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Solucionario Paz, M. & Kim. H-J. Structural Dynamics
Solucionario Paz, M. & Kim. H-J. Structural Dynamics
Structural Dynamics:
Theory and Computation
Sixth Edition
If the weight w is displaced by amount, y, the beam and the springs will exert a total force
on the mass of
3𝐸𝐼
𝑃 = # ( + 2𝑘, 𝑢
𝐿
The beam and springs act in parallel. The equivalent stiffness is:
𝑃 3𝐸𝐼
𝑘. = = # ( + 2𝑘,
𝑢 𝐿
Natural frequency:
𝑘 𝑔 3𝐸𝐼
𝜔=0 = 0 # ( + 2𝑘,
𝑚 𝑊 𝐿
Natural period:
2𝜋 𝑊 𝐿
𝑇= = 2𝜋𝐿0 # ,
𝜔 𝑔 3𝐸𝐼 + 2𝑘𝐿(
1.2
Stiffness:
3𝐸𝐼 3 × 109
𝑘. = # ( + 2𝑘, = + 2 × 1000 = 4,300 𝑙𝑏/𝑖𝑛.
𝐿 100(
Natural frequency:
𝑘 4300 × 386
𝜔=0 =0 = 23.52 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚 3000
𝑢̇ O
𝑢(𝑡) = 𝑢O 𝑐𝑜𝑠𝜔𝑡 + 𝑠𝑖𝑛𝜔𝑡
𝜔
1
𝑢̇ (𝑡) = −𝑢O 𝜔𝑠𝑖𝑛𝜔𝑡 + 𝑢̇ O 𝑐𝑜𝑠𝜔𝑡
𝑢O = 1 𝑖𝑛. , 𝑢̇ O = 20 𝑖𝑛./𝑠𝑒𝑐:
20
𝑢(1) = 1 ∙ 𝑐𝑜𝑠(23.5 ∙ 1) + 𝑠𝑖𝑛(23.5 ∙ 1) = −0.89 𝑖𝑛.
23.5
𝑢̇ (1) = −1 ∙ 23.5𝑠𝑖𝑛(23.5 ∙ 1) + 20𝑐𝑜𝑠(23.5 ∙ 1) = 22.66 𝑖𝑛./𝑠𝑒𝑐
1.3
Natural frequency:
1 𝑘 1 25,577 × 386
𝑓= 0 = 0 = 2.24 𝑐𝑝𝑠
2𝜋 𝑚 2𝜋 50,000
1.4
Stiffness:
Natural frequency:
2
𝑘 21,100 × 386
𝜔=0 =0 = 18.05 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚 25,000
𝜔
𝑓= = 2.87 𝑐𝑝𝑠
2𝜋
Compute the stiffness by moment distribution method. Displace the frame horizontally by
one inch and determine the stiffness of the frame as the sum of the shear forces in both
columns. Take advantage of the symmetry by modifying the stiffness of horizontal member
by factor 3/2.
Distribution factors
4𝐸𝐼 4𝐸
𝑘^_ = = ∙ 171 → 171 → 0.1244
𝐿 𝐿
4𝐸𝐼 3 4𝐸 3
𝑘^a = = ∙ ∙ 802 → 1203 → 0.8756
𝐿 2 𝐿 2
Shear force:
832 + 891
𝑘= ∙ 2 = 19.14 𝑘𝑖𝑝/𝑖𝑛. A
180 950 D
-59
Natural frequency:
891
1 𝑘 1 19,140 × 386
𝑓= 0 = 0 = 2.74 𝑐𝑝𝑠
2𝜋 𝑚 2𝜋 25,000
Note:
1. Assuming a flexible girder decreases the natural frequency by only
3
2.74
1− = 0.05 = 5%
2.87
2. Adding the weight of the girder and half of the weight of the two columns decrease the
natural frequency by:
15
𝑊 = 25,000 + 50 ∙ 15 + 2 ∙ 33 ∙ = 26,2456 𝑙𝑏
2
1 𝑘 1 19,140 × 386
𝑓= 0 = 0 = 2.67 𝑐𝑝𝑠
2𝜋 𝑚 2𝜋 26,245
2.67
1− = 0.05 = 2.5%
2.74
1.5
Stiffness coefficient:
12𝐸𝐼 192 ∙ 𝐸𝐼
𝑘 = 2# ,=
(2⁄𝐿)( (𝐿)(
Natural frequency:
𝑘 192 ∙ 𝐸𝐼𝑔
𝜔=0 =0
𝑚 (𝐿)( 𝑊
𝜔 4 3 ∙ 𝐸𝐼𝑔
𝑓= = 0 (
2𝜋 𝜋 (𝐿) 𝑊
1.6
𝑘 192 ∙ 10e ∙ 386
𝜔=0 =0 = 92.61 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚 (120)( ∙ 5,000
𝑢̇ O 15
𝑢(𝑡 = 2) = 𝑢O 𝑐𝑜𝑠𝜔𝑡 + 𝑠𝑖𝑛𝜔𝑡 = 0.5 cos(92.61 ∙ 2) + 𝑠𝑖𝑛(92.61 ∙ 2)
𝜔 92.61
4
𝑢̇ (𝑡) = −𝑢O 𝜔𝑠𝑖𝑛𝜔𝑡 + 𝑢̇ O 𝑐𝑜𝑠𝜔𝑡 = −92.61 ∙ 0.5 ∙ sin(92.61 ∙ 2) + 15𝑐𝑜𝑠(92.61 ∙ 2)
𝑢̇ (𝑡 = 2) = −21.05 𝑖𝑛./𝑠𝑒𝑐
𝑢̈ (𝑡 = 2) = 4,665 𝑖𝑛./𝑠𝑒𝑐 X
1.7
T
l 𝑀m = 𝐼 ∙ 𝛼
𝛼 = 𝑎𝑣𝑔. 𝑎𝑐𝑐.
−𝑚 ∙ 𝑔 ∙ 𝐿 ∙ 𝑠𝑖𝑛𝜃 = 𝑚 ∙ 𝐿X ∙ 𝜃̈
𝜃ṁ
𝜃 = 𝜃m 𝑐𝑜𝑠𝜔𝑡 + 𝑠𝑖𝑛𝜔𝑡
𝜔
s
Where 𝜔 = r t is the natural frequency.
5
1.8
l 𝑀m = 𝐼 ∙ 𝛼
𝑘𝑎 𝑠𝑖𝑛𝜃 mg
−𝑘 ∙ 𝑎 ∙ 𝑡𝑎𝑛𝜃 ∙ 𝑎 + 𝑚 ∙ 𝑔 ∙ 𝐿 ∙ 𝑠𝑖𝑛𝜃 = 𝑚 ∙ 𝐿X ∙ 𝜃̈
𝑚 ∙ 𝐿X ∙ 𝜃̈ + (𝑘 ∙ 𝑎X − 𝑚 ∙ 𝑔 ∙ 𝐿)𝜃 = 0
1 𝑘 ∙ 𝑎X − 𝑚 ∙ 𝑔 ∙ 𝐿
𝑓= 0
2𝜋 𝑚 ∙ 𝐿X
6
1.13
The deflection curve may be assumed to have the shape shown in Fig. 1.13 (a), which is bend
due to a force at the top of the pole.
𝑃𝐿X
𝜃=
2𝐸𝐼
𝑃𝐿(
𝛿=
3𝐸𝐼
d
P y
ky
𝜃 mg
a a
a 𝜃 Ry
O
Rx
O
Fig. 1.13 (b) Fig. 1.13 (c)
O
𝛿 2
𝑎= = 𝐿
𝜃 3
𝑃 3𝐸𝐼
𝑘= = (
𝛿 𝐿
7
l 𝑀m = 𝐼 ∙ 𝛼
−𝑘 ∙ 𝑎 ∙ 𝑐𝑜𝑠𝜃 ∙ 𝑎 + 𝑚 ∙ 𝑔 ∙ 𝐿 ∙ 𝑠𝑖𝑛𝜃 = 𝑚 ∙ 𝑎X ∙ 𝜃̈
Then
𝑚 ∙ 𝑎X ∙ 𝜃̈ + (𝑘 ∙ 𝑎X − 𝑚 ∙ 𝑔 ∙ 𝑎)𝜃 = 0
1 𝑘 𝑔 1 3𝐸𝐼 3𝑔
𝑓= 0 − = 0 −
2𝜋 𝑚 𝑎 2𝜋 𝑚𝐿( 2𝐿
1.15
Case a)
3𝐸𝐼
𝑘x =
𝐿(
1 1 1 1 𝐿( 3𝐸𝐼 + 𝑘𝐿(
= + = + =
𝑘. 𝑘 𝑘x 𝑘 3𝐸𝐼 3𝐸𝐼 × 𝑘
3𝐸𝐼 × 𝑘
𝑘. =
3𝐸𝐼 + 𝑘𝐿(
Natural frequency:
1 𝑘. 1 3𝐸𝐼 ∙ 𝑘 ∙ 𝑔
𝑓= 0 = 0
2𝜋 𝑚 2𝜋 (3𝐸𝐼 + 𝑘𝐿( )𝑊
Case b)
8
48𝐸𝐼
𝑘x =
𝐿(
1 1 1 1 𝐿( 48𝐸𝐼 + 𝑘𝐿(
= + = + =
𝑘. 𝑘 𝑘x 𝑘 48 ∙ 𝐸𝐼 48𝐸𝐼 ∙ 𝑘
Natural frequency:
1 𝑘. 1 48𝐸𝐼 ∙ 𝑘 ∙ 𝑔
𝑓= 0 = 0
2𝜋 𝑚 2𝜋 (48𝐸𝐼 + 𝑘 ∙ 𝐿( )𝑊
Case c)
𝑃 ∙ 𝑎X ∙ 𝑏X
𝛿=
3𝐸𝐼 ∙ 𝐿
So
𝑃 3𝐸𝐼
𝑘= = X X
𝛿 𝑎 𝑏
and
1 3𝐸𝐼 ∙ 𝐿 ∙ 𝑔
𝑓= 0
2𝜋 𝑎X 𝑏 X ∙ 𝑊
Case d)
3𝐸𝐼𝐿
𝑘x =
𝑎X 𝐿X
9
Spring in series:
1 1 1 1 𝑎X 𝑏X 3𝐸𝐼 + 𝑘 ∙ 𝑎X 𝑏 X
= + = + =
𝑘. 𝑘 𝑘x 𝑘 3𝐸𝐼 ∙ 𝐿 3𝐸𝐼 ∙ 𝑘 ∙ 𝐿
Natural frequency:
1 𝑘. 1 3𝐸𝐼 ∙ 𝑘 ∙ 𝑔
𝑓= 0 = 0
2𝜋 𝑚 2𝜋 (3𝐸𝐼 ∙ 𝐿 + 𝑘 ∙ 𝑎X 𝑏 X )𝑊
10
1.16
u1 u2
𝑚W 𝑢̈ W 𝑚W 𝑢̈ X
𝑘(𝑢X − 𝑢W )
𝑚W 𝑢̈ W − 𝑘(𝑢X − 𝑢W ) = 0 Eq.1
𝑚X 𝑢̈ X + 𝑘(𝑢X − 𝑢W ) = 0 Eq.2
Let 𝑦 = 𝑢X − 𝑢W
1 1
𝑦̈ − 𝑘 # + ,𝑦 = 0
𝑚W 𝑚X
Natural frequency:
1 1 1
𝑓= 0𝑘 # + ,
2𝜋 𝑚W 𝑚X
11
2.1
Stiffness:
3𝐸𝐼 3 ∙ 109
𝑘. = + 2𝑘 = + 2 ∙ 2,000 = 4,300 𝑙𝑏/𝑖𝑛.
𝐿( 100(
Natural frequency:
𝑘 4,300 ∙ 386
𝜔=0 =0 = 23.52 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚 3,000
𝜔| = 𝜔}1 − 𝜉 X = 23.52}1 − 0.15X = 23.25 𝑟𝑎𝑑/𝑠𝑒𝑐
12
2.2
From problem 1.6
Natural frequency:
𝜔| = 𝜔}1 − 𝜉 X = 92.61}1 − 0.10X = 92.15 𝑟𝑎𝑑/𝑠𝑒𝑐
13
2.3
𝑘 = 200 𝑙𝑏/𝑖𝑛.
𝑚 = 10 𝑙𝑏 ∙ 𝑠𝑒𝑐 X /𝑖𝑛.
𝑢W = 1.0 𝑖𝑛.
𝑢X = 0.95 𝑖𝑛.
𝑢W 1
𝛿 = 𝑙𝑛 = 𝑙𝑛 = 0.0513
𝑢X 0.95
𝛿 0.0513
𝜉= = = 0.00816
2𝜋 2𝜋
2.4
𝑢O
𝑙𝑛
= 𝑘𝛿
𝑢•
1 𝑢O 1 1
𝛿 = 𝑙𝑛 = 𝑙𝑛 = 0.09163
𝑘 𝑢• 10 0.4
Damping:
𝛿 0.09163
𝜉= = = 0.01458
2𝜋 2𝜋
𝜉 = 1.5%
14
2.5
a) for 𝜉 = 1
ŠŽ•
𝑢 = (𝐶W + 𝐶X 𝑡)𝑒 •X•‚
𝑐Š‹ = 2𝑚𝜔
𝑢 = (𝐶W + 𝐶X 𝑡)𝑒 ••‚
𝑢̇ = −𝜔(𝐶W + 𝐶X 𝑡)𝑒 ••‚ + 𝐶X 𝑒 ••‚
At 𝑡 = 0
𝑢O = 𝐶W 𝑢̇ O = −𝜔𝐶W + 𝐶X
b) for 𝜉 > 1
𝑢 = 𝐶W 𝑒 ‘’‚ + 𝐶X 𝑒 ‘“‚
𝑃W 𝑐 𝑐 X 𝑘
=− ± 0• – −
𝑃X 2𝑚 2𝑚 𝑚
Š •
Using 𝜉 = Š 𝑐Š‹ = 2√𝑘𝑚 𝜔 = r•
Ž•
𝑃W
= −𝜉𝜔 ± 𝜔— | 𝜔′| = 𝜔}𝜉 X − 1
𝑃X
at 𝑡 = 0;
𝑢O = 𝐶W + 𝐶X
𝑢̇ O = −𝜉𝜔(𝐶W + 𝐶X ) + 𝜔′| (𝐶W − 𝐶X )
š› ṧ › œ€•š› š› ṧ › œ€•š›
𝐶W = X
+ X•—™
; 𝐶X = X
− X•—™
𝑢O 𝑢̇ O + 𝜉𝜔𝑢O 𝑢O 𝑢̇ O + 𝜉𝜔𝑢O
𝑢 = 𝑒 •€•‚ •# + , (cosh(𝜔— | 𝑡) + sinh (𝜔— | 𝑡)) + # − , (cosh(𝜔— | 𝑡) − sinh (𝜔— | 𝑡))Ÿ
2 2𝜔′| 2 2𝜔′|
𝑢̇ O + 𝜉𝜔𝑢O
= 𝑒 •€•‚ •𝑢O cosh(𝜔— | 𝑡) + sinh (𝜔— | 𝑡)Ÿ
2𝜔′|
15
2.6
𝑙𝑏
𝑘 = 30,000 𝜔 = 25 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑖𝑛.
Damping force:
𝐹| = 𝑐𝑢̇
𝐹| 1000 𝑙𝑏 ∙ 𝑠𝑒𝑐
𝑐= = = 1000
𝑢̇ 1.0 𝑖𝑛.
𝑘 𝑘 30,000 𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝜔X = 𝑚 = X = = 48.0
𝑚 𝜔 25X 𝑖𝑛.
𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑐Š‹ = 2√𝑘𝑚 = 2}30,000 ∙ 48.0 = 2,400
𝑖𝑛.
a)
𝑐 1000
𝜉= = = 0.4167
𝑐Š‹ 2400
b)
2𝜋 2𝜋
𝑇| = = = 0.2765 𝑠𝑒𝑐.
𝜔}1 − 𝜉 X 25√1 − 0.4167X
c)
𝛿 = 𝜉𝜔𝑇| = 0.4167 ∙ 25 ∙ 0.2767 = 2.8801
d)
𝑢W
𝑙𝑛 = 𝛿
𝑢X
𝑢W
= 𝑒 = 𝑒 X.99OW = 17.8161
𝑢X
16
2.7
𝑢̇ O = 0 say time 𝑡O
Then at time 𝑡 = 𝑡O + 𝑇|
𝜔| 𝑇| = 2𝜋
Therefore, the bracket in 𝑢̇ (𝑡O + 𝑇| ) to equal to zero and there is a peak at this time. So peals
occurs at 2𝜋 interval in 𝜔| 𝑡
17
2.8
š¢
The ratio š may be written as
¢£¤
𝑢¥
𝑙𝑛 # , = 𝑘𝛿
𝑢¥œ•
18
2.10
3000 𝑟𝑎𝑑
𝜔=0 = 57.77
1 𝑠𝑒𝑐
𝜔| 54.61
𝑓| = = = 8.69 𝑐𝑝𝑠
2𝜋 2𝜋
c) 𝛿 is
2𝜋𝜉 2𝜋 ∙ 0.076
𝛿= = = 0.48
}1 − 𝜉 X √1 − 0.076X
š’
d) š“
is
𝑢W
𝑙𝑛 # , = 𝛿 = 0.48
𝑢X
𝑢W
= 𝑒 = 𝑒 O.§9 = 1.61
𝑢X
19
2.11
a)
a) The damping force is
𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑐Š‹ = 2√𝑘𝑚 = 2}3,000 ∙ 1 = 109.54
𝑖𝑛.
𝑐 2
𝜉= = = 0.018
𝑐Š‹ 109.54
b) The damping frequency is
𝜔| = 𝜔}1 − 𝜉 X = 57.77}1 − 0.018X = 57.76 𝑟𝑎𝑑/𝑠𝑒𝑐
𝜔| 57.76
𝑓| = = = 9.19 𝑐𝑝𝑠
2𝜋 2𝜋
c) 𝛿 is
2𝜋𝜉 2𝜋 ∙ 0.018
𝛿= = = 0.113
}1 − 𝜉 X √1 − 0.018X
š’
d) š“
is
𝑢W
𝑙𝑛 # , = 𝛿 = 0.113
𝑢X
𝑢W
= 𝑒 = 𝑒 O.WW( = 1.12
𝑢X
20
2.14
Let 𝑢 = 𝑦W − 𝑦X
y1 y2
𝑘𝑢
𝑚W 𝑦̈W 𝑐𝑢̇ 𝑚W 𝑦̈ X
Newton’s law ∑ 𝐹 = 0
𝑚X 𝑦̈ X + 𝑐𝑢̇ + 𝑘𝑢 = 0 (𝐸𝑞. 1)
𝑚W 𝑦̈W − 𝑐𝑢̇ − 𝑘𝑢 = 0 (𝐸𝑞. 2)
where 𝑢̈ = 𝑦̈ W − 𝑦̈ X
2.15
𝑚W 𝑚X
𝑀=
(𝑚W + 𝑚X )
Also,
𝑘
𝜔=0
𝑀
𝜔| = 𝜔}1 − 𝜉 X
𝑐
𝜉=
𝑐Š‹
Substituting,
𝑢̈ + 2𝜉𝜔𝑢̇ + 𝜔X 𝑢 = 0
3.2
21
Stiffness:
48𝐸𝐼 48 ∙ 30 ∙ 10Z ∙ 110
𝑘x = = = 27,160 𝑙𝑏/𝑖𝑛.
𝐿( (15 ∙ 12)(
Natural frequency:
𝑘 27,160 ∙ 386
𝜔=0 =0 = 102.4 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚 1000
Force frequency:
900 ∙ 2𝜋
𝜔
©= = 94.25 𝑟𝑎𝑑/𝑠𝑒𝑐
60
Frequency ratio:
𝜔
© 94.25
𝑟= = = 0.9204
𝜔 102.4
Amplitude of force:
1
𝐹m = 𝑚— 𝑒m 𝜔
©= 94.25X = 23.01 𝑙𝑏
386
Amplitude of vertical motion:
𝐹m /𝑘 23.01/27,160
𝑌= = = 0.0037 𝑖𝑛.
}(1 − 𝑟 X )X + (2𝜉𝑟)X }(1 − 0.92X )X + (2 ∙ 0.1 ∙ 0.92)X
«
Note the high dynamic amplification factor ¬ = 4.375; the frequency ratio is close to the point
-®
of resonance, that is 𝑟 = 1.
22
3.3
𝐹m = 23.01 𝑙𝑏
𝑘 = 27,160 𝑙𝑏/𝑖𝑛.
𝜉 = 0.1
𝑟 = 0.9204
Transmissibility
1 1
𝐴 ¡ = 𝐹m 𝑇‹ = 23.01 ∙ 4.45 = 51.2 𝑙𝑏
2 2
In addition, each support carries one-half of the total motor weight of 𝑊 = 1000 𝑙𝑏𝑠.
3.4
Stiffness:
Natural frequency:
𝑘 29,990 ∙ 386
𝜔=0 =0 = 14.23 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚 2000 ∙ 20
𝜔
© 12
𝑟= = = 0.843
𝜔 14.23
1 1
𝐷= X
= = 3.456
1−𝑟 1 − 0.843X
Steady-state amplitude:
23
𝐹m 5,000
𝑌 = 𝑦±‚ 𝐷 = 𝐷= ∙ 3.456 = 0.823 𝑖𝑛.
𝑘 20,990
3.5
𝜉 = 0.08
From problem 3.4:
𝐹m = 5,000 𝑙𝑏
𝑘 = 20,990 𝑙𝑏/𝑖𝑛.
𝑟 = 0.843
1 1
𝐷= = = 3.132
}(1 − 𝑟 X )X + (2𝜉𝑟)X }(1 − 0.843X )X + (2 ∙ 0.08 ∙ 0.843)X
Steady-state amplitude:
𝐹m 5,000
𝑌 = 𝑦±‚ 𝐷 = 𝐷= ∙ 3.132 = 0.746 𝑖𝑛.
𝑘 20,990
Note: Structural damping of 8 percent of critical damping reduced in this case. The dynamic
magnification factor from 3.456 to 3.132.
3.6
a)
1 + (2𝜉𝑟)X 1 + (2 ∙ 0.1 ∙ 0.843)X
𝐴 ¡ = 𝐹m 0 = 5,000 0 = 15,803 𝑙𝑏
(1 − 𝑟 X )X + (2𝜉𝑟)X (1 − 0.843X )X + (2 ∙ 0.1 ∙ 0.843)X
b)
𝐴¡
𝑇‹ = = 3.16
𝐹m
24
3.7
Harmonic motion
𝑦O = 0.1
𝑊 𝑌 = 0.01𝑚
𝜔
© = 10 ∙ 2𝜋 = 62.83 𝑟𝑎𝑑/𝑠𝑒𝑐
𝜉=0
𝑦m 0.1
±(1 − 𝑟 X ) = = = 10
𝑌 0.01
Retain negative root
𝑟 X = 11
𝜔
© 62.83
𝑟 = 3.317 = =
𝜔
r386 ∙ 𝑘
100
𝑘 = 93 𝑙𝑏/𝑖𝑛.
3.8
𝑊
𝐹.²² = −𝑚𝑦̈± = − 0.1 ∙ 𝑔 ∙ 𝑠𝑖𝑛𝜔
©𝑡
𝑔
𝐹.²² = −10 𝑠𝑖𝑛(10 ∙ 2𝜋 ∙ 𝑡)
𝐹O = 10 𝑘𝑖𝑝
𝐹O 10
𝑦±‚ = = = 0.04
𝑘 3000/12
Natural Frequency:
𝑘 3000/12
𝜔=0 =0 = 31.06 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚 100/386
25
𝜔
© = 10 ∙ 2𝜋 = 62.83 𝑟𝑎𝑑/𝑠𝑒𝑐
𝜔
© 62.83
𝑟= = = 2.023
𝜔 31.06
𝑦±‚ 0.04
𝑈= = = 0.013 𝑖𝑛.
}(1 − 𝑟 X )X + (2𝜉𝑟)X }(1 − 2.023X )X + (2 ∙ 2.023 ∙ 0.1)X
3.9
Transmissibility is given by
1 + (2𝜉𝑟)X 1 + (2 ∙ 2.023 ∙ 0.1)X
𝑇‹ = 0 = 0 = 0.34
(1 − 𝑟 X )X + (2𝜉𝑟)X (1 − 2.023X )X + (2 ∙ 2.023 ∙ 0.1)X
3.10
First find the equivalent spring constant, that is the force to produce a unit deflection on the
beam at the location of the motor.
𝑃
𝜃
𝛿
𝑃𝐿 X
𝑀O 𝐿X 4 𝐿 𝑃𝐿(
𝜃= = =
3𝐸𝐼 3𝐸𝐼 12𝐸𝐼
𝐿 (
𝑃𝐿 𝐿( 𝑃 •4–
5𝑃𝐿(
𝛿= ∙ + =
12𝐸𝐼 4 3𝐸𝐼 192𝐸𝐼
26
𝑊 3330 𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑚= = = 8.63
𝑔 386 𝑖𝑛.
𝑘 𝑟𝑎𝑑
𝜔 = 0 = 87.89 = 839 𝑅𝑃𝑀
𝑚 𝑠𝑒𝑐
800 ∙ 2𝜋
𝜔
©W = = 83.77 𝑟𝑎𝑑/𝑠𝑒𝑐
60
1000 ∙ 2𝜋
𝜔
©X = = 104.72 𝑟𝑎𝑑/𝑠𝑒𝑐
60
1200 ∙ 2𝜋
𝜔
©( = = 125.66 𝑟𝑎𝑑/𝑠𝑒𝑐
60
𝜔
©W 𝜔
©X 𝜔
©(
𝑟W = = 0.95; 𝑟X = = 1.19; 𝑟X = = 1.43
𝜔 𝜔 𝜔
𝑊— ∙ 𝑒 ∙ 𝜔
©X 𝑊 — ∙ 𝑒 ∙ 𝑟 X 𝑊 — ∙ 𝑒 ∙ 𝑟 X
𝑦±‚ = = =
𝑘 𝑊 𝑊
𝑔∙𝑚∙𝑚 𝑔∙ 𝑔
𝑦±‚ 𝑊 — 𝑒 50 𝑌(𝑖𝑛. )
𝑌(𝑟 = 1) = = = 0.08
2𝜉 𝑊 3300 ∙ 2 ∙ 0.1
= 0.076 𝑖𝑛. 0.06
0.04
𝑌W = 0.064 𝑖𝑛.
0.02
𝑌X = 0.0446 𝑖𝑛.
800 1000 1200 𝑅𝑃𝑀
𝑌( = 0.0302 𝑖𝑛. 839
27
3.14
1 𝑘
𝑓· = 0
2𝜋 𝑚 + 𝑚±
And the natural frequency
1 𝑘
𝑓= 0
2𝜋 𝑚
Dividing
𝑓 𝑚 + 𝑚±
=0
𝑓· 𝑚
Then
𝑚±
𝑓 = 𝑓· r1 +
𝑚
28
3.15
𝑌 1
𝐷= =
𝑦±‚ }(1 − 𝑟 X )X + (2𝜉𝑟)X
¸|
The peak will occurs when ¸‹ = 0
𝑑𝐷 2𝑟¹ º1 − 𝑟¹ X » − 4𝜉 X 𝑟¹
= =0
𝑑𝑟 X X (/X
¼º1 − 𝑟¹ X » + º2𝜉𝑟¹ » ½
𝜔¹
𝑟¹ X = 1 − 2𝜉 X =
𝜔X
𝜔¹ is the peak frequency.
W
𝜔¹ X = 𝜔}1 − 2𝜉 X for 𝜉 <
√X
And
𝑦±‚
𝑌¹ =
2𝜉}1 − 𝜉 X
2𝜉𝑟¹ 2𝜉}1 − 2𝜉 X }1 − 2𝜉 X
𝜃¹ = 𝑡𝑎𝑛•W = 𝑡𝑎𝑛 •W
= 𝑡𝑎𝑛 •W
1 − 𝑟¹ X 2𝜉 X 𝜉
W
Note: These results are, of course, only valid for 2𝜉 X < 1 or 𝜉 < = 0.707.
√X
Since the amount of damping in structures 𝜔
© usually small (𝜉 < 0.1) the peak frequency, 𝜔¹
may be considered to be the same as the natural frequency 𝜔, that is, the resonant frequency.
29
3.16
a)
1 𝑘 1 89,000 ∙ 386
𝑓= 0 = 0 = 18.58 𝑐𝑝𝑠
2𝜋 𝑚 2𝜋 2,520
b)
𝑐 112
𝜉= = = 0.0735
𝑐Š‹ 2}89,000 ∙ 2520/386
c)
𝑦±‚
𝑌¹ =
2𝜉}1 − 𝜉 X
𝐹O
𝑦±‚ =
𝑘
d)
At resonance
𝑌 1
=
𝑦±‚ 2𝜉
30
3.17
𝑚𝑢̈ + 𝑐𝑢̇ + 𝑘𝑢 = 𝑚— 𝑒O 𝜔
© X 𝑠𝑖𝑛𝜔
©𝑡
Using eq. 3.20
𝑚′𝑒 X 𝑚′𝑒 X
𝑘 𝜔
© 𝑚 𝑟
𝑌= =
}(1 − 𝑟 X )X + (2𝜉𝑟)X }(1 − 𝑟 X )X + (2𝜉𝑟)X
At resonance 𝑟 = 1:
𝑚′𝑒
𝑌‹ =
2𝑚𝜉
or
𝑚′𝑒
2𝜉𝑌‹ =
𝑚
at
𝑟 = 𝑟W
𝑚′𝑒 X
𝑌W = 𝑚 𝑟W
}(1 − 𝑟W X )X + (2𝜉𝑟W )X
Solve for 𝜉
𝑌W (1 − 𝑟W X )
𝜉=
2𝑟W }𝑌‹ X 𝑟W X − 𝑌W X
Force at resonance:
𝑘
©‹ X = 𝑚— 𝑒
𝐹‹ = 𝑚— 𝑒𝜔
𝑚
𝐹‹ = 2𝜉𝑌‹ 𝑘
𝑌W 𝑌‹ (1 − 𝑟W X )𝑘
𝐹‹ =
𝑟W }𝑌‹ X 𝑟W X − 𝑌W X
31
3.18
Let 𝑢 = 𝑦W − 𝑦X
y1 y2
𝑘𝑢
𝐹O 𝑠𝑖𝑛𝜔
© 𝑡
𝑚W 𝑦̈W 𝑐𝑢̇ 𝑚W 𝑦̈ X
𝑚X 𝑦̈ X + 𝑐𝑢̇ + 𝑘𝑢 = 𝐹O 𝑠𝑖𝑛𝜔
© 𝑡 (𝐸𝑞. 1)
𝑚W 𝑦̈W − 𝑐𝑢̇ − 𝑘𝑢 = 0 (𝐸𝑞. 2)
𝑚W 𝑚X
𝑀=
(𝑚W + 𝑚X )
a)
𝑚W 𝐹O
𝑀𝑢̈ + 𝑐𝑢̇ + 𝑘𝑢 = 𝑠𝑖𝑛𝜔
© 𝑡
𝑚W + 𝑚X
Steady-state solution:
b)
𝑚W 𝐹O
𝑠𝑖𝑛(𝜔© 𝑡 − 𝜃)
𝑘(𝑚W + 𝑚X )
𝑢=
}(1 − 𝑟 X )X + (2𝜉𝑟)X
2𝜉𝑟
𝑡𝑎𝑛 𝜃 =
1 − 𝑟X
where
𝜔
© 𝑘
𝑟= ; 𝜔 = 0
𝜔 𝑚
𝑐Š‹ = 2√𝑘𝑚
𝑐
𝜉=
𝑐Š‹
32
4.3 𝐹(𝜏)
damping 𝜏
𝑡¸ = 0.6 𝑠𝑒𝑐
12𝐸𝐼 3𝐸𝐼
𝑘W + 𝑘X = +
𝐿W ( 𝐿X (
12 ∙ 30 ∙ 10 ∙ 82.8 3 ∙ 30 ∙ 10Z ∙ 82.
Z
𝑙𝑏
𝑘= + = 5111.1 + 539.1 = 5650.2 .
(15 ∙ 12)( (20 ∙ 12)( 𝑖𝑛
𝑘 5650.2 ∙ 386
𝜔=0 =0 = 10.44 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚 20,000
Then, for 𝑡 < 𝑡¸ :
(a)
𝐹O 𝐹O 𝑠𝑖𝑛𝜔𝑡
𝑢(𝑡) = (1 − 𝑐𝑜𝑠𝜔𝑡) + # − 𝑡,
𝑘 𝑘𝑡¸ 𝜔
at 𝑡 = 0.5 𝑠𝑒𝑐.
2𝜋 2𝜋
𝑇= = = 0.602 𝑠𝑒𝑐.
𝜔 10.44
𝑡¸ 0.6
= = 0.9972
𝑇 0.602
𝑡¸
𝑓𝑜𝑟 = 0.997 → (𝐷𝐿𝐹)•¿À = 1.55
𝑇
𝑢•¿À
∴ = 1.55
𝑢±‚
5,000
𝑢•¿À = 1.55 ∙ 𝑢±‚ = 1.55 ∙ = 1.37 𝑖𝑛.
5,650.2
33
4.5
Determine DLF.
First interval for 𝑡 < 𝑡¸ :
𝜏
𝐹(𝜏) = 𝐹O ; 𝑢 = 0; 𝑢̇ O = 0
𝑡¸ O
Duhamel’s integral
1 ‚
𝑢(𝑡) = Ã 𝐹(𝜏) sin 𝜔(𝑡 − 𝜏) 𝑑𝜏
𝑚𝜔 O
1 ‚ 𝜏
𝑢(𝑡) = Ã 𝐹O sin 𝜔(𝑡 − 𝜏) 𝑑𝜏
𝑚𝜔 O 𝑡¸
where
‚
𝜏 1 ‚
à 𝜏 sin 𝜔(𝑡 − 𝜏) 𝑑𝜏 = cos 𝜔(𝑡 − 𝜏) − à cos 𝜔(𝑡 − 𝜏) 𝑑𝜏
O 𝜔 𝜔 O
𝜏 1
= cos 𝜔(𝑡 − 𝜏) + X sin 𝜔(𝑡 − 𝜏)
𝜔 𝜔
Then:
‚
𝐹O 1
𝑢(𝑡) = •𝜏 ∙ cos 𝜔(𝑡 − 𝜏) + sin 𝜔(𝑡 − 𝜏)Ÿ
𝑚𝜔 X 𝑡¸ 𝜔 O
𝐹O sin 𝜔𝑡
= #𝑡 − , 𝐸𝑞. 1;
𝑘𝑡¸ 𝜔
𝐹O
= 𝑢±‚
𝑘
𝑢(𝑡) 1 sin 𝜔𝑡
DLF = = #𝑡 − ,
𝑢±‚ 𝑡¸ 𝜔
From Eq.1 at 𝑡 = 𝑡¸
𝐹O sin 𝜔𝑡¸ 𝐹O sin 𝜔𝑡¸
𝑢¸ = #𝑡¸ − , ; 𝑢¸ = #1 − ,
𝑘𝑡¸ 𝜔 𝑘 𝜔𝑡¸
Derivate Eq. 1
34
𝐹O 𝐹O
𝑢̇ (𝑡) = (1 − cos 𝜔𝑡); 𝑢̇ ¸ = (1 − cos 𝜔𝑡¸ )
𝑘𝑡¸ 𝑘𝑡¸
The governing equation for the second interval is Eq. 4.4
𝑢̇ ¸ 1 ‚
𝑢(𝑡) = 𝑢¸ cos 𝜔𝑡 + sin 𝜔𝑡 + Ã 𝐹(𝜏) sin 𝜔(𝑡 − 𝜏) 𝑑𝜏
𝜔 𝑚𝜔 O
𝑢̇ ¸ 𝐹O ‚
𝑢(𝑡) = 𝑢¸ cos 𝜔𝑡 + sin 𝜔𝑡 + Ã sin 𝜔(𝑡 − 𝜏) 𝑑𝜏
𝜔 𝑚𝜔 O
𝑢̇ ¸ 𝐹O
𝑢(𝑡) = 𝑢¸ cos 𝜔𝑡 + sin 𝜔𝑡 + (1 − cos 𝜔𝑡)
𝜔 𝑚𝜔 X
𝐹O sin 𝜔𝑡¸ 𝐹O 𝐹O
𝑢(𝑡) = #1 − , cos 𝜔𝑡 + (1 − cos 𝜔𝑡¸ ) sin 𝜔𝑡 + (1 − cos 𝜔𝑡)
𝑘 𝜔𝑡¸ 𝜔𝑘𝑡¸ 𝑘
sin 𝜔𝑡¸ 𝑢±‚ 1 cos 𝜔𝑡¸
𝑢(𝑡) = 𝑢±‚ #1 − , cos 𝜔𝑡 + # − , sin 𝜔𝑡 + 𝑢±‚ (1 − cos 𝜔𝑡)
𝜔𝑡¸ 𝜔 𝑡¸ 𝑡¸
35
4.6
𝑦
𝑦±
𝑘(𝑦 − 𝑦± )
𝑚
𝑘 𝑚𝑦̈
where
𝑢 = 𝑦 − 𝑦±
𝑦̈ = 𝑢̈ + 𝑦̈±
𝑚(𝑢̈ + 𝑦̈± ) + 𝑘𝑢 = 0
𝑚𝑢̈ + 𝑘𝑢 = −𝑚𝑦̈±
𝑢̈ + 𝜔𝑢 = −𝑦̈±
𝑢̈ + 𝜔𝑢 = −0.5𝑔
0 + 𝜔X 𝐶 = −0.5𝑔;
−0.5𝑔
𝐶= ;
𝜔X
−0.5𝑔
𝑢¹ =
𝜔X
Then,
0.5𝑔
𝑢 = 𝐴 cos 𝜔𝑡 + 𝐵 sin 𝜔𝑡 −
𝜔X
0.5𝑔 0.5𝑔
𝑢O = 𝐴 − = 0, 𝐴 =
𝜔X 𝜔X
36
𝑢̇ = −𝜔𝐴 sin 𝜔𝑡 + 𝐵 𝜔 cos 𝜔𝑡
𝑢̇ O = 𝐵𝜔 = 0, 𝐵 = 0
Finally
0.5𝑔 0.5𝑔
𝑢= X
cos 𝜔𝑡 − X
𝜔 𝜔
Find 𝑢•¿À :
0.5𝑔
𝑢̇ = sin 𝜔𝑡 = 0
𝜔X
𝑡 = 0; 𝑢O = 0,
𝜋
𝑡 = ; 𝑢 = 𝑢•¿À
𝜔
37
4.7
For 𝑢•¿À = 0;
𝑑𝑢
= 𝑒 •W.O§§‚ [1.044 ∙ (1.044 sin 10.39𝑡 + 10.39 cos 10.39𝑡)
𝑑𝑡
− (10.39 ∙ 1.044 cos 10.39𝑡 − 10.39X sin 10.39𝑡)] = 0
𝑡• = 0.302 𝑠𝑒𝑐
𝑢•¿À = 0.17035[10.39 − 𝑒 •O.(W‰Ò (1.044 sin 𝜋 + 10.39 cos 𝜋)] = 0.17035 ∙ 10.39 ∙ 1.729
= 3.06 𝑖𝑛.
38
4.19
𝑚𝑢̈ + 𝑘(𝑢 − 𝑢± ) = 0
𝑡 𝐹(𝑡)
0 0
0.25 7208.75
0.5 0
1.0 0
𝑦
𝑦±
𝑘(𝑦 − 𝑦± )
𝑚
𝑘 𝑚𝑦̈
39
4.20
𝑘 = 7208.75 𝑙𝑏/𝑖𝑛.
𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑚 = 51.81
𝑖𝑛.
𝑙𝑏 ∙ 𝑠𝑒𝑐
𝑐Š‹ = 2√𝑘𝑚 = 1222.21
𝑖𝑛.
Equation of Motion:
1
𝑢̇ ± = = 4 𝑖𝑛. → 𝐴𝑠𝑠𝑢𝑚𝑖𝑛𝑔 𝑢𝑛𝑖𝑓𝑜𝑟𝑚 𝑠𝑝𝑒𝑒𝑑 𝑜𝑓 𝑠𝑢𝑝𝑝𝑜𝑟𝑡 𝑖𝑛 𝑚𝑜𝑡𝑖𝑜𝑛
0.25
𝑡 𝐹(𝑡)
0 489.0
0.25 7697.5
0.5 489.0
1.0 489.0
40
4.25
1000 𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑚= = 233.44
386 𝑖𝑛.
𝑙𝑏 ∙ 𝑠𝑒𝑐
𝑐 = 𝜉𝑐Š‹ = 2𝜉√𝑘𝑚 = 490.55
𝑖𝑛.
𝑘
𝑇 = 2𝜋0 = 0.5724 𝑠𝑒𝑐
𝑚
10
𝜔
©= = 1.5724 𝑟𝑎𝑑/𝑠𝑒𝑐
2𝜋
𝑇
∆𝑇 = ≈ 0.05 𝑠𝑒𝑐
10
10𝑡
𝐹(𝑡) = 0.1 sin # ,
2𝜋
41
4.26
Maximum shear forces:
𝑀X•¿À 1,797,840
𝜎X•¿À = = = 6831 𝑝𝑠𝑖
𝑆 263.2
To check the calculations using the response in terms of the maximum absolute acceleration,
we consider the differential equation for relative motion,
𝑦± = support displacement
𝑉 = −𝑚𝑦̈ − 𝑦±
and replacing values from the response obtained in Problem 3.15 at time 𝑡 = 1 sec. which is
the time for maximum displacement:
𝑉•¿À = 9212 𝑙𝑏
42
This last value checks closely with the total shear force calculated using the relative
displacements in the columns, that is,
𝑀X•¿À 20,212,560
𝜎X•¿À = = = 76,795 𝑝𝑠𝑖
𝑆 263.2
43
4.27
The deflection 𝛿 produced by a force 𝑃 applied at the center of a fixed beam is given by
𝑃𝐿(
𝛿=
192𝐸𝐼
Since the coil spring and the beam are in series, the combined spring constant 𝐾Û for the system
is:
1 1 1 1 1
= + = +
𝐾. 𝐾Š 𝐾Û 18000 145000
or
𝐾. = 16,012 𝑙𝑏/𝑖𝑛.
Problem Data:
3000 𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑚= = 7.772
386 𝑖𝑛.
𝑘 = 16,012 (𝑙𝑏/𝑖𝑛. )
𝑐=0
1 𝑘
𝑓= 0 = 7.224 𝑐𝑝𝑠
2𝜋 𝑚
𝑇 = 0.138
𝑇
∆𝑇 = ≈ 0.01 𝑠𝑒𝑐
10
44
4.28
𝑃•¿À = 𝑘. 𝑢•¿À
𝑘. = 16,012 𝑙𝑏
𝑢•¿À = 0.71
𝑃•¿À = 𝑘. 𝑢•¿À = 16,012 ∙ 0.71 = 11,368 𝑙𝑏
The maximum moment on fixed beam resulting from a concentrated force 𝑃•¿À applied at its
center is given by,
𝑀•¿À 𝑐 34,1055 ∙ 5
𝜎•¿À = ± =± = ±4900 𝑝𝑠𝑖
𝐼 348
The static moment 𝑀±‚ and the static stress 𝜎±‚ resulting from the weight of the motor are then
calculated as
1 1
𝑀±‚ = 𝑊𝐿 = ∙ 3000 ∙ 240 = 90,000 𝑙𝑏 ∙ 𝑖𝑛.
8 8
and
𝑀±‚ 𝑐 90,000 ∙ 5
𝜎±‚ = = = 1293 𝑝𝑠𝑖
𝐼 348
The total maximum stresses are then
𝑃•¿À 11,368.5
𝑢^,•¿À = = = 0.0784 𝑖𝑛.
𝐾Û 145,000
45
5.1
𝜋
1000 sin 10𝑡 •𝑡 ≤ –
𝐹=Ü 10
𝜋
0 •𝑡 > –
10
𝜔
© = 10 𝑐𝑝𝑠
46
5.3
Mathematical model:
Effective force
5
𝐹.²² = 𝑚 𝑎(𝑡) = ∙ 200 sin 10𝑡 = 2.5907 sin 10𝑡
386
𝜔
© = 10 𝑟𝑎𝑑/𝑠𝑒𝑐
𝜔
©𝑡¸ = 𝜋
𝜋 𝜋
𝑡¸ = = = 0.1𝜋
𝜔
© 10
1 𝑘 1 7.4338 ∙ 386
𝑓= 0 = 0 = 38.5 𝑐𝑝𝑠
2𝜋 𝑚 2𝜋 5
1 1
𝑇= = = 0.260 𝑠𝑒𝑐
𝑓 38.5
𝑡¸ 0.1𝜋
= = 1.2
𝑇 0.260
Using Fig. 5.3
𝑡¸ 𝑢
= 1.2 → ≈ 1.6
𝑇 𝑢±‚
𝐹m 2.5907
𝑢±‚ = = = 0.348 𝑖𝑛.
𝑘 7.4338
47
5.4
𝑀•¿À 𝑐 𝑉•¿À 𝐿𝑐
𝜎•¿À = =
𝐼 𝐼
𝑢•¿À = 0.557 𝑖𝑛.
12𝐸𝐼𝑢•¿À
𝑉•¿À = (𝐸𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑐𝑜𝑙𝑢𝑚𝑛)
𝐿(
3𝐸𝐼𝑢•¿À
𝑉•¿À = (𝐼𝑛𝑡𝑒𝑟𝑛𝑎𝑙 𝑐𝑜𝑙𝑢𝑚𝑛)
𝐿(
External columns:
Internal columns:
3𝐸𝐼𝑦•¿À 𝐿𝑐 3 ∙ 30 ∙ 10( ∙ 0.557 ∙ 4.875
𝜎•¿À = = = 5.2380 𝑘𝑠𝑖
𝐿( 𝐼 216X
48
5.5
From problem 5.1:
𝑓 = 1.875 𝑐𝑝𝑠
From Fig. 5.8 with 𝜉 = 0.1
𝑆| = 1.9 𝑖𝑛.
𝑆ß = 22.4 𝑖𝑛./𝑠𝑒𝑐
𝑆¿ = 0.68𝑔
5.6
𝑘 8 ∙ 386
𝜔=0 =0 = 2.778 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚 400
𝜔 2.778
𝑓= = = 0.442 𝑐𝑝𝑠
2𝜋 2𝜋
From Fig. 5.8
𝑆| = 11.0 𝑖𝑛.
(𝐹Û )•¿À = 𝐾 ∙ 𝑆| = 8 ∙ 11.0 = 88.0 𝑘𝑖𝑝𝑠
5.8
From Fig. 5.8, with 𝑓 = 0.442 𝑐𝑝𝑠 and 𝜉 = 0.1
𝑆| = 4.5 𝑖𝑛.
(𝐹Û )•¿À = 𝐾 ∙ 𝑆| = 8 ∙ 4.5 = 36.0 𝑘𝑖𝑝𝑠
49
5.9
From Problem 5.7: Max. Force in spring (𝐹Û )•¿À = 88.0 kips
88.0
𝑅¡ = = 44 𝑘𝑖𝑝𝑠
2
𝑅a = −44 𝑘𝑖𝑝𝑠
From Fig. 5.14 with 𝜇 = 2.0,
1 1
𝑇= = = 2.26 𝑠𝑒𝑐:
𝑓 0.442
𝑆| = 6.0 𝑖𝑛.
yield point:
𝑅¡ 44
𝑦‚ = = = 5.5
𝑘 8
6.0
𝜇= = 1.1
5.5
From Fig. 5.14 with 𝜇 = 1.25, 𝑇 = 2.26 𝑠𝑒𝑐,
𝑆| = 10 𝑖𝑛.
10
𝜇= = 1.8
5.5
From Fig. 5.14 with 𝜇 = 1.5, 𝑇 = 2.26 𝑠𝑒𝑐,
𝑆| = 8 𝑖𝑛.
8
𝜇= = 1.45
5.5
50
5.11
From Problem 5.10 𝑇 = 2.26 𝑠𝑒𝑐
From Fig. 5.15 with 𝑇 = 2.26 𝑠𝑒𝑐
𝜇 = 2.0, 𝑆| = 3 𝑖𝑛.
From Problem 5.8 (𝐹Û )•¿À = 36.00
36
𝑅¡ = = 18 𝑘𝑖𝑝𝑠
2
𝑅¡ 18
𝑦¬¥.Ḡ= = = 2.25
𝑘 8
𝑆| 3.0
𝜇= = = 1.33
𝑦¬¥.Ḡ2.25
From Fig. 5.15 with 𝑇 = 2.26 𝑠𝑒𝑐
𝜇 = 1.50 𝑆| = 4.5 𝑖𝑛.
𝑆| 4.0
𝜇= = = 1.8
𝑦¬¥.Ḡ2.25
5.12
a) From Fig. 5.8 with
1 1
𝑓= = = 2.0 𝑐𝑝𝑠, 𝜔 = 12.566 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑇 0.5
𝑆| = 4.0 𝑖𝑛.
𝑆ß = 50.3 𝑖𝑛./𝑠𝑒𝑐
𝑆¿ = 1.63𝑔
1 1
𝑓= = = 2.0 𝑐𝑝𝑠, 𝜉 = 0
𝑇 0.5
𝑆| = 16.0 ∙ 0.3 = 4.8 𝑖𝑛.
𝑆ß = 200 ∙ 0.3 = 60.0 𝑖𝑛./𝑠𝑒𝑐
𝑆¿ = 6.54𝑔 ∙ 0.3 = 1.96𝑔
51
5.13
a) 𝑇 = 0.5 𝑠𝑒𝑐
From Fig. 5.12 for 𝜇 = 4
𝑆| = 0.48 𝑖𝑛.× 4 = 1.92 𝑖𝑛.
𝑆ß = 6.0 𝑖𝑛./𝑠𝑒𝑐
𝑆¿ = 0.2𝑔
𝑓 = 2.0 𝑐𝑝𝑠, 𝜇 = 4
𝑆| = 5 ∙ 4 ∙ 0.3 = 6.0 𝑖𝑛.
𝑆ß = 60 ∙ 0.3 = 18.0 𝑖𝑛./𝑠𝑒𝑐
𝑆¿ = 2𝑔 ∙ 0.3 = 0.6𝑔
52
6.7
Ductility factor 𝜇 is defined as the ratio of maximum displacement to the yield displacement
Max. displacements:
𝑢•¿À = 2.56 𝑖𝑛.
Yield displacements:
𝑅 30𝑘
𝑢¬ = = = 1.5 𝑖𝑛.
𝑘 20𝑘/𝑖𝑛.
Ductility ratio:
𝑢•¿À 2.56
𝜇= = = 1.7
𝑢¬ 1.5
53
7.1
12𝐸𝐼 12 ∙ 5 ∙ 109
𝑘W = = = 1028.81 𝑙𝑏/𝑖𝑛.
𝐿(W (12 ∙ 15)(
12𝐸𝐼 12 ∙ 2.5 ∙ 109
𝑘X = ( = = 1004.69 𝑙𝑏/𝑖𝑛.
𝐿X (12 ∙ 12)(
3860 𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑚W = = 10
386 𝑖𝑛.
1930 𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑚X = = 5
386 𝑖𝑛.
For free vibration:
𝑘W + 𝑘X − 𝑚W 𝜔X −𝑘X 𝑎W 0
• X Ÿ •𝑎X – = •0–
−𝑘X 𝑘X − 𝑚X 𝜔
Non-trivial solution:
X
â2033.50 − 10𝜔 −1004.69 â = 0
−1004.69 1004.69 − 5𝜔X
X
rl 𝑚¥ 𝑎¥X = 4.453
1.000 1.000
𝜙WW = = 0.2227, 𝜙WX = = 0.2246
4.491 4.453
1.426 −1.402
𝜙XW = = 0.3175, 𝜙XX = = −0.3148
4.491 4.453
0.2227 0.2246
[Φ] = ¼ ½
0.3175 −0.3148
54
7.2
𝑘W = 50,000 𝑙𝑏/𝑖𝑛.
𝑘X = 40,000 𝑙𝑏/𝑖𝑛.
𝑘( = 30,000 𝑙𝑏/𝑖𝑛.
𝑊W = 10𝑘, 𝑊X = 6𝑘, 𝑊( = 4𝑘
𝑎¥é
𝜙¥é =
𝑗¥
55
7.3
𝑘W + 𝑘X − 𝑚W 𝜔X −𝑘X 𝑎W 0
• X Ÿ •𝑎X – = •0–
−𝑘X 𝑘X − 𝑚X 𝜔
Non-trivial solution:
X
â19.917 − 0.2073𝜔 −13.889 â=0
−13.889 13.889 − 0.1554𝜔X
X
rl 𝑚¥ 𝑎¥X = 0.6306
56
7.5
2 −1 0 0 0
⎡ ⎤
−1 2 −1 0 0 0
⎢ ⎥
⎢ −1 2 −1 0 0 0 ⎥
⎢ −1 2 −1 0 0 0 ⎥
[𝐾 ] = ⎢ ⎥
⎢ ⎥
⎢ … ⎥
⎢ … ⎥
⎢0 0 0 −1 2 −1 ⎥
⎣0 0 0 0 −1 1 ⎦
57
7.6
150 0 0
[𝑀 ] = å 0 100 0 æ
0 0 50
𝜔W = 7.73𝑟𝑎𝑑𝑠𝑒
𝜔X = 16.15𝑟𝑎𝑑𝑠𝑒
𝜔( = 22.64 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑢W = 𝐶W 𝜙WW sin 𝜔W 𝑡
+ 𝐶X 𝜙WW cos 𝜔W 𝑡 + 𝐶( 𝜙WX sin 𝜔X 𝑡 + 𝐶§ 𝜙WX cos 𝜔X 𝑡 + 𝐶‰ 𝜙W( sin 𝜔( 𝑡 + 𝐶Z 𝜙W( cos 𝜔( 𝑡
𝑢X = 𝐶W 𝜙XW sin 𝜔W 𝑡
+ 𝐶X 𝜙XW cos 𝜔W 𝑡 + 𝐶( 𝜙XX sin 𝜔X 𝑡 + 𝐶§ 𝜙XX cos 𝜔X 𝑡 + 𝐶‰ 𝜙X( sin 𝜔( 𝑡 + 𝐶Z 𝜙X( cos 𝜔( 𝑡
𝑢( = 𝐶W 𝜙(W sin 𝜔W 𝑡
+ 𝐶X 𝜙(W cos 𝜔W 𝑡 + 𝐶( 𝜙(X sin 𝜔X 𝑡 + 𝐶§ 𝜙(X cos 𝜔X 𝑡 + 𝐶‰ 𝜙(( sin 𝜔( 𝑡 + 𝐶Z 𝜙(( cos 𝜔( 𝑡
58
8.1
Mathematical model:
𝐹O = 5000 𝑙𝑏
𝜔W = 11.83 𝑟𝑎𝑑/𝑠𝑒c
𝜔X = 32.9 𝑟𝑎𝑑/𝑠𝑒c
59
8.2
Use data from Problem 8.1:
Modal equations:
17931
𝑞W = (1 − cos 11.83𝑡) = 128.1(1 − cos 11.83𝑡)
140
−311.3
𝑞W = (1 − cos 32.9𝑡) = −0.2874(1 − cos 32.9𝑡)
1082
Transforming coordinates
{𝑢 } = [Φ]{𝑞}
where
𝑢‹W = 𝑢W − 𝑢±
𝑢‹X = 𝑢X − 𝑢±
60
8.3
Stiffness matrix:
3000 −1500 0
[𝐾] = å−1500 3000 −1500æ
0 −1500 1500
0.3886 0 0
[𝑀] = å 0 0.3886 0 æ
0 0 0.3886
Solve Eigenproblem
𝜔W X = 764.52 𝑟𝑎𝑑/𝑠𝑒c
𝜔X X = 6002.2 𝑟𝑎𝑑/𝑠𝑒c
𝜔( X = 12533 𝑟𝑎𝑑/𝑠𝑒c
Modal Equations:
𝑡
𝐹W = 1000 #1 − , (𝑙𝑏)
0.2
𝑡
𝐹X = 2000 #1 − , (𝑙𝑏)
0.2
𝑡
𝐹( = 3000 #1 − , (𝑙𝑏)
0.2
𝑡
𝑞̈ W + 764.52𝑞W = 5969 #1 − ,
0.2
𝑡
𝑞̈ X + 6002.2𝑞X = −610 #1 − ,
0.2
61
𝑡
𝑞̈ ( + 12533𝑞( = 162 #1 − ,
0.2
𝑇W = 0.2272
𝑇X = 0.0811
𝑇( = 0.0561
𝑡¸ /𝑇W = 0.88
𝑡¸ /𝑇X = 2.466
𝑡¸ /𝑇( = 3.565
(𝐷𝐿𝐹)W•¿À = 1.5
(𝐷𝐿𝐹)X•¿À = 1.8
(𝐷𝐿𝐹)(•¿À = 1.85
5969
𝑞W±‚ = = 7.811
764.2
−610
𝑞X±‚ = = −0.1016
6002.2
162
𝑞(±‚ = = 0.01292
12533
Estimate maximum response using square root sum of the squares of modal contributions:
X
𝑢¥•¿À = 0lº𝜙¥é∙ 𝑞1𝑚𝑎𝑥 » 𝑖 = 1, 2, 3
é
62
8.4
From 8.3
𝑞W•¿À = 7.811 ∙ 1.5 = 11.7165
𝑞X•¿À = −0.1829
𝑞(•¿À = 0.0239
63
8.8
12𝐸𝐼 12 ∙ 10 ∙ 109
𝑘W = = = 2058 𝑙𝑏/𝑖𝑛.
𝐿(W (12 ∙ 15)(
12𝐸𝐼 12 ∙ 5 ∙ 109 𝑙𝑏
𝑘X = ( = = 2009 .
𝐿X (12 ∙ 12) ( 𝑖𝑛
9
12𝐸𝐼 12 ∙ 5 ∙ 10
𝑘( = ( = = 3472 𝑙𝑏/𝑖𝑛.
𝐿X (10 ∙ 12)(
3860 𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑚W = = 10
386 𝑖𝑛.
1930 𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑚X = = 5
386 𝑖𝑛.
1930 𝑙𝑏 ∙ 𝑠𝑒𝑐 X
𝑚( = = 5
386 𝑖𝑛.
(a)
𝑢W = 2.218 sin 𝑡
𝑢X = 3.981 sin 𝑡
𝑢( = 4.419 sin 𝑡
(b)
𝑢W = 4.436 cos 𝑡
𝑢X = 7.963 cos 𝑡
𝑢( = 9.128 cos 𝑡
(c)
64
9.1
(a)
10 −2 −1 0 0 0 0 0
[𝐾] = ö −2 6 −3 −2÷, [𝑀] = ö0 0 0 0÷
−1 −3 12 −1 0 0 3 0
0 −2 −1 8 0 0 0 2
1 −0.2 −0.1 0
ö0 5.6 −3.2 −2÷
0 −3.2 11.9 −1
0 −2 −1 8
1 −0.2 −0.1 0
ö0 5.6 −0.5714 −0.3591 ÷
0 −3.2 11.9 −1
0 −2 −2.1428 7.2858
1 0 −0.2193 −0.07142
ö0 1 −0.5714 −0.3591 ÷
0 0 10.0715 −2.1428
0 0 −2.1428 7.2858
By Eq. 9.11
0.2193 0.07142
0.2193 0.07142
[𝑇ø] = ¼ ½ 𝑠𝑜 [𝑇] = ö0.5714 0.3571 ÷
0.5714 0.3571 1 0
0 1
© ] = [𝑇ø]¡ [𝐾][𝑇ø]
Check [𝐾
10 −2 −1 0 0.2193 0.07142
©] = ¼
[𝐾 0.2193 0.5714 1 0 −2 6 −3 −2÷ ö0.5714 0.3571 ÷
½ö
0.07142 0.3571 0 1 −1 −3 12 −1 1 0
0 −2 −1 8 0 1
©] = ¼ 10.0715 −2.1425½
[𝐾
−2.1428 7.2858
©] = ¼ 3 0
Check [𝑀 ½
0 2
(b)
©−𝑀
[𝐾 © 𝜔X ]{𝑎} = {0} (𝐸𝑞. 1)
𝜔§ − 7𝜔X + 11.4645 = 0
𝜔WX= 2.6137, 𝜔W = 1.6167 𝑟𝑎𝑑/𝑠𝑒𝑐
𝜔XX = 4.386, 𝜔X = 2.094 𝑟𝑎𝑑/𝑠𝑒𝑐
65
From Eq. (1)
For 𝜔WX = 2.6137
[10.0715 − 3(2.6137)]𝑎WW − 2.1428𝑎WX = 0
Set
𝑎(W = 1.0
𝑎§W = 1.0409
or
1
𝜙(W = = 0.4399
√3 ∙ 1.0X+ 2 ∙ 1.0409X
1.0409
𝜙§W = = 0.4579
√3 ∙ 1.0X + 2 ∙ 1.0409X
For 𝜔XX = 4.386
0.2193 0.07142
[𝑇] = ö0.5714 0.3571 ÷
1 0
0 1
For the first mode:
0.1270 0.0416
{𝜙}W = [𝑇]{𝜙}‘W 0.4148 0.0212
=ú û, {𝜙}X = [𝑇]{𝜙}‘X = ú û
0.4399 0.3739
0.4579 −0.5388
66
9.2
1 0 0 0
[𝑀] = ö0 1 0 0÷
0 0 3 0
0 0 0 2
From Prblem 9.1
0.2193 0.07142
[𝑇] = ö0.5714 0.3571 ÷
1 0
0 1
© ] = [𝑇ø]¡ [𝑀][𝑇ø]
Check [𝑀
1 0 0 0 0.2193 0.07142
0.2193 0.5714 1 0
©] = ¼
[𝑀 ½ ö0 1 0 0÷ ö0.5714 0.3571 ÷
0.07142 0.3571 0 1 0 0 3 0 1 0
0 0 0 2 0 1
© ] = ¼ 3.372
[𝑀
−0.2193
½
−0.2193 2.133
©] = ¼ 10.0715 −2.1425½
[𝐾
−2.1428 7.2858
©−𝑀
[𝐾 © 𝜔X ]{𝑎} = {0} (𝐸𝑞. 1)
𝜔§ − 6.5767𝜔X + 9.6281 = 0
𝜔WX = 2.1997, 𝜔W = 1.4831 𝑟𝑎𝑑/𝑠𝑒𝑐
𝜔XX = 4.377, 𝜔X = 2.0921 𝑟𝑎𝑑/𝑠𝑒𝑐
67
From Eq. (1)
For 𝜔WX = 2.1997
[10.0715 − 3.372(2.1997)]𝑎(W − [2.1428 + 0.2193(2.1997)]𝑎§W = 0
Set
𝑎(W = 1.0
𝑎§W = 1.011
or
1
𝜙(W = = 0.4082
2.45
1.011
𝜙§W = = 0.4126
2.45
{𝑎} = [𝑇]{𝑎}¹
From Problem 9.1:
0.2193 0.07142
[𝑇] = ö0.5714 0.3571 ÷
1 0
0 1
𝜙
{𝜙}‘W = • (W Ÿ = ¼0.4082½
𝜙§W 0.4126
𝜙
{𝜙}‘X = • (X Ÿ = ¼ 0.3630 ½
𝜙§X −0.5490
68
9.5
From Problem 9.4: Natural frequencies
ωW = √164 = 12.81
ωX = √1748 = 41.81
𝑆|W = 6.274
𝑆|X = 0.6119
Participation factors:
Γ¥ = l 𝑚é 𝜙é¥
9.6
The modal shear force 𝑉¥é at story 𝑖 due to mode 𝑗 is:
𝑉W = 4371 𝑙𝑏
𝑉X = 4002 𝑙𝑏
𝑉( = 3327 𝑙𝑏
𝑉§ = 2345 𝑙𝑏
𝑉‰ = 1410 𝑙𝑏
69
9.7
ωWX = 2.3131
ωXX = 4.1622
From Problem 9.1 and 9.4:
10 −2 −1 0 1 0 0 0
[𝐾] = ö −2 6 −3 −2÷, [𝑀] = ö0 1 0 0÷
−1 −3 12 −1 0 0 3 0
0 −2 −1 8 0 0 0 2
7.6868 −2 −1 0
[𝐾 − 𝑀𝜔WX ]=ö −2 3.6868 −3 −2 ÷
−1 −3 5.0604 −1
0 −2 −1 3.3736
Apply Gauss-Jordan elimination to two-first rows:
1 0 −0.3980 −0.1643
ö0 1 −1.0297 −0.6316÷
0 0 1.5129 −3.0593
0 0 3.0593 2.1104
0.3980 0.1643
øøø
[𝑇Ó ] = • Ó Ÿ = ö1.0297
𝑇 0.6316÷
𝐼 1 0
0 1
𝜙
{𝜙}‘W = • (W Ÿ = ¼0.1858½
𝜙§W 0.1592
𝜙
{𝜙}‘X = • (X Ÿ = ¼ 0.1565 ½
𝜙§X −0.2029
70
9.9
a)
ωWX = 164.56
ωXX = 1473
0.1697 0.3466
{𝜙}W = " 0.3394#, {𝜙}X = " 0.6932 #
0.5286 −0.1360
0.6231 −0.5506
Modal response:
Praticipation factors:
Γ¥ = l 𝑚é 𝜙é¥
2𝜋 2𝜋
𝑇W = = 0.500, 𝑇X = = 0.1637
𝜔W 𝜔X
𝑡¸ 0.25 𝑡¸ 0.25
= = 0.125, = = 1.527
𝑇W 0.50 𝑇X 0.1637
𝑧W•¿À 𝑧X•¿À
= 0.39, = 1.7
𝑧W±‚ 𝑧X±‚
𝑃O ΓW 400 ∙ 2.0948
𝑧W±‚ = = = 5.09
ωWX 164.56
𝑃O ΓW 400 ∙ 0.6318
𝑧X±‚ = X = = 0.17
ωW 1473.4
𝑢¥é = max. displacement at floor “𝑖" and “𝑗” mode relative to base displacement
X
𝑢¥é = 0lº𝜙¥é 𝑧é•¿À »
é
71
c)
𝐹¥é = max. inertial force at floor 𝑖 in mode 𝑗:
𝑉¥é = l 𝐹•é
•+¥
𝑉‰W = 204.05
𝑉§W = 377.15
𝑉(W = 519.27
𝑉XW = 630.41
𝑉WW = 685.98
𝑉‰X = −235.26
𝑉§X = −293.37
𝑉(X = −174.33
𝑉XX = 97.83
𝑉WX = 245.93
2
𝑉¥ = ,l 𝑉2𝑖𝑗
𝑖=1
72
10.2
sec X
𝑚§ = 0.01 ∙ 100 = 1 V𝑙𝑏 Y
𝑖𝑛.
𝑚‰ = 1
0 0 0 0 0
⎡0 0 0 0 0⎤⎥
© ] = ⎢⎢0
[𝑀 0 0 0 0⎥
⎢0 0 0 1 0⎥
⎣0 0 0 0 1⎦
10.8
ì P1 ü é 36 3L -36 3L ù ìd1 ü
ïP ï ê 2 úï ï
ï 2 ï N ê 3L 4 L -3L - L ú ïd 2 ï
2
í ý= í ý
ï P3 ï 30 L ê -36 -3L 36 -3L ú ïd 3 ï
ïî P4 ïþ ê 2 ú
ë 3L - L -3L 4 L û ïîd 4 ïþ
2
73
11.8
1
4
1 2
10𝑓(𝑡) 𝑥 𝑥
𝑃§
𝑃§ 𝑃‰
1 𝑃W 𝑃‰ 7
2
𝑃W
0.70
)
𝑓 (𝑡
10
10𝑓(𝑡)0.707
𝑃X
2 𝑦
𝑃X
𝑃( 𝑦 𝑃(
𝑃W 𝑃W
For member 1
t t
𝑥 X 𝑃(𝑡)𝐿X
𝑃( = Ã −𝑃(𝑡)𝜓X (𝑥)𝑑𝑥 = −𝑃(𝑡) Ã 𝑥 •1 − – 𝑑𝑥 = − = −633.3𝑃(𝑡)
O O 𝐿 12
𝑃(𝑡)𝐿X
𝑃Z = = 833.3𝑃(𝑡)
12
𝑃(𝑡)𝐿X
𝑃‰ = − = −50𝑃(𝑡)
2
𝑃W = 𝑃X = 𝑃§ = 0
For member 2
𝑃§ = 𝑃W = −3.533𝑓(𝑡)
𝑃X = 𝑃‰ = 3.533𝑓(𝑡)
𝑥 X
𝑃( = 3.533𝑓(𝑡) â𝑥 •1 − – â t
𝐿 À+
X
𝐿
𝑃( = 3.533𝑓(𝑡) = 44.18𝑓(𝑡)
8
𝐿
𝑃Z = −3.533𝑓(𝑡) = −44.18𝑓(𝑡)
8
11.9
𝐹W = 833.3𝑃(𝑡) − 44.18𝑓(𝑡)
𝐹X = −833.3𝑃(𝑡)
𝐹( = −5𝑓(𝑡)
𝐹§ = −50𝑃(𝑡)
74
12.10 𝑦
𝑃X 𝑃‰
𝑧 𝑃(𝑡) = 𝑃O 𝑓(𝑡)
𝑃W 𝑃§ 𝑥
𝑦 𝐿
𝑃( 𝑃Z
Equivalent forces = fixed-end reaction with opposite sign.
𝑃W = 0
1
𝑃X = − 𝑃O 𝑓(𝑡)𝐿X
12
𝑃O 𝑓(𝑡)𝐿
𝑃( =
2
𝑃§ = 0
1
𝑃‰ = 𝑃 𝑓(𝑡)𝐿X
12 O
𝑃O 𝑓(𝑡)𝐿
𝑃Z =
2
12.11
𝑃W = 0
𝐹(𝑡)𝑎𝑏X
𝑃X = −
𝐿X
𝐹(𝑡)𝑏X
𝑃( = (3𝑎 + 𝑏)
𝐿X
𝑃§ = 0
𝐹(𝑡)𝑎X 𝑏
𝑃‰ =
𝐿X
𝐹(𝑡)𝑎X
𝑃Z = (3𝑎 + 𝑏)
𝐿X
75
i
14.2
|[𝐾] − [𝑀]𝜔X | = 0
Using results from Problem 14.1
X
ù1563 − 7.2𝜔 902 ù=0
902 4688 − 7.2𝜔X
1st mode
76
14.5
Natural frequencies:
𝜔WX = 183.5, 𝑓W = 2.16 𝑐𝑝𝑠
𝜔XX = 684.4, 𝑓X = 4.16 𝑐𝑝𝑠
𝜙WW = 0.35996
𝜙XW = −0.09647
𝜙WX = 0.09649
𝜙XX = 0.35994
1
𝑇W = = 0.463 𝑠𝑒𝑐, 𝑇X = 0.240, 𝑡¸ = 0.1𝑠𝑒𝑐
2.16
𝑡¸ 𝑧1max
= 0.216, 𝐷𝐿 𝐹Wþÿ! = = 1.2
𝑇¸ 𝑧W±‚¿‚
𝑡¸ 𝑧2max
= 0.417, 𝐷𝐿 𝐹Xþÿ! = = 1.9
𝑇¸ 𝑧X±‚¿‚
𝑞̈ W + 𝜔W X 𝑞W = 𝜙WW 𝐹W + 𝜙XW 𝐹X
𝑞̈ X + 𝜔X X 𝑞X = 𝜙WX 𝐹W + 𝜙XX 𝐹X
or
𝐹O 3.6 𝐹O 0.9646
𝑧W,±‚ = = = 0.196, 𝑧X,±‚ = = = 0.0014
𝑘 18.34 𝑘 684.6
𝑦W,•¿À = r(𝑧W,þÿ! 𝜙11 )X +(𝑧X,þÿ! 𝜙12 )X = r(0.235 ∙ 0.36)X +(0.0026 ∙ 0.09646)X = 0.0846 𝑖𝑛.
𝑦X,•¿À = r(𝑧W,þÿ! 𝜙21 )X +(𝑧X,þÿ! 𝜙22 )X = r(−0.235 ∙ 0.09646)X +(0.0026 ∙ 0.36)X = 0.0227 𝑖𝑛.
77
17.1
𝐸𝐼
𝜔· = 𝑛X 𝜋 X 0 §
𝑚
©𝐿
150 𝑙𝑏
𝑊= = 0.0868 (
12( 𝑖𝑛.
0.0868 ∙ 24 ∙ 10 𝑙𝑏 ∙ sec X
𝑚
©= = 0.054
386 𝑖𝑛.(
𝜔W
𝜔W = 13.4638, 𝑓1 = = 2.14 𝑐𝑝𝑠
2𝜋
𝜔X
𝜔X = 53.8552, 𝑓2 = = 8.57 𝑐𝑝𝑠
2𝜋
𝜔(
𝜔( = 121.1742, 𝑓3 = = 19.28 𝑐𝑝𝑠
2𝜋
17.2
𝐸𝐼
𝜔· = 𝐶· 0 §
𝑚
©𝐿
78
17.3
17.4
−2(2000) 2 𝑛𝜋(108) 𝑛𝜋 1 𝑛𝜋
𝑦•¿À Š.·‚.‹ = l X sin sin = −342.93 l X sin(0.7854𝑛) sin
0.054(36)(12) 𝜔· (36 ∙ 12) 2 𝜔· 2
1 1 0.707
𝑦•¿À Š.·‚.‹ = −342.93 • X
0.707 + X
(0) + (−1) … . . Ÿ
13.46 53.85 121.17X
= −342.93[0.0039 − 0.000048]
= −1.321 𝑖𝑛.
79
17.5
𝑙𝑏 ∙ sec X
𝑚
© = 0.3
𝑖𝑛.(
𝐸𝐼 = 10Z 𝑙𝑏 ∙ 𝑖𝑛.X
𝐿 = 150 𝑖𝑛.
where
t
© 𝜙·X (𝑥)𝑑𝑥
𝑀· = Ã 𝑚
O
t
𝐹· = Ã 𝜙·X (𝑥)𝑃(𝑥, 𝑡) 𝑑𝑥
O
or
𝐹(𝑡) 𝑃O ∫ 𝜙· (𝑥)𝑑𝑥
𝑧̈· + 𝜔· X 𝑧· = = t
𝑀· ∫ 𝑚© 𝜙·X (𝑥)𝑑𝑥
O
∫ 𝜙· (𝑥)𝑑𝑥
𝐼· = t
© 𝜙·X (𝑥)𝑑𝑥
∫O 𝑚
Modal response:
𝑃O 𝐼·
𝑧· (𝑡) = (1 − cos 𝜔· 𝑡)
𝜔· X
Total response:
𝑛𝜋𝑥
𝑢(𝑡, 𝑥) = l Φ· (𝑥)𝑧· (𝑡), Φ· = sin modal shape
𝐿
·
𝑃O 𝐼· 𝑛𝜋𝑥
= l X (1 − cos 𝜔· 𝑡) sin
𝜔· 𝐿
·
First mode
𝐸𝐼 20
106
𝜔W = 𝐶1 0 = 𝜋 = 0.8
© 𝐿4
𝑚 0.3 (150)4
𝜔1
𝑓W = = 0.13 𝑐𝑝𝑠
2𝜋
4
𝐼· =
𝜋
4𝑃O 𝜋𝑥 𝑥
𝑦W (𝑡, 𝑥) = (1 − cos 0.13𝑡) sin = 75.34𝑃O (1 − cos 0.13𝑡) sin
𝜋 0.13X 150 47.75
80
17.6
𝑙𝑏 ∙ sec X
𝑚
© = 0.3
𝑖𝑛.(
𝐸𝐼 = 10Z 𝑙𝑏 ∙ 𝑖𝑛.X
𝐿 = 150 𝑖𝑛.
𝐸𝐼 106
𝜔· = 𝐶𝑛 0 = 𝐶𝑛 0 = 𝐶𝑛 0.081
© 𝐿4
𝑚 0.3 (150)4
𝜔W = 𝜋2 (0.081) = 0.8 𝑟𝑎𝑑/𝑠𝑒𝑐
𝜔X = 4𝜋2 (0.081) = 3.2 𝑟𝑎𝑑/𝑠𝑒𝑐
where
𝐿
t 𝑛𝜋 • –
𝐹· = Ã 𝜙·X (𝑥)𝑃(𝑥, 𝑡) 𝑑𝑥
= sin 2 1000 sin 500𝑡
O 𝐿
For 𝑛 = 1, 𝐹W (𝑡) = 1000 sin 500𝑡
For 𝑛 = 2, 𝐹X (𝑡) = 0
t
© 𝜙·X (𝑥)𝑑𝑥
𝑀· = Ã 𝑚
O
t
X
𝜋𝑥 0.3 t 2𝜋𝑥
𝑀W = Ã 0.3 sin 𝑑𝑥 = Ã #1 − cos , 𝑑𝑥 = 0.15𝐿 = 0.15(150) = 22.5
O 𝐿 2 O 𝐿
1000
𝑧̈· + 𝜔· X 𝑧· = sin 500𝑡 = 44.44 sin 500𝑡
22.5
44.44
𝑧W = sin(500𝑡) = 0.00018 sin(500𝑡)
0.64 − 500X
sin 𝜋 𝑥
𝑦(𝑡) = 0.00018 sin(500𝑡) = 0.0000038 sin(500𝑡)
150
81
17.7
𝐹· (𝑡)
𝑧̈· (𝑡) + 2𝜉· 𝜔· 𝑧̇· (𝑡) + 𝜔·X 𝑧·(‚) =
𝑀·
t
© 𝜙·X (𝑥)𝑑𝑥
𝑀· = Ã 𝑚
O
𝑀W = 22.5
t
𝐹· = Ã 𝑚
©𝜙(𝑥)𝑃(𝑥, 𝑡) 𝑑𝑥
O
First mode
𝐹W (𝑡)
𝑧̈W (𝑡) + 2 ∙ 0.1 ∙ 0.8𝑧̇W (𝑡) + (0.8)X 𝑧W (𝑡) =
𝑀W
Solution
𝑧±‚ sin(𝜔
©𝑡 − 𝜃)
𝑧(𝑡) =
}(1 − 𝑟 X )X + (2𝜉𝑟)X
500
𝜉 = 0.1, 𝑟 = = 625
0.8
2𝜉𝑟 2(0.1)(625)
tan 𝜃 = X
= = −0.00032
1−𝑟 1 − 625X
4
𝜃 = −0.018° , 𝐼W =
𝜋
1000
𝑧±‚ = = 1562.5
(0.8)X
1562.5
𝑧W (𝑡) = sin(500𝑡 + 0.0003) = 0.004 sin(500𝑡 + 0.0003)
390624
sin 𝜋 𝑥
𝑦(𝑡) = 0.004 sin(500𝑡 − 0.003)
𝐿
82
17.8
𝑙𝑏 ∙ sec X
𝑚
© = 0.5
𝑖𝑛.(
𝐸𝐼 = 30 ∙ 10 𝑙𝑏 ∙ 𝑖𝑛.X
Z
𝐿 = 100 𝑖𝑛.
𝐼 = 120 𝑖𝑛.§
𝐸𝐼 30 ∙ 10Z (120)
𝜔· = 3.5160 = 3.5160 = 24.83 𝑟𝑎𝑑/𝑠𝑒𝑐
© 𝐿4
𝑚 0.5 (100)
4
𝐹W (𝑡)
𝑧̈W (𝑡) + 𝜔WX 𝑧W (𝑡) =
𝑀W
t
𝐹W (𝑡) = Ã 𝜙W (𝑥)𝑃(𝑥, 𝑡) 𝑑𝑥
O
Fn ( x) = cosh an x + cos an x - s n (sinh an x + sin an x)
where
cosh an L - cos an L
sn =
sinh an L - sin an L
√3.5160
𝑎· = = 0.019
100
𝜙W (𝐿) = 0.0248
𝐹W (𝑡) = 0.0248 𝑃(𝑡)
t
© 𝜙·X (𝑥)𝑑𝑥
𝑀W = Ã 𝑚
O
83
t
∫O 𝜙W (𝑥)𝑑𝑥
𝐼W = t = 0.7830
∫O 𝜙WX (𝑥) 𝑑𝑥
t t
à 𝜙W (𝑥)𝑑𝑥 = à [cosh 𝑎W 𝑥 − cos 𝑎W 𝑥 − 𝜎1 (sinh 𝑎W 𝑥 − sin 𝑎W 𝑥)]𝑑𝑥
O O
cosh 𝑎1 𝐿 + cos 𝑎1 𝐿
𝜎W = = 0.507
sinh 𝑎1 𝐿 + sin 𝑎1 𝐿
𝑎W 𝐿 = √3.5160 = 1.875
t
1
à 𝜙W (𝑥)𝑑𝑥 = {|sinh 𝑎W 𝑥 − sin 𝑎W 𝑥|WOO
O − 0.507|cosh 𝑎W 𝑥 + cos 𝑎W 𝑥|WOO
O }
O 𝑎W
1.875
𝑎W = = 0.01875
100
t
à 𝜙W (𝑥)𝑑𝑥 = 53.3{(3.1837 − 0.9541) − 0.507(3.3371 − 0.2995 − 1 − 1)} = 90.80
O
t
t ∫ 𝜙W (𝑥)𝑑𝑥 90.80
à 𝜙WX (𝑥)𝑑𝑥 = O = = 115.96
O 𝐼W 0.783
0.0248𝑃(𝑡)
𝑧̈W (𝑡) + 29.83X 𝑧W (𝑡) = = 𝑃O 𝑓(𝑡), 𝑡 ≤ 0.05
115.96
0.0249(5000)
𝑃O = = 1.073𝑓(𝑡)
115.96
𝑡¸ 0.05
= = 0.24, (𝐷𝐿𝐹)•¿À = 0.7 (From Fig. 4.5)
𝑇W 0.21
2𝜋 2𝜋
𝑇W = = = 0.21
𝜔W 29.83
𝑧•¿À,W
(𝐷𝐿𝐹)•¿À =
𝑧±‚,W
𝑃O 1.073 1
𝑧±‚,W = = X
=
𝑘 29.83 829
1
𝑧•¿À,W = (𝐷𝐿𝐹)•¿À 𝑧±‚,W = 0.7 ∙ = 0.00084
829
𝑧•¿À,W = 𝜙W (𝑥 = 𝐿)𝑧•¿À,W = 0.0248 ∙ 0.00084 = 2.1 ∙ 10•‰ 𝑖𝑛.
84
17.9
𝑙𝑏 ∙ sec X
𝑚
© = 0.5
𝑖𝑛.(
𝐸𝐼 = 10Ò 𝑙𝑏 ∙ 𝑖𝑛.X
𝐿 = 90 𝑖𝑛.
𝐸𝐼 10Ò
𝜔· = 𝜋2 0 = 𝜋2 0 = 5.45 𝑟𝑎𝑑/𝑠𝑒𝑐
© 𝐿4
𝑚 0.5 (90)
4
At mid section:
sin(0.035 ∙ 45) = 1.0
𝑦(45, 𝑡) = −6.13(1 − cos 5.45 𝑡)
17.10
𝐹W (𝑡)
𝑧̈W (𝑡) + 𝜔WX 𝑧W (𝑡) =
𝑀W
t
𝐹W (𝑡) = Ã 𝜙W (𝑥)𝑃(𝑥, 𝑡) 𝑑𝑥
O
First mode:
2𝜋
𝑇W = = 1.15 𝑠𝑒𝑐
5.45
t
𝑛𝜋
© 𝜙WX (𝑥)𝑑𝑥, 𝜙W (𝑥) = sin
𝑀W = Ã 𝑚
O 𝐿
85
eO (1
2𝜋
− cos 𝐿 𝑥) 0.5
𝑀W = 0.5 Ã 𝑑𝑥 = ∙ 90 = 22.5
O 2 2
−3000
𝑧̈W (𝑡) + 5.45X 𝑧W (𝑡) = , 𝑡 ≤ 0.1 𝑠𝑒𝑐
22.5
𝑡¸ 00.1
= = 0.086
𝑇 1.15
Max. response from Fig. 4.4:
3000
𝑧W,•¿À = 0.5𝑧±‚ , 𝑧±‚ = = 4.5
22.5 ∙ 5.45X
𝜋𝑥
𝑦þÿ!,W (𝑥, 𝑡) = 𝜙1 (𝑥)𝑧𝑚𝑎𝑥,1 = 2.25 sin
90
at 𝑥 = 60"
𝑧•¿À,W (𝑥 = 60") = 1.95 𝑖𝑛.
at 𝑥 = 75"
𝑧•¿À,W (𝑥 = 75") = 1.125 𝑖𝑛
86
17.11
𝑙𝑏 ∙ sec X
𝑚
© =1
𝑖𝑛.(
𝐸𝐼 = 30 ∙ 10Z 𝑙𝑏 ∙ 𝑖𝑛.X
𝐿 = 180 𝑖𝑛.
𝑃(𝑥, 𝑡) = 2000 sin 400𝑡
𝜋
𝑡¸ = 𝑠𝑒𝑐
400
𝐸𝐼 30 ∙ 10Z
𝜔W = 22.37330 = 22.37330 = 3.78 𝑟𝑎𝑑/𝑠𝑒𝑐
© 𝐿4
𝑚 1(180)4
𝑃O 𝐼W
𝑧̈W + 3.78X 𝑧W = sin 𝜔©𝑡 , 𝑡 ≤ 𝑡¸ , 𝐼W = 0.8308 (Table 17.3)
©
𝑚
𝑧̈W + 3.78X 𝑧W = 0, 𝑡 > 𝑡¸
2000(0.8308)
𝑧̈W + 14.292𝑧W = sin 400𝑡 = 1662 sin 400𝑡
1.0
2𝜋
𝑇W = = 1.66 𝑠𝑒𝑐
3.78
𝑡¸ 𝜋
= = 0.0047
𝑇 400 ∙ 1.66
𝑧
# , = 0.025 (From Fig. 5.3)
𝑧±‚ •¿À,W
𝐹O 1662
𝑧±‚ = = = 116.3
𝑘 14.29
𝑦•¿À,W = 𝜙W (𝑥)𝑧•¿À,W
cosh 𝑎1 𝐿 + cos 𝑎1 𝐿
𝜎W =
sinh 𝑎1 𝐿 + sin 𝑎1 𝐿
87
𝑎W 𝐿 = √22.3733 = 4.72 (𝐶W from Table 17.3)
𝑎1 𝐿 4.27
𝜎W = 0.983, = 90𝑎1 = = 2.36
2 2
𝜙W (𝑥 = 90°) = 1.586
17.12
𝐸𝐼
𝜔X = 61.67280 = 10.42 𝑟𝑎𝑑/𝑠𝑒𝑐
© 𝐿4
𝑚
(𝑎X 𝐿)X = 𝐶X
𝑦•¿À,X = 𝜙X (𝑥)𝑧•¿À,X
2𝜋
𝑇X = = 0.30 𝑠𝑒𝑐
10.42
𝑡¸ 𝜋
= = 0.026
𝑇 400 ∙ 0.3
𝑧•¿À,X = 0.1
cosh 𝑎2 𝐿 + cos 𝑎2 𝐿
𝜎X = = 1.014
sinh 𝑎2 𝐿 + sin 𝑎2 𝐿
𝜙X (𝑥 = 90°) = −0.35
X X
𝑦•¿À = r𝑦•¿À,W + 𝑦•¿À,X = }4.61X + 0.035X = 4.16 𝑖𝑛.
88
19.1
Fourier series is given by Eq. 19.2
;
𝑇 1 ¡
= Ã 𝐹(𝑡)𝑑𝑡
2 𝑇 O
𝑇
𝐹(𝑡) = 30 0 ≤ 𝑡 ≤
2
𝑇
𝐹(𝑡) = −30 ≤𝑡≤𝑇
2
𝑎O = 0 (area under 𝐹(𝑡) between 0 and T=1 sec).
2 ¡
𝑎· = Ã 𝐹(𝑡) cos 𝑛ω
© 𝑡 𝑑𝑡
𝑇 O
O.‰ W.O
𝑎· = 2 Ã 30 cos 𝑛ω
© 𝑡 𝑑𝑡 + 2 Ã −30 cos 𝑛ω
© 𝑡 𝑑𝑡
O O.‰
60 𝑛ω© 60 𝑛ω
©
𝑎· = •sin Ÿ − •sin 𝑛ω © − sin Ÿ
𝑛ω© 2 𝑛ω© 2
60 𝑛ω
© 2𝜋
𝑎· = #2 sin − sin 𝑛ω© ,, ω
©= = 2𝜋
𝑛ω
© 2 𝑇
60
𝑎· = (2 sin 𝜋𝑛 − sin 2𝜋𝑛)
2𝜋𝑛
𝑎· = 0 𝑓𝑜𝑟 𝑎𝑙𝑙 𝑛.
2 ¡
𝑏· = Ã 𝐹(𝑡) sin 𝑛ω
©𝑡 𝑑𝑡
𝑇 O
O.‰ W.O
𝑏· = 2 Ã 30 sin 𝑛ω
© 𝑡 𝑑𝑡 + 2 Ã −30 sin 𝑛ω
© 𝑡 𝑑𝑡
O O.‰
60 𝑛ω© 60 𝑛ω ©
𝑏· = •1 − 2cos Ÿ − •cos − cos 𝑛ω©Ÿ
𝑛ω
© 2 𝑛ω© 2
60 𝑛ω© 2𝜋
𝑏· = #1 − 2cos + cos 𝑛ω© ,, ω
©= = 2𝜋
𝑛ω© 2 𝑇
60
𝑏· = (1 − 2 cos 𝑛𝜋 + cos 2𝑛𝜋)
𝜋𝑛
60 240
𝑓𝑜𝑟 𝑛 = 1, 3, 5, 7. . 𝑏· = (1 − 2(−1) + 1), 𝑏· =
𝜋𝑛 𝜋𝑛
60
𝑓𝑜𝑟 𝑛 = 2, 4, 6, 8. . 𝑏· = (1 − 2(1) + 1), 𝑏· = 0
𝜋𝑛
89
19.2
From eq. 19.10, the steady-state response of a damped single degree-of-freedom system is:
;
𝑎O 1 𝑎· 2𝑟· 𝜉 + 𝑏· (1 − 𝑟· X ) 𝑎· (1 − 𝑟· X ) − 𝑏· 2𝑟· 𝜉
𝑢(𝑡) = + < Í sin 𝑛ω
©𝑡 + sin 𝑛ω
© 𝑡Î
𝑘 𝑘 (1 − 𝑟· ) + (2𝑟· 𝜉)
X X X (1 − 𝑟· X )X + (2𝑟· 𝜉)X
·+W
90
19.12
a) The Fourier coefficients for the load are found by applying eq. 19.3 with T = 2 sec.
1 W 𝑃O
𝑎O = Ã 𝑃O sin 𝜋𝑡 𝑑𝑡 =
2 O 𝜋
2 W 0 𝑛 = 𝑜𝑑𝑑
𝑎· = Ã 𝑃O sin 𝜋𝑡 cos 𝜋𝑡 𝑑𝑡 = D𝑃O 2
2 O 𝑛 = 𝑒𝑣𝑒𝑛
𝜋 1 − 𝜋X
2 W 𝑃O
𝑏· = Ã 𝑃O sin 𝜋𝑡 sin 𝜋𝑡 𝑑𝑡 = D 2 𝑛 = 1
2 O
0 𝑛 > 1
The substitution into eq. 19.1 leads to following expression for the Fourier series expansion of the
loading:
1 1 2 2 2
𝑃(𝑡) = 𝑃O # + sin ω
©𝑡 − cos 2𝜋ω
©𝑡 − cos 4𝜋ω
©𝑡 − cos 6𝜋ω
©𝑡 … … . ,
𝜋 2 3𝜋 15𝜋 35𝜋
or
𝑃(𝑡) = 𝑃O (0.3183 + 0.5 sin ω
© 𝑡 − 0.2122 cos 2𝜋ω
© 𝑡 − 0.04244 cos 4𝜋ω
©𝑡
© 𝑡 … … . ) 𝑘𝑖𝑝𝑠
− 0.01819 cos 6𝜋ω
where
2𝜋
𝜔
©= = 𝜋 (𝑟𝑎𝑑/𝑠𝑒𝑐)
𝑇
𝑃O 1 8 8 1
𝑢(𝑡) = # + sin ω
©𝑡 − cos 2𝜋ω
©𝑡 − cos 4𝜋ω
© 𝑡 + ⋯ … . , 𝑖𝑛.
𝑘 𝜋 7 15𝜋 60𝜋
or
20.1
400 −200 2 0
[𝐾] = ¼ ½ [𝑀] = ¼ ½
−200 200 0 1
91
𝜔W = 7.65 𝑟𝑎𝑑/𝑠𝑒c
𝜔X = 18.48 𝑟𝑎𝑑/𝑠𝑒c
𝜉 1 𝜔 𝜔W( 𝑎W
• WŸ = Ë W ̼ ½
𝜉X 2 𝜔X 𝜔X( 𝑎X
1 1 0
[𝑀]•W = ¼ ½
2 0 2
1 1 0 400 −200 200 −100
[𝑀]•W [𝐾] = ¼ ½¼ ½=¼ ½
2 0 2 −200 200 −200 200
92
20.2
400 −200 2 0
[𝐾] = ¼ ½ [𝑀] = ¼ ½
−200 200 0 1
2𝜉W 𝜔W 𝑀W 0 0 −
0 2𝜉X 𝜔W 𝑀W 0 −û
[A] = [Φ]¡ [𝐶][Φ] = ú
0 0 2𝜉( 𝜔W 𝑀W −
− − − −
ê
2𝜉· 𝜔·
[𝐶] = [𝑀] Fl {𝜙}· {𝜙}¡· G [𝑀]
𝑀·
·+W
𝜉W = 20% = 0.2
𝜉X = 10% = 0.10
For 𝑛 = 1
2𝜉· 𝜔· 2(0.2)(7.65)
= = 3.06
𝑀· 1
2𝜉W 𝜔W 0.5 0.765 1.081863
{𝜙}W {𝜙}W¡ = ¼ ½ [0.5 0.707](3.06) = ¼ ½
𝑀W 0.707 10.081863 1.530
For 𝑛 = 2
2𝜉· 𝜔· 2(0.1)(18.48)
= = 3.696
𝑀· 1
2𝜉X 𝜔X 0.924 −1.3067208
{𝜙}X {𝜙}¡X = ¼ 0.5 ½ [0.5 −0.707](3.696) = ¼ ½
𝑀X −0.707 −1.3067208 1.848
ê
0.765 1.081863 0.924 −1.3067208 1.689 −0.2248578
l=¼ ½+¼ ½ =¼ ½
10.081863 1.530 −1.3067208 1.848 −0.2248578 3.378
·+W
ê
2𝜉· 𝜔· 2 0 1.689 −0.2248578 2 0
[𝐶] = [𝑀] Fl {𝜙}· {𝜙}¡· G [𝑀] = ¼ ½¼ ½¼ ½
𝑀· 0 1 −0.2248578 3.378 0 1
·+W
3.378 −0.44972 2 0 6.756 −0.450
=¼ ½¼ ½=¼ ½
−0.2248578 3.378 0 1 −0.450 3.378
93
20.3
7000 −3000 0
[𝐾] = å−3000 5000 −2000æ
0 −2000 2000
15 0 0
[𝑀] = å 0 10 0æ
0 0 5
0.1114 −0.1968 −0.1245
[Φ] = å0.2117 −0.0277 0.2333 æ
0.2703 0.2868 −0.2114
𝜔W = 9.31 𝑟𝑎𝑑/𝑠𝑒c
𝜔X = 20.94 𝑟𝑎𝑑/𝑠𝑒c
𝜔( = 29.00 𝑟𝑎𝑑/𝑠𝑒c
𝜉W = 10% = 0.10
ê
2𝜉· 𝜔·
[𝐶] = [𝑀] Fl {𝜙}· {𝜙}¡· G [𝑀]
𝑀·
·+W
For 𝑛 = 1
2𝜉· 𝜔· 2(0.1)(9.31)
= = 1.862
𝑀· 1
2𝜉W 𝜔W 0.114 0.023 0.043 0.056
{𝜙}W {𝜙}W¡ = Ë0.2117Ì [0.114 0.2117 0.2703](1.862) = å0.044 0.084 0.107æ
𝑀W 0.2703 0.056 0.107 0.136
For 𝑛 = 2
2𝜉· 𝜔· 2(0.1)(29.00)
= = 4.188
𝑀· 1
2𝜉X 𝜔X −0.1968 0.162 0.022 −0.236
{𝜙}X {𝜙}¡X = Ë 0.0277 Ì [−0.1968 0.0277 0.2868](4.188) = å 0.023 0.003 −0.033æ
𝑀X 0.2868 −0.236 −0.033 0.3444
For 𝑛 = 3
2𝜉· 𝜔· 2(0.1)(29.00)
= = 5.8
𝑀· 1
2𝜉( 𝜔( −0.1245 −0.090 −0.168 0.153
{𝜙}( {𝜙}¡( = Ë 0.2333 Ì [−0.1245 0.2333 −0.2114](5.8) = å−0.168 0.316 −0.286æ
𝑀( −0.2114 0.153 −0.286 0.259
ê
0.275 −0.102 −0.028
l = å−0.102 0.402 −0.213æ
·+W −0.028 −0.213 0.740
ê
2𝜉· 𝜔· 15 0 0 0.275 −0.102 −0.028 15 0 0
[𝐶] = [𝑀] Fl {𝜙}· {𝜙}¡· G [𝑀] = å 0 10 0æ å−0.102 0.402 −0.213æ å 0 10 0æ
𝑀·
·+W 0 0 5 −0.028 −0.213 0.740 0 0 5
4.128 −1.017 −0.138 15 0 0 61.92 −15.26 −2.080
= å−1.526 4.024 −1.064æ å 0 10 0æ = å−15.26 40.24 −10.64æ
−0.415 −2.128 3.699 0 0 5 −2.080 −10.64 18.50
94
21.1
2500𝑓 (𝑡)
𝑚𝑌̈
𝑌(𝑡)
𝐼𝑌̈/24
3
𝑌̇ ∙ 𝑐
2 3𝑘 ∙ 𝑌
The figure shows the forces acting in the system for a displaced position of the generalized coordinates,
𝑌(𝑡)
Give virtual displacement 𝛿𝑌 to generalized coord. 𝑌(𝑡) and apply principle of virtual work:
𝐼 ∙ 𝑌̈ ∙ 𝛿𝑌 3 3 𝛿𝑌
−𝑚 ∙ 𝑌̈ ∙ 𝛿𝑌 − − 𝑌 ̇ ∙ 𝑐 𝛿𝑌 − 3𝑘 ∙ 𝑌 ∙ 3𝛿𝑌 − 2500𝑓(𝑡) =0
24 ∙ 12 2 2 4
Since 𝛿𝑌 ≠ 0
𝐼 9 2500
• + 𝑚Ÿ 𝑌̈ − 𝑐𝑌̇ − 9𝑘𝑌 = 𝑓(𝑡)
288 4 4
Generalized Parameters:
2500
𝐹 ∗ (𝑡) = 𝑓(𝑡) = 625𝑓(𝑡) 𝑙𝑏.
4
95
21.2
The figure shows the system in displaced position and corresponding forces:
𝐼| ∙ 𝑌̈/𝑎
𝑚 ∙ 𝑌̈
𝑀(𝑡)
𝐼^ 𝑌̈ /𝐿
𝑌(𝑡)
𝑘𝑌
𝑌̇ 𝑐
Give virtual displacement 𝛿𝑌 and apply principle of virtual work:
𝑚 ∙ 𝑌̈ ∙ 𝛿𝑌 𝐼^ ∙ 𝑌̈ ∙ 𝛿𝑌 𝐼| ∙ 𝑌̈ ∙ 𝛿𝑌 𝛿𝑌
− − − 𝑌̇𝑐 ∙ 𝛿𝑌 − 𝑘 ∙ 𝑌 ∙ 𝛿𝑌 − + 𝑀(𝑡) =0
2 2 𝐿∙𝐿 𝑎∙𝑎 𝐿
Since 𝛿𝑌 ≠ 0
𝑚 𝐼^ 𝐼| 𝑀(𝑡)
# + X + X , 𝑌̈ + 𝑐 ∙ 𝑌 + 𝑘 ∙ 𝑌 =
2 𝐿 𝑎 𝐿
Generalized parameters:
𝑚 𝐼^ 𝐼| 𝑚 1 2𝑚𝐿X 𝑚𝑎X 7
𝑀∗ = + + = + + = 𝑚
2 𝐿X 𝑎X 2 12 𝐿X 2𝑎X 6
𝐶∗ = 𝑐
𝐾∗ = 𝑘
𝑀(𝑡)
𝐹 ∗ (𝑡) =
𝐿
96
21.3
The figure shows the system in displaced position for the generalized coordinate 𝜃(𝑡):
𝑐𝜃̇ ∙ 𝐿
𝑚© ∙ 𝐿X ∙ 𝜃̈
2
𝐼 ∙ 𝜃̈
𝑃O ∙ 𝐿 ∙ 𝑓(𝑡)
𝐿 𝑚© ∙ 𝐿X
2 𝜃̈
3 2
𝐼 ∙ 𝜃̈
𝜃(𝑡)
𝑘∙𝐿∙𝜃 𝜃(𝑡)
Give virtual displacement 𝛿𝜃 and apply Principle of virtual work:
𝑚© ∙ 𝐿X ∙ 𝜃̈ ∙ 𝛿𝜃𝐿 𝑃O ∙ 𝐿 ∙ 𝑓(𝑡) 𝐿
−2 V Y − 2º𝐼 ∙ 𝜃̈ ∙ 𝛿𝜃» − 𝑐𝜃̇ ∙ 𝐿 ∙ 𝐿 ∙ 𝛿𝜃 − 𝑘 ∙ 𝜃 ∙ 𝐿𝛿𝜃 − ∙ 𝛿𝜃 = 0
2 2 2 3
Since 𝛿𝜃 ≠ 0
𝑚© ∙ 𝐿X 𝐼 𝑃O ∙ 𝐿 ∙ 𝑓(𝑡)
V + Y 𝜃̈ + 𝑐 ∙ 𝐿 ∙ 𝜃̇ − 𝑘 ∙ 𝐿 ∙ 𝜃 =
2 𝐿 6
Generalized parameters:
© ∙ 𝐿X
𝑚 1 𝑚© ∙ 𝐿 ∙ 𝐿X 7
𝑀∗ = + = © 𝐿X
𝑚
2 12 𝐿 12
𝐶 ∗ = 𝑐𝐿
𝐾 ∗ = 𝑘𝐿
𝑃O ∙ 𝐿 ∙ 𝑓(𝑡)
𝐹 ∗ (𝑡) =
6
97
21.4
Generalized mass:
t
𝑚
𝑀∗ = 𝑚 + Ã • – 𝜙 X (𝑥) 𝑑𝑥
O 𝐿
𝑚 t 𝜋𝑥 X
𝑀∗ = 𝑚 + Ã •1 − cos – 𝑑𝑥
𝐿 O 2𝐿
𝑚 t 𝜋𝑥 𝜋𝑥
𝑀∗ = 𝑚 + Ã •1 − 2 cos + cosX – 𝑑𝑥
𝐿 O 2𝐿 2𝐿
𝑚 4𝐿 𝜋𝑥 𝑥 𝐿 𝜋𝑥 t
𝑀∗ = 𝑚 + •𝑥 − sin + + sin Ÿ
𝐿 𝜋 2𝐿 2 2𝜋 𝐿 O
𝑚 3 4𝐿
𝑀∗ = 𝑚 + # 𝐿− ,
𝐿 2 𝜋
𝑚
𝑀∗ = (5𝜋 − 8)
2𝜋
Generalized stiffness:
t
𝐾 ∗ = Ã 𝐸𝐼𝜙"X (𝑥) 𝑑𝑥
O
𝜋𝑥 𝜋 X 𝜋𝑥
𝜙(𝑥) = 1 − cos , 𝜙"(𝑥) = • – cos
2𝐿 2𝐿 2𝐿
t
𝜋 § 𝜋𝑥
𝐾 ∗ = Ã 𝐸𝐼 • – cosX 𝑑𝑥
O 2𝐿 2𝐿
§
𝜋 2𝐿 𝜋𝑥 2𝐿 𝜋𝑥 𝜋𝑥 t 𝐸𝐼𝜋 §
𝐾 ∗ = 𝐸𝐼 • • – + • – sin Ÿ =
16𝐿§ 𝜋 4𝐿 𝜋 4𝐿 𝐿 O 32𝐿§
Generalized force:
𝐿
𝐹 ∗ (𝑡) = Ã 𝑝(𝑥, 𝑡)𝜙(𝑥) 𝑑𝑥
0
∗ (𝑡)
𝐿
𝐹 = 𝐹O 𝑓(𝑡)𝜙 # ,
2
∗ (𝑡)
𝜋
𝐹 = 𝐹O •1 − cos – 𝑓(𝑡)
4
∗ (𝑡)
𝐹 = 0.2929 ∙ 𝐹O 𝑓(𝑡)
98
21.5
𝑑𝜙 X
t
𝐾.∗ = 𝑁 Ã # , 𝑑𝑥
O 𝑑𝑥
𝜋𝑥 𝑑𝜙 𝜋 𝜋𝑥
𝜙(𝑥) = 1 − cos , = cos
2𝐿 𝑑𝑥 2𝐿 2𝐿
t
𝜋 X 𝜋𝑥
𝐾.∗ = −𝑁 Ã • – sinX 𝑑𝑥, (𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑠𝑖𝑔𝑛 𝑏𝑒𝑐𝑢𝑎𝑠𝑒 𝑁 𝑖𝑠 𝑡𝑒𝑛𝑠𝑖𝑜𝑛)
O 2𝐿 2𝐿
𝜋 X 2𝐿 𝜋𝑥 1 𝜋𝑥 t 𝜋 𝜋 𝑁𝜋 X
𝐾.∗ = −𝑁 • – •• – − sin Ÿ = −𝑁 • – = −
2𝐿 𝜋 4𝐿 4 𝐿 O 2𝐿 4 8𝐿
𝐾a∗ = 𝐾 ∗ − 𝐾.∗
𝐸𝐼𝜋 §
𝐾∗ = 𝑓𝑟𝑜𝑚 𝑃𝑟𝑜𝑏𝑙𝑒𝑚 21.4
32𝐿(
𝐸𝐼𝜋 § 𝑁𝜋 X
𝐾a∗ = +
32𝐿( 8𝐿
99
21.6
t
𝑀∗ = Ã 𝑚(𝑥)𝜙 X (𝑥) 𝑑𝑥
O
𝛾 𝛾 𝜋𝑑X X
𝑚(𝑥)𝑑𝑥 = 𝐴À
𝑑𝑥 = 𝑥 𝑑𝑥
𝑔 𝑔 4𝐿X
𝜋𝑥
𝜙(𝑥) = 1 − cos
2𝐿
∗
𝛾 𝜋𝑑X t X 𝜋𝑥 X
𝑀 = Ã 𝑥 •1 − cos – 𝑑𝑥
𝑔 4𝐿X O 2𝐿
t
∗
𝛾 𝜋𝑑X 𝐿( 2𝐿 ( 𝜋 X 𝐿( 𝐿(
𝑀 = Ë − 2 # , #• – − 2, + V − YÌ
𝑔 4𝐿X 3 𝜋 2 6 𝜋X O
𝛾 𝜋𝑑 1 4 32 1 𝛾𝑑
𝑀∗ = # − + ( − X , = 0.1237
𝑔 4 2 𝜋 𝜋 𝜋 𝑔
The generalized stiffness:
t
𝜋 𝑑X 𝑥 §
𝐾 ∗ = Ã 𝐸Š 𝐼(𝑥)𝜙"X (𝑥) 𝑑𝑥, 𝐼(𝑥) =
O 4 16 𝐿§
𝜋𝑑X 𝜋 X t § 𝜋𝑥 𝜋 X 𝜋𝑥
𝐾 ∗ = 𝐸Š X • – Ã 𝑥 cos 𝑑𝑥, 𝜙"(𝑥) = • – cos
64𝐿 2𝐿 O 2𝐿 2𝐿 2𝐿
𝐸Š 𝜋𝑑X
𝐾∗ =
128𝐿X
The generalized force is
𝐿
𝐹 ∗ (𝑡) = Ã 𝑝(𝑥, 𝑡)𝜙(𝑥) 𝑑𝑥
0
𝐿
∗ (𝑡)
𝑥𝑑 𝜋𝑥
𝐹 =Ã 𝑝0 (𝑡) •1 − cos – 𝑑𝑥
0 𝐿 2𝐿
𝑑 𝐿2 4𝐿2 𝜋 𝑝0 (𝑡)𝐿 ∙ 𝑑
𝐹 ∗ (𝑡) = 𝑝0 (𝑡) Ë − • − 1–Ì = [9 − 4𝜋] = −0.1807𝑝0 (𝑡)𝐿 ∙ 𝑑
𝐿 2 𝜋2 2 2𝜋2 𝐿
100
21.7
The deflection occurred corresponding to the left half a simply supported beam with a concentrated
load at its center is
𝑦O
𝑦 = ( (3𝐿X 𝑥 − 4𝑥 ( )
𝐿
Where 𝑦O is the deflection at the center.
The maximum potential energy is calculated as
1
𝑉•¿À = 𝐹𝑦O
2
24𝐸𝐼 X 𝐹𝐿(
𝑉•¿À = ( 𝑦O , 𝑠𝑖𝑛𝑐𝑒 𝑦O =
𝐿 48𝐸𝐼
𝐿/2
1 𝑚𝑏 1 2
𝑇•¿À = 2 Ã • 𝑑𝑥– (𝜔𝑦)2 + 𝑚º𝜔𝑦0 »
0 2 𝐿 2
2
𝑚𝑏 º𝜔𝑦0 » 𝐿/2
1 2
𝑇•¿À = 6 Ã (3𝐿2 𝑥 − 4𝑥3 )𝑑𝑥 + 𝑚º𝜔𝑦0 »
𝐿 𝐿 0 2
2 5
𝑚𝑏 º𝜔𝑦0 » 𝐿 3
16 𝐿 4
24𝐿 2
𝐿 1 2
𝑇•¿À = 6 å3𝐿4 # , + # , − # , æ + 𝑚º𝜔𝑦0 »
𝐿 𝐿 2 7 2 5 2 2
2
𝑚𝑏 º𝜔𝑦0 » 1 2
𝑇•¿À = [105 + 5 − 42] + 𝑚º𝜔𝑦0 »
7∙8∙5 2
𝑉•¿À = 𝑇•¿À
24𝐸𝐼 X 2 𝑚 17
(
𝑦O = º𝜔𝑦0 » # + 𝑚𝑏 ,
𝐿 2 70
48𝐸𝐼
𝜔=0 17
𝐿( •𝑚 + 𝑚𝑏 –
35
101
21.8
The beam loaded as shown in Fig. (a), between supports is equivalent to beam shown in Fig. (b)
𝑃
𝑃𝐿
𝑀O =
2
𝑃 3𝑃
2 2
(𝑎) (𝑏)
1 𝑚x 𝜔X t 𝑃X Z § X X § )𝑑𝑥
1 𝑚x 𝜔X t/X X 𝑚x 𝜔X 𝑃X 𝐿Ò
𝑇•¿À = Ã (𝑥 + 𝐿 𝑥 − 2𝐿 𝑥 + Ã 𝑦 𝑑𝑥 = [0.076 + 0.3615]
2 3𝐿 O 144(𝐸𝐼)X 2 3𝐿 O 36 ∙ 144(𝐸𝐼)X
2 2
𝑇•¿À = 𝑉•¿À
102
𝑚x 𝜔X 𝑃X 𝐿Ò 𝑃𝐿(
=
987(𝐸𝐼)X 8𝐸𝐼
𝐸𝐼
𝜔 = 7.8540
𝐿§ 𝑚 𝑏
103
21.9
𝜋𝑥
𝑦 = 𝑌sin sin 𝜔𝑡
𝐿
Maximum velocity is:
𝜋𝑥
𝑦̇•¿À = 𝑌𝜔 sin
𝐿
and Max kinetic Energy:
1 t/X
1 𝑚x X X 𝜋𝑥 1 1 𝑚x X 𝐿 𝜔X 𝑌 X
𝑇•¿À = 𝑚𝑌 X 𝜔X + Ã 𝑌 𝜔 sin 𝑑𝑥 = 𝑚𝑌 X 𝜔X + 𝑌 = (2𝑚 + 𝑚x ) = 5𝜔X 𝑌 X
2 O 2 𝐿 𝐿 2 2 𝐿 2 4
Maximum Potential Energy:
X
𝐸𝐼 t/X 𝑑X 𝑦
𝑉•¿À = Ã V X Y 𝑑𝑥
2 O 𝑑𝑥 •¿À
𝑑𝑦 𝜋 𝜋𝑥 𝑑X 𝑦 𝜋X 𝜋𝑥
= 𝑌 cos sin𝜔𝑡, X = −𝑌 X sin sin𝜔𝑡
𝑑𝑥 𝐿 𝐿 𝑑𝑥 𝐿 𝐿
𝐸𝐼 t/X X 𝜋 § X 𝜋𝑥 𝐸𝐼 𝜋 § 𝐿 109 𝑌 X 𝜋 §
𝑉•¿À = Ã 𝑌 § sin 𝑑𝑥 = 𝑌 X § = = 2435𝑌 X
2 O 𝐿 𝐿 2 𝐿 2 4 100(
𝑇•¿À = 𝑉•¿À
5𝜔X 𝑌 X = 2435𝑌 X
𝜔X = 487
𝜔 = 22.07 𝑟𝑎𝑑/𝑠𝑒𝑐
22.07
𝑓= = 3.51 𝑐𝑝𝑠
2𝜋
104
21.10
𝑔 ∑ 𝑤¥ 𝑦¥
𝜔=0
∑ 𝑤¥ 𝑦¥ X
In this equation the deflection 𝑦¥ at the floor levels is due the static load W applied horizontally at each
story.
𝑤𝐿(
𝑦W = 2
12𝐸𝐼
𝑤𝐿( 𝑤𝐿( 3𝑤𝐿(
𝑦X = 2 + =
12𝐸𝐼 12𝐸𝐼 12𝐸𝐼
𝑤𝐿( 3𝑤𝐿( 5𝑤 X 𝐿(
l 𝑤¥ 𝑦¥ = 𝑤 Ë2 + Ì=
12𝐸𝐼 12𝐸𝐼 12𝐸𝐼
𝑤 X 𝐿Z 9𝑤 X 𝐿Z 13𝑤 ( 𝐿Z
l 𝑤¥ 𝑦¥ X = 𝑤 Ë4 + Ì =
(12𝐸𝐼 )X (12𝐸𝐼 )X (12𝐸𝐼)X
5𝑤 X 𝐿(
𝑔 𝑔(12𝐸𝐼)5 4.62𝐸𝐼
𝜔X = 12𝐸𝐼
( Z = =
13𝑤 𝐿 13𝑤𝐿( 𝑤𝐿(
(12𝐸𝐼) X
𝑔𝐸𝐼
𝜔 = 2.150
𝑤𝐿(
105
21.11
As in problem 21.6 load the frame with horizontal force W at each story.
𝐴𝐺∆
𝑉=
𝐿
Then
𝑉𝐿
∆=
𝐴𝐺
2𝑊𝐿
𝑦W =
𝐴𝐺
𝑊𝐿 3𝑊𝐿
𝑦X = 𝑦W + =
𝐴𝐺 𝐴𝐺
𝑔 ∑ 𝑤¥ 𝑦¥
𝜔=0
∑ 𝑤¥ 𝑦¥ X
𝑤𝐿 3𝑤𝐿 5𝑤 X 𝐿
l 𝑤¥ 𝑦¥ = 𝑤 •2 + Ÿ=
𝐴𝐺 𝐴𝐺 𝐴𝐺
𝑤 X 𝐿X 9𝑤 X 𝐿X 13𝑤 ( 𝐿X
l 𝑤¥ 𝑦¥ X = 𝑤 Ë4 + Ì =
(𝐴𝐺 )X (𝐴𝐺 )X (𝐴𝐺 )X
5𝑤 X 𝐿
𝑔 𝐴𝐺 59𝑔𝐴𝐺
𝜔X = ( X =
13𝑤 𝐿 13𝑤𝐿
(𝐴𝐺)X
𝑔𝐴𝐺
𝜔 = 0.620
𝑤𝐿
106
21.12
The deflection shape of a cantilever beam with a concentrated load at its end is:
𝑌•¿À
𝑦(𝑥) = (3𝐿𝑥 X − 𝑥 ( )
2𝐿(
where 𝑌•¿À is the maximum deflection at the free end
𝑑𝑦 𝑌•¿À
= (6𝐿𝑥 − 3𝑥 X )
𝑑𝑥 2𝐿(
𝑑X 𝑦 𝑌•¿À 3𝑌•¿À
X
= (
(6𝐿 − 6𝑥) = (𝐿 − 𝑥)
𝑑𝑥 2𝐿 𝐿(
Maximum Potential Energy:
X
𝐸𝐼 t/X 𝑑X 𝑦 𝐸𝐼 9𝑌•¿À X t/X X 𝐸𝐼 9𝑌•¿À X 1
𝑉•¿À = Ã V X Y 𝑑𝑥 = Ã (𝐿 − 2𝐿𝑥 + 𝑥 X)
𝑑𝑥 = #1 − 1 + , = 5581.65𝑌•¿À X
2 O 𝑑𝑥 2 𝐿Z O 2 𝐿Z 3
𝑇•¿À = 𝑉•¿À
X
550.81𝜔 𝑌•¿À X = 5581.65𝑌•¿À X
𝜔X = 10.13
𝜔 = 3.18 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑓 = 0.507 𝑐𝑝𝑠
107
21.3
The deflection shape of a cantilever beam with a concentrated load at its end is:
1 𝑥§ 4 6
𝜙(𝑥) = V § − ( 𝑥 ( + X 𝑥 X Y
3 𝐿 𝐿 𝐿
and the deflection at a section x by:
X
𝐸𝐼 t 𝑑X 𝑦 𝑌•¿À X 𝐸𝐼 t 144𝑥 § 576 X 144 576𝑥 ( 288 X 576𝑥
𝑉•¿À = Ã V XY 𝑑𝑥 = Ã V 9 + Z 𝑥 + § − + Z 𝑥 − ‰ Y 𝑑𝑥
2 O 𝑑𝑥 •¿À 18 O 𝐿 𝐿 𝐿 𝐿Ò 𝐿 𝐿
X X
144𝑌•¿À 𝐸𝐼 1 4 4 2 4 144𝐸𝐼𝑌•¿À
𝑉•¿À = • + +1− + − Ÿ= = 5953.74𝑌•¿À X
18 5 3 4 3 2 90
𝐸𝐼 3 ∙ 10WW
= = 3721.1
𝐿( (36 ∙ 12)(
t
1 𝑚
©𝑦̇ X 𝑑𝑥 + O𝑦̇W X + 𝑦̇ X X + 𝑦̇ ( X P
𝑇•¿À = Ã
𝑚
O 2 2
10𝜔2 𝑌•¿À X t 𝑥 9 16𝑥 Z 36𝑥 § 8𝑥 Ò 12𝑥 Z 48𝑥 ‰ 100𝜔2
𝑇•¿À = Ã V − + − + − Y 𝑑𝑥 + 12.803𝑌•¿À X
18𝐿Z O 𝐿9 𝐿Z 𝐿§ 𝐿Ò 𝐿Z 𝐿‰ 18
10𝜔2 𝐿𝑌•¿À X 1 16 36 8 12 48 X
𝑇•¿À = Z • − + − + − Ÿ + 71.13𝜔2 𝑌•¿À
18𝐿 9 7 5 8 7 6
X
𝑇•¿À = (240 + 71.13)𝜔2 𝑌•¿À
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