<P> where m = m 1 + m 2 (\ displaystyle m = m_ (1) + m_ (2)) and d = m 1 − m 2 (\ displaystyle d = m_ (1) - m_ (2)). This formula can be written in matrix form as </P> <Dl> <Dd> T = 1 2 q _̇ T M q _̇ (\ displaystyle T = (\ frac (1) (2)) (\ dot (q)) ^ (\ mathrm (T)) M (\ dot (q))) </Dd> </Dl> <Dd> T = 1 2 q _̇ T M q _̇ (\ displaystyle T = (\ frac (1) (2)) (\ dot (q)) ^ (\ mathrm (T)) M (\ dot (q))) </Dd> <Dl> <Dd> M = (m 0 R d cos ⁡ α 0 m R d sin ⁡ α R d cos ⁡ α R d sin ⁡ α R 2 m) (\ displaystyle M = (\ begin (bmatrix) m&0&Rd \ cos \ alpha \ \ 0&m&Rd \ sin \ alpha \ \ Rd \ cos \ alpha &Rd \ sin \ alpha &R ^ (2) m \ end (bmatrix))) </Dd> </Dl>

Explain lumped mass matrix for dynamic analysis of a structure