1

Equations of Motion, Problem

Statement, and Solution Methods

PREVIEW

In this opening chapter, the structural dynamics problem is formulated for simple struc-
tures that can be idealized as a system with a lumped mass and a massless supporting
structure. Linearly elastic structures as well as inelastic structures subjected to applied
dynamic force or earthquake-induced ground motion are considered. Then four methods
for solving the differential equation governing the motion of the structure are reviewed
briefly. The chapter ends with an overview of how our study of the dynamic response of
single-degree-of-freedom systems is organized in the chapters to follow.

1.1 SIMPLE STRUCTURES

We begin our study of structural dynamics with simple structures, such as the pergola
shown in Fig. 1.1.1 and the elevated water tank of Fig. 1.1.2. We are interested in under-
standing the vibration of these structures when subjected to a lateral (or horizontal) force
at the top or horizontal ground motion due to an earthquake.
We call these structures simple because they can be idealized as a concentrated or
lumped mass m supported by a massless structure with stiffness k in the lateral direction.
Such an idealization is appropriate for this pergola with a heavy concrete roof supported
by light-steel-pipe columns, which can be assumed as massless. The concrete roof is very
stiff and the flexibility of the structure in lateral (or horizontal) motion is provided entirely
by the columns. The idealized system is shown in Fig. 1.1.3a with a pair of columns
supporting the tributary length of the concrete roof. This system has a lumped mass m