SEISMIC RESPONSE

1
Farzad Naeim Structural Dynamics for Practicing Engineers 1of 159

(Last RevisionDate: 5-26-2009)
Linear Dynamic Analysis
Farzad Naeim, Ph.D., S.E., Esq. Farzad Naeim, Ph.D., S.E., Esq.
Vice President and General Counsel Vice President and General Counsel
J ohn A. Martin & Associates, Inc. J ohn A. Martin & Associates, Inc.
Module Contents Module Contents
A. A. single degree of freedom (SDOF) dynamics single degree of freedom (SDOF) dynamics
B. B. response spectrum v. design spectrum response spectrum v. design spectrum
C. C. damping damping
D. D. multiple degree of freedom (MDOF) dynamics multiple degree of freedom (MDOF) dynamics
E. E. mode shapes mode shapes
F. F. mass participation mass participation
G. G. modal combinations modal combinations
H. H. earthquake response of SDOF and MDOF systems earthquake response of SDOF and MDOF systems
I. I. using elastic design spectrum in SDOF and MDOF systems using elastic design spectrum in SDOF and MDOF systems
2
References: References:
Primary References: Primary References:
Naeim, F. (ed), Naeim, F. (ed), The Seismic Design Handbook The Seismic Design Handbook, 2 , 2
nd nd
Edition, Edition,
Chapters 2 and 4 Chapters 2 and 4
FEMA 356 FEMA 356
Secondary References: Secondary References:
Chopra, A., Chopra, A., Dynamics of Structures Dynamics of Structures, 2 , 2
nd nd
Edition. Edition.
Chopra, A., Earthquake Chopra, A., Earthquake Dynamics of Structures Dynamics of Structures A Primer A Primer, 2 , 2
nd nd
Edition, EERI, Edition, EERI,
2005. 2005.
Paz, M. (ed.), Paz, M. (ed.), International Handbook of Earthquake Engineering, International Handbook of Earthquake Engineering, Chapter 2. Chapter 2.
Paz, M., Structural Dynamics Paz, M., Structural Dynamics
Naeim F. and Kelly, J ., Naeim F. and Kelly, J ., Design of Seismic Isolated Structures Design of Seismic Isolated Structures, Chapter 7. , Chapter 7.
Single-degree-of-freedom system
subjected to time-dependent force.
Static Equilibrium:
Dynamic Equilibrium:
Three Simplifying Assumptions
for SDOF:
1. Mass concentrated at the roof
2. Roof is Rigid
3. Axial Deformation of Columns
Neglected
kv p=
( ) ) ( ) ( ) ( ) ( t v t k t v c t u m t p + + =
STATIC AND DYNAMIC EQUILIBRIUM
3
Single-degree-of-freedom system
subjected to base motion.
) (t g m kv v c v m = + +
) (t g m
Response of a SDOF
system to earthquake
ground motion:
STATIC AND DYNAMIC EQUILIBRIUM
Rotating particle of mass
Mass Moment of
I nertia:
For a point mass
For a rigid body
}
= dm I
2
2
mr I =
ROTATIONAL PROPERTIES OF PARTICLES AND RIGID BODIES
4
b
2
1
2
1
3
2
0
ml
l =
lbt m =
abt m t
4
=
|
|
.
|
\
| +
=
16
2 2
0
b a
m l
2
2
0
mr
l =
2
rt m t =
lbt m =
12
2
0
l
m l =
Rigid-body mass and mass moment of inertia.
2
abt m=
|
|
.
|
\
| +
=
18
2 2
0
b a
m l
|
|
.
|
\
| +
=
12
2 2
0
b a
m l
abt m =
2
b
2
b
2
a
2
a
3
2b
3
b
3
a
2
2a
Example 1. (Determination of Mass
Properties)
Compute the mass and mass moment of
inertia for the rectangular plate
shown.
- Translational mass:
- Rotational mass moment of inertia:
5
SIMPLIFIED STIFFNESS PROPERTIES OF
LATERAL FORCE RESISTING ELEMENTS
Free vibration occurs when a structure oscillates under the Free vibration occurs when a structure oscillates under the
action of forces that are inherent in the structure without action of forces that are inherent in the structure without
any externally applied time any externally applied time- -dependent loads or ground dependent loads or ground
motions. motions.
These inherent forces arise from the initial velocity and These inherent forces arise from the initial velocity and
displacement the structure has at the beginning of the free displacement the structure has at the beginning of the free- -
vibration phase. vibration phase.
UNDAMPED STRUCTURES: UNDAMPED STRUCTURES:
FREE VIBRATION OF SDOF SYSTEMS
0 ) ( ) ( = + t kv t v m
0 ) ( ) (
2
= e + t v t v
or or
m k/
2
= e where where
t v t
v
t v e + e
e
= cos ) 0 ( sin
) 0 (
) (

Solution: Solution:
6
Free-vibration response of an undampedSDOF system.
f k
m
T
1
2
2
= t =
e
t
=
Natural vibration period of a SDOF system:
Several important concepts of oscillatory motion can be
illustrated with this result:
1. The amplitude of vibration is constant, so that the
vibration would, theoretically, continue indefinitely
with time. This cannot physically be true, because free
oscillations tend to diminish with time, leading to the
concept of damping.
2. The time it takes a point on the curve to make one
complete cycle and return to its original position is
called the period of vibration, T. The quantity e is the
circular frequency of vibration and is measured in
radians per second. The cyclic frequency f is defined as
the reciprocal of the period and is measured in cycles
per second, or hertz.
3. These three vibration properties depend only on the
mass and stiffness of the structure and are related as
follows:
Damped Structures: Damped Structures:
where where
This equation has the general solution: This equation has the general solution:
Percentage of Critical Damping Percentage of Critical Damping
0 ) ( ) ( ) ( = + + t kv t v c t v m

|
|
.
|
\
|
e +
e
e
e + =
e
t v
t
v v e t v
d
d
d t
cos ) 0 (
sin
] ) 0 ( ) 0 ( [ ) (
e
= =
m
C
C
C
cr
2
and and
2
1 e = e
d
Damped Circular Frequency Damped Circular Frequency
7
Example 2. Example 2.
Construct an idealized SDOF
model for the industrial building
shown in the figure, and estimate
the period of vibration in the two
principal directions. Note that
vertical cross bracings are made of
1-inch-diameter rods, horizontal
cross bracing is at the bottom chord
of trusses, and all columns are
W8 X24.
8
9
Free vibration response of a damped SDOF system.
e
= =
m
C
C
C
cr
2
Percentage of Percentage of
Critical Critical
Damping Damping
t =
+
= o 2
) 1 (
) (
ln
i v
i v
t
o
~
2
2
1 e = e
d
Logarithmic Decrement
Some Recommended Damping Values
10
( )
( )
( ) t t
k
g m
t v e | =
|
sin sin
1
1
2
0
=

|
e
=
|
2
1
1
1
(DLF) Factor ion Amplificat ynamic
2
~
=
=
D
Undamped
Damped
RESPONSE OF SDOF SYSTEMS TO HARMONIC LOADING
Undamped:
Resonance Resonance
response response
RESPONSE OF SDOF SYSTEMS TO HARMONIC LOADING
11
Bucharest (1977) ground acceleration.
RESPONSE OF SDOF SYSTEMS TO IMPULSE LOADING
The maximum response to an impulse load will generally be The maximum response to an impulse load will generally be
attained on the first cycle. attained on the first cycle.
For this reason, the damping forces do not have time to absorb For this reason, the damping forces do not have time to absorb
much energy from the structure. much energy from the structure.
Therefore, damping has a limited effect in controlling the Therefore, damping has a limited effect in controlling the
maximum response and is usually neglected when considering maximum response and is usually neglected when considering
the maximum response to impulse type loads. the maximum response to impulse type loads.
The rectangular pulse is a basic pulse shape. This pulse has a The rectangular pulse is a basic pulse shape. This pulse has a
zero (instantaneous) rise time and a constant amplitude, zero (instantaneous) rise time and a constant amplitude, p p
o o
, ,
which is applied to the structure for a finite duration which is applied to the structure for a finite duration t t
d d
. .
During the time period when the load is on the structure ( During the time period when the load is on the structure (t < t t < t
d d
) )
the equation of motion has the form: the equation of motion has the form:
Thereafter: Thereafter:
o
p kv v m = +
t t v t
t v
t v
d
d
e + e
e
= cos ) ( sin
) (
) (

d
t t t =
12
Maximum elastic response, rectangular and triangular load pulses.
Maximum
elasto-plastic
response, rectangular
load pulse.
13
EXAMPLE: ANALYSIS FOR IMPULSE BASE
ACCELERATION
Example 3. The three bay frame shown
in the figure is assumed to be pinned at
the base. It is subjected to a ground
acceleration pulse which has an
amplitude of 0.5g and a duration of 0.4
seconds. It should be noted that this
acceleration pulse is similar to one
recorded at the Newhall Fire Station
during the Northridge earthquake (1994).
The lateral resistance at ultimate load is
assumed to be elasto-plastic. The
columns are W10 x 54 with a clear
height of 15 feet and the steel is A36
having a nominal yield stress of 36 ksi.
Estimate the following:
(a) the displacement ductility demand
(b) the maximum displacement and
(c) the residual displacement.
ACCELERATION
14
in. 1 . 8 0 . 3 7 . 2
max
= = =
y
v v
ACCELERATION
Computed displacement time history
ACCELERATION
15
Short duration rectangular impulse.
RESPONSE OF SDOF SYSTEMS TO
GENERAL DYNAMIC LOADING
Differential impulse response.
( ) ( )
( )
( ) t t e t
e
t e
d t e g t v
d
t
t
=

}
sin
1
0

( ) ( )
( )
( )
( )
( )
( ) t t e
t
t t e t
t e t e
d t e
g
d t e g t v
d
t
t
d
t
t
+ =

} }
sin
1
cos
0
2
0

( ) ( )
( )
( )
( ) ( )
( )
( ) t t e
e t
t t e t e
t e t e
d t e
g
d t e g t v
d
t
t
d
t
t
d

+ =

} }
sin
1
2 1
cos 2
0
2
2
0

( ) ( )
( )
( ) ( ) t v d t e g t v
d
t
t
e t t e t
t e
~ ~

}
cos
0

( ) ( )( )
( )
( ) ( ) t v d t e g t v
d
t
t
2
0
2
sin 2 1 e t t e t e
t e
= ~

}

Can you tell how the maximum values are related?
For small damping:
Pseudo-Velocity
Pseudo-Acceleration
16
( ) ( ) t v t v
2
e =
If the damping term can be neglected as contributing little to the equilibrium equation,
the total acceleration can be approximated as
The effective earthquake force is then given as
) ( ) (
2
t v m t Q e =
The above expression gives the value of the base shear in a SDOF (i.e., a single-story
structure) at every instant of time during the earthquake time history under consideration.
The overturning moment acting on the base of the structure can be determined by
multiplying the inertia force by the story height
) ( ) (
2
t v hm t M e =
THE CONCEPT OF RESPONSE SPECTRUM
Consider a SDOF system:
AND
a given earthquake ground
motion:
17
18
19
COMBINED D-V-A RESPONSE SPECTRUM
(Single Damping Value)
COMBINED D-V-A RESPONSE SPECTRA
(Multiple Damping Values)
20
DISPLACEMENT RESPONSE SPECTRA
(Damping Values = 0%, 2%, 5%, 10% and 20%)
ACCELERATION RESPONSE SPECTRA OR BASE SHEAR
COEFFICIENTS ( = 0%, 2%, 5%, 10% and 20%)
21
FROM REPONSE SPECTRUM TO DESIGN SPECTRUM
AN EARLY ATTEMPT TO CONSTRUCT DESIGN SPECTRA
22
A TYPICAL NEWMARK-HALL DESIGN SPECTRA
TYPICAL DESIGN SPECTRUM DISPERSIONS
23
2001 CBC DESIGN SPECTRUM
IBC / CBC-2007/ ASCE 7 / ASCE-41 DESIGN SPECTRUM
24
IBC / CBC-2007/ ASCE 7 / ASCE-41 DESIGN SPECTRUM
Spectral displacement Spectral displacement
max
) (t v S
d
=
Maximum base shear Maximum base shear
Maximum overturning Maximum overturning
moment moment
d
S m Q
2
max
e =
d
S hm M
2
max
e =
Spectral pseudo Spectral pseudo- -velocity velocity
Spectral pseudo Spectral pseudo- -acceleration acceleration
d pv
S S e =
d pa
S S
2
e =
RECAP: RESPONSE SPECTRAL ENTITIES (SDOF)
25
Example 4: Example 4:
Using this design spectrum and
5% damping, find the maximum
base shear of the building in
Example 2.
RESPONSE SPECTRUM APPLICATION EXAMPLE (SDOF)
26
27
N-S:
T = 0.287 sec.
e =21.8 rad/sec,
f = 3.48 HZ
S
d
=v(t)
max
=0.42 in.
Q
max
=me
2
S
d
=
(0.485)(21.8)
2
(0.42) =96.8 kips
E-W:
T =0.23 sec,
e =27.2 rad/sec, f =4.3 Hz:
S
d
=0.28 in.
Q
max
= me
2
S
d
=
(0.485)(21.8)
2
(0.28) =64.5 kips
Generalized single-degree-of-freedom system
APPROXIMATE ANALYSIS BY REDUCTION OF MDOF
SYSTEMS TO EQUIVALENT SDOF SYSTEMS
28
factor ion participat earthquake =
=
i
i i
m| L
|
|
=
i
i i
i i
i
w
w
W
2
2
*
) (
=Effective Weight
GENERALIZED COORDINATES METHOD
L g p =
*
Effective Weight, Effective Mass and Effective Weight, Effective Mass and
Mass Participation Factor Mass Participation Factor
=
i
i i
i i
i
eff
m
m
M
2
2
) (
|
|
|
|
=
i
i i
i i
i
w
w
W
2
2
*
) (
=Effective Weight
=Effective Mass

=
i
i
i
i
eff
w
W
m
M
*
=Mass (or weight) Participation Factor
EFFECTIVE WEIGHT, MASS, AND
WEIGHT/MASS PARTICIPATION FACTORS
29
Possible shape functions based on aspect ratio.
GENERALIZED COORDINATES METHOD
Example 5 : Example 5 :
Considering the four-story, reinforced-
concrete moment frame building
shown, determine the generalized
mass, generalized stiffness, and
fundamental period of vibration in
the transverse direction using the
following shape functions:
(a)
(b)
.
) 2 / sin( ) ( L x x t = |
All beams are 12in. x 20 in. All columns are 14 in x 14 in.
f
c
=4000 psi, E
c
=3.6x10
6
. F
y
=60 ksi.
Floor weights (total dead load) =390 kips at the roof, 445 kipsat the fourth and third
levels, and 448 kips at the first level.
Live loads are 30 psf at the roof and 80 psf per typical floor level.
ASSUME BEAMS ARE RIGID RELATIVE TO COLUMNS
L x x / ) ( = |
EXAMPLE: CALCUALTION OF GENERALIZED PARAMETERS
30
Building of Example 5.
Assumed shape of column
deformation.
31
32
RAYLEIGHS METHOD
The idea here is to use the static deflected shape of the building given a lateral load distribution as
the deformed shape under dynamic loading. Everything else is thesame as the Generalized
Coordinate Method.
33
RAYLEIGHS METHOD
In an undamped elastic system, the
maximum potential energy can be
expressed in terms of the external
work done by the applied forces. In
terms of a generalized coordinate
this expression can be written as
2 2
) (
*
max
Y p
p
Y
PE
i i
= | =

Similarly, the maximumkinetic
energy can be expressed in terms
of the generalized coordinate as
2 2
) (
* 2 2
2
2 2
max
m Y
m
Y
KE
i
i i
e
= |
e
=

(According to the principle of
conservation of energy for an
undampedelastic system, these two
quantities must be equal to each other
and to the total energy of the system.
(A)
(B)
Y m
p
*
*
= e
*
*
2
p
Y m
T t =
t =
i i
i
i i
v p g
v w
T
2
2
Code Method B Formula
Frame of Example 5.
EXAMPLES: APPLICATION OF RAYLEIGHS METHOD
Example 6:
Use Rayleighs method to determine the
spatial shape function and estimate the
fundamental period of vibration in the
transverse direction for the reinforced-
concrete building given in Example 5.
We want to apply static lateral loads that are
representative of the inertial loads on the
building. Since the story weights are
approximately equal, it is assumed that the
accelerations and hence the inertial loads
vary linearly from the base to the roof.
Note that the magnitude of loads is irrelevant
and is chosen for ease of computation.
34
k/in 333 , 48
2
2
= =
L
AE
k
k/in 258 , 43
2
1
= =
L
AE
k
k/in 258 , 43
2
1
= =
L
AE
k
The building shown here is
subjected to vertical ground
acceleration. If the dead load
on all floors and roof is 2
kips/foot, calculate the
fundamental period of
vibration in the vertical
direction using the basic
Rayleighs Method.
5
@
1
2
=
6
0
W14x61
W14x61
W14x68
W14x68
W14x78
30
k/in 333 , 48
2
2
= =
L
AE
k
k/in 341 , 55
2
3
= =
L
AE
k
35
Solution: Solution:
0 0 0 0 0 0 Base Base
0.443 0.443
0.014 0.014
0.050 0.050
0.092 0.092
0.132 0.132
0.155 0.155
m m| |
2 2
0.297 0.297
0.272 0.272
0.203 0.203
0.152 0.152
0.076 0.076
| |
0.155 0.155
0.155 0.155
0.155 0.155
0.155 0.155
60/g=0.155 60/g=0.155
m m
11,698 11,698
E E
4881.6 4881.6 0.00542 0.00542 55341 55341
0.297 0.297 0.00542 0.00542 300 300 1 1
3575.9 3575.9 0.00497 0.00497 48333 48333
0.569 0.569 0.01039 0.01039 240 240 2 2
1991.8 1991.8 0.00372 0.00372 48333 48333
0.772 0.772 0.01411 0.01411 180 180 3 3
999.4 999.4 0.00217 0.00217 43258 43258
0.924 0.924 0.01688 0.01688 120 120 4 4
249.9 249.9 0.00139 0.00139 43258 43258
1.00 1.00 0.01827 0.01827 60 60 5 5
K K | |
2 2
| | v v k k P P STORY STORY
Solution: Solution:
sec. 039 . 0
698 , 11
443 . 0
2 2
*
*
= = = t t
k
m
T
( )( ) ( )( ) ( )( )
( )( ) ( )( )
( )( )
039 . 0
7 . 213
01827 . 0 443 . 0
2
7 . 213 297 . 0 60 569 . 0 60
772 . 0 60 924 . 0 60 0 . 1 60
2
*
*
*
= =
= + +
+ + + = =
=
t
|
t
T
P p
p
Y m
T
i i
OR
36
Displacements Displacements
Base Shear Base Shear
Forces Forces
Overturning Moment Overturning Moment
*
max
) (
) (
m
S x
x v
d
L |
=
|
|
=
i
i i
i i
i
w
w
W
2
2
*
) (
where
*
2
max
m
S
Q
pa
L
=
g S W Q
pa
/
*
max
= or or
CW Q =
max
L
i i
i
m
Q q
|
max
=
=
i
i i O
q h M
RESPONSE SPECTRUM ANALYSIS USING
GENERALIZED COORDINATES
Example 8.
Using the design spectrum
given, the shape function
determined in Example 6, and
the reinforced-concrete moment
frame of Example 5, determine
the base shear in the transverse
direction, the corresponding
distribution of inertia forces
over the height of the structure,
and the resulting overturning
moment about the base of the
structure.
rad/sec. 8.715
Hz, 39 . 1 / 1 sec., 721 . 0
= e
= = = T f T
From the design spectrum Spa =0.185g.
EXAMPLE: SPECTRUM ANALYSIS OF GENERALIZED
SDOF SYSTEM
37
= =
*
2
max
m
S
Q
pa
L
kips 84 . 88
666 . 0
) 4 . 386 )( 185 . 0 ( ) 827 . 0 (
2
=
Level m
i
|
i
2
i i
m|
m
i
|
i
m
i
|
i
/L q
max
V
max
4 0.252 1.000 0.252 0.252 0.305 27.10
27.10
3 0.288 0.866 0.226 0.255 0.308 27.36
54.46
2 0.288 0.685 0.135 0.197 0.238 21.14
75.60
1 0.288 0.428 0.053 0.123 0.149 13.24
0.666 0.827 88.84

L
i i
i
m
Q q
|
max
=
SDOF SYSTEM
kips ft 2716
) 12 ( 24 . 13 ) 5 . 22 ( 14 . 21
) 33 ( 36 . 27 ) 5 . 43 ( 10 . 27
=
+
+ + =
o
M
The displacement is
d d
S S m v o | | = = *) / (
max
L
where
in. 50 . 0 in. 80 . 0
in. 035 . 1 in. 168 . 1
168 . 1 ) 941 . 0 )( 242 . 1 (
242 . 1
666 . 0
827 . 0
941 . 0
) 715 . 8 (
) 4 . 386 )( 185 . 0 (
/ and /
1 2
3 4
2
* 2
= =
= =
= =
= =
= =
= =
v v
v v
v
S
m S S
i i i
d
pa d
| |
o
o e L
SDOF SYSTEM
38
EXAMPLE 8A: 1991 Problem A-2 (Page 101 of your book)
39
40
41
42
In many structural systems it is impossible In many structural systems it is impossible
to model the dynamic response accurately to model the dynamic response accurately
in terms of a single displacement in terms of a single displacement
coordinate. coordinate.
These systems require a number of These systems require a number of
independent displacement coordinates to independent displacement coordinates to
describe the displacement of the mass of describe the displacement of the mass of
the structure at any instant of time. the structure at any instant of time.
In order to simplify the solution it is In order to simplify the solution it is
usually assumed for building structures usually assumed for building structures
that the mass of the structure is lumped at that the mass of the structure is lumped at
the the center center of mass of the individual story of mass of the individual story
levels. levels.
This results in a diagonal matrix of mass This results in a diagonal matrix of mass
properties in which either the translational properties in which either the translational
mass or the mass moment of inertia is mass or the mass moment of inertia is
located on the main diagonal. located on the main diagonal.
ANALYSIS OF MULTI-DEGREE-OF-FREEDOM SYSTEMS (MDOF)
| |
(
(
(
(
(
(
(
(
(
=
n
m
m
m
m
M
.
.
.
3
2
1
43
A Crash Course on Matrix A Crash Course on Matrix
Algebra Algebra
http://numericalmethods.eng.usf.edu/matrixalgebrabook/frmMatrixDL.asp
Analogous to the case of SDOF systems:
| |{ } ) ( } ]{ [ } ]{ [ } ]{ [ t g M v K v C v M I = + +
Influence vector to be introduced later
In general case:
=
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

n
n
nn
n n n n
n n
n n
n
n
nn
n n n n
n n
n n
n
n
n
n
v
v
v
v
K
K K
K K K
K K K K
v
v
v
v
C
C C
C C C
C C C C
v
v
v
v
M
M
M
M
1
2
1
1 1 1
2 1 2 22
1 1 1 12 11
1
2
1
1 1 1
2 1 2 22
1 1 1 12 11
1
2
1
1
2
1
.
.
. . .
. . . .
. .
. .
.
.
. . .
. . . .
. .
. .
.
.
0
. . .
. . . .
0 0 . .
0 0 . . 0

( ) t g
M
M
M
M
n
n
n
n

I
I
I
I
(
(
(
(
(
(
(
(
1
2
1
1
2
1
.
.
0
. . .
. . . .
0 0 . .
0 0 . . 0
S
y
m
m
e
t
r
i
c
S
y
m
m
e
t
r
i
c
S
y
m
m
e
t
r
i
c
S
y
m
m
e
t
r
i
c
Actually, in general 3-D analysis, each element of the above matrices could be a
6x6 matrix.
44
(
(
(
(
(
(
(
(
=
xy
zx
yz
z
y
x
I
I
I
M
M
M
M
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
1
1
1
1
For example,
and { }
=
xy
zx
yz
z
y
x
v
v
v
v
1
1
1
1
1
1
1
u
u
u
It is also convenient for building structures to develop the It is also convenient for building structures to develop the
structural stiffness matrix in terms of the stiffness matrices o structural stiffness matrix in terms of the stiffness matrices of f
the individual story levels. the individual story levels.
The simplest idealization for a The simplest idealization for a multistory multistory building is based on building is based on
the following three assumptions: the following three assumptions:
(i) the floor diaphragm is rigid in its own plane; (i) the floor diaphragm is rigid in its own plane;
(ii) the girders are rigid relative to the columns, and (ii) the girders are rigid relative to the columns, and
(iii) the columns are flexible in the horizontal directions but (iii) the columns are flexible in the horizontal directions but rigid in rigid in
the vertical. the vertical.
If these assumptions are used, the building structure is If these assumptions are used, the building structure is
idealized as having three dynamic degrees of freedom at each idealized as having three dynamic degrees of freedom at each
story level: story level:
a translational degree of freedom in each of two orthogonal a translational degree of freedom in each of two orthogonal
directions, and a rotation about a vertical axis through the directions, and a rotation about a vertical axis through the center center
of mass. of mass.
If the above system is reduced to a plane frame, it will have on If the above system is reduced to a plane frame, it will have one e
horizontal translational degree of freedom at each story level. horizontal translational degree of freedom at each story level.
45
The stiffness matrix for this type of structure has the tri The stiffness matrix for this type of structure has the tri - -diagonal diagonal
form shown below: form shown below:
. .
. . .
. . .
. . .
1
1
4 3 2 3
3 2 1 2
2 1
(
(
(
(
(
(
(
(
(
(
(
+

+
+

n n n
n
k k k
k
k k k k
k k k k
k k
Stiffness Matrix for a 2-D Shear Building
First Floor
Roof
The short version is that for all our applications The short version is that for all our applications MDOFs MDOFs can can
be converted to a series of be converted to a series of SDOFs SDOFs. .
The process is very similar to Generalized Coordinates The process is very similar to Generalized Coordinates
approach. approach.
The difference is that you get one SDOF for each mode you The difference is that you get one SDOF for each mode you
consider. consider.
In spectrum analysis, since maximum modal responses are In spectrum analysis, since maximum modal responses are
not simultaneous and the time is lost we have to estimate not simultaneous and the time is lost we have to estimate
the maximum total response. the maximum total response.
SRSS and CQC are two way to estimate maximum modal SRSS and CQC are two way to estimate maximum modal
responses. responses.
Everything else is basically the same although it looks a Everything else is basically the same although it looks a
whole lot more complicated. whole lot more complicated.
46
MDOF SYSTEMS: MODE SHAPES AND FREQUENCIES
The equations of motion for undamped free vibration of a multiple-degree-of-
freedom (MDOF) system can be written in matrix form as
} 0 { } ]{ [ } ]{ [ = + v K v M (A)
Since the motions of a system in free vibration are simple harmonic, the
displacement vector can be represented as
t v v e = sin } { } {
(B)
Differentiating twice with respect to time results in
} { } {
2
v v e = (C)
Substituting Equation (C) into Equation (A) results in a form of the eigenvalue
equation,
( ) } 0 { } { ] [ ] [
2
= e v M K (D)
In order to have a nontrivial solution, the determinant of the coefficient matrix must
be zero:
} 0 { ]) [ ] det([
2
= e M K (E)
MDOF SYSTEMS:
MODE SHAPES AND FREQUENCIES CALCULATION EXAMPLE
Example 9:
It is assumed that the response in the transverse
direction for the reinforced-concrete moment
frame of Example 5 can be represented in terms
of four displacement degrees of freedom which
represent the horizontal displacements of the
four story levels. Determine the stiffness matrix
and the mass matrix, assuming that the mass is
lumped at the story levels. Use these properties
to calculate the frequencies and mode shapes of
the four-degree-of-freedom system.
. .
. . .
. . .
. . .
1
1
4 3 2 3
3 2 1 2
2 1
(
(
(
(
(
(
(
(
(
(
(
+

+
+

n n n
n
k k k
k
k k k k
k k k k
k k
47
MDOF SYSTEMS:
. .
. . .
. . .
. . .
1
1
4 3 2 3
3 2 1 2
2 1
(
(
(
(
(
(
(
(
(
(
(
+

+
+

n n n
n
k k k
k
k k k k
k k k k
k k
(
(
(
(

=
349 209 0 0
209 418 209 0
0 209 418 209
0 0 209 209
] [K
(
(
(
(
=
16 . 1 0 0 0
0 15 . 1 0 0
0 0 15 . 1 0
0 0 0 01 . 1
4
1
] [M
(
(
(
(

= e
B
B
B
B
M K
16 . 1 74 . 1 05 . 1 0 0
05 . 1 15 . 1 09 . 2 05 . 1 0
0 05 . 1 15 . 1 09 . 2 05 . 1
0 0 05 . 1 01 . 1 05 . 1
200 ] [ ] [
2
where B = e
2
/800
MDOF SYSTEMS:
0 486 . 0 430 . 6
2
476 . 11
3
183 . 6
4
0 ] [ ] [
2
= + +
= e
B B B B
M K
sec 124 . 0
4
, 800 . 50
4
,
800
2
4
225 . 3
4
sec 155 . 0
3
, 388 . 40
3
,
800
2
3
039 . 2
3
sec 244 . 0
1
, 768 . 25
2
,
800
2
2
830 . 0
2
sec 744 . 0
1
, 438 . 8
1
,
800
2
1
089 . 0
1
= = e
e
= =
= = e
e
= =
= = e
e
= =
= = e
e
= =
T B
T B
T B
T B
Solution with
ETABS:
=
107 . 0
152 . 0
268 . 0
838 . 0
} {T
T
2
=0.244 sec
48
MDOF SYSTEMS:
Mode shapes are obtained by substituting the values of B
i
, one at a time, into the
equations
} 0 { } ]){ [ ] ([
2
= e v M K
and determining N-1 components of the displacement vector in terms of the first
component, which is set equal to unity. This results in the modal matrix
(
(
(
(

= u
92 . 0 24 . 1 05 . 1 47 . 0
75 . 1 75 . 0 78 . 0 74 . 0
78 . 1 07 . 1 20 . 0 91 . 0
00 . 1 00 . 1 00 . 1 00 . 1
] [
Solution with ETABS:
(
(
(
(

= u
92 . 0 24 . 1 05 . 1 47 . 0
75 . 1 75 . 0 78 . 0 74 . 0
78 . 1 07 . 1 20 . 0 91 . 0
00 . 1 00 . 1 00 . 1 00 . 1
] [
MDOF SYSTEMS:
ORTHOGONALITY OF MODES
Bettisreciprocal work theorem can be used to develop two orthogonality
properties of vibration mode shapes
and
It is further assumed for convenience that
) ( } 0 { } ]{ [ } { n m M
m
T
n
= = | |
) ( } 0 { } ]{ [ } { n m K
m
T
n
= = | |
) ( } 0 { } ]{ [ } { n m C
m
T
n
= = | |
49
As we will see, orthogonalityreduces:
=
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

n
n
nn
n n n n
n n
n n
n
n
nn
n n n n
n n
n n
n
n
n
n
v
v
v
v
K
K K
K K K
K K K K
v
v
v
v
C
C C
C C C
C C C C
v
v
v
v
M
M
M
M
1
2
1
1 1 1
2 1 2 22
1 1 1 12 11
1
2
1
1 1 1
2 1 2 22
1 1 1 12 11
1
2
1
1
2
1
.
.
. . .
. . . .
. .
. .
.
.
. . .
. . . .
. .
. .
.
.
0
. . .
. . . .
0 0 . .
0 0 . . 0

( ) t g
M
M
M
M
n
n
n
n

I
I
I
I
(
(
(
(
(
(
(
(
1
2
1
1
2
1
.
.
0
. . .
. . . .
0 0 . .
0 0 . . 0
S
y
m
m
e
t
r
i
c
S
y
m
m
e
t
r
i
c
S
y
m
m
e
t
r
i
c
S
y
m
m
e
t
r
i
c
MDOF SYSTEMS:
ORTHOGONALITY OF MODES
to:
=
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

n
n
n
n
n
n
n
n
n
n
n
n
v
v
v
v
K
K
K
K
v
v
v
v
C
C
C C
C
v
v
v
v
M
M
M
M
*
*
.
.
*
*
0 . . 0 0
0 . . 0 0
. . . . . .
. . . . . .
0 0 . .
0 0 . . 0
*
*
.
.
*
*
0 . . 0 0
0 . . 0 0
. . . . . .
. . . . . .
0 . . 0
0 0 . . 0
*
*
.
.
*
*
0 . . 0 0
0 . . 0 0
. . . . . .
. . . . .
0 0 . . 0
0 0 . . 0
1
2
1
*
*
1
*
2
*
1
1
2
1
*
*
1
0
*
1
*
1
1
2
1
*
*
1
*
2
*
1

( ) t g
n
n

L
L
L
L
1
2
1
.
.
or nset of independent equations.
This is a monumental achievement which drastically reduces the necessary
computational efforts.
The stiffness matrix and the shape of the first mode of
vibration of a two degree of freedom system are given
below. Find the shape of the second mode.
| |
(

=
)
`
=
)
`
2 3
3 10

6 . 0
0 . 1
1
1
K
b
a
|
|
MDOF SYSTEMS:
ORTHOGONALITY OF MODES EXAMPLE
50
Solution: Solution:
{ } | |{ } { }
{ }
)
`
= = = =
=
)
`
=
)
`
)
`
=
)
`

=
56 . 4
0 . 1
56 . 4
8 . 1
2 . 8
0 . 1
0 8 . 1 2 . 8
0
0
8 . 1 2 . 8
0
0
2 3
3 10
6 . 0 0 . 1
0
2 2 2
2 2
2
2
2
2
2 1
| | |
| |
|
|
|
|
| |
b a
b a
b
a
b
a
T
K
MDOF SYSTEMS:
ORTHOGONALITY OF MODES EXAMPLE
MDOF SYSTEMS:
DYNAMIC RESPONSE USING MODAL SUPERPOSITION
Since any MDOF system having N degrees of freedom also has N independent
vibration mode shapes, it is possible to express the displaced shape of the
structure in terms of the amplitudes of these shapes by treatingthem as
generalized coordinates (sometimes called normal coordinates). Hence the
displacement at a particular location, v
i
, can be obtained by summing the
contributions from each mode as
( ) ( ) t Y t v
N
n
n in i
=
=
1
|
In a similar manner, the complete displacement vector can be expressed as
( ) ( ) ( )} ]{ [ } { } {
1
t Y t Y t v
N
n
n n
u = =
=
|
Resulting in
)} ( { } ]{ ][ [ } ]{ ][ [ } ]{ ][ [ t P Y K Y C Y M = u + u + u

or
)} ( { } { } ]{ ][ [ } {
} ]{ ][ [ } { } ]{ ][ [ } {
t P
T
n
Y K
T
n
Y C
T
n
Y M
T
n
| = u | +
u | + u |

51
MDOF SYSTEMS:
EARTHQUAKE TIME HISTORY ANALYSIS
As in the case of SDOF systems
vector of influence coefficients of which component i represents the
acceleration at displacement coordinate i due to a unit ground acceleration at
the base. For the simple structural model in which the degrees of freedom are
represented by the horizontal displacements of the story levels, this vector
becomes a unity vector, {1}, since for a unit ground acceleration in the
horizontal direction all degrees of freedom have a unit horizontal acceleration.
) ( } ]{ [ ) ( t g M t P
e
I =
For earthquake ground motions:
) ( ) (
*
t g t P
n en
L =
where
} ]{ [ } { I | = M
T
n n
L
MDOF SYSTEMS:
DYNAMIC RESPONSE USING MODAL SUPERPOSITION
Using the orthogonalityconditions reduces this set of equations to the equation
of motion for a generalized SDOF system in terms of the generalized properties
for the nth mode shape and the normal coordinate Y
n
:
where the generalized properties for the nth mode are given as
) (
* * * *
t P Y K Y C Y M
n n n n n n
= + +

)} ( { } { loading d generalize ) (
} ]{ [ } {
stiffness d generalize
2 } ]{ [ } {
damping d generalize
} ]{ [ } { mass d generalize
n
*
* 2
*
*
n
*
n
*
t P t P
M K
K
M C
C
M M
T
n
n n n
T
n
n
n n n n
T
n
n
T
n
| = =
e = | | =
=
e = | | =
=
| | = =
52
MDOF SYSTEMS:
By substitution: * 2
/ ) ( 2
n n n n n n n n
M t g Y Y Y

L = + + e e
J ust as was the case for SDOF systems, response of each mode canbe calculated
from
n n
n n
n
M
t V
t Y
e
*
) (
) (
L
=
where
}
t t e t =
t e
t
n
t
n
d t e g t V
n n
0
) (
) ( sin ) ( ) (
The complete displacement of the structure at any time is then obtained by
superimposing the contributions of the individual modes
=
u = | =
N
n
n n
t Y t Y t v
1
)} ( ]{ [ ) ( } { )} ( {
The resulting earthquake forces can be determined in terms of the effective
accelerations
*
2
) (
) ( ) (
n
n n n
n n ne
M
t V
t Y t Y
e
e
L
= =
) ( } { )} ( { t Y t v
ne n ne

| =
MDOF SYSTEMS:
the corresponding effective modal earthquake force is given as
*
/ ) ( } ]{ [
)} ( ]{ [ )} ( {
n n n n n
n n
M t V M
t v M t q
L e | =
=
The total earthquake force is obtained by superimposing the individual modal
forces
=
e u = =
N
n
n
t Y M t q t q
1
2
) ( ] ][ [ ) ( ) (
The base shear can be obtained by summing the effective earthquake forces over
the height of the structure:
) (
)} ( { } 1 { ) ( ) (
1
t V M
t q t q t Q
n n en
H
i
n
T
in n
e =
= =
=
Where is the effective mass for the nth mode
* 2
/
n n en
M M L =
53
MDOF SYSTEMS:
THE CONCEPT OF EFFECTIVE MASS
The sum of the effective masses for all of the modes is equal tothe total mass of
the structure.
This results in a means of determining the number of modal responses necessary
to accurately represent the overall structural response.
If the total response is to be represented in terms of a finite number of modes and
if the sum of the corresponding modal masses is greater than a predefined
percentage of the total mass, the number of modes considered in the analysis is
adequate.
If this is not the case, additional modes need to be considered.
Codes generally require that enough modes be considered so that 90% of total
mass is participating in response.
* 2
/
n n en
M M L =
The base shear for the nth mode, can also be expressed in terms of the effective
weight, W
en
, as
MDOF SYSTEMS:
) ( ) ( t V
g
W
t Q
n n
en
n
e =
where
( )
=
=
|
|
=
H
i
in i
H
i
in i
en
W
W
W
1
2
2
1
The base shear can be distributed over the height of the building using modal
earthquake forces
n
n n
n
t Q M
t q
L
) ( } ]{ [
)} ( {
|
=
54
The equations for the response of any mode of vibration are exactly equivalent to the
expressions developed for the generalized SDOF system. Therefore, the maximum
response of any mode can be obtained in a manner similar to that used for the generalized
SDOF system.
MDOF SYSTEMS:
RESPONSE SPECTRUM ANALYSIS
The maximum modal displacement:
dn
n
n
n
S
t V
t Y =
e
=
max
max
) (
) (
*
max
/
n dn n n
M S Y L = or
* max max
} {
} { } {
n
dn n n
n n n
M
S
Y v
L |
= | =
Distribution of modal displacements throughout the structure:
Maximum effective modal earthquake forces:
* max
} ]{ [
} {
n
pan n n
n
M
S M
q
L |
=
Maximum modal earthquake base shear:
( )
* 2
max
/
n pan n n
M S Q L =
g S W Q
pan en n
/
max
=
or
Maximum modal overturning moment:
| |{ }
*
/
n pan n n o
M S M h M L | =
MDOF SYSTEMS: RESPONSE SPECTRUM ANALYSIS
COMBINATION OF MODES
Take another look at a
response or design
spectrum.
We have achieved simplicity
of engineering at a cost
because a significant
parameter is missing on a
response or design spectrum
graph.
What is that significant
parameter?
55
Because maximum modal responses rarely occur at the same time
we need to find a reasonable approach to combine modal
responses for engineering purposes.
A conservative approach would be to use the sum of the absolute
values (SAV) of the modal responses:
A more reasonable approach based on probability theory is to use
the square-root-of-the-sum-of-the-squares (SRSS) method.
SRSS gives a good approximation of the response for
two-dimensional structural systems.
=
s
N
n
n
r r
1
=
~
N
n
n
r r
1
2
For three-dimensional systems, it has been shown that the
complete-quadratic-combination (CQC) method may offer a
significant improvement in estimating the response of certain
structural systems. The complete quadratic combination is
expressed as
= =
~
N
i
N
j
j ij i
r p r r
1 1
where
2 2 2 2
2 / 3 2
) 1 ( 4 ) 1 (
) 1 ( 8
, + , + ,
, , +
=
ij
p
and
cr
i j
c c/
/
=
e e = ,
56
MDOF SYSTEMS: EXAMPLE OF
RESPONSE SPECTRUM ANALYSIS / COMBINATION OF MODES
A small two story frame structure is shown. Each
story is known to deflect 0.10 inches under a 10-
kips story shear. Plan dimensions are 20x20 and
the story heights are 12 ft. each. The first floor
weighs 92 kips and the roof weighs 86 kips.
Assume the structure has 7% damping and use a
two-degree of freedom mathematical model and
the design spectrum shown to calculate:
1. The mode shapes and frequencies of the
structure
2. Modal displacements, story shears and
base shears
3. SAV, SRSS and CQC values of the base
shear for the structure.
Source: ModifiedfromanSE ExamProblem, 1990.
SOLUTI ON:
x
2
x
1
m
1
m
2
k
2
k
1
x
2
x
1
m
1
m
2
k
2
k
1
Mathematical
Model
} 0 { ]) [ ] det([
2
= M K e
| |
(

=
(
+
=
100 100
100 200
1 2
2 2 1
k k
k k k
K
| |
(
=
(
=
86 0
0 92
1
0
0
2
1
g M
M
M
(

=
(

=
B
B
g
M K
86 100 100
100 92 200
86 0
0 92
100 100
100 200
] [ ] [
2
2
e
e
( )( ) 0 10000 86 100 92 200 = B B
;
g
B
2
e
=
0 10000 26400 7912
2
= + B B
)
`
=
0.436
2.901
B
)
`
=
12.97
33.46
e
)
`
=
0.484
0.188
T
Fundamental period
57
Mode Shape 1 (normalized at roof):
0 ] [ ] [
2
1 2
1
=
)
`
x
x
M K e
0
0 . 1 86 100 100
100 92 200
1
2
2
=
)
`

x
B
B
)
`
=
0 . 1
625 . 0
1
|
Mode Shape 2 (normalized at roof):
x
2
=1.0
x
1
= 0.63
x
2
=1.0
x
1
= 0.63
0 ] [ ] [
2
1 2
1
=
)
`
x
x
M K e
0
0 . 1 86 100 100
100 92 200
1
1
1
=
)
`

x
B
B
)
`
=
0 . 1
495 . 1
2
|

Modal Masses:
M1 |
1
T
M |
1
:= M1 0.316 =
M2 |
2
T
M |
2
:= M2 0.755 =
Modal Participation:
L1 |
1
T
M I := L1 0.372 =
L2 |
2
T
M I := L2 0.579 =
Modal Displacements
v1 |
1
L1
Sd
1
M1
:= v1
0.472
0.755
|
\
|
|
.
=
v2 |
2
L2
Sd
2
M2
:= v2
0.123
0.082
|
\
|
|
.
=
Modal Accel erations:
a1 e
1
( )
2
v1 := a1
79.495
127.192
|
\
|
|
.
=
a2 e
2
( )
2
v2 := a2
137.128
91.724
|
\
|
|
.
=
58
Modal Story Shears:
q1 M a1 := q1
18.947
28.338
|
\
|
|
.
= V1 18.947 28.338 + 47.285 :=
q2 M a2 := q2
32.683
20.436
|
\
|
|
.
= V2 32.683 20.436 + 53.119 :=

SAV of Base Shear:
V 47.285 53.119 + := V 100.404 =
SRSS of Base Shear:
V 47.285 ( )
2
53.119 ( )
2
+ := V 71.116 =

CQC of Base Shear:
0.05 := ,
1
e
1
e
2
e
2
e
1
1
|
\
|
|
|
|
|
.
:=
,
1
0.388
2.574
1
|
\
|
|
.
=
p
8
2
1 ,
0 0 ,
+ ( ) ,
0 0 ,
( )
1.5
1 ,
0 0 ,
( )
2
2
4
2
,
0 0 ,
1 ,
0 0 ,
+ ( )
2
+
8
2
1 ,
1 0 ,
+ ( ) ,
1 0 ,
( )
1.5
1 ,
1 0 ,
( )
2
2
4
2
,
1 0 ,
1 ,
1 0 ,
+ ( )
2
+
8
2
1 ,
0 1 ,
+ ( ) ,
0 1 ,
( )
1.5
1 ,
0 1 ,
( )
2
2
4
2
,
0 1 ,
1 ,
0 1 ,
+ ( )
2
+
8
2
1 ,
1 1 ,
+ ( ) ,
1 1 ,
( )
1.5
1 ,
1 1 ,
( )
2
2
4
2
,
1 1 ,
1 ,
1 1 ,
+ ( )
2
+
(
(
(
(
(
(
(
(
:=
59
p
1
9.228 10
3
9.228 10
3
1
|
\
|
|
|
.
=
V V1p
0 0 ,
V1
( )
V1p
0 1 ,
V2
( )
+ V2p
1 0 ,
V1
( )
+ V2p
1 1 ,
V2
( )
+ :=
V 71.441 =
MDOF SYSTEMS: EXAMPLES OF
The first two mode shapes and
frequencies of the structure shown to
the right are given. If the building is
subjected to an earthquake with the
response spectrum shown for motions
in the horizontal direction, compute
the R.M.S. of the maximum
displacement and moment at point B.
Neglect the effect of gravity.
S
v
T
0.6 1.6
1.6 ft/sec
1.2 ft/sec
S
v
T
0.6 1.6
1.6 ft/sec
1.2 ft/sec
S
v
T
0.6 1.6
1.6 ft/sec
1.2 ft/sec
1.5 L
L
L
M
M 3M
v
A
v
B
v
C
T
2
T
1
)
`
=
6 . 8
0 . 3
2
n
e
(
(
(
=
25 . 6 08 . 0
58 . 7 33 . 0
0 . 1 0 . 1
in
|
60
EXAMPLE 12 CONTINUED
SOLUTI ON:
n
v
n
n
n n
S
M e
| u
L
= { } I = M
T
n n
| L
{ }
)
`
(
(
(

=
83 . 13
41 . 0
1
1
0
25 . 6 58 . 7 00 . 3
08 . 0 33 . 0 00 . 3
1
1
0
0 0
0 0
0 0 3
25 . 6 58 . 7 1
08 . 0 33 . 0 1
M M
M
M
M
L
n
T
n n
M M | | =
(
(
(

=
(
(
(
(
(
(

=
25 . 6 08 . 0
58 . 7 33 . 0
1 1
25 . 6 58 . 7 3
08 . 0 33 . 0 3
25 . 6 08 . 0
58 . 7 33 . 0
1 1
0 0
0 0
0 0 3
25 . 6 58 . 7 1
08 . 0 33 . 0 1
M
M
M
M
M
n
(
=
52 . 99 0
0 12 . 3
M M
n
{ }
)
`
=
2 . 1
6 . 1
v
S
;
;
)
`
=
6 . 8
0 . 3
2
n
e and
n
v
n
n
n n
S
M e
| u
L
=
( )( )( )
( )
in
M
M
B
48 . 0
3 12 . 3
12 6 . 1 41 . 0
33 . 0
1
= = u
( ) ( ) in SRSS
B
19 . 5 17 . 5 48 . 0
2 2
= + = u
( )
* max
} ]{ [
} {
n
v n n
n
M
S M
q
e | L
=
( )
( )( )( )
( )
in
M
M
B
17 . 5
6 . 8 52 . 99
12 2 . 1 83 . 13
58 . 7
2
=
= u
( )( )( )( )( )
M
M
M M
q
A
11 . 13
12 . 3
12 6 . 1 3 41 . 0 0 . 1 3
max
1
=
=
( )( )( )( )( )
M
M
M M
q
A
61 . 17
52 . 99
12 2 . 1 6 . 8 83 . 13 0 . 1 3
max
2
=

=
( ) ML L M M
B
67 . 19 5 . 1 11 . 13
max
1
= =
( ) ML L M M
B
42 . 26 5 . 1 61 . 17
max
2
= =
( ) ( ) ML ML M SRSS
B
94 . 32 42 . 26 67 . 19
2 2
= + =
61
Review Problems Review Problems
EXAMPLE 13
Source: (ConstantinouM.C., ReinhornA.M., andWhittaker A.S., PassiveEnergyDissipationfor Seismic/WindDesignandRetrofit Basic Principles, PaceClassNotes,
Multidisciplinary Center for EarthquakeEngineeringResearchformerly NCEER)
36 = u
w =27 kN=6000 lbs, T
el
=0.5 sec
36 = u
w =27 kN=6000 lbs, T
el
=0.5 sec
D D
u C F ' =
D
F
D
u
D D
u C F ' =
D
F
D
u
D D
u C F ' =
D
F
D
u
1. 1. Find the equivalent modal damping ratio, , for the portal frame below.
2. 2. Does the addition of this damping device change the natural period of the system?
Assume C = 176.6 lbs/in/sec
SOLUTI ON:
e
m
C
2
=
u cos = u u
D
u
u
u cos = u u
D
u
u
u cos u C u C F
D D
' = ' =
D
F
u cos
D
F
D
F
u cos
D
F
u u
2
cos cos u C F F
D
' = =
62
Therefore,
( )
( )
( )
% 30 296 . 0
5 . 0
2
386
6000
2
36 cos 6 . 176
2
36 cos
2
~ =

=
'
=
t e

g W
C
( ) e e e e 95 . 0 30 . 1 1
2 2
= = =
d
Viscous damping does not affect natural frequency significantly.
The structural system shown below is modeled as a shear-building with three degrees of
freedom. The mass is distributed uniformly but the stiffness of columns is only partially
known. However, the first and the third mode shapes of vibration are given. Calculate
the second mode shape of this structure.
m
m
m=1.0 kips/in/sec
2
k
3
= 50 kips/in
m
m
m=1.0 kips/in/sec
2
k
3
= 50 kips/in
=
2 . 0
4 . 0
0 . 1
,
0 . 1
,
3 . 0
7 . 0
0 . 1
3
1
2 2 1
| | |
x
x
EXAMPLE 14
63
SOLUTI ON:
j i for M
j
T
i
= = 0 | |
| |
(
(
(
=
1 0 0
0 1 0
0 0 1
M
= + =
= + + =
0 . 0 2 . 0 4 . 0 0 . 1 0 . 0
0 . 0 3 . 0 7 . 0 0 . 1 0 . 0
1 2 3 2
1 2 2 1
x x
x x
T
T
| |
| |
=
231 . 4
385 . 0
000 . 1
2
|
EXAMPLE 15
A steel frame is shown below, together with its fundamental modeshape and a design
response spectrum. The frame has a fundamental period of vibration of 0.35 seconds.
Determine story forces, base shear, modal and mass participationfactors.
100 K
200 K
200 K
200 K
0.3
0.6
0.8
1.0
0.0
0.1
0.1
0.2
0.2
0.3
0.3
0.4
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Period (sec.)
S
p
e
c
t
r
a
l

A
c
c
e
l
e
r
a
t
i
o
n

(
g
)
Source: ModifiedfromCaliforniaSE B, 1973, ProblemB1
64
SOLUTI ON:
Only first-mode response is needed.
( ) { } | |

= =
2
max
i i
i i
pan i
i
n i
W
W
S
g
W
t q F
|
|
|
Floor W, kips | | W
2
| W
i
F , kips Story Shear
Roof 100 1.00 100 100 41.52 41.52
Forth 200 0.8 160 128 66.43 107.95
Third 200 0.6 120 72 49.82 157.77
Second 200 0.3 60 18 24.91 182.68
E 700 440 318 182.68
At Roof,
( )( ) 52 . 41
318
440
30 . 0 00 . 1
100
= = g
g
F
i 41.52 k
66.43 k
49.82 k
24.91 k
BaseShear, V =182.68 k
41.52 k
66.43 k
49.82 k
24.91 k
BaseShear, V =182.68 k
Modal Participation Factor:
384 . 1
318
440
2
= =
i i
i i
W
W
|
|
Mass / Weight Participation Factor:
( )
87 . 0
700
318
440
/
2
* 2
=
(
= =
M
M
M
M
n n en
L
The figure below represents a three-story building with plan dimensions of 100x100.
The effective dead load on each floor is shown on the figure.
Assume the following matrices:
180 lb/ sq. ft.
180 lb/ sq. ft.
180 lb/ sq. ft.
(
(
(
= u
000 . 1 000 . 1 000 . 1
610 . 1 725 . 0 950 . 1
387 . 0 657 . 0 860 . 2
Mode Shape Matrix:
Modal Frequency Matrix:
{ } sec /
7 . 61
5 . 38
1 . 15
rad
(
(
(
= e
1. Determine the base shear and mass participation factor for each mode by using the
design response spectrum with 5% damping.
2. Determine the lateral load at each level at each mode.
3. What is the reasonable value for design base shear?
(
Source: ModifiedfromCaliforniaSE 1977ProblemA7
EXAMPLE 16
65
PSV for 0%, 2%, 5% and 10% Cri ti cal Dampi ng
0
5
10
15
20
25
30
35
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
Period (sec.)
P
S
V

(
i
n
.
/
s
e
c
)
Design Spectra:
SOLUTI ON:
|
|
.
|
\
|
= =
2 2
i i
i i vn
i i
i i
i i
pan i
i
i
W
W
g
S
W
W
W
S
g
W
F
|
| e
|
|
|
|
First Mode:
% 5 sec / 25
. sec 416 . 0
2
sec / 1 . 15
= =
= = =
e
t
e
for in S
T rad
vn
( )( )
977 . 0
4 . 386
25 1 . 15
= =
g
S
vn
e
441 . 0
21086
9288
2
= =
i i
i i
W
W
|
|
430 . 0 441 . 0 977 . 0
2
= =
|
|
.
|
\
|
i i
i i
vn
W
W
g
S
|
|
e
( ) 430 . 0
i i i
W F | =
Level W, kips | | W
2
| W
i
F , kips
Roof 1800 2.86 5148 14723 2215.4
Second 1200 1.95 2340 4563 1007.0
First 1800 1.0 1800 1800 774.6
E 4800 9288 21086 3997.0
2215.4 k
1007.0 k
774.6 k
First-ModeBaseShear, V =3997.0 k
2215.4 k
1007.0 k
774.6 k
First-ModeBaseShear, V =3997.0 k
( )
85 . 0
4800
21086
9288
/
2
* 2
=
(
= =
M
M
M
M
n n en
L
66
SOLUTI ON:
|
|
.
|
\
|
= =
2 2
i i
i i vn
i i
i i
i i
pan i
i
i
W
W
g
S
W
W
W
S
g
W
F
|
| e
|
|
|
|
Second Mode:
( )
14 . 0
4800
7 . 3207
4 . 1487
/
2
* 2
=
(
= =
M
M
M
M
n n en
L
% 5 sec / 9
. sec 163 . 0
2
sec / 5 . 38
= =
= = =
e
t
e
for in S
T rad
vn
( )( )
897 . 0
4 . 386
9 5 . 38
= =
g
S
vn
e
464 . 0
7 . 3207
4 . 1487
2
= =
i i
i i
W
W
|
|
416 . 0 464 . 0 897 . 0
2
= =
|
|
.
|
\
|
i i
i i
vn
W
W
g
S
|
|
e
( ) 416 . 0
i i i
W F | =
Level W, kips | | W
2
| W
i
F , kips
Roof 1800 -0.657 -1182.6 776.97 -491.9
Second 1200 0.725 870 630.75 361.9
First 1800 1.000 1800 1800 748.7
E 4800 1487.4 3207.7 618.7
491.9 k
361.9 k
748.7 k
Second-ModeBaseShear, V =618.7 k
491.9 k
361.9 k
748.7 k
Second-ModeBaseShear, V =618.7 k
SOLUTI ON:
|
|
.
|
\
|
= =
2 2
i i
i i vn
i i
i i
i i
pan i
i
i
W
W
g
S
W
W
W
S
g
W
F
|
| e
|
|
|
|
Third Mode:
( )
01 . 0
4800
1 . 5180
6 . 564
/
2
* 2
=
(
= =
M
M
M
M
n n en
L
% 5 sec / 5
. sec 102 . 0
2
sec / 7 . 61
= =
= = =
e
t
e
for in S
T rad
vn
( )( )
798 . 0
4 . 386
5 7 . 61
= =
g
S
vn
e
109 . 0
1 . 5180
6 . 564
2
= =
i i
i i
W
W
|
|
087 . 0 109 . 0 798 . 0
2
= =
|
|
.
|
\
|
i i
i i
vn
W
W
g
S
|
|
e
( ) 087 . 0
i i i
W F | =
Level W, kips | | W
2
| W
i
F , kips
Roof 1800 0.387 696.6 269.6 60.6
Second 1200 -1.61 -1932 3110.5 -168.0
First 1800 1.000 1800 1800 156.6
E 4800 564.6 5180.1 49.2
60.6 k
168.0 k
156.6 k
Third-ModeBaseShear, V = 49.2 k
60.6 k
168.0 k
156.6 k
Third-ModeBaseShear, V = 49.2 k
67

2215.4k
1007.0k
774.6k
First-ModeBaseShear, V=3997.0k
2215.4k
1007.0k
774.6k
First-ModeBaseShear, V=3997.0k

491.9k
361.9k
748.7k
Second-ModeBaseShear, V=618.7k
491.9k
361.9k
748.7k
Second-ModeBaseShear, V=618.7k

60.6k
168.0k
156.6k
Third-ModeBaseShear, V =49.2k
60.6k
168.0k
156.6k
Third-ModeBaseShear, V =49.2k
SRSS Base Shear:
kips 9 . 4044 2 . 49 7 . 618 3997
2 2 2
= + +
296 K
197 K
99 K
W=1000 kips
W=1200 kips
W=1200 kips
W=1200 kips
329 K
0.75
0.50
0.25
1.00
A
A structural steel plane rigid frame is shown below. The centers of gravity of story weights
are at the respective roof and floor levels. Lateral forces andcorresponding total deflections
are shown on the figure. All story heights are 12 ft. Calculate the natural period of the frame
using the Rayleighs Method.
SOLUTI ON:
=
i
i i
i
i i
p g
w
T
v
v
t
2
2
Level i w, kips
i
p , kips
i
v , in
2
i i
wv
i i
pv
4 1000 329 1.000 1000.00 329.00
3 1200 296 0.75 675.00 222.00
2 1200 197 0.50 300.00 98.50
1 1200 99 0.25 75.75 24.75
2050.00 674.25
. sec 557 . 0
) 25 . 674 )( 4 . 386 (
2050
2 = = t T
EXAMPLE 17
Source: ModifiedfromCaliforniaSE A, 1980, ProblemA7
68
EXAMPLE 18
The figure below represents a three-story building. The effective dead loads are shown on
each floor. The following dynamic properties of the plane frameare given:
Eigenvectors,
(
(
(

= u
984 . 0 385 . 1 572 . 0
697 . 1 704 . 0 220 . 1
714 . 0 208 . 1 690 . 1
| | I M
T
= u u
Eigenvalues, { } sec /
13 . 48
18 . 25
77 . 8
rad
(
(
(
= e
1. Compute the mass participation factors
2. How can you check that your participation
factors are correct?
3. Calculate the displacements of each floor
based on the spectra given above.
4. Calculate the interstorydrift for each floor
Source: ModifiedfromCaliforniaSE A, 1982, ProblemA6.
SOLUTI ON:
1. Mass participation factors
Modal participation is:
| |{ }
| |u u
I u
=
M
M
MPF
T
T
| |
(
(
(
=
120 0 0
0 80 0
0 0 80
4 . 386
1
M
| |{ }
| |
(
(
(
(
(
(
(
(
(
(
(
(
=
u u
I u
1
1
1
1
1
1
4 . 386
120
4 . 386
80
4 . 386
80
984 . 0 697 . 1 714 . 0
385 . 1 704 . 0 208 . 1
572 . 0 22 . 1 69 . 1
M
M
T
T
69
| |{ }
| |

)
(
(
(

=
u u
I u
103 . 0
326 . 0
780 . 0
1
1
1
306 . 0 351 . 0 148 . 0
430 . 0 146 . 0 250 . 0
178 . 0 253 . 0 349 . 0
M
M
T
T
( )
( )
( )
84 . 0
72 . 0
780 . 0
4 . 386
120 80 80
1
780 . 0
2
2
1
= =
+ +
= MPF
( )
15 . 0
72 . 0
326 . 0
2
2
= = MPF
( )
00 . 0
72 . 0
103 . 0
2
3
=
= MPF
2. Check Mass participation factors
The participation factors are in decreasing order with increasing mode shapes, and for all
three modes of the frame are considered:
00 . 1 99 . 0 0 . 0 15 . 0 84 . 0
3 2 1
~ = + + = + + MPF MPF MPF
3. Floor Displacements
. sec
13 . 0
25 . 0
72 . 0
2
(
(
(
= =
e
t
T
d pa
S
g
g
g
S
2
40 . 0
80 . 0
15 . 0
e =
(
(
(
=
{ } { }
{ } | |{ }
dn
n
T
n
n n
S
M
M
v
* max
I
=
|
|
{ } in
g
v
= |
.
|
\
|
=
337 . 0
718 . 0
995 . 0
77 . 8
15 . 0
) 781 . 0 (
572 . 0
220 . 1
690 . 1
2 max 1
{ } ( ) in
g
v
= |
.
|
\
|
=
220 . 0
112 . 0
192 . 0
18 . 25
80 . 0
326 . 0
385 . 1
704 . 0
208 . 1
2 max 2
{ } ( ) in
g
v
= |
.
|
\
|
=
007 . 0
012 . 0
005 . 0
13 . 48
40 . 0
102 . 0
984 . 0
697 . 1
714 . 0
2 max 3
{ } in v
SAV
(
(
(
=
564 . 0
842 . 0
192 . 1
{ } in v
SRSS
(
(
(
=
403 . 0
728 . 0
013 . 1
70
4. InterstoryDrifts
1
=
i floor i floor
v v ISD
(
(
(
=
(
(
(
=
(
(
(
=
0066 . 0
0180 . 0
0162 . 0
220 . 0
108 . 0
304 . 0
337 . 0
382 . 0
276 . 0
3 2 1 Mode Mode Mode
ISD ISD ISD
{ }
(
(
(
=
564 . 0
508 . 0
596 . 0
SAV
ISD { }
(
(
(
=
403 . 0
397 . 0
411 . 0
SRSS
ISD
EXAMPLE 19
A radio tower may be idealized as a weightless cantilever supporting three masses as shown.
The mode shapes and periods of the first two modes of vibration of the structure are as
follows:
S
o
u
r
c
e
:
A
n

o
l
d

U
S
C

/

U
C
B

E
x
a
m

P
r
o
b
l
e
m
.
| |
(
(
(
= u
8 . 0 1 . 0
4 . 1 4 . 0
0 . 1 0 . 1
{ } . sec
6 . 0
6 . 1
)
`
= T
Spectral velocities of these two modes of vibration are as shownin the sketch for a given
earthquake and 5% of critical damping in each mode. Determine an approximation of the
maximum displacement at point c using the SRSS method of mode superposition and
considering the two modes of vibration.
a
b
c
.10
.20
.15
in
s k
2
in
s k
2
in
s k
2
S
v
T
0.6 1.6
1.6 ft/sec
1.2 ft/sec
a
b
c
.10
.20
.15
in
s k
2
in
s k
2
in
s k
2
a
b
c
.10
.20
.15
in
s k
2
in
s k
2
in
s k
2
S
v
T
0.6 1.6
1.6 ft/sec
1.2 ft/sec
S
v
T
0.6 1.6
1.6 ft/sec
1.2 ft/sec
71
SOLUTI ON:
n
v
n
n
n n
S
M e
| u
L
= { } 1 M
T
n n
| = L
{ }
)
`
(
(
(

=
27 . 0
18 . 0
1
1
1
16 . 0 21 . 0 1 . 0
02 . 0 06 . 0 1 . 0
1
1
1
20 . 0 0 0
0 15 . 0 0
0 0 10 . 0
8 . 0 4 . 1 1
10 . 0 40 . 0 1
L
n
T
n n
M M | | =
(
(
(

=
(
(
(
(
(
(

=
8 . 0 1 . 0
4 . 1 4 . 0
1 1
16 . 0 21 . 0 1 . 0
02 . 0 06 . 0 1 . 0
8 . 0 1 . 0
4 . 1 4 . 0
1 1
2 . 0
15 . 0
1 . 0
8 . 0 4 . 1 1
10 . 0 40 . 0 1
n
M
(
=
522 . 0 0
0 126 . 0
n
M
{ }
)
`
=
2 . 1
6 . 1
v
S
T
t
e
2
=
)
`
=
47 . 10
927 . 3
e
;
;
n
v
n
n
n n
S
M e
| u
L
=
( )( )( )
( )( )
in
c
698 . 0
927 . 3 126 . 0
12 6 . 1 180 . 0
1 . 0
1
= = u
( )( )( )
( )( )
in
c
569 . 0
47 . 10 522 . 0
12 2 . 1 270 . 0
8 . 0
2
=
= u
in
c
901 . 0 569 . 0 698 . 0
2 2
= + = u
72
EXAMPLE 20
Source: AnoldUSC / UCB ExamProblem.
A piece of process equipment in an oil refinery consists of a rigidcylinder 75 feet long with concentrated
weights of 50 kipsat each end. For the purpose of this analysis it may be assumed that the cylinder itself
is weightless. It may further be assumed that the cylinder is supported by a frictionless pivot at a point
one third of its height above the base and that it is constrained against rotation by two lateral springs at
the base which have spring rate of 100 kips/foot.
K K K = 100 kips/foot
50 kips
50 kips
5
0
2
5
K K K = 100 kips/foot
50 kips
50 kips
5
0
2
5
If the structure is
subjected to an
earthquake having a
spectral velocity of 0.8
feet/secondat its
fundamental period,
determine the maximum
bending moment
developed at the pivot
point. Neglect damping.
SOLUTI ON:
|= -1/2
|= 1
|= -1/2 |= -1/2
|= 1 |= 1
ft
k
K K
i i
50
2
1
100
2
1
100
2
1
100
2 2
2 *
= |
.
|
\
|
= |
.
|
\
|
+ |
.
|
\
|
= =
|
( ) 94 . 1 25 . 1
2 . 32
50
2
1
1
2 . 32
50
2
2 2 *
= =
(
(
|
.
|
\
|
+ = =
i i
M M |
08 . 5
94 . 1
50
*
*
= = =
M
K
e 78 . 0
2
1
1
2 . 32
50
=
(
|
.
|
\
|
+ = =
i i
M| L
ft
M
S
Y
v
063 . 0
08 . 5 94 . 1
8 . 0 78 . 0
* max
=
=
e
L
2 max
2
max
sec
64 . 1
ft
Y Y = = e

2 max max
sec
64 . 1
ft
Y = =

| u
( ) kips M F 541 . 2 64 . 1
2 . 32
50
max
= = = u
kips ft Moment = = 127 50 541 . 2
73
EXAMPLE 21
Source: Chopra, A.K., Dynamicsof Structures, TheoryandApplicationsto EarthquakeEngineering, SecondEdition, PrenticeHall, Page416.
Determine the natural periods and modes of vibration of the structure below:
b
y
x
u
x
u
y
u
u
e
( ) t u
gy

d/2
d/2
Frame B
Frame C
F
r
a
m
e

A
b
y
x
u
x
u
y
u
u
y
x
y
x
u
x
u
y
u
u
ee
( ) t u
gy
( ) t u
gy

d/2
d/2
Frame B
Frame C
F
r
a
m
e

A
The structure is a one-story building. It consists of a roof, idealized as a rigid diaphragm,
supported on three frames, A, B, and C, as shown. The roof weight is uniformly distributed
and has a magnitude of 100 lb/ft
2
. The lateral stiffnessesof the frames are:
Ky= 75 kips/ft for frame A, and
Kx= 40 kips/ft for frames Band C
The plan dimensions are b = 30
ft and d = 20 ft. the eccentricity
is e = 1.5 ft, and the height of the
building is 12 ft.
( ) t u
I
m
y
u
k ek
ek k
u
u
I
m
gy
o
y
y
y y y
o

)
`
=
)
`
+
)
`
0
1
u uu u
b
y
x
u
x
u
y
u
u
e
( ) t u
gy

d/2
d/2
FrameB
FrameC
F
r
a
m
e

A
b
y
x
u
x
u
y
u
u
y
x
y
x
u
x
u
y
u
u
ee
( ) t u
gy
( ) t u
gy

d/2
d/2
FrameB
FrameC
F
r
a
m
e

A
( )
12
2 2
d b m
I
o
+
=
x y
k
d
k e k
2
2
2
+ =
uu
kips w 60 100 20 30 = =
ft kips g w m
2
sec 863 . 1 = =
( )
2
2 2
sec 825 . 201
12
=
+
= ft kips
d b m
I
O
The lateral motion of the roof diaphragm in the x-direction is governed by:
0 2 = +
x x x
u k u m
sec / 553 . 6
863 . 1
) 40 ( 2 2
rad
m
k
x
x
= = = e
The coupled lateral (u
y
)-torsional (
u
u ) motion of the roof diaphragm is governed by:
74
kips ek
y
5 . 112 75 5 . 1 = =
ft kips k
d
k e k
x y
= + = 75 . 8168
2
2
2
uu
( ) t u
u
u
u
u
gy
y y

)
`
=
)
`
+
)
`
0
1
825 . 201
863 . 1
75 . 8168 5 . 112
5 . 112 75
825 . 201
863 . 1
u u
With stiffness and mass matrices known, the eigenvalueproblem for this two-DOF system
could be solved to obtain:
sec / 878 . 5
1
rad = e sec / 794 . 6
3
rad = e
)
`
=
0493 . 0
5228 . 0
1
|
)
`
=
0502 . 0
5131 . 0
3
|
0.523
0.049
0.513
0.050
1.0
sec / 878 . 5
1
rad = e sec / 794 . 6
3
rad = e sec / 553 . 6
2
rad = e
0.523
0.049 0.049
0.513
0.050
0.513
0.050
1.0 1.0
sec / 878 . 5
1
rad = e sec / 794 . 6
3
rad = e sec / 553 . 6
2
rad = e
75
EXAMPLE 22 (SI UNITS)
Source: ModifiedfromArmouti, N. S., EarthquakeEngineering, TheoryandImplementation, PrintedinJ ordan, 2004, Pages38-45.
The structure shown is idealized as a two degree of freedom system. Calculate the
maximum SRSS base shear and base moment if the structure is excited by a base
excitation having the response spectrum shown below in the Z-Z direction.
L
2L
1
.
0
m m
v
2
v
1
EI
Z
Z
EQ
M = 15 kN.S
2
/m
EI = 1500 kN.m
2
L = 1 m
EI
0.447
-
0
.
8
9
4
0
2
4
6
8
10
12
14
0.00 0.50 1.00 1.50 2.00 2.50
Peri od (sec)
S
A

(
m
/
s
/
s
)
Note that the members are considered to be axially
rigid but joint rotations are not ignored.
SOLUTI ON:
1. Mass Matrix
Apply unit acceleration to each DOF and calculate the
corresponding inertial forces. Note that the acceleration
of all other DOFsmust be kept zero.
| |
(
=
1 0
0 2
m M
2. Stiffness Matrix
Stiffness matrix may be calculated in a variety of ways.
We use the Flexibility Method here.
Apply unit force in the direction of each DOF, then
find displacements accordingly using any convenient
structural analysis method.
)
`
=
)
`
2
1
22 21
12 11
2
1
F
F
f f
f f
v
v
f
s1
= 1
f
11
f
21
EI
L
f
3
8
3
11
=
EI
L
f
3
21
2
=
76
Source: Chopra, A.K., Dynamicsof Structures, TheoryandApplicationsto EarthquakeEngineering, SecondEdition, PrenticeHall, Page416.
f
s2
= 1
f
12
f
22
EI
L
f
3
12
2
=
EI
L
f
3
7
3
22
=
The resulting flexibility matrix is:
| |
(
=
7 6
6 8
3
3
EI
L
F
The stiffness matrix is the inverse of the flexibility
matrix:
| |
(

=
8 6
6 7
20
3
3
L
EI
K
3. Mode shapes and Frequencies
| | | | 0
2
= M K e
0
1 0
0 2
8 6
6 7
20
3
2
3
=
(

m
L
EI
e
{ } rad/sec
58 . 12
77 . 3
258 . 1
377 . 0
3
)
`
=
)
`
=
mL
EI
e | | | |
(
= = u
35 . 2 85 . 0
1 1
2 1
| |
{ } I = M
T
n n
| L
n
T
n n
M M | | =
*
* max
} ]{ [
} {
n
an n n
n
M
S M
q
L |
=
4. Modal Base Shear and Base Moment
where and
{ }( ) 01 . 2
894 . 0
447 . 0
1 0
0 2
15 85 . 0 0 . 1
1
=
)
`
= L
MODE 1:
{ }( ) 84 . 40
85 . 0
0 . 1
1 0
0 2
15 85 . 0 0 . 1
*
1
=
)
`
= M
m/sec 2 . 2 sec. 67 . 1
2
77 . 3
1
1
1 1
= = = =
a
S T
e
t
e
( ) ( )( )
kN
37 . 1
23 . 3
84 . 40
2 . 2 01 . 2
85 . 0
0 . 1
1 0
0 2
15
max 1
)
`
=
)
`
= q
3.23 kN
1.37 kN
M=7.83 kN.m
V=3.23 kN
kN.m 7.83 1.37(1) 3.23(2) M
kN 23 . 3
= + =
= V
Mode 1
77
{ }( ) 85 . 44
894 . 0
447 . 0
1 0
0 2
15 35 . 2 0 . 1
2
=
)
`
= L
MODE 2:
{ }( ) 98 . 112
35 . 2
0 . 1
1 0
0 2
15 35 . 2 0 . 1
*
2
=
)
`
= M
m/sec 10 sec. 50 . 0
2
2
2 58 . 12
2 2
= = = =
a
S T
e
t
e
( ) ( )( )
kN
140
120
98 . 112
10 85 . 44
35 . 2
0 . 1
1 0
0 2
15
max 2
)
`
=
)
`
= q
kN.m 100 (1) 40 1 120(2) M
kN 120
= =
= V
120 kN
140 kN
M=100 kN.m
V=120 kN
Mode 2
5. Maximum SRSS Base Shear and Base Moment
( ) ( ) ( ) ( ) kN.m 100.31 100 83 . 7 M and kN 04 . 120 120 23 . 3
2 2
max
2 2
max
= + = = + = V
EXAMPLE 23: CALCULATION OF MASS AND STIFFNESS MATRICES
Source: Humar, L.H., Dynamicsof Structures, 2
nd
Edition, A.A. BalkemaPublishers, Lisse, 2002., pp92-93.
The uniform rigid rectangular slab
of total mass mshown in the Figure
is supported by three massless
columns rigidly attached to the slab
and fixed at the base. The columns
have a flexural rigidity of EI about
each of the two principal axes,
which are oriented so that they are
parallel to the adjacent sides of the
rectangle.
Evaluate the mass and stiffness
matrices for the system in
coordinates v
1
, v
2
, and v
3
defined at
the center of mass.
a
EI
v
1
v
2
v
3
L
EI
EI
b
m
78
v
1
v
2
v
3
k
k
k
k
k
3
12
L
EI
k =
SOLUTI ON:
EXAMPLE 23 (CONTINUED)
To obtain the first column of the
stiffness matrix, we impose a unit
displacement in the direction of
coordinate 1 and identify the
internal spring forces that oppose
the displacement.
k
11
k
21
k
31
1
1
= u
1
1
= u
k
k k
2 2 2
2
0
3
31
21
11
a
k
a
k
a
k k
k
k k
= =
=
=
Similarly, to obtain the second
column of the stiffness matrix, we
impose a unit displacement in the
direction of coordinate 2 and
identify the internal spring forces
that oppose the displacement.
k
12
k
22
k
32
1
2
= u
1
2
= u
k
k k
2 2 2
2
3
0
32
22
12
b
k
b
k
b
k k
k k
k
= + =
=
=
79
To obtain the third column of the
stiffness matrix, we impose a unit
rotation in the direction of
coordinate 3 and identify the
internal spring forces that oppose
the rotation.
( )
2 2
2 2
33
23
13
4
3
2
3
2
3
2
2
b a k
a
k
b
k k
b
k k
a
k k
+ = |
.
|
\
|
+ |
.
|
\
|
=
=
=
1
3
= u
2
ka
k
k
13
k
23
k
33
2
b
2
b
2
a
2
a
2
kb
2
kb
2
ka
2
kb
2
ka
| |
( )
3
2 2
12
where
4
3
2 2
2
3 0
2
0 3
L
EI
k
b a
b a
b
a
k K =
(
(
(
(
(
(
+
=
| |
( )
12
where
0 0
0 0
0 0
2 2
0
0
b a
I
I
m
m
M
+
=
(
(
(
=
80
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