Solutions for Homework #10

PROBLEM 1. (P. 34 on page 381 in the note) Find the equations of motion for the structures shown in the

figures below:
M
m,J

L/2

m,J
EI

EI

(b)
EI
k

L/3

2L / 3

L/2
pin
Rigid bar
The rigid bar has mass / lenght m / L. The
rotational inertia of the bar is the same as that of
a cylindrical bar with negligible radius, L >> 2R.

hinge

L/2

L/2

SOLUTION
(a) For the structure shown in the Figure below, we first formulate the stiffness matrix, following the direct
stiffness approach:
M
m,J

L/2

EI
k
L/2

pin

This is a 2 degree of freedom system, with the horizontal displacement at the top, u, and the
counterclockwise rotation at the top, , being the independent degrees of freedom.
We initially formulate the stiffness matrices for the individual elements shown in the Figure below,
successively formulate the stiffness matrix of the whole assembly.

u1

12 E I
3

(L/ 2)
6EI

2
(L / 2 )
K2 =
12 E I
( L / 2)3

6EI

2
( L / 2 )

u4
u3

2
k

u2

u2

u3

6EI

(L/ 2)

4E I

(L/ 2)

6EI

u4

12 E I

( L / 2)

6EI

( L / 2)

12 E I

(L / 2)

(L / 2 )

2E I

(L/ 2)

6EI

( L / 2)

( L / 2 )
2EI

(L/ 2)

6E I

2
(L / 2 )
4EI
( L / 2 )
6EI

u1

3
u1

3E I
3

( L / 2)
3E I
K1 =
2
(L/ 2)

u2

u3

3E I

( L / 2)
3E I
(L/ 2)
0
0

u4

0 0

0 0

0 0
0 0

u1

k
0
K3 =
0

u2

u3

u4

0 0 0
0 0 0

0 0 0

0 0 0

The stiffness matrix of the whole assembly, is now formulated by adding the stiffness coefficients of the
corresponding degrees of freedom as follows:
u1

15 E I
+k
3

( L / 2)

3E I
L/2 2
)
(

K = K1 + K2 + K3 =

12 E I

3
(L/ 2)

6EI

2
( L / 2 )

u2

u3

3E I

( L / 2)

7EI
(L/ 2)

6E I

( L / 2)

u4

12 E I

( L / 2)

6E I

( L / 2)

12 E I
2

2EI
(L/ 2)

(L/ 2)

6EI

( L / 2)

( L / 2)

2EI
( L / 2 )
[ S 11 ]
=
[ S 21 ]
6E I

2
(L/ 2)

4EI

( L / 2 )
6E I

[ S12 ]
[ S22 ]

The degrees of freedom u 1 , u 2 are internal, therefore, to evaluate the stiffness matrix of the assembly, we
perform static condensation, as follows:

 12 E I
3

( L / 2)
1
K * = [ S 22 ] [ S 21 ][ S11 ] [ S12 ] =
6E I

2
( L / 2 )
12 E I
3

( L / 2)

6EI

2
( L / 2 )

6E I
2
( L / 2)

4E I

( L / 2 )

6EI
2
( L / 2)
2EI

( L / 2 )

15 E I
3+k

( L / 2)
3E I

2
( L / 2 )

3E I
2
( L / 2)
7EI

(L / 2)

12 E I
3

( L / 2)
6EI

2
( L / 2 )

6E I
2
(L / 2 )
2EI

(L / 2 )

Performing the matrix operations, the stiffness matrix is evaluated and the equation of motion for the
structure is therefore formulated as follows:
m
0

0 u&& k11
+
J && k21

k12 u P
=

k22 M

where

3 EI 768 EI + 128kL3
L3 768 EI + 7 kL3
EI 2304EI + 120kL
k12 = k21 = 2
L 768 EI + 7 kL3
3EI (48EI + kL3 )
k22 =
L 768EI + 7kL3
k11 =

(b) For the structure shown in the Figure below, we first formulate the stiffness matrix, following the direct
stiffness approach:
m,J
EI

EI

L/3

2L / 3

This is a 2 degree of freedom system, with the displacement, u, and the counterclockwise rotation,, being
the independent degrees of freedom.

We calculate the force required to apply unit displacement u = 1, k 11 and the moment to prevent the
rotation = 0, k 21 .
3E I
3E I
EI
k11 =
3 +
3 = 91.125
L3
L
2
L

3
3
3E I
3E I
EI
k 21 =
2
2 = 20.25
L2
L
2L

3
3

We now calculate the moment required to apply unit rotation = 1, k 22 and the force to prevent the
displacement u = 0, k 12 .

k12 =

k 22

3E I

3E I

= 20.25

EI
L2

L
2L

3
3
3E I
3E I
EI
=
+
= 13.50
L 2L
L

3
3

The equation of motion for the structure is therefore formulated as follows:

m
0

0 u&&
+
J &&

91.125

20.25

EI
L2 u P
=

EI M
13.50
L

EI
L3
EI
L2

20.25

(c) The rigid bar has mass / lenght m / L. The rotational inertia of the bar is the same as that of a
cylindrical bar with negligable radius ( L >> 2R).
Rigid bar

hinge

L/2

L/2

This is a 2-degree of freedom system, and we choose the rotation of the bars
counterclockwise), to be the independent degrees of freedom.

and

(positive

k L ( 1 + 2 )
2 L

S
R
O

O1

J &&

m u&&c 2
1 L

1
m u&&c1 , k uc1

The equations of motion are formulated by applying moment equilibrium of the structure around the fixed
support, O, as well as moment equilibrium of the right part of the structure around the hinge, O1 .
Therefore, we have:
MO = 0
2
2
1
&& L + m L && + 1 k L L + m L && + L && 3 L + m L && + k ( L + L ) 2 L = 0
m
L

1
1
1
1
2
2
1
2

12
2
12
2
2
2
2

2
11
5
9
m L2 &&1 + m L2 &&2 +
k L2 1 + 2 k L2 2 = 0
6
6
4
{1}

 M O1 = 0
L
L2 &&

L
m L &&1 + &&2 + m
2 + k ( L 1 + L 2 ) L = 0
2
12

2
1
1
m L2 &&1 + m L2 &&2 + k L 2 1 + k L 2 2 = 0
2
3
From equations {1} and {2}, we formulate the equation of motion for the structure:
11 5
9

6 6
&&
2
1 0

m L2 1 + 4
k L2 =
&&
2 1 1
1 1
2 0

2 3
Simply subtracting the second row from the first row, we obtain the following symmetric form.
4
3

1
2

1
5
&&1
1
1 0
2
2
m L + 4 k L2 =
&&

1
2 0
2 1 1

{2}

PROBLEM 2. (P. 35 on page 381 in the note) Consider a lumped mass N-dof system, with known stiffness

matrix K and mass matrix M. If you also know N -1 modes (both the frequencies and the modal shapes),
what are the frequency and the modal shape of the N th mode?
SOLUTION

trace K 1 M =
2N =

1
1
1
+
+ ... + 2
12 22
N
1

{1}

1
1
1
trace K 1 M 2 + 2 + ... + 2

1
2
N 1

The Nth modal shape is directly calculated from the eigenvalue problem, as follows:
K N = 2N M N

(K

2
N

M N = 0

{2}

which is a system with N-1 unknowns, as the first component of the eigenvector is arbitrarily assigned unit
value.
Alternatively, we could use the orthogonality properties of the eigenvectors with respect to the mass
matrix:
N M j = 0

j N

{3}

Therefore, this is a system with N-1 unknowns, as the first component of the eigenvector is arbitrarily
assigned unit value. Successively, the Nth eigenvalue would be calculated using the Rayleigh quotient, as
follows:
N K N
T

R = 2N =

{4}

N M N
T

PROBLEM 3. (P. 36 on page 381 in the note) Consider a 2-degree freedom system subjected to harmonic

loads P1 and P2 .

~
P2 = P2 ei t
k2

~
P1 = P1 e i t
k1

m2
c2

m1
c1

If P1 0 and P2 = 0, is there any nonzero frequency for which the responses are in phase?
Same as above, with P2 0 and P1 = 0.
SOLUTION
The dynamic equilibrium equation of the system is:
m1
0

0
m 2

c1 u&1 k1
k1 u1 p1
u&&1 c1
+
+

=
&&
&
u 2 c1 c1 + c2 u 2 k1 k1 + k2 u 2 p 2

p1 p% 1 ei t
and
=
i t
p 2 p% 2 e

where:

u1
=
u2

u%1 ei t

i t
u% 2 e

{1}

{2}

Substituting equation {2} in equation {1} and canceling out the common exponential factor, we have:
m1
2
0

c1
u%1
c1
+i

u%2
c1 c1 + c2

m2

u%1
+
u%2

k1

k1

k1

k1 + k2

u%1

u%2

p% 1
=
p% 2
{3}

k1 m1 + i c1
u%1 p%1
k1 i c1
=

2
k1 i c1
( k1 + k2 ) m2 + i (c1 + c2 ) u% 2 p% 2
144
4444444
424444444444
3
2

DynamicStiffnessorImpedanceMatrix K dyn ( )

Therefore, the response of the system is evaluated as follows:

( k1 + k2 ) 2 m2 + i (c 1 + c2 )
k1 + i c1
p% 1
u%1
1
=

2
det K dyn ( )
k1 + i c1
k1 m1 +i c 1 p% 2
u% 2
a.

If P1 0 and P2 = 0, is there any non zero frequency for which the responses are in phase?

The response of the system for this case is:

{4}

u%1 =

p%1

det K dyn ( )

{(k + k )
1

m 2 + i (c 1 + c 2 )

{5}
u% 2 =

p% 1

det K dyn ( )

{k1 +i c1}

We seek for the non zero frequency, for which the phase angle of the degrees of freedom of the system
will be the same, namely:
p% 1

( c1 + c2 )
det K dyn ( )
tan ( 1 ) =
p% 1
( k1 + k2 ) 2 m2
det K dyn ( )

tan ( 2 )

( c1 + c2 )

{( k + k )
1

m2

p% 1
c1

det K dyn ( )
c1
=
=
p% 1
k1
k1
det K dyn ( )

Solving equation {6} for , we find:

(c1 + c2 )

( k1 + k 2 ) 2 m 2

For the frequency to be real, we demand

phase is : =

b.

( c1 + c2 )

{( k1 + k2 ) 2 m2 }

c1
m
k
c
2 2 = 2 2
k1
k1
k1
c1

c1
{6}
k1

{7}

k2
c
> 2 , and the frequency for which the responses are in
k1
c1

k1 k 2 c2

m2 k1
c1

Same as above, with P2 0 and P1 = 0.

The response of the system for this case is:

u%1 =

p% 2

det K dyn ( )

{k1 + i c1}
{8}

u% 2 =

p% 2

det K dyn ( )

{k m
1

+ i c1

We seek for the non zero frequency, for which the phase angle of the degrees of freedom of the system
will be the same, namely:

p% 2

det K dyn ( )
tan ( 1 ) =
p% 2

c1

det K dyn ( )

=
k1

p% 2

tan ( 2 ) =

det K dyn ( )
p% 2

det K dyn ( )
Solving equation {9} for , we find:

c1

c1

(k
1

k1

m1

c1
c1
=

k1 2 m1
k1

c1
=

2
k1 m1

1
1
=
2 m1 = 0
k1
k1 2 m1

{9}

{10}

Therefore, for P2 0 and P1 = 0, there is no non zero frequency for which the responses are in phase.

PROBLEM 4. (P. 37 on page 381 in the note) A 5-story building can be idealized as the 5-degree of freedom

system shown, with m = 1000 kg, k = 4105 N/m and interstory height h = 4.00 m. The system is subjected
to an earthquake, with the tripartite response spectrum shown below.

Find the SRSS relative displacement at the top and bottom of the structure.

Find the SRSS overturning moment.

Hint: Find the natural modes and frequencies of the system using the closed form solution for a discrete
shear beam
S v [m/sec]
S d [m]

S a [g]

f [Hz]
SOLUTION
We first calculate the modal frequencies and modal shapes, using the closed form solution. The modal
frequencies are calculated as follows:
j = 2

k

sin
( 2 j 1)
m
4N

Therefore, for N = 5, substituting in {1} j = 1 5, we calculate:

10

{1}

1 = 2

sin ( 2 1 ) = 40sin = 6.257 [ rad /sec]
m
20

20

2 = 2

3
sin ( 4 1) = 40sin
= 18.160[rad /sec]
m
20

20

3 = 2

sin ( 6 1 ) = 40sin = 28.284[ rad /sec]
m
20

4 = 2

7
sin ( 8 1 ) = 40 sin
= 35.640[rad /sec]
m
20

20

5 = 2

9
sin (10 1) = 40 sin
= 39.508[ rad /sec]
m
20

20

The modal shapes are calculated as follows:

ij = cos
( i 1)( 2 j 1)
2N

{2}

Therefore, we evaluate equation {2} for j = 1 5 and i = 1 5 (for the modal components) as follows:

11 = cos (1 1)( 2 1 ) = 1.00

10

21 = cos ( 2 1)( 2 1) = 0.951

10

12 = cos (1 1)( 4 1) = 1.00

10

22 = cos ( 2 1)( 4 1) = 0.588

10

31 = cos ( 3 1)( 2 1) = 0.809

10

41 = cos ( 4 1)( 2 1) = 0.588

10

32 = cos ( 3 1)( 4 1) = 0.309

10

42 = cos ( 4 1)( 4 1) = 0.951

10

51 = cos ( 5 1)( 2 1) = 0.309

10

52 = cos ( 5 1)( 4 1) = 0.809

10

13 = cos (1 1)( 6 1) = 1.00

10

23 = cos ( 2 1)( 6 1) = 0
10

14 = cos (1 1)( 8 1) = 1.00

10

24 = cos ( 2 1)( 8 1) = 0.588

10

33 = cos (3 1)( 6 1 ) = 1.00

10

43 = cos ( 4 1)( 6 1) = 0
10

34 = cos ( 3 1)( 8 1) = 0.309

10

44 = cos ( 4 1)( 8 1) = 0.951

10

53 = cos (5 1)( 6 1 ) = 1.00

10

54 = cos ( 5 1)( 8 1) = 0.809

10

11

15 = cos (1 1)(10 1) = 1.00

10

25 = cos ( 2 1)( 10 1) = 0.951

10

35 = cos (3 1 )(10 1 ) = 0.809

10

45 = cos ( 4 1)( 10 1) = 0.588

10

55 = cos (5 1 )(10 1 ) = 0.309

10

The modal shapes are schematically shown below:

Mode 1
a.

Mode 2

Mode 3

Mode 4

Mode 5

Find the SRSS relative displacement at the top and bottom of the structure.

We calculate the modal participation factors as follows: j =

m
2

m
m

and

Tj e
Tj j
1
1

e = 1
1

where:

(the rigid body vector)

From the tripartite spectrum, we find the maximum relative displacement S d for each modal frequency, as
follows:

12

Sv [m/sec]
S a [g]

Sd [m]

5
4
1

f [Hz]
f 1 = 1.00 Hz

S d1 = 0.52 m

f 2 = 2.89 Hz

S d2 = 0.15 m

f 3 = 4.50 Hz

S d3 = 0.072 m

f 4 = 5.67 Hz

S d4 = 0.055 m

f 5 = 6.29 Hz

S d5 = 0.038 m

The relative displacement of the i th degree of freedom for the j th mode, is evaluated as follows:
vij = ij q j (t )
The maximum modal relative displacement for the j th mode estimated by means of the response spectrum
is:

qj

max

= j S dj

Therefore, the SRSS relative displacement of the top (dof 1) and bottom (dof 5) of the structure are:

v1

max

(
5

j =1

1j

j S dj

v5

max

Substituting in {3} the values obtained above, we calculate: v1

b.

(
5

j =1

max

5j

j Sdj

= 0.661 m , v5

{3}
max

= 0.212 m

Find the SRSS overturning moment.

From the tripartite spectrum, we find the maximum acceleration S a for each modal frequency, as follows:

13

S v [m/sec]
Sd [m]

Sa [g]

5
4
1

f [Hz]
f 1 = 1.00 Hz

S a1 = 0.22 g

f 2 = 2.89 Hz

S a2 = 0.45 g

f 3 = 4.50 Hz

S a3 = 0.62 g

f 4 = 5.67 Hz

S a4 = 0.65 g

f 5 = 6.29 Hz

S a5 = 0.63 g

We define h the vector that stores the height of each degree of freedom, namely:

hT = h {5 4 3 2 1} = 4.00 {5 4 3 2 1}
The overturning moment for the j th mode, is evaluated as follows:
Mj =

i=1

ij

q&& j (t ) mi hi = jT M h q&& j ( t )

The maximum modal acceleration for the j th mode estimated by means of the response spectrum is:
q&&j

max

= j

Saj = j 2j Sdj

Therefore, the SRSS overturning moment for the structure is:

14

max

ij j S aj mi hi =

j =1 i =1

j S aj ij mi hi

j =1
i =1

{4}
=

(
5

j =1

S aj jT M h

(
5

j =1

Substituting in {4} the values obtained above, we calculate:

15

j2 S dj jT M h

max

= 172744.79 Nm = 172.75 kNm