CE 745

Analytical Mechanics
Energy Methods in Structural Dynamics
(For the First Level Course on Structural Dynamics)
(A very simplified limited version of analytical mechanics)
CE 745, Structural Dynamics, Asad Esmaeily 1
 Newtonian vs Analytical
Mechanics
•Newtonian (Vectorial) Mechanics
•Requires a Free-Body-Diagram for EACH mass in
the system
•Analytical Mechanics (Dynamics) is:
• a kind of Variational Approach to Mechanics.
•Considers the system as a whole.
•Energy methods can be considered as a case of
analytical mechanics.

CE 745, Structural Dynamics, Asad Esmaeily 2

 Energy Methods
•An alternative way to determine the
equation of motion and an alternative way
to calculate the natural frequency of a
system

•Useful if the forces or torques acting on

the object or mechanical part are difficult
to determine

CE 745, Structural Dynamics, Asad Esmaeily 3

 Potential and Kinetic Energy
The potential energy of mechanical
x=0 x0
systems U is often stored in “springs”
(remember that for a spring F=kx) k
x0 x0
M
1 2
U spring = ∫ F dx = ∫ kx dx = kx0
0 0
2 Mass Spring

The kinetic energy of mechanical systems T is due to the

motion of the “mass” in the system

1 2 1 2
Ttrans = mx For rotation: Trot = Jθ
2
2
CE 745, Structural Dynamics, Asad Esmaeily 4
 Conservation of Energy
For a simply, conservative (i.e. no damper, or any other non-
conservative force), mass spring system the energy must be
conserved:
T + U = constant
d
or (T + U ) = 0
dt
At two different times t1 and t2 the increase in potential energy
must be equal to a decrease in kinetic energy (or visa-versa).

U1 − U 2 = T2 − T1
and
Umax = Tmax
CE 745, Structural Dynamics, Asad Esmaeily 5
 Deriving equation of motion

d d ⎛1 1 2⎞
(T + U ) = ⎜ mx + kx ⎟ = 0
2 x=0 x

dt dt ⎝ 2 2 ⎠ M
k

⇒ x (mx + kx ) = 0
Spring
Since x cannot be zero for all time
Mass

mx + kx = 0

CE 745, Structural Dynamics, Asad Esmaeily 6

 Natural frequency
If the solution is given by A×sin(ωt+φ) then the maximum potential
and kinetic energies can be used to calculate the natural frequency
of the system (Note again that this is based on the assumption of
having a harmonic solution for the case.)
1 2 1
Umax = kA Tmax = m(ω n A) 2

2 2
Since these two values must be equal
1 2 1
kA = m(ω n A) 2
2 2
k
⇒ k = mω ⇒ ω n = 2
n
m
CE 745, Structural Dynamics, Asad Esmaeily 7
 Example

θ
Compute the natural frequency of
k this roller fixed in place by a spring.
m,J
Assume it is a conservative system
r
(i.e. no losses) and rolls without
x(t) slipping.

1 2 1
Trot = Jθ and Ttrans = mx
 2

2 2

CE 745, Structural Dynamics, Asad Esmaeily 8

 Solution continued

( )
2
1 1 x
x = rθ ⇒ x = rθ ⇒ TRot = J θ ⇒ TRot = J 2
2

2 2 r
The maximum value of T happens at v max = ω n A
1 (ω n A) 2 1 1⎛ J⎞ 2 2
⇒ Tmax = J + m(ω n A) = ⎜ m + 2 ⎟ ω n A
2

2 r 2
2 2⎝ r ⎠
The max value of U happens at x max = A
1 2
⇒ U max = kA Thus using: Tmax = U max ⇒
2
1⎛ J⎞ 2 2 1 2 k
⎜ m + 2 ⎟ ω n A = kA ⇒ ω n =
2⎝ r ⎠ 2 ⎛ J⎞
⎜m+ 2 ⎟ Effective mass
⎝ r ⎠
CE 745, Structural Dynamics, Asad Esmaeily 9
 Example

Derive the equation of

A motion (general non-
linear), and then linearize
θ
it for small angles.
m
J = mA 2 Find also the natural
frequency.
mg

CE 745, Structural Dynamics, Asad Esmaeily 10

 Write down the energy
1 2 1 2 2
T = J 0θ = mA θ
2 2

U = mg A(1 − cos θ ), the elevation is A(1 − cos θ )

when having the vertical position as reference

d d ⎛ 1 2 2 ⎞
(T + U ) = ⎜ mA θ + mg A(1 − cos θ ) ⎟ = 0
dt dt ⎝ 2 ⎠

CE 745, Structural Dynamics, Asad Esmaeily 11

 m A θθ + m gA (sin θ )θ = 0
2

 (
2 
⇒ θ mA θ + mgA(sin θ ) = 0 )
⇒ mA θ + mgA(sin θ ) = 0
2

 g
⇒ θ (t) + sin θ = 0 (Note that θ is a function of time)
A
For small values of θ , sin θ ≈ θ
g g
⇒ θ(t) + θ (t) = 0 ⇒ ω n =
A A
CE 745, Structural Dynamics, Asad Esmaeily 12
 Example The effect of including the mass of
the spring on the value of the frequency.

y
y +dy
ms, k
A
m
x(t)
CE 745, Structural Dynamics, Asad Esmaeily 13
 ms ⎫
mass of element "dy": dy ⎪
A
y ⎪
velocity of element "dy": v dy = x(t),  (assuming a linear variation of displacement, ⎬ assumptions
A ⎪
as is the case for a linear spring if we neglect the effect of spring distributed inertial forced) ⎪
A 2
⎭
1 ms ⎡ y ⎤
Tspring = ∫ ⎢ x ⎥ dy (adds up the KE of each element)
2 0 A ⎣A ⎦
1 ⎛ ms ⎞ 2
= ⎜ ⎟ x
2⎝ 3 ⎠
1 ⎡ 1 ⎛ ms ⎞ 1 ⎤ 2 1⎛ ms ⎞ 2 2
Tmass = mx ⇒ Ttot = ⎢ ⎜
 ⎟ + m ⎥ x ⇒ Tmax = ⎜ m +
 ⎟ ωn A
2

2 ⎣2 ⎝ 3 ⎠ 2 ⎦ 2⎝ 3 ⎠
1
U max = kA 2
2
k •This provides some
⇒ ωn =
ms simple design and
m+ modeling guides
3
CE 745, Structural Dynamics, Asad Esmaeily 14
 What about gravity?
kΔ mg − kΔ = 0, from FBD,
and static equilibrium
m
k
+x(t)
0
1
mg U spring = k (Δ + x ) 2
m Δ 2
+x(t) U grav = −mgx
1
T = mx 2
2
CE 745, Structural Dynamics, Asad Esmaeily 15
 d
Now use (T + U) = 0
dt
d ⎡1 1 2⎤
⇒ ⎢ m x − m g x + k(Δ + x) ⎥ = 0
2

dt ⎣ 2 2 ⎦
⇒ m x x − m g x + k(Δ + x)x
⇒ x (m 
x + kx) + x ( k Δ − m g ) = 0
 

0 from static equ.

⇒ m 
x+kx =0 •Gravity does not affect the
equation of motion or the natural
frequency of the system for a linear
system.
CE 745, Structural Dynamics, Asad Esmaeily 16
 General Perspective: Lagrange’s Equation
• It has been established in “Analytical Dynamics” that
for a complicated system, it is much easier to use the
following equation to get the equations of motion from
two scalars only. (Potential and Kinetic Energy “U and
T”, and for a general case, including the non-
conservative forces)

d ⎛ ∂T ⎞ ∂T ∂U
⎜ ⎟− + = Qi i = 1, 2,..., n
dt ⎝ ∂q i ⎠ ∂q i ∂q i
in more general form, if L=T-U, (called Lagrangian),
d ⎛ ∂L ⎞ ∂L
⎜ ⎟− = Qi i = 1, 2,..., n
dt ⎝ ∂q i ⎠ ∂q i
L = T − U (Called Lagrangian)
CE 745, Structural Dynamics, Asad Esmaeily 17
 RAYLEIGH’S METHOD (an energy based method)
Rayleigh’s method can be used to calculate approximately the lowest
natural frequency of beams. u (t )
k
m
INTRODUCTION

Free vibrations of an undamped SDF system are considered.

u(t) = uo sin(ωn t) u (t) = uoωn sin (ωn t)

strain energy
1 1
Es (t) = k u(t)2 = k uo2 sin 2 (ωn t)
2 2
kinetic energy
1 1
Ek (t) = m u(t)
 2
= m ωn2 uo2 cos2 (ωn t)
2 2
CE 745, Structural Dynamics, Asad Esmaeily 18
 u
E = max
s
E =0
k

E = max
s
E =0 E =0
s k
E = max
k

1 1
Es-max = k uo2 Ek-max = m ωn uo
2 2

2 2
conservation of energy

k
Esmax
1 1
= Ek max → k uo = m ωn2 uo2
2 → ωn =
2 2 m

CE 745, Structural Dynamics, Asad Esmaeily 19

 APPLICATION u( x,t )
M EI L m
x

The same approach can be used to calculate an approximative value of

the lowest natural frequency of the beam above.

The method consists in

• estimating the vibration shape (eigenmode)

• calculate Es(t) and Ek(t)

• using Es(t) = Ek(t) to get the natural frequency

⎛ πx ⎞
Let’s take: u(x, t) = Y sin ⎜ ⎟ sin(ω t)
⎝L⎠
which is the exact eigenmode if M = 0.
CE 745, Structural Dynamics, Asad Esmaeily 20
 strain energy
∂2u(x, t) π2 ⎛ πx ⎞
u′′(x, t) = = − 2 Y sin ⎜ ⎟ sin(ω t)
∂x 2
L ⎝L⎠
L
1
Es = Esbeam = ∫ EI [ u (x, t)] d x
′′
2

0
2
π ⎛ πx ⎞
4 L
1
= EI Y2 4 sin2 (ω t) ∫
2
sin ⎜ ⎟ d x
2 L 0 ⎝L⎠
⎛ πx ⎞ ⎡ ⎛ 2πx ⎞⎤
L L
1 L
∫ sin ⎜ ⎟ d x = ∫ ⎢1 − cos ⎜ L ⎟⎥ d x =
2

0 ⎝L⎠ 2 0 ⎣ ⎝ ⎠⎦ 2

1 π 4

cos(2a) = 1 − 2sin2 (a) Esmax =

2
EI Y2
2L3

CE 745, Structural Dynamics, Asad Esmaeily 21

 kinetic energy
∂u(x, t) ⎛ πx ⎞
 t) =
u(x, = Y ω sin ⎜ ⎟ cos(ω t)
∂t ⎝L⎠
Ek = Ek M + Ek beam
1 1
Ek M = M [ u(L/ 2, t)] = M Y2ω 2 cos2 (ωt)
2

2L 2
1
Ek beam = ∫ m [ u(x,
 t)] d x
2

0
2
⎛ πx ⎞
L
1
= m Y2ω2 cos2 (ωt) ∫
2
sin ⎜ ⎟ d x
2 0 ⎝L⎠

1 2 2 ⎛ mL ⎞
Ekmax = Y ω ⎜M+ ⎟
2 ⎝ 2 ⎠
CE 745, Structural Dynamics, Asad Esmaeily 22
 conservation of energy
⎛ L⎞ π4
Ek max = Esmax → ω ⎜ M + m ⎟ = EI 3
2

⎝ 2⎠ 2L
EI
→ ω = π2
L3 (2M + mL)
exact solution since
EI
particular cases M = 0 ω=π 2 the eigenmode is
mL4 exact.

π2 EI EI
m=0 ω= = 6.98
2 ML3 ML3
48EI
In that case, the beam is considered as a spring k= 3
with L
k 48EI EI
which gives as exact solution ω= = 3
= 6.93
M ML ML3
CE 745, Structural Dynamics, Asad Esmaeily 23
 REMARKS

• Only an estimate of the natural frequency can be calculated.

• The accuracy of the result depends entirely on the shape function
which is assumed to represent the eigenmode.
• The natural frequency calculated by Rayleigh’s method is always
greater than the exact value.

SELECTION OF THE SHAPE FUNCTION

The shape function (eigenmode) must be kinematically admissible,

i.e. must satisfy the displacements boundary conditions at the
supports.

CE 745, Structural Dynamics, Asad Esmaeily 24

 a possibility is to take the deflected shape corresponding to the weight
of the structure. (implemented in some f.e.m. codes)

example M EI L m

F = Mg
q = mg

CONCLUSION

The main interest of the Rayleigh’s method lies in its ability to

provide useful estimation of the natural frequency from any
reasonable assumption of the eigenmode.

CE 745, Structural Dynamics, Asad Esmaeily 25

 END

CE 745, Structural Dynamics, Asad Esmaeily 26