University of Engineering and Technology

Peshawar, Pakistan

CE-412: Introduction to Structural Dynamics

and Earthquake Engineering

MODULE 7
FREE VIBRATION IN UNDAMPED
MDOF SYSTEMS
Dr. Muhammad Javed
[email protected]
1 1
 Simple system: 2 story shear building

To start the topic in a simple way, a highly idealized two- story frame
subjected to external forces p1(t) and p2(t) as shown on next slide is
considered. Following idealizations are made.
 The beam and floors are infinitely stiff in flexure
 Axial deformations in beam and columns are neglected
 The effect of axial force on the stiffness of columns is neglected

This shear-frame or shear-building idealization, although unrealistic,

is convenient for illustrating how the equations of motion (EOM) for
MDOF systems are developed

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 2

 2 story shear building: Formulating EOM

(a) Two- story shear frame; (b) forces acting on the two masses

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 3

 2 story shear building: Formulating EOM

The EOMs of this 2 DOF system can be written in matrix form as:

m1 0   u1   f D1   f s1   p1 (t ) 
 0 m2   u    f    f    p ( t ) 
  2  D2   s2   2 

A matrix written inside { } indicate matrix vector. A matrix vector is a matrix

having either one row or one column

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 4

 2 story shear building: Formulating EOM
The equation mentioned on previous slide, by introducing
the notation, can be compactly written as:

  f
m u D  f S  p (t)

 u1  m1 0 
Where u  u     m  m   
u 2   0 m 2 
 f D1   f s1 
f D  f D    f s  f s   
 f D2   f s2 
 p1 (t ) 
p(t)  p ( t )    
 p 2 (t ) 

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 5

 2 story shear building: Formulating EOM
a
The force fs1 at the first floor is made up of two contributions: f s1
b
from the story above and f s 1 from the story below. Thus

f s1
 f s1
b
 f a
s1

f  k u  k (u  u )
s1 1 1 2 1 2

Elastic resisting force at second floor is:

f s2
 k (u  u ) 2 2 1

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 6

 2 story shear building: Formulating EOM
Thus

 f   k u  k (u  u )
f     
s1 1 1 2 1 2

 f  k (u  u )
s
 s2  2 2 1

k  k - k u 
    
1 2 2 1

 - k k u  2 2 2

or f s
 ku
or  f   k u
s

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 7

 2 story shear building: Formulating EOM

Similarly, it can be derived that:

 f   c u  c ( u  u )
f     
D 1 1 2 1 2

1

 f c ( u  u )
D
D 2   2 2 1 
c  c - c   u 
  1


2 2

1

 - c c  2 2  u 
2

or f  c u
D

or  f   c u 
D
Where c is damping matrix

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 8

 m, k and c matrices for shear building with N
stories
mN
Let k1,k2,k3,….,kN are the stiffnesses
of first, second, third, …, Nth story,
respectively.
Similarly, taking c1.c2,….,cN are the
m3
story damping of first, second, ……..,Nth
story, respectively.
m2
Mass, stiffness and damping matrices
of the building considering only lateral
m1
displacements (i.e., shear building) are
given on coming slides

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 9

 Mass matrix for shear building with N stories

m 1
0 . . . 0 0 
 0 m 0 . . . 0 
 2

 0 0 .. 0 . . . 
 
m    . 0 0 .. 0 . . 
 . . . 0 .. 0 . 
 
 0 . . . 0 m N 1
0 
 0 0 . . 0 0 m 
N NxN

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 10

 Stiffness matrix for shear building with N
stories

k  k
1 2
-k 2
. . . 0 0 
 -k k k -k . . . 0 
 2 2 3 3

 0 -k k k -k . . . 
k    . 
3 3 4 4

0 -k 4
.. .. . . 
 . . . .. .. .. . 
 
 0 . . .. .. k N -1
k N
-k  N

 0 0 . . 0 -k N
k 
N NxN

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 11

 Damping matrix for shear building with N stories

c1  c2 - c2 . . . 0 0 
 -c c  c - c . . . 0 
 2 2 3 3

 0 - c3 c3  c4 - c4 . . . 
 
c   . 0 - c4 .. .. . . 
 . . . .. .. .. . 
 
 0 . . .. .. cN-1  cN - cN 
 0 cN NXN
 0 . . 0 - cN

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 12

 Problem L 8.1: Develop the mass and stiffness
matrices for following structure m4=4

Solution k4=6
m3=4

8 0 0 0
0 8 0 0  k3=6
m    m2=8
0 0 4 0
 
0 0 0 4
m1=8 k2=8

k1=10

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 13

 10  8  8 0 0 
 8 8  6  6 0 
k    
 0  6 6  6  6
 
 0 0 6 6 
 18  8 0 0 
  8 14  6 0 
 k    
 0  6 12  6 
 
 0 0 6 6 

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 14

 Free vibration in MDOF system

By free vibration we mean the motion of a structure without any

dynamic excitation-external forces or support motion. Free vibration
is initiated by disturbing the structure from its equilibrium position
by some initial displacements and/or by imparting some initial
velocities

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 15

 Free vibration in MDOF system

Vibration of linear MDF systems is governed by equation

  c u  ku  p (t)
mu
With p(t) =0 for free vibration and c= 0 for systems without
damping:
  ku  0
mu
The equation represents N homogenous differential equations that
are coupled through mass matrix, the stiffness matrix or both
matrices; N is the number of DOFs.
The solution u(t) can be determined using initial conditions

u  u(0) u  u (0)

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 16

 Free vibration in MDOF system

Contrary to SDF system, the motion of each mass (or floor)

is not a SHM and the frequency of motion cannot be defined.
Furthermore, the deflected shape (i.e u1 /u2) varies with time , as is
evident from differing deflected shapes a, b and c (see Figure b on
next slide), which are different from each other.
An undamped structure would undergo SHM if free vibration is
initiated by appropriate disturbances of displacements in the
various DOFs. These sources of disturbance may be earthquake,
wind, blast, etc

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 17

Free vibration of an undamped system due to arbitrary initial displacement:
(a) 2 story frame; (b) deflected shape at time instants a, b and c; (c) modal
coordinates qn(t); (d) displacement history

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 18

 Free vibration in MDOF system

As shown in figures given on slides 20 and 21, two characteristic

deflected shapes exist for 2 DOF system shown on slide 18. If the
structure is displaced in one of these shapes and released, it will
vibrate in SHM, maintaining the initial deflected shape.
Each characteristic deflected shape is called a natural mode.

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 19

 Free vibration in MDOF system

Free vibration of an undamped system in its first natural mode of vibration:

(a) two-story frame; (b) deflected shapes at time instants a, b, c, d, and e; (c) modal
CE-412: MODULE
coordinate q1(t); (d)7displacement history.Javed, C.E.D, NWFP UET
Dr. Mohammad 20
 Free vibration in MDOF system

Free vibration of an undamped system in its second natural mode of vibration:

(a) two-story frame; (b) deflected shapes at the time instants a, b, c, d, and e; (c)
CE-412:
modal MODULEq27(t); (d) Dr.
coordinate displacement history.
Mohammad Javed, C.E.D, NWFP UET 21
 Natural time period:MDOF system

A natural period of vibration Tn of an MDF system is the time required

for one cycle of the simple harmonic motion in one of these natural
modes. The corresponding natural circular frequency of vibration is ωn
and the natural cyclic frequency of vibration is fn, where

Figures on previous 2 slides show the two natural periods Tn and

natural frequencies ωn (n = 1, 2) of the two-story building vibrating in
its natural modes. The smaller of the two natural
vibration frequencies is denoted by ω1, and the larger by ω2.
Correspondingly, the longer of the two natural vibration periods is
denoted by T1 and the shorter one by T2.

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET

 Modal analysis

Modal analysis is the procedure of determining

structure's dynamic characteristics; namely,
resonant frequencies (i.e natural frequencies),
damping values, and the associated pattern of
structural deformation Called mode shapes.

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 23

 Natural vibration frequencies and mode shapes
The free vibration for an undamped system in one of its
natural vibration modes can be described mathematically by:

u (t)  q (t )
u(t)   q ( t ) 
n n

The above eqn. can also be expressed as:

The deflected shape  n does not vary with time. The time
variation of displacement, qn(t), is described by simple harmonic
function
q (t )  A Cos  t  B Sin  t
n n n n n

Where An and Bn are constants of integration which can be

determined from the initial conditions that initiate the motion

Caution: n is not used for indicating mode number (not for ‘natural’)

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 24

 Natural vibration frequencies and mode shapes

u (t)  q (t ) n n

 u (t)   A Cos  t  B Sin  t 

n n n n n

 (t)     A Cos  t  B Sin  t 

2
and u n n n n n n

Substituting the above determined values in the equation of motion

  ku  0 ) result in:
for free vibration (i,.e., m u

  2
n m  n  k n q n ( t )  0
Since q (t )  0    m  k   0
n
2
n
n n

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 25

 Natural vibration frequencies and mode shapes
 k   m
2

n n n
This algebraic equation is called the matrix eigen value problem.

Now   m  k   0
2

n n

Since   0  det  m  k   0
2

n n


2
When the determinant is expanded, a polynomial of order N in n
is obtained. This equation is known as the characteristic or
frequency equation.

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 26

 Normalization of mode shapes
The normalization is a simple arithmetic scaling of the vector.
There are several different normalizations for the mode shapes
In common usage.
1. Largest term in the vector   is 1.0 (Easy to visualize, all
coefficients between –1 and +1, used in these lectures)
2. The Euclidean norm of the vector   is 1.0. i.e. T   1
(Most eigenvalue subroutines, mathematicians)
3. The generalized mass is 1.0. ie.  T m    1 (Easy to
visualize, all coefficients between –1 and +1. ETABS and
SAP2000 use this.
4. The first term in the vector   is 1.0

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 27

 Example of Modal Analysis for 3 Storey Frame
Problem L8.2
A 3 story shear building has equal m3
mass of 20,000 kg at each story level.
k3
i.e., m1=m2=m3=m=20,000 kg m2
Similarly, the inter-story stiffness is
also constant for each story =107 N/m. m1 k2

i.e., k1=k2=k3=k=107 N/m

k1
Determine the natural frequencies and
mode shape associated with each
frequency

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 28

 Example of Modal Analysis for 3 Storey Frame

 20 0 0 
m    0 20 0  * 10 3

 0 0 20 

 2 1 0 
k     1  2  1  * 10 7

 0 1  1 

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 29

 Example of Modal Analysis for 3 Storey Frame

det k  ω m  0
i
2

2000  2  1000
2

i
0
  1000 2000  2  1000  0
2

 1000 1000  2
2
0 i

By expanding and simplifying, we have

i  2500i  15 *10 i  1.25 *108  0

6 4 5 2

   2500    15 *10    1.25 * 10

i
2 3

i
2 2
5
i
2 1
8
0

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 30

 Example of Modal Analysis for 3 Storey Frame
By solving the equation

n1  99.03 n 2  777.5

2 2
n3  16232

  9.95rad/s   27.88
n1 n2
  40.27
n3

The natural frequency are expressed in the increasing order. The

one having the least value correspond to the first mode and known
as fundamental natural frequency. Rest are the frequencies
corresponding to second and third mode shape, respectively
2
 Tn1   0.632 s Tn 2  0.226 s Tn 3  0.156 s
 n1
CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 31
 Example of Modal Analysis for 3 Storey Frame
Normalized coordinates of first mode shape

k  ω n1
2
m    0
1

 2000  2  1000   
2

n1
0 11
  
   1000 2000  2  1000    0
2

n1 21

 0  1000 1000  2 n1
2
  31



  99.03 and  1
2
Substituting n1 11

Note: In  ij , i = floor level & j = mode number

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 32
 Example of Modal Analysis for 3 Storey Frame
1801 .94  1000 0  1 
   
   1000 1801 .94  1000   21   0
 0  1000  801 .94   31 
First row gives 1801 .94  1000  21  0   21  1 .802
Second row gives  1000  1801 .94 21  100031  0
 1000  1801 .94 (1.802 )  100031  0  31  2.243
11  1.000  1.000/2.243  0.446
       
 1  21   1.802   1.802/2.243   0.804
  2.243 2.243/2.243 1.000 
 31       
CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 33
 Example of Modal Analysis for 3 Storey Frame
Similarly, by repeating the same procedure for other values
of ωi2= 777.5 and 1623, we have

12   1.000 
   
2   22    0.445
   0.802
 32   
13   1.000   0.802
     
& 3   23    1.247    1.000 
   0.555  0.445
 33     

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 34

 Mode shapes

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 35

 Rayleigh’s method for determining fundamental
frequency of MDOF system
From slide 26 k n   2 n m  n
Which can also be expressed as k     ω n m   
2

Let   be an approximation to the true mode shape    i.e.,

k   ω2n m 
or   k    ω n   m  
T 2 T

or k *
ω m
2
n
*

k *

 ω 
2

m
n *

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 36

 Rayleigh’s method for determining fundamental
frequency of MDOF system

This estimate for ωn is only as good as the approximation that {ψ}

is to the true mode shape  

The process should be repeated with different trial vectors {ψ}

and the trial with the lowest ωn is the trial shape with the closest
approximation to the true mode shape.

The method has the major shortcoming in that it requires access to

the stiffness matrix of the structure. This is usually buried
somewhere inside a computer program and is usually not accessible
to the engineer.

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 37

 Modified Rayleigh’s method for determining
fundamental frequency of MDOF system

The method has the advantage to determine the fundamental natural

frequency without using k  . Using the EOM for free vibration:

k     ω m   
n
2

Let {ψ} be an approximation to the true mode shape   , therefore

k    m   g

Where    =Displacement vector and is a better approximation of   
and {g}= force vector

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 38

Modified Rayleigh’s method for determining
fundamental frequency of MDOF system
Substituting    with    in the EOM as the trial mode shape:

k     ω m   
2
n

or   k     ω   m   
T 2 T
n

or   m     ω   m   
T 2 T
n

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 39

 Modified Rayleigh’s method for determining
fundamental frequency of MDOF system
Taking   m     k
T *

and ω 2
n   m     m
T *

*
or ω n  k
2 2
k *
 ωn m *
m*

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 40

 Problem L8.3
Determine fundamental natural frequency of the structure given in
problem L8.2 using modified Ralyleigh’s method
m3

Solution: k3
Let  0 . 333  Assuming triangular
m2
 
    0 . 667  variation of floor’s
displacement k2
1 . 000  m1
 
k1

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 41

 g   m  

 g1   20 0 0   0 .333   6 .67 
  3    3 
 g 2   10  0 20 0   0 .667   10 13 .33 
g   0 0 20  1 .000   20 .00 
 3  

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 42

 20 kN θ3 20/k
 1 
 
    2  θ2
  13.33 kN 20+13.33 = 33.33/k
 3

6.67 kN θ1 20+13.33+6.67 = 40/k

1  40  3 40 

    10   4
 2   40  33.33  7  73.3310
  40  33.33  20  10 93.33
 3    
CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 43
 {θ} could have been determined using [k] -1 {g}. However,
determination of [k] -1 involves a lot of computational effort
and not suitable for hand calculation
T
40  6.67 
    3
k    g   73.33
* T 4
13.33 10 *10
93.33 20.00
   
k  311 . 1 N/m
*

m    m   ................  3.14 kg

* T

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 44

 311 . 1
 2
n   99.07
3 . 14
    
 1   1   40   0 . 0040 
      4  
 2    2    73 . 33 10   0 . 007333 
     93 . 33   0 . 009333 
 3  3    
 1   0 . 0040 / 0 . 00933   0 . 429 
     
 2    0 . 007333 / 0 . 00933    0 . 786 
   0 . 009333 / 0 . 00933  1 . 000 
 3    

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 45

 Vianello-Stodola Iteration i.e. Repeating
Modified Rayleigh’s Method
If the vector   is replaced by {θ} and the process repeated
this method becomes the Vianello-Stodola iterative method to find
the natural frequencies. The estimates for ωn will converge to the
true frequency ωn from above.
This cyclic process is repeated until there is no effective change
in the computed frequency and modes shape
This method was very popular before the ready availability of
dynamic analysis computer programs and was possible to use the
method in hand calculation. However, there are more efficient and
accurate techniques available today.

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 46

 Home Assignment No. 6

Let m1=4000 slugs, m2=2000 slugs ,

k1=2000k/ft and k2=1000k/ft.
Determine:
m2
1. Natural frequencies and mode shapes k2

2. Fundamental natural frequency and

m1
fundamental mode shapes by:
k1
i. Modified Rayleigh’s method and
ii. Vianello-Stodola method

CE-412: MODULE 7 Dr. Mohammad Javed, C.E.D, NWFP UET 47