Dynamic Analysis

Equation of Motion:
Fig. 1: Body with distributed mass
Consider a solid body with distributed mass as shown in Fig. The displacements
w v u and ,
, stresses
and strains in x, y and z directions are all time depended in dynamic problems. The equation of motion
of the body is obtained by considering both kinetic and potential energies of the body.
The kinetic energy of body is gien by

V
T
dV u u T
!
"
where

# density $mass%unit olume& of the material

u # elocity ector at a point inside the body
'n F(), the entire body is subdiided into number of elements and in each element we express the
displacement u as
Nq u q N u
and hence,
T T T
N q u
*ubstituting into aboe equation, we get the +.( of an element as

,
_

e
V
e T
e
V
T T T T e
q M q q NdV N q dV q N N q T
!
"

!
"

!
"

where M
e
is consistent mass matrix.
The +.( of entire body is obtained by taking summation $i.e assembly& oer all the element and is gien
by
Q M Q T T
T
e
e

!
"
$a&
,e know that, the potential energy of entire body is gien by
F Q KQ Q
T T

!
"
$b&
Then, the equation of motion is obtained by using -agrange equation gien by
.

,
_

Q
L
Q
L
dt
d

$c&
where, T L . *ubstituting of T and from (qn. $a& and $b&, we get
F Q KQ Q Q M Q L
T T T
+
!
"
!
"

Q M
Q
L

( ) Q M Q M
dt
d
Q
L
dt
d

,
_

and
F KQ
Q
L
+

substitute into (qn. $c&, we get

. & $ + F KQ Q M

or F KQ Q M +

For a free ibration of body, . F , then the aboe equation reduces to
. +KQ Q M

$d&
(qn. $d& is equation of motion of body for the free ibration.
Evaluation of Eigen alues and ectors:
,e hae equation of motion of free ibration of body as
. +KQ Q M

$a&
-et the solution of the aboe equation be
t X Q sin
t X Q cos

and t X Q sin
!


sub. 'nto (qn $a&, we get
. sin sin
!
+ t KX t MX
MX KX
!

or MX KX where,
!

$b&
(qn $b& is the expression for eigen alue problem.
(qn.$b& can also be written as
[ ]{ } . X M K $c&
where X is the eigen ector corresponding to the eigen alue .
'f the eigen ector to be nontriial, the required condition is
. M K
$d&
(qn. $d& represents characteristic equation in . *olutions of characteristic equation are the eigen
alues.
For each (igen alue
& , ! , " $ n i
i

there is an (igen ector
i
X
obtained from (qn. $c&.
Then, (qn. $c& is expressed as
[ ]{ } .
i
i
X M K
Derivation of Element Mass Matrices:
!a" For a #$noded bar element:
'n general, the kinetic energy of an
th
e
element can be written as

e
V
e e
T e
dV u u T
!
"
///$a&
The field ariable at any point inside the element is expressed as
Nq u
Therefore, its deriatie w.r.t time, t is written as
q N u
T T T
N q u
*ubstitute into (q, $a&, we get
q NdV N q dV q N N q T
e
V
e
T
e
T
e
V
e e
T T e

,
_

!
"
!
"
q M q T
e T e

!
"
///$b&
where,

e
V
e
T
e
e
NdV N M
is the element mass matrix ///$c&
For a !/noded bar element shown in Fig, we hae,
dx A dV
e e

"
!
. x
e
l x
"
u
!
u
& $x P
e
l
Consider a !/noded bar element as shown in fig, -et u

and
u
!
be the nodal displacements. Treating the material
density,

$kg%m
0
& to be constant oer the element, the
element mass matrix can be obtained from the kinetic
energy functional as follows.
e
{ }
! "
u u q
T
and [ ]
! "
N N N
[ ]
1
1
]
1

'

!
! ! "
! "
!
"
! "
!
"
N N N
N N N
N N
N
N
N N
T
*ubstitute into (q. $c&, we get
dx
N N N
N N N
A M
e
l
e e
e

1
1
]
1

.
!
! ! "
! "
!
"
///$d&
'ntegration of (q. $d& can be carried out using the following integration rule,
e e
e
l
e
l
l l dx N dx N
1
!
&2 " ! $
2 !
!
!
!
"

+


and
e e
e
l
l l dx N N
1
"
& " " " $
2 " 2 "
! "

+ +

*ubstitution of aboe integrals into each term of (q. $d& yields mass matrix for a !/noded bar element as
1
]
1

! "
" !
1
e e e e
l A
M

!b" For a %russ element:
Proceed same as case "a#and show that

e
V
e
T
e
e
NdV N M
///$c&
For a truss element shown in Fig, we hae x d A dV
e e
3 { }
! ! " "
v u v u q
T
and
1
]
1

! "
! "
. .
. .
N N
N N
N $see note below&
&ote: For a truss element we hae
! ! " "
u N u N u + and
! ! " "
v N v N v +
Nq
v
u
v
u
N N
N N
v
u
u

'

1
]
1

'

!
!
"
"
! "
! "
. .
. .
1
1
1
1
1
]
1

1
]
1

1
1
1
1
]
1

! ! "
!
! ! "
! "
!
"
! "
!
"
! "
! "
!
!
"
"
. .
. .
. .
. .
. .
. .
.
.
.
.
N N N
N N N
N N N
N N N
N N
N N
N
N
N
N
N N
T
///$d&
*ubstitute into (q. $c& and carryout integration of each term using the following rule, we get mass matrix
for truss element.
Consider a !/noded truss element as shown in fig. The truss
element can be considered as a bar along its local
coordinate x . -et u
,
v

and u
!
, v
!
be the nodal
displacements in x and y / directions. Treating the material
density,

$kg%m
0
& to be constant oer the element, the
element mass matrix can be obtained from the kinetic
energy functional as follows.
e
"
!
"
u
!
u
"
v
!
v
%russ Element
e e
e
l
e
l
l l dx N dx N
1
!
&2 " ! $
2 !
!
!
!
"

+


and
e e
e
l
l l dx N N
1
"
& " " " $
2 " 2 "
! "

+ +

The resulting mass matrix is

1
1
1
1
]
1

! . " .
. ! . "
" . ! .
. " . !
1
e e e e
l A
M

!c" For a Beam element:
Proceed same as case "a# and show that

e
V
e
T
e
e
NdV N M
///$c&
4ow, for beam element, we hae
dx A dV
e e

3 { }
! ! " "

w w q
T
and
[ ]
5 0 ! "
N N N N N

1
1
1
1
1
]
1

!
5
5 0
!
0
5 ! 0 !
!
!
5 " 0 " ! "
!
"
N
N N N
N N N N N
N N N N N N N
N N
T
///$d&
where, the shape functions for beam element are expressed in cartesian coordinate system as
0
0
!
!
"
! 0
"
e e
l
x
l
x
N +
;
!
0 !
!
!
e e
l
x
l
x
x N +
--- (e)
0
0
!
!
0
! 0
e e
l
x
l
x
N
;
!
0 !
5
e e
l
x
l
x
N +
*ubstitution of (qs. $d& and $e& into (q. $c& and integration of the resulting equation yields the
mass matrix for beam element as
1
1
1
1
]
1

!
! !
5
!! "61 .
0 "0 5
"0 65 !! "61
5!.
e
e
e e e
e e
e e e e
l
l $%mm
l l l
l l
l A
M

&ote: The integration rule used in the preious cases is applicable only for the bar element and
hence it cannot be used for beam element.
'onsistent mass matri(: The element mass matrix obtained by the relation

e
T e
NdV N M

is called consistent mass matrix. 't is termed consistent because the same shape functions 4 are
used to formulate the stiffness and mass matrices. For the !/noded bar element, as an example,
the consistent mass matrix is expressed as,
1
]
1

! "
" !
1
e e e e
l A
M

" !
. x
e
l x
"

e
l
"
w
"

Consider a !/noded beam element as shown in Fig. -et

" "
, w
and
! !
, w
be the nodal deflection and slope
at node " and ! respectiely. Treating the material
density,

$kg%m
0
& to be constant oer the element,
the element mass matrix can be obtained from the
kinetic energy functional as follows.
)um*ed mass matri(: The lumped mass matrix is obtained by equally placing the total mass of
the element at the nodes of the element. Then, the resulting lumped mass matrix is diagonal. For
a !/noded bar element, it is expressed as
1
]
1

" .
. "
!
e e e e
l A
M

.
'onsistent masses v+s )um*ed masses: The lumped masses proide some significant
economies compared to consistent masses. The diagonal lumped mass matrix requires less
storage space than the banded consistent mass matrix. The diagonal lumped form greatly
simplify the matrix calculation, it reduces the number of equations occurring in the dynamic
problem. 7oweer, the mode shapes obtained using lumped mass matrix are less reliable and
consistent mass matrix proides more accurate mode shapes and the natural frequencies than the
lumped mass matrix.

,ro*erties of Eigenvectors:
The (igenectors hae the following properties8
". For a positie definite symmetric stiffness matrix of size $4x4&, there are 4 number of real
&i'envalues and corres(ondin' &i'envectors satisfying the equation $(q. 0.!& MX KX .
!. The eigenalues $i.e. natural frequencies& may be arranged in ascending order8
N

! "
.

and if
N
X X X , , ,
! "
are the corresponding eigenectors $i.e. mode shapes&, then the
following equation will be satisfied,
i
i
i
MX KX . 7ere i mode number corresponding to
i

.
0. The eigenectors are orthogonal with respect to both the stiffness and mass matrices8
.
i iT
MX X
if
) i

.
i iT
KX X
if
) i

5. The lengths of eigenectors are generally normalized so that
"
i iT
MX X
and that aboe normalization of the eigenectors leads to the relation
i
i iT
MX X
Note: Normali*ation o+ the vectors can also ,e done ,% settin' its lar'est com(onent to a (reset
value- sa% unit%. This (rocedure has ,een used while stud%in' natural +requencies and mode sha(es
o+ two or multi ./F vi,ratin' s%stems in mechanical vi,ration.
,rob. 1: 9etermine the eigenalues and eigenectors for the stepped bar shown in Fig. ".
E = 200Gpa, = 7830 kg/m
2

Fig. 1
-olution: 'n general, the elemental stiffness matrix for the bar element is expressed as
1
]
1

" "
" "
e
e e e
l
& A
K
Therefore, for element " and ! it becomes as
! " ! 0
../ m ../ m
1.. mm
#
/. mm
#
F(t)
!
"
". 5 ". 5
". 5 ". 5
: :
: :
"
1
1
]
1

x x
x x
K
and
0
!
". ! ". !
". ! ". !
: :
: :
!
1
1
]
1

x x
x x
K
/// $("&
The general expression for the mass matrix a bar element $(q. 5.0a& is
1
]
1

! "
" !
1
e e e e
l A
M

.
Therefore, for element " and ! it becomes as
" ! ! 0
!
"
"0.6 . . .16!6 . .
.16!6 . . "0.6 . .
"
1
]
1

M
and
0
!
.16!6 . . .0!10 . .
.0!10 . . .16!6 . .
!
1
]
1

M
///
$(!&
Connectiity table8
(lement 4os. -ocal 4ode 4os. ;lobal 9<F 4os.
"
" "
! !
!
" !
! 0
,rite the global 9<F 4os. for the row and column of the elemental stiffness and mass matrices
as shown in (qs. $("& and $(!& and assemble, we get global stiffness and mass matrix as
" ! 0 " ! 0

0
!
"
". ! ". ! .
". ! ". 1 ". 5
. ". 5 ". 5
: :
: : :
: :
1
1
1
]
1

x x
x x x
x x
K
and
0
!
"
.16!6 . . .0!10 . . .
.0!10 . . "=6:6 . . .16!6 . .
. .16!6 . . "0.6 . .
1
1
1
]
1

M
From (q. 0.5, we hae the characteristic equation as
. M K
, where
!

*ubstitution for K and M yields
.
.16!6 . . .0!10 . . .
.0!10 . . "=6:6 . . .16!6 . .
. .16!6 . . "0.6 . .
". ! ". ! .
". ! ". 1 ". 5
. ". 5 ". 5
: :
: : :
: :

1
1
1
]
1

1
1
1
]
1

x x
x x x
x x
.
.16!6 . . ". ! .0!10 . . ". ! .
.0!10 . . ". ! "=6:6 . . ". 1 .16!6 . . ". 5
. .16!6 . . ". 5 "0.6 . . ". 5
: :
: : :
: :

x x
x x x
x x
>pplication of ?oundary condition$s&8 *ince node " is fixed, we hae X

# .. Therefore, modify
the aboe equation using elimination method i.e. eliminate "
st
row and "
st
column of the aboe
equation we get
.
.16!6 . . ". ! .0!10 . . ". !
.0!10 . . ". ! "=6:6 . . ". 1
: :
: :

x x
x x

. & .0!10 . . ". ! $ & .16!6 . . ". ! &$ "=6:6 . . ". 1 $
! : : :
x x x
. ". =6 . 1 ". :6 . 1
"1 @ !
+ x x is the characteristic equation.

The roots of the characteristic equation gie the eigenalues. Therefore, eigenalues are
@
"
". ..6 . " and
@
!
". @ . 1
Therefore, the first natural frequency is
"..!5 ". ..6 . "
@
"
rad%sec or 6 . "6=6
!
"
"

+ 7z.
*econd natural frequency is
@ . 1.:1 . ! ". @ . 1
@
!
rad%sec or 0 . 5"6.
!
!
!

+ 7z.
(igenectors or mode shapes8 >fter modification for the boundary condition, (q. $0.0& can be
written as
.
.16!6 . . ". ! .0!10 . . ". !
.0!10 . . ". ! "=6:6 . . ". 1
0
!
: :
: :

'

1
1
]
1

i
i
i i
i i
X
X
x x
x x


/// $(0&
First )ode *hape8 Take any one equation in the aboe matrix and substitute for
@
"
". ..6 . "
i
,we get first mode shape $i0#.
. & ". ..6 . " .0!10 . . ". . ! $ & ". ..6 . " "=6:6 . . ". $1
"
0
@ : "
!
@ :
+ X x x x X
"
0
"
!
00 . ! .00 . 5 X X or
6:: . .
"
0
"
!

X
X
4ormalization of the aboe mode is obtained by fixing the alue of
"
0
X
# " $a unity&
Then, first mode shape will be,
{ } { } " 6:: . .
"
0
"
!

T
X X
*econd )ode *hape8 *ubstitution of
@
!
". @ . 1
i
into any one equation of (q. $(0& yields
second mode shape.
. & ". @ . 1 .0!10 . . ". . ! $ & ". @ . 1 "=6:6 . . ". $1
!
0
@ : !
!
@ :
+ X x x x X
The aboe equation gies second mode shape as
{ } { } " 6:: . .
!
0
!
!

T
X X
First Mode
-econd Mode
X
x
" ! 0
..6::
"
X
x
"
!
0 ..6::
"