Chapter 5

Fundamental Frequency Estimation

Methods
Dr.-Ing. Azmi Mohamed Yusof
Faculty of Mechanical Engineering

Content
1. Course outcomes
2. Introduction
3. Stiffness influence coefficient
4. Flexibility influence coefficient
5. Review on matrix
6. Dunkerley’s method
7. Rayleigh’s method

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2.0 Introduction
Influence coefficients
ƒ It is a method to write the differential equation of motion directly in matrix
form.
ƒ Stiffness influence coefficient, [k] Æmethod in finding the stiffness
matrix, [k]
ƒ Flexibility influence coefficient, [a] Æ method in finding the inverse for
stiffness matrix, [k]-1
ƒ Inertia influence coefficient Æ method in finding the mass matrix, [m]
ƒ Only stiffness influence coefficient and flexibility influence coefficient will
be covered in this chapter.

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2.0 Stiffness Influence Coefficient

A. stiffness influence coefficient
ƒ Consider the spring-mass system as shown below

ƒ The stiffness influence coefficients kij means, the force at point i due to a
unit displacement at point j when the other unit are fixed
ƒ Thus the force at point i is obtained by finding the equilibrium of forces at
that point.
‫ܨ‬௜ ൌ σ௡௝ୀଵ ݇௜௝ ‫ݔ‬௝ ݅ ൌ ͳǡʹǡ ǥ ݊
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2.0 Stiffness Influence Coefficient
ƒ Finally, the stiffness matrix is given by
݇ଵଵ ݇ଵଶ ‫݇ ڮ‬ଵ௡
݇ ݇ଶ૛ ‫݇ ڮ‬ଶ௡
݇௜௝ ൌ ଶଵ
‫ڭ‬ ‫ڭ‬ ‫ڰ‬ ‫ڭ‬
݇௡ଵ ݇௡ଶ ݇
‫ ڮ‬௡࢔
ƒ Steps in establishing the stiffness matrix using stiffness influence
coefficient method
¾ Draw FBD for individual mass
¾ Introduce the stiffness coefficient (kij) for individual mass. kij is a force and
mark its direction along the selected displacement of the mass
¾ Apply a unit displacement for mass 1 (x1 = 1), while the rest of the masses
remain at rest (x1 = x2 = xn =… xn = 0)
¾ Establish the equations from the resultant of forces (equilibrium of forces)
¾ Solve for the stiffness coefficient, kij
¾ Repeat step 3 – 5, but apply a unit displacement for the subsequent mass
¾ Write down kij into matrix form

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2.0 Stiffness Influence Coefficient

Example
ƒ Find the stiffness influence coefficients for the system shown below.

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2.0 Stiffness Influence Coefficient
ƒ Case 1: Set the displacement of ݉ଵ equal to one (‫ݔ‬ଵ ൌ ͳ) while the rest
equal to zero (‫ݔ‬ଶ ൌ ‫ݔ‬ଷ ൌ Ͳ)

ƒ Obtain equilibrium of forces (σ ‫ܨ‬௫ ൌ Ͳሻ for each mass

݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ൅ ݇ଵଵ ൌ ݇ଵ ‫ݔ‬ଵ Æ െ݇ଶ ൅ ݇ଵଵ ൌ ݇ଵ
݇ଷ ‫ݔ‬ଷ െ ‫ݔ‬ଶ ൅ ݇ଶଵ ൌ ݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ Æ ݇ଶଵ ൌ െ݇ଶ
݇ଷ ‫ݔ‬ଷ െ ‫ݔ‬ଶ ൌ ݇ଷଵ Æ ݇ଷଵ ൌ Ͳ

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2.0 Stiffness Influence Coefficient

ƒ In summary, we have
݇ଵଵ ൌ ݇ଵ ൅ ݇ଶ ; ݇ଶଵ ൌ െ݇ଶ ; ݇ଷଵ ൌ Ͳ
ƒ Case 2: Set the displacement of ݉ଶ equal to one (‫ݔ‬ଶ ൌ ͳ) while the rest
equal to zero (‫ݔ‬ଵ ൌ ‫ݔ‬ଷ ൌ Ͳ)

ƒ Apply equilibrium of forces (σ ‫ܨ‬௫ ൌ Ͳሻ for each mass

݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ൅ ݇ଵଶ ൌ ݇ଵ ‫ݔ‬ଵ Æ ݇ଶ ൅ ݇ଵଶ ൌ Ͳ
݇ଷ ‫ݔ‬ଷ െ ‫ݔ‬ଶ ൅ ݇ଶଶ ൌ ݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ Æ െ݇ଷ ൅ ݇ଶଶ ൌ ݇ଶ
݇ଷ ‫ݔ‬ଷ െ ‫ݔ‬ଶ ൌ ݇ଷଶ Æ െ݇ଷ ൌ ݇ଷଵ
ƒ In summary, we have
݇ଵଶ ൌ െ݇ଶ ; ݇ଶଶ ൌ ݇ଶ ൅ ݇ଷ ; ݇ଷଶ ൌ െ݇ଷ
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2.0 Stiffness Influence Coefficient
ƒ Case 3: Set the displacement of ݉ଷ equal to one (‫ݔ‬ଷ ൌ ͳ) while the rest
equal to zero (‫ݔ‬ଵ ൌ ‫ݔ‬ଶ ൌ Ͳ)

ƒ Apply equilibrium of forces (σ ‫ܨ‬௫ ൌ Ͳሻ for each mass

݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ൅ ݇ଵଷ ൌ ݇ଵ ‫ݔ‬ଵ Æ ݇ଵଷ ൌ Ͳ
݇ଷ ‫ݔ‬ଷ െ ‫ݔ‬ଶ ൅ ݇ଶଷ ൌ ݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ Æ ݇ଷ ൅ ݇ଶଷ ൌ Ͳ
݇ଷ ‫ݔ‬ଷ െ ‫ݔ‬ଶ ൌ ݇ଷଷ Æ ݇ଷ ൌ ݇ଷଷ
ƒ In summary, we have
݇ଵଷ ൌ Ͳ ; ݇ଶଷ ൌ െ݇ଷ ; ݇ଷଷ ൌ ݇ଷ
݇ଵଵ ݇ଵଶ ‫݇ ڮ‬ଵ௡
݇ଵ ൅ ݇ଶ െ݇ଶ Ͳ
ƒ Finally ݇ ൌ ݇ଶଵ
‫ڭ‬
݇ଶ૛
‫ڭ‬
‫݇ ڮ‬ଶ௡
ൌ െ݇ଶ ݇ଶ ൅ ݇ଷ െ݇ଷ
‫ڰ‬ ‫ڭ‬
Ͳ െ݇ଷ ݇ଷ
݇௡ଵ ݇௡ଶ ‫݇ ڮ‬௡࢔

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2.0 Stiffness Influence Coefficient

Example
ƒ Determine the stiffness coefficient for the system shown below.

‫ݔ‬ሺ‫ݐ‬ሻ ‫ߠ ܫ‬ሺ‫ݐ‬ሻ
݇ଵ ݇ଶ
݉
‫ݎ‬

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2.0 Stiffness Influence Coefficient
Solution
Case 1, ‫ݔ‬ଵ ൌ ͳǡ ߠ ൌ Ͳ ; ‫ݔ‬ଶ ൌ ‫ߠݎ‬ ‫ݔ‬ଵ ൌ ͳ
݇ଵଵ ߠൌͲ
݇ଵ ‫ݔ‬ଵ
ƒ‡σ ‫ܨ‬௫ ൌ Ͳ ˆ‘”–Š‡ƒ•• ݇ଶ ሺ‫ݔ‬ଶ െ ‫ݔ‬ଵ ሻ
݉ ݇ଶଵ
െ݇ଵ ‫ݔ‬ଵ െ ݇ଶ ‫ݔ‬ଵ െ ‫ݔ‬ଶ ൅ ݇ଵଵ ൌ Ͳ ݇ଶ ሺ‫ݔ‬ଵ െ ‫ݔ‬ଶ ሻ ‫ݎ‬

Substitute values
െ݇ଵ െ݇ଵ ൅݇ଵଵ ൌ Ͳ
݇ଵଵ ൌ ݇ଵ ൅݇ଶ

Also
Take σ ‫ ܯ‬ൌ Ͳ ˆ‘”–Š‡™Š‡‡Ž
݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ” െ ݇ଶଵ ൌ Ͳ
Substitute values,
݇ଶଵ ൌ െ݇ଶ ‫ݎ‬

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2.0 Stiffness Influence Coefficient

Case 2, ‫ݔ‬ଵ ൌ Ͳǡ ߠ ൌ ͳ ; ‫ݔ‬ଶ ൌ ‫ߠݎ‬

‫ݔ‬ଵ ൌ Ͳ
ƒ‡σ ‫ܨ‬௫ ൌ Ͳ ˆ‘”–Š‡ƒ••
݇ଵଶ ߠൌͳ
െ݇ଵ ‫ݔ‬ଵ െ ݇ଶ ‫ݔ‬ଵ െ ‫ݔ‬ଶ ൅ ݇ଵଶ ൌ Ͳ ݇ଵ ‫ݔ‬ଵ ݇ଶ ሺ‫ݔ‬ଶ െ ‫ݔ‬ଵ ሻ
Substitute values ݉ ݇ଶଶ
݇ଶ ሺ‫ݔ‬ଵ െ ‫ݔ‬ଶ ሻ ‫ݎ‬
݇ଶ ሺ‫ݎ‬ሻ ൅ ݇ଵଶ ൌ Ͳ
݇ଵଶ ൌ െ݇ଶ ‫ݎ‬

Also
Take σ ‫ ܯ‬ൌ Ͳ ˆ‘”–Š‡™Š‡‡Ž
݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ” െ ݇ଶଶ ൌ Ͳ
Substitute values,
݇ଶଶ ൌ ݇ଶ ‫ ݎ‬ଶ

ሺ݇ଵ ൅݇ଶ ሻ െ݇ଶ ‫ݎ‬

Thus, ሾ݇௜௝ ሿ ൌ
െ݇ଶ ‫ݎ‬ ݇ଶ ‫ ݎ‬ଶ

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3.0 Flexibility Influence Coefficient
B. Flexibility influence coefficients
ƒ Consider the spring-mass system as shown below

ƒ Let the system be acted by force Fj and let the displacement at point i be
aij
ƒ The flexibility influence coefficient aij means the deflection of point i due
to a unit load at point j

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3.0 Flexibility Influence Coefficient

ƒ The deflection increases proportionally with the load
‫ݔ‬௜௝ ൌ ܽ௜௝ ‫ܨ‬௝
ƒ If several forces Fj (j = 1,2,3…n) act at different points of the system, the
total deflection at point i can be found by
௡ ௡
‫ݔ‬௜ ൌ ෍ ‫ݔ‬௜௝ ൌ ෍ ܽ௜௝ ‫ܨ‬௝ ǡ ݅ ൌ ͳǡʹǡ͵ ǥ ݊
௝ୀଵ ௝ୀଵ

ƒ We can write down the above equation into matrix form as:
‫ݔ‬ൌ ܽ‫ܨ‬
ƒ where x and F are the displacement and force vectors, and the flexibility
matrix [a] is given by:
ܽଵଵ ܽଵଶ ‫ܽ ڮ‬ଵ௡
ܽଶଵ ܽଶଶ ‫ܽ ڮ‬ଶ௡
ܽ ൌ ‫ڭ‬ ‫ڭ‬ ‫ڰ‬ ‫ڭ‬
ܽ௡ଵ ܽ௡ଶ ܽ
ǥ ௡࢔
ƒ From ‫ ݔ‬ൌ ܽ ‫ ܨ‬ൌ ܽ ݇ ‫ ݔ‬and ܽ ݇ ൌ ‫ܫ‬
ƒ Thus: ݇ ൌ ሾܽሿିଵ and ܽ ൌ ሾ݇ሿିଵ
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3.0 Flexibility Influence Coefficient
Example
ƒ Find the flexibility influence coefficients of the system shown in the figure
below.

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3.0 Flexibility Influence Coefficient

Solution
ƒ Draw FBD and label forces appropriately

ƒ Let x1, x2 and x3 denote the displacement of the masses.

ƒ Case 1: Let the force on mass 1 is unity, F1 = 1
ƒ Obtain equilibrium of forces (σ ‫ܨ‬௫ ൌ Ͳሻ for each mass
‫ͳ ݏݏܽܯ‬ǣ ݇ଵ ܽଵଵ ൌ ݇ଶ ܽଶଵ െ ܽଵଵ ൅ ͳ
‫ʹ ݏݏܽܯ‬ǣ ݇ଶ ܽଶଵ െ ܽଵଵ ൌ ݇ଷ ܽଷଵ െ ܽଶଵ ൅ Ͳ
‫͵ ݏݏܽܯ‬ǣ ݇ଷ ܽଷଵ െ ܽଶଵ ൌ Ͳ

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3.0 Flexibility Influence Coefficient
ƒ Solving for simultaneous equation yield,
ଵ ଵ ଵ
ܽଵଵ ൌ ; ܽଶଵ ൌ ; ܽଷଵ ൌ
௞భ ௞భ ௞భ

ƒ Case 2: Let the force on mass 2 equals unity, F2=1

ƒ Obtain equilibrium of forces (σ ‫ܨ‬௫ ൌ Ͳሻ for each mass

‫ͳ ݏݏܽܯ‬ǣ ݇ଵ ܽଵଶ ൌ ݇ଶ ܽଶଶ െ ܽଵଶ ൅ Ͳ
‫ʹ ݏݏܽܯ‬ǣ ݇ଶ ܽଶଶ െ ܽଵଶ ൌ ݇ଷ ܽଷଶ െ ܽଶଶ ൅ ͳ
‫͵ ݏݏܽܯ‬ǣ ݇ଷ ܽଷଶ െ ܽଶଶ ൌ Ͳ
ƒ Solving for simultaneous equation yield,
ଵ ଵ ଵ ଵ ଵ
ܽଵଶ ൌ ; ܽଶଶ ൌ ൅ ; ܽଷଶ ൌ ൅
௞భ ௞భ ௞మ ௞భ ௞మ

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3.0 Flexibility Influence Coefficient

ƒ Case 3: Let the force on mass 3 equals unity, F3=1

ƒ Obtain equilibrium of forces (σ ‫ܨ‬௫ ൌ Ͳሻ for each mass

‫ͳ ݏݏܽܯ‬ǣ ݇ଵ ܽଵଷ ൌ ݇ଶ ܽଶଷ െ ܽଵଷ ൅ Ͳ
‫ʹ ݏݏܽܯ‬ǣ ݇ଶ ܽଶଷ െ ܽଵଷ ൌ ݇ଷ ܽଷଷ െ ܽଶଷ ൅ Ͳ
‫͵ ݏݏܽܯ‬ǣ ݇ଷ ܽଷଷ െ ܽଶଷ ൌ ͳ
ƒ Solving for simultaneous equation yield,
ଵ ଵ ଵ ଵ ଵ ଵ
ܽଵଷ ൌ ; ܽଶଷ ൌ ൅ ; ܽଷଷ ൌ ൅ ൅
௞భ ௞భ ௞మ ௞భ ௞మ ௞య
ଵ ଵ ଵ
ܽଵଵ ܽଵଶ ‫ܽ ڮ‬ଵ௡ ௞భ ௞భ ௞భ
ܽ ܽଶଶ ‫ܽ ڮ‬ଶ௡ ଵ ଵ ଵ ଵ ଵ
ƒ Finally, ܽ ൌ ሾ݇ሿିଵ ൌ ଶଵ‫ڭ‬ ‫ڭ‬ ‫ڰ‬ ‫ڭ‬
ൌ ௞భ ௞భ
൅௞
మ ௞భ
൅௞
మ
ܽ௡ଵ ܽ௡ଶ ǥ ܽ௡࢔ ଵ ଵ
൅
ଵ ଵ
൅
ଵ
൅
ଵ
௞భ ௞భ ௞మ ௞భ ௞మ ௞య

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3.0 Flexibility Influence Coefficient
Example
ƒ A uniform simply supported beam with Young's modulus E = 207 MPa
and moment of inertia I = 5 x 10-6 m4 and length ℓ = 1 m, carries two
masses m1 = 20 kg and m2 = 60 kg at the positions as shown in Figure
below. Obtain the flexibility matrix.

݉ଵ ݉ଶ

݈ ݈ ݈
͵ ͵ ͵

For a simply supported beam,

ܲ
ܾܲ‫ ݔ‬ଶ
ܽ ܾ ݈ െ ‫ ݔ‬ଶ െ ܾଶ Ǣ Ͳ ൑ ‫ ݔ‬൑ ܽ
‫ ݔ ݕ‬ൌ ͸‫݈ܫܧ‬
ܲܽ ݈ െ ‫ݔ‬
‫ݔ‬ ሺʹ݈‫ ݔ‬െ ‫ ݔ‬ଶ െ ܽ ଶ ሻǢ ܽ ൑ ‫ ݔ‬൑ ݈
݈ ͸‫݈ܫܧ‬
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3.0 Flexibility Influence Coefficient

ƒ Solution
Case 1 ‫ܨ‬ଵ ൌ ͳ Ƭ ‫ܨ‬ଶ ൌ Ͳ
Let x1 & x2 are the transverse deflections
௉
We have stiffness for a beam as ݇ ൌ ఋ
ܾܲ‫ ݔ‬ଶ
݈ െ ‫ ݔ‬ଶ െ ܾଶ Ǣ Ͳ ൑ ‫ ݔ‬൑ ܽ
௟ ௟ ଶ௟ ‫ ݔ ݕ‬ൌ ͸‫݈ܫܧ‬
ܲ ൌ ͳǡ ‫ ݔ‬ൌ ǡ ܽ ൌ ǡ ܾ ൌ ܲܽ ݈ െ ‫ݔ‬
ሺʹ݈‫ ݔ‬െ ‫ ݔ‬ଶ െ ܽଶ ሻǢ ܽ ൑ ‫ ݔ‬൑ ݈
ଷ ଷ ଷ ͸‫݈ܫܧ‬

మ భ భ మ మ మ
ሺଵሻ య௟ య
௟ ௟ మ ି య௟ ି య௟ ସ௟ య ଵ ఋభభ ସ௟ య
ߜଵଵ ൌ ଺ாூ௟
ൌ ଶସଷாூ ; ܽଵଵ ൌ ௞ ൌ ௉
ൌ ଶସଷாூ
భ ‫ܨ‬ଵ ൌ ͳ ‫ܨ‬ଶ ൌ Ͳ
ଶ௟ ௟ ଶ௟
ܲ ൌ ͳǡ ‫ ݔ‬ൌ ǡܽ ൌ ǡܾ ൌ
ଷ ଷ ଷ
ܽଵଵ ܽଶଵ
೗ మ೗ మ೗ మ೗ మ ೗ మ
ሺଵሻ ௟ି ଶǤ௟Ǥ ି ି ଻௟ య ଻௟ య
య య య య య
ߜଶଵ ൌ ଺ாூ௟
ൌ ଼ଵாூ ; ܽଵଶ ൌ ସ଼଺ாூ

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3.0 Flexibility Influence Coefficient
ƒ Solution
Case 1 ‫ܨ‬ଵ ൌ Ͳ Ƭ ‫ܨ‬ଶ ൌ ͳ
௟ ଶ௟ ௟
ܲ ൌ ͳǡ ‫ ݔ‬ൌ ǡ ܽ ൌ ǡܾ ൌ
ଷ ଷ ଷ

ܾܲ‫ ݔ‬ଶ
݈ െ ‫ ݔ‬ଶ െ ܾଶ Ǣ Ͳ ൑ ‫ ݔ‬൑ ܽ
‫ ݔ ݕ‬ൌ ͸‫݈ܫܧ‬
భ భ భ మ భ మ ܲܽ ݈ െ ‫ݔ‬
ሺଵሻ య௟ య
௟ ௟ మ ି య௟ ି య௟ ଻௟ య ଵ ఋభభ ଻ ሺʹ݈‫ ݔ‬െ ‫ ݔ‬ଶ െ ܽଶ ሻǢ ܽ ൑ ‫ ݔ‬൑ ݈
͸‫݈ܫܧ‬
ߜଵଶ ൌ ଺ாூ௟
ൌ ସ଼଺ாூ ; ܽଵଵ ൌ ൌ ൌ
௞భ ௉ ସ଼଺ாூ

ଶ௟ ଶ௟ ௟
ܲ ൌ ͳǡ ‫ ݔ‬ൌ ǡܽ ൌ ǡܾ ൌ
ଷ ଷ ଷ ‫ܨ‬ଵ ൌ0 ‫ܨ‬ଶ ൌ ͳ

మ೗ మ೗ మ೗ మ೗ మ మ೗ మ
ሺଵሻ ௟ି ଶǤ௟Ǥ ି ି ସ௟ య ସ௟ య
య య య య య
ߜଶଶ ൌ ൌ ଶସଷாூ ; ܽଵଶ ൌ ଶସଷாூ ܽଵଶ ܽଶଶ
଺ாூ௟

ସ ଻
ଵ ଶସଷ ସ଼଺
Thus, ܽ௜௝ ൌ
ாூ ଻ ସ
ସ଼଺ ଶସଷ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 21

4.0 Finding the Inverse of a Matrix [Review]

ƒ It is an alternative way to obtain the flexibility influence coefficient
ƒ But, you need to know the stiffness matrix, ሾ݇ሿ in advanced
ƒ The inverse for matrix k, ሾ݇ሿିଵ is given by:-

஺ௗ௝ሾ௞ሿ
ሾ݇ሿିଵ ൌ
ȁ௞ȁ

݇ ݇
ƒ If ሾ݇ሿ ൌ ݇ଵଵ ݇ଵଶ ;
ଶଵ ଶଶ
்
ߚଵଵ ߚଵଶ ߚଵଵ ߚଶଵ
‫ ݇ ݆݀ܣ‬ൌ ൌ
ߚଶଵ ߚଶଶ ߚଵଶ ߚଶଶ
ƒ That is, ߚ௜௝ ൌ ሺെͳሻ௜ା௝ ‫ܯ‬௜௝ ;
example ߚଵଶ ൌ ሺെͳሻଵାଶ ‫ܯ‬ଵଶ ൌ െ݇ଶଵ
ƒ and, ݇ ൌ ݇ଵଵ ሺ݇ଶଶ ሻ െ ሺ݇ଶଵ ሻሺ݇ଵଶ ሻ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 22

4.0 Finding the Inverse of a Matrix [Review]
Example

ƒ If ሾ݇ሿ ൌ ͳ ʹ , obtain the flexibility coefficient.

͵ ʹ

Solution
ߚଵଵ ൌ ሺെͳሻଵାଵ ‫ܯ‬ଵଵ ൌ ൅ʹǢ ߚଵଶ ൌ ሺെͳሻଵାଶ ‫ܯ‬ଵଶ ൌ െ͵
ߚଶଵ ൌ ሺെͳሻଶାଵ ‫ܯ‬ଶଵ ൌ െʹǢ ߚଶଶ ൌ െͳ ଶାଶ ‫ܯ‬
ଶଶ ൌ ൅ͳ
்
ʹ െ͵ ʹ െʹ
Thus ‫ ݇ ݆݀ܣ‬ൌ ൌ
െʹ ͳ െ͵ ͳ
ͳ ʹ
And  ൌ ൌ ͳ ʹ െ ͵ ʹ ൌ െͶ
͵ ʹ
஺ௗ௝ሾ௞ሿ ଵ ʹ െʹ െͲǤͷ ͲǤͷ
Finally ሾ݇ሿିଵ ൌ ൌ െସ ൌ
ȁ௞ȁ െ͵ ͳ ͲǤ͹ͷ െͲǤʹͷ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 23

4.0 Finding the Inverse of a Matrix [Review]

Exercise

ʹ ʹ ͵
ƒ Obtain the flexibility coefficient for ሾ݇ሿ ൌ Ͷ ͷ ͸
͹ ͺ ͻ

Hints
ƒ ݇ ൌ െ͵Ǣ

െ͵ ͸ െ͵
ƒ ‫ ݇ ݆݀ܣ‬ൌ ͸ െ͵ Ͳ
െ͵ െʹ ʹ

ͳ െʹ ͳ
ƒ Answer, ሾ݇ሿିଵ ൌ െʹ ͳଶ Ͳ
ଶ
ͳ െ
ଷ ଷ
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 24
Class exercise
ƒ Obtain the flexibility influence coefficient for the vibrating system shown
below. Use x1 and x2 as generalized coordinates.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 25

Class exercise
Solution
ƒ This is a 2 DOF systems. We need to consider 2 cases with the flexibility
coefficient of a11, a21, a12 and a22.
ƒ Case 1. Draw FBD, introduce F1 = 1 (and F2 =0) acting on roller disc and
substitute x1= a11 and x2 = a21.

ƒ Apply equilibrium of moment for both rigid bodies and solve for a11, a21

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 26

Class exercise

ƒ Case 2. Draw FBD, introduce F2 = 1 (and F1 =0) acting on vertical rod

and substitute x1= a12 and x2 = a22.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 27

Class exercise
ƒ Apply equilibrium of moment for both rigid bodies and solve for a12, a22.

ƒ Write the flexibility coefficient into a matrix form

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 28

Tutorial 5.1
ƒ Obtain the flexibility coefficient for the following mechanical systems

aሻ

bሻ

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5.0 Dunkerley’s Formula

Dunkerley’s Formula (DF)
ƒ DF estimates the fundamental frequency of a composite system.
ƒ Approach: higher natural frequencies of most vibratory systems are large
compared to their fundamental frequencies
ƒ Consider the eigenvalues for n-DOF system
ƒ െ ݇ ൅ ߱ଶ ݉ ൌ Ͳ
ƒ It can also be written as
ƒ െ ఠଵమ ‫ ܫ‬൅ ሾܽሿሾ݉ሿ ൌ Ͳ
ƒ For a lumped-mass system with a diagonal matrix
ͳ Ͳ ‫Ͳ ڮ‬ ܽଵଵ ܽଵଶ ‫ܽ ڮ‬ଵ௡ ݉ଵ Ͳ ‫Ͳ ڮ‬
ƒ െ ఠଵమ Ͳ ͳ ‫ Ͳ ڮ‬൅ ܽଶଵ ܽଶଶ ‫ܽ ڮ‬ଶ௡ Ͳ ݉ଶ ‫Ͳ ڮ‬
ൌͲ
‫Ͳ ڰ ڭ ڭ‬ ‫ڭ‬ ‫ڭ‬ ‫ڰ‬ ‫ڭ‬ ‫ڭ‬ ‫ڭ‬ ‫Ͳ ڰ‬
Ͳ Ͳ Ͳ ͳ ܽ௡ଵ ܽ௡ଶ ܽ
‫࢔ ڮ‬௡ Ͳ Ͳ Ͳ ݉࢔

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 30

5.0 Dunkerley’s Formula
ƒ That is
ଵ
െ ൅ ܽଵଵ ݉ଵ ܽଵଶ ݉ଶ ‫ڮ‬ ܽଵ௡ ݉௡
ఠమ
ଵ ܽଶ௡ ݉௡
ƒ ܽଶଵ ݉ଵ െ ൅ ܽଶଶ ݉ଶ ‫ڮ‬ ‫ڭ‬ ൌͲ
ఠమ
ଵ
‫ڭ‬ ‫ڭ‬ ‫ڰ‬ െ మ ൅ ܽ௡௡ ݉௡
ఠ
ܽ௡ଵ ݉ଵ ܽ௡ଶ ݉ଶ ‫ڮ‬
ƒ The expansion of the above equation and further simplify it became
ଵ ଵ ଵ
ƒ ఠభ మ
൅
ఠమ మ
൅ ‫ڮ‬൅
ఠ೙ మ
ൌ ܽଵଵ ݉ଵ ൅ ܽଶଶ ݉ଶ ൅ ‫ ڮ‬൅ ܽ௡௡ ݉௡

ଵ ଵ
ƒ Since ఠ೔ మ
‫ا‬
ఠభ మ
݂‫ ݅ ݎ݋‬ൌ ʹǡ͵ǡ ǥ ǡ ݊ then the approximate solution is
૚
؆ ࢇ૚૚ ࢓૚ ൅ ࢇ૛૛ ࢓૛ ൅ ‫ ڮ‬൅ ࢇ࢔࢔ ࢓࢔
࣓૚ ૛

ƒ This equation is called Dunkerley’s formula

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 31

5.0 Dunkerley’s Formula

Example
ƒ A uniform simply supported beam with Young's modulus E = 207 MPa
and moment of inertia I = 5 x 10-6 m4 and length ℓ = 1 m, carries two
masses m1 = 20 kg and m2 = 60 kg at the positions as shown in Figure
below. Estimate the fundamental frequency using Dunkerley’s Formula.

݉ଵ ݉ଶ

݈ ݈ ݈
͵ ͵ ͵

For a simply supported beam,

ܲ
ܾܲ‫ ݔ‬ଶ
ܽ ܾ ݈ െ ‫ ݔ‬ଶ െ ܾଶ Ǣ Ͳ ൑ ‫ ݔ‬൑ ܽ
‫ ݔ ݕ‬ൌ ͸‫݈ܫܧ‬
ܲܽ ݈ െ ‫ݔ‬
‫ݔ‬ ሺʹ݈‫ ݔ‬െ ‫ ݔ‬ଶ െ ܽ ଶ ሻǢ ܽ ൑ ‫ ݔ‬൑ ݈
݈ ͸‫݈ܫܧ‬
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 32
5.0 Dunkerley’s Formula
ƒ Solution

ସ ଻
ଵ ଶସଷ ସ଼଺ ଵ
The flexibility matrix, ܽ௜௝ ൌ , from ؆ ܽଵଵ ݉ଵ ൅ ܽଶଶ ݉ଶ
ாூ ଻ ସ ఠభ మ
ସ଼଺ ଶସଷ

ଵ ସ
؆ ʹͲ ൅ ͸Ͳ ൌ ͳǤʹ͹ ൈ ͳͲିଷ
ఠభ మ ଶସଷ ଶ଴଻ൈଵ଴ల ହൈଵ଴షల

߱ଵ ൌ ʹͺǤͲ͵ ‫݀ܽݎ‬Ȁ‫ݏ‬

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 33

6.0 Rayleigh’s Method

Rayleigh’s Method (RM)
ƒ It is based on energy conservation theorem
ƒ The kinetic & potential energy for n-DOF system can be expressed as:-
ƒ ܶ ൌ ଵଶ ‫ݔ‬ሶ ் ሾ݉ሿ‫ݔ‬ሶ ଵ
and ܷ ൌ ‫ݔ ݇ ் ݔ‬
ଶ

ƒ Assume the harmonic motion is in the form of

ƒ ‫ ݔ‬ൌ ܺ …‘• ߱‫ݐ‬, where X is the mode shape (amplitude) and Z is the natural
frequency
ƒ According to the energy conservation theorem,
ƒ If, ܶ௠௔௫ ൌ ଵଶ ܺ ் ݉ ܺ߱ଶ and ܷ௠௔௫ ൌ ଵଶ ܺ ் ݇ ܺ, then

ƒ ܶ௠௔௫ ൌ ܷ௠௔௫ , Æ ଵଶ ܺ ் ݉ ܺ߱ଶ ൌ ଵଶ ‫ݔ ݇ ் ݔ‬, we obtain the frequency term

as:-
ࢄࢀ ࢑ ࢄ
࣓૛ ൌ ൌ ࡾሺࢄሻ, R(X) is called Rayleigh’s quotient
ࢄࢀ ࢓ ࢄ
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 34
6.0 Rayleigh’s Method
Example
ƒ Estimate the fundamental frequency of vibration of the system shown in
the figure. Assume that m1=m2=m3=m , k1=k2=k3=k and the mode shape
ͳ
is ʹ
͵

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 35

6.0 Rayleigh’s Method

Solution
ƒ Draw FBD for the system and apply Newton’s law of motion
ƒ For mass m1: ݉ଵ ‫ݔ‬ሷ ଵ ൅ ݇ଵ ‫ݔ‬ଵ ൅ ݇ଶ ‫ݔ‬ଵ െ ‫ݔ‬ଶ ൌ Ͳ Æ ݉‫ݔ‬ሷ ଵ ൅ ʹ݇‫ݔ‬ଵ െ ݇‫ݔ‬ଶ ൌ Ͳ
ƒ For mass m2: ݉ଶ ‫ݔ‬ሷ ଶ ൅ ݇ଶ ‫ݔ‬ଶ െ ‫ݔ‬ଵ ൅ ݇ଷ ‫ݔ‬ଶ െ ‫ݔ‬ଷ ൌ Ͳ Æ ݉‫ݔ‬ሷ ଶ െ ݇‫ݔ‬ଵ ൅
ʹ݇‫ݔ‬ଶ െ ݇‫ݔ‬ଷ ൌ Ͳ
ƒ For mass m3: ݉ଷ ‫ݔ‬ሷ ଷ ൅ ݇ଷ ‫ݔ‬ଷ െ ‫ݔ‬ଶ ൌ Ͳ Æ ݉‫ݔ‬ሷ ଷ െ ݇‫ݔ‬ଶ ൅ ݇‫ݔ‬ଷ ൌ Ͳ
ƒ Therefore, the stiffness and mass matrix is obtained as:

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 36

6.0 Rayleigh’s Method
݉ Ͳ Ͳ ʹ݇ െ݇ Ͳ ͳ Ͳ Ͳ
ƒ ݉ ൌ Ͳ ݉ Ͳ ; ݇ ൌ െ݇ ʹ݇ െ݇ or ݉ ൌ ݉ Ͳ ͳ Ͳ ; ݇ ൌ
Ͳ Ͳ ݉ Ͳ െ݇ ݇ Ͳ Ͳ ͳ
ʹ െͳ Ͳ
݇ െͳ ʹ െͳ
Ͳ െͳ ͳ

ͳ
ƒ Given that ܺ ൌ ʹ Æ ܺ ் ൌ ሾͳ ʹ ͵ሿ,
͵
ƒ The Rayleigh’s quotient,

ଶ ିଵ ଴ ଵ
௞ሾଵ ଶ ଷሿ ିଵ ଶ ିଵ ଶ
೅
ƒ ܴ ܺ ൌ ߱ଶ ൌ ௑௑೅ ௠௞ ௑௑ ൌ ଴ ିଵ ଵ ଷ
ଵ ଴ ଴ ଵ ൌ ͲǤʹͳͶ
௞
௠
௠ሾଵ ଶ ଷሿ ଴ ଵ ଴ ଶ
଴ ଴ ଵ ଷ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 37

6.0 Rayleigh’s Method

ଶ ିଵ ଴ ଵ
௞ሾଵ ଶ ଷሿ ିଵ ଶ ିଵ ଶ
଴ ିଵ ଵ ଷ
ܴ ܺ ൌ ߱ଶ ଵ ଴ ଴ ଵ
௠ሾଵ ଶ ଷሿ ଴ ଵ ଴ ଶ
଴ ଴ ଵ ଷ

ଵ
௞ሾሺଶିଶା଴ሻ ሺିଵାସିଷሻ ሺ଴ିଶାଷሻሿ ଶ
ଷ
ൌ ଵ
௠ሾଵ ଶ ଷሿ ଶ
ଷ

଴ା଴ାଷ ௠
ൌ
ଵାସାଽ ௞

௞
ൌ ͲǤʹͳͶ
௠

ƒ The natural frequency, ߱ ൌ ͲǤʹͳͶ ௠௞ ൌ ͲǤͶ͸͵ ௞

௠

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 38

6.0 Rayleigh’s Method
Rayleigh’s method involving beam deflection
ƒ The fundamental frequency of a beam can be estimated by assuming the
beam or shaft is represented by series of lumped masses
ƒ Thus, we may assume that the beam/shaft deflection (‫ݕ‬ଵ ǡ ‫ݕ‬ଶ ǡ ‫ݕ‬ଷ ǥ ‫ݕ‬௡ ሻ are
due to loads ሺ‫ܯ‬ଵ ݃ǡ ‫ܯ‬ଶ ݃ǡ ‫ܯ‬ଷ ݃ ǥ ‫ܯ‬௡ ݃)
ƒ The kinetic and potential energy on the beam is given by:
ͳ
ܷ௠௔௫ ൌ ݃ሺ‫ܯ‬ଵ ‫ݕ‬ଵ ǡ ‫ܯ‬ଶ ‫ݕ‬ଶ ǡ ‫ܯ‬ଷ ‫ݕ‬ଷ ǥ ‫ܯ‬௡ ‫ݕ‬௡ ሻ
ʹ
ͳ ଶ
ܶ௠௔௫ ൌ ߱ ሺ‫ܯ‬ଵ ‫ݕ‬ଵ ǡ ‫ܯ‬ଶ ‫ݕ‬ଶ ǡ ‫ܯ‬ଷ ‫ݕ‬ଷ ǥ ‫ܯ‬௡ ‫ݕ‬௡ ሻ
ʹ
ƒ Equating these two equations yield the fundamental frequency
݃ σ௜ ‫ܯ‬௜ ‫ݕ‬௜
߱ଵ ൌ
σ௜ ‫ܯ‬௜ ‫ݕ‬௜ ଶ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 39

6.0 Rayleigh’s Method

Example
ƒ Calculate the first approximation to the fundamental frequency of lateral
vibration for the system shown below.
ௐ௕௫
[Given the deflection of beam: ‫ ݔ ݕ‬ൌ κଶ െ ‫ ݔ‬ଶ െ ܾ ଶ ‫ ݔ‬൑ ሺκ െ ܾሻሿ
଺ாூκ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 40

6.0 Rayleigh’s Method
Solution
Deflection due to 135 kg mass,
ሺͻǤͺͳ ൈ ͳ͵ͷሻ ൈ ͳǤͷ ൈ ʹǤͷ ͳ
‫ݕ‬Ԣଵ ൌ ͷǤͷଶ െ ʹǤͷଶ െ ͳǤͷଶ ൌ ͵Ǥʹ͹ ൈ ͳͲଷ
͸ ൈ ͷǤͷ‫ܫܧ‬ ‫ܫܧ‬
ሺͻǤͺͳ ൈ ͳ͵ͷሻ ൈ ͳǤͷ ൈ Ͷ ͳ
‫ݕ‬Ԣଶ ൌ ͷǤͷଶ െ Ͷଶ െ ͳǤͷଶ ൌ ʹǤͺͻ ൈ ͳͲଷ
͸ ൈ ͷǤͷ‫ܫܧ‬ ‫ܫܧ‬
Deflection due to 225kg mass,
ሺͻǤͺͳ ൈ ͳ͵ͷሻ ൈ ʹǤͷ ൈ ͵ǤͲ ͳ
‫̶ݕ‬ଵ ൌ ͷǤͷଶ െ ͵ǤͲଶ െ ʹǤͷଶ ൌ ͹Ǥͷʹ ൈ ͳͲଷ
͸ ൈ ͷǤͷ‫ܫܧ‬ ‫ܫܧ‬
ሺͻǤͺͳ ൈ ͳ͵ͷሻ ൈ ʹǤͷ ൈ ͳǤͷ ͳ
‫̶ݕ‬ଶ ൌ ͷǤͷଶ െ ͳǤͷଶ െ ʹǤͷଶ ൌ ͷǤͶͷ ൈ ͳͲଷ
͸ ൈ ͷǤͷ‫ܫܧ‬ ‫ܫܧ‬
Total deflection due to each mass
ͳ
‫ ݕ‬ᇱ ൌ ‫ݕ‬Ԣଵ ൅ ‫ݕ‬Ԣଶ ൌ ͳͲǤͺ ൈ ͳͲଷ
‫ܫܧ‬
ͳ
‫ ̶ݕ‬ൌ ‫̶ݕ‬ଵ ൅ ‫̶ݕ‬ଶ ൌ ͺǤ͵Ͷ ൈ ͳͲଷ
‫ܫܧ‬
The fundamental frequency
ͻǤͺͳ ʹʹͷ ൈ ͳͲǤͺ ൈ ͳ͵ͷ ൈ ͺǤ͵Ͷ ‫ܫܧ‬
߱ଵ ൌ ൌ ͲǤͲ͵ͳ ‫݀ܽݎ ܫܧ‬Ȁ‫ݏ‬
ሾሺʹʹͷ ൈ ͳͲǤͺଶ ሻ ൅ ሺͳ͵ͷ ൈ ͺǤ͵Ͷଶ ሿ ൈ ͳͲଷ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 41

Class exercise
ƒ A shaft of 15 mm diameter is carrying two rotating disks of masses m1 =
10 kg and m2 = 15 kg as shown in figure below. Take E = 209 G Pa.
¾ Obtain the flexibility coefficient of the system
¾ Determine the natural frequency of the system using Dunkerley’s method
¾ Determine the static deflection due to the loads
¾ Use Rayleigh’s method to determine the natural frequency of the system.

ͳͷ݇݃

ͳͲ݇݃ P
‫ܣ‬ ‫ܤ‬ a b

x ℓ=a+b

Deflection of beam
ܾܲ‫ݔ‬ሺ݈ ଶ െ ‫ ݔ‬ଶ െ ܾ ଶ ሻ
͵ͷͲ݉݉ ͳͷͲ݉݉ Ͳ൑‫ݔ‬൑ܽ
‫ ݔ ݕ‬ൌ ͸‫݈ܫܧ‬
͸ͲͲ݉݉ ܲܽሺͳ െ ‫ݔ‬ሻሺʹ݈‫ ݔ‬െ ‫ ݔ‬ଶ െ ܽଶ ሻ
ܽ൑‫ݔ‬൑ͳ
͸‫݈ܫܧ‬

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 42

Class exercise
Solution
ƒ This is a 2 DOF systems. We need to consider 2 cases with the flexibility
coefficient of a11, a21, a12 and a22.
ƒ Case 1. Draw FBD, introduce F1 = 1 (and F2 =0) and substitute x1= a11
and x2 = a21.

ƒ Apply bending equations and solve for a11, a21

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 43

Class exercise

ƒ Case 2. Draw FBD, introduce F2 = 1 (and F1 =0) and substitute x1= a12
and x2 = a22.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 44

Class exercise
ƒ Apply bending equations and solve for a12, a22.

ƒ Write the flexibility coefficient into a matrix form

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 45

Class exercise
ƒ Apply Dunkerley’s formula and calculate the natural frequency.
ଵ
؆ ܽଵଵ ݉ଵ ൅ ܽଶଶ ݉ଶ ൌ
ఠభ మ

ƒ Apply bending equations and deflection of beam due to mass 1, that will
give y11, y21

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 46

Class exercise
ƒ Apply bending equations and deflection of beam due to mass 2, that will
give y12, y22

ƒ Calculate total deflection

‫ݕ‬ଵ ൌ ‫ݕ‬ଵଵ ൅ ‫ݕ‬ଵଶ ൌ
‫ݕ‬ଵ ൌ ‫ݕ‬ଶଵ ൅ ‫ݕ‬ଶଶ ൌ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 47

Class exercise
ƒ Calculate the natural frequency using Rayleigh’s formula

௚ σ೔ ெ೔ ௬೔
߱ଵ ൌ σ೔ ெ೔ ௬೔ మ
ൌ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 48

Tutorial 5.2
ƒ Figure below shows two masses that are connected by a tightly stretched
string of consistent tension T. Assuming the string tension does not vary
with the traverse motion of masses and if m1 = m2 = 1.5m and l1 = l3 = l
and l2 = 2l,
a. Determine the stiffness influence coefficient
b. Estimate the natural frequency using Rayleigh’s method (assuming the first
mode vector as [1 ½]T.
c. Obtain the flexibility influence coefficient
d. Estimate the natural frequency using Dunkerley’s method

݈ଵ

݈ଶ

m
݈ଷ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 49