4-Nov-15

Structural Dynamics

Lecture 5
Response of SDOF Systems to Special
Forms of Excitation

1 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

Let the SDOF system be

subjected to an ideal step
loading as shown in Fig. 5.1.
The equation of motion is
given by:
Fig. 5.1
mu  cu  ku  po , t  0....(5  1)
Let the system be at rest at t = 0, that is, uo  u o  0
The particular solution of Eq. 5.1 can be seen to be
u p  po / k ....(5  2)

2 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

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The complete solution can be given by

po       
u 1  e cos  d t  
  t
 sin  d t  ....(5  3)
k    d   

k u t 
Rt   ....(5  4) Response ratio
po

    
R (t )  1  e   t cos  d t    sin  d t ...(5  5)
  d  

3 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

A typical response ratio plot Fig. 5.2

On the response ratio plot R(t) = 1 corresponds to the static
displacement position.
Because the load was instantaneously applied, there is an
overshoot, and the system settles to the static value of 1 after
a number of cycles of damped oscillation.
The damping level determines the amount of the overshoot
and the rate of decay of the oscillation about the static
4 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15
equilibrium position.

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For an undamped system Eq. 5.5 becomes

po
u t   1- cos  t ....(5  6)
k
D  max R t ....(5  7)

and Rmax = 2. Thus, when a load is instantaneously applied

to an undamped system, a maximum displacement of twice
the static displacement is attained.
This is the reason that a safety factor of 2 is frequently
applied to the design of structures that will be subjected to
rapidly applied loads.

5 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

Consider a ramp load with rise time tr, as shown in Fig. 5.5
applied to an undamped SDOF system that is at rest prior to
application of the load.

The equation of motion when 0  t  t r is

t 
mu  ku    po ...(5  8)
 tr 

6 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

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The particular solution of Eq. 5.8 can be seen to be

t   po 
u p=   .....(5  9)
 tr   k 
The complete solution can be given by
t p 
u=   o   A1 cos t  A2 sin t....(5  10)
 tr   k 
Using the initial conditions u o  u o  0 , we get

 p   t   1  
u= o       sin  t .....(5  11)
 k   t r   t r  

p 
u= o  1  cos  t ....(5  12)
 kt r 
7 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

For t = tr, the solution can be given by

p    1  
u r= o  1    sin t r  (5-12)
 k    t r  

p 
u r= o  1  cos t r  (5-13)
 kt r 

The equation of motion when t  tr is

mu+ku  po (5-14)
The initial conditions are

u t r =u r , u t r   u r (5-15)
8 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

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The particular solution of Eq. 5.8 can be seen to be

po
u p= (5-16)
k
The complete solution can be given by

 A1 cos  t  t r   A2 sin  t-t r  (5-17)

po
u
k

Using the initial conditions (5-13) and (5-14) we get

u t r   u r 
po
 A1
k
p  1 
A1   o    sin  t r (5-18)
 k   ωt r 
9 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

Differentiating equation (5‐17) yields

u=-A1 ω sin ωt-t r   A2 ω cos ωt  t r 

For t = tr, the solution can be given by

u r  A 2 ω

 p 
A2   o  1- cos t r  (5-19)
 kt r 
Substituting (5-18) and (5-19) into Eq. (5-17) yields

 p   1  
u   o 1   sin ωt  t r   sin ωt  (5-20)
 k   ωt r  
10 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

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Figure 5.6 a shows

the response to an
input with tr > T,
and also the
response to an input
with tr < T.

Figure 5.6b
summarizes the
effect of rise time on
maximum response

11 Str. Dynamics: Prof. M. Al-Samara Figure 5.6 4-Nov-15

From Fig. 5.6 it can be seen that the maximum response, Rmax = 2,
occurs for an ideal step input (i.e., for tr = 0). For ramps with tr >> T
there will be little overshoot and the system will just undergo small
oscillations about the pseudostatic deflection curve

t p 
u pseudostat ic     o  , 0  t  t r (5-21)
 tr   k 

Thus, a load can be considered to be "slowly applied" and

dynamic effects can generally be ignored if the rise time is
longer than about 3T

12 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

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Response of an Undamped SDOF System to a Short-Duration

Impulse

Consider an undamped SDOF system subjected to a force of

duration t1 << T having an impulse

13 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

Let the system be at rest for t = 0, the equation of motion and

initial conditions are

m u  k u  p t  t1.  t  0 (5-23a)

u 0   u 0   0 (5-23b)
By integrating Eq. 5.23a with respect to time and incorporating
the initial conditions, we get

m u1  k u avg t1.  I (5-24)

u1  u t1 
p t  dt
t1
I 
0

14 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

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where uavg is the (small) average displacement in the time

interval 0 < t  t1. For t1 → 0, that is, t1 << T the second term in
Eq. 5.24 can be ignored leaving

 
m u 0   I
Thus, an impulse consisting of a large force acting for a very
short time has the effect of giving the mass an initial velocity of

 
u 0  
I
m
(6-25)

These can be used as "initial" conditions for the free vibration

problem of Eq. 5.23b. Using Eq. 3.17 we get the impulse
response

 
u t   u 0 cos  t  t1  
   sin  (t  t )
u 0  (6-26)

1

15 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

Considering  
u 0  0 When t1 → 0 yields

 I 
u t     sin  t (6-27)
 m 

For a viscous-damped SDOF system, the impulse response can

be shown to be

 I  -  t
u t   
(6-28)
 e sin  d t
 m d 

16 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

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(6-7) ‫مثال‬
t1
‫ حيث‬I  0 p (t )dt ‫ تم تحميلھا بدفع‬5-7‫ليكن لدينا جملة كالمبينة في الشكل‬
.‫ وأن الجملة بدأت الحركة من الراحة‬t 1 ً‫ ثابته خالل فترة قصيرة جدا‬p t   p0
6-27 ‫ فإن معادلة الحركة تؤول إلى المعادلة‬t 1  T ‫برھن أنه من أجل‬
‫الحــل‬
:‫ نجد‬5-6 ‫من المعادلة‬

u t1   1  cos ω t1 
po (1)
k
 po
u t1  
(2)
sin ω t1
k

17 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

‫ومنه ينتج‬ω t1   2 ‫ فإن‬t1.   T ‫ و‬ωT  2 ‫بما أن‬

1  cos ω t1  1 / 2 ω t1  ‫ و‬sin ω t1  ω t1
2

p  I t 
u t1   1 / 2  o  ω t1      1  (3 )
2

 k  2 m

 po
u t1   ω t1   I
k m
t1
I   po dt  po t1 , m  k /2 ‫حيث‬
o

:‫نعوض في معادلة االھتزاز الحر ينتج‬

18 Str. Dynamics: Prof. M. Al-Samara 4-Nov-15

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I  t1 
u t       cos  t  t1   sin  t  t1  (4)
I
2 m m

‫نجد‬ t1  0 ‫(عندما‬4) ‫بتقييم المعادلة‬

u t  
I
sin  t (5)
m

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