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0.18
0.16
0.14
0.12
0.1
0.08

Acceleration
0.06
0.04
0.02
0
-0.02
-0.04
-0.06
-0.08
-0.1

0 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40
Time

Dr. Ghada Hekal

1 Dr. Ghada Hekal 2

1 2

P (t) = ሷ
𝑚𝑢(𝑡) + ሶ
𝑐 𝑢(𝑡) + 𝑘 𝑢(𝑡)
PRACTICALLY: DAMPING ALWAYS EXCISTS IN
THE SYSTEM.
0 0

THEORITICALLY: DAMPNG EFFECTS MAY BE

ሷ
𝑚𝑢(𝑡) + 𝑘 𝑢(𝑡) = 0
NEGLECTED WHEN ESTIMATING DYNAMIC
PROPERTIES.

Dr. Ghada Hekal 3 Dr. Ghada Hekal 4

3 4

𝒂𝒚ሷ + 𝒃𝒚ሶ + 𝒄𝒚 = 𝟎 −𝑏 ± 𝑏 2 − 4𝑎𝑐

𝜆1,2 =
2𝑎
Put 𝑦ሷ = 𝜆2 , 𝑦ሶ = 𝜆 𝑎𝑛𝑑 𝑦 = 1
𝒂𝜆2 + 𝒃𝜆 + 𝒄 = 𝟎 𝑏 2 − 4𝑎𝑐 = 0 𝑏 2 − 4𝑎𝑐 > 0 𝑏 2 − 4𝑎𝑐 < 0

−𝑏 ± 𝑏2 − 4𝑎𝑐
𝜆1,2 = (𝝀) (𝝀𝟏 𝒂𝒏𝒅 𝝀𝟐 ) 𝝀𝟏 = 𝜶 + 𝜷𝒊
2𝑎 𝝀𝟐 = 𝜶 − 𝜷𝒊

𝒚 = 𝑪𝟏 𝒆𝝀𝒙 + 𝑪𝟐 𝒙𝒆𝝀𝒙 𝒚 = 𝑪𝟏 𝒆𝝀𝟏 𝒙 + 𝑪𝟐 𝒆𝝀𝟐 𝒙 𝑦 = 𝑒 𝛼𝑥 𝐶1 𝑐𝑜𝑠β𝑥 + 𝐶2 𝑠𝑖𝑛β𝑥

𝑏 2 − 4𝑎𝑐 = 0 𝑏 2 − 4𝑎𝑐 > 0 𝑏 2 − 4𝑎𝑐 < 0

5 6
Dr. Ghada Hekal Dr. Ghada Hekal

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𝒌
𝒎𝒖ሷ + 𝒌𝒖 = 𝟎 𝒐𝒓 𝒖ሷ + 𝒖=𝟎 𝜆1,2 = ±𝑖𝜔𝑛 𝛼 = 0, 𝛽 = 𝜔𝑛
𝒎
𝒖= 𝑒 𝛼𝒕 𝐶1 𝑐𝑜𝑠𝛽𝑡 + 𝐶2 𝑠𝑖𝑛𝛽𝑡
Put 𝑢ሷ = 𝜆2 𝑎𝑛𝑑 𝑢 = 1
𝑘 𝑘 𝒖 = 𝐶1 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑛 t
𝜆2 + =0 𝑇𝑎𝑘𝑒 = 𝜔𝑛2
𝑚 𝑚 𝒖ሶ = −𝐶1 𝜔𝑛 𝑠𝑖𝑛𝜔𝑛 𝑡 + 𝐶2 𝜔𝑛 𝑐𝑜𝑠𝜔𝑛 t
𝑎=1 𝑏=0 𝑐 = 𝜔𝑛2 Boundary conditions

−𝑏 ± 𝑏2 − 4𝑎𝑐 0± 0− 4𝜔𝑛2 𝐴𝑡 𝑡 = 0, 𝑢 = 𝑢(0) → 𝐶1 = 𝑢(0)

𝜆1,2 = =
2𝑎 2 𝑢(0)
ሶ
𝐴𝑡 𝑡 = 0, 𝑢ሶ = 𝑢(0)
ሶ → 𝐶2 =
𝜔𝑛
𝝀𝟏,𝟐 = ±𝒊𝝎𝒏
ሶ
𝑢(0)
𝑢(𝑡) = 𝑢(0) cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
Dr. Ghada Hekal 7 𝜔 8
Dr. Ghada Hekal

7 8

Amplitude depends on initial conditions.

ሶ
𝑢(0) ሶ
𝑢(0)
𝑢(𝑡) = 𝑢(0) cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡 𝑢𝑜 = (𝑢(0))2 + ( )2
𝜔 𝜔𝑛

Dr. Ghada Hekal 9 Dr. Ghada Hekal 10

9 10

For an undamped single-story structure, the

stiffness of columns is 2000 kN/m and weight of
slab is 50 kN. Its initial displacement 𝑢(0) is 5
ሶ
cm and initial velocity 𝑢(0) is 10 cm/sec.
•Find the displacement of this structure after 10
sec.
•Find the maximum displacement 𝑢𝑜 of the
system.
Dr. Ghada Hekal 11 Dr. Ghada Hekal 12

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 3/3/2020

•ωn = Natural circular frequency

Important 𝑘
note: 𝜔𝑛 =
𝑚 (Units: rad/sec)

𝑚𝑎𝑠𝑠 =
50
= 5 𝑘𝑁. sec 2 / 𝑚 Your calculator •Tn (The natural period of vibration of the
10
must be on system) = The time required for the undamped
𝑘 2000
𝜔𝑛 =
𝑚
=
5
= 20𝑟𝑎𝑑/sec radian system system to complete one cycle of free vibration
2𝜋
𝑢(𝑡) = 𝑢(0) cos 𝜔𝑛 𝑡 +
𝑢(0)
ሶ
sin 𝜔𝑛 𝑡 𝑇𝑛 = (Units: sec)
𝜔𝑛 𝜔𝑛
0.1
𝑢(10 sec) = 0.05 cos( 20 × 10) +
20
sin( 20 × 10) = 0.02𝑚 = 2𝑐𝑚
•fn (natural cyclic frequency) = Number of
𝑢(0)
ሶ 0.1 cycles completed in one second.
𝑢𝑜 = [𝑢(0)]2 + [ ]2 = (0.05)2 + ( )2 = 0.05𝑚 = 5𝑐𝑚 1 𝜔𝑛
𝜔𝑛 20
𝑓𝑛 = = (Units: Hz or cycles/sec)
𝑇𝑛 2𝜋
Dr. Ghada Hekal 13 Dr. Ghada Hekal 14

13 14

Note that: Natural vibration properties of a system

depend only on system’s mass (m) and stiffness.(k)
❖The stiffer of two SDOF systems having the same
ωn ,Tn and fn are mass will have higher natural frequency fn and shorter
called: period Tn.

Natural vibration
properties of the
system

Dr. Ghada Hekal 15 Dr. Ghada Hekal 17

15 17

Natural vibration properties of a system depend only

on system’s mass (m) and stiffness.(k)
❖The massive (heavier) of two SDOF systems having
the same stiffness will have lower natural frequency fn
and longer period Tn.

Dr. Ghada Hekal 18

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