Introduction

CE41003/CE60083 Structural Dynamics &

Earthquake Engineering (3-0-0)
Course Content

1. Introduction

2. Single Degree of Freedom Systems

3. Multiple Degree of Freedom Systems

4. Introduction to Earthquake Analysis

Text books:
Dynamics of Structures, Anil K. Chopra, Second Edition, Prentice Hall, 2001.

Structural Dynamics, Mario Paz, Second Edition, CBS Publishers 1987

Dynamics of Structures, R. W. Clough and J. Penzien, Second Edition,

McGraw- Hill, 1993.

2
 Introduction
Free vibration
When some structure is disturbed from its static equilibrium position
and vibrates without any applied external forces then system is said
to be in free vibration

Forced vibration
When some structure is continuously disturbed by any applied
external forces then system is said to be in forced vibration
Damping
This is the external force generated acting to oppose the motion and in
free vibrating it causes system to come to still after a while

F0  cx
1. Structural: due to internal molecular friction of material
2. Viscous: while vibrating in a fluid =>
where, c is damping constant 3
3. Coulomb damping: while vibrating on a dry surface
F0  N
where µ = coeffecient of kinematic friction and N = normal pressure

4. Negative Damping: Very special case. Damping adds energy to

the system instead of dissipating.
Example  wires of transmission line tower

Degree of freedom

In structural dynamics, the number of independent coordinates necessary

to specify the configuration or position of a system at any time is referred
to as the number of degrees of freedom.
In general, a continuous structure has an infinite number of degree of
freedom.

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Degree of freedom ….
Generally 6 degrees of freedom is considered for a system.
For a continuous system infinite no. of degrees of freedom exist.

Degree of freedom depends on the no of coordinates required to

describe motion
On the basis of response, system can be classified as.
• SDF system
• MDF systems
• Continuous system
1. SDF system

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2. MDF system

3. Continuous system

6
 Dynamic loading
Loading case that varies with time can be said as dynamic loading.
Such loads induce some vibration in the system causing time
varying distortion of the system. For example:
• vehicle load over bridge
• wave loading off shore structure
• wind load on tower
• earthquake load on building

Dynamic loading can be classified as

Dynamic loading can be classified on the time varying behavior of the
loading as.
1. Sinusoidal loading  mechanical component in a machine
2. Step loading
3. Ramp loading
4. Random
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Type of analysis
• Static Time domain
• Quasi static Frequency domain
• Dynamic

Static and Dynamic Equilibrium

W
Static equilibrium P=R
ma
W=N
P
Dynamic Equilibrium

R
Newton’s second law:
N
The acceleration of an object is directly proportional to the magnitude of
the net force, in the same direction as the net force.
Thus, from the above figure:

(P – R) ∞ a = ma
D’Alembert’s Principle:
The principles of statics are applied by introducing a fictitious inertia
force, a force equal to the product of mass time its acceleration and
acting in a direction opposite to the acceleration

P – R – ma = 0 (As ∑ F x = 0)

Where, ma = Fictitious force which is basically inertial force

Dynamic analysis
1. Inertial force
2. Damping due to internal friction mx  cx  kx  f (t )
3. Time varying load

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 Single Degree of Freedom System
Introduction
• A single degree of freedom system consisting of a mass m and
a spring with stiffness k is considered.
• Generally m is defined in kg and k in N/m.
• For x = 0 the spring is considered to be undeformed.

The equation of motion can be derived in two ways

1. Newton’s second law

10
→
2. D’Alembert’s principle

fictitious inertia force

0→

Stiffness(k)
The stiffness k is the external force that is needed to keep the
system in equilibrium when a unit displacement x=1 is applied to
the system.
Concept:
F=k.d
=>k=F/d =Force per unit displacement
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Combination of two springs
Case 1- Springs are in parallel

Equivalent stiffness =k k2
m
k=k1 + k2 k1

Case 2- Springs are in series

F1=k1.d1 d1=F1/k1
F2=k2.d2 d2=F2/k2

From statics F1 = F2 = F
d1+d2=d

We can rewrite the above as

F1/k1 + F2/k2 = d1+d2 = d = F/k

Therefore, 1/k1 +1/k2 = 1/k 12

Example
A frame with rigid beam at its roof can be idealized as a SDF
system. The SDF system has been shown below

The system can be idealized as spring in parallel, as the

displacement is same for both ends of the beam-column
connection. So the stiffness against translation,

k
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 Undamped Free Vibration
• The structure is disturbed from its static equilibrium and then
vibrates without any applied forces.
• The equation of motion is:
0
• The solution is:
x(t)Acos(nt)Bsin(nt)

where, (rad/sec)

A and B are determined by the initial conditions

→
→
So, cos sin )
which can be written as sin 14
 /
cos sin

Natural period,
Natural frequency,

Energy in undamped free vibration

At each instant of time, the total energy E is made of two parts, the
kinetic energy Ek and the strain energy Es.

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E(t)  E (t)  Es(t)
k
2 2
 1 m Cn cos(n t  )  1 k Csin(n t  )
2 2
 1 m C2n2 cos2(n t  )  1 k C2 sin2(n t  )
2 2
 1 k C2 ( k  mn2 )
2

E(t) is constant, which implies conservation of energy.

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Remarks:
The conservation of energy can be used to derive the differential
equation.
1 1
2 2
Conservation of energy, 0

0→ 0

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 Viscously Damped Free Vibration
• Friction in the structure is idealized by a linear viscous damper
which develops a force proportional to the velocity.

• The equation of motion is:

0
• If 2 (critical damping) the solution is
 t
x(t) e n Acos( t)Bsin( t)
 D D 
• Damping ratio :   cc  c
r 2 km
• Damped frequency :  ωn 1 2
D

(t) = cos sin

sin cos 18
A and B are determined by the initial conditions
→
→
So,

• The solution can also be written as

n t
x(t )  C e sin( t  )
D
. . 2
x x o  ξωn xo x
  ξω x 

sin θ  o cosθ 
Cω C  xo2  o ω n o 

C D

 D 
 

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 Decay of Motion

• A free vibration test can be used to determine experimentally the

natural frequency and the damping of a structure.
• There are p periods between two maximal points xn and xn+p .
So,
t np  t n  pT
D
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 ξωn tn
xn C e sin(ω t n  θ )
 D
x n p ξωn (tn pT )
Ce D sin(ω (t  pT )  θ )
D n D
ξωnpT
 e D

x 2
So, ln x n   ωn p T   ωn p
np D
ωn 1 2

x
  0.1  1 2 1    1 ln x n
2p np

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 Coulomb Damped Free Vibration
• Coulomb damping results from friction against sliding of two dry
surfaces.

• The friction force is where  denotes the coefficients of

static and kinetic friction, taken to be equal, and N the normal
force between the sliding surfaces.
• F is assumed to be independent of the velocity of the motion and
its direction opposes motion.
• The equations of motion from left to right are

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• The equations of motion from right to left are

• The constants A1, B1, A2, B2 depend on the initial conditions of

each successive half-cycle motion.
• The plot of the solution is

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 Damping
• Different damping models can be used, a viscous proportional
damping is the most used approach.
• There are two reasons for that:

 The mathematical equation which describes the motion is easy.

 This model gives results which are often in very good agreement
with experiments.
• A consequence is that the damping coefficient  can only be
determined by experiments.

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 Multiple Degrees of Freedom
• For SDF the equation of motion is

• For MDF the equation of motion is

where,
[k] = Stiffness matrix, [c] = Damping matrix, [m] = Mass matrix
• The mass and stiffness matrices are obtained by (finite element)
discretisation of the structure.
• The damping matrix cannot be obtained by discretisation, a
different approach must be used.

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Example 1:-
Determine natural frequency of the system shown below.
The weight of the hanging material is 100 kg.
Modulus of elasticity (E) of the beam is 200 GPa.

Fig. 1: System for Example 1

• The deflection at the free end of the beam acted by static force P is-
∆
3
So, the corresponding spring constant is
3
∆
where, , b is width and t is thickness of the beam.
• The spring and the cantilever of the system are connected in series.
So, the equivalent spring constant is
1 1 1

Now, substituting the corresponding numerical values, we get,

1
0.3 0.2 2 10
12
3 200 10 2 10
15 10 /
2
So,
1 1 1
15 10 10 10

6 10

Here, weight is 100 kg.

• The natural frequency of the system is

6 10
244.95 /
100
244.95
244.95 38.99
2