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When the deformed shape of a structural system at any instant of motion t can be
represented in terms of a single dynamic displacement coordinate u(t), then it is
called a single degree of freedom system, and that coordinate is called the degree of
freedom.

The entire mass and stiffness of the system is lumped at a point where the dynamic
coordinate u(t) is defined. The rigid block in Fig. 3.1a has a mass m and connected to a
fixed end with a spring with stiffness k.

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More complicated dynamic systems with distributed mass and stiffness can also be
idealized as SDOF systems. Let’s consider a cantilever column and a simple
multistory frame in Fig. 3.2 where the lateral deformation distribution along the
height exhibits variation with time during motion.

Both systems can be defined as idealized SDOF systems if the lateral dynamic deformation
distribution u(x, t) along height x can be expressed as

Let’s consider two ideal SDOF systems in Fig. 3.3 with a mass, spring and
damper. Damper is the only difference between Figs. 3.2 and 3.3, which represents
internal friction mechanism in an actual mechanical system that is idealized as a SDOF
system.

Applying Newton’s second law of motion PF ¼ ma for dynamic equilibrium

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Equation of Motion for Base Excitation

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The equation of free vibration is given by

Then Eq. (3.9) can be written as,

When damping is zero, Eq. (3.10) reduces to

Solution to Eq. 3.11 is

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When damping is not zero, Eq. (3.10) is

Solution to Eq. 3.10 is

Solution to Eq. 3.10 is

where ωn is replaced by ωd, which is the ‘‘damped’’ natural frequency given by Eq. (3.15)

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Solution:
(a)
The portal frame is a SDOF system with the fixed deflection shape shown in
Fig. 3.10b. Lateral displacement u of the mass m at the roof is the degree of
freedom.

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Harmonic excitation can either be applied as an external harmonic force, or an

Equation of motion under harmonic excitation can then be written as

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The variation of ρ with the frequency ratio β and the damping ratio ξ is plotted in Fig.
3.11, which is called the frequency response function.

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A SDOF system under earthquake ground acceleration is shown in Fig. 3.13. The
excitation function F(t) or can rarely be expressed by an analytical
function in the case of earthquake ground excitation.
Ground acceleration recorded by an accelerograph can be expressed numerically.
Closed-form analytical solution similar to Eq. (3.20) is not possible, hence the solution is
obtained by using numerical integration techniques.

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The above equation can be solve using the following:

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Accordingly, Sd, and Sa in Eqs. (3.43) and (3.45) can be plotted as functions of
T and ξ.
When this process is repeated for a set of damping ratios, a family of Sa and Sd curves are
obtained.
The family of these curves is called the acceleration response spectra and displacement
response spectra of an earthquake ground motion, respectively.

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Assignment No. 1

1)

2) An SDOF system, and the pair of linear elastic spectra are given below.

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3)

4)

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