Dynamics of Structures

Impulsive Forcing Functions

M. Saatcioglu

uOttawa.ca
1
 Summary of Free Vibration Response
❑ Equation of motion due to initial displacement and/or velocity without damping and
applied load (undamped free vibration):
𝑚𝑢ሷ 𝑡 + ku(t)=0
❑ Solution of the above differential equation:
𝑣𝑜
𝑢 = 𝑢𝑜 𝐶𝑜𝑠𝜔𝑡 + 𝑆𝑖𝑛𝜔𝑡
𝜔

T 𝑣𝑜 T
𝑢𝑜
𝜔
t t

𝑣𝑜
−𝑢𝑜 −
𝜔
2
 Response to Undamped Forced Vibration
Consider a case of suddenly applied constant load of F(t) with a magnitude of Fo.
Assume that the load remains at this magnitude constantly, indefinitely.

F(t)

F1
The equation of motion: 𝒎𝒖ሷ + 𝒌𝒖 = 𝑭𝟏

The solution consists of complementary and particular

solutions.
𝑢 𝑡 = 𝑢𝑐 𝑡 + 𝑢𝑝 (𝑡) t

3
 Response to Undamped Forced Vibration
𝑢 𝑡 = 𝑢𝑐 𝑡 + 𝑢𝑝 (𝑡)
The complementary solution satisfies the homogeneous equation, i.e., when the right
hand side is equal to zero (free vibration response):
F(t)
𝑢𝑐 𝑡 = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡

The particular solution satisfies the effect of the load. F1

𝐹1
𝑢𝑝 𝑡 =
𝑘
The combined solution is:
𝐹1 t
u 𝑡 = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡 +
𝑘

4
 Response to Undamped Forced Vibration
𝐹1
u 𝑡 = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡 +
𝑘
When initial conditions are used, the constants A and B can be evaluated. If the motion
starts under the influence of the applied load without initial displacement and velocity;
𝐹1 𝐹1
t = 0; uo = 0 and vo = 0 0 = 𝐴 𝐶𝑜𝑠𝜔(0) + 𝐵 𝑆𝑖𝑛𝜔(0) + A= −
𝑘 𝑘

Differentiating the above solution u(t) and applying the second initial condition, i.e., vo = 0
𝑢ሶ 𝑡 = −𝜔𝐴 𝑆𝑖𝑛𝜔𝑡 + 𝜔𝐵 𝐶𝑜𝑠𝜔𝑡

0= −𝜔𝐴 𝑆𝑖𝑛𝜔(0) + 𝜔𝐵 𝐶𝑜𝑠𝜔(0) and B = 0

5
 Response to Undamped Forced Vibration
𝐹1
𝑢(𝑡) = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡 +
𝑘
Substituting the values of A and B into the above solution:
𝐹1 𝐹1
𝑢(𝑡) = − 𝐶𝑜𝑠𝜔𝑡 +
𝑘 𝑘 𝐹1
𝐹1 (1 − 𝐶𝑜𝑠𝜔𝑡)
𝐹1 2
𝑘
𝑢(𝑡) = (1 − 𝐶𝑜𝑠𝜔𝑡) 𝑘
𝑘
▪ The response is very similar to that of free 𝐹1
vibration, except this time the horizontal 𝑘
axis has shifted by F1/k
▪ The maximum displacement is equal to t
twice the value obtained under statically
applied force of equal magnitude.
6
 Response to Impulsive Loading
Rectangular Impulse (Step Loading)

Phase I: Forced vibration

F(t)
𝐹1
𝐹𝑜𝑟 0 ≤ 𝑡 ≤ 𝑡𝑑 𝑢𝑝 = Static Load
𝑘

F1 𝑢𝑐 = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡
𝐹1
𝑢(𝑡) = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡 +
𝑘
𝑢ሶ 𝑡 = −𝐴𝜔 𝑆𝑖𝑛𝜔𝑡 + 𝐵𝜔 𝐶𝑜𝑠𝜔𝑡
td t
Phase I Phase II Applying boundary conditions:

𝑡=0 𝑢𝑜 = 0 𝑢ሶ 𝑜 = 0

7
 Response to Impulsive Loading
Rectangular Impulse (Step Loading)
𝐹1
𝐴=− ; 𝐵=0
F(t) 𝑘
𝐹1
𝑢 𝑡 = (1 − 𝐶𝑜𝑠𝜔𝑡)
𝑘
F1 Phase II: Free vibration

𝐹𝑜𝑟 𝑡 ≥ 𝑡𝑑
𝑢(𝑡
ሶ 𝑑)
𝑢 𝑡 = 𝑢(𝑡𝑑 ) 𝐶𝑜𝑠𝜔(𝑡 − 𝑡𝑑 ) + 𝑆𝑖𝑛𝜔(𝑡 − 𝑡𝑑 )
td t 𝜔
Phase I Phase II 𝐹1 𝐹1
𝑢(𝑡𝑑 ) = (1 − 𝐶𝑜𝑠𝜔𝑡𝑑 ) 𝑢(𝑡
ሶ 𝑑 ) = 𝜔𝑆𝑖𝑛𝜔𝑡𝑑
𝑘 𝑘
After substitution and 𝐹1
rearrangement of terms: 𝑢 𝑡 = 𝐶𝑜𝑠𝑤 𝑡 − 𝑡𝑑 − 𝐶𝑜𝑠𝜔𝑡
𝑘 8
 Response to Impulsive Loading
Triangular Impulse
Phase I: Forced vibration
F(t) 𝐹1 𝑡
𝐹𝑜𝑟 0 ≤ 𝑡 ≤ 𝑡𝑑 𝑢𝑝 = (1 − )
F1 𝑘 𝑡𝑑
𝑢𝑐 = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡
𝑡
𝐹 𝑡 = 𝐹1 (1 − ) Applying initial conditions at time zero, one can
𝑡𝑑 obtain the general solution for Phase I.
General Solution:
td t 𝐹1 𝐹1 𝑆𝑖𝑛𝜔𝑡
Phase I Phase II 𝑢 𝑡 = 1 − 𝐶𝑜𝑠𝜔𝑡 + ( − 𝑡)
𝑘 𝑘𝑡𝑑 𝜔

9
 Response to Impulsive Loading
Phase II: Free vibration 𝐹𝑜𝑟 𝑡 ≥ 𝑡𝑑
F(t) 𝑢ሶ 𝑑
𝑢 𝑡 = 𝑢𝑑 𝐶𝑜𝑠𝜔(𝑡 − 𝑡𝑑 ) + 𝑆𝑖𝑛𝜔(𝑡 − 𝑡𝑑 )
𝜔
F1 Response of the structure at the end of Phase I
𝑡
𝐹 𝑡 = 𝐹1 (1 − ) (forced vibration) at td provides the initial
𝑡𝑑
displacement and velocity values to be used in
the above expression.
td t 𝐹1 𝑆𝑖𝑛𝜔𝑡𝑑
𝑢(𝑡𝑑 ) = ( − 𝐶𝑜𝑠𝜔𝑡𝑑 )
Phase I Phase II 𝑘 𝜔𝑡𝑑
𝐹1 1 1
𝑢(𝑡
ሶ 𝑑 ) = ( 𝐶𝑜𝑠𝜔𝑡𝑑 + 𝜔 𝑆𝑖𝑛𝜔𝑡𝑑 − )
𝑘 𝑡𝑑 𝑡𝑑
After substituting and
𝐹1 𝐹1
rearranging terms: 𝑢 𝑡 = 𝑆𝑖𝑛𝜔𝑡 − 𝑆𝑖𝑛𝜔(𝑡 − 𝑡𝑑 ) − 𝐶𝑜𝑠𝜔𝑡
𝑘𝜔𝑡𝑑 𝑘
10
 Response to Impulsive Loading
Symmetric Triangular Impulse
Phase I: Forced vibration
F(t) 𝐹1 𝑡
𝐹𝑜𝑟 0 ≤ 𝑡 ≤ 𝑡𝑑 /2 𝑢𝑝 = 2
𝑘 𝑡𝑑
𝑢𝑐 = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡
F1
Applying initial conditions at
time zero, one can obtain the
general solution for Phase I.
td/2 td t
General Solution:
2𝐹1 𝑆𝑖𝑛𝜔𝑡
𝑢 𝑡 = (𝑡 − )
𝑘𝑡𝑑 𝜔
11
 Response to Impulsive Loading
Symmetric Triangular Impulse
Phase II: Forced vibration
F(t) 𝐹1 𝑡
𝐹𝑜𝑟 𝑡𝑑 /2 ≤ 𝑡 ≤ 𝑡𝑑 𝑢𝑝 = 2 (1 − )
𝑘 𝑡𝑑
F1 𝑢𝑐 = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡
Applying initial conditions at time zero, one
can obtain the general solution for Phase II.

td/2 td t General Solution:

2𝐹1 1 𝑡𝑑
𝑢 𝑡 = 𝑡𝑑 − 𝑡 + 2𝑆𝑖𝑛𝜔 𝑡 − − 𝑆𝑖𝑛𝜔𝑡
𝑘𝑡𝑑 𝜔 2
12
 Response to Impulsive Loading
Symmetric Triangular Impulse
Phase III: Free vibration
F(t)
𝐹𝑜𝑟 𝑡𝑑 ≤ 𝑡 𝑢𝑝 = 0)

𝑢𝑐 = 𝐴 𝐶𝑜𝑠𝜔𝑡 + 𝐵 𝑆𝑖𝑛𝜔𝑡
F1
Applying initial conditions at time zero, one can
obtain the general solution.

td/2 td t General Solution:

2𝐹1 𝑡𝑑
𝑢 𝑡 = 2𝑆𝑖𝑛𝜔 𝑡 − − 𝑆𝑖𝑛𝜔𝑡 − 𝑆𝑖𝑛𝜔(𝑡 − 𝑡𝑑 )
𝑘𝜔𝑡𝑑 2
13
 Dynamic Load Factor (DLF)
❑ Dynamic load factor (DLF) is defined as the ratio of the displacement during dynamic
response at any time to the displacement resulting from the static application of load F1,
used in specifying the force-time relationship.
❑ DLF is non-dimensional and independent of the magnitude of load.
❑ DLF can be used as a convenient design tool. Equivalent static load can be used to find
static displacement, and then multiplied by DLF to obtain the value under dynamic loading.
❑ DLF’s can be computed at different times, and the maximum value of DLF (DLFmax) can be
extracted and plotted as a function of design parameters for convenience. For example,
DLFmax versus td/T ratio provides a convenient tool for design under impulsive loading.

14
 Dynamic Load Factor (DLF)
For suddenly applied constant force, F1:
𝑢 𝐹1 𝐹1
𝐷𝐿𝐹 = 𝑢(𝑡) = (1 − 𝐶𝑜𝑠𝜔𝑡) 𝑢𝑠𝑡 = DLF= 1 − 𝐶𝑜𝑠𝜔𝑡
𝑢𝑠𝑡 𝑘 𝑘
F(t) DLF
𝐷𝐿𝐹 = 1 − 𝐶𝑜𝑠𝜔𝑡
2.0
F1

t t
In this case the maximum value of DLFmax = 2.0
15
 Dynamic Load Factor (DLF)
For a rectangular impulse having force F1:
𝑢 𝐹1 𝐹1
𝐷𝐿𝐹 = 𝑢𝑠𝑡 = 𝐹𝑜𝑟 0 ≤ 𝑡 ≤ 𝑡𝑑 𝑢 𝑡 = (1 − 𝐶𝑜𝑠𝜔𝑡)
𝑢𝑠𝑡 𝑘 𝑘
𝑡
𝐷𝐿𝐹 = 1 − 𝐶𝑜𝑠𝜔𝑡 = 1 − 𝐶𝑜𝑠2𝜋
F(t) 𝑇
𝐹𝑜𝑟 𝑡𝑑 ≤ t
F1 𝐹1
𝑢 𝑡 = 𝐶𝑜𝑠𝜔 𝑡 − 𝑡𝑑 − 𝐶𝑜𝑠𝜔𝑡
𝑘
𝐷𝐿𝐹 = 𝐶𝑜𝑠𝜔 𝑡 − 𝑡𝑑 − 𝐶𝑜𝑠𝜔𝑡
td t 𝑡 𝑡𝑑 𝑡
𝐷𝐿𝐹 = 𝐶𝑜𝑠2𝜋 − − 𝐶𝑜𝑠2𝜋
𝑇 𝑇 𝑇
16
 Dynamic Load Factor (DLF)
❑It is the td/T ratio that governs DLF rather than the 𝑡𝑑 5
=
actual values of td and T. T is the period of vibration 𝑇 4 𝑡𝑑 1
=
of the structural element and td is the duration of 𝑇 10
impulse.

DLF
t
❑The largest DLF that can be obtained for rectangular
pulse is 2.0.
❑For design purposes, of special importance is the
maximum DLF (DLFmax) expressed as a function of td 2td 3td 4td 5td
td/T. Such relationships can be obtained by setting ❑Also, the time corresponding to
the first derivative of the expression for DLF to zero. the maximum response, tm is
❑Larger (DLF)max values are associated with larger td/T. useful for design, and can also be
obtained from the DLF
expression and plotted.
17
 Dynamic Load Factor (DLF)
For a triangular impulse having force F1:
𝑢 𝐹1 𝐹1 𝐹1 𝑆𝑖𝑛𝜔𝑡
𝐷𝐿𝐹 = 𝑢𝑠𝑡 = 𝐹𝑜𝑟 0 ≤ 𝑡 ≤ 𝑡𝑑 𝑢 𝑡 = 1 − 𝐶𝑜𝑠𝜔𝑡 + ( − 𝑡)
𝑢𝑠𝑡 𝑘 𝑘 𝑘𝑡𝑑 𝜔
𝑆𝑖𝑛𝜔𝑡 𝑡
F(t) 𝐷𝐿𝐹 = 1 − 𝐶𝑜𝑠𝜔𝑡 + −
𝜔𝑡𝑑 𝑡𝑑
F1 𝐹𝑜𝑟 𝑡𝑑 ≤ t
𝐹1 𝐹1
𝑢 𝑡 = 𝑆𝑖𝑛𝜔𝑡 − 𝑆𝑖𝑛𝜔(𝑡 − 𝑡𝑑 ) − 𝐶𝑜𝑠𝜔𝑡
𝑘𝜔𝑡𝑑 𝑘
1
𝐷𝐿𝐹 = 𝑆𝑖𝑛𝜔𝑡 − 𝑆𝑖𝑛𝜔(𝑡 − 𝑡𝑑 ) − 𝐶𝑜𝑠𝜔𝑡
td t 𝜔𝑡𝑑
𝑇 𝑡 𝑡 𝑡𝑑 𝑡
𝐷𝐿𝐹 = 𝑆𝑖𝑛2𝜋 − 𝑆𝑖𝑛2𝜋( − ) − 𝐶𝑜𝑠2𝜋
2𝜋𝑡𝑑 𝑇 𝑇 𝑇 𝑇
18
 Dynamic Load Factor (DLF)

𝑡𝑑
=2
𝑇

Similar to the previous case,

DLF
the (DLF)max increases with
increasing td/T ratio
𝑡𝑑 1
=
𝑇 5
td 2td 3td 4td 5td

19
 Dynamic Load Factor (DLF)
For a symmetrical triangular impulse having force F1:

F(t) 𝐹𝑜𝑟 0 ≤ 𝑡 ≤ 𝑡𝑑 /2
2 𝑆𝑖𝑛𝜔𝑡
𝐷𝐿𝐹 = 𝑡−
𝑡𝑑 𝜔
F1 𝐹𝑜𝑟 𝑡𝑑 /2 ≤ 𝑡 ≤ 𝑡𝑑
2 1 𝑡𝑑
𝐷𝐿𝐹 = 𝑡𝑑 − 𝑡 + 2𝑆𝑖𝑛𝜔 𝑡 − − 𝑆𝑖𝑛𝜔𝑡
𝑡𝑑 𝜔 2
td/2 td t
𝐹𝑜𝑟 𝑡𝑑 ≤ 𝑡
2 𝑡𝑑
𝐷𝐿𝐹 = 2𝑆𝑖𝑛𝜔 𝑡 − − 𝑆𝑖𝑛𝜔𝑡 − 𝑆𝑖𝑛𝜔(𝑡 − 𝑡𝑑 )
𝜔𝑡𝑑 2
20
Maximum Dynamic Load Factor (DLF)max Time to Maximum Response

21
Maximum Dynamic Load Factor (DLF)max Time to Maximum Response

22
Maximum Dynamic Load Factor (DLF)max Time to Maximum Response

23
Example: Consider the 400 mm square reinforced concrete building
column shown in the figure. The column is subjected to a blast shock
wave caused by a 200 kg bomb at 30 m distance. Assume that the
column mass is concentrated in the middle for simplicity. Compute
the maximum column displacement and maximum moment due to 6.0 m
F1 m
the blast loading.
The tributary area for the column (the surface area of the exterior
panel, assumed to have negligible mass, supported by the column) is
12 m2. Also assume that the column stiffness is reduced by 50% due
to cracking. f’c = 40 MPa

24
Example (Cont’d):
m = (0.4m)(0.4m)(6.0m)(2400 kg/m3)=2304 kg
𝑏ℎ3 (400)4
I= = = 2.13𝑥109 𝑚𝑚4

Moment diagram
12 12
𝐸 = 4500 𝑓𝑐′ = 4500 40 = 28,460 𝑀𝑃𝑎 L=6.0 m D
F1 m M=F1L/4
0.5𝐸𝐼 = 0.5 28460 2.13𝑥109 = 3.0𝑥1013 𝑁. 𝑚𝑚2

Under static loading condition:

𝐹1 𝐿3 𝐹1 𝐿
Δ= 𝑀=
48𝐸𝐼 4

Find pressure-time relationship for normally reflected condition using software Overpressure.
See the next slide.
25
26
Example (Cont’d):
From “Overpressure” for W=200 kg and R= 30 m; Pr = 93 kPa and Ir = 570 kPa-ms
Equivalent duration for triangular distribution:
te = 2 x Ir/Pr = (2) 570/93 = 12.3 ms
F1 = Pr x A = (93)(12) = 1116 kN

𝐹1 𝐿3 1116𝑥1000(6.0𝑥1000)3
Δ= = 13
= 167 𝑚𝑚 Deflection under static load
48𝐸𝐼 48(3𝑥10 )

48𝐸𝐼 48(3𝑥1013 ) 𝑁 6
𝑁
𝑘= 3 = 3
= 6,667 = 6.7𝑥10
𝐿 6000 𝑚𝑚 𝑚

𝑚 2304𝑘𝑔
𝑇 = 2𝜋 = 2𝜋 = 0.1165 𝑠 𝑡𝑑 = 𝑡𝑒 = 12.3 𝑚𝑠 = 0.0123𝑠
𝑘 6
6.7𝑥10 𝑁/𝑚
27
Example (Cont’d):

𝑡𝑑 0.0123
= = 0.106 From the chart; (DLF)max= 0.33
𝑇 0.1165

Δ = 167 𝑚𝑚 0.33 = 55 𝑚𝑚 Deflection under dynamic load

𝐹1 𝐿 (1116)(6.0)
𝑀= = = 1674 𝑘𝑁. 𝑚 Moment under static load
4 4
M = 1674 𝑘𝑁. 𝑚 0.33 = 552 𝑘𝑁. 𝑚 Moment under dynamic load

28
Example: In the previous Example Problem, plot the displacement
time history (displacement – time relationship).

𝐹1 𝐹1 𝑆𝑖𝑛𝜔𝑡
𝐹𝑜𝑟 𝑡 ≤ 12.3: 𝑢 𝑡 = 1 − 𝐶𝑜𝑠𝜔𝑡 + ( − 𝑡)
𝑘 𝑘𝑡𝑑 𝜔
F(t)
𝐹𝑜𝑟 𝑡 ≥ 12.3:
F1 =1116 kN
𝐹1 𝐹1
𝑢 𝑡 = 𝑆𝑖𝑛𝜔𝑡 − 𝑆𝑖𝑛𝜔(𝑡 − 𝑡𝑑 ) − 𝐶𝑜𝑠𝜔𝑡
𝑘𝜔𝑡𝑑 𝑘

2𝜋
Where; 𝜔=
𝑇 12.3 ms t
Phase I Phase II
29
 Example (Cont’d):
Found 55 mm using (DLF)max

DLF vs. Time

0.40 Displacement vs. Time
0.06
0.30

0.20 0.04

Displacement, m
0.10 0.02
DLF

0.00
0.00
0.00 0.02 0.04 0.06 0.08 0.10
-0.10 0.00 0.02 0.04 0.06 0.08 0.10
-0.02
-0.20

-0.30 -0.04

-0.40 -0.06
Time, sec Time, sec

30
 Effects of Damping
❑Damping during impulsive loading caused by blast-shock waves can be neglected
because of the very rapid characteristics of the load. However, it may be considered
during the subsequent free vibration response.
𝑣𝑜 + 𝑢𝑜 𝜉𝜔
𝑢 𝑡 = 𝑒 −𝜉𝜔𝑡 𝑢𝑜 𝐶𝑜𝑠𝜔𝐷 𝑡 + 𝑆𝑖𝑛𝜔𝐷 𝑡
𝜔𝐷
𝜔𝐷 ≈ 𝜔
❑The initial conditions for the above free vibration response can be obtained from the
preceding forced vibration response (impulsive phase). Therefore, the above
expression can be used with any forcing function that precedes the free vibration
response.
31
Example: Consider the impulsive force shown in the figure applied to the single-degree-of
freedom system investigated in the previous example. Plot the displacement time history
for the first 100 seconds of loading for 5% damped response.
𝐹1 𝐹1 𝑆𝑖𝑛𝜔𝑡
𝐹𝑜𝑟 𝑡 ≤ 12.3𝑚𝑠: 𝑢 𝑡 = 1 − 𝐶𝑜𝑠𝜔𝑡 + ( − 𝑡) F(t)
𝑘 𝑘𝑡𝑑 𝜔
𝐹1 𝑆𝑖𝑛𝜔𝑡𝑑 F1 =1116 kN
𝐴𝑡 𝑡 = 𝑡𝑑 = 12.3𝑚𝑠: 𝑢(𝑡𝑑 ) = ( − 𝐶𝑜𝑠𝜔𝑡𝑑 )
𝑘 𝜔𝑡𝑑
𝐹1 1 1
𝑢(𝑡
ሶ 𝑑 ) = ( 𝐶𝑜𝑠𝜔𝑡𝑑 + 𝜔 𝑆𝑖𝑛𝜔𝑡𝑑 − )
𝑘 𝑡𝑑 𝑡𝑑
𝑢(𝑡
ሶ 𝑑 ) + 𝑢(𝑡𝑑 )𝜉𝜔 12.3 ms t
𝐹𝑜𝑟 𝑡 ≥ 12.3: 𝑢 𝑡 = 𝑒 −𝜉𝜔𝑡 𝑢(𝑡𝑑 )𝐶𝑜𝑠𝜔𝐷 𝑡 + 𝑆𝑖𝑛𝜔𝐷 𝑡
𝜔𝐷
2𝜋
Where; 𝜔𝐷 ≈ 𝜔 𝜔=
𝑇
32
Example (Cont’d):
Displacement vs. Time
0.06

0.04
Displacement, m

0.02

0.00
0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80

-0.02

-0.04

-0.06
Time, sec

Undamped Damped

33