Structural Dynamics

Dr.-Ing. Volkmar Zabel

Bauhaus-Universitat Weimar, Fakultat Bauingenieurwesen
Institut fur Strukturmechanik
Marienstrae 15, 99421 Weimar
email: volkmar.zabel@uni-weimar.de
EXERCISES

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

Structural Dynamics
Exercises
Page 2

Given:

m, k

Task:

Moment of inertia with respect to the

center of rotation
Equation of motion neglecting gravity
Angular natural frequency 0 depending
on m and k

3. Aufgabe (30)
Ein System aus zwei starren Krpern mit den folgenden Parametern ist gegeben:
m = 12 kg, k = 3400 kN/m. Die Lnge ist als bekannte Gre zu behandeln.
Bestimmen Sie die Eigenfrequenz des Systems in Hz!

m
k
L

b
m

The following parameters of a system consisting of two

rigid bodies are given: m = 12 kg, k = 3400 kN/m. Assume, that the length L is given. Determine the natural
frequency of the system, f0 in Hz!

2L

4. Aufgabe (30)
Bestimmen Sie die Verdrehung des Trgerquerschnitts (x) entlang der Stabachse. Stellen Sie den
Verlauf von (x) graphisch dar!

m = 2 kg, c = 0.25 Nms , k = 54 N

, 0 = 0.1 rad
m

kAA

2p

3p

p
20

L/2

15

10

[m]

m
x
y

50cm

25cm
25cm

25cm

p = 8 kN/m
G = 6, 25 104 kN/m2

2,25m

1,375m

Schnitt A A

L/2

Calculate the free vibration response assuming

small amplitudes with the initial conditions
(t = 0) = 0 , (t
= 0) = 0! Neglect gravity!
Determine the time, when the amplitudes have are
decayed to 20 % of the initial displacement!

Sketch the diagram of the free vibration response

as a function of time!

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

F0 sin t
a

m = 10 kg
c = 80 Nms
k = 2400 N
m

g
L

2m
k

Structural Dynamics
Exercises
Page 3

L = 0.5 m, F0 = 12 N

b
c
L

Calculate the dynamic amplification factor V1 of the horizontal displacement x at support

b at the excitation frequencies = 6, 9, 12, 15 and 18 s1 ! Sketch the diagram of V1 for
the frequency range 0 18 s1 !
Compute the maximum horizontal displacement x at support b due to a harmonic excitation
with a frequency = 9 s1 !

The following diagram represents measured response data that was acquired in a free vibration
test after the release of an initial displacement.

17.0927

1.3333

0.0833

1.62005

Determine the natural frequency f0 [Hz] and the damping coefficient !

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

Structural Dynamics
Exercises
Page 4

x2

2m

x1

xb = xb,0 sin t

Develop the equations of motion

for the system shown in the figure!
Calculate the vibration amplitudes
of x1 and x2 relative to the amplitude of the base excitation xb,0 !
for the frequency
Assume 2 = 4k
m
of the harmonic base excitation!
Sketch the displacement shape!

F (t)
E, I, m(x), m
kd

cd
md

x
L

E = 2.1 1011 N
m
4
I = 300000 cm
L = 25m
m = 1000 kg
m
m = 0.005

Design for the given bridge system the parameters kd , cd and md of a tuned mass
damper (TMD) according to the optimal criteria by Den Hartog for reducing the
vibrations of the first modes of the bridge!
Determine the natural frequencies of the equivalent 2-dof system!
Calculate the maximal dynamic amplitude of steady state vibration z at mid-span to
a dynamic excitation F (t) = F sin 4t; F = 2 kN for the system with and without
TMD, neglecting damping!
Sketch a qualitative diagram of the dynamic amplification functions for the system
with and without TMD!

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

Structural Dynamics
Exercises
Page 5

b
0.5

A framed machine support carries a machine that

generates dynamic forces in x-direction only.
The dynamic force results of an unbalanced mass
of 0.5 kg that rotates with 900 rpm and a radius
of 2.5 m. The respective parameters are as follows

0.5

0.4

kg
E = 3.2 1010 N
= 2500 m
3
m
a = 4.0 m
h = 3.0 m
b = 5.0 m
t = 0.35 m
mmachine = 10000 kg
Derive the mass and stiffness matrices!

0.4

Set up the system of equations of motion for free vibration of the undamped system!
Calculate the natural frequencies (in Hz) and mode shapes of the undamped system for
movements of the slab in the xy-plane! Neglect the inertia of the columns!
Sketch the mode shapes!
Calculate the maximal dynamic response in x-direction x of the deck due to the excitation
by the rotating unbalanced mass assuming a modal damping coefficient of i = 0.02!

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

Structural Dynamics
Exercises
Page 6

Suppose, you are requested to perform a numerical dynamic analysis for a two storey
structure. Machinery that runs at 1400 r.p.m. is supposed to be installed in both storeys.
Your analyses require the use of a complete damping matrix since you want to take into
account the discrete damping properties of the machine supports. From prelimenary analyses you know the following 8 mode shapes, natural frequencies and modal damping ratios.
Use the model of Rayleigh describe the damping of the structure!
Determine the weighting parameters for the mass and stiffness matrices and !
Explain how you determined and and why you did it the way you have chosen!
Determine the modal damping ratios i for all eight modes that are represented by
the Rayleigh damping model with your chosen and ! Compare them with the
damping ratios that are given in the table!
f1 = 3.45 Hz
1 = 0.015

Z
YX

f5 = 11.16 Hz
5 = 0.025

Z
XY

f2 = 3.63 Hz
2 = 0.015

Z
XY

f3 = 5.15 Hz
3 = 0.020

f4 = 10.94 Hz
1 = 0.025

ZY
X

Z
YX

f6 = 16.52 Hz
6 = 0.020

f7 = 22.12 Hz
7 = 0.022

f8 = 24.98 Hz
8 = 0.025

Z
YX

Z
YX

Z
YX

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel
2m

Structural Dynamics
Exercises
Page 7

x2

The following parameters are given:

H

EI
m

2EI
H

x1

EI

E = 3 1010

N
m2

I = 6 104 m4
H = 3m
m = 18000 kg

Develop the mass matrix [M ] and the stiffness matrix [K] for the system shown in the
figure!
Develop the equations of motion for free vibration of the system shown in the figure!
Calculate the natural frequencies f1 and f2 in Hz!
Results: f1 = 1.917 Hz, f2 = 5.088 Hz
A machine on an existing foundation as shown in the
figure is going to be replaced. About the new machine
the following parameters are known:

mmach
Fdyn
z
k

mf ound

dominant frequency: 1200 rpm (rpm

min1 )

expected force amplitude: Fdyn = 5000 N

mass of the machine: mmach = 1000 kg
Furthermore the following parameters of the foundation are given: mf ound = 5000 kg, k =
, allowable total load for the two springs together: max. Ftot = 120 kN , damping ratio
5 107 N
m
=2%
The maximal dynamic displacement amplitude of the machine foundation has to be limited to
0.1 mm.
Determine the maximal dynamic displacement amplitude of the machine foundation if its
parameters were not changed!
Suggest one option to modify the existing machine foundation such that the requirements
are satisfied? Show that all requirements and restraint conditions are satisfied with the
changes you suggest!
Results: f0 = 2.055 Hz, max. V1 = 2, for = 0.02 max. Ftot. = 106 kN

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

x2
EI

2m

x1
2EI

2EI

EI

xb = xb,0 sin t

Result: x1 = 0.714 xb,0 , x2 = 1.286 xb,0

Assume that the system shown in the figure is

excited at the base by a harmonic displacement
with q
amplitude xb,0 and frequency

= m6 EI
.
H3
Find the amplitude of x1 and x2 relative to xb,0
in the stationary state of vibration! Damping is
neglected.
The stiffness matrix
is given
"
# as:
3 1
24 EI
[K] =
3
H
1 1

2m

2m

x2

x1

E = 211010

N
m2

I = 5 104 m4

EI

H = 4.5 m
m = 5000 kg

The following parameters are given:

m

EI

3 EI

Structural Dynamics
Exercises
Page 8

Tasks:
Develop the mass matrix [M ] and the stiffness matrix [K] for the system shown in the
figure!
Develop the equations of motion for free vibration of the system shown in the figure!
Calculate the natural frequencies f1 and f2 in Hz!
Results: f1 = 3.70 Hz, f2 = 13.38 Hz

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

Structural Dynamics
Exercises
Page 9

1. You are given the arrays x = [1 4 8], y = [2 1 5] and A = [3 1 6 ; 5 2 7] in MATLAB. Which

of the following statements will correctly execute? Provide the results. If the command will
not correctly execute, state why it will not.
(a) x + y
(b) x + A
(c) A - [x y]
(d) [x ; y]
(e) [x ; y]
(f) A .* 3
2. Evaluate h using the following MATLAB code snippet for a) T = 50, b) T = 7, c) T = 0 .
if T < 30
h = 2 * T + 1
elseif T < 10
h = T - 2
else
h = 0
end
3. Given are x = [ 4.5 ] and y = [ 5 ]. Provide the MATLAB output for the commands given
below.
(a) x < y
(b) x == y
(c) x <= y
(d) x & (y)
(e) x | y
(f) (x > y) & (y < x)
4. What is the major difference between a for-loop and a while-loop?

Structural Dynamics
Exercises
Page 10

For the system in the sketch the following parameters are given:

m
EI

E =
1011 mN2

2.1

H = 3m

I
=
4
10 m4

1.8

m = 2000 kg

Fdyn
EI

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

F [kN ]
1

Tasks:
Calculate the natural frequency f0 in Hz!

Derive the impulse response function h(t

)!

1
3

2
3

t[s]

Calculate the systems response to the dynamic force given in the diagram at time
steps t = 31 , 23 , 1 s!
Results: x1 = 1.50 104 mm, x2 = 6.65 104 mm, x3 = 1.55 103 mm
The following parameters are given:

EI
m

2 EI

x2
EI

m
EI

2 EI

m
EI

2 EI

H = 6m
m = 20000 kg

x1
H

for all columns:

E = 3.2 1010 mN2
I = 2.5 103 m4

a) Develop the the mass matrix [M ] and the stiffness matrix [K] for the system shown in the
figure!
b) Develop the equations of motion for free vibration of the system shown in the figure!
c) Calculate the natural frequencies f1 and f2 in Hz!
Results: f1 = 1.74 Hz, f2 = 3.72 Hz

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

kd

For a tower with a TMD the following parameters are given:

md

cd
H = 60 m

Structural Dynamics
Exercises
Page 11

E, A, I,

E = 2.1 1011

N
m2

A = 0.2 m2
I = 0.2 m4
kg
= 7850 m
3

md = 1600 kg
a) Calculate the first natural frequency f1 of the tower (without TMD) in Hz!
b) Determine the spring stiffness kd and the damping parameter cd of the TMD according to
the optimal criteria developed by Den Hartog!
s
, cD = 2.2 kN
Results: kD = 36.16 kN
m
m

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

Structural Dynamics
Exercises
Page 12

Consider the illustrated single storey frame structure which

carries machinery that generates a harmonic dynamic force
in horizontal direction. The following parameters are given:
E = 7 1010
Fdyn
m2

I = 3 104 m4

H = 4.0 m

EI

m1
EI

N
m2

m1 = 4000 kg
m2 = 500 kg
c = 15000 Nms
Fdyn = 10 kN sin t

a) Calculate the natural frequency f0 of the system in Hz!

b) Determine the maximal dynamic displacements x by means of the concept of dynamic
amplification for different working frequencies (or rotational speeds) of the machine. Neglect
damping! Complete the following table!

rot. speed [r.p.m.]

180

240

420

600

1500

fmach. [Hz]

V1

x [mm]

c) Give a short comment of your results with respect to the operation conditions of the
machinery!
Results: f0 = 7.29 Hz, xstat = 1.6 mm

Bauhaus-Universitat Weimar
Institut fur Strukturmechanik
Dr.-Ing. Volkmar Zabel

Structural Dynamics
Exercises
Page 13

In the following lines a apart of a MATLAB file for the computation of the structural response
of a multi-degree-of-freedom system by means of the Newmark- = 1/6 method is given. Read
carefully all comments that describe the variables which are given!
Complete the missing command lines in the frames!