Solutions: Homework Set 5

1. Problem 4.7. The response to the trapezoidal pulse is

 
2F0 T 3T
x(t) = r(t) − r(t − ) − r(t − ) + r(t − 2T )
T 2 2
where r(t) is the ramp response found for problem 4.4, given by
2ζ 2 − 1
  
1 2ζ −ζωn t 2ζ
r(t) = t− +e cos ωd t + sin ωd t u(t)
k ωn ωn ωd

F (t)
2. Problem 4.9. EOM: ẍ + 2ζωn ẋ + ωn2 x = . Use second form from:
m
Z t Z t
x(t) = F (τ )g(t − τ ) dτ = F (t − τ )g(τ ) dτ
0 0
−αt 1 −ζωn t
where F (t) = F0 e u(t), g(t) = mωd e sin ωd t u(t). Response:
Z t
F0
x(t) = e−α(t−τ ) u(t − τ )e−ζωn τ sin ωd τ u(t) dτ
mωd 0
F0 e−αt t (α−ζωn )τ
Z
= e sin ωd τ dτ
mωd 0
   
F0 −αt α − ζωn −ζωn t
= e + sin ωd t − cos ωd t e u(t)
m[ωd2 + (α − ζωn )2 ] ωd
With the provided values, this becomes
x(t) = (0.041771 m)e(−1 sec )t
−1
(1 − cos(19.975 sec−1 )t)u(t).
(In this result, units are expressed explicitly and carefully with the assumption that
the textbook should have given α the units sec−1 (or rad/sec).)

3. Problem 4.13. Using these two integrals found in the lecture:

1
Z
sin ωn (t − τ ) dτ = cos ωn (t − τ )
ωn
1 τ
Z
τ sin ωn (t − τ ) dτ = 2 sin ωn (t − τ ) + cos ωn (t − τ )
ωn ωn
the results for the various time intervals can be found readily. For 0 < t < T /2:
Z t
2F0 1
x1 (t) = τ sin ωn (t − τ ) dτ
0 T mωn
 t
2F0 1 τ
= sin ωn (t − τ ) + cos ωn (t − τ )
mωn T ωn2 ωn 0
 
2F0 1
= − sin ωn t + t
kT ωn

1
For T /2 < t < 3T /2:
Z T /2 Z t
2F0 1 1
x2 (t) = τ sin ωn (t − τ ) dτ + F0 sin ωn (t − τ ) dτ
0 T mωn T /2 mωn
 T /2
2F0 1 τ
= sin ωn (t − τ ) + cos ωn (t − τ )
mωn T ωn2 ωn 0
 t
F0 1
+ cos ωn (t − τ )
mωn ωn T /2
 
F0 2

= 1− sin ωn t − sin ωn (t − T /2)
k ωn T
For 3T /2 < t < 2T :
Z T /2 Z 3T /2
2F0 1 1
x3 (t) = τ sin ωn (t − τ ) dτ + F0 sin ωn (t − τ ) dτ
0 T mωn T /2 mωn
Z t  
2τ 1
+ F0 4 − sin ωn (t − τ ) dτ
3T /2 T mωn
 T /2
2F0 1 τ
= sin ωn (t − τ ) + cos ωn (t − τ )
mωn T ωn2 ωn 0
 3T /2  t
F0 1 4F0 1
+ cos ωn (t − τ ) + cos ωn (t − τ )
mωn ωn T /2 mωn ωn 3T /2
 t
2F0 1 τ
− sin ω n (t − τ ) + cos ωn (t − τ )
mωn T ωn2 ωn 3T /2
 
2F0 F0 2t 2F0
= (sin ωn (t − T /2) − sin ωn t) + 4− + sin ωn (t − 3T /2)
kωn T k T kωn T
For t > 2T :
T /2 Z 3T /2
2F0 1 1
Z
x4 (t) = τ sin ωn (t − τ ) dτ + F0 sin ωn (t − τ ) dτ
0 T mωn T /2 mωn
Z 2T  
2τ 1
+ F0 4 − sin ωn (t − τ ) dτ
3T /2 T mωn
 T /2
2F0 1 τ
= sin ωn (t − τ ) + cos ωn (t − τ )
mωn T ωn2 ωn 0
 3T /2  2T
F0 1 4F0 1
+ cos ωn (t − τ ) + cos ωn (t − τ )
mωn ωn T /2 mωn ωn 3T /2
 2T
2F0 1 τ
− 2
sin ωn (t − τ ) + cos ωn (t − τ )
mωn T ωn ωn 3T /2
2F0

= − sin ωn (t − 2T ) + sin ωn (t − 3T /2) + sin ωn (t − T /2) − sin ωn t
kωn T

2
 F (t)
6. Problem 4.16. For the differential equation ẍ + 2ζωn ẋ + ωn2 x = m with F (t) =
F0 e−αt u(t), using Eq. (4.54) the transformed excitation is
∞ ∞
F0
Z Z
−st
F (s) = F (t)e dt = F0 e−αt e−st dt =
0 0 s+α

From Eq. (4.60), the transformed response is

F (s) F0
X(s) = =
m(s2 2
+ 2ζωn s + ωn ) m(s + α)(s + 2ζωn s + ωn2 )
2

Using Eqs. (B.16) and (B.18), the partial fraction representation is

A(s) c1 c2 c3
X(s) = = + +
B(s) s + α s − (−ζωn + iωd ) s − (−ζωn − iωd )

Using Eq. (B.19): 

A(s) 
ck = 0  , k = 1, 2, 3
B (s) s=sk
where s1 = −α, s2 = −ζωn + iωd , s3 = −ζωn − iωd are the poles of X(s). The
resulting coefficients:

F0 F0
c1 = = 2
m(α2 2
− 2ζωn α + ωn ) m[ωd + (α − ζωn )2 ]

F0 (α − ζωn − iωd )F0

c2 = =
2imωd (α − ζωn + iωd ) 2imωd [ωd2 + (α − ζωn )2 ]
F0 (α − ζωn + iωd )F0
c3 = − =−
2imωd (α − ζωn − iωd ) 2imωd [ωd2 + (α − ζωn )2 ]
The response is the inverse Laplace transform of X(s):

F0 −1 1 α − ζωn − iωd 1
x(t) = 2 2
L +
m[ωd + (α − ζωn ) ] s+α 2iωd s − (−ζωn + iωd )

α − ζωn + iωd 1
−
2iωd s − (−ζωn − iωd )
"
F0 −αt α − ζωn − iωd (−ζωn +iωd )t
= e + e
m[ωd2 + (α − ζωn )2 ] 2iωd
#
α − ζωn + iωd (−ζωn −iωd )t
− e u(t)
2iωd
  
F0 −αt −ζωn t α − ζωn
= e +e sin ωd t − cos ωd t u(t)
m[ωd2 + (α − ζωn )2 ] ωd

3
5. Problem 4.21. Before you can take the Laplace transform of F (t), you must express
it as
2F0
F (t) = (r(t) − r(t − T /2) − r(t − 3T /2) + r(t − 2T )) ,
T
where r(t) = tu(t) is the unit ramp function starting at t = 0. Then, since the Laplace
transform of a shifted function
Z is ∞ Z ∞
L [f (t − a)u(t − a)] = e−st f (t − a)u(t − a) dt = e−sa e−sτ f (τ ) dτ
0 0
= e−sa L [f (t)u(t)] ,
where τ = t − a, F (t)’s Laplace transform is
2F0  −(T /2)s −(3T /2)s −(2T )s

F (s) = 1 − e − e + e .
T s2
Then the Laplace transform of the response becomes
2F0 1 − e−(T /2)s − e−(3T /2)s + e−(2T )s
X(s) =
mT s2 (s2 + 2ζωn s + ωn2 )
Partial fraction expansion:
1 2ζ/ωn3 1/ωn2 1/2iωd /(ζ 2 ωn2 − ωd2 − 2iζωn ωd )
= − + +
s2 (s2 + 2ζωn s + ωn2 ) s s2 s − (−ζωn + iωd )
2 2 2
1/2iωd /(ζ ωn − ωd + 2iζωn ωd )
−
s − (−ζωn − iωd )
Inverse Laplace transform:
    2
−1 1 1 2ζ −ζωn t 2ζ − 1
L = 2 t− +e sin ωd t
s2 (s2 + 2ζωn s + ωn2 ) ωn ωn ωd

2ζ
+ cos ωd t u(t)
ωn
Using this with the reverse of the shifting property gives the response
  2 
2F0 2ζ −ζωn t 2ζ − 1 2ζ
x(t) = t− +e sin ωd t + cos ωd t u(t)
kT ωn ωd ωn
   2  
T 2ζ −ζωn (t−T /2) 2ζ − 1 T
− t− − +e sin ωd t −
2 ωn ωd 2
   
2ζ T T
+ cos ωd t − u t−
ωn 2 2
   2  
3T 2ζ −ζωn (t−3T /2) 2ζ − 1 3T
− t− − +e sin ωd t −
2 ωn ωd 2
   
2ζ 3T 3T
+ cos ωd t − u t−
ωn 2 2
  2
2ζ 2ζ − 1
+ (t − 2T ) − + e−ζωn (t−2T ) sin ωd (t − 2T )
ωn ωd
 
2ζ
+ cos ωd (t − 2T ) u(t − 2T )
ωn

4
6. Problem 5.8. Draw FBDs of the two masses. The horizontal forces acting on m 1
include F1 and the (shear) forces in the columns attached to m1 . The shear forces in
the columns that extend downward from m1 add up to k1 x1 , where k1 is the equivalent
spring constant 12EI1 /H13 (from Table 1.2), and the shear forces in the columns that
extend upward from m1 add up to k2 (x2 − x1 ). These shear forces also act on m2 ,
along with F2 . Newton’s second law gives

m1 ẍ1 = F1 − k1 x1 + k2 (x2 − x1 )
m2 ẍ2 = F2 − k2 (x2 − x1 )

Matrix form:
" EI1 EI2
− EI
#

m1

ẍ1

H13
+ H23 H3
2
x1
 
F1

+ 12 2
=
m2 ẍ2 − EI
H3
2 EI2
H23 x2 F2
2

7. Problem 5.16. With the values given for mi , Ii , and Hi , i = 1, 2, and using ki =
12EIi /Hi3 , the EOMs for free vibration become
       
m ẍ1 2k −k x1 0
+ =
m ẍ2 −k k x2 0

The natural frequencies are roots of the characteristic equation det(K − ω 2 M ) = 0,

which becomes (2k − ω 2 m)(k − ω 2 m) − (−k)
√
2
= m2 ω 4 − 3kmω√2 + k 2 = 0. The roots of
k
this quadratic equation in ω 2 are ω12 = 3−2 5 m and ω22 = 3+2 5 mk
, and these give the
natural frequencies. The corresponding natural modes of vibration are determined by
ui of the equations (K − ωi2 M )ui = 0. For the
finding nontrivial solutions√ √ first mode,
this yields u21 /u11 = (1 + 5)/2, and for the second, u22 /u12 = −(1 − 5)/2, so we
can write the modal matrix
 
1 1
U = [ u 1 u2 ] =
1.6180 −0.6180

These modes should be “plotted” by sketching the building deformed according to the
displacements in u1 and u2 .

8. We can obtain initial modal displacements and velocities from the initial physical
displacements and velocities by using U −1 :
 
−1 .2764 .4472
U =
.7236 −.4472

(a) Initial modal velocities are obviously zero, but initial modal displacements are
given by
       
η1 (0) −1 x1 (0) −1 x0 .7236
=U =U = x0
η2 (0) x2 (0) x0 .2764

5
 so modal responses have the form ηi (t) = ηi (0) cos ωi t and the system’s response
is      
x1 (t) η1 (t) .7236 cos ω1 t + .2764 cos ω2 t
=U = .
x2 (t) η2 (t) 1.1708 cos ω1 t − .1708 cos ω2 t
It is readily apparent that the four initial conditions are satisfied by this response.
(b) Initial modal displacements are obviously zero, but initial modal velocities are
given by
       
η̇1 (0) −1 ẋ1 (0) −1 0 .4472
=U =U = v0
η̇2 (0) ẋ2 (0) v0 −.4472

so modal responses have the form ηi (t) = η̇iω(0)

i
sin ωi t and the system’s response
is
     
x1 (t) η1 (t) (.4472/ω1 ) sin ω1 t − (.4472/ω2 ) sin ω2 t
=U = .
x2 (t) η2 (t) (.7236/ω1 ) sin ω1 t + (.2764/ω2 ) sin ω2 t

Again, the four initial conditions are satisfied.