HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION

DYNAMICS OF STRUCTURES
(DYST333317E)

Lecturer: CHÂU ĐÌNH THÀNH

FACULTY OF CIVIL ENGINEERING

 HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION

Chapter 2
SINGLE-DEGREE-OF-FREEDOM
SYSTEMS

FACULTY OF CIVIL ENGINEERING

 Outline
2.1 Equations of motion

2.2 Undamped free vibration

2.3 Viscously damped free vibration

2.4 Harmonic vibration of undamped systems

2.5 Harmonic vibration with viscous damping

3
 2.1 Equations of motion
 Simple structures
− The elevated water tank

u (t )
p (t )
m

4
 2.1 Equations of motion
 Simple structures (cont.)
− The pergola

u (t )
p (t ) m
p (t )
Rigid slab
u (t )
m
k k
Massless
2 2
k
columns

5
 2.1 Equations of motion
 Simple structures (cont.)
− The beams
p (t ) p (t )
m k k m

u (t ) u (t )

− The structures are simple because they can be idealized as

• A concentrated or lumped mass m
• A massless structure with stiffness k

6
 2.1 Equations of motion
 Simple structures (cont.)

(Chopra, 2007)

− The motion of these structures decays with time due to

damping
− The most commonly used damping element is the viscous
damper
7
 2.1 Equations of motion
 Single-degree-of-freedom system
− Each structural member (beam, column, wall, …) of the
actual structure contributes to
• Inertial (mass),
• Elastic (stiffness or flexibility),
• And energy dissipation (damping) properties

− However, in an idealized system, each of these properties

is concentrated in three separate, pure components
• Mass components
• Stiffness components
• Damping components
8
 2.1 Equations of motion
 Single-degree-of-freedom system (cont.)
− An idealization of single-degree-of-freedom system
consists of
• A concentrated mass m
• A stiffness k provided by massless frames, beams, …
• A viscous damper c that dissipates vibrational energy
u (t )
→ Need to define only one m
p (t )
displaced position of the mass
c
relative to its original position k k
for dynamic analysis, meaning 2 2
single-degree-of-freedom
(SDOF) system
9
 2.1 Equations of motion
 Single-degree-of-freedom system (cont.)
− Two types of dynamic excitation considered
• External force p(t)
• Earthquake-induced ground motion ug(t)
u (t ) u (t )
m p (t ) m
k k k k
c c
2 2 2 2

ug ( t )
Applied force p(t) Earthquake-induced ground motion
10
 2.1 Equations of motion
 Force-displacement relation
− Consider a SDOF system subjected to an externally applied
static force ps along the DOF u
u
m pS m pS pS

k k k k f S (resisting
2 2 2 2 force)

− The internal force fS in the columns is equal and opposite

to the external force pS
11
 2.1 Equations of motion
 Force-displacement relation (cont.)
− For a linear system,
fS
• The linearly elastic force
f S = ku (2.1) k
1
• Or the linear stiffness u

fS
k= (2.2)
u
Unit of k: force/length, e.g. N/m, kN/m, …

12
 2.1 Equations of motion
 Example 2.1
− Determine the linear stiffness of below structures

m EI b
H EI c

L 2 L 2

(a) (b)

13
 2.1 Equations of motion
 Example 2.1 (cont.)
− Determine the linear stiffness of below structures

(c) (d)

14
 2.1 Equations of motion
 Example 2.1 (cont.)
− Determine the linear stiffness of below structures

EI b = ∞ L

EI b
EI c H EI c klx

(e) (f)

15
 2.1 Equations of motion
 Damping force
− The process by which free vibration steadily diminishes in
amplitude is called damping
− The energy of the vibrating system is dissipated by various
mechanism such as
• Friction at steel connections
• Opening and closing of microcracks in concrete
• Friction between the structure itself
• Nonstructural elements such as partition walls
• …
→ Impossible to describe mathematically each of these
energy-dissipating mechanism in an actual building
16
 2.1 Equations of motion
 Damping force (cont.)

− Damping in a SDOF structure can be idealized satisfactorily

by a linear viscous damper or dashpot

− The damping coefficient is selected so that the dissipated

energy is equivalent to the all the damping mechanisms,
combined, present in the actual structure, called
equivalent viscous damping
→ This idealization is called equivalent viscous damping

17
 2.1 Equations of motion
 Damping force (cont.)
− Consider a linear viscous damper subjected to a force pD
along DOF u
u
pD pD
c
f D (resisting
force)

− The internal force fD in the damper is equal and opposite

to the external force pD
18
 2.1 Equations of motion
 Damping force (cont.) fD
− The damping force fD is related to the
velocity u across the linear viscous c
1 u
damper by
f D = cu (2.3)

Where c is the viscous damping coefficient; it has units of

force x time / length, e.g. N.s/m, kN.s/m
− Unlike the stiffness of a structure, the damping coefficient
cannot be calculated from the dimensions of the structure
and the sizes of the structural elements
→ May be free vibration experiments used to evaluate the
damping coefficient
19
 2.1 Equations of motion
 Equation of motion: External force
− Consider an idealized SDOF system subjected to an
externally applied dynamic force p(t) in the direction of
the DOF u
u (t )
m p (t ) m p (t )

k c k k c k
2 2 2 2

20
 2.1 Equations of motion
 Equation of motion: External force (cont.)
fI m p (t )

fD

fS

− The forces acting on the free-body diagram at time t

includes
• The external force p(t)
• The elastic resisting force f S = ku
• The damping force f D = cu (2.4)
• And the inertia force f I = mu
21
 2.1 Equations of motion
 Equation of motion: External force (cont.)
− From D’Alembert’s principle of dynamic equilibrium, a
system is in equilibrium at each time instant when
f I + f D + f S − p ( t ) = 0 or f I + f D + f S = p ( t )

− After substituting (2.4) this equation becomes

mu + cu + ku = p ( t ) (2.5)

This is the equation of motion governing the deformation

or displacement u(t) of the SDOF system

22
 2.1 Equations of motion
 Stiffness, Damping, and Mass components
− Under the action of external force p(t), the state of the
system is described by displacement u(t), velocity u ( t ),
u ( t )
and acceleration
− The system is visualized as the combination of three pure
components
f S = ku f D = cu m f I = mu

k k c
2 2
+ +

Stiffness Damping Mass

23
 2.1 Equations of motion
 Example 2.2
− Derive the equation of motion for the frame shown in the
below figure. Assume the columns to be massless and
neglect damping
p (t ) m u (t )

EI EI H

24
 2.1 Equations of motion
 Mass – Spring – Damper system
− The classical SDOF system is the mass – spring – damper
system u (t )
k
p (t )
m

c Friction-free surface

mg
ku
mu p (t )
cu

mu + cu + ku = p ( t ) mg
25
 2.1 Equations of motion
 Example 2.3
− Write the equation of motion for the spring-mass system
shown in the below figure
u (t )
k1 k2
m p (t )

c1 c2

Friction-free surface

26
 2.1 Equations of motion
 Influence of gravitational forces
− Consider the
system in which
the force of k c k c
gravity acts in
fI mg
the direction of fS fD us =
k
the u (t )
displacement m

p (t )
mg
p (t )
27
 2.1 Equations of motion
 Influence of gravitational forces (cont.)
− Dynamic equilibrium of the mass m at time instant t is
f I + f D + f S = p ( t ) + mg
In which
• The external force p(t)
 mg 
• The elastic force Sf = k ( u s + u ) = k  + u  = mg + ku
 k 
• The damping force f D = cu 
• And the inertia force f I = mu
− This equation becomes
mu + cu + ku = p ( t ) (2.6)
28
 2.1 Equations of motion
 Influence of gravitational forces (cont.)
− Comparison of Eqs. (2.5) and (2.6) demonstrate that the
equation of motion expressed with reference to the static-
equilibrium position of a dynamic system is not effected
by gravity force

− For this reason, displacements will be referenced from the

static-equilibrium position

− Total deflection, stresses, etc. are obtained by adding the

corresponding static quantities to the results of the
dynamic analysis

29
 2.1 Equations of motion
 Example 2.4
− Write the equation governing the free vibration of the
system shown in the below figure
Assuming the beam to be massless, the system has a
single DOF defined as the vertical deflection under the
mass m. The flexural rigidity of the beam is EI and the
length is L. Neglect damping
p (t )
EI m EI

u (t )
L 2 L 2

30
 2.1 Equations of motion
 Equation of motion: Earthquake excitation
− Consider an idealized SDOF system subjected to the
displacement of the ground ug
− Denote the total displacement of the mass by ut, and the
relative displacement between the mass and ground by u.
ut
ug u
m m
k k
k c k c
2 2
2 2

ug
ug ( t )
31
 2.1 Equations of motion
 Equation of motion: Earthquake excitation (cont.)
fI

fD
fS

− From the free-body diagram including the inertia force fI,

the equation of dynamic equilibrium is
fI + fD + fS = 0
− Only the relative motion u produces elastic and damping
forces. Therefore, f S = ku ( t ) and f D = cu ( t )
− And, the inertia force fI is related to the acceleration 
ut

f I = mut ( t ) = m ug ( t ) + u ( t )  = mug ( t ) + mu ( t )

32
 2.1 Equations of motion
 Equation of motion: Earthquake excitation (cont.)
− So, the equation of dynamic equilibrium becomes
mu + cu + ku = −mug ( t ) (2.7)

This is the equation of motion governing the relative

displacement or deformation u(t) of a SDOF system
subjected to ground acceleration ug ( t )

33
 2.1 Equations of motion
 Equation of motion: Earthquake excitation (cont.)
− Comparison of Eqs. (2.5) and (2.7) shows that the
equations of motion for the structure subjected to ground
acceleration ug ( t ) and the structure subjected to external
force −mug ( t ) are one and the same.
m m −mug ( t )

=
k c k k c k
2 2 2 2

ug ( t ) Stationary base

− Therefore, the ground motion can be replaced by the
effective earthquake force peff ( t ) = −mug ( t )
34
 2.1 Equations of motion
 Example 2.5
− The idealized one-story system of the below figure
subjected to the motion of the ground ug(t)= ug0cos(ωt)
Write the equation of motion governing the relative
displacement u(t) of the mass m
m

c
EI EI
H

u g ( t ) = u g 0 cos (ωt )
35
 2.2 Undamped free vibration
− By setting p(t) = 0 (free vibration) and c = 0 (undamped),
the differential equation governing undamped free
vibration of a SDF system is
mu ( t ) + ku ( t ) = 0 (2.8)

− Free vibration is initiated by imparting the mass from its

static equilibrium position some displacement u(0) and
velocity u ( 0 ) at time zero, defined as initial conditions
u ( t = 0 ) = u ( 0 )
 (2.9)
u ( t = 0 ) = u ( 0 )

36
 2.2 Undamped free vibration
− The solution to the homogeneous differential equation
(2.8) subjected to the initial conditions (2.9) is
u ( 0 )
u ( t ) = u ( 0 ) cos (ωnt ) + sin (ωnt ) (2.10)
ωn
k
In which,ωn = ( rad/s ) :natural circular frequency (2.11)
m
u u ( 0 ) Tn = 2π / ωn
b
Amplitude
u0
u ( 0) a c e t

d
37
 2.2 Undamped free vibration
− The time required for the undamped system to complete
on cycle of free vibration is the natural period of vibration
2π
Tn = (second) (2.12)
ωn

− That a system executes 1/Tn cycles in 1 second is natural

cyclic frequency of vibration, denoted by
1 ωn
fn = = (Hz) (2.13)
Tn 2π

− Note that natural vibration properties ωn, Tn and fn

depend only on the mass m and stiffness k of the
structure 38
 2.2 Undamped free vibration
− The undamped system oscillates back and forth between
the maximum displacement u0 and minimum
displacement –u0. The magnitude u0 is called the
amplitude of motion, given
2
2  u ( 0 ) 
u0 = u ( 0 )  +   (2.14)
ω
 n 

− The amplitude u0
• Depends on the initial displacement and velocity
• Remains the same cycle after cycle or does not decay

39
 2.2 Undamped free vibration
 Example 2.6
m
− A SDF system shown in the Figure.
Give initial displacement and velocity
u ( t = 0 ) = 2 cm ; u ( t = 0 ) = 5 cm/s H E, I

And m = 2 ton; E = 2.6x107 kN/m2;

I = 1728 cm4; H = 4 m
− Determine
• The natural circular frequency, natural cyclic frequency
and natural period of vibration
• Displacement at t = 3 second
• Amplitude of the motion
• Maximum bending moment in the column
40
 2.3 Viscously damped free vibration
− The differential equation governing viscously damped free
vibration of a SDF system is
mu ( t ) + cu ( t ) + ku ( t ) = 0 (2.15)
− Dividing (2.15) by m gives
u ( t ) + 2ςωn u ( t ) + ωn2u ( t ) = 0 (2.16)
c c
In which, ς = = (2.17)
2mωn ccr
ccr: critical damping coefficient;
and ζ: damping ratio of critical damping
− The initial displacement u(0) and velocity u ( 0 ) at time
zero are u ( t = 0 ) = u ( 0 ) ; u ( t = 0 ) = u ( 0 ) (2.18)
41
 2.3 Viscously damped free vibration
 Types of motion

ς =1

ς >1

ς <1

42
 2.3 Viscously damped free vibration
 Types of motion (cont.)
− The damping coefficient ccr is the smallest value of c that
inhibits oscillation completely. It divides system into
• Critical damped system: c = ccr or ζ = 1
Such as a scale measuring dead weight
• Underdamped system: c < ccr or ζ < 1
Including most structures like buildings, bridges,
damps, nuclear power plants, offshore structures,
etc.
• Overdamped system: c > ccr or ζ > 1
For example: common automatic door closer
− This course is restricted to underdamped system
43
 2.3 Viscously damped free vibration
 Underdamped system
− The solution to Eq.(2.16) subject to initial conditions
(2.18) for underdamped system (c < ccr or ζ < 1) is
−ςω t  u ( 0 ) + ςωnu ( 0 ) 
u (t ) = e n
u ( 0 ) cos (ωD t ) + sin (ωD t )  (2.19)
 ωD 
Where D ω = ω n 1 − ς 2

u TD = 2π / ωD
u ( 0 )
ρ e −ςω t
n
Damped

u ( 0) t

− ρ e −ςωnt Undamped
44
 2.3 Viscously damped free vibration
 Underdamped system (cont.)
− The natural frequency of damped vibration
ω D = ωn 1 − ς 2 (2.20)
− The natural period of damped vibration
2π Tn
TD = = (2.21)
ωD 1− ς 2
− The displacement amplitude of damped free vibration
decays exponentially with time. The envelop curves ± ρ e −ςω t n

with 2
2  u ( 0 ) + ςωnu ( 0 ) 
ρ = u ( 0 )  +   (2.22)
 ωD  45
 2.3 Viscously damped free vibration
 Underdamped system (cont.)
− Damping has the effect of
• Lowering the natural frequency from ωn to ωD
• Lengthening the natural period from Tn to TD
2
 ωD 
 +ς =1
2
− For damping ratio ζ < 0.2 (20%) 
 ωn 
• ωD ≈ ωn ωD
,
ωn
• TD ≈ Tn
Tn
TD

ς
46
 2.3 Viscously damped free vibration
 Underdamped system (cont.)
− The more important effect of damping is on the rate at
which free vibration decays
u

47
 2.3 Viscously damped free vibration
 Example 2.7 u (t )
m
− A one-story building is shown in
Figure. Give initial displacement ς
H EI c EI c
and velocity as
u ( t = 0 ) = 3 cm ; u ( t = 0 ) = 4 cm/s
Know E = 2.5x107 kN/m2; Ic = 12000 cm4;
H = 4 m; m = 6 ton; and ζ = 5%
− Determine
• The natural frequency and natural period of the
damped vibration
• Displacement at t = 2 second
• Shear force in the column at t = 2 second
48
 2.3 Viscously damped free vibration
 Decay of motion
u u
1 TD
u2
ui
ui +1 ui + 2
t

− From (2.19), the ratio of the displacement at time t to its

value a full vibration period TD later is
 2πς 
u (t )
 
ςωnTD  1−ς 2  ui
=e =e  
= (2.23)
u ( t + TD ) ui +1
In which, ui and ui+1 are successive peaks (maxima)
49
 2.3 Viscously damped free vibration
 Decay of motion (cont.)
− The natural logarithm of this ratio, called the logarithmic
decrement, is
 ui  2πς
δ = ln   =
(2.24)
 ui +1  1− ς 2

− If ζ is small (ζ < 0.2),

2πς
or 1 − ς 2 ≈ 1 , this gives an δ=
approximation equation 1− ς 2
δ
δ ≈ 2πς (2.25) δ = 2πς

ς 50
 2.3 Viscously damped free vibration
 Decay of motion (cont.)
− If the decay of motion is slow, as is the case for lightly
damped system, it is desirable to relate the ratio of two
amplitudes several cycle apart to the damping ratio

− Over j cycles the motion decreases from ui to ui+j. And

ui ui ui +1 ui + 2 ui + j −1
= ⋅ ⋅ ⋅ = e jδ
ui + j ui +1 ui + 2 ui +3 ui + j

 ui  2πς
 ln   = jδ = j ≈ j 2πς (2.26)
 ui + j 1− ς 2
 

51
 2.3 Viscously damped free vibration
 Free vibration tests

− Because it is not possible to determine analytically the

damping ratio ζ for practice structures, this elusive
property should be determine experimentally

− Free vibration experiments provide one means of

determining the damping. The damping ratio can be
determined from (2.26) as
1  ui 
ς= ln   (2.27)
2π j  ui + j 

52
 2.3 Viscously damped free vibration
 Free vibration tests (cont.)
u u
1 TD
u2
ui
ui +1 ui + 2
t

− Similarly, in term of accelerations, which are easier to

measure than displacements, we can derive the formula
to determine the damping ratio as
 ui
1 
ς= ln   (2.28)
2π j  ui + j 
53
 2.3 Viscously damped free vibration
 Free vibration tests (cont.)
− The natural period TD of the system can also be
determined from the free vibration record by measuring
the time required to complete one cycle of vibration

− Comparing the experimental value with the natural period

calculated from an idealized system tells us
• How accurately these properties were calculated
• How well the idealization represents the actual
structure

54
 2.3 Viscously damped free vibration
 Example 2.8
− Determine the natural vibration period
and damping ratio of the plexiglass
frame model from the acceleration
record of its free vibration
(Chopra, 2007)

55
2.4 Harmonic vibration of undamped systems
 Harmonic forces
− A harmonic force is
p ( t ) = p0 sin (ωt ) or p ( t ) = p0 cos (ωt )
p (t ) p (t )

p0 p0
t t

T = 2π ω T = 2π ω

In which, p0 is the amplitude or maximum value

ω is exciting frequency or forcing frequency
T = 2π/ω is the exciting period or forcing period
56
2.4 Harmonic vibration of undamped systems
 Vibration of undamped systems due to SINE force
− The differential equation governing the sinuously forced
harmonic vibration of an undamped SDF system is
mu ( t ) + ku ( t ) = p0 sin (ωt ) (2.29)

− This equation is to be solved for the displacement u(t)

subject to the initial conditions
u ( t = 0 ) = u ( 0 )
 (2.30)
u ( t = 0 ) = u ( 0 )

57
2.4 Harmonic vibration of undamped systems
 Vibration of undamped systems due to SINE force (cont.)
− The particular solution of (2.29) is
p0 1
u p (t ) = sin (ωt ) ( when ω ≠ ωn ) (2.31)
k 1 − ( ω ωn ) 2

− The complementary solution of (2.29) is

uc ( t ) = A cos (ωnt ) + B sin (ωnt ) (2.31)

− And the complete solution of (2.29) is

p0 1
u ( t ) = A cos (ωnt ) + B sin (ωnt ) + sin (ωt ) (2.32)
k 1 − ( ω ωn ) 2

( when ω ≠ ωn )
58
2.4 Harmonic vibration of undamped systems
 Vibration of undamped systems due to SINE force (cont.)
− The complementary solution of (2.29) is
uc ( t ) = A cos (ωnt ) + B sin (ωnt ) (2.31a)

− The particular solution of (2.29) is

p0 1
u p (t ) = sin (ωt ) ( when ω ≠ ωn ) (2.31b)
k 1 − ( ω ωn ) 2

− And the complete solution of (2.29) is

p0 1
u ( t ) = A cos (ωnt ) + B sin (ωnt ) + sin (ωt ) (2.32)
k 1 − ( ω ωn ) 2

( when ω ≠ ωn )
59
2.4 Harmonic vibration of undamped systems
 Vibration of undamped systems due to SINE force (cont.)
− The constant A and B are determined by imposing the
initial conditions (2.30) to obtain the final result of motion
of an undamped SDF due to sine force
 u ( 0 ) p ω ωn 
u ( t ) = u ( 0 ) cos (ωnt ) +  − 0
 sin (ωnt )
 ωn k 1 − ( ω ωn ) 
2

  
transient

p0 1
+ sin (ωt ) ( when ω ≠ ωn ) (2.33)
k 1 − ( ω ωn ) 2


steady-state

60
2.4 Harmonic vibration of undamped systems
 Vibration of undamped systems due to SINE force (cont.)
− u(t) in (3.33) contains two distinct vibration components
1. The sin(ωt) term, giving an oscillation at the forcing or
exciting frequency.
This is the forced vibration or steady-state vibration
because of the applied force no matter what the initial
conditions
2. The sin(ωnt) and cosine(ωnt) terms, giving an oscillation
at the natural frequency of the system
This is the transient vibration, which depends on the
initial displacement and velocity
61
2.4 Harmonic vibration of undamped systems
 Vibration of undamped systems due to SINE force (cont.)
u
p0 k Total response
Steady-state respond

− In the figure, the transient is seen to continue forever. This

is only an academic point because the damping inevitably
present in real system makes free vibration decay with
time 62
2.4 Harmonic vibration of undamped systems
 Vibration of undamped systems due to SINE force (cont.)

− Ignoring the dynamic effects signified by the acceleration

term in (2.29) gives the static deformation at each instant
p0
ust ( t ) = sin (ωt )
k

− The maximum value of the static deformation is

p0
( ust )0 = (2.34)
k

63
2.4 Harmonic vibration of undamped systems
 Vibration of undamped systems due to SINE force (cont.)
− The steady-state dynamic response of (2.33) may be
expressed by
p0 1
u (t ) = sin (ωt ) = u0 sin (ωt − φ )
k 1 − ( ω ωn ) 2

p0 1
In which, u0 = = ( ust )0 Rd and φ: phase angle
k 1 − ( ω ωn ) 2

u0 1
With Rd = = : the deformation (or
( ust )0 1 − (ω ωn ) 2

displacement) response factor (2.35)

64
2.4 Harmonic vibration of undamped systems
 Vibration of undamped systems due to SINE force (cont.)
− Rd plotted as a function of the frequency ratio (ω/ωn) is
shown in the Figure.
• If Rd is close to 1, Rd is many
times larger than 1, implying
that the deformation
amplitude us much larger Rd
than static deformation
• The resonant frequency is
defined as the forcing
frequency at which Rd is 2
ω ωn
maximum
65
2.4 Harmonic vibration of undamped systems
 The resonant phenomenon
− If ω = ωn, the solution given in (2.33) is no longer valid. In
this case, the solution of (2.33) is

 u ( 0 ) p0  p0
u ( t ) = u ( 0 ) cos (ωnt ) +  +  sin (ωn t ) − ωn t cos (ωnt )
 ωn 2k  2k
(2.36)
( when ω = ωn )

66
2.4 Harmonic vibration of undamped systems
 The resonant phenomenon (cont.)
− If the initial conditions u ( 0 ) =0 and u ( 0 ) = 0 , (2.35) gives
1 p0
u (t ) = −ωnt cos (ωnt ) − sin (ωnt ) 
2 k
p0
− Denote ( ust )0 = . This equation can be written
k
u (t ) 1  2π t  2π t   2π t  
=−  cos   − sin  
( ust )0 2  Tn  Tn   Tn  

u (t )
( u st )0

t Tn
67
2.4 Harmonic vibration of undamped systems
 The resonant phenomenon (cont.)
− The resonant phenomenon occurs when ω = ωn
− In this case, the deformation amplitude grows indefinitely,
but it becomes infinite only after an initially long time
− For real structures, as the deformation continues to
increase, at some point in time the system would fail if it
is brittle.
On the other hand, the system would yield if it is ductile,
its stiffness would decrease, and its “natural frequency”
would no longer be equal to the forcing frequency

68
2.5 Harmonic vibration with viscous damping
 Vibration of viscously damped systems due to SINE force
− The differential equation governing the sinuously forced
harmonic vibration of a viscously damped SDF system is
mu ( t ) + cu ( t ) + ku ( t ) = p0 sin (ωt ) (2.37)

− This equation is to be solved for the displacement u(t)

subject to the initial conditions
u ( t = 0 ) = u ( 0 )
 (2.38)
u ( t = 0 ) = u ( 0 )

69
2.5 Harmonic vibration with viscous damping
 Vibration of viscously damped systems due to SINE force
(cont.)
− The solution of (2.37) due to the initial condition (2.38) is
u ( t ) = e −ςωnt  A cos (ωD t ) + B sin (ωD t )  + C sin (ωt ) + D cos (ωt )
 
transient steady-state
(2.39)
1 − ( ω ωn )
2
p0
In which C = (2.40a)
k 1 − ω ω 2  2 +  2ς ω ω  2
 ( n)
  ( n )

p −2ς ω ωn
D= 0 (2.40b)
k 1 − ω ω 2  2 +  2ς ω ω  2
 ( n)
  ( n )

And A and B are determined from initial conditions (2.38)

70
2.5 Harmonic vibration with viscous damping
 Vibration of viscously damped systems due to SINE force
(cont.)
− Assume ω ωn = 0.2, ς = 0.05, u ( 0 ) = 0, and u ( 0 ) = ωn p0 k
Eq. (2.39) is plotted
Steady-state respond Total respond

u (t )
( u s t )0

t Tn
− Obviously, the transient response decays exponentially
with time and the forced response remains
71
2.5 Harmonic vibration with viscous damping
 Example 2.9
− Given a damped SDF system as shown in the Figure. Know
E = 2.2x107 kN/m2; L 4 3L 4
I = 400x10-8 m4;
L = 4.2 m; EI
klx
klx = 15 kN/m;
m = 0.12 kNs2/m; m
ζ = 4%; p(t) = 1.2sin(15t) kN p (t )

− Compute the maximum deflection on the beam at the

steady-state (neglecting static deflection) at L/4
Compute maximum bending moment at the steady-state
(including static bending moment) at L/4
72
2.5 Harmonic vibration with viscous damping
 Vibration of viscously damped systems due to COSINE
force
− The differential equation governing the cosine forced
harmonic vibration of a viscously damped SDF system is
mu ( t ) + cu ( t ) + ku ( t ) = p0 cos (ωt ) (2.41)

− This equation is to be solved for the displacement u(t)

subject to the initial conditions
u ( t = 0 ) = u ( 0 )
 (2.42)
u ( t = 0 ) = u ( 0 )

73
2.5 Harmonic vibration with viscous damping
 Vibration of viscously damped systems due to COSINE
force (cont.)
− The solution of (2.41) due to the initial condition (2.42) is
u ( t ) = e −ςωnt  A cos (ωD t ) + B sin (ωD t )  + C sin (ωt ) + D cos (ωt )
 
transient steady-state
(2.43)
p0 2ς ω ωn
In which C= (2.44a)
k 1 − ω ω 2  2 +  2ς ω ω  2
 ( n)
  ( n )

( n)
2
p0 1 − ω ω (2.44b)
D=
k 1 − ω ω 2  2 +  2ς ω ω  2
 ( n)
  ( n )

And A and B are determined from initial conditions (2.42)

74
2.5 Harmonic vibration with viscous damping
 Example 2.10 u (t )
m
− Consider the water tower shown which is
subjected to ground motion produced by a
passing train in the vicinity of the tower. The
ground motion is idealized as a harmonic
k
acceleration of the foundation of the tower.
− Assume an effective damping coefficient of 10%
of the critical damping in the system.
− Determine of the maximum motion of the tower
relative to the motion of its foundation in the ug ( t )
steady state. Given
m = 45 kN.s 2 m; k = 40000 kN m; ug ( t ) = cos(10t ) m
75
2.5 Harmonic vibration with viscous damping
 The resonant phenomenon
p0 1 ( ust )0
− If ω = ωn, from (2.40) gives C = 0; D = − =−
p0 k 2ς 2ς
In which, ( ust )0 =
k
− Assume u ( 0 ) = 0 and u ( 0 ) = 0. The constant A and B in
(2.39) can be determined
( ust )0 ( ust )0
A= ; B=
2ς 2 1− ς 2
− And (2.39) becomes
( ust )0   ς  
u (t ) = e
−ςωn t
cos (ωD t ) + sin (ωD t )  − cos (ωnt ) 
2ς   1− ς 2

 
(2.45)
76
2.5 Harmonic vibration with viscous damping
 The resonant phenomenon (cont.)
− The equation (2.45) is plotted for a system with ζ = 0.05 as
the below figure

u (t )
( u st )0

t Tn
− Compared to undamped systems, damping lowers each
peak and limits the response to the bounded value ( st )0
u
2ς
77
2.5 Harmonic vibration with viscous damping
 Maximum deformation and phase lag
− The steady-state deformation of the system due to
harmonic forces (2.39) or (2.43), can be written as
u ( t ) = u0 sin (ωt − φ ) = ( ust )0 Rd sin (ωt − φ ) (2.46)

Where u0 = C 2 + D 2 ( 2.47 ) is maximum deformation

 D
and the phase lag φ = arctan  − 
 C
− Substituting for C and D gives the deformation respond
factor u0 1
Rd = = (2.48)
( ust )0 1 − (ω ω )2  +  2ς (ω ω ) 2
2

 n   n 

78
2.5 Harmonic vibration with viscous damping
 Maximum deformation and phase lag (cont.)
− The below Figure shows the deformation response factor
for a damped system excited by harmonic force

Rd

ω ωn 79
2.5 Harmonic vibration with viscous damping
 Maximum deformation and phase lag (cont.)
− And the phase angle of a damped system excited by
harmonic force

ω ωn 80
2.5 Harmonic vibration with viscous damping
 Dynamic response factors
− The steady-state displacement of (2.46) is repeated
u (t )
= Rd sin (ωt − φ ) (2.49)
p0 k
Where Rd is the deformation response factor given in
(2.48)
− Differentiating (2.49) gives an equation for the velocity
response u ( t )
= Rv cos (ωt − φ ) (2.50)
p0 km
In which Rv is the velocity response factor and related to
Rd by ω
Rv = Rd (2.51)
ωn
81
2.5 Harmonic vibration with viscous damping
 Dynamic response factors (cont.)
− Differentiating (2.50) gives an equation for the
acceleration response
u ( t )
= − Ra sin (ωt − φ ) (2.52)
p0 m
Where Ra is the acceleration response factor related to Rd
by 2
ω 
Ra =   Rd (2.53)
 ωn 
− The simplest relations among the dynamic response
factors Ra ω
= Rv = Rd (2.54)
ω ωn ωn
82
2.5 Harmonic vibration with viscous damping
 Dynamic response factors (cont.)
− Four-way
logarithmic plot
of the dynamic
response factors
for a damped
system excited
by harmonic
force

83
2.5 Harmonic vibration with viscous damping
 Resonant frequencies and resonant responses
− A resonant frequency is
defined as the forcing
frequency at which the
largest response
amplitude occurs
− It shows that the peak in
the frequency-response
curves for displacement,
velocity and acceleration
occur at slightly different
frequencies
84
2.5 Harmonic vibration with viscous damping
 Resonant frequencies and resonant responses (cont.)
− By setting to zero the first derivative of Rd, Rv, and Ra with
respect to ω/ωn; for ς < 1 2 , we have
• Displacement resonant frequency ωn 1 − 2ς 2

• Velocity resonant frequency ωn

• Acceleration resonant frequency ωn 1 − 2ς 2

− Note that for an undamped system the three resonant

frequencies are identical and equal to the natural
frequency ωn of the system
85
2.5 Harmonic vibration with viscous damping
 Resonant frequencies and resonant responses (cont.)

− The three dynamic response factors at their respective

resonant frequencies are
1
Rd =
2ς 1 − ς 2
1
Rv =
2ς
1
Ra =
2ς 1 − ς 2

86
 HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION

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