University of Engineering and Technology

Peshawar, Pakistan

CE-412: Introduction to Structural Dynamics and

Earthquake Engineering

MODULE 3:
FUNDAMENTALS OF DYNAMIC ANALYSIS
FOR S.D.O.F SYSTEMS
Prof. Dr. Akhtar Naeem Khan & Prof. Dr. Mohammad Javed
[email protected] [email protected]

1
Structural Degrees of Freedom

Degrees of freedom (DOF) of a system is defined as the

number of independent variables required to completely
determine the positions of all parts of a system at any
instant of time.

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CE-412: MODULE 3 (Fall-2015)
Discrete vs. Continuous systems

Some systems, specially those involving continuous elastic

members, have an infinite number of DOF. As an example of this
is a cantilever beam with self weight only (see next slide). This
beam has infinites mass points and need infinites number of
displacements to draw its deflected shape and thus has an infinite
DOF. Systems with infinite DOF are called Continuous or
Distributed systems.

Systems with a finite number of degree of freedom are called

Discrete or Lumped mass parameter systems.

CE-412: MODULE 3 (Fall-2015) 3

Discrete vs. Continuous systems

u1
u2
u3
etc
Continuous or distributed system

ρL/8 ρL/4 ρL/4 ρL/4 ρL/8

L/4 L/4 L/4 L/4

Corresponding lumped mass system of the above given cantilever

beam with DOF= 4 (How? there are 5 lumped masses.)
ρ = Mass per unit length

CE-412: MODULE 3 (Fall-2015) 4

 Single Degree-of-Freedom (SDOF) System
In a single degree of freedom system, the deformation of
the entire structure can be described by a single number equal to
the displacement of a point from an at-rest position.
Single Degree of freedom systems do not normally exist in real
life. We live in a three-dimensional world and all mass is
distributed resulting in systems that have an infinite number of
degrees of freedom. There are, however, instances where a
structure may be approximated as a single degree of freedom
system.
The study of SDOF systems is an integral step in understanding
the responses of more complicated and realistic systems.

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CE-412: MODULE 3 (Fall-2015)
Idealization of a structural system as SDOF system

This 3-dimensional water tower may be considered as a single

degree of freedom system when one considers vibration in one
horizontal direction only.

SDOF model of water tank

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Idealization of a structural system as SDOF system

The structural system of water tank may be

simplified by assuming that the column has
negligible mass along its length. This is
reasonable, assuming that the tube is hollow
and that the mass of the tube is insignificant
when compared with the mass of the water
tank and water at the top.
This means that we can consider that the
tank is a point mass

CE-412: MODULE 3 (Fall-2015) 7

 Equivalent lumped mass SDOF system of a cantilever
wall with uniform x-sectional area

0.227 ρ .H
Ψ(y)

H
Equivalent lumped mass model is
determined using a shape function (?),
Ψ(y) = [1-Cos (πy/2H)].

ρ = Mass per unit height, H= total height, y= Any distance along

height and k = CE-412: MODULE
lateral stiffness of 3cantilever
(Fall-2015)
member = EI/H3 8
Multiple Degree-of-Freedom (MDOF) System
In a Multi degree of freedom system, the deformation of the
entire structure cannot be described by a single displacement. More
than one displacement coordinates are required to completely
specify the displaced shape.
u2(t)

u1(t)

Considering all DOFs : DOF = 6

CE-412: MODULE 3 (Fall-2015) 9

Multiple Degree-of-Freedom (MDOF) System

m2

u2(t)

m1
u1(t)

Lumped mass model of building (DOF=2). u3(t) to u6(t), as shown on previous

slide, is eliminated by lumping the masses at mid length of beam.

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CE-412: MODULE 3 (Fall-2015)
 Multiple Degree-of-Freedom (MDOF) System
What is the DOF for this system…?

m u1 m
u1

u2 =0 u2

DOF can be taken 1 when DOF is 2 when we have a

flexural stiffness of beam is too flexible beam
high as compared to column

CE-412: MODULE 3 (Fall-2015) 11

Home Assignment No. M3H1
Determine the DOF of systems shown in given figures. Support
you answer with argument(s)

(a)

(d)

(b)

(e)

(c) CE-412: MODULE 3 (Fall-2015) 12

 Vibrations vs. Oscillations

Vibration is “the rapid to and fro motion of an elastic

/inelastic system whose equilibrium is disturbed”

Vibrations are oscillations due to an elastic restoring

force.

A flexible beam or string vibrates while a pendulum

oscillates.

In most of the text books written on the subject, vibration

and oscillations are interchangeably used
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CE-412: MODULE 3 (Fall-2015)
 Physical Explanation of Vibration

Activity….
Graphically represent the position of mass for positions 0,1,2, 3

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Physical Explanation of Vibration

1 to 2

1 2
2 to 3
3
CE-412: MODULE 3 (Fall-2015) 15
 Periodic and Random vibrations
The vibration can be Periodic (cyclic) or Random (arbitrary).
If the motion is repeated after equal intervals of time, it is
called Periodic motion.
The simplest type of periodic motion is Harmonic motion.
u

Periodic vibration (Non-harmonic vibration)

Periodic vibration (Harmonic vibration)

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CE-412: MODULE 3 (Fall-2015)
Periodic and Random vibrations

Random vibration

Such type of vibrations are produced in a system due to wind,

earthquake, traffic etc

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CE-412: MODULE 3 (Fall-2015)
Free vibrations vs. Forced vibrations
When a structure vibrates without any externally applied
forces, such as when it is pulled out of position, and then released.
The vibration of strings
on a musical instrument
after they are struck is a
common example of free
vibration.

Free vibration of a SDOF lumped mass system when released after being
stretched by a displacement u(0) at the top end .

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CE-412: MODULE 3 (Fall-2015)
Free vibrations vs. Forced vibrations

Vibration of a system subjected to an external force is known

is known as Forced vibration.

The vibration that arises in machine such as diesel engines is

an example of Forced vibration.

As stated above vibration of a system in the absence of external

force is known is known as Free vibration. Free vibration
continues to occur after forced vibration. e.g., vibration of
rotating machines continues to occur for some time after power
supply is switched off. Similarly, a structure subjected to
earthquake continues to vibrate for some time after there are no
seismic waves to impart energy to structure
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CE-412: MODULE 3 (Fall-2015)
Undamped vibration

If no energy is lost or dissipated in friction or other resistance

during vibration, the vibration is known as Undamped vibration

Undamped vibration is a hypothetical phenomena which help in

providing an understanding of the Damped vibration.

Damped vibration

In actual system the energy is always lost due to a number of

mechanisms. Such type of vibration is known as Damped
vibrations

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CE-412: MODULE 3 (Fall-2015)
Damping

Any energy that is dissipated during motion will reduce the

kinetic and potential (or strain) energy available in the system
and eventually bring the system to rest unless additional
energy is supplied by external sources.

The term Damping is used to described all types of energy

dissipating mechanisms.

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CE-412: MODULE 3 (Fall-2015)
Damping

In structures many mechanism contributes to the damping.

In a vibrating building these include friction at steel
connections, opening and closing of microcracks in concrete,
and friction between the structures itself and nonstructural
elements such as partition walls.

Since there is considerable uncertainty regarding the exact

nature and magnitude of energy dissipating mechanisms in
most structural systems, the simple model of a dashpot is
often used to quantify damping.

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CE-412: MODULE 3 (Fall-2015)
Damping

The Dashpot or viscous damper

is a ‘device’ that limit or retard
vibrations.
Dashpot can be imagined as a
cylinder filled with a viscous fluid
and a piston with holes or other
passages by which the liquid can
flow from one side of the piston to
the other.

Simplified diagram of linear dashpot

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CE-412: MODULE 3 (Fall-2015)
Damping

Energy dissipation in buildings is graphically shown by

diagonally installed (imaginary) dash pots. Pistons in
dash pots move back and forth and cause viscous friction
during the building’s vibration

CE-412: MODULE 3 (Fall-2015) 24

Damping

Simple dashpots as shown schematically in below given

figure exert a force fD whose magnitude is proportional to the
velocity of the vibrating mass
.

Dash Pot

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CE-412: MODULE 3 (Fall-2015)
Damping
Figure a shows a linear viscous damper subjected to a force
fD along the DOF u. The internal force in the damper is equal and
apposite to the external force fD (Figure b). The damping force fD
is related to the velocity across the linear viscous damper by:

f D  cu

Where the constant c is the viscous damping coefficient

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CE-412: MODULE 3 (Fall-2015)
EQUATION OF MOTION (E.O.M) OF A SINGLE STORY
FRAME UNDER EXTERNAL DYNAMIC FORCE

Two commonly used vector mechanics based approaches are:

1. NEWTON’S SECOND LAW OF MOTION
2. D’ALEMBERT PRINCIPLE OF DYNAMIC EQUILIBRIUM

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CE-412: MODULE 3 (Fall-2015)
E.O.M USING NEWTON’S SECOND
LAW OF MOTION

The Resultant force along x-axis = p (t) – fS – fD

Where fS = Elastic resisting force; (also known elastic
restoring force), fD= Damping resisting force
According to Newton’s second law, the resulting
force causing acceleration = p(t)– fS – fD = mü or;
fS + fD+ mü = p (t); or
ku  cu  mu
  p(t)

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CE-412: MODULE 3 (Fall-2015)
 E.O.M USING DYNAMIC EQUILIBRIUM

Using D’Alembert’s Principle, a state of dynamic equilibrium can

be defined by assuming that a fictitious inertial force fI acts on the
mass during motion.

Equilibrium along
x-axis requires that:
-fS - fD – fI + p(t) = 0 or;
fS + fD + fI = p(t) or;
ku  cu  mu
  p(t)

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CE-409: MODULE 2 ( Fall 2013)
STIFNESS OF SPRINGS IN SERIES

System of springs

Equivalent spring

ke must have a value such that it produce a

displacement u= u1+u2 in equivalent spring
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CE-412: MODULE 3 (Fall-2015)
STIFNESS OF SPRINGS IN SERIES

p p1 p 2
u  u1  u 2   
k e k1 k 2
p p p
Since p1  p 2  p   
k e k1 k 2

1 1 1
 
k e k1 k 2
CE-412: MODULE 3 (Fall-2015) 31
STIFNESS OF SPRINGS IN SERIES

EAXMPLE

CE-412: MODULE 3 (Fall-2015) 32

STIFNESS OF SPRINGS IN PARALLEL
Centre of stiffness (Centre of rigidity)

p  p1  p 2
 k e u  k 1u 1  k 2 u 2
Since u 1  u 2  u
 k e u  k 1u  k 2 u
 k e  k1  k 2

CE-412: MODULE 3 (Fall-2015) 33

STIFNESS OF SPRINGS IN PARALLEL

k e  k1  k 2

EAXMPLE
p
u1 u2

k2
k1

u1=u2 , provided the change in axial length of beam is neglected

(a usual assumption in structural analysis problems) .
CE-412: MODULE 3 (Fall-2015) 34
Stiffness of beams in the direction of applied action

k  P /  max  3EI / l 3


k  6EI / a (3l  a)
2


k  P /  max  48EI / l 3

CE-412: MODULE 3 (Fall-2015) 35

Stiffness of beams in the direction of applied action

k= ?

k= ?

CE-412: MODULE 3 (Fall-2015) 36

STIFFNESS CONSTANTS OF SOME
STRUCTURAL ELEMENTS

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CE-412: MODULE 3 (Fall-2015)
STIFFNESS CONSTANTS OF SOME
STRUCTURAL ELEMENTS

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CE-412: MODULE 3 (Fall-2015)
Effect of relative stiffness of beams and
columns on the stiffness of a structural system

39
CE-412: MODULE 3 (Fall-2015)
Effect of relative stiffness of beams and
columns on the stiffness of a structural system

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CE-412: MODULE 3 (Fall-2015)
Effect of relative stiffness of beams and
columns on the stiffness of a structural system

41
CE-412: MODULE 3 (Fall-2015)
Effect of relative stiffness of beams and
columns on the stiffness of a structural system

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CE-412: MODULE 3 (Fall-2015)
LATERAL STIFFNESS OF A SINGLE STORY FRAME
Problem M 3.1
Determine lateral stiffness of the frame if a lateral load is applied at
beam level. Assume:
1. The flexural stiffness of beam is too high as compared to that of
connected columns.
2. Axial deformations in beam is negligible 20 ft
Take E = 29,000 ksi, I = 1200 in4

I, 10ft
I, 15ft

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CE-412: MODULE 3 (Fall-2015)
Solution M3.1

CE-412: MODULE 3 (Fall-2015) 44

 LATERAL STIFFNESS OF A CANTILEVER BEAM
CONNECTED TO A SPRING SYSTEM
Problem M 3.2
Determine the stiffness of cantilever beam by assuming that the self weight of
beam is negligible Take E = 29,000 ksi, kspring= 200 lb/ft.

10 ft, 2 " dia.

W
45
CE-412: MODULE 3 (Fall-2015)
Solution M3.2

CE-412: MODULE 3 (Fall-2015) 46

 Home Assignment No. M3H2
1. Determine the equivalent stiffness of system shown in Figure a
(Answer = 2.6k)
2. Determine the equivalent stiffness of system shown in Figure b
(Answer= 7.03 * 107 N/m)

Figure a

Figure b 47
CE-412: MODULE 3 (Fall-2015)
 Home Assignment No. M3H2
3. Determine the equivalent stiffness of the systems (in vertical
direction when vertical force is applied at point A) shown in Figures c
& d. Take k1= 1 kN/m and kbeam = 5 kN/m

A
Fig. c Fig. d

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CE-412: MODULE 3 (Fall-2015)
4. Determine the trasnverse and rotational stiffness of given beam. Take a
concentrated load P=10k applied at the centre and moment M= 25fk.k
right end of beam. Take L=10 ft, E=3000 ksi and I= 2000 in4

CE-412: MODULE 3 (Fall-2015) 49

E.O.M FOR A SINGLE STORY FRAME UNDER
LATERAL DYNAMIC FORCE
Problem M 3.3
Develop the equation of motion of the frame shown in problem M 3.1
under the action of a lateral dynamic force p(t). Consider a uniformly
Distributed gravity load of 5 k/ft acting on the beam.
Neglect damping effect
20 ft
p(t)

I, 10ft
I, 15ft

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CE-412: MODULE 3 (Fall-2015)
 Solution M3.3

fI u
Using D-Alembert’s Principle of dynamic equilibrium
P(t)

fs1 fs2

As , k= 3759k/ft
3106u  3.76 *106 u  p(t) Where u & p(t) are in ft and lb, respectively
CE-412: MODULE 3 (Fall-2015) 51
 E.O.M FOR A CANTILVER BEAM UNDER
LATERAL DYNAMIC FORCE

Problem M 3.4
Develop the equation of motion for the cantilever beam under the action of
p(t). Neglect the self weight of beam as well as damping effect. Take E=
29000 ksi & I = 150 in4

p(t)
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CE-412: MODULE 3 (Fall-2015)
CE-412: MODULE 3 (Fall-2015) 53
However, the gravity loads must be considered if they act as either restoring
forces ( e.g., Pendulum) or as destabilizing forces (inverted pendulum).

Where
CE-412: MODULE u & p(t) are in ft and lb, respectively
3 (Fall-2015) 54
 E.O.M FOR A CANTILVER BEAM UNDER THE
GRAVITY LOAD (SUDDENLY PLACED)
Problem M 3.5
Develop the equation of motion for the cantilever beam under the action
1000 lb weight. Assume that time required to place the weight on beam is
Is too high as compared to natural time period of beam (?).
Neglect the self weight of beam as well as damping effect.
Take E = 29000 ksi & I = 150 in4

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CE-412: MODULE 3 (Fall-2015)
Where u & p(t) are in ft and lb, respectively

CE-412: MODULE 3 (Fall-2015) 56

 Home Assignment No. M3H3
Q1: Develop the EOMs for the cantilever beam along axes which are
parallel and perpendicular to the beam, under the action of p(t).
Neglect the self weight of beam as well as damping effect. Take E=
29000 ksi and I = 200 in4 , A= 50 in2. Ignore the dimensions of 1000
lb weight

30o p(t)

CE-412: MODULE 3 (Fall-2015) 57

 Home Assignment No. M3H3
Q 2. Develop the equation of motion for the cantilever beam under the
action 1000 lb weight. A weight of 500 lb is placed on already acting
weight of 1000 lb. Assume that the time required to place the 500 lb
weight on beam is insignificant as compared to natural time period of
beam. Neglect the self weight of beam as well as damping effect.
Take E = 29000 ksi & I = 150 in4

Q 3. Develop the EOMs for the beams mentioned in Figures c and d (Q 3,

M3H2) for a vertical dynamic load p(t) acting at A. Consider a
lumped mass of 50 kg suspended at point A in both problems
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CE-412: MODULE 3 (Fall-2015)
METHODS OF SOLUTIONS FOR
DIFFRENTIAL EQUATIONS

The differential equation of the type ku  cu  mu  p(t)

can be solved by any one of the following four methods

1. Classical mathematical solutions

2. Duhamel’s Integral

3. Frequency- Domain method

4. Numerical methods

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CE-409: MODULE 2 ( Fall 2013)