Lecture 8

Dynamic Analysis

FEM Dr. Mesay A. 1

 Introduction
The equations of motion of continuous systems will be
partial differential equations.
The equations of motion of several continuous systems,
including the longitudinal vibration of a bar and the
lateral vibration of beams are derived by considering
the free-body diagram of an infinitesimally small
element of the particular system and applying the
Newton s second law of motion.
The free vibration solution of the system is found by
assuming harmonic motion and applying the relevant
boundary conditions.
FEM Dr. Mesay A. 2
 Introduction Continued…
The solution gives infinite number of natural
frequencies and the corresponding mode shapes.
The free-vibration displacement of the system is found
as a linear superposition of the mode shapes, the
constants involved being determined from the known
initial conditions of the system.
Longitudinal Vibration of a Bar
Consider an elastic bar of length l with varying cross-
sectional area A

FEM Dr. Mesay A. 3

 Longitudinal Vibration of a Bar
The forces acting on the cross sections of a small
element of the bar are given by

The summation of the forces in the x direction gives

the equation of motion

FEM Dr. Mesay A. 4

 Longitudinal Continued…
The equation of motion for the forced longitudinal
vibration of a uniform bar

For free vibration the external force acting on the bar

becomes zero. Therefore, the governing equation of
motion becomes
 2u  2u
 2  A 2
x x

FEM Dr. Mesay A. 5

 Axial Vibration of a Rod
The governing equation for free vibration of a rod
(considering the dynamic equilibrium of a differential
element) is given by.
 2u  2u
 2  A 2
x x
Assuming a harmonic vibration
u  x, t   u  x e  it
On substitution we obtain
2
d u
 2     2 u ( x)  0
dx
The weight residual statement can be written as
d 2u

 2 
w x 
0  dx 2  A u ( x )  dx  0

FEM Dr. Mesay A. 6
 Axial Vibration Continued…
The weak form of the Weighted Residual statement
  
 du  du dw 2
 w x       dx   w x  u x dx  0
dx 0 0 dx dx 0

For a finite element mesh, the integrals are evaluated

over each element and then summation is done over all
elements.
U1 U2

f1 f2

From the Galerkin WR formulation, the weight

functions are the same as the shape functions.
x x
w1  x   1  w2  x  
 

FEM Dr. Mesay A. 7

 Axial Vibration Continued…
The weak form equations with respect to W1 and W2
can be obtained.
 u 2  u1   1 
 
 x 2  x x 
 p 0     dx   1   1  u1   u 2  dx  0
0      0
     

 u 2  u1  1 
 
 x 2  x x 
p      dx     1  u1   u 2  dx  0
0      0 
     
du
Where P stands for AE
dx
Therefore it can be rewrite in matrix form as
  1  1  u1   p0  A 2 2 1 u1 
     1 2 u 
  1 1  u 2   p  6   2 

FEM Dr. Mesay A. 8

 Axial Vibration Continued…
The stiffness element matrixes:
  1  1
K e

  1 1 
The element mass matrix
 2 1 
m 
e

6 1 2

The matrix can be written p 0 

K         2 me  e
e e

 p 
Where   contains the nodal degree of freedom
e

The element mass matrices can be assembled following

exactly the same procedure as for the stiffness matrices.
FEM Dr. Mesay A. 9
 Example 1
Consider a uniform cross section cantilever bar of
length L made up of a material whose young’s
modulus and density  are given by E and . Estimate
the natural frequency of axial vibration of the bar using
both consistent and lumped mass matrices.
Using lumped mass matrix
1 
  1  1 u1  0  u 
2 2 1
   Al 
L  1 1  u 2 
l 
1 u1 
 
0 
 2
Applying the boundary condition
   2 1.414 
u 2   l2 u2 l  
 2 L2 L 

FEM Dr. Mesay A. 10

 Example 1 Continued…
Using consistent mass matrix
  1  1  u1  2 L  2 1  u1 
     c  
L  1 1  u 2  6 1 2 u 2 
u1  0
  L  3E 1.732 E
u 2   c2  2u 2   c2  
L  6  L2 L 
The exact solution for the fundamental frequency of a
fixed free bar is given as 1.571 E

Thus we have seen that the consistent mass matrix
overestimate and the lumped mass matrix
underestimate the natural frequency.

FEM Dr. Mesay A. 11

 Example 2
Find the natural frequency of the fixed-fixed uniform
bar using consistent and lumped mass matrices
considering as two bar element.
The stiffness and mass matrix of a bar element is equal
to: AE  1  1 AL 2 1 
K   
e
 M  
e

L  1 1   6 1 2 

Since the bar is modeled as a bar of two elements, the

assembled stiffness and mass matrices will be.
 1 1 0   1 1 0  2 1 0 2 1 0
AE   AE   AL  AL
K    1 1  1  1   1 2  1 M   1 2  2 1  1 4 1 
L L 6   6  
 0  1 1   0  1 1  0 1 2 0 1 2

FEM Dr. Mesay A. 12

 Example 2 Continued…
The Eigen value problem
K    M u  0
2

The K    2 M   0 will give the natural frequencies.

With consistent mass
3E E
 AE
[ 2 ]  2  A
[ 4 ]

0 c  2
 3.4641
  
6    2
 

With lumped mass

A 2E E
AE
[2]   2 [2]  0   2
 2.8284
 2   2

FEM Dr. Mesay A. 13

 Transverse Vibration of Beams
Consider the free-body diagram of an element of a
beam where M(x, t) is the bending moment, V(x, t) is
the shear force, and f(x, t) is the external force per unit
length of the beam.

FEM Dr. Mesay A. 14

 Transverse Continued…
Since the inertia force acting on the element of
the beam is

The force equation of motion in the z direction gives

The moment equation of motion about the y-axis

passing through point O

By writing
FEM Dr. Mesay A. 15
 Transverse Continued…
Disregarding terms involving second powers in dx,

By using the relation

From the elementary theory of bending of beams, the

relationship between bending moment and deflection
can be expressed as

The equation of motion for the forced lateral vibration

of a uniform beam

FEM Dr. Mesay A. 16

 Transvers Vibration of a Beam
The governing equation for free transverse vibration of
a beam based on the Euler-Bernoulli theory
(considering the dynamic equilibrium of a differential
element) is given as
4 y 2 y
 4   2  0
x t
Using the technique of separation of variables and
assuming harmonic vibration
y  x, t   y  x  e  jwt
d4y
Then 
dx 4
  2
y0

The WR statement can be written as

L
 d4y 2 
0 W x  dx 4   y  dx  0
FEM Dr. Mesay A. 17
Transverse Vibration Continued..
Applying integration by parts
3 L
d3y
L L
 d y dw
 wx  3     3 dx    2 w x  y  x dx  0
 dx  0 0 dx dx 0

The shape functions N are given

3x 2 2 x 3 2x 2 x3
N1  1  2  3 N2  x   2
L L L L

3x 2 2 x 3  x 2 x3
N3  2  3 N4   2
L L L L

FEM Dr. Mesay A. 18

Transverse Vibration Continued..
Applying the Galerkin procedure
 3x 2 2 x 3   2x 2 x3  

 1    y1   x    1  
 
 3x 2 2 x 3   2  3  
   2  
0  w1  x y  x dx  1    
0   2  3   3x 2 2 x 3    x 2 x 3 
 dx
   y     
  2 2 2
  3   
  2  


156 y1  221  54 y 2  13 2 
420
2
2x2 x3 


0   w 2 x  y x dx  0  x     2  
 3 x 2 2 x 3   2x 2 x3   3x 2 2 x 2    x2 x3  
1  2  3  y1   x   2 1   2  3  y 2    2 1 dx
                


420
22v1  4 21  13v 2  13 2 

FEM Dr. Mesay 19

Transverse Vibration Continued..
Similarly
 
 3x 2 2 x 2 
0 w3 x yx dx  0   2   3 
 3 x 2 2 x 2    2x 2 x3   3x 2 2 x 3    x 2 x3  
1  2  3  y1   x   2 1   2  3  y 2    2  2 
                dx
 
 

 54 y1  131  156 y 2  22 2 
420
 3 x 2 2 x 3   2x 2 x3  

1    y1   x    
1 
 
 x 2 x 3   2  3  
   2  
0  w 2  x y  x dx      
0   2  3   3x 2 2 x 3    x 2 x 3 
 dx
    
  2   3  y 2      2  2 
    



420
 13y1  3 21  22y 2  4 2 2 

FEM Dr. Mesay A. 20

Transverse Vibration Continued..
Therefore, rewriting the terms in matrix form
 156 22 54  13 
 4 2  3 2 
A  22 13
M e 
420  54 13 156  22 
 2 
  13  3  22 4 2 

2
The Eigen value problem K    M   0
Dynamic analysis using Finite element method
requires determination of mass matrix in addition to
stiffness matrix.

FEM Dr. Mesay A. 21

Lecture end for
Theory Part! 22