ASIA PACIFIC COLLEGE OF ADVANCED STUDIES, INC.

A.H. BANZON ST., IBAYO, BALANGA CITY, BATAAN

COLLEGE OF MATHEMATICS AND ENGINEERING

INSTRUCTIONAL MATERIAL IN
CE-SPEC 2: EARTHQUAKE ENGINEERING
MODULE 4: MULTI-DEGREE OF FREEDOM SYSTEMS

References for Lesson 4: Multi-Degree of Freedom Systems

1. Chopra, A. K. Dynamics of Structures: Theory and Applications to Earthquake
Engineering. Pearson, 2017.
2. Clough, R. W., & Penzien, J. Dynamics of Structures. McGraw-Hill, 2003.
3. Paz, M. Structural Dynamics: Theory and Computation. Springer, 2019.
4. Kramer, S. L. Geotechnical Earthquake Engineering. Pearson, 1996.
5. Chopra, A. K. Earthquake Dynamics of Structures. Prentice Hall, 2001.
6. Newmark, N. M., & Hall, W. J. Earthquake Spectra and Design. EERI, 1982.
7. FEMA 451B: NEHRP Recommended Provisions: Design Examples. Federal Emergency
Management Agency (FEMA), 2006.

Instructor: Eduard Joseph M. Dela Cruz, RCE, RMP

Lesson 4: Multi-Degree of Freedom
Systems
Overview:
Multi-Degree-of-Freedom (MDOF) systems, including Two-Degree-of-Freedom
(2DOF) systems, represent structural systems that exhibit multiple independent
movements during seismic events. This lesson covers the derivation of the equations of
motion for MDOF systems, introduces modal analysis, and shows how these principles
are applied to analyze the seismic behavior of complex structures.

Objectives:
- Understand the dynamics of systems with two or more degrees of freedom.
- Derive and solve the equations of motion for Multi-Degree-of-Freedom (MDOF) system.
- Introduce modal analysis and its application to real-world structures.
- Apply these concepts to seismic analysis of buildings and bridges.

1. Key Concepts and Terms

- Degree of Freedom (DOF): The number of independent displacements or rotations a
structure can experience.
- 2DOF System: A system that can move in two independent directions, often used to
model two-story buildings.
- MDOF Systems: Systems that have multiple independent movements, typically applied
to multi-story buildings or complex structures.
- Coupled and Decoupled Systems: Coupled systems have interdependent movements,
while decoupled systems can be analyzed separately.
- Mass and Stiffness Matrices: Matrices that represent the distribution of mass and
stiffness in a structure.
- Mode Shapes: The deformation patterns of a structure during vibration.
- Natural Frequencies: The frequencies at which a structure vibrates without external
forces.
- Modal Analysis: A method for determining the mode shapes and natural frequencies of
an MDOF system.
- Eigenvalues and Eigenvectors: Represent the natural frequencies (eigenvalues) and
mode shapes (eigenvectors) in modal analysis.
- Damping in MDOF Systems: The reduction of vibrational energy over time, which
affects each mode differently.
2. Two-Degree-of-Freedom (2DOF) Systems
• Equation of Motion for 2DOF Systems:
𝑴𝑿̈ + 𝑲𝑿 = 𝟎
Where:
- 𝑴: Mass Matrix for 2DOF
- 𝑲: Stiffness Matrix for 2DOF
- 𝑿: Displacement vector for 2DOF

• Mass Matrix:
𝒎𝟏 𝟎
𝑴=[ ]
𝟎 𝒎𝟐

• Stiffness Matrix:
𝒌𝟏 + 𝒌𝟐 −𝒌𝟐
𝑲=[ ]
−𝒌𝟐 𝒌𝟐

3. Multi-Degree-of-Freedom (MDOF) Systems

In contrast to SDOF systems, MDOF systems require more than one degree of freedom to
describe their motion. This is crucial for analyzing complex structures like multi-story
buildings, bridges, and towers, where different parts of the structure move independently
during an earthquake.

Examples of MDOF Systems:

- Multi-story buildings: Each floor has its own independent motion.

- Bridges: Multiple spans and supports with different degrees of motion.
- Complex mechanical systems: Such as cranes or towers with various moving
parts.

Why MDOF Systems are Important in Earthquake Engineering:

- Most structures in real life cannot be accurately modeled as SDOF systems

because they have multiple moving parts.
- MDOF systems allow for more accurate seismic analysis, where the movement
of each component (e.g., floors of a building) can be independently analyzed and
then combined to understand the overall behavior of the structure.
• Equation of Motion for MDOF Systems: This equation describes how a structure
behaves when subjected to external dynamic loads, such as an earthquake. The
equation considers the structure's mass, stiffness, and damping properties.

𝑴𝑿̈(𝒕) + 𝑪𝑿̇(𝒕) + 𝑲𝑿(𝒕) = 𝑭(𝒕)

Where:
- 𝑴: Mass Matrix
- 𝑪: Damping Matrix
- 𝑲: Stiffness Matrix
- 𝑿(𝒕): Displacement vector (time-dependent)
- 𝑭(𝒕): External force vector (e.g., seismic forces)

• Modal Analysis (Eigenvalue Problem): Modal analysis simplifies the MDOF system
by decomposing it into its natural modes of vibration. This is achieved by solving
the following eigenvalue problem:

(𝑲 − 𝝎𝟐 𝑴)𝚽 = 𝟎
Where:
- 𝑴: Mass Matrix
- 𝑲: Stiffness Matrix
- 𝝎𝟐 : Eigenvalue (square of the natural frequencies)
- 𝚽: Eigenvector (mode shape corresponding to each natural frequency)

Note:
Eigenvalues 𝝎𝟐 represent the natural frequencies of the system, and the
Eigenvector 𝚽 represent the mode shapes

• Natural Frequencies for 2DOF: To find the natural frequencies for an MDOF
system, we solve the characteristic equation derived from the eigenvalue
problem:
𝐝𝐞𝐭(𝑲 − 𝝎𝟐 𝑴) = 𝟎

This will yield the natural frequencies 𝝎𝟏 , 𝝎𝟐 , 𝝎𝒏 , where 𝒏 is the number of

degrees of freedom.
 • Mode Superposition: The total displacement response of the MDOF system can
be expressed as the sum of the individual modal responses:
𝒏

𝑿(𝒕) = ∑ 𝚽𝒊 𝒒𝒊 (𝒕)
𝒊=𝟏
Where:
- 𝚽𝒊 : Mode shape for the 𝒊-th mode
- 𝒒𝒊 (𝒕): Time-dependent generalized coordinate for the 𝒊-th mode

• Period of Oscillation
𝟐𝝅
𝑻=
𝝎𝒏
Where:
- 𝑻: Period of oscillation
- 𝝎𝒏 : natural frequencies for an MDOF system

4. Seismic Load Analysis and MDOF Systems

Understanding MDOF systems is crucial for performing seismic load analysis, as required
by seismic design codes like the National Structural Code of the Philippines (NSCP).
Seismic load analysis involves calculating how structures will respond to seismic forces,
and MDOF systems provide a more realistic model of how complex structures behave
during an earthquake.

Key Steps in Seismic Load Analysis:

• Response Spectrum Analysis: This method considers the contribution of each

natural mode of vibration in the structure. Engineers use response spectra, which
plot the maximum response (e.g., displacement, acceleration) as a function of
natural frequency, to estimate the response of structures.

• Time History Analysis: This is a more detailed method where the actual ground
motion records from past earthquakes are used to simulate how a structure
responds over time.

By learning MDOF systems, students are preparing themselves to understand these

advanced methods of seismic analysis, where they will use modal analysis and response
spectra to ensure structures can withstand seismic events.
5. Example Problems

Problem 1: A two-story building has masses 𝒎𝟏 = 𝟐𝟎𝟎𝟎 𝒌𝒈 and 𝒎𝟐 = 𝟏𝟓𝟎𝟎 𝒌𝒈 and

stiffnesses 𝒌𝟏 = 𝟏𝟎𝟎, 𝟎𝟎𝟎 𝑵/𝒎 and 𝒌𝟐 = 𝟖𝟎, 𝟎𝟎𝟎 𝑵/𝒎 . Calculate the natural
frequencies and mode shapes

Solution:
Step 1: Set up the equations of motion using the mass and stiffness matrices.
𝑚 0 𝟐𝟎𝟎𝟎 𝟎
𝑀=[ 1 ] 𝑴=[ ]
0 𝑚2 𝟎 𝟏𝟓𝟎𝟎

𝑘1 + 𝑘2 −𝑘2 100,000 + 80,000 −80,000

𝐾=[ ] 𝐾=[ ]
−𝑘2 𝑘2 −80,000 80,000

𝟏𝟖𝟎, 𝟎𝟎𝟎 −𝟖𝟎, 𝟎𝟎𝟎

𝑲=[ ]
−𝟖𝟎, 𝟎𝟎𝟎 𝟖𝟎, 𝟎𝟎𝟎

Step 2: Solve the eigenvalue problem to find the natural frequencies and mode
shapes.
𝐝𝐞𝐭(𝑲 − 𝝎𝟐 𝑴) = 𝟎
This expands to:
180,000 − 𝜔2 ∙ 2,000 −80,000
det [ ]=0
−80,000 80,000 − 𝜔2 ∙ 1,500
Simplifying:
𝟏𝟖𝟎, 𝟎𝟎𝟎 − 𝟐, 𝟎𝟎𝟎𝝎𝟐 −𝟖𝟎, 𝟎𝟎𝟎
𝐝𝐞𝐭 [ ]=𝟎
−𝟖𝟎, 𝟎𝟎𝟎 𝟖𝟎, 𝟎𝟎𝟎 − 𝟏, 𝟓𝟎𝟎𝝎𝟐
Taking the determinant:
(180,000 − 2,000𝜔2 )(80,000 − 1,500𝜔2 ) − (−80,000)(−80,000) = 0
(180,000 − 2,000𝜔2 )(80,000 − 1,500𝜔2 ) − 6,400,000,000 = 0
(𝟏𝟖𝟎, 𝟎𝟎𝟎 − 𝟐, 𝟎𝟎𝟎𝝎𝟐 )(𝟖𝟎, 𝟎𝟎𝟎 − 𝟏, 𝟓𝟎𝟎𝝎𝟐 ) = 𝟔. 𝟒 × 𝟏𝟎𝟗
Expand using FOIL Method:
14.4 × 109 − 2.7 × 108 𝜔2 − 1.6 × 108 𝜔2 + 3 × 106 𝜔4 = 6.4 × 109
3 × 106 𝜔4 − 4.3 × 108 𝜔2 = 6.4 × 109 − 14.4 × 109
3 × 106 𝜔4 − 4.3 × 108 𝜔2 = −8 × 109
𝟑 × 𝟏𝟎𝟔 𝝎𝟒 − 𝟒. 𝟑 × 𝟏𝟎𝟖 𝝎𝟐 + 𝟖 × 𝟏𝟎𝟗 = 𝟎

We can solve this quadratic equation using calculator. Look for the quadratic
function, 𝑨𝒙𝟐 + 𝑩𝒙 + 𝑪 = 𝟎 using Mode-5 Function. (contd. on next page)
Set 𝑨 = 𝟑 × 𝟏𝟎𝟔 , 𝑩 = −𝟒. 𝟑 × 𝟏𝟎𝟖 AND 𝑪 = 𝟖 × 𝟏𝟎𝟗
The first value will be 𝝎𝟐 𝟏 and next value will be 𝝎𝟐 𝟐 .
𝝎𝟐 𝟏 = 𝟐𝟏. 𝟗𝟕𝟑 𝝎𝟐 𝟐 = 𝟏𝟐𝟏. 𝟑𝟔𝟎

Taking the square root of these values, we can now solve for the natural
frequencies.
𝝎𝟏 = 𝟒. 𝟔𝟖𝟖 𝒓𝒂𝒅/𝒔
𝝎𝟐 = 𝟏𝟏. 𝟎𝟏𝟔 𝒓𝒂𝒅/𝒔

Step 3: Once we find the natural frequencies, we can substitute 𝝎𝟏 and 𝝎𝟐 back
into the original eigenvalue equation to calculate the mode shapes for each
frequency.
For 𝝎𝟐 𝟏 = 𝟐𝟏. 𝟗𝟕𝟑
(𝑲 − 𝝎𝟐 𝑴)𝚽 = 𝟎
180,000 − 2000𝜔21 −80,000
[ ]Φ = 0
−80,000 80,000 − 1500𝜔21
180,000 − 2000(21.973) −80,000 Φ
[ ] × [ 𝟏𝟏 ] = 0
−80,000 80,000 − 1500(21.973) Φ𝟏𝟐

𝟏𝟑𝟔, 𝟎𝟓𝟒 −𝟖𝟎, 𝟎𝟎𝟎 Φ

[ ] × [ 𝟏𝟏 ] = 𝟎
−𝟖𝟎, 𝟎𝟎𝟎 𝟒𝟕, 𝟎𝟒𝟎. 𝟓 Φ𝟏𝟐

Eq. 1: 𝟏𝟑𝟔, 𝟎𝟓𝟒(Φ𝟏𝟏 ) − 𝟖𝟎, 𝟎𝟎𝟎(Φ𝟏𝟐 ) = 𝟎 → Φ𝟏𝟏 = 𝟎. 𝟓𝟖𝟖Φ𝟏𝟐

Eq. 2: −𝟖𝟎, 𝟎𝟎𝟎(Φ𝟏𝟏 ) + 𝟒𝟕𝟎𝟒𝟎. 𝟓(Φ𝟏𝟐 ) = 𝟎 →Φ𝟏𝟏 = 𝟎. 𝟓𝟖𝟖Φ𝟏𝟐
Φ 𝟏
2nd Mode = Φ𝟏𝟐 = = 𝟏. 𝟕𝟎𝟏
𝟏𝟏 𝟎.𝟓𝟖𝟖

Thus for 𝝎𝟐 𝟏 = 𝟐𝟏. 𝟗𝟕𝟑

𝟏
Φ=[ ]
𝟏. 𝟕𝟎𝟏

For 𝝎𝟐 𝟐 = 𝟏𝟐𝟏. 𝟑𝟔𝟎

(𝑲 − 𝝎𝟐 𝑴)𝚽 = 𝟎
180,000 − 2000𝜔21 −80,000
[ ]Φ = 0
−80,000 80,000 − 1500𝜔21
180,000 − 2000(121.360) −80,000 Φ
[ ] × [ 𝟏𝟏 ] = 0
−80,000 80,000 − 1500(121.360) Φ𝟏𝟐

−𝟔𝟐, 𝟕𝟐𝟎 −𝟖𝟎, 𝟎𝟎𝟎 Φ

[ ] × [ 𝟏𝟏 ] = 𝟎
−𝟖𝟎, 𝟎𝟎𝟎 −𝟏𝟎𝟐, 𝟎𝟒𝟎 Φ𝟏𝟐
 Eq. 1: −𝟔𝟐, 𝟕𝟐𝟎(Φ𝟏𝟏 ) − 𝟖𝟎, 𝟎𝟎𝟎(Φ𝟏𝟐 ) = 𝟎 → Φ𝟏𝟏 = −𝟏. 𝟐𝟕𝟔Φ𝟏𝟐
Eq. 2: −𝟖𝟎, 𝟎𝟎𝟎(Φ𝟏𝟏 ) − 𝟏𝟎𝟐, 𝟎𝟒𝟎(Φ𝟏𝟐 ) = 𝟎 →Φ𝟏𝟏 = −𝟏. 𝟐𝟕𝟔Φ𝟏𝟐
Φ 𝟏
2nd Mode = Φ𝟏𝟐 = = −𝟎. 𝟕𝟖𝟒
𝟏𝟏 −𝟏.𝟐𝟕𝟔

Thus for 𝝎𝟐 𝟏 = 𝟏𝟐𝟏. 𝟑𝟔𝟎

𝟏
Φ=[ ]
−𝟎. 𝟕𝟖𝟒

Then the mode shape matrix is given as

𝟏 𝟏
Φ=[ ]
𝟏. 𝟕𝟎𝟏 −𝟎. 𝟕𝟖𝟒

Problem 2: A 3-story building has the following properties:

𝑚1 = 2.0 𝑇𝑜𝑛𝑛𝑒𝑠 𝑘1 = 120 𝑘𝑁/𝑚
𝑚2 = 1.8 𝑇𝑜𝑛𝑛𝑒𝑠 𝑘2 = 100 𝑘𝑁/𝑚
𝑚3 = 2.0 𝑇𝑜𝑛𝑛𝑒𝑠 𝑘3 = 80 𝑘𝑁/𝑚

a. Set up the mass and stiffness matrices

b. Calculate the Natural Frequencies
c. What are the periods of oscillation for each mode?
d. Calculate the damping ratios for each mode if the damping coefficients are
2500 Ns/m (1st floor), 2200 Ns/m (2nd floor), and 2000 Ns/m (3rd floor),

FULL SOLUTIONS will be presented on WHITEBOARD.

SEATWORK
On a clean sheet of paper, solve the following problems completely and box the final
answer.
1. The Cabalen Spaces, a newly constructed three-story commercial building located in
the bustling heart of Angeles City, is undergoing a dynamic analysis to assess its
response to various forces, including potential seismic activity. The structural
engineering team has provided the following details for each floor of the building:
Floor Mass (kg) Stiffness (N/m) Damping (Ns/m)
1 st 1800 100,000 2000
2 nd 1600 80,000 1800
3 rd 1400 60,000 1600
The building is designed to withstand dynamic forces; however, you need to evaluate
the building’s dynamic behavior by:
a. Write the mass matrix and the stiffness matrix for this system
b. Calculate the natural frequencies for the building using the mass and stiffness
matrices
c. Calculate the damping ratios ζ1, ζ2, and ζ3 for each mode using the damping
coefficients provided.
d. For each mode, determine whether the system is underdamped, critically
damped, or overdamped.
e. If the building is subjected to a harmonic force with a forcing frequency of 12
rad/s, determine if resonance will occur for any of the modes.
f. Calculate the period of oscillation for the first and second modes of vibration.

WEEKLY ASSIGNMENT
Solve the following problems using the concepts of Multi-Degree-of-Freedom-Systems.
Show all steps in your calculations clearly. Ensure that your final answers are boxed.
1. A newly constructed three-story mixed-use building with in Balanga City is undergoing
a dynamic analysis. The structural engineering team has provided the column
dimensions and story heights for each floor.
The column dimensions and story heights for each floor are as follows:
• Story Height (Uniform for all floors): 3.5 m
• Columns per Floor: Six square columns per floor
• Column Dimensions (width and depth are the same for each column)
o First Floor: 0.40 x 0.40 m
o Second Floor: 0.35 x 0.35 m
o Third Floor: 0.30 x 0.30 m
• The building columns are made of reinforced concrete with a modulus of elasticity
𝐸 = 25,000 𝑀𝑃𝑎
12𝐸𝐼
a. Using the formula for the stiffness of a column 𝑘 = , where 𝐸 is the
𝐻3
modulus of elasticity, 𝐼 is the moment of inertia and 𝐻 is the story height,
calculate the total stiffness for each floor. (Total stiffness = no. of columns x
stiffness per column). For this part ONLY, round of your answer to the nearest
whole number.
𝑏4
Note: The moment of inertia I for a square column is given by 𝐼 = 12 where 𝑏
is the width (and depth) of the column.
b. After calculating the stiffness for each floor, construct the mass matrix and
stiffness matrix for the system.
c. Compute the natural frequencies of the building using the calculated stiffness
and the given masses:
𝑚1 = 2500 𝑘𝑔 𝑚2 = 2300 𝑘𝑔
𝑚3 = 2100 𝑘𝑔
d. Determine the mode shapes for each natural frequency
e. Compute the damping ratio for each floor of the building using the given
damping coefficients.
𝑐1 = 3000 𝑁𝑠/𝑚 𝑐2 = 2800 𝑁𝑠/𝑚
𝑐3 = 2600 𝑁𝑠/𝑚
f. For each mode, determine whether the system is underdamped, critically
damped, or overdamped.
g. If the building is subjected to a harmonic force with a forcing frequency of 9
rad/s, determine whether resonance will occur.
h. Calculate the periods of oscillation from the first to eight modes of vibration.