•Example (Under-critically damped vibration)

•A onestory building is idealized as a rigid girder supported by weightless

columns. In order to evaluate the dynamic properties of this structure, a
free vibration test is made, in which the roof system (rigid girder) is
displaced laterally by a hydraulic jack and then suddenly released. During
the jacking operation, it is observed that a force of 20 kips [9,072 N] is
required to displace the girder 0.20 in [0.508 cm]. After the instantaneous
release of this initial displacement, the maximum displacement on the first
return swing is only 0.16 in [0.406 cm] and the period of this
displacement cycle is T = 1.40 sec.
•Determine the weight, frequency damping of the girder and the amplitude
after 6 cycles.
 •Undamped frequency of vibratio

•Damping properties:

•Logarithmic decrement:

•Damping ratio:

•Damping coefficient:

•Amplitude after six cycles:

•Damped frequency:
Example 5
Example：Determining dynamic properties
v (t )
V0 =
T=1.40 s P = 20
0.20 in
kips 2 m Wv0
0.20 in
T= = 2 = 2

0.16 in
t k gP
v1 = T 2 gP
0.16 in W = = 1,920 Kips
4 2 v0

1
f = = 0 .714 Hz c c
T = =
cc 2 m 
 = 2  f = 4 . 48 rad/sec

v 0 .20
c = 2m = 1 .584 Kips/in.s
 = ln 0 = ln = 0 .223
v1 0 .16
D =  1−  2  
1 v
= ln 0 = 3 . 55 %
2 v1
Amplitude after six cycles:
Example: on a singlestory building, a shaking machine was operated at frequencies of
1 = 16 rad/sec and 2 = 25 rad/sec, with a force amplitude of
500 lb [226.8 kg] in each case. Determine the damping ratio knowing that the response
amplitudes and phase relationships measured in the two cases were
1 = 16 rad/s
1 = 7.2 10−3 in 1 =15 cos 1 =0.966 sin 1 =0.259
SDOF

2 = 25 rad/s  = ? c = ?  = ? 2 = 14.5  10 −3
in 2 =55 cos 2 =0.574 sin 2 =0.819

1
2 −
 express cos  = (1 −  ) + ( 2 ) 
p0  2 2 2
 = tan −1 2

1−  2
k  
p0 cos p0 cos 
=  k (1 −  ) = k −  m =
2 2

k 1−  2

 1
−
 = (1 −  ) + ( 2 ) 
p0  2 2 2 2

k  
p0 cos 
− m =
2


Example: on a singlestory building, a shaking machine was operated at frequencies of
1 = 16 rad/sec and 2 = 25 rad/sec, with a force amplitude of
500 lb [226.8 kg] in each case. Determine the damping ratio knowing that the response
amplitudes and phase relationships measured in the two cases were
1 = 16 rad/s
1 = 7.2 10−3 in 1 =15 cos 1 =0.966 sin 1 =0.259
SDOF
 = 14.5
2 = 25 rad/sp  = ? c =2 ?2 = ? 22 − 2
1  10 −3
in 2 =55 cos 2 =0.574 sin 2 =0.819
( )
cos  = 0  1 −  + ( 2 ) 
k  
p0 cos 
) = k − m = 
2

 0.9666 
0.9666  7.2  10−3 
k − 16 m = 500 
2
1 162   k 
7.2 10−3  2 
= 500  
0.574 1 25   m   0.574 
k − 25 m = 500 
2
14.5  10−3 
14.5  10−3
k = 100 103 lb / in m = 128.5 lb  s / in
W = mg = 49.6 10 lb 3

p0 sin  p0 sin  k
= = = = 27.9 rad / s
2 k  cc m
500  0.259
c =  cc = −3
= 1,125 lb  s / in
16 17 10
500  0.819
c =  cc = −3
= 1,129 lb  s / in
25 14.5 10
c 1125  27.9
 = = = 15.7%
2k 200  10 3

 Example

An automobile is traveling along a multispan elevated roadway supported at every 100 ft. Long-
term creep has resulted in 6-in. deflection at the middle of each span. The roadway profile can be
approximated as sinusoidal with amplitude of 3 in. and period of 100 ft. when fully loaded the
weight of the vehicle is 4 kips. The stiffness of the vehicle suspension system is 800 lb/in. and its
viscous damping coefficient is such that the damping ratio of the system is 40%. Determine the
dynamic magnification factor for the response of the vehicle.
V = 40 mph = 58.67 ft/sec
 = (2××58.67)/100 = 3.686 rad/sec

n2 = k/m =800/(4000/386) =>

n = 8.786 rad/sec
 RESPONSE TO HARMONIC LOAD
Undamped System Damped System
Compl Partic General Response Compl Partic General Dynamic
Solution Solution Ratio Solution Solution amplif
Solution Solutio factor
n
Example 2
 Example 3

=
Damping decreases the frequency
 Example 4

left
The natural frequency of the building is 4  and
the displacement induced by the force is 0.15 in.
Example:
An SDF system is subjected to support displacement ug (t) =ugo sinωt. Find the expression for
the amplitude uto of the total displacement of the mass.
 RESPONSE TO HARMONIC LOAD
Undamped System Damped System
Compl Partic General Response Compl Partic General Dynamic
Solution Solution Ratio Solution Solution amplif
Solution Solutio factor
n
Example:
An SDF system is subjected to support displacement ug (t) =ugo sinωt. Find the expression for
the amplitude uto of the total displacement of the mass.
 Example 1:
Calculate the components A() and B()
of the Fourier transform of the function
shown in the figure:

Integrating by parts:
Fourier integral representation is
 Example 2:
Determine the (complex) Fourier transform of the function x(t)
shown in figure and verify that the result agrees with that obtained in
the previous example.
Example 7
CVG4142 Structural
dynamics
LEC5
The final response equation for an undamped system Duhamel Integral
 1  A B

v (t ) =  (t ) sin t −  (t ) cos t 
m     
Example:
A water tower subjected to a blast loading:

kg 2,700(32.3
= = = 30 rad / s
W 96.6
2
T= = 0.209 sec

 = 0.005 sec  = 0.15 rad
Angular increment
Simpson Rule  =3
A A

 (t ) =  (t − 2 ) +  p(t − 2 ) cos  (t − 2 ) + 4 p(t −  ) cos  (t −  ) + p(t ) cos t 

3 3
The values A, B of remain constant after the these 10 time steps, because of
the blast loading termination. So the free vibration which follows the blast
loading are given by:
* * * * *2 *2
v(t ) = A sin t − B cos t ( A , B ) = const vmax = A + B
Result: The numerical procedure can be applied to any arbitrary loading
history, even where the loads have been determined by experiment and
cannot be expressed analytically.
 1 B
 1 A  1
B(t ) =
m 


(t ) A(t ) = 
m  
(t ) G=
m 
Multipliers are:
4e − = 3.970 e −2 = e 0.015 = 0.985

A
A  −
1 (t ) = 1 (t −  ) + p(t −  ) cos  D (t −  )e
* * * *
v(t ) = A sin t − B cos t ( A , B ) = const
Result:
Damping leads only to a slight increase in the computational effort.
Damping causes a noticeable reduction in the maximum response and
reducing it thereafter.
Acceleration increment Method
 


−i
P( ) = p ( t ) e t
dt
Example: t = −
To obtain the response through the frequency domain, consider the
rectangular impulse loading: p (t ) = p 0 0  t  t1
The Fourier Transform of the load function:
 P0  −i t 
P ( ) = e − 1
− i 


1

it
v (t ) = H ( ) P ( ) e d
2  = −

1
H ( ) = =
k ( −  + 2i + 1)
2
After substituting  (the response in the integral form)
  
i D  e −iw (t1−t ) ei t
v(t ) =  d −  d 
2k −  (  −  1 )( −  2 )  ( −  2 ) 
 −

 1 = i + 1 −  2  2 = i + 1 −  2

v(t ) = 0 t0

P0   
−t 
v(t ) = 1 − e cos  D t + sin  D t  0  t  t1
  
k 1− 
2

      
−t1 
 e sin  D t1 + cos  D t1  +  sin  D (t − t1 )
 
P0 − (t −t1 )  1−  1 −   
2 2
  
v(t ) = e  t  t1
k   
−t1    
+ 1 − e cos  D t1 + 
sin  D t1  cos  D (t − t1 ) 
   
1−   
2

These results are equivalent to those obtained by analysis through the
time domain.
For example for the applied force: sinusoidal
load of 10 N for 0.6 secs

F
dFeff =
du =
dud =
dudd =
 fI(t +Δt) + fD(t + Δt) + fS(t + Δt)= p(t +Δt)
ΔfI(t) + ΔfD(t) + ΔfS(t)= Δp(t)

ΔfI(t)= fI(t +Δt) - fI(t)= mΔv(t)

ΔfD(t)= fD(t +Δt) - fD(t)= c(t)Δv(t)
ΔfS(t)= fS(t +Δt) - fS(t)= k(t)Δv(t)
Δp(t)= p(t +Δt) - p(t)
mΔv(t) + c(t)Δv(t) + k(t)Δv(t)= Δp(t)
The effective stiffness:

Effective incremental loading:

The velocity increment:

Yielding phase shown as a dashed lines is elastoplastic and elastic responses.
Linear elastic response was obtained by a similar analysis with kd = 71 and fS
= 5v.
An SDF system has the following properties: m = 0.2533 kip-sec2/in., k = 10 kips/in., Tn = 1 sec
(ωn = 6.283 rad/sec), and ζ = 0.05. Determine the response u(t) of this system to p(t) defined by the
half-cycle sine pulse force shown in figure below by using the linear acceleration method.
Use t = 0.1 sec.
 Example:
Fragility level (theoretical ultimate strength) of a 4.0-lb electronic unit is 20g. But the
base acceleration is harmonic with an amplitude of Y0 = 37g and a frequency of 53
Hz. The problem is to design a vibration isolation mount for the unit. Specifically, it is
required to determine the largest allowable value of spring stiffness k. Assume that
the mounts will have a damping factor of  = 0.20.
For this base-excited system, the gain function to determine the amplitude of the
absolute response of the mass is:

Note that this function also applies to the ratio of the accelerations. The strategy here
will be to first determine the frequency ratio. Substituting we obtain
r = frequency ratio,
from which r = 1.80.

The response of the mass will be less than 20g if r > 1.8.
Here, r is related to the natural frequency
and the natural frequency is related to k r = frequency ratio,
(with g = 386 in/sec2), it follows that
CVG4142 Structural
dynamics
LEC9
2 DOF systems

The equations of motion can be written as

For an N-DOF system, the matrices [m];

[c] and [k] are of dimension N x N; and the
response {x(t) } and force {F(t) } vectors
are of dimension N x 1:

For the system shown in figure, we can derive the coupled equations of
motion using Newton’s Second Law of motion applied to a free body
diagram for each mass.
We find the governing equations to be
or in matrix form

In this case, the mass, damping, and stiffness matrices are given by
EXAMPLE

Assume that the system moves

harmonically in free vibration,

For a nontrivial solution:

if

This is called the characteristic equation. We can find two roots:

12 and 22
 Then the characteristic equation becomes

The two roots are

Here, DOF is n = 2. The fundamental frequency is f1 and often plays

the most important role in dynamics analysis: f1= 1.71 Hz.
To obtain the corresponding eigenvector, substitute
Thus, fij is the amplitude of displacement of the i- th mass in the j-th mode.

the equations are identical:

This defines the first mode shape, or the configuration of the system when it is
vibrating with frequency f1. we can also write

We can only obtain the ratios of the responses in free vibration.

For the second mode, f2 = 3.32 Hz, with 2 = 435, is

which implies that f22 = -0.850f21. Thus, we can write

Consider previous example. The mass, stiffness, and modal matrices of eigenvectors

Determine the modal mass and stiffness matrices:

Orthonormalize the eigenvectors so that the modal mass matrix is the unit matrix:
 Using the normalized vectors, the normalized modal matrix is

the modal mass and stiffness matrices will be

Note that the diagonal terms of the stiffness matrix are the natural frequencies
in the first and second modes, w12 and w22 respectively.
 Example: Normal Mode Method
Consider the two-degree-of-freedom system subjected to a
white-noise stationary ground acceleration, W0 = 0.0742
m2/sec4/Hz, roughly equivalent to the 1940 El Centro
earthquake.
This is the same system as presented in previous examples,
for which a modal analysis was performed:

The assumed damping factors for each mode are

The goal of analysis is to compute the RMS of the relative response of m1 to the
ground.
Let Z, = Xi - Y. Substituting into the undamped differential equations of motion,
if follows that

The transformation to [Z] was made so that the equations of motion were identical
to those of previous example.
The choice of Z2 does not define the motion of m1 relative to m2, what one
typically wants for structural design.

The two natural frequencies are w1 = 10.77 rad/sec and w2 = 20.85 rad/sec (from
the equations of motion in free vibration). The modal and modal mass matrices are

The modal force is

Following the uncoupled equations of motion in modal coordinates

Because Y is white noise, we can use the white-noise formulas

Note that, in using this form, we do have to account of the coefficients of the Y
term.
These terms would be squared, and multipied with W0. Thus,

Consider the two-degree-of-freedom system subjected to a white-noise stationary

ground acceleration, W0 = 0.0742 m2/sec4/Hz, roughly equivalent to the 1940 El
Centro earthquake.
Our only concern is with Z1(t). From the normal mode transformation

If we assume that q1(i) and q2(t) are independent processes, the variance
of the sum is the sum of the variances, and thus the RMS of Z1(t) is

Clearly, in this problem, the response appears to be dominated by the

response of the system in the first mode. Finally, the RMS of Zt(t) is
 [Example 1]
Consider the case when N = 3. The stiffness matrix is [K ]:

or

The meaning of kij would become clearer when the force combination to produce
a unit displacement of each mass is considered as shown in the figure.
From this, obviously
 (2) Beams

Consider a cantilever beam as shown; consider it is lumped parameter

modeling. Using the influence coefficients fij, the displacement u can be
expressed as follows:

where fij = displacement ui due to pj = 1 . In matrix formulation

f = deflection of coordinate i due to unit load applied to coordinate j

iij

Horizontal or rotational degrees of freedom can also have influence coefficients.

The evaluation of the flexibility influence coefficients for any given system is a
standard problem of static structural analysis.
Where [F] is called the flexibility matrix. If the external force pj (t) is considered together with
the inertia force -mjuj,
The d'Alembert's principle gives
The d'Alembert's principle gives

or

Is the equation of motion expressed by the flexibility matrix. Comparing equations

(where [I] is a unit matrix)
[Example 2]

Consider a cantilever beam shown bending stiffness El is constant

through the beam. The influence coefficients of deflection are given as
follows :

Hence
Frequency Equations

Consider the free vibration, when {p} = {0}. Ignoring the damping effects, the
equation of motion is given by

Assuming the displacement as {u} = {f} eit where { f } =[f1, f2,...,fN]

and this leads to the frequency equation as follows:

Also, from eq.

By substituting into eq
Hence the frequency equation can be also given in the following way:

From either frequency equations, the natural circular frequencies i, (i = 1,2,... .,N) are
obtained. Here it is assumed that i < j if i<j.

Mode Shapes

Corresponding to the i-th natural frequency i, the mode shape vector {fi}.
can be defined as follows

or

where
 Since only the relative magnitudes of fij can be decided from the above equation,
the largest magnitude for them is usually assumed to be +1 or - 1 .
The free vibration can be generally expressed by a linear combination of them as

Also the mode matrix is

[Example 3]
The same shear building is considered. The
lumped masses and stiffnesses are given by m1,
= m/2, m2 = m3 =m and k1 = k2 = k3 = k and the
frequency equation is given by
Therefore
(the roots of the determinant)

and
[Example 4]

The same cantilever beam is considered. The lumped masses are given by m1
= mL/6 and m2 = m3 = mL/3. The frequency equation for this case is

Therefore

The resulted mode shapes

 Orthogonality of mode functions

Consider two mode shapes,{ f n }and ,{ f m }.

and

Premultiplying ,{ f n }T and ,{ f m } T to the first and second equations,

respectively,

By subtracting the second equation from the first equation, since [K] and [M]
are symmetric,

Hence, when n is different than m or

n is different than m
 Substituting this to one of

Eqs. above are called the orthogonality of mode functions.

In particular, when n = m,

and

are called the generalized mass and generalized stiffness for the n-th mode of
vibration.

[Example 5]

If the same cantilever beam is considered, the generalized masses and stiffnesses
for all three modes are calculated as follows:
In comparison to these values, the cross-terms are as follows:

which are not exactly zero but sufficiently small, because of their numerical
approximation.
[Example 6]

Consider the dynamic response of the same shear building as before,

assuming the external load of {p}T = [p1 (t),0,0], p1 (t), = p0 cost . Using
the previously obtained mode shapes:

which confirm orthogonality condition

The generalized forces are

Hence, ignoring the damping effects, the equation of motion for the n-th
mode is given by
 where

The general solution to the problem is

and Cnand fn are decided from the initial conditions.

By premultiplying {Yn}T[M] to eq and considering the
orthogonality characteristics

using the initial conditions or

As an example, if
f is the corresponding vector of nodal forces. These stiffness
S

coefficients are the exact values for a uniform beam without shear
distortion because the interpolation functions used are the true
shapes for this case.

EXAMPLE: Consider the structure below. If it is assumed that the members

do not distort axially, this frame has the three joint degrees of freedom shown
 forces due to displacement v = 1;
1

forces due to rotation v = 1.

2

Corresponding stiffness coefficients can be evaluated by successively applying 1

unit displacement to each degree of freedom while constraining the other two and
determining the forces developed in each member by the coefficients kij.
 MASS
The mass influence coefficients for this acceleration are the nodal inertial
forces which it produces.
Using the principle of virtual displacements for the vertical force and vertical
displacement at the left end of the beam and using the work done by the external
nodal force p to the work done by the distributed inertial forces f (x).
a I

Using the interpolation function for the vertical virtual

displacement:

When the mass coefficients are determined by this equation and

using the same interpolation functions the result is called the
consistent mass matrix.

In the case of a beam with uniformly

distributed mass this is:
 For example: in the frame below when using the lumped mass procedure:
half the mass of each member is lumped at the ends of the members. These
point masses have no rotational inertia.

The consistent mass matrix is obtained by applying unit accelerations to

each degree of freedom while constraining the others and determining the
inertial forces.
Considering first the sideway acceleration, as shown
The inertia of the girder due to the acceleration parallel to its axis must
be added as a rigid body mass.
The joint rotational acceleration induces only accelerations transverse to the
members. the resulting girder and column contributions are shown above.
Summing all forces acting vertically leads to the first dynamic equilibrium
relationship
 Eigenvalues for other typical boundary conditions are:
Lateral vibrations of uniform beams (Frequencies, Mode Shapes)
The number of boundary conditions required to solve the differential equation
matches should match the number of derivatives in the equation. The static
beam has a fourth derivative, thus the supports should give four boundary conditions.
The free vibration analysis may not be very simple for many of the civil engineering
structures such as buildings, bridges and towers.

In nearly all practical cases, the dynamic analyses are carried out by applying the dynamic
finite element analysis, which will give you the first hundreds of natural frequencies and
corresponding mode shapes.
The same as for an SDOF system, thus solution must have the same form:

Use notation: in equation above.

assuming a solution of the form

There are four roots for s and when each is replaced in the equation above:

In which the G ’s may be complex constant numbers, but, by using Euler’s

expressions for cos, sin, sinh and cosh we get
Example: For a simply supported beam
The boundary conditions are zero
deflection and bending moment at
each end:

sin(0) = sinh(0) = 0
 however, since sinh( l x) is never zero, A must
3

be zero, and so for the non-trivial solution A is

1

different than 0 it must give :

which is the frequency equation and is only

satisfied when

Where A is arbitrary and normally is

1

taken as unity.
and the corresponding modes shapes ar
We can see that there are an infinite
number of frequencies and mode
shapes ( n tends to infinity) as we would
expect from an infinite number of
DOFs.
An elevated mass of M = 2,500 kg is supported by an elastic column of bending stiffness
EI = 20,000 kNm2. The center of gravity of the top mass is H = 6.5 m above the ground.
Damping is assumed negligible.
1. Calculate the natural frequency of the structure.
2. Determine the max dynamic displacement if the force applied id P(t) = Po sin(2ft),
where Po = 55 kN and f = 1.85 Hz.
A reinforced-concrete chimney, 600 ft high, has a uniform hollow
circular cross section with outside diameter 50 ft and wall
thickness 2 ft 6 in. The chimney is assumed clamped at the base,
the mass and flexural rigidity are computed from the gross area
of the concrete (neglecting the reinforcing steel), and the
damping is estimated as 5%. The unit weight of concrete is 150
lb/ft and its elastic modulus E = 3600 ksi.
3 c
 A reinforced-concrete chimney 600 ft high has
a hollow circular cross section with outside
diameter 50 ft at the base and 25 ft at the top;
the wall thickness is 2 ft 6 in., uniform over the
height. Using the approximation that the wall
thickness is small compared to the radius, the
mass and flexural stiffness properties are
computed from the gross area of concrete
(neglecting reinforcing steel). The chimney is
assumed to be clamped at the base,
and its damping ratio is estimated to be 5%.
The unit weight of concrete is 150 lb/ft3, and
its elastic modulus Ec = 3,600 ksi. Assuming
that the shape function is

where L is the length of the chimney and x is:

measured from the base, calculate the following
quantities:
(a)the shear forces and bending moments at the base
and at the midheight, and
(b) the top deflection due to a blast force varying
linearly over height from zero at the base to p(t)
at the top, where p(t) is given.
Three-story shear frames (rigid beams and flexible columns) in structural steel (E=29,000 ksi) are
shown below; w = 100 kips; I = 1400 in ; and the modal damping
4

ratios ζ are 5% for all modes. Assuming that the shape function is given by deflections due to
n

lateral forces that are equal to the floor weights, determine the floor displacements, story shears,
and overturning moments at the floors and base due to ground motion characterized by the design
spectrum scaled to a peak ground acceleration of 0.25g.