C HAP.

5] FREE VIBRATIONS OF MULTI-DEGREE-OF-FREEDOM SYSTEMS 169

The de termin ant can be evaluated using row expansion by the third row, leading to the evaluation
of two 3 X 3 determinants. The resulting equation is
y' - lO y' + 420y' - 1600y + 30,000 = °
whose roots are
y = 1.502 oU.912i, 3.497 ± 16.918i
If X = [X , X , X, X,l' is an eigenvector for an eigenvalue, y = y, + iy" of M - ' K, then
X = [X, X,l' is the mode shape vector that is of the form X, + iX" and then the general solu tion
corresponding to y is
e- "'[C,(X, - X,) cos y,t + C,(X, + X,J sin y,t]
After performing the necessary calculations, the solutio,} is obtained as

x = e- L"'" ( C, [ 0.940]
I cos 9.912r + C, [LIn]
1 . 9.9121)
Sin

+ e-'''''(
'C, [ - 1.071]
1 cos 16.9181 + C. [ -0.704
1 ] S .in 16.9181 )

Supplementary Problems

5.46 Use the free body diagram method to derive the differential equ ations governing the motion of the
system of Fig. 5-27 using x" x" and x , as ge ne ralized coordin a tes.

Fig. 5-27

Ans.
mXI + eX ] + 2k.x1 - kx 2 ;; 0
2m.i, - kx, + 2kx, - kx, = °
rnx ,-kx,+3kx,=O

5.47 Use the free body diagram method to derive the differential equations governing the motion of the
system of Fig. 5-28 using 8, and 8, as gene ralized coordinates.

---+-- t-l AB: Slender bar of mass m

3'<'---- - - , - - - - - - , - ' B~, CD: Slender bar of mass 3m/

2
2k

~-------~--------~~
Fig. 5-28
170 FREE VIBRATIONS OF MULTI-DEGREE-OF-FREEDOM SYSTEMS [CHAP. 5

Ans.
\mL' ii, + ~k L' II, - 3kL'II, = °
*mL' ii , - 3kL'II, + l kL'II, = °
5.48 Use the free body diagram method to derive the differential equations governing th e mo tion of the
system of Fig. 5-29 using II, x" and x, as generalized coordinates.

---+--- 4- ---

Fig. 5·29

Ans.
l mL'ii + l kL'1I -lkLx, = IF,(t)L
2nti, - lkLII + 3kx, - 2kx, = °
mx, - 2kx, + 2kx, = F,(t)

5.49 Use Lagrange 's equations to derive the differential equations governing the motion of the system
of Fig. 5-27 using x" x" and x, as generalized coordinates.

Ans.
-k
2k
-k

5.50 Use Lagrange's equations to derive the differential equations governing the motion of the system
of Fig. 5-28 using II, and II, as generalized coordinates. Assume small II, and write the differential
eq uations in matrix form.

Ans.

[ ° ° ][0.,] +[- )kL'

lmL'
~mL' II,3kL'
-3kL' ][II,] =
l kL' II,
[0]°
CHAP. 5] FREE VIBRATIONS OF MULTI-DEGREE-OF-FREEDOM SYSTEMS 17 1

5.51 Use Lagra nge's equations to deri ve the d iffe re ntial equations gove rnin g the motion of the syste m
of Fig. 5-29 using 8, x,, and x, as ge neralized coordinates.
Am.

o
0][ 0] ['kL' -lkL ° ][ 8] = [1F,(I)L
°]
~ ~~ - ~kL
2m 3k - 2k x,
. + -2k 2k x, F,(l )

5.52
°
Use Lagrange's equations to de rive the differential equations governing the motion of the system
of Fig. 5-30 using 8, and 8, as gene ralized coordinates. Assume small 8 , and 8,.

Slender bar o f mass In

CD Slender bar of mass ~

3L
T

Fig. 5-30

Ans.

[
lm L'
o
° ][B. , ] + [ka'+lmgL
~ mL2 (} z - ka 2
-ka'
k(a' + ~L') + lmgL
][8,] [0]
8, = °

5.53 Use Lag range's equations to de rive the diffe rential equations governing the motion of the system
of Fig. 5-31 using x and 8 as generalized coordinates. Assume small 8.

AB: Bar o f mass 2m and ce ntro id al moment o f inerti a I

Fig. 5-31

Ans.
3m
[ ~mL
ImL
1 + ImL'
][X] 0] = [0]°
0 + [2k° IkL'
172 FREE VIBRATIONS OF MULTI-DEGREE-OF-FREEDOM SYSTEMS [CHAP. 5

5_54 Use Lagra nge's equations to derive the differential equations governing the motion of the system
of Fig. 5-31 using x, and X , as generalized coordinates.

Ans.

~t:J = [~]

5.55 Use Lagrange's equations to deri ve the motion of the system of Fig. 5-32 using x" X" and (J as
generalized coordinates.

AB: Slender bar of mass m

1,
F(t)

Fig_ 5-32

Ans.

[ lm~L' ma a
a J[ x,ii ] + [ ~kL2 \ kL
- IkL ] [ (J ] ] a]
~ F~()
IkL k
o 2m X, -j kL a ;; =

5.56 Use' Lagran ge's equations to derive the differential equations governing the motion of the syste m
of Fig. 5-33 using X" and x, as generalized coordinates. Assume the' disk rolls without slip.

Fig. 5-33
CHA P. 5] FREE VIBRATIONS OF MULTI-DEGREE-OF-FREEDOM SYSTEMS 173

Ans.

5.57 Use Lagrange"s equations to derive the differential equations governing the motion of the system
of Fig. 5-34 using x,, x" and e as generalized coordinates.

Fig. 5·34

Ans.

[ ~° ~° ~][::]+[
I iI
~ -6kr
-3kr
° 2k
-3kr][x,x, ] [0]
-6kr
28kr' e
°=
°
5.58 Derive the differential equations governing the motion of the system of Fig. 5-35 using e, and e"
as generalized coordinates.

6,

J, G, L J, G, L/ Z

ZI

Fig. 5·35
174 FR E E VIBRATIONS OF MULTI-DEGR E E-OF-FREEDOM SYSTEMS [CHAP. 5

Ans.

[oI O][~,] + JG [ 3
21 e, L -2

5_59 De ri ve the diffe renti al equations governing the motiori of the system of Fig. 5-36 using e,. 0,. and
x as gene ralized coordinates.

8, ----...8,
e,

k., k., 1
I,

Fig. 5-36

Ans.

I, 0 O ][~, ] [k.,+k.,
[ oo I,0 m0 0, + - 0k.,
j'

5.60 Derive the diffe renti al equations govern ing the motion of an automobile suspe nsion system using
the 4-degree-of-freedom model of Fig. 5-37 using x" x,. x,. and x, as generalized coord inates.

- - - - f - - - b ---j

x,
Tx.

Fig. 5·37
CHAP. 5] FREE VIBRATIONS OF MULTI-DEGREE-OF-FREEDOM SYSTEMS 179

5.91 Determine the general free vibration response of the system of Fig. 5-37 and Problem 5.87 if
= C, = 2000 N-s / m and c, = C, = 500 N-s/m.
C,

Ans.
e - '·""(C, cos 23.0t + C, sin 23.0t)
+ e-' ·""'(C, cos 44.0t + C, sin 44.0t)
+ e-"·"'(C, cos 129.9t + C. sin 129.9t)
+ e- 39·"(C, cos 166At + C, sin 166At)

5.92 Determine the general free vibration response of the system of Fig. 5-40.

2c
k = I OO~
m
c = 2 N-s
m
m= I kg

Fig. 5-40

Ans.
-O·,"'{C
e l [0.732
l ].cos.
796t + C 2 [0.732
1 ] 510.
. 796}
t

+ e -''''{ C,[ -2;73] cos 14.92t + C. [ -~.73 ] sin 14.92r }

5_93 Show that if a mode shape vector X is normalized according to Eq. (5.16), then Eq . (5.1 7) follows.

5_94 Let X; be the mode shape vector corresponding to a natural frequency W; of a n-degree-of-freedom
system. Then
KX;= w,'MX;
Note that if M is symmetric, then for any two vectors u and v:
u TMv = vTMu

Use the above to derive the o rthogonality relation, Eq. (5.14).