INTRODUCTION TO

DYNAMIC ANALYSIS

Civil Engineering Department

Petra Christian University

Simple Structures

Structures can be idealized as a Single Degree of Freedom (SDOF)

System, consist of a concentrated mass m supported by a massless
structure with stiffness k in lateral direction.

a heavy, stiff, concrete roof

tank,
full of water
Reinforced
concrete
column

Light columns

one-story building
Idealization/ modelling
Rigid mass
m
k/2

rigid
base

massless,
elastic
columns
viscous
damping

water tank
m
k

Viscous damping element is

added to model the energy
dissipation caused by various
mechanism such as thermal
effect, friction at connections,
cracks in concrete, etc.
2

Equation of Motion
u(t)
P(t)

Where:
P(t) = external force

k/2

P(t)

fs(t) = elastic restoring force

= k u(t)
(t)
(t)
u(t)

m
fs/2

fd

fs/2

= lateral stiffness of the structure

fd(t) = damping force

= c (t)
c

= viscous damping coefficient

Using Newtons second law of motion, we obtain:

d2u
Note: = 2
P(t) fs(t) fd(t) = m (t)
dt
or:
m + c + k u = P(t)
3

Effective Earthquake Force

u(t)
Initial
condition

m
fs/2

fd

fs/2

ug(t)
ground displacement

Using Newtons second law of motion, we obtain:

0 fs(t) fd(t) = m (t)
Where: ut(t) = total (absolute) displacement of the mass m
ut(t) = ug(t) + u(t)
and
fs(t) = k u(t) ; fd(t) = c (t)
Then,
m + c + k u = - m g(t)
Effective earthquake force

Effective Earthquake Force cont.

P(t) = - mg(t)

u(t)

Identical
deformation
u(t)
moving base

u(t)

stationary base

g(t)

Undamped Free Vibration

m (t) + c (t) + k u(t) = 0

m+ku=0

Partial differential equation, because:

du(t)
d2u(t)
(t) =
and
(t) =
dt
dt2
u0

u0

u0

Tn = 2
/
n
0.15
0.1

u(t)

0.05

0
-0.05
-0.1
-0.15

0.2 d

0.4

0.6

0.8

c
t (sec)

Solution
The solutions for Equation of Motion of Undamped Free Vibration case
( P(t) = 0 ) is a homogenous solution:
t
cos (
u(t) = e -
Dt - )

Where:
= critical damping ratio = c / (2mn)
n = natural circular frequency (2/Tn)
= amplitude
=

o + uo n
2
uo +
D

D = n (1 - 2)
o + uo n
= arc tg
D uo

The various natural frequency and period of structures:

Damped Free Vibration

or

m (t) + c (t) + k u(t) = 0

(t) + 2
n (t) + n2 u(t) = 0

Where:
c
=
=
2mn

c
cr

= The critical damping ratio

cr = critical damping coefficient
= 2(km) = 2mn

1. The solution of P(t) = 0, exactly the same with the case of Undamped
Free Vibration (see p.7)

Free vibration of system with four levels of damping:

= 0.02, 0.05, 0.1 and 0.2

10

2. For Damped Non-Free Vibration ( P(t) 0)

The solution is the summation of homogenous and particular
solution of partial differential equation:
u(t) = uh(t) + up(t)
uh(t) see the solution of Undamped Free Vibration (see p.7)
up(t) usually following the function of P(t)
For example: a. for harmonic function,
t)
P(t) = Po sin (
then: up(t) = sin (
t - )
where :
Po
1
= k
{(1-2)2 + (2)2}
= arc tg (2 / (1 - 2))
= /

11

For example: b. for non-harmonic function (but still in periodic),

the loading should be transformed into Fourierfunction. The solution is superposition of
homogenous and particular solution of each
function, i.e.
u(t) = uh(t) + up1(t) + up2(t) + + upn(t)
c. for un-periodic loading (Impulse Loading)
use Duhamel Integration
d. for un-steady function (Earthquake)
use Step-by-Step Direct Integration

12

Example: Undamped Free Vibration

A 50 m3 water tank is supported by 30x30 cm2 concrete column at
10 m height. The structure is a simple model of SDOF system,
resists 10 cm ground displacement at its base. Calculate the top
maximum displacement! Assumed there is no structural damping.
Answer:
Mass, m = 50 ton
Stiffness, k = 12EI/L3 = 12*2E6/103 = 24000 ton/m
Natural circular frequency, = (k/m) = 21.9 rad/sec
Natural frequency, f = /(2) = 3.49 cycle/sec
Natural period = 1/f = 0.286 sec
Initial condition: initial displacement, u(0) = 0.1 m
initial velocity, (0) = 0 m/sec
10 cm

13

Displacement:
u(t) = e-t cos (Dt - )
c
=
2mn

0
=
=0
2mn

e-t = 1
=

o + uon
2
uo +
D

0.12 +

0+ 0
D

= 0.1 m

D = n (1- 2) = n = 21.9 rad/sec

o + uon
= arc tg
uoD

0+ 0
= arc tg 0.1
D

=0

u(t) = 0.1 cos (21.9 t)

14

How is the response during the first one second if we consider

the critical damping ratio, = 0.05; 0.1; 0.15; and 0.2

15

Displacement History

0.1
0.05

-0.1

0.95

0.9

0.85

0.8

0.75

0.7

0.65

0.6

0.55

0.5

0.45

0.4

0.35

0.3

0.25

0.2

0.15

0.1

-0.05

0.05

0
0

displacemen, u(t)

0.15
=0
= 0.05
= 0.1
= 0.15
= 0.2

-0.15
t (sec)

16

17

18

19

Generalized SDOF Systems

Considering 3 examples of complex systems:
ma
u(x,t)
mb

kc

u(x,t)
L

ce
kd

ug(t)

(a)
An assemblage of
rigid bodies

m4

ug(t)

(b)
A system with
distributed mass
and flexibility

m3

k4

m2
m1

k3
k2
k1

u4
u3
u2
u1
ug(t)

(c)
A multi-story
shear building

If the deformation of complex systems can be (approximately) expressed as:

u(x,t) = (x) . z(t)
where: (x) : a shape function (dimensionless) or a mode shape
z(t) : a single generalized displacement
or for the case (c): ui(t) = i . z(t) where i : a shape factor at the ith story
20

Then, it can be shown that the governing equation of motion of each of

these complex system is in the form of:
(t) . (1)
z(t)
+ c z(t)
+ k z(t) = - L
m
g

and L are defined as the generalized mass, generalized

k,
c,
Where m,
damping, generalized stiffness, and generalized force factor of the
system, respectively.
ma

For the system (a):

~ = m 2 ( xa ) + m 2 ( xb )
m
a
b
c~ = ce 2 ( xe )
~
k = kc 2 ( xc ) + md 2 ( xd )
~
L = ma ( xc ) + mb ( xx )

xa

mb

kc

ce

xc

xb

xe
xd

kd
ug(t)

21

m4
u(x,t)
L
x

m3

k4

m2
m1

k3
k2
k1

~ = m( x). 2 ( x)dx
m

~
k = EI ( x).( " ( x) 2 dx
0
L

~
L = m( x). ( x)dx
0

u3
u2
u1
ug(t)

ug(t)

For the system (b):

u4

For the system (c):

N

~ = m 2
m
j j

(N = 4 in this case)

j =1

~ N
k = k j ( j j 1 ) 2
j =1

~ N
L = m j j

where k j =

12EI
;

3
column h

h : story height

j =1

Therefore, given the vibration shape and the distribution of mass and
flexibility of a complex system, it is possible to evaluate all of these
generalized properties of the system.
22

~ gives:
Dividing the equation (1) by m

~
&z& + 2n z& + 2 n z = u&&g (t )
.... (2)
~ ~
2
Where : n = k / m : the natural frequency of the generalized SDOF sytem
~~
= c~ / 2 k m
: the (modal) damping ratio

~ ~ ~
= L/m
(dimensionless factor)
The equation (2) says that the
generalized displacement z(t) of the
generalized SDOF system due to
ground motion ug(t) is identical to
the displacement response u(t) of a
simple SDOF system (having the
~
same n and ) to ground motion ug (t ).

n,
m

u(t) = z(t) of the

generalized
SDOF system.

~
u g (t ).

23

Suppose that the response spectrum of the ground motion ug(t) is

available. It is then possible to estimate peak earthquake response of the
generalized SDOF system:
~

~
Peak value of z(t) = zo = D = 2 A

where D and A are the deformation and pseudo-acceleration ordinates,

respectively, of the spectrum at the modal period Tn = 2/n for the
modal damping ratio ,

Peak displacements: uo ( x ) = D. ( x ) or

~
u jo = D. j

24

Equivalent static forces (external static forces that would cause

displacement uo(x)) for the system (b) can be derived from elementary
beam theory as:

f so ( x) = [EI ( x).uo " ( x)]"

fso(x)

uo(x)

or alternatively
~
f so (x) = m(x).n2 .u o (x) = A.m( x). ( x)
Thus, the shear and bending moment at height above the base are:
L

Vo ( x) =
x

~
f so ( ).d = A. m( ). ( )d
x

~
M o ( x) = ( x). f so ( )d = A. ( x).m( ). ( )d
The shear and bending moment at the base of the tower are
~~
~ ~
Vbo = Vo (0) = L .. A and M bo = M o( 0 ) = L ..A
L

~
where : L = x.m( x). ( x).dx
0

25

For the case of shear building in system (c):

m4

f4o
f3o
f2o
f1o

m3
m2
m1

u4o
u3o
u2o
u1o

~
f jo = A.m j j
for j = 1,2,..., N
in this case N = 4

ug(t)

The shear force Vio in the ith story is:

N
~ N
Vio = f jo = A. m j . j
j =1

j =1

The overturning moment at the ith story is:

N
~ N
M io = (h j hi ) f jo = A. (h j hi )m j . j
j =1

j =1

Where hi is the height of the ith floor above the base.

26

The shear and overturning moment at the base are:

N

~~
Vbo = f jo = L .. A
j =1

~ ~
M bo = h j . f jo = L .A.
j =1

N
~
where: L = h .m .
j
j
j
j =1

~ ~
~
Noted here that the generalized factors L , L , and depend only on the
vibration shape and the mass distribution of the complex system.

27

Example 1:

(x) = 1 cos

m,EI
x

x
2L

A uniform cantilever tower of length L

has mass per unit length = m and
flexural rigidity EI. Assuming the shape
function (x) = 1 cos (x / 2L),
formulate the equation or motion for
the system excited by ground motion,
and determine its natural frequency.

1. Determine the generalized properties

2
L

~
m = m 1 cos dx = 0.227 mL
2L
0

~
2
x
k = EI 2 cos 2
dx = 3.04 EI / L3
4L
2L
0
L

~
The computed k is close to
the stiffness of the tower
under a concentrated lateral
force at the top (3EI/L)

L = m 1 cos dx = 0.363 mL
2L
0
L

28

2. Determine the natural vibration frequency.

~
k 3.66 EI
n = ~ = 2
m
L
m
This approximate result is close to the exact natural frequency, (i.e.
(3.516/L2)(EI/m). The error is only 4%.
3. Formulate the equation of motion.

~ ~ ~
= L / m = 0.363mL /(0.227mL) = 1.6
Then, the equation of motion is :
&z& + n2 z = 0.6u&&g (t )

29

Example 2:
A reinforced-concrete chimney, 600 ft high, has a uniform hollow circular
cross section with outside diameter 50 ft and wall thickness 2 ft 6 in. For
purposes of preliminary earthquake analysis, the chimney is assumed
clamped at the base, the mass and flexural rigidity are computed from the
gross area of the concrete (neglecting the reinforcing steel), and the
damping is estimated as 5%. The unit weight of concrete is 150 lb/ft3 and
its elastic modulus Ec = 3600 ksi.
Assuming the shape function as in Example 1, estimate the peak
displacement, shear forces, and bending moments for the chimney due to
ground motion characterized by the design spectrum, scaled to a peak
acceleration 0.25g.

30

1. Determine the chimney properties.

Length : L = 600 ft
Cross - sectional area : A = (252 22.52 ) = 373.1 ft 2
150 x373.1
= 1.738 kip - sec2 /ft 2
Mass/foot length : m =
32.2
Second moment of area : I =

(254 22.54 ) = 105,507 ft 4

4
Flexural rigidity : EI = 5.469 x1010 kip - ft 2

2. Determine the natural period. From Example 1,

~
k 3.66 EI
= 1.80 rad/sec
n = ~ = 2
m
L
m
2
Tn =
= 3.49 sec

3. Determine the peak value of z(t). For Tn = 3.49 sec and = 0.05, the
design spectrum gives A/g = 0.25(1.80/3.49) = 0.129. The
corresponding deformation is D = A/n2 = 15.3 in. The peak value of
z(t) is: zo = 1.6D = 1.6 x 15.3 = 27.6 in
31

4. Determine the peak displacements uo(x) of the tower (fig.b)

x

uo ( x) = ( x) zo = 27.61 cos
in
L
2

5. Determine the equivalent static forces.

x

f o ( x ) = m( x ) ( x ) A = (1.6)(1.738)1 cos 0.129 g

2L

= 11.581 cos
kips/ft (shown in fig.c)
2L

6. Compute the shears and bending moments. Static analysis of the

chimney subjected to external forces fo(x) gives the shear forces and
bending moments. The results are presented in fig. d and e. If we were
interested only in the forces at the base of the chimney, they could be
computed directly. In particular, the base shear is
~~
Vbo = L A = (0.363mL)(1.6)0.129 g

= 0.0749mLg = 2518 kips

This is 7.49% of the total weight of the chimney.
32

Elastic pseudo-acceleration design spectrum for ground motions with

go = 1g, go = 48 in/sec, and ugo = 36 in; = 5%
33

Example 3:
The uniform five-story frame with rigid beams
shown in figure is subjected to ground
acceleration g(t). All the floor masses are m,
and all stories have the same height h and
stiffness k. Assuming the displacements to
increase linearly with height above the base
(fig. b), formulate the equation of motion for the
system and determine its natural frequency.
1. Determine the generalized properties.
5
12 + 22 + 32 + 42 + 52 11
2
~
m = m j j = m
= m
2
5
5
j =1

~ 5
12 + 12 + 12 + 12 + 12 k
2
k = k j ( j j 1 ) = k
=
2
5
5
j =1
1+ 2 + 3 + 4 + 5
~ 5
L = m j j = m
= 3m
5
j =1
34

~
~
2. Formulate the equation of motion. Substituting for m and L gives

~ 15
=
11

and the equation of motion becomes

15
&z& + n2 z = u&&g (t )
11
where z is the lateral displacement at the location where j = 1, in this
case the top of the frame.
3. Determine the natural vibration frequency

n =

k /5
k
= 0.302
11m / 5
m

This is about 6% higher than n = 0.285 (k/m) , the exact frequency

of the system.

35

Example 4:
Determine the peak displacements, story shears, and floor overturning
moments for the frame of Example 3 with m = 100 kips/g, k = 31.54 kips/in,
and h = 12 ft (fig. a) due to the ground motion characterized by the design
spectrum of previous figure, scaled to a peak ground acceleration 0f 0.25g.

1. Compute the natural period.

n = 0.302
Tn =

31.54
= 3.332
100 / 386

2
= 1.89 sec
3.332

36

2. Determine the peak value of z(t). For Tn = 1.89 sec and = 0.05, the
design spectrum gives A/g = 0.25 (1.80/1.89) = 0.238 and D = A/n2 =
8.28 in. The peak value of z(t) is
zo =

15
15
D = 8.28 = 11.3 in
11
11

3. Determine the peak values ujo of floor displacements.

j
j =
u jo = j zo
Therefore, u1o = 2.26, u2o = 4.52, u3o = 6.78,
5
u = 9.04, and u = 11.3, all in inches (fig. b)
4o

5o

4. Determine the equivalent static forces.

15
~
f jo = m j j A = m j (0.238 g ) = 32.45 j kips (shown in Fig. c)
11

5. Compute the story shears and overturning moments. Static analysis of

the structure subjected to external floor forces fjo, gives the story shear
(fig. d) and overturning moments (fig. e). If we were interested only in
the forces at the base, they could be computed directly. In particular, the
base shear is:
15
~~
Vbo = L A = (3m) (0.238 g ) = 97.35 kips
37
11