Chapter 9

Forced Vibration Response of MDOF System

9.1 Introduction

In chapter 7, we have shown that the free motion of a MDOF system may be
expressed in terms of normal modes of vibration . We can now demonstrate that the
forced motion of such a system may also be expressed in terms of normal modes of
vibration and that the total response may be obtained as the superposition of the
solution of independent modal euations. It means the ob!ective here is to show that
the normal modes may be used to transform the system of coupled differential
equations into a set of uncoupled differential equations in which each euation
contains only one dependent variable. "herefor e the modal superposition method
reduced the problem of determinin# the response of a forced MDOF system to one of
evaluatin# the response of forced $DOF system.

9.2 Moda !"uations for Forced #ndamped Systems

We have derived the #eneral euation of motion of a damped MDOF system for
forced vibration in chapter % and the same is repeated here as

( ( (
m x  
cx  K(
x  P 't &

'%.))&
c *
If we assume that the system is undamped, then . In such a case the above
euation is reduced to

(
m x  K (
x  P 't & '+.)&

We now that -. '+.)& is coupled. "he simu ltaneous soluti on of these coupled
euations of motions that we presented in section . for a two/DOF system sub!ected
to harmonic excitation is neither efficient for systems with more DOFs nor feasible
for systems acted upon by other types of dynamic forces. "herefore it is
advanta#eous to transform these euations to modal coordinates. 0ere we try to
transform this coupled system of differential euations into a system of independent
or uncoupled euations in which each euation contains only one unnown modes
multiplied by some factors deter minin# the contri butions of each mode. "his is
illustrated in the followin# section.

"he displacement ( x of a MDOF system can be expanded in terms of modal

contributions discussed in section 1.).). In the li#ht of this, the dynamic response of a
MDOF system can be expressed as

N
(
x 't &  
p )
p
( 't &
q p 't &   q

'+.2&
3sin# -. '+.2&, the #eneral coupled -. '+.)& in xi't& can be transformed into a set of
uncoupled euations with modal coordinates  m't& as the unnowns. $ubstitutin# -.
'+.2& in -. '+.)& results in
N N
(

p )
mpq  p 't &  
K  p q p 't &  P 't &
p )

'+.4&

T
5remultiplyin# each term in -. '+.4& by r #ives
N N
T T (

p) 
r
m  p q p 't &  p ) 
r
K  p q p 't &  r P 't &
'+.6&
 
s per the ortho#onality conditions #iven in -. '7.2*&, all terms in each of the
summations disappear, except for the term p 8 r. With this condition, -. '+.6& is
reduced to

(
T
 p 't &  ' p T K  p & q p 't &   p T P 't &
' p m  p & q
'+.&

or

 p 't &  K p q p 't &  Pp 't &

M pq '+.%&
where

T T T (
M p  p mp K p   p Kp Pp 't &   p P 't &
'+.7&

-uation '+.%& may be considered as the #overnin# euation of motion in terms of the
response p't& of a $DOF system depicted in Fi#. +.) with mass Mp, stiffness 9p, and
dynamic force 5p't&. 0ere M p is called the generalized mass for the pth natural mode,
9p is the generalized stiffness for the pth mode, and 5 p't& the generalized force for the
pth mode. "hese parameters depend only on the pth mode p. "herefore if the pth
mode only is nown, we can write the euation for  p and solve it without even
nowin# the other modes. If we divide -. '+.%& by M p and use -. '7.2)& then the
resultin# expression can be written as

Pp 't &
 p  np q p 
q
2
'+.1&
Mp
-uation '+.%& or -. '+.1& is the #overnin# euation of motion and contains the only
unnown p't&, the normal coordinate of the pth mode. :ie this there are euations
for each mode and totally there are ; such euations for MDOF system.

-ventually, a set of ; coupled differe ntial euations '+.)& in displaceme nts xi't&, i
varyin# from ) to ;, has been transformed to a set of ; uncoupled euations '+.%& in
modal coordinates  m't&, m 8 ), 2, <.., ;. "he set of uncoupled euations can be
written in matrix form as
( (

Mq 
(
K Diag q  P 't & '+.+&
where M is a dia#onal matrix of the #ener ali=ed modal masses M p, K Diag is a
(
dia#onal matrix of #enerali=ed modal stiffnesses 9 p, and P 't & is a column vector of
the #enerali=ed modal forces 5 p't&. We have already defined M and K Diag in -.
'7.)+&.
9.2 Moda !"uations for Forced Damped Systems

We now already that the #overnin# euations of motion for a forced damped system
is expressed as

m x 
( ( (
 cx  K(
x  P 't &
'%.))&
If we mae use of -. '+.2& in which  p are the natural modes of the system without
dampin#, -. '%.))& can be transformed into euations containin# the modal
coordinates. In the case of undamped systems discussed in section +.2, the euations
are unco upled. 0owever, here in damped system s the modal euati ons may be
coupled in terms of dampin#.

If we substitute -. '+.2& in -. '%.))& we #et

N N N
(
 m
p )
p
 p 't & 
q  c
p )
p q p 't &   K
p )
p q p 't &  P 't &

'+.)*&

T
In -. '+.)*& if each term is premultiplied by r then we #et

N N N
(

p )
r
T
 p 't & 
m pq 
p )
r
T
c  p q p 't &  
p )
r
T
K  p q p 't &  r P 't &

'+.))&

Main# use of -. '+.7&, -. '+.))& can be written as

 p ' t &  C rp q
M pq  ' t &  K p q p 't &  Pp 't &

'+.)2&

We have defined Mp, 9p, and 5p in -. '+.7&. ;ow we define

T
Crp   p c  p '+.)4&

For each value of p 8 ) to ;, -. '+.)2& exists. "herefore the set of ; euation s can
be written in matrix form as

( ( (

Mq  C q 
(
K Diag q  P 't & '+.)6&

(
In -. '+.)6&, matrices M , K Diag , and P 't & have already been introduced in -.
'+.+&. 0ere C is a nondia#onal matrix of coefficient > p. -uation '+.)6& contains ;
euations in modal coordinates  p't&. "hese euations are coup led throu#h the
dampin# terms because -. '+.)2& consists of more than one modal velocity.

If the system has classic al dampin#, then the modal euations are uncoupled. For
such type of systems >rp 8 * if r  p. "herefore -. '+.)2& is reduced to

 p 't &  C p q
M pq  't &  K p q p 't &  Pp 't &

'+.)&

where the #enerali=ed dampin# is #iven by -. '1.2)&. "his euation #overns the
response of the $DOF system shown in Fi#. +.2. If we divide -. '+.)& by Mp we #et

Pp 't &
 p  2 pnp q p  np q p 
q
2
'+.)%&
Mp

where p is the dampin# ratio for the pth mode. "he dampin# ratio is usually not
computed usin# -. '1.22& but is assessed based on experimental data collected for
structures similar to the one bein# analy=ed . -uation '+.)& #overns the pth modal
coordinate p't&, and the parameters Mp, 9p, >p and 5p't& depend only on the pth mode
p, not on any other mode. "hus we have ; uncoupled euations similar to -.
'+.)&, one for each natural mod e. In a nut shell, the set of ; coupled differential
euations '%.))& in nodal displacements xi't& have been transformed to the set of
uncoupled euations '+.)& in modal coordinates p't& usin# the modal superposition
method.

9.$ Determination of %ota Response

In the case of MDOF system sub!ected to nown excitation forces, dynamic response
can be evaluated by solvin# -. '+.)& or -. '+.)%& in terms of modal coordinates
p't&. 0ere each modal euation is of the same form as the euation of motion for a
$DOF system. "herefore the solution techniues and results available for $DO F
system can as well be applied to modal euation to solve for  p't&. 0avin# evaluated
the modal coordinates p't&, -. '+.2& can be applied to determine the contribution of
(
the pth mode to the nodal displacement x 't & as
(
x 't &   p q p 't &
'+.)7&

We combine these modal contributions to #et the total displacement response?

N N
(
x 't &   (x
p )
p 't &  
p )
p q p 't &

'+.)1&

"his method of calculatin# the total response of an MDOF system by superposin# the
contributions from various modes is called the classical modal analysis or the
classical mode superposition method. "he reason for this is that individual uncoupled
modal euations are solved to determine the modal coordinates  p't& and the modal
 (
responses x p 't & . "he modal responses are combined to obtain the total resp onse
(
x 't & . "his method, in fact, more precisely called the classical mode displacement
superposition method because modal displacements are superposed . "his procedure
in short is called mod al analysis. "his method is applicable only to linear syst ems
with classical dampin#. :inearity of the system is implic it in usin# the princip le of
superposition as shown by -. '+.2&. 0owever, dampin# has to be obtained onl y in
classical form in order to obtain modal euations that are uncoupled. "his is the heart
of the modal analysis.

!&ampe 9.1 Determine the steady state total response of the undamped frame excited
by forces shown in Fi#. +.4 by modal superposition method at time t 8 *.)% s.
ssume -I 8 )*** ;m2 and forcin# freuency as )* 0=.

Soution

"he DOFs assumed for this frame were shown in Fi#. %.)* pertainin# to example. %.4.
"he stiffness and mass matrices for this frame in #eneral terms lie len#th, hei#ht, and
-I were determined in example %.4. "he same frame wit h dimensions and masses
were shown in Fi#. 1.2. For the #iven dimensions and properties in Fi#. 1.2, mass and
stiffness matrices were determined in example 1.). "he natural freuencies and mode
shapes of this frame were also determined in example 1.). 3sin# the results obtained
in example 1.) we now proceed further to determine the total response under the
#iven dynamic forces.

"he evaluated freuencies are ) 8 2.62+%@ 6 8 %.+%1+

"he mode shapes are #iven as )% and 6%.

From this we extract the first vector correspondin# to the two freuencies and write it
as

 / *.1166  / *.)1*7
 / *.*%+6   / *.*64 
   
 / *.*%+6 
  
 / *.*64 

)    6   
 / *.62%   / *.6)64 
 / *.))67   *.4711 
   
 / *.))67 
   *.4711 
 

T
From -. '+.7&, M )  ) m )
M)   / *.1166 / *.*%+6 / *.*%+6 / *.62% / *.))67 / *.))67 
2** * * * * * / *.1166 
* * * * * *
 / *.*%+6 
   
* * * * * * / *.*%+6 
    22+.)+4%
* * * 6** * *
  / *.62%

* * * * * * / *.))67 
   
 * * * * * * / *.))67 

and

2 2
K) 
)
M)  2.62+%  22+.)+4%  )42.+2

T
From -. '+.7&, M 6  6 m 6

M6   / *.)1*7 / *.*64 / *.*64 / *.6)64 *.4711 *.4711 

2** * * * * * / *.)1*7 
* * * * * *
 / *.*64 
   
* * * * * * / *.*64 
    7.)11
* * * 6** * *
  / *.6)64

* * * * * * *.4711 
   
 * * * * * * *.4711 

and

2 2
K  M  %.+%1+  7.)11  4%).
6 6 6

We now calculate the #enerali=ed forces

 7 sin t 
 * 
 
( 
T  * 

P) 't &  )  
 2* sin t 
 * 
 

 * 


7
*
 
P) 't &   / *.1166 / *.*%+6 / *.*%+6 / *.62% / *.))67 / *.))67  
 
( *
  sin t    .1% sin t
 76
2* P*)

*
 

* 
7 sin t 
 * 
 
( 
T  * 

P6 't &  6  
 2* sin t 
 * 
 

 * 


7
*
 
( *
 
P6 't &   / *.)1*7 / *.*64 / *.*64 / *.6)64 *.4711 *.4711     sin t  / 2).141
2*  5  sin t
*6

*
 

*


0avin# nown M), 9), and 5) we can write the -. '+.1& as

 76.1% sin t
)  2.62+% q p 
2
q
22+.)+4%

)  )42 .+2 q)  76.1% sin  t

22+ .)+4% q

"his expression is similar to -. '4.2*&.

"he steady state response from -. '4.2& for the excitation freuency  8 2A)* 8
%2.1

 76.1% )
q) 't &  sin t
)42.+2 
  %2.1  
2
 81.2+A)*/sint
)    

  2.62+%  

t t 8 *.)%, and  8 %2.1, sin'%2.1A*.)%& 8 *.)76

$ubstitutin# for sint, we #et  )'*.)%& 8 1.2+A)*/A*.)76 8 ).667A)*/

;ow, (
x) ' * .)% &  )q) ' *.)% &

 / *.1166  / ).21  )*/   / )2.1

 / *.*%+6   /%   
   / ).**  )*   / ).** 

 / *.*%+6 
 

 / ).**  )* 
/%
  / ).** 

 ).667  )*   /% 
   )*
/%

 / *.62%   / %.)7  )*   / %.)7 

 / *.))67   / ).%%  )*/%   / ).%% 
     

 / *.))67 
 
 / ).%%  )* 
/%
  / ).%% 


0avin# nown M6, 96, and 56 we can write the -. '+.1& as

 2).141sin t
6  %.+%1+ q6 
2
q
7.)11

6  4%).q6  2).141 sin t

7.)11q

"his expression is similar to -. '4.2*&.

"he steady state response from -. '4.2& is

 2).141 )
q6 't &  sin t
  %2.1  2 
4%).   87.67A)*/sint
)    

  %.+%1+  


t t 8 *.)%, and  8 %2.1, sin'%2.1A*.)%& 8 *.)76

$ubstitutin# for sint, we #et  6'*.)%& 8 7.67A)*/A*.)76 8 ).4A)*/

;ow, (
x6 '*.)% &  6 q6 '*.)% &

 / *.)1*7  / 2.4  )*/%   / 2.4

 / *.*64   /%   
   / %.%  )*   / %.% 
 / *.*64 
  
 /% 
 / %.%  )*    / %.% 

 ).4  )*   /% 
   )*
/%

 / *.6)64   / .4+  )*   / %.% 

 *.4711   / 6.+2  )*/%   / 6.+2 
     

 *.4711   
 / 6.+2  )* 
/%
  / 6.+2 


"he total steady state response '*.)%& 8  )'*.)%& B 6'*.)%&

 / )2.1   / 2.4
 / ).**   / %.% 
   
 / ).** 
   / %.% 
 
8   )* /%
B   )*
/%

 / %.)7   / %.% 
 / ).%%   / 6.+2 
   

 / ).%% 
 
 / 6.+2 

  / ).)
 / 7.% 
 
 / 7.% 
  )*
/%
8 
 / )2.74 
 / %.1 
 

 / %.1 

s  C np, the phase an#le is )1* !, which means the displacement varies as sin t,
out/of/phase relative to the force. "herefore we have obtained the ne#ative value for
response eventhou#h the force is positive.
!&ampe 9.2 Determine the steady stat e total response of the damped frame exci ted
by forces shown in Fi#. +.6 by modal superposition method at time t 8 *.)% s.
ssume -I 8 )*** ;m 2 and forcin# freuency as )* 0=. "ae the dam pin#
coefficient c) 8 )** ;/sEm and c2 8 * ;/sEm.

Soution

"he frame shown in Fi#. +.6 is the same frame shown in Fi#. +.4 without damper.
"he dimensions and other details are the same. "herefore we mae use of the results
such as freuencies, ei#en vectors, etc., obtained in example +.) here.

We write the dampin# coefficient matrix as

)** * * * * *
 
 * * * * * *
* * * * * *
c  
 * * * * * *
 * * * * * *
 
 * * * * * *

From -. '+.)4& we can determine the dia#onal dampin# matrix as

T
C)  ) c 

C)   / *.1166 / *.*%+6 / *.*%+6 / *.62% / *.))67 / *.))67 

)** * * * * *  / *.1166 
 * * * * * *  
   / *.*%+6 
 * * * * * * 
 / *.*%+6 

    17.4))6
* * * * * * / *.62%
 * * * * * *  / *.))67 
   
 * * * * * * 
 / *.))67 


From -. '1.42&,

Cp
p 
2M pnp
$ubstitutin# values

17.4))6
)   *.*71
2  22+.)+4%  2.62+%

0avin# evaluated ) we can write the euation of motion as #iven in -. '+.)%&.

 76.1% sin t
 p  2  *.*71  2.62+%q p  2.62+% 2 q p 
q
22+.)+4%

In terms of dampin# coefficient this euation is similar to -. '4.46&.

;ow,

 %2.1
")    2.1
n) 2.62+%

"he steady state maximum response from -. '4.62& is #iven by

 76.1% )
q) '*.)%&   sin t  1.2+4  )*   sin t  ).667  )
)42 .+2 ')  2.1 2 & 2  ' 2  *.*71  2.1 & 2
 / *.1166  ).21  )*   )2.1
 / *.*%+6   /%   
   ).**  )*  ).** 
( 
 / *.*%+6 
 

).**  )* 
%
 ).** 

x) '*.)%&   ').667  )* &   /% 
   )*
/%

 / *.62%   %.)7  )*   %.)7 

/%
 / *.))67   ).%%  )*  ).%% 
     
 / *.))67 
  
 ).%%  )* 
/%
 ).%% 


;ow

T
C6  6 c 

C 6   / *.)1*7 / *.*64 / *.*64 / *.6)64 *.4711 *.4711 

)** * * * * *  / *.)1*7 
 * * * * * *
  / *.*64 
   
 * * * * * *  / *.*64 

    )).167
 * * * * * *  / *.6)64 
 * * * * * *  *.4711 
   
 * * * * * * 
 *.4711  

)).167
6   *.*))4
2  7.))1  %.+%1+

0avin# evaluated 6 we can write the euation of motion as #iven in -. '+.)%&.
  2).141sin t
 p  2  *.*))4  %.+%1+q p  %.+%1+ q p 
2
q
7.))1

In terms of dampin# coefficient this euation is similar to -. '4.46&.

;ow,

 %2.1
"6    +.*)
n 6 %.+%1+

"he steady state maximum response from -. '4.62& is #iven by

 2).141 )
q 6 't &   sin t  7.6%  )*  sin t  ).4  )* 
4%) .4 ')  +.*)2 & 2  ' 2  *.*))4  +.*)& 2
;ow, (
x6 '*.)% &  6 q6 '*.)% &

 / *.)1*7  2.4  )*/%   2.4

 / *.*64   /%   
   %.%  )*   %.% 
 / *.*64 
   /% 
 %.%  )*    %.% 

(  
' ).4  )* &      )*
/%
/% 
x6 't & 

 / *.6)64   .4+  )*   %.% 

 *.4711   6.+2  )*/ %   6.+2 
     

 *.4711   
 6.+2  )* 
/%
  6.+2 


"otal response steady state '*.)%& 8 )'*.)%& B 6'*.)%&

 )2.1   2.4 
).**   %.% 
   
).** 
   %.% 
 
8   )* /%
B   )*
/%

 %.)7   %.% 
).%%   6.+2 
   

).%%  
 6.+2 


 ).) 
 
 7.% 

 7.% 

  )*
/%
8 
 )2.74 
 %.1 
 
 %.1 
 

"he response of damped frame is the same as that of the undamped frame. "he reason
is that the freuency ratio is " CC ). $o, the response of the frame is unaffected by
dampin# as is evident from Fi#. 4.)1. Moreover, in this case the force is rapidly
varyin#G and the response is essentially out/of/plane. "his means that when the force
acts to the left, the system would be displaced to the ri#ht. "his is uite obvious here
that we #ot ne#ative force and the displacement positive.

'oints to Remember

# Hovernin# euation for undamped forced MDOF system is #iven by

(
  ( 
mx Kx P 't &

# Dynamic response of an MDOF system is

N
(
x 't &  
p )
p
( 't &
q p 't &   q

# Henerali=ed mass for the pth natural mode is

T
M p  p mp

# Henerali=ed stiffness for the pth natural mode is

T
K p   p K p

# Henerali=ed force for the pth natural mode is

T (
Pp 't &   p P 't &

# Hovernin# euation of motion for undamped forced vibration of MDOF in terms of

pth mode coordinates

Pp 't &
 p  np q p 
q
2

Mp

!&ercises

). Write the #eneral euation of motion of a forced MDOF system

2. -xpress the dy namic response of an MDO F syst em in term s of its mod al

contribution.

4. What is a #enerali=ed mass

6. What is a #enerali=ed stiffness

. Write the eua tion of motion of an und amped MDOF syst em in terms of
normal coordinates.
%. What is classical dampin#

7. What is classical mode superposition method