FUNDAMENTAL

OBJECTIVES OF
STRUCTURAL DYNAMICS
 Disturbance Civil Engineering Response
structures
Buildings
Structural
Bridges etc.
design
Safety
Serviceability

“Vibration”
Structural
Dynamic force Displacement u(t)
model
Stress σ(t)
Earthquake
Wind
Machinery
Vehicle (traffic) etc.

Structural dynamics
  Dynamic load: Magnitude, Direction, Position varies
with time.
1) Prescribed dynamic loading: If the time variation of loading
is fully known, it is called prescribed dynamic loading.
Prescribed loading may be periodic or nonperiodic., i.e.
sinusoidal variation called simple harmonic like unbalanced
mass effects in rotating machinery and hydrodynamic
pressures generated by a propeller at the stern of a ship.
1) Prescribed dynamic loading: Nonperiodic loading may be
either short duration impulsive loadings like a blast or
explosion or long duration loading such as earthquake
2) Random dynamic loading: If the time variation of loading is not
completely known but can be defined in a statistical sense, it is
called random dynamic loading.

 Dynamic response: The structural response to a dynamic load i.e.

the resulting stresses and deflections, is also time varying and is
called dynamic response.

1) Deterministic analysis: If the loading is prescribed dynamic

loading, the analysis of the response of structural system is
defined as deterministic analysis

2) Non-deterministic analysis: If the loading is random dynamic

loading, the corresponding analysis of response is defined as non-
deterministic analysis.
 Essential characteristics of a dynamic problem
(1) Time variation (2) Inertial forces

External Structure Response Governing

force equation
Structural f k u -ku+f=0
mechanics
Structural f(t) m c k  u
u u  mu  cu  ku  f 0
dynamics
 Degree of Freedom (DOF)
 Number of independent displacements which must
be considered in order to represent or describe the
motion or position of the structure is called “degree
of freedom” DOF.
 Methods of discretization
Lumped-mass Generalized Finite-element
procedure displacements procedure

Lumped-mass procedure
 An analysis of the dynamic system is
complicated because of inertial forces which
result from structural time-varying
displacements which in turn are influenced by
the magnitudes of inertial forces. Thus it is
required to formulate the system by writing its
differential equations.

 In lumped-mass procedure, the mass of the system is assumed to be

concentrated at discrete points. Then the analytical problem is greatly
simplified because it is required only to write differential equations at the
lumped mass points where inertial forces are developed.
2) Method of generalized displacement
 Lumped-mass procedure
provides a simple means of
limiting the number of DOF.
Lumping procedure is most
effective in treating systems
in which a large proportion of
the total mass actually is
concentrated at a few
discrete points..
 When the mass of the system
is quite uniformly distributed
throughout, an alternative to
limit DOF is needed.

 This procedure is based on

the assumption that the
deflected shape of the
structure can be expressed
as the sum of a series of
specified displacement
patterns. These patterns then
become the displacement
coordinates of the structure.
 2) Method of generalized displacement
 A simple example of this approach
is the trigonometric series
representation of the deflection of
a simple beam. In this case, the
deflection shape may be
expressed as the sum of
independent sine-wave
contributions.


nx
v( x )  b n sin
n 1 L

 In general, any shape which are compatible with the prescribed geometric-
support conditions and which maintain the necessary continuity of internal
displacements may be assumed. Thus a
generalized expression for the displacements
of any one dimensional structure might be written
 3) The finite-element concept

 Finite element concept combines certain features of both the

lumped mass and the generalized coordinates procedures, and
is particularly effective computer analyses.

 In the finite element idealization, the structure is divided into an

appropriate number of elements which may be all of the same
size or all different. The corners of these elements, at which
they are interconnected, are called nodal points.

 The deflection shape of the complete structure can now be expressed in

terms of these nodal points by means of an appropriate set of assumed
displacement functions. The displacement functions are called interpolation
functions.
Equations of motion of
basic dynamic system
 Single DOF system
The essential physical properties of any linearly elastic system
subjected to an external source of excitation or dynamic
loading are its mass, elastic properties and damping. The
simplest model is a SDOF system in which each of these
properties is assumed to be concentrated in a single physical
element.
D’Alembert’s principle:
A system may be set in a state of dynamic equilibrium by
adding to the external forces a fictitious force that is commonly
known as “inertial force”.
f mu  f  mu 0
Consider a SDOF system. The entire mass m of this system
is included in the rigid block which is constrained by rollers
so that it can move only in simple translation; thus the single
displacement coordinate u(t) completely defines its position.
The elastic resistance to displacement is provided by the
weightless spring of stiffness k, while the energy loss
represented by the damper c. The external dynamic loading
producing the response of this system is the time-varying
force p(t).
 Single DOF system

The forces acting in the direction of the displacement are the

applied load p(t) and three resisting forces resulting from the
motion are inertial foces fI(t), the damping force fD(t) and the
spring force fs(t). By equilibrium
 Single DOF system (Equation of motion)

In accordance with d’Alembert’s principle, the inertial force is the

product of the mass and acceleration
Assuming a viscous mechanism, the damping force is the product
of the damping constant c and the velocity
The elastic force is the product of the spring stiffness and the
displacement
f I t  f D t  f s t  pt 
f I t  mu t 
f D t  cu t 
f s t  ku t 
mu t  cu t  ku t  pt 
 Influence of gravitational forces, single DOF
system (Equation of motion)
Consider the system where the forces of gravity acts in the
direction of the displacement.
Now the equilibrium of the forces

mu t  cu
 t  ku t  pt  W
 Influence of gravitational forces, single DOF
system (Equation of motion)
Consider the system where the forces of gravity acts in the
direction of the displacement. Now the equilibrium of the
forces  st static displacement caused by weight W
u t  Dynamic displacement
u t   st  u t  ...........(1)
f s t  ku t  k st  ku t  ( 2)
mu t  cu
 t  k st  ku t  pt  W ..(3)
but W k st .........(4)
Thus
mu t  cu
 t  k st  ku t  pt  k st
mu t  cu
 t  ku t  pt  ..............(5)

With reference to Differentiating (1)

static Equilibrium  t  u
u  t 

position Of the u t  u t 

dynamic system Thus eq (5) becomes

is not affected by mu t  cu

 t  ku t  pt 
Thus same as
gravity forces.
mu t  cu
 t  ku t  pt 
Influence of support excitation, single DOF system
(Equation of motion)
Dynamic stresses and deflections can be
induced in a structure not only by a time-
varying applied load, but also by motions of
its support points, e.g. the motions of a
building foundation caused by an
earthquake.
Consider the case a simplified model of the
earthquake excitation problem in which the
horizontal ground motion caused by the
earthquake is indicated by the
displacement ug(t) of the structure’s base
relative to the fixed reference axis.
The horizontal girder in this frame is assumed
to be rigid and to include all the moving
mass of the structure. The vertical columns
are assumed to be weightless and
inextensible in the vertical direction.
The equilibrium of forces for this system
Influence of support excitation, single DOF system
(Equation of motion)
f I t  f D t  f s t  0
f I t  mu t t 
mu t t  cu
 t  ku t  0
Before this equation can be solved, all forces must be expressed in terms of
a single variable, which can be accomplished by noting that the total
motion of the mass can be expressed as the sum of the ground motion
and that due to column distortion.
u t t  u t   u g t 
mu t   mu g t   cu
 t   ku t  0
Since the ground acceleration represents the specified dynamic input to the
structure, the same equation of motion can be written
mu t   cu
 t   ku t   mu g t  p eff t 
 Damping
 Damping is the process of dissipation of energy of vibration

 There are many sources of damping and different mechanism of energy

dissipation in a structure. The sources of damping are classified into two types,
namely material or internal damping and non-material or external damping.
Material damping, usually caused by the viscoelastic property of materials, is
one of the properties of the material of which the structure is composed of.
Whereas, non-material damping is caused by external sources such as friction
at the connection of members or at the supports of structures and fluid
damping caused by the surroundings like water, air, soil etc.
Mechanism or sources of damping
Non-material or
Material or External damping
internal damping
Opening/closing of
microcracks
Steel Friction with
Concrete atmosphere(air, water)
Joint friction etc.
Damping
 Damping
 All of these damping sources may contribute to the total damping characteristics of the structure, although the contribution of each source could be different. It
is, therefore, usually very difficult to model the damping of structures precisely.

 The most common and simplified model of damping is a viscous damper

which the following characteristics.

f D t   cu

 fD is the damping force, c is the damping coefficient, and du/dt is the velocity
and minus sign indicates that the direction of the damping force is opposite
to that of the velocity of motion.
 As all of the damping sources mentioned above can not be directly modelled
as viscous damping, an equivalent viscous damping coefficient is
considered in order to simplify and model the complicated daming
mechanism in the structure.
PROBLEMS

CHAPTER-1
 Problem-1.1
 Starting from the basic definition of stiffness, determine the
effective stiffness of the combined spring and write the equation
of motion for the spring-mass systems shown in Fig below.

Solution  If Ke is the effective stiffness

fs k eu (a )
 Equilibrium of forces fs k 1  k 2 u

 fs 
 Effective stiffness k e   k 1  k 2
u
 Equation of motion   k eu pt 
mu
 Problem-1.2
 Starting from the basic definition of stiffness, determine the
effective stiffness of the combined spring and write the equation
of motion for the spring-mass systems shown in Fig below.

Solution
 If Ke is the effective stiffness
fs k eu (a )
 If the elongations of the two springs are u1 and u2
u u1  u2 (b)
 Because the force in each spring is fs
fs k 1u1 fs k 2u2 (c )
 Solution
 Solving for u1 and u2 and substituting in eq.(b) gives

fs fs f s 1 1 1 k 1k 2
      ke 
k e k1 k 2 k e k1 k 2 k1  k 2

 Equation of motion   k eu pt 

mu
 Problem-1.3
 Starting from the basic definition of stiffness, determine the
effective stiffness of the combined spring and write the equation
of motion for the spring-mass systems shown in Fig below.
Solution This problem can be
solved either by
starting from the
definition of stiffness
or by using the
results of problems
1.1&1.1. We adopt
the latter approach
to illustrate the
procedure of
reducing a system
with several springs
to a single
equivalent spring.
 Solution
 First, using problem 1.1, the parallel arrangement of k1 and k2 is
replaced by a single spring as shown in Fig. 1.3(b). Second,
using the result of problem 1.2, the series arrangement of
springs in Fig. 1.3(b) is replaced by a single spring as shown in
Fig. 1.3(c).
1 1 1
 
k e k1  k 2 k 3

 Therefore, the effective stiffness is

ke 
k 1  k 2 k 3
k1  k 2  k 3

 Equation of motion   k eu pt 

mu
 Problem-1.4
 Derive the equation governing the free motion of a simple
pendulum which consists of a rigid massless rod pivoted point
O with a mass m attached at the tip. Linearize the equation, for
small oscillations, and determine the natural frequency of
oscillation.
Solution
 Write equation of
motion in tangential
direction
 Method 1: By Newton’s
law

 mg sin  ma
 mg sin  mL a
mL  mg sin  0
 Solution

 This nonlinear differential equation governs the motion for any

rotation 
 Method 2: Equilibrium of moments about o yields

mL2  mgL sin 

or
mL  mgL sin  0
 Solution
 Linearize for small 
 For small , sin    and eq.(a) becomes
mL  mg  0
 g
      0 (b)
L
 Determine natural frequency
g
n 
L
 Problem-1.5
 Consider the free motion in the xy plane of a compound
pendulum which consists of a rigid rod suspended from a point.
The length of the rod is L and its mass m is uniformly
distributed. The width of the uniform is b and the thickness is t.
The angular displacement of the center line of the pendulum
measured from the y-axis is denoted by (t).
a) Derive the equations governing (t).
b) Linearize the equation for small .
c) Determine the natural frequency of small oscillations.
 Solution
 Write the equation of motion using Newton’s second law of motion

2
1 2 L 1 2
Io  mL  m   mL
12  2 3
 Draw a free body diagram of a body in an arbitrary displaced
position
 Solution
 Write the equation of motion using Newton’s second law of motion

M o
Io
L 1 2
 mg sin   mL 
2 3
mL2  mgL
 sin  0 (a )
3 2
 Specialize for small 
 For small , sin    and eq.(a) becomes
mL2  mgL
  0
3 2
  3 g 0 (b)
2L

 Determine natural frequency 3g

n 
2L