CE 809 - Structural Dynamics

Lecture 8: Formulation of Mathematical Model of MDF Systems

Semester - August 2019

Dr. Fawad A. Najam Prof. Dr. Pennung Warnitchai

Department of Structural Engineering
NUST Institute of Civil Engineering (NICE)
National University of Sciences and Technology (NUST)
H-12 Islamabad, Pakistan
Cell: 92-334-5192533, Email: fawad@nice.nust.edu.pk
Head, Department of Civil and Infrastructure Engineering
School of Engineering and Technology (SET)
Asian Institute of Technology (AIT)
Bangkok, Thailand
 Simplest Idealization of a Multi-story Building

• Consider the simplest idealization of a multistory 𝑚𝑁

𝑁
building.

• In this idealization, we assume that

1) the columns supporting the floor systems are 𝑚𝑗
massless. 𝑗
𝑘𝑗
2) the entire mass of the structure is concentrated at
the floor levels.
𝑚2
3) the floor systems and beams are rigid whereas the 2
columns are flexible to lateral deformation but rigid
in the vertical direction. 𝑚1
1

4) the structure is supported on rigid ground.

A. K. Chopra (1980): Earthquake Dynamics of Structures – A Primer

2
 Simplest Idealization of a Multi-story Building

𝑚𝑁
• This so-called “shear building model” is useful in 𝑁
developing the basic concepts of multistory building
dynamics.

• The masses concentrated at the floor levels are denoted by 𝑚𝑗

𝑗
𝑚1 , 𝑚2 , . . . 𝑚𝑁 where 𝑚𝑗 = mass at the 𝑗𝑡ℎ floor. 𝑘𝑗

• The stiffness properties of the linear structure are

characterized by the lateral stiffness 𝑘1 , 𝑘2 , . . . 𝑘𝑁 of individual 𝑚2
2
stories, where 𝑘𝑗 = lateral stiffness of the 𝑗𝑡ℎ story, i.e. the
story shear force required to cause unit deformation in the 𝑚1
story. 1

3
 𝑚𝑁 Simplest idealization of a multi-story building
𝑁

𝑚𝑗
𝑗
𝑘𝑗

𝑚2
2

𝑚1
1 𝑘𝑗
 Formulation of Equations of Motion
by Direct Dynamic Equilibrium Approach

𝑢2
𝑚2
Let’s first consider a two-
𝑝2 (𝑡)
degree-of-freedom undamped
system as shown in the figure.
𝑢1
𝑚1
𝑝1(𝑡)

5
 Formulation of Equations of Motion

𝑢2
𝑚2
𝑝2 (𝑡)
𝑓𝐼2
𝑝2 (𝑡)
𝑢1 𝑓𝑠2
𝑚1 𝑎
𝑓𝐼1
𝑝1(𝑡) 𝑓𝑠1
𝑓𝑠1 𝑝1(𝑡)
𝑏
𝑓𝑠1

Free-body diagrams

6
 Formulation of Equations of Motion
𝑢2
𝑚2
𝑝2(𝑡) 𝑓𝐼2 (𝑡) + 𝑓𝑠2 (𝑡) = 𝑝2 (𝑡) …… (1)

𝑢1
𝑚1 𝑓𝐼2
𝑝1(𝑡) 𝑝2 (𝑡)
𝑓𝑠2
𝑎
𝑓𝐼1
𝑓𝑠1
𝑓𝑠1 𝑝1(𝑡)
𝑏 (𝑡) 𝑏
𝑓𝑠1 = 𝑘1 𝑢1(𝑡) … (3) 𝑓𝑠1

𝑓𝑠2(𝑡) = 𝑘2 (𝑢2(𝑡) − 𝑢1(𝑡) ) …… (4)

𝑏 (𝑡) 𝑎 𝑡
𝑓𝐼1(𝑡) + 𝑓𝑠1 − 𝑓𝑠1 = 𝑝1(𝑡) …… (2)
𝑎 (𝑡)
𝑓𝑠1 = 𝑘2 (𝑢2(𝑡) − 𝑢1(𝑡) ) …… (5)
7
 𝑓𝐼2
𝑓𝐼1(𝑡) = 𝑚1 𝑢1(𝑡) …… (6)
𝑝2 (𝑡)
𝑓𝑠2
𝑎
𝑓𝐼1
𝑓𝐼2 (𝑡) = 𝑚2 𝑢2(𝑡) …… (7) 𝑓𝑠1
𝑓𝑠1 𝑝1(𝑡)
𝑏
𝑓𝑠1
Free-body diagram

8
Introducting Equations (3) to (6) in Equations (1) and (2), we get

𝑚1 𝑢1(𝑡) + 𝑘1 𝑢1(𝑡) + 𝑘2 (𝑢1(𝑡) − 𝑢2 (𝑡)) = 𝑝1(𝑡) …… (8)

𝑚2 𝑢2(𝑡) + 𝑘2 (𝑢2 (𝑡) − 𝑢1(𝑡) ) = 𝑝2(𝑡) …… (9)

Equations (8) and (9) governs the motion of two-story 𝑓𝐼2

idealized structural system. 𝑝2 (𝑡)
𝑓𝑠2
𝑎
𝑓𝐼1
𝑓𝑠1
𝑓𝑠1 𝑝1(𝑡)
𝑏
𝑓𝑠1

Free-body diagram
9
Equations (8) and (9) can be written in matrix form as

𝑚1 0 𝑢1 (𝑘1 + 𝑘2 ) −𝑘2 𝑢1 𝑝1 (𝑡)

+ 𝑢2 = 𝑝2 (𝑡) …… (10)
0 𝑚 2 𝑢2 −𝑘2 𝑘2

Using the following notation, 𝑓𝐼2

𝑢1 𝑢1 𝑝1 (𝑡) 𝑝2 (𝑡)
𝒖= 𝑢 𝒖= 𝒑(𝑡) = 𝑓𝑠2
2 𝑢2 𝑝2 (𝑡)
𝑓𝐼1
𝑚1 0 (𝑘1 + 𝑘2 ) −𝑘2 𝑎
𝑓𝑠1
𝑴= 𝑲=
0 𝑚2 −𝑘2 𝑘2 𝑓𝑠1 𝑝1(𝑡)
𝑏
𝑓𝑠1
Equation (10) can be written as

Free-body diagram
𝑴𝒖 + 𝑲𝒖 = 𝒑(𝑡) …… (11)

10
 Formulation of Equations of Motion

Now, let’s return back to an N-story building (N-degree- 𝑚𝑁

𝑁
of-freedom-system) as shown in the figure.

The displacement and external force vectors are

𝑢1 𝑝1 (𝑡) 𝑚𝑗
𝑗
𝑢2 𝑝2 (𝑡) 𝑘𝑗
⋮ ⋮
𝒖 = 𝑢𝑗 𝒑(𝑡) = 𝑝 (𝑡)
𝑗
⋮ ⋮ 𝑚2
2
𝑢𝑁 𝑝𝑁 (𝑡)
𝑚1
1

11
 Formulation of Equations of Motion

𝑚𝑁
𝑁
𝑚1
𝑚2
𝑴= ⋱ 𝑚𝑗
𝑗
𝑚𝑗 𝑘𝑗

⋱
𝑚𝑁 2
𝑚2

𝑚1
1

12
 Formulation of Equations of Motion

𝑚𝑁
𝑁
𝑘1 + 𝑘2 −𝑘2

−𝑘2 𝑘2 + 𝑘3 −𝑘3
𝑚𝑗
−𝑘3 𝑘3 + 𝑘4 −𝑘4 𝑗
𝑲= 𝑘𝑗

. . .
𝑚2
. . −𝑘𝑁 2

𝑚1
−𝑘𝑁 𝑘𝑁 1

13
 Simplest Idealization of a Multi-story Building

By Analogy, the matrix Equation (10) (shown below) can be written for any N degree-of-freedom system

𝑴𝒖 + 𝑲𝒖 = 𝒑(𝑡) …… (10)

For damped MDF systems, the damping term is added to the governing equations of motion as follows.

𝑴𝒖 + 𝑪𝒖 + 𝑲𝒖 = 𝒑(𝑡) …… (11)

Where 𝑪 is the damping matrix of the system and 𝒖 is the velocity vector.

14
 Formulation of Equations of Motion

Direct Dynamic Equilibrium Variational Approach (or Energy Approach)

Based on D’Alembert’s principle • Principle of Virtual Work (Variational Principle)
• Hamilton’s Principle,
• Lagrange’s Equations of Motion (developed by Leibnitz,
Lagrange, Hamilton)

Vectorial quantities: Scalar quantities:

Displacement, velocity, acceleration, and forces are Work, energy, potential functions, virtual work, etc.
represented by vectors.
Need to explicitly consider dynamic equilibrium of No need to consider...
individual components.
Internal interaction forces are consider in detail and shown Internal interactions are automatically taken into account.
explicitly in free-body diagrams
Motions are described by physical coordinates. Either physical coordinates and forces or
Physical forces generalized coordinates and forces can be used.

15
Formulation of Equations of Motion by

Variational Approach

16
 Variational Approach (or Energy Approach)

• Now we will focus our attention on the variation approach.

• The governing equations of motion of any continuous & discrete structures can be
formulated by this approach.

• Can be applied for linear as well as nonlinear structures.

17
 Kinetic Energy (T)
Kinetic Energy (T): is associated with the inertia force.
𝑧 𝑤

Suppose that a particle of mass 𝑚 is moving in space, 𝑣

𝑢
and 𝑢 𝑡 , 𝑣 𝑡 and 𝑤(𝑡) are the three components of
motion of the particle in Cartesian coordinates.
𝑦
The kinetic energy is then given by:
1 𝑥
𝑇 = 𝑚 (𝑢 2 + 𝑣 2 + 𝑤 2 )
2
𝑢3
𝑚3
For a system of 3 particles, as shown in the figure, The motions are
𝑢2 confined in 1-D.
3 𝑚2
1
𝑇= 𝑚𝑖 𝑢𝑖2 𝑢1
2 𝑚1
𝑖=1

18
 Kinetic Energy (T)

𝑤(𝑥, 𝑡)

𝑑𝑥
𝑥
𝐿

For a beam on simple supports, where its mass is distributed over entire span,
𝐿 2
1 𝜕𝑤
𝑇= 𝑚 𝑥 𝑑𝑥
2 𝜕𝑡
0

where 𝑚 𝑥 is the mass per unit length,

𝑤(𝑥, 𝑡) is displacement at the position 𝑥 and time 𝑡.

19
 Kinetic Energy (T)
For a 3-D structural system where its mass is distributed
in its volume 𝑉,
Point (𝑥, 𝑦, 𝑧) moves to
(𝑥 + 𝑢, 𝑦 + 𝑣, 𝑧 + 𝑤)
1 𝑢 = 𝑢 𝑥, 𝑦, 𝑧, 𝑡
𝑇= 𝜌 𝑢2 + 𝑣 2 + 𝑤 2 𝑑𝑉 𝑣 = 𝑣(𝑥, 𝑦, 𝑧, 𝑡)
2
𝑉 𝑤 = 𝑤(𝑥, 𝑦, 𝑧, 𝑡)

where 𝜌 = 𝜌 𝑥, 𝑦, 𝑧 ; 𝜌 is mass density, 𝑑𝑉 = 𝑑𝑥 𝑑𝑦 𝑑𝑧

In Cartesian coordinates, 𝑇 = 𝑇(𝑢, 𝑣, 𝑤)

In other coordinates, for example cylindrical coordinates, it

is possible that 𝑇 = 𝑇(𝑟, 𝜃, 𝑟 , 𝜃, 𝑧 )

20
 Potential Energy (U)

• Potential energy (U) is associated with conservative forces.

• Conservative internal force due to the deformation of elastic structure → strain energy

• Conservative gravity force → gravity potential

• Other kinds of conservative forces → other kinds of potential

See more details in “Energy Principle in Structural Mechanism” by T.R Tauchert.

21
 Strain Energy in Linear Spring
Linear elastic spring

𝑓 = 𝑘𝑢
𝑘
Work done by 𝑓 𝑖𝑠 𝑊:
𝑢𝑜
𝑢=𝑢𝑜 𝑢𝑜
𝑊= 𝑓(𝑢) 𝑑𝑢 = 𝑘 𝑢 𝑑𝑢 𝑓𝑜
𝑢=𝑜 𝑜
1
= 𝑘 𝑢𝑜2
2
This mechanical work done is converted into the internal energy of spring → strain energy.

1
𝑈 = 𝑘 𝑢𝑜2
2
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 Strain Energy on Element of Volume under Uni-axial Stress State

∈𝑜
𝑥2 𝑑𝑥3
𝑑𝑈 =
11
𝜎11 𝑑𝑥2 𝑑𝑥3 𝑑𝜖11 𝑑𝑥1
𝑜 0
𝜎11 𝑜
𝑑𝑥2 𝜎11 ∈𝑜
𝑑𝑥1 11
= 𝜎11 𝑑𝜖11 𝑑𝑉
𝑥1 𝑜
0
∈11 𝑑𝑥1
∈𝑜
𝑥3 𝑈=
11
𝜎11 𝑑𝜖11 𝑑𝑉
Other stress components
𝑉 0
𝜎𝑖𝑗 = 0
𝜎11 𝑑𝜎11
𝜎11 𝜖11 = ∴ 𝑑𝜖11 =
𝑜
𝐸 𝐸
𝜎11
∈𝑜 𝑜
𝜎11 0 2
𝑑𝑈 11 1 𝜎11
= 𝜎11 𝑑𝜖11 = 𝜎11 𝑑𝜎11 =
𝑑𝑉 0 𝐸 0 2𝐸
𝑜
∈11 𝜖11 Strain energy per unit volume
under uni-axial stress condition
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Strain Energy in an Axially Loaded Prismatic Bar

𝐴 𝑄
𝑄
𝐿

0
𝑄
𝜎11 =
𝐴

0 2 0 2 0 2
𝜎11 𝜎11 𝜎11 𝐴𝐿 𝑄2 𝐿
𝑈= . 𝑑𝑉 = . 𝐴 𝑑𝑥 = =
𝑉 2𝐸 𝐿 2𝐸 2𝐸 2𝐸𝐴

24
 Bending Strain Energy in Beam

𝑦 𝑤(𝑥, 𝑡) Bernoulli-Euler’s Beam

(Neglect the effect of shear)
𝑥 𝑀 𝑥 𝑦
0
𝐸𝐼, 𝐴 𝜎11 =
𝐼
𝐿 𝐼= 𝑦 2 𝑑𝐴
𝑥=0 𝑥=𝐿
𝐴

0 2
𝜎11 𝐿
1 𝐸𝐼𝑤 ′′ 𝑦
2 𝑑2 𝑤
𝑈= 𝑑𝑉 = 𝑑𝐴 𝑑𝑥 𝑀 𝑥 = 𝐸𝐼 2
2𝐸 𝑑𝑥
𝑉 0 𝐴 2𝐸 𝐼

𝐿
𝐿
𝐸 𝑤 ′′ 2 𝐿
𝐸𝐼 ′′ 𝑀2
𝑈= 𝑦 2 𝑑𝐴 𝑑𝑥 = 𝑤 2 𝑑𝑥 or 𝑈= 𝑑𝑥
0 2 𝐴 0 2 0 2𝐸𝐼

25
 Gravity Potential

ℎ
𝑈=𝑚𝑔ℎ

𝑚𝑔

26
 Generalized Coordinates: Discrete Structures

𝑢1
𝑢1
Consider a discrete system of N DOF 𝑢2 𝑢2
where its physical displacements are defined by . (an Nx1 vector)
𝒖= . 𝑢3

.
𝑢𝑖 is the physical displacement at the ith floor. 𝑢𝑁

27
The displacements of the NDOF system can also be defined by a different
set of coordinates:

𝑞1
𝑞2
𝒒= . (an Nx1 vector) =
.
𝑞𝑁
× 𝑞1 (𝑡)
where the relation between 𝒒 and 𝒖 is linear
+
𝑢1 𝑡 𝜙11 𝜙12 𝜙1𝑁
. × 𝑞2 (𝑡)
𝜙21 𝜙22 𝜙2𝑁
𝒖= . = . 𝑞1 𝑡 + . 𝑞2 𝑡 + ⋯ . 𝑞𝑁 𝑡
. . . . +
𝑢𝑁 𝑡 𝜙𝑁1 𝜙𝑁2 𝜙𝑁𝑁
× 𝑞3 (𝑡)

𝒖 = 𝝓1 𝑞1 𝑡 + 𝝓2 𝑞2 𝑡 + ⋯ + 𝝓𝑁 𝑞𝑁 𝑡
28
 Generalized Coordinates: Discrete Structures

𝒖 = 𝝓1 𝑞1 𝑡 + 𝝓2 𝑞2 𝑡 + ⋯ + 𝝓𝑁 𝑞𝑁 𝑡

𝝓𝑖 = a vector defining vibration shape (dimensionless constant)

𝑞𝑖 𝑡 = a time-varying function
𝒒 = a vector of generalized coordinates

29
 Generalized Coordinates: Discrete Structures
𝒖 = 𝝓1 𝑞1 𝑡 + 𝝓2 𝑞2 𝑡 + ⋯ + 𝝓𝑁 𝑞𝑁 𝑡
In matrix form,
𝒖 𝑡 = 𝚽 .𝒒 𝑡
Where

𝚽 = 𝝓1 𝝓2 . . . 𝝓𝑁 Transformation matrix (𝑁 × 𝑁)

For one-to-one linear transformation, 𝝓1 , 𝝓2 , . . . , 𝝓𝑁 must be a set of independent vectors

(then the inverse transformation 𝒒 = 𝚽 −1 𝒖 is possible)

A special case: 𝚽 = 𝐈 (identity matric), then 𝒒 = 𝒖

If 𝚽 is properly chosen, the equation of motion in terms of 𝑞𝑖 𝑡 are uncoupled
(This will be discussed later – modal analysis)
30
 Generalized Coordinates: Continuous Structures

An infinite degree of freedom system

∞
𝑤 𝑥, 𝑡
𝑤 𝑥, 𝑡 = 𝑞𝑖 𝑡 𝜙𝑖 (𝑥)
𝑖=1 𝑥
𝑥=0 𝑥=𝐿
where 𝑞𝑖 (𝑡) = generalized coordinates and

𝜙𝑖 (𝑡) = shape function

𝜙𝑖 (𝑡) , 𝑖 = 1, 2, 3 … ∞: a set of independent shape functions,
where each of them satisfies the prescribed kinematic
boundary conditions.

31
 Generalized Coordinates: Continuous Structures

Example: Transverse vibration of a simple beam

Kinematic Boundary conditions (B.C.):

𝑤 0, 𝑡 = 0

𝑤 𝐿, 𝑡 = 0

𝜕2𝑤
0, 𝑡 = 0
𝜕𝑥 2

𝜕2𝑤
2
𝐿, 𝑡 = 0
𝜕𝑥

32
 Example: Transverse vibration of a simple beam

To satisfy the above conditions for any arbitrary value of

𝑞𝑖 𝑡 , it is necessary that 𝜙𝑖 0 = 0 , 𝜙𝑖 𝐿 = 0,
× 𝑞1 (𝑡)
𝑑 2 𝜙𝑖 𝑑 2 𝜙𝑖
= 0 , and =0
𝑑𝑥 2 𝑥=0 𝑑𝑥 2 𝑥=𝐿
Boundary conditions × 𝑞2 (𝑡)
are automatically
In this case, we may choose satisfied for each
vibration mode and × 𝑞3 (𝑡)
∞
𝑖𝜋𝑥 their sum
𝑤 𝑥, 𝑡 = 𝑞𝑖 𝑡 . sin
𝐿
𝑖=1

In most practical problems, a good approximation of the real vibration shape can be
achieved by a truncated series of vibration mode.
𝑁
𝑤 𝑥, 𝑡 ≅ 𝑖=1 𝑞𝑖 𝑡 . 𝜙𝑖 𝑥 where 𝑁 is a finite integer 33
 Variational Principle: A Review
Static Equilibrium → 𝐹𝑖 = 0 Variation Principle → 𝛿𝑊𝑛𝑐 − 𝛿𝑈 = 0

Initial no-load configuration

𝑘 𝑢

𝐹
Static equilibrium configuration
Strain energy Virtual work
Initial configuration
0 -
𝑢
Static eq. con.
𝑈 -
𝐹
Static eq. con. + small 𝛿𝑢
imaginary variation
𝐹 𝑈 + 𝛿𝑈 𝛿𝑊𝑛𝑐 = F 𝛿𝑢
𝛿𝑢
or
𝐹 𝑈 + 𝛿𝑈 𝛿𝑊𝑛𝑐 = F 𝛿𝑢
34
 Variational Principle: A Review
1
𝑈 = 𝑘 𝑢2
2
1 2
1 1
𝑈 + 𝛿𝑈 = 𝑘 𝑢 + 𝛿𝑢 = 𝑘 𝑢2 + 2𝑢𝛿𝑢 + 𝛿𝑢 2 ≅ 𝑘 𝑢2 +𝑘 𝑢 𝛿𝑢 (for small 𝛿𝑢)
2 2 2
𝑑𝑈
Alternatively, 𝛿𝑈 may be computed by 𝛿𝑈 = . 𝛿𝑢 = 𝑘 𝑢 𝛿𝑢
𝑑𝑢

Virtual work: 𝛿𝑊𝑛𝑐 = 𝐹 𝛿𝑢

Applying Variation Principle: 𝛿𝑊𝑛𝑐 − 𝛿𝑈 = 0

Leading to: 𝐹 𝛿𝑢 − 𝑘 𝑢 𝛿𝑢 = 𝐹 − 𝑘 𝑢 𝛿𝑢 = 0

Since 𝛿𝑢 can be arbitrary specified, [ ] must always be zero, that is,

𝐹 = 𝑘 𝑢 (the governing equation for static equilibrium state) 35

 Variational Principle: A Review

The variation principle is very useful for

finding the static equilibrium state of
complex structures under complex stress
and loading conditions.

36
 Hamilton’s Principle
Based on the concept of variation

𝑡2 𝑡2

𝛿(𝑇 − 𝑈) 𝑑𝑡 + 𝛿𝑊𝑛𝑐 𝑑𝑡 = 0 𝛿𝑊𝑛𝑐

𝑡1 𝑡1

where

𝑇 = total kinetic energy of system,

𝑈 = total potential energy of system = a sum of strain energy, gravity potential, and potential of other
conservative internal & external forces,
𝛿𝑊𝑛𝑐 = virtual work done by non-conservative forces acting on the structural system, including
damping forces and other externally applied forces.
𝛿: variation (see Figures) taken during the indicated time interval [𝑡1 , 𝑡2 ] where
𝜹 at 𝒕𝟏 and 𝒕𝟐 = 𝟎 (𝒕𝟏 and 𝒕𝟐 can be arbitrarily chosen).
37
 Hamilton’s Principle

𝑡2 𝑡2

𝛿(𝑇 − 𝑈) 𝑑𝑡 + 𝛿𝑊𝑛𝑐 𝑑𝑡 = 0 𝐹𝑛𝑐 (𝑡)

𝑡1 𝑡1 𝛿𝑢(𝑡) 𝑇 + 𝛿𝑇 , 𝑈 + 𝛿𝑈, 𝛿𝑊𝑛𝑐
𝑇 , 𝑈
𝑢(𝑡)

Hamilton’s Principle states that

“The variation of the kinetic and potential energy plus the variation of the work done by
non-conservative forces considered during anytime interval 𝒕𝟏 𝒕𝒐 𝒕𝟐 must equal to zero”.

The principle is equivalent to Newton’s second law.

See more details in p.300-302 “Energy Principle in Structural Mechanism” by T.R Tauchert.

38
 Hamilton’s Principle

(b) Displacement configuration at time 𝑡 = 𝑡1 , (c) Displacement figuration at time

𝑡 = 𝑡1 + Δ𝑡, (d) Displacement configuration at time 𝑡 = 𝑡2 .

39
 Hamilton’s Principle
𝑡2 𝑡2

𝛿(𝑇 − 𝑈) 𝑑𝑡 + 𝛿𝑊𝑛𝑐 𝑑𝑡 = 0
𝑡1 𝑡1

Newtonian path and varied path for coordinate 𝑢1 of Figure on previous slide

40
 Lagrange’s Equations of Motion

Lagrange’s Equations are derived from the Hamilton’s Principles.

We can derive the equations of motion of structures in terms of physical or generalized

coordinates by using Lagrange’s equations.

We first assume that we can write T, U, and 𝛿𝑊𝑛𝑐 in the following forms:

𝑇 = 𝑇(𝑢1 , 𝑢2 , 𝑢3 … 𝑢𝑁 , 𝑢1 , 𝑢2 … 𝑢𝑁 ) = 𝑇 𝑞1 , 𝑞2 , 𝑞3 … 𝑞𝑁 , 𝑞1 , 𝑞2 … 𝑞𝑁

𝑈 = 𝑈 𝑢1 , 𝑢2 , 𝑢3 … 𝑢𝑁 = 𝑈(𝑞1 , 𝑞2 , 𝑞3 … 𝑞𝑁 )

𝛿𝑊𝑛𝑐 = 𝑄1 𝛿𝑞1 + 𝑄2 𝛿𝑞2 + . . . + 𝑄𝑁 𝛿𝑞𝑁

41
 Lagrange’s Equations of Motion
Introducing these equations into the Hamilton’s Principle:

𝑡2
𝜕𝑇 𝜕𝑇 𝜕𝑇 𝜕𝑇 𝜕𝑇 𝜕𝑇
𝛿𝑞1 + 𝛿𝑞2 + ⋯ + 𝛿𝑞𝑁 + 𝛿 𝑞1 + 𝛿 𝑞2 + ⋯ + 𝛿 𝑞𝑁
𝑡1 𝜕𝑞1 𝜕𝑞2 𝜕𝑞𝑁 𝜕𝑞1 𝜕𝑞2 𝜕𝑞𝑁

……… (a)

Integrating by parts leads to:

𝑡2 𝑡2 𝑡2
𝜕𝑇 𝜕𝑇 𝜕 𝜕𝑇
𝛿 𝑞𝑖 𝑑𝑡 = . 𝛿𝑞𝑖 − 𝛿𝑞𝑖 𝑑𝑡 ……… (b)
𝜕𝑞𝑖 𝜕𝑞𝑖 𝑡1
𝜕𝑡 𝜕𝑞𝑖
𝑡1 𝑡1

Note that 𝛿𝑞𝑖 𝑡1 = 0 and 𝛿𝑞𝑖 𝑡2 = 0 because all variations at 𝑡1 and 𝑡2 are vanished .

This is one of the conditions that are used in deriving the Hamilton’s Principle. 42
 Lagrange’s Equations of Motion
Introducing Eq. (b) to Eq. (a) leads to

𝑡2 𝑁
𝜕 𝜕𝑇 𝜕𝑇 𝜕𝑈
− + − + 𝑄𝑖 𝛿𝑞𝑖 𝑑𝑡 = 0 ……… (c)
𝑡1 𝜕𝑡 𝜕𝑞𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖
𝑖=1

Since all variations 𝛿𝑞𝑖 , 𝑖 = 1,2, … , 𝑁 can be arbitrary chosen, Equation (c) is satisfied in
general only when the term in [ ] vanishes:

𝜕 𝜕𝑇 𝜕𝑇 𝜕𝑈
− + = 𝑄𝑖 for 𝑖 = 1,2,3, … , 𝑁
𝜕𝑡 𝜕𝑞𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖
Lagrange’s Equations of Motion

43
 Lagrange’s Equations of Motion

𝜕 𝜕𝑇 𝜕𝑇 𝜕𝑈
Lagrange’s Equations of Motion − + = 𝑄𝑖 for 𝑖 = 1,2,3, … , 𝑁
𝜕𝑡 𝜕𝑞𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖

Lagrange’s Equations are a direct result of applying the Hamilton’s principle under a specific
condition that

𝑇, 𝑈, 𝛿𝑊𝑛𝑐 can be expressed in terms of generalized coordinates 𝑞𝑛 , 𝑞𝑛 and 𝛿𝑞𝑛

It can be employed for deriving the governing equations of motion of

Linear & non-linear systems,
Discrete & continuous systems.

44
 Example 1: A 3-story building

𝑚3 𝑢3
1 1 1 𝐹3 (𝑡)
𝑇 = 𝑚1 𝑢1 + 𝑚2 𝑢2 + 𝑚3 𝑢32
2 2
2 2 2 𝑚2 𝑘3 𝑢
2
𝐹2 (𝑡)
1 1 1
2
𝑈 = 𝑘1 𝑢1 + 𝑘2 (𝑢2 − 𝑢1 ) + 𝑘3 (𝑢3 − 𝑢2 )2
2
𝑚1 𝑘2 𝑢1
2 2 2 𝐹1 (𝑡)
𝑘1
𝛿𝑊𝑛𝑐 = 𝐹1 𝛿𝑢1 + 𝐹2 𝛿𝑢2 + 𝐹3 𝛿𝑢3

In this case, the generalized coordinates are physical coordinates 𝑢1 , 𝑢2 , 𝑢3

𝜕 𝜕𝑇 𝜕𝑇 𝜕𝑈
− + = 𝐹𝑖
𝜕𝑡 𝜕𝑢𝑖 𝜕𝑢𝑖 𝜕𝑢𝑖
45
 Example 1: A 3-story building

𝜕𝑈
= 𝑘1 𝑢1 − 𝑘2 𝑢2 − 𝑢1 = 𝑘1 + 𝑘2 𝑢1 − 𝑘2 𝑢2
𝜕𝑢1

𝜕𝑈
= 𝑘2 𝑢2 − 𝑢1 − 𝑘3 𝑢3 − 𝑢2 = −𝑘2 𝑢1 + 𝑘2 + 𝑘3 𝑢2 − 𝑘3 𝑢3
𝜕𝑢2

𝜕𝑈 𝜕 𝜕𝑇 𝜕𝑇 𝜕𝑈
= 𝑘3 𝑢3 − 𝑢2 − + = 𝐹𝑖
𝜕𝑢3 𝜕𝑡 𝜕𝑢𝑖 𝜕𝑢𝑖 𝜕𝑢𝑖

𝜕𝑇 𝜕 𝜕𝑇
= 𝑚 𝑖 𝑢𝑖 = 𝑚 𝑖 𝑢𝑖
𝜕 𝑢𝑖 𝜕𝑡 𝜕𝑢𝑖

46
 Example 1: A 3-story building
𝜕 𝜕𝑇 𝜕𝑇 𝜕𝑈
− + = 𝐹𝑖
Applying Lagrange’s Equations: 𝜕𝑡 𝜕 𝑢𝑖 𝜕𝑢𝑖 𝜕𝑢𝑖

For 𝑖 = 1: 𝑚1 𝑢1 + 𝑘1 + 𝑘2 𝑢1 − 𝑘2 𝑢2 = 𝐹1(𝑡)

For 𝑖 = 2: 𝑚2 𝑢2 − 𝑘2 𝑢1 + 𝑘2 + 𝑘3 𝑢2 − 𝑘3 𝑢3 = 𝐹2 (𝑡)

For 𝑖 = 3: 𝑚3 𝑢3 + 𝑘3 𝑢3 − 𝑢2 = 𝐹3 (𝑡)

In matrix form

𝑚1 0 0 𝑢1 𝑘1 + 𝑘2 −𝑘2 0 𝑢1 𝐹1(𝑡)
0 𝑚2 0 𝑢2 + −𝑘2 𝑘2 + 𝑘3 −𝑘3 𝑢2 = 𝐹2 (𝑡)
0 0 𝑚3 𝑢3 0 −𝑘3 𝑘3 𝑢3 𝐹3(𝑡)

47
 Example 2: Transverse vibration of a uniform beam
𝑓 𝑥, 𝑡
𝑚 𝑥 =𝑚 (constant)
𝑚 𝑥
𝐸𝐼 𝑥 = 𝐸𝐼 (constant)
𝑢 𝑥, 𝑡

𝑥
𝐿
Assume that the vibration is defined by one shape function (single-degree-of-freedom approx.):

𝑢 𝑥, 𝑡 ≅𝑞 𝑡 𝜙 𝑥
𝐿 𝐿 𝐿
1 1 2 𝑑𝑥
1
𝑇= 𝑚 𝑢2 𝑑𝑥 = 𝑚 𝑞 𝑡 𝜙 𝑥 = 𝑚 𝑞2 𝜙 2 𝑥 𝑑𝑥
2 2 2
0 0 0
48
 𝑓 𝑥, 𝑡
𝑚 𝑥 =𝑚 (constant)
𝑚 𝑥
𝐸𝐼 𝑥 = 𝐸𝐼 (constant)
𝑢 𝑥, 𝑡

𝑥
𝐿
𝑢 𝑥, 𝑡 ≅𝑞𝑡 𝜙𝑥
𝐿 2 𝐿 𝐿
2
1 𝑑 𝑢 1 1
𝑈= 𝐸𝐼 𝑑𝑥 = 𝐸𝐼 𝑞 𝑡 𝜙 ′′ 𝑥 2 𝑑𝑥 = 𝐸𝐼 𝑞 2 (𝜙 ′′ 𝑥 )2 𝑑𝑥
2 𝑑𝑥 2 2 2
0 0 0

𝐿 𝐿 𝐿
𝛿𝑊𝑛𝑐 = 𝑓 𝑥, 𝑡 . 𝛿𝑢
𝛿𝑢 𝑥, 𝑡 𝑑𝑥 = 𝑓 𝑥, 𝑡 . 𝜙 𝑥 . 𝛿𝑞 𝑡 𝑑𝑥 = 𝛿𝑞 𝑓 𝑥, 𝑡 . 𝜙 𝑥 𝑑𝑥
0 0 0

49
 Example 2: Transverse vibration of a uniform beam

Define
𝐿

𝑚𝑒𝑞 = 𝑚 𝜙 2(𝑥) 𝑑𝑥 (Generalized mass)

0

𝑘𝑒𝑞 = 𝐸𝐼 (𝜙′′)2 𝑑𝑥 (Generalized stiffness)

0

𝑄 (𝑡) = 𝑓 (𝑥, 𝑡) 𝜙 (𝑥) 𝑑𝑥 (Generalized force)

0

50
 Example 2: Transverse vibration of a uniform beam
1
Then, 𝑇= 𝑚 𝑞2
2 𝑒𝑞

1
𝑈 = 𝑘𝑒𝑞 𝑞 2
2

𝛿𝑊𝑛𝑐 = 𝑄(𝑡) 𝛿𝑞

𝜕𝑇 𝜕 𝜕𝑇 𝜕𝑈
= 𝑚𝑒𝑞 𝑞 = 𝑚𝑒𝑞 𝑞 = 𝑘𝑒𝑞 𝑞
𝜕𝑞𝑖 𝜕𝑡 𝜕𝑞𝑖 𝜕q

𝑚𝑒𝑞 𝑞 + 𝑘𝑒𝑞 𝑞 = 𝑄(𝑡)

51
 Example 2: Transverse vibration of a uniform beam

𝑚𝑒𝑞 𝑞 + 𝑘𝑒𝑞 𝑞 = 𝑄(𝑡)

If we set
𝜋𝑥
𝜙 𝑥 = sin
𝐿
𝑚𝐿
Then 𝑚𝑒𝑞 =
2
𝐿
𝐸𝐼 𝜋4 𝜋𝑥
𝑘𝑒𝑞 = 𝑎𝑛𝑑 𝑄(𝑡) = 𝑓(𝑥, 𝑡) . sin 𝑑𝑥
2 𝐿3 𝐿
0

52
Thank you