Structural Dynamics

GTU # 3722016

Structural Dynamics

Department of Civil Engineering

Darshan Institute of Engineering & Technology, Rajkot
[email protected]
+91-9409530079
Section - 1
Vibrations and Oscillations
 Motion or movement of body without deformation of body is called Oscillations
 Motion or movement of body in which deformation of body involves is called vibrations
 Vibration is “the rapid to and fro motion of an elastic /inelastic system whose equilibrium is disturbed”

Oscillation motion Vibration motion 5

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Vibration is also an everyday phenomenon we meet on everyday life

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Types of Vibrations
 Free vibrations vs. Forced vibrations
 When a structure vibrates without any externally applied forces, such as when it is pulled out of position, and
then released is called Free Vibration

 Vibration of a system subjected to an continuously external excitation force is known as Forced vibration.

Free vibration continues to occur after forced vibration.

e.g., a structure subjected to earthquake continues to vibrate for some time after there are no seismic waves to
impart energy to structure

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• Damped vibration and Undamped vibration

• Undamped Vibration:

• If no energy is lost or dissipated in friction or other resistance during vibration, the vibration is known as
Undamped vibration

• Undamped vibration is a hypothetical phenomena which help in providing an understanding of the

Damped vibration.

• Damped Vibration :

• In actual system the energy is always lost due to a number of mechanisms. Such type of vibration is
known as Damped vibrations

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• Periodic and Random vibrations

• Periodic Vibration :

• If the motion is repeated after equal intervals of time, it is called Periodic motion.

• The simplest type of periodic motion is Harmonic motion.

• Random Vibration :

• Random vibrations are arbitrary in nature and Such type of vibrations are produced in a system due to
wind, earthquake, traffic etc

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Time Period and Frequency
 Time Period (t)
 Time required to complete a cycle/oscillation is called time period
 Unit: Second

 Frequency (f)
 The number of cycles/oscillation per unit time
 Unit : Hz or cycle/sec
 f =1/t
 Circular frequency ω = 2πf
 Unit : Radian/sec

The system under free vibration vibrates at time period and frequency is known as natural time
period and natural frequency

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Resonance
 Resonance is a condition at
which natural frequency of
system and forcing frequency
becomes equal and the system
vibrates at excessive amplitude.

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Damping
 The resistance to motion which develops due to internal friction or surrounding fluids is known as Damping

 Energy dissipated during motion will reduce the kinetic and potential (or strain) energy available in the
system and eventually bring the system to rest.

 The term Damping is used to described all types of energy dissipating mechanisms.

 Types of Damping
 Structural Damping : Damping due to Internal molecular friction

 Viscous Damping : Damping due to surrounding viscous fluid.

 Coulomb Damping : Damping Occurs when motion of body on dry surface

 Negative Damping : Adds energy to structure and hence increase amplitude

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Degrees of Freedom
 Any Mass in space can undergo six movements : Three translation and
three rotations Y
Rotation about Y-axis

 The minimum number of co-ordinates required to describe the positions

Motion along Y-axis
of mass of a system at any instant of time is called Degrees of Freedom
(DOF).
Motion along X-axis

 Depending upon the co-ordinates to describe the motion, the vibratory Motion along Z-axis

system is divided in to, X

Rotation about X-axis
 Single degree of freedom system (SDoF).
Rotation about Z-axis
 Multiple degree of freedom (MDoF).
Z
 Continuous system.

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Single Degree of Freedom System (SDOF): Multi Degree of Freedom system (MDOF)
• If single coordinate is sufficient to define position • If more than one independent coordinates are
of mass at any instant of time, is referred as SDOF required to position of different masses at any
System. instant of time, is referred as MDOF system

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Continuous systems
• Some systems, specially those involving continuous elastic members, have an infinite number of DOF
• Example :This beam has infinites mass points and need infinites number of displacements to draw its
deflected shape and thus has an infinite DOF.
• Systems with infinite DOF are called Continuous or Distributed systems.

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Mathematical Modelling
 Structural dynamics is the study of behavior of structure under dynamic loading
 The behavior can be find out by,
 Experimental Studies
 Analytical Studies
 But, real test can not be performed on structure. so, Mathematical model becomes important for dynamic analysis
 It provides link between real physical system and mathematical solution
 It is a symbolic designation of real system

 Elements of Vibrating system or Mathematical model

 Mass (m)
 Stiffness (k)
 Damping (c)
 External excitation Force (F(t))

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Basic Elements of Mathematical Model

External Excitation
Mass Spring Damping
Force
mx’’
X(t) X(t) F(t)
X(t)

kx cx’

• Mass of body represents • Stiffness or Elasticity is • Damping represents • It is the external

Inertia Force represents restoring frictional characteristic force acting on
force and potential and energy loss of structure
• Inertia force is equal to
energy of structure structure
mass times its
acceleration • Elastic force is equal to • Damping force is equal
stiffness times its to damping constant
• It acts opposite to
displacement times its velocity
motion
• It acts opposite to • It acts opposite to
• Represented by Mass
motion motion
car
• Represented by Spring • Represented by Piston
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Assumptions:

• Each element in system represents a single property

• i.e., mass represents only inertia force, k represents only elasticity and c represents only
damping property

• Such pure elements do not exist in our physical world, it is just an idealization of real structure.

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Equivalent stiffness
 Many systems have more than one spring
 They can be replaced by a single spring of same stiffness as they show same stiffness as a whole. This is called
equivalent stiffness (keq)

Springs in Parallel

𝑇𝑜𝑡𝑎𝑙 𝑓𝑜𝑟𝑐𝑒
𝑃 = 𝑃1 + 𝑃2
𝑘𝑒𝑞 𝑥 = 𝑘1 𝑥 + 𝑘2 𝑥
𝑘𝑒𝑞
𝑘𝑒𝑞 = 𝑘1 + 𝑘2

For n number springs,

𝑘𝑒𝑞 = 𝑘1 + 𝑘2 + . . . +𝑘𝑛

P
X(t) P X(t)

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Springs in Series

𝑇𝑜𝑡𝑎𝑙 𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡
𝑥 = 𝑥1 + 𝑥2
𝑃 𝑃 𝑃
= +
𝑘𝑒𝑞 𝑘1 𝑘2
𝑥1
1 1 1
= +
𝑘𝑒𝑞 𝑘𝑒𝑞 𝑘1 𝑘2

𝑥2
For n number springs,

1 1 1 1
= + +. . . . +
𝑘𝑒𝑞 𝑘1 𝑘2 𝑘𝑛

P X(t) P X(t)

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D’Alemberts principle

 “The body will be in dynamic equilibrium condition under the influence of external excitation force and inertia
force”

Where,

𝐻=0 𝐻=0 F = External Force

F - R = ma R = Friction Force
F=R
m = mass
Static condition Dynamic condition
a = acceleration
(No motion) (Body in motion)

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Generalised Equation of Motion
X(t)
F(t)
m
Mass
Damping
k, c 𝐹(𝑡)
Spring
External load

Portal Frame Simplified Model Mathematical Model

Inertia Force
𝑚𝑥′′
Spring force
𝑘𝑥 𝐹(𝑡)
m
Damping force 𝑐𝑥′ External load

Free body Diagram

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As per D’Alemberts principle, Body will be under dynamic equilibrium condition

𝑚𝑥 ′′ + 𝑐𝑥 ′ + 𝑘𝑥 = 𝐹(𝑡) Generalized Equation of motion

Where,
Inertia Force
X(t) = Displacement 𝑚𝑥′′
𝐹(𝑡) = External Excitation force Spring force 𝐹(𝑡)
𝑘𝑥 m
′′
𝑚𝑥 = Inertia force Damping force 𝑐𝑥′ External load
𝑐𝑥′= Damping force
𝑘𝑥 = stiffness force Free body Diagram

Possible Vibration cases:

Free vibration: F(t) = 0
Undamped: c = 0
Damped: c ≠ 0
Forced vibration: F(t) ≠ 0
Undamped: c = 0
Damped: c ≠ 0
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Methods for Solution of Equation of motion
The Generalized equation of motion,

𝑚𝑥 ′′ + 𝑐𝑥 ′ + 𝑘𝑥 = 𝐹(𝑡)

can be solved by any one of the following four methods

1) Classical Method

2) Duhamel’s Integral

3) Frequency Domain Method

4) Numerical Methods

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Section - 1
Free undamped Vibration (SDOF)
The Generalized equation of motion,
𝑚𝑥 ′′ + 𝑐𝑥 ′ + 𝑘𝑥 = 𝐹(𝑡)

For free vibration 𝐹 𝑡 = 0

For Undamped vibration c=0

Equation of motion for free undamped vibration,

𝑚𝑥 ′′ + 𝑘𝑥 = 0

Solution of above equation is given by

𝑥 = 𝑐1 cos 𝜔𝑡 + 𝑐2 sin 𝜔𝑡
𝑥′ = − 𝑐1 sin 𝜔𝑡 𝜔 + 𝑐2 cos 𝜔𝑡 ω
𝑥 ′′ = − 𝑐1 cos 𝜔𝑡 𝜔2 − 𝑐2 sin 𝜔𝑡 𝜔2

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 Substitute values of x, x’ and x’’ in equation of free undamped motion
𝑚 − 𝑐1 cos 𝜔𝑡 𝜔2 − 𝑐2 sin 𝜔𝑡 𝜔2 + k 𝑐1 cos 𝜔𝑡 + 𝑐2 sin 𝜔𝑡 = 0
−𝑚𝜔2 𝑐1 cos 𝜔𝑡 + 𝑐2 sin 𝜔𝑡 + k 𝑐1 cos 𝜔𝑡 + 𝑐2 sin 𝜔𝑡 = 0
𝑐1 cos 𝜔𝑡 + 𝑐2 sin 𝜔𝑡 [−𝑚𝜔2 + k ] = 0

In above equation, 𝑐1 cos 𝜔𝑡 + 𝑐2 sin 𝜔𝑡 = 𝑥 = 𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡

𝑎𝑛𝑑 ℎ𝑒𝑛𝑐𝑒 ≠ 0

[−𝑚𝜔2 + k ] = 0

𝑘 𝑟𝑎𝑑
Circular Frequency ω= 𝑚 𝑠𝑒𝑐

Natural Frequency 𝜔
𝑓 = 2𝜋 =
1 𝑘 cycle
or Hz
2𝜋 𝑚 sec

Time period 1
T = 𝑓 = 2𝜋
𝑚
sec
𝑘

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Constant c1 and c2 can be determined from initial conditions

At time t=0, Initial Displacement x= x0

𝑥 = 𝑐1 cos 𝜔𝑡 + 𝑐2 sin 𝜔𝑡

Displacement (x)
𝐴
𝑥0 = 𝑐1 cos 0 + 𝑐2 sin 0 𝑥0
𝑥0 = 𝑐1 Time (t)

At time t=0, Initial velocity x’= x’0

𝑥′ = − 𝑐1 sin 𝜔𝑡 𝜔 + 𝑐2 cos 𝜔𝑡 ω 2𝜋
T=
𝜔
𝑥0 ′ = − 𝑐1 sin 0 𝜔 + 𝑐2 cos 0 ω
𝑥0 ′
𝑐2 =
𝜔
Substitute c1 and c2 in Displacement equation,
𝑥0′
Displacement 𝑥(𝑡) = 𝑥0 cos 𝜔𝑡 + sin 𝜔𝑡
𝜔
Note : mass m in kg and Stiffness in N/m
2
2 𝑥0′
Amplitude 𝐴= 𝑥0 +
𝜔

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Example-1
 Determine natural frequency and time period of a system in which 20 N mass is hanged with a
spring of stiffness 40N/mm at the centre of fixed beam. Consider size of beam 100x150mm
and E=2x105 N/mm2

3m 3m
Given Data:
Mass m = 20 N ks = 40N/mm
Spring stiffness ks = 40N/mm
Beam size = 100x150 mm m = 20 N
E=2x105 N/mm2

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1) Mass (m)
Mass m = 20 N
20
𝑚= = 2.038 𝑘𝑔
9.81
2) Equivalent Stiffness (keq)
- Stiffness of beam (kb)

48𝐸𝐼 𝐸 = 2𝑥105 𝑁/𝑚𝑚2

𝑘𝑏 = 3
𝐿
𝑏𝑑 3 100𝑋1503
48 × 2𝑥105 × 28.126𝑥106 𝐼= = = 28.126𝑥106 𝑚𝑚4
𝑘𝑏 = 12 12
60003
𝑁
𝑘𝑏 = 1312.5
𝑚𝑚

- Stiffness of spring (ks)

𝑁
𝑘𝑠 = 40 (𝑔𝑖𝑣𝑒𝑛)
𝑚𝑚

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 𝐵𝑜𝑡ℎ 𝑆𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 𝑘𝑏 𝑎𝑛𝑑 𝑘𝑠 𝑎𝑟𝑒 𝑖𝑛 𝑠𝑒𝑟𝑖𝑒𝑠

1 1 1
= +
𝑘𝑒𝑞 𝑘𝑠 𝑘𝑏
1 1 1
= +
𝑘𝑒𝑞 40 1312.5

1312.5 × 40
𝑘𝑒𝑞 = = 38.32 𝑁/𝑚𝑚
1312.5 + 40
𝑘𝑒𝑞 = 38320 𝑁/𝑚

3) Time period (T)

𝑚 2.038
T = 2𝜋 = 2𝜋 = 0.045 sec
𝑘 38820

4) Natural frequency (f)

1 1
𝑓= 𝑇
= 0.045 = 21.965 𝐻𝑧

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 Example-2
 Determine the natural frequency of the system shown in below Figure

Solution :
1) Mass (m)
𝑚 = 50 𝑘𝑔

𝑘1
2) Equivalent Stiffness (keq)

𝑆𝑝𝑟𝑖𝑛𝑔 𝑘1 𝑎𝑛𝑑 𝑘2 𝑎𝑟𝑒 𝑖𝑛 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙 𝑘3

𝑘2 𝑘4
𝑘𝑒𝑞1 = 𝑘1 + 𝑘2
=5+5
𝑘𝑒𝑞1 = 10 𝑁/𝑚𝑚
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𝑁𝑜𝑤 𝑆𝑝𝑟𝑖𝑛𝑔 𝑘𝑒𝑞1 𝑎𝑛𝑑 𝑘3 𝑎𝑟𝑒 𝑖𝑛 𝑠𝑒𝑟𝑖𝑒𝑠

1 1 1 1 1
= + = + 𝑘1
𝑘𝑒𝑞2 𝑘𝑒𝑞1 𝑘3 10 5
10 × 5
𝑘𝑒𝑞2 = = 3.33 𝑁/𝑚𝑚 𝑘3 𝑘4
10 + 5 𝑘2

𝑁𝑜𝑤 𝑆𝑝𝑟𝑖𝑛𝑔 𝑘𝑒𝑞2 𝑎𝑛𝑑 𝑘4 𝑎𝑟𝑒 𝑖𝑛 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙

𝑘𝑒𝑞3 = 𝑘𝑒𝑞2 + 𝑘4
= 3.33 + 10
𝑁 3
𝑁
𝑘𝑒𝑞3 = 13.33 = 13.33 × 10
𝑚𝑚 𝑚

3) circular frequency (ω)

𝑘 13.33 × 103 𝑟𝑎𝑑

ω= = = 16.32
𝑚 50 𝑠𝑒𝑐

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4) Natural frequency (f)
1 𝑘 1 13.33×103
𝑓= =
2𝜋 𝑚 2𝜋 50

cycle
𝑓 = 2.598 or Hz
sec

5) Time period (T)

1 1
T= = 2.598 = 0.384 sec
𝑓

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Example-3
 Rigid frame shown in figure having rigid girder which is disturbed horizontally by initial
conditions of X0 = 0 and X0’ = 4m/s at t=0,
a) Find natural time period and frequency
b) Displacement and velocity at time t
c) Amplitude
150 kg
d) Forces in column at time t=2sec
20 kg/m
2m 2m

3m
6m

𝐸𝐼 = 18 × 106 𝑁𝑚2

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Solution :
1) Mass (m)
𝑚 = 150 + (20 × 4)
𝑚 = 230 𝑘𝑔

2) Equivalent Stiffness (keq)

𝐶𝑜𝑙𝑢𝑚𝑛 𝐴𝐵 𝑎𝑛𝑑 𝐶𝐷 𝑎𝑟𝑒 𝑖𝑛 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙

𝑘𝑒𝑞 = 𝑘𝐴𝐵 + 𝑘𝐶𝐷

12𝐸𝐼 3𝐸𝐼
= +
𝐿3 𝐴𝐵 𝐿3 𝐶𝐷

12 × 18 × 106 3 × 18 × 106
= +
63 𝐴𝐵
33 𝐶𝐷
= 1 × 106 𝐴𝐵 + 2 × 106 𝐶𝐷

𝑘𝑒𝑞 = 3 × 106 𝑁/𝑚

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3) Time period (T) and frequency (f)

- circular frequency (ω)

𝑘 3 × 106 𝑟𝑎𝑑
ω= = = 114.20
𝑚 230 𝑠𝑒𝑐

- Natural frequency (f)

1 𝑘 1 3×106
𝑓= =
2𝜋 𝑚 2𝜋 230

cycle
𝑓 = 18.185 or Hz
sec

- Time period (T)

1 1
T= = 18.185 = 0.054 sec
𝑓

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4) Displacement and velocity at time t

At time t = 0, X0 = 0 and X0’ = 4m/s

Displacement
𝑥0′
𝑥(𝑡) = 𝑥0 cos 𝜔𝑡 + sin 𝜔𝑡
𝜔
4
𝑥(𝑡) = sin 114.20𝑡
114.20
Velocity
4
𝑥′ 𝑡 = sin 114.20𝑡 × 114.20
114.20
𝑥 ′ 𝑡 = 4 sin 114.20𝑡
5) Amplitude

′ 2 2
𝑥0 2 4
𝐴= 𝑥02 + = 0 + = 0.035𝑚 = 35 𝑚𝑚
𝜔 114.20

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6) Forces in column at time t=2sec

Displacement at time t=2 sec

4 4
𝑥(𝑡) = sin 114.20𝑡 = sin 114.20 × 2 =−0.028m =28mm
114.20 114.20

Force in column AB Force in column AB

𝐹𝐴𝐵 = 𝑘𝐴𝐵 × 𝑥(𝑡) 𝐹𝐶𝐷 = 𝑘𝐶𝐷 × 𝑥(𝑡)
𝐹𝐴𝐵 = 1 × 106 𝐴𝐵 × 0.028 𝐹𝐶𝐷 = 2 × 106 𝐴𝐵 × 0.028
𝐹𝐴𝐵 = 28000 𝑁 𝐹𝐶𝐷 = 56000 𝑁
𝐹𝐴𝐵 = 28 𝑘𝑁 𝐹𝐶𝐷 = 56 𝑘𝑁

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Example-4
 Two pendulums are hanging on ideal spring. The frequency of first pendulum is twice the
frequency of second pendulum and mass of first pendulum is four times the mass of second
pendulum. What is the stiffness of second pendulum with respect to first?

𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑀𝑎𝑠𝑠
𝑓1 = 2 𝑓2 𝑚1 = 4 𝑚2
𝑘1 𝑘2 1 𝑘1 1 𝑘2
=2×
2𝜋 𝑚1 2𝜋 𝑚2

𝑘1 𝑘2
𝑚2 =2×
𝑚1 𝑚1 𝑚2

𝑘1 𝑘2
𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 = 𝑓1 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 = 𝑓2 =4×
𝑚1 𝑚2
𝑘1 𝑘2
=4×
4 𝑚2 𝑚2
𝑘1
𝑘2 =
16

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Example-5
 What is a natural period of vibration of second system with respect to first if both systems are
identical except support condition? First system has hinge support and second system has
fixed support

𝑇𝑖𝑚𝑒 𝑝𝑒𝑟𝑖𝑜𝑑 𝑜𝑓 𝑠𝑒𝑐𝑜𝑛𝑑 𝑠𝑦𝑠𝑡𝑒𝑚

𝑚1 𝑚2 𝑚
𝑇2 = 2𝜋
𝑘2

𝑘1 𝑘2 12𝐸𝐼 4 × 3𝐸𝐼
𝑚 𝑘2 = = = 4𝑘1
𝑇2 = 2𝜋 𝐿3 𝐿3
4𝑘1

𝑇𝑖𝑚𝑒 𝑝𝑒𝑟𝑖𝑜𝑑 𝑇𝑖𝑚𝑒 𝑝𝑒𝑟𝑖𝑜𝑑 1 𝑚

𝑇2 = 2𝜋
𝑇1 𝑇2 2 𝑘1
𝑇1
𝑇2 =
2

Prof. Dipak Jivani 44

Section - 1
Free damped Vibration (SDOF)
The Generalized equation of motion,
𝑚𝑥 ′′ + 𝑐𝑥 ′ + 𝑘𝑥 = 𝐹(𝑡)

For free vibration 𝐹 𝑡 = 0

For damped vibration c≠0

Equation of motion for free damped vibration,

𝑚𝑥 ′′ + 𝑐𝑥 ′ + 𝑘𝑥 = 0

Above equation is linear differential equation, so solution is given by

𝑥 = 𝐴 𝑒 𝜆𝑡
𝑥′ = 𝐴 𝜆 𝑒 𝜆𝑡
𝑥 ′′ = 𝐴 𝜆2 𝑒 𝜆𝑡

Prof. Dipak Jivani 46

 Substitute values of x, x’ and x’’ in equation of free damped motion
𝑚 𝐴 𝜆2 𝑒 𝜆𝑡 + c 𝐴 𝜆 𝑒 𝜆𝑡 + k 𝐴 𝑒 𝜆𝑡 = 0
𝐴 𝑒 𝜆𝑡 (𝑚𝜆2 + 𝑐𝜆 + 𝑘) = 0

In above equation, 𝐴 𝑒 𝜆𝑡 = 𝑥 = Displacement

𝑎𝑛𝑑 ℎ𝑒𝑛𝑐𝑒 ≠ 0
𝑘
2
𝑚𝜆 + 𝑐𝜆 + 𝑘 = 0 ω2 = 𝑚 Circular Frequency
𝑐 𝑘 𝑐
𝜆2 + 𝑚 𝜆 + 𝑚 = 0 𝑛 = 2𝑚
2𝑐 𝑘
𝜆2 + 2 𝑚 𝜆 + 𝑚 = 0 c = damping coefficient
𝜆2 + 2𝑛 𝜆 + ω2 = 0

Above equation is quadratic equation and it’s solution is given by

−2𝑛 ± (2𝑛)2 −4𝜔2

𝜆1,2 = = −𝑛 ± 𝑛2 − 𝜔 2
2

Values of n and 𝜔 govern the solution

Based on Values of n and 𝜔 , three cases are possible

Prof. Dipak Jivani 47

Case 1: Overdamped system (𝒏 > 𝝎)

 Both roots (𝜆1,2 ) are real and negative

 Motion decay exponentially with time
 Damping is so huge that the system just come back slowly in equilibrium position
 Hence, no period motion

𝐴1 𝑒 𝜆1𝑡
Displacement,

Displacement (x)
𝑥 𝑡 = 𝐴1 𝑒 𝜆1𝑡 + 𝐴2 𝑒 𝜆2𝑡
Time (t)
𝜆2𝑡
𝐴2 𝑒

Prof. Dipak Jivani 48

Case 2: critically damped system (𝒏 = 𝝎)

 Both roots (𝜆1,2 ) are real and negative and equal

 Damping is great enough to bring it back to equilibrium position
 Hence, no oscillatory motion

Displacement,

𝑥 𝑡 = 𝐴1 𝑒 𝜆𝑡 + 𝐴2 𝑒 𝜆𝑡

Displacement (x)
𝑐 = 𝑐𝑐
𝜆𝑡
𝑥 𝑡 = [𝐴1 + 𝐴2] 𝑒
Here, Time (t)
𝑛=𝜔
𝑐
=𝜔
2𝑚
𝑐𝑐 = 2𝑚𝜔

Critical Damping (𝑐𝑐 ) : Damping at which mathematical term 𝑛 and 𝜔 becomes equal

Prof. Dipak Jivani 49

Case 3: underdamped system (𝒏 < 𝝎)

 Both roots (𝜆1,2 ) are complex

𝜆1,2 = −𝑛 ± 𝑛2 − 𝜔 2
𝜆1,2 = −𝑛 ± 𝑖 𝜔 2 − 𝑛2

Displacement,

𝑥 𝑡 = 𝐴1 𝑒 𝜆1𝑡 + 𝐴2 𝑒 𝜆2𝑡
(−𝑛+𝑖 𝜔2 −𝑛2 )𝑡 (−𝑛 −𝑖 𝜔2 −𝑛2 )𝑡
Damped frequency
𝑥 𝑡 = 𝐴1 𝑒 + 𝐴2 𝑒
𝜔𝑑 = 𝜔 2 − 𝑛2
𝜔2 −𝑛2 𝜔2 −𝑛2
𝑥 𝑡 = 𝐴1 𝑒 −𝑛𝑡 𝑒 𝑖 𝑡
+ 𝐴2 𝑒 −𝑛𝑡 𝑒 −𝑖 𝑡

𝜔2 −𝑛2 𝑡 𝜔2 −𝑛2 𝑡
𝑥 𝑡 = 𝑒 −𝑛𝑡 [ 𝐴1 𝑒 𝑖 + 𝐴2 𝑒 −𝑖 ]
𝑥 𝑡 = 𝑒 −𝑛𝑡 [ 𝐴1 (cos 𝜔 2 − 𝑛2 𝑡 + 𝑖 sin 𝜔 2 − 𝑛2 𝑡) + 𝐴2 (cos 𝜔 2 − 𝑛2 𝑡 − 𝑖 sin 𝜔 2 − 𝑛2 𝑡) ]
𝑥 𝑡 = 𝑒 −𝑛𝑡 [ 𝐴1 (cos 𝜔𝑑 𝑡 + 𝑖 sin 𝜔𝑑 𝑡) + 𝐴2 (cos 𝜔𝑑 𝑡 − 𝑖 sin 𝜔𝑑 𝑡) ]
𝑥 𝑡 = 𝑒 −𝑛𝑡 [ 𝐴1 cos 𝜔𝑑 𝑡 + 𝐴1 𝑖 sin 𝜔𝑑 𝑡 + 𝐴2 cos 𝜔𝑑 𝑡 − 𝐴2 𝑖 sin 𝜔𝑑 𝑡 ]
𝑥 𝑡 = 𝑒 −𝑛𝑡 [ (𝐴1 + 𝐴2) cos 𝜔𝑑 𝑡 + (𝐴1 − 𝐴2)𝑖 sin 𝜔𝑑 𝑡 ]
Prof. Dipak Jivani 50
 𝑥 𝑡 = 𝑒 −𝑛𝑡 [ (𝐴1 + 𝐴2) cos 𝜔𝑑 𝑡 + (𝐴1 − 𝐴2)𝑖 sin 𝜔𝑑 𝑡 ] 𝑐1 = 𝐴1 + 𝐴2
𝑥 𝑡 = 𝑒 −𝑛𝑡 [ 𝑐1 cos 𝜔𝑑 𝑡 + 𝑐2 sin 𝜔𝑑 𝑡 ] 𝑐2 = 𝑖 (𝐴1 − 𝐴2)

Constant c1 and c2 can be determined from initial conditions

At time t=0, Initial Displacement x= x0

𝑥 𝑡 = 𝑒 −𝑛𝑡 [ 𝑐1 cos 𝜔𝑑 𝑡 + 𝑐2 sin 𝜔𝑑 𝑡 ]
𝑥0 = 𝑒 −0 [ 𝑐1 cos 0 + 𝑐2 sin 0 ]
𝑥0 = 𝑐1

At time t=0, Initial velocity x’= x’0

𝑥 𝑡 = 𝑒 −𝑛𝑡 [ 𝑐1 cos 𝜔𝑑 𝑡 + 𝑐2 sin 𝜔𝑑 𝑡 ]
𝑥 ′ = 𝑒 −𝑛𝑡 −𝑐1 sin 𝜔𝑑 𝑡 × 𝜔𝑑 + 𝑐2 cos 𝜔𝑑 𝑡 × 𝜔𝑑 + 𝑐1 cos 𝜔𝑑 𝑡 + 𝑐2 sin 𝜔𝑑 𝑡 𝑒 −𝑛𝑡 (−𝑛)
𝑥0′ = 𝑒 0 −𝑐1 sin 0 × 𝜔𝑑 + 𝑐2 cos 0 × 𝜔𝑑 + 𝑐1 cos 0 + 𝑐2 sin 0 𝑒 0 (−𝑛)
𝑥0′ = 1 𝑐2 𝜔𝑑 − 𝑐1 (−𝑛)
𝑥0′ +𝑛𝑥0
𝑐2 =
𝜔𝑑

Prof. Dipak Jivani 51

Substitute c1 and c2 in Displacement equation,
𝑥 𝑡 = 𝑒 −𝑛𝑡 [ 𝑐1 cos 𝜔𝑑 𝑡 + 𝑐2 sin 𝜔𝑑 𝑡 ]
−𝑛𝑡 𝑥0′ +𝑛𝑥0
𝑥 𝑡 =𝑒 [ 𝑥0 cos 𝜔𝑑 𝑡 + sin 𝜔𝑑 𝑡 ]
𝜔𝑑

Damping Ratio (𝜉)

𝑐
𝜉=𝑐
𝑐
𝑐 𝑛
𝜉 = 2𝑚𝜔 = ∴ 𝑛 = 𝜉𝜔
𝜔

Damped frequency (𝜔𝑑 )

𝜔𝑑 = 𝜔 2 − 𝑛2 = 𝜔 2 − (𝜉𝜔)2 = 𝜔 1 − 𝜉 2

𝜔𝑑 = 𝜔 1 − 𝜉 2

Damped time period (𝑇𝑑 )

2𝜋
𝑇𝑑 = 𝜔
𝑑

Prof. Dipak Jivani 52

Displacement
−𝑛𝑡 𝑥0′ +𝑛𝑥0
𝑥 𝑡 =𝑒 [ 𝑥0 cos 𝜔𝑑 𝑡 + sin 𝜔𝑑 𝑡 ]
𝜔𝑑
−𝜉𝜔𝑡 𝑥0′ +𝜉𝜔𝑥0
𝑥 𝑡 =𝑒 [ 𝑥0 cos 𝜔𝑑 𝑡 + 𝜔𝑑
sin 𝜔𝑑 𝑡 ]

Over-damped
critically-damped Under-damped
Displacement (x)

Time (t)

Undamped

Prof. Dipak Jivani 53

Logarithmic Decrement
 It is a practical concept to measure damping factor of
SDOF system
 It is based on decay of two successive amplitudes
 Logarithmic decrement is defined as the natural

Displacement (x)
logarithm of the ratio of any two successive peak 𝑥1 𝑥2
amplitudes
𝑡1 𝑡2 Time (t)
Logarithmic decrement
𝑥1 2𝜋
𝛿 = 𝑙𝑛 𝑇𝑑 = 𝜔
𝑑
𝑥2

Displacement
−𝜉𝜔𝑡1 𝑥0′ +𝜉𝜔𝑥0
at time t = 𝑡1 , 𝑥1 = 𝑒 [ 𝑥0 cos 𝜔𝑑 𝑡1 + 𝜔𝑑
sin 𝜔𝑑 𝑡1 ]

−𝜉𝜔𝑡2 𝑥0′ +𝜉𝜔𝑥0

at time t = 𝑡2 , 𝑥2 = 𝑒 [ 𝑥0 cos 𝜔𝑑 𝑡2 + sin 𝜔𝑑 𝑡2 ]
𝜔𝑑

Prof. Dipak Jivani 54

 2𝜋
but, 𝑡2 = 𝑡1 + 𝑇𝑑 = 𝑡1 + ,
𝜔𝑑

−𝜉𝜔𝑡2 𝑥0′ +𝜉𝜔𝑥0

𝑥2 = 𝑒 [ 𝑥0 cos 𝜔𝑑 𝑡2 + 𝜔𝑑
sin 𝜔𝑑 𝑡2 ]
2𝜋
−𝜉𝜔 𝑡1 +
𝜔𝑑 2𝜋 𝑥0′ +𝜉𝜔𝑥0 2𝜋
𝑥2 = 𝑒 [ 𝑥0 cos 𝜔𝑑 𝑡1 + 𝜔 + sin 𝜔𝑑 𝑡1 + 𝜔 ]
𝑑 𝜔𝑑 𝑑
2𝜋
−𝜉𝜔𝑡1 −𝜉𝜔 𝜔 𝑥0′ +𝜉𝜔𝑥0
𝑥2 = 𝑒 𝑒 𝑑 [ 𝑥0 cos 𝜔𝑑 𝑡1 + 2𝜋 + sin 𝜔𝑑 𝑡1 + 2𝜋 ]
𝜔𝑑
2𝜋
−𝜉𝜔 𝑥0′ +𝜉𝜔𝑥0
𝑥2 = 𝑒 −𝜉𝜔𝑡1 𝑒 𝜔𝑑
[ 𝑥0 cos 𝜔𝑑 𝑡1 + sin 𝜔𝑑 𝑡1 ]
𝜔𝑑
2𝜋
−𝜉𝜔 𝜔
𝑥2 = 𝑥1 𝑒 𝑑

2𝜋
𝑥1 𝜉𝜔 𝜔
= 𝑒 𝑑
𝑥2
𝑥 2𝜋 2𝜋
𝑙𝑛 𝑥1 = 𝜉𝜔 = 𝜉𝜔
2 𝜔𝑑 𝜔 1−𝜉 2

𝑥 2𝜋𝜉
𝛿 = 𝑙𝑛 𝑥1 = ≅ 2𝜋𝜉 (If ξ is small quantity)
2 1−𝜉 2

Logarithmic decrement between 1st and nth amplitude

1 𝑥1
𝛿= 𝑛
𝑙𝑛 𝑥𝑛
n = no of cycle between 1st and nth amplitude

Prof. Dipak Jivani 55

Example-1
 A spring mass model consists of 6 kg mass and spring of stiffness 3 N/mm was tested for
viscous damped vibration. The test recorded two consecutive amplitude is 1.5 cm and 1.2 cm
respectively. Determine (i) natural frequency of undamped system (ii) logarithmatic decrement
(iii) damping ratio (iv) damping coefficient (v) damped natural frequency of system.

Given Data:
Mass m = 6 kg
spring stiffness k = 3 N/mm
Consecutive amplitudes = 1.5 cm and 1.2 cm

Prof. Dipak Jivani 56

1) Undamped frequency (f)

- circular frequency (ω)

𝑘 3000 𝑟𝑎𝑑
ω= = = 22.36
𝑚 6 𝑠𝑒𝑐

- Natural frequency (f)

1 𝑘 1 3000
𝑓= = 2𝜋
2𝜋 𝑚 6

cycle
𝑓 = 3.56 or Hz
sec

2) Logarithmic decrement (𝛿)

𝑥1 1.5
𝛿 = 𝑙𝑛 = 𝑙𝑛 = 0.223
𝑥2 1.2

Prof. Dipak Jivani 57

3) Damping ratio (ξ)

𝛿 = 2𝜋𝜉
𝛿 0.223
𝜉= = = 0.0355
2𝜋 2 × 3.14

4) Damping coefficient (𝑐)

𝑐
𝜉=𝑐 𝑐𝑐 = 2𝑚𝜔
𝑐
𝑐𝑐 = 2 × 6 × 22.36
𝑐
0.0355 = 𝑐𝑐 = 268.32
268.32

𝑐 = 9.525 𝑁𝑠/𝑚

4) Damped frequency (𝜔𝑑 )

Damped time period (𝑇𝑑 )
𝜔𝑑 = 𝜔 1 − 𝜉 2
2𝜋 2𝜋
𝜔𝑑 = 22.36 1 − 0.03552 𝑇𝑑 = = = 0.281 𝑠𝑒𝑐
𝜔𝑑 22.345
𝜔𝑑 = 22.345 𝑟𝑎𝑑/𝑠𝑒𝑐

Prof. Dipak Jivani 58

 A SDOF vibrating system is having following parameters. m = 200 kg, k = 160 N/m, c = 40 N –
sec / m. Determine (i) the damping factor (ii) the natural frequency of damped vibration (iii)
logarithmic decrement (iv) the ratio of two successive amplitudes & (v) the number of cycles
after which the original amplitude is reduced to 50%.

Given Data:
Mass m = 200 kg
spring stiffness k = 160 N/m
Damping constant c = 40 Ns/m

Prof. Dipak Jivani 59

Undamped frequency

𝑘 160 𝑟𝑎𝑑
ω= = = 0.89
𝑚 200 𝑠𝑒𝑐

Critical Damping coefficient

𝑐𝑐 = 2𝑚𝜔
𝑐𝑐 = 2 × 200 × 0.89
𝑐𝑐 = 357.77 𝑁𝑠/𝑚
𝐻𝑒𝑟𝑒, 𝑐 < 𝑐𝑐 ∴ 𝑈𝑛𝑑𝑟𝑒𝑑𝑎𝑚𝑝𝑒𝑑 𝑓𝑟𝑒𝑒 𝑣𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛
1) Damping Factor (𝜉)
𝑐 40
𝜉=𝑐 = = 0.111
𝑐 357.77

2) Damped frequency (𝜔𝑑 )

𝜔𝑑 = 𝜔 1 − 𝜉 2

𝜔𝑑 = 0.89 1 − 0.1112
𝜔𝑑 = 0.888 𝑟𝑎𝑑/𝑠𝑒𝑐
Prof. Dipak Jivani 60
3) Logarithmic decrement (𝛿)

𝛿 = 2𝜋𝜉 = 2 × 3.14 × 0.111 = 0.697

4) Ratio of successive amplitudes

𝑥1
𝛿 = 𝑙𝑛
𝑥2
𝑥1
0.697 = 𝑙𝑛
𝑥2
𝑥1
∴ =2
𝑥2
5) No of cycles after which original amplitude reduces to 50%
After nth cycle Xn = 0.5 X0
1 𝑥1
𝛿= 𝑙𝑛
𝑛 𝑥𝑛
1 𝑥0
0.697 = 𝑙𝑛
𝑛 0.5 𝑥0

𝑛=1
Prof. Dipak Jivani 61
 Find the natural frequency and natural period for the building frame shown in the fig. During
test the frame is given 50 mm initial lateral displacement and released from the rest to vibrate
freely. Find the displacement after 5 seconds and number of cycles when amplitude reduced to
1/10 of maximum. Consider 10% damping. Take EIcolumn = 1.5 x 1012 Nmm, EIbeam = ∞.

Prof. Dipak Jivani 62

1) Mass (m)

𝑚 = 10000 𝑘𝑔

2) Equivalent Stiffness (keq)

𝐶𝑜𝑙𝑢𝑚𝑛 𝐴𝐵 𝑎𝑛𝑑 𝐶𝐷 𝑎𝑟𝑒 𝑖𝑛 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙

𝑘𝑒𝑞 = 𝑘𝐴𝐵 + 𝑘𝐶𝐷

12𝐸𝐼 12𝐸𝐼
= +
𝐿3 𝐴𝐵 𝐿3 𝐶𝐷

12 × 1.5 × 1012 12 × 1.5 × 1012

= +
40003 𝐴𝐵
4000 3
𝐶𝐷
= 562.5 𝑁/𝑚𝑚

𝑘𝑒𝑞 = 562.5 × 103 𝑁/𝑚

Prof. Dipak Jivani 63

3) Time period (T) and frequency (f)

- Undamped circular frequency (ω)

𝑘 562.5 × 103 𝑟𝑎𝑑

ω= = = 7.5
𝑚 10000 𝑠𝑒𝑐

- Natural frequency (f)

1 𝑘 1 562.5×103
𝑓= = 2𝜋
2𝜋 𝑚 10000

cycle
𝑓 = 1.194 sec
or Hz

- Time period (T)

1 1
T= = 1.194 = 0.837 sec
𝑓

𝐷𝑎𝑚𝑝𝑖𝑛𝑔 𝑅𝑎𝑡𝑖𝑜 𝜉 = 10% = 0.10 < 1 ∴ 𝑈𝑛𝑑𝑒𝑟 𝑑𝑎𝑚𝑝𝑒𝑑 𝑓𝑟𝑒𝑒 𝑣𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛

- Damped frequency (𝜔𝑑 )

𝜔𝑑 = 𝜔 1 − 𝜉 2 = 7.5 1 − 0.102
𝜔𝑑 = 7.46 𝑟𝑎𝑑/𝑠𝑒𝑐
Prof. Dipak Jivani 64
4) Displacement after 5 seconds
−𝜉𝜔𝑡 𝑥0′ +𝜉𝜔𝑥0
𝑥 𝑡 =𝑒 [ 𝑥0 cos 𝜔𝑑 𝑡 + 𝜔𝑑
sin 𝜔𝑑 𝑡 ]

0+0.05×7.5×0.10
𝑥 𝑡 = 𝑒 −0.10×7.5×5 [ 0.05 cos 7.46 × 5 + sin 7.46 × 5 ]
7.46

𝑥 𝑡 = 1.0065 × 10−3 𝑚
𝑥 𝑡 = 1.0065 𝑚𝑚

5) No of cycles when amplitude reduced to 1/10 of maximum

𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 = 𝑥0 = 50 𝑚𝑚
1
𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡𝑎𝑡 𝑛𝑡ℎ 𝑣𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛 = 𝑥𝑛 = × 50 = 5 𝑚𝑚
10
2𝜋𝜉 2𝜋 × 0.1
1 𝑥0 𝛿= =
𝛿= 𝑙𝑛 1 − 𝜉2 1 − 0.12
𝑛 𝑥𝑛
1 50
0.631 = 𝑙𝑛 𝛿 = 0.631
𝑛 5

𝑛 = 3.65 𝑛𝑜𝑠 ∴ 𝑎𝑓𝑡𝑒𝑟 3 𝑐𝑦𝑐𝑙𝑒𝑠

Prof. Dipak Jivani 65

 A two bay single storey RCC plane frame in which lumped mass of 20 tonne is supported on three
columns (AB, CD and EF) having fixed support. LAB=0.5 LCD=0.25LEF = 2m Calculate,
(1) Natural frequency of damped vibration
(2) BM and SF at support for RCC frame after five cycles of vibration, if floor is displaced
horizontally by 30 mm and suddenly released. Assume rigid diaphragm action. Take fck = 25
Mpa and size of column 600X600mm, Damping 8%

20 tonne

LAB=2m
LCD=4m
LEF=8m

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1) Mass (m)

𝑚 = 20 𝑡𝑜𝑛 = 20 × 103 𝑘𝑔

2) Equivalent Stiffness (keq)

𝐶𝑜𝑙𝑢𝑚𝑛 𝐴𝐵, 𝐶𝐷 𝑎𝑛𝑑 𝐸𝐹 𝑎𝑟𝑒 𝑖𝑛 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙

𝑘𝑒𝑞 = 𝑘𝐴𝐵 + 𝑘𝐶𝐷 + 𝑘𝐸𝐹

12𝐸𝐼 12𝐸𝐼 12𝐸𝐼

= + +
𝐿3 𝐴𝐵 𝐿3 𝐶𝐷 𝐿3 𝐸𝐹

12 × 25000 × 1.08 × 1010 12 × 25000 × 1.08 × 1010 12 × 25000 × 1.08 × 1010

= + +
20003 𝐴𝐵
40003
𝐶𝐷
80003
𝐸𝐹
= 461953.125 𝑁/𝑚𝑚

𝑘𝑒𝑞 = 461.95 × 106 𝑁/𝑚

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3) Damped frequency

- Undamped circular frequency (ω)

𝑘 461.95 × 106 𝑟𝑎𝑑

ω= = = 151.97
𝑚 20 × 103 𝑠𝑒𝑐

𝐷𝑎𝑚𝑝𝑖𝑛𝑔 𝑅𝑎𝑡𝑖𝑜 𝜉 = 8% = 0.08 < 1

- Damped frequency (𝜔𝑑 )

𝜔𝑑 = 𝜔 1 − 𝜉 2 = 151.97 1 − 0.082

𝜔𝑑 = 151.48 𝑟𝑎𝑑/𝑠𝑒𝑐

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4) BM and SF support after 5 cycles of vibration
𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 = 𝑥0 = 300 𝑚𝑚 2𝜋𝜉 2𝜋 × 0.08
𝛿= =
𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑎𝑡 5𝑡ℎ 𝑣𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛 = 𝑥5 1 − 𝜉2 1 − 0.082

1 𝑥 𝛿 = 0.504
𝛿= 𝑙𝑛 0
𝑛 𝑥𝑛

1 30
0.504 = 𝑙𝑛
5 𝑥5

𝑥5 = 24.137 𝑚𝑚

Force in column AB Force in column CD Force in column EF

𝐹𝐴𝐵 = 𝑘𝐴𝐵 × 𝑥(𝑡) 𝐹𝐶𝐷 = 𝑘𝐶𝐷 × 𝑥(𝑡) 𝐹𝐸𝐹 = 𝑘𝐸𝐹 × 𝑥(𝑡)

𝐹𝐴𝐵 = 405000 𝐴𝐵 × 24.137 𝐹𝐶𝐷 = 50625 𝐶𝐷 × 24.137 𝐹𝐸𝐹 = 6328.125 𝐸𝐹 × 24.137

𝐹𝐴𝐵 = 9775485 𝑁 𝐹𝐶𝐷 = 1221935.625 𝑁 𝐹𝐸𝐹 = 152741.95 𝑁

𝐹𝐴𝐵 = 9775 𝑘𝑁 𝐹𝐶𝐷 = 1221.93 𝑘𝑁 𝐹𝐸𝐹 = 152.74 𝑘𝑁

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 Shear Force
𝑉𝐴𝐵 = 𝐹𝐴𝐵 = 9775 𝑘𝑁
𝑉𝐶𝐷 = 𝐹𝐶𝐷 = 1221.93 𝑘𝑁
𝑉𝐸𝐹 = 𝐹𝐸𝐹 = 152.741 𝑘𝑁

Bending Moment

𝑀𝐴𝐵 = 𝐹𝐴𝐵 × 𝐿𝐴𝐵 2 = 9775 𝑘𝑁𝑚

𝑀𝐶𝐷 = 𝐹𝐶𝐷 × 𝐿𝐶𝐷 2 = 2443.86 𝑘𝑁m
𝑀𝐸𝐹 = 𝐹𝐸𝐹 × 𝐿𝐸𝐹 2 = 610.964 𝑘𝑁

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Section - 1
Forced undamped Vibration (SDOF)

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Section - 1
Equation of motion
The Generalized equation of motion,
𝑚𝑥 ′′ + 𝑐𝑥 ′ + 𝑘𝑥 = 𝐹(𝑡)

For Harmonic motion,

𝐹 𝑡 = 𝐹0 𝑆𝑖𝑛𝜔𝑡

equation of motion for Harmonic motion,

𝑚𝑥 ′′ + 𝑐𝑥 ′ + 𝑘𝑥 = 𝐹0 𝑆𝑖𝑛𝜔𝑡

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 Displacement Solution (Harmonic motion) :
𝑥 𝑡 = 𝑥(𝑡)𝐶𝑜𝑚𝑝𝑙𝑒𝑚𝑒𝑛𝑡𝑜𝑟𝑦 + 𝑥(𝑡)𝑃𝑎𝑟𝑡𝑖𝑐𝑢𝑙𝑎𝑟
𝐹0
−ζ𝜔𝑡 𝑆𝑖𝑛(𝜔𝑡−𝜑)
𝑘
=𝑒 [𝐴 cos 𝜔𝑑 𝑡 + 𝐵 sin 𝜔𝑑 𝑡] +
(1−𝑟 2 )2 +(2𝑟ζ2 )

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Magnification Factor or Deformation Response factor (Rd)

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Characteristic Curve

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Resonance frequency ratio

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Example
 A water tank is idealized as a single degree of freedom having equivalent weight of 10000 kN, damping ratio as 4%
and stiffness factor as 20000 kN/m. Calculate
(1) The natural time period
(2) The Damped time period
(3) The damping constant
(4) Maximum horizontal displacement at top of tank if it is loaded by a seismic force equivalent to 20Sin(5t) N.

Given Data:
Mass m = 10000 kN = 1019367.99 kg
spring stiffness k = 20000 kN/m =2X107 N/m
seismic force F(t) = 20Sin(5t) kN

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1) Time period (T)

- Undamped circular frequency (ω)

𝑘 2 × 107 𝑟𝑎𝑑
ω= = = 4.429
𝑚 1019367.99 𝑠𝑒𝑐

- Natural frequency (f)

1 𝑘 1 2×107
𝑓= = 2𝜋
2𝜋 𝑚 1019367.99
cycle
𝑓 = 0.705 sec
or Hz

- Time period (T)

1 1
T= = 0.705 = 1.418 sec
𝑓

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2) Damped Time period (Td)

- Damped frequency (𝜔𝑑 )

𝜔𝑑 = 𝜔 1 − 𝜉 2 = 4.429 1 − 0.042
𝜔𝑑 = 4.425 𝑟𝑎𝑑/𝑠𝑒𝑐

- Damped Time period (Td)

2𝜋 2𝜋
T𝑑 = = 4.425 = 1.419 sec
𝜔𝑑

3) Damping constant (c)

Critical Damping coefficient
𝑐𝑐 = 2𝑚𝜔
𝑐𝑐 = 2 × 1019367.99 × 4.429
𝑐𝑐 = 9.029 × 106 𝑁𝑠/𝑚

Damping Constant
𝑐 = 𝑐𝑐 𝜉 = 9.029 × 106 × 0.04 = 361182.46

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4) Maximum horizontal displacement at top of tank if it is loaded by a seismic force equivalent to 20Sin(5t) N.

- Frequency ratio (r)

𝜔 5
𝑟= = = 1.128 > 1 ∴ 𝑅𝑒𝑠𝑜𝑛𝑎𝑛𝑐𝑒 𝑤𝑖𝑙𝑙 𝑛𝑜𝑡 𝑜𝑐𝑐𝑢𝑟
𝜔 4.429

- Dynamic Displacement

𝐹0
𝑥𝑚𝑎𝑥 = 𝑘
1 − 𝑟 2 2 + 2𝑟𝜁 2

20000
𝑥𝑚𝑎𝑥 = 2X107
1 − 1.1282 2 + 2 × 1.128 × 0.04 2

𝑥𝑚𝑎𝑥 = 3.479 × 10−3 m = 3.479 mm

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 A simply supported beam of negligible mass spanning 6 m supports a machine of 50 kN at centre with an
unbalanced rotor applying a vertical force of 60sin5t kN. The damping force is 0.3 kNs/m and flexural rigidity of
beam is 25000 kN-m2. Determine
(1) Maximum amplitude of vibration
(2) Amplitude of vibration at resonance

F(t) = 60Sin(5t) kN

50 kN
Given Data: 6m
Mass m = 50 kN = 5096.83 kg EI = 25000 kN-m2
flexural rigidity EI = 25000 kN-m2 c = 0.3 kNs/m

damping Constant c = 0.3 kNs/m

seismic force F(t) = 60Sin(5t) kN

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- Stiffness of beam (k)

48𝐸𝐼 48 × 25000 𝐾𝑁 6
𝑁
𝑘= = = 5555.55 = 5.55 × 10
𝐿3 63 𝑚 𝑚

- Undamped circular frequency (ω)

𝑘 5.55 × 106 𝑟𝑎𝑑

ω= = = 32.99
𝑚 5096.83 𝑠𝑒𝑐

- Frequency ratio (r)

𝜔 5
𝑟= = = 0.151 < 1 ∴ 𝑅𝑒𝑠𝑜𝑛𝑎𝑛𝑐𝑒 𝑤𝑖𝑙𝑙 𝑛𝑜𝑡 𝑜𝑐𝑐𝑢𝑟
𝜔 32.99

- Damping Factor (𝜉)

𝑐 𝑐 0.3×103
𝜉= = = = 0.000892
𝑐𝑐 2𝑚𝜔 2×5096.83×32.99

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(1) Maximum amplitude of vibration
𝐹0
𝑥𝑚𝑎𝑥 = 𝑘
1 − 𝑟 2 2 + 2𝑟𝜁 2

60000
𝑥𝑚𝑎𝑥 = 5.55X106
1 − 0.1512 2 + 2 × 0.151 × 0.000892 2

𝑥𝑚𝑎𝑥 = 0.011 m = 11 mm

(2) Amplitude of vibration at resonance

𝐴𝑡 𝑅𝑒𝑠𝑜𝑛𝑎𝑛𝑐𝑒 𝑟 = 1
𝐹0 𝐹0
𝑥𝑚𝑎𝑥 = 𝑘 = 𝑘
1 − 𝑟 2 2 + 2𝑟𝜁 2 2𝑟𝜁
60000
𝑥𝑚𝑎𝑥 = 5.55X106
2 × 1 × 0.000892
𝑥𝑚𝑎𝑥 = 6.05 m = 6050 mm
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Section - 1
Methods for finding out Damping Ratio

Methods for Finding out Damping Ratio

Free Vibration test Forced Vibration Test

• Half Power Band width Method

• Logarithmic Decrement Method • Damping at Resonance

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1. Logarithmic Decrement Method

Logarithmic Decrement

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2. Half Power Band width Method
 Shape of response curve is depends on
damping ratio
 The bandwidth is difference between two
frequencies corresponding to same amplitude
is also depends on damping
 For damping calculation it is convenient to
measure bandwidth at 1 2 of peak amplitude,
and corresponding frequencies in bandwidth
are referred as half power point.

Damping Ratio

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3. Damping at Resonance (Resonance amplification method)
 Damping can be find out by observation of steady
state harmonic motion response
 Which requires harmonic motion of structure in
range of frequencies in neighborhood of
resonance
 With application of harmonic force at closed
spaced frequencies, the response curve for
structure can be plotted in form of displacement
amplitude as a function of applied frequencies.

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Section - 1
Duhamel’s Integral
 The impulse loading is a load, which is applied over a short duration of
time

 The corresponding impulse of this type of loading is defined as the

Impulse = 𝐹(𝜏) . 𝑑𝜏
product of the force and the time of its duration.

 This impulse is acting on a body of mass (m) produces a change in

velocity, which can be determine from newton’s law of motion.

Momentum Equation
change in velocity

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 Consider an impulse 𝐹(𝜏) 𝑑𝜏 acting on the structure represented by an un-damped single oscillator.

Displacement at any Time t

The incremental
velocity 𝑑𝑣 is taken as
an initial velocity and
initial displacement 𝑥0
as zero at time t.

 An above eqn is showing response of single impulse. The total

response created by incremental impulses is found by integrating
above equation from time t=0 to t

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 Thus total Displacement of undamped SDOF system subjected to arbitrary loading is given by

 Similarly total Displacement of damped SDOF system subjected to arbitrary loading is given by

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Example : Rectangular Impulse

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Example : Triangular Impulse
 A single spring mass system has spring constant of 2000 N/m and mass of 20 kg. If it is loaded by a periodical load for which a
single period is shown in the Figure, derive the displacement response of the system.

𝑚𝑥 ′′ + 𝑐𝑥 ′ + 𝑘𝑥 = 𝐹(𝑡)

𝑡
𝐹 𝑡 = 100 𝑓𝑜𝑟 𝑡 ≤ 0.2𝑠𝑒𝑐
0.2
𝐹 𝑡 =0 𝑓𝑜𝑟 𝑡 > 0.2𝑠𝑒𝑐

1) Mass (m)

𝑚 = 20 𝑘𝑔
2) Equivalent Stiffness (keq)
𝑘𝑒𝑞 = 2000 𝑁/𝑚
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3) Time period (T) and frequency (f)

- Undamped circular frequency (ω)

𝑘 2000 𝑟𝑎𝑑
ω= = = 10
𝑚 20 𝑠𝑒𝑐

- Natural frequency (f)

1 𝑘 1 2000
𝑓= = 2𝜋
2𝜋 𝑚 20

cycle
𝑓 = 1.59 sec
or Hz

- Time period (T)

1 1
T= = 1.59 = 0.63 sec
𝑓

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 Displacement of damped SDOF system subjected to arbitrary loading is given by

Displacement X(t) = A(t) sin wdt - B(t) cos wdt

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 20 kg

K = 2000 N/m
Damping = 5%

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Section - 1
 Integration methods

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 Newmark’s β Method

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Example
 Find the response of SDOF system having mass 0.2533 kg, stiffness 10N/m and damping ratio as 0.05 subjected to half-cycle
sine pulse force as shown in figure. Plot the displacement response of the SDOF system using Newmark’s Beta method

0.2533
kg
12 Forcing Function

10
8 K = 10N/m
Force (N)

6
Damping = 5%
4
2
0
0 1 2 3 4 5
-2
Time (s)

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Section - 1
Response Spectrum Concept
 To perform the seismic analysis at a particular location, the actual time history record is required

 seismic analysis of structures cannot be carried out simply based on the peak value of the ground acceleration

 As response of the structure depend upon the frequency content of ground motion and its own dynamic properties

 To overcome the above difficulties, earthquake response spectrum is the most popular tool in the seismic analysis

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Prof. Dipak Jivani 124
Response Spectrum
 A plot of the peak value of a response quantity as a function of the natural vibration period Tn of the system, or a
related parameter such as circular frequency ωn or cyclic frequency fn, is called the response spectrum for that
quantity.

 Response is the structural system reaction to a demand coming from ground acceleration record (i.e.
Accelerogram) and when the peak response such as structural system displacement, velocity and acceleration are
plotted against the structural system natural time period (or frequencies) will be called spectrum

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Deformation response spectrum

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Pseudo-velocity response spectrum

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Pseudo-acceleration response spectrum

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Combined D-V-A spectrum
 The deformation, pseudo-velocity and pseduo-acceleration spectra combined in a single diagram, called combined D-V-A
diagram

Figure: Combined D-V-A response spectrum for El Centro ground motion; ζ = 2%.
Note the values of D,V and A determined for a SDOF system with Tn=2 sec 129
Prof. Dipak Jivani 129
Response spectrum cannot be used for the design of new structures, or the seismic safety evaluation of existing
structures due to the following reasons:

 Response spectrum for a ground motion recorded during the past is inappropriate for future design or evaluation.

 The response spectrum is not smooth and jagged, specially for lightly damped structures.

 The response spectrum for different ground motions recorded in the past at the same site are not only jagged but
the peaks and valley are not necessarily at the same periods. This can be seen from the figure given on next slide
where the response spectra for ground motions recorded at the same site during past three earthquakes are
plotted

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 Figure: Response spectra for the N-S component of ground motions recorded at the
imperial valley Irrigation district substation, El Centro, California, during earthquakes
of May 18,1949;Feb 9,1956;and April 8,1968; ζ = 2%.
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Design Spectrum
 For practical applications, design spectra are presented as smooth curves or straight lines.

 Smoothing is carried , using statistical analysis, out to eliminate the peaks and valleys in the response spectra that
are not desirable for design. For this purpose statistical analysis of response spectra is carried out for the
ensemble of ground motions.

 Each ground motion, for statistical analysis is normalized (scaled up or down) so that all ground motions have the
same peak ground acceleration.

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 133
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Earthquake Demand on Buildings
 Seismic Design Force

 Where,
 Z = Seismic zone factor
 I = Importance Factor
 R = Response reduction Factor
 Sa/g = Design Acceleration Spectrum Value

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  Looping

Thank you…!

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