CEE490b Jan.

9, 2002

Topic 1

Free Vibration of Multi-Degree-of-Freedom Systems

Free Undamped Vibration

• As with Single-Degree-of-Freedom Systems, this is the basic type of

response
• Yields natural frequencies of the system
• Step 1 is to describe the elastic (restoring) properties of the system.
This can either be done in terms of stiffness or flexibility

Structural Stiffness

• Described by the stiffness matrix, with elements k ij

• k ij is defined as the force acting at node i, in order to produce a sole unit
displacement at node j
• In “lumped mass” models, the stiffness constants defined above are identical
to the stiffness used in static models

Multi-storey “shear” building

• A shear building is one where the resistance to lateral loads is from the
bending of the columns – the floors are infinitely rigid – and the columns are
fixed-ended where connected to the floors.

k 31=0 k 32 k33
m3 1

l3 I3

k 21 k 22 k 23
m2 1

l2 I2

k 11 k12 k13=0
m1 1

l1 I1

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CEE490b Jan. 9, 2002

EI
• The basic stiffness constant for a column subjected to shear only is k = 12
l3
• The assembly of the stiffness matrix is performed one element at a time, with
each floor of the building sequentially subjected to a unit shear displacement
and the stiffnesses added as appropriate.
• e.g. the stiffness element for the first floor, due to a unit displacement of the
first floor is:

12EI1 12EI 2
k11 = 2 ∗ 3
+ 2∗ 3
l1 l2

(the ‘2’ multiplier is for 2 columns per storey)

• The full stiffness matrix for the 3-storey shear building is:

12EI1 12EI 2  12EI 2 

k11 = 2 ∗ + 2∗ k12 = 2 ∗  −  k13 = 0
l
3
l2
3  l
3 
1  2 
 12EI 2  12EI 2 12EI 3  12EI 3 
k 21 = 2∗−  k 22 = 2∗ + 2∗ k 23 = 2 ∗  − 
 l
3  l2
3
l3
3  l3
3 
 2   
 12EI 3  12EI 3
k 31 = 0 k 32 = 2 ∗  −  k 33 = 2 ∗
 l3 
3
l3
3


Note: - the matrix is diagonally symmetric ( k12 = k 21 )

• Static Condensation – This is the term given to the simplification of a stiffness

matrix through the elimination of degrees of freedom. For example, in most
buildings and structures exposed to lateral loads, there are no significant
external moments or mass moment of inertia acting in the joints. Therefore
the joint rotations can be eliminated from the governing equations, so the
deformation of the structure can be expressed in terms of lateral
displacements only.
• Considering the full 4x4 stiffness matrix for the column shown below, the
elements can be assembled one degree of freedom at a time. We shall see
how this can be simplified using Static Condensation

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CEE490b Jan. 9, 2002

• Recall the stiffness characteristics of a fixed ended beam:

P P
A l B A l B
✕
✁
MA MA
MB MB
P EI P EI

P2 4 2 4
2

EI2 l2

3 3
P1 1 1

EI1 l1

2EIθ
M A = 21 M B =
M A = M B = 6EI∆ / l 2 l
6EIθ
Pl = M A + M B = 2 ∗ 6EI∆ / l 2 Pl = M B + M A =
l
P = 12EI∆ / l 3 6EIθ
P= 2
l
P 6EI
= 2
P 12EI θ l
= 3
∆ l θ 4EI
=
M 6EI MB l
= 2
∆ l M A 2EI
=
θ l

• Assembling the elements of the complete stiffness matrix, we obtain:

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CEE490b Jan. 9, 2002

12EI1 12EI 2
k11 = 3
+ 3
l 1 l2
12EI 2
k12 = k 21 = − 3
l2
6EI 6EI
k 13 = k 31 = 2 1 − 2 2
l1 l2
6EI
k14 = k 41 = − 2 2
l2
12EI 2
k 22 =
l 22
6EI
k 23 = k 32 = 2 2
l2
6EI
k 24 = k 42 = 2 2
l2
4EI1 4EI 2
k 33 = +
l1 l2
2EI 2
k 34 = k 43 =
l2
4EI 2
k 44 =
l2

• Now, if only static horizontal forces P1,2 act, the matrix equation relating the
input forces to the output displacements and rotations is:
 P1  k 11 k 12 k 13 k 14   u1 
P  k  
 2   21 k 22 k 23 k 24  u 2 
 =  
 0  k 31 k 32 k 33 k 34  ψ 1 
 0  k 41 k 42 k 43 k 44  ψ 2 

or, generally:

P   A B u 
 = T  
 0  B C  ψ 

note that the lower part of the equation:

{0} = [B ]T {u}+ [C ]{ψ }

yields the rotations:

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CEE490b Jan. 9, 2002

{ψ } = −[C ]−1 [B ]T {u}

then substituting this expression for the unknown rotations in terms of the
unknown displacements into the upper part of the equation:

{P } = [A]{u}− [B ][C ]−1 [B ]T {u}

{P } = ([A] − [B ][C ]−1[B ]T ){u}
the Condensed Stiffness Matrix is then:

[k ′] = ([A] − [B ][C ]−1 [B ]T )

In this case, it is a n x n matrix, where n is the number of translational
degrees of freedom (in this case a 2 x 2 matrix) involving translations only. If
the rotations are desired, it is a simple matter to insert the resulting
displacements into the known relationship between displacement and
rotation.

Governing Equations for the Solution to the Free Vibration Problem in

n Degrees-of-Freedom

• Newton’s Second Law is written for each of the masses in the system:

i.e. mass ∗ acceleration = ∑ forces acting on the mass

m1u&&1 = −k11u1 − k12 u 2 ... − k 1i u i ... − k 1n u n

m2u&&2 = −k 21u1 − k 22 u 2 ... − k 2 i u i ... − k 2n u n
.
.
mn u&&n = −k n1u1 − k n 2u 2 ... − k ni u i ... − k nn u n

where:

d 2 u i (t )
u&&i =
dt 2
then, in general:

n
mi u&&i + ∑ k ij u j = 0
j =1

or, in matrix form:

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CEE490b Jan. 9, 2002

[m]{u&&}+ [k ]{u} = {0}

m1 0 0 0 
0 m 0 0 
where [m ] is the diagonal mass matrix: [m ] =  2

0 0 mi 0 
 
0 0 0 mn 

This is an ordinary differential equation of the 2nd order.

• As in the single degree of freedom case, the particular solution is:

u i (t ) = u i sin ωt
u&&i (t ) = −u i ω 2 sin ωt

or, in matrix notation:

{u(t )} = {u}sinωt
{u&&(t )} = −ω 2 {u}sinωt
then:

− [m ]ω 2 {u&&}sin ωt + [k ]{u}sin ωt = {0}

This is a homogeneous algebraic equation for u i , where the frequency, ω is

unknown. This is called the “Eigenvalue Problem”.

([k ] − ω [m]){u} = {0}

2

The roots of this equation are non-zero only if the determinant is zero. i.e.:

[k ] − ω 2 [m] =0

if λ = 1/ ω 2 and we pre-multiply by − λ [k ] , then:

−1

(− λ[k ] [k ]+ [k ] [m]){u}= {0}

−1 −1

(− λ[I]+ [k ] [m]){u}= {0}

−1

where [I] is the Identity Matrix. A non-trivial solution only exists if the
determinant is equal to zero:

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CEE490b Jan. 9, 2002

− λ [I] + [k ] [m ] = 0
−1

• To find the values of λ which satisfy this equation results in a set of unique
Eigenvalues or Natural Frequencies. After the Eigenvalues have been
determined, they are substituted back into the Homogeneous Equation
involving {u}. For each value of λ (recall that λ = 1/ ω 2 ) or natural frequency,
a complete set of dimensionless displacements are obtained, one for each
degree of freedom. There are the mode shapes associated with each mode of
vibration, called Eigenvectors.

• In our two-degree of freedom “flagpole” problem, the solution of these

equations results in a closed-form solution for ω 2 , as follows:

Recall that we now have a 2x2 Condensed Stiffness Matrix, [k ′], and the
equation for the characteristic determinant:

[k ′ ] − ω 2
[m ] = 0

becomes:

′ − m1ω 2
k11 ′
k 12
=0
′
k 21 ′ − m2ω 2
k 22

the determinant is then a quadratic equation in ω 2 :

′ − m1ω 2 )(k 22
∆ = (k11 ′ − m2ω 2 ) − k12
′ k 21
′ =0
′ + m2 k11
∆ = ω 4 m1m2 − ω 2 (m1k 22 ′ ) + k11
′ k 22
′ − k12
′ k 21
′ =0
 k′ k′  k′
ω 4 −  11 + 22 ω 2 − 12 = 0
 m1 m2  m1m 2

the solution of which is:

2 ′ k 22
1  k11 ′  ′ k 22
1  k 11 ′  k′
ω 1,2 =  +  ±  +  + 12
2  m1 m2  4  m1 m 2  m1m2

• With each frequency, the amplitude ratios, or mode shapes can be calculated
from:

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CEE490b Jan. 9, 2002

([k ′]− ω [m]){u} = {0}

2

′ k12
 k11 ′  2  1
m 0  u1  0
 − ω  0 m  u  = 0
 k′ k′  j
  21 22   2   2   

k11
′ − ω 2 j m1 ′
k12  u1  0
   =  
 ′
k 21 ′ − ω j m2  u 2  0
k 22 2

results in two equations and two unknowns:

(k ′
11 ) ′ u2 = 0
− ω 2j m1 u1 + k 12
(
′ u1 + k 22
k 21 )
′ − ω 2j m2 u 2 = 0

u2
if we define the relative displacement as a j = , then
u1

aj =
u2
=
( ′
ω 2j m1 − k11 )
= 2 12
k
and a1a2 =
m1
u1 k12 ( ′
ω j m2 − k 22 ) m2

• Both of these equations must yield the same answer, which acts as a check
on the resulting mode shapes.
• With more degrees-of-freedom than two, it is desirable to use a computer to
solve the problem.

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