University of Engineering and Technology Peshawar, Pakistan

University of Engineering and Technology
Peshawar, Pakistan
CE-409: Introduction to Structural Dynamics and
Earthquake Engineering
MOD!E 4:
UNDAMPED & DAMPED FREE VIBRATIONS IN
S.D.O.F SYSTEMS
Prof. Dr. Akhtar Naeem Khan & Prof. Dr. Mohammad
Javed
drakhtarnaeem@nwfpuet.edu.pk mjaved@nwfpuet.edu.pk

1
CE-409: MODULE 4 (Fall-2013)
2
Undamped Free Vibration
We will first consider the case where there is no load acting on the
Structure i.e. p(t)=0. This case is known as free vibration.
The trivial solution for this case is where there is no displacement
of the structure at t=0 i.e. u(t) = 0
0 ku u m +
There are several was of obtaining a solution to this second
order differential e!uation. The simplest is to assume that the
solution of the e!uation is of following form
st
"e u(t)
3
n
#
m
k
m
k
s i i t t t
0 ) ("e k) m (s
st $
+
0 k m s
$
+
Substituting this solution into the e!uation of motion (given
on previous slide) result in%
& rearranging%
Since ' onl possibilit is that
& solving one get
The variable #
n
is known as the natural circular frequency and the
units are radians(second.
0 "e
st
0 k"e ) "e m(s

st st $
+
4
0 k m s
$
+ )nserting in
and solving we get%
The above after further simplification results in%
This is the solution of e!uation of motion of undamped free
vibration in the form of Simple *armonic +otion with an angular
velocit #
n
n
# s i t
t #
$
t #
1
n n
e " e " u(t)
-i i
+
t) &Sin(# t) ,-os(# u(t)
n n
+
5
Initial Conditions
The constants A and B can be found b evaluating the solution at
two different times or more commonl from the velocit and
displacement at time t = 0
t) &Sin(# t) ,-os(# u(t)
n n
+
&Sin0 ,-os0 u(0) u(t) 0' ,t + t
u(0) ,
6
Initial Conditions
t) # ( Sin
#
(0) u
t) u(0)-os(# u(t)
n
n
n

+
.sing the value of A / B in e!uation given in slide 0 results in%
t) -os(# &# t) Sin(# ,# 1 (t) u Similarl'
n n n n
+
-os0 &# Sin0 ,# 1 (0) u (t) u ' 0 ,t
n n
+ t
n
#
(0) u
&

7
Amplitude of displacement during undamped
free vibration
[ ]
$
n
$
o
#
(0) u
u(0) u
1
]
1
+

)t can be determined that the amplitude (i.e. peak value) of
displacement during undamped free vibration is%
u
o
(0) u
(0) u
8
Element forces f
s
(t) from displacements u(t)
2ne of the most appealing approach for calculating element
forces in a structural sstem is to use Equivalent Static force
approach.
,ccording to this approach' at an instant of time t the
e!uivalent static force f
s
is the e3ternal force that will produce the
deformation u at the same t in the stiffness component of structure
(i.e.' the sstem without mass and damping). Thus
k.u(t) (t) f
s

Where k is the lateral stiffness of the structure. 4lement forces or
stresses can be determined at each instant of time b the static
analsis of the structure sub5ected to the force f
s
.
9
Element forces f
s
(t) from displacements u(t)
6ariation of displacement with
time in an undamped sstem
6ariation of corresponding
e!uivalent static forces with
time' fs(t).
fs(t) = k.u(t)
10
Natural frequencies and Periods of free vibration
The 7atural -ircular 8re!uenc #
n
is not a convenient measure for
most engineers. The preferred usage is the 7atural 8re!uenc f
n

which is usuall measured in ccles(second (cps) or *ert9
*owever' in earth!uake engineering the preferred measure of the
dnamic characteristic of structures is the 7atural :eriod of free
vibration T
n
measured in units of seconds.
$;
#
f
n
n

n n
n
#
$;
f
1
T
11
Natural Period of free vibration
a b
c
d e
,mplitude'uo
a
b
c
d
e
n
n
2
T
(0) u
Time, t (sec.)
12
Alcoa Building' San Francisco
Steel structure' $< stories.
eriods of !ibration%
Trans!erse (east1west)% $.$1 sec
"ongitudinal (north1south)% 1.<= sec
Torsional% 1.1$ sec

Natural period of free vibration
13
#olden #ate Bridge, San Francisco
Steel structure' center span of 0$00
feet.
eriods of !ibration%
Trans!erse% 1>.$ sec
$ertical % 10.? sec
"ongitudinal% @.>1 sec
Torsional% 0.0@ sec

14
%ule of t&umb'
(atural Time eriod (sec) ) (umber of Stories * +0
e.g. a 1A stor building has a fundamental period of appro3imatel
1.A seconds. This applies primaril to moment frame buildings.
This rule is ver rough' but is good for understanding the general
ballpark.
15
roblem ,-.+
, beam shown in 8igure is pulled for B inch in the downward direction
and then suddenl released to vibrate freel. Cetermine natural time :eriod
of the sstem and develop and solve the e!uation of motion for vibrations
resulting at free end.
,lso develop the e!uation showing variation in the Equivalent static forces
with time. What will be the amplitude of e!uivalent static forceD )gnore the
self weight of beam as well as damping effect. Take . = $?'000 ksi and
/ = 1A0 in
0
.
0
st
1 Ceflection due to 1000 lb static load
.
+000 lb
2 3
+04
E
st
Static 4!uilibrium position
Solution (,-.+)
16
m
k
k
p(t)
kuF
17
18
19
$ariation of dis5lacement 6it& time (roblem ,-.+)
20
$ariation of .7ui!alent static Forces 6it& time (roblem ,-.+)
21
roblem ,-.2'
-onsidering free vibration' solve the e!uation of motion developed
for the frame given in :roblem ,8.8. ,lso develop an e!uation
showing variation with the Equivalent static forces.
What will be the amplitude of e!uivalent static force if the
Cisplacement and velocit (which occur in the same direction D) at
the start of free vibration are 0.00@ ft and 0.$ ft(sec.' respectivel
.
/' 1Aft
/' 10ft
p(t)
$0 ft
22
Solution (,-.2)
23
24
$ariation of dis5lacement 6it& time (roblem ,-.2)
25
$ariation of .7ui!alent static forces 6it& time (roblem ,-.2)
26
Response of damped systems to
free vibrations
27
The e!uation of free vibration for damped free vibration has the form
0 ku u c u m + +
The solution to this e!uation will be taken in the same form as for
the undamped form i.e
st
"e u(t)
Viscously Damped Free Vibration
Substituting this value in e!uation of motion result in%
0 k"e ) c(s"e ) "e m(s
st st st $
+ +
28
& rearranging we get%
0 ) k)("e sc m (s
st $
+ +
Since 0 "e
st
0 k sc m s
$
+ +
$ $
$ $
m 0
km 0
m 0
c
$m
c
1
$m
0km c c 1
s or t
t

& rearranging%
$
n
n n
n
$m#
c
1 1 # #
$m#
c
s
1
]
1
t
.sing the relation k = m#
n
$

$
n
$
$
#
m 0
c
$m
c
1 s t
29
cr n
c $m#
is known as -ritical damping coefficient

n
$m#
c
where
("reek alphabet for Zeta) is known as
$
n n
1 1 # # s t
Where is known as damped natural fre!uenc and
represented b #
C
$
n
1 1 #
C n
# # s or t
damping ratio or fraction of critical damping' which when
substituted in the e!uation mentioned on previous slide gives%
30
n
$m# c >
n
$m# c
There are @ forms of solution available depending on the magnitude
of the damping coefficient c
+
2
8
n
$m# c <
9riticall: dam5ed s:stem
;!er dam5ed s:stem
<nder dam5ed s:stem
31
n
$m# c
Critically damped system
The structure is said to be Critically damped.
There is no vibration in the response. The structure returns to its
initial position without vibrating about the 9ero position but in the
shortest time
An e=am5le of criticall: dam5ed s:stem
32
n
$m# c >
Over damped system
The structure is said to be Over damped.
Gike criticall damped sstems' there is no vibration. *owever'
the structure returns to its initial position slowl as compared to
criticall damped sstem.
Critically damped and over damped systems are of no interest to
the civil or structural engineer.
An automatic door close is an e=am5le of
an o!er dam5ed s:stem
33
Free !ibration of under dam5ed, criticall: dam5ed , and o!er dam5ed s:stems
34
n
$m# c <
Underdamped system
The structure is said to be under1damped
The structure again returns to its origin but now vibrates.
This is the onl case that is of interest to civil or structural
engineers as in all our structures the level of damping is ver
small' usuall less than AH of critical damping.
35
Approximate Damping Ratios
>orking Stress "e!el (+*2 :ield 5oint) ?
Welded steel' :restressed concrete' Well reinforced concrete
(slight cracking)
$1@H
Ieinforced concrete with considerable cracking
@1AH
&olted or riveted steel' Timber
A1=H
At or @ust belo6 :ield 5oint
Welded steel' :restressed concrete (without loss of prestress)
A1=H
Ieinforced concrete =110H
&olted or riveted steel' &olted timber
1011AH
7ailed timber 1A1$0H
36
Response of underdamped systems to
free vibrations
37
Underdamped systems
The solution for the under1damped sstem have the form
[ ] t) ( Sin &. t) os( - ,. e u(t)
C C
t 1
n

+
This is similar to the case for undamped free vibration e3cept that
the fre!uenc is slightl smaller and there is a deca of the response
with time. ,gain the constants A and B ma be found from the
solution at two different times or from the initial conditions at time
t = 0
1
]
1
+
+ t) ( Sin
#
u(0) (0) u
t) ( -os ) 0 ( u e u(t)
C
C
n
C
t 1
n

$
n C
1 1 # # where
38
Damped Free Vibration
roblem ,-.8
8or the beamJs data given in problem + 0.1' develop and solve the
e!uation of motion for vibrations resulting at free end.
,lso develop an e!uation showing variation in the Equivalent
static forces with time. Take K = $.AH
.
+000 lb
2 3
+04
E
st
39
Solution (,-.8)
40
41
$ariation of dis5lacement 6it& time (roblem ,-.8)
42
$ariation of .7ui!alent static Forces 6it& time (roblem ,-.8)
43
Decay of Response Due To Damping
The deca observed in the response of a structure to some
initial disturbance can be used to obtain a measure of the amount
of viscous damping 'c' present in the structure.
-onsider two successive positive peaks u
i
and u
iA+
in the response
shown in the figure and which occur at times t
i
and t
iA+
.
u
i
u
iA+
t
i
t
iA+
44
,
_
C
n
#
$;
1 i
i
e
u
u

)t can be derived that%
Taking the natural logarithm of both sides we get the so1called
logarithmic decrement of damping' E' defined b the following
e!uation.

#
$;
u
u
ln E
C
n
1 i
i

,
_
+
45
$
n C
1 1 # # Since
andL
1 1 #
$;
E
$
n
n

8or -ivil engineering sstems'K is usuall less than 0.1 and
sstems damped lightl for $; E and 1 K 1 1
$

$
1 1
$;
E

46
These values ma be improved b taking the differences in
the peak response values not at two successive peaks but over a
range of j peaks.

u
u
ln 5E
1 5
1
,
_
+
u
+
u
@A+
@ ccles

u
u
ln
$;
1
5
1 5
1
,
_
$;
u
u
ln
5
1
E
1 5
1

,
_

+
47
roblem ,-.- %, free vibration test was conducted on an
empt water tank shown in figure. , force of <0 kips' applied
through a cable attached to the tank' displace the tank b $ M in
*ori9ontal direction. The cable is suddenl cut and the resulting
vibration is recorded.
,t the end of A ccles' which complete in $.AA sec.' the amplitude of
displacement is 0.? M. )gnore the vertical vibration of tank and
compute the following%
a)

Camping ratios
b) 7atural period of undamped vibration
c) Stiffness of structures
d) Weight of tank
e) Camping coefficient
f) 7umber of ccles to reduce the
displacement amplitude to 0.A N
Solution' %efer to class notes.
B0 k
2 3
B0
o
48
Solution (,-.-)
49
50
51
52
+. , spring1 mass sstem has a natural fre!uenc of 10 *9. When the
stiffness of spring is reduced b >00 7(m' the fre!uenc is reduced b 0AH.
8ind the mass and stiffness of actual sstem.

2. The natural fre!uenc of a beam supporting a lumped mass' m' is $
ccles per second (cps). When an additional mass of A0 kg is added' the
natural fre!uenc is reduced to 1.=A cps. Cetermine the stiffness and
lumped mass' m.
8. The lateral stiffness of a cantilever beam' supporting a lumped mass of
$Akg at the free end' is A k7(m. The beam' when hit with a hammer' start
vibrating with an initial velocit of 0.1 m(s. Cetermine the displacement at
free end from e!uilibrium position at the end of first second. Take viscous
damping coefficient as 1A0 7.s(m.
Problems
53
-. , bod of mass 1.$A kg is suspended from a spring with stiffness of
$k7(m. , dashpot attached to the spring1mass sstem re!uire a force of 0.A
7 to move with a velocit of A0 mm(s. Cetermine %
(a) Time re!uired b the spring1mass sstem to complete one ccle during
free vibration. (b) ,mplitude of displacement of the bod after 10 ccles
when the bod was released after an initial displacement of $0 mm. and
(c) Cisplacement after 1.$As from the start of free vibration.
C. ,n underdamped shock absorber is to be designed for a motor ccle of
mass $00 kg. The vibration starts occurring in motor ccle in vertical
direction when it reaches a road bump. 8ind necessar stiffness and
damping ratio of the absorber if the damped period of vibration is to be $ s
as well that the ratio of amplitudes of displacement in successive peaks is to
be 1<.
Home Assignment M4H1
Solve problems 1'0 and A

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0 k"e ) "e m(s

Trans!erse (east1west)% $.$1 sec

"ongitudinal (north1south)% 1.<= sec

Torsional% 1.1$ sec

Trans!erse% 1>.$ sec

$ertical % 10.? sec

"ongitudinal% @.>1 sec

Torsional% 0.0@ sec

Viscously Damped Free Vibration

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