Course Contents

 Introduction to SDOF, MDOF and Continuous Systems

 Formulation of Equation of Motion for SDOF Systems
 Principles of Analytical Mechanics
 Free, Forced, Damped and Un-damped Response of SDOF and
DYNAMICS OF STRUCTURES 
Continuous Systems
Dynamic response to General Dynamic Loading and Transient Response
 Approximate and Numerical Methods for Analysis of SDOF and
Continuous Systems
 Analysis of Response in Frequency Domain
 Wave Propagation Analysis

Dynamics of Structures 2

Recommended Books
 DYNAMICS OF STRUCTURES by Jagmohan L. Humar

DYNAMICS OF STRUCTURES by Ray W. Clough and Joseph Penzien


Introduction
 DYNAMICS OF STRUCTURES: THEOREY AND APPLICATION TO
STRUCTURAL ENGINEERING by Anil K. Chopra

 VIBRATION PROBLEMS IN STRUCTURE: PRACTICAL GUIDELINES by

Hugo Vachmann and Lorrenz Steinbeisser

 STRUCTURAL DYNAMICS: THEORY AND COMPUTATION by Mario Paz

Dynamics of Structures 3 Dynamics of Structures 4

1
What is Dynamics of Structures? Why to Study Dynamics of Structures?
 A study related to the response of a structure  The response of structure to static load is different than its response to
subjected to dynamic loading dynamic load
 Dynamic load is any load of which the  Dynamic loading may cause large displacement and severe stresses,
magnitude, direction, or position varies with
especially in cases where the frequency of loading is close to the natural
time
frequency of structures
 The dynamic of structure may be:
 Rigid Body or
 Fluctuating stress, even of moderate intensity, may cause material failure
 Deformable through fatigue
 Deformable-body dynamics is usually  Oscillatory motion may at times cause wearing and malfunction of
oscillatory in nature which induces machinery
displacement and stresses in the body.  The vibration from one machine may transferred to a delicate instrument
 The analysis of these time-varying through support structures
displacements and forces is the primary
 Vibration cause discomfort to the occupants
objective of structural dynamic.

Dynamics of Structures 5 6

Nature of Exciting Force Sources of Dynamic Loads

 Periodic and Nonperiodic (random)  Rotating or reciprocating machinery
 Periodic Load repeats itself at regular interval of time called period. The (sinusoidal vibration)
reciprocal of period is called frequency of load  Wind (time-varying drag and lift
 Nonperiodic load is random in nature and does not repeat itself forces)
 Bomb blast (The force on structure due
to blast load depends on the distance
from the center of explosion and the
strength of explosive.
 Earthquakes
 Deterministic and Nondeterministic
 Deterministic loads can be specified as definite function of time (continuous
function or discrete numerical values at certain regular intervals of time)
 Nondeterministic loads cannot be specified as definite function of time and are
known in statistical sense, e.g. earthquake load, wind load Earthquake Load

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2
Mathematical Model of Dynamic System Formulation of Equation of Motion
 Discrete Parameter System (Discrete System):  A set of differential equations governing the motion of dynamic system, by
 A system with rigid-body masses and massless springs defining the dynamic displacements, is known as Equation of Motion
 Its response is completely defined by specifying displacements along the mu  cu  ku  p (t )
degree of freedom (DOF) that determine the position of masses in space.
 The response is governed by a set of Ordinary Differential Equations (ODE)  Equation of Motion is formulated by different approaches:
equal to DOF.  d’Alembert’s Principle or direct equilibrium
 Simple and preferable approach and The accuracy can be increased by  Principle of Virtual Displacement
increasing DOF k  Hamilton Principle
m P(t)

 Distributed Parameter System (Continuous System)  d’Alembert’s Principle:

 Masses and the stiffness are distributed This principle converts a dynamic problem to an equivalent static problem
 The response is governed by one or more partial differential equations
d  du 
Q (t )   m   mu
dt  dt 

Dynamics of Structures 9 Dynamics of Structures 10

Formulation of Equation of Motion (Cont..) Formulation of Equation of Motion (Cont..)

 Principle of Virtual Displacement:  Hamilton’s Principle:
If a system which is in equilibrium under a set of forces is subjected to virtual The variation of kinetic and potential energy plus the variation of the work done
displacements that are compatible with the constraint in the system, the total work by the non-conservative forces (which changes during the dynamic response)
done by the forces in going through the virtual displacements will be zero. considered during any time interval t1 to t2 must equal to zero.
We  Wi  0
  T  V dt  
t2 t2
Wnc dt  0
t1 t1
k u
δu Fu  kuu   0  For static problem, the kinetic energy is zero and the expression converts to the
F ku F
 F  ku well-known principle of minimum potential energy, i.e.

Wi  0  V  Wnc   0
a P
 au 
We  R u   P
aδu/L δu
 u
 L  k d 1 2 
L R aP F  ku  Fu   0  F  ku
W  0  R  du  2 
L
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Mass Moment of Inertia Mass Moment of Inertia (Cont..)
 Mass moment of inertial of a body about certain axis is the product of mass and  Rigid Plate
square of radius of gyration.  Rectangular mb 2
I1 
 Circular 3
I x   dm  y  mr
2 2
 Ellipse mb 2
2
b/2

m I2 
12 b/2
1
 Mass moment of Inertia is a measure of the inertial resistance of a body to its
rotation mR 2
Ip 

m a 2  b2  a
I1  12
 Rigid Prismatic Bar 4 1 R
m = total mass of bar and L = Length of bar
mR 2
Ip 
mL2 2 a/2
1 2 I1  mb 2
I1 
3 1 16
L/2 L/2
I2 
mL2 b/2 Ip 

m a 2  b2 
12 16

Dynamics of Structures 13 Dynamics of Structures 14

Stiffness: Linearly Elastic System Stiffness: Linearly Elastic System

 Stiffness is defined as the action (force, moment, torque) at a certain point  Static Condensation
required to produce a unit deformation (translation, rotation, twist) at that  24 EI c 6 EI c 6 EI c 
or some other point in a system  h3 h2 h2  u
 6 EI 4 EI c 4 EI b 4 EI b  1   fs  K K12  U 1   F 
 2c   u 2    0    11 
 h h L L       K 21 K 22  U 2   0 
 6 EI c 4 EI b 4 EI c 4 EI b  u3   0 
 h 2 
L h L 
 K 21U1  K 22U 2  0  U 2  K 22  K 21U 1
1

 
 F  K11U 1  K12U 2  K11  K12  K 22  K 21 U 1
1


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 Single Degree of Freedom System
 A system whose dynamic response can be described by specifying displacement
along only one coordinate.
 True Engineering Systems are Multi-degree System; SDOF Systems are
Module-2 
Idealization
For many Engineering Systems SDOF Idealization is Satisfactory

Single Degree of Freedom System:  Dynamic Analysis of SDOF Systems is Simple and can be extended to more
complex MDOF Systems

Formulation of Equation of Motion

Dynamics of Structures 17 Dynamics of Structures 18

Components of Dynamic System Inertia and Spring Force

 Components of a Dynamic System are:  Inertia Force:
 Mass Resulting in Inertial Force (fI) The force produced in a dynamic system due to:
 Stiffness resulting in Spring Force (fS)  Translational Acceleration of mass (Inertial force, f I  mu )
 Energy dissipating mechanism resulting in Damping Force (fD)  Rotational Acceleration of mass (Inertial Moment, M I  I )
 External Exciting Force p(t)
 From Direct Equilibrium (d’Alembert’s Principle):  Spring Force:
Internal Forces induced in a body undergoing deformation.
f I  f D  f S  p (t )  Spring force exist both in static and dynamic system
mu  cu  ku  p (t )  For elastic system the spring force is directly proportional to the deformation produced
and is equal to stiffness times the deformation ( f S  ku )
 For inelastic system the spring force is dependent on both displacement and velocity.

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Damping Force
 Damping Force:
Damping is the process by which free vibration steadily diminishes in amplitude
due to dissipation of energy and the corresponding force is called damping force.
There are many energy dissipating mechanisms:
 Heating of the material due to internal friction
 Opening and closing of micro cracks
 Friction between structural and non-structural components
 Connections
 External devices
 Equivalent Viscous Damping force f D  cu

Dynamics of Structures 21