SDOF Dynamics

Structural Dynamics
Equations of Motion for SDOF Structures

Structural Frequency and Period of Vibration
Behavior under Dynamic Load
Dynamic Magnification
Effect of Damping on Behavior
Linear Elastic Response Spectra
SDOF Dynamics 1
Revised 3/09/06
Idealized Single Degree of Freedom Structure

F(t)
Mass
F ( t ), u ( t )
Damping
Stiffness
u(t)
SDOF Dynamics 2
Equation of Dynamic Equilibrium

f I (t )
0 .5 f S ( t )
fD (t )
F (t )
0 .5 f S ( t )
F (t ) f I (t ) fD (t ) fS (t ) = 0
fI (t ) + fD (t ) + fS (t ) = F (t )
SDOF Dynamics 3
Observed Response of Linear SDOF

Applied Force, kips
40
0
-40
0.00
0.20
0.40
0.60
0.80
1.00
0.40
0.60
0.80
1.00
0.40
0.60
0.80
1.00
0.40
0.60
0.80
1.00
Displacement, in
0.50
0.00
-0.50
0.00
15.00
0.20
Velocity, in/sec
0.00
-15.00
0.00
0.20
Acceleration, in/sec2
400.00
0.00
-400.00
0.00
0.20
Time, Seconds
SDOF Dynamics 4
Observed Response of Linear SDOF

(Development of Equilibrium Equation)
Spring Force, kips
Inertial Force, kips
Damping Force, Kips
30.00
4.00
50.00
15.00
2.00
25.00
0.00
0.00
0.00
-15.00
-2.00
-25.00
-30.00
-0.60
-4.00
-20.00
-50.00
-500
-0.30
0.00
0.30
Displacement, inches
SLOPE = k
= 50 kip/in
f S ( t ) = k u( t )
0.60
-10.00
0.00
10.00
20.00
Velocity, In/sec
SLOPE = c
= 0.254 kip-sec/in
f D ( t ) = c u ( t )
-250
250
500
Acceleration, in/sec2
SLOPE = m
= 0.130 kip-sec2/in
f I ( t ) = m u( t )
SDOF Dynamics 5
Equation of Dynamic Equilibrium

f I (t )
0 .5 f S ( t )
fD (t )
F (t )
0 .5 f S ( t )
fI (t ) + fD (t ) + fS (t ) = F (t )
m u( t ) + c u ( t ) + k u ( t ) = F ( t )
SDOF Dynamics 6
MASS
INERTIAL FORCE
Properties of Structural MASS
M
1.0
ACCELERATION
Includes all dead weight of structure

May include some live load
Has units of FORCE/ACCELERATION
SDOF Dynamics 7
DAMPING
DAMPING FORCE
Properties of Structural DAMPING
C
1.0
VELOCITY
In absence of dampers, is called Natural Damping

Usually represented by linear viscous dashpot
Has units of FORCE/VELOCITY
SDOF Dynamics 8
DAMPING
DAMPING FORCE
Properties of Structural DAMPING (2)
AREA =
ENERGY
DISSIPATED
DISPLACEMENT
Damping vs Displacement response is

Elliptical for Linear Viscous Damper
SDOF Dynamics 9
STIFFNESS
SPRING FORCE
Properties of Structural STIFFNESS
K
1.0
DISPLACEMENT
Includes all structural members

May include some seismically nonstructural members
Requires careful mathematical modelling
Has units of FORCE/DISPLACEMENT
SDOF Dynamics 10
SPRING FORCE
STIFFNESS
Properties of Structural STIFFNESS (2)
AREA =
ENERGY
DISSIPATED
DISPLACEMENT
Is almost always nonlinear in real seismic response

Nonlinearity is implicitly handled by codes
Explicit modelling of nonlinear effects is possible
SDOF Dynamics 11
Undamped Free Vibration

Equation of Motion:
Initial Conditions:
Assume:
m u( t ) + k u( t ) = 0
u0 u 0
u ( t ) = A sin( t ) + B cos( t )
A=
u 0
u (t ) =
u 0
Solution:
B = u0
k
m
sin( t ) + u 0 cos( t )
SDOF Dynamics 12
Undamped Free Vibration (2)

u 0
T = 0.5 seconds
1.0
3
2
1
0
-1
-2
-3
u0
0.0
0.5
1.0
1.5
2.0
Time, seconds
Circular Frequency
(radians/sec)
k
m
Cyclic Frequency
(cycles/sec, Hertz)
f =
2
Period of Vibration
(seconds/cycle)
1
2
T =
=
f
SDOF Dynamics 13
Approximate Periods of Vibration

(ASCE 7-05)
Ta = C h
x
t n
Ct = 0.028, x = 0.8 for Steel Moment Frames

Ct = 0.016, x = 0.9 for Concrete Moment Frames
Ct = 0.030, x = 0.75 for Eccentrically Braced Frames
Ct = 0.020, x = 0.75 for All Other Systems
Note: Buildings ONLY!
T = 0.1N
a
For Moment Frames < 12 stories in height, minimum

story height of 10 feet. N= Number of Stories.
SDOF Dynamics 14
Empirical Data for Determination

of Approximate Period For Steel Moment Frames
Ta = 0.028hn0.8
SDOF Dynamics 15
Periods of Vibration of Common Structures

20 story moment resisting frame
T = 1.9 sec.
T = 1.1 sec.
T = 0.15 sec
20 story braced frame

T = 1.3 sec
T = 0.8 sec
T = 0.1 sec
Gravity Dam
Suspension Bridge
T = 0.2 sec
T = 20 sec
SDOF Dynamics 16
Adjustment Factor on Approximate Period

(ASCE 7-05)
T = Ta Cu Tcomputed
SD1
> 0.40g
0.30g
0.20g
0.15g
< 0.1g
Cu
1.4
1.4
1.5
1.6
1.7
Applicable ONLY if Tcomputed comes from a properly

substantiated analysis
SDOF Dynamics 17
Damped Free Vibration
m u( t ) + c u ( t ) + k u ( t ) = 0
Initial Conditions: u0
u 0
st
Assume: u ( t ) = e
Equation of Motion:
Solution:
u( t ) = e
u 0 + u 0
sin( D t )
u 0 cos( D t ) +
D
c
c
=
=
2m
cc
D = 1
SDOF Dynamics 18
Damping in Structures
True damping in structures is NOT viscous. However, for low
damping values, viscous damping allows for linear equations
and vastly simplifies the solution.
Spring Force, kips
Inertial Force, kips
Damping Force, Kips
30.00
4.00
50.00
15.00
2.00
25.00
0.00
0.00
0.00
-15.00
-2.00
-25.00
-30.00
-0.60
-4.00
-20.00
-50.00
-500
-0.30
0.00
0.30
0.60
-10.00
0.00
10.00
Velocity, In/sec
20.00
-250
250
2
Acceleration, in/sec
SDOF Dynamics 19
500
Damped Free Vibration (2)

3
2
1
0
-1
-2
-3
0% Damping
10% Damping
20% Damping
0.0
0.5
1.0
1.5
2.0
Time, seconds
SDOF Dynamics 20
Damping in Structures
c
c
=
=
2m
cc
Cc is the Critical Damping Constant
is expressed as a ratio (0.0 < < 1.0) in computations.

Sometimes is expressed as a percent (0 < < 100%)
Displacement, in
Time, sec
Response of Critically Damped System, =1.0 or 100% critical
SDOF Dynamics 21
Damping in Structures (2)

Welded Steel Frame
Bolted Steel Frame
= 0.010
= 0.020
Uncracked Prestressed Concrete

Uncracked Reinforced Concrete
Cracked Reinforced Concrete
= 0.015
= 0.020
= 0.035
Glued Plywood Shear wall

Nailed Plywood Shear wall
= 0.100
= 0.150
Damaged Steel Structure

Damaged Concrete Structure
= 0.050
= 0.075
Structure with Added Damping
= 0.250
SDOF Dynamics 22
Damping in Structures (3)

Natural Damping
is a structural (material) property,

independent of mass and stiffness
NATURAL = 0.5 to 7.0% critical

Added Damping
C
is a structural property, dependent on

mass and stiffness, and
damping constant C of device
ADDED = 10 to 30% critical

SDOF Dynamics 23
Measuring Damping from Free Vibration Test

FOR ALL
DAMPING VALUES
u1
=
ln
u2
u1
Amplitude
0.5
u2
u3
2
1 2
u0 e
-0.5
-1
0.00
0.50
1.00
FOR VERY LOW

DAMPING VALUES
1.50
2.00
2.50
3.00
u1 u 2
2 u2
Time, Seconds
SDOF Dynamics 24
Undamped Harmonic Loading

Equation of Motion:
= Frequency of the Forcing Function
Force, Kips
T =
150
100
50
0
-50
-100
-150
0.00
m u( t ) + k u ( t ) = p 0 sin( t )
0.25
= 0.25 Seconds
po=100 kips
0.50
0.75
1.00
1.25
1.50
1.75
2.00
Time, Seconds
SDOF Dynamics 25
Undamped Harmonic Loading (2)

( t ) + k u ( t ) = p 0 s in ( t )
Equation of Motion: m u
Assume system is initially at rest:
Particular Solution: u ( t ) = C s i n ( t )
Complimentary Solution: u( t ) = A sin(t ) + B cos(t )
Solution:
p0
u (t ) =
sin( t ) sin( t )
2
k 1 ( / )
SDOF Dynamics 26
Undamped Harmonic Loading
Define
LOADING FREQUENCY
Structures NATURAL FREQUENCY
Dynamic Magnifier
Transient Response
(at Structures Frequency)
p0
1
u( t ) =
sin( t ) sin( t ) )
2 (
k 1
Static Displacement
Steady State
Response
(At Loading Frequency)
SDOF Dynamics 27
= 4 rad / sec = 2 rad / sec

LOADING,kips
200
100
0
-100
-200
0.00
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
10
5
0
-5
-10
0.00
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
10
5
0
-5
-10
0.00
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
10
5
0
-5
-10
0.00
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
STEADY
STATE
RESPONSE, in
sp ace e t,
TRANSIENT
RESPONSE, in.
TOTAL
RESPONSE, in
= 0.5 uS = 5.0 in.
Time, seconds
SDOF Dynamics 28
4 rad / sec = 4 rad / sec

LOADING,
kips
150
100
50
0
-5 0
-1 0 0
-1 5 0
0 .0 0
= 0.99 u S = 5.0 in.
0 .2 5
0 .5 0
0 .7 5
1 .0 0
1 .2 5
1 .5 0
1 .7 5
2 .0 0
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
500
STEADY
STATE
RESPONSE, in
250
0
-250
-500
0.00
500
250
TRANSIENT
RESPONSE, in
0
-250
-500
0.00
80
0
p
TOTAL
RESPONSE, in
40
-40
-80
0.00
T ime, seconds
SDOF Dynamics 29
Undamped Resonant Response Curve

80
2 uS
Displacement, in.
40
-40
Linear Envelope
-80
0.00
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
Time, seconds
SDOF Dynamics 30
4 rad / sec = 4 rad / sec

LOADING, kips
150
100
50
0
-5 0
-1 0 0
-1 5 0
0 .0 0
= 1.01
u S = 5.0 in.
0 .2 5
0 .5 0
0 .7 5
1 .0 0
1 .2 5
1 .5 0
1 .7 5
2 .0 0
0 .2 5
0 .5 0
0 .7 5
1 .0 0
1 .2 5
1 .5 0
1 .7 5
2 .0 0
0 .2 5
0 .5 0
0 .7 5
1 .0 0
1 .2 5
1 .5 0
1 .7 5
2 .0 0
0 .2 5
0 .5 0
0 .7 5
1 .0 0
1 .2 5
1 .5 0
1 .7 5
500
STEADY
STATE
RESPONSE, in.
250
0
-2 5 0
-5 0 0
0 .0 0
500
TRANSIENT
RESPONSE, in.
250
0
-2 5 0
-5 0 0
0 .0 0
80
40
0
TOTAL
RESPONSE, in.
-4 0
-8 0
0 .0 0
2 .0 0
T im e , s e c o n d s
SDOF Dynamics 31
= 4 rad / sec
LOADING, kips.
150
100
50
0
-50
-100
-150
0.00
= 2.0 uS = 5.0 in.
= 8 rad / sec
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
0 .2 5
0 .5 0
0 .7 5
1 .0 0
1 .2 5
1 .5 0
1 .7 5
2 .0 0
0 .2 5
0.5 0
0 .75
1 .0 0
1 .2 5
1 .5 0
1.7 5
2 .00
0 .2 5
0 .5 0
0 .7 5
1 .0 0
1 .2 5
1 .5 0
1 .7 5
2 .0 0
STEADY
STATE
RESPONSE, in.
3
0
-3
-6
0 .0 0
6
3
TRANSIENT
RESPONSE, in.
0
-3
-6
0 .0 0
6
3
0
p
TOTAL
RESPONSE, in.
-3
-6
0 .0 0
T im e , s e c o n d s
SDOF Dynamics 32
Response Ratio: Steady State to Static

(Absolute Values)
12.00
Magnification Factor 1/(1- 2)
Resonance
10.00
8.00
6.00
4.00
Slowly
Loaded
Rapidly
Loaded
2.00
1.00
0.00
0.00
0.50
1.00
1.50
2.00
2.50
3.00
Frequency Ratio
SDOF Dynamics 33
Damped Harmonic Loading

Equation of Motion:
m u( t ) + cu ( t ) + k u ( t ) = p 0 sin( t )
Force, Kips
T =
150
100
50
0
-50
-100
-150
0.00
= 0.25 Seconds
po=100 kips
0.25
0.50
0.75
1.00
1.25
1.50
1.75
2.00
Time, Seconds
SDOF Dynamics 34

Equation of Motion:
m u( t ) + cu ( t ) + k u ( t ) = p 0 sin( t )

Assume system is initially at rest
Particular Solution:
u ( t ) = C sin( t ) + D cos( t )
Complimentary Solution:
u ( t ) = e t [ A sin( D t ) + B cos( D t ) ]
=
Solution:
u(t ) = e
[ A sin( D t ) + B cos( D t ) ]
+ C sin( t ) + D cos( t )
t
c
2m
D = 1 2
SDOF Dynamics 35

Transient Response, at Structures Frequency
(Eventually Damps Out)
u(t ) = e
[ A sin( D t ) + B cos( D t ) ]
C sin(t ) + D cos( t )
Steady State Response,
at Loading Frequency
po
1 2
C=
k (1 2 ) 2 + (2 ) 2
po
2
D=
k (1 2 ) 2 + (2 ) 2
SDOF Dynamics 36
Damped Harmonic Loading (5% Damping)

BETA=1 (Resonance)
Beta=0.5
Beta=2.0
Displacement Amplitude, Inches
50
40
30
20
10
0
-10
-20
-30
-40
-50
0.00
1.00
2.00
3.00
4.00
5.00
Time, Seconds
SDOF Dynamics 37
Damped Harmonic Loading (5% Damping)

50
40
1
Static
2
30
20
10
0
-10
-20
-30
-40
-50
0.00
1.00
2.00
3.00
4.00
5.00
Time, Seconds
SDOF Dynamics 38
Harmonic Loading at Resonance

Effects of Damping
200
150
100
50
0
-50
-100
-150
-200
0.00
1.00
2.00
3.00
4.00
5.00
Time, Seconds
0% Damping
%5 Damping
SDOF Dynamics 39
14.00
Resonance
0.0% Damping
5.0 % Damping
10.0% Damping
25.0 % Damping
Dynamic Response Amplifier
12.00
10.00
8.00
RD =
6.00
1
(1 2 ) 2 + ( 2 ) 2
4.00
2.00
Slowly
Loaded
0.00
0.00
0.50
Rapidly
Loaded
1.00
1.50
2.00
2.50
3.00
Frequency Ratio,
SDOF Dynamics 40
Summary Regarding Viscous Damping

in Harmonically Loaded Systems
For systems loaded at a frequency less than

their natural frequency, the dynamic response
exceeds the static response. This is referred to
as Dynamic Amplification.
An undamped system, loaded at resonance, will

have an unbounded increase in displacement
over time.
SDOF Dynamics 41
Summary Regarding Viscous Damping

in Harmonically Loaded Systems
Damping is an effective means for dissipating energy in
the system. Unlike strain energy, which is recoverable,
dissipated energy is not recoverable.
A damped system, loaded at resonance, will have a

limited displacement over time, with the limit being (1/2)
times the static displacement.
Damping is most effective for systems loaded at or near

resonance.
SDOF Dynamics 42
Concept of Energy Absorbed

and Dissipated
F
ENERGY
ABSORBED
ENERGY
DISSIPATED
LOADING
YIELDING
ENERGY
RECOVERED
TOTAL
ENERGY
DISSIPATED
u
UNLOADING
u
UNLOADED
SDOF Dynamics 43
General Dynamic Loading
F(t)
Time, T
SDOF Dynamics 44
General Dynamic Loading

Solution Techniques
Fourier Transform
Duhamel Integration
Piecewise Exact
Newmark Techniques
All techniques are carried out numerically
SDOF Dynamics 45
Piecewise Exact Method
dF
F ( ) =
dt
dF
dt
dt
SDOF Dynamics 46

Initial Conditions
u o , 0 = 0 uo , 0 = 0
Determine Exact Solution for 1st time step
u1 = u ( )
u1 = u ( )
u1 = u( )
Establish New Initial Conditions
u o ,1 = u ( )
u0 ,1 = u ( )
LOOP
Obtain Exact Solution for next time step
u 2 = u ( )
u 2 = u ( )
u2 = u( )
SDOF Dynamics 47

Advantages:
Exact if load increment is linear

Very computationally efficient
Disadvantages:
Not generally applicable for inelastic behavior

Note: NONLIN uses the Piecewise Exact Method for
Response Spectrum Calculations
SDOF Dynamics 48
Newmark Techniques
Proposed by Nathan Newmark

General method that encompasses a family of
different integration schemes
Derived by:
Development of incremental equations of motion
Assuming acceleration response over short time step
SDOF Dynamics 49
Newmark Techniques
Incremental Equation of Motion:
mu(t ) + cu (t ) + ku (t ) = F (t )
Solve for CHANGE in
displacement u(t)
over some timestep t
SDOF Dynamics 50
Newmark Techniques
Constant
Average
acceleration
u(t )
u (t )
Linear
Velocity
u (t )
Quadratic
Displacement
t
SDOF Dynamics 51
Newmark Techniques
Parameters and are chosen by user to arrive at a
numerical approximation
Parameters control
Stability of technique
Accuracy of technique
Two common Newmark approximations
=1/2 and =1/4 Constant average acceleration method
=1/2 and =1/6 Linear acceleration method
Different meanings of acceleration

Newmark techniques refer to structural acceleration
Piecewise exact method refers to ground acceleration
SDOF Dynamics 52
Newmark Method
Advantages:
Works for Inelastic Response

Disadvantages:
Potential Numerical Error

Note: NONLIN uses the Newmark Method for
General Time History Calculations
SDOF Dynamics 53
Development of Effective Earthquake Force
GROUND ACC, g
0.40
0.20
0.00
-0.20
-0.40
0.00
1.00
2.00
3.00
4.00
5.00
6.00
TIME, SECONDS
SDOF Dynamics 54
Earthquake Ground Motion - 1940 El Centro

0.3
0.2
0.1
40
0
-0.1
-0.2
-0.3
0
10
20
30
40
50
60
Time (sec)
Ground Displacement (cm)
15
10
Ground Velocity (cm/sec)
Ground Acceleration (g's)
0.4
30
20
10
0
-10
-20
-30
0
10
20
30
40
50
Time (sec)
0
-5
Many ground motions now

available via the Internet
-10
-15
0
10
20
30
40
50
60
Time (sec)
SDOF Dynamics 55
60
Development of Effective Earthquake Force

ur
Ground ACCELERATION Time History
0.40
GROUND ACC, g
ug
ut
0.20
0.00
-0.20
-0.40
0.00
1.00
2.00
3.00
4.00
5.00
TIME, SECONDS
m[ug ( t ) + ur ( t )] + c ur ( t ) + k ur ( t ) = 0

mur ( t ) + c ur ( t ) + k ur ( t ) = mug ( t )
SDOF Dynamics 56
6.00
Simplified form of Equation of Motion:

mur (t ) + cur (t ) + kur (t ) = mug (t )
Divide through by m:
c
k
ur (t ) + ur (t ) + ur (t ) = ug (t )
m
m
Make substitutions:
c
= 2
m
k
=2
m
Simplified form:
ur (t ) + 2 ur (t ) + 2ur (t ) = ug (t )

SDOF Dynamics 57
For a given ground motion, the response

history ur(t) is function of the structures
frequency and damping ratio
Structural frequency
ur (t ) + 2 u r (t ) + u r (t ) = ug (t )
2
Damping ratio
Ground motion acceleration history
SDOF Dynamics 58
Response to Ground Motion (1940 El Centro)

Ground Acceleration (g's)
0.4
Excitation applied to
structure with given and
0.3
0.2
0.1
0
-0.1
SOLVER
-0.2
-0.3
0
10
20
30
40
Time (sec)
60
6
Structural Displacement (in)
Change in ground motion

or structural parameters
and requires re-calculation
of structural response
50
Computed Response
4
2
0
-2
-4
Peak Displacement
-6
0
10
20
30
40
50
Time (sec)
SDOF Dynamics 59
60
The Elastic Displacement Response Spectrum

is a plot of the peak computed relative displacement
(deformation), ur, for an elastic structure with a constant
damping , a varying fundamental frequency
(or period T=2/ ), responding to a given ground motion.
5% Damped Displacement Response Spectrum for Structure
Responding to 1940 El Centro Ground Motion
DISPLACEMENT, inches
16
12
0
0
10
PERIOD, Seconds
SDOF Dynamics 60
Computation of Displacement Response Spectrum

for El Centro Ground Motion
Displacement, Inches
0.08
0.06
0.04
0.02
0.00
-0.02
-0.04
-0.06
-0.08
10
11
12
Time, Seconds
10.00
Elastic Response Spectrum
=0.05
T=0.10 Seconds
Umax= 0.0543 in.
8.00
6.00
4.00
2.00
0.00
0.00
0.50
1.00
1.50
2.00
Period, Seconds
SDOF Dynamics 61

0.40
0.30
0.20
0.10
0.00
-0.10
-0.20
-0.30
-0.40
10
11
12
Time, Seconds
10.00
=0.05
T=0.20 Seconds
Umax= 0.254 in.
8.00
6.00
4.00
2.00
0.00
0.00
0.50
1.00
1.50
2.00
Period, Seconds
SDOF Dynamics 62

0.80
0.60
0.40
0.20
0.00
-0.20
-0.40
-0.60
-0.80
10
11
12
Time, Seconds
10.00
=0.05
T=0.30 Seconds
Umax= 0.622 in.
8.00
6.00
4.00
2.00
0.00
0.00
0.50
1.00
1.50
2.00
Period, Seconds
SDOF Dynamics 63

1.20
0.90
0.60
0.30
0.00
-0.30
-0.60
-0.90
-1.20
10
11
12
Time, Seconds
10.00
=0.05
T=0.40 Seconds
Umax= 0.956 in.
8.00
6.00
4.00
2.00
0.00
0.00
0.50
1.00
1.50
2.00
Period, Seconds
SDOF Dynamics 64

2.40
1.80
1.20
0.60
0.00
-0.60
-1.20
-1.80
-2.40
10
11
12
Time, Seconds
10.00
=0.05
T=0.50 Seconds
Umax= 2.02 in.
8.00
6.00
4.00
2.00
0.00
0.00
0.50
1.00
1.50
2.00
Period, Seconds
SDOF Dynamics 65

3.20
2.40
1.60
0.80
0.00
-0.80
-1.60
-2.40
-3.20
0
10
11
12
Time, Seconds
10.00
=0.05
T=0.60 Seconds
Umax= -3.00 in.
8.00
6.00
4.00
2.00
0.00
0.00
0.50
1.00
1.50
2.00
Period, Seconds
SDOF Dynamics 66
Complete 5% Damped Elastic Displacement

Response Spectrum for El Centro
Ground Motion
12.00
10.00
8.00
6.00
4.00
2.00
0.00
0.0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
Period, Seconds
SDOF Dynamics 67
Development of Pseudovelocity
Response Spectrum
35.00
5% Damping
Pseudovelocity, in/sec
30.00
25.00
20.00
15.00
10.00
PSV (T ) D
5.00
0.00
0.0
1.0
2.0
3.0
4.0
Period, Seconds
SDOF Dynamics 68
Development of Pseudoacceleration
Response Spectrum
400.0
5% Damping
Pseudoacceleration, in/sec
350.0
300.0
250.0
200.0
PSA (T ) 2 D
150.0
100.0
50.0
0.0
0.0
1.0
2.0
3.0
4.0
Period, Seconds
SDOF Dynamics 69
Note about the Pseudoacceleration Spectrum

The Pseudoacceleration Response Spectrum represents the
TOTAL ACCELERATION of the system, not the relative
acceleration. It is nearly identical to the true total acceleration
response spectrum for lightly damped structures.
400.0
5% Damping
Pseudoacceleration, in/sec
350.0
300.0
250.0
200.0
150.0
100.0
50.0
0.0
0.0
1.0
2.0
3.0
4.0
Period, Seconds
SDOF Dynamics 70
Difference Between Pseudo-Acceleration

and Total Acceleration
(System with 5% Damping)
300.00
Acceleration (in/sec )
350.00
250.00
200.00
150.00
100.00
50.00
0.00
0.1
1
Period (sec)
Total Acceleration
10
Pseudo-Acceleration
SDOF Dynamics 71
Displacement Response Spectra

for Different Damping Values
Damping
25.00
0%
5%
10%
20%
20.00
15.00
10.00
5.00
0.00
0.0
1.0
2.0
3.0
4.0
5.0
Period, Seconds
SDOF Dynamics 72
Pseudoacceleration Response Spectra

for Different Damping Values
Damping
Pseudoacceleration, g
4.00
0%
5%
10%
20%
3.00
2.00
1.00
0.00
0.0
1.0
2.0
3.0
4.0
5.0
Period, Seconds
SDOF Dynamics 73
Use of an Elastic Displacement Spectrum

12.00
K = 500 k/in
10.00
W = 2,000 k
M = 2000/386.4 = 5.18 k-sec2/in
= (K/M)0.5 =9.82 rad/sec
T=2/ = 0.64 seconds
5% Critical Damping
Example Structure
8.00
6.00
4.00
2.00
0.00
0.0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
Period, Seconds
@T=0.64 seconds, Displacement=3.03 inches

SDOF Dynamics 74
4.0
Use of an Elastic Pseudoacceleration Spectrum

400.0
K = 500 k/in
W = 2,000 k
M = 2000/386.4 = 5.18 k-sec2/in
= (K/M)0.5 =9.82 rad/sec
T=2/ = 0.64 seconds
5% Critical Damping
Pseudoacceleration, in/sec2
Example Structure
350.0
300.0
250.0
200.0
150.0
100.0
50.0
0.0
0.0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
Period, Seconds
@T=0.64 seconds, Pseudoacceleration = 301 in/sec2

Base Shear = M x PSA = 5.18(301) = 1559 kips
SDOF Dynamics 75
4.0
Response Spectrum, ADRS Space

1.00
Diagonal Lines Represent
Period Values T
Pseudoacceleration, g
0.80
0.60
0.40
0.20
0.00
0.00
2.00
4.00
6.00
8.00
10.00
12.00
SDOF Dynamics 76
Four-Way Log Plot of Response Spectrum

Line of Increasing
Displacement
100
PSEUDOVELOCITY, in/sec
D=10.0
1.0
0.1
Line of Constant
Displacement
10
1.0
0.01
D=
1
.01
0.1
0.001
PSV
0.1
0.1
10
100
1000
Circular
Frequency
per Second
, Radiand
Circular
Frequency
, Radians
per
Second
SDOF Dynamics 77

Line of Constant
Acceleration
100
PSA=1000
10000
100000
Line of Increasing
Acceleration
10
100
10000
PSA = PSV
10
100
1000
0.1
0.1
10
100
1000
Circular
Frequency
per Second
, Radiand
Circular
Frequency
, Radians
per
Second
SDOF Dynamics 78

2
100
DI
S
ec
s
n/
i
N,
IO
T
A 100
R
00
LE
PL
AC
0 EM
10
E
10
NT
,i
n
10
E
C
AC 10
0
10
0
0
1.
10
1
0.
01
0.
0.
1
01
0
0.
0.1
0.1
10
100
1000
Circular
Frequency
per Second
, Radiand
Circular
Frequency
, Radians
per
Second
SDOF Dynamics 79

Plotted vs Period
D
is
pl
ac
em
.0
10
1
00
0.
0.
00
1
01
0.
0.
01
1.00
10
0.
0.
1
0
1.
1.
0
g
n,
io
10.00
at
10
.0
er
el
cc
en
t,
in
100.00
0.10
0.01
0.10
1.00
10.00
PERIOD, Seconds
SDOF Dynamics 80
Development of an Elastic
Response Spectrum
Problems With Current Spectrum:
100.00
en
t
10
.0
D
is
.0
10
n,
pl
ac
em
tio
ra
10.00
0.
1
1.
0
0
1.
10
0.
0.
01
1.00
01
0.
1
00
0.
0.10
0.01
0.
00
1
e
el
,i
n.
c
Ac
For a given earthquake,

small variations in structural
frequency (period) can produce
significantly different results.
0.10
1.00
PERIOD, Seconds
10.00
It is for a single earthquake. Other

earthquakes will have different
characteristics
SDOF Dynamics 81
1940 El Centro, 0.35 g, N-S

A
en
t,
in
100
10
.0
0% Damping
5% Damping
10% Damping
20* Damping
10
0.
0.
1
0
1.
1.
0
10
1
00
0.
0.
00
1
0.
01
01
0.
Pseudo Velocity, In/Sec
g
n,
io
.0
10
at
D
is
pl
ac
em
er
el
cc
For a given earthquake,

small variations in structural
frequency (period) can produce
significantly different results.
0.1
0.01
0.1
1
Period, Seconds
10
SDOF Dynamics 82
5% Damped Spectra for Four California Earthquakes

Scaled to 0.40 g (PGA)
Pseuso Velocity, in/sec
Different 100.0
earthquakes
will have different spectra.
El Centro
Loma Prieta
North Ridge
San Fernando
Average
10.0
1.0
0.1
0.01
0.10
1.00
10.00
Period, seconds
SDOF Dynamics 83
Smoothed Elastic Response Spectrum

(Elastic DESIGN Response Spectrum)
Newmark-Hall Spectrum
ASCE 7 Spectrum
SDOF Dynamics 84
Newmark-Hall Elastic Spectrum

100
0% Dam ping
5% Dam ping
Displacem ent (in)
10% Dam ping
10
max u
Observations
v max v

at short T
v0
max u
max u
v max v
v 0
0.1
0.01
0.1
Period1 (sec)
10
at long T
100
SDOF Dynamics 85
Very Flexible Structure (T> 10 sec)
Relative Displacement
Total Acceleration
Ground Displacement
Zero
SDOF Dynamics 86
Very Stiff Structure (T< 0.01 sec)
Relative Displacement
Total Acceleration
Zero
Ground Acceleration
SDOF Dynamics 87
1940 El Centro, 0.35 g, N-S

100
10
.0
.0
10
g
n,
io
1.
0
0
1.
0% Damping
5% Damping
10% Damping
20* Damping
10
0.
0.
1
12.7 in/s
4.25 in.
0.35g
0.
01
1
01
0.
1
00
0.
0.1
0.01
Ground Maxima
0.
00
1
Pseudo Velocity, In/Sec
at
D
is
pl
ac
em
en
t,
er
el
cc
in
10
0.1
1
Period, Seconds
10
SDOF Dynamics 88
Newmarks Spectrum Amplification Factors

for Horizontal Elastic Response
Damping
% Critical
.05
1
2
3
5
7
10
20
One Sigma (84.1%)

v
d
a
5.10 3.84 3.04
4.38 3.38 2.73
3.66 2.92 2.42
3.24 2.64 2.24
2.71 2.30 2.01
2.36 2.08 1.85
1.99 1.84 1.69
1.26 1.37 1.38
Median (50%)
a
v
d
3.68 2.59 2.01
3.21 2.31 1.82
2.74 2.03 1.63
2.46 1.86 1.52
2.12 1.65 1.39
1.89 1.51 1.29
1.64 1.37 1.20
1.17 1.08 1.01
SDOF Dynamics 89
Newmark-Hall Elastic Spectrum

1) Draw the lines
corresponding to max
v , v , v
2) Draw line max v

3
4
from Tb to Tc
6
3) Draw line V
from Tc to Td
4) Draw line D
from Td to Te
max v
max v
5) Draw connecting line

from Ta to Tb
Ta
Tb
Tc
Td
Te Tf
6) Draw connecting line

from Te to Tf
SDOF Dynamics 90
Spectral Response
Acceleration, Sa
ASCE 7 Uses a Smoothed

Design Acceleration Spectrum
Short
Period
Acceleration
2
SDS
SD1
T0
TS
Long Period
Acceleration
T = 1.0
SDS
T + 0.4 SDS
T0
Sa = 0.6
Sa = SDS
Sa =
SD1
T
T0 =
0.2 SD1
SDS
Period, T
SDOF Dynamics 91
ASCE 7 Response Spectrum

Is a Uniform Hazard Spectrum based on
Probabilistic and Deterministic Seismic
Hazard Analysis.
SDOF Dynamics 92

SDOF Dynamics

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SDOF Dynamics

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Structural Dynamics

Equations of Motion for SDOF Structures

Idealized Single Degree of Freedom Structure

Equation of Dynamic Equilibrium

Observed Response of Linear SDOF

Observed Response of Linear SDOF

Inertial Force, kips

Damping Force, Kips

Equation of Dynamic Equilibrium

Properties of Structural MASS

Includes all dead weight of structure

Properties of Structural DAMPING

In absence of dampers, is called Natural Damping

Properties of Structural DAMPING (2)

Damping vs Displacement response is

Properties of Structural STIFFNESS

Includes all structural members

Properties of Structural STIFFNESS (2)

Is almost always nonlinear in real seismic response

Undamped Free Vibration

Undamped Free Vibration (2)

Approximate Periods of Vibration

Ct = 0.028, x = 0.8 for Steel Moment Frames

For Moment Frames < 12 stories in height, minimum

Empirical Data for Determination

Periods of Vibration of Common Structures

20 story braced frame

Adjustment Factor on Approximate Period

Applicable ONLY if Tcomputed comes from a properly

Damped Free Vibration

Inertial Force, kips

Damping Force, Kips

Damped Free Vibration (2)

Cc is the Critical Damping Constant

is expressed as a ratio (0.0 < < 1.0) in computations.

Damping in Structures (2)

Uncracked Prestressed Concrete

Glued Plywood Shear wall

Damaged Steel Structure

Structure with Added Damping

Damping in Structures (3)

is a structural (material) property,

NATURAL = 0.5 to 7.0% critical

is a structural property, dependent on

ADDED = 10 to 30% critical

Measuring Damping from Free Vibration Test

FOR VERY LOW

Undamped Harmonic Loading

= Frequency of the Forcing Function

Undamped Harmonic Loading (2)

Undamped Harmonic Loading

= 4 rad / sec = 2 rad / sec

= 0.5 uS = 5.0 in.

4 rad / sec = 4 rad / sec

= 0.99 u S = 5.0 in.

Undamped Resonant Response Curve

4 rad / sec = 4 rad / sec

= 2.0 uS = 5.0 in.

Response Ratio: Steady State to Static

Magnification Factor 1/(1- 2)

Damped Harmonic Loading

m u( t ) + cu ( t ) + k u ( t ) = p 0 sin( t )

Damped Harmonic Loading

m u( t ) + cu ( t ) + k u ( t ) = p 0 sin( t )

m u( t ) + cu ( t ) + k u ( t ) = p 0 sin( t )

m u( t ) + cu ( t ) + k u ( t ) = p 0 sin( t )

m[ug ( t ) + ur ( t )] + c ur ( t ) + k ur ( t ) = 0

ur (t ) + 2 ur (t ) + 2ur (t ) = ug (t )