Solutions for Section 4.2 (4.20 through 4.
35)
4.20 Calculate the square root of the matrix
25 −32
M =
−32 41
Solution: Given:
1
Let M 2 = a − b
− b c
Then M = a
2
− b a − b = a 2 + b 2 − ab − bc = 25 − 32
− b c − b c − ab − bc b 2 + c 2 − 32 41
a 2 + b 2 = 25
ab + bc = 32
b 2 + c 2 = 41
On solving these equations we arrive a number of solutions of which the solution
a = 3 , b = 4 , c = 5 ensures the solution is positive definite.
4.21 Normalize the vectors
first with respect to unity (i.e., ) and then again with respect to the matrix M
(i.e., ), where
Solution:
(a) Normalize the vectors
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Normalized:
Normalized:
Normalized:
(b) Mass normalize the vectors
Mass normalized:
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Mass normalized:
4.22 Consider the vibrating system described by
Compute the mass normalized stiffness matrix, the eigenvalues, the normalized
eigenvectors, the matrix P and show that PTMP =I and PTKP is the diagonal matrix of
eigenvalues Λ.
Solution The square root of M is just the roots of the diagonal elements so
Next compute the eigenvectors and normalize them:
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Next show that it works:
4.23 Calculate the matrix for the system defined by
and see that it is symmetric.
Solution:
Since is symmetric.
Using the numbers given in problem 4.2 yields
This is obviously symmetric.
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4.24 Consider the vibrating system described by
Compute the mass normalized stiffness matrix, the eigenvalues, the normalized
eigenvectors, the matrix P and show that PTMP =I and PTKP is the diagonal matrix of
eigenvalues Λ.
Solution:
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4.25 Discuss the relationship or difference between a mode shape of equation (4.54) and an
eigenvector of .
Solution:
The relationship between a mode shape, u, of and an eigenvector, v, of
is given by
If v is normalized, then u is mass normalized.
This is shown by the relation
4.26 Calculate the units of the elements of matrix .
Solution:
M-1/2 has units kg-1/2
K has units N/m = kg/s2
So, has units
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4.27 Calculate the spectral matrix Λ and the modal matrix P for the vehicle model of Problem
4.15 described by
Solution: The equation of motion is:
Calculate eigenvalues:
The spectral matrix is
Calculate eigenvectors and normalize them:
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The modal matrix is
4.28 Calculate the spectral matrix Λ and the modal matrix P for the system given by
Solution: The equation of motion is
Calculate eigenvalues:
The spectral matrix is
Calculate eigenvectors and normalize them:
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The modal matrix is
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4.29 Calculate for the torsional vibration problem given by
What are the units of ?
Solution: The equation of motion is,
The units of are
4.30 Consider the system in the Figure P4.30 for the case where m 1 = 1 kg, m 2 = 9 kg, k 1 = 240
N/m and k 2 =300 N/m. Write the equations of motion in vector form and compute each of the
following
a) the natural frequencies
b) the mode shapes
c) the eigenvalues
d) the eigenvectors
e) show that the mode shapes are not orthogonal
f) show that the eigenvectors are orthogonal
g) show that the mode shapes and eigenvectors are related by
h) write the equations of motion in modal coordinates
Note the purpose of this problem is to help you see the difference between these various
quantities.
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Solution Given: m1 = 1kg , m 2 = 9kg , k1 = 240 N / m , k 2 = 300 N / m
From the FBD we have
1 0 x + 540 − 300 x = 0
0 9 − 300 300 0
a) We know that
( )
det − ω 2 M + K = 0
⇒ − ω 1 0 + 540
2
− 300= 0
0 9 − 300 300
⇒ 72000 − 5160ω 2 + 9ω 4 = 0 ⇒ ω1 = 3.7829rad / s and ω2 = 23.643rad / s
b) To calculate the vectors and
Vector is given by:
− ω1 + 540 − 300
2
u11 = 0
− 300
− 9ω12 + 300 u 21 0
⇒ − (3.7829) + 540 − 300 u11 = 0
2
− 300 0
− 9(3.7829) + 300 u 21
2
⇒ 525.69 − 300 u11 = 0 ⇒ 0.57068u 21 = u 11 ⇒ u1 = 0.57068
− 300 171.207 u 21 0 1
Vector u 2 is given by :
− ω 22 + 540 − 300 u12 = 0 ⇒ − 18.9914 − 300 u12 = 0
− 300 − ω 2 u 22 0 − 300 − 4730.92 u 22 0
9 2 + 300
⇒ u 22 = −0.063313u12 ⇒ u 2 = 1
− 0.063313
4.31 Consider the following system:
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where M is in kg and K is in N/m. (a) Calculate the eigenvalues of the system. (b)
Calculate the eigenvectors and normalize them.
Solution: Given:
Calculate eigenvalues:
The spectral matrix is
Calculate eigenvectors and normalize them:
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4.32 The torsional vibration of the wing of an airplane is modeled in Figure P4.32. Write the
equation of motion in matrix form and calculate analytical forms of the natural
frequencies in terms of the rotational inertia and stiffness of the wing.
Figure P4.32 A crude model of the torsional vibration of a wing consisting of a two-shaft, two
disk system similar to Problem 4.12 used to estimate the torsional natural frequencies of the wing
where the engine inertias are approximated by the disks.
Solution: Recall from Chapter 1 that
Equation of motion:
Natural frequencies:
Solving for λ yields
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The natural frequencies are
4.33 Calculate the value of the scalar a such that x 1 = [a -2 2]T and x 2 = [2 0 2]T are
orthogonal.
Solution: For the column vectors and to satisfy orthogonality
T
x1 x 2 = 0
⇒ [a − 2 2]2 = 0 ⇒ 2a + 4 = 0 ⇒ a = −2 ⇒ x1 = − 2
0 − 2
2 2
4.34 Normalize the vectors of Problem 4.33. Are they still orthogonal?
Solution: Upon normalizing the vectors x1 and x2 we have
1 1
Normalized x1 = X 1 = − 2 and normalized x 2 = X 2 = 2
12 8
− 2 0
2 2
1 [− 2 − 2 2]2 = 0
Now to check if X 1T X 2 = 0 ⇒
12 × 8
0
2
Thus they are still orthogonal.
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4.35 Which of the following vectors are normal? Orthogonal?
1
2 0.1 0.4
0.2 x
=x1 =0 x2 = 3 0.3
1 0.3 0.4
2
Solution:
Given:
2 2
1 1 1
x1 = x 2 = 0.1 x3 = 0.4 | x1| = +0+ = 1 (Thus it is normal)
2 2 2
0 0.2 0.3
0.3 0.4
1
2
| x 2 | = (0.1)2 + (0.2)2 + (0.3)2 = 0.3742 (Thus it is not normal)
| x3 | = (0.4)2 + (0.3)2 + (0.4)2 = 0.64031 (Thus it is not normal)
To check orthogonality:
T
1 T 1
x1T x 2 = 0.1 ≠ 0 x 2T x 3 = 0.1 0.4 ≠ 0 x 3T x1 = 0.4 ≠ 0
T
2 0.2 2
0 0.2 0.3 0.3
0.3
0.3 0.4 0.4 0
1 1
2 2
Thus neither of them are orthogonal
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