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Design of Structures
and Foundations for
Vibrating Machines

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Design of Structures
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Design of Structures
and Foundations for
Vibrating Machines
and Foundations for
Vibrating Machines
Suresh C. Arya
Principal Engineering
Specialist, CE Lummus, Houston,
Texas

Michael W. O'Neill
Associate Professor
Civil Engineering, University of
Houston

George Pincus
Professor
Civil Engineering, University of
Houston

Gulf Publishing Company

Book Division
Houston, London, Paris, Tokyo
Design of Structures and Foundations
for Vibrating Machines
Copyright © 1979 by Gulf Publíshing Company, Houston,
Texas. Ali ríghts reserved. Printed In the United States
of Ameríca. Thls book, or parts thereof, may not be
reproduced in any form without permission of the
publisher.
Library oi Congress Catalog Card Number 78-56171
ISBN 0-87201-294-8

First Príntíng, May 1979

Second Príntlng, May 1981
Thírd Printing, January 1983
· Fourth Printing, May 1984

iv
Contents
1. lntroduction-Fundamentals . ,. ................................................................1
Structural System o! Foundations, 1; Theorelical Approach, 1; Fundamentais ot Theory oi
Vibrations, 2; Single-Degree-of-Freedom System, 2; Calculatíon of Parameters for
Mathematlcal Model, 2; Equlvalent Mass, me, 2; Equivalent Sprlng Constant, k,,, 4;
Equlvalent Forcing Functlon, F(t), 4; Formulalion of Mathematical Model, 4; Transient or
Free Vibratlons, 6; Steady-State Solution oi Forced Vibratlons, 8; Oynamlc System Sub-
jected to Rotating-Mass-Type Excitation, 11; Termlnology, 12; Acceleratlng Bodles (Ac-
celeratlon, Velocity, Dlsplacement), 12; Amplitude (Dlsplacement, Vlbration), 13; Analysls
(Computar, Oynamic, Matrlx Method, Modal, Static), 13; Balanclng (Statlc, Dynamlc), 14;
Beat, 14; Condltlons (Boundary, Constraint, lnltlal), 14; Damping (Coefficient or Constant,
Criticai, Dashpot, Factor or Ratlo, Viscous), 15; Coordinates (Cartesian, Generalized, Nor-
mal or Principal), 15; Dlfferentlal Equations (Linear, Simultaneous), 16; Dynamic (Eigen-
values, Elgenvectors, Force, Load, Load Factor, System), 16; Excitatlon (Impulse, lnertial,
Harmonlc, Sinusoidal, Periodlc, Transient), 17; Foundatlon Structure (Block-Type,
Elevated Frame or Table Top, Mal Slab, Overtuned and Undertuned), 18; Frequency
(Angular or Circular, Damped Natural or Harmoníc, Excltatlon-Forclng or Operating,
Fundamental, Natural, Aayleígh's), 18; Magniflcatlon or Ampliflcatlon Factor, 20; Mass
(Conslstent or Contlnuous, Equivalent Lumped or Lumped), 20; Motíon (Equatíon oi Mo-
tion, Perlodlc, Aperlodlc, Slmple Harmonic or Sinusoidal, Subharmonlc, Superharmonic),
20; Modes (Coupled, Uncoupled, First, Lowest, Fundamental, Normal, Prlnclpal-
Elgenvector), 21; Modes oi Vibrations, 24; Node (Points, Vlbra!ing Systems), 24; Oscilla-
tion, 24; Peak-to-Peak (Double Amplitude oi Vibratlon), 24; Period, 24; Phase (Angle), 24;
Resonance (Condition, Frequency), 25; Response (Dynamic, Steady State-Forced Pari,
Translent), 26; Shaft (Criticai Speed, Flexible, Rígíd, Stifl), 27; Sprlng Stlffness (Constant,
Equlvalent, Unear-E!astic, Nonlínear, Soll), 27; System (Contlnuous, Dynamlc, Free,
!deal!zed or Equívalent, Linear, Nonlinear, Lumped-Mass Spring-Dashpot, Slngle-
Degree-of-Freedom, Mul!iple-Degree-of-Freedom), 28; Transmísslbility Factor, 31; Ref-
erences, 31.

2. Development of Analytical Models for Dynamic Systems ............................. 32

Modellng Techniques, 32; The Lumping oi Mass, 32; Elastic Spring Constant, 32; Damp-
ing Aatio, 32; Forclng Function, 33; Mode!s, 33; Development oi Equatlons of Motion, 33;
Model 1-Vibratlng Machlnes Supported by Block-Type Foundatlon, 34; Model 2-
Vibrating Machines Supported by Mat-Type Foundatlon, 34; Model 3-Machines Sup-
ported on an lnertla Block and Vlbratlon lsolated from tha Foundation, 35; Modal 4-

v
 Vibrating Machines Supporteá by Cantilever, 35; Model 5-Vlbrating Machines Sup-
ported by Flxed Beam, 35; Model 6-Typlcal Elevated Pedestal Foundat:on (Table Top),
36; Model A-Slngle-Lumped Mass (Uncoupled Superstructure and Foundation), 36;
Model B-Multl-Lumped Mass (Uncoupled Superstructure and Foundatlon), 36;
Rayleigh's Frequency, 36; Modal Multidegree Lumped Mass Analysls, 37; Model C-Two-
Lumped Mass with Coupled Soll-Structure lnteraction, 37; Model D-Multi-Lumped Mass
with Coupled Soll-Structure lnteractíon, 38; References, 38.

3. Development of lnformation, Triai Sizing, and Design Checklist .................... 46

Machíne Propertles and Requlrements, 46; Soil Parameters, 47; Environmental Condi-
tions, 49; Triai Sizing of a Block Foundation, 49; Triai Sizing of Elevated Foundatlons
(Table Tops), 50; Checklist for Design, 51; Design Conditions and Procedures (Static Con-
dítions, limiting Dynamic Conditions, Posslble Modes of VibratiOn, Fatigue Failures, En-
vironmental Demands), 52; References, 56.

4. Geotechnical Considerations .......................................................... 57

Notation for Chapter 4, 57; Evaluatlon of Soll Parameters, 59; Shear Modulus, 62; Calcula-
tion of Shear Modulus for Structure-Soil lnteractlon Analysis, 68; Selectlon of Shear
Strain Magnitude for Computing Approximate Shear Modulus Beneath Footings, 69;
Damping Ratio, 70; Selection of Polsson's Ratio and Soll Density, 71; Effect oi Fooling
Embedment, 72; Effect of Stiff Underlying Stratum, 72; Ellect of Stratum oi Loose
Granular Soll, 74; References, 76.

5. Foundations ........................................................................... , •.• 77

Notation for Chapter 5, 77; Modificatíon oi Foundation Response, 78; Vertical Sprlng and
Damplng Constants for Flexible Mats, 79; Deep Foundatíons, 80; Vertical Motion, 81; Pile
Groups, 82; Horizontal Motion, 86; Uncoupled Rocking Motlon, 86; Testing Methods and
Emplrical Correlations Based on Tests, 88; Comparison of Theory and Measured
Behavior, 89; Reterences, 90.

6. Design Examples: Block Foundations .......................................•.......... 91

Example 1: Foundation Design for Reclprocatlng Compressor (Footing Embedment Effect

lncluded), 92; A. lntroductlon, 92; 8. Machine Parameters, 93; C. Soil and Foundatlon
Parameters, 93; D. Selectlon oi a Foundatlon Conflguration, 93; E. Dynamlc Analysis, 97;
F. Check of Design Criteria-Static Conditions, 97; Limiting Dynamic Condltlons, 97; En-
vironmental Demands, 98; Nomenclature-Example 1, 98; Example 2: Design oi a Foun-
dation Block for a Centrifugai Machine, 99; A. Machine Parameters, 99; B. Soil and Foun-
dation Parameters, 99; C. Seleclíon oi a Foundation Conflguratlon, 100; D. Dynamic
Analysis, 100; E. Check oi Design Criteria, 100; Statlc Condltlons, 100; Limiting Dynamic
Conditlons, 100; Possible Vibratlon Modas, 102; Fatigue Fallures, 102; Environmental De-
mands, 102; Nomenclature-Example 2, 102; Example 3: Foundatlon Design for
Centrifugai Machlnes with Díllerent Operallng Frequencies and Supported on an lnertla
Block, 103; A. Machine Parameter, 103; B. Soil and Foundatlon Parameters, 105; C. Se-
lection oi a Foundatlon Contíguration, 106; D. Dynamic Analysís, 106; Selectlon oi
Springs for lnertla Block, 106; E. Dynamic Analysis as a Multi-Mass System, 107; F.
Discussion oi Dynamic Analysls, 107; G. Check oi Design Criteria, 110; Nomenclature-
Example 3, 111; References, 112.

vi
7. Computer Analysis and Applications: Elevated Foundation ....................... 113

Example Problem, 114; Example-STAUDL Coding, 118; Computar Printout ín ICES-

STAUDL, 121; lnterpretation oi Resulls, 157; References, 158.

Appendix A. Solution of Multi-Degree-of•Freedom System ............................ . 159

lntroduction, 159; Dynamlc Analysls, 159; Determinatlon of Natural Frequencies and

Mode Shapes, 160; Determínant Equation Method, 160; Stodola-Vianello Method, 163;
Steady-State Response Analysis, 166,

Appendix e. Summary of ICES-STRUDL Commands .................................. . 169

lndex ........................................................ ,. .................................... 187

Vii
 To our families:

ShardaArya Jerilyne O'Neill Dorita Pincus

Sumeer Arya Ronald O'Neill Cynthia Pincus
ReenaArya David Pincus
Karen Pincus

viii
Preface
The design of structures and loundations supporting dynamic loads has gradually
evolved lrom an approximate rule-of-thumb procedure to a scientifically sound engineer-
ing procedure. Current state oi the art allows engineers to reliably design structures which
support increasingly heavier and larger machines. Recent advances in a number 01
engineerlng disciplines, when merged with a tradilional well-established body oi
theoretlcal knowledge, have resulted ln definite procedures for lhe analysis and design of
dynamically loaded structures. However, most concepts and procedures used in the
design oi structures carrying dynamic machines and ul!lmately supported by lhe sol! have
heretolore been dispersed ln texts dealing with a single aspect ora limited portion oi the
problem. This text brings together ali those concepts and procedures for design of
dynamlcally loaded structures. Disciplines that are lnvolved ln modem design procedures
include: theory oi vlbratlons, geotechnlcal engineering including soll dynamics and hall-
space theory, computer codlng and applicatlons, and structural analysis and design. lt Is
assumed that the reader is an engineer ar designer who Is familiar with these areas.
However, a basic introduction ln each area is also included ln the text to enhance the
background oi some readers.
The book includes an introductory chapter whlch reviews basic fundamentais. Chapter
2 describes alternativas oi modellng dynamlcally loaded systems whlle Chapter 3 con-
siders and llsts the information necessary for design. Chapters 4 and 5 describe the geo-
technlcal aspects of the problem and Chapter 5 speclfically considers flexible mats and
deep foundations. Finally, Chapters 6 and 7 include actual examples of different types oi
structures supportlng dynamlc machlnes.
This book is wrltten by practicing engineers and engineerlng teachers. Practitioners
and studenls will lind lhe information contained here useful ln thelr work. Also, the book
will provida additional opportunltles to merge lhe real world oi design wlth senlor- and
graduate-level engineering classroom lnstructlon. Flnally, thls book will serve as a model
for integralion of knowledge whlch cuts across severa! traditlonal, but previously loosely
connected areas.

Suresh C. Arya
Michael W. O'Neill
George Pincus

March, 1979

ix
 1 lntroduction-
Fundamentals
The analysis and design of foundations and structures
subjected to vibratory loads is considered a very complex
problem because of the interaction of structural engi-
neering, geotechnical engineering, and the theory of
vibration. These foundations may be designed as a
simple block, either of plain concrete or of reinforced
concrete, not different in resemblance from a footing
designed for static loads. The practicing engineer ,who
is generally not theoretically motivated ordinarily
shuns theoretical investigations partly because these in-
vestigations on a rnassive concrete block do not result
in any additional reinforcement other than ordinary
minimum percentage of reinforcement required by the
governing codes. Even when engineering talent is avail-
able for a theoretically exact analysis, other factors such
as economy, lack of high-speed computers, or design
tradition result in an approximate nondynamic design.
Thus, it has become imperative to devise practical de-
sign procedures which include the various aspects of
design and analysis of these foundations in a way that
the least effort is involved in the theoretical investiga-
tion. The design engineer should recognize that the
theoretical dynamic investigation is an integral part of
the design effort.
ln this book, an effort has been made to use and
simplify the latest theoretical knowledge available in
this field ( ref. 1) . An easy-to-follow step-by-step routine
is developed for actual design problems.
ln addition, at every step of investigation, a brief
description is presented explaining the physical meaning
of the parameters used and role they play in the design
process.
Structural System of Foundations
The structural form of machine foundations is gen-
erally determined by the infonnation provided by the
1
geotechnical consultant and the machine manufacturer.
However, during the design phase, it may become neces-
sary to adjust the dimensions or shape of the foundation,
partly to meet the design criteria or to avoid interference
with other fixed objects such as pipelines and building
foundations. The broad categories of foundations are
(a) shallow foundation ( resting on soil) and ( b) deep
loundation (supported by piles or piers) . A further
classification involves the structural configuration of the
f oundation:
1. Block-type foundation, consisting of a thick slab
of concrete directly supporting the machine and
other fixed auxiliary equipment.
2. Elevated pedestal foundation ( table top), consist-
ing of a base-slab and vertical columns supporting
a grid of beams at the top on which rests skid-
mounted machinery. These types of foundations
are illustrated in Figure 1-1.
Theoretical Approach
Vibrations developed by operating machinery praduce
several effects which must be considered in the design
of their foundations in addition to the usual design
static loads. ln some cases, if the size of the machine
involved is small, it may be appropriate to design the
foundation for equivalent static loads instead of strictly
applying the vibration design criteria. However, once
the design engineer has recognized the need for a
vibration analysis, it is necessary that the designer possess
a clear understanding of the fundamentals of the theory
of vibration (refs. 3, 5, 6 and 7)i rnodeling techniques
( refs. 2 and 8), soil dynamics ( ref. 1), and in some
cases, the applicatíon of computer programs ( refs. 2
and 3 of Chapter 7) .
ln the step following the selection of the foundation
gross geometry, the design engineer is faced with the
 2 Design of Structures and Foundatlons for Vibrating Machines
(a) Block-type foundation supporting
reciprocating compressor
Figure 1-1. Types of toundations for vibrating machines.
vibration analysis. The usuat procedure is to establish
a mathematical model of the real structure which is
a necessary prerequisite ín order to apply the theory
of vibrations. The mathernatical representatio:n of a
structural system is usually definerl in terms of a lumped
mass, an elastic spring, and dashpot for each degree
of freedom" The terms which are used in the developÀ
men t of the theory of vibra tions are described in the
Terminology section provided at the end of this chapter.
Fundamentais of Theory of Vibrations
The subject of vibration deals with the oscíllatory
behavior of physical systems. Ali physical systems built
of material possessing mass and elasticity are capable of
vibration at their own natural frequency ,which ís known
as a dy:namic characteristic. Engineering structures sub-
jected to vibratory forces experience vibration in differ~
ing degrees, and thelr design generally requires deter~
mination of their oscillatory behavior. The present
"design office" state-of-.the-art considers only their linear
behavior because of the convenience afforded by apply-
ing the pr·in.cíple of superposition, and also because
the mathematical techniques available for their treat-
ment are well developed. ln contrast) nonlinear be-
havior of systems is less well known, and the mathema-
tical treatment is difficu]t to app!y, However, all struc-
tures tend to become nonHnear at high amplitude of
osdllation, and a nonlinear analysís is required under
those conditions.
Single-Degree-of-Freedom System
An engineering structure (a fixed beam) is illustrated
in Figure 1~2a. The beam is supporting a machine
(Table Top)
(b) Typicai pedestal foundation
generating a harrnonic centrifugai force. A step-by-step
proceclure will be described for modeling the actual
structure.
Calculation of Parameters
for Mathematical Model
Equivalent Mass, m.
The beam has distributed mass along its Jength, and
its ends are fi.xed against rotation. ln calculating the
mass for the rnathematical mode1,; it is necessary to lump
the mass only at points where the dynamic force is act~
ing, and_also at those pcints where the dynamic response
is required. ln this e.xample, the dynamic force is acting
at the middle and the response is also required at the
middle. The technique for obtainíng the lumped mass is
to equate the kinetic energies of the real and the equiva~
lent systems (refs. 2 and 8). First, a deflected shape of
the real system is assumed, Figure 1-2b which corre-
•ponds to the predominant mode. ln this example, the
beam can have predominant translatíonal modes ín the
x-y plane_, the x-z plane, and a rotacional mode about
the x-axis. Thus, the model has three single-degree-of-
freedom systems independent of each other. Considering
only the deflected shape in the .,,_y plane, and assuming
the shape is the sarne as that which would be caused by
a concentrated Joad P applied statically in the míddle,
y. = (Px' /48 EI,) (31 - 4x) (1-1)
Yvmu = Pf /192 EJ, (1-2)
1
Assuming the beam s behavior stays with)n the elastic
range and the maximum velocity at any point along the
 lntroduction-Fundamentals 3

i
112 //2

~ITc T
(spnng "=
constant)
7"
1
(dashpot) 1._' k
•
Cy
-- __ .,
w . Wlk =ó,,--,- l 7 ky

~y w
w
+ my

(e) lnitial ( d) Deflected (e) Oscillatory

Position Position due Conditlon
to Weigl1t W

Figure 1-2. SDOF representatlon oi a flxed beam supporting machinery ln the míddle.

beam is proportional to the ordinate o( the deflection KE, = .[' ½m, vi dx

curve at that point, then the velocities of the beam are
= 8 'm,/1' V'-,(2) .fm(91"x' + l6i' - 24/x') àx,
' (1-4)
V, = (CPx'/48 El,) (31 4x) and where mb mass per unit length.
V,.., = C(Pi'/192 El,) , Then,

where C constant relating velocíty to deflection. J.'fi(91'x4

o
+ 16x'-24lx')dx = 13/11201'
Equation (1-4} after integration reduces to
Thw, KE, = (13/70) V'm., m,,
where me= m11 l, the total mass of the beam. The kinetic
V,= (4x'/i') (31 - 4x) V,m (!-3)
energy of the equivalent system is given by
The total kinetic energy of the beam is given by KE~ = ½mt Vei
4 Design of Structures and Foundations for Vibrating Machines
Since the kinetic energies must be equal in both sys-
tems, and since V mn.x must equal Ve,
KE, ~ KE,
(13/70) m, v!,.,
or
(1-5)
Therefore, 37.1% of the total distribution mass shou1d
be included as the corresponding mass of the mathemati-
cal model. However, the mass of the machine is located
at the middle; hence, that entire mass should be con-
sidered part of the equivalent mass.
m~ = 0.371 m 1mm + (1-6)
Similarly, equivalent mass can be calculated in the
x-z plane ,which will also have the sarne magnitude since
the deflection curve of the beam remains the sarne.
Table 1-1 lists equivalent mass factors for beams and
sla?s with different types of loads and support conditions.
Equivalent Spring Constant, k,
The spring constant of an equivalent system is obtained
by equating the resistances to deformation of the proto-
type and the mathematical model, in this case, the uni-
formly distributed loaded beam vs. the mcxleled middle
loaded beam. The resistance offered by the beam per
unit load is given by the reciprocai of the deflection
produced by the sarne unit static load applied at that
point. Therefore, in the example under consideration,
the resistance offered due to a unit concentrated load at
midspan ( ref. 9) is
R, l/(t'/192El,)
192 EI,/f', (1-7)
which when equated to the resistance of the equivalent
system gives
3 to the mass of the system multiplied by its negative
k, - 192 El,/1 (l-8)
ln Table 1-1, values of spring constants for equivalent
systems are presented for different types of loads and
support conditions.
Equivalent Forcing Function, F(t)
The dynamic force may be distributed over a certain
length of the element, and in order to obtain its equiva-
lent, concentrated load value for application in the
single-degree-of-freedom system, the work dane by the
actual system is equated to that clone on the equivalent
systern. The load factor, ki, with which the distributed
dynamic force should be modified to determine the
equivalent, concentrated dynamic force is given in
Table 1-1. For the model shown in F·igure 1-2a, the
dynamic force acts at the middle of the beam, thus, a
force rnodification factor is not required.
Formulation oi Mathematical Model
A procedure for obtainíng the values of various
parameters in a mathematical model which equal those
in an actual system is given in the preceding section. An
equivalent mathernatical model is shown in Figure 1-2c.
The mass and the spring constants are the equivalent
parameters corresponding to an actual ·system. An equiv-
alent damping coefficient is not required in this partic-
ular model since it is associated with the velocity of the
system only, and its effect is implicitly included when the
equivalent values of mass and spring constant parame-
ters are calculated. The chosen model has three inde-
pendent degrees of displacement and/or rotation, and
therefore, there are three individual equivalent models
having a single degree of freedom each. The technique
of mathematical formulation for each of the three models
is the sarne, and therefore, only one single-degree-of-
freedom model will be examined in detail.
A model, shown in Figure 1-2d with a weight W, is
attached to a weightless spring k, and the spring stretches
by an amount Oat = W / k. The system is initially in a
state of static equilibrium with the dead weight W bal-
anced by the restoring pull of the spring kOat, Subse-
quently, the 1Vveight W is set into oscillation by the appli-
cation of some disturbance.
Starting at time equal to zero, the system vibrates freely
with an amplitude of ±y displacement (Figure 1-2e).
The forces acting on the body are applied against the
direction of motion and include: the resistance offered
by the spring k ( y + o.,), the resistance Cy offered by
the viscous damping C, and inertia force m y, given by
Newton's second law of motion. The latter force is equal
acceleration ( the state of motion of a mass at any instant
may be considered as in a state of static equilibriurn
upon introduction of the inertia force). The force acting
in the direction of motion is the weight W. Summing up
the forces, the resulting equation of motion is
mji + Cj, + k (y + ô,,) = W ,
which reduces to
mji + Cj, + ky o (1-9)
 tntroduction-Fundamentals 5

Table 1-1
Dynamic Design Factors for Beams and One-Way S!abs

Equlvalent Parameters of a
Type of Type of Single-Degree-of-Freedom System Equlvalent
Structura! Oynamic Dyoamic Sprlng Mathematical
Mass factor km
Member Loading Load Constant Model
.
Factor k1 Cone. Ld. Uni!. Ld. k,
f(tj!unit length

49.2 E/
~E/
Á=''·'''i 0.64 - 0.50
L3 ../,ti/fllg
A. Uniform load ?'
:n1 ~
i.
1
L
~1 F(I) ~
1. Simply
supported
beam
.$. •
1,l12,., <u2., 1
8, One ccncen-
trated load
~ 1.0 1.0 0.49 48.0 E/
L• ~-
F(t) F(t)
T~ D 49.1 E/
14i~l .HlíE.r 0.87 0.76 0,52 F,(t) = k1 X (total
L• dynamic load
C. Two equal on the span)
concentrated loads
M, = km X (total
f(l)lunil length mass on the span)

t{.E/
~=r:q 0.53 - 0.41
203.5 EI k, k1 X k
A. Uniform load L3 where k = spring
~ L
J constant ot a real
systâm.
i"' .. 1
F(t)
2. Fixed ends •Equal parts oi lhe
beam
i L~ 1.0 1.0 0.37
192.0 E/ concentrated
1B., .One
u2~~
concen-
L' masses are lumped
at each concen-
trated ioad
trated dynarnlc
f(IJ/unit length load.

tb!~=,4
'. L --~
0.58 - 0.45
. 107.3 E/
L>
li E/
4 ~ A. U nilorm load

k L
.. 1
' F(t)
3. Simply support•
ed and lixed
ti._ _ L~=f 107.0 EI
• L/2 ,.j..L12
end *-·· ~
8. One concen-
1.0 1.0 0.43
L'
trated load
F(t) F(t)
21 {2
106.9 EI
~u:i.141~ ~ll[ 0.81 0.67 0.45
L'
C. Two equal
concentrated loads
6 Design oi Structures and Foundations for Vibrating Machines

This equation is an ordinary second-order linear dif-
ferential equation with constant coefficients, also called
a homogenous equation. For the case when a forcing
function F(t) is also acting, the resulting equation is
classified as nonhomogenous {ref. 10) and is written as
mji + Cj + ky = F(t) (1-10)
The solution of Equation ( 1-9) yields the dynamic
characteristic of the system such as the natural frequency,
the damped natural frequency, the critical darnping
coefficient, or the transient motion of the system. Each
of these terms has a special significance depending upon
the particular problem at hand.
Equations ( 1-14) and ( 1-15) show that the nature of
oscillation depends upon the value of C. Four possible
values of C will be considered here (ref. 6) to illustrate
the physical significance of Equation ( 1-15).
=
Case 1: C O (no damping). This case reduces the
problem to an undamped system, and the roots obtained
from Equation (1-14) ares,,,=± iw •. Equation (1-15)
can be written as
(1-16)
Equation (1-16) can be written in three alternate forms
by the use of trigonometric identities and complex
numbers:

Transient or Free Vibrations y (1-17)

A solution of the form · y =

e st is assumed for Equa- (1-18)
tion ( 1-9) where s is a constant to be determined, and t
is the independent time variable; then, y = e, cos (w.t - q,) (1-19)
Equation (1-17) is in terms of phasors, while C 1 and
ff are components of a complex number. B1 and B2 are
Upon substitution of y, y, y into Equation ( 1-9), the arbitrary constants in Equation (1-18) representing the
following expression is obtained.: real part of the solution and can be evaluated from the
initial boundary conditions. For example, at time t O,=
(s' + [C/m]s + [k/m]) e" = O (1-12) the system has a given initial displacement y(O) = y0
and an initial velocity y(0) = v 0 • Equation ( 1-18) then
Since e8 t must be greater than zero for all values of t, becomes
s' + (C/m)s + (k/m) = O (1-13)
(1-20)
Equation (l-13) is a quadratic equation having two
and the velocity function,
roots:
(1-21)
s1 = (l/2m) [-C+ vC'-4km]
(1-14)
s, = (1/2m) [-C - vC' - 4km] Equation (1-19) can be obtained from Equation
( 1-18) if the following substitutions are made: B, = C,
Several tenns, relating various parameters of Equa- =
cos <f,, and B2 = C 1 sin <f,. Then tan <f, B 2 /B1 , and
tion (1-9), are defined as: C 1 2 = B1 2 + Bl. By L~sing the trigonometric identities,
wn = v' k/m is called the circular natural frequency of
y=C,cos (ro.t-,t,) (1-22)
the system in radians/sec;
C0 =
2V km is the critica! damping of the system in
j;w. = -C1 sin (w.t - q,) (1-23)
units of force/ velocity;
D= C/C 0 ~ C/2y'km is called the damping ratio; ln Equation (1-22), C, = y'yo' + (v,/wn)' is called
and fild = (t)n V 1 - D 2 is named the frequency of oscilla- =
amplitude of vibration, and <f, tan- 1 (v 0 /wnYo) is
tion of the system with damping included.
called the phase angle. A graphical representation of
The complete solution of Equation (1-9) is
Equation ( 1-22) is given in Figure 1-3a by the projec-
(1-15) tions of a vector C 1 rotating about a fixed point O, with
a constant velocity wn- The projection upon the ordinate
where A and B are arbitrary constants which depend axis represents the instantaneous displacement y, while
upon the initial problem conditions. The motion de- the projection on the abscissa gives the velocity function
scribed by Equation ( 1-15) is called transient motion j,/w. according to Equations (1-22) and (1-23), respec-
of the system, and the oscillations die out in a short tively. A displacement time curve based on Equa-
interval of time when significant damping is present. tion ( 1-20) can be obtained fom Figure 1-3a by project-
 lntroduction-Fundamentals 7

/1/

(a) o
Time

r ~;-=-1 o
(b)

.
E
;:: Figure 1-3. Undamped free vibrations ini-
tial conditions, y (O)= y0 , y (O) =u0 Source:
A.H. Church, Mechanical Vibrations, sec-
ond edition, New York: John Wiley, 1963.
(e)

ing instantaneous values of point P to the right, as shown or

in Figure 1-3b. A velocity versus time plot based on y = ,-D•n< Y sin (w,t + ,t,) (1-26)
Equation ( 1-21) can be obtained by projecting point P
vertically, as shown in Figure 1-3c. The variation of
=
Where B1 Y cos <p and B2 =
Y sin <p and wa =
these terms with time is shown for a complete cycle. The co1, \f l-D 2• The term wa is called the damped natural

time required for one complete cycle is called the pe~iod frequency, and Y and <p are arbitrary constants to be
T and equals 2tr / 4»n sec. The corresponding cycle fre- determined from the initial boundary conditions in a
= =
quency is f. 1/T w./2" cps. These cycles are iden- similar ,way to the procedure used in Case 1. The type of
tically repeated since this system is undamped. motion described by Equation ( 1-26) is oscillatory with
frequency of roa and is shown in Figure 1Aa. The ampli-
Case 2: C' < 4 km, but > O (underdamped). ln tude of oscillation Y will diminish with time and is
this case, the roots of Equation ( 1-14) are complex con- proportional to e- 0 wnt as shown by the dotted lines.
jugates, and s1 and J2 become
= 4 km (criticai damping). The darnping
Case 3: C2
s, = w, ( - D + i ,j 1 - D')
(1-24) corresponding to this case ( C = 2\1 km, C = Cc or
s, = w, ( - D - i ,j 1 - D') C/Cc =D= 1.0) is referred to as critica! damping. For
thisvalue of C'=4 km, Equation (1-13) has two equal
when the damping ratio D=C/C 0 =C/2ykm= =-
roots, s1 , 2 C/2m. ln this case, the general solution
C /2wnm is introduced. Further substitution of Equa- of the second-order differential equation is
tion ( 1-24) into Equation ( 1-15) and conversion to a (1-27)
trigonometric forro with the aid of Euler's formula
e±1º=cos0 ± isinO,gives =
Substituting the value of C /2m 2y km/2m ro, =
and applying the initial boundary condition, y (t =0 O)
y = e-Dwnt (B1sinwn v' 1 - D2 t = y,, and :i (t = O) = v, in Equation (1-27) gives
(1-25)
+ B,cosw, ,j 1 - D't) (1-28)
8 Design of Structures and Foundations for Vibrating Machines

A graphical representation of Equation (1-28) is in sign. A graphical representation of Equation ( 1-30) is

shown in Figure 1-4b. The motion described by Equa-
tion ( 1-28) is aperiodic. Since criticai damping repre-
sents the limit of aperiodic damping, motion is reduced
to rest in the shortest possible time with no oscillation.
Case 4: C' > 4 km {overdamped). Referring to
Equation (1-14), the roots of Equation (1-13) are real
and unequal. The value of the roots, after substituting
the relationship C/m:;:;:: 2wn D, is given by
(1-29)
and the resulting solution by using Equation ( 1-15) is
given by
y = A/-D+~••' + B/-D-~••' (1-30)
Since the roots in Equation ( 1-29) are real and nega-
tive for all values of D> 1.0, the value of y in Equa-
tion ( 1-30) will decrease exponentially without a change
shown in Figure 1-4c, which indicates that there are no
oscillations, and the system is said to be overdamped.
Steady-State Solution oi Forced Vibrations
The solution of Equation ( 1-10) includes two parts
(ref. 3): (a) transient or free vibrations and (b) steady-
state or forced vibrations. Transient motion, which in
mathematical terms is called the complernentary func-
tion, is a solution of the homogenous equation, as previ-
ously noted.
The particular integral of Equation (1-10) gives the
steady-state or forced-vibrations solutio!l. This solution
includes the influence of the forcing function. Structures
and machines which are subjected to excitation forces
whic.h vary with time are susceptible to vibrations. The
excitation can be in the fonn of a pure, s.imple, hannonic

~l:1-------=-- ---+ Wnf

/
/
/

(a) Underdamped periodic oscillation {b) Criticai damped aperiodic oscillation

(c2 <4km-or D < 1.0) (c2 = 4km or D= 1.0)

(e) Overdamped aperiodic oscillation

(c2 > 4km or D> 1.0)

Figure 1-4. Damped free-vibration response of SDOF system. Source: William T. Thompson, Vibration
Theory and Applications, ~ 1965, pp. 39-40. Reprinted by permission of Prentice-Hall, lnc., Englewood
Cliffs, N.J.
 lntroduction-Fundamentals 9

force or <lisplacement, or it may have some other periodic Equation ( 1-10) with a harmonic force is
form. These other periodic disturbances can be resolved
into a number of hannonic components in the form of m_ji + Cj + ky = F0 sin wt , (l-31)
Fourier series as illustrated in Table 1-2. A third type of
where w is the frequency of the harmonic excitation. The
time-dependent excitation is in the form of a series of
particular integral solution for this equation is
repeated shocks and impulses, pulse waves, or step func-
tions or force or displacement applied to the mass or to
its support. YP = A1 sin wt + A2 cos wt (l-32)
The most common source of excitation in structures with jP = wA1 cos wt - wA 2 sin wt (l-33a)
supporting machines is the internai excitation caused hy
an unbalanced condition in the machines or the externai and_)J:7 = -w2A1 sin wt - w2A 2 cos wt (l-33b)
excitation produced by a nearby dynamic system. These
excitations are generally in the forro of harmonics under Substitution of Equations (1-32), (l-33a), and
steady-state conditions and will be further considered ( 1-33b) in Equation (1-31) and collections of the coeffi-
here. cients multiplying the sine and cosine terms yield

Table 1-2
Harmonic Componenls of Periodic Disturbances (Ref. 7)

(1)0
-h
hR 1--íl\-t~ 1

L_j
n
LJ
r f(wt) = 4

"
h _L SIN kwt
k
k• 1,3,!I, • • ·

(2)0hp D [ f(wt) =
h
2 + ,r
2h
lk SIN kwt

(3) O hl--1 /"1 < f(wt)

2h
=-:;; SIN kwf

-h1V V k • 1,2,3, · · ·

(4)0h~
,. f(wt) = 4h - 2h
.,,.2
1
k2 COS kwt

(-1 )'+ 1
k SIN kwt

(5)0h~< f(wt) = - - -
2
h
...
4h
f -hcos
k•l,3,G 1 ·.,
kwt

Bh (- l }(k-1)/2
(6) O h ! A /\ /

-h1 v v f(wt) = - ,,,

k= 1,3, G, • • ·
SIN kwt

(7)0
h 11:5:º'" wt /"'\.
~ , !!.+!!.SIN
f(wt)= .,, wt
1 2

2h
.,, ,;;-'
L.,
-2- - COS kwl
k - 1
k• 2,4,6,···

2h 4h ,;;-' 1
(B)Oh~ f(wt)= .,,. - -:;, L ~ COS kwt
k: 2.,4,6,···
10 Design oi Structures and Foundatíons for Vibrating Machínes

1)A1 - CwA,] sir: wt

[(k mw y, = [Fo/V(k - mw')' + (Cw)'J sin (wt - 4, 1)
+ [CwA, + (k ····· mw') A,] cos wt = F0 sin wt (1-34) = Y sin (wt - 4'1), (J-37)
and equating the sine and cósine terms on the two side5 where Y =
.~--~a--~
F,/v(k - mw')' + (Cw)'
of the equation yields 1
and </;1 = tan- [Cw/(k- mw 2)]
[(k mw') A, - CwA,J sin wt = F, sin wt Í/
( 1-35)
[CwA1 + (k m,l) A,] cos wt = O
Y is the amplitude of the steady-state response1 and
cf, 1 is the ''phase lagj' of YP ( t) ,with respect to the forc~
Solving of these two sím.ultaneous equations for the ing functíon F 0 sinwt. Substitution of the expression for
two constan ts À 1 and A,, and substitut.ing in Equa- D and <tln in the expression for Y and ef> 1 and replacing
tion ( 1-32) yie!ds - ' · w/w. by the frequency ratio r in Equation (1-37) anil
F, (k - mw') sin <JI - F0 Cw cos wt rearranging Equation (1-37) ín nondimensional form
( 1-36)
Yr = (k - mw) + (CwÍ g1ves

The particular integrals for various forms of the forc-

ing function are presented (in Table 1-3) to i!Justrate
lhe physical feel of resulting oscillation. An alternate M = (F~k) = ,/[! - r')" + [2Drf } (1-38)
1
forro for Equatíoo. (1-36) is q,i = tan 2D,/(l-r')

Table 1-3
Particular Integrais (Ref. 7)

F'(j)
l42}] m itF!•I Yo

F• . §
F,
1
1
•
,., '1~ 1
'
i.(1-.Ê.)
.
~·2 'I ~ t
~( "l-T-T
t d m
2
+ 11
t )
2

4 F,/l
'1/ t
~(t 3_
k 3
-c1
k
2
2mt
k
+ 2
2e t+4me_ 2c'}
k2 k2 kll

t,-•t
'!'-- F,
m,"-ca+k
.- ,,
t

• ~•·'
'V 1
F~
ms 2+e1+k e
ti

F~f\ Ffifk-mJhin wt-!'i;llJ eos wf

7 r., tln w! t
í k- mw2'1 1 +(e1..l

' F0 çg.1 wl
F P\J"''- ' fitcw t:fn c..l+~{k-mJ;cos
( k-mw4}l+(cw~Z
wt
 lntroduction-Fundamentals 11

where M is called the dynamic rnag:1ification factor, 4, 1

has been defined earlier. Equation ( 1-38) shows that the ~%%!\
o>~
M and <j:, 1 factors are functions of the frequency ratio r º''
(b}
and the damping ratlo D. These functions are shown in
Figure 1-5. These curves indicate that the damping ratio
D is effective in reducing the amplitude and phase ang[e 1 2 J .;

in the regiOn of resonance: that is when r approaches Frequency rat'o (r)

unity, the particular values oí Jvf and ef, 1 depend on the
damping ratio D.

Dynamíc System Subjeded to

Rolatíng-Mass-Type Excitation
o
ln some dynamic systems1 the excitation force present (ai Frequency ratio (r)
arises out of unbalances in the rotating masses. Ex:amples
Figure 1-5. Magnificalíon factor (M) versus fre-
of such systems are recíprocating and centrífugal ma-
quency ratio (r); (a) and phase angle (</>,) versus
chines. The forces generated by a redprocating machine
frequency ratlo (r); (b) for a single-degree-of-
are of the fonn (ref, l}
freedom system subjected to a constant force
Fr= (mrcc + mm) r'w 1 cos wt amplitude force, F =
F0 sin wt. Source: William T,
Thompson, Vibration Theory and Applications, ~
+ m," [(r')'/L] w' cos 2wt ( 1-39a)
1965, p, 54. Reprinted by permission of Prentice-
Fv = (m,.,,) r' '1.
2
sin wl (l-39b) Hall, lnc .. Englewood Clilfs, NJ,
where PJ: and Fu are horizontal and vertical inertía
forces, respectively. There are two masses: one moving
with the píston at point P in Figure 1~6a called Mr•r:
(reciprocaüng); and one moving with the crank pin at
point C called M,oc (rotating), The crank rnechanism l
f m· this type of machine is iUustrated i'1 Figure 1-6a.
The forces generated by the unbalanced rotating mass
oI the centrifugal machlne shown ir. Figure 1-6b are
given by
(1-40a)
(1-40b)
Equations (1-39) and ( 1-40) indicate that the magni•
tude of the forcing function is proportional to the rotat-
ing mass m,) íts eccentricity to the true axis e, and the
speed w. The rotating mass and its eccentricity remain
constant, but the value of w varies frcm start~up of the
machine to its stable steady-state conditíon. Therefore,
during that period, the maximum amplitude of ú1e forc-
ing function given by Equations (1-39) or (1-40) is
directly proportional to the square o[ the operating (b)
speed.
Figure 1-6, (a) Crank mechanism o! a reciprocating
The equation of motion for the forcing function ín the
machine; (b) Forces from a centrifugai machine
centrifugal machine is gíven by a damped single-degree-
(rotating mass excitation).
of-fneedorn system in the y-direction:
m,Y + Gj + ky = (m,ew') sin wt (1-41)
By comparing Equation (1-41) wíth a constant~force-
y, = m«w' sin(wt-,j,1)/y'(k-mw~' + (Cw)' (l-42a)
amplítude expression, Equation ( 1-31)) and substituting Y = m,ew'/v'(k-mw')' + (Cw)' and
miew2 ::::.: F0 in Equation ( 1~37); the following expression -1 Q.,
is obtained:
,j,, = tan (k
- mw)
, (l-42b)
12 Design of Structures and Foundatíons for Vibrating Machines
Man:pulating and rearranging Equation (1-42.i) in a
similar manr:er as was done -\vith Equatiom ( 1-37) to
( l-38) gives
Y/[(m,ew')/k] 1/y[l _:,']' + [2Dr]' M
(l-43)
(r)' M = M,,
where lvf r is the dynamíc magnification factor for the
rotating-mass-type excitatio:i case, Figure 1-7 shows the
plot of A1.r 1n re!ation to the frequency ratio r for Lhe
various values of damping ratio D.
=
Substítutíng µ. mijm in Equation { 1-43) yields
M, = Y/ µe = (r)'M
(i-44)
The term µe is called the free amplitude.
For a given systen.1, tbe values of µ, e> D1 and wn are
constant, so that Figure 1~7 is, in effect; a plot of the
amplitude of the mass against the rotating speed of the
unbalanced force for various amounts of dampíng. For
a small value of r, or at fow rotating speed, the total
mass m reoves very fütle; at a speed approaching the
natural frequency of the system, r 11 the amplitude
bu.i!ds up to large va!ues for small amount of damping.
Further on, at higher rotating speeds, r ➔ ~, the curves
approach the va!ue .~1., equal to unity since the inertial
force of the total mass is. then · approximately 180° out
of phase with the unbalanced force.
Cornparing the curves of Figures 1~5 and 1~7, it may
be observed that resonant peaks occur at r < 1 for the
case of a consrant force excitation, and r > 1 for the
case of rotating-mass-type excítation.
The various expressions .which may be derived from
the equatíons of motion of these two cases are Hsted in
Table 1-4.
The combinatíon of transient or free vibration ( com~
plementary function) and steady-state vibration ( partic-
ular integral) gives the complete solution for Equa~
tion (1-10).
Terminology
A single-degree-oí~freedom lumped rnass system is
presented above including the derivatlon of the díffer-
entíal equatíon describing the behavior of the rnodel
leading up to the development of formulae for the calcu-
lation of tbe dynamic response. In the area of dynami.cs
of foundations and structures, the investigation may
extend to a variety of systems, some having several
degrees of freedom, and as a result, the modeiing tech-
niques and derived formulae are more complex. The
fundamental principies of single-degree-of-freedom sys-
tems are abo applicable to the multidegree~of-freedom
systerns; however; additional information from theory of
vibratíons is reGuired for consideration of the more com-
plex rrn.:.ltidegree-of-freedom systems. A complete intro-
'·º
1.0 ..
O 1.0 2.0 3.0 4 O s,O
Frequency ratio (r)
Figure 1-7. Magnifícatíon lactar (M,) vs. frequency
ratio (r): (a) and phase angle (,t, 1 ) versus frequency
ratio (r): (b) for a single-degree-of-lreedom system
subjected to a rotating-type excitation, F = miew2
sin "'t- Source: William T. Thompson, Vibration
Theory and App/ications, © 1965, p. 60. Reprinted .
by permission oi Prentice-Hall, lnc., Englewood
Cliffs, NJ.
duction to the theory of vibration is not presented here;
however, Chapter 1 lists a nurnber of references on the
subject. The followíng list oí terminologies summarizes
the most commonly used terms ( refs. 4 and 5) in the
field of vibrations. An example of each defined term is
also included to provide further information on its
applkation,
1. Accelerating Bodies
Acceleration
Definition ~ Newton's Law of Motion•-a vector quan-
tity when applied to the mass, produces a force ín the
direction of application.
Exarnple: the rate of change of velodty with time.
For the x~coordinate it is denoted by dZxjdft or X. See
Figures 1-8 and 1-9.
Velocity
Definition: a vector quantity whích represents time
rate change of posíticn for a particle or body.
Example: the rate of change of displacement with
time. For the x~coordinate it is denoted by dx/dt or X.
See Figures 1-8 and 1-9.
Displacement
Definition; a vector quantity that represents the
change of position of a particle or body from a state of
equ:librium.
Example: a displacement \Vhich is a function of time.
For tl:e x-coordinate it is denoted by ;e See Figures 1~8
and l-9.
 lntroduction-Fundamentals 13

Table 1-4
Summary of Derived Expressíons for a
Single-Degree-of-Freedom Syslem

Constant Force Excítation Rotating, Mass-type Exdtation,

Expression Fa Constant Fo m,e w1
1
Magnification factor M = --=::::::::;::::::::;::::::::;== M, = ::::::::;::::::::;::::::::;::::::::;:::-
-v(l-r')' + (2Dr)' 2 2
,/ ( l--7 ) + (2 DrF
Amplitude at freque:1cy ,f Y = M(F,/k) Y = Ji,fr (m,e/m)
f,
Resonant frequency Ímr = f» ✓ 1-2D 2 fmr = ----
,/l-2D'
(m;e/m)
Amplitude at resonant frequency J, Yma:,; "" - - - - -
2 D ✓ l - D'

✓1 + (2 Dr)'
Transmíssibility factor T,
-,'(1-r')' + (2Dr)'
where r = wiwn
w., (Undamped natural circular frequency) = ✓ (k/m)
D (Damping ratio) = C/C,.,
C0 (Critical Damping} = 2 ✓ km
Tr Force transmitted/ FD
f:. = Force transmitted/rn 1 ew 2 ,.

--+--X, X,X

J
2. Amplitude

Displacement
Definition: the maximum change of põsition of a body
or some part of the system from a reference point
(generally equHibrium position) at any given time.
Example: the maximum displacement of a sinusoidal
quantity x = A sin wt~ whích is A in this function.

Vibration
Figure 1-8. Rotating vector representation of a har- Definition: the tíme~varying magnitude of peak dis~
monic function x = A sin wt. placement {of a physical body) from a reference point.
Examp[e: a time.varying dísplacement of a rotor shaft
X of a machine, or a foundation structure from the static
equilibrium condítion.

3. Analysis

X=•A tin{wt +f )
1
ACCL, X~""•A 11ín[.,t..,. Jr)
Figure 1-9. Harmonic motion representation oi dis-
placement velocity and acceleration.
Computer
Definitíon: r.esolution of complex mathernatical prob-
lems into simple elements with digital ( discrete number
operation} or analog {continuous chart operation) ccm-
puters.
Example: solution of indeterminate structures or
detennination of vibration in a dynamic system using
computer programs.
 14 Design of Structures and Foundatíons for Vibrating Machines

Dynamic (Vibration)
Definition: a study of motion of a physical syste:n ata
BALANCING
MASS
particular time,
Example: the cakulation of the amplitude of vibra-
tions jn a machine or in a foundation struct.ure,
Matrix Method
Definition: the study of morion of m2.sses in multi- UNBALANCED
degree-of~freedom systems. MASS
Exampie: tbe sohtions of sirm:ltaneous equations Figure 1-10. Static balancíng. This system under ro-
using the techniques of rnatrix algebra. tation produces equal centrifugai forces, but pro-
duces unbalanced moments in shafl and pressure
Modal on the bearings,
Definfüon: the dynamic analysis of a multidegree-of-
freedom system, where the responses in the normal modes AOJUSTOR
{each treated as independent one-degree systems) are MASS
determíned separately1 and lhen superimposed to pro-
vide the total response.
Example: vibration analysís of a "Table top", when a
computer prograrn is employed.
Static
Dcfinitíon: the investigation of a physicaI system in
equilibrium under the action of a systerr: of statíonary Figure 1-11. Dynamic balancing, For thís system
forces. during rotatíon, not only are centrifugai forces
Exarnple: dead~load analysis of a structuraI system. balanced but lhe forces and moments in the shaft (in
one revolutíon) are also balanced.
4. Balancing
X
Static
Definition: adjustrnent of mass distribution of a rotat-
ing body such that statically the system is at neutral
equílibríum,
êi
Example: see Figure 1-10.
Dynamic
Definition: the adjustment of mass dfatríbution ln a
rotating body such that the vfüratíons are contro11ed.
Example: see Figure 1-1 L
5. Beat 1·
Definhion: the max:imum resulting amplitude of two
Figure 1-12. Resulting motion of two slmple har-
simple harmonic wave forms of slightly different fre-
monlc wave forms containing a beat.
quencies which are superimposed.
Exarnple: see Figure 1-12 in whích beat frequency y
(f,) = Abs. [ w, - ~,] /2,r. Frequcncy oi combined oscil-
lation (f) = (w, + w,) /4rr, Beat period (1'o) =1/f,,
•.,_••...,t--• X
-- ----------
1,,-~L-'·L~
._,_
.'-'..L..,_
·~
Period oi resultíng oscillntion (T) 1/f; -<mu =A,+ A,;
-"m1, = Abs. (A, - A,).
-----
;..---L-----i
,,,.,.,;,

6. Conditions
Figure 1-13. Simple beam loaded wilh uníform load
Boundary
W,
Definition: the knowr~ physical re]ationships at specific
points of a structura! body, us:.tally at the supports.
Example: see Figure 1-13 ir. whích (Boundary Condi- Constraint
tions) Deflectior:: y (x=O,L) O; Slope: El dy/dx Definition: the .imposit:on of Er.::.itations on the be~
(x=L/2) =C; Mo:nent: EI d'yidx' (x O,L) =O; havior of a physical body.
=
S1-.ear: El d'y/dx' (x L/2) O, Example: see Figure 1-14,
 lntroduction-Fundamentals 15

lnitial
Definítion; t.½.e known motion of a physícal body at
T the reference timei often taken as zero.

l Example: the applícation of brakes on a steadíly

moving vehicle. At the time of applicaúon of brakes,
velocity V and deceleratíon O. =
R
7. Damping

,/Coefflcient ar Constant
V Definition: a fa-ctor used in a dynamic system to
account for dissipation of energy.
Example: see Figure 1-15) where equation of rnotion
Figure 1-14. Cantilever of unlformly distributed
mass. The cantilever is constrained to delorm in a
=
is mf + Ci + kx O. ln this equation, the constant C
acc.ounts for viscous darnping in the system.
circular profile.
Criticai
Definition: a mathernatícal equaiity derived in vis-
cously damped system, such that the free dísplacement
comes to rest without oscillation.
Examp!e: see Figure 1-16 in which critical damping
(Cc) =2 ykm.
Figure 1-15. Single lumped-mass dashpot system.
Dashpot
X Definition: a schematic representation of a viscous
damper,
Example: see Figure 1-17.
X=[x 0 +(~ +i<o)"'nt] iwnl
!""-',ç-----:::;;:::_. t Factor or Ratío
Definition : the ratio of actual resistance in damped
harmonic motion to that necessary to produce critical
damping.
Figure 1-16. Criticai damped oscillation of a slngle Example: D=C/C,=C/2\fkm.
lumped-mass system.
Viscous
/ dashpot Definition: a type of damping assumed in a dynamics
e model such that the dissipation of energy during oscilla~
tion is }inearíy proportional to the velocity of the mass.
Example: damping force= Cx.

Figure 1-17. Symbol used in a lumped-mass system. 8. Coordinates

z Cartesian
Definition; linear quantities that describe the location
of a point in space with respect to a system of three-
dimensional orthogonal axes.
/1 Example: see Figure 1-18.

l/
z ' '
1 Generalized
,' l1
Definition: a specif..cation of a configuration by a set
y of independent geometric quantities, ,which may be
lengths, angles, or their combinations.
Exatnple: a set of n independent geometric coordi-
ll nates which speci!y the configuration of an n~degree~of~
Figure 1-16. Coordinates oi element "O" in space. freedom system.
 16 Design of Structures and Foundations for Vibrating Machines

Normal or Principal
Definition: a particular set of generaJized cocrdinates
whích describes equations of motion such that therc is
neither static nor dyna:n.k coupling among them,
Example: a procedure followed in modal analysis in
which the general motíons of the masses of a multi-
degree-of-freedom system can be expressed as a super-
Figure 1-19. Single degree spring-lumped-mass-
posítío:i of its principal modes of vibration.
dashpot system.
9. Differential Equations (Equations oi Motion)

Linear
Definition: an equation reJating to two or more vart-
ables in terms of derivatives or differentia1s such that no
term.s involving the unknmvn function or its derlvatives
appear as products or are raised to a power different
from unlty. The order of a differential equation is cqual
to the order of the highest derivative in the equatíon.
When the independent variable is a time function, then
it is called an Equatíon of Motion.
Example: see Figure 1•19 for which the Equation of
Motion is m'i+Ci+kz=F(t) or m(d'z/dt') +
=
C ( dz / dt) + kz F ( t). This is a nonhomogenous ordi-
nary second~order linear differential equation with con- Figure 1-20. Two-degree-of-freedom system {multi-
stant coefficients. ln this equationi z and t are variables, degree).
where z is the- de-pendent variab1e. ln case z is dependent
on more than one independent variabie; then the equa~
tion wíll change from an ordinary to a parcial differen- Example: sec-: Figure 1-20 in which the Equations of
tial equatío:1, If m, C, and k are not constant and are Motion are m 1Z1 + C 1 (i1 - i 2 ) + k 1 (z, - z2) = F 1 (t)
independent of z or its dedvatives> but are dependent of and m,z, + C,z, - C, (i, - i,) + k,z, - k, (z, - z,)
the variable t, then the equation is called a differentia1 = F 2 (t). This two~degree-of-freedom system contains two
equatíon ,with variable coeffidents. If the right~hand dependent variab1es1 z1, Z2J and an independent vari-
tenn of the equation F(t) .is zero, then the equation is able, t. The general solution of these two símultaneous
called homogenous, The solution of a homogenous equa- differential equations will consist of a complementary
tfon is called its complementary function and is given by function and a particular integral.

where A and 1f are constants to be specified by the initial
condítions. This solution gives the transient motion of
the syste.::n. The solution which satisfies the nonhomoge-
nous equatíon is called the particular integral. For
F(t) ~ F, sin wt it is given by:
;:., (t) Fo sin (wt </>)/y(k-mw')' + (Cw)'
This solution gives the steady-state response or steady-
state vibration. The complete solution of the equatíon is
the sum of the complementary function zc(t; and the
particular integral z,(t).
10. Dynamic
Eigenvalues (characteristic values
or natural lrequencies)
Definition: the roots of the characteristíc equation
which results from the expansion of the detem1inant
of the simultaneous differential equations. (See aiso
definition of normal modes.)
Exampie: when the sirnultaneous equations are eqi.:a-
tions of motion o! the free undamped multidegree-of-
freedom system, then their roots are called eigenva1ues
whích are equal to the squares of the natural frequencies
of the modes.

Simultaneous Eigenvectors (characteristic vectors

Definitio:r.: linear dlfferential equatíon whtch contaíns or natural modes)
more than one dependent variable related to a single Definition: these are the characteristic vectors which
intlependent variable i. are oàtained by substituting the characteristic values ar
 lntroduction-Fundamentals 17

eigenvalues in a set of simultaneous differentlal eq-..ia-

tions of a multidegree-of~freedom system. Alternately)
eigenvectors are the independent vibrating rnodes of a
multidegree~of-freedom systern such that during vibra~ lj
tion the ratio of the dísplacemen:s of any of two ::uasses o:
o
is constant with time. u.
Exampie: a multidegree system has exactly the sarne
number of natural modes as degrees of freedorr:. Assod~
ated with each mode is a nat1._;_ral frequency and a char-
acteristic shape. IMPULSE = Fllil.t
Figure 1-21. Rectangular pulse.
Force, load
Definition: a force whose duration and amplitude is a
function of time.
Example: centrífugal force genern.ted by an unbal-
anced rotating mass is given by F m 1 ewz sin wt,

Load Factor
De.finítion; the ratio of the dynamic deflection at any
time to the deflection which wouid have r.esulted from tF= 2m1e..2sinwt
the static applícation of the dynamic load.
Example: the dynamic load factor caused by the con• Figure 1-22. Rotating mass osclllator generated ex-
stant centrifuga! force of rotath1g mass on undamped cltation: F{t) = 2m; ew2 sin wt.
one-degree system is given by DLF 1/[l - {w/wn)'].

Syslem
Definition; an elastic systc::n which possesses mass and
whose parts are c.apable of relative motion. t
Example: an engineering structure1 rnachine 1 or its
components 1 and most physical bodtes consisting of
matter.
FORCING FUNCTION = Fosin.,t
Figure 1-23. Harmonlc fÓrce. The figure shows a
11. Excitation centrifugai force oi amplitude F0 generated by a
rotatíng machine.
Impulse
Definition: the product of force and time while force
ís actíng on the mass. Ff .ísinJ
Exa.'Xlple: see Figure 1-21.
h:~.,
lnertial
Definition: excitation generated by the mass in motion. Figure 1-24. Forclng function generated by lhe cam
Example: see Figure 1-22. of a machine.

Harmonic, Sinusoidal
Definition: a pulsating force of the form: F O sin wt
or F,., cos 1nt. Exampie: see Figure 1~24 for which the foUowing
Example: see Figure 1-23. equat:on holds:

i
00

Periodic 2h - -
4h 1
Defir.ition: a time-functíon excitatian which repeats
F( t) =-1í 1r
~coskwt
IC-1
itselí identical;y at regular intervals of time. k = 2,4,6 ...
 18 Design oi Structures and Foundations for Vibrating Machines

Transient
Definition: a temporary arbitrary excitation whích
disappears wlth ~ime,
Examp1e: see Figure 1-25.

12. Foundation Struclure (for Machines)

Figure 1-25. An arbitrary transient lorcing function.
Block-type
Definition: a small area concrete foundation of such
thickness so that the structural defonnation caused by
the superimposed load is neglig.ible,
Example: see Figure 1-26.

Elevated frame (Table Top)

Definition: a three-dimensional elevated reinforced
concrete structure consisting of beams framing into
column, and supported by a heavy foundation slab. The
tops of the columns are connected by a top slab or heavy
longitudinal and transverse beams forrning a rígld table
on which the machinery rests. The foundatlOn structure
may be supported by piles or directly on the soíl.
Example: see Figure 1-27.

Mat Slab Figure 1-26. Block-type foundation for a recipro-

Definition: a Rexible concrete slab which is resting on cating machlne.
soil and suppons a rnachine or battery of similar
machinery.
Example: see Figure 1-28.

Overtuned and Undertuned

Definition: a machine foundation is said to be overK
tuned when the ratio of the speed of rnounted machinc
to the natural fre.quency of the foundation is less :han
LO and .is called undertuned when that ratio is greater
than 1.0.
Example: see Figure l-29.

13. Frequency
Angular or Circular Figure 1-27. Table-top slructure.
Definition: the time rate of change of angular dis~
platement given in units of radians per second, For an
oscillating systemi .it ís the nurnber of vibrations in units
o[ rad-ians per second.
Example: see Figure 1-30.

Damped Natural or Harmoníc

Definition; the natural frequency of a linear systern
whích indudes viscous damping C.
Example: see Figures 1-31 and 1-32 for which the
following equation holds:

Damped Frcquency, w, = w0 ;/1 - D'

Figure 1-28. Vibrating machine supported by a mat-
Da"1ping Ratío, D = C/2 ../km < 1.0 type foundation.
 lntroduction-Fundamentals 19

OVER-TUNED UNOER-TUNED Excitation, Forcing or Operating

,o
ZONE
1 I• • ZONE
·1 Definition: the number of times a dynamic force
achieves an identical amplitude in a time period of one
'°
:,e 'º
O~ O.OI
second, and is given in cycles per second (Hertz).
,._• 'º º' 0.02
Example: see Figure 1~33 .
o
+'
u 'º Fundamental
"' '
4--
D: 0.05
Definition: the lowest value of all natural frequencies
eo '' of an oscillating system.
'
+' ' Example: the frequency associated with the first mode
"' '
u of víbration.

~to
Natural
eº'
"'º' Definition: the dynamic property of an elastic body or
"'º'
:E:a.4 system by which it oscillates repeatedly back and forth
º' o•0.60 from a fixed reference point when the externai force
º·' application is removed.

º' o "' OA
º' º' 'º
,,
'' ,., ,., ,.o
Example: see Figure 1-34 for \vhich the follo\ving
equation of motion holds: m.~ + kx = O; Natural fre-
Frequency ratio w/w quency in Hertz (/n) = (1/2rr) y k/m
n
Figure 1-29. Magnification lactar (M) versus Ire-
quency ratio for various amounts oi damping ratio Rayleigh's
(D). Definition: natural frcquency of a system computed
by an arbitrary selection of a deflected shape which satis-
fies the system boundary condition so that it gives the
., (RAD/SEC)
values of maximum kinetic energy to make the lowest

------- y natural frequency a minirnum. ln a multidegree system,

the displacement ô 1 , Ô2 of the masses, caused by the
masscs acting as static loads,
P.E. - ½W1ó1 + ½W,ó, + ...
K.E. 1.
2
Wi r 2 2
u1W
+ .1.
2
W2 t 2 2
u2W + ...
g g
P.E. K.E.
F F 4F0 1
Figure 1-30. Angular or o::,

circular frequency w.
20 - 7 2: k2 Cos kwt
k~1,3,5.

Figure 1-31. Damped-

free linear system.
...,
Figure 1-33. Frequency oi a cam in a machine.

X w

·j,__c~~----;1-i
Figure 1-35. Weightless
Figure 1-34. Un- cantilever supporting
Figure 1-32. Damped-free oscillation. damped free sin- load W at its end.
gle-degree-of-free-
dom system.
20 Design o! Structures and Foundations for Vibrating Machines

,,---,---,r,m--.--r--r--i
º"'

Example: see Figure 1<35 for ;,-vhicf'. the following

holds:

Rayleigh's Freqc:cr.cy (j,) _L

2rr
VgWó/Wó' Figure 1-36. Magnificatíon factor (M) versus fre-
quency ratio (wlwn) for various amounts oi damping
ratio (D).

y
WL' m

-
where ó
SEI X
acceleration of gravity
El
-~--l:------i::
Figure 1-37. A lixed ended beam with distributed
14. Magnificatíon or Amplificalion Factor
mass over the span.
Definition: in a dynamic systen.1, it is thc ratio of a
steady~state displacement response caused by a dynamic
force to the displacement caused by ao equivaient static

~
force of a magnitude equa] to :he amplitude of thc
dynamic force. .41mL
Example: see Figure 1-36. The figure the rc-
sponse cu:cves for a damped system subjectcd to a forcing Figure 1-38, ldealized
functíon 1 F(t)= Ff) sin wt, Steady-state Displacement SDOF system for a fixed
Res.ponse Amplitude; beam oi Figure 1-37 (see -mz
also Table 1-1 ).
x - F,/V(k-mw')' + (Cw)' Figure 1-39. Free-body
diagram oi SDOF system
Statíc D:splacement x, =F,/ k oi Figure 1-19,
Therefore, Magnification Factor,
16. Molion

15. Mass
Consistent or Contínuous
Definition: a mass function which is distributed at
each point of its domain and has infin:te possíble num~
ber of independent degrees of freedorn.
Example: see Figure 1-37,
Equivalent Lumped or Lumped
Definition: a concentrated rigid mass in an idealized
system which 1s obtained by equating the total kínetíc
energy of the actual systern to that of the equivalent
system.
Example: see Figure 1-38.
Equation oi Motion
Definition: a differential equation describing the rela~
tionship among acceleration, velocity, a:Id displac.ement
of a mass in a dynamic system.
Example: see Figure 1~39 for which the dy:r:amic cqui~
librium condition = eq_uat:on of :notion, mZ. + Ci +
kz= O.
Periodic, Aperiodic
Definition: motion of mass which repeats itself at
equal lntervals of time and ca~ be resolved into har~
rnonics. These harmonics may be of different amplitudes
and frequencies. Conversely: when the mass slowly moxes
back to the eqüilibrium position1 rather than vibratiti_g,
about it, the motion is said to be aperiodic. ~~~
Exa:nple: see Figure 1-40 and 1-41.
 lntroduction-Fundamenta\s 21

Simple Harmonic or Sinusoidal

Definition: motion of a body ar parts of a system
described by a trigonometric function, a sine or a cosine
which repeats itself in any equal interval of time.
Example: see Figure 1-42.

Subharmonic
1
X(o,t)=ª: {sinwt-~ sin3"'t+ sin5wt~ ..
25
f Definition: a sinusoidal quantity having frequencies
that are fractional (1/2, 1/3, \/n) ora submultiple of
Figure 1-40. Periodic motion oi a cam in a machine. the exciting frequency of a periodic function to which
i t is related.
Example: see Figure 1-43.

X Superharmonic
Definition: a sinusoidal quantity having frequencies
that are multiple ( 2, 3, n) of the exciting frequency o.f
a periodic function to which it is related.
Figure 1-41. Aperiodic motion oi damped-free Example: see Figure 1-44,
SDOF system.
17. Modes

Coupled
Definition: modes of vibration of a multidegree sys-
tem wherc the motions are not independent but influ-
ence each other because of energy transfer from one
mode to the other.
Example: see Figure 1-45 with two degrees of free-
Figure 1-42. Harmonic motion A sin wt and its vector dom, x and 0, for vertical and pitching oscillations,
representation. respectively.
(A) Asinwt (HARMONIC) Case 1: Coupling due to mass (Center of Gravity of
mass eccentric but equal strength supporting springs),
(B) Bsin 1 (SUBHARMONIC)
-, 2 also called dynarnic coupling.• Equat-ions of motion:
''
mi + 2k1x - k1 (L1 - L,) 8 = O (a)

J, e·+ k, (L,' + L,.') 8 - k, (L,_ - L,) x = O (b)

x(wl)= (A)+ (B),(PERIODIC) ln these equations, coupling is due to a mass .which does
Figure 1-43. Subharmonic, harmonic, and periodic not have its center of gravity at the midpoint of the
motions. =
system. If L, L,, then Equations (a) and (b) are inde-
pendent.
X{wt) =Asinwt + Bsin2wf
( PERIODIC MOTION)

( Asinwt (HARMONIC)

,, \

,''
./--
•
X
-- :J_ ~+L28

k1
Bsin2wt (SUPERHARMONIC) CENTER OF
GRAVITY
Figure 1-44. Superharmonic, harmonic, and periodic Figure 1-45. Simplified two-degree-of-lreedom
motions. model oi an automobile.
22 Design oí Structures and Foundations for Vibrat,ng Machines

Case li: Couplí:1g dueto spring (center of gravity of

L L
mass centric, but unequal sc;,em,ca supporting springs),
also called static coupli::g. See F:gure 1~46.
Equations of motion ·
x+L8
L (k, o (a)

J, O + L' (k, -:- k,) O - L (k1 ···· k,) x o (b) CENTER

OF
l:1 these equations) coupling is due to the unegual GRAVITY
strength springs k 1 , kj. If these springs are equaJ 1 then Figure 1-46, Two-degree-of-freedom system.
botil Equatior.s (a) and (bj are independent and thus,
represen: ur:cffc1p1ed (independent) modes,

Uncoupled
Definition: the modes of vibration of a rnultldegree
system wherc cach mode dcscribes the co1nplete rnotion
of a particular type by a single independent coordlnatc.
Ex:ample: see Figure 1-47 with two degrecs cf
freedom, y and 0) for vertical and pitching oscillatíon.
Equation of motion:

mji + 2ky - F (t) '

Figure 1-47. Mass with two independent degrees oi
freedom.
Because of sy:nmet!'y of mass center of gravity and equal
vabes of supporting springs k) the vertical osciHation
described by y and pitc.hing osc.illation descrihed by O are
icdependent of each other. L
Figure 1-48. Hinged-hinged beam.
First, Lowesl, Fundamental
Definition: ir. a multidegrce-of-freedom system i a
mode shape which co:responds to the lowest frequency
lS =:::.:_____.:::::=- 6
is called fundamenta! or fírst mode. The mode shapes
are determir:cd from c.haracteristic equations.
Exarnple: see Figure 1-48 where the btam vvith con-
tinucusly distributed mass has infinite degrees of free-
dorn. The frequencies wn and mode shapes ~n are given
by: Ll ~

.,.,,. = n'\,z -v'Elg/ A-y / L , r/.tr. = sin mrx/ L ,

1

whercn = l, 2, 3 ...
E= modulus of elastkity
l =- moment of inertia
A ,,,. cross-sectional area
y~ material density

Also 1 see Figure i-49 for tl:e various mode shapes.

Normal, Principal (Eigenveclor)
Defini:ion: the independent natural modes which
sati.sfy the solutio::: of a multidegree-of-freedom systern.
They have ;he followil!g characteri.stics:
a. They represent undarnped free vibration. Figure 1•49. Varíous mode shapes of a hinged-
b. They are :larn~onic. hinged beam.
 lntroduction-Fundamentals 23

-e. During vibration, at any t\',:O instants, the ratio o:

displacerr.ent of any two mas.se$ is constant with
tin:e. Thesc modes are called principal rnodes
(eigenvectors) when theír an1plitude is arbitrary.
Where the an:plitude of the principal modes is nor-
rnalized to unity, tr..en tbey are callcd nonnai
medes : normalized eigenvectors) . A corrcspo·nding
normal rr.odc sl:ape is associated wíth each degree
of freedom.
Exan:plc: see Figure 1-5:J wl::ere thc system is con-
straíned to osciliate in ::he vertical dlrection only, and
described by two indepe·ndent coordin:ucs x 1 and .X2.
Eguations of motion;

Figure 1-50. Normal mede vibration oi a two-degree-

m 1;;1 + (k; + k.:)x, - kt.x2 = Fi(l) {
of-freedom system.
( 1-45 l
m,;·, + (k, -t- k,)x, - k,x, =F,(t) f This characteristic equation in quadratic form in w 2
These are linear second-ordcr diffcrentíal equations and leads to two roots N 12 and w/, which givc the natural
coupling between coordínates is due to spring kc· írequencies "ll ar:d w~.
To solve for free vibration of the system, the initía]
conditio11s are: Ratio of arr:pfüudes '. From r:quations ( l ~~l-6),
fu:stmode (,:,/=w 1 2 ) :
F,(t) = F,(t) = O
It is assurned that motion of every poir:t in the systen:
is harmonic: 2
Second modc (w = w~):
(1-49)
x, = A, sin ( wt + f) }
( 1-46)
x,=A,sin (wt+ ,f,)
Symmetrical Case:
Substituting Equation ( 1-46) in the homogenous part
in the equations of motion the following are obtained:

(k, + k, - m,w')A, k,A, = O O }

(1-47) Substituting in the characteristic Equation (l-48);
- k,A, + (k, + k, - m,w') A, 4
tr;- (4k/m)w 2 + (3k2/m 2 ; = O whíchresults in tworoots
w,',, = (2k/m) ± V4(k/m)'--· 3(k/m;'
These equations a:-e satisf.ed for any value of A 1 and A2
= k/m [2 ± 1]
íf the foHowing determínant is zero:
w1 = \}k/m
"'' = V3k/m
anda corresponding amplitude ratío in Equation (1~49).
o
(k, + k, First Mo<le "''=V k/m
Expanding this determ1nant, =
(A,/A,) '" k/(2k - m(k/m)] occ l

The masses appear to move as a sing!e mass in either

direction without deflec:ir.g the central spring.
(1-48)
+ k,k, + (k, + i:,)k, o Second Mode "'' = V 3k/m
mim;, (A,!A,)"' = [2k- m(3k/m)l/k
24 Design oi Structures and Foundations for Vibrating Machines

The two masses move Jn opposite direction and there is

a node at the center of the middle spring. Each haH
then behaves as a slngle-degrce-of-freedorn system. k
Sec also Figure 1-5 L
m
18. Modes of Vibratíons
k
Definition: a d ynamic system which is ·.mdergoing free
vibration; where the characterístic shape is such that the
motlon of every particle 15 a simple hannor..ic with com- m
mon frequency.
Example: see Figure 1-52 with motion described by k
harmonic displacement xt and x:!.

19. Node Figure 1-51. Normal modes of vibration.

Points
Definition; :fictitious points used in a compute:- mathe-
matícal model for the purpose of detennining response
values usually located where the masses are lumped
and/or response is to be determined.
Example: see Figure 1-53.

Vibraling Systems \
Definition: a stationary point in a particular mode I
shape which has a c.onstant zero arr:plitude frorn equilíb-
rium position,
Example: see Figure 1-54.

20. Oscillatíon

Definition: in dyna!rucs: it is a displacement of a mass

which moves back and forth with respect to time from FIRST SECOND
a reference point. MODE MODE
Example: see Figure 1-55, Figure 1-52. Modes of vibration oi a two-degree-of-
freedom system.
21. Peak-to-Peak (Double Amplitude oi Víbratíon)

Definition: an algebraic difference between opposite

extremes of vibration disp!acemen: measured in a rotat-
íng mass,
Example: see Figure 1-56.

22. Period

Definítion: the time duratíon for a single repetition of

a períodic motion,
Exa.-nple: see Figure 1-57, M'here period (T) = 1/f,
and =
f number of cycles/sec.
23. Phase

Angle Figure 1-53. Node points in a space trame model

Definition A: in a dynamic system it is a measure of (usually located where masses are lumped and
the time difference between a pericdic excitation anà response is determined).
 lntroduction-Fundamentals 25

the resulting displacement response oscillating at the

O.O FIRST MODE

=-=--------1.0 sarne frequency.
Example: see Figures 1-58 and 1-59.

Definition B: alternately, in rotating vector forrn, it

O.O ~ 1.0
is the angle lag by which the response vectors stays be-
hind the excitation vector.
SECOND MODE Example: see Figure 1~60.

Defmition C: phase angle in a damped SDOF is given

by <f, = tan-' [Cw/(k - mw')]
o.ÔÕ33 o.67 1.0 = tan-' [2D (w/wn) / ( 1 - (w/w,.) ')]
THIRD MODE Example: see Figure 1-61.

Figure 1-54. Nade points in vibrating strings.

24. Resonance

Condition
Definition: a phenomenon of uncontrolled increase in
I \ vibration amplitude exhibited by a physical system when
/ \ it is subjected to an external vibration force of a fre-
I/ \ quency (w) that approaches the natural free oscillation
=
\ \ frequency (wn), i.e.,(w/w 1.0. ln a damped system,
11 )

a resonance condition occurs when the displacement be-

/ / a \ comes maxirnized as w goes from O to Wn•
,J. A~
\ 1
'- /
REFERENCE POINT
e
k
Figure 1-55. Oscillation oi a simple pendulum.

w
o
::>
~11. PEA~K~------~
::s PEAK-TO-PEAK F(t)= F 0 sinwt Asln(.wt-cp)
"" OR
§O,__+____,__ ___,_ __,___,, DOUBLE AMPLITUDE ( EXCITATION (DISPLACEMENT
~ OF V\BRATION FORCE) RESPONSE)
"'m Figure 1-58. Damped SDOF subject to harmonic
PEAK
> force, F(t) ~ F0 sin wt.

Figure 1-56. Peak-to-peak (double amplitude) oi F0 sinwt

vibration.

ONE CYCLE I
✓

1
X
t-
i
z
w
:::;;
~ o,_-~-----+---+-------+-- ~
< t PHASE ANGLE
<p, f,5 TIME LAG
-'
a_ (lime log,t=cjJ/w)
(f)
õ Figure 1-59. Response motion lags harmonic load-
Figure 1-57. Period oi periodic motion. ing by phase angle <t,.
 26 Design of Structures and Foundations for Vibratíng Machines

Example: see Figures l_-62 and 1-63. Dueto the X =oiA kA (SPRING
presence of dar.ipir.g ir. every system, a resonance cond~- (ACCELERATiON) RESISTANCE)
tion at ,.,vhich the vibra~ion amplitude A wHl approach
X=wA
infinlty is in fact seldom achieved. w (VELOCITY) w

cwA F.
Frequency (DAMPING ,f, (EXCITATION)
Definition: when the frequency of a dynamic system RESISTANC
(related to the undamped natural frequency) equals the
X=A mw 2 A
frequency of the applied force, a resonance condition (DISPLACEMENT) ( INERTIA)
occurs. In this condítion; the response is maxiu:ized,
MOTION VECTORS FORCE VEC TORS
E:xample (formulae for resonance freqaency):
L For max:imum amplitude magnificacion.
Figure 1-60. Response vector lags excitation vector
A. Damped resonance frequency {c::>nstant force oscil~
by phase angle 1,.
=
lawr, F F 0 sin t.tit). See Figure 1-64 for which the
following blds:
Resonance frequency Um.r) = fn \11 - 2D 2

Magnification factor (M) =

1/(2D,/! ··D')_:_ J/2D
(D 5 1/\/2) ;~~0~707
O LO 2.0 run
B, Damped resonance frequency ( rotating mass oscil•
=
!ator), F mt e<,) 2 sin wt, See Figure 1-65 for which
Figure 1-61. Phase angle in damped SDOF system.
the following holds:
Resonance frequency Um,)= Ín,/v'1-2D 2
(D :s;; 1/\72)
Magnification factor (,Wr) = A/m e/m1

=e 1/(2Dyl -D')_:_ 1/2D

2, For maximum transmissibility factor, T,,.. Damped
resonance frequency ( constant force oscillator> F F0 = Figure 1-62, Damped SDOF system subjected to F(t)
sin wt). =·F,slnwt.
Resonance frequency ífm,) = f. VU - 1/2D / " RESONANCE
i,.' CONDITION
<$) 100
T, Fr/F, = ✓ U + [1- (U ~ l)/4D']' 1
1

where U \j8D 2 + 1 and Fp;;;;;:;:: transmitted force.

25. Response

"
:E
Dynamic
Definition: the time~varying displacement and/or
stresses which result when a dynamic force is applied to L------------'-..
O 1.0 2,0
"'
"'n
a physical system,
Figure 1-63. Response curve for damped SDOF sys-
Example: see Figure 1-66 for which the equation of tem (Figure 1-62).
=
motion is m.:l + CX + kx Fo sin wt. The complete gen-
eral solution x(t) of this equation of motion is called
dynamic response,

Steady Stale (forced part)

2 2
.K.~.K.
m T t)'f~~
Definition: the sustair:ed pericdic motion of a physicai F=F0 sínwt F= m; ew2 sin"' t
systerr. whic!l has the sarne frequency and du·ration as Figure 1-64. SDOF sys- Figure 1-65. SDOF sys-
the dyr.amíc force, tem subjected to F = tem subjected to F =
F0 sin wt.
 lntroductíon-Fundamentals 27

Example: see Figure 1-67 for ,vhic}: the: following

holds,
General Solution x(t) =Xp(l) + Xc(t) 1
where Xp ( t)= particular integral or s:eady~state response e
xc(t) = complementai:y function or transient
solutlon

Transient
Definítion: a form of free vibration~ which quickiy
vanishes due to the presence of damping.
mT X
Exarnple: see Figure J-67.
F0 slnwt
26. Shatt

Criticai Speed
Def.nition: the angular speed at which a rotating
shaft exhibícs dynamic instability with rapid íncrease in
lateral amplitude. Thís develops when the angular speed
is i:n resonance yNÍth the natural frequencies of lateral
vibration of the shaft,
Example: see Figure 1-68.

Flexible
Definition: a rotating shaft of a machine which has a
first lateral natural frequcncy which is lower than the
rotating speed. Figure 1-67. General solution oi the equation oi
Example: according to an industry standard for gas motion oi Figure 1-66. From lntroductlon to Struc-
turbines, the first lateral freGuency of a shaft shall be at tural Dynamics by John M, Biggs, Copyright 1964,
least 15o/o below any operating speed; the second lateral McGraw-Hill Book Co.
speed must be 20% above the maximum continuous Dlsk
speed.

Rigid (Stiff)
Definition: a rotating shaft of a machine which has J[__ Shaft (E/)
a first lateral natural frequency which is greater than
the rotating speed. =-~A
Example: accordíng to industry standards for rigid~
shaft compressors, the first lateral frequency of the shaft
shall be at lea.st 20% higher than the forcing frequency Figure 1-68. Rotating shaft with lateral amplitude
which may l::>e the rotor speed or some multiple thereof. in x and y dlrections.

27. Sprlng Stiffness

Constant
Definitíon: a constant of proportionality between the
force and the relative deformation it produces in the
~J, F
dírection of applicat:or. in a massless structural elernent. k= (v-u)
An elastic spring observes Hooke's Law, that is) the Figure 1-69. Linear spring
spring force is línearly proportlonal to the spring de- constant.
formation. Figure 1-70. Torsional
Example, see Figures 1-69 and 1-70. spring constant
 28 Design of Structures and Foundations for Vibrating Machines
Equivalent
Definition: an assumed thcoretical rcpresentation of
an actual physical system such that force-displacement
relationship in the former is equivalent to the lattcr.
Example: see Figures 1-71 and 1-72. For Figure 1-71
assume the follo,wing:
1. Framc v,:eight is ncgligible.
2. Girder is sufficiently rigid to prevcnt rotation at top
of columns.
Equi valent spring stiffness:
6 idealized system \\"ith the equivalent parameters is called
12 X 2 X 30 X 10 X 56.4
k, (20)' X 144
35,250 lbs./ft
Linear (Elastic)
Definition: an elastic spring observes Hooke's Law,
that is, the spring force is linearly proportional to the
spring deformation.
Example: scc Figure 1-73.
Nonlinear
Definition: in a honlinear spring, the load in the
spring is not linearly proportional to thc dispbcement.
Exarnplc: see Figure 1-74, for which the following
holds: k(t) = t:.p(t) /t:.8(t).
Soil
Definition: in a soil dynamics system, a schematic
representation of a linear load-deformation relationship
of the soil using a linear force displacement spring.
Examplc: see Figures 1-75 and 1-76.
28. System
Continuous
Definition: a body which has continuously distributed
mass density (p) and elasticity (E) in its domain. ln a
vibration analysis, this body has an infinite number of
degrees of freedom.
Example: sec Figure 1-77.
Dynamic
Definition: a structural body which has mass and elas-
ticity and whose parts are capable of relative motion.
Example: sec Figures 1-78 and 1-79.
Free
Definition: if a dynamic system is set into motion by
some disturbance at initial time equal to zero and there-
after no force is applied, the resulting oscillations caused
in the system are called free vibrations anel the systern is
called a free system.
Example: see Figure l-80.
ldealized or Equivalent
Definition; an idealized system is a convenient repre-
sentation of an actual structure such that a mathematical
investigation can be performed. The parameters of an
idealized system are usually selected so that the deflec-
tion of thr concentrated mass is the sarne as that for
some significant point on the prototype structure. The
an equivalent system.
Example: see Figures 1-81 and 1-82. From Tablc 1-1,
Case 2, equivalent parameter values are
k,= (k,) 384El/V=0.53 X 384El/L"
= 203.5 El/L'
me= 0.41 mL
Fe = 0.53 Fo L
Linear
Definition: system where the principle of superposi-
tion is applicablc and \vhere cause and effect are linearly
related.
Example: the influence o-f various forces acting on a
mass is algebraically additive, as in the case of static
analysis.
Nonlinear
Definition: in dynamics, the vibration whose ampli-
tude is large such as when sin () cannot be represented
by only the first term in its expansion but must include
severa! terms (sin () = () - 8 3 /3 + 0 5 /5- ... ) ; or
when the spring-restoring force on thc vibrating mass is
not proportional to its displacement.
Example: see Figures 1-83 and 1-84.
Lumped-Mass Spring-Dashpot
Definition: an idealized system in \.vhich the parame-
ters of a real elastic system have been lumped and where
the translational displacements are de-fined.
Example: see Figure 1-85.
Single-Degree-of-Freedom (SDOF)
Definition: rectilinear ar rotational motion described
by a single coordinate associated \vith a mass.
Example: see Figures 1-86 and 1-87.
Multiple-Degree-of-Freedom (MDOF)
Definition: a rigid body in space has six degrees of
freedom, namely, three coordinates to define rectilinear
positions and three to define the angular positions. If
 lntroduction-Fundamentals 29

f W = 1000 lbs/ft F(t)

Footing
F(t) .. • • ,1, • .L. ,1, ........ "" .. !
.~ ~~-m'=±="i
o E = 30 X 106 psi l G, p,
p
V

o Elastic
"'li J = 56.4 in4 z half-space
:i:: Figure 1-75. A circular
footing subjected to dy-
L = 30' - O" .,. 17
namic force F = F0 sinwt
and resting on semi-in-
Figure 1-71. Uniformly loaded portal trame. linite soil medium (elas- Figure 1-76. Math-
tic half-space). ematical model oi
the footing with an
z equivalent soil
spring stilfness,
ke.

f---~Y 1
1 • x,y,z
1 y
Figure 1-72. Mathematical model oi portal trame )------
(Figure 1-71) with equivalent spring stiffness, k0 . .,, /
E' P 'v

X
~ Figure 1-77. A body oi continuous mass in three-
w dimensional space.
(.)
Q'.
o k
u..
o.. g Head

Upper torso
8
DEFORMATION
Thorax-
Figure 1-73. Characteristic oi a linear (elastic) spring
abdomen
constant "k."
system
Stilf .-T (simplified)
elasticity
of spinal Hips
column
Legs
t Force applied
to sitting
SLOPE =k(t) subject
t.p (t l
p(t+t.1> krl----l~-- + Force applied to
p( tl f--'~---,: t standing subject

:68(t) Figure 1-78. The hu- Figure 1-79. Rheo-

o man body-a typical logical model oi a
<(
dynamic system. human body.
:lo 8(t)
8
DEFORMATION Figures 1-78 and 1-79 are Iram Shock and Vibration
Figure 1-74. Characterislic oi a nonlinear spring Handbook by C.M. Harris and C.E. Crede,© 1976.
constant "k." Used with permission of McGraw-Hill Book Co.
30 Design oi Structures and Foundations for Vibrating Machines

\
I
f \ Spring
\ k Damper, e
/ \
I
/ ,:,\_,, lnitial
I ..J e ~ disturbance Static mass 1
Excitatíon
,✓
>,) equilib-
;- forca F(t)
1 I'
v_/ \-Y rium T
Displacement x(t)
mg position

Figure 1-80. Free oscillation oi a simple pendulum

Figure 1-85. Lumped mass, sprlng and dashpot.
system.

F(O =F 0 sin wt ~

i .~f •• **i* ''*t:'*\

·E/ '
z i
1 L X
-~
1

~
! j Figure 1-86. Single rectl-
Figure 1-81. An actual physical structure of a fixed linear motlon in x-direc-
beam oi a uniform mass and sub)ected to a uniform tion ln a cantilever,
dynamic force. F(t) = F0 sinwt.
F,(t)

·O
Figure 1-87. Slngle rota-
Figure 1-82. Equivalent (idealized) SDOF system. tíonal motion ln a 8 direc-
tion ln a torslonal pen-

t4,J_;~f'
dulum.

---·•-·····~
L : z
Figure 1-83. Elasto-plastic behavlor in a flxed steel
beam.

Plast 1c t:..X
1
1
i
- ElasUc
o
-+ 1

1
E!astlc rebound
y

y,, Deformation
X
Figure 1-84. Si-linear sprlng representation oi the Figure 1-88. A mass element with a six-degree-of-
elasto-plastic system o! Figure 1-83. freedom system.
 lntroductíon-Funda:nentals 31

.L!...f-1 i.u.1-1 . .LJ...J. there are n :nasses ln .:i systcm \vith no co:::.strain ts, 6en
K-' [e< K thc total degrees of f r ce d m:1 for th2: sy.sten; \rill bc
2 f
--q1:S
.1 57
L
T'
1
6 X n.
m y Exarnple: sec Figure 1-88.

29. Transmissibilily Factor

Definition: the ratio of the 11lagr.ítude of the force

transmitted to that of the impressed force,
Exa:npfe:
L See FJg:ire 1.89. Constant Force ,Amplitude
=
Excitation F F4 sin cit.
Transmissibilíty (T,) =
F,,jF, =
V 1 + (2 Dr)'/
y'(1-r') + (2Dr) : where Fr is the force trans~
2 2

mítte:d,
'2, See Figure 1~90. Rotating ;\c{ass~Typc Excitation;
F = m•ew 1 sin wt,
TransmíssibiEty (T,,,) = FTÍ miw,?
=r'Vl + (2Dr)'/V(I r')'+ (2Dr)'
= Tz 1\

o 2 References
V2
Frequency Ratio (r)
1. Richart, R. E., Jr., Hall, J. R., Jr., and Woods, R. D.,
Figure 1-89. Transmíssibility factor vs. frequency Vibrations of Soils and Fourulatfons) Englewood
ratio for varíous damping factors. Cliffs, ~J: Prentice-Hall, 1970.
2. Biggs, John 1vL, Introduction to Structu.ral Dynamics,
New York: McGraw~Hi:I, 1964.
3. Tse, Francis S., Morse, Ivan E., and Hinkle, Rol-
land T., lvlechanical Vibrations, Boston: Allyn and
Bacor., 1963.
4. Lapedes, Da::iel .:'.'I. 1 Dictionary o/ Scientific and
Technical Terms, New Yor:i...: McGra\v-Hiil, 1974.
5. Harris, Cytil M., and Crede 1 Charles E., Shock and
Vibration Handbook, second edition 1 New York:
McGraw-Hiil, 1976.
6. Thompson, \.-Villiam T., f/ibration Theory and .Ap-
plications,, Englewood Cliffs 1 NJ: Prent:ce-Hall,
1965.
7, Churc..li; A:.istír. H., lt1echanical Vibrations, second
edítion, New York: John Wiley, 1963.
8. Norris, Charles H. 1 et al., Structural Design for Dy-
namic Loads1 New York: ~fcGraw~Hill, 1959.
9. Roar!(; Raymo:1d li and Young, VVarren C., Form-
ulas for Stress and Strain, fifth editionj New York:
l\1cGra\v-Hill 1 1975.
10. Gloi.;.gh, Ray V\f., and Penzien, Joseph, Dynamics a/
Structures, New York: !vícGra·w*Hi!lj 1975.

o 1 \Í2 2
Frequency Ratio (r)
Figure 1-90. Transmlssibílity lactar vs. frequency
ratlo for various dampíng factors.
 2 Development of
Analytical Models for
Dynamic Systems
A detailed dynamic analysis of a structural system as
it physically appears in real life is rarely attempted. The
usual practice is to choose an ídealized model consisting
of springs and lumped masses which wiH closely perform
in the sarne way as the actuaI structure. It is only neces~
sary that a prope'r se!ecrion of the system parameters be
made such that equivalence of the idealized spring,
dampirtg elementJ and lurnped mass in the model results
in equivalem displacements at a.nalogous point.s of signifi~
cance in the prototype structure. In addition, the
idealized model should behave, time•wise, in e.xaotly the
sarne manner as the actual prototype sttucture.
Modeling Techniques
The techniques adopted in the modeling of structures
s:.ibjected to dynamic Joads are still in the developíng
S-tage. The approach used in the modeling of simple
systems, such as a beam supporting a vibrating load or a
rigid hlock-type foundation supporting a machine, is
straightfor:v.,ard, Hmvever) when the: structures ínvolved
are of an indeterminate type which rest on soíls and are
subjected to complex dynamic forces, the modeling
approach differs depending on the analyst (ref. 2). These
differences do not necessar.ily mean disagreement in the
basic fundamentals, but rather relate mostly to tl:e accu-
racy and e-ffi:ciency achieved in the solution. During the
l960s 1 the investigation of structural systems used in
space exploration and more recently in .structures used
in nuclear power plants and offshore structures has
resuited in an established state-of~the-a!."t in the field of
structural dynarr.ics ( refs. 3 and 5). The rigorous use of
digi:al compute~s and finite-element analysis techr.iqu-es
have been the principa: agents in the development of the
state-of-the~art (ref. 6). Therefore, it is imperative that
desigr.en who 1,vish to solve stwctural problems should
have adequate expomre to these analytical tools. 11odel-
32
ing of any structual system is dictated by the require-
ments imposed on the so]ution. The des!!'ed solutlon may
be for one fundamental f requency or for a spectrum of
frequencies of aU possíble mode.s. In some cases it may
be necessary to find the vibration response at various
points of interest. There are a few practical considera-
tions which are oommonly used in ali rnodel representa-
tions. The,,s.e indude the following:
l. The Lumping of Mass. The logícal locatíon of
equivaient lumped mass in a model should be at: ( a) the
point where dynarnic force or lOad is acting; (b) a point
wherc vibration response is desired; (e) a point where
maximum static defiection will occur; e.g. 1 at the free
end of a cantilever or at the midspan of a beam; (d) the
intersection point of a beam and a column; (e) the node
point of finite elements ín a continuous system; ( f) the
center of gravity of all masses1 when a single-degree-of-
freedom system is employed.
2. Elastic Spríng Constant. The spríng constant rep-
resents a linear relationship between the applied load
and the displacement of the mass, A value for the spring
constant is derived by detenníning the structural stiff-
ness of the elastic medium existing between oscillating
masses or between a mass and another infinite stiff sup-
port. Specifically, the elastic propertíes of: (a) a pris-
matic rr.ember can be representecl by three linear springs
and three rotational springs; (b) a thin plate can be
represented by two linear springs and two rotationaI
springs which are equivalent to stretching and bending
occurring in the plane of the plate; {e) a :nassive con~
ctete block approaches infinite stiffness; (d) soil reactions
to the foundation load:s can be represented by elastic
springs capable of actíng ~n tension ar.d compression.
3. Damping Ratio. The dashpot of the lumped sys-
tem (Figure 1-2) rep!"esents the damping ln a dynamic
system. Damping may occus due to several factors present
 Development oi Analytical Models for Dynamic Systems 33

in thc. system, for exar.1ple 1 the frinional resistance and the vertical excitatlon for the ' 111achine S".tppor:ed on
slippage occurring at the interface of surfaces at the inertia-biock and vibration isolated from the foundation"
contact joints or the sliding phenomenon ín the· mo!ec- shown in Figure 2~3(a). The dynarrdc equilibrium equa-
ular structure of the elastic spring. tions are <lerived as follows:
The damping assurned in the structural system is of Assuming that at any instant of time, the masses m1
the viscous type and indudes the following additional and m 2 have moved up througt:. disp1'acernents Z 1 and
assumptions: (a) the interna: damping present in con- Z2, respective!y, from their reference position) then, for
crete and steel str:J.ctures is nominal 1 i.e., the damping mass m 1 :
ratio varies from 2.0 to 5.0 percent for concrete struc~ 1. Resistance of spring k:: 1 ~ k:: 1 (Z 1 - Z2 ) ( actlng
tures and 1.0 to 7.O ?ercent for steel structures and nor- downwardl
maHy is neglected; (b) the damping agent associated =
2. Inertia f~rce of mass m 1 m 1 (d 2 ZlJdi 2 ) m 1i 1 =
with the soil is in the form of interna! damping and (acting dawnward-•-opposite to the· directfon of dis-
geometric dampíng. The internai damping value is of placemen t) .
small magnitude in ali modes of oscHlation except in the 3, Excitation force= F:: (t) (acting upward)
rockíng mode. Geometric. damplng has considerable Sínce sumrnation of downward forces upward =
effect on the dynamic response of the system and is
generally included in the model representation. Chap~
forces, -·- m 1Z, + k,, (Z, - Z,) = Fz(t) (2-1)
Similariy for rnass m 2 :
ter 4 further describes the nature and evaluation of soil L Resistance of spring k., = kn (Z, - Z,) (acting
darnping. upward)
4. Forcing Function. The forcing function is norm?-llY 2. Resistance of spring k:: 2 -::::::.k 22 Z 2 ( acting down-
treated as an equívalent concentrated force applied at ward)
points where masses are lurnpcd, Torques are applied at 3. Re.sistance of damping C;?2 :::::: C::2 Z2 (acting oppo-
mass points either in concentrated form or are converted site to the direction of movement Z 2 ., thus acting
into an equivalent force-coupie. The effect of earthquake downward)
forces may be obtained by the application of a time- 4, Resistance of inertia force of mass m.2 mii2 =
history acceleration at the mass points, A tjme~hiswry ( acting opposite to the dircction of movement Zz,
displacement applied at the supports may also be usecl thus acting downward)
for earthquake loads as a type of forcing funcúon (refs. Equating the downward resistance to the upward
3 1 4 and 5 of this chapter and reL 4, 5 and 6 of chap~ resistance,
ter 3).

Models
or
Civil engineeríng structures of variou::; kinds use dif• m,Z, + C,, Z, + kn (Z, - Z,) + k,, Z, = O (2-2)
ferent modeling techniques deipending on the type of
solution desired (ref. 1), Modeling types ar~ given b Equations (2-1) and (2-2) are the sarne set of Equa-
Figures 2-l through 2-11 (page 39)for typical structures tíon, (a) shown ín Figure 2-3 of modeL lt should be
having different constraint conditiom., Also shown is the noted that Z and Z stand for the first and second deriva-
mathematical model used to represent each physical sys- tives of the displacement Z with respect to time t) i.e,,
tem and a short description of the model, as well as list- t= =
dz/dt and Z d'z/dt'.
ing the applicable equations of motion, Each model is
(b) Lagrange's Equation. Lagrange's equation, in
further descúbed below.
its fundamental form for a conservative system in
gencralized coordinates q1 is given by
Developmen! o! Equa!íons of Motion

The equations of motion v.rhich describe the behavior d ( ~ ) - o(K.E.) + o(P.E.) - íl(D.E.; .. o(W,)
of the mathe.'11atícal model are developed using one of
dt oq, aq, oq, aq, aq,
(2-3)
the folbwing two methods (ref. 3).
(a). Dynamic equilibrium equation, In this rr:ethod, where K,E. = kinetic. energy of the system,
the condition of equ:ilfürium of a mass a:t any instant of P.E-. = potentfal energy of the system 1

time under the influence of forces and reactions is con- D-E. = dissipation energy of the system,
sídered. In order to account for dynamic equilibtium, W" = work clone by the real externai forces on
the mass inertia force is induded. Cons.ider, for example: the system.
 34 Design of Strcctures and Foundations for Vibrating Machines

The use of Lagrange's equatian will directly yield as These cq1:ations are readily vcrificd by co!1sideration of
:n::my ec;.1:aüons of motion as the numbet of degrees of dynamic eql::libri1an giver::. by Equations (2-1) and
fr::edon: of the .system, given that basic cnergy expres- . Thc above method is gencrally an inefficient way
sioas of the system are known. of obta:n:ng the equation of motion, Furthermorc, ir
This method is applied to the model discussed eadJer should be recognized that the Lagrange equation is
w!lere the dynamic equihbriurn equation r:1ethod was merely a devke for writing the equ::i.tion of rnotion and is
;.,isecl in section (a). In this example, there a:e twc co- not an inde/1endent method of solution.
=
ordinates, that is, q1 Z 1 , q 2 Z..,. =
The energy expressions in terms of Z a:e as :Ollov1s: Model 1-Vibrating Machine Supported by
Kinetic Energy ;:;:; : K.E. ::::: ~,z
Fl-1 { z:):, + ~-2 m,.,_ ( Z::) :J Block-type Foundation (Figure 2-1)
Potcntial Energy = P.E. =
~:2 k::: . . {Z 2 ) 2 +- ~,{: kz 1
(Z 1 Z2 ) 2
This type of foundatíor. is a very common :"orr.1 of
Dissipadon Er.ergy =D.E.= (- C:::..,. i 3 )(Z]) physical system a:1d is 1Jsc.;.aEy considered by design engi~
\Vork by exterr.a! force= YVe F:: (Z 1 ) = neers in petrochemical ar,.d industrial plants. Three
The dissipa~ion energy due to damping force rnust he forms of dynamic mode sha.pes are possible and should
takcn ns r.egative 1 since a positive damping force is be investigated (reL 2}. Vertical anel horizontal modes
a[ways )n a direction opposite to the positive displace- are descr:bed by linear dffferential equations 1 and thc
mer.t, The derivatives with respect to Z 1 are solution for the natural frequencies anel vibra.tlon
respor.se are easy to obtain. ln the rocking rnode, the
couplíng eITect of the horizontal mode may bc ígnorcd
a (K.E.) a--------=
(K.E.) fo:· very shallow foundations. ln that case, ho is zero,
aq, therefore, no couplíng effect is prescnt and thus Equa-
a (K.E.) tion (e) of Figure 2~1 rcduces to Equation (b). Simi-
aq, o larly, Eqttation (d) of Figure 2wl is also ''rcduced"
(uncoupled) and describes the 1:-:otion Í;i coordinate ifr
~(P.E.) and is as follows ·
aq,
a (D.E.) a (D.E.) v, + C; f + k; v,
" '

aq, az, o l; Fu(t) F/ ~ T, cos ,,/ (2-6)

a (W,) a (W,) This equation along with Equatíons (a) and (b) of
aq, az, Figi..:.re 2~ 1 can be solved according to thc procedures
Substitution of the abovc ln Equation (2-3) leads to given in Chaptcr 1. An cxamp[e is solved in Chapter 6
which describes thc required steps in the cakulation
(2-4) procedure. VVhcn the víbration res,ponsc of the cot:.pied
modes is desired for Equations (e) and (d) of Figure
The derivatives wíth respect to Zz are 2-1: then the solutíon can be found by substitutir.g

i!q, )' = A 111 sin wt + Au, cos wt (2-7a)

,{; = A"" sin wt + A\Ó'~ cos wt (2-76)
iJ (K.E.) a (K.E.) = O
aq, i!Z,
in Eq:iations (e) and (d) and then separating the
iJ (P.E.) equations contalning either sínes or cosines. Thís pro-
àq2 ceàu:e \'.·il'. result i:t four sicrnltaneo..ts cquations with
four unknow:i.s. A con:p1ete solution of this type of
a (D.E.2 a (D.E.)
equation is given fo Append!x A.
aq, az,
a (W,) Model 2-Vibra!ing Machine Suppor!ed by
i!Z,
o
Mat-type Foundatíon (Figure 2-2)
Substitution of the above in Equation (2-3) leads to the
equation of motion; This type of foundation system may be uscd for the
situatíon where sevetâ.l sma~1 t:.níts Zt:'."e placed sidl~ by
o (2-5) side or v..·here a firn: soil v:ith a \,;ater table is en~
 Development of Analytical Models for Dynamic Systems
cour.tered at plant grade leveL Due to the flexi:Jílity of
the foundat:on mati a high magr.itude of darnping will
be encountered in the rocking and horizontal mo-des.
Therefore, only the freguency and vibration respanse
calculations in the vertical mode are required.
A single lumped mass model rnay be used when one
set of machines is supported by a relatively rigid mat
foundation. However 1 the model is divided into discrete
lumped mas.ses when several sets of machines are lo-
cated on a flexible mat foundation. ln this case 1 conM
straint conditions are applied to the boundaries in the
directions of translation for the sake of stability. Thc
spring constants for each element depend on thc mat
rigidíty as described in Cha?ter 5.
Model 3--Machíne Supported on an lnertia Block and
Vibration lsolated trom the Foundation (Figure 2·3)
ln special cases and due to environmental conditions,
it may be necessary to limit th,e vibration amplitude at
the foundation base to much lower values than thosc
usually allO'Wed. This requirement may not bc practical
to achieve even by proper selection of mass or base area
of the foundation. ln súch casesi use of an inertia block
and spring ahsorbers is recommended.
In normal behavior, three forms of excitatíon are
possible. Excitation in the vertical directíon is inde~
pendent of the other forms of oscillation. Excitation in
the horizontal directión JS gener-ally coupled with the
rockíng mode; however, for a machinc which is located
at relatively IOiW height ( h is < ½ b) then investigation
of the horizontal and rocking excitation independe:nt
modes is sufficient.
The parameters bi and k~t are properties of the
spring absorbers, Parameter m 1 is the combined mass
of the mac·hine and the inertia block together. The
parameters k, 2 l_ h2 1 k.,z and C"' 2 , C~ 2 , Cv, 1 are spring con~
stants and damplng coefficients, respectively, of the soil
b. the three modes considered and shou!d be determined
using the elastic half-space theory as described Í!1
Chapter 4. Parameters m:: and / 2 are the rnass and mass
moment of inertia 1 respectively 1 of the foundation.
The solution of the differential Equations {a; a~d
(b) of Figure 2-3 can readily be found for the natural
frequencies> mede shapes 1 transmissibi:ity factors 1 and
the vib1·atio:.1 response, Ohen; the fundamental fre-
quency and lhe transmiss~bility factor are the principal
results of the ar:.alysis, The set of differential equations
(e) of Figure 2-3 Js in sin:ultaneous form, anda ma:mal
solution is tedious ::o petform. This syste:n of simul-
taneous equations is rarely solved by hand unless a
thorough investiga::ion of the system is reqWred, and
then the solution is obtained with :he help of a com;::)Uter
35
program. However, solút:on for a similar type of equa~
tion of motion has been performed ir. Appendix A,
Model 4-Vibrating Machine Supported by a
Cantilever {Figure 24)
It is sometimes required that a vibr,J:ting rnachine
be supported on a cantilever. ln such instances, a vibra-
tion ana1ysis is considered nece:ssary, Two modes ( verti-
cal and rocking) are possible ( ref. 3) . The calcu1ation
of the rocki:1g mode may be ignored if the distance h
is found to be small, and the tantilever arrn is rigidly
secured. The calcu]ation of the vertical mo<le is generally
performed because this providcs t'rie fundamental fre-
quency and the largest vibration response, The mass
parameter me is considered lumped at point O and con-
sists of the mass of the machine plus an equivalent mass
for a portion of the ca:1tilever cakulated according to
the procedure explained ln Cha-pter 1. The spring stiff-
ness parameter k:: is the flexúral stiffness of the cant:-
lever at point O, Damping in the system varies frorn
0.005 to 0,05 o.f cr-itk:al, depending on the matetíal.
Thc investigation for thc rocklng mode is performed
on a similar basís as for the vertical mode. The mas.s
moment of inertia parameter 1? is calculated for the
eguívalent rnass me ahout the poinL O. The rotational
sprlng constant kw is calculated by apply:ing a moment
at point O about the x-axis ( the xKaxis is perpendicular
to the figure) .
The ,maxi1num vibrat:on response caJculated for eact~
mode may occur at different times. T,herefore, in ob~
taining the total response, the maximum of the sum may
occur at some specífic time within the intervai of interK
est, However; obtaining this maxhnum value may be
difficult. Therefore, a simple summation of the individ-
ual maxima is generally performed, which results in
a co-nservative estimate of total displacement. The
solution of the equations of motion has prev:ously been
described ln Chapter 1.
Model 5--Vibrating Machine Supported by a
Fixed Beam {Figure 2-5)
Mathematical modellng techníque for this physical
system Js similar to the cantílever system above except
that the paramete; determination differs.
The mass parameter me is the combined mass of
machíne and a certain length of beam a:td is lúmped
at the intersecting axes o.f the machine an<l t.he bearr:,
The spring co!'lstant k:: is a functíon of the flexural stiff-
ness of the beam. Both parameters me and k:: can be eval-
uated by using the express.io:i. gíven for Case II ir. Table
1-1. The parameters h and k,;, can be determined by
following the procedure descríbed u~der Model 4 above.
36 Design oi Structures and Foundations for Vibrating Machines
All modes of osciUation v,•hich may occur due to the
action of the fo:-cing fw::ction general:y need investiga-
tion, ln this case 1 the vertical n:ode and the rocking
rnode (abm:t the x-axis) fali in this category. The
vertical mode ínvestigation is necessary because it gives
the lo,ver value of natural frequenc;' and the higher
level of vibration response. On the other hand! the rock~
ing mode investigation provides bigher value of nat·.1ral
frequency and a lower levei of vibration respcnse.
Therefore, if the machine operating frequency is fou:1C
to be very dose to the rockíng n;ode natural frcquency 1
then the model parameters may need modlfication ir.
order to a void possible resonance conditions. Thus, both
modes may need to be considered in some machine
supports.
Model 6-Typical Elevated Pedestal Foundation
(Table Top) (Figure 2-6)
In this physical modet there is some variation in the
use of the modelíng technique ( ref. 1). In tbis example,
four models are considered> and the merits of each and
the effort involved i:::. thefr solution is dlscussed. In the
modeling procedure the following factors may be used
in determining the type of rnodei to be used.
Model A: Single-Lumped Mass (Uncoupled
Superstructure and Foundation) (Figure 2-7)
-A pre1iminary ínvestigation is required,
--Reliable informatíon on the parameters is lacking.
-The structural framing system is not weH defined
and preliminary dynamic characteristícs are desíred,
-··•The beams have much higher stiffness tlum the
columns.
-Informatíon o-n vibration response is not required,
Because of the lack of interaction behveen super-
structure and substructure, this rnodel gíves the dynarrúc
solution of individual subsystems and generally results
in a calculated higher fundamental frequency, There-
fore, the engíneer must use conservative crheria to avoid
the resonance condition by first makíng certain whether
the system is to be low or high tuned, This condition is
generally achíeved by varyíng the mass or stíffness of the
system components. The calculation of pararneters for the
superstructure representation would requíre a familiarity
with strn.ctural frame analysis for the cakulation of the
spring stiliness constants kh and kv, The mass parameters
mu is the mass of machine pfus the mass of top frarning
and upper half-length of columns. The substructure
investlgation duri:lg the initial investigaticm phase of the
total foundation is not conducted becau.se its influence
on the solution of the superstr"...tctare portion is smaU.
However 1 if the substructure base slab configuration is
necessary 1 then information on dynamic soil properties
\·fill be requíred, ar.d the s!ab should be rigid eno:..1gh
such that it can be represented by a single lumped mass,
The model parameters for spring stiffness kx, k::,. k1{,•
and damping constant Cr, Cz, Ct in the three modes of
excitation can be determined from tbe soil properties
by the elastic halfwspace theory as described in Chapter
4. The mass parameter mz is the total mass of reachine
and of the entíre foundation structure. The para:neter
h is the mass moment of inertia of the rnachine and
the entire foundatíon at the center line and at the base
of footing. The equations of motion involved in both
the subsystems are linear second-order differential equa-
tions wh(ch can be solved for the natural frequency
and vibraticn response by the procedures described in
Chapter l.
Model B: Multi-Lumped Mass (Uncoupled
Superstructure and Foundalion) (Figure 2·8)
This rno<lel may be used when the following types oi
results are desired according to the Hsted conditions:
-Superstructure ís well defined, and the -fundamental
frequency is to be lower than the machine operating
frequency ( structure to be undertuned).
-Foundaúon structure is supported either on highly
firm soil or rock formation or a rigid deep founda-
tion.
--Accurate deterrnination of vibration response is not
a requirement,
-Foundation structure height is low (1ess than 20
ft) and foundation is not supporting more than two
machines.
The dynamic characteristíc of the superstructure may
be calculated ín either of two ways:
1. Rayleigh's Frequency (see definition in Chapter
l). ln this method, the weig.hts oi structure and of the
machines are applíed as static forces at a discrete num-
ber of points acting in the direction of the deflected
shape of the structure (assumed as the fundamental
rnode) , The following formula is used:
(2-8)
where F i are the equivalent lumped forces of distributed
weight of structure and machine acting at point i; Ôi
are displacements. of the structure at points i produced
by the forces F 1 ; g is the gravity cor.stants; úln is c~rcuiar
 Development of Analytical Models for Dynamic Systems
natural frequency in the mode corresponding to thc
direction of the acting forces.
The accuracy of the natural frequency calculation
obtained by this methcxl depends entirely on how dose
to reality are the assumptions made in assuming the de-
flected shape of the structure. However, note that for
the approximate results obtained by this method, the
lowest frequency always gives the best approximation.
2. Modal Multidegree Lumped Mass Analysis. The
normal modes ( modal analysis and normal medes are
defined in Chapter 1) are determined separately and
then superimposed to provide the total response. A
normal mode ( or natural mode) of vibration is associ-
ated with each degree of freedom of lumped mass in
the system. The property of a normal mode is that the
system could, under cert,ain circumstances, vibrate freely
in that mode alone, and during such vibration the ratio
of the displacements of any two masses is constant with
time. The ratio defines the characteristic sha.pe of the
mode.
The equations of motion in matrix form for a multi-
degree system, but having no externa} acting force and
no damping, have the following form:
o ( 2-9)
The natural frequencies of all modes are found by as-
suming a harmonic motion for each mode. During
vibration in any single mode, the displacements of sev-
eral masses is always in the sarne proportion, i.e., all
possible positions are geometrically similar. Substitution
of the assumed mode function in the equations of mo-
tion and rearrangment would result in a characteristic
value problem. Briefl.y, solution of these equations con-
sists of expansion of their determinant and subsequent
solving for the characteristic values ( or eigenvalues,
natural frequencies) .
The vibration response of the multidegree system due
to applied forces or initial conditions is obtained by
treating each normal mode as an independent one-
degree system. The formulation of the problem by this
method of analysis requires a thorough background in
dynamics analysis and is generally attempted using a
computer program. The results obtained from this
method will be the natural frequencies for each degree
of freedom of the masses, mode shapes for each fre-
quency, and response at the joints in the forro of vibra-
tion amplitudes, internai forces, and moments. An
example problem for three degrees of freedom based
on this method of analysis has been presented in Ap-
pendix A.
37
The investigation of the substructure is performed
according to the proccdures stated for ?viodel A. The
vibration response results obtained for both the sub-
systerns are combined by some rational procedure such
that maximum values are achieved at a particular mo·
ment in time.
Model C: Two-Lumped Mass with Coupled Soi\-Struc-
ture lnteraction (Figure 2-9)
Model C includes soil-structure interaction and also
includes the true dynamic characteristics of the founda-
tion system. This model representation rnay be employed
when the following conditions are satisfied:
-Foundation structure is supporting not more than
two machines, i.e., the length of the structure
should be small and its height is not greater than
20 ft.
-Foundation structure is well defined, and reliablc
information on the soil is available.
-Natural frequencies of all subsystems of the model
do not fall in the resonance zone (0.5 to 1.5 of the
acting frequency of the forcing function) .
The types of results obtained from this model are:
-Natural frequencies for ali important modes which
are excited by the forcing funCtion.
-Vibration response at the axis of rotation of the
machines and also at the base of the foundation.
The dynamic behavior of the model has been sep·
arated into parts a and b. Part a represents the coupled
modes of horizontal and rocking oscillations while part
b represen~s the behavior for vertical oscillation. The
equations of motion of these two parts are described in
Model C of Figure 2-9.
The natural frequencies of these models can be de-
termined from the equations of motion by initially
ignoring the tenns containing damping and forcing
functions. An exponential type of displacement function
is substituted for each degree of freedom (mode shape)
in these equations. A determinant is fonned frorn the
resulting equations which, when expanded, results in a
characteristic or frequency equation. The solution of the
frequency equation will give the expression for the
natural frequencies. A general solution can be formu-
lated with the use of natural frequency expressions to
obtain the mode shapes. The constant of integration
in the equations is evaluated by equating the general
solution to the initial conditions. The manual calculation
of vibration response of coupled mode part a is tedious
38 Design of Structures and Foundations for Vibraling Machines
and tírr:e-consuming and n-orrnaHy is accomplished with
the use of comp:rter programs; however, a manual
solution is preser:ted in Appendix A. The techniques
used ir. víbratíon response analysis foUow a modal anal-
ysis of the Iumped mass multidegree system which is
briefl.y descr~bed above in discJssíng ?vfodel B. The re~
spor:se analysis of part b is relatively simple and can
be obtained manually i..'1 a manner similar to part a.
However, if a cmnputer program is used for the solution
of part a, then parameters of part b can also be easily
co::nbined in order to provide t~e total results (ref. 2).
ln foat case, the rocking spring h of part a shou!d be
represented by three equivalent vertical spríngs of equal
stiffness ( see Figure 2R 10) with the following conditions:
k; = 2 k,/
k. = 3 ke
or
ln this case k4- = rocking spring constant,k:: is the verti-
cal spring constant of m 1_, an<l e is the distance between
t\-vo equivalent springs of stiffness k,,. The distribution
of damping coefficient C'i' re.lated to C 2 is rather cúm-
plex; however, a similar forrn of logic may be followed
as has been done for the spring constant. The damping
coefficients associated with the equivalent vertical spring
ke would not be all eqi.:al if the sarne value of e is used.
Therefore, an equal va!ue of the damping coefficient C,:
has been used for ~he exterior springs~ and a differerH
value of damping coeffícier.t C,n has been used for the
middle spring. The member ,vhích connects the three
equivalent springs sJ:0;1ld possess an ínfinite flexural stiff-
ness. but should also maintain the equivalent values of
m1 .and 1.-.
Model D: Multi-Lumped Mass with Coupled Soil·
Structure lnteraction (Figure 2-11)
This model provides the design engineer with a com-
plete ins-íght of not only the dynamic behavior of the
superstructure but also identifies the critica! modes in
the soil-structure system. ln cases where access to a
computer program capable of solving dynamics proble:-n
is availahlei then it is very conveníent to resort to this
rnodeling technique. In this investigatio;1; several kínds
of results can be obtained províded that the follov,,ing
parameters are available:
•····•Member sizes of the struct4re and geometry are avail-
able and have been proport:oned such that: {a) the
rigidity center of gravity of the structure in plan
coincides with the center of gravi:y of the masses
of the structure; (b) the flexura: displacer.1ent of
lhe top of the structure ín either direction is uni~
form across the length when the top mass of the
structure and of the machines are made to act as
horizontal load,; (e) ai! columns deflect equally
under static loads; (d) the center of resistance of
the supporting soH coincides wüh the centroid of
a!l s:taticaUy imposed loads.
·····•Information on founding depth of the structure and
on soil 1 such as shear moduius ( G), Poisson's ratio
( v), and bearing capacity of the soil is readily avail-
able.
The results that ,can be obtained from the analysis of
this model include:
-The natura] frequencies ( eigenvalucs) ; the number
of frequencies wíH depend on the number of active
joints with lumped masses and the degrees of free-
dom of eac..h jolnt consídered in the ana]ysís.
-The mode shapes ( eigenvectors) for each of the nat1.:~
ral frequencies.
-The víbratíon response ( in terms of displacements 1
velocities and accelerations) for each mass having
six degree.s of freedom.
-The moments and forces at each mass joint and the
reactions at the supports.
A dynamlc solution of this model using the computer
program STRUOL is presented in Chapter 7 (page
114).
References
L Arya, Suresh C., Drewyer, Roland P. 1 and Pincus,
G.) Simulation of Structures Supporting Vibrating
lvfachinery, Sumrner Computer Simula.tion Confer~
ence, Washington, D.C., 1976.
2. Richart, R. E., Jr., Hall, J. R., Jr., and Woods,
R. D., Vibrations of Soils and Foundations: Engle~
wood Cliffs, NJ: Prentice-Hall, 1970.
3. Biggs, John M., Introduction to Structural Dy-
namics, New York: McGrav,r-Hill, 1964.
4. Harris, Cyril M., and Crede, Charles E., Shock and
Vibration Handbook~ second edition) New York:
McGraw-Hill, 1976.
5. Norrisi Charles H., et aL, Structural Design /o.,,
Dynamic Loads, New York: 11cGraw-Hill, 1959.
6. Logcher, Robert D., et ai., ICES STRUDL-IJ, En-
gineering User~s Manual~ Vol. 2, second edition,
School of Engineering> Massachusetts Institute of
Technology, Cambridge, MA 02139, J~ne 1971.
 Development oi Analytical Models for Dynamic Systems 39

:r:
/'
COMBINED Q
.s:::.
C.G
Vibraling Machine
Supported by
Block-Type Foundation
(Model 1)

Vertical mode normally behaves independent of other modes. The mass (m)
of machlne and foundation is assumed to be concentrated on the vertical
axís. Sprlng constant of soil (k,), damping ln soil (C,), ínertía of mass (m,)
and the forcing function (F2 ) of the machine have thelr !ine of action coincid~
ing w!th the vertical axis. Equation of motlon:

(a)

Vertical Mode

The representatíon for the horizontal mode invo!ves an approximation. ln

Cy ~y this mode, contrary to the vertical mode, the masses do not lie on the sarne
horizontal axls, nor the line of action of the forces coincides. Due to these

~ .. ~·
reasons, this mode is normally coupled with the rocking mode. Equatron
ot motlon:

(b)
Horizontal Mode

This model Is a better representation of the true dynamíc behavior of the

fz structure. However, the analytical solution is difficult to attempt dueto cou-
pllng of horizontal and rocklng motíons. This coupling effect should be

"' I,i,,m ínvestigated for the case when the machine ís located hígh above the found•
íng leveL Equat1ons of motion:
Fy (e)

:r:t 1,:ii + (C, + h,'C,JJ + (k, + h,' k,J ,t, (d)

11.y -h 0 C,j - /1 0 k,y = Fy!t} H = T,(t} = F0 H cos wt

Rocking Mode

Figure 2-1. Model 1. Vibratlng machine supported by block-type foundatíon.

40 Design of Structures and Foundations for Vibrating Machines

Vibrating Machine
Supported by Mat-Type
Foundation
(Model 2)

For a mat foundation, which is relatively rigid {comer dis-

placement is .85 x maximum under machine load at the
center), machine and mat slab can be lumped into a single
mass. Only the vertical mode needs investigation. Classi-
m
fication of a mat as "rigid" is discussed in Chapter 5. The
spring constant kz and the damping constant Cz are to be
obtained from elastic half-space theory or from soil data.
Equation of motion:

Single Lumped Mass

Vertical Mode

When the mat foundation Is a thin concrete slab, and dy-

namic analysis is required, a discreta lumped-mass model
FINITE is more appropriate for anatysis. The mat may be divided
ELEMENTS into a symmetrical arrangement of finite elements (either
triangular or rectangular shape) with at least bending
capability. The masses at the joints can be lumped by a
computer program command. The mass of the machine is
to be added through lhe computer program input at lhe
appropriate joints. The soil spring constant calculated
---1._
for the total mat should be proportioned to lhe joint in rela-
tion to the perlpheral areas for a rigid mat. For flexible
mats, the procedures described in Chapter 5 should be
used. A computer program is necessary for frequencies
calculations. lf vibration response calculations are desired,
an equivalent damping constant of about 0.1 may be used.
\
SPRING CONSTANT ~ zi
Discrete Number of Lumped Masses
Vertical Mode

Figure 2-2. Model 2. Vibrating machine supported by mat-type foundation.

 Developmen! o! Analytícal Models for Dynamic Systems 41

z
t INERTIA
BLOCK
-fi.F:J./4..H+--./íx
ISOU'iflON / •
SPRINGS /
"-. ~,, ~

b
FOUNOATION
Machine Supported on lnertia-Block
and Vibration lsolated from the Foundation
(Model 3)

This model representation yields the natural frequencies and vibration

response in the vertical direction, Since there are two masses in the model,
there are two degrees of freedom and two natural frequencies, and mode
shapes wlll be oblalned, Damplng ln isolation spring is generally neglected.
However, soll damplng Is significant and is, therefore, included. Equallons of
motlon:

m ,z, + k,, (z 1 - z,) = F, (t)

m2 Z2 + Czzl:2 + lft1 (z2 - z1) + kz2 z2 = O (a)

Vertical Excitalion

Cx2
p
I
~
1
The characteristlcs oi this model are similar to lhe above model except
that ali the parameters are related to the horizontal axis. Equalions
oi motion:

~.~ Horizontal Excitalion

m2 X2 + CXZ"2
m,i/1 + k, 1 (X 1 - x2) = Fx (t)
_;. + k;i:1 (x2 - x,! + kx2 X2 =0 (b)

Thls model incorporates the coupled dynamic propertíes oi the horizontal

and rocking modes. Thls model has three degrees o! freedom assoclated
wlth lhe three coordlnates x1, x2 and ,i,2 • Therefore, three mode shapes are
possible, each with its own natural frequency. lnvestlgation oi this model,
if carrled out, would make the solution oi model for the horizontal
excltation above unnecessary. Equatlons of motion:

m,x 1 + k, 1 (x, - x, - f 2 h) = F, (t)

m2X2 + Cxi2 + kx2X2 - kxifX1 - Xz - lfz/1};;;; o (e)
J,{t,; + C;,./, + m 1x1h + k; 2 f 2 = F, (t) h

Coupled Horizontal and

Rocldng Modeíil
Figure 2-3.' Model 3. Machine supported on inertia-block and vibration isolated !rom the !oundatlon.
42 Design o! Structures and Foundations for Vibrating Machines

X X

y y
o o
Vibrating Machine
Vibrating Machine Supported by a Fixed Beam
Supported by a Cantilever (Model 5)
(Model4)

Both physica: systems can be represented by a simllar form of ma~hematica: model. However, because of different
physlca: dimensions and boundary conditions. dynarnic model parameters wl!l change. Two form of medes in the direc-
tion of dyramic forces require investigatlon:

l Mt
------------

Rocking Mode
{Rotatíon about x•Axis)
Vertical Mode

1. Vertical Mode-Mass (m9 ) Is the mass oi machine 2. Rockíng Mode-Mass (/;) is the moment of iner-
+ equiva!ent mass of support and is lumped at tia of mass of the machine + that portion of support
point O. Spring stiffness (k,) Is the deflection stíff. about polnt O. Torsional spring stiffness (k,) is lhe
ness at point O for a flexural member. Damping in rotational stiffness at point O for a flexural member.
such a system Is small and is neglected. Equation Dampíng is small and thus is not considered. Equa-
of motion: tion of motlon:
1,:f + k,,t; = F0 h cos wt
= M.,coswt
Note: Mathematícaf torm and description are common to both these systems.
Figures 2-4 and 2-5. Model 4 is a vibrating machine supported by a cantilever. Model 5 is a vibrating machine
supported by a fixed beam.

Soil
Supporfed
"'-_ ../

Figure 2-6. Model 6 is a typical elevated pedestal

foundation "table top."
 Development of Analytical Models for Dynamic Systems 43

\ ELASTJC /
',, HALF-SPACE

.,____/

a. SUPERSTRUCTURE ➔ REPRESENTATION b. FOUNDATION ➔ REPRESENTATION

Model A

This model is composed of two parts: Figure a representing the top floor plus the supporting columns, and
Figure b representing the total structure and equipment plus the bearing sai!. These two subsystems are
assumed to possess independent dynamic characteristics, and there is a lack of interaction behavior between
the two. lhe basic assumption in this mode\ is to consider the column bases as perfectly fixed. The structure
is so modeled that only its three predominant motions (lateral, vertical, and rotational) are predictable at
the C.G. of masses. Equations of motion:

For (a): muX 2 + khx2 = Fx (t) For (b): m,x, + C,i< 1 + k,X 1 = F, (t)
m~'i2 + kvz 2 = Fz(t) mx zl + cz
i l + kz Z1 ·= Fz<t)

l,;j + c,,i, + k;f = F, (t)(H)

Figure 2-7. Model A. Single-lumped mass model o! table top (uncoupled superstructure and foundation).

ELASES
flXED
-
ASES FIXED
o. SLPERSTRUCTlff - REPRESENTATION b. RYJNDATION - REPRESENTAT\ON

Model B

This model representation is similar to Model A, but some refinement is added by lumping the masses in the
superstructure at points where dynamic response is important (see Figure a). The basic assumptions in this
model are still the sarne, but each individual element acts independently of all others. This is generally permis-
sible when the natural periods of the elements differ by at least a factor of two in any one direction of motion.
ln Figure b, the representation is similar to Model A. This model is assumed to include the complete dynamic
characteristics of individual members of the superstructure. Equations of motion:

These equations are in

matrix torm and can only
l For (b): m/1( 1 + C~ 1 + kxx 1 = Fx (t)
mi., + Ci, + k,z, = F, (t}
be solved with the help l,f + c,f + k;f = F, (t) · H
ot a computar program.

Figure 2-8. Model B. Multi-lumped mass model of table top (uncoupled superstructure).
44 Design of Structures and Foundations for Vibrating Machines

H -
+

ELASTIC /
\ HALF-SPACE
'--- / a. b

T'M) 0,,-,ENSONAL SUPER- _.. COUPLED LATERAL ANO ROCKt-lG + VERTICAL OSCILLATION
STRUCTURE At-lJ FOltK>AT!ON OSC!LLATKJN REPRESENTATION REPRESENTATON

Modele

This model is an improvement over Model A dueto the incorporation ot interactive capability between struc-
ture and soil which was neglected in Model A. The model is shown in two parts, Figure a for the coupled hori-
zontal and rocking mede and Figure b for vertical mede. The model can be analyzed as shown without much
loss of analytícal accuracy; however, a coupled mede of both of these medes can also be studied without
additional difficulty. The method of parameter calculation also does not change. The drawback in this model
becomes apparent when the natural frequency of individual elements is required or it is necessary to cal cu late
the vibration response at some other points in the structure. Equations of motion:

For (a): For (b):

m)(2 + kh(x2 - x 1 - "f'H) = Fx 2 (t) m).2 + k,., (z2 - z 1) = Fz 2 (t)
m Ix.' 1 + Cx 1X1 + kxx 1 - kix 2 - x 1 - iJ;H) = O mI i 1 + Cz 1Z1 + k,., (z 1 - z2 ) + kz Z 1 = O
l,f + c,f + m,x H + k;'/, -
2 F, 2 (t) · H
Figure 2-9. Model C. Two-lumped mass model oi table top with coupled soil-structure interaction.

2
EQUIVALENT
kh,kv
H

1◄ ·+·~1
Figure 2-10. Model C-Alternate form. Coupled lateral, rocking, and vertical oscillation representations of
table top for computer program application.
 Developrnent of Analytical Models for Dynamlc Systems 45

H ➔

E!.ASllC !W.F. /
'\,_ Sl'ACE

----✓
COMPLETE STRUCTURE SPRINGS
+ FOUNDATION

TOTAL REPRESENTATION

Model D

This model Is an lmprovement ln relatlon to the previous modal, not only wlth respect to degree oi rellabillty
oi results, but also wlth regard to avallablllty oi sufficlent lnformatlon at ali polnts of ínterest. The approach Is
based on lumplng the massas at the polnts oi maximum dlsplacement occurrlng for any directlon of motion.
The loundation slab Is modeled uslng finite-element procedures and Is supported by soll-springs at the node
points. The lnteracllon of lhe soll's stiffness wlth the foundatlon structure Is obtalned through lhe use oi the
elastic hall-space theory. The calculatlon oi stlffness for the structure Is quite complex an,:l Is generally done
through the use of computar programs. An average damplng constant may be used when performlng lhe
response calculation for ai! modas.
Figure 2-11. Model D. Mu!ti-lumped mass model oi table top wlth coupled soil-structure interactlon.
 3 Development of
lnformation,
Triai Sizing, and
Design Checklist
The design of a dynamically Ioaded structure requires
that certain site and loading parameters be known even
before preli.minary sizing of the structure can be com-
pleted. These design conditions and requirements may
be generally classified into three groups: machine prop-
erties and requirements, soil parameters1 and environ-
mental requirements. Therefore, the required design
information includes not only geometrical constraints of
lhe aciual machine to be supported but also includes
detailed knowledge of the structural supports. These
supports are in turn related to the particular site con-
ditions and can be of three types: soil supports, piles,
or piers. Structures supporting dynamic machines are
generally soil supported, ar may be supported by piles
if the soil is of low-bearing capacity. Characteristics of
these foundation support types are further described in
Chapters 4 and 5, Some foundatíons lying close to bed-
rock or resting on thi<:k deposits of overconsolidated
day have been supported on piers, but this is a relatívely
unusual situation.
Machine Properties and Requirements
Machines causing dynamic loads on structures are
oi many types but may be classified in either of two
large groups: centrifuga! or reciprocating machines. ln
either case, a periodic time~dependent loading function
is transmitted through the structure into the foundation.
ln order to design the structurei a number of machine
geornetrical and performance factors are required. These
factors may be supplied by the machine manufacturer
or may be available in sales catalogues or engineering
handbooks. Often, the information is not avaHable> and
the designer must either pedorm some preliminary cal-
culations or make some assumptions. The required
46
machine properties and parameters include the fol-
Iowing:
-Outllne drawing of machine assembly
-Functions of machine
-VVeight of machine and its rotor components
--Location of conter of gravity both vertically and
horizontally
-Speed ranges of machine and components or fre-
quency of unbalanced primary and secondary forces
-Magnitude and direction of unbalanced forces both
vertically and horizontally and their püints of ap-
plication
-Limits r!Ilposed on the foundation with respect to
differential deflection between points on the plan
area of foundation
-F'oundation requirements
The physlcal size of the structure depends on the
required base dimensions for the machine. Often, ap-
purtenances such as platforms and piping supports re-
quire increases in base dimensions. The outline for the
machine base generally specifies minimum dimensions.
and locates spedfic areas that must be left clear for
machine attachments. For example, in turbines, certain
regions under and over the machine must be left dear
for condensors and piping.
Machlne function includes information on the overall
purpose and critica! nature oi the machine. Should the
machíne be of an extremely criticai importance to over-
all operations, then a more conservative design a.pproach
is recommended. For example, shut down of a small
pump may not affect plant production. However1 if a
large centrifugal compressor is to be shut down, a multi•
million dollar operation may be affected. The designer
must set the level of conservativeness ba!anced against
possible unnecessary expense.
 Deveiopment of lnformation, Triai Sizing, and Design Checklist 47

The weights of the machine and íts ccmponents are Soil Parameters
provided by the manufacturer and serve to glve a ;>re-
liminary indication of soil support feasibility. The weíght Knowledge oi the soil forrnation and its representa-
of rotors and speed in centrifuga} rnachines determine tive properties ls required for static and dynamic analy-
the magnitude of possible machíne unba!anced forces, sis, I n the case of a sand or clay formation, the informa-
The -eenter of gravity location in the horiz◊ntal and tion is to be obtained from field borings and laboratory
vertical planes is often provided. When not available, tests. These are usually performed by the geotechnical
cakulations or assumptions may be needed. Basically, consultants. Chapter 4 descríbes procedures for proper
the machine is set on the foundation in such a way eva1uation of these parameters and discusses other soil-
as to avoid eccentricities between the resultant of all related probierns. The foUowing parameters are generally
loads and the support center of resistance; that is, the requíred:
centroid of the pile group if pile supported or the center -·density of soil, y
of resistance of the supporting soil if soil supported. -Poisson's ratio, v
The speed range and frequencies of prirnary and -shear modulus of soil, G, at several levels of strain
secondary forces are required in the dynamic analysis ( or rnagnitudes of bearing pressu:re)
in order to check fo-r possible resonance, The designer is
generally only interested in the operatíng frequencies,
although in many machines, there will be particular
Table 3-1
speeds briefly attaine<l during start-up or shut down
.where the assemb]y will be in resonance with the ma- Design Eccentricilies for Centrifugai Machines
chine frequency. A temporary resonance condition may Fo-r oper.iting -speeds up to 3,000 rpm, we have the following:
be tolerated in such cases especially when signlficant
damping is available,
Eccentdclty, ln.
The magnitude and direction of unbalanced forces Operating Speed * (Double Amplitude)
are often nct avaílable from the machine manufacturer. .014-.032
750
Some claim that their centrifugai machines are perfectly 1,500 .008
balanced) a condition that may be approaçhed initially 3,000 .002
at the manufacturíng plant. However, after a few years
*Major, A., Vibraiion Analysis and Design oj Foundalions for
of use and due to normal wearj some eccentrícity will Maéhi-nes and Turbines, Akaderníai. Kiado, Budapest, Collet's
exist regardless of initíal machine and installation work- Holdíngs Limited, Londor., 1962.
manship. Eccentricity criteria useful in designíng struc~
The foilowing are the modified API standardst for centrifugal
tures supporting centrifugal machines are given in compressors:
Table 3-1 and Figure 3-1. For redprocatíng rnachines,
the unbalanced forces, whích are generally of consíder- e (mil) - " ✓ 12,000/rpm < LO (rr.il),
able magnitude, are provided by the machine manu-
where a = 0.5 at installation tiwe,
facturer. = LO after severa! years of operation 1
Limits on differential deflection allowed between rpm = operatíng ma,chine speed, rev/min,
l mil = 0.001 in.
points of the foundation are set to avoíd possible damage
tAmerican Petroleum lnstítute Standard for Centrifugai Com-
to piping and other appurtenances that connect to the pressors -#617, Section 2.18.4, as modified by the parameter a.
machine. In some high pressure (50,000 psi) piping,
differential deflection limits are approximately less than For gear uníts, we have the fol!owing:••
0.0001 in, This is generally the case for rnachines witb
very rigid ( thick} attached piping. Double amplitude
including runout, mils
Foundation requirements refer to minirnum depth of Maximum continuous
foundationt as dictated by expanslve soils) frost action, speed, rpm
Shop test Shop test
fluctuating water table, pi-ping clearance, or paving unloaded loaded
elevatkm. The top layer of weathered soil is often not
Up to 8,000 2,0 1.5
recommended for supporting foundations since firm) 8,000 to 12,000 L5 LO
undisturbed soH is required. AlsoJ the bearing strength Over 12,000 Less than 1. 5 Less than 1.0
required for the soil may dictate placing the bottom of
the foundatior. at a deeper level for soil-supported struc~ *"'American Institute Pe!roleu:n Standard, "Hígh Speed, Special
Purpose Gear linits for Refinery Service," API Standard 513,
tures. The recommendations of the geotechnical consul- August 1968.
tant must be integrated into the design process {ref. 3). (Table 3-1 continued on page 48)
48 Design of Structures and Foundations for Vibrating Machines

For rr.otors, we have the fol!owing: 4 '

NEMA SM-21-1970 (SHAFT)
1

, 1, 1! 1
Integral Horsepower Electric Motorst ,l!J

Ê
E
3 ...........
'\,
'\
....... ·,' l !; !
l 1
1
Peak-to~peak displacement 2
", ---..
3,00Q--4,000
1,500-2,999
amplitude, in.
0.0010
0.0015
"E
"~
ã.
,, ,_
~
~~,- ·---,--1
'• NEMA SM 22-1970 (SHAFT)

~ "- APt STD 612- -

1,()00-1,499 0.0020 iS ' ' (SH~FT);:: =
999 and below 0.0025

*For alternating-current motors, use the highest synchronous

----
' 1
'
'
,·-:::' -
' ..,, KAUGLOV-
1
- -
1

speed. For directwcurreot motors, U5€ the híghest rated speed.

For series and universal motors, use the opernting speed. ---- ' '· (SHAFT) __
tNatLonal Electrical J\,fanufacturers Association Standard, 1
~ 1 1
VDI 2056-ALLOWAB LE
11
MG1M12.05, Dynamk Balance of r\fotor,'' December 1971,
'\, ............ ....!_BEtRl~G)
1
Large Induction Motorsº*

Peak~to~peak displacement
VDI
SHl~BOÀRÔ ',
56-NEW MIL STD-167
_(BEARING) (SHAFT)
Speed 1 rpm amplitude, in. 0.1
3,000 and above 0.0010 1,000 5,000 10,000 30,000 60,000
1,500-2,999 0.0020 Vibrat!on Frequeney, cpm
1,000-1,499 0.0025
999 and below 0.0030 Figure 3-1. Classification of severily oi machínery
vibration. From C.M. Harris, and C.E. Crede, Shock
***Nati.onal Electrical Ma.nufach:rers Associati.on Standard, and Vibration Handbook, Used wlth permission oi
ºMG1w20.52, Balance of Machines," July rn69.
McGraw-Hill, 1976.

Form~wound Squirrel-cage Induction Motorsttt

factor in the ca1culation of the half~space spring con-
Peak-to-peak displacement
aniplitude, in, stants it is desirable that the most relia:ble value be
Synchronous speed 1 rpm - - - - - - - - - - - - avaílable. This often means that field testing will be
Motor on Motor on
elastic mount rigid mount necessary to obtain G since inaccurate vaiues of this
720 to 1,499 0.002 0.0025 parameter will result in a worthless ana!ysis. Therefore1
11500 to 3,000 0.0015 0.002 Chapter 4· describes methods and procedures which
3,000 and above 0.001 0.001
should be followed in the calculation of C. The soil
strain levei has an ímportant effect on the value of the
tttAmerican Petrnleun: Institute Standard, ''Recommended
Practice for Fcrm~wound Squirrel-cage Induction Motors/' shear modulus and should be accounted for in irs caku~
API Standard 541. lation as discussed in Chapter 4,
The coefficient of subgrade reaction may be used in
lieu oi C or directly in a Barkan analysis (ref. 2). How-
-coefficient of subgrade reaction of soi1 1 if the above ever1 since the elastic half-space theory ( ref. 1) is recom-
parameters are not accurately known mended here, lts availabílity may be used as a check on
-the foundation depth and the bearing pressure at the order of magnitude of the soil moduli as calculated
which the above parameters are applicable using the half-spru:e theory,
-other information required for the statk design of The soil parameters discussed above generally vary
the looting with depth and effective bearing pressure. Therefore, the
The soil density y and Poisson's ratio v att normally specific values to be used in design should correspond to
reported by the geotechnical consuhant. Chapter 4 Hsts the actual bearíng pressure aod foundation depth used,
the typical range of values for these parameters. Often, In particuiar, the shear modulus is sensitive to strain
rr:ass density p is reported in lieu of soil density y, but if Jevel and since dynamic loads often produce low strain
one is given, the other is known, since levels1 the shear modulus used in analysis should cor-
respond to the actual dyna:mic straín level expected.
p = y/g ln addition to the information listed above, the design
engineer, either by himself or with the help of the geo-
where g is the gravitational constant. technical consultant, should establish the layout for the
The soil shear modulus G is not usuaUy reported unless foundation structure. There are tvvo common types of
specifically requested. Since this parameter is a controlling foundations used; c:oncrete block footing placed directly
 Development oi lnformation, Triai Sizíng, and Design Checklist
on the soi: or rock, and concrete footíng supported by
piles or piers. The preference of one sysrem over the
other sho:ild bc decided by taking into comideration:
relative economy, settlement; bearing capacity of tbe soil 1
vibratiôn isolationl and the level of the underground
water table, Pile- or pier-supported iootings are the
exception and are used only rwhere poor soil conditions
are found.
Environmental Conditions
There can be several situations during which a rr.achíne
installatí-ou is in the viciníty of vibration sources such as
quarry blasting, vehicu1ar traffic 1 construction pile driv-
ing1 or the location is in a continental zone where seismic
occurrence is possible, The design engineer must then
establjsh the severity of tbe situation and, if required,
should seek the help of a vibration measurement con-
sultant. The information requested should include the
character of the vibration and the a:ttenuation at the
installation site, The effects of seismic forces can be
detenníned through 1nformation and procedures de-
scribed in References 4, 5, a-nd 6,
Triai Sizing of a Block Foundation
The design of a block founc!ation for a centrifugai
or reciprocating machine starts with the preliminary
siziug of the block. This initial sizing phase is based on a
nurnber of guidelines that are partially derived from
empirical and practical experience sources.. Initial sizing
is only preliminary; it does not constítute a final design,
A block foundation design can only be considered com-
plete when a dynamic analysís and check is performed
and the foundation is predicted to behave in an accept-
able manner as illustrateà ln Chapter 6. However, the
following guidelines for initial trial sizíng have been
found to result in acceptable configurations:
1. The bottom of the block foundation should be
abúve the water tabJe when possib!e. It should not
be restíng on previously backfilled soil nor on a
speciaily sensitive (to vibration) soiL The recomw
mendations of the geotechnicaI consultant are
usually followed wíth respect to deptb of structures
supporti:1g dynamic or víbratory machines. Some-
times, the soil quality is poor, and tbe geotechnk.al
consultant may recommend using piles or piers.
2. The following items apply to block-type founda-
tions resting on soil:
a. A rigid block-type foundatíon res.ting on soil
should have a rnass of two to three times th.e
mass of the suppo-rted machine for centrifugal
rr.achines. However, when the maehír.e is recip~
49
rocating 1 the mass of the foundation should be
three to five times the mass of the rnachine,
b. The top of the block is usually kept I f! above
the finisheà floor or pavement elevatlon to pre~
vent dama.re from surface water runoff.
e. The vertic;I thidmess of the block should not be
less than 2 ftr or as dictated by the length of
anchor bolts used, The vertical th!ckness: rr,ay
also ,be governed by the other dimensions of the
block in order that the foundation be considered
rigid. The thickness is seldom less than one fifth
the least dirnenslon or onc tenth the largest
dimensior.,
d, The foundation should be wide to increase
damping .in the rocking mode. The width should
be at lea~t l to l..5 times the vertical distance
from the base to the machine centerline,
e. Once the thickr.ess and width have been selected)
the 1ength is determined accordlng to (a) above,
p-rovided that sufficient plan are-a JS availahle to
S'..l.pport the machine plús 1-ft clearance from
the edge of the machine base to the edge of the
block for maíntenance purposes.
f. The Jength and widtb of the foundation are
adjusted so that the center of gravity of the
machine plus equipment coincides wlth the cen-
ter of gravity of the foundation. The combined
center o-f gravity should coincide with the center
of resistance of the soil.
g. For large reciprocatíng machines, it may be
desirable to increase the embedded depth in soil
such that 50 to 80% of the depth is soil-
embedded. Thís will íncrease the lateral restraint
and the damping ratios. for all modes of vibra~
tion.
h. Should the dynamic analysis predict resonance
with the acting frequency, the mass- of the foun~
dation is increased or decreased so that, generally}
the modified stn1cture is overtuned or under-
tuned for redprocatíng and centrifugal machines,
respectively.
3, The following guiddines only apply to block foun-
dations supported on piles:
a. The pile cap mass should be L5 to 2.5 times
and 2.5 to 4 times the mass of the machine for
centrifugai and reciprocating machines) respec-
tively,
b. The thíckness, width, and length of the block is
selected as ín 2(b) through 2(!).
e, The number ar.d size of piles are selected such
that no single element carries over one half af its
allowable design load.
d. The piles are arranged so that the centrold of
50 Design of Structures and Foundations for Vibra!ing Machínes
t!-:e pi~e group coincides \vith the center of
grnvity of thc <:ombined structure and machine
1-oads.
e. Piles are b;ittcred awny frorr. the pile cap to
carry any transvcrse and longitudinal unbabnced
forces. Vertical piles provide sma:t resistance ta
horizontal loads, and the batter pi[es are usually
designed to carry all s:1ch torizon~a1 forces as
axial loads,
L VVhen piers are used) bells 1:my be de,sírabic to
increase thdr overall capacity.
g. If resonanc.e conditlo:is are predkted to occur,
modifications are necessary as describcd in 2[h)
above,
h. Piles and piers must be properly anchored to thc
slab for adequate rlgidity and for meeting the
design conditions assumed during the analysis
phase.
Triai Sizing of Elevated Foundations (Table Tops)
Preli:ninary s:zing and geometrical member arrange•
ment constitute the initial design phase for elevated
foundations. Although thfs prelirr.inary phase is often
based on the experience of the designer, suggested guide-
lines can be useful ln arriving at a satisfactory final
design. It should be emphasized that the general guide-
lines for trial sizing are only usefol in the inítial phase
and are no substit.ute for ~ thorough dynamic analysis
and check as described in Chapter 7, These general
guídelines include the following:
L The designer should carefully analyze eguip:nent
size and ele.a.rance requirements to assure that
sufficient space is a!located to equipment 1 ar.chor
boltS 1 piping., and clearance for installation,
maintenance and operatíon, that ís, physical space
lim.its and requirements should be clearly identified
and consídered,
2. The bottom of the foundation mat should be
placed no higher than the minimum founding
depth recommended by the soil consultanL This
generally includes considering the location of ade~
quate betiring stratai water table, depth of frost
penetration, paving elevation 1 and speCl'al local
soil cond!tions. Hov,:ever, in very poor soils, the
geotechnical consultan': may recommend the use
of piles. The mat thickness t shou~d not be less
than
0.07 L ' 1'
where L is tbe average of two adjacent spans between
columns.
3. All cohmms should be stresse:d aimost equaHy
when sabjected to vertical Ioad. Thus 1 the column
areas should be proportior.:a] to the load caried by
the column, and Prf A; should be faírly constant
for all colurnns where P1 ar.d A; are the axial Ioad
and cross~scctional area of any coiumr., The
columns s.hould bc capable of carrying s:x times
the vertical load. Column spaci11.g shculd prefer~
ably be less than 12 ft. The intermediate colu:t1ns
should be located preferably under t!:e couplings
Ot' the gear box.
4. The beam depth should be a tninimum of one
fifth of the clear span, and the beam wldth Is
normally equal to the width of the column con-
sistent with anchor bolt requirernents for spacing,
embedded depth, and edge distance. The beams
should not deflect over 0.02 in. when subjected
to static loads.
5. The flexural stiffness of the bearns should be at
least twice the flcxural stiffness of the columns.
6. The :otal mass of the structure inclu.ding the mat
should be no less than three times the mass of the
supported machine for centrifugal machines and
five times the mass of the machíne for reciprocat-
lng-type machines.
7. The mass of the top ha!f of the structure should
not be less than the mass of the supported ma-
chine.
8, The maximum static~bearing pressure for soil-
supported foundations should not exceed one half
of the allowable soi] pressure, For pile-supj>Orted
foundations, the heaviest loaded pí!e should not
carry over one half of its allowable Ioad.
9. The center of resístance of the soil should be
within 1 ft of all superimposed 1oads for soii-
supported foundations. For pile-supported founda-
tion~, the centroid of the piles should be within
1 ft of the superimposed loads.
10. The center of colum.n resistance should coincide
with the center of gravity of the equipment plus.
the top half of the structure loads in the longi-
tudinal as well as the transverse directions, that is,
the colu:1:1n moments of inertia should be "bal-
anced" about the centroid ·of the equipment as
shown ín Figure 3-2.
11. All the columns shou!d deRect equally in the ver-
tical, latera!, and longitudinal directions when
subjected to equivalent static :rr.aá.ine loads acting
in those directions.. These equivalent loaCs are
often assumed to be 0.5, 0.3, and 0.1 of the total
load for the vertical, transverse, ar.d lo~gitudinal
directions, respectively, \vith the vertical clead load
acting in all conditions. Chapter 7 gives a further
 Development of lnformatíon, Triai Sizíng, and Design Checklist
í-x
+
'--+-----'Ix2t
z "'"-.... I z3
~----------
~---~ 'I
-+--+
'-1z5
Figure 3-2. Center oi column reslstance.
description of these approximate equivalent static
loadings. The maxímum horízon-tal deflections for
these equívalent static loadings should be less than
0.02 in. in aH cases.
12. The columns and beams should 'be checked for
individual member resonance with the 111.achine~
acting frequency. The lcr,,vest natural frequency of
the columns is. approximate!y gíven by
where f'c is the concrete strength in psi, p is the
actual coiumn axial stress ir: psi and is usually in
the 40-300 psi range, L is the column height in
inches, and [11 is in rprn,
13. When piles or piers are recommended by the geo-
technical consultant 1 additional gddelines 3 (a)
through 3 (h) given above fo, block foundations
may be used in arriving at a trial configuratior..
Checklist for Design
Once the p;:opooeC structure is modeled (see Chap-
ter 2) 1 tr~al sizes are selected, and an a:iaiys:s is performed
51
CENTROID OF EQUIPMENT LOADS PLUS
UPPER HALF OF STRUCTURE
<L COLUMN RESISTANCE
Xl5
(see Chapters 6 and 7). The predicted behavior of the
proposed structure is checked or compared against cer-
tain design requirements, These design requirements
include: ( 1) the usual static strength checks agaínst soil,
structural failures; and excessive deformations; (2) com-
parison to limiting dynamic behavíor including maximum
amplitude of vibration: maximum velocity and accelera-
tion, ma.ximum magnincation factori maximum dynarnic
load factor, possible resonance conditions; and maximum
trar:smissibfüty factor; (3) inspection of all modes of
oscillatíon índuding caupled modes; ( 4) consideration
of possibie fatigue failures in the machíneJ structure 1 or
connections; ( 5) consideration of environmental de~
mands such as physiological and psychological effects on
people, effect on adjoining sensitive equipment, possible
damage to the structurei and possible resonance of indiw
vidual structural components.
Figures 3-3 through 3-7 are used in checkíng on the
dynarníc behavior of the proposed structure. Suitable
limits of vibration amplitucle, velocity, and acceleration,
which are all functions of operating frequency, are given
in these figures. T able 3-2 lists appropriate Hmits of peak
velodty for ce,;taín categories of rnachi:ie operation,
In order to acco;_1nt fo:r the rei.ative im;ortance of the
:machine to overail plant operation: increased factor5. of
( text continue-d on page 54)
 52 Design of Structures and Foundations for Vibrating Machines

EXPLANATION OF CASES

E DANGEROUS. SHUT IT DOWN NOW TO AVOID DANGER.

D FAILURE IS HEAR. CORRECT WITHIN TWO DAYS

TO AVOID SREAKDOWN.

e FAULTY. CORRECT WITHIN 10 DAYS TO SAVE

MAINTENANCE DOLLARS.

B MINOR FAULT8. CORRECTION WASTU OOLLARS.

A NO FAULTS . TYPICAL NEW EQUIPMENT.

Figure 3-3. Vibration performance oi rotating

machines (see ref. 9).

0.0001L-~-~~-L~.1.L_~-~~_uW"'1
1000
'ºº Frequency, cpm
10,000

l O.OS

0.02

O.OI

0.005

0.002

0.001

0.0005

0.0002

+ FROM REIHER ANO MElSTER (1931)- (STEADY STATE VlBRATIONS) 0 .000! L-JC.-J.._LI..l.l.W,~...L-J>..J...L.J..!..UJ
o FROM RAUSH (1943)-(STEAOY STATE VIBRATIONS) 100 200 500 1000 2000 5000 10,000
l::-,,. FROM CRANDELL (1949) (DUE TO BLASTlNG} FREQUENCY, CPM

Figure 3-4. General limits of vibration amplitude for a particular frequency (see ref. 10).
 Development of lnformation, Triai Sizing, and Design Checkl,st 53

Fig"re 3-5. Response spectra for allowable vibration

at facility (see ref. 1).

-ó-.,.
p
Freqvency, cps

o
o
D

g
o
é-- ,...... 60 l-+4'-4-----l----+----l--1
z---
lil~
:r,:""
[i , 4011-'Hêl.-../-+---+='-.:-J---I
"'
,-l cu
o
o. ::, 2 Q
V) ""
161---'li;\,
"o ",-l
P..

~ RPM
20000

Figure 3-6. Vibration standards oi high-speed ma-

chines {see ref. 11).

";fel:f',ó~o:e('.)
;,,✓, o
21----1---'\;.(.!"~"',- - + - - + - - - f

'I
l,
oi-................~...1....1....1....1....1....................._ ........,
5 10 20 40 80 100 320
PREQUENCY, CPS
Figure 3-7. Turbomachinery bearing vibration limits
(see ref. 12).
54 Design oi Structures and Foundations tor Vi brat;ng Machines

Tabte 3-2 Single-stage ccntrifugal pump, electric motor,. fan. LO

General Machinery-Vibralion-Severily Data• Typical chemical processíng
equipment, noncritical l .0
T~irbinc, turbogeneralor, centrifuga} co:::1pressor ... L6
Horizontal Peak Veiodty
(in./sec.) ~fachine Operation Centrifuge, stiff-shaftt; multistage
centrifuga! pump 2.0
<0.005 Extreme1y smooth
0.005-0.0lU Very smooth Miscellaneous equiprner.t,
0.010-0.020 Smooth characteristics unknown .... , . 2.0
0.020-0.040 Very good
0.04(Hl.080 Good Centrifuge} shaft-suspended~ or: shaft near basket. , 0.5
0.080--0.160 Fair Centrifuge, lir:k-st.spe!1deC, slung .. 0.3
0.160-0.315 S!ight!y rough
0.315-0.630 R<n1gh =
Effective vibration meásured single amplitude \'lbrn-
>0.630 Very rough tion} inches a1ultiplled by the service factor.
i\1achiae too!s are exc:uded. Values are for bolted-
~After Baxter ~nd Bernhard (ref. 8),
down eq~iiprr.ent; ,when not bolted, multiply the ser-
safety {setvice factor) have been proposed. These factor,; vice fa::tcr by 0.4 and use the product as a service
are applied to the computed maxírnum amplitude of factor.
vibra.tion to obtain an effective vibration amplitude. Caution: Vibration is measurcd on thc bearing hous-
Use of a service factor* ( or adclitional factor of safety) ing, except as stated.
has becn prcposed to account for the rela:tive importance
of the machine to overall plant operation, The actual
vibratíon amplitude is multiplied by the service factor to The design checkllst and design procedure may be
obtain an effective vibratior. amp:itude. The effectlve surnmarízed as foHows. Note that most of the steps listed
vibration amplitude (rathe-r than the actual vibration in the design chccklist are implicitly considered in a
amplitude) i.s then used to determine the adequacy of ccmputer analysis (see chapter 7). The checkiist is
thc instaHatlotL appropriate for analysis of block-type fot:ndatior:s.

Design Checklist
Design Conditions Procedures

Static Conditions

Static Bearing Ca.pacity Proportfon footing area for 50% of allowabie soil pressure,
Static ·settlement Settlement must be un:for::n; center of gravity of footing and machine
loads should be within 5% of any linear dimension.
Bearing capacity: Static plus Dynamic The sum of :natic ptus modifled dyna:rnic load should not create a bearing
Loads pressure greater than 75% of the aUowable soil pressure gíven in the soil
report.
The combined ce::1ter of gravity of the dynainic loads and the stat:c loads
Settlcment: Statk plus Repeated Dy- should be within 5% of the linear dimension from the center of gravity
namic Loads of footing. In the case of rocking motion, the axis of rockíng should
coincide with principal axis of the footíng. The magnitude of the resulting
settlement shoulcl be less than the permissiblc deflecti:1g capab:li:y of the
connected piping system.

Limíting Dynarnic Conditions

Vfüration Amplitude at Operating
Frequenc;.1
* Fr-o::n Blake ( ref. 9).
t Horizon~al displace'11ent on basket housing.
The maximltm sir.gle amplitude of 1totior, of the foundation system as
calculated from Table 1-4 should Ee ín zone A or B of Figure 3-3 for
the gíven actíng frequency. \Vhere ur:balanced forces are caused by
 Development o! lnformation, Triai Sízing, and Design Checklist 55

machines operating at different frequencies, the total displacemcnt

Velocity
Acceleration (Note: not necessary if
the two conditions above are satis-
fied)
Magnification Factor (Note: applica-
ble to machines generating un-
balanced forces)
Dynamic Load Factor, DLF (Nore:
applicable to foundation subjected
to quarry blasting or seismic shock
,waves)
Resonance
Transmissibility Factor (Note: usually
applied to high-freq uency spring
mounteà machines)
Resonance of Individual Structural
Components (Superstructure With-
out the Footing)
amplitudes to be compareci at the lov-;cr acting frequcncy, are taken
as thc sum of all displacement amplitudes.
2..r/ (cps) X (Displacement Amplitude as calculated in the condition
above) should be compareci against the limiting values in Table 3-2 and
Figure 3-3 at least for thc case of "good" operation. The resultant velocity
where two machines operate at different frequencies is calculated by the
RMS (root mean square) method, V= [(w,A,)' + (w,A,)'t". where
J/ = resultant velocity, in/sec, wi, w 2 ::::: operating frequencies for machines
1 and 2, respectively, rad/sec, and A1., A~ ::::: vibration displacemcnt, in.,
for machines 1 and 2, respectively.
41r 2f X (Displacement Amplitude as calculated above) should be tested
for zone B of Figure 3-3.
The calculated values of M or M, (Table 1-4) should be ]ess than 1.5
at resonance frequency.
The value of DLF is to be obtaincd from rcfs. 1 and 7. The duration of
shockwave may be taken as 0.1 to 0.5 sec.
The acting frequencies of the machine should not be within +20% of
the resonance frequency (damped or undamped).
The value of transmissibility is to be obtained from Table 1-4 and should
be less than 3 %.
The resonance condition with the lowest natural frcquency shall be
avoided by maintaining the frequency ratio either less than 0.5 or
greater than 1.5.

Possible Modes Of Vibration

Vertical Oscillation This mode is possible if the force acts in this direction.
Horizontal Translation This mode is possible if the force acts in this direction.
Rocking Oscillation This mode is possible when the point of application of horizontal force
is above mass center of foundation.
Torsional Oscillation This mode is possible when the horizontal forces form a couple in
horizontal plane.
Coupled Mode The horizontal translation and rocking oscillation are usually coupled.
If yf'., + /'n<1//.,/m/ <; 2/3/ , thcn the coupling effect may be ignored;
the horizontal translation and the rocking oscillation modes can be treated
alone, and the results can be combined. See nomenclature on page 98 for
definition of terms.
Fatigue Failures

Machine Components Limits stated in Figure 3-4 and/or Table 3-2 are to be followed. ln case
machine components are very delicate, then the machine should be
mounted on springs with an added inertia block.
Connections Sarne as the machine components condition above and check stresses using
AISC code when connec tors are bolts or we!ds ( ref. 13) .
Supporting Structure For steel structures, use the connections condition above. For a concrete
footing, if reversa! of stresses takes place and the amplitude is very high
such that the peak stress reversa! is over 50% of the allowable stress, the
56 Design of Structures and Foundations for Vibrating Machines

main and the shear reinforceme:1t (if any) should be designed for the
stress reversa! co:i.dition (ref. 14),

Envíronmental Demands

Physiological Effccts on Persons
Psychological Eff cçts on Persons
Sensitive Equipment Nearby
Damage to Structure
If the machine ls located inside a building1 use the procedure give:i in the
transmissibility factor condition above and use the limits indicated in
Figures 3-4 through 3-7. The concept of physical isolation of the supporting
structure is another alternative. The amplitude of vibration in any direc-
tion should fall below the zone ªtroublesome to persons" for the specific
acting frequency as determiried from Fig<Jre 3~4,
Use the procedures indica.teci in the condition ímmedfateiy above. In case
the facility is located very close to people no·t connected with machine
operations, use acoustic barriers.
Physically isolate the support system from the sensit.íve equipment
Use the límits indicated in Figures 3-4 and 3-5 to avoid structural damage.

References 7. Biggs, John M., Introduclion to Structural Dy.

1. Richart, F. E., Jr., Hall, J. R., Jr., and Woods,
R. D., Vibrations of Soils and FoundationsJ Engle-
wood Cliffs, KJ: Prentice-Hall, 1970.
2. Barkan: D. D., Dynamics of Bases and Foundations,
.New York: McGraw-Hill, 1962.
3, Whitrnan, R. V, 1 ''Analysis of Soil-Structure Inter-
action-A State-of-the-Art Review,1' Soils Publica-
tion No, 300J 11assac.husetts Institute of Technology)
April 1972.
4. Internaticmal Conference of Buiiding Offi.cials, Uni-
form Building Code, Whíttíer California, 1976.
5. Amerkan National Standards Institute: ANSl
A58. 1-1972, American National Standard Buílding
Code Requ.irements for Minimum Design Loads ín
Bui/dings and Other Structures, New York, 1972.
6. Newmark, N. M., and Rosenblueth, E., Fundamen-
tais of Earthquake Engineering, Englewood Cliffs,
NJ: Prentice-Hali, 1971.
namics, New York: McGraw-Hill, 1964.
8. Baxter1 R. L., and Bernhard, D. L., nvibratíon
Tolerances for Industry," ASME Paper 67-PEM-14,
Plant Engineeríng a:nd Maintenance Confere.nce 1
Detroit, Michigan, April 1967.
9. Blake, M. P. 1 uNe::w Víbration Standards for l\{ainteM
nance/' Hydracarbon Processing and Petraleum
Refiner, Vol. 43, No. 1, January 1964.
10. Richart, F, E.; Jr., 11 Foundation Vibrations/' Trans-
actions ASCE, Vol. 127, Par! 1, pp. 863-898, 1962.
11. Kruglov1 N, V. 1 "Turbomachine Vibrations Stanw
dards," Teploenerg, Vol. 8, No. 85, 1959.
12. Verlin Deutscher Ingenieure, "Beurteilung der Ein~
wirkung 1\.-íechanischer Schwingungen auf den Mens-
chen," VDI Standard 2056, October 1964.
13. American Institute of Steel Construction, Manual
of Steel Construction, New York, 1970,
14. American Concrete InstituteJ ' 1Building Code Re~
quirements for Reinforced concrete (AGI 318-
77) ," Detroit, ~1ichigan, 197i.
 4 Geotechnical
Considerations

- - - - - - - - - - - - - - - - N o t a t i o n for Chapler 4---------------

Âü = area within hysteresis loop Na= number of log cycles of time required for re-
Ay = age of soil deposit establishment of soil fabric
Ar = crosshatched area under hysteresis loop n= relative density tenn
Âz = amplitude of displacement ntp = correction factor for .Bl(f
Bz, Bz = mass ratios OCR = overconsoiidation ratío
Boi&,, = inertia ratios Qo = unbalanced vertical force
e= effective stress cohesion qd = dynamic bearing stress
D = geometric damping ratio q = static bearing stress
0

=
Dm material damping ratio r = effective radius of footing
0

D,= relative density Su= undrained shear strength

Dt =total <lamping ratio t = time for shear wave to pass from penetrometer
8

to geophone
D 10 = equivalent grain dia:meter for '\vhich 10% of
sample is smaller u = pore fiuid pressure
dr: = characteristic depth W =weight of foundation plus load vibrating in
E= Young's modulus phase
=
e void ratio L = depth coordínate
=
f frequency in cycles per second Zi., Zz = displacement ampHtudes for two successive
cydes
=
f. undamped natural frequency a = embedment factor for damping
/m, = resonant frequency wi:th damping induded 'Y = shear strain amplitude
t◊;::;::: fundamental resonant frequency
Yr = reference shear strain
=
G shear modulus of soil
Ya = unit weight of soil
Gm= = shear modulus at very lmv-strain ampfüude
t>..G = increase :in shear modulus
G1000 = shear mo<lulus after 1000 min of consolidation
Ó.<1-v = vertical stress due to static load
=
g gravita.tional constant
= permanent axial (vertical) strain
=
H thickness of soft stratum
ep
1/ = embedment factor for stíffness
li= depth of embedment or borehole spacing
=
1,,, Iip mass moment of inertia
À= i.Tà/<lc
v = Poisson's ratío
=
Ka at rest earth pressure coeffident p = roass density
=
K 1 shear modulus factor u e = confining pressure
=
k plasticity factor
= vertical dynamic stress
=
kz spring constant for horizontal exdtation
Gâ
= horizontal effective stress
=
kz spring constant for vertical excitation
ü11
= octahedral normal effective stress
=
kf spring constant for torsíonal excitation q,o
kifi ~ spríng constant for pure rocking exdtation = vertical total stress
O'ir

=
La length of Rayleigh wave <Tv = vertical effective stress
=
M mass of footing plus load vibrating in phase r = shear stress
m relative densltv term Tm1u: = shear stress related to shear strain through Gmax
=
N nurnber of str~ss cycles f- effective stress angle of internal friction

57
 58 Design oi Structures and Foundatíons for Vibra!ing Machines

DynarnkaHy loadcd foundations induce strains ln ::.hc
supporting soll) wJ1icb" in turn, require the elements of
thc foundation (footing1 piJes, etc.) to defor:n in a manH
ner compatible \;tith the deformation of t1:e soil. It is
therefore necessary to adopt a model tha".: will predict
the response of the soil to irnposed dyna;nic loadings in
arder to allow the structural designer to lndude thc
effcc.ts of foundation defonnation in a g:oba: str::1ctural
analysis. Several models are availab!e to accm:nplish this
predic~lon 1 but the model that is most widely acceptcd
is thc •:elastic halfspace modeL 11 The halfspace model,
•,,;hich is used b thls book for shallow foundations, preH
sumes that a cfrcular footing rests upon the surface of an
elastic ha!fspace ( the soH) extending to an infinite
depth; whkh is hornogeneous nnd isotropic and whose
stress-strain properties can be defined by two elastic cor.-
stants) usua11y shear modulus ( G') and Poisson's ratio
{v). With the elastic halfspace model it is possible to
predict the response (e.g., deformatíon at a point vs.
time) of the soil and, therefore, of the footing, to har-
monic vertical forces, rocking moments, twistir.g mo-
ments, horizontal shears 1 and combinations of such Icads
applied to the footing, which is considered to be rigid.
The model provides for d!ssípatio:1 of er.ergy through
radíation or i;geometric' 1 damping. Exact mathematical
expressions have been deríved from halfspace models
tvhich define the response of footings to harrr.onic load-
ing of any of the above types. These expressions indkate
that the stiffness of the soB ar.d the amount of damping
that occurs is a function not only of elastic properties of
the soil (halfspaee), but alw of the frequency of Ioad-
ing. Since it is inconvenient to índude thís so-called
frequency~dependent response in most algorithms for
structural analysis 1 lumped para.meter approximations of
the halfspaee rnodel have been developed that allow the
soil to be represented by linear spdng constants, which
resist applied loads ln vertical, horizontal, twisting 1 and
rocking modes) and dashpot comnants1 which símulate
v1scous damping ln the halfspace in the respective
modes, Both spring and damping constants are fre~
quency independent. It is possible, the:efore 1 to assign
spring constants and dam?ing ratios to the soil and de-
termine deforrnatiot:1-time relationships using the funda-
mental lumped parameter relationships introduced in
Chapter L In those relations!:ips, the mass is taken to be
that of the footing and any load víbrating in phase \Vith
the footing. K or:.e of the soil mass is included.
The user cE the elastic halfspace model must make
niques for predict~ng footing response in strongly s.trati-
fied soils, responsc of footíngs (caps) supported by piles,
and response of footings embedded beneath the surface
of the ground. Each of these techniques is dis:cussed ir.
this chapter and Chapter 5.
The basic elastic halfspace rnode? is va!id only for
isolated foundations. No valíd theory has beer: developed
to permit the precise calculatiort of the response of two
or ruore footings situated near each other> although
finite-element modeling of the soíl ltself can be useful
in this rcspect. Empir:cally 1 however, the soil spring
constaras for thc individual footings are usually reduced
by placing footings nea!' each other, and the geometrk
damping !s always reduced. These poínts should be kept
in rr.ind t-vher. applying the techniques described here.
For design purposes, the a.ssumption of frequency in-
dependence of stiffness and damping is vaiid for Iow
frequencies. Specifically, º)m.v írequencyn exists when the
drivir.g lrequency f is less than about (1/irr,) (Gg/y)º·'
,vhere r 0 is the radius of a circular footing or is (BL/rr ) 0 • 5
for translatory motion or (BLª/37r) 0 -2> for rocking mo-
tíon of a rectangular footing, G is the low-amplitude
shear mo<lulus of the soil (discussed laterL y is the total
unit weight of the soiI, and g is the gravitational con-
stant. B and L are the plan dimensioru of a rectangular
footing, where L is the dimension perr'endicular to the
axis of rocking.
Spr.ing constants for the halfspace model are evaluated
under such conditions as the elastic static spring con-
stants. Expressions for the theo.retical spríng constants
for vertical, horizontal 1 rocking and torsional motion are
given in Table 4-1. Note that it Is possible to evaluate
the spri!lg constants for both circular and rectangular
Table 4-1
Equivalent Spring Constants for Rigid
Circular and Rectangular Foolings
(alter rei. 19)
Mode of
Vibration Circular Footing Rectangular Footing
4 Gro G
Vertical k, ""'--,, k, ~ - ~ . ✓ BLo,
1-v 1-v
32(l-;11)Gro :
k, = 2(1+.v)G,8,, ✓ BL11~
Horizontal
7-8ir •• kx

a judgmer:.t whe~her such a model can sufficíently de-

scribe the soil-foundation system at a gíven síte, particu- Rocking
SGr,i;
kt=---,,
3(1-i-) "
"* = G
--{Jy BLZ'tf.s,
1-v
lady w.ith regard to the assumption of isotropy and
horr.ogeneity. If it can not, alternative models shouid 16Gro 3 No soiution available;
Torsional ku = - - - Use r 0 from Table 4-2
be used. Common alternatives) which are actually- modí- 3
fications of the elastic halfspace model, include tech-
 Geotechnical Considerations 59

footings and for footíngs resting on the suríace or em-
bedded beneath the surface. Embedment effects are dis-
cussed further in the latter part of this chapter.
In Table 4-1, v is the Poisson's ra:tio of the soil; the
17-factors are embedment coefficients defined in Table
4-2; and the j3-factors are geometry factors defined in
Figure 4-1.
The damping ratios can be computed frorn the mass
or inertia ratios as indicated in Table 4-3. The weights
U,1 in the mass ra:io expressions are the total weights
of the footing plus the load supported by the footing
vibrating in phase with it1 including machincry. The
moments. of inertia 1~ and le are the rockíng and twist-
ing mass moments of inertia ahout the axis of rotation,
which is an axis ín the plane of thc base of the founda-
tion perpendicular to the plane of rocking for rocking
motion and an axis perpendicular to the foundation and
to the plane of twisting for torsional motion. The factors
a are damping ratio coefficients to account for the in-
creased geometric damping that occurs due to effectíve
embedment. Equations for evaluatíon of a: are given in
Table 4-4. The factor nift is an inertia ratio correctkm
factor for rocking, given in Table 4-5,
3
,,, 1 1'
= =
i--J.._.; ''
2
---,- T 1
is:'.i
,,,13 -- -
•·~ ·1
-"'.+- ..,_ ' ated and pennanent settlements estirnated. In additioni
Table 4-6 gives typica! expressions for mas:s. mornents
of inertia of simple volumes. Generally, rnass momeEts
of inertia for most machines and foundatíons can be
adequately represented by these expression-s.
It is obvious that a pri:nary objective of foundation
design is te maximize geometric damping, consistent
with econorny, It is observed that tJ1e damping ratios
for a halfspace (Table 4-3) increase with jncreasing
founda-tion size (r0 ) and decrease with increasing weight
{J4') or rna.ss moment of inertia (/). It can be con-
duded: therefore, that1 ideally, foundations should be
as wide and shalkrw as is practk:able.
Evaluation of Soil Parameters
ln order to evaluate the spring constants k::, k,:~ ke,
and k<f and the correspor.ding damping rat.ios required
for computer analysis of dynamic structure-soil interac~
tion problemsi it is necessary to determine relevant
values for the soil parameters G (shear modulus), 1'
(Pcisson's ratlo), p (mass density) and Dni (internal or
material daroping ratío), Furthermore, factors not
needed dlrectly ín the computer ar.alysis 1 rnch as the
permanent settlement that will occur beneath tl:e foun-
1 1
, - dation of a structure supporting vibrating machinery,
'1 ' also need to be considered before the structure is con~
1 structed. The objective of this chapter is to describe
procedures by whkh the soil parameters can be evalu~

·- ~. º' certain other special problems will be discussed, It wiH

i

' '-'
' 1
be assumed throughout that the reader possesses a basic
'
' knowledge of elementary soil mechanics and under~
o 1 1 1 o stands faundation engineering te.nninology.
O.l 02 0.4 Q_6 1O 2 4 6 8 10
L/B Thís chapter is intended pr:ímarily to be a source of
Figu_re 4-1. Coefficients /3,, f3x' and f3f for rectangular infonnaticm for those interested in anaiyzíng· or desígn-
footmgs (alter rei. 19). íng structures to s-upport vibrating machinery. As a re~
sult 1 the emphasis is on procedures or criteria developed
Table 4-2 from research rather than on fundamental aspects of
Embedment Coefficients for Spring Constants soil behavior, For the reader who wishes to pursue a
(alter rei. 18) more detailed treatrnent of behavior of dynamically
loaded soil, papers by Richart (ref. ll) and Seed and
Idriss (ref. 14) and texts by Ríchart, Hall and Woods
Mode of ro for Re<:tani_tular
Vihra.tion Foundatlon Coefficient (ref. 12) and l'Vu ( ref. 20} provide cxecellent points of
departure.
Vertical -v1ifJ; 11, = 1 + 0.6(1-v)(lt/ro) The discíplíne of soil dynarnics ís a relatively new one,
and many prob1ems faced by the practicing engineer
Horiwnta! v'Fi7; o,= 1 + 0.55(2--,)(h/ro) have either not yet been treated in a rigorous raanner,
<+ = 1 -r 1.2(1-,J(h/ro) have beer. considered only for ideal conditions which
Rocking "/1 BL'/3r. + 0.2(2-,)(h/ro)' may not occur in geological materials, or have been
studied in some detall but without dissemination of
Torsiona! V BL(B' + L')!ô~ Nane availabie cri.teria to the profession in general. Examples of such
problems are the assessment of permanent settle:ments
Notes: h is the depth of foundation embedment below grade; beneath near-surface vibr:atory loaé.s1 the response of soil
L is horizontal dimension perpendicula, to axis oí rock-
bg; B is remainíng horizonta'. dirnens!on. {text continued on page 62)
60 Design of Structures and Foundations for Víbratíng Machines

Table 4-3
Equívalen! Damping Ratio for Rigid Circular and Reclangular Foo!ings
(alter ref. 12)

Mode of
Vibration Mass (or Inertia) Ratio Damping Ratio D
(!-,) w 0.425
Vertical B,.=--·· D, = - - a,
4 -yro:i
✓ B,

0.288
Horizontal E, D, =--a,
,/E,

0.15 a,;,
Rocki:ng Dq,=------
(1 +n,B,) ✓ n,B,

0.50
Torsiona! D,

Table 4-4
Effec! oi Dep!h of Embedmen! on Damping Ra!io
(alter ref. 18)

Mode of Vlbration Damplng Ratlo Embedment Factor

h
1+1.9(1-,)
r,
Vertical

h
1 + 1.9{2 - v) -
Horizontal
..;-:;:
1 + 0.7(1 ,) (h/ro) + 0.6(2 - ,} (h/r, )'
Rocking

Table 4-5
Values oi n; for Varíous Values oi /3; *

5 3 2 1 0.8 0.5 0.2

1.079 1.110 1.143 1.219 l.251 1.378 1.600

,.. After Richart, Hall, and \.Voods (ref. 12). Reprlnted by permissíon of Prentice-Hall, Inc., Engiewood Cliffs, i'iJ,
 Geotechnical Considerations 61

Table 4-6
Mass Moments of lnertia of Common Geometríc Shapes

SLENDER ROO

THIN RECTANGULAR
PLATE

RECTANGULAR PRISM

THIN DISK

1v I,=½ ma•
CIRCULAR
I1 =I,=~mf3a'+t: J
CYLINDER
z' z --=i~x 1,.=• I,+ m L2/4

CIRCULAR CONE

SPHERE
62 Design oi Structures and Foundations for Vibrating Machines
beneath flexfüle mats loaded by vibrntir.g machinery,
and the response of pile g!"'oups. Nonetheless, rat!onal
analysis of structures for which such problems are ín-
herent stm must be conducted. Therefore, the atithors
have chosen to present procedures for pararneter evalua-
tion and for prediction of foundation behavior that are
based on rígorous dynamic solutíons verified by obsetva-
tions, where such procedures exist, and to present pro-
cedures based on related static or dynamic mo<Iels> modi-
fied empirically by experíence, where they do r.ot exist,
It is fully anticipated that, as further research is clone,
many of the procedures described in this chapter will
becorne outdated and wHl be replaced by more accurate
ones,
Shear Modulus
Unbalanced loads ir. vibrating rnachinery produce
shear straíns in the supporting soit that are usually of a
much smaller magnitude than the strains produced by
static loading. The mechanlsm governing the stress~
strain behavior of soils at small strains involves mrunly
the stress-defonnation characteristics of the soil particle
contacts and is not controlle<l by the relative s1ippage of
patticies associated with larger strains. As a consequence,
the stl'ess-deformation behavior of soil is much stiffer at
very smail strain levels than at usual static strain levels.
It is therefore inapproprfate to obtain a shear modulus
directly from a statk stress-deformation test, such as a
laboratory triaxíal cómpression test or a field plate bear-
ing test) unless: the stresses and strains in the soil can be
measured accurate!y for very srnaII values of strain.
Special techniques, which will be described subsequently;
must therefore be employed.
Even at very smaJl values of strain, the stress-strain
relationship is nonlinear, Tberefore, ít becomes ex~
pedient to define the shear modulus as an equivalent
linear modulus having the slope of the line joinir.g the
exttemities of a closed loop stress~strain cUive (Figure
4-2). It is obvious that the shear modulus so defined fa
strain dependent and that in order to conduct an equiva•
lent linear analysis of the type described in previous
chapters it ís necessary to know the approximate strain
amplitude in the soiL For conditions of controlled ap~
plied strain 1 the ordínates of shear stress in Figure 4-2,
and therefore G, will vary (i;sually decrease; with num-
ber of cydes applíed until a stable condition is reached.
Henceforth, only the stable equivalent linear value of
shear modulus will be considered and will be te.rmed
"the shear rr,,odulus,1' since the response of the structure
after at least severa! thousand cycles of load is the co:idi-
tion of principal interest to the structuraI designer.
T (SHEAR STRESS)
Figure 4-2. Hypothetical Shear Stress-Strain curve
for soil.
Richart (ref. 11) has described at least eight varfables
that infiuence the shea.r modulus of soil:
L Amplitude of dynamíc strain
2. Mean effectíve stress ( octahedral normal effective
stress) and length of tlme s?nce the stress was
applied
3. Voíd ratio
4, Grain characteristics and structui-e of the soil
5. Stress history
6, Frequency of vibrations
7. Degree of saturation
8. Temperature
Regarding Variable 1, the amplitude of strain due
only to the dynamic component of loading should be
considered when evaluating the shear modulus in normal
practke, as superimposed static strain leveis have a refa-
tively mínor effect on G unles.s the static straíns are of
a very large magnitude not usuaily present in a four.da-
tion for vibrating machinery.
The first five variables are cor.sidered dírectly or indi~
rectly in the procedures for obtaining G which follow.
Variables 6-8 are generally of secondary importance 1
a]though the temperaturc of the soH rnay aher G con-
slderably near the freezing poínt of the soil,
Soil shear modulus may be determined by fie!d mea-
surements1 1aboratory measuremems, and use of pub-
lished corrélatíons that relate s:hear reoàulus to other
more easily measured properties.
Field Procedures. Two widely used in situ procedures
.are the steady-state oscillator test (reL 12) ar.d the cross-
hoie test (ref. 16). The steady-state oscillator test ls íllus•
trated in Flgure 4<Js An osclllator is p!aced on the
surface of a site to be imtestigated, and Rayleigl: ( sur~

P!CKUP DEVlCES - MOVE
Ut\TIL VIBRAT'.NG
SURFACE:'\ IN PHASE
OSCILLATOR ·.
WAVE LENGTH,LR
Figure 4-3. Surface Oscillator Test (af!er ref. 12).
face) ,waves are created. Pickup devices ( e.g,i acceler-
ometers) are moved relative to each other and to the
oscillator until they are found to he vibrating in phase 1
and the distance between the pickup <levices is then
measured. If no closer spacing can be found sud1 that
the pjckup devices remain in phase, the spacíng between
the devices is one Rayleigh wave length. Since Rayleigh
and shear wave velocities are nearly equal for soils wíth
Poissods ratios greater than about 0.35 (i.e.i for most
soils},
Grua:<= pvi/1
( 4-1)
:::::: pf"Lil
where G= = shear modulus ( at the very lov: strain level
occurring in the test),
= total mass density of the soil; soH unit
p ity ls measured because the shear wave is not influenced
;weíght/accele.ration of gravity,
f = frequency of oscillation in cycles per unit
of time 1
Lx = measured wave length,
Us = shear wave velocity.
The process ís normally repeated with the pickup <le-
vices in several positions relatíve to the oscillator and
¼'lth different úscillator freqüencies to obtain an average
value for Gi.rnx ata given location.
Since most sites in or near developed areas have con-
siderable low-frequency background noise, stead;•~state
tests wíth small oscillators are generally límited to hígh-
frequency vibrations (generally greater than 100 cps).
In such a case the Raylcigh wave length will seldom be
more than a few foet. Oscillator tests measure an aver-
age shear rnodalus in a zone of soil from the surface to
a depth of about one Rayleigh wave length. Hence, it is
apparent that such high-frequency tests are limited to
very shaUov.' depths, u:sually no more than 2 to 5 feet.
Furthermore, soil borings should also be made in con~
junction with the oscil:ator test in order to assess
whether the measured shear modulus re?resents a single
layer or more than one layer of soiL Lo,v-frequency tests
can be conducted on quiet sites, but to be accurate, they
Geotechnícal Consíderatíons 63
CASED
BOREHOLE ~CRILL ROO
A.?PLICAT:ON JS UMiTfD -GEOPHON€
TO SMALl h (:S2S') F\RMLY ATTACHEO -SPLIT SPOCN
TO CASJNG l PENtTROMETCR
SECAUSE OF Rí::Flf:CTEO
WAYES f'ROM ernorn e----'-~ 1, ~ t.
-STRATA
Figure 4-4. Crosshole Test (alter ref. 16).
often must be conducted with very heavy oscillators)
which generally renders the method uneconomical rela~
tive to crossho1e testing as described belo:vv.
The crosshole test is depicted in Figure 4-4, Test
equipment simply consists of a <levice to create a shear
wave below the surface; another devlce a known distance
away and at the sarne level to sense the passage of the
shear wave1 and an instrument to measure the time rew
qufred for the wave to ttaverse the distance between the
two devices, The shear modulus is then computed frorn
the equation given in Figure 4~4, The shear wave veloc-
to any great degree by the presence of a water table,
whereas the compression wave travels at its velocity in
water1 regardless of soil typei beiow the water table,
Grosshole tests permit an accurate assessment of the
variation of shear rnodulus with depth to reladvely large
distances below the ground surface. Since they can be
made an integral part of standard boring operations, the
soils encountered can be ínspected as a means of verify-
ing qualitatively the vaiidity of the results: and water
table locations can be conveniently determined.
It should be pointed out here that the values of Gtrrax
obtained from oscillator or crosshole tests occur at values
of straín amplitude that may be somewhat less than
those which will occur under a prototype foundation.
The value of shear modulus G to !)e used in the struc-
ture~soil interaction analysis will; tt.erefore, probably be
slightly less than G.n:a"'· Adjustments to Gmax can be made
by applying the correction suggested by Hardin and
Drnevich described ln detail in the section on saturated
days, or a slmple procedure suggested by Whítman
(ref. 18) can be adopted. Whitrnan suggests that for
vertical motion the structure-soi1 systern be analyzed as-
suming that G can vary from 0.7 Grnax to GmM and ,that
for rocking motion the system be analyzed assunüng that
 64 Design oi Structures and Foundations for Vibrating Machines
G can vary from 0.5 Gm,u. to Gm:n;• Sírr.piy stated; the
system should meet the design critería for any shear
modulus vaJue within the staged ranges.
Laboratory Procedures. The shear modulus caa be
e•.. aluated from very low~ampEtude cyclic triax!al com-
pression or simple shear tests; although such tests must
be run with such predsion that thefr use. is limited
mainly to research, However, another type of test, the
resonant column test; is also an accurate means of ob-
talning Únw.:• It has found ger,erally wíde acceptance
an:.ong practicing engir:eers because of its relative sirn-
plidty, In the most common type of resonant column
test 1 a solid, cylindrical column of soil is excited either
longitudir.ally or torsionally at low amplitude within a
cell in which an appropriate confining pressure has been
applied. The exciting frequency is varied and the ampli-
tude of deformation in the soil is monitored at each
exciting frequency in order to detennlne the resonant
frequency of the soil column. Símple elasticity equations
for vibrating rods are then used to compute Grou· The
readeris referred to Richart, Hall, and Woods (rei. 12)
for a complete description of the resonant column test
and the .appropriate elasticity equations.
Field and/or laboratory shear modulus determinations
should be performed for each specific project wherever
possible. As a means of checldng field and Iaboratory
mcasurememsJ published correlations hetween Gm.u and
G and the various fac.tors listed ear]ier, deveioped
through resonant colu;nn and very low~amplitude cyclic
triaxial and simple shear tests, should be consulted.
These correlations can also be used as guidelines for
cakulating the shear modulus value in the absence of
àirect measurements; however, shear raodulus obtained
only from published correlations must be considered to
be relatively uncertain, and the structure~soil system
should be analyzed assumíng that the shear modulus ( or
spring constant) can vary within a large range both
above and below the calculated value,
Severa! sígnificant published corre!ations for shear
modulus are summarized in the following sections:
Published Correlalíons: Sands and Graveis. Hardin
and Richart (ref. 8) published criteria for the shear
modulus of dry or saturated sand derived from resonant
columr., tests conducted at or below a shear strain leve!
that v.rould occur under most foundations for vibrating
rnachinery. TI\'>'◊ expressions for G were obtained. For
round grained sands where the void ratio is equal to or
less than 0.80,
= 2630(2.17-,)' r::; Jº·º
G (psi)
1 +e \.(ffJ
(4-2)
a:1d for angular sands,
G (psi) l + -eJ' r.;
1230(2.97
e ,u,
Jº·' (4-3)
where e = void ratio 1
<T 0 = octahedral (or mean) normal effective stress in
psi, given by Equation 4-4.
(4-4)
where U~ = vertical effective stress in psi,
Uh = horizontal effective stress in psi>
= Ko&~
ln order to obtain Ue, the vertka] effective stress in
the soil in question is computed by surnming component
stresses due to geostatic and appiied loads (specifically
considered IaterL and the horizontal effective stress is
then computed by multiplying the vertical effcctive stress
by the earth pressure coefficient at rest 1 Ko; which
according to Brooker and Ireland (ref. 2), is a funcw
tion of the plastícity index of the soil and the overcon-
solidation ratio ( OCR). The overconsolidation ratío for
an element of soil may be defined as the ratio of the
maximum past effective vertical stress (approximately
equal to the preconsolidation pressure indicated by a
one-dimensional consolidatíon test) to the present total
vertical stress minus the free pore fluid pressure <Tv,
Curve.,o; reiating K 3 to plasticity index and overconsolida-
tion ratio; developed by Brooker and Ireland, are given
in Figure 't-5.
Seed and Idriss (ref. 14) have presented a slightly
different correlation:
G (psi) =83.3 K, (rr,) '·' (4-5)
where Ki is a factor which depends on relative density
(Dr) and shear strain amplitude, as shown in Figure 4-6,
ln situ relative dens.ity is often detennined for sands
by conductir.g standard peneration tes:s and correlating
penetration resistance {or "blow count") to relatíve
density. Typically, an approximate correlation ma.de by
Gibbs and Holtz (ref. 6) .is utilized for saturated soils
(Fígure 4-7). Similar correlations are also given by
Gibbs and Holtz for aír-dry and rnoíst sands. Care should
be exercised in applying the correlation of Figure 4-7,
particu!arly for '(dirty11 sands ( sands containing more
than 5% fines), since considerable data scatter is evi-
dent and since the correlation is based only on tests for
two soils. Factors not explicit!y included in the Gibbs
and Holtz correlationsl such as ang:.ilarity and gradation,
are known to have an effect on penetrat:.or: resistance.
 Geotechnical Considerations 65

3.0
Thus, if it is economically justifiablei it is rccommended
V OVERCrSOUDATION RATIO- O C.R that a "calibration" be made by conducting a series of
"'-
2.5
I
/
----z r---........ penetration tests and recovering undisturbed samples of
sand near the test points. The relative density can then
be assessed from the measured dry density of the samples.
~
~
ln such a case extreme care must be taken to determine
/ - -------
----- ---- the maximum and minimum dry densities according to
appropriate published American Society for Testing and
4 Materials procedures. ln effect, a correlation similar to
, the one shown in Figure 4- 7 is thus developed specif-
~ - 1 ically for the soils at the site being investigated.

Example. Standard penetration tests are conducted on

a stratum of clean, mediumi round-grained sand 30 ft
10 20 30 40 50 60 70 80
below the soil surface, which is at the base of a very
PLASTIC\TY 1NOEX
large 20-ft-deep excavation. The penetration resistance
Figure 4-5. Relationship of K, to Plasticity lndex
is 16 blows per foot. The unit weight of the sand being
and OCR (after rei. 2). Reproduced by permission
oi the National Research Council oi Canada from tested and overlying soil is 117 pcf, and the void ratio
the Canadian Geotechnical Journal, Vol. 2 (1965), of the soil being tested is 0.65. The water table is situ-
pp. 14. ated 10 ft below the bottom of the excavation, and the
sand is known to have been normally consolidated prior
to the time the excavation was made. What is the in situ
60 shear modulus at the point where the penetration test is
conducted?
50
Using Equation (4-2):

K2
• 40 iY,= 10(117) +20(117-62.4) =2262psf= 15.7psi
Maximum past iiv (assuming constant water table posi-
(sonds) 30
tion) =30(117) +20(117-62.4) =4602psf=32.0psi
20
OCR = ~;:~ = 2.0
10 K, (Figure 4-5, plasticity index = O) = 0.6
o =
u0 = 0.333 (15.7) [1 + 2(0.6)] 11.5 psi
10-• 10-• 10-• 10-•
Sheor Stroin ( ~ )
G = 2630(2.17 - 0.65)' ( l 1. 5 ) ,., = 12 ,490 psi
• lf gravei, mu\liply by 1.5 - 2.0
1.65
Dr: re!otive densi1y Using Equation (4-5):
D, (Figure4-7) =75%
Figure 4-6. Relationship of K 2 to shear strain ampli-
tude and relative density (alter rei. 14).
K 2 (shear strain at right-hand edge of crosshatched
area, Figure 4-6) = 50
çso~-----------~--~--~~-~ G = 83.3 (50) (11.5)º·' = 14,120 psi
~ SIITIJRATEO r.lEOIU!,! SANO, 010•,35 mm
3= SATU~ATED FINE SILTY SANO, o;.035mm As is demonstrated in this example, the Hardin-Richart
1
340f---,---.----+---+---+-r---+----I and Seed-Idriss approaches usually yield somewhat dif-
!'o
w
u ferent values for G.
2
~3of-----+---+--+--+T'---+--:,',i-L----t
;J;
w Published Correlations: Saturated Clays. Hardin
~2of-----+---+----bL--+-:r'-+.=:----+----t
2 and Drnevich ( ref. 7) obtained detailed correlations
o
t; between the shear modulus of clays (and sands) and
~ 10 f-----+--:-,.L+-:o--+--+'--="+=---t-c----t ( 1) void ratio, ( 2) effective octahedral normal stress,
w
2
w
~
(3) overconsolidation ratio, and ( 4) strain amplitude by
conducting laboratory resonan t column tests on speci-
mens of natural soil that had been sampled with thin-
RELATIVE OENSITY, Dr. % walled sampling <levices. The results are expressed as
Figure 4-7. Relationship oi relative density to stan-
2
dard penetration resistance and eflective vertical
1230 (2 .973 - e) (OCR)' '- )º·' (4-6)
pressure in saturated sands (alter rei. 6). (1 + e) \ffe
 66 Design of Structures and Foundations for Vibrating Machines

where k = plasticity constant dete·rmined from Table 4-7. Table 4-7

The value of Cmax in Equation ( 4-6) corresponds to Values of k
the shear modulus at a shear strain amplitude of about
0.25 X 10- 4 %, which is generally below the amplitude
Plasticity lndex k
appropriate for use in analysis of foundations for vibrat-
ing machinery. ln arder to obtain the value of G corre- o o
sponding to the correct strain magnitude, Equation (4-7) 20 0.18
40 0.30
must be employed. 60 0.41
80 0.48
2: 100 0.50
(4-7)

where y is the desired shear strain magnitude expressed

as a percentage and Yr is a "reference strain" defined
by Equation ( 4-8) :
(4-8)
If the effective vertical stress õ\,, the effective stress
coefficient of earth pressure at rest K 0, the effective
cohesion C, and the effective stress angle of internal fric-
tion f are known, Tmax can be evaluated by using the
Mohr-Coulomb failure theory. The quantity Tmax is
defined as the shear stress on a horizontal plane at failure
for the case wherc failure is induced by application of
shear stresses on the horizontal and vertical faces of a
soil element, from which, for an initial anisotropic state
of stress:
+
l ~K, -<Tv sm
. -cp + -e cos -),
cp -
Tmax
[(~ -
2
(4-9)
The quantity õ\, is usually evaluated as the total verti-
cal geostatic stress (av) minus the pressure in the free
pore fluid ( u), which is a valid definition for sands, nor-
mally consolidated clays, and lightly overconsolidated
clays. However, in heavily overconsolidated clays õ'v may
exceed av - u, which creates more difficulty in applying
the results of the calculations. The OCR term in Equa-
tion ( 4-6) is an empirical parameter which minimizes
this effect if ci, ( Equation ( 4-6) ) ando', ( Equation (4-9) )
are always defined as total stress minus free pore fluid
pressure. Therefore, õ'0 and õ'v can be evaluated from
results of routine borings and laboratory tests.
The value of K 0 again can be determined from
Figure 4-5. The shear strength parameters C and f can
be evaluated from static, consolidated-undrained
strength tests in :which pare pressures are measured or
from static, consolidated-drained strength tests.
Example. A sample of saturated clay is recovered from
a depth of 15 ft. Its total unit weight, as well as that for
the overlying soil, is measured to be 125 pcf. Piezorneter
tests in the borehole indicated a piezornetric surface
( water table) depth of 5 ft. A consolidation test is con•
ducted on the sample, which yields an indicated precon•
.solidation pressure of 4000 psf and an initial void ratio
of 0.60. The plasticity índex of the clay is measured to
be 30.
A set of consolidated.undrained triaxial compression
tests is then conducted on the soil in which confining
pressures are in the order of iiv, and C and ~ are found
to be 3 psi and 20 degrees, respectively. What is C at a
shear strain amplitude of 5 X l0- 3 %?
u, = 15(125) - 10(62.4) = 1251 psf = 8.69 psi
OCR = 4000psf = 3 2
1251 psf ·
K, = 0.9 (Figure 4-5)
u, = 0.333 ª" (1 + 2K,) = 8.1 psi
k = 0.24 (interpolated from Table 4-7)
2 5
Gm,x = 1230 [(2.973-0.60) /1.60] (3.2)º·" (8.1)'·
= 16,288 psi
Tmu [(1.9/2) 8.7 sin 20º + 3 cos 20º)'
- ((0.1/2) 8.7) 2 ]°" 5 = 5.63 psi
G is desired at a shear strain level of 5 X l O- 3 % :
1', (rmu/Gmu) X 100 = (5.63/16,288) X 100
= 0.0346%
G 16,288/(1 + 0.005/0.0346) 16,288/l.14
= 14,288 psi
Note that G is about 88o/o of Gmax) which is a typical
reduction for shear strains in the usual range for rnachine
foundations.
Seed and Idriss ( ref. 14) have shown that the shear
moduli calculated from the Hardin-Drnevich equations
underestimated in the in situ shear moduli by factors of
4 and 14 for t\'.ro soft normally consolidated marine clays
with void ratios exceeding 1.6. This effect has been

observed by others as well, leadíng to the conclusion that
the Hardin-Dmevich equations should not be expected
to correlate weil with in situ moduli for marine soils
with high void ratios and for soils of otheI'Wise relatively
high sensitivity. For such soils it is advisable that the
shear modulus be determined directly from in situ tests.
Aitematively; the results of laboratory resonant column
tests can be emplayed for sensitive clays, provided the
effect of sampling disturbance can be estimated in a
rational way. Anderson and Woods (ref. 1) have shown
that all soils experience a slow, time-dependent increase
ín shear modulus as measured in a resonant column
<levice after an initial disturbance. This increase appar-
ently occurs as a result of reestablishment of a stable soil
fabric followíng sampling or other distucbíng processes.
The indícated shear modulus generally plots in a straight
line as a function of the Jogarithm of time after .initial
confinement in a cell, For cohesive soils, Andersen and
Woods have found that
(Ll.G/G1000) (%) = 2 exp (l.7-0.25s. + 0.37e), (4-10)
where Ll.G ( %) = the increase ín shear modulus per log
cyde o-f time .in min 1
G1ooo ;:::; shear modulus obtained after sample ha.s con~
solidated in a cell for 1000 min ( approximately
the value that would be predicted using the
Hardin-Drnevich equatioru),
s, = undrained shear strength of the soil ín kg/ cm'
or tons/ft, 2
e= initial voJd ratio of the soil.
Factors such as magnitude of confining pressure do
not play a major role in the rate of tírne-dependent
increase in the value of shear modulus, or ''secondary
gain.i, Examination of Equation (4-10) indicates that
t:he rate of secondary gain increases with increasing void
ratio and decreasing shear strength, which is consistent
wíth the observation of Seed and Idríss that the Hardín-
Drnevich equations, which do not account for sampling
disturbance, underpredict the shear modulus in soft clays
with high void ratios,
Equation (4-10) can be used to convert in an approxi.
mate fashion the shear modulus measured by short time~
of•consolidation lahoratory resonant column tests, and
possibly that predicted by the Hardin-Drnevich equa-
tion, into an equivalent value representative of the unw
dlSturbed soil. The value of Gmax can be obtained from
Equation (4-10) as
(4-ll)
Geotechnical Consideratíons 67
where N G is the number of log cydes of tíme Ín min
(beginning at 1000 min) requíred for the soíl fabric to
reestablish itself as it existed in situ prior to sarnp!ingi
using 1000 minas the point of reference. The correction
can also be applied dírectly to G wíth little error. For
soils of the type being considered, the appropriate time
requíred for complete fabric reestablishment depends
mainly upon the mineralogical properties of the soiL
Very little data exist relative to this point. HOVfever1 if
ali the fabric reestablishment is as.surned to be due to
thixotropy, as suggested by Anderson and Woods, experi~
menta! relationships developed by Skempton and Northey
(ref. 13) can be used to obtain order of magnitude
values for the time in question. For soils whose sensiM
tivity is less than about 8 ( moderate sensitivity), Skemp•
ton and Northey indicated that disturbed soils appear to
regain their in situ strength {and by implication their
in situ structure) in a period approximately equal to the
geological age of the deposit. Using the above ohserva-
tion as a criterion, Na can be defined by the following
equation:
Na= 2.72 + log,,A., (4-12)
where Àv = age of deposit in years.
Equation (4-12) does not apply to heavily overcon•
solidated ciays, whose structure is not significantly
changed by the sampling process, nor does ir apply to
soils whose sensitivity exceeds about 8. For the latter
class of soils, no reliable methods exist to predict Na.;
therefore, only in situ tests should •be used to obtain the
shear modulus. Furthermore, such soils should be avoided
altogether as founding strata for structures supporting
vibrating equipment whenever possible.
Example. A deposit of slíghtly overconsolidated clay
on an industrial site adjacent to an estuary is lmown to
be 10,000 years old. Soil recovered lrom lhe deposit
from a depth of 30 ft has a shear strength of 500 psf
(0.25 kg/ cm') as determined by unconfined cornpression
testing. The soíl has an in situ void ratio of 1.6 and a
sensitivity of 6. Resonant colwnn tests yield a value of
G of 2000 psi. v\'hat is the corrected in ritu s.hear
modulus?
To correct the computed shear modulus, use Equa-
tions (4-10), (4-12), and (4-ll):
(AG/G,,,,) (%) = 2exp [1.7-0.25(0.25)
+ 0.37 ( !.6) J
= 18.6%
Na= 2.72 +log10 ( 10,000)
=6.72
68 Design oi Structures and Foundations for Vibrating Machines

G = [6.72( 18.6/100 + l] 2000 little effect on G, Hence, values of G measured in situ

= 2.25(2000) = 4500 psi or computed on]y from geostatic stresses need be used.
Uniform deposits of such soíls generally posses, a reason-
Seed and Idriss suggest that shear modulus be cor- ably uniform shear modulus with depth so that it is
related directly to undrained srrength in an attempt to usually not necessary to evaluate the modu]us at a criti-
circumvent the sampling disturbance problem, primarily cai depth.
because strength is affected much less than modulus by When the founding soil consists of a nonnally consoli-
sampling. The shear modulus G was correlated to un~ dated clay ( which is a rare circumstance) or a clay
drained shear strength S-u for a number of clays by Seed which will become normaliy consolidated after the load
and Idriss. For low straín leveis s11 , as obtained by has been applíed and excess pore pressures dissipate, the
standard static tests, was correlated with G obtained shear modulus will incre-ase with time) and two shear
from in situ séismic tests, For hígh~strain Ievels Su was
correlated with G obtained from a variety of laboratory
3000
tests, whose results were corrected by multiplying lhe 1t!tl0
value of G obtained ín the test by a factor of 2.5 to
account for the effects of sampling disturbance, The
100
""'
results of the correlations, whích are shown in Figure lt 300
4-8, yield a simple procedure for estimating G from s,
100
standard static laboratory tests.
30
Calculation oi Shear Modulus
for Structure-Soíl lnteraction Analysis 10
t0·• 10-•

Since the shear moduius is a function af. effective con~

Figure 4•8. ln situ shear modulus for saturated clay
fining pressure (ir,) for both sands and clays, the value (after ref. 14).
of the shear modulus is inlluenced by both the geostatic
stress and the net bearing stress produced by the struc-
ture. Therefore, the static vertical stress produced in the EOGE OF FOOTING
soil by the structure should be added to the geostatic EQIJIVAt.an C:!A:CVLAR
FOOT!NG
vertical effective stress ,when calculating i'\' and Üo and
subsequently G from Equations (4-2), (4-3), (4-5),
( 4-6), and (4-9) or when computing confining pressures "GE0STAT1c VERTICAL":.._.....:s:-----H
for resonant column tests. The principal exception to EFFECT!VE STRESS ~

this statement is that only geostatic effective stresses need 2:. VERflCAL STRESS ô a-y
01.>E ro ttET STATIC BEARING. _ __:,,__
be considered for overconsolidared clays which remain STRESS 0N FOOTING - SEE -
800S51NESQ CHAR1 eEL.OW
overconsolidated after being loaded by the structure.
Furthermore, static machíne and foundation weights can ?i. SUMMATION OF 1 ANO 2 iãy} _ _ _ _:s;:-11-\f-_,.u
often be neglected in practice when evaluating Equation
( 4-9), since their effects on shear modulus reduction are
small. "vm;._.f',
For reasonably uniform soils, it is sufficient to evalu-
..
~z
ate the shear modulus for purposes of calculating soil O 1
o ...._ QotNET STATIC
spring constants at only one characteristic depth d, be-
, 1/
77T 8EARfNG
low the ground surface, as shown in Figure 4-9. For PRESSURE)

freedraíning soils, it Is usually aooquate to set õ', in the

various equations for shear modulus equal to <fvmin., also z /
t
T,
defined in Figure 4-9. Sínce K, is needed in the ca!cula- •
tion of ii,, OCR, which is nceded to obtain K, should
be computed by íncluding the effect of the vertical 3
/
80USS1NESQ CHART
stresses from the structure, that is, by setting Uv equaJ lAFTER HARR, REF, 9l
to ã,m,n (Figure 4-9) in the definition of OCR. IMPOSEO STRESSES BENEATH
If the soil is an overconsolida.ted clay which remains EOGE Of FOOT1NG
overconsolidated after loading, the ímposed stresses have Figure4-9. Determination ofu=1,.
 Geotechnical Considerations 69

modulus values and consequendy two spring constant

values should be obtained and used in the analysis; first,
for the unconsolidated~undrained condition which exists •~"t~
immediately after the static load is applíed, and, second,
for the fully consolidated condition which occurs at
·l,<Z',

.,::·. ·. : :t~ .··'. ,:_;:_:_;'-

0 0
c.'4.:..-.L..C.....-l
'mio •49ôp,! ~ 1,
some time in the futurc. The shear modulus for the . ÚNiFORM-· .·: .·
·'.FREE'DRAIN!NG
fonner condition should be eva1uated using only geo- >.NORMALLY '. , '-\ e
static stress conditions {in which case de corresponds to ·-CONSOLIOATEO \
. ·,OENSE. SANO· \
the depth o{ the base of the footíng) and soil properties
that exist just prior to placement of the structure. Thc
.:e·=o:s4 · B
·X" 121 pcf
shear modulus for the Iatter condition should be eva!u~ >D,= 80%, '. A
ated by the method described above or by assessing the ·.'~=9.4 '. ·:·.
new undrained shear strength at depth de beneath the 2 O 400 600
edge of the footing at the end of consolidation and usíng
VERTICAL STRESS 1N PSF
Figure 4-8.
Example. Determine k, and k~ for the footing shown Figure 4-1 O. Footing for example calculations of soil
spring constants.
in Figure 4-10.
Assumlng that the unit weight of the concrete and
unit weight of djsplaced soíl are equal, the net static
Table 4-8
bearing stress at the base of the footing is Typical Values for Low-Strain-Amplltude Shear Modulus
=
25,000/,r4' 491 psf
Using the Boussinesq chart in Figure 4-9, the plot o( Sol! Type Shear Modulus (pai) ,_,.,7 ryf'
induced vertical stress at the edge of the footing is made
Soft Clay 3,000- 5,000
(Line A}, The geostatic vertical effective stress is plotted Stiff Clay 10,000-20,000
as Line B. Finally, the stresses from Lines A and B are Very Stiff to Hard Clay ~201000
Medium Dense Sand* 5,000-15,000
added to produce Line C. It is observed that d, is at the Dense Sand* 10,000--20,000 .e:
=
base of the footing and that õ',mtn 490 psf = 3.40 psi. Medium Dense Gravel• 15,000--25,000
20,D00-40,000
Since the sand is normaJly consolidated, K 0 0.4 = Dense Gravel*

(Figure 4-5), and *For shallow depths.

a,,= 0.333(u, + W,)
= o.sss [3.40 + (2) (0.4) (3.40) J
= 2.04psi
Using the Seed-Idriss correlation, and assuming a
shear strain leve! of 3 X 10-'%,
G = 83.3K,(ü,)'·'
= 83.3(52) (2.04)'·'
= 6187 psi
Assuming that embedment is effective (footing is cast
against undisturbed soil or dense backfill is provided) ,
k,= [4Gr,/(I - v)][I + 0.6(1- v) (h/r0 )]
=
[4(6187)4(12)/0.6][1 + 0.6(0.6) (2/4) J
= 2.34 X 10' lb/in.
and k; = [8Gr '/3(1
0 -v)](l + 1.2(1 - v) (h/r,) +
0.2(2- v) (h/r,)']
= [8(6187)48'/3(0.6) J[l + 1.2(0.6) (2/4) +
0.2(1.6) (2/4)']
= 4.26 X 10' in.-lb/rad.
Typícal ranges oi values of low-strain-amplitude shear
modulus for severa! soils are given in Table 4-8 for the
purpose of general infonnation. Table 4-8 should never
be used as a substitute for a rational determination of
modulus values.
Seleetion oi Shear Strain Magnitude for Computing
Approximate Shear Modulus Beneath Footings
Since the shear modulus is a function of shear strain
magnitude, it is necessary to obtain an estimate of the
appropriate value of shear strain magnitude to use in
calculations of soil spring c.onstants. The authors recom~
mend the following approximate procedure for vertical
loading, which is based on an analogy with static
oonditions:
l. Select a shear strain amplitude in the range of the
crosshatched area of Figures 4-6 and 4-8, and
compute G.
2. Conduct the structure~soil interaction analysis and
determine the transmíssibility factor T, from Table
1-4 for the forcing frequency desired.
3. Multiply the unbalanced vertical force by the tran&•
missibility factor and divide the result by the COO•
tact area of the footing to obtain the dynamic
bearing stress q,.
70 Design oi Struclures and Foundations for Vibrating Machines

4, The approximate average shear strain y in a centrai LO

---
block of soil below the footíng of dimensions '-.
0.5
2r, X 2r, (horizontal) X 4r, ( vertical) is given by ,2 ..... 1
Eq. (4-13).
õ ~ IIEAilCAL

' ,, -~
O'.
0.2
e SLtOtNG
"!(%) 12 q,/G (4-13) ·to \ ' ,, , __
O.! ' ,,
Equation ( 4-13) presumes q, to induce the sarne strains
Cl
,, ... _"""'ll:-::.: 1-TORS!ON

in the soU as it would jf it iWere acting as a static stress

(ref. 10). Of courre, the strains due to a dynamic bear-
u

i
.05
' ',·r-.....-ROCKJNG
- ........! , __
-----
01 .02
ing stress emanate as waves, making Equation (4-13)
nonrigorous. Nonethe!ess, Equation ( 4-13) will yield
"' .OI
o 2 4
,_
-- ·-5 6
order~of-magnitude strain levels that are suffi.ciently Bz, Bx,Be 1 or B♦
aceurate for most analyses. Therefore Equation ( 4-13) Moss Rorio or lnertio Rotio
may be used to verify the assurned value of G (Step 1).
Figure 4· 11. Geometríc dampíng ratíos for four
li the assumed and computed shear strains differ sig-
modes of loading. After Ríchart, Hall, and Woods,
nificantly, these !our steps should be repeated iteratively,
rei. 12. Reprinted by permissíon oi Prentice-Hall,
using the value of y computed on the preceding trial to
lnc., Englewood Clíffs, NJ.
obtain G rfor the present triai, until the strains dose to T
within an acceptable difference.
If a particularly precise analysís is warranted, the
approach described above should be abandoned in favor
of a more comprehensive technique, such as the tinite
element method, in 1Which complete modeling o! a rele-
vant volume of the soil and its constitutive relationships
i,5 considered.
It should be pointed out here that the shear strain
magnitude beneath a footing should be taken as that
produced only by the dynamic component of the footing
load. The static shear strain should be neglected, since Figure 4-12. Definitlon oi ma-
it in effect only provides a nonzero strain level about terial damping (alter rei. 7).
which the dynamic strain is cyeled. The small straín
shear modulus re1ative to that nonzero reference is testing. After the soil has been vibrating in a steady-
generally about the sarne as the small strain modulus .state condition, the exciter is stopped and the soil vibra*
relative to a reference levei of zero s:train. tions are monitored as they decay. The displacement~
time relations.hip is essentially sinusoidal, but with the
Damping Ratio amplitudes decreasing with time. If two successive
amplitudes are z1 and z 2., then
Damping in a soil-foundation sys:tem consists of a
geometric component, whlch is a measure of energy D,,. = (ln [c,h;,]) [4ir2 + (ln ki/z,])' ]_., (4-14)
radiated away from the immediate region of the founda-
tion, and material damping within the soil, whích ís a Additional procedures are described by Richart, Hall
measure of energy lost as a result of hysteresis effects. and Woods (ref. 12).
Geometric dampíng ratias have been sho,wn at the be- Seed and Idriss ( ref. 14) bave she>,Wn that material
ginning of thi, chapter to be related to the mass or damping in soils is primarily a function of strain ampH-
inertia ratio of the system through the use of elastic tude and soil type. Figure 4-13 gives typical values for
halfspace theory. Relationships between mass and inertía material damping proposed by Seed and Idriss.
ratios and the geometric damping ratio are shown for ln arder to obtain the total soíl-foundation system
the four uncoupled modes of motion in Figure 4-11. damping ratio Dt: the geometric and material damping
Material damping is defined in Figure 4-12. It is seen ratios may be added directly. Since the material damp-
to be proportional to the ratio of A 1,_, the area of the ing ratio is significant relative to the geometrlc damping
soil hysteresís loop in simple shear (energy lost), to Àr> ratio in rotational modes, the total dampíng ratio,
the crosshatched area ( energy input). Material damping rather than the geometric dampíng ratio, should be used
ratlos can be obtained as a part of resonant column when analyzing the response of foundations in those

-~ 0.15 ~-----..>.'-'
ã
a:
.[ O.IO>f----------f'""'-
E D, = 0.49 (M/ pr:)-º·'
0 .... , ........... ,,,
o
Shear Strain in percent
Figure 4-13. Material damping ratios for sands and
clays (alter ref. 14).
medes. On the other hand, material damping is small
compareci to geometric damping in the translatory
medes and may often be disregarded. The exclusion of
material damping from an analysis will result in ampli-
tudes that are too high, especially at or near resonance 1
and resonant frequencies that, for rotating mass excita-
tion, are slightly too low.
Example. The inertia ratio Bip for a machine-founda-
tion system undergoing rocking oscillations and resting
on a saturated clay subgrade is determined to be 1.3.
How does material damping influence the deformation
at resonance and the resonant frequency?
According to Figure 4-11, the geometric damping
ratio of the system is 0.05. If the material damping
within the clay is neglected, the amplitude magnification
factor for rotating mass excitation (Equation 1-43) is ap-
proximately 10 at resonance. Further,
/,,., = (1/y' 1 - 2D')/,
= 1.0025 t.
lf material damping is considered, according to Equa.-
tion 1-43, its value should be approximately 0.03 in the
typical range for machine foundations. Hence,
D,=D+D,,.
= 0.05 + 0.03
=0.08
U sing the value thus obtained for total system damping
in Equation 1-43, the amplitude magnification factor is
reduced to approximately 6. Also, using the total system
damping factor of 0.08,
=
f,,., 1.0065 t.
Consideration of material damping thus reduces the
rotatlonal amplitude at resonance by about 40%, but
has only a minar effect upon the resonant frequency.
Other effects, discussed in Chapter 5, may also have
an influence on fmr and amplitude of motion ín the
rocking mode.
Geotechnical Considerations 71
Whitman (ref. 18) has proposed that the effects of
geometric and material damping be combined and that
the total damping ratios be computed as follo;ws:
Vertical Translation Mode:
(4-15)
Horizontal Translation Mode:
D, = 0.31 (M/pr,')- 0 ·' (4-16)
Rocking Mode:
D,= 0.05 + 0.1 ([I;/pr,']º· 5 [l + (I,/4pr,')l)- 1
(4-17)
where M = mass of foundation plus mass of structure
or machine vibrating in phase with the
foundation,
r0 = effective foundation radius,
11/1 = mass moment of inertia of foundation plus
that part of structure or machine vibrating
in phase with the foundation about a hori-
zontal axis through the base of the founda-
tion perpendicular to the plane of rocking,
p = total mass density of the soil (unit weight/
acceleration of gravity).
When the foundation -being analyzed is a rigid footing
within a multi-degree-of-freedom structure and to MThich
vibrating machinery is not directly attached, it is con-
servative to calculate Dt from the above equations as-
suming that M is the mass of the foundation alone.
Under the sarne circumstances, when the geometric
damping ratio is determined from Figure 4-11, mass and
inertia ratio arguments may be computed from the mass
properties of the foundation alone.
Whitroan's proposed values for total damping ratios
can be seen to be somewha t lower than the geometric
damping ratios given by Figure 4-11. This apparent
anomaly is due to the fact that Whitman's expressions
represent lower envelopes to available test data and
implies that geometric damping in a prototype may be
less than that predicted by halfspace theory, possibly
because of layering and boundary effects.
Selection of Poisson's Ratio and Soil Density
Soil-foundation interaction problems are relatively in-
sensitive to the values chosen for v and p. Generally,
Poisson's ratio can be selected based on the predominant
soil type using Table 4~9. lt is also possible to obtain a
value for Poisson's ratio by measuring independently the
shear modulus ( G) in a laboratory torsional resonant
72 Design oi Structures and Foundations for Vibrating Machines

Table 4-9
Typical Values for Poisson's Ratio
(1)
WJ
Soil Type , Cl
4
o
:li:
~
Saturated Ciay 0.41Hl.50
Partiaily Saturated Clay Q.31HJ.45
Dense Sand or Cru vel 0.4 -0.5 ..J
Medium Dense Sand or Gravei 0.3 -0.4 ..J
<(
Silt 0.3 -0.4 3
8
.e•
••
r:f 2
column test and Young's modulus (E) in a laboratory
....
longitudinal resonant column test, Assumíng isotropy,
õ
1
v = (E/2G) - 1 (4-1B) o 0.5 1.0 1.5 2.0
Embedment
Soíl mass density values should always be calculated Radius
from the total unit weight rather than the buoyant unit Figure 4-14. Effect of embedment on damping (alter
weight beca.use the density term in the mass and inertia rei. 15).
ratío equations always represents soil undergoing vibra-
tlon. Total weights are used because both the solid and
liquid phases vihrate.
-~
Cl
o
::;;
Effect of Footing Embedment ..J
..J
Analytical expressíons have been given in Tables 4-2 ~
and 4-4 that are to be employed as multiplíers to the
equivalent spring constant and geometric damping ratio
values whenever the footing is embedded, A foundation
should be considered as Hembedded," h01Wever1 only if
it is cast against undisturbed soil or jf it is formed and O~---'----~--~--~
backfilled carefully with a high cornpactive effort using o 0.5 1.5 20
soils with Jow shrink-swell potential. Casual backfilling
Embedment
is ineffective,
Radius
Stokoe and Richart (ref. 15) studied the response of
rnodel circular footings embedded in a dense, dry, poorly Figure 4-15. Elfect of embedment on resonant lre-
graded sand to vertical 1 horizontal, and rocking excita~ quency (after rei. 15).
tion. Two sets of tests were conducted: one in which
the embedded footings were ca.1t against the soil and since the response of pile foundations is sharply peaked
one in which a small air gap existed between the soil at resonance in all modes, Cap embedment in cases
and the sides of the footing. Tbe results, which were where significant lateral loading occurs in the piles is
relatively consistent for all modes of loading, are sumM especially important: since resonant displacements can
marized in Figures 4-14 and 4-15. often be excess.ive without the damping and load trans-
It is evident that proper embedment had a significant fer provided by the cap. This problem will be addressed
effect on both total damping and resonant frequency, in greater detail in Chapter 5.
while embedment without adequate lateral support was
essenti.ally ineffective. Effect of Stiff Underlying Stratum
The benefits of proper footing embedment are espe-
cially pronounced for the rocking- mode, since Dt can If the subgrade consists of a softer soil overlying an
be increased by severa! times by embedding the footing appreciably stiffer soil or bedrock within two to three
to a depth equal to or greater than its equivalent radius. footing diarneters of the base of the footing, the respúnse
It is also desirable to embed pile caps in cmr.petent soil, will be altered significantly. A stiff stratum interface wiil
 Geotechnícal Consíderations 73

reflect a considerable proportion of the energy that Table 4-10

would ordinarily be radiated away !rom the foundation, Approximato k, Variation wíth Stratum Thickness
in effect producing a lower geometric damping ratio (alter Richart, Hall, and Woods, ref. 12)
than would occur ín a homogeneous subgrade. This
effect is offset to a degree by the fact that the effective
lumped spring constant is increased due to the presence H/r, k,/[4Gro/(l - , )1
of the stiff stratum. 1 2.1
Quantitative research in the vertical response of foun~ .,
2 1.6
1,0
dations on layered media was described by Warburton
( ref. 17). Little usable infonnation is available for the
rocking and sliding modes at present; making the use
o! special modeling techniques such as the finíte-element Table 4-11
method attractive for important problems in rocking and Resonant Vertical Displacement for Stratum
sliding. Torsional response ín a layered system. is dis- Overlying Rigid Base: v 0.25 =
cussed by Richart, Hall and Woods (ref. 12).
Table 4-10 presents approximate relationships for cal- (alter Richart, Hall, and Woods, ref, 12)
culatíng k::: for various values of H /r0 , where H is the
distance from the base of the footing to the stiff soil A•• ..,..,i,an ~"
contact. The stiff soil is assumed to be lully rigid. H/r, [(3/16)/(Q,/Gr,)]
Establishment of a lumped damping ratio in this case
is difficult; however, 1When 5 ~ W/y,r 0 ' s 10 and lVh.roª = 5 10 20 30
1 s H / r, e, 2, damping in the vertical mode will be on 1 5.8 11 21 29
the order of 15% of that which would óccur were the 2., 8.0
1.2
16
1.6
31
2.2
41
2.7
subgrade a halfspace. Thus, the geometric damping
ratio, for vertical motion in the ranges defined above) W = weight -0f footinJ p1us machinery vibrating in phase.
may be expressed approximately as Qo ""' unbalanced vertical force.
G = shear modulus of soft soii.
1', = total unit weight of so{t soit
., ""' Poísson's ratio o( soft soH.
D "' 0.06/,/B, (4•19)

It is evident that material damping in the overlying Table 4-12

soil ,¼ili be important. Thus, in the analysis of a single- Resonant Froquency in Vertical Modo for Stratum
or multi-degree-of.freedom structure using lumped Ovorlying Rigid Base: v 0.25 =
spring constants and damping ratios to represent the (afler Richart, Hall, and Woods, rei. 12)
soil, the total damping ratio should be used.
The response of a single-degree-of-freedom S}'litem
undergoing vertical oscillations in layered soils can be Wh.roà fo/v'Ggh,ro'
studied in an approximate way using Tables 4-11 and
4-12, which give theoretical values for displacement at H/ro = 1 2 "'
resona.nce and resonant frequency, respectively, and con- 5 0.21 0.15
10 0.16 0.12 0.10
sider only geometric damping. At frequencies below 20 0.12 0.094 0.080
about 60% of resonance and above about 140% of 30 0.097 0.080 0.064
resonance, dynamic displacements will generally not ex-
ceed the static displacement produced by the dynamic fi> = fundamental
2
resonaot frequency (in cps if g_ is in linear
units/sec ).
unbalanced load by more than about 50%. Hence, it is
good practke to operate machíncs in those two zones,
although harmonic resonant frequencies may be detect-
able in light structures at about 3, 5; 71 • • ·~ times the of dense sand having a shear modulu, of 10,000 psi and
fundamental resonant frequency. a unit weight of 112 pcf. The sand overlies bedrock at
Example. A rotating mass machine has an unbalanced a depth of 10 ft. What is the resonant frequency of
vertical force of 250 1b at 1000 rpm. It weighs 60,000 tbe system and tbe amplitude of vertical displacement if
lb aod is supported on a rigid block foundatíon weighing material damping is neglected within the soil? How do
80,000 lb. The equivalent radius of the foundatíon is these vaiues compare with those that would be calcu-
5 ft and the foundation rests on the surface of a stratum lared if the bedrock were absent? Assume v 0.25. =
74 Design of Struc!ures and Foundations for Vibrating Machines
W = 60,000 + 80,000 140,000 lb.
W/y,r,' = 140,000/112(5)' 10.0
H/r,= 10/5=2
When bedrock is present, from Table 4-12,
A= 0.12[ <10,000) <144 l cs2.2J; <112) (2s) lº'
= 15.4 cps
= 924rpm
Then,Qo= (924/1000)'250 213Ib.FromTable4-11,
A,, m m m = 16(3/16) (Q,/Gr,)
=3(213) /(10,000) (5) (12)
= 0.00107 in.
When bedrock is absent, from Table 4-12,
/o= 0.1 [ (10,000) ( 144) (32.2) / ( 112) (25) ]'·'
= 12.9 cps
= 774 rpm
Then Q, = (774/1000)'250 = 1501b.
From Table 4-11,
A,, monam =
L6(3/16) (Q0 /Gr0 )
=3(150) /10(10,000) (5) (12)
=0.000075 in.
The resonant frequendes will increase only slightly
when material damping is considered. Hence, the reso-
nant frequendes computed above would usually be ade~
quate for design purposes, Because of material dampingi
and because even a bedrock boundary is not truly rigid1
the dísplacement amplitude for the layered system is
overestimated by using Table 4-11.
Effect of Stratum of Loose Granular Soil
It is considered to be generally poor practice to situate
footings supporting loads from vibrating machinery on
cohesive so~ which will consoHdate under the static
load or on granular soils having a relative density of
less than 70-75%, ln granular soils having Iow relative
density, problems with permanent settlement due to
compaction can occur. In cases where soils with ade-
quate reiative densities are not found, the soils should
be stabilized mechanically by vibroflotation: CTM) terra
probing/TMl dynamic compaction_; vibro-replacement,
rernoval and replacement, or similar techniques ( ref. 21)
to increase the relative density to the appropríate value,
Chemical stabiHzatíon .Is not generally economical but
may be used in certaín cases. \Vhen stahilization is not
economical, a carefully designed deep foundation systeru
should be used.
Pennanent settlement due to vibration is generally not
a problem in clays because cyclíc stresses transmitted to
the subgrade in a well-designed facility are seldom suffi-
cient to generate pore pressure of a magnitude which
would either affect consolidation or reduce the shear
strength of the clay to the poínt where cyclic sbear
failure (fatigue) could occur. Similarly, liquefaction or
cyclic mobility will seldom occur in waterbearing sands.
The designer is occasionally faced with a stratigraphíc
situation in which the majority of the soil profile con-
sists of either clays or very dense sands, but whích con-
tains one or more layers of silt, sand> or gravei havíng
a relative density of less than 70-7 5%. If such layers
occur at a significant depth below the ground surface,
the only practical ahernative to a shallow foundation
system may be a pile or píer foundation, which would
be expensive, and ,which, i.f not proper!y designed and
installed, could lead to worse performance than the sha!.
low foundation alternate. Therefore, it becomes incum-
bent on the designer to assess the permanent settlement
that would occur beneath the shallow foundation due to
vibration-induced compaction in the looser layers. Un-
fortunately, no rational methods are known to the
authors to have been published regarding estimation of
permanent settlements of this type. Therefore, an ap-
proximate method which has been found to provide a
reasonable estimate of the permanent settlement due to
vibration is described below.
L Undisturbed samples are reco-vered from near the
middle of the subject stratum. The in situ efl'ective
octahedral nonnal stress is estimated (Equation
4-4) , and the specimen is su:bjected to a drained,
controlled stress cyclic triaxíal test in wbich the
applied cydic or udynamic,, stress rrd.. is a simple
percentage of the confiníng pressure acJ which is
set equal to the in situ octaJ:iedral normal efl'~ctive
stress. The test ís conducted at about 5 cps con-
tinuously for severa! days, and a plot of number of
stress cycles (log scale) versus pennanent .axial
strain is made for the value of a,ju, (,\) used in
the test. Typical results are shown in Figure 4-16.
According to D' Appolonia ( ref. 4), the relationship
will be linear, so the test results can be extrapolated
to the number of cycles anticipated for any period
of service for the machine.
2. Repeat the procedure described above for other
samples with varying values of "' ( and tberefore !,. ) .
3. Determine the mean dynamic stress amplitude
transmitted to the soil by the vibrating equipment
by usíng Table 1-4 for a range of shear moduli,
and divide the transmitted forces so obtained by
the contact area of the base of lhe foundation.

4. For the largest value of transmitted force compute
a,for the prototype as the vertical stress at the
center of the subject layer directly beneath the cen-
of the foundation assuming that the dynamic con-
tact stress amplitude computed in Step 3 is dís-
tributed within the soil accordíng to Boussinesq
theory. Limited evidence ( e.g., ref. 5) indicates that
the use of Boussínesq theo.ry1 though nonrigorous
in a dynamic sense, is sufficiently accurate consider-
ing the magnitude of uncertainty of the other
variables.
5. Compute À for the value of a,
obtained in Step 4,
and determine the permanent vertical (axial) straín
in the layer for the number of stress cydes to be
applied in the field using a graph similar to that
shown in Fig. 4-16.
6. Compute the permanent settI-ement as the product
of the vertical strain and the layer thickness.
The procedure outlined above will wually give con-
servative results.. Caution should be used in its applica-
tion, however, particularly where reflective interfaces
( e.g., soil-rock interfaces) appear near the layer being
studied. If lhe layer being studied is thick, ít should
be subdlvided into twa- or mare horizontal subfaycrs;
settlement should be ascertained in each sublayer sep-
arately; and the sett!ements should be summe<l.
ln the absence of permanent strain soil test data, a
mathematical relationship developed for dry sand under-
going a relatively few stress cycles by Cuellar ct al.
(ref. 3) can be used. Cuellar's relationship should be
applied with caution, although results apparently will
be very conservative at the large number of stress cydes
for whích settlement is usually computed and for the
state of stress encountered beneath a víhrating footing.
The study reported by Cuellar ,t al. revealed that
permanent strain is prim.arily a function of ínitíal rela-
tive density, magnitude of shearíng strain, and number
of cycles of applied load, which may be re!ated by
,, = -(1/3m)ln [1 - my•N] (4-20)
where Ep =permanent vertical strain (negative sign in-
dicates settlement),
N = number of stress cycles,
and
m = -33.33 D,'+ 61.66 D, -20 (4-21)
n = -0.95 D,' + 2.33 D, + 0.54 ( 4-22)
in which Dr is the .relative density expressed as. a ratio
(nota percentage).
Geotechnical Consideralions 75
NUMBER OF STRESS CYCLES
;z
;I.001
t;.002
;;/ .003
~-004
lz .005
Lú
TIME >.•0.3
li AFTER O'APf'OLONIA(l970)
"
o:
w
a.
FREQUENCY.,ócps [RELATIONSHIP IS FOR
DRY OUNE SANO AT 60%
RELATIVE OENSITY ]
Figure 4-16. Eflect oi number and amplitude oi
stress cycles on permanent strain (alter rei. 4).
The quantity y is the maxímum shearing strain ampli-
tude (in percent) in simple shear. Since a símple shear
condition is not achieved beneath a vibrating footing, it
is recommended that y be taken as the amplitude of the
octahedral shearing strain at the location of and for the
stress state recommended for the procedure involving
the direct use of laboratory data. Therefore,
'Y (%) = (0/3G) (a:,) (100) = 47.J (u,/G) (4-23)
The permanent settlement of the footing is again
the product of the perrnanent vertical strain and the
layer thickness.
Settlement in granular soil is, of course, accompanied
by a decrease in void ratio, with a resulting increase ín
shear modulus. For example, according to the Hardin
and Richart correlation, a decrease in -void ratio from
0.70 to 0.65 yields a 10% increase in G. This, in turn,
leads to a 5% increase in the natural frequency of a
single-degree-of-freedorn system undergoing vertical
oscillations. Correspondíng resonance shifts can occur in
the rotary modes, which can have an effect on the long-
term performance of the foundation.
Remarks. The procedures described in this chapter
for evaluating soil properties for lumped spring constants
and damping ratios should be considered approximate.
This fact, coupled with the fact that the frequency in-
dependent expressions for spring constants and damping
ratios given earlier are themselves approximate, .makes
.it prudent to conduct structure-soil interaction analyses
for several combinations of spring and dampíng values
within a reasonable range of uncertainty to a.ssuré that
resonant conditions are not encountered or, if resonant
conditions are encountered, to assure that structural
velocities and/or displacements rernain within allowable
limits.
76 Design of Structures and Foundations for Vibrating Machines
It is impossíble to make a general staternent about tte
range of spring constants and damping ratios that should
be employed, However, in most cases it wiU be sufficient
to vary the spring constant and damping ratio in any
mode about ±25% with respect to the computed value
if high-quality, direct field and/or laboratory measure-
ments of the soil shear modulus and material damping
ratio are .made and +50% if correlative methods are
used. The above ranges are suggested for essent:ially uni-
form sites. If stratigraphic shuations are encountered for
which no adequate theoretical model exists ( such as a
footing resting on a hard, compacted1 shaliow fiJl over-
lying a sofrer subgrade or on a multilayered soil system)
spring constants may be assumed to be based on average
soil properties, but the uncertainty arísing from such an
assumption requlres that the ranges suggested above be
increased by a factor of about 1.5 to 2.0, depending on
the degree of soil variabilíty. It is evídent that, when an
uncertainty pertaining to the model occurs, soil proper-
ties should be obtained by direct measurements rather
than by correlative methods in order to obtain the best
possible values for the inputs and, therefore, reduce the
range of spring constants and darnpíng ratios that should
be considered in the analysis.
References
1. Anderson, D. G., and Woods, R. D.l "Time~Depen~
dent Increase in Shear Modulus of Clay," Journa/ of
the Geotechnical Engineeri.ng Division, A,S,C,E, 1
Vol. 102, No. GT5, May 1976.
2. Brooker, E, W., and Ireland, H. O., "Earth Pressures
at Rest Related to Stress History,U Canadian Geo~
tecknical Journal, Vol. II, No. 1, February 1965.
3. Cuellar, V., Bazant, Z. P., Krizek, R. J., and Sílver,
M. L., "Densification and Hysteresis of Sand under
Cyclic Shear," Journal of lhe Geotechnical Engineer•
ing Division, A.S.C.E., Vol. 103, No. GT5, May
1977.
4. D' Appolonia, E., "Dynamic Loadings," Journal o/
the Soil Mechanics and Foundations Division.
A.S.C.E., Vol. 96, No. SMl, January 1970.
5. D'Appolonia, D. J., Whitman, R. V., and D'Appo-
lonia, E., uSand Compaction with Vrbratory Rollers,"
Journal o/ the Soil Mechanics and Foundations Diví-
sion, A.S.C.E., Vol. 95, No. SMl, January 1969.
6. Gibbs, H. J., and Holtz, W. G., "Research on Deter-
mining the Density of Sands by Spoon Penetration
Testing,'' Vol. Il Proceedings of IV International
Conference on Soil Mechanics and Foundation Engiw
neeríng, London, 1957.
7. Hardin, B. O., and Dmevich, V. P., "Shear Modulus
and Damping in Soils: Design Equations and
Curves;' Journal of the Soil Mechanics ,and Foun.da--
tions Division, A.S.C.E., Vol. 98, No. SM7, July
1972.
8. Hardin, B. O., and Richart1 F. E., Jr., ,;(E1astic Wave
Velocities in Granular Soils," Jounu,l of the Soil
Mechanics and Foundations Division, A.S.C.E,, VoL
89, No. SMI, February 1963.
9. Harr, M. E., Foundations of Theoretical Soil Me-
chanícs, p. 87, New York: McGraw~Hill, 1966.
10. Jurgenson, L., "The Application of Theories of Elas-
ticity and Plasticity to Foundatíon Problems," Con-
tributions to Soit Mechanics, 1925-1940, Boston
Society oi Civil Engíneers, 1940.
11. Ríchart, F. E., Jr., "Some Effects of Dynamic Soíl
Properties on Soil~Structure Interaction," Journal of
the Geotechnioal Engineering Division> A.S.C.E.,
Vol. 101, No. GT12, December 1975.
12. Richart, F. E., Jr., Hall, J. R., Jr., and Woods, R. D.,
Vibrations of Soils and Foundations, Englewood
Cliffs, NJ: Prentice-Hall, copyright 1970.
13. Skempton, A. W., and Northey, R. D., "The Sensi-
tivity of Clays," Geotecltnique1 Vol. 3, No. 1, March
1952.
14. Seed, H. B., and Idriss, I. M., "Soil Moduli and
Damping Factors for Dynamic Response Analysis/'
Report No. 70-1, E.E.R.C., Berkeley, Calífornia,
December 1970.
15. Stokoe, K. H., II, and Richàrt, F. E., Jr., "Dynamic
Response of Embedded Machine Foundations/'
Journal of the Geotuhnical Engíneering Divísion,
A.S.C.E., Vol. 100, No. GT4, April 1974.
16. Stokoe, K. H., II, and Woods, R. D., «zn Situ ,Shear
Wave Velocity by Cross-Hole Method," Journal of
the Soil Mechanics and Foundations Division,
A.S.C.E., Vol. 98, No. SMS, May 1972.
17. Wlll'burton, G. B., "Forced Vibration of a Body upon
an Elastic Stratum," Journ-al of Applíed Meckanics,
Transactions, A.S.M.E., Vol. 24, 1957.
18. Whitman, R. V., "Analysis of Soil-Structure Inter-
action-A State-of-the-Art Review,'1 Soils Publica-
tion No. 300, Massachusetts Irutitute of Technology,
April 1972.
19. Whltman, R. V., and Richart, F. E., Jr., "Design
Procedures for Dynamically Loaded Foundations,"
Joumal of tke Soil Mechanics and Foundations Diví-
sion, A.S.C.E., Vol. 93, No. SM 6, November 1967.
20. Wu, T. H., Soil Dynamics., Boston: Allyn and Bacon,
1971.
21. Soil Jmprovement: Hístory, Capabilítíes, and Out-
look, Report by the Committee on Placernent and
Improvement of Soils, Geotechnical Engineering
Divi,ion, A.S.C.E., February 1978.
 5 Foundations

- - - - - - - - - - - - - - - N o l a t i o n for Chapter 5 - - - - - - - - - - - - - - -
A = cross-sectional area of pile Li = freestanding length of a pile
A' = corrected contact area 1 Jength of a fully embedded pile
À = contact area for discrete element
4 la =relative stiffness dimension for mat
A, = amplitude of vertical displacement M = mass of cap p!us in-phase load on cap
&u = undrained cohesion M r = amplitude magnification factor
Ca: damping factor for horizontal excitation m = equivalent vibrating mass
Cw!p =cross-damping factor me :;:: mass of pile cap
damping factor for vertical excitation
Cz.:::::; m6 mass of eccentric load
cl/J = damping factor for pure rocking excitation N = nurnber of piles in group
D,= total damping ratio P = load on pile
Dit = damping ratio for horizontal excitation Q,, = unbalanced force
=
D,z damping ratio for vertical excitatio~.\ ~~ r0 = effectlve radius; pile radius
E= Young's modulus (specifically for pile mate- S =pile spacing (center-to-center)
rial when a p subscript is induded) Su» s~, = stiffness and damping constants for embedded
=
e eccentricity of load cap, horizontal excitation
=
FS factor of safety f;, S, = stiffness and damping constants for embedded
=
f superscript pertaining to pile cap cap, vertical excitation
fo, f',1 stiffness and damping terms for piles S;,, S;, =stiffness and darnping constants for embedded
=
G shear modulus for soil (sometimes subscripted cap, pure rocking excitation
with, to distinguish from other material) t = thiclmess of mat
=
g gravitational constant; pertaíning to group of Vc = compression wave velocity in pile
piles when used as superscript v., = shear -wave velocity in soil
=
k depth of ernbedrnent of pile cap W., = equivalent weight of pile
=
1 moment of inertía Xr = dimension defined in Figure 5~6
=
k, spring constant for ernbedded portion of pile te = dimension defined in Figure 5-6
=
k1 spríng constant for freestanding portíon oí 1 = superscript índícating single pile
pile a.1, axial displacement influence factor
=
Kg relative stiffness ltL = lateral displacement influence factor
k, = coefficient of subgrade reaction {s = direction angle
=
k,, spring constant for horizontal excitation y, =- unit weight of soil
=
k,, spring constant for vertical excitation "IP =unit weight of pile material
=
kn corrected value of kz 8 = h/r,
k::iµ = Cross-stiffness term v Poisson's ratio of soil {sometimes subscripted
k!/1 = spríng constant for pure rocking excitation with i to distinguish from other material)
=
L, ernbedded length of a pile vm = Poisson's ratio of mat material

77
78 Design of Structures and Foundations for Vibrating Machlnes
Foundations for dynamically loaded structures usuaHy
fall into one of three categories: footings, rnats, and deep
foundations (i.e., piles and piers). The choice deper.ds
on structural loading and geometry and upon the quality
of the near-surface soiL ln general, the procedures out-
lined in Chapter 4 can be used directly to analyze foot-
ings, which are considered to be essentially rigi.d and
must be designed structurally to be so. When a footing
becomes large enough to be classified as flexible (e.g., a
Hmat11 supporting severa! columns) > it is necessary to
modeI ít as a series of discrete elements, connected by
springs and dampíng elements and supported by soil
spríngs and damping elements. Since the soil is being
loaded not only by a given discrete element but also by
surrounding elements, assignment of damping and st.iff~
ness values should be based on a somewhat dífferent
rationale than for assignmertt of stiffness and damping
values for rigíd footings. Deep foundations do not behave
as surface foundation, and must be treated by specíal
methods. Predíctíon of the response oi pile groups is
often complicated by the fact that a rigid cap is placed
over the heads of the piles, providing surface stiffness
and darnping to the pile group.
The understanding of the dynamic behavior of mat,
pile, and pier foundations is at best in its lnfancy. Finite-
element modeling encom passing both t.he soil and the
structure represents the most cÔmplete and rational
marhematical approach to the analysis oi such founda-
tions presently available. However, some aspects of soil-
structure interaction, such as clastic behavior at the
interface between the soil and the structure and absorp~
tive behavior of fictitious boundaries, are difficult to
modeI in a finite-element scheme. Furthermore, the out~
put from such an analysís is not in the form that wíll
allow the designer to easily assess the relative effects of
the variables in the problem. Therefore, soil~structure
finite-element analyses should be conducted only by
experts. The cost of such an analysis usually precludes
its use on aII but the most hnportant structures or in
cases whete um::ertainties arising from simpler modes of
analysis cannot be resolved by ot:ier means. A de:«:rip•
tion of the details of dynamic finite-element modeling
for soils is beyond the scope of this book.
An approximate procedure is described in this chapter
for obtaining equivalent vertical soil spring constants
and damping ratios for use in a discrete~element analysis
of a large mat or slab ín which the soil is not explicitly
included in the model, but is instead represented by
springs and dashpots, as when a rigíd block foundation
is being analyzed. The procedure is based on an empiri-
cal analogy with static load conditlons: since litde usable
theoretical guidance is available wlth respect to dynamic
response of the soil beneath a flexible mat. ln essence,
static spring constants are used, a technique whích can
be partially justified on t.he basis that at low frequency
the dynamic spring constant and the static spring con~
stant do not differ by a large amount and that a! high
frequency, where the spring constants do differ appre•
dably, theír contribution to the response of the system is
subordinate to mass effects.
Several approxímate procedures based both on mathe-
matical solutions and on empirical data from vibratory
load tests for analyzing the response of pi]e and pier
foundations are also described in this chapter. The
mathematical solutions are predicated on the assumption
that both the pile and the soil can be represe,nted as
elastic materials. As with rigid footings in an elastk
halfspace, the problem of modeling flexible piles is
reduced to a one-degree-of-freedom problem, allowing
expressions to 'Cle obtained for equivalent spring and
damping constants~ which can in tum be input con-
veniently into a structural analysis program.
The reader is advised to use the procedures presented
in this chapter with caution and considerable judgment:
as none has been verified in the field in more than a few
simple cases. The procedures are therefore presented not
in the context of criteria but rather in the context of
best available infonnation for the designer.
Modification of foundation Response
Recause of the uncertainties in the mathematícal
models used to compute foundation response and the
uncertaintíes involved in determining relevant soH inputs
to the model, foundation behavior cannot be predicted
with the reliability that can be expected for elements of
the superstructure. The recommended ranges for founda~
tion response analysis described at the end of Chapter 4
are reflections of these uncertainties. Note that it is often
impossibJe to design a structure, particularly a multi-
degree-of.freedom structure, which wiH not contain one
or more foundation elernents that will not potentially
resonate ( or nearly resonate) in sorne mode, cons.idering
the ranges of stiffness and damplng that must be
designed for. The capable designer, anticipating this
problem, will, therefore, plan foundation elements that
can be corrected or "tuned11 if a vibration problem arises
during operation (ref. 9). Foundation response can best
be altered during operation by changing the resonan!
frequency of the foundation. Thusi provisions for sub-
tracting or adding mass to the foundation may be
induded in final designs. Provlsions for altering stiffness
are also advisable. Generally, it is easlest to increase_,
rather than decrease, stiffness once the structure has
gone into operation. For example, grout boles can be
cast into footings or mats resting on a sandy subgrade
so the subgrade can be grouted if necessary and: there-
fore, stiffened. Consideration may also be given to instal-

ling piles and attaching the piles to the footing il a
considerable change in foundation stiffness is required
during operation. Hence, footing reinforcement in the
initial design may be established so the footing can also
be employed later as a pile cap, if necessary. Increasing
the bearing area of a footing is an effective means of
increasing stiffness in all modes. Where space will pennit
later increases in footing area, original footing reinforce-
ment rnay be designed to accommodate additional mo-
ments that will occur with increased area. Rebalancing
or remounting of vibrating machinery to reduce unbal-
anced forces should always be considered before mod.ifi-
cations are made to foundation elements, since the cost
of machine rnodifications is often less than the cost of
tuning a foundation.
When rocking is the primary mode of motion, perma-
nent settlements of soil near the periphery of footings
can occur after a machine has been in operation for some
time, leaving the footing supported on a "fulcrum" of
soil near the axis of rocking for the majority of the load
cycle (rei. 9). This phenomenon is especially pro-
nounced where the subgrade is cohesionless and the
shear strength of the soil, therefore, is low near the edges
of the footing due to lack of confinement. The result is a
significant decrease in stiffness in the rocking mode. In
such a case, grout boles should be cast into the founda-
tion to permit future closing of the space between the
footing and soil with low-pressure grout and reestablish-
ment of the original stiffness properties.
Vertical Spring and Damping Constants
for Flexible Mats
Agarwal and Hudson ( rei. 1) have indicated that the
vertical displacements in the vicinity of a static vertical
point load in the interior of a.n elastic, rectangular, pris-
matic mat supported on an elastic subgrade are not
influenced by mat dimensions, as long as the overall
horizontal mat dimensions exceed three times a relative
stiffness dimens-ion is in both directions, where l 8 is de-
fined as lollows :
1, = [Et'/12 (1- 2
Vm ) k,], 0 •20 (5-1)
where E = Young's modulus of mat material,
t = thickness of mat,
vm = Poisson's ratio of mat material, /_'f:'.tJ)
k, = coefficient)<.,.-of=.subgrade reactionzf the soil~
f s . •"J~• ,,.,
Equivalent criteria for J;namic loading ave not been
established; however, if it is assumed that the static
criterion holds for dynamic loading, then it follows that
the soil reaction outs~de of an area 3 i8 by 3 [8 in the
interior of a mat has little or no effect on the response
of a relatively smaller discrete element situated at the
Foundations 79
center of that area. Since the soil spring constant depends
on the area of soil heing loaded and since a flexible mat
is not effective in distributing a load applied to a small
area to the entire bearing area of the mat, it is obvious
that spring constants for the various discrete elements
employed in solving the mat-supported structure prob-
lem should not always be calculated using the overall
dimensions ( or equivalent radius) of the rnat. I t is also
obvious that ít is, in general, irnproper to assume that To
obtained from the contact area of a discrete elernent is
appropriate for determining kz, since doing so would be
equivalent to an assumption of Winkler springs, which
will result in a system model where stiffness is directly
dependent on the choice of element size.
It appears reasonable, therefore, to define a flexible
ip.at as one whose outside dimensions exceed 3 l 8 in each
direction and which is loaded by columns or machines
over a relatively small portion of its area. I t is recom-
mended that when a structure is supported on such a
mat that a discrete-element model, rather than a rigid
block model, be used for the foundation to accommodate
its several modes of vibration. To obtain an approximate
value for kz for the individual elements, the effective
loaded area of the real ( not discretized) mat in the
vicinity of the element should be computed assuming
that the area of soil loaded due to the vertical motion
oi the element is 3 1, by 3 1, in plan. This area will
normally be greater than the area of the element. Utiliza-
tion of this area for elements near the edges of the mat
will lead to errors there; however, considering the lack
of information on the subject of lumped soil spring
constants for flexible mats, further sophistication is un-
warranted.
Using Equation (5-1) and assuming that k, is that
for a loaded area 3 !, by 3 !.,
r0 =0.8t [(E/G,) (l -v,)/(1-vm')]º·"', (5-2)
where G 8 and v, are properties of the soil and TO is the
effective radius to be used in computing kz.
The value oi k, can thus be computed from the half-
space equation for every el.ement using the value of To
given by Equation ( 5-2) and an appropriately estimated
shear modulus and Poisson's ratio for the soil. The value
of the spring constant must then be corrected to include
only the reaction against the contact area of the element.
This is not a straightforward process, h~wever. For
example, if vibrating loads are spaced at such a distance
so that effective loaded areas do not ovcrlap (e.g.,
spacing greater than To), then
kze = A'k:: (5-3)
wherc ( 5-3a)
 fr
80 Design of Structures and Foundations for Vibrating Machines
in which A 11 is the contact axa of the discrete element
aod kze is the appropriate vertical spring constant for
the individual element. Equations (5-3) and (5-3a)
yíeld higher soil spring constants than wouid be ohtained
by taking the mat as a whole and díviding that value
among the discrete elements in proportlon to their areas.
This is a valid representation for very flexible rnats wlth
widely spaced loads because uneven contact stress distri-
butions cause the soil to beha ve more stiffiy ín the
vicinity of applied loads.
When loads are more dosely spaced, k.re is usually less
than the value given by Equatíon (5-3) because a more
uniform contact pressure distribution in the primary
modes is likely. Its precise vaJue is very difficult to deter-
mine and will, in fact, vary from mode to mode 1 depend~
ing on the phase differences between adjoining elements
and the spacing of the loads. As a limiting value, it can
be assumed that the soiJ responds as: ff the mat were
rlgid; hence,
(5-4)
in whích Àm is the area of the entire mat and k:: is the
vertical spring constant for the cntire mat. ln most cases,
k,, will líe between the values given by Equations ( 5-3)
and (5-4) and judgment should be exercised in its selec-
tion. Most usage in the past has favored Equatíon ( 5-4).
The soíl geornetric damping ratio is more difficult to
evaluate in a flexible mat than the spring constant
because of phase differences in various parts of the mat.
An upper límit for the geometríc damping ratio for the
soil will be that computed from halfspace theory assum•
ing that a section of mat and in-phase loads supported
thereupon having a radius equal to r0 computed from
Equation {5Á2} vibrares as a rigid body. However, inter..
ference from surrounding sections of the mat makes the
use of the upper limit value entirely unreasonable and
the correct value virtually unpredictable using the haJf.
space approach. A value o(v,·=--õ:-i"ô' for discrete ele-
ments is suggested in the abseriCe of any other criteria if
the subgrade is homogeneous.
Example. A 100-ft-square mat is 3 ft thick. Its Young's
modulus is 3 X 106 psi, and its Poisson's ratio is 0.2.
The mat rests upon a clay subgrade having a shear
modulus of 8000 psi and a Poisson's ratío of 0.4. What
value of k,, should be used for a 10-ft-square discrete
element?
Using Equatíon ( 5-3) :
=
r0 0.8t [ (E/G,) (! v,) /(1- Vm') ]'·"'
=0.8(3)[((3 X 10')/(8 X 10'))(0.6/0.96)]'"'
14.8 ft
k,= ,fGr,/(1-v,) =4(8000)(K8) (12)/0.6
= 9.5 X 10" lb/in.
k,. = [ (10 X liJ) /(,,. X 14.8')] k,
= L38 X 10' lb/in.
l;síng Equation ( 5.4) :
r0 = (l00 X 100/rr)'·'=56Aft
k,= (4 X 8000 X 56.4 X 12)/(1 - 0.4)
36 X 10' Ib/in.
k,,= (36 XIO') X (10 X 10)/(100 X 100)
= 0.36 X 10' lb/in,
Deep Foundations
Pile or píer foundations (which hereafter will be
termed simply "pilei, foundations) are often used to
support vibratory loads when soil conditions at a site
indicate that shallo.w foundations wHl result in unaccept~
able pennanent settlem~!,l.!5_·__ Present understanding of
the behavíor of pilé{<?.<1hdations und.eryi~~.'JclJ~djpg
is relativcly poor, butjt is known that t~fuse qf 1tles
~~s:-· georhetric d~ping, it1~re~ses -the re,~.9.:'ªn t
fre.quenC)' of. the foundatÍ(?n, and influences defonll~~ion
ne~~ resonance. Since in some cases, particularly in the
lateral 1oad modei the effect of piles can be adverse 1
piles should not be used wíthout some understanding of
their behavior,
ln this chapter approximate procedures developed by
Novak and his associates for analyzing the response
characteristics of sing)e piles and pile groups in the
uncoupled vertical; horizontal, and pure rocking modes
are described. The solutions are based C?n the assumption
of elastic, fully embedded vertical piles interacting with
uniform e!astic soil. Furthermore, the pile tip is assumed
to be fixed against motion, except in the case of vertícal
response, where the tip can be fixed or .:relaxed."
The Jimitations of applying Novak's procedures to real
geologica? materiais are obvious; however, they have
provided reasonable predictions for the response of small
pile groups in relatively simple soíl profiles, and further-
more, they represent the current (1979) state-of-the-art
in the practícal analytical treatrnent of pile~soil inter-
action. The solutlons for spring and dampíng constants
developed by Novak are frequency dependent; however,
approximate frequency independent expressions have
also been developed for both the spring constant and
damping ratio. These will be described herein. Solutíons
for the stiffness and damping of torsionally loaded indi-
vidual piles and for coupled rocking and sliding, ob·
tained by Novak and his associates, are ais.o available
( refs. 10 and 14), but are not included here,

Novak 1s various procedures do not permit cakufo.tion
of the stresses índuced in the pile matedali although
such stresses can be important, particu!arly cluring iateral
loading. Ghazzaly, Hwong and O'Neíll (ref. 5) describe
a numerical algorithm for making stress computations
in a pile undergoing harmonic lateral loading. A de-
tailed description of that aigorithrn is beyond the scope
of this text.
Both the spring constants and damping ratfos should
be obtained experimentally from f ull-sized groups of test
piles whenever possibie, especially if batter piles are con-
tained in the foundation or if short friction piles are
to be employed. {Novak's procedures for pile group
analysis do not consider batter piles directly in expres-
sions for overall group stiffness and damping; however1
Saul's procedute, referenced at the end of this chapter.,
among others> does allow consideration of batter piles in
an approximate fashion.) Furthermore1 accordfog to
Novak and Grigg (ref. 13), the "apparent" shear modu-
lus to be µsed for analyzing laterally loaded piles should
be that value backcakulated from elastic beam on foun~
dation theory ( e.g., ref. 17) using the results of a static
load test alter severa! cycles of load have been applied.
T'he initial slope of the free-head load versus displace~
ment curve can be used conveniently in the calculations.
The reasons for usíng this approach are that the. soils
very near the surface control the load deformation prop~
erties of the pile. Field surveys and laboratory tests are
often conducted to obtain only a mean site value for G~
which is generally appropriate only for a depth greater
than that of the soil effective in resisting lateraJ motion,
A!so, since a gap often forros behind a laterally loaded
pile1 the use of a shear rnodulus obtained from load test
data provides a convenient empirical correction to
Novak1s elastic solution, which is not rigorous for such a
case. In a series of large-scale rnodel tests in sand, Novak
and Grigg (ref. 13) detennined that the apparent shear
modulus from stat.ic lateral pile tests was about one
fourth to one fifth the mean modulus to a depth of
about 30 pile diarneters, obtained for the site from
os.cillator tests.
Simple methods of interpreting field load test data are
discussed briefly at the end of this chapter. Approximate
procedures for estimating damping ratias and spring
constants based on results of several vibration tests
reported in the literature for vertically exdted friction
piles are also given.
Two important rules should be followed relative to the
sizing and construction of deep foundations. Fírst, the
factor of safety rela.tive to the ultimate static axial load
on a pile should exceed 3 in order to restrkt soil
stresses to a magnitude that will predude the "'resonant
driving11 effect, wherein the soil around the pile
resonates with the pile and loses its ability to carry
Foundations 81
an appreciable load. If the static load ís too largc (e.g.,
more than one half the static capacity of the soil), plung-
ing or load shedding can result as the soil resonates w!th
the pile.
Second, the pile cap should he buried in competent
sei! (preferably dense granular soil) whenever possible
in order to take advantage of the damping afforded by
the pile cap.
Vertical Motíon
The expression for the effective spring constant for a
single end~bearing (' 1fixed-típ"} pile undergoing vertical
rootion, k:\ given by Novak (ref. 10) is
(5-5)
where Ep is the Young1s modulus of the pile material 1 A
is the cross-sectional area of the pile, r 0 is the equivalent
radius of the: pile, and fu, 1 is a factor given by Fig-
ure 5-la íconcrete piles) or Figure 5-lb (timber piles)
as a functíon of ratios of pile penetration l to radius ro
and VaÍVc (shear wave velodty in soíl above tip/corn-
pression wave velocíty in pile). Note that the factors
given in Figures 5~1a and 5-lb are for fixed tip piles
(end bearing or combined friction and end bearing
piles) . For frictíon piles these factors will be in error by
a relatively small arnount for values l/r 0 greater than 60
and for values for va/Vc greater than about 0.03 for
timber and concrete piles. For friction piles having lower
values of l/r 0 and/or v,/vc, the procedure for nrelaxecl
tip" piles (ref. 11) or an empírica! approach, both de-
scribed !ater, should be employed. For steel piles Novak
and Grigg (ref. 13) have given a value of f,.,, = 0.030
=
where v,/v, 0.033 (medium stiff soil) and l/r, > 80.
The effective geometric darnping constant for vertical
motion in a single pile cl is given by Equatfon (5-6):
(5-6)
where v~ is the shear wave velocity of the soíl through
which the pile is dríven (VG,g/y,) and fu,, is a factor
given by Figures 5-lá ,and 5-lb. The damping factors
/ 18 , 2 are also approximat'ely valid for friction piles in the
ranges described previously relative to the stiffness fac-
tors /,.,,, although the error in the damping factor is
somewhat greater. For a steel pile in medium stiff soil
=
(v,/v, 0.033) and for l/r, > 80, f,,,,:::: 0.045.
For relatively short friction piles (that ís, pile.s with a
"relaxed tip"), Novak (ref. !O) suggests computing k,l
and e:: 1 as fo1lows:
( 5-5a)
82 Design of Structures and Foundations for Vibrating Machlnes
o.:o _____ _ _ _ _ _ _ _ _ _ _ _ __
: 18 , 1~ STIFFNESS f:
8 ,1-0AMPl·~G
o.io ,-,T--~r-::::::==cr--,--:;;,,-;,-;o;-;.ow15

0.08 ~-.\--''
1
: .CONCRETf. PILES. YsciJYp1.,.E - O. 7)
i Vs" SHEAR
""jGs9 1Ts
WAVE VELOCITY IN SOlL
···
0.08
"
1---\\-tt---+-----==ol=__;;;;;~'i'=-~
( TtM8ER PtLES:
Yso 1~/Y,.H"'2.0)
vc = COMPRESSION WAVE VELOCITY I 0.04
lN PILE " ✓ Epgly., v
f =0.05 o.o5 l
~
<n
0.06 '
"f-w 0.04 :
w
:, fl6,I
---i---
"
o;
!'
0.04

f,11,2
0.02 0.02
O.OI
O.OI

o
o 20 40 60 80 100
a PILE SLENOERNESS / lr0 b PILE SLENDERNESS //r0

0.00 - - - - - - - - - - -:ccONCRETE
---- -~
PILES: (T'Mel:lt l'lt..!S'
t, 0.. /1".'<f k2fl!
' ~OH.. /)'l'lt..E •0. 7 )
1 :.,i ,.,.------.. ...,_ ! ~=0.05
1
OOO~·-¼~'l----+ ------i--==~'1=~=-~-""1

--- .:
o.os •,c:Q-~ <n
~
w
;-
w
j
ir.
---- --O.OI

20 40 60 80 IOO
PILE SLENDERNESS Üt,, 20 40 60 1!10 IOO
d PrLE SLENDERNESS Ür,.

Figure 5-1. Stílfness and damping factors for vertically excited piles {alter reis. 10 and 11 ). a. Fixed-tip con-
creta piles. b. Fixed-tip timber piles. c. Relaxed-tip concrele piles. d. Relaxed-lip timber piles. Figures
5-1a and 5-1b reproduced by permission ot the National Research Council of Canada from the Canadian
Geotechnical Journal, Vai. 11 (1974), p. 586.

ande,' {E,A/v,)f',.,, (5-6a) (5-7)

where /'ia, 1 and /'18, 2 are stiffness and damping factors,
respectively, given in Figures 5-lc and 5-ld for concrete
and timber piles. The values in Figures 5-la, b, e, and d
are most appropriate for use for a,, ( 2~ /r,/\/ G,gfy,)
between 0.l and 0.8 where f is the machine frequency.
Stevens ( ref. 20) suggests that they are vali d even for
a 0 as low as 0.05, whích means that reasonable results
can be anticipated for slender piles and low forcing
frequencies.
The geometric damping ratio for a single pile sup~
porting a structure can be computed from the damping
constant by using Equation (5-7):
where me is the mass of the cap plus machinery or por-
tion of the structure vibrating in phase with the cap. It
= may also be appropriate to include part of the pile
mass in m,, but for fully embedded piles, the ratio of
that mass to the mass oi the supported weight is usually
small enough to be neglected.
Pile Groups
Most piles are installed m groups or clusters. The
group stiffness will not in general be the simple sum

oí the stiffnesses of the individual piles. A similar state-
ment can be made relative to damping. If several
distinct groups are used to support a vibrating super-
structure, it is reasonable to c,btain an equivalent spring
constant and darnping ratio for each cluster, These
equivalent constants may then be applied to the struc~
ture at the appropriate s'.lpports for purposes of analysis
of structural response, An example of this approach is
a frame whose columns are supported by separate piie
groups.
Often1 however, a block or rigid mat foundation will
be supported by a single large group o[ piles, In such
a case it is often convenient to represent the structure-
foundation system by Model C, described in Figure 2-9,
Chapter 2, where the entire group is modeled by a
single spring constant and a single dampíng ratio in
each mode of vibration.
Wbenever piles are used to support a flexible mat,
when large torsional moments are applied to the super-
structure, or when batter piles are present, it is usually
necessary to employ a multidegree-of-freedom computer
model (Fig. 2-11) and to represent each individual pile
in th.e system by assigning linear support spring con~
stants and dashpots to the j:,oint in the structure where
the pile head is locat~. These spring constants repre-
sent uncoupled ·vertical s-tiffness and horizontal stiffnesses
in two perpendicular directions. \Vhen batter piles are
present, axial stiffness and dampíng parameters may be
computed from the "vertica1' 1 motion equatíons, and
lateral ,parameters may be computed from the Hhorizon-
taP' motion equations. Input values for stiffness and
damping can then bc obtained by taking components
in the coordinate directions. The horizontal spring con~
stants (described !ater) are strongly dependent on the
manner in which thc piles are fixed to the structure.
For block foundations and table top structures con•
taining a thick mat (which also serves as the pile cap),
the pile heads are normally assurned to be fixed rigidly
to the structure. Whíle frame analysís programs allow
the inclusion of uncouple-d rotational stiffness terrns at
the pile head, it usually is necessary to include rotational
springs for rocking about transverse pile axes only when
large rocking moments are present and when batter
piles are not present in the foundation. It is rarely
necessary to include a torsional stiffness constant for an
individual pile, since torsional moments applied to the
structure are resisted almost completely by coupies pro~
duced by lateral reactions at the pile heads, While the
piles are represented individually in this type of analysis,
it is stiH desirab!e to indude the softening effect of
group action in the model This can be done by cal-
culating the stiffness for the pile group as a whole in
the appropriate mode; distributing the stíffness equa1ly
among the piles (presuming that all piles have the sarne
Foundations 83
size and penetration), and using the distributed stiff-
ness values in the analysis, In other words> it is not
appropriate to use the values given by Eqs, 5-5 or 5-5a
or the correspondíng equations presented in the follow~
ing section on síngle pile horizontal response,
The damping ratio to be assigned each pile for each
mode of translatory motion in a multi-degree-of-frec-
dom-foundation representation shouid include a consid~
eration of group action, which will result in a higher
damping ratio for each pile than would be obtained
using the single pile damping ratio. Typically, each pile
in the system would be a.ssigned a damping ratio equal
to the group damping ratio in a given mode divided by
the squa.re root of the number of piles in the group.
ln the remainder of this section simple eq uations
are given for the determination of group stiffness kl
and damping D:/1 for a group of vertical piles osdHating
in the vertical mode. Similar expressíons will be pre~
sented in the next sectíon for horizontal translatory
stiffnas and damping for vertical pile groups. Note that
in evaluating group effects for the latter mode it is
necessary to estimate the direction of primary horizontal
motion, Since no general solutions are available for the
assessment of group effects in groups containing batter
piles! some judgement is neeessary to apply these ex-
pressions to batter pHe foundations.
Novak and Grigg ( ref. 13) have argued that the
deflection factors proposed by Poulos ( ref. 15) for
groups of statically loaded piles may also be applied to
a pile group undergoing steady~state vibration. Hence,
Novak and Grigg propose that
(5-8)
where N = number of piles in group
aA ::::::: axial displacement ínteraction factor for a
typical reference pile ín the group relative to
itself and to all other piles in the group, as-
suming the reference pile and all other piles
carry the sarne load.
The factor a3 can be evaluated using Figure 5~2.
The equivalent geometric damping ratío for the
group is given by
~N 1
t., e,
1
D,' (5-9)
 84 Design oi Structures and Foundations for Vibrating Machines

LO,.,---,-----.---------,-------,--------,
p p

O0:----:---2:------,3:-,-,--4;----,5::---.-----~---.-----,r-.-~
0,2 0.1 1i :- ' ,,_ *''' o.o
S/2~ 2~/S
Figure 5-2. "A as a function of pile length and spacing (alter rei. 15).

where m, is defined as in Equation (5-7), that is, the Table 5-1

total rnass of the cap plus machinery. Frequency lndependent Constanls for Embeddu
If the pile cap is not in contact with the ground,
Pile Cap with Side Resistance
Equations (5-8) and (5-9) can be used directly in the
structural analysis. Embedment of the pile cap, how- {after refs. 3 and 12)•
ever, has a favorable effect on the response of the group
and should be employed whenever possible, It is good
practice to assume that embedment is effective only in '• s, s. s., s., s., s,,
the developrnent'of side friction between the cap and soil o.o 2.7 6.7 3.6 8.2 2,5 1,8
0.2ó 2.7 6.7 4.0 9.1 2.5 1.8
and only when dense granular backfill is used, since soil 0,4 2.7 6.7 4.1 10.6 2.5 1.8
beneath the base of the cap is likely to be of poor
quality and can settle away from the cap. Likewise, *Vatues are appropriate for a 0 = 2,efro/ ../ G.g/~ in the range
cohesive backfill can shrink away frorn the sides and be- O <ao ~2 where f is the machine frequency. S 11 1. is not con-
come ineffective. stant for vB > 0,43, Reproduced by pennission of the National
Novak and Beredugo (ref. 12) have given expressions Research Council of Canada from the Canadian Geatecknical
for c.alcu!ating stiffness and geometric damping con- Juurna/, Vo!. 9 (1972), p, 495,
stants for the ernbedded eap, which are added to the An interesting comparison from a theoretical study
stiffness and damping values obtained in Equations of the vertical response of a machine and its foundation
(5-8) and (5-9) to arrive at total system stiffness and when the foundation is embedded and when it is placed
darnping for a group of piles. Those expressions are on the surface without embedrnent was developed by
given here as Equations (5-10) (stiffness, k/) and Novak. The foundation consisted of a solid rectangular
(5-11) ( damping, e/) with only the &ide resistance block of concrete (16 ft long, 10 ft wide, 8 ft high)
component considered. Expressions for caps or footings embedded 2 ft and not embedded. It was supported
in complete contact at the base can be found in Novak on eight 35-ft long fixed-tip timber piles in a medium
and Beredugo (rei. 12).
stiff elay. The machine supported on the block weighed
1O tons and the operating speed ,was varied. The re-
k/ = G, h S, (5-10) sponse of the pile foundation system is shmvn ln Figure
5-3, In that figure, A, is the static deflection that is
(5-11) produced by the unbalanced force a.t a given frequency,
M is the mass of the footing (rap) plus rnachine, and
In Equations (5-10) and (5-ll), h is the depth of me and e are the unbalanced mass and its eccentricity
embedment of the cap, r 0 is the equivalent radius of within the maclúne. Tbe effects of the relatively small
the cap, Gs and y, are the shear modulus and total amount of embedment are evident.
unit weight of the backfill, and S1 and ~ are constants Also shown in Figure 5-3 are the response curves for
given in Table 5-1, in which v., is the Poissonjs. ratio the maehine and rectangular block footing without piles.
of the baekfill soil. The shapes of the various curves show vividly important
 Foundations 85

aspects of pile-supported structures: ( 1) damping is vcry GROUP OF

low compareci to soil-supported footings and (2) the use FIXED • TIP PILES -
CAP NOT EMBEDDED
of piling increases the resonant frequency and, in this
case, increases displacement amplitude at resonance. GROUP OF FIXED·
Damping can be increased by embedding the pile cap. TIP PILES-CAP
EMBEDDED
Material damping was not considered in this particular
analysis.
Example. Determine the equivalent spring constant
and damping ratio for vertical motion for the pile group
depicted in Figure 5-4. Assume that Novak's solution
for fixed-tip piles is valid.
80 100 120 140 160
FREQUENCY (RAD/SEC)
v, = (G,gh,) º·' = (5000 (144) (32.2)/110] º·'
= 459 ft/sec = 5510 in./sec Figure 5-3. Effect of type of support on vertical
response of a foundation (alter ref. 10). Reproduced
v, = (E,gh,) º·' = { ((3.5 X 10°)/150] (144) (32.2) )º·' by permission of the National Research Council of
= 10,400 ft/sec Canada from the Canadian Geotechnical Journal,
Vol. 11 (1974), p. 589.
v,/v, = 0.044; m, = (70,000+l2Xl2X8Xl50)/386
= 629 (lb-sec')/in.
0
r, = [(20 X 20)/,,-] ·' = 11.3 in.
l/r, = 90 (12)/11.3 = 95.6
J,s,1 = 0.033 f,.,, = 0,053
6 2
k; = (E,A/r,) f1S,1 = [3.5 X 10 (20) /11.3] (0.033)
= 4.0 X 106 lb/in.
2
e; = (E,A/v,) Ji,,, = (3.5 X 10 6 (20) /5510] (0.053)
6' OENSE SANO
= 1.3 X 104 lb-sec/in. ___l_L.----l-.L.L...:,,/._ _:B;:::ACKFlLL

k/ = G, h S, = 6000 (6 X 12) (2.7)

= 1.2 X 106 lb/in.
r,(cap) = (12 X 12/,,-)"-' = 6.77 ft = 81.2 in. MEDIUM
STIFF
LEAN
e/ = hr, (G,y,/g)"·' S, 4, 20")( 20" CLAY
= (6 X 12) (81.2) [ 6000(120) /(1728) (386) ]º·'(6. 7) CONCRETE
PILES 90'
= 4.1 X 104 lb-sec/in.
Adjust for group effects. Assuming any pile in the group
is a reference pile with r0 = 11.3 in., S/2r0 to an ad-
jacent comer pile is 72/22.6 = 3.19 and to the di-
agonally opposite pile is 1.414 (3.19) = 4.50. Using
Figure 5-2:

l/2r, = 90(12)/22.6 = 48
~D= 1
íl~---:·vERY
OENSE SANO

MATERIAL PROPERTIES

Use v = 0.5 (nearest to actual value of 0.4): LEAN CLAY: G, = 5000 psi , .,, = O. 4
"A = 1 (reference pile) r, • IIOpcf
BACKFILL, G, • 6000psi , r, • 120pcf
"A = 0.58 (adjacent comer piles) (2 piles) RIGID CAP, {.,, • 150pcf
"A = 0.5 (opposite comer pile) PILES, E 0 •3.5xl0 psi
6

2:' 1
"A = 1 + 2 (0.58) + 0.5 = 2.66 r, • _150pcf
(ASSUME 35T OF THE STATIC COLUMN
LOAD VIBRATES WITH THE CAP IN
44
2:;'1 k.'/2;'1 "A = ( -~ :
6
6
IO') = 6.0 X 10 lb/in. VERTICAL MODE)
• (combined stiffness
of the piles) Figure 5-4. Pile group for example problem.
86 Design of Structures and Foundations for Vibrating Machines

Adding in the stiffness of cap due to side resistance: Uncoupled Rocking Motion

k: = 6.0 X I0' + 1.2 X IO' = 7.2 X IO' lb/in. Novak (ref. 10) has presented expressions for the
uncoupled stiffness and geometric damping constants
for single piles and for pile groups uhdergoing pure
rocking. ln summary,

k/ = (E,I/r,) J,., (5-18)

= 4(1.3 X 10') + 4 1 X 10' e/ = (E,I/v,) J,., (5-19)

(2.66)º·' .
where I is the. moment of inertia of the pile cross-
= (3.2 + 4.1) X 104 = 7.3 X 10 4 lb-sec/in.
section about the axis of rotation, and /;, 1 and / 7 , 2 are
n: = c:/[2(k:mcl°''l 4 6 0
factors given in Table 5-2.
= (7.3 X 10 )/2(7.2 X l0 X 629) ·' = 0.54 For a pile group,

Note that over half of the damping is produced by the k/ = I;N [k/ + k;x/ + k,::} - 2zJ;,/] + k/
embedded cap. Material damping is not included. l (5-20)
where Xr and zc are defined in Figure 5-6, and kl and
Horizontal Motion
k:i/ are stiffness constants for single piles defined in
Equations (5-5) and (5-12), respectively. ln addition,
The solutions for pure_ horizontal motion of vertical
piles (ref. 10) follow the sarne logic as those for vertical k,~ = (E,I/r,') f,,1 (5-21)
motion. A notable exception is that a reduced value for
G8 should be used to represent the action of soil against where ln, 1 is obtained from Table 5-2; and
pile as described earlier. For a single pile,
k/ = (E,I/r;) J11,, (//r, ;, 25) (5-12)
k/ = G,r,h'S,, + G,r:h [(0 /3) + (z,/r
2
0)
2

- ó(z,/r,)] s., (5-22)

(l/r, ;, 25)
where I is the moment of inertia of the pile cross-
section about a centroidal axis perpendicular to the
direction of translation. The subscript x denotes horizon-
tal motion, and / 11 , 1 and / 11 , 2 are factors for fixed-head
piles given in Table 5-2.
For a group of piles,
(5-13)
where s = h/ro, and s!/tl and 3\11 are defined in Table
5-1. Note that it is necessary to include k::l, a cross-
stiffness term, in the solution. Note also that interaction
factors (a) are not included in the solution for group
stiffness because group action in pure rocking is not as
prevalent as in the translational modes and becáuse ade-
quate studies have not been conducted to established
appropriate interaction factors for the rocking rnode.

(5-14) Finally,

(5-15)
(5-23)

where ªL is a displacement factor for lateral motion de- where e:/ and c~1 are damping constants for individual
fined in an analagous fashíon to a;.1. Approximate values piles given by Equations (5-6) and (5-13), respectively,
for ªL may be obtained from Figure 5-5. and

Finally, the stiffness and geometric damping char- (5-24)

acteristics of the cap are represented as follows:
The factor / 0 , 2 is evaluated in Table 5-2. Further,

(5-16)
e/ = ór: yG, 'Y,/g {S,2 + 2
[(0 /3) + (colr,) 2

e~= hr0 -VGs'Ys/g S,,z (5-17) - o(z,/r,) l s.,l (5-25)

where Sr, 1 and Sw2. are factors given in Table 5-1. where Si;, 2 and Sv. 2 are defined in Table 5-1.
 Foundatlons 87

Table 5-2
Values of f11 • 1;f,1_2; f 7, 1; f1, 1 ; f,;,1; f,;,1:
for 1/r, > 25 (afler ref. 10)*

Concrete Piles 6,hv. = 0.7)

1.,•,/'0n Íllrl /u,, /7,1 '1,2 h,1 ÍP,2
0.4 0.01 0,0036 0.0084 0.202 0.139 -0.0194 -0,0280
0.03 0.0185 0.0438 0.349 0.243 -0.0582 -0.0848
0.05 0.0397 0.0942 0.450 0.314 -0.0070 -0.1410
0.25 O.OI 0.0032 0.0076 0.195 0.135 -0.0181 -0.0262
0.03 0.0166 0.0395 0.337 0.235 -0.0543 -0.0793
0.05 0.0358 0.0850 0.435 0.304 -0.0005 -0.1321

Timber Piles (,y,j,, 9 = 2)

v.Jve Ju,1 Íll1'j /t,1 h,2 /,;,,1 ÍG,'li
0.4 0.01 0.0082 0.018.3 0.265 0.176 -0.0336 -0.0466
0.03 0.0425 0.0949 0.459 0.305 -0.1010 -0.1400
0,06 0.0914 0.2040 0.592 0.394 -0.1680 -0.2330
0,25 O.OI 0,0074 0.0165 0.266 0,169 ·-0.0315 -0.0434
0.03 0,0385 0.0854 0.444 0.292 -0.0045 -0.1301
0.05 0.0828 0.1838 0.573 0.379 -0,1575 -0.2168

*Values are appropriate for ao = 0.3 (See Table 5-n but are approximately ·valid { ±10%) for O.lSa- 0 :f0.8. Reproduced by per-
mission of the National Research Council of Canada frorn the Canadian Gtotechnical Journal, VoL 1l (1974), p. 584-.

o.a

0.7
-- ~~
~
VALUES OF
1 s
zr.,,·
~
.,,.
L---"' MAC HI NE,
IF PRESENT

~ '-
0.6
--- -.--
~',, i"-..
1
O.&
', ... .......
... ~ t--
OL '
DIRECTION OF LOAD ' ' ...
(FIXEI) 0.4 o. ,J li '-...!:, ,..._ -
HEAD)
' 'O
X,
0.3
--- -- --
--- "- ',,
0.2
..h..25
2,. ..... _~
l " ~·
.....
11=0.5 --
Figure 5-6. Deflnition oi x1 and zc.
-
- - K••iO (STIFF PILEI K,,• 2 1il(i+u)] L•
O. j - 1 SOIL:•-

-•
---- K••IO (FLEXIBLE (L PiLE LENGTHl
1 PILE) j
OO IO 20 30 40 50 60 70 80 90
DEA'IRTURE ANGLE (J (DEGREESl
Figure 5-5. Graphical solution for a, (after re!. 16).
 88 Design of Structures and Foundations for Vibrating Machines

The geometric damping ratio can then be computed m = M + (W,,/g) (5-29)

as the ratio of the damping constant to the critica}
damping constant for roçking motion. in ;,,vhich Wev and M are defined in Figure 5-8,
The approximate resonant frequency} then 1 is given
Testing Melhods and Empírica! Correlalions by Equation (5-30):
Based on Tests
l --
Vibration tests can be conducted on síngle piles or J, = 2,,. Vk,/m (5-30)
pile groups by placing a variable frequency steady-
state osciliator on a rígid cap atop the pi1e or piles It is possible to compute the approxim.ate total damp-
and measuríng the arn;?litude of deformation ín the ing ratio from steady-state vibration tests, In the vertical
direction of loading over a range of dríving frequencies. rnode,
Such tests can be conducted most easily for the case
in which the applied load is vertical. They are beneficial D, = [(Q,/k,)/A,]re,mnoo X 0.5 (5-31)
in determining both the resonant frequency and the
damping ratio for friction piles either singly or in groups) From Harfs test (Fígure 5-7L Dt can be seen to be
particularly where a group contains batter piles, approximately 0.02 for the steel pile and 0.035 for the
Results of vertical steady-state vibration tests on 1arge~ concrete pile. Lacking direct test data; Dt for a single
partially embedded single piles reported by Hart ( ref. pile can be calculated as Novak's D;: (geometric damping
6) are shown in Figure 5-7, in which only) or may consenrativcly be taken to be approxi-
=
L1 freestanding length of pile mate]y 0.025. With D, known, the amplitude of víbra-
=
L, embedded length ol pile tion at resonance is given by Equation (5-32):
=
f-r resonant frequency
=
FS factor of safety based on ratío of ultimate static
capacity to static .weight on the test pile
Q0 = unbalanced force at any frequency
=
k, stiffr:ess of pile, defined by Equatio:1 ( 5-28).
The shape of the curves is characteristic for piles with-
out ma.ssive, buried pile caps: they have a sharp
resonance peak indicative of low total damping.
For a partially buried single pile, the spring constant
k:: can be evaluated by combining the spring constants
for the embedded a:1d freestanding portions ( ref 2 and
20):

k1 = AE,/L, (5-26) o ,__ _.L_ _. , __ _,__ __ L_ _. , __ _,

k, = AE,/L, (5-27) 0.7 0.8 0.9 LO 1..1. 1.2 1.õ

f/f,
where k1 is the vertical stiffness constant for the free- Figure 5-7. Vertical response curves for two partlally
standing portion, k1; is the vertical stiffness constant for embedded friction piles (alter rei. 6).
the embedded portion, and the remaining factors are
defined in Figure 5-8. It then follows that
SI.NGLE PLLE
M"'MASS OF MACHINE ANO PILE CAP
A= CROSS-SECTJONAL AREA
(5-28)
E11"Y0UNG'S MODULUS OF PILE MATERIAL
yp. ::UNIT WEIGHT OF P!LE MATERIAL
Alternatively, k:: can be obtai:i.ed by numerical pile load- -:=s-J-fl-=;s:-- W1 ~:::EFFECTlVE WEIGHT OF P(LE
settlement synthesis techniques ( ref. 20). In fact 1 use of ~~Yp [Lr+L,)A
Equation 5-28 or numerica1 synthesis techniques ís pre- L,
END-BEARING PILE: L.i:,;; L~
ferable to the use of Equations 5-5 or 5-5a when a0 is
less than O.OS.
Based on ana!ysis of test results (ref. 4, 6, 7), the
l FR!cnoN PlLE: L,i:,;; !to} L;,

Figure 5-8. Effectlve weights and pile lengths for

lum-ped mass m of the pile can be taken approximately computíng vertical response of partlally embedded
as pifes (after rei. 2).
 Fou ndations 89

(A,),..,,m, = (Qo/k,) (l/2D,) (5-32)
where QJ is the unbalanced force at the resonant fre-
quency computed from Equation ( 5-30) ,
When vertical piles are present in s:nall groups (2-6
piles) with suspended caps and when the spacing exceeds
three times the effective dianeter of the píles 1 analysis of
test data presented by Maxwell> Fry and Poplin (ref. 7)
indicates that the vertical response of the group can be
predkted usíng the eq..iations just presented for single
piles with the modifications indicated in Figure 5~9.
The relationship of group damping to single pile damp-
ing for groups containing 2-6 piles is similar to that
described in the section on group effects, If the cap is
adequately er.:ibedded 1 its damping ratio should be in-
cluded in the group damping.
Equivalent vibrating lengths and weights of pmng-
and rnass properties of the pile cap can be used to
compute resonant frequendes for pile groups containing
six degrees of freedom in numerical techniques described
by Saul (ref. 18) and Singh, Donovan, and Jobsis (ref.
19}. Saul's method does not permit computation of
amplitudes of motion at resonance because damping is
not considered; however, the method developed by
Singh, Donovan; and Jobsis does pennit inclusion of a
single overaH damping factor. These methods, v,rhich
and in a four-pile square group is reported jn ref. 8. The
piles in the group were spaced three butt dia.meters on
center, and the cap was suspended above the soiL The
piles were driven through Iayers of very stiff, overconsoli-
dated saturated clay with a few sand seams. The shear
modulus of the soil layers as rneasured by crosshole tests
varied from about 5000 psi to about 301 000 psi) with an
average o[ 20,000 psi, Tbe stiffness of che piles, ,which
vibrated at a relatively low frequency, was computed
using static numerical synthesis procedures based on
meth.ods described in refs. 15 and 16, as opposed to
using Equations (5-5) and (5-12), becausc a, was very
low. Damping constants were detennined from the pro~
cedures developed by Novak and his associates. The
measured and predicted spring constants and damping
ratíos for several repeated tests are shown in Figures 5- l O
and 5-11. Note that damping in these fully ernbedded
step taper piles was considerably higher than that mea-
sured by Hart for partially embedded prismatic piles,
N
M Wep' t Wep SINGU PILE
N
kz= t kz. SINGI.E Pll.E

require the off-line use of a separate digitai computer

program, are useful in studying the effects of batter
p!les on resonant frequency in the horizontal translatory
N Pll.ES IH
and rocking modes. GROUP
Although the varíous correlative techniques outlined
ín this section are useful, uncertainties relative to theír Figure 5-9. Effeclive weights and lengths ior ver-
application should be emphasized. For example, soil tically loaded piles ln a group.
stratification and the state of residual stress within a
pile after driving can have a profound effect on kz
(or Le) and, therefore 1 on {r and Àz at resonance. 4-PILE GROUP,
VERTICAL
Residual stresses ge.nerally make the stiffness of a ver-
tieally loaded pile much greater for very small loads, in
the normal range of unbalanced dynamic Joads, than
!;;
would ,be implied from using L, of 0.5 to LO times L,.
Whenever possible, therefore, both vibratory load tests>
!!
to measure /,, and Àz at resonance, and very lc;.w ampli- §
tude static load tests ( to no more than 10% of the
fríctional capacity of the píle}, to measure kz, should 1fu 7
IXI0 SINGLE PILE,
VERTICAL
be conducted on test piles or pile groups for purposes
o! obtaining k and D for designing prototype founda-
tions.
Comparison of Theory and Measured Behavior

Few published case studies are available whkh com-

1 ...,.••A· PILE GROUP,
HORIZONTAL

IXI07 2x10'
pare the results of the methods described in this chapter PREDICTED SPRING CONSTANT
with performance of foundations. One such study, con- {lb /in.)
ducted by plucking 90-ft-long concrete-filled step taper Figure 5-10. Comparison of measured and predlcted
friction piles both horizontally and vertically and s.ingly stiffness for piles in multiple tests (alter ref. 8).
90 . Design oi Structures and Foundations for Vibrating Machines
! M
SINGLE PILE,
-~IZONTAI
-
~
4 • PILE GROUP,
HORIZONTAL
1 A.S.T.M., 1968.
o 0.2
o Station," Report to Houston Lighting and Power
1
4-PILE GROUP,
::, 0.1 VERTICAL
0.1 0.2 0.3
PREDICTED DAMPING RATIO
Figure 5-11. Comparlson of measured and predicted
damping for piles ln multiple tests {alter ref. 8).
The trend -in the tests was that measured stiffness
exceeded computed stiffness ín the vertical mode ln the
inítial test but the difference in reeasured and computed
stiffnesses decreased as further tests were conducted,
possibly due to relief of residual driving stresses in the
piles, No such trend could be observed for stiffness in
the horizontal mode or Viith the daroping ratio in either
mode. Note also that little difference in measured damp-
ing existed between sing1e-pile vibration and group
vibration, Figures 5-10 and 5-11 serve to underscore
previous statements concerning the uncertainties in
dynamic response analysis of foundations and the de~
sirahility of providing for foundation tuning capability.
References
1. Aiarwal, S. L., and Hudson, W. R., "Experimental
Verification of Discrete-Element Solu.tions for Plates
and Pavement Slabs," Research Report 56-15, Center
for Highway Research, Austin, Texas, April 1970.
2, BeaJ R. G,, ,personal communication, 1974,
3. Beredugo, Y. O., and Novak, M.} ucoupled Horizon-
tal and Rocking Víbration of Embedded Footings,"
Canadian Geotechnicai Journal, Vol. 9, No. 4,
November 1972.
4. Dodge, C. F.> and Swiger, \V. F. 1 "Vibration Testing
of Friction Piles," Enginecring New-Record, May 13J
1948.
5. Ghazzaly, O. L, Hwong, S. T., and O'Neill, M. W.,
nApproximate Analysis of a Pile under Dynamic
Lateral Loading," Joumal of Computars and Struc-
tur,s, Vol. 6, No. 4, 1976.
6. Hart, H. H., "Vibration Tests on Foundation Piles,n
ITNO, Werktuigkundige, Constructies, Delft,
Netherlands, November 1963.
7. Maxwell, A. A., Fry, Z. B., and Poplin, J. K,
Vibratory Loading of Pi!e F oundations," STP 444,
8. McClelland Engineers, !(Pile Performance under
Dynamíc Loading, Pile Tese Programi W, A. Parish
Company, September 1977.
9. McNeill, R. L. uMachine Foundations: State-of-
the~art," Proceedings of Specialty .Session on Soil
Dynamics, Seventh International Conference on Soíl
Mechanics and Foundation Engineering1 Mexico
City, August 1969.
0.4 10. Novak, M., ºDynamic Stiffness and Dampíng of
Piles,'1 Canadian Geotechnical ]ou mal) Vol. 11 1 No.
4, November 1974.
l L Novak 1 M,, i.vertical Vibration of Floating Piles,"
Journal of the Engineering Mechanits DivisionJ
A.S.C.E., Vol. 103, No. EM!, February 1977.
12. Novak> M., and Bere:dugo 1 Y. O. 1 ºVertical Vibra-
tion of Embedded Footings," Journal of the Soíl
Mechanics and Foundations Division, A.S,C.E.., VoL
98, No. SM12, Decembcr 1972.
13, Novak; M. 1 and Grigg1 R. f., "Dynamic Experiments
with Small Pile Foundations/' Canadian Geotech-
nícal Journal, Vol. 13, No. 4, November 1976.
14. Novak, M., and Howell; J. ,F.j ºTorsional Vibration
of Pile Foundatlonst Journal of the Geotechnical
Enginceríng Division, A.S:C.E., VoL 103, No. GT4,
April 1977.
15. Poulos, H. G., "Analysis of the Settlement of Pile
Groups/' Geotechnique, Vol. XVIII, No. 4, Decem-
ber 1968.
16. Poulos, H. G., "Behavior of Laterally Loaded Piles:
U--Pile Groups" Journal of the Soíl Mechanics and
Foundations Division, A.S.C. E., Vol. 97, No. SMS,
May 1971.
17. Pou!os, H. G., "Behavior of Lateral!y Loaded Piles:
III-Socketed Piles," Journ-al of the Soil Mechnanics
and Foundations Division, A.S.C.E., VoL 98, No.
SM4, April 1972.
18. Saul, W. E., "Static and Dynamic Analy,is of Pile
Foundations/' Journal o/ the Structural Division;
A.S.C.E., Vol. 94, No. ST5, May 1968.
19. Singh, J. P., Donovan, N. C., and Jobsís, A. C.,
!(Design of Machine Foundations on Piles,'' Journal
of the Geolechnica/ Engin,ering Divisíon, A.S.C.E.,
Vol. 103, No. GT8, August 1977.
20. Stevens, J., "Prediction of Pile Response to Vibratory
Loads," Proceedings, Tenth Offshore Technology
Conference, Vol. IV, Houston, Tx, May 1978.
 6 Design Examples:
Block Foundations

Three block foundation design examples are presented
in this chapter. These examples use the theory and infor-
mation developed in prevíous chapters. The selected
foundations are typical and commonly used in many
industrial plants. The examples follow a standard format
which includes a series of steps so tha.t a thorough desígn
is accomp)ished without the danger of missing any neces-
sary check. Cross references have ·been made to other
parts of this book at each design step in arder to illus-
trate the utilization of previously derived formulae.

~.·

' .
~ ,

. ,"di
.

Horizontally mounted reciprocating compressors on block foundation.

91
92 Design of Structures and Foundations for Vibrating Machines

Example 1: Foundation Design for Reciprocating Table 6-1

Compressor (Footing Embedment Effect lncluded) Unbalanced Forces and Couples for Dilferent Crank
(ref. 1) Arrangements (rei. 5)
Farcea C11aplu
A. lntroduction
,.
Crank Arr~gtments Priw.At)' See(lod•ry Pdm1uy Scconduy
Sícte wnk F'wlthoot
Redprocating compressors are re1atively heavy ma~ oount,u-wts. Non/J
clúnes and generate vibrating forces of suhstantial magni-
..l (o.&)F'wlth
eouuterw!Jl:.
:t,;"c::ie

tude at low operatlng frequencies. The operating fre- F'DwíU:.-

out eo;inter-
quendes usually lie very dose to the natural frequencies Two oravh at tso~ o 2'" •b. None
ln-linf oylindera F'
of the foundation in the various vibrating modes 1 thus zD wlth
creating resonance conditions in the foundation system. Opposed eylindets o o
eounterwU.
Nil Nil
The magnitude of vibration amplitude at resonance (1At)f' (Ul)F'D
condition becomes a controlling criteria because of the Twa cranlro 11t 90~ wlthout witho1,1~
'I' eoanf.ctwts. o to\tllterwt.. F"D
closeness of operatíng and natural frequencies. There- t. ~,O'f';F' \0.707.lF'D
witlwu~
fore, indusion of the effects of interna! and geometrical cnauWrwt.'l. oountecwts.
damping during oscillatíon 'becomes an important con- Twc cylindett oll F' wi:ttwut

sideration1 and this can only be accomplished by using

cne erank
Cr!inderi 11t oo~ V crnmttrwta.
Owith
001.mterwts.
(1.4t}F" Nil Nil

the elastic half-space theory. T,m oylindmi on 2F' 1tithoút.

In this theory, the footing is assumed to rest on the onemmk oount$tWt-$, o Neee Fil
Úppastd cylllldern F'with
surface of the elastic half-space and to have simple CUUllterwtl'I.
Thl:e1? mnke at 120~ (3.41:i}F'D
geometrical areas of contact, usually drculari but other wltb.out
shapes such as rectangular o-r long strip can a1so be
handled with some sirnpHficatton 1 as decrfüed in Refer-
.,_ k:t- o o <:Qtrnterwts. (3.46)F"D
(l/f3)F'JJ
w.1th
e01interwf4,
ence 4. This theory includes the díssipation of energy Four éyli:,dua
throughout th-e half-space by '<geometric dampingn and Ctanh at 1so~
o o o o
allows calculadon of a finite amplitude of vibration at 1 J.:rj,l (Ul)F'D
withcut
counterwt-1.
the "resonant frequency," (ref. 1). The m~thod -is an Ctank.s at ll!l~ + _,;.i.;,r-- o
' o (0,707)P'D
with
4.0F8 D
counillrwtll,
analytkal procedure which provides a rational means of
Slxcyfüui~
evaluating lhe spring and damping constants for incor-
poration i n to lumped•parameter, mass~spring~dashpot
;.Jn:w,,l o o o o

vibrating systems, as described in Chapter 4. Recently, r= mnk radius (i:n,)

L = co~g-rod length {iti,)
this theory has been extended to account for the effect D = ~:,lindez-=nter dl.atanc& {in.)
W = lff)p._ l'ft. of one eylindet (!b.)
F' = (0.!.!000213-l:) rW (tpm)• = l'rimary
of depth of embeclment of the foundation on the values
of spring constant and the damping ratio. The lnfonna- F" = L' JI' = Scoo111.lary
tion presented in Chapter 4 is used in the examples that
follow.
Reciprocating machiiles. Machinery involving crank •
~I
mechanisms, such as piston~type compressors and pumps1 ~1~ M,(TWIST'NG OR YAWINOJ
W
internai combustion eng1nes, and pumps, produce recip-
rocating forces. A single cylinder engíne is inherently
unbalanced; however, in multicylinder engines and com~
pressors, it is possible to select the size of cylinders and
to ar.range them 'ln such a manner that the resulting
unbalanced forces are minimized (ref. 5). Unbalanced
forces and couples for different crank arrangements but
of equal cylinder bore and stroke are given in Table 6-1.
Howeveri note that in addhion to the primary frequency
either athe vertical or horizontal forces and couples rnay
generate a secondary frequency which depends upon the
orientation of the machine. Figure 6-1. Six vibration modes of a block-type
Vibralion modes. A rigid block foundation supporting foundation (Translational modes: vertical, longitu-
a vibrating machine can ex:perience up to six modes of dinal, lateral. Rotatlonal modes: twistíng, rocklng,
vibration as shown in Figure 6-1. Three modes are trans- pítching.)
 Design Examples: Block Foundations 93

latory (the ver!ical, lateral and longitudinal modes) and secondary forces acting with the prirnary frequency.
three modes are rotationa! (hvisting or yawing, rocking1 ln thís example however, a complete analysis is
and pitching or rolling modes). The vertícal and twisting performed usir.g primary and seco:idary f orcing
vibration modes are usually ir.dependent. However, iI functions separately.
rocking osdllation caused by the eccentric location of
vertical and horizontal forces on the foundation is pos- C. Soil and Foundation Parameters
sible, then the vertical and twisting motions are always
The required soil and foundation parãmeters are
coupled with the rocking motion. ln many practkal
obtained from the soil report and the facility's plot plan.
problems) vertical, lateral, and rocking modes exhibit
the greatest fofluence on the overall motion and are Plant Grade E!. = 100'-0"
generatly considered independent of each other in the Top of Foundation EL = 100'-6"
analytical solution. The results can then be superimposed, Recommended Foundation Base EL = 95'-6"
ln some special problems, l\'>'here the center of gravity
Soil Stratum is Medíum Dense
( C.G.) of the foundation system along the vertical axis
Silty Sand with Grave!
is substantially higher than the center of resistance
offered by the soil to horizontal forces: coupled modes Soi! Density ( y) 117pd
(rocking and lateral) must be considered. A rheological Shear Modulus ( G) = 14,000 psi
representation of the modes of oscillation is shown ín Polsson's Ratio ( v) = 0.35
Figure 6-2. Soil Internai
Damping Ratio ( D,ii) 0.05
Static Allowable
B. Machine Parameters Bearing Capacity, S11.11 2.5 ksf
Permanent Settlement of Soil = 0.2 in. at 2.5 ksf
The following informatíon is supplied hy the machine
vendor: (refer also to Chapter 3 for development of D. Selectíon of a Foundation Configura!ion
information) .
Vertical reciprocating compressor (four cylinders)
Trial sizing of the supporting block Iollows the sug~
and auxiliary equipment:
gested guidelines I and 2(a) through 2(g) given ín
Compressor 28,115 lbs. Chapter 3.
Gas Coolers 4,350 lbs. Try a shallow and wide footing such that the com•
Snubhers 7,010 lbs. bined center of gravity of mass of machines and of foot~
:vlotor 18,000 lbs. (rotor weight 6,000 lbs.), ing coincides in plan wíth centroid o-f the contact area
Total Machine of footing (Figure 6-4). It is also recommended that at
Weight 57,475 lbs. least 80% of lhe looting thickness should be embedded
in the soil to restrain the trans-latíon movement of the
Dynamic forces (Figures 6-3 and 6-4)
footing. Note that the effective foundation embedded
depth h is taken as 3 ft, i.e., the full 4 ft embedded
a. Compressor speed, primary (operating) 585 rpm,
depth minus the top 1 ft layer.
=
secondary J,170 rpm
Concrele Footing Trial Outline ( see Figure 6-4)
Max. Vertical Primary Force F, 1,329 lbs. Weight of the footing (WF) = 324,843 lbs.
Max. Vertical Secondary Force F 0 553 lbs. Total static load ( W) = machine weight + weight
Max. Horizontal Primary Force F, 725 lbs. oi footing= 382,318 lbs.
Max. Rocldng Primary Moment 1'1 =
11,304 lbs..ft Weight of footing/weight of machine 324,843/
Max. Pitching Primary Moment T; =
34,000 lbs.-ft 57,475= 5.65> 5 O.K.
Max. Pitching Secondary Moment T;, =12,350lbs..ft Actual soil pressure= 382,318/15.75(27.5) = 883 psf

=
b. Motor speed 585 rpm. Motor dynamíc forces are
< 0.5s.,, = 1,250 psf

negligible. Thus tria! area of footing is O.K.

Note: Superposition of primary and secondary
forces results in a non-harmonic forcing function
a period equal to that of the primary motion. For
simplicityj one may assume a single hannonic forc-
ing function with the maxímum amplitude equal to
the surn of the amplitudes of the primary and
All other guidelines for triai sizing are checked and
found satisfactory.
A dynamic analysís check ís then performed on the
triaI foundation. The various steps ín this procedure are
listed in Table 6-2.
( text cont!nued on page 97 ),
 94 Design of Structures and Foundations for Vibrating Machines

t F( t)

M ~
e-

z
Kx 1:iÁ- • H(l) •

(A) Vertical Excitation (B) Horizontal Translation

(D) Torsional Excitation

TRANSLATION -=:."!<. L.
1 1 r ROCKING

i:7
r-- -
---- /-I 1 ,.l- , - _ ·~
'
- ---@ - - - - - - ~ ~ -1-- -
L__ I r---
7T -..J
1
(E) Coupled Horizontal Translation & Rocking
Oscillation

Figure 6-2. Modes of oscillation.

 Design Examples: Block Foundations !15

1-CRANKSHAFT REVOLUTION

COMB.VERT.FORCE,F,= 11'
13211 cos wt +ss3 cos i~t o T
r
COM0, VERT. MOMENT , T •
34ººº cos CLl't+ 1uso cos
VERT.. FORCE, F,(P) •132• cos wtr
lú)t
2000-,----,----.,-----,----r---,------,.-!:18667

1
VERT, MOMENT", T J(Pl =
34000 cos wt P
VERT. FORCE, F, (S) =•s>eos2wt

l
VERT. MOMENT *Tpí (Sl=
1?3!iO cos 2 wt
HORi!', FORCE ,Fx (P)•725SIN wt
Wt

i
HORi!'.MOMENT (ROCKINGl,T'f(Pl•

W
11304 S!N

= 61.26 rod./Hc
wt

. {PITCHING)
-2000--'-----'----.l----'.----'-----'----~~~6667
FORCES, lb•. MOMENTS, ft- lbl.

Figure 6-3. Unbalanced vertical and horizontal forces and moments .

•
"' 1 •o
-o
2 -,:,
.J
w
<i
13
=o -----t------
'WT. OF FOOTING,
-,,,' WF <324,\143 lbs,
• =
_,
11 "'
N '
"N
~

b;.?.e:.2_,7. ._ 6
..-•• .;,13;;_•_-9;:_•_·_, _ _ _ _ __,...
IS OF PITCHING
OSCILLATION,

m = 10088. 29
p

tx,s OF ROCKING
OSCILLATION, ~
2
ª2. =2 7.5' about
b2 = 5.0
k =2.5'
1
lt'

z 2
a 2 = 15,75' about pf
Figure 6-4, Foundatíon layout for reciprocating machine example problem.
96 Design of Structures and Foundations for Vibrating Machines

Table 6-2
Oynamlc Analysis of the Triai Foundation

Verlfotl Ex,itation Uariimnfal E~cif•tion Roolin~ Exdtation Pitdnng E«ü.1í,n

Stcp Puamct..:r Rdertn(ie Sourct (t•Direcrion) (1:-Direetion) (->,•D,rectfon) {.s-Dírectimú
Mw, lll'ld ma.ss rn()merl'. m"' W/Q I.p (rnaehi:le) = 95,902.9 J9 (machine) = 95,902.0
o! !nert,;::!. n[mi
l•,4,,.,,, !: -(11.i~+b1 1)
i ~ 12
m 382,318i3:U m = J82,31S/13.2
l,;, (footffig) = 719,SH.5 19 (!ootIDg} ,,, ~2_:
,;, 11,873.2 lbs."sccl/fl = l !,873.Z llx!...;ec1/ft 815,nu 388,StS.8

+ mtkt 1

'Table 4-4
J Jl:.iss,w:l.ft !b!.~t

,Spx;ng Colt-Shn-1 L=Zl.fiOH L"" 15,15H

{a.) Eiiv!. radius Table .J.2 r0 =1L74ft r0 "" 1L7-l ft B "" l5.75fi B = 21.50 ft
(_rect. !tg}, r Q r.,"'" 1:;.esft. r0 = I0.33 ft
<b) Embe<lment fadcr Tabla 4-2 E//,h 4Ai- Ui""3 "'iJ: = L232 ;:;, = l.l7S r,ç = l.235
· for spring c:on~tant l;z"' UCO
(e) 3pring consta11t
eoefficient
Figure 4~1 '1-z""' 2,16 ex"" G.M f,v, = 0.58 Sq = OA5

{d) F4'\'tspringtótlstant
(rert. footing)
table .J.r k,.., ili2.66 X lOG k7 "" J3Z,5S X l:l' k9 = 25.I76 X HP ~ = 11.758 X I0 1
lbs./ft !bs./ft íbsAú1ad lbs.-ft/r;;d
Darnping fütio
(a) Embedment íactor Tablc 1-4 "'1 .., L2líi «z"' l/i:r.i' "'f =V12-1 ~"" 1.04'.
(b) MassratitJ Tablt! 1-3 n, o.:m R,:.., CAOS Ry ""'fUl5 liç•O.m
(e) Effeetive damp·rng Tabfo 4-J n;, = J,!'i 114,=I.S!ll
coeffldent
(d) Geometrícal daomini- Table 4-3 D:r;""' 0,031 D:r;"" O.i:J2 DJ<u = 0,302 D~;""' 0.105
ratio
(ej fotern.1! dam~ir1g IIQHdat\'.a D;i = C.Oii D:;t"" O.illi Dy,t.,. O.C5 Dv,i = 0,05
(í) Total damping (d)+M 1) 1 "' O.OS! D,:. = 0.182 J);, = 0.352 fl,;, = o,:us
,- oo ✓íiiiYXlõ; ✓25.WJXlO' lt758 X iOi
[a) :-lat,iral freq.
(rpm)
'° /'
;;\; 1.,. lhe
-
GO ,/"'·" X :C'
!l,813,2
= !,082,8
Ín:""
211:
= 1,000.1
ll,87:U
!,;
60
Z11:
""'i.trn.o
815,7HA
f:;,J,"""-
,,'"
"'1,611.2
31!8,SJS,8

(0) P.eaonancc frec;:. Table ?--4 2D1> !, res.,m.nce 2D1> 1, ttsonanre fm,:, = 1,93,u f~ = Uli.6
(rpm) frotaling ool possible llllt possib!e
ma.i.'l)
Primarf®'"t-(Zn +l)'l':/2
F..,r;(P) = T.32fr lb:!, ,:,,Jl!) = 11,30¾
@t.lt"'>il2ll'!: FxrifJ>J 725 lbe. +FZQ(P)Xa=O T+_r;(P) ""'H,000 100...ft
(e} Vibr&ting foroe m;1.cl1iue F,:g{P) ""O @wt-(211 + J)'!:/2 +FX'l!(P)Xg.,,. @t.it= o,2n..
(mn. absolu~ µtan:ettr @wt-{2n+l}wJ2 P:u,{P)""' O m x s .;,soo 1'4,,i{S) = l2,350 !bs.-H
ampL) Pu(S'! ..,UJlbt!.
@fuÍ:'«fi,111:/2
@14t IHt --------
t7,10i lbs.-ft.
@..it= a, n11:/Z
See~mãry@ wl "" (2n+ 1) ,r/2
Fzo(S) Z'l "" Ma X 2S5
,,, 1,52t lbs-ft
~PM,7'~RPM Mx(P)=V.SW@.585 R?M M ,t,t""U!tf 585 RPM M<ll(Pj=t.128@.'185 RPM
(d) ).hgniliealk}n factoc 'fab!e r--l z(S,=!141 1,170RPM Mt:Max uot possib:e Mv, S)=t.'154 l,t70 RPM M~(S ,,,,l,690@U70RPM
MrMax not PQ.$1!lb!e
z,,,,, I',Mzlwfk: X"" Mzfz.Jkz t"" ~M,v Tfk,;, ,t, =IJM,,, '!.',t,/k-,,
.7B¾Xt:i:~+,11oxMJ ,890X725 .,, (L11lX1 .!01 = {1.12BX34 000
(e) D:Sp'tacement TableH + 1.454X1,5il) + L690XI2,3$0)
=!'>- 152.{HtXl'Y' f32.Jil,IXHl~ + 2s,11-0x10 11 +IL711SXW
= B.528Xl0""' ft ""4M?XlO-I ft ,.. 0.8428X !041 rarL ""'5.0369Xl0-1 :ad
= O,I02;lJXtO-~ in. =Q.058M!8X10..: it;.

X 1 "'x+~Rv
Z, = z++·R1u:+ó·R.-; 11 - ,0583 Xl-0""'
(f) Totald~nt = O.IO?~XI0-1 + -O.S428X l0"11XSS
mpqn:re + {t842:8X1fr X 165 1 .,,, 0.l33XJO-;i io.
+ S..0369XHr xot.5 1
°"' 0.7J7XIO--S: Íll."
r,. •·;ti
""'ll.03 0XJO-$XSS
,,. OA432XJO-S in,
(g) T~ibillty Tu.ble H ~(P) = 1.142 '1',{P) .., 1.201 Tr<Pf = t.tH •,m- 1.u,
'"'"' Pv
~(&} ""'

= i:T,F.,,q
1.102
Plf""' T.. F,,q
Tr(S ""' I.620
Prf "'11T,.·Tt~
Tr
PN ""l:Tr•T,;
""l.1!13

(h) Traixmiifüd f,.u,;e "" l,H2Xl,329 ""1.201xns ""'1.144X 7,1iH - l.H&X34,000

+ 1.Hl2X553 = Síl.l.7 lbs. +
to20X1,521 + t193X12,3fi0
°"' 2,127.t lhl. ""22,mtS,9 !hiJ.-rt 61,t07.&lb#rf'.

•Vtrti,:zl form and;ncmcnts, a.ntl l!on. forces and momen!s are out cf pbase by 90de,:re!.lS and, hente. àre nQl muimurn at the n.m.e titn~. [fowever, tht!l tombinetfon i;i'fltS e<1ntlllrvativ11 tesults,

E. Dynamic Analysis
Forces generated by the reciprocatíng compressor
(Figure 6-4) will result in vertical (z), lateral (x),
rocking (,;,), and pitching ( <f,) oscillation of lhe footing,
-.-.•h-ile the forces generated by the motor only will tend
to oscillate the footing in the vertical ( z) t longitudinal
(y), torsional (8), and pitching (<f,) modes. However,
the magnitude of the forces generated by the motor are:
small and, conseqaentíy, the resulting víbration response
is negligible. Therefore, a dynamic analysis is only per-
formed for the compressor forces. If an analysís ís
required for the motor forces 1 the tables and figures
provided are applicab!e,
F. Check of Design Crileria-Static Conditions
(See Chapter 3 for Design Checklíst)
1. Statíc bearing capacity: proportion footir:g area
for 50% of allowable soil pressure. 'From D above 1
883 < 1,250 psf, O.K.
2. Static settlernent must be uníform; C.G. oí footing
and machine loads should be within 5% of each linear
dimension. The center of gravity of machine loads and
footing corndcle.
3. Bearing capacity: static plus dynamic loads. The
magnification factor (Table 1-4) should preferab!y be
less than 1.5. In the example problem, thís faetor is less
than 1.5 for the prímary operatíng frequency but is
slightly higher for the secondary operating speed.
The sum of static and modified dynamic loads should
not create bearing pressures greater than 75% of the
aHowable soil pressure given for the static load condi-
tions.
=
Transrnitted Dynamic Vert. Forcei P 11 2,127.1 lbs.
=
Transmitted Moments P,~ *22,035.9 + 2,127.1
(2.75) + *870.7 (8.0) 34,851.0 lbs. ft
=
Prt 61,107.6 !bsAt
* Out of Phase by 90°, but this combination is con~
servativc.
_ 2,127.1 34,851.0 ( 6)
p,.,. - (15.75) (27.5)
15.75 (27.5)'
-- 61,107.6 (6) 66.4, 76.2 psi
+ 27.5 (15.75)'
Total statíc plus dynamíc bearing pressure 883
+ 76.2 = 959.2 psf < 0.75 (2,500) is O.K. and 883
=
- 66.4 816.6 psf (no uplift) is also O.K.
4. Settlement: static plus repeated dynamic loads. The
combined C.G. of the dynamic loads and the static loads
shouid be within six in. of the footing center of gravity.
For rocking and pitching motion 1 the axes of rocking
and pitching shauld coincide wíth the principal axes of
Design Examples: Block Foundations 97
the footing. The magnítude of the resulting settlement
should be less than the permissible deflectíng capability
of the connected piping s:ystem, In this example, dynamíc
forces are smaH compared to static loads; therefore,
settlement caused by dynamic loads will be negligible,
Limiting Dynamic Conditíons
1. Vibration an1?litude at operating frequency. The
maxfmum amplitude of r!1otíon for the foundation should
lie in Zones A or B of Figure 3-3 for the given acting
frequency. The maxim'1m víbration amplitudes are
0.000717 in. and 0.000443 in. in the vertical and hori·
zontal directions, respectively. These amplitudes fall ín
Zone A of Figure 3~3 at the operating frequency of
585 rprn and are, therefore, acceptable.
2. Velocily is equal to 2.,,/ (cps) X displacement
amplitude as determined in ( 1) above. This velocity
should be compared to the limiting vallles of Table 3-2
and Figure 3-3 for at least the "good" condition. Velocity
= 2" (585/60) (0.000717) = 0.0439 in./sec. This ve!oc-
íty falls in the "good01 range of Figure 3-3 and is, there~
fore, acceptable.
3. Acceleration is equal to 4 1r 2 f! X displacerncnt
amplitude as determined in ( l ) above. Th-is check is
only necessary if conditions ( l) or (2) are not satisfied.
The acceleration should fall !n Zones A or B of
Figure 3-3.
4. Magnification factors should be less than 1.5. ln
this exarnple-problem the magnificatÍ0!1 factors are less
than 1.5 for the primary operating frequency and slightly
iatger for the secondary frequency.
5. Resonance. The acting frequcncies of the machine
should have at )east a difference of +20 wíth the reso-
nance frequencies; that is, f < 0.8 fm or f > 1.2 fm- In
this example, resonance cannot occur in the vertical and
horizontal modes ( due lo the large amount of damping
in those directions}, ln the rocking mode, 0.8 fm = 0.8
(1,934.3) = 1,547.4 rpm aud 1.2 J. = 2,321.2 rpm.
Since the primary and secondary machine frequencies
are 585 rpm and 1,170 rpm~ no re:i,Onance will oç,cur in
the rocking mode; therefore the design is judged accept-
able. ln the pitching mode, 0.8 /. = 0.8 (1,717.6)
1,374.1 rpm and 1.2 /. = l.2 (l,7l 7.6) ~ 2,061.1 rpm.
The primary and secondary machine frequencies also
fall outside of these ranges and, therefore, no resonance
conditions are possible.
6. Transmissibility factor (usually considered for high.
frequency rnachines mounted on springs), The trans-
missiblity laclors should normally be less than 1. ln
the example, the T, values are greater than 1 indicating
that the dynamic forces are amplified.
7. Possible vibration modes: Vertical and horizontal
oscillation are possíble modes since the force may act in
98 Design of Structures and Foundations for Vibratíng Machlnes

those directio!1s. Rocking ( ifr) osciHatíon is also possible B::, B.r; Blf, BfJ, Bp = Mass ( or ,inertia) ratio; vertical
since the horizontal forces act above the C.G. of the horizontal> rocking torsional and
foundation. Pitching ( <p) osciHation must also be con~ pitching vibration mode
b, Depth of section i, ft
sidered in this exarnple since unbalanced moments are
provided hy the machine manufacturer. However, twist~
D Damping ratio C/Cc =
D::9, D~r;, Dv;9 , D;g Geometric damping ratios; vertical,
ing or yawing osdllation is not consldered since the horizontali rocldng and pitching
horizontal forces do not form a couple in the horizontal modes
plane. The horizontal translation and the rocking rnodes =
D1, Internal damping ratío
F(t) Excitation force, lbs.
need not be coupled if: F0 Amplitude of excitation force, Jbs.
Ftt = Maximum horizontal dynamk
force> lbs.
Fz = Maximum vertical dynamic force,
lbs,
Using values from Table 6-2 for /., = 1009.1, f,t =
f Operating speed of machine, rpm
= 1,677.6 and f (primary frequency) =585 rpm, and =
f, Critica! speed of the machine, rpm
subst-ltuting in the above expression 1 =
f, Natural frequency, rpm
=
fm Resonant frequency, rpm
v(l,009.l)' + (1,677.6)'/(l,009.l X 1,677.6)
fm!Ji Resonant frequency in the rocking
mode, r:pm
= l.156 X 10-, =
fm,; Resonant frequency in the pitching
mode, rpm
f'"' = Natural frequency in the x-direc-
and 2/(3 X 585) = l.140 X 10-•, which appears to be tion, rprn
a border line case (,within 1%) . Hence, uncoupled mode fn 2 =Natural frequency in the z-direc-
analysís is O.K. tion, .rpm
f,v.;,;:::::;; Natural frequency in the rocking
direction, rpm
Environmental Demands =
fnt Natural frequency in the pitching
direction, rp:n
1. Physiological effects on persons. If the machine Js =
G Shear modulus of soil, psi
located in a building, Figures 3-4, 3-5 and 3-7 are used =
g Acceleration of gravity = 32.2 ft/
to test the adequacy of the ínstalla:tion. ln the example, sec•
Figure 3~4 indicates vibrations to be '*barely noticeable
=
H Dynamic horizontal force, lbs.
h == Effective foundation embedment
to persons" at the operating frequency of 585 cpm for a depth, ft
maximum vibration amplitude of 0.000717 ín. =
li/t" ]q, l4i Mass moment of inertia in the if1
2. Psychologícal effects on persons, l:se the sarne pro- (rocking), e (twísting) and </>
cedures as in ( 1) , When the machine is located close to (pitching) directions, lbs, ,ec'-lt
i=Segment(i= 1,2,3 , .. )
people not connected with machine operations, an acous~ =
k Spring constant, kips / ft
tical barrier may be necessary. ki = Distance from center of mass to
3. Damage to structure. Use the limits given in base of footing for segment i, ft
Figure 3-4. The example check shows no danger. =
kzJ kz> kt1r~ k11) k9 Equivalent spring constants: verti-
4. Resonance of structurnl components (superstruc- cal, horizontal, rocking, torsion~
and pitching modes
ture above the footing), Avoid resonance with the lowest
L = Width of base of machíne founda-
natural frequency by keeping the ratio of operating fre- tion block, ft
quency to natural frequency less than 0.5 or greater =
M Dynamic magnification factor
than 1.5, No other structural components are involved
ín the example, m, ===
m

n9•J nv,
Mass, lb. sec' /ft
Mass of segment i, lbs. sec' /ft
Rocking and pitching mass ratio
Conclusion. The foundation is predicted to perform factors for geometric damping
ln an acceptable manner. The static and the dynamic =
PH Force transmitted in the horizontal
analysis confirm the adequacy of the proposed founda- direction, lbs.
tion configuratíon and, therefore> the design as proposed =
Pv Force transmitted in the vertical
is acceptable. direction, lbs.
PT..p = Transm!tted roc~ing :noment, ft-lbs,
-----Nomenclature--Example 1 - - - - - Prrf> = Transm1tted p1tch1ng moment1
lt-lbs,
P1idyn ;:::::;; Bearing pressure due to transmitted
a, =Width of section i, ft dynamic force, psf
B = Length of rectangular foundation r= Ratio of operating frequency to
block, ft natural frequency = f /fo
 Design Examples: Block Foundations 99

r0 = Equivalent radius for rectangu1ar Criticai Spe,d (f,) = 1st - 3,400 rpm
footing, ft 2nd - 9,000 rpm
Riu = Horizontal distance from center to Eccentrícity of Unbalanced
edge of footing in the x-direction,
ft Mass e = 0.0015 in. (provided
R1i,11 Horizontal distance from center to by manufacturer
edge of footing in the y-direction, for the static condition)
ft
Rv = Vertical distance from base to hori-
The dynamic eccentne1ty at operating speed may
zontal machine load; ft
San = Allowable soil pressure, ksf then be calculated from
T ~ = Unbalanced rocking moment, it-lbs.
T f, =U nbalanced pitching moment, ft- e= ê/[1 (f/f,)'] 0.000472 in,
lbs.
T = Transmissibility factor Often, the rnanufacturer may dairn a zero eccentricity
T, (P) = Transmissibility factor for prjmary for the rotor components. A design value can never~
operating frequency
T, (S) = Transmissihí!ity factor for second- theless be selected from Table 3-l as in Example 3
ary operatmg frequency which follows.
W = Total weight of machine plus foun-
dation, lbs. Centrifuga! Force F,
WF = Weight of foundation, lbs, (W,/g)e ro' 1,359 lbs.
X = Disp]acement response in the hori-
zontal x-direction, in, T-urbine:
X,= Total displacement response ín the
horizontal x-direction, in. Weíght (Wr) = 16,000 lbs.
= Z Displacement response in the verti- Rotor Weight (W,) = 545 lbs,
cal z~.dkection, in. Operating Speed (f) = 6,949rprn
z, = Total displacement response in the
ill = 727.7 rad/sec
vertical z-direction, in.
a::, <Xz, a1r, aq, ;;;:;; Damping ratio ernbedment factor; Critica! Speed (/,) = 1st - 2,000 rpm
vertical, horizontal, rocking and = 2nd - 9,020 rpm
pitching modes Eccentricíty of Unbalanced
=
f3 Phase angle, rad blass, é = 0.0015 in,
=
/3::, /ir, /3v;, fJ.; Spring coefficients; vertical, hori~ (whkh is again given by
2cmtal rocking and pitching modes
=
y Soil densíty, pcf the manufacturer)
1}11> 'l}z, 'N, 'l}t/> = Spring constant embedment factors;
vertical, horizontal, rocking and Dynamic eccentricity at operating speed,
pitching modes =
e= 0.0015/[l - (6,949/2,000) ') 0.0001354 in,
v = Poisson's ratio of soil
p = Mass density of soil =r/ g lbs. sec' / Centrifugai force F, = 101 lbs.
ft.• TotalcentrifugalforceF0 = 1,359+ 101 = 1,460lbs,
w= Frequency of excitation force, rad/
Base plate: weight ( W h) =5,000 lbs.
sec
tll 11 = Natural circular frequency, rad/sec Total machíne weight ( W M) W, + W r + W •
56,270 lbs,

Example 2: Design of a Foundation Block for a

Centrifugai Machine (ref. 2) B. Soil and Foundation Parameters
The soil parameters are obtained from the soil report
A. Machine Paramelers
prepared for the plant facílíty. The factor:s which are
The machine pararneters necessary for the design of
considered in the prepa:rations of the soil report are
the foundation are defined in Chapter 3. The following
lísted in Chapter S, In this example the following ínfor-
data are required ( ali terms are defined where they first
mation is obtained from the soil report;
occur);
Plant Grade El. 100'-0"
Top of Foundation EL 101'-0"
Compressor:
Recommended Foundation base, El. 98'-0'1
Weíght ( Wc) 35,270 lbs. Sai! is Medium Fínn Clay
Rotor Weight (W,) 2,100 lbs. Soil Densíty ( y) = 125pcf
Operating Speed (/) = 6,949 rpm Shear Modulus ( G) 6,500 psi
(w) = 727.7 rad/sec Poisson's 'Ratio ( v) = 0.45
100 Design oi Structures and Foundations for Vibrating Machines

Soil Internai Damping Ratio (D~,) 0.05 dimension. The center of gravity of rnaciline loads and
Static Allowable Bearing Capacity (S411 ) =
1.5 ksf foundation coincide and is O.K.
Also, the settlement at the allowable bearing pressure 3. Bearing capadty: static plus dynamic loads. The
ís negiigible. magnificatian factor (Table l •4) should preferab!y be
less than 1.5. The sum oi statíc and modified dynamic
C. Selection of a Foundalion Configuratíon loads should be w-ithin 6 in. of tbe footing C.G. For
75% oi the allowable sai! pressure given for the static
A trial configuration is selected foHmving the guide- load condition = 627 + 374/(12.5 x 20) ± 1420(6) /
lines listed in Ghapter 3 under Triai Sizing of a Block 20 ( 12.5)' = 632 or 626 psf < 0.75 (1,500) psf is O.K.
Foundation. 4, Settlement: :static plus repeated dynamic Joads,
A shallow anci wide footing is desired such that the The combined C.G. of the dynamic loa<ls and the static
combined center of gravity of the machines and of the loads should be within 6 in. of the footing C.G. For
foundation coincides closely with the centroíd of the rocking motion the axis of rocking should coincide with
area of the foundation, A foundation block configura- the principal axis of the footing. The magnitude of the
tion which satisfies this requirement is shown in Figure resulting settlement should be less than the pennfasible
6-5. deftecting capacity of the connected piping system. ln
Concrete Footing Trial Outline: this examplei dynamic forces are small compared to
Weight of the footing (W,) =100,500 lbs. static Ioads; therefore, settlement caused by dynamk
Total static load ( W) = machine weight + loads will be negligible.
:weight of footing 156,770 Jb,. Limiting Dynamic Conditions
Actual soi[ pressure = 156,770/12.5 (20) =
627 psf
=
< 0.5 (S.u) 750 psf L Vibratíon amplitude at operating frequency. The
maximum amplltude of motion for the foundation sys-
Thus, area of footíng is O.K.
Weight oi footing/weight of machine =
100,500/ tem should lie in Zone A or B of Figure 3.3 for the
56,270 = 1.,8 wlúch is close to the suggested minhnu,;, given acting frequency. Vibration amplitude (vertical)
=
z, 0.000019 in. at 6,949 rpm. From Figure 3-3 this
of 2.0 for weH--balanced ce:1trifugal machines. All other
guídelines for trial sizing are satisfied and the dynamlc amplitude is within the safe allowab1e Hmits. Víbration
analysis is then perfonned. amplitude (horizontal) at center of bearing area X, =
0.000018 in. at 6,949 rpm. The amplitude falis in Zone
D. Dynamic Analysis A in Figure 3~3 and is, therefore, acceptable,
2. Velocity equals 2"f (cps) X àisplacement ampli-
tude as calculated in ( l) above. Compare with the
The axis of rotation of the shaft is located 6 ft above
limitíng values ·Ín Table 3-2 and Figure 3-3 at Jeast for
the bottom of the foundation. The dynamic force acting
the "good" conditíon. Veloeity equals 727.7 (0.000019)
at the axis of shaft ís of the form F =
m 6 e,:,;2 sin wt ( see
= 0.0138 in./sec, From Table 3-2 this velocity falis in
Figure 6-j) which will excite the structure in three
the nsmooth operation" range and is, thereforet ac-
different mOOes, viz., vertical 1 horizontal, and rocking,
ceptable.
Sínce the machine will operate at a constant speed in
3. Acceleration equals 4-,,'f' X ( àisplacernent ampli-
the steady~state condition, the amplitude meewz is con-
tude, as calculated in ( l) above). Should be tested for
stant. Thus, formulas associated with a sinusoidal force
Zone B in Figure 3-3. Note: This check is not necessary
of constant amplitude F<i are used ín the dynamic anal~
if conditions ( 1) and (2) are satísfied, wbich they were
=
ysis (F F, sin wl). A complete dynamic check is per•
in this example.
formed in Table 6-3.
4. Magnifieation factor ( applicable to machines gen-
erating unbalanced forces). The cakulated values of
E. Check of Design Criteria M and M, ( T able 1-4) should be less than 1.5 at
resonance frequency. In the example, M in ali modes is
The foundation block is checked for the design criteria less than 1.5.
as described ín Chapter 3. 5. Resonance. The actíng frequencies of the machine
should have at least a difference of ±20% with the
Static Conditions
resonance frequency of Equations of Table 1-4. (0.8
1. Static bearing capacity. Proportíon of footíng area fm, > f > 1.2 {,.,), In this e.xample, there is no reso-
for 50% of allowable soil pressure. From C above, 627 nance frequency in the vertical mode. ln the horizontal
< 750 psf is O,K. mode, 1.2 X 1,221.4 < 6,949. In the rocking rnode, 1.2
2. Static settlernent must be uniform; C.G. of footing X 1,686.1 < 6,949. Therefore> a resonance condition
and machlne Ioads should be within 5% of each linear does not occur.
 Design Examples: Block Foundations 101

Wm(MACH. WT.)
56270
C.G. OF MACH. LBS.
ANO FTG. AXIS OF ROTATION
b2 = 1'-0"
ai - o
b1 - O
k1 = 6'-0" b3 - 2'-0"

k2 = 2'-6"
GR. El. 100'-O"

ªª = 12'-6 11

z
Figure 6-5. Foundation layout for centrifugai machine example problem.

Table 6-3
Dynamic Analysís (Three Modes of Oscíllatíon are Possíble)

Step No, l'•u1mdu 8,;,urce Vu6ca1 .Eulution ll4nu1•í•t E:,;ci111tior1 lqefuat thcíll•tioo
Equivalent tidiWI, r,1 Tab!& 4-2 r0 = u2 n r0 -8.!}2ít ro .,, 8J}2 rt
mm Wlu m "" 4,869 Jbs. sec'/ft m ... 4,869 lbf>. ,ae,::l/ft l
' MM!!, andmw
rooment cf inertia
•
,t, (Maehine) .., ~Hl
1 ,f (FOOUC1B) =~
~ [i; C«t'Ht'l + 1
I,; ""106,128
f" <C4 Jnik.1 ]
lba.~..ft
' Tahlt {.(!
= 0,35
Massratio Tahle 4-3 B: = 0.24
' ~~cdamping Tablti-3 D:= 0.868
TJ.:r,
D;; =ll.494
B,t. - o.166
D-p = o.311 f = 0.361
lntcrnal darnpio1 &il'""" Negiigible: Negligible ov,, "" o.oro
Sprlog~nt
ª""' 2.ti P;; = o.ss
' &tuivt.let1t i;pring
Fig,.;n,i:•l
Ta.bie 4-l kt = 67.Sfi X 10l k/ft k;1:41 ,,. 40.11 X til' lilll./ft ky,,1
P9-=0.!6
= 2,t4U8 X lQII
"'"""'
Natural Íl'llquency, f-,,. f,u = 1,JM0.9 rpm fnr = 373.9 rpm
lbsAt/rad
fn,;, ""1,4(9.8 rpm
,. I'
i; \l;;;
8 Ruonac.ce freque.ncy, fm; Tab!eH Reso1u11ee nol pm.aihle fnt% = 1,221.4 tpltl. Ímf' ""- 1,68&.1
r~. M = 0,022 = 0.010 = 0,045
'
ló
Magnificatiou
Dywunt~foru
Table 14
ee..tdfugal forr.e V0
M
.., 1,4.60 lbs. H0
M
"" 1,460 lha.
M

T, -.,,, Ht.3 - '.li"' (O)

a. lba.
~

11 {a) Vibn.tiun wplitude Table 1-4 Z =0.56 X j!)""f,ft X= 0.57 X l(rllft f =0.1611 X lll""'nd
11 {b) Com_poneot cf Atedg&oíftg. At. cerit;,r of bea,ring
=ru~ -= t R,
J611 X 10"'1 (6.u)
""' t,007 X ltl'"" !t
~ t ••
= .16tl X 1o; (6)
= o.967 X 10"'1 rt
H (e} '8$ultant vibn&tion
amplitude
11 (a) + 11 (b) Zt.., 1.561 X lí)""f, Xi ,.. lli37 X 1o-e ft
= 0,0000[8 ÍII,
""' ó.000019 ln.
Tra.fllllllll!Bibil.íty fAttor Tr Table 1➔ Tt = o.m = O.lôíl
" a.nd fotet U'illlll!l!Ued, Po
'1'1 ""'
Po.,, 3141ba.
0.256
PR""' 1!15k PM
Tr
= 1.420 lb$At
102 Design of Structures and Foundations for Víbratíng Machines

6. Transrnissibi1ity factor ( usually appEed onlr to ratio either less than 0.5 or greater than l.5. In this
high-frequency spring-mo:rnted machines). The value exampie, no structural components are involved,
of transmissibility is calculated by equa!lons of Tab]e Thus, the trial design is acceptable and may be used
1-4 and shou!d normally be less than 1 for spring- to support the machine.
mounled machines havíng an ínertia block, ln the ex~
arnple, T,,. is less than 1 indicating that dynamk forces -----,Nomenclatur-Example 2 - - - - -
are not amplified.
 Dynarnie amplitude
Possible Vibration Modes ai = Width of section í, ft
B= Length of rectangular foundation
1 and 2. Vertical oscillation or horizontal translation
block, lt
are possible modes as -the force acts in either direction.
3. Rocking oscillation is possible sínce the point of
=
Bz, B::, Bt; B, Mass ( or ínertia) ratio; vertical; hori~
zontal, rocking and torsíonal vibration
horizontal force applícation is above the foundation mass
modes
C.G.
4. Torsional oscrillation. Since horizontal forces do not
= b i Depth of section í> ft
forro a couple in the horizonta1 plane, this mode is not
= D Darnping ratio
D::i, Dit, D'f/, D,= Darnping ratios; vertical, horizontal,
possible.
rocking and torsional rnodes
5. Coupled rnodes. The horizontal translation and
rocking osdllation are usually coupled. The coupled
D,= Intemal.damping ratio
e = Eccentricity of unbalanced mass to axis
modes may be considered as ín example 3 which follows.
of rotation at operating speed, in.
Fatigue Failures = 1
é Eccentricity of the máchine s unbal-
anced mass, in.
1. Machine components. Follow limíts in Figure 3~4 = F Excitation force
and/or Table 3-2. =F e Amplitude of excítatíon force, )bs.
2. Connectiom:, Same as ( 1) but check stresses using f := Operating speed of the machine, rpm
AISC code (ref. 13 of Chapter 3) when connectors are fc = Criticai speed of the machinej rpm
bolts or ,welds. f. = Natural frequency, rpm
3. Supporting structures. Cse (2) for structura! steel. = fm Res.onant frequency for constant force-
For concrete footingJ if reversai of stresses takes place amplitude excitation, rpm
and the amplitude is very high ( such that the peak fmr = Resonant frequency for rotating mass-
stress reversa! is over 50% of the allowable stress), the type excitation, rpm
main and the shear reinforcement ( if any) should be =
Ím:t Resonant frequency in the horizontal
designed for the stress reversa.1 c:ondition, directioni rprii
ln this exarnple the amplitude of the dynamic forces fmt/1 == Resonant frequency -in the rocking di-
is not Jarge enough to produce any significant stress rection, rpm
increase over the stresses caused only by the static loads. = G Shear modulus, psi
g = Acceleration of gravity, ft./sec 2
Environmenlal Demands
H O = Dynamic horizontal force, lbs.
1. Physiological effects on persons. If the machlne ís IV'= Mass moment of inertia, lbs.-sec 2 -ft
Jocated in a hu11ding, use ~e procedure given in condi~ i = Segrnent ( 1, 2, ... )
tion Enviromental Demands under HLimíting Dynamic = k Spring constant
Conditionsn, and use the límits from Figure 34. In the k9 = Distance from center of rotor axis to
example, F-igure 3-4 índicates no discomfort to people. footing, ft
2. Psychologícal effects on persons. U,e sarne pro- ki = Distance from center of mass to base of
cedures as ( l). If the facility is located dose to people footing for segrnent i, ft
not connected wíth machine operations, use acoustic k::,) k::e,, kç'B; k(!/J = Equivalent sp.ring constants; vertical)
barriers. In the example, the machine is loca:ted away horizontal, rocking and torsional modes
from habitable areas. L = Width at base of machine foundation
3, Damage to structures. Use líIIlits in Figure 3-4 or block, ft
3-5. Example check shows no danger, M 1 = Magnification factor
4, Rerooance of structuraI components (superstruc- Mr maz = Maximum magnification factor
tures a:bove the footing), Avoid resonance with lowest M = Dynamic magnification factor
natural struetural frequency by keeping the frequency = m Total mass, lb-sec'/ft
 Design Examples: Block Foundations 103

me= Unbalanced rnass due to a sudden surge condition during the operation
mi = Mass of segment i of the centrifuga! machine or when a resonance condi-
n = Number of segments tion occurs temporarily at start-up or shutdown of the
P0 = Force transmitted through spring machíne. The ]atter condition genera11y is more severe
mounts since an inertia block spring system generally has
r = Ratio of operating frequency to natural negligible damping resistance.
lrequency, f/f, The inertia block spring suspended foundation is not
rO = Equivalent radius for rectangular foot~ recornmended for heavy machines with large unbalanced
ing> ft forces, However, this type of system may be used when
Rh = Horizontal dlstance from center to edge the machines are located on an elevated. steei-framed
of footing, ft strU:cture,
Rv = Vertical dístance from base to center of ln this example problem, a foundation .system for a
rotor axís, ft gas turbine/generator set is investigated, i.e.1 the ma-
s•., = Allowable soíl bearíng capacity, ksf chíne cansists of an electric generator powered by a gas
T, = Unbalanced torque, ft-lbs. turbine. Both machines run at different operating fre~
T r = Transp,issibility facto:r quencies and the step-down from the hígher to the
t= Time, sec lower frequency is accomplished through a gear box.
V 0 = Dynamic vertical force, lbs, Foundations for this type of machine have been dis-
=
W Total weíght of machine plus footing, cussed in Chapter 21 and the various steps required to
lbs. complete the dynamic analysis are given below:
W n = Base plate weight, lbs.
W o = Compressor weight, lbs, A. Machine Parameter
=
W, Weight oi footing, lbs. l, Generator:
W" = Total rnachine weight W O + W r +
Wn, lbs. Weight (WM) = 28,150 lbs.
=
W • Rotor weigh t, lbs. Rotor Weight (Wa) = 9,460 lbs.
Wr = Turbine weight, lbs. Operating Speed (/) = 1,800 rpm
X,= Total displacement response in the = 188.5 rad/sec
horizontal x-direction, in. Critical Speed fe = 2,200 rpm
Zt = Total displacement response in the ver- Eccentricity of Unbalanced Ma.ss 1 e ,.._, .001 in.
tical z-direction, in. (Table 3-1)
/3::, /3rh /31/1 = Spring coeffidents; vertical, horizontal Centrifuga!ForceF0 = (W,/g) ew'= 871 lbs.
rocking modes 2. Turbine:
y = Soil density, pcf
=v Poisson's ratio Weight (WT) = 16,305 lbs.
=p Mas, density y/g, lbs.-sec'/ft' Rotor Weight (W,) = 567 lbs.
w = Frequency of excitation force, rad/sec
Operating Speed (f) = 8,990rpm
.,,. = Natural circular frequency, rad/sec = 941.43 ran/=
Criticai Speecl (f,) = bt - 2,885 rpm
2nd- ll,670 rpm
Example 3: Foundatíon Design for Centrifuga!
Eccentricity of
Machines wilh Different Operating Frequencies
U nbalanced Mass
and Supported on an lnertla Block
at Operating Speed, e =0.5 V 12,000/8,990 mil
In some plant facilities, due to environmental con- (see Table 3-1)
siderations or poor soil condítions 1 it becomes necessary = .00057 ín.
to limít the propagation and amplitude of the machine Centrifugai force F, = (567 /386) X .00057
vibrations transmitted to the foundation (rel. 3), In X (941.43)'
those circumstances, the use of an inertia block sup- = 742 lbs.
ported on springs is recommended as a v.ibration isolator; 3. Gear Box:
see l'igure 6-6. This type of supporting system requires Weight (Wu) =
13,045 lbs.
that the •piping which is connected to the machines Unbaianced forces generated by gear box and cou-
be join ted with flexíble couplings in order to absorb plings are assumed negligible. Total Machine weight
without distress the resulting large movements of t.lie (W) = =
WM + Wr + Wo 57,500 lbs.
ínertia block. Thls movement may be caused either A layout of the equípment is shown in Figure 6-6.
104 Design of Structures and Foundations for Vibrating Machines

CG OF TOTAL EQUIPMENT GEAR BOX 13,045 lbs.

SPRINGS
GENERATOR 28,150 lbs. URBINE 16,035 lbs.

Cf. SHAFT
,---- -------,
i 1
Cf.
,..
SHAFT

INERTIA BLOCK

25'-o"

(A) PLAN - EQUIPMENT LAYOUT

2'
T92500"
rCOMBINED C.G. OF EQUIPMENT ANO
INERTIA BLOCK

C.G. EQUIPMENT
11'-2\t," i.-c.G. INERTIA BLOCK
.. 1 ,ti
57,5001 35,000
14'-71/," ·•-~

1/, z

~ 1 4 ' - o ' - '--------14'-o'-'_ _ _.,.

(B) FOUNDATION AND EQUIPMENT LOADS

 Design Examples: Block Foundations 105

FOUNDATION

C.G. EQUIPMENT, INERTIA BLOCK

AND FOOTING COINCIDES

CONNECTION TO HAVE
NEOPRENE BEARING PAO
ANO BOLT HOLES SLOTTED
IN VERTICAL DIRECTION

LATERAL RESTRAINT
W 6x20
(TWO EACH SIOE)

1 ,
1-+-- 7-o
".-.t-
I 7-o, .--l1
(C) DETAIL LATERAL RESTRAINT
Figure 6-6. Foundatlon configurallon for centrifugai machíne wlth an lnertla block.

2000 ,--,~-.-~~~~.-,~~~~~~~~
4. Center of Gravity of Unbalanced Forces: 11 11
The unba!anced forces generated by the equipment
1soo H-+++,,..+-4
H-+-+-.Jl-11~871
''w'-i-'+-
1-l-l-.c...i''-+- 'H~
stn 188.51 +
742 ;lr, S14t4t -1--:,........
1200 H-+-+-+f4l- OR APPROX. " 1613 sln 188.St _ - .._
are assumed to be acting at the center oí gravity of the .
rnachine Ioads and perpendicular to their shaft axis,
The shaft axes are shown in Figure 6-6B. The forces
\ + I
tn "
1 1 1
I'

of the two machines, when combined, are given by: ! \. I p

400 1H41½,-+J4,-,1,-tufH-
1! t ;
tl',"<,Hf+-41+++-14~,,
1 ·- ·-

F(t) = 871 sln 188.51 + 742 sin 941.41 - o ' !'

The pio\ of individual force functions, as well as lhe

ti t
\ t
' !
i
' \
..1). __
li
í
J
1 1

combination of the individual force functionsJ is given

\ ' • 1
in Figure 6-7. - - - ~42 SÍJI !)4L41
1
H+-lllTURBINE}-f.-'~~-'--11-f-l+-HH-+-!-I
''-+-,
H-+++-l s11,.in 1ea.s1
1 ! 1 1(GENfRATORV-t-+l+l+-i!-+·+-!
B. Soil and foundation Parameter -J 5 oo I l l ! 1 1 1 t
-2000
t- CYCL..E OF TUR$!t,IE MOTION
Soil is Soft Silty Clay 2,
Soíl Densíty ( y) = 11 O pcf l T~ffi4
1
Shea.r Modulus (G) = 3,500 psi e
1-CYCLE OF GENERATOR MOTIOK

Poisson's ratío ( v) 0.35 2,

r~ 166.5
Soil Internai Dampíng Ratio, (D,,) = 0.05 TIME{!), sec.----

Static allowable bearíng capacity (S,l!) =LO ksf Fig ure 6-7. Pio! of unbalanced centrifugai force.
106 Design of Structures and Foundations for Vibrating Machines
Settlement of soil for a 14 ft by 28 ft iooting at 1 ks[
bearing pressure = 0.125 in.
\Vater table fluctuates and is 3 ft belmv grade at cer-
tai:1 times of the year,
C. Selection of a Foundalion Configuration
The guideli:ies listed under Trial Sizing of a Block
Foundation in Cha?ter 3 are foilowed in selecting an
initial configuration. Because the water table is 3 ft
below grade, it is reco1nmended that the footing be
located ata shallow depth in arder to avoi'd construction
complications and a relatively large contact surface area
be ured. ln order to achieve uníform settle:nent, it is
necessary that the center of gravity of the equip:uent
plus the inertia block coincide with the center of gravíty
of the focting. A trial proportioning of the inertia block
and the footing is shown ín Figure 6*6.
1. Inercia Block Trial Outline (Figure 6-6A) :
Centcr of gravity of total equipnient (y-direction)
16,305 (14.0833) + 13,045 (7.2917)
16,305 + 13,045 + 28,150
= 5.608 ft
= 5 ft - 7¾ in. from centerline generator,
or 11 ft - 2}"4 in. from the left edge of the ínertla
block. Center oi gravity of total equipment (x•
directíon)
16,305 (2.0)+ 13,045 ( 1.0)
= 16,305 + 13,045 + 28.150
= 0.7940 ft
= 91/2 in. frorn centerline generator,
The inertia block has a unilorm thickness of 8 in. ( 100
psf) and an additional thickness of 8 in. ( 100 psf) of
dimension 10 ft X 1O ft in the region under the turbine.
The center of gravity of foertia block (y-directian)
!O X 10 X 100 (20.0) + 25 X 10 X 100 ( 12.5)
25 X 10 X 100 + 10 X 10 X 100
= 14.6429 ft
= 14 ft- 7¾ in. (from left edge of inertía block).
The center of gravity of inertia block (.e,'.-direction)
=5 ft-0 in. (from bottom edge of inertia block).
From Figure 6-6B, C,
Combined C.G. of equipment and ínertia block,
. . 5 t ,500 X í 1 1.2292) + 35,000 ( 14.6429)
(y-direct!On) 57,500 + 35,000
= 12 ft-6 in. from left edge oi the ínertia block.
Combined C.G. of equipment and inertia block,
(x-direction) 5 ft - O in. from bottom edge of
inertía block.
2. Footing Triai Outlíne;
The footíng plan dirnensions shou!d be 1arger than
the inertia block ln order to accommodate the support•
ing springs of the incrtia block and its lateral supports.
Also, the resultant bearing pressure on the soil should
be less than 50% of the aHowable soil bearing pressure
in order to minimize possible foundatíon settiements.
A triai concrete slab size 14 ft \vide by 28 h long and
2 ft thick is then analyzed. The footing center of gravity
is made to coincide with the combined center of gravity
of the equipment and the inertía block.
Weight of the footing ( W,) =117,600 lbs.
Total static loacl ( J1') = equipmenc \veight + inertía
block + footing weight = 210,100 lbs.
Actual soil pressure 210,!00/14(28) '.'" 0.5 S,n
534 psf
Thus, area of footing is O'.K.
D. Dynamic Analysis
A mathematical model of this faundation was pre-
viously discussetl as Model 3 of Chapter 2. We have the
folloWing parameter calculations;
Selection of Sprlngs for lnertia Block
1, Vertica! Directíon, Try for ttansmissibility factor
(1',)= .02.
From the transmissibitity· equation of Table i-4, and
assuming damptng to be negligible in the springs, D = 01
then the resultíng equation is
0.02"' 1/[1 - r'[
orr=f/f,=7.0
Forf= !800rpm,/n=257.14rpm
= =
For/ 8990 rpm, f,, 1284.29 rpm
A natural frequency (/n) = 257.14 will be used, since
a higher natura] frequency will require a large number
of springs.
:víass ( m 1 ) of inertia block + equipment
(57,500 + 35,000)
386
=239.64 lbs.-sec'/in.
Total spring constant (kzl]
= c25t.l:0 X 2.. J)' X 239.64
= 173,762 lbs./in.
Try 20 spring with a spnng constant for each
173,762
spring= 20
8,688.l lbs./in.
There is a commercially avaiiable spring of 8,800 lbs.
force for a 1-in. deflectlon. The dimensions of the
springs are: height = 9.0 in., width = 5.25 in., length
= 13.0 in., and maximum soHd load is 10 1912 lbs. for
a 1.24-in. deflection.
Use 20 springs for total k., = 176,000 lbs./in.
Then,/.= (60/2,,-) y 176,000/239.64-258.8rpm.
2. Horizontal Direction ( Figure 6~6C). Lateral re-
straint .is provided by YV6 X 20 vertical posts, t\vo on

each side, The posts are futly fixed at their bottom and
are connected to the inertia block by the proviston of
s!otted holes in the vertical direction so that the osdl~
lation of the vertical spríngs is not effected. A neoprenc
bearing pad layer js inserted in the connectíon in order
to absorb high~frequency vibratíons. The spring constant
in the lateral direction is given by:
k,, 3EI,/l'
where 1, = 4 X 41.5 = 166 in.•
l 21.0 in.
E = 30 X 10' psi
.",k,. !.6132 X 10' 16s./in.
Mass ( m,) of the inertia block and equiprnent
239.64 lbs.-sec' /in.
~~~----
.-.,.= (60/2.-) Vl,613,200/239.64= 783.5rpm
3. Rocking Oscillation about Point O (Figure 6-6C).
Two rows of springs, each containing ten springs, are
located· at a distance of 60 in. on either side of an axis
passing through point O. Due to this arrangementJ the
inertia block is capable of rocking about that axis. Tbe
spring constant for the rocking osciHation k!Jt is, thus;
a function of the vertical spring constant and is given
by:
=
k~ 2k.,e'
where kv is spring cons.tant of each row ( l O X 8,800
88 1000 lbsíin.), e is the distar.ce from the axis to the
mw 60 in.).
: · k~ = 2 X 88,000 X 60 X 60
= 633.6 X 10' lbs.-in./rad.
ln order to ca1cuiate the natural frequency 1 the mass
moment of inertia for the inertia block and equipment
must be calculated and is given by:
=
Machines = (57,500/386) (60)' 536,269.0
Inertia block =
(25,000/386) (12)'
=
+ (10,000/386) (20)' 19,689.0
= =
I; 536,269 + 19,689 555,958
1bs.~in.-sec2
~~---~=~~
:.f.= (60/2rr) V(633.6 X 10')/555,958
=
322.4rpm
Therefore, the natural frequendes of the inertia block-
equipment-spring system are 258.8, 783.5, and 322.4 rpm
in the vertical, lateral, and rocking modes, Table 6-4
lists aH computations for the single-degree~ofrfreedorn
system.
E. Dynamic Analysis as a Multi-Mass System
The calculation of the natural frequcndes for a two-
mass model (see Figure 1-20) is given by:
Design Examples: Block Foundations 107
The tenns wíth subscript 1 stand for inertia block
plus equipment, and 2 for the footíng. The cnkulations
for the footing only (14' x 28' block) is performed in
Tab!e 6-5.
1. Vertical Oscíllation:
=
k,, 176,000 lbs./in., =
m, 239.64 lbs.-sec'/in.
= =
k,, 3.07 X 10' 16s./in., m, 304.35 lbs.-sec' /in.
where k.t' 2 (Table 6-5) and ~ are the spring constant and mass
of the foundatíon block, respectively.
w,'= =
691.85 or f,. 251.2 rpm
w? = 10,707.93 or f,, = 988.2 rpm
2. Horizontal Oscillation:
=
k,. = 1.6132 X !0' lbs./in., m, 239.64 lbs.-sec'/in.
= =
k,, 2.3583 X 10' lbs./in., m, 304.35 lbs.-sec'/in.
.,,, = =
3,133.31, f., 534.5 rpm
= =
w? 16,647.57, f,, 1232. l rpm
F. Discussion of Dynamic Analysis
1. Naturn.l frequencies. Tbe values calculated for a
single-mass model and a two-mass model reveal that for
the vertical mode there is no difference in the calculated
frequency when either model is used. T¼lis is because the
natura! frequency of the model, including the inertia
block, has a natural frequency of less than half the
natural frequency of the footing in the vertical mode
(258.8 vs. 717.5 rpm, Table 6-5, respectively). Thcrefore,
the fundamental frequency of the coupled model has a srnall
difference with the lowest frequency cakufated as individual
uncoupled models (25 l.2 rpm vs. 258.8 rpm, respective!y).
This fact can be demonstrated by using Southwell-Dunker 0
ley's formula,
1 1
....,=
r,
-,1' ,+ + ...
= =
substituting, /, 258.8, f, 717.5, then, f, 243.5 rpm,
which differs less than 3.2% from tbe cakulated coupled
model frequency and 6.3% from the calculated single
mass frequency. Símilarly, for the rocking mode, the
fundamental frequency calculated by using f, 322.4 =
and f, = 883.2 into the Southwell-Dunker!ey's formula
will be 302.85 rpm, whicb differS by 6.5% frnm
the calculated frequency of the single mass model. 1f the
coupled equations of horizontal and rocking modes are
solved, then the lowest frequency is found to be dose to
250 rpm. Therefore 1 due to the significant difforence in
108 Design oi Structures and Foundalions for Víbrating Machínes

Table 6-4
Dynamic Analysis of Single-Degree-of-Freedom System
(Machine plus lner!ia Block Only)

Step Vertical Horizontal Rock!ng

No. Parameter Source Excitatton Exdtation O.clllatlon

1. Natural Frequency f,.

:✓:, 258.8 rpm 783.õ rpm 322.4 rpm

2. Magnificatíon factor M Table 1-4 (f = 1,800) = 0.021 = 0.234 = 0.033

(f = 8,990) = 0.001 0.008 = 0.001
3. Dynamic force F (t) Figure 6-7 F, (/ = 1,800) 871 871.0 F,Xk=871XOO
= 52,200
F, (J 8,990) = 742 742.0 F, X h =
742 X 60
(lbs.) (lbs.) = 44,620
(lbs.-in.)

4. Vibration } Table 1-4 (a) Z (/ = 1,800) X = l.263 X 10-• ,f, = 2.722 X 10-,
amplitude = 1.039 X 10--'
(b) Z (f = 8,990) X = 3.680 X 10-e ;, = 7.027 X 10--'
= 4.21 X 10-, (in.) (radians)
(in.)
,/, X Ru ;, X R.
Components of rockíng = 1,800 (e) 2.722 X 10-, X 60 2.722 X lll-, X 60

{
5. f
osdllation = 1.634 X 10--' = Ul34 X 10-•
f = 8,990 (d) 7.027 X 10--8 X 60 = 7.027 X 10-a X 60
= 4.216 X 10-0 = 4.216 X 10-•
(in.) (in.)
6. Resulting vibration (a)+(b) z, 2,7õ7 X 10-'- X, = 2.976 X 10-•
amplítu-de +(c)+(d) (in.) (ln.)
7. Transmissibility factor T, Table l-4 T, (f = 1,800) = 0.021 T, = 0.234, Pn = 203.80 T, = 0.033, P,, = 1,725.0
and force Pv = 18.30
transm!tted Po
T, (f = 8,990) 0.001 T, = 0.008, PR = 5.94 T, = 0.001, PM = 44.5
F,, = 0.74
Total 209.74 Total 1,769.5
Total 19.04 (lbs.) (lbs.-in.)
(lbs.)

the natural periods of the two mass. elements, it is perR
missible to assume that the individual elements act inde-
pendently of each other~ i.e., in the vertical and rocking
mode.s the inertia block and the bottom footing masses
can be analyzed on the basis of an equivalent one--degree-
of-freedom or uncoupled system.
However, in the horizontal rnode, both mass ele-
ments have nearly equal natural frequency; the inertia
block has a natural frequency of 783.5 rpm, and the
footíng has a natural frequency of 628.9 rpm. The fre-
quencie.s of the two-mass coupled mode are 534.5 and
1,232.0 rpm for the inertia block and the footing, respec-
tively. From Dunkerle/s formula, the lowest frequency
is 490.5 rpm, which is quite low compared to 783.5 rpm
ohtained hy considering the inertia hlock plus the ma-
chine as a.n individual element. Therefore, a coupled
model investigation is justified in the lateral direction.
2. Respor.se calculations: Because the equations of
motion of Model S for these foundations are linear, the
dynamic response generated by each of the two comR
ponents 871 sin 188.St and 742 sin 944.41 of the excitation
force can be combined using the principle of superposi~
tion. Thís procedure has been used in Steps 4 to 6 of
Table 6-4. However, in thaf table, the inertia hlock
element was considered to be acting índependent of the
footing. Tlris uncoupling was found to be justified for
the vertical and rocking modes} but for the horizontal
mode, an analysis based on coupling of m 1 and m 2 is
required. The following equations give the response
values and consider the effects described above:
 Design Examples: Block Foundations 109

Table 6-5
Dynamic Analysis oi Footing Only (14' X 28' X 2'·0")

Step Vertical Horizontal Rocklng

No. Parameter Source Excitatfon Excitatlon Eu:itation
1. Equiva.lent Tab!e 4-2 L = 14.0', fa ""' 11.17 ,. 9.50
radius r_, E = 28.0'
r.= 11.17 lt
m = W/g W = 210,100 lbs. r. (Machine) = 107,441.0
2. Massand I, [Inertia block) = 27,023.6
- mass moment m 210,100/32.2
'" 6,524.8 I, Footing) = 64,521.8
of inertia
n
lt = Xfmi(a; 2 + b, 2)
61524,8
lbs.~sec 2/ít
i:r, 198,986.4
' 12 lbs.-sec'/ft
(Summation)
lbs.--sec2-ft
+ m,k;']
3.
4.
Mass ratio
Geornetric
damping
Table 4-3
Table4,3
E. = 0.223
D, 0.900
E,
D,
0.277
0.547
B,
D,
= 0.183
= 0.214 l
5.
ratio
Internai
darnp!ng
Spring
coefficient
t soH data

Figure 4-1
Negllgible

P, 2.40
Negligible

~. 1.05
Dt; -= 0.050

P; = 0.40
= 0.264

6. Eq~íva!ent Table 4-1 k. 36.84 X 10' k.,. = 28,30 X 106 k1, = 1,702.12 X 10•
sprmg lbs./lt lbs./ft lbs.-ft/rad
constant
7. Natural (60/2r) ✓ k/m Íu - 717.50 rpm Íu = 628.90 rpm /n4 = 883.20 rp~
frequency f-µ
8. Resooance Tablel-4 Resonance not fm.,; = 992.40 rpm ÍmW - 954.00 rpm
frequency fm, possible

-~ k1Fsinwt- Gomparing the amplitudes of x, ( 1) .with the values oi

()
x2t-,t;., (' , ln Step 4 oi Table 6-4, it' may be observed that the
mima w wz) x
In these equations, w ( operating speeds) = 188.5 and respons:e values do not change significantly, u.sing either
941.4 rad/sec. of the two assumptions. Therefore, the assumption of
independent behavior of the inertia block in all modes of
.,,, (square of the mass m, circular frequency) oscillation is a valid step. Furthennore 1 in Figure 6-7,
= 3,133.31 which shows the plot of the total centrífuga! force, it is
.,,, (square of the mass m, circular frequency) found that the total forcing function follows approxi-
16,647.57 mately the path of the curve; sin 188.51, and has an
m 1 (total ma.ss of inertia block and equipment) amplitude of 1613 lhs. Using this function in the response
= 239.64 lbs.-sec' /in. equations,
m, (massofthefooting) = 304.45 lbs.-sec'/in. =
x, (t) 2.474 X 10-• sin 188.51 in.
k, (horizontal spring conslant between m 1 and m,) =
x, (t) 5.831 X JO·' sin 188.51 ín.
k., l.6132 X 10' lbs./in. The above values are much higher than the response
k, (horizontal spring constant of soil) = k., values calculated by the summatlon of the individual
2.3575 X 10' lbs./in. forcing functions. Therefore, the analysis of Table 6-4
F ( amplitude of the dynamic forces) = 871 and gives more accurate results.
742 lbs. Another point worth discussing is the exclusion of the
,f, 1 arul ,f,, are pha.se difference and = O, " damping tenn iwhen so1ving the coupled equations of
Substituting the above parameters) rnotion of Model 3. Since the natural frequencies of the
x 1 (t) l.336 X 10·• sin 188.St =
modes, fn 534.5 and 1,232.1 rpm are quite dífferent
+ 3.521 X 10"' sin 941.4t in. from the operating frequencies, / =
1,800 and 8,990 rpm,
x, (t) 2.682 X 1o·• sin 188.51 the influence of damping on the response values is neg~
+ 0.0022 X 10.., sin 94 L4t in. lígible for ali practical purposes.
110 Design of Structures and Foundations for Víbrating Machines
3. Transmissibility factor: From the foregoing dis~
cussion, it can be stated that the factor:s calculated in
Tab!e 6-4, considering the footing as a stíff support for
the inertia block, is a valid assumption. Transmissibility
factors were not cakulated for the footing because the
forces transmitted from the inertia ·block were of very
small magnitude. HoweverJ for design purposes the values
obtained for the inertia block are assumed to be trans~
mitted to the Soil without any ampfüication or reduction.
G. Check of Design Criteria (as listed in Chapter 3)
1. Static Conditions:
(a). Static bearing capacíty. Proportion looting
area for .50% of alfowable soíl pressure, From
G above, 534 psf '°" 500 psf ( allowable) ,
(b). Static settlement must be uniform; C.G. of
footing, inertia block and machine loads coin-
cides, and thus settlement wíll be uniform.
(e) , Bearing capacity: statíc plus dynamic loads.
p,=534+ [19/14(28)]
± [(1770/12) 6/28 (14)']
= 535 psf < 0.75 (1000) psf ís O.K.
(d), Settlement: static plus repeated dynamíc
loads. The increase in pressure due to dynamic
loads is less than 1 psf and thus would not
create uneven settlement.
2. LlmitingDynamic Conditions (refer to Tahle 6-4):
(a), Vibration amplitude at operatíng frequency,
Inertia block: Z 1 ( vertical vibration ampli-
tube) = =
,00028 in, at f 1800 nnp. From
Figure 3-3, this falis within the safe allowable
limits. Xt (horizontal vibration at centeriine of
bearings) .00030 in, at / 1800 rpm. From
Figure 3-3, the amplitude falis in zone A and,
therefore, is acceptable.
Footíng: The dynamic forces transmitted
through the inertia block are very small and
thus víbration amplitude is also negligíble.
(b). Velodty equals 21r/ ( cps) X displacement
amplitude as calculated in (a) above, Veloc-
ity 2.,,. (1800) (1/60) 0,0003= 0.0565 in./
sec. From Table 3-2 this velocity falls ln the
"good bperation" range and is, therefore,
acceptable.
Velocity check by RMS (root mean square)
method, when response involves more than
one frequency: Using response values of m1
of Model 3,
Velocity
ytl88.5 X 1.336 X 10-•]2 + (94!.4 X 3.52 X 10-•)'
= 0.0254
< 0.0565 in./sec, calculated ahove,
thus is O.K.
(e). Acceleration: 4'r' (30)' (0.0003) =
10.66
in./sec 2 •
(d), Magnification factor: From Table 6-4 this
value is !ess than L5 for ali modes oi oscil-
lation and 1 thus, is acceptable,
(e) , Resonance condition: The natural frequen-
cies (Table 6-4) ín ali modes of oscillatíons
for the inertia block and footíng are less than
0.8( 1800), Therelore, no resonance condition
occurs at the lower operating speed. This ratio
is also true for the cri ti cal speed of the
machine rotor. Thus, the foundation is class-
ified as low-tuned or under~tuned.
(f). Transmissibility factor: This factor is less than
5% in the vertical and rocking modes of the
inertia block and 1 thus, meets the normal
limitation. HoweverJ in the horizontal mode
when acted on by the !ower frequency
(/"" 1800), T, was found to be 1.234 > 0.05
normally used. This happened due to the use
of a structural member (W6 X 20) as a vibra-
tion isolator. Use of structural member as a
lateral restraint is a required feature in this
type of system in order ·to maintain the sta-
bility of the inertia. block in case of failure of
the springs. In any case~ the lateral force
transmítted to the footing is sma11 and can
easlly he absorbed by the lateral soil in contact
with the footing,
3. Possible Vibration Modes:
(a) and (b). Vertical oscillation or horizontal
translation is a pcssible mode as the force acts
in either direction.
(e), Rocking oscillation is possible since the point
of horizontal force application is above the
foundation mass C.G.
(d). Torsional oscillation is possíble as the forces
generated by the two machines are of different
frequencies. However, it is estimated that the
natural frequency of this mode would be too
low compared to the acting frequency such
that the response values would not be of much
significance. ln case an analysis is required;
then the folloviÍng steps are given:
( 1}. Mass moment of inertia about the ver-
tical axis through center of gravity.
Machines: (16,305/386) [(85,5)' +
(14.5) ]
2
+(28,150/386) [(83.5)' +
(9,5) 2]
+ (13,045/386) [(2.5)' + (4)' J
= 833,475.0 lbs.-in, sec'
 Design Examples: Block Foundations 111

I nert1a
. bl ock : 25,000 (120 X 120 + 300 X 300) (7). Force transmitted to the foregoing:
386 12 12

10,000 (90)' = 77 3,316. olbs.-m.

. sec (T, X T,)/2e = (44,520 X 0.0013)/
+~ 2

2 (60)
= 0.482 lbs.
I, = 833,475.0 +
773,316.0
2
(negligible)
= 1,606,791.0 lbs.-in. sec
Therefore, torsional mode oscillations are
(2). Spring constant of vertical posts
not significant.
(W6 X 20) using the weak axis.
(e). Coupled modes: The degrees of freedom for
each of the masses were found to be acting
k, (2 posts) = 3Ely
1
, independent of each other. Recause of the
6
linearity in the equations of motion, the prin-
3X30Xl0 X2Xl3.3 ciple of superposition is used to find the total
(21)' response. Possible fatigue failure checks and
= 258,503 lbs./in. environrnental demands are also found to be
satisfactory and the foundation is judged to be
2 adequate.
k, 2 k,e' = 2 X 258,503 (60)
1.8612 X 109 lbs.-in./rad - - - - - Nomenclature-Example 3 - - - - -
(e 60 in.)
=
A Dynamic amplitude
ai= Width of section i, ft
1.8612 X 10'
1.6068 X 10'
=B Length of rectangular foundation block,
ft
= 325.0 rpm =
Bz, Bz, Btj,, Ba Mass ( or inertia) ratio: vertical mode,
(3). Forcing function: The centrifugal force horizontal, rocking, and torsional vibra-
of the generator which is in phase with tion modes
the peaks of the turbine's centrifuga!
=
b, Depth of section i, ft
=
force at f 1,800 rpm will not form any
=
D Damping ratio
Dz, Dz, DiJ,, Da= Damping ratios: vertical, horizontal,
significant torque couple. The other
peaks of the turbine force will form a rocking, and torsional modes
torque couple; i.e., four out of six peaks Di = Internai damping ratio
(Figure 6-7). Conservatively, it may be
=e &centricity of unbalanced mass to axis
assumed that the turbine centrifugai
of rotation at operating speed, in. or
half the distance between the vertical
force will form a torsional moment and
may be given as: springs for calculating the equivalent
value of k,p and ke
T, = 742 X 60 sin 941.4t E= Modulus of elasticity, psi
= 44,520 sin 941.4t Jbs.-in. =
F Excitation force, lbs.
=
F 0 Amplitude of excitation force, Ibs.
(4). Magnification factor M 1/(r' - 1) = =f Operating speed of the machine, rpm
= 0.0013 =
f e Criticai speed of the rnachine, rpm
(5). Transmissibility factor T, 0.0013 = f e= Equivalent fundamental frequency, rpm
(6). Response value of inertia block (longi- =
fm Resonant frequency for constant force-
tudinal direction) : amplitude excitation, rpm
=
fmz, {mz, {m.1/J Resonant frequency in horizontal (x)
vertical (z), and rocking ( ,f;) modes.
fn = Natural frequency, rpm
M (T,/k,) e = 0.0013 X [44,520/
(1.8612 X 109)] X 60
f,n, fn2 = Natural frequencies of masses mb m2
in coupled model, rpm
= 1.87 X 10-' in. =
/1, !2 Natural frequencies of masses m1, m 2
(negligible) in uncoupled model, rpm
112 Design oi Structures and Foundations for Vibratíng Machines

G Shear modulus, psi Va = Dynamic vertical force) lbs.

g = Acceleration of gravity, ft/sec 2 W = Total
weight of machine plus footing,
=
H O Dynarnic horizontal force, lbs. lbs.
=
/~, 111 Moment of Inertia of vertical post of W 0 = Weight of gear box, lbs.
strong axis (x) and weak axis {y), in.4 =
W" Weight of generator, lbs.
111," lo= J\.1ass mornent of ínertia of inertia block Wr = Weight oi turbine, lbs.
in rocking ( +) and torsional (e) modes, W0 = Total weight of machines, lbs.
Jbs.-in.-sec2 W• Weight of re>tor, Jbs.
i= Segment (1, 2,., .) =
X, Z) 1ft Displacement amplitude in horizontal
=k Spring constant (x), vertical (z), and rocking (>/,)
=
ku Distance from center of rotor axis to modes
base of footing, ft =
X t, Zt Total vibration amplitude in horizontal
=
ki Distance from center of mass to base of {x) direction at machine axis levei and
footing for segment i1 ft ín vertical ( z) direction at footing levelj
=
kz~ kxaJ k1t14 , ko 8 Equivalent spring constants: vertical, in.
horizontal, rocking, and torsional rnodes Y 1, Y 2 =Displacement response of masses m1, m2
L = Width at base of machine foundatíon in coupled model> in.
block, ft Pz, /11:J f3w = Spring coefficients: vertical horizontal
= 1 Height of vertical post, in. and rocking modes
M, Magnification factor y = Soil Density, pcf
=
M,,. max 1vfaximurn rnagnification factor µ = Ratio of unbalanced mass to total mass
=
M Dynamic magnification factor m,/m
=
m Total mass v = Poisson s ratio
1

=
m/1" U nbalanced mass p = Mass density = y/g, lbs.-sec'/ft'
mi= Mass: of segment i w = Frequency of excitation force, rad/sec
=n Number of segments ru11 :::.;;: Natural frequency, rad/ sec
PHJ Pv Force transmitted through springs in
horizontal (x), ,..,rtical (z) directions,
Jbs. References
PM !=: lvfoment transmitted to springs in rock-
ing oscillation ( +), lbs.-in. 1. Arya, Suresh C., Drewyer, Roland P., and Pincus, G.,
=
P0 Force transmítted through spring nFoundation Design for Reciprocating Compressors,"
mounts) lbs. Hydrocarbon Processing, VoL 56, No, 5, May 1977,
=
Rh Horizontal distance from center to edge 2. Arya, Suresh C., Drewyer, Ro1and P., Pincusi G.,
11
of footing, ft Foundation Design for Víbrating Madúnes," Hydro-
=
Rv Vertical distance from base to center oJ carbon Processing, Vol. 54, No. 11, November 1975.
rotor axis, ft 3. Winterkorn, Hans F, 1 Fang 1 Hsa1-Yang, Foundation
r = Ratio of operating frequency to natural Engineering Handbook, New York: Van Nostrand
frequency, 1/fn Reinhold, 1975.
; 0 ;:::::. Equivalent radius for rectangular foot- 4. Richart, F. E., Jr., Hall, J, R., Jr., and Woods, R. D.,
ing, ft Vibrations of Soils and Foundations, Englewood
=
S,n Allowable soil bearing capacity, ksf Cliffs, NJ: Prentiee-Hall, 1970.
=
T O Unbalanced torque, ft-lbs. 5. Newcomb, W, K., 11 Principals of Foundation Design
=
T R) T f' Transrnissibility factor for Engines and Compressors," Transactions,, A.S.M.E.,
t= Time, sec Vol. 73, pp. 307-318, 1951.
 7 Computar Analysis
and Applications:
Elevated Foundation

The availability of electronic digital computers having
great calculating speed and analytical power has re-
sulted in substantial advancement in the engineering
art of analysis and design of structures supporting
dynamic machines. Increasing machine weight and
speed coupled with large costs have made the rule-of-
thumb approach and hand computation either unsafe
or too conservative for rnany structures. Modem com-
puter programs yield, among other factors, the natural
frequencies, the deformations, and the forces in the

Table Top Compressor Unit. Courtesy oi Big Three Industries, lnc., Channelview, Texas. Photo by
Engineering Media Center, University oi Houston.

113
114 Design oi Structures and Foundations for Vibra!ing Machínes
structure (ref. 1). These q'..lantities were ei!her Ignored,
conservatively assum.ed, or calculated in a simplified
appro:ximate way in precomputer times, For example1 an
equivalent static strength ana)ysis of a structure sup~
portíng a centrifuga! machine is usually made for the
follovAng loading conditions:
1. Total vertical load plus 0.5 of the full load acting
ln the vertical direction.
2. Total vertical load plus 0.3 of lhe fui! load actíng
in the transverse direction.
3. Total vertical load plus 0.1 of the full load acting
in the longitudinal direction.
These approximate machine load factors (0.5, 0.3,
0.1) are fairly accurate for an equivalent static analysis
when the ratio of machine acting frequency to natural
frequency r in the specified direction is less than 1~
greater than 11 and much greater than 1, respectívely1
as shown in Figure 1~36. However, the factors 0.5, 0.3,
and 0.1 are derived for a machine with an acting fre~
quency of 1,800 rpm and considered very stiff in the
longitudinal direction. The selected ratios of Q,5 1 0.3,
and 0.1 are generally consistent with a highest rigidity
in the vertical direction, a not-so-high rigidity in the
transverse direction, and no dynamíc 1oad component
in the longitudial direction. Even though the ratios
0,5, 0.3 and 0.1 are appro:ximate, they are usefu! ín that
being conservative, a safe structure will resuh. Since the
strength is usually not a controlHng design factor, many
designers have traditionally used equivalent static loads
in their strength check. A dynamic analysis, coupled with
the help of the eomputer, will give the true dynamic
forces that ac:t on the structure in addition to the natural
frequencies and dísplacements.
In many cases, the structure or soil parameters are
known only within certaín limits. For example, the
shear modulus of the soil may vary by 25% or more
at póints below the foundation as described in Chapter
4. The effect of these variations may be studied by
making addltional computer runs and varying the
parameter in question. Thus; the behavior of the struc-
ture may be predicted for probable ranges of parameter
values. This feature of computer use· is important since
the possible variation of some parameters may be rather
.wide and strongly affect the results.
Computer coding and software applications for the
solution of structures supporting dynamic loads are con-
sidered in tbis chapter. An analysis of a dynamically
loaded . structure is perfonned to obtain tbe following
infonnatíon:
1. Forces and dellections in members and joínts for
ali static loading conditions. Thís wíll determine íf
the structure is statically safe or if defonnations
exoeed tolerable limits. For structures supportíng
dynamic machines 1 the members are usuaHy very
large and rnassivc and the stresses and deflectiom
will be well within tolerable limits. This situation
is a direct result of initial trial s.izing of the struc-
ture where the mass of the supporting structure
is made several times the mass of the machine as
<lescribed in the section on Trial Sizing of Elevated
Foundations (Table Tops) of Chapter 3.
2. A dynamic analysis is also perfonned to determine
the natural frequencies or eigenvalues of the struc~
ture, the mode shapes or eigenvectors, and the dis~
placements and rnember forces at a number of
time intervals,
The dynamic analysis technique used in most com~
puter programs is called a normal mode (or modal}
technique which results in the c.alculation of the fre-
quencies and mode shapes which in turn are used for
the response calculations. The method is tenned normal
because the equations of motion ( one per dynamic de~
gree of freedom) are transformed to a new coordinate
system called normal coordínates) resulting .in uncoupled
linear equations leading to a rclatively effident solution
process.
The prímary purpose of the dynamic analysis is to
ascertain possible resonance conditions, that .is, to deter-
mine if any of the strutture natural frequencies coincide
with the machine acting frequency or any of íts criticai
speeds, A true dynamic analysís is sometímes replaced
by a static ana!ysis by using the Rayleigh method to
calculate the lowest natural frequencies. The calcula-
tion of tbe Raleigh frequencies is a very simple and in-
expensive feature when used with a camputer static
analysis, and some designers will only perfonn a static
computer analysis with Rayleigh natural frequencíes
calculation. However, only a complete dynamic analysis
Mil províde the necessary ínformatíon for predicting the
behavior of a structure supportíng time-dependent loads.
Example Problem
An example of computer coding for the solution of
an elevated foundatíon is given in lhe following pages.
This example has been selected to illustrate lhe use of
the popular computer software package, STRUDL
( Structural Design Language, pari of the MIT-devel-
oped Integrated Civil Engineering System, ICES) ap•
plied to the analysis of an elevated found.ation ( a!so
called a t.able top).
The structure shown ín Figure 7•1 is analyzed usíng
the software package mentioned above. The structure
triai dimensions are selected to meet certain preliminary
criteria as described in Chapter 3 under Triai Sizing
of Elevated Foundations (Table Tops).
 Computar Analysis and Applications: Example 115

Figure 7-1. Typical elevated pedestal foundation (table top).

A. Machine Parameters C. Selection of Foundation Configuration

=
Total machine weight 150,000 lbs. Selection of a triai configuration is accomplished by
= =
Turbine speed 6,949 rpm or w 727. 7 rad/sec following the guidelines described under Triai Sizing
Compressor speed = 6,949 rpm or w =
727.7 rad/sec of Elevated Foundation (Table Tops) of Chapter
Turbine rotor weight = 159 lbs. 3:
Amplitude of turbine force = (W / g) ew' 1. Machine and piping requirements dictate the
plan arrangement of the top of the foundation,
= [159/(32.2 X 12)] X (l.Oyl2,000/6,949/l,OOO) X as shown in Figure 7-1.
(727.7)'
2. A mat foundation is recommended by the soil
= 286 lbs
consultant. The column spans are 12 ft and 8
where e is obtained from Table 3-1.
ft; thus, the mat thickness is at least
Compressor ro,tor weight = 4,328 lbs.
Amplitude of compressor force = (W / g) ew' t = 0.07 (10)'1 = 1.51 ft
3

= [4,328/(32.2X 12)] X (1.0 v12,000/6,949/1,000) X Try a 3-ft mat. The thickness of the mat will
(727.7)' also be at least one tenth of its largest dimension
= 7,794 lbs. to assure rigid behavior. The relative stiffness
B. Soil Parameters dimension, Equation (5-1), is
Shear modulus at the expected bearirig pressure, see t - [ = ~Et' - - ~ - ]o.2s
Chapter 4, ' - 12 (1- vm')k,
=
Shear Modulus, G 6,500 psi
Poisson's ratio, v = 0.45 The modulus of elasticity of concrete is 3,122,000
Coefficient of psi, and its Poisson's ratio is 0.17; therefore,
subgrade reaction, kr = 120 lbs./in. 3
Soil density y = 115 pcf = [3,122,000 X (36)']º·"
Allowable bearing capacity = 2,000 psf I, 12 (1 -0.17') 120
Predicted static settlement = 0.2 in. at 2,000 psf = 101.0 in. = 8.42 ft
116 Design of Structures and Foundations for Vibratlng Machlnes
A flexible mat is one whose outside dimensions
exc.eed 3l-a: or 25.3 ft in each direction and is
loaded over a sma.11 area, as descrihed in Chapter
5. Therefore, a 24 ft by 30 ft by 3 ft mat may
be considered as rigid since the load is spread
out over most of the mat.
3-5. The cross~sectional dimensions of columns and
beams are seiected according to these guidelines,
6. The ratio of mass of structure to mass of ma~
chine is
=
423,000/ 150,000 2.82 ~ 3 O.K.
7. The mass of the top half of the structure is 0.8
times the mass of the machine ( the ratio should
preferably exceed J.0).
8. The maximum static pressure is
(423,000 + 150,000) / (24 X 30) 796 psi
:,; 0.5 X 2,000 psf O.K.
9. The center of resistance of the soil is found to
coincide with the centroid of ali superimposed
Joads ( structure plus machine).
10. The center of colum:n resistance found as shown
in Figure 3-2 coincides wlth the center of gravity
of the equipment plus the top half of the struc-
ture.
1!. Column and beam de!lectíon.s are checked in
the computer analysis that follows.
~z
Figure 7-2. Computer model of elevated pedestal foundation.
12. Column resonance check shrnvs no colurnn reso-
nance wíth the ae.ting machine frequency (6,949
rpm). For example, for aH the columns,
p 44.34 psi
L 168 in. (clear height of colurans)
/. = 44,800 (3,000)'·"/\144.34 X 168
= 3,842 rpm
Thus, the triai design is judged satísfactory and the
dynamic analysis for the proposed configuration is
then performed.
The idealized computer model is shown in Figure 7-2
where numbered joints have been located at member
intersections and at other points of interest such as
loading points. The structure is idealized as a Model
6 type D described in Chapter 2. The global coordinate
;\XeS are selected according to the right-hand rule with
axis Y being vertical; each member is also numbered
{r.umbers within circle in Figure 7-2), and springs are
placed at joints in contact :with the soil in the vertical
and horizontal directions. These springs represent the
resistance that the supporting soil offers to displace-
ment, and the equivalent spring stiffness is calculated
using soil properties as described ín 4 below.
A flow chart of the steps that occur during the com-
puter analysís is given in Figure 7~3 and represents a
typical analysis regardless of the software package being
 Computer Analysis and Applícations: Example 117

Compute, command Explanation

•
1 STRUDL. :! 1
Type oi Computar Program

TYPi! F'lANE FRAME

' ,
Datinítion oi Structura
º'
TYPE SPACE f'MME.

JO!NT COORDINATE
JO!NT RELEASES
,.
MEMBER !NCIDENCE
MEMEIEA RELEASES
Description oi Structure Geometry
TYPE PLATE 8ENOING
ELEMENT INCIDENCES

MEM6e-l'l PROPalTIES
çt.EMENT PROPERTlES
', Description oi Structure Stiffness
1

CONSTAtffS
l ,
E
G Elastic Constants
PO!SSON
OENSlTY

LOAO!NG
.•
JOlNT LOAOS
MEMS:ER LOADS Static Loading Conditions
LOAD!NG COMSINATIONS

1 •
1
1 PRlNT DATA
1
,• Print Input Data

l
Static Analysis
1 STIFFNESS ANALYSIS 1

l •
l.1ST FORCES, AEACTIO~S, OISPLACEMENTS Print Static Analysis Aesults
LIST STRESSES
1
1 •
l Descrlption ot Dynamic Massas
1 tNElfflA OF JOINTS
• of the Model Lumped at Jolnts
1 '' Description oi Masses Particlpating
1 OYNAMlC OEGREES OF FREEDOM
• in Motion and Typas ot Motion
',
DYNAMIC LOAO\NG Type oi Dynamlc Forces Acling
JOINT LOAOS 1
l f
1
1 PAINT OVNAMIO PATA
• Print Dynamic Input Data
' , Aasults oi Structural Analysis
DYNAMIC ANALYSIS MODAL
1 UST OYNAMIC FORCES REACTIONS OISPLACEMENTS 1
1 ,
dueto Dynamlc Forces

1 Calculate and List Natural

1 L!ST OYNAMiC EIGENVAUJE
1
l
NORMALIZE EIGENVECTORS
1 usr DYNAMIC E1GENVECTOf\S
, Frequencles of Ali Mode Shapes
'
.,
Calculate and Llst Mode Shapes
1 Normalized to Uni! Maximum Amplitude

f!NiSH Terminat!on oi lhe Output

Figure 7-3. Computer program flow chart.
118 Design oi Structures and Foundations for Vibrating Machines

used. The chart lists the specific stages in an ICES-
STRUDL analysis, and these are described in detail.
Other software packages would include similar stages,
but the exact commands and their order would be
different.
Example-STRUDL Coding
3. Structure topology which indicates the connectivity
of the members in the structure. Each command is of
the form IJK and means that member I goes from the
start joint J to the end joint K. The positive sense of
the forces acting on the member follows the right-hand
rule when the first (axial) axis is oriented from start to
end of member.

STRUDL is a command structured language where MEMBER INCIDENCES

the user can describe the structure in simple, almost
conversational statements. The commands are given in
logical order, that is, the geometry of the structure, the
topology or connectivity, the member properties, the
material constants, and the loads are described prior
to the analysis. A fixed format is not required in either
the exact arder of the commands or in a precise align-
ment on a computer card.
A summary of STRUDL commands is given in Ap-
pendix B, and the reader is referred to the ICES-
STR UDL user's manuals for additional information
(ref. 2 and 3). The steps in coding a problem for
STRUDL solution are given below (lines in capital
letters are actual commands-one per computer card).
These steps are noted in the printout on pages 121-157.*
1. Computer program and structure definition:
STRUDL 'EXAMPLE' 'STATIC AND
DYNAMIC ANALYSIS OF At
TABLE TOP't
TYPE SPACE FRAME
1 1 9
2 2 11
3 3 14
37 24 25
4. Restraint conditions at the joints. Since a sup-
ported joint ,is assumed rigidly supported (fixed), it is
necessary to release these restraints and describe the
stiffness (force per unit displacement) of springs at-
tached to the joints. The spring stiffness is a function
of the supporting soil properties and the bearing area
around the joint that acts against the soil for this rigid
mat as described above during trial sizing of the struc-
ture. Chapter 5 gives procedures for calcu1a-ting the
spring constants of rigid or flexible mats. For ex-
ample, at joints 1 and 2, the contact area is (2.5 + 7)
ft along Z times ( 5 + 4) ft along X = 85.5 sq ft. The
total foundation contact area is 24 ft times 30 ft = 720
sq ft. The total foundation spring stiffness in the vertical
direction ( see Chapter 4) is

2. Geometry of the structure (Figures 7-1 and 7-2). k, = Gp, yBL ~,/(1 - v)
Units are defined since the default internai units are or:
inches and pounds. Each joínt is described by its num-
ber and its x y z coordinates. Numbering of joints k = 6,500 X 144 X 2.2 X .124 X 30 = l00 462 k" /f
' (1 - .45) X 1,000 ' ips t
should be selected so that the difference in joint number
at each end of ali members is a minimum. The term where the terms G, v, and 'T/z ( equal to unity in this
SUPPORT identifies the joint as a support. Note that example) are defined in Chapter 4. Therefore, for nades
support joints have been identified under each column
and midway across the slab edge and transverse equiv-
= = =
1 and 2, k,, k., 100,462 X 85.5/720 11,930 kips/
ft. Note that the Y direction in the computer example of
alent "bearns.n
Figure 7-2 is the vertical soil direction previously de-
UNITS FEET KIPS noted as the Z-direction in the soil-spring constant
JOINT COORDINATES equations of Chapter 4. At the risk of some confusion,
1 o.o o.o o.o SUPPORT the Y-direction is selected vertical in the computer anal-
2 o.o o.o !O.O SUPPORT ysis due to certain global-local axes advantages. Also,
3 8.0 o.o o.o SUPPORT rotational restraints are assumed to be non-existent since
4 8.0 o.o 10.0 SUPPORT they are generally negligible. Further discussion of the
calculation of the spring constants in the case of larger
flexible mats is presented in Chapter 5.
15 8.0 17.0 5.0
16 8.0 17.0 10.0

* The symbol t denotes continuation of the previous line on a

25 20.0 o.o 5.0 SUPPORT single card.
 Computer Analysis and Applications: Example 119

UNITS KIPS FEET fol' cotvenience; however, some STRUDL packages

JOIKT RELEASES treat density as mass density1 and 1..a:its and magnitude
l, 2 MOME!\'T X Y Z KFX 8649. KFY l 1930. of ma.rs density must be entere:d.
KFZ 8649.+
UNlTS KIPS INCHES
00:'ISTANTS
25 MOMENT X Y ZKFX 4046. KFY 5581. E 3122. ALL
KFZ 4046.t G 1334. ALL
PO!SSON 0.17 ALL
UNITS POUNDS IKCHES
The third command listed above means that joints 1
CONSTANTS
and 2 have X, Y, and Z rotatíonal freedom and linear
DENSITY 0.0868 ALL
springs with 8,649 kips/ft in the global X- and Z-direc•
tions (horizontal) and ll,930 kips/ft in the Y-global
direction (vertical). The horizontal springs are placed 7. Static Loadings. A number of basic loading condi-
at exterior joints although equ1valent horizontal springs tions and combinations of the basic loadings are con-
could have also been distcibuted among all joints in sidered.
contact with the soiL No significant difference would be
éetected in the resuhs, UNITS KIPS FEET
5. Cross-~ctional properties for the member. The LOADI:'.'<G 1 'FULL LOAD ACTING
cross-sectional area and the moments of inertia for each I:'.'< THE VERTICAL DIRECTION't
member about its own local coordinate axis are given. JOL'\/T LOADS
The local x-axis 'ls always directed a1ong the member
1, 2 FORCE y -38.4
while the local z-axis is parallel to the global Z-axis
for colurnns and is horizontal for beams, provided that
25 FORCE y - 15.0
the global Y-axis is set vertical. For further details on
local-global axes relatíonshíps, the reader is referred
to the MIT STRUDL User's Manual, Volume I (ref. ( other loadings and combínations fol'.ow)
2). Modifications are necessary if the local z. and Y •
axes are not parallel to the global axes. The areas AY RAYLEIGH LOADING 3 'FULL LOAD ACTI:\'G
and AZ are disregarded and the analysis will1 therefore, IN THE TRANSVERSE DIRECTION't
assume the members to have no shear stiffness. For JOIKT LOADS
frames consisting of relatively long and shallow mem- !, 2 FORCE z 38.4
bers, no significant difference can be detected by neglect-
ing the shear stiffness of the members. 25 FORCE z 15.0

MEMBER PROPERTIES A loading for which the RAYLEIGH frequency is

1, 2 PRIS AX 6.0 IX 4. 7 !Y 4.5 IZ 2.0
35, 36, 37 PRIS AX 12.5 IX 17.9 IY 26. •IZ 6.5
The second command means that members 1 and 2
are pdsmatic, have crosswsectional areas of 6 sq ft,
torsiona1 moments of inertia of 4.7 ft\ moments of
inertia around the !or..al y~axis of 45 ft', and rnoments
of inertia of 2 fr' around the local z-axis, Note that for
these 3 ft X 2 ft columns the local z-axis is parallel to
=
the global Z-axis and, therefore, 1, 3 X 2'/l2 2.0 = for design check of deflections and member forces.
f t•.
6, Material Properties. The material properties .in~
dude the modulus of elasticity E, che shear modulus of
elasticity G, Poisson's ratio, and the material density.
These constants are 3,122 ksi, 1,334 ksi, O.! 7, and 0.0868
lbsJcu in., respectivdy. Density is spedfied in lbs)cu in.
to be cakulated ís denoted as shown above for loading
3. This loading includes the weíghts o! the structure
adjac:ent to each joint and the weight of the machine
applied in the direction of the desíred vibration roode,
in this. case 1 the transverse of Z-global direction. Thus,
the analysis will indude a Rayleigh-Ritz calculation of
the natural frequency for the structure in the transverse
direction. Loadíng combinations as follows would be
added by some designers in a static check as discussed
prevíously. These loadings are quasi-static, that is: 1 con-
servatíve equiva!ent stat.ic loadings which may be used
Total vertical Joad + 0.3 X total load acting in
the transverse direction ( Z)
Total vertical load + 0.1 X total load acting m
the longitudinal direction (X)
Total vertical load + 0.5 X total load acting in
the vertical direction {Y)
120 Design of Structures and Foundalions for Vibrating Machines
These are denoted Loading Combinations 4 through 6,
respectively, in the computer printout.
LOADING COMBINATION 4 'FULL
VERTICAL LOAD PLlJS 0.3t
FULL TRANSVERSE LOAD' - t
COMBINE J 1.0 3 0.3
LOADING COMBINATION 6 'FULL
VERTICAL LOAD PLUS 0.51
FULL VERTICAL LOAD' - t
COMBINE 1 1.0 1 0.5
The first comrnand specifies that loading combination
4 consists of loading [ times 1 plus loading 3 times 0.3,
8. Listing of ali data. A printout of all interna! data
is requested with the command PRINT DATA ALL.
9. Geometry plottíng. Structure geometry plots are
requested as a further check of the input data.
10. Static Analysis. The following command is used
to build and invert the structuraI stiffness matrix and
to solve the problem for aU loadings.
STIFFNESS ANALYSIS (REDUCE BAND ROOT)
The command within parentheses is optional and gen-
erally results in a more efficient algorithm for large
problems.
11. Output of results. Results are printed by using
the LIST commands, such as
UNITS KIPS INCHES CYCLES SECONDS
LIST RAYLEIGH
OUTPUT BY MEMBER
LOADING LIST 4, 5, 6
LIST FORCES DISPLACEMENTS
REACTIONS ALLt
Results for Ioadings 4 through 6 are requested. This
step completes the statk analysis. The dynamic analysis
includes the following additionai steps:
12. Mass acting at each joint. The structure's mass
and the machíne mass are taken to act at the structural
joints in the three linear directions only. Indusion of
rotational Ínertia has a negligible effect on the results.
The stru~ture mass may be computed ínternally and
autornatically iumped at each joint and the machine
mass is then added at the machine support joints.
UNITS POUNDS INCHES
INERTIA OF JOINTS LUMPED
INERTIA OF JOINT ADD 9, 11 LINEAR ALL
69.88t
INERTIA OF JOINT ADD 15 LINEAR ALL
117.75t
INERTIA OF JOINT ADD 17, 18 LINEAR ALL
28.47t
INERTIA OF JOINT ADD 20 LINEAR ALL 73.76
Note that the aáded machine mass at joints 9 ar1d 11
is 27,000í(32.2 X 12) = 69.88 lbs.-sec'/in., and sími-
larly for joints 15, 17, 18, and 20, see Figures 7-1 and
7-2. The structural mass is included through the
INERTIA OF JOI:--lTS LUMPED command.
13. Dyna:nic degrees of freedom--only transfatlon
modes are considered. The commands that accomplhh
this are
DYNAMIC DEGREES OF FREEDOM
JOINT 1 TO 25 DISPLACEMENT X Y Z
14. Dampíng ratio. The damping ratio for eaeh de-
gree of freedom is given by
DAMPING RATIO 0.10 75
Where total average damping oÍ 0.10 has been speci-
fied for the X, Y, Z translatory degrees of freedom at
each of the 25 joints, or 3 X 25 == 75 times. Note that,
realístically, those d.egrees of freedom associated with
foundation movement have a damping ratio in the
0.15....0.20 range, whereas damping for the remaining
degrees of freedom may only be in the 0.05-0.10 range.
Therefore, 0.10 is used throughout as an average value.
Chapter 5 gives a further discussion on the choice of
soll damping ratios.
15. Dynamic forcing function. Forcing functíons in
the vertical (Y~direction) and in the transverse {Z-
direction) are applied at the joints where they occur.
These forcing functions include a force amplitude equal
to the unbalanced machine force, a frequency given by
the acting mac:hine frequency ( in radians) and a phase
angle of 1.5707 radians (90º) for the transverse func-
tions, i.e., the transverse function is 90° out of phase to
the vertical function in this centrifuga! mac:hine. The
dynamic forcing functions are appHed at the centerline
of the centrifugal machine sh.aft, joints 10, 15, and 20.
One ha]f of the turbine force acts at joint 10 or 0.5 X
286 sin 727.7t, one half of the turbine and compressor
forces act ai joint 15 or 0.5 X 286 sin 727.7t + 0.5 X
7,794 sin 727.7&, and one half of the compressor force
acts at joint 20 or 0.5 X 7,794 sin 727.7t.
UNITS RADIANS SECONDS POUNDS
INCHESt
DYNAMIC LOADING 7 'CENTRIFUGAL
FORCES't
JOINT !O LOAD FORCE Y FUN SIN AMPL 143.
FREQ 727.7t
 Computer Analysi_s and Applications: Example 121

JOINT 10 LOAD FORCE Z FUN SIN AMPL 143. 17. Lísting of dynamic data. A printout oi ai! dy-
FREQ 727.7 PHASE l.5707t munlc data is obtained with the command
JOINT 15 LOAD FORCE Y FUN SIN AMPL
4-040. FREQ 727.7t PRINT DYNAMIC DATA ALL
JOINT 15 LOAD FORCE Z FCN SJN AMPL
18. Dynamic analysis. The actual dynamic anaiysis
4040. FREQ 727.7 PHASE l.5707t
is obtained with the foliowing cornmand wíth the part
JOINT 20 LOAD FORCE Y FUN SIN AMPL
wíthin parentheses being optional. Only the first 20
3897. FREQ 727.7t
modes are íncluded in the analysis to reduce computing
JOINT 20 LOAD FORCE Z FUN SIN AMPL
time with negligible loss of accuracy.
3897. FREQ 727.7 PHASE 1.5707t
DYNAMIC ANALYSIS MODAL
16. Time Periods. The time span and time incre- (REDUCE BAND ROOT) 20t
ments for the dynamic analySls must be specifiecl. The
integration time petiods should inclu.de, as a minimum) 19. Output of dynamic analysis. The natural fre~
12 steps per single comp;ete operat:ng frequency cycle, quencies) the medes (nonnalized), the displacements 1
ln order to achieve a ±5% accuracy in the results (ref. and forces for each time increment are requested with
4), that is, for a frequency of 727.7 radians/sec1 the this command. The first 20 modes are requested to con•
integration time periods should not be greater than T serve paper but rnore may be printed.
(one cycle) = =
2rr/727.7 0.00863 sec; then,
UNITS KIPS INCHES CYCLES SECONDS
L!ST DYNAMIC EIGENVALUES 20
M = T/ 12 = 0.00863/12 = 0.0007194 sec NORMALIZE EIGENVECTORS
LIST DYNAMIC EIGENVECTORS 20
The following command includes 10 complete cycles of
LIST DYNAMIC DISPLACEMENTS ALL
machine operation with 12 steps in each cycle. However1
LJST DYNAMIC FORCES ALL
3 complete cycles of O?eration may be suffident to study
the response of the structure, 20. End of analysis. The last command ín the job is

INTEGRATE FROM O.O to 0.0863 AT 0.0007194 FJNISH

(tex:t coutinued on page 157)

Computer Printout in
ICES-STRUDL
-----~~•-•••----••• .............................................
• •
0 w

• •
•
tC!'.5 ST1WOL-lt •
•
•
--·------_______. T~[ STRUCTURA~ O~StGN LANGUAGE •
• ctvtL ENGIN€ERlNG SVSTEMS LAAO~ATMY •
•
- - - · - - . - - - ··-
MASSACHUSETTS INSTlTUTE ôf tfCHNOlOOY
- ~U,GE, MASSA~TiS
•
- - - .. _.
• V2 M! JUHEt 1,12 •
• ••
• •
• •

UNITS f'E:F.:T KJPS

JOINTS COOROJNATES
o• O ---0-0'0-·-o--;-tJ-stJPPOJtr -

2 O.O 0•0 10.0 SUPPORT

3 a.o o.a º·º SUPPORT
 122 Design oi Structures and Foundations for Vibrating Mach'nes

5 14.0 o. o o. o SVPPOAT
----··-----·
6 14,0 · (hO 10.0 SUPPORi'
1 2 O. O ~ ( i • O-s tJPP"t: R'T

20,0 ,., 10.a

'
'
~-----·· - ~~-~-----
9 n.o 11.0 o.o
SllPPORT

11 o.o 11.a 10.0

12 ••• 11~0 o.o

lJ
14
15
..,
4_.0-·11. ()

,.o
17.0
11.0
t º· tl
o. o
s. o
L__
·trT.-o---n,;-o-t0·;v
17 14,0 17,0 O+O
u J4,!) 11.0 10.u
19 20.0 11.0 o.o
20 20.0 11,0 s.o

L:~-'~-~~: ~:~:-~CPPORT
23 R,O 0,0 S.O SUPPORT
j 24 14.0 O.O S.O ---SUPP~->H

~-1~-"li♦-r--'S~-u---·soP1>íffl1·-­
,
MEMRE:.Ci JNC tDE"ICES

2 2 it
3 3 14

5 7 19

• 2l
q lO

~ H ll

~--nl;_-_____ -----
l1 ,. 20
u 20 21
jj il 13
1• 16
" -----~----

~-:.;. l0

17
1,
',2 12

14
··---------- -----

---r4~7---
,o 11
"
L:: 22

" J 23

24 23
'
 Computer Analysis and Applications: Example 123

25 5 24

26

27
24

1
•
25
--zs--··
,. 2 4

30

-:rr-
4
•
32

33 3 s

35 23
36 23 24
,,...
•
JOINT ln:1,.EASES

~t:rKSE'S"7Wel1JOÉ- [f.llJJVACE~r-S?lt!Nti -STiff'"llff:SS ·roR--sou.--

···----··--·----~~---.~0--·--··· .............. .

1t2 MOMENT X Y l ~Fx 864910 l'l:FY 11930. KF7 8649,0

---------------
3. 4 ~OM[NT X V l l'l:F'X 67ln.o lffY 9-279. !(F] f.727,0

~MEN.rr~rx-s7u·,o-•l'(f'Y · 7953. - l':FT S:766-.t

~EM~ER PROPERT!ES
S UNITS Of A~EA ARE rr.so. ANO UNITS OF MOM.o; 1N€RTfÀ ~RE FT.X 4

..,..
t ,2
, PR[SMATIC AX

PR!SMATtC AX 4,5
.. ,, ,.,
PRISrtA:Tr~-x~r.i;·7x----..r··rr1-os·- IZ 2.íl·· -
, lt .4 IY e.e
!!
17 6,P

o.'
" IY 3.8

.... .., ,., ",.,,.,

--,---.-a---·11~rc-·rr·'9-;o·- n·· rra !Y 6.;a-t:Z ·ti.·a- -·
9,10 PAISMATIC ., , !X 4,7 !Y 2.0 lZ 4,5

IJ.12 PR!SWA"1"1C ., , ,, i::.J !Y

13. l4, t 1. 1a PktSMATIC u 4,7 1Y 4.5

15,H> ♦ lQ,Z:'J ?1-lIS~ATIC ,., " ,.,
"
"!X IV 3.9! u s.6
P,ns~,n:c 22.s 44.41 !Y 15:•n.s lZ u.1
21 ,2.2
" "
?J,24 PR[Sf,<ATIC

2!h26 PQ'fSMi\TIC

21.?A PRIS~•TIC
"
"
11.s
l 5.0

-:o~ o
lX 34,54
r, 29,61

jg,41l
"IY 1".llZ,5 !Z •• 1
1125.

1Y 1500, 17 10.4
"
, ..
29 TO ,, PRfSMArtC
" 1'
2:.J,A ,, 4'}~23 1Y 114fl, 17 12.4

rc
" 12.s IT 600. 17 6,5
35
"
PRTS~AflC
" " 24 • 33

'
UN!TS INC:t't~ KiPS
CONS'l'ANTS

t 1122,0 ALL

G 1334. All
 124 Design oi Structures and Foundations for Vibrating Machines

UNITS PQIJNDS INCHES

UNITS l<IPS FF.rí

LOAOTNG l
JOINT LOAílS
•FULL LOAD ACTING IN THE VERTICAL OIRECTION•
(j_)
, .. fORCE y -34.4

5,6 FORCE y -?.1.4

,., FORCE y -JJ.2

9, l 1 fORCE V -Ja.c;
10 F'ORCE V -n.a
12, 1] FORCE y -3,l'i

14,16 FORCE Y -ll'i,9

17,IA FORCE Y -17.8

19121 FORCE Y -9,B
20 FORCE Y •JJ.9
22 FORCE Y -16,9

23 FORCE ~y -13, I

24 FORCE Y •11,3

25 FORCE Y -is.o
tuADING-;:,- •FUt.L· LOAD ACTING IN THE LONGlTllntNAL OTRECTION•

JOINT LOAOS
1,2 FORCE X 38,4

5,6 FORCE X 21,4

7,8 FORCE X 33,2

·911r FnRCE ·x '38",5

10 FORCE X 6,8

12,IJ FORCE X 3,6

IS FORCE X 50,0
17,18 FORCE X 17,8

20 FORCF. )( 31 ,9

l2 FORCE X 11',.9

--z:r F"ORcr·,:. 11.1

24 FORCE X 11,3

25 FORCE X Is.o

~A"Yl"""f'IGH tOADTNG rFuLL LOAD ACTING I~ THE TRANSVERSE íl!RECTION•

JOINT LOAOS
l '2 F'ORCE z 38,4

3.-4 F'ORCE 7 34,4

5,6 FORCE 21 ,4

7,8 FORCE z 33,2

,;i·;-·11 FORCE 7 38.5

 Cornputer Analysis and Applications: Example 125

10 FORCE 7 6.a
12• l) f'OQCE z 3,6

T4H6 FORC~ 7 H:.!il

.15 F'ORCE l 50,0

17,ll\ FOPCf 7 17.s

l9,21 FORCE 'l 9.e
20 F'OACt:: z 31,Ç

'.2 F'ORCI:: z 16,9

n FOA(;f'. 7 13. t
?4 f()RCE u.3
?S FORCI:
' 15.0
'
-LOAIHIIIG CóMB!NATIO'l 4 IF'ULL VERTICAL LOAO PLUS l'J,3 VIILl TRANSVf"RSE t,.OAIJt •
COMR!NE 1 i,~ 3 ô~3
LOA"DtNG CO,-.RTNATION 5 •fUlL VERTICAL Ll')AQ PLIJS 0.1 F'ULL LONGITUDtNAL LOA0 1 -
·coMRlNE 1 1,0?. O,l

-LOAOTNG r.nMRtlllATtDN 6 tfULh VE:AflCAL U)AO PL!1S 11,S F'ULL YERTlCAL LOA01
CO~AIIII( ! t,O l 0,5

PAlt.lT DATA ALL

................................................,,,
* PROALEM DATA FACM INTERNAL SlOílAGE *
...................................................

JOB TtfLE .. STAllC A~O OVSA~tc ÁNALYSIS or A TA8LE~TOP

--------~----- ---~-- ----- - .. -------~------------ ---- ----
~CTiVE UNlTS • LENGTH WElGHT ANGLE TEMPERATURE TIME
F'fET KIP
------- -------
RAO
-- ---- ----------
DEGF SEC

•••••••••• STRUCTURAL DATA••••••••••

""ftCTTVe-"STRUCTuRE-TYPE"'"~ACE'~ll-Uil"~---------------------

4ClIY€
------ 4XES -, -Y-
COOXOl~ATE Z
-------------------------------
JOIHT COOROI~4TES•----•--••••---••••-•••----•-•-••••--••••/ STATUS•-../
JOINT X Y l CONOITION

1 fl.(I O.,O o.o SJPPORT .!.CTIVE GLOBAL

• e.1100
ºªº
-- -s.ooo· -------u-.
O.O
o.o 10.ono
I0.000
SUPPORT
SUPPORI
SUPPORT
ACT!VE GLOBAL
~ -....----l:1)81U:-·. --------··-------- ---------,
ACTlVE GL08Al
4
5 14.000 o.o- O.O SUPPOl:tr ACrtVE GLOB1'L
~---------···--T.;;-ooo ---~..,,..-- .-~--sul'f'PURT"- ACilvE Gtoa--n:----------
20,000 o.o Ih O SUPPORT A,Cfl\/E GLOSAI..
• 2il.OOO
·:ir.:o
O.ô
O.O 10.000 SUPPORt

5.ooo
ACTt\/E GLOBAL
.1111,,---,u~.~··--~------,re,n,:------o,:mm,------
!O 17.000 4CllVE GL09Al
o.o
,.
li 17 .. 000 10,000 ACtlVE GLOBAL
-r, 4,l'.J-00 ·-·-----r,.lf!l-o-··----~---.,,-.i,---- ---------·-J.CTtiE"~----Gt08'A"'L-- ---· - ----· -- ----------------
13 4.ntHI 11.-000 lO.óOO •cnve: G1,.084l
., .... 11.-000 17.000 o.o
a;oao ---n;viro----·-----s .. oou
ACTI.YE
J.CI tvt
GLOBAL
GLOBAL
16 a.noo 11.000 l!).-000 ACTlVE GLOBAL
1r.~ooo l7 ·ººº o.o AC11VE
",.
1a-•--··- 1t;,i000
20,t'.lOO
---17·;tr01r----~r;r;Glf"O"··
11.-000 o.o
lVE
,1,éTtVE
GLOBAL
GLOÕÃC----·--~------ ·-----·- - -----
GLOl:tAL
,o 20~000 17.000 '5 .. 000 i\C:TIVE 6L09AL
,,
-:,r 20;000
(1.0
PiiO(H.f
O.O
--u-.:-000·
5.-000 SUPPORT
--i.:crtvE
.AC-TtVE
GLODc----
GLOB.tl,.
73 ~.noo o.o s.ooo SUPPORT .e,CTIVÉ GLOBAL
- ~4--- 14~000 --·-------u-·;o----·~----s--,;-001,·-·50p-.:>Q"RT~TIV'E Gtl'19'1t:·· -.-------- ~ - -------- --------
,s 20.000 O.O 5.-000 SUPPO~T AéTlVE GL.0941..

---:JOtN't
JOI~T
--.--·
,
1
 126 Design of Structures and Foundations for Vibrating Machines

z o. o ••• o. o e.o o.o o.o

..
y 9278,996
·,·
4
'
X y r. o,o- o.o- •••
67?,l'i,9íl6
57Mh9íll5 79'52,996
6726.996
5765.996 0,0 o.o o. o
•
7
' y 2
z
o.,
o.o
o.'
o.o
o.o
,
57t,5.99b
76A7.996
79Sifo99,6
Jl)S0Jo9q6
57b5,'il96
7681+996
o. o
,. ' o. o
o.o
o.,
•••
,,• ' y

'' y 'zz
A
' ,.,
V-" Vo\J
o.o
v,v
o.o rott r•"'"'º tUblt,h'1YC f()i:}f;'f'Sit'I ---u-.lr"
o. o
w1r
o.o
V.o

..,
y o.o
..
4551+996 6273.99-6 4-SS! ,'996
o. o o.o
23
'4
'
y
z o. o
, ,.o
o•.~
o. o
o. o
3540.999
3034.999
48!33.996
4105.996
3540.999
3034.999 º· oo
••
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o.o
,.,
o. o
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25 X '! 7 4045.999 5580.-996 40:45.999
•••
-··-··----· ------- ··-----··--~ . ------- -•------·------·

'14E'Mil[R'-1'N'.CTOtNC[S~:..~-:..;;;:;,.·;;.;,;.;ri:El-l'GTW..;=·---r-~fITJi"Srs...;.=';.":;-;;;;.~-.~--.. -:;;;:;;.;r-srrror-•r-·--·-- . ----- ---··-·- -- -----

t-tf"'IBER StART fNO LOCAL COORO. SURT END
roPCE ~OMENT ro~cE MOMENT
1 l 4 11.ooa AC11VE SPACE f'RAME
:.:'----i--- li
r- ------r,.ouo
11 .. ooa ACTIVE SPACE
•~-~~Ac~-r1n:lllt-·
H.AME

•s 1
4 i6
19
t7.000
17.000
ACTIVE
.\CTIVE
SPAC.E
SPACE
fRAlo!E
F'RAME
·--71 -----rr;:=~-----------------~,~,~,r,n,n,~· SP.lCE 1'1U,..j>'e----------
7 9 10 5.000 ACTtVE SPACE F'J:U.ME
e lo H s.ooo ACTIV€ SPACt FRAME
.;:.___-!:;._ ___ TS ------.;".;;;;;------------------i~ SPACE FRAHE ··--------•·------.--
10 15 li:! 5.000 ACt!VE SPACE fRAME
11 19 ?O 5.000 ACTIVE SPACE fRAME
· · ~ · - z1y - - ll ··---------s.-ITTrO- ---------------~,;;TTVE-----SP-b.CE PRAkl
l3 11 13 4.000 f'RAM[ ACUVE SPACE;
l'- t3 16- 4.000 fRAME ACTIVE SP#.CE
o~--- nr ----,2,'mrn------------------ll:"T'tn~~~--r MAME
16 18 21 6.(}0í} ACHVE SPACE FRAME

+;--
liil
--~-----
14
~------:~ººº
17 6 .. 000
·~:i----~~---~:=--~--·-------··~ -
ACTIVE SPA(E F'RAME
20 17 1ç 6.000 ACTIVE SPACE F'RAME
~ ·-- r-·-· -i'Z s.ooo ---:1:errvrw--s-PJ.'Ct-·~,~.~.n.~.~---- ·-··-. --- --
?2 22 ? -s.ooo ACTIVE SPACE FRAME
Z3 l 23 5.0oO ACTIVE SPACE f'ltiME
~----n i.- 'ltCTTVe SPACE. r NAME
25 5 24 5,()00 -.cnvE SPACE FRAME
~; ?'!..--~-~ -----.;;•c:;.;;º;;''::.----------------_:;"gm~:g~ ~~--------·-,,
?8 25 8 5,000 ACTIVE. SPACE ;RAM€
29 ? 4 8 • 000 .lCTIVE SPA.CE f"RAME
~--··--..--- . ó" -----1i.01!~----------------i;;:nvE SPACE PRAME"'--·--------
31 6 6 6.000 "-CTII/E SPACE FR•HE
32 l 3 e.oco ACTtV! SPACE FRA"'E':
-:,··------i~;,i------·------------i,rrn;--.,;p~l\~tiE~-i,,i,RAITT<M~E----------- \
J4 s 7 6 .. oon ACTrVE SPACE': fRAHE 1
JS
-,~--~3-
37
22

24
·rs -··--·--i•~.~.~.rn,.-------·-----------.A;C~ff!v'l~j;-....;~~~~=u~éiE,--ir~RnA~l!Er---------7
ê'3 8.-()00 ACTIVE SPAC€: FRAM(

·-j

MEMRER PR~PERTlES--•------••••~w--•---•~••••---~•-••--~--•-•••••••-••~•------••~•••---••~•-•••••••••••-•----••••••••/
~SÊÕ-T"YPE -· SEU~L--·1:rn-u:r--n7i'15--4Y7''[fY- U/YC une-..---!Y7EY""-- ll/U -· 59 sz---1,
------;•s••;•~•'---.º~•~º'----•:;.:.••;;._---~•~•~1~•~•--....;•~•~•~•~•.___~•~•~•~•~•---•::. c••:. . ___,o~.~•---I
PRIS~AT JC 6:000 o.o o:o 4:10-0 4:50ó 2:000 o.o o.o !
º•º---~•~•~•;....--~~•~•~•=--
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'
•
PH}SMAt IC

f'RJSMATIC ::~:: ::!

u.o o.v
:::
1.1.0 o~u n.v u.v
s PRISMATIC
o.o o.o
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6 PRISI-AUC <+,soo
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7 PRISM.lliTJC 'il.nno o.o o~o 11.100 6.eoo 6 .. .&oo
••• •••
-·fJ ♦ o- o.o-··· o.o ·o·.;o o-•o-- o.o -
• PR!SWATIC 9.0-00
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••----npºRlSl{,rnc--·--··---- --·--6-;.lHftr- ····o-. o--·--·· --cr;r:r--·-·-tí;"rolf-·-·-- 2.000

10 PRISMATIC
o.tt
6.000
- - · - - - - - - -·---- - --·--·o.1Y-·
4o 1!Hl0
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----o ♦ W

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13

14
PRJSMATJC

PRISMATJC
·- - --· 6o.o----

.,.,.----,,,,,.,,,=~~---------,-,"'nr-- o.u
.. 000
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o.()
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o.n o.o ~-o o.o o.o
 Computer Analysis and Applications: Example 127

\6
-----
PRtSMATIC 7o50(i
---- _.,_ - - --~- - - · •·---- --o.o-·-·-·-··o--.
º•ºir-·-·-,•~
o.o 1.soo
------,.o- 3 .. 910
-----o:.:r 5,600
------·-o;tr·
o.o •••
17 PRISMATIC
o.o
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o.o o.ó
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·--6.-n1nr-· ·tr;r- --~--------4;,1rry-··---- Z'iO!Hr- ··,;.;oo- ·· 4.f.o-------- -- o.o·
o.o o.o o.o o.o -0,0 o.o
19 PFIIs.,..ArtC 1.,;;00 o.n o.o 1.aoo J.91t.1 !- ♦ 60D o.o o.o
·-- -·--··o.:n----- ·· o-;r---··o·;~---· • .........,_.o-----· ···----u-•11·- ···--·-·--·
PAISMAT!C 1~soo ihó o.o 7,800 lo910 S.600 o.o o.o
o.o o.o o.oo.o ih O o.o
~-"PR!SMAT~ --- --------zr.51nr---- rr.: u---·-o,cr ----·-..-,r:..rn·v-·-·t5&r.i~- -·-- ! r,70-0 ". o
o.o o.o o.oo.o o.o o.o
2?.Cj00 O.O O.O 44,410 1687.498 ll 11'J.D o.o o.o
--~--,.rr- --- -·o,;o- ~ - -----11. •
0
;·,--
11.soo o.o o.o J4,S40 1112.498 9.100 o.o
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n.o o.o o.e- o.o o.o o.o º·'
?5 PRISMAT!C 1s.ooo ô.o o.o 29,&10 1124.999 1.eoo o.o
--~ ----- · --v•ir o;o -·-o.-v- -~--o-;~-- -··w;r.r- ·--,o·o-
PR{SMATIC 1s.ooo o.o o.o 29o6lo 11Z4o999 7,800 o.o o.o
o.o o.o o.o o.o o.,o o.o
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PRlSMATlC
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P~ISMATIC 23.300 o.o o.o 46,230 It3•h99~ 12,400 o., •••
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-o.o ().Ó o.o o.o o.o o.o
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32 PiHS~ATIC 23.1111)0
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- i.6.;z3u 1139i999
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StRUOL OATA SF.f

CON~TR~TNT OtCTIONARY-*---••----~J
NAME AETRJ(\IAL
-o:··~-·- TABULA>!
AY TABULAR
A2 TABULAR
~----"- ---· TABUL;AR-
I' TAB-ut.à.R
!Z TA8ULAf<
""S"'r"··- -u:aULA:R
sz TABULAR
YD TA8VLAR
IA8UDO~
F'LTK TASULAR
\ó!!TK TABULAR
--r-cr/AF'L----· - •·1A6UUR
•Y TA8ULAR
•z
COfl,\P
TABULA~
--n~UL?iR
'l'C TABULAR
?C TA.BULAR
---wEíúRl ---· - - ·-- -··-ueut.-M

•••••••••• LOAOING CATA••••••••••

LOAO!NCi - 1 F'ULL LOAO ACfJ~G IN TkE VERtlCAl OfRECTJON Sl4TUS - ACHVE

MEMRE~ ANO €LEMENT LOAúS•----•-••-••-----•--»-•---~•---~----•~---•--•--•-----•---•••---•-•--~~--•••---•••-•••-•••••--•/
'°'EMAF.?/ELEMENT

J01Nl LOA,s•-•----~---•----•-•--••••--~•-•-••---••••/
JOINT S1EP f'O~(;E X Y l --------------------·--------~------1
MOM(Nl' X Y Z
,--·-- . 0,0 •38o4lHI o.o n.. n o.o o.o
, o.o •36.400 o.o ci.o o~o o.o
3 o.o -34,400 o.o ().0 o.o 0.-0
-4·-~-- o•o •34.lt(ifl thO n.{I o.o o.o
5 o.o -Zl.401l O.O o.. o o.o o.o
o.o -2l .. 40fl o.o o.o 0.-0 o.o
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 128 Design oi Structures and Foundations for Vibrating Machines

12
14
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-----3.1500
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15
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17
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~rrn-· STt:1-' Ol'St'• X y /. f<{JT. X z

JO!NT THETAi l 2 3 fORCE X y MO~ENT li y l

-No-A:SSUMPTtONS: .. GlVEN F'OFi' THlS LôA.OlNG

~E~~ER FORCE ASSUMPltôNS •••----•-------------•/

"11El"llElr _____ ·-· ··cOMPONENT 'DISTANCE VALUE COMPONENT DISTANCE VALUE
NO •sSUMPTIONS GtVEN FO~ THIS LOADI~G

FtJLl LOAD ACTING JJ,, THF LONGlT1JDtNAl OtRêCrlON STATUS .. .6CTIVE

----
LOADING • 2
--- ---·- ..
~[MRER ANO ELEMENT LOAOS--------------••-------------•••••••• ..
MEMJ;ER/El;~~~~
••--•---------•-à----•----~-•~-------~•~--••••-.. -------- ✓
JOINT LOADS•--•-----~••---------------•------------•/ ---··---··--- ..---.. ------------------✓
JOXNT S7EP F'ORCE y
• l MOMENT l
' '
-,-----
2
'3A:.41Ht
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T----· 34.41HI o.o o •• ••• o.o o.o
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15
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17 174800 , o.o 0,0
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ta 11~son o. o o•• o. o •••
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24 lí-.300 o.o o.o o.o o. o
..,..s·--~ }'S.000 o.o o.o o. o o.o
JOINl OISPLACEMENT5---••----~---------•-•*--•--•••••/
JOT»r·---·s1tP ---n1sp·~ ·x y z ---------------------------------•--/
ROT. X y z
-:.io1 N"'r F"O"RCE 'A !iSUMF'T IôN~ _.;. ______.. _ .........--..- .... '""!'····.....................,.____ ...........-....-----·······""······..................__ ,
J01NT THETA l 2 3 FORCE ir; 7 Môt-!ENT X y 1
lfO""is:'SüMPT!ONS Gt\!EN F'OR nns lOAOlNG

ME~ijER F'ORC( ASSUMPTtONS ----•---••-••••--••-••/

~tl!i----e-1:rt,ll:'()m:NT -IHS'l'ANéE: V&LUE: COMPONENT O!STANCE VALUE'.
NO AS~U~PTIONS GtVEN FOR THIS ~OAOING
t.OAOING .. J FULL LOAO ACTtNG tN THE T~ANSVfRSE DIRECTION SfATUS .. ACT!VE

~E~RER •NO ELEMEN! LOAOS-~--------••-~•-~--•-••-••---••---•••--•••----------~-••-•-••••••• .. ••••••••-••••---------~----/

MEMRER/EL(!-IENT
--·- ----·--·-- -
JOtNT lôAOS---•-------------------------••-•••••••-•/ --------------------------········•-✓
,JOlNT STEP FORCE X Y
--o•tr ·
o.o
Z 1-40"M[NT X:
· o.o
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Y
3B~4oo
31'1.400
'1.
o.o
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 Computer Analysis and Applícations: Example 129

s '. o.o zt .401 0,0 o.o 0,0

o. oo
T•
o. o 21~400 o.o o. o o.o
.. o. o o. o 33,?;}t} o.o o. o o.o
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12 o.o o.o 3,600 o.o o.o o.o
TI - ~---o~ir- 1,r. O :r;Mo o.o o. o •••
14
15
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o.o
--o.·JT --
•••
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l 3, l oo
11,300
1s.noo
0,0
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JO!NT ntSPLACEMENTS---•-••---••---••---•••-•••--w•••/
- - - ~ nrsP; 1:--·-- ·--·y-··---- z 1mr:. ,-
------------------------------------1
JOINI
•
V
'
JOlNT TKf'.TA- l 2 3 z MOMENT X z
~5t/1lPTtONS"G!VEN"~OR THlS LOAO!NG

MEM~ER roR:E ASSU~PTIONS ---·-~----------------/

"MEt-4Fl:F.ít~---· COMPONENT DISHNCE VALVE COf'IPóNFNT OISTANC( \IAUJE
NO ASSU~PTlONS G!VfN ~OR lHts LOAO!NG

LOAOtNG • 4 FUll VERTICAL lOAO ?LI.JS ô, l Ftll,.L TRANSVEA'SE 1,.060 STATUS .. ACTt\lE

cc1.1a1NATIOl"f Gf't'E'.N . t.ooo 3 º· 300

LOA01NG • 5 fUi..L VERTICAL LOAO PLUS o.t f'l!\..L LONGITVOINAL LOAO STATUS ., ACTI\IE

COl<i!HNATIOt.; GlVEII: • t • 000 O.1 O'J

'
tOAOlNO • 6 fULL VERTI CAL 1,,()A!) PLU4 O.S f"l1LL VERTICAL LOAO SU.TUS ... ACT!VE
-------· --- .

COMfllNAT[ON Gl\lEN.,, 1 .. 000 o.soo

••••••••••••••••••••••••••••••••••••••••
• E'NO OF DAH fROI-I JNTEANAL STORA6€ •
~-....-..-n-n• ••·••·• •• •-• • ••••" • •• 114• • • • • • • • *"'
$ PLOTS ARE PEQUESTED TO CHECK ON THE STAUCTURE GEO~flPY
7JNTIS""TITT ____ _

PtOf OF.Y!CE PAlNfER

PLOT PL4NE V EQUALS O.O

PLANE tOENTiftEO BY • PLANE V EQU6LS O.O

tt. PUNE JCt"ITS

--JUTm·---··•~--- C00RU l~A tES
X y 7
o••
· ··-o-~n· ·
o.o
·11 • O
•••
Hl",l}Ot'IC-
l s.0~110 o.o •• o
4 a.0000
••• ló .ooco
----s-
•
1

l2
14,0000
14.0000
20.0000
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23 s.0000 ••• t:;.óOOO
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··n--- T4.0000
20.0000 •••
•••
s.0000
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 130 Design oi Structures and Foundations for Víbrating Machines

fN PLANf ME..iSERS
--~fHgfK1NCID€NCfS
ME"l8EP ST,HlT E:t-.O
··-r-- --'"1't!

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···2·
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4
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30
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3
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 132 Design oi Structures and Foundatlons for Vlbrating Machines

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o.?11i704?
2. ~ 7459:145
... z~1'45934'5
.. 0.0000000
º·ººººººº
O~MJõOÇ61
-0.0000967
0.0000000
o.ôooOOOI
274,4771~32
.. u,, 710F.751

- ""JO!!iJT LOADS SUPPORTS

JOINT LOA'.'.!lNG /-~-w--•••-•••-~--~--•fOQ(ES••-•------------•~--•//••-------------------MOM(NTS--•••-w••~---~--~-•-/

z roqcF. :it MOMENT MOMENT 2 MQMENT
'1LO~Ai..
X f0RC€: Y FORCE:
' 0,0000000
4 1~ot9l'l7é5 35.8!'!43C'1A -22~4542!>]6 -0.0000000 0,001101'l01)
s -.6.80B"i931 67.6194~16 0~0036440 -o~ OtlOOOO'J 0,0000!'!0(1 o.noooooo
-o.onoorrno
--·-- --- -- Gi,.08AL
• 0.0031467 ll'i.2ir.1541t, o.. 00A1n3 -0.0000000 O.l'llil')OOOO

:;,
•
5
•l.Ol5414ê
-6.MIJS'i31
l 11.M51?69"
f,1~6194916
-22~45?il7931
-O.OQJt,440
... o.oooooon
-0.0000000
{).0,(}00000
lh(IOOOOllO
n.f10000011
O.. OO(H!OOO
o.. no,rnooo
-,----- 'GL.OBAL •
4
0.003)467

o.7952607
l 15*?67'$41&-

23 .. 1190399
-{).00411'23

.. Jb.,J-.46564
-:>aonoooon
-0 .. 0000000
-0.00000(10

0~0000000 0.0000000
5 •S.30151!<4 54.'5713501 0.0035663 -0.0000000 .. o.oooonoo o.noooooo
---·---···
GLOAAL • 0,001'1644 l\~.,155421:, n.. óOS2A40 -o.ooooonn t;.tHHrnono 0.0000000

' •
5
.. o.794?4!4
-5.30\5184
ft6.R149'H5
54.S7l3501
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o.onooooo
0.0000000
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íl,OOOOOiH!
o.nnonooo
0.0007644 S>,Qat55426 .. o.ooS2A:4o OaOOOOOM •<hOOO(H!t'lO O.,fHIOOMO
5 GLO~A.L '
4 0.68041;)3 l6,6t!3469A -11.06\7-171 -o.ooooono o~oooonnn 0.0000000
5 --4.53?.60QO 45.r;:A-54-181 o.oo:?9310 -0.0000000 -o.oonoono 0 .. 0000000

-,;··-·· GLOML
• •O.OOOF!c'')\6 64 .. i7909R=i o.0043111 -0.00:00(H!O O,IH)l'.I-O!'HH) 0.0000000

n.oooMoo
•5 .. 0.6815410
-4.532'6090
69. l!H 9897
45,SA54187
-t3 .. 0M1553
.. 0 .. 0029310
0.0000000
0.000-0000
!l, ()01'H)000
o.oooooH 0.(1(100000

7 GLOBAL •
4
.. o.ooMll6
o.9a'll\666
64.'79096">

t1.'1;?S3lt3
-o.oo,.s111
•16.J2:7H~27
0.000000!!

-o.oooooon
-O.<IMOl!ô-0
.. 0.(101)00(11)
0.01\!l!tOO<I

o~<HUli'IOOO
--·-··---
•• --6.031J476G
•{).0030350
59.64614-87
M .. 66929b3
0.0039Al6
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-0.0000000
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.. o. OOOOOflO
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-}6.3361664
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0.0000000
0.0000000
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. o,nn_oootHI, __
7?. --- --7.1\.01:iAL •4
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ó -0,0014144 sq~qs.tt9?5':i o.oooonoo .. 0.0000000 -o.ooooono o.noo11000
?J GLOBAL
.. 0.0000000 O.,QQl}OQOQ
• O«OOOl"it9 aa .. 6s21ss1 -3.520850? 0.0000000
0,0000000
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"º•ºººº'°°º -0 .. 0000000
"'º·ººººººº
,, Gl08AL •' o*oooa,1a

.. o.ooo:nao
4?.,9791412 -0.0000000
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-0.0000000
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-0.0000000

· .. o.lloooono
0.0000000

'
5 ..z.3A'i1~70
22' .. Jl35ll7l'
23.7321412 0.0000000 .. 0 .. 0000000 -{1.0000000 º·ººººººº
.. o.onooooo
'5 GLOBAL. • .. O,.Ol'HJ4710

-o.oouon
33,4702606

21•?21314-5
-0.0000000

-8.590Z138
.. o• 0{100(1(10

t1.ooooooo
-o.noooooo
o. noooooo
0.0000000

OollOOOIJO\'I
4
.. n.oooonoo -o. 0000000
s
-.· •3.1119603
· ..-o.OOI6'5t.I
J0.9784546
-i.o.s320110
0 .. 0000000
-- •1:r;O(rtllJtHI!! -0~0000000 •O, O!HIOQOO º·ººººººº
o.oooooM
 138 Design of Structures and Foundations for Vibrating Machines

JOINT OISPLACEMENTS - SIJPPORTS

-----
JOINT LOAílING /------------------íl!5PLACEMENTS•--------------•-//--•••-••••----------ROTATION'5••-----------------
X OJ<;P Y DtSP Z DISP X ROT Y ROT 7 ROT

2 GL013AL
- .
4
s

4
-0.0014150
0.0094465
~0.0000045

0o00140fül
-n.0360144
-0.0680162
-o .1159-439
-0.1185715
0,0311540
-0.0000051
--o;oooons8
0,0lllt',17
0.0001115
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0,0001185
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0.0000000
0,0000000

0,0000037
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0,0000083
5 000094465 -IJ.0680"162 ·u.11oooosr -oõooooo32 -000000000 ---0.0000067
6 -0.0000046 -o o l 159439 o.oooonsA 0,0000053 -o.oooocon 0.0000122
3 GLOBAL
----- ---4 -o.on14tA6 -n.030674'5 Oõ0288R"89 0,0001108 0,000003~ 0,0000116
s 0,0094'572 -o.01oc;140 -0.0000064 -0.0000039 -0.0000000 -0.0000012
-o.oooont4 -O• ln 72?99 -0,0000094 -o.ooooos9 0,0000000 o.riooo19a
-----..----------- ULOflAL ' 0,0014llí8 -O. l 12298A 000289015 o.00011e& 0,0000038 0,0000148
0,0094572 -o. 0705740 0,0000064 0.0000039
º·ººººººº -0.0000012
-o.oooont4 -0.1072?99 0,0000094 0,0000059 -0.0000000 0,0000198
GLOBAL
' 4
s
•0,00l4lf.l
0,0094331
-0.0250524
-o.or,a1a22
O• 0271836
--0.0000061
0,0001062
-0,0000034
o.oooon:rn
-0.-0000000
0,0000124
·0.0000050
0,0000017 -0.0969884 -0.0000100 -0.0000049 0,0000000 o.onoo212
6 GLOBAL ' o.·0011t1S1o -o• I 042fl55 0",0271970 - 0,000"1127 O,OOOOOJA 0.0000159
000094331 -0.06A7Ró?2 0.00000&1 0,0000034 0.0000000 o.oooooso
0,0000017 •0.09698A4 0,0000100 0,0000049 -0,0000000 0.0000212
GLOBAL
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s 0,0094753 -0.06749B4 -0.0000062' -0.0000036 -0.0000000 0.0000012
6 0,0000047 -O.OFl90?60 -o·.0000106 -o.ooon·oso 0.0000000 o.nnoo1sa
GLOBAL
' 0,0014171
0,0094?,S.1
-0.0986426
•0,06749B4
O• 0254987
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.. ----0.0000000
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o,oooon47 •O,OA90?60 0.0000106 0,0000050 0,0000158
22 GLOBAL
•s •0, 1J000025
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0,0311387
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-0.0000064
-o.oooonJr -0,1145R1B -0.0000000 o.ooonono -0.0000000 0,0000123
'
• -o.oooonos -0.0703999
-0.0694803
O• 0288761 0,0001049
0.0000000
0.0000038
0.0000000
0,1'1000130
-0.0000004
''
0,00945(1,,6
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?.4 GLOBAL
0.0000013 •O,Ofl3966l Oo0?.71759 0.0001030 0.0000038 0,0000139
,
4
- u-;·0094.Hl --o.ot>R03?9"·-~- -o.oooúuoo - --ir.mm i:ro oo- 0,000000"0 o;onoo·o4r
0,0000019 -0.0959491 0.0000000 o. ooooooo 0,0000000 0,0000209
25 GLOBAL '
•5 0.00000:1.1
0,0094252
-o.oi:;a5302
-0.0666084
0,02'54777
-o.oooooon
0,0001017
-0.0000000
0,000001A
0.0000000
0,0000107
O,OOOOOl6
o.oonnn49 -o,OA77952 0,0000000 -0.0000000 0,0000000 0,0000161
'
JOINT DtSPLACF.MENTS - fREE JOtNTS
LO AD J NG , ____ .; __ .;_,;._,;. ______ D t SPLAC:EMENTS----------,;.·,;,_-_.;.·.,;. ___ , 1_.;;____ :..;.a •• ----·----RaT AT t ONS------------------·
X DISP Y DtSP Z OISP X ROT Y ROT Z ROT
GLOBAL
·-t. ;;o ;0·1554a4 -0.0377312 0.2132'522 0;"0001252 0,0000045 0.0000101
5 0,0306174 -0,0707142 0,0000035 0.0000029 -0.0000000 -o.nnooo56
--,-.----- ULOBAL • •0,020A?.17 -D.12:07261 .. 0.0000031 0.0000042 •000000001 o.oooot64

_________ 5
6 ___ _
• -o.-013AC129
0,0306438
-0,0~11531
-0,0713737
002132694
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11 GLOBAL
4 -0.0122:;>IB -0,1232369 o• 2112563 0,0001195 0.0000046 0,0000118
O. 0306174 -o, 0707142 -o.;ooooo"Js •o-.oooooze -o.ooooos6
5
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0.0000001 0.0000164
12
----·
GLOBAL
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' -o.01s5c;11 -.o;03486"70 ··o·.2nn66 0~0001307 o.oooooi.s 0.0000092
5 0,0306062 -0,0717963 o.oooono 0,0000061 -0.0000003 -0.0000029
6 -0.0208158 -o .1 J 58606 0,0000341 0,0000091 -o.ooo_ro02 0,0000159

•5 •0,0122799
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6 ··-0.020aisa -O,ll58606 - - --·o·.ocooJ4t .;.Q,"0000091 0,0000002 0.-0000159
14 GLOBAL
•
5
-0.0155539
0.0305686
-0,0322438
-0.0734693
0,21011'.i92
o·.-01:i-0·0520
0.0001363
- --·o ;1100"0094
0.0000043
·o·.0000006
0.000001a
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15 GLOBAL
-.'
6 -0.020R439
-0.013~022
0,0310218
-0,0208'532
.. 0.1114240
-..:0,011596"8
-0,0767,1140
-0.1163952
0.0000695
"h21"02897
0.0000000
-0.0000000
0.0000141
0.0001038
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0,0000044
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0 .. 0000125
o.oooooe3
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0,0000125
'
•,-
5
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0,03051:,f!6
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0,2100765
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0,0000088
-o,nooo10J
~--o-·. 0208419 -;._o·. n tlii1+0 -~-·-~---O""fl0069"5 .;;o·;oMOl41 O~OOõOOOO q_.0000·125
 Computer Analysis and Applications: Example 139

17 GLOAAL
•
5
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0.0306170
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0,0000557
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6 -0,0208'560 -0,1057499 0,0000744 000000141 0.0000000 0,0000184
18 GLOBAL
•s -O,Olê?n74
0,0306170
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0.0000003
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0,0000036

,. GLOAAL
6 -O ,0201:!SM -0,1057499 -Ó,0000744 -0.000011+1 -0.0000000 0,0000184

•
5
-0,0156074
O, 0306?74
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0,2044226
0,0000222
0,0001317
0,0000095
O,OOOOORO
0,0000007
o.nooouz
0,0000102

20 GLOBAL • •0,0?.0Slí.!P -0,09406Rr; 0,0000602 0,000014?. 0,0000000 0,0000289

-,• -0,01]9078
0,03\;lRS
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. .;.01.-0000·000-
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0.0000102

21 GLOBAL
• -0,020~1il7 -o.ocia4q30 0.0000000 -0.0000000 -0.0000000 0,0000289
------- -
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0,0306?71<
-0,1037729
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tl,OÕOl l?.8
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0,0000203
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• -0,020-%1!2 -0.0940t,85 -0.0000,:,02 -0.0110014? -0.0000000 0,0000209

'
---S -UYNA"'llC A~ALYSJS fOLLOWS

•
UNITS POlJNOS INCHES
7"NERTJA···or ;JOINTS LUMPErl
INEATIA Of JOINT ADO 9,11 LINEAR ALL 69,RS
lNEATIA Of JOINT AOD 15 LINEAR ALL 117,75
------rNERTTI-----Or--JOINT AílD 17,18 LINEAR ALL ?.l!,47
INERTIA Of JOINT ADO 20 LINEAR ALL 73,7/i
DYNAMJC OEGAEES Df FREEDOM

OAMPING RATIO 0,10 7S

UNITS AAOJANS SECONDS POUNDS INCHES
-uv~..mrc [OAOJNG 7 'CENTAIFUGAL FORCES•
JOINT 10 LOAQ fOACE Y FUNCTION SINE AMPLJTUOf. 143, FAFC 727,7
JOINT !O LOAO FORCE z FUNCTION SJNE AMPLITUDE 143. FRE0 727,7 PHASE 1,5707
------;]l)TNT ·15 1.-0.rn fOACf Y FUNCTION SINE AMPL J TUDE 4040, fREa 727,7
JOINT 15 LOAD FORCE z FUNCTION SINE AMPL t TlJOE 4040, fAEa 727,7 PHASE l 05707
JOlNT 20 LOAD FORCE y fUNCTION SINE AMPLITUDE JP.97, FREQ 121,1
--:mTNTCU lOAíl FoRr.E z fU"ICTION SINE AMPLIT!IOE" ]897. FREQ 727,7
JNTEGR~TE fROM 0,0 TO 0,0863 AT Oo00071Q4 '"""~
PRINT OYNAMIC DATA ALL

--"'IF~--·----·---..........................................
.. PROBLEM DATA F'ROM INTERNAL STORAGE •
............................................................................

JOB IO - EXAMPLE JOB TITLE - STATIC ANO OVNAMIC ANALYSIS Of A TABLE•TOP

ACTIVE UNITS - LENGTH WEJGHT ANGLE TEMPERATURE TIME
TNCH LB RAD OEúf SEC

.......... ••• OYNAMIC STRUCTURAL OATA .. ••••• .... • ..

JOINT OVNAMIC OEGREES Of fREEDOM•--/ JOTNT INERTIAS----------------------------------------------------------------------/

FORCE MOMENT
---;JUINT ____ fORCE _____ -- "l!OMENT )( y 7 X y Z

....... INF.RTIA Of JOINTS IS L\JMPED ••• .... •

-,-,
2 • yz
 140 Design oi Structures and Foundations for Vibrating Machines

---ic----~--.,----
3

5
)1

X Y Z
Y Z

6 )( Y Z
~----~-.,----z---
•• xX Y' zZ
··-
6q.a1999
----- ---
F,9.87999 69.87999 o. o 0,0 0,0
X
11 X Y Z 69.87999 f.9.87999 69.87999 o. o O,O 0,0
12 X Y Z
~0-------·xrr- ---
14 X Y 2
15 )1Y Z
--------- 111_. 1snno___ }.!.~•?-~º-ºº 117. 75000 o.o o. o 0,0
X
l7 K Y Z 28.46999 ?.8.46999 21\.46999 0,0 o. o 0,0
18 X Y Z 28o469Cl9 28046999 28.46999 o.o o.o o.o
,-~---x-y-z
20 X Y Z 73.75999 73,75999 73, 75999 o. o 0,0 o. o
21 Y Z
-22 y-1------
23 Y 2
24 K Y Z
----zs--------- ·x·v z

MOOE OAp,tPING RAllO MODE OAMPtNG RAT10 MOOE OAMPING RATIO MOOE OAMPING RATIO MOOE DAMPING RATfO
o. õoõõ. ·--- -·--2- ·· ·o. l"o·ooo· 3 O,IOOifO
• 0.10000 5 0.10000
6
11
16'
0.10000
0,10000
7
I?
- ·---r,----
O, 10000
0,10000
A
,,"
0,10000
0,10000 •
14
19
0,10000
0,10000
O, I O"{roQ·
10
15
0,10·000
0,10000

21
0,10000
0,10000 2?
0,1000ú
0,10000 23
0,10000
0.10000 24 0.10000 'º
25
U,10000
0.10000
26 0,10000 27 0.10000 2' 0.10000 29 0.10000 30 0.10000
31 0.10000 32 0.10000 33 0.10000 34 0.10000 35 0.10000
36
41
0.10000
0.10000 .,
37 0.10000
0.10000
3A
43
0.10000
0.10000
39
44
0.10000
0,10000
•••5 0.10000
0,10000
------.,.5---,-.10000 -
51 0,10000
--4r
52
O, 10000
0.10000
4A
53
0.10000
0.10000 ••
54
0.10000
0.10000
50
55
0,10000
0,10000
56 0.10000 57 0, 10000 5' 0,10000 59 0.10000 60 0.10000
----1:,;,- - ---o·.Toooo 0.10000 64 0,10000 65 0.10000
66
71
~TO"lrOll
0.10000
0.10000
67
72
n.10000
0.10000
""
73
o.1oono
0,10000
69
74
0.10000
0.10000
70
75
0.10000
0.10000

•••••••••• DVNAMIC LOAOING DATA••••••••••

LOAOJNr, • 7 CENTRIFUGAL FORCES STATUS - ACTIVE

JOINT LOAOS-----------------------------••--•---•••-----•-------------•--•-•••--•----------------------------------,
JOINI DI RECTraw-·-- TIME - - -i:.oAn -TlME - t:.OAD TIME LOAO TIME LOAD

ORCE-·y F'IJNCT[ONr STTI -----.MPL lT □ DE 1 l ,4JOOE- 02 F'REQUENCYI 7 .2770E 02 PMASE ANGLE 1 o. o

10 FORCE z FUNCTIONI SlN AMPLITUOE 1 l,4JOOF. O? FREQUENCY 1 7,2770E 02 PHASE ANGLEI l,5707E no
15 FORCE F'UNCTIONI SIN AMPLITUDE 1 4,04&0E 03 F'REQUENCYI 7 ,2770E 02 PHASE ANGLEI o. o
-----rs-----roRCE. ,-' FUNCTJONI SlN AMPLITUDE: 4,0400E 03 F'REQUENCYI 7,2770E 02 PHASE ANGLEI l o5707E 00

FORCE FUNCTIONI SIN AMPL 1 TUOf 1 J.89701: 01 f"REQUfNCY' 1 7,2770f 02 PHASE ANGLEI n, o
20

20 FORCE
'z f"UNCTJONI
~----··-···-
SlN AMPL t TUDE 1 J.8970E O) FAEQ!JENCYI 7,2770E 02 PHASE ANGLE 1 l ,5707E 00

INTEGRATION PERlOOS••••••-----------------------••/
INITIAL FINAL JNCREMENT
n., 0,08630 0.00012

••••••••••••••••••••••••••••••••••••••••
• ENO OF DATA f"AOM INTERNAL STORAGE •
~Tl!T.-~• m •'li"• - .-. •·• ••• • •••• •••• •• *
 Computer Analysis and Applicatlons: Example 141

'
OYNAMlC ANALYSiS MCn~L 2D
INTERPõt.,nrow FOI< 0Y¾;l. 1•HC ~tSPONSE QVANTITH!S
IS P[PfO~~EO USING A ClSPLACE~ENT S~ECTHUM
UN!TS K!PS INCHE~ CYCLtS SECONOS
LIST OYNAMlC EtGENVALUEli 20

·····················~······
*Pf.:SlllTS Of LAT!;ST A/dLYSES•

··············· . ············
Plit"lRLFl>I - EHMPLF

~c1rve: STRUCTUQf TYPE SPACE

ACTtVE Cfi~O!NAT!i Al€fS l( Y Z

E:!GfNVALUES

MCl'JE ....... _.,._ .. E IGENIJAL Uf -------fRf'QIIENC y........ --..-PfR roo ...... ,

,
1 t.'l'SSê.960
z.n t lMiD
01
01
3.6!H9780 01)
40c 1tl-?3040 1')0
i!.7159310-/!J
2.121t6l10--t1J
S.9MO<i5D 01 7.7'.)5694íl 1)0 l .iu;,109().. ll l
'
4
5
l.~7U44;?1:
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 144 Design oi Structures and Foundations for Vibratíng Machines

-:,~·---~UHU,L - ··n .1;6212as o.04fil054 -0.\0?8231 tl.0007111 -0.0076992 •C.-0002716

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LtSf DYNAM!C OlSPLACEMENTS 4LL

~ ~ ✓
........................••.•
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.....................•......

TIT~E - SlATIC A~O OYNJMIC ANALYSlS OF À TARLE•TOP

ACTIVf UNITS fNCH KlP CYC OEGF SISC

ACTIVE ~TRúCTURE TYPE SPACE FRAME'
ACTIVE COORfHNATF: AXES X V l

RESULTANT JOIN~ OJSPLACE~E~TS- SUPPORT~

..
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 Computer Analysis and Applications: Example 145

0,0143<, 0,00000711 0,{)0-flf\181 -0.0000004 -o.ooooono -o.cooooon o.onoeooo

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O,OS'539 -o.oooo1J?. -o.oonn49n t\00001)01? -0.0000001 o.óoooooo -o.oof>onoo
0,056ll .. 0.0000341 -o.ooons3t o.Oàóon74 -o.oonooo; 0.0000000 ~0.0000000
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0.0611s -0.0000366 -0.0000637 o.oooon61. o.OOOOOGl O.OOGOMO o.0000000
0.061n .-O.OOIHH64 .. o~oo006'i8 Ot01h'JOCS9 o,oooMol 0.0000000 o,onoooo1
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o.OSJOJ.i .... o.00005ól o.MOMSt:; -o.otto0640 0.0000001 -0.0000002 0.0000002
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146 Design of Structures and Foundalions for Vibrating Machines

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0-05t.R'3 ... 0.00001,,1 -n.oonn:rn.-r; O.OOiHl'iSO •lhOOOOOOl -o~onoono2 o.ooooMo
0.057',5 -0.0000171 -o,noooo4A 0,000021? -0.0000001 .. 0,1HJ00001 0+0000002
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fl,06401 -0 .. 01100210 -n.001otH't1 0.0000510 .. 0.0000001 -0.0000002 •o.il'IJ00002
0.()€1475 -0.0000;,,6"\ -o.ooons,;;,, {l.000(1598 -o.OOOtl0-01 .. 0.000000.l -0.0000001
(hlHi,C.41 -o.ooot'l261 -n.oonfi?3o o.000049? -o.oooooa2 -0.0,000002 0.001)0001
o.n1i,ne -0.0000?7/ó\ n.noflol!'l3 n. 0000219 -ó.!h'l0011ó2 .. 0.0000001 0.0000002
ri.06690 -o.ooóní"q2 n.O{il}t1J21\ .. (h!Hi0014~ ~n.ooonnoi <1•0001)()01 n.0000003
(h!ll!,762 -o.noa1no.i. o.oonn:un .. O.l'ló005l2 -0,0,0fll'l!lOI 0.0000002 o.oooooôJ
o.n6A34 -0.0000109 li.O!l:00266 •\hiHHl017fl o~onooooo 0.0000003 1).0000002
!'h06906 -o.oóó0'll')4 -o.oonnoo1 .. o.nooo1H1 lhOOOOOOl o.OtHHI003 O.Ol')fll)GOI
n.o697fl .. O~Ot'JO<l?.91 -11.0000340 •0,{HHl0111 tJ.0000001 o.ottoooo2 •o.oonoo-oJJ
0.01050 -o .ooou21n- -o.oonot?M •l).0000504 0.0000002 l').0000001 -o.oonooo1
0.011n -0 ,.OOJHl;?4A -o.ooonA1? -0.0000143 o.oonooo1 -o.ooO(HlOO -o.ooooo-n2
n.07194 -n.oo00:?3n -n.nono9lA O.OOOO?lF- o.ooonoo1 .. Q.tHHiOMl -ô.OOO'l002
0+07266 .. o.00002t9 .. o.l'lOOtl7AJ o.1Hló047l5 -0.0000000 .. o.0000M2 .. O.{HilH1002
n.o1:33B -o.ooon;:,n .. n.ooOl\"tO? 0,0000566- -0.0000001 .. o.oooonoz .. i,.uooooo1J
u.01411'.l •0.0000,.i,,; -0.001')tH46 0•0!)0046? -o• OOOt'.1001 -0.0000002 o .. ooonoot
n,.074,92 .. 0.0000,4;, o.oooôJqJ o.oouo1q1 -0.0000001 -O+HO(HHH o.o<rnoooz
o.o7'5'54 -o. 0000260 0.000!'1423 -0.0000110 -o.ovoooo1 0,0000001 o.orn,0003
1.07!'i26 -o .. t1000211:; -O.t'!OO!'i49) -0.0000,;2:9 -0.0000000 O.!HlOOólí2 o.oonr,rrn3
o.07697 -0.0000281 0.000038! -o.oooó7M 0,0000000 0.0000001 0.0000001
o.i'.1776? .. o.00002s1 fl.OOOt11?6 -o.ooooani: 0.0000001 o,oooonoJ o.. ooorH102
0.01841 ... 0.0000110 .. (1.000(1201 wQ,ô00077J 0.0000001 o.oooonoa o~OG<lOOOO
0.07913 -o.00002i;:? -0 .. QO!lf\S()Q .. -0.0000500 0.0000001 o.oooono1 -O.DOôOOOl
n.07985 .. !).{)000?.11 ... o.tHHln710 -0.0000134 o.OOO!lOOl ... o.oooonoo- -1).00-00002
o.. 01wn -0~0000214 •11,<ll}M74r> o.oooonn 0.00000110 -o.oooono2 -0.0000002
o.oRt.?9 -ó.0(Hl0204 -ll.Oíh')Of:sOJ 0.0000493 .. o .OOO'o0-0 l -0.0000003 -o.oonooo2
o.ne201 -0.0000204 .o.OOOfill1'5 O,OOOOS87 -0.0000001 •O,OO'J01'03 -0.0000001
o .. oA??'.I -0.0000;?11 n.OONH)45 lh0000487 -0.0000002 •tL,0000002 o.ono-0001
o.oa:v.s .. (1.0000230 o~oMole4 0.00,,0219 -0.0000002 •ft.OOOOMt 0.00000oz
IJ,.()0411 •O~OO(Hl~4P. 0.0001'614 •ô.OOô0}4J -0.0000001 o.0oot1000 o.ooooonJ
íl.Oft4/,J'il -0-.0000264 O.OOM6111 -0.ooooi:;02 -O,.OOOM01 0.00000oz 0.0000003
n.aac;;o,1 -o.oooon2 o.aoon'i62 ,..0.0000761 0~0000000 CJ.000000.J n.0000002
1.)..08630 .. o.ooon:nn o.noor.J1o •O.Oôi\43SO o.OO(HlOOl lhOGGn00,3 O.OOfl<lOOl
20 GLOAAL o.o
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o.oot4i. .. o.oooorioo- o.ooon1s2 0.0000163 -o.00í1MOO 0.0000000 o.oooonoJ
fh00.?16 0,000fi463 o.oMMit~ -0.000()000 0.0000000 0.00001'00
o.oo.>u '"º•ººººººº
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0,0(1360 o.oon1S68 o;.ooooi:ios .. o.Ot>O!'l!)OO 1>.ooooncn o.ooonont
0.00432 "'º•ººººººº
.. 0.0-000000 0.000217 .. 0.00001S2' -o,c:000000 thOOOôf>Ol 0.0000001
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0 .. 0011~ o.óoooo<1t O• 000?339 •0.000004-'3 0.0000000 -a.OOOIJ002 0.0000002
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o.00M1 -o.0000M1 0.0001001 -o.ooool6íl 0.0000000 ..0.0000002 O.O!Hl0/100
0.009:15 -O .. ó000006 n. oanl'l'l72 -0.0000117 0.0000000 -0.0()00(101 -O.OOOOIHH
0 .. 01001 -o.00oon11 -o.ononose o.ooootsc; 0,000-onoo -0.0000001 -o.onnooo:,
IJ.OlOH -O*OOOOtl!R -o.noon?04 n.0000461'> o.ooonooo -O.OOflõQ/'14
o .. oi 1s1 -o.ooono2c; .. o .ooonosi ó.oooonq 0,00ô000(1 º•ººººººº
n.tH'H'lô001 -o.oonooott
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0.012e.1 -o.0000048 o.oonU94 o.ooOG7&4 0.0041'H100 0.00000.01 fl.OMHIOOl
0.01439 -0.000t'Hl!i6 n.0001635 0.0000559 0.0000000 o.oooono1 OoOO!lô003
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0 • O1127 -0.00000-~a 0.0001012 -0.0000:uo 0.00011000 -o.,MOó002 l'I.O,iOOOOJ
0.01191] -0.0000111 0,0001'178<> -0.0000264 o.01>00000 -o .. oooono2 o.oonnooz
o .. 01s10 -o.000011A 0.0000661 -o.oo-oonn O.00:01)000 -o.1H.100001 o.ooonnM
a.01q42 •0.0000144 O,000t174/\ Ooll!l00182 0~0000000 .. 0.0000001 -o.oonnoo1
0.0201<1 -<'l.00001~1 thOO(H04& o.&0004.z4 0 • 0000000 O.,GOOOOOO •1h00fi0002
o.o.zoa6 .. 0.0000179 O• 0001499 ll.0000585 l.l.OIJOl)OOO 0.0000001 -o.onrH)l)Ol
c.021se: -0.0000l9.S o.ooot99o 0.00006?.6 0.0.000000 o.0000M1 -0.0000001
11-02230 -0.0000214 o.o-002396 0.00001531 o.n000000 0.0000001 !l.000{1!)00
"0.0.230? -o.OOQO~V o~ooo?606 0.0000143 o.GOOOD00 0.0000000 0~0oonoo1
0.0,2374 -o.OOOO?"'óO 0.0002'5'56 {),0()00094 0.0000000 -o.oooonno O.OOIH'M02
O,d'.12446 -o.oooou,<J O ,!'I00?.?47 --0.0000]44 0.0000000 -0.0000001 n .0000M2
o.02s1e -o.ooone9 0,0001741 -0.0000301 n,0000000 -0 .. 0000001 O.001'Hl00i
º*º~5'110 -0.0000:Jto 0,0001152 .. O.OoóOJ48 o.OOOllOOO -0.0000001 O.DOl'lllO!tO
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0~02'7:l4 -O.OOOl\1ti4 õ.,nona2J1 -0.000005,:;; -G.00!100(10 -0.0000000 -n.onnnoo2
O~i>ZB06 -o.oooo:375 0.000~086 o.000019~ .. o.ooooHo 0.0000000 .. o.oonnoo3
o.01a1a -O.OO!hl1't'i (h0000lli1 o.000042"'J •lhll-000000 0.0000001 -O.O()OOn03
0,02950 -O.õ000:414 0.0000458 0.0000568 -0.0000000 .0.0000001 -n.oonnooz
0~03021 -0.000041"! o.ooonM9 0.0000-;aJ -0,000iHHIO o.oo{IOõOl -o,. Ol)nrt-001
0.03091 .. 0.0000445 0~0001101 0.0000463 0.0000000 o.oooono1 o~Mon11111
0.03165 -·o.00004i;7 ô.00:01242 n.0000231, o.oononoo o~oono,ioo o.oonnooz
o.on:n -0~0oon467 !h00:0l t4S -0.0000040 O.OOOí'IOOO -o.oooonoo 0, OM0003
ri.o:11oq :"0.0000;..n a.onone1e, •_o.0000:1% 0.00:00000 -o.0onoM1 íhOfl\"l!lfH!'.i
 Computer Analysis and Applícations: Example 147

n.tnJB! -11.ooon4st6 o,ooon115 -o.ooon46S o.ooonooo -c.00001,01 o.oooonn3

().03453 .. 0.0000494 -0.0000246 •0,0000501 0,000(1000 -o.oooono1 o.onr,0001
o.oJszs --0.0000,:;02 -.o.oooo7J7 .. o.oooon1i o.ooonooo -ihOOOOr!Ol -o.oonoooo
~,y;jl)fi97 ... 0,0000510 -0.0001044 •0,0000175 •0,0000000 .. o.tiooonoo .. O.. Ot'HH'l002
O,O:J6:69. .. 0.0000511 ,..o.noo1091 0~0000101 -0 .. 0000000 0 .. 0000000 -thOOIH'!OOJ
0,03741 .. o, 00005-':l .. g,noon894 n.0000361 -o.oonoooo 0.0000001 •(t.(Hh'lt'IOOJ
0.03813 .. 0.0000-i,n -O,l}0004q5 (h 0000'53'i •O.OIHHiOOO 0,0000001 .. 0.0000003
0,0388'5 -o~oooos?q -o,.ouonolJ n,.QQOOS19 -0.0000000 0.0000002 -0.0000002
n,o39'S7 -o.oooo5n tJ.001H14?2 tt.0000482 0,0000000 0.0000001 -o.oonnoo1
·-"õ.'fj?+1$2º9-' ~o-. õ1'fõ óS?l'lc o.notH'l6()3 n.i'IG00270 (hOHOOOO O.O!'IOOIHH o~o~nMoo
o.G4!0l -0.00005?4 o~l'HH'l:(1728 •0.000000() O.OOi'.HHHlO óoOCOOi:HJO o.oono<Hlt
0,04173 •O~OOOOS2B o.ooans:21 -o .. oooo.zs1 0.000<1000 -o.oooootn O.. OOr'IOOO?.
0,04244 •0,MOOS16 o.OOOl'll2~ .. (I.Q00ó434 0,0000000 -0.0000001 o.onnooot
n .. o4:H6 •fioOOOO'iJ 1 -o.ono0344 -0.0000464 0.0000000 -o.oooooot o~oooonoo
0,04388: -0.0000507 -0.00011161¼ .. 0.0000:,•n 0.00000110 -o.!loo.0001 -ll .. OIHIOOõl
-o---.0446õ -0.oontl~n2 .. o.oooto3t .. lh(HIOOtiH -o.n-000000 -0~0000-non -o.nnoonn2
0.04532 .. o.00004q1 .. 0.0001067 o.oooooM -0.0000000 .. 0.00001>03
o.n4604 -o.OOót1491 •l'hÕl'J00871 lh000030J -ll.lJOOOOOO º•ººººººº
OaOOOOOiH •O• !'HHHHlll3
0.04676 -o. 0000434 -ó.000050'i (l.000/)465 -th0000000 0&iló00ã01 -O.OOM002
0,04748 -ó.0000416 -o.ooono7s 0.0000,;;01 -0.0000000 o.oOO{H'IOl -O,IHHIOOOl
o.o4eao -0.0000461, 0.0000290 n.&000402 o.OOMOOO D,fHHHlOOl 0.0000000
ó.04'89?. •t:J.00004'-4 n.ooonto8t 0.00001,11 0.0000000 o.noooMt O ,OOMO!i?.
0.04964 -0.000044~ O .0000431 -o.oouonn o.oonoooo :..o• 000000(1 0.0000002
().05031:i .. (,♦ 01}004'.lll O.OOlHH40 -o.O(HH)Jêl 0.0000000 -0.0000001 n.OOl'/0003
l'i;osn;A .;,o.,cHHfM\9 •0~4'1001).'.U!IJ .. o.OOM487 o.oooooM -0.00001101 0.0000002
o.os1ao .. O• 00001.tOA •O.OOOl\861 .. O.OCIMS21 o.oooooM •0.000-!HIOI 0.0000001
o.oszs2 •o.ooonqa .. 0.-0001325 -o.oonó43l o.ooono-00 .. 0.0000001 -0.0000000
--<f~tfsn•- ..:-o .. ooó0390 .. n.oooH,01:i ;..o. OOOCIZ<'5 0.0000000 -0.0000000 '"tl'o00MOD2
o .05395 -D• OOOOJA1 •0.0001633 0.0000034 -o~onooooo o.oooóOCn -o.oonoon2
0.-05461 -0.0001'311 .. 0.000140? 0,(1000?.7'5 -o.ooonooo 0.0000001 ""º*00000-03

L l$T OYNA}í!C F'URCES ALL

'v 01' ~ ~

··········~··················
•RE:StJL TS OF LATESi ANAL YSES*
••••••••••••••••••••••••••••

TtTI..F: .. sunc ANO OVNIIMIC ANAL YSU OF' A USLE-TOP

~A:':frVE iJNlTS JN{';H K'IP CYC OEGF' Sl:C

ACT I llf STRUCTL.'RE TYPF: SPACE

ACTtVf COOAOJNATE AXES XY2

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LOAOING "" 7 CEN'fRffUGAí. FORCE~
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t !o-.n o.o n.o o.o o.o o.o o.o
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0,0022 -o.onoa11J o.ono0961 -o.oosso6L 0.0021757 o.3169094 0.0089364
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0.0043 -0.009174~ n.oo51•sl •O.on91662 n.24>.2276 o.20?4531 o.4086115
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o.oose -o.O!S040• 0,1}156145 0.0016432 o.15&61?4 -0.9366371 1,2301SS9
0.11065 -o.01;6110 0.0206603 o.oos1142 -o.Ol30QS6 -1.ss201?2 1.6?76514
10.0012 -O.Ol4llô6 0.1123~722 0.01:,,:;~52 -o.2141561 -1~9Al5874 z.nzo9589
,0,0079 ~o.01og2?S n.o24247S 0.0160011 ~o.2977191 -2.09BA6Z4 2.114&oas
o.ol'JR6 -o~nn~91~S n.o?14~~9 0.0142484 -o .. 2579504 -t.84~9446 2.0945234
0.0094 ~o.coJ2?76 n.0160916 o.009z973 -n.1346154 -1.2;1g179 1.7953116
0.11101 •O .. ffBOOM2 lhfi!'.!qs301 o.oo24fl94 o.0131671 .. 0 .. 41~4415 1.354916'1
n.otoa 0.0029029 n.00Jsq14 -0.0045336 o.1459336 o.5161754 o.3944716
0.011s o.MMi..77 .. 0.0004216 .. o.o-toos3q o .. 2ie..9z2s1 1.3;:1>6975 thS:43339~
n.0122 o.O!l4A42 -o.oooz491 -o.01ie319 o.31,11z6 t.9169483 o.4036994
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0.0137 o.oJ6l~~z n.oojOJ6o -o,ooaJt36 o.2921e11 J.7941494 o~sa1s14z.
O.. t)}44 o.04'!iJlQ9 0.01~635 •0.0018346 o-1959464 t.OS83iH7 l,3932562'
o.01s1 o.os8Sl64 n.o?t5J32 ihOOSM38 (!.0617934 o.10AJ144 l ,92768:41
o.01sa o.o~S2A2* n.o?~42o o.012a1ar -o.oSa7101 -0.9217l33 ?.34411A1
000165 0.0435641 O,Ol633411 o~ot7J6R3 ~o.)520869 -l.14?R083 2.SZ66008
n.n1n o.ntt5493 0.0235:!tq:4 o.01s11s2 -051901968 -2.12,:;J~JS 2•411*4&21
n.01ao -0.0361116 0.0173)31 o.0145969 80.1643~12 •l,9591026 2.0147142
0.0101 ~~.o,&4635 o.oo9SC37 o~ao1Soe2 -o.ost6JZ1 •1,26013~6 t.J988113
0.0194 .o.t~46bJl o.0011a12 -o.oo1J8RZ o.oJJ8514 -o.2\67616 o.68S04P8
.0.0701 ~o.2BJ74?6 -0.0042960 •0.0-096884 o.t4S909S o~B72BJ~6 0.0100942
148 Design of Structures and Foundations for Vibrating Machines

0.0209- .. o.2~4511.51 -n .Of;76921 .. p.01so1os /h2:l8Sló2: 1 .6778612 -0.5034372

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0,0.?30 -O.MS'1706 •{l,0!ll9ll0 .. c.00292:1~ 0.0903067 (L,.50513544 -0.!5751641
0.0231 -0,.0121053 o.onzzs96 0.0013264 -0+0140928 -0.841.?.275 .. 0.238QOit:
0,0245 0,0712815 0.0053769 0.0166154 -0.10542:64 -2.1709404 O.1052532
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0.0259 o.t6092z4 n.01149191 0,0226663 -n.t740922 ... J.3095379 o.3786311
·0.0266 O+l4R56S2 o• 0010825 o.01n2s6 -o .. 11s2so4 •2 .. 732:9«;50 0.1914678
o.o.2n O.1008728 .. 0.0042706 0.0074222 -0.0546026 -1.46603$8 -0.19086+;6
0.('1281 o.01G94~2 -o.0099020 -o.oo46qJJ o.o.. nsa1+ lh19ll738 •!!.6ê2179~
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0.0295 -0.1028976 -n.0168210 •0.0?.38498 0,2036114 J..,0459433 .. J.5107460
0.0302 -0.115111A .. õ.Ot6J93l -0.0261531 0,2:0Ai?t:n J..'5_:IJJ562 •1.6334105
··o.·0309 -o.I:148916 ... ~.0132613 .. o.oz24s33 O.tS2{2R2 J. t 55l162 .. J.493792''5
o.u11 -O.Ulí4518 •1',0082llt5 ... -0.0t3!H26 0.0500)26 2.0561314 .. J, 121SJ!i0
0 .. 0324 ... o.of.?0576 .. f).002SS16 .. 0.002:6147 -0.013.,:a,309 0.5l656lit •0:~60813666
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o.0J3e ó.Oll1764 l').0~48718 0.0152166 -0.2537850 .. 2.0Mlt,97 0,3lO(ltH,l
o.oJ4S o.01sJ?96 0•01'\45472 !hOlM.457 .. o.?63S7os -~•4lll7S74 º"469381?
. -U.0353 -o.nn657?7 o.-OBJ2:355 o.Cl21il 12 -l!.2121474 .. 1 .911 S2S2 0.3406337
o. 0360 .. 0.0410366 -0.0043389 0.0030603 •0.1142247 -0.1311132 -o.os~526l
o.n:367 •O.OQ2iH,llt ..o.0108668 -0.01186824 0•0036574 o .. a5u,,906 -0.63SOB6}
... n:.:trl74'-· •o .-12sn60 ..-n.0161902 -0-.0195982 0.1}03845 2.4002466 •l ,?.6256!1A
0 .. 0381 -0.1321A74 -o.0201oas .. o.0?.66569 o. l78tl 12 3.4701328 --1.7q45704
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 150 Design of Structures and Foundations for Vibrating Machines

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 Computer Analysis and Applícatlons: Example 151

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152 Design oi Structures and Foundations for Vibrating Machines

O,!l252 •O, 14651 SR -o.on6l772 0,0228285 0,1264929 1,4751749 D,q624233

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0.0475 O,IRSl503 0,0197694 -0,0?59216 -0,1900645 -1 .9593678 -i', 1294622
_ .. Oé0482·- · 0,1485896 0,0173016 -0,0207802 -0,1873:!91 •l ,417A228 -t.fi66J866
0,0489 0,0797440 0.0124162 -Oo0\00057 -Ool217A44 -0,5175942 -0.915149,:,.
0.0496 -0.0039!;74 0,0062857 0.0034487 -"',0115575 o.sot7731 -o.i'3l6473
---- o-.l1so4- -,.;O~l1B18794 0,0004271 0.0159085 o.1131442 1,37015':iJ 0.]756408
0,0511 -o,13'55174 -0.0037338 0,0?39641 0,2181!',58 1 ,8SRR963 O,fí96470I
0.0518 -o.153242'0 -0,0052369 0,02'53892 0,2745757 1,8418159 O,fí590314
---o-.,is2s -0.1331930 •000038410 0,0197442 00266451.l 1 • 32~7935 0,:?88S056
0,0532 -0.0835648 -0,0000842 o.ooeso10 0.)952161 0.46?.A134 -0.2988117
o.os40 •0,0202087 0,0048644 '"Oo0053468 0.0793537 -o.stR7Sll -0.9299462
--u-.ll54"7 - 0,0l77903 n.0095196 -0.0180850 -0,0504AJ5 -1,34822?.7 -1,4191399
0,0554 0.0733696 o.OJ24781 -0,0262764 -0,1596992 -1,7997417 •l,619075R
0,0561 0,0761518 0.0127920 -o.0?76857 -0,2191048 -t.7500143 -1,4598389
--o.o5f!i8 0;04521542 0.0102198 -0,0218838 -0,2128381 -1,2114372 -0.9673305
0,0576 -0.0105193 0000528133 •0,0103665 -0-1426722 -0,3283527 -0.2560366
0,0583 -0.0751562 -o.0008502 0,0038430 -0,0275403 0.6617973 0,5017588
---o-,-o59o ..;0,H'9904l -0,0067258 0,0170018 n .1 o t 5682 l 049?5480 1-1220341
0,0597 -0,ISRSlfíS -0.0109428 000?56485 0.2099305 J ,9400R06 ).4580059
0,0604 -0,1518341 -o,012s5oo O• 0275289 O,2683791 l,8RJJ809 l ,4390039
0,0611 -0,1104503 -n. o 112907 0.02'219B6 0,2'610747 1,3368416 1,088R977
0,0619 -0,0447116 -0,0076685 OoOl ll410 0,1897097 0,441i5R76 0,5192763
0.0626 0,0279120 •Oo002AOJ8 .. 0.0026133 0.0727320 -0.5467221 -0,101238'5
---0;-o,;33 · 0~0!=176176 O,OO\RS43 -0,015349R -0.0586628 -1•3771248 -0,5909840
0.0640 0, 1174~11 000049319 -0,0236117 -0.1&97A93 -l,Rl913J8 -0,8054841
O,Ofi47 0,10Al573 0,0054924 -0,02514A7 -0,2312927 -1.7503548 -0,6755444
oº-o-655 0,0605184 n,0032883 -0.019516B -0,2270266 .. lel.1340248 -0,?25897fí
000662 -0,0144133 -0,0011728 -O.OOIU973 -0,1583487 -0,26':i7?.82 004314069
0,0669 -0,0982497 •0,0067643 0,0058003 -0,0437465 o.16s.?s19 1.1269865
O,i0676 -O,l.7000AO -n.0120426 0.0187447 0,0861143 l 06396427 1,6794739
o.0683 -0,2'1160J9 -0,0156334 0.0;?71830 0,1965947 2, 129977?. 1,9440908
0.0691 -0,21?6081 -0.0166003 0,0?88670 O• 25R3483 2, 1112690 l ,85l45QS
000698 -0,1729946 -ooOl469S2 0.0233563 0.2551656 l 05943012 1,426?447
o.on1s •0,1031497 -0.0104245 0,0121373 0, 181\2904 0,722f.o054 0.7806274
000712 -0,0211330 •0,0049135 -0.0017742 O, 076041>04 -0,2661113 0.0843315
-· ...o;·or r9 ··o~os2oa13 0,0003958 -0,0146418 -0,0510333 -1,1037445 -0.4807705
0.0121 0,0981194 0,0041311 -o.0?.30090 -0,1585360 -1,5637074 -0,769335?
0,0714 O.lOM147 O,On53578 .. o.0246263 -o ,2172717 -1.5216875 -o,7114536
0.:0741 0,0750D4 0,0038?.93 -0,0190547 -o •2111663 -0,9889677 -0,:\313513
0.0748 0,01476R2 0,0000524 -0,0077843 -0.1415580 •0,1093614 0,?59141fi
0.0755 -0,0575126 -o.oo4R491 0,0061646 -0,0268450 0,8793874 0,"906615
--0-.11163 -0,"1"215478 -o.DoQ4l74 0,0190496 0.1024381 1. 7094250 l,3817530
0,0770 -0.1595408 -0,0123479 0,0?.74087 0,2117993 2,1546898 l,58770fl6
O,0777 -0,16093?2 •0,0126567 0,0289879 0,2720361 2,0Q16319 1 .4394836
--0,0784 -0.1252074 -0,0101311 O, O233456 0,2670751 1 ,53241169 O,q624JJ8
0,0791 -0.0619947" -0,0052938 0,0119716 O, 1982974 0,6221572 0,2696916
0.0199 0,0115704 0,0007144 -0.0021114 0,0841904 -0,4004846 -0,4679406
- 1r.-0806- 0,0755027 O.-0064381 -0.0151569 -0.0445894 -1 ,2664R04 -1,0675879
0,0813 Ool 1?3903 0,0104952 -0.0?36978 -0.1534222 -lo7487869 -\.3831415
0,0820 0.1121294 O• O119452 -0,0254761 -0.2130002 •1. 723071 l -t.3442450
000827 0,0746AA4 0,0105395 -0,0?.00473 -0,2071813 -1,2010."355 -0,9749977
0,0'134 0,0101614 0,0067857 -0.0089012 -o, 1373529 -0.3213061 -0,.1873435
0,0842 -0.0639103 n.ont8l08 0.0049375 -Oo02?.0177 0,6592904 0,?.490609
O;õB49 -O.t272JJO -0,002'9423 0,0177188 O.1080956 l,48Q,,Q08 0,7524276
0,0856 -0,16?2117 -0.0061020 0,0?.59721 0,218?794 1 ,93f:i6A46 o.9776405
O,OR63 -o.t5Q5sa2 -O.OOfí7625 0.0?.75200 0,2779101 l ,RB79356 0,8659755
-- . - ------- -
3 3 o.o o. o o. o o.o o. o o.o o. o
0.0001 -o.oon21n 0,0000019 -o.on155153 -0.0019988 0.1071731 0,0002052
--o-;11·oii.- ~ -- ~-o. 0044"363 0.000001s -0,0120985 -0,0270053 O,85:lA':i85 0.0009637
0,0022 -0,02S54?0 ~0.000101:11 -0,0169651:! -0.1264631 2,63;1'}630 -0,0063012
0,0029 -0,0831275 -0.0008333 -0,0740476 -0,3Jl9SCj7 5.2421198 -0,054R01~
o .uu.,ti •O,l"IJ'4'1Al -o,uo~Ht.6'4 -U,llJ~l72 .. o.56411',36 1,8862181 -ti.~
 Computar Analysis and Applications: Example 153

o.. OC43 -0• '3'>71A71 ... /\.00fí3761 •0-1432:559 •0.6203490 Q,.5?.41432 -!h4269JJO
o.Oíl50 -o.5GS)l25 ... 0.0102259 •O. t1il2:737 -o.2eG10622 9,.)5! 1086 .. o.687989?
o~oos~ -o,. 7438'.l"i4 ... o.JU2n121- ..,.0.1329493 0.45B9M7 7.l40IP77 -0 .. 8064245
o~on6S -o• 1\701954 -n.0090547 -0.0910938 l •3894205 3 .. 3,!66907 .. o.5963894
o.oon -O.A•H91;'\7 0.0006521 -0.03S1137 2«1198044 -1.15649'51 !l.079725?
-o.oC79 .. o.7156123 o.0114zse o.OU995S z.3466,387 -s.tTt9SJ7 1.2567034
0+008f- •0.'546ol48 o.Ol9687Z o.o674tos l ,11989376 .. 7.7165613 2.assust
0.0094 --0.253731:3 o.0640907 ti .0918984 1.2225723 -8.1977806 4,.687)3'50
OõOlOl õ • 0190'.\94 o;Ol:\61348 -o.OU0048 0.2519156 •lh5808430 6 .. 4832449
0,0108 n.21i4214l o.UU940 O,.t)70S28b -Ih 7041431 •3.3735027 t:9t.3t5t5
o.nns Q,'3793103 n.1osn10 0 .. 0353900 •1•4i;;!)4547 (h5l?'A:0741 8.1992M1
0.0122 0.17844R4 n.0983194 .. o.on2s1s• -t.9819469 4.it7t4521 8+1!111:25'54}
flo0l29 0,~<;1404c;l0 o.OA01644 .. 0,.0321799 .. ;?.079467& 6+29"6166 8, t74155?
0.0131 0,1A44117 o.O'i:49632 .. 0.0450314 .. 1.7464109 6+5617065 6+8247643
().'0144 0,1125942 O.O?.AO?SS .. o.nJ6?714 -t.0484066 •• 716'7606 5+1281042
O,OlSI o.1237Jl8 n.0051747 ... 0.009)910 .. o.JS1St82 1,1839027 _'J.4460lS2'
o.ntsa o.2,Mt4"'i "'"'•º093005 o.0294059 o. 7260553 .. 3 .. 1oi~102 ?+1198969
0,0165 Oo4!!08RM •/'J .013?748 0,0680910 113763331 -6.9441 no 1-3619585
0,0173 Oo5A?7353 --o.ool'4577 0.0945525 1,.66HJ328 •9.1843033 1.2269411
o,nao l'.1.71163757 n.ooSi:>747 O,M97SSJ 1.s2s12ss -9.0993156 l•6045U7
·0.0187 0.7t47?A4 t1.0\1i1B860 O.IJl'Ul485S t.02)9810 -6.611:!''337 2•26H877
0.0194 OoCj.AOê'li4R ri.Ol:24171 0.0402:940 0.30445oz ..2.:H!S113:53 z.92Zélnt\
0.0201 0.114)06j il•039llAB -o.0114sa2 .. 0.4142265 2.6404457 3,.30904!)8
0.020<.i -o.OJMA:02 o.01;i,2321 -0.0621501 -0.9248680 6~96'5.ft989 3.22'9,871
-0 .. 0992309 -1.0921583 1.h488'58õ7 2.6M94'S:'.!
0,0216 .. 0.4011045 lh0J00108
o.02z3 .. o. 7o7642a fl ♦ 0167845 -o.113497q .. 1).8960678 ''h5199480 l •5063648
0.0230 -0.'!<;1!'14147 O• oo u,<JCJO ""0.11H5251 ",ó,1).42747$0 1.0299797 th09'58llt>
0.0231 .. o.9457;'\!;8 -t'J..0115filJ4 •0•0666420 !'J..lS29038 2.6&58201 .. J.3669329
o.o?.45 -O,.R"iMO?O -o.0201oa1 -O.OtSJ717 ll ♦ M7A83Z ..2,4100122 -2,60868Z<l:
O.OZ52 .. Q.M7J3;>3 •0.02'2l05J 0.030IHJIH OtQ691US -6.'321~175 .. 3.,40Sl428
0.0259 -0.4326499 -f1 ♦ 01JU701 0,0673068 t!.9619318 -(J.3435383 .. 3.,635l9S7
0.0266 .. 0.2102910 -o.1Ho1e:11 O,O~líHl o.6535566 ...i;.2337977 ... J.31397R2
Q.07.73 -0.04'5:5318 ..:.a~'OOOt\lSJ . 0il)"61!3764 l!+09846<l:3 •6i4670458 •2t'5881S03
0,0281 o.oJ.l!0~44 o.OnU317 0,0324459 .. o.ss,c;211 .. 1,1150fU9B •1,J;99SZ17.
0,028.'i 0.042406-A ti,Oi1BJ97Z •0,0168313 .. 1.122nu 3,77:!952l -(h9Z13tHt5
0,0295 .. o.ooR.5163 l'l,D038432 •0.0656<147 "'1+4391941 8.5234404 •0,490651!9
O;0302 -o.n7696M .. o.ôo71291 •!l.1001524 -1.39'6!'135 tt.2333660. •0,1>486313
0,0309 •O, l 228Qs97 .. (1,0226079 .. o,to991S6 •o .. 98M712 l í, 1321527 ... • t 065264
0,0317 -0.11512'60 •0,0194389 .. {).0912&44 -0,302QOlS 8,2021415 .. z.n453472
o.ol24 •0.039'7344 -o.OS401Hl •0 .. 04JJ2?05 ih48JOS66 3.1913977 .. 3.v,nos3
o.0:331 0.()961722' •ó.0631660 0 .. 0084066 1.t6020<l:7 -2.5830355 .. 4.1553391
o.n33e 0.2661157 •t'l,0649903 o.064.1679 1 .5544195 ...7,5899112 .. 4.8JJ8079
0.0345 0.43078% -o .. o.:;:111169 O.l044àZO 1.ss1s;us .. llJ.4'166946 •5,035l59J
0,0353 (t.li47BQsi.5 -õ,0477861 0.1 IA769S 1.l6'S44l4 -1 O,'5287300 .. 4. ?3629\9
o•nJM 0.5AJ0092 ;.n.0334587 ·o.lfi325l5 G.4U,Zllll •1.61A1996 .. 4.046611133
0-.0'367 o.s1a73To -0.0200542 o.o6199l0 .. o.336441.i<i -2.1101793 .. 3. ta\1733
000314 o.1'5997~0 •0,0110114 o.oose112 •1•0691195 3.04S9?S7 •2'14041166
D,0.381 o.l3J.Bl36 -e.onA:6360 .. o.o;oss92 -t.S402802 s.046A3H -1 ,95921129
o.OJ68 •O.ll61'515 -o,.Ot34S51 -o~oq,2q.733 wl,.6352282: 10,9520063 •2,004.2696
0.0396 -O.:JJ97/t97 -n,024146& -0.1092430 •1•3363562 to,981o61{)6 -2.567404?
0.1)403 -0.4924479 .. o.ol18754 -0.0910253 -0.7264740 s.1421556 .. 3.t:;:)90571
Q,l').folD -0.5459325 -4hOSt061J •0.0593265 ô.0319727 l.lQ81440 .. 4,6996317
0 ~1)411 -0.4956181\ -tt.OMJ36l •OeOOftJ854 ft.73li6lA6 •2.5050192 •5t77649l2
0.0424 -o.3616733 .. o.0634Z93 o.0427619 t .2131911 •7.41862-01 .. 6,5142450
0.0432 -O.l~J89lt -o.os9747o ó¼tJ792806 t .:t3450l2 •I0.2M7ll7 .. 6.7397060
O•O"'l9 -0.01137,;5 -o.os04909 Oe0908923 t .081'57.lt4 -HI, 10860"4 •6 .. 4046440
o.n446 Od1063A7 -n.0382946 0.0142331 0,5334885 ... 7 .1462526 •5,5958080
0.04;3 O.l"i23511 -n.0?64198 0¼0337506 -0.15.?3109 •2•)199875 ,..4,5}00069
(t.n4e,o 0.101191.3 -o.0181378 -0 .. 0194940 -o.1ns19o 3.6062222 •:'.h4<112S56
0.0468 -0.0038909 -0,0152853 -0.0708016 -1,1857061 e.1t11esso •2.51l8292
o.0•1s -O,l4381f'.6 •0.01A3t80 -0.1051376 -1 t24ll8632 11.1400&90 .. 2.0188131
o.01;ia2 ... 0.2542226 -0.0259107 -0 .. 1144512 •0.9572873 lf.1,85199-SO .. 1 .97075oe
n.n4@9 -0.321947.6, -O.fl3S3877 -o.o~l1t860 -0.3929802 7,6605225 .. 2.29578!150
11.0496 .. o.?907124 -o.0434632 .. o.04163?4 ó.ze,M975 2. 3631't)'lô .. l.81430.44
!hGS04 -0.16891\39 -o.0471495 o.ou 7549 o.e933'1-61 -3'.6550319 -3.1919434
õ,õ5-tr --ú;úJV't~U -õ.ll44S8"61t" _____ ~~ot 1J696"971 ·--- ----r;2~1T61S- •!i:oi:ll11S2"6· ... ·····.,),;5o4:.t:.!,.O
;:i,.osta o.n100A3 -n.OJS5639 o.u1s111 J.27060Z2 -11.1715806 .. J.3001)6'1!9
&.0525 o.4142063 -o.O.?Ib025 0.1267261 n.~zS'it..47 •1107566042 -2.6417665
0,0.532 \h5235)ll0 -n.oossMO 0.111#1471 Oo3HA793 •!J,7913790 -1 .6173630
o.os1oo O.SlHIS'JO fJ.0091184 0.0112652 -0.4190Hl' -3.6862221 -0.4171<l:94
lhOS47 O• 4 3757<l:8 n.0193087 0.0160679 -t.0644132 2.1A35470 n.71633CJ'5
-- 0 ♦ 0554 0.'?6531:143 o.023Dll5 -0.0),99389 -l eilt5366B& 7.2tt4J857 1,~S2c;l9AS
O.OSl\1 0.05910,;s o.ott9695 •0.0791914 -t.4797649 10.1464052 1.19356012
0,056& ~o.\!71M3 !\+0115440 -0.0942S44 -t.l3Ui474 10.tzS1M9 1.e215so•
-- O:ilf5?6 -0.249069$ t'l~OOOS312 -o.oMS9oo -tJ.lt9AS7'49 7.2061634 l ,J:l:<;1400?'5
0-.1)583 -o.217987S -n .. 00'96767 -0.0424727 o.2549'H0 2.1971636 0+53983.?S
0•0590 •ih:?tl4947 -(t.0159695 o.on9194B l).<;1311283 .. 3.Sz9Sl12 •ô+J9975M
0.0597 -0.0110006 - -O• OUí•3l65 o.os9e422 t .3520088 •S.4063425 •0,69216<l:O
0,0604 0.0948347 -0 .. 0103371 0.0951753 1.1to6i;;719 -tt.0923347 •tJ. 7172'549
010611 o • .?418435 0,0005621 o.l050ltZ3 1.0818844 -10183'-1191!1 -ô.•013225
'0.061? o.3?40470 o.013es1te 010R6l86l 0 14628õt13 -?.6694117 Q,.3S486lft
0-,0626 o.31S5166 n.02-6U'il'l 0.0431046 •0.2860366 •2:.41 'ffl823 l .3ZlZAOS
o.1'1633 0,?1'581fl6 n.OJ4Ml6 •010130162 •0.968507S 3.54303]6 2.Z6U:?'l1t
0,.'0640 -- -0.0495389 0.0372138 •0+0674058 •l 14059448 e.62l370Z 2.9536905
{l .. 0647 •ll.1396977 (!.033SlCJ .. 0.1056104 -1.1teS1l30 ll.477lM6 J.-2J810M
(1,.0655 -0 .. 1012106 n,0249262 -0.1173194 •1•1907291 11.34571 ]6 '.3.07007:J!
n;o662 ~0.1907927 0.0140222 -o.0994251 -o.6036145 8 .. 264.-6.lQ& 2.5217123
o.066q -0.3825866 n,o-04ao2a2 -o.o,;;63249 0.1154204 J.OS602'fiS 1. 7619033
th0676 .. o.,?760713 -lJ.0021313 O.. t>006807 0•17?.-2li6 •i?.8910856 1.0354815
o~o6U -0.0963:3<13 -a.ool6l33 0.0~66735 1,19(11741 .. 7.CJ-919910 o.5419340
{J.0691 O, l l25HH n.0028381 0.0910280 l .-2578478 -10.!B99ll!t4 t>.4361D7
0.0698 0,2999416 o.0121u5a O.tllJ06Z o.9sass46 •10.SUR076 th757474R
0.0105 º.!'!17~1'97 o.024621.C ~!0960323 O .3746174- -7.8(178775 1,4248113
154 Design of Structures and Foundations for Vibrating Machines

0,0712 0.4400f>OO h,0349861 Oo0-5S60"'0 -0 • 3350 l 54 -2.673?.769 2+2575302

0,0719 0,36661'67 {1 ♦ 0409523 0+0!ll1093 -n.9716955 3.20,1195 3,0237179
0.0121 0~211!2248 0+0406691 .. o .. oc;:26130 ... 1.31aqq7a 8.2349014 J.5022259
0.0734 o.011e010 (hó33A.985 ... Q.. 0912187 -l,t.-n6Q70 11 .o746H7 J.5420401\
0.0741 .. o.1246HH (1,0220906 -O.J0-41607 •1+1151857 10o9SA6240 J.1030645-
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0.0755 -o.2365.?14 -n.00;0123 •0.0473177 o. 1973fl41 2+75"59719 J +i?l74fl35
o.,!'1:763 .. o.1571134 •óo0139235 0.0070126 li.&4?1244 .. J.1270933 o. Hl881?1
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0•0784 0,3!'146486 -0.0048593 001095608 o.95712'83 -10 08564367 -0:,9025089
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0,08ití? -0 .. 4125713 •0,0232M4 -o.O'i2?2i2 0•1683037 i,5941162 •h?.05761';
o.osi.'ii -0.32?3141 -n.o;J7J68 Oo0!135451l o.6379821 ... 3,.35a,3574 -2.1691399
0~0856 -o.t'57s12s -o.0341451 o.OS8c!902 l,2620792 -8.4537'-20 -2.8614-368
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 Computer Analysis and Applications: Example 155

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158 Design oi Structures and Foundations for Vibrating Machines

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o~Oll7 -o.n54840J -(l.03l2562 0,0646240 -ó.5130612 ...5.1582613 -1 .. 2604370
o.03?4 -o.nfl70120 -!'1,0489()01 o.042sos1 0:03171823 -2,4932098 -?.6573820
,o.o::n1 0,0940St;?. -0 .. 0620221 o. 0057702 1. 0804205 1,G22nl\9 ...4,,(.1364447
(1.0138 0,'2:'413?33 .. n,Of,75985 -0.0364254 lo'57703a8 4,47?1441 ..15,,05347~3
fJ.0345 o.114Jostt- -o.nt.44061 .. ().0732067 1,6759548 6,. 94~20 26 ...5.,41&0807
().0353 0 0 4M50qz •0-0533831 .. n. 0949342 loJ4ql'573 7,774159&2 ..s,2ot1n1
o.u6o lh5146Qql -o.O:H4l56 •0.1195844:) 0.67fH259 6. 74818"t1 •4o351l438
Ooil'.367 o.4q71q49 ... o.O?Ml38 .. 0.015~339 -0.1683879 4, 14\.9249 ... 3.1sri!ois
0.0314 0.3731M2 -1'h01'HZ:604 •0.03915470 -0.978?729 o.6S97733 --1.972'9548
o.ue1 o. 1785946 -0.0007133 O.l'J031iSM .. t.!;SOOS36 -2,7617912 •l ,.}4243\'!3
o.o:1ea •O,tl!:i03~82 -o.on?5490 0.0412422' -t.7437935 •5.209111)74 .. i,.91,!~0l'll4
o.nJ96 -0,2705~M -o.nt2l'r03 0~01,54521- .. t.51674-46 -6.0436201 •t•:ttJ341qJ
0 .. 0403 -o.t.368918 .,.f!.,0:!!'69791 Oo0700S69 •0.,934bfl4'2 •5.0t,,A3S08 00 2,.4719606
0.0410 -0.51794'.l6 -o.o43!J706 0.0548206 -011551511 -2.5362923 •l.'91M239
0.0417 •O.SOl71fl3 -n.os6?6Sa O.G24~995 tt.6137!140 0 .. 68f,'91Ul2 00 S.3-6481i4A
O.Q424 -o• 399311 O -n.0632116 .. Q .. 0106191'; t.l6M!~5 3.8JAS9JQ .. 6.4593468
O• 04)2 .. g.;t.,2196.!'l .. o.Of.22548 -0.0412314 l o36fl6J63 S.-91?:6.:34 .. 6 .. 9307451
o .. ()439 •0,()740508 -o.osn,551 .. 1J.OS7894R J.1614304 6,3547449 -6 .. l.638J~J
o.0446 0.0607631 -0.0404264 -o .. os:ssoatt ó.6167165 4.9805498 .. 5 .. 7281'513
õ .. 0453 0.1290160 -o.OZ56502 -0.0343\41 .. Q.1127105 2.1231318 .. 4.,3576050
a.0460 O,ll74961 -ó,01J45êB o.&ntHs1s ... c;.8240517 -J.4739199 -2.!!!,661760
0.0460 D.0364546 -0 .. 0069267 ll,.0385421 -1.n12023 ..4,8SS0463 .. j .. 66l3A84
0,0475 -O.OA3'il52 -0 .. 0074913 o.0702266 -1 .4680424 -7.lí)97483 .. ().,9411334
Ooll4R2 -o .19Q6974 00 1).0145193 l'l,dl!!6i846 •1,2248793 •7,6IAIJ&33 -o.8610756
o.o4a9 .. o.noJ01Q -0.0255?,47 o.os:14509 -o.65tn61t .. 6.2242222: •t.343S5'il3
o.or..96 -0.2655040 .. o.0368S67 o.0«;65120 0.07513293 .. 3~2723901 ..2.1714874
o;oso·4 -o.11M1qs .. (1.0447062 ~0.0112134- ll.7752113 o.4723076 ... '.J.0493078
o.os11 -11.01ABS94 -0.04615.29 •Oo0:267579 lo2490HO 4.035'>831 •h6J52ló0
o.osu o.1724309 -fl .0399710 .. o,ot.442?8 1.3643246 6.4900579 .. 3.6895380
OoOSê'S o.1s111H, ... 0.0269712 •0.0864047 1 .. 0856285 ?.2011204 ..3.1111&30
0.0532 0.47297Q2 -o.009a302 •O,óA739Ql o.4840776 S.9~S9't05 •t .>'H454i"4
o.n540 o.'51H2Z09 lh007M56 -0.0675608 •Oo2S09R6S 3o2ZIG226 -o .504-8954
!hOS47 o.4453835 !'l.0~15649 ·-0.0:124404 -] .0043650 •O.J7lll60S4 0,91511!41
º*i)554 0.3034707 0~028A?70 o.ooeson -1.4e9q1M .. J.831102"2 2.1373634
o.osu !J. l 177A36 i,.021H214 n.044449l -1.6037169 •6o21516l2 2o7290bl1
0.0568 -0.06474110 o.ozo1ne o.0~6os1s -1.3102713 •6,8971951 r.64~?'.33
a.o5tfi .. (l.l9903R2 0,0t'li"5999 0,0679522 -0,6826388 .. 5. 7085924 1.95935:'.!4
0.0583 -o.zc;:J776fi -n.OOS3450 ll.01$016-03 n.1163746 ... z.9a14e3s 0,8936845
0,0,590 -0.2195548 .. n~IH620Sl 0 .. 0160148 o.8776635 o.s1i;ss11 •0.2'Z11'S690
000597 .. 0, l l lilR6l -o.0203967 -0 .. 6192866 1,4014444 3,81125560 •1 ,0144457
0.0604 0.0"370?48 •!h017M94 -o.ost 1905 l .5504532 6.1465187 •l•3a78269
o.o&u !),1600989 .. ,i.0066652 .. 0.0686521 J .2864456 1!,.7,o18314 -1.0565t.S3
0,06111 0,2751484 o.Gt'181637 -0.0665902 0.6'303673 5.4017530 •0,1411472
010626 . o.?.9:)oq93 !hO,?JtuSl -0.0453166 -0.1060500 ?,5~63666 1.14131137.
O,G6J3 O• 2?621 Z1 ti.0164570 .. 0.0103350 -o.865I9H •0.91?0664 2,4796867
0.0640 O.O'i10S141 o• 0430137 O.Ol89685 •l.3968601 ..4.3346519 3 ♦ 'S479'679
0.0647
fi.06S1i> ____
-o• 078é02t o.04U8t.!5 O.Of),20007 -1.5622139 .. t,.513;?374 4.094589?
--o. 2:;sas1& 1h01-4t!BAS-- ··--~H6 t%.- -l.3ê'1S6'U -..1';,Q7trtt·4'2· --- 4.1;083961
(h06h2 -o.nRl9<;i7 r,.0?27072 o.on1ein -o.7396300 ..s.6709'3b6 3 .. 347467fl-
()-.0669 •Oo'.1'iM.2l6 r.0049'009 o.5,;3:e53s o.02>22166 -2• 72'74123 2.1223223
0,0616 -0.i?lil?.911117 0.0000019 0.0165011 0.7SQJ681 o.9()459&5 1.1!:382107
(!.\'IF,1113 •0.\141879 •lh00407J9 -õ.0.257390 \.2732906 4,.52rtt'l1.8h Oo41204fl3
Oo069l Ooõ'i40Pl,l\7 -0 .. 0010163 •OoOF.!21il92 1.4263048 6,92"4!1GS 0.0863377
Oo D698 0•23'57496 n.on9290S -0.01130559 J .17fl06B2 1.ssnna:1 ó.3632612
o.o'Too; 0,16660~9 o.0~15233 -o.0~35969 0,5962473 6 .. UCJ,7370 1.1765833
0 .. 0112 0 .. 4t'596Dl (l,(l34qQ56 •Oo063Ai213 -0.16Hf'Tê0 3.5075426 a.30894A5
o.011ç o.:n-t.S4A6 o.04Ml28 -õ.02Q239', ~o.11:918041 •lhl 130312 3.4498940
Ootl727 0,?'i68lJ7 0.0484308 0.0107113 •t,J96e973 -3.5613001 4.~790575
n.0734 õ.!l968Mõ O,Oü42437 0.0452771 -1.5412188 .. S.91Qn5J 4oS521593
0 .. 0741 -0.0607671 O• 0;131?39 O.G65Z262 •I ,28M842 -6.556444.? 4,1666043
000748 .. Q,11l2~(,8 1'!.0t765fl.5 0.0653253 •0.7004848 -s.:ui,ns1 3, 1904S4S
(1.0755 -ô,?1081!15 0,0(!1'i330 000457324 0,05741~4 .. 2,5266209 1 ♦ 84?9346
o.G76J -O. l64n46 .. n.OH'.lf!07 0.0119413 th ?Bi'7)67 t .. OJS.?392 o.4JBJJaa
o.ono .. Q.ô4()6;?S8 -0.0180935 -o.ot670'S6 l ,2'788639 4w40"i6l20 •0.6982519
<hõ171 o. 11)05616 .. ('i.0172716 -o.o-;95354 l,-410JJ5S 6,66Sl'i<f2 .. t.Jl6913f.
0.0784 o.?.418531 .. i,.00%17'5 .. o.ont.201 1.1 :,p',t'.3104 7.1916943 -1 • 308837<f
0.0191 o.J121na ri.OOU717 •0.0752392 <1~5359172 s.s2n2q2 -õ.7344494
n.0799 o .. 14?9422 o .. OlS<l499 -o.o-sJ2sao. .. (1.241)1406 2.9229956 O• 193767-S
l>ol1806 O.U,fi4M9 /"h0?45728 -0.0170714 .. (1.9826725 .. o. 75!\.6439 lo 1691284
0.0611 0-l1921Q5 o.on,;,na 0~0238897 •l .4936361 ..4,244~394 l 081371574
o.oazn -0.0634169 ('i.0?39476 o.oseBSo7 •t-6364365 .. 6.612:4134 2.0643845
o,aA27 -0,23S84.ne o.0131679 o.01s11s1 •1.31"24()18 '"7*23RJ814 1,6380930
o.o8J4 -0,J:"544790 .. n.Oõl~S<f2 o.01s2J97 -0.7716466 «S.9642534 0,""60136Q
0,0842 -o.1.q93535 -o.0114s10 o.oc;:76872 lh<I064Ul •3.139ti866 -0.6SJ039S
(I .081t9 -0.11;!0713:f. .. n.0?91031 o.on64J3 o.7548000 ().41í!226 -1~JJ9219M9
O.OR56 .. a. l,;IAl1'33 -n.n3!ilS04 •0.0174617 1.2146964 J.89463'52 -3.0376673
o.o.963 •-0,1i:?94/'.IA6 -O.OJ-51004 .. 0.05!18177 l.,4J!l301t3 601512098 •J~c;3807A3

4 16 o., o., ". o ,., '.o

th002iHí90
o.o
-o~ 11:t69J4
o.o
-o.ot10121e:
0.0001 O.IJ0011'!64 0,0000015 -0.0011665
0.0014 o.on41JS5 o.onOfJlflfl -o.oneo1112 o.0211q.o,2, •l .. 2l194ll3 -o.oottion
{l,002? o.M?'+Ot'03 0,0001640 -0.0226003 o. \271864 .. :}.56•ê185 -O,ft2'0:l6M
l'.\.0029 o.01a31c;6 o.oooll77.15 -0.0439428 0,3375441 -7.0478532 -0.1152161
0.0036 0.1A264lO o.oonea1 -0.0688863 o.seo3B54 -11.1347199 -c.:313S63?
0.0043 o.119JR•a 1),.()(162046 -0.0923737 o.6515951 • 14 • 9541'6&2 -o.82'9312'4
o.ooso O,.<;)fJM111 (1.0104336 -0,108<1523 n.3354494 .. 1T,49116S2 .;.1 • 3764819
o.ooss 0.7!All~'i~ n.,1136748 -o.1nqqJ12 -0.4092340 -\7.8612823 -1.75710?0
0,(lOf,5 ().S!:'S.34?;>5 o.otJ4517 -ô.D946#!0l •t-3596315 -t5.624AlBEI -J .. 6341553
0.0012 Õo81'!H548 l),()07Jij66 -0.0"'3J646 .. z.
1364077 •tõ.9812412 -0.7083515
O.,1),079 o.nnnn -(l,.0()$<100~ -0.0216743 -~.4:)68639 •4,7620850 lolS'1380Q
 Computer Analysis and Applications: Example 157

o.ooa6 O.S8A5954 -n.0?.59529 0.0214746 -2•16R9749 lo77Rl5SJ 3oA466463

0,0094 n .10Jan2 -n,osoo446 0,0564417 •l,460J3A6 7 ,2982454 6,9315729
O, ol O1 o. onti24no -n.01.15660 0,0756844 -0,5264807 10,7333698 9,7634640
0,0108 -0,2382730 -o,0912580 0,076043A 0,4348801 11 ,5827293 11 ,6415186
0,0115 •0,1A24f..J6 -n.o<:ieA221 (),Q',%939 l,2'682371 10,0JIJBi:;4 12,0350847
O, o l 22 -0,41?6f>40 -0,0942210 0,0333240 1,8364897 6,8616667 10,753721:19
O, O129 •O,.Jc:;?40/IR -0,0782285 0,0058305 2,0203943 J, tMe,i20 13.0079517
0,0137 -o, 25?9566 -0,0541776 -0,0145441 1,7613077 0,1103060 4,3544407
0,0144 •0,l74250A -o.021n997 •0,022527R 1,1072626 -1,5693512 0,5538437
0,0151 •O,l,<,30471 -0,0025122 -O.Ol6921A Oo2l5'il5ll •lo5?.A3537 -2.61790'il4
000158 -0,?163133 Oo014J:1656 -0.00046'il4 -0,6918622 0.050;901 -4.c;c;7S9J3
o. o l 6"'i -0,3752971 0,0221746 0.0211363 -1.3978224 2,55A6023 -4.9742651
O. ll l 73 -0.5119106 0,01900A9 0.0407326 -1. 7398052 5,1205111 -3.9447260
0,0180 -0,6448715 O, 0074103 0,0514295 -1,646"'i282 6,8Ql;J'il756 -1.8745098
0,0187 -0,6M00?4- -0,0087157 0,04A4137 -t.1561747 6,8906002 o.6?.01413
0,!'1194 •0,54791í96 -o,0?.46211 O,Ol0446'il -0,4140317 5,0328159 2.8764439
O• 020 l -0,3138701 -0,0359264 0,0005563 0,3623415 l ,440A598 4.3534365
0.0209 0,0039371 -0,0397082 -0.0344754 0,94'il4188 -J,1641A27 4,1612572
O• 02 l 6 O, 3447314 -0,0351645 -0,0658262 1,1915674 -7.7164049 4.t 172104
O, 0223 O,6421506 •0,023/íABO •O,OAS102S 1,0484180 ·11,0B'il6978 2,7161369
0,0?30 0,84-147.10 -o.onRJ677 -O.OA6R011 0,5964770 -12,41?5:338 l ,0289974
0,0237 0,912611)8 n,On69072 -0.0700004 -0,0077021 -11,3197842 -0,4369968
O,0245 O,A"i56442 n.O!B4A?4 -O,OJA763t -0,579'57}7 •8,0M2l35 -1.27739'=11

✓ N"
FlNI'iH
lnterpretation OI Results
Computer output results include the following:
Member Forces-Static Loads. Axial forces, shear
forces, torques, and moments at each mernber end are
tabulated for the design loading conditions, loading 4
( fui! vertical load plus 0.3 fui! transverse load), loading
5 (fui! vertical !oad plus 0.1 fui! longitudinal load),
and loading 6 ( fui! vertical load plus 0.5 fui! vertical
load). These approximate equivalent static loading con-
ditions yield conservative estimates of the maximum
dynamic plus gravity loads, forces, and deflections as
described previously. The rnembers and deflections are
then checked for the maximum applied loads. ln the
usual case, this step includes selection of the longitudinal
reinforcement, which is often the minimum code value
and which is otherwise determined by the largest axial
force and moment. Transverse reinforcement is also
selected during this stage using the tabulated maximum
shear and torque values.
Displacements-Static Loads. Displacements of the
joints, both support joints as well as free joints, are
tabulated. Certain tolerable limits on deflections may
be established based on attached piping or other equip-
ment, and the deflection values are checked against the
tolerable limits. Note that the tabulated values include
the effect of gravity loads. The incremental defl.ections
due to the 0.3, 0.5, and 0.1 equivalent static loads over
and above the deflections due to gravity only are very
small and, therefore, negligible in this exarnple problem.
Dynamic Eigenvalues-Natural Frequencies. The
first 20 natural frequencies (out of a total of 75 arising
from 25 joints with 3 translatory dynamic degrees of
freedom each) are printed. Each frequency corresponds
VV' 0
@
to a mod.e shape discussed below. The first frequency
(transverse mode) is given as 3.682 cycles/sec, section
19 of the · computer printout, which compares to a
Rayleigh-calculated frequency of 3.985 cycles/sec, sec-
tion 11 of the -computer printout. ln general, Rayleigh-
obtained natural frequencies are dose to but higher
than the corresponding true natural frequency as ob-
tained from a dynamic analysis. Since the acting ma-
chine frequency is 727.7 radians/sec (see 15 above),
which equals 6,949 rpm or 115.8 cycles/sec, the first 20
natural frequencies for the structure are well below the
acting frequency, and the structure is said to be IOIIN
tuned ( undertuned) . The undesirable range of natural
frequencies is between 0.8-1.2 of the acting machine
frequency as given in item 2(f) of the checklist table
in Chapter 3. This check assures that no resonance con-
dition will be encountered during machine operation.
Additional checks are performed, not necessarily during
the computer analysis phase, but during the preliminary
design to assure that no resonance condition exists be-
tween the natural frequencies of vibration of individual
columns and beams with the acting machine frequency,
as in item 12 of the triai sizing procedure above.
Dynamic Eigenvectors-Mode Shapes. The first 20
eigenvectors or mode shapes which are normalized to a
maximum unit value are listed. These serve to identify
the physical direction for each mode. For example, for
Mode I joints 9 through 21 shqw a near-unity Z
displacement. Therefore, the first mode occurs in the
transverse Z-direction. This is as expected since the
structural stiffness is the lowest in the transverse direc-
tion. ln general, the medes are ordered according to
the stiffness of the structure in each direction. Other
listed values give the deformation of the structure and
a plot of the structure vibrating at its fi.rst frequency,
158 Design of Structures and Foundatíons for Vibraling Machines
Figure 7-4. Structure vlbrating ai lhe flrst fie-
quency mode (transverse).
mode may be obtained either manuaJly or using a
built-in STRUDL plot pachge; see Figure 7-4. The
secor.d mode shov.rs joints 9 through 21 with near uníty
longitudinal displacements; thusi the second roode occurs
in the longitudinal X-direction. In particular1 all modes
occurring in the direction of the applled dynarnic forces
( transverse and vertical in this exaruple) are important
for response studies. Some of the higher modes are
coupJed since they result from combination of basic
lower modes.
Dynamíc Displacements. Displacement of ali joints
in the structure at each time period are 1isted. The upper
joints show the largest displacements. For example)
joint 20 has a rnaximum displacement of 0.0002851 ín.
(0.007 mm} in the Y-direction occurring at time equal
to 0.005 76 sec. Thís maxímum amplitude of displace-
ment is then located on Figure 3-3 at the given machine-
acting frequency. The point falis in zone B (minor faults,
correction wastes dollars) which indicates satisfactory
performance. Figures 3-6 and 3-7 also indicate that for a
maximum displacement of 0.007 mm and a mac.hine
speed of 6,949 rpm (115.8 cps), the predicted structure
behavior is satísfactory. The amplitude of_ vibration at
all other joims, being smaller, is also satísfactory. Note
that many structures supporting centrifugai mac.hines
show a largest amplítude of vibration in the transverse
dírection. However, in this example; the representatlon
of the soil support as springs results in the amplitude of
vibration being the largest in the vertical Y-directior:.
Maximum Velocily. The maximum velocity is
{6,949 X 2,,. X 0.0002851) /60"" 0.207 ín./sec
This maximum velocity falls in the 1~slightly rough 1 '
range of Table 3-2, However> the combínation of
velocíty and machine speed fall within the acceptable
zone B of Figure 3-3. The designer may consider increas~
ing the base dimensions and re~ana]yzing the revised
structure so that all design criteria are meL
Dynamic Forces. The dynamic forces acting at the
ends of each mernber at each time increment are Hsted.
The forces are very small, for exarnp1e; the dynarnk
axial force is 1,132 lbs. ir. column member 5 at 0.0237
sec. The momer.ts are likmvise very smalli and the struc-
ture is considered adequate for supporting these smalI
dynamic loads.
Since the structure was dimensioned irtitially to meet
the design requirements listed in Chapter 3; including
províding a sufficientiy large soiI bearing areal the pro-
posed design is satisfactory and the structure meets its
intended purpose. Note that all items lísted ln the design
checklist of Chapter 3 are explicitly considered during
the initial trial sizing phase or implicit!y considered dur-
ing the computer analysis. The design check1ist se.rves
as a reminder of important factors to be -considered
during a step-by-step hand caklllation.
References
1. Arya 1 S. C., Drewyer, R. P. 1 and Pincus, G,, i;Mathe-
matical Modeling and Computer Simulation of Ele-
vated Foundations Supporting Vibrating ~1achinery,n
Mathematics and Computers in Simulation~ VoJ.
XIX, No. 4, Amsterdam: North Holland Publishing
Co., December 1977, pp. 262-271.
2. ICES STRUDL II Engineering U,er's Manual
R68-9I, Volume 1: Frame Analysis, School of Civil
Engíneeríng, Massachusetts Institute of Technology)
November 1969.
3. ICES STRUDL II Engineering User's Manu-«l
R?0-77, Volume 2: Additional Design and Analysis
Facilities, School of Civil Engíneering, lvfassachusetts
Institute of Teclmology, June 1971.
4. Mes, M. J., "Maximum Time Step for Dynamic
Analysls/1 Ocean Engineeríng~ pp. 40-58, November
1976.
 AppendixA
Solution of
Multi-Degree-of·
Freedom System
lntroduction
A multidegree-ol-freedom system may be defined as a
system in which more than one independent motion is
possible, These independeni motions may either be
associated with a single mass, or a single independent
motion may be associated with each of the several masses
in a system, In the former type oi system, the motion oi
the mass may either be coupled or uneoupled, The
coupled motíons of a síngle mass are described by the
equations of motion Whefe determination of the response
(vibration displacements) of the systerr. involves the
solution of a set of símultaneous equations. An example
of this type of system is shown in Figures 1-45 and 1-46,
The response values x and 0 (associated with a single
mass) appear ín both equations, and the pa!r is said to
be coupled. The characteristic of uncoupled motions is
described by the model of Figure 1-4 7, The response
values x and 0 appear índívídually in the equations of
rnotioni and each of those equations can be independently
solved.
An eJ<ample of a multidegree-of-freedom system having
several masses associared with one type of índependent
motíon is shown in Figures J-50 and 1-51, The inde-
pendent motions Xt and x-2 in the vertical direction are
associated with masses m 1 and m 2 ; respectively, These
types of systerns always undergo coupled motions} and
that effect is due to the coupHng of mas.ses mt and m2
through the spring kc, Thus, the two equations of motion
for this system have to be soived simultaneousiy since
x 1 and Xz appear in both of thern. Note that it is not
necessary for each mass to have only one type of motion.
If the masses are capable oi oscillating Ín the horizontal
direction, then each of the masses m 1 and m 2 \VÍll have
tw'o types of motions, Le,, vertical and horizontal mo-
tion. ln fact 1 a two-dimensional planar Sj'Stem has up to
159
three degrees of freedom {two linear and one rotatiop.al
dírection) per mass. For a spatial system, each mass can
osdllate in six directions {three rectilinear and three
rotationaI directions) and has six degrees of freedom.
Therefore> the number of degrees of freedom is not
necessaríly equal to the number of lumped masses,
Dynamic Analysis
A complete dynamic analysis of a system is nonnally
performed in t\vo stages. The initial stage of investiga-
tion involves the determination of the natural frequen~
cies and t.he mode shapes of the system, The natural
frequencies and mede shapes provide information about
the dynamíc characteristic of the systern. For instance,
the lowest value of the natural frequencies (general]y
caHed fundamental frequency) indicates the relative
degree of stiffness built into the system, In addition, ít
is also possible to compare the lowest natural frequency
with the frequency of the acting dynamic force so that a
possible resonance condition rnay be prevented, Thís
requirement can be achieved when the ratio of the
operating frequency to the lowest natural frequency
does not fali within a given range ( normally the undesir-
able range is at least 0.8-1.2), The determination oi the
mode shapes in a multidegree system has further signifi-
cante, The mode shapes ( see definition of fir,t ( funda-
mental) mode of the Terminology section ín chapter l)
gives the deflection pattern that the system assumes when
it is left to vjbrate after tennination of the disturbing
force. Generally~ it is th.e first mode which dominates
the vibrating shape, and the higher mode overrides
(.when superimposed) that shape. The first mode will
also indicate the particular mass ar masses which will
have the maximum amplitude of osdllation in a given
160 Design oi Structures and Foundations for Vibrating Machines

direction from their state of res~ (static equilibrium). m11X1 + m12X2. + muXa + c11X1 + c12X2
This serves to indicate the relative degree of structural + C13X3 + kux, + k12x2 + k13x3 = Fi (t)
stiffness among various points of the system. This
examination of the mode shapes in the vibrating system m21X1 + m22X2 + m2aXs + c21X1 + c22X2
is considered a valuable step in adjusting the vibration + c,,:i, + k21x1 + k22x2 + k23x3 = F, (t) (AI-!)
amplitudes at critica! points by varying the stiffness,
mass, and darnping resistance of the system. A practical m31X1 + ms2.X2 + ms3X's + C31i1 + ca2X2
example can be observed in the operation of a washing +c x + kax + k,,x, + k x = F, (t)
33 3 1 33 3

machine during the rinse cycle. lf the load is acciden-

tally lumped to one side of the drum during centrifugai The natural frequencies depend on the mass ( m iJ)
motion, severe vibration beyond a predetermíned magni- and sriffness (ku) tenns; therefore, the damping (cii)
tude can occur. Special sensor cut-off switches are then and applied forces (Fi) terms are omitted.
activated in arder to prevent damage to the machine. Equations ( A 1-1) are then reduced to
Activation of the contact switches is actually set accord-
ing to the fundamental mode of the spindle-drum
assembly.
The next stage of analysis is a response calculation of
m11X1 + m12X2 +
m1aXa
+ k11X1 + k12X2 + k1aX3 = Ü
the systern caused by the dynamic force. This solution is
quite tedious and time-consuming for multidegree-of- m21i\ + m,22X2 + m2aXa
freedom systems; however, for a system with three + k21X1 + + k22X2 = Ü
k23X3 (Al-2)
degrees of freedom, the response calculation can be
accomplished by using hand calculators. Use of com- mnX1 + ms2X2 + mnX·a
puter programs is recommended for systems with more + k31x1 + ka2x2 + ka3X3 = O
than three degrees of freedom. This part of the analysis
gives. the tjisplacement, velocity, and acceleration of the
masses and also the internal forces in all members of the I t is assumed that -the free-vibration motion of masses
is simple harrnonic (see definition of modes in the
system.
Terminology section of Chapter 1), which is expressed
Determination of Natural Frequencies for a multidegrees-of-freedom systern as
and Mode Shapes

Natural frequencies and mode shapes are obtained by

x,= A, sin (wt ,t,) + (AI-3)
where i = l, 2, 3
employing one of following methods. A three-degrees-of-
freedom system shown as Model 6-C (part a) of Chap-
ter 2 (Figure 2-9) is used as an example. The parame- Substituting Equation (Al-3) into Equations (Al-2)
ters for that model are and ornitting the sine term, the following set of equa-
tions is obtained:
m, = 9.662 kips-sec'/ft
k, = 6,160.2 kips/ft
m, = 17.80 kips-sec'/ft 2
(kn - muw ) A, + 2
(k12 - m12w ) A,
I ,j, = 2,843.3 kips-sec'-ft
k, = 72,835.0 kips/ft + (k13 - m13w') A, = O
k; = 14,703,707 kips-ft/rad 2
(k21 - m21,/) A, + (k22 - m22w ) A,
D,= 0.50 (Al-4)
D;= 0.20
+ (k23 - m23w ) A3 = O
2

H = 17.0 ft
(ka1 - ma1ci) À1 + (k, 2 - m, 2w2) A2
Determinant Equation Method + 2
(k 33 - m03 w ) A, = O

All natural frequencies and mede shapes are obtained

at the sarne time in this method. The general form of Equations (Al-4) are a set of algebraic equations
the equations of motion for a three-degree-of-freedom and have a nontrivial solution for Ài only if the deter-
system is given by (ref. 3, Chapter 1): minant
162 Design oi Structures and Foundations for Vibrating Machines

(a) W1 = 22.63 (a) 766.60A12 - 6,l60.2A 22 l

l
+ l 04, 723.4A ,, = O
(b) w, = 66.94 (Al-13) (Al-16)
(b) - 6,l60.2A12 - 37,l35.2A22
(e) w3 = 76.68 - 104, 723.4A,, = O .

The mode shapes are obtained by substituting the Again setting A 12 = +1.0 and solving Equations (a)
above frequency values in any (Al-8) equation. For and (b) of (Al-16) simultaneously for A,, and A;,, the
Equation Al-8(a) and (b) using the given values of amplitudes of the second mode are obtained:
rnasses and spring stiffnesses,

(a) (78,995.2 - 17.80w;)A1, - 6,160.2A2,

+ l04,723.4A;, = O

(b) -6,160.2A1, + (6,160.2 - 9.662w;)A2,

l (Al-14)
A12 = +LO, A 22 = -0.16, A,,= -0.002091

Similarly, the amplitude for the third mode can be

obtained by following the procedures given above for the

- 104,723.4A;, = O
first two medes. Those amplitudes using w/ =
5,880.0
are:

ln the equations above, the subscript n takes the A 13 = +!.O, A 23 = -0.560248, A,,= +0.212150
values of 1, 2, and 3 and gives the amplitudes A's for
each of the three medes. Since the right sides of Equa-
tions (Al-14) are zero, unique values of the A's are not 1 The computation of natural frequencies and mode

obtained. However, it is possible to obtain the relative
values of all amplitudes, in other words, the ratio of any
two amplitudes. When one amplitude is assigned an
arbitrary value, then all others are fixed in magnitude.
A set of such amplitudes defines the mode shape, and
therefore, the modes shapes are not dependent upon the
absolute true values of amplitude. Using n = 1 and sub-
shapes were performed using small electronic hand cal-
culators with eight significant digits. However, in arder
to solve the cubic equation (Equation (Al-11) ), 15 sig-
nificant digits are required to obtain more "exact" results.
This type of accuracy is nonnally not available in small
hand calctilators and if sufficient number of significant
digits are not retained in the calculation of frequency,

l
stituting w,' = 512.0 in Equations (Al-14), then large errors are present in the mode shape ampli-
tude results. Therefore, it is important that the values
of mode shape amplitudes be checked using the ortho-
(a) 69,881.6An - 6,160.2A21 gonality conditions. The orthogonality condition of nor-
+ 104, 723.4A;1 = O mal medes (see definition in the Terrninology section of
(Al-15) Chapter 1) is expressed by the following equation
(b) - 6,160.2An + l,2l3.3A,1 ( ref. 1, Chapter 2) :
- 104,723.4A,1 = O

m
Assuming an arbitrary value of A 11 = + 1 and solving
Equations (Al-15) simultaneously for A,, and A;,, the
:E Mr Ârl Àrn = O (Al-l 7)
,-1
amplitudes of the first mode are obtained:
where l and n identify any two normal modes of the sys-
tem, and the subscript r refers to the rth mass out of a
An = +1, A,1 + 12.8809, A,, = +0.0904 total of m masses.
Expanding the series of Equation (Al-17) for the first

The notation adopted is that the first subscript of the A

and second mode, i.e., l =1 and n =
2; then
identifies the mass, or point on the structure at rwhich
the amplitude occurs, and the second subscript desig- M1AnA12 + M,A,1An + M,A,1A22 = O (Al-18)
nates the mode. Using the value of n = 2, and substitut-
=
ing w.' 4,481.0 in Equations (Al-14) yields, Substituting an appropriate value for each term,
 Solution of Multi-Degree-of-Freedom System 161

au
2 2 2
(k11-m11w ) (ki,- m12 w ) (k1a-m1aw ) (Al-9)
2 2 2
=0
6 (w) = (k21-m21w ) (k22- m22w ) (k2a-m2aw )

2
(ka1-mJ1w ) (k~ 2 - m32 w2) (k33 - m33 w )
2 = au (a22a33 - a23a32) + a12 (a23a31 - a21a33)
+ au (a21a32 - a22a31)
(Al-5)

The expansion of determinant (Al-5) gives the char- ln order to reduce the amount of computation, the
acteristic equation of the system. This equation .will be values of aii are calculated by substituting the actual
of third degree in the frequency parameter (w 2 ) and has values of masses and stiffnesses.
three roots representing the three basic frequencies of
= (k, + k, - m1w2) = (78,995.2 - 17.80 w )
2
the system. Having determined the three natural fre- an
quencies, the mode shapes are obtained by making use ª" = -k, = -6,160.2
of Equations (Al-4). For each of the three values of a,, = k,H = 6,160.2 X 17.0 = 104,723.4
w', the ratios of (A,IA,), (A,/A,), and (A,/A,) are a21 = -k, = -6,160.2
2
evaluated and yield the three mo-de shapes for the system. a 22 = (k, - m.w') = (6,160.2 - 9.662 w )
ª" = -k,H= -6,160.2 X 17.0 = -104,723.4
Example. For part (a) of Mode! 6-C, the equations a31 = O
2
2
of motion without damping and applied forces terms a32 = -muHw = -164.254 w
2
are: a33 = (k; - / 1 w2) = (14,703,707 - 2,843.3 w )

(a) m,x, + (k, + k,)x, - k,x, + k,H,j, = o l Substituting these values in the expansion of Equa-
tion (Al-9) and setting w 2 z, =
(b) m,x, - k,x 1 + k,x, - k,H,j, =O ( (Al-6)
(78,995.2 -17.80z)[9.0577775 X 10"
(e) m,Hx; + I 1i, + k 1 ,j, = O ) - 17.515296 X lO'z- 142.06721 X lO'z

Substituting the assumed solution of the forro

+ 27,471.964,' - 17.201237 X lO'z]
- 6,160.2[9.0577775 X 10" - 17.515296 X lO'z]

(a) x1 = A1 sin (wt + </>) + 104,723.4[1.011837 X 10' z] = O (Al-10)

(b) x, = A, sin (wt

(e) ,j, = A; sin (wt

into Equations (Al-6),

+ </>)
+ </>) l (AI-7) Rearranging Equation (Al-10) results in a cubic equa-
tion in z,

z" - 10,872.992z' + 31.653102 X lO'z

- 1.3491464 X 1010 = O

l
(a) (k, + k,- m w )A

(e) - m,Hw A, 2
1
2

+ (k; -
1 -

(b) - k,A 1 + (k, - m.w·)A, - k,H A 1

0
k,A, + k,H A

J 1 J)A 1 = O
1 =O
= º_(
)
(Al-8)
(a) z,
(b)
(e) z3
z,=
= 512.0
4,481.0
= 5,880.0
l
Solution of the cubic equation yields three roots:

(Al-12)

The frequencies of the system are given by the condi-

tion 6. = O, where ~ is the determinant of the square
matrix in Equation (Al-8). The expansion for a deter- The square root of the z's is then the natural frequen-
minant cies (in rad/sec) of the system,
 Solution of Mulli-Degree-of-Freedom System 163

M1 = m, = 17.80, M, = m, = 9.662, next cycle starting at (2) again. The procedure is to be

M, = l; = 2,843.3 repeated until the computed shape is the sarne or very
Au = +1.0, A!.! = +!.O, A21 = +12.8809, close to the last assumed shape. ln Step ( J) it ís usually
A 22 = -0.1600, A,,= A;, = +0.0904, convenient to assign a unit value to the first value of A.
A,, = A;, = -0.002091 on the Jeft side of equation The procedure outlined above can best be described
(Al-18), by applying the method to the solution of Equa-
17.80 X (1) (l) +
9.662(12.8809) (-0.16) tíons (Al-8).
The equatiom• of rnotion (Al~8) ca:n be rewritten as:
+ 2,843.3(+0.0904) (-0.002091) = -2.650298,

whích is not zero and thus indica.tes errors in the results (a) -w'm,A, + (k, + k,)At
calculated above. Similarly, the orthogonality condition - k,A, + k,HA; = O
=
for the first and third modes (1 1, n = 3) ís checked
by expandíng Equation (Al-17) into a series: (b) -w'm.A, - k,A,
(Al-20)
+ k,A, - k,HA, =O
(Al-19) (e) -w'I;A; - w'm.HA,
+ k,A, = O
Substituting A,, =
+LO, A,, -0.560248, A,i,,
= +0.212150, and the values of other terms wlúch are Multip[ying equation (Al-20b) by H and adding to
given above into the left side of Equation (Al-19): Equation (Al-20c) in order to eliminate the term
.,•m,HA, from Equation (Al-20c), the resulting equa-
tíons are rearranged in a convenient form:
17.80 X(!) (1) + 9.662(12.8809) (-0.560248)
+ 2,843.3(+0.0904) (+0.212150) +2.6040,
which is again not zero, th:.is confirming that errors are (Ir.. + k,) A,, - k, A,.
present in the frequency calculations, Therefore, ít is mi m:
desirable that natural frequencies be calculated usíng + k,H A;,
digital computers for a system having more than two m,
degrees of freedom, - !!L À1n + kJJ À2n
mu mu
(Al-21)
-k,H
Stodola-Vianello Melhod --A,,
"'•
Calculation of the natural frequencies and characteris-
tic shapes become cumbersome even with hand calcu-
lators for cases where the degrees of freedom exceed
more than two, as is evident from the above exarnple.
The reason is that round-off errors are relatively impor-
tant when the equations include terms of very large and
very small numbers. Accuracy is lost in rounding off where the added subscript n indicates that the equations
significant figures during the process of s·olving foi the apply to any mode. Substituting the values of mh mui
roots of the characteristic equation, It 1 therefore} has l,;, k,, k,, k,;, and H in the Equations (Al-21),
become common practice to resort to numerícal, iterative
{i.e., trial and error) proceclures, such as the Stodola-
Vianello method (ref. 1, Chapter 2). The varíous steps (a) w! A,, = 4,437.93Ai. - 346.08.4,n
ín the solution are as follows: + 5,883.34A,,
( I) Assume a characteristic shape, i,e,, a set of At
values (see Equation (Al-4)); (2) using one of Equa- (b) w!A,. = -637.57.4,, + 637.57.4,n (Al-22)
tíons (Al-4), solve for "'!i (3) using the remaining - 10,838.69 A,,
(N-1) equations, obtain a new shape by solving for lhe
(N-1) A,'s ln terms of t.he Nth A; and (4) use the new (e) w!A,, = 36.83.4,, - 36.83A,.
computed shape as the revised assumed shape in the + 5,797.49.4;,
164 Design oi Structures and Foundations for Vibrating Machines

The iteration procedure converges on that of the in order to reduce the number of equations by one.
highest, or third mode. The following steps are used: Expanding the equation for the second and third mode,
1. Assume values of A's (amplitudes of the mode) i.e., l =
2 and n 3: =
such that the amplitude of mass 1 = + 1.0, i.e.,
Ain =+1.0;
2. Substitute the values of A's in the right side of 3
Equation (Al-22a) to compute the value of w 1/ ; Z M 1 A 1 1Arn = M1A12A13
,-1
+ M2A2~A2a + MaAa2Aa3 = O
3. Substitute the value of wn:: and trial values of A's
in the right side o! Equation (Al-22b) to compute
the value of À:rn;
Substituting M 1 = ml = 17.80, M 2 = m1i = 9.662,
4. Substitute the value of wn2 and the trial values of
M, = I; = 2,843.3, Au = +1.0, A,. = -'-0.6011,
A's in the right side o! Equation (Al-22c) to obtain
À33 = A11-a = +ü.2412, in the series.
the value of Àtpn;
Use the new values of A 2 ,u Àipn along with the value
17.80(A12)( + 1.0) + 9.662(A 22) (-0.6011)
of Àrn = +1.0 as new triai values of the ·A's and follow
+ 2,843.3(A 32)( +0.2412) = O
Steps 2 to 4. This process is to be continued until con-
vergence is achieved, i.e., the difference between previous
or A 32 = -0.025955 A12 + 0.008469A22, (Al-23)
and new trial values is negligible. For example, the
amplitude values for mode shape three, i.e., n = 3
which is equal to Àit,2•

Â13 +1.0, A,, -1.5, A;, = +0.5, Substituting the expression for À1f 2 into Equations (a)
and (b) of (Al-22) and using n = 2, yields

Substituting these in Equation (Al-22a),

(a) w: A12 = 4,285.23A12 - 296.25A22 }
wi (+!) =
4,437.93(+!.0) - 346.08(-1.5) (Al-24)
+ 5,883.34( +0.5) (b) w2 A,, = -356.25A12 + 545.74A22
:. wi = 7,898.72
Equation (Al-24) is iterated in a similar fashion as
Substituting this value for w/ and the trial values of A's was clone for Equation (Al-22) in order to find wl,
in the right side of Equation (Al-22b), A 12 and A22 • Then, Equation (Al-23) is used to obtain
A-, 2 • As a first trial, assume A 12 = =
+ 1.0 and À22 +0.5.
7,898.72(A 2,) = -637.57(+!.0) + 637.57(-1.5) Using Equation (Al-24a),
10,838.69( +o.5)
or A2, = -0.8879 wf (+ !) = 4,285.23( + 1.0) - 296.25( +0.5)
or wi = 4,434.36
Finally, from Equation (Al-22c),
Using Equation (Al-24b),
7,898.72(A; 3 ) = 36.83(+!.0) - 36.83(-1.5)
5, 797.49( +o.5) 4434.36(A 22 ) = -356.25( + 1.0) + 545.74( +o.5)
or A; 3 = +0.3786 or A22 = -0.1419

Therefore, the first estimate of w/ is 7,898.72, and the

next set of triai values of A's are + 1.0, ~0.8879, and
+0.3 786. This procedure is to be repeated from Step 2
to 4 until convergence is achieved, as shown in
Table Al-1. The value of A's computed are in fact the
amplitude ratios with respect to Ài 3 which is arbitrarily
taken = +LO.
Proceeding further to the second mode, the ortho-
gonality conditions given by Equation (Al-17) are used
Subsequent cycles of iterations are given in Table Al-1,
where it in.ay be seen that the values converge rapidly
in four cycles. ln the fourth cycle, Equation (Al-23) is
used to obtain Àift2 •
The determination of the first mode is rnade directly
from the orthogonality conditions by applying the condi-
tions to the first and the second medes, and then, to the
first and the third modes. Expanding Equation ( A 1-17),
 Solution of Multi-Degree-o!-Freedom System 165

Table Al-1
Stodola-Vianello Procedure for Model Shown in Figure 2-9

Third Mode
Triai Values Computed Values

w,' A,, A,,

Triai Equation Equation Equatlon
No. A" As, A,, (A1-22a) (A1-22b) (A1·22c)
1. +1.0 -1.5 +o.s 7,898,72 -0.8879 +0.3786
2 +1.0 -0.8879 +0.3786 6,972.65 -0.7611 +0.3248
3 +1.0 -0.7611 +0.3248 6,612.24 -0.7022 +0.2946
4 +1.0 -0.7022 +0.2946 6,414.18 -0.6670 +0.2760
5 +1.0 -0.6670 +0.2760 61291.64 -0.6444 +0.2641
6 +1.0 -0.6444 +0.2641 6,214.73 -0.629.3 +0.2561
7 +1.0 -0.6293 +0.2561 6,162.44 -0.6190 +0.2507
8 +1.0 -0.6190 +0.2507 6,127.11 -0.6120 +0.2469
9 +1.0 -0.6120 +0.2469 6,102.33 -0.6069 +0.2443
10 +1.0 -0.6069 +0.2443 6,086.27 -0.6035 +0.2425
l! +1.0 -0.6036 +0.2425 6,073.50 -0.6011 +0.2412

Second Mode
Triai Values Compute<! Values

Trial "'•'
Equatlon
A,.
Equation
A,,
Equation
No. A,, A,z {Al-24a) {Al•24b) (Al-23)
1 +1.0 -0.5 4,433.36 -0.1419
2 +1.0 -0.!419 4,327.27 -0.1002
3 +1.0 -0.1002 4,314.91 -0.0952
4 +1.0 -0.0952 4,313.44 -0.0946 -0,02676

Summary
.,
w' A, A, A• {radlans/oec.) f (cps)
Third Mode 6,073.50 +1.0 - 0.6011 +ü.2412 77.93 12.40
Second Mode 4,313.44 +1.0 - 0.0946 -0,0268 65,68 10.45
First Mode 515.68 +1.0 12.68í'4 +0.0815 22.71 3.61

=
~ M,A,,A,, = M,AuAi, + M,A21A,, )
Assuming A 11 + 1.0, these two equations are so]ved
(a) símultaneously to provlde
~ 1
+ M,AuAn l (Al-25)
(b) i
,-i
M,A,,A,, = M,A11A1i + M,AnA,a
+ M3AuAzs:
(
)
A21 = 12.6894, A = A,i =
31 +0.08151

The value of (1)1 2 may be computed by making use of any

Substituting the values of M, = m1 = 17.80, M, = m, one of Equ:xtions (Al-22). Using Equation (A1-22a),
= 9.662, M, = I• 2,843.3, A12 = + !.O, A,, =
-0.0946, A,,= A;,= -0.02676, Au = +!.O, Au =
-0.601 !, Aa, A,, = +0.2412, Equations (AJ,25a) wl (+LO) = 4,437.93(+!.o) - 346.08(+12.6894)
and (b) yield + 5,883.34( +0.08151)
w; = 525.93 (Al-27)
(a) 17.BO(Au) (J.O)
+ 9.662(An) (-0.0946) Ii Equation, (Al-22b) and (e) are used and the last
+ 2843.S(Au) (-0.02676) =O computed mode is substituted> w? .i.s found to be 517.70
(b) 17.80(Au) (+LO) (Al-26) and 515.68, whkh for norma] purposes is conside:red to
+ 9.662{A,,) {-0.6011) be an accurate solution, A surnmary of the complete
+ 2843.3(A,,) ( +0.2412) = O solution is given in Table Al-1.
 166 Design of Structures and Foundations for Víbratíng Machínes

Steady-State Response Analysis ln equations A-1.28 to A-1.31, ar)) and àrn are respec-
ttveiy the displacement and velocity componen t of mass
Ca:culation of :he r::1axirnum amplitude of vibration r associated wíth the nth mode, .6.9 » is the distortion of
for a steady-state conciition ls often the main item of spring g {i.e., the reiative displacement of its ends) in
interest in an engineering dynamics prob]em, The the nth mode, and kg is the stiffness of that spring.
amount of computation work is quite extensive when a These equations are based on the fact that any displae:e-
response analysis is required for a systerr: with more than ment or velocity is equal to the s.um of the modal com-
three degrees of freedom. ln those cases1 co:nputer pro- ponents.
grams such as ICES-STRUDL, NASTRA::-1, ANSYS, The sq~ared series in Equation A-1.28 is equivalent
or NISA may be used. Hence 1 the .investigation of the to the sum of the squares of aH modal compor:ents of
three-degrees-of-freedom system cor.sidered above ís arn. plus twice the sum of all cross products of these
extended to the calculation of the mode shapes and fre~ components. When summed over all masses, the total of
quencíes. There is a variety of methods for finding the these cross products must be zero, accotd ing to the
response in this type of problem; however, a modal anal- orthogonality condition given by Equatíon A~L32.
ysís technique is used here. Tbis technique has become
the current state-of-the-art (reL 1, Cha.pter 2). This J
method of analysis consists of calculating the response X M,àrnârm = O
,_, (Al-32)
for each normal mode individually and then superimpos~
ing ·the individual responses to yield the total solution. This on::hogonality condíticn is true for the dispiacement
There are some limitations on the appficability of this and for the velocity vectors. Thus Equation A-L28 may
method: The system has to be linearly Clastic and the be wrltten as
dynamic forces acting cn the masses must follow the
sarne tii:ne variation, i.e., if the app:ied forces are harH j N
monic, then all the forces must have the sarne acting K = r-1
~ ½ Mr :Z à;n
n=l
(Al-33)
fr.equency, However1 these restrictíons can be relaxed if
numerical methods are used in the solution of the modal Simíiarly, by the sarne reasoning the crass product tenns
equations. For a lumped multimass system having j of the series in Equation A-L29 will also be zero and
masses M damping constant C,,. associated with mass r) thus, is reduced to
s springs1 and N :ionnal modes the modal equations of
motion for the nth mode 1s derivcd by the use of the
Lagrange equation, N
u :!:
a-l
½ k, :!:
r.-1
6;, (Al-34)
At any lnstant 1n the system, the total kinetic energy is

For each mode it is convenien t to select a modal

(Al-28) d1splacement Xn so that a11 individual mass displace-
ments may be expressed in terms of this one variable.
the total strai:: energy in the springs is X n is usually taken as the dísplaceme:it of one arbitrary
selected mass. Thus

u (Al-29)
(a) a,. x. (~:) = Xn Ârn
the total energy dissipated by the dampers is

D
j
~
N
C, :3 arn. Clr11, (Al,30)
(b) à,. =
· t'9
x• . = Xn Ârn
X
t=l n-1
(Al-35)
and the total work in terrns of displacement is
where Àrn and ÂAvu are constants for a given mode. The
w, (Al-31) resulting equations of K, U, D~ and W~ may therefore
be written as
 Solutíon of Multi-Oegree-of-Freedom System 167

Solutíon of Equation (Al-38) for a normal mode n is

J N
(a) K = Z ½ M, Z
r-1 n=l
X; A;. j
f (t) Z F,1 A,.
s N ,-1 (M), (Al-39)
]
{b) U = Z ½ k, Z X! A'A,.
f-1 n=l w! ,-1
~ M, A!n.

J where M is the magnification factor gíven in Table 1-4.

(e) D= - Z
~, The total displacement for the mass 1 is given by
superimposing the N modes:
] N
(d) W, = Z F, Z X, A,. (Al-36) J
1-.l 1--l N ~ FTt A,n
X, (t) = :E A,. (M)n ,_, . f (t) (Al-40)
The Lagrange equation for a conservative system is ' ,_,
] M, Arn
w11< 2; '
given as
The parameters F n, M,, and f (t) are specified for
<!._(iJK)- iJK + iJU _ iJD = iJWc (Al-37) each particular problem, and if the modal frequencies
dt ôq, ilq, iJq, i!q, ôq, and characteristíc shapes are availa'ble, then the solution
where q, and q, are tbe generalized cooroinates of the of Equation (Al-40) lollows.
system, which in Equatíon A-1.36 are X. and X•. Example~ The response of a three-degree-of-freedom
Substitution of expressions of Equation A-1.36 into system shown in part (a) for Mc,del 6-C in Chapter 2
A-I.37 leads to the equation of motion (Figure 2-9) subjected to dynami<: loads will be deter-
mined. The modal frequencies and mode shapes were
previously obtained and the results listed in Table Al-1
are used. The equations of motion containing damping
terms and the forcing fu-nctions for the system are as
follows:
(Al-38)

These equations of motion are analogous to the: single-

degree~of~freedom system equation and are associated as (b) m.x, + k, (x,-x1-fH) = F,, (t) (Al-41)
follows:
(e) I,:J, + C•f + m,(,:;H + k;,J, = F,, (1) H
j:E Mr Ârn
' = equivalent mass
,_, The following values of the forcing functions are
giv.en for this example as:
J
~ C, A!n = equivalent damping constant
r-1 F.i (1) = Fn f(t) = O
s F,, (1) = Fu J(t) = 8.080 sin 727. 71 kips
Z k, A';,.,, = equivalent spring constant T; (1) = Fnf(t) = 137.360 sin 727.71 kips-ft,
,-1
j where the acting frequency is w = 727.7 rad/sec
~
,-1
F, A,4 = equivalent force
The values for the rnasses are
where X"= displacement of nth mode,
F, = Fc1[f(t)] forcing function acting on
mass r,
) m1 = 17.80 ki.ps-se6 :~t
Ârn constant of mode n at mass r, ) mu = 9.662 ktps-sec I ft
ÀAçn distortion of spring g of mode n.
n 1, N l I, = 2843.3 kips-sec'-ft
168 Design of Structures and Foundations for Vibratíng Machines

Table Al-2
Modal Response Analysis

",_,' F,, A,,.

Modo For~Ulg
M1us Amplit11J,e
,..
Fuft(:tiun :\-h.$~
' ' ,_,~' M, An,'
,.,,.
""'
Poim, A,' \
_i'T(41n, M, M,A,,. fM)., i?wíot A-l-iO
Mudt n (!) (J {3) (S) (6) (7) (S) T~ble J.,t ( u. Rupo1m1)

+ u:oco o o.e 17.80 17.80 113.725 .n = 0,000075(1)

{l3U-OX t~:,
2 •12.6894 8.08~ IG2.530 9.U62 1,555.78 515.68 511.680,592.47) (t\J'.)0075 + 0.00818{)(1)
= 138.50 X :o-t (-51.10 X lO'·f)
+ 0Jl8J5 137.360 lUM 2,843,3 18.SO + O.OUSi.iO(l}
{24.03 X Ii)"'f)
t 113.725 1.502.47 ,.. 0.0011 X 10-1 ft
+ I.00()0 o.o 17Jl0 17.!!0 -4.445- r;, = O.OOOW5 (12.6~)
03&50X 1~
0.0946 8.080 -0,'l(H ~.062 11.0865 4.313.H 4,313.44!":9.93) O,OOSl&O +O.OOSI!O {-0.0946)
= -fi.l.70 X 10-1 (-51.70 X 10--)
- 0Jl268 137.360 -3.681 2,843.3 a.o; +o,011500 (-0,1.il)ll)
(llUJ X 10""/t
E -4.445 !9.03 ""'1.580 X !o-«
n = ó.000015(0.0SJS)
1.0000
0.6011
º'
-4.857
17.!ID !7.!ID

3.49 6,{l73.5J
28..27,l
ü,!l73.71(1!iG.7l) Mll500
H3UóX1~
+ .00818:0(-ó. !i)
8.080 fU¼'l
=24.!13Xl~ (-$1.10 X 1lr4)
+ M412 13.7,360 + .011500(+0.2412)
' 33.l3J Z,813,3 165.~2'
{2U3XI(l'-1,j
=o.on X 10-- rad
" 28-.274 185.71

The inclusion of damping in a muitidegree-of~freedom

system is. accompHshed by assuming a certain percentage
of critical damping Ln each mode. This factor ls nor-
mally accounted for while computing the valw:: of the
magn:fication factor (1>1) for that mode, which are then
superimposed. ln multi-degrees~of-freedom problems
requiring a steady~state response analysis, damping is FuA,, + FnA,, + F,,A,. ] /( 1)
generally assumed in terms of the damping ratios rather + A;z(M), [ ú.13'(" A'UT'MA'
2 M +MA')
iY.tt 3 .33
than as darnping coefficients such as C-n and Ci;r used in
(Al-43)
Equation ( A 1-4 l). These damping coefficients are in-
duded in the equations of motion, when lt is required Similar expansions can also be written for .t'~ and xi,
that a free~vibration ( transient) analysis be obtained. Numerícal solutions of these expansions are tabulated
Théreforc, in this exampie probiem, damping ratio {D) in Table AJ ~2 where x 1 corresponds to the deflection at
for various rnodes are assumed as foHows; mass mi ( at the base of the footing), x 2 corresponds to
the mass m 11 (at the top of the structure), and x 3 is the
rotation of the mass lt, The function f(t) in thís
Mode l, D= O.O (no dampíngín the structure) example problem is equal to sin wt, which when super-
=
Mode 2, D 0.50 ( dampíng in the lateral mode) imposed with the ma:ximum displacemen!s, gives the
Mode 3, D= 0.20 (damping in the rockíng mode) final solution:
(Al-42)
(a) x, = 0.0011 X 10-, sin 727.71 ft
(b) .<, = 1.5800 X 10-, sin 727.71ft
For the sake oi claríty, Equation (Al-40) is expanded (e) ,p = 0.09195 X 10-c sin 727.71 rad
as (Al-44)
 AppendixB

Summaryof
ICES-STRUDL
Commands

The following ICES-STRUDL commands are described in refs. 2 and 3 of Chapter 7. Some special symbols
are used to denote options. Among these are:
-Underlines: The portion of the word which is required is underl-ined and the rest of the word is optional.
-Braces ~ }: A set of braces indicates that a choice exists. Any one, sometimes more than one choice, can be made.
-Parentheses () : Any item in a parentheses may be omitted. The element inside a parentheses is optional, there~
fore, the meaning of the command does not change if the item is omitted or included.
-Asterisk *: An asterisk located outside and in front of a set of braces indicates that more than one choice may
be made.
-Arrow ➔ : An arrow located in front of an element inside a set of braces indicates that if the user does not
make any choice, the element indicated by the arrow will be assumed (default value).
For convenience, the format of the "list" element is given first. The symbols v, v 1 • • • vn denote decimal
values.

alphalist }
rvvhere: list integerlist
Il1 ,!2 Il2

alphalist
integerlist = ;, (i,) ...

1. EJECT Command

EJECT

2. FINISH Command

FINISH

3. DEBUG Command

OFF
MAP
REGISTERS
DEBUG
➔ COMMON
POOL
ALL

169
170 Design o! Structures and Foundatlons for Víbrating Machlnes

4. STRUDL Command
• { 'a,' ( 'title') }
STRUDL RESTORE 'a,'
5. SAVE Command
SAVE
6. CHANGE ID Command
CHANGE ID 'ai' ( 'title')

7. UNITS Command

length unit
force unit
angular unit
UNITS temperature unit
times unít
mass unit

Elements:
CYOLES
INCHES
FEET
FT
angular unit = RADIANS
{ DEGREES }
CENTIMETERS
!ength unit OMS
METERS FAHRENHEIT}
~ temperature unit ={ ÕÊNTIGRADE
MILLIMETERS
MM
SEOONDS
POUNDS
IBs
KIPS
time unit
={ MINUTES
HDURS }
TONS

~1
force units MTÔNS
LBM

l
NEWTON
SLUG
mass unit KILOGRAM
KG
MN KGM

8. Input Mode Command

-> ADDITIONS}
CHANGES
{ -DELETIONS
9. TYPE Command

TYPE
TRUSS
FRAME
{ GRID
!{ ➔ XY
xz
yz
TRÚSS
SPAOE { FRAME
 Summary oi ICES-STRUDL Commands 171

1O. Identification Mode Command

INTEGER }
SET ELEMENTS { UNRESTRICTED
1!. TIME Command
TIME BEGIN
TIME PRINT
12. SCAN Command

SCAN { ➔ OFF
ON }

13. DUMP Command

l
➔ g~F (i) ))
DUMP COMMON ~
POOL
TIME
14. JOINT COORDINATES Command

JOINT } COORDINATES
{ NODE

{
➔ FREE }
{ ,:•,. } ( [XCOORD] v, [YCOORD] v, [ZCOORD] v,)
SUPPORT

{ ➔ ~UPPORT
FREE }
{ ,::,} ([XCOORD] v, [YCOORD] v, [~COORD] v,)

l
15. JOINT RELEASES Command
j JOINT ( * force releases ( ), (angle specs), (elastic support specs)
RELEASES ( moment releases
/ NODE Í
*
list
l force releases
moment releases t )_' ( angle specs), (elastic support specs)

*
list
l force releases
moment releases () ' (angle specs), (elastic support specs)
force releases = FORCE *{ I}
moment releases = MOMEN;{ I}
angle specs = ([THl] v, [TH2] v, [TH3] v3 )
elastic support specs = ([KFX] v., [KFY] v, [KFZ] v, [KMX] v, [KMY] v, [KMZ] v,)
172 Design of Structures and Foundations for Vibratíng Machines

16. MEMBER INCIDENCES Command

MEMBER IKCIDENCES

{ ,::, } starting joint, end joint

{ ,:, } starting joint, end joint

17. MEMBER RELEASES Command

force releases } }
momen t releases
MEMBER RELEASES
force releases } )
moment releases
force releases } )
moment releases \
list
force releases } ()
moment releases J
force releases } }
moment releases } )
list
force releases
mornent reieases

force relea.ses = FORCE ~ x:-~J

*~

-••< """"" ~ MOMENT ·1 ~ l

18. MEMBER ECCENTRICITIES Cornmand
MEMBER ECCENTRICITIES ( eccentríc specs)
list ( eccentric specs)

list (eccentric specs)

eccentric specs = ( l GLOBAL~

-
➔ LOCAL
)
)START [~] v,

{END [2!:l V4
lYl v,

[!] v, [Z] v,
lE v,}
19. MEMBER END SIZE Command
MEMBER END (JOINT) SIZE ( síze specs)
list ( size specs)

list ( size specs)

size &pe<:s = [START] v, [ENDl v,
 Summary oi ICES-STRUDL Commands 175

líst
* \FORCE [X] V1, [Y] v,, [Z) v, 1
( )MOMENT [X) v1 , [Y) v,, [Z) v, Í

Jist * lFORCE [X) v1, [Y) v,, [Z] v, 1

( MOMENT [X) V1, [Y) v,, [Z] v, í
25. JOINT DISPLACEMENTS Cornmand

j JOINT / DISPLACEMENTS (
* lDISPLACEMENTS
- (X) v,, [Y) v,, [~] v, (
l NODE í . ROTATIONS [X] Vi, [Y] v,, [~) v, í
.. lDISPLACEMENTS [X] v., [Y] v,, [~] v, (
list
( ROTATIONS [X) v., [Y] v,, [~] v, \

* lDISPLACEMENTS [X] v,, [Y] v,, [~] v, 1

líst
( ROTATIONS [X] v,, [Y] v,, [~] v, Í

26. MEMBER LOADS Command

MEMBER LOADS, (direction specs), ( type specs)
list, ( direction specs), (type specs)

list, ( dlrection specs), ( type specs)

-X
FORCE
{ } y
z
(GLOBAL)
directions specs

)
l
X
MOMENT y
{ z
CONCENTRATED {FRACTIONAL) [PJ v1, [L] v, }
type specs ~ORM (FRACTIONAL) [W] v,, ([LA) v,, [LB] v,)
--m;,AR (FRACTIONAL) [WA] v,, [VIB] v;---c(LAJ. v,, [LB] v.)

27. MEMBER TEMPERATURE LOADS Command

MEMBER TEMPERATURE(!:OADS) (temp specs)
list, ( temp specs)

líst, (temp specs)

temp specs = (FRACTIONAL) ( [LA] vi, [LB] v,,) *l [AXIAL] v,

, (BENDING) [~] v, [~] v,
1
Í
176 Design of Structures and Foundations for Vibratlng Machines

28. MEMBER DISTORTIONS Command

MEMBER DISTORTIONS (place types)

list ( place types )

list ( place types)

place types =
lCONCENTRATED (FRACTIONAL) [Ll v,
UNIFORM (FR.ACTIONAL) [LA] v, [LB]
t dist data
Va 1
lDISPLACEMENT [X] v., [Y] v,, [Zr v,
dist data = ROTATION [X] v., )Y] v, [Z] v. 1
29. MEMBER END LOAD Command

_MEMBER END (LOADS) *l STAR.T

( END
FORCE [X] v, [Y] v, [Z] v, f )
MOMENT [X) v, [Y) v, [:Z:J v,

list
*\START
( /END
FORCE
MOMENT
[X] v, [Y] v, [Z] v,
[Xl v, [_:ij v, [Z] v,
l
list /j
,
STAR.T
END
FORCE
MOMENT
[X] v, [Y] v, [Zl v,
[X] v, [Y] v, [Z] v,
f

30. JOINT FORCES Command

JO!NT .FORCES (force specs, ( angle specs), loading specs)

list, (force specs, ( angle specs), loading specs)

list (force specs, (angle specs), loading specs)

FORCE X or FX
FORCE Y or FY
FORCE Z or FZ
force specs = MOMENT X or MX
MOMENT Y or MY
MOMENT Z or MZ

*f THl e, {
angle specs = )TH2e,(
~ TH3 e, J

loading specs
 Summary oi ICES-STRUDL Commands 173

20. MEMBER PROPERTIES Command PRISMATIC, (Section values)

VARLtj\LE

MEMBER PROPERTIES TABLE 'table name' ( 'section name')

FLEXIBILITY

STIFFNESS

(PRISMATIC), section values

variable specs

list ta:ble specs

(FLEXIBILITY), ma-trix specs

(STIFFNESS), matrix specs

(PRISMATIC), section values

variable specs

list ( table specs

(FLEXIBILITY), matrix specs

(STIFFNESS) , matrix specs

[AXJ v1 [AY] v, [AZ] v,

[IX] v, [IYJ v, [IZJ v,
section values = [SYJ v, [SZ] v, [YD] v,
[ZD] V,o [YC] v,,
[ZC] v,, [EYJ v,, [EZ] va

(VARIABLE)

SEGMENTS i, (AND i,) {

TABLE 'table name' 'section name'
section va.lues
l LENGTH

XC

YC

zc

LENGTH

XC

YC
SEGMENTS i, (AND i,)
zc
matrix specs = a series of commands, the first of which
contains the "list" element and, íf not specified in the
heading, the word FLEXIBILITY or STIFFNESS.
174 Design of Structures and Foundations for Vibrating Machines

(MATRIX) COLUMNS (i 1 ) (i,) (i,) (i,) (i,) (i,)

ROW 1 v 11 Vu Vu Va V 1$ V1 0

21. CONSTANTS Command

CONSTANTS (constant description)
constant description

constant description
E

CTE v1 11st, Vz 11st, v3 Hst ...

constant description = DENSITY

v, ALL

v1 ALL BUT v, list, v, list . . .

BETA

POISSON

22. LOADING Command

=LSGl
23. LOADING COMBINATION Command

i,
LOADING COMBINATION ('title') (COMBINE loading specs)

i,
loading specs =

24. JOINT LOADS Command

[Y] v,, [Z]

J JOINT / LOADS ( * iFORCE
-MOMENT
l NODE í [Y] v,, [ZJ
 Summary oi ICES-STRUDL Commands 177

31. MEMBER FORCES Command

MEMBER FORCES (force specs, distance specs, loading specs)
list, (force specs, distance specs, loading specs)

list, (force specs, distance specs, loading specs)

FORCE X or FX
FORCE Y or FY
FORCE Z or FZ
force specs = MOMENT X or MX
MOMENT Y or MY
MOMENT Z or MZ

l
DISTANCE v
distance specs
FRACTION v

l
V1 , . • Vn
loading specs = 'loadingi' v 1 . 'loa<lingni Vn
\
32. ACTIVE-INACTIVE Command

l ACTIVE (
1
( MEMBERS)
J JOINTS
l ~
ALL
ALL BUT list l
INACTIVE
LOADINGS} }
33. LOADING LIST Command

LOADING LIST

34. ANALYSIS Commands

( STIFFNESS )
~ DETERMINATE j (ANALYSIS) ([NJP] i) (REDUCE BAND ROOT}
~ PRELIMINARY J
35. COMBINE Comrnand

COMBINE { 'a' } ( loading specs}

36. PRINT Cornmand

PRINT, type, (component specs)
178 Design of Structures and Foundations for Vibrating Machines

DATA
STRUCTURAL DATA
LOADING DATA
DESIGN (DATA)
LENGTH
RELEASES
CONSTANTS
MEMBER INCIDENCES
PROPERTIES
type STATUS
END (CONDITIONS

ll
) STATUS
JOINT ) COORDINATES
~ RELEASES

( MEMBER LOADS
APPLIED ) JOINT WADS
( JOINT DISPLACEMENTS

component specs
FORCE ASSUMPTIONS

=)
)

~
ALL ( aotive and inactive) (joints and members)
JOINTS list
MEMBERS list
l
JOINTS MEMBERS }
join ts and members (AND
{ MEMBERS } { JOINTS

__ { ACTIVE } INACTIVE } )
active and inactive ( AND
INACTIVE { ACTIVE

37. OUTPUT Command

~
DECIMAL i

OUTPUT
BY
) LOADING
JOINT
(
t ( MEMBER
f
38. LIST Command
* FORCES
DISTORTIONS
LIST LOADS
( component specs)
REACTIONS
DISPLACEMENTS
 l
Summary oi ICES-STRUDL Commands 179

~ i\.LL. ( active and inactive) o••· ••,_....,

component specs = l MEMBERS líst
JOINTS líst

l
INACTIVE

l
ACTIVE
active and inactive - (AND -ACTIVE
INACTIVE 1 f
mernbers and joints

39. SECTION Cornmand

=
l
MEMBERS
JOINTS ! (AND
l JOINTS
MEMBERS !
!
SECTION section specs (~EMBER list)

section specs = (FRACTIONAL)

40. Interna) Member Results Command

l
· ps
NS i v, . . . v,
v, v, (NS i)

LIST, output type,

ALL (MEMBERS)
--
f (SECTION section specs)
MEMBER líst --

SECTION FORCE
SECTION STRESS
FORCE ENVELOPE
output type
STRESS ENVELOPE
MAXIMUM STRESS
MAXIMUM STRESS BACH WADING
41. PLOT DEVICE Command

l * ( LENGTH
v, }

l
➔ PRINTER )WIDTII v,
PLOT DEVICE PLOTER )
( )COLUMNS i
SCOPE
~ROWS i
42. PLOT Command

PLOT

For PLOT PLANE

l
PLANE
DIAGRAM
ENVELOPE
l ,. .- _,
TRUE (VIEW)

( JOINTS id,, id,, id, }

PROJECTION
l
)
_MEMBERS id,, id,

THROUGH (JOINT) 'id'

identifica,tion
specs =

EQUALS v,
180 Design of Structures and Foundations for Vlbratíng Machínes

.= i .
1d 'a'
l
f

For PLOT DIAGRAM and PLOT ENVELOPE

FORCE ( :!._
*lxl
z
identification
specs
l ALL <MEMBERS > 1
) MEMBERS 'list' Í
MOMENT

PLOT FORMAT 'fonnat type'

➔ NORMAL

ORIENTATION
}STANDARD t
lNON STANDARD í

*{ HORIZONTAL v,}
SIZE (FRACTIONAL) VERTICAL v,

EQUAL
MAXIMUM

* jJS(
LENGTH
(I j
) V1

SCALE
FORCE
·ai
*
)

j JS { )
v, (UNITS PER INCH)

MOMENT V1

( ij
* j X{ ) v,
LENGTH
{~j
 Summary oi ICES-STRUDL Commands 181

!onnat type = SCALE FORCE

INTERVAL

MOMENT

POSITION [HORIZONTAL] v, [VERTICAL] v,

POSITION INCREMENT (FRACTIONAL)

*{ (i) HORIZONTAL v,}
(i) VERTICAL v1

* ALL v,
TOP v,

MARGINS BOTTOM v,
LEFT v,
RIGHT v,

)
➔STANDARD
DATA
MINIMUM
SEGMENT (CHARACTER) 'a'

AXIS (CHARACTER) 'a'

(43 THROUGH 58 REFER TO DYNAMIC A.c'<ALYSIS)

l
43. INERTIA Command
General form:
(• ([X)

l * ~ LINEAR t) )
list
ALL [Y]

( ~ JOINTS
ALL BUT list 1ANGULAR í ) [Z]
l
t
l NODES ADD Jist ALL
LUMPED }
{ CONSISTENT
Elements:
v 1, • • • .• , v, = values of inertias expressed as lumped masses. Note that
mass, not weight:, is input.
44. STORE TIME Command
General form:

STORE TIME (HISTORY)

( FORCE
) DlSPLAGEMENT
() VELOCITY
t) ~l➔ TRANSLATION / )
ROTATION í
'Narne' ( IN)

l ACCELERATION
182 Design of Structures and Foundations for Vibrating Machines

j ➔ USER /
(FACTOR s) (DUMP)
j ~UBSYSTEM 'password' Í

Elements:
'name' = the identifier ( up to 8 characteni) which is given to the time history record,
'password' = the password for the subsystem data set.
s = the scale factor to be applied to the record prior to storage; Le. lhe value of the time
history at t, will be stored as v1 X s, s is set equal to 1.0 if omitted.

45. STORE RESPONSE Command

General form:

) ➔ FREQUENCY {

l
DISPLACEMENT }
STORE RESPONSE (SPECTRA) VELOOITY (VS)) ( 'Name' (IN) -
ACCELERATION l PERIOD )

l ➔ USER !
) SUBSYSTEM 'password' Í

l
RATIO
DAMPING -- (FACTOR s1 )
-- PERCENT

DAMPING· {RATIO
-- (FACTOR s,)
-- PERCENT

(~ RESPONSE SPECTRA))

4,5, DYNAMIC LOADING Command

General form: { i l
DYNAMIC LOADING ,~, í ('title')

47. JOINTS LOAD Command

General form :

JOINTS} FORCE } ( load specs.)

list (!:OADS)
{ NODES { MOMENT

where
j FILE 'Name' ([FACTOR] v,) }
(load specs.) =) (FACTOR vi) (time history)
~ (function specs,)
(time history) = f, f, . , , fn
 Summary oi ICES-STRUDL Commands 183

(function specs) =
SINE }
FUNCTION - [AMPLITUDE] v, [FREQUENCY] v, ([PHASE] v,)
-- { COSINE

48. SUPPORT ACCELERATION Command

General form:
SUPPORT (i,) ('.':CCELERATIONS)

TRANSLATION
DISPLACEMENT ( load ,pecs.)
ROTATION

ll TRANSLATION
DISPLACEMENT
ROTATION

where
(load ,pecs.)

(load specs) = sarne as for JOINT LOAD command.

49. TIME POINTS Command

General form :

TIME (!'._OINTS) t, t, . . . 10

50. END OF DYNAMIC LOADING Command

END (OF ~YNAMIC !c_OADING)

51. RAYLEIGH Commands

a) RAYLEIGH LOADING ('title')

b) LIST RAYLEIGH (NATURAL FREQUENCY)

52. DYNAMIC DEGREES OF FREEDOM Command

DYNAMIC DEGREES (OF ~REEDOM)

JOINTS } list
{ NODES
*{ DISPLACEMENTS }
ROTATIONS
184 Design of Structures and Foundatlons for Vibrating Machines

JOINTS } . "{ DISPLACEMENTS }

l,st
{ NODES ROTATIONS

53. DYNAMIC ANALYSIS Command

{
➔TRIDIAGONALIZATION }
DYNAMIC A.1',!ALYSIS ITERATION ( [NJP] i,) (solution

specs.) (REDUCE BAND ROOT)

where

EIGENVALUE (ONLY) l
l
(solution specs.) =
l MODAL
PHYSICAL ([BETA] v,)
Í
( frequency specs.)

l
(~I1'.l_IMUM (FREQUENCY) v,) MAXIMUM (FREQUENCY)
( frequency specs.) = (,,)
CRITICAL (FREQUENCY) v, (i,)

54. PRINT DYNAMIC Command

General form :

PRINT DYNAMIC ( type specs.) ( component specs.)

where

* DATA
STRUCTURAL (DATA)
LOADING DATA
NORMAL (MODES)
DEGREES (2_!: FREEDOM)
(type spea<.) = JOINT (INERTIAS)
MATRICES
WADS
SUPPORT (ACCELERATIONS)
INITIAL (2ONDITIONS)

l
INTEGRATION (PERIODS)

( cornponent specs.)
( ALL ( active and inactive)
= { JOINTS list
ºº'". ·"" ...,,,,..,
~ MEMBERS list
 Summary of ICES-STRUDL Commands 185

(active and inactive)

(
{ ACTIVE
INACTIVE } (AND
{ INACTIVE
ACTIVE } ) )

(joints and members) = (

{ JOINTS
MEMBERS } (AND
{ MEMBERS
JOINTS } ) )

55. NORMALIZE EIGENVECTORS Command

General fonn :

NORMALIZE EIGENVECTORS

56. LIST DYNAMIC Command

General fann:

LIST DYNAMIC ( type specs.) (BY ('.!:lME) ) ( component specs.)

•· FORCES
DISTORTIONS
LOADS
REACTIONS
DISPLACEMENTS
( type specs.) = (MAXIMUM) STRESSES { STRAINS }
PRINCIPAL STRESSES
VELOCITIES
ACCELERATION
EIGENVALUES (i,)

l
EIGENVECTORS (i,)

ll
ALL (aclive and inactive)
(jo;ob "" • - )
component specs.) ( JOINTS list
MEMBERS list

(joints and members) =( JOINTS

MEMBERS f (AND
l MEMBERS
JOINTS

(active and inactive) =( l ACTIVE

INACTIVE f
(AND
~
INACTIVE
ACTIVE

57. INTEGRATE Command

General form:

INTEGRATE (FROM) tu (TO) t,, (AT) t,,

(FROM) t., (TO) t., {AT) t.,
186 Design oi Slructures and Foundations for Vlbrating Machlnes

58. DAMPING Command

General F onn:

➔ RATIOS
DAMPING 1 PERCENTS
{ v, (i,) . . . . . v, (i.)

59. PARAMETER Command

PARAMETER ('parameter') J parameter specs f

parameter1
1
~ parameter specs f

1
parameter1 jparameter specs }

Elements:

'parameter' = alphameric parameter name {up to 8 characten)

l
v1 (~) (~ERS) list
parameter
specs = V1 ALL
v, ALL BUT v, (FOR) (MEMBERS)

60. CHECK CODE Command

CHECK (CODE (FOR) MEMBERS list

lndex
A Compressor, reciprocating
Accelerating bodies, 12 design example, 92-99
Acceleration, 12 Computer analysis, 13, I 13 ff.
Agarwal, S.L., 79 coding, 118
Amplification factor, 20 example, 118 ff.
Amplitude, 13 flow chart, 117
Amplitude, free, 12 interpretation, 157- 158
Analysis reasons for, 113-114
types of, 13-14 Consistent mass, 20
Analytical computer models, 113 ff. Constant damping, 15
development of, 32-45 Constant spring stiffness, 27
Anderson, D.G ., 67 Constraint conditions, 14
Angular frequency, 18 Continuous mass, 20
Aperiodic motion, 20 Continuous system, 28
Coordinates
B types of, 15-16
Balancing, 14 Coupled modes, 21-22, 55
Beam Criticai damping, 6, 15
depth, 50 solution equations for, 7-8
fixed (model), 35-36 Criticai speed, 26
resonance, 50 Crosshole tests, 63
stiffness, 50
Beat D
frequency, period, 14 Damped harmonic frequency, 18
Beredugo, Y.O., 84 Damped natural frequency, 18
Block foundations, !, 18, 83 Damping, 32-33
design checklist, 52-54 coefficient, 15
design examples, 91-112 criticai, 6-7, 15
model, 34 dashpot, 15
triai sizing, 49-50 geometric, 70-71
Block-type foundation structure. See Block foundations material, 70-71
Boundary conditions, 14 types of, 15
Damping constants, 15
e for flexible mats, 79-80
Cantilever (model), 35 Damping ratio, 6, 15, 70-71, 80, 83
Cartesian coordinates, 15 computation of, 59
Centrifugai machines geomemetric
design of, 49 computation of, 82
design example, 99 ff. in modeling, 32-33
Circular frequency, 6, 18 obtaining, 78
Circular natural frequency, 6, 18 for pile foundations, 81
Clays Dashpot damping, 15
foundations in, 65-68 Deep foundations, 80-89
Coefficient damping, 15 Design checklist, 51-54, 96, 110-111
Column resonance, 51 Design conditions, 46-54
Colurnn stress, 50 Design criteria, 54, 97, 100, 110

187
188 Design oi Structures and Foundations for Vibrating Machínes

Determinant equation method Fíeld shear modulus

of frequency and mode shape determination, 160-163 deterrninations of, 62-64
Differential equations Fíníte elements, 32, 40, 79
types of, 16 First mode of vibratíonj 22
Displacement, 12. See aiso Displacement amplitude Fixed beam (model), 35-36
Displacement amplitude, 13. See a/so Displacement Flexible mat foundations, 83
Donovan, N.C., 89 Flexfüle shaft, 27
Dynamíc analysis, 14, 97, 100, 106 footing embedment
multi-degree-of-freedom-system, 159-168 effects of, 72, 92-99
Dynamic balancing, 14 Forced vibrations
Dynamic conditions, See also Dynamic design conditíons steady-state solution of, 8- l l
limiting, 97-98, 100-102 Forcing frequency, 19
soíl Forcíng function (F(I)), 4
problems of, 59-62 equation of motion for, I l
Dynamic design conditions, 52-53 and frec vibration, 6
Dynamic design factors, 5 in modeling, 33
Dynamk equatíons of motion Foundation analysís
types of, 16-17 theoretical approach to, 1-2
Dynamic equilíbrium equation, 33 Foundation configura,tion
Dynamic force, 17 selection of, 93, 100, 106
Dynamic load, 17 Foundatíon mass 1 50
Dynamic response, 26 Foundation response
Dynamic system~ 17 1 28 modification of, 78-79
Foundation-soií interaction, 71-72
E Foundation structure (for machine), 18
Eccentricities machine, 11, 47-48 types of, 48-49
Eigenvalues. 16 Foundations, 77-90
Eigenvectors, 16-17, 22-24, 117, 121 block, l, 18, 83
Elastic halfspace model, 58 design checklíst, 52-54
Elastíc spring stiffness, 28, 32 design examples, 91-112
Elevated foundation. See also Elevated frame foundation struc,. modei, 34
ture; Elevated pedestal foundation trial sizing, 49-50
example, 1!4-158 categories of, l, 78
triai sizing, 50 deep, 80-89
Elevated frame foundation structure, 18 sizing and construction of, 8 l
Elevated pedestal foundation, t. See alst> Elevated foundation design of, l
typical (model), 36-38 elevated, I, 18, 36-38, 50, 113
Embedment. See Footing embedment elevated pedestal, 36-38, 113
Environmental demands, 49,54 1 98, 102. See also Geotechnical embedment, 72, 92
considerations flexible mat, 40, 83, 115
Equations of motion, 20. See also Differential equations, fonns of, 1
Dynamic equations of motion machine mass ratio, 49
development, 33-34 mat, 18, 50, 79-80, 83
for forcíng functíon, 11 model, 34-35
ín modeling, 34-38 píle, 80-89
Equívalent forcing function (F(I)) rigid mat, 83
calculation for. 4 structural systems1 l
Equivalent lumped-mass model, 20 table top
Equivalent mass (mt) structure in, I, 18, 113
calculation of, 2-4 F ree system, 28
Equivalent spring constant (k,) Free vibrations
calculation of, 4 mathematical model, 4, 6-8
Equívalent spring stiffness, 28 Frequencies, See a/so Fundamental frequency: Rayleigh's
Equivalent system, 28 frequency
Ex.cítation. See a/ao Excitation frequency circular, 18
rotatíng mass~type circular natural, 6
solution for. 11-12 natural, 19
sources of, 8-11 determination of, 160-168
types of, 17-18 resonance, 26
Excitation frequency. 19 types of, 18-20
of vibration, 16
F Fundamental frequency, 19 4
J(t), See Equivalent forcing function Fundamental modes, 22
Factor damping, 15
Fatigue, 53-54 G
faílures, 102 Generatized coordinates, 15
 lndex 189

Geometric damping, 70-71 lumping of, 20

Geotedmical considerations 1 47-52, 57-76 in modeling, 32
Geotechnica1 requirements. See Geotechnical considerations technique for obtaining. 2-4
Ghazzaly, 0.1., 81 multi-lumped (model), 36-37, 38
Gravels single--lumped (model), 36
foundations in, 64-65 two-lumped (model), 37-38
Grigg, R.F., 81, 84 Mat foundations, 18, 50, 83
model, 34-35
H vertical spring and damping constants for, 79-80
Hard!n-Drnevich equations, 66-67 Material damping, 70-71
Harmonic comp-0nents, 9 Mathematical model .
Harmonic excitation, 17 calculation of parameters for. 2-4
Harmonic motion, 21 formulation of, 4-11
Horizontal motion Matrix method analysis, 14
ín pile foundatíons, 86 MDOF. See Multi-degree-of-freedom system
Hudson, W.R., 79 Modal analysis, 14
Hwong, S.T., 81 Modal multi-degree lumped-rnass analysis, 37, 159
Mode shapes, 157
I determination of, 160- 168
ICES STRUDL comrnands Model
summary of, 169-186 elastic balfspace, 58
!dealized system, 28 mathematical
Jdríss, I.M., 66-68, 70 calculation of parameters for, 2-4
Impulse excitation, 17 formulation of, 4-11
Inertia block Modeling alternatives. 58
(model), 35 Modeling techniques, 32-33
use of, !03 Modeling types, 33-38
Inertial excitation, J7 Modos of víbration. 53, 92-93, 102. See also Mode shapes
I nitial conditions. 15 types or, 21-24
Motíon 1 6, 20-2i
J horizontal
Jobsis, A.C., 89 in pile foundations, 86
vertical
K in pile foundations, 81-83
kt. See Equivalent spríng constant Multi-degree-of-freedom (MDOF) system, 28-31, 107, 159
solution of, 159-168
L Multi~lumped rnass with coupled soil-structure interaction, 38
Laboratory shear modulus
N
detetmination of, 63-64 Natural frequencies of motion, 19
Lagrange's equation, 33-34, 166, 167
determination of, 160- 168
Linear differential equatíons, 16 Natural frequencies of vibration, 16
Linear spring stíffness, 28 Node, 24
Linear system, 28 Node points, 24
Load factor, dynamic, 17 Node vibrating systems, 24
Loose granular soil (sand) stratum NonJínear spring stiffness, 28
effect of, 74-75 Nonlinear system, 28
Lowest modesi 22 Normal coordinates, 16
Lumped mass, 20 Normal modes, 22-24
analysis of, 37 Northey, R.D., 67
technique for obtaining, 2-4 Novak, M., 80-81, 84, 86
Lumped-mass spring-dashpot system, 28
Lumping of mass o
in modeling, 32 O'Neill, M.W., 81
Operating frequency, 19
M Orthogonality
Machines condition, 162, 166
properties of, 46-47 Oscillation, 24, See also Oscillator tests
requirements for, 46-47 Oscillator tests, 63
service factor. 54 Overdamping
Vibratlon-SeverhynData, 54 solution equations for. S
Magnification factor, 10-11, 13, 20 Overturned foundatíon structure. 18
Mass, 20
calcuJatlons for 1 2-4 p
consistent, 20 Particular integral, 9-10
continuous, 20 Peak-to-peak (double amplitude of vibration), 24
of foundation, 50 Pedestal foundation, elevated (model), 36-38, 113
190 Design of Structures and Foundations for Vibrating Machines

Period, 24 laboratory
Periodic excitation, 9, 17 determination of, 63-64
Periodic motion, 20 and píle foundations, 81
Phase, 24- 25 soil, 62-69
Phase ang[e, 6-12, 24-25 field procedures for, 62-64
Physiological effects. See Environmental demands laboratory procedures for, 64
Pier foundations. See Pile foundations typical values, 69
Pile cap, 81, 84 Shear strain, 69-70
Pile foundations, 49-50, 80-89 Shear strain magnitude
Pile groups, 82-86 seleetion of, 69-70
Poisson's ratio Símple harmonic motion, 21
selection of, 71 -72 Símultaneous differential equatíons, 16
and soil density, 71- 72 Singh, J.P., 89
typical values, 72 Single-degree-of-freedom (SDOF) system, 2, 28
Principal coordinates, 16 in [ayered soils, 73-74
Principal modes of vibration, 22-24 model examined, 4-12
Procedures. design. 54 Sinusoidal ex.citation, 17
Psychologícal effects. See Environmental demands Sinusoidal motion, 21
Skempton, A.W., 67
R Soil
Ratio damping, 6, 15 loose granular, 74-75
Rayleigh wave lengths, 63 stiff, 72-74
Rayleigh's frequency, 19-20, 114, 119 Soil density
model, 36-37 and selection of Poisson's ratio, 71-72
Reciprocating compressor Soil dynamics
design example for, 92-99 problems of, 59-62
Reciprocating machines, 92-93 SoH-foundation interaction, 71-72
design for, 49 Soil parameters, 4 7-49
Resistance evaluation of, 59-62
calculation of. 4 Soil shear modulus, 62-69
center of calumns, 51. i 16 Soil spring stiffness, 28
of soil, 49-50, 116 Soil-structure interaction, 38t 71-72
Resonance, 12, 25-26 Soíl tests, 63 ·
column, 51 Southwell-Dunkerley formulae, 107
condition, 25-26 Spring absorbers (model), 35
frequency, 26 Spring constants,
Resonant column test, 64 equivalent
Response, dynamic, 26-27 calculation for, 4
foundation evaluation of, 58-59
modification of, 78-79 in modeling, 32
steady state, 10, 26-27 obtaining, 78
transient, 61 27 vertical
Richart, F.E,, Jr., 72 for flexib[e mats, 79-80
Rigld mal foundatíons, 83 Spring-dashpot system. See Lumped-mass spring-dashpot
Rígid staff, 27 system
Rocking equivalent spring, 38, 111 Spring stiffness, 27-28
Rocking rnotion Static analysis, 14
in pile foundations, 86-88 Static balancing, .14
Rotating-mass~type excitation Static conditíons, 100
dynamic system subjected to, 11-12, 17 Static design conditions, 50, 52, 114
Steady-state response, 26-27
s method of frequency and mode shape determination,
Sands, 74-75 166-168
foundations in, 64-65 Steady-state solution of forced vibratioru
Saturated clays solution equations for, 8-11
foundations in, 65-68 Stiff shaft, 27
Saul, W.E., 89 Stiff underlying stratum
SDOF. See Single-degree--of-freedom system effect of, 72-74
Seed, H.B., 66-68, 70 Stodo[a-Vianello method, 163-165
Shaft Stokoe, K.H., II, 72
criticai speed of, 27 Strain magnitude
Shear modulus. See also Shear strain magnitude selection of, 69-70
calcu[ation of Stratum
for structure--soil interaction analysís1 68-69 ioose granular soil
correlations, 64-68 effect of, 74-75
field stiff underlying
determinations of, 62-64 effect of, 72-74
 lndex 191

Structural system of foundations, 1 Undertuned foundation structure, 18

Structure-soil interaction, 71-72 V
analysis of, 68-69 Velocity, 12
STRUDL computer coding, 118-121 Vertical motion
commands, 169-186 in pile foundations, 81...,.83
Subharmonic motion, 21 Vibrating machine
Superharmonic motion, 21 supported by a cantilever (model), 35
supported by a fixed beam (model), 35-36
T supported by block-type foundation (model), 34
Table top foundation structure, 1, 18. See also Elevated supported by mat-type foundation (model), 34-35
foundation supported on inertia block and vibration isolated from
Terminology, 12-31 foundation (model), 35
Testing methods, 63, 88-89 Vibration amplitude, 13
Theory of vibrations Vibration analysis, 14
fundamentals of, 2 Vibration limits, 52-54
Transient excitation, 18 Yibration modes, 53, 92-94, 102
Transient motion, 6 types of, 21- 24
Transient response, 27 • Vibration response,
Transient vibrations in multidegree model, 37
mathematical model, 4, 6-8, 16 Vibration tests, 88
Transmissibility factor, 26, 31 Vibration theory fundamentais, 2
Triai sizing Vibrations
of block foundation, 49-50 forced
of elevated foundation, 50 steady-state solution of, 8-11
Two-lumped mass, 16, 23, 37-38 free
solution of, 4, 6-8
u transient, 4, 6-8
Uncoupled modes, 22 Viscous damping, 15
Undamped system
solution equations for 1 6-7 w
Underdamped system Whitman, R.Y., 63-64, 71
solution equations for, 7 Woods, R.D., 67
NOTES
NOTES
 This text brings together traditional and new concepts and
Design of Structures procedures for analyzing and designing dynamically loaded

and Foundations for Vibrating Machines, practicing englneers and students now have
structures. With Design of Structures and Foundations for

Vibrating Machines engineerlng

a text which integrates lheories oi vlbration, geotechnical
(including soll dynamics and half-space theory),
compute, coding and applications, and structural analysls and design. The many concepts and
procedures used in the design of structures supporting dynamic machlnes and ultímately supported by
the soil until now have been unavailable in a single source.
The design process ln this field has gradually evolved from an approximate rule-of-thumb procedure to
a scientifically sound procedure. ln Design of Structures and Foundalions for Vibrating Machines, state-
of-the-art technlques are employed in actual design problems by uslng simplifled step-by-step routines.
ln addition, at every step oi investigatlon a brief descrlption explains the physical meaning o! the
parameters used and the role they play in the design process.
The introductory chapter revíews fundamentais. Chapter 2 describes alternatlves oi modeling
dynamically loaded systems. Chapter 3 considers and llsts the information necessary for design.
Chapters 4 and 5 describe the geotechnical aspects o! the problem, and Chapter 5 specifically considers
flexible mãts and foundations. Finally, Chapters 6 and 7 include examples oi different types of structures
supporting dynamic machínes.

About the Authors

Suresh C. Arya is principal engineering specialist in lhe Technology Section, Clvil-Structural Group, with lhe
CE Lumrnus Comp_any. He Is responslble for ali vibration and dynamics analysís oi structures and foundations
made in Lumrríus' Houston office. He has a Ph.D. from the University oi Texas with 18 years of experience ln
structural and dynamics analysis for the petrochemical industry, nuclear power plants, and marine terminais. He
is a registered professional engineer in Ohio, Texas, and Calífornia.
Michael W. O'Neill is associate professor of civil engineering at the Universlty of Houston. He has a Ph.D. from
the Unlversity oi Texas, and has served as a geotechnical engineer for Southwestern Laboratories, Houston,
Texas, with responsibillties in consulting for clients involved in designing foundations and earth structures. He is
a registered professional engineer in Texas. ·
George Pincus is professor oi civil engineering at the University oi Houston. He teaches structural engineering
and directs graduate student research in structural mechanics and structural anatysls design, and he supervises
full-scale laboratory testing. He has a Ph.D. from Cornell University, and is a registered professionat engineer in
Texas, Kentucky, Florida, West Virgínia, New Mexico, and Calilornia.

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