STRUCTURAL DYNAMICS

1.

Introduction
Dynamic loading
Any load of which the magnitude, direction or position varies with time.
The structural responses to a dynamic loading (deflections and stresses) are also dynamic.
Characteristics of dynamic problem
A structural dynamic problem differs from its static loading counterpart in two important respects.
a) Time varying nature
b) Influence of inertia force

In static, its internal moments, shear and deflected shape depend directly upon the given load.

In dynamic, the resulting displacements are associated with acceleration, which produce
inertia forces resisting the acceleration.
Evaluation of structural response to dynamic loads
Two basically different approaches for dynamic analysis,
i.
Deterministic Analysis

If the time variation of loading is fully known, it will be referred as a prescribed dynamic loading;
and the analysis is called Dynamic analysis.

ii.
Non-deterministic Analysis
If the time variation is not completely known but can be defined in a statical sense, it will be
referred as a random dynamic loading; and the analysis is called Non-deterministic Analysis.

Types of prescribed loading

Periodic
a) Harmonic loading
Eg: Rotation of eccentric mass

Rotation machinery
in building

b) Non-harmonic loading (complex)

Propeller forces at
stem of ship

Non-periodic
c) Short duration impulsive loading

Bomb blast loading

on building

d) Long-duration general forms of

loads

Earthquake on
water tank

p(t)

Methods of discretization

Lumped-Mass Procedure

Generalized Displacement

The Finite-Element Concept

m1

m2

m3

ft2

ft1

ft3

Lumped-Mass Procedure: The dynamic analysis is greatly complicated by the fact that the
inertia forces, as the mass of the structure is distributed along its length, the displacement and the
acceleration must be defined for each point. If the mass of a structure were concentrated in a series
of discrete points or lumps analytical problem would be simplified because inertia forces could be
developed only at mass points expressed as the sum of a series of specified.
The Finite-Element Concept: Basis of he finite-element method of analysis of structural
continua.
Number of degrees of freedom (DOF)
The number of displacements that must be considered in order to represent the effects of all
significant inertia forces of a structure may be termed the number of dynamic degrees of
freedom of the structure.
Eg.
x2

x1

Single degree of freedom system

2.

2.2

Single Degree of Freedom (SDOF)

Idealized SDOF System

The essential physical properties of any linearly elastic
Structural system subjected to dynamic loads include

Its mass

Its elastic properties (flexibility or stiffness)

Its energy mass mechanism or damping

The external source of excitation or loading.
Formulation of equation of motion
Equation of motion can be obtained by
1. Newtons Low 2. d Alemberts priciple

Two degree of freedom system

u
c
m

p(t)

k
u
Fc
Fs

F1

p(t)

Figure 3

3. Virtual work method 4. Energy method

Fs = Spring force = ku
.

Fc = Damping force = c u
..

Fi = Inertia force = m u
d' Alemberts principle: A mass develops an inertia force proportional to its acceleration and
opposing it.
From the above Figure 3, for equilibrium,
Fi + Fc + Fs = p (t )
..

m u + c u + ku = p (t )

(A)

2.2.1

Influences of gravitational forces

For equilibrium,
Fi + Fc + Fs = p (t ) + W
..

m
(W)

- static displacement due to load w(constant)

But, u = + u and W = k
.

..

..

f1

W
u

P(t)

P(t) u

u = u and u = u
..

fs fc

f1

m u + c u + ku = p (t ) + W

fs fc

P(t)

u =Static
displacement

m u + c u + k + u = p (t ) + k
..

(B)

m u + c u + k u = p (t )

Comparison of equation (A) and (B) demonstrates that the equation of motion expressed with
reference to the Static equilibrium position of the dynamic system is not affected by gravity
forces. Therefore total deflections, stresses, etc., can be obtained only by adding the
appropriate static quantities to the results of the dynamic analysis.
2.2.2

Influence of support excitation

ug(t) - ground movement (dynamic)
ut - total displacement
u
- structural displacement
.t

.. t

..

..

u t = u + u g (t ), u = u + u g (t ), u = u + u g (t )

For equilibrium, Fi + Fc + Fs = 0
.. t

m u + c u + ku = 0
.
.. t ..
m u + u g + c u + ku = 0

..

R
e
f
e
r
a
n
c
e
A
x
i
s

ut
u

k
c

Fi

Fs
2

Fc

Fs
2

ug(t)

..

m u + c u + ku = m u g (t )
..

The structure responds to the ground acceleration u g (t ) exactly as it would to an external load
..

p (t ) = m u g (t ) . The negative sign indicates that the effective force opposes the direction of the

ground acceleration.
2.3

Generalized SDOF System

Generally a single mass, single spring and a single dash-pot represent a SDOF system.

But, most natural system, even if they are to be considered as SDOF system, may consist
of distributed properties, which involve complicated idealization process.
There are two classes generalized SDOF structures;
 Assemblages of rigid bodies in which the elastic deformations are limited entirely
to localized spring elements.
 Systems having distributed elasticity in which the deformations may be continuous
throughout the structure or within some of its components.

In both cases, the structure is forced to behave like a SDOF system by the assumption that
displacements of only a single form or shape are permitted.

2.4

Solution of the equation of motion

..

m u(t ) + c u(t ) + ku(t ) = p(t ) (General equation)

..
.
u(t ) + (c m)u(t ) + (k m)u(t ) = (1 m) p(t )
..

u(t ) + 2 z u(t ) + 2 u(t ) = (1 m) p(t )

Where = k m undamped natural circular frequency of the system

z=

c
2 km

= c
c

2.4.1

(damping ratio)

ccrit
= 2 km (critical damping)

c crit

Free-vibration response
(No any externally applied load)
For free vibration, p (t ) = 0
..

u (t ) + 2 z u (t ) + 2 u (t ) = 0

Let u (t ) = e t

2 e t + 2 ze t + 2e t (t ) = 0

+ 2 z + 2 e t = 0

+ 2 z + 2 = 0, ..e t 0
2

2 z 4 z 2 2 4 2
2
2

= z z 1

Case I : Undamped free vibration

c=0

z = 0
= i
u (t ) = A cos t + B sin t

Where A and B are constants and can be found from initial condition.
.

i.e. at t = 0, u (t ) = u0 , u (t ) = u 0
.

A = u0 , B =

u0

u (t ) = u0 cos(t ) + u0 sin t

= cos(t ) (Simple harmonic motion)

Where = u 02 + u 0

u(t)

= tan/ 1 u0 u 0

T=

u(0)
u(0)

p
t

Since both s1 and s2 are negative values, there is no oscillation.

Case II : Overdamped system

c < ccrit
z > 1 z 2 1 > 0 Two

= ( z )

Let = z 2 1
u (t ) = Ae

( z )t

real roots

+ Be ( z + )t

= Ae s1t + Be s2t

Since both s1 and s2 are negative values, there is no oscillation.

Initial condition:
u(t)
.

u (0) = u 0

At t=0, u(0)=u0,

u0

u0

Case III : Critically damped system

c < c crit
z = 1 z 2 1 = 0

two identical roots

u (t ) = ( A1 + A2 t )e t

This also a non-oscillatory function like overdamped system.

Case IV : Underdamped Syatem

c < c crit
2
D

z < 1andz 2 1 < 0

Let D = 1 z 2 =damped vibration frequency.

= z D

u (t ) = e zt ( A1 cos D t + A2 sin D t )
= e zt cos( D t )

u (0)
D

u(t)
e zt

u0

u1
2

3
D

u2

2.4.2 Forced Vibration Response (with externally applied load)

a) Response to harmonic loading
p (t ) = p0 sin (t )
Where p0-amplitude, -circular frequency of the loading.
..

( )
( )

m u + c u + ku = p 0 sin t
..
.
p
u + 2 z u + 2 u = 0 sin t
m
..
.
p0 2
2
u + 2 z u + u =
sin t
k

( )

The total solution of this equation

u (t ) = u c (t ) + u p (t )

where u c (t ) - Complementary solution of free vibration

u p (t ) - Particular solution which depends on the form of dynamic loading.
Case I
Undamped System (c=0)

( )

..
p
u + 2 u = 0 2 sin t
k

i.

Complementary solution
..

u c (t ) + 2 u c (t ) = 0

From the previous solution of free vibration

u c (t ) = A sin t = B cos t

ii.

Particular solution

( )

..
p
u p (t ) + 2 u p (t ) = 0 2 sin t
k

Let u p (t ) = c sin t

( )

2
p
c sin t + c 2 sin t = 0 2 sin t
k

2 p
2
p

c 2 = 0 2 , c1 2 = 0 , let =
k

p
p
1
c 1 2 = 0 ,c = 0
k
k 1 2

u p (t ) =

=Frequency ratio.

p0
1
sin t
k 1 2

u (t ) = u c (t ) + u p (t ) = ( A cos t + B sin t ) +

p0
1
sin t
k 1 2

Initial condition
At

t=0,

u(0)=0

u (0 ) = 0
.

A= 0

p0

cos t
k 1 2
p0
= 0 B =
k 1 2

u (t ) = A sin t + B cos t +

u (0) = B + 0
k 1 2
.
p

u (t ) = 0
sin t sin t
k 1 2
.

Where

( )
)[

p0
= static displacement which would be produced by load p0 applied statically = ust
k

1
(1 2 ) = magnification factor

sin t = steady state response (directly related to the load)

sin t = Free vibration effect induced by initial condition (Transient response)
Case II Undamped system
..
.
p
u (t ) + 2 z u (t ) + 2 u (t ) = 0 2 sin t
k

1. Complementary Solution
..

u (t ) + 2 z u (t ) + 2 u (t ) = 0

From the previous solution of free vibration.

u c (t ) = e zt ( A cos D t + B cos D t ) = transient response
2. Particular solution
..
.
p
u (t ) + 2 z u (t ) + 2 u (t ) = 0 2 sin t
k

let u p (t ) = (C cos t + D sin t )

2
2
C cost D sin t + 2 z C cost D sin t

p
+ 2 C cos t + D sin 0 2 sin t = 0
k

( C

p
+ 2 z D + 2 C cos t + D 2 z C + 2 D 0 2 sin t = 0

( C

(Q)

+ 2 z D + 2 C = 0

(1)

p0 2
2
= 0
D + 2 z C D +
k

(2)

(1), (2)

p0
2 z

k 1 2 2 + (2 z )2

p
1

D= 0
2
k 1 2 + (2 z )2

p
1
1 2 sin t 2 z cos t
u p (t ) = 0
2
k 1 2 + (2 z )2

C=

[(

u (t ) = e zt [A cos D t B sin D t ] +

p0
1

1 2 sin t 2 z cos t
k 1 2 2 + (2 z )2

[(

Note: The first term of the equation represents the transient response to the applied loading. The
constants A and B can be evaluated by initial conditions, But this term damps out quickly (due to
e zt part) and generally is of little interest.
u (t ) =

p0

k (1

1
+ (2 z

(1

)sin

t 2 z cos t

p
= 0
k
1 2

1
cos sin t sin cos t
1
2 2
+ (2 z )

p0
=
k
1 2

sin t
1
2
+ (2 z )2

2 z
2
1

Where = tan 1
p0
k

- static displacement

1 2

+ (2 z )2

=0

3
2

= 0.2

= magnification factor

D 2

=D

p
u (t ) = 0 D sin t
k

= 0.5

= 0.7

= 1.0

Variation of dynamic magnification

Factor with damping and frequence.

b) Response to harmonic ground excitation

u g (t ) = u g0 sin t
..

..

u (t ) + 2 z u (t ) + 2 u (t ) = u g (t )
..

2
u (t ) + 2 z u (t ) + 2 u (t ) = u g0 sin t

By comparing with the equation of harmonic loading

2
p0 2
= u g0
k
p
0 = 2 u g0
k
u p (t ) = 2 u g0 D sin t

) (

= u g0 2 D sin t

Where u g0 = static displacement

( D ) = (1 )
2

2 2

1
22

+ (2 z )

=D
= magnification

u (t ) = u g0 Din t

factor

1
6
1
=
4

=0

1
2

=1

Vibration of dynamic magnification

Factor with damping and frequence.

Q.1.

u
p

A roof system is displaced laterally by 0.508cm by a hydraulic jack (p=9072kN) and suddenly
resulted. After the instantaneous release of this initial displacement, the maximum displacement of the
first return swing is only 0.406cm and the period of this displacement cycle is T=1.4sec.
Evaluate the dynamic properties of this structure.
Q.2.
A portable harmonic-loading m/c provides an effective means of evaluating the dynamic properties of
structures in the field.
In a test on a single story building, the shaking m/c was operated at frequencies of =16rad/s and
2=25rad/sec, with a force amplitude of 2225N in each case. The response amplitude and phase
relationship measured in the two cases were,
1 = 18.3 10 3 cm
2 = 36.8 10 3 cm

1 = 150
2 = 550

evaluate the dynamic properties from data,

Example 1
1.

T =

2
D

D =

2
= 4.488rad / sec
1.4

D = 1 Z 2

u (+ ) = e Zt ( A1 cos Dt + B1 sin Dt )

But D = 1 z 2 = 4.488

(1)

a2
0.406
= e zt
= e z t
a1
0.508

zt = 0.224

(2)

(1)/(2)

0.16
1 z 2 = 0.448 1 z 2 = 786.80 z 2
z
z = 0.356
= 4.491rad / sec

(2) p = k

k=

= 88542.8kg

(3) m =

9.072
0.508 10 2

z = 0.16

z 2 = 0.00127

= 17858.268 10 2 N / m

2
(4) c = 2mz = 28336.62 Ns / m

Example 2
u p (t ) =

p0

sin t
1
2 2
2 2

(2 z )
k 1

p
1
2 z
, tan =
Where = 0
1
k
1
2
2
2
1 2 + (2 z )2

p 0 cos
k 1 2

k 1 2 =

p 0 cos

k 2m =

when 1 = 18.3 10 cm,1 = 15

p0 cos

k
m

k 16 2 m = 117.442 10 5
when 2 = 18.3 10 1 cm,1 = 150

(1)

k 252 m = 34.680 10 5

(2)

(1) (2)
39m = 82.762 10 5
m = 22428.726kg

k = 174.86 10 5 N / m

= k m

1 =

= 27.922rad / sec

16
= 0.573
27.922

tan 1 =

2 z1
1 12

tan 15 1 0.5732
= 0.157
2 0.573
c = 2mz = 196.644 10 3 Ns / m
z=

VIBRATION ISOLATION

Two types of problems

1. Operating equipment may generate oscillatory forces, which could produce harmful
vibration in the supporting structure.
2. Sensitive instruments may be supported by a structure, which is vibrating appreciably.

Isolation of the structure

p (t ) = p sin t
0

SDOF vibration-isolation system

(applied loading).

Force exerted by spring on the structure

Fs = ku (t ) = p0 D sin t

A rotating m/c products oscillatory vertical force p 0 sin t due to unbalance in its rotating
parts.
Displacement response
u (t ) =

p0
D sin t
k

Force exerted by damper on the structure

.

Fc = c u (t )
cp
= 0 D cos t
k
= 2 zp0 D cos t

(
(

)
)

Amplitude of the maximum

base force

]
= p D [1 + (2 z ) ]

F = Fs2max + Fc2max

Transitivity = Maximum base force / Maximum applied force

TR =

Fmax
= D 1 + (2 z )2
p0

3
f
TR = max
p
0
vt
= max
vg

From the above diagram , we can say that the

isolation system is effective when > 2 .

=0
1
=
3

2
1

1
4

1
5

1
2
2
Frequency ratio,
Vibration-transmissibility ratio
(applied load or displacement)

Isolation of equipment
ut
m

SDOF vibration-isolation system

(support excitation)
ug (t ) = ug0 sint

The total displacement

u / (t ) = ut + u g (t ) [vector addition]

= u g0 (1 + 2 z )2

D sin t

Transitivity = maximum amplitude of equipment/Maximum base motion

TR =

u / (t )max
= D 1 + (2 z )2
u g0

This is similar to the previous case

Note : For zero damping system
TR =

1
2

or

1
1 2

The mass m to be isolated is supported by a spring damper system on a foundation slab, which
is subjected to harmonic vertical motions.
The displacement of the mass relative to base,

u (t ) = u g0 2 D sin t

Q.3.
A reciprocating machine weighing 9,072kg is known to develop a vertically oriented harmonic
force of complitude 226.8kg at its operating speed of 40Hz.In order to limit the vibrations
excited in the building in which this machine installed is to be installed, it is to be supported
by a spring at each corner of its rectangular base. The designer wants to know what support
stiffness will be required of each spring to limit the total harmonic force transmitted from the
machine to the building to 36.3kg.

3. MULTI-DEGREE OF FREEDOM (MDOF) SYSTEMS

3.1 Equation of motion

u1(t) u2(t)

ui(t) un(t)

Consider the general simple beam shown in the figure. The motion of this structure will be
assumed to define by the displacements of a set of discrete points on the beam;
u1(t),..,ui(t),...,un(t).These points should be associated with any specific features of the physical
properties, which may be significant and should be distributed so as to provide a good definition
of the deflected shape.
The number of degrees of freedom (displacement components) to be considered is left to
the discretion of the analyst; greater numbers provides better approximations of the true dynamic
behaviour.
In the above figure only one displacement component has been associated with each model
point on the beam. It should be noted that several displacement components could be identified
with each point (rotation etc.)
Equation of motion of the system can be formulated by expressing the equilibrium of the
effective forces associated with each of its degree of freedom.
f I 1 + f D1 + f S1 = p1 (t )
f I 2 + f D 2 + f S 2 = p 2 (t )
f In + f Dn + f Sn = p n (t )
f + f
I

+ f

= p (t )

(In matrix form)

This equal to the SDOF equation.

Elastic fore
f S1 = k11u1 + k12 u 2 + ... + k1n u n

f si = k i1 + k i 2 u 2 + .... + k in u n

In these expressions, it has been assumed that the structural behaviour is linear, so that the
principle of superposition applies.
k ij = Stiffness influence coefficients
= Force corresponding to coordinate i due to a unit displacement of coordinate j.
f S1 k11 , k12 , , k1n

=
f Sn k n1 , k n 2 , , k nn

u1

u n

f s = ku

Where k = stiffness matrix

u = displacement vector
Similarly
Damping force
f D1 c11 , c12 , , c1n

=
f Dn c n1 , c n 2 , , c nn

u1

u n

= cu

Where c = damping influence coefficients

= force corresponding to coordinate i due to unit velocity of coordinate j

c = damping matrix
.

u = velocity vector

Inertia force
f I 1 m11 , m12 , , k1n

=
f In k n1 , k n 2 , , k nn

u1

u n

..

= mu

Where mij = mass influence coefficient

= force corresponding to coordinate i due to unit acceleration of coordinate j
m = mass matrix
f + f
i

..

+ f

= p (t )

mu + cu + nu = p (t ) Similar to

SDOF System

This is equivalent to the SDOF equation. Each term of the SDOF equation is represented by a
matrix. The order of the matrix corresponding to the number of degree of freedom used in
describing the displacement of the structure.
3.2 Solution of Equation of motion
Undamped free vibration
c = 0,

p (t ) = 0

..

mu + k u = 0

By analogy with the behavior of SDOF systems, it will be assumed that the free-vibration motion
is simple harmonic, which may be expressed as
u (t ) = sin(t + )

Where =represents the shape of the system, which does not change with time; only the
amplitude varies.
= a phase angle
= natural frequency of the system
By substituting in the equation.

2 m sin(t + ) + k sin(t + ) = 0

Since the sin term is arbitory and may be omitted

(k m 2 ) = 0 An eigen value problem
For a nontrivial solution
k 2 m = 0

Frequency equation.

Expansion of this equation will given values (n degrees of freedom) for 2 which represents the
frequencies of the n modes of vibration. All roots of the frequency equation will be real and
positive.

By substituting the values in equation [k 2 m] = 0, the amplitude of vibration can be

determined. The amplitude of vibration is indetermined, since the equation is satisfied identically
because the frequencies were evaluated from this condition.
However, the shape of the vibrating system can be determined by solving for all the
displacements in term of any one coordinate.
For this purpose, it will be assumed that the first elements of displacement sector has a unit
amplitude (u1 = 1).