Dynamics of

Structures
Dr. Naik Muhammad
Department of Civil Engineering
BUITEMS, Quetta

1
Textbook 2

Dynamics of Structures: Theory and Applications to Earthquake

Engineering, Anil K. Chopra, University of California at Berkeley, Prentice Hall,
Fourth Edition.
Course Contents 3

Part I: Single-degree-of-freedom
• Week 01: Chapter 1 Part IV: Multi-degree-of-freedom
• Week 02: Chapter 2 • Week 10: Chapter 9

• Week 03: Chapter 3 • Week 11: Chapter 9

• Week 04: Chapter 3 • Week 12: Chapter 10

• Week 13: Chapter 11 & Appendix A
• Week 05: Chapter 4
• Week 14: Chapter 12
• Week 06: Chapter 5
• Week 15: Chapter 12
Part II: Spectrum & Earthquake
• Week 16: Chapter 13
• Week 07: Chapter 6
• Week 17: Chapter 17
• Week 08: Chapter 8

• Week 09: Mid-term exam • Week 18: Finial exam

4
Purpose of structure dynamic analysis 5

Dynamic problems:

• Structure vibration under earthquake

• Long-span bridge and high-rise building vibration under wind load
• Bridge and road vibration under vehicle or train load
• Prevention work response under blast impact
…..and so on
Objective 6

• Learning the basic theories of dynamics

• Understanding the modeling of the structures

• Learning the analytical methods to analyze the simple structures to understand

the implications of the dynamics of structures

• Learning the numerical methods to analyze the complex structures and

understand the practical applications of the dynamics of structures

• Analyze the structure dynamic responses in both time-domain and frequency-

domain to understand the characteristics of the structures
• To understand the earthquake response of structures
Classification of structural dynamics problems 7

How to classify structure dynamics problems?

• By the number of degrees of freedom (DOF)

• By the linearity of the governing equations

• By the type of excitation

• By the type of mathematical problem

• By the type of energy dissipated mechanisms

Classification of structural dynamics problems 8

1. By the number of degrees of freedom (DOF)

• Single DOF

Discrete (Finite number of DOF)

• Multiple DOF
Continuous (Infinite number of DOF)
Classification of structural dynamics problems 9

2. By the linearity of the governing equations

• Linear systems

Nonlinear elastic (conservative)

• Nonlinear systems
Nonlinear inelastic (non-conservative)
fs

k
1
u

Nonlinear elastic Nonlinear inelastic

Classification of structural dynamics problems 10
3. By the type of excitation

• Free vibration
Harmonic
Structural Periodic
Non-harmonic
• Forced vibration
Deterministic
Seismic Transient Stationary
Random
Non-stationary
4. By the type of mathematical problem

• Static equation Boundary value problem

Free vibration Eigenvalue problems
• Dynamic equation Initial value problems
Forced vibration
Propagation problems
Classification of structural dynamics problems 11
5. By the type of energy dissipated mechanisms

• Undamped Viscous damping

Hysteretic damping (structural damping)
• Damped
Friction damping (Coulomb’s)
etc.

Viscous damping Hysteretic damping Viscoelastic damping

Chapter 1: Equation of motion, problem statement,
and solution methods

12
Chapter 1: Contents 13

1. Simple Structures

2. Single-Degree-of-Freedom System

3. Force-Displacement Relation

4. Damping Force

5. Equation of Motion: External Force

6. Mass-Spring-Damper System

7. Equation of Motion: Earthquake Excitation

8. Problem Statement and Element Forces

9. Combining Static and Dynamic Responses

10. Methods of Solution of the Differential Equation

1.1 Simple structures 14

Simple structures: They can be idealized as a concentrated or lumped mass m

supported by a massless structure with stiffness k in the lateral direction.
1.1 Simple structures 15

Unrealistic: Oscillations continue forever and these idealized systems would never
come to rest (Figure 1.1.3 c).

Real: Oscillate with ever-decreasing amplitude and eventually come to rest.

The kinetic energy and strain energy of the vibrating system are dissipated by
various damping mechanisms
1.2 Single-degree-of-freedom system 16

Degrees of Freedom (DOFs): The number of independent displacements required

to define the displaced positions of all the masses relative to their original position

Single-degree-of-freedom (SDF) system: The one-story frame constrained to

move only in the direction of the excitation has only 1 DOF—lateral
displacement—for dynamic analysis if it is idealized with mass concentrated at one
location.
1.3 Force–displacement relation 17

Consider the system with a static force f S along the DOF u. The internal force
resisting the displacement u is equal and opposite to the external force f S (Fig.
1.3.1b). To determine the relationship between f S and u is a standard problem in
static structural analysis.

Inelastic system Linearly elastic system

fS = fS (u ) f S = ku
1.3.1 Linearly elastic systems 18

The lateral stiffness k of the frame can readily be determined for two extreme
cases:

12 EI c EI c
• Beam is rigid (Fig. 1.3.2b) k= 
columns h 3
= 24
h 3

EI b = ∞
3EI c EI c
• Beam has no stiffness (Fig. 1.3.2c) k=  3
=6 3
columns h h
EI b = 0
1.3.2 Inelastic Systems 19

The force-deformation relation is path dependent, i.e., it depends on whether the

deformation is increasing or decreasing. Thus the resisting force is an implicit
function of deformation:
fS = fS (u )
1.3.2 Inelastic Systems 20

The force–deformation relation can be determined in one of two ways.

1. Use methods of nonlinear static structural analysis.

2. Define the inelastic force–deformation relation as an idealized version of the

experimental data.
1.4 Damping force 21

Damping: The process by which free vibration steadily diminishes in amplitude.

In damping, the energy of the vibrating system is dissipated by various
mechanisms.

Equivalent viscous damping: The damping coefficient c is selected so that the

vibrational energy it dissipates is equivalent to the energy dissipated in all the
damping mechanisms, combined, present in the actual structure. As shown in
Figure 1.4.1, the damping force is related to the velocity across the linear
viscous damper by:
f D = cu
1.5 Equation of motion: external force 22

The idealized one-story frame (Figure 1.5.1a) introduced earlier subjected to an

externally applied dynamic force p ( t ) in the direction of the DOF u.

Two methods to derive the differential equation governing the displacement u(t):

1. Newton’s second law of motion

2. Dynamic equilibrium
1.5.1 Using Newton’s second law of motion 23

The resultant force along the x-axis is p − f S − f D

Newton’s second law of motion gives:
p − f S − f D = mu or mu + f D + f S = p ( t )

Linearly elastic system: with f S = ku and f D = cu

mu + cu + ku = p ( t )

Inelastic system: with f S = f S ( u )

mu + cu + f S ( u ) = p ( t )
1.5.2 Dynamic equilibrium 24

D’Alembert’s principle of dynamic equilibrium: This principle is based on the

notion of a fictitious inertia force, a force equal to the product of mass times its
acceleration and acting in a direction opposite to the acceleration.

Mass replaced by its inertia force: mu + f D + f S − p ( t ) = 0

1.5.3 Stiffness, damping, and mass components 25
An alternative viewpoint: f I + f D + f S = p ( t )
• The state of the system: displacement u ( t ) , velocity u ( t ) and acceleration u( t )
• Visualize the system:
(1) the stiffness f S relate to the displacement u ( t )
(2) the damping component f D relate to the velocity u ( t )
(3) the mass component f I relate to the acceleration u( t )
• The external force p ( t ) visualized as distributed among the three components of
the structure, and f I + f D + f S must equal the applied force p ( t ) . This viewpoint
is useful for complex systems
1.5.3 Stiffness, damping, and mass components 26
1.5.3 Stiffness, damping, and mass components 27
1.5.3 Stiffness, damping, and mass components 28
1.6 Mass–spring–damper system 29

SDF system: Consider the spring and damper to be massless, the mass to be rigid,
and all motion to be in the direction of the x-axis.

The classic SDF system is the mass–spring–damper system of Fig. 1.6.1a

1.6 Mass–spring–damper system 30

Example 1.4
Derive the equation of motion of the weight w suspended from a spring at the free
end of the cantilever steel beam shown in Fig. E1.4a. For steel, E = 29,000 ksi.
Neglect the mass of the beam and spring.
1.6 Mass–spring–damper system 31

Example 1.4
Solution
Figure E1.4b shows the deformed position of the free end of the beam, spring, and
mass. The displacement of the mass u is measured from its initial position with the
beam and spring in their original undeformed configuration. Equilibrium of the
forces of Fig. E1.4c gives
mu + f S = w + p ( t ) (a )
where f S = keu (b)
The effective stiffness ke of the system remains
to be determined. The equation of motion is:
mu + keu = w + p ( t ) (c)
The displacement u can be expressed as
u = δ st + u (d)
where δ st is the static displacement due to weight w and u is measured from the
position of static equilibrium.
1.6 Mass–spring–damper system 32

Example 1.4
Substituting Eq. (d) in Eq. (a) and noting that (1) u = u because δ st does not vary
with time, and (2) keδ st = w gives
mu + keu = p ( t ) (e)
The effective stiffness ke remains to be determined. It relates the static force f S to
the resulting displacement u by
f S = ke u (f )
1.6 Mass–spring–damper system 33

Example 1.4

The effective stiffness ke

1.6 Mass–spring–damper system 34
1.7 Equation of motion: earthquake excitation 35

: Displacement of the ground

: Total (or absolute) displacement of the mass
: Relative displacement between the mass and
ground

Linear elastic system

fI + fD + fS = 0
f I = mut = m ( ug ( t ) + u( t ) )
f D = cu ( t ) Inelastic system
f S = ku ( t ) or fS = fS (u )

Effective earthquake force:

=−
1.8 Problem statement and element forces 36

Response: Displacement, velocity, or acceleration of the mass; also, an internal

force or internal stress in the structure.

Element forces: Once the deformation response history u ( t ) has been evaluated
by dynamic analysis of the structure, the element forces—bending moments,
shears, and axial forces—and stresses needed for structural design can be
determined by static analysis of the structure at each instant in time.

This static analysis of a one-story linearly elastic frame:

1. From the known displacement and rotation of each end of a structural element,
the element forces can be determined through the element stiffness properties; and
stresses can be obtained from element forces.
2. Introduce the equivalent static force. At any instant of time t this force fS is the
static external force that will produce the deformation u determined by dynamic
analysis.
1.9 Combining static and dynamic responses 37

In practical application, for a linear system the total forces can be determined by
combining the results of two separate analyses:
• Static analysis of the structure due to dead and live loads, temperature changes,
and so on.
• Dynamic analysis of the structure subjected to the time-varying excitation.

The analysis of nonlinear systems cannot be separated into two independent

analyses:
• The dynamic analysis of such a system must recognize the forces and
deformations already existing in the structure before the onset of dynamic
excitation. This is necessary to establish the initial stiffness property of the
structure required to start the dynamic analysis.
1.10 Methods of solution of the differential equation 38
For a linear SDF system, the equation of motion is:

mu + cu + ku = p ( t )

The initial displacement 0 and initial velocity 0 at time zero must be

specified to define the problem completely.

Four methods of solution:

• Classical Solution
• Duhamel’s Integral
• Frequency-domain Method
• Numerical Methods
1.10.1 Classical solution 39

Example 1.8

+ = Initial conditions 0 =0 0 =0

Complete solution = +

Complementary solution = cos + sin

Particular solution = ⁄

Constants =− = 0 are determined by initial conditions

Complete solution = 1 − cos Natural frequency

= ⁄
1.10.4 Numerical methods 40

Central difference method

Newmark-β method
Wilson-θ method
…and so on

These methods are also useful for evaluating the response of linear systems to
excitation which is too complicated to be defined analytically and is described only
numerically