Structural Dynamics Instructor: Prof.

Tazarv

Handout 2.4.10: Response to Step & Ramp Forces

Step Forces: A step force jumps suddenly from zero to po and stays constant at that value.

Equation of Motion when Peff = 𝑝𝑜 : 𝑚𝑢̈ + 𝑐𝑢̇ + 𝑘𝑢 = 𝑝𝑜

General Initial Conditions: 𝑢 = 𝑢(0) & 𝑢̇ = 𝑢̇ (0)

We can solve the differential equation with the general initial conditions using Duhamel’s
Integral.
For Undamped SDOF:

2 t
u (t ) = (u st ) o [1 − cos( n t )] = (u st ) o [1 − cos ]
Tn

For Damped SDOF:

  
u (t ) = (u st ) o 1 − e − nt [cos( D t ) + sin(  D t )]
 1−  2 

where

𝑘
𝜔𝑛 = √𝑚 Natural Circular Frequency of Vibration (radians/sec)

 D = n 1 −  2 Damped Natural Circular Frequency of Vibration (radians/sec)

po
(u st ) o = Static deformation due to force
k

(a) SDF system; (b) step force; (c) dynamic response.

H-Step & Ramp Forces-1

Structural Dynamics Instructor: Prof. Tazarv

Ramp Forces: An applied force that increases linearly with time. We assume the maximum
amplitude does not cause yielding of SDOF system.

𝑡 𝑡
Equation of Motion when Peff = 𝑝𝑜 𝑡 : 𝑚𝑢̈ + 𝑐𝑢̇ + 𝑘𝑢 = 𝑝𝑜 𝑡
𝑟 𝑟

General Initial Conditions: 𝑢 = 𝑢(0) & 𝑢̇ = 𝑢̇ (0)

We can solve the differential equation with the general initial conditions using Duhamel’s
Integral.

For Undamped SDOF:

t sin(  n t ) t Tn sin( 2 t / Tn )
u (t ) = (u st ) o [ − ] = (u st ) o [ − ]
tr  n tr Tn t r 2 t r / Tn

where

𝑘
𝜔𝑛 = √𝑚 Natural Circular Frequency of Vibration (radians/sec)

po
(u st ) o = Static deformation due to force
k

(a) SDF system; (b) ramp force; (c) dynamic and static responses.

H-Step & Ramp Forces-2

Structural Dynamics Instructor: Prof. Tazarv

Step Force w/ Finite Rise Time: An excitation with two phases: a ramp/rise phase and
constant phase.
𝑡
𝑝𝑜 (𝑡 ) 𝑡 ≤ 𝑡𝑟
𝑟
Equation of Motion: 𝑚𝑢̈ + 𝑐𝑢̇ + 𝑘𝑢 = {
𝑝𝑜 𝑡 ≥ 𝑡𝑟
General Initial Conditions: 𝑢 = 𝑢(0) & 𝑢̇ = 𝑢̇ (0)
We can solve the differential equation with the general initial conditions using Duhamel’s
Integral.

For Undamped SDOF:

t sin(  n t )
u (t ) = (u st ) o [ − ] t  tr
tr  n tr

 1 
u (t ) = (u st ) o  1 − [sin(  n t ) − sin  n (t − t r )] t  tr
  n tr 
where

𝑘
𝜔𝑛 = √ Natural Circular Frequency of Vibration (radians/sec)
𝑚

po
(u st ) o = Static deformation due to force
k

SDF system (left) and step force with finite rise time (right)

Deformation Response factor, Rd for constant-force phase:

sin(  t / Tn )
Rd = uo /(u st ) o = 1 +
 t r / Tn

H-Step & Ramp Forces-3

Structural Dynamics Instructor: Prof. Tazarv

Dynamic response of undamped SDF system to step force with finite rise time; static solution is shown by
dashed lines.

Response spectrum for step force with finite rise time

H-Step & Ramp Forces-4