By. Ana Fatima Godinho.,B.Eng(Honors).,M.

T
1.1. Degree of freedom
Strutura nebe kontinua iha degree of
freedom. Picture 1.1. hatudu strutura nebe sei
sai simples ba degree of freedom no modelu
matematika sei hatudu iha picture 1.2. Modelu
karakterisku sei asumi hodi fahe ho ketak ketak
(Model characteristics that are assumed to be
separate from each other). So Mass (m)
Ho nunee Massa, m, sei sai hanesan hahalok
inertia, Spring (pegas), k (Stiffness), to state
(menyatakan) elasticity and Damping.
Picture 1.1. Examples of structures modeled as one-degree-of-freedom
systems (Struktur Dimodelkan Sebagai Satu Derajat Kebebasan)
Where :
1. A mass element m representing the
mass and inertial characteristic of the
structure.
2. A spring element k representing the
elastic restoring force and potential energy
storage of the structure.
3. A damping element c representing the
frictional characteristics and energy
dissipation of the structure.
4. An excitation force F(t) representing the
external forces acting on the structural
system.
Picture 1.2 Analytical model for one-degree-of-freedom system
(Model Matematic Untuk Sistem Satu Derajat Kebebasan)
In free vibration and it is in
motion governed only by
the influence of the so
calledinitial conditions, that
is, the given displacement
and velocity at time t = 0
when the study of the
system is initiated. This
undamped, one-degree-of-
freedom system is often
referred to as
thesimpleundamped
oscillator. It is usually
represented as shown in Gambar 1.3 Alternate representations of
Fig.1.3aor Fig.1.3bor any analytical models for one-degree-of-freedom
other similar arrangement systems (Model Matematis Sistem Satu
Derajat Kebebasan Tanpa Redaman)
1.4. Force displacement relationship

Where :
(a) Is Hard spring
(b) is Linear spring
(c) is soft spring .
Consequently, we may write the relationship
between force and displacement for a linear
spring as :
Fs = ku
Sometimes it is necessary to determine the equivalent
spring constant for a system in which two or more
springs are arranged in parallel as shown in Fig.1.5a or
in series as in Fig.1.5b.

1.5. Combination of springs: (a) Springs in parallel (b) Springs in series

For two springs in parallel the total force
required to produce a relative
displacement of their ends of one unit is
equal to the sum of their spring constants.
This total force is by definition the
equivalent spring constant ke and is given
by:
Ke = k1 + k2

In general for n springs in parallel

For two springs assembled in series as shown in
Fig.1.5b, the force P produces the relative
displacements in the springs

and

Then, the total displacement u of the free end of the

spring assembly is equal to u = Δu1 + Δu2, or
Substituting Δu1 and Δu2
Consequently, the forcekenecessary to produce one
unit displacement (equivalent spring constant) is
given by

Substituting u from this last relation into Eq. (1.4), we

may conveniently express the reciprocal value
of the equivalent spring constant as
In general for n springs in series the equivalent spring
constant may be obtained from
We continue with the study of the simple
oscillator depicted in Fig.1.3. The objective is
to describe its motion, that is, to predict the
displacement or velocity of the mass m at any
time t, for a given set of initial conditions at
time t = 0. The analytical relation between the
displacement u, and time t, is given by
Newton’s Second Law of Motion, which in
modern notation may be expressed as

F = ma
 For the case at hand, Fig.1.6b depicts the
FBD of the mass m of the oscillator, displaced
in the positive direction with reference to
coordinate u and acted upon by the spring
force Fs = ku (assuming a linear spring). The
weight of the body mg and the normal
reaction N of the supporting surface are also
shown for completeness, though these forces,
acting in the vertical direction, do not enter
into the equation of motion written for the
U direction. The application of Newton’s Law
of Motion gives.
 Figure 1.6. Alternate free body diagrams
(a). Single degree of Freedom system
(b) Showing only external forces
(c) Showing external and inertial forces
If this equation is to be satisfied at any time, the
factor in parentheses must be equal to zero, or.

The reader should verity that Eq.(1.13) is also a

solution of the differential Eq. (1.11), with ω
Also satisfying eq. (1.15). The positive roof of eq.
(1.15).
The period may easily be found since the
function sine and cosine both have a
period of 2π. The period T of the motion is
determined from
or

the period is ussually expressed in seconds

per cycle or simply in second, with the tacit
understanding that it is “per cycle”. The
reciprocal value of the period is the natural
frequency f. from eq.(1.21)
Determine the natural frequency of the
beam-spring system shown in figure 1.8
consisting of a weight of W = 50.7 lb
attached to a horizontal cantilever beam
through the coil spring K2. The cantilever
beam has a thickness h = ¼ in, a width b =
1 in. modulus of elasticity E = 30 x 106 psi,
and length L = 12.5 in. the coil spring has a
stiffness K2 = 10.69 (lb/in).
 10.69 lb/in

50.7
lb

System for Illustrative Example 1.2

 The deflection Δ at the free and of a
uniform cantilever beam acted upon by
a static force p at the free end given by

the corresponding spring constant K1 is then

Where the cross-section moment of inertia
1
𝐼= 𝑏ℎ3 (for a rectangular section).
12
Now, the cantilever and the coil spring of
this system are connected as spring in
series. Consequently, the equivalent spring
constant as given from Eq. (1.5) is :
 3
1 1 1 4
𝐼= 𝑥1𝑥 = 𝑖𝑛
12 4 768

3 𝑥 30 𝑥 106
𝑘 1= 3
= 60 𝑙 𝑏 𝑖 𝑛
12.5 𝑥 768
And
1 1 1
= +
𝑘𝑒 60 10.69

𝑘 𝑒= 9.07 𝑙 𝑏 𝑖 𝑛
The natural frequency for this system is then given by

Eq. (1.16a) as :

𝑘𝑒
𝜔= 𝑚 𝑚 = 𝑤 𝑔 𝑎𝑛𝑑 𝑔 = 386 𝑖 𝑛 sec 2

𝜔 = 9.07𝑥 368 50.7

𝜔 = 8.31 𝑟𝑎 𝑑 det
Atau

𝑓 = 1/𝑇 = 𝜔 / 2π

f = 1.32 cps
Illustrative Example 1.3

Condiser the steel frame shown in figure 1.11a. having

a rigid horizontal member to which a horizontal
dynamic force is applied. As part of the overall
structural design it is required to determine the natural
frequency of this structure. Two assumptions are made:
(considerasaun armasaun de asu bele hare iha
figura 1.11a. Sai hanesan enkuadramentu ba
armasaun de asu Ida nebe implika ba iha dinamika
horizontal ninin leten. Sai hanesan parte planu nbe
kobre strutura ht, persija mos frekuensi natural husi
enkuadramentu nee rasik. Persija mos konsiderasaun
rua husi:
1. The masses of the columns are neglected.(massa
husi airin no wall avaiable(diabaikan)
2. The horizontal members are sufficiently rigid to
prevent rotation are the tops of the columns.(viga
nebe mk ho rigido (kaku) naton deit atu prevene
rotasaun ba kluna nebe aas)

These assumption are not mandatory for the solution of

the problem, but they serve to simplify (hafasil) the
analisis. Under these conditions, the frame may be
modeled by the spring mass system shown in fig.
1.11b.(asumsi nee la sai hanesan orientasaun hodi solusi
ona ba problema, maibe atu hafasil analisa ida nee.
Husi kondisaun nebe tuir mai, enkuadramentu bele sai
hanesan modelu husi sistema mola massa no bele hare
iha figura 1.11b.
 100 kg/m

I=23.700 cm4
W 400.200.66
5m

8m

One degree of freedom frame and corresponding analytical

model for illustrative Example 1.3.
The parameter of this model may be
computed as fallows :
W = 100 x 8 = 800 kg
I = 23.700 cm4
E = 2.1 x 106 kg/cm2

12𝐸(2𝐼
k=
𝐿3

12 𝑥( 2.1 𝑥 106 𝑥 (2 𝑥 23.700

=
5003

K = 9555,84 kg/cm
 1 kg
f 
2 phi W

1 (9555,84)(980)

2 phi 800

 17, 22 putaran / det

Several basic concepts were introduced in
this chapter (iha konseitu basiku balu mk isplika iha
kapitulu refere) :
1. The analytical or mathematical model of
a structure is an idealized reprezentation
for its analysis.(modelu matematis husi struktur
mak hanesan idealitiku desenhu ba analisa)
2. The number of degrees of freedom of a
struktural system is equal to the number of
independent coordinates necessary to
describe its position.(total DOF (sistema grau
libre) husi sisteema balu mak hanesan ho total
koordinat free nebe persija hodi bele deskrebe
ninia posisaun).
3. The free body diagram (FBD) for
dynamic equilibrium ( to allow application
of D’Alembert’s Principle) is a diagram of
the system from all other bodies, showing
all the external forces on the system,
including the inertial force.(diagrama free
body ba ekilibrium dynamiku (bazeia ba prinsipiu
D’Alembert) mak hanesan digrama sistema nbe mk
hafahe husi parte seluk, ida nbe mk deskreve external
force inclui mos inertial force).
4. The stiffness or spring constant of a linear
system is the force necessary to produce a
unit displacement.(stiffness(rigidez ou mola
konstanta husi sistema linear mak hanesan forsa nbe
persija atu halo mudansa ba unidade ida).
5. The differential equation of the
undamped simple oscillator in free
motion is: (ekilibru differential oscilator simples
undamped iha dinamiku libre, mak hanesan:

And its general solution is

Where :
A and B are constants of integration
determined from initial conditions of the
displacement U0 and of the velocity v0 (A
no B mak hanesan integrasi kontanta nebe mak
determina ona husi kondisaun antes).
6. The equation of motion may be written
in the alternate forms (ekilibru movimentu (
Gerak) nebe mak ble deskrebe iha forma balu):
Calculate the natural frequency in the horizontal
model of the steel frame in the figure P1.4 for the
following cases : (halo kalkulasaun frekuensi natural
ba dinamiku (motion) horisontal husi armasaun de
asu (kerangka baja) sei hatudu iha desenhu P1.4 ba
kondisaun turi mai) :
a) The horizontal member is assumed to be rigid.
(konsidera parte horisontal nebe kontinua (to be rigid)
monotonu (kaku).

b) The horizontal member is flexible and made of

steel section --- w 10 x 33.(parte horizontal
Feksibel nebe produs husi asu (baja).
Figure.P1.4
 *Equation of Motion
The summation of forces in the U direction
gives the diffrential equation of motion :

*There are 3 possible values of S

2
 c  k
1).    Critically Damped System (redaman kritik)
 2m  m
 𝑐 2 𝑘 Under Damped System (redaman ringan)
2 . ˂ dala barak uja iha struktur tamba
2𝑚 𝑚 realidade.

𝑐 2 𝑘
3 . ˃ Over Damped System (redaman berat)
2𝑚 𝑚

The case 1 : Critically Damped system

2
𝑐 2 𝑘 𝐶𝑐𝑟 𝑘
= ⇒ =
2𝑚 𝑚 2𝑚 𝑚

Ccr is Critikal Damping

𝐶𝑐𝑟 𝑘
= ⇒ 𝐶𝑐𝑟 = 2 𝑘𝑚
2𝑚 𝑚
 𝐶𝑐𝑟
= 𝑤 ⇒ 𝐶𝑐𝑟 = 2 𝑚𝑤
2𝑚
Natural Circular regrency

k
w
m
The case II : Under damped system (sistem
dengan redaman ringan).

𝑐 2 𝑘
˂
2𝑚 𝑚
Damping rasio :
𝑐
𝜉= ˂1
𝐶𝑐𝑟
 𝑝𝑒𝑟𝑠𝑎𝑚𝑎𝑎𝑛 𝑠𝑎𝑡𝑢
𝑢 = 𝑒 −𝜉𝜔𝑡 (𝐴 sin 𝜔 𝑑 𝑡 + 𝛽 cos 𝜔 𝑑 𝑡
𝑝𝑒𝑟𝑠𝑎𝑚𝑎𝑎𝑛 𝑑𝑢𝑎
𝑢 = 𝑒 −𝜉𝜔𝑡 𝑅 sin (𝜔 𝑑 𝑡 + 𝛼
𝑝𝑒𝑟𝑠𝑎𝑚𝑎𝑎𝑛 𝑡𝑖𝑔𝑎
𝑢 = 𝑢 = 𝑒 −𝜉𝜔𝑡 𝑅 cos (𝜔 𝑑 𝑡 + 𝛼
1). Illustrate in a graph the free vibration response of
a structure with mass m = 1 t, K = 64 kn/m, initial
′
displacement Uo = 500 mm and initial velocity ∪ 0
= 0 for the damping ratio 𝜉 = 1%, 5% and 10%.

Uo = perpindahan awal
′
K = 64 kn/m ∪ 0 = percepatan awal

Note : Graphics you can make using Excell.

Halo grafiku free vibration response ba
strutura ho ninia massa = 1 ton (tonalada),
stiffness = 64 kn/m, displacement dahuluk
Uo = 500 mm no velocity dahuluk ůo = 0 ho
damping ratio = 1%, 5%, no 10%.