MULTIPLE-DEGREE-OF-FREEDOM SYSTEMS

Natural Frequencies and Mode Shapes

Moment Resisting Frame
Shape functions for different building dimension H/D ratios
Stiffness equations for different lateral load resisting conditions
Example: Four-Story Steel Moment Frame Building
Using the generalized mass and stiffness, determine the period of
the first mode of vibration in the E-W direction of the frame.

Elevation View
Plan View
 Video demonstration of the
first mode of vibration.

Total number of cycles = 5

Time to complete 5 cycles = 8 seconds

Period T = 8 / 5 = 1.6 seconds

Example:
Example:
Example:
𝑾 𝒌𝒊𝒑 ∙ 𝒔𝒆𝒄𝟐
𝑴= =
𝒈 𝒊𝒏

𝒊𝒏
𝒈 = 𝟑𝟖𝟔. 𝟒
𝒔𝒆𝒄𝟐

𝟐𝟗𝟒
Roof Level 𝑴𝑹 = = 𝟎. 𝟕𝟔𝟏
𝟑𝟖𝟔. 𝟒

𝟑𝟔𝟖
Levels 3 and 2 𝑴𝟑 = 𝑴𝟐 = = 𝟎. 𝟗𝟓𝟐
𝟑𝟖𝟔. 𝟒

𝟑𝟕𝟎
Level 1 𝑴𝟏 = = 𝟎. 𝟗𝟓𝟖
𝟑𝟖𝟔. 𝟒
Example:
Example:
Example:
𝝅𝒙
𝝓(𝒙) = 𝒔𝒊𝒏
𝟐𝑳

𝟒𝟑. 𝟓𝝅
Roof Level x = 43.5 ft 𝝓 𝟒𝟑. 𝟓 = 𝒔𝒊𝒏 = 𝟏. 𝟎
𝟐 𝟒𝟑. 𝟓

𝟑𝟑. 𝟎𝝅
Level 3 x = 33.0 ft 𝝓 𝟑𝟑. 𝟎 = 𝒔𝒊𝒏 = 𝟎. 𝟗𝟐𝟗
𝟐 𝟒𝟑. 𝟓

𝟐𝟐. 𝟓𝝅
Level 2 x = 22.5 ft 𝝓 𝟐𝟐. 𝟓 = 𝒔𝒊𝒏 = 𝟎. 𝟕𝟐𝟔
𝟐 𝟒𝟑. 𝟓

𝟏𝟐. 𝟎𝝅
Level 1 x = 12.0 ft 𝝓 𝟏𝟐. 𝟎 = 𝒔𝒊𝒏 = 𝟎. 𝟒𝟐𝟎
𝟐 𝟒𝟑. 𝟓
Example:
Example:
Example:

2𝜋
𝑇= = 0.70 𝑠𝑒𝑐
𝜔
 MDOF Free Vibration Dynamic Analysis

A single column in each floor

has stiffness 𝑘𝑥 or 𝑘𝑦

Each floor has stiffness 𝑘𝑖

𝑘1
}

Stiffness of Top Floor 𝑘1

𝐼𝑥 𝐼𝑦 𝐼𝑥 𝑘1 = 𝑘𝑥 + 𝑘𝑦
𝐼𝑦
MDOF Free Vibration Dynamic Analysis
MDOF Free Vibration Dynamic Analysis
MDOF Free Vibration Dynamic Analysis
 𝑲 − 𝝎𝟐 𝑴 𝒗 = 𝟎

Consider a 1 Degree-of-Freedom system with the following properties:

2,250 − 𝜔2 2.5 15 = 0

2,250 − 2.5 𝜔2 15 = 0

2,250 − 2.5 𝜔2 = 0

𝜔 = 30 rad/sec

The magnitude of {v} does not influence the determination of w. Also, the
solution is the same if everything is first divided by 2.5 at the beginning.
900 − 𝜔2 1 6 = 0

900 − 𝜔2 = 0

𝜔 = 30 rad/sec
 𝑲 − 𝝎𝟐 𝑴 𝒗 = 𝟎

Consider a 2 Degree-of-Freedom system with the following properties:

352 −352 4 0 1 0
− 𝜔2 =
−352 596 0 8 0.788 0
352 − 4𝜔2 −352 1
=
0
−352 596 − 8𝜔2 0.788 0

352 − 4𝜔2 1 + −352 0.788 = 0 → 𝜔 = 4.3197

−352 1 + 596 − 8𝜔2 0.788 = 0 → 𝜔 = 4.3197

For this case, the magnitude of {v} influences the determination of w.

However, the values of {v} are usually not known at the beginning.
It is not necessary to know {v} beforehand, because at the natural
frequency w, the determinant of the matrix is zero.
𝑲 − 𝝎𝟐 𝑴 = 𝟎

352 − 4𝜔2 −352 =0

−352 596 − 8𝜔2
 352 − 4𝜔2 −352
2 =0 𝜔 = 4.3197
−352 596 − 8𝜔
352 − 4(4.3197)2 −352
=0
−352 596 − 8(4.3197)2

277.3617 −352
=0
−352 446.7235
𝑎 𝑐
= 𝑎𝑏 − 𝑐𝑑
𝑑 𝑏
(277.3617)(446.7235)− −352 −352 = 0

The natural frequency w = 4.3197 is not the only solution. The determinant
equation can be used to find the other natural frequency.

352 − 4𝜔2 −352 =0

−352 596 − 8𝜔2

(352 − 4𝜔2 )(596 − 8𝜔2 )− −352 −352 = 0 𝐿𝑒𝑡 𝜆 = 𝜔2

(352 − 4𝜆)(596 − 8𝜆)−123,904 = 0
 (352 − 4𝜆)(596 − 8𝜆)−123,904 = 0

209,792 −5,200𝜆 + 32𝜆2 − 123,904 = 0

𝜆2 − 162.5𝜆 + 2,684 = 0

𝜆 = 18.6596 𝜔 = 4.3197 rad/sec

𝜆= 𝜔2
𝜆 = 143.8404 𝜔 = 11.993 rad/sec

The value w = 11.993 is the second natural frequency. The values of {v}
can be determined using the original equation and 𝑣2 = 1.

352 − 4𝜔2 −352 𝑣2 0

𝑣1 =
−352 596 − 8𝜔2 0
352 − 4𝜔2 1 + −352 𝑣1 = 0
352 − 4(143.8404) 1 + −352 𝑣1 = 0
𝑣1 = −0.635

1
𝒗 =
−0.635
Example: Four-Story Steel Moment Frame Building
Using the mass and stiffness matrices, determine the period and
mode shape for all four modes of vibration in the E-W direction of
the frame.

𝑚1 =
𝑘1 =
𝑚2 =
𝑘2 =
𝑚3 =
𝑘3 =
𝑚4 =
𝑘4 =
Example:

𝑲 − 𝝎𝟐 𝑴 = 𝟎
1.175 −1.175 0 0 0.761 0 0 0 0
500 −1.175 2.351 −1.175 0 − 𝜔2 0 0.952 0 0 = 0
0 −1.175 2.643 −1.467 0 0 0.952 0 0
0 0 −1.467 2.451 0 0 0 0.958 0

772.3 −772.3 0 0 1 0 0 0 0
−617.3 1,234.7 −617.3 0 0 1 0 0
− 𝜔2 = 0
0 −617.3 1,388.0 −770.7 0 0 1 0 0
0 0 −765.9 1,279.0 0 0 0 1 0
Example:

772.3 −772.3 0 0 1 0 0 0 0
−617.3 1,234.7 −617.3 0 0 1 0 0
− 𝜔2 = 0
0 −617.3 1,388.0 −770.7 0 0 1 0 0
0 0 −765.9 1,279.0 0 0 0 1 0
Example:

772.3 −772.3 0 0 1 0 0 0 0
−617.3 1,234.7 −617.3 0 0 1 0 0
− 𝜔2 = 0
0 −617.3 1,388.0 −770.7 0 0 1 0 0
0 0 −765.9 1,279.0 0 0 0 1 0
Example:

772.3 −772.3 0 0 1 0 0 0 0
−617.3 1,234.7 −617.3 0 0 1 0 0
− 𝜔2 = 0
0 −617.3 1,388.0 −770.7 0 0 1 0 0
0 0 −765.9 1,279.0 0 0 0 1 0

=0

Eigenvalues (l = w2) Eigenvectors

Example: l = w2 T = 2p/w
w = 8.92 rad/sec T = 0.70 sec
w = 25.0 rad/sec T = 0.25 sec
w = 39.9 rad/sec T = 0.16 sec
w = 48.8 rad/sec T = 0.13 sec

𝑲 − 𝝎𝟐 𝑴 𝒗 = 𝟎

Eigenvector (Mode Shape 1)

772.3 −772.3 0 0 1 0 0 0 2.309

−617.3 1,234.7 −617.3 0 0 1 0 0 2.071 =
− 79.609
0 −617.3 1,388.0 −770.7 0 0 1 0 1.566
0 0 −765.9 1,279.0 0 0 0 1 1

692.7 −772.3 0 0 2.309 0.01 0

−617.3 1,155.1 −617.3 0 2.071 = 0.17 ≈ 0
1,308.4 −770.7 1.566 −0.17 0
O.K.
0 −617.3
0 0 −765.9 1,199.4 1 0.00 0
Example: l = w2 T = 2p/w
w = 8.92 rad/sec T = 0.70 sec
w = 25.0 rad/sec T = 0.25 sec
w = 39.9 rad/sec T = 0.16 sec
w = 48.8 rad/sec T = 0.13 sec

𝑲 − 𝝎𝟐 𝑴 𝒗 = 𝟎

Eigenvector (Mode Shape 1)

2.309 1
2.071 → 0.897
Mode Shape is Not Unique (÷ 2.309) 1.566 0.678
1 0.433

692.7 −772.3 0 0 1 0.05 0

−617.3 1,155.1 −617.3 0 0.897 = 0.29 ≈ 0
1,308.4 −770.7 0.678 −0.34 0
O.K.
0 −617.3
0 0 −765.9 1,199.4 0.433 0.06 0
 1 1
(÷ 2.309) → 0.897 (÷ −1.047) → 0.189
0.678 −0.814
0.433 −0.955

1 1
(÷ 1.051) → −1.060 (÷ −0.504) → −2.077
−0.388 2.843
0.952 −1.984
Video demonstration of the
second mode of vibration.
ASCE 7 - Fundamental Period of a Building Structure

𝑇 ≤ 𝐶𝑢 𝑇𝑎
ASCE 7 - Fundamental Period of a Building Structure

𝑇 ≤ 𝐶𝑢 𝑇𝑎
ASCE 7 - Fundamental Period of a Building Structure
ASCE 7 - Fundamental Period of a Building Structure
ASCE 7 - Fundamental Period of a Building Structure
ASCE 7 - Fundamental Period of a Building Structure

For T > TS, the spectral acceleration Sa decreases as T increases.

ASCE 7 places an upper limit on the fundamental period T so the Sa
value does not go below the value obtained using T = CuTa.
 ASCE 7 - Fundamental Period of a Building Structure
Example A
TS = 0.6 seconds
T = 0.84 seconds
Ta = 0.67 seconds
Sa Lower Limit →
Cu = 1.4
Check T ≤ Cu Ta
0.84 ≤ 1.4(0.67)
0.84 ≤ 0.94 seconds Yes
0.67 0.84 Use 0.84 to obtain Sa
0.94
Example B
Sa Lower Limit → TS = 0.55 seconds
T = 0.72 seconds
Ta = 0.43 seconds
Cu = 1.4
Check T ≤ Cu Ta
0.72 ≤ 1.4(0.43)
0.72 ≤ 0.60 seconds No
0.43 0.72 Use 0.60 to obtain Sa
0.60
 Example: Four-Story Steel Moment Frame Building
Using Eqn.(12.8-7), determine the approximate fundamental period Ta.
Also, determine if the calculated T = 0.70 seconds can be used to find Sa
if Cu = 1.5 and TS = 0.50 seconds.

𝑇𝑎 = 𝐶𝑡 ℎ𝑛𝑥

𝐶𝑡 = 0.028

ℎ𝑛 = 43.5 ft

𝑥 = 0.8

𝑇𝑎 = 0.028(43.5)0.8

𝑇𝑎 = 0.57 seconds
 Example: Four-Story Steel Moment Frame Building

TS = 0.50 seconds
T = 0.70 seconds
Sa Lower Limit → Ta = 0.57 seconds
Cu = 1.5

T ≤ Cu Ta
0.70 ≤ 1.5(0.57)
0.70 ≤ 0.86 seconds Yes
0.70 Use 0.70 to obtain Sa
0.57
0.86