CE-5113:

DYNAMICS OF
STRUCTURES
By: Dr. Mohammad Ashraf
(engineerashraf@yahoo.com)
Office: CE: B109

Department of Civil Engineering, University of

Engineering and Technology, Peshawar
Course Contents
Introduction to SDOF, MDOF and Continuous Systems
Formulation of Equation of Motion for SDOF Systems
Principles of Analytical Mechanics
Free, Forced, Damped and Un-damped Response of SDOF
and Continuous Systems
Dynamic response to General Dynamic Loading and
Transient Response
Approximate and Numerical Methods for Analysis of SDOF
and Continuous Systems
Analysis of Response in Frequency Domain
Introduction to MDOF System Analysis

Dynamics of Structures 2
Recommended Books
DYNAMICS OF STRUCTURES by Jagmohan L. Humar

DYNAMICS OF STRUCTURES by Ray W. Clough and Joseph Penzien

DYNAMICS OF STRUCTURES: THEOREY AND APPLICATION TO STRUCTURAL

ENGINEERING by Anil K. Chopra

VIBRATION PROBLEMS IN STRUCTURE: PRACTICAL GUIDELINES by Hugo

Vachmann and Lorrenz Steinbeisser

STRUCTURAL DYNAMICS: THEORY AND COMPUTATION by Mario Paz

MECHANICAL VIBRATION by S. S. Rao

Dynamics of Structures 3
Grading Criteria

Assignments : 15%
Term Paper : 10%
Mini Project : 15%
Mid Term : 20%
Final Term : 40%

Dynamics of Structures 4
 Module-1
Overview and Introduction

Dynamics of Structures 5
What is Dynamics of Structures?
A study related to the response of a
structure subjected to dynamic loading
Dynamic load is any load of which the
magnitude, direction, and/or position
varies with time
The dynamic of structure may be:
Rigid Body or
Deformable
Deformable-body dynamics is usually
oscillatory in nature which induces
displacement and stresses in the body.
The analysis of these time-varying
displacements and forces is the
primary objective of structural
dynamic.

Dynamics of Structures 6
Why to Study Dynamics of Structures?
The response of structure to static load is different than its
response to dynamic load
Dynamic loading may cause large displacement and
severe stresses, especially in cases where the frequency of
loading is close to the natural frequency of structures
Fluctuating stress, even of moderate intensity, may cause
material failure through fatigue
Oscillatory motion may at times cause wearing and
malfunction of machinery
The vibration from one machine may transferred to a
delicate instrument through support structures
Vibration cause discomfort to the occupants

Dynamics of Structures 7
Nature of Exciting Force
Periodic and Nonperiodic (random)
Periodic Load repeats itself at regular interval of time called period.
The reciprocal of period is called frequency of load
Nonperiodic load is random in nature and does not repeat itself

Deterministic and Nondeterministic

Deterministic loads can be specified as definite function of time
(continuous function or discrete numerical values at certain regular
intervals of time)
Nondeterministic loads cannot be specified as definite function of time
and are known in statistical sense, e.g. earthquake load, wind load
Recorded earthquake is a deterministic load

Dynamics of Structures 8
Sources of Dynamic Loads
Rotating or reciprocating
machinery (sinusoidal vibration)
Wind (time-varying drag and lift
forces)
Bomb blast (The force on structure
due to blast load depends on the
distance from the center of
explosion and the strength of
explosive.
Earthquakes
Impact load

Earthquake Load

Dynamics of Structures 9
 Mathematical Model of Dynamic System
Discrete Parameter System (Discrete System):
p(t)
A system with rigid-body masses and massless
springs k
Its response is completely defined by specifying =f(EI)
displacements along the degree of freedom (DOF) m
that determine the position of masses in space.
The response is governed by a set of Ordinary
Differential Equations (ODE) equal to DOF.
Simple and preferable approach and the accuracy
can be increased by increasing DOF
p(x,
t)
Distributed Parameter System (Continuous
System) m(x) EI(x)
Masses and/or the stiffness are distributed
The response is governed by one or more partial
differential equations

Dynamics of Structures 10
Discreet Parameter System

Dynamics of Structures 11
Components of a Dynamic System
Elastic Spring (store potential energy):
Exists both in static and dynamic system
Mass (a source of inertia)
Exists only in dynamic system
Translational and Rotational Inertia inertia
Damping (a source of energy dissipation)
Exists in the dynamic system only
Exciting Force

Dynamics of Structures 12
Formulation of Equation of Motion
A set of differential equations governing the motion of
dynamic system, by defining the dynamic
displacements, is known as Equation of Motion
mu cu ku p (t )
Equation of Motion is formulated by different
approaches:
dAlemberts Principle or direct equilibrium
Principle of Virtual Displacement
Hamilton Principle

dAlemberts Principle:
This principle converts a dynamic problem to an
equivalent static problem
d du
Q (t ) m mu
dt dt
Dynamics of Structures 13
Formulation of Equation of Motion (Cont..)
Principle of Virtual Displacement:
If a system which is in equilibrium under a set of forces is subjected to
virtual displacements that are compatible with the constraint in the
system, the total work done by the forces in going through the virtual
displacements will be zero.
We Wi 0

k u
u Fu kuu 0
F ku F
F ku

P
Wi 0
a
au
We R u P
au/L u

L
L R aP
W 0 R
L
Dynamics of Structures 14
Formulation of Equation of Motion (Cont..)
Hamiltons Principle:
The variation of kinetic (T) and potential (V) energy plus the variation of
the work done (Wnc)by the non-conservative forces (which changes during
the dynamic response) considered during any time interval t1 to t2 must
equal to zero.

T V dt
t2 t2
Wnc dt 0
t1 t1

For static problem, the kinetic energy is zero and the expression converts
to the well-known principle of minimum potential energy, i.e.

V Wnc 0

u d 1 2
k
F ku Fu 0 F ku
du 2

Dynamics of Structures 15
Mass Moment of Inertia
Mass moment of inertial of a body about certain axis is the
product of mass and square of radius of gyration.

I x dm y 2 mr 2
m

Mass moment of Inertia is a measure of the inertial resistance of

a body to its rotation
1 2
Rigid Prismatic Bar
m = total mass of bar
L/2 L/2
L = Length of bar

mL2 mL2
I1 I2
3 12

Dynamics of Structures 16
Mass Moment of Inertia (Cont..)
Rigid Plate
Rectangular mb 2
I1
Circular 3
b/2
Ellipse 2 2
mb
I2
12 b/2
1
2 m a 2 b 2 a
mR Ip
I1 12
4 R
1
mR 2
Ip
2 a/2
mb 2
I1
1 16

b/2 Ip

m a2 b2
16

Dynamics of Structures 17
Stiffness: Linearly Elastic System
Stiffness (or stiffness coefficient) is defined as the action (force,
moment, torque) at a certain point required to produce a unit
deformation (translation, rotation, twist) at that or some other
point in a system

Dynamics of Structures 18
Stiffness: Linearly Elastic System
Static Condensation: Elimination of those DOFs of a structure to
which zero masses is assigned, i.e. joint rotations
24 EI c 6 EI c 6 EI c
h3 h2 h2
6 EI u1 f s

4 EI c 4 EI b

2 EI b
u 0 K11 K12 U1 F
U 0
c
2 2 K K 22
h h L L 21 2
6 EI c 2 EI b 4 EI c 4 EI b u3 0
h 2
L h L
K 21U1 K 22U 2 0 U 2 K 22 K 21U1
1

F K11U1 K12U 2 K11 K12 K 22 K 21 U1 1

Dynamics of Structures 19