LINEAR ANALYSIS/ DESIGN

STRUCTURAL DYNAMIC
Rekayasa GEMPA
JATI SUNARYATI, Ph D
Civil Engineering Department
Engineering Faculty
Andalas University
The equilibrium Equation
Linear Static
) ( ) ( ) ( ) ( t F t Ku t u C t u M = + +

Linear - Dynamic
Ku = F
u
K
F
u(t)
K, C
F(t)
Linear Dynamic
INTRODUCTION
Its essential for an engineer to have basic knowledge
about structural dynamics because the design
specification were developed based on structural
dynamics, and have been improved based on
advancement in the modern structural dynamics.
The materials are so organized that for those of you
who had taken the course on the subject. It is a review
and a summary, and a new angle to look at the subject
from the view point of the application to earthquake
engineering; for those of you who have not been
exposed to the dynamics of structure, they are the
minimum for you to enjoy the rest of the course.
Scope
3.2.1 Dynamic systems
3.2.2 Dynamic response of SDOF
3.2.3 Dynamic response of MDOF

3.2.1 DYNAMIC SYSTEMS

What are involved in a dynamic system ?
(i) Time varying load, F(t)
(ii) Weight of the system, W or mass, m = W/g
(iii) Viscous damping, c, representing the inherent
energy-dissipating capacity in every structure.
c = damping coefficient
(iv) Structural stiffness and strength
F(t)
W
W
h
Water tank
W
Heavy concrete deck, W
F(t)
h
x
y
z
h
F(t)
Concrete slab
W = total weight
W
1
2
3
4
W = total weight
= distribute weight
Columns 1,2,3,4
are identical
Highway Bridge
w
5
P
1
(t)
P
2
(t)
P
5
(t)
w
4
w
1
Multi story building
Half Slab Supported by Two Columns
Degree of freedom in dynamics

Number of displacement and rotation required to describe the
motion of all masses is called the degree of freedom in
dynamics.

Since the masses in a structure are continuously distributed,
and therefore theoretically speaking, any structure has in
infinite degree of freedom. It will be very difficult to handle
distributed mass, and it wont be necessary in most of
engineering practice.
Lumped masses, selected isolated masses, could be used to
reduce number of degree of freedom, and produced
reasonable good results of response.
For example, the idealized models for dynamic analysis of the
structural systems are:
EI
h
P(t)
u
W + h
< 1
massless
P(t)/2
W/2 + h
u
massless
1 2
x
y
P(t)
W + h/2
u
Multi story building
P
1
(t)
P
2
(t)
P
5
(t)
w
5
w
4
w
1
u
5
u
4
u
3
u
2
u
1
Half Slab Supported by Two Columns
Water tank
Highway bridge
3.2.2 SINGLE DEGREE OF FREEDOM SYSTEM (SDOF)

SDOF System
One displacement (or rotation) can describe the motion of
mass under a given dynamic load. For example, (water tank,
slab, and highway bridge in the Figure can all be modeled as
SDOF because the lumped mass will move in the direction of
P(t).

Note that the degree of freedom can be reduced if the
directions dynamic load are known!
All SDOF system can be modeled as a mass-damper-spring
system, or a single-story structure with an added damper.
In which ,
m = W/g = mass,
k = stiffness in the direction of motion
c = damping coefficient, representing energy loss mechanism
P(t)
u
c
k
m
u
m
c
k/2
k/2
P(t)
Massless
column
) (t u u =

dt
du
u =
2
2
dt
u d
u =
) (t P
Equation of motion of SDOF system
= Displacement of mass relative to the base
= Velocity of the mass
= Acceleration of the mass
= Dynamic load acting on the mass.
= applied dynamic load.
u m f
I

=
Ku f
s
=
u c f
D
=
) (t p
u
m
c
k/2
k/2
P(t)
Massless
column
f
s
/2 f
s
/2 f
d
f
I
P(t)

u
Forces acting on the mass
= inertia force acting in opposite direction of the motion
= elastic resisting force from the structure in opposite
direction of the motion.
= damping force in the opposite direction of the motion.
The equation of motion is an expression of the equilibrium of these
forces:

) (t P f f f
s D I
= + +
or
) (t P ku u c u m = + +

(1)
Problem statement in dynamic response

Given required solution,
), ( , , , t P k c m
) 0 ( ), 0 ( u u

Initial condition
u ( t ) = ? Solve Eq.(4-1) for u
The equation is linear, second-order differential equation, and
therefore its solution depends on the given values of
), ( , , , t P k c m
) 0 ( ), 0 ( u u

Free vibration, properties of SDOF
When P(t)=0, no dynamic excitation, and the motion is due to :

) 0 ( ), 0 ( u u
0 = + + ku u c u m

0
0
) 0 (
) 0 (
u u
u u

=
=
0 2
2
= + + u u u e e

(3)
(2)
= Initial displacement
= Initial velocity
and
Dividing (4-2) by m gives
Eq. (4-1) becomes
In which, we define
s
m
k
1
, = e
As circular frequency of vibration
(4)
t
e
2
= f
e
t 2
1
= =
f
T
e

m
c
2
=
= Natural period of vibration
= Damping ratio (2%~10% for common civil
structures)
<< 1.0
= Natural frequency of vibration
Let where G and S are constants.
Then
Plug into Eq. (4-3)
st
Ge u =
st st
Ge S u SGe u
2
, = =
u u u

, ,
i S
S S
S S Ge
st
) 1 (
0 2
0 ] 2 [
2
2 2
2 2
e e
e e
e e
= =>
= + +
= + +
Where
1 = i
)] cos( ) sin( [ t B t A e u
D D
e e
e
+ =

0
0
0 0
, u u u u
t
t

= =
=
=
)] sin( ) cos( [
0 0
0
t
u u
t u e u
D
D
D
e
e
e
e
e
+
+ =

2
1 e e =
D
e ~
0 . 1 1
2
=
Then
A and B and constants and can be determined by
which results in
(5)
where
= damped frequency
since
Eq. (5) tells us that the free vibration is a harmonic motion with
exponentially decaying magnitude.
Alternatively, the response, u(t), can be written as

) cos( ) ( u e
e
+ =

t e t u
D
t
2
0 0
2
0
] [
D
u u u e e + + =

) ( tan
0 0 0
1
u u u
D
e e u + =

In which
(6)
(7)
-1.5
-1
-0.5
0
0.5
1
1.5
0 2 4 6 8
T
D
= 2t/e
D
u
t
-1.5
-1
-0.5
0
0.5
1
1.5
0 2 4 6 8
T
D
= 2t/e
D
u
t
( e
-t
)
u(t)
u
o
) cos( ) ( u e + = t t u
D
2
0
2
0
] [
D
u u e

+ =
) ( tan
0 0
1
u u
D
e u

=
As a special case, if =0 (undamped system)
-2
0
2
0 5 10 15
t
u
Amplitude,u
o
T
n
= 2t/e
n
u(0)
(0)
a
b
c
d
e
-2
0
2
0 5 10 15
t
u
Amplitude,u
o
T
n
= 2t/e
n
u(0)
(0)
a
b
c
d
e
t P t P = sin ) (
0
=
t
m
P
u u u = e e sin 2
0
2
= + +
p h
u u u + =
] sin cos [ t B t A e u
D D
t
h
e e
e
+ =

where P
0
= amplitude of load
= = frequency of excitation
Eq. of motion (4-1) becomes
or
Where
(8)
(9)
Called transient response which will damp out quickly (see
Eq.(7) ) and associate figure.
Response to harmonic motion
a. Time-history response
when
t Po ku u c u m = sin = + +

t t
K
P
u
p
= | = |
| |
cos 2 sin ) 1 ][( [
2
2 ) 2 ( ) 1 (
1 0
2 2
=
+
e = | u = / ), sin( = = t u
p
2 2 2
0
) 2 ( ) 1 (
1
/
| |

+
= K P
Steady-state displacement, u
p
or
(10)
After first few cycle of vibration, u
h
=0, u=u
p
, related to load
only with the magnitude of
-6
-4
-2
0
2
4
6
0 200 400 600 800
Period T=2t/e
Amplitude, p
o
p
-6
-4
-2
0
2
4
6
0 200 400 600 800
Period T=2t/e
Amplitude, p
o
p
) , (
) 2 ( ) 1 (
1
2 2 2
0
|
| |

D
u
D =
+
=
) , ( ) / (
0 0 max
| D K P D u u = = =
u
0
= P
o
/K = static displacement
b. Dynamic magnification factor, D
(11)
Therefore, if only the maximum displacement of a SDOF
system subjected to a harmonic load with magnitude of P
0
and
frequency = is wanted,
u
o
P
o
k/2

k/2

D is plotted in figure below for different damping rates. It can
be observed that:
0.00
2.00
4.00
6.00
8.00
10.00
12.00
0.00 0.50 1.00 1.50 2.00 2.50
Freq. Ratio, |
D
y
n
a
m
i
c

R
e
s
p
o
n
s
e
,

D
5%
10%
15%
20%
i). For small | , which means very stiff structure (large e)
=/e D
0.15 1.02
0.20 1.04
0.25 1.07
0.30 1.10
= 5%
Dynamic amplification is vary small,
u
max
= u
0
, (Dynamic response = Static response)
ii). For large |, which means very high frequency of load, or
very flexible structure (small e),
say | > 1.3, u
max
< u
0
,
for | > 3, u
max
= 0, no response actually occurs.
iii). For | close to 1.0, = ~ e
D ~ 1/2 , D can be very large since is very
small. We have resonant response when = = e
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0 100 200 300 400 500 600
Total response
Steady state response
t
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0 100 200 300 400 500 600
Total response
Steady state response
t
P(t)
Flexible
column
c. Application

Harmonic vibration occurs very often in our daily life. Let
us take look at simple example. It has been a problem
that lights attached to overpass bridges have short life
due to the vibration of bridges. The vibration for simplicity,
cab be reasonably modeled as a harmonic motion, and
the light can be modeled as a SDOF freedom system
m
k c
u(t)
u
B
= a
o
sin t
Vibration of the
bridge
m
f
s
= ku
f
d
= c
f
I
= m(+
B
)
x
The K and C represent the stiffness and damper that are to
be added to get smaller response of m to a
0
sin=t excitation.
u = relative displacement of the light m to the bridge
u
B
= a
0
sin=t = bridge vibration at the base of the light
) (
B
t
I
u u m u m f + = =
= Inertial force
Total acceleration
u c f ku f
D S
= = ,
, 0 = Fx
0 = + +
S D I
f f f
0
2
0
sin P t ma ku u c u m
u m ku u c u m
B
= = + +
= + +
= =

(12)
Its the same as Eq. (4-8), with
2
0 0
= ma P =
) sin( ) sin(
2
0 0
u =
=
u = = = t
K
ma
D t D
K
P
Therefore, steady-state solution,
(10) ) sin( u = = t u
p
Total response of the mass,
t a t
K
ma
D u u u
B
t
= u =
=
sin ) sin(
0
2
0
+ = + =
) sin(
] sin ) sin( [
sin ) sin(
max
2
0
0
2
0
u =
= u = |
= u = |
=
+ =
+ =
t u
t t D a
t a t Da
t
0
2 2 2
2
max
) 2 ( ) 1 (
) 2 ( 1
a u
t
|
|
.
|

\
|
+
+
=
| |
|
e = | =
To reduce u
t
max
;

(ii) Reduce by reducing stiffness of the spring, such that = / e
> \2. this is most efficient way of isolating the light from the
vibration of the bridge, if = / e > 3, increase. Value should
be estimate fairly well.
(i). Increase
damping value
using damper.
Its very efficient
particularly
when = / e ~ 1.0
When P(t) has a very short
duration, such as explosion,
impact of moving loads
(trucks, cranes), SDOF
systems response will have
the following features

a. Damping much less importance in controlling the
maximum response of structure due to the very short
duration during which the response reaches its maximum
value before the damping can absorb energy.
Response to impulsive loading
Loading
P(t)
t
b. The maximum dynamic amplification is 2. The
amplification depends on the shapes of loading.
0
) (
= +
= +
ku u m
t P ku u m


p
p
t t
t t
>
s
As usual, we are interested in
the maximum response,
(13)
P(t)
k
P
o
P(t)

t
p
rectangular
t

P
o
P(t)

t
p
triangular
t

P
o
P(t)

Half sine curve
t
p
t

) / (
0
max
0
max
max
K P
u
u
u
R = = (14)
Solution to Eq. (13) are plotted in term of t
p
/T, T = 2t
\(m/k), natural period structure in Figure below
It can be observed that:
i). For long duration loadings,
say t
p
/T>1.0, R
max
depends
on the rate of increase of
load to its maximum.
ii). For short - duration
loadings, say, t
p
/T < the
maximum response
depends on the area of
impulse, and has little to
do with the shape of
loading.
From observation (ii), a convenient approximation can be
obtained:
( )
p p p
p
tp
t t t t u t t u
T
t
dt t P
m
u
> =
s } =
), ( sin ) (
4
1
, ) (
1
max
0 max
e
e
(15)
Response to general loading-Duhamel
Integral equation
For any type load, P(t), A linear SDOFs response can be
written as
dt t e P
m
t u
D
t
t
D
) ( sin ) (
1
) (
0
) (
t e t
e
t
=
}

(16)
Eq. (16) is usually called Duhamel Integral, which gives
steady-state response to any type of loading. Its solution,
however, often requires numerical integration when P(t) is very
complex.
Equations of motion
Very often, we have to use more than one
displacement to describe a system for its dynamic
response, which is defined as MDOF system.
For example, a three-story shear-type frame has
its majority of masses lumped at floor levels. On can
look at each mass to set up the equations of motions as
we did for SDOF. Let us use:
3.2.3 MULTI-DEGREE-OF-FREEDOM
(MDOF) SYSTEMS]
dt
u d
u
dt
u d
u
i
i

=
=
u
i
= displacement of mass m
i
relative to the base
= acceleration of m
i
P
i
(t) = applied external load at m
i
Where i =1,2,...,n, n = total number of degree of freedom.
(n = 3 in this example)
m
1
m
2
m
3
c
1
c
2
c
3
k
1
k
2
k
3
P
1
(t)

P
2
(t)

P
3
(t)

Massless
column

(u
2
-u
3
)
(u
1
-u
2
)
m
1
m
2
m
3
c
1
c
2
c
3
k
1
k
2
k
3
P
1
(t)

P
2
(t)

P
3
(t)

u
1
u
2
u
3
Initial
position
= velocity of m
i
Draw free-body-diagram of each mass and set up equilibrium
equation:
) (t P f f f
i Si Di i I
= + +
) ( ) ( ) (
1 2 1 1 2 1 1 1 1
t P u u K u u c u m = + +
f
Ii
= mass x absolute acceleration
f
Di
= c x relative velocity of one mass to other mass
f
Si
= k x relative displacement of one mass to other mass
About m
1
:
) (
1
t P
) (
2 1 1
u u c
) (
2 1 1
u u K
1 1
u m
1
m
) ( ) ( ) ( ) ( ) (
2 2 1 1 2 1 1 3 2 2 3 2 2 2 2
t P u u c u u K u u c u u K u m = + +
About m
2
:
About m
3
:
3 3
u m
) (
3 3
u c
) (
3 3
u K
) (
3
t P
) (
3 2 2
u u K
) (
3 2 2
u u c
) ( ) ( ) (
3 3 2 2 3 2 2 3 3 3 3 3 3
t P u u c u u K u c u K u m = + +
2 2
u m
) (
2 1 1
u u c
) (
2 1 1
u u K
) (
3 2 2
u u K
) (
2
t P
) (
3 2 2
u u c

Reorganize them and put into a matrix form for compactness:
} { } ]{ [ } ]{ { } ]{ [ P u K u C u M = + +

=
3
2
1
} {
u
u
u
u

=
3
2
1
} {
u
u
u
u

=
3
2
1
} {
u
u
u
u

=
) (
) (
) (
} {
3
2
1
t P
t P
t P
P
(16)
Where
= Acceleration
vector
= Velocity
vector
= Displacement
vector
= Load
vector
(
(
(

=
3
2
1
0 0
0 0
0 0
] [
m
m
m
M
= Mass matrix
(4-16a)
(
(
(

+
+

=
3 2 2
2 2 1 1
1 1
0
0
] [
c c c
c c c c
c c
C
= Damping
matrix
(4-16b)
(
(
(

+
+

=
3 2 2
2 2 1 1
1 1
0
0
] [
k k k
k k k k
k k
K
= Stiffness
matrix
(4-16c)
Observation from [M], [C], and [K]
Mass matrix is a diagonal matrix with mi on the diagonal and
zeros off diagonal. This is true for all lumped MDOF
systems.

Damping and stiffness matrices are symmetric; but have
non-zero off-diagonal terms which means that the
movement of one mass affects another masss movement.
They are coupled.

[M], [C], and [K] are the properties of the system and have
nothing to do with loading. Similar to the SDOF system
whose equation of motion is given in Eq. (1) compare:
Free vibration can give the inside of a MDOF.
{ } 0
0
0
0
)} ( { =

= t P
} { } ]{ [ } ]{ { } ]{ [ P u K u C u M = + +
(16)
) (t P ku u c u m = + +
(1)
} 0 { } ]{ [ } ]{ [ = + u K u M (17)
Recall that free vibration of SDOF is a harmonic motion,
}
) sin( u et
Free vibration of MDOF and modal Properties
When,
and undamped system
, let us Assume a MDOF is also vibrating with
harmonic motions, i.e. ,
) sin( }

{ } { u e = t u u

=
3
2
1

} {
u
u
u
u
{ } { } ) cos(

u e e = t u u

{ } { } ) sin(
2
u e e = t u u
| | | | ( ){ } } 0 { ) sin(
2
= u e e t u M K
| | | | ( ){ } } 0 {
2
= u M K e
Therefore,
= amplitude vector
Plug into (17), we get
or (18)
= constant vector
= {0}
For non-zero,
{ } u
we have
| | | | 0
2
= M K e
- Means the determinant
(19)
(20)
From Eq. (19), we can find out frequencies
n
e e e ,....., ,
2
1
and associated vibration modes.
Eq. (20) tells us that the mode shapes are orthogonal with
respect to the mass matrix.
In the same way, we can find that
| | j i K
j
T
i
= = , 0 | | (21)
Mode shape are orthogonal with respect to the stiffness matrix.
Eq. (20) and (21) are called orthogonal conditions of mode
shapes, and apply to two different modes. They do not apply to
two different modes. They do not apply to two modes having the
same frequency.
When the same mode applies,
| | { }

(
(
(

=
i
i
i
i i i
i
T
i
m
m
m
M
` 3
` 2
` 1
3
1
1
` 3 ` 2 ` 1
0 0
0 0
0 0
|
|
|
| | | | |
0
3
1
2
3
2
3 2
2
2 1
2
1
> =
+ + =

= k
k ki
i i i
m
m m m
|
| | |

=
=
3
1
2

k
k ki i
m M |
(22)
Let
= the i-th modal mass
| |
i
i
T
i
K K

= | |
Similarly,
= the i-th modal stiffness (23)
Furthermore, If we construct the damping matrix [c] such that
| |

=
=
=
j i C
j i
C
j
j
T
i
,

, 0
| |
(orthogonal)
(modal damping coefficient)
(24)
We can uncouple our equations of motion for MDOF (Eq. 16) as the
following
} { } ]{ [ } ]{ { } ]{ [ P u K u C u M = + +

(16)
( ) { } ( ) ( ) ( ) t u t u t u t u
3 2 1
+ + =
(25a)
u
1
(t)
u
2
(t)
u
3
(t)
m
1
m
2
m
3
u
31
u
21
u
11
u
12
u
22
u
32
u
33
u
23
u
13

1
Y
1
(t) = u
1
(t)

2
Y
2
(t) = u
2
(t)

3
Y
3
(t) = u
3
(t)

{ } ( ) ( ) ( ) ( )

=
= + + =
n
i
i
i
t Y t Y t Y t Y t u
1
3
3
2
2
1
1
) ( | | | | (25b)

=
i
i
i
i
3
2
1
|
|
|
| ( ) t Y
i
,
= modal amplitude, time-varying function
{ } ( )

=
=
n
i
i
i
t Y t u
1
) ( |
( ) ( ) ( ) ( ) ( ) ( ) { } P t Y K t Y C t Y M
T
j
n
i
i
i
T
j
n
i
i
i
T
j
n
i
i
i
T
j
| | | | | | | = |
.
|

\
|
+ |
.
|

\
|
+ |
.
|

\
|

= = = 1 1 1

Where, i=1,2,3,.,n ,n=number of DOF
transpose of |
j
Plug
into Eq. (14-16) and multiply it by |
j
T

Using Eqs.(4-20), (4-21), (4-22), (4-23), (4-24) we have
{ } P t P
T
j
i
| = ) (

i i i i i i i
P t Y K t Y C t Y M = + + ) (

) (

) (

(26)
i= 1,2,3,.,n
(27)
where
Eq.(26) is similar to the one for SDOF
i
i
i
M
K
i

e e
=
= =

) (

) ( , t P t P
i
=
) (t P ku u c u m = + +
(1)
There are results obtained for u in SDOF are valid for
Y(t) with substitutions of
= ith frequency
= modal damping
Find [M], [K]
Evaluate i (2%~10%)
Procedure for response of MDOF by modal superposition method
Modal analysis using

to get: ei, |i
| | | | 0
2
= M K e


| | { } P P M K M M
T
i i i i i
i
T
i
i
| e | | = = =

,

,

2
Solve for Y
i
(t) from

For i = 1,2,3,,n
( ) ( ) ( )
i i i i i i i
P t Y t Y t Y

2
2
= + + e e



i = 1,2,....,n


Where m s n. for regular
structures number of modes
might be smaller than n to get
the accuracy needed.
) ( ) ( t Y t u
i
i
i
| =
( ) { } ( ) t Y t u
m
i
i
i

=
=
1
|
HAND CALCULATION EXAMPLE
The water tank can be treated as a SDOF
EI=5.4x108 kip-ft2. W=1544kips.

Calculate the base overturning moment and
base shear due to an explosive load modeled
as a triangular impulsive load.
w
L = 150 ft
10 ft
EI
P(t)
V
o
M
o
SOLUTION:
i). Natural period
. sec 2
40
0 . 4
2 2 = = = t t
k
m
T
in s kip
g
W
m / . 0 . 4
386
1544
2
= = =
in k ft kip
x x
L
EI
K / 40 / 480
) 150 (
10 4 . 5 3 3
3
8
3
= = = =
P(t)
t
t
p
= 0.2 sec
1000 k
EXAMPLE 1
" 95 . 9
4
25 . 0 1000
2
1
) (
1
0
max
= = =
}
t e x
x x
dt t P
m
u
tp
ii). Maximum response using approximate approach
iii). Maximum base shear and overturning moment
' max 0 max 0
max max
59700 . , 398
398 " 95 . 9 ) / ( 40
k
k
k
L fs M f V
x in k Ku f
= = = =
= = =
Discussions on the results:
i). An impulsive load, such as an explosion, has usually short
duration. Its dynamic effect on system response can be smaller
than its magnitude. In this case, P
0
=1000kip, V
0
=398kip base shear
has only 40% of P
0
;
ii). However, locally, the structure will suffer high stress for 1000
applied in a small area.
u
max
fs
max
k

for the three-story building Given :
m
1
= 1 kip.sec2/in
m
2
= 1.5 kip.sec2/in
m
3
= 2.0 kip.sec2/in
K
1
= 600 kips/in
K
2
= 1200 kips/in
K
3
= 1800 kips/in
Find:
(i). Frequencies and periods of vibration
(ii). Modal shapes
(i). Eq. (4-16a) gives
(
(
(

=
(
(
(

=
0 . 2 0 0
0 5 . 1 0
0 0 0 . 1
0 0
0 0
0 0
] [
3
2
1
m
m
m
M
Kip.sec
2
/in
EXAMPLE 2
SOLUTION
m
1
m
2
m
3
k
1
k
2
k
3
P
1
(t)

P
2
(t)

P
3
(t)

Massless
column

(
(
(

=
(
(
(

+
+

=
5 2 0
2 3 0 . 1
0 0 . 1 0 . 1
600
0
0
] [
3 2 2
2 2 1 1
1 1
k k k
k k k k
k k
K
(
(
(

=
B
B
B
M K
2 5 2 0
2 5 . 1 3 1
0 1 1
600 ] [ ] [
2
e
Kip.sec
2
/in
(a)
Where B = e
2
/ 600
0 2 5 . 7 5 . 5 0
2 5 2 0
2 5 . 1 3 1
0 1 1
2 3
= + =



B B B
B
B
B
Then,

2 . 2125
0 . 964
9 . 210
2
3
2
2
2
1
e
e
e
B
1
= 0.3515
B
2
= 1.6066
B
3
= 3.5420
. sec
136 . 0
202 . 0
433 . 0
3
2
1

T
T
T
. sec /
100 . 46
048 . 31
522 . 14
3
2
1
tad

e
e
e
(ii). Modal shapes
With e
i
known, solve for {} from (4 -18)
| | | | ( ){ } { } 0
2
= i u M K
i
e
Where i represents for i
th

mode and frequency. Using eq. (a) on
P4-22, we get

(
(
(

0
0
0

2 5 2 0
2 5 . 1 3 1
0 1 1
600
3
2
1
i u
i u
i u
Bi
Bi
Bi
(b)
i = 1,2,3 for mode1, 2 and 3

(
(
(

0
0
0

0 . 1
2 5 2 0
2 5 . 1 3 1
0 1 1
3
2
i
i
u
u
Bi
Bi
Bi
Solution to (b) is indefinite, which means
The amplitude of the vibrations is indeterminate (of cause, we need to
know excitation or initial conditions). However, the shape of vibrating
system can be known by assigning a value to any one of i =1.0, then

=
3018 . 0
6485 . 0
0000 . 1

0 . 1
31
21
1
u
u |
Mode 1:
Bi = B
1
= 0.3015
(e = e1)
1.00
0.6485
0.3018

=
6790 . 0
6066 . 0
0000 . 1

0 . 1
32
22
2
u
u |
Mode 2:

Bi = B
2
= 1.6066
1.00
-0.6066
-0.6790

=
4395 . 2
5420 . 2
0000 . 1 0 . 1
33
23
3
u
u
Mode 3:

Bi = B
3
= 3.5420
1.00
-2.5420
2.4395
Mode 1, |
1
e
1
= 14.522 R/s
T
1
= 0.433 sec.
Mode 2, |
2
e
2
= 31.048 R/s
T
2
= 0.202 sec.
Mode 3, |
3
e
3
= 46.100 R/s
T
3
= 0.136 sec.
Examination of mode shapes in the example,
| | | | 0 10 5 . 8
6790 . 0
6066 . 0
000 . 1
0 0 0
0 5 . 1 0
0 0 0 . 1
3018 . 0 6485 . 0 000 . 1
5
2 1
= =
(
(
(

(
(
(

=

x M
T
| |

=
3018 . 0
6485 . 0
0000 . 1
1
|

=
6790 . 0
6066 . 0
0000 . 1
2
|

=
4395 . 2
5420 . 2
0000 . 1
3

We have;
Mode superposition for linear response of MDOF
| | | | 0 , 0
3 2 3 1
= = | | | | M M
T T
| | n j n i j i M
j
T
i
,...., 3 , 2 , 1 , ...., 3 , 2 , 1 , , 0
3 2
= = = = | |
Similarly,
In general,
Example : continued from the example
{ }

=
) 522 . 14 sin( 3
) 522 . 14 sin( 2
) 522 . 14 sin(
0
t
t
t
P P
| | in kip M / sec .
0 . 2 0 0
0 5 . 1 0
0 0 1
2
(
(
(

=
Required
{u(t)} [steady-state only]
Displacement
Response Time history
Solution
1. [M] and [K] as formed previously on eq. (4-16a) and
eq. (4-16c)
m
1
= 1

k
1
= 600

P
1
(t)

P
2
(t)

P
3
(t)

Massless
column

k
2
= 1800

k
2
= 3000

u
1
u
2
u
3
m
2
= 1.5

m
3
= 2
| |
| |
| | 2 . 48021

, 596 . 22

9 . 2384

, 4740 . 2

4 . 382

, 8131 . 1

3
2
3 3
3 3
3
2
2
2 2
2 2
2
1
2
1 1
1 1
1
= = = =
= = = =
= = = =
M K M M
M K M M
M K M M
T
T
T
e | |
e | |
e | |
{ }
{ }
{ } ) 522 . 14 sin( 2345 . 3

) 522 . 14 sin( 2502 . 2

) 522 . 14 sin( 2024 . 3

0
3
3
0
2
2
0
1
1
t P P P
t P P P
t P P P
T
T
T
= =
= =
= =
|
|
|
2. Modal shapes and frequencies
s
1
522 . 14
3018 . 0
6485 . 0
000 . 1
1
1
=

=
e
|
s
1
048 . 31
6790 . 0
6066 . 0
000 . 1
2
2
=

=
e
|
s
1
1 . 46
4395 . 2
5420 . 2
000 . 1
3
3
=

=
e
|
3.
( ) ( ) ( )
i i i i i i i
P t Y t Y t Y

2
2
= + + e e

( ) | | t t
K
P
t Y
i i i
i i i i
i
i
522 . 14 cos ) 2 ( 522 . 14 sin ) 1 (
) 2 ( ) 1 (
1

2
2 2 2
0
| |
| |

+
=
17 . 3 , 14 . 2 , 0 . 1
522 . 14 / /
3 2 1
= = =
= =
| | |
= e = |
i i
4.
| |
] 522 . 14 cos 317 . 0 522 . 14 sin 0489 . 9 [ 0 10 216 . 8
522 . 14 cos 214 . 0 522 . 14 sin 0489 . 9 10 337 . 7
522 . 14 cos 0837 . 0 ] 522 . 14 cos 1 . 0 [ 837 . 0
7
3
0
5
2
0 0 1
t t P x Y
t t P x Y
t P t P Y
=
+ =
= =

Steady-state response , Y
i
(t)
i =1,2,3
( )
| |
( ) | |

= =

= +

= =

= =

33
23
13
7
3
3
3
32
22
12
7
2
2
2
31
21
11
1
1
1
522 . 14 cos 317 . 0 522 . 14 sin 0489 . 9 0 10 216 . 8
4395 . 2
5420 . 2
000 . 1
522 . 14 cos 214 . 0 522 . 14 sin 5796 . 3 ( 0 10 216 . 8
4395 . 2
5420 . 2
000 . 1
522 . 14 cos 0 0837 . 0
3018 . 0
6485 . 0
000 . 1
u
u
u
t t P x Y u
u
u
u
t t P x Y u
u
u
u
t P Y u
|
|
|