Data:

kN
E ≔ 20 ⋅ 10 7 ―― I ≔ 1 ⋅ 10 -4 m M ≔ 20 Ton L1 ≔ 3 m L2 ≔ 6 m
m
E ⋅ I = 2 ⋅ 10 4

12 ⋅ E ⋅ I 12 ⋅ E ⋅ I kN
K ≔ ――― 3
+ 3 ⋅ ――― 3
= 1.222 ⋅ 10 4 ――
L1 L2 m

Solution for (a)

‾‾‾
K rad w 1
w≔ ― = 24.721 ―― f ≔ ―― = 3.934 T ≔ ―= 0.254
M sec 2⋅π f
 u
20 0 m
u ≔ ―― m ud ≔ ― ――
0 1000 0 1 sec

‾‾‾‾‾‾‾‾‾‾
⎛ ud ⎞ 2 ⎛ ud ⎞
⎜ 0⎟ ⎜ 0 ⎟
ρ ≔ u 2 + ⎜―― = 0.02 θ ≔ atan ⎜――⎟ = 0.04
0
⎝ w ⎟⎠ w⋅u
⎜⎝ 0⎟
⎠

u ((t)) ≔ ρ ⋅ cos ((w ⋅ t - θ))

u ((t)) ≔ 0.02 ⋅ cos ((24.721 ⋅ t - 0.04)) t ≔ 0 ‥ 40

0.02
0.016
0.012
0.008
0.004
0
-0.004
0 4 8 12 16 20 24 28 32 36 40 u ((t))
-0.008
-0.012
-0.016
-0.02

Solution for (b)

ξ ≔ .05

wd ≔ w ⋅ ‾‾‾‾‾
1 - ξ 2 = 24.69
20
u ≔ ――
0 1000
m≔4
w
δ ≔ 2 ⋅ m ⋅ π ⋅ ξ ⋅ ―― = 1.258
wd
⎛ u ⎞ u
⎜ 0 ⎟ 0
ln ⎜――⎟ ＝ δ ――＝ exp ((δ))
u u
⎜⎝ 0 + m ⎟⎠ 0+m

exp ((δ)) = 3.519

u
0
u ≔ ――― = 0.006
0+m exp ((δ))
u
0+m
δu ≔ ――⋅ 100 = 28.416 % change ≔ 100 - 28.416 = 71.584 %
u
0
Solution for (c)
500
F0 ≔ ――⋅ 9.81 kN
1000

150
Ω ≔ ―― ⋅2⋅π
60

Ω
β ≔ ―― = 0.636
wd

F0 1
ρ ≔ ― ⋅ ―――――――― = 6.704 ⋅ 10 -4 m ρ ＝ 0.67 mm
K ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾
2 2
⎛⎝1 - β 2 ⎞⎠ + ((2 ⋅ ξ ⋅ β))

w
βreso ≔ 1 Ωreso ≔ ―― ⋅ 60 = 236.065 rpm
2⋅π

F0 1000
ρreso ≔ ― ⋅ ――――――――― = 4.013 mm
K ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾
2 2
⎛ 1 - β 2 ⎞ + ⎛2 ⋅ ξ ⋅ β ⎞
⎝ reso ⎠ ⎝ reso⎠

6⋅E⋅I ρ 6 ⋅ E ⋅ I ρreso
MB ≔ ――― 2
⋅ ――= 0.009 kNm MBr ≔ ――― ⋅ ――= 53.509
L1 1000 L1 2 1000

6⋅E⋅I ρ 6 ⋅ E ⋅ I ρreso
MC ≔ 3 ⋅ ――― 2
⋅ ――= 0.007 kNm MCr ≔ 3 ⋅ ――― ⋅ ――= 40.132
L2 1000 L2 2 1000
Scale ≔ 100
⎡0⎤ ⎡3⎤ ⎡ 0 ⎤ ⎡ -MB ⎤ ⎡ -MBr ⎤
⎢0⎥ ⎢6⎥ ⎢ 0.67 ⎥ ⎢ ⎥ ⎢ ⎥
MB MBr
X≔⎢ ⎥ Y≔⎢ ⎥ u≔⎢ ⎥ M ≔ Scale ⎢ ⎥ Mr ≔ 0.03 ⎢ ⎥
⎢6⎥ ⎢6⎥ ⎢ 0.67 ⎥ ⎢ MC ⎥ ⎢ MCr ⎥
⎣6⎦ ⎣0⎦ ⎣ 0 ⎦ ⎢⎣ -M ⎥⎦ ⎢⎣ -M ⎥⎦
C Cr

6 6

5.4 5.4

4.8 4.8

4.2 4.2

3.6 3.6

3 3

2.4 2.4
Y Y
1.8 1.8

1.2 1.2

0.6 0.6

0 0
-0.9 0 0.9 1.8 2.7 3.6 4.5 5.4 6.3 7.2 -1.8 -0.9 0 0.9 1.8 2.7 3.6 4.5 5.4 6.3 7.2 8.1

X X

X+M X + Mr
 EI ≔ 20 ⋅ 10 3 L1 ≔ 3 L2 ≔ 3 c1 ＝ c2 ＝ 0

12 ⋅ EI 12 ⋅ EI
k1 ≔ 2 ⋅ ――― 3
= 1.778 ⋅ 10 4 k2 ≔ 2 ⋅ ――― m1 ≔ 5 m2 ≔ 3
L1 L2 3

⎡ m1 0 ⎤ ⎡ 5 0 ⎤ ⎡ k1 + k2 -k2 ⎤ ⎡ 3.556 ⋅ 10 4 -1.778 ⋅ 10 4 ⎤

M≔⎢ = K≔⎢ =
⎣ 0 m2 ⎥⎦ ⎢⎣ 0 3 ⎥⎦ ⎣ -k2 k2 ⎥⎦ ⎢⎣ -1.778 ⋅ 10 4 1.778 ⋅ 10 4 ⎥⎦

det ⎛⎝K - ω 2 ⋅ M⎞⎠

⎡ 7.111 ⋅ 10 3 -5.926 ⋅ 10 3 ⎤ ⎡ 1.115 ⋅ 10 4 ⎤

A ≔ K ⋅ M -1 = ⎢ 3 3 ⎥
eigenvals ((A)) = ⎢ 3 ⎥
⎣ -3.556 ⋅ 10 5.926 ⋅ 10 ⎦ ⎣ 1.89 ⋅ 10 ⎦

⎡ 105.578 ⎤
w ≔ ‾‾‾‾‾‾‾‾‾‾
eigenvals ((A)) = ⎢
⎣ 43.477 ⎥⎦

λ1 ≔ 1.89 ⋅ 10 3 λ2 ≔ 1.115 ⋅ 10 4 w1 ≔ ‾‾‾

λ1 = 43.474 w2 ≔ ‾‾‾
λ2 = 105.594
 ⎡ λ1 0 ⎤ ⎡ 2.611 ⋅ 10 4 -1.778 ⋅ 10 4 ⎤
E1 ≔ K - ⎢ ⋅ M = ⎢ 4 ⎥
⎣ 0 λ1 ⎥⎦ 4
⎣ -1.778 ⋅ 10 1.211 ⋅ 10 ⎦

⎡ϕ ⎤ ⎡ϕ ⎤
ϕ1 ≔ ⎢ 11 ⎥ ϕ1 ≔ ⎢ 11 ⎥
⎣ ϕ12 ⎦ ⎣ 1 ⎦

⎡ 26105.555555555555 ⋅ ϕ11 - 17777.777777777777 ⎤

EE1 ≔ E1 ⋅ ϕ1 → ⎢ ⎥
⎣ -17777.777777777777 ⋅ ϕ11 + 12107.777777777777 ⎦

17777.777777777777 -12107.777777777777
ϕ11 ≔ ―――――――= 0.681 ϕ11 ≔ ―――――――― = 0.681
26105.555555555555 -17777.777777777777

⎡ λ2 0 ⎤ ⎡ -2.019 ⋅ 10 4 -1.778 ⋅ 10 4 ⎤
E2 ≔ K - ⎢ ⋅ M = ⎢ 4 ⎥
⎣ 0 λ2 ⎥⎦ 4
⎣ -1.778 ⋅ 10 -1.567 ⋅ 10 ⎦

⎡ϕ ⎤ ⎡ϕ ⎤
ϕ2 ≔ ⎢ 21 ⎥ ϕ2 ≔ ⎢ 21 ⎥
⎣ ϕ22 ⎦ ⎣ 1 ⎦

⎡ -20194.444444444445 ⋅ ϕ21 - 17777.777777777777 ⎤

EE2 ≔ E2 ⋅ ϕ2 → ⎢ ⎥
⎣ -17777.777777777777 ⋅ ϕ21 - 15672.222222222223 ⎦

17777.777777777777 15672.222222222223
ϕ21 ≔ ―――――――― = -0.88 ϕ21 ≔ ―――――――― = -0.882
-20194.444444444445 -17777.777777777777

⎡ 0 ⎤ ⎡0 ⎤ ⎡ 0 ⎤ ⎡ 0 ⎤ ⎡0⎤
ϕ1 ≔ ⎢ ϕ11 ⎥ = ⎢ 0.681 ⎥ ϕ2 ≔ ⎢ ϕ21 ⎥ = ⎢ -0.882 ⎥ y≔⎢3⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ 1 ⎦ ⎣1 ⎦ ⎣ 1 ⎦ ⎣ 1 ⎦ ⎣6⎦

6 6

5.4 5.4

4.8 4.8

4.2 4.2

3.6 3.6

3 3

2.4
y y
2.4

1.8 1.8

1.2 1.2
0.6 0.6
0 0
00.10.20.30.40.50.60.70.80.9 1 -1
-0.8
-0.6
-0.4
-0.200.20.40.60.8 1

ϕ1 ϕ2
 ⎡ ϕ ⎤ ⎡ 0.681 ⎤ ⎡ ϕ ⎤ ⎡ -0.882 ⎤
ϕ1 ≔ ⎢ 11 ⎥ = ⎢ ⎥⎦ ϕ2 ≔ ⎢ 21 ⎥ = ⎢ ⎥⎦
⎣ 1 ⎦ ⎣1 ⎣ 1 ⎦ ⎣ 1

⎡ ⎤ ⎡ ⎤
M1 ≔ ϕ1 T ⋅ M ⋅ ϕ1 = 5.319 [[ 0.681 1 ]] ⋅ ⎢ 5 0 ⎥ ⋅ ⎢ 0.681 ⎥ = 5.319
⎣0 3⎦ ⎣ 1 ⎦

K1 ≔ ϕ1 T ⋅ K ⋅ ϕ1 = 1.005 ⋅ 10 4
⎡ 4 ⎛ 4⎞⎤
⎡ ⎤
[[ 0.681 1 ]] ⋅ ⎢ 3.556 ⋅ 10 4 -⎝1.778 ⋅ 104 ⎠ ⎥ ⋅ ⎢ 0.681 ⎥ = 1.005 ⋅ 10 4
⎣ -⎛⎝1.778 ⋅ 10 ⎞⎠ 1.778 ⋅ 10 ⎦ ⎣ 1 ⎦

⎡ ⎤ ⎡ ⎤
M2 ≔ ϕ2 T ⋅ M ⋅ ϕ2 = 6.886 [[ -0.882 1 ]] ⋅ ⎢ 5 0 ⎥ ⋅ ⎢ -0.882 ⎥ = 6.89
⎣0 3⎦ ⎣ 1 ⎦

K2 ≔ ϕ2 T ⋅ K ⋅ ϕ2 = 7.675 ⋅ 10 4

⎡ 4 ⎛ 4⎞⎤
⎡ ⎤
[[ -0.882 1 ]] ⋅ ⎢ 3.556 ⋅ 10 4 -⎝1.778 ⋅ 104 ⎠ ⎥ ⋅ ⎢ -0.882 ⎥ = 7.681 ⋅ 10 4
⎛ ⎞
⎣ -⎝1.778 ⋅ 10 ⎠ 1.778 ⋅ 10 ⎦ ⎣ 1 ⎦

⎡ 55 ⎤ ⎡ ⎤
f≔⎢ f1 ≔ ϕ1 T ⋅ f = 147.458 [[ 0.681 1 ]] ⋅ ⎢ 55 ⎥ = 147.455
⎣ 110 ⎥⎦ ⎣ 110 ⎦

⎡ ⎤
f2 ≔ ϕ2 T ⋅ f = 61.514 [[ -0.882 1 ]] ⋅ ⎢ 55 ⎥ = 61.49
⎣ 110 ⎦

‾‾‾‾
K1 ‾‾‾‾
K2
ω1 ≔ ―― = 43.477 ω2 ≔ ―― = 105.578
M1 M2

Solution for SDOF Forced undamped (constant force)

f1 f2
q1 ((t)) ≔ ―― ⎛⎝1 - cos ⎛⎝ω1 ⋅ t⎞⎠⎞⎠ q2 ((t)) ≔ ―― ⎛⎝1 - cos ⎛⎝ω2 ⋅ t⎞⎠⎞⎠
K1 K2

u ((t)) ≔ q1 ((t)) ⋅ ϕ1 + q2 ((t)) ⋅ ϕ2

u1 ((t)) ≔ q1 ((t)) ⋅ ((0.681)) + q2 ((t)) ⋅ ((-0.882))

u2 ((t)) ≔ q1 ((t)) ⋅ ((1)) + q2 ((t)) ⋅ ((1))

t ≔ ((0 , 0.01 ‥ 1))

 0.363
0.032
0.028
0.025
0.021
0.018
0.014
u2 ((t))
0.011
0.007
0.004 u1 ((t))
0
-0.004 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

f1 f2
q1 ≔ 2 ⋅ ―― q2 ≔ 2 ⋅ ――
K1 K2

⎡ 0.02 ⎤ ⎡ -0.001 ⎤
u1max ≔ q1 ⋅ ϕ1 = ⎢ u2max ≔ q2 ⋅ ϕ2 = ⎢
⎣ 0.029 ⎥⎦ ⎣ 0.002 ⎥⎦

⎡ 0.019 ⎤
umax ≔ q1 ⋅ ϕ1 + q2 ⋅ ϕ2 = ⎢
⎣ 0.031 ⎥⎦

EI EI
Mom1 ≔ 6 ⋅ ―― ⋅ umax = 412.462 Mom2 ≔ 6 ⋅ ―― ⋅ ⎛umax - umax ⎞ = -164.946
L1 2 1
L2 2 ⎜⎝ 0 1⎟
⎠
Data:

m ≔ 1.75 ton γ ≔ 0.5 γ ≥ 0.5

kN 1 2
k ≔ 1.75 ⋅ 10 3 ―― β ≔ ―= 0.167 β ≥ 0.25 ⋅ ((0.5 + γ))
m 6
ξ ≔ 0.1

Undamped Data:

‾‾‾
k rad ω 1
ω≔ ―= 31.623 ―― f ≔ ―― = 5.033 Hz T ≔ ―= 0.199 s
m s 2⋅π f

Damped Properyies:
k ‾‾‾‾‾
c ≔ 2 ⋅ ξ ⋅ ―= 11.068 ωD ≔ ω ⋅ 1 - ξ 2 = 31.464
ω
 ωD 1
fD ≔ ―― = 5.008 Hz TD ≔ ―= 0.2 s
2⋅π fD

Forcel Data
t
t ≔ 0.3 Δt ≔ 0.01 n ≔ ―― + 1 = 31 i≔1‥n-1 t ≔ Δt ⋅ i
Δt i

Fmax ≔ 10 Tend ≔ 0.1

Fmax
F ≔ ――⋅ t ⋅ ⎛t ≤ Tend⎞ ΔF ≔ F - F
i Tend i ⎝ i ⎠ i i i-1

⎡0 ⎤ ⎡ 0⎤
⎢ 0.01 ⎥ ⎢ 1⎥
⎢ ⎥ ⎢ ⎥
⎢ 0.02 ⎥ ⎢ 2⎥
10 ⎢ 0.03 ⎥ ⎢ 3⎥
9 ⎢ 0.04 ⎥ ⎢ 4⎥
8 ⎢ 0.05 ⎥ ⎢ 5⎥
7 ⎢ ⎥ ⎢ ⎥
0.06 6
6 ⎢ ⎥ ⎢ ⎥
5 ⎢ 0.07 ⎥ ⎢ 7⎥
4 F ⎢ 0.08 ⎥ ⎢ 8⎥
3 ⎢ 0.09 ⎥ ⎢ 9⎥
2
⎢ 0.1 ⎥ ⎢ 10 ⎥
1
t= ⎢ ⎥ F= ⎢ ⎥
0
0 0.030.060.090.120.150.180.210.240.27 0.3 ⎢ 0.11 ⎥ ⎢ 0⎥
⎢ 0.12 ⎥ ⎢ 0⎥
t ⎢ 0.13 ⎥ ⎢ 0⎥
⎢ 0.14 ⎥ ⎢ 0⎥
⎢ ⎥ ⎢ ⎥
⎢ 0.15 ⎥ ⎢ 0⎥
⎢ 0.16 ⎥ ⎢ 0⎥
⎢ 0.17 ⎥ ⎢ 0⎥
⎢ 0.18 ⎥ ⎢ 0⎥
⎢ ⎥ ⎢ ⎥
⎢ 0.19 ⎥ ⎢ 0⎥
⎢ 0.2 ⎥ ⎢ 0⎥
⎢⎣ ⋮ ⎥⎦ ⎢⎣ ⋮ ⎥⎦

Initial Conditions:

m c⋅γ
Keff ≔ ――― + ―― +k
β ⋅ Δt 2 β ⋅ Δt

m γ
Acoeff ≔ ――+ ―⋅ c
β ⋅ Δt β

m ⎛ γ ⎞
Bcoeff ≔ ―― + Δt ⋅ ⎜―― - 1⎟ ⋅ c
2⋅β ⎝2⋅β ⎠

u0 ≔ 0 ud0 ≔ 0
Solution Proceed:

Disp ≔ ‖ u ← u0
‖ 1
‖ ud ← ud0
‖ 1
‖ ⎛F - c ⋅ ud0 - k ⋅ u0⎞
‖ ⎡0 ⎤
⎝ 0 ⎠ ⎢0 ⎥
‖ udd ← ―――――――
‖ 1 m ⎢ -6 ⎥
‖ for i ∊ 1 ‥ n - 1 ⎢ 9.085 ⋅ 10 ⎥
‖ ‖ ⎢ 7.127 ⋅ 10 -5 ⎥
‖ ‖ ΔFeff ← ΔFi + Acoeff ⋅ udi + Bcoeff ⋅ uddi ⎢ 2.319 ⋅ 10 -4 ⎥
‖ ‖ ⎢ ⎥
‖ ‖ Δui ← ―― ΔFeff -4
⎢ 5.243 ⋅ 10 ⎥
‖ ‖ Keff ⎢ 9.67 ⋅ 10 -4 ⎥
‖ ‖ ⎢ 0.002 ⎥
‖ ‖ ⎢ ⎥
‖ ‖ γ γ ⎛ γ ⎞ Disp = ⎢ 0.002 ⎥
‖ ‖ Δudi ← ―― β ⋅ Δt
⋅ Δui - ―⋅ ud + Δt ⋅ ⎜1 - ――
β i 2⋅β⎠
⎟ ⋅ uddi ⎢ 0.003 ⎥
‖ ‖ ⎝
1 1 1 ⎢ 0.004 ⎥
‖ ‖ Δuddi ← ――― ⋅ Δui - ―― ⋅ ud - ―― ⋅ udd ⎢ 0.005 ⎥
‖ ‖ β ⋅ Δt 2 β ⋅ Δt i 2⋅β i
⎢ ⎥
‖ ‖ ⎢ 0.006 ⎥
‖ ‖ ⎢ 0.006 ⎥
‖ ‖ ui + 1 ← ui + Δui ⎢ 0.006 ⎥
‖ ‖ ⎢ 0.005 ⎥
‖ ‖ ud ← ud + Δudi
‖ ‖ i+1 i ⎢ ⎥
0.004
‖ ‖ udd ← udd + Δuddi ⎢ ⎥
i+1 i ⎣⋮ ⎦
‖ ‖
‖ return u
‖
‖

0.007

0.006

0.005

0.004

0.003

0.002

0.001

0
Disp
0 0.03 0.06 0.09 0.12 0.15 0.18 0.21 0.24 0.27 0.3
-0.001

-0.002

-0.003

-0.004

-0.005