Class #4

Structural Dynamics

Equations of Motion
Single Degree of Freedom Systems
Forced Vibrations
Damped

Dr. Tesfaye Alemu

1
SDOF: Forced, Undamped & Damped
p(t ) = p0 Sin(F t )

F = forcing frequency

⚫ Undamped Response ⚫ Damped Response

2
 SDOF: Forced, damped
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 = max Fx − max = 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 )
3
 SDOF: Forced, damped
FInertia
p(t)
SDOF: m
mass p(t) FI
FI c
c u(t) FD
FS1 FD FS2
FD
FS1 FS

FS2

mu(t ) + cu (t ) + ku (t ) = p0 Sin( F t )

Spring Damper Spring
1 2

Divide by the mass :

u(t ) + u (t ) + u (t ) = Sin( F t )
For forced motion: c k p0

p(t ) = p0 Sin(F t ) m m m
c c c k
 = = = N =
For damped motion: cCR 2 mk 2m N m
c0
u(t ) + 2 N u (t ) +  N2 u (t ) = 0 Sin( F t )
p 4

m
 SDOF: Forced, damped
FInertia
p(t)
SDOF: m
mass p(t) FI
FI c
c u(t) FD
FS1 FD FS2 FD
FS
FS1
FS2

Spring Damper Spring

u(t ) + 2 N u (t ) +  u (t ) = Sin(F t )

1 2 2 p0
N
m
For forced motion:
Assume a solution:
p(t ) = p0 Sin(F t )
u (t ) = uComplementary (t ) + u Particular (t )
For damped motion: uComplementary (t ) = ACos(Dt ) + BSin(Dt )
c0 u Particular (t ) = DCos(F t ) + C Sin(F t ) 5
SDOF: Forced, damped, Complementary Solution
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

mu(t ) + cu (t ) + ku (t ) = p(t ) = 0

For free motion : Substitute :
p(t ) = 0
mAs2 e st + cAse st + kAe st = 0
For damped motion : Cancel out : Ae st
c0 ms2 + cs + k = 0 6
 SDOF: Forced, damped, Complementary Solution
For the Complementary Solution,
from the solution for damped free vibrations
c2
uComp(t ) = Ae st = A1e + A2 e  (i ) D = −  (i )
c c k
s1t s2t
s1 , s2 = − −
2m 2m m 4m 2

 c   c 
 − 2 m + (i ) D  (t )  − 2 m − (i ) D  (t )
uComp(t ) = A1e  
+ A2 e  

  − 2cm  (t ) + (i ) (t )    − 2cm  (t ) −(i ) (t ) 

uComp(t ) = A1 e   e D
 + A2 e
 
e D

   
 c 

uComp(t ) = e
 − 2 m  (t )
 
A e ( ) ( )+ A e ( ) ( )
1
+ i D t
2
− i D t

u sin g Euler ' s relationships : e i = Cos  (i )Sin = e (i ) D (t )

 c 
 − 2 m  (t )
uComp(t ) = e  
A1Cos( =  Dt ) + (i )Sin( Dt )+ A2 Cos( Dt ) − (i )Sin( Dt )
 c 
 − 2 m  (t )
uComp(t ) = e  
( A1 + A2 )Cos( Dt ) + (i )( A1 − A2 )Sin( Dt ) 7
SDOF: Forced, damped, Complementary Solution
 c 
 − 2 m  (t )
u (t ) = e  
( A1 + A2 )Cos(Dt ) + (i )( A1 − A2 )Sin (Dt )
Define : A = A1 + A2 B = (i )( A1 − A2 )
 c 
 − 2 m  (t )
u (t ) = e  
ACos (Dt ) + BSin (Dt )
c
Re member : Critical Damping ratio =  =
2m N
c
rewriting :  N =
2m
u (t ) = e− N (t ) ACos ( D t ) + BSin ( D t )
at the initial time :
u (t = 0) = u0 = e− N (t =0 )  ACos (0) + BSin (0 ) = (e 0 = 1)A(1) + B(0 )
u0 = A
thus :
u (t ) = e− N (t ) u0Cos ( D t ) + BSin ( D t ) 8
 SDOF: Forced, damped, Complementary Solution

u (t ) = e− N (t ) u0Cos ( D t ) + BSin ( D t )

at the initial time :
u (t ) = u0 = (−  N )e 0 u0Cos (0) + BSin (0) + e 0 −  D u0 Sin (0) +  D BCos (0)
u0 = (−  N )(1)u0 (1) + 0 + (1)0 +  D B(1) For most structural systems :

u0 + ( N )u0  =  D B   0 .1

 2  0 . 01
u0 + u0 ( N ) D = N 1− =  N 1 − 0 . 01
=B
2

D D  N

finally : 2 2
TD = 
D N
− N (t )   u0 + u0 N  
u (t ) = e u0Cos ( D t ) +   Sin ( D t ) TD  TN

  D  
1
TD =
fD
fD  fN 9
 SDOF: Forced, damped: Particular Solution

u Particular(t ) = u P (t ) = DCos( F t ) + C Sin( F t )

u P (t ) = − F DSin( F t ) +  F C Cos( F t )
F
uP (t ) = − DCos( F t ) −  C Sin( F t )
k
2 2
r= N =
F F
N m
substitue int o equation of motion :

u(t ) + 2 N u (t ) +  N2 u (t ) = p(t ) = 0 Sin( F t )

p
m
−  F2 DCos( F t ) −  F2 C Sin( F t ) − 2 N  F DSin( F t ) − C Cos( F t )

+  DCos( F t ) + C Sin( F t ) = Sin( F t )

2 p0
N
m
( ) 
 N2 −  F2 C − 2 N  F D Sin( F t )

( 2
N
2
F ) 
+  −  D + 2 N  F C Cos( F t ) =
p0
m
Sin( F t )
10
SDOF: Forced, damped: Particular Solution

⚫ In order for this solution to be valid for all times, t,

the coefficients of the Sine and Cosine terms
on each side of the equation must be equal.
( )
2
N 
−  F2 D + 2 N  F C Cos ( F t ) = 0
( −  )D + 2  C = 0
2
N
2
F N F

2  C = −( −  )D
N F
2
N
2
F

Divide by  N2
F   F2 
2 C = −1 − 2  D
N  N  F k
r= N =
2rC = − 1 − r 2 D ( ) N m
2r
− C=D
( )
11

1− r 2
 SDOF: Forced, damped: Particular Solution
⚫ In order for this solution to be valid for all times, t,
the coefficients of the Sine and Cosine terms
on each side of the equation must be equal.
( 2
) 
−  F2 C − 2 N  F D Sin ( F t ) =
p0
Sin ( F t ) − 2r
N
m D= C
1− r 2

( 2
)
−  F2 C − 2 N  F D =  p0
Divide by  N2 :
− 2r  p0  

N
m  1− r 2
D= C =  2

  F2
1 − 2
 
C − 2 F D = 0 2 = 0
p p 1 − r 
2
k  (
2 2
)
 1 − r + (2r ) 

 N  N m N k
− 2r  p0 
 − 2r 

( )
1 − r 2 C − 2r  D =

C =
p
D= 0  2
 1 − r 2
 k k 
 (
1 − r )
2 2
+ (2 r ) 


( ()
2 r )2
 
 1( − r )
2 2
+ (2r ) 
2
p0 
 − 2r 

 1− r + = =
2
 C   C
1− r 2   1− r 2  D = u S ta tic 2

( )
k
 1 − r + (2r ) 
 2 2

p0  1− r 2 
C=  
( )
k  1 − r 2 2 + (2r )2 
  F k
C = u Static 
1− r2
 r= N = 12

( )
 1 − r 2 + (2r )2 
2
N m
 SDOF: Forced, damped, TOTAL Solution
FInertia
SDOF: p(t)
m
mass p(t)
FI
FI c F
FD
c u(t) FD r=
FS1 FD FS2 N
FS1 FS
Spring k
N =
Spring
1 Damper 2 FS2
m
For most structural systems :
The Particular solution becomes :
  0 .1 thus :  2  0 . 01
 1− r 2   − 2r   D = N 1−  =  N 1 − 0 . 01
u Part (t ) = u Static  Sin( F t ) +  Cos( F t )
2

( 2 2
)
 1 − r + (2r ) 
2
(
2 2
)
 1 − r + (2r ) 
2
 D  N

2 2
TD = 
The TOTAL solution is : D N
TD  TN
  u0 + u0 N  
u (t ) = e − N t
u0Cos( D t ) +   Sin( D t )
  D   1
TD =
 1− r 2   − 2r   fD
+ u Static  Sin( F t ) +  Cos( F t )
13
fD  fN
(2 2
)
 1 − r + (2r ) 
2
( )
 1 − r + (2r ) 
2 2 2
