ADVANCED DYNAMICS OF

STRUCTURES
(INS6602)
- LESSON 1 -
Assist. Prof. Dr. Muzaffer BÖREKÇİ
Email: mborekciytu@gmail.com
 SOURCE BOOKS OF THE LESSON
 Anil K. Chopra, DYNAMICS OF STRUCTURES
Theory and Applications to Earthquake
Engineering, Prentice Hall.
 Ray W. Clough and Joseph Penzien, DYNAMICS
OF STRUCTURES, McGraw-Hill.
 Joseph W. Tedesco, William G. McDougal and C.
Allen Ross, STRUCTURAL DYNAMICS Theory
and Applications, Addison-Wesley.
 Jagmohan L. Humar, DYNAMICS OF
STRUCTURES, A.A. Balkema Publishers.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 INTRODUCTION TO STRUCTURAL
DYNAMICS
What is Dynamic?
The term dynamic may be defined simply as
time-varying.
Dynamic load is any load of which its
magnitude, direction and/or position varies
with time.
Structural response (the resulting stresses and
deflection) to a dynamic load is also time-
varying or dynamic.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 In reality, no loads that are applied to
a structure are truly static. Since all
loads must be applied to a structure in
some particular sequence, a time
variation of the force is inherently
involved. Whether or not a load should
be considered dynamic is a relative
matter.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 The most significant parameter, which
defines a load as dynamic, is the
natural period of vibration of the
structure.
Note: Natural period of vibration is the
time required for the structure to go
through one complete cycle of free
vibration. Period

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Static Load: If the application time for
the load is large compared to the natural
period of the structure, then there will be
no dynamic effect and the load can be
considered static.
Dynamic Load:If, on the other hand, the
application time for the load is in close
proximity to the natural period of the
structure, it will induce a dynamic
response.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 Examples for the situations in which
dynamic loading must be
considered:
 the response of bridges to moving vehicles
 the action of wind gusts, ocean waves or blast
pressures upon a structure
 the effect of landing impact upon aircraft
 the effect on a building structure whose foundation
is subjected to earthquake excitation
 the response of structures subjected to alternating
forces caused by oscillating machinery

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 SOURCE OF DYNAMIC LOADS
Source of dynamic loads on structures are
many and varied. However, the origin of the
majority of significant dynamic loads can be
attributed to one of the following sources:
 environmental

 machine induced

 vehicular induced

 blast induced

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Environmental: The single most common
source of dynamic loads on structures is
environmental in nature. Wind loads,
earthquake loads, wave loads are this type of
loads.
Machine Induced: Another significant source
of dynamic loads on structures,
commonplace in industrial installations, is
that attributed to equipment or machinery
such as reciprocating and rotating engines,
turbines and conveyor mechanism.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 Vehicular Induced: A common example of an
induced vehicular dynamic load is that
caused to a highway bridge from speeding
trucks travelling across it.
Blast Induced: Another major source of
dynamic loads is attributed to blasts, either
from explosive devices or accidental
chemical explosions. The explosion results in
the rapid release of a large amount of energy.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 TYPES OF DYNAMIC LOADS
Periodic and Nonperiodic Loads
Dynamic loads can be classified as either
periodic or nonperiodic.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Periodic and Nonperiodic Loads
Periodic loadings repeat themselves at equal
time intervals.
As an example the harmonic load caused by
an unbalanced rotating machine, shown in
figure, is a more regular type of periodic load

An example for periodic load

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Nonperiodic loadings have not equal time
intervals while repeating themselves.
Earthquake loading is a very common example
for nonperiodic load and it is a long duration
nonperiodic load. A blast or explosion is a typical
source of impulsive load and can be an example
for short duration nonperiodic loads.

Ground motion acceleration

Blast loading
(earthquake loading)

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Deterministic and Nondeterministic
Loads
Two basically different approaches are
available for evaluating structural response to
dynamic loads: deterministic and
nondeterministic.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 If the time variation of the loading is fully known,
even though it may be highly oscillatory or irregular
in character, it will be referred to herein as a
prescribed dynamic loading; and the analysis of the
response of any specified structural system to
prescribed dynamic loading is defined as
deterministic analysis.

Example: The harmonic load imposed by

unbalanced rotating machinery is an example of a
deterministic load. A blast load and a measured
earthquake accelerogram are also deterministic
loads.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 On the other hand, if the time variation is not
completely known but can be defined in a
statistical sense, the loading is termed a random
dynamic loading; and its corresponding analysis
of response is defined as a nondeterministic
analysis.
Earthquake loads are, in reality, nondeterministic
because the magnitude and frequency
distribution of an acceleration record for a
possible future earthquake cannot be predicted
with certainty. Wind loads are quite obviously
nondeterministic in nature.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 Fundamental Components of a
Vibrating Systems
Basic components comprising the vibrating
system are mass, stiffness, damping and
forcing.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 The mechanical model for a simple SDOF
vibrating system is depicted below:
Spring (Stiffness)
Mass
External Force

Dashpot (Damping)
OR
m (mass) p (t)

c (damping)
(spring) k/2 k/2 (spring)

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Mass: The most important feature differentiating
a dynamic problem from the corresponding
static problem is the occurence of inertia forces
when the loading is dynamically applied.
When a dynamic force p(t) is applied to a
structure, the structure vibrates and experiences
acceleration.
Inertia forces proportinal to
the mass then develop in
structure that resist these
accelerations.

Static Loading Dynamic Loading

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 If the mass is constant:

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 If we define an inertia force as having a
magnitude equal to the product of mass and
acceleration and a direction opposite to the
direction of the acceleration, we can view the
following equation as an equation of equilibrium
among the forces acting on a body
𝒑𝒑 𝒕𝒕 − 𝒎𝒎𝒖𝒖̈ = 𝟎𝟎
It states that with inertia forces included, a
system is in equilibrium at each time instant.
This method is D’alembert’s principle of
dynamic equilibrium.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 The relationship between the spring force and
the displacement of the spring may take the
form as given:

In general this relationship is nonlinear.

However, for many systems, particularly when
the deformations are small, the force-
deformation relationship can be idealized by a
straight line and this relationship is called as
linear.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 The slope of this straight line is k (spring constant).
For a linear spring, the spring
constant can be defined as
the force required to cause a
unit displacement.

Unit of k is generally defined as force/length as an

example newtons per meter (N/m)
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 Equivalent Stiffness:
Springs connected in parallel:
F = F1 + F2
F = kequ ; F1 = k1u ; F2 = k2u
kequ = k1u + k2u
keq = k1 + k2

Equivalent stiffnes of n number of

springs connected in parallel:
keq = k1 + k2 + k3 +……+kn

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Equivalent Stiffness:
Springs connected in series: The force in each
spring should be
the same and equal
to the externally
applied force F

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Damping: The process by which free vibration
steadily diminishes in amplitude is called damping.
Usually, the magnitude of a damping force is small
in comparison to the force of inertia and the spring
force. Despite this, damping force may significantly
affect the response.

In damping, the energy of the vibrating system is

dissipated by various mechanism.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Types of damping;
Viscous damping: A damping force may result from
the resistance offered by air. The resisting force of
this nature is called viscous damping force.
Viscous damping is represented with dashpot
(damper) in mechanical model of a SDOF system.
Viscous damping force (FD) is proportianal of the
velocity of the mass and always opposed to the
direction of motion:
𝐹𝐹𝐷𝐷 = 𝑐𝑐 𝑢𝑢̇
c is the viscous damping coefficient.
The units of c is force x time/length
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 Coulomb damping: Coulomb damping results from
friction against sliding of two dry surfaces.
The friction force;
F = μN
where μ is the coefficient of friction and N is the
normal forces on the contact surface.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Hysteretic damping: When materials are cyclically
stressed, energy is dissipated within the material
itself due primarily to internal friction caused by the
slipping and sliding of particles at internal planes
during deformation.
Such internal damping is generally referred to as
hysteretic or structural damping.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Source of energy dissipation in real
structures:
 Thermal effect of repeated elastic straining of
the material and internal friction when a solid is
deformed
 Friction at steel connections
 Opening and closing of microcracks in concrete
 Relative movements at the interfaces between
nonstructural elements, such as infill walls, and
the surrounding structural elements

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 It seems impossible to identify or decribe
mathematiccaly each of these energy-dissipating
mechanisms in an actual building!!
As a result, the actual damping in a SDOF system
can be idealized using viscous damping.
For this purpose, viscous damping coefficient c is
estimated by considering all the possible damping
mechanism. Thus, damping in a real structure can
be taken into account satisfactorily.
𝐹𝐹𝐷𝐷 = 𝑐𝑐 𝑢𝑢̇
Vibration experiments on actual structures provide
the data for evaluating the damping coefficient.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 SIMPLE STRUCTURES
We begin our study of structural dynamics with
simple structures, such as pergola and elevated
water tank.

Reinforced
concrete tank

Pergola

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 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.

Reinforced
concrete tank

Pergola

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 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 motion is provided entirely by
the columns.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
 When the tank is full of water, with sloshing of water
not possible in a full tank, it is a lumped mass m
supported by a relatively light tower that can be
assumed as massless.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 DEGREE OF FREEDOM
The number of independent displacements required
to define the displaced positions of all the masses
relative to their original position is called the number
of degrees of freedom (DOFs) for dynamic analysis.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 DEGREE OF FREEDOM

The number of independent displacements required to define the displaced

positions of all the masses relative to their original position is called the number
of degrees of freedom (DOFs) for dynamic analysis.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Single Deg ree of Freedom (SDOF)
Systems

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures