Raid Karoumi, KTH

Structural Dynamics
Fundamentals
Single-degree-of-freedom systems

Raid Karoumi
Structural Engineering & Bridges

Aim of lecture

After this lecture you should:

 Understand what a dynamic problems is

 Idealise structures in terms of a SDOF system

 Calculate frequency of a SDOF system

 Calculate the response of a SDOF system to

harmonic loading

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Dynamic   Static

 What is a dynamic problem?

Constant in time  Static problem

Time-dependent  Dynamic problem

Vibration in everyday life

Wind-induced vibrations

Wave-induced vibrations (+/-)

Traffic-induced vibrations

Wind-induced vibrations

Human-induced vibrations 4
London Millennium Footbridge

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Vibration in everyday life

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Vibration in everyday life

Pneumatic hammers
rocking cradle

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Example of load types

(excitations)

Example of load types

(excitations)

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Vibration types

 Free Vibrations
(no external dynamic force or displacement on the structure)

 Forced Vibrations
(dynamic force or displacement is
applied on the structure)

 Transient Vibrations
(appears when the load is applied on
a structure)

 Steady-State Vibrations
(what remains when the transient vibrations disappears)

Single-degree-of-freedom
systems (SDOF)
Single-degree-of-freedom system 

only one coordinate is used to define the motion

of the system
A single degree of freedom system
consisting of a mass m [kg] and a
spring with stiffness k [N/m]

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Single-degree-of-freedom
systems (SDOF)
FORMULATION OF THE EQUATIONS OF MOTION
The primary objective of a structural dynamic analysis is the evaluation of the displacement and acceleration
time histories of a given structure subjected to a given time varying loading.

The mathematical expressions defining the dynamic displacements are called the equations of motion of
the structure, and the solution of these equations of motion provides the required displacement time histories.

The equations of motion of any dynamic system represent expressions of Newton's second law of motion,
which states that the rate of change of momentum of any mass particle m is equal to the force acting on it.

The system is in dynamic equilibrium

Dynamic equilibrium: 𝒑 𝒕 𝒌𝒖 𝒕 𝒎𝒖 𝒕 𝟎

the last term is called the inertial force resisting the acceleration
of the mass. The concept that a mass develops an inertial force
proportional to its acceleration and opposing it is known as
d'Alembert's principle. Free-body diagram

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Free vibration

 = static deflection of spring (in meters)

k = spring stiffness (in N/m)
u = amplitude of vibration

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Free vibration = No external load

 is the angular velocity in rad/sec.

Because the motion repeats itself in
2 radians, the angular velocity can be
expressed as  = 2f

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Free vibration

No external load = free vibration!

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Idealisation & definitions

𝑷
Spring stiffness 𝒌
𝒖

Natural circular 𝒌
frequency 𝝎𝒏 𝒎

𝟐𝝅
Natural period 𝑻𝒏 𝝎𝒏

Natural cyclic 𝟏 𝝎𝒏
𝒇𝒏 in [Hz = 1/sec]
frequency 𝑻𝒏 𝟐𝝅

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Mechanical parameters &

components

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c can also include additional

damping

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Example 1
A rigid foundation is supported in A and B by two springs so that vertical
translation and/or rotation is possible. Movement orthogonal to the plane of
observation is impossible. The distributed mass is m and the stiffness of
each spring is k. Damping is not accounted for.

𝐤𝐠
𝒎 𝟕𝟓𝟎
𝐦

𝒌 𝟑 𝐌𝐍/𝐦

Determine the natural frequency

for vibration in the vertical
direction.

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Example 1, solution

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Example 1, solution

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Elastic springs
Combination of two springs – case 1

The stiffness for this

system is trivial: k  k1  k 2

Combination of two springs – case 2

This case is more

complicated.

F1  k 1 u 1 k k 1 1 1
statics : FF1FF22 kk u1 u 2 1   1  
F2  k 2 u 2 k1 k 2 k k1 k2
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Elastic springs

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Single degree of freedom systems

Dynamic equilibrium: 𝒎𝒖 𝒄𝒖 𝒌𝒖 𝟎

𝒄 𝒌
𝒖 𝒖 𝒖 𝟎
𝒎 𝒎
Free vibration!
Harmonic approach: 𝒖 𝑼𝒆𝒔𝒕

Characteristic equation: 𝒄 𝒌
𝒔𝟐 𝒔 𝑼𝒆𝒔𝒕 𝟎
𝒎 𝒎

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Single degree of freedom systems

𝒄 𝒄 𝟐 𝒌
Characteristic equation: 𝒔𝟏,𝟐
𝟐𝒎 𝟐𝒎 𝒎

𝒌 𝒔
Insert: 𝝎𝒏 and 𝜷 Define critical damping  when
𝒎 𝝎𝒏
this part is 0. After this the roots
to the equation become
imaginary
𝒄
Critical damping: 𝒄𝒄𝒓 𝟐 𝒌𝒎 and 𝝃
𝒄𝒄𝒓

Solution: 𝒖 𝑼𝒆𝜷𝝎𝒏 𝒕 𝜷 𝝃 𝐢 𝟏 𝝃𝟐

Four cases are possible!

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Single degree of freedom systems

case 1: un-damped system
Here is 𝝃 𝟎 → 𝜷 𝒊 𝜷 𝝃 𝒊 𝟏 𝝃𝟐

𝒖 𝑼𝒆 𝒊𝝎𝒏 𝒕
and 𝑨𝐬𝐢𝐧 𝝎𝒏 𝒕 𝑩𝐜𝐨𝐬 𝝎𝒏 𝒕 𝑪 𝐬𝐢𝐧 𝝎𝒏 𝒕 𝜶

Which is an un-damped harmonic vibration

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Single degree of freedom systems

case 2: under-damped system
Here is 𝝃 𝟏 → 𝜷 is complex 𝜷 𝝃 𝒊 𝟏 𝝃𝟐

𝒄𝒕
𝒖 𝒕 𝑼𝒆 𝟐𝒎 𝐬𝐢𝐧 𝝎𝑫 𝒕 𝜶 𝝎𝑫 𝝎𝒏 𝟏 𝝃𝟐

Which is a decaying vibration.

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Single degree of freedom systems

case 3: critical-damped system

𝜷 𝝃 𝒊 𝟏 𝝃𝟐

Here is 𝝃 𝟏 → 𝜷 𝟏

𝒖 𝝎𝒏 𝒕
and 𝑨𝒕 𝑩 𝒆

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Single degree of freedom systems

case 4: over-damped system

𝜷 𝝃 𝒊 𝟏 𝝃𝟐

Here is 𝝃 𝟏

𝜷 𝝃 𝝃𝟐 𝟏

𝝃 𝝃𝟐 𝟏 𝝎𝒏 𝒕 𝝃𝝎𝒏 𝒕
𝒖 𝑼𝒆 𝒆 𝑨𝐬𝐢𝐧𝐡 𝝃𝟐 𝟏 𝝎𝒏 𝒕 𝑩𝐜𝐨𝐬𝐡 𝝃𝟐 𝟏 𝝎𝒏 𝒕

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Example 2
A rigid foundation is supported in A and B by two springs so that vertical
translation and/or rotation is possible. Movement orthogonal to the plane of
observation is impossible. The mass is m and the stiffness of each spring is k.
Damping is not accounted for.

𝒎 𝟕𝟓𝟎 𝐤𝐠/𝐦 𝒌 𝟑 𝐌𝐍/𝐦

Derive the equation of dynamic equilibrium for rotation and

determine the natural frequency.

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Example 2, solution
𝒗
In the figure: sin 𝝋
𝑳

Small angels: 𝒗 𝝋·𝑳

Moment equilibrium around the

center of gravity
:

𝑴𝒛 𝟐·𝒌·𝒗·𝑳 𝟎

( 𝑱𝒛 is the mass moment of inertia)

𝑱𝒛 𝝋 𝟐 · 𝒌 · 𝝋𝑳 · 𝑳 𝟎 Mass Moment of Inertia (or rotational inertia) - is a measure of
an object's resistance to changes in rotation direction. Moment
of Inertia has the same relationship to angular acceleration as
𝟐𝒌𝑳𝟐
𝝋 𝝋 𝟎 mass has to linear acceleration.
𝑱𝒛
It should not be confused with the second moment of area
(area moment of inertia), which is used in bending calculations

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Example 2, solution

𝟐𝒌𝑳𝟐 𝒌
𝝋 𝝋 𝟎 Compared with 𝒖 𝒖 𝟎 so is
𝑱𝒛 𝒎

𝒌 Here instead 𝟐𝒌𝑳𝟐

𝝎𝟐 𝝎𝟐
𝒎 𝑱𝒛

According to the "law of mechanics" is the mass moment of inertia

𝒎𝒂𝟐 𝟐 · 𝟕𝟓𝟎 · 𝟏 For a point mass the mass

𝑱𝒛 𝟓𝟎𝟎 kgm moment of Inertia is the mass
𝟑 𝟑 times the square of perpendicular
distance to the rotation reference
axis

𝟐𝒌𝑳𝟐
𝑱𝒛 𝟐 · 𝟑 · 𝟏𝟎𝟔 · 𝟎. 𝟖𝟐
𝝎 𝟓𝟎𝟎
𝒇 𝟏𝟒. 𝟎 Hz
𝟐𝝅 𝟐𝝅 𝟐𝝅

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Example

Vertical motion

mode 1

Rotational motion

mode 2

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Logarithmic decrement

For underdamped systems!

Two successive peaks 𝒖 𝒕 𝑻𝑫 𝒄

𝒆 𝟐𝒎𝑻𝑫
of damped free vibration: 𝒖 𝒕

𝒖 𝒕
Logarithmic decrement: 𝜹 𝐥𝐧
𝒖 𝒕 𝑻𝑫

𝒄 𝟐𝝅𝝃
Or: 𝜹 𝑻
𝟐𝒎 𝑫 𝟏 𝝃𝟐

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Logarithmic decrement
After how many full vibration periods has the amplitude of the
displacement been reduced to less than half of the initial

Solution

𝒖𝒏 𝒖𝒏 𝒖𝒏 𝟏 𝒖𝒏
𝜹 𝐥𝐧 gives 𝒖𝒏 𝟏 and 𝒖𝒏 𝟐
𝒖𝒏 𝟏 𝒆𝜹 𝒆𝜹 𝒆𝟐𝜹

𝒖𝒏 𝒖𝒏 𝟏 𝒖𝒏
General case: 𝒖𝒏 𝒊 or 𝒆𝒊𝜹 or 𝒊 𝐥𝐧
𝒆𝒊𝜹 𝒖𝒏 𝒊 𝜹 𝒖𝒏 𝒊

𝟏
Here is: 𝒖𝒏 𝒊 𝒖
𝟐 𝒏

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Many structures can be idealised as SDOF

Example

The mass of this SDF system is m,

This frame has 6 the mass of the roof.
active degrees of
freedom (d.o.f.). The stiffness is determined in the classical way:

By neglecting the
𝟏𝟐𝑬𝑰
axial deformations, 𝒌 𝟐·
3 d.o.f. disappear. 𝑳𝟑

Only one d.o.f. is left if

the frame is consisting
of an heavy roof
supported by light
columns.

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Single degree of freedom systems

response to dynamic loading

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Single degree of freedom systems

response to dynamic loading

𝒄 𝒌 𝟏
Dynamic equilibrium: 𝒖 𝒖 𝒖 𝒑 𝒕
𝒎 𝒎 𝒎

Harmonic load: 𝒑 𝒕 = 𝒑𝟎 𝒔𝒊𝒏 𝝎𝒕

𝒑𝟎 𝒔𝒊𝒏 𝝎𝒕 𝝓
Vibration: 𝒖 𝒕 𝒖𝒄 𝒕 𝒖𝒑 𝒕 𝒖𝟎 𝒕 𝒔𝒊𝒏 𝝎𝑫 𝒕 𝜶
𝒌 𝟐 𝟐
𝝎𝟐 𝝎
𝟏 𝟒 𝝃
𝝎𝟐𝒏 𝝎𝒏

Complementary & particular solutions

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Single degree of freedom systems

response to dynamic loading

See also Chopra page 72

For this case, the steady state is obtained

after about 20 seconds.

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Dynamic response factor

𝒖 𝒕 𝒖𝒄 𝒕 𝒖𝒑 𝒕
𝒑𝟎 𝒔𝒊𝒏 𝝎𝒕 𝝓
𝒖𝟎 𝒕 𝒔𝒊𝒏 𝝎𝑫 𝒕 𝜶
𝒌 𝟐 𝟐
𝝎𝟐 𝝎
𝟏 𝟒 𝝃
𝝎𝟐𝒏 𝝎𝒏

After some while, the structure vibrates with the same frequency
as the applied force. It is the steady state response up(t).
The amplitude of these vibrations are now studied.

𝒑𝟎 static deformation due to a static load po

𝒖𝒑 𝒕 𝒌 𝒔𝒊𝒏 𝝎𝒕 𝝓
𝟐 𝟐 𝟐
𝝎 𝝎
𝟏 𝟐𝝃
𝝎𝒏 𝝎𝒏

 The amplitude of the vibration is equal to the product of the static

p. 76–82
deformation times a dimensionless dynamic factor Rd

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Example 3
A rigid foundation is supported in A and B by two springs so that vertical
translation and/or rotation is possible. Movement orthogonal to the plane of
observation is impossible. The mass is m and the stiffness of each spring is k.
Damping is not accounted for.

𝒎 𝟕𝟓𝟎 𝐤𝐠/𝐦 𝒌 𝟑 𝐌𝐍/𝐦

The foundation is loaded with

a rotating moment

𝑴 𝟐𝟒 · 𝒔𝒊𝒏𝟑𝟎𝝅𝒕 𝐤𝐍𝐦

Determine the maximun vertical

displacement in C.

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Example 3, solution

Rotating moment: 𝑴 𝑴𝟎 · 𝐬𝐢𝐧 𝟐𝝅𝒇𝒕 𝟐𝟒 · 𝐬𝐢𝐧 𝟑𝟎𝝅𝒕 𝐤𝐍𝐦 NOTE! L=0.8 m

Dynamic equilibrium (see Example 2): 𝟐𝒌𝑳𝟐 𝑴𝟎

𝝋 𝝋 𝐬𝐢𝐧 𝟐𝝅𝒇𝒕
𝑱𝒛 𝑱𝒛

𝒌 𝑷𝟎
Compare 𝒖 𝒖 𝐬𝐢𝐧 𝝎𝒕
𝒎 𝒎

𝑷𝟎 𝐬𝐢𝐧 𝝎𝒕 𝝋
with the solution: 𝒖 𝒖𝟎 𝒕 𝐬𝐢𝐧 𝝎𝑫 𝒕 𝜶
𝒌 𝟐 𝟐
𝝎𝟐 𝝎
𝟏 𝟒 𝝃𝝎
𝝎𝟐𝒏 𝒏

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Example 3, solution

Insertion of 𝒖𝟎 𝟎 and 𝒄 𝟎 𝝃 𝒄/𝒄𝒄𝒓 Gives:

𝑷𝟎 𝒔𝒊𝒏 𝝎𝒕 𝝋 𝑷𝟎 𝟏
𝒖 · 𝒖𝐦𝐚𝐱 ·
𝒌 𝟐 with 𝒌 𝟐
𝝎𝟐 𝝎𝟐
𝟏 𝟏
𝟐
𝝎𝒏 𝝎𝟐𝒏

𝟐𝒌𝑳𝟐 𝒌 and 𝑴𝟎 𝑷𝟎
A comparison shows that ⇔ ⇔
𝑱𝒛 𝒎 𝑱𝒛 𝒎

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Example 3, solution
𝟏
𝒑𝟎 𝑴𝟎 𝟐𝒌𝑳𝟐 𝑴𝟎 𝒎 𝑱𝒛 𝑴𝟎
Which gives 𝒎 · 𝒎 ·
𝒌 𝑱𝒛 𝑱𝒛 𝑱𝒛 𝟐𝒎𝒌𝑳𝟐 𝟐𝒌𝑳𝟐

Substitution gives:

𝑴𝟎 𝟏 𝟐𝟒 · 𝟏𝟎𝟑 𝟏 𝟑
𝟏
𝝋𝒎𝒂𝒙 · · 𝟔. 𝟐𝟓 · 𝟏𝟎 ·
𝟐𝒌𝑳𝟐 𝟐 𝟐 · 𝟑 · 𝟏𝟎𝟔 · 𝟎. 𝟖𝟐 𝟐 𝟎. 𝟏𝟒𝟖 𝟐
𝝎𝟐 𝟑𝟎𝝅 𝟐
𝟏 𝟏
𝝎𝟐𝒏 𝟏𝟒 · 𝟐𝝅 𝟐

𝟎. 𝟎𝟒𝟐𝟐 𝐫𝐚𝐝

𝒗𝒎𝒂𝒙 𝝋𝒎𝒂𝒙 · 𝑳𝒕𝒐𝒕 𝟎. 𝟎𝟒𝟐𝟐 · 𝟏 𝟎. 𝟎𝟒𝟐𝟐 𝐦 𝟒𝟐 𝐦𝐦

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Phase lag

See also Chopra 3.2.3 on page 76-77

𝝎
𝟐𝝃 𝝎 𝝎𝟐
𝒏
𝝓 𝐚𝐫𝐜𝐭𝐚𝐧 , 𝟏 𝟎
𝝎𝟐 𝝎𝟐𝒏
𝟏
𝝎𝟐𝒏

Delay between force and response

𝝎
𝟐𝝃 𝝎 𝝎𝟐
𝒏
𝝓 𝝅 𝐚𝐫𝐜𝐭𝐚𝐧 𝟏 𝟎
𝝎𝟐 𝝎𝟐𝒏
𝟏
𝝎𝟐𝒏

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Example 4

A body of mass 100 kg is suspended by a

spring of stiffness 30 kN/m and a dashpot
of damping constant 1000 Ns/m. Vibration
is excited by a harmonic force of amplitude
80 N and frequency 3 Hz.

A. Calculate the steady-state amplitude of

the displacement for the vibration.

B. Calculate the phase angle between the

displacement and the excitation force.

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Example 4
A. Calculate the amplitude of the B. Calculate the phase angle between the
displacement for the vibration. displacement and the excitation force.

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