Se##io F;I )/7...-.

+ BIS

%&'i(rations of $)o Degree of Free#o! *yste!s

6.1 Introduction
The modeling method discussed in previous chapters employed only one coordinate to describe the motion of the system completely. *ut general mechanical systems re6uire several degrees of freedom for a meaningful model. -ystems modeled with two independent co7ordinates to describe their motion are called two (egree of #reedom systems. There are two e6uations of motion for a two ($# system, one for each mass. They are generally in the form of coupled differential e6uations7 i.e., each e6uation involves all the co7 ordinates. If a harmonic solution is assumed for each co7ordinate, the e6uations of motion lead to a fre6uency e6uation that gives two natural fre6uencies for the system. If a suitable initial excitation is given the system vibrates at one of these natural fre6uencies. (uring free vibrations at one of the natural fre6uencies, the amplitude of two degrees of freedom (co7 ordinates) are related in a specific manner and the configuration is called principal mode, or normal mode or natural mode of vibration. Thus a two ($# system has two normal modes of vibration corresponding two natural fre6uencies. 5.0 Free $i,r%tio # of t(o DOF #y#tem1 &onsider a two ($# system as shown in #igure I.4, executing free vibrations. /et an initial displacement 34 be given to mass m4 and 3" to mass m". #igure I." shows the corresponding free body diagram.

I/ m/ I0 m0 I3
Figure 5./

;/

;0

I/ ;/ m/ ;/ I0 ;0 I0 ;/

:et ;0 8 ;/ I/ ;/

m/ ;/ I0 );0 N ;/+

I0 ;0

I0 ;/

I0 );0 N ;/+ m0

m0 I3 ;0 ;0

I3 ;0

;0

Figure 5.0 *ased on ,ewtonFs second law of motion 5 m3 #or mass m4 .. m4x4 5 7 84x4 9 8" (x"7x4) m4x4 9 84x4 G 8" x" 9 8"x4 5 ; m4x4 9 x4 (84 9 8") 5 8"x" for mass (") m"x" 5 7 8!x" G 8" (x" G x4)

..

..

..

77777 (4)

..

.. mx 98 ..
" "

x" 9 8" x" G 8" x4 77777 (")

m" x" 9 x" (8" 9 8!) 5 8"x4

/et us assume that under steady state conditions the solutions for x4 and x" be harmonic therefore, assume x4 5 34 sin t, x" 5 3" sin t

.. x 5 7 "3 sin t, 4 4

.. x 5 7 " 3 sin t " "

-ubstitute these in (4) and (") 7 m4"34 sin t 9 (84 9 8") 34 sin t 5 8" 3" sin t 7 m" "3" sin t 9 (8" 9 8!) 3" sin t 5 8" 34 sin t. %emoving sin t through out and re arranging the terms. 34M3" 5 8"M(84 9 8" G m4") 5 A(8" 9 8!) G m""CM8" &ross multiplying 8"" 5 (84 9 8" G m4") (8" 9 8! G m"") $n simplification we get m4m" D G Am4 (8" 9 8!) 9 m" (84 9 8")C " 9 A848" 9 848! 9 8"8!C 5 ; The above e6uation is 6uadratic in " and gives two values of " and therefore the two positive values of correspond to the two natural fre6uencies n4 and n" of the system. The above e6uation is called fre6uency e6uation since the roots of the above e6uation give the natural fre6uencies of the system. (iscussions@ /et 84 5 8! 5 8 m4 5 m" 5 m Then the fre6uency e6uation becomes m"D G " m (8 9 8") " 9 (8" 9 "88") 5 ; /et@ " 5 " 5 D, m" " G " m (8 9 8") 9 (8" 9 " 88") 5 ; m" " G " m (8 9 8") 9 (8" 9 "88") 5 ; The roots of the above e6uation are as follows@ /et a 5 m", b 5 7" m (8 9 8")P c 5 (8" 9 "88") 4," 5 A7 b (b" G Dac)CM"a 5 A7 (7"m) (8 9 8") A7"m (898")C" G D (m") (8" 9 "88")CM"m"

5 A9 "m (8 98")CM"m" ADm"A(8" 9 :"" 9 " 88") G (8" 9 "88")CMDmD 5 (89 8") Mm (8""Mm") 5 (8 98") Mm 8"Mm " 5 (8 9 "8") Mm n"" 5 (8 9 "8") Mm 0 6 M)I K 0I0+ 3mO

4 5 (8 9 8") Mm G 8" M m 5 8Mm n4" 5 8Mm / 6 )I3m+ n4 is called the first or fundamental fre6uency or I mode fre6uency, n" is called the second or II mode fre6uency. Thus the number of natural fre6uencies of a system is e6ual to the number of degrees of freedom of system.

Se##io F;II )/9...-.+ BIS T(o DOF Sy#tem )co t'.+ *o'e# Sh%pe#1 #rom 34M3" 5 8"M(898") 7m" 5 (8" 9 8) 7 m"M8" -ubstitute n4 in any one of the e6uation. (34M3")n4 5 8" M 89 8" G m . 8Mm (34M3")n4 5 4 (34M3")n" 5 8" M 8 9 8" G m(89 "8"Mm) 5 8"M78" 5 74 (34M3")n" 5 74 The displacements 34 and 3" corresponding to the two natural fre6uency of the system can be plotted as shown in #igure I.!, which describe the mode in which the masses vibrate. -uch a diagram is called principal mode shape of the system. When the system vibrates in principal mode the masses oscillate in such a manner that they reach maximum displacements simultaneously and pass through their e6uilibrium points simultaneously or all moving parts of the system oscillate in phase with one fre6uency. -ince the ratio 34M3" is important rather than the amplitudes themselves, it is customary to assign a unit value of amplitude to either 34 or 3". When this is done, the principal mode is referred as normal mode of the system.

m/

m0

I/ ;/ m/ I0 m/ m0 I3
Figure 5.3

;0

I *o'e

;/ No'e

.
;0 m0

5.3 Di#cu##io o N%tur%l fre"ue cie# % ' mo'e #h%pe#1 O,#er$%tio /@ It can be seen from the figure when the system vibrates in first mode, the amplitude of two masses remain same. The motion of both the masses are in phase i.e., the masses move up or down together. When the system vibrates in II mode the displacement of two masses have the same magnitude with opposite signs. Thus the motions of m 4 and m" are 4O;; out of phase. O,#er$%tio 0@ When the system vibrates in first mode, the length of the middle spring remains constant, this spring (coupling spring) is neither stretched nor compressed. It moves bodily with both the masses and hence totally ineffective as shown in #igure I.D. 'ven if the coupling spring is removed the two masses will vibrate as " -($# system with n 5 (8Mm). Where as when it vibrates in II mode, the midpoint of the middle spring remains stationary for all the time. -uch a point which experiences no vibratory motion is called a node, as shown in #igure I.H. O,#er$%tio 3@ When the two masses are given e6ual initial displacements in the same direction and released, they will vibrate in I mode. When they are given e6ual initial displacements in opposite direction and released they will vibrate in II mode as shown in #igures I.D and I.H

I/ ;/ m/

I/ I/ ;/

m/ I0

I0

m/ I0

m0

;0

m0 I3 m0 I3 ;0

I3

Figure 5.&

I/ m/ I0 ;/ m/

I/ I/ I0 m/

N
;0

.
m0

m0

I0

m0 I3 Figure 5..

I3

I3

If une6ual displacements are given in any direction, the motion will be superposition of two harmonic motions corresponding to the two natural fre6uencies.

Numerica !"am# e
4. $btain the fre6uency e6uation for the system shown in #igure. +lso determine the natural fre6uencies and mode shapes when 84 5 "8, 8" 5 8, m4 5 m, m" 5 "m. I/ ;/ I/ m/ m/ I0 ;/ ;/ I0 ;/ I0 ;/ m0 m0 I0 );0 N ;/+ m/ I0 );0 N ;/+ I0 ;0 I0 ;0 ;/ I/ ;/

m0

;0

;0

;/

#rom ,-/ .. for mass (4) m434 5 7 8434 9 8" (3" G 34) .. 5 7 8434 9 8" 3" G 8"34 m434 9 34 (84 9 8") 5 8" 3" 77777 (4) #or .. mass (") m"3" 5 7 8" (3" G 34) .. 5 7 8" 3" 9 8" 34 m" 3" 9 8"3" 5 8" 34

77777 (") 3" 5 * -in t 3" 5 7 " * -in t

../et 3

5 + -in t 34 5 7 " + -in t,

4

-ubstitute these in (4) and (") 7m4" + -in t 9 (84 9 8") + -in t 5 8" * -in t + (84 9 8" G m4") 5 8"* +M* 5 8" M A(84 9 8" G m4")C 77777 (!) " 7 m" * -int 9 8"* -in t 5 8" + -in t (8" G m"") * 5 8" + +M* 5 A8" G m""C M 8" 77777 (D) '6uating (!) and (D) 8" M (84 9 8" G m4") 5 A8" G m""C M8" 8"" 5 (84 9 8" G m4") (8" G m"") 8"" 5 (84 9 8") 8" G m4" 8" G m"" (84 9 8") 9 m4 m"D m4 m" D 7 " Am4 8" 9 m" (84 9 8")C 9 84 8" 5 ; Put " 5 g m4 m" g" G g Am4 8" 9 m" (84 9 8")C 9 848" 5 ; $r g 5 AAm4 8" 9 m" (84 9 8")C [ L Aem48" 9 m"(8498")f"C7 D m4 m"848"CC M "m4m" #re6uency e6uation of the system To determine the natural fre6uencies .iven 84 5 " 8, 8" 5 8 m4 5 m, m" 5 "m

g 5 Am8 9 "m ("8 98) [ Am8 9 Im8)" G Dm "m8"8CC M "m . "m 5 AN m8 [ A(Nm8)" G D (Dm"8")CC M Dm" 5 ANm8 [ (DBm"8" G 4Im"8"C M Dm" g 5 ANm8 [ H.NDD m8C MDm" g4 5 n4" 5 AN m8 G H.NDD m8C MDm" 5 4."HH m8 MDm" 5 ;.!4!O 8Mm / 6 -..5 )I3m+ g" 5 n"" 5 ANm8 9 H.NDD m8C MDm" 5 !.4OI 8 Mm 0 6 /.79& )I3m+ To determine the mode shapes@ I mode shape@ -ubstituting n4" 5 ;.!4!O 8Mm +M* 5 A8" G m" "C M8" 5 A8" Gm". n4"CM8" +M* 5 (8 G "m.;.!4!O 8Mm)M8 5 47"(;.!4!O)C A3B 6 -.370& If A 6 /! B 6 0.59.0 II mode@ -ubstituting n"" 5 !.4OI 8Mm +M* 5 A8" Gm"n""C M8" 5 (8 G "m. !.4OI 8Mm) M 8 5 (4 G !.4OI T") 5 7 H.!N" +M* 5 7 H.!N", if + 5 4, * 5 7 ;.4OI

A 6/

.
I *o'e

A 6/

B 6 0.59.0

. . .
B 6 F-./95

". (etermine the natural fre6uency and the corresponding mode shapes for the system shown in figure ;/ I/ m/

;0 I0 m0

I3

.iven 84 5 !8, 8" 5 "8, 8! 5 8 m45 m, m" 5 "m #ree body diagram

;/ I/;/ m/ I0;/ I0;0 I0 );0 N;/+ I/;/ / 6 )I3m+ I0 );0 N;/+ I0;/ I0;0 m0

;0 I3;0

I3;0

0 6 )... I3m+

Se##io F;III )0-...-.+ BIS T(o DOF #y#tem# )co t'.+ !. (etermine the ,atural fre6uencies and ratio of amplitudes of the system shown in #igure. -olution similar to example ,o. 4 / 6 -../7 )I3m+ )A3B+ / 6 -.73/ 0 6 /.@3/ )... I3m+ )A3B+ 0 6 F-.0730 m I

0I

0m

D. -ame as above .iven m4 5 4.H :g m" 5 ;.O :g I/ 0 6 3.99 r%'3#ec )A3B+ 0 6 -.5@5 I0

84 5 8" 5 D; ,Mm / 6 @.3@r%'3#ec )A3B+ / 6 F-.75. m/

m0

H. (etermine the natural fre6uencies of the system shown in figure. +lso determine the ratio of amplitudes and locate the nodes for each mode of vibration. +ssume that the tension ^TF in the string remains unchanged, when the masses are displaced normal to the string.

l m4

l m"

T
*%##e# i 'i#pl%ce' po#itio

m4 T T x4

m" T x"

x4 7 x"

T cos

m4

x4
T cos

T sin m"

x4

T sin

T (x4 7 x") T sin T cos

x"
T cos

T sin

Free ,o'y 'i%gr%m ,-/. #or mass (4)

mx4 5 7 T -in 7 T -in

..

-in 5 x4Ml, -in 5 x"Ml (x4 G x"Ml

5 7 T x4 Ml G T (x47x")Ml 5 7 Tx4Ml G Tx4Ml 9 Tx"Ml mx4 9 "Tx4Ml 5 Tx"Ml ,-/. #or mass (") mx" 5 7 T -in 9 T -in 5 7 Tx"Ml 9 T. (x4 Gx")Ml mx" 9 "Tx"Ml 5 Tx4Ml /et t, ..x4 5 + -in " x4 5 7 + -in t

..

77777 (a)

..

..

77777 (b) t .. x" 5 * -in "

x" 5 7 * -in t,

-ubstitute in (a) and (b) 7 m4" + -in t 9 ("TMl) + -in t 5 (TMl) * -in t. %emoving sin t throughout + A("TMl) G m4")C 5 *. (TMl) +M* 5 (TMl)M A("TMl) G m4")C 77777 (a4)

-imilarly 7 m" ". * -in t 9 ("T* -in t)Ml 5 (T. + -in t)Ml * A("TMl) G m"")C 5 +. (TMl) +M* 5 A("TMl) G m"")CMTMl '6uating (a4) and (a") and cross multiplying (TMl)M A("T7lm4")MlC 5 A("T G lm"")MlCM(TMl) T" 5 ("T G lm4 ") ("T G lm"") T" 5 DT" G "Tlm4" G "Tlm"" 9 l"m4m"D l0m/m0 & N 0Tl )m/ K m0+ 0 K 3T0 6 /et 5 " Fre"ue cy E"u%tio 77777 (a")

l"m4m" " G "Tl (m4 9 m") 9 !T" 5 ; 4, " 5 A"Tl (m4 9 m") Ae"T (m4 9 m")lf" G D l"m4 m" !T")C M " m4 m" l" /et 5 m4 5 m" 5 m 4." 5 A"Tl (m 9 m) A"T ("ml)" G Dl"m". !T")C M ". m". l" 5 DmTl A(DmTl)" G 4" m" l" T"C M "m"l" $n further simplification / 6 /0 6 T3ml / 6 )T3ml+ 0 0 6 6 3T3ml 0 6 )3T3ml+ *o'e Sh%pe1 +M* 5 (TMl)MA("TMl) G m4 "C I mo'e1 +M* 5 4 II mo'e1 +M* 5 74 +M* 5 74 if + 5 4, * 5 94

if + 5 4, * 5 74

(+M*)n4 5 4

m/

m0

;/ I *o'e m/ ;/ No'e

;0

(+M*)n4 5 74

Se!i &efinite S'ste!s or &egenerate S'ste!

II *o'e

m0

'g@ Couple' locomoti$e

-ystems for which one of the natural fre6uencies is e6ual to Eero are called semi definite systems. ;/ I m/

;0 m0

#*(@ ;/ m/ I;0 I;/ I );0 N;/+ I );0 N;/+ I;0 I;/ m0 ;0

x" Q x4

m/ ass ..(4) m4 x4 5 8 (x" Gx4) m4 x4 9 8x4 5 8x" m" x" 5 7 8 (x" G x4) m" x" 9 8x" 5 8x4 /et t, ..x4 5 + -in " x4 5 7 + -in t

m0

..

77777 (4)

.. ..

77777 (") t .. x" 5 * -in " x" 5 7 * -in t,

-ubstitute in (4) and (") m4 (7 " + -in t) 9 8 + -in t 5 8 * -in t #urther simplifications leads to +M* 5 (8)M A8 G m4 "C 77777 (!)

m" (7 " * -in t) 9 8 * -in t 5 8 + -in t #urther simplifications leads to +M* 5 A8 G m" "C M (8) 77777 (D)

&ross multiplying and simplifying further m/ m0 & N I )m/ K m0+ 0 6 " Am4 m" " G 8 (m4 9 m")C 5 ; #inding the roots we get the natural fre6uencies / 6 / 6 0 6 0 6 MRI)m/ K m0+S3)m/ J m0+O When one of the roots of the fre6uency e6uation is Eero, one of the natural fre6uencies is Eero. -uch systems are referred as semi definite systems. The system will move as a rigid body without any distortion of spring. The amplitudes of two masses are e6ual. They are also referred as free7free system. *o'e Sh%pe#@ I mode@ (+M*)n4 5 (8)M A8 G m4 "C /6(+M*)n4 5 4 - m/ A6/ No'e m/ A 6/ I mo'e m0 B 6/ Fre"ue cy e"u%tio

II mode@

.
B6F/ - m0

II mo'e

(+M*)n" 5 (8)M A8 G m4 "C 0 6 MRI)m/ K m0+S3)m/ J m0+O if m4 5 m" 5m Then )A3B+ 0 6 F/ I. (etermine the natural fre6uency and mode shapes of the system shown in #igure. .iven m4 5 4; :gs, m" 5 4H :gs, 8 5 !"; ,Mm ;/ I m/

;0 m0

-olution@ It is a free Gfree system #ree body diagram

x" Q x4
;/ m/ I;0 I;/ I );0 N;/+ I );0 N;/+ I;0 I;/ m0 ;0

#re6uencies / 6 -

m/

m0

n" 5 A8 (m4 9 m")M(m4 T m")C n" 5 Ae!";(4; 9 4H)fM (4;T4H)C 6 7.3- r%'3#ec

ode -hapes I mode

(+4M+")n4 5 4.;, if + 5 4, * 5 4 m/ A 6/ I mo'e II mode (+4M+")n" 5 (8)MA8 G m4n""C 5 !"; M A!"; G 4; T (N.!;)"C 5 7 4.DB if + 5 4, * 5 7;.IN4 - m/ A6/ m0 B 6/

No'e II mo'e

.
- m0 B 6 F -.57/

N. +n electric train made of two cars each of mass ";;; :gs is connected by couplings of stiffness e6ual to D; T 4;I ,Mm. (etermine the natural fre6uency of the system.

m/ I

m0

Couple' C%r#
-olution@ This is an example similar to problem ,o. I only the answer are given here.

.iven m4 5m" 5 ";;; :gs. 8 5 D;T 4;I ,Mm n4 5 ; n" 5 ("8Mm) 5 ("TD;T4;I) M";;;

n" 5 ";; radMsec

(nal'sis of )wo &*F )orsional S'ste!s

#igure above shows a two rotor system which can be represented as follows.

T/

It

T0

#ree body diagram is as given below.

/ 8t 0 8t /

T/ 8t / 8t 0

T0

/ It ) / F 0+

It ) / F 0+

0 It ) / F 0+

It ) / F 0+

4 and " in &&W direction loo:ing from left. ,-/ for %otor (4) a.. 4 4 5 7 8t (4 7 ") T/ / K It / 6 It 0 #or .. rotor (") a.. " " 5 9 8t (4 7 ") a" " 5 9 8t 4 G 8t " T0 0 K It 0 6 It / /et,

..

FFFFF )/+

..

FFFFF )0+

t, ..4 5 + sin "

.." 5 * sin" t 4 5 7 + sin t, " 5 7 * sin t -ubstituting the above in 4 and " and simplifying we get the amplitude ratios and fre6uency e6uation as follows.
+M* 5 8tMA8t G a4"C 77777 (a4) +M* 5 A8t G a""C M 8t #re6uency e6uation a4 a" D G (a4 9 a") 8t " 5 ; "Aa4a"" G (a4 9 a") 8tC 5 ; 0 6 -! and or a4 a" " G (a4 9 a") 8t 5 ; n"" 5 A(a4 9 a") 8tC Ma4 T a" 0 6 MR)T/ K T0+ ItS3 T/ JT0O O. (etermine the natural fre6uency of Torsional vibrations of a shaft with two circular dis:s of uniform thic:ness at its ends. The masses of the discs are m4 5 H;; :gs and m" 5 4;;; :gs and their outer diameter (4 5 4"H cm and (" 5 4B; cm. The length of the shaft is ! m and its diameter 5 4; cm. odulus of rigidity for shaft material of the shaft . 5 ;.O! T 4;44 ,Mm" +lso determine in what proportion the natural fre6uency of the shaft gets changed if along half the length of the shaft the diameter is increased from 4; cm to "; cm. -olution@ Part (4) #or free body diagram and expression for fre6uencies refer previous discussion. m4 5 H;; :g m" 5 4;;; :g (4 5 4."H m (" 5 4.B m l 5 !.;; m d 5 ;.4; m . 5 ;.O! T 4;44 ,Mm" Two rotor system is a semi definite system whose natural fre6uency is given by n4 5 ; 0 6 MR)T/ K T0+ ItS3 T/ JT0O /677777 (a")

n 5 A8t(a4 9a")Ma4a"C a4 5 h m4 %4" 5 BO :g G m", a" 5 h m" %"" 5 DH! :gm"

8t 5 .IpMl 5 A;.O! T 4;44 M !.;;C TA (dD)M !"C 5 ".N"H T 4;H ,7mM rad 0 6 .9./ r%'3#ec Part (")@ -ince the diameters are different along the length e6uivalent stiffness is to be determined as follows.

T/

It/

It0

T0

Ite T/ T0

'6uivalent -ystem .iven, d4 5 4; cm, d" 5 "; cm, l4 5 l" 5 4.H m /3Ite 6 /3It/ K /3It0 8te 5 H.4! T 4;H ,7mMrad 0 6 7@..@7 r%'3#ec Ge ce there i# 37U i cre%#e i the %tur%l fre"ue cy of the #y#tem. B. (etermine the fre6uency e6uation, natural fre6uency and mode shapes for a double pendulum shown in figure.

.iven m4 5 m" l4 5 l" 5 l

l/ m/ l0 m0

Free $ody diagram

l4 T4 m4 T" 2 x4 m 4g x" m "g l" T"

m"

T4 T4&os 1 1 T"-in 2 T4-in 1 2 m4g T"&os 2 T" T" 2 T"-in 2 T"&os 2

&onsidering only the oscillation +pplying ,-/ for mass (4) m4 x4 5 7 T4 sin 4 9 T" sin " but x4 5l4 x4 5 l4, l 4 9 ..l" ..x" 5.. x" 5 l4 9 l" m4 l4 5 7 T4 sin 4 9 T" sin " +t mass (4)

m"g

..

..

..

..

77777 (a) 77777 (4)

T4 cos4 5 mg 9 T" cos"

+t mass (") T" cos" 5 mg " being very small cos 5 4 T" 5 mg T4 5 mg 9 mg T4 5 "mg 77777 (")

..

77777 (!)

..

ml4 5 7 " mg sin 4 9 mg sin " l / K 0g / F g 0 6-imilarly for mass (") mx" FFFFF ),+

..

5 7 T" sin "

T" cos " 5 m" g,

T" 5 mg

..

ml (4 9 ") 9 mg " 5 ; l / K l 0 K g 0 6 -

..

..

5 7 mg sin " 5 7 mg"

..

FFFFF )c+

'6uations (b) and (c) represent .('

..

/et 4 5 + sin t 4 5 7 + sin t,

"

..

" 5 * sin t " 5 7 * " sin t

-ubstitute in (b) and (c) 7 l" + sin t 9 " g + sin t G g * sin t 5 ; + ("g 7 l") 5 *g A3B 6 g3M0gFl 0O FFFFF ),/+

7l" + sin t 7 l" * sin t 5 7 g * sin l +M* 5 (l" G g)Ml" A3B 6 Mg F l 0O 3 l 0 FFFFF )c/+

'6uating b4 and c4 and cross multiplying we get fre6uency e6uation. l0 & N &gl 0 K 0g0 6 /et 5 " l" " G Dgl 9 "g" 5 ; fre"ue cy e"u%tio

The roots are 4 5 ;.HOHN gMl 5 n4" / 6 -.75.. )g3l+ " 5 n"" 5 !.D4D gMl 0 6 0 6 /.9&7 )g3l+ ode shapes I mode (+M*)n4 5 g MA"g 7 ln4"C 5 4M4.D4D!

(/+ , 1/1.-1-3 ( , 1. + , / 1.-1-3

II mode (+M*)n" 5 g MA"g 7 ln""C 5 4M74.D4D!

( , 1.

+ , 01.-1-