch C, we have

{S}nC = [U ]C {S }OC
with
� 1 1.27 �10-6 �
[ U ] C = [ P]B [ F ]BF =� �
-0.006wn2
� -7.64 �10 wn + 1�
-9 2

From equation (53), the frequency equation can be written as

c21a11 c b a n
+ nBD c22 a + 22 21 11 BD =0
nBD 21
b n222 BC

On substitution, we get

-0.006wn2 (1 - 4.97 �10-11wn2 )

+ 4 ( 1 - 7.64 �10-9 wn2 ) (-0.01wn2 )
4
4 (1 - 7.64 �10-9 wn2 )(-0.005wn2 )(1 - 4.97 �10 -11wn2 )
+ =0
9 (1 - 3.97 �10-10 wn2 )

which can be simplified to

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 Dr R Tiwari, Associate Professor, Dept. of Mechanical Engg., IIT Guwahati, (rtiwari@iitg.ernet.in)

-0.04372wn2 + 3.3921�10 -10 wn4 - 1.21�10 -19 wn6 = 0

The roots of the polynomial are

wn21,2,3 = 0; 135.48 �106 and 2.64  10 9

Natural frequencies are given as

w n1 = 0 ; wn 2 = 11640 rad/s and wn 3 = 51387 rad/s

It can be seen that the rigid body mode exist since ends of the gear train is free.

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