Class #1

Structural Dynamics

Introduction

Dr. Tesfaye Alemu

1
 Structural dynamics basic terminologies
• Dynamic analysis vs static analysis
• resulting response function of time vs unique value
• inertia force effect
• Principle of superposition for linear structures
• Static analysis
• Dynamic analysis
• Deterministic analysis and loading
• time variation of loading is fully known
• prescribed dynamic loading
• periodic loading e.g. harmonic loading
• non-periodic loading e.g. blast impulsive loading
• Non-deterministic analysis and loading
• Random dynamic loading: e.g. EQ and Wind gust loading
• time variation of loading is not completely known rather it
is expressed in statistical sense so do resulting response
 Structural dynamics:
Lumped Mass discretization procedure

Fig (a)

Fig (b)
 Structural dynamics: Discretization
Lumped Mass procedure
m

u(t)

SDOF: Single Degree of

Freedom System:
⚫ One mass moving in
one direction.
 Class #1.1
Structural Dynamics

Equations of Motion
Single Degree of Freedom Systems
Free Vibrations
Undamped

Dr. Tesfaye Alemu 5

 Equations of Motion
Assumptions:
⚫ Mass of structure is concentrated at roof and floors.
⚫ Frame has zero mass.
⚫ Beams & columns are inextensible axially.
⚫ Motion of structure depends on
⚫ Lateral Stiffness (spring)
⚫ Relative displacement between base and mass
⚫ Energy Dissipation (damper, dashpot)
⚫ Relative velocity between base and mass

Ground Motion
u T (t )
Applied Force

6
 Equations of Motion
Assumptions:
⚫ Three separate PURE components
⚫ Mass component,
⚫ Roof, floors, walls, columns, beams
⚫ lumped together into ONE mass.
⚫ Stiffness component.
⚫ Lateral stiffness of walls, columns, beam-column joints
⚫ lumped together into ONE stiffness
⚫ Stiffness depends on relative displacement between base and mass
⚫ Damping component
⚫ Energy (kinetic & strain) dissipation of all elements
⚫ lumped together into ONE damper
⚫ Damping depends on relative velocity between base and mass
Ground Motion
u T (t )
Applied Force

7
 Equations of Motion
Applied Force Ground Motion u T (t )

ug(t) ug(t)
u (t ) = total relative displacement between base and mass
u T (t ) = Total absolute displacement of mass
u g (t ) = ground motion of base

u T (t ) = u g (t ) + u (t )
u T (t ) − u g (t ) = u (t )
If : u g (t ) = 0
8

u T (t ) = u (t )
 Degrees of Freedom m

u(t)
⚫ SDOF: Single Degree of Freedom System:
⚫ One mass moving in one direction.

m2

⚫ MDOF: Multi-Degree of Freedom System: u2(t)

⚫ More than one mass moving in

one (same, lateral) direction.
m m1
⚫ One mass moving in z(t)
u1(t)
more than one direction. u(t)

9
 Equations of Motion
⚫ SDOF:
⚫ Free Vibrations: Forcing function = F(t) = 0 = p(t)
⚫ Undamped: energy dissipation = 0
⚫ Damped: energy dissipation ≠ 0
⚫ Forced Vibrations: Forcing function = F(t) ≠ 0 ≠ p(t)
⚫ Undamped: energy dissipation = 0
⚫ Damped: energy dissipation ≠ 0
⚫ MDOF:
⚫ Free Vibrations: Forcing function = F(t) = 0 = p(t)
⚫ Undamped: energy dissipation = 0
⚫ Damped: energy dissipation ≠ 0
⚫ Forced Vibrations: Forcing function = F(t) ≠ 0 ≠ p(t)
⚫ Undamped: energy dissipation = 0
⚫ Damped: energy dissipation ≠ 0 10
Single Degree of Freedom Systems
m p(t)
mass p(t)
u(t)
c c
k1
k2

Spring Damper Spring

1 2

SDOF:
FInertia
p(t)
m
mass p(t)
FI FI
c c
u(t) FD
FS1 FD FS2 FD
FS1 FS1

FS2 FS2
11
Spring Damper Spring
1 2
Single Degree of Freedom Systems
FInertia
SDOF: p(t)
m
mass p(t)
FI
FI c
c u(t) FD
FS1 FD FS2 FD
FS1 FS
FS2

Spring Damper Spring

1 2

FS (t ) = total spring force of all columns = k u (t )

FD (t ) = total damping force of all dampers = cu (t )
c = the measure of the energy dissipated (lost )
in each vibration cycle
FI (t ) = inertia force of mass = mu(t )
p(t ) = applied
12

force
Single Degree of Freedom Systems
FInertia
SDOF: p(t)
m
mass p(t)
FI
FI c
c u(t) FD
FS1 FD FS2 FD
FS1 FS
FS2

Spring Damper Spring

1 2
Newton ' s Second Law of Motion
F = ma in X direction →= positive
Fx = ma x Fx − ma x = 0
p(t ) − FI (t ) − FS (t ) − FD (t ) = 0
FI (t ) + FD (t ) + FS (t ) = p(t )
mu(t ) + cu (t ) + ku (t ) = p(t )
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 SDOF: Free, Undamped
FInertia
SDOF: p(t)=0
m
mass p(t)=0
FI
FI
u(t)
FS1 FS2
FS1 FS
FS2
Spring
mu(t ) + cu (t ) + ku(t ) = p(t )
Spring
1 2

mu(t ) + 0 + ku(t ) = 0
For free motion : the solution is
p(t ) = 0 u (t ) = ACos ( N t ) + BSin( N t )
 N = Natural Circular Frequency
For undamped motion :
N =
k
=
(N m ) = 1
=
1
=
radians
c=0 m  N  s 2 sec sec
 
2 
14

 m s 
 SDOF: Free, Undamped
u (t ) = ACos ( N t ) + BSin ( N t )
u (t ) = − N ASin ( N t ) +  N BCos ( N t )
u(t ) = − N2 ACos ( N t ) −  N2 BSin ( N t )
at time t = 0
u (0 ) = ACos (0 ) + BSin (0 )
u0 = A
at time t = 0
u (t ) = − N ASin (0 ) +  N BCos (0 ) k
u0 =  N B
N =
m
u0
=B THUS :
N
u0
u (t ) = u0 Cos ( N t ) + Sin ( N t ) 15

N
 SDOF: Free, Undamped
u0  N
Tan( ) = Sin( ) = Cos( ) =
u0 u0
Define :
u0  N u02 + (u0  N ) u02 + (u0  N )
2 2

u02 + (u0  N )
2

Now multiply by 1 = 2

u + (u0  N ) u +  0
2 u 

2 2

0
0
  N 

 u 2 + (u  )2   u0


u
u (t ) =  0 0 N
 u0 Cos( N t ) + 0 Sin( N t )
 u02 + (u0  N )2   N 
  u0
  N
u0  N
 2
u (t ) = u0 + (u0  N ) 

2
  2 
u0
Cos( N t ) + 2 Sin( N t )
 u0 + (u0  N ) u0 + (u0  N )
2 2


u (t ) =  u02 + (u0  N ) (Sin )Cos( N t ) + (Cos )Sin( N t )
2
 
by trigonometric identities
u (t ) =  u02 + (u0  N ) Sin( N t +  )
2
 
k
Amplitude of motion = u + (u0  N )
2
0
2
N =
Phase angle =  m 16
 SDOF: Free, Undamped
 N = Natural circular frequency
k radians
Never stops N = =
m sec
f N = Natural frequency
 N cycles
fN = =
2 sec
TN = Natural period
1 2 sec
TN = = =
f N  N cycle

2
u02 +  0 
u
 
 N 

u0

u0
N
u (t ) =  u02 + (u0  N ) Sin( N t +  )
k

2

N =
m
 u 
motion = u0 = u02 + (u0  N )
17
Phase angle =  = Tan−1  0 
2
Amplitude of
 u0  N 
 SDOF: Free, Undamped
⚫ Can determine Natural Circular Frequency:
⚫ By Static Displacement experiment;
 Static

FS = W = weight of
structure
W k radians
N = =
 Static W m sec
F = ma
FSpring = k ( y ) = k ( Static ) W = mg
k W  Static
FS
=k N = =
 Static m W g
W g
=k N =
 Static  Static 18
 SDOF: Free, Undamped
⚫ Can determine Natural Circular Frequency:
⚫ By Static Displacement experiment;
 Static
FS = W = weight of
structure

g
N =
 Static
N 1 g
f = =
2 2  Static
⚫ Valid ONLY for that
particular SDOF;
19
specific; k, m or W
SDOF: Free, Undamped
Calculation Examples:
 N = Natural circular frequency
Never stops k radians
N = =
m sec
f N = Natural frequency
 N cycles
fN = =
2 sec
TN = Natural period
1 2 sec
TN = = =
f N  N cycle

2
u02 +  0 
u

 N 
u0

u0
N
u (t ) =  u02 + (u0  N ) Sin( N t +  )
k

2

N =
m
 u  20
motion = u0 = u + (u0  N ) Phase angle =  = Tan  0 
−1
2 2
Amplitude of
 u0  N 
0
 SDOF: Free, Undamped
Calculation Examples:
 N = Natural circular frequency
Response Spectra for ASCE 7-05
k radians
N = =
1.75 m sec
1.50 f N = Natural frequency
1.25  N cycles
fN = =
Sa (g)

1.00 2 sec
0.75 TN = Natural period
0.50
1 2 sec
0.25 TN = = =
0.00 f N  N cycle
0.0 0.5 1.0 1.5 2.0 2.5 3.0 2
u02 +  0 
u

Period, T (sec)  N 
u0
TL=8, Lancaster, CA

u0
N
u (t ) =  u02 + (u0  N ) Sin( N t +  )
k

2

N =
m
 u  21
motion = u0 = u + (u0  N ) Phase angle =  = Tan  0 
−1
2 2
Amplitude of
 u0  N 
0