CT 4140 Dynamics of Structures.

Exam: April 2006

Problems
Problem 1 (25 % - 2.5 exam points)

Consider a rigid prismatic bar with a rectangular cross-section that is flexibly supported at its ends as shown in Figure 1. The bar is subject to a uniform wind of the speed v . The direction of the wind is shown in Figure 1.
B H L
v

z
y

k 2

kz 2

Figure 1

In the wind, the coupled vertical-angular vibrations of the bar can be unstable. Assume that the vibrations of the bar are accurately enough described by the following equations of motion:
m d ( t ) 1 vB 2 LC2 dt dt 2 2 d (t ) dz ( t ) 1 + k ( t ) = vB 2 LC4 I 2 dt dt 2
2

d 2 z (t )

+ kz z (t ) =

The parameters of the system read

m = 10 kg, I = 5 kg m 2 , k z = 1000 N m , k = 2000 N m B = 1m, L = 10 m

= 1kg m3 , C2 = 1, C4 = 2
Question: Find the wind velocity that corresponds to the onset of flutter (if this velocity is exceeded, the vibrations of the bar will become unstable).

Problem 2 (25 %- 2.5 exam points)

Consider a square-shaped block of mass M as depicted in Figure 2. Assume that it can move only in the plane of the figure, i.e. it can rotate around the x3 -axis and move along the x1 and x2 axes. a

M
x1

x2

x3

F cos ( t )

Figure 2

The block is supported by two springs and is subject to an external harmonic force as shown in the figure. Questions: 1. Derive equations of motion that govern small vibrations of the block. 2. Find analytically the steady-state displacements of the block. 3. Find analytically the resonance frequencies of the external force (the values of that correspond to infinite steady-state displacements of the block). 4. Calculate the resonance frequencies numerically using the following values for the system parameters:
M = 10000 kg, k = 10000 N m

Problem 3 (30 % - 3.0 exam points)

Consider a semi-infinite rod that is located at < x 0 , as depicted in Figure 3.

kd u (x,t)
F sin ( t )

x x=-L
Figure 3

x=0

The rod is subject to a harmonic force F sin ( t ) that is applied to its end as shown in Figure 3. Under this force the rod will vibrate longitudinally. A segment of the rod that is located at L x 0 is connected to continuously distributed springs. These springs form an elastic foundation, the stiffness per unit length of which is kd = 2 108 N m 2 . The

mass density and the cross-sectional area of the rod are: = 2000 kg m3 , A = 0.1m 2 . Questions: 1. Formulate equations of motion that govern small longitudinal vibrations of the rod at < x L and at L x 0 . 2. Formulate the boundary conditions at x = 0 and the interface conditions at x = L . 3. Find analytically the steady-state displacement of the rod under the harmonic force of the frequency = 600 rad s . 4. Plot qualitatively the steady-state displacement of the rod at a time instant (the dependence of u on x for a given time t = t0 ). Present two plots in one graph for two values of L (the length of the elastic foundation), namely for a relatively small and relatively large L .

Problem 4 (20 % - 2.0 exam points)

Consider a semi-infinite beam that is located at < x 0 , as depicted in Figure 4.

w0 sin ( t x )

x w (x,t)
Figure 4

x=0

Assume that a harmonic bending wave w0 sin ( t x ) propagates towards the end of the beam x = 0 . Assume further that the frequency of the wave, the bending stiffness of the beam EI and the mass per unit length of the beam A are known. Question: Design a non-reflective boundary element for the beam. This element, being attached to the beam end x = 0 , should assure that the incident wave w0 sin ( t x ) does not reflect from this end. In other words, despite of the presence of the beam end, the total deflection of the beam in the presence of the non-reflective element should read w ( x, t ) = w0 sin ( t x ) .

Solutions
Problem 1.

To analyze the stability of a linear dynamical system, one has to find the roots of the characteristic equation. The system will be unstable if at least one of these roots has a positive real part. To obtain the characteristic equation, the vertical and angular displacements of the bar may be sought for in the following form:
z ( t ) = Z exp ( st ) ( t ) = exp ( st )

where Z , , and s are constants (in general, complex). Substituting the above expressions into the equations of motion of the bar, one can find the following homogeneous system of linear algebraic equations:
1 2 2 ms Z + k z Z = 2 vB LC2 s Is 2 + k = 1 vB 2 LC s Z 4 2 1 Q = vB 2 L 2
2 ( ms + k z ) Z QC2 s = 0 2 QC4 s Z + ( Is + k ) = 0

This system has a non-trivial solution if and only if the determinant of its coefficient matrix is zero. Thus, the characteristic equation for this system (the characteristic equation is the necessary and sufficient condition of non-triviality of the solution) reads

( ms

+ k z )( Is 2 + k ) Q 2 s 2C2C4 = 0

This equation can be rewritten as

m I s 4 + ( mk + Ik z Q 2C2C4 ) s 2 + k z k = 0 This is a biquadratic equation, the four roots of which are given as
( mk + Ik z Q 2C2C4 )

s1,2,3,4 =

( mk

+ Ik z Q 2C2C4 ) 4m Ik z k
2

2m I

Substituting the system parameters into this expression, one obtains

s1,2,3,4 = =

25000 + 50v 2

( 25000 50v )
100
2 2

2 2

4 108

1 1000 + 2v 2 2 2

( 500 v )

16 104

A sufficient condition for one of the roots to have a positive real part is that the expression under the inner square root is negative (in this case, the outer square root will be taken from a complex number, which will definitely result in one root having a positive real part). Thus, we have to consider the following inequality:

( 500 v ) ( 500 v )

2 2

16 104 < 0

Elaborating it, we find:

2 2

16 104 < 0

500 v 2 < 400

100 < v 2 < 900

Thus, in the interval of velocities (we consider only positive values of v ) 10 < v < 30 , the bar is unstable in the wind. If v < 10 , the expression under the inner square root is positive. Moreover, one can easily see that in this case

1000 + 2v 2 2

( 500 v )

2 2

16 104 < 0

Thus, if v < 10 all roots are imaginary and, therefore, the system is stable. This allows us to conclude that the onset of instability corresponds to v = 10 m s .

Problem 2.

To derive equations of motion of the block, the displacement method can be used. To apply this method, we draw the block in three positions, in each of which it is displaced in the positive direction of one generalised coordinate, see the figure below. k x2 x1 x2

a k x3 2

x3

k x1 Using the above figures, and taking into account the external force, the equations of motion can be written as follows:
&& mx1 = kx1 F cos ( t )

a && mx2 = kx2 + k x3 2 2 a a a J &&3 = k x3 + k x2 + F cos ( t ) x 4 2 2 To find the steady-state displacements of the block, these displacements can be sought for in the following form:
xi ( t ) = X i cos ( t ) , i = 1, 2,3

where X i are unknown real amplitudes. Substituting this form of solution into the equations of motion, the following system of algebraic equations with respect to X i can be obtained:
X 1 ( k m 2 ) = F X 2 ( k m 2 ) X 3 X2 a k =0 2

a2 a a k + X 3 k J 2 = F 2 2 4

As the first equation of this system is uncoupled from the other two, this system can be readily solved to give
7

a F ( k m2 ) , 2 2 2 a a a2 = ( k m 2 ) k J 2 k 2 = 2 mJ 2 k m + J 4 4 4 F X1 = , m 2 k X3 = Thus the steady-state displacements have been found. The resonance frequencies of the force are obviously the roots of the following equations: m 2 k = 0 Consequently,
res 1 =

a2 k F X2 = , 4

and

=0

k , m

res 2 = 0,

res 3 =

k ( m a2 4 + J ) mJ

The numerical value of the first resonance frequency can be found by a direct substitution of the parameters to give
res 1 =

10000 = 1rad s 10000

To calculate the third resonance frequency, one has to find the moment of inertia of the block first. This is done, by definition, as follows:
M J= 2 a M 2 a 2 ( x + y ) dx dy = a 2 a
2 2
y =a 2 a 2 a 2

x3 M 2 dy = 2 2 3 + xy a x = a 2 a
a 2

x=a 2

a3 2 2 12 + ay dy a
a 2

M y a3 y3 M a 4 a 4 Ma 2 = 2 +a = 2 + = 3 y = a 2 a 12 12 6 a 12

Thus,
= k ( m a2 4 + m a2 6) m a 6
2 2

res 3

5k 5 = rad s 2m 2

Problem 3.

To analyse the problem we introduce the following notations for the rod displacement in its two distinctively different parts:
u ( x, t ) = u1 ( x, t ) , u ( x , t ) = u 2 ( x, t ) , < x L L x 0

Equations of motion that govern the rod motion, using the above-introduced notations, can be written as
2 2u1 2 u1 c = 0, t 2 x 2 2u2 2u 2 c 2 22 + 0 u2 = 0, t 2 x

< x L L x 0

where c = E ,

0 = kd A .

The boundary condition at x = 0 reads

EA u2 x = F sin ( t )
x =0

The interface conditions at x = L are given as

u1 ( L, t ) = u2 ( L, t ) EA u1 x = EA
x = L

u2 x

x = L

u1 x

=
x = L

u2 x

x = L

The steady-state response of the rod can be sought for in the following form:
ui ( x, t ) = Im (U i ( x ) exp ( it ) ) , i = 1, 2

Substituting this form of solution into the equations of motion, the interface conditions, and the boundary conditions, one obtains d 2U1 2 + 2 U1 = 0, dx 2 c 2 d U 2 2 02 U 2 = 0, + dx 2 c2 < x L (1) L x 0

EA

dU 2 dx

= F
x =0

(2)

U1 ( L ) = U 2 ( L ) dU1 dx
=
x = L

dU 2 dx

(3)
x = L

The general solutions to Equations (1) can be written as

x x U1 ( x ) = A1 exp i + B1 exp i c c 2 2 2 x 2 0 x 0 + B2 exp i U 2 ( x ) = A2 exp i c c

(4) (5)

Before substituting these into the boundary and interface conditions, once dealing with a semi-infinite system, one has to account for the boundary condition at infinity. This applies to the left part of the rod. In this part, no wave may exist that propagates from x infinity. Therefore, the term exp it i may not be present in the solution. c Therefore, B1 in Equation (4) must be zero, which implies that
x U1 ( x ) = A1 exp i c (6)

The other reasonable step to be undertaken before substituting the general solutions into the boundary and interface conditions is to find out the type of motion that will exist in the part of the rod that is supported by the elastic foundation. Namely, it is handy to determine whether the excitation takes place below or above the cut-off frequency. Using the parameters of the system one can find that
= k A = 2 108 ( 2 103 101 ) = 1000 rad s 0 d = 600 rad s

0 >

Thus, the excitation is below the cut-off frequency. Therefore, it is convenient to rewrite Equation (5) as 2 2 x 02 2 x 0 + B2 exp (7) U 2 ( x ) = A2 exp c c

10

Now, it is the moment to substitute Equations (6) and (7) into the boundary and interface conditions. This results in the following inhomogeneous system of linear algebraic equations: 2 2 L 02 2 L L 0 + B2 exp A1 exp i = A2 exp c c c 2 2 L 02 2 02 2 L L 0 A2 exp B2 exp A1i exp i = c c c c c
EA

02 2
c

( A2 B2 ) = F

This system can be readily solved to give the unknown complex constants A1 , A2 , B2 but this is not required. We can consider that the steady-state solution to the problem has been found. The plot below gives an idea of how the rod displacement depends on the magnitude of L.

The red line is plotted for L = 0.4[length units] , whereas the green line is plotted for L = 0.8[length units] . This graph shows that the lager the extension of the elastic foundation, the smaller is the wave amplitude in the left part of the rod.

11

Problem 4.

The most general boundary element one can attach to the end of the beam can have a mass m , a moment of inertia about the out-of-plane axis J , a vertical stiffness k , an angular stiffness kr , a viscous damping coefficient against the vertical motion c and a viscous damping coefficient against the angular motion cr . Therefore the most general boundary conditions at the beam end can be written as

2w 2w w EI 2 = J 2 + cr + kr w x x =0 x t t x =0 2w 3w w EI 3 = m 2 +c + kw x x =0 t t x =0
The equation of motion for the beam reads

(8)

EI

4w 2w + A 2 = 0 x 4 t
by inserting

The corresponding dispersion equation can be obtained w ( x, t ) = W exp ( i (t - x ) ) into the above equation. This gives:

EI 4 A 2 = 0
Therefore, the wave numbers which may exist in the beam when it is disturbed by a wave of the frequency are

1 = , 2 = , = ( A EI )
14

3 = i , 2 = i ,

The wave number of the incident wave must be real (because the wave is propagating) and positive (because the wave propagates along the x-axis). Thus, = 1 and the complex form of the incident wave can be written as

wi = w0 exp it i x

Upon falling on the beam end, the incident wave may generate a wave that propagates towards minus infinity and an evanescent wave that exponentially decays as x tends to minus infinity. Therefore, the reflected field can be written as

wr = A exp it + i x + B exp it + x

)
12

where A and B are unknown complex constants. In order the boundary element be nonreflective, these constants must be zero. To find the boundary element properties resulting in zero constants, we write the displacement field in the beam as the superposition of the incident and reflected fields:

w = wi + wr = w0 exp it i x + A exp it + i x + B exp it + x

and substitute it into the boundary conditions given by Equations (8). This yields

EI 2 ( w0 A + B ) = ( iw0 + iA + B ) ( J 2 + icr + kr ) EI 33 2 ( iw0 iA + B ) = ( m 2 + ic + k ) ( w0 + A + B )

This system, by dividing the first equation by and collecting the terms proportional to w0 , A and B , can be rewritten as

A EI + iK r cr + B EI + K r + i cr = w0 EI + i K r cr

) (

A ( iEI 33 2 K ic ) + B ( EI 33 2 K ic ) = w0 ( iEI 33 2 + K + ic )
where K r = J 2 + kr and K = m 2 + k . It is obvious that if the right-hand vector of this system would is zero, the complex amplitudes A and B will be zero as well (unless the determinant of the coefficient matrix is zero for the same set of parameters). Therefore, one may try to require that
EI + i K r cr = 0 iEI 33 2 + K + ic = 0

This system is obviously satisfied by

K r = 0, cr = EI , K = 0, c = EI 3

For these parameters the determinant of the coefficient matrix reads

EI + iK r cr EI + K r + i cr EI cr EI + i cr = = iEI 33 2 K ic EI 33 2 K ic iEI 33 2 ic EI 33 2 ic 2 EI 2iEI 33 2 EI (1 + i ) 2 = 4 ( i 1)( EI ) 4 2 3 32 EI (1 i )

13

which is not zero for all non-zero frequencies. Thus, one may conclude that the boundary element composed of the angular and vertical dashpots with the following characteristics:
cr = EI , c = EI 3

is non-reflective. Obviously, this element is frequency dependent as it should be, as the beam is a dispersive structural element. Note that a non-reflective boundary element can also be designed with K r 0 and K 0 .

14

CT 4140 Dynamics of Structures. Exam: August 2006

Problems
Problem 1 (20 % - 2.0 exam points) Consider a flexibly supported rigid prismatic rigid bar that may move in the vertical direction only, see Figure 1. This bar is subject to a uniform wind of the speed v , the direction of which is indicated in the figure. In the wind, the bar might exhibit galloping if the damping in the supports is not high enough to prevent this.
B
Fz

v cos
L

& z

& z

k 2

v
Fz

z y

k 2

c 2

Figure 1

Assume that small vertical vibrations of the bar induced by the wind can be described by the following equation:

1 dC && & & mz + cz + kz = - vBLz z 2 d =0

(1)

where z ( t ) is the vertical displacement of the bar from its equilibrium, m is the mass of the bar,

c and k are the viscosity coefficient and the stiffness of the support system, is the mass
density of the air, v is the wind speed, B 2 is the cross-sectional area of the bar, L is the length of the bar, C z is the effective lift coefficient, is the angle of wind attack. The physical and geometrical parameters of the bar and of the support system (except for the damping coefficient c ) are given as:

m = 1kg, k = 3 N m , B = 0.03m, L = 1m
The density of the air is = 1.29 kg m3 . The wind speed is v = 5 m s . The effective lift coefficient at relatively small angles of attack (up to 30 degrees) allows for the following approximation C z = sin ( 2 ) . Questions: 1. Find the critical value c* of the damping coefficient c that assures stability of the system (if c c* , the system is stable, i.e. given an initial excitation it either vibrates harmonically or shows a decaying in time motion).

15

2. Find an analytical expression for the vertical displacement of the bar in the case that & c = 0.1kg s , z ( 0 ) = 0 m, z ( 0 ) = 0.1 m s . What will be the deflection of the bar if the wind keeps blowing for a very long time (find the limit of z ( t ) when t goes to infinity). 3. Does the adopted model predict the long term (when t goes to infinity) behavior of the bar in wind correctly? Explain your point of view. What are the main physical factors that are not accounted for in the model described by Eq.(1)?

Problem 2 (20 % - 2.0 exam points) Consider a system of two elastically connected blocks as shown in Figure 2. This system models a building, the upper floors of which are isolated from the lower ones by elastic supports.

M
x2 x1 a

x3

x20 x30 x10

Figure 2

b
Soil surface

Due to an external excitation (pile driving, traffic, etc.), the lower part of the building (the lower block) vibrates harmonically. These vibrations can be described by the motion of its center of mass as

x10 ( t ) = A sin ( t ) , x20 ( t ) = B cos ( t ) , x30 ( t ) = C cos ( t )

The dimensions of the blocks are shown in the figure. The stiffness of the springs that connect the blocks is k . The mass of the upper block is M . Questions: 5. Derive equations of motion that govern small vibrations of the upper block. 6. Find analytically the steady-state displacements of the upper block. 7. Find analytically the frequencies at which the upper and lower blocks are most likely to collide (hit one another).

16

Problem 3 (40 % - 4.0 exam points) Imagine that a helicopter lands on the roof of a building. During the landing, the roof will vibrate until the static deflection under the dead weight of the helicopter is reached. Assume that the roof can be modeled as a pinned-pinned beam, whereas the force with which the helicopter acts on the roof can be approximated as shown in Figure 3a.

F (t )

F (t )

F0 t
0
Figure 3a

, E , A, I
t0
w

L 2
Figure 3b

A model for the roof under the helicopter loading is shown in Figure 3b. The physical and geometrical parameters of the beam are also shown in the latter figure. Questions. 1. Find analytically the beam deflection under the helicopter loading (assume that both the displacement and the velocity of the beam at the moment of the helicopters touch-down are zero).

Problem 4 (20 % - 2.0 exam points) Suppose that the steady-state response of a railway track to a harmonic force is to be modeled using a numerical approach such as the Finite Element Method, for example. Assume that it is sufficiently accurate to model the rail-soil system as a beam on elastic foundation as shown in Figure 4a. The railway track is very long, which can not be modeled in a Finite Element code. Instead, fictitious boundaries have to be introduced at a sufficiently large distance L from the load so that the response of the finite-length beam shown in Figure 4b would coincide with the response of the original infinite-length beam shown in Figure 4a.
F0 cos ( t ) F0 cos ( t )

x w (x,t) x=0 Figure 4a x =- L x=0 Figure 4b x=L

The parameters of the beam and of the elastic foundation are:

17

E = 2.1 1011 Nm-2, A = 153.5 10-4 m2, I = 6110 10-8 m4, k d = 108 Nm-2, = 7800 kg m-3
The load frequency is = 400 rad/s. Questions. 1. Suggest a reasonable value of L (in meters) for which the models depicted in Figures 4a and 4b would predict nearly the same steady-state track deflection. Justify your suggestion.

18

Solutions
Problem 1. 1. The bar will be stable if the effective damping in the system is positive. According to the adopted model, Eq.(1), the effective damping is given as

ceff = c +

1 dC vBL z 2 d =0

(1)

Therefore, the critical damping coefficient should satisfy the following equation:

c* +

1 dC vBL z = 0 2 d =0

Solving the above equation for c* , we find

1 dC c* = vBL z = vBL = 1.29 5 0.03 1 = 0.1935 kg s 2 d =0

where it was used that

( dCz d ) =0 = ( d ( sin ( 2 ) ) d ) =0 = 2 .

2. The equation that governs the vertical vibration of the bar, Eq. (1), can be written as

&& & mz + ceff z + kz = 0

(2)

where ceff is given by Eq. (1). The general solution of Eq. (2), according to Slide 8 of Lecture 10 can be written as

z ( t ) = exp ( neff t ) A cos (1,eff t ) + B sin (1,eff t )

where neff = ceff Accordingly,

( 2m ) , 1,eff

2 = n neff 2

z (0) = A A = 0 & B = z ( 0 ) 1,eff z ( 0 ) = neff A + B 1,eff &

Thus, the bar deflection is given as

z (t ) =

1,eff

& z ( 0)

exp ( neff t ) sin 1,eff t

Substituting the system parameters into the expressions for the effective coefficients, one can find

19

ceff = c + neff

1 dC vBL z 0.09 kg s 2 d =0 = ceff ( 2m ) 0.05 rad s

2 1,eff = n neff 2 1.73 rad s

Therefore, z ( t ) 0.058exp ( 0.05t ) sin (1.73 t ) Obviously, as t goes to infinity, the deflection of the bar is predicted to tend to infinity as well. 3. The adopted model does not predict the long-term behavior of the bar correctly. In reality, as soon as the amplitude of vibration of the bar reaches a certain critical value, the dependence of the lift coefficient on the angle of attack will get a positive slope, meaning that the wind will not help the bar to vibrate but, on the contrary, will take energy from the bar. This will result in a situation that the bar will vibrate with constant amplitude. In the course of this vibration, the energy supplied by the wind will be equal to that dissipated in the dashpots of the bar supports. Problem 2 1. To derive the equations of motion, the displacement method can be used. To apply this method, we draw the blocks in 6 positions (3 displaced positions of the upper block and 3 of the lower). In each position, one block is displaced in the positive direction of one generalised coordinate, see the figure below.

kx1

kx1

akx3 2

akx3 2

kx10

kx10

akx30 2

akx30 2

Using the above figures, equations of motion of the upper block can be written as follows:

20

M &&1 = 2kx1 + 2kx10 x M &&2 = 0 x J &&3 = x a2 a2 k x3 + k x30 2 2

2. Substituting the expressions for x10 and x30 and taking into account that the moment of inertia of the upper block is given as J = Ma 2 6 , we obtain

M &&1 + 2kx1 = 2k A sin ( t ) x M &&2 = 0 x M k k &&3 + x3 = C cos ( t ) x 6 2 2

Since the system is undamped, the steady-state response of the upper block can be sought for in the form (the displacement should have the same time dependence as the forces on the righthand sides)

(3)

x1 ( t ) = X 1 sin ( t ) x2 ( t ) = 0 x3 ( t ) = X 3 cos ( t )
Substituting these into Eqs. (3), we find the following final expressions for the steady-state response of the upper block:

x1 =

2k A sin ( t ) , 2k M 2

x2 = 0,

x3 =

kC cos ( t ) k M 2 3

(4)

3. The blocks are most likely to collide if resonance takes place in the system (since the vertical and rotational degrees of freedom are not in phase, otherwise the collision would not be possible). As follows from the steady-state solution, Eq. (4), this will happen if the load frequency equals

2k M or

3k M .

21

Problem 3. The governing equations which describe small vertical vibrations of the beam can be written as: Equation of motion:

2w 4w + EI 4 = F ( t ) ( x L 2 ) , t 2 x

0 < x < L, x x0

where the point load acting on the beam is accounted for on the right-hand side of the equation with the help of the Dirac delta-function (see the slides to Lecture 2). Initial conditions:

w ( 0, x ) = 0,

w t ( x, t )t =0 = 0

Boundary conditions:

x = 0 : w = 2 w x 2 = 0 x = L : w = 2 w x 2 = 0
As explained on the slides to Lecture 11 (see Forced vibration of a fixed-fixed string under general forcing), it is convenient to search for the dynamic response of an elastic system to a general loading in the form of the superposition of the normal modes with time-dependent amplitudes. The normal modes of a pinned-pinned beam are given as (see the slides to Lecture 14)

Wn = Dn sin ( n x L )
Therefore, the beam dynamic response can be sought for in the following form that satisfies the boundary conditions:

w ( t , x ) = n ( t ) sin ( n x L )
n =1

(5)

Substituting Eq. (5) into the equation of motion, we obtain:

F (t ) d 2 n dt 2 + n2 n sin ( n x L ) = A ( x L 2 ) , n =1

n n = L

EI A

(6)

Multiplying Eq. (6) by sin ( n x L ) and integrating from 0 to L , we obtain

d 2 n 2 2 2 + n n = 2 F ( t ) ( x L 2 ) sin ( n x L ) dx = AL F ( t ) sin ( n 2 ) = Qn ( t ) AL 0 dt
L

(7) Where the following property of Dirac delta-function was used:

f ( x ) ( x x ) dx = f ( x ) ,
0 0 a

a < x0 < b

22

The right hand side of Eq.(7) is zero if n is even. This means that only the symmetric modes contribute into the beam vibration. This is natural given that the load is applied in the middle of the beam (in this case the beam response must be symmetric). The general solution to Eq. (7) is given as
t 1 d n ( 0) 1 n ( t ) = n ( 0 ) cos (n t ) + sin (nt ) + Q ( ) sin (n ( t ) ) d dt n n n 0

In which we have to insert

& n ( 0) = n ( 0) = 0
since the initial conditions are trivial. Thus, taking into account that, in accordance with Figure 3a, the helicopter force can be described as

we obtain the following expressions for n ( t ) : When t t0 :

F0t t0 , F (t ) = F0 ,

t t0 t t0

n (t ) =

Q ( ) sin ( ( t ) ) d =
n n 0

2sin ( n 2 )

AL n
3 t0 AL n

F ( ) sin ( ( t ) ) d =
n 0

2 F0 sin ( n 2 ) t0 AL n
When t t0

sin ( ( t ) ) d =
n 0

2 F0 sin ( n 2 )

( t sin ( t ) )
n n

n (t ) =

Qn ( ) sin (n ( t ) ) d =
0

2sin ( n 2 )

AL n

F ( ) sin ( ( t ) ) d =
n 0

2 F0 sin ( n 2 ) t0 sin (n ( t ) ) d + t0 sin (n ( t ) ) d = t0 AL n 0 t0 2 F0 sin ( n 2 ) nt0 sin (n t0 ) + t0 sin (n ( t ) ) d 2 n t0 AL n t0

Consequently, the dynamic response of the beam is found as

23

 nt0 sin (n t0 ) , t t0 2 n 2 F0 sin ( n 2 ) w (t, x ) = sin ( n x L ) t sin ( t ) t0 AL n =1 n 0 n n0 + t0 sin (n ( t ) ) d , t t0 2 n t0

(8) Note that the last integral in the above expression is undefined. This implies that the problem at hand does not have the steady-state (static) solution, which is always the case for systems with zero damping. In reality, of course, a damping is always present and the static solution under a time-invariant force is reached after a sufficiently long time. To obtain this mathematically, one may first assume that the beam has a viscous foundation, find the expression for n ( t ) , and then take the limit of the damping coefficient tending to zero.

Problem 4. The models depicted in Figures 4a and 4b would predict nearly the same beam response if the deflection field induced by the load nearly vanishes as x = L . The steady-state response of the infinite beam to the given load can be found in the Lecture Notes (Part 2, page 75-76). The given parameters are such that the load frequency is smaller than the cut-off frequency. Therefore, the steady-state response of the infinite beam can be written as

w ( x, t ) =

2 F0 cos ( t ) A 2 4 EI ( 0 2 ) EI x sin 2
4 3/ 4

x exp 2

( EI

2 0

2 )

( EI

2 0

x 2 ) + cos 2

( EI

2 0

2 )

The spatial decay of the beam displacement with the distance from the load is governed by the exponential term in the above expression. Thus, if we assume that the deflection field decrease by factor 20 (approximately exp ( 3) ) is sufficient to neglect it, we can state that the two models will predict nearly the same beam response if

L 2

( EI

2 0

2 ) = 3

From this expression we find

A 2 L =3 2 ( 0 2 ) EI

1 4

2.68 m

24

CT 4140 Dynamics of Structures. Exam: March 2007 Problems

Problem 1 (33 %) Assume that a bridge deck can be modelled as a rigid prismatic bar that is flexibly supported at its ends as shown in Figure 1. Suppose that the bridge is subjected simultaneously to wind and earthquake excitations as shown in Figure 1. It is known that at the location of the bridge the maximum wind speed is v = 10 m s and the earthquake frequency spectrum is within 1 Hz < f < 100 Hz ( f is the cyclic frequency).

B H L v

Fearthquake ( t )
z k 2 kz 2
y

Fearthquake ( t )
Figure 1

Assume that the coupled vertical-angular vibrations of the bridge deck are accurately enough described by the following equations of motion:

&& mz ( t ) + k z z ( t ) =

1 2 v BLC3 ( t ) + 2 Fearthquake ( t ) 2 1 && I ( t ) + k ( t ) = B 3 LC7 &&( t ) z 2

and the following system parameters are available:

m = 10000 kg, I = 50000 kg m 2 , k z = 110000 N m , k = 20000 N m B = 0.5 m, L = 30 m, = 1.29 kg m3 , C3 = 1200, C7 = 1000

Questions: 1. Will the bridge be unstable in the wind? Give a mathematical prove of your opinion. 2. Will resonance occur due to the earthquake excitation? Give a mathematical prove of your opinion.

25

Problem 2 (33 %) Consider a simplified model of a jetty that is shown in Figure 2. The model consists of a flexible beam (Euler Bernoulli model) that is supported in the middle by a spring and a dashpot. The left end of the beam is attached (through a hinge) to a rigid arm that can move only vertically. The right end of the beam is free.
Beam

, A, I , E , L
Rigid arm

c
Ground

w0 sin ( t )

w0 sin ( t )

Figure 2

Consider excitation of the jetty by a spectral component of an earthquake, which we assume to be describable by a vertical displacement wground ( t ) = w0 sin ( t ) of the ground surface. Assume also that the jetty is short enough so that the earthquake loading is the same at the foundation of the rigid arm and at the support, as shown in Figure 2. Questions: 3. Formulate a system of equations (an equation of motion, boundary and interface conditions) that govern small vibrations of the beam. 4. Derive the steady-state response of the beam (do not solve but just derive the system of algebraic equations from which the spatial shape of the beam can be found).

26

Problem 3 (34 %) Consider the process of lowering of a heavy foundation block for an underwater offshore installation (see Figure 3 for a sketch of this process). The block is suspended on a cable and is slowly lowered to the sea bed. Let us focus on the moment of touchdown of the block (the moment when the block touches the sea bed) and on the dynamic processes in the cable, which are induced by this touchdown.

Sea level

, A, E , L
Figure 3

Cable Foundation block

Sea bed

Assume that the force, with which the sea bed acts on the foundation block, can be approximated by the dependence shown in Figure 4 ( t = 0 corresponds to the moment of the touchdown; a negative force is directed upwards).

F (t )

t0
Figure 4

Mg
At the moment of the touchdown a longitudinal stress wave will be excited in the cable, which can damage it. Therefore, it is of importance to predict the maximum tensile stress in the cable that is associated with the wave induced by the touchdown. Questions: 5. Formulate an equation of motion that describes the dynamics of the block-cable system at and shortly after the touchdown (before the excited stress wave would reach the top end of the cable). Take into account only the vertical motion of the system. 6. Find an analytical expression for the stress in the cable during the time interval shortly after the touchdown (use the following notations: for the mass density of the cable, A for the cross-sectional area of the cable, E for the Youngs modulus of the cable, M for the total (including the added mass) mass of the block, L for the cable length).

7. Find an analytical expression for the maximum stress. Compare it to the maximum stress in the cable in the lowering phase for different cable lengths L and different t0 .

27

Solutions
Problem 1.

Both stability and susceptibility to resonance of a linear dynamical system are fully determined by the eigenvalues (or natural frequencies) of the system. This implies, in particular, that a specific form of the earthquake excitation is not essential in answering the questions to this problem. The eigenvalues should be determined from the homogeneous governing equations (with the earthquake-induced force set to zero) which, according to the problem statement, read
&& mz ( t ) + k z z ( t ) =

1 2 v BLC3 ( t ) 2 1 && I ( t ) + k ( t ) = B 3 LC7 &&( t ) z 2

(1)

The eigenvalues are the roots of the characteristic equation. To obtain the latter, the vertical and angular displacements of the bar may be sought for in the following form: z ( t ) = Z exp ( st ) ( t ) = exp ( st ) (2)

where Z , , and s are constants (in general, complex). Substitution of Eq. (2) into Eq. (1) results in the following system of linear algebraic equations:
1 2 ms Z + k z Z = v 2 BLC3 2 1 Is 2 + k = B 3 LC s 2 Z 7 2 1 Q = BL 2
2 2 ( ms + k z ) Z QC3v = 0 2 2 2 QC7 s B Z + ( Is + k ) = 0

(3)

The characteristic equation is obtained by setting the determinant of the coefficient matrix of the above system equal to zero. This gives:

( ms

+ k z )( Is 2 + k ) Q 2 s 2 B 2 v 2C3C7 = 0

This equation can be rewritten as m I s 4 + ( mk + Ik z Q 2 B 2 v 2C3C7 ) s 2 + k z k = 0

28

Substituting the system parameters (except for the wind speed) into this equation and dividing it by 108 (just for making the writing shorter), one obtains: 5s 4 + ( 57 0.2808v 2 ) s 2 + 22 = 0 This is a biquadratic equation, the four roots of which are given as ( 57 0.2808v 2 )

s1,2,3,4

( 57 0.2808v )
10

2 2

440 (4)

Let us answer the first question regarding possible destabilization by wind. Obviously, the higher the wind speed, the more likely the bridge be unstable. Therefore, to check whether the bridge deck can become unstable, it is sufficient to substitute the maximum wind speed ( v = 10 m s ) into Eq. (4). This gives: s1 0.95 i, s 2 0.95 i, s3 2.21i, s 4 2.21i. (5)

Thus, as all eigenvalues are imaginary, the system is stable. Consequently, the answer to the first question is: the bridge remains stable if the wind speed does not exceed 10 m s . Let us answer the second question regarding possible resonance under the earthquake excitation. Resonance would occur if one of the natural frequencies of the system would fall into the frequency spectrum of the earthquake. The eigenvalues in Eq. (5) correspond to the following angular natural frequencies (in radians per second):

1 0.95 rad s , 2 2.21 rad s ,

which, in turn, correspond to the following cyclic frequencies (in Hz, f = ( 2 ) ): f1 0.15 Hz, f 2 0.35 Hz (6)

These frequencies are below the lower limit of the earthquake spectrum and, therefore, the given earthquake excitation can not cause resonance. Did we answer the second question? No! The point is that the cyclic frequencies in Eq. (6) correspond to the maximum wind speed and we can not be sure that these frequencies would not be larger if the wind speed is smaller. Let us check it by substituting v = 0 (no wind) into Eq. (4). This gives: s1 0.63 i, s 2 0.63 i, s3 3.32 i, s 4 3.32 i.

29

These eigenvalues correspond to the following cyclic frequencies of vibrations of the bridge deck: f1 0.1Hz, f 2 0.52 Hz (7)

Thus, the first natural frequency is lower without the wind (relative to the case of the maximum wind speed), whereas the second one is higher. This is, actually, a general trend, which can be seen from Eq. (4): the lower the wind speed, the lower the first natural frequency and the higher the second one. Thus, the highest natural frequency corresponds to v = 0 and, according to Eq. (7), equals f 2 0.52 Hz . This frequency is still below the lower limit of the earthquake excitation and, therefore, resonance due to the earthquake excitation can not occur.

Problem 2.

To formulate governing equations for small vertical vibrations of the jetty, let us introduce a reference system and notations shown in the figure below:
w ( x, t )
Rigid arm

w1 ( x, t )
k c

w2 ( x, t )

Ground

w0 sin ( t ) x = L 2

w0 sin ( t ) x=0 x x=L 2

Using the notations introduced in the figure, the governing equations can be written as follows. Equation of motion: 2wj 4wj A 2 + EI 4 = 0, t x

j = 1, 2,

L L < x < 0 and 0 < x < 2 2

(8)

Boundary conditions at x = L 2 (the rigid arm just passes the displacement of the ground to the beam, whereas the hinge ensures that the moment at the left end of the beam is zero):

30

 L w1 , t = w0 sin ( t ) , 2

2 w1 ( x, t ) =0 x 2 x = L 2

(9)

Boundary conditions at x = L 2 (these should ensure that both the bending moment and shear force are zero at the free end): 2 w2 ( x, t ) = 0, x 2 x=L 2 3 w2 ( x, t ) =0 x3 x= L 2 (10)

Interface conditions at x = 0 :
w1 ( 0, t ) = w2 ( 0, t ) ,

(11) (12) (13)

w1 ( x, t ) w ( x, t ) = 2 x x x =0 x =0 2 w1 ( x, t ) 2 w2 ( x, t ) = x 2 x 2 x =0 x =0
3 w2 ( x, t ) 3 w1 ( x, t ) EI = x 3 x 3 x =0 x =0 w ( x, t ) k ( w1 ( 0, t ) w0 sin ( t ) ) + c 1 w0 cos ( t ) t x =0

(14)

The first three interface conditions are trivial. The last one, Eq. (14), is a balance of the vertical forces acting at the cross-section of the beam supported by the spring-dashpot system. On the right-hand side of this equation is the force exerted by the support. It is the superposition of the spring-force and the dashpot-force. The former is proportional to the spring elongation, whereas the latter is proportional to the relative velocity of the ends of the dashpot. The vibration of the beam is induced by the motion of the rigid arm and by the motion of the lower end of the spring-dashpot support. This excitation enters the kinematic boundary condition at x = L 2 , Eq. (9), and the force balance at x = 0 , Eq. (14). The latter equation contains one forcing term ( kw0 sin ( t ) ) that is proportional to sin ( t ) and one forcing term ( cw0 cos ( t ) ) that is proportional to cos ( t ) . Therefore, it is impossible to find the steady state solution in one of the following forms: w j ( x, t ) = Re (W j ( x ) exp ( it ) ) or w j ( x, t ) = Im (W j ( x ) exp ( it ) ) j = 1, 2

Instead, the steady state-solution can be sought for as

31

w j ( x, t ) = Im (W jsin ( x ) exp ( it ) ) + Re (W jcos ( x ) exp ( it ) ) or, in the following form that does not make use of the complex variables: w j ( x, t ) = W jsin ( x ) sin ( t ) + W jcos ( x ) cos ( t )

(15)

(16)

It is more advantageous to use the complex form of the solution, Eq. (15), as it leads to two uncoupled systems of equations with respect to W jsin ( x ) and W jcos ( x ) (using Eq. (16) would not allow to decouple equations with respect to W sin ( x ) and W cos ( x ) ).
j j

Let us make use of the complex form of the solution equation, Eq.(15). Inserting it into Eqs. (8)-(14), representing sin ( t ) by Im ( exp ( it ) ) and cos ( t ) by Re ( exp ( it ) ) , and collecting in each resulting equation the terms from which the imaginary and real parts should be taken, one obtains the following system of equations. Equation of motion:
d 4W jsin d 4W jcos 4 sin W j exp ( it ) + Re 4W jcos exp ( it ) = 0, Im 4 4 dx dx A 2 L L 4 = , j = 1, 2, < x < 0 and 0 < x < 2 2 EI

(17)

Boundary conditions at x = L 2 :
Im (W1sin ( L 2 ) w0 ) exp ( it ) + Re {W1cos ( L 2 ) exp ( it )} = 0 d 2 d 2 Im 2 W1sin ( x ) exp ( it ) + Re 2 W1cos ( x ) exp ( it ) = 0 x = L 2 x = L 2 dx dx

(18)

Boundary conditions at x = L 2 :
d 2 d 2 Im 2 W2sin ( x ) exp ( it ) + Re 2 W2cos ( x ) exp ( it ) = 0 x= L 2 x=L 2 dx dx d 3 d 3 Im 3 W2sin ( x ) exp ( it ) + Re 3 W2cos ( x ) exp ( it ) = 0 x= L 2 x= L 2 dx dx Interface conditions at x = 0 :

(19)

32

Im (W1sin ( 0 ) W2sin ( 0 ) ) exp ( it ) + Re (W1cos ( 0 ) W2cos ( 0 ) ) exp ( it ) = 0

(20)

d d Im (W1sin ( x ) W2sin ( x ) ) exp ( it ) + Re (W1cos ( x ) W2cos ( x ) ) exp ( it ) = 0 x =0 x =0 dx dx (21) 2 2 d d Im 2 (W1sin ( x ) W2sin ( x ) ) exp ( it ) + Re 2 (W1cos ( x ) W2cos ( x ) ) exp ( it ) = 0 dx dx x =0 x =0

(22) d3 Im EI 3 (W2sin ( x ) W1sin ( x ) ) + k (W1sin ( x ) w0 ) + icW1sin ( x ) exp ( it ) dx x =0 d3 + Re EI 3 (W2cos ( x ) W1cos ( x ) ) + kW1cos ( x ) + c ( iW1sin ( x ) w0 ) exp ( it ) = 0 dx x =0 (23) The system of equations, Eqs. (17)-(23), can be divided into two uncoupled systems of equations by setting the real and imaginary parts of each equation to zero separately. By setting the imaginary part to zero we obtain a system of equations governing the complex shape functions W jsin ( x ) of the steady-state response of the beam to the sinusoidal part of the excitation. This system reads:

d 4W jsin dx
4

4W jsin = 0,

4 =
dW dx
2 sin 1 2

A
EI ( x)

2 ,

j = 1, 2,

L L < x < 0 and 0 < x < (24) 2 2

W1sin ( L 2 ) w0 = 0, d 2W2sin ( x ) = 0, dx 2 x= L 2
W1sin ( 0 ) = W2sin ( 0 ) ,

=0
x = L 2

(25)

d 3W2sin ( x ) =0 dx3 x= L 2

(26) (27) (28) (29)

W1sin ( x ) W2sin ( x ) = x x x =0 x =0 d 2W1sin ( x ) d 2W2sin ( x ) = dx 2 dx 2 x =0 x =0

3W2sin ( x ) 3W1sin ( x ) EI + k (W1sin ( 0 ) w0 ) + icW1sin ( 0 ) = 0 x3 x3 x =0 x =0

(30)

33

The general solution to Eq.(24) can be written as

W jsin ( x ) = Asin cosh ( x ) + B sin sinh ( x ) + C sin cos ( x ) + D sin sin ( x ) j j j j

(31)

This solution contains 8 unknowns, which can be found from the system of linear algebraic equations to be obtained upon substitution of Eq. (31) into the boundary and interface conditions given by Eqs. (25)-(30). Now, by setting the real part to zero we obtain a system of equations governing the complex shape functions W jcos ( x ) of the steady-state response of the beam to the cosinusoidal part of excitation. This system is given below:
d 4W jcos dx
4

4W jcos = 0,

4 =
dW dx
3 2 cos 1 2

A
EI ( x)

2 ,

j = 1, 2,

L L < x < 0 and 0 < x < (32) 2 2

L W1cos = 0, 2 d W ( x) = 0, dx x=L 2
2 cos 2 2

=0
x = L 2

(33)

d W ( x) =0 dx x= L 2
cos 2 3

(34) (35) (36) (37) (38)

W1cos ( 0 ) = W2cos ( 0 ) ,

dW1cos ( x ) dW2cos ( x ) = dx dx x =0 x =0 d 2W1cos ( x ) d 2W2cos ( x ) = dx 2 dx 2 x =0 x =0

d 3W2cos ( x ) d 3W1cos ( x ) EI + kW1cos ( 0) + c ( iW1cos ( 0) w0) = 0 3 3 dx dx x =0 x =0

The general solution to Eq. (32) can be written as

W jcos ( x ) = Acos cosh ( x ) + B cos sinh ( x ) + C cos cos ( x ) + D cos sin ( x ) j j j j

(39)

This solution contains 8 unknowns, which can be found from the system of linear algebraic equations to be obtained upon substitution of Eq. (39) into the boundary and interface conditions given by Eqs. (33)-(38). Thus, the steady state response of the jetty has been found. It reads: w j ( x, t ) = Im (W jsin ( x ) exp ( it ) ) + Re (W jcos ( x ) exp ( it ) ) , j = 1, 2

34

Problem 3.

The vertical motion of the cable-block system just before and shortly after the touchdown can be modelled using the linear classical model for longitudinal vibrations of a rod as sketched in the figure below. This model is valid thanks to the high-tension in the cable that is induced by the foundation block.
z=L
Sea level

u ( z, t )
z=0

Fseabed reaction ( t )

Sea bed

Let us first derive the longitudinal displacements and stresses in the cable just before the moment of touchdown (assuming that the touchdown corresponds to t = 0 ). Since the lowering process is slow, these can be found from an auxiliary static problem that is formulated below. The static equilibrium of longitudinal forces acting on a differential element of the rod just before the touchdown reads: 2u ( z , 0 ) EA = gA z 2 The boundary conditions just before the touchdown are given as: u ( L, 0 ) = 0, EA u ( z, 0 ) = Mg z z =0 (41) (40)

The general solution of Eq. (40) reads

u ( z, 0 ) =

g
2E

z 2 + C1 z + C2

(42)

Substitution of this solution into the boundary conditions, Eq. (41), gives the following linear system of algebraic equations with respect to C1 and C2 :

35

 g 2 L C1 L + C2 = 0 2E EAC1 = Mg Solving this system and substituting resulting C1 and C2 into Eq. (42), the following expression for the longitudinal displacement of the cable just before the touchdown is obtained: u ( z, 0 ) =

(z 2E

L2 ) +

Mg ( z + L) EA

(43)

This displacement is the initial displacement for the dynamic process in the cable that is induced by the touchdown. Let us formulate equations of motion that govern the system dynamics shortly after the touchdown. Assuming that the buoyancy of the block is not changed right after the touchdown (this allows to consider the submerged mass of the block to be unchanged), the following equations can be formulated for small vertical motion of the system: Equation of longitudinal motion of the cable:

2u ( z , t ) 2u ( z , t ) EA = gA, t 2 z 2

t 0, L > z < 0

(44)

Initial conditions: u ( z, 0 ) =

(z 2E

L2 ) +

Mg ( z + L), EA

u ( z , t ) =0 t t =0

(45)

Boundary conditions: u ( L, t ) = 0 EA u ( z , t ) t t0 , = Mg Mg z z =0 1 0 t t0 t > t0 (46)

One can solve the system of governing equations directly, by applying the method of separation of variables. However, this is not the most elegant way to find the solution. It would be more elegant to construct the solution such that the initial conditions are automatically accounted for and the dynamic process is owed solely to the dynamic force exerted by the sea bed. After all, it is the impact against the sea bad that induces the stress wave in the cable. To implement this idea, one may search for the solution of Eqs. (44)(46) in the following form:
36

u ( z , t ) = u1 ( z , t ) + u0 ( z ) ,

(47)

where u0 ( z ) = u ( z , 0 ) =

(z 2E

L2 ) +

Mg ( z + L) EA

(48)

is the initial longitudinal displacement of the cable. Inserting Eq. (47) into the governing system of equations, Eqs. (44)-(46), one obtains the following problem with respect to u1 ( z , t ) . 2u1 ( z , t ) 2u ( z , t ) EA 1 2 = 0, t 2 z u ( z , t ) u1 ( z , 0 ) = 0, =0 t t =0

t 0, L z < 0

(49) (50)

u1 ( L, t ) = 0 EA

u1 ( z , t ) t t0 , = Mg z 1 z =0

0 t t0 t > t0

(51)

The displacement u1 ( z , t ) is excited solely by the force at the lower end of the cable. Therefore, taking into account that we are interested in the cable dynamics only shortly after the impact, we can search for the solution to the problem in the form of an up-going wave:
u1 ( z , t ) = f ( t + z c )

(52)

This solution is valid only until the moment that this wave would touch the upper end of the cable. But this is exactly the time interval we are interested in. Inserting Eq. (52) into Eq. (51), one obtains
t t0 , EA f ( t ) = Mg c t 1

0 t t0 t > t0

Integrating this equation over time, we obtain

37

t 0 t t0 t0 d , 2 Mgc 0 Mgc t ( 2t0 ) , f (t ) = = t EA t0 EA t t0 2, t0 d +t d , t > t0 0 0

0 t t0 t > t0

(53)

Thus, the up-going wave induced by the impact of the block against the sea bed is described by the following expression: u1 ( z , t ) = Mgc ( t + z c ) ( 2t0 ) , EA t + z c t0 2,
2

0 t + z c t0 t + z c > t0

(54)

Using Eqs. (47), (48) and (54), one can find the total dynamic stress in the cable (which is valid until the stress wave hits the upper end of the cable, i.e. until t = L c ). This stress reads:

( z, t ) = E

( u1 ( z, t ) + u0 ( z ) ) = z
2

t + z c ) ( 2t0 ) , g 2 2 Mg ( z L ) + A ( z + L ) Mgc ( z 2 EA t + z c t0 2, 0 t + z c t0 Mg Mg ( t + z c ) t0 , gz + A A 1, t + z c > t0

0 t + z c t0 = t + z c > t0

(55)

A snapshot of the stress distribution along the cable is depicted below:

( z , L ( 2c ) )

Mg A z

ct c ( t0 t )

This figure clearly shows that the impact of the block against the sea bed induces a wave of compression that lowers tension in the cable. This wave, coming to the upper end of the cable, which usually ends with a winch, can cause a quick unloading that can damage the drum of the winch.

38

The maximum (tensile) stress in the cable during the time interval t < L c equals the maximum static pre-stress gL + Mg A . It is the larger the longer the cable. The time t0 influences the length of the stress wave and does not affect the maximum stress. However, the smaller the t0 (this corresponds to a stiffer sea bed), the more difficult it is in practice to anticipate the sudden unloading of the winch that is induced by the stress wave initiated by the touchdown.

39

CT 4140 Dynamics of Structures. Exam: August 2007 Problems

Problem 1 (67 %). Consider a high-rise building subject to wind as shown in Figure 1. To reduce the windinduced vibration of the building, a damping device is installed at the top floor. This device can be envisaged in the form of a trolley that can freely roll along the floor and is attached to one of the walls by a spring, see Figure 1. The idea of this device is to channel the energy of the building vibration into the energy of motion of the trolley thereby reducing the building vibration. Such device is referred to as a tuned vibration absorber.

f wind ( t )

Fwind ( t )
m

X (t ) x (t )
k M

x (t )

w ( z, t )

f wind ( t )

Figure 1

Figure 2

Figure 3

The building can be modelled as a clamped-free bending beam. The bending stiffness of the beam is EI , its mass par unit length is A , and the lengths (the building height) is L . The building is subject to a wind force. The density of this force per unit length of the building is given as f wind ( t ) = f 0 sin ( t ) Questions

1. As a first step of analysis, approximate the beam (the building) by a mass-spring system as shown in Figure 2 (the big spring of stiffness K and the box of mass M ). This question is 32 % of the total grade. 1.1. Find analytical expressions for the equivalent stiffness K and equivalent mass M that correspond to the first mode of vibration of the clamped-free beam (use Table 3.1 of the Lecture Notes to Part 1, page 80). 1.2. Derive equations of motion for the two-degrees of freedom system (the approximated beam and the trolley) that is depicted in Figure 2 assuming that Fwind ( t ) = F0 sin ( t ) where F0 is a constant. 1.3. Find an analytical expression for the steady-state displacement of the equivalent mass M

40

1.4. Find an expression for the parameters of the trolley ( k and m ) which ensure that the steady-state displacement of the equivalent mass of the beam is zero. Interpret the obtained result. 2. Consider the building as the bending beam. This question is 35 % of the total grade. 2.1. Formulate equations of motion and boundary conditions for the beam and an equation of motion for the trolley (according to Figure 3). 2.2. Derive analytically the steady-state displacement of the beam (do not solve the system of algebraic equations with respect to the unknown constants but just write it). 2.3. Is it possible to tune the parameters of the trolley such that the steady-state displacement of the top of the beam will be zero? If yes, describe mathematical operations, which would be needed to find these parameters. If no, explain why this would be impossible.
Problem 2 (33 %).

Consider an infinitely long beam on elastic foundation as shown in Figure 4. The beam is subject to two loads (external shear forces) as shown in the figure.
Fc cos ( t )
Fs sin ( t )

x w (x,t) x=0 x=L

Figure 4

The bending stiffness of the beam, its mass per unit length and the stiffness per unit length of the elastic foundation are EI , A and kd , respectively.
Questions

1. Formulate a system of equations that govern the steady-state vibration of the beam under the loads. 2. Derive an expression for the steady-state displacement of the beam assuming that the frequency of the external forces is greater than kd A .

41

Solutions
Problem 1.

1.1. First, the equivalent static stiffness K of the beam at its top has to be found. To this end, the displacement of the top of the beam has to be derived under a static shear force applied at the top. The ratio of this force to the resulting displacement gives the equivalent stiffness K . It can be easily found (using basic static considerations) that this stiffness is given as
K = 3EI L3 . (1)

To find the equivalent mass that corresponds to the first mode of the beam vibration, one can make use of Table 3.1 on page 80 of the Part 1 of the Lecture Notes to CT 4140. According to this table, the first natural frequency of a clamped-free beam is given as

3.52 EI A . L2

(2)

To have the same natural frequency, the mass M of the equivalent mass-spring system has to satisfy the following expression:

1 K M .
Substituting Eqs. (1) and (2) into Eq. (3), the following equality is obtained

(3)

3.52 EI A 3EI L3 M , L2 which, when solved for M , gives M 0.24 AL .

(4)

(5)

1.2. Equations of motion of the two degrees of freedom system depicted in Figure 2 can be written with the help of the displacement method. These equations read
d2X = KX k ( X x ) + F0 sin ( t ) , dt 2 d2x m 2 = k ( x X ). dt M

(6)

1.3. The steady-state solution to Eqs.(6) can be found by searching for X ( t ) and x ( t ) in the form: X = X 0 sin ( t ) , x = x0 sin ( t ) .

(7)

Substituting Eqs. (7) into Eqs. (6), the following system of algebraic equations is obtained:

42

 M 2 X 0 = KX 0 k ( X 0 x0 ) + F0 , m 2 x0 = k ( x0 X 0 ) .

(8)

Resolving this system with respect to X 0 , one finds

X0 = F0 ( k m 2 )
2

( K + k M )( k m ) k
2

(9)

Thus, the steady-state displacement of the equivalent mass M from the equilibrium is given
as
X0 = F0 ( k m 2 )
2

( K + k M )( k m ) k
2

sin ( t )

(10)

1.4. Equation (10) shows that the top of the beam will not move if the stiffness and mass of the trolley satisfy the following equation: k m 2 = 0 . (11)

A physical interpretation of this result is quite transparent: to prevent the top of the beam from moving, the natural frequency k m of the trolley should be equal to the frequency of the external force (wind). 2.1. Assuming that the top of the beam is located at z = L , whereas the clamped end is at z = 0, the equation of motion for the beam and the corresponding boundary conditions can be written as

2 w 4w + EI 4 = f 0 sin ( t ) , t 2 z 2 w EI 2 =0, z z = L
3 w = k ( w z = L x ) z 3 z = L

(12)

(13) (14) (15)

EI

w z =0 =

w =0. z z = 0

The equation of motion for the trolley is given as m d2x = k ( w z = L x ) . dt 2 (16)

43

2.2. The steady-state deflection of the beam-trolley system can be sought for in the form: w ( z , t ) = W ( z ) sin ( t ) , x ( t ) = x0 sin ( t ) . (17)

Substituting Eqs. (17) into the system of governing equations, Eqs. (12)-(16), the following system of equations is obtained with respect to W ( z ) and x0 : A 2W + EI d 2W dz 2
EI

d 4W = f0 . dz 4

(18) (19)

=0,
z = L

d 3W dz 3
z =0

= k (W
z = L

z = L

x0 ) ,

(20) (21)

2 mx0 = k (W

dW dz

= 0,
z =0 z = L

x0 ) .

(22)

To solve the system of equations (18)-(22), one has first to write the general solution of Eq. (18). This solution is a superposition of the general solution of the homogeneous equation plus a particular solution of the inhomogeneous equation and can be written as: W = A cosh ( z ) + B sinh ( z ) + C cos ( z ) + D sin ( z ) f ,

4 =

A 2
EI

, f =

f0 . A 2

(23)

The remaining task is to find 5 unknown constants: A, B, C , D, x0 . To do so, the general solution, Eq. (23), has to be substituted into Eqs. (19)-(22). This substitution yields the following system of linear algebraic equations with respect to A, B, C , D, x0 : A cosh ( L ) B sinh ( L ) C cos ( L ) + D sin ( L ) = 0 ,

(24)

3 ( A sinh ( L ) + B cosh ( L ) C sin ( L ) D cos ( L ) ) =

k ( A cosh ( L ) B sinh ( L ) + C cos ( L ) D sin ( L ) f x0 ) , A+C f =0,

(25) (26) (27)

B+ D =0,

44

 2 mx0 = k ( A cosh ( L ) B sinh ( L ) + C cos ( L ) D sin ( L ) f x0 ) .

(28)

The system of equations (24)-(28) can be solved to give A, B, C , D, x0 . With these constants known, the steady-state solution can be considered to have been found.

2.3 Using the constants A, B, C , D that can be found by solving equations (24)-(28), the amplitude of vibration of the top end of the beam can be symbolically written as numerator ( , k , m, EI , A )

z = L

denominator ( , k , m, EI , A )

(29)

This displacement will be zero if numerator ( , k , m, EI , A ) = 0 .

(30)

Equation (30) is an algebraic (not transcendental) equation with respect to the trolley parameters. This equation for sure can be solved numerically (and, probably, analytically) for any set of the beam parameters and the wind frequency. Therefore, one may expect that there exist a combination of the trolley parameters that, for a given set of the beam parameters and for a given , would prevent the top of the beam from moving.

Problem 2.

1. The system of governing equations consists of an equation of motion for the beam, interface conditions at x = 0 and x = L and boundary conditions at x . Let us introduce the following notation: w1 ( x, t ) , x < 0, w ( x, t ) = w2 ( x, t ) , 0 < x < L, w3 ( x, t ) , x > L. Using these notations, the system of governing equations can be written as follows. Equations of motion:

2 w1 ( x, t ) t 2

+ EI

4 w1 ( x, t ) x 4

+ kd w1 ( x, t ) = 0,

x < 0,

45

A A

2 w2 ( x, t ) t 2 2 w3 ( x, t ) t 2

+ EI + EI

4 w2 ( x, t ) x 4 4 w3 ( x, t ) x 4

+ kd w2 ( x, t ) = 0, + kd w3 ( x, t ) = 0,

0< x< L, x>L,

Interface conditions at x = 0 :

w1 ( x, t ) x = 0 = w2 ( x, t ) x = 0 ,

w1 ( x, t ) x x 2
3 x =0

w2 ( x, t ) x x 2
3 x =0

, ,
x =0

2 w1 ( x, t )
x =0

2 w2 ( x, t )

w2 ( x, t ) w1 ( x, t ) = Fc cos ( t ) , EI 3 x x3 x =0 x =0

Interface conditions at x = L :

w2 ( x, t ) x = L = w3 ( x, t ) x = L , w2 ( x, t ) x x 2
3
x=L

w3 ( x, t ) x x 2
3
x=L

, ,
x=L

2 w2 ( x, t )
x=L

2 w3 ( x, t )

w3 ( x, t ) w2 ( x, t ) EI = Fs sin ( t ) . 3 3 x x x=L x=L

Boundary conditions at x :
As the excitation frequency is greater than the cut-off frequency, the radiation condition

must be employed. According to this condition, there can be no waves that transfer energy from the infinities towards the loads.

2. To find the steady-state displacement of the beam, it is most convenient to use the principle of the superposition. The beam response to one load F0 exp ( it ) located at x = 0 can be found in the Lecture Notes to CT 4140, Part 2 (page 75). In the case of > kd A , this response, according to Eq. (5.32) of the Lecture Notes, is given as

46

complex wx = 0 ( x, t ) =

iF0 exp ( it ) A 2 4 EI ( 02 ) EI
4 3/ 4

(31)
4

exp i x

( EI

2 0 ) i exp x

( EI

2 0 ) ,

where 0 = kd A . Accordingly, the beam response to the load Fc cos ( t ) located at x = 0 reads
cos complex wx = 0 ( x, t ) = Re ( wx = 0 ( x, t ) ) =

F0 A 2 4 EI ( 02 ) EI
3/ 4

(32)
4

sin t x

( EI

2 0 ) cos ( t ) exp x

( EI

2 0 ) .

The beam response to one load F0 exp ( it ) located at x = L can be obtained from Eq. (31) by simply replacing x by ( x L ) (this reflects a simple fact that if the load shifts along an infinite homogeneous beam, the response field shifts to the same distance):
iF0 exp ( it ) A 2 4 EI ( 02 ) EI
4 3/ 4

complex wx = L ( x, t ) =

(33)
4

exp i x L

( EI

2 0 ) i exp x L

( EI

2 0 ) .

Accordingly, the beam response to the load Fs sin ( t ) located at x = L reads

sin complex wx = L ( x, t ) = Im ( wx = L ( x, t ) ) =

F0 A 2 4 EI ( 02 ) EI
2 3/ 4

cos t x L

( EI

2 0 ) + sin ( t ) exp x L

( EI

2 0 ) .

The total beam displacement is given as:

cos sin w ( x, t ) = wx = 0 ( x, t ) + wx = L ( x, t ) .

47

CT 4140 Dynamics of Structures. Exam: March 31, 2008 Problems

Problem 1 (50 %).

Consider a heavy container being moved from a cargo ship to a pier. At a certain moment the operation is halted because of high wind and waves. The danger was that the container could collide with the pile of the previously unloaded containers shown at the right of Figure 1. The question is whether stopping the operation would prevent the containers from the collision. The motion of the container is considered in the plane of Figure 1. In this plane the container can be represented as a square block 2 L 2 L of mass m . The container is suspended from a rigid arm that is fixed to the ship under 45o with horizontal. The cable on which the container is suspended can be modelled as a vertical linear spring of stiffness k1 . The lower and the upper left corners of the container are attached to the arm via identical linear horizontal springs of stiffness k2 . The arm-container system is subject to two excitations. The first excitation originates from the waves that roll the ship and lead to a small angular motion of the arm around its fixation point. The amplitude and the frequency of this motion are Ar and r . The second excitation is due to wind that exerts a horizontal force on the container. This force can be considered to be applied to the centre of mass of the block and be given as Fw ( t ) = F0 + F~ sin ( w t + w ) . The geometric parameters of the system are shown in Figure 1. Note that the situation shown in Figure 1 is the equilibrium reached due to the gravity force.

16 L
Fw ( t )
k2

k1

2L 2L

4L 45o
Ar sin ( r t + r )
k2

2L

Figure 1.

48

Questions

1. Formulate differential equations that govern small vibrations of the container (the suspended block) around the equilibrium shown in Figure 1. 2. Derive analytical expressions for the vertical, horizontal and angular steady-state displacements of the block. 3. Assume the following values for the system parameters:
L = 2m, m = 3000 kg, k1 = 108 N m -1 , k2 = 106 N m -1 ,

w = 20 rad s -1 , r = 4 rad s -1 , F0 = 2 104 N, F~ = 106 N, Ar = 0.02

Will the container collide with the pile of the previously unloaded containers? Substantiate your answer by calculations.
Problem 2 (50 %).

Consider small free vibrations of a wagon on a railway track using a simplified model shown in Figure 2. The railway track is modelled as an infinitely long beam on elastic foundation. The model of the wagon consists of a rigid bar, two vertical springs and two point masses representing the wagon body, the suspension system and the wheelsets, respectively. Assume that the beam, as well as the masses (the wheelsets), can move only vertically. The rigid bar (the wagon body) can perform both the vertical and the angular motion in the plain of the figure. The physical and geometrical parameters of the model are specified in the figure.
M,J

, A, E , I

K m

K m
kd
x

Figure 2

Questions

4. Formulate a system of equations that govern small free vibrations of the system (the equations of motion, the interface conditions, and the boundary conditions) assuming that the masses and the beam are always in contact. 5. Derive the frequency equation the roots of which give the natural frequencies of the wagon on the railway track. 6. How many natural frequencies does the derived frequency equation predict? Will all the natural frequencies be real? Substantiate your answers.

49

Problem 3 (Bonus +1 exam point; this problem must be solved by those who pretend to get 10).

Consider a perfectly vertical prismatic elastic rod that is dropped onto a horizontal rigid plane from an initial height H as shown in Figure 3. Assume that upon impacting the plane, the rod remains vertical and no slip occurs between the rod and the plane. Assume also that the impact is perfectly elastic, that is no energy is transferred to heat during the rod-plane interaction. The physical and geometrical parameters of the system are specified in the figure.

, E, A

Figure 3

Questions

7. Upon the impact, the rod can jump up, likewise a tennis ball after being dropped onto a flat rigid surface. What is the minimum time interval t after the impact that is necessarily required for separation of the rod from the plane? Please explain. 8. Does the time interval between the collision and the first separation depend on the initial height H ? If you think it does not, please explain why. If you think it does, please suggest a dependence you expect to observe and reason your suggestion.

50

Solutions
Problem 1.

1. First, let us introduce a reference system and a few notations as shown in Figure 1S.

y16 L
k1

x 4+ 2 2 L ( )

k2

x2
Fw ( t )

2L

x1

x3

x4L

k2

2L
Figure 1S.

Using the notations in Figure 1S and applying the displacement method, the following equations can be obtained that govern small vibrations of the block about the equilibrium:

&& mx1 = k1 ( x1 y16 L )

&& mx2 = k2 x2 k2 x2 k2 x3 L + k2 x3 L + Fw ( t ) + k2 x4 L + k2 x 4+ 2 2 L + Fw ( t ) ( ) J &&3 = k2 Lx2 + k2 Lx2 k2 Lx3 L k2 Lx3 L x + k2 Lx4 L k2 Lx 4+ 2 2 L ( )

The above system of equations can be simplified to (1)

&& mx1 + k1 x1 = k1 y16 L

&& mx2 + 2k2 x2 = k2 x4 L + k2 x 4+ 2 2 L + Fw ( t ) ( ) J &&3 + 2k2 L2 x3 = Lk2 x4 L k2 Lx 4+ 2 2 L x ( )

(2)

The vertical displacement y16 L of the top of the arm can be expressed through the angular motion of the arm around its fixation point. As the arm is rigid, y16 L is given as

51

y16 L =

16 LAr sin ( r t + r ) 2

(3)

Analogously, the horizontal displacements x4 L and x 4+ 2

2 L

of the points of the arm that are

attached to the horizontal springs can be expressed as

x4 L = x 4+ 2 (

4 LAr sin ( r t + r ) 2

4+2 2 = LAr sin ( r t + r ) 2 )L 2

(4)

The minus sign in equations (3) and (4) reflects the fact that a positive rotation of the arm causes negative vertical and horizontal deflections in the chosen reference system. Inserting into equation (2) the above expressions for y16 L , x4L , and x 4+ 2 2 L , the expression

for Fw ( t ) and J = 2mL 3 (the mass moment of inertia of the block ), the following system of equations is obtained:
2

&& mx1 + k1 x1 = k1

16 LAr sin ( r t + r ) 2 8+ 2 2 LAr sin ( r t + r ) + F0 + F~ sin ( w t + w ) 2

(5)

&& mx2 + 2k2 x2 = k2

2mL2 &&3 + 2k2 L2 x3 = 2 L2 k2 Ar sin ( r t + r ) x 3

2. Equations (5) show that the vertical, the horizontal and the angular motions are not coupled. Therefore, all motions can be considered independently. The steady-state displacement in the vertical direction can be found as

x1 = X 1 sin ( r t + r )
Substitution of equation (6) into the first equation of the system (5) results in

(6)

16 X 1 ( m r2 + k1 ) = k1 LAr 2

k1 LAr 16 X1 = 2 ( m 2 k1 ) r

Thus, the steady-state vertical displacement of the block is given as

x1 =

k1 LAr 16 sin ( r t + r ) 2 ( m 2 k1 ) r

(7)

52

The steady-state horizontal displacement can be sought for in the form

0 ~ x2 = X 2 + X 2r sin ( r t + r ) + X 2 sin ( w t + w )

(8)

Insertion of equation (8) into the second equation of the system (5) followed by separation of the time-independent terms, the terms proportional to sin ( r t + r ) and the terms proportional to sin ( w t + w ) gives the following three equations:
0 2k2 X 2 = F0 r X 2 ( m 2 + 2k2 ) = k2 r

~ X 2 ( m 2 + 2k2 ) = F~ w

8+ 2 2 LAr 2

which can be easily resolved with respect to the unknown constants. Substituting the so-found constants into equation (8), the following expression for the steady-state horizontal displacement is found

x2 =

F0 LAr F~ 4+ 2 + 2k 2 sin ( r t + r ) + sin ( w t + w ) 2 2k2 m 2 + 2k2 2 m r 2k2 w

(9)

The angular steady-state displacement can be found in the form

x3 = X 3r sin ( r t + r )

(10)

r Inserting equation (10) into the third equation of the system (5), X 3 can be derived to result

in the following expression for x3 in the steady-state regime:

x3 =

k2 Ar sin ( r t + r ) m 2 3 + k2 r

(11)

3. Obviously, the event of collision is independent of x1 (as the pile of containers is vertical) but depends on x2 and x3 . Should the collision occur, the pile of containers would first be reached by the right lower corner of the block. The horizontal displacement of this corner is given as
F0 LAr F~ 4+ 2 + 2k 2 sin ( r t + r ) + sin ( w t + w ) 2 2k 2 m 2 + 2k2 2 m r 2k2 w k2 Ar L + sin ( r t + r ) m 2 3 + k2 r (12)

corner xhorizontal = x2 + Lx3 =

53

corner The maximum positive value that xhorizontal can reach is given, in correspondence with the above expression, as
corner,max xhorizontal =

F0 LAr k2 Ar L F~ 4+ 2 + 2k2 + + 2 2 2k2 m 2 + 2k2 2 m r 2k2 m r 3 + k2 w

Employing the given parameters, we obtain

max x2 1.38 m

The above value is lower than the distance between the corner (in equilibrium) and the pile of containers: 2 L = 4 m <>1.38m . Therefore, the collision will not take place.
Problem 2.
4. First of all, we introduce a reference system and notations for (i) the vertical displacement of the beam; (ii) the vertical displacement of the centre of mass of the bar; (iii) the rotation angle of the bar about its centre of mass, see Figure 2S.

0 ( t )
K m w0 ( t ) K m kd w ( x, t )
x=0 x=L x

As the beam contacts the wagon in two points, it is convenient to introduce the following notations for the beam displacement: w1 ( x, t ) , x 0, w ( x, t ) = w2 ( x, t ) , 0 x L, w3 ( x, t ) , x L.

Using these notations, the equations of motion of the beam, the interface conditions and the boundary conditions at the infinities, can be written as follows (the gravity force is neglected as it has no effect on the natural frequencies). Equations of motion of the beam:

54

A A A

2 w1 ( x, t ) t 2 2 w2 ( x, t ) t 2 2 w3 ( x, t ) t 2

+ EI + EI + EI

4 w1 ( x, t ) x 4 4 w2 ( x, t ) x 4 4 w3 ( x, t ) x 4

+ kd w1 ( x, t ) = 0, + kd w2 ( x, t ) = 0, + kd w3 ( x, t ) = 0,

x < 0, 0< x< L, x>L,

(13) (14) (15)

Interface conditions at x = 0 : w1 ( x, t ) x = 0 = w2 ( x, t ) x = 0 , w1 ( x, t ) x x 2
3

(16) , (17) ,
x =0

=
x =0

w2 ( x, t ) x x 2
3

x =0

2 w1 ( x, t )
x =0

2 w2 ( x, t )

(18)

w2 ( x, t ) w1 ( x, t ) 2 w1 ( x, t ) = m K ( w1 ( 0, t ) w0 ( t ) L 0 ( t ) 2 ) EI x 3 x 3 t 2 x =0 x =0 x =0 (19) Interface conditions at x = L : w2 ( x, t ) x = L = w3 ( x, t ) x = L , w2 ( x, t ) x

2

(20) , (21) ,
x=L

=
x=L

w3 ( x, t ) x
2

x=L

w2 ( x, t ) x
2

=
x=L

w3 ( x, t ) x 2

(22)

3 w3 ( x, t ) 3 w2 ( x, t ) 2 w3 ( x, t ) EI = m K ( w3 ( 0, t ) w0 ( t ) + L 0 ( t ) 2 ) x3 x3 t 2 x=L x=L x =0 (23) Boundary condition at x :

x

lim w1 ( x, t ) < and, if the deflection field includes a wave of a constant amplitude,

no energy propagation in the positive x -direction (rightward). (24) Boundary condition at x + :

lim w3 ( x, t ) < and, if the deflection field includes a wave of a constant amplitude,
x

no energy propagation in the negative x -direction (leftward).

(25)

55

Additionally to the above equations, the problem statement must include equations of motion of the rigid bar. These read:

d 2 w0 + K ( 2w0 w1 ( 0, t ) w3 ( L, t ) ) = 0 dt 2 d 20 L J + K ( L0 w1 ( 0, t ) + w3 ( L, t ) ) = 0 2 dt 2

(26)

5. To derive the frequency equation, we assume harmonic vibration of the system:

wi ( x, t ) = Re {Wi ( x ) exp ( it )} , w0 ( t ) = Re {W0 exp ( it )} ,

i = 1, 2,3
(27)

0 ( t ) = Re { 0 exp ( it )}.
Substitution of equations (27) into the problem statement (equations (13)-(26)) results in a frequency-domain formulation of the problem that is specified below.

Equations of motion of the beam (frequency domain):

4 4 4

d 4W1 ( x ) dx 4 4 d W2 ( x ) dx d 4W3 ( x ) dx 4
4

2 ( 2 0 )W1 ( x ) = 0, 2 ( 2 0 )W2 ( x ) = 0, 2 ( 2 0 )W3 ( x ) = 0,

x < 0, 0< x< L, x>L,

(28) (29) (30)

2 where 4 = EI ( A ) , 0 = kd

( A)

Interface conditions at x = 0 (frequency domain): W1 ( x ) x =0 = W2 ( x ) x =0 , dW1 ( x ) dx dx 2

3 x =0

(31) ,
x =0

dW2 ( x ) dx dx 2
3

(32) , (33)

d 2W1 ( x )
x =0

d 2W2 ( x )
x =0

d W2 ( x ) d W1 ( x ) = m 2W1 ( 0 ) K (W1 ( 0 ) W0 L 0 ) EI 3 dx dx3 x =0 x =0

(34)

56

Interface conditions at x = L (frequency domain): W2 ( x ) x = L = W3 ( x ) x = L , d 2W2 ( x ) dx 2 d 3W2 ( x ) dx3

3 x=L x=L

(35) ,
x=L

= =

d 2W3 ( x ) dx 2 d 3W3 ( x ) dx3

3 x=L

(36) (37)

d W3 ( x ) d W2 ( x ) EI = m 2W3 ( L ) K (W3 ( L ) W0 + L 0 ) 3 3 dx dx x=L x=L Boundary condition at x (frequency domain):

x

(38)

lim W1 ( x ) < and, if the deflection field includes a wave of a constant amplitude,
(39)

no energy propagation in the positive x -direction (rightward). Boundary condition at x + (frequency domain):

lim W3 ( x ) < and, if the deflection field includes a wave of a constant amplitude,
x

no energy propagation in the negative x -direction (leftward).

(40)

Equations of motion of the bar (frequency domain):

M 2W0 + K ( 2W W1 ( 0 ) W3 ( L ) ) = 0 J 2 0 + L ( L 0 W1 ( 0 ) + W3 ( L ) ) = 0 2
(41)

The next step is to write the general solutions to equations (28)-(30). These are given as (see the Lecture Notes, Part 2)
W1 ( x ) = C1 exp ( i 1 x ) + C2 exp ( i 2 x ) + C3 exp ( i 3 x ) + C4 exp ( i 4 x ) W2 ( x ) = C5 exp ( i 1 x ) + C6 exp ( i 2 x ) + C7 exp ( i 3 x ) + C8 exp ( i 4 x ) W3 ( x ) = C9 exp ( i 1 x ) + C10 exp ( i 2 x ) + C11 exp ( i 3 x ) + C12 exp ( i 4 x ) where (42)

57

2 2 ( 2 2 )1 4 , ( 2 2 )1 4 , if 2 0 if 2 0 0 0 1 1 , 2 = 1 + i , 1 = 1 i 14 14 (02 2 ) , if 02 2 (02 2 ) , if 02 2 2 2 2 2 i ( 2 2 )1 4 , i ( 2 2 )1 4 , if 2 0 if 2 0 0 0 1 1 , 4 = 1 i , 3 = 1 + i 14 2 2 14 2 2 0 ) , if 0 02 2 ) , if 02 2 ( ( 2 2

To satisfy the boundary conditions at the infinities the following identities must hold (see the Lecture Notes, Part 2): C1 = C4 = 0, C10 = C11 = 0

Thus, equations (42) simplify to W1 ( x ) = C2 exp ( i 2 x ) + C3 exp ( i 3 x ) W2 ( x ) = C5 exp ( i 1 x ) + C6 exp ( i 2 x ) + C7 exp ( i 3 x ) + C8 exp ( i 4 x ) W3 ( x ) = C9 exp ( i 1 x ) + C12 exp ( i 4 x ) (43)

To derive a system of linear algebraic equations with respect to the 8 unknown integration constants in equations (43) and the unknowns W0 and 0 , equations (43) have to be substituted into equations (31)-(38) and (41). This gives a system of 10 homogeneous linear algebraic equations with respect to 10 unknown constants. This system of equations can be written in the following matrix form:

MC = 0
where C = ( C2 C3 C5 C6 C7 C8 C9 C12 W0 0 ) .
T

(44)

In accordance with equation (44) the frequency equation for the wagon on the railway track is given as

det ( M ) = 0 .
6. The frequency equation predicts infinitely many natural frequencies. This is clear both mathematically and physically. From the mathematical point of view, the reason is that the

58

frequency equation is transcendental as it contains the trigonometric functions (as can be seen from equations(43)). The physical reason is that the beam between the contact points can assume infinitely many modal shapes. The natural frequencies are not necessarily real. Though no material damping is accounted for in the model, the energy can be irreversibly transported from the wagon by waves propagating along the beam. This could dissipate the energy of the wagon vibration.

Problem 3.
No solutions will be provided for the exam bonus questions to CT 4140.

59

CT 4140 Dynamics of Structures. Exam: August 19, 2008 Problems

Problem 1 (30 %).

Consider the dynamic behaviour of a diving springboard, see Figure 1. Assume that a sportsman jumps from a certain height onto the undisturbed (being in the horizontal equilibrium) springboard. Having touched the springboard, the sportsmans feet stay in contact with the springboard while the latter bends down. Then, because of its bending rigidity, the downward motion of the springboard slows down and stops. After that, the springboard starts to push the feet of the sportsman up and both the springboard and the jumper begin to move up. Finally, at a certain moment, the feet of the jumper separate from the board and the actual dive begins.

m h

jumper

c springboard

Figure 1.

Figure 2.

Figure 3.

Assume that the springboard can be modelled as a spring-dashpot element, whereas the sportsman can be modelled as a point mass. The initial situation is shown in Figure 2, in which the sportsman can be assumed to fall from the initial height h on the undisturbed springboard. As soon as the sportsman reaches the board, they begin to move together (Figure 3) until the separation.
Question 1. Derive analytically an algebraic equation from which the moment of separation of the sportsman and the springboard (the mass and the spring-dashpot system) takes place.

Problem 2 (40 %).

This problem concerns with the design of a tuned vibration absorber for a single-span bridge that can be subject to earthquake. The tuned vibration absorber is a mass-spring system (or a few mass-spring systems) that are attached to the bridge with the aim to reduce the bridge response to the earthquake. Assume that the bridge can be modelled as a simply-supported beam. We will consider a harmonic component of the earthquake loading of the frequency and assume that there is a phase lag between the displacements of the bridge supports that are excited by the earthquake, see Figure 4.

60

 , A, I , E , L

K
absorber

L0
m

w0 cos ( t )
Figure 4.

w0 cos ( t + )

Questions 2. Assume that the earthquake can excite only the first natural frequency of the bridge. At which distance L0 from the right support of the bridge would you mount the absorber in order to most efficiently reduce the bridge response at the first mode? What should be the natural frequency of the absorber? Please reason both answers. 3. Using the location of the absorber chosen in the previous answer, formulate equations of motion, boundary and interface conditions for the bridge-absorber system. 4. Derive the steady-state solution to the problem. 5. Assume that the earthquake can excite two lowest natural frequencies of the bridge. At what positions and how many vibration absorbers would you put to reduce the bridge response at both frequencies? Reason your answer. Problem 3 (30%)

Consider an infinitely long elastic beam that has a sudden change of the cross-sectional area as shown in Figure 5.
, A1 , I 1 , E1 , A2 , I 2 , E2

w0 sin ( t x )
Figure 5.

Assume that a harmonic wave propagates from the left towards the position of the sudden change of the cross-section. At this position the wave reflection-transmission takes place.
Questions 6. Derive analytically the amplitude of the reflected propagating wave assuming that E1 I1 = E2 I 2 . 7. Assume that you have one accelerometer that you can position at the left part of the beam. Would it be possible to determine the ratio A2 A1 using one measurement by the accelerometer (the accelerometer enables you to measure the amplitude of the vertical acceleration; the wave frequency and the material parameters of the beam are known)? If yes, please explain the positioning of the accelerometer and provide an algebraic equation from which A2 A1 can be determined. If no, please explain why.

61

Solutions
Problem 1.

1. Two phases can be distinguished in the dynamics of the sportsman-springboard system. The first phase is the free fall, during which the sportsman approaches the springboard under the action of gravity while the springboard remains undisturbed. The second phase is the joint motion of the sportsman and the springboard. What we need to know from the first phase is the velocity v0 with which the sportsman touches the springboard. This velocity can be found using the law of conservation of energy. According to this law, the decrease of the potential energy during the free fall must be equal to the kinetic energy at the moment at which the joint motion starts. Thus, the following equation must hold:

mgh =

1 2 mv0 2

v0 = 2 gh

(1)

During the second phase, the sportsman and the board move jointly and their joint motion is described by the following equation:

&& & mx + cx + kx = mg ,

(2)

where x ( t ) is a downwards directed displacement of the mass (the sportsmen) from the equilibrium position of the springboard. Eq.(2) can be rewritten as
2 && + 20 x + 0 x = g , & x

0 = k m , = c 2 km

(3)

The general solution of Eq. (2) can be written as

2 x ( t ) = exp ( 0t ) ( A cos (1t ) + B sin (1t ) ) + g 0 ,

1 = 0 1 2

(4)

At the moment of touchdown, the displacement of the springboard is equal to zero while the velocity is equal to that of the sportsman, i.e. to v0 . Thus, assuming that the touchdown happens at t = 0 , we can formulate the following initial conditions for the joint motion:

x ( 0 ) = 0,

& x ( 0 ) = v0

(5)

Inserting the general solution (4) into initial conditions (5), one can obtain the following system of two linear algebraic equations with respect to the unknown integration constants A and B :

62

2 A + g 0 = 0 0 A + 1 B = v0

When solved for A and B , the above system gives:

2 A = g 0 ,

B = ( v0 g 0 ) 1

(6)

Now we have to formulate the criterion of separation of the sportsman from the springboard. Obviously, after the separation, the sportsmen and the springboard do not impose any forces on each other. Thus, the contact force between them terns to zero at the moment of separation. This is the criterion of separation. The force with which the springboard acts on the sportsman is given as

& Fcontact = cx + kx
Thus, at the moment of separation, the following equation must be satisfied:

Fcontact = 0

& 2 x + 0 x = 0

(7)

Inserting Eq. (4) into the criterion of separation, Eq. (7) and simplifying the result, one can obtain the following equation from which the moment of separation of the sportsman and the springboard can be found:
2 exp ( 0t ) ( C1 cos (1t ) + C2 sin (1t ) ) + g 0 = 0,

where

C1 = 2 20 A 2 B1 0 A, C2 = 2 20 B + 2 A1 0 B
and A and B are given by Eq. (6).

Problem 2.

2. The bridge response will be reduced most efficiently by the dynamic absorber if it is placed at the position where the beam displacement in the first mode is maximal. This position coincides with the midpoint of the beam. Thus, L0 = L 2 . The natural frequency of the absorber should be set equal to the first natural frequency of the beam, see the last slide to Lecture 3. 3. First, we introduce a reference system and notations for the vertical displacement of the beam and for the vertical displacement of the mass of the absorber, see the figure below.

63

K w ( x, t )
w0 cos ( t ) wa ( t )
0
m

L 2

w0 cos ( t + )
x

L 2

It is convenient to introduce the following notations for the beam displacement:

w1 ( x, t ) , 0 x L 2 w ( x, t ) = w2 ( x, t ) , L 2 x L

Using these notations, the equations of motion for the beam, the interface conditions, the boundary conditions and the equation of motion for the absorber can be written as follows. Equations of motion of the beam:

A A

2 w1 ( x, t ) t 2 2 w2 ( x, t ) t 2

+ EI + EI

4 w1 ( x, t ) x 4 4 w2 ( x, t ) x 4

= Ag , = Ag ,

0 < x < L 2, L 2< x<L,

(8) (9)

Interface conditions at x = L 2 :

w1 ( x, t ) x = L 2 = w2 ( x, t ) x = L 2 ,
w1 ( x, t ) x
2
x=L 2

(10)
,

w2 ( x, t ) x
2
x=L 2

(11)

w1 ( x, t ) x
2
x= L 2

w2 ( x, t ) x 2
x=L 2

(12)

3 w ( x, t ) 3 w1 ( x, t ) 2 = K ( w1 ( L 2, t ) wa ( t ) ) EI 3 3 x x x=L 2 x= L 2

(13)

Boundary conditions at x = 0 :

64

w1 ( x, t ) x = 0 = w0 cos ( t ) 2 w1 ( x, t ) x
2
x=0

=0

(14)

Boundary conditions at x = L :

w2 ( x, t ) x = L = w0 cos ( t + ) 2 w2 ( x, t ) x 2
x= L

=0

(15)

Equation of motion of the absorber:

d 2 wa m 2 + K ( wa ( t ) w1 ( L 2, t ) ) = mg dt

(16)

4. As the system is undamped, the steady-state response of the system will repeat the time signatures of the applied forces. Thus, the steady-state solution to the above-formulated problem can be found as:
w1 ( x, t ) = W1cos ( x ) cos ( t ) + W1cos( ) ( x ) cos ( t + ) + W1static ( x ) w2 ( x, t ) = W2cos ( x ) cos ( t ) + W2cos( ) ( x ) cos ( t + ) + W2static ( x ) wa ( t ) = Wacos cos ( t ) + W
cos ( ) a

(17)

cos ( t + ) + Wastatic

Inserting Eq. (17) into the system of equations (8)-(16) and requiring that in all the obtained equations the terms proportional to cos ( t ) , cos ( t + ) and the time independent terms vanish simultaneously, the following 3 boundary-value problems can be obtained: From the terms proportional to cos ( t ) : d 4W1cos ( x ) dx 4 d 4W2cos ( x ) dx 4
x= L 2

A 2W1cos ( x ) + EI A 2W2cos ( x ) + EI

= 0, = 0,

0 < x < L 2, L 2< x<L,

(18) (19)

W1cos ( x )

x= L 2

= W2cos ( x ) =

, ,

(20) (21)

dW1cos ( x ) dx dx 2
x= L 2

dW2cos ( x ) dx dx 2
x=L 2

d 2W1cos ( x )
x=L 2

d 2W2cos ( x )
x=L 2

(22)

65

 d 3W cos ( x ) d 3W1cos ( x ) 2 = K (W1cos ( L 2 ) Wacos ) EI 3 3 dx dx x=L 2 x=L 2 W1cos ( x ) dx 2 W2cos ( x ) dx

2 x=L x=L x =0

(23)

= w0 =0
x =0

d 2W1cos ( x )

(24)

=0 =0 (25)

d 2W2cos ( x )

m 2Wacos + K (Wacos W1cos ( L 2 ) ) = 0

From the terms proportional to cos ( t + ) :
d 4W1cos( ) ( x )
d 4W2cos( ) ( x ) dx 4
x=L 2

(26)

A 2W1cos( ) ( x ) + EI
A 2W2cos( ) ( x ) + EI

dx 4

= 0,
= 0,

0 < x < L 2,
L 2< x<L,

(27) (28)
(29)

W1cos( ) ( x )

x=L 2

= W2cos( ) ( x )

dW1cos( ) ( x ) dx dW
2 cos ( ) 1 2 x= L 2

dW2cos( ) ( x ) dx dW
2 cos ( ) 2 2 x=L 2

(30)

( x)
x=L 2

dx

( x)
x=L 2

dx

(31)

d 3W cos( ) ( x ) d 3W1cos( ) ( x ) 2 = K W1cos( ) ( L 2 ) Wacos( ) EI 3 3 dx dx x=L 2 x=L 2

(32)

W1cos( ) ( x ) dx 2 W2cos( ) ( x )
2

x =0

=0 =0
x =0

d 2W1cos( ) ( x )

(33)

x= L

= w0 =0
x=L

d 2W2cos( ) ( x ) dx

(34)

m 2Wacos( ) + K Wacos( ) W1cos( ) ( L 2 ) = 0

(35)

66


EI EI

From the time-independent terms:

d 4W1static ( x ) dx 4 d 4W2static ( x )
x=L 2

= Ag , 0 < x < L 2 , = Ag ,
x=L 2

(36) (37) (38)

dx 4 W1static ( x )

L 2< x<L,
,

= W2static ( x )

dW1static ( x ) dx dx 2
x=L 2

dW2static ( x ) dx dx 2
x=L 2

(39)

d 2W1static ( x )
x=L 2

d 2W2static ( x )
x=L 2

(40)

d 3W static ( x ) d 3W1static ( x ) 2 = K (W1static ( L 2 ) Wastatic ) EI dx 3 dx 3 x=L 2 x= L 2

W1static ( x ) dx
2 x =0 x =0

(41)

=0 =0
(42)

d 2W1static ( x ) W2static ( x ) dx
2 x=L

x=L

= w0 =0 (43)

d 2W2static ( x )

K (Wastatic W1static ( L 2 ) ) = mg

(44)

Now, the problems stated by Eqs. (18)-(26), Eqs. (27)-(35), and Eqs. (36)-(44) should be solved one by one. The steps of the solution are exactly the same for all three problems. To find the steady-state response to the motion of the left support of the beam Eqs. (18)(26) should be solved. To this end, first, the general solutions of Eqs. (18) and (19) are to be written. These are given as (see the Lecture Notes)
W1cos ( x ) = A1cos cosh ( x ) + B1cos sinh ( x ) + C1cos cos ( x ) + D1cos sin ( x ) ,
cos cos cos cos W2cos ( x ) = A2 cosh ( x ) + B2 sinh ( x ) + C2 cos ( x ) + D2 sin ( x ) ,

(45)

4 =

A
EI

The above solutions contain 8 unknown integration constants which, together with Wacos in Eqs. (23) and (26) compose the 9 unknown constants of the set of Eqs. (18)-(26). To find these unknowns, the general solutions (45) have to be substituted into the boundary conditions, the interface conditions and the equation of motion of the oscillator given by Eqs. (20)-(26) (9 equations in total). This substitution will result in a system

67

of 9 inhomogeneous algebraic equations with respect to 9 unknown constants, from which these unknowns can be found. These constants can then be substituted to Eqs. (45) to give W1cos ( x ) and W2cos ( x ) . With these known, the part of the beam response caused by the motion of the left support can be considered to have been found. The steady-state response of the beam to the motion of the right support can be found in a completely analogous manner from Eqs. (27)-(35) . The response to the gravity loading can be found in a similar manner from Eqs. (36)(44). The only difference with the previous two cases is that the general solutions of Eqs. (36) and (37) have a different form than that in Eqs. (45). The general solutions of Eqs. (36) and (37) are given as

W1static ( x ) = W2static ( x ) =

1 1 1 static 3 1 static 2 4 static static Agx + A1 x + B1 x + C1 x + D1 EI 24 6 2 1 1 1 static 3 1 static 2 4 static static Agx + A2 x + B2 x + C2 x + D2 EI 24 6 2

5. It would be reasonable to place the absorbers at the positions at which the first and the second modes have the maxima. Thus, the following placements are reasonable:
L 4 L 2

L 4

L 4

L 4

k2
m2

k1
m1

k2
m2

k1
m1

k2
m2

It also may seem reasonable to design the absorbers such that 1 = k1 m1 and
2 = k2 m2 , where 1,2 are the first two natural frequencies of the beam. Note,

however, that if the above relations were adopted, the design shown in the left figure would fail to absorb vibrations at both frequencies, whereas the design sketched in the right figure would absorb vibration on the second natural frequency only.
Problem 3.

6.

The equations of motion for the two parts of the beam read 4 w1 2w + A1 2 1 = 0 x 4 t 4 w2 2 w2 x > 0 : EI 2 + A2 2 = 0 x 4 t x < 0 : EI1

(46)

The corresponding dispersion equations can be obtained by inserting w1,2 ( x, t ) = W1,2 exp i ( t - 1,2 x ) into the above equation. This gives:

68

x < 0 : EI1 14 A1 2 = 0
4 x > 0 : EI 2 2 A2 2 = 0

(47)

Therefore, the wave numbers which may exist in the beam when it is disturbed by a wave of frequency are x < 0 : 1(1) = 1 , 1( 2) = 1 , 1(3) = i1 , 1( 4) = i1
( ( ( ( x > 0 : 21) = 2 , 22) = 2 , 23) = i 2 , 24) = i 2 ,

1 = ( A1 EI1 ) , 2 = ( A2 EI 2 )
14

14

The wave number of the incident wave must be real (because the wave is propagating) and positive (because the wave propagates along the x-axis). Thus, = 1 and the complex form of the incident wave can be written as wi = w0 exp it i1 x

(48)

Upon falling on the interface located at x = 0 , the incident wave may generate two reflected and two transmitted waves. The reflected field may consist of a wave that propagates towards minus infinity and an evanescent wave that exponentially decays as x tends to minus infinity. Therefore, the reflected field can be described as wr = A exp it + i1 x + B exp it + 1 x

(49)

The transmitted field may consist of a wave that propagates towards plus infinity and an evanescent wave that exponentially decays as x tends to plus infinity. Therefore, the transmitted field can be described as wt = C exp it i 2 x + D exp it 2 x

)
) ( )

Thus, the displacements of the left and the right parts of the beam can be expressed as
w1 = wi + wr = w0 exp it i1 x + A exp it + i1 x + B exp it + 1 x w2 = wt = C exp it i 2 x + D exp it 2 x

(50)

69

To find the complex amplitude A of the propagating reflected wave, the interface conditions at x = 0 should be employed. These conditions read:
w1 ( x, t ) x = 0 = w2 ( x, t ) x = 0 , w1 ( x, t ) x
2
x =0

w2 ( x, t ) x
2
x =0

, ,
x =0

w1 ( x, t ) x
2
x =0

= =
x =0

w2 ( x, t ) x 2 3 w2 ( x, t ) x 3
x =0

3 w1 ( x, t ) x 3

Note that the last two conditions do not include the bending stiffness of the beam because it is assumed that E1 I1 = E2 I 2 . Inserting the beam displacements given by Eq. (50) into the above interface conditions, the following linear algebraic equations are obtained:
w0 + A + B = C + D

1 ( iw0 + iA + B ) = 2 ( iC D )

12 ( w0 A + B ) = 22 ( C + D ) I 2 I1 13 ( iw0 iA + B ) = 23 ( iC D ) I 2 I1
Solving the above system for A , one can find

(51)

A = iw0

( 1 2 )( 1 + i 2 ) ( 1 + 2 )( 1 -i 2 )

Thus the amplitude of the propagating reflected wave is found as

A = w0

1 2 1 + 2

(52)

7. In case of a circular cross section, the area A1,2 and the area moment of inertia I1,2 of the cross-section are related to each other as I1,2 =
2 A1,2

In accordance with the definition of 1,2 , the following relation holds

70

A 1 ( A1 E1 I1 ) = = 1 14 2 ( A2 E2 I 2 ) A2
14

14

Therefore, designating A1 A2 = R 4 , we can find from Eq. (52) that the amplitude of the reflected propagating wave is given as A = w0 R 1 R +1 (53)

Now let us discuss a possibility of identification of the ratio A1 A2 . Suppose we decide to place the accelerometer at the left part of the beam. First of all, it would obviously be reasonable to place the accelerometer far enough from the interface such that the reflected evanescent wave would make no effect on the beam displacement. At such a distance (let is call it d ), the beam displacement, as follows from Eq. (50), is very well approximated by the following expression: w1 ( d , t ) = w0 exp it i1 x + A exp it + i1 x

The amplitude of the beam vibration would then be given as

w1 ( d , t ) = w0 exp i1 d + A exp i1 d

The above value can be deduced from the measured acceleration by dividing the latter by 2 . Obviously, w1 ( d , t ) depends on both the amplitude of the incident wave and that of the propagating reflected wave, as well as on the position along the beam. Therefore, the ratio A1 A2 can not be identified from just one measurement despite of a simple relation between w0 , A and A1 A2 given by Eq. (53).

71

CT 4140 Dynamics of Structures. Exam: March 30, 2009 Problems

Problem 1 (34 %).

Consider a square-shaped block of mass M as depicted in Figure 1. Assume that it can move only in the plane of the figure, i.e. it can rotate around the x3 -axis and move along the x1 and x2 axes.

z=0

v 2 ( z, t )

K M
x1 z=a x2

x3

z
z0 sin ( t )

kd

x0 sin ( t )

Figure 1. Rigid, elastically supported, square-shaped block subjected to gravity, wind and a vibrating foundation

The upper right corner of the block is attached to a horizontal spring with stiffness K . The lower side of the block is supported by a distributed elastic foundation with stiffness per unit length kd . The elastic foundation is mounted on a rigid plate that vibrates harmonically both in the horizontal and vertical directions with the displacements x0 sin ( t ) and z0 sin ( t ) , respectively. The block is subject to the gravity force and to a wind excitation as shown in Figure 1. The 2 2 squared velocity of the wind is given as v 2 ( z , t ) = v0 + vmax (1 z a ) cos ( wt ) . We assume that the wind exerts a horizontal force on the left side of the block and the density per unit length of this force is given as f w ( z , t ) = av 2 ( z , t ) CD 2 . Questions: 1. Derive equations of motion that govern small vibrations of the block. 2. Derive analytically the steady-state displacements of the block. 3. Derive an analytical expression for the amplitude of vibration of the right upper corner of the block in the horizontal direction and give its numerical value using the following figures for the system parameters:

= 1.3kg m3 , a = 5 m, CD = 1, M = 104 kg, K = 105 N m , kd = 2 104 N m 2

x0 = z0 = 0.2 m, = 2 rad s , w = 20 rad s

72

Problem 2 (33 %).

Consider bending vibrations of a flexible, simply supported beam shown in Figure 2. The beam has a square-shaped cross-section of the size a a . Assume that the beam is subject to a steady wind whose velocity is directed normal to the plane of the figure. Having a non-circular crosssection, the beam is prone to galloping in the wind.
Steady wind of velocity v

b , E , A, I
w ( x, t ) 0
Questions

Figure 2. A flexible, simply supported beam in steady wind. The beam may move only vertically.

3. Using the slides to Lecture 3 formulate an equation of motion for the beam accounting for the dependence of the wind force on the velocity of vertical motion of the beam. 4. Include to the formulated equation of motion a term that accounts for the material damping in the beam. Note that if the wind velocity were zero, the resulting equation would be

b A

4w 2w 5 w + EI 4 + =0. t 2 t x 4 x

5. Derive an analytical expression for the critical velocity of the wind beyond which the beam will be galloping. To this end, please use the equation of motion that includes both the wind force and the material damping. Compute a numerical value of the critical wind velocity using the following figures for the system parameters (below, is the mass density of air):

= 106 s, EI = 106 N m 2 , a = 0.3m, L = 3m, = 1.3kg m3 , ( Cz ) =0 = 2

73

Problem 3 (33 %)

Consider bending vibrations of an infinitely long beam shown in Figure 3. The beam is simply supported at x = L 2 . Additionally, in the interval x > L 2 the beam rests on a continuous
+ elastic foundation with stiffness per unit length kd , whereas in the interval x < L 2 it rests on a continuous elastic foundation with stiffness per unit length kd

(k

kd+ ) .

q1 sin ( t )

, E , A, I
kd
L 2 L 4

kd+

L 4

L 2

Figure 2. A simply supported beam partially resting on a continuous elastic foundation. The beam is subject to a vertical, harmonic, distributed force.

The beam is subject to a vertical distributed force per unit length q1 sin ( t ) , where q1 is a constant amplitude of the force per unit length. This force acts within the interval L 4x L 4.
Questions

6. Formulate governing equations to the problem (an equation of motion, boundary and interface conditions). 7. Will the steady-state response of the beam to the above-introduced force be symmetric with respect to x = 0 ? If it will, reformulate the governing equations in terms of the displacement of the beam at x 0 (see Slide 8 to Lecture 19 as an example of such a reformulation). If the response will not be symmetric please give a reason for the asymmetry and proceed to the next question. 8. Find the steady-state response of the beam assuming that the following parameters of the system are known:

A = 1000 kg m , kd+ = 2.5 107 N m 2 , kd = 8 106 N m 2

= 100 rad s
9. Assume that two accelerometers are mounted on the beam at x = nL , where n is a large positive integer. Which one of the two accelerometers will measure a larger acceleration? Please substantiate your answer. Relative to what should n be large in order to enable a definitive answer to this question?

74

Solutions
Problem 1.

Question 1. Let us first compute the force Fx2 and the moment M x3 (about the centre of gravity of the block) that are exerted on the block by the wind. By definition these are Fx2 ( t ) = f w ( z , t ) dz =
0
a

aCD
2

v ( z, t ) dz =
2 0

aCD
2 2

a 2 2 v0 dz + vmax cos ( wt ) (1 z a ) dz = 0 0 a a aCD 2 1 2 2 2 av0 + vmax cos ( wt ) (1 z a ) dz = av0 + avmax cos ( wt ) 2 2 0

(1)

aCD

M x3 ( t ) =

aCD 2 1 f w ( z , t )( z a 2 ) dz = v ( z , t )( z a 2 ) dz = 2 a 0 0
a a

aCD a
2 2

a 2 2 v0 ( z a 2 ) dz + vmax cos ( wt ) (1 z a )( z a 2 ) dz = 0 0 a 1 2 2 0 + vmax cos ( wt ) (1 z a )( z a 2 ) dz = vmax a 3CD cos ( wt ) 24 0

(2)

aCD

Now, the displacement method can be applied to derive equations of motion that govern small vibrations of the block around the equilibrium in which all the springs are not stressed. According to this method, we draw the system in 5 displaced situations: 3 displaced positions of the block and 2 displaced positions of the rigid foundation and show the forces on the block in these situations. In each position, either the block or the foundation is displaced in the positive direction of one generalised coordinate, see the figure below.

Kax3 2

Kx2

akd x1

Mf

akd z0 sin ( t )

The force on the block that corresponds to this displacement is negligible

75

Using the above figures and accounting for the wind and gravity, equations of motion of the block can be written as follows: M &&1 = akd ( x1 z0 sin ( t ) ) + Mg x M &&2 = Kx2 + Kax3 2 + Fx2 ( t ) x J &&3 = Kax2 2 Ka 2 x3 4 + M x3 ( t ) M f x The moment M f that is associated with the rotation of the block (see the right figure in the upper row of the figure above) is given as
a 2

(3)

Mf =

a 2

( xkd x3 ) x dx = 2kd x3
0

a 2

x 2 dx =

1 kd x3 a 3 12

(4)

The moment of inertia J of the block can be calculated as J = M a2

a 2 a2

a 2 a 2

(x

+ y 2 ) dxdy =

M a4 1 = Ma 2 2 6 a 6

(5)

Upon substitution of Eqs. (1), (2), (4) and (5) into Eq. (3), the equations of motion of the block can be written in the following matrix form:

ak 0 0 &&1 d x 0 &&2 + 0 M x && 1 x 0 Ma 2 3 0 6 aCD . where A = 2 M 0 0

0 K 1 Ka 2

akd z0 sin ( t ) + Mg 0 x1 1 x = Aav 2 + 1 Aav 2 cos ( t ) (6) Ka 0 max w 2 2 2 x3 1 2 1 1 2 vmax Aa 2 cos ( wt ) Ka + kd a 3 4 12 12

Question 2. To find the steady-state response of the block we consider Eq. (6). It is customary to notice that the motion in the x1 direction is not coupled with those in the x2 and x3 directions. Correspondingly, Eq. (6) can be rewritten into one independent equation with respect to x1 and a system of 2 coupled equations with respect to x2 and x3 :
&& Mx1 + akd x1 = akd z0 sin ( t ) + Mg

(7)

M 0

K && x2 1 x + Ma 2 &&3 1 6 2 Ka 0

1 1 2 2 Ka x Aav0 + Aavmax cos ( wt ) 2 2 2 = 1 2 1 1 2 x3 2 a K + kd a v Aa cos ( wt ) 12 max 4 3

(8)

76

The steady-state solution of Eq. (7) can be found as x1 ( t ) = X 1static + X 1dynamic sin ( t ) Inserting Eq. (9) into Eq. (7) we obtain 2 MX 1dynamic sin ( t ) + akd ( X 1static + X 1dynamic sin ( t ) ) = akd z0 sin ( t ) + Mg (10) (9)

Equation (10) can be satisfied if and only if the time-independent terms and the terms proportional to sin ( t ) are balanced separately, i.e. if the following two equations are satisfied: akd X 1static = Mg 2 MX 1dynamic + akd X 1dynamic = akd z0 Solving Eqs. (11) we find
X 1static = Mg , akd X 1dynamic = akd z0 2 M + akd

(11)

(12)

Thus, the steady-state displacement x1 ( t ) has been found. Similarly, the steady-state solution of Eq. (8)can be found as
static dynamic cos ( wt ) x2 X 2 + X 2 = static x dynamic cos ( wt ) 3 X3 + X3

(13)

Substitution of Eq. (13) into Eq. (8) results in 2 M 0 K 1 Ka 2 dynamic cos ( wt ) X2 + 1 2 2 dynamic cos ( wt ) Ma X 3 6 1 1 2 2 Ka X static + X dynamic cos ( t ) Aav0 + Aavmax cos ( wt ) 2 2 w 2 2 = static 1 2 1 1 2 X 3 + X 3dynamic cos ( wt ) 2 a K + kd a vmax Aa cos ( wt ) 4 3 12 0

(14)

Separating the time-independent and the time-dependent parts into 2 systems of equations, we obtain from Eq. (14): K 1 Ka 2 1 Ka X static Aav 2 2 0 2 = static 1 2 1 X 3 0 a K + kd a 4 3

(15)

77

 2 K w M 1 Ka 2

1 1 2 Ka Aavmax X dynamic 2 2 2 = dynamic 1 2 1 1 2 2 X3 1 v 2 Aa 2 a K + kd a w Ma 12 max 4 3 6

(16)

Using the Cramers rule, the solutions of the systems (15) and (16) can be written as

static 2,3

static 2,3
static 0

, static = 2

1 3 2 1 Aa v0 K + kd a , 4 3

1 static 2 3 = Aa 2 v0 K , 2

static 0

1 1 1 1 = a 2 K K + kd a K 2 a 2 = a 3 Kkd 4 3 12 4

(17)

and
dynamic = X 2,3

dynamic 2,3 dynamic 0

dynamic = 2
dynamic 3

1 1 1 1 2 1 2 Aavmax a 2 K + kd a 2 Ma 2 + Ka 3vmax A, w 2 3 6 4 24

dynamic 0

1 2 1 2 = vmax Aa 2 ( K 2 M ) + Ka 2 Avmax , w 12 4 1 1 1 1 = ( K 2 M ) a 2 K + kd a 2 Ma 2 + K 2 a 2 w w 3 6 4 4

(18)

Thus, the steady-state generalized displacements x2 ( t ) and x3 ( t ) have been found. Question 3. The displacement of the right upper corner of the block in the horizontal direction is given as
upper right xhorizontal corner ( t ) = x2 ( t )

a a dynamic a dynamic static x3 ( t ) = X 2 X 3static + X 2 X3 cos ( wt ) 2 2 2

(19)

Thus, the block will vibrate around the displaced position (this position is enforced by the timestatic independent part of the wind force) X 2 dynamic A upper right corner = X 2 horizontal

a static X 3 with the amplitude A upper right corner given by horizontal 2

(20)

a dynamic X3 2

The numerical value of this amplitude is

2 A upper right corner 3.2 106 vmax m horizontal

78

Problem 2.

Question 4. Using the slides to Lecture 3, an equation of motion for the beam accounting for the dependence of the wind force on the velocity of vertical motion of the beam can be written as:

b A

2w 4w 1 w dCz + EI 4 = va 2 t x 2 t d =0

(21)

Question 5. Including into Eq. (21) the term that accounts for the material damping, we obtain the following equation for the beam in the wind:

b A

4w 2w 5 w w dCz 1 + EI 4 + = va . 2 4 t t x t d =0 2 x

(22)

Question 6. The dynamic stability of the linear systems is determined by the roots of the characteristic equation. To obtain this equation, one may search for the beam displacement in the following form:

w ( x, t ) = exp ( st ) W ( x )
Substituting Eq. (23) into Eq. (22), we obtain

(23)

b As 2W + EI (1 + s )

1 d 4W dC = vasW z 4 2 dx d =0

(24)

The above equation can be rewritten as

d 4W ( x ) dx 4

4W ( x ) = 0
1 2 dCz EI (1 + s ) d =0

(25) (26)

4 = b As 2 + vas

The general solution of Eq. (25) is given as

W ( x ) = A cosh ( x ) + B sinh ( x ) + C cos ( x ) + D sin ( x )

(27)

Substitution of the general solution, Eq. (27), into the boundary conditions, which in the case of simple supports read

79

W (0) = W ( L ) =
we obtain

d 2W dx 2

=
x =0

d 2W dx 2

=0,
x= L

(28)

D sin ( L ) = 0 sin ( L ) = 0 L = n, n = 1, 2,3...

(29)

Inserting given by Eq. (26) into the last identity of Eq. (29), the following characteristic equation is obtained:

1 n dCz 2 = b As + 2 vas d EI (1 + s ) =0 L
4

(30)

The above equation can be rewritten in the form of a quadratic equation:

C2 s 2 + C1s + C0 = 0,
4 4 1 dCz n n C2 = b A, C1 = va EI , C0 = EI + 2 L L d =0

(31)

The roots of Eq. (31) are given as

( s1,2) =
n

1 C1 C12 4C0C2 2C2

(32)

Thus, we have found infinite number of pairs of the eigenvalues, each pair corresponding to a mode number n . If at least one of the eigenvalues has a positive real part, the system will be unstable (the galloping will take place). Since C0 and C2 are real and positive, the only option for the eigenvalues to have a positive real part is that C1 is negative. Therefore, the condition of galloping is

1 dC n va z + EI < 0 2 L d =0
4

Thus, the critical velocity (the smallest wind velocity beyond which the instability will take place) obviously corresponds to the first mode ( n = 1 ) and is given as

vcritical

= 2 EI L
4

dCz a d =0

(33)

Inserting the given numerical values into Eq. (33), one can find the following numerical value of the critical wind velocity:

vcritical 3.08 m s

80

Problem 3.

Question 7. The system of governing equations consists of equations of motion for the supported and unsupported (the latter including the loaded and not loaded) parts of the beam, interface conditions at x = L 2 and x = L 4 and boundary conditions at x . Let us introduce the following notations:

w1 ( x, t ) , w2 ( x, t ) , w ( x, t ) = w3 ( x, t ) , w4 ( x, t ) , w ( x, t ) , 5

x < L 2, L 2 < x < L 4, L 4 < x < L 4, L 4 < x < L 2, x > L 2, (34)

Using these notations, and assuming that the positive displacement of the beam is directed downwards, the system of governing equations can be written as follows (note that the partial derivatives with respect to t and x are denoted as t ( Equations of motion:
x < L 2 ,

) = ( ),

x (

) = ( ) ):
(35) (36) (37) (38)

&& Aw1 + EIw1IV + kd w1 = 0, IV && Aw2,4 + EIw2,4 = 0,

IV 5
+ d

L 4< x < L 2, x < L 4, x>L 2,

IV && Aw3 + EIw3 = q1 sin ( t ) ,

&& Aw5 + EIw + k w5 = 0,

Interface conditions at x < L 2 :

x = L 2

w1 x = L 2 = w2

= 0,

w1 x = L 2 = w2

x = L 2

w1 x = L 2 = w2 x = L 2

(39)

w2

Interface conditions at x < L 4 :

x = L 4

= w3

x = L 4

w2

x = L 4

= w3

x = L 4

w2 x = L 4 = w3 x = L 4 ,

w2

x = L 4

= w3

x = L 4

(40)

w3

Interface conditions at x < L 4 :

x=L 4

= w4

x=L 4

w3

x=L 4

= w4

x=L 4

w3 x = L 4 = w4 x = L 4 ,

w3

x=L 4

= w4

x=L 4

(41)

w4

Interface conditions at x < L 2 :

x=L 2

= w5

x=L 2

= 0,

w4

x= L 2

= w5

x= L 2

w4 x = L 2 = w5 x = L 2

(42)

Boundary conditions at x :

81

The beam deflection at x should be finite and there can be no propagating waves at
x > L 2 that transfer energy from the infinities towards the supports.

Question 8. The steady-state response of the beam will not be symmetric with respect to x = 0 as the
+ distributed stiffnesses kd and kd are different.

Question 9. The steady-state response of the beam can be found as

wn ( x, t ) = Im (Wn ( x ) exp ( it ) ) , n = 1..5

(43)

Substituting Eq. (43) into the governing equations (35)-(42), we obtain the following timeindependent system of equations with respect to Wn ( x ) :
EIW1IV + ( kd A 2 )W1 = 0,

x < L 2 , L 4< x < L 2, x < L 4, x>L 2,

x = L 2

(44) (45) (46) (47) , W1

x = L 2

EIW EIW

IV 2,4

A W2,4 = 0,
2 2

+ EIW5IV + ( kd A 2 )W5 = 0,

IV 3

A W3 = q1 ,

W1 x = L 2 = W2 W2 = W3

x = L 2

= 0, , W2

W1 x = L 2 = W2

= W2 x = L 2

(48)

x = L 4

x = L 4

x = L 4

= W3

x = L 4

, W2

x = L 4

= W3

x = L 4

, W2

x = L 4

= W3

x = L 4

(49)

W3 W4

x= L 4

= W4 = W5

x= L 4

, W3 = 0,

x=L 4

= W4

x=L 4

, W3

x=L 4

= W4

x=L 4

, W3

x=L 4

= W4

x=L 4

(50) (51)

x=L 2

x=L 2

W4

x=L 2

= W5

x=L 2

, W4

x= L 2

= W5 x = L 2

The general solutions to Eqs. (44)-(47) can be written as

( ( ( ( Wn = An1) exp i (n1) x + An2 ) exp i (n2) x + An3) exp i (n3) x + An4) exp i (n4 ) x , n = 1, 2, 4,5

W3

( ) ( ) ( ) ( ) q = A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x ) A

1 3 1 3 2 3 2 3 3 3 3 3 4 3 4 3 1

(52)
2

where

1(1) = + 4 1 0 , 1( 2) = 4 1 0 , 1(3) = +i 4 1 0 , 1( 4) = i 4 1 0 ,

(53)

82

(1) ( 2) ( 3) ( 4) 2,3,4 = + , 2,3,4 = , 2,3,4 = +i , 2,3,4 = i ,

(54)

5 =
( 53) =

(1)

1 i

+ 1 + i 4 0 + ( 0 1, 52) = 1, 2 2 2 2 4 + i 1 4 0 + ( 4 0 1, 54) = 1, 2 2 2 2

(55)

1+ i

4 =

A
EI

2 , 0 =

kd

In equations (53) and (55), it is taken into account that according to the given parameters > 0
+ and < 0 .

To satisfy the boundary conditions at the infinities, the following integration constants in Eq. (52) should be set to zero:
( ( A1(1) = A1( 4) = A5 2) = A53) = 0

(56)

A1(1) should be set equal to zero to have no energy propagation from the minus infinity, whereas the other constants must vanish in order to have a finite (not infinite) beam displacement at
x .

Thus, accounting for the proper behavior of the solution at x , the expressions for Wn ( x ) , as follows from Eq. (52) and (56) can be written as
( ( W1 = A1( 2) exp i12) x + A1(3) exp i13) x

W2 W3 W4 W5

( ) ( ) = A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x ) q = A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x ) A () () ( ) ( ) ( ) ( ) ( ) ( ) = A exp ( i x ) + A exp ( i x ) + A exp ( i x ) + A exp ( i x ) = A( ) exp ( i ( ) x ) + A( ) exp ( i ( ) x )
1 2 1 2 2 2 2 2 3 2 3 2 4 2 4 2 1 3 1 3 2 3 2 3 3 3 3 3 4 3 4 3 1 1 4 1 4 2 4 2 4 3 4 3 4 4 4 4 4 1 5 1 5 4 5 4 5

(57)

Expressions (57) contain 16 unknown constants. These can be found by substituting Eqs. (57) into the interface conditions (48)-(51) (such substitution would result in an inhomogeneous system of linear algebraic equations with respect to the unknown constants).

83

Question 10. The accelerometer mounted at x = nL would measure a larger acceleration provided that
2 1 + 4 0 1 nL >> 2

as under the 0 Wn = Dn sin ( nx L ) M above condition the acceleration of the beam at x = nL would be nearly zero (excitation below the cut-off frequency), whereas the acceleration at 2 x = nL would be given by the amplitude A1( ) 2 of the beam acceleration in the propagating
( wave Im A1( 2) exp i12) x + it .

))

84