Torsional Vibration of a Two Degree of Freedom System

The objectives of this experiment are:

a. To measure the two natural frequencies of a two degree of freedom torsional system.
b. To determine the same natural frequencies analytically.
c. To compare these results.

1. One Degree of Freedom Torsional system

Consider the one degree of freedom systems shown in figures 1, and 2. Figure 1 represents a
torsional system and figure 2 represents a translational system.

Figure 1 Figure 2

Both of these systems are represented by similar equations of motion. Newton’s second law is used to
determine these equations.

(1)

(2)

(2)
In equation 2, is the torsional spring constant of the shaft and is the polar mass moment of
inertia for the disk. The torsional spring constant is determined from the relationship between
moment and angular displacement of the shaft.

Where G, , are the shear modulus, polar area moment of inertia, and the length of the shaf
respectively. For a circular shaft is given by Therefore
Equation 4 is used to determine the natural frequency of the system shown in figure 1.

2. Equations of Motion for a Two Degree of Freedom Torsional System:

Consider the two degree of freedom torsional system shown in figure 3. This system is represented by
three solid circular shafts and two circular disks.

DISK 2,

DISK 1,

Figure 3

For the system shown in figure 3, k1, k2, k3 are the torsional spring constants of the three shafts, , and
are the polar mass moment of inertia of disk 1 and disk 2, and , are the angular displacements of
the two disks. The free body diagrams of these disks are shown in figure 4.
 )

Figure 4

Note that positive directions are the directions of , and as shown in figure 4. Equations of motion
are given by

and

3. Natural Frequencies of a Two Degree of Freedom System

The torsional system shown in figure 3 is represented by two coupled differential equations given by
equations 6, and 7. To simplify the problem let us assume that , , and .

lllEquations 6, and 7 could be simplified to

(9)

Solution of such a system is given by

A1, A2 are the amplitudes and is the phase angle. Angular accelerations , and are then given by
Equations 10, and 11 are now replaced for , , and terms in equation 9.

The common term is cancelled from both of these equations to get

Simplifying

Equations 14 represent two algebraic equations in terms of unknowns A1, and A2. To simplify these
equations assume .

One possible solution of equation 15 is a trivial solution of A1=A2=0. This solution is not acceptable since
it implies no vibration. For a non trivial solution of A1 and A2, the determinant of the coefficients of
amplitudes A1 and A2 should be zero.

Equation 16 which can be written in terms of frequency ( ) is called the frequency equation. The
roots of this equation represent the two natural frequencies of the system shown in figure 3.
 4. Mode Shapes or Amplitude ratios

Mode shapes or amplitude ratios are obtained by replacing with (see equations 18 and 19)
in equations 14. The same ratios could be also obtained replacing with (see equation 17) in
equations 15. Note that since equations 14 are homogeneous, only the ratios of

could be evaluated. In fact these two equations are not linearly independent of each other and

only one of them can be used to determine mode shapes or amplitude ratios.

a) First Mode Shape

To determine the first mode shape, is replaced for in equation 14. These equations
are simplified to get

Note that both of these equations are the same and only one of them is used to find the amplitude
ratio. The amplitude ratio for the first mode is then given by

b) Second Mode shape

In a similar manner to determine the second mode shape, is replaced for in equation
14.

Both of these equations are the same and only one of them is used to find the amplitude ratio.
Experiment:

The two degree of freedom torsional system that is used in this experiment is shown in figure 5. The
amplitude ratios are used to determine the two natural frequencies experimentally.

Reference Axis (R. A.)

Steel Ball Steel Rod

Steel Wire

Steel Coupling

Figure 5

The vibration model of this system is similar to the one shown in figure 3 except here J1 =J2. Assume that
all three string segments have the same stiffness k given by:

Also the two polar mass moments of inertia are equal to J and given by:

Based on these assumptions the amplitude ratios will be

Therefore if both bars are rotated equally in the same direction the measured frequency will be On
the other hand if both bars are rotated equally but in the opposite directions, the measured frequency
will be .