CE 620A

ASSIGNMENT # 1
(Due August 10, 2023)

1. Derive expression for the natural frequency of the system shown in

Figure 1. Note that the load W is applied at the tip of beam 1 and
midpoint of beam 2. [S.S. Rao]

2. Find the equation of motion of the uniform rigid bar OA of length l and
mass m shown in Figure 2. Also, find its natural frequency. [S.S. Rao]

3. A rigid beam AB is to be excited by the force in spring BC, where

the motion of C is specified to be z(t) (See Figure 3). Determine the
equation of motion of the system in terms of the vertical motion u at
B. [R.R. Craig, Jr.]

4. Determine the effective mass at point n for the system shown in Figure
4 and its natural frequency. [W.T. Thomson]

5. Determine the differential equation of motion and establish the critical

damping for the system shown in Figure 5. [W.T. Thomson]

6. The system shown in Figure 6 has two rigid uniform beams of length
l and mass per unit length m, hinged at the middle and resting on
rollers at the test stand. The hinge is restrained from rotation by a
torsional spring K and supports a mass M held up by another spring k
to a position where the bars are horizontal. Determine the equation of
motion using virtual work. [W.T. Thomson]

7. A uniform rigid bar of mass m is suspended by two inextensible massless

strings of length L (see Figure 7). Such a system is referred to as a bifilar
pendulum. Derive the differential equation for the oscillation θ about
the vertical axis through the bar centre. Note that the mass moment of
inertia of the bar about its centre is IC = ma2 /3. [L. Meirovitch]

8. Obtain the natural frequency of the system shown in Figure 8. The

spring is linear and the pulley has a mass moment of inertia I about
the centre O. Let k = 450 kN/m, I = 70 N.m.s2 , m = 440 kg, and R =
500 mm. [L. Meirovitch]
 CE 620A
ASSIGNMENT # 2
(Due August 17, 2023)

1. The free vibration response of a spring-mass system is observed to have a frequency

of 2 rad/s, an amplitude of 10 mm, and a phase shift of 1 rad from t = 0. Determine
the initial conditions that caused the free vibration. Assume the damping ratio of
the system as 0.1. [S.S. Rao]

2. A panel made of fiber-reinforced composite material is observed to behave as a

single-degree-of-freedom system of mass 1 kg and stiffness 2 N/m. The ratio of
successive amplitudes is found to be 1.1. Determine the value of the hysteresis
damping constant, the equivalent viscous damping constant, and the energy loss
per cycle for an amplitude of 10 mm. [S.S. Rao]

3. For the system shown in Figure 1, x and y denote, respectively, the absolute dis-
placements of the mass m and the end Q of the dashpot c1 . (a) Derive the equation
of motion of the mass m, (b) find the steady-state displacement of the mass, m, and
(c) find the force transmitted to the support at P , when the end Q is subjected to
the harmonic motion y(t) = Y cos ωt. [S.S. Rao]

4. An automobile is modeled as a single-degree-of-freedom system vibrating in the

vertical direction. It is driven along a road whose elevation varies sinusoidally. The
distance from peak to trough is 0.2 m and the distance along the road between the
peaks is 35 m. If the natural frequency of the automobile is 2 Hz and the damping
ratio of the shock absorbers is 0.15, determine the amplitude of vibration of the
automobile at a speed of 60 km/hour. If the speed of the automobile is varied, find
the most unfavourable speed for the passengers. [S.S. Rao]

5. When an exhaust fan of mass 380 kg is supported on springs with negligible damp-
ing, the resulting static deflection is found to be 45 mm. If the fan has a rotating
unbalance of 0.15 kg-m, find (a) the amplitude of vibration at 1750 rpm, and (b) the
force transmitted to the ground at this speed. [S.S. Rao]

6. A vibration isolation block is to be installed in a laboratory so that the vibrations

from adjacent factory operations will not disturb certain experiments (see Figure 2).
If the isolation block weighs 9000 N, and the surrounding floor and foundation vi-
brate at 24 Hz with an amplitude of 0.25 mm, determine the stiffness of the isolation
system such that the isolation block will have an amplitude of only 0.05 mm. [R.R.
Craig, Jr.]

7. A displacement meter has a natural frequency of 0.5 Hz and a damping ratio of 0.6.
Determine the range of frequencies for which the displacement amplitude can be
measured with an accuracy of ±1%. [A.K. Chopra]

8. At a point on a vibrating structure the motion is given by z(t) = 0.05 cos 60πt +
0.02 cos 120πt. (a) Determine the vibration record that would be obtained with an
accelerometer having a damping factor of 0.70 and a resonant frequency of 20 kHz.
(b) Is there any significant amplitude or phase distortion produced by the accelerom-
eter? [R.R. Craig, Jr.]
 CE 620A
ASSIGNMENT # 3
(Due August 24, 2023)

1. The structure of Figure 1 can be idealized by the equivalent system of Figure 2.

In order to determine the values of c and k for this mathematical model, the con-
crete column was subjected to a harmonic load test as shown in Figure 3. When
operating at a test frequency of 10 rad/sec, the force-deflection (hysteresis) curve of
Figure 4 was obtained. From this data: (a) determine the stiffness k; (b) assuming
a viscous damping mechanism, determine the equivalent viscous damping ratio ξeq
and equivalent viscous damping coefficient ceq ; (c) assuming a hysteretic damping
mechanism, determine the equivalent hysteretic damping factor ηeq . [R.W. Clough
and J. Penzien]

2. The steady-state acceleration amplitude of a structure caused by an eccentric-mass

vibration generator was measured for several excitation frequencies. These data are
as given in Table 1. Determine the natural frequency and damping ratio of the
structure. [A.K. Chopra]

3. An undamped spring-mass system is given a base excitation of ẏ(t) = 20(1 − 5t). If

the natural frequency of the system is ωn = 10 rad/s−1 , determine the maximum
relative displacement. [W.T. Thomson]

4. A spring-mass system slides down a smooth 300 inclined plane, as shown in Figure 5.
Determine the time elapsed from the first contact of the spring until it breaks contact
again. [W.T. Thomson]

5. (a) A full water tank is supported on a 24 m high cantilever tower. It is idealized as a

single-degree-of-freedom system with weight of 450 kN, lateral stiffness of 60 kN/m,
and damping ratio of 5%. The tower supporting the tank is to be designed for ground
motion characterized by the design spectrum of Figure 6 scaled to 0.5g peak ground
acceleration. Determine the design values of lateral deformation and base shear.
(b) The deformation computed for the system in Part (a) seemed excessive to the
structural designer, who decided to stiffen the tower by increasing its size. Determine
the design values of deformation and base shear for the modified system if its lateral
stiffness is 120 kN/m; assume that the damping ratio is still 5%. Comment on how
stiffening the system has affected the design requirements. What is the disadvantage
of stiffening the system? [A.K. Chopra]

6. Consider the deformation response g(t) of a single-degree-of-freedom system to a

unit step function p(t) = 1, t ≥ 0, and h(t) due to a unit impulse p(t) = δ(t). Show
that h(t) = ġ(t). [A.K. Chopra]

7. Find the frequency response function and the impulse response function for the two
different systems shown in Figures 7 and 8. In each case, x(t) is the input and y(t)
the output. [D.E. Newland]
 CE 620A
ASSIGNMENT # 4
(Due September 9, 2023)

1. A rigid bar of mass m per unit length carries a point mass M at its right end. The bar
is supported by two springs as shown in Figure 1. Derive the differential equations
for the translation of point A and rotation about A. Find a set of coordinates for
which the system is elastically uncoupled. Let k1 = k, k2 = 2k, M = mL, and
calculate the natural frequencies and plot natural modes in both cases. Compare
the two sets of results and draw conclusions. [L. Meirovitch]

2. Derive the equations of motion of the system shown in Figure 2. Show that the
stiffness matrix so obtained is consistent with the flexibility matrix obtained directly
from the system. [S.S. Rao]

3. A rigid rectangular slab is supported by three columns rigidly attached to the slab
and at the base as shown in Figure 3. (a) Evaluate the mass and stiffness matrices
for this system (in terms of m, EI, and L), considering the three displacement
coordinates shown. [R.W. Clough and J. Penzien]

4. Consider one bent of a 2-story single-bay structure as shown in Figure 4. Treat this
as a 2-DOF system with the mass concentrated at the floor levels. Find the two
sets of frequencies and mode shapes when (a) girder flexibility is accounted for, (b)
girders are assumed rigid. Compare the mode shapes in the two cases.

5. (a) Two of the eigenvectors of a system are { 0.2754946 0.3994672 0.4490562 }T

and { 0.6916979 0.2974301 −0.3389320 }T . Prove that these are orthogonal with
respect to the (diagonal) mass matrix [m] with m11 = 1, m22 = 2, and m33 =
3. Find the remaining [m]-orthogonal eigenvector. (b) If the (symmetric) stiffness
matrix of the system is given by [k] where k11 = k33 = −k23 = 6, k22 = 10, k12
= −4, k13 = 0, determine all the natural frequencies of the system by using the
eigenvectors of Part (a). [S.S. Rao]

6. Consider the system of Problem No. 5 and obtain the damping matrix that will give
5% damping in each of the three modes (a) without using the modal matrix, and
(b) by using the modal matrix. Compare the two answers.
 CE 620A
ASSIGNMENT # 5
(Due September 16, 2023)

1. The mass and stiffness properties of a three-story shear building, as shown in Fig-
ure 1, are m1 = m2 = m3 = 350 t, k1 = 105 kN/mm, k2 = 210 kN/mm, k3 =
420 kN/mm. It has undamped vibration mode shapes and frequencies, as shown
in the figure. The structure is set into free vibration by displacing the top floor
by 10 mm and then releasing it suddenly at time t = 0. Determine the displaced
shape at time t = 0.5 s. Assume the system to be undamped. [R.W. Clough and J.
Penzien]

2. A 150 mm concrete slab is supported by four I-section columns which are located and
oriented as shown in Figure 2. It is assumed that the slab is rigid, the columns are
weightless, and that the clear height of the columns is 3.6 m. With these assumptions
and with reference to the slab centroid coordinates, v1 , v2 , and v3 (see the figure),
the mass matrix of the structure becomes a diagonal matrix with m11 = m22 =
20.42 t, m33 = 205.77 t-m2 . The natural frequencies of the system are obtained as
16.7, 20.1, and 24.5 rad/s, while the modal matrix is
 
2.5408 −0.02287 2.5408
[Φ] = 0.02795
 2.5408 −0.02541 
−0.64 0.00063 1.005

with linear dimensions expressed in meters and angular dimensions in radians. As-
suming that an earthquake having the response spectrum of Figure 6 of Assignment
# 3 (after scaling for peak ground acceleration of 0.3g) acts in the direction of coor-
dinate v2 , determine the maximum dynamic displacement at the top of each column
in the first mode of vibration. [R.W. Clough and J. Penzien]

3. A uniform beam of flexural rigidity EI (see Fig. 3) carries two particles of mass
m and one of mass m/2. Write the equations of motion for the flexural vibrations
of the system. Obtain all the natural frequencies and mode shapes for this beam
by using the Stodola’s method of matrix iteration and by successively sweeping
out the first and second modes out of the equations of motion. Also obtain the
largest natural frequency and corresponding mode shape directly without sweeping
the lower modes. What will be the estimates from Rayleigh’s method (assuming
that we don’t have any idea of the fundamantal mode shape) and from Dunkerley’s
equation? Compare and discuss your answers.

4. A four-story building is idealized as a four-degrees-of-freedom, lumped-mass system,

as shown in Fig. 4. Obtain the lowest natural frequency for this system by Rayleigh’s
method. Assume the mode shape to be (i) linear, (ii) parabolic, and (iii) half sine
wave for this purpose. Compare and discuss your answers with the estimate obtained
by using Dunkerley’s equation.
 CE 620A
ASSIGNMENT # 6
(Due September 30, 2023)

1. A cord of length l and mass ρ per unit length is stretched under tension P . One
end of the cord is fixed, while the other end is fastened to a mass m, which can
move in a frictionless slot, as shown in Figure 1. The mass m is also connected to a
spring of stiffness k. Derive an expression for the natural frequencies of transverse
vibration of the cord.

2. Derive an equation for the principal modes of longitudinal vibration of a uniform

bar having both ends free.

3. Derive the frequency equation for the longitudinal vibration of the system shown
in Figure 2.

4. Most structural beams are neither clamped-clamped nor simply supported, but can
be considered to have partial fixity. Consider the Bernoulli-Euler beam shown in
Figure 3, where 0 ≤ β < ∞ is a parameter controlling the amount of rotational
restraint. For this beam, derive equations that define (a) orthogonality of modes φr
and φs with respect to the mass distribution, (b) orthogonality of modes φr and φs
with respect to the stiffness distribution, and (c) Kr and Mr .

5. A simply-supported Bernoulli-Euler beam of length L, flexural rigidity EI and mass

per unit length, m, is set into undamped free-vibration by applying a central load
p0 and then suddenly releasing the load at time t = 0. Evaluate the amplitude of the
midspan free-vibration displacement in each of the first three modes of vibration
as fractions of the static midspan displacement. Also, evaluate the amplitude of
the midspan free-vibration moment in each of the first three modes of vibration as
fractions of the static midspan moment.

6. The uniform Bernoulli-Euler beam shown in Figure 4 is subjected to the loading

p(x, t) = δ(x − a)δ(t). Determine the series expressions for the lateral deflection
v(x, t), bending moment M (x, t), and shear force V (x, t) caused by the loading
p(x, t). Discuss the relative rates of convergence of the three series expressions.

7. A building idealized as a uniform shear beam has a mass m per unit length and
shear stiffness k. It is suddenly subjected to a horizontal ground acceleration of
constant magnitude a. Obtain the upper bound estimates for the base shear and
tip deflection by taking the absolute sum of the modal values. Assume the system
to have negligible damping.
Figure 1 Figure 2

Figure 3

Figure 4
 CE 620A
ASSIGNMENT # 7
(Due October 14, 2023)

1. A stepped bar, fixed at x = 0 and free at x = l, has a cross-sectional area of 2A for

0 ≤ x ≤ l/3 and A for l/3 ≤ x ≤ l. Assuming the mode shape

πx 3πx
U (x) = c1 sin + c3 sin
2l 2l
estimate the first two natural frequencies of longitudinal vibrations.

2. Assuming the mode shapes x/l and sin(πx/l) (with x measured to the left) in the
Rayleigh-Ritz method, estimate the two natural frequencies and mode shapes of a
uniform beam pinned at the right end and attached to a spring of stiffness k at the
left end as shown in Figure 1. Take EI/l3 = k/20.

3. Determine the period of vibration of the frame shown in Figure 2, assuming the
girder to be rigid and the deflected shape of the columns to be that due to a lateral
load acting on the girder. What fraction of the total column weight assumed to be
lumped with the girder weight will give the same period of vibration?

4. Obtain the equations of motion for the uniform cantilever beam shown in Figure 3,
when the deflected shape can be approximated by the relation, u(x, t) ≈ q1 (t)(x/L)2
+ q2 (t)(x/L)3 + q3 (t)(x/L)4 . Assume deflections to be small.

5. A uniform rigid bar of total mass m1 and length L swings as a pendulum under the
influence of gravity. A concentrated mass m2 is constrained to slide along the axis
of the bar and is attached to a massless spring as shown in Figure 4. Assuming a
frictionless system and large-amplitude displacements, determine the equations of
motion in terms of generalized coordinates q1 and q2 . Also, linearize the so-obtained
equations of motion for small-amplitude displacements.

6. Using Hamilton’s principle, determine the differential equation of motion and

boundary conditions of the uniform cantilever beam loaded as shown in Figure 5.
Assume deflections to be small and neglect shear and rotary inertia effects.

7. Consider a uniform thin rigid bar BC having mass m and length L that is attached to
a uniform Bernoulli-Euler beam AB as shown in Figure 6. Use Hamilton’s principle
to derive the differential equation of motion and the boundary conditions at the
end B for the beam AB.
Figure 1 Figure 2

Figure 3 Figure 4

Figure 5 Figure 6