MECA0029 - THEORY OF VIBRATION

List of questions

1. Analytical dynamics of discrete systems.

1.1 Using the notations of Figure 1.1, define the concept of virtual displacement and write the principle of
virtual work for one particle. Generalize the principle for a system of N particles.

Figure 1.1

1.2 Starting from the description of the state of a system of N particles in terms of the following equation,

describe the different types of kinematic constraints that may exist in mechanical systems. Define and
illustrate the concept of generalized co-ordinates using examples.

1.3 Using time-integration of the virtual work principle for N particles in the form

demonstrate Hamilton’s principle for conservative systems.

1.4 Explain what means Hamilton’s principle written in the form

Starting from the general expressions of T and V in terms of displacement and velocity, deduce the
Lagrange equations.

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1.5 Starting from the definition of the kinetic energy of a system of N masses

and using the concept of generalized coordinates,

explicit the structure of the kinetic energy. Inserting this result into Lagrange’s equations, describe
then the classification of generalized inertia forces.

1.6 Describe how to apply Hamilton’s principle in the case of constrained dynamical systems.

2. Undamped vibrations of n-degree-of-freedom systems

2.1 Define the different terms that appear into the Lagrange equations in the general case i.e.

Starting from this equation, discuss the concept of equilibrium configuration. Establish the equations of
motion governing the free vibrations of a system about a stable equilibrium position when the system
does not undergo overall motion. How are the equations of motion modified when the system is
undergoing a steady motion?

2.2 Introduce the concept of normal modes of vibration. Examine also the case of systems with a neutrally
stable equilibrium configuration. Discuss the orthogonality relationships of normal modes.

2.3 Determine the response of a vibrating system to non-zero initial conditions (including the case when
rigid-body modes are present).

2.4 Define the concept of dynamic influence coefficient. Derive an expression for the spectral expansion of
the FRF matrix. Discuss the case of systems with and without rigid-body modes. Define the concept of
pseudo-resonance.

2.5 Calculate the response to external loading through modal expansion. Show how each normal equation
may be integrated numerically.

2.6 Describe the effect of truncation of the response in the mode superposition method. Show how this
effect may be partially corrected using the mode acceleration method.

2.7 Show how to use the method of additional masses to approximate the response of a system submitted
to ground acceleration excitation.

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2.8 Explain why the concept of effective modal masses is useful when the support of a structure
undergoes a rigid body motion. Define what the different terms represent in the following equation:

3. Damped vibrations of n-degree-of-freedom systems

3.1 Write the normal equations for a damped system. Introduce the assumption of modal damping and
discuss its validity in the case of a lightly damped structure.

3.2 Calculate the forced harmonic response of a damped system. Derive the spectral expansion of the
FRF matrix in the general case of low damping.

3.3 Discuss the concept of identification using force appropriation testing.

3.4 Explain what are the different terms of the FRF matrix written in the form

How can this equation be used for modal identification? What is the information that can be
extracted from the identified variables? What is the difference between a complex mode and a real
mode?

4. Continuous systems

4.1 Define the Green’s strain tensor. Apply Hamilton’s principle to a continuous system and derive the
equations of motion.

4.2 Write Hamilton’s principle in the case of prestressed structures and discuss the case of structural
stability analysis.

5. The finite element method

5.1 Introduce the concept of finite elements using the bar in extension as example.

5.2 Apply the finite element method to beam in bending without shear deflection. Extend the method to the
case of a three-dimensional beam element.

6. Solution methods for the eigenvalue problem

6.1 Describe the concept of reduction of the size of an eigenvalue problem using the static condensation
method.

6.2 Describe the concept of mechanical impedance and how it can be used for substructuring a finite
element model.

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7. Direct time-integration methods

7.1 Introduce the general formula for direct integration of first-order systems. Define the concept of an
explicit or implicit integration scheme.

7.2 Applying Newmark’s integration formulas:

describe the Newmark’s integration algorithm for linear systems. According to Figure 7.2 and to the
expressions of amplitude and periodicity errors given by the following equations:

discuss the stability and the accuracy of the method with respect to the choice of parameters and of
the time-step.

Figure 7.2

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7.3 Describe the α-method of Hilber-Hughes-Taylor and compare it to Newmark’s method using Figure
7.3.

Figure 7.3

7.4 Explain how Newmark’s algorithm can be extended to nonlinear systems of general form:

As a reminder, Newmark’s integration formulas write:

8. Introduction to nonlinear systems

8.1 Describe the different sources of nonlinearity in mechanical systems.

8.2 Explain what the main challenges are in nonlinear dynamics.

8.3 Apply the harmonic balance method to the example of the Duffing oscillator:

to calculate an approximation of its free response.

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