Finite element method for structural dynamic

and stability analyses

Module-2

Finite element analysis of dynamics of planar trusses

and frames

Lecture-6: FE modeling of planar structures: problem solving

session

Prof C S Manohar
Department of Civil Engineering
IISc, Bangalore 560 012 India

1
Recall
P t 

2
 Summary
Element level EOM 
 M s us  Cs us  K s us  Fs  t 
in local coordinate system 
M sU s  CsU s  K sU s  Fs  t 
Element level EOM 
 U s  Tst us ; M s  Tst M sTs ; K s  Tst K sTs ;
in global coordinate system 
Cs  Tst CsTs
Global EOM after assembly  MU  CU  KU  F  t 
of structural matrices and  p p
             K  s  As
t t
 M A s 
M  A s
K A s 
before imposing boundary  s 1
s
s 1

condtions  p p
C    As C  s  As ; F  t     As Fs  t 
t

s 1 s 1

Equations for unknown 

 M 0 IU I  C0 IU I  K 0 IU I  F0  t 
reactions 
M IIU I  CIIU I  K IIU I  FI  t 
Equations for unknown 
 MU  CU  KU  F  t 
displacements 
U  0   U 0 ;U  0   U 0 3
Earthquake support motions

yg 2  t 
 xg 2  t 

y g1  t   xg 1  t  
 xg 1  t   
 g1   
y t
ug  t    
 xg 2  t  
 yg 2  t  
  4
 Global structure equation of motion
MU  CU  KU  F  t 

Boundary condtions
 u g  t  
 q1   Specified support motions 
U t     


 U I  N q 1   Unknown nodal displacements 
  

5
  M 00 M 0I   K 00 K0I  C00 C0 I 
M   ;K    ;C    ;
M I 0 M II  KI 0 K II  C I 0 CII 
 F0  t    Unknown reactions 
F t     
 FI  t   Applied equivalent nodal forces 
Global equation of motion
 M 00 M 0 I  U g  C00 C0 I  U g   K 00 K 0 I  U g   F0  t  
M            
 I0 M II  U I  CI 0 CII  U I   K I 0 K II  U I   FI  t  
Equations for unknown reactions
M 0 IU I  C0 IU I  K 0 IU I  M 00U g  C00U g  K 00U g   F0  t 
Equations for unknown displacements
M IIU I  CIIU I  K IIU I  FI  t  - M I 0U g  CI 0U g  K I 0U g 
Number of equations=q   N - q   N
Unknowns: q reactions  F0  t   and  N - q  displacements U I  t   .
6
Reduced structure equation of motion
M IIU I  CIIU I  K IIU I  FI  t  - M I 0U g  CI 0U g  K I 0U g 
Or simply, the governing equation of motion
MU  CU  KU  F  t 
U  0   U 0 ;U  0   U 0

7
 Example  U1  t  
 
 2 U  t  
 U 3  t  
U t    
EI , m, l EI , m, l  4 
U t  0 
U 5  t   0 
 
 6  
U t  0 
4 5 6

s 1 s2
1 2 3

0 0 0 1 0 0 0 0 0 0 1 0
1 0 0 0 0 0 0 1 0 0 0 0 
A1   ; A2  
0 0 0 0 1 0 0 0 0 0 0 1
   
0 1 0 0 0 0 0 0 1 0 0 0 8
 u1  t  , P1  t  u3  t  , P3  t 

 

u2  t  , P2  t  u4  t  , P4  t 

 156 22l 54 13l   12 6l 12 6l 

 22l 4 l 2
13l 3l 2   6l 4l 2 6l 2l 2 
ml  EI
M &K  3 
420  54 13l 156 22l  l  12 6l 12 6l 
   
 13l 3 l 2
22l 4l 2   6l 2l 2
6l 4l 2 

9
 4 1 5 2
 156 22l 54 13l  4
 4l 2 3l 2  1
ml  22l 13l
s  1: M 
420  54 13l 156 22l  5
 2 
 13l 3l 2 22l 4l  2
5 2 6 3
 156 22l 54 13l  5
 4l 2 3l 2  2
ml  22l 13l
s  2:M 
420  54 13l 156 22l  6
 
 13l 3l 2 22l 4l 2  3
1 2 3
 4l 2 3l 2 0 1
ml  2 
M  3l 8l 2 3l 2  2
420
 0 3l 2 4l 2  3
 10
 4 1 5 2
 12 6l 12 6l  4
 2
6l 2l 2  1
EI  6l 4l
s  1: K  3
l  12 6l 12 6l  5
 2
 6l 2l 2
6l 4l  2
5 2 6 3
 12 6l 12 6l  5
 2
6l 2l 2  2
EI  6l 4l
s  2: K  3
l  12 6l 12 6l  6
 
 6l 2 l 2
6l 4l 2  3
1 2 3
 4l 2 2l 2 0 1
EI  
K  3  2l 2 8l 2 2l 2  2
l
 0 2l 2 4l 2  3
 11
  4l 2 3l 2 0   u1   4l 2 2l 2 0   u1 
ml  2 2  EI  2  
 3l 8l 2 3l  u2   3  2l 8l 2 2l 2  u2   0
420 2   l
 0
 3l 2 4l  u3   0
 2l 2 4l 2  u3 
 4 2 0  U1   4 3 0  U1 
ml  4 2
   
   2 8 2  U 2     3 8 3 U 2 
420 EI
 0 2 4  U 3   0 3 4  U 3 
   2 / 7,1, 6
EI EI EI
4 
 1  10.95 4
, 2  20.49 4
& 3  50.20 rad/s 
ml ml ml
EI EI EI
4 
Exact
1  9.87 4
, 2  15.41
Exact
4
& 3  39.48
Exact
rad/s 
ml ml ml
Errors: 10.94% , 32.98%& 27.15%
12
 EI EI
1  20.49 4
; 1
Exact
 15.41
ml ml 4
Error: 32.98%

EI EI
4 
1  10.95 4
& 2  50.20 rad/s 
ml ml
EI EI
4 
Exact
1  9.87 4
& 2  39.48
Exact
rad/s 
ml ml
Errors: 10.94% & 27.15%

13
 1

0.5
modeshape

0 n 1

-0.5

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
x

0.4

0.3

0.2

0.1
n2
modeshape

-0.1

-0.2

-0.3

-0.4
0 0.5 1 1.5 2 2.5 3 3.5 4 14
x
 1
n3
0.5
modeshape

-0.5

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
x

15
Example M
v  x, t 

L, EI  x  , m  x  K
a

L =3 m; E =210 GPa;  =7800 kg/m3 ; a  L / 3; b  3L / 4

Beam cross section (rectangular): width=0.1 m; depth=0.2 m
mL 2 EI
M ;K
2 L

16
 1 3 M 7
5
s2 s4
s 1
2
4 s 3 6 s 5
8
9
a
u1  0, u7  0, u9  0
b

1 2 3 4 1 2 3 4
 12 6l 12 6l  1  156 22l 54 13l  1
s 1 
EI  6l 4l
2
6l 2l 2  2 
ml  22l 4l 2 13l 3l 2  2
la K 3 M
l  12 6l 12 6l  3 420  54 13l 156 22l  3
   
 6l 2l
2
6l 4l 2  4  13l 3l 2 22l 4l 2  4

3 3
s2 K  [0]3 M  [ M ]3
17
 3 4 5 6 3 4 5 6
 12 6l 12 6l  3  156 22l 54 13l  3
s3 

EI  6l 4l
2
6l 2l 2  4 ml  22l 4l 2 13l 3l 2  4
l ba K  3  M
l 12 6l 12 6l  5 420  54 13l 156 22l  5
   
6l  13l 3l 2 22l 4l 2  6
2
 6l 2l 4l 2  6

5 6 7 8 5 6 7 8
s4
 12 6l 12 6l  5  156 22l 54 13l  5
l  l b 

EI  6l 4l
2
6l 2l 2  6 ml  22l 4l 2 13l 3l 2  6
K 3 M
l  12 6l 12 6l  7 420  54 13l 156 22l  7
   
6l  13l 3l 2 22l 4l 2  8
2
 6l 2l 4l 2  8

5 9 5 9
s 5
 1 1 5 0 0 5
K k  M  9
 1 1  9  0 0 
18
 2 3 4 5 6 8
 4 EI 6 EI 2 EI 
 a  2 0 0 0 
a a
 
  6 EI 12 EI

12 EI

6 EI

6 EI

12 EI 6 EI
0 
 a2 a3 b  a 
3
a 2  b  a 2 b  a 
3
b  a 
2 
 
 2 EI 6 EI 6 EI 4 EI 4 EI 6 EI 2 EI 
 a     0 
 a 2  b  a 2 a ba b  a 
2
ba 
K 
12 EI 6 EI 12 EI 12 EI 6 EI 6 EI 6 EI 
 0   K    2
b  a  b  a  b  a  l  b  b  a  l  b  l  b  
3 2 3 3 2 2

 
 0 6 EI 2 EI 6 EI 6 EI 4 EI 4 EI 2 EI 
  
 b  a  ba b  a  l  b  ba l b l b 
2 2 2

 
 6 EI 2 EI 4EI 
 0 0 0
l  b 
l  b l b
2


19
  4a 3 13a 2 3a 3 0 0 0 
 
13a 2 M 
420  156b 22  a 2   b  a   54(b  a) 13  b  a 
2 2
0
 m   
 
m  3a 22  a 2   b  a   4 a3   b  a   13  b  a  3  b  a 
3 2 3 2 3
   
0 
M  
420  0 54(b  a) 13  b  a  156  l  a  22  b  a    l  b   13  l  b  
2 2 2 2

   
 0 13  b  a 
2
3  b  a 
3
22  b  a    l  b  
2 2
4  b  a    l  b  
3 3
3  l  b 
3 
     
 3 
13  l  b  3  l  b  4  l  b  
2 3
 0 0 0

20
  0.5600 -0.8400 0.2800 0 0 0 
 -0.8400 2.5402 -0.3024 -0.8602 0.5376 0 
 
 0.2800 -0.3024 1.0080 -0.5376 0.2240 0 
K  10  
8

 0 -0.8602 -0.5376 4.9357 0.9557 1.4933
 0 0.5376 0.2240 0.9557 1.1947 0.3733 
 
 0 0 0 1.4933 0.3733 0.7467 
 1.4857 4.8286 -1.1143 0 0 0 
 4.8286 364.3714 4.5964 25.0714 7.5446 0 
 
-1.1143 4.5964 4.3875 7.5446 -2.1763 0 
M  
 0 25.0714 7.5446 115.8857 -8.1714 -2.7161
 0 7.5446 -2.1763 -8.1714 3.5286 -0.4701 
 
 0 0 0 -2.7161 -0.4701 0.6268 

21
 Natural frequencies (rad/s)
272.474
1122.210
3382.572
5331.485
Recall 11269.945
22615.047
Rayleigh Ritz approximation
Estimates of the natural frequencies in rad/s
N  1 270.309
N  2 266.024 1127.975
N  3 265.983 1127.917 2960.057
N  4 265.867 1124.862 2960.056 4624.599
N  5 265.846 1123.404 2960.0545 4549.745 7535.873 22
 Modal vector and orthogonality relations

 0.0562 0.0805 -0.2638 0.4609 0.7593 0.6137 

 0.0451 0.0251 0.0091 -0.0020 -0.0189 -0.0394 

 0.0237 -0.0712 0.2837 -0.1137 0.5165 0.5543 
 
 0.0325 -0.0730 -0.0436 -0.0041 -0.0417 0.0770 
 -0.0361 0.0281 -0.1893 -0.3755 0.1780 0.9059 
 
 -0.0471 0.1366 0.2363 0.3512 -0.6766 1.5053 
t M   I
 0.0007 0.0000 0.0000 -0.0000 -0.0000 -0.0000 
 0.0000 0.0126 -0.0000 0.0000 -0.0000 0.0000 

 0.0000 -0.0000 0.1144 0.0000 -0.0000 -0.0000 
 t K   108   
 -0.0000 0.0000 0.0000 0.2842 -0.0000 -0.0000 
 -0.0000 -0.0000 -0.0000 -0.0000 1.2701 -0.0000 
 
 -0.0000 0.0000 -0.0000 -0.0000 -0.0000 5.1144 
23
 EI  108 Nm 2
Exercise
1 l  2m
m  100 kg/m
l3K
2l  4m 5
2 K l  2m 3 EI
Formulate the structure
mass and stiffness matrices Partial answers
Find natural frequencies
 936 264 52 
and modal matrix. 100  
M  264 288 24
420  
 52 24 32 
  488.27 2087.86 7704.54 rad/s
 0.0562 0.0338 0.0625 
 =  0.0286 0.1105 0.1134 
 0.0288 0.1241 0.4168
24
Example
All members: EI , l , m
 Neglect axial deformation

Initial numbering
scheme. Numbering scheme
DOF-s: 1,2,3,4,5,6; N =6 used in computation
Neglect axial deformation DOF-s: 1,2,3;N =3
 u1  u4 ; u2  u5
4 4
2 5
1 1
3   4   1
s2 6
2
3
s 3 u4  0
s 1
8 11 4 4
5
9  7 
10   7
6
12 8 25
 5 6 1 2 5 6 1 2
 12 6l 12 6l  5  156 22l 54 13l  5
 2
6l 2l 2  6  4l 2 3l 2  6
s 1 EI  6l 4l
K 3 M
ml  22l 13l
l  12 6l 12 6l  1 420  54 13l 156 22l  1
   
6l  13l 3l 2 22l 4l 2  2
2
 6l 2l 4l 2  2

4 2 4 3 4 2 4 3
 12 6l 12 6l  4  156 22l 54 13l  4
s2 

EI  6l 4l
2
6l 2l 2  2 ml  22l 4l 2 13l 3l 2  2
K 3 M
l  12 6l 12 6l  4 420  54 13l 156 22l  4
   
6l  13l 3l 2 22l 4l 2  3
2
 6l 2l 4l 2  3

1 3 7 8 1 3 7 8
 12 6l 12 6l  1  156 22l 54 13l  1
s 3  2
6l 2l 2  3  4l 2 3l 2  3
EI  6l 4l ml  22l 13l
K 3 M
l  12 6l 12 6l  7 420  54 13l 156 22l  7
   
6l  13l 3l 2 22l 4l 226 8
2
 6l 2l 4l 2  8
 1 2 3 1 2 3

Structural matrices  24 6l 6l  1 312 22l 22l  1

K  3  6l 8l 2 2l 2  2
ml 
3l 2  2
EI
after imposing BCS M 22l 8l 2

l 420 
 6l 2l 2 8l 2  3  22l 3l 2 8l 2  3

Governing 312 22l 22l   u1   24 6l 6l   u1 

ml  2  EI   
equation of 22l 8l 2
3l  u2   3  6l 8l 2 2l 2  u2   0
420  l
motion  22l 3l 2 8l 2  u3   6l 2l 2 8l 2  u3 

 24 6l 6l  312 22l 22l 

ml 4 2
  6l 8l 2 2l 2      22l 8l 2 3l 2  
Eigenvalue
problem

420 EI
 6l 2l 2 8l 2   22l 3l 2 8l 2 

Eigenvalues    0.0628, 0.5455, 4.5183

and EI
Natural frequencies    0.5706 ,1.6818 , 4.8402 rad/s;  
m 27
Example
Formulate the governing equation of motion
Obtain estimates of first few natural frequencies
0.3m
3m 0.2m
E  210 GPa
4m  =7800 kg/m3

400

28
 2 5
1
3   4
s2
6
s 3
s 1
9
12
 8 7
 11
10

29
  0.7660 0.6428 0 0 0 0 
 -0.6428 0.7660 0 0 0 0 
 
 0 0 1.0000 0 0 0 
T1   
 0 0 0 0.7660 0.6428 0 
 0 0 0 -0.6428 0.7660 0 
 
 0 0 0 0 0 1.0000 

 0 0 0 0 0 0 0 1 0 0 0 0
 0 0 0 0 0 0 0 0 1 0 0 0 

 0 0 0 0 0 0 0 0 0 1 0 0
A1   
 1 0 0 0 0 0 0 0 0 0 0 0
 0 1 0 0 0 0 0 0 0 0 0 0
 
 0 0 1 0 0 0 0 0 0 0 0 0

30
  1.4846 -0.0546 0.6102 0.2340 0 0 0 
 -0.0546 1.5574 -0.5066 0 0.1805 -0.1304 0 
 
 0.6102 -0.5066 1.1944 0 0.1304 -0.0903 0 
 
M  103   0.2340 0 0 1.1633 -0.0000 0.3922 -0.2318 
 0 0.1805 0.1304 -0.0000 1.1455 -0.2206 0.0000 
 
 0 -0.1304 -0.0903 0.3922 -0.2206 0.4056 -0.2139 
 0.2853
 0 0 0 -0.2318 0.0000 -0.2139

 5.3901 0.9947 0.0094 -4.2000 0 0 0 

 0.9947 0.8814 0.0518 0 -0.0420 0.0630 0 
 
 0.0094 0.0518 0.1867 0 -0.0630 0.0630 0 
 
K  109   -4.2000 0 0 4.2177 0.0000 0.0354 0.0354 
 0 -0.0420 -0.0630 0.0000 3.1920 -0.0630 -0.0000 
 
 0 0.0630 0.0630 0.0354 -0.0630 0.2205 0.0472 
 
 0 0 0 0.0354 -0.0000 0.0472 0.0945 

   87.6 332.1 585.9 941.9 1418.6 1932.1 3565.9  rad/s 31

Mode 1
7 dof model

Mode 2
7 dof model

32
Mode 3
7 dof model

Mode 4
7 dof model

33
Mode 1
366 dof model

Mode 2
366 dof model

34
Mode 3
366 dof model

Mode 4
366 dof model

35
Pin jointed truss

2 4 6
1 5m 3 5m 5
s 1
s2
s6 s7
5m s 8
s 5 s 3
10
8
9 E  200 GPa
7  =7800 kg/m3
s4 A=2500 106 m2

u8 , u9 , u10  0
DOF-s: ui , i  1, 2, ,7
36
 2
4
1
3

AE, l , m

1 2 3 4 1 2 3 4
1 0 1 0  1 2 0 1 0 1
 0 0 0  2 0
K
AE  0 ml  2 0 1  2
M
l  1 0 1 0 3 6 1 0 2 0 3
   
0 0 0 0 4 0 1 0 2 4

37
  100000000 0 -100000000 0 
 0 0 0 0 
K1  K 2   
 -100000000 0 100000000 0 
 
 0 0 0 0
 3.5355 3.5355 -3.5355 -3.5355 
 3.5355 3.5355 -3.5355 -3.5355 
K 3  10  
7 
 -3.5355 -3.5355 3.5355 3.5355 
 
 -3.5355 -3.5355 3.5355 3.5355 
 1.0000 0.0000 -1.0000 0.0000 
 0.0000 0.0000 0.0000 0.0000 
K 4  10  
8 
-1.0000 0.0000 1.0000 0.0000 
 
 0.0000 0.0000 -0.0000 0.0000 
 3.5355 -3.5355 -3.5355 3.5355 
-3.5355 3.5355 3.5355 -3.5355 
K 6  107   
-3.5355 3.5355 3.5355 -3.5355 
 
 3.5355 -3.5355 -3.5355 3.5355 
 3.5355 3.5355 -3.5355 -3.5355 
 3.5355 3.5355 -3.5355 -3.5355 
K 7  10  
7 
-3.5355 -3.5355 3.5355 3.5355  38
 
-3.5355 -3.5355 3.5355 3.5355 
  1.3536 -0.7071 -1.0000 0 0 0 -0.3536 
 -0.7071 2.4142 0 0 0 0 0.7071 

 -1.0000 0 2.3536 0.3536 -1.0000 0 0.0000 
 
K  10  
8
0 0 0.3536 1.3536 0 0 0.0000 
 0 0 -1.0000 0 1.3536 0.3536 -0.3536 
 
 0 0 0 0 0.3536 0.3536 -0.3536 
 -0.3536 0.7071 0.0000 0.0000 -0.3536 -0.3536 1.7071

 110.9619 0 16.2500 0 0 0 22.9810 
 0 248.8478 0 16.2500 0 0 0 
 
 16.2500 0 143.4619 0 16.2500 0 16.2500 
 
M  0 16.2500 0 143.4619 0 16.2500 0 
 0 0 16.2500 0 78.4619 0 22.9810 
 
 0 0 0 16.2500 0 78.4619 0 
 22.9810 0 156.9239 
 0 16.2500 0 22.9810
   265.6 520.0 774.6 984.4 1261.0 1310.6 1978.3 rad/s 39
Example

u  x, t 
x P exp  it 
AE, m, l

AEu  mu  cu;
u  0, t   0; AEu   l , t   P exp  it 
u  x, t     x  exp  it 
m 2  ic
     0
AE
m 2  ic
       0 with  
2 2

AE
  0   0; AE   l   P
P sin  x P cos  x
 lim u  x, t   exp  it  & AEu   x, t   exp  i40
t
t  AE cos l cos l
 u  x, t 

1 2

ml  2 1   0  AE  1 1  0   R  t  
        
6 1 2  u2  l  1 1  u2   P exp  it  
ml AE
 u2  cu2  u2  P exp  it 
3 l
3P 3 AE
 u2  2u2   2u2  exp  it  with  2 
ml ml 2
3P
lim u2  t   2 ml exp  it 
t 
     i 2
2

3P
 x
lim u  x, t   1   2 ml exp  it 
t 
 l       i 2
2 41
 u  x, t 
x PU  t 

1 2

ml AE
u2  cu2  u2  PU  t 
3 l
3P 3 AE
 u2  2u2   2u2  U  t  with  2 
ml ml 2
3P
u2  t   exp  t   A cos d t  B sin d t  
ml 2
3P 
u2  0   0, u2  0   0  A   , B  A
ml 2
d
3P 3P ml 2 Pl  x  Pl
lim u2  t      lim u  x, t   1  
t  ml 2
ml 3 AE AE t 
 l  AE
42
 Example

Analyse the following situations

• An udl is suddenly applied

• An udl is suddenly removed
• Supports are subjected to differential harmonic support
displacements
• A concentrated load traverses the beam with a constant
velocity
• Right support is subjected to a harmonic moment
• An unit impulsive force is applied at x=a.
• An unit harmonic load is applied at x=a

43
Structural matrices
 156 22l 54 13l   12 6l 12 6l 
 4l 2 3l 2   2
6l 2l 2 
ml  22l 13l EI  6l 4l
M ;K  3
420  54 13l 156 22l  l  12 6l 12 6l 
   
 13l 3l 2
22l 4l 2   6l 2l 2
6l 4l 2 

44
Case-1 An udl is suddenly applied
EIviv  mv  qU  t 
v  0, t   0; v  l , t   0
EIv  0, t   0; EIv  l , t   0;
v  x, 0   0; v  x, 0   0  Assumption 

45
Case-1 An udl is suddenly applied
 156 22l 54 13l   0   12 6l 12 6l   0 

ml  22l 4l 2 13l 3l 2  u2  EI  6l 4l 2 6l 2l 2  u2 
  3      F  t 
420  54 13l 156 22l   0  l  12 6l 12 6l   0 
   
 13l 3l 2 22l 4l 2  u4   6l 2l 2
6l 4l 2  u4 
L  x2 x3  
  q 1  3 2  2 3  dx 
0  l l  
L x 2 x3  
 R1   
 0    q  x  2 l  l 2  dx 

F  t    R    0 L  2 
U  t 
 2   q  3 x  2 x  dx 
3

 0     l 2 3  
0  
l
 
 L
 x 2
x 
3

  q    2  dx 
 0  l l  
ml  4l 2 3l 2  u2  EI  4l 2 2l 2  u2   F2  t  
  2   3  2 2  
420  3l 2 4l  u4  l  2l 4l   4   4   
u F t
46
Case-2 An udl is suddenly removed
EIv  mv  0
iv

v  0, t   0; v  l , t   0
EIv  0, t   0; EIv  l , t   0;
v  x, 0   v0  x  ; v  x, 0   0  Assumption 
EIv  q
iv
0

v0  0   0; v0  l   0
EIv0  0   0; EIv0  l   0

47
Case-2 An udl is suddenly removed
qLx3 qL3 x qx 4 4
v  x, 0        ui  0  i  x 
12 EI 24 EI 24 EI i 1
 v  x, 0   u2  0  2  x   u4  0  4  x 
 v  x, 0   u2  0  2  x   u4  0  4  x 
Recall 2  0   1, 2  l   0, 4  0   0, 4  l   1
 v  0, 0   u2  0  2  0   u4  0  4  0   u2  0  
  *
&v  l , 0   u2  0  2  l   u4  0  4  l   u4  0  
 v  x, 0   u2  0  2  x   u4  0  4  x 

48
  156 22l 54 13l   0   12 6l 12 6l   0   R1 

ml  22l 4l 2 13l 3l 2  u2  EI  6l 4l 2 6l 2l 2  u   0 
   2    
 
420  54 13l 156 22l   0  l 3  12 6l 12 6l   0   R2 
   2
 13l 3l 2 22l 4l 2  u4   6l 2 l 2
6l 4l  u4   0 
ml  4l 2 3l 2  u2  EI  4l 2 2l 2  u2  0 
  2   3  2 2  
420  3l 2 4l  u4  l  2l 4l  u4  0 
u2  0   v  0, 0  ; u2  0   0
u 4  0   v  l , 0  ; u 4  0   0

v  x, 0  needs
to be specified

49
Case-3 Supports are subjected to differential harmonic support displacements
EIviv  mv  0
v  0, t    L  t  ; v  l , t    R  t 
EIv  0, t   0; EIv  l , t   0;
v  x, 0   0; v  x, 0   0  Assumption 

50
Case-3 Supports are subjected to differential harmonic support displacements
 156 22l 54 13l    L  t    12 6l 12 6l    L  t    R1 
    
ml  22l 4l 2 13l 3l 2   u2  EI  6l 4l 2
 6l 2l 2   u2   0 
  3   
420  54 13l 156 22l   R  t   l  12 6l 12 6l   R  t    R2 
   
 13l 3l 2 22l 4l 2   u4   6l 2l 2
6l 4l 2   u4   0 
ml  4l 2 3l 2  u2  EI  4l 2 2l 2  u2   F2  t  
  2   3  2 2  
420  3l 2 4l  u4  l  2l 4l  u4   F4  t  
ml EI
F2  t     22l  L  t   13l  R  t    3 6l  L  t   6l  R  t  
420 l
ml EI
F4  t     13l  L  t   22l  R  t    3 6l  L  t   6l  R  t  
420 l
 L  t    L 0 cos t ;  R  t    R 0 cos t;

51
Case-4 A concentrated load P traverses the beam with a constant velocity v0
 l
 P  x  v0 
t for 0  t 
 v0
EIv  mv  
iv

 l
0 for for t 
 v0
v  0, t   0; v  l , t   0
EIv  0, t   0; EIv  l , t   0;
v  x, 0   0; v  x, 0   0  Assumption 

52
Case-4 A concentrated load P traverses the beam with a constant velocity v0
 156 22l 54 13l   0   12 6l 12 6l   0 

ml  22l 4l 2 13l 3l 2  u2  EI  6l 4l 2 6l 2l 2  u2 
       F  t 
420  54 13l 156 22l   0  l 3  12 6l 12 6l   0 
   
 13l 3l 2 22l 4l 2  u4   6l 2l 2
6l 4l 2  u4 
l
For 0  t 
v0
    
0   0 
2 3
v t v t
 L
 x 2
x  
3
 1  3 2  2 3  
 P   x  v0 
t  1  3 2
 2 3 
dx    l l  
0  l l    
L x 2 x3    R1    v0t   v0t   
2 3
 R1   
  v0t   2
 0    P  x  v0t   x  2 l  l 2  dx   0 
  2 
       l l  
F  t    R    0 L     P 
 2   P x  v t  3 x  2 x  dx   2  R    v0t   v0t   
2 3 2 3

 0     
0  2 3    0    3 2  2 3  
 0  l l     l l  
 L  x 2 x3    
  P  x  v0t     2  dx    v0t    v0t    
2 3

 0  l l      
l l 2
 
   
53
ml  4l 2 3l 2  u2  EI  4l 2 2l 2  u2   F2  t   l
 2   3  2 2   ;0  t 
420  3l 2 4l  u4  l  2l 4l  u4   F4  t   v0
l
 0; t 
v0
  v0t   v0t  
2 3

F2  t   P  v0t   2  2 
 l l 
  v0t 2  v0t 3 
F4  t   P   2 
 l l 

54
 Case-5 Right support is subjected to a harmonic moment
EIviv  mv  0
v  0, t   0; v  l , t   0
EIv  0, t   0; EIv  l , t   M 0 cos t;
v  x, 0   0; v  x, 0   0  Assumption 

Case-5 Right support is subjected to a harmonic moment

 156 22l 54 13l   0   12 6l 12 6l   0   R1 
 

ml  22l 4l 2 13l 3l 2  u2  EI  6l 4l 2
 6l 2l 2  u2   0 
  3   
420  54 13l 156 22l   0  l  12 6l 12 6l   0   R2 
   
 13l 3l 2 22l 4l 2  u4   6l 2l
2
6l 4l 2  u4   M 0  t  
ml  4l 2 3l 2  u2  EI  4l 2 2l 2  u2   0 
  2   3  2 2  
420  3l 2 4l  u4  l  2l 4l  u4   M 0  t  
M 0  t   M 0 cos t
55
Case-6 An unit impulsive force is applied at x  a
EIviv  mv    x  a    t 
v  0, t   0; v  l , t   0
EIv  0, t   0; EIv  l , t   0;
v  x, 0   0; v  x, 0   0  Assumption 

56
Case-6 An unit impulsive force is applied at x  a
 156 22l 54 13l   0   12 6l 12 6l   0 
 22l 4l 2 13l 3l 2  u2  EI  6l 4l 2 6l 2l 2  u2 
    F  t 
ml  
  3
420  54 13l 156 22l   0  l  12 6l 12 6l   0 
   
 13l 3l 2 22l 4l 2  u4   6l 2l
2
6l 4l 2  u4 
L  x2 x3  
    x  a  1  3 2  2 3  dx 
0  l l  
L  x 2 x3  
 R1  
 0      x  a   x  2 l  l 2  dx 

F  t    R    0 L  
 t 
 2    x  a  3 x  2 x  dx 
2 3

 0      2 3  
 0  l l  
 L
 x 2 x3  
    x  a     2  dx 
 0  l l  
57
 ml  4l 2 3l 2  u2  EI  4l 2 2l 2  u2   F2  t  
  2   3  2 2  
420  3l 2 4l  u4  l  2l 4l  u4   F4  t  
 a 2 a3 
F2  t    a  2  2    t 
 l l 
 a 2 a3 
F4  t      2    t 
 l l 

58
Case-7 An unit harmonic load is applied at x  a
EIviv  mv    x  a  cos t
v  0, t   0; v  l , t   0
EIv  0, t   0; EIv  l , t   0;
v  x, 0   0; v  x, 0   0  Assumption 

59
Case-7 An unit harmonic load is applied at x  a
 156 22l 54 13l   0   12 6l 12 6l   0 
 22l 4l 2 13l 3l 2  u2  EI  6l 4l 2 6l 2l 2  u2 
    F  t 
ml  
  3
420  54 13l 156 22l   0  l  12 6l 12 6l   0 
   
 13l 3l 2 22l 4l 2  u4   6l 2l
2
6l 4l 2  u4 
L  x2 x3  
    x  a  1  3 2  2 3  dx 
0  l l  
L  x 2 x3  
 R1  
 0      x  a   x  2 l  l 2  dx 

F  t    R    0 L  
 cos t
 2    x  a  3 x  2 x  dx 
2 3

 0      2 3  
 0  l l  
 L
 x 2 x3  
    x  a     2  dx 
 0  l l  
60
 ml  4l 2 3l 2  u2  EI  4l 2 2l 2  u2   F2  t  
  2   3  2 2  
420  3l 2 4l  u4  l  2l 4l  u4   F4  t  
 a 2 a3 
F2  t    a  2  2  cos t
 l l 
 a 2 a3 
F4  t      2  cos t
 l l 

61
 Modeling systems with constraints
y, v  x, t 
EI , AE, m, l
x, u  x, t 
B

 
A
EIv  mv  0
iv

AEu   mu
u  0, t   0; v  0, t   0; v  0, t   0 Reaction parallel to AB=0
EIv  l , t   0 Translation normal to AB=0
u  l , t  sin   v  l , t  cos   0
AEu   l , t  cos   EIv  l , t  sin   0
u  x , 0   u0  x  ; u  x , 0   u 0  x 
How to allow this
in FE modelling?
v  x, 0   v0  x  ; v  x, 0   v0  x  62