Dynamics of Structures

PART I
Single-Degree-of- Freedom Systems
Class# 3.1
Dr. Anis Shatnawi

Structural Dynamics 1
 Single-Degree-of-Freedom
Free Vibration
(Review)

Structural Dynamics 2
 Single-Degree-of-Freedom
Free Vibration
(Review)

Structural Dynamics 3
 Single-Degree-of-Freedom
Free Vibration
(Review)

Structural Dynamics 4
 Single-Degree-of-Freedom
Free Vibration

Structural Dynamics Complementary + Particular 5

 Single-Degree-of-Freedom
Free Vibration

Complementary Solution

Structural Dynamics 6
 Single-Degree-of-Freedom
Free Vibration

(Trivial Sol’n)

Structural Dynamics 7
 Single-Degree-of-Freedom
Free Vibration

Distinct or repeated !
1. Real Distinct Roots:  ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ 𝑅 , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠 2

Structural Dynamics 8
 Single-Degree-of-Freedom
Free Vibration

1. Real Distinct Roots:  ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ 𝑅 , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠 2

Eqn #1

Eqn #2

Solve the two equations to obtain C1 and C2.

Structural Dynamics 9
 Single-Degree-of-Freedom
Free Vibration

1. Real Distinct Roots:  ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ 𝑅 , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠 2

Non-Oscillating decayed solution

Structural Dynamics 10
 Single-Degree-of-Freedom
Free Vibration

2. Complex Distinct Roots:  ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ℂ , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠2

Structural Dynamics 11
 Single-Degree-of-Freedom
Free Vibration

 ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ℂ , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠2

Oscillating decayed solution

Structural Dynamics 12
 Single-Degree-of-Freedom
Free Vibration

Structural Dynamics 13
Single-Degree-of-Freedom Free Vibration

14
 Single-Degree-of-Freedom
Free Vibration

Structural Dynamics 15
 Single-Degree-of-Freedom
Free Vibration

Structural Dynamics 16
 Single-Degree-of-Freedom
Free Vibration

Structural Dynamics 17
 Single-Degree-of-Freedom
Free Vibration

Structural Dynamics 18
Single-Degree-of-Freedom
Free Vibration

19
 Single-Degree-of-Freedom
Free Vibration - Undamped

c=0

F(t) = 0

Structural Dynamics 20
 Single-Degree-of-Freedom
Free Vibration - Undamped

Structural Dynamics 21
 Single-Degree-of-Freedom
Free Vibration - Undamped

Structural Dynamics 22
 Single-Degree-of-Freedom
Free Vibration- Undamped

Structural Dynamics 23
 Single-Degree-of-Freedom
Free Vibration - Undamped

c=0
F(t) = 0

Amplitude

Amplitude
Structural Dynamics 24
 Single-Degree-of-Freedom
Free Vibration - Undamped

Characteristic equation !
Structural Dynamics 25
Single-Degree-of-Freedom
Free Vibration - Undamped

Distinct complex roots

Natural Frequency

26
 Single-Degree-of-Freedom
Free Vibration - Undamped

Structural Dynamics 27
Single-Degree-of-Freedom
Free Vibration - Undamped

Oscillating Harmonic Solution

28
 Single-Degree-of-Freedom
Free Vibration - Undamped

Structural Dynamics 29
 Single-Degree-of-Freedom
Free Vibration - Undamped

Structural Dynamics 30
 Single-Degree-of-Freedom
Free Vibration - Undamped

Harmonic Response

Structural Dynamics 31
 Single-Degree-of-Freedom
Free Vibration - Undamped

Another Form:

Structural Dynamics 32
 Single-Degree-of-Freedom
Free Vibration - Undamped

Another Form:

Structural Dynamics 33
 Single-Degree-of-Freedom
Free Vibration - Undamped

Structural Dynamics 34
 Single-Degree-of-Freedom System
Summary on Free Vibration Response

Structural Dynamics 35
 Single-Degree-of-Freedom
Undamped Free Vibration

Or

Or

Structural Dynamics 36
 Single-Degree-of-Freedom
Free Vibration

Structural Dynamics 37
 Single-Degree-of-Freedom System
Free Vibration Response

Other Form of Natural Frequency and Natural Period

Structural Dynamics 38
 Single-Degree-of-Freedom System
Free Vibration Response

Structural Dynamics 39
 Single-Degree-of-Freedom
Free Vibration

Note: Different stiffnesses in different directions

produces different natural periods and different
natural frequencies in these directions. 40
 Single-Degree-of-Freedom
Free Vibration

Note: The higher the building, the

lower the stiffness, and thus the
higher the period.
Structural Dynamics 41
 Single-Degree-of-Freedom
Free Vibration

Note: Vibrations in different directions leads to

different periods in these directions.
Structural Dynamics 42
 Single-Degree-of-Freedom
Free Vibration

Note: Dams period or frequency depends on depth of

dam as well as depth of its water content.
Structural Dynamics 43
 Single-Degree-of-Freedom
Free Vibration-Damped
1) Define Free Vibrations:
Free vibrations introduces dynamics via initial displacement
or initial velocity without additional external load.

Excitation Structure Response

 𝒎 𝒖+
¨ 𝒄 𝒖+𝒌𝒖=
˙ 𝒑(𝒕 )
2nd ODE has two solutions: Complementary,  𝒖𝒄
Particular, 𝒖
 
𝒑
Total Solution:
Free Vibration:  𝒑 ( 𝒕 ) =𝟎 , 𝒖 ( 𝟎 ) = 𝟎 , 𝒖
˙ (𝟎)=𝟎
 𝒎 𝒖+
¨ 𝒄 𝒖+𝒌𝒖=𝟎
˙ Essentially Complementary,
Solution to ODE 44
Structural Dynamics
 Single-Degree-of-Freedom
Free Vibration
2) Define System Properties:

 𝒎 𝒖+
¨ 𝒄 𝒖+𝒌𝒖=𝟎
˙ Essentially Complementary, Solution to ODE

  𝑐 𝑘
 Mass Normalize: 𝑢+
¨ 𝑢
˙ + 𝑢=0
𝑚 𝑚
 𝒌
⟹ =𝝎𝒏𝟐
𝒎
 𝒄
⟹ =𝟐𝜻 𝝎𝒏
𝒎
Cc = coefficient of critical damping.

 𝒖+𝟐 𝜻 𝟐
¨ 𝝎 𝒏 𝒖+
˙ 𝝎𝒏 𝒖= 𝟎 45
 Single-Degree-of-Freedom
Free Vibration
3) Solve Equation of Motion:
 𝒖+𝟐 𝟐
 𝒎 𝒖+
¨ 𝒄 𝒖+𝒌𝒖=𝟎
˙ ¨ 𝜻 𝝎 𝒏 𝒖+
˙ 𝝎𝒏 𝒖= 𝟎
Assume:  𝑢 ( 𝑡 ) = 𝐴 𝑒 𝑠𝑡  𝑢˙ ( 𝑡 ) = 𝐴𝑠 𝑒 𝑠𝑡  𝑢¨ ( 𝑡 ) = 𝐴 𝑠 2 𝑒 𝑠𝑡
2 𝑠𝑡 𝑠𝑡 2 𝑠𝑡
 𝐴 𝑠 𝑒 + 2 𝜁 𝜔𝑛 𝐴𝑠 𝑒 +𝜔 𝑛 𝐴 𝑒 =0
2 2 𝑠𝑡
 (𝑠 + 2 𝜁 𝜔𝑛 𝑠+𝜔 𝑛 ) 𝐴 𝑒 =0 but  𝐴 𝑒 𝑠𝑡 ≠ 0
𝟐 𝟐
 𝒔 +𝟐 𝜻 𝝎𝒏 𝒔+𝝎 𝒏 = 𝟎 Characteristic Equation

 𝒔=−𝜻 𝝎 𝒏 ± 𝝎𝒏 𝜻 𝟐 −𝟏
√ Quadratic Equation
2
3 Cases:  𝑠 1 ≠ 𝑠2 ∈ 𝑅 (𝜻 >1)
 𝑠 1= 𝑠 2 ∈ 𝑅 (𝜻 =1)
2
𝑠
  1 ≠ 𝑠 2 ∈ ℂ (𝜻 <1) 46
 Single-Degree-of-Freedom
Free Vibration
 𝒔=−𝜻 𝝎 𝒏 ± 𝝎𝒏 𝜻 𝟐 −𝟏
√
2
3 Cases: 𝑠
 1 ≠ 𝑠2 ∈ 𝑅 (𝜻 >1)
 𝑠 1=𝑠 2 ∈ 𝑅 (𝜻 =1)
2
 𝑠 1 ≠ 𝑠2 ∈ ℂ (𝜻 <1)
𝑠 1𝑡 𝑠2𝑡
 𝐼𝐹 : 𝑠1 ≠ 𝑠 2 ∈ 𝑅 ( 𝜻 2 >1 ) , 𝑇h𝑒𝑛 :  𝑢 ( 𝑡 ) = 𝐴1 𝑒 + 𝐴2 𝑒

 𝐼𝐹 : 𝑠1 = 𝑠2 ∈ 𝑅 ( 𝜻 2>1 ) ,𝑇h𝑒𝑛 :  𝑢 ( 𝑡 ) = 𝐴1 𝑒 𝑠 𝑡 + 𝐴 2 𝑡 𝑒 𝑠

1 2 𝑡

Structural Dynamics 47
 Single-Degree-of-Freedom
Free Vibration
4) Specialize Solution:  
i) Undamped:  𝒄= 𝟎 ,𝜻 =𝟎
ii) Damped:  𝒄 ≠ 𝟎 , 𝜻 ≠𝟎
Under Damped:  𝜻 <𝟏 Vast Majority of Civil Eng. Structures

Critical Damped:  𝜻 =𝟏
Over Damped:  𝜻 >𝟏
5) Undamped SDOF Solution:  𝒄= 𝟎 ,𝜻 =𝟎
 𝒎 𝒖+
¨ 𝒌𝒖=𝟎  𝒔=−𝜻 𝝎 𝒏 ± 𝝎𝒏 𝜻 𝟐 −𝟏
√ Quadratic
Equation
𝟐 𝟐
 𝒔 +𝝎 𝒏 =𝟎 Characteristic Equation

 𝒔=± 𝝎𝒏 √ −𝟏=± 𝝎𝒏 𝒋 Distinct Complex Roots 48

 Single-Degree-of-Freedom
Free Vibration

Distinct complex roots

Structural Dynamics 49
 Single-Degree-of-Freedom
Free Vibration

Structural Dynamics 50
 Single-Degree-of-Freedom
Free Vibration

Undamped

OR:

Structural Dynamics 51
 Single-Degree-of-Freedom
Free Vibration

Harmonic Response

Structural Dynamics 52
 Single-Degree-of-Freedom System
Free Vibration Response
Repeated in different form!!

(i.e., Equilibrium Method)

Structural Dynamics 53
 Single-Degree-of-Freedom System
Free Vibration Response

Structural Dynamics 54
 Single-Degree-of-Freedom System
Free Vibration Response
Repeated in different form!!

Undamped free vibration

Structural Dynamics 55
 Single-Degree-of-Freedom System
Free Vibration Response
Repeated in different form!!

Undamped free vibration

Structural Dynamics 56
 Single-Degree-of-Freedom System
Free Vibration Response
Repeated in different form!!

Undamped free vibration

Structural Dynamics 57
 Single-Degree-of-Freedom System
Free Vibration Response
Repeated in different form!!

Structural Dynamics 58
 Single-Degree-of-Freedom System
Free Vibration Response

Repeated in different form!!

Structural Dynamics 59
 Single-Degree-of-Freedom System
Free Vibration Response

Repeated in different form!!

Structural Dynamics 60
 Single-Degree-of-Freedom System
Free Vibration Response
Repeated
in
different
form!!

Structural Dynamics 61
 Single-Degree-of-Freedom System
Free Vibration Response

Repeated
in
different
form!!

Structural Dynamics 62
 Single-Degree-of-Freedom System
Free Vibration Response

Repeated
in
different
form!!

Structural Dynamics 63
 Single-Degree-of-Freedom System
Free Vibration Response

Will be visited later

Structural Dynamics 64
 Single-Degree-of-Freedom System
Free Vibration Response

Structural Dynamics 65
 Dynamics of Structures
PART I
Single-Degree-of- Freedom Systems
Class# 3.2 Damped System

Dr. Anis Shatnawi

Structural Dynamics 66
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 67
 Single-Degree-of-Freedom
Free Vibration – Damped System

Δ
  𝑥˙

Structural Dynamics 68
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 69
 Single-Degree-of-Freedom
Free Vibration – Damped System

Damped free vibration

Structural Dynamics 70
 Single-Degree-of-Freedom
Free Vibration – Damped System

Damped free vibration

Structural Dynamics 71
 Single-Degree-of-Freedom
Free Vibration – Damped System

Damped free vibration

Structural Dynamics 72
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 73
 Single-Degree-of-Freedom
Free Vibration – Damped System

If distinct roots

Structural Dynamics 74
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 75
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 76
 Single-Degree-of-Freedom
Free Vibration – Damped System

Repeated in
different
form!!

Structural Dynamics 77
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 78
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 79
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 80
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 81
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 82
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 83
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 84
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 85
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 86
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 87
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 88
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 89
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 90
 Single-Degree-of-Freedom
Free Vibration – Damped System

Decay curve

91
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 92
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 93
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 94
 Single-Degree-of-Freedom
Free Vibration – Damped System

Repeated in other form !

Structural Dynamics 95
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 96
 Single-Degree-of-Freedom
Free Vibration – Damped System

Repeated real roots

Structural Dynamics 97
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 98
 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 99
 Single-Degree-of-Freedom
Free Vibration – Damped System

Repeated in other form !

Structural Dynamics 100

 Single-Degree-of-Freedom
Free Vibration – Damped System
Repeated in other form !

Structural Dynamics 101

 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 102

 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 103

 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 104

 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 105

 Single-Degree-of-Freedom
Free Vibration – Damped System
Repeated in other form !

Structural Dynamics 106

 Single-Degree-of-Freedom
Free Vibration – Damped System
Repeated in other form !

Structural Dynamics 107

 Single-Degree-of-Freedom
Free Vibration – Damped System
Summary:

Structural Dynamics 108

 Single-Degree-of-Freedom
Free Vibration – Damped System
Summary:

Structural Dynamics 109

 Single-Degree-of-Freedom
Free Vibration – Damped System

Example: Most of
structures!

Structural Dynamics 110

 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 111

 Single-Degree-of-Freedom
Free Vibration – Damped System

Structural Dynamics 112