Generalized

SDOFs
Giacomo Boffi
Introductory
Remarks

Generalized Single Degree of Freedom

Systems

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method

Giacomo Boffi
Dipartimento di Ingegneria Civile e Ambientale, Politecnico di Milano

April 14, 2015

Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Outline

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

Introductory Remarks
Assemblage of Rigid Bodies
Continuous Systems
Vibration Analysis by Rayleighs Method
Selection of Mode Shapes
Refinement of Rayleighs Estimates

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Introductory Remarks

Generalized
SDOFs
Giacomo Boffi

Until now our SDOFs were described as composed by a

single mass connected to a fixed reference by means of a
spring and a damper.
While the mass-spring is a useful representation, many
different, more complex systems can be studied as SDOF
systems, either exactly or under some simplifying
assumption.

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Introductory Remarks

Generalized
SDOFs
Giacomo Boffi

Until now our SDOFs were described as composed by a

single mass connected to a fixed reference by means of a
spring and a damper.
While the mass-spring is a useful representation, many
different, more complex systems can be studied as SDOF
systems, either exactly or under some simplifying
assumption.
1. SDOF rigid body assemblages, where flexibility is
concentrated in a number of springs and dampers, can
be studied, e.g., using the Principle of Virtual
Displacements and the DAlembert Principle.
2. simple structural systems can be studied, in an
approximate manner, assuming a fixed pattern of
displacements, whose amplitude (the single degree of
freedom) varies with time.

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Further Remarks on Rigid Assemblages

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

Today we restrict our consideration to plane, 2-D systems.

In rigid body assemblages the limitation to a single shape of
displacement is a consequence of the configuration of the
system, i.e., the disposition of supports and internal hinges.
When the equation of motion is written in terms of a single
parameter and its time derivatives, the terms that figure as
coefficients in the equation of motion can be regarded as
the generalised properties of the assemblage: generalised
mass, damping and stiffness on left hand, generalised
loading on right hand.
m? x + c ? x + k ? x = p ? (t)

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Further Remarks on Continuous Systems

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

Continuous systems have an infinite variety of deformation

patterns.
By restricting the deformation to a single shape of varying
amplitude, we introduce an infinity of internal contstraints
that limit the infinite variety of deformation patterns, but
under this assumption the system configuration is
mathematically described by a single parameter, so that
I

our model can be analysed in exactly the same way as

a strict SDOF system,

we can compute the generalised mass, damping,

stiffness properties of the SDOF system.

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Final Remarks on Generalised SDOF Systems

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks
Assemblage of
Rigid Bodies

From the previous comments, it should be apparent that

everything we have seen regarding the behaviour and the
integration of the equation of motion of proper SDOF
systems applies to rigid body assemblages and to SDOF
models of flexible systems, provided that we have the
means for determining the generalised properties of the
dynamical systems under investigation.

Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Assemblages of Rigid Bodies

Generalized
SDOFs
Giacomo Boffi

planar, or bidimensional, rigid bodies, constrained to

move in a plane,

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Assemblages of Rigid Bodies

Generalized
SDOFs
Giacomo Boffi

planar, or bidimensional, rigid bodies, constrained to

move in a plane,
the flexibility is concentrated in discrete elements,
springs and dampers,

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Assemblages of Rigid Bodies

Generalized
SDOFs
Giacomo Boffi

planar, or bidimensional, rigid bodies, constrained to

move in a plane,
the flexibility is concentrated in discrete elements,
springs and dampers,
rigid bodies are connected to a fixed reference and to
each other by means of springs, dampers and smooth,
bilateral constraints (read hinges, double pendulums
and rollers),

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Assemblages of Rigid Bodies

Generalized
SDOFs
Giacomo Boffi

planar, or bidimensional, rigid bodies, constrained to

move in a plane,
the flexibility is concentrated in discrete elements,
springs and dampers,
rigid bodies are connected to a fixed reference and to
each other by means of springs, dampers and smooth,
bilateral constraints (read hinges, double pendulums
and rollers),
inertial forces are distributed forces, acting on each
material point of each rigid body, their resultant can be
described by

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Assemblages of Rigid Bodies

Generalized
SDOFs
Giacomo Boffi

planar, or bidimensional, rigid bodies, constrained to

move in a plane,
the flexibility is concentrated in discrete elements,
springs and dampers,
rigid bodies are connected to a fixed reference and to
each other by means of springs, dampers and smooth,
bilateral constraints (read hinges, double pendulums
and rollers),
inertial forces are distributed forces, acting on each
material point of each rigid body, their resultant can be
described by
I

a force applied to the centre of mass of the body,

proportional
to acceleration vector and total mass
R
M = dm
a couple, proportional to angular acceleration and the
moment
R of inertia J of the rigid body,
J = (x 2 + y 2 )dm.

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rigid Bar

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks
Assemblage of
Rigid Bodies

G
x

L
Unit mass
Length
Centre of Mass
Total Mass
Moment of Inertia

Vibration Analysis
by Rayleighs
Method

m
= constant,
L,
xG = L/2,
m = mL,

J=m

Continuous
Systems

L2
L3
=m

12
12

Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rigid Rectangle

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

a
Unit mass
Sides

= constant,
a, b

Centre of Mass

xG = a/2,

Total Mass

m = ab,

Moment of Inertia

J=m

yG = b/2

a3 b + ab3
a2 + b 2
=
12
12

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rigid Triangle

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

y
b

Assemblage of
Rigid Bodies
Continuous
Systems

G
a

For a right triangle.

Unit mass
Sides
Centre of Mass
Total Mass
Moment of Inertia

= constant,
a, b
xG = a/3,

yG = b/3

m = ab/2,
J=m

a3 b + ab3
a2 + b 2
=
18
36

Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rigid Oval

Generalized
SDOFs
Giacomo Boffi

When a = b = D = 2R the oval is a circle.

Introductory
Remarks

y
b

Assemblage of
Rigid Bodies

Continuous
Systems
Vibration Analysis
by Rayleighs
Method

a
Unit mass
Axes
Centre of Mass
Total Mass
Moment of Inertia

= constant,
a, b
xG = yG = 0
ab
m=
,
4
a2 + b 2
J=m
16

Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

trabacolo1

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems

p(x,t) = P x/a f(t)

m2 , J 2
c1
a

k1
2a

c2
a

k2
a

The mass of the left bar is m1 = m

4a and its moment of
2
2 m /3.
inertia is J1 = m1 (4a)
=
4a
1
12
The maximum value of the external load is
Pmax = P 4a/a = 4P and the resultant of triangular load is
R = 4P 4a/2 = 8P a

Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Forces and Virtual Displacements

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

8P a f (t)

J1 Z
4a

J2 Z
3a

Z(t)

Assemblage of
Rigid Bodies
Continuous
Systems

c1 Z
4

m1 Z
2

3k1 Z
4

c2 Z

1 = Z/(4a)

2m2 Z
3

kZ
3

Vibration Analysis
by Rayleighs
Method

2 = Z/(3a)

Selection of Mode
Shapes

u
Z
4

Z
2

3 Z
4

2 Z
3

Z
3

Refinement of
Rayleighs
Estimates

Forces and Virtual Displacements

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

8P a f (t)

J1 Z
4a

J2 Z
3a

Z(t)

Assemblage of
Rigid Bodies
Continuous
Systems

c1 Z
4

m1 Z
2

3k1 Z
4

c2 Z

1 = Z/(4a)

2m2 Z
3

kZ
3

Vibration Analysis
by Rayleighs
Method

2 = Z/(3a)

Selection of Mode
Shapes

u
Z
4

Z
2

3 Z
4

u = 7a4a cos 1 3a cos 2 ,

1 = Z/(4a),

2 Z
3

Z
3

u = 4a sin 1 1 +3a sin 2 2

2 = Z/(3a)

sin 1 Z/(4a), sin 2 Z/(3a)

1
1
7
u = 4a
+ 3a
Z Z = 12a
Z Z

Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Giacomo Boffi

8P a f (t)

J1 Z
4a

J2 Z
3a

Z(t)

c1 Z
4

m1 Z
2

3k1 Z
4

Generalized
SDOFs

c2 Z

1 = Z/(4a)

2m2 Z
3

Introductory
Remarks

kZ
3

Assemblage of
Rigid Bodies

2 = Z/(3a)
u

Z
4

Z
2

3 Z
4

2 Z
3

Z
3

The virtual work of the Inertial forces:

Z Z
Z Z
2Z 2Z
Z Z
WI = m1
J1
m2
J2
4a 4a
3 3
3a 3a
 2 2
J2
m1
m2
J1
+
=
+4
+
Z Z
4
9
16a2 9a2
Z Z
WD = c1
c2 Z Z = (c2 + c1 /16) Z Z
4 4


Z Z
9k1 k2
3Z 3Z
k2
=
+
Z Z
WS = k1
4 4
3 3
16
9
2Z
7
WExt = 8P a f (t)
+N
Z Z
3
12a

Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Giacomo Boffi

8P a f (t)

J1 Z
4a

J2 Z
3a

Z(t)

c1 Z
4

m1 Z
2

3k1 Z
4

Generalized
SDOFs

c2 Z

1 = Z/(4a)

2m2 Z
3

Introductory
Remarks

kZ
3

Assemblage of
Rigid Bodies

2 = Z/(3a)
u

Z
4

Z
2

3 Z
4

2 Z
3

Z
3

The virtual work of the Damping forces:

Z Z
Z Z
2Z 2Z
Z Z
WI = m1
J1
m2
J2
4a 4a
3 3
3a 3a
 2 2
J2
m1
m2
J1
+
=
+4
+
Z Z
4
9
16a2 9a2
Z Z
WD = c1
c2 Z Z = (c2 + c1 /16) Z Z
4 4


Z Z
9k1 k2
3Z 3Z
k2
=
+
Z Z
WS = k1
4 4
3 3
16
9
2Z
7
WExt = 8P a f (t)
+N
Z Z
3
12a

Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Giacomo Boffi

8P a f (t)

J1 Z
4a

J2 Z
3a

Z(t)

c1 Z
4

m1 Z
2

3k1 Z
4

Generalized
SDOFs

c2 Z

1 = Z/(4a)

2m2 Z
3

Introductory
Remarks

kZ
3

Assemblage of
Rigid Bodies

2 = Z/(3a)
u

Z
4

Z
2

3 Z
4

2 Z
3

Z
3

The virtual work of the Elastic forces:

Z Z
Z Z
2Z 2Z
Z Z
WI = m1
J1
m2
J2
4a 4a
3 3
3a 3a
 2 2
J2
m1
m2
J1
+
=
+4
+
Z Z
4
9
16a2 9a2
Z Z
WD = c1
c2 Z Z = (c2 + c1 /16) Z Z
4 4


Z Z
9k1 k2
3Z 3Z
k2
=
+
Z Z
WS = k1
4 4
3 3
16
9
2Z
7
WExt = 8P a f (t)
+N
Z Z
3
12a

Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Giacomo Boffi

8P a f (t)

J1 Z
4a

J2 Z
3a

Z(t)

c1 Z
4

m1 Z
2

3k1 Z
4

Generalized
SDOFs

c2 Z

1 = Z/(4a)

2m2 Z
3

Introductory
Remarks

kZ
3

Assemblage of
Rigid Bodies

2 = Z/(3a)
u

Z
4

Z
2

3 Z
4

2 Z
3

Z
3

The virtual work of the External forces:

Z Z
Z Z
2Z 2Z
Z Z
WI = m1
J1
m2
J2
4a 4a
3 3
3a 3a
 2 2
J2
m1
m2
J1
+
=
+4
+
Z Z
4
9
16a2 9a2
Z Z
WD = c1
c2 Z Z = (c2 + c1 /16) Z Z
4 4


Z Z
9k1 k2
3Z 3Z
k2
=
+
Z Z
WS = k1
4 4
3 3
16
9
2Z
7
WExt = 8P a f (t)
+N
Z Z
3
12a

Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Giacomo Boffi

8P a f (t)

J1 Z
4a

J2 Z
3a

Z(t)

c1 Z
4

m1 Z
2

3k1 Z
4

Generalized
SDOFs

c2 Z

1 = Z/(4a)

2m2 Z
3

Introductory
Remarks

kZ
3

Assemblage of
Rigid Bodies

2 = Z/(3a)
u

Z
4

Z
2

3 Z
4

2 Z
3

Z
3

Z Z
Z Z
2Z 2Z
Z Z
WI = m1
J1
m2
J2
4a 4a
3 3
3a 3a
 2 2
m2
J1
J2
m1
+4
+
+
Z Z
=
4
9
16a2 9a2
Z Z
WD = c1
c2 Z Z = (c2 + c1 /16) Z Z
4 4


3Z 3Z
Z Z
9k1 k2
WS = k1
k2
=
+
Z Z
4 4
3 3
16
9
2Z
7
WExt = 8P a f (t)
+N
Z Z
3
12a
_

Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Generalized
SDOFs
Giacomo Boffi

For a rigid body in condition of equilibrium the total virtual

work must be equal to zero
WI + WD + WS + WExt = 0
Substituting our expressions of the virtual work
contributions and simplifying Z, the equation of
equilibrium is


m1
m2
J1
J2
+4
+
+
4
9
16a2 9a2

Z+


9k1 k2

+ (c2 + c1 /16) Z +
Z=
+
16
9
2
7
8P a f (t) + N
Z
3
12a

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Generalized
SDOFs
Giacomo Boffi

Collecting Z and its time derivatives give us

?

m Z + c ? Z + k ? Z = p ? f (t)
introducing the so called generalised properties, in our
example it is
m?

c? =
k? =
p? =

4
1
1
1
m1 + 9m2 +
J1 + 2 J2 ,
4
9
16a2
9a
1
c1 + c2 ,
16
9
1
7
k1 + k2
N,
16
9
12a
16
P a.
3

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Generalized
SDOFs
Giacomo Boffi

Collecting Z and its time derivatives give us

?

m Z + c ? Z + k ? Z = p ? f (t)
introducing the so called generalised properties, in our
example it is
4
1
1
1
J1 + 2 J2 ,
= m1 + 9m2 +
4
9
16a2
9a
1
c? =
c1 + c2 ,
16
9
1
7
k1 + k2
N,
k? =
16
9
12a
16
p? =
P a.
3
It is worth writing down
9k1 k2
7
the expression of k ? :
k? =
+

N
16
9
12a
m?

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Generalized
SDOFs
Giacomo Boffi

Collecting Z and its time derivatives give us

?

m Z + c ? Z + k ? Z = p ? f (t)
introducing the so called generalised properties, in our
example it is
4
1
1
1
J1 + 2 J2 ,
= m1 + 9m2 +
4
9
16a2
9a
1
c? =
c1 + c2 ,
16
9
1
7
k1 + k2
N,
k? =
16
9
12a
16
p? =
P a.
3
It is worth writing down
9k1 k2
7
the expression of k ? :
k? =
+

N
16
9
12a
m?

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Generalized
SDOFs
Giacomo Boffi

Collecting Z and its time derivatives give us

m? Z + c ? Z + k ? Z = p ? f (t)
introducing the so called generalised properties, in our
example it is
4
1
1
1
m1 + 9m2 +
J1 + 2 J2 ,
2
4
9
16a
9a
1
c? =
c1 + c2 ,
16
9
1
7
k? =
k1 + k2
N,
16
9
12a
16
p? =
P a.
3
It is worth writing down
9k1 k2
7
the expression of k ? :
k? =
+

N
16
9
12a
Geometrical stiffness
m? =

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Lets start with an example...

Generalized
SDOFs
Giacomo Boffi

Consider a cantilever, with varying properties m

and EJ,
subjected to a load that is function of both time t and
position x,
p = p(x, t).
The transverse displacements v will be function of time and
position,
v = v (x, t)

p(x, t)

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

N
v (x, t)
x

EJ = EJ(x)
m
= m(x)

... and an hypothesis

Generalized
SDOFs
Giacomo Boffi

To study the previous problem, we introduce an

approximate model by the following hypothesis,
v (x, t) = (x) Z(t),
that is, the hypothesis of separation of variables

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

... and an hypothesis

Generalized
SDOFs
Giacomo Boffi

To study the previous problem, we introduce an

approximate model by the following hypothesis,
v (x, t) = (x) Z(t),
that is, the hypothesis of separation of variables
Note that (x), the shape function, is adimensional, while
Z(t) is dimensionally a generalised displacement, usually
chosen to characterise the structural behaviour.

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

... and an hypothesis

Generalized
SDOFs
Giacomo Boffi

To study the previous problem, we introduce an

approximate model by the following hypothesis,
v (x, t) = (x) Z(t),
that is, the hypothesis of separation of variables
Note that (x), the shape function, is adimensional, while
Z(t) is dimensionally a generalised displacement, usually
chosen to characterise the structural behaviour.
In our example we can use the displacement of the tip of
the chimney, thus implying that (H) = 1 because
Z(t) = v (H, t)

and

v (H, t) = (H) Z(t)

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Principle of Virtual Displacements

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

For a flexible system, the PoVD states that, at equilibrium,

WE = WI .
The virtual work of external forces can be easily computed,
the virtual work of internal forces is usually approximated by
the virtual work done by bending moments, that is
Z
WI M
where is the curvature and the virtual increment of
curvature.

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

WE

Generalized
SDOFs
Giacomo Boffi
Introductory

Remarks
The external forces are p(x, t), N and the forces of inertia
Assemblage of
fI ; we have, by separation of variables, that v = (x)Z
Rigid Bodies
and we can write
Continuous
Systems
Z H

Z H
Vibration Analysis
Wp =
p(x, t)v dx =
p(x, t)(x) dx Z = p ? (t) Zby Rayleighs

Method

Selection of Mode
Shapes

Z
m(x)
v v dx =

WInertia =
0

m(x)(x)

Z(x)
dx Z

Z
=

H
2
m(x)

(x) dx

Z = m? Z Z.
Z(t)

The virtual work done by the axial force deserves a separate

treatment...

Refinement of
Rayleighs
Estimates

WN

Generalized
SDOFs
Giacomo Boffi

The virtual work of N is WN = Nu where u is the

variation of the vertical displacement of the top of the
chimney.
We start computing the vertical displacement of the top of
the chimney in terms of the rotation of the axis line,
0 (x)Z(t),
Z H
Z H
u(t) = H
cos dx =
(1 cos ) dx,
0

substituting the well known approximation cos 1

in the above equation we have
Z H 2
Z H 02

(x)Z 2 (t)
u(t) =
dx =
dx
2
2
0
0
hence
Z
u =

H
02

(x)Z(t)Z dx =
0

02 (x) dx ZZ

2
2

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

WInt

Generalized
SDOFs
Giacomo Boffi

Approximating the internal work with the work done by

bending moments, for an infinitesimal slice of beam we
write
dWInt =

1
1
Mv (x, t) dx = M(x)Z(t) dx
2
2

(dWInt ) = EJ(x)2 (x)Z(t)Z dx

integrating
WInt =

H
2

EJ(x) (x) dx
0

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes

with M = EJ(x)v (x)

Z

Introductory
Remarks

ZZ = k ? Z Z

Refinement of
Rayleighs
Estimates

Remarks

Generalized
SDOFs
Giacomo Boffi

the shape function must respect the geometrical

boundary conditions of the problem, i.e., both
1 = x 2

and

2 = 1 cos

x
2H

are accettable shape functions for our example, as

1 (0) = 2 (0) = 0 and 01 (0) = 02 (0) = 0

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Remarks

Generalized
SDOFs
Giacomo Boffi

0.8

0.8

0.6

0.6

f1=1-cos(pi*x/2)
f2=x2

0.4

0.4

0.2
0

0.2

0.2

0.4

0.6
x/H

0.8

Assemblage of
Rigid Bodies

v/Z(t)

vi"/Z(t)

Introductory
Remarks

Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Remarks

Generalized
SDOFs
Giacomo Boffi

2.5

1
Introductory
Remarks

0.8
f1=1-cos(pi*x/2)
f2=x2
f1"
f2"

1.5
1

0.6
0.4

0.5
0

0.2

0.2

0.4

0.6
x/H

0.8

Assemblage of
Rigid Bodies

v/Z(t)

vi"/Z(t)

Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Remarks

Generalized
SDOFs
Giacomo Boffi

the shape function must respect the geometrical

boundary conditions of the problem, i.e., both
1 = x 2

and

2 = 1 cos

x
2H

are accettable shape functions for our example, as

1 (0) = 2 (0) = 0 and 01 (0) = 02 (0) = 0
I

better results are obtained when the second derivative

of the shape function at least resembles the typical
distribution of bending moments in our problem, so
that between
001 = constant

and

the second choice is preferable.

2 =

2
x
cos
2
4H
2H

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Example

Generalized
SDOFs
Giacomo Boffi

x
Using (x) = 1 cos 2H
, with m
= constant and
EJ = constant, with a load characteristic of seismic
excitation, p(t) = m
vg (t),

x 2
3
4
(1 cos
) dx = m(
)H
2H
2
0
Z H
4
4
x
EJ

cos2
dx =
k ? = EJ
4
16H 0
2H
32 H 3
Z
H
2
x
2
kG? = N 2
sin2
dx =
N
4H 0
2H
8H


Z H
x
2
?
pg = m
vg (t)
1 cos
dx = 1
mH
vg (t)
2H

m? = m

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Vibration Analysis

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

The process of estimating the vibration characteristics

of a complex system is known as vibration analysis.

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Vibration Analysis

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

The process of estimating the vibration characteristics

of a complex system is known as vibration analysis.
We can use our previous results for flexible systems,
based on the SDOF model, to give an estimate of the
natural frequency 2 = k ? /m?

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Vibration Analysis

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

The process of estimating the vibration characteristics

of a complex system is known as vibration analysis.

We can use our previous results for flexible systems,

based on the SDOF model, to give an estimate of the
natural frequency 2 = k ? /m?

A different approach, proposed by Lord Rayleigh, starts

from different premises to give the same results but
the Rayleighs Quotient method is important because
it offers a better understanding of the vibrational
behaviour, eventually leading to successive refinements
of the first estimate of 2 .

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rayleighs Quotient Method

Generalized
SDOFs
Giacomo Boffi

Our focus will be on the free vibration of a flexible,

undamped system.

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rayleighs Quotient Method

Generalized
SDOFs
Giacomo Boffi

Our focus will be on the free vibration of a flexible,

undamped system.
I

inspired by the free vibrations of a proper SDOF we

write
Z(t) = Z0 sin t and v (x, t) = Z0 (x) sin t,

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rayleighs Quotient Method

Generalized
SDOFs
Giacomo Boffi

Our focus will be on the free vibration of a flexible,

undamped system.
I

inspired by the free vibrations of a proper SDOF we

write
Z(t) = Z0 sin t and v (x, t) = Z0 (x) sin t,

the displacement and the velocity are in quadrature:

when v is at its maximum v = 0 (hence V = Vmax ,
T = 0) and when v = 0 v is at its maximum (hence
V = 0, T = Tmax ,

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rayleighs Quotient Method

Generalized
SDOFs
Giacomo Boffi

Our focus will be on the free vibration of a flexible,

undamped system.
I

inspired by the free vibrations of a proper SDOF we

write
Z(t) = Z0 sin t and v (x, t) = Z0 (x) sin t,

the displacement and the velocity are in quadrature:

when v is at its maximum v = 0 (hence V = Vmax ,
T = 0) and when v = 0 v is at its maximum (hence
V = 0, T = Tmax ,
disregarding damping, the energy of the system is
constant during free vibrations,
Vmax + 0 = 0 + Tmax

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rayleigh s Quotient Method

Generalized
SDOFs
Giacomo Boffi

Now we write the expressions for Vmax and Tmax ,

Z
1
Vmax = Z02 EJ(x)002 (x) dx,
2
SZ
1 2 2
2
Tmax = Z0
m(x)

(x) dx,
2
S
equating the two expressions and solving for
R
EJ(x)002 (x) dx
2
= RS
.
2 (x) dx

S m(x)

we have

Recognizing the expressions we found for k ? and m? we

could question the utility of Rayleighs Quotient...

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rayleighs Quotient Method

Generalized
SDOFs
Giacomo Boffi

in Rayleighs method we know the specific time

dependency of the inertial forces
2
fI = m(x)
v = m(x)

Z0 (x) sin t

fI has the same shape we use for displacements.

if were the real shape assumed by the structure in
free vibrations, the displacements v due to a loading
fI = 2 m(x)(x)Z

0 should be proportional to (x)

through a constant factor, with equilibrium respected
in every point of the structure during free vibrations.

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rayleighs Quotient Method

Generalized
SDOFs
Giacomo Boffi

in Rayleighs method we know the specific time

dependency of the inertial forces
2
fI = m(x)
v = m(x)

Z0 (x) sin t

fI has the same shape we use for displacements.

if were the real shape assumed by the structure in
free vibrations, the displacements v due to a loading
fI = 2 m(x)(x)Z

0 should be proportional to (x)

through a constant factor, with equilibrium respected
in every point of the structure during free vibrations.
starting from a shape function 0 (x), a new shape
function 1 can be determined normalizing the
displacements due to the inertial forces associated with
0 (x), fI = m(x)

0 (x),

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Rayleighs Quotient Method

Generalized
SDOFs
Giacomo Boffi

in Rayleighs method we know the specific time

dependency of the inertial forces
2
fI = m(x)
v = m(x)

Z0 (x) sin t

fI has the same shape we use for displacements.

if were the real shape assumed by the structure in
free vibrations, the displacements v due to a loading
fI = 2 m(x)(x)Z

0 should be proportional to (x)

through a constant factor, with equilibrium respected
in every point of the structure during free vibrations.
starting from a shape function 0 (x), a new shape
function 1 can be determined normalizing the
displacements due to the inertial forces associated with
0 (x), fI = m(x)

0 (x),
we are going to demonstrate that the new shape
function is a better approximation of the true mode
shape

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Selection of mode shapes

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

Given different shape functions i and considering the true

shape of free vibration , in the former cases equilibrium is
not respected by the structure itself.

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Selection of mode shapes

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

Given different shape functions i and considering the true

shape of free vibration , in the former cases equilibrium is
not respected by the structure itself.
To keep inertia induced deformation proportional to i we
must consider the presence of additional elastic constraints.
This leads to the following considerations

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Selection of mode shapes

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

Given different shape functions i and considering the true

shape of free vibration , in the former cases equilibrium is
not respected by the structure itself.
To keep inertia induced deformation proportional to i we
must consider the presence of additional elastic constraints.
This leads to the following considerations
I

the frequency of vibration of a structure with additional

constraints is higher than the true natural frequency,

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Selection of mode shapes

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

Given different shape functions i and considering the true

shape of free vibration , in the former cases equilibrium is
not respected by the structure itself.
To keep inertia induced deformation proportional to i we
must consider the presence of additional elastic constraints.
This leads to the following considerations
I

the frequency of vibration of a structure with additional

constraints is higher than the true natural frequency,

the criterium to discriminate between different shape

functions is: better shape functions give lower
estimates of the natural frequency, the true natural
frequency being a lower bound of all estimates.

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Selection of mode shapes 2

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

In general the selection of trial shapes goes through two

steps,
1. the analyst considers the flexibilities of different parts
of the structure and the presence of symmetries to
devise an approximate shape,
2. the structure is loaded with constant loads directed as
the assumed displacements, the displacements are
computed and used as the shape function,
of course a little practice helps a lot in the the choice of a
proper pattern of loading...

Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Selection of mode shapes 3

Generalized
SDOFs
Giacomo Boffi
Introductory
Remarks

p = m(x)

Assemblage of
Rigid Bodies

P =M

Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes

p = m(x)

(b)

(c)

(a)

p = m(x)

(d)

p = m(x)

Refinement of
Rayleighs
Estimates

Refinement R00

Generalized
SDOFs
Giacomo Boffi

Choose a trial function

(0) (x)

and write

v (0) = (0) (x)Z (0) sin t

Z
1 (0)2
Vmax = Z
EJ(0)002 dx
2
Z
1
Tmax = 2 Z (0)2 m
(0)2 dx
2
our first estimate R00 of 2 is
R
EJ(0)002 dx
.
= R
m
(0)2 dx
2

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Refinement R01

Generalized
SDOFs
Giacomo Boffi

We try to give a better estimate of Vmax computing the

external work done by the inertial forces,

Assemblage of
Rigid Bodies

(0)
p (0) = 2 m(x)v

= Z (0) 2 (0) (x)

Continuous
Systems

the deflections due to p (0) are

v

(1)

2v

(1)

(1) Z

Introductory
Remarks

(1)

(1)

(1)

Z (1)

where we write
because we need to keep the unknown
2
in evidence. The maximum strain energy is
Z
Z
1
1 4 (0) (1)
(0) (1)
(0) (1)
Vmax =
p v dx = Z Z
m(x)

dx
2
2
Equating to our previus estimate of Tmax we find the R01
estimate
R
(0) (0) dx

Z (0) m(x)
2
= (1) R
(0) (1) dx
Z
m(x)

Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Refinement R11

Generalized
SDOFs
Giacomo Boffi

With little additional effort it is possible to compute Tmax

from v (1) :
Z
Z
1
1
(1)2
(1)2
Tmax = 2 m(x)v

dx = 6 Z (1)2 m(x)

dx
2
2
equating to our last approximation for Vmax we have the
R11 approximation to the frequency of vibration,
R
(0) (1) dx

Z (0) m(x)
2
.
= (1) R
(1) (1) dx
Z
m(x)

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Refinement R11

Generalized
SDOFs
Giacomo Boffi

With little additional effort it is possible to compute Tmax

from v (1) :
Z
Z
1
1
(1)2
(1)2
Tmax = 2 m(x)v

dx = 6 Z (1)2 m(x)

dx
2
2
equating to our last approximation for Vmax we have the
R11 approximation to the frequency of vibration,
R
(0) (1) dx

Z (0) m(x)
2
.
= (1) R
(1) (1) dx
Z
m(x)

Of course the procedure can be extended to compute

better and better estimates of 2 but usually the
refinements are not extended beyond R11 , because it would
be contradictory with the quick estimate nature of the
Rayleighs Quotient method

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Refinement R11

Generalized
SDOFs
Giacomo Boffi

With little additional effort it is possible to compute Tmax

from v (1) :
Z
Z
1
1
(1)2
(1)2
Tmax = 2 m(x)v

dx = 6 Z (1)2 m(x)

dx
2
2
equating to our last approximation for Vmax we have the
R11 approximation to the frequency of vibration,
R
(0) (1) dx

Z (0) m(x)
2
.
= (1) R
(1) (1) dx
Z
m(x)

Of course the procedure can be extended to compute

better and better estimates of 2 but usually the
refinements are not extended beyond R11 , because it would
be contradictory with the quick estimate nature of the
Rayleighs Quotient method and also because R11
estimates are usually very good ones.

Introductory
Remarks
Assemblage of
Rigid Bodies
Continuous
Systems
Vibration Analysis
by Rayleighs
Method
Selection of Mode
Shapes
Refinement of
Rayleighs
Estimates

Refinement Example
m

k
1.5m

1.5

11/15

2k
2m

6/15

3k
p (0)
2 m

(0)

T =

1 2
4.5 m Z02
2
v

V =

1
1 3k Z02
2

3 k
2 k
2 =
=
9/2 m
3m

(1)

15 m 2 (1)
=

4 k

(1) = 15 m
Z
4 k

(1)

1 15 m 4
m
(1 + 33/30 + 4/5)
2 4 k
1 15 m 4 87
= m

2 4 k
30
9
m
12 k
k
2
2
= 87 m =
= 0.4138
29 m
m
m8 k

V (1) =