STRUCTURAL

DYNAMICS
Theory and Computation
Fifth Edition
STRUCTURAL
DYNAMICS
Theory and Computation
Fifth Edition

Mario Paz
Speed Scientific School
University ofLouisville
Louisville, KY

William Leigh
University of Central Florida
Orlando, FL .

SPRINGER SCIENCE+BUSINESS MEDIA, LLC

Library of Congress Cataloging-in-Publication Data

Paz, Mario.
Structural Dynamics: Theory and Computation I by Mario Paz, William Leigh.-5th ed.
p.cm.
Includes bibliographical references and index.
Additional material to this book can be downloaded from http://extras.springer.com
ISBN 978-1-4613-5098-9 ISBN 978-1-4615-0481-8 (eBook)
DOI 10.1007/978-1-4615-0481-8
I. Structural dynamics. I. Title.

Copyright© 2004 by Springer Science+Business Media New York

Originally published by Kluwer Academic Publishers in 2004
Softcover reprint of the bardeover 5th edition 2004
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Printedon acid-free paper.

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 CONTENTS

PREFACE TO THE FIFTH EDITION xvii

PREFACE TO THE FIRST EDITION xxi

PART I STRUCTURES MODELED AS A

SINGLE-DEGREE-OF-FREEDOM SYSTEM 1

1 UNDAMPED SINGLE-DEGREE-OF-FREEDOM SYSTEM 3

1.1 Degrees of Freedom 4

1.2 Undamped System 5
l.3 Springs in Parallel or in Series 7
1.4 Newton's Law of Motion 8
1.5 Free Body Diagram 9
1.6 D' Alembert's Principle 10
1.7 Solution of the Differential Equation of Motion 12
1.8 Frequency and Period 14
1.9 Amplitude of Motion 16
1.10 Summary 22
1.11 Problems 23

2 DAMPED SINGLE-DEGREE-OF-FREEDOM SYSTEM 31

2.1 Viscous Damping 31

2.2 Equation of Motion 32
2.3 Critically Damped System 33
2.4 Overdamped System 34
2.5 Underdamped System 35
2.6 Logarithmic Decrement 37
2.7 Summary 44
2.8 Problems 45
viii Contents

3 RESPONSE OF ONE-DEGREE-OF-FREEDOM SYSTEM TO

HARMONIC LOADING 49

3.1 Harmonic Excitation: Undamped System 49

3.2 Harmonic Excitation: Damped System 52
3.3 Evaluation of Damping at Resonance 60
3.4 Bandwidth Method (Half-Power) to Evaluate Damping 61
3.5 Energy Dissipated by Viscous Damping 63
3.6 Equivalent Viscous Damping 64
3.7 Response to Support Motion 67
3.8 Force Transmitted to the Foundation 75
3.9 Seismic Instruments 78
3.10 Response of One-Degree-of-Freedom System
to Harmonic Loading Using SAP2000 80
3.11 Summary 92
3.12 Analytical Problem 94
3.13 Problems 96

4 RESPONSE TO GENERAL DYNAMIC LOADING 101

4.1 Duhamel's Integral-Undamped System 101

4.2 Duhamel's Integral-Damped System 110
4.3 Response by Direct Integration 110
4.4 Solution of the Equation of Motion 112
4.5 Program 2-Response by Direct Integration 117
4.6 Program 3-Response to Impulsive Excitation 120
4.7 Response to General Dynamic Loading Using SAP2000 126
4.8 Summary 137
4.9 Analytical Problems 137
4.10 Problems 141

5 RESPONSE SPECTRA 149

5.1 Construction of Response Spectrum 149

5.2 Response Spectrum for Support Excitation 153
5.3 Tripartite Response Spectra 154
5.4 Response Spectra for Elastic Design 157
5.5 Influence of Local Soil Conditions 161
5.6 Response Spectra for Inelastic Systems 163
5.7 Response Spectra for Inelastic Design 166
5.8 Program 6-Seismic Response Spectra 171
5.9 Summary 174
5.10 Problems 174
 Contents ix
6 NONLINEAR STRUCTURAL RESPONSE 179

6.1 Nonlinear Single Degree-of-Freedom Model 179

6.2 Integration of the Nonlinear Equation of Motion 181
6.3 Constant Acceleration Method 182
6.4 Linear Acceleration Step-by-Step Method 184
6.5 The Newmark Beta Method 187
6.6 Elastoplastic Behavior 188
6.7 Algorithm for the Step-by-Step Solution for Elastoplastic
Single-Degree-of-Freedom System 190
6.8 Program 5-Response for Elastoplastic Behavior 196
6.9 Summary 198
6.10 Problems 198

PART II STRUCTURES MODELED AS SHEAR BUILDINGS 203

7 FREE VIBRATION OF A SHEAR BUILDING 205

7.1 Stiffness Equations for the Shear Building 205

7.2 Natural Frequencies and Normal Modes 209
7.3 Orthogonality Property of the Normal Modes 214
7.4 Rayleigh's Quotient 218
7.5 Program 8-Natural Frequencies and Normal Modes 220
7.6 Free Vibration of a Shear Building Using SAP2000 221
7.7 Summary 225
7.8 Problems 227

8 FORCED MOTION OF SHEAR BUILDING 231

8.1 Modal Superposition Method 231
8.2 Response of a Shear Building to Base Motion 238
8.3 Program 9-Response by Modal Superposition 244
8.4 Harmonic Forced Excitation 246
8.5 Program 10-Harmonic Response 251
8.6 Forced Motion Using SAP2000 254
8.7 Combining Maximum Values of Modal Response 265
8.8 Summary 266
8.9 Problems 267

9 REDUCTION OF DYNAMIC MATRICES 271

9.1 Static Condensation 271

9.2 Static Condensation Applied to Dynamic Problems 275
9.3 Dynamic Condensation 285
9.4 Modified Dynamic Condensation 293
9.5 Program 12-Reduction of the Dynamic Problem 296
9.6 Summary 299
9.7 Problems 299
x Contents

PART III FRAMED STRUCTURES MODELED AS DISCRETE

MULTI-DEGREE-OF- FREEDOM SYSTEMS 303

10 DYNAMIC ANALYSIS OF BEAMS 305

10.1 Shape Functions for a Beam Segment 305

10.2 System Stiffuess Matrix 311
10.3 Inertial Properties-Lumped Mass 314
10.4 Inertial Properties-Consistent Mass 315
10.5 Damping Properties 320
10.6 External Loads 320
10.7 Geometric Stiffuess 322
10.8 Equations of Motion 326
10.9 Element Forces at Nodal Coordinates 333
10.10 Program 13-Modeling Structures as Beams 336
10.11 Dynamic Analysis of Beams Using SAP2000 339
10.12 Summary 347
10.13 Problems 347

11 DYNAMIC ANALYSIS OF PLANE FRAMES 353

ILl Element Stiffuess Matrix for Axial Effects 353

11.2 Element Mass Matrix for Axial Effects 355
11.3 Coordinate Transformation 359
11.4 Program 14-Modeling Structures as Plane Frames 367
11.5 Dynamic Analysis of Frames Using SAP2000 370
11.6 Summary 376
11.7 Problems 376

12 DYNAMIC ANALYSIS OF GRID FRAMES 381

12.1 Local and Global Coordinate Systems 381

12.2 Torsional Effects 382
12.3 Stiffuess Matrix for a Grid Element 384
12.4 Consistent Mass Matrix for a Grid Element 385
12.5 Lumped Mass Matrix for a Grid Element 385
12.6 Transformation of Coordinates 386
12.7 Program 15-Modeling Structures as Grid Frames 392
12.8 Dynamic Analysis of Grid Frames Using SAP2000 395
12.9 Summary 403
12.10 Problems 403

13 DYNAMIC ANALYSIS OFTHREE-DIMENSIONAL FRAMES 407

13.1 Element Stiffuess Matrix 407

13.2 Element Mass Matrix 409
13.3 Element Damping Matrix 410
 Contents xi
13.4 Transformation of Coordinates 410
13.5 Differential Equation of Motion 414
13.6 Dynamic Response 415
13.7 Program 16-Modeling Structures as Space Frames 415
13.8 Dynamic Response of Three-Dimensional Frames
UsingSAP2000 418
13.9 Summary 426
13.10 Problems 427

14 DYNAMIC ANALYSIS OF TRUSSES 429

14.1 Stiffness and Mass Matrices for the Plane Truss 429
14.2 Transformation of Coordinates 432
14.3 Program 17-Modeling Structures as Plane Trusses 438
14.4 Stiffness and Mass Matrices for Space Trusses 441
14.5 Equation of Motion for Space Trusses 443
14.6 Program 18-Modeling Structures as Space Trusses 444
14.7 Dynamic Analysis of Trusses Using SAP2000 446
14.8 Summary 459
14.9 Problems 459

15 DYNAMIC ANALYSIS OF STRUCTURES USING THE FINITE

ELEMENT METHOD 463

15.1 Plane Elasticity Problems 464

15.1.1 Triangular Plate Elementfor Plane Elasticity problems 465
15.1.2 SAP2000 for Plane Elasticity Problem 472
15.2 Plate Bending 477
15.2.1 Rectangular Elementfor Plate Bending 478
15.2.2 SAP2000for Plate Bending and Shell Problems 484
15.3 Summary 491
15.4 Problems 493

16 TIME HISTORY RESPONSE OF MULTIDEGREE-OF-FREEDOM

SYSTEMS 495

16.1 Incremental Equations of Motion 495

16.2 The Wilson-BMethod 497
16.3 Algorithm for Step-by-Step Solution of a Linear System Using the
Wilson-BMethod 500
16.3.1 Initialization 500
16.3.2 For Each Time Step 500
16.4 Program 19-Response by Step Integration 505
16.5 The Newmark Beta Method 506
16.6 Elastoplastic Behavior of Framed Structures 508
16.7 Member Stiffness Matrix 508
16.8 Member Mass Matrix 511
16.9 Rotation of Plastic Hinges 513
xii Contents
16.10 Calculation of Member Ductility Ratio 514
16.11 Time-History Response of Multi degree-of-Freedom Systems Using
SAP2000 515
16.12 Summary 521
16.13 Problems 522

PART IV STRUCTURES MODELED WITH DISTRIBUTED

PROPERTIES 525

17 DYNAMIC ANALYSIS OF SYSTEMS WITH DISTRIBUTED

PROPERTIES 527

17.1 Flexural Vibration of Uniform Beams 527

17.2 Solution ofthe Equation of Motion in Free Vibration 529
17.3 Natural Frequencies and Mode Shapes for Uniform Beams 531
17.3.1 Both Ends Simply Supported 531
17.3.2 Both Ends Free (Free Beam) 534
17.3.3 Both Ends Fixed 535
17.3.4 One End Fixed and the other End Free
(Cantilever Beam) 537
17.3.5 One End Fixed and the other End Simply Supported 538
17.4 Orthogonality Condition Between Normal Modes 540
17.5 Forced Vibration of Beams 542
17.6 Dynamic Stresses in Beams 547
17.7 Summary 549
17.8 Problems 550

18 DISCRETIZATION OF CONTINUOUS SYSTEMS 553

18.1 Dynamic Matrix for Flexural Effects 554

18.2 Dynamic Matrix for Axial Effects 556
18.3 Dynamic Matrix for Torsional Effects 558
18.4 Beam Flexure Including Axial-Force Effect 560
18.5 Power Series Expansion of the Dynamic Matrix for Flexural
Effects 563
18.6 Power Series Expansion of the Dynamic Matrix for Axial and for
Torsional Effects 564
18.7 Power Series Expansion of the Dynamic Matrix
Including the Effects of Axial Forces 565
18.8 Summary 566

PART V SPECIAL TOPICS: Fourier Analysis, Evaluation of

Absolute Damping, Generalized Coordinates 567

19 FOURIER ANALYSIS AND RESPONSE IN

THE FREQUENCY DOMAIN 569

19.1 Fourier Analysis 569

 Contents xiii
19.2 Response to a Loading Represented by Fourier Series 570
19.3 Fourier Coefficients for Piecewise Linear Functions 573
19.4 Exponential Form of Fourier Series 574
19.5 Discrete Fourier Analysis 575
19.6 Fast Fourier Transform 578
19.7 Program 4-Response in the Frequency Domain 580
19.8 Summary 586
19.9 Problems 586

20 EVALUATION OF ABSOLUTE DAMPING FROM

MODAL DAMPING RATIOS 593

20.1 Equations for Damped Shear Building 593

20.2 Uncoupled Damped Equations 595
20.3 Conditions for Damping Uncoupling 596
20.4 Program II-Absolute Damping From Modal Damping Ratios 602
20.5 Summary 604
20.6 Problems 604

21 GENERALIZED COORDINATES AND RAYLEIGH'S METHOD 607

21.1 Principle of Virtual Work 607

21.2 Generalized Single-Degree-of-Freedom System-Rigid Body 609
21.3 Generalized Single-Degree-of-Freedom System-
Distributed Elasticity 612
21.4 Shear Forces and Bending Moments 617
21.5 Generalized Equation of Motion for a Multistory Building 621
21.6 Shape Function 624
21.7 Rayleigh's Method 628
21.8 Improved Rayleigh's Method 636
21.9 Shear Walls 639
21.10 Summary 642
21.11 Problems 643

PART VI RANDOM VIBRATION 649

22 RANDOM VIBRATION 651

22.1 Statistical Description of Random Functions 652

22.2 Probability Density Function 654
22.3 The Normal Distribution 656
22.4 The Rayleigh Distribution 657
22.5 Correlation 659
22.6 The Fourier Transform 663
22.7 Spectral Analysis 665
22.8 Spectral Density Function 669
22.9 Narrow-Band and Wide-Band Random processes 671
xiv Contents
22.10 Response to Random Excitation:
Single-Degree-of-Freedom System 675
22.11 Response to Random Excitation: Multiple-Degree-of-Freedom
System 681
22.11.1 Relationship Between Complex Frequency Response
and Unit Impulse Response 681
22.11.2 Response to Random Excitation:
Two-degree-of-freedom System 683
22.11.3 Response to Random Excitation:
N Degree ofFreedom System 688
22.12 Summary 691
22.13 Problems 692

PART VII EARTHQUAKE ENGINEERING 697

23 UNIFORM BUILDING CODE 1997: EQUIVALENT LATERAL

FORCE METHOD 699

23.1 Earthquake Ground Motion 700

23.2 Equivalent Lateral Force Method 703
23.3 Earthquake-Resistant Design Methods 703
23.4 Seismic Zone Factor 703
23.5 Base Shear Force 704
23.6 Distribution of Lateral Seismic Forces 711
23.7 Story Shear Force 711
23.8 Horizontal Torsional Moment 712
23.9 Overturning Moment 713
23.10 P-Delta Effect (P-A) 713
23.11 RedundancylReliability Factor p 715
23.12 Story Drift Limitation 715
23.13 Diaphragm Design Forces 716
23.14 Earthquake Load Effect 717
23.15 Irregular Structures 717
23.16 Summary 726
23.17 Problems 726

24 UNIFORM BUILDING CODE 1997: DYNAMIC METHOD 731

24.1 Modal Seismic Response of Buildings 731

24.1.1 Modal Equation and Participation Factor 732
24.1.2 Modal Shear Force 733
24.1.3 Effective Modal Weight 734
24.1.4 Modal Lateral Forces 735
24.1.5 Modal Displacements 735
24.1.6 Modal Drift 736
24.1.7 Modal Overturning Moment 736
24.1.8 Modal Torsional Moment 737
24.2 Total Design Values 737
 Contents xv
24.3 Provisions ofUBC-97: Dynamic Method 738
24.4 Scaling of Results 740
24.5 Program 24-UBC 1997 Dynamic Lateral Force Method 750
24.6 Summary 754
24.7 Problems 755

25 INTERNATIONAL BUILDING CODE IBC-2000 757

25.1 Response Spectral Acceleration: Ss, SJ 757

25.2 Soil Modification Response Spectral Acceleration: SMS, SMl 758
25.3 Design Response Spectral Acceleration: SDS, SOl 759
25.4 Site Class Defmition: A, B, .....F 760
25.5 Seismic Use Group (SUG) and Occupancy Importance Factor (IE)760
25.6 Seismic Design Category (A, B, C, D, E and F) 761
25.7 Design Response Spectral Curve: Sa v.s. T 763
25.8 Determination of the Fundamental Period 766
25.9 Minimum lateral Force Procedure
[mC-2000: Section 1616.4.1] 767
25.10 SimplifiedAnalysisProcedure [mC-2000: Section 1617.5] 768
25.10.1 Seismic Base Shear 768
25.10.2 Response Modification Factor R 768
25.10.3 Vertical Distribution o/Lateral Forces 769
25.11 Equivalent Seismic Lateral Force Method:
[mC-2000: Section 1617.4] 769
25.11.1 Distribution o/Lateral Forces 771
25.11.2 Overturning Moments 771
25.11.3 Horizontal Torsional Moment 772
25.11.4 P-Delta Effect (P-LJ) 772
25.11.5 Story Drift 773
25.12 Redundancy/Reliability Factor 774
25.13 Earthquake Load Effect 775
25.14 Building Irregularities 775
25.15 Summary 781

APPENDICES 783
Appendix I: Answers to Problems in Selected Chapters 785
Appendix II: Computer Programs 793
Appendix III: Glossary 795
Selected Bibliography 803
Index 807
 PREFACE TO
THE FIFTH EDITION

The basic structure of the four previous editions is maintained in this fifth
edition, although numerous revisions and additions have been introduced. The three
chapters on Earthquake Engineering have been rewritten to present the most recent
versions of the Uniform Building Code (UBC-97) and of the new International Building
Code (IBC-2000) as in the fourth edition. A new chapter to serve as an introduction for
the dynamic analysis of structures using the Finite Element Method has been
incorporated in Part III, Structures Modeled as Discrete Multidegree-of-Freedom
Systems. The chapter on Random Vibration has been extended to include the response
of structures modeled as a multidegree-of-freedom system, subjected to several random
forces or to a random motion at the base of the structure. The concept of damping is
discussed more thoroughly, including the evaluation of equivalent viscous damping. The
constant acceleration method to determine the response of nonlinear dynamic systems is
presented in addition to the linear acceleration method presented in past editions.
Chapter 5 on Response Spectra now includes the development of seismic response
spectra with consideration of local soil conditions at the site of the structure. The
secondary effect resulting from the lateral displacements of the building, commonly
known as the P-L1 effect, is explicitly considered through the calculation of the geometric
stitfuess matrix. Finally, a much larger number of solved illustrative examples using the
educational computer programs developed by the author or using the professional
program SAP2000 have been incorporated in various chapters of the book.

The use of the professional computer program SAP2000 for the analysis and
xviii Preface to the Fifth Edition
solution of structural dynamics problems is introduced in this new edition. This program
was selected from among the various professional programs available because of its
capability in solving complex problems in structures as well as its wide use in
professional practice by structural engineers. SAP2000 includes routines for the analysis
and design of structures with linear or nonlinear behavior subjected to static or dynamics
loads; (material non-linearity or large displacements non-linearities) and may be used
most efficiently in the microcomputer. The larger versions of SAP2000 have the
capability for the analysis of structures modeled with virtually any large number of
nodes. This new fifth edition of the book uses, almost exclusively, the introductory
version of SAP2000 which has a capability limited to 25 nodes or 25 elements. A CD-
ROM containing the introductory version of SAP2000 as well as the educational set of
the program developed by the author is included in this 5th edition of Structural
Dynamics: Theory and Computation.

The set of educational programs in Structural Dynamics includes programs to

determine the response in the time domain or in the frequency domain using the FFT
(Fast Fourier Transform) of structures modeled as a single oscillator. Also included is a
program to determine the response of an inelastic system with elastoplastic behavior, and
another program for the development of seismic response spectral charts. A set of seven
computer programs is included for modeling structures as two or-three-dimensional
frames and trusses. Finally, other programs, incorporating modal superposition or a
step-by-step time-history solution, are provided for calculation of the responses to forces
or motions exciting the structure. This fifth edition also includes a program to determine
the response of single or multiple-degree-of-freedom systems subjected to random
excitations.

The book is organized in six parts. Part I deals with structures modeled as
single-degree-of-freedom systems. It introduces basic concepts in Structural Dynamics
and presents important methods for the solution of such dynamic systems. Part II
introduces important concepts and methodology for multi-degree-of-freedom systems
through the use of structures modeled as shear buildings. Part III describes in detail the
Matrix Structural Analysis for modeling skeletal type of structures (beams, frames, and
trusses) as discrete systems in preparation for dynamic analysis. Part III also includes a
chapter to serve as an introduction to the Finite Element Method (F.E.M.) for modeling
continuous structures such as plates for dynamic analysis. Part IV presents the
mathematical solution for some simple structures, such as beams, modeled as systems
with distributed properties, thus having an infinite number of degrees of freedom. Part V
on Special Topics presents: an introduction to the magnificent Fourier Method and the
use of the Fast Fourier Transform; an extension of the modeling complex structures as
one degree-of-freedom systems through the use of Generalized Coordinates and of
Rayleigh Method; and methods to evaluate absolute damping in structures from
estimated modal damping coefficients. Part VI, which contains one chapter, introduces
the reader to the complex but fascinating topic of Random Vibrations for the analysis of
single degree of freedom systems, as well as for the analysis of structures modeled as
multi-degree of freedom systems. Finally, Part VII presents the important current topic
of Earthquake Engineering with applications to earthquake-resistant design of buildings
 Preface to the Fifth Edition xix
following the provisions of the Uniform Building Code and of the new International
Building Code in use in The United States of America.

The author believes that a combination of knowledge on the subjects of applied

mathematics, theory of structures, and computer programs is needed today for successful
professional practice of engineering, just as knowledge of a combination of numbers and
turns is needed to open a safe. To provide the reader with such a combination of
knowledge has been the primary objective of this book. The reader may wish to inform
the author on the extent to which this objective has been fulfilled.

Many students, colleagues, and practicing professionals have suggested

improvements, identified typographical errors, and recommended additional topics for
inclusion. In this new edition all these suggestions were carefully considered and have
been included in this fifth edition whenever possible.

During the preparation of this fifth edition, I became indebted to many people
to whom I wish to express my appreciation: First of all I am most grateful to many of my
students who helped me through their inquisitive discussions in class to improve and
clarify my presentation of the various topics in this book. It is now with great pain that I
wish to recognize posthumously the preliminary work done by my student Elaine
Fonseca, who prepared changes to some drawings from the Fourth Edition. Her tragic
death was most unfortunately a great loss of a most promising engineering student. She
will be sorely missed by her family, friends, fellow students and this instructor. I wish
also to recognize and thank my graduate students, Xiaobing Cui and Zhiyong Zhao, for
their diligent collaboration and expert use of scanning equipment to retrieve text and
figures from the previous edition of this textbook. I am most grateful to my former
colleague; Dr. Michael A. Cassaro, who diligently checked the chapter on the Finite
Element Method and to Dr. Julius Wong, of the Department of Mechanical Engineering,
whose comments and discussions helped me to refme my exposition. I am also grateful
to my friend Dr. Farzad Naeim who has collaborated with me on the chapter Seismic
Response Spectra in the "International Handbook of Earthquake Engineering: Codes,
Programs and Examples" of which I am the editor. I have incorporated some of the
material from the Handbook in updating the chapter on Response Spectra. I also wish to
acknowledge Dr. Luis E. Suarez from the University of Puerto Rico in Mayaguez, who
provided me with copies of his work in Random Vibration and a copy of his class notes
on the Finite Element Method.
I also like to take this opportunity to thank my colleague, Dr Joseph Hagerty for
his past help of many years ago, in the 1970s, at the time when I was just playing with
the plan of writing a textbook in Structural Dynamics, without my knowledge, he
approached a publishing company a initiated a contract in my name for the publication of
the first edition of this textbook in 1980.
A special acknowledgement of gratitude is extended to my friend Dr. Assraf
Habibullah, president of Computers and Structures Inc., who most kindly authorized me
to include in this volume the introductory version of SAP2000. In addition, Dr.
xx Preface to the Fifth Edition
Habibulla provided me with the full version of SAP 2000 so I could solve problems
beyond the capability of the introductory version. I am also most grateful to two other
computer scientists of that company, Drs. Syed Hasnain and Bob Morris who most
patiently tutored me and clarified many of the intricacies in the use of SAP2000. The
senior author is certainly very grateful to the co-author, Dr. William Leigh for his
contribution in reviewing and editing this volume, especially those sections which used
the computer programs. To those people whom I recognized in the prefaces to the
previous editions for their help, I again express my wholehearted appreciation.
Finally, I thank my wife, Annis, who most diligently helped me with great
proficiency in the final preparation of this new edition to be camera ready for
publication. Her dedication to the work as well as her continuous support and
encouragement is deeply appreciated. In recognition of her indispensable help, this new
edition is duly dedicated to her.

Mario paz
September 2003
Preface to the First Edition

Natural phenomena and human activities impose forces of time-dependent variability

on structures as simple as a concrete beam or a steel pile, or as complex as a
multistory building or a nuclear power plant constructed from different materials.
Analysis and design of such structures subjected to dynamic loads involve
consideration of time-dependent inertial forces. The resistance to displacement
exhibited by a structure may include forces which are functions of the displacement
and the velocity. As a consequence; the governing equations of motion of the dynamic
system are generally nonlinear partial differential equations which are extremely
difficult to solve in mathematical terms. Nevertheless, recent developments in the field
of structural dynamics enable such analysis and design to be accomplished in a
practical and efficient manner. This work is facilitated through the use of simplifying
assumptions and mathematical models, and of matrix methods and modem
computational techniques.
In the process of teaching courses on the subject of structural dynamics, the
author came to the realization that there was a defmite need for a text which would be
suitable for the advanced undergraduate or the beginning graduate engineering student
xxii Preface to the First Edition
being introduced to this subject. The author is familiar with the existence of several
excellent texts of an advanced nature but generally these texts are, in his view, beyond
the expected comprehension of the student. Consequently, it was his principal aim in
writing this book to incorporate modem methods of analysis and techniques adaptable
to computer programming in a manner as clear and easy as the subject permits. He felt
that computer programs should be included in the book in order to assist the student in
the application of modem methods associated with computer usage. In addition, the
author hopes that this text will serve the practicing engineer for purposes of self-study
and as a reference source.
In writing this text, the author also had in mind the use of the book as a possible
source for research topics in structural dynamics for students working toward an
advanced degree in engineering who are required to write a thesis. At Speed Scientific
School, University of Louisville, most engineering students complete a fifth year of
study with a thesis requirement leading to a Master in Engineering degree. The
author's experience as a thesis advisor leads him to believe that this book may well
serve the students in their search and selection of topics in subjects currently under
investigation in structural dynamics.
Should the text fulfill the expectations of the author in some measure, particularly
the elucidation of this subject, he will then feel rewarded for his efforts in the
preparation and development of the material in this book.

MARIO PAZ
December, 1979