Formula Sheet

Free vibration (damped and un-damped):

v(t) = A cos ωt + B sin ωt

v(t) = ρ cos ( ωt + θ )

2
 v(0) 
ρ = [v(0)] +  2

 ω 

 − v(0) 
θ = tan –1  
 ωv(0) 

c c
ξ= =
cc 2mω

v(t)= e −ξωt ( A cos ω D t + B sin ω D t )

v(t ) = e −ξωt ρ cos(ω D t − θ )

ρ = A2 + B 2

 B
θ = tan −1  
 A

 2πξω 
 
vn  
= e ωD 
v n +1

vn 2πξ
δ = ln =
v n +1 1−ξ 2

ωD = ω 1 − ξ 2

Vibration under harmonic force (damped and un-damped)

mv(t ) + cv(t ) + kv(t ) = p o sin vt

v(t) = vc(t) + vp(t)

p  1 
=
A cos
 ω +
t B sin
 ωt + o 
  sin ϖt
k 1 − β 2 



 p
ϖt  = e −ξωt ρ cosω D t − θ  + o Rd sinϖt − φ 
  k
  

transient steady state

1
Rd = 2
 ϖ 2   ϖ 2
1 −    +  2ξ 
  ω    ω 

 ϖ 
 2ξ 
φ = tan − 1 ω 
 ϖ 2 
1 −   
  ω  

Matrix stiffness method:

{Q} = [K] {D}

{q} = [k]{d} + FEM’s

{Q} = [A]T {q}

[K]=[A]T[k][A]

 C x2 C xC y − C x2 − C xC y 

[K ]i.( global )

EAi  C x C y C 2
− C xC y − C y2 

2 1 
=
Li  − C x2
y

− C xC y C x2 C xC y  [k ] = 2 EI
L 1 2 

− C x C y − C y2 C xC y C y2 
  
Matrix flexibility method:

{D} = [F] {Q}; {d} = [f] [B] {Q}; {q} = [B] {Q}; [F] = [B]T [f] [B]

 2 − 1
[ f ] = [k ]−1 = L
− 1 2 
6 EI  

-1
[X] = - [E ] [E ] [Q]; [q]=[B ][Q] + [B ][X] + FEM’s
22 21 1 2