UNIVERSITY OF DAR ES SALAAM Doc #: H/W 01

COLLEGE OF ENGINEERING AND TECHNOLOGY Date: Jan 2016

(CoET) Page: 1 of 50
DEPARTMENT OF STRUCTURAL ENGINEERING AND
CONSTRUCTION TECHNOLOGY

Course Instructor Dr.Ndumbaro Course Code: SD 661

Student Name Nestory Alpha Engineering Analysis

Registration # 2015-06-00508
Nestory Alpha M.Sc. In Structural Engineering

1. INTRODUCTION
A four-mass vibrating system is a replica of simplified real life structural engineering problems,
in handling such problems it always starts with conceptualization of the task so as to know the
internal parameters(boundary conditions) and external parameters(loadings) that surrounds a
problem.
It is a structural engineer’s priority to know the configurations of a structure so that the boundary
conditions and loads are applied properly to simulate the real life performance of the structure.
The problem under consideration falls on the dynamics of structures category whereby the
determination of the natural frequencies of the structure is of great importance.
As a structural engineer, the lowest natural frequency of all the modes of vibrations in which the
body undergoes is of great concern and boldly it is the criterion for the dynamic design. This means
if the disturbing frequency above the minimum natural frequency obtained from the analysis is
expected then damping is the ultimate decision to avoid amplification that results to excessive
vibrations of the structure that are not required for comfortability requirements of the facility users
and on the other hand can be detrimental to the structure.
In order to analyze such a system, the problem have been reduced so that it conform to the
Eigenvalue form of problems which is the form that conform to analytical and numerical analyses
for the determination of the eigenvalues and eigenvectors or vibration modes of the system. For
the sake of this task numerical application have been used, the iteration procedure that been
employed to come up with the requirements of the system.
The total solution for the vibration of the system was the requirement for this task even though in
real life cases only the minimum or maximum eigenvalue with corresponding eigenvectors is
always the requirement; this translates to either the lowest frequency or the highest load applicable
to the system respectively.
It is worth mentioning that, different methods can be employed to solve the eigenvalue problem
whereby direct methods as well as numerical ones are always used. The direct method involves
the formation of the polynomial function of eigenvector (λ), finding the roots of the function and
determining the corresponding modes of vibrations (χi), as the degrees of freedom of the system
increases so do the nth power of the eigenvector function and hence the labor required to solve the
roots as well as the modes of vibrations of the system.
On the other hand, the numerical (iterative) method gives the eigenvalue and the corresponding
eigenvectors at the same time if an initial trial vector is assumed, the process is a repetitive using
the modified trial vector every time an iteration is to be repeated until the eigenvectors converges.
Now it must be noted that, the convergence of iterations may be rapid or slow depending on the
system setup, so computer codes are the best tools to handle such task. The solution on this task
have been done using iterative method while employing MAT LAB codes to run iterations for the
system under considerations and as seen on the appendices, the convergence of different
configurations taken have been used to pick the correct eigenvalue and corresponding
eigenvectors.
 Nestory Alpha M.Sc. In Structural Engineering

2. METHODOLOGY OF WORK
To arrive at the total solution of the four-mass vibrating system, the procedures indicated in the
flow-chart in figure 1.1 have been followed;

Problem
Conceptualization
2 3

Transforming the
Marking physical problem
assumptions to a proper
pertaining to the structural system
problem’s nature 4
(formation of free
body diagrams)
Applying equilibrium principles to
formulate linear systems of equations and
writing the corresponding matrix equations
in the form Aχ= λ Bχ
6

5
Performing
Transformation the linear
Iterations using
matrix system into the
proper
eigenvalue problem system
mathematical
λ' χ= G χ applications until
ⁱ convergence occurs
Where λ'=1/ λ and G=A-1B 7

Obtaining the Eigenvalues and corresponding

Eigenvectors/Vibration modes plus testing the solution
using the useful matrix relations
∑ hjj=∑ λi and ∑∑ hjkhkj =∑ λi2

8
Discussion and
Conclusion
Figure1.1: Schematic diagram showing the procedures used in finding the solution for the four-
mass vibrating system
Nestory Alpha M.Sc. In Structural Engineering

For the sake of clarity, three steps are explained namely; step 1, step 5 and step 6.
 Step 1: Problem Conceptualization
This is actually the parent step in the determining the solution of the task where by a
deep understanding of the nature of the problem, types of parameters required and the
usefulness of them for structural design is of paramount importance. A good job done
at this stage is a guarantee of a correct solution, so for the vibrating system of four-
masses under consideration the lowest natural frequency is a design criterion even
though the task requirement involves the determination of the complete solution of the
problem.

 Step 5: Transformation the linear matrix system into the eigenvalue problem
system
A proper handling of this step depends on the proper work done at step 1, so far a need
for the lowest natural frequency have governed the transformation of the linear matrix
equation to the eigenvalue for given by equation (i) below

λ' χ= G χ…………….i

Where λ'=1/ λ and G=A-1B

 Step 6: Performing Iterations using proper mathematical applications until

convergence occurs
The iterations involved the selection of trial eigenvector, multiplying to G [from
equation i] matrix and scaling the resulting column matrix so that its largest element is
unit. Then the obtained eigenvector is compared with the trial eigenvector, if the two
eigenvectors are the same then the scaling factor of the new eigenvector is the true
eigenvalue of the system otherwise another iteration is performed with the new
eigenvector until convergence of eigenvectors occurs.
As it can be seen here both eigenvectors and eigenvalues of the system are obtained at
the same time.
Nestory Alpha M.Sc. In Structural Engineering

3. THE ENGINEERING PHASE OF THE WORK

3.1. EIGENVALUE PROBLEM FORMULATION

The following assumptions have been made while handling the analysis work;
 The system of masses moves together with the common natural frequency
 The friction between the bodies and the surface is negligible
 The system of masses oscillates naturally hence the nature of the oscillations is
sinusoidal
 The Newton’s laws of motion are applicable to the system for equilibrium
considerations
Consider the system of masses displaced to the right direction so that every mass is displaced by
distance xi as indicated in figure 3.1

Figure 3.1: A four-masses vibrating system displaced by the distance xi and release to vibrate
naturally
Each of the masses have treated separately as free body diagram shown in figure 3.2
Nestory Alpha M.Sc. In Structural Engineering

Figure 3.2: A four-masses vibrating system displaced by the distance xi and release to vibrate
naturally
From the free-body diagrams of each masses, the equilibrium equations were obtained as
indicated in the herewith;
Mass 1:
𝑘2 (𝑥2 − 𝑥1 ) − 𝑘1 𝑥1 = 𝑚1 𝑥′′1 −(𝑘1 + 𝑘2 )𝑥1 + 𝑘2 𝑥2 = 𝑚1 𝑥′′1 … … . .1

Mass 2:
𝑘3 (𝑥3 − 𝑥2 ) − 𝑘2 (𝑥2 − 𝑥1 ) = 𝑚2 𝑥′′2 𝑘2 𝑥1 − (𝑘1 + 𝑘2 )𝑥2 + 𝑘3 𝑥3 = 𝑚2 𝑥′′2 … … . .2

Mass 3:
𝑘4 (𝑥4 − 𝑥3 ) − 𝑘3 (𝑥3 − 𝑥2 ) = 𝑚3 𝑥′′3 𝑘3 𝑥2 − (𝑘3 + 𝑘4 )𝑥3 + 𝑘4 𝑥4 = 𝑚3 𝑥′′3 … … . .3

Mass 4:
−𝑘4 (𝑥4 − 𝑥3 ) = 𝑚4 𝑥′′4 𝑘4 𝑥3 − 𝑘4 𝑥4 = 𝑚4 𝑥 ′′ 4 … … … … … 4
Nestory Alpha M.Sc. In Structural Engineering

But
𝑥1 = 𝑋1 sin( 𝜔𝑡 + 𝜙) 𝑥′1 = 𝑋1 𝜔 cos( 𝜔𝑡 + 𝜙) 𝑥′′1 = −𝑋1 𝜔2 sin( 𝜔𝑡 + 𝜙)
𝑥2 = 𝑋2 sin( 𝜔𝑡 + 𝜙) 𝑥′2 = 𝑋2 𝜔 cos( 𝜔𝑡 + 𝜙) 𝑥′′2 = −𝑋2 𝜔2 sin( 𝜔𝑡 + 𝜙)
𝑥3 = 𝑋3 sin( 𝜔𝑡 + 𝜙) 𝑥′3 = 𝑋3 𝜔 cos( 𝜔𝑡 + 𝜙) 𝑥′′3 = −𝑋3 𝜔2 sin( 𝜔𝑡 + 𝜙)
𝑥4 = 𝑋4 sin( 𝜔𝑡 + 𝜙) 𝑥′4 = 𝑋4 𝜔 cos( 𝜔𝑡 + 𝜙) 𝑥′′4 = −𝑋4 𝜔2 sin( 𝜔𝑡 + 𝜙)

Substituting the derivatives into the four equilibrium equations, we get,

−(𝑘1 + 𝑘2 )𝑋1 + 𝑘2 𝑋2 = −𝑚1 𝜔2 𝑋1 … … … … … … … … … 5
𝑘2 𝑋1 − (𝑘1 + 𝑘2 )𝑋2 + 𝑘3 𝑋3 = −𝑚2 𝜔2 𝑋2 … … … … … … 6
𝑘3 𝑋2 − (𝑘3 + 𝑘4 )𝑋3 + 𝑘4 𝑋4 = −𝑚3 𝜔2 𝑋3 … … … … … … 7
𝑘4 𝑋3 − 𝑘4 𝑋4 = −𝑚4 𝜔2 𝑋4 … … … … … 8
Also;
𝑘1 = 4𝑘 ; 𝑚1 = 4𝑚
𝑘2 = 3𝑘 ; 𝑚2 = 3𝑚
𝑘3 = 2𝑘 ; 𝑚3 = 2𝑚
𝑘4 = 𝑘 ; 𝑚4 = 𝑚
Hence equations 5, 6, 7&8 becomes
7𝑘𝑋1 − 3𝑘𝑋2 = 4𝑚𝜔2 𝑋1 … … … … … … .9
−3𝑘𝑋1 + 5𝑘𝑋2 − 2𝑘𝑋3 = 3𝑚𝜔2 𝑋2 … … 10
−2𝑘𝑋2 + 3𝑘𝑋3 − 𝑘𝑋4 = 2𝑚𝜔2 𝑋3 … … … … 11
−𝑘𝑋3 + 𝑘𝑋4 = 𝑚𝜔2 𝑋4 … . .12
Equation 9-12 can now be written in matrix form as
7 −3 0 0 𝑋1 4 0 0 0 𝑋1
−3 5 −2 0 𝑋2 0 3 0 0 𝑋
[ ] [ ]= 𝑚𝜔2 /𝑘 [ ] [ 2] then put λ= 𝑚𝜔2 /𝑘
0 −2 3 −1 𝑋3 0 0 2 0 𝑋3
0 0 −1 1 𝑋4 0 0 0 1 𝑋4
Now the equation is in the form of ; A 𝑋= λ B 𝑋,the reduction of this linear equation to the
eigenvalue problem aiming at getting minimum value of eigenvalue first gives
λ' 𝑋 = G 𝑋 … … .13 Where λ'=1/ λ and G=A-1B
Nestory Alpha M.Sc. In Structural Engineering

The matrix manipulations have been done using MAT LAB calculating tools and are given as
indicated in the appendices as follows;
1 0.75 0.5 0.25 2.5 3.375 3 1.750
1 1.75 1.667 0.5833 2 4.5 6.875 6.3333 3.750
G=[ ] G =[ ]
1 1.75 2.1667 1.0833 6 9.5 9.5833 5.875
1 1.75 2.1667 2.0833 7 11.25 11.75 7.9583

𝑋1 1 0.75 0.5 0.25 𝑋1

𝑋2 1 1.75 1.667 0.5833 𝑋
𝜆′ [ ] =[ ] [ 2 ] … … … … 14
𝑋3 1 1.75 2.1667 1.0833 𝑋3
𝑋4 1 1.75 2.1667 2.0833 𝑋4

3.2. ITERATIVE PROCEDURE USED

0
0
The first trial vector of magnitude [ ] was used to perform the multiplication on the RHS of
0
1
equation 13 and as it can be seen in appendix A the iteration converges after 7 repetitions to give
0.2623
0.5426
eigenvalue; 𝜆′4 = 5.0132 and eigenvector 𝑋4 = [ ].
0.8012
1.000

In order to get the remaining three eigenvalues the orthogonality principle is used to get the
intermediate eigenvalues by suppressing the 𝑋4 in the subsequent iterations so that the procedure
converges at 𝑋3, again when 𝑋3 has been obtained both 𝑋4 and 𝑋3 may be suppressed further to
converge at 𝑋2 the same procedure will be repeated to suppress all the three modes so that the
iteration converges at 𝑋1 .That is the Iteration principle that has been applied for this particular
task.

3.2.1. SUPPRESSION OF 𝑿𝟒
Applying the orthogonality principle to the system using the obtained mode of oscillation of the
system.
𝑋′4 𝐵𝑋3 = 0
Nestory Alpha M.Sc. In Structural Engineering

4 0 0 0 𝑋1
0 3 0 0 𝑋
[0.2623 0.5426 0.8012 1.000]. [ ] [ 2] = 0
0 0 2 0 𝑋3
0 0 0 1 𝑋4
1.0494𝑋1 + 1.6278𝑋2 + 1.6025𝑋3 + 𝑋4 = 0
𝑋4 = −1.0494𝑋1 − 1.6278𝑋2 − 1.6025𝑋3 … … … … … … … … … 15

If 𝑋4 is substituted into equation 14 and dropping the fourth equation 𝜆′ 𝑋4 on the RHS we get;

𝑋1 0.73765 0.34305 0.099375 𝑋1

𝑋
𝜆′ [ 2 ] = [ 0.3879 0.8005 𝑋
0.2320 ] [ 2 ] … … … … 16
𝑋3 −0.1368 −0.0134 0.43071 𝑋3

0
Equation 16 is the reduced form of equation 14 after suppressing𝑋4, a trial vector [0] is picked for
1
iterations. The sequences are clearly approaching the true modes after 17 iterations at
0.8922
𝜆′2 = 1.0996 and 𝑋2 = [ 1.0000 ] ,the 𝑋4 due to 𝜆′2 was determined from the suppression
−0.2025
0.8922
1.0000
equation used previous and hence the final mode of oscillation is 𝑋2 = [ ]
−0.2025
−2.2396

3.2.2. SUPPRESSION OF 𝑿𝟐
Again the orthogonality principle to the system using the newly obtained mode of oscillation of
the system.
𝑋′2 𝐵𝑋3 = 0
4 0 0 0 𝑋1
0 3 0 0 𝑋
[0.8922 1.0000 −0.2025 −2.2396]. [ ] [ 2] = 0
0 0 2 0 𝑋3
0 0 0 1 𝑋4
3.5688𝑋1 + 3𝑋2 − 0.4050𝑋3 − 2.2396𝑋4 = 0 then
𝑋3 = 8.8119𝑋1 + 7.4074𝑋2 − 5.5299𝑋4 … … … … … … … … … … … … .17
Nestory Alpha M.Sc. In Structural Engineering

Solving equation 16&17 resulted to;

𝑋2 = −0.8907𝑋1 − 0.4791𝑋3 … … … … … … … … .18
𝑋4 = 0.4004𝑋1 − 0.82260𝑋3 … … … … … … … … .19
Equations 18&19 are taken back to equation 14(parent matrix) to reduce it to 2X2 square matrix
after dropping the second equation
𝑋1 0.4321 −0.0650 𝑋
𝜆′ [ ] =[ ] [ 1 ] … … … … … … … … … … … … . .20
𝑋3 −0.125 0.4372 𝑋3

0
Equation 20 is the reduced form of equation 14 after suppressing both 𝑋2 𝑋4, a trial vector [ ] is
1
picked for iterations. The sequences are clearly approaching the true modes after 17 iterations at
−0.7010
𝜆′3 = 0.5248 and 𝑋3 = [ ] ,the 𝑋4 &𝑋2 due to 𝜆′3 was determined from the suppression
1.000
−0.7010
0.1853
equations used previous and hence the final mode of oscillation is 𝑋3 = [ ]
1.0000
−1.1033

3.2.3. SUPPRESSION OF 𝑿𝟑
The orthogonality principle to the system using the newly obtained mode of oscillation of the
system is hereby applied again.
𝑋′3 𝐵𝑋1 = 0
4 0 0 0 𝑋1
0 3 0 0 𝑋2
[−0.7010 0.1853 1.000 −1.1033]. [ ][ ] = 0
0 0 2 0 𝑋3
0 0 0 1 𝑋4
−2.8040𝑋1 + 0.5559𝑋2 + 2𝑋3 − 1.1033𝑋4 = 0 … … … … … … … 21

Equations 15,17&21 are both used to suppress 𝑋2 , 𝑋3 &𝑋4 to get the equations that will relate all
three values with 𝑋1.
𝑋1 = −1.3077𝑋4
𝑋1 = −0.6372𝑋2
𝑋1 = 0.7060𝑋3
Hence
Nestory Alpha M.Sc. In Structural Engineering

𝑋4 𝑋3 𝑋2 𝑋1
= = =
0.7713 −1.4285 1.58272 1.000

1.000
1.5827
𝑋1 = [ ] is the true mode for 𝜆′1 which was determined from the Equilibrium equation
−1.4286
0.7713
of the system in the form of A 𝑋 = 𝜆′ B 𝑋 using the mode of vibration due to mass 1 i.e 𝑋1.

7 − 4 𝜆′ −3 0 0 1.000
1.5827
[ −3 5 − 3 𝜆′ −2 0 ][ ] =0 ; 𝜆′1 = 2.9003
0 −2 3 − 2 𝜆′ −1 −1.4286
0 0 −1 1 − 𝜆′ 0.7713