CE-412: Introduction to Structural Dynamics and Earthquake

Engineering

MODULE 2:

Formulation of Equation of motion (EOM) for single

degree of freedom (SDOF) systems
1
Formulation of Equation of motion (E.O.M) for a SDOF system
subjected to dynamic force, p(t)
Following mechanics based approaches are commonly used in the formulation of EOM:

1. NEWTON’S SECOND LAW OF MOTION.

2. D’ALEMBERT PRINCIPLE OF DYNAMIC EQUILIBRIUM.
3. PRINCIPLE OF VIRTUAL WORK

In these lectures we will use second method due to well familiarity of Civil Engineering
students with equilibrium equations.

2
 Formulation of Equation of motion (E.O.M) for a SDOF system
subjected to dynamic force, p(t)
Consider the simplified single-story structure that is represented in Figure.

Let us suppose that the beam and both columns are infinitely rigid in the axial direction
and that the flexural stiffness of the beam is much greater than that of the columns.

From these hypotheses, we can simplify the structural system (how?) as a concentrated mass,
m, at the roof level, two massless columns providing the lateral stiffness, k, and an energy
dissipating viscous damper providing damping, c.

1 1

3
Formulation of E.O.M using newton’s second law of motion

FBD of frame at Section 1-1

Resultant force along x-axis = p (t) – fS – fD
Where fS = Elastic resisting force; (also known elastic restoring force), fD= Damping force
According to Newton’s second law, the resulting force cause acceleration in the body.
Mathematically p(t)– fS – fD = mü or fS + fD+ mü = p (t)

⇒ 𝑘𝑢+𝑐 𝑢+𝑚
˙ 𝑢=𝑝
¨ (𝑡)

4
 Formulation of E.O.M using D’Alembert principle
The principle states that the Resultant of external forces and the kinetic reaction acting on a
body equals zero. The kinetic reaction is defined as the negative of the product of mass, m, and
acceleration, a.
While D’Alembert principle is merely is another way of writing Newton’s second law of
motion, it has the advantage of changing a problem in Kinetics into a problem in Statics.
In many simple problems, D’Alembert principle is the most direct and convenient method for
the formulation of the EOM.

By considering Inertia force in equilibrium

along x-axis (𝛴Fx=0) requires that:
-fS - fD – fI + p(t) = 0 ⇒ fS + fD + fI = p(t)
FBD of frame at Section 1-1

⇒ 𝑘𝑢+𝑐 𝑢+𝑚
˙ 𝑢=𝑝(𝑡)
¨
Stiffness of beams
Stiffness in the direction of applied action

k= P/vmax= 48EI/L3

k= W/vmax=wL/(5wL4/384EI)

⇒ k=384/5 (EI/L3)

Rotation

krotational= M/θ1= 3EI/L

Stiffness of beams
Stiffness in the direction of applied action

k= P/vmax= 3EI/L3

k= P/vmax= 48/5(EI/L3)

k= W/vmax= (wL)/(wL4/8EI)

⇒ k =8EI/L3

k= W/vmax=(1/2woL)/(woL4/30 EI)

⇒ k =15EI/L3
Stiffness of beams

8
9
Stiffness of various members

10
 p(t)
Influence of Gravity load on EOM 1

Dynamic force is also applied

Only gravity load acts W W
ust
ust ust= W/k 1
L
L fI u
𝛴 𝐹 𝑦= 0 fD
˙ 𝑡 +𝑚 𝑢¨ 𝑡= 𝑝 ( 𝑡 )+ 𝑊 … … . 𝐈
𝑘𝑢 𝑡 +𝑐 𝑢 1

𝑢 𝑡 =𝑢𝑠𝑡+ 𝑢 ⇒ = ⇒ = M1-1
𝐄𝐪𝐧 𝐈 : 𝑘 ( 𝑢 𝑠𝑡 +𝑢 ) +𝑐 𝑢+
˙ 𝑚 𝑢=𝑝
¨ ( 𝑡 ) +𝑊 utotal=ut= ust+u
fs W
⇒𝑘 [ 𝑊
𝑘 ]
+𝑢 +𝑐 𝑢+
˙ 𝑚 𝑢=𝑝
¨ ( 𝑡 ) +𝑊
1
⇒ 𝑊 +𝑘𝑢+𝑐 𝑢+𝑚˙ 𝑢=
¨ 𝑝 ( 𝑡 )+ 𝑊 FBD at 1-1
⇒ 𝑘𝑢+ 𝑐 𝑢+𝑚
˙ 𝑢=𝑝
¨ (𝑡 ) Gravity load has no effect on EOM. However, the gravity
loads must be considered if they act as either restoring forces
Conclusion ?
( e.g., Pendulum) or as destabilizing forces (inverted pendulum).
Problem 2.1
A machine weighing 1000 lb is mounted at the free end of beam. While running at full speed,
Machine produces an unbalanced harmonic force in the vertical direction expressed by
p(t)= 200 Sin 30t , where p(t) is in lb. Develop the equation of motion for the beam using
D’Alembert principle. Take E= 29000 ksi , I = 150 in4 & c = 70 lb.s/ft.
Neglect the self weight of beam.

p(t)= 200 Sin 30t

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Solution: Problem 2.1 fI

𝛴 𝐹 𝑦= 0
𝑓 𝑠 + 𝑓𝐷 + 𝑓𝐼 − 𝑝 ( 𝑡 ) =0 M

⇒ 𝑘𝑢+ 𝑐 𝑢+𝑚
˙ ¨ −𝑝 ( 𝑡 ) =0 … … .. 𝐈
𝑢
fD
fs
Why 1000 lb weight is not considered in Equilibrium eqn ?
3 𝐸𝐼 3 (29000 k / ¿ 2 )(150 ∈ 4 )
𝑘= =
𝐿3 ¿¿
𝑊 1 000 lb
𝑚= = =31 . 06 slug
𝑔 ft
32 . 2 2
s

Eqn 𝐈 ⇒ 90625 𝑢+70 𝑢+

˙ 31. 06 𝑢¨ − 200 𝑆𝑖𝑛 30 𝑡 =0
⇒ 90625 𝑢+70 𝑢+31
˙ . 06 𝑢=200
¨ 𝑆𝑖𝑛 30 𝑡
13
 E.O.M for a suddenly applied weight

Problem 2.2
Develop equation of motion for the cantilever beam under the action 1000 lb weight.
Assume that time required to place the weight on beam is very small as compared to natural
time period of beam (what happens in such case?).

Neglect the self weight of beam.

Take E = 29000 ksi , I = 150 in4 & c = 70 lb.s/ft

14
Solution: Problem 2.2
Suddenly placed weight acts as a dynamic force and cause free vibrations (How?)

M
A
ut=ust +u
fD
fs fI
𝛴 𝐹 𝑦= 0
𝑓 𝑠+ 𝑓 𝐷 + 𝑓 𝐼 − 𝑊 =0
⇒ 𝑘𝑢+ 𝑐 𝑢+𝑚
˙ 𝑢=𝑊
¨
⇒ 90625 𝑢+70 𝑢+31.06
˙ 𝑢=𝑊
¨

Why weight is considered in Equilibrium eqn ?

 Exercise 2.1
Problem 1. Write the equation governing the free vibration of the systems shown in Figs
Assuming the beam to be massless, each system has a single DOF defined as the vertical
deflection under the weight w=500 lb. Take E= 29,000 ksi and I= 150 in4 and the length ,
L= 10 ft.

Figure a Figure b
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 Exercise 2.1
Problem 2 : Develop the EOMs for the cantilever beam along parallel and perpendicular
axes under the action of p(t). Neglect the self weight of beam as well as damping effect.
Take E= 29000 ksi and I = 200 in4 , A= 50 in2.

30o p(t)

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Equivalent stiffness of a system with at
least 2 Springs
 Stiffness of spring system consisting of two or more springs
Sometimes for SDOF system idealization, it is required to determine the stiffness of a system
comprising of more than one springs.

Springs can be connected by either of the following two ways

1. Springs 2in series system: Internal force in any

T1 spring is equal to applied force
2

M2
1 1
k2 1 1
2 2
k1 V2
𝛴 Fy=0
T1=P 𝛴 Fy=0
V2=P 19
 Stiffness of spring system consisting of two or more springs

2. Springs in Parallel system: Applied force is distributed among springs. Internal force in a
spring depends upon its relative stiffness

fs1 fs2

𝛴 Fx=0
⇒ P-fs1-fs2=0

P= fs1 + fs2

20
 STIFNESS OF SPRINGS IN SERIES

P
k1 k2
Springs system
u
P
ke Equivalent spring

Equivalent spring having stiffness, ke , produce same displacement i.e. u

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 STIFNESS OF SPRINGS IN SERIES
ke u
P ≡ P
k1 k2
2 1
u1+ u2
T1 𝛴 Fx=0
P ⇒ P-T1=0
⇒ T1=P

T2
P 1 1 1
k1 k2 𝛴 Fx=0  
k e k1 k 2
⇒ P-T2=0
⇒ T2=P 22
STIFNESS OF SPRINGS IN SERIES
EAXMPLE

k1 ke
k1
u1
k2 uu
k2
P
𝑢=𝑢1 +𝑢2
𝑢=𝑢1 +𝑢2
P P

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Problem 2.3
Develop the EOM of cantilever beam under the action of a dynamic force, p(t), as shown in figure.
Ignore the self weight and damping effect of beam. Take E = 29,000 ksi, kspring= 200 lb/ft.

Solution
10 ft, 2 " dia.

k/in

ke W= 100 lb

𝑘𝑢 +𝑐 𝑢+𝑚
˙ 𝑢=
¨ 𝑝 (𝑡 ) m=W/g= 100 lb/32.2 ft/s2 p(t)
m= 3.11 slug
141 𝑢+3 . 11 𝑢=
¨ 𝑝 (𝑡 )
24
 STIFNESS OF SPRINGS IN PARALLEL
(Applied force acts on center of rigidity)
External force applied at the center of rigidity (also known as center of stiffness) of spring
system deforms both springs by same amount

𝑃=f s 1 + f s 2
⇒ k eu = k 1u1+k 2u 2
fs1
Since u 1= u 2 = u
P
𝛴 Fx=0 ⇒ k eu = k 1u+ k2 u
fs2 ⇒ P-fs1-fs2=0 ⇒ k e = k 1+k2
⇒ P=fs1+fs2 25
 EOM OF A SINGLE STORY FRAME
Problem 2.4
Develop the equation of motion of the frame (along lateral direction) shown below. The frame experience
free vibration after its equilibrium position is disturbed by an external lateral force at the mass level.
Uniformly Distributed gravity load acting on the beam is 5 k/ft.

Assume that the flexural stiffness of beam and supported slab is very high as compared to that
of connected columns (what are the implications of this assumption?).
Take E = 29,000 ksi, I = 1200 in4. 20 ft
Neglect damping effect.

I, 10ft
I, 15ft

26
Solution: Problem 2.4
u u
ke = k1 + k2

k2
k1

27
Solution: Problem 2.4 contd.

m =3106 slugs u
fI
Using D-Alembert’s Principle of dynamic equilibrium , ∑Fx= 0

fs1 fs2
¨ ( 𝑘 1+𝑘2 ) 𝑢=0
𝑚 𝑢+ FBD of frame
k1+k2= ke (Parallel Springs system)
𝑚 𝑢+𝑘𝑒𝑢=0
¨
Substituting values of k and m
3106u  3.76 *10 6 u  p(t)
0
Problem 2.5
A machine weighing 100 lb is connected to a spring which is attached to the free end of a 10 ft long
cantilever beam. Determine deflection at the beam’s free end.
Also Develop the EOM for the system when the machine , while running at full speed, exerts an
unbalanced vertical harmonic force represented by p(t)= 25 Sin 30t, where p(t) in lb. Take E = 29,000
ksi, I = 150 in4, k1= 500 lb/ft , k2= 1000 lb/ft and c = 2.5 lb.s/ft

k1

k2

W
u
Solution: Problem 2.5
Spring k1 and beam acts as springs connected in parallel as external force,W, will be partly resisted
partly by each element (i.e. W= fs1+V)
fs1

k1
kb kb
Mx
V
V fs1
fs2=W

𝑘𝑏 =
3 𝐸𝐼
=
(
3 ∗ 29000
𝑘
𝑖𝑛
2 ) ∗ ( 150 𝑖𝑛 )
4

𝐿
3
( 10 ∗ 12 𝑖𝑛 ) 3 k1
𝑘 𝑏 =7.55 𝑘 /𝑖𝑛 kb
ke1

=
𝑘 𝑒 1=7.59 𝑘 / 𝑖𝑛 P
Solution: Problem 2.6 contd
Springs ke1 and k2 act as springs connected in series since internal force in each spring in the direction of
Displacement, u, have same magnitudes and are equal to the applied force
𝑙𝑏 𝑘 ke1
𝑘2=1000 = 0 . 083
𝑓𝑡 𝑖𝑛
= + = + ⇒= k2

⇒
Generlized EOM for SDOF systems is 𝑘𝑢+𝑐 𝑢+
˙ 𝑚 𝑢=𝑝
¨ (𝑡 )

m =W/g= 100 lb/(32.2 ft/s2) = 3.11 slug

ke
Substituting values in above eqn results in

984 𝑢+2 .5 𝑢˙ +3 . 11 𝑢=25

¨ 𝑆𝑖𝑛 30 𝑡
 Exercise 2.2
Develop EOMs for undamped systems shown in below given figures p(t)

m= 200 kg

Figure a u
L= 3 m
Figure b m= 200 kg

7.03 ∗ 10 7 𝑢 +200 𝑢=0

¨ 286.7 ∗ 10 6 𝑢+200 𝑢=𝑝
¨ (𝑡 )

32
 Exercise 2.2
p(t)

u
Figure c k= 2000 N/ m
Figure d
m= 150 kg

2.11 ∗ 10 4 𝑢 +150 𝑢=0

¨ 6000 𝑢+150 𝑢=𝑝
¨ (𝑡 )

p(t)

5200 𝑢+150 𝑢=𝑝

¨ (𝑡 )

k= 2000 N/ m
Figure e m= 150 kg 33
 Home Assignment 1

Section E Section U
Solve: Solve:
1. Problem 1(Figure a), Exercise 1 1. Problem 1(Figure b), Exercise 1
2. Problem 2, Exercise 1 2. Problem 2, Exercise 1
3. Problem 1(Figure a), Exercise 2 3. Problem 1(Figure b), Exercise 2
4. Problem 1(Figure c), Exercise 2 4. Problem 1(Figure d), Exercise 2

Due date: Next class. No assignment will be accepted after class

no matter whatever is the reason
CENTER OF RIGIDITY (STIFFNESS) OF SPRINGS IN PARALLEL
Let (cR)A= distance of center of rigidity from ‘A’.

Applying principle of moment about ‘A’

ke ke (cR)A =k1L ⇒ (cR)A = k1L/ke ………………1

(cR)A 𝑘1 𝐿
Equivalent Spring Eqn 1 ⇒ (c R ) A=
𝑘1+𝑘2
 CENTER OF RIGIDITY (STIFFNESS) OF SPRINGS IN PARALLEL
Problem: 2 springs (k1= 10 k/in and k2=5 k/in) are attached to the ends of 8 ft long rigid plate. At
which point a force P shall be applied to compress both springs by same amount.

B
A

Solution
𝑘1𝐿
( cR ) A=
𝑘 1+𝑘 2
10 ∗ 8
( cR ) A= = 1.2 ft ¿ ¿
10+5
Problem 2.7
Determine the location of the center of rigidity (CR) for the lateral force resisting system of a
building , as shown in below plan. Assuming center of mass at the centroid, calculate torsion
due to 100 k seismic force along y-axis Solution

60 ft

12˝ thick
kD= 8 k/in
kA= 6 k/in
kC= 9 k/in
xCM CM
xCR CR

kB= 6 k/in yCR yCM

12˝ thick kE= 12 k/in

 Problem 2.7
Determine the location of the center of rigidity (CR) for the lateral force resisting system of a
building , as shown in below plan. Assuming center of mass at the centroid, calculate torsion
due to 100 k seismic force along y-axis Solution
Let xCR and yCR are x- and y-coordinates of center of rigidity.
60 ft Similarly kex and key are equivalent stiffnesses of lateral
force resisting elements along x- and y-axes, respectively
12˝ thick
kD= 8 k/in By applying principle of moment along x- and y-axes
kA= 6 k/in 12
𝑘 𝑒𝑥 . 𝑦 𝐶𝑅 =𝑘 𝐸 ∗ 12 / 2 +𝑘 𝐷 ∗ ( 60 ∗ 12 − )
kC= 9 k/in 2
xCM CM
⇒ (12+8) . 𝑦 𝐶𝑅 =12∗ 16+ 8 ∗(714)
xCR CR
yCR yCM ⇒ 𝑦 𝐶𝑅=289 . 2∈¿ 24 .1 ft
kB= 6 k/in
12
𝑘 𝑒𝑦 . 𝑥 𝐶𝑅 =(𝑘 𝐴 + 𝑘𝐵 )∗ +𝑘𝑐 ∗(60 ∗ 12 −9 /2)
12˝ thick kE= 12 k/in 2
⇒ (6 +6+ 9). 𝑥 𝐶𝑅 =( 6+6 )∗ 6+ 9 ∗( 715 .5)
⇒ 𝑥 𝐶𝑅=310 . 07 ∈¿ 25 . 84 ft
Torsion due to 100 k seismic force along y-axis= 100*(xCM-xCR)= 100*(40-25.85)= 1416 ft.k