28 Equations of Motion, Problem Statement, and Solution Methods Chap.

Why is external force in the second approach defined as f s (t) and not as f I (t)?
From Eq. (1.7.2), − f I (t) = f S (t) + f D (t) = ku(t) + cu̇(t). It is inappropriate to include
the velocity-dependent damping force because for structural design the computed element
stresses are to be compared with allowable stresses that are specified based on static tests
on materials (i.e., tests conducted at slow loading rates).

1.9 COMBINING STATIC AND DYNAMIC RESPONSES

In practical application we need to determine the total forces in a structure, including those
existing before dynamic excitation of the structure and those resulting from the dynamic
excitation. For a linear system the total forces can be determined by combining the results
of two separate analyses: (1) static analysis of the structure due to dead and live loads,
temperature changes, and so on; and (2) dynamic analysis of the structure subjected to the
time-varying excitation. This direct superposition of the results of two analyses is valid
only for linear systems.
The analysis of nonlinear systems cannot, however, be separated into two indepen-
dent analyses. The dynamic analysis of such a system must recognize the forces and
deformations already existing in the structure before the onset of dynamic excitation. This
is necessary, in part, to establish the initial stiffness property of the structure required to
start the dynamic analysis.

1.10 METHODS OF SOLUTION OF THE DIFFERENTIAL EQUATION

The equation of motion for a linear SDF system subjected to external force is the second-
order differential equation derived earlier:

m ü + cu̇ + ku = p(t) (1.10.1)

The initial displacement u(0) and initial velocity u̇(0) at time zero must be specified to
define the problem completely. Typically, the structure is at rest before the onset of dy-
namic excitation, so that the initial velocity and displacement are zero. A brief review of
four methods of solution is given in the following sections.

1.10.1 Classical Solution

Complete solution of the linear differential equation of motion consists of the sum of the
complementary solution u c (t) and the particular solution u p (t), that is, u(t) = u c (t) +
u p (t). Since the differential equation is of second order, two constants of integration are
involved. They appear in the complementary solution and are evaluated from a knowledge
of the initial conditions.