CA Aa242b Ch2

AA242B: MECHANICAL VIBRATIONS

Undamped Vibrations of n-DOF Systems
These slides are based on the recommended textbook: M. Geradin and D. Rixen, Mechanical
Vibrations: Theory and Applications to Structural Dynamics, Second Edition, Wiley, John &
Sons, Incorporated, ISBN-13:9780471975465
Outline
1 Linear Vibrations
2 Natural Vibration Modes
3 Orthogonality of Natural Vibration Modes
4 Modal Superposition Analysis
5 Spectral Expansions
6 Forced Harmonic Response
7 Response to External Loading
8 Mechanical Systems Excited Through Support Motion
Linear Vibrations
Equilibrium conguration
q
s
(t) = q
s
(0)
q
s
(t) = 0
_
s = 1, , n (1)
Recall the Lagrange equations of motion
d
dt
_
T
q
s
_
+
T
q
s
V
q
s
D
q
s
+ Q
s
(t) = 0
where T = T
0
+T
1
+T
2
Recall the generalized gyroscopic forces
f
s
=
n
r=1
2
T
1
q
s
q
r
q
r
+
T
1
q
s
, s = 1, , n
Denition: the eective potential energy is dened as V
= V T
0
The Lagrange equations of motion can be re-written as
d
dt
_
T
2
q
s
_
T
2
q
s
= Q
s
(t)
V
q
s
D
q
s
+ f
s

t
_
T
1
q
s
_
Linear Vibrations
Recall that
T
0
(q, t) =
1
2
N
k=1
3
i =1
m
k
_
U
i
k
t
_
2
(transport kinetic energy)
From the Lagrange equations of motion
d
dt
_
T
2
q
s
_
T
2
q
s
= Q
s
(t)
V
q
s
D
q
s
+ f
s

t
_
T
1
q
s
_
it follows that an equilibrium condition exists if and only if V = V(q)
and Q
s
(t) = 0
Hence, at equilibrium
Q
s
(t) = 0 and
V
q
s
=
(V T
0
)
q
s
= 0, s = 1, , n
Linear Vibrations
Free-Vibrations About a Stable Equilibrium Position
Consider a system that does not undergo a transport (or overall
motion) T = T
2
( q)
The equilibrium position is then given by
Q
s
(t) = 0 and
V
q
s
= 0, s = 1, , n
Consider now a conservative system E = T +V = cst
Usually, the potential energy is dened only up to a constant
shift the origin of the generalized coordinates to have equilibrium at
q
s
= 0, s = 1, , n
Now, suppose that a certain energy E(0) is initially given to the
system in equilibrium
Linear Vibrations
Denition: the equilibrium position (q
s
= 0, s = 1, , n) is said to
be stable if
E
/ E(0) < E
, T (t) E(0)
Consequences
T +V = E = cst = E(0) V(t) = E(0) T (t)) 0
at a stable equilibrium position, the potential energy is at a relative
minimum
if E(0) is small enough, V(t) will be small enough and therefore
deviations from the equilibrium position will be small enough
Linear Vibrations
Linearization of T and V around an equilibrium position
(q
s
= 0,
V
q
s
= 0)
actually, this means obtaining a quadratic form of T and V in q and
q so that the corresponding generalized forces are linear
since q
s
(t) represent deviations from equilibrium, V can be expanded
as follows
V(q) = V(0) +
n
X
s=1
V
q
s
|
q=0
q
s
+
1
2
n
X
s=1
n
X
r=1
2
V
q
s
q
r
|
q=0
q
s
q
r
+O(q
3
)
= V(0) +
1
2
n
X
s=1
n
X
r=1
2
V
q
s
q
r
|
q=0
q
s
q
r
+O(q
3
)
since the potential energy is dened only up to a constant, dene
V(0) = 0
in this case, a second-order approximation of V(q) is given by
V(q) =
1
2
n
X
s=1
n
X
r=1
2
V
q
s
q
r
|
q=0
q
s
q
r
, for q = 0
Linear Vibrations
Stiness matrix
let K = [k
sr
] where k
sr
= k
rs
=

2
V
q
s
q
r
|
q=0
= V(q) =
1
2
q
T
Kq > 0, for q = 0
K is symmetric positive (semi-) denite
Linear Vibrations
Recall that
T
2
=
1
2
n
s=1
n
r=1
N
k=1
3
i =1
m
k
U
i
k
q
s
U
i
k
q
r
q
s
q
r
(relative kinetic energy)
T
2
(q, q) = T
2
(0, 0) +
n
X
s=1
T
2
q
s
|
q=0, q=0
q
s
+
n
X
s=1
T
2
q
s
|
q=0, q=0
q
s
+
1
2
n
X
s=1
n
X
r =1
2
T
2
q
s
q
r
|
q=0, q=0
q
s
q
r
+
n
X
s=1
n
X
r =1
2
T
2
q
s
q
r
|
q=0, q=0
q
s
q
r
+
1
2
n
X
s=1
n
X
r =1
2
T
2
q
s
q
r
|
q=0, q=0
q
s
q
r
+ O( q
3
, q
3
)
=
1
2
n
X
s=1
n
X
r =1
2
T
2
q
s
q
r
|
q=0, q=0
q
s
q
r
+ O( q
3
, q
3
)
Linear Vibrations
Hence, a second-order approximation of T
2
( q) is given by
T
2
( q) =
1
2
q
T
M q > 0, for q = 0
where M =
_
m
sr
=

2
T
2
q
s
q
r
|
q=0
_
is the mass matrix and is
symmetric positive denite
Linear Vibrations
Free-vibrations about a stable equilibrium position of a conservative
system
d
dt
_
T
q
s
_
+
T
q
s
V
q
s
= 0
=
d
dt
(M q) +0 Kq = 0
= M q +Kq = 0
Linear Vibrations
Free-Vibrations About an Equilibrium Conguration
Consider next the more general case of a system in steady motion (a
transported system) whose equilibrium conguration dened by
V
q
s
=
(V T
0
)
q
s
= 0, s = 1, , n
corresponds to the balance of forces deriving from a potential
_
V
q
s
_
and centrifugal forces
_
T
0
q
s
_
It is an equilibrium conguration in the sense that q
s
which
represent here the generalized velocities relative to a steady motion
are zero but the system is not idle
Linear Vibrations
Linearizations
eective potential energy V
eective stiness matrix K
(q) =
1
2
q
T
K
q > 0, for q = 0
where K
sr
= k
sr

2
T
0
q
s
q
r
|
q=0
mutual kinetic energy T

1
the F matrix
T
1
(q, q) = q
T
Fq
where F =
f
sr
=

2
T
1
q
s
q
r
|
q=0

Linear Vibrations
Equations of free-vibration around an equilibrium conguration
the equilibrium conguration generated by a steady motion remains
stable as long as V
= V T
0
0
this corresponds to the fact that K
remains positive denite

in the neighborhood of such a conguration, the equations of motion
are
M q + G q + K
q = 0
where G = F
T
F = G
T
is the gyroscopic coupling matrix
Linear Vibrations
Example
X = (a + x) cos t Y = (a + x) sin t v
2
=

X
2
+

Y
2
= (a + x)
2
2
+ x
2
V =
1
2
kx
2
T
0
=
1
2
2
m(a + x)
2
T
1
= 0 T
2
=
1
2
m x
2
V
=
1
2
kx
2
1
2
2
m(a + x)
2
equilibrium conguration
V
x
= 0 =kx
2
m(a + x) = 0 =x
eq
=

2
ma
k
2
m
the system becomes unstable for
2
=
k
m
k
=

2
V
x
2
= k
2
m system is unstable for
2
k
m
Natural Vibration Modes
Free-vibration equations: M q +Kq = 0
q(t) = q
a
e
i t
(K
2
M)q
a
= 0 det (K
2
M) = 0
If the system has n degrees of freedom (dofs), M and K are n n
matrices n eigenpairs (
2
i
, q
a
i
)
Rigid body mode(s):
2
j
= 0 Kq
a
j
= 0
For a rigid body mode, V(q
a
j
) =
1
2
q
T
a
j
Kq
a
j
= 0
Orthogonality of Natural Vibration Modes
Distinct Frequencies
Consider two distinct eigenpairs (
2
i
, q
a
i
) and (
2
j
, q
a
j
)
q
T
a
j
Kq
a
i
= q
T
a
j
2
i
Mq
a
i
(2)
q
T
a
i
Kq
a
j
= q
T
a
i
2
j
Mq
a
j
(3)
Because M and K are symmetric
(2) (3)
T
= 0 (
2
i

2
j
)q
a
j
T
Mq
a
i
= 0
since
2
i
=
2
j
q
a
j
T
Mq
a
i
= 0 and q
a
j
T
Kq
a
i
= 0
Physical interpretation of the orthogonality conditions
q
a
j
T
Mq
a
i
= 0 q
a
j
T
_
2
i
Mq
a
i
_
= (
2
i
Mq
a
i
)
T
q
a
j
= 0
which implies that the virtual work produced by the inertia forces of
mode i during a virtual displacement prescribed by mode j is zero
q
a
j
T
Kq
a
i
= 0 (Kq
a
i
)
T
q
a
j
= 0
which implies that the virtual work produced by the elastic forces of
mode i during a virtual displacement prescribed by mode j is zero
Rayleigh quotient
Kq
a
i
=
2
i
Mq
a
i
q
a
i
T
Kq
a
i
=
2
i
q
a
i
T
Mq
a
i

2
i
=
q
a
i
T
Kq
a
i
q
a
i
T
Mq
a
i
=

i
i
= generalized stiness coecient of mode i (measures the
contribution of mode i to the elastic deformation energy)
i
= generalized mass coecient of mode i (measures the
contribution of mode i to the kinetic energy)
Since the amplitude of q
a
i
is determined up to a factor only
i
and
i
are determined up to a constant factor only
Mass normalization
q
a
j
T
Mq
a
i
=
ij
q
a
j
T
Kq
a
i
=
2
i

ij
Degeneracy Theorem
What happens if a multiple circular frequency is encountered?
Theorem: to a multiple root
2
p
of the system
Kx =
2
Mx
corresponds a number of linearly independent eigenvectors {q
a
i
}
equal to the root multiplicity
Modal Superposition Analysis
n-dof system: M R
nn
, K R
n
, and q R
n
Coupled system of ordinary dierential equations
_
_
_
M q +Kq = 0
q(0) = q
0
q(0) = q
0
Natural vibration modes (eigenmodes)
Kq
a
i
=
2
i
Mq
a
i
, i = 1, , n
Q = [q
a
1
q
a
2
q
a
n
]
_
Q
T
KQ =
2
Q
T
MQ = I
2
=
_
_
_
2
1
.
.
.
2
n
_
_
_
Truncated eigenbasis
Q
r
=
q
a
1
q
a
2
q
a
r
, r << n
Q
T
r
KQ
r
=
2
r
(reduced stiness matrix)
Q
T
r
MQ
r
= I
r
(reduced mass matrix)
2
r
=
0
B
B
@
2
1
.
.
.
2
r
1
C
C
A
Modal superposition: q = Q
r
y =
r
i =1
y
i
q
a
i
where
y = [y
1
y
2
y
r
]
T
and y
i
is called the modal displacement
Substitute in M q +Kq = 0
= MQ
r
y +KQ
r
y = 0
= Q
T
r
MQ
r
y +Q
T
r
KQ
r
y = 0
= I
r
y +
2
r
y = 0
Uncoupled dierential equations (modal equations)
y
i
+
2
i
y
i
= 0, i = 1, r
y
i
+
2
i
y
i
= 0, i = 1, r
Case 1:
2
i
= 0 (rigid body mode)
y
i
= a
i
t + b
i
Case 2:
2
j
= 0
y
j
= c
j
cos
j
t + d
j
sin
j
t
General case: rb rigid body modes
q =
rb
i =1
(a
i
t + b
i
)q
a
i
+
rrb
j=1
(c
j
cos
j
t + d
j
sin
j
t)q
a
j
Initial conditions
q(0) = q
0
= Qy(0) and q(0) = q
0
= Q y(0)
q
0
= Qy(0)
= q
T
a
i
Mq
0
= q
T
a
i
MQy(0)
From the orthogonality properties of the natural mode shapes (eigenvectors) it follows that
q
T
a
i
Mq
0
= q
T
a
i
MQy(0) = q
T
a
i
Mq
a
i
y
i
(0) = y
i
(0) y
i
(0) = q
T
a
i
Mq(0)
Case 1:
2
i
= 0 (rigid body mode) a
i
0 + b
i
= q
T
a
i
Mq(0) b
i
= q
T
a
i
Mq(0)
Case 2:
2
j
= 0 c
j
1 + d
j
0 = q
T
a
j
Mq(0) c
j
= q
T
a
j
Mq(0)
q
0
= Q y(0)
Case 1:
2
i
= 0 (rigid body mode) a
i
= q
T
a
i
M q(0)
Case 2:
2
j
= 0 d
j
= q
T
a
j
M q(0)
Thus, the general solution is
q(t) =
rb
X
i =1
h
q
T
a
i
M q(0)
i
t + q
T
a
i
Mq(0)
q
a
i
+
r rb
X
j =1
q
T
a
j
Mq(0) cos
j
t + q
T
a
j
M q(0) sin
j
t
q
a
j
Spectral Expansions
x R
n
, x =
n
X
s=1
s
q
a
s
q
T
a
j
Mx =
n
X
s=1
s
q
T
a
j
Mq
a
s
=
j
= x R
n
, x =
n
X
s=1
q
T
a
s
Mx
q
a
s
=
n
X
s=1
q
a
s
q
T
a
s
Mx
=
n
X
s=1
q
a
s
q
T
a
s
Mx =
n
X
s=1
(q
a
s
q
T
a
s
)M
!
x
n
X
s=1
q
a
s
q
T
a
s
M = I
This is the same result as Q
T
MQ = I
Suppose a load p is given. p can be expanded in terms of the inertia
forces generated by the eigenmodes, Mq
a
j
as follows
p =
n
j=1
j
Mq
a
j
q
T
a
i
p =
n
j=1
j
q
T
a
i
Mq
a
j
=
i
=
i
= q
T
a
i
p = modal participation factor p =
n
j=1
_
q
T
a
j
p
_
Mq
a
j
Spectral Expansions
Recall that
n
P
s=1
q
a
s
q
T
a
s
M = I
Hence, A R
n
, A =
n
P
s=1
Aq
a
s
q
T
a
s
M and A =
n
P
s=1
q
a
s
q
T
a
s
MA
A = M M =
n
P
s=1
Mq
a
s
q
T
a
s
M =
n
P
s=1
Mq
a
s
(Mq
a
s
)
T
(because M is symmetric)
A = K K =
n
P
s=1
Kq
a
s
q
T
a
s
M =
n
P
s=1
2
s
Mq
a
s
q
T
a
s
M =
n
P
s=1
2
s
Mq
a
s
(Mq
a
s
)
T
A = M
1
M
1
=
n
P
s=1
q
a
s
q
T
a
s
MM
1
M
1
=
n
X
s=1
q
a
s
q
T
a
s
A = K
1
K
1
=
n
P
s=1
q
a
s
q
T
a
s
MK
1
=
n
P
s=1
q
a
s
(Mq
a
s
)
T
K
1
= K
1
=
n
X
s=1
q
a
s
q
T
a
s
2
s
Forced Harmonic Response
_
_
_
M q +Kq = s
a
cos t
q(0) = q
0
q(0) = q
0
Solution can be decomposed as
q = q
H
(homogeneous) + q
P
(particular)
q
p
= q
a
cos t q
a
= (K
2
M)
1
s
a
where (K
2
M)
1
is
called the admittance or dynamic inuence matrix
Rigid body modes:
u
a
i
rb
i =1
q
a
R
n
, q
a
=
rb
P
i =1
i
u
a
i
+
nrb
P
j =1
j
q
a
j
= s
a
= (K
2
M)q
a
=
rb
X
i =1
i
(K
2
M)u
a
i
+
nrb
X
j =1
j
(K
2
M)q
a
j
= s
a
=
rb
X
i =1
2
Mu
a
i
+
nrb
X
j =1
j
(K
2
M)q
a
j
Premultiply by u
T
a
j

j
=
u
T
a
j
s
a
2
and premultiply by q
T
a
i

i
=
q
T
a
i
s
a
(
2
i

2
)
= q
a
=
rb
X
i =1
u
T
a
i
s
a
2
u
a
i
+
nrb
X
j =1
q
T
a
j
s
a
(
2
j

2
)
q
a
j
=
0
@
rb
X
i =1
u
a
i
u
T
a
i
2
+
nrb
X
j =1
q
a
j
q
T
a
j
(
2
j

2
)
1
A
s
a
Since q
a
= (K
2
M)
1
s
a
= (K
2
M)
1
=
1
2
rb
X
i =1
u
a
i
u
T
a
i
+
nrb
X
j =1
q
a
j
q
T
a
j
2
j

2
Which excitation s
a
m
will generate a harmonic response with an
amplitude corresponding to q
a
m
?
q
a
m
= (K
2
M)
1
s
a
m
s
a
m
= (K
2
M)q
a
m
= s
a
m
= Kq
a
m

2
Mq
a
m
= (
2
m

2
)Mq
a
m
At resonance (
2
=
2
m
) s
a
m
= 0 no force is needed to maintain
q
a
m
once it is reached
The inverse of an admittance is an impedance
Z(
2
) = (K
2
M)
Application
suppose that the n
1
internal dofs q
1
are free and the n
2
= n n
1
dofs q
2
are xed
Z
11
Z
12
Z
21
Z
22
q
1
q
2
0
g
2
=Z
11
q
1
+ Z
12
q
2
= 0 q
1
= Z
1
11
Z
12
q
2
=(Z
22
Z
21
Z
1
11
Z
12
)q
2
= Z
22
q
2
= g
2
Z
22
is the reduced impedance (reduced to the boundary)
Spectral expansion of Z
22
look at Z
1
11
and let (
2
i
, q
a
i
) denote its n
1
eigenpairs
= Z
1
11
=
n
1
X
j =1
q
a
j
q
T
a
j

2
j

2
=
n
1
X
j =1
0
@
q
a
j
q
T
a
j

2
j

2

q
a
j
q
T
a
j

2
j
+
q
a
j
q
T
a
j

2
j
1
A
= K
1
11
+
n
1
X
j =1
q
a
j
q
T
a
j
1

2
j

2

1

2
j
!
= K
1
11
+
2
n
1
X
j =1
q
a
j
q
T
a
j

2
j
(
2
j

2
)
use the spectral expansion of M
11
and substitute in the expression of Z
1
11
above to
obtain
Z
1
11
= K
1
11
+
2
K
1
11
M
11
K
1
11
+
4
n
1
X
j =1
q
a
j
q
T
a
j

4
j
(
2
j

2
)
= Z
22
= K
22
K
21
K
1
11
K
12
2
[M
22
M
21
K
1
11
K
12
K
21
K
1
11
M
12
+ K
21
K
1
11
M
11
K
1
11
K
12
]
4
n
1
X
i =1
[(K
21

2
i
M
21
) q
a
i
][(K
21

2
i
M
21
) q
a
i
)]
T

4
i
(
2
i

2
)
Z
22
= K
22
K
21
K
1
11
K
12
2
[M
22
M
21
K
1
11
K
12
K
21
K
1
11
M
12
+K
21
K
1
11
M
11
K
1
11
K
12
]
4
n
1
i =1
[(K
21

2
i
M
21
) q
a
i
][(K
21

2
i
M
21
) q
a
i
)]
T

4
i
(
2
i

2
)
The rst term K
22
K
21
K
1
11
K
12
represents the stiness of the
statically condensed system
The second term
M
22
M
21
K
1
11
K
12
K
21
K
1
11
M
12
+K
21
K
1
11
M
11
K
1
11
K
12
represents
the mass of the subsystem statically condensed on the boundary
The last term represents the contribution of the subsystem
eigenmodes since it is generated by q
a
i
q
T
a
i
(K
21

2
i
M
21
) q
a
i
is the dynamic reaction on the boundary
Response to External Loading
_
_
_
M q +Kq = p(t)
q(0) = q
0
q(0) = q
0
General approach
consider the simpler case where there is no rigid body mode
eigenmodes (q
a
i
,
2
i
),
2
i
= 0, i = 1, , n
modal superposition: q = Qy =
n
P
i =1
y
i
q
a
i
substitute in equations of dynamic equilibrium
=MQy +KQy = p(t) Q
T
MQy + Q
T
KQy = Q
T
p(t)
modal equations y
i
+
2
i
y
i
= q
T
a
i
p(t), i = 1, , n
y
i
(t) depend on two constants that can be obtained from the initial
conditions
q(0) = Qy(0), q(0) = Q y(0)
orthogonality conditions
y
i
(0), y
i
(0)
Response to an impulsive force
spring-mass system: m, k,
2
=
k
m
impulsive force f (t): force whose amplitude could be innitely large but which acts
for a very short duration of time
magnitude of impulse: I =
R
t+
t
f ()d
impulsive force = I (t) where is the delta function centered at t = 0 and
satisfying
R
0
(t)dt = 1
Newtons law: m
d u
dt
= I (t) md u = I (t)dt m u = I
initial conditions: u(0) = 0, u(0) =
I
m
u =
I
m
sin t
linear system superposition principle
du =
f ()d
m
sin (t ) u(t) =
1
m
Z
t
0
f () sin (t )d
Time-integration of the normal equations
let p
i
(t) = q
T
a
i
p(t) = i -th modal participation factor
modal or normal equation: y
i
+
2
i
y
i
= p
i
(t)
y
i
(t) = y
H
i
(t) + y
P
i
(t), y
H
i
= A
i
cos
i
t + B
i
sin
i
t
the particular solution y
P
i
(t) depends on the form of p
i
(t)
however, the general form of a particular solution that satises the
rest initial conditions is given by the Duhamels integral
y
P
i
(t) =
1
i
Z
t
0
p
i
() sin
i
(t )d
complete solution
y
i
(t) = A
i
cos
i
t + B
i
sin
i
t +
1
i
Z
t
0
p
i
(t) sin
i
(t )d
A
i
= y
i
(0), B
i
=
y
i
(0)
i
and y
i
(0) and y
i
(0) can be determined from
the initial conditions q(0) and q(0) and the orthogonality conditions
Response truncation and mode displacement method
computational eciency q = Q
r
y =
r
P
i =1
y
i
q
a
i
, r n
what is the eect of modal truncation?
consider the case where p(t) = g
static load
distribution
(t)
amplication
factor
for a system initially at rest (q(0) = 0 and q(0) = 0)
y
i
(0) = q
T
a
i
Mq(0) = 0 and y
i
(0) = q
T
a
i
M q(0) = 0 A
i
= B
i
= 0
=y
i
(t) =
1
i
Z
t
0
p
i
() sin
i
(t)d =
q
T
a
i
g
i
Z
t
0
() sin
i
(t )d
= q(t) =
r
X
i =1
"
q
a
i
q
T
a
i
g
spatial factor
#
2
6
4
1
i
Z
t
0
() sin
i
(t )d
temporal factor
3
7
5
Response truncation and mode displacement method (continue)
general solution for restrained structure initially at rest
=q(t) =
r
X
i =1
"
q
a
i
q
T
a
i
g
spatial factor
#
2
6
4
1
i
Z
t
0
() sin
i
(t )d
temporal factor
i
(t)
3
7
5
truncated response is accurate if neglected terms are small, which is
true if:
q
T
a
i
g is small for i = r + 1, , n g is well approximated in the
range of Q
r
1
j
Z
t
0
() sin
j
(t )d is small for j > r, which depends on the
frequency content of (t)
(t) = 1
i
(t) =
1 cos
i
t
i
0 for large circular frequencies
(t) = sin t
i
(t) =

i
sin t sin
i
t
i
(
2
i

2
)
Mode acceleration method
M q +Kq = p(t) Kq = p(t) M q
apply truncated modal representation to the acceleration
q(t) = Q
r
y(t) q(t) = Q
r
y(t)
=Kq = p(t)
r
X
i =1
Mq
a
i
y
i
= q = K
1
p(t)
r
X
i =1
q
a
i
2
i
y
i
recall that
y
i
+
2
i
y
i
= q
T
a
i
p(t) (4)
and that for a system initially at rest
y
i
(t) =
1
i
Z
t
0
q
T
a
i
p() sin
i
(t )d (5)
(4) and (5) y
i
(t) = q
T
a
i
`
p(t)
i
R
t
0
p() sin
i
(t )d

Mode acceleration method (continue)
substitute in q(t) = K
1
p(t)
r
X
i =1
q
a
i
2
i
y
i
=q(t) =
r
X
i =1
q
a
i
q
T
a
i
i
Z
t
0
p() sin
i
(t)d+
K
1
r
X
i =1
q
a
i
q
T
a
i
2
i
!
p(t)
recall the spectral expansion K
1
=
n
P
i =1
q
a
i
q
T
a
i
2
i
=q(t) =
r
X
i =1
q
a
i
q
T
a
i
i
Z
t
0
p() sin
i
(t )d +
n
X
i =r+1
q
a
i
q
T
a
i
2
i
!
p(t)
which shows that the mode acceleration method complements the
truncated mode displacement solution with the missing terms using
the modal expansion of the static response (be careful however
which form of the modal acceleration solution you use!)
Direct time-integration methods for solving
_
_
_
M q +Kq = p(t)
q(0) = q
0
q(0) = q
0
will be covered towards the end of this course
Mechanical Systems Excited Through Support Motion
The general case
q =
_
q
1
q
2
_
where q
2
is prescribed
_
M
11
M
12
M
21
M
22
__
q
1
q
2
_
+
_
K
11
K
12
K
21
K
22
__
q
1
q
2
_
=
_
0
r
2
(t)
_
The rst equation gives
M
11
q
1
+K
11
q
1
= K
12
q
2
M
12
q
2
q
1
(t)
Substitute in second equation
= r
2
(t) = K
21
q
1
+M
21
q
1
+K
22
q
2
+M
22
q
2
Quasi-static response of q
1
0 +K
11
q
1
= K
12
q
2
0
= q
qs
1
= K
1
11
K
12
q
2
= Sq
2
Decompose q
1
= q
qs
1
+z
1
= Sq
2
+z
1
= q(t) =
_
q
1
q
2
_
=
_
I S
0 I
__
z
1
q
2
_
where z
1
represents the sole dynamics part of the response
Substitute in the rst dynamic equation and exploit above results
= M
11
S q
2
+M
11
z
1
+K
11
q
qs
1
+K
11
z
1
= K
12
q
2
M
12
q
2
=
_
M
11
z
1
+K
11
z
1
= g
1
(t)
g
1
(t) = M
11
q
qs
1
M
12
q
2
= (M
11
S +M
12
) q
2
Consider next the system xed to the ground and solve the
corresponding EVP
K
11
x =
2
M
11
x

Q = [ q
a
i
]
= z
1
(t) =

Q(t)
Solve M
11
z
1
+K
11
z
1
= g
1
(t) for z
1
(t) using the modal
superposition technique
Case of a global support acceleration q
2
(t) = u
2
(t), where
u = [u
1
u
2
]
T
denotes a rigid body mode
q
qs
1
= Sq
2
u
1
= Su
2
g
1
(t) = (M
11
Su
2
+ M
12
u
2
)(t)
= g
1
(t) = (M
11
u
1
+M
12
u
2
)(t)
Method of additional masses (approximate method)
suppose the system is subjected not to a specied q
2
(t) but to an
imposed
0
f(t)
suppose that masses associated with q

2
are increased to M
22
+M
22
then
M
11
M
12
M
21
M
22
+ M
22
q
1
q
2
K
11
K
12
K
21
K
22
q
1
q
2
0
f(t)
by elimination one obtains

q
2
= (M
22
+ M
22
)
1
(f(t) K
22
q
2
K
21
q
1
M
21
q
1
) and
M
11
q
1
+ K
11
q
1
= K
12
q
2
M
12
(M
22
+ M
22
)
1
(f(t) K
22
q
2
K
21
q
1
M
21
q
1
)
Method of additional masses (continue)
and therefore
{M
11
M
12
(M
22
+ M
22
)
1
M
21
} q
1
+
n
K
11
M
12
(M
22
+ M
22
)
1
K
21
o
q
1
= K
12
q
2
M
12
(M
22
+ M
22
)
1
(f(t) K
22
q
2
)
now if (M
22
+M
22
)
1
0 and if f(t) = (M
22
+M
22
) q
2
, one obtains
M
11
q
1
+K
11
q
1
= K
12
q
2
M
12
q
2
=M
11
q
1
+M
12
q
2
+K
11
q
1
+K
12
q
2
= 0
which is the same equation as in the general case of excitation
through support motion
for M
22
very large, the response of the system with ground
motion is the same as the response of the system with added lumped
mass M
22
and the forcing function
0
(M
22
+ M
22
) q
2
0
M
22
q
2
where q
2
is given apply same solution method as for problems of
response to external loading

CA Aa242b Ch2

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AA242B: MECHANICAL VIBRATIONS

AA242B: MECHANICAL VIBRATIONS

eective stiness matrix K

mutual kinetic energy T

AA242B: MECHANICAL VIBRATIONS

remains positive denite

AA242B: MECHANICAL VIBRATIONS

suppose that masses associated with q

by elimination one obtains

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