Dynamic Analysis

FINITE ELEMENT METHODS (18 ME 73)

Compiled by: Dr P R Venkatesh
Associate Professor
ME Dept, RVCE, Bengaluru-59

Dr P R Venkatesh, ME Dept RVCE

 Dynamic Analysis
• When loads are suddenly applied or when loads are of variable
nature, mass and acceleration effect come into picture.
• If a solid body is deformed elastically and suddenly released, it
tends to vibrate about its equilibrium position.
• Such periodic motion due to restoring strain energy is called free
vibration. The number of cycles per unit time is called frequency.
The maximum displacement from equilibrium position is known
as amplitude.
• In real world, vibrations subside with time due to damping action.
For simplicity, only undamped free vibration model is considered
for analysis.
Dr P R Venkatesh, ME Dept RVCE
The equilibrium equation for time-independent (static) analysis is;  K U  = F 
But, in time-dependent (dynamic) analysis, equilibrium equation is given by;
 K U  +  M a = F  where M is the mass of the body and a is the acceleration.

Hamilton's Principle : The variational principle used for dynamic problems

is called Hamilton's principle.
In this principle, the variation of functional w.r.t time is taken. The functional
for this principle is the Lagrangian (L) defined as; L = T -  P

Statement : Of all the possible time history displacement states that satisfy
compatibility and boundary conditions, and the initial conditions, the history
corresponding to actual solution makes Lagrange's functional a minimum.
t2

I =  L.dt = 0
t1

Dr P R Venkatesh, ME Dept RVCE

Element Mass matrix and stiffness matrix :
1 1
Kinetic energy T =  mass  velocity =   u T udv
2

2 2
(As mass = density  volume)
Also u =  N q  u =  N q and u = q  N  T T T

1 1
T =   q  N   N qdv = q    N   N dv  q

T T T T

2 2  
i.e. Mass matrix : m =    N   N  dv
e T

1 T   1
Strain energy SE = q    B  D  B  dv  q = q k q
T T

2 V  2
Stiffness matrix : k =   B  D  B  dv
T

V
Dr P R Venkatesh, ME Dept RVCE
Consistent & Lumped Mass matrix :
The mass matrix derived using the same displacement model used
to derive element stiffness matrix is called consistent m ass matrix.

In dynamic analysis, simpler forms of mass matrices are used for

analysis. The simplest among them is the concentrated or point
masses mi at node i in the direction of dof.

This is calculated assuming that the material on either side of the

particular displacement behaves like a rigid body & does not
particpate in motion. The resulting mass matrix is puerly diagonal
& is called Lumped mass matrix.

Dr P R Venkatesh, ME Dept RVCE

Derivation of Consistent Mass matrix :
We know that m =    N   N  dv
e T

(i) 1 - D bar element : Let u = N1q1 + N 2 q2

1 −  
1 −  1+    N1   2 
  N  =  N1 N2  =    = =
T
 & N 
 2 2   N 2  1 +  
 2 
+1 +1
le  Ale 2 1 ρAle
and  dv =  A.dx =A  d   m = −1 N   N  d = 6
e T
1 2
−1
2 2  
The above is known as consistent mass matrix for 1-D bar element.

Dr P R Venkatesh, ME Dept RVCE

(ii) Truss element : On the same lines, we can prove that consistent
mass matrix for a truss element is
 2 0 1 0
 
 Ale  2 0 1 
me =
6  2 0
 
 sym 2 
(iii) Beam element : On the same lines, we can prove that consistent
mass matrix for a beam element is;
156 22le 54 −13le 
 − 2 
 Ale 
2
4l 13l 3 l e 
me = e e

420  156 −22le 

 2 
 sym 4 le 

Dr P R Venkatesh, ME Dept RVCE

Lumped mass matrix :
 Ale 1 0 
(i) 1 - D bar element : m = e
 
2  0 1 
 1 0 0 0
 0 
 Ale  1 0
(ii) Truss element : m =
e

2  1 0
 
 sym 1
 1 0 0 0
 
 Ale  0 0 0 
(iii) Beam element : m =
e

2  1 0
 
 sym 0
Dr P R Venkatesh, ME Dept RVCE
EIGEN VALUES & EIGEN VECTORS :
The equilibrium equation for free vibration is;
Inertia force + Spring force = 0i.e.  M  x +  K  x = 0 (i)
where M = mass, K = Stiffness, x = displacement & x = Acceleration
Let  x =  X  sin t where X is the amplitude and  is the frequency.
 Velocity  x =   X  sin t &
Acceleration  x = − 2  X  sin t = − 2  x
Substituting in (i),  M   ( − 2  x ) +  K  x = 0 Rearranging the terms,

    
K −  M x = 0 where λ = ω 2
is called the eigen value
which is the square of the circular natural frequency .
 is the root of the characteristic equation  K  −   M  = 0
The corresponding displacement vector  x is known as the eigen vector.
Dr P R Venkatesh, ME Dept RVCE
PROPERTIES OF EIGEN VECTORS :
(i) Eigen vectors are orthogonal to stiffness & mass matrices
(ii) Lengths og eigen vectors are normalized.
(iii) Lengths of eigen vectors may be fixed by by setting its
largest component to unity.

METHODS OF FINDING EIGEN VALUES & VECTORS :

(i) Polynomial techinque (Finding the roots of  K  −   M  = 0)
(ii) Vector iteration
(iii) Transformation methods

Dr P R Venkatesh, ME Dept RVCE

 Problem 1
Determine the Eigen values and Eigen vectors for the
stepped bar shown in fig.
E, 2A, 
E, A, 

l/2 l/2

The equation of equilibrium is  K  −   M  X  = 0 where;

 K  = Stiffness matrix,  M  = Consistent mass matrix,
 X  = Nodal displacement matrix.
For non trivial solution,  K  −   M  = 0 using which the value of
eigen value  (=  2 ,  being the natural frequency) may be obtained.
Dr P R Venkatesh, ME Dept RVCE
 Problem 2
Determine the Eigen values and Eigen vectors for the
stepped bar shown in fig. Take two elements of equal
length.

Dr P R Venkatesh, ME Dept RVCE

 = 7860 kg/m 3 E= 210 GPa

1 2
1 2 3
f 0.02 m

0.125 m 0.125 m

Discretizing the bar into two elements of equal length as shown in fig.
 
Area of cross section of the bar A = d2 =  0.022 = 3.14 10−4 m 2
4 4
Length of each element L = 0.125 m

Dr P R Venkatesh, ME Dept RVCE

(1) Element stiffness matrix : Due to symmetry, both elements have identical stiffness matrices
AE  1 −1 3.14 10−4  210 109  1 −1 9 1 −1
 k  =  k
(1) (2)
 =   =  −1 1  = 0.53  10  −1 1 
L  −1 1  0.125    
1 2 3

 1 − 1 0 1
 K  = k  + k  = 0.53 109  −1 2 −1 2
(1) (2)
Global stiffness matrix :
 
 0 − 1 1 3
 
(2) Consistent mass matrix : Due to symmetry, both elements have identical mass matrices
 AL  2 7860  3.14 10−4  0.125  2 1 
1 2 1
 m(1)  =  m(2)  =   =   = 0.05  
6 1 2  6 1 2  1 2 
1 2 3
2 1 0 1
 M  =  m +  m = 0.05 1 4 0  2
(1) (2)
Global Mass matrix :
 
 0 1 2 3
 

Dr P R Venkatesh, ME Dept RVCE

(3) Eigen values :The characteristic equation is K  −  M  = 0
1 2 3
 1 2 3
 1 −1 0  1 2 1 0 1
 0.53 109  −1 2 −1 2 −   0.05 1 4 1  2 = 0
   
 0 − 1 1  3  0 1 2 3
   
Eliminating 1st row & coulmn as node 1 is fixed, & dividing throughout by 0.53 109 ,
 2 −1 −11  4 1  2 -1  4 1 
 −1 1  − 9.433  10  1 2  = 0, Put 9.433 × 10 -11
λ = α,  -1 1  - α  1 2  = 0
       
( 2 − 4 ) ( −1 −  ) 
 (−1 −  ) (1 − 2 )  = 0  
 2 − 8 + 8 2
 −
  1 +  2
+ 2  = 0
 

 7 2 − 10 + 1 = 0, Solving, 1 = 0.1082 and  2 = 1.32

1 = 0.1082  9.433 10−11 1 = 0.1082 or 1 = 12 = 1.147 109
 ω1 = 33868 rad / sec

 2 = 1.32  9.433 10−11 2 = 1.32 or 2 = 22 = 1.399 1010

 ω2 = 118294 rad / sec Dr P R Venkatesh, ME Dept RVCE
   X  =0.
(4) Eigen vectors :  K  −   M  For the first eigen vector, Put  = 1 = 1.147  109

  2 −1 −11 9 4 1    X 2(1)  0 

  − 9.433 10  1.147  10     (1)  =  
  −1 1   1 2    X 3  0 
  1.567 −1.1082    X 2(1)  0 
   (1)  =    1.567 X 2 − 1.1082 X 3 = 0  X 3 = 1.414 X 2
(1) (1) (1) (1)

  −1.1082 0.7836    X 3  0 
 X 2(1)  (1) 
1 
 The first eigen vector is  (1)  = X 2  
 3 
X 1.414 
For the second eigen vector, Put  = 2 = 1.399 1010
  2 −1 −11 10  4 1    X 2(2)  0 
  − 9.433 10 1.399 10     (2)  =  
  −1 1   1 2    X 3  0 
  −3.28 −2.32    X 2(1)  0 
  (1)  =    −3.28 X 2 − 2.32 X 3 = 0  X 3 = −1.414 X 2
(2) (2) (2) (2)
 
  −2.32 −1.64    X 3  0 
 X 2(2)   1 
 The second eigen vector is  (2)  = X 2(2)  
 3 
X  −1.414 

Dr P R Venkatesh, ME Dept RVCE

 3

2 (1) The first eigen vector is

(+) (1)
X3
1
X2
 X 2(1)  (1) 
1 
(-)  (1)  = X 2  
First Mode shape X3  1.414 

2
(+) (2)
1 X2 The second eigen vector is
(-) (2)  X 2(2)  (2)  1 
 (2)  = X 2 
X3
Second Mode shape 
3  3 
X  −1.414 

Dr P R Venkatesh, ME Dept RVCE

 Problem 3
Using a single finite element, determine the circular
natural frequencies and mode shapes of a cantilever
beam of length L, assuming constant values of , E & A.
The moment of inertia of the beam may be taken as I.

y
v2
v1
E, I, A,  2
1

1 2

L
x

Dr P R Venkatesh, ME Dept RVCE

y
v2
v1
E, I, A,  2
1 Stiffness matrix of a beam element is :
1 2
 12 6l −12 6l 
 
EI  4l 2 −6l 2l 2 
K  = 3 
L l 12 −6l 
 
x  Sym 4l 
2

Actual beam Also Consistent mass matrix for a beam element is;
v1
2
v2
156 22le 54 −13le 
1  4le2 13le −3le2 
 Ale 
M  =
L
420  156 −22le 
 2 
 sym 4 le 

Finite Element Model  v1 

 
 
Nodal displacement vector  X  =  1 
 v2 
 2 

Dr P R Venkatesh, ME Dept RVCE

(1) Eigen values : The characteristic equation is K  −  M  = 0
 12 6le −12 6le  156 22le 54 −13le 
 4le2 −6le 2le2   4le2 13le −3le2 
EI   Ale 
K  = 3  − =0
le 12 −6le  420  156 −22le 
 2   2 
 Sym 4le   sym 4 le 

Let le = L as there is a single element. At the fixed end, v1 = 0 & 1 = 0

EI
 Eliminating 1st and 2nd rows & columns & dividing throughout by 3
;
L
 12 −6 L   AL4  156 −22 L    AL4 
 −6 L 4 L2  −  420 EI  −22 L 4 L2  = 0, Put   420 EI  =  ,
     
 12 −6 L   156 −22 L   (12 − 156 ) ( −6 L + 22 L ) 
 −6 L 4 L2  −   −22 L 4 L2  = 0  ( −6 L + 22 L ) (4 L2 − 4 L2 )  = 0
     
  48L2 − 48L2 − 624 L2 + 624 L2 2  − 36 L2 − 132 L2 − 132 L2 + 484 L2 2  = 0
Cancelling L2 throughout, 140 2 − 408 + 12 = 0, Solving, 1 = 0.0297 and  2 = 2.884

Dr P R Venkatesh, ME Dept RVCE

   AL4   EI  EI
1 = 0.0297  1   = 0.0297 or 1 = 1 = 12.474 
2
  ω = 3.532 rad / sec
  AL   AL
4 1 4
 420 EI 
  AL4   EI  EI
 2 = 2.884  2   = 2.884 or  =  2
= 1211.28    ω = 34.8 rad / sec
  AL   AL
2 2 4 2 4
 420 EI 
 EI 
(2) Eigen vectors :  K  −   M  X  =0. For the first eigen vector, Put  = 1 = 12.474  4 
  AL 
  12 −6 L   AL4  156 −22 L    v2(1)  0 
in the equation of equilibrium   2
−  −22 L 4 L2    (1)  = 0 
 − 6 L 4 L  420 EI    2   
  12 −6 L   EI    AL4   156 −22 L    v2  0 
(1)

 2 
− 12.474  4 
  2    (1) 
= 
 − 6 L 4 L    AL   420 EI  −22 L 4 L 
   2  0 
  12 −6 L   156 −22 L    v2  0 
(1)

  2 
− 0.0297  2    (1) 
=    7.37v2(1) − 5.35 L 2(1) = 0
  −6 L 4 L   −22 L 4 L    2  0 
 1 
1.378 (1)  v2(1)  (1)  
 2 =
(1)
v2  The first eigen vector is  (1)  = v2 1.378 
L  2   L 

Dr P R Venkatesh, ME Dept RVCE

  EI 
For the second eigen vector, Put  = 2 = 1211.28  4 
  AL 
  12 −6 L   EI   AL4  156 −22 L    v2( 2)  0 
 2
− 1211.28  4 
  2    ( 2) 
= 
  −6 L 4 L    AL  420 EI  −22 L 4 L    2  0 
  12 −6 L   156 −22 L    v2(1)  0 
   − 2.884      =    −437.7 v ( 2)
+ 57.45 L ( 2)
=0
  −6 L 4 L   −22 L 4 L    2  0 
2 2 (1) 2 2

 1 
7.62 (1) v  
( 2)

  2(1) = v2  The second eigen vector is  ( 2)  = v2( 2)  7.62 
2

L  2   L 

2 (2)
(1) 2
2 (2)
(1) v2
v2
1 1
x x
First Mode shape
Second Mode shape
 1   1 
 v2(1)  (1)    v2( 2)  ( 2)  
 (1)  = v2 1.378  =
 ( 2)  2  7.62 
v
 2   L   2   L 
Dr P R Venkatesh, ME Dept RVCE
 Problem 4 (Exercise)
Compute the eigen value and eigen vectors for the
cantilever beam shown in fig using a single 1-D beam
element.
3
=7860 kg/m E= 200 GPa 0.01 m

1 2 0.02 m

1m

Hint : Same as previous problem, substitute the values of E, A, I, L and 

 bh3 0.01 0.023 −9 −4 2
 I = = = 6.667  10 m 4
, A = b  h = 0.01  0.02 = 2  10 m 
 12 12 
EI 200 109  6.667 10−9
Ans : ω1 = 3.532 = 3.532 = 102.86rad / sec
 AL4 7860  2 10−4 14
EI 200 109  6.667 10−9
ω2 = 34.8 = 34.8 = 1013.48 rad / sec
 AL4 7860  2 10−4 14
 v2(1)  (1)  1   v2( 2)  ( 2)  1 
First mode  (1)  = v2   , Second mode  ( 2)  = v2  

 2  1.378   2  7.62 
Dr P R Venkatesh, ME Dept RVCE
 Problem 5 (Exercise)
Compute the eigen value and eigen vectors for the
simply supported beam shown in fig using a single 1-D
beam element.

y E, I, A, 
v1 v2
1 2

1 2
Pinned
Pinned

Dr P R Venkatesh, ME Dept RVCE

 y E, I, A, 
v1 v2
1 2

1 2
Pinned
Pinned

Actual beam

v2 v3
v1
1 1 2 2 3

L/2 L/2

Finite Element Model

In the above problem, the transverse displacements at th pinned ends are zero.
i.e. v1 = v2 = 0. However the slopes at 1 & 2 (1 and  2 ) will be non-zero.

Dr P R Venkatesh, ME Dept RVCE

Stiffness matrix of a beam element is :
 12 6l −12 6l 
 2
EI  4l 2 −6l 2l 
K  = 3 
l 12 −6l 
 
 Sym 4l 
2

Also Consistent mass matrix for a beam element is;

156 22le 54 −13le 
 4le2 13le −3le2 
 Ale 
M  =
420  156 −22le 
 2 
 sym 4 le 

 v1 
 
 
Nodal displacement vector  X  =  1 
 v2 
 2 
Dr P R Venkatesh, ME Dept RVCE
(1) Eigen values : The characteristic equation is K  −  M  = 0
 12 6le −12 6le  156 22le 54 −13le 
 − 2   −3le2 

2 2
EI  4l 6l 2l Al 4l 13le
K  = 3  e e e 
− e  e
=0
le 12 −6le  420  156 −22le 
 2   
 Sym 4le   sym 4le2 
Let le = L as there is a single element. At the pinned ends, v1 = 0 & v2 = 0
EI
 Eliminating 1 and 3 rows & columns & dividing throughout by 3 ;
st rd

L
 4 L2 2 L2   AL4  4 L2 −3L2    AL4 
 2 2
−  =    =  2

420 EI  −3L2 4 L2 
0, Put , and el iminate L
2L 4L   420 EI 
4 2  4 −3 ( 4 − 4 ) (2 + 3 ) 
 2 4  −   −3 4  = 0   (2 + 3 ) (4 − 4 )  = 0
     
 16 + 16 2 − 32  −  4 + 9 2 + 12  = 0
or 7 2 − 44 + 12 = 0, Solving, 1 = 0.2857 and  2 = 6
Dr P R Venkatesh, ME Dept RVCE
   AL4   EI  EI
1 = 0.2857  1   = 0.2857 or  =  2
= 120  4 
 ω = 10.95 rad / sec
 420 EI 
1 1
  AL 
1
 AL 4

  AL4   EI  EI
 2 = 6  2   = 6 or  =  2
= 2520  4 
 ω = 50.2 rad / sec
  AL   AL
2 2 2 4
 420 EI 
 EI 
(2) Eigen vectors :  K  −   M  X  =0. For the first eigen vector, Put  = 1 = 120  4 
  AL 
  4 L2 2 L2   AL4  4 L2 −3 L   1  0 
2 (1)

in the equation of equilibrium   2 2

− 2    (1) 
=  
2L 4L  420 EI  −3L2 4 L    2  0 

4 2  EI    AL4   4 −3  1  0 

(1)

  − 120  
4       (1)  =  
2 4   AL   420 EI   −3 4    2  0 
4 2  4 −3  1  0 
(1)

  − 0.2857    (1)  =    2.8571 − 2.857 2 = 0

(1) (1)
 
2 4  −3 4    2  0 
1(1)  (1) 1
  2 = 1  The first eigen vector is  (1)  = 1  
(1) (1)

 2  1

Dr P R Venkatesh, ME Dept RVCE

  EI 
For the second eigen vector, Put  = 2 = 2520  4 
  AL 
  4 L2 2 L2   AL4  4 L2 −3L2   1(2)  0 
in the equation of equilibrium   2 2
−  2    (2) 
= 
  2 L 4 L  420 EI  −3L
2
4 L    2  0 
  4 2   EI    AL4   4 −3  1(2)  0 
  − 2520  
4       (2)  =  
  2 4    AL   420 EI   −3 4    2  0 
4 2  4 −3  1(2)  0 
   − 6      =    − 20  (2)
+ 20  (2)
=0
 −3 4    2  0 
(2) 1 2
2 4
 (2)
 (2)  1 
  2 = −1  The first eigen vector is  (2)  = 1  
(2) (2) 1

 2  −1

(2)
(1) (1) 1
1 2
(2)
2

First Mode shape

Second Mode shape
  (1) 1
(1)
1( 2)  ( 2)  1 
 (1)  = 1  
1

 2  1  ( 2)  = 1  
Dr P R Venkatesh, ME Dept RVCE  2  −1