CHAPTER 1

Problem 1.1
If ke is the effective stiffness,
fS = keu

u
k1
k1 u
fS fS
k2 u
k2

Equilibrium of forces: =fS ( k1 + k2 ) u

Effective stiffness: k=e fS =
u k1 + k2
Equation of motion: mu&& + keu = p( t )
Problem 1.2
If ke is the effective stiffness,
fS = keu (a)

u
k1 k2
fS

If the elongations of the two springs are u1 and u2 ,

u
= u1 + u2 (b)
Because the force in each spring is fS ,
fS = k1u1 fS = k2u2 (c)
Solving for u1 and u2 and substituting in Eq. (b) gives
fS fS f 1 1 1
= + S ⇒ = + ⇒
ke k1 k2 ke k1 k2
k1 k2
ke =
k1 + k2
Equation of motion: mu&& + keu =
p( t )
Problem 1.3
k1 k3
m Fig. 1.3(a)
k2
⇓

k 1+ k 2 k3
m Fig. 1.3(b)
⇓

u
ke
m Fig. 1.3(c)

This problem can be solved either by starting from the

definition of stiffness or by using the results of Problems
P1.1 and P1.2. We adopt the latter approach to illustrate
the procedure of reducing a system with several springs to
a single equivalent spring.
First, using Problem 1.1, the parallel arrangement of
k1 and k2 is replaced by a single spring, as shown in
Fig. 1.3(b). Second, using the result of Problem 1.2, the
series arrangement of springs in Fig. 1.3(b) is replaced by
a single spring, as shown in Fig. 1.3(c):
1 1 1
= +
ke k1 + k2 k3
Therefore the effective stiffness is
( k1 + k2 ) k3
ke =
k1 + k2 + k3
The equation of motion is mu&& + keu =
p( t ) .
Problem 1.4
1. Draw a free body diagram of the mass.
O
L T

m mgsinθ mgcosθ

2. Write equation of motion in tangential direction.

Method 1: By Newton’s law.
−mg sin θ =ma
mLθ&&
− mg sin θ = (a)
mLθ&& + mg sin θ =
0

This nonlinear differential equation governs the motion for

any rotation θ.
Method 2: Equilibrium of moments about O yields

mL2θ=
&& −mgL sin θ

or

mLθ&& + mg sin θ =
0

3. Linearize for small θ.

For small θ, sin θ ≈ θ , and Eq. (a) becomes

mLθ&& + mgθ =
0
⎛g⎞ (b)
θ&& + ⎜ ⎟θ = 0
⎝L⎠
4. Determine natural frequency.

g
ωn =
L
Problem 1.5
1. Find the moment of inertia about O.
From Appendix 8,
2
1 ⎛ L⎞ 1
=I0 mL2 + m⎜ ⎟ = mL2
12 ⎝ 2⎠ 3
2. Draw a free body diagram of the body in an arbitrary
displaced position.

L/2 x

mg

3. Write the equation of motion using Newton’s second law

of motion.

∑M 0 = I 0θ&&

L 1 2 &&
− mg sin θ = mL θ
2 3

mL2 && mgL

θ+ sin θ =
0 (a)
3 2
4. Specialize for small θ.
For small θ, sinθ ≅ θ and Eq. (a) becomes

mL2 && mgL

θ+ θ=
0
3 2
3 g
θ&& + 0
= (b)
2 L
5. Determine natural frequency.

3 g
ωn =
2 L
Problem 1.6 5. Determine natural frequency.

1. Find the moment of inertia about about O. 4 g

ωn =
3 L

L In each case the system is equivalent to the spring-

mass system shown for which the equation of motion is
∫r
2
I0 = ρ dA
x
0 ⎛ w⎞
⎜⎜ ⎟⎟ u&& + ku =
0
L ⎝g⎠

L r ∫
= ρ r 2 ( r α dr )
0
α ρ
= L4 α
4
1 k
= mL 2
2

u
2. Draw a free body diagram of the body in an arbitrary The spring stiffness is determined from the deflection u
displaced position. under a vertical force fS applied at the location of the
lumped weight:
2L/3 fS L3 48 EI
x u
Simply-supported beam: = k
⇒ =
48 EI L3
3
θ
fS L 3 EI
Cantilever beam: u= ⇒ k=
3 EI L3

mg fS L3 192 EI
y u
Clamped beam:= k
⇒=
192 EI L3

3. Write the equation of motion using Newton’s second law

of motion.

∑M 0 = I 0θ&&

2L 1 2 &&
− mg sin θ = mL θ
3 2

mL2 && 2mgL

θ+ sin θ =
0 (a)
2 3
4. Specialize for small θ.
For small θ, sinθ ≅ θ, and Eq. (a) becomes

mL2 && 2mgL

θ+ θ=
0
2 3
or

4 g
θ&& + 0
= (b)
3 L
Problem 1.7
Draw a free body diagram of the mass:

fS

mü

u
p(t)

Write equation of dynamic equilibrium:

mu&& + fS = p( t ) (a)
Write the force-displacement relation:

fS =
FG IJ
AE
u (b)
H K
L
Substitute Eq. (b) into Eq. (a) to obtain the equation of
motion:

mu&& +
FG IJ
AE
u = p( t )
H K
L
Problem 1.8
Show forces on the disk:

fS

O
θ

Write the equation of motion using Newton's second

law of motion:
m R2
IO&&
− fS = θ where IO = (a)
2
Write the torque-twist relation:

fS =
FG GJ IJ θ where J =
π d4
(b)
H LK 32
Substitute Eq. (b) into Eq. (a):

I Oθ&& +
GJFG IJ
θ = 0
L H K
or,
F mR I θ&& + F π d G I θ
2 4

GH 2 JK GH 32 L JK = 0
Problems 1.9 through 1.11
In each case the system is equivalent to the spring-
mass system shown for which the equation of motion is
FG w IJ u&& + ku =
0
H gK

The spring stiffness is determined from the deflection u

under a vertical force fS applied at the location of the
lumped weight:
fS L3 48 EI
Simply-supported beam: = u ⇒ = k
48 EI L3
3
fS L 3EI
Cantilever beam: = u ⇒ = k
3EI L3
3
fS L 192 EI
Clamped beam:= u ⇒= k
192 EI L3
Problem 1.12 2. Determine the effective stiffness.
f s = k eu (d)
L
where
=u δ spring + δ beam (e)
simply
EI
k supported kδ spring =
fs = k beam δ beam (f)

w
Substitute for the δ’s from Eq. (f) and for u from Eq. (d):
Fig. 1.12a fs fs f
= + s
ke k k beam
kk beam
ke =
k + k beam

ke =
(
k 48 EI / L3 )
Undeformed position 48 EI
k+ 3
δst L
u Static Equlibrium
3. Determine the natural frequency.
u
Deformed position ke
ωn =
m
Fig. 1.12b

fs

fs
..
mu
p(t)
w
Fig. 1.12c

1. Write the equation of motion.

Equilibrium of forces in Fig. 1.12c gives

m u&& + f s =w + p (t ) (a)

where
fs = k e u (b)
The equation of motion is:

mu&& + k e u =w + p(t ) (c)

Problem 1.13
Compute lateral stiffness:

1
3
3EI c /h

3 EIc 6 EI
k =×
2 kcolumn =×
2 3 =3c
h h
Equation of motion:
mu&& + ku =
p( t )
Base fixity increases k by a factor of 4.
Problem 1.14 k 22 k 23
1. Define degrees of freedom (DOF).

2 3 1

3EI c 4 EI c 5EI c
k 22 = + =
h ( 2h ) h
2 EI c EI c
k 32 =
=
( 2h ) h
3EI c
k12 = 2
h

2. Reduced stiffness coefficients.

u=
3 1, u=
1 u=
2 0
Since there are no external moments applied at the
pinned supports, the following reduced stiffness k23 k33
coefficients are used for the columns.
Joint rotation: k13
3EI
EI
L
1
3EI 3 EI
L2 L2 3EI c 4 EI c 5EI c
L k33 = + =
h ( 2h ) h
2 EI c EI c
k 23 =
=
Joint translation: ( 2h ) h
EI 3EI c
3EI k13 = 2
1 h
3EI L2
L3 3EI Hence
L L3
⎡ 6 3h 3h ⎤
EI c ⎢ ⎥
k = 3 ⎢3h 5h 2 h2 ⎥
3. Form structural stiffness matrix. h
⎢⎣3h h 2 5h 2 ⎥⎦
u=
1 1, u=
2 u=
3 0

k21 k 31 4. Determine lateral stiffness.

The lateral stiffness k of the frame can be obtained by
static condensation since there is no force acting on DOF 2
and 3:
⎡ 6 3h 3h ⎤ ⎧ u1 ⎫ ⎧ f S ⎫
EI c ⎢ ⎥⎪ ⎪ ⎪ ⎪
3h 5h 2 h 2 ⎥ ⎨u2 ⎬ = ⎨ 0 ⎬
3EI c 6 EI c h3 ⎢
k11 2=
= ⎢⎣3h h 2 5h 2 ⎥⎦ ⎪⎩u3 ⎪⎭ ⎪⎩ 0 ⎪⎭
h3 h3
3EI c First partition k as
k=
21 k=
31
h2 ⎡ 6 3h 3h ⎤
EI c ⎢ ⎥ ⎡ k tt k t0 ⎤
u= 1, u= u= 0 k = 3 ⎢3h 5h 2 h2 ⎥ = ⎢
2 1 3
h k t0 k 00 ⎥⎦
⎢⎣3h h 2 5h 2 ⎦⎥ ⎣
where
EI c
k tt = [6]
h3
EI c
k t0 = [3h 3h]
h3
EI c ⎡5h 2 h2 ⎤
k 00 = ⎢ ⎥
h 3 ⎣⎢ h 2 5h 2 ⎦⎥

Then compute the lateral stiffness k from

−1 T
=k k tt − k t 0 k 00 k t0

Since

−1 h ⎡ 5 − 1⎤
k 00 = ⎢− 1 5 ⎥
24 EI c ⎣ ⎦
we get

6 EI c EI c h ⎡ 5 − 1⎤ EI c ⎡3h ⎤
k= − 3 [3h 3h] ⋅ ⎢− 1 5 ⎥ ⋅ 3 ⎢3h ⎥
h3 h 24 EI c ⎣ ⎦ h ⎣ ⎦
EI c
=k [6 − 3]
h3
3EI
k = 3c
h
5. Equation of motion.
3EIc
m u&& + u=
p(t )
h3
Problem 1.15 u3
= u1
1, = u=
2 0
1
Ib = I c / 2 k23 k33
k
k13
h Ic Ic

2h

Define degrees of freedom (DOF): 4 EIc 4 EIb 4 EIc EIc 5 EIc

k33 = + = + =
2 3 h (2 h) h h h
1
2 EIb EIc
k23
= =
(2 h) 2h
6 EIc
k13 =
h2
Form structural stiffness matrix:
Hence
u1
= 1, u=
2 u3
= 0
k21 k31 ⎡24 6h 6h ⎤
EI c ⎢ 2 1 2⎥
k11 k = 3 ⎢6 h 5h 2
h ⎥
h ⎢
⎣6 h
1
2
h2 5h 2 ⎥⎦

The lateral stiffness k of the frame can be obtained by

static condensation since there is no force acting on DOF 2
12 EIc 24 EIc and 3:
=k11 2
=
h3 h3
⎡ 24 6h 6 h ⎤ ⎧ u1 ⎫ ⎧ f S ⎫
6 EIc EI c ⎢ ⎥⎪ ⎪ ⎪ ⎪
k21
= k31
= ⎢6 h 5h 2 1
h 2 ⎥ ⎨u 2 ⎬ = ⎨ 0 ⎬
h2 h3 ⎢
2

⎣6 h
1
2
h2 5h 2 ⎥⎦ ⎪⎩u 3 ⎪⎭ ⎪⎩ 0 ⎪⎭
u=
2 u1
1, = u3
= 0 First partition k as

k22 k32 ⎡ 24 6h 6h ⎤
k12 EI c ⎢ ⎥ ⎡k k t0 ⎤
k = 3 ⎢6 h 5h 2 1
h 2 ⎥ = ⎢ Ttt
h ⎢
2
⎣k t 0 k 00 ⎥⎦
⎣6 h
1
2
h2 5h 2 ⎥⎦

4 EIc 4 EIb 4 EIc EIc 5 EIc where

k22 = + = + =
h (2h) h h h EIc
ktt = 24
2 EIb EIc h3
k32
= =
(2h) 2h EIc
kt 0 = 6h 6h
h3
6 EIc
k12 =
h2 EI c ⎡ 5h 2 1
2
h2 ⎤
k 00 = ⎢ 2 ⎥
h 3 ⎢⎣ 12 h 5h 2 ⎥⎦

Then compute the lateral stiffness k from

−1 T
k
= ktt − kt 0 k00 kt 0
Since

−1 4h ⎡ 5 − 12 ⎤
k 00 = ⎢ 1 ⎥
99 EI c ⎢⎣− 2 5⎥⎦
 we get
24 EI c EI c 4h ⎡ 5 − 12 ⎤ EI c ⎡6h ⎤
=k − 3 [6h 6h] ⋅ ⎢ ⎥⋅
h 3
h 99 EI c ⎣⎢− 12 5⎦⎥ h3 ⎢⎣6h ⎥⎦
EI c 144
= 3
(24 − )
h 11
120 EI c
=
11 h3

This result can be checked against Eq. 1.3.5:

24 EI c ⎛ 12 ρ +1 ⎞
k = ⎜⎜ ⎟⎟
h 3 ⎝ 12 ρ + 4 ⎠

Substituting
= ρ I=
b 4 Ic 1 8 gives

24 EI c ⎛⎜ 12 8 +1 ⎞⎟ 24 EI c ⎛ 5 ⎞ 120 EI c
1
k = = ⎜ ⎟=
h 3 ⎜⎝ 12 18 + 4 ⎟⎠ h 3 ⎝ 11 ⎠ 11 h 3

Equation of motion:

⎛ 120 EI c ⎞
m u&& + ⎜⎜ 3
⎟⎟ u = p (t )
⎝ 11 h ⎠
Problem 1.16 u3 = 1 , u1 = u2 = u4 = u5 = 0

1. Define degrees of freedom (DOF). u3 =1

u3 m u4
u1
EIc /2
h EIc EIc
u2 u5

2h 4EI c 4EIc 5EIc

k 33 = + =
h 2(2h) h
2. Form the structural stiffness matrix. 6EI 2EIc
k13 = 2 c k 23 =
u1 = 1 , u2 = u3 = u4 = u5 = 0 h h
2EIc EIc
k 43 = = k53 = 0
2(2h) 2h
u1 =1
u4 = 1 , u1 = u2 = u3 = u5 = 0

u4 =1

12EI c 24EIc
k11 = 2 3 = 3
h h
6EIc
k 21 = k 31 = k 41 = k 51 =
h
2
4EIc 4EI c 5EI c
k 44 = + =
h 2(2h) h
u2 = 1 , u1 = u3 = u4 = u5 = 0 6EI
k14 = 2 c k 24 = 0
h
2EIc EI c 2EI c
k 34 = = k54 =
2(2h) 2h h
u2 =1
u5 = 1 , u1 = u2 = u3 = u4 = 0

4EIc 6EI c
k 22 = k12 = 2 u5 =1
h h
2EI c
k 32 = k 42 = k52 = 0
h

4EIc 6EI c
k 55 = k15 = 2
h h
2EIc
k 45 = k 25 = k 35 = 0
h
Assemble the stiffness coefficients:

⎡24 6h 6h 6h 6h ⎤
⎢6h 4h 2 2h 2
0 0 ⎥
EI c ⎢ ⎥
k = 3 ⎢6h 2h
2
5h 2 1
2 h2 0 ⎥
h ⎢
6h 0 1
2 h2 5h 2 2h2 ⎥
⎢ ⎥
⎢⎣6h 0 0 2h 2 4h2 ⎥⎦

3. Determine the lateral stiffness of the frame.

First partition k.

⎡24 6h 6h 6h 6h ⎤
⎢6 h 4 h 2 2h 2 0 0 ⎥
EIc ⎢ ⎥ ⎡ k tt kt 0 ⎤
k = 3 ⎢6 h 2 h 2 5h 2 1
h2 0 ⎥=⎢ T
⎥ kt 0 k 00 ⎥⎦
2
h ⎢
⎢6 h 0
1
2 h2 5h 2 2h 2 ⎥ ⎣
⎢⎣6h 0 0 2h 2 4h 2 ⎥⎦

Compute the lateral stiffness.

k = k tt − k t 0k −1 kT
00 t 0

24EIc 22EI c 2 EI c
k= − = 3
h3 h3 h

4. Write the equation of motion.

mu&& + ku =
p (t )
⎛ 2 EI ⎞
mu&& + ⎜⎜ 3 c ⎟⎟ u = p (t )
⎝ h ⎠
Problem 1.17
(a) Equation of motion in the x-direction.
The lateral stiffness of each wire is the same as the
lateral stiffness of a brace derived in Eq. (c) of Example
1.2:
⎛ AE ⎞ 2
kw = ⎜ ⎟cos θ
⎝ L ⎠
⎛ AE ⎞ 2 o 1 AE
= ⎜⎜ ⎟cos 45 =
⎟
⎝h 2⎠ 2 2 h

Each of the four sides of the structure includes two wires.

If they were not pretensioned, under lateral displacement,
only the wire in tension will provide lateral resistance and
the one in compression will go slack and will not
contribute to the lateral stiffness. However, the wires are
pretensioned to a high stress; therefore, under lateral
displacement the tension will increase in one wire, but
decrease in the other; and both wires will contribute to the
lateral direction. Consequently, four wires contribute to the
stiffness in the x-direction:
AE
kx
= 4 kw
= 2
h
Then the equation of motion in the x-direction is
mu&&x + kx ux =
0
(b) Equation of motion in the y-direction.
The lateral stiffness in the y direction, ky = kx , and
the same equation applies for motion in the y-direction:
mu&&y + kyuy =
0
Problem 1.18

z
h kw h 2

h f uθ = 1
O I O

f
S

Fig. 1.18(a) Fig. 1.18(b)

1. Set up equation of motion.

The elastic resisting torque fS and inertia force fI are
shown in Fig. 1.18(a). The equation of dynamic
equilibrium is
fI=
+ fS 0 or IOu&&θ=
+ fS 0 (a)

where
h2 + h2 mh2
IO = m = (b)
12 6
2. Determine torsional stiffness, kθ .
fS = kθuθ (c)
Introduce uθ = 1 in Fig. 1.18(b) and identify the
resisting forces due to each wire. All the eight forces are
the same; each is kw h 2 , where, from Problem 1.17,
1 AE
kw =
2 2 h
The torque required to equilibrate these resisting forces is
h h 2 AE
=kθ 8 k=
w 2 kw h2
= ( ) h2
2 2 2 2 h
AEh
= (d)
2
3. Set up equation of motion.
Substituting Eq. (d) in (c) and then Eqs. (c) and (b) in
(a) gives the equation of motion:
mh2 AEh
u&&θ + uθ =
0
6 2
Problem 1.19

ut

m v f
I

k c ut - u
g
f f
S D
ug

Fig. 1.19(a) Fig. 1.19(b)

Displacement u t is measured from the static

equilibrium position under the weight mg .
From the free-body diagram in Fig. 1.19(b)
fI + fD + fS =
0 (a)
where
fI = mu&&t
fD
= c ( u& t − u&g ) (b)
t
fS
= k ( u − ug )

Substituting Eqs. (b) in Eq. (a) gives

mu&&t + c ( u& t − u&g ) + k ( ut − ug ) =
0

Noting that x = vt and transferring the excitation

terms to the right side gives the equation of motion:
mu&&t + cu& t + ku=
t
cu&g ( vt ) + kug ( vt )