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HAZRATBAL, SRINAGAR, J&K - 190 006

Dynamics of STructures (CSE-102)

L

CREDITS

COURSE CONTENTS
S. No.

Contents

Contact Hours

Nature of dynamic loading: Harmonic, earthquake and blast

loading,
Single degree of freedom systems, free vibrations and forced
vibrations:
Harmonic force, Periodic force, Impulse, and General type of
loading.

REFERENCES
S. No.
1
2
3

Name of Books/Authors/Publishers
Dynamics of Structures By Anil K. Chopra
Dynamics of Structures By Clough and Penzien
Structural Dynamics
By Mario Paz

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

Lecture 1st
1.1 Introduction
Structural dynamics is a type of structural analysis which covers the behavior of
structures subjected to dynamic loadings. Dynamic loadings are actions having high
acceleration. Dynamic loads include earthquake and blasts.
Dynamic analysis can be used to find dynamic displacements, time history and model
analysis.
A dynamic analysis is also related to the initial forces developed by the structure when its
excited by means of dynamics loads applied suddenly e.g. Wind blasts, explosions and
earthquake.
1.1.1 Degree of Freedom:-when a structure is loaded, specified points on it will undergo
unknown displacement. These displacements are referred to a degree of freedom for
structure.
In 3D each node on a frame or beam can have at most 3 linear and 3 rotational
displacements.
In 2D each node can have 2 linear displacements and one rotational displacement.
The process of idealization or selection of appropriate mathematical to model permits the
reduction in the No. of degree of freedom to discrete No. and in some cases to just single
degree of freedom.

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The structures shown above may be represented for dynamic analysis as one degree of
freedom system. ie Structures Modeled as system with a single displacement
coordinate.

Mathematical Model for one degree of freedom system.

m- Mass element m representing Mass and inertial characteristics of structure.

k- Spring element k representing the elastic restoring force and potential energy
capacity of structure.
C:- Damping C representing the frictional characteristics and energy loses of structure.
F(t) Excitation force representing external force acting on structure F (t) is written in
this way to represent it as function of time.
Every element in Mathematical Model represents single property.
1.2 Undamped system:
Lets start our study of structural dynamics with the analysis of fundamental and simple
system, ie one degree of freedom system in which we neglect frictional force and
vibration force from external forces under these conditions, the system is in motion
governed only by the influence of the so called initial conditions ie given displacement
and velocity at time t=0. This undamped one degree of freedom system is often referred
to as simple undamped oscillator.
Representation

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In the Models shown above the Mass m is restrained by spring k and limited to rectilinear
Motion along one coordinate axis. The mechanical characteristics of a spring is described
by a relation between the magnitude of force F (s) applied to its free end the resulting end
displacement y as shown graphically in Fig. below for three different springs.

a. (Hard Spring)
b. (Linear Spring)
c. (soft Spring)
Hard Spring:- Force required to produce a given displacement becomes increasing greater
as spring deformed. Soft spring is vice versa from linear spring.
From linear spring
Fs y
Fs = k y
Base for our
works/analysis.

Structural Dynamics (CIV-702)

where k = Spring constant

dynamics

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

Zone E represents displacements produced in structure by the action of external force or

disturbances of small Magnitude, thus rendering linear approximately close to structural
behavior.
1.3.1 Spring in series or parallel:-

1.3.2 Springs in series:-

Free Body Diagram:-

Single degree of freedom system (a)

External forces only (b)
External and Internal forces (c)
The F BD is a sketch of the body isolated from all other bodies, in which all the forces
external to the body are shown. As shown in Fig. (b) F BD of Mass m of the oscillator
displaced in positive direction wrt to coordinate y and acted upon the spring force F s=ky

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

(assuming linear). The weight of body mg and normal reaction N of the supporting
surface are also shown for completeness. Though these forces act in virtual direction do
not enter into the equation of Motion written for y direction. The application of Newtons
Law of Motion gives.
F = Ma

y = displacement

-ky = m

= velocity
= acceleration

Where spring force acts in negative direction/opposite so it has negative sign.

1.4 D Alemberts Principle:An alternative approach to obtain eq -k y = m is the make use of D Alemberts
Principle, which 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 inertial
force.
The application of D Alemberts Principle allows us to use eqn of eqmb in obtaining eq
of Motion.
Fy = m + k y = 0
Or ky = m .
Solution of the differential Eq of Motion
(m + k y =0) ----- (1)
Lets adopt a systematic approach and proceed to first classify the differential Eq. Since
dependent variable and appear in the first degree so this eq is classified as linear and
of second order.
The fact that the coefficients of and are k and m respectively are constants and r h s of
eq is zero.
Further classify the eq as homogeneous with constant coefficients.
For this simple second order differential eq we may proceed directly by assuming a trial
solution given by
y = A Cos t ------ (2)

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

y = B Sin t ------- (3)

Where A and B are constants depending on imitation of Motion.
is quantity denoting physical characteristics of system
Subt eq 2 in eq 1
(m 2 + k) A cos t = 0 ------- (4)
This eqn is to be satisfied at any time the factor in parentheses must be equal to zero or
2 = k/m ------- (5)
eq 3 is also solution of differential eq 1 with also satisfying (5)
= k/m (6)
is known as natural frequency of system
Eqn 2 and 3 are solution of 1 since its a differential eq and linear supper position of these
two solutions is also a solution.
y = A cos t + B sin t ------- (7)
= -A sin t + B cos t ------ (8)
Now we will find values of integration constants A and B using initial conditions.
When t = 0, y = y0 and y = v0
Subt in eq 7 and 8
y0 = A ------ (9)
v0 = B ------ (10)
Finally y = y0 cos t + v0/ sin t ------ (11)
Thus the Motion of simple undamped oscillator Modeling structures with a single degree
of freedom is given by y or eq 11
1.5 Amplitude of Motion:
Lets now examine in more detail eq 11. The simple trigonometric transformation may
show us that we rewrite eq in equalent forms namely:

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

y = (sin (t + ) ------ (12)

y = (cos (t ) ------ (13)

C = y02 + (v0/)2 ----- (14)

tan = y0/ v0/ ------- (15)
and tan = v0//y ------ (16)
or
Multiple and divide eq 11 by factor C ie eq 14 to define or by eq 15 and 16
y = C [y0/C cos t + v0//C sin t]
sin = y0/C and cos = v0/
y = C [sin cos t + cos sin t] ------ (17)
The value of C in eq C = y02 + (v0/)2 is called amplitude of Motion and angle or as
phase angle.

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

Undamped free vibration response.

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

Lecture 2nd
2.1 Viscous Damping:In considering damping forces in the dynamic analysis of structures its usually assumed
that these forces are proportional to the Magnitude of the velocity and opposite to the
direction of Motion. This type of damping is known as viscous damping. Its the type of
damping force that could be developed in a body restricted in its Motion by surrounding
fluid.
Equation of Motion of a body with dampers.
Lets assume a modelled structural system as a simple oscillator with viscous damping.

Viscous Damped Oscillator

Where m and k are mass and spring constants of the oscillator. C is the Viscous damping
coefficient.
Draw F B D (as show above) and apply Newtons Law to obtain differential equation of
Motion.
Fy = m + C + Ky = 0 --------- (1)
In this case y = A sin t and y = B cos t will not satisfy (as in case of undamped).
However functions y = Ceptwill satisfy subt y in eq --- (1)
m C p2 ept + C Cpept + K C ept = 0
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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

=> m p2 + C P + K = 0 ------ (2)

p1 and p2 are roots
= - C/2m (C/2m)2 k/m ------ (3)
Thus the general solution of eq (1) is given by super position of the two possible
solutions.
y (t) = C1 ep1t + C2 ep2t ------- (4)
Where C1 and C2 are constants of interrelation and elastic for initial condition.
The final form of eq (4) depends on the sign of expression under radical ----- (3).
Now three cases arise.
(C/2m)2 k/m

can be Zero
can be Positive
can be Negative

If (C/2m)2 k/m = Zero, Damping in this case is called critical Damping.

2.2 Critical Damping System
As explained above
(C/2m)2 k/m = 0
(Ccr/2m)2 k/m = 0
Ccr = 2km ------ (5)
Where Ccr designates critical damping value.
Since Natural frequency of undamped system is given by = k/m subt in eq ---- (5)
Ccr = 2m = 2k/
In a critically damped system the roots of the characteristics eq are equal and eq ---(3)
p1 = p2 = -Ccr/2m
Since the two roots are equal, the general solution given by eq (4) would provide only
one independent constant of Integration hence one independent solution.

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

y1 (t) = C1 e (Ccr/2m)t ------ (6)

Another independent solution may be found by using the subt.
y2 (t) = C2 e (Ccr/2m)t ------ (7)
Thus general solution of critically damped system is the given by super position of (6)
and (7)
y (t) = (C1 + C2 t) e (Ccr/2m)t ------ (8)
2.3 Over Damped System
In an over damped system, the damping coefficient is greater than the value for critical
damping.
C > Ccr
(C/2m)2 k/m is positive and roots are roll and distinct given by
y (t) = C1 ep1t + C2 ep2t
In case of critical damping and over damping the resulting Motion is not oscillating, the
Mag of the oscillation decays exponentially with time to zero.

2.4 Under Damped System

Where the value of damping coefficient is less than critical value (C < Ccr)
ie (C/2m)2 k/m is negative < 0
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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

The roots of are complex conjugate

p1
2
p2 = - C/2m i k/m - (C/2m) ------ (9)

Where i = -1 imaginary unit.

For this case make use of Eulers equation.
eix = cos x + i sin x
e-ix = cos x + i sin x
subt eq (9) is roots into
y (t) = C1 ep1t + C2 ep2t
and use eix and e-ix
=> y (t) = e (Ccr/2m)t (A cos Dt +B sin Dt) ------ (10)
Where A and B are constants of Integration and D, the damped frequency of system
given by
=> D = k/m - (C/2m)2
D = 1-2
We know 2 = k/m
or = k/m

Undamped Natural Frequency

= C/Ccr is damping ratio

Where initial conditions of displacement and velocity are used is t = 0 y = y0 and = vo.
A and B can be evaluated eq (10)
y (t) =e-t [y0 cos Dt +( vo + y0 /D ) sin Dt] ------ (11)
Alternatively
y (t) = Ce-t (cos Dt )
C = y02 + (vo + y0 ) 2/D2
tan = (vo + y0 ) 2/D y0
Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

Graphically under damped systems vibration response is represented by

TD = 2/D = 2/1- 2
It may be seen Motion is oscillatory but not periodic.
2.5 Logarithmic decrement
A practical method for deterring experimentally, the damping coefficient of a system is to
initiate free vibration obtain a record of oscillatory Motion and measure rate of decay of
amplitude of Motion.

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

The decay may be conveniently expressed by log decrement ie = Ln y1/y2

We know
y (t) = Ce-t cos (Dt )
When cos (Dt ) =1 ie Tangent pt
y (t) = Ce-t
Now
y1 (t) = Ce-t1
y2 (t) = Ce-t1 [t1+TD]
=Ln y1/yn = TD
TD = 2/D
= 2 /1-2

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

Summary
Till now we have learnt about
1. F B D
2. D Alemberts principle
3. Different eventual equation of undamped simple oscillator ie [SDOF] in free
Motion is
m + k = 0
y = A cos t + B sin t
4. Equation of Motion can be written in All forms.
y = C sin [t + ]
y = C sin [t - ]
Where C y02 + (vo/) 2
5. Differential eq of Motion for damped single degree of freedom system.
m + C + ky = 0
6. Damping ratio Ccr
a=1
b<1
c>1
y (t) = Ce-t [y0 cos Dt + vo + y0 /D sin Dt]
7. Logarithmic decrement.

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

Lecture 3rd
3.1 Undamped harmonic Excitations
The impressed force F(t) acting on simple oscillator show in fig is assumed to be
harmonic and equal to F0 sin t
Or F(t) = F0 sint

Where F0 is the peak amplitude

= Frequency of force in each/sec
From FBD ( fig b)
m + Ky = F0 sin t ------- (1)
y (t) = yc(t) + yp (t) ------ (2)
Where yc(t) is the complementary solution satisfying homogeneous eq. (1) with LHS
equal to zero
and yp (t) is particular solution based on solution satisfying the non homogeneous
differential eq. (1)
yc(t) = A cos t + B sin t -----(3)

= k/m

The nature of forcing function in eq. (1) suggests that particular solution can be taken as
yp(t) = Y sin t ----- (4)
Where Y is peak value of particular solution.
Subt eq. (4) in eq (1)

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- m 2 y + ky = F0
y = F0/k-m 2 = F0/k/1-r2 ------ (5)
r = / ------ (6)
frequency ratio r is the ratio of applied forced frequency to the natural frequency of
vibration of system
Adding eq (3) and (5)
y(t) = (A cos t + B sin t) + {(F0/k)/(1-r2 )}sin t ------ (6)
When t = 0 y0 = 0 ; 0 = 0
A = 0 ; B = rF0/k/1-r2
Subt in eq (6)
y(t) = F0/k/1-r2 (sin t r sin t) ----- (7)
From eq (8) we can see the response is given by the superposition of two harmonic terms
of different frequencies. The resulting Motion is not harmonic, however in practical case
damping forces will always be present in system and will cause free frequency ie r sin
t to vanish.
Therefore r sin t is called transient response.
While forcing frequency; (t) ={ (F0/k)/(1-r2 )}sin t ----- (8) is called steady response.
If there is no damping transient will not vanish.
When forcing frequency is equal to Natural frequency (r = 1) the amplitude of Motion
becomes large. A system actual upon by an external excitation of frequency coinciding
with natural frequency is said to be at resonance.
3.2 Damped harmonic Excitation
Considers the case of one degree of freedom system shown in fig. Vibrating under the
influence of viscous damping.

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

The differential eq of motion is given by

m + C + Ky = F0 sin t ------- (9)
The complete solution of this eq is given by
y (t) = yc (t) + yp (t)
ie complementary solution + particular solution
Complementary solution for under damped case (C< Ccr) is given as
yc (t) = e-t (A cos Dt + B sin Dt) ------- (10)
The particular solution may be found by substituting yp in this case assumed to be of the
form
yp(t) = C1 sint + C2 cost------- (10)
subst into eq (9) and Equating coefficients of sine and cosine functions.
From Eulers relation
eit = cost + isint
We can write eq 9 as
m + C + Ky = F0 eit ------ (12)
ie m + C + Ky = F0 [cos t +i sin t]

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

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only imaginary component F0eit ie force component of F0sint is acting and

consequently, the response will them consist only of imaginary part of total solution of eq
(12)
In other words total solution has real and imaginary component and disregard real
component then particular solution of eq (12) will be of form
yp = C iet ------ (13)
subt eq (13) in eq (12)
-m 2 C + iC C + kC = F0
C = F0/k-m 2 + iC
yp = F0 eit/ k-m 2 + iC ------ (14)
By using polar coordinate form of complete denominate in eq (14)
yp = F0 eit /(k-m 2)2 + (C)2 ei
Or yp = F0 ei(t-)/(k-m 2)2 + (C)2 ------ (15)
tan = C/k-m2 ------ (16)
The response to the force F0sint ie imaginary component of F0eit imaginary component
of eq (15)
yp = F0 sin (t-)/(k-m 2)2 + (C)2 ------ (17)
yp = y sin (t -) ------ (18)
y = F0/(k-m 2)2 + (C)2 is the amplitude of steady state Motion
Eq (17) and (18) may be written as
yp = yst sin (t -)(1-r2)2 + (2r)2 ------ (19)
tan = 2r/1-r2 ------ (20)
Where yst = F0/k, static deflection of spring acted upon by force F0
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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

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= C/Ccr, damping ratio

r = /, frequency ratio
Total response of Damped Harmonic Excitation is given by
y(t) = e-t (A cos Dt + B sin Dt) + yst sin (t )/(1-r2)2 + (2r)2 ------ (21)
Dynamic Magnification factor
D = y/yst = 1/(1-r2)2 + (2r)2 ------ (22)
D varies with frequency ratio r and damping ratio .
3.3.1Response to support Motion
There are many actual cases where the foundation or support of a structure is subjected to
time varying motion structures subjected to ground motion by earthquakes or other
excitations such as explosion or dynamic action of machinery are examples in which
support motions may have to be considered in the analysis of dynamic response.
Lets consider a simple oscillator as shown in fig.

ys(t) = y0 sint ------ (23)

Where y0 is maximum amplitude
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frequency of the support

From F. B.D (fig. b)
Differential eq of Motion in horizontal direction
m + C(-s) + K(y-ys)= 0 ------ (24)
subt eq (23) into eq (24)
m + C + Ky + Ky0 sin t + C y0 cos t ------- (25)
m + C + Ky =F0 sin (t + ) ------ (26)
Where F0 = y0 k + (C)2
F0 = y0 k1 + (2r)2 ------ (27)
tan = C/k = 2r ------ (28)
Eq (26) is the differential equation for oscillator excitation by harmonic force
sin(t + ) and is of same force as eq of damped harmonic Excitation.

F0

y (t) = F0/k sin (t + - )/(1-r2)2 + (2r)2 ------ (29)

subt F0 from eq (27)
y (t)/y0 = {1 + (2r)2/(1-r2)2 + (2r)2 }sin (t + - ) ------ (30)
Eq (30) is the expression for the relative transmission of the support motion to the
oscillator. This is an important problem in vibration isolation in which equipment must be
protected from harmful vibration of supporting structure. The degree of relative isolation
is known as transmissibility.
3.3.2 Transmissibility is defined as ratio of Motion Y of oscillator to amplitude y0 the
Motion of support
From eq 30, transmissibility Tr = y/y0 = 1 + (2r)2/(1-r2)2 + (2r)2------- (31)
Damping tends to reduce the effectiveness of vibration isolation for frequencies ie
frequency ratio greater than 2 ie r > 2

Structural Dynamics (CIV-702)

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NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

HAZRATBAL, SRINAGAR, J&K - 190 006

3.3.3 Force Transmitted to the Foundation

Consider a damped oscillator with a harmonic Force F(t) = F0 sint acting on its Mass as
shown in last fig.
The differential eq of Motion is
m + C + Ky = F0 sin t
with steady state solution
y = Y sin (t-)
Where Y = F0/k/(1-r2)2 + (2r)2
= Y cos (t-)
and tan = 2r/1-r2
The force transmitted to the support through spring ky and through damping element is
C. The total force transmitted FT
FT = ky + C
FT = Y [k sin (t-) + C cos(t-)]
FT = Y k2+C2 2 sin (t-+)
FT = Y k2+C2 2 sin (t+) ---- Total phase angle
in which tan = C/k = 2r and = -
From value of Y and FT, the force AT transmitted to the foundation is
AT = F0 1 + (2r)2/(1-r2)2 + (2r)2
Transmissibility; Tr = AT/F0 = 1 + (2r)2/(1-r2)2 + (2r)2
Transmissibility of Motion from foundation to the structure and transmissibility of force
from structure to foundation are given by exactly same function.
We know = (-)
tan = tan -tan /1 + tan tan
tan = 2r/1-r2 ; tan = 2rtan = 2r/1-r2 + 42r2

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Note:- Module to be continued

For Queries
Contact : Peerzada Mudasir Dewani
[email protected]
9419011168

Structural Dynamics (CIV-702)

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