Structural Dynamics

=k =2

k =k

12 EI c

k=

2 12 4.5 10
3
3

= 4 10 N/m
The characteristic polynomial is as given in (3.15) so we have:

8 106 2 5000

4 10 3000
12

16 10 = 0
6

10

12

15 10 4.4 10 +16 10 = 0
This is a quadratic equation in
and so can be solved using
6
a = 15 10 ,

10

b = 4.4 10

12

and c = 16 10

in the usual expression

Hence we get = 425.3

2

b b 4ac
2a

2
2

and = 2508 . This may be written:

425.3
2
=
hence

20.6
3.28
=
rad/s and f = n =
Hz

50.1

2508

7.97

To solve for the mode shapes, we will use the appropriate form of the equation of
motion, equation (3.13):
K2M

a = 0 . First solve for the

E = K 2M
matrix

and then solve Ea = 0 for the amplitudes a n . Then, form n .

In general, for a 2DOF system, we have:
k +k

k
m
0 2 k + k
m

=
n
n

2
1

E =
2

02 m

k m k

1
2

For = 425.3 :
2
2

2
2
n 2
4

E =

106

2.7241

5.8735

Hence
4 a1

E a = 10

5.8735

1 1

2.7241 a2

Taking either equation, we calculate:

D.I.T. Bolton St

a1 = 0.681a2
+ 2.7241a = 0
a1 = 0.681a
0.681

24
Structural Dynamics

C. Caprani

5.8735a1 4a2 = 0
1

4a

1
1

2
2

Similarly for = 2508 :

E =

106

3.524

Hence, again taking either equation, we calculate:

4.54a1 4a2 = 0
1
a1 = 0.881a2

=
3.524a = 0

a 1= 0.881a
0.881

4a

2
1

4.54

The complete solution may be given by the following two matrices which are used in
further analysis for more complicated systems.

and =

1.468

1.135

425.3
2508

For our frame, we can sketch these two frequencies and associated mode shapes:
Figure 3.4.

Figure 3.4: Mode shapes and frequencies of the example frame.

D.I.T. Bolton St

25

C. Caprani

Structural Dynamics
Larger and more complex structures will have many degrees of freedom and hence
many natural frequencies and mode shapes. There are different mode shapes for
different forms of deformation; torsional, lateral and vertical for example. Periodic
loads acting in these directions need to be checked against the fundamental
frequency for the type of deformation; higher harmonics may also be important.
As an example; consider a 2DOF idealisation of a cantilever which assumes stiffness
proportional to the static deflection at 0.5L and L as well as half the cantilever mass
lumped at the midpoint and one quarter of it lumped at the tip. The mode shapes
are shown in Figure 3.5. In Section 4(a) we will see the exact mode shape for this it
is clear that the approximation is rough; but, with more DOFs it will approach a
better
solution.

Mode 1
Mode 2

Figure 3.5: Lumped mass, 2DOF idealisation of a cantilever.

D.I.T. Bolton St

26

C. Caprani