Module: 13 

Lecture: 2 

Example

K1  K 2  K 3  4 N
m
m1  m2  m3  4 Kg

Initial Condition

x1  0   1

All other disp. and velocities are zero

4 0 0
1
M   0 4 0   4  I  ;  M  2   I 
1

2
 0 0 4 
8 4 0 
K   4 8 4 
 0 4 4 
 8 4 0   2 1 0 
1
 K    M   K  M    4 8 4    1 2 1
1 1
2 2
4
 0 4 4   0 1 1 

   2 1 0 
  
det  I   K   0 det   1

  2 1    0
  0 1   1 

 3  5 2  6  1  0     2     2    1  1  1 ........

1  0.1981 1  0.445     2    2  3  2  1   ....

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2  1.555 2  1.247   3  3 2    2 2  6  .......

3  3.247 3  1.8019   3  5 2  6  1  ....

Eigen Vector Calculation 1  0.1981

 K    I   d1  0

Where d1   d11 d 21 d31 

T

 2.0  0.1981 1 0   d11  0 

  1 2  0.1981 1  d   0 
   21   
 0 1 1  0.1981 d31  0 

1
1.8019d11  d 21  0 d11  d 21 ___________ (1)
1.8019

d11  1.8019d 21  d31  0  ___________________________  (2) 

d21  0.8019d31  0 d 21  0.8019d31 ___________ (3)

(3) in (1)

1
d11    0.8019d31   0.4450d31
1.8019
d 21  0.8019d31  
 d11  0.4450 
   
d1  d 21   d31 0.8019 
d   1 
 31   

Normalized d1T .d1  1

d1T .d1  d 312  0.4450    0.8019   12 

2 2

 
 d31.1.84106861
2
d31  1

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 d1T d1  1.84106861  1.3568598

 Normalized,  d11  0.4450 

1  1  
d1   d 21    0.8019 
d T d1   1.3568598  
 d 31   1 
 0.328 
 
 0.5910 
0.7370 
 

Similarly, Normalized Vectors

0.7370  0.5910 
d 2   0.3280 d3    0.7370 
0.5910  0.3280 
   

0.3280 0.7370 0.5910 

d   0.5910 0.3280 0.7370
0.7370 0.5910 0.3280 

d  d    I 
T

 d   K   d     
K

1
 S    M  2  d    I  d 
1

2
 0.164 0.3685 0.2955 
 0.2955 0.1640 0.3685 
0.3685 0.2955 0.1640 

j 1   d   M   2d   I 
T 1 T
2

S  S   I 
1

 0.6560 1.1820 1.4740 

S    1.4740 0.6560 1.1820 
1

 1.1820 1.4740 0.6560 

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Initial conditions in the modal Coordinates

r0    S   x0    S  0  0

1 1

r  0    S 1  x0 
 0.6560 1.1820 1.4740  1 
 
  1.4740 0.6560 1.1820  0 
 1.1820 1.4740 0.6560  0 
 0.6560 
 
 1.4740 
1.1820 
 

Modal Solution


r1  t   0.6560 Sin 0.445  
2  0.6560Cos  0.4457 
r  t    1.4740  Sin 1.247t     1.474Cos 1.247t 
2 2
r  t    1.1820  Sin 1.8019t     1.1820Cos 1.8019t 
3 2

Solution in physical Coordinates

 x   S r  t 
 0.164 0.3685 0.2955   0.656Cos  0.445t  
 
 0.2955 0.1640 0.3685   1.474Cos 1.247t  
0.3685 0.2955 0.1640  1.1820Cos 1.8019t  
0.1076 cos(0.445t )  0.5432 cos(1.24t )  0.3493cos(1.8019t ) 
 
 0.1938cos(0.445t )  0.2417 cos(1.24t )  0.4355cos(1.8019t ) 
0.2417 cos(0.445t )  0.4355cos(1.24t )  0.1944 cos(1.8019t ) 
 

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