SD 421

Dynamics of Structures

1.0 Introduction
1.1 Objective

The objective of structural dynamics is to predict

the behavior of structures under dynamic loads
This is done with a help of a mathematical
model for the structural system.
For problems involving complex material
properties, loading and boundary conditions, the
engineer has to introduce assumptions and
idealizations, which will make the problem
manageable.
A mathematical model is a symbolic designation
for the substitute idealized system including all
assumptions imposed on the physical problem. 2

1.0 Introduction
1.2 Significance
There are cases whereby a structure has
to be designed to resist dynamic loads
such as gusty winds, earthquakes or
other dynamic disturbances. under those
circumstances it is important to
determine :
3

1.0 Introduction
1.2 Significance

The natural frequencies of vibration of

the structure the purpose of estimating
the likelihood of resonance due to the
dynamic disturbances
The maximum displacements, stresses
and acceleration the structure may
experience when it is subjected to the
dynamic disturbances.
4

1.0 Introduction
1.3 Degrees of Freedom

Degrees of Freedom is the number of

independent coordinates or
measurements required to define
completely the configuration of the
structure at any instant

1.0 Introduction
1.3 Examples: One Degrees of Freedom
Systems

L
o(t)
M

Simple Pendulum.
Configuration is defined fully by angle
o(t)
6

1.0 Introduction
1.3 Examples: One Degrees of Freedom
Systems

Configuration is defined fully by

displacement x(t)
7

1.0 Introduction
1.3 Examples: Two Degrees of Freedom
Systems

x1

m1

m1

m2

m2 x2

h2

x1
1

m1

h2

m2

x2

Configuration is fully defined by the

displacements x1(t) and x2(t)
Therefore the system has 2 degrees of freedom
8

1.0 Introduction
1.3 Degrees of Freedom
(cont.)

In general a continuous structure has an

infinite number of degrees of freedom.
Nevertheless the process of idealization
permits the reduction in the number of
degrees of freedom to a discrete number
and in some cases to just a single degree
of freedom .
9

1.0 Introduction
Examples of structural systems that can be
modeled as one degree of freedom systems

F(t)

X(t)
m
Mass of the columns
can be neglected
F(t)
m
X(t)

Mass of the beam can

be neglected
10

1.0 Introduction
1.4. Dynamic Models

One degree of freedom systems may

be described conveniently by one of
the following models

k
m
c

m
11

1.0 Introduction
1.4. Dynamic Models

1)
2)

3)

Each model has following elements:

A mass element (m) representing the mass
and inertial characteristics of the structure
A spring element (k) representing the stiffness
characteristics of the structure.
(The stiffness of the structure describes the
restoring force and the potential energy
characteristics of the structural system.)
A damping element (c) representing the
frictional characteristics and energy loses of
12
the structure

2.0 Free Vibrations of Un-damped

Single
Degree of Freedom Oscillator
2.1 Equation of Motion

Fig. 2.1 Shows un-damped single degree

of freedom system, in which the mass
has been displaced and then suddenly
released

X(t)

Position of static
equilibrium

X(t)

k
m

Position of the mass t sec. After being

displaced and released suddenly

Figure 2.1 Un-damped Single Degree of freedom system

13

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.1 Derivation Using Newtons 2nd Law of Motion

Fig. 2.2 Shows a free body diagram of the

oscillator displaced in the positive direction
and acted upon by the spring force F = kx

kx
k
m

Positive Direction of
motion

Fig. 2.2: Free body Diagram of the mass

14

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.1 Derivation Using Newtons 2nd Law of Motion

From Newtons 2nd Law of Motion:

F = ma

i.e.

whereby
Thus

k x m x

2
dx
x
acceleration of the mass
2
dt

m x k x 0

[2.1]

Equation [2.1] is the equation of motion of a

freely vibrating one degree of freedom oscillator

15

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.1 Derivation Using DAlemberts Principle

It is difficult to use Newtons 2nd Law

of motion to derive the equations of
motions of complex structural
systems.
In those cases DAlemberts principle,
in conjunction with the principle of
virtual work is widely used
16

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.1 Derivation Using DAlemberts Principle

DAlemberts Principle states that a

system may be set in a state of dynamic
equilibrium by adding to the external
forces a fictitious force which is
commonly known as inertia force.
The inertia force is equal to mass
multiplied by the acceleration and it is
always directed NEGATIVELY with
respect to the corresponding coordinate
17

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.1 Derivation Using DAlemberts Principle

Application of the Principle to a single degree of

freedom system is illustrated in Fig. 2.3 below
Note that in Fig. 2.3 m x is the inertia Force

kx
k

m x

Positive Direction of motion

Fig. 2.3: Free body Diagram of the mass

18

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.1 Derivation Using DAlemberts Principle

The requirement that the two forces

must be in equilibrium gives the
equation of motion as follows:

Fx 0

m x k x 0

[2.1
]

19

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.2 Solution of the Differential Equation of
Motion

The Equation of motion is given by

equation m x k x 0
[2.1] i.e.
The equation is of

2nd ORDER,
LINEAR,
HOMOGENEOUS and has
CONSTANT COEFFICIENTS
20

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.2 Solution of the Differential Equation of
Motion

To solve the equation one can start by

assuming a trial solution given by

or

x A sin t

[2.2]

x B cos t

[2.3]

Substituting Eq. [2.2] into Eq. [2.1]

gives
2
m k A sin t 0
[2.4]

21

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.2 Solution of the Differential Equation of
Motion

If Eq. [2.4] is to be satisfied at any time

(-m2 + k) must be equal to zero
i.e.
i.e.

-m2 + k =0

2 k
m

The quantity

or

[2.5]

k
m

k
m

is known as the

NATURAL FREQUENCY of the system

22

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.2 Solution of the Differential Equation of
Motion

Similarly substituting x=B cost into

m x k x 0

gives:
i.e.
i.e.

k A cos t 0

-m2 + k =0

k

m
2

or

k
m
23

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.2 Solution of the Differential Equation of
Motion

Since either x=Asint or x=Bcost is a solution

of the differential equationm x k x 0
and since this equation is linear, the superposition
of these two is also a solution. Thus the solution of
the
m x k x 0
equation of motion
is given by

x=Asint + Bcost

[2.6]

Where A and B are constants of integration which

are determined from the initial conditions.
24

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.2 Solution of the Differential Equation of
Motion

The velocity is given by

dx

vx
A cos t B sin t
dt

[2.7]

Let xo = Displacement of the mass at time t=0

vo = Velocity of the mass at t=o.
Substituting x(t=0 )=xo into Eq. [2.6] gives
xo=B

i.e.

B=xo

[2.8]

Substituting v(t=0)= vo into Eq. [2.7] gives

vo= A
i.e.
[2.9]25
A vo

2.0

Equation of Motion Un-damped Single

Degree of Freedom Oscillator
2.2 Solution of the Differential Equation of
Motion

Finally substitution of A and B from Eqs.

[2.8] and [2.9] gives the displacement
of the mass as a function of time:

v
0
x(t ) sin t x0 cos t

[2.10]

Where xo = Displacement of the mass at time

t=0
vo = Velocity of the mass at t=o.
= natural frequency of the system

26

2.3 Springs in Parallel or in Series

Sometimes it is necessary to
determine the equivalent spring
constant for a system in which two
or more springs are arranged in
parallel or in series.
27

2.3.1

Springs in Parallel

k1

k2
m

k1

k2

x
m

Fig. 2.4: Two Springs in Parallel

28

2.3.1
k1
x

Springs in Parallel
k2x

kex

F
(a) Actual System

F
(b) Equivalent
Fig. 2.5: Free BodySystem
Diagrams
29

2.3.1

Springs in Parallel

Equilibrium requirements for the actual system

(fig. 2.5(a)) and of the equivalent system (Fig.
2.5(b)) gives
F = k x= k x+k x=(k +k )x
e
1
2
1
2
Thus The Equivalent spring constant is given by:
ke=(k1+k2)
In general the equivalent spring constant for n
Springs in parallel is given by
n

ke

k
i 1

[2.11]
30

2.3.2

Let:

k1

x1= Change in length of 1st

k1

k2
m

Springs in Series

Spring

k2
m

x2=Change in Length of 2nd

Spring
Displacement of the mass
is
given by:

Fig. 2.6: Spring In Series x=x1+x2

31

2.3.2

Springs in Series

k1x1

Equilibrium Requirements
give

k2x2

F k1 x1 or

F
x1
k1

and
F

F
(b)
(a)
Fig. 2.7: Free Body

F k 2 x2 or

x2 F
k2
32

2.3.2

Springs in Series

If ke is the equivalent spring constant the Displacement

of the mass is given by
x F

ke

But

F
F
x x1 x2
k1 k 2

i .e.

F F 1 1

ke
k1 k 2
1 1 1

k e k1 k 2

33

2.3.2

Springs in Series

In general the equivalent spring constant

for n Springs in series is given by

1
ke

i 1

1
ki

[2.12]

34

2.4

Frequency and Period

Equation [2.10] shows that the motion of

a freely oscillating mass can be
expressed by a sine or cosine function of
same frequency . Since both cosine and
sine functions have a period of 2the
period T of the motion is given by
T= 2

Or

35

2.4

Frequency and Period

The period is usually expressed in

seconds per cycle or simply in seconds
with the understanding that it is per
cycle.
The value of the reciprocal to the period
is the natural frequency f

i.e.

1
f
T 2

The natural frequency is usually

expressed
in HERTZ or CYCLES PER

36

2.4

Frequency and Period

The quantity is sometimes

referred to as the natural
frequency. To distinguish between
and f, is sometimes called
CIRCULAR or ANGULAR natural
frequency. The circular frequency
is is given in RADIANS PER
SECOND
37