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Dynamics of Structures
Part 1

Zbigniew Wjcicki

Jacek Grosel

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Matrices

Definition of matrix
A matrix is set of numbers or algebraic expressions arranged in a rectangular form with m rows and n
columns. A matrix is denoted by an underlined letter A or a bold letter A. The abbreviation dim
denotes the dimension of matrix. Any element of matrix is described by two subscripts aij, where the
first one, i, denotes the number of the row and the second, j - the number of the column. The
element aij is placed on the intersection of i-th row and j-th column.
a12
a11

a22
a21

A=A=

am11 am1 2
a
am 2
m1
a11

ai1

a
m1

a1j

aij

amj

a1n1

a2 n1

am1 n1

am n1

a1n

a2 n
,

am1 n
am n

dim A= mn

a1n

ain

amn

i-th row: ai
j-th column: a j
element: aij
every element of matrix A: [A]ij= aij
i, j

Types of matrices
dim A= mn rectangular matrix
dim B= 1n row matrix
dim C= m1 column matrix, vector c

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dim D= nn square matrix

dim E= mn and [E]ij=0 zero matrix, 0, 0mn
dim F= nn and fij=0 for ij diagonal matrix,

0 f1 0 0

0 0 f2 0

f diagf1, f1,..., fn

fnn 0 0 fn

f11 0

0 f22

0 0

dim I = nn and iij=0 for ij and iii=1 identity matrix I = I n = 1n = I = 1

1

1 0
0
e.g. I2
, I4
0
0 1

0 0 0

1 0 0
0 1 0

0 0 1

Equality of matrices
A=B [A]ij=[B]ij

Scalar multiplication
B = A [B]ij= [A]ij;

- scalar

Matrix addition
Matrix addition is possible only if the dimensions of matrices are equal.
C=A+B [C]ij=[A]ij+[B]ij

dim A = dim B = dim C

Property of matrix addition

A+B=B+A
A + B + C = (A + B) + C = A + (B + C)
A+0=A
AA=0
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Matrix multiplication

A B = C multiplication is possible if dim C= mp where dim A= mn, dim B= np. The result of
multiplication is equal to
n

cij= ai b j = aik bkj ai1 b1j ai 2 b2 j ... ain bnj

k 1

The fact that the multiplication A B is possible does not mean that the multiplication B A is
possible.
Example:
1 2

A= 2 3 ;
4 1

1 2 3 4
B=
;
4 3 2 1

4
3
1 2 c11 c12

2
c13

2 3 c21 c22
4 1 c31 c32

C = A B=?

c11 1 1 2 4 9

c13 ?

1
c14 ,

c12 1 2 2 3 8
c22 2 2 3 3 13

c14 ? c32 ?
c21 ?

c23

c24

c33 4 3 1 2 14

c23 ?

c33

c34

c34 4 4 1 1 17

c24 ?

9 8 7 6

A B = C = 14 13 12 11 ,
8 11 14 17

c31 ?

but B A does not exist !

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Hence, the following phrases are used to describe multiplication A B:

matrix A is right multiplied by matrix B or matrix A is postmultiplied by matrix B;
matrix B is left multiplied by matrix A or matrix B is premultiplied by matrix A.

Properties of matrix multiplication

In general the matrix multiplication is not commutative.
A B C = (A B) C = A (B C )
(A B) = (A) B = A (B)
(A + B) C = A C + B C = B C + A C
C (A + B) = C A + C B = C B + C A
A0=0A=0
AI=IA=A
From the results A B = 0 one cannot derive that A = 0 , B = 0 or B A = 0.
Matrix multiplication is commutative only for diagonal matrices with the same dimensions:
{a} {b} = {b} {a} = {ab}

dim{a} =dim{b}

Example:
1 3
A=
, {b} = diag (2, 3),
5 2

A {b}=?

{b} A =?

2 9
A {b}=
. It is a column multiplication, i.e. the i-th column of matrix A is multiplied by the
10 6

i-th element of diagonal {b} A {b} = [a j bj ]

2 6
{b} A =
. It is a row multiplication, i.e. the j-th row of matrix A is multiplied by the j-th
15 6

element of diagonal {b} {b} A = [bi ai ].

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Matrix transposition
A = BT dim A= mn, dim B= nm and [A]ij= [B]ji
Example:
1

1 2 3 4
1 2 3 4
T
2
B=
;
B
=

3
4 3 2 1
4 3 2 1

4
T

3
A
2

A = BT B = AT
A = (AT)T
(A+B+C) T = A T +B T +C T
(A B C) T = C T B T A T
If A = AT then A is a symmetric matrix, [A]ij= [A]ji
If A = AT then A is a skew-symmetric matrix, [A]ij= -[A]ji , [A]ii= 0
Every diagonal matrix is also a symmetric matrix {a}T = {a}.

Trace of matrix
dim A= nn,
n

tr A = akk a11 a22 ... ann

k 1

tr AT = tr A
tr (A+B+C) = tr A + tr B + tr C
tr ( A) = (tr A)
tr (A B) = tr (B A)
tr (A B C) = tr (B C A) = tr (C A B ) tr (A C B )

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Example:
1

5
tr
2

3 0 1

2 1 2
1 2 0 4 7
3 0 3

2 3 4

Determinant of matrix
A determinant of matrix A is denoted by det A. The determinant is a scalar and is defined solely for
the square matrix dim A= nn. The easiest way to define the determinant is recursion. For a matrix
with dimensions 11, the determinant is equal in value to the only element of this matrix. For a
matrix with dimensions 22, the determinant is equal to:
a12 a11 a12
a
det 11
a11 a22 a12 a21

a21 a22 a21 a22

For a matrix with dimensions 33, the rule of Sarrus can be used. Two first columns should be
written on the right side of the matrix (or two first rows -- under the matrix). The product of the
elements crossed with a blue line are added, and the ones crossed with a red line are subtracted:
a11 a12

det a21 a22

a31 a32

a13 a11 a12

a23 a21 a22

a33 a31 a32

a13 a11 a12

a23 a21 a22
a33 a31 a32

a11a22 a33 a12 a23 a31 a13a21a32 a13 a22 a31 a11a23 a32 a12 a21a33

For matrix A with dimensions dim A= nn det A is defined by determinants of matrices with
dimensions (n-1)(n-1). The minor Mij is a matrix obtained from matrix A by erasing the i-th row and
the j-th column. The cofactor Aij of the element aij is a determinant of the minor Mij multiplied by (1)i+j.
Aij = (-1)i+j det Mij
The determinant may be calculated by application of the Laplace expansion along any i-th row

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n

det A =

i k
1

aik det Mik =

k 1

aik Aik

k 1

or along any j-th row

n

det A =

k j
1

akj det Mkj =

k 1

akj Akj

k 1

Example
1

5
det
2

3 0 1

2 1 2
?
3 0 3

2 3 4

Using the Laplace expansion along the 3rd column and the rule of Sarrus, the determinant can be
easily calculated:
1

5
det
2

3 0 1
1 3 1
1 3 1

2 1 2
2 3
4 3

1 1 det 2 3 3 3 1 det 5 2 2
3 0 3
1 2 4
2 3 3

2 3 4
1 (1 3 4 3 3 1 1 2 2 1 3 1 1 2 3 3 2 4)
3 (1 2 3 3 2 2 1 5 3 1 2 2 1 2 3 3 5 3) 8 66 74

Adding a column/row multiplied by any number to another column/row does not change the value
of the determinant. This property makes it possible to calculate the determinant easily. In the
example below:
(1) the 2nd row multiplied by -3 is added to the 4th row. After this, there is only one nonzero element
in the 3rd column
(2) the Laplace expansion is applied along the 3rd column
(3) the 1st row multiplied by -2 is added to the 2nd row and the 1st row multiplied by 14 is added
to the 3rd row.
(4) the Laplace expansion is applied along the 1st column and the determinant can be calculated
easily for matrix 22.

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5
det
2

3 0 1
3 0 1
1
3
1
1

2 1 2
5
2 1 2
23

det
1 1 det 2
3
3
(3 )
2
3 0 3 (1)
3 0 3 (2)
14 4 2

2 3 4
14 4 0 2
1
1 3
3 1

1 det 0 3 1 1 (1)11 det

1 (3 12 1 38) 74
(4 )
38 12

0 38 12

Some properties of determinant:

det AT = det A
det ( A) = n (det A)
det (A B C) = det A det B det C
det {a} = a1 a2 ... an
A is called a singular matrix or degenerate matrix if det A = 0.
A is called a non-singular matrix (nondegenerate matrix or invertible matrix) if det A 0.

Inversion of matrix
A square matrix B with the same dimensions as matrix A is called inverse to it when:
BA=AB=I
The symbol A-1 is used for a matrix inverse to A.
Using the properties of the determinant:
A2= A A , A3= A A A
det (An) = (det A) n
A-1 A = A A-1 = I
det (A A-1) = det A det A-1 = det I = 1

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det A-1 = 1/det A A-1 exist only if det A 0 (A is a non-singular matrix).

Matrix A-1 can by derived using formula:
A-1 = adj A/det A
where adj A is an adjugate (or adjoint) matrix i.e. a transposed matrix of cofactors Aij.
T

A1n A11

A2 n A12
=


Ann A1n

A11 A12

A
A22
adj A = 21

An1 An2

A21
A22

A2 n

An1

An2

Ann

Example:
1 2 5

A = 2 3 0 , det A = 9+0+2015120 = 2
1 2 3

3
det
2

2
adj A = det
2

2
det
3

0
2
det
3
1
5
1
det
3
1
5
1
det
0
2

0
2
det
3
1
5
1
det

3
1
5
1

det
0
2

2
2
=
2
2

6 1
4 15
9
9

4
2 0 6 2 10
15 10 1
1
0
1

4,5 2 7,5

A = adj A /det A = 3 1 5
0,5 0 0,5
-1

Any matrix A could be transformed into an identity matrix I by performing the following
transformations (multiplication of the row/column by a scalar, adding rows/columns).
By applying the same transformations to the identity matrix one can obtain a matrix inverse to A.

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1 2 5

A = 2 3 0 , I =
1 2 3

1 0 0

0 1 0
0 0 1

nd
nd
st
2 row row2 1 row 2
3rd row 3 rd row 1st row

5
1 2

A(step1) = 0 1 10 , I(step1) =
0 0 2

1 0 0

2 1 0
1 0 1

1 0 15

A(step 2) = 0 1 10 , I(step 2) =
0 0 2

3 2 0

2 1 0
1 0 1

1 0 0

A(step 3) = 0 1 0 =I , I(step 3) =
0 0 1

Verification of:

nd
nd
2 row 2 row / element22
1st row 1st row 2nd row 2

3 rd row 3 rd row / 2
st
st
rd
1 row 1 row 3 row 15
2nd row 2 nd row 3 rd row 10

4,5 2 7,5

-1
3 1 5 =A
0,5 0 0,5

A-1 A = ?, A A-1 = ?

4,5 2 7,5 1 2 5 1 2 5 4,5 2 7,5 1 0 0

3 1 5 2 3 0 2 3 0 3 1 5 0 1 0
0,5 0 0,5 1 2 3 1 2 3 0,5 0 0,5 0 0 1

Vectors
Matrices with only one column are often called vectors. Vectors are denoted by overlining
x1

x
x = col (x1, x2, ... xn) = 2 = [x1, x2, ... xn]T

xn

Two vectors are orthogonal if x y T x T y 0

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Two vectors are orthogonal with weight A if x A y T x T A y 0 .

The normalization of a vector x is a result of dividing elements of this vector by number x . The
most common method of normalization is dividing a vector 1) by its maximum absolute value or 2) by
the Euclidean norm.
Example:
4

a 4
7

1)

x max xi

maximum norm

2)

x xT x -

Euclidean norm a 4 2 4 2 (7)2 9

a 7

Normalized vector x norm = x/ x

1)

anorm col 74 , 47 , 1

2)

anorm col 49 , 49 ,

7
9

- 1 anorm,i 1

anorm 1

System of linear equations

The system of n linear equations with n unknowns (x1, x2,, xn) could be written down with matrix
notation
a11x1 a12 x 2 ... a1n x n y1

a21x1 a22 x2 ... a2 n x n y 2

an1x1 an2 x 2 ... ann x n y n

A xy

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A system of linear equations is called a homogenous system if y = 0, and a nonhomogenous system if

y 0. The existence of a solution depends on the type of the system (homogenous or not) and on
the properties of matrix A (if it is a singular matrix or not).
1. nonhomogenous system ( y 0)
1.1. det A 0 solution exists x = A-1 y
1.2. det A = 0 solution does not exist
2. homogenous system ( y = 0)
2.1. det A 0 solution exists and is trivial x = 0
2.2. det A = 0 there is an infinite number of solutions
x = adj A v ,

v - any arbitrary vector,

for v =col (0, 0, ... ,1, ... 0) the solution is any non-zero column of matrix adj A; generally the
solution is a linear combination of columns of matrix adj A.

Eigenproblem
Numbers i are eigenvalues of a square matrix A if a nonzero vector wi exists which fulfils the
equation A wi = i wi . Vectors wi are called eigenvectors.
A w= w
A w w =0
(A I) w = 0 ;
a11

det ai1

a
n1

w 0 det (A I) = 0

a1j

aij

anj

a1n

ain 0

ann

det (A I) = 0 n n n 1 n 1 ... 2 2 1 1 0 0 0 characteristic equation

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The solutions of this characteristic equation 1 , 2 ,... n1 , n are eigenvalues.

Example:
3 2
Calculate eigenvalues of matrix A =
,
2 6

characteristic equation:

2
3
det
0 3 6 4 0 ,
6
2

2 9 14 0 solutions 1 2, 2 7
The eigenvector is any non-zero column of the matrix adjoint to matrix (A i I)
1
1 2
4 2 normalization 1
1
1 = 2; B1=(A 1 I) =

, w1
,
, adj B1 =

1
1
1
2 4
2 1
2 2
2

4 2
2 = 7; B2=(A 2 I) =
, adj B2 =
2 1

1 2 normalization 12

2 4
1

1
2

12
, w2
1
1

Any product of wi is also an eigenvector, where - any number.

1
12
w1
, w 2 ,
1
1
2

1
W = w 1 w 2 =
1
2

1
2

,
1

A matrix W, the i-th column of which is equal to wi , is called an eigenmatrix.

Using system Mathematica for matrix calculations

In the system Mathematica, matrices are defined as lists of lists e.g. lists of rows. The system gives
output in the same form. In order to see the matrix in the form of a table, one needs to use the
command TraditionalForm or //MatrixForm.

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In[1]:=

Out[1]=

In[2]:=
Out[2]=

In[3]:=

A 1, 2, 5, 2, 3, 0,
1, 2, 3

1, 2, 5, 2, 3, 0, 1, 2, 3
A

1, 2, 5, 2, 3, 0, 1, 2, 3
A MatrixForm

Out[3]//MatrixForm=

125
230
123
In[4]:=

TraditionalForm A

Out[4]//TraditionalForm=

125
230
123
In[5]:=
Out[5]=

In[6]:=

v 1, 2, 3

1, 2, 3
MatrixForm v

Out[6]//MatrixForm=

1
2
3

In order to transpose the matrix, the command Transpose should be used. The transposition of
a vector with one column yields a matrix with one row only.
In[7]:=

Transpose A

Out[7]=

1, 2, 1, 2, 3, 2, 5, 0, 3

In[8]:=

TraditionalForm TransposeA

Out[8]//TraditionalForm=

121
232
503
In[9]:=

Transposev MatrixForm

Out[9]//MatrixForm=

1 2 3

For matrices, the multiplication symbol . (dot) is used.

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In[10]:=

A.A MatrixForm

Out[10]//MatrixForm=

10 18 20
8 13 10
8 14 14
In[11]:=

A.v MatrixForm

Out[11]//MatrixForm=

20
8
14
In[12]:=

Transposev.A MatrixForm

Out[12]//MatrixForm=

8 14 14

The command Det is used for calculating the determinant,

Tr is used for calculating the trace
Inverse is used for calculating the inversion of the matrix.

In[13]:=

DetA

Out[13]=

2
In[14]:=

TraditionalForm InverseA

Out[14]//TraditionalForm=
9
2 15
2
2

3 1 5
1
0 12
2

In[15]:=

TrA

Out[15]=

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In[17]:=

TraditionalForm InverseA .A

Out[17]//TraditionalForm=

100
010
001
In[18]:=

TraditionalForm IdentityMatrix3

Out[18]//TraditionalForm=

100
010
001
In[19]:=

DiagonalMatrix1, 2, 3 MatrixForm

Out[19]//MatrixForm=

100
020
003

The command IdentityMatrix can be used in order to declare an identity matrix, and the
command DiagonalMatrix to declare a diagonal matrix. The command Eigenvalues
yields the eigenvalues of the matrix, arranged from the greatest to the smallest. The command
Eigenvectors yields the eigenvectors of the matrix. These eigenvectors are arranged in rows!
The first row corresponds to the greatest eigenvalue. The command Eigensystem combines two
previous commands.

In[26]:=

AA 3, 2, 2, 6; AA MatrixForm

Out[26]//MatrixForm=

In[27]:=

32

26

EigenvaluesAA

Out[27]=

7, 2
In[28]:=

EigenvectorsAA MatrixForm

Out[28]//MatrixForm=

In[29]:=

1 2
2 1

Eigensystem AA MatrixForm

Out[29]//MatrixForm=

7
2
1, 2 2, 1

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Problems
The following matrices are given:

2 2
A=
, B=
2 6

2 2
2 6 , C =

3 7 1
F=
,
3 0 1

3
G=
4

2 2
2 6 , D =

2 1 5

2 1 0
, U=
2 7 1

2 2 3

1 2 3
4 5 1 , E =

3 1 2

1
,
2

2

V = 3 , X =
1

2 4
4 1 ,

6 2
2

3 ,
4

1

L = diag (1, 2), M = diag (1, 2, 1), N = diag (3, 2, 4, 1).

1. Evaluate: (a) A + A, (b) A A , (c) A B , (d) B CT , (e) E F , (f) D V,

(g) XT G , (h)

D M , (i) N G , (j) VT V , (k) V VT.

2. Evaluate: (a) tr G , (b) det C, (c) det D, (d) det G, (e) det (L C L).
3.

Evaluate: (a) adj B , (b) adj N, (c) adj (U UT).

4. Evaluate eigenvalues and eigenvectors of matrices: (a) A , (b) D, (c) G.

5. Solve the system of equations:
x 2y 3 z 0

2 x 3y 4 z 0

2 x 1y 0

6. Find the value of for which a nontrivial solution v of these equations exists:
(K B ) v 0 ,
Find vectors v and normalize them

(a)

k k
K =
, B=
k 2k

m 0

, find the solution for m and k or assume k=1, m=1,

0 m

(b)

k k 0

K = k 2k k , B =
0 k 2 k

m 0 0

0 m 0 , k=1, m=1,
0 0 m

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Answers to problems
1.

4 4
T
(a) A + A =
, (bd) A A = A B = B C =
4
12

8 16

,
16 40

6 14 6

(e) E F = 9 28 5 , (f) D V =
12 42 8

11

24 ,
11

(g) XT G = 9 20 35 17

1 4 3

(h) D M = 4 10 1 ,
3 2 2

6
(i) N G =
16

15

4 2 0
,
8 28 4

2 2 3

4 6 2

(j) V V =[14], (k) V V = 6 9 3 ,

2 3 1
T

2. (a) tr G =13, (b) det C= 8 (c) det D = -34 (d) det G =26
2 4
(e) det (L C L) = det
= 32,
4 24
6 2
3. (a) adj B
, (b) adj N = diag (8, 12, 6, 24)
2 2
1 2 4 2
(c) adj (U UT) = adj
=

2 4 2 1

4. (a) A : 1= 4 2 2 =1,17157 , 2= 4 + 2 2 = 6,82843,

2 2 2
5. W =
2

2 0,4142

0,4142
2 2 2 1

1 2 3

6. D = 4 5 1 ; D()= D I; det D() =

3 1 2

2
3
1

5
1 =0
4
3
1
2

7. -34++8 2-3=0 1= 1,904 2=2,37031 3= 7,53369

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0,440 0,518
1

8. eigenmatrix W = 0,486
1
1 ;
0,644 0,868 0,462

9. eg.

2
3
6,534

adj D(3) = adj 4

2,534
1 =
3
1
5,534
T

13,023 25,136 11,602 13,023 14,068 9,602

columns'
normalization

14,068 27,159 12,534 = 25,136 27,159 18,534

9,602 18,534 8,557 11,602 12,534 8,557

0,518 0,518 0,518

1
1
1
0,462 0,462 0,462
1

3
10. G =
4

2 1 5

2 1 0
,
2 7 1

2 2 3

The characteristic equation 26123 +51 213 3+4=0

1= 0,232489 ; 2= 2,01665 2,95587 i; 3= 2,01665 +2,95587 i; 4=8,73422.

1,704 1,288 i
1,705 1,288i
0,351
0,425

1
1,033 2,252i
1,033 2,252i 0,008
Eigenmatrix W =
,
0,492 1,524 0,774i 1,524 0,774i
1

1
1
0,346
0,367

x 2y 3 z 0

11. 2 x 3y 4 z 0

2 x 1y 0

1 2 3

System matrix A = 2 3 4
2 1 0

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THE DEVELOPMENT OF THE POTENTIAL AND ACADEMIC PROGRAMMES OF WROCAW UNIVERSITY OF TECHNOLOGY

4 3 1
0,5
x
0,5
columns'

normalization

adj A = 8 6 2
1 y 1
4 3 1
0,5
z
0,5

- any number

12. (a)

k k
K =
, B=
k 2k

m 0

,
0 m

det (K B ) = 0 k2 3 k m + m2 2= 0
1= (3 k 5 k) / 2m=0,381 k/m 2= (3 k +5 k) / 2m = 2,618 k/m
2 k
W=

1
2

3k

5k

1,618
1

=
1,618
3 k 5k 1
k

1
2

0,618
1

; v - any column from W.

1
0,618

(b)

k k 0

K = k 2k k , B =
0 k 2 k

1-6+5 2-3=0 1= 0,198

m 0 0

0 m 0 , k=1, m=1,
0 0 m

2= 1,555 3= 3,247

0,802 0,445
1

v - any column from 0,802 0,445

1
0,445
1
0,802

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