Chapter 5 Two DOF systems

Vipin V

Assistant Professor
Department of Mechanical Engineering
Amrita Vishwa Vidyapeetham - Amritapuri

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 Course Plan

Unit 1
Introduction: Types of vibrations, Simple Harmonic Motion (S.H.M), principle of super position applied to Simple
Harmonic Motions. Beats, Fourier theorem and simple problems.
Un-damped free vibrations: Single degree of freedom systems. Un-damped free vibration-natural frequency of free
vibration, stiffness of spring elements, effect of mass of spring, Compound Pendulum.
Damped free vibrations: Single degree freedom systems, different types of damping, concept of critical damping and its
importance, study of response of viscous damped systems for cases of under damping, critical and over damping,
Logarithmic decrement

Unit 2
Forced Vibration: Single degree freedom systems, steady state solution with viscous damping due to harmonic force.
Solution by Complex algebra, Reciprocating and rotating unbalance, vibration isolation-transmissibility ratio. Due to
harmonic excitation and support motion, Whirling of Shafts- Whirling of shafts with and without air damping, Discussion of
speeds above and below critical speeds.
Vibration measuring instruments &Vibration Control: Vibration exciters, vibrometer and accelerometer, free & forced

vibration tests, vibration isolation, vibration absorbers .

Unit 3
Systems with two degrees of freedom: Introduction, principle modes and Normal modes of vibration, co-ordinate
coupling, generalized and principal co-ordinates, Free vibration in terms of initial conditions. Geared systems. Forced
Oscillations-Harmonic excitation.
Multi degree of freedom systems: Introduction, Influence coefficients, Maxwell reciprocal theorem, Dunkerley’s
equation. Orthogonality of principal modes, Method of matrix iteration-Method of determination of all the natural
frequencies using sweeping matrix and Orthogonality principle. Holzer’s method, Stodola method. Rayleigh’s method.

1. W.T. Thomson and Marie Dillon Dahleh - ‘Theory of Vibration with Applications’ - Pearson Education - 2007 - 5th Edition
2. S.S. Rao - ‘Mechanical Vibrations’- Pearson Education Inc. - 2011 - 5th Edition
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 • Free body diagram

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 Deriving the Equation of motion

kx1 k(x1-x2)
m 2m
k(x2-x1) kx2

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 • Assuming the oscillations to be simple harmonic

• This equation is satisfied for any A1 and A2 if the above

determinant is zero

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• Ie,

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 0.731

-2.73
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 Rotational System

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 Coupled pendulum

• FBD

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 Initial conditions

Differentiating the above eqn,

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 Example

Solution

4 equations 4 unknowns. On solving,

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 Coordinate coupling- Static and Dynamic coupling
Figure below shows a rigid bar with its centre of mass
not coinciding with its geometric centre, ie, l1≠l2, and
supported by two springs, k1and k2.

It represents a two degree of freedom since two

coordinates are necessary to describe its motion
The choice of the coordinates will define the type of
coupling which can be immediately determine from
the mass and stiffness matrices.

Mass or dynamic coupling exists if the mass matrix is

non-diagonal, whereas stiffness or static coupling
exists if the stiffness matrix is non-diagonal.
It is possible to have both forms of coupling.

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 • Determine the normal modes of vibration of an
automobile simulated by the simplified 2 DOF
system.

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 • The first mode is
largely vertical
translation with
small rotation
• The second
mode is purely
rotational

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 1 2 3
1 2

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 Φ1 =

Φ2 =
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 :-

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