University of Engineering & Technology,

Peshawar, Pakistan

CE-412: Introduction to Structural Dynamics and

Earthquake Engineering

MODULE 8
FREE VIBRATION IN
UNDAMPED M.D.O.F SYSTEMS

1
 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

2
 2 story shear building: Formulating EOM
The general EOM for MDOF system is:
 + f D + fS = p(t)
Mu
Where M = Mass matrix,
u = Displacement vector
fD = Damping forces vector
fS = Spring forces vector
p(t)= Applied forces vector

Two- story shear frame Note: In matrix algebra, a matrix with either one row
or one column is called Vector and the corresponding
terms are enclosed in { } instead of [ ]

To remain consistent with book’s notation, we will use m instead

of M as such the EOM for MDOF will be:
 + f D + fS = p(t)
mu

3
 2 story shear building: Formulating EOM
The equation mentioned on previous slide, by introducing
the notation, can be compactly written as:

 + f D + fS = p(t)
mu

 u1  m1 0 
Where u = u =   m = m =  
u 2   0 m 2

 f D1   f s1 
fD =  f D  =   fs =  f s  =  
 f D2   f s2 
 p1 (t ) 
p(t) = p (t ) =  
 p2 (t ) 

4
2 story shear building: Formulating EOM

U= Upper floor

U
U

L L
2

L= Lower floor

 + f D + fS = p(t)
mu
(a) Two- story shear frame; (b) forces acting on the two masses

5
2 story shear building: Formulating EOM

1 + f D1 + f S 1 = p1(t)
m1u

2 + f D 2 + f S 2 = p2 (t)
m2 u

The above EOMs of this 2 DOF system can be written in matrix

form as:
m1 0  u1   f D1   f s1   p1 (t ) 
0   + + = 
  f f
m2  u 2   D 2   s2   p2 (t ) 

6
2 story shear building: Formulating EOM

U
U

L
L

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

7
 2 story shear building: Formulating EOM
The force fs1 at the first floor is made up of two contributions: from the
f Ustory above and f L from the story below.
s1 s1
u2-u1
f s 2 = k 2 ( u 2 − u1 )

k2

fD2
fS2
k1
L
L

f s1 = f sU1 + f L =f
s1 s 2 + f s1
Similarly, or f s1 = k1u1 + k 2 (u1 − u 2 )

8
 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 = ku s

or  f  = k u
s

9
 2 story shear building: Formulating EOM

Similarly, it can be derived that:

f   + c (u
c u  −u  )
= = 
D1 1 1 2 1 2
f
  −u ) 
D

f D2  c (u 2 2 1

c + c - c  u
 
= 
1
 
2 2 1

 -c c  u  2 2 2

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

10
m, k and c matrices for buildings 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

11
m, k and c matrices for buildings 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 mN
 NxN

12
 m, k and c matrices for buildings 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 + k
N -1 N
-k N 
 0 0 . . 0 -k N
kN
 NxN

13
m, k and c matrices for buildings with N stories

c 1 + c 2 - c 2 . . . 0 0 
 -c 
 2 c2 + c3 - c3 . . . 0 
 0 - c 3 c 3 + c4 - c4 . . . 
 
c =  . 0 - c4 .. .. . . 
 . . . .. .. .. . 
 
 0 . . .. .. c N -1 + c N - c N 
 0 c N  NXN
 0 . . 0 - cN

14
Problem M 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

15
 m4=4

10 + 8 − 8 0 0 
 −8 8+6 −6 0 
k4=6
k  =  m3=4
 0 −6 6+6 − 6
 
 0 0 −6 6  k3=6
 18 −8 0 0  m2=8
− 8 14 −6 0 
 k  = 
0 −6 12 − 6 m1=8 k2=8
 
0 0 −6 6 
k1=10

16
 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

17
 Free vibration in MDOF system

Vibration of linear MDF systems is governed by equation

 + cu
mu  + ku = p(t)
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)

18
 Free vibration in MDOF system

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

is not a Simple Harmonic Motion (SHM) during free vibration and
thus 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 of Figure b (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

19
Free vibration in MDOF system
c

a b d
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

20
 Free vibration in MDOF system

As shown in figures given on slides 22 and 23, two characteristic

deflected shapes exist for 2 DOF system shown on slide 20. 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.

21
 Free vibration in MDOF system

Please note that now u1/u2

remains constant for deflected
shapes at various instants a, b,
c, d, and e (Fig. b)

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
coordinate q1(t); (d) displacement history. 22
 Free vibration in MDOF system

Please note again that now

u1/u2 remains constant for
deflected shapes at various
instants a, b, c, d, and e

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)
modal coordinate q2(t); (d) displacement history. 23
 Natural time periods: 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.
 Modal analysis
Modal analysis is the procedure of determining
structure's dynamic characteristics; namely, resonant
frequencies , damping values, and the associated pattern
of structural deformation called mode shapes.

It may be noted that (due to lower damping ratios) in civil

engineering structures natural frequencies and corresponding
resonant frequencies have almost same values

25
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
qn ( t ) = A n Cosn t + BnSinn t
function

Where An and Bn are constants of integration which can be

determined from the initial conditions that initiate the motion

Caution: n is used for indicating mode number

26
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

u(t) = −n 2n qn (t)

Substituting the above determined values in the equation of motion
 + ku = 0 ) result in:
for free vibration (i,.e., mu

−  2
n mn + kn qn ( t ) = 0 
Since q (t )  0  −  m + k  = 0
n
2
n
n n

27
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.

28
Modal Analysis for 3 Storey Frame
Problem M8.2
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

29
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


30
Modal Analysis for 3 Storey Frame

det k − ω m = 0
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

31
 Modal Analysis for 3 Storey Frame
By solving the equation

n1 = 99.03 n 2 = 777.5

2 2
n 3 = 1623
2

 n1 = 9.95 rad/s n 2 = 27.88 n3 = 40.27

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
Note: In a uniform moment resisting shear frame undergoing a shear –
type sway deformation the natural frequencies of free vibration increase
roughly in the ratios of 1:3:5:7:9 etc

32
Modal Analysis for 3 Storey Frame
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, used by mathematicians)
The generalized mass is 1.0. ie.   m  = 1 (Easy to
T
3.
visualize, all coefficients between –1 and +1. ETABS and
SAP2000 use this.
4. The first term in the vector   is 1.0

33
Modal Analysis for 3 Storey Frame
Normalized coordinates of first mode shape

k − ω n1
2
m  = 0
1

2000 − 2 − 1000   
2
0
  
n1 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

34
 Modal Analysis for 3 Storey Frame
1801 .94 − 1000 0  1 
 
  − 1000 1801 .94 − 1000  21  = 0
 0 − 1000 − 801 .94   
 31 

First row gives1801 .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 1.000/2.24 3  0.446 

       
 1 = 21  = 1.802 = 1.802/2.24 3  = 0.804 
  2.243 2.243/2.24 3 1.000 
 31       

35
Modal Analysis for 3 Storey Frame
Normalized coordinates of first mode shape
m3 2.243

k3
m2 1.802

m1 k2 1.00

k1

11  1.000 0.446 

     
 1 = 21  = 1.802 = 0.804 
  2.243 1.000 
 31     
36
Modal Analysis for 3 Storey Frame
Similarly, by repeating the same procedure for other values
of ωi2= 777.5 and 1623, we have
Normalized coordinates of second mode shape
12  + 1.000
   
2  = 22  = + 0.445
  − 0.802
 32   
Normalized coordinates of Third mode shape

13  + 1.000 + 0.802 

     
& 3 = 23  = − 1.247 = − 1.000 
  + 0.555 + 0.445 
 33     
37
Modal Analysis for 3 Storey Frame
Normalized coordinates of second mode shape
m3 0.802

k3 0.445
m2

m1 k2 1.00

k1

12  + 1.000
   
2  = 22  = + 0.445
  − 0.802
 32   
38
Modal Analysis for 3 Storey Frame
Normalized coordinates of third mode shape
m3 0.555

k3
m2 1.247

m1 k2 1.00

k1

13  + 1.000 + 0.802 

     
& 3 = 23  = − 1.247 = − 1.000 
  + 0.555 + 0.445 
 33     
39
 Mode shapes

Mode shapes being

normalized w.r.t. first
floor terms taken as 1
for all the modes

  = 1 2 3
1.000 1.00 1.000 
= 1.802 0.445 − 1.247
 
2.243 − 0.802 0.555 

40
 Mode shapes
Mode shapes being
normalized by taking
greatest floor term
taken as 1 for all the
modes
  = 1 2 3
0.446 1.000 0.802 
= 0.804 0.445 − 1.000 
 
1.000 − 0.802 0.445 

41
 Rayleigh’s method for determining fundamental
frequency of MDOF system
From slide 28 kn =  2 nmn
Which can also be expressed as k = ωn m
2

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

k  = ω2 n m 
or   k    = ω n   m  
T 2 T

or k = ω m
* 2
n
*

*
k
ω =
2

n *
m
42
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.

43
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

44
Modified Rayleigh’s method for determining
fundamental frequency of MDOF system
Substituting   with    (slide 44) in the EOM as the trial mode
shape:
k    = ω m  2
n

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

slide 44

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

45
Modified Rayleigh’s method for determining
fundamental frequency of MDOF system

Taking   T
m  = k *

and   m   = m
T *

*
= ωn m or ω n = k
* 2 * 2
k *
m

46
 Problem M8.3
Determine fundamental natural frequency of the structure given in
problem M8.2 using modified Ralyleigh’s method
m3 1.00
Solution: Assuming linear variation
of floors’ displacement
k3
Let 0.333  m2
 
  = 0.667 
1.000  m1 k2
 
k1

47
Problem M8.3 (contd….)

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 20   20.00
 3 0 1.000   

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 20 kN 20 kN θ3 20/k

θ2
13.33 kN 33.33 kN 33.33/k

θ1
6.67 kN 40 kN = 40/k

Disp.= Force/stiffness

S.F.D
1  40  3 40 
  =  2  = (40) + 33.33  7 = 73.3310 −4
    10
  (40 + 33.33) + 20  10 93.33
 3    

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Problem M8.3 (contd….)
{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 −4
* T
13.33 10 *10
93.33 20.00 
   
k = 311.1 N/m
*

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

* T

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 Problem M8.3 (contd….)
 n=
2 311 .1
3.14
= 99.07   =  
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    

Please note and compare the mode 11  1.000  0.446

     
shape co-ordinates for fundamental
mode as determined in prob. 8.2
1 = 21  = 1.802  = 0.804
  2.243  1.000
with the above results  31     
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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.

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 Home Assignment M8.1

Let m1=4000 slugs, m2=3000 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

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