DYNAMI C OF STRUCTURES

CHAPTER 8
SYSTEMS WI TH DI STRI BUTED MASS
AND ELASTI CI TY
Department of civil engineering, University of North Sumatera
Ir. DANIEL RUMBI TERUNA, MT;IP-U
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
The discretized systems, typically with lump masses has two
advantages:
Such systems can effectively idealize many classes of structures,
especially multistory building
Effective methods that are ideal for computer implementation
The lump masses idealization, although applicable, is not a natural
approach for certain structures, such as long span-bridges, chimney, or
dam structures because the motions are represented by a limited number
of displacement coordinates
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
BEAM FLEXURE: ELEMENTARY CASE
dx
) (x EI
) , ( t x p
x
L
, ) (x m
(a)
(b)
x
u
) , ( t x u
dx t x p ) , (
dx t x f
I
) , (
) , ( t x V
( )
dx
x
t x V
t x V

+
,
) , (
( )
dx
x
t x M
t x M

+
,
) , (
) , ( t x M
(c)
Figure 1 System with distributed mass and elasticity: (a) beam and applied
force, (b) displacement, (c) resultant forces on element
A
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
Summing all forces acting vertically lead to
( ) ( ) ( )
( )
( ) ) 1 ( ,
,
, , , dx t x f dx
x
t x V
t x V dx t x p t x V
I

_
_
_
_
_
_

+ +
Substituting Eq.(2) into Eq.(1) and dividing the resulting equation by yield
( ) ( )
( )
) 2 (
,
,
2
2
dx
t
t x u
x m dx t x f where
I

=
dx
( )
( ) ( )
( )
) 3 (
,
,
,
2
2
t
t x u
x m t x p
x
t x V

Summing moments about point A and if second order moment terms

involving the inertia and applied loadings is neglected, gives
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
( ) ( ) ( )
( ) ( )
( ) t x V
x
t x M
dx
x
t x M
t x M dx t x V t x M ,
,
0
,
, , , =

=
_
_
_
_
_
_

+ +
x
( )
( )
( )
( ) ) 5 ( ,
, ,
2
2
2
2
t x p
t
t x u
x m
x
t x M
=

(4)
Diffrentiating this equation with respect to and substituting the
result into Eq.(3), gives
Introducting the moment curvature relationship , gives
2
2
x
u
EI M

=
( )
( )
( )
( )
( ) ) 6 ( ,
, ,
2
2
2
2
2
2
t x p
t
t x u
x m
x
t x u
x EI
x
=

+
_
_
_
_
_
_

This is partial diffrential equation governing the motion , of the beam

subjected to external forces ( ) t x p ,
( ) t x u ,
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
BEAM FLEXURE: INCLUDING AXIAL FORCE EFFECT
(a)
Figure 2 System with distributed mass and elasticity: (a) beam and applied
force, (b) resultant forces on element
dx
) (x EI
) , ( t x p
x
L
, ) (x m
) , ( t x u
) (x q
) (L N
) 0 ( N
dx t x p ) , (
dx t x f
I
) , (
) , ( t x V
( )
dx
x
t x V
t x V

+
,
) , (
( )
dx
x
t x M
t x M

+
,
) , (
) , ( t x M
(b)
) (x N
dN x N + ) (
( )
dx
x
t x u

,
dx x q ) , (
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
( ) ( ) ( )
( )
( )
( )
) 7 ( 0
,
,
,
, , =
_
_
_
_
_
_

+ dx
x
t x M
t x M dx
x
t x u
x N dx t x V t x M
x
Moment equilibrium equation gives
( )
( )
( )
( )
( )
( )
( ) ) 9 ( ,
, , ,
2
2
2
2
2
2
t x p
t
t x u
x m
x
t x u
x N
x x
t x u
x EI
x
=

+
_
_
_
_
_
_

+
_
_
_
_
_
_

This is partial diffrential equation governing the motion , including

axial force effect of the beam
( ) t x V ,
( ) t x u ,
From which the vertical force is to be found
( ) ( )
( ) ( )
) 8 (
, ,
,
x
t x M
x
t x u
x N dx t x V

=
Diffrentiating this equation with respect to and substituting the
result into Eq.(3), gives
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
( ) ( )
( ) ( )
factor al proportion stifness is a where
t x
t x u
a
x
t x u
x EI t x M
1
2
3
1
2
2
,
, ,
,
_
_
_
_
_
_

=
( ) x c
BEAM FLEXURE : INCLUDING VISCOUS DAMPING
The external damping per unit length as represented by , and
transverse force opposing velocity can be expressed as
( ) ( )
( )
) 9 (
,
, dx
t
t x u
x c dx t x f
D

=
Eq.(9) is added to the element free body fig. 1b and moment expression in
Eq.(6) be changed to the Eq.(10). See Penzien pages.142
(10)
Finally, the diffrential equation of motion ,including viscous damping
lead to
( ) t x u ,
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
( )
( ) ( )
( )
( )
( )
( )
( ) t x p
t
t x u
x c
t
t x u
x m
t x
t x u
a
x
t x u
x EI
x
,
, , , ,
2
2
2
3
1
2
2
2
2
=

+
_
_
_
_
_
_
_
_
_
_
_
_
_
_

(10)
If axial force effect included, the partial diffential equation becomes
( )
( ) ( )
( )
( )
( )
( )
( )
( )
( ) t x p
t
t x u
x c
t
t x u
x m
x
t x u
x N
x t x
t x u
a
x
t x u
x EI
x
,
, ,
, , ,
2
2
2
3
1
2
2
2
2
=

+
_
_
_
_
_
_

+
_
_
_
_
_
_
_
_
_
_
_
_
_
_

(11)
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
BEAM FLEXURE: SUPPORT EXCITATION
Figure 3 Continous beam subjected to identical base excitation at all support
Consider a beam subjected to horizontal base motion (Fig.3). The total
displacement of the beam is
( ) ( ) ) 12 ( , ) , ( t u t x u t x u
g
t
+ =
) (x EI
) (t u
g
, ) (x m
) , ( t x u
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
( )
( )
( )
( )
( ) ( ) ) 14 (
, ,
2
2
2
2
2
2
t u x m
t
t x u
x m
x
t x u
x EI
x
g
& & =

+
_
_
_
_
_
_

( )
( )
x
t x M
t x V

=
,
,
Because of external forces do not exist, Eq.(3) becomes ( ) t x p ,
( )
( )
( )
( )
( )
( )
( )
) 13 (
, , ,
2 2
2
2
2
t
t u
x m
t
t x u
x m
t
t x u
x m
x
t x V
g
t

Since and , Eq.(13) becomes

2
2
x
u
EI M

=
By comparing Eq.(6) and Eq.(14), it is clear that the deformation response
of the beam to support acceleration will be identical to the
response of the system with stationary support due to external forces =
.The support excitation can therefore be replaced by effective forces:
( ) t x u ,
( ) ( ) t u x m
g
& &
( ) t u
g
& &
( ) ( ) ( ) ) 15 ( , t u x m t x p
g eff
& & =
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
AXIAL DEFORMATION: UNDAMPED VIBRATION
) ( x EI
( ) ( ) t u x m t x p
g eff
& & = ) , (
, ) ( x m
In this formulation, damping is neglected because it usually has little
effect on the behavior in axial deformation. Consider a straight bar for
which the axial stiffness and mass per unit length vary along
its length as indicated Fig.(5)
Figure 4 Effective forces
( ) ( ) t u x m t x p
g eff
& & = ) , (
( ) x EA
( ) x m
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
(a)
dx
) (x EA
) , ( t L N
x
L
, ) (x m
u x,
) , 0 ( t N
) , ( t x q
) , ( t x N
( )
dx
t
t x u
x m
2
2
,
. ) (

dx t x q ) , (
dx
( )
dx
x
t x N
t x N

+
,
) , (
(b)
Figure 5 Bar subjected to dynamic axial deformation: (a) bar properties
and coordinate; (b) forces acting on diffrential element
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
( ) ( ) ( )
( )
( ) ) 16 ( 0 ,
,
, , , =
_
_
_
_
_
_

+ + dx t x q dx
x
t x N
t x N dx t x f t x N
I
Summing all forces in the direction, gives
In which is the inertia force per unit length given by
( ) ( )
( )
) 17 (
,
,
2
2
t
t x u
x m t x f
I

=
Subtituting Eq.(17) and the axial force-deformation relationship (Eq.18)
x
( )dx t x f
I
,
into Eq.(16), gives the partial diffrential equation of axial motion
( ) ( ) ( ) ( ) ( )
( )
( ) ) 18 (
,
, , , x EA
x
t x u
x EA t x x A t x t x N

= = =
PARTIAL DIFFRENTIAL EQUATIONS OF MOTION
0 = x
Usually, the external axial loading only of end loads, in which case the right
hand side of this equation would be zero. Thus, Eq.(19) becomes
( )
( )
( )
( )
( ) ) 19 ( ,
, ,
2
2
2
2
t x q
x
t x u
x EA
x t
t x u
x m =
_
_
_
_
_
_

( )
( )
( )
( )
) 20 ( 0
, ,
2
2
2
2
=
_
_
_
_
_
_

x
t x u
x EA
x t
t x u
x m
L x=
However, when solving Eq.(19) the boundary conditions imposed at
and must be satisfied.
ANALYSIS OF UNDAMPED FREE VIBRATION
( ) m x m =
First, let us consider the case of the free vibaration, Eq.(6) becomes
For special case of uniform beam, and ,and
Eq.(1) becomes
( ) EI x EI =
( )
( )
( )
( )
) 1 ( 0
, ,
2
2
2
2
2
2
=

+
_
_
_
_
_
_

t
t x u
x m
x
t x u
x EI
x
The solution of this equation can be obtained by separation of variables using
( ) ( ) ( ) ( ) 3 , t q x t x u =
( ) ( )
) 2 ( 0
, ,
2
2
2
2
2
2
=

+
_
_
_
_
_
_

t
t x u
m
x
t x u
x
EI
Then
( ) ( ) ( ) ( ) ( ) 4 ;
2
2
2
2
t q x
x
u
t q x
t
u

& &
& & =

ANALYSIS OF UNDAMPED FREE VIBRATION

Subtituting Eq.(4) in Eq.(1) leads to
When divided by , becomes
( ) ( ) ( ) ( ) ( ) 5 0 = + x EI t q t q x m
iv
& &
This expression on the left is a function of only and the one on the right
depends only on .For Eq.(6) to be valid for all values of and ,the
two expression must therefore be constant, say
( )
( )
( )
( )
( ) 6
x m
x EI
t q
t q
iv

=
& &
( ) ( ) t q x m
x
t
2

t
x
Thus the partial diffrential equation (1) becomes two ordinary diffrential
equations, one governing the time function and the other governing
the function :
( ) x
( ) t q
ANALYSIS OF UNDAMPED FREE VIBRATION
( ) ( ) ( ) 7 0
2
= + t q t q & &
( ) 9
2
2
EI
m
=

The general solution of Eq.(8) is

( ) ) 10 ( cosh sinh cos sin
4 3 2 1
x C x C x C x C x + + + =
( ) x
( ) ( ) ( ) ( ) ) 8 ( 0 0
2 2
= = x x or x m x EI
iv iv

Equation (7) has the same form as the equation governing free vibration of
an SDOF system with natural frequency . There is an infinite set of
frequencies and associated modes that satisfy the eigenvalue
problem defined by Eq.(8) and the boundary condition for the beam

ANALYSIS OF UNDAMPED FREE VIBRATION

Uniform Simply Supported Beam
At and , the displacement and bending moment are zero.
Thus, at gives
0 = x
L x= 0 = x
( ) ( ) ) 1 ( 0 0 0 0 0
4 2
= + = = C C u
( ) ( ) ( ) ) 2 ( 0 0 0 0 0
4 2
2
= + = = C C EI M
& &
These two equations give and the general solution reduces to
0
4 2
= =C C
( ) ) 3 ( sinh sin
3 1
x C x C x + =
Then at L x=
( ) ( ) ) 4 ( 0 sinh sin 0 0
3 1
= + = = L C L C L L u
( ) ( ) ( ) ) 5 ( 0 sinh sin 0 0
3 1
2
= + = = L C L C L EI L M
& &
ANALYSIS OF UNDAMPED FREE VIBRATION
From these two equation gives
n

For nontrivial solution

) 6 ( 0 sinh
3
= L C
Since , so . This lead to the frequency equation 0 sinh L 0
3
= C
) 7 ( 0 sin
1
= L C
) 9 ( ,.... 3 , 2 , 1 ;
) 8 ( ,.... 3 , 2 , 1 ; 0 sin
2
2 2 2
= = =
= = =
n
m
EI
L
n
n
EI
m
n n L L
n

The natural vibration mode corresponding to is obtained by subtituting
Eq.(6) in Eq.(3) with
0
3
= C
( ) ) 10 ( sin
1
L
x n
C x
n

=
ANALYSIS OF UNDAMPED FREE VIBRATION
( ) L x x / sin ) (
1
=
m
EI
L
2
2
1

=
Figure 1 Natural vibration modes and frequencies of simply supported beam
L
EI m,
x

( ) L x x / 2 sin ) (
2
=
m
EI
L
2
2
2
4
=
( ) L x x / 3 sin ) (
3
=
m
EI
L
2
2
3
9
=
ANALYSIS OF UNDAMPED FREE VIBRATION
Uniform Cantilever Beam
At the fixed end ,the displacement and rotation are zero. Thus,
at gives
0 = x
0 = x
( ) ( ) ) 1 ( 0 0 0 0 0
2 4 4 2
C C C C u = = + = =
( ) ( ) ( ) ) 2 ( 0 0 0 0 0
1 3 3 1
C C C C u = = + = =
At the free end ,of the cantilever the bending moment and shear
are zero, we obtained
( ) ( )
( ) ( ) ) 3 ( 0 cosh cos sinh sin
0
2 1
= + + +
=
L L C L L C
L EI L M


L x=
( ) ( )
( ) ( ) ) 4 ( 0 sinh sin cosh cos
0
2 1
= + + +
=
L L C L L C
L EI L V


ANALYSIS OF UNDAMPED FREE VIBRATION
Eq.(3) and Eq.(4) in matrix form can be written as
m
EI
L m
EI
L m
EI
L m
EI
L
n for
L
n
2
4
2
3
2
2
2
1
9 . 120
,
7 . 61
,
03 . 22
,
516 . 3
: s frequencie natural four first the , Thus . 4 and , 3 , 2 , 1
996 . 10 and , 88548 . 7 , 6941 . 4 , 8751 . 1
= = = =
=
=

) 5 (
0
0
sinh sin cosh cos
cosh cos sinh sin
2
1
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
_
_
+ +
+ +
C
C
L L L L
L L L L


For nontrivial solution, the determinant of Eq.(5) must be zero. This lead to
frequency equation:
) 6 ( 0 cosh cos 1 = + L L
Eq.(6) is solved numerically to obtained
ANALYSIS OF UNDAMPED FREE VIBRATION
Corresponding to each value of , the natural vibration mode is
( ) ( ) ) 7 ( sin sinh
sin sinh
cos cosh
cos cosh
1 _
_
_
_
_
_

+
+
= x x
L L
L L
x x C x
n n
n n
n n
n n n




L
n

x
EI m,

L
1

( ) x
1

( ) x
2

( ) x
3

( ) x
4

MODAL ORTHOGONALITY
Multiplying both side by and integrating from 0 to gives
( ) ( ) j ] ( ) ( ) ) 8 (
2
x x m x x EI
r r
=

L
The partial diffrential equation for mode rewritten as r
( ) x
n

( ) ( ) ( ) j ] ( ) ( ) ( ) ) 9 (
0
2
0
dx x x x m dx x x EI x
r n
L
r r
L
n


=

The lef side this equation is integrated by parts leads to
( ) ( ) ( ) j ] ( ) ( ) ( ) j ] [ } ( ) ( ) ( ) j ] [ }
( ) ( ) ( ) ) 10 (
0
0 0
0
dx x x x EI
x x EI x x x EI x dx x x EI x
r n
L
L
r n
L
r n
L
n


+

(0)
(0)
MODAL ORTHOGONALITY
The same procedures is aplied for mode gives n
Equation (10) becomes
r n

Subtrating Eq.(11) from Eq.(12) gives
( ) ( ) ( ) ( ) ( ) ( ) ) 11 (
0
2
0
dx x x x m dx x x x EI
r n
L
r r
L
n


=
( ) ( ) ( ) ( ) ( ) ( ) ) 12 (
0
2
0
dx x x x m dx x x x EI
r n
L
n r
L
n


=
( ) ( ) ( ) ( ) ) 13 ( 0
0
2 2
=

dx x x x m
r n
L
r n

Therefore, if , gives
MODAL ORTHOGONALITY
Equation (14) and Eq.(15) are the orthogonality relations for the natural
vibration modes .
Subtituting Equation (14) in Eq.(11) lead to
( ) ( ) ( ) ) 15 ( 0
0
=

dx x x x EI
r
L
n

( ) ( ) ( ) ) 14 ( 0
0
=

dx x x x m
r n
L