Rev Topic04 StructuralDynamicsofMDOFSystems

Structural Dynamics of Linear Elastic
Multiple-Degrees-of-Freedom (MDOF) Systems

u1
u2
u3
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 1
Structural Dynamics of Elastic

MDOF Systems
Equations of motion for MDOF systems

Uncoupling of equations through use of natural
mode shapes
Solution of uncoupled equations
Recombination of computed response
Modal response history analysis
Modal response spectrum analysis
Equivalent lateral force procedure
MDOF Dynamics 4 - 2
Symbol Styles Used in this Topic

M
U
Matrix or vector (column matrix)
m
u
Element of matrix or vector or set
W
g
Scalars
(often shown with subscripts)
MDOF Dynamics 4 - 3
Relevance to ASCE 7-05

ASCE 7-05 provides guidance for three specific
analysis procedures:
Equivalent lateral force (ELF) analysis

Modal superposition analysis (MSA)
Response history analysis (RHA)
ELF usually allowed
ELF not allowed
Cs
See ASCE 7-05
Table 12.6-1
Ts
3.5Ts
MDOF Dynamics 4 - 4
Planar Frame with 36 Degrees of Freedom

uy
rz Typical nodal
Majority of mass
is in floors
9
10
11
12
13
14
15
16
ux
DOF
Motion is
predominantly
lateral
MDOF Dynamics 4 - 5
Planar Frame with 36 Static Degrees of Freedom

But with Only THREE Dynamic DOF
u1
u2
u1

U = u2
u
3
u3
MDOF Dynamics 4 - 6
Development of Flexibility Matrix

f1 = 1 kip
d1,1
d2,1
d1,1
d2,1
d3,1
d3,1
MDOF Dynamics 4 - 7

(continued)
d1,2
f2=1 kip
d2,2
d1,1 d1,2
d2,1 d2,2
d3,1 d3,2
d3,2
MDOF Dynamics 4 - 8

(continued)
d1,3
d2,3
d1,1 d1,2 d1,3

d2,1 d2,2 d2,3
f3 = 1 kip
d3,1 d3,2 d3,3
d3,3
MDOF Dynamics 4 - 9
Concept of Linear Combination of Shapes

(Flexibility)
d1,1 d1,2 d1,3 f1

U = d2,1 d2,2 d2,3 f2
d3,1 d3,2 d3,3 f3
d1,1
d1,2
d1,3

U = d2,1 f1 + d2,2 f2 + d2,3 f3
d
d
d
3,1
3,2
3,3
DF=U
K = D-1
KU=F
MDOF Dynamics 4 - 10
Static Condensation
K m,n Um Fm
=
K n,n Un {0}
K m,m
K
n,m
DOF with mass

Massless DOF
K m,mUm + K m,nUn = Fm
K n,mUm + K n,nUn = {0}

Static Condensation
(continued)
Rearrange
Plug into
Simplify
1
n ,n
Un = K K n,mUm
1
n,n
K m,mUm K m,nK K n,mUm = Fm
K m,m K m,nK K n,m Um = Fm

1
n,n
K = K m,m K m,nK n,nK n,m
Condensed stiffness matrix

Idealized Structural Property Matrices

m1
f1(t), u1(t)
k1
m2
f2(t), u2(t)
k2
m3
k3
f3(t), u3(t)
-k1
0
k1
K = -k1 k1+ k 2
-k 2
0
-k 2
k 2 + k 3
0
m1 0
M = 0 m2 0
0
0 m3
f1(t )
F(t ) = f2 (t )
f (t )
3
u1(t )
U(t ) = u2 (t )
u (t )
3
Note: Damping to be shown later

Coupled Equations of Motion

for Undamped Forced Vibration
&&(t ) + KU(t ) = F(t )

MU
m1
0
0
m2
0
&&1 ( t )
0 u
&&
0 u
(
t
)
+
2
&& 3 ( t )
m 3 u
k1
k1
k1
k1 + k 2
k 3
0
u 1 ( t ) f1 ( t )
k 2 u 2 ( t ) = f 2 ( t )
k 2 + k 3 u 3 ( t ) f3 ( t )
DOF 2
&&1(t ) + k1u1(t ) k1u2 (t ) = f1(t )

m1u
&&2 (t ) k1u1(t ) + k1u2 (t ) + k 2u2 (t ) k 2u3 (t ) = f2 (t )
m 2u
DOF 3
&&3 (t ) k 2u2 (t ) + k 2u3 (t ) + k 3u3 (t ) = f3 (t )

m3u
DOF 1
Developing a Way To Solve

the Equations of Motion
This will be done by a transformation of coordinates

from normal coordinates (displacements at the nodes)
To modal coordinates (amplitudes of the natural
Mode shapes).
Because of the orthogonality property of the natural mode

shapes, the equations of motion become uncoupled,
allowing them to be solved as SDOF equations.
After solving, we can transform back to the normal

coordinates.
Solutions for System in Undamped Free Vibration

(Natural Mode Shapes and Frequencies)
&&(t ) + KU(t ) = {0}

MU
&& t ) = 2 sint
U(t ) = sin t U(
2
K
M = {0} has three (n) solutions:

Then
Assume
1,1

1 = 2,1 , 1

3,1
1,2

2 = 2,2 , 2

3,2
1,3

3 = 2,3 , 3

3,3
Natural frequency
Natural mode shape
Solutions for System in Undamped Free Vibration

(continued)
For a SINGLE Mode
K = M2
For ALL Modes
Where: = [1 2 3 ]
12
2
2
2
2
K
=
=
Note: Mode shape has arbitrary scale; usually

1,i = 1.0
or
T M = I
Mode Shapes for Idealized 3-Story Frame

1,2
1,1
1,3
Node
2,3
2,2
2,1
Node
Node
3,1
3,2
MODE 1
3,3
MODE 2
MODE 3
Concept of Linear Combination of Mode Shapes

(Transformation of Coordinates)
U =Y
Mode shape
1,1 1,2 1,3 y1

1,1
1,2
1,3

U = 2,1 2,2 2,3 y2 U = 2,1 y1 + 2,2 y2 + 2,3 y3

3,1 3,2 3,3 y3
3,1
3,2
3,3
Modal coordinate =
amplitude of mode
shape
Orthogonality Conditions
= [1 2 3 ]
Generalized mass
m1*
T
*
M =
m2
m
3
Generalized stiffness
k1*
T
*
k2
K =
k
3
Generalized damping
Generalized force
c1*
T
*
c2
C =
c
3
f1* (t )
*
T
F(t ) = f2 (t )
f * (t )
3
Development of Uncoupled Equations of Motion

MDOF equation of motion:
Transformation of coordinates:
Substitution:
&&
&
MU+CU+KU
= F(t )
U = Y
&& C Y+K
&
M Y+
Y = F(t )
&& + TCY& + T KY = T F(t )

Premultiply by T : T MY
Using orthogonality conditions, uncoupled equations of motion are:
m1*
m *2
&&
y1 c 1*
&&
y2 +
m 3* &&
y 3
c 2*
y& 1 k 1*
&
y2 +
c 3* y& 3
k 2*
y1 f1* (t )
*
y 2 = f2 (t )
k 3* y 3 f3* (t )

(Explicit Form)
Mode 1
Mode 2
Mode 3
*
1 1
*
*
*
&&
&
m y +c1y1+k1y1 = f1 (t )
*
2 2
*
*
*
&&
&
m y +c2 y2 +k2 y2 = f2 (t )
*
3 3
*
*
*
&&
&
m y +c3 y3 +k3 y3 = f3 (t )

(Explicit Form)
*
ci
Simplify by dividing through by m* and defining i =
2mi*i
Mode 1
y&&1 + 211y&1 + 12 y1 = f1* (t )/ m1*
Mode 2
2
*
*
&&
&
y 2 + 222 y 2 + 2 y 2 = f2 (t ) / m2
Mode 3
y&&3 + 233 y& 3 + 32 y 3 = f3* (t ) / m3*

Earthquake Loading for MDOF System

u&&g U&&r ,1
&&r ,1(t )
u&&g (t ) + u
&&r ,2 (t ) =
FI (t ) = M u&&g (t ) + u
u&& (t ) + u
&&
(
t
)
r ,3
g
&&r ,1(t )
u
1.0
&&
&&
M 1.0 ug (t ) + M ur ,2 (t )
1.0
u
&&
(
t
)

r ,3
Move to RHS as
FEFF (t ) = - M Ru&&g (t )
Modal Earthquake Loading

m1 = 2
m2 = 3
m3 = 1
u1
u2
u3
u&&g (t )
m3 = 1
m1 = 2
m2 = 3
u1
u3
u2
u&&g (t )
F (t ) = MRu&&g (t )
*
M= 3
1

R = 1
1

1
2 + 1
M=
3 R= 1
0
1

Definition of Modal Participation Factor
&&g (t )
fi (t ) = MRu
*
For earthquakes:
T
i
Typical modal equation:
fi (t )
MR
&&
y&&i + 2 i i y& i + y i =
u
=
g (t )
*
*
mi
mi
2
i
T
i
Modal participation factor pi
Caution Regarding Modal Participation Factor
pi =
MR
T
i
*
i
Mi
T
i
Its value is dependent on the (arbitrary) method

used to scale the mode shapes.
Variation of First Mode Participation Factor

with First Mode Shape
p1 = 1.0
1.0
p1 =1.4
p1 =1.6
1.0
1.0
Concept of Effective Modal Mass

For each Mode I,
mi = pi mi
2
The sum of the effective modal mass for all

modes is
equal to the total structural mass.
The value of effective modal mass is

independent of mode shape scaling.
Use enough modes in the analysis to provide

a total effective mass not less than 90% of the
total structural mass.
Variation of First Mode Effective Mass

with First Mode Shape
m1 / M = 1.0
1.0
m1 / M= 0.9 m1 / M= 0.7
1.0
1.0
Derivation of Effective Modal Mass

For each mode:
(continued)
y&&i + 2i i y& i + y i = pi u&&g

2
i
SDOF system:
2
&&
&
qi + 2 i i qi + i qi = u&&g
Modal response history, qi(t) is obtained by first

solving the SDOF system.

(continued)
From previous slide
y i (t ) = pi qi (t )
Recall
ui (t ) = i y i (t )
Substitute
ui (t ) = pi i qi (t )

(continued)
Applied static forces required to produce ui(t):
Vi (t ) = Kui (t ) = Pi Ki qi (t )
Recall:
Ki = i Mi
2
Substitute:
Vi (t ) = Mi Pi i qi (t )
2

(continued)
Total shear in mode: Vi = Vi T R
Vi = (Mi ) RPi qi (t ) = i MRPi qi (t )

T
Acceleration in mode
Define effective modal mass:
Mi = MRPi
T
i
and
Vi = Mi qi (t )
2

(continued)
T
i MR T
T
Mi = i MRPi = T
i Mi Pi
i Mi i
Mi = Pi mi
2
Development of a Modal Damping Matrix

In previous development, we have assumed:
c1*
T
*
c2
C =
c3
Two methods described herein:

Rayleigh proportional damping
Wilson discrete modal damping
Rayleigh Proportional Damping

(continued)
MASS
PROPORTIONAL
DAMPER
STIFFNESS
PROPORTIONAL
DAMPER
C = M + K

(continued)
C = M + K
For modal equations to be uncoupled:
Assumes
T M = I
2nn = Cn
T
n
Using orthogonality conditions:
2nn = +
2
n
1
n
n =
+
2n
2

(continued)
Select damping value in two modes, m and n

Compute coefficients and :

m n
=2 2
2
n m

m m
n
1/ 1/
n
m n
Form damping matrix
C = M + K
Rayleigh Proportional Damping (Example)

5% critical in Modes 1 and 3
Structural frequencies
Mode
1
2
3
4
5
4.94
14.6
25.9
39.2
52.8
Modal Damping Ratio
0.15
TYPE
MASS
STIFFNESS
TOTAL
= 0.41487
= 0.00324
0.10
0.05
0.00
0
20
40
Frequency, Radians/Sec.
60
Rayleigh Proportional Damping (Example)

5% Damping in Modes 1 & 2, 1 & 3, 1 & 4, or 1 & 5
0.15
Modes
1&2
1&3
1&4
1&5
.36892
.41487
.43871
.45174
0.00513
0.00324
0.00227
0.00173
1,2
Modal Damping Ratio
Proportionality factors
(5% each indicated mode)
MODES
1,3
1,4
1,5
0.10
0.05
0.00
0
20
40
60
Fequency, Radians/sec
Wilson Damping
*
Directly specify modal damping values i
2m1*11*
c1*
*
*
*
T
c2
2m222
C =
=
*
*
*
c3
2m333
Formation of Explicit Damping Matrix

From Wilson Modal Damping
(NOT Usually Required)
211
2 22
T C =
2 n 1n 1
( )
=c
2 nn
T 1
c1 = C
n
T
C = M 2i i i i M
i =1
Wilson Damping (Example)

5% Damping in Modes 1 and 2, 3
10% in Mode 5, Zero in Mode 4
12
10
Modal Damping Ratio
10
8
6
4
2
0
0
4.94
14.57
25.9
39.2
52.8
Frequency, Radians per second

Wilson Damping (Example)

5% Damping in all Modes
12
Modal Damping Ratio
10
8
6
4.94
14.57
25.9
39.2
52.8
4
2
0
Frequency, Radians per second

Solution of MDOF Equations of Motion
Explicit (step by step) integration of coupled equations
Explicit integration of FULL SET of uncoupled equations
Explicit integration of PARTIAL SET of uncoupled

Equations (approximate)
Modal response spectrum analysis (approximate)
Computed Response for

Piecewise Linear Loading
Force, V(t)
Vt2
Vt1
t0
Vt 2 Vt 2
=
t2 t1
t1
t2 t3
Time, t
Time
Example of MDOF Response of Structure

Responding to 1940 El Centro Earthquake
m1=1.0 k-s2/in
10 ft
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
Example 1
Assume Wilson
damping with 5%
critical in each mode.
k2=120 k/in
10 ft
u3(t)
m3=2.0 k-s2/in
10 ft
k3=180 k/in
N-S component of 1940 El Centro earthquake
Maximum acceleration = 0.35 g
Example 1 (continued)
Form property matrices:
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
m3=2.0 k-s2/in
1.0
kip s2/in
M =
1.5
2.0
k2=120 k/in
u3(t)
k3=180 k/in
60
0
60
K = 60 180 120kip/in
0
120 300
Solve eigenvalue problem:
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
m3=2.0 k-s2/in
k2=120 k/in
u3(t)
k3=180 k/in
K = M2
21.0
2
2
=
96.6
sec
212.4
1.000 1.000 1.000
= 0.644 0.601 2.57
0.300 0.676 2.47
Normalization of Modes Using
0.749 0.638 0.208

= 0.478 0.384 0.534
0.223 0.431 0.514
vs
M = I
T
1.000 1.000 1.000

0.644 0.601 2.57
0.300 0.676 2.47
Mode Shapes and Periods of Vibration
MODE 1
= 4.58 rad/sec
T = 1.37 sec
MODE 2
= 9.83 rad/sec
T = 0.639 sec
MODE 3
= 14.57 rad/sec
T = 0.431 sec
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
4.58
n = 9.83 rad/ sec

14.57
1.37
Tn = 0.639sec
0.431
Compute Generalized Mass:

1 . 801
M * = T M =
2 . 455
kip sec 2 / in
23 . 10
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5
k-s2/in
Compute generalized loading:

V * (t ) = T MR v&&g (t )
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
2.566
&&
*
Vn = 1.254 vg (t )
2.080
Write uncoupled (modal) equations of motion:
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
y&&1 + 211y&1 + 12 y1 = V1* (t )/ m1*

y&&2 + 222 y& 2 + 22 y 2 = V2* (t ) / m2*
y&&3 + 233 y& 3 + 32 y 3 = V3* (t ) / m3*
y&&1 + 0.458y&1 + 21.0y1 = 1.425v&&g (t )
y&&2 + 0.983y&2 + 96.6y2 = 0.511v&&g (t )
y&&3 + 1.457y&3 + 212.4y3 = 0.090v&&g (t )
Modal Participation Factors
Mode 1
Mode 2
Mode 3
Modal scaling
1 .4 2 5
1 .9 1 1
0 .5 1 1
0 .7 9 9
0 .0 9 0
0 .4 3 5
i,1 = 10
.
i Mi =10
.
T

(continued)
1.000
0.744
1.425 0.644 = 1.9110.480

0.300
0.223
using 1,1
=1
using T M
1
=1
Effective Modal Mass
Mn
Mn = Pn m
2
*
n
Mode 1
Mode 2
Mode 3
Accum%
3.66 81
81
0.64 14
95
0.20 5 100%
4.50 100%
Solving modal equation via NONLIN:
For Mode 1:
&y&1 + 211y&1 + 12 y1 = V1* (t ) / m1*
1.00y&&1 + 0.458y&1 + 21.0y1 = 1.425v&&g (t )

M = 1.00 kip-sec2/in
C = 0.458 kip-sec/in
K1 = 21.0 kips/inch
Scale ground acceleration by factor 1.425
Modal Displacement Response Histories (from NONLIN)
6.00
3.00
T1 = 1.37 sec
0.00
-3.00
-6.00
0
MODE 1
10
11
12
2.00
1.00
T2 = 0.64
0.00
-1.00
-2.00
MODE 2
10
11
12
0.20
0.10
T3 = 0.43
0.00
-0.10
-0.20
MODE 3
10
Time, Seconds
11
12
Maxima
Modal Response Histories:
5
Modal Displacement, Inches
4
3
2
1
0
-1
-2
MODE 1
MODE 2
MODE 3
-3
-4
-5
0
10
12
Time, Seconds
u(t ) = y (t )
Compute story displacement response histories:
u1(t)
u2(t)
u3(t)
6
4
2
0
-2
-4
-6
0
10
11
12
10
11
12
10
11
12
6
4
2
0
-2
-4
-6
6
4
2
0
-2
-4
-6
0
Time, Seconds
= 0.300 x Mode 1 - 0.676 x Mode 2 + 2.47 x Mode 3

Compute story shear response histories:
u1(t)
u2(t)
u3(t)
400
200
0
-200
-400
0
10
11
12
10
11
12
10
11
12
400
200
0
-200
-400
400
200
0
-200
-400
Time, Seconds
= k2[u2(t) - u3(t)]
Displacements and forces at time of maximum displacements
(t = 6.04 sec)
0
134.8 k
5.11
134.8
62.1 k
1348
2.86
196.9
1.22
23.5 k
3317
220.4
Story Shear (k)
5521
Story OTM (ft-k)
Displacements and forces at time of maximum shear
(t = 3.18 sec)
38.2 k
3.91
38.2
124.7 k
382
3.28
182.7 k
162.9
2111
1.92
345.6
Story Shear (k)
5567
Story OTM (ft-k)
Modal Response Response Spectrum Method
Instead of solving the time history problem for each

mode, use a response spectrum to compute the
maximum response in each mode.
These maxima are generally nonconcurrent.
Combine the maximum modal responses using some

statistical technique, such as square root of the sum of
the squares (SRSS) or complete quadratic combination
(CQC).
The technique is approximate.
It is the basis for the equivalent lateral force (ELF) method.

Example 1 (Response Spectrum Method)

Displacement Response Spectrum
1940 El Centro, 0.35g, 5% Damping
Spectral Displacement, Inches
7.00
6.00
Modal response
5.00
4.00
3.47
3.00
2.00
1.00
0.00
0.00
3.04
1.20
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Mode 3
T = 0.431 sec
Mode 2
T = 0.639 sec
Mode 1
T = 1.37 sec
7.00
6.00
5.00
4.00
3.47
3.00
3.04
2.00
1.20
1.00
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Modal Equations of Motion

y&&1 + 0.458 y&1 + 21.0 y1 = 1.425v&&g (t )
Modal Maxima
y1 = 1.425 * 3.47 = 4.94"
y 2 = 0.511* 3.04 = 1.55"

y&&3 + 1.457 y& 3 + 212.4 y 3 = 0.090v&&g (t ) y 3 = 0.090 * 1.20 = 0.108"
y&&2 + 0.983 y& 2 + 96.6 y 2 = 0.511v&&g (t )
7.00
6.00
5.00
The scaled response

spectrum values give
the same modal maxima
as the previous time
Histories.
3.47x 1.425
4.00
3.00
3.04 x 0.511
2.00
1.20 x 0.090
1.00
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
6.00
Mode 1
T = 1.37
3.00
0.00
-3.00
-6.00
0
10
11
12
10
11
12
10
11
12
2.00
Mode 2
T = 0.64
1.00
0.00
-1.00
-2.00
0.20
Mode 3
T = 0.43
0.10
0.00
-0.10
-0.20
Time, Seconds
Computing Nonconcurrent Story Displacements
Mode 1
1.000
4.940
=
0.644
4.940
3.181
0.300
1.482
Mode 2
1.000
1.550
0.601
1.550
0.931
0.676
1.048
Mode 3
0.108
1.000
2.5700.108 = 0.278
0.267
2.470
Modal Combination Techniques (for Displacement)
Sum of Absolute Values:
At time of maximum displacement
Exact
5.15
4.940 + 1.550 + 0.108 6.60
3.181+ 0.931+ 0.278 = 4.39

1.482 + 1.048 + 0.267 2.80
Square Root of the Sum of the Squares:
4.9402 + 1.5502 + 0.1082
5.18
2
2
2
3.181 + 0.931 + 0.278 = 3.33
2
2
2 1.84
1.482 + 1.048 + 0.267
2.86
1.22
Envelope of story displacement
5.15
3.18
1.93
Computing Interstory Drifts
Mode 1
4.940 3.181 1.759
3.181 1.482 = 1.699
1.482 0 1.482
Mode 2
1.550(0.931) 2.481
0
.
117
0
.
931
(
1
.
048
)
1.0480 1.048
Mode 3
0.108 (0.278) 0.386
0.278 0.267= 0.545

0.267 0 0.267
Computing Interstory Shears (Using Drift)
Mode 1
1.759(60) 105.5
1.699(120) = 203.9
1.482(180) 266.8
Mode 2
2.481(60) 148.9
=
0.117(120)
14.0
1.048(180) 188.6
Mode 3
0.386(60) 23.2
0.545(120)
65.4
0.267(180) 48.1
Computing Interstory Shears: SRSS Combination
106 2 + 149 2 + 23.22 220
2
2
2
+
+
215
=
204
14
65
.
4

267 2 + 189 2 + 48.12 331

Exact
Exact
Exact
38.2
163
346
135
197
220
207
203
346
At time of
max. shear
At time of max.
displacement
Envelope = maximum
per story
Caution:
Do NOT compute story shears from the story
drifts derived from the SRSS of the story
displacements.
Calculate the story shears in each mode
(using modal drifts) and then SRSS
the results.
Using Less than Full (Possible)

Number of Natural Modes
Modal Response Histories:
5
4
3
2
1
0
-1
-2
MODE 1
MODE 2
MODE 3
-3
-4
-5
0
10
12
Time, Seconds
Using Less than Full Number of Natural Modes

Time-History for Mode 1
y1(t1) y1(t 2) y1(t 3) y1(t 4) y1(t 5) y1(t 6) y1(t 7) y1(t 8) .... y1(tn)
y (t ) = y 2 (t1) y 2 (t 2) y 2 (t 3) y 2 (t 4) y 2 (t 5) y 2 (t 6) y 2 (t 7) y 2 (t 8) .... y 2 (tn)
y3 (t1) y3 (t 2) y3 (t 3) y3 (t 4) y3 (t 5) y3 (t 6) y3 (t 7) y3 (t 8) .... y3 (tn)
u(t ) = [1 2 3 ]y (t )
Transformation:
3 x nt
3x3
3 x nt
3 x nt
Time History for DOF 1

u1(t1) u1(t 2) u1(t 3) u1(t 4) u1(t 5) u1(t 6) u1(t 7) u1(t 8) .... u1(tn)
u(t ) = u2 (t1) u2 (t 2) u2 (t 3) u2 (t 4) u2 (t 5) u2 (t 6) u2 (t 7) u2 (t 8) .... u2 (tn)
u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t 5) u3 (t 6) u3 (t 7) u3 (t 8) .... u3 (tn)

Time History for Mode 1
y (t1) y1(t 2) y1(t 3) y1(t 4) y1(t 5) y1(t 6) y1(t 7) y1(t 8) .... y1(tn)
y (t ) = 1
y
(
t
1)
y
(
t
2)
y
(
t
3)
y
(
t
4)
y
(
t
5)
y
(
t
6)
y
(
t
7)
y
(
t
8)
....
y
(
tn
)
2
2
2
2
2
2
2
2
2
NOTE: Mode 3 NOT Analyzed
u(t ) = 1 2 y (t )
Transformation:
3 x nt
3x2
2 x nt
3 x nt
Time history for DOF 1

u1(t1) u1(t 2) u1(t 3) u1(t 4) u1(t 5) u1(t 6) u1(t 7) u1(t 8) .... u1(tn)
u(t ) = u2 (t1) u2 (t 2) u2 (t 3) u2 (t 4) u2 (t 5) u2 (t 6) u2 (t 7) u2 (t 8) .... u2 (tn)
u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t 5) u3 (t 6) u3 (t 7) u3 (t 8) .... u3 (tn)

(Modal Response Spectrum Technique)
Sum of absolute values:
4.940 + 1.550 + 0.108 6.60
3.181 + 0.931 + 0.278 = 4.39

1.482 + 1.048 + 0.267 2.80
6.49
4.112
2.53
Square root of the sum of the squares:
4.9402 + 1.5502 + 0.1082
5.18
2
2
2
3.181 + 0.931 + 0.278 = 3.33
2
2
2 1.84
1.482 + 1.048 + 0.267
5.18
3.31
1.82
At time of maximum
displacement
Exact:
5.15
2.86
1.22
3 modes 2 modes
Example of MDOF Response of Structure

Responding to 1940 El Centro Earthquake
m1=2.5 k-s2/in
10 ft
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
Example 2
Assume Wilson
damping with 5%
critical in each mode.
k2=150 k/in
10 ft
u3(t)
m3=2.5 k-s2/in
10 ft
k3=150 k/in
N-S component of 1940 El Centro earthquake
Maximum acceleration = 0.35 g
Form property matrices:
m1=2.5 k-s2/in
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
m3=2.5 k-s2/in
2.5
kip s2/in
M =
2.5
2.5
k2=150 k/in
u3(t)
k3=150 k/in
0
150 150
K = 150 300 150 kip/in
0
150 300
Solve = eigenvalue problem:
m1=2.5 k-s2/in
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
m3=2.5 k-s2/in
k2=150 k/in
u3(t)
k3=150 k/in
K = M2
11.9
2
2
=
93.3
sec
194.8
1.000 1.000 1.000
= 0.802 0.555 2.247
0.445 1.247 1.802
Normalization of Modes Using
M = I
T
0.466 0.373 0.207

1.000 1.000 1.000
= 0.373 0.207 0.465 vs 0.802 0.555 2.247
0.207 0.465 0.373

0.445 1.247 1.802
Mode Shapes and Periods of Vibration
Mode 1
= 3.44 rad/sec
T = 1.82 sec
Mode 2
= 9.66 rad/sec
T = 0.65 sec
Mode 3
= 13.96 rad/sec
T = 0.45 sec
m1=2.5 k-s2/in
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
k2=150 k/in
m3=2.5 k-s2/in
u3(t)
k3=150 k/in
3.44
n = 9.66 rad/ sec

13.96
1.82
Tn = 0.65sec
0.45
Compute generalized mass:

4 .6 0 3
M * = T M =
7 .1 5 8
k ip se c 2 / in
2 3 .2 4 1
m1=2.5 k-s2/in
m2=2.5
k-s2/in
u1(t)
Compute generalized loading:
k1=150 k/in
V * (t ) = T MR v&&g (t )
u2(t)
k2=150 k/in
m3=2.5 k-s2/in
u3(t)
k3=150 k/in
5.617
&&
*
Vn = 2.005 vg (t )
1.388
Write uncoupled (modal) equations of motion:
m1=2.5 k-s2/in
u1(t)
m2=2.5 k-s2/in
k1=150 k/in
y&&2 + 222 y& 2 + 22 y 2 = V2* (t ) / m2*
u2(t)
y&&3 + 233 y& 3 + 32 y 3 = V3* (t ) / m3*
k2=150 k/in
m3=2.5 k-s2/in
y&&1 + 211y&1 + 12 y1 = V1* (t )/ m1*
u3(t)
k3=150 k/in
y&&1 + 0.345y&1 + 11.88y1 = 1.22v&&g (t )

y&&2 + 0.966y&2 + 93.29y2 = 0.280v&&g (t )
y&&3 + 1.395y&3 + 194.83y3 = 0.06v&&g (t )
Mode 1 1 .2 2 2 .6 1 5
Mode 2 0 .2 8
0 .7 4 8
Mode 3 0 .0 6 0 0 .2 8 7
Modal scaling
i,1 = 10
.
i Mi =10
.
T
Effective Modal Mass
Mn
Mn = Pn mn
2
% Accum%
Mode 1 6.856 91.40 91.40
Mode 2 0.562 7.50 98.90
Mode 3 0.083 1.10
100.0
7.50 100%
Solving modal equation via NONLIN:
For Mode 1:
&y&1 + 211y&1 + 12 y1 = V1* (t ) / m1*
1.00y&&1 + 0.345y&1 + 11.88 y1 = 1.22v&&g (t )

M = 1.00 kip-sec2/in
C = 0.345 kip-sec/in
K1 = 11.88 kips/inch
Scale ground acceleration by factor 1.22
Modal Displacement Response Histories (from NONLIN)
10.00
5.00
T=1.82
0.00
-5.00
-10.00
0
Mode 1
10
11
12
1.00
0.50
T=0.65
0.00
-0.50
Mode 2
-1.00
0
10
11
12
0.15
0.10
0.05
0.00
T=0.45
-0.05
-0.10
Mode 3
10
11
12
Maxima
Modal Response Histories
8
MODE 1
MODE 2
MODE 3
6
4
2
0
-2
-4
-6
-8
0
10
12
Time, Seconds
Compute story displacement response histories:
u1(t)
u2(t)
u3(t)
u(t ) = y (t )
8.00
6.00
4.00
2.00
0.00
-2.00
-4.00
-6.00
-8.00
0
10
11
12
10
11
12
10
11
12
8.00
6.00
4.00
2.00
0.00
-2.00
-4.00
-6.00
-8.00
8.00
6.00
4.00
2.00
0.00
-2.00
-4.00
-6.00
-8.00
= 0.445 x Mode 1 1.247 x Mode 2 + 1.802 x Mode 3

Compute story shear response histories:
u1(t)
u2(t)
u3(t)
600.00
400.00
200.00
0.00
-200.00
-400.00
-600.00
0
10
11
12
10
11
12
10
11
12
600.00
400.00
200.00
0.00
-200.00
-400.00
-600.00
600.00
400.00
200.00
0.00
-200.00
-400.00
-600.00
Time, Seconds
=k2[u2(t)-u3(t)]
Displacements and Forces at time of Maximum Displacements
(t = 8.96 seconds)
0
222.2 k
6.935
222.2
175.9 k
2222
5.454
398.1
21.9 k
6203
2.800
420.0
Story Shear (k)
10403
Story OTM (ft-k)
Displacements and Forces at Time of Maximum Shear
(t = 6.26 sec)
130.10 k
6.44
130.10
180.45 k
1301
5.57
215.10 k
310.55
4406
3.50
525.65
Story Shear (k)
9663
Story OTM (ft-k)
Modal Response Response Spectrum Method
Instead of solving the time history problem for each

mode, use a response spectrum to compute the
maximum response in each mode.
These maxima are generally nonconcurrent.

Combine the maximum modal responses using some
statistical technique, such as square root of the sum of
the squares (SRSS) or complete quadratic combination
(CQC).
The technique is approximate.

It is the basis for the equivalent lateral force (ELF) method.
Example 2 (Response Spectrum Method)

Displacement Response Spectrum
1940 El Centro, 0.35g, 5% Damping
7.00
MODAL RESPONSE
6.00
5.71
5.00
4.00
3.02
3.00
2.00
1.57
1.00
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Mode 2
T = 0.65 sec
Mode 1
T = 1.82 sec
Mode 3
T = 0.45 sec
7.00
6.00
5.71
5.00
4.00
3.02
3.00
2.00
1.00
1.57
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Modal Equations of Motion

y&&1 + 0.345 y&1 + 11.88 y1 = 1.22v&&g (t )
y&&2 + 0.966 y& 2 + 93.29 y 2 = 0.280v&&g (t )
y&&3 + 1.395 y& 3 + 194.83 y 3 = 0.060v&&g (t )
Modal Maxima
y1 = 1.22 * 5.71 = 6.966"

y 2 = 0.28 * 3.02 = 0.845"
y3 = 0.060 *1.57 = 0.094"
S p e c tra l D is p la c e m e n t, In c h e s
7.00
6.00
5.71 x 1.22
in.
5.00
4.00
3.02 x 0.28 in.
3.00
2.00 1.57 x 0.06 in.
1.00
0.00
0.00 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60 1.80 2.00
Period, Seconds
The scaled response

spectrum values give
the same modal maxima
as the previous time
histories.
10.00
5.00
0.00
Mode 1
T = 1.82
-5.00
-10.00
0
10
11
12
1.00
0.50
Mode 2
T = 0.65
0.00
-0.50
-1.00
0
10
10
11
12
0.15
Mode 3
T = 0.45
0.10
0.05
0.00
-0.05
-0.10
0
11
12
Computing Nonconcurrent Story Displacements
Mode 1
1.000
6.966
0.802
6.966
5.586
=
0.445
3.100
Mode 2
1.000
0.845
0.555
0.845
0.469
1.247
1.053
Mode 3
1.000
0.094
2.247 0.094 = 0.211

1.802
0.169
Modal Combination Techniques (For Displacement)
Sum of absolute values:
At time of maximum displacement
Exact
6.966 + 0.845 + 0.108 7.919
5.586 + 0.469 + 0.211 = 6.266

3.100 + 1.053 + 0.169 4.322
Square root of the sum of the squares
6.935
5.454
2.800
Envelope of story displacement
6.9662 + 0.8452 + 0.1082
7.02
2
2
2
5.586 + 0.469 + 0.211 = 5.61
2
2
2 3.28
3.100 + 1.053 + 0.169

6.935
5.675
2.965
Computing Interstory Drifts
Mode 1
6.966 5.586 1.380
5.586 3.100 = 2.486
3.100 0 3.100
Mode 2
0.845 (0.469) 1.314
0.469
(
1.053)
0.584
1.053 0 1.053
Mode 3
0.108 ( 0.211) 0.319
0.211 0.169 = 0.380

0.169 0
0.169
Computing Interstory Shears (Using Drift)
Mode 1
1.380(150) 207.0
2.486(150) = 372.9
3.100(150) 465.0
Mode 2
1.314(150) 197.1
0.584(150)
87.6
=
1.053(150) 157.9
Mode 3
0.319(150) 47.9
0.380(150)
57.0
0.169(150) 25.4
Computing Interstory Shears: SRSS Combination
2072 + 197.12 + 47.92
289.81
2
2
2
+
+
=
372.9
87.6
57
387.27
491.73
2
2
2
465 + 157.9 + 25.4

Exact
Exact
Exact
130.1
310.5
525.7
222.2
398.1
420.0
304.0
398.5
525.7
At time of
max. shear
At time of max.
displacement
Envelope = maximum
per story
ASCE 7 Allows an Approximate

Modal Analysis Technique Called the
Equivalent Lateral Force Procedure
Empirical period of vibration

Smoothed response spectrum
Compute total base shear, V, as if SDOF
Distribute V along height assuming regular
geometry
Compute displacements and member forces using
standard procedures
Method is based on first mode response.

Higher modes can be included empirically.
Has been calibrated to provide a reasonable
estimate of the envelope
of story shear, NOT to provide accurate
estimates of story force.
May result in overestimate of overturning
moment.
Assume first mode effective mass = total Mass = M = W/g

Use response spectrum to obtain total acceleration @ T1
Acceleration, g
Sa1
T1
Period, sec
W
= Sa1W
VB = (Sa1g )M = (Sa1g )
g

dr
Wx
hx
Assume linear first mode response
fx
hx
2 Wx
fx (t ) = d r (t )1
h
g
VB (t ) =
nstories
i =1
d r (t )12
fi (t ) =
hg
nstories
i =1
hiWi
Portion of base shear applied to story i
fx (t )
=
VB (t )
hxWx
nstories
i =1
hiWi
ELF Procedure Example

m1=1.0 k-s2/in
m2=1.5
k1=60 k/in
k2=120 k/in
3h
m3=2.0
Recall
T1 = 1.37 sec
k3=180 k/in
ELF Procedure Example

Total weight = M x g = (1.0 + 1.5 + 2.0) 386.4 = 1738 kips
Spectral acceleration = w2SD = (2p/1.37)2 x 3.47 = 72.7
in/sec2 = 0.188g
7.00
6.00
5.00
4.00
3.47 in.
3.00
2.00
1.00
1.37sec
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Base shear = SaW = 0.188 x 1738 = 327 kips

ELF Procedure Example (Story Forces)

386(3h )
= 0.381VB = 0.375(327) = 125 kips
f3 =
386(3h ) + 579(2h ) + 722(h )
W=386 k
W=579 k
3h
W=722 k
125 k
125 k
(220 k)
125 k
250 k
(215 k)
77 k
327 k
(331 k)
327 k
Story Shear (k)
ELF Procedure Example (Story Displacements)

Units = inches
Time History
(Envelope)
5.15
3.18
1.93
Modal Response
Spectrum
5.18
3.33
1.84
ELF
5.98
3.89
1.82
ELF Procedure Example (Summary)
ELF procedure gives good correlation with

base shear (327 kips ELF vs 331 kips modal
response spectrum).
ELF story force distribution is not as good.

ELF underestimates shears in upper stories.
ELF gives reasonable correlation with displacements.

Higher Mode Effects
1st Mode
=
2nd Mode
Combined
ASCE 7-05 ELF Approach
Uses empirical period of vibration

Uses smoothed response spectrum
Has correction for higher modes
Has correction for overturning moment
Has limitations on use
Approximate Periods of Vibration
Ta = Ct h
x
n
Ct = 0.028, x = 0.8 for steel moment frames

Ct = 0.016, x = 0.9 for concrete moment frames
Ct = 0.030, x = 0.75 for eccentrically braced frames
Ct = 0.020, x = 0.75 for all other systems
Note: For building structures only!
Ta = 0.1N
For moment frames < 12 stories in height, minimum
story height of 10 feet. N = number of stories.
Adjustment Factor on Approximate Period
T = TaCu Tcomputed
SD1
> 0.40g
0.30g
0.20g
0.15g
< 0.1g
Cu
1.4
1.4
1.5
1.6
1.7
Applicable only if Tcomputed comes from a properly

substantiated analysis.
ASCE 7 Smoothed Design Acceleration Spectrum

(for Use with ELF Procedure)
Spectral Response
Acceleration, Sa
V = CSW
SDS
Short
period
acceleration
1
SD1
Long period
acceleration
T = 0.2
T = 1.0
SDS
CS =
R
I

SD1
CS =
R
T
I
Varies
Period, T
R is the response modification factor, a

function of system inelastic behavior. This is covered
in the topic on inelastic behavior. For now, use
R = 1, which implies linear elastic behavior.
I is the importance factor which depends on the

Seismic Use Group. I = 1.5 for essential facilities,
1.25 for important high occupancy structures,
and 1.0 for normal structures. For now, use I = 1.
Distribution of Forces Along Height
Fx = CvxV
Cvx =
k
x
wxh
n
w h
i =1
k
i
k Accounts for Higher Mode Effects

k = 0.5T + 0.75
(sloped portion only)
k
2.0
1.0
0.5
2.5
Period, sec
k=2
k=1
ELF Procedure Example (Story Forces)

V = 327 kips
T = 1.37 sec
W = 386k
k = 0.5(1.37) + 0.75 = 1.435
146 k
(125 k)
146 k
W = 579k
120 k
(125 k)
266 k
3h
W = 722k
61 k
(77 k)
327 k
327 k
Story Shear (k)
ASCE 7 ELF Procedure Limitations

Applicable only to regular structures with T
less than 3.5Ts. Note that Ts = SD1/SDS.
Adjacent story stiffness does not vary more than 30%.

Adjacent story strength does not vary more than 20%.
Adjacent story masses does not vary more than 50%.
If violated, must use more advanced analysis (typically
modal response spectrum analysis).
ASCE 7 ELF Procedure

Other Considerations Affecting Loading
Orthogonal loading effects

Redundancy
Accidential torsion
Torsional amplification
P-delta effects
Importance factor
Ductility and overstrength

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Structural Dynamics of Linear Elastic

Multiple-Degrees-of-Freedom (MDOF) Systems

Instructional Material Complementing FEMA 451, Design Examples

Structural Dynamics of Elastic

Equations of motion for MDOF systems

Instructional Material Complementing FEMA 451, Design Examples

Symbol Styles Used in this Topic

Matrix or vector (column matrix)

Element of matrix or vector or set

(often shown with subscripts)

Instructional Material Complementing FEMA 451, Design Examples

Relevance to ASCE 7-05

Equivalent lateral force (ELF) analysis

ELF not allowed

Instructional Material Complementing FEMA 451, Design Examples

Planar Frame with 36 Degrees of Freedom

Instructional Material Complementing FEMA 451, Design Examples

Planar Frame with 36 Static Degrees of Freedom

Instructional Material Complementing FEMA 451, Design Examples

Development of Flexibility Matrix

Instructional Material Complementing FEMA 451, Design Examples

Development of Flexibility Matrix

Instructional Material Complementing FEMA 451, Design Examples

Development of Flexibility Matrix

d1,1 d1,2 d1,3

d3,1 d3,2 d3,3

Instructional Material Complementing FEMA 451, Design Examples

Concept of Linear Combination of Shapes

d1,1 d1,2 d1,3 f1

Instructional Material Complementing FEMA 451, Design Examples

DOF with mass

K n,mUm + K n,nUn = {0}

K m,mUm K m,nK K n,mUm = Fm

K m,m K m,nK K n,m Um = Fm

K = K m,m K m,nK n,nK n,m

Condensed stiffness matrix

Idealized Structural Property Matrices

Note: Damping to be shown later

Coupled Equations of Motion

&&(t ) + KU(t ) = F(t )

&&1(t ) + k1u1(t ) k1u2 (t ) = f1(t )

&&3 (t ) k 2u2 (t ) + k 2u3 (t ) + k 3u3 (t ) = f3 (t )

Instructional Material Complementing FEMA 451, Design Examples

Developing a Way To Solve

This will be done by a transformation of coordinates

Because of the orthogonality property of the natural mode

After solving, we can transform back to the normal

Instructional Material Complementing FEMA 451, Design Examples

Solutions for System in Undamped Free Vibration

&&(t ) + KU(t ) = {0}

M = {0} has three (n) solutions:

Solutions for System in Undamped Free Vibration

For ALL Modes

Note: Mode shape has arbitrary scale; usually

Mode Shapes for Idealized 3-Story Frame

Concept of Linear Combination of Mode Shapes

1,1 1,2 1,3 y1

Instructional Material Complementing FEMA 451, Design Examples

Development of Uncoupled Equations of Motion

&& + TCY& + T KY = T F(t )

Instructional Material Complementing FEMA 451, Design Examples

Development of Uncoupled Equations of Motion

Instructional Material Complementing FEMA 451, Design Examples