Structural Dynamics
Introduction
To discuss the dynamics of a single-degree-of freedom springmass system.
To derive the finite element equations for the time-dependent
stress analysis of the one-dimensional bar, including
derivation of the lumped and consistent mass matrices.
To introduce procedures for numerical integration in time,
including the central difference method, Newmark's method,
and Wilson's method.
To describe how to determine the natural frequencies of bars
by the finite element method.
To illustrate the finite element solution of a time-dependent bar
problem.
Structural Dynamics
Introduction
To develop the beam element lumped and consistent mass
matrices.
To illustrate the determination of natural frequencies for beams
by the finite element method.
To develop the mass matrices for truss, plane frame, plane
stress, plane strain, axisymmetric, and solid elements.
To report some results of structural dynamics problems solved
using a computer program, including a fixed-fixed beam for
natural frequencies, a bar, a fixed-fixed beam, a rigid frame,
and a gantry crane-all subjected to time-dependent forcing
functions.
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Structural Dynamics
Introduction
This chapter provides an elementary introduction to timedependent problems.
We will introduce the basic concepts using the single-degree-offreedom spring-mass system.
We will include discussion of the stress analysis of the onedimensional bar, beam, truss, and plane frame.
Structural Dynamics
Introduction
We will provide the basic equations necessary for structural
dynamic analysis and develop both the lumped- and the
consistent-mass matrices involved in the analyses of a bar,
beam, truss, and plane frame.
We will describe the assembly of the global mass matrix for
truss and plane frame analysis and then present numerical
integration methods for handling the time derivative.
We will provide longhand solutions for the determination of the
natural frequencies for bars and beams, and then illustrate the
time-step integration process involved with the stress analysis
of a bar subjected to a time dependent forcing function.
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Structural Dynamics
Dynamics of a Spring-Mass System
In this section, we will discuss the motion of a single-degree-offreedom spring-mass system as an introduction to the
dynamic behavior of bars, trusses, and frames.
Consider the single-degree-of-freedom spring-mass system
subjected to a time-dependent force F(t) as shown in the
figure below.
The term k is the stiffness of the spring and m is the mass of the
system.
Structural Dynamics
Dynamics of a Spring-Mass System
The free-body diagram of the mass is shown below.
The spring force T = kx and the applied force F(t) act on the
mass, and the mass-times-acceleration term is shown
separately.
Applying Newtons second law of motion, f = ma, to the mass,
we obtain the equation of motion in the x direction:
F (t ) kx mx
where a dot ( ) over a variable indicates differentiation with
respect to time.
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Structural Dynamics
Dynamics of a Spring-Mass System
The standard form of the equation is: mx kx F (t )
The above equation is a second-order linear differential
equation whose solution for the displacement consists of a
homogeneous solution and a particular solution.
The homogeneous solution is the solution obtained when the
right-hand-side is set equal to zero.
A number of useful concepts regarding vibrations are available
when considering the free vibration of a mass; that is when
F(t) = 0.
Structural Dynamics
Dynamics of a Spring-Mass System
k
2
Lets define the following term:
m
The equation of motion becomes: x 2 x 0
where is called the natural circular frequency of the free
vibration of the mass (radians per second).
Note that the natural frequency depends on the spring stiffness
k and the mass m of the body.
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Structural Dynamics
Dynamics of a Spring-Mass System
The motion described by the homogeneous equation of motion
is called simple harmonic motion. A typical displacement time curve is shown below.
Structural Dynamics
Dynamics of a Spring-Mass System
The time interval required for the mass to complete one full
cycle of motion is called the period of the vibration (in
seconds) and is defined as:
2
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Structural Dynamics
Dynamics of a Spring-Mass System
Structural Dynamics
Dynamics of a Spring-Mass System
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Structural Dynamics
Dynamics of a Spring-Mass System
Structural Dynamics
Dynamics of a Spring-Mass System
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Structural Dynamics
Dynamics of a Spring-Mass System
Structural Dynamics
Dynamics of a Spring-Mass System
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Structural Dynamics
Direct Derivation of the Bar Element
Lets derive the finite element equations for a time-dependent
(dynamic) stress analysis of a one-dimensional bar.
Step 1 - Select Element Type
We will consider the linear bar element shown below.
Structural Dynamics
Direct Derivation of the Bar Element
Step 2 - Select a Displacement Function
A linear displacement function is assumed in the x direction.
u a1 a2 x
The number of coefficients in the displacement function, ai, is
equal to the total number of degrees of freedom associated
with the element.
We can express the displacement function in terms of the shape
functions:
u
u N1 N2 1
u2
N1 1
x
L
N2
x
L
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Structural Dynamics
Direct Derivation of the Bar Element
Step 3 - Define the Strain/Displacement and Stress/Strain
Relationships
The stress-displacement relationship is:
du
[B ] d
dx
1
where: [B ]
L
1
L
u1
u2
x [D] x [D][B ]d
Structural Dynamics
Direct Derivation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
The bar element is typically not in equilibrium under a timedependent force; hence, f1x f2x.
We must apply Newtons second law of motion, f = ma, to each
node.
Write the law of motion as the external force fxe minus the
internal force equal to the nodal mass times acceleration.
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Structural Dynamics
Direct Derivation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
Therefore:
f1x e f1x m1
where:
m1
2u1
t 2
AL
2
f2 x e f2 x m2
2u2
t 2
AL
m2
f1x e f1x m1
e
f2 x f2 x 0
2u1
0 t 2
m2 2u2
t 2
Structural Dynamics
Direct Derivation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
If we replace {f} with [k]{d} we get:
f (t ) k d m d
e
1 1
1 1
AL 1 0
2 0 1
2 d
d
t 2
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Structural Dynamics
Direct Derivation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
Lets derive the consistent-mass matrix for a bar element.
The typical method for deriving the consistent-mass matrix is
the principle of virtual work; however, an even simpler
approach is to use DAlemberts principle.
The effective body force is:
X u
e
The nodal forces associated with {Xe} are found by using the
following:
fb [N ]T { X } dV
V
Structural Dynamics
Direct Derivation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
Substituting {Xe} for {X} gives:
fb [N ]T u dV
V
u [N ]d
u [N ]d
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Structural Dynamics
Direct Derivation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
Therefore:
fb N N d dV m d
T
where:
m N N dV
T
Structural Dynamics
Direct Derivation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
Substituting the shape functions in the above mass matrix
equations give:
x
1 L x x
m x 1 L L dV
L
x
1 L x
m A x 1 L
0
L
L
x
dx
L
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Structural Dynamics
Direct Derivation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
Substituting the shape functions in the above mass matrix
equations give:
2
x
x x
1
1
L
L
L L
dx
m A
2
x
x
x
0
1
L
L L
Evaluating the above integral gives:
AL 2 1
6 1 2
Structural Dynamics
Direct Derivation of the Bar Element
Step 5 - Assemble the Element Equations and Introduce
Boundary Conditions
The global stiffness matrix and the global force vector are
assembled using the nodal force equilibrium equations, and
force/deformation and compatibility equations.
F (t ) K {d } M d
where
N
K k (e )
e 1
M m( e )
e 1
F f ( e )
N
e 1
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Structural Dynamics
Numerical Integration in Time
We now introduce procedures for the discretization of the
equations of motion with respect to time.
These procedures will allow the nodal displacements to be
determined at different time increments for a given dynamic
system.
The general method used is called direct integration. There
are two classifications of direct integration: explicit and implicit.
We will formulate the equations for two direct integration
methods.
Structural Dynamics
Numerical Integration in Time
The first, and simplest, is an explicit method known as the
central difference method.
The second more complicated but more versatile than the
central difference method, is an implicit method known as the
Newmark-Beta (or Newmarks) method.
The versatility of Newmarks method is evidenced by its
adaptation in many commercially available computer
programs.
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Structural Dynamics
Central Difference Method
The central difference method is based on finite difference
expressions for the derivatives in the equation of motion.
For example, consider the velocity and the acceleration
at time t:
d i 1 d i 1
2( t )
di
d d
i 1
i 1
2( t )
where the subscripts indicate the time step for a given time
increment of t.
Structural Dynamics
Central Difference Method
The acceleration can be expressed in terms of the
displacements (using a Taylor series expansion) as:
d i 1 2 d i d i 1
( t )2
di 1 2di di 1 di ( t )2
The acceleration can be expressed as:
d M F K d
1
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Structural Dynamics
Central Difference Method
To develop an expression of di+1, first multiply the nodal
displacement equation by M and substitute the above equation
for di into this equation.
2
Mdi 1 2 Mdi Mdi 1 Fi K di t
Structural Dynamics
Central Difference Method
Using the central difference equations for the velocity and
acceleration:
d i 1 d i 1
2( t )
di 1 2( t )di di 1
di 1 2di di 1 di ( t )2
Solving for {di-1} gives:
( t )2
d
d
(
t
)
d
d
i 1 i
i
i
2
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Structural Dynamics
Central Difference Method
Procedure for solution:
1. Given:
d0 , d0 , and Fi (t )
d M F K d
1
( t )2
d
d
(
t
)
d
d
1 0
0
0
2
Structural Dynamics
Central Difference Method
Procedure for solution:
4. Solve for {d1} at t = t using the value of {d-1} from Step 3
2
2
Mdi 1 t Fi 2 M t K di Mdi 1
d1 M t F0 2 M t K d0 Md 1
1
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Structural Dynamics
Central Difference Method
Procedure for solution:
5. With {d0} given and {d1} determined in Step 4 solve for {d2}
d 2 M t F1 2 M t K d1 Md0
1
d M F K d
6. Solve for d1 :
7. Solve for d1 :
d 2 d0
2( t )
Structural Dynamics
Central Difference Method
Procedure for solution:
CIVL 7/8117
Structural Dynamics
Central Difference Method Example Problem
Determine the displacement, acceleration, and velocity at 0.05
second time intervals for up to 0.2 seconds for the onedimensional spring-mass system shown in the figure below.
Structural Dynamics
Central Difference Method Example Problem
Procedure for solution:
1. At time t = 0:
d0 0
d 0
0
d M F K d
1
100(0)
62.83 in
d 2,00031.83
s
0
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Structural Dynamics
Central Difference Method Example Problem
Procedure for solution:
3. Solve for {d-1} at t = -t
( t )2
d 1 d0 ( t ) d0 d0
2
(0.05)2
(62.83) 0.0785 in
2
4. Solve for {d1} at t = 0.05 s using the value of {d-1} from Step 3
1
2
2
d1 M t F0 2 M t K d0 Md 1
d 1 0 (0.05)0
d1
1
2
2
0.05 2,000 2 31.83 0.05 100 0 31.83 0.0785
31.82
0.0785 in
Structural Dynamics
Central Difference Method Example Problem
Procedure for solution:
5. With {d0} given and {d1} determined in Step 4 solve for {d2}
d 2 M t F1 2 M t K d1 Md0
1
d 2
1
2
2
0.05 1,500 2 31.83 0.05 100 0.0785 31.83 0
31.82
0.274 in
6. Solve for d1 :
d M F K d
1
1
1,500 100 0.0785 46.88 in
d 31.83
s
1
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Structural Dynamics
Central Difference Method Example Problem
Procedure for solution:
d 2 d 0
7. Solve for d1 :
2( t )
0
2.74 in
d 0.274
s
2 0.05
1
Structural Dynamics
Central Difference Method Example Problem
Procedure for solution:
5. With {d1} given and {d2} determined in Step 4 solve for {d3}
d3 M t F2 2 M t K d2 Md1
1
d3
1
2
2
0.05 1,000 2 31.83 0.05 100 0.274 31.83 0.0785
31.82
0.546 in
6. Solve for d2 :
d M F K d
1
1
1,000 100 0.274 30.56 in
d 31.83
s
2
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Structural Dynamics
Central Difference Method Example Problem
Procedure for solution:
7. Solve for d2 :
d3 d1
2( t )
0.0785
4.68 in
d 0.546
s
2 0.05
2
Structural Dynamics
Central Difference Method Example Problem
The following table summarizes the results for the remaining
time steps as compared with the exact solution.
di (in/s2) di (in/s)
t (s)
F(t) (lb)
0.00
2,000
62.8338
0.0000
0.0000
0.0000
0.05
1,500
46.8786
2.7428
0.0785
0.0718
0.10
1,000
30.5552
4.6787
0.2743
0.2603
0.15
500
13.9918
5.7923
0.5464
0.5252
0.20
-2.6815
6.0751
0.8535
0.8250
0.25
-3.6252
5.9174
1.1539
1.132
di (in)
di (exact)
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Structural Dynamics
Central Difference Method Example Problem
Plotting the motion for about 4 s gives:
70.000
Velocity
60.000
Acceleration
Position
50.000
40.000
30.000
20.000
10.000
0.000
0
0.5
1.5
2.5
3.5
-10.000
-20.000
Structural Dynamics
Newmarks Method
Newmarks equations are given as:
d d (t ) (1 )d d
i 1
i 1
d i 1 d i ( t )di ( t )2 21 di di 1
where and are parameters.
The parameter is typically between 0 and , and is often
taken to be .
For example, if = 0 and = the above equation reduce to
the central difference method.
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Structural Dynamics
Newmarks Method
To find {di+1} first multiply the above equation by the mass matrix
[M] and substitute the result into this the expression for
acceleration. Recall the acceleration is:
1
d M F K d
M (t ) K d ( t ) F Md
2
i 1
i 1
( t ) M di ( t )2 M 21 di
Structural Dynamics
Newmarks Method
Dividing the above equation by (t)2 gives: K'd i 1 F'i 1
where:
1
K ' K ( t )2 M
F 'i 1 Fi 1
d ( t )di 21 ( t )2 di
( t )2 i
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Structural Dynamics
Newmarks Method
Procedure for solution:
Structural Dynamics
Newmarks Method
Procedure for solution:
1. Given: d 0 , d0 , and Fi (t )
d M F K d
1
K'd1 F'1
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Structural Dynamics
Newmarks Method
Procedure for solution:
d (1t ) d d (t )d (t )
1
2
d0
d d (t ) (1 )d d
5. Solve for d1
1
Structural Dynamics
Newmarks Method Example Problem
CIVL 7/8117
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Structural Dynamics
Newmarks Method Example Problem
Procedure for solution:
1. Given: d , d , and F (t )
d M F K d
1
1
100 70(0) 56.5 in / s 2
1.77
Structural Dynamics
Newmarks Method Example Problem
Procedure for solution:
K ' K (t )2 M
F '1 F1
80
d1
70
K'd1 F'1
1
6
1
(1.77) 1,132 lb / in
(0.1)2
d ( t ) d0 21 ( t )2 d0
( t )2 0
1
6
1.77
0 (0.1)0 21 61 (0.1)2 56.5 280 lb
2
(0.1)
F '1 280 lb
K ' 1,132 lb in
0.248 in
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Structural Dynamics
Newmarks Method Example Problem
Procedure for solution:
4. Solve for d1 at t = 0.1 s
d (1t )
1
1
6
d1 d0 ( t ) d0 ( t )2 21 d0
1
0.248 0 (0.1)0 (0.1)2 21 61 56.5 35.4 in s2
2
(0.1)
d d (t ) (1 )d d
5. Solve for d1
1
Structural Dynamics
Newmarks Method Example Problem
Procedure for solution:
6. Repeat Steps 3, 4, and 5 to obtain the displacement,
acceleration, and velocity for the next time step.
Repeating Steps 3, Solve for {d1} at t = 0.2 s
F '2 F2
60
d2
d1 ( t ) d1 21 ( t )2 d1
( t )
2
1.77
0.248 (0.1)4.59 21 61 (0.1)2 35.4 934 lb
2
1
6 (0.1)
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Structural Dynamics
Newmarks Method Example Problem
Procedure for solution:
Repeating Step 4: solve for d1 at t = 0.2 s
d (1t )
2
1
6
d 2 d1 ( t ) d1 ( t )2 21 d1
1
0.825 0.248 (0.1)4.59 (0.1)2 21 61 35.4
(0.1)2
1.27 in s2
Structural Dynamics
Newmarks Method Example Problem
Procedure for solution:
d d (t ) (1 )d d
5. Solve for d2
2
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Structural Dynamics
Newmarks Method Example Problem
Procedure for solution:
The following table summarizes the results for the time steps
through t = 0.5 seconds.
t (s)
F(t) lb
(in/s2)
(in/s)
di (in)
0.0
100
56.4972
0.0000
0.0000
0.1
80
35.4155
4.5956
0.2473
0.2
60
1.1939
6.4261
0.8270
0.3
48.5714
-28.9276
5.0394
1.4253
0.4
45.7143
-43.7731
1.4044
1.7599
0.5
42.8571
-42.3776
-2.9031
1.6838
Structural Dynamics
Newmarks Method Example Problem
Procedure for solution:
Plotting the motion for about 4 s gives:
80.000
Velocity
Acceleration
Position
60.000
40.000
20.000
0.000
0
-20.000
-40.000
-60.000
0.5
1.5
2.5
3.5
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Structural Dynamics
Natural Frequencies of a One-Dimensional Bar
Before solving the structural stress dynamic analysis problem,
lets consider how to determine the natural frequencies of
continuous elements.
Natural frequencies are necessary in vibration analysis and
important when choosing a proper time step for a structural
dynamics analysis.
Natural frequencies are obtained by solving the following
equation:
M d K d 0
Structural Dynamics
Natural Frequencies of a One-Dimensional Bar
The standard solution for {d} is given as: d (t ) d ' eit
where {d } is the part of the nodal displacement matrix called
natural modes that is assumed to independent of time, i is the
standard imaginary number, and is a natural frequency.
Differentiating the above equation twice with respect to time
gives:
d d ' 2 e it
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Structural Dynamics
Natural Frequencies of a One-Dimensional Bar
K M 0
2
K 2 M 0
Structural Dynamics
One-Dimensional Bar - Example Problem
Determine the first two natural frequencies for the bar shown in
the figure below.
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Structural Dynamics
One-Dimensional Bar - Example Problem
Lets discretize the bar into two elements each of length L as
shown below.
Structural Dynamics
One-Dimensional Bar - Example Problem
Lets discretize the bar into two elements each of length L as
shown below.
However, when performing a long hand solution, the consistentmass matrix is more difficult and tedious to compute;
therefore, we will use the lumped-mass matrix in this example.
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Structural Dynamics
One-Dimensional Bar - Example Problem
Lets discretize the bar into two elements each of length L as
shown below.
AE 1 1
k(1)
L 1 1
AE 1 1
k(2)
L 1 1
1 1 0
AE
K L 1 2 1
0 1 1
Structural Dynamics
One-Dimensional Bar - Example Problem
Lets discretize the bar into two elements each of length L as
shown below.
m(1)
AL 1 0
2 0 1
m(2)
AL 1 0
2 0 1
1 0 0
0 2 0
2
0 0 1
AL
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Structural Dynamics
One-Dimensional Bar - Example Problem
Substituting the above stiffness and lumped-mass matrices into
the natural frequency equation:
K 2 M d ' 0
2 0 1 d '3 0
L 1 1
Set the determinant of the coefficient matrix equal to zero as:
AE
L
2 1
AL 2 0
1 1 2 0 1 0
where = 2
Structural Dynamics
One-Dimensional Bar - Example Problem
Dividing the above equation by AL and letting E
2
2 2
2
2
L2
gives:
2 2
1 0.5858
2 3.4142
CIVL 7/8117
Structural Dynamics
One-Dimensional Bar - Example Problem
Therefore, for bar elements, the lumped-mass approach can
yield results as good as, or even better than, the results from
the consistent-mass approach.
However, the consistent-mass approach can be mathematically
proven to yield an upper bound on the frequencies, whereas
the lumped-mass approach has no mathematical proof of
boundedness.
The first and second natural frequencies are given as:
1 1 0.7654
2 2 1.8478
Structural Dynamics
One-Dimensional Bar - Example Problem
The term may be computed as:
E
30 106 psi
2
4.12 106 s-2
lb.s2
2
L (0.00073 4 )(100in.)
in.
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Structural Dynamics
One-Dimensional Bar - Example Problem
In general, an n-degree-of-freedom discrete system has n
natural modes and frequencies.
A continuous system actually has an infinite number of natural
modes and frequencies.
The lowest modes and frequencies are approximated most
often; the higher frequencies are damped out more rapidly and
are usually less important.
Structural Dynamics
One-Dimensional Bar - Example Problem
Substituting 1 into the following equation
AE
L
Gives:
0 d '2 0
2 1
2 AL 2
1 1 2 0 1 d ' 0
3
1.4142 d '2(1) d '3(1) 0
CIVL 7/8117
Structural Dynamics
One-Dimensional Bar - Example Problem
(2)
Similarly, if we substitute 2 and let d '3 1 the solution of the
above equations gives d '(2)
0.7
2
Structural Dynamics
One-Dimensional Bar - Example Problem
(2)
Similarly, if we substitute 2 and let d '3 1 the solution of the
(2)
above equations gives d '2 0.7
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Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
AE 1 1
k(1)
L 1 1
AE 1 1
k(2)
L 1 1
1 1 0
AE
K L 1 2 1
0 1 1
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Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
m(1)
AL 1 0
2 0 1
m(2)
AL 1 0
2 0 1
1 0 0
0 2 0
2
0 0 1
AL
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
Substitute the global stiffness and mass matrices into the global
dynamic equations gives:
1 1 0 u1
1 0 0 u1 R1
AE
AL
0 2 0 u 0
1 2 1 u2
2
L
2
0 1 1 u3
0 0 1 u3 F3 (t )
where R1 denotes the unknown reaction at node 1.
CIVL 7/8117
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
max
3 2
4 max
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
Ex
3
4 max 3.76 10
t
L
100in.
6
cx
30 10 psi
0.00073
0.48 10 3 s
lb. s2
in.4
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Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
d0 0
1. At time t = 0:
d 0
0
d M F K d
1
u
2 12 0 0 AE 2 1 0
d0 2
u3 t 0 AL 0 1 1,000 L 1 1 0
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
d u
0
t 0
2000 0 0 in
2
AL 1 27,400 s
d 1 d0 ( t )d0 d0
( t )2
2
u2
0
(0.25 10 3 )2 0
3 0
(0.25
10
)
2
0
27,400
u3 1 0
0
in
3
0.856 10
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CIVL 7/8117
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
d1 M t F0 2 M t K d0 Md 1
1
u2
2 12 0
3
0 1 0.25 10
u
0.073
3 1
0.25 103
0 2(0.073) 2 0
2
1,000
0 1
30 10 1
2
0
1 0 0.073 2 0
3
1 0
2 0 1 0.856 10
0
0
u2
2 12 0
0 1 0.0625 10 3 0.0312 10 3
u
0.073
3 1
0
u2
in
3
u
0.858
10
3 1
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
d2 M t F1 2 M t K d1 Md0
1
u2
2 12 0
3
0.25 10
u3 2 0.073 0 1
0.25 103
0 2(0.073) 2 0
2
1000
0 1
30 10 1
2
0
1
0.073 2 0 0
1 0.858 10 3
2 0 1 0
0
u2
0.0161 10 3
2 12 0
3
3
u3 2 0.073 0 1 0.0625 10 0.0466 10
u2 0.221 10 3
in
3
u3 2 2.99 10
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CIVL 7/8117
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
6. Solve for d1
d M F Kd
1
0
1
u2
2 12 0 0
4 2
(30 10 )
3
1 1 0.858 10
u3 1 0.073 0 1 1000
u2 3,526 in
2
u3 1 20,345 s
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
7. Solve for d1
d 2 d0
2( t )
0.221 10 3 0
3
u2 2.99 10 0
0.442 in
2 0.25 10 3
u3 1
5.98 s
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CIVL 7/8117
46/78
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
d3 M t F2 2 M t K d2 Md1
1
u2
2 12 0
3
0.25 10
u3 3 0.073 0 1
0.25 103
30 10 1
2
0 2(0.073) 2 0
2
1000
0 1
0
1 0.221 103 0.073 2 0
3
3
1 2.99 10
2 0 1 0.858 10
u2 1.096 10 3
in
3
u3 2 5.397 10
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
d M F Kd
1
1 0.221 10 3
u2
2 12 0 0
4 2
(30
10
)
3
1 1 2.99 10
u3 2 0.073 0 1 1000
u2 10,500 in
2
u3 1 4,600 s
CIVL 7/8117
47/78
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
d3 d1
2( t )
1.096 10 3
0
3
3
u2
5.397 10 0.858 10 2.192 in
2 0.25 103
u3 2
9.078 s
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
d2
d3
0.00
0.0000 0.0000
0.0000
0.0000
0.0000
2.7397
0.25
0.0000 0.0009
0.4398
5.9697
0.3518
2.0360
0.50
0.0002 0.0030
2.1870
9.0987
1.0459
0.4672
0.75
0.0011
0.0054
5.1477
8.6772
1.3227
-0.8044
1.00
0.0028 0.0073
7.6928
6.4426
0.7134
-0.9833
1.25
0.0049 0.0086
7.9409
4.8502
-0.5149
-0.2906
1.50
0.0068 0.0097
5.3555
4.8455
-1.5535
0.2868
CIVL 7/8117
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
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Structural Dynamics
Time-Dependent One-Dimensional Bar - Example
Structural Dynamics
Beam Element Mass Matrices and Natural Frequencies
F (t ) K {d } M d
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CIVL 7/8117
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Structural Dynamics
Beam Element Mass Matrices and Natural Frequencies
v2
6L
12
4L2
6L
2L2
6L
12
6L
v1
12
EI 6L
k L3 12
6L
AL 0
m 2 0
6L
2L2
6L
4L2
0 0 0
0 0 0
0 1 0
0 0 0
Structural Dynamics
Beam Element Mass Matrices and Natural Frequencies
1 2 1 AL L
AL3
mL
3
3 2 2
24
CIVL 7/8117
51/78
Structural Dynamics
Beam Element Mass Matrices and Natural Frequencies
m N N dV
T
N1
N
m N2 N1 N2 N3 N4 dA dx
0 A
3
N4
where
1
1
N1 3 2 x 3 3 x 2L L3
N2 3 x 3L 2 x 2L2 xL3
L
L
L
N3
1
2 x 3 3 x 2 L
3
L
N4
1 3
x L x 2L2
3
L
Structural Dynamics
Beam Element Mass Matrices and Natural Frequencies
N1
0.6
N2
0.4
N3
0.2
N4
0.0
0.00
-0.2
-0.4
1.00
CIVL 7/8117
Structural Dynamics
Beam Element Mass Matrices and Natural Frequencies
2
AL 22L 4L
[m ]
420 54
13L
2
13L 3L
13L
13L 3L2
156 22L
22L 4L2
54
Structural Dynamics
Beam Element - Example 1
Determine the first natural frequency for the beam shown in the
figure below. Assume the bar has a length 2L, modulus of
elasticity E, mass density , and cross-sectional area A.
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CIVL 7/8117
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Structural Dynamics
Beam Element - Example 1
K 2 M 0
The boundary conditions are v1 = 1 = 0 and v3 = 3 = 0.
v1
v2
12 6L 12 6L
2
2
EI 6L 4L 6L 2L
k (1) 3
L 12 6L 12 6L
2
2
6L 2L 6L 4L
v2
v3
12 6L 12 6L
2
2
EI 6L 4L 6L 2L
k (2) 3
L 12 6L 12 6L
2
2
6L 2L 6L 4L
Structural Dynamics
Beam Element - Example 1
K 2 M 0
The boundary conditions are v1 = 1 = 0 and v3 = 3 = 0.
v
AL 0
(1)
m
2 0
0 0 0
0 0 0
0 1 0
0 0 0
AL 0
(2)
m
2 0
0 0 0
0 0 0
0 1 0
0 0 0
CIVL 7/8117
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Structural Dynamics
Beam Element - Example 1
K 2 M 0
The boundary conditions are v1 = 1 = 0 and v3 = 3 = 0.
Therefore, the global stiffness and lumped-mass matrices are:
v2
EI 24
K L3 0
v2
0
8L2
AL 2 0
2 0 0
Structural Dynamics
Beam Element - Example 1
1 0
EI 24 0
2 AL
0
3
2
L 0 8L
0 0
K 2 M 0
24EI
AL4
4.8990 EI
A
L2
5.59 EI
A
L2
CIVL 7/8117
Structural Dynamics
Beam Element - Example 2
Determine the first natural frequency for the beam shown in the
figure below. Assume the bar has a length 3L, modulus of
elasticity E, mass density , and cross-sectional area A.
Structural Dynamics
Beam Element Example 2
K 2 M 0
The boundary conditions are v1 = 1 = 0 and v4 = 4 = 0.
Therefore the elements of the stiffness matrix for element 1 are:
v1
v2
12 6L 12 6L
2
2
EI 6L 4L 6L 2L
(1)
k 3
L 12 6L 12 6L
2
2
6L 2L 6L 4L
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CIVL 7/8117
Structural Dynamics
Beam Element Example 2
Element 2:
v2
v3
12 6L 12 6L
2
2
EI 6L 4L 6L 2L
k (2) 3
L 12 6L 12 6L
2
2
6L 2L 6L 4L
Element 3:
v3
v4
12 6L 12 6L
2
2
EI 6L 4L 6L 2L
(3)
k 3
L 12 6L 12 6L
2
2
6L 2L 6L 4L
Structural Dynamics
Beam Element Example 2
v2
v3
12
6L
12 12 6L 6L
6L 6L 4L2 2L2
6L
2L2
EI
K L3 12
6L
12 12 6L 6L
2L2
6L 6L 4L2 4L2
6L
v2
v3
0 12 6L
24
0
8L2 6L 2L2
EI
K L3 12 6L 24 0
2
0 8L2
6L 2L
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CIVL 7/8117
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Structural Dynamics
Beam Element Example 2
K 2 M 0
Therefore the elements of the mass matrix for element 1 are:
1
v1
AL 0
m(1)
2 0
v2
0 0 0
0 0 0
0 1 0
0 0 0
Structural Dynamics
Beam Element Example 2
Element 2:
v2
AL 0
(2)
m
2 0
v3
Element 3:
0 0 0
0 0 0
0 1 0
0 0 0
v3
AL 0
(2)
m
2 0
v4
0 0 0
0 0 0
0 1 0
0 0 0
1 1
AL 0
m 2 0
v3
0
0
0 1 1 0
0 0 0
0
0
0
0
v2
1
0
M AL 0
v3
0 0 0
0 0 0
0 1 0
0 0 0
CIVL 7/8117
Structural Dynamics
Beam Element Example 2
2
We can obtain the Frequency equation as: K M 0
0 12 6L
24
1
0
8L2 6L 2L2
EI 0
2 AL
0
0
L3 12 6L 24
2
0 8L2
6L 2L
0
0 0 0
0 0 0
0
0 1 0
0 0 0
24 EI
2 AL
L3
12 EI
L3
6 EI
L2
8 EIL
6 EI
L2
2 EIL
12 EI
L3
6 EI
L2
2 AL
24 EI
L3
6 EI
L2
2 EIL
8 EIL
Structural Dynamics
Beam Element Example 2
AL
24 EI
2
L3
12 EI
L3
6 EI
L2
8 EIL
6 EI
L2
2 EIL
12 EI
L3
6 EI
L2
2
24 EI
L3
6 EI
L2
2 EIL
8 EIL
60 4 2E 2I 2 2,304 2 E 3I 3 11,664 E 4I 4
0
L2
L5
L8
2.4495 EI
L2
A
5.6921 EI
L2
A
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Structural Dynamics
Beam Element Example 2
2.4495 EI
L2
A
5.6921 EI
L2
A
2.4495
23L
EI
A
5.5113 EI
L2
A
Structural Dynamics
Beam Element Example 1 Revisited
Determine the first natural frequency for the beam shown in the
figure below. Assume the bar has a length 2L, modulus of
elasticity E, mass density , and cross-sectional area A.
In summary:
Two elements:
Three elements:
4.90 EI
L2
A
5.5114 EI
L2
A
Exact solution:
5.59 EI
L2
A
CIVL 7/8117
Structural Dynamics
Beam Element Example 3
Determine the first natural frequency for the beam shown in the
figure below.
K 2 M 0
Structural Dynamics
Beam Element Example 3
Determine the first natural frequency for the beam shown in the
figure below.
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CIVL 7/8117
Structural Dynamics
Beam Element Example 3
v1
Element 1:
12 6L 12 6L
2
2
EI 6L 4L 6L 2L
k (1) 3
L 12 6L 12 6L
2
2
6L 2L 6L 4L
2
v2
Element 2:
v2
v3
12 6L 12 6L
2
2
EI 6L 4L 6L 2L
(2)
k 3
L 12 6L 12 6L
2
2
6L 2L 6L 4L
Structural Dynamics
Beam Element Example 3
Element 1:
AL 0
(1)
m
2 0
0
v2
Element 2:
AL 0
(2)
m
2 0
v2
0 0 0
0 0 0
0 1 0
0 0 0
2
v3
0 0 0
0 0 0
0 1 0
0 0 0
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CIVL 7/8117
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Structural Dynamics
Beam Element Example 3
v2
v3
0 12 6L
24
8L2 6L 2L2
EI 0
K L3 12 6L 12 6L
2
2
6L 2L 6L 4L
v2
AL 0
M
2 0
v3
0 0 0
0 0 0
0 1 0
0 0 0
Structural Dynamics
Beam Element Example 3
24
EI 0
L3 12
6L
24
0
12
6L
0
8L2
12
6L
6L
12
6L
2L
0
12
6L
12
6L
8L
6L
2L2
6L
2
0
2
2L
2 AL
6L
2 0
2
4L
0
6L
1
0
2
2L
2
6L
0
2
4L
0
0 0 0
0 0 0
0
0 1 0
0 0 0
0 0 0
0 0 0
0
0 21 0
EI
0 0 0
AL4
CIVL 7/8117
Structural Dynamics
Beam Element Example 3
1 0.7891
14 4 4 240 3 2 144 4 0
2 4.0645
0.7891 EI
A
L2
4.0647 EI
A
L2
Structural Dynamics
Beam Element Example 3
2
L2
A
L2 A
4.0645
L2
EI 16.2580 EI
A
L2
A
3.516 EI
A
L2
63/78
CIVL 7/8117
Structural Dynamics
Beam Element Example 3
2
6.2669
1
3
17.5475
1
Structural Dynamics
Beam Element Example 3
The figure below shows the first, second, and third mode
shapes corresponding to the first three natural frequencies for
the cantilever beam.
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CIVL 7/8117
Structural Dynamics
Beam Element Example 3
1 (rad/s)
2 (rad/s)
228
1,434
Using 2 elements
205
1,286
Using 6 elements
226
1,372
Using 10 elements
227.5
1,410
Using 30 elements
228.5
1,430
Using 60 elements
228.5
1,432
Exact Solution
FE Solution
Structural Dynamics
Truss Analysis
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CIVL 7/8117
Structural Dynamics
Truss Analysis
0
x 0 v1
u N1 0 N2 0 v1 1 L x
L x 0 x u2
v 0 N1 0 N2 u2 L 0
v 2
v 2
The shape functions for the matrix are:
x 0
0
1 L x
L x 0 x
0
N L
Structural Dynamics
Truss Analysis
AL 0 2 0 1
[m] [N ]T [N ]dV
m 6 1 0 2 0
V
0 1 0 2
The lumped-mass matrix for two-dimensional motion is obtained
by simply lumping mass at each node (mass is the same in
both the x and y directions):
1 0 0 0
AL 0 1 0 0
m 2 0 0 1 0
0 0 0 1
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CIVL 7/8117
Structural Dynamics
Plane Frame Analysis
The plane frame element requires combining the bar and beam
elements to obtain the local mass matrix.
There are six degrees of freedom associated with a plane frame
element.
Structural Dynamics
Plane Frame Analysis
67/78
CIVL 7/8117
Structural Dynamics
Plane Frame Analysis
2 6
0
0
m AL 1
6
0
0
156
22L
420
420
0
54
420
13 L
54
420
13 L
0
13 L
3 L
420
420
420
22L
4 L2
420
0
0
420
420
0
156
420
22L
420
13 L
420
3 L2
420
0
22L
420
4 L2
420
Structural Dynamics
Plane Frame Analysis
1
0
AL 0
m 2 0
0 0 0 0 0
1 0 0 0 0
0 0 0 0 0
0 0 1 0 0
0 0 0 1 0
0 0 0 0 0
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CIVL 7/8117
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Structural Dynamics
Plane Frame Analysis
The global mass matrix for the plane frame element arbitrarily
oriented in x-y coordinates is transformed by:
m T mT
T
C S 0 0 0 0
S C 0 0 0 0
0 0 1 0 0 0
T 0 0 0 C S 0
0 0 0 S C 0
0 0 0 0 0 1
Structural Dynamics
Plane Stress/Strain Elements
N 01
0 N2 0 N3
N1 0 N2 0
0
N3
N1
N3
1
1
x
CIVL 7/8117
Structural Dynamics
Plane Stress/Strain Elements
[m] [N ]T [N ]dV
V
where dV = tdA
The CST global consistent-mass matrix is:
2
0
tA 1
[m ]
12 0
1
0
2
0
1
0
1
1
0
2
0
1
0
0
1
0
2
0
1
1
0
1
0
2
0
0
1
1
0
Structural Dynamics
Frame Example Problem 1
70/78
CIVL 7/8117
Structural Dynamics
Frame Example Problem 1
Structural Dynamics
Frame Example Problem 1
M4
2
W4 50 psf 30 ft 15 ft
58.28 lb s
in
g
386.04 in s2
M5
2
W5 104 psf 30 ft 15 ft
121.23 lb s
in
g
386.04 in s2
M6
2
W6 104 psf 30 ft 15 ft
121.23 lb s
in
g
386.04 in s2
71/78
CIVL 7/8117
Structural Dynamics
Frame Example Problem 1
Next, lump the mass equally to each node of the beam element.
For this example calculation, a lumped mass of 29.14 lbs2/in
should be added to nodes 7 and 8 and a mass of 60.62
lbs2/in should be added to nodes 3, 4, 5, and 6, all in
the x direction.
Structural Dynamics
Frame Example Problem 1
72/78
CIVL 7/8117
Structural Dynamics
Frame Example Problem 1
M7
2
W7 20 psf 10 ft 15 ft
7.77 lb s
in
g
386.04 in s2
Structural Dynamics
Frame Example Problem 1
M8
2
W8 20 psf 10 ft 15 ft
7.77 lb s
in
g
386.04 in s2
73/78
CIVL 7/8117
Structural Dynamics
Frame Example Problem 1
M9
2
W9 20 psf 15 ft 15 ft
11.66 lb s
in
g
386.04 in s2
Structural Dynamics
Frame Example Problem 1
The final values for the nodal masses on this frame are shown
below.
74/78
CIVL 7/8117
Structural Dynamics
Frame Example Problem 1
Structural Dynamics
Frame Example Problem 1
75/78
CIVL 7/8117
Structural Dynamics
Frame Example Problem 1
The maximum displacement of node 8 (node 5 in the SAP 2000
plot) is 3.16 in. and the period of the vibration is approximately
3.15 seconds.
Structural Dynamics
Frame Example Problem 2
76/78
CIVL 7/8117
Structural Dynamics
Frame Example Problem 2
A trace of the displacements as a function of time can be
generated using the SAP2000 Display Menu. A plot of the
displacements of nodes 8, 6, and 4 over the first 5 seconds of
the analysis generate by SAP2000 is shown below:
Structural Dynamics
Frame Example Problem 2
The maximum displacement of node 8 is 0.638 in. and the
period of the vibration is approximately 4.1 seconds.
77/78
CIVL 7/8117
End of Chapter 16
78/78