Two Degrees of Freedom Systems *Class Notes* Dr. T.

Nagaraju, Professor, PESCE, Mandya

Two Degrees of Freedom Systems

The system having two independent coordinates to specify its position is called two degrees of
freedom system as shown in Fig. 1. Two degrees of freedom system is having two differential
equations and hence two frequencies. The amplitude of vibration of the system at its lowest or first
natural frequency is called first mode and its amplitude at highest or second natural frequency is
called second mode. The free vibration of any point in two dof system, in general, is a combination
of two harmonics of these two natural frequencies respectively.

(a) (b)

Fig. 1: Two degrees of freedom systems

Generalized Coordinates: Some times it is possible to specify the configuration of the system by
more than one set of independent coordinates such as 1, 2 or x1, x2 or y1, y2 or x1,  2 etc. as
shown in Fig. 1(b). Any set of such coordinates are called generalized coordinates.
Principle Mode of Vibration: When the masses of the system are oscilating in such a manner that
they reach maximum displacement simultaniously and passes their equilibrium position
simultaniously or all moving parts of system are oscillating with one of natural frequency, such a
state of motion is called principle mode of vibration. In principle mode of vibration all masses are
oscillating with same natural frequency.
Normal Mode of Vibration: If amplitude of any point or mass in a principle mode of vibration is
made equal to unity, the motion is called normal mode of vibration.
Problems:
Prob. 1: Set up the differential equations of motion for a system shown in Fig. 2 and hence
frequency equation and obtain its two natural frequencies. Also sketch its mode shapes. Take
m1=m2=m, k1=k3=k, k2=2k

Let x1 and x2 be the small displacements of mass m1 and m2 respectively from their equilibrium
positions. Then the free body diagram is as shown in Fig. 2(b).

59
Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

Differential equations of motion:

Apply Newton second law for mass m1, we get
m1x1  k1x1  k2 ( x1  x2 ) or

m1x1  k1x1  k2 x1  k2 x2 or

m1x1  (k1  k2 ) x1  k2 x2 . Substitute for k1 , k2 and m1 , we get

mx1  (k  2k ) x1  2kx2 or

mx1  3kx1  2kx2 --- (a)

Similarly, apply Newton second law for mass m2, we get
m2 x2  k2 ( x2  x1 )  k3 x2 or m2 x2  (k2  k3 ) x2  k2 x1

Substitute for k2 , k3 and m2 , we get

Fig.2 Fig.2(b)
mx2  3kx2  2kx1 --- (b)
Equations (a) and (b) are the differential equations of motion.
Ferquency equation:
Let x1  A sin t and x2  B sin t
where A and B are the amplitude of vibration of mass m1 and m2 respectively. Differentiate the abve
equations with respect to t, we get
x1   A cos t and x1   2 A sin t

x2   B cos t and x2   2 B sin t

Substitute for x1, x1 and x2 , x2 into Eqs. (a) and (b), we get

m 2 A sin t  3kA sin t  2kB sin t or (3k  m 2 ) A  2kB

A 2k
  --- (c)
B (3k  m 2 )
Similarly Eq. (b) becomes as

m 2 B sin t  3kB sin t  2kA sin t or (3k  m 2 ) B  2kA

A (3k  m 2 )
  --- (d)
B 2k
From Eqs. (c) and (d), we can write
2k (3k  m 2 )

(3k  m 2 ) 2k

(3k  m 2 )(3k  m 2 )  4k 2 or 9k 2  3mk 2  3mk 2  m2 4  4k 2  0

m2 4  6mk 2  5k 2  0 . Put    2 , we get

m2 2  6mk   5k 2  0 --- (e)

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Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

Equation (e) is known as characteristic equation or frequency equation.

Natural frequencies: Roots of the above characteristic equation are

(6mk )  (6mk ) 2  4  m 2  5k 2
1,2 
2m 2

6mk  36m2k 2  20m2k 2 6mk  16m2k 2 6 mk  4 mk

1,2   
2m2 2m 2 2m 2
k k k
1,2  3  2  (3  2)
m m m
k k k
Therefore, the first natural frequency is 1  n21  (3  2)  or n1  rad/sec
m m m

k 5k 5k k
Second natural frequency is 2  n22  (3  2)  or n 2   2.24 rad/sec
m m m m
Mode shapes:
k
Substitute  2  n21  (first ntural frequency) into Eq. (c) or (d), we get first mode shape
m
A1 2k
  1
B1  k 
 3k  m  m 
 
Normalizing i.e. make amplitude of any one mass, useully of m2 equal to unity, we get.
if B1  1, A1  1 .
These are the amplitudes of vibration (mode shape) of mass m1 and m2 in first mode of vibration.
5k
Similarly, substitute  2  n22  (first ntural frequency) into Eq. (c) or (d), we get second mode
m
shape as
A2 2k
  1
B2  5k 
 3k  m  m 
 
Normalizing i.e. if B2  1, A2  1
Node
These are the amplitudes of
vibration (mode shape) of mass m1
and m2 in second mode of vibration.
Sketching of mode shpes:
Figure 2(c) shows the first and second
mode shapes of the system.
Node is a point where amplitude of
vibration is zero. 1st mode shape 2nd mode shape
Fig.2(c): Mode shapes

61
Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

Prob. 2: Figure 3 shows a vibrating system having two degrees of freedom. Determine the two
natural frequencies of vibrations and the ratio of amplitudes of the motion of m 1 and m2 for the
twomodes of vibration. Also draw its mode shapes. Given: m 1 = 1.5 kg, m2 = 0.8 kg,
k1=k2=40N/m.

OR

Fig. 3

Fig. 3 Fig.3(b)
Fig.3(b)

Let x1 and x2 be the small displacements of mass m1 and m2 respectively from their equilibrium
positions. Then the free body diagram is as shown in Fig. 3(b).
Differential equations of motion:
Apply Newton second law for mass m1, we get
m1x1  k1x1  k2 ( x1  x2 ) or m1x1  (k1  k2 ) x1  k2 x2 . Substitute for k1 , k2 and m1 , we get

1.5 x1  80 x1  40 x2 --- (a)

Similarly, apply Newton second law for mass m2, we get
m2 x2  k2 ( x2  x1 ) or m2 x2  k2 x2  k2 x1 . Substitute for k2 and m2 , we get

0.8 x2  40 x2  40 x1 --- (b)

Let x1  A sin t and x2  B sin t
where A and B are the amplitude of vibration of mass m1 and m2 respectively. Differentiate the
above equations with respect to t, we get
x1   A cos t and x1   2 A sin t

x2   B cos t and x2   2 B sin t

Substitute for x1, x1 and x2 , x2 into Eqs. (a) and (b) and cancelling sin t , we get

1.5 2 A  80 A  40 B or (80  1.5 2 ) A  40 B

A 40
  --- (c)
B (80  1.5 2 )
Similarly, Eq. (b) becomes as
0.8 2 B  40 B  40 A or (40  0.8 2 ) B  40 A

62
Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

A (40  0.8 2 )
  --- (d)
B 40
From Eqs. (c) and (d), we can write as

40 (40  0.8 2 )
 
(80  1.5 2 ) 40
(80  1.5 2 )(40  0.8 2 )  1600 or 3200  60 2  64 2  1.2 4  1600  0

1.2 4  124 2  1600  0 or 1.2 2  124  1600  0 is the characteristic equation.

Roots of the characteristic equation are

124  1242  4 1.2 1600

1,2   51.67  36.55
2 1.2
First natural frequency, 1  n21  51.67  36.55  15.12, n1  15.12  3.89 rad/sec

Second natural frequency, 2  n22  51.67  36.55  88.22, n 2  88.22  9.39 rad/sec
Mode shapes:
Substitute  2  n21  15.12 into Eq. (c), we get first mode shape
A1 40
  0.698 , If B1  1, A1  0.698
B1 (80  1.5 15.12)

Similarly, substitute  2  n22  88.22 into Eq. (c), we get second mode shape
A2 40
  0.764 , If B2  1, A2  0.764
B2 (80  1.5  88.22)
Sketching of mode shapes:

Node
OR
1st mode shape

1st mode shape 2nd mode shape

2nd mode shape

Fig. 3(c): Mode shapes

63
Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

Prob. 3: For the semi-definite system shown in Fig. 4, determine the natural frequencies and
draw mode shapes.

Fig. 4: Semi-definite system

Fig.4(b)

Note: Semi-definite system is one which is having one of its natural frequencies equal to zero. Two
masses connected by a spring as shown in Fig. 4 is an example for semi-definite system. The first
natural frequency of this system is zero.
Let x1 and x2 be the small displacements of mass m1 and m2 respectively from their equilibrium
positions. Then the free body diagram is as shown in Fig. 4(b).
Apply Newton second law for mass m1, we get
m1x1  k ( x1  x2 ) or m1x1  kx1  kx2
--- (a)
Apply NSL for m2, we get
m2 x2  k ( x2  x1 ) or m2 x2  kx2  kx1
--- (b)
Let x1  A sin t and x2  B sin t
where A and B are the amplitude of vibration of mass m1 and m2 respectively. Differentiate the
above equations with respect to t, we get
x1   A cos t and x1   2 A sin t

x2   B cos t and x2   2 B sin t

Substitute for x1, x1 and x2 , x2 into Eqs. (a) and (b) and cancelling sin t , we get
A k
m1 2 A  kA  kB or (k  m1 2 ) A  kB   --- (c)
B (k  m1 2 )
Eq. (b) becomes as
A (k  m2 2 )
m2 B  kB  kA or (k  m2 ) B  kA  
2 2
--- (d)
B k
From Eqs. (c) and (d), we have
k (k  m2 2 )

(k  m1 2 ) k

64
Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

(k  m1 2 )(k  m2 2 )  k 2 or k 2  m1k 2  m2 k 2  m1m2 4  k 2  0

m1m2 2  k (m1  m2 )  0 or [m1m2  k (m1  m2 )]  0 is the characteristic equation.

k (m1  m2 )
Roots are  1  n21  0 and m1m22  k (m1  m2 )  0 or 2  n22 
m1m2

k (m  m2 )
First natural frequency, n1  0 rad/sec and second natural frequency n 2  rad/sec.
m1m2
Mode shapes:
Substitute  2  n21  0 into Eq, (c), we get first mode shape
A1 k k
   1 , If B1  1, A1  1
B1 (k  m1  0) k
k (m1  m2 )
Substitute  2  n22  into Eq. (c), we get second mode shape
m1m2
A2 k k k k m
     2
B2  k (m1  m2 )    m1   m2     m1   m  m1
 k  m1    k  k   k    k  k    k   k  1 
 m1m2    m2   m2     m2    m2 
m2
If B2  1, A2  
m1
Sketching of mode shape: Fig. 4(c) shows the first and second mode shapes of semi-definite
system.

1st mode shape

Node
2nd mode shape

Fig. 4(c): Mode shapes

65
Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

Prob. 4: A double pendulum consists of twopoint masses suspended by two rigid rods as shown
in Fig. (5). Determind its natural frequencies and draw mode shapes. l1  l , l2  2l , m1  m2  m

Fig. 5
Fig. 5(b)
Let x1 and x2 be the small displacements of mass m1 and m2 respectively from their equilibrium
positions. Then the tension and its componet from the rods are as shown in free body diagram, Fig.
5(b).
Apply Newton second law for mass m1, we get
m1x1  T1 sin 1  T2 sin  2 --- (a)
Apply for mass m2, we get
m2 x2  T2 sin 2 --- (b)
Note: Since the masses are moving horizontally, only the algebraic sum of horizontal componets
are taken in the above equations. Further, in the above equations T1 , T2 need to be replaced by
mg and , 1 ,  2 need to be replced by x1, x2 in the following way.
From Fig. 5, we have
x1 x1 ( x2  x1 ) ( x2  x1 )
sin 1   ( l1  l ) and sin 2   ( l2  l )
l1 l l2 l
Again, consider Fig. 5(b) and equate all vertical components of forces on m2, we get
T2 cos  2  m2 g

T2 =m2 g ( for small 2 , cos 2  1)

T2 =mg ( m2  m)
Similarly, equate all vertical compnents of forces on m1, we get
T1 cos 1  m1g  T2 cos  2 or T1  m1g  T2  m1g  m2 g ( cos1  cos 2  1 and T2  m2 g )

T1  (m1  m2 ) g  2mg ( m1  m2  m)

Substitute for sin 1,sin  2 , T1 and T2 into Eqs. (a) and (b), we get
66
Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

x1 (x  x ) x x x g g
mx1  2mg  mg 2 1  2mg 1  mg 2  mg 1  3 m x1  m x2
l l l l l l l
g g
x1  3 x1  x2 --- (c)
l l
Substitution for Eq. (b) yields
( x2  x1 ) mg mg
mx2  mg  x2  x1 or
l l l
g g
x2  x2  x1 --- (d)
l l
Let x1  A sin t and x2  B sin t
where A and B are the amplitude of vibration of mass m1 and m2 respectively. Differentiate the
above equations with respect to t, we get
x1   A cos t and x1   2 A sin t

x2   B cos t and x2   2 B sin t

Substitute for x1, x1 and x2 , x2 into Eqs. (c) and (d) and cancelling sin t , we get

g g  g  g
 2 A  3 A  B or  3   2  A  B
l l  l  l
g
A l
  --- (e)
B  g 2
3  
 l 
Similarly, Eq. (d) yields
g 2 g
   B  A
l  l
g 
2 
A  l 
  --- (f)
B g
l
From Eqs. (e) and (f), we can write
g g 2
    g  g  g
2
 
l
l or  3   2    2    
 g 2 g  l  l  l 
3  
 l  l

g2 g 2 g 2 4 g
2
3 2   3    2  0
l l l l
g g2
4  4 2  2 2
 0 . Putt    2 , we get
l l

67
Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

g g2
2  4   2  0 is the characteristic equation. Roots of the characteristic equation are
l l2

g g2 g2 g g
4  16 2  4  2 2 4  2 2
l l l  l l g
1,2   (2  2)
2 2 l
g g g
First natural frequency, 1  n21  (2  2)  0.586 , n1  0.765 rad/sec
l l l

g g g
Second natural frequency, 2  n22  (2  2)  3.414 , n 2  1.85 rad/sec
l l l
Mode shapes:
g
Substitute  2  n21  0.586 into Eq. (e), we get first mode shape
l
g g
A1 l l
    0.414 , If B1  1, A1  0.414
B1  g g g
 3  0.586  2.414
 l l  l
g
Similarly, substitute  2  n22  3.414 into Eq. (e), we get second mode shape
l
g g
A2 l l
    2.415 , If B2  1, A2  2.415
B2  g g

g
 3  3.414  0.414
 l l  l
Figure 5(c) shows the mode shapes of the syste.

Node

1st mode shape 2nd mode shape

Fig. 5(c): Mode shapes

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Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

Prob. 5: Consider two pendulums of length L as shown in Fig.6. Determine the natural
frequencies for small oscillations of pendulums in the plane of paper. Assume the rods as
massless and rigid. Also obtain expressions for the angular amplitude ratios in the two modes, if
k = 100 N/m, m1 = 2 kg, m2 = 5 kg, L = 0.2 m, a = 0.1m.
O1 O2

a a

k L
L L

m1 m2 m1 m2

Fig. 6

Fig. 6(b)

Let 1 and  2 be the small angular displacements of pendulum of mass m1 and m2 respectively from
their equilibrium positions. Then the free body diagram, Fig. 6(b).
Apply Newton second law for mass m1 i.e.taking moment about O1, we get
Io11  k (a1  a2 )  a  m1g  L1 , But I O1  m1L2

m1L21  ka 21  ka 2 2  m1 gL1 or m1L21  (ka 2  m1gL)1  ka 2 2

Substitute the given values for m1 , k , L, a , we get

2  0.221  (100  0.12  2  9.81 0.2)1  100  0.12 2

0.081  4.9241  2 --- (a)

Similarly taking moment about O2, we get
m2 L2 2  k (a 2  ka1 )  a  m2 gL 2 or m2 L2 2  (ka 2  m2 gL) 2  ka 21

5  0.22 2  (100  0.12  5  9.81 0.2) 2  100  0.121

0.22  10.812  1 --- (b)

Let 1   sin t and  2   sin t

where  and  are the amplitude of angular vibration of pendulums of mass m1 and m2
respectively. Differentiate the above equations with respect to t, we get
1   cos t and 1   2  sin t

 2   cos t and  2   2 sin t

Substituteqa into Eqs. (a) and (b), and cancelling sin t , we get
0.08 2   4.924   or (4.924  0.08 2 )  

69
Two Degrees of Freedom Systems *Class Notes* Dr. T. Nagaraju, Professor, PESCE, Mandya

 1
  --- (c)
 (4.924  0.08 2 )

Equation (b) becomes as

0.2 2  10.81   or (10.81-0.2 2 )  

 (10.81  0.2 2 )
  --- (d)
 1

From Eqs. (c) and (d), we can write

1 (10.81  0.2 2 )

(4.924  0.08 2 ) 1

(4.924  0.08 2 )(10.81  0.2 2 )  1 or 53.23  0.865 2  0.985 2  0.016 4  1  0

0.016 4  1.85 2  52.23  0 put    2

0.016 2  1.85  52.23  0 is the characteristic equation. Roots of characteristic equation are

1.85  3.423  4  0.016  52.23

1,2  or 1,2  57.813  2.51
2  0.016

First natural frequency is 1  n21  57.813  2.51  55.303, n1  7.44 rad/sec

Second natural frequency is 2  n22  57.813  2.51  60.323, n 2  7.77 rad/sec

Angular amplitude ratios or mode shape:

Substitute  2  n21  55.303 into Eq. (c), we get first mode shape

1 1
   2 , If 1  1, 1  2
1 (4.924  0.08  55.303)

Similarly, substitute  2  n21  60.323 into Eq. (c), we get second mode shape

2 1
   10.19 , If 2  1,  2  10.19
2 (4.924  0.08  60.323)

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