can be written as 11 is found to be 2 dnl 24%) \ 12 is found to be found, It should be noted that the inverting the matrix [a} a linear system a), = 4,. For the work done by forces f, and f, wher ind then by its reverse. Reciprocity k done is independent of the order 1 Applying f, the work done by f, r displacement a,,f, and the addi- Thus the total work done is Pay + ahh (62-1) n which case the total work done is fay + SL (62-2) nust be equal, we find that 4 (62-3) beam with P first applied at 1 and y,P igenvalues and Figenvectors 188 Figure 62.1, In (b) the deflection at 1 is Since ayy = 4,y,), Will equal y 6.3 EIGENVALUES AND EIGENVECTORS For the free vibration of the undamped system of several degrees of freedom, the equations of motion expressed in matrix form become (M](¥} +[4) fx) = (0) (63-1) where = mass matrix (a square matrix) ky ] = stiffness matrix (a square matrix) = displacement vector (a column matrix) When there is no ambiguity, we will dispense with the brackets and braces and use capital letters and simply write the matrix equation as MX +KX =0 (632)184 Properties of Vibrating Systems If we premultiply the above equation by Mf, we obtain the follow. ing terms M~'M = I (a unit matrix) M~'K = A (a system matrix) and IX Ax =0 (633) The matrix A is referred to as the system matrix, ot the dynamic matrix since the dynamic properties of the system are defined by this matrix. Assuming harmonic motion X = — AX, where \= 0, Eq. (63-3) becomes [4 -MI(X) =0 (63-4) ‘The characteristic equation of the system is the determinant equated to |4-al=0 (63-5) ‘The roots A, of the characteristic equation are called eigenvalues, and the natural frequencies of the system are determined from them by the relationship 7 (63-6) By substituting 4, into the matrix equation, Eq. (63-4), we obtain the corresponding mode shape X, which is called the eigenvecior. Thus for an nde} tors, es of freedom system, there will be m eigenvalues and m cigenvec- It is also possible to find the eigenvectors from the adjoint matrix (see Appendix ©) of the system. If, for conciseness, we make the abbrevia- tion B= A —A/ and start with the definition of the inverse L Bo = adj B (3-7) [8] ‘we can premultiply by |B|B to obtain BII = Badj B ot in terms of the original expression for B = Ml =[4 — Nadi - M1] (63:8) If now we let A the equation is zero and we obtain [0] =[4 —Ad]adi[4 - AZ] (63-9) , an eigenvalue, then the determinant on the left side of The above equation is valid for all A, and represents n equations for the of freedom system, Comparing this equation with Eq. (63-4) for——=_« igenvalues and Bigenvectors 188 11 by Mt, we obtain the follow- the i* mode A-NI}(X} matrix) we recognize that the adjoint matrix, adjl4 — A, 1], must consist of col fem matrix) uumns, each of which is the eigenvector X, (multiplied by an arbitrary constant). Eigenvalues and eigenvectors can be calculated for any symmet- ric matrix by standard subroutine programs. -0 (63-3) m matrix, o the dynamic matrix EXAMPLE 6.31 mm are defined by this matrix, Consider the two-story building shown in Fig, 6.3-1. The equation of ~ AX, where A= w, Eq. (6.3-3) tory building Fig. 6. -quation of ed in matrix notation as motion can be express 2m 0 Vf ei) }=0 (63-4) @ m |e m is the determinant equated to ° (J 0 (635) juation are called eigencalues, and re determined from them by the (63-6) ation, Eq. (63-4), we obtain the alled the eigenvector. Thus for an be 1 eigenvalues and n eigenvec [|_| © r) |x] |o| The characteristic equation from the determinant of the above matrix, avectors from the adjoint matrix onciseness, we make the abbrevia~ m nition of the inverse adj B (63-7 is » ° © adj B °B Iadi[4 — NM] (638) the determinant on the left side of isi ~ AT] (639) and represents n equations for the g this equation with Eq, (6.3-4) for Fewe631. 77Properties of Vibrating Systems from which the eigenvalues are found to be snvectors ean be found from Eq. (b) by substituti es of A. We will, however, illustrate the use of the adjoint The e above val matrix in their © The adjoint matrix from Eq. (b) is k ” (am) adi[4 — 1] Substituting m), we obtain from (e) [oso 050). 1.00 1.00 |» Here each column is already normalized to unity and the first eigenvector is 0.50) 1.00 J 2(k /'m) is used, the adjoint matrix gives x Similarly, when d, 100s} & Lo 0.5 |m sector {rom either column is Normalizing to unity, the second eigei [= 1.00) >= 1 100} x. The two normal modes are shown in Fig, 6.3-2, Figure 632,i to be 7 m @ irom Eq, (b) by substituting the illustrate the use of the adjoint © rom (@) Dk sn alized to unity and the first 0) 0) the adjoint matrix gives 5k nvector from either column is 6.4 EQUATIONS BASED ON FLEXIBILITY In the previous section the characteristic equation was established from the ‘equations of motion based on the stiffness matrix. It is also possible to arrive at the eigenvalues and eigenvectors starting from the flexibility matrix, Rewriting Eq. (6.1-2) : (612) wwe assume harmonic motion and replace the forces by the inertia forces = — m,, = @m,s,, The above equation then becomes | (64-1) | aim ame com which may be rearranged to [am — AI]X = 0, find) ams fp i ‘The characteristic equation is then the determinant of the square matrix above. The eigenvalues in this ease are equal to \ = 1/a? instead of w EXaMpLe 64-1 Using the flexibility influence coefficients of Example (6.1-1), de- termine the matrix equation for the normal modes of the system shown in Fig, 6.1-1 187Solution: ‘The inverse of the system matrix A is At= KOM =[a]M 0 0] lao 4 lim 9 9 sal l4 8 25|] 0 m 0 >i 4°25 1 il 0 0 om] Equation (6,4-2) then becomes 10 o}} [a][m 0 1 o||{x}=0 l loo 6.5 ORTHOGONAL PROPERTIES OF THE EIGENVECTORS The normal modes, or the eigenvectors of the system, can be shown to be orthogonal with respect to the mass and stiffness matrices as follows. Let the equation for the / AMX, (65-1) Premultiply by the transpose of mode j X/KX, = (X/MX) (65-2) Next, start with the equation for the j" to obtain mode and premultiply by X/ X/KX, = (K/M4) (653) Since K and M are symmetric matrices, he following relationships hold* X/MX, = X/MX, (65-4) X/AX, = XP KX, ee) Thus, subtracting Eq. (6.5-3) from Eq. (6.5-2), we obtain 0 =~ A)X/Mx, (65-5) See Appendix €m matrix A is 4 |im 0 0 25|| 0 m 0 U m: \|o 0 om 0 0] 10 01 tT mo || Pio oom ils) f the system, can be shown to be stiffness matrices as follows. Let 1X (65-1) MX.) (652) ej mode and premultiply by X) MX) (653) the following relationships hold* MX, ‘Kx (65-4) 5-2), we obtain X/Mx, (655) Orthogonal Properties ofthe Eigenvectrs 189 If A, # Ay the above equation requires that X/MX, = 0 (65-6) It is also evident from Eq, (6.5-2) or Eq, (6.5-3) that as a consequence of Eq, (6.5-6) X/KX, 0 (65-7) Equations (6.5-6) and (6.5 modes. Finally, if = j, Eq. (6.5-5) is satisfied for any finite value of the products given by Eqs. (6.5-6) or (6.5-7). We therefore let X/MX, = M, X{KX, = K; 5-7) define the orthogonal character of the normal (65-8) ‘These are called the generalized mass and the generalized stiffness respec- tively. EXAMPLE 6.5-1 Verify that the two normal modes of the system considered in Example 6.3-1 are orthogonal. Solution: ‘The mass matrix and the two normal modes are [2m 0 = (050) = { 100) M x= - YO om (00) "4 1.00) Substituting into Eq, (65-6), we have F 2m 0 ]f -1.00} X{MX, = (0 2= 050 1001 mL 100 st [-2m) =m tm (050. 1.00){ - 2} = n ‘The student should verify that X{AX, also equals zero. EXawpLe 65-2 Consider the problem of initiating the free vibration of a system from a specified distribution of the displacement. As previously stated, free vibrations are the superposition of normal modes, and we wish to determine how much of each mode will be present. Solution: We will first express the displacement at time zero by the equation lo) = GX) + Xp t+ GX) + where X, are the normal modes and c; are the coefficients indicating190 Properties of Vibrating Sst how much of each mode is present. Premultiplying the above equa tion by X/M and taking note of the orthogonal property of X,, we obtain X/Mu(0) = 0-404 © <= GX/MX, +04 The coefficient c, of any mode is then found as 6.6 REPEATED ROOTS When repeated roots are found in the characteristic equation, the corre sponding eigenvectors are not unique, and a linear combination of such eigenvectors may also satisfy the equation of motion, To illustrate this point, let X, and X; be € envalUle Ag, and X, be @ thied eigenvector belonging to A, that is different from Xo. We ‘ean then write vectors belonging to a common e (66-1) AX, = AsXy By multiplying the second equation by a constant 6 and adding it to the first, we obtain another equation A(X, + BN) = Ag, + 6X5) (662) Thus a new eig the first two, also s: vector, Xj =X, + bN;, which is a linear combination of isfies the basic equation AX), = NX (663) and hence no unique mode exists for Any of the modes corresponding to Ay must be orthogonal to X; if they are to be a normal mode. If all three modes are orthogonal, they are linearly independent and may be combined to describe the free vibration resulting from any initial condition, EXAMPLE 6.6-1 Consider the system shown in Fig, 6.6-1 where the connecting bar is rigid and negligible in weight. ‘The two normal modes of vibration are shown to be translation and rotation, which are orthogonal. The natural frequencies for thea | Premultiplying the above equa- fe orthogonal property of Xj, we @X/MX, + 0+ en found as fu(0) uN, Jharaeteristic equation, the corre: ind a linear combination of such ion of motion. To illustrate g to a common eigenvalue Ay nging to a ig : to A; that is different from hy. We (66-1) it to the 0X (66-2) +, whieh is a linear combination of ation (663) {to Ay must be orthogonal to 3 ree modes are orthogonal, they ined to deseribe the free vibration 66-1 where the connecting bar is ration are shown to be translation The natural frequencies for the Repeated Roots 191 Fs Mode 1 oO Figure 6.64 two modes, however, are equal and can be calculated to be Bk The example illustrates that different eigenvectors may have equal eigenvalues. Exampe 66-2 Determine the eigenvalues and eigenvectors when o-1 1 1 oo 1 robo The characteristic equation |A — M| = 0 yields Solution: Q-1A+2)=0 so the eigenvalues are Ay = 1, Ay = I, and Ay = — 2 Forming the adjoint matrix [ @-) -@-) @-» -Q-) 0 =-1) @-0 @-) @-) e@-n|] adj[4 —M]= the eigenvector corresponding to A; = ~ 2 is found from any column192 Properties of Vibrating Systems of the above matrix 303-3 f-4) 3. 3 -3 ory = 4 -1t 30-303 Lia Substitution of Ay = Az = | into the adjoint matrix leads to all zeros, so we return to the original matrix equation [A — M/]X = 0 with A= 1 =0 - =0 tayo y= All three of these equations are of the form and hence for the ei we can igenvalue X', corresponding to A, = which is found to be orthogonal to X; for all values of x, and xy, ie (x) (4) =0 Thus for x= x5 = 1, one could obtain Xe i and for xy = 1 and x, = — 1 the second eigenvector could be 1 t 1 As shown previously by Eq, (6.6-2), X, and X, are not unique, and any linear combination of X, and X, will also satisfy the original matrix equation. 6.7 MODAL MATRIX P In Chapter 5 we found that static or dynamic coupling results from the choice of coordinates, and that for an undamped system, there exists a set ‘of principal coordinates that will express the equations of motion in the3 3 Jor a into the adjoint matrix leads to all al matrix equation [4 — MX = 0 ‘the form responding to Ay = Ay = 1 we can 3 xy *2) ) X, forall values of x, and xy, ie vy} =0 bain 0 {i iJ second eigenvector could be [2] Li} 2), X; and X; are not unique dX; will also satisfy the original iynamic coupling results from the ndamped system, there exists a set ss the equations of motion in the Modal Matric P 193 uncoupled form. Such uncoupled coordinates are desirable since each equation can be solved independently of the others. For a lumped mass multidegrees of freedom system, coordinates chosen at each mass point will result in a mass matrix that is diagonal, but the stiffness matrix will contain off-diagonal terms indicating static cou- pling, Coordinates chosen in another way may result in dynamic coupling or both dynamic and static coupling. It is possible to uncouple the equations of motion of an n-degrees of freedom system, provided we know beforehand the normal modes of the system, When the n normal modes (or eigenvectors) are assembled into a square matrix with each normal mode represented by a column, we call it the modal matrix P, Thus the modal matrix for a three degrees of freedom system may appear as (67-1) The modal matrix makes it possible to include all the orthogonality relations of See, 6.5 into one equation, For this operation we need also the transpose of P, which is (a9 pre] Oy arnds | =D x44 (12) (1 25)3 with each row corresponding to a mode, If we now form the product P'MP or P’KP, the result will be a diagonal matrix since the off-diagonal terms simply express the orthogonality relations which are zero, |As an example consider a two degrees of freedom system. Performing the indicated operation with the modal matrix, we have PMP =[X, X][M][X %] x, XIN [rue \ ] es) X4MX, X4MX, M, 0 In the above equation, the off-diagonal terms are zero because of orth gonality, and the diagonal terms are the generalized mass M,wh 194 Properties of It is evident that a similar formulation applies also to the stiffness matrix K that results in the following equation pee=[X Oo] 67-4) “lo kK, (67-4) ‘The diagonal terms here are the generalized stiffness K, Tf each of the columas of the modal matrix P is divided by the square root of the generalized mass M,, the new matrix is called the weight fod modal matrix and designated as P. Its easily seen that the diagonaliza rix by the weighted modal matrix results in the unit tion of the mass matrix PMP = (675 e stiffness matrix treated similarly by the Since M-'K, =A, t weighted modal matrix becomes a diagonal matrix of the eigenvalues pa 0] PxP-| 608) EXAMPLE 6.7 Consider the symmetrical two degrees of freedom sy Fig. 6.7-1. The equation of motion in matrix form is m 0)[ 4) 0 mle + (0) (@) -k 2k}L a} and the eigenvalues and eigenvectors can be shown to equal a k k m m (wy (aya () 1) % itp a The generalized mass for both modes is 2m, and the modal matrix and the weighted modal matrix are p-[! 1 ‘ o | atin m jvm} Figure 6:7-1, + aalation applies also to the stiffness quation ° 7 (67-4) lized stiffness K; al matrix P is divided by the square new matrix is called the weight- is easily seen that the diagonaliza- d modal matrix results in the unit -1 (67-5) matrix treated similarly by the onal matrix of the eigenvalues o =A (6.76) pres of freedom system shown in rin matrix form i k kf) gy k {Lj 7 ® ors can be shown to equal (b) Modal Matrix P 195: To decouple the original equation we will use P in the transfor- mation ( Loft =typny { \xa} elt 1 |b} @ and premultiply by P* to obtain PMBY +PKPY =0 fi ° Vf) 26 © lot 3\ty.) Thus Eq. (a) has been transformed to the uncoupled Eq, (¢) by the coordinate transformation of Eq, (d). The coordinates y, and yy are referred to as principal or normal coordinates. ‘The above equations in terms of the normal coordinates are similar to those of the single degree of freedom system and can be written as tot o Its general solution has been previously discussed and is ) 1 (0) = y(0) cos «yt + + ¥(0) sin «ye ® The solution of the original two degrees of freedom system is then siven by Eq, (€) to be 40) = [0 - 2x9] Vom (a) x(0) [0 +00] 2m which isthe sum of the normal mode solutions multiplied by ap- Propriate constants. The initial conditions 3,(0) and JO) can be transformed in terms of (0) and (0) by the inverse of Eq. (dy (0) = Btx(0), However, itis not necessary to carry out the inyer sion of B. Since PMP 1, post multiplying this equation by F we obtain Pu=P Thus the inverse of Eq. (d) becomes y=P PMx196 Properties of Vibrating Systems 1} {| 1 | x0) J 9(0)) V2 { y0)) "2 Equation (g) can therefore be written in terms of the initial eondi- tions x(0) and (0) as yl) = EV Imi { x (0) + x(0)] 608 wt 155, + ¥(0)] sin ot} yale) = $VIm {[—m(0) + s(0)] 08 + Lf + 20] sin oat} Substituting into Eq. (h), the solution is entirely in terms of the | original coordinates. 6.8 MODAL DAMPING IN FORCED VIBRATION ‘The equation of motion of an n-degree of freedom system with viscous | damping and arbitrary excitation (i) can be presented in the matrix form MX +X +X =F (68-1) It is generally a set of coupled equations. We have found that the solution of the homogeneous undamped equation MX +KX = 0 (68-2) leads to the eigenvalues and eigenvectors which describe the normal modes of the system and the modal matrix P or P. If we let X= PY and premultipy Eq, (68-1) by P’ as in Sec. 6.7, we obtain BeMPY + BCPY + P’KPY = BP (683) We have already shown that P'MP and B°KP are diagonal matrices. In general, P'CP is not diagonal and the above equation is coupled by the damping matrix. _ if C is proportional to M or K, itis evident that P°CP becomes iagonal, in which case we can say that the system has proportional damping. Eq, (68-3) is then completely uncoupled and its * equation willEf 1 1)[xO) Lob tit a@) written in terms of the initial condi- ) + x4(0)] 608 «yt [4(0) + £,(0)] sin oy| [= 4:0) + £400)] sin ex} solution is entirely in terms of the RCED VIBRATION sree of freedom system with viscous ) can be presented in the matrix form +KX =F (68-1) ations, jon of the homogeneous undamped KX = 0 (682) ors which describe the normal modes ix P or P. If we let X= PY and c. 6.7, we obtain + PKPY = PF (68-3) and P’KP are diagonal matrices. In he above equation is coupled by the K, it is evident that P’CP becomes xy that the system has proportional ly uncoupled and its i” equation will Normal Mode Summation 197 have the form B+ uy, + why, = HO (68-4) Thus instead of n coupled equations we would have n uncoupled equations similar to that of a single degree of freedom system. Rayleigh Damping. Rayleigh introduced proportional damping in the form C= aM + BK (63-5) where a and f are constants. The application of the weighted modal matrix P here results in PCB m= af MP + BP'KP al + BA where J is a unit matrix and A is a diagonal matrix of the eigenvalues [see Eq, (6.7-6)]. 68-6)" An (68-7) Thus instead of Eq. (6.84), we obtain for the i equation 5+ (a+ Bed)s, + ody, = HO (68) and the modal damping ean be defined by the equation a+ But (68-9) 28, 6.9 NORMAL MODE SUMMATION ‘The forced vibration equation for the n-degree of freedom system MX + CX +X = F (69-1) can be routinely solved by the digital computer. However, for systems of, large numbers of degrees of freedom, the computation can be costly. It is possible, however, to cut down the size of the computation (or reduce the degrees of freedom of the system) by a procedure known as the mode summation method. Essentially, the displacement of the structure under 1 ean be shoven that C= af" + BK” can also be diagonalized (see Problems 6-29198 Properties of Vibrating Systems forced excitation is approximated by the sum of a limited number of normal modes of the system multiplied by generalized coordinates. For example, consider a 50-story building with SO degrees of free- dom. The solution of its undamped homogeneous equation will lead t0 50 eigenvalues and 50 eigenvectors which describe the normal modes of the structure. If we know that the excitation of the building centers around the ower frequencies, the higher modes will not be excited and we would be justified in assuming the forced response to be the superposition of only a few of the lower frequency modes; perhaps (x), ¢3(2), and (x) may be sufficient. Then the deflection under forced excitation may be written as x, = blade + ea) + dasa (692) or in matrix notation the position of all 1 floors can be expressed in terms of the modal matrix P composed of only the three modes. (See Fig. 6.9-1). oxy) dx) ose Tf a 4 (693) dil) 20s) aoe) IL The use of the limited modal matrix then reduces the system to that equal to the number of modes used. For example, for the 50-story building, each of the matrices such as K is a 50 X 50 matrix; using three normal modes, P Figure 69-1. Building displacement represented by normal modes.by the sum of a limited number of ied by generalized coordinates. ory building with 50 degrees of free- homogeneous equation will lead to 50 ich describe the normal modes of the ion of the building centers around the will not be excited and we would be onse to be the superposition of only a ethaps $4(x), (x), and g,(x) may be foreed excitation may be written as (adaald + oCxda(o) (69.2) all n floors can be expressed in terms »nly the three modes. (See Fig. 6.91) [+ % Ax) eal) (69.3) (5) dam) | then reduces the system to that equal ample, for the 50-story building, each matrix; using three normal modes, P represented by normal modes, SY [Normal Mode Summation 199 is a 50 X 3 matrix and the product P’KP becomes P°KP = (3 x 50)(50 x $0)(50 x 3) = (3 x 3) matrix Thus instead of solving the 50 coupled equations represented by Eq. (69-1), we need only solve the three by three equations represented by PMP + P'CP§ + P’'KPq = P'F If the damping matrix is assumed to be proportional, the above equations become uncoupled, and if the force F(x, £) is separable to p(x)f(0), the three equations take the form 4+ 2d, + og, = PO (69.4) where the term e(x,) San (69-5) mp) is called the mode participation factor In many cases we are interested only in the maximum peak value of x, in which case the following procedure has been found 10 give accept- able results. We first find the maximum value of each 4(#) and combine them in the f lsd +Ysede,, Thus the first mode response is supplemented by the square root of the sum of the squares of the peaks for the higher modes. For the above computation, a shock spectrum for the particular excitation can be used to determine 4, (6.9.6)* EXAMPLE 6.9-1 Consider the 10-story building of equal rigid floors and equal inter. story stiffness. If the foundation of the building undergoes horizontal translation 1g(1), determine the response of the building. ‘Solution: We will assume the normal modes of the building to be known. Given are the first three normal modes which have been computed from the undamped homogeneous equation and are as ‘The method is ued by the Shock and Vibration groups in various industries and military200 Properties of Vibrating Systems follows: Floor 0.1495 Vk /m 10 1.0000 9 oar 8 0.9336 7 0.8686 6 0.7840 5 0.6822 4 0.5650 3 0.4352 2 0.2954 1 0.1495 0 0.0000 The equation of motion 0 MX + CX +KX = where 1 is a unit vector and given modes, we make the transformation X= Pq where P is a 10 3 matrix and g is a3 X 1 vector ex) a(x) Premultiplying by P PMPy and by assuming C to be 0.4451 Vk, 9) 1,000 08019 04451 0.0000 0.4451 0.8019 1.0000 1.0000 08019 0.4451 0,000 1Vk jm 1.0000 014662 0.3165 mw, = 07. 1.0473 0.6052 1.6010 0.8398 10711 027307 0.0000 the building due to ground motion (4) is x) O20) 20) wwe obtain P’CP§ + P'KPa M Lig) js a 10 I vector, Using the three — PM Lug) proportional damping matrix, the above equation results in three uncoupled equations usd + end + yay = — ii 2+ ends + kang mass + Cad + kasd VE mala) = molx)S1VEJm wy = 0.7307Vk/m (x) 9) 0000 11,0000 8019 0.4662 4451 0.3165 0000 0.9303 4451 1.0473 8019 0.6052 0000 1.6010 0000 0.8398, 8019 Lo7i 4451 0.7307 0000 0.0000 Jing due to ground motion 1) is — Mig) a 10 x 1 vector. Using the three Pa sa3 1 vector, ie, (x) (0) sy la KPq = ~ P’M Iu) sional damping matrix, the above J equations + — it) Smal) = iil) S males) = = tlt) D meal) Problems 201 where mi, 6,, and ky are generalized mass, generalized damping, and generalized stiffness. The (2) are then independently solved from each of the above equations. The displacement x, of any floor must be found from the equation X = Pg to be x = oisdals) + exlxdal) + ax)as() Thus the time solution for any floor is composed of the normal modes used, From the numerical information supplied on the normal modes we will now determine the numerical values for the first equation which can be rewritten as G1 + Boyd + oq, = -— EL) We have for the first mode 2803m Emp? 26,0, = 0.299/4 A ou? = 0.02235 Simp, = 6.6912m The equation for the first mode then becomes a+ oan © syn + 0022354 4 « —12s72940 Thus given the values for k/m and £), the above equation can be solved for any tit). PROBLEMS G1 Determine the flexibility matrix for the spring-mass system shown in Fig PG ben bee [ote fae Figure P61. ere Brrr202 Properties of Vibrating Stems 62. ‘Three equal springs of stiffness k Ib/in. are joined at one end, the other ends being arranged symmetrically at 120° from each other, as shown in Fig, 6-2, Prove that the influence coefficients of the junction in a direction making an angle & with any spring is independent of @ and equal to 1/1.5k Z Figure roa, 63 A simply supported wniform beam of length 1 is loaded with weights at positions 0.25/ and 0.6/. Determine the flexibility influence coefficients for these positions. 64 Determine the fe and calculate the stiffness matrix from its inverse lity matrix for the cantilever beam shown in Fig. Pé- WHS Figure P64. Figure PS. 65 Determine the influence coefficients for the triple pendulum shown in Fig. Ps, 66 Determine the stiffness matrix for the system shown in Fig. P66 and establish the flexibility matsix by its inverse 5 gue POS. 67 Determine the flexibility matrix for the uniform beam of Fig, P6-T by using the area-moment method.in, are joined at one end, the other ends 0° from each other, as shown in Fig, ficients of the junction in a direction independent of # and equal to 1/1.5k. of length 1 is loaded with weights at the flexibility influence coefficients for he cantilever beam shown in Fig, P6-4 Figure P65. for the triple pendulum shown in Fig, the system shown in Fig, P6-6 and igare POS. 1 unitor n beam of Fig. P67 by using Problems 203 Figure P67. 68 Determine the flexibility matrix for the fourstory building of Fig. 6.13 and invert it to arrive at the stiffness matrix given in the text. 69 Consider a system with n springs in series as presented in Fig. P6-9 and show that the stiffness matrix is a band matrix along the diagonal in la fa fp Ne Py Pe Pa Pig , Pipe Po, 610 Compare the stiffness of the framed building with rigid floor beam vs. that with flexible floor beam. Assume all length and EI to be equal. Ifthe floor ‘mass is pinned at the corners as shown in Fig, P6-10b, what is the ratio of the two natural frequencies? Figure P6-10 6-11 The rectangular frame of Fig. P6-1! is fixed in the ground, Determine the stiffness matrix for the fo 2 system shown Figure P6-1. Figure P6-12, 612 Determine the stiffness against the foree F forthe frame of Fig. P6-12, which is pinned at the top and bottom.204 Properties of Vibrating Systems Figure P6-13 613 Using the cantilever beam of Fig. P6-13, demonstrate that the reciprocity theorem holds for moment loads as well as frees. 614 Verify each of the results given in Table 6.1-1 by the area moment method and superposition 615 Using the adjoint matrix, determine the normal modes of the spring-mass system shown in Fig, PO-I5. pall | § ~~ A z 1 « (o\ « BN LH me Ir) Figwe Pes, pw P66, 616 For the system shown in Fig, P6-16, write the equations of motion in matrix form and determine the normal modes from the adjoint matrix. 617 Determine the modal matrix P and the weighted modal matrix F for the system shown in Fig. P6-17, Show that P or P will diagonalize the stiffness it 3h Figure P617 Figure P6-18 618 Determine the flexibility matrix for the spring-mass system of three degrees of freedom shown in Fig. P6-18 and write its equation of motion in matrix form.3, demonstrate that the reciprocity 8 frees. 61-1 by the area moment method - normal modes of the spring-mass c the equations of motion in matrix fom the adjoint matrix weighted modal matrix P for the or Pll diagonalize the siffness pring-mass system of three degrees te its equation of motion in matrix 619 620 on on 63 2 62 Problems 205 aio in Em} Wry Fiewe P61. ri Determine the modal matrix P and the weighted modal matrix P for the system shown in Fig. P6-19 and diagonalize the stiffness matrix thereby decoupling the equations. Determine for the double pendulum with coordinates @, and 8,, Show that F decouples the equations of motion It in Prob, 6-11 masses and mass moment of inertia my, Jy and ma Jz are attached to the corners so that they rotate as well as translate, determine the equations of motion and find the natural frequencies and mode shapes. Repeat the procedure of Prob. 6-21 with the frame of Fig. P6-12, If the lower end of the frame of Prob. 6-12 is rigidly fixed to the ground, the rotation of the corners will differ. Determine its stiffness matrix and de- termine its matrix equation of motion for mJ, atthe corners Determine the damping matrix for the system presented in Fig, P6-24 and show that it is not proportional 4 A pe “aye {npr Figure P624, ad Pe Using the modal matrix , reduce the system of Prob. 6:24 to one which is coupled only by damping and solve by the Laplace transform method, Consider the viscoelastcally damped system of Fig. P6-26. The system differs from the viscously damped system by the addition of the spring k which introduces one more coordinate x, to the system. The equations of motion for the system in inertial coordinates x and x; are mi = —kx — (8-8) + F O= e(¢ -%) — Kix, jon of motion in matrix form, Write the equs Figure P626, Show, by comparing the viscoelastic system of Fig. P6-26 to the viscously damped system, that the equivalent viscous damping and the equivalent206 Properties of Vibrating Stems stiffness are keh toe ae 628 Verify the relationship of Eq. (65-7) X/KX, <0 by applying it to Prob, 6-16 629 Starting with the matrix equation Ke, = alMe, premultiply frst by KM ~' and, using the orthogonality relation 4 §¢, = 0, | show that | KM Ke, = 0 Repeat to show that kM Pe, for b= 1,2,...,n, where n = number of degrees of freedom of the system, 630 Ina manner similar to Prob. 6-29, show that SIMK "YMG, = 0, b= 1,2, 631 Evaluate the numerical coefficients for the equations of motion for the second and thitd modes of Example 69-1 632 If the acceleration i(s) of the ground in Example 6.9-1 is a single sine pulse fof amplitude ay and duration ¢, as shown in Fig. P6-32, determine the maximum q for each mode and the vale of xyaq as given in Sec. 6:9. Ie x Figure P6-32, 633 The normal modes of the double pendulum of Prob. 5-9 are given as o=0. ronyft = tasoyfi =f) 2 [977] | (my _ (0707) HL aafey” L100 J “1x= 0 Me, g the orthogonality relation #.M@, = 0, Ke, Ke, = 0 er of degrees of freedom of the system, now that het, for the equations of motion for the 69-1 in Example 69-1 isa single sine pulse shown in Fig. P6-32, determine the alue of gay 88 Biven in See, 6.9. 2. \dulum of Prob. 5-9 are given as sof e =0707 ) 1.00 J 634 635 636 Problems 207 If the lower mass is given an impulse Fy6(0), determine the response in terms of the normal modes, ‘The normal modes of the three mass torsional system of Fig. P6-6 are given for J, = Jy = Jy and K, = Ky = Ky (0328) { 977) o.= | 0591 =0198 = { 0328 \o737) | -o501) (0591) A= LSS y= | -0737 2a \ 328 J Determine the equations of motion if a torque M(i) is applied to the free fend. If M(Z) = Mou(?) where u(t isa unit step function, determine the time solution and the maximum response of the end mass from the shock spectrum, Using two normal modes, set up the equations of motion for the five-story building whose foundation stiffness in translation and rotation are &, and K, = 00 (see Fig, P6-35). alata y bedgh o Fie P38, The lateral and torsional osilaions of the system shown in Fi. P36 wil have equal sutra! fequenis fora pectic valve of a/ Ly Determine this value and assuming that there is an eccentricity e of mass equal to me, determine the equations of motion. Figure P66,Properties of Vibrating Systems 637 Assume that a three-story building with rigid floor girders has Rayleigh damping. If the modal dampings for the first and second modes are 0.05% land 0.13% respectively, determine the modal damping for the third mode. 638 The normal modes of a three degree of freedom system with (0328) Xy= {| -0737} (oso) Verify the orthogonal properties of these modes. 639 The system of Prob. 6-38 is given an initial displacement of { 0520) X= | ~0100 } \ 020s} and released. Determine how much of each mode will be present in the free vibration. 6-40 In general, the free vibration of an undamped system can be represented bw the modal sum X(1) = DAY, sin oye +B BX, c08 If the system is started from zero displacement and an arbitrary distribution of velocity X(0), determine the coefficients 4, and B