VIBRATION

(BDA31103)

LECTURE 5:
DETERMINATION OF NAT. FREQUENCY
AND MODE SHAPE
Izzuddin Zaman, PhD
Faculty of Mechanical and Manufacturing Engineering
UTHM

Table of Contents
1. Eigenvalue and Eigenvector

2. Standard Matrix Iteration Method

3. Dunkerlys Formula
4. Rayleighs Method

5. Holzers Method

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Eigenvalue and Eigenvector

An eigenvector describes the movement
of each mass and the direction of each
mass relative to each others.

What is the eigenvector for the 3

mass system ?

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 For the system shown there are 3 natural frequencies and 3

mode shapes.
The 1st mode shape is characterized by all the mass moving
in phase to each other.

Mode 1

Mode 2

Eigenvalue 12

x
1
x
2 or
x 3

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x
1
x
2
x 3

Eigen value 22
2 > 1
x
x
x
1
1
1
x
x
x
2
2

x 3 or x 3 or x 3

Dr. Izzuddin Zaman

Mode 3

Eigen value 32
3 > 2 > 1
x
x
1
1
x
x
2
2
x
x 3 or 3

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(3)

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(7)

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Classical Methods
Standard Matrix Iteration Method
Dunkerlys Method
Rayleighs Method
Holzers Method

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Standard Matrix
Iteration Method
Considering a general
equation of motion

M x K x 0

Assuming harmonic motion

xi (t ) X i sin(t )

Equation to solve

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2 M X K X 0

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Standard Matrix Iteration

(two possible solution)
2 M X K X 0
multiply

2 K

M X K K X 0
1

2 K

M X I X 0

K M X
1

2 M

M X M K X 0
1

X
2

K X 0

M K X 2 X
1

Converge to lowest nat freq

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2 I X M

multiply

Converge to highest nat freq

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Standard Matrix Iteration

(Solution procedures to obtain the lowest nat freq)
(1) Identify matrix [K] and [M]
(2) Calculate [K]-1

(3) Define the initial trial vector {X} and convergence criteria
(4) Multiply [K]-1 [M] {X} = {Xnew}
(5) Normalized the result {Xnew}/largest Xnew

(6) Check the convergence , use for a new trial {X}

(7) When it is converged

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X normalized
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Example 1
Calculate the highest natural frequency
and the corresponding mode shapes.
k1
m1

x1
k2

m2

k1=10N/m k2=20N/m k3=15N/m

m1 = 1.2 kg

m2 = 2.7 kg

x2

k3

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Example 2
Calculate the fundamental (lowest)
natural frequency and the
corresponding mode shapes.

k1
m1

x1
k2

m2

x2

k1=10N/m k2=20N/m k3=15N/m

m1 = 1.2 kg

m2 = 2.7 kg

k3

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Dunkerly Formula
Dunkerly formula is searching for the fundamental
(lowest) natural frequency.
It is based on [K]-1 multiplication
2 K

M X I X 0

K M X
1

I X 0

1
1

K
M

I
X 0

a M
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I 0

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Dunkerly Formula
Consider the following general n DOF system:
1
2 I a m 0

For a lumped mass system with diagonal mass matrix,

the equation becomes:
1 0 ... 0 a11 a12 ... a1n m1 0 ... 0

1 0 1 a21 a22 ... a2 n 0 m2
2

0
0

a
a
...
a
0
...
0
m
0
...
0
1

n1
n2
nn
n
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 i.e.

a11m1

a21m1

an1m1

a12m2

a22m2

...

a1n mn

...

a2 n mn

an 2 m2

...

ann mn

Expanding:
n 1

1
1

2 a11m1 a22m2 ... annmn 2

(a11a22m1m2 a11a33m1m3 ... an 1,n 1annmn 1mn
1
a12a21m1m2 ... an 1,n an ,n 1mn 1mn ) 2

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n2

... 0 (E.1)
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 Let the roots of this equation be 1/12, 1/22,, 1/n2. Thus

1
1 1
1 1
1 1 1
1
1 1
2 2 2 2 ... 2 2 2 2 2 ... 2 2
n
1 2 n 1 2
n

n 1

... 0 (E.2)

Equating coefficients of (1/2)n-1 in (E.1) and (E.2):

2
1

2
2

...

2
n

a11m1 a22m 2 ...annm n

In most cases,

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2
i

2
1

, i 2,3,..., n

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 Thus

2
i

a11m1 a22m2 ... annm (Dunkerley ' s formula)

Can also be written as

2
i

2
1n

2
2n

...

1
2
nn

where in=(1/aiimi)1/2=(kii/mi)1/2

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Example 3
Predict the fundamental natural
frequency using Dunkerly method
k1
m1

x1
k2

m2

k1=10N/m k2=20N/m k3=15N/m

m1 = 1.2 kg

m2 = 2.7 kg

x2

k3

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Example 4
Estimate the fundamental natural frequency of a simply
supported beam carrying 3 identical equally spaced
masses, as shown below.

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Solution

a11 a33

3 l3
1 l3

, a22
256 EI
48 EI

m1=m2=m3=m
1
3 ml 3
ml 3
3

0.04427

2
1 256 48 256 EI
EI
1

1 4.75375

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EI
ml 3

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Example 5
Estimate the fundamental frequency of the beam shown
using Dunkerleys formula for the following data:
m1=m3=5m, m2=m.

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Rayleighs Method
Based on Rayleighs Principle
Kinetic and potential energies of an n DOF discrete
system:

1 T
1 T
T x mx, V x k x
2
2

Assume harmonic motion to be x X cost

where X is the mode shape and is the natural

frequency

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 Maximum KE:

Maximum PE:

2
1 T
Tmax X mX
2

Vmax

1 T
X k X
2

For a conservative system, Tmax=Vmax

X k X
2
R X
T
X mX

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Rayleigh' s quotient

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Example 6
Estimate the fundamental frequency of
vibration of the system as shown.
Assume that m1=m2=m3=m, k1=k2=k3=k,
and the mode shape is
1

X 2
3

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 Stiffness matrix
Mass matrix

2
k k 1

1
2
1

0
1

1 0 0
m m0 1 0
0 0 1

Substitute the assumed mode shape into

2
1 2 3k 1

0
2
R X
1
1 2 3m0
0

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1
2
1
0
1
0

0 1

1 2
1 3
k
k
0.2143 0.4629
0 1
m
m

0 2
1 3

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Fundamental Frequency of
Beams and Shafts
Static deflection curve is used to approximate the
dynamic deflective curve.
Consider a shaft carrying several masses as shown
below.

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 Potential energy of the system is strain energy of the

deflected shaft, which is the work done by the static loads.
1
Vmax m1 gw1 m2 gw2
2
For free vibration, max kinetic energy due to the masses is

Tmax

2
2

m w

2
1 1

m2 w22

Equating Vmax and Tmax,

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g m1w1 m2 w2
m1w12 m2 w22

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Example 7
Estimate the fundamental frequency of the lateral vibration of a
shaft carrying 3 rotors (masses), as shown below with m1=20kg,
m2=50kg, m3=40kg, l1=1m, l2=3m, l3=4m and l4=2m. The shaft is
made of steel with a solid circular cross section of diameter
10cm.

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 The deflection of the beam shown below due to a

static load P is given by

Pbx 2
2
2
l

x
;
0 xa
6 EIl
wx
Pa l x 2

a x 2 2lx ; a x l
6 EIl

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Deflection due to m1
At the location of m1:
w1'

20 9.8191 100 81 1
6 EI 10

529.74
EI

At the location of m2:

w2'

20 9.8116 1 16 210 4 1236 .06

6 EI 10
EI

At the location of m3:

w3'

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20 9.8112 1 64 210 8 621.3

6 EI 10
EI

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Deflection due to m2
At the location of m1:
w1''

50 9.8161 100 36 1 3090 .15

6 EI 10
EI

At the location of m2:

w2''

50 9.8164 100 36 16 9417 .6

6 EI 10
EI

At the location of m3:

w3''

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50 9.8142 16 64 2108 5232

6 EI 10
EI

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Deflection due to m3
At the location of m1:

w1'''

40 9.8121 100 4 1 1242 .6

6 EI 10
EI

At the location of m2:

'''
2

40 9.8124
4185 .6
100 4 16

6 EI 10
EI

At the location of m3:

'''
3

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40 9.8128
3348 .48
100 4 64

6 EI 10
EI

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 Total deflections of
m1,m2 and m3:

Substituting into

4862.49
EI
14839.26
'
''
'''
w2 w2 w2 w2
EI
9201.78
w3 w3' w3'' w3'''
EI

w1 w1' w1'' w1'''

g m1w1 m2 w2
,
2
2
m1w1 m2 w2

9.8120 4862 .49 50 14839 .26 40 9201 .78 EI

0.028222 EI
2
2
2
20 4862 .49 50 14839 .26 40 9201 .78

For the shaft, E=2.07x1011 N/m2 and I=(0.1)4/64 m4

Hence =28.4482 rad/s

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Holzers Method
A trial-and-error scheme to find natural frequencies of
systems
A trial frequency is first assumed, and a solution is found
when the constraints are satisfied.
Requires several trials
The method also gives mode shapes

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Holzers Method: Torsional

Systems
Consider the undamped torsional semidefinite system
shown below.

Equations of motion
J11 kt1 1 2 0
J 22 kt1 2 1 kt 2 2 3 0
J k 0
3

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t2

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 Since the motion is harmonic, i=icos(t+)

2 J11 kt1 1 2

2 J 2 2 kt1 2 1 kt 2 2 3
2 J 33 kt 2 3 2

Summing these equations gives J i i 0

i 1

This states that the sum of the inertia torques of the

system must be zero.
The trial freq must satisfy this requirement.z

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 1 is arbitrarily chosen as 1.
2 1

2 J11
kt1

3 2

2
kt 2

Substitute these values into

i 1

J11 J 2 2

J i i 0

to see

whether the constraints are satisfied.

If not, repeat the process with a new trial value of .
These equations can be generalized for a n-disc
system as follows:
n
2

J i i 0
i 1

2 i 1

i i 1
J k k , i 2,3, , n
kti 1 k 1

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 The graph below plots the torque Mt applied at the last

disc against the chosen .

The natural frequencies are the at which Mt=0.

The amplitudes i (i=1,2,,n) are the mode shapes of
the system
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Example 8
The arrangement of the compressor, turbine and
generator in a thermal power plant is shown below. Find
the natural frequencies and mode shapes of the system.

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 Mt3 is the torque to the right of

the generator, which must be
zero at the natural
frequencies.
Closely-spaced trial values of
are used in the vicinity of
Mt3=0 to obtain accurate
values of the 1st two flexible
mode shapes, as shown.

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Holzers Method: Spring-Mass

Systems
Holzers method is also applicable to vibration analysis of
spring-mass systems.

Equations of motion: m x k x x 0
1 1
1 1
2

m2 x2 k1 x2 x1 k 2 x2 x3 0

For harmonic motion, xi(t)=Xicost where Xi is the amplitude

of mass mi. Thus

2 m1 X 1 k1 X 1 X 2

2 m2 X 2 k1 X 2 X 1 k 2 X 2 X 3 2 m1 X 1 k 2 X 2 X 3

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X 2 X1
X3 X2

2 m1 X 1
k1

X i X i 1

k2

m1 X 1 m2 X 2

2
ki 1

mk X k , i 2,3,..., n
k 1

i 1

The resultant force applied to the last (nth) mass can be

n
computed as follows:
2
F mi X i
i 1

Repeat for several other trial frequencies .

Plot a graph of F vs . The natural frequencies are those
that give F=0.

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Example 9

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Example 10

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Thank You For Listening

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