1 THE SCIENCE AND ART OF STRUCTURAL i DYNAMICS ; This introductory chapter is entitled The Science and Art of Structural Dynanv- ics to emphasize at the outset that the mathematical formulas and principles iscussed in this book only make it possible for you to “open the door it ‘of structural dynamics, Structural dyna 9f mathematical modeling and, in many case ‘must perform dynamic tests. This demands that cised in order that useful results may be obtained. Upon completion of this chapter you should be able to: Indicate when dynamics must be considered in a structural Name three phases of a dynamical investigation. + Write a paragraph on mathematical modeling of structures for dynamic analysis, ‘+ Write a paragraph on dynamical testing of structures. Introduction to Structural Dynamics What do a high-speed ground transportation vehicle moving along way, an offshore drilling platform located in the North Sea, and a jet flying through a thunderstorm have in safety, performance, and need for extensive analysis and lem to a prescribed loadi a deterministic analysis, If the time history of the loading is not com2. THE SCIENCE AND ART OF STRUCTURAL DYNAMICS in known, bot is known only ina statistical sense, the loading is said to be random. This text treats only prescribed dynamic loading. ‘structural dynamics problem differs from the corresponding static prob- Jem in two important respects. The first has been noted above, namely, the fme-varying, nature ofthe excitation. OF greater importance, however, is the fe played by accelerations in a structural dynamics problem. Figure |.) Showe 2 cantilever beam under static loading. The deflection and inter Stresses depend directly on the load P. On the other hand, Fig, 1.16 shows & Similar cantilever beam subjected toa time-varying load P(#). The acceleration of the beam gives rise toa distributed inertia force. If the inertia foree contrib- Stes significantly to the deflections and internal stresses in the structure, then required. | steps in a dynamical investigation. and testing, Frequently only one le, civil engineer might be asked Figure | ‘The three major steps are: design, analys or two of these steps are required. For exampl to perform a dynamical analysis of an existing dam and confirm the analysis by performing dynamic testing of the dam!" The results of this analysis and eating might lead to criteria for maximum water depth to ensure safety against re due to specified earthquake excitation. cers perform Entensve analysis and testing to determine the dynamical behavior of new car Gesigns!'™, Results of this analysis and testing frequently lead to design Ghanges that will improve the ride quality and economy ofthe vehicle This text treats primarily the analysis phase of a dynamical investigation, but techniques of structural dynamics tes also be discussed in order to emphasize the close relationship between theory and experiment. Also signif; ‘cant design parameter studies can be carried out using the computer program ‘Tucribed tater in this text or using other structural dynamies computer programs. Analysis of the Dynamical Behavior of Structures Perhaps the most demanding step in any dynamical analysis i the ereation of model of the structure, This process is illustrated by steps 2a F paysicaL, 5 1 1 ANALYSIS 3 DYNAMICAL BEHAVIOR REDESIGN t 1 i ! zi a = ea ee . ge Ee 8 3 E> 58 ge & 3 B Pee 8 ja jaf EXISTING STRUCTURE or Desan Drawing nd Data (assimpxions, satches, te CHANGES (assumptions, Fis ANALYTICAL se DESIGN, Figure 1.2. Steps in a dynamical investigation.4 THE SCIENCE AND ART OF STRUCTURAL DYNAMICS and 2b of Fig. 1.2. In step 2a you must contrive an idealized model of the structural system to be studied, a model essentially like the real system (which ‘may already exist or may merely be in the planning stages) but easier to ana- ly. This analytical model consists of: (1) a set of the simpli- .ssumptions made in reducing the real system to the analytical mode @ ‘a set of drawings depicting the analytical model, and (3) a list of the design. 3s, materials, ete.). ‘two basic categories: continuous models and uous model of a canti- must be considered in order to represent the effects of all forces is called the umber of degrees of freedom (DOF) of the system. Thus, a continuous model Ordinary D.E. mathematical model » Ordinary D.F. mathematical model ‘parameter model. (c) Three degree-of- ‘model—a more refined diserete-parameter THEYSCIENEE AND ART. GP SqGUG TURAL DYNAMICS = sooo0r ff 300 00r Ho “o “o represents an infinite DOF system. On the other hand, Figs. 1.3 and 1.3¢ depict finite DOF systems. The discrete-parameter models shown here are called Iumped-mass models because the mass of the system is assumed to be represented by a small number of point masses, or particles. The lumped-mass method and other techniques for creating discrete-parameter models will be discussed further in Chapters 2 and 11 In order to create a useful analytical model you must have clearly in mind the intended use of the analytical model, that is, the types of behavior of the real system that the model is supposed to represent faithfully. The complexity of the analytical model is determined by the types of behavior it must repre- sent. For example, Fig. 1.4 shows four different analytical models used in studying the dynamical behavior of the Apollo Saturn V space vehicle. The 30- DOF beam-rod model was used for preliminary studies and to determine full6 THE SCIENCE AND ART OF STRUCTURAL DYNAMICS, tice you will find that the entire process of ical model and then a mathematical model may be referred ‘THE SCIENCE AND ART OF STRUCTURAL DYNAMICS 7 odeling. In using a large computer to carry out a dynamical anal ematical NASTRAI cling task us body and a computer-generat fh was input to the computer. Com- 1as become an inva ‘models of structures. Once a mathematical model has been formulated, dynamical analysis is to solve the differential equ: ical response, The two types of dynamical behavi importance in st w Figure 1.5 (b) finite element model of bus body frame,8 THE SCIENCE AND ART OF STRUCTURAL DYNAMICS external sources, Thus, you. solve the differential equations of mi to spe ing time history of the motion of the structure. This constitutes t 1 conditions and inputs from external sources and structure, or the response, 1.3 Dynamical Testing of Structures pose of dynamical testing is to confirm a mathematical model ‘mation on loads and other alysi tunnel tests of airplane models. In other cases, when a full-scale structure is tests may be conducted on it. ‘na new structure (off-shore platform, airplane, ete.) is being is frequently necessary early in the design program to confirm the model experimentally and also to obtain significant di oads fe might experience in service. A physical model may be con jows a ground vibration test of a one- -model le models or smaller. ., further dynamical testing m must be subjected to exten: to actual flight of the v ogress on the Boeing YC-14 lace under the wing tip and Figure 1.7. Ground vibration Vibration Testing, Boeing Commercee aa eee Scope of the Text ‘The first major section of this text, encompassing Chapters 2 through 8, treats single degree-of-freedom (SDOF) systems. In Chapter 2 procedures are ibed for developing mathematical models of SDOF systems. Both New- iple of virtual displacements are employed, The free ration of undamped and viscous-damped systems is the topic of Chapter 3, whi response of SDOF systems to har- monic (i, s, pethaps, the most important topic in ‘THE SCIENCE AND ART OF STRUCTURAL DYNAMICS = 11 dynamic response. Chapters 5, 6, and 7 continue the discussion of dynamic response of SDOF systems. Chapter 5 treats the response of SDOF systems to particular input time histories, while Chapter 6 describes both the D integral method for d ing response to general prescribed inpu tories, and the use of response spectra to present the resul culations. In Chapter 7 two approaches to numer of motion of a SDOF system are presented. Part ‘where the response of SDOF systems to periodic exci and frequency domain techniques, which are currently widely used in dyn 1 are introduced as a natural extension of the discussion of pe ation of modes and frequencies irpose of Pa (0 provid t can be used for evaluating the accuracy of approximate mul Fe the subject of Pa in Chapter 1 ws can be used to derive mathematical models of some sms, the principal tool for deriving such models is the use of jous systems are approximated by MDOF assumed-modes method, which Towed in Chapter 14 by a brie for modes and ‘mode-superpasition. Two versions of m int method and the mode-acceleration method, are descle element method for creating MDOF mathematical ite element method, or of matrix structural a for Chapter to the important ‘models. Prior study ved using the ISMIS com- thod. Even readers who do I want to note the comparison ite-DOF models with “exact” continuous models as determined in Chapter 10. Chapter 18 provides an introduction to numerical techniques for direct integration to obtain the response of MDOF systems including nonlinear sys- tems. In Chapter 19 you will find an introduction to methods of component mode synthe Part III may appear cof modes and frequencies (Chay ion of response (Chapter (Chapter modes and frequencies (Chapter ‘modeling (Chapter 19), and calculation of response (Chapter 20), the di sion moves from topics of lesser complexity to those of greater complexity. reader who merely wishes to attain an introduction to the dynamics of MDOF systems need only study Chapters 11, 12, and 15, where fundamental concepts are presented. References 1.1 R. M. Stephen and J. G. Bouwkamp, “Dynamic Response of Morrow Point * Advances in Civil Engineering Through Engineering Mechanics, 302-305 ‘Combined Experimental and Analytical Procedure for System Dynamics,” Society of Automotive Engineers, ‘Level 16.0), National Aeronautics and Space ag ‘Systems, Report EERC 73- ia, Berkeley (June 1973, rev. “The QuarterSeale Space Shi ATAAJASME/ASCE/AHS 20th Struct PART | SINGLE DEGREE-OF- FREEDOM SYSTEMS2 24 MATHEMATICAL MODELS OF SDOF SYSTEMS roduced to the concept of mathematical modeling. ingle degree-of-freedom (‘ models, that y second-order ordinary In Chapter 1 you wer This chapter deals wi models which are d ie of virtual displacements wi tems. ‘of lumped-parameter sy ‘model. Use Newton's laws to derive the equation of motion of a single Use the prin assumed mode, to derive the equation of m ich represents a generalized-parameter SDOF model of a structure. Elements of Lumped-Parameter Models spring. Figure 2.1 shows a1 red massless spring and a plot of spring force spring: aeesus elongation. The spring force always acts along the fine joining the two structural materials, for small values of the ¢! ation, € = 1 — my thi ionship between force and elongation (contraction). This rel fa= ke Qu) i. The units of k are pounds per inch (Ib/ where k is called the spring con in.) or Newtons per meter (N/m). fn in the fundamental English and ‘units, for example, kip (= 1000 I16 _ SINGLE DEGREE-OF-FREEDOM SYSTEMS be | Figure 2.1. Force-deformation behavior of @ spring. clastic range a spring serves as an energy storage device. The ina spring when itis elongated (contracted) an amount ¢ within range is called strain energy and is given by 2) indicated as area under the f, versus e curve, Fig. 2.1 \s an energy storage device, there are also means ie, These are called ies have proposed numerous the exact nature of damping The most common analytical analyses is the linear The damping force fo is ‘cous dashpot model, w' given by So = et = 8) 23) the two ends of and is thus a linear fur the dashpot. The constant units are pounds per inch per second (Ib-sce/in.) or Newtons per meter per second (N-s/m), Figure 2.2. A linear viscous dashpot: MATHEMATICA BOLE OP eee Oe TSE ea an inertial reference frame.* The For structural dynamics probl @’Alembert force, or inertia force f= —ma es) “Then Eq. 2.4 can be written as an equation of dynamic equilibrium Dreat+DF-0 ertia force added to the resultant of the forces for a particle and for two bodies will be needed in Chapter 11, For the particle and ri ies of Fig. 2.3, tic energy is given by T= $m (point mass) @ T= $m(vig + Vi) + 4 low? _ (rigid body) where vis the linear velocity and w the angular velocity of the respective bodies, 2.2 Application of Newton's Laws to Lumped-Parameter Mod In this section, the equation of motion of several lumped-parameter models will be derived by using Newton's laws or, equivalently, the d'Alembert force418 SINGLE DEGREE-OF-FREEDOM SYSTEMS method. This will serve as a review of your previous studies of dynamics and will also introduce you to procedures employed in determining the mathemat- ical model of a SDOF system. Example 21 the equation of mation of the simple spring-mass- ical motion, and assume that the spring is ng constant A. Neglect air resistance, the mass of the spring, and any ‘damping in the spring. p(¢) isthe force applied to the mass by an external [Newton's laws to deri Fou Solution 1. Establish a reference frame and a displacement coordinate: sees x=0) the x: at the location where the spring is u direction, b. Draw a freebody diagram of the particle in an arbitrary displaced positon: +10 B= ma From the freebody di DP Sa~ fot W= md 2 4, Relate forces to motion variables Ss = ke = ku Jom c= ct ‘The sta w 0 displacement of the weight 1V on the linear spring is given by 1m position om Since ta is a constant, Eq. 5 can be rewritten as ima, + eu, + ku, = po) ted if the displacement of the system is rium configuration. ‘Thus, the weight force can be el20 SINGLE DEGREE-OF-FREEDOM SYSTEMS Example 2.1 may be considered to be the fiundamental equa- fon theory, You will be spending, to structural a great deal of diynamies problems both for SDOF systems and MDOF systems. In Example 2.1, Newton's second law was used forces were shown on the freebody diagram. Example 2. of inertia forces and al tant feature of support excitation, would experience during an so no inertia ‘earthquake. Example 2.2 ‘Use the d'Alembert force method im, Assume that the damping fo system can ye support a. Draw a freebody diagram of the mass including the inertia force along with the real forces: tne dynamic equilibrium equation: =D no From the freebody diagram P—fe~Jo—mu=0 MATHEMATICAL MODELS OF SDOF SYSTEMS ma + da — 2) + Ku 2) =P ye damping force and spring force are related hand side. Thus, [m+ cat ku = cet ke +p ” ‘equation of motion relative toan formulate the equation of motion in terms of the relative displacement weunz ‘ since the forces applied { mw + ow + kw = p= me ‘Thus, base motion has the effect of adding a reversed in forces, Equation 6 is much more useful tant than absolute motion and also sin io measure than the base velocity and ‘Newton's laws for a particle may be extended to give the following equa- (28) Jeration vector of the mass center of the body. )wing moment equations is also needed. (2.98) where moments are summed about the mass center, « is the angular acceler~ ation* of the body, and / is the mass moment of inertia about G; ¥ Mo = loa (2.9) ‘vis used later asa phase angle, However, this duplication should not cause confosion,MATHEMATICAL MODELS OF SDOF SYSTEMS = 23 22 SINGLE DEGREE-OF-FREEDOM SYSTEMS where Q isa fixed axis about which the body is rotating: or To Me = tea 20) is a point whose acceleration vector passes through G. Equation 2.9a only for fix form disk rolling without slipping). ane engine and the pylon that attaches ye beam makes an axis through Example 2.4 Solution raw a freebody diagram of the body in an arbitrary displaced position and identify the displacement coordinate: A heavy uniform disk is mounted at the end shaft and neglecting damping, derive the equation of motion for of the disk. The shaft is made of material with a shear modulus of elast Yi Ne, ae Fa ra24 SINGLE DEGREE-OF-FREEDOM SYSTEMS Solution aw a fe identity the di body diagram of the disk in an arbitrary displaced pos lacement coordinate: and b, Write the equation of motion: From Eq. 2.96, & DMo= bo From the frebody diagram vee ing torque, M, ‘and the angle o ees A whe a 1.8 4. Combine and simply r, tar (Bono © We Jone + }(22)o=0 lo "Notice that this has the form mb + kyo = 0 Which is similar to that obtained in previous examples MATHEMATICAL MODELS OF SDOF SYSTEMS 25 2.3 Application of the Principle of Virtual Displacements to Lumped- Parameter Models In the previous section you briefly reviewed elementary dynamics and saw "Newton's laws could be used directly or with the introduction of inertia f to obtain the equation of motion of a SDOF system. In this section you introduced to the principle of virtual displacements. Although it can be applied to problems particularly powerful when applied to bodies or when used to approximate continuous bodies by finite-DOF models (See. 2.4). Several definitions are needed at the outset. + A displacement coordinate is a quantity used in specifying the change of configuration of a system. + A constraint is a kinematical restriction on the possible configurations a system may assume. + A virtual displacement is an infinitesimal imaginary change of cor uration of a system consistent with its constraints, Figure 2.4 shows a rigid rod of length Z with a mass m attached at its tip. u andy can be used as displacement coordinates. However, the mass. m is ‘constrained to move in a circle by the equation of constraint vtveD (2.10) wand vare thus not independent. Infact, they can both be related to the single displacement coordinate 8 by u=Leoos8, v= Lsind Q ‘A Small change in configuration is also shown in Fig. 2.4. 68 represents a virtual displacement of the system. 8 and dy can be obtained graphically or by usi Eq. 2.11. For example, v + by = Lsin(d + 50) = L{sin 0 cos 50 + sin 80 cos 0) imal cos 60 = 1 and sin 60 = 50. Thus, Since 64 is inf v + by = Lin + L cos 0.60 by = (Leos 6) a0 (2.13)26 SINGLE DEGREE-OF-FREEDOM SYSTEMS. Figure 2.4. Const displacement virtual Similarly, bu = —(Lsin 8) 60 (2.136) + A set of generalized coordi inarly independent displace- coordinates which are consistent with the constraints and which are suf- ‘ent to describe an arbitrary configuration of the system. For example, 0 is ‘2 generalized coordinate for the SDOF system in Fig. 2.4. The symbols = 1,2,... N) are frequently employed as the labels for generalized s of an N-DOF system. «+ The virtual work, BW, is the work of the forces acting on a system as it undergoes a virtual displacement. The virtual work can be written 5W = 3° Oda, 2.14) + The generalized force, Oy wwantity which multiplies 8g, in form- ing the virtual work due to 54, That is, fq, = 1 and 5q, = 0 for j # 1. The concept of portant in structural dynamics, and you should become very famitiar this way of identifying generalized forces by noting the virtual work they do. Example 2.5 buted force acting on a rigid beam as la to the beam. MATHEMATICAL MODELS OF SDOF SYSTEMS = 27, Solution From the basic definition of work (force times distance moved) sw [ax nanao dr “0 al angular displacem 7 @ w= (2) 8) " ‘Two things should be noted about the same as ined by placing the st i ts centroid the generalized force Q, is given by Q, = pafL'/3. «The principle of virtual displacements as applied to dynamics problems ‘can now be stated as follows: For any arbitrary virtual displacement of a sys- tem, the combined virtual work of real forces and inertia forces must vanish, BW! = BWiag + BW = 0 as)28 SINGLE DEGREE-OF-FREEDOM SYSTEMS. Consider the following examples. Example 2.6 could easily be treated by using Newton's laws as in Sec. 2.2. However, Example 2.7 shows you the advantage of the virtual work formulation: Example 2.6 Aerive the equation of motion of the Use the principle of virtual displaceme ion of the idealized system shown below. Neglect gravity and assume sms ‘beam 2 Ri it soto porate heretic additional vitual di 2b) b. On a sketch of the displaced body show all the forces that can do work, including inertia forces. MATHEMATICAL MODELS OF SDOF SYSTEMS 29 «Write the virtual work equation: awr=o ° From Eq. 2b and the above figures, Lie ow = ~s4am — 4, 2) a — Mien) +52) — fA) = 0 4. Relate forees to mation variable. Sam hoo Gs m= (Ya ) “(5 Sy So= [(2E) b+ e+ tom BLL] «0 , 3 ‘Since 6 % 0, the equation of motion is (2) + (cL + (kao = (22) a0 a28 SINGLE DEGREE-OF-FREEDOM SYSTEMS. Consider the following examples. Example 2.6 could easily be treated by using Newton's laws as in Sec. 2.2. However, Example 2.7 shows you the advantage of the virtual work formulation: Example 2.6 Aerive the equation of motion of the Use the principle of virtual displaceme ion of the idealized system shown below. Neglect gravity and assume sms ‘beam 2 Ri it soto porate heretic additional vitual di 2b) b. On a sketch of the displaced body show all the forces that can do work, including inertia forces. MATHEMATICAL MODELS OF SDOF SYSTEMS 29 «Write the virtual work equation: awr=o ° From Eq. 2b and the above figures, Lie ow = ~s4am — 4, 2) a — Mien) +52) — fA) = 0 4. Relate forees to mation variable. Sam hoo Gs m= (Ya ) “(5 Sy So= [(2E) b+ e+ tom BLL] «0 , 3 ‘Since 6 % 0, the equation of motion is (2) + (cL + (kao = (22) a0 a1g the pri procedure forces, and (2) kinemat tual displacements, This is the reason that a sketch showing forces that do work and a sketch showing deformation replace the freebody diagram, which ial when Newton's laws are being used directly. , in Example 2.6 it would have been easier just to draw a free- body diagram and use Newton’s laws. When there are conn i id beams of mass mt as shown, Use the principle of virtual ‘of motion ofthe instrument package. Neglect A; Gy 2 Inetrument ockone ition Sketch the system in an arbitrary displaced configuration and also with an ial virtual displacement. Write the necessary kinematical equations: addi For small @ and small 58, mener(S)a ini (Em a =r+ lh, by= LO (Notice that since zis @ specified function of time, appears above. Also terms of the kn Therefore, bodies.) b. Ona sketch of the displaced body show all of the forces that do work, including all inertia forces24 32 SINGLE DEGREE-OF-FREEDOM SYSTEMS: work equation, Eq, 2.15: w= 0 @ ® = (28) 60 — mit 515 ~ Tid 30 = mit; bu; — Teal 88 — Ma bu, = 0 LAOH +2[(q) me] 00+ ace + ccz80 = 0 (002) 26-4 aka + (m+ anis|e=0 Finally, since i # 0, Bq, § requires that (# +2) 16+ 2k = —om + MLE © This isthe equation of motion of the system. tion of the form, [FG 4 4 Since 6q is an a lacement which is not necessarily zero, the express then, is the differential equation of ‘motion for the system, as you have seen in Examples 2.6 and 2.7. Ap Virtual Displacements to Continuous Models; The Assumed- Modes Method you observed that the principle of virtual displacements the task of deriving the equat ‘of connected rigid bodies. But the idea of rigid body, in tem, For example, if the so-called beam in Example 2.6 were to be MATHEMATICAL MODELS OF SDOF SYSTEMS 33. Bete e) of geometric boundary is and virtual displacements, inuous system in a manner of the system, The procedure is referred to approximates the fle be employed here to create @ SDOF as the assumed: propped cantilever beam is given by v(x, «). The geometric boundary condi- tions are 0, 1) = 40,1) = KL.) =0 7)34 SINGLE DEGREE-OF-FREEDOM SYSTEMS le virtual displacement, 6¥(.x, t), of the beam. is that it satisfy the same geometric boundary ‘The dotted curve shows a poss The only condition on u(x, conditions as v(x, 4), that is, = 6v(0, 1) = BML, = 0 Q. sense as v(x, (). R change of config ) that satisfies the geometric bound- 8 of in energy expression for the that appearing in the st tan order at least equal system (eg, Eq. 2.23) + An assumed-mode, or shape function, is an admissible function that is used to approximate the deformation of a continuous system. -d-parameter SDOF mode! of a continuous system, used. For example, the deflection curve of a beam To create a gene a single assumed-mode may be approximated by (2.19) may be employed as ¥(x), but a shape that can be be determined as the solution to an ordinary differ in the case of umped-parameter models le of virtual displacements may now be employed to create a — radius R and mass rigidly clamped mine the equation of motion of the disk. Let 0 be the dis Figure P2.1 MATHEMATICAL MODELS OF SDOF SYSTEMS 43 input from a wvels at constant along 2.4 An automobile is modeled as a limped mass m spring and dashpot as shown. Assume that the autom speed V over a road whose roughness is known as a function of posit the roadway. (a) Determine the equation of motion for the system. (b) Discuss some of the possible limitations of this model. by F Figure P24 2.5 For the system shown below, determinesthe equation of motion in the form mii + ole + ku = plo) where u is the vertical motion of point £, Assume smal id bar AE whose mass is M. ofl per us uA ua usNewton's laws, determine the equation of motion for small rotations about ey eo ; m axis A conto a Figure P26 Problem Set 2.3 2.7 Use the principle of virtual displacements to derive the equation of motion of the system in Fig. P2.3, ee ms 2.8 Use 10 derive the equation of Figure P2.10 ‘motion of the system in Fig, P2.5, Use w as the displacement coordinate. 2.9 Use the principle of virtual displacements to derive the equation of ‘motion of the system shown’ below. Let the angular displacement of the bar be the displacement coordinate. Assume small angles of rotation. The triangularly distributed load varies with time, but NV remains constant and horizontal 2.11 Inertia properties of masses are frequently measured by perf a pendulum test. In the figure Figure P29 bs 2.10 An aieplane landing gear system is modeled as a lumped mass m Figure P2.11 atached tan airplane by a spring and dashpot. The tire forces to the mass are modeled as resulting from the motion of the bottom of the spring, k, ‘Assume a constant speed V over a sinusoidally rough runway. Use the principle of virtual displacements to determine the equation of motion of the mass. E 2.12. Use the principle of virtual displacements to obtai Assume horizontal motion of the “airplane” mass M. motion of the system in Problem 2.6. the equation of46 SINGLE DEGREE-OF-FREEDOM SYSTEMS: Problem Set 2.4 Y p per unit volume has a tip mass M. x) = x/L, derive the equation of 2.14 Repeat Problem 2.13 using Y(x) = sin (wx/2L). tapered bar has a mass density p per Figure P2.16 2.17 A uniform cantilever beam has a constant horizontal force NV and a time-varying distributed transverse load p(x, #) as shown. Using a simple MATHEMATICAL MODELS OF SDOF SYSTEMS 47 polynominal for yx), derive the equation o!’ motion for transverse vibration of the beam cat iL an —— es - un wn _| Figare 72.17 2.18 An observation tower in an anflisement park can be model rigid uniform cylinder of mass Mc and radius R atop a slender uniform er of gra top of the column However, anslatinal and rotational nets of ‘must be included. ted tip force. Include the geometric stiffness contri- iis from both Mcand M,, ae te vis ry Figure P2.18