EARTHQUAKE

CIV 415

Single-Degree-of-Freedom (SDOF) Systems

Free Vibration

Dr. Amin Kotb 4/2021

 Single-Degree-of-Freedom (SDOF) Systems
• A system for which only one spatial coordinate is required to define the
configuration is termed a Single-Degree-of-Freedom system.

• Information obtained from a SDOF system often allows adequate

preliminary analysis of complicated structures to be carried out with
sufficient accuracy.

External force, which represent the

blast load –as an example- applied on
the SDOF system.
 Equation of Motion

Elastic stiffness (spring) forces stem from the stiffness of the structure. In a
lumped mass model the restoring forces have the same meaning as in static and
can be expressed by means of stiffness constant.
 Equation of Motion
Inertia forces are defined as a product of mass and acceleration.
It acts against structure motion.

Damping forces oppose the motion through

energy dissipation.

Damping is divided in to two types:

• Internal damping:
-Friction between elements of structure,
cracks, …etc
• External damping:
-Resistance of a fluid surrounding the
structure such as wind
 Equation of Motion
For a linear SDOF system, the equation of motion is:

f I t   f D t   f S t   f t 
   
Inertia Damping Stiffness External Force

mx  cx  kx  f t 
 Analysis of SDOF Systems

Un-damped
Free
Vibration
Damped
Analysis of
SDOF system
Un-damped
Forced
Vibration
Damped
 Free Un-damped Vibration
• Free un-damped vibration represents the simplest
motion.
• For this case, the external and damping forces are
absent and only the inertia and restoring forces
come to play.
• Therefore, the equation of motion can be written
as:

m x  k x  0

This equation is an ordinary homogeneous differential equation, linear, 2nd order

 Free Un-damped Vibration
• The solution of the equation of motion has the form:

where and are constants

Substituting in the equation of motion:

m +k =0
m +k =0
 Free Un-damped Vibration
m +k =0
m +k =0
( m + k) =0

Since, ≠0
Then,
( m + k)=0

=
(Natural [Angular] frequency)
 Free Un-damped Vibration

and are estimated using boundary conditions:

• At t=0, (Initial displacement)

• At t=0, (Initial velocity)

 Free Un-damped Vibration

Natural frequency,

= rad/sec

Period, T
= sec

Cyclic frequency,
= hz

Amplitude of vibration
Example (1)
Assume we have a SDOF structure, with an equivalent mass 50 kg and linear stiffness
0.2 KN/m. This structure is subjected to an initial displacement 5 cm and initial
velocity 100 cm/sec. Find natural frequency, period of vibration, cyclic frequency,
Also draw displacement-time relationship using time interval equal to (T/10)

m= 50 kg K = 0.2 KN/m =200 N/m’

= 5 cm = 0.05 m = 100 cm = 1 m

𝑲 𝟐𝟎𝟎
• = 2 rad/sec
𝒎 𝟓𝟎
𝟐𝝅 𝟐𝝅
•
𝝎 𝟐
𝟏 𝟏
•
𝑻 𝟑.𝟏𝟒
 v0
x t   u 0 cos t  sin t Put calculator in radian mode


3.14 sec
4

0.05 m
2

0
0.00 2.00 4.00 6.00 8.00 10.00 12.00 14.00 16.00 18.00 20.00

-2

-4

-6
 Damped Free Vibration
• For this case, the external is absent and only the
inertia, damping and restoring forces come to play.
• Therefore, the equation of motion can be written
as:

m x  c x  k x  0
• Diving by mass (m) gives

x  2 x   x  0 2

Where, (damping ratio)

c c
 
2m  ccr Critical damping coeff.
This equation is an ordinary homogeneous differential equation, linear, 2nd order
 Types of damped
vibrations

Under damping Critical Damping Over-damped

ξ <1 ξ =1 ξ >1
 Under-damped Free Vibration
• We will only study under damped as it resembles the type of damping found in
engineering applications.

Damping Ratio simples

System ξ (%)
Metal (in elastic range) <1
Continuous metal structures 2~4
Metal structures with joints 3~7
Aluminum / Steel Transmission Lines 0.4
Large Buildings during Earthquakes 1~5
Prestressed Concrete Structures 2~5
Reinforced Concrete Structures 4~7
Composite Components 2~3
 Under-damped Free Vibration
  0  u 0 
x t   e t
u 0 cos D t   sin D t  
 D 
Damped natural frequency,
D   1   2 Relationship between frequency
ratio and damping ratio.
Damped period,
= = sec

Damped cyclic frequency,

= hz
 Under-damped Free Vibration
logarithmic decrement, δ
• The true damping characteristics of typical structural systems are very complex and difficult to define.
• However, it is common practice to express the damping of such real systems in terms of equivalent viscous
damping ratios which show similar decay rates under free vibration conditions.
• Because it is not possible to determine analytically the damping ratio ζ for practical structures, this elusive
property should be determined experimentally by using free vibration test.

= =
Example (2)
Assume we have a SDOF structure, with an equivalent mass 50 kg, linear stiffness 0.2 KN/m
and damping coefficient equal to 60 N.sec/m. This structure is subjected to an initial
displacement 5 cm and initial velocity 100 cm/sec. Find natural damped frequency, damped
period of vibration, damped cyclic frequency, Also draw displacement-time relationship using
time interval equal to ( /10), find the maximum displacement, and the maximum displacement
after 3 cycles from first cycle peak.

m= 50 kg K = 0.2 KN/m =200 N/m’

= 5 cm = 0.05 m = 100 cm = 1 m
c c 60
    0.3 30%

•
𝑲 𝟐𝟎𝟎
= 2 rad/sec ccr 2m  2*50*2 (Under-damped)
𝒎 𝟓𝟎
𝟐𝝅 𝟐𝝅 • 𝟐 = 𝟐 rad/sec
• 𝑫
𝝎 𝟐 𝟐𝝅 𝟐𝝅
𝟏 𝟏 • 𝑫
• 𝝎𝑫 𝟏.𝟗𝟎𝟖
𝑻 𝟑.𝟏𝟒 𝟏 𝟏
• 𝑫 𝑻𝑫 𝟑.𝟏𝟒
   0  u 0 
x t   e t
u 0 cos D t   sin D t   Put calculator in radian mode
 D 

 1  0.05*0.3* 2 
x t   e 0.3*2*t
 0.05cos 1.907t   sin 1.907t  
1.907
0.4 3.29 sec
0.3

0.2

0.1

0.05 m 0
0 2 4 6 8 10 12
-0.1

-0.2
The maximum displacement (displacement Amplitude)
  0  u 0  Put calculator in radian mode
x t   e t
u 0 cos D t   sin D t  
 D 

0.36m From graph

The maximum displacement after 3 cycles from first cycle peak

= = =X
=y
= =0.00095 m