" '- -.........:.

16 Basics o f ~ Dynamics and bmmic Df:sign ' 1ffl ~ ofSDOF

Undampeil ~ l'y-
\ the law of mechanics and the principles of dynamics. Several concepts of the principles of
dynamics such as Newton's ~ law of motiont Q'Alem6crt's pnnctple ana incprinciple of
( !:!Ythese assumptions, the possibility of lateral defonnation or displacement is due to only
rigid beam/slab. The model resulting from all the above mentioned assumptions is called as
r

conservation of eoetif~ ost conimooly ~ -~ J(?lllll!l~~theioveming equatlorio f mouon.

3. Solution or the governing equa_tion or motion: The governing equations of motion of a
t shear building model. This shear building idealization although unrealistic is necessary fO(
mathematical fonnulation of V1oration problems~
vibn.ting system arc· solved to find the response of the vibration of ao-SOOP system lead to ooe
ordinary diffC1Cntial equation of inoti9n in the form of second ordc:rlinear diffC1Cntial equation Fs • Spring fon:e = lat
of motion. Vibrations of MDOF sysJem leads to a system of ordinary differential equations of
F0 • Dln.-,gbce ac::i- m 110
motion. Similarly, the· vibrations of continuous systems are governed by partial diffC1CDtial
· equations. There are ~ -many ~ques available for solving the equation of motion, such as F,·lnel1ia!orte=mi
ordinary diffC1CDtial equatioo, ma,trix•mcmods-; furitc·eJemmfmethods arid iiiliiicricaJiiic:diods: ..
(a) 6qulvalenl ~ -. (b) FBO
~-r:
4. Interpretation or results: The solution of the equation of motion for the real physical ~system) ✓
•==L
system gcucrally gives the displacancut, velocity and 36:eleratioo of the various masses- ·or · f"igure U ~d SOOF system.
inertia of the system. Interpretation of the results is an important aod final step in the various
analysis proocdures. It includes drawmgs- (which give the. general inferences from results). The portal frame of Figure 2.1 under the influence of a lalcral load f(t) can be t:eprcseutcd ·
development of design curves and ·(ffl)llllllendatioos if any. mathematically as the response of SDOF ~ as shown in Fi~ l l This typical disa=
spring-mass system is equivalent to the response of a portal frame. The parametcn of the
~ 2.2.1 ~thema tical Modelling of an SDOF System✓ mathematical model arc relmed to its pro«>type (actual frame) as:
To undmtaod the dynamic behaviour of the structures, it is ucccssary to develop their models :[ Mass m representing the total mass of the beam and the slab of ~e frame and inertial
under the influence of dynamic loads such as winds, . characteristic of the struc1Urc; energy is stored by mass in the form of kinetic cocrgy.
blasts, earthquake s and heavy routing
machinery, etc. These models can be used either as laboratory models for doing 2. Stiffness of spring k represents the combined stiffness of two columns_ for lateral
experimental
studies, i.e. for research won:: or as mathematical models for analytical pwposes. deformation that is the elastic ~oring f()l'C(: and it stores the .potential energy (mtcroal
_ strain energy) due 10 columns.
~ us consider a simple portal frame as shown in Figure 2.1. While developing a
mathematical model. soipe assumptioos are made to simplify the analysis. They ~ 3. Dashpot having damping coefficient C represents the energy dissipation. i.e the frictional
characteristics and energy losses of the frame and
Heavy mass 4. An exci~tion force F(t) representing the cxtcmal lateral :force applied on the portal ~
___..., > > > 7-7-·7 7 7 7 A+-- concentra1ed
Ftl! I (_ £ / / ' ' < < , ~ I at slab level The mass, the spring and~ damper or dashpot arc called inactive or pa.mve elements.
Because these clements participate in vibntoey motion, but cannot have a control on Vl"bratioos.
The function of the spring and the mass is to store energy while that of damper is to dissipare
· out the same in the fonn of beat The cxciwion element f(t) is called active elemalt through
k, SlillnesS which energy is supplied to the Yllnlory system. It rq,rcscnts the sourte through which the
energy Hows into the physical system.
Such model docs not exist in the real world Ind that mathematical models may provide
complete and accurate knowledge of the dynamic behaviour of the model itself. But in practice,
Figlnl 2.1 Portal fra'l'le. the information acquired from the analysis of the model may be sufficient to study the dynamic
behaviour of the real system including design.
'ij The tocal mass of a portal frame is assumed to act at the slab level, since the masses Since the essential properties of the dynamic system have been divided into independent
of columns are very less when compared to that of slab; i.e., masses of columns arc discrete clements, such a model is also known as lum(Kd parameter modd as against a
ignored. distributed parameter modtl or continuous system wherein all properties arc ~1,uicd
(ii) The beam/slab is assumed as infinitely rigid, so that the stiffness of the structure is co~ uously throughout
provided ooly by columns, ~. flexibility of slablbcam is ignored. .U.rom the above example, it is seen that the following four clements arc the most important
(ill) Sm, die beams are usually built monolithically within the columns_, the beam column to determine the dynamic behaviour.
joint can be assumed to be rigid as without any rotations at join( J
1!
 ~Basics 'of Stnll:tural Dinuzmics and A.smmic Daig11
~
~
ru/
_.,
i
C
0 ·=i-.
o
eu.,
'o 1
·
~~
-- . CII
:z c
.g ... 3
9
Undamped P,w Wlrarai a/SDOF ~ ' ·0
(a) The inertia force (= mx)
(b) The reslOring force or spring force (= kt) According to Newton's second law, F =ma= nu ~.. f!JO
uif.Jl
(c) The damping force (= ci) Hence inertia foroe F, = nu ,= r .
(d) The exciting force (= F(r)) The equation of motion of such an undamped free vibration sysaan can
be written as,
· Considering equilibrium of all the forces in X direction, the governing F,+Fs= O .
c;quati~n of motion
f~ the SDOf system is ~ mi+kx ~1J' (2.2) •
nu+ci +kt= ~~ (2.1) . ,:
2.4 .. DERIVATION OF EQUA TION OF MOTION
· 4'; \3:3 ·. FREE· VIBRA
.
TION OF UNDAMPED SDOF SYSTEM . ,, . The gov~ differential cq~on descri~ g the ~on is ~ ~ eq~··~i ~
. . . ... . ................... . ...,-................~
It is intcrestirig to lcoow bc;>w the structure can vibrate .l!l'C.YlUlOUS.mcthods to derive the equation.of mOClollof.a VIDnlfllr)
in ' system. 1be follOWIDg
In an undamped system, the frictional forces or damping is also
the abseDce of the external excitation. i are the important methods: · ·
neglecte d as shown in
Figure 2.3. Under these conditio ns, the vibration is influence d only by 1. Simple.Jiarmonic..tl-{otion. metbod
the initial conditio ns such
as the given displacement and at time t = 0 when the motion of ·2. Newton's method
the. system is initiated . Th.is
undamp ed SDOF system is known as undamped osdllator. - 3. Eoagy method
·
4. Rayleigh's method
~ •Alembert's principle
2.4.1 Simple Harmonic Motion
For a particle in a ~ motion. if its accdent ion is always proportional to the distance
of the particle from a fixed point 011 the path and is dirmcd towards the fixed point. then the
Figure 2.3 Free vi>rations of und~ SOOF syslem. particle is said to have SHM. SHM is the simplest fonn of periodic motion. 1be basic.cooccpt
of SHM is briefly explained in the previous cbap(er. In differential equation
Before writing the equation of motion. the
form. SHM is
most importan t practice to follow in any dynamic represented as
analysis is to draw a free body diagram of the. system. Fn:e body diagram of a mass can be ioc-.i
obtained by isolating the mass and representing all externally aPR_lied forces, (2.3)
reactive fon:es and where X is the rectilinear displace menl
the inertial forces. We know that,
F, : = i is known as velocity of the particle
F• m
d 1x _ . . .
- = .i as known as acoclCRboo of the motl0ll.
dJ2
Figure 2A Free. body diagram. The -ve sign in Eq. (2.3) indicates the direction of motioo of a particle towards a fixed point
which is opposite to the direction of motioo. Let the constant of proportionality
Figure 2.4 represents the FBD of the mass of the oscillator, displaced in the X direction that
be O>~ which
is an unknown parameter.
is inertia force F and acted upon by spring force F • Since the
1 5 spring used in the system is Then F.q. (2.3) can be rewritten as
assumed to behave linearly, the defonnation is directly proportional to the force, i.e.
j = -<l)~J:
Fs « x
The coostant of proportionality between the force and displacement
of a linear spring is
6 .i+a>~.i =O (2.4)
lcno"1J as spring constan t or stiffnea of spring l.. Therefore Th.is is known as equatio n or motion. Th.is is a sccoad order linear diffelflll
ial equation.
The constant a>,. is yet to be detcnnin ed by the analysis.
Fs=kx
I
I
j
 8" :- ~
A f .
I
l:j
--'-----
, of Structural Dynamics Aseismic Design______ _____ ___
=----and-----=:.... Undamped Fr« Yrbration ofSDOF Syston 21
.e:
,. Newton's Second Law of Motion Compared with F.q. (2.4), i.e. x+a,;:x=o
The equation of motion is just another fonn of Newton's second law of motion which states that 2 k
(lJ~ =-
"the r a t e ~ momentum is p r o ~ to the impressed fon:cs and takes place in the m
___
dirmion' in 'which ..._-..._,
the force acts". - - · - ' - - · ·
J¥
Consider a spring-mass system of Figure 2.5 which is assumed to move only along the .
,-ertical direction. It has only one degree of ficedom, because· ~ts motion is described by a single
~i.narc :x. A massless spring of constant stiffness or· spring. factor ·k is shown in. Figure 2.5. (lJ~ =lf =l~'kgm = . =~=~
Stiffness is dcfincd·as·the "load required to produce ~t deformation". ~ y . it can . . (Note: . {!nits sti~ (k) in N/meter, Mass· (m) in leg, m,, in radians/second)
.. be ~ t e d as
The constant of proportionali ty~ islcnown-as the 0/ltnral.fffllucney. ~ .:fdodty.. ...... .
w.
. k_= i ➔ (2.5) ll is mcasumi in rad/s.
wbete d is. the static deflection of the spring. After attaching ~ load ·w to the spring as in 2.4.3 Energy Method
Figure 2.5, the spring elongates or displaces from its equilibrium pos.itioo vertically downwards. In this method, it is assumed that the system is to be a conservative ooc. In a ronscrvative
This .position is called as "equilibrium position". -- - C • •
-- l I
-. - - -- - -· - - system, the toeal sum of the energy is constant at all time. For an undamped system, siocc then:
is oo friction or damping force, the total energy of the system is partly poccntia1 and partly
lcinetic. According to the law of conservation of energy,
·Total energy = Constant
i.c
8.~
g.. i.e. ICE + PE = Constant
c where ICE is lcinetic energy and PE is potential energy
. . i:~~-1
·_ ::,
The timt rate of change of total -energy will be :zero.
iM
".!:-,
.- 'f---~-y---$,•
.. deflection Static equilibrun position . d
1.e~ - (KE+ PE)= 0
dl
I' Kinetic and potential energies for systems shown in Figure 2.5 are given by
l 2 l -2
KE=-mv = -mx
2 2
w
PE= .!_b:2
2
Figure 2.5 Spring mass system en! FBO.
From Eq. (2.5). w = /c/J,, (2.6)
So, .!!._(.!..mx2
dl 2
+.!..a
2
2
)=0
From the equilibrium position, the load w is pulled down a little, by some force and then
the pulling force is removed. 1be load w will continue to execute vibrations up and down which l
-mx.,....x.r+ . 0
-,.:. .. l- k x2.xx:x=
· Hence, 2 2
is called as m,e vil>ration.
:. Restoring force in X direction = w - k(.i + :x) mii + m =o
= w-k~-h
'
' Dividing by, i mi+ la = O
We know that, from Eq. (2.6), w =·kLS. This is thesame equation as -obtained by Newton's method.
= k.i' - k.i - ·t:x
= -kx . 2.4.4 Rayleigh's Method
According to Newton's law, nii=-la
In this method. it is assumed that the maximum KE at the.cquihl>rium position is equal to the
⇒ mi+/a = O maximum potential energy at the extreme ~ition. The motion is assumed to be SHM then,
:x = A sinco,,t (2.8)
⇒
i + !. :x = 0 (dividing by m) (2.7)
m where :x is the displacement of the system from its mean position after time t, A is the maximum
 ts -
"" c:
..._,, -
',;;:)
c
-
U') U')
~ 8 ·;;; 8 ·;;; 8
22 .13 ""(i:Q"<"<"<
&uics of &ructunzl Dynamics and Asasmic Design II II II II II
Undamped Free Vibration of SOOP~ >< >< ><><><
displacement of the ·system from equilibrium position to extreme position. x is maximum when ,....; c-i ~ ..,=.,.;
sinec>,,t = 1 . Thc_lll>ove equation is in the form of an equation of motion of force equilibrium in whi~
the sum
of'"a number· of force terms equals zero. Hence, if an imaginary force which is equal
Xmu=A to ma were applied to the -system in the direction opposite to the acceleration, the system could
DiffClentiating F.q. (2.8) w.r.t time, we get velocity then be considered to be in equilibrium under the action of the real force F and the imaginary
force ma. This imaginary-force ma is known as ~and the position of equilibrium
i = (l)nA COS (l)nt is called dynamic equllibrium. · ·
V elocity i is maximum only when cosec>,,t = 1 11 Q'_!Jembert's principle which states that ' a sys~m may be in dynamic equilibrium by
~=@,.A ~~~ ~ ~ • ~hich i s ~ the inertia
..... ............S o,- maxunom
· . . = 1 111.ii.u •······
KE•et -the equilibrium. poAboo
2 ,
.. ..... . .. to
·- one
A ~ to this princ:ip~ _the transformation ·of a problem in dynamics may be reduced
~- in statics. Con$idcr_a spring-mass·
~ .
system as· in ·ngun:· 2.6.
. .
""'
.
~u
1
= -nr(o, A)·· 2
2 "
k
I 2 2
• ·A
=-11UiJ
2 (2.9)
.. = l,-2 (a) Spring Uass sys1em (b) Dynamic~
Maximum PE at the extreme position "-'max
2 F"igure 2.6
(PE)max = .!_k(A)2 Using D'Alembert's principle, to bring the body to a dynamic cquih"'brium position. the
2 (2.10) inertia f~ mi is to be added in the direction opposite to the direction of motion.
F.quating F.qs. (2.9) and (~ 10), we get
. Equilibrium equation is I: Fi = 0
~ .!.mw
2 n
A =.!.kA 2
2 2
2
-nu-h=O c--;;)
~
-(nu+kx) =O
O)n
2 k
=-
~
nu+kx=O (.e_ruuc:t tioo ~ rnO n ·o () )
m
~
x.. +-x=
k 0
0),. =l Let

\. =,--m . __ ,
2 k
=-
where ~ is the natural frequency of the system. @.
m
This mcdl0d is mostly used to determine the natural frequency or the S)'Slem.
Note: k is in Nim,
m is in kg, and
/ ec>,, is in rat.J/s.

~
ru~J
- . _L
/
>'ff:. ~~ SOLUTI~ THE EQUATION OF MOTION
~ o , !5 D~lem~ffl's Principle • . The governing differential equation or motion is
It gives tllj: solution of a dynamic problem by using the methods of statics. According to
nu+kx=O
.Newton's law
F=ma '{ It is in the form of homogeneous second order linear equation. There are five differential
solutions for' the above equation of motion.
F-ma=O *,
j
I l:~;·u· r~
- . "' ff.
Q.;

/ t c s of Structural Dvnarnia and Asasm~

/!j_ fj: l. x = A cos Ct>,.t'
~
Undamped Free Vibration ofSIXJF System 25

............
2. x = B sin <l>,,I •
3. x=Acos a>,.t+Bsin<t>,.t By expanding sine terms
4. x=Asin(co,.r+ ♦)- x = Asin@,.t~ + Acosm,.tsin? (2.18.'
5. x=Acos(co,.r- ♦) . But the general solution is,
where A and B arc constants. depending on their initial conditi~n of the motion.
Solution No. 1 • - x=.tocos@,.r+ io sinm,.r
@,.
One solution for thc .abovc·problcm is x = Acos<t>,.t (2.11)
·· By comparing E4. (2.18) with general solution, i.e. comparing coefficient o( cosecv
To detcnninc the constant A, let us use the initial condition by assuming that at time r = O, .to = A sin;_ (Z.19).
the displacement X = ~ · Substiruting 'ihiii'iii"'&( (2. ll)~.. we··gcf·· .. . .. . .... . ........... . .. Co~g cocfficiCD:t of sinOJ,,t
Xo = Acosa>,.(0) ··io ~Aais♦
.to· = A . . er,,. (2.20)
Hence. the solution is x = -.to<:OS(l)J
(2.12) Squaring and adding Eqs. (2.19) and (2.20)
Solution No. 2
A2 sin2 ♦ +A2 cos2 ♦ =~+ .i:;
x = Bsin<t>,.t
Initial condition is used to determine the constant B. The assumed initial conditions arc
(2.13)
"'2.
(i) At time r = O; x = .to and ~ A2(sin2 ♦ +cos2 ♦)=~+ a>;.i:;
(ii) At time r =0; i =io .
·2
Differentiating Eq. (2.13) with respect to time,
i = 8(1)11 COS(J)111 (2:14)
⇒ A2 =~+1
.
"'2
Applying initial conditions,
io =8"'
B=
"
io
I
)
Amplitude.
Dividing Eq. (2.19) by Eq. (2.20)
..=
A
A ~
⇒
Xo
Substituting in Eq. (2.13), "'" A-sin;
- -=--
Acos; i.olw. •
= Xo
-♦ =~·
X sin er, I (2.15) ~
er, "
" Xo
Solution No. 3 Hence, the phase angle
x = Acos@,.t + Bsinw,.r (2.16)
;=tan-•~- (2.21)
Since this differential equation is linear, the superposition of the above two solu.tions is also ~
a solution. 1bc general solution for lhis second order differential equation is Solution No. S
x = Acos(a,.r- ♦) (2.22)
x = .ro cosa,,.r + io sinc»,.t (2.17)
c»,. By expanding the cosine tern\, we get
Solution No. 4 x = Acos(J).tcos; + A sinw.r sin ♦ (2.23)
x = Asin(c»,.t + ♦)
Tbe general solution is x = Xo cos a,.r + i.o sin (J).t
w.
 - ....0 -s•
·g_
"' i:; ~
26 Basics cf Structural Dynamics and Asasmic Design
Undamped Free Wn-ation of 5_DOF Syst.,,, · \
11
'a, d
~ g ~

3 •~
l -s~ ·-d
By compar ing Eq. (2.23) with general solution, we get
F1 l
Xo =Acos ?
(224) We know that,
w
k=-~ W=k t.
if "'
t.
Xo =Asin ?
. "'· (2.25) Wi =tit., and W2 =k2t.2
By squarin g and adding Eqs. (2.24) and (2.25), we get
kt.= k1t.1 + k2t. 2
·2 . .
~+ "'~..=A oos ?+A sin ?=A (cos24!+sin 2?)
2 2 2 2 2 6 1- =-62 = t.
. . k,t:,,=k1t:,,+~t:,,
. · -2 . .·
:::) ~+1= A2(1 j
⇒ i:,a =.(ki + ~>1:,.
······· ········-··· ·- ...... .......f ..;;k· ··
"': ⇒ ·· . +"· · ··· ·· · ·· · · ··· · · · ·
r
• I ~
where k, is called equivalent ~ness of the s ~. Jhus
Amplit ude A= .Ix;+(~ (2.26)
· to the sum of individual spring stiffness. In general
equivalent $pring stiffness ·
, for n
equi~.* nt sping stiffnes s is eq~_.
number of springs in parallel
·
, the
·
Simila, iy dividin g Eq. (2.25) by Eq. (2.24), we get
A sin? = ,io I"'•
k
~
f 1c.
=i:1 I
Acos? Xo
2.6.2 SpringsJn Series
:::)
tan?= 2L Consider two linear springs of stiffnesses k and k ammge
d in
1 2
series as shown in Figure 2.8.
Phase angle
•-~-•-(il} (2.27)
When the springs are connected in series, if they
common load, the total deflection of the system must be equal
the sum of the deflection of the individual springs.
share a -
to
* \!·! 'EQUIVALENT STIFFNESS OF SPRING COMBINATIO
NS
Many system s have more than one spring. 1be springs may

Let the individual static deflections

Theo the -total deflection 6. is given by

in springs
1
of
2
stiffnesses lc1
and lc2 under. the same axial load W be A and A respectively.
w
Figure 2.8 Spmgs ii series.
be connect ed in series or parallel 6.=A, +/J,.2
or bodL Somc:times it can be cooncd ed in an incline d position
also. They can be replaced by
a single spring of the same stiffnes s as they all show the W=W1 =W2
same
stiffness as a whole. This stiffness is called equiva lent stiffnes
s. w
We know that 6.=-
2.6.1 Springs in Parallel k
When two springs are connected in parallel as shown in "2 W=W, =W1; 6.1 =-; 6.1 =-
w w
Figure 2.7, the springs in a system subjected to a commo n k1 k1
deflection and the total load supported is the sum of the individual
loads shared by each spring.
Heocc, w w w
-=-+-
le, k1 ki
\
A= 61 = 62 I
wbcrc A .1 and
1 A2 are the
static deflection of
W= Wi + W2
the springs.
m
Figure 2.7 Spmgs ii paralel.
l
k, =ki~
•-+~
 ~of Strwn tral Dyna mics and .ueismic Design
,,-
- ,-
Thus when sprin gs arc conn ected in serie Unda mped ~ Wira.tion o/SDO F SJ,smr1
29
s, the recip rocal of equiv alent sprin g stiffn
equa l to the swn of the recip rocal s of ess is same
indiv idual sprin g stiffnesses. In gener al, phase (refer CliapCer I). For SHM , the time perio d is the time interval in which the
_sprin gs in serie s, the equiv alent stiffn ess for n numb er of phase
may be obw ncd from the follo wing expre of the vibrating particle changes by 2ir.
ssion: Hence, after every time period T,
1 1 • @.{r + T) -
- -= I.- "'•'-= ~
~ ~~~ @.T =2Jr
Note: When sprin gs arc conn ected in paral lel. it -~lp s to
nm ·~ ·irtt nds to iocrc ase the amou iocrea s:c. lbc ~ffn css of the system. 2,r
nt C?f load required to produ ce unit deflection T= -
springs become hard er. Whettas. ~ the . i.e. the · w.
springs are-c onnc cted in series, it helps to redu
wher e T is the aatu nl perio d ~ .time
period of vibration.. lt is defined as the uine
· .. stiffness of the c;om ponc nt sprin gs. In ce the rcqui.rcd
·o«bcr words. the resu l~ cqu i~ sprin .to com pl~ qnc cycle of free vibration.
amou nt of load to prod uce unit .d e g requi n:s less ··
~ ~ i.e. the ~ g becomes softer.
· · I
.. [k . ........ ........ ···-.- .....· .............
We know tbal.
2.6. 3 Incl ined Spt jng "'· =v-;;
Coos idcr a mass m movi ng in x diJ'eetion · w
as show n in Figu re 2.9. lbe sprin g is.an k =.!!_: m=
direction of motion by an angle 8. For a displ achc d to the 6 • -
acem ent x of mass m. the com: spoo ding stretc h • g
in the sprin g is x cos 9 and there fore
the sprin g force in its own wal dim:: lioo is h cos9 . The
comp onen t of this force in the force in
the din,c tion of motio n of mass is h cos2
9. Hence., the Heooe.. @ = ✓WI s. = fI_
effec tive sliffn css ofsprin g is equa l to k cos26· • Wig V6-
~ <». =
vs.II.
~ T=2 Jr =21r ~
Q). 'Jg
Thus for a SOO F syste m, the
defleclioo. It may
oatn nl frequency is uniquely detam iocd by the static
also be DOied that the natural frequency is mdcpcndent of ampl
vibration and also indcp cndcn t of initia l itude of
condition.
The time requln:d to comp lete one cycle is T
~od s. In one second. the number of cycle
to be oomplctt:d s
figUf e 2.9 lnch d Sflri'l!I.
l l
/=-c ps= -Hz
In gcocral. for n numb er of inc\i ned sprin T T
gs the equiv alent suffn ess may be obtained from =QJ. /2,r
kI =I.kI cos1 9
IE\
Hcace the frequency / is defined as the-ownbc
r of cycles to \be completed in ooc secon d.
/ may also be called cydi c linear freqoe~
Note: In case of free vibrations, the llWU
mum ampli
~ NAT URA L FREQUENCY AND TIME O,osequeotly, the tool enccgy of the bann tude of motio n is const ant with time.
onic oscillator temaios coostmt, i.e. it docs
~ PERIO? change with time. . not
As alml dy discussed, the cqua lion for
simp le bann onic oscillalions is given by
x = Asin(@.t + ♦) 2.8 INFLUENCE OF GRAVITATIONAL FOR
CE
where ♦ is the pbas c angle . Coosidc:r now the syste m show n in figur e
2.10: lbe
lo geoc ral, the parti cles havin g a phas e diffe rence of integ FBD rcpRS ClllS the vario us forces actin g
ral mulli ples of 21t will be in the in the system. ~ e it is in a dyna mic
equilibrium position. Applying the D' Alem
bert's
 ~
30 Basia of&ructura1 Dynamics a7rd_ Aseismic Design
Undamped Fm Vibration <fSDOF 5ystmi
~
3~
Sollldon: Given details:
w 1
"-·
~'fH
ly,
m = I kg
k = 600 N/m
a.= 0.01 m
- -~lie
equnibrium w- G,awy lorol
(a) '.fJle equation of motion is given by
.!!J
· -·-·-·1 ·-
Mean position ..
X
position
FBO mi+h= 0
~+600 x=0
, .................
(b) nie riatuaJ fu:qucucy is given ·by
At any time '
Flgu11 2"10 Spring ·mass system. · · ·· i·k ~ -
a,=- = -
" m I
principle,
=24.49 rad/s
Cl)
- W i-k(x+ .1)+W =0 ()[' /=2-=3 .898 Hz
g 2%.
w (c) Response .of the system is given by
m=-
g x=Asin(111.1+9)
In which W is lhe gravity force acting downwards. We know that
W=k.1 " Amplillldc, A=J~+(~r =✓(0.01)2
_W i-h-W +W= 0
g = 0.01 m
W .. h = 0
-x+
Phase angle l=tan~•[Xil"•]
•
-l'o
= ...--•[O.Olx24.49
ULLI
O
] -tan'(
-
_
00
)
g
i.e.
mi+~=0 where m = Wig = "n.
Response x = 0.01 sin(24.49t + (lt/2))
The above equation indicates that the equation of motion expressed with rcfm:ua: to the (d) The total energy is equal ID lbe maximum ki.oecic c:nc:rgy or maximum
static equilibrium position of the dynamic system is not affected by gravity po(allial cnagy.
force. In other
words, lhc gravity fon:e need not be considered whenever the spring is in vertical
position. We know. that, PE_ = I h2 = l 6()()(0.01)1
SOLVED EXAMPLES
2 2
= 0.03 Nim
~ r EXAMPLE 2.l
y/ ~
A mass of one kg is suspended by a spring having a stiffness I I I
'1 ' ~ mass is displaced downward from its equilibrium position by a distance of 0.0! of 600 Nim. KE_, =-mv2 =-m(M >.)2 =- x l x (24.49 x 0.01)1
m. Ftnd 2 2 2 ·
(a) F.quation of motion of the system =0.o3 Nim :,.;· . ~ ...,
(b) Natural frequency of the system PE_ = KE.. = 0.03 Nim ,, ~ -;., \..'\\l.p..
(c) .The response of the system as a function of time
(d) Total energy of the system. Total energy = 0.03 ~;J '1l'\ ,; i
 ~
"'·
&uic s efSfnd ural Dynamics and A.teis
mic Desig n
MPL E 2.2 A system vibrating with Unda mped Free 1/ibralion ef SDOF
a natural frequ ency of 6 Hz starts with an initial S!,stor, 33
amp litud e (.ro) of 2 cm and ao initial
velocity (to) of 25 cm/s. Detennine the
ampl itude -, maximum velocity, maxi natur al perio d,
I
of moti on of a vibrating system. mum acceleration and phas e angle. Also write the cquatio11 m=~ =SO xJ< r =5096.Slcg
g 9.81
Sobmon: Given details: E = 2.1 x 106 lcg,'cm2
i= 6 .Hz Stiffness le = AE ·_ 4 x 2. l x I<>6
7000 kg/fe ll
·- -x:o=·2 ~ L 300
io= 25 cm/s ·=7000 x 981. .:;:: .6.86 7 x 106 Nim
·
The natural perio d is given by, T=1 -- I ·
-=- = 0.16 7s --
I 6
..... ············· .. ······· Narural.frequeocy, °'• =. ~-;fr =· -.J6.85096
67 xJ.o'
.8
= 36.7 rad/s
The ampl itude of motion A=✓~~ (~ J Natural period, T=-
1Jc
36.7
= 0.17 s

..
when :, w. =1J cf =21c (6)= 37.7 nd/s
m:qucncy /=! .=5.84 Hz(o r) ~
A= 22 +
252
--
J/l ~
T
2.4 A one leg mass is susp

· ··
.
[ 37.72 ~ .
ende d
the oaJu nl frequency and static defle
by a spring having a stiffness of I N/mm
.
or ction of the sprin g.
A= 2.11 cm Sobu ion: Given details:
The maxi mum velocity of a syste m is
give n by
k = 1 N/mm = 1800 N/m ·
.x..a =.44>. =2.ltx37.7 m = 1 kg
= 79.44 cm/s
The max imum acceleration of a syste
Natural frequency fl = ~fiooo
ro. =f; - - = 31.62 nid/s
m is i _ = Aro! = 2. t 1 x 37.7 1 11
= 2994.76 cm/s1 Cl)
f =_!!,_=5.03 Hz
2,r
Phase angle
'=t an- •[: · J Static deflection 6,.
We know tllll. Cl>.= [i
=tan-•[2x!7.7] ~6:
= 71°39'23" ~~
"f. s. = 2r ~
=9.8 lx10-3 m=9.8l• ~
= 1.25 rad. 0>.
~ o n of motion is x = Asin (c.v + ;) -:JI... . , . ~uuL E 1.5 A cantilever beam
. ~ E 2.3 A vertical cabl
= 2.11 sin(37.7t + 1~
~ and natural frequeacy
3 m long supports a mass of 500 kg at its
. E = 2.l x la6 2
upper cod. nod
e 3 m long
4 kgfa n and I= 1300 cm •
has a cross -sect iona l area of 4 an 1 supp
· a weight of 50 kN. Whal will be the orts
natural period and natural mquency of 500k g
E = 2.1 x 106 kg/cm2• the system?
Sobdion: Given details:
A= 4 cm2
w=S OkN

fJ.LII Sequ ivllen llD

~-::E -:--.~
Figure 2.11
/
 :w -
Basic s qf Struc tural Dyna mics and Asa:sm
-
ic Desig n _ _ _. .,o/SDOF] .
Sollltion:
Flexu ral stiffn ess for a canti lever ~
⇒ m.i + k,.z = 0
. le = 3£/ , le = 3 x 2. Ix 106 x I 300
r! (300)3 - [3E/ +tr!
⇒ nu+ -- -]:x= 0
= 303 leg/cm::: 303 X 9.8) N/crri LJ
= 303·X 9.81 X (1/100) N/m
~ . __ · [3& +tr! ] -0
= 2.97 X 105 NJ&rn· J: + J J:-
Lm
Nanu-al frequency
O>.=./f =~2.97~to' . (b) The frequency of vibration is
= 2437 rad/s
·l · /k, ." .I ~~ - ..... ·............. ·· · ····· · ··· ··· ·· ·· ···
I= iir ~-;·=2ir 1J----;e
~- ,i:I
or (l)
f =--!.. = 3.88 cps ~ ,~ LE 2.7 Find the natural- frcqucncy ·of lhc
2Jr 411'· system as show n in Figur e 2:-13. Take
1 = k2 =2000 Nim, k1 = 3000 Nim and m = IQ leg.
NatmaJ period ~
T=-I =-2Jr =02 6s
I .a,.
~ ~ LE 2.6 A cantilever beam AB of lengt h L is attac hed
r:' ~ wn in figur e 2.12. ~ Form the to a sprin g l: and a mass M as
equation of motion; and (b) Fmd an expre
frcquc:ncy of motion. ssion for the
A~ t. IB RI= 10kg
Flgurt 1.12
~
(a) E.qualioa of motioa
Agurt 2.13
Stiffness due to the applied mass M is ti =
~ =3E;
This stiffness k1 is acting parallel to l:
J / fl L
Sobdw,s: ,:tic equivalent system is shown in Figur
Two sprin gs k 1 and l:2 arc in parallel
e 2.14.
Equivalent stiffness A;,1 =1:1 + 1:2 =2000 + 2000
: . E.quivalcnt spring stiffness k, = k + l:
1
= 4000N/m
= 3EI +l: Again this equivalent spring is panllcl to
3EI +lcl! k1
LJ rJ :. Equivalent stiffn ess, k, = 1:.1 + k1 = 4000 + .3000
1bc differential equation of motion is = 7000 Nim .
mi= -k,i
~
 /4~ -
; / .Jes ofSrJoucnaai ~ and Asrisntic Design
Undamped Flw Jlibrat.wn ofSDOF System 37
Solution: Given details:
k 1 = 2000 Nim, k2 = 1500 Nim
k3 =3000 Nim, k.c = k5 =-SOO Nim
/= 10 Hz.
The springs t., k2 and k1 IR in series. Their equivalent stiffness
10kg 1111 I I I
----r--'·· ··· ·· ·······
-=-+-+-=--+--+--
~-, t, ~ ~ 2000 1-SOO 3000
or· k,i ·=~.6-1 NIDL
The two· lower -springs 1. ~~are 000.DCCtcd in parallcl, so chcir equivalent stiffiicss
la= k.c + ~ = .500+-SOO = l000 Nim
Again lhcsc two cquivalcoJ springs are in parallel,
);, =k,1 + kd =666.67 + 1000
g
Figure 2.14
\
µ, =✓7000
Natural frequency,
•=v-;;;
Cl)
10
\
= 26.46 radfs
Cl) - ~
or / = ~ =4.21~
~ ~ =
-
LE 2.8 Consider the system shown in Figure 2.15.
=
H k 1 2000 Nhn, k2 = 1500 Nim. k3 3000 N/m and k.c = t, = .500 Nim, find the mass if Figure 2.16 Equivalent spmg.
the system has a natural frequency of 10 Hz. ·
⇒ k, = 1666.67 N/m
I= 0>.
~
⇒ ru. = 2x/ = ~(10)
⇒ oi., = 62.83 nd/s
But 0>.=l
:~~~ ⇒
⇒

Cl>l=~
• m
... 1666.67
m=-=---
0>;
(62.83)2
Figure 2.15
= 26.52 ~ I\
- -·-.--
\
 ~
E
~
38 Basics o f ~ ~ and Asasrnic Design
i/ ~!
~ MPL£
U °"""""" .., .....,, r,,q,_,, ., .., _,,, '"""" ;. ""'~ 211.
* ~

Undanrp«I Prr.e Vwration of SDOF ~ ). 'So

~
Fora
~LE 2.10 simply suppor t~ rectangu
10 mm deep. It 1s connected at nud-spa n of
lar
a
beam
beam
has
by
a span
means
of I ~- It is 1?0
mm _wide
cantilever ......
~ --,., the sIi·"---- of a hncar spnng havmg a ·
'"~ 1s . "•
L =3EJ
- = 3><200 x 1o' x 1.6x 10-i stiffness of 100 kg/cm and a mass of 300 kg is attached at lhc
other end of spring. Determ ine
. t3 43 the natural frequency of the system. Take £ = 2.1 x t06 kg/cm2
• · -
. = 1.5 x IOS Nim _ SolMliDn:
Now the beam and the spring k1 arc acting parallel. This combination is
This series combina tion is in. parallel -with l:3. and A:.. in__scrics with A:2,
·. .
The stiffness of simply s u ~ ~ -~--~• .":'..~El
k,s ="1 +A:4 =4x l~ +6xJ~
·==10 ?<-'ios N1m···7 ······-=-..... ·. bd3 10(1)3 •
. . /.:;:=: 12 = 12=-0.833 an•
50mn 50mm
E c 200 ,c 101 ~ 2
ls ◄ m • 1001cgcn
I = 1.6 ,c 10'"' m•
II
m .. SOOkg
ks = ◄ K 105 Nfm
,._,. 6 ,c 101 Nim k,
m
figure 2.17 Rgn2.1 1
But
le, =( I ) I + k.i I
-+- I +(IO x l~)
~
·i. +k, ~ L.s x 10S +8x t~ )+ 3xtOS 10mm
10011'11'1
k~ = 12.28 x 105 N/m.
Fign2.1 9
Namral frcqucocy "'• = ~ = ~12.2: , IOS
I: _ 48 x 2.lxlo' x 0.833
=49.56 ra;J •- (100)3
= 84 kg/cm
- 1~ /
,..
i;;·
..
§
~ fI
Basics ofStructural DiJnamics and As!isniic Design
Urrdtzmpa!_ Prw Vibnlnoll af SDOP si,,ttm
~-
fr The two springs k1 and k2 arc in series, the equivalent stiffness of the compound 1ipring is
41
given by · • 2.3 A mass is conneded by lluee linear springs as shown ih Figure 2.21. Dctcnnioe lhc llltUral
frequency and lime period.
I I I I I
-=-+- =-+-
k, k• k1 84 100 m
~ - k, = 45.65 kg/cm kz
= 45.65 x 981 = 0.448 x 105 N/cm • 10"9'crn ffl•20 leg .• • 8 lq>'cm • 8kg,'an
Agln2.21
~~- ~~ ~.·=· if."-~~~,448 xl<>5
. . . v-; 300 ··'-:-"".,_. · ·· ······· · ···· ·· ··· ·· · ···· ··········· ·· · ··t.us: .a,,. =-28.~ rad/s; T= 0~ ~) .
=12.22 ~ / 2.4 Determine the narural frequcocy and natunl period of die Sys&eD'I c:msisring of a mass of
100 k g ~ co·•-~ C&lltile't'U beam through tbclinear spring 11. The c:antilevu
EXERCISES =
· beam has a thickness of 0.8 cm and a wi4di of 11 cm. E 2.1 x 106 kgfan2, L 10 an =
and k = 10 kg/cm.
2.1 A 20 kg mass attached co the IOWCJ end of a spring whose upper end is fixed, vi.braies with [Ans: ~ = 91 radls; T = 0.68 s)
a nann1 period of 0.6 s. Ddenninc lhc natural period when a 3 kg mass is attached to the
2.S A mass suspcodcd from a massless spring vi"brm:s vertically up and down between the two
mid-point of the same spring with the upper and the lower ends fucd. positions 3 cm and 4 cm above the ground. During each second it reaches the cop position
(Ans: For f!Rt position Cl>,, = 10.47 rad/s; Sccood position Cl>,, = 20.94 and T = 0.3 s] (4 ems above ground) by 20 limes. What arc lhc time period, frequency and initial
2.2 Dctmninc the equivalent stiffness of a spring as shown in Figure 2.20 displacement? If the mass of the spring is 10 kg, find the stiffness of the spring.
(Ans: T = 0.05 s, m,, = 125.66 rad/s; k = 50.26 x Io' Nim]
ti kz
B,L
t,
m
1(
Flgurl2.20
Am: k, = 1:3 [7+(ki +tz)]1
[ ki+lz+l,+3EI
,3
\