CE-5113:

DYNAMICS OF STRUCTURES
By: Dr. Mohammad Ashraf (engineerashraf@yahoo.com)
Office: CE: B109

Department of Civil Engineering, University of Engineering and

Technology, Peshawar

Course Contents
 Introduction to SDOF, MDOF and Continuous Systems
 Formulation of Equation of Motion for SDOF Systems
 Principles of Analytical Mechanics
 Free, Forced, Damped and Un-damped Response of SDOF and
Continuous Systems
 Dynamic response to General Dynamic Loading and Transient Response
 Approximate and Numerical Methods for Analysis of SDOF and
Continuous Systems
 Analysis of Response in Frequency Domain
 Wave Propagation Analysis/MDOF System Analysis

Dynamics of Structures 2

1
Recommended Books
 DYNAMICS OF STRUCTURES by Jagmohan L. Humar

 DYNAMICS OF STRUCTURES by Ray W. Clough and Joseph Penzien

 DYNAMICS OF STRUCTURES: THEOREY AND APPLICATION TO

STRUCTURAL ENGINEERING by Anil K. Chopra

 VIBRATION PROBLEMS IN STRUCTURE: PRACTICAL GUIDELINES by

Hugo Vachmann and Lorrenz Steinbeisser

 STRUCTURAL DYNAMICS: THEORY AND COMPUTATION by Mario Paz

 MECHANICAL VIBRATION by S. S. Rao

Dynamics of Structures 3

Grading Criteria

 Assignments : 15%
 Term Paper : 10%
 Mid Term : 25%
 Final Term : 50%

Dynamics of Structures 4

2
 Module-1
Overview and Introduction

Dynamics of Structures 5

What is Dynamics of Structures?

 A study related to the response of a structure
subjected to dynamic loading
 Dynamic load is any load of which the
magnitude, direction, or position varies with
time
 The dynamic of structure may be:
z Rigid Body or
z Deformable
 Deformable-body dynamics is usually
oscillatory in nature which induces
displacement and stresses in the body.
 The analysis of these time-varying
displacements and forces is the primary
objective of structural dynamic.

Dynamics of Structures 6

3
Why to Study Dynamics of Structures?
 The response of structure to static load is different than its response to
dynamic load
 Dynamic loading may cause large displacement and severe stresses,
especially in cases where the frequency of loading is close to the natural
frequency of structures
 Fluctuating stress, even of moderate intensity, may cause material failure
through fatigue
 Oscillatory motion may at times cause wearing and malfunction of
machinery
 The vibration from one machine may transferred to a delicate instrument
through support structures
 Vibration cause discomfort to the occupants

Dynamics of Structures 7

Nature of Exciting Force

 Periodic and Nonperiodic (random)
z Periodic Load repeats itself at regular interval of time called period. The
reciprocal of period is called frequency of load
z Nonperiodic load is random in nature and does not repeat itself

 Deterministic and Nondeterministic

z Deterministic loads can be specified as definite function of time (continuous
function or discrete numerical values at certain regular intervals of time)
z Nondeterministic loads cannot be specified as definite function of time and are
known in statistical sense, e.g. earthquake load, wind load

Dynamics of Structures 8

4
Sources of Dynamic Loads
 Rotating or reciprocating machinery
(sinusoidal vibration)
 Wind (time-varying drag and lift
forces)
 Bomb blast (The force on structure due
to blast load depends on the distance
from the center of explosion and the
strength of explosive.
 Earthquakes

Earthquake Load

Dynamics of Structures 9

Mathematical Model of Dynamic System

 Discrete Parameter System (Discrete System):
z A system with rigid-body masses and massless springs
z Its response is completely defined by specifying
displacements along the degree of freedom (DOF) that
determine the position of masses in space.
z The response is governed by a set of Ordinary Differential
Equations (ODE) equal to DOF.
z Simple and preferable approach and the accuracy can be
increased by increasing DOF

 Distributed Parameter System (Continuous System)

z Masses and the stiffness are distributed
z The response is governed by one or more partial differential
equations

Dynamics of Structures 10

5
Formulation of Equation of Motion
 A set of differential equations governing the motion of
dynamic system, by defining the dynamic displacements, is
known as Equation of Motion
mu&& + cu& + ku = p(t )
 Equation of Motion is formulated by different approaches:
z d’Alembert’s Principle or direct equilibrium
z Principle of Virtual Displacement
z Hamilton Principle

 d’Alembert’s Principle:
This principle converts a dynamic problem to an equivalent
static problem
d ⎛ du ⎞
Q(t ) = ⎜ m ⎟ = mu&&
dt ⎝ dt ⎠
Dynamics of Structures 11

Formulation of Equation of Motion (Cont..)

 Principle of Virtual Displacement:
If a system which is in equilibrium under a set of forces is subjected to virtual
displacements that are compatible with the constraint in the system, the total work
done by the forces in going through the virtual displacements will be zero.
δWe + δWi = 0

k u
δu (Fδu − kuδu ) = 0
F ku F
⇒ F = ku

P
δWi = 0
a
⎛ aδu ⎞
δWe = R(δu ) − P⎜
aδu/L δu
⎟
⎝ L ⎠
L R aP
δW = 0 ⇒ R =
L
Dynamics of Structures 12

6
Formulation of Equation of Motion (Cont..)
 Hamilton’s Principle:
The variation of kinetic and potential energy plus the variation of the work done
by the non-conservative forces (which changes during the dynamic response)
considered during any time interval t1 to t2 must equal to zero.

∫ δ (T − V )dt + ∫
t2 t2
δWnc dt = 0
t1 t1

 For static problem, the kinetic energy is zero and the expression converts to the
well-known principle of minimum potential energy, i.e.

δ (V − Wnc ) = 0

u
k d ⎛1 2 ⎞
F ⎜ ku − Fu ⎟ = 0 ⇒ F = ku
du ⎝ 2 ⎠

Dynamics of Structures 13

Mass Moment of Inertia

 Mass moment of inertial of a body about certain axis is the product of mass and
square of radius of gyration.

I x = ∫ (dm ) y 2 = mr 2
m

 Mass moment of Inertia is a measure of the inertial resistance of a body to its

rotation
 Rigid Prismatic Bar
m = total mass of bar and L = Length of bar

mL2
1 2 I1 =
3
L/2 L/2
mL2
I2 =
12
Dynamics of Structures 14

7
Mass Moment of Inertia (Cont..)
 Rigid Plate
z Rectangular mb 2
I1 =
z Circular 3
b/2
z Ellipse 2
mb 2
I2 =
12 b/2
1

mR 2 Ip =
(
m a2 + b2 ) a
I1 = 12
4 1 R
mR 2
Ip =
2 a/2
mb 2
I1 =
1 16

b/2 Ip =
(
m a2 + b2 )
16

Dynamics of Structures 15

Stiffness: Linearly Elastic System

 Stiffness is defined as the action (force, moment, torque) at a certain point
required to produce a unit deformation (translation, rotation, twist) at that
or some other point in a system

Dynamics of Structures 16

8
Stiffness: Linearly Elastic System
 Static Condensation
⎡ 24 EI c 6 EI c 6 EI c ⎤
⎢ h3 h2 h2 ⎥ u
⎥⎡ 1 ⎤ ⎡ s ⎤ ⎡ K
f
⎢ 6 EI 4 EI c 4 EI b 2 EI b K12 ⎤ ⎡U1 ⎤ ⎡ F ⎤
⎢ 2c + ⎥ ⎢u2 ⎥ = ⎢ 0 ⎥ ⇒ ⎢ 11 =
⎢ h h L L ⎥ ⎢ ⎥ ⎢ ⎥ ⎣ K 21 K 22 ⎥⎦ ⎢⎣U 2 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎢ 6 EI c 2 EI b 4 EI c 4 EI b ⎥ ⎢⎣u3 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎢⎣ h 2 +
L h L ⎥⎦
⇒ K 21U1 + K 22U 2 = 0 ⇒ U 2 = −[K 22 ] K 21U1
−1

[ {
⇒ F = K11U1 + K12U 2 = K11 + K12 − [K 22 ] K 21 U1
−1
}]

Dynamics of Structures 17

Module-2
Single Degree of Freedom System:
Formulation of Equation of Motion

Dynamics of Structures 18

9
Single Degree of Freedom System
 A system whose dynamic response can be described by specifying displacement
along only one coordinate.
 True Engineering Systems are Multi-degree System; SDOF Systems are
Idealization
 For many Engineering Systems SDOF Idealization is Satisfactory
 Dynamic Analysis of SDOF Systems is Simple and can be extended to more
complex MDOF Systems

Dynamics of Structures 19

Components of Dynamic System

 Components of a Dynamic System are:
z Mass Resulting in Inertial Force (fI)
z Stiffness resulting in Spring Force (fS)
z Energy dissipating mechanism resulting in Damping Force (fD)
z External Exciting Force p(t)
 From Direct Equilibrium (d’Alembert’s Principle):

f I + f D + f S = p (t )
mu&& + cu& + ku = p(t )

Dynamics of Structures 20

10
Inertia and Spring Force
 Inertia Force:
The force produced in a dynamic system due to:
z Translational Acceleration of mass (Inertial force, f I = mu&& )
z Rotational Acceleration of mass (Inertial Moment, M I = Iθ&& )

 Spring Force:
Internal Forces induced in a body undergoing deformation.
z Spring force exist both in static and dynamic system
z For elastic system the spring force is directly proportional to the deformation produced
and is equal to stiffness times the deformation ( f S = ku )
z For inelastic system the spring force is dependent on both displacement and velocity.

Dynamics of Structures 21

Damping Force
 Damping Force:
Damping is the process by which free vibration steadily diminishes in amplitude
due to dissipation of energy and the corresponding force is called damping force.
There are many energy dissipating mechanisms:
z Heating of the material due to internal friction
z Opening and closing of micro cracks
z Friction between structural and non-structural components
z Connections
z External devices
 Equivalent Viscous Damping force f D = cu&

Dynamics of Structures 22

11