Vibration - 3: Sam Noble (IIST) April 12, 2019 1 / 15
Vibration - 3: Sam Noble (IIST) April 12, 2019 1 / 15
Vibration - 3: Sam Noble (IIST) April 12, 2019 1 / 15
Recap
These equations must be satisfied for all values of time(t), the terms inside
the brackets must be zero.
This yields two simultaneous homogeneous algebraic equations in the
unknowns X 1 , X2 .
2
−m1 ω + (k1 + k2 ) X1 − k2 X2 = 0
−k2 X2 + −m2 ω 2 + (k2 + k3 ) X2 = 0 (5)
Normal modes
( of)vibration
( corresponding
) to ω12 andω22 can be expressed as:
(1) (1)
−
→(1) X1 X1
X = (1) = (1)
X2 r1 X1
and ( ) ( )
(2) (2)
−
→(2) X1 X1
X = (2) = (2)
X2 r2 X1
−
→ −
→
The vectors X (1) , and X (2) denotes the normal modes of vibration, known
as modal vectors of the system.
Most
general
case:
m11 m12 x¨1 c c x˙1 k k x1 0
+ 11 12 + 11 12 =
m12 m22 x¨2 c12 c22 x˙2 k12 k22 x2 0
Most
general
case:
m11 m12 x¨1 c c x˙1 k k x1 0
+ 11 12 + 11 12 =
m12 m22 x¨2 c12 c22 x˙2 k12 k22 x2 0
If the stiffness matrix is not diagonal, the system has elastic or static
coupling.
If the damping matrix is not diagonal, the system has damping or
velocity coupling.
If the mass matrix is not diagonal, the system has mass or inertial
coupling (Both velocity and mass coupling come under the heading of
dynamic coupling).