NATIONAL INSTITUTE OF TECHNOLOGY AGARTALA

Advanced Structural Analysis

(UCE07E21)

RICHI PRASAD SHARMA

Professor in Civil Engineering
NATIONAL INSTITUTE OF TECHNOLOGY AGARTALA
Email: [email protected]
[email protected]
Mobile:+919436463474

9/11/2024 1
 STRUCTURAL DYNAMICS

u 𝑡
𝑚 𝐹 𝑡 = 𝐹0 𝑠𝑖𝑛𝜔t 𝑚 𝑚 𝑚

𝐸𝐼,
𝐸𝐼 𝐸𝐼 𝑘
≅

9/11/2024 2
 Introduction:
Oscillating motion of a body into back and forth is called in vibration.(If a moving body excites
repetitive motion then the body is called in vibration)

𝜃 𝜃

Displacement (
𝐿 Time (t)
𝑚 𝑚 𝑚
Fig. 6.1 (a): Pendulum
Pull and release Fig. 6.1 (b): oscillation with out damping
Displacement (

Time (t)

Fig. 6.1 (c) Fig. 6.1 (d): oscillation with damping

9/11/2024 3
 0.6
𝑚 𝑚 𝑚
0.4

𝐸𝐼,
Displacement (
0.2
𝑘
0 Time (t)
0 1 2 3 4 5
-0.2

𝐴0 sin𝜔𝑡 -0.4

↔ -0.6
Fig. 6.2 (a):
system subject Fig. 6.2 (b): oscillation with out damping
to ground
shaking

9/11/2024 4
 u 𝑡
𝑚 𝑚 𝑚
𝑚 𝐹 𝑡 = 𝐹0 𝑠𝑖𝑛𝜔t
𝐸𝐼,
𝐸𝐼 𝐸𝐼 𝑘
≅

Fig. 6.3 (a) Fig. 6.13(b)

0.6

0.4
Displacement (

0.2

0 Time (t)
0 1 2 3 4 5
-0.2

-0.4

-0.6

Fig. 6.3(c): Response with out damping

9/11/2024 5
• Here applied load on the system is dynamic i.e. applied load is
time dependent → 𝑭 𝒕
• Corresponding responses/behaviours are also time dependent

9/11/2024 6
Three Basic Time Dependent Load Carrying Mechanisms

P 𝒕 P 𝒕 𝝈𝟎 𝒕

A) Axial Force
M 𝒕 M 𝒕 𝝈𝒃 𝒕

B) Bending

V 𝒕 V 𝒕
𝝉 𝒕
C) Shear
Fig. 6.4 Load Carrying Mechanism Stress distribution
 Degree of freedom (DOF):The number of degrees of freedom is defined as the
minimum number of variables that are required for a full description of the
movement of a structure.
Node in two dimensional system has 3 dof (two translation, one rotation)
Node in three dimensional system or space has 6 dof (three translation, three
rotation)

Cause of Vibration:
Cause of vibration well understood from energy Principle.
If a system having minimum potential energy with respect to it’s neighborhoods
configuration then such a system if given a slight perturbation will excite a vibratory
motion.

Damping causes dissipation of vibration energy to other forms causing gradual

reduction of vibration.
Damping due to
1. Viscous track
2. Friction
3. Hysteretic energy absorption.

9/11/2024 8
Structural Dynamics:
For analyzing stresses and deflections in any structural system when it is subjected to
an arbitrary dynamic loading.
Here we have to understand the dynamics of structure when it is subjected to force.
That means we have to write the corresponding dynamic equilibrium equation and its
solution.
Dynamic Load:
Dynamic load may be denied as time varying load p(t).
Here responses i.e. stresses 𝜎 𝑡 and deflection 𝑢 𝑡 also time dependent

That means due to prescribed loading histories, displacement time histories are
determined.

Loading may be periodic → simply Harmonic

Unbalanced rotating
machine

Time (t) 𝐸𝐼 𝐸𝐼
F

Fig. 6.5 (a)

9/11/2024 9
Non Periodic

Bomb blast pressure on building

F

Time (t)

Random
F

Time (t)

Earth Quake
on water tank)

Fig. 6.6

9/11/2024 10
Types of Analysis:
• Classification of Analysis according to force;

• Classification of Analysis according to material behavior;

• Classification of Analysis according to deformation.

9/11/2024 11
 Classification of analysis according to Force

Static Analysis Dynamic Analysis

Applied force is constant Applied force is not
constant i.e. dynamic

P P(t)

9/11/2024 12
 Classification of analysis according to Material

Linear Analysis Non-linear Analysis

 Hooke’s law is valid;  Hooke’s law is not valid;
 Loads are well with the elastic  Loads are beyond the elastic
range of deformation; range of deformation;
 Superposition principle is  Superposition principle is not
applicable applicable

P
P
𝑃 = 𝑘𝑢 𝑃 ≠ 𝑘𝑢
𝑃=𝑘 𝑢 𝑢

𝑢
𝑢
9/11/2024 13
 Classification of analysis according to deformation

Small deformation Analysis Large deformation Analysis

 Analysis confined to primary  Deformation due to
effect; secondary effect also
 Material non-linearity only  Material non-linearity
 Geometric non-linearity
𝑃 − ∆ effect
Buckling effect

9/11/2024 14
Mechanical Model:
Distributed lumped mass: Assume lumped mass of the beam to be concentrated at
discrete points.
𝑃 𝑡

𝑚1 𝑚2 𝑚3

Fig. 6.7 Lumped mass model: Discrete Parameter

Degree of freedom: The number of degrees of freedom is defined as the minimum
number of variables that are required for a full description of the movement of a
structure.
A point in a space there is six degree of freedom (Three translation and three
rotation.
If mass of the beam fully concentrated at three discrete point then dof is 3
For non concentrated lumped mass i.e. considering rotation dof is 6
Considering axial deformation dof is 9.
9/11/2024 15
Generalized Displacement:
Distributed parameter: Continuous
p 𝑥, 𝑡
(realistic-difficult to analysis.
Corresponding Partial differential
equation
𝜕2 𝜕2 𝑣 𝜕2 𝑣
𝐸𝐼 𝜕𝑥 2 + 𝑚 𝑥 = 𝑝 𝑥, 𝑡
𝜕𝑥 2 𝜕𝑡 2
(6.1)
Fig. 6.8 Generalised displacement
𝑛𝜋𝑥
𝑣 𝑥 = 𝛼𝑛=1 𝑏𝑛 𝑠𝑖𝑛 𝐿 (6.1a)
Generalised
𝑣 𝑥 = 𝛼𝑛=1 𝑧𝑛 𝜓𝑛 𝑥 (6.2)
Where 𝑧𝑛 = 𝐴𝑝𝑝𝑙𝑖𝑡𝑖𝑑𝑢𝑒
𝜓𝑛 𝑥 = 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑓𝑢𝑐𝑡𝑖𝑜𝑛

9/11/2024 16
Equation of Motion:
As per Newton’s law
p 𝑡 Force= rate of change of momentum
𝑑 𝑑𝑣 𝑑2𝑣
𝑚 𝑝 𝑡 = 𝑚 = 𝑚 2 = 𝑚𝑣
𝑑𝑡 𝑑𝑡 𝑑𝑡
Where 𝑣 𝑡 = 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝑣𝑒𝑐𝑡𝑜𝑟
𝑑 𝑑𝑣 𝑑2𝑣
𝑝 𝑡 = 𝑚 = 𝑚 2 = 𝑚𝑣
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑝 𝑡 − 𝑚𝑣 𝑡 = 0 (6.3)
Fig. 6.9 Beam with dynamic load
𝑚𝑣 𝑡

D’ Alembert's Principle: p 𝑡 𝑣 𝑡
Mass develops an inertial force proportional to
its acceleration and opposing is known as
D’Alembert’s principle

9/11/2024 17
 𝑚
≅
𝑘 𝑘 𝑐

𝐹𝑖𝑔. 6.10 𝐼𝑑𝑒𝑎𝑙𝑖𝑠𝑒𝑑 𝑆𝑡𝑟𝑢𝑐𝑡𝑢𝑟𝑒 𝑣0 𝑣0

𝑚 𝑣 𝑡 𝑚 𝑣 𝑡
Equilibrium Equilibrium
𝑎 𝑏
position position
𝐹𝑖𝑔. 𝑀𝑒𝑐𝑕𝑎𝑛𝑖𝑐𝑎𝑙 𝑀𝑜𝑑𝑒𝑙𝑠, 𝑎 𝑀𝑎𝑠𝑠 𝑎𝑛𝑑
𝑆𝑝𝑟𝑖𝑛𝑔: Spring (b) Mass, spring and dashpot

Hard Spring
Linear Spring

Spring restoring force

𝐹𝑠 = 𝑘𝑣 (6.4) 𝐹𝑠 soft Spring
𝑘

𝑣
𝑃 𝑣
9/11/2024 Fig. 6.11 spring 18
 𝐷𝑎𝑠𝑕 𝑃𝑜𝑡
:

𝐹𝑑

Damping force
𝑣 𝐹𝑑 = 𝑐𝑣 (6.5)
𝑣
𝐹𝑑
Fig. 6.12 Dash pot

9/11/2024 19
The simple mechanical system has four elements:
• Inertial element 𝑚 , representing mass;
• A spring element 𝑘 , representing stiffness;
• A damping element 𝑐, representing the frictional
characteristics and energy loss (dissipation of energy) of the
structure;
• An excitation force 𝐹 𝑡 , representing the external forces
acting on the structural system.

9/11/2024 20
Equation of Motion:
By direct equilibrium
𝑚
≅
𝑘
𝑎
𝑘𝑣0
𝑣0 𝑘 𝑣0 + 𝑣
= 𝑊 + 𝑘𝑣
𝑚 𝑣 𝑡 𝑚
Equilibrium 𝑚𝑣 ↑
𝐹𝑖𝑔. 6.13 𝑎 𝐴𝑐𝑡𝑢𝑎𝑙 𝑀𝑜𝑑𝑒𝑙 𝑏 𝑀𝑒𝑐𝑕𝑎𝑛𝑖𝑐𝑎𝑙 𝑚𝑜𝑑𝑒𝑙 𝑏
(c ) FBD of equilibrium mass (d) FBD of oscillating position
𝑊 = 𝑚𝑔
mass at time instant. 𝑊 = 𝑚𝑔
𝑐
𝑑
From FBD of fig. 𝑐
From FBD of fig. 𝑑
𝐹𝑦 = 0 ↑ +𝑣𝑒
𝐹𝑦 = 0 ↑
𝑘𝑣0 − W = 0
⇒ 𝑘𝑣0 = W 𝑊 + 𝑘𝑣 + 𝑚𝑣 − 𝑊 = 0
⇒ 𝑚𝑣 + 𝑘𝑣 = 0 (6.6)

9/11/2024 21
 𝑚

𝑎
𝑘 𝑐

Fig. 6.14 𝑘 𝑣0 + 𝑣
𝑘𝑣0
𝑎 𝐴𝑐𝑡𝑢𝑎𝑙 𝑀𝑜𝑑𝑒𝑙 𝑏 𝑀𝑒𝑐𝑕𝑎𝑛𝑖𝑐𝑎𝑙 𝑚𝑜𝑑𝑒𝑙 𝑣0 = 𝑊 + 𝑘𝑣
(c ) FBD of equilibrium mass (d) FBD of c𝑣
𝑚 𝑣 𝑡
oscillating mass at time instant. 𝑚
Equilibrium
𝑏 𝑚𝑣 ↑
𝑏
From FBD of fig. 𝑑 position
𝑊 = 𝑚𝑔
𝐹𝑦 = 0 ↑
𝑊 = 𝑚𝑔
𝑊 + 𝑘𝑣 + 𝑐𝑣 + 𝑚𝑣 − 𝑊 = 0 𝑐
𝑑
⇒ 𝑚𝑣 + 𝑐𝑣 + 𝑘𝑣 = 0 (6.7)

9/11/2024 22
 u 𝑡
𝑚
𝑚 𝐹 𝑡
𝐸𝐼,
𝐸𝐼 𝐸𝐼 𝑘
≅

Fig. 6.15 (a)

Fig. 6.15(b)

9/11/2024 23
 u 𝑡
u 𝑡 𝐹 𝑡
𝑚 𝐹 𝑡 𝑚
𝑆𝑝𝑟𝑖𝑛𝑔
𝑘 u 𝑡
𝐸𝐼 𝐸𝐼 𝐸𝐼,
≅ 𝑘 ≅ 𝑚ass(m) 𝐹 𝑡
𝑐
𝑐
Fig. 6.15 (a):
Fig. 6.15(b): 𝐷𝑎𝑠𝑕 𝑃𝑜𝑡 𝐹𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑙𝑒𝑠𝑠 𝑏𝑎𝑙𝑙
Actual model
Ideal model
Fig. 6.15(c):
Mechanical model

Free body diagram:

u 𝑡 𝐹𝑋 = 0 → +𝑣𝑒
𝑘𝑢
𝑚𝑢 𝐹 𝑡
𝑐𝑢 ⇒ −𝑚𝑢 − 𝑐𝑢 − 𝑘𝑢 + 𝐹 𝑡 = 0
⇒ 𝑚𝑢 + 𝑐𝑢 + 𝑘𝑢 = 𝐹 𝑡 (6.8)

This dynamic equilibrium equation

9/11/2024 24
Virtual work method:
Principle:-
For a deformed body in equilibrium under a set of forces and moment sum of internal and
external virtual work is zero. Virtual work is work done by forces and moments under
virtual displacement. 𝛿𝑤 = 0
Forces are:

𝑆𝑝𝑟𝑖𝑛𝑔 u 𝑡
𝑘 u 𝑡 𝑘𝑢
𝑚𝑢 𝐹 𝑡
𝑐𝑢
𝑚ass(m) 𝐹 𝑡
𝑐 Internal work External work
−𝑚𝑢 𝛿𝑢 𝐹 𝑡 𝛿𝑢
𝐷𝑎𝑠𝑕 𝑃𝑜𝑡 𝐹𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑙𝑒𝑠𝑠 𝑏𝑎𝑙𝑙
−𝑐𝑢 𝛿𝑢
−𝑘𝑢𝛿𝑢
Virtual displacement 𝛿𝑤 = 0

𝑘𝑢 −𝑚𝑢 𝛿𝑢 − 𝑐𝑢 𝛿𝑢 − 𝑘𝑢𝛿𝑢 + 𝐹 𝑡 𝛿𝑢 = 0
𝑚𝑢 𝐹 𝑡 ⇒ 𝑚𝑢 + 𝑐𝑢 + 𝑘𝑢 = 𝐹 𝑡
𝑐𝑢

𝛿𝑢
9/11/2024 25
Equation of Motion: By Energy Method

u 𝑡
𝐹 𝑡
𝑚
𝑆𝑝𝑟𝑖𝑛𝑔
𝑘 u 𝑡
𝐸𝐼,
𝑘 𝑚ass(m) 𝐹 𝑡
𝑐
𝑐

Fig. 6.16(a): 𝐷𝑎𝑠𝑕 𝑃𝑜𝑡 𝐹𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑙𝑒𝑠𝑠 𝑏𝑎𝑙𝑙

Ideal model Fig. 6.16(b): Mechanical model

1
Kinetic energy 𝑇 = 2 𝑚𝑢2 (6.9)
1
Potential energy 𝑉 = 2 𝑘𝑢2 (6.10)
So, Lagrangian function 𝐿 = 𝑇 − 𝑉 (6.11)
Corresponding Lagrangian Equation(Hamilton’s Principle)
𝑑 𝜕𝐿 𝜕𝐿
− 𝜕𝑢 = 𝐹 𝑡 (6.12)
𝑑𝑡 𝜕𝑢

9/11/2024 26
Rayleigh Dissipation Function
1
𝐷 = 2 𝑐𝑢 2 (6.13)

In general equation (6.12) may be modified to include the Rayleigh dissipation function
and will assume the form
𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐷
− 𝜕𝑢 + 𝜕𝑢 = 𝐹 𝑡 (6.14)
𝑑𝑡 𝜕𝑢

1 1
Now, 𝐿 = 𝑇 − 𝑉 = 2 𝑚𝑢 2 − 2 𝑘𝑢2

𝜕𝐿
= 𝑚𝑢
𝜕𝑢
𝑑 𝜕𝐿
= 𝑚𝑢
𝑑𝑡 𝜕𝑢
𝜕𝐿
= −𝑘𝑢
𝜕𝑢
𝜕𝐷
= 𝑐𝑢
𝜕𝑢

Putting all in equation (6.14)

𝑚𝑢 − (−𝑘𝑢) + 𝑐𝑢 = 𝐹 𝑡
⇒ 𝑚𝑢 + 𝑘𝑢 + 𝑐𝑢 = 𝐹 𝑡
⇒ 𝑚𝑢 + 𝑐𝑢 + 𝑘𝑢 = 𝐹 𝑡 (6.15)
9/11/2024 27
When a system vibrates in absence of external excitation i.e. 𝐹 𝑡 , it is called free
vibration;
When 𝑐 = 0, it is called undamped free vibration.
 Undamped free vibration ⇒ 𝑚𝑢 + 𝑘𝑢 = 0
 Damped free vibration ⇒ 𝑚𝑢 + 𝑐𝑢 + 𝑘𝑢 = 0 (6.16)
 Undamped force vibration ⇒ 𝑚𝑢 + 𝑘𝑢 = 𝐹 𝑡
 Damped free vibration ⇒ 𝑚𝑢 + 𝑐𝑢 + 𝑘𝑢 = 𝐹 𝑡

9/11/2024 28
 u 𝑡
𝑚 𝑚𝑢 u 𝑡 -absolute

𝑘 𝑘(𝑢 − 𝑢𝑔 )

𝑐 𝑢 − 𝑢𝑔
u 𝑔

𝑢𝑟 𝑡 Corresponding ordinary differentia equation is

𝑚 −𝑚𝑢𝑔 𝑚𝑢 + 𝑐 𝑢 − 𝑢𝑔 + 𝑘 𝑢 − 𝑢𝑔 = 0
Let 𝑢 − 𝑢𝑔 = 𝑢𝑟 → 𝑟𝑒𝑙𝑎𝑡𝑖𝑣𝑒 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒 𝑚𝑒𝑛𝑡
𝑘 𝑢 − 𝑢𝑔 = 𝑢𝑟 → 𝑟𝑒𝑙𝑎𝑡𝑖𝑣𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦

𝑚𝑢 + 𝑐𝑢𝑟 + 𝑘𝑢𝑟 = 0
⇒ 𝑚 𝑢𝑟 + 𝑢𝑔 + 𝑐𝑢𝑟 + 𝑘𝑢𝑟 = 0
⇒ 𝑚𝑢𝑟 + 𝑐𝑢𝑟 + 𝑘𝑢𝑟 = −𝑚𝑢𝑔

9/11/2024 29
 Multi Degree Freedom System:, dof=3
𝑢3 𝑡 𝐹3 𝑚3 𝑢3
𝑢3 𝑡 𝐹3 𝑡
𝐹3 𝑡 𝑚3 𝑚3
𝑘3 (𝑢3 −𝑢2 )
𝑐3 𝑐3 𝑢3 − 𝑢2
𝐸𝐼3 ,
𝑐3 𝑘3 𝑘3 (𝑢3 −𝑢2 )
𝑘3
𝑢2 𝑡 𝑐3 𝑢3 − 𝑢2
𝐹2 𝑡 𝑚2 𝑢2 𝑡 𝐹2 𝑡
𝑚2 𝐹2 𝑚2 𝑢2
𝑐2
≅ 𝐸𝐼2 , 𝑘2 (𝑢2 −𝑢1 )
𝑘2 𝑘2 𝑐2 𝑢2 − 𝑢1
𝑐2
u 𝑡
𝐹1 𝑡 𝑚1 𝐹1 𝑡 𝑘2 (𝑢2 −𝑢1 )
𝑢1 𝑡 𝑚1 𝑐2 𝑢2 − 𝑢1
𝑐1
𝐸𝐼1 , 𝐹1 𝑚1 𝑢1
𝑘1 𝑘1
𝑐1 𝑘1 𝑢1
𝑐1 𝑢1
Fig. 6.17 (a): Fig. 6.17(b): Fig. 6.17(c):FBD
Actual model Ideal model

9/11/2024 30
 𝑢1 𝑡 𝑢2 𝑡
𝑘1 𝑘2 𝑢3 𝑡

𝑚1 𝐹1 𝑡 𝑚2 𝐹2 𝑡 𝑚3 𝐹3 𝑡
𝑐1 𝑐2 𝑐2
Fig. 6.17(d): Mechanical model

Free body diagram:

𝑘1 𝑢1 𝑘2 (𝑢2 −𝑢1 ) 𝑘3 (𝑢3 −𝑢2 )

𝑚1 𝑢1 𝐹1 𝑡 𝑚2 𝑢2 𝐹2 𝑡 𝑚3 𝑢3 𝐹3 𝑡
𝑐1 𝑢1 𝑐2 𝑢2 − 𝑢1 𝑐3 𝑢3 − 𝑢2
FBD 1 FBD 2 FBD 3

Fig. 6.17(e): Free body diagrams

9/11/2024 31
From FBD 1 fig. 6.17(c) or6.17(e)
𝑚1 𝑢1 + 𝑐1 𝑢1 + 𝑘1 𝑢1 − 𝑐2 𝑢2 − 𝑢1 − 𝑘2 𝑢2 − 𝑢1 − 𝐹1 𝑡 = 0 (6.17)

From FBD 2 fig. 6.17(c) or6.17(e)

𝑚2 𝑢2 + 𝑐2 𝑢2 − 𝑢1 + 𝑘2 𝑢2 − 𝑢1 − 𝑐3 𝑢3 − 𝑢2 − 𝑘3 𝑢3 − 𝑢2 − 𝐹2 𝑡 = 0
(6.18)
From FBD 3 fig. 6.17(c) or6.17(e)
𝑚3 𝑢3 + 𝑐3 𝑢3 − 𝑢2 + 𝑘3 𝑢3 − 𝑢2 − 𝐹3 𝑡 = 0 (6.19)

In matrix form equations (6.17) to (6.19) can be written as

𝑚1 0 0 𝑢1 𝑐1 + 𝑐2 −𝑐2 0 𝑢1
0 𝑚2 0 𝑢2 + −𝑐2 𝑐2 + 𝑐3 −𝑐3 𝑢2 +
0 0 𝑚3 𝑢3 0 −𝑐3 𝑐3 𝑢3
𝑘1 + 𝑘2 −𝑘2 0 𝑢1 𝐹1 (𝑡)
−𝑘2 𝑘2 + 𝑘3 −𝑘3 𝑢2 = 𝐹2 (𝑡) (6.20)
0 −𝑘3 𝑘3 𝑢3 𝐹3 (𝑡)
⇒ 𝑀 𝑢 + 𝐶 𝑢 + 𝐾 𝑢 = 𝐹 𝑡 (6.21)

9/11/2024 32
Where
𝑚1 0 0
𝑀 = 𝑚𝑎𝑠𝑠 𝑚𝑎𝑡𝑟𝑖𝑥 = 0 𝑚2 0
0 0 𝑚3

𝑐1 + 𝑐2 −𝑐2 0
𝐶 = 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑚𝑎𝑡𝑟𝑖𝑥 = −𝑐2 𝑐2 + 𝑐3 −𝑐3
0 −𝑐3 𝑐3

𝑘1 + 𝑘2 −𝑘2 0
𝐾 = 𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 𝑚𝑎𝑡𝑟𝑖𝑥 = −𝑘2 𝑘2 + 𝑘3 −𝑘3
0 −𝑘3 𝑘3

9/11/2024 33
 Energy Method:
Multiple Shear Building 𝑢1 𝑡 𝑢2 𝑡
𝑘1 𝑘2 𝑢3 𝑡
𝑢3 𝑡
𝐹3 𝑡
𝑚3 𝑚1 𝐹1 𝑡 𝑚2 𝐹2 𝑡 𝑚3 𝐹3 𝑡
𝐸𝐼3 , 𝑐1 𝑐2 𝑐2
𝑐3 𝑘3
𝑢2 𝑡 Fig. 6.18(b): Mechanical model
𝐹2 𝑡
𝑚2
1
𝐸𝐼2 , Kinetic energy 𝑇 = 𝑚1 𝑢1 2 + 𝑚2 𝑢2 2 + 𝑚3 𝑢3 2 (6.22)
2
1
𝑐2 𝑘2 Potential energy 𝑉 = 2 𝑘1 𝑢1 2 + 𝑘2 𝑢2 − 𝑢1 2
+ 𝑘3 𝑢3 − 𝑢2 2
u 𝑡
𝐹1 𝑡 (6.23)
𝑚1
So, Lagrangian function 𝐿 = 𝑇 − 𝑉
𝐸𝐼1 , =
1 2 2 2
𝑚1 𝑢1 + 𝑚2 𝑢2 + 𝑚3 𝑢3 − 𝑘1 𝑢1 2 − 𝑘2 𝑢2 − 𝑢1 2 − 𝑘3 𝑢3 − 𝑢2 2
(6.24)
2
𝑐1 𝑘1
Rayleigh’s Dissipation Function
1
𝐷 = 2 𝑐1 𝑢1 2 + 𝑐2 𝑢2 − 𝑢1 2 + 𝑐3 𝑢3 − 𝑢2 2
(6.25)
Fig. 6.18(a):
Ideal model

9/11/2024 34
Lagrange motion equation with dissipation of energy
𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐷
− 𝜕𝑢 + 𝜕𝑢 = 𝐹 𝑡 (6.26)
𝑑𝑡 𝜕𝑢

First equation

𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐷
− 𝜕𝑢 + 𝜕𝑢 = 𝐹1 𝑡 (6.27)
𝑑𝑡 𝜕𝑢1 1 1
Differencing equation (6.24) with respect to 𝑢1 ,we get
𝜕𝐿
= 𝑚1 𝑢1
𝜕𝑢1
𝑑 𝜕𝐿
= 𝑚1 𝑢1
𝑑𝑡 𝜕𝑢1
𝜕𝐿
= −𝑘1 𝑢1 + 𝑘2 𝑢2 − 𝑢1 = − 𝑘1 + 𝑘2 𝑢1 + 𝑘2 𝑢2
𝜕𝑢1
𝜕𝐷
= 𝑐1 𝑢1 − 𝑐2 𝑢2 − 𝑢1 = 𝑐1 + 𝑐2 𝑢1 − 𝑐2 𝑢2
𝜕𝑢1
Putting these values in equation (6.27)
𝑚1 𝑢1 + 𝑘1 + 𝑘2 𝑢1 − 𝑘2 𝑢2 + 𝑐1 + 𝑐2 𝑢1 − 𝑐2 𝑢2 = 𝐹1 𝑡 (6.28)

9/11/2024 35se
Second equation

𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐷
− 𝜕𝑢 + 𝜕𝑢 = 𝐹2 𝑡 (6.29)
𝑑𝑡 𝜕𝑢2 2 2
Differencing equation (6.24) with respect to 𝑢2 ,we get
𝜕𝐿
= 𝑚2 𝑢2
𝜕𝑢2
𝑑 𝜕𝐿
= 𝑚2 𝑢 2
𝑑𝑡 𝜕𝑢2
𝜕𝐿
= − 𝑘2 + 𝑘3 𝑢2 + 𝑘2 𝑢1 + 𝑘3 𝑢3
𝜕𝑢2
𝜕𝐷
= 𝑐2 + 𝑐3 𝑢2 − 𝑐2 𝑢1 − 𝑐3 𝑢3
𝜕𝑢2
Putting these values in equation (6.29)
𝑚2 𝑢2 + 𝑘2 + 𝑘3 𝑢2 − 𝑘2 𝑢1 − 𝑘3 𝑢3 + 𝑐2 + 𝑐3 𝑢2 − 𝑐2 𝑢1 − 𝑐3 𝑢3 = 𝐹2 𝑡 (6.30)

9/11/2024 36
Third equation

𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐷
− 𝜕𝑢 + 𝜕𝑢 = 𝐹3 𝑡 (6.31)
𝑑𝑡 𝜕𝑢3 3 3
Differencing equation (6.24) with respect to 𝑢1 ,we get
𝜕𝐿
= 𝑚3 𝑢3
𝜕𝑢3
𝑑 𝜕𝐿
= 𝑚3 𝑢 3
𝑑𝑡 𝜕𝑢3
𝜕𝐿
= −𝑘3 𝑢3 + 𝑘3 𝑢2
𝜕𝑢3
𝜕𝐷
= 𝑐3 𝑢3 − 𝑢2 = 𝑐3 𝑢3 − 𝑐3 𝑢2
𝜕𝑢3
Putting these values in equation (6.31)
𝑚3 𝑢3 + 𝑘3 𝑢3 − 𝑘3 𝑢2 + 𝑐3 𝑢3 − 𝑐3 𝑢2 = 𝐹3 𝑡 (6.32)

9/11/2024 37
In matrix form equations (6.28 , 6.30 and 6.32) can be written as
𝑚1 0 0 𝑢1 𝑐1 + 𝑐2 −𝑐2 0 𝑢1 𝑘1 + 𝑘2 −𝑘2 0 𝑢1 𝐹1 (𝑡)
0 𝑚2 0 𝑢2 + −𝑐2 𝑐2 + 𝑐3 −𝑐3 𝑢2 + −𝑘2 𝑘2 + 𝑘3 −𝑘3 𝑢2 = 𝐹2 (𝑡) (6.33)
0 0 𝑚3 𝑢3 0 −𝑐3 𝑐3 𝑢3 0 −𝑘3 𝑘3 𝑢3 𝐹3 (𝑡)

9/11/2024 38
 Parallel Spring:

𝑆𝑝𝑟𝑖𝑛𝑔
𝑘1 u

𝑚ass(m) 𝐹
𝑘2

𝐹𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑙𝑒𝑠𝑠 𝑏𝑎𝑙𝑙

Fig. 6.19
𝐹
Here displacement 𝑢 = 𝑘 (6.34)
1 +𝑘2
Let 𝑘𝑒 = 𝑒𝑞𝑢𝑖𝑣𝑎𝑙𝑛𝑡 𝑠𝑝𝑟𝑖𝑛𝑔 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡.
𝐹
So, 𝑢 = 𝑘 (6.35)
𝑒
From equation (6.34) and (1,35), we obtain
𝑘𝑒 = 𝑘1 + 𝑘2 (6.36)

9/11/2024 39
 Series Spring:

𝑆𝑝𝑟𝑖𝑛𝑔 𝑆𝑝𝑟𝑖𝑛𝑔
𝑢1 u
𝑘1 𝑢2
𝑘2
𝐹
𝑚ass(m) 𝐹

Fig. 6.20 𝐹𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑙𝑒𝑠𝑠 𝑏𝑎𝑙𝑙

𝐹
Here elongation of spring 1, 𝑢1 = 𝑘
1
𝐹
elongation of spring 2, 𝑢2 = 𝑘2
𝐹 𝐹 1 1
So , total displacement 𝑢 = 𝑢1 + 𝑢2 = 𝑘 + 𝑘 = 𝐹 +𝑘 (6.37)
1 2 𝑘1 2
Let 𝑘𝑒 = 𝑒𝑞𝑢𝑖𝑣𝑎𝑙𝑛𝑡 𝑠𝑝𝑟𝑖𝑛𝑔 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡.
𝐹 1
So, 𝑢 = 𝑘 = 𝐹 (6.38)
𝑒 𝑘𝑒
From equation (6.37) and (6.38), we obtain
1 1 1
= + (6.39)
𝑘𝑒 𝑘 𝑘1 2

9/11/2024 40
Calculation of stiffness:
4𝐸𝐼 2𝐸𝐼
Unit rotation at 𝐿 𝜃𝑖 =1 𝐿
near end i j
𝐿 ,EI
6𝐸𝐼
6𝐸𝐼 𝐿2
Fig. 6.21
𝐿2

3𝐸𝐼
𝐿 𝜃𝑖 =1
i j
Unit rotation at
near end 𝐿 ,EI
3𝐸𝐼
3𝐸𝐼
Fig. 6.22 𝐿2
𝐿2

9/11/2024 41
 6𝐸𝐼
Unit settlement 𝐿2 𝐿 ,EI
i 𝜓𝑖𝑗 j
∆= 1
𝜓𝑗𝑖 6𝐸𝐼
12𝐸𝐼 𝐿2
𝐿3 12𝐸𝐼
𝐿3
Fig. 6.23
3𝐸𝐼
𝐿2 𝐿 ,EI
i 𝜓𝑖𝑗 j
∆= 1
Unit settlement
𝜓𝑗𝑖
3𝐸𝐼
3𝐸𝐼
𝐿3 Fig. 6.24
𝐿3

9/11/2024 42
 When 𝐸𝐼𝑏 =∝
6𝐸𝐼𝑐
12𝐸𝐼𝑐
6𝐸𝐼𝑐 𝑕2 12𝐸𝐼𝑐
𝑚 𝑕3 𝑚
𝑕2 𝑕3
𝐸𝐼𝑏 , L 𝐸𝐼𝑏 , L
h 𝐸𝐼𝑐 h 𝐸𝐼𝑐 h 𝐸𝐼𝑐 h 𝐸𝐼𝑐 Lateral Stiffness
12𝐸𝐼 12𝐸𝐼𝑐 24𝐸𝐼𝑐
12𝐸𝐼𝑐 6𝐸𝐼𝑐 3 𝑐 𝑘= =
𝑕 𝑕3 𝑕3
𝑕3 𝑕2 6𝐸𝐼𝑐
Fig. 6.25(a) Fig. 6.25(b) 𝑕2

When 𝐸𝐼𝑏 = 0
3𝐸𝐼𝑐
𝑕3𝑚 3𝐸𝐼𝑐
𝑕3
𝐸𝐼𝑏 , L
Lateral Stiffness
h 𝐸𝐼𝑐 3𝐸𝐼𝑐 h 𝐸𝐼𝑐
6𝐸𝐼𝑐 3𝐸𝐼𝑐 6𝐸𝐼𝑐
𝑕3 𝑘=
3𝐸𝐼𝑐 6𝐸𝐼 𝑕 3 = 𝑕3
𝑕 2 𝑐
𝑕3 𝑕2
Fig. 6.25(c)
9/11/2024 43
 STIFFNESS MATRIX CONSTRUCTION
𝑣1 𝑣2
𝜃1 𝑢1 𝜃2 𝑢2 When 𝐸𝐼𝑏 ≠∝ 𝑎𝑛𝑑𝐸𝐼𝑏 ≠ 0
1 𝑚 2 In between ∝ 𝑎𝑛𝑑 0
𝐸𝐼𝑏 , L DOF=6
Neglecting axial deformation
h 𝐸𝐼𝑐 h 𝐸𝐼𝑐 𝑢1 = 𝑢2
DOF=3, i.e. 𝑢1 , 𝜃1 and 𝜃2

Fig. 6.25(d) 6𝐸𝐼𝑐

12𝐸𝐼𝑐 𝑕2 When
6𝐸𝐼𝑐 2 12𝐸𝐼𝑐
𝑕3 𝑚 3 𝑢1 = 1 𝑎𝑛𝑑 𝜃1 = 𝜃2 = 0
𝑕 2
𝑕3 24𝐸𝐼
1 𝐸𝐼𝑏 , L 1 𝑘11 = ℎ3 𝑐

h 𝐸𝐼𝑐 h 𝐸𝐼𝑐 6𝐸𝐼𝑐

12𝐸𝐼 𝑘21 =
12𝐸𝐼𝑐 6𝐸𝐼𝑐 3 𝑐 ℎ2
𝑕
𝑕3 𝑕2 6𝐸𝐼𝑐 6𝐸𝐼𝑐
Fig. 6.25(d) 𝑘11 =
𝑕2 ℎ2

9/11/2024 44