Derivation of the Undamped Free Vibration Response

Equation of motion for undamped free vibration:

mu k u 0 (1)
The solution of the Eq. (1), a linear, homogenous, second-order differential equation with constant coefficients has the form:
u es t (a)
where the constant s is unknown. Substituting into Eq. (1) gives
(m s 2 k )e s t 0
The exponential term is never zero, so the characteristic equation and the roots for s become
(m s 2 k) 0 s1,2 i n (b)

where i 1 . The general solution of Eq. (1) is

u(t ) A1 es1t A2 es2t

which after substituting Eq. (b) becomes

u(t ) A1 ei nt
A2 e i nt
(c)
where A1 and A2 are constants undetermined. Writing Euler equation for complex numbers,
i
e cos i sin (d)

where nt . Substituting Eq. (d) into Eq. (c)

u(t ) A1 cos nt A1 i sin nt A2 cos nt A2 i sin nt

u(t ) ( A1 A2 ) cos nt i ( A1 A2 ) sin nt (e)

u(t) should be real. Then A1 and A2 must be complex conjugate in order to retain the real terms, and eliminate the imaginary
terms. For example:
A1 x iy A2 x iy
Eq. (e) can be arranged as:
u(t ) (2 x) cos nt i (2 i y) sin nt

u(t ) (2 x) cos nt ( 2 y) sin nt (f)

Eq. (f) can be rewritten when the constants 2x and -2y are replaced with the new constants A and B.
u(t ) A cos nt B sin nt (g)
where A and B constants are to be determined by using the initial conditions:
u(0) A cos n (0) B sin n (0)

A u(0) u0 (h)

u(0) A n sin n (0) B n cos n (0)

u (0) u0
B (i)
n n

Then, the solution to the Eq. (1) becomes:

u0
u (t ) u 0 cos nt sin nt (j)
n

CE 403/503 Introduction to Earthquake Engineering

Derivation of the Undamped Harmonic Vibration Response
Equation of motion for undamped forced vibration:
mu k u p0 sin t (1)
The complete (general) solution u(t) is composed of the complementary solution uc(t) and the particular solution up(t):
uc Acos nt Bsin nt (2)
For the solution of the particular solution, a harmonic function for up, which is in phase with p(t) and with an arbitrary
amplitude is assumed:
up Gsin t (a)

Differentiating this twice gives

2
up G sin t (b)

Substituting Eqs. (a) and (b) in the equation of motion gives

2
m( Gsin t ) k (Gsin t ) p0 sin t
2
Gsin t m k p0 sin t

2 k
Solving for G and replacing n and (frequency ratio)
m n

p0 1
G 2
(c)
k 1
The particular solution becomes
p0 1
up 2
sin t (d)
k 1
Hence, complete solution is
p0 1
u uc u p Acos nt Bsin nt 2
sin t (e)
k 1
The constants A and B are determined by using the initial conditions (they should satisfy the complete solution):
p0 1
u (0) u0 Acos n (0) Bsin n (0) 2
sin (0)
k 1

A u0 (f)

p0 1
u (0) u0 A n sin n (0) B n cos n (0) 2
cos (0)
k 1

u (0) p0 / n u (0) p0
B 2 2
(g)
n k 1 n k 1
Then, the solution to the Eq. (1) becomes:
u (0) p0 p0 1
u u0 cos nt 2
sin nt 2
sin t (h)
n k 1 k 1

transient steady-state

CE 403/503 Introduction to Earthquake Engineering

Derivation of the Damped Free Vibration Response
Equation of motion for damped free vibration:
mu c u k u 0 (1)
Dividing by m gives:
2
u 2 nu nu 0 (2)
where

2 k
n
m
c c
ccr 2m n

The solution of the differential equation given in Eq. (2) has the form:
u es t (a)
where the constant s is unknown. Substitution into Eq. (2) gives
(s 2 2 ns
2 st
n )e 0
The exponential term is never zero, so the characteristic equation is
s2 2 ns
2
n 0 (b)
which has two complex roots for underdamped damping ( 1) :

2
s1,2 n i n 1

2
Here d n 1 . So the roots can also be written as

s1 n i d s2 n i d (c)
The general solution for u(t) is
u(t ) A1 es1t A2 es2t
which after substituting Eq. (c) becomes

u(t ) A1 e( nt i dt)
A2 e( nt i dt)

nt
u(t ) e A1 ei dt
A2 e i dt
(d)
where A1 and A2 are constants undetermined. Writing Euler equation for complex numbers,
i
e cos i sin (e)

where dt . Substituting Eq. (e) into Eq. (d)

nt
u(t ) e A1 (cos dt i sin d t) A2 (cos dt i sin d t)

nt
u(t ) e ( A1 A2 ) cos dt i ( A1 A2 ) sin dt (f)
u(t) should be real. Then A1 and A2 must be complex conjugate in order to retain the real terms, and eliminate the imaginary
terms.
A1 x iy A2 x iy
Eq. (f) can be arranged as:
nt
u(t ) e (2 x) cos dt i (2 i y) sin dt

CE 403/503 Introduction to Earthquake Engineering

 nt
u(t ) e (2 x) cos dt ( 2 y) sin dt (g)
Eq. (g) can be rewritten when the constants 2x and -2y are replaced with the new constants A and B.
nt
u(t ) e A cos dt B sin dt (c)

Decay Envelope Simple Harmonic Motion

where A and B constants are to be determined by using the initial conditions:

n ( 0)
u(0) u0 e A cos d (0) B sin d (0)

A u0 (h)

n ( 0) n ( 0)
u(0) e d A sin d (0) d B cos d (0) ( n )e A cos d (0) B sin d (0)

u(0) u0 dB ( n)A

u0 n u0
B (i)
d

Then, the solution to the Eq. (1) becomes:

nt
u0 n u0
u (t ) e u0 cos dt sin dt (j)
d

CE 403/503 Introduction to Earthquake Engineering

Derivation of the Damped Harmonic Vibration Response
Equation of motion for damped forced vibration:
m u cu k u p0 sin t (1)
The complete (general) solution u(t) is composed of the complementary solution uc(t) and the particular solution up(t):
nt
uc e ( Acos dt Bsin d t) (a)
The particular solution up ,has the following form which a cosine term since u(t) will not be in phase with p(t) due to damping.
Damping delays the response which causes a phase delay.
up Csin t Dcos t (b)

2 k
Substitute n and c 2m n in Eq. (1) and divide by m
m

2 p0
u 2 nu nu sin t (2)
m
Substitute u p , u p , u p in Eq. (2)

2 2 2 p0
C sin t D cos t 2 n (C cos t D sin t ) n (C sin t D cos t ) sin t
m
Collect the coefficients with sin t and cos t on both sides

2 2 2 2 p0
sin t C ( n ) D2 n cos t C 2 n D( n ) sin t
m
2 2
C( n ) D2 n p0 1 2 p0
2
sin t C (1 ) D2 n sin t (3)
n m n2 k
2 2
C2 n D( n ) p0 1 2 p0
2
sin t C2 D(1 ) sin t (4)
n m n2 k

Solving Eqs. (3) and (4) simultaneously yields

2
p0 1
C 2 2
k (1 ) (2 )2
p0 2
D 2 2
k (1 ) (2 )2
Then, the general solution becomes
2
nt
p0 (1 ) sin t (2 ) cos t
uc e ( Acos d t Bsin d t) 2 2
(c)
k (1 ) (2 )2

transient steady-state

The constants A and B are determined by imposing the initial conditions ( u0 , u0 ) in the general (complete) solution.

CE 403/503 Introduction to Earthquake Engineering