TOPIC 6 Structural Dynamics III

Analysis of Elastic MDOF Systems

TOPIC 6 Structural Dynamics III

Analysis of Elastic MDOF Systems
Equations of Motion for MDOF Systems
Uncoupling of Equations through use of Natural Mode Shapes
Solution of Uncoupled Equations
Recombination of Computed Response
Modal Response Spectrum Analysis (By Example)
Use of Reduced Number of Modes

Planar Frame with 36 Degrees of Freedom

Typical Nodal DOF
uy
rz

Majority of Mass
is in Floors
9

10

11

12

13

14

15

16

ux

Motion is
Predominantly
Lateral

Planar Frame with 36 Static Degrees of Freedom

but with only THREE Dynamic DOF

u1

u2

u3

Development of Flexibility Matrix

V1=1 kip
f11

f21

f31

f 11
f

21

f 31

Development of Flexibility Matrix

f12

V2=1 kip

f22
f32

f 12
f 22
f 32

Development of Flexibility Matrix

f13

f23

V3=1 kip

f33

f 13

f 23

f 33

Concept of Linear Combination of Shapes (Flexibility)

f 11
f 12
f 13



U = f 21 V1 + f 22 V2 + f 23 V3
f
f
f
31
33
33

f 11

U = f 21

f 31

f 12
f 22
f 32

f 13 V1

f 23 V2

f 33 V3

FV = U
KU = V

K=F

Idealized Structural Property Matrices

m1

V1(t), u1(t)

k1
m2
k2
m3

V2(t), u2(t)

V3(t), u3(t)

k3

Note: Damping to be shown later

k1
K = k1

k1
k1 + k 2
k2

m1 0
M = 0 m2

0 0
V1 (t )

V ( t ) = V2 (t )
V (t )
3

k2

k 2 + k 3
0

0
0

m3

u1 (t )

U (t ) = u2 ( t )
u ( t )
3

Static Condensation

LM
K
N

K n ,n

K n ,m

m ,n

K m ,m

OPL O = L O
MQNr PQ MN 0 PQ
rn

Fn

Kn ,n rn + Kn ,mrm = Fn

Km,n rn + Km,mrm = 0

DOF with mass

Massless DOF

Static Condensation
(continued)
Rearrange
Plug into
Simplify

2
1

rm =

1
Km,m Km,n rn

Kn ,n rn

nK

n ,n

1
Kn ,m Km,m Km,n rn
1
K n ,m Km ,m Km ,n

= Fn

sr = F
n

 =F
Kr
n
n
1

K = Kn ,n Kn ,m Km ,m Km ,n
Condensed Stiffness Matrix

Coupled Equations of Motion

for Undamped Forced Vibration

MU ( t ) + KU ( t ) = V ( t )

m1

0
0

0
m2
0

DOF 1
DOF 2
DOF 3

0 u1 ( t ) k1

0 u2 ( t ) + k1


m3 u3 ( t ) 0

k1
k1 + k 2
k2

u1 ( t ) V1 ( t )

k 2 u2 ( t ) = V2 ( t )

k 2 + k 3 u3 ( t ) V3 ( t )
0

m1u1 ( t ) + k1u1 ( t ) k1u2 ( t ) = V1 ( t )

m2 u2 ( t ) k1u1 ( t ) + k1u2 ( t ) + k 2 u2 ( t ) k 2 u3 ( t ) = V2 ( t )
m3u3 ( t ) k 2 u2 ( t ) + k 2 u3 ( t ) + k 3u3 ( t ) = V3 ( t )

Solutions for System in Undamped Free Vibration

Mu( t ) + Ku ( t ) = 0
Assume u ( t ) = sin t
Then

K 2 M = 0

11

1 = 21 , 1

31
Natural Mode Shape

u( t ) = 2 sin t
has three (n) solutions:

12

2 = 22 , 2

32
Natural Frequency

13

3 = 23 , 3

33

Solutions for System in Undamped Free Vibration

K = 2 M

For a SINGLE Mode

K = M 2

For ALL Modes

Where:

= [1 2
12

2
=

3 ]
22

32

Note: Mode shape has arbitrary scale. Usually

1i = 1.0
or
T M = I

Mode Shapes for Idealized 3-Story Frame

12

11

13

23

22

21

31

32

MODE 1

33

MODE 2

MODE 3

Concept of Linear Combination of Mode Shapes

(Change of Coordinates)

U = Y

Mode Shape

11 12

U = 21 22

31 32

13 Y1

23 Y2

33 Y3

KU = V
KY = V
T
T
KY = V

11
12
13



U = 21 Y1 + 22 Y2 + 23 Y3



31
33
33
Modal Coordinate

Orthogonality Conditions

= [1 2
Generalized Mass

m1*

T
M =

m2*

*
m3

Generalized Damping

c1*

T
C =

c2*

*
c3

3 ]
Generalized Stiffness

k1*

T
K =

k 2*

k 3*

Generalized Force

V1* ( t )
*
T
V ( t ) = V2 ( t )
V * ( t )
3

Development of Uncoupled Equations of Motion

 + Cu + Ku = V ( t )
MDOF Equation of Motion: Mu
Transformation of Coordinates:

u = y

y + C y + K y = V ( t )
Substitution: M 
Premultiply by :
T

T M 
y + T C y + T K y = T V ( t )

Using Orthogonality Conditions: Uncoupled Equations of Motion are:

m1*

m2*


y1 c1*

y2 +

m3* 
y3

c2*

y1 k1*

y 2 +
c3* y 3

k 2*

y1 V1* ( t )
*
y2 = V2 ( t )
k 3* y3 V3* ( t )

Earthquake Loading for MDOF System

ug ur ,1

u (t ) + u (t )

F (t ) = M u (t ) + u (t ) =
u (t ) + u (t )

R ,1

R, 2

R,3

u (t)
1.0

M 1.0u (t) + M u (t)
1.0
u (t )

R ,1

R, 2

R,3

Move to RHS as

V ( t ) = MR u ( t )
EFF

Modal Earthquake Loading

V ( t ) = MR u ( t )
*

m1=2

u1
m2=3

u2
m3=1

u3

ug ( t )

3
M=

R = 1
1

2 + 1

M=
3

1

R = 1
0

u3
u1

m1=2
m3=1

m2=3

u2

ug ( t )

Development of Uncoupled Equations of Motion

(Explicit Form)
MODE 1

m1* 
y1 + c1* y1 + k1* y1 = V1* ( t )

MODE 2

m2* 
y 2 + c2* y 2 + k 2* y 2 = V2* ( t )

MODE 3

m 
y 3 + c y 3 + k y 3 = V ( t )
*
3

*
3

*
3

*
3

ci*
Simplify by Dividing Through by m* and defining i =
2mi* i

y1 + 21 1 y1 + 12 y1 = V1* ( t ) / m1*
MODE 1
MODE 2


y 2 + 22 2 y 2 + 22 y 2 = V2* ( t ) / m2*

MODE 3


y 3 + 23 3 y 3 + 32 y 3 = V3* ( t ) / m3*

Definition of Modal Participation Factor

Typical Modal Equation:

Vi (t )

y i + 2 i wi y i + wi yi =
*
mi
2

recall

Vi (t ) = i Mr vg (t )
*

Right hand side =

Modal Participation
Factor Pi

i Mr
T

mi

vg (t )

Concept of Effective Modal Mass

For each Mode i

M i = Pi mi
2

Development of a Modal Damping Matrix

In Previous Development, We have Assumed:

T
C =

*
1
*
2

*
c3

Two Methods Described Herein:

Rayleigh Proportional Damping
Wilson Discrete Modal Damping

Rayleigh Proportional Damping

MASS
PROPORTIONAL
DAMPER
STIFFNESS
PROPORTIONAL
DAMPER

C = M + K

Rayleigh Proportional Damping

C = M + K
For Modal Equations to Be Uncoupled:

2 nn = Cn

Assumes
T M = I

T
n

Using Orthogonality Conditions:

2 nn = +

n =

1
2 n

n
2

2
n

Rayleigh Proportional Damping (Example)

Structural Frequencies
Mode
1
2
3
4
5

4.94
14.6
25.9
39.2
52.8

Modal Damping Ratio

0.15

5% Critical in Modes 1 and 3

TYPE
MASS
STIFFNESS
TOTAL

= 0.41487
= 0.00324

0.10

0.05

0.00
0

20
40
Frequency, Radians/Sec.

60

Rayleigh Proportional Damping (Example)

5% Damping in Modes 1 & 2, 1 & 3, 1 & 4, or 1 & 5
0.15

Modes
1&2
1&3
1&4
1&5

.36892
.41487
.43871
.45174

0.00513
0.00324
0.00227
0.00173

1,2

Modal Damping Ratio

Proportionality Factors
(5% each indicated mode)

MODES
1,3
1,4
1,5

0.10

0.05

0.00
0

20

40

Fequency, Radians/sec

60

Rayleigh Proportional Damping

MASS
PROPORTIONAL
DAMPER
STIFFNESS
PROPORTIONAL
DAMPER

C = M + K

Wilson Damping
*

Directly Specify Modal Damping Values i

c1*

T
C =

*
2

2m1*11*

=
*
c3

2m
*
2

*
2 2

*
*
2m3 33

FORMATION OF EXPLICIT DAMPING MATRIX

FROM WILSON MODAL DAMPING

LM2
MM
C =
MM
MN
1

2 2 2

2 n 1 n 1

OP
PP
=c
PP
2 PQ
n

( )

T 1

c =C

n
T
C = M 2
i ii i M
i =1

Wilson Damping (Example)

5% Damping in Modes 1 and 2, 3
10% in Mode 5, Zero in Mode 4
12
10

Modal Damping Ratio

10
8
6
5

4
2
0

0
4.94

14.57

25.9

39.2

Frequency, Radians per second

52.8

Wilson Damping (Example)

5% Damping in all Modes
12

Modal Damping Ratio

10
8
6
5

4.94

14.57

25.9

39.2

52.8

4
2
0

Frequency, Radians per second

Solution of MDOF Equations of Motion

Explicit (Step by Step) Integration of Coupled Equations

Explicit Integration of FULL SET of Uncoupled Equations
Explicit Integration of PARTIAL SET of Uncoupled Equations
Modal Response Spectrum Analysis

Computed Response for Piecewise Linear Loading

Force, V(t)

Vt2

Vt1
t0

Vt 2 Vt 2
=
t2 t1

t1

t2 t3
Time,

Time, t

EXAMPLE of MDOF Response of Structure Responding to

1940 El Centro Earthquake
m1=1.0 k-s2/in

u1(t)
k1=60 k/in

m2=1.5 k-s2/in

u2(t)
k2=120 k/in

m3=2.0 k-s2/in

Assume Wilson
Damping with 5%
critical in each mode.

u3(t)
k3=180 k/in
N-S Component of 1940 El Centro
Earthquake. Maximum acceleration = 0.35 g

Example (Continued)
Form Property Matrices:
m1=1.0 k-s2/in

u1(t)
k1=60 k/in

m2=1.5 k-s2/in

u2(t)

1.0

kip s2 / in
M=
15
.

2.0

k2=120 k/in
m3=2.0 k-s2/in

u3(t)
k3=180 k/in

60
0
60
K = 60 180 120 kip / in

0
120 300

Example (Continued)

m1=1.0 k-s2/in

Solve Eigenvalue Problem:

K = M 2
u1(t)
k1=60 k/in

m2=1.5

k-s2/in

u2(t)
k2=120 k/in

m3=2.0 k-s2/in

21.0

sec 2
96.6
2 =

212.4

u3(t)
k3=180 k/in

1.000
1.000 1.000
= 0.644 0.601 2.57

0.300 0.676 2.47

Normalization of Modes using

M = I
T

0.208
0.749 0.638
1.000 1.000 1.000
= 0.478 0.384 0.534 vs 0.644 0.601 2.57

0.223 0.431 0.514

0.300 0.676 2.47

Example (Continued)
Mode Shapes and Periods of Vibration

MODE 1

MODE 2

MODE 3

=4.58 rad/sec

=9.83 rad/sec

=14.57 rad/sec

T=1.37 sec

T=0.639 sec

T=0.431 sec

Example (Continued)

m1=1.0 k-s2/in

n
u1(t)
k1=60 k/in

m2=1.5 k-s2/in

u2(t)
k2=120 k/in

m3=2.0 k-s2/in

u3(t)
k3=180 k/in

4.58

= 9.83 rad / sec

14.57

1.37

Tn = 0.639 sec
0.431

Compute Generalized Mass:

1801
kip sec 2 / in
2.455
M * = T M =

2310
.

Example (Continued)

m1=1.0 k-s2/in

Compute Generalized Loading:

u1(t)
k1=60 k/in

m2=1.5 k-s2/in

u2(t)
k2=120 k/in

m3=2.0 k-s2/in

u3(t)
k3=180 k/in

V (t ) = MRv (t )
*

2.566

*
Vn = 1.254 vg ( t )
2.080

Example (Continued)
Write Uncoupled (Modal) Equations of Motion:
m1=1.0 k-s2/in

u1(t)
k1=60 k/in

m2=1.5 k-s2/in

u2(t)


y1 + 21 1 y1 + y1 = V ( t ) / m
2
1

*
1

*
1


y 2 + 22 2 y 2 + 22 y 2 = V2* ( t ) / m2*

y 3 + 23 3 y 3 + 32 y 3 = V3* ( t ) / m3*

k2=120 k/in
m3=2.0 k-s2/in

u3(t)
k3=180 k/in


y1 + 0.458 y 1 + 21.0 y1 = 1.425vg ( t )

y 2 + 0.983 y 2 + 96.6 y 2 = 0.511vg ( t )

y 3 + 1.457 y 3 + 212 .4 y 3 = 0.090 vg ( t )

Modal Participation Factors

Mode 1
Mode 2

.
1425

1.911

0.511

0.799

Mode 3

0.090

0.435

Modal Scaling

i ,1 = 1.0

i M i = 10
.
T

Modal Participation Factors

.
R|1000
U| R|0.744U|
1425
. S0.644V = 1911
. S0.480V
|T0.300|W |T0.223|W
using

1,1 = 1

using

1 M 1 = 1
T

Effective Modal Mass

M n = Pn mn
2

mn

Mode 1 3.66

81

81

Mode 2 0.64
Mode 3 0.20

14
5

95
100%

4.50

100%

Accum%

Example (Continued)
Solving Modal Equation via NONLIN:
For MODE 1:
*
*
2


y1 + 21 1 y1 + 1 y1 = V1 ( t ) / m1

1.00 
y1 + 0.458 y 1 + 21.0 y1 = 1.425vg ( t )
M = 1.00 kip-sec2/in
C = 0.458 kip-sec/in
K1 = 21.0 kips/inch
Scale Ground Acceleration by Factor 1.425

Example (Continued)
MODAL Displacement Time Histories (From NONLIN)
6.00
3.00

T=1.37

0.00
-3.00
-6.00
0

MODE 1

10

11

12

2.00
1.00

T=0.64

0.00
-1.00
-2.00
0

MODE 2

10

11

12

0.20
0.10
0.00

T=0.43

-0.10
-0.20
0

MODE 3

Time, Seconds

10

11

Maxima

12

Example (Continued)
MODAL Response Time Histories:
5

Modal Displacement, Inches

4
3
2
1
0
-1
-2
MODE 1
MODE 2
MODE 3

-3
-4
-5
0

Time, Seconds

10

12

Example (Continued)
Compute Story Displacement Time-Histories: u ( t ) = y ( t )
u1(t)

u2(t)

u3(t)

6
4
2
0
-2
-4
-6
0

10

11

12

10

11

12

6
4
2
0
-2
-4
-6

6
4
2
0
-2
-4
-6
8

10

11

12

Time, Seconds

=0.300 x MODE 1 - 0.676 x MODE 2 + 2.47 x MODE 3

Example (Continued)
Compute Story Shear Time-Histories:
u1(t)

u2(t)
k2=120 k/in

u3(t)

400
200
0
-200
-400
0

10

11

12

10

11

12

10

11

12

400
200
0
-200
-400

400
200
0
-200
-400
Time, Seconds

=k2[u2(t)-u3(t)]

Example (Continued)
Displacements and Forces at time of Maximum Displacement
t = 6.04 seconds
0

134.8 k
5.11
134.8
62.1 k

1348

2.86
196.9
1.22

23.5 k

3317
220.4

Story Shear (k)

5521

Story OTM (ft-k)

Example (Continued)
Displacements and Forces at time of Maximum Shear
t = 3.18 seconds
38.2 k

3.91
38.2
124.7 k

382

3.28
182.7 k

162.9
2111

1.92
345.6

Story Shear (k)

5567

Story OTM (ft-k)

Example (Response Spectrum Method)

Displacement Response Spectrum
1940 El Centro, 0.35g, 5% Damping

Spectral Displacement, Inches

7.00
6.00
5.00
4.00

3.47

3.00

3.04
2.00

1.20
1.00
0.00
0.00

0.20

0.40

0.60

0.80

1.00

1.20

1.40

1.60

1.80

Period, Seconds

MODE 3
T=0.431 Sec.

MODE 2
T=0.639 Sec.

MODE 1
T=1.37 Sec.

2.00

Example (Continued)
Spectral Displacement, Inches

7.00
6.00
5.00
4.00

3.47

3.00

3.04
2.00

1.20
1.00
0.00
0.00

0.20

0.40

0.60

0.80

1.00

1.20

1.40

1.60

1.80

2.00

Period, Seconds


y1 + 0.458 y 1 + 21.0 y1 = 1.425vg ( t )

Modal Maxima
y1 = 1.425 * 3.47 = 4 .94 "


y 2 + 0.983 y 2 + 96.6 y 2 = 0.511vg ( t )

y 2 = 0 .5 1 1 * 3.0 4 = 1.5 5"


y 3 + 1.457 y 3 + 212 .4 y 3 = 0.090 vg ( t )

y 3 = 0 .0 9 0 * 1.2 0 = 0 .1 0 8 "

Modal Equations of Motion

Example (Continued)

Spectral Displacement, Inches

7.00
6.00

The Scaled Response

Spectrum gives the Same
Results as the Previous
Time-Histories

5.00

3.47x 1.425

4.00
3.00

3.04 x 0.511
2.00

1.20 x 0.090
1.00
0.00
0.00

0.20

0.40

0.60

0.80

1.00

1.20

1.40

1.60

1.80

2.00

Period, Seconds
6.00
3.00

MODE 1
T=1.37

0.00
-3.00
-6.00
0

10

11

12

10

11

12

10

11

12

2.00
1.00

MODE 2
T=0.64

0.00
-1.00
-2.00

0.20

MODE 3
T=0.43

0.10
0.00
-0.10
-0.20
Time, Seconds

Example (Continued)
Computing Story Displacements
.
1000

4.940
MODE 1

.
0.644 4.940 = 3181
0.300
1482

MODE 2

.
1550

1.000

.
= 0.931
0.601 1550
0.676
1.048

MODE 3

1.000
0.108

2.570 0.108 = 0.278

0.267
2.470

Example (Continued)
Modal Combination Techniques (For Displacement)
Sum of Absolute Values
+ 0108
.
. 6.60
4.940 + 1550

.
. + 0.931 + 1048
.
3181
= 516
1482
2.80
+
+
.
.
.
1048
0
267

Square Root of the Sum of the Squares

4.9402 + 1550
. 2 + 0108
. 2 518
.

2
2
2
.
+ 0.931 + 1048
.
= 3.48
3181
1482
. 2 + 1048
. 2 + 0.267 2 184
.

Exact

.
511

2.86
122

At time of Max. Displacement

Example (Continued)
Computing Interstory Drifts
MODE 1

. 1.759
4.940 3181

. 1.482 = 1.699
3181
1.482 0 1.482

MODE 2

.
( 0.931) 2.481
1550

0.931 ( 1.048) = 0.117

1.048
1
.
048
0

MODE 3

0.108 ( 0.278) 0.386

0.278 0.267 = 0.545

0.267 0 0.267

Example (Continued)
Computing Interstory Shears
MODE 1

1.759( 60) 105.5

1.699(120) = 203.9
1.482(180) 266.8

MODE 2

2.481( 60) 148.9

0.117 (120) = 14.0

1.048(180) 188.6

MODE 3

0.386( 60) 23.2

0.545(120) = 65.4
0.267 (180) 48.1

Example (Continued)
Computing Interstory Shears: SRSS Combination
1062 + 149 2 + 23.2 2 220

2
2
2
204 + 14 + 65.4 = 215
267 2 + 189 2 + 481
. 2 331

Exact

Exact

Exact

38.2

163
346

135

197
220

207

203
346

At time of Max. Displacement

Envelope = Maximum
per Story

At time of Max. Shear

Using Less than Full (Possible) Number of Natural Modes

MODAL Response Time Histories:
5

Modal Displacement, Inches

4
3
2
1
0
-1
-2
MODE 1
MODE 2
MODE 3

-3
-4
-5
0

Time, Seconds

10

12

Using Less than Full Number of Natural Modes

Time-History for MODE 1
y1 ( t1)
y ( t ) = y2 ( t1)

y3 ( t 1)

y1 ( t 2 )
y2 ( t 2 )
y3 ( t 2 )

Transformation:

y1 ( t 3)
y2 ( t 3)
y3 ( t 3)

y1 ( t 4 )
y2 ( t 4 )
y3 ( t 4 )

y1 ( t 5)
y2 ( t 5)
y3 ( t 5)

u ( t ) = [1

3 x nt

3x3

y1 ( t 6)
y 2 ( t 6)
y 3 ( t 6)

y1 ( t 7 )
y2 ( t 7 )
y3 ( t 7 )

y1 ( t 8) ....
y2 ( t 8) ....
y3 ( t 8) ....

y1 ( tn )
y2 ( tn )

y3 ( tn )

3 ] y ( t )
3 x nt

3 x nt

Time-History for DOF 1

u1 ( t 1)
u ( t ) = u2 ( t 1)

u3 ( t 1)

u1 ( t 2 )
u2 ( t 2 )

u1 ( t 3)
u2 ( t 3)

u1 ( t 4 )
u2 ( t 4 )

u1 ( t 5)
u2 ( t 5)

u1 ( t 6)
u2 ( t 6)

u1 ( t 7 )
u2 ( t 7 )

u3 ( t 2 )

u3 ( t 3)

u3 ( t 4 )

u3 ( t 5)

u3 ( t 6 )

u3 ( t 7 )

u1 ( t 8) .... u1 ( tn )
u2 ( t 8) .... u2 ( tn )

u3 ( t 8) .... u3 ( tn )

Using Less than Full (Possible) Number of Natural Modes

Time-History for MODE 1
y1 ( t 1)
y (t ) =
y 2 ( t 1)

y1 ( t 2 )

y1 ( t 3)

y1 ( t 4 )

y1 ( t 5)

y1 ( t 6)

y1 ( t 7 )

y1 ( t 8)

y2 ( t 2 )

y 2 ( t 3)

y2 ( t 4 )

y2 ( t 5)

y 2 ( t 6)

y2 ( t 7 )

y2 ( t 8) ....

....

y1 ( tn )
y 2 ( tn )

Mode 3 NOT Analyzed

u ( t ) = 1 2 y ( t )

Transformation:

3x2

3 x nt

2 x nt
3 x nt

Time-History for DOF 1

u1 ( t 1)
u ( t ) = u2 ( t 1)

u3 ( t 1)

u1 ( t 2 )
u2 ( t 2 )

u1 ( t 3)
u2 ( t 3)

u1 ( t 4 )
u2 ( t 4 )

u1 ( t 5)
u2 ( t 5)

u1 ( t 6)
u2 ( t 6)

u1 ( t 7 )
u2 ( t 7 )

u3 ( t 2 )

u3 ( t 3)

u3 ( t 4 )

u3 ( t 5)

u3 ( t 6 )

u3 ( t 7 )

u1 ( t 8) .... u1 ( tn )
u2 ( t 8) .... u2 ( tn )

u3 ( t 8) .... u3 ( tn )

Using Less than Full (Possible) Number of Natural Modes

(Modal Response Spectrum Technique)
Sum of Absolute Values
.
+ 0108
.
4.940 + 1550
6.60

. + 0.931 + ( 0.278) = 383

.
3181

.
.
+ 1048
+ 0.267 2.80
1482

6.49

4.112

2.53

Exact

.
511

2.86
122

Square Root of the Sum of the Squares

4.9402 + 1550
. 2 + 0108
. 2 518
. 518
.

2
2
2
3181
.
+ 0.931 + ( 0.278) = 3.33 3.31
At time of Max. Displacement

1482
. 2 + 1048
. 2 + 0.267 2 184
. 182
.

3 modes 2 modes

NEHRP Provisions allow an Approximate

Modal Analysis Technique Called the
EQUIVALENT LATERAL FORCE PROCEDURE
Empirical Period of Vibration
Smoothed Response Spectrum
Compute Total Base Shear V as if SDOF
Distribute V Along Height assuming Regular
Geometry
Compute Displacements and Member Forces
using Standard Procedures