Chapter 13 – SE102

Chapter 13

RESPONSE OF MULTI-DEGREE-FREEDOM SYSTEMS

L.S. Ramachandra
Department of Civil Engineering,
IIT, Kharagpur.

1. INTRODUCTION

The purpose of this chapter is to give an introduction to dynamics of structures so that one could
estimate response of structures to earthquake loading. The earthquake loading is dynamic and
we have two methods available for evaluating structural response to earthquake lading:
deterministic and nondeterministic. If the variation of load with time is completely defined then
one could obtain response of structures to such loads by deterministic methods. However, if the
loading is defined in a statistical sense, then one needs to adopt nondeterministic methods of
analysis. In this chapter, response of multi-degree-freedom-systems subjected to only
deterministic loads are discussed. The response may be obtained in time domain or frequency
domain. The minimum number of independent variables required to define the position of the
mechanical system at any instant of time is defined as its degree of freedom. Even a simple
structure such as beam is a continuous and they are characterized by distributed mass and
inertia. They possess infinite degrees of freedom. However, for all practical purposes they could
be represented by multi-degree freedom (MDOF) systems.

2. LAGRANGIAN EQUATION OF MOTION

The equation of motion for a conservative multi-degree-freedom system may be derived based on
Lagrange’s equation, which is derived from Hamilton’s principle. The Hamilton’s principle is stated
as
t2 t2

δ ∫ (T − V )dt = δ ∫ Ldt (1)

t1 t1

where T and V represent respectively the total kinetic energy and potential energy of the system,
and L = T − V is the Lagrangian. Hamilton’s principle states that of all the admissible paths that
a body can take as it goes from configuration 1 at t1 to configuration 2 at time t2, the path that

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Chapter 13 – SE102

satisfies Newton’s law at each time instant during the interval is the path that extremizes the time
integral of the Lagrangian (difference between kinetic energy and potential energy) during the
interval. The Lagrangian equation of motion is expressed as:

d ⎛ ∂T ⎞ ∂T ∂V
⎜ ⎟− + = Qi i = 1, 2,........, n. (2)
dt ⎝ ∂q&i ⎠ ∂qi ∂qi
where qi are the generalized co-ordinates and Qi are the generalized non-conservative forces.

3. EQUATION OF MOTION

Consider an in-plane motion of simplified three-storey building frame shown in Fig.1(a) and (b).
Here, it is assumed that beams and floors are rigid in flexure and also axial deformation of beams
and columns are neglected. The storey masses are lumped at the floor levels. This shear frame
idealization is unrealistic as beams usually deform in flexure. However, this system enables us to
show how equations of motion of MDOF systems are developed. Later, this is extended to
include beam flexure and joint rotations. The deformation as indicated in the figure provides the
restoring forces. The three storey frame with lumped masses at each floor level has 3 degrees of
freedom (DOF): the lateral displacements of the floors x1, x2 and x3 of masses m1, m2, and m3
respectively. The above system may be idealized as shown in Fig. 1.

p3(t) x3

m3 m
3
p2(t) h x2

p1(t)
m2 h
m
x21

m1 h m1

Fig.1(a) A three-storey shear frame Fig. 1(b) A simple model of building response

k1 x1(t) k2 x2(t) k3 x3(t)

m1 m2 m3
p1(t) p2(t) p3(t)

Fig. 1(c) A simple mechanical model

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Chapter 13 – SE102

The governing equations of equilibrium may be derived by two different approaches. In the first
approach, the free body diagram of each individual mass is considered and applying Newton’s
second law, one could write equations of motion. Considering the free body diagram of masses
m1, m2 and m3 one could write differential equations of motion of the system as:

p1 (t ) + k 2 [ x 2 (t ) − x1 (t )] − k1 x1 (t ) = m1 &x&1
p2 (t ) + k3 [ x3 (t ) − x2 (t )] − k2 [ x2 (t ) − x1 (t )] = m2 &&
x2 (3)

p 3 (t ) − k 3 [ x3 (t ) − x 2 (t )] = m3 &x&1
where pi(t) is the externally applied force. k1 , k 2 and k 3 are the storey stiffnesses and they are the

sum of the lateral stiffnesses of all columns in that storey. The lateral stiffness of column with both
12 EI
ends fixed in a shear building idealization is . In the present case,
h3
12 EI 12 EI 24 EI
k1 = + 3 = 3
h3 h h
The second approach is via Lagrange’s equation of motion. Here the total kinetic energy T of the
system may be written as
1
T= (m1 x&12 + m2 x&22 + m3 x&32 ) (4)
2

and total potential energy of the system may written as

1
V= (k1 x12 + k2 ( x2 − x1 ) 2 + k3 ( x3 − x2 ) 2 ) (5)
2
the independent co-ordinates of the system are x1, x2 and x3. Using Lagrange’s equation of
motion, one could write, equation of motion in matrix form as,

⎡ m1 0 0 ⎤ ⎧ &&x1 ⎫ ⎡ k1 + k2 −k2 0 ⎤ ⎧ x1 ⎫ ⎧ p1 (t ) ⎫
⎢0 ⎥ ⎪ && ⎪ ⎢ ⎪ ⎪ ⎪
− k3 ⎥⎥ ⎨ x2 ⎬ = ⎨ p2 (t ) ⎬
⎪
⎢ m2 0 ⎥ ⎨ x 2 ⎬ + ⎢ − k2 k 2 + k3 (6)
⎢⎣ 0 0 m3 ⎦⎥ ⎩⎪ &&
x3 ⎭⎪ ⎣⎢ 0 − k3 k3 ⎦⎥ ⎩⎪ x3 ⎭⎪ ⎩⎪ p3 (t ) ⎭⎪

This may be written in compact form as

[M]{&x&} + [K ]{x} = {p(t)} (7)

Wherein [M ] and [K ] are known as the mass and stiffness matrix respectively of the multi-
degree-freedom system. The mass matrix is diagonal and by Maxwell-Betti’s reciprocal theorem it
can be shown that the stiffness matrix is symmetric i.e. k ij = k ji (and for practical cases, both

matrices are positive definite). Any typical element k ij of the stiffness element represents the

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Chapter 13 – SE102

force at the i-th floor level due to a unit displacement at the j-th floor level, while holding all other
displacements at zero. The equation (6) represents a three second order ordinary differential
equations (ODEs). Knowing the initial conditions one could solve them completely. The free
vibration properties of the structure are evaluated and are used in the evaluation of response of
MDOF system.

4. FREE VIBRATION

The motion of a structure without any external force is known as free vibration. The free vibration
is initiated in a structure by disturbing it from its equilibrium position by giving it some initial
displacements or velocities. The free vibration of n-degree freedom structure is governed by the
equation

[M]{&x&} + [K ]{x} = {0} (8)

Now it is required to determine x(t ) satisfying the initial conditions

x = x ( 0) x& = x& (0) (9)

An undamped structure would execute simple harmonic motion without change in the deflected
shape if disturbed from its equilibrium conditions. Such motions are also known as synchronous
motion in which all the co-ordinates have the same time dependence and general configuration
does not change except for the amplitude. The ratio between two co-ordinates
x n i (t ) and x n j (t ) (for i ≠ j ) remains constant during the motion in any mode. Mathematically
such a motion in any mode is described by
x n (t ) = f n (t )φ n (10)
where the deflected shape φ n does not change with time. The subscript n denotes the mode

number. The time variation of displacements in simple harmonic motion is given by

f n (t ) = C n cos (ω n t − ϕ n ) (11)
where Cn is an arbitrary constant, ϕ n is the phase angle and ω n is the frequency of oscillation. All
the quantities Cn, ϕ n and ω n are the same for every mode x j (t ) (j=1,2,…,n). Substituting

equations (10) and (11) in (8) and dropping the subscript we get,

[K − ω M ]φ = 0
2
(12)
The equation represents a set of n-homogeneous algebraic equations in n-unknowns

φ n j ( j = 1,2,.., n) . In the above equation λ = ω 2 plays the role of a parameter. To obtain a non-
trivial solution, the determinant of φ must vanish i.e.,

K − ω 2M = 0 (13)

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Chapter 13 – SE102

Expanding, the above determinant, we get an n

th
order polynomial in ω 2 , whose solution give n
frequencies ω1 , ω 2 ,.........., ω n in which the multi-degree freedom system can vibrate

harmonically. For the time being, let us assume that the n eigen values are distinct and they are
arranged according to their magnitudes as ω1 < ω 2 < ........ < ω n . It may be verified easily that,

− ω does not generate any new solution. Associated with each of these frequencies,
ω r (r = 1,2,.., n) , a non-trivial vector φ r may be evaluated. φ r are known as the eigen-vectors
or modal vectors such that

[K ] φ r = [M]φ r (14)
These vectors are unique in the sense that the ratio between any two elements of the vectors
φ i r and φ j r is constant where as the elements themselves are arbitrary. Since equation (14) is

homogeneous, if φ r is solution then αφ r is also a solution, where α is any arbitrary constant.

5. ORTHOGONALITY AND NORMALIZATION OF MODES

The n-eigen values and n-eigen vectors are compactly represented in matrix form as follows:

⎡φ11 φ12 . . φ1n ⎤

⎢φ φ 22 . . φ 2 n ⎥⎥
⎢ 21
[ ]
Φ = φ jn =⎢ . . . . . ⎥ (15)
⎢ ⎥
⎢ . . . . . ⎥
⎢⎣φ n1 φn2 . . φ nn ⎥⎦
The matrix Φ is known as the modal matrix for the eigen value problem. The n eigen values are
represented as

⎡ω12 ⎤
⎢ ⎥
⎢ ω 22 ⎥
Λ=⎢ . ⎥ (16)
⎢ ⎥
⎢ . ⎥
⎢ 2⎥
ωn ⎦
⎣
and Λ is known as the spectral matrix of the eigen value problem. The solution of n eigenpairs

(ω r2 , φ n ) can be compactly written as

KΦ = ΛΦ (17)
Usually mode shapes are normalized so that the multiplicative constant α is fixed. A convenient
normalization scheme commonly used is

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Chapter 13 – SE102

φ Ti Mφ i = 1
Such vectors are known as mass orthonormal set.
The normalized eigenvectors corresponding to different natural frequencies satisfy following
orthogonality relations

φ Ti Kφ j = ω i2δ ij ; φTi Mφ j = δ ij (18)

where δ ij is the Kronecker delta. Eigenvectors are M-orthonormal and K-orthogonal. Physically,
orthogonality relation implies that the work done by the i-th mode inertia forces in moving through
j-th mode displacements is zero. Till now, we have said nothing about the repeated eigenvalues
and eigenvectors. Let us assume that p natural frequencies are repeated where 2 ≤ p ≤ n . In
such a case, the eigenvectors associated with the repeated eigenvalues are orthogonal to the
remaining n-p eigenvectors and in general they are not orthogonal to themselves. However, when
K and M are real symmetric matrices, the eigenvectors corresponding to repeated eigenvalues
are orthogonal to themselves. However, evaluation of eigenvectors corresponding to repeated
eigenvalues is more involved, as any linear combination p eigenvectors corresponding to
repeated eigenvalues is also an eigenvector. In general it is possible to choose p linear
combination of eigenvectors such that these combinations are mutually orthogonal thus
evaluating the eigenvectors corresponding to repeated eigenvalues.

6. FREE VIBRATION RESPONSE TO INITIAL EXCITATIONS BY MODAL ANALYSIS

Let us again return to equation (8). Assuming that, eigen values and eigen vectors are all
determined for the above system, then one could write the general solution as the superposition
of response in individual modes. Thus,
n
x(t ) = ∑ φ j C j cos (ω j t − ϕ j ) (19)
j =1

It can be easily shown that eigenvectors φ r (r = 1,2,.., n) are linearly independent i.e.
n

∑c φ
r =1
r r ≠ 0 , where cr are non-zero constants. Now, it is possible to think of an n-dimensional

vector space whose axes are defined by the orthonormal modal vectors φ1 , φ 2 ,......, φ n . In other
words, n-modeshapes of an n-degree-of-system form the basis vectors for the possible
configurations of the structure (Franklin 1968). Put in simple words, any static or dynamic
deflection of the structure can be expressed as the linear combinations of the mode shapes. Thus
any vector φ in this space is represented as

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Chapter 13 – SE102

φ = c1φ1 + c2φ 2 + ............. + cn φ n ( 20)

Premultiplying equation (20) by φ Tr M , and invoking othrogonality condition, we can write

φrT Mφ = cr (21)

The coefficients cr is known as the contribution factor as they represent the measure of

contribution of the associated modes φ r to the mode φ . Equations (20) and (21) are known
as the expansion theorem in vibration.

φ1 φ11 φ12 φ13

φ2 φ 21 φ 22 φ 23

φ3 = c1 φ 31 + c2 φ 32 + c3 φ 33

Fig. 2. Representation of deflections as a sum of modal co-ordinates.

The mode shapes serve the same purpose as the trigonometric functions in a Fourier series and
they are advantageous for the same reason i.e. modeshapes are orthogonal. Consider a free
vibration of multi-degree-freedom system represented by equation (8). Now, it is sought to
determine the deflected shape of the structure x at any time instant t. We can represent x(t) by
using equation (20). In this case, the coefficients cr (r=1,2,..,n) also change with time. Denoting
coefficients cr by η (t ) we can write following expression for x(t)
n
x(t) = ∑ η r (t )φ r (22)
r =1

or x(t) = Φη(t) (23)

where, ηr (t ) = φrT Mx(t) r = 1, 2,.., n (24)
Substituting equation (22) in (8)
&& + KΦ η(t) = 0
MΦη(t) (25)
Premultiplying above equation by Φ T we get

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Chapter 13 – SE102

η(t) + Λη(t) = 0
&& (26)
Equation (25) represents a set of n-independent modal equations of the form

η&&r (t ) + ω r2ηr (t ) = 0 r = 1, 2 ,..,n (27)

Here η r (t ) are known as the normal co-ordinates of the system. We have successfully
transformed the n-second order coupled differential equations in to n-second order uncoupled
differential equations. Hence the normal co-ordinates of each mode of a structure respond to
initial excitations as a simple harmonic oscillator. The solution to above equation is
ηr (t ) = Cr cos (ω r t − ϕ r ) r = 1, 2,..,n (28)

The initial conditions are given by

ηr (0) = φrT Mx(0) ; η&r (0) = φrT Mx(

& 0) ( 29)

η&r (0)
Hence ηr (t ) = ηr (0) cos ω r t + sin ω r t r = 1, 2,.., n (30)
ωr
Substituting equation (30) in (22) we can write the response of MDOF system to initial excitation
as
n
⎡ η& (0) ⎤
x(t) = ∑ ⎢ηr (0) cos ω r t + r sin ω r t ⎥ φr (31)
r =1 ⎣ ωr ⎦

7. RESPONSE TO EXTERNAL EXCITATIONS

Consider a n-degree-of-freedom system subjected to external excitation p(t). In this case, the
governing dynamic equilibrium equation in the absence of damping can be written as,

[M ]{&&x} + [K ]{x} = {p(t)} (32)

Since the modal vectors form the basis vectors of n-dimensional vector space, we can write

x(t) = Φη(t) . Substituting, the solution x(t) in equation (32), and premultiplying with Φ T , we
get

η(t) + Λη(t) = ΦT {p(t)}

&& (33)
or

ηr (t ) + ω r2ηr (t ) = Qr (t) r = 1, 2 ,..,n (34)

where Qr (t ) = φ rT {p(t)} are the individual modal forces. Knowing the initial conditions, the
above second order uncoupled ODE’s can be solved.

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Chapter 13 – SE102

8. RAYLEIGH’S QUOTIENT
The concept of Rayleigh’s quotient is very important in dynamics. Rayleigh’s method can be used
to obtain a quick estimate to the lowest natural frequency of discrete and distributed parameter
systems. Rayleigh’s principle states that in a natural mode of vibration of a conservative system
the frequency of vibration is stationary. Rayleigh’s principle is based on the principle of
conservation of energy. For a conservative system we could write the eigenvalue problem as
λ r Mφr = Kφr r = 1,2,..,n (35)

T
Premultiplying both sides by φr , the following scalar equation is obtained.

φ rT Kφ r = λ r φ rT Mφ r (36)
Now, we could express the eigenvalues in the form of ratios as

φ rT Kφ r
λr = r = 1,2,..., n (37)
φ rT Mφ
In the above equation, the numerator is proportional to potential energy and denominator is
proportional to kinetic energy, both in the r-th mode. Equation (37) allows one to calculate the
natural frequencies ω r (r = 1, 2,..., n) , provided the corresponding mode shapes are known.

However our objective is to calculate both φr and ω r .

φ T Kφ
Let R (φ) = λ =ω2 = (38)
φ T Mφ
Here, R (φ) is a scalar and its value depends on the vector φ for a given system matrices K and

M. R (φ) is known as the Rayleigh’s quotient. If the arbitrary vector coincides with the eigenvector

then the quotient is the associated eigenvalue. Moreover, Rayleigh’s quotient has stationery
value in the neighbourhood of system eigenvectors. Let the eigenvectors be normalized so that

φTi Kφi = ω i2 ; φ Ti Mφ i = 1 (39)

From the above discussion, we know that any n-dimensional vector can be represented as a
linear combination of system eigen vectors.
n
φ = ∑ c r φ r = Φc ( 40)
r =1

where,

c T = [c1 , c 2 ,.....c n ]
T

Using equation (40), Rayleigh’s quotient may be written as

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 Chapter 13 – SE102

cTΦ T KΦ c (41)
R (φ ) =
cTΦT MΦ c
n

∑λ c 2
i i
R (φ) = i =1
n
( 42)
∑c
i =1
2
i

Let the assumed trial vector differ slightly from r-th mode. In otherwords ci (i ≠ r ) are very small
compared to cr . Hence, we can write,

ci = ε i c r i = 1,2,.., n i ≠ r (43)

where, ε i << 1 . Then we could write

n
λr cr2 + ∑ λi ci2 (1 − δ ir )
R (φ ) = i =1;i ≠ r
n
(44)
c +
2
r ∑
i =1, i ≠ r
(1 − δ ir ) c 2
i

Or,

n
R (φ ) = λr + ∑
i =1,i ≠ r
(λi − λr )ε r2 (45)

Equation (45) states that if the vector φ differs from eigen vector φr by a small quantity of first

order in ε , then the Rayleigh’s quotient differs from the corresponding eigen value by a small
quantity of second order in ε . From the above equation, it is clear that Rayleigh’s quotient gives

an estimate to eigenvalue which is an upper bound for the lowest eigenvalue, i.e. R ≥ λ1 .

9. EIGEN-VALUE EVALUATION

There are many methods available for the evaluation of eigenvalues and eigenvectors. All
solution methods are iterative in nature as solving an eigenvalue problem is equivalent to finding
roots of the polynomial p (λ ) . Broadly the methods available may be classified into three groups:
(1) Vector iteration method; (2) Transformation method and (3) Polynomial iteration method.
Here, only inverse iteration procedure is discussed. Our goal is to satisfy the eigen value
problem given by :

[K ] φr = λr [ M ] φ r ; λr =ω r2 (46)

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Chapter 13 – SE102

In this method φr and λr are calculated by iteration. To start with assume a vector x1 for φ1 and
evaluate the right hand side of equation (46) by assuming λ1 = 1 . This does not affect the final
value since, eigenvectors can be determined only within a multiplicative constant. Since x1 was
arbitrary, in general Kx1 ≠ Mx1 . Now, evaluate a displacement vector x 2 such that Kx 2 = Mx1 .
It may be seen that x 2 is a better approximation for φ1 than x1 . As the number of iteration
increases, the displacement vector approaches the eigenvector φ1 and the eigenvalue
approaches λ1 (proof of convergence is given at the end). The procedure may be summarized as

follows for any typical step.

1. Evaluate x j+1 by solving

Kx j+1 = Mx j
2. Using Rayleigh’s quotient, obtain an estimate for eigen value.

j+1
x Tj+1Kx j+1
λ =
x Tj+1Mx j+1

3. Check for convergence by comparing two successive values

λ j +1 − λ j
≤ tolerance
λ j +1
4. If the convergence is not satisfied, normalize

x j+1
x i+1 = 1
( x j+1Mx j+1 ) 2

5. Now again go back to the step 1.

6. Let n be the iteration at which convergence is achieved.

xn+1
λ 1 = λ n+1 and φ1 = 1
( xn+1Mxn+1 ) 2

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Chapter 13 – SE102

10. HIGHER MODES

The iteration converges to the lowest mode contained in the trail vector x1. If we make the trial
vector x2 orthogonal to the first mode then it converges to the next lowest mode. Higher
eigenvalues may be evaluated by shifting. After evaluating the first eigenvalue, shift the origin of

eigenvalue axis by µ . Now the eigenvalues with respect to shifted origin are λ% = λ − µ .

0 λ1 λ2 λ3 λ4 λ5

Fig. 3(a) Eigen value spectrum

λ%1 0 λ%2 λ%3 λ%4 λ%5

Fig. 3 (b) Eigenvalue measured from the shifted origin.

Substituting this in equation (46) one obtains

Kφ = (λ% + µ)Mφ (47)

Or Kφ %
% = λMφ % = K - µM ;
; where K λ% = λ − µ (48)
The same φ satisfies both equations 46 and 47. However, the eigenvalues of the shifted
problem differs from the eigenvalues of original problem by the shift.

11. CONVERGENCE OF VECTOR ITERATION SCHEME

It can be easily shown that the inverse iteration scheme converges to the lowest eigen value.
Using the expansion theorem, the modal vector x1 (first guess for φ1 ) in the first trial may be

written as
n
x1 = ∑ ηr φr (48)
r =1
Now the better guess x2 is given by

N
x 2 = K -1Mx1 = ∑ K -1Mφ r ηr ( 49)
r=1
From frequency equation, we have,

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Chapter 13 – SE102

1
φr = K -1Mφr (50)
λr
Using equation (50), one could write equation (49) as
N
1 1 N λ
x2 = ∑ φr ηr = ∑ 1 φr ηr (51)
r=1 λ r λ1 r=1 λ r
After one more iteration x3 may be written as

1 N
λ1
x3 =
λ 2 ∑(λ )2 φr ηr (52)
1 r=1 r

After j iterations one could write,

1 N
λ1
x j+1 =
λ j ∑(λ ) j φr ηr
1 r=1 r

1 ⎧ λ1 j λ λ
Or, x j+1 = j ⎨
( ) φ1η1 + ( 1 ) j φ 2 η2 + ( 1 ) j φ3 η3 + .. } (53)
λ1 ⎩ λ1 λ2 λ3
λ1 j
It is known that λ1 < λr for r > 1 and hence, ( ) → 0 as j → ∞ . After ‘j’ iterations, the vector
λr
x j+1 converges to a vector proportional to φ1 .

1
x j+1 → φ1 η1 as j → ∞ (54)
λ 1j
Example problem
m

k,EI k,EI h

2m

k ,EI k ,EI h

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Chapter 13 – SE102

The story stiffnesses and floor masses of a two-story frame, idealized as a shear frame is
shown in the figure above. Evaluate its natural frequencies by inversion iteration method just
described.
Solution: The mass and stiffness matrices of the system are:

⎡ 2 0⎤ ⎡ 4 - 2⎤
M = m⎢ ⎥ and K = k ⎢ ⎥
⎣0 1 ⎦ ⎣-2 2 ⎦

24EI
Where k = 3
; Take m=0.04 KN-sec2 /mm; k=25 KN/mm.
h
⎧1⎫
Let x1 = ⎨ ⎬ and λ11 = 1 . Now compute
⎩1⎭

0.04 ⎡0.5 0.5⎤ ⎡ 2 0 ⎤ ⎧1⎫ 0.04 ⎧1.5 ⎫

x 2 = K -1Mx1 = ⎨ ⎬= ⎨ ⎬
25 ⎢⎣0.5 1 ⎥⎦ ⎢⎣0 1 ⎥⎦ ⎩1⎭ 25 ⎩2.0 ⎭

Now, Compute eigen value by Rayleigh's quotient

0.04 ⎡ 4 − 2 ⎤ 0.04 ⎧1.5 ⎫

{1.5 2} 25 ⎢ ⎥ ⎨ ⎬
λ12 =
25 ⎣ −2 2 ⎦ 25 ⎩2.0 ⎭ = 367.5
0.04 ⎡ 2 0 ⎤ 0.04 ⎧1.5 ⎫
{1.5 2} 0.04 ⎢ ⎥ ⎨ ⎬
25 ⎣0 1 ⎦ 25 ⎩2.0 ⎭

error = 367.5 − 1 / 367.5 = 0.9973

x2 ⎧0.514 ⎫
Now normalize x2 i.e. x2 = 1
=⎨ ⎬
⎩ 0.685⎭
(x2 Mx2 )
2

After one more iteration, we have,

0.04 ⎧0.857 ⎫
⎬ ; and λ1 = 366.25
3
x3 = ⎨
25 ⎩1.199 ⎭

error = 366.25 − 367.5 / 366.25 = 0.003

Hence first normalized eigen vector and eigen value are:

⎧0.503⎫
φ1 = ⎨ ⎬ ; λ1 = 366.25
⎩0.703⎭

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Chapter 13 – SE102

Now assume a shift µ = 2500 for calculating second eigenvalue and eigen vector. Now the

shifted stiffness matrix K% = K - µM = ⎡-100 -50 ⎤

⎢ -50 -50 ⎥
⎣ ⎦
After carrying out three iterations, as done previously we get λ% = −367.65 . Hence the second
3
2

eigen value λ2 = 2500 − 367.65 = 2132.5 .

Since, the mass and stiffness matrices are of the order 2 x 2, one could evaluate the eigenvalues
directly. The frequency equation is

K - λM = 0

100 − 0.08λ −50

=0
−50 50 − 0.04λ

λ1 = 366.12; λ2 = 2133.88 . The associate normalized eigen vectors

⎧0.550 ⎫ ⎧ 0.550 ⎫
are: φ1 = ⎨ ⎬ ; φ2 = ⎨ ⎬
⎩0.778 ⎭ ⎩-0.778 ⎭

REFERENCES

1. A.K. Chopra, 1996, Dynamics of Structures: Theory and Applications to Earthquake

Engineering, Prentice-Hall of India, New Delhi.
2. Franklin, J.N., 1968, Matrix theory, Prentice-Hall, Englewood Cliffs, New Jersey.
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