THE STRUCTURAL DESIGN OF TALL AND SPECIAL BUILDINGS Struct. Design Tall Spec. Build.

13, 291303 (2004) Published online in Wiley Interscience (www.interscience.wiley.com). DOI:10.1002/tal.253

COUPLED VIBRATION OF TALL BUILDING STRUCTURES

J. S. KUANG* AND S. C. NG
Department of Civil Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong

SUMMARY Free vibration analysis is presented for general tall building structures, which may consist of any combination of frames, shear walls, structural cores and coupled walls. Emphasis of the analysis is placed on the coupled lateraltorsional vibration characteristic of the structures. Based on the continuum technique and DAlemberts principle, the governing equation of free vibration and corresponding eigenvalue problem are derived. By applying the Galerkin technique, a generalized method of solution is proposed for the analysis of coupled vibration of general tall building structures. Based on the proposed method, a computation procedure is presented for predicting the natural frequencies and associated mode shapes of the structures in coupled vibration. Numerical investigation is conducted to validate the simplicity and accuracy of the proposed method. It has been shown that the proposed analysis provides an effective way, particularly at the preliminary design stage, for evaluating the vibration behaviour of tall buildings. Copyright 2004 John Wiley & Sons, Ltd.

1.

INTRODUCTION

In recent decades, many research results have been reported on the free vibration analysis, in particular coupled vibration characteristics, for different forms of lateral-loading and torque resisting structures in tall buildings, such as frames, shear walls, structural cores and wall frames (Reinhorn et al., 1977; Balendra et al., 1984; Zalka, 1995; Ng and Kuang, 2000; Kuang and Ng, 2000a, 2000b, 2001). A generally asymmetric tall building may consist of any combination of the different structural forms, such as frames, shear walls, structural cores, coupled walls, etc., referred herein as a general complex structure (Stafford Smith and Coull, 1991). However, very few publications of research results are available on the coupled vibration characteristics of the general complex tall building structures. In this paper, a free vibration analysis of general complex tall buildings is presented, which may consist of a combination of frames, shear walls, structural cores, and coupled walls. Emphasis of the analysis is placed on the lateraltorsional coupled vibration characteristics of the structures. Based on the continuum technique and DAlemberts principle, the governing equation of free vibration is derived, which consists of a set of differential equations of two lateral exureshear vibrations coupled by Vlasov torsion vibration (i.e. St. Venant + warping torsion vibrations). By employing the Galerkin approach, a generalized method of solution to the eigenvalue equation of the problem is proposed for analysing the lateraltorsional coupled vibration of the general complex structures. Based on the proposed method, a computation procedure is presented in a step-by-step form to predict the natural frequencies and associated mode shapes of the structures in coupled vibration. Numerical investigation is conducted to validate the efciency and accuracy of the proposed method. The results from the proposed analysis for the example structure agree well with those from the nite element analysis (Wilson

* Correspondence to: J. S. Kuang, Department of Civil Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong. E-mail:cejkuany@ust.hk

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Received June 2003 Accepted August 2003

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J. S. KUANG AND S. C. NG

et al., 1995). It has been shown that the proposed method can effectively be used to evaluate the free vibration, particularly at the preliminary design stage. 2. METHOD OF ANALYSIS

Consider a general complex building of height H, comprised of frames, shear-walls, a structural core and coupled walls, as shown in Figure 1. The structure has a uniformly distributed mass m, exural stiffnesses EIy, EIz and shear stiffnesses GAy, GAz in y and z directions, mass polar moment of inertia mI, St Venant torsion constant GJ and warping torsion stiffness EIw along the height of the structure. In the analysis, the continuum approach is applied. The exure-resisting structural members, such as shear walls, cores and coupled walls, are considered to be lumped and replaced by an equivalent exural cantilever beam. This exural cantilever is positioned at the centre of exural rigidity O, deforming in both lateral exure and warping torsion. Similarly, the shear-resisting structural members, such as frames, cores and coupled walls, are lumped and replaced by an equivalent shear cantilever beam. This shear cantilever is positioned at the centre of shear rigidity S, deforming in both lateral shear and St Venant torsion. The vertical axis x is chosen to pass through the centre of exural rigidity and over the structural height. The coordinate (yC, zC) represents the position of the geometric centre C of the oor plan in the yOz coordinate system shown in Figure 1. 2.1 Governing equation

Free vibration of the general complex structure shown in Figure 1 can be analysed by formulating and solving the governing equation of coupled lateral and torsional vibrations, in terms of lateral
z
frame 1 wall 4 frame 9 frame 2 frame 3 wall 5

6m yO yC

12 m

centre of flexural rigidity

frame 8

geometric centre y O yS zS

frame 7

C centre of shear rigidity S

3m

3m

3m yS
frame 6

zO zC zS 6m

wall 1

3m

yC
wall 2

6m

B = 24 m

coupled wall

zC

frame 4

structural core 6m

y
frame 5

L = 42 m

Figure 1. Floor plan of a general tall building

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deections y(x,t) and z(x,t) of the oor plan in y- and z-directions and rotation q(x,t) of the oor plan about the vertical axis. Based on DAlemberts principle, the governing equation of free vibration of the structure can be derived by substituting inertial forces into the equations of static equilibrium, and given by E 4 X( x , t ) 2 X( x , t ) 2 X( x , t ) G + M =0 0 0 x4 x2 t2 (1)

where X, E, G0 and M0 represent the displacement, exural stiffness, shear stiffness and mass matrices, given respectively by y( x , t ) X = z( x , t ) q ( x , t ) EI y E= 0 0 GAy G0 = 0 -GAy zS 0 EI z 0 0 GAz GAz yS 0 1 yC 0 0 EIw -GAy zS GAz yS GJ - zC yC 2 rm

(2a)

(2b)

(2c)

1 M 0 = m 0 - zC in which the inertial radius of gyration

2 rm =

(2d)

L2 + B 2 2 2 + yC + zC 12

(3)

The boundary conditions of the governing Equation (1) are X= X = 0 at x x=0 (4a)

2X 3X X = E 3 - G0 = 0 at 2 x x x

x=H

(4b)

Equation (1) is considered as a set of dynamic equilibrium equations, and can be expanded to the following three equations: EI y 4 y( x , t ) 2 2 ( ) ( ) [ ] [ y( x , t ) - zCq ( x , t )] = 0 GA y x , t z x , t + m q y S t2 x4 x2 (5a)

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294 EI z

J. S. KUANG AND S. C. NG

4 z( x , t ) 2 2 ( ) ( ) [ ] [z( x , t ) - yCq ( x , t )] = 0 GA z x , t y q x , t + m z S x4 x2 t2 EIw 4 z( x , t ) 2 GAy GAz - GJ 2 y( x , t ) z( x , t ) - q ( x , t ) 4 GAy x x GAy 2 2 q ( x , t )] = 0 [zC y( x, t ) - yC z( x, t ) - rm t2

(5b)

-m

(5c)

Equations (5a) and (5b) describe the sum of all forces applied on the oor plane in y and z directions should be equal to zero, i.e. SFy = 0 and SFz = 0. Equation (5c) shows that the sum of all moments about the centre of exural rigidity O applied on the oor plane should be equal to zero, i.e. SM0 = 0. 2.2 Eigenvalue equation

Since the motion of the structure in free vibration at any point of the structural height x is harmonic and the corresponding deected shape is independent of time t, the displacement vector X can be expressed, in a separable form of variables x and t, as X( x , t ) = U(u) sin wt (6)

where u = x/H is the dimensionless height coordinate, w is the natural frequency, and the mode shape vector y(u) U(u) = z(u) q (u)

(7)

By substituting Equation (6) into Equation (1) and carrying out the necessary differentiation, the eigenvalue equation of the problem can be obtained: EU (u) - GU (u) - w 2 MU(u) = 0 where the shear stiffness and mass matrices are G = H 2G0 M = H 4M0 The boundary conditions of the eigenvalue Equation (8) are U = U = 0 at u = 0, and U = EU - GU = 0 at u = 1 (10) (9a) (9b) (8)

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3. 3.1 Galerkin technique

METHOD OF SOLUTION

Based on the Galerkin technique (Meirovitch, 1986), a generalized method of solution is proposed in the analysis for solving the eigenvalue equation of the problem. According to the principle of the Galerkin method, the solution of the eigenvalue equation for a continuous structural system can be expressed in a form of the linear combination of arbitrarily selected shape functions v(u), w(u) and j(u), i.e.
(i ) (i ) a y v (u) y(u) (i ) (i ) z(u) = az w (u) i (i ) (i ) q (u) aq f (u)

(11)

in which ay(i), az(i) and aq(i) are the constants corresponding to the ith vibration mode. When using the Galerkin method, it is generally not required for the chosen shape functions to satisfy the differential equations that dene the eigenvalue problem; but it is necessary and sufcient for the shape functions to satisfy the geometric boundary condition. Such shape functions are classied as admissible functions. If both the geometric and dynamic equilibrium conditions are satised, the chosen shape functions will become comparison functions, which may eventually lead to better results for the problem (Balendra et al., 1984). In this paper, the shape functions associated with the uncoupled vibration are used as the comparison functions in solving the problem. This is because they fully satisfy all the boundary conditions of coupled vibration, i.e. both the geometric condition at the base of the structure and the dynamic equilibrium condition at the top of the structure (Ng and Kuang, 2000).

3.2

Generalized method of solution

The following two steps are given for deriving the method of solution to the natural frequencies and associated mode shapes of the structure in coupled vibration: 1. To substitute the linear combination of the comparison functions, given by Equation (11), into the eigenvalue equation (8). 2. To apply the virtual work principle, and carry out necessary integral operations and make some simplications. A set of linear homogeneous equations of the ith vibration mode can then be derived and given as follows:
2 2 w - w y 0 - zCw 2

0 2 2 w -wz yCw 2

- zCw 2 yCw 2 2 2 (w 2 - w q ) rm

(i )

(i ) a y 0 (i ) az = 0 a (i ) q 0

(12)

where wy, wz, and wq are the natural frequencies of uncoupled vibration. The solution of Equation (12) consists of two parts: one is the eigenvalue, which corresponds to the natural frequency of coupled vibration; the other is the eigenvector, which corresponds to the vibration mode shape. Thus, a generalized method of solution has been derived for estimating the natural frequencies and associated mode shapes of coupled vibration of the general complex tall buildings.
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296 3.3 Uncoupled vibration

J. S. KUANG AND S. C. NG

In Equation (12), the uncoupled natural frequencies of lateral exureshear vibrations in the two orthogonal principal directions and St Venant warping torsion vibration about the vertical axis of the structure, represented by wy, wz and wq, can be obtained from the non-dimensional natural frequencies (bw)p (p = y, z, q), which are determined from the following frequency equation: a2 a4 p p l l 1 + 1 + cosh cos sinh l p1 sin lp2 = 0 + p1 p2 2 ( )p bw 2 2(bw ) p where l p1 = l p2 (13)

(bw ) p +

a4 a2 p p 4 2

(14)

The solution of the frequency Equation (13) can also simply and conveniently be obtained from the design chart shown in Figure 2, where ap and bp are the characteristic parameters and dened by

250 225 i=5 200

(bw)j(i)

175 150 125 100 75 50 1 25 0 0 2 4 6 8 10 12 14 16 18 20 3 2 4

aj (j = y,z,q)
Figure 2. Uncoupled frequencies (Ng and Kuang, 2000)
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2 ay =

GAy 2 GAz 2 GJ 2 2 2 H , az = H , aq = H EI y EI z EIw mH 4 , EI y b z2 = mH 4 , EI z

2 bq =

2 by =

mH 4 2 rm EIw

(15)

The associated mode shapes, v(u), w(u) and j (u), for each vibration mode are p(u) = a p q(u) (q = v, w, j ) (16)

where ay, az, aq are the indeterminate constants; and q(u) are the non-normalized shape functions given by q(u) = chl p1u - cos l p 2 u l2p1chl p1 + l2p 2 cos l p 2 l p1 shl p1u sin l p 2 u 2 ( ) l p2 l p1shl p1 + bw p cos l p 2 (17)

3.4

Computation procedure

A procedure of computation is presented in the following step-by-step form for determining the natural frequencies and associated mode shapes of the general complex tall buildings in coupled vibration: 1. To determine the structural parameters EIy, EIz, EIw, GAy, GAz, and GJ using Equations (A2) and (A4), and geometric properties yC, zC, and rm using Equations (A6) and (3). The characteristic parameters ay, az, aq and by, bz, bq, are determined by Equation (15). 2. To calculate the uncoupled frequencies wy(i), wz(i) and wq(i) using Equation (13) or simply employing the design chart given by Figure 2. 3. To determine the coupled frequencies using
2 w2 -wy 0 - zCw 2

0 2 2 w -wz yCw 2

- zCw 2 yCw 2 2 2 (w 2 - w q ) rm

(i )

=0

(18)

and the associate mode shapes using

(i ) ( ) a yj v i (u) (i ) (i ) U (u) = azj w (u) a (i )j (i ) (u) qj (i ) j

(19)

where the vibration mode number i = 1, 2, 3, . . . , n, . . . and the vibration shape number j = 1, 2, 3; the constants ayj(i), azj(i), aqj(i) satisfy the following relations:
(i ) a yj (i ) aq j (i ) azj (i ) aq j

zCw (ji )
2

(i ) w (ji ) - w y

(20a)

=-

yCw (ji )
2

(i ) w (ji ) - w z

(20b)
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298

J. S. KUANG AND S. C. NG

The frequency Equation (18) is a cubic equation of w2, whose solution will give three values of coupled vibration frequency w1(i) w2(i) w3(i). Each of the three frequencies for a given vibration mode wj(i) corresponds to a particular pattern of vibration shape Uj(i) presented by Equation (19). 4. NUMERICAL EXAMPLE

To demonstrate the proposed analysis for coupled vibration of a general complex tall building, the structure shown in Figure 1 is considered, which is the building of height H = 105 m, consisting of 35 storeys of 3 m high, with the plan arrangement of L = 42 m and B = 24 m. The structure consists of ve wall bents of 025 m thick, nine frame bents, a structural core and a coupled wall. It is given that elastic modulus E = 20 106 kN/m2, shear modulus G = 9 106 kN/m2, and the intensity of oor slabs r = 2350 kg/m3. The thickness of the oor slab is 015 m. The geometric and structural properties of the walls, frames, coupled wall and structural core are given in Table 1, where S(EIy,i) = 3358 106 kN m2, S(EIz,i) = 1522 106 kN m2 and S(EIw,i) = 420 109 kN m4, and Table 2, where S(GAy,j) = 82984 103 kN, S(GAz,j) = 29714 103 kN and S(GJj) = 9073 106 kN m2. Calculation of the rst three natural frequencies of coupled vibration and associated mode shapes is presented as follows. 1. Geometric and structural properties and characteristic parameters From Tables 1 and 2, the positions of the centre of exural rigidity O and the centre of shear rigidity S in the coordinate system yO z can be determined using Equations (A1) and (A3), given by yo = 18716 m, zo = 14251m; yS = 20308m, zS = 9826 m The positions of the centre of oor plan C and the centre of shear rigidity S in the coordinate system yOz are determined using Equations (A5) and (A6), given by yC = yC - yo = 2284 m, zC = zC - zo = -2251m yS = yS - yo = 1592 m, zS = zS - zo = -4425m

Table 1. Geometric and structural properties of equivalent exural cantilever Coordinate Member i Wall 1 Wall 2 Wall 3 Wall 4 Wall 5 Coupled wall Structural core yi (m) 42 3 39 3 36 45 302 zi (m) 12 0 0 24 24 12 12 EIy,i (106 kN m2) 0156 90 90 90 720 1,802 566 Flexural and torsion stiffnesses EIz,i (106 kN m2) 90 0156 0156 0156 0313 721250 710 EIw,i (106 kN m4) 48,795 18,318 18,344 8,592 68,518 160,194 94,219

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Table 2. Geometric and structural properties of equivalent shear cantilever Coordinate MMember j Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 Frame 9 Coupled wall Core wall yj (m) 0 6 12 18 12 9 9 6 6 45 302 zj (m) 15 12 12 6 0 6 12 18 24 12 12 GAy,j (103 kN) 0 0 0 0 4571 6857 6857 4571 4571 55556 0 Shear and torsion stiffnesses GAz,j (103 kN) 6857 9143 9143 4571 0 0 0 0 0 0 0 GJj (103 kN m2) 3,093 4683 2,553 5,821 9,285 4,669 34759 64236 4,344 48,941 10,984

The stiffnesses of the structure can be calculated using Equations (A2), (A4) and (3): EI y = 3, 35782 10 9 N-m 2 , GAy = 82941 10 6 N EI z = 1, 52203 10 9 N-m 2 , GAz = 29714 10 6 N EIw = 41998 1012 N-m 4 , GJ = 10323 10 9 Nm 2
2 rm = 19874 m 2 , mH 4 = 14, 39646 10 9 kgm 3

The characteristic parameters of the structure are then obtained from Equation (15): a y = 1651, a z = 1467, a q = 1646 b y = 2071, b z = 3076, b q = 2653 2. Natural frequencies of uncoupled vibration With the given values of parameters ay, az and aq, dimensionless natural frequencies of the uncoupled vibration can be determined using the design chart in Figure 2. With the given values of parameters by, bz and bq, natural frequencies of the uncoupled vibration are then obtained from the dimensionless natural frequencies by a simple calculation and given in Table 3. 3. Natural frequencies of coupled vibration Solving Equation (18) gives the natural frequencies of coupled vibration in the rst three modes, which are listed in Table 4. The associated mode shapes can be determined using Equations (19) and (20) and are plotted in Figure 3. A nite element analysis is also carried out for estimating the rst three coupled vibration modes of the example structure by employing a comprehensive FEM package (Wilson et al., 1995). The results from two different methods are presented and compared in Table 4. It can be seen that the results from the proposed method and the nite element analysis agree very well.
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300
0.609 (0.613) z(u) 0.636 (0.627) 1 y(u)

J. S. KUANG AND S. C. NG

-0.586 (-0.591 ) y(u)

-0.0004 (-0.0003 )

1 z(u)

-0.247 (-0.254 ) y(u)

-0.132 (-0.136 )

1 q(u)

q(u) q(u) z(u)

w1(1)=1.486(1.454)s-1 0.581 1 0.459 ( (0.465) 0.587) z(u)

w2(1)=1.884(1.791)s-1 0.092 (0.0888 ) 1 y(u)

w3(1)=2.457(2.294)s-1 -0.072 1 -0.292 (-0.068 ) q(u) (-0.301 )

-0.930 (-0.937)

z(u) y(u) q(u) y(u) q(u) z(u)

w1(2)=7.451(7.327)s-1 0.232 0.274 1 (0.221 ) (0.293 ) z(u) y(u)

w2(2)=9.207(8.864)s -0.453 (-0.449 )

-1

w3(2) =11.951(11.272)s

-1

0.171 1 (0.160 ) y(u)

-0.060 -0.303 1 (-0.313 ) (-0.057 ) q(u) y(u)

z(u)

q(u)

q(u)

z(u)

w1(3)=19.904(18.740)s

-1

w2(3)=24.417(22.553)s

-1

w3(3)=31.638(29.459)s

-1

(- Proposed method; --- FEM analysis) Figure 3. Vibration frequencies and components of vibration shapes for rst three modes

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Table 3. Natural frequencies of uncoupled vibration for rst three modes Non-dimensional frequency Mode i 1 2 3 (bw)
(i) y

Uncoupled frequency (s-1) (bw)q

(i)

(bw)

(i) z

(i) y

wz(i) 1520 7660 20494

wq(i) 1854 9022 23889

4924 23943 63381

4676 23557 63031

4918 23933 63372

2378 11563 30610

Table 4. Coupled vibration frequency for the rst three modes (s-1) Proposed method Mode i 1 2 3 w1
(i)

FEM analysis w3
(i)

w2

(i)

w1

(i)

w2(i) 1791 8864 22553

w3(i) 2295 11272 29459

1486 7451 19904

1884 9207 24417

2457 11951 31638

1454 7327 18740

5.

CONCLUSIONS

Free vibration analysis is presented for the general complex tall building structures, which may consist of any combination of different structural forms, such as frames, shear walls, structural cores and coupled walls. The fee vibration of these tall buildings is generally a coupled lateraltorsional vibration. Based on the continuum technique and DAlemberts principle, the governing equation of motion and the corresponding eigenvalue problem in couple vibration are derived. By applying the Galerkin technique, a generalized method of solution to the eigenvalue equation of the problem is proposed. Based on the proposed method, a computation procedure is presented for predicting the coupled natural frequencies and associated mode shapes of the structures. By following this procedure, the coupled vibration frequencies can be conveniently and quickly determined and the corresponding mode shapes can clearly be displayed. The numerical investigation is conducted pertaining to the free vibration analysis of a general tall building structure to validate the efciency and accuracy of the proposed method. The results from the proposed analysis for the example structure show very good agreement with those from the nite element analysis. It shows that the proposed method provides an efcient and accurate means, particularly at the preliminary design stage, for the dynamic analysis of tall buildings.
REFERENCES

Balendra T, Swaddiwudhipong S, Quek ST, Lee SP. 1984. Free vibration of asymmetric shear wall-frame buildings. Earthquake Engineering and Structural Dynamics 12: 629650. Kuang JS, Ng SC. 2000a. Coupled lateraltorsion vibration of asymmetric shearwall structures. Thin-Walled Structures 38: 93104. Kuang JS, Ng SC. 2000b. Coupled vibration of asymmetric core-walls in tall buildings. In Proceedings of Advances in Structural Dynamics. Elsevier: Oxford; 673680. Kuang JS, Ng SC. 2001. Dynamic coupling of asymmetric shearwall structures: an analytical solution. International Journal of Solids and Structures 38: 87238733. Meirovitch L. 1986. Elements of Vibration Analysis (2nd edn) McGraw-Hill: New York. Ng SC, Kuang JS. 2000. Triply-coupled vibration of asymmetric wall-frame structures in tall buildings. Journal of Structural Engineering ASCE 126: 982987.
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Reinhorn A, Rutenberg A, Gluck J. 1977. Dynamic torsional coupling in asymmetric building structures. Building and Environment 12: 251261. Stafford Smith B, Coull A. 1991. Tall Building Structures: Analysis and Design. Wiley: New York. Wilson EL, Hollings JP, Dovey HH. 1995. ETABS Version 6: Three-Dimensional Analysis of Building Systems. Computers & Structures: Berkeley, CA. Zalka KA. 1995. Dynamic analysis of regular multistorey buildings. In Proceedings of 5th World Congress on Tall Buildings, Amsterdam; 14231445.

APPENDIX A Geometric and structural parameters The coordinates of the equivalent exural cantilever in an arbitrarily selected coordinate system yO z (Figure 1) are

yo =

y EI EI
i i i

z ,i

, zo =

z ,i

z EI EI
i i i

y ,i

(A1)

y ,i

where the coordinate ( y i, z i) represents the position of the centre of exural rigidity of the ith wall or core or coupled wall in the yO z coordinate system. The laterally exural stiffnesses and warping torsional stiffness about the point O of this equivalent cantilever are given by EI y = EI y ,i , EI z = EI z ,i
i i 2 2

(A2)

EIw = EIw ,i ; EIw ,i = ( yi - y0 ) EI z ,i + (zi - zO ) EI y ,i + EIw O ,i EI z ,i

i i

where EIy,i and EIz,i are the exural stiffnesses in y and z directions of the ith wall or core or coupled wall in its local coordinate system; EIwo,i is the warping stiffness of the ith core or coupled wall about its own centre of exural rigidity. Similarly, the coordinates of the equivalent shear cantilever in an arbitrarily selected coordinate system yO z (Figure 1) are

y GA
j

z,j

z GA
j

y,j

yS =

GA
j

, zS =

z,j

GA
j

(A3)

y,j

where the coordinate ( y j, z j) represents the position of the centre of the jth frame bent or coupled wall in the coordinate system yO z . The lateral shear stiffnesses and St Venant torsional stiffness about the point O of this equivalent cantilever are calculated by GAy = GAy , j , GAz = GAz , j , GJ = GJ j
j 2 j 2 j

(A4)

GJ j = ( y j - yO ) GAz , j + (z j - zO ) GAy , j + GJO , j where GAy,j and GAz,j are the shear stiffnesses in y and z directions of the jth frame bent or coupled wall member in its local coordinate system, and EJo,j is the St. Venant stiffness of the jth core or coupled wall about its own centre.

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The vertical axis x is chosen to pass through the point O and over the structural height, and the axes y and z are parallel respectively to y and z as a reference coordinate. The position of the centre of shear rigidity S in the coordinate system yOz is yS = yS - yO , zS = zS - zO and the position of the geometric centre C of the oor plan in the coordinate system yOz is yC = yC - yO , zC = zC - zO where the coordinate ( y c, z c) is the position of point C in the coordinate system yO z . (A6) (A5)

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