(Lecture - 1) Dynamics of Structures Chapter 1
(Lecture - 1) Dynamics of Structures Chapter 1
Structures
Dr. Naik Muhammad
Department of Civil Engineering
BUITEMS, Quetta
1
Textbook 2
Part I: Single-degree-of-freedom
• Week 01: Chapter 1 Part IV: Multi-degree-of-freedom
• Week 02: Chapter 2 • Week 10: Chapter 9
Dynamic problems:
• Single DOF
• Linear systems
k
1
u
• Free vibration
Harmonic
Structural Periodic
Non-harmonic
• Forced vibration
Deterministic
Seismic Transient Stationary
Random
Non-stationary
4. By the type of mathematical problem
12
Chapter 1: Contents 13
1. Simple Structures
2. Single-Degree-of-Freedom System
3. Force-Displacement Relation
4. Damping Force
6. Mass-Spring-Damper System
Unrealistic: Oscillations continue forever and these idealized systems would never
come to rest (Figure 1.1.3 c).
The kinetic energy and strain energy of the vibrating system are dissipated by
various damping mechanisms
1.2 Single-degree-of-freedom system 16
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.
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
Two methods to derive the differential equation governing the displacement u(t):
2. Dynamic equilibrium
1.5.1 Using Newton’s second law of motion 23
mu + cu + ku = p ( t )
mu + cu + f S ( u ) = p ( t )
1.5.2 Dynamic equilibrium 24
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.
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
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.
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.
mu + cu + ku = p ( t )
Example 1.8
+ = Initial conditions 0 =0 0 =0
Complete solution = +
Particular solution = ⁄
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