MECHANICAL VIBRATIONS

BMM3553
LECTURE 9

Todays Objectives
Students will be able to:
Develop Equation of Motion (EOM) for Undamped TwoDOF Rotational Free and Forced Vibration
Determine natural frequencies and mode shape of
Undamped Two-DOF Rotational Free and Forced
Vibration
Solving vibration problems 2 dof (combination 1 dof
translational and 1 dof rotational).

Torsional System 2 DOF

Consider a 2dof torsional system as shown in figure
below.

Free Body Diagram?

EOM?

J11 (kt1 kt 2 )1 kt 2 2 M t1
J 22 kt 21 (kt 2 kt 3 ) 2 M t 2
For the free vibration analysis of
the system, Eq. above reduces to

J11 (kt1 kt 2 )1 kt 2 2 0
J 22 kt 21 (kt 2 kt 3 ) 2 0

Example: Find the natural frequencies and amplitude ratio

of mode shapes for 2 dof torsional system shown in figure
below.
==
,
Given,

Two Degree Of Freedom - Automobile

Simulation Undamped
An automobile has many degrees of freedom but if we confine our
attention to motion in a vertical plane and consider the unsprung
mass (wheel, etc.) small as compared to the mass of the
automobile then, neglecting damping, the system behaviour can be
simulated by a two degree of freedom mathematical model in
which the translation(x) of the centre of mass and rotation()
around the centre of mass (G) are the two possible modes of
vibration.

Two Degree Of Freedom - Automobile

Simulation Undamped
The equations of motion are
For motion in the vertical direction

mx k1 ( x 1 ) k 2 ( x 2 ) 0
mx ( k1 k 2 ) x (k11 k 2 2 ) 0
For rotation about G

I G k1 ( x 1 )1 k 2 ( x 2 )2 0

I G (k11 k 2 2 ) x (k112 k 2 22 ) 0
Let the two motions be
X(t)= A sin ( t + )
(t)= B sin ( t + )

Two Degree Of Freedom - Automobile

Simulation Undamped
Substitution for x(t) and (t) leads to the characteristic equation;-

k1 k 2 m 2
k 2 2 k11

k 2 2 k11
0
2
2
2
k11 k 2 2 I G

The solution of which is

2
1, 2

k1 k 2 k112 k 2 22
1 k1 k 2 k112 k 2 22

2
m
IG
m
IG

4k1k 2 (1 2 ) 2

mIG

Coupling
The equation of motion were found to be;mx ( k1 k 2 ) x ( k11 k 2 2 ) 0..........(1)
( k k ) x I ( K 2 K 2 ) 0......(2)
1 1

1 1

Now, if k1l1=k2l2, equation (1) becomes independent of and

equation (2) becomes independent of x. As they stand, the equations
are said to be coupled and making k1l1=k2l2 uncouples them as below:

mx ( k1 k 2 ) x 0..........(1a )
I G ( K112 K 2 22 ) 0......( 2a )
If the coupling term in equation (1) and (2) is dependent upon
displacement, the coupling is said to be elastically or statically
coupled. If it is dependent upon velocity the equations are said to be
coupled dynamically. The type of coupling depends entirely on the
choice of the coordinates for the equations of motion.

Example
Determine the pitch (angular motion) and bounce (up and linear motion)
frequencies and the location of oscillation centre (nodes) of an automobile
with the following data:
Mass (m) = 1000 kg
Radius of gyration (r) = 0.9 m
Distance between front axle and CG () = 1 m
Distance between rear axle and CG () = 1.5 m
Front spring stiffness, = 18 kN/m
Rear spring stiffness, = 22 kN/m

Two Degree Of Freedom - Automobile

Simulation Undamped Ground Excitation

Thus

The equation of motion are;For motion in the vertical direction

mx k1 ( x l1 z1 ) k 2 ( x l2 z 2 ) 0

For rotation about G

I G k1 ( x l1 z1 )l1 k 2 ( x l2 z 2 )l2 0

Thus
( k1l1 k2 l2 ) x IG ( k1l12 k2 l22 ) l2 k2 z2 l1k1 z1

m x ( k1 k2 ) x ( k1l1 k2 l2 ) k1 z1 k2 z2

 Decoupling by making

k1l1 k 2l2
we have heaving mode, mx ( k1 k 2 ) x k1 z1 k 2 z 2
and pitching mode, I G k1l1 (l1 l2 ) l2 k 2 ( z 2 z1 )
Natural frequencies
For heaving (x) mode,

For pitching () mode,

k1 k 2
m
k11 (l1 2 )
IG