‫‪Lecture No.

: 2‬‬ ‫المحاضرة الثانية‬

‫‪1‬‬
Remember
Modeling of Structures ‫نمذجة المنشآت‬
Single Story Structure

Single Degree of Freedom

Structure SDOF
2
Remember
Modeling of Structures ‫نمذجة المنشآت‬
Two Stories Structure

Multi Degree of Freedom

Structure
3 MDOF
Remember
Equation Of Motion
.. .
m x+c x+k x = F

4
Remember
Equation Of Motion of SDOF
.. .
F = m x+c x+k x
Calculation of structure parameters
Calculation of structure mass
Weight
=m
g

5
Remember
Equation Of Motion of SDOF
.. .
F = m x+c x+k x
Calculation of structure parameters
Calculation of structure stiffness


B C

A D
6
 Remember
Equation Of Motion
.. .
m x+c x+k x = F
Damping (C)

C≈0 C>0
Undamped Damped
Structure Structure
7
 Remember
Equation Of Motion
.. .
m x+c x+k x = F
Force (F)

F=0 F≠0
Free vibration Forced
motion motion
8
Remember

Free vibration motion :

Undamped Structure

Damped Structure

Forced motion :
Undamped Structure

9
Damped Structure
 Free
vibration
motion of
Undamped
Structure
10
 Equation Of Motion
.. .
m x+c x+k x = F
Free vibration motion of
Undamped Structure
C = 0 & F=0
..
m x+k x = 0
Second order homogeneous
11
differential equation
To solve this equation
Remember
a 0 y  a1 y  a 2 y  0
a 0   a1   a 2  0
2

Assume
x
y  ce
x x
y  c  e y  c  e
2

x x x
a0 c  e
2
 a1 c  e  a2 ce  0
x
Divid by c e x
e 0
a 0   a1   a 2  0
2
12
Remember a 0   a1   a 2  0
2

Solve this equation

1 ,  2

Distinct Real Imaginary Conjugate

1   2  1, 2  R  i M
1 x 2 x y  e R x  c1 Cos(M x )  c 2 Sin(M x)
y  c 1e  c 2e
Repeated Real

1   2
1 x 1 x
13
y  c1e  c 2 x e
 Return to our problem
..
m x+k x = 0
m 2 + k = 0
m 2 = - k
k
2 = - m
k k
=± - m =±i m

14
 k k
=±i m m =  n
2

 = ± i n  = 0 ± i n
Remember
1 ,  2 Imaginary Conjugate  1, 2  R  i M
y  e R x  c1 Cos(M x )  c 2 Sin(M x)
..
m x+k x = 0
t is the independent variable &
x is the dependent variable
15
x  c1 Cos(n t )  c 2 Sin(n t )
 x  c1 Cos(n t )  c 2 Sin(n t )
k
n2 = m
Boundary conditions :
At t=0 x = xo
Sin 0 = 0 Cos 0 = 1 C1 = x o
x  x o Cos(n t )  c 2 Sin(n t )
At t=0 v = vo
v  x   x o n Sin(n t )  c 2 n Cos(n t )
vo
16
v o  c 2 n C2= 
n
 x  c1 Cos(n t )  c 2 Sin(n t )
vo
C1 = xo C2= 
n

vo
x  x o Cos(n t )  Sin(n t )
n

v   x o n Sin(n t )  v o Cos(n t )

17
Remember x = sin t
4   3   2     0 t
0 -1 0 1 0 -1 0 1 0 x

18
Remember x = sin 2t
2   3      0 t
0 -1 0 1 0 -1 0 1 0 x

x = sin t

19
Remember x = sin t
No of cycles in time 2 =  Frequency


No of cycles in time 1 sec = f
Cyclic Frequency

f=
20 
Remember x = sin t
No of cycles in time 2 =  Frequency


Time of one cycle = T Time period

T=
21

Remember x = 2 sin t
4   3   2     0 t
0 -2 0 2 0 -2 0 2 0 x

x = sin t

22
Remember x = sin (t-1)
4  3  2    1 t
0 -1 0 1 0 -1 0 1 0 x

23
Remember x = sin (t+1)
4  3  2    -1 t
0 -1 0 1 0 -1 0 1 0 x

24
Remember x = a sin ( t - b)
Amplitude
 Frequency Shift
T= 

25
b
Remember

A
Sin = C A
C
B
Cos = 
C

A B
Tan =
B

26
Remember

2
+b
b

a2
x = a sin ( t) + b cos ( t) 
a
Sin (1+2) = sin1 cos2 + cos1 sin2

a2+b2
x= (a sin ( t) + b cos ( t))
a2+b2

x = a2+b2 ( a sin ( t) + b cos ( t))

a2+b2 a2+b2
x = a2+b2 (cos sin ( t) + sin cos ( t))
27
Remember
x = a2+b2 (cos sin ( t) + sin cos ( t))

x = a2+b2 sin ( t + )

x = a sin ( t) + b cos ( t)
x = a2+b2 sin ( t + )

2
+b
b

a2
Amplitude

Frequency a
b
Shift tan =
28
a
 x = a sin ( t) + b cos ( t)
x = a2+b2 sin ( t + )

Return to Our problem

vo
x  x o Cos(n t )  Sin(n t )
n
2
 vo 
x  x o  
2
 Sin (n t  )
 n 
x o n
tan  
29
vo
 vo
x  x o Cos(n t )  Sin(n t )
n
2
 vo 
x  x  
2
o
 Sin (n t  )
 n 
Amplitude Frequency Shift
2
 vo 
x max  x  
2
o

 n  xon
x o n 
tan   vo
30
vo
 2
 vo 
x  x  
2
o
 Sin (n t  )
 n 
Velocity
2
 vo 
v  n x  
2
o
 Cos (n t  )
 n 

v  x o n  2
 v Cos (n t  )
2
o
31
 v  x o n  2
 v Cos (n t  )
2
o

v max   x o n  2
v 2
o

32
Conclusion

2
 vo 
x  x  
2
o
 Sin (n t  )
 n 
v  x o n  2
 v Cos (n t  )
2
o

k x o n
n2 = m tan  
vo
33
 Natural Frequency n
n
Cyclic Natural Frequency fn=


Natural Time period Tn=
n

34
Example 2 :
The shown frame is subjected to initial displacement
10 cm at the floor level. Calculate the displacement
and velocity after 4 seconds and calculate the
maximum displacement and velocity.

w = 5.555 t/m
EI = 3600 t/m2
B 2I C

6 I I
A D
18

35
Solution : w = 5.555 t/m
EI = 3600 t/m2 B 2I C
From example 1 6 I I
K = 250 t/m
A D
W = 5.555x18 = 100 t
18
100
=m t/m.sec2 10 =
10
k 250
n 2 = m = = 25
10
n = 5 rad/sec
36
xo=0.1 m vo = 0
 n = 5 rad/sec xo=0.1 m vo = 0
2
 vo  x o n 
x  x  
2
o
 Sin (n t  ) tan   
 n  vo 2

x  0.12  0 2 Sin (5 t   / 2)

x  0.1 Sin (5 t   / 2)
v  0.1  5 Cos (5 t   / 2)
v  0.5 Cos (5 t   / 2)

At t=4 x  0.1 Sin (5  4  3.14 / 2)

x  0.1 Sin ( 21.57)  0.04 m
v  0.5 Cos ( 21.57)   0.456 m/sec
37
 x  0.1 Sin (5 t   / 2)

v  0.5 Cos (5 t   / 2)

x max  0.1 m
v max  0.5 m / sec

38
Example 3 :
The shown frame is subjected to air attack. An Airplane throw
projectile which shocked the frame girder with velocity 360
Km/hr. Calculate the girder displacement and velocity after 4
seconds and calculate the maximum displacement and velocity.
The projectile weight is 2 t and the collision is perfectly elastic

w = 5.555 t/m

B 2I C

6 I I
A
EI = 3600 t/m2 18
D

39
Before Collision :
Girder velocity = 0
Projectile velocity = 360x1000/3600
Projectile velocity =100 m/sec
From example 2
Girder mass = 10 t/m.sec2
Projectile mass = 2/10 = 0.2 t/m.sec2
At Collision :
mG VGbefore + mP VPbefore = mG VGafter + mP VPafter

40
At Collision :
mG VGbefore + mP VPbefore = mG VGafter + mP VPafter

Due to Elastic collision

VPbefore - VPafter = VGbefore- VGafter
100 + VPafter = 0 - VGafter
VPafter = -100 - VGafter
mP VPbefore = -100 mp + (mG - mp) VGafter
0.2 x 100 = -100x0.2 + (10-0.2) VGafter
VG after = 4.08 m/sec
From example 2
41  = 5 rad/sec
 n = 5 rad/sec xo=0 vo = 4.08 m/sec
2
 vo  x o n
x  x  
2
o
 Sin (n t  ) tan   0
 n  vo
2
 4.08 
x 0 2
 Sin (5 t )
 5 
x  0.816 Sin (5 t )
v  0.816  5 Cos (5 t )
v  4.08 Cos (5 t )

At t=4 x  0.816 Sin (5  4)

x  0.816 Sin ( 20)  0.745 m
v  4.08 Cos ( 20)  1.665 m/sec
42
 x  0.816 Sin (5 t )

v  4.08 Cos (5 t )

x max  0.816 m
v max  4.08 m / sec

43
Example 4 :
The shown frame is subjected to air attack. An Airplane throw
projectile which shocked the frame girder with velocity 360 Km/hr
and embedded in the girder. Calculate the girder displacement
and velocity after 4 seconds and calculate the maximum
displacement and velocity. The projectile weight is 2 t

w = 5.555 t/m

B 2I C

6 I I
A
EI = 3600 t/m2 18
D

44
Before Collision :
Girder velocity = 0
Projectile velocity = 360x1000/3600
Projectile velocity =100 m/sec
From example 2
Girder mass = 10 t/m.sec2
Projectile mass = 2/10 = 0.2 t/m.sec2
At Collision :
mG VGbefore + mP VPbefore = mG VGafter + mP VPafter

45
At Collision :
mG VGbefore + mP VPbefore = mG VGafter + mP VPafter

Due to embedded collision

VPafter = VGafter

mP VPbefore = (mG + mp) VGafter

0.2 x 100 = (10+0.2) VGafter
VG after = 1.96 m/sec

46
 From example 1
K = 250 t/m
= m 10+0.2 = 10.2 t/m.sec2 For girder & projectile

k 250
n 2 = m = = 24.5
10.2
n = 4.95 rad/sec

47
 n = 4.95 rad/sec xo=0 vo = 1.96 m/sec
2
 vo  x o n
x  x  
2
o
 Sin (n t  ) tan   0
 n  vo
2
 1.96 
x 0 
2
 Sin (4.95 t )
 4.95 
x  0.396 Sin (4.95 t )
v  0.396  4.95 Cos (4.95 t )
v  1.96 Cos (4.95 t )

At t=4 x  0.396 Sin (1.96  4)

x  0.396 Sin (19.8)  0.322 m
v  1.96 Cos (19.8)  1.14 m/sec
48
 x  0.396 Sin (4.95 t )

v  1.96 Cos (4.95 t )

x max  0.396 m
v max  1.96 m / sec

49
 Summary
50
Summary
Free vibration motion of
Undamped Structure
Equation Of Motion
..
m x+k x = 0

51
Summary
Free vibration motion of
Undamped Structure
2
 vo 
x  x  
2
o
 Sin (n t  )
 n 
v  x o n  2
 v Cos (n t  )
2
o

k x o n
n2 = m tan  
52
vo
Summary
2
 vo 
x  x  
2
o
 Sin (n t  )
 n 
Amplitude Frequency Shift
2
 vo 
x max  x  
2
o

 n  xon
x o n 
tan   vo
53
vo
Summary
Free vibration motion of
Undamped Structure
2
 vo 
x  x  
2
o
 Sin (n t  )
 n 

v  x o n  2
 v Cos (n t  )
2
o

54
 Questions
55