PROBLEMS

CHAPTER-1
 Problem-1.1
 Starting from the basic definition of stiffness, determine the
effective stiffness of the combined spring and write the equation
of motion for the spring-mass systems shown in Fig below.

Solution  If Ke is the effective stiffness

fs  k eu (a )
 Equilibrium of forces fs   k1  k 2 u

 fs 
 Effective stiffness k e     k1  k 2
u

 Equation of motion   k eu  p t 
mu
 Problem-1.2
 Starting from the basic definition of stiffness, determine the
effective stiffness of the combined spring and write the equation
of motion for the spring-mass systems shown in Fig below.

Solution
 If Ke is the effective stiffness
fs  k eu (a )
 If the elongations of the two springs are u1 and u2
u  u1  u2 (b)
 Because the force in each spring is fs
fs  k1u1 fs  k 2u2 (c )
 Solution
 Solving for u1 and u2 and substituting in eq.(b) gives

fs fs fs 1 1 1 k 1k 2
      ke 
k e k1 k 2 k e k1 k 2 k1  k 2

 Equation of motion   k eu  p t 
mu
 Problem-1.3
 Starting from the basic definition of stiffness, determine the
effective stiffness of the combined spring and write the equation
of motion for the spring-mass systems shown in Fig below.
Solution This problem can be
solved either by
starting from the
definition of stiffness
or by using the
results of problems
1.1&1.1. We adopt
the latter approach
to illustrate the
procedure of
reducing a system
with several springs
to a single
equivalent spring.
 Solution
 First, using problem 1.1, the parallel arrangement of k1 and k2 is
replaced by a single spring as shown in Fig. 1.3(b). Second,
using the result of problem 1.2, the series arrangement of
springs in Fig. 1.3(b) is replaced by a single spring as shown in
Fig. 1.3(c).
1 1 1
 
k e k1  k 2 k 3

 Therefore, the effective stiffness is

ke 
 k1  k 2 k 3
k1  k 2  k 3

 Equation of motion   k eu  p t 
mu
 Problem-1.4
 Derive the equation governing the free motion of a simple
pendulum which consists of a rigid massless rod pivoted point
O with a mass m attached at the tip. Linearize the equation, for
small oscillations, and determine the natural frequency of
oscillation.
Solution
 Write equation of
motion in tangential
direction
 Method 1: By Newton’s
law

 mg sin   ma
 mg sin   mL  a
mL  mg sin   0
 Solution

 This nonlinear differential equation governs the motion for any

rotation 
 Method 2: Equilibrium of moments about o yields

mL2  mgL sin 

or
mL  mgL sin   0
 Solution
 Linearize for small 

 For small , sin    and eq.(a) becomes

mL  mg  0
 g
      0 (b)
L 
 Determine natural frequency
g
n 
L
 Problem-1.5
 Consider the free motion in the xy plane of a compound
pendulum which consists of a rigid rod suspended from a point.
The length of the rod is L and its mass m is uniformly
distributed. The width of the uniform is b and the thickness is t.
The angular displacement of the center line of the pendulum
measured from the y-axis is denoted by (t).
a) Derive the equations governing (t).
b) Linearize the equation for small .
c) Determine the natural frequency of small oscillations.
 Solution
 Write the equation of motion using Newton’s second law of
motion
2
1 L 1 2
Io  mL  m   mL
2

12 2 3

 Draw a free body diagram of a body in an arbitrary displaced

position
 Solution
 Write the equation of motion using Newton’s second law of
motion
 M  I 
o o

L 1 2
 mg sin   mL 
2 3
mL2  mgL
 sin   0 (a )
3 2
 Specialize for small 
 For small , sin    and eq.(a) becomes
mL2  mgL
 0
3 2
  3 g  0 (b)
2L

3g
 Determine natural frequency n 
2L
 Problem-1.6
 Repeat problem 1.5 for the system shown in Fig., which differs
in only one sense: its width varies from zero at O to b at the
free end.

Solution
 Find moment of inertia about point O
L
Io   r 2 dA
0
L
   rdA
0

 4
 L
4
1
 mL2
2
 Solution
 Draw a free body diagram in an arbitrary displaced position

 Write the equation of motion using Newton’s second law of

motion
 M  I 
o o

2L 1 2
 mg sin   mL 
3 2
mL2  2mgL
 sin   0 (a )
2 3
 Solution
 Specialize for small 
 For small , sin    and eq.(a) becomes
mL2  2mgL
 0
2 3
or
  4 g  0 (b)
3L

4g
 Determine natural frequency n 
3L
 Problem-1.7
 Develop the equation governing the longitudinal motion of the
system of Fig. The rod is made of an elastic material with
elastic modulus E; its cross-sectional area is A and its length is
L. Ignore the mass of the rod and measure u from the static
equilibrium position.

 equation of dynamic
equilibrium
  fs  p( t )
mu (a )
 Force-displacement relation

 AE 
fs   u (b)
 L 

 Substituting (b) into (a)

  
AE 
mu u  p( t )
 L 
 Problem-1.8
 A rigid disk of mass m is mounted at the end of a flexible shaft
(Fig.) Neglecting the weight of the shaft and neglecting
damping, derive the equation of free torsional vibration of the
disk. The shear modulus of the shaft is G

Solution
• Forces on the disk are shown.
• Equation of motion using Newton’s 2nd law of motion.
mR 2
 fs  I0 where I0  (a )
2
 Solution
• Torque-twist relation

 GJ  d4
fs    where J  (b)
 L  32

• Substituting (b) into Eq.(a)

 GJ 
I     0
 L 
or
 mR 2   d4G 
      0
 2   32L 
 Problem 1.9 through 1.11
• Write the equation governing the free vibration of the systems
shown in Figs. Assuming the beam to be massless, each
system has single DOF defined as the vertical deflection under
the weight w. The flexural rigidity of the beam is EI and the
length is L. Solution
In each case the
system is
equivalent to the
spring-mass
system shown for
which the
equation of
motion is

w
 u
  ku  0
g
 Solution
• The spring stiffness is determined from the deflection u under
a vertical force fs applied at the location of the lumped weight.

fsL3 48EI
• Simply supported beam: u   k 3
48EI L

fsL3 3EI
• Cantilever beam: u  k 3
3EI L

fsL3 192EI
• Clamped beam: u  k
192EI L3
 Problem 1.12
Determine the natural
frequency of a weight
w suspended from a
spring at the midspan
of a simply supported
beam. The length of
the beam is L, and its
flexural rigidity is EI.
The spring stiffness is
k. Assume the beam to
be massless.
Solution
Equation of motion

  f  w  p( t )
mu (a )
s
Solution
Equation of motion
  f  w  p( t )
mu (a )
s

where
fs  k e u (b)

Equation of motion becomes

  k u  w  p( t )
mu (c )
e

Effective stiffness
fs  k e u (d)
where
u   spring  beam (e)
fs  k spring  k beam beam (f )

Substitute for ’s from eq.(f) and for u from eq.(d)

Solution fs fs f
  s
k e k k beam
kk beam
ke 
k  k beam
 48EI 
k 3 
L 
ke  
48EI
k 3
L
The natural frequency is

ke
n 
m
 Problem 1.13
Derive the equation of motion for the frame shown in Fig. The
flexural rigidity of the beam and columns is as noted. The mass
lumped as the beam is m; otherwise, assume the frame to be
massless and neglect damping. By comparing the result with
eq., comment on the effect of base fixity.
Solution
Lateral stiffness
3EIc 6EIc
k  2  k column  2  3
 3
h h
Equation of motion
  ku  p( t )
mu
K when the base is fixed
24EIc
k
h3
Comparing the two K for two conditions of base, it is found that
base fixity increases k by a factor of 4
 Problem 1.14
Derive the equation of motion for the one-story, one-bay frame
shown in Fig. The flexural rigidity of the beam and columns is
as noted. The mass lumped as the beam is m; otherwise,
assume the frame to be massless and neglect damping. By
comparing this equation of motion with the one for example 1.1,
comment on the effect of base fixity.
Solution
 Solution
Define Degrees of freedom
Since there are no external moments at
the pinned supports, the following
reduced stiffness coefficients are used
for the columns.
Joint rotation

Joint translation
 Solution
Structural stiffness matrix
U1=1 u2=u3=0
3EIc 6EIc
k 11  2 3  3
h h
3EIc
k 21  k 31  2
h

U2=1 u1=u3=0
3EIc 4EIc 5EIc
k 22   
h (2h) h
2EIc EIc
k 32  
(2h) h
3EI
k12  2c
h
 Solution
Structural stiffness matrix
u3=1 u1=u2=0
3EIc 4EIc 5EIc
k 33   
h (2h) h
2EIc EIc
k 23  
(2h) h
3EI
k 13  2 c
h

Hence
6 3h 3h 
EIc  2 
k  3 3h 5h2 h 
h
3h h2 5 h2 

 Solution
Lateral stiffness
Lateral stiffness k of the frame can be obtained by static
condensation since there is no force acting on DOF 2 and 3:
6 3h 3h  u1  fs 
EIc     
3 
3h 5h2 h2  u2   0 
h
3h
 h2 5 h2  u3  0 
First partition k as 6 3h 3h 
EI  2  k tt k t0 
k  3c 3h 5h 2
h  
h k t 0 k 00 
3h h2 2 
5h 

where
EIc
k tt  3  6
h
EI
k t 0  3c  3h 3h
h
EIc 5h h2 
2

k 00  3  2 2
h h 5h 
 Solution
Lateral stiffness
Compute the lateral stiffness k from
k=ktt-kt0k00-1kt0T
Since
1 h 5  1 
k 00 
24EIc  1 5
we get
6EIc EIc h 5  1  EIc 3h
k  3  3h 3h   1 5  h3 3h
h3 h 24EIc    
EIc
k  6  3
h3
3EI
k  3c
h
Equation of motion
3EIc
 
mu 3
u  p( t )
h
 Problem 1.15
Derive the equation of motion of the one-story, one-bay frame
shown in Fig. The flexural rigidity of the beam and columns is
as noted.
The mass lumped as the beam is m;
otherwise, assume the frame to be
massless and neglect damping. By
comparing this equation of motion with
the one for example 1.1, comment on the effect of base fixity.

Solution Define DOF

 Solution
Structural stiffness matrix
u1=1 u2=u3=0
12EIc 24EIc
k 11  2 3 
h h3
6EIc
k 21  k 31  2
h

u2=1 u1=u3=0
4EIc 4EIb 4EIc EIc 5EIc
k 22     
h (2h) h h h
2EIb EIc
k 32  
(2h) 2h
6EIc
k12  2
h
 Solution
Structural stiffness matrix
u3=1 u1=u2=0
4EIc 4EIb 4EIc EIc 5EIc
k 33     
h (2h) h h h
2EIb EIc
k 23  
(2h) 2h
6EI
k 13  2 c
h

Hence  
24 6h 6h 
 
EIc  1 2 
k  3 6h 5h2 h
h  2 
 1 2 
6h h 5h 
2

 2 
 Solution
Lateral stiffness k of the frame can be obtained by static
condensation since there is no force acting on DOF 2 and 3:
  u1  fs 
24 6h 6h     
 
EIc  1 2     
6h 5h2 h u2   0 
h 
3
2    
 
1 2 2    
6h h 5 h  u  0 
 2  3   
First partition k as

 
24 6h 6h 
 
EIc  1 2  k tt k t0 
k  3 6h 5h 2
h  T 
h  2  k t 0 k 00 
 1 2 
6h h 5h 
2

 2 
where
 Solution k tt 
EIc
3
 24
h
EI
k t 0  3c  6h 6h
h
 2 1 2
 5 h h 
EI 2
k 00  3c  
h 1 2
h 5h2 
 2 
Compute the lateral stiffness k from k=ktt-kt0k00-1kt0T
 1
5 
1 4h  2
k 00   
99EIc  1
 5
 2 
we get
 1
5 
24EIc EIc 4h   EI 6h
 3  6h 6h 
2
k    3c  
h3 h 99EIc  1 h 6h
Equation of motion  5
 2 
EIc  144 
k 
  
120 EIc  h3 
24
11 
mu  11 h3 u  p( t )
  k
120 EIc
11 h3
 Problem 1.16
Derive the equation of motion of the one-story, one-bay frame
shown in Fig. The flexural rigidity of the beam and columns is
as noted. The mass lumped as the beam is m; otherwise,
assume the frame to be massless and neglect damping. By
comparing this equation of motion with the one for example 1.1,
comment on the effect of base fixity.
Solution
Define DOF
 Solution
Structural stiffness matrix
u1=1 u2=u3=u4=u5=0

12EIc 24EIc
k 11  2 3

h h3
6EIc
k 21  k 31  k 41  k 51 
h2

u2=1 u1=u3=u4=u5=0

4EIc 6EIc
k 22  k12  2
h h
2EIc
k 22  k 42  k 52  0
h
Solution
u3=1 u1=u2=u4=u5=0
4EIc 4EIc 5EIc
k 33   
h 2(2h) h
6EIc 2EIc
k13  2 k 23 
h h
2EIc EIc
k 43   k 53  0
2(2h) (2h)
u4=1 u1=u2=u3=u5=0

4EIc 4EIc 5EIc

k 44   
h 2(2h) h
6EIc
k 14  2 k 24  0
h
2EIc EIc 2EIc
k 34   k 54 
2(2h) (2h) h
Solution
u5=1 u1=u2=u3=u4=0
4EIc 6EI
k 55  k 15  2 c
h h
2EIc
k 45  k 25  k 35  0
h
Assemble the stiffness coefficient

 
24 6h 6h 6h 6h 
 
6h 4h2 2 h2 0 0 
EIc  1 2 
k  3 6h 2 h2 5 h2 h 0 
h  2 
 1 2 
6h 0 h 5h2 2h2 
 2 
6h 0 0 2h2 4h2 
 Solution
Lateral stiffness of the frame
First partition k

 
24 6h 6h 6h 6h 
 
6h 4h2 2 h2 0 0 
EIc  1 2  k tt k t0 
k  3 6h 2h 2
5h 2
h 0  T 
h  2  k t 0 k 00 
 1 2 
6h 0 h 5h2 2h2 
 2 
6h 0 0 2h2 4h2 
 Solution
Compute the lateral stiffness k=ktt-kt0k00-1kt0T
24EIc 22EIc 2EIc
k 3
 3
 3
h h h
Equation of motion
  ku  p( t )
mu

   3 c 
2EI
mu u  p( t )
 h 
 Problem 1.17
A heavy rigid plateform of weight w is supported by four columns,
hinged at the top and the bottom, and braced laterally in each
side panel by two diagonal steel wires as shown in Fig. Each
diagonal wire is pretensioned to a high stress; its cross-
sectional area is A
and elastic modulus is E.
Neglecting the mass of
the columns and wires,
derive the equation of
motion governing free
vibration in
(a)the x-direction, and
(b) the y-direction.
 Solution
(a) Equation of motion in x-direction
The lateral stiffness of each wire is the same as the lateral
stiffness of a brace derived in eq.(c) of example 1.2.
 AE 
kw    cos 
2

 L 
 AE  1 AE
  cos 2 45 
h 2  2 2 h

Each of the four sides of the structure includes two wires. If they
were not pretensioned, under lateral displacement, only the
wire in tension will provide lateral resistance and the one in
compression will go slack and will not contribute to the lateral
stiffness. However, the wires are pretensioned to a high stress;
therefore, under lateral displacement the tension will increase in
one wire, but decrease in the other; and both wires will
contribute to the lateral direction. Consequently, four wires
contribute to the stiffness in the x-direction.
 Solution
AE
k x  4k w  2
h
Then the equation of motion in the x-direction is
 x  k xu x  0
mu
(b) Equation of motion in y-direction
The lateral stiffness in the y-direction, ky=kx, and same equation
applies for motion in the y-direction
 y  k yu y  0
mu
 Problem 1.18
Derive the equation of motion governing the torsional vibration of
the system of Fig. of previous problem about the vertical axis
passing through the center of the plateform.

Solution
The elastic resisting torque fs and inertia force fI are shown in
fig(a). above. The equation of dynamic equilibrium is
fs  fI  0 or    fs  0
Iou (a )
where
Solution
h2  h2 mh 2
I0  m  (b)
12 6
Torsional stiffness k
fs  k u (c )

Introduce u=1 in Fig.(b) and identify the resisting forces due to

each wire. All the eight forces are the same; each is kwh/2,
where from problem 1.17
1 AE
kw 
2 2 h
The torque required to equilibrate these resisting forces is

hh 2  AE  2
k   8k w  2k w h2   h
22 2 2 h 
AEh
 (d)
2
Solution
Substituting eq.(d) in (c) and then eq.(c) and (b) in (a) gives the
equation of motion

   
mh 2 AEh 
u u  0
6  2 
 Problem 1.19
An automobile is crudely idealized as a lumped mass m supported
on a spring-damper system as shown in Fig. The automobile
travels at constant speed v over a road whose roughness is
known as a function of position along the road. Derive the
equation of motion.

Solution
Displacement ut is measured
from static equilibrium
position under the weight
mg.
 Solution
From the free body diagram in Fig.(b)
fI  fs  fD  0 (a )
where
fI  mu
 t
fD  c(u t  u g ) (b)
fs  k(u t  ug )
Substituting eq.(b) in eq.(a) gives
mu t  c(u t  u g )  k(ut  ug )  0
Noting that x=vt and transferring the excitation terms to the right
side gives the equation of motion.

 t  cu t  ku t  cu g ( vt )  ku g ( vt )
mu