Dynamics of Structures

by

Prof. T. K. Datta

Lecture - 1
 OSCILLATION (VIBRATION)

W To & fro
u t motion

 Inherent damping in the system makes free oscillation diminish with time

 Oscillation makes displacement time dependent i.e., u(t); hence, u (t ) and u(t )

 u(t ) gives rise to inertia force mu(t ) according to Newton’s second law of motion
 u(t ) acts opposite to the direction of u(t)

 All the three quantities are important in oscillatory body signifying the dynamics of
the system
 Oscillation has a static equilibrium position; it has also a stable position

 Under certain conditions, oscillation can be unbounded, bounded and steady

 Oscillation of elastic bodies creates, to and fro movement of the molecular particles
Contd. Simplest Oscillation (SHM)
X

A Amplitude,
 x A

Tim
e

Time period, NOTE

T 2
  t 
T
Displacement
x  A sin t
Velocity dx
x   A cos t
dt
Acceleration
d2 x
x  2   A 2 sint   2 x
dt
 Contd.
Classifying different dynamic loads

ature Sources of Dynamic Loads Long Duration

(T > 5 min - 10 min)
Earthquakes
Wind o Oceanic Waves
Wave o Cyclones
Land Slides/ Avalanches o Machine Vibrations
Caving in of Earth o Vehicular Movements
Impact type o Volcanic Eruptions
Volcanic Eruptions
(T<1 sec)
o Missile Impact
o Falling mass/ Collision
o Sudden blast of short duration

Man made Sources Short Duration

o Blast/ Terrorist attack
o Collisions
o Vehicular Movement/ rack
Train Dynamics
o Machines/ Impact/ Accidents
(T< 1 min)
o Earthquakes
o Land Slides/ Avalanches
o Caving in of Earth
o Blast of longer durations
Contd.

Harmoni
c
Amplitude

y = a sin (t
Phase
+)
T

Periodi
c
Contd.

Rando
Irregula u m
r
u
t

Impact
u
t
u
T T T T

t
Contd. STATIC VS. DYNAMICS
 Static load is invariant of time and hence, the responses are also time invariant
 Static load means gradually applied load on the structure as opposed to suddenly
applies load
 Force displacement relationship (defining static equilibrium) is governed by
K  F
 In which K = stiffness matrix corresponding to the kinematics d.o.f and F is the load
vector corresponding to the loads applied to the direction of d.o.f.
 Both dynamic force and displacement are time dependent; dynamic force may be of
oscillatory type or suddenly applied or moving, all producing oscillation in the system
 Because of the presence of mass in the structure and acceleration, a dynamic
system is characterized by the presence of inertia force; this force acts opposite to
the motion of the body
 Because, of the to & fro movement giving rise to velocity, a damping force
(absorption of imparted energy) is also present in the elastic system; the energy
absorbed is transformed into another form with the to & fro movement of the
molecules
Contd.

If there was no
concept of inertia Galileo's
force then… EXPERIMENTS

Ball would
have stopped
NOTE
here!
No loss of
energy due to
friction or other
means
Contd.
 Finally, as the elastic body undergoes to and fro movement, a restoring force (also to
and fro) is developed in the system
 Three types of forces apart from the externally applied force are present in a dynamic
system i.e. inertia forces, damping forces and restoring forces
 Velocity of the system is related to damping force; acceleration of the system is
related to the inertia force; displacement (time dependent) is related to the restoring
force
 Kinematic d.o.f. are different than dynamic d.o.f in the sense that all dynamic d.o.f are
associated with mass; thus, dynamic d.o.f ≤ kinematic d.o.f.
 Dynamic equilibrium exists at every instant of time; dynamic equilibrium is the
equilibrium of forces between resisting (inertia, damping, restoring) and external
forces at every instant of time
 Dynamic equilibrium exists at each dynamic d.o.f.
 If inertia force (acceleration) << restoring force, it is called quasi static equilibrium and
governed by K(t )  p(t )
 In dynamic system, total energy at any instant of time is PE + KE; In static system,
only PE exists.
 EXAMPLES OF STRUCTURAL
DYNAMICS
 Buildings and other land based tall structures vibrating under earthquake
 Some types of structures vibrating in cyclonic wind
 Aero elastic instability of flexible structure such as galloping of conductor cables,
flutter of suspension bridges, torsional vibration of wings of aeroplane; vortex induced
oscillation of tall chimneys etc.
 Vibration of oceanic structures (oil platforms) due to wave induced forces

 Turbo generator structures (foundations)

 Crusher frame foundation
 Vibration of industrial structures for machine vibrations

 Vibration of bridges due to vehicular movement/ track-train dynamics

 Vibration of underground structures like, liquid storage tanks, pipelines, tunnels due to
propagating earthquake waves
 Sloshing in liquid tanks due to earthquake
 IMPLICATION IN THE STRUCTURAL DESIGN
 Earthquake resistant design of structures
 Development of Impact factor in bridge design
 Design of structures for impact forces
 Design of flexible bridges for wind forces
 Design of offshore structures
 Design of buried pipelines for seismic action
 Fatigue design of tubular joints for wind and wave forces
 Design of chimneys for vertex shedding
 Design of transmission line towers for wind forces
 Design of very tall building of structures for fluctuating component of wind
force
 FUTURE VISION
 Structural Dynamics is becoming more and more important as the slender
and flexible structures are made for economic design
 Seismic disaster mitigation is a topical subject requiring great deal of
knowledge of structure dynamics
 Similarly, protection of slender and flexible structures against cyclonic wind is
an expanding field requiring good knowledge of structural dynamics
 Reliability analysis of structures for dynamic loading such as wind,
earthquake, blast etc. is becoming important for insurance companies
 Structural control for environmental forces
 Deep water deployment of offshore structures
 Structural health monitoring