Structural Dynamics

Introduction
Lecture 1

M.Sc. in Earthquake
Engineering
PUSOE
2023
Pre requirement
Concept of
TOS-I, TOS-II ,Strength of Material, Applied dynamics –II
( Basic concept- principle of VW, Principle of
superposition, Bettis Law, Reversal Law, DSI/ DKI)
Matrix Algebra, ( Matrix multiplication , Partioning
matrix, Eigen value,)
Ordinary Differential Equation( 1st order , 2nd order,
solution of equation ( Complimentary, Particular
solution)
Partial differential equation
Fourier series , complex number
Derivatives
Antiderivatives
Dynamic – Time Varying or Time dependent
Dynamic load – Load whose magnitude, direction/position varies
with time & also Structural response ( resulting stresses and
deflection) also vary with time.
Two Approaches of evaluating responses to dynamic loading
Prescribed( Deterministic) approach
Response( displacement, acceleration, velocity ,stresses) are
completely known presently function of time.
Random (Indeterministic )approach
Variation of load with respect to time is not known.
Prescribed( Deterministic) loading
Periodic Loading
Non periodic loading
Periodic Loading
load exhibits the same time variation successfully for large
number of cycles.
Non-Periodic Loading
loads do not exhibit the same time variation successively,
i.e. it may be either short duration or long duration .
Stiffness - Force required for unit displacement.
𝑃
K=
Δ𝒍
Flexibility – Displacement caused by unit Force.
𝚫𝒍
𝜹=
𝑷
𝜹 𝒌 =𝑰

Axial Load
𝑷𝑳 𝑨𝑬
∆𝒍 = 𝑲=
(In Stiffness term)
𝑨𝑬 𝑳
𝑳
𝜹=
𝑨𝑬 (In Flexibility term)
Stiffness Value
 Load and Displacement

Loads Displacements
Force Deformation
Equilibrium Compatibility
Moment Slope
Strength Stiffness
Stress Strain
Statical Indeterminancy Kinematic Indeterminancy
Flexibility Coefficient Stiffness Coefficient
Simple Cases of Stresses and Strains

1. Pure Bending
2. Pure Shear
3. Axial Loading
4. Torsion
Simple Cases of Stresses and Strains
 What is Vibration?
Vibration is the motion of a particle or body which oscillates about a
position of equilibrium. Most vibrations in machines and structures
are undesirable due to increased stresses and energy losses.

Vibration in Everyday Life

5
Useful Vibration Harmful Vibration

Concrete
Compactor Noise
Pile
Drivers

Destruction

Wear
Ultrasonic
Cleaning
Baths
Fatigue

6
Mechanical Parameters and Components

All mechanical systems contain the three basic components:

spring, damper, and mass. When each of these in turn is exposed
to a constant force they react with a constant displacement, a
constant velocity and a constant acceleration respectively.
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Fundamentals of Vibrations: Vibration Analysis

PHYSICAL SOLVE
MATHEMATICAL GOVERNING INTERPRETE
DYNAMIC GOVERNING
MODEL EQUATIONS RESULTS
SYSTEM EQUATIONS

FBD

8
 Fundamentals of Vibrations

Single degree of freedom (DOF)

Two DOF
Modeling of the systems
Multi DOF

Continuous system
Each system can be under

Free Forced Damped Undamped

Or a combination of these modes

Mathematical Modeling System
SDOF Reduction Of
Bike Ride System

Most Accurate (MDOF) Modeling

10
 Vibration definition
Vibration : Any motion that repeats
itself after an interval of time is called
vibration or oscillation.
The swinging of a pendulum and the motion
of a plucked string are typical examples of
vibration.
The study of vibration deals with the study of
oscillatory motions of bodies and the forces
associated with them.

Period: Time for one cycle (back and forth): T

Frequency: How many cycles per second -> f=1/T
 Vibrations – What ?

1. Introduction

Example 1:

Equilibrium position

A displaced position

K: stiffness

E 316 Lecture 7
Why study vibration?
Simple vibration systems
Basic Concepts of Vibration
 Basic Concepts of Vibration
Degree Of Freedom (D.O.F) -
Set of independent displacements / rotation that completely
define the displaced position of mass with respect to initial
positions.
Continuous systems – infinite
number of degrees of freedom

Lumped mass systems – masses can

be assumed to be concentrated at
specific locations, and to be connected
by massless elements such as springs.
Very useful for buildings where most
of mass is at (or attached to) floors.
Examples of two degree-of-freedom
systems:
Classification of Vibration
Classification of Vibration
Classification of Vibration
Classification of Vibration
 Vibration Analysis Procedure
Step 1: Mathematical Modeling
Step 2: Derivation of Governing Equations
Step 3: Solution of the Governing Equations
Step 4: Interpretation of the Results
• Mass (m) representing the total mass of the beam
and the slab of the frame and inertial characteristics
of the structure, energy is stored by mass in the
form of kinetic energy.
• Stiffness of spring (k) represents the combined
stiffness of two columns for lateral deformation that
is the elastic Restoring force and it stores the
Potential Energy (internal strain energy) due to
columns
• Dashpot having Damping coefficient (C) represents
the energy dissipation, i.e., the frictional
characteristics and energy losses of the frame and
• An excitation force F(t) representing the external
lateral force applied on the portal frame.
Inertia Force (𝐹𝐼 (t)= m 𝑣ሷ (t))
Restoring Force or Spring Force (𝐹𝑆 (𝑡)= k𝑣(𝑡))
Damping Force (𝐹𝐷 (𝑡) = C 𝑣(t)) ሶ
Exciting Force (= F(t))
Equation of Dynamic Equilibrium

F(t ) − fI (t ) − fD (t ) − fS (t ) = 0

f I (t ) + f D (t ) + f S (t ) = F(t )

ሷ + c𝑣(t)
m𝑣(t) ሶ + kv(t) = F (t)
 Harmonic Motion
Periodic Motion- Motion repeated after equal intervals
of time . Described by sin and cos function.
It is simplest type of periodic motion.
y

𝜔𝑡

Displacement (y): 𝑦 = 𝐴𝑠𝑖𝑛𝜃 = 𝐴 𝑆𝑖𝑛𝜔𝑡

𝑑𝑦
Velocity : = 𝜔 𝐴 𝐶𝑜𝑠𝜔𝑡
𝑑𝑡
𝑑2 𝑦
Acceleration: = - 𝜔2 𝐴 𝑆𝑖𝑛𝜔𝑡 = - 𝜔2 Y
𝑑𝑡 2
Harmonic Motion
Harmonic Motion
Harmonic Motion
Harmonic Motion
Harmonic Motion
Features of governing equation:
- ordinary differential equation
- homogeneous/non-homogeneous
- second order
- linear
- constant coefficient

mv +cv +kv=F(t)