Chapter-1

EQUATIONS OF MOTION,
PROBLEM STATEMENT,
AND SOLUTION METHODS
 1.3: Force-Displacement relation
1.3.2: Inelastic systems
 Determined by experiments, the force-deformation relation for a
structural steel component undergoing cyclic deformation is shown
in Fig.1.3.4.The initial loading curve is nonlinear at the larger
amplitudes of deformation, the unloading and reloading curves
differ from the initial loading branch; such a system is said to
be inelastic.

Fig.1.3.4.
 1.3: Force-Displacement relation
1.3.2: Inelastic systems

 This implies that the force fs corresponding to deformation u is

not single valued and depends on the history of the deformations
and on whether the deformation is increasing (positive velocity ) or
decreasing ( negative velocity ). Thus the resisting force can be
expressed as

 The force-deformation relation for idealized one story frame (Fig

1.3.1a) deforming into inelastic range can be determined in one of
two ways.
 1.3: Force-Displacement relation
1.3.2: Inelastic systems

Fig.1.3.1a Fig.1.3.1b

Fig.1.3.1c Fig.1.3.1d
 1.3: Force-Displacement relation
1.3.2: Inelastic systems

 One approach is to use methods of nonlinear static analytical

analysis. For example, in analyzing a steel structure with an
assumed stress-strain law, the analysis keeps track of the
initiation and spreading of yielding at critical locations and
formations of plastic hinges to obtain the initial loading curve
(o-a) shown in Fig 1.3.1c.

 The unloading (a-c) and reloading (c-a) curves can be computed

similarly or can be defined from the initial loading curve using
existing hypothesis.
 1.3: Force-Displacement relation
1.3.2: Inelastic systems

 Another approach is to define the inelastic force-deformation

relation as an idealized version of the experimental data, such
as in Fig.1.3.4.
 We are interested in studying the dynamic response of the
inelastic systems because many structures are designed
with the expectation that they will undergo some cracking,
yielding, and damaging during intend ground shaking caused by
earthquakes.
 1.9 COMBINING STATIC AND DYNAMIC RESPONSES
In practical application we need to determine the total forces in a
structure, Including those existing structure before dynamics of the
structure and those resulting from the dynamic excitation, for a linear
system the total forces can be determined by combining the results of
two separate analysis:
(1) Static Analysis of structure due to dead and live loads, temperature
changes and so on and
(2) dynamics analysis of structure subjected to some variation
excitation. This direct superposition of the results of two analyses is
valid only for linear systems.
 1.9 COMBINING STATIC AND DYNAMIC RESPONSES

The analysis of non linear systems cannot , however , be separated

into two independent analyses. The dynamic analyses of such a system
must recognize the forces and deformations already existing in the
structure before the onset of dynamic excitation. This is necessary. in
part, to establish the dynamic analysis.
 1.10 METHODS OF SOLUTION OF THE DIFFERENTIAL
EQUATION

The equation of motion of a linear SDF system subjected to eternal

forces is the second-order differential equation derived earlier:

m u  c u  ku  p( t ) ( 1 .10 . 1)

The initial displacement u(0) and initial velocity u  0  at time zero must
be specified to define the problem completely. Typically, the structure is
at rest before the onset of dynamic excitation, so that the initial velocity
and displacement are zero.
A brief view of four methods of solution is given in the following
sections.
 1.10 METHODS OF SOLUTION OF THE DIFFERENTIAL
EQUATION
1.10.1 Classical Solution

Complete solution of the linear differential equation consists of sum of

the complementary solution uc(t) and the particular solution up(t) , that is

u(t)= uc (t)+ up(t).

Since the differential equation is of second order, two constants of
integration are involved. They appear in the complementary solution and
are evaluated from a knowledge of the initial conditions.
 1.10 METHODS OF SOLUTION OF THE DIFFERENTIAL
EQUATION
1.10.2 Duhamel’s Integral

Another well-known approach to the solution of linear differential

equation, such as the equation of motion of an SDF system , as based
on representing the applied force is a sequence of infinitesimally short
impulses.
The response of the system to an applied force , p(t) , at time t is
obtained by adding the responses to all impulses up to that time.
We develop this method in chapter 4 , leading to the following result
for an undamped SDF system :
t
1 k
u( t ) 
m n  p(  )sin  n  t   d 
0
( 1 . 10 . 2 ) where n 
m
 1.10 METHODS OF SOLUTION OF THE DIFFERENTIAL
EQUATION
1.10.2 Duhamel’s Integral

Implicit in this result are “at rest” initial conditions.

Equation (1.10.2) known as Duhamel,s integral, is a special form of

convolution integral found in text book on differential equations.
 1.10 METHODS OF SOLUTION OF THE DIFFERENTIAL
EQUATION
1.10.3 Frequency-Domain Method

The Laplace and Fourier transforms provide powerful tools for the
solutions of linear differential equations, in particular the equation of
motion for a linear SDF system.
Because the two transforms methods are similar in concept, here we
mention only the use of Fourier transform, which leads to the frequency
domain method of dynamic analysis.
The Fourier transform P() of the excitation function p(t) is defined by


P(  )  F  p  t     p
( t )e it
dt ( 1 . 10 . 3 )

 1.10 METHODS OF SOLUTION OF THE DIFFERENTIAL
EQUATION
1.10.4 Numerical Methods

The preceding three dynamic analysis method are restricted to linear

systems and cannot consider the inelastic behavior of structures
anticipated during earthquakes if the ground shaking is intense.
The only practical approach for such system involves numerical time-
stepping methods, which are presented in chapter 5.
These methods are also useful for evaluating the response of linear
system to excitation--applied force p(t) or ground motion ü g(t)—which is
too complicated to be defined analytically and is described only
numerically.
 1.11 STUDY OF SDF SYSTEMS: ORGANIZATIONS

We will study the dynamic response of linearly elastic SDF systems in
free vibration (CHAPTER 2), to harmonic and periodic excitations
(CHAPTER 3), to step and pulse excitations (CHAPTER 4), and to
earthquake ground motion (CHAPTER 6).
Because most structures are designed with the expectation that they
will deform beyond the linearly elastic limit during major, in frequent
earthquakes, the inelastic response of SDF systems as studied in
(CHAPER 7).