Chapter 2

Formulation of Equation of Motion

2.1 Introduction

The linear elastic single degree of freedom (SDOF) system without damping shown in Fig. 1.4 is
used here to illustrate the essential features of the dynamic problem. The properties of this
system are assumed to be defined and concentrated at discrete points. This type of idealization is
called a lumped mass system. The mass of the system is signified by the symbol m, and the
elasticity of the spring stiffness k. Since the system has a single degree of freedom the
displacement of the mass and spring components will be the same. Fig. 1.4 will be used to
explain and demonstrate the application of the four alternative methods of formulating the
equation of motion (EOM) for a dynamic system.
2.2 Free Vibration without Damping
We now consider the SDOF shown in Fig. 1.4. Here there is no external force and no loss of
energy takes place. During vibration, the spring deforms and accelerates the mass. The resulting
displacement of the mass varies with time and is denoted as x(t) at any instant of time. The
displacement x(t) is unknown and it is to be evaluated from the properties of the mass and spring.
This quantity is also called, in general, a response. It is the response of the system/structure to
the disturbance or x(t) excitation. This can be achieved by setting up an equation based on the
motion of the mass. For this purpose we make use of Newton’s Second Law of Motion.
2.2.1 Newton’s Second Law of Motion
As per this law,
Force = mass × acceleration (2.1)
..
Here acceleration is x(t ) at any instant of time. Double dots mean the second derivative of x
.. ..
w.r.t. time. RHS of Eq. (2.1) is m x (t ) or simply m x . In order to identify forces induced
during the motion, we draw a free body diagram (FBD) of the mass (Fig. 2.1).
In this configuration of SDOF, the only force acting on the mass is the spring force or resisting
force kx. For the purposes of derivation of the equation, we assume that forces, displacements,
velocities, and accelerations acting upward as positive. Therefore substituting various quantities
in Eq. (2.1) we get,
..
-kx = m x (2.2)

Rearranging Eq. (2.2), we get

..
m x + kx = 0 (2.3)
Equation (2.3) is the free vibration equation of motion of a SDOF system. The equation of
motion is a linear differential equation of second order with constant coefficient. The equation of
motion is for the free vibration without damping, since no damper is attached to the system. It is
called free vibration because no external load is applied to the system.
As we measure the displacement x from the static equilibrium position of the mass, the gravity
forces do not affect the equation of motion. The reason is that the static displacement (st)
experienced by the spring nullifies the weight (W) of the mass shown in Fig. 2.2.

We apply the above methodology to a frame shown in Fig. 2.3(a).

In this case the beam provides the mass. The columns are considered massless and provide the
resisting force (fs) (Fig. 2.3(b)). The resisting force
fs = kx (2.4)
where k is the stiffness of the columns assembled together. So substituting these quantities in
Eq. (2.1) we get,
..
-fs = m x (2.5)
..
i.e. from Eq. (2.4), -kx = m x

..
 mx + kx = 0

This is the same as Eq. (2.3). This means that a structure can be idealized as a spring – mass
system (Fig. 2.3(c)) for the purposes of dynamic analysis.

2.2.2 D’Alembert’s Principle

An alternate method of deriving the equation of motion is using D’Alembert’s Principle of

dynamic equilibrium. This is similar to applying principles of statics to establish equilibrium of
forces of a structure subjected to loads. Here we establish the equilibrium of the system/structure
in motion at each instant of time. For this purpose we make use of a concept called inertia force.
The inertia force is nothing but a product of mass and its acceleration and acting in a direction
opposite to the acceleration as described in Section 1.2. While considering the equilibrium of a
system, we take into account the inertia force also. First a FBD of the system with all the forces
acting on the system is drawn and then the principles of statics are used to develop the equation
of motion.
Figure 2.4 shows the FBD at time t with the mass replaced by its inertia force which is shown as
a dashed arrow because it is a fictitious force. As there are only vertical forces and equating
their sum to zero, i.e., V = 0, we get
..
mx + kx = 0

This is the same as Eq. (2.3).

We can apply the same technique to the frame. The free body diagram of the frame is shown in
Fig. 2.5.

..
Here fI is the inertia force and is equal to m x . AS before fs is the spring force and is equal to kx.
Applying D’Alembert’s principle,

fI + f s = 0 (2.6)
..
i.e., mx + kx = 0

This is the same as Eq. (2.3). Therefore the equation of motion can be obtained either by
application of Newton’s second law of motion or by D’Alembert’s principle.

2.2.3 Virtual Work Principle

Equation (2.3) may also be derived from the principle of virtual work. This principle states that
if a system of forces is given a virtual displacement consistent with the boundary conditions, then
the total work done by all the forces within the system is zero. If the mass in Fig. 2.1(a) is given
a virtual displacement x, the forces in this system are displaced an identical amount and the total
work done is given by
..
 m x  x  kx x  0 (2.7a)

..
[  m x  kx] x  0 (2.7b)

The negative signs take into account the fact that the associated forces act in the direction
opposite to the virtual displacement. Since the virtual displacement is arbitrary and non-zero,
Eq. (2.7b) is reduced
..
m x + kx = 0

which is the same as Eq. (2.3).

2.2.4 Hamilton’s Principle
This principle states that the sum of the variation of the kinetic energy, potential energy, and the
work done by the non-conservative forces acting on the system during an increment of time must
be zero. This principle is embodied in the following equation
t2 2 t2

  ( E  V )dt   Wdt  0
t1 t1
(2.8)

where E is the kinetic energy of the system; V is the potential energy of the system which
includes the strain energy and the potential of external conservative forces; W is the work done
by non-conservative forces acting on the system which includes damping forces and external
loads;  is the variation in time.

Now we use the Hamilton’s principle to derive the equation of motion of the SDOF system
shown in Fig. 2.1(a).

The kinetic energy of the system is given by

1 .. 2
E= kx (2.9)
2

The potential energy here is the strain energy of the spring and the same is expressed as
1 2
V  kx (2.10)
2
.
Generally, the non-conservative forces in the system are the damping force f D = c x and the
externally applied load P(t). The variation of the work done by these forces is the same as the
virtual work expression associated with them and is given by
.
W  P(t )x  c x x (2.11)

However, for a free vibration without damping, there is no external load and no damper is
attached to the system. Hence P(t) = 0 and c = 0. Accordingly, Eq. (2.11) is rendered to zero,
i.e., W = 0 (2.11a)

Substituting Eqs. (2.9), (2.10) and (2.11a) in Eq. (2.8), we get

t2
 1 .. 2 1 2  t2

t   2 m x  2 kx  dt  t (0)dt  0 (2.12)
1 1

Performing the variation of the first term

 t2
.. .

 [m x x kxx]dt  0
t1
(2.13)

 . .

The term  m x  x dt  is integrated by parts to yield
 

t
 .  t2 ..
2
t2 . .

 m x  xdt  m x δx   m x xdt
 
t1
  t1
t1 (2.14)

where
. d (x)
x
dt

In Hamilton’s principle it is assumed that the variation x vanishes at the limits of integration t1

and t2 and, therefore, the term in square brackets in Eq. (2.14) becomes zero. After this if the

remaining part of Eq. (2.14) is substituted in Eq. (2.13) the result may be written as
t2
 ..

t   m x  kx xdt  0
 (2.15)
1

Since x is arbitrary, Eq. (2.15) is satisfied when the terms in the brackets equate to zero, i.e.,
..
 m x  kx  0

..
 m x  kx  0

which is nothing but Eq. (2.3) itself. The method based on Hamilton’s principle is laborious than
the other three methods.

An essential step towards the solution of a dynamic problem is the establishment of the
governing equation of motion. Examples are presented in the book to demonstrate the
application of the above described methods of forming equation of motion for systems which
have been idealized in a representative manner.

2.3 Free Vibration with Damping

Now we attach a damper to the system. The damper will exert a force called damping force
 .
which is equal to c x , where c is the damping coefficient. This is proportional to velocity as
 

discussed earlier and is opposed to the motion. A damper with a system is shown in Fig. 1.10.
We now draw a free body diagram (FBD) of a damped system as in Fig. 2.6.

As per Newton’s II Law of motion,

. ..
 kx  c x  m x (2.16)

Rearranging
.. .
m x  c x  kx  0 (2.17)

Equation (2.17) is the equation of motion of free vibration with damping. In the case of a frame,
 .
the FBD is shown in Fig. 2.7. Here f D is the damping force and is equal to c x . Therefore
 

from Newton’s II Law of motion,

..
 fD  fs  m x (2.18)

Substituting various quantities in Eq. (2.18) and rearranging

.. .
m x  c x  kx  0

This is same as Eq. (2.17).

2.4 Forced Vibration

When a system is excited by a time varying force and vibrates under the influence of this
dynamic force, it is called a forced vibration. A SDOF system with a dynamic force is shown in
Fig. 2.8. The applied force varies time and hence indicated as P(t). In Fig. 2.8 a damper is also
shown and so it is a forced vibration with damping.

Forces acting on the system are shown in Fig. 2.9. As before we take forces acting upwards as
positive. The equation of motion is obtained from Eq. (2.1) with proper substitution of various
quantities. Therefore
. ..
P (t )  c x  kx  m x (2.19)

Rearranging,
 .. .
m x  c x  kx  P (t ) (2.20)

This is the equation of motion for a forced vibration with damping. If damping is not present in
the system, then Eq. (2.20) is reduced to
..
m x  kx  P (t )
(2.21)

Equation (2.21) is the equation of motion for forced vibration without damping.
2.5 Base/Earthquake Excitation
In a seismically active region, the important problem of structural dynamic that exercises the
minds of the structural engineering is the behaviour of structures subjected to earthquake –
induced motion of the base of the structure. The displacement of the ground is indicated by xg,
the total or absolute displacement of the mass by xt, and the relative displacement between the
mass and ground by x as in Fig. 2.10.
At each instant of time these displacements are related as
xt(t) = x(t) + xg(t) (2.22)
Both xt and xg refer to the same original reference frame and their positive directions coincide.
We follow the procedure of dynamic equilibrium here. From the FBD shown in Fig. 2.10(b), the
equation of dynamic equilibrium is
fI + f D + f s = 0 (2.23)
Here, the rigid – body component of the displacement of the structure does not produce any
internal forces. Therefore the relative motion x between the mass and the base due to structural
deformation only produces elastic and damping forces. For a linear system f s = kx and fD =
 .  .. 
 c x  are still valid. The inertia force fI is related to the acceleration  x (t )  of the mass
   

..
f I  m xt (2.24)

Substituting expressions for various quantities in Eq. (2.23), we get

.. . ..
m x  c x  kx   m x g (t ) (2.25)

This is the equation of motion governing the relative displacement or deformation x(t) of the
 .. 
linear structure of Fig. 2.10(a) subjected to base or ground acceleration  x g (t ) .
 

Comparison between Eq. (2.20) and (2.25) discloses that the equation of motion for the structure
 .. 
subjected to two separate excitations – ground acceleration  x g (t )  and external force
 
 ..

  m x g (t )  are one and the same. Thus the relative displacement x(t) of the structure due to
 
 .. 
ground acceleration  x g (t )  will be identical to the displacement x(t) of the structure if its base
 
  ..
were stationary and if it were subjected to an external force   m x g (t )  . As shown in Fig. 2.11,
 
the ground motion can be, therefore, be replace by the effective earthquake force:
 ..

Peff (t) =   m x g (t )  v
 
(2.26)
This force is a product of mass and the ground acceleration, and acts opposite to the acceleration.
It is important to recognize that the effective earthquake force is proportional to the mass of the
structure.
2.6 Evaluation of the Stiffness of the System
In the case of structural vibration, the stiffness can be evaluated from the geometry and
dimensions of members of the structure. We are familiar with structural influence coefficients
from structural analysis. Various coefficients in the case of a beam in different degrees of
freedom are shown in Fig. 2.12.

The nodes and the degrees of freedom for a planar member are shown in Fig. 2.13. We make use
of these details in calculating the stiffnesses of the structure. The axial stiffness is given in Fig.
2.14.

For a simple beam, the maximum deflection at mid-span is given by

WL3
 
48EI

 48 EI 
For unit deflection, force required is  3  . This is the vertical bending stiffness of a simple
 L 
beam. A simple beam can be idealized with the selfweight as mass and the bending stiffness
 48 EI 
 3  as the spring constant k. We apply the above information to determine the stiffness of a
 L 
frame. In the case of a frame weight of the beam is considered as mass and lateral bending
stiffness of the columns as spring force or resisting force, fs.
In the case of a linear system, the lateral force f s bears a linear relationship with the resulting
deformation, x, i.e.,
fs = kx (2.27)
where k is the lateral stiffness of the frame.
In Eq. (2.27), the resisting force fs is s single-valued function of x. Therefore the system is
elastic and hence we use the term linearly elastic system.
We consider a frame shown in Fig. 2.15(a). The lateral stiffness of the frame can be determined
based on the rigidity of the beam.

(a) If the beam is rigid, i.e., EIb =  (Fig. 2.15), then

12EI c EI
k  3 = 24 3c (2.28)
columns h h

(b) If the beam is flexible and has no stiffness, i..e., EIb = 0,

3EI c EI
k  3 = 6 3c (2.29)
columns h h

It is worth noting that for the two extreme values of beam stiffness, the lateral stiffness of the
frame is independent of L, the beam length or bay width.
Example 2.1: Calculate the lateral stiffness of the frame shown in Fig. 2.16(a) assuming the
elements to be rigid axially.
Solution
As in Fig. 2.16 the system has three DOFs, i.e., x1, x2, and x3. First we apply unit displacement in
x1 DOF with x2 = x3 = 0. The forces ki1 required to maintain the deflected shape is depicted in
Fig. 2.16(b). These are determined using the stiffness coefficients for a uniform flexural
element presented in Fig. 2.12.
Next we impose x2 =1 with x1 = x3 = 0 and determine ki2 forces. These are shown in Fig. 2.16(c).
Similarly, we let x3 =1 with x1 = x2 = 0 and calculate ki3 forces. If we assemble these stiffness
coefficicnets into a matrix form, we get a 3 × 3 stiffness matrix of the frame. For a frame with I b
= Ic subjected to lateral force fs, the equilibrium equations are written as

 24 6h 6h   x1   f s 
EI c     
3 
6h 6h 2 h 2   x 2    0  (a)
h
6h h 2 6h 2     
x   0 

The joint rotations x2 and x3 are expressed in terms of the lateral displacement x1. For this
purpose, we expand the second and third equations as follows.
 EI c
h 3
 
6hx 1  6h 2 x 2  h 2 x3 )  0 (b)

and

EI c
h 3
 6hx 1  h 2 x 2  6h 2 x3 )  0 (c)

Simplifying Eqs. (b) and (c) and rearranging, we get

6h2x2 + h2 x3 = -6hx1 (d)
h2x2 + 6h2x3 = -6hx1 (e)
In matrix form,

6h 2 h 2   x2  6h 
 2 2      x1 (f)
h 6h   x3  6h 
1
x2  6 h 2 h 2  6h 
     2    x1 (g)
 x3  h 6h 2  6h 

Simplifying this, we get

 x2  6 1
  x1 (h)
 x3  7 h 1

Substituting Eq. (h) into the first equation in Eq. (a), we get

 24EI EI 6 1  96  EI c 
f s   3 c  3c (6h 6h)  x 1   x1 (i)
 h h 7h 1  7  h3 

Thus the lateral stiffness of the frame is

96 EI c
k (j)
7 h3
This procedure of elimination of joint rotations is known as static condensation method.
The lateral stiffness of the frame can be computed similarly for any values of I b and Ic using the
frame stiffness coefficients presented in Fig. 2.12.
Example 2.2: A frame with column height 5 m and beam length 6 m consists of beam of size 230
mm × 500 mm and of column size 230 mm × 230 mm (Fig. 2.17). Calculate the lateral stiffness
of the frame considering the beam very rigid. The beam and columns are all of the same material
and E = 30000 N/mm2. Also write the equation of motion.
Solution
1
Ib   230  500 3  2.4  10 9 mm 4
12

1
Ic   230  230 3  2.3  10 8 mm 4
12

As the beam moment of inertia is substantially large compared to that of column, the beam is
very rigid. Therefore from Eq. (2.28)

24EI c 24  30000  2.3  10 8

k 3
 3
 1324.8 N/mm  1.3248  10 6 N/m
h 5000

Mass of the beam (m) = 6  0.23  0.5  2500  1.725  10 3 kg

In SI system, the unit of mass is kg and unit of stiffness is N/m.

The equation of motion of the lateral motion of the given frame is obtained by substituting values
in Eq. (2.3),
..
1.725  10 3 x  1.3248  10 6 x  0
..
or 1.725 x  1324.8x  0

In terms of dimensions the above expression can be written as

m N
kg 2
  m  0; N  N  0; ΣForce  0
s m

If we assume that the beam is also of size 230 mm × 230 mm so that I b = Ic then the lateral
stiffness is obtained from Eq. (j) of Example 2.1 by substituting relevant values.

96 30000  2.3  10 8
k   757.03 N/mm = 0.757 × 106 N/m
7 5000 3

If we take into the flexibility of the beam, the lateral stiffness of the frame is less than that of the
case with beam being rigid, i.e., the frame is more flexible than that of the case with rigid beam.
Now the equation of motion becomes
..
1.725  10 3 x  0.757  10 6 x  0
..
or 1.725  10 3 x  0.757  10 6 x  0
Here we idealize the beam as a mass; and assume the columns massless and offer only stiffness
to the frame.
Example 2.3: The plan dimension of an industrial building (Fig. 2.18(a)) is 6 m × 10 m. In the
north – south direction it consists of moment resisting frames (Fig. 2.18(b)) and in the east –
west direction braced frames (Fig. 2.18(c)) are used. The weight of the structure is 25 kg/m 2
lumped at roof levels. The horizontal cross bracing is at the bottom chord of the roof trusses. All
columns consist of ISMB 250 sections. Take Ix = 5131.6 cm4, Iy = 334.5 cm4, A = 47.55 cm2, Zx
= 410.5 cm3 Zy = 53.5 cm3 and E = 2 × 105 N/mm2. The vertical cross-bracings are made of 25
mm diameter rods. Formulate the equation of motion for free vibration in (i) N – S direction and
(iiz) E –W direction.

Solution
The mass lumped at the roof is
m = 25 × 6 × 10 = 1500 kg.
Because of the horizontal cross-bracing, the roof can be treated as a rigid diaphragm.
(i) North – South direction

There are four columns. So the lateral stiffness of the two moment resisting fames
(Fig. 2.18) is

 12EI x   12  2  10 5  5131.6  10 4 
k N S  4  3
  4    7697.4 N/mm  7.6974  10 6 N/m
 h   40003 

The equation of motion is

..
1500 x  7.6974  10 6 x  0

(ii) East – West direction

A braced frame is shown in Fig. 2.18(c). It is usually designed as two systems
superimposed together, i.e., an ordinary rigid frame, that supports gravity loads like
dead and live loads, and a vertical bracing system, to resist the lateral forces. The
vertical bracing system is considered as a pin connected truss. Thus the lateral
stiffness of a braced frame can be estimated as the sum of the lateral stiffnesses of
individual braces. As in Fig. 2.18, the lateral stiffness of the brace can be determined
as follows.
The axial deformation of the brace is
PL
δ (b)
AE
In terms of force,
 AE
P δ (c)
L

From statics, the horizontal component of P is

fs = P cos (d)
The horizontal component x from kinematics is

x (e)
cos 
f
From Eq. (d), P  s (f)
cosθ
From Eq. (e),  = x cos (g)
Substituting Eqs (f) and (g) in Eq. ©
fs AE
 x cosθ (h)
cosθ L
AE
fs  x cos 2 θ (i)
L
= kbrace x
where
AE
k brace  cos 2 θ (j)
L
6 6
From Fig. 2.18(c), cos    0.832
6 4
2 2
36  16

A  25 2 = 490.87m2; L = 6 2  4 2  7.211 m
4
Substituting these values in Eq. (j),
490.87  2  10 5
k brace   0.832 2  9424.27 N / mm  9..424  10 6 N / m
7.211  10 3

Even though, there are two braces, the one under tension only will contribute for lateral
resistance whereas the brace under compression will buckle under axial load and hence its
contribution towards lateral stiffness is almost nil. There are two frames. Considering them both,
the lateral stiffness in East – west direction is

k E  W  2  9.424  10 6  1.885  10 7 N/m

The equation of motion is

..
1500 x  1.885 10 7 x  0

Example 2.4: Write the equation of motion of the RC frame shown in Fig. 2.19. The size of the
beam is 230 mm × 500 mm. The size of the column AB is 230 mm × 300 mm and that of CD is
230 mm × 230 mm. Take E = 24000 N/mm2.

Solution
We first calculate the moment of inertias of members of the portal.
1
Beam: I =  230  500 3  2.875  1010 mm 4
12

1
Column AB: I =  230  3003  5.175 108 mm 4
12

1
Column CD: I =  230  2303  1.62  10 6 mm 4
12

Here the beam is rigid. So, we calculate the translational stiffness of columns AB and CD from
Fig. 2.12.

12  24000  5.175 108

k AB  3
 1192.32N/mm  1.192 10 6 N/m
5000

12  24000 1.62  108

k ACD   1728 N/mm  1.728  10 6 N/m
30003

The translational stiffness of the portal is given by

k AB  k CD  1.192  10 6  1.728  10 6  2.92  10 6 N/m

The mass of the beam

m  0.23  0.5  4  2500  1150kg  1.15  103 kg

The equation of motion of the portal from Eq. (2.3) is

..
1.15  10 3 x  2.92  10 6 x  0
..
1.15 x  2920x  0

Example 2.5: A simply supported RC beam of width 150 mm and depth 300 mm has a span of 4
m. Considering the mass of the beam concentrated at the centre, write the equation of motion of
2
the beam when it vibrates vertically. Take E = 28000 N/mm .

Solution

The moment of inertia of the beam

1
I 150  3003  3.375  108 mm 4
12

From Section 2.6, stiffness of the beam

 48  28000  3.375 10 8
k 3
 7087.5N/mm  7.09 10 6 N/m
4000

Mass of the beam

m  0.15  0.3  4  2500  450 kg

From Eq. (2.3), the equation of motion of the beam is

..
450 x  7.09 10 6 x  0

Example 2.6: The span of a fixed beam is 5 m. The size of the beam is 250 mm × 500 mm. The
beam is made of reinforced concrete with modulus of elasticity E = 30000 N/mm 2. For the
vertical vibration of the beam, write the equation of motion.
Solution
Moment of inertia of beam
1
I  250  5003  2.604  109 mm 4
12

The stiffness of the fixed beam in the vertical mode is

192EI 192  30000 2.604109

k   119992.32N/mm  1.20 108 N/m
L3 50003

Mass of the beam

m  0.25  0.5  5  2500  1562.5 kg

The equation of motion from Eq. (2.3) is

..
1562.5 x  1.2 108 x  0
..
1.56 x  1.2  10 5 x  0

Example 2.7: A mass m is attached to the midpoint of a light elastic cable 6.8 m long as in Fig.
2.20. The ends of the cable are attached to two points 7.6 m apart in the same horizontal plane.
Write the equation of the mass if it is displaced by a small quantity perpendicular to the
centerline of the cable.

Solution
From Fig. 2.20, tension in the cable when the mass m is displaced by a small quantity x is
 T
EA
3.4
 3.8 2  x 2  3.4 
We assume that the mass of the cable is negligible and also that there is no damping in the

system. The elastic restoring force that is active on the displaced mass is

2Tx 2EAx  3.4 

 1  
3.8 2  x 2 3.4  3.8 2  x 2 

Here x is small. So, higher order terms x2 in the bracket may be neglected. Due to this
EAx
assumption the restoring force causing acceleration of the mass becomes .
16.15

From Eq. (2.3), the equation of motion is

.. EAx
m x 0
16.15

Example 2.8: A cantilever beam of width 100 mm and depth 200 mm has a span of 3 m. It
carries a mass of 500 kg at its free end. The material of the beam is reinforced concrete and its E
= 27000 N/mm2. The viscous damping coefficient is 7.0×102 N/m/s. Neglecting the mass of the
beam, write the equation of motion of the beam.
Solution
Moment of inertia of the beam
1
I 100  200 3  6.67 10 7 N/mm
12

The stiffness of the cantilever is

3EI 3  27000  6.67 10 7

k 3
 3
 200 N/mm  2 105 N/m
L 3000

Mass of the cantilever is

m = 0.1×0.2×3×2500 = 150 kg
From Eq. (2.17), EOM of the mass is
.. .
500 x  7 10 2 x  2 10 5 x  0
.. .
5 x  7 x  2000 x  0
Example 2.9: We consider a RC portal frame shown in Fig. 2.21 subjected to a horizontal
dynamic excitation of 0.05ω2sin ωt at joint B. The viscous damping of the frame is 4.5×10 2
N/m/s. Write the EOM for the frame by taking E = 30000 N/mm2.

Solution
Moment of inertia of the beam
1
Ib   230  2303  2.33 108 mm 4
12

Moment of inertia of column

1
Ic   230  2303  2.33 108 mm 4
12

Here Ib = Ic
From Eq. (j) of Example 2.1 the lateral stiffness of the frame is

96 30000  2.33 108

k  3
 766.9 N/mm  7.67 105 N/m
7 5000

Mass of the beam is

m = 0.230.2352500 = 661.25 kg
From Eq. (2.20), the equation of motion of the frame is
.. .
661.25 x  4.51 10 2 x  7.67  10 5  0.05 ω 2 sin ωt

Example 2.10: A steel portal frame shown in Fig. 2.22 is subjected to a ground acceleration
0.5gsint. Its viscous damping is 2102 N/m/s. The moment of inertia of the beam is 3109
mm4 and that of column 2107mm4. Write the equation of motion of the frame. The mass of the
beam is 250 kg and E = 200 kN/mm2.

Solution
Moment of inertia of beam is far greater than that of the columns. Hence, we use Eq. (2.28) to
calculate the lateral stiffness of the frame

24  2  105  2 10 7
k  1500 N/mm  1.5  10 6 N/m
40003
From Eq. (2.25), equation of motion of the frame under base excitation is
.. .
250 x  200 x  1.56 10 6 x  0.5g sin ωt

Points to //remember

 The displacement x(t) of the mass at any instant of time is called response

 The response can be achieved by setting up an equation of motion (EOM)

 Force = mass  acceleration

 In a FBD, the forces acting on a mass are inertia force, resisting force, damping force, and
dynamic excitation
.. .
 General EOM is m x  c x  kx  P(t)

EA
 Axial stiffness of a member is
L

4EI 2EI
 For unit rotation stiffness coefficients of a member at near end and at far end ,
L L

6EI
transverse stiffness is
L2

 For unit translation,

6EI
stiffness coefficients of a member at near and far ends ,
L2

12EI
transverse stiffness is
L3

48EI
 Bending stiffness at mid-span of a simple beam is
L3

12EI c
 With rigid beam in a frame, its lateral stiffness is  h3
6EI c
 With flexible beam in a frame, its lateral stiffness is  h3

Exercises
1. What is an equation of motion (EOM)?
2. List the methods to obtain EOM.
3. What is Newton’s Second Law of motion?
4. What is D’Alembert’s principle?
5. What is the product of mass and acceleration called?
6. Derive the EOM using the Hamilton’s principle.
7. Write the EOM for forced vibration with damping.

8. Write the EOM for a propped beam of span 3 m with I = 2.65108 mm4, E = 26000
N/mm2 and m = 250 kg.
9. Write the equation governing the free vibration of the system shown in Fig. 2.23.
10. Writ the equation of motion of the one-storey and one-bay frame shown in Fig. 2. 24.