ADVANCED DYNAMICS OF

STRUCTURES
(INS6602)
- LESSON 5 -
Assist. Prof. Dr. Muzaffer BÖREKÇİ
Email: mborekciytu@gmail.com
RESPONSE TO ARBITRARY DYNAMIC
EXCITATION

Harmonic excitation is a very common cause of vibration,

especially in industrial and power installations where
rotating and reciprocating machinery are commonplace.
For such excitation, there is usually a closed-form solution
available, as was illustrated in Lecture 4, that is also
harmonic. In the vast majority of engineering problems,
however, there are exciting forces that vary with time in a
nonharmonic fashion. In many such instances, closed-form
solutions do not exist; however, approximations can be
found to satisfy engineering requirements.

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

General dynamic excitation can be distinguished in two
broad categories:
 Periodic

 Nonperiodic (arbitrary)

Periodic Excitation
Periodic excitation repeats itself at a equal time intervals or
periods. Harmonic excitation is a special case of periodic
excitation.
Nonperiodic Excitation
Nonperiodic excitation does not repeat itself at a equal time
intervals, and can range from a short-duration blast load
lasting only several milliseconds to a long-duration
earthquake load lasting several minutes.

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

RESPONSE TO UNIT IMPULSE
Before proceeding to the development of a general
analytical method to evaluate the response of structures to
arbitrary dynamic excitation, it is instructive to first consider
the response of a SDOF system to a unit impulse.
Impulsive force is a force of large magnitude that acts over
a very short time interval, but having a finite time integral.
F(t)

An illustration of an impulsive force

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

 The force F(t) = 1/𝜀, with time duration ε acting at time t =
τ. As ε → 0, the impulsive force approaches infinity;
however, the magnitude of the impulse, defined by time
integral of F(t), remains equal to unity. Such a force in the
limiting case ε → 0 is called the unit impulse.
Unit impulse is symbolized by the Dirac delta function.
Dirac delta function δ(t – τ) mathematically defines a unit
impulse centered at time t = τ.
F(t)

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

According to Newton’s second law of motion, if a force F
acts on a body of mass m, the rate of change of
momentum of the body is equal to the applied force, that is,
𝒅
𝒎𝒖 = 𝑭
𝒅𝒕
For constant mass, this equation becomes:
𝑭 = 𝒎𝒖
Integrating both sides with respect to t gives:
𝒕𝟐
𝑭𝒅𝒕 = 𝒎 𝒖𝟐 − 𝒖𝟏 = 𝒎∆𝒖
𝒕𝟏
The integral on the left side of this equation is the
magnitude of the impulse. The product of mass and
velocity is the momentum. The magnitude of the impulse is
equal to the change in momentum.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
This result is also applicable to a SDOF mass-damper-
spring system if the spring or damper has no effect. If the
force acts for an infinitesimally short duration so that spring
and damper has no time to respond. Thus a unit impulse at
t = τ imparts to the mass, m,.
So the velocity:
𝟏
𝒖 𝝉 =
𝒎
The displacement is zero prior to and up to the impulse:
𝒖 𝝉 =𝟎

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

A unit impulse causes free vibration of the SDOF system
due to the initial velocity and displacement. Substitute 𝑢(𝜏)
and 𝑢(𝜏) in EOM of undamped free vibration and damped
free vibration:
𝟏 𝒖𝟎
𝒉 𝒕−𝝉 ≡𝒖 𝒕 = 𝒔𝒊𝒏 𝝎(𝒕 − 𝝉) 𝒕≥𝝉 𝒖 𝒕 = 𝒔𝒊𝒏𝝎𝒕 + 𝒖𝟎 𝒄𝒐𝒔𝝎𝒕
𝒎𝝎 𝝎
𝟏
𝒉 𝒕−𝝉 ≡𝒖 𝒕 = 𝒆−ζ𝝎(𝒕−𝝉) 𝒔𝒊𝒏 𝝎𝑫 (𝒕 − 𝝉) 𝒕≥𝝉
𝒎𝝎𝑫
These unit impulse - response functions, denoted by h(t-τ),
are given below:

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

 DUHAMEL INTEGRAL

the arbitrary nonperiodic forcing function

If it is assumed that the arbitrary excitation F(t) consists of

a sequence of impulsive forces F(τ) acting over a very
small time interval dτ, then the displacement response to
each impulse is valid for all time t >τ. Thus, the incremental
response dx to each impulse F(τ) can be expressed as
𝒅𝒙 = 𝑭 𝝉 𝒅𝝉𝒉(𝒕 − 𝝉)

𝑭 𝝉 𝒅𝝉: 𝑴𝒂𝒈𝒏𝒊𝒕𝒖𝒅𝒆 𝒂𝒕 𝒕𝒊𝒎𝒆 τ 𝒉 𝒕 − 𝝉 : 𝑼𝒏𝒊𝒕 𝒊𝒎𝒑𝒖𝒍𝒔𝒆 − 𝒓𝒆𝒔𝒑𝒐𝒏𝒔𝒆 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏

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

To obtain the complete response to F(t), the individual
incremental responses dx due to each impulse are
summed by superposition. In other words, the complete
displacement response u(t) is obtained by integrating the
inceremental response of dx over the entire time interval.
𝒕
𝒖 𝒕 = 𝑭 𝝉 𝒉 𝒕 − 𝝉 𝒅𝝉
𝟎

This equation is commonly known as Duhamel’s integral or

convolution integral.

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

For a viscously damped system, substitution of the
impulsive response function h(t), into u(t) yields
𝒕
𝟏
𝒖 𝒕 = 𝑭 𝝉 𝒆−𝜻𝝎 𝒕−𝝉 𝒔𝒊𝒏𝝎𝑫 𝒕 − 𝝉 𝒅𝝉
𝒎𝝎𝑫 𝟎

This equation gives the displacement response to an

arbitrary excitation force when the initial conditions are
zero.

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

 For nonzero initial conditions, the complete solution is the
superposition of the particular solution due to the excitation
and the homogenous solution due to the initial conditions.
Homogenous solution uh(t) is given below
𝒖𝟎 + 𝜻𝝎𝒖𝟎
𝒖𝒉 𝒕 = 𝒆−𝜻𝝎𝒕 𝒖𝟎 𝒄𝒐𝒔𝝎𝑫 𝒕 + 𝒔𝒊𝒏𝝎𝑫 𝒕
𝝎𝑫
The complete solution:
𝒖𝟎 + 𝜻𝝎𝒖𝟎
𝒖 𝒕 = 𝒆−𝜻𝝎𝒕 𝒖𝟎 𝒄𝒐𝒔𝝎𝑫 𝒕 + 𝒔𝒊𝒏𝝎𝑫 𝒕
𝝎𝑫
𝟏 𝒕
+ 𝑭 𝝉 𝒆−𝜻𝝎 𝒕−𝝉 𝒔𝒊𝒏𝝎𝑫 𝒕 − 𝝉 𝒅𝝉
𝒎𝝎𝑫 𝟎

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

 For undamped system:
𝒕
𝟏
𝒖 𝒕 = 𝑭 𝝉 𝒔𝒊𝒏𝝎 𝒕 − 𝝉 𝒅𝝉
𝒎𝝎 𝟎

The complete solution:

𝒖𝟎 𝟏 𝒕
𝒖 𝒕 = 𝒖𝟎𝒄𝒐𝒔𝝎𝒕 +
𝝎
𝒔𝒊𝒏𝝎𝒕 + 𝒎𝝎 𝟎
𝑭 𝝉 𝒔𝒊𝒏𝝎 𝒕 − 𝝉 𝒅𝝉

The Duhamel’s integral is a powerful tool for the

analysis of linear systems. The response of SDOF
systems to simply defined loading functions is
generally expedient with Duhamel’s integral.

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

 Undamped system:
𝒖𝟎 𝟏 𝒕
• 𝒖 𝒕 = 𝒖𝟎 𝒄𝒐𝒔𝝎𝒕 + 𝒔𝒊𝒏𝝎𝒕 + 𝒎𝝎 𝟎
𝑭 𝝉 𝒔𝒊𝒏𝝎 𝒕 − 𝝉 𝒅𝝉
𝝎

If uo = 0 and 𝒖𝟎 = 𝟎
𝟏 𝒕
• 𝒖 𝒕 = 𝑭 𝝉 𝒔𝒊𝒏𝝎 𝒕 − 𝝉 𝒅𝝉
𝒎𝝎 𝟎

Damped system:
𝒖𝟎 +𝜻𝝎𝒖𝟎
• 𝒖 𝒕 = 𝒆−𝜻𝝎𝒕 𝒖𝟎 𝒄𝒐𝒔𝝎𝑫 𝒕 + 𝒔𝒊𝒏𝝎𝑫 𝒕
𝝎𝑫
𝟏 𝒕
+ 𝑭 𝝉 𝒆−𝜻𝝎 𝒕−𝝉 𝒔𝒊𝒏𝝎𝑫 𝒕 − 𝝉 𝒅𝝉
𝒎𝝎𝑫 𝟎

If uo = 0 and 𝐮𝟎 = 𝟎
𝟏 𝒕
• 𝒖 𝒕 = 𝑭 𝝉 𝒆−𝜻𝝎 𝒕−𝝉 𝒔𝒊𝒏𝝎𝑫 𝒕 − 𝝉 𝒅𝝉
𝒎𝝎𝑫 𝟎

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

RESPONSE TO GROUND MOTION
The analysis of dynamic response of a structure to ground
motion is of considerable interest because of its application
in the design for earthquake forces. Earthquake ground
motions are quite random in nature. However, if the time
history of the ground motion is available, it is possible to
determine the response of SDOF system subjected to such
a motion.

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

 𝒖𝒕
𝒖 ut: the absolute motion
measured from a fixed
frame of reference
u: displacement relative
to the ground
ug: ground displacement

𝒖𝒈 𝒖

𝒖𝒕 = 𝒖 + 𝒖𝒈 𝒖𝒈 (t)

Rigid-base SDOF system subjected to gorund motion

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

The EOM of an underdamped SDOF system subjected to
gorund motion is given by 𝒖 𝒕

𝒖
𝒎𝒖𝒕 + 𝒄𝒖 + 𝒌𝒖 = 𝟎

𝒖𝒕 = 𝒖 + 𝒖 𝒈

𝒖𝒕 = 𝒖 + 𝒖𝒈

𝒎𝒖𝒈 + 𝒎𝒖 + 𝒄𝒖 + 𝒌𝒖 = 𝟎 𝒖𝒈 𝒖
𝒖𝒕 = 𝒖 + 𝒖𝒈 𝒖𝒈(t)
𝒎𝒖 + 𝒄𝒖 + 𝒌𝒖 = −𝒎𝒖𝒈

𝒎𝒖 + 𝒄𝒖 + 𝒌𝒖 = 𝑭𝒆𝒇𝒇 (𝒕)

Feff(t): effective load

𝑭𝒆𝒇𝒇 𝒕 = −𝒎𝒖𝒈

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

 𝒖 + 𝟐𝝎ζ𝒖 + 𝝎𝟐 𝒖 = −𝒖𝒈

For any arbitrary acceleration of the supports 𝑢𝑔 𝑡 , the

relative displacement of the mass u(t) can be computed
from the Duhamel integral expression, for zero initial
conditions:
𝒕
−𝟏
𝒖 𝒕 = 𝒖𝒈 𝝉 𝒆−𝜻𝝎 𝒕−𝝉 𝒔𝒊𝒏𝝎 𝟏 − 𝜻𝟐 𝒕 − 𝝉 𝒅𝝉
𝝎 𝟏 − 𝜻𝟐 𝟎

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

RESPONSE SPECTRUM
Definition of Response Spectrum
For a given ground motion 𝑢𝑔 (𝑡), response of the SDOF
system depends only on the natural vibration period of the
system (T) and the damping ratio (ζ).
Displacement time history can be determined with the
solution of the Duhamel integral for a specific T and ζ under
the ground motion.

𝒖 + 𝟐𝝎ζ𝒖 + 𝝎𝟐 𝒖 = −𝒖𝒈
𝒕
−𝟏
𝒖 𝒕 = 𝒖𝒈 𝝉 𝒆−𝜻𝝎 𝒕−𝝉 𝒔𝒊𝒏𝝎 𝟏 − 𝜻𝟐 𝒕 − 𝝉 𝒅𝝉
𝝎 𝟏 − 𝜻𝟐 𝟎

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

 0.046 m

Acceleration time history of Van 2011 Earthquake Displacement time history due to Van
which was recorded on Muradiye Station 2011 Earthquake which was recorded
on Muradiye Station

However, engineers consider peak value of the response

quantities (𝑢, 𝑢, 𝑢). It is well-known that structural damage
occurs because of the large displacement under the effect
of an earthquake. Thus, the maximum value of the
displacement is enough to design a structures.

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

A plot of the peak value of a response quantity as a
function of the natural vibration period T of the system, or a
related parameter such as circular frequencu ω or cyclic
frequency f, is called the response spectrum for that
quantity. Each such plot is for SDOF systems having a
fixed damping ratio ζ.

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

Another representation to define the response spectrum:

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

Spectral Quantities
𝒕
−𝟏
𝒖 𝒕 = 𝒖𝒈 𝝉 𝒆−𝜻𝝎 𝒕−𝝉 𝒔𝒊𝒏𝝎 𝟏 − 𝜻𝟐 𝒕 − 𝝉 𝒅𝝉
𝝎 𝟏 − 𝜻𝟐 𝟎

For a specific T and ζ, maximum value of u is obtained and

it is referred to as the spectral-displacement Sd(T, ζ) =
umax(T, ζ).
It is useful to define two related spectral parameters,
referred to as the pseudo-spectral-velocity, Spv, and
pseudo-spectral-acceleration, Spa.
𝑺𝒑𝒗 = 𝝎𝑺𝒅
𝑺𝒑𝒂 = 𝝎𝑺𝒑𝒗 = 𝝎𝟐 𝑺𝒅

Spectral Displacement
Spectral quantities of
Spectral Velocity response spectrum
Spectral Acceleration

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

 𝑺𝒑𝒗 = 𝝎𝑺𝒅

𝑺𝒑𝒂 = 𝝎𝑺𝒑𝒗 = 𝝎𝟐 𝑺𝒅
The pseudo-spectral-velocity is not the same as the true spectral
velocity.
𝑺𝒑𝒗 ≠ 𝒖𝒎𝒂𝒙
𝒕
𝜻𝝎
𝒖 𝒕 =− 𝒖+ 𝒖𝒈 𝝉 𝒆−𝜻𝝎 𝒕−𝝉 𝒄𝒐𝒔𝝎𝑫 𝒕 − 𝝉 𝒅𝝉
𝝎𝑫 𝟎
The pseudo-spectral-acceleration is approximately equal to the
maximum value of the true absolute acceleration. From the EOM:
𝒖𝒕 𝒕 = −𝟐𝜻𝝎𝒖 𝒕 − 𝝎𝟐 𝒖(𝒕)
For low values of damping 𝒖𝒕 ≈ −𝝎𝟐 𝒖(𝒕) so that 𝑢(𝑡) and 𝒖𝒕 (𝒕) attain
their maximum values at the same instant of time and
𝒖𝒕𝒎𝒂𝒙 ≈ 𝝎𝟐 𝒖𝒎𝒂𝒙 = 𝝎𝟐 𝑺𝒅 = 𝑺𝒑𝒂

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

 These spectrums were
determined for El-Centro
1940 earthquake ground
motion

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

 Comparison of real and
pseudo velocity and
acceleration response spectra
of El-Centro 1940 earthquake
groun motion
(damping ratio ζ= 2%)

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

 For systems with very short period (T< 0.035 sec):
Spa approahces 𝒖𝒈𝟎 and Sd is very small. For a fixed mass, a very short
period system is extremely stiff or essentially rigid. Such a system
would be expected to undergo very little deformation and its mass
would move rigidly with the ground; its peak acceleration should be
approximately equal to 𝒖𝒈𝟎 .

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

 For systems with very long period (T > 15 sec):
Sd for all damping values approaches ug0 and Spa is very small; thus
the forces in the structure, which are related to mSpa, would be very
small. For a fixed mass, a very long period system is extremely flexible.
The mass would be expected to remain essentially stationary while the
ground below moves.
In Turkish Seismic Code for
Buildings 2018,
The begining period of
constant displacement region
is TL = 6 sec

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