Answers to Odd-Numbered Homework Exercises

Mechanical and Structural Vibrations

Jerry H. Ginsberg, John Wiley and Sons, Inc. 2001
Chapter 1
1.1
1.3
1.5
1.7
1.9

1.11

1.13
1.15
1.17

1.19
1.21

k1 (k2 + k3 )
+ k4
k1 + k2 + k3
3 (EI/L3 ) k (2k + 3EI/L3 )
keq =
k 2 + 9k (EI/L3 ) + 9 (EI/L3 )2
8
3
m
y + y + ky = 0
2 3

1
1
2
mL + k mgL = 0
3
2

1 2
9
1 2
1 2
9
3
2
mL 1 + cL 1 cL 2 +
mgL + kL 1 kL2 2 = 0
64
16
8
32
4
8

1 2
1 2
3 2
1
1
9
2
2
mL 2 cL 1 + cL 2 kL 1 +
mgL + kL 2 = 0
3
8
4
8
2
16
keq =

(a) m1 x1 + (k1 + k2 + k4 ) x1 k2 x2 = F,

m2 x2 k2 x1 + (k2 + k3 ) x2 = 0

k2 k3
(b) keq = k1 + k4 +
k2 + k3

R32
R32
R12
R12
(b) M11 = I1 2 + I2 2 + I3
(a) M11 = I1 + 2 I2 + 2 I3 ,
R2
R3
R1
R2
25
M11 = mL2
48

1
c1 + c2 L2 ,
C11 = C22 =
C12 = c2 L2
4

1 2 1
1 2
kL
kL + mgL

4
2
4

[K] =

1 2 1
1 2
kL
kL + mgL
4
4
2
K11 = 3.28k

1.23

1
Q1 = F L
4

1.25

Q1 = 0,

Q1 = F r sin ()

yG

1.27

{q} =

1.29

kY
[K] =

kY `

{q} =
y2 ,

y3

1.31

1.33

1.37

0
m

[M] =

2
0 mrG

L
kY `
,
{Q} =

L (` + s)
kY ` + kT

5
1 0 0

[C] = c
[M] = m 0 2 0 ,
2

0
0 0 3

5 2 0

{Q} = F
[K] = k 2 3 1 ,
2

3
0 1 1

yG

1 0
,
{q} =
[K] = k
,
[M] = m

3 2

(ccw)

0
b
4

2 b

,
{Q} = F
[C] = c

5 2

1b

b
b
2
2
q1 = x1 (cart), q2 = s2 (block parallel to incline)

cos ()
3 0

,
[K]
=
k

0 1
cos ()
1

1 0

{q} =
,
[M] = I0

2
0 1

0
2 1

{Q} =
[K] = kR
,

F r sin ()
1 1

1
1
2
mL + k mgL = 0
3
2

[M] = m

1.35

3 1

1 1

5 2
b
b
2

1.39

y = vertical displacement, m
y + 0.6580ky = 0

1.41

(a) `0 = 1.632L,

1.43

24mr2 + 4mgr = 0

1.45
1.47

1.49

1.51
1.53

1.55

5
(b) mL2 + 2.402mgL = 0
3

25
1
mL2 + kL2 = F L
48
4

(bar, ccw)
,
{q} =

y (block)

1
2
0
m1 L
3

[M] =

0
m2

8 FL
0.4k2 L
15
,
{Q} =

0
k2

(0.64k1 + k2 ) L2
[K] =

0.4k2 L

x
m 0 0

,
[M] =
{q} =
y
0 m 0
G

0 0 IG

[K] = k

3.5

(4L 7b)

0.5

(3.5b2 + 2L2 4bL)

3
mg
q = y L,
m
q + 3.253
q=0
4
L
mg
(a) `0 = 0.866L + 1.7321
,
(b) K11 = 2mgL + 0.25kL2
k
kL
> 592
(c)
mg
(4L 7b)

q = AB 65o
2.512mL2 q + 1.4665cL2 q + 1.4665kL2 q = 0.2707F L

1.57

+ 1.5831kR2 = 1.2582F R, = /2
4.614mR2

Chapter 2
2.1
2.3

F = 500 cos (5t 1.2611) N

x (0) = 17.324 mm,

x (0) = 10.465 m/s,

max(
x) = 2.193 (104 ) m/s2 @ t = 2.5 ms

max (x)
= 20.94 m/s @ t = 4 ms,
2.5

min (x) @ t = 2.5 ms

(b) V = Re {471 exp [i (t + 0.982)]} volt/s

(a) V = Re {1.2 exp [i (t 0.589)]} volt,

(c)max V = 471 volt/s when t = 0.0135, 0.215, ... sec

2.7

(a) x = 14.25 sin (t + 2.449) ,

(b) t = 0.693/ for x = 0,

2.9

(a) t = 0.010472 sec for F = 0,

(b) F = 200 cos (250t) + 346 sin (250t)

2.11

B = 10

20
q t , 10
n

(c) t = 2.26/ for x = 0

20

t
n

B=6

20
q t ,6
n

20

3
t
n

B=5

10
q t ,5
n

10

3
t
n

2.13

p1 = 0.005 cos (878t 1 ) ,

2.15

u = 0.01 cos (50T + 0.6) 0.05 cos (10T + 0.6) + 0.04952

2.17

(a) q = 0.10146 m @ t = 2.73 ms,

2.19

k = 392.3 N/m,
m = 0.1956 kg
1/2

4kR 2mg
nat =
,
Unstable if m2 g > 2kR
(3m1 + 8m2 ) R

2.21

p2 = 0.005 cos (882t 1 0.20) Pa

(b) q = 51 m/s @ t = 12.10 ms

2.23
2.25

Keq = 1.583 (108 ) N/m,

Ceq = 2.315 (104 ) N-s/m

(a) nat = 200 rad/s, = 0.20

(b) q = 0.012 exp (40t) [cos (195.96t) + 0.2041 sin (195.96t)] m
(c) min q = 0.00632 m @ t = 0.01603 sec
(c) q = 0 @ t = 0.00904 sec

2.27
2.29

C = 10.208 N-s/m, max (q) = 0.695 mm @ t = 16.57 ms

(a) = 0.297, nat = 62.90 rad/s, = 0.04723
(b) t > 2.507 sec, (c) t > 1.257 sec, (d) q0 = 1.904 m/s

2.31

,
= cos (ta /tb ) ,
tb sin (ta /tb )

ta
qmax
ta
exp cot
v0 =
tb sin (ta /tb )
tb
tb

nat =

2.33

x = 2.207 m @ t = 0.10 sec

2.35

EI = 88.83 (106 ) N/m,

2.37

(a) cT = 21.21 N-m-s/rad,

2.39

t = ta + 4tb

c = 9.818 (105 ) N-s/m

(b) t = 0.4664 sec,

(a) L = 69.87 mm, c = 80.42 N-s/m,

(c) t = 0.4965 sec

(b) t = 0.09224 sec

(c) = 2.400 (106 ) [56.60 exp (3.72t) 3.72 exp (56.60t) rad]
2.41

t = 8.625 sec

2.43

(a) k = 0.02516,

2.45

0
q val
n

(b) x < 7.8 mm for dry friction, x < 7.801 mm for viscous friction

10

maximum positive q @ nat t = 0.556

2.47

q = A sin (t) + B cos (t) + C1 exp (0.6417nat t) + C2 exp (1.5583 nat t)

2nat 2
2 nat
F0
F0
h
i,
i
B= h
2
m ( 2 2 ) + 4 2 2 2
m ( 2 2 )2 + 4 2 2 2
nat
nat
nat
nat

v0 A
v0 A
C1 = 1.7002B + 1.0911
,
C2 = 0.7002B 1.0911
nat
nat
A=

2.49

q=

F0 cos [( 2 1 ) t] cos ( nat t)

F0 cos [( 2 + 1 ) t] cos ( nat t)
2
2

2
2m
2m
nat ( 2 1 )
nat ( 2 + 1 )2
2

2.51

1
q t
n
0
1

20

40

60

80

t
n

2.53

q = r (t) 2r (t )

2.55

q = F0 u (t)

2.57

q = 104 r (t) 104 r (t 0.02) 200u (t 0.02)

F0
F0
r (t) + r (t )

0.002
0.001

q
j

0
0.001
0.002

0.02

0.04

0.06

0.08

t
j

2.59

q = F0 c (t) + F0 s t
2 d

2.61

(a) c = 489.9 N-s/m,

2.63

q = P g (t) + P g (t ) + P g (t 2 ) + ,
nat = 2 gives maximum q

2
[1 cos ( nat t)] h (t)
q = c sin ( nat t)
nat

2.65

(b) x = 0.7053 [exp (2.0568t) exp (72.944t)] m

7
15

2.67
acc mag
j
max acc
min acc

10

2
j

Chapter 3
3.1

= 0 : Q = 840 cos (110t 1.5) N,

3.3

= 0 : |F | < 395.6 N,

3.5

= 0.4 : Q = 3619 cos (110t + 0.3051) N

= 0.05 : |F | < 1260.2

= 950 Hz : q = 3.117 (105 ) sin (1900t 0.01234) m

= 1050 Hz : q = 2.965 (105 ) sin (2100t 3.129) m

3.7

(a) nat = 80 rad/s,

(b) = 0.06290

(c) M = 0.6442 kg, K = 4.069 (104 ) N/m, C = 26.37 N-s/m

(d) |q| = 0.00588 m,
3.9

(e) q = 19.63 cos (80t) m/s

|F | = 104.88 N & relative arg (F ) = 3.132 rad @ = 75 rad/s

|F | = 152.63N & relative arg (F ) = 3.135 rad @ = 85 rad/s

3.11

(a) = 134.3o @ 105 Hz,

3.13

(a) = 0.05098 & |q| = 4.84 mm,

3.15

(b) |q| = 1.687 mm & = 152.4o @ 110 Hz

(b) |q| = 4.83 mm

(a) k = 4000 N/m, c = 2000/ N-s/m

(b) x = Re [(14.85 + 18.60i) exp (i50t)] mm

3.17

3.19
3.21

3.23

8
8 2
(a) Ceq =
X, eq =
X
3 K
3

8 2
(b) kX 1 r2 + i
r X
=F
3 M

(a) = 0.11467,

(b) m = 0.19568 kg-m,

nat = 408 rad/s,

= 28 rad/s,

m = 2.35 kg-m,

min (|q|) = 4.7 mm

(a) nat = 30 rad/s,

(c) min (|Y |) = 2.448 mm

= 0.035

(b) c = 1.109 (104 ) N-s/m

(c) |y| = 8.90 mm, 109.7o above or 70.3o below horizontal

3.25

3.27

1
5
1
2
I1 + mL + cL2 + kL2 = mL 2 sin (t)
9
9
9
mL
r2
|| =

1/2
5
2
2
I1 + mL2 (1 r2 ) + 4 r2
9
(a) || = 0.0541 rad, arg () = 0.823 rad,
(b) > 7.73 n-s/m

3.29

Rc = 0.665 mm @ r = 0.5,

3.31

R = 20 mm, < 0.1704 mm

3.33

/nat = 0.843 and = 0.356, or /nat = 1.352 and = 0.265

2 2 1/2 2
r
r
1
+
4

|Ftr | = m 2nat
, r=

1/2
nat
(1 r2 )2 + 4 2 r2
k = 3.03 (105 ) N/m,
c = 1.937 (103 ) N-s/m

3.35
3.37
3.39
3.41
3.43
3.45

Rc = 20 mm @ r = 1,

Rc = 2.67 mm @ r = 2

iF
F0 = F, Fn =
if n 6= 0
n

P
1 exp ()
2t
Q=F
exp in
+ 2in
T
n=

P
2F
F
F
+
sin (t) +
cos (2nt)
q=
2
2
2
K 2 (K M2 )
n=1 (1 4n ) (K 4n M )
P
X1 = (0.02412 + 0.0405i)
k
0.007

3.47

0.006

jj
0.005
0.004

0.5

1
t
jj
T

1.5

10

3.49

0.5

1.5

wT=0.2pi
wT=2pi
wT=20pi

3.51

(a) 33% error in amplitude and 4o error in phase for rst harmonic,
0.2% error in amplitude and 0.3o error in phase for tenth harmonic
(b) 125% error inamplitude and 10o error in phase for rst harmonic,
0.6% error in amplitude and 0.4o error in phase for tenthharmonic
(c) 15% error in amplitude and 60o error in phase for rst harmonic, ,
0.3%error in amplitude and 4o error in phase for tenth harmonic

3.53

1.5

For = 1 :
2
nat .y
j, 1
z''
j, 1

0.5

0.2

0.4

0.6

0.8

t
j

3.55
3.57

|Yn /An | = 1.127 (1012 ) and arg (Yn /An ) = 180o for n 32
P
[ 2 ( 2 t2 ) + 2 (2nat 2 + 2) cos (nat )] if t <
M 4nat 2 nat
P
q=
{2 cos [nat (t )] 2nat sin [nat (t )]
M 4nat 2

q=

( 2nat 2 + 2) cos ( nat )} if t >

11
40

3.59

20

q
n
QQ

0
n
20
40

0.5

1.5

2.5

3.5

t
n

3.61

4
2
0
2
4

0.5

1.5

Displacement (nondim.)
Force (nondim.)

3.63

2.5

3.5

4.5

Time (sec)

= 0.2: nat 2960 rad/s, 1380 rad/s

= 0.002: nat 3140 rad/s, 17 rad/s

3.65
3.67

nat 24.1 rad/s, 0.0249

80
60

40
20

0
0.5

3.69

1.5

Actual D
Direct DFT
Hanning
0

For = 6 :
Im G
j, 4

0.05

0.1
0.05

0
Re G
j, 4

0.05

5.5

12
0.0015

3.71

0.001
G
n

5 .10

50

100

150

200

250

300

13

Chapter 4
4.1

4.3

4.5

1 = 6.021 rad/s, {1 } = [1 0.275]T

2 = 20.341 rad/s {2 } = [1 7.275]T
1/2
k
1 = 0.3660
, {1 }T = [1 1.2529]T
m
1/2
k
2 = 2.326
{2 } = [1 0.9128]T
m
Case (a): 1 = 7.404 rad/s, {1 } = [1 0.5909]T
2 = 60.37 rad/s {2 } = [1 6.34]T
Case (a): 1 = 14.028 rad/s, {1 }T = [1 0.2668]T

4.7

4.9

4.11

4.13

2 = 100.81 rad/s {2 } = [1 16.339]T

g 1/2
= 4 : 1 = 0.794
, {1 }T = [1 1.312]T
L
g 1/2
2 = 7.422
{2 } = [1 2.122]T
L
g 1/2
= 2 : 1 = 1. 2247
, {1 }T = [1 1 1]T
L
g 1/2
2 = 2. 7386
, {2 } = [1 0 1]T
L
g 1/2
3 = 4. 4159
, {3 } = [1 2 1]T
L
1 = 233.5 rad/s, 2 = 316.2 rad/s

0.2697 0.4472

[] =

0.4045 0.4472

2 = 165.8 rad/s, K22 = 75000 N/m, K12 = K21 = 15000 N/m

3
1

21
14
[] =

1
2

21
14

14

4.15

1 = 6.02 rad/s, 2 = 20.34 rad/s

0.4908 0.0954

[] =

0.1349 0.6941

4.17

mL
EA

1/2

= 1.564, 4.54, 7.07, 8.91, 9.87

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Position (x/L)

Mode 1
Mode 2
Mode 3
Mode 4
Mode 5

4.19

4.21

4.23

= 8.152, 9.94, 19.162 rad/s

0.924
0.162
2.502

[] = (102 )
6.669
0.352 0.217

0.773 2.088 0.027

= 1.5939, 3.761, 5.326, 8.055 rad/s

1.566 1.560
3.851
0.534

1.356
3.069 1.947 2.225

[] = (103 )

2.916
1.467
3.752
0.518

3.977 3.025 1.896 0.089

kB = 20.95 kN/m, 1 = 2 = 7.74 rad/s

1 0

[] =

0 1

15

4.25
4.27

4.29

k
1 = 0, 2 = 1.581
m

1/2

1
1
1
1
1
1

1.732 0.140
2.067
1.618 0.618
0.577

1
1
1
0.901 1.035
1

[] =

1.039
1.295 0.910 1.675 0.577
0.577

3.578 1.901
0.035
0
0.401 0.242

1.385
0.577
0.577
0.057
1.175 1.155

0.126

0.874
k
sin (t)
cos (t) +
{q} =

mg

0.831/L
0.831/L

Displacement (m)

4.31

1/2
k
, 3 = 2.739
m
1/2
1/2
k
k
1 = 2 = 3 = 0, 4 = 5 = 1.25
, 6 = 1.732
m
m

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

2.2

Time (sec)

Floor 1
Floor 2
Floor 3
Floor 4

4.33
4.35

4.37

q1 =10.97 mm, q2 =
17.07 mm @ t = 2 sec.

0.7071 1 0.2 cos (3t /4) + 0.1414 cos(2t) + 4.926 sin(2t)

q=

0.15972 cos (3t /4) 0.0714 cos(4t) 0.7261 sin(4t)

1.4042
1
j = 2j [400u (t, j ) 200r (t, j ) + 200r (t 2, j )]

0.1169 0.6974 1 (t)

q (t) =

2 (t)

0.0986 0.0165

16

4.39

P = mv

x
1,n
0

x
2,n

10

15

20

25

30

35

t
n

4.41

4.43

1 = 0.0600, 2 = 0.10182, ( d )1 = 49.94, (d )1 = 96.15 rad/s

(
"
#)

1
j
j = 2 1 exp j j t cos ((d )j t) +
sin (( d )j t)
h (t)
j
( d )j

0.1452 0.2808 1

q=

0.1986
0.1028
0.005

1,p

0.005

20

40

60

80

100

120

140

t
p

4.45

0.01
q
1,n
q
2,n
q
3,n

0.01

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

t
n

4.47

Y1 = 0.2036 + 0.0070i, Y2 = 0.2707 + 0.0176i m

4.49

a = c = 0.5547/ m, b = 0.8321/ m, = 33.69o

10

4.51
Re Y
1,n
Im Y
1,n

10

17

4.53

mgL
mgL
mgL
|1 | = 1.624,
|2 | = 4.898,
|3 | = 8.254
0
0
0

4.55

|y1 | = 0.1538 m, |y2 | = 0.0926 m, vcr = 1.98, 2.96 m/s

4.57

|y| = [0.1084 0.0704 0.0080 0.0005]T m @ = 1.182 rad/s

4.59

|y| = [0.1114 0.0529 0.0045 0.0013]T m @ = 1.306 rad/s

"
#

X
X
exp (i2nt/T )
{j } (1j P1 + 2j P2 )
{q} = T
2 T 2 4 2 n2
n= j
j=1

18

Chapter 5
5.1

q1 = 6.71 sin (20t 2.29) , q2 = 17.53 sin(20t 2.292) mm

10

5.3

5
Re X
Im X

1 ,n
0

1 ,n
5

10

0.5

1.5

2.5

n
0.1

Amplitude (m)

5.5

0.01

1 .10

1 .10

4
0

10

15

20

Speed (m/s)

Front, c = 5 kN-s/m
Back, c = 5 kN-s/m
Front, c = 0.5 kN-s/m
Back, c = 0.5 kN-s/m

5.7

For = 20o :
0.1

0.1
x
n

y G 0.05
n

y
n
0

10
v
n

0.05

20
0

10

20

v
n

5.9

= 0.004 :
{Y } = [0.807 exp (1.234i) 0.417 exp (2.018i) 0.3372 exp (1.903i)] m

19
0.1

5.11
Amplitude (m)

0.01
1 .10

1 .10

1 .10

1 .10

6
0

10

12

Frequency (rad/s)

Floor 4
Floor 3
Floor 2
Floor 1

5.13

For = 0.0001 :
4
1 .10
. 3
Z
6 , k 1 10
Z
7,k

100

Z
8,k
Z
9,k
Z
10 , k

10

0.1
0.8

0.9

1.1

1.2

1.3

1.4

1.5

5.15

m > 4.46 kg and k (N/m) = 400m (kg)

5.17

(a) k2 = 63.2 kN/m, (b) k2 = 35.5 kN/m, (c) |y1 | = 0.1944m, |y2 | = 0.250m

5.19

(a) k2 = 266.7 N/m

(b) 1 = 2.30 (103 ) sin (20t 1.905) , 2 = 7.32 (103 ) sin (20t 2.247) rad
Case (a)

5.21
5
qa
1,p
qa
2,p

Case (b)

5
qb
1,p
qb
2,p

5
0

0.5
t
p
2 .

0.5
t
p
2 .

20

5.23

(a) M11 = m1 + m3 , M22 = m1 R2 + m3 (`2 + 23 )

M33 = m2 , M44 = m2 22
K11 = 2 (k1 + k2 ) , K22 = 0.0648k1 + 0.0128k2
K33 = 2k2 , K44 = 0.0128k2
K13 = K31 = 2k2 , K24 = K42 = 0.0128k2
C11 = C33 = c, C13 = c
Q1 = m2 cos (t) , Q2 = m`2 sin (t)
k2
(b) m2 = 2 ,
2
(c)

100
10
Y
1,n

Y
2,n

0.1

0.01
Y
3,n . 3
1 10
Y
4 , n 1 .10 4
5
1 .10
6
1 .10

50

100

5.25

0.003

<1> 0.002
x
j
<2>
x
j0.001

0.1

0.2
t
j

0.3

150

200

21
0.02

5.27
q
j,1

0.01

q
j,2
q
j,3

0.01

0.2

0.4

0.6

0.8

t
j

5.29

1 = 5.734, 2 = 18.478 rad/s, 1 = 0.0019, 2 = 0.0020

0.0124 0.298

[] =

0.0514
0.213

22

Chapter 6

6.1

2.036 1.527 1.221

3.403 2.202 1.801

[M] =
1.527 1.221 1.018 kg, [K] = 10 2.202 1.801 1.601

1.221 1.018 0.872

1.801 1.601 1.481
Cjn = 4000 N-s/m, {Q} = F [0.50 0.25 0.125]T

6.3

6.5

j = (x/L)j1 ,

jx
j = sin
,
L

N/m

1
0.5 0.333

[M] = AL 0.5 0.333 0.25 , {Q} = F

1

1
0.333 0.25
0.2

0
0 0

EA
0 1
[K] =
1
L

0 1 1.333

0.5 0.167 0.056

+ k 0.167 0.056 0.019

0.056 0.019 0.006

0.09
0
0.007
0.75

0.09
0.75
0.097
0

[M] = A0 L

0
0.097 0.75 0.099

0.007
0
0.099 0.75

0
0.015
0.75 0.113

0.113 0.75 0.105

0

EA0

[K] =

0
0.105
0.75
0.103

0.015
0
0.103 0.75

23

6.7

6.9

6.11

6.13

6.15

(n 1)
(j 1)
cos
Mjn = 9JL cos
2
2

1 if j = n = 1

+JL 0.5 if j = n > 1

0 otherwise

2
GJ 2 (j 1) (n 1) + 2 if j = n > 1
Kjn =

2 otherwise

(j 1)
Qj = cos
2
x j
GJ
1
jn
JL + If , Kjn =
j =
, Mjn =
L
j"+ n + 1
j+n1 L
j+n j+n #
1
2
, Qj =
+
Cjn =
3
3
x j+1
1
(j 2 + j) (n2 + n) EI
k
AL, Kjn =
j =
, Mjn =
+
L
j+n+3
j +n1
L3
2j+n+2
c
Cjn = j+n+2 , Qj = F
2

n
jx
1
j
j = sin
, Mjn = AL jn + m sin
sin
L
2
4
4
4 2 2
j n EI
jn
Kjn =
2 L3
x
x
1
, q4 = y of the block
j =
L
L

0
0.0072 0
0.0244

0
0.0171
0
0

[M] = AL

0.0072
0
0.0168
0

0
0
0
0.25

24

0
10.08 15
15.99

0
66.20
0
0

EI
, {Q} = F
[K] = 3

0.25
0
224.83 15

10.08

0
15
0
15
60
3 .10

6 .10

2 .10

4 .10

1 .10

2 .10

Rotation (rad)

Rotation (rad)

6.17

0.25

= 0.951
= 1.051

0.5

= 0.952

= 1.052

Position (x/L)

6.19

0.5

0.01
X
1,k
X
2,k
X
3,k

1 .10

1 .10

1 .10

1 .10

1 .10

7
0

500

1000

1500

2000

2500

3000

3500

6.21

1/2

= [0.700 3.490 7.7641]T (E/L2 )

4

p,1

p,2
p,3

0.2

0.4

0.6

0.8

x
p

6.23

Position (x/L)

1/2

{} = [0.860 3.426 6.664]T (E/L2 )

1.2

4000

25

2
1
0
1
2

6.25

0.2

0.4

Mode 1
Mode 2
Mode 3

0.6

0.8

1/2

N = 4 : {} = [5.355 17.072 51.094 196.706]T (EI/AL4 )

4

p,1

p,2
p,3
0

p,4

0.2

0.4

0.6

0.8

x
p

6.27

Case 1: k = 20EI/L3 , First three modes:

1/2

{} = [4.56 22.95 61.72]T (EI/AL4 )

2

0.5

p,1

p,2
p,3

1
2
3

0.2

0.4

0.6

0.8

x
p

6.29

For m = 2AL :
1/2

{} = [9.019 61.825 94.222 202.384]T (EI/AL4 )

1/2

, rb = 9.798 (EI/AL4 )

26
2

p,1

p,2
0
p,3
p,4

0.2

0.4

0.6

0.8

x
p

6.31

1 .10

1 .10

Y
p , 1 1 .10 5
Y
6
p , 2 1 .10
7
Y
p , 3 1 .10
1 .10

1 .10

9
0

0.2

0.4

0.6

0.8

x
p

0.02

6.33

Disp 0.01
p
0

6.35

0.1

Results for N = 4 :

0.3

0.4

0.5

t
p

Initial displacement

1
ua
p,1

0.2

0.5

u0 x
p
0
0.5

0.2

0.4

0.6
x
p

0.8

27

0.2

0.4

0.2

0.4

1/4 period
1/2 period
1 period

0.6

0.8

0.001

6.37

5 .10

5 .10

w
1,p

0.001

t
p

0.447 0.364 0.328 0.328

6.39

0.324

0.324

0.323

0.323

3.379

3.378

3.329

3.329

4.539

4.537

4.345

4.345

13.697 13.577 9.773

9.748

9.606

4.251 3.926 3.497

6.388 6.195

18.469 18.361 11.461 11.451

2.415 2.409 2.406 2.405

6.41

0
=

5.744 5.527 5.522

9.939 8.666

27.836 27.75

35.293 35.213
0

2.405

2.405

5.521

5.521

8.657

8.655

15.312 11.946 11.794

21.974 15.546
0

16.795

29.944

46.975

28
First mode

Fourth mode

20

15

1.5

10
1
5
0.5

0.5

0.5

Position (x/L)

N=1
N=2
N=3
N=4
N=5
N=6

6.43

6.45

Position (x/L)

N=4
N=5
N=6

10

6.979

6.866

6.855

6.855

6.853

6.852

6.851

6.851

6.851

6.851

28.376

28.023

28.023

27.981

27.941

27.93

27.93

27.926

27.921

80.579

80.579

80.398

80.229

80.184

80.184

80.167

80.146

157.914

157.914

157.914

157.914

157.914

157.914

157.914

226.132

220.716

219.38

219.38

218.943

218.372

316.433

313.472

313.472

312.703

311.735

463.531

463.531

462.703

461.71

631.655

631.655

631.655

763.438

751.843

10

922.521

First mode

2
1.5
1
0.5
0

0.1

N=4
N=6
N=8

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

29
Second mode

2
1
0
1
2

0.1

N=4
N=6
N=8

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Third mode

2
1
0
1
2

0.1

N=4
N=6
N=8

6.49

0.4

0.5

0.6

0.7

0.8

6.149

6.149

6.149

25.212 25.212 25.117

25.117

25.116

25.116

25.11

25.11

62.135 62.135

61.825

61.825

61.74

61.74

61.708

122.645 122.645 121.811 121.811 121.554 121.554

202.384 202.384 200.988 200.988 200.453

302.761 302.761 300.686 300.686
422.755 422.755 420.024

100

u
p

6.149

6.16

At x = L/2, |w| = 2.7180 meter

6.51

0.9

6.153

0
=

0.3

6.153

6.16

6.47

0.2

50

0.2

0.4

0.6
x
p

0.8

562.961 562.961
0

722.876

30
7
1 .10

6.53
Force (N)

6
1 .10
5
1 .10
4
1 .10
3
1 .10
100
0

5000

6.55

4
4
4
1.5 .10
2 .10
2.5 .10
Frequency (rad/s)

First mode

4
4 .10

, {} = [5.01 19.36] rad/s

0.01

2
Generalized coordinate

Exact
Ritz

Second mode

0.1

0.05

4
3.5 .10

0.02

4
3 .10

Method (a)
Method (b)

1 1

For [] =
1 0

1 1
0.03

4
1 .10

0.05

2
Generalized coordinate

Exact
Ritz

31

6.57

1/2

1 = [7.769 4.302 3.620]T (EI/AL4 )

1
'

j,1

fund
j, 1

0.5

fund
j, 2
fund
j, 3

0.5

4
j

32

Chapter 7
7.1

7.3

7.5
7.7
7.9

u
= ku
x

Torsion moment: GJ
=
x
2w
w
Bending moment: EI 2 =
x 2 x

w
Shear force:
EI 2 = kw
x
x
4
w
EI 4 + A w
=0
x
w
w=
=0@x=0
x
..
2w b
3 w b2 w
EI 2 + EI 3 + m
=0@x=L
x
2 x
6 x
..
3w
b w
EI 3 m w
=0@x=L
+
x
2 x
1/2

E
jx
1 = 0, 1 = C11 , j =
if j 2
j, j = C1j cos
L2
L
x
GJL
j
tan () =
,

=
C
sin
2j
j
Ip G2 L2
L
Axial force: EA

1/2

{} = [22.37 61.67 120.90]T (EI/AL4 )

2
1
0
1
2

7.11

0.2

Mode 1
Mode 2
Mode 3

0.4

0.6

0.8

22
tan () tanh () +
tan () tanh () = 0

x
j x
sin (j )
j
j = C1j sin

sinh
L
sinh (j )
L
Asymptotic: j j, 1% low for j = 3

7.13

2 sin () sinh () 3 [sin () cosh () sinh () cos ()] = 0

x
x
sin (j )
j = C1j sin j

sinh j
L
sinh (j )
L

33

7.15
7.17

C1j
j
2i

(2j 1) x
(2j 1) x
exp i
exp i
2L
2L

tan () + tanh () = 0 if 6= 0

x cos ( ) + cos ( )
x
j
j
j = C1j sin j
+ sinh j
+
L
L
sin (j ) sinh (j )
h x
x io
cos j
+ cosh j
L
L
x

h
x
x i
C2j cos j
+ sin j
exp j
L
L
L

Note: x axis is reversed in the following graphs.

Mode #2

Mode #8

0
0
2
4

0.5

Exact
Asymptotic

0.5

Mode #16

7.19

0
h
x

n 0.5 x

x
x io
j C1j sin j
cos j
exp j
+ (1)j exp j 1
L
L
L
L

Mode #5

Mode #10

0
0
2
4

0.5
Position (x/L)

Exact
Asymptotic

0.5
Position (x/L)

34

Mode #15

0.5

position (x/L)

7.21
7.23

7.25

x
h
x
x io
1
+ (1 i) exp ij
exp j 1
j C1j (1 + i) exp ij
2
L
L
L

tan
=0
2

Symmetric:

j = C2j cos j x
L

cot
+ =0
2

Antisymmetric:

j = C1j sin j x
L
Axial Symmetric:

1/2

x
E
(2j 1)
, j = C1j sin 2j
, j = 2j
j =
2
L
L2
Flexural Symmetric:

1/2
EI
tan () + tanh () = 0, j =
AL4

x
x
cos (j )
j = C2j cos 2j
+
cosh 2j
L
cosh (j )
L
42j

Axial Antisymmetric:

1/2

x
E
j = (j 1) , j = C2j cos 2j
, j = 2, 3, ...; j = 2j
L
L2

Flexural Antisymmetric:

1/2
EI
tan () tanh () = 0, j =
AL4

x
x
sin (j )
+
sinh 2j
j = C1j sin 2j
L
sinh (j )
L
42j

7.27

Symmetric:

2 AL
cot
+ coth
+
=0
2
2
m
x
x
sin (j /2)
j = C2j cos j
+
cosh j
L
sinh (j /2)
L

35

7.29

7.31

7.33

Antisymmetric:

2 AL
tan
+ tanh
+
=0
2
2
m
x
x
cos (j /2)
j = C1j sin j

sinh j
L
cosh (j /2)
L
Z L
Example 7.5:
A k j dx = jk
0
Z L
d2 k d2 j
EI
EI
dx + 3 k (L) j (L) = 2j jk
2
2
dx dx
L
Z0 L
Exercise 7.12:
A k j dx + Ak (L) j (L) = jk
0
Z L
d2 k d2 j
EI
dx = 2j jk
2
2
dx dx
0

Z L
5 dk dj
A k j dx + m k j + b2
12 dx dx
0

dj
dk
b

= jk
+ j
k

2
dx
dx
x=0

Z L
d2 k d2 j
dk dj
EI
dx
+
k

+
k
= 2jk jk
S
k
j
T

2
2
dx dx
dx dx x=L
0
(
)

0
L

1 0 0 2 X C2j
C (t ) +
[1 cos (j t0 )] h (t0 )
At either end: =
j
2
R4 E 2 21

2
j
j=2
Total rotation

40

tot
p

0.2

tor
p

20

Rotation due to deformation

0.1

4
t
p

7.35

0.1

4
t
p

x
1
2F L3 X

2
2 2
sin j
sin (j ) sin (j )
w=
EI j=1 j 2 4 (j 2 2 )
L
j
1/2
1/2

EI
EI
v
, (v)cr =
, =
t
where =
2
(v)cr
AL
AL4

36

7.37

AL4 F X
1 1
w (x, t) =
vj j (x) cos ( j t) , vj =
[j (Ly)] 1 y 3 + 3y 1 dy
EI j=1
6 0
0.5

w end
1,p

0.5

t
p

7.39

1
8vL X
(2j 1) x
(2j 1) cbar t
u (x, t) = 2
sin
sin
cbar j=1 (2j 1)2
2
L
2
L
u
at x = 0 is a square wave whose amplitude is v/cbar ,
x
and whose period is 2L/cbar.

7.41

f0 L4
(0.512) , 180o out-of-phase from a sine
EI
f0 L4
Structural damping: |w| =
(0.458) , 153.54o lag relative to a sine
EI

No damping: |w| =

7.43
w
1,p
w
2,p
w
3,p

0.8

0.6

w def
1 , p 0.001

w def
0.002
3,p

0.2
0

7.45

w def
2,p

0.4

0.5

1.5

0.003

t
p

0.5

1
t
p

1.5

X
x
1
1
2
0
0
u=
C1j j1
sin (t) + B

1 + EA/kL L
1 + EA/kL j2
j=1
x

[ sin (t) j sin ( j t)] sin j

2
j 2
L

X
B
1
B
1
2
0
0
F =
sin (t) +

C j j1
L 1 + EA/kL
L j=1 1j
1 + EA/kL j2

B 1

[ sin (t) j sin ( j t)]

2
hR
i1/2
1
where C1j = 0 sin (j y)2 dy

2j

37

7.49
7.51

1 2 x
x2
x3
(a) wbc = t +
[1 cos (t)] 3 2 + 3
2 L 22
L
L
Fbottom = EA Re [ik (B1 exp (ikL) B2 exp (ikL)) exp (it)]

2k
utop = Re
u1 exp (it)

u1
u1
where B1 =
(iEAk + K + ic m 2 ) , B2 =
(iEAk K ic + m 2 )
i
i
= EAk cos (kL) + (K + ic m2 ) sin (kL)

7.53

Midpoint displacement

Amplitude

1
0.1
0.01
3
1 .10
4
1 .10
5
1 .10

500

1000

1500

2000

Frequency (rad/s)

7.55

Midpoint displacement

Amplitude

0.004

0.002

50

100

150

Frequency (Hz)

7.57

7.59

7.63

w
= 0 and
=0 @ x=L
x
x

w
(b) w =
= 0 @ x = 0, = 0 and GA
+ mw
=0@x=L
x
x
x j

(a) ( w )j = j =
L
x j

x j
(b) ( w )j =
, j = 1
L
L
(a) w = = 0 @ x = 0,

100

kL Tim
n
kL cl
n

10
1
0.1
0.01

6
n

10

38
1

7.65

0.1
0.01
3
.
1 10
w classic kL 1 .10 4
p
5
1 .10
6
1 .10
7
1 .10
w kL
p

4
kL
p

39

Chapter 8
x
x
, u2 = 1
L
L

8.1

u1 =

8.3

2 1
1 1
1
, [K e ] = EA

[M e ] = AL

6
L
1 2
1 1
x
x
1 = , 2 = 1
L

8.5

2 1
1 1
1
, [K e ] = GJ

[M e ] = IL

6
L
1 2
1 1

{qe } = [u1 w1 1 u2 w2 2 u3 w3 ]T

x2
x2
x2
x
x
x
+ 2 2 , u2 = + 2 2 , u3 = 4 4 2
L
L
L
L
L
L

x2
x2
x3
x4
x
x3
x4
4 2 +5 3 2 4
w1 = 1 11 2 + 18 3 8 4 , w2 = L
L
L
L
L
L
L
L

2
x2
x3
x4
x
x3
x4
3 3 +2 4
w3 = 5 2 + 14 3 8 4 , w4 = L
L
L
L
L2
L
L
x2
x3
x4
w5 = 16 2 32 3 + 16 4
L
L
L

[R] [0] [0]

cos
()
sin
()

e
, [R ] = [0] [R] [0]
[R] =

sin () cos ()

[0] [0] [R]

u1 = 1 3

8.9

8.11

{q e } = [wg1 g1 wg2 g2 wg3 g3 ]T

1
2
1
2
Sjj
= 1, Sj(j+3)
= 1 for j = 1, ..., 4, Sjn
= Sjn
= 0 otherwise

h i

=
M

0.4457

0.0754

0.1543

0.0446

0.0754
0.0165 0.0446 0.0123
0
0

0.1543 0.0446 0.8914

0
0.1543 0.0446

0.0446 0.0123
0
0.0329 0.0446 0.0123

0
0
0.1543 0.0446 0.4457 0.0754

0
0
0.0446 0.0123 0.0754 0.0165

40

8.13

6.944

4.167

6.944

4.167

4.167
3.333 4.167 1.667
0
0

6.944 4.167 13.889

0
6.944 4.167

4.167 1.6670
0
6.667 4.167 1.667

0
0
6.944 4.167 6.944 4.167

0
0
4.167
1.667 4.167 3.333
Dene X axis horizontal, number mesh points from the left.

h i

=
K

{
q} = [
ug1 w
g1 g1 ug2 w
g2
g3 w
g3 g3 ug4 w
g4 g4 ]T
g2 u

1
2

Sjj
= Sj(j+3)
=1

3
3
3
3
3
3
For j = 1, ..., 6, n = 1, ..., 12 :
S1,10
= S2,11
= S3,12
= S4,7
= S5,8
= S6,9
=1

k
Sjn
= 0 otherwise

1 2 1
for e = 1, 2, 3
[ e ] = L

6
1 2
T
T

f
f
1
2
{f } = 0 0 0 0
0 , {f } = 0
0 0 f 0
2
2

{f 3 } = [0 0 0 0 0 0]T , {F } = [H1 V1 0 0 0 0 F 0 0 H4 V4 M4 ]T
3
X
{Q} = {F } +
[S e ]T [Re ]T [ e ] {f e } with 1 = 2 = 30o , 3 = 90o
e=1

8.15

{
q } = [
ug1 w
g1 g1 ug2 w
g2 g2 ug3 w
g3 g3 ug4 w
g4 g4 ]T
{qc } = [
ug1 ug4 w
g4 g4 ]T = [0 0 0 0]T
A1,9 = A2,1 = A3,2 = A4,3 = A5,4 = A6,5 = 1
A7,6 = A8,7 = A9,8 = A10,10 = A11,11 = A12,12 = 1
Aj,n = 0 otherwise

8.17

Dene X axis horizontal, number mesh points from the bottom left.
{
q} = [
ug1 w
g1 g1 ug2 w
g2 g2 ug3 w
g3 g3 ug4 w
g4 g4 ]T

41

{qf } = [
ug2 w
g2 g2 ug3 w
g3 g3 ]T
{} = [796

8.19

3116

0
0
0
1
0
2
0
3
0.7418
4
0.0016
5 -1.1906
6
0.7418
7 -0.0016
8 -1.1906
9
0
10
0
11
0

7283

2
0
0
0
0
0
0
0.0008 0.2915
0.0286 -0.0616
8.5135 -16.2526
-0.0008 0.2915
0.0286 0.0616
-8.5135 -16.2526
0
0
0
0
0
0

16325

24628]T rad/s

17399

0
0
0
0.3041
-0.832
5.7351
-0.3041
-0.832
-5.7351
0
0
0

0
0
0
0.168
0.9752
-8.2001
0.168
-0.9752
-8.2001
0
0
0

0
0
0
1.0042
0.5718
-7.6307
-1.0042
0.5718
7.6307
0
0
0

{
q } = [
uA w
A A uB w
B B uC w
C C uD w
D D ]T
{} = [0 849.8 3674 4070 5657 9049 15273 17802 21365 31862]T rad/s

1
2
3
4
5
6
7
8
9
10
11
12
13

0
0
0.517
-0.129
0.224
0.517
-0.299
-0.259
0.448
0.517
-0.129
0.075
-0.299

0
0
1.187
-0.103
0.176
-1.019
-0.144
0.431
-0.75
-2.568
-0.104
0.06
-0.314

0
0
4.14
-0.079
0.077
-2.554
-3.051
-0.162
0.216
1.787
-0.077
0.044
2.95

0
0
3.973
0.131
-0.089
-3.527
2.403
-0.238
0.562
4.794
0.136
-0.079
-2.374

6
0
0
0
0
0.955 9.587
0.13
0.04
0.306 -0.251
1.421 3.659
-1.944 1.157
0.486 0.334
-0.218
-0.86
-4.466 -12.683
0.161 0.046
-0.093 -0.027
1.269 -2.042

8
0
0
0
0
1.247 9.782
-0.038 -0.005
-0.098 0.001
0.725 10.79
8.56 0.906
-0.417 -0.428
-0.221 1.098
0.382 23.831
0.111 -0.076
-0.064 0.044
6.862 1.373

10

0
0
0.401
0.016
-0.379
-2.402
9.316
0.78
-0.099
-10.07
-0.219
0.126
6.729

0
0
0.732
0.396
0.062
-0.318
0.509
-0.317
-0.309
-2.473
-0.439
0.254
3.702

42

Chapter 9
9.1

9.3

x
x
sin j
, a1j = 0.5 sin (0.5j) ; j = 1, ..., N
L
L

j+1

2x
2jx
1
2
(b) Left segment: wj =
; Right segment: wj = sin
L
L
2 (j + 1)
2j
For j = 1, ..., N : a1j = 1, a1(j+N) = 0, a2j =
, a2(j+N) =
cos (j)
L
x j
x j+1
x j L
1
1
2
Bar 1 is horizontal, 1uj =
, 1wj =
, 2uj = 2wj =
L
L
L
(a) j =

For j = 1, ..., N : a1j = 1, a1(j+2N ) = 0.5, a1(j+3N) = 0.866

a2(j+N) = 1, a2(j+2N) = 0.866, a2(j+3N ) = 0.5

9.5

`wj

x j+1
`

j+1
j
a3(j+N) =
, a3(j+3N) = , anj = 0 otherwise
L
x j L
`
`
j =
; ` = 1, 2
L

For j = 1, ..., N : a1j = 1, a1(j+2N ) = 1

j+1
, a2(j+3N ) = 1
L1
j+1
j+1
, a3(j+2N) =
, anj = 0 otherwise
a3(j+N) =
L
L2
a2j =

9.7

j =

x
x
sin j
L
L

1
1
1
1
[M 1 ] {
q1 } + [K
] {q } = {Q } + [a ] {} , where

0.0901
0.019 0.0072 0.0035
0.1413

0.0901 0.1603 0.0973 0.0225 0.0092

[M ] = AL 0.019 0.0973 0.1639 0.0993 0.0237

0.0072 0.0225 0.0993 0.1651 0.1001

0.0035 0.0092 0.0237 0.1001 0.1657

43

EI
1
[K ] = 3
L

43.4

74.6

75.9

74.6

368.3

459.5

75.9

459.5

90.2

298.3

107.3 286.9

107.3

298.3

286.9

1559.3

1629.1

816.6

1629.1

4590.4

4293.9

816.6

[a1 ] = [0.5 0 0.50 0 0.5]

9.9

90.2

4293.9

10825.3

{Q1 } = [0.5303 0.75 0.5303 0 0.5303]T

j
j+1
j1
j1
x1
x1
x2
x2
1
1
2
2
uj =
, wj =
, uj =
, wj =
L
L
L2
L2
1 j
1 j+1
x3
x3
3uj =
, 3wj =
, where L1 = 2 m, L2 = L3 = 4 m
L3
L3
h
iT
T
T
T
T
T
T
{q} = {qu1 } {qw1 } {qu2 } {qw2 } {qu3 } {qw3 }

AL1
AL1
AL2
AL2
, (Mw1 )jn =
, (Mu2 )jn =
, (Mw2 )jn =
j+n+1
j +n+3
j+n1
j+n1
AL
AL
3
3
(Mu3 )jn =
, (Mw3 )jn =
j+n+1
j +n+3
EA
EI (j + 1) j (n + 1) n
jn
(Ku1 )jn =
, (Kw1 )jn = 3
L1 j + n 1
L1
j +n1

0 if j or n = 1
2
(Ku )jn =

EA (j 1) (n 1)

otherwise
j+n3
L2

0 if j or n = 1 or 2
2
(Kw )jn =

EA (j 1) (j 2) (n 1) (n 2)

otherwise
L2
j+n5
jn
EA
EI (j + 1) j (n + 1) n
, (Kw3 )jn = 3
(Ku3 )jn =
L3 j + n 1
L3
j +n1
(Mu1 )jn =

(Q1u )j = (Q1w )j = (Q1u )j = (Q1w )j = (Q1u )j = 0, (Q3w )j = 1

a1,j = 1, a1(3N+1) = 1, a2(j+N) = 1, a2(2N +1) = 1

a3(j+2N) = a3(j+5N) = 1, a4(j+3N) = 1, a4(j+4N ) = 1

a5(j+3N) =

j1
j+1
, a5(j+5N) =
L2
L3

44

9.11

[Mu1 ]
[0]
[0]
[0]
[0]
[0]

[0]

[0]

[Mw1 ] [0]
[0]
[0]
[0]

[0] [Mu2 ] [0]

[0]
[0]

{
q}
2
[0]
[0] [Mw ] [0]
[0]

[0]
[0]
[0] [Mu3 ] [0]

3
[0]
[0]
[0]
[0] [Mw ]

[0]

[Ku1 ]
[0]
[0]
[0]
[0]
[0]

[0]

[0]

[0]

[0]

[0]

[0]

[0]

[Kw1 ] [0]
[0]
[0]
[0]

[0] [Ku2 ] [0]

[0]
[0]

{q} = {Q} + [a]T {}

2
[0]
[0] [Kw ] [0]
[0]

3
[0]
[0]
[0] [Ku ] [0]

[0]
[0]
[0]
[0] [Kw3 ]

[a] {q} = {0}

j1

x1
x2
x1
2jx1
1
2
wj =
1
sin
, j =
L
L
L3

q1}

EI [K 1 ]
[0]
[0]
AL [M 1 ]
{
L3

GJ
{

[0]
JL [M 2 ]
q2}
[0]
[K 2 ]
L

{0}

=
+ [a]T {}

{Q2 }

[a] {q} = {0}

{q1 }

{q2 }

45

0.017
7.604 (10 ) 4.511 (10 ) 8.274 (10 )

7.604 (103 )
0.017
7.687 (103 ) 4.753 (104 )

[M 1 ] =

4.511 (104 ) 7.687 (103 )

0.017
7.696 (103 )

8.274 (105 ) 4.753 (104 ) 7.696 (103 )

0.017

0.5 0.333 0.25

1

0.5 0.333 0.25

0.2

[M ] =

0.333 0.25
0.2
0.167

0.25
0.2 0.167 0.143

66.20 47.41 6.33 2.06

47.41 574.3 431.3 47.41

[K 1 ] =

6.33 431.3 2460 1727

2.06 47.41 1727 7282

9.13

0
0
0 0

0 1
1
1

2
,

[K ] =

0 1 1.333 1.5

0 1 1.5 1.8

{Q2 } = [R 0 0 0]T

p,1

p,2
p,3
p,4

0.2

0.4

0.6
x
p

0.8

46

9.15

10
1
0.1
0.01
3
1 .10 4
1 .10 5
1 .10 6
1 .10 7
1 .10 8
1 .10 9
1 .1010
1 .10 11
1 .10

Displacement at left force

50

100

150

200

250

300

350

400

Frequency (Hz)

Vertical
Horizontal
4
1 .10
5
1 .10
6
1 .10
7
1 .10
8
.
1 10
9
.
1 10
10
.
1 10
11
1 .10

Displacement at right force

50

100

150

200

250

300

350

400

Frequency (Hz)

Vertical
Horizontal

6
1 .10
Displacement (nondim)

9.17

5
1 .10
4
1 .10
3
1 .10
100

0.2

0.4

0.6

0.8

Frequency (nondim)

Horizontal
Vertical

9.19

1 .10

1 .10

1 .10

1 .10

1 .10

8
0

500

Displacement
Rotation 1
Rotation 2

1000

1500

2000

2500

47

9.21

Fixed interface modes:

Left: Clamped-clamped normal modes, Right: Hinged-clamped normal modes
"
2
3 #
2x
L
2x
`
`
, ` = 1, 2
Constraint modes: C`

+
1 =
2
L
L


T
{q} = qwF 1 q1C1 qwF 2 q2C2

9.23

a1(N+1) = a1(2N +2) = 1, a1j = 0 otherwise

h
F 2 T F 2 T
T
T
C1
C1
C1
{q} = qwF 1
qw1
qw2
q1

qF 1
qw
q
C2
C2
C2
C2
C2
C2
qw1
qw2
q1
qw3
qw4
q2

C
C1
C
C1
C
C1
w1 = w (x1 /L1 ) , w2 = (x1 /L1 ) , 1 = (x1 /L1 )
C
C2
C
C2
C
C2
w1 = w (x2 /L2 ) , w2 = (x2 /L2 ) , 1 = (x2 /L2 )
C
C2
C
C2
C
C2
w3 = w (1 x2 /L2 ) , 24 = (1 x2 /L2 ) , 2 = (1 x2 /L2 )

a1(2N +1) = 1, a1(4N+4) = 1, a2(2N+2) = a2(4N +6) = 1, af 3(2N+3) = 1, a3(4N +5) = 1

9.25

See Answer
9.21 for basis function denitions and [a]

n o
F
C
1/2
[I]44
(AL3 )
M`

M =
n oT

F
C
1/2
(AL3 )
M`
0.001190AL3
oT
n
FC
= [0.03161 0.01147 0.00585 0.00354]
(M 1 )
n
oT
2 FC
(M )
= [0.04551 0.01620 0.00827 0.00500]

n o
h i
FC
` FF
3 1/2
K`
(AL
)
K

`
EI
44
K =
n oT
AL4
FC
1/2
(AL3 )
K`
8 (AL3 )
FF

FF

FF

FF

FF

FF

(K 1 )1,1 = 8009, (K 1 )2,2 = 60857, (K 1 )3,3 = 233882, (K 1 )4,4, = 639101

FF

FF

(K 2 )1,1 = 3804, (K 2 )2,2 = 3994, (K 2 )3,3 = 173881, (K 2 )4,4 = 508582

n
oT
oT
n
FC
FC
(K 1 )
= [0 0 0 0] , (K 2 )
= [64.6 113.0 163.4 213.6]

[K 1 ] [0]
[M 1 ] {0}

[M] =
, [K] =

T
2
2
{0} [M ]
[0] [K ]

48

9.27

9.29

1 .10

1 .10

1 .10

1 .10

1 .10

8
0

500

Displacement
Rotation of bar 1
Rotation of bar 2

{} = [57.88

138.54

1000

1500

202.23

2000

2500

425.12]T rad/s

Dene global XY coordinate system with X to the right and Y upward.

First mode

0.06

Second mode

0.1

0.04

0.05

0.02
0

0
0.02

0.1

10

X displacement
Y displacement
Third mode

0.05

0.1

10

10

X displacement
Y displacement
Fourth mode

0.05

0.05

0
0

0.05

0.05
0

10

X displacement
Y displacement

0.1

X displacement
Y displacement

49

Chapter 10
10.1

{} = [3.061 + 10.303i 3.061 10.303i 5.189 + 12.530i ...

5.189 12.530i]T

0.074 + 0.001i
0.010 + 0.062i
0.010 0.062i
0.074 0.001i

0.055 + 0.011i
0.055 0.011i 0.016 0.036i 0.016 + 0.036i

[] =

0.219 + 0.760i 0.219 0.760i 0.822 0.198i 0.822 + 0.198i

0.285 + 0.534i 0.285 0.534i

0.529 0.011i
0.529 + 0.011i

10.3

0
1500 480

480
240 0

[S] =

0
0
0.8533

0
0
0

0
0 1500
480

0
0
480
240
0

, [R] =

48
52
12
0

1500

480 240
12
4
0.1067
0

{} = [5.928 + 20.088i 5.928 20.09i 43.29 + 37.04i 43.29 37.04i]T rad/s

10.5

0.015 + 0.009i

0.042 + 0.013i

{} =

0.089 0.352i

0.015 0.930i
1 = 0.502

0.867i

0.015 0.009i 0.002 + 0.008i

0.042 0.013i 0.010 0.012i 0.010 + 0.012i

0.089 + 0.352i 0.356 0.284i 0.356 + 0.284i

0.015 + 0.930i 0.871 + 0.182i

0.871 0.182i
3 = 0.516

Mode 1

0.5

Real
Imag

10

0.859i

Mode 2

0.5

0.5

0.5

0.002 0.008i

10

50

5 = 0.5 0.869i
Mode 3

0.5

0.5

0.5

10

9 = 0.498 0.87i
Mode 5

0.5

0.5

10

13 = 0.489 0.875i
Mode 7

0.5

0.5

10

17 = 0.491 0.874i
Mode 9

0.5

0.5

0.5

10

0.5

10

10

15 = 0.487 0.877i
Mode 8

10

19 = 0.497 0.871i
Mode 10

0.5

11 = 0.508 0.864i
Mode 6

0.5

0.5

0.5

0.5

7 = 0.512 0.862i
Mode 4

10

51

10.7

{} =
[1.323 + 6.700i 1.323 6.700i 2.064 + 7.949i 2.064 7.949i]T
0.028 0.043i 0.017 + 0.043i 0.017 0.043i
0.028 + 0.043i

0.014 + 0.029i 0.014 0.029i 0.017 0.026i 0.017 + 0.026i

[] =

0.326 + 0.133i 0.326 0.133i 0.303 0.226i 0.303 + 0.226i

0.178 0.130i 0.178 + 0.130i

0.239 0.084i
0.239 + 0.084i
(nat )1 = 6.829, 1 = 0.194, ( nat )2 = 8.212, 2 = 0.251

10.9

Case (a):
{} =

g 1/2
L

{1 } = {2 } =

{5 } = {6 } =

[1.225i 1.225i 0.0038 + 1.259i 0.0038 1.259i ...

0.011 + 1.324i 0.011 1.324i]T

0.577i
0.001

0.688i

0.577i
0

0.577i
0.001 + 0.688i

, {3 } = {4 } =

0.707
0.866 + 0.001i

0.707
0

0.866 0.001i
0.707

0.002 0.378i

0.003 + 0.755i

0.002 0.378i

0.500 + 0.002i

1.000 0.004i

0.500 + 0.002i

52

Case (b):
g 1/2
[0.431 1.225i 1.225i 0.75 + 1.011i ...
{} =
L

10.11

0.75 1.011i 4.069]T

0.565i
0.577i

1.130i
0.577i

0.565i
0.577i

, {2 } = {3 } =
{1 } =

0.243i
0.707

0.487i
0.707

0.243i
0.707

0.241
+
0.729i
0.184

0
0.368

0.241 0.729i
0.184

{4 } = {5 } =
, {6 } =

0.918 0.303i
0.748

0
1.496

0.918 + 0.303i
0.748
0.1
x
1,p
x
2,p
0

0.2

0.4

0.6

0.8
t
p

1.2

1.4

53

10.13
0.05

Floor 4
Floor 3
Floor 2
Floor 1

0.1

0.15

10

0.02

10.15
x
1,p

0.01

x
2,p
x
3,p

0.01

0.05

0.2

0.25

0.3

0.35

0.4

t
p
1

10.17

0.5
X
1,p
X
2,p

0.5

0.5

1.5
t
p

2.5

54

10.19

0.6
X
1,p

0.4

X
2,p

0.2

X
3,p

X
4,p

0.2
0.4

t
p
0.005

10.21
x
1,p

0.005

20

40

60

80

100

120

140

80

100

120

140

t
p
0.01

x
2,p

0.01

20

40

60
t
p

0.01

x
3,p

0.01

20

40

60

80
t
p

100

120

140

10

55
0.01

10.23

0.005
x
1,p
0
0.005

0.2

0.4

0.6

0.8

0.6

0.8

t
p
5

x''
1,p

0.2

0.4
t
p

0.1

10.25
X
1,p
X
2,p

0.01

1 .10

3
0

10
v
p

15

20

56

Chapter 11
11.1
11.3

11.5

m
x + (k m2 ) x = (k m 2 ) R0 + kL0 , < (k/m)1/2 for stability

4
3w

1
3 g
g
1 + 2 + 2

1 2 = 0
3
2
2 L 2L
L

1
g
1 g
1w
1 + 2 1 +

2 = 0
2
3
L
2 L 2L
m [
x 2y 2 (R + x)] + kx x = 0
m [
y + 2x 2 y] + ky y = 0

11.7

m
z + kz z = 0

1 0

0 1
0

2
0 0 L /12

11.9

x C
0
2
0
xC

0
0
yC +
yC
2

0
0
0

(k1 + k2 )
0
0
2

(k4 k3 ) L
(k3 + k4 )
+
0
2

m
2m

(k4 + k3 ) L2
(k4 k3 ) L
0
2
2m
4m

2
=
H

[M] {
q } + [[G] + [C]]
+ [[K] [E]]{q} = {J}
{q}

y
C

0
0
2 L
1
0

where [M] = m 0
1
L/2 , [G] = m 2
0
0

0 L/2 L2 /3
L
0
0

57

11.11

[E] = m
2
0

0 L 2 /2

(r L/2) 2

{J} = m
0

k1 0 0

L 2 /2 , [K] =
0 k2 0

0 0 k3
Lr 2 /2

{} =[0.6i 0.6i 1i 1i 1.4i 1.4i]T

[] =

0.606

0.606

0.411

h i

0.606

0.606

0.411

0.411

0.606i 0.606i
0
0
0.411i 0.411i

0
0
0.707 0.707
0
0

0.364i 0.364i
0
0
0.575i 0.575i

0.364 0.364
0
0
0.575 0.575

0
0
0.707i 0.707i
0
0

0.411

0.606i 0.606i
0
0
0.411i 0.411i

0
0
0.707 0.707
0
0

0.364i 0.364i
0
0
0.575i 0.575i

0.364 0.364
0
0
0.575
0.575

0
0
0.707i 0.707i
0
0

58
Mode pair #1

Mode pair #3

0.5

q1

2,p

0.5

q3

0.5

2,p

0.5

0.5

0.5

0.5

q1
1,p

1
q1
1,p

0.5

0.5

0.5

q3
1,p

q1
2,p

0
q3
1,p

q3
2,p

0.5
1

0.5

10

11.13

3.75 (105 ) + 0.274i

3.75 (105 ) 0.274i

1.314 (103 ) + 19.868i

10

1.531 (106 ) 5.25 (1010 ) i

1.150 (108 ) 5.594 (105 ) i

0.122 1.789 (103 ) i

, {1 } =

1.314 (10 ) 19.868i

2.01 (1010 ) 4.195 (107 ) i

3
5
9

1.332
(10
1.532
(10
)
+
20.132i
)
+
5.27
(10
)
i

1.332 (10 ) 20.132i

489.898 + 0.034i

3
3

1.532
(10
1.542
(10
)

0.308i
)

0.306i

3
3

0.308

1.532
(10
0.306

1.542
(10
)
i
)
i

4.689 (103 ) + 7.051 (105 ) i

4.537 (103 ) + 6.79 (105 ) i

{3 } =
, {5 } =

6.127 0.031i
6.168 0.031i

0.031
+
6.127i
0.031
+
6.168i

3
3

1.395 (10 ) + 0.093i

1.373 (10 ) + 0.091i

{} =

59

n o
1 =

n o
5 =

11.15

{} =

1.532 (106 ) + 5.24 (1010 ) i

1.15 (108 ) 5.594 (105 ) i

0.122 1.789 (103 ) i

2.01 (1010 ) + 4.20 (107 ) i

5
9

1.532
(10
)
+
5.25
(10
)
i

489.898 + 0.034i

1.542
(10
)

0.306i

0.306
+
1.542
(10
)
i

3
5
4.537 (10 ) 6.791 (10 ) i

6.168 0.031i

0.031 6.168i
1.373 (103 ) 0.091i

0.417i

0.417i

1.252i

1.252i

2.481i

2.481i

, {1 } =

n o
3 =

0.014i

2.794 (103 )

1.540i

5.812 (103 )

1.166 (103 ) i

0.643

1.532 (103 ) + 0.308i

0.308 1.532 (103 ) i

4.689 (103 ) + 7.05 (105 ) i

6.127 + 0.031i
0.031 + 6.127i

1.395 (103 ) + 0.093i

60

0.277

0.377i

4.961 (103 )

0.248i

0.212

1.035 (103 ) i

11.17

, {5 } =

0.347i
0.616

0.472
0.527i

6.209 (103 ) i
2.568 (103 )

0.014i
0.277

2.794
(10
0.377i
)

n o

4.961 (103 )
n o
1.540i

1 =
, 3 =

5.812
(10
0.347i
)

0.472
1.166
(10
)
i

6.209 (103 ) i
0.643

0.248i

0.212

n o 1.035 (10 ) i
5 =

0.616

0.527i

2.568 (103 )

11.19

Divergence instability at = 1

11.21

Divergence instability beyond = 0.732

{3 } =

Unstable for 1 < < 1.4

61

11.23

(a) Amplitudes as a function of rotation rate:

3
1 .10
100
10
1
0.1
0.01

10

15

Lower y
Lower z
Upper y
Upper z

20

25

30

35

40

45

50

(b) Orbits at = 0.836:

Lower mass

Upper mass

6
4

0.5

2
q

2, p

4, p

0
2
4

0.5

6
1

0.5

0
q

1, p

Upper mass

0.006

Lower mass

0.004

z displacement

z displacement

0
q
3,p

0.5

11.25
0.0032

0.002
0
0.002

0.0032
0.0022

0.0022

y displacement

0.004
0.006
0.006

0.004

0.002

0.002

y displacement

0.004

0.006

62

11.27

Motion at = 0.6 (k1 /m)1/2 :

Relative x displacement

1
0.5
0
0.5

10

15

20

25

30

35

25

30

35

25

30

35

Time (nondimensional)

Relative y displacement

10

15

20

Time (nondimensional)

Relative rotation

0.01

0.01

10

15

20

Time (nondimensional)

11.29

Real part of eigenvalues

Rotation rate (nondimensional)

63

Imaginary part of eigenvalues

60

40

20

Rotation rate (nondimensional)

1/2

Divergence instability if > 3.564 (EI/AL4 )

11.31

1/2

vcrit = (EI/AL2 )
First mode
0

0.02

0.1

0.2

0.02

0.3

0.5

Third mode

0.04

0.04

x/L

Real
Imag

Fifth mode

Seventh mode

0.01

0.01

0.005

0.01
0.02

x/L

Real
Imag
0.02

0.5

0.005
0

0.5
x/L

Real
Imag

0.01

0.5
x/L

Real
Imag

64

Chapter 12
12.1

nat = 40 rad/s, E = 0.0222, I = 0.0111, = 0.445 mm

12.3
50

YC

50
100

50

0
XC

12.5
12.7

50

100

Flutter instability at = 5217 rad/s, Critical speeds are = 632 and 941 rad/s
30

25

20

15

10

0
0.9

0.95

Case a: X
Case a: Y
Case b: X
Case b: Y
Case c: X
Case c: Y

1.05

65

12.9

0.1
0.01
3

1 .10

1 .10

1 .10

1 .10

7
0

500

1000

Displacement
Transverse rotation

1500

2000

Equations of motion are (12.4.10) with:

K11 = kY A + kY B , K22 = kZA + kZB , K33 = kZA b2 + kZB (L b)2
K44 = kY A b2 + kY B (L b)2 , K14 = K41 = bkY A + (L b) kY B
K23 = K32 = bkZA (L b) kZB
M11 = M22 = m, M33 = M44 = Iyy , G34 = G43 = 2Ixx
Campbell diagram

2000
Eigenvalue, imaginary part (rad/s)

12.11

1 .10

1500

1000
Synchronous line
500

100

200

300

400

Rotation rate (rad/s)

crit = 219, 240, and 424 rad/s

500

600

66
First critical mode
0.005

ZA
p

0.005

ZB
p

0.005
0.005

0.005
0.005

0.005

YA
p

0.005

YB
p

Second critical mode

0.004

ZA

0.004

ZB

0.004
0.004

0
YA

0.004
0.004

0.004

0.004

YB
p

Third critical mode

0.002

0.002

ZA
p

ZB
p

0.002
0.002

0.002

0.002
0.002

YA
p

12.13

0.002

YB
p

Critical displacements for isotropic bearings:

1 = 220 rad/s, |YC | = |ZC | = 3.40 (103 ) m, | Z | = | Y | = 4.55 (103 ) rad
2 = 424 rad/s, |YC | = |ZC | = 0.77 (103 ) m, | Z | = | Y | = 5.28 (103 ) rad
Critical displacements for orthotropic bearings:
1 = 229 rad/s |YC | = 3.79 (103 ) , |ZC | = 0.20 (103 ) m
| Z | = 1.23 (103 ) , | Y | = 4.12 (103 ) rad
2 = 317 rad/s |YC | = 0.52 (103 ) , |ZC | = 2.82 (103 ) m
| Z | = 2.21 (103 ) , | Y | = 0.76 (103 ) rad

67

3 = 424 rad/s

|YC | = 0.77 (103 ) , |ZC | = 0.76 (103 ) m

| Z | = 5.28 (103 ) , | Y | = 5.28 (103 ) rad

Orthotropic bearings

2.5

2.5

Orthotropic shaft

10

Z displacement

Z displacement

12.15

0
5

Y displacement

10

10

Y displacement

12.17

= 0.767 :
Center's Path Relative to Fixed XYZ

10

q fixed
2,p

10

10

0
q fixed
1,p

10

10