Topic 4

SDOF system and Equation of Motion

Dr. Henry Luk

SCE5321 Theory of Structures 2

Equation of Motion and SDOF
Systems

2
Introduction I
 The previous chapters dealt with structures subjected to static
forces producing displacements that do not vary with time.
P P P P

𝐹=0

𝐹𝑒𝑥𝑡 − 𝐹𝑖𝑛 = 0
F
Equilibrium condition
F

F
Static conditions

3
Example 1
Determine the bending moment, shear force at the base and the
lateral deflection at the top of the following cantilever column.

Flexural rigidity
𝐸𝐼
𝐿

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Solution to Example 1
𝐹𝑒𝑥𝑡 − 𝐹𝑖𝑛 = 0
𝑃

Shear 𝑃−𝑉 =0 ⇒ 𝑉 =𝑃

𝐿 Moment 𝑃𝐿 − 𝑀 = 0 ⇒ 𝑀 = 𝑃𝐿

𝐹 3𝐸𝐼
Deflection ∆= 𝑘= 3
𝑘 𝐿
𝑉
𝑀 𝑃 𝑃𝐿3
⇒∆= =
3𝐸𝐼 3𝐸𝐼
𝐿3

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Introduction II
 We now consider dynamic problems, in which the forces and
the structural responses are time-varying (magnitude,
direction and/or position).

Newton’s Second Law

𝐹𝑛𝑒𝑡

𝐹 = 𝑚𝑎 𝑚 𝑎

𝑚 = inertia of object (mass)

𝑎 = acceleration

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Introduction III
 Two basically different approaches are available for evaluating
structural responses to dynamic loads: deterministic and non-
deterministic.
 Prescribed dynamic loading
 The time variation of loading is fully known, even though it may be
highly oscillatory or irregular in character.
 Deterministic analysis.
 Random dynamic loading
 The time variation is not completely known but can be defined in a
statistical sense.
 Non-deterministic analysis.

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 Periodic

Prescribed Loadings
Non-Periodic

Clough, R.W. and Penzien, J. (2003). Dynamics of structures, 3rd edition. Computers & Structures, Inc. 8
Characteristics of Dynamic Problems
 Dynamic problem is time-varying in nature.
 Dynamic problem does not have a single solution, as a static problem
does.
 A succession of solutions corresponding to all times of interest in the
response history should be established.
 The responses of structure depend not only upon the external load but
also upon inertial forces which oppose the accelerations producing
them.
 In static problem, the internal forces and deflected shape depend only
upon the external loading.
 In general, structural response to any dynamic loads is expressed in
terms of displacements of the structure.
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Structural Idealisation
 Simple structures

Water tank Pergola

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Structural Idealisation (cont’d)
 Idealisation
u
Mass m
m

Massless columns with Single-Degree-Of-Freedom

lateral flexural rigidity k (SDOF) System
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Degree of Freedom
 Degree of Freedom (DOF) is defined as the
 the number of independent displacements required to define the
displaced positions of all the masses relative to their original
position.
Mass m 𝑢1 , 𝜃1

𝑢2 , 𝜃2

𝑢3 , 𝜃3

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SDOF System m
u(t)
p(t)
k

 Typical SDOF system for building

c

𝜃1 = 𝑢2 = 𝜃2 = 𝑢3 = 𝜃3 = 0 Consider linear system only

𝑢1 = 𝑢 1 DOF => SDOF system

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Elastic Restoring Force
𝑓𝑆
 Elastic restoring force
𝑓𝑆 = 𝑘𝑢
where k is the lateral stiffness of the system
𝑢
𝑢 𝑢
𝐸𝐼𝑏 = ∞ 𝐸𝐼𝑏 = 0
𝑓𝑠 𝑓𝑠
ℎ

12𝐸𝐼𝑐 3𝐸𝐼𝑐
𝑘= 𝑘=
ℎ3 ℎ3
columns columns

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Damping
Response

Declination

Time

The amplitude of vibration steadily diminishes since the kinetic energy and
strain energy of the vibrating system are dissipated by various mechanisms.
This process is called damping.

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Viscous Damping Force
𝑓𝐷
 Viscous damping force
𝑓𝐷 = 𝑐 𝑢
where c is the viscous damping coefficient

𝑢
Note:
• In actual structures, there are various mechanisms
that contribute to the energy dissipation.
• For simplicity, damping element is modelled using
viscous damper.
• As a result, the damping in actual structures is
represented in a highly idealised manner. Linear viscous
damper/Dashpot
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Equation of Motion m
u
𝑢

p(t)
 From Newton’s Second Law
k
c
𝐹 = 𝑚𝑎 ⇒ 𝐹𝑒𝑥𝑡 −𝐹𝑖𝑛 = 𝑚𝑎
𝑝 − 𝑓𝑆 − 𝑓𝐷 = 𝑚𝑎
𝑝(𝑡) = 𝑚𝑢 + 𝑓𝐷 + 𝑓𝑆

𝑝 𝑡 = 𝑚𝑢 + 𝑐𝑢 + 𝑘𝑢 For linear system

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D’Alembert’s Principle
 D’Alembert’s principle of dynamic equilibrium

Fictitious inertia force 𝑓𝐼 = 𝑚𝑢

𝐹𝑑𝑦𝑛 = 0 𝑓𝑆
𝑓𝐷 𝐹𝑒𝑥𝑡
𝐹𝑒𝑥𝑡 = 𝑓𝐼 + 𝑓𝐷 + 𝑓𝑆
𝑓𝐼
𝑝 𝑡 = 𝑚𝑢 + 𝑐𝑢 + 𝑘𝑢

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Stiffness, Damping, and Mass Components
 It is usually idealised one-storey frame as follows:

Stiffness component Damping component Mass component

Displacement 𝑢 Displacement 𝑢
Velocity 𝑢 Velocity 𝑢
Acceleration 𝑢 Acceleration 𝑢

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Example 2
Derive the equation of motion for the following one-storey RC
frame.
Mass, 𝑚
𝐸𝐼𝑏 = ∞
𝑝(𝑡)

Massless columns
𝑐
𝐸𝐼𝑐 𝐸𝐼𝑐 ℎ

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Solution to Example 2
𝐸𝐼𝑏 = ∞ 𝑚
𝑝 𝑡 = 𝑃 sin 𝜔𝑡

𝐸𝐼𝑐 𝑘𝑠𝑦𝑠 , 𝑐

Each column: Equation of motion:

12𝐸𝐼𝑐
𝑘𝑐𝑜𝑙 = 𝑝 𝑡 = 𝑚𝑢 + 𝑐𝑢 + 𝑘𝑢
ℎ3

Frame system: (In parallel) 24𝐸𝐼𝑐

𝑃 sin 𝜔𝑡 = 𝑚𝑢 + 𝑐𝑢 + 𝑢
24𝐸𝐼𝑐 ℎ3
𝑘𝑠𝑦𝑠 = 2𝑘𝑐𝑜𝑙 =
ℎ3
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Influence of Gravitational
Forces

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Example 3
Formulate the equation of motion for the weight suspended from a
spring at the free end of a cantilever steel beam.

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Solution to Example 3
Deformation of beam, spring and mass

𝑢(𝑡) is measured from its initial position with the

beam and spring in their original un-deformed
configuration.

𝛿𝑠𝑡 is the static displacement due to its own

weight.

𝑢(𝑡) is measured from the position of static

equilibrium.

𝑢 = 𝑢 + 𝛿𝑠𝑡

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Solution to Example 3
Equation of motion
w is the weight of mass ke is the effective stiffness of
the system

𝑝 𝑡 + 𝑤 = 𝑚 𝑢 + 𝑘𝑒 𝑢

𝑝 𝑡 = 𝑚 𝑢 + 𝑘𝑒 𝑢 Remarks
(1) 𝑢 = 𝑢 + 𝛿𝑠𝑡
Note that the gravity forces can be omitted from the 𝑢=𝑢
formulation provided that the displacement is measured from
the static equilibrium position. (2) 𝑤 = 𝑘𝑒 𝛿𝑠𝑡
Total deflections, stresses, etc. are obtained by adding the
corresponding static quantities to the results of the dynamic
analysis.
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Solution to Example 3
System stiffness

The beam and spring are under the same force

=> In series
1 1 1
= +
𝑘𝑒 𝑘beam 𝑘spring

𝑘spring = 𝑘 1 1 −1
𝑘𝑒 = +
3𝐸𝐼 3𝐸𝐼 𝑘
𝑘beam = 𝐿3
𝐿3
−1
1 1
Equation of motion: 𝑝 𝑡 = 𝑚𝑢 + + 𝑢
3𝐸𝐼 𝑘
𝐿3
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Influence of Support Excitation

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Support Excitation
 Consider a SDOF system under ground excitation

𝑢𝑡
Total displacement
No external force!! 𝑢
Relative displacement
m

k, c

𝑢𝑔 (𝑡) Ground displacement

𝑢𝑔
Earthquake acceleration
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Support Excitation (cont’d)
 Equation of motion

Opposite in 𝑚𝑢𝑡 + 𝑐𝑢 + 𝑘𝑢 = 0 Earthquake

direction induced
m peff(t) 𝑚(𝑢 + 𝑢𝑔 ) + 𝑐𝑢 + 𝑘𝑢 = 0 inertia force

k, c 𝑚𝑢 + 𝑐 𝑢 + 𝑘𝑢 = −𝑚𝑢𝑔 (𝑡)
= 𝑝eff (𝑡)

Effective earthquake
𝑢𝑔 (𝑡) force

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