5 Vibration of Linear Multiple-Degree-of-

Freedom Systems




F (t)
1
F (t)
2
F (t)
3
x
2
k
1
c
1
x
1
x
3
k
2
k
3
m
1
m
3
m
2
=0
=0
x
1
x
1
x
1
x
1
x
1



F (t)
1
m
1
F
C1
F
K1
F
K3
F
K2
F
K3
F
K2
m
2
F (t)
3
m
3
F (t)
2
x
1
x
1
x
1 x
2
x
3


Fig. 5.1: Multi-Degree-of-Freedom System with Free Body Diagram


5.1 Equation of Motion

The equation of motion can be derived by using the principles we have learned such as
Newtons/Eulers laws or Lagranges equation of motion. For a general linear system mdof
system we found that we can write in matrix form

( ) ( ) F x N K x G C x M = + + + + & & & (5.1.1)

with the matrices
M : Mass matrix (symmetric)
T
M M =
C : Damping matrix (symmetric)
T
C C =
119
K : Stiffness matrix (symmetric)
T
K K =
G : Gyroskopic matrix (skew-symmetric)
T
G G =
N : Matrix of non-conservative forces (skew-symmetric)
T
N N =
F : External forces

Note:
A general matrix A can be decomposed into the symmetric part and the skew-symmetric part
by the following manipulation:

( ) ( )
4 4 4 4 3 4 4 4 4 2 1
43 42 1 43 42 1
part
symmetric skew
T
symmetric
T
A A A A A

+ + =
2
1
2
1


In the standard case that we have no gyroscopic forces and no non-conservative displacement
dependent forces but only inertial forces, damping forces and elastic forces the last equation
reduces to

F x K x C x M = + + & & &
(5.1.2)

Example:
The system shown in fig. 5.1, where the masses can slide without friction ( = 0), has the
following equation of motion.


|
|
|
.
|

\
|
=
|
|
|
.
|

\
|
(
(
(

+ +
+
|
|
|
.
|

\
|
(
(
(

+
|
|
|
.
|

\
|
(
(
(

) (
) (
) (
0
0
0 0 0
0 0 0
0 0
0 0
0 0
0 0
3
2
1
3
2
1
3 3
2 2
3 2 3 2 1
3
2
1 1
3
2
1
3
2
1
t F
t F
t F
x
x
x
k k
k k
k k k k k
x
x
x c
x
x
x
m
m
m
&
&
&
& &
& &
& &

(5.1.3)


5.2 Influence of the Weight Forces and Static Equilibrium

The static equilibrium displacements are calculated by ( 0 = =
stat stat
x x & & & ):


stat stat
F x K = (5.2.1)

which in the case of the example shown in fig. 5.2:

|
|
.
|

\
|
= =
g m
g m
F x K
stat stat
2
1


The dynamic problem for this example is

120

( )
{
m equilibriu static the about
vibration the describing motion the of part
dyn stat
forces static
stat
x x x
t F F x K x M
+ =
+ = +
3 2 1
& &
(5.2.2)



g
k
2
k
1
m
1
m
1
m
2
m
2
k
1
k
2
2
1

Fig. 5.2: Static equilibrium position of a two dof system


From the last equation also follows that


dyn dyn
x x x x & & & & & & = =
so that

( ) t F F x x K x M
stat stat dyn dyn
+ = + + ) ( & & (5.2.3)

and after rearrangement

( ) t F x K F x K x M
stat stat dyn dyn
+ = +
=
4 4 3 4 4 2 1
& &
0
(5.2.4)

) (t F x K x M
dyn dyn
= + & & (5.2.5)

As can be seen the static forces and static displacements can be eliminated and the equation of
motion describes the dynamic process about the static equilibrium position.

Note:
In cases where the weight forces influences the dynamic behavior a simple elimination of the
static forces and displacements is not possible. In the example of an inverted pendulum shown
in fig. 5.3 the restoring moment is mgl sin, where l is the length of the pendulum.
121

k k
mg
m


Fig. 5.3: Case where the static force also influences the dynamics



5.3 Ground Excitation

Fig. 5.4 shows a mdof system

k
2
k
1
m
1
m
2
c
1
x
2
x
1
x
o
f
2
f
1

Fig. 5.4: 2dof System with excitation by ground motion x
0

Without ground motion x
0
= 0 the equation of motion is

|
|
.
|

\
|
=
|
|
.
|

\
|
(

+
+
|
|
.
|

\
|
(

+
|
|
.
|

\
|
(

2
1
2
1
2 2
2 2 1
2
1 1
2
1
2
1
0 0
0
0
0
f
f
x
x
k k
k k k
x
x c
x
x
m
m
&
&
& &
& &
(5.3.1)

122
Now, if we include the ground motion, the differences (x
1
-x
0
) and the relative velocity
d(x
1
-x
0
)/dt determine the elastic and the damping force, respectively at the lower mass. This
can be expressed by adding x
0
to the last equation in the following manner

) (
0
) (
0 0 0
0
0
0
0
1
0
1
2
1
2
1
2 2
2 2 1
2
1 1
2
1
2
1
t x
c
t x
k
f
f
x
x
k k
k k k
x
x c
x
x
m
m
&
&
&
& &
& &
(

+
(

+
|
|
.
|

\
|
=
|
|
.
|

\
|
(

+
+
|
|
.
|

\
|
(

+
|
|
.
|

\
|
(

(5.3.2)
The dynamic force f
0
of the vibrating system on the foundation is

(5.3.3) ( ) (
0 1 1 0 1 1 0
x x c x x k f & & + = )




Fig. 5.5: Example for ground motion excitation of a building structure (earthquake excitation)



Fig. 5.6: Excitation of a vehicle by rough surface



5.4 Free Undamped Vibrations of the Multiple-Degree-of-Freedom
System

5.4.1 Eigensolution, Natural Frequencies and Mode Shapes of the System

The equation of motion of the undamped system is

0 = + x K x M & &
(5.4.1)

To find the solution of the homogeneous differential equation, we make the harmonic solution
approach as in the sdof case. However, now we have to consider a distribution of the
individual amplitudes for each coordinate. This is done by introducing (the unknown) vector
:
123
t i
t i
e x
e x

=
=
& &
(5.4.2)

Putting this into eqn. (5.4.1) yields

( ) 0 = M K (5.4.3)

This is a homogeneous equation with unknown scalar and vector . If we set we see
that this is a general matrix eigenvalue problem
2
=
1
:


( ) 0 = M K (5.4.4)

where is the eigenvalue and is the eigenvector. Because the dimension of the matrices is f
by f we get f pairs of eigenvalues and eigenvectors:

f i
i i
..., 2 , 1 ......... = = (5.4.5)

i
is the i-th natural circular frequency and
i
the i-th eigenvector which has the physical meaning of a vibration mode shape

The solution of the characteristic equation


( ) 0 det = M K (5.4.6)

yields the eigenvalues and natural circular frequencies , respectively. The natural
frequencies are:
2
=

2
i
i
f = (5.4.7)

The natural frequencies are the resonant frequencies of the structure.

The eigenvectors can be normalized arbitrarily, because they only represent a vibration mode
shape, no absolute values. Commonly used normalizations are
1) Normalize
i
so that 1 =
i

2) Normalize
i
so that the maximum component is 1.
3) Normalize
i
so that the modal mass (the generalized mass) is 1.

Generalized mass or modal mass:
i
T
i
i
M M = (5.4.8)

1
The well-known special eigenvalue problem has the form 0 ) ( = x I A , where I is the identity matrix, x
the eigenvector and the eigenvalue.
124

Generalized stiffness:
i
T
i
i
K K = (5.4.9)


1 :

=
= =
i
T
i
M if
K K
i
i i
(5.4.10)

The so-called Rayleigh ratio is


i i
T
i
M
K


T
i i
= (5.4.11)

It allows the calculation of the frequency if the vectors are already known.


5.4.2 Modal Matrix, Orthogonality of the Mode Shape Vectors

If we order the natural frequencies so that

f
...
3 2 1


and put the corresponding eigenvectors columnwise in a matrix, the so-called modal matrix,
we get
Modal Matrix: | |
(
(
(
(
(

= =
ff f f
f
f
f




...
... ... ... ...
...
...
,..., ,
2 1
2 22 21
1 12 11
2 1
(5.4.12)

The first subscript of the matrix elements denotes the no. of the vector component while the
second subscript characterizes the number of the eigenvector.

The eigenvectors are linearly independent and moreover they are orthogonal. This can be
shown by a pair i and j

( ) 0
2
=
i
i
M K and ( ) 0
2
=
j
j
M K (5.4.13)

Premultplying by the transposed eigenvector with index j and i respectively:

( ) 0
2
=
i
i
T
j
M K and ( ) 0
2
=
j
j
T
i
M K (5.4.14)

If we take the transpose of the second equation:

( ) 0
2
=
i
T
j
T T
j
M K (5.4.15)

125
and consider the symmetry of the matrices:
T
M M = and
T
K K = and subtract this equation
( ) 0
2
=
i
j
T
j
M K from the first equation (5.4.14) we get

( ) ( ) 0
2 2
=
i
T
j i j
M (5.4.16)

which means that if the eigenvalues are distinct
j i
for j i the second scalar product
expression must be equal to zero:

0 =
i
T
j
M (5.4.17)

That means that the two distinct eigenvectors j i are orthogonal with respect to the mass
matrix. For all combinations we can write:

Symbol Kronecker
j i
j i
for
for
M K
M M
ij
i i ij
i
T
j
i ij
i
T
j

=
=

=
=
... ..........
0
1

(5.4.18)

or with the modal matrix:


{ }
{ }
(
(
(
(
(

= =
(
(
(
(
(

= =
f f
i i
T
f
i
T
M
M
M
M diag K
M
M
M
M diag M

... 0
0

... 0
0
2 2
1 1
2
1

(5.4.19)

126
127
Example: Mode shapes and natural frequencies of a two storey structure

5.4.3 Free Vibrations, Initial Conditions

The free motion of the undamped system x(t)is a superposition of the modes vibrating with
the corresponding natural frequency:

( ) (

=
+ =
f
i
i si i ci
i
t A t A t x
1
sin cos ) (5.4.20)
Each mode is weighted by a coefficient A
ci
and A
si
which depend on the initial displacement
shape and the velocities. In order to get these coefficients, we premultiply (5.4.20) by the
transposed j-th eigenvector:
( ) ( ) ( ) t A t A M t A t A M t x M
j sj j cj
M
j
T
j
j i fr
f
i
i si i ci
i
T
j
T
j
j
sin cos sin cos
0 .
1
+ = + =
=
=

43 42 1
4 4 4 4 4 4 3 4 4 4 4 4 4 2 1
(5.4.21)

All but one of the summation terms are equal to zero due to the orthogonality conditions.
With the initial conditions for t = 0 we can derive the coefficients:

( )
cj j
T
j
A M x M
x t x
t
=
= =
=
0
0
0
0

j
T
j
cj
M
x M
A
0

= (5.4.22)
( ) ( )

=
+ =
f
i
i si i ci i
i
t A t A t x
1
cos sin &
( )
sj j j
T
j
A M x M
v t x
t
=
= =
=
0
0
0
0
&
&
j j
T
j
sj
M
v M
A

0
= (5.4.23)

which we have to calculate for modes j .

5.4.4 Rigid Body Modes

x
1
x
2
m
1
m
2
k

Fig. 5.7: A two-dof oscillator which can perform rigid body motion

As learned earlier the constraints reduce the dofs of the rigid body motion. If the number of
constraints is not sufficient to suppress rigid body motion the system has also zero
eigenvalues. The number of zero eigenvalues corresponds directly to the number of rigid body
128
modes. In the example shown in Fig. 5.7 the two masses which are connected with a spring
can move with a fixed distance as a rigid system. This mode is the rigid body mode, while the
vibration of the two masses is a deformation mode.

The equation of motion of this system is


|
|
.
|

\
|
=
|
|
.
|

\
|
(

+
|
|
.
|

\
|
(

0
0
0
0
2
1
2
1
2
1
x
x
k k
k k
x
x
m
m
& &
& &

The corresponding eigenvalue problem is


|
|
.
|

\
|
=
|
|
.
|

\
|
(

0
0
2
1
2
1

m k k
k m k

The eigenvalues follow from the determinant which is set equal to zero:

| | | | 0 ) )( ( det
2
2 1
= = k m k m k L

( ) 0
2 1 2 1
2
= + km km m m

Obviously, this quadratic equation has the solution

0
2
1 1
= =
and

2 1
2 1 2
2 2
m m
m m
k
+
= =

The corresponding (unnormalized) eigenvectors are


|
|
.
|

\
|
=
1
1
1

which is the rigid body mode: both masses have the same displacement, no potential energy is
stored in the spring and hence no vibration occurs. The second eigenvector, the deformation
mode is


|
|
.
|

\
|

=
2
1
2
1
m
m


which is a vibration of the two masses. Other examples for systems with rigid body modes are
shown in the following figures.



129



Fig. 5.8: Examples for systems with torsional and transverse bending motion with rigid body
motion




Fig. 5.9: Flying airplane (Airbus A318) as a system with 6 rigid body modes and deformation
modes




Fig. 5.10: Commercial communication satellite system (EADS) with 6 rigid body modes and
deformation modes

130


5.5 Forced Vibrations of the Undamped Oscillator under Harmonic
Excitation


k
1
k
2
m
2
m
1
k
2
x
1
x
2
f (t)
2
f (t)
1
2 2


Fig. 5.11: Example for a system under forced excitation

The equation of motion for this type of system is

( ) t F x K x M = + & &
(5.5.1)

For a harmonic excitation we can make an exponential approach to solve the problem as we
did with the sdof system

{
t i
vector Amplitude
complex
e F t F

) ( = (5.5.2)


We make a complex harmonic approach for the displacements with as the excitation
frequency:


t i
e X x

=

(5.5.3)

The acceleration vector is the second derivative

t i
e X x

=

& & (5.5.4)

1
= (5.5.6)

which can be solved if determinant of the coefficient matrix : ( ) 0 det M K
If the excitation frequency coincides with one of the natural frequencies
i
we get
resonance of the system with infinitely large amplitudes (in the undamped case)

Resonance: ( )
i
M K = = 0 det

132