DYNAMIC OF STRUCTURES

CHAPTER 2
RESPONSE OF SDOF SYSTEMS
Department of Civil Engineering, University of North Sumatera
DANIEL RUMBI TERUNA, IP-U
RESPONSE OF SDOF SYSTEM
The equation of motion can be written as
Free Vibration
The equation (3) is a linear, homogenous, second order diffrential
equation with constant coefficient
(1)
Setting gives the diffrential equation governing free vibration
of the system without damping
) 0 ( = c
0 ) ( = t p
) ( ) ( ) ( ) ( t p t ku t u c t u m = + + & & &
0 ) ( ) ( = + t ku t u m & &
(2)
0 0
2
= + = + u u or u
m
k
u
n
& & & & (3)
RESPONSE OF SDOF SYSTEM
At time zero, setting , Equation (5)
becomes
is called natural circular frequency (radian per second), the
time required for the undamped system to complete one cycle is
the natural period of the system,which denotes as
(4)
) 0 ( ) 0 ( ); 0 ( ) 0 ( u t u u t u & & = = = =
n

t B t A t u
n n
sin cos ) ( + =
(6)
t B t A t u
n n n n
cos sin ) ( + = &
(5)
t
u
t u t u
n
n
n

sin
) 0 (
cos ) 0 ( ) (
&
+ =
n
T
) second per es herts/cycl (
1
); sec (
2
n
n
n
n
T
f ond in unit T = =

A system execute cycle in 1 second , its denoted by

n
T / 1
n
f
RESPONSE OF SDOF SYSTEM
Damped Free Vibration
Setting in Eq. (1) gives the diffrential equation governing free
vibration of the system with damping
0 ) ( = t p
0 ) ( ) ( ) ( = + + t ku t u c t u m & & &
(6)
0 = + + u
m
k
u
m
c
u & & & (7)
0 2
2
= + + u u u
n n
& & &
Where and
m k
n
/ =
cr n
c
c
m
c
= =

2
(8)
(9)
RESPONSE OF SDOF SYSTEM
The solution of Eq.(8) has the form
st
e u =
(12)
Substitution into Eq.(8) gives
( ) 0 2
2 2
= + +
st
n n
e s s
Which is satisfied for all values of t if
0 2
2 2
= + +
n n
s s
(9)
(10)
(11)
Eq.(11), Which is known as the characteristic equation, has two roots:
( )
2
2 , 1
1 = i s
n
Hence the general solution is
t s t s
e A e A t u
2 1
2 1
) ( + =
RESPONSE OF SDOF SYSTEM
Substituting Eq.(12) into Eq.(13) gives
( )
t i t i t
D D n
e A e A e t u

+ =
2 1
) (
(13)
(14)
Eq.(14) can be rewritten in terms of trigonometric function to obtain
( ) t B t A e t u
D D
t
n

sin cos ) ( + =

(15)
Where , and are constants. These can be
expressed of the initial condition ) 0 ( ) 0 ( ); 0 ( ) 0 ( u t u u t u & & = = = =
A B
D
n
u u
B u A

) 0 ( ) 0 (
; ) 0 (
+
= =
&
(16)
2
1 =
n D
Fig.2 Free Vibration of Underdamped, critical damped and overdamped system
RESPONSE OF SDOF SYSTEM
RESPONSE OF SDOF SYSTEM
Type of Motion
Figue 2. shows a plot of the motion due to initial displacement
for three value of
) 0 ( u

) (t u
If , the system returns to its equlibrium
position without oscillating.
1 or = =
cr
c c
If , again the system doest not oscillate and
1 or > >
cr
c c
returns to its equlibrium position as in 1 =
If , the system oscillate about its equlibrium
1 or < <
cr
c c
position with a progressively decreasing amplitude.
RESPONSE OF SDOF SYSTEM
The equation of motion subject to initial condition for system with
damping can be rewritten as
( )
2
2
) 0 ( ) 0 (
0
_
_
_
_
_
_
_
_ +
+ =
D
n
u u
u

&

Underdamped System
_
_
_
_
_
_
_
_
_
_
_
_
_
_ +
+ =

t
u u
t u e t u
D
D
n
D
t
n

sin
) 0 ( ) 0 (
cos ) 0 ( ) (
&
where
) (
cr
c c <
( )

=

t e t u or
D
t
n
cos ) (
_
_
_
_
_
_
_
_ +
=

D
n
u
u u

) 0 (
) 0 ( ) 0 (
tan
1
&
(17)
(18)
(19)
(20)
RESPONSE OF SDOF SYSTEM
Fig.3 Effect of dampingon free vibration
Damping has effect of lowering the natural frequency from to and
lengthening the natural period from to
n

n
T
D
T
Fig. 4 Effect of damping on the natural vibration frequency
Fig. 6 Free vibration of system with four level of damping
% 20 10 , 5 , 2 and =
RESPONSE OF SDOF SYSTEM

Decay of Motion
RESPONSE OF SDOF SYSTEM

_
_
_
_
_
_
_
_

= =
+

2
1
2
exp
) (
) (

D n
T
D
e
t t u
t u
(21)
_
_
_
_
_
_
_
_

=
+
2
1 1
2
exp

i
i
u
u
(22)
If is small, and this gives an approximate eq.
2
1 1
2
ln

= =
+ i
i
u
u
The natural logarithhm of this ratio, called the logarithmic decrement, we
denote by
1 1
2

2 =
(23)
(24)

Fig. 7 Exact and approximate relations between logarithmic

decrement and damping ratio
RESPONSE OF SDOF SYSTEM

j
j
j
j
e
u
u
x
u
u
x
u
u
x
u
u
u
u
= =
+ + 1 4
3
3
2
2
1
1
1
......
(26)
Over cycles the motion decreases from . This ratio is given by
Therefore,
2 ln
1
1
1
=
+ j
u
u
j
To determine the number of cycles elapse for a 50% reduction in displacement
amplitude, we obtain the following relation from eq.(25)

11 . 0
2
2 ln
% 50
= = j
j
1 1 + j
u to u
(25)

Fig. 8 Number of cycles required to reduce the free vibration

amplitude by 50%
RESPONSE OF SDOF SYSTEM

Free Vibration Test

Because it is not possible to determine analytically the damping ratio for
practical structures, this elusive property should be determine
experimentally.
For lightly damped systems the damping ratio can be determined from
j i
i
j i
i
u
u
j u
u
j
+ +
= =
& &
& &
ln
2
1
ln
2
1

(27)