CE-5113:

DYNAMICS OF STRUCTURES
By: Dr. Mohammad Ashraf (engineerashraf@yahoo.com)
Office: CE: BI 09

Department or Civil Engineering, University of Engineering and

Technology, Peshawar

Course Contents
o lnlroduclion 10 SDOF. MDOF and Continuous Systems
o Formulation or Equation or Motion for SDOF Systems
o Principles of Analytical Mechanics
o Free, Forced, Damped and Un-damped Response of SDOF and
Con tinuous Systems
o Dynamic response to General Dynamic Loading and Transient Response
o Approximate and Numerical Mechods for Analysis of SDOF and
Continuous Systems
o Analysis of Response in Frequency Domain
o Wave Propagation Analysis/MDOF System Analysis

1
Recommended Books
o DYNAMICS OF STRUCTURES by Jagmohan L. Hwnar

o DYNAMICS OF STRUCTURES by Ray W . Clough and Joseph Pen-:.ien

0 DYNAMICS OF STRUCTURES: TifEOREY AND APPLICATION TO

STRUCTURAL ENGINEERING by Anil K. Chopra

0 VIBRATION PROBLEMS JN STRUCTURE: PRACTICAL GUIDELINES by

Hugo Vachmann and Lorren-:. Ste1nbe1sser

o STRUCTURAL DYNAMICS: TiiEORY AND COMPUTATION by Mano Pa-:.

o MECHANICAL VIBRATIO by S. S. Rao

Grading Criteria

o Assignments 15%
o Term Paper 10%
o MidTerm 25%
o Final Te,m 50%

2
 Module-I
Overview and Introduction

What is Dynamics of Structures?

o A S1udy related to the response of a structure
subjected to dynamic loading
o Dynamic load is any load of which the
magnitude. direct ion. or position varies with
time
o The dynamic of structure may be:
• Rigid Body or
• Deformable
o Deformable-body dynamics is usually
oscinatory in nature which induces
displacement and stresses in thebody.
o The analysis of lhese time-varying
displacements and forces is the primary
objective of structural dynamic.

3
Why to Study Dynamics of Structures?
o The response of structure to static load is different than its response to
dynamic load
o 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
o Fluctuating stress, even of moderate intensity, may cause material failure
through fatigue
o Oscillatory motion may at times cause wearing and malfunction of
machinery
o The vibration from one machine may transfe1red to a delicate instrument
through support structures
o Vibration cause discomfort to the occupams

Nature of Exciting Force

o Periodic and Nonperiodic (random)
• Periodic Load repeats itsclr :u regular interval of Lime called pc1iod. The
reciprocal of period is called frequency or load
• Nonperiodic load is random in na1ure and docs not repeal itself

0 1 /\1 '
.,, �
g CJ7me.t
Penoa •

o Deterministic and Nondetenninistic

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

4
Sources of Dynamic Loads
0

0
Rotating or reciprocating machinery 0
(sinusoidal vibration)
Wind (time-varying drag and lift
...,.t====::::;:::5�===::i
forces)
r<l

o Bomb blast (The force on structure due

tO blast load depends on the distance
from the center of explosion and the
strength of explosive.
Rowting Machinery

o Earthquakes

Earthquake Load
l:""'--- - -
O
Blast Load
Tl"I"!, t

Mathematical Model of Dynamic System

0 Discrete Parameter System (Discrete System):
• A system wi1h rigid-body masses and massless springs •
• lls response is complc1cly defined by specifying � k "' p(tj

displ accmcnls along !he degree or freedom (DOf) 1ha1 ,

determine the position or masses in space.
• TI1e response is governed by a scl of Ordinary Differential
Equations (ODE) equal to DOF.
• Simple and preferable approach and the accuracy can be
increased by increasing DOF

o Distributed Parameter System (Continuous System)

• Masses and the sti ffncss arc distributed
l
• TI1c response is governed by one or more partial differential
equations

10

5
Formulation of Equation of Motion
A set of differential equations governing the motion of

c :u
0
dynamic system, by defining the dynamic displacements, is
known as Equation of Motion
mii + cri + ku = p(t) �
tl
Equat'.on of M�tion is fommlated by di�crent approaches:� m µ
_ _
0
• d Alembert s Prmc,ple or direc1 equilibnum
• Principle of Virtual Displ3cemem ��� ;,,�777_.,,,.,,
ra 77
z'h 777
_ � 7:

• Hamilton Principle

o d'Alcmbcrt's Principle:
This pnnciple conve11s a dynamic problem to an equivalent
static problem
d ( du)
Q(t)=- m- =lllli
dt dt
II

Formulation of Equation of Motion (Cont..)

o Principle of Vh·tuul Displacement:
If a system which 1s in eqwllbruun ,mdera set of forces 1s s1ibjected to v11t11al
displacements that are compatible with the constraint m the system, the total work
done by the forces in gomg through the vut11al displacements will be -;ero.
bW, +&, =0

k 1--H (Fal-ku�)=O
�F /or •
⇒F=ku

h --.
&¥; =0
- ------- -----�;;;iii.- """f.;
k--- a
I 1" oW', =R(a�)- �a: )
1

t-- - -
L J R
bW=O⇒R=-
:

12

6
Formulation of Equation of Motion (Cont..)
o Hamilton's Principle:
The variation of kinetic and potential energy plus the variation of thework done
by the non-conse1vative forces (which changes during thedynamic response)
considered dw·ing any time interval t1 to t1 must equal to-:::ero.

f." o(T-V}it+[" oW.,.dt=O

t1 ..
,,

o For static problem, the /anet1c energy is -:::ero and the expression conve1ts to the
well-known principle of mm1m11m potential enel 'gJ', i . e.

o(v-w.. )= o

d (I 2
- -Im -Fu) =0=> F=lm
du 2

13

Mass Moment of Inertia

o Mass moment of incnial of a body about ccnain axis is the product of mass and
square of radius ofgyration.

I.,= f (dm)/ = mr2

o Mass moment of lncnia is a measure of the inertial resistance of a body to its

rotation
o Rigid Prismatic Bar
m = total mass of bar and L = Length of bar
1
/I =-
mL
3
l-U2�1-U2� mr2
-
I,- = -
12
••

7
Mass Moment of Inertia (Cont..)
o Rigid Plate
mb'
lI =
• Rectangular

b/2
• Circular )

b' fB]
I,- = m
• Elli�e

12 b/2

mR' 11 =m(a" +b') I..- a -

I
I=­ 12
' 4
mR'
I, =
2 < n/
- 2->
mb'
J,=--
16

:+b ')
I' =m(a
1.6

15

Stiffness: Linearly Elastic System

o Stiffness is delined as the action (force. moment. torque) at a ce1tai11 point
required to produce a unit deformation (translalion, rotation, twist) at that
or some other point in a system

60�t
4CIA >FIi\

:;:
�.o :>
6tJ/L,.

0 5- $'
1m,•I
R.lG?OOCAl1

:E1/L'
..,..c:,--_fl!:,:Jld::=:::::i-i---6£.1.,.,
.
btdt/tl1
,

1.01i:
m, . f J, L

Xlf• ®,•
)UJt-l
U.t-/1>' � • """

lfrlr/lll
80."' ',I11H NO mrrnESS
3'.1./h'

Oyr,omcads-- 18

8
Stiffness: Linearly Elastic System
o S1a1ic Condensation

24E/, :

6�i;··\,
- ,-+-
h' : h
6EI,

Ei;-'1\:Ei;·········-l'
L
-
L
6EI,

ii;···
11

}ll,
-
' ]-[J.o'] [K" K,,][U•]=[F]
- ⇒
K,, K,, U,

...... r:;:;,. --'!�:,-��-

4EI, 4EJ1 u, 0
0
6EI, : 2E/i
-,:;, : L -h-+-L-

i
⇒K,,U , +K,,U, = 0 ⇒U, = -[K,,rK,,U ,
�
⇒F = K,, U, +K,,U, = [K,, +K,, [K,, f' K,,)p,

ClfI ,:UI IUI k,.•Gt.J.J>'

U ■o,ewr,•
=
k.,,-◄C.IJht◄ C1ML

.:

FL.tx18LE BEAM BEAM

17

Module-2
Single Degree of Freedom System:
Formulation of Equation of Motion

18

9
Single Degree of Freedom System
o A sys1em whose dynamic response can be described by specifying displacement
along only one coordinale.
o True Engineering Systems are Mulli-<lcgree System; SDOF Systems are
ldealiza1ion
o For many Engineering Systems SDOFldealization is Satisfactory
o Dynamic Analysis of SDOF Systems is Simple and can be extended to more
complex MDOF Systems

p(t)

k � Tolal Lateral Stiffness of

Both Massless Columns
19

Components of Dynamic System

o Components of a Dynamic System are:
• Mass Resulting in lnenioJ Fore., <Id
• Stiffness resulting in Spnng Force (fp
• Energy dissipating mechoni.sm resulting in Dampini Force ifD)
• External Exciting Forcep(t)
o From Direct Equilibrium (d'Alcmbcrfs Principle):

f1 + fD +fs = p(t)
mii +c1i + ku = p(t)
/

'•=G--•
u

o(t)
m <l===C> - p(t)
f,

10
Inertia and Spring Force
o Inertia Force:
The force produced in a dynamic system due to:
• Translational Acceleration of mass (Irertial force. /, = mii )
• Rotational Accelerarioo of ma-.s (Inertial Moment, M, = 18)

o Spring Force:
lntemal Forces induced in a bcxly undergoing deformation.
• Spring force exist both in s1a1ic and dynamic system
• For elastic system 1he spring force is direaly proponional 10 the deformation produced
and is equal 10 stiffness times 1he defom1ruion ( /, = lo, )
• For inelastic system the spring force is dependent on bolh displacemcm and velocity.

21

Damping Force
o Damping Force:
Damping is the process by which free vibra1ion steadily diminishes in amplitude
due to dissipation of energy and the corresponding force is called dmnping force.
There arc many energy dissipating mechanisms:
• Heating of the material due 10 internal frictioo
• Opening and closing o f micro cracks
• Friction between structural and non-strucrural components
• Connections
• External devices
o Equivalent Viscous Damping force 11> = cti

11