Politecnico di Milano

Master of Science in Mechanical Engineering

The Finite Element Method in Structural Dynamics

Mechanical System Dynamics

Prof. Roberto Corradi

Introductory comments
In the previous lectures, vibration of continuous systems was considered, focusing on
the fundamental analytical models which govern

transversal vibration of stretched strings

bending vibration of slender beams
axial vibration of bars
torsional vibration of shafts

All these analytical models

share the hypotheses that
the continuous system can be assumed one-dimensional
the axis of the string/beam/bar/shaft is rectilinear
the cross-section of the string/beam/bar/shaft is constant (in shape and size)
the material is homogeneous and linear elastic
result in PDE
An analytical solution to the problem of computing the natural frequencies and the
corresponding mode shapes can be found only in a limited number of cases, which
2
correspond to specific boundary conditions.

Introductory comments
In the more general case of structures which are characterized by
complex geometrical configurations
parts made of different materials
arbitrary combinations of boundary conditions
the only possibility is to make use of numerical methods.
The most popular and versatile one is the Finite Element Method (FEM).
This method consists in an approximate but very general formulation, which can be
applied to develop the numerical model of any kind of structure.
The Finite Element Method is based on the idea of dividing the structure in a certain
number of small portions (finite elements). In each element, some remarkable points
(nodes) are identified and a set of independent coordinates (nodal coordinates) is
selected to describe the displacement of each node. The motion of any other point
within the element is then expressed as a function of the nodal coordinates, through
proper shape functions.
3

Introductory comments

1D elements

3D elements

2D elements

Introductory comments
The Finite Element Method allows discretizing the continuous system, whose
vibration is then no more described by PDE but by ODE. As a consequence, any
kind of finite element model will result in a finite number n of degrees of freedom,
and in a corresponding set of n 2nd order ordinary differential equations.
The systematic nature of FEM makes it
general and widely applicable
particularly suitable for implementation in a computer software
easy to be integrated with CAD software, for both model development and
results visualization
Moreover, the matrix formulation of the motion equations allows easy and efficient
numerical solution of structural dynamics problems, by means of standard
algorithms available in mathematical libraries.

FE modelling of plane beam structures

In the following, the fundamentals of the Finite Element Method will be illustrated in
detail, by making reference to the case of plane beam structures.
First, one single beam finite element will be considered, by introducing
nodes and nodal coordinates
shape functions for axial and bending deformation
formulation of the mass and stiffness matrices, for one single beam element

Then, reference will be made to an entire plane beam structure, thus illustrating the
procedures for
developing the structure model, through proper coordinate transformation and
matrix assembling
accounting for concentrated/distributed loads
introducing damping into the model
performing structural dynamics analysis (free and forced vibration)

Beam finite element (for in-plane dynamic or static structural analysis)

ELEMENT

Local coordinate for

element i (each element
has its own local reference
which its x always relies on
beam element axis)

yiL

Local reference coordinate

yL

qiL
NODE

xjL

qjL

w(x,t)

NODE

xiL

xL

yjL

u(x,t)

Lk

L
k = 6 nodal coordinates

xiL
L
j
yi
L

L
i
xk L
xj
yL
Lj
j

refers to element "k"

u(x,t) = axial displacement of the beam section at a distance x from the left node i
w(x,t) = transversal displacement of the beam axis, in correspondence with the
cross-section at a distance x from the left node i

Shape functions axial deformation

ELEMENT

yiL

qiL
NODE

yjL

qjL

w(x,t)

xjL
NODE

xiL

u(x,t)

Lk

u(x , t ) a bx

Results the interpolation

between nodes

Shape functions allow the motion of any section along the beam element to be
expressed as a function of the nodal coordinates
Shape functions are formulated in the element local reference system
In the specific case of axial deformation of a beam element, the shape functions
are assumed to be linear functions of x, in that they represent the element
static deformation for loads concentrated at the nodes

Shape functions axial deformation

u(x , t ) a bx

Constant "si" means constant displacement

means constant axial strain and stress

By imposing that the axial displacement at the boundaries be equal to the

corresponding nodal coordinates, the constants a and b can be computed:
L

x
i
u (0, t ) xiL (t )

L
L

L
j
i
u
(
L
,
t
)

x
(
t
)
b

k
j

Lk
Displacement field taking into

account the contribution of

each extremities node

x
u (x , t ) 1
Lk

L x L
xi x j
Lk

u(x , t ) f u (x ) x (t )
T

L
k

x
1 L
k

f u (x )
x

Lk
0

9
0

Shape function of
axial
displacement

xiL (t )
L
yi (t )
L

L
i (t )
x k (t ) L
x j (t )
y L (t )
Lj
j (t )

Shape functions axial deformation

x
f u (x ) 1 0 0
Lk
T

u (x , t )

x 1
L
i

0 0

x
Lk

x 0
L
j

u varies linearly with x

u
x
x

is constant along
the beam element

the displacement of u
decreases linearly along the
axis from left to right in
which it is zero

1
x
Lk

x
u (x , t )

xiL 0

x Lj 1
Opposite situation
in compare with
above case

Lk

1
x
Lk

The two linear functions

represent the axial
displacement of any crosssection along the beam
element when a unit axial
displacement is imposed
at the left/right extremity,
while keeping the other
one fixed.
10

Shape functions bending deformation

ELEMENT

yiL

qiL
NODE

yjL

qjL

w(x,t)

xjL
NODE

xiL

u(x,t)

Lk

w(x , t ) a bx cx 2 dx 3

Shape functions allow the motion of any section along the beam element to be
expressed as a function of the nodal coordinates
Shape functions are formulated in the element local reference system
In the specific case of bending deformation of a beam element, the shape functions
are assumed to be cubic functions of x, in that they represent the element
static deformation for loads concentrated at the nodes

11

Shape functions bending deformation

w(x , t ) a bx cx 2 dx 3
By imposing that the cross-section displacement/rotation at the boundaries be equal
to the corresponding nodal coordinates, the constants a,

b, c, d can be computed:

w(0, t ) yiL (t )
a yiL

w
L
b

i (t )
x

3 L 3 L 2 L 1 L

x 0
c 2 yi 2 y j i j

L
Lk
Lk
Lk
Lk
w( Lk , t ) y j (t )

2 L 2 L 1 L 1 L
L

d 3 yi 3 y j 2 i 2 j
j (t )
Lk
Lk
Lk
Lk
x x Lk

w(x , t ) f w (x ) x k (t )
T

12

Shape functions bending deformation

w
yi = 1

w(x , t ) f w (x ) x (t )
T

L
k

x x

L
i

L
i

L
i

L
j

L
j

qi = 0

yj = 0

qj = 0

yi = 0

qi = 1

yj = 0

qj = 0

yi = 0

qi = 0

yj = 1

qj = 0

yi = 0

qi = 0

yj = 0

qj = 1

w
3
2
x
x

L
Lk
k

3
2

x
x
x
L 2
k Lk
Lk Lk w

f w (x )

3
2
x
x

L
L
k
k

x 3 x 2 w
L

Lk Lk

L
k

yi = 1

qi = 1
x
yj = 1

x
qj = 1

L T
j

13

Shape functions

u (x , t ) f u (x ) x k (t )
T

w(x , t ) f w (x ) x k (t )
T

Axial deformation and bending deformation are decoupled

The function u(x,t), which represents the axial displacement of the generic crosssection along the beam element, is expressed as a linear combination of the two

shape functions for axial deformation, xiL and xjL being the coefficient of this linear
combination
The function w(x,t), which represents the deflection of the beam axis due to
bending deformation, is expressed as a linear combination of the four shape
functions for bending deformation, yiL, qiL, yjL and qjL being the coefficient of this
linear combination
14

Mass matrix of the beam finite element

Under the assumption of slender beam:

2
2
1 Lk u w
Tk m
dx

2 0 t t

1 u u
1 w w
m dx
m
dx

2 0 t t
2 0 t t
T

Lk

Lk

u (x , t ) f u (x ) x (t )

w(x , t ) f w (x ) x (t )

L
k

L
k

V2 = W2 + U2

u
T
L
f u (x ) x k (t )
t
w
T
L
f w (x ) x k (t )
t

Lk
1 L T Lk
T
T
L

Tk ( x k ) f u (x )m f u (x ) dx f w (x )m f w (x ) dx ( x k )
0

0
2
1 L T
1 L T
L
L
u
w
L
Tk ( x k ) [ M k ]66 [ M k ]66 ( x k ) ( x k ) [ M k ]( x k )
15
2
2

Mass matrix of the beam finite element

Lk

Lk

[ M ] f u (x )m f u (x ) dx f w (x )m f w (x ) dx
L
k

Xi

13 mLk
0
Yi

0
Tetai L
[M k ] 1
Xj
6 mLk
Yj
0

Tetaj
0

Yi

Xi

Teta i

Xj

1
6

Yj

mLk

13
35

mLk

11
210

mL2k

9
70

mLk

11
210

mL2k

1
105

mL3k

13
420

mL2k

0
9
70

mLk

13
420
mL2k

0
13
420

mL2k

1
140
mL3k

1
3

mLk
0
0

0
13
35

mLk

11
210
mL2k

Teta j

13
420
mL2k
1
140
mL3k

11
210
mL2k
3
1
105 mLk

Note that not only the length Lk, but also the mass m per unit length may be specific
for the considered element k. The subscript k is omitted, just to simplify the notation.
16

Stiffness matrix of the beam finite element

Bending deformation

Vel , k

w
u
1
1
EA dx EJ 2 dx
2 0
2 0
x
x
Lk

Lk

(shear deformation
is neglected)

2w
u
1 Lk u
1 Lk w
EA dx 2 EJ 2 dx
2 0 x
2 0 x
x
x
2

u (x , t ) f u (x ) x (t )
T

L
k

w(x , t ) f w (x ) x k (t )
T

u
T
L
f 'u (x ) x k (t )
x

2w
T
L

f
''
(
x
)
x
k (t )
2
w
x

Vel , k

Lk
1 L T Lk
L
T
( x k ) f 'u (x ) EA f 'u (x ) dx f ''w (x ) EJ f ''wT (x ) dx ( x k )
0

0
2

Vel , k

1 L T
1 L T L L
L
u
w
( x k ) [ Kk ]66 [ Kk ]66 ( x k ) ( x k ) [ K k ]( x k )
2
2

17

Stiffness matrix of the beam finite element

Lk

Lk

[ K ] f 'u (x ) EA f ' (x ) dx f ''w (x ) EJ f ''wT (x ) dx

L
k

T
u

Due to unit displacement of Yi

1
EA
0

L
k
Reaction @ i

12
0
EJ
Moment

Lk3
reaction @ i

6
0
2 EJ

L
k
[ K kL ] 1
0
Lk EA
Vertical
12
0

3 EJ
L
Reaction @ j
k

6
0
Moment
2 EJ
L
k

reaction @ j
Vertical

0
6
Lk2

EJ

4
Lk

EJ

L1k EA

12
EJ
L3
k

0
L62 EJ

1
Lk

EA
0

2
Lk

L62 EJ

EJ

0
12
Lk3

EJ

L62 EJ
k

6
EJ
Lk2

2
Lk EJ

0
L62 EJ
k

EJ
Lk

Note that not only the length Lk, but also the axial and bending stiffness EA and EJ
may be specific for the considered element k. The subscript k is omitted, just to
18
simplify the notation.

Procedure for developing the FE model of a structure

1) Mesh generation
2) Definition of the global and local reference systems
3) Removal of external constraints and introduction of corresponding constraint forces
4) Energy functions formulation in the local nodal coordinates of each element

5) Coordinate transformation from the local to the global reference system

6) Matrix assembling, for the entire structure
7) Model of the structural damping
8) Re-introduction of external constraints and matrix partition

19

Step 1: mesh generation

Reference example

The structure is modelled through beam elements. Nodes are conventionally

numbered by Arabic numerals (from 1 to 6), while Roman numerals are used for
elements (from I to V). Note that the numbering of nodes and elements is arbitrary
and does not have any consequence on the results of the calculation.
20

Step 1: mesh generation

When generating the mesh of a plane beam structure, the following two criteria
shall be adopted:

1) a node shall be positioned in correspondence with any kind of discontinuity

(i.e. a change of the section shape/dimension or of the beam material
properties, the intersection of two or more beams with different axis orientation,
the occurrence of a concentrated mass/spring/damper)
2) for assigned geometry of the beam cross-section and material properties, the
length of any beam finite element shall not exceed a certain limit value, which
depends on the maximum driving frequency Wmax of the forces acting on the
structure
Gama = 2pi/landa

(1)
k

Lk

EJ k
mk

k(1) Wmax Lk Lmax

in other words, each single finite element shall be working in its

quasi-static region

21

Step 2: definition of the global and local reference systems

22

Step 3: removal of external constraints and introduction of corresponding

constraint forces

Note that constraints will be reintroduced at the 8th and last step of the procedure
23

Step 4: energy functions formulation in the local nodal coordinates

of each element

T Tk
k

Vel Vel , k
k

1 L T
L
Tk ( x k ) [ M kL ]( x k )
2
1 L T L L
Vel , k ( x k ) [ K k ]( x k )
2

W Wc Wext Wc Wext ,k

The dissipation function is

not considered at this stage.
Damping will be introduced
later, at the 7th step of the
procedure.

k
Virtual work of constraints forces

Wc H1 x1G V1 y1G M11G H 6 x6G V6 y6G M 66G xTc R

Global x axis of first node

H1
V
1
M1
R
H6
V6

M 6

24

Step 4: energy functions formulation in the local nodal coordinates

of each element

Wext Wext ,k
k

CASE 1 external forces concentrated at the nodes

same procedure as for the constraint forces
CASE 2 external forces concentrated in a point internal to a beam element

yjL

qjL

Fy
yiL

qiL

Fx

xiL

x
scalar

xjL

Wext ,k Fx u(x ) Fy w(x )

u (x ) f Tu (x ) x kL ( x kL )T f u (x )
w(x ) f Tw (x ) x kL ( x kL )T f w (x )

6x1
Wext ,k ( x kL )T f u (x ) Fx f w (x ) Fy ( x kL )T F kL, conc
25

Step 4: energy functions formulation in the local nodal coordinates

of each element
CASE 3 external forces distributed along a beam element

px (x ) p(x )cos( b )

p y (x ) p(x )sin( b )
yjL

p(x)

qjL
yiL

qiL

Lk

Wext ,k px (x ) u (x )dx
0

Lk

p y (x ) w(x )dx

xiL

u (x ) f Tu (x ) x kL ( x kL )T f u (x )

x
Lk

Wext ,k

xjL

w(x ) f Tw (x ) x kL ( x kL )T f w (x )

Lk
Lk
L
L

( x ) f u (x ) px (x )dx f w (x ) p y (x )dx ( x k )T F26k , distr

0

0
L T
k

Step 5: coordinate transformation from local to global reference system

This step is needed to express all nodal displacements with respect to the common
global reference system.
The coordinate transformation is based on the following relationships (a generic
node i for a certain element k is considered):

The same for node j: x j k x j

L

x
L
xk L
x j
L
i

x
G
xk G
x j
G
i

Linear coordinate transformation

[k ] [0] G
x
xk x

[0] [k ]
L
k

6x6

Capital Landa
G
k
k

27

Step 5: coordinate transformation from local to global reference system

The coordinate transformation introduced in the previous slide is substituted into
the expressions of the kinetic energy, the elastic potential energy and the virtual
work of the external forces, for each single beam element.
Therefore, the 6x6 mass matrix, the 6x6 stiffness matrix and the 6x1 column
matrix of the input forces for each single beam element, in the global reference
system, are obtained through simple matrix products.

1 L T
1 G T
1 G T G G
L
G
L
T
L
Tk ( x k ) [ M k ]( x k ) ( x k ) [ k ] [ M k ][ k ]( x k ) ( x k ) [ M k ]( x k )
2
2
2
Vel , k

1 L T L L
1 G T
1 G T G G
G
T
L
( x k ) [ K k ]( x k ) ( x k ) [ k ] [ K k ][ k ]( x k ) ( x k ) [ K k ]( x k )
2
2
2

Wext ,k ( xkL )T F kL ( xGk )T [k ]T F kL ( xGk )T F Gk

L

Fk

accounts for both concentrated and distributed forces:

F k F k , conc F k , distr
L

28

Step 6: matrix assembling, for the entire structure

The global nodal coordinates of the entire structure are collected in a column
matrix x . The order assigned to the nodal coordinates is arbitrary, provided that
constrained coordinates be kept separate from the free ones.
For specific known
time instance

yG

xG
In matter of sequencing the arrays in this 18 x 1 matrix the
only criterion is to separate the constraint nodal
coordinates from the other nodes

x2G
G
y2
2G
G
x3
xF

x

G xC
5
xG
1

G
6
29

Step 6: matrix assembling, for the entire structure

The assembling of the mass, stiffness and external forces matrices for the entire
structure can be performed by means of proper extraction matrices.
For example, for element I:

x EI x
G
I

6 x 18
It extracts the desired element global

yG

coordinate from the generic one

xG

x1 y1 teta1 x6 y6 teta6
x1
y1
teta1
x2
y2
teta2
30

Step 6: matrix assembling, for the entire structure

In this way, the mass/stiffness matrices of one single beam element are expanded
from 6x6 to nxn (from 6x1 to nx1 in the case of the external forces matrix), n being
the total number of nodal coordinates in the entire structure model (for the
considered reference example, n=18). For example, in the case of element I:

1 G T G G
1 T
TI ( x I ) [ M I ]( x I ) x [ EI ]T [ M IG ][ EI ]x
2
2
the block matrixes here are all 3 x 3

2
3
4
5
1
31

Step 6: matrix assembling, for the entire structure

The expanded matrices of all the elements are then summed up, to obtain the
aggregate structure matrices:

1 G T G G 1 T
1 T

T
G
T Tk ( x k ) [ M k ]( x k ) x [ Ek ] [ M k ][ Ek ] x x [ M ] x
2 k
2
k
k 2

summation of all elements contribution

1 G
1 T
1 T

G
Vel Vel , k ( x k )T [ K kG ]( x k ) x [ Ek ]T [ K kG ][ Ek ] x x [ K ] x
2 k
2
k
k 2

W Wext Wc Wext ,k Wc ( x ) F x R
G T
k

G
k

T
c

12 x 1 of
free nodes

W x [ Ek ]T F Gk xT [ EC ]T R xT F
k

due to external forces

FF
F

R
C
18x1

Note that a suitable extraction matrix [EC] is introduced here for the constrained
coordinates also.

due to reactions 32

Step 6: matrix assembling, for the entire structure

[MIII]

[MII]

x2
x2

x3

x4

x5

x1

x6

[MI21]

[MI22]

[MIV45
V]

x3
x4
x5 [MCF]
x1
x6

[MV55]

x2G
G
y2
2G
G
x3
xF

x

G xC
5
xG
1

G
6

[MV56]
yG

[MI12]

[MI11]
[MV65]

xG

[MV66]
[Mcc]

33

Step 7: model of the structural damping

Non diagonal

1 T
D x [C ] x
2

[C] [M ] b [ K ]

However we are going to find

alfa and beta by modal
simplification

The damping matrix [C] is expressed as a linear combination of the mass and
stiffness matrices [M] and [K]. Therefore, if the modal coordinate transformation
is adopted, not only [M] and [K] but the damping matrix [C] also will be
diagonalized and:

ci
bi
ci mi b ki
xi

2i
2
Since damping ratio = damping coeff. / critical damping coeff. 2mii
of i-th mode

and critical damping coeff. = 2mw = 2 sqrt(km)

Typically, the non-dimensional damping ratios xi for a given set of vibration modes

are obtained from experimental modal analysis. The procedure for estimating the
corresponding values of and b is illustrated in the next two slides.

34

Step 7: model of the structural damping

xi

Suppose that the damping ratios xi have been obtained for a set of vibration modes

i), through proper modal testing and identification

procedures. The coefficients and b can be estimated from a least-squares
minimization process. The figure above shows the x- curve which best fits the
(with natural frequencies

experimental data set.

35

Step 7: model of the structural damping

Empirically determined or reasonably guessed

b1

2 2 x1
1

bn

xn
2
2n

1
2
1

1
2n

2
x
1

b
n
x n
2

The linear system above, in the unknowns

[ A] B
b

and b, is over-determined (matrix [A]

being nx2). Therefore a least-square solution is required, which can be formulated

in the following way:

[ A] [ A] [ A]T B
b
T

1

T
T

[
A
]
[
A
]
[
A
]
B

36

Step 8: re-introduction of external constraints and matrix partition

1 T
T x [M ] x
2
1 T
D x [C ] x
2

1 T
Vel x [ K ] x
2

W xT F

By applying Lagrange equations in matrix form, the following motion equations

are obtained:

[M ] x [C] x [ K ] x F
The equations above correspond to the free structure, i.e. to the unconstrained
one. External constraints can be re-introduced by proper separation of free and
constrained nodal coordinates and consequent matrix partition:

xF
x
xC

free nodal coordinates (unknowns)

constrained nodal coordinates Known initial values (say base excitation or . . .)
37
(assigned functions of time zero in case of fixed constraints)

Step 8: re-introduction of external constraints and matrix partition

[M ] x [C] x [ K ] x F
[ M FF ] [ M FC ] x F [CFF ] [CFC ] x F [ K FF ] [ K FC ] x F F F

[ M 12x12

CF ] [ M CC ] xC [CCF ] [CCC ] xC [ KCF ] [ KCC ] xC F C R

FF
F

R
C

equivalent nodal forces which account for the assigned

time-dependent concentrated/distributed loads

unknown constraint forces

12 equ.s to
find 12 free
coordinates

[ M FF ]x F [ M FC ]xC [CFF ]x F [CFC ]xC [ K FF ]x F [ K FC ]xC F F

[ M CF ]x F [M CC ]xC [CCF ]x F [CCC ]xC [ K CF ]x F [ K CC ]xC F C R

6 equ.s to find support
reactions using known Xf from
previous set of equ.s

38

Integration of the motion equations

The first one of the two matrix equations in the previous slide can be reformulated
in the following way:

=0 if we have fixed constraints

[M FF ]x F [CFF ]x F [ K FF ]x F F F ([M FC ]xC [CFC ]xC [ K FC ]xC )

All the terms at the right side of the equation above are assigned functions of time.
The equation above can then be integrated to compute xF (t), which is given by the
sum of three contributions:
free system response (homogeneous solution)
system forced response to the external input forces FF (particular solution)
system forced response to the motion xC imposed at the constraints
(particular solution)

Base Excitation

The latter contribution will be zero in case of fixed constraints (xC =0).
Once that the solution xF has been computed, xF can be substituted into the second
matrix equation (see the previous slide), to calculate the constraint forces R .

39

Computation of the structures natural frequencies and mode shapes

The equations for free undamped vibration (analogous to those of any multi-dof
discrete system) are considered:

[M FF ]x F [ K FF ]x F 0
The structures natural frequencies and mode shapes can then be obtained by
computing the eigenvalues and the eigenvectors of matrix [MFF]-1[KFF] :

j0t ( 2[ M ] [ K ]) X 0
x F Xe
0
FF
FF
( 2[ I ] [ M ]1[ K ]) X 0
0

FF

FF

The eigenvalues of matrix [MFF]-1[KFF] are the square natural frequencies 0i

2

The eigenvectors of matrix [MFF

]-1[K

FF]

are the modal vectors

(i )

12 eigen values and

eigenvectors

In general, the structures free response to assigned initial conditions will be given
by the superposition of the contributions of all its vibration modes.
40

Computation of the steady-state structures response to harmonic input

1st contribution: external forces

[ M FF ]x F [CFF ]x F [ K FF ]x F F F F 01e jWt

x F 1 X 01e jWt (W2[M FF ] jW[CFF ] [ K FF ]) X 01 F 01
X 01 (W2[M FF ] jW[CFF ] [ K FF ])1 F 01
[G( jW)] (W2[M FF ] jW[CFF ] [ K FF ])1

X 01 [G( jW)]F 01
12 x 12

frequency response matrix

x F1 (t ) Re( X 01e jWt )

In case of input with more than one harmonic contribution, the response to each
one of them can be computed separately and then summed up, to obtain the
aggregate response (superposition principle).
41

Computation of the steady-state structures response to harmonic input

2nd contribution: motion imposed at the constraints

[M FF ]x F [CFF ]x F [ K FF ]x F ([M FC ]xC [CFC ]xC [ K FC ]xC )

[M FF ]x F [CFF ]x F [ K FF ]x F (W2[M FC ] jW[CFC ] [ K FC ]) X C 0e jWt

[M FF ]x F [CFF ]x F [ K FF ]x F F 02e jWt

X 02 [G( jW)]F 02

x F 2 (t ) Re( X 02e jWt )

12 x 12

In case of both external input forces and motion imposed at the constraints, the
response to each one of the two contributions can be computed separately and
then summed up to obtain the aggregate response (superposition principle).
42

Computation of the steady-state structures response to harmonic input

2nd contribution: motion imposed at the constraints
Note that a frequency response matrix [GC(jW)] can be defined, which relates
the harmonic motion imposed at the constraints to the steady-state structures
harmonic response

X 02 [G( jW)]F 02

F 02 (W2[M FC ] jW[CFC ] [ K FC ]) X C 0

X 02 [G( jW)](W2[M FC ] jW[CFC ] [ K FC ]) X C 0

X 02 [GC ( jW)] X C 0
12 x 6

[GC ( jW)] [G( jW)](W2[M FC ] jW[CFC ] [ K FC ])

(W2[ M FF ] jW[CFF ] [ K FF ])1 (W2[ M FC ] jW[CFC ] [ K FC ])
43