Systems with Translational and Rotational

Displacements
Free-body diagram

kx2

kx1

L/4
L

x1
x
x2
Assume the center of mass G moves upwards by x and the rod
rotates counter clockwise around it by .
The equations of motion for x and are
mx kx1 kx2 k ( x1 x2 )

J G kx1

l
l
kx2
4
2

The geometric relationship between displacements is

l
x1 x
4

l
x2 x
2

The final equations of motion become

m

0
ml 2

0 12

kl

2k
x
4
kl 5kl 2

4 16

x
0

frequencies and modes ?

JG=ml2/12

Vibration of an object off-centre mounted

GO
eg

K
m J

K
m

Mass center
Center of flexure
JG

y (z)

GC
Vertical displacement

w x z x y e

y
z

Vertical acceleration

dz (dy)

x z x y e
w

The initial force on the infinitesimal element is

Adyw

dF (dm) w

Total vertical inertia force

F

dF A w dz A w dy m( x e)
z

Total moment of inertia about C

dz A ( y e) w
dy ( J G me 2 ) mex
M G zdF A zw
z

Equations of motion

: density

A: area

m( x e) kx 0

( J G me 2 ) mex K 0

kx

Jc

K
Matrix equation of motion
m
me

me x
k

JC
0

0 x
0
K

The system is mass-coupled.

Any object attached at a point, which is not its center of mass, vibrates in
both translation and rotation. One motion can affect the other. This is the
basic mechanism for flutter type of dynamic instability to occur. Onedegree-of-freedom systems will not produce flutter.

Force Vibration of Two-Degrees-of-Freedom Systems

k1

f1 sint
m1

The solution ofk2this undamped system is

x1 (t ) m2 X 1

sin t
x2 (t ) X 2
m1 0
0 m

x1 k1 k 2

x2 k 2

k 2 x1 f1 sin t

k 2 x2
0

One gets
k1 k 2 m1 2
k2

k2
k 2 m2 2

X 1 f1

X2 0

It can be found that

where

X1

( k 2 m 2 2 ) f 1
m1m2 (12 2 )( 22 2 )

X2

k 2 f1
m1 m2 ( 2 )( 22 2 )

and

2
1

are the two natural frequencies of the system.

It can be seen from the above expression that when the excitation
frequency equals either of and , resonance takes place.
Example:
1

Let

m1 m2 m, k1 k 2 k

. This gives

1 0.618

k
k
, 2 1.618
m
m

The forced response for this system is shown below

kX/f

30
20
10
0
0

for X2
for X1

/1

-10
-20
-30

Vibration Absorber
X1

If

m2

(k 2 m2 2 ) f1
m1m2 (12 2 )(22 2 )

and

k2

are chosen such that

k2
,
m2

then

X1 0 ,

that is, the

first mass does not vibrate at all.

So if a primary system is a one-degree-of-freedom mass-spring (
m k ) system, which is subjected to an oscillatory force of
excitation frequency , then by attaching it with another mass1

spring ( m

k2 )

system with

k2
,
m2

the primary system will not

vibrate under this excitation. Therefore, the attached mass-spring

system serves as a vibration absorber.
Introduce

11

k1
and 22
m1

k2
m2

. Re-draw the response curve in terms

of a new frequency ratio below.

Indeed, a zero response is produced at

/ 22 1 .

If damping is present in the primary system or the attached system,

a zero response cannot be achieved at / 1 . However, a low
response is produced for a range of frequencies around / 1 .
22

22

kX 1 / f 1
20

15
undamped absorber
original system

10

10% damped absorber

/ 22

0
0

Solving Equations of Motion Using Laplace Transforms

One-Degree-of-Freedom Systems
2 x(t ) ax (t ) 4 x (t ) sin t ; x (0) 2 , x (0) 1

Laplace transform
2( s 2 X 2s 1) a( sX 2) 4 X

1
s 1
2

(where a is a constant)

Work out the X(s) as

4 s 2 2a
1
2
2
2s as 4 (2s as 4)(s 2 1)

X ( s)

(2

a
a2 4
a
2
)
s

s
2
2
2
4a
8 2a 4 a
4 a2
2
a
s 1
s2 s 2
2

nonhomogeneous part
forced vibration

homogeneous part
free vibration

Let us look at two cases where

(1) a 2 :

a2

and

a 2 .

2.25s 3 0.25s 0.25

s2 s 2
s2 1
2.25( s 0.5) 3 2.25 0.5 0.25s 0.25

s 1 s2 1
( s 0.5) 2 ( 1.75 ) 2
s 0.5
1.875
0.25s 0.25
2.25

2
2
2
2
s 1 s2 1
( s 0.5) ( 1.75 )
( s 0.5) ( 1.75 )

X ( s)

Obviously the system is stable.

Inverse Laplace transforms gives
x (t ) 2.25 exp( 0.5t ) cos1.323 t 1.417 exp(0.5t ) sin 1.323 t 0.25(sin t cos t )

homogeneous part
free vibration

nonhomogeneous part
forced vibration

Obviously the response is bounded, and the above solution satisfies both
the original ordinary differential equation and the initial conditions.
(2)

a 2 :
1.75s 1 0.25s 0.25

s2 s 2
s2 1
1.75( s 0.5) 1 1.75 0.5 0.25s 0.25

s 1 s2 1
( s 0.5) 2 ( 1.75 ) 2
s 0.5
0.125
0.25s 0.25
1.75

2
2
2
2
s 1 s2 1
( s 0.5) ( 1.75 )
( s 0.5) ( 1.75 )

X ( s)

Obviously the system is unstable.

Inverse Laplace transforms gives
x (t ) 1.75 exp(0.5t ) cos 1.323 t 0.0945 exp(0.5t ) sin 1.323 t 0.25(sin t cos t )

homogeneous part
free vibration

nonhomogeneous part
forced vibration

Obviously the response is unbounded, and the above solution satisfies both
the original ordinary differential equation and the initial conditions.
Two-Degrees-of-Freedom Systems
k1
A mass-spring system:

f1

k2

m1

f2
m2

The equations of motion are

m1 x1 ( k1 k 2 ) x1 k 2 x2 f1
m2 x2 k 2 x1 ( k 2 k3 ) x2 f 2

The Laplace transforms are

( m1s 2 k1 k 2 ) X 1 k 2 X 2 F1
k 2 X 1 ( m2 s 2 k 2 k3 ) X 2 F2

Determine

X 1 ( s)

and

X 2 (s)

first and then get

x1 (t )

and

x2 (t ) .

k3