31 March 2017

Structural Dynamics & Earthquake

Engineering

Lecture 7
Mathematical Models of MDOF
Systems

1 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Application of Newton's Laws to Lumped‐Parameter Models

Systems of connected particles and rigid bodies, and rigid bodies in
general plane motion are systems that lead to MDOF models.
Several examples of the application of Newton's laws to such
systems are now considered.
Example.1
Derive the three equations of motion for the spring‐mass system
shown below.

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Solution
a. Draw a free body diagram of each particle and label all unknown
forces.

b. Write Newton's second law for each particle.

 F  m u  p  f  f
1 1 1 1 2 1

 F  m u  p  f  f
2 2 2 2 3 2

 F  m u  p  f
3 3 3 3 3

3 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

c. Relate elastic forces to displacements.

f1  k1 e1  k1 u1
f 2  k2 e2  k2 u2  u1 
f 3  k3 e3  k3 u3  u2 

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d. Combine and simplify the equations.

m1 u1  k1  k2  u1  k2 u2  p1 t 

m2 u2  k2 u1  k2  k3  u2  k3 u3  p2 t 

m3 u3  k3 u2  k3 u3  p3 t 

These three equations of motion can be written in matrix form as

m1 0 0  u1  k1  k 2   k2 0  u1   p1 t  
     
0
 m2 0  u2     k 2 k 2  k 3   k 3  u 2    p 2 t 
 0 m3  u3   0  k3 k 3  u   p t 
0  3  3 

  k u  p t 
mu
m is called the mass matrix, k the stiffness matrix, u the
5 displacement
Prof. M. Al-Samara vector, and
Str. Dynamics p(t)Notes
Lecture the load vector. 31 March 2017

Example 2
Use Newton's laws to derive the equations of motion of
the system shown below. Express the equations of motion
in terms of the displacements relative to the base.

Solution
Let the relative displacements be defined by
w u z
Prof. M.1Al-Samara
1 w u z
Str. Dynamics 2Lecture 2
6 Notes 31 March 2017

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a. Draw free body diagrams of both masses and label all

unknowns.

b. Write the equations of motion.

 F  m u   f  f  f  f  m w  z

1 1 1 1 2 3 4 1 1

 F  m u   f  f  m w  z

2 2 2 3 4 2 2

7 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

c. Relate elastic forces to displacements and damping forces to

velocities.
f1  k1 u1  z   k1 w1
f 2  c1 u1  z   c1 w1
f 3  k2 u2  u1   k2 w2  w1 
f 4  c 2 u2  u1   c2 w 2  w1 
d. Combine and simplify the above equations.
1  c1w 1  k1w1  c2 w 2  w1   k 2 w2  w1   m1 z
m1w
2  c2 w 2  w 1   k2 w2  w1   m2 z
m2 w
m1 0 1  c1  c 2   c 2 
w w 1  k1  k 2   k 2  w1  - m1 z 
0           
 m2   2    c 2
w c 2  w 2    k 2 k 2  w2  - m2 z

8
M.
mProf.w  c w Str.kDynamics
 Al-Samara w Lecture
peffNotes 31 March 2017

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Example 3

Use Newton's laws to derive

the equations of motion of the
system shown in Fig.
Consider θ to be small and
consider the foundation mass,
m, to be a particle.

9 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

Solution:
a. Draw free body diagrams of the two components of the system
and label all unknown forces.

b. Write the basic equations of motion for each free body diagram.
For (a):

10
 Fx  m u  2 f1  2 f 2  f 3
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For (b):
 F  M x
x G   f3

,  F  M y
y G  f 4  Mg

M G  I G    M1  f 4 a sin   f 3a cos 

،
c. Relate elastic forces to displacements and damping forces to
velocities.

f1 
k
u  z  f2 
c
u  z  M1  K 
2 2
d. Use kinematics to relate x, and y, to u and θ. For small θ, sin θ ≈ θ
and cos θ ≈ 1
xG  u  a sin   u  a 
11 Prof.  a cosStr.Dynamics
yGM. Al-Samara  a Lecture Notes 31 March 2017

The resulting two equations of motion, in matrix form, are

M  m  Ma  u c 0 u  k 0  u  cz  kz 

   
 Ma
  
2   
I G  Ma    0 0   0 K  Mga     0 

  c u  k u  peff
m u

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SELECTION OF THE DEGREES OF FREEDOM

In general, the response includes time variations of the

displacement shape as well as its amplitude. Such behavior
can be described only in terms of more than one degree of
freedom.
The motion of the beam shown in Fig. as a typical example
will be assumed to be defined by the displacements of a set of
discrete points on the beam: u1(t), u2(t),…, ui(t),…., uN(t)

13 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

DYNAMIC EQUILIBRIUM CONDITION

The equation of motion of the system of Fig. can be formulated
by expressing the equilibrium of the effective forces associated
with each of its degrees of freedom.
In general four types of forces will be involved at any point i, the
externally applied load pi(t) and the forces resulting from the
motion, that is, inertia fIi, damping fDi, and elastic fSi.
Thus for each of the several degrees of freedom the dynamic
equilibrium may be expressed as
f I 1  f D 1  f S 1  p1 t 
f I 2  f D 2  f S 2  p2 t 
f I 3  f D 3  f S 3  p3 t  (1a)
f I  f D  f S  p t  (1b)
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Each of the resisting forces can be expressed in terms of a set of

influence coefficients. Consider, for example, the elastic force
component developed at point i; this depends upon the
displacement components developed at all points of the
structure:
f S i  k i1 u1  k i 2 u 2  k i 3 u 3  .......... ..  k in u n (2)
kij are called stiffness influence coefficients.
kij = force corresponding to coordinate i due to a unit
displacement of coordinate j
 f S 1   k11 k12 . . k1 j .  u1 
 f  k k 22 . . k2 j . u 
 S 2   21  2 
 .    . . . . . . .
 f  k ki2 . . k ij .
 u 
 Si   i1  j
   . . . . . .   (3a)

15 fs  k u
Prof. M. Al-Samara Str. Dynamics Lecture Notes (3b) 31 March 2017

The damping forces corresponding to the selected degrees of

freedom may be expressed by means of damping influence
coefficients in similar fashion.
 f D1   c11 c12 . . c1 j .  u1 
 f  c c 22 . . c2 j . u 
 D 2   21  2 
 .    . . . . . . .
 f  c  u 
ci 2 . . cij .
 Di   i1  j
 .   . . . . . .  .  (4a)
ui is the velocity of the i displacement coordinate
cij are called damping influence coefficients.
cij = force corresponding to coordinate i due to a unit velocity of
coordinate j

f D  c u (4b)
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The inertial forces corresponding to the selected degrees of

freedom may be expressed by means of mass influence
coefficients. These represent the relationship between the
accelerations of the degrees of freedom and the resulting inertial
forces
 f I 1   m11 m12 . . m1 j .  u1 
 f  m m22 . . m2 j . u 
 I 2   21  2 
 .    . . . . . . 
 f  m mi 2 . . mij .
 u 
 I i   i1  j
    . . . . . .    (5a)
uj is the acceleration of the j displacement coordinate
mij are called mass influence coefficients.
mij = force corresponding to coordinate i due to a unit
acceleration of coordinate j

17
f mu

I Str. Dynamics Lecture Notes
Prof. M. Al-Samara (5b) 31 March 2017

Substituting Eqs. (3b), (4b), and (5b) into Eq. (2) gives the
complete dynamic equilibrium of the structure

  c u  k u  p t 
mu (6)

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MASS PROPERTIES
LumpedMass Matrix
The usual procedure is to assume that the structure is divided into
segments, the nodes serving as connection points. The mass of each
segment is assumed to be concentrated in point masses at each of its
nodes. The total mass concentrated at any node of the complete
structure then is the sum of the nodal contributions from all the
segments attached to that node.

In the beam shown

there are two segments
contributing to each
node; for example,
m1 = m1a + m1b.

19 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

For a system in which only translational degrees of freedom are

defined, the lumped mass matrix has a diagonal form;

m1 o . . . o
o m2 . . . . 
m 
o . . . mi o
 
o . . . . mn 

mi  mia  mib

The off diagonal terms mij of this matrix vanish because an

acceleration of any mass point produces an inertial force at
that point only.
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Consistent Mass Matrix

Making use of the finite element concept, it is possible to evaluate
mass influence coefficients for each element of a structure by
defining the displacements within the span in terms of interpolation
functions
 u t 
u  x, t    N1  x  , N 2  x   1 
u 2 t 

N1 x   1 -
x
l
N 2 x  
x
l

21 Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

 v1 t 
v2 t 
v  x, t    N1  x  , N 2  x  , N 3  x  , N 4  x 
v t 
 3 
v4 t 

2 3 2 3
 x  x  x  x
N1  1 - 3    2   N2  x - 2 l    l  
l l l l
2 3 2 3
 x  x  x  x
N3  3    2   N4   l    l  
l l l l

By d'Alembert's principle, the inertial force for each unit length is

 m  x  u  x , t  Longitudinal direction

 m  x  v  x , t  Transverse direction

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Work done by the distributed transverse inertia forces can be

written as:
L L
WTr    m  x  v  x , t  v  x , t  dx    m  x  v T  x , t  v x , t  dx
o o

  N1   v1 
L N   v 
 2  2
WTr   v1 v2 v3 v4    m  x    N1 N 2 N 3 N 4    
o 
  N3   v3 
 N 4  v4 
 
  v1 
  v 
  v1 v2 v3 v4     2 
 mij Tr  v3 
   
  v4 

m 
L

ij Tr   m x  N i N j dx
23 Prof. M. Al-Samara oStr. Dynamics Lecture Notes 31 March 2017

Work done by the nodal transverse inertia forces can be written as:

 f I y1 
 
 fI y2 
WTr  v1 v2 v3 v4   
 f I y3 
f 
 I y4 
Work done by the nodal and distributed transverse inertia forces are
equivalent, hence

 f I y1  v1 
   
 f I y2    v 
 2
 - 

 f I y3   mij Tr 
 
v3 
f    v4 
 
 I y4 
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Similarly nodal longitudinal inertia forces can be written as:

 f I x1 
  -  m  
ij L
u1 
 
 fI x2  u2 
m    m x  N
L

ij L i N j dx
o

Nodal longitudinal and transverse inertia forces can be gathered as:

 f I x1  140 0 0 70 0 0  u1 
   0  v 
 f I y1   156 22 l 0 54  13 l   1
f 
 I y 2    mL
 0 22 l 4 l2 0 13 l  3 l2  v2 
   
 f I x2  420  70 0 0 140 0 0  u2 
 
 f I y3 
 0 54 13 l 0 156  22 l  v3 
   
f   0  13 l  3 l3 0  22 l 4 l 2  v4 
 I y4 

25 f I  m vi
Prof. M. Al-Samara Str. Dynamics Lecture Notes 31 March 2017

DAMPING PROPERTIES
Similar to the inertia forces the nodal damping forces can be
written as:
f D  c ν


f D  f D x1 f D y1 f D y 2 f D x 2 f D y 3 f D y 4 T

  u1 v1 v2 u2 v3 v4 

T

 
c  cij
L
cij   c  x  N i N j dx
o

c (x) represents a distributed viscous damping property.

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EXTERNAL LOADING
Similar to the inertia forces the nodal externally applied forces
can be written as:
L
pi t    p  x, t  N i dx
o

p (x,t) represents the distributed applied forces .

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