3.1 Free Vibration 3.1.1 Equation of Motion & Its Solution

§3.
Vibration of Multi-DoF Systems

y2 (t )
§3.1 Free vibration 2
Analysis of free vibration is to determine the dynamic

characteristics of system, which could ignore damping.
1
3.1.1 Equation of motion & its solution y1 (t )

Equation of motion:
k11 y1  k12 y 2   m1 y1 (k11  m1 2 ) X1  k12 X 2  0
k 21 y1  k 22 y 2   m2 y2 k21X1  (k22  m2 2 ) X 2  0
or my k y  0  k11 k12  m1 0  2  X 1  0
(    )    
Let the special  y1  X 1 sin( t   )
k 21 k 22   0 m2   X 2  0
solution is :  (k    2 m)X   0
 y2  X 2 sin( t   )
Substitute the equation, ---- vibration mode equation
k11X1  k12 X 2  m1 2 X1  0 k    2 m 0
k21X1  k22 X 2  m2 2 X 2  0 ---- frequency equation, determinant
Solve the frequency equation to Special Solution 1:
obtain two roots of ω2,i.e., the 1st y2 (t )
frequency or basic frequency ω1
 y11  X 11 sin( 1t  1 ) 2

(the minimum one) and the 2 nd
 y21  X 21 sin( 1t   2 )
frequency or high frequency 1
ω2(the greater one). Special Solution 2: y1 (t )
 y12  X 12 sin(  2t   2 )
Substitute ω1 into the 
vibration mode equation:  y22  X 22 sin(  2t   2 )
(k11  m112 ) X11  k12 X 21  0
 y1   X 11 
X11 k12      sin(1t  1 )

X 21 m112  k11  y2 1  X 21 
 y1   X 12 
     sin( 2t   2 )
 y2 2  X 22 
General solution:
 y1   X 11   X 12 
     sin(1t  1 )    sin( 2t   2 )
 y2   X 21   X 22 
3.1.2 Frequency and vibration mode
Notice：
 y11  X 11 sin( 1t  1 ) a. Fixed ratios between velocities of

 y21  X 21 sin( 1t  1 ) mass particles at any moments, the
same as displacement ratios, when the
X11 k12 system vibrates as its vibration mode.

X 21 m112  k11 y1 (t ) X 111 cos(1t  1 ) X 11
 
Vibration as the special solution y 2 (t ) X 211 cos(1t  1 ) X 21
has the features:
b. Condition of free vibration
1) Same frequency synchronization as a vibration mode:
for individual mass particles;
2)Fixed ratios between displacements
y1 (0) X 11 y1 (0) X 11
 , 
of mass particles at any moments y2 (0) X 21 y 2 (0) X 21
y1 (t ) X 11 sin( 1t  1 ) X 11 c. Frequencies and vibration modes are
  the natural property of the system,
y2 (t ) X 21 sin( 1t  1 ) X 21
irrelative with the external factors.
Definition: the principle vibration mode is the vibrating shape of the system
when all the mass particles vibrate/oscillates as the same frequency.
d. The system with N degrees of freedom e. If flexibility matrix is known, then
has N frequencies and vibration modes. Vibration mode equation:
(I    2  m)X   0
Frequency
equation:
k    2 m 0 Frequency equation:
Solve the frequency equation to obtain N

I    2  m 0
frequencies and arrange them in order: f. Build amplitude equation to find
vibration modes and frequencies:
1 ,  2  N The vibration as a mode:
Called as 1st,2nd,…,Nth frequency,
 y1  X 1 sin( t   )
respectively. 
The 1st frequency is called as the  y2  X 2 sin( t   )
basic frequency and others as high  y1   X 1 2 sin( t   )
frequencies.  2
y

 2   X 2 sin( t   )
Substituting individual frequencies
into the vibration mode equation:  I1  m1 X 1 2 sin( t   )
(k    2 m)X   0  2
I
 2  m X
2 2  sin( t   )
Obtain N vibration modes:X i (i  1,2,  N )
N vibration modes are linearly independent to each other.
3.1.3 Examples of finding frequency and vibration mode
Example 3.1 Find the frequencies and vibration modes of the structure shown
2 in the
Figure. k1  k2  k ; m1  m2  m.
Solution: EI1  
k11X1  k12 X 2  m1 2 X1  0 k2 1
k21X1  k22 X 2  m2 2 X 2  0 EI1  
k11  m1 2 k12 k1
0
k 21 k 22  m2 2
 1 
X 1   
k11  k1  k2  2k k12  k21  k k 22  k 1.618
2k  m 2 k  1 
0 X 2   
k k  m 2
  0.618
(2k   2 m)(k   2 m)  k 2  0 1.618 0.618
1  0.618 k / m  2  1.618 k / m
1
1
X 11 1 X 12 1
 ; 
X 21 1.618 X 22 0.618
X 1 X 2
3.1.3 Examples of finding frequency and vibrations mode
Example 3.2 Find the frequencies and m1  m m2  m
vibration modes of the structure shown EI
in the Figure.
4 l3 l /3 l /3 l /3
Solution:  11   22 
243 EI 1
3
7 l
 12   21 
486 EI  21
 11
I    2  m 0 1
 11m1  1 /  2 m2 12
0  12  22
m1 21  22m2  1 /  2
1 1  15 / 8 2  1 / 8
Let:  
 11m1 2 EI
1   12 /  11 1  5.692
0 ml3
 21 /  11 1   EI
2  22.045
(1   ) 2  (7 / 8) 2  0 ml3
 X 1   11m1 2 X 1   12m2 2 X 2 m1  m m2  m
 2 2
X
 2   m
21 1 X 1   m
22 2 X2 EI
X 1   11m1 2 X 1   12m2 2 X 2 l /3 l /3 l /3
X1  12m2 2 1

X 2 1   11m1 2
X 11  12m212  11  21
 2
1 1
X 21 1   11m11
X 12  12m2 22  12
 2
 1  22
X 22 1   11m1 2
1 Symmetrical system has
1 1
X 1    two types of vibration
1 modes:
The 1st vibration mode Symmetrical modes
1 1
X 2    Antisymmetrict modes
1  1
The 2nd vibration mode
Symmetrical modes: m1  m m2  m
m 5 l3
 11  EI
162 EI l /3 l /3 l /3
l /3 l /6 1
2  1
m 11
=1
  5.692 EI / ml 3  11  21
l/3 1
Antisymmetrical mode:
m  12  22
3
1 l
 11 
486 EI Symmetrical system has
l /3 l /6
two types of vibration
  22.045 EI / ml 3 modes:
=1
Symmetrical modes
1  5.692 EI / ml 3
l/9 Antisymmetrict modes
3
 2  22.045 EI / ml
Please finish all problems in A4 paper，then take pictures for
me.
Send them by WeChat or Email, on October 26, 2020.
2020/10/19
•PROBLEMS 9.1, 9.5, 9.6 on Page 392 in Chopra’s book.

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§3.

Vibration of Multi-DoF Systems

Analysis of free vibration is to determine the dynamic

3.1.1 Equation of motion & its solution y1 (t )

Solve the frequency equation to obtain N

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