4.

Response of Structures
Gokarna Bahadur Motra, PhD
Professor, TU, IOE
4. Response of Structures
4.1 Review of Single Degree of Freedom System to Support Movement
4.2 Mode Shapes and Frequencies of Multi Degrees of Freedom System
4.3 Normal Mode Theory
4.4 Mode Participation Factors
4.5 Pseudo Static Force in Each Mode of Vibration due to Earthquake
4.0 Generalized Single Degree of Freedom System
In single degree of freedom (SDOF) systems, it is assumed that the structure under
consideration has a single lumped mass that is constrained so that it can move only in
a single fixed direction. For such systems, the response may be expressed in terms of
this single displacement quantity.
However, for the analysis of real systems, more complicated idealizations, like the
generalized single-degree-of-freedom need to be adopted.
In formulating generalized SDOF equations of motion, it is convenient to divide them
into two categories: (1) assemblages of rigid bodies in which elastic deformations are
limited to localized weightless spring elements and (2) systems having distributed
flexibility in which the deformations can be continuous throughout the structure, or
within some of its components.
4.0 Generalized Single Degree of Freedom System
Here, displacements of only a single form or shape are permitted, and the assumed
single degree of freedom expresses the amplitude of this permissible displacement
configuration.
In first case, rigid bodies are constrained by supports and hinges arranged
so that only one form of displacement is possible, where the generalized elastic,
damping, and inertial forces are considered in terms of this single form of motion.
In second case, structures having distributed elasticity, the SDOF shape restriction is
merely an assumption because the distributed elasticity actually permits an infinite
variety of displacement patterns to occur. However, the system motion is limited to a
single form of deformation in a mathematical sense. Thus, the generalized mass,
damping, and stiffness properties associated with this degree of freedom have been
evaluated, the structure may be analyzed in exactly the same way as a true SDOF
system.
4.0 Generalized Properties: Distributed Flexibility
Let us consider a cantilever tower, its flexure shape having an infinite degrees of
freedom can be approximated by a SDOF behavior. Its flexural stiffness, EI(x), mass
per unit length, m(x) and subjected to horizontal earthquake ground motion excitation
vg(t), and it supports a constant vertical load N applied at the top.
Let us assume that it will deform only in a single shape as shown by a dotted line in
Fig. The shape function will be designated ψ(x), and the amplitude of the motion
relative to the moving base is represented by the generalized coordinate Z(t); such that,
𝑢 𝑥, 𝑡 = ψ 𝑥 𝑍 𝑡
The generalized coordinate is selected as the
displacement of some convenient reference point in
the system, such as the tip displacement in this
tower. Then the shape function is the dimensionless
ratio of the local displacement to this reference
𝑢 𝑥,𝑡
displacement: ψ 𝑥 =
𝑍 𝑡

Fig.: Flexure structure considered as a SDOF system

4.0 Generalized Properties: Distributed Flexibility
The generalized SDOF system is formulated using work or energy principles, and the
principle of virtual work is used here, i.e., virtual work done by external and inter forces
should be equal: δWE = δWI
𝑓𝐼 𝑥, 𝑡 = −𝑚 𝑥 𝑢𝑡 𝑥, 𝑡 =−𝑚 𝑥 [𝑢 𝑥, 𝑡 + 𝑢𝑔 𝑡 ]
ℓ
The external virtual work: δ𝑊𝐸 = 𝑓
0 𝐼
𝑥 δ𝑢 𝑥 𝑑𝑥
ℓ ℓ
δ𝑊𝐸 = − 𝑚 𝑥 𝑢 𝑥, 𝑡 δ𝑢 𝑥 𝑑𝑥 − 𝑢𝑔 𝑡 𝑚 𝑥 δ𝑢 𝑥 𝑑𝑥
0 0
ℓ ℓ
The internal virtual work is due to BM: δ𝑊𝐼 = 0
𝑀 𝑥, 𝑡 δφ 𝑥 𝑑𝑥 = 0
𝐸𝐼 𝑥 𝑢′′ 𝑥, 𝑡 δ 𝑢′′ 𝑥 𝑑𝑥
′′ 2 2 𝑀(𝑥) 1 𝜕2 𝑢 𝑥
Here, 𝑢 𝑥 = 𝜕 𝑢 𝑥 /𝜕𝑥 = φ 𝑥 = curvature = = = = 𝑢′′ 𝑥
𝐸𝐼 𝜌 𝜕𝑥 2
Assuming that damping stresses are developed in proportion to the strain velocity, a uniaxial
stress train relation of the form:
σ = 𝐸 𝜀 + 𝑐 𝜀 ; here E is the Young’s modulus of elasticity and c is the
damping constant. Based on Euler-Bernouli hypothesis, i.e., plane section before bending
remains plane after bending, we can write
𝑀 𝑥, 𝑡 = 𝐸𝐼 𝑥 𝑢′′ 𝑥, 𝑡 + 𝑐 𝑢′′ 𝑥, 𝑡
4.0 Generalized Properties: Distributed Flexibility
In generalized coordinate:
𝑢 𝑥, 𝑡 = ψ 𝑥 Z 𝑡 ⟹ 𝑢′ 𝑥, 𝑡 = ψ′ 𝑥 𝑍 𝑡 ⟹ u′′ 𝑥, 𝑡 = ψ′′ 𝑥 𝑍 𝑡
𝑢 𝑥, 𝑡 = ψ 𝑥 Z 𝑡 Also, 𝑢′′ 𝑥, 𝑡 = ψ′′ 𝑥 𝑍 𝑡
δ𝑢 𝑥, 𝑡 = ψ 𝑥 δ𝑍 ⟹ δ𝑢′ 𝑥, 𝑡 = ψ′ 𝑥 δ𝑍⟹δ𝑢′′ 𝑥, 𝑡 = ψ′′ 𝑥 δ𝑍
ℓ 2 𝑑𝑥 ℓ
External virtual work done: δ𝑊𝐸 = −δZ 𝑍 𝑡 0
𝑚 𝑥 ψ 𝑥 + 𝑢𝑔 𝑡 0
𝑚 𝑥 ψ 𝑥 𝑑𝑥
ℓ 2 𝑑𝑥 ℓ 2 𝑑𝑥
Internal virtual work: δ𝑊𝐼 = δZ 𝑍 𝑡 0
𝐸𝐼 𝑥 ψ′′ 𝑥 + 𝑐𝑍 𝑡 0
𝐸𝐼 𝑥 ψ′′ 𝑥

Equating external and internal work done yields the generalized equation of motion.
∗ ℓ
𝑚∗ 𝑍 𝑡 + 𝑐∗𝑍 𝑡 + 𝑘∗𝑍 𝑡 = −𝐿∗ 𝑢𝑔 𝑡 = 𝑃eff 𝑡 ; here, 𝑚∗ = 0
𝑚 𝑥 ψ 𝑥 2 𝑑𝑥;

ℓ ℓ ℓ
𝑐∗ =𝑐 0
𝐸𝐼 𝑥 ψ′′ 𝑥 2 𝑑𝑥 ; 𝑘∗ = 0
𝐸𝐼 𝑥 ψ′′ 𝑥 2 𝑑𝑥 and 𝐿∗ = 0
𝑚 𝑥 ψ 𝑥 𝑑𝑥
Here, 𝑚∗ , 𝑐 ∗ , 𝑘 ∗ and −𝐿∗ 𝑢𝑔 𝑡 are called generalized mass, damping, stiffness and
excitation, respectively.
4.0 Generalized Properties: Distributed Flexibility
𝑚∗ 𝑍 𝑡 + 𝑐 ∗ 𝑍 𝑡 + 𝑘 ∗ 𝑍 𝑡 = −𝐿∗ 𝑢𝑔 𝑡 Dividing this equation by 𝑚∗ , yields
2 ∗ ∗ ∗ 𝐿∗
𝑍 𝑡 + 2ξ𝜔𝑍 𝑡 + 𝜔 𝑘 𝑍 𝑡 = −Г 𝑢𝑔 𝑡 Here, Г =
𝑚∗
Response Analysis
ℓ
𝑘∗ 0 𝐸𝐼 𝑥 ψ′′ 𝑥 2 𝑑𝑥
𝜔2 = = ℓ …....................................(a)
𝑚∗ 𝑚 𝑥 ψ 𝑥 2 𝑑𝑥
0

The internal forces are evaluated by static analysis of the structure subjected to equivalent static
forces. External forces causing displacement u(x) are:
𝑓𝑠 𝑥, 𝑡 = 𝑀′′ 𝑥, 𝑡 Using the principle of virtual displacements, we have:
ℓ ℓ
𝑓
0 𝑠
𝑥, 𝑡 δ𝑢 𝑥 𝑑𝑥 = 0
𝑀 𝑥, 𝑡 δ𝑘 𝑥 𝑑𝑥 Now, using shape function, i.e., 𝑢 𝑥, 𝑡 = 𝜓 𝑥 𝑧 𝑡 ,
we get
ℓ ℓ
δ𝑧 𝑓
0 𝑠
𝑥, 𝑡 ѱ 𝑥 𝑑𝑥 = δ𝑧 Using (a) 𝑓
0 𝑠
𝑥, 𝑡 − 𝜔2 𝑚 𝑥 ψ 𝑥 𝑧 𝑡 ѱ 𝑥 𝑑𝑥 = 0,
Equating the quantity with bracket to zero, we get
𝑓𝑠 𝑥, 𝑡 = 𝜔2 𝑚 𝑥 ψ 𝑥 𝑧 𝑡
4.0 Generalized Properties: Distributed Flexibility
𝑆𝑎 ξ
Peak value of z 𝑡 : 𝑧0 = Г∗ 𝑆𝑑 ξ = Г ∗
𝜔2

Peak value of elastic force 𝑓s : 𝑓s0 𝑥 = 𝑢s0 𝑥 = ѱ 𝑥 Г∗ 𝑆𝑑 ξ = Г∗ 𝑚 𝑥 ѱ 𝑥 𝑆𝑎 ξ

The shear and bending moment at height x from the base:
𝑉𝑏 𝑡 = 𝑓𝑠 𝑡 = 𝑚𝑆𝑎 𝑡 𝑀𝑏 𝑡 = 𝑥𝑉𝑏 𝑡 = ℎ𝑉𝑏 𝑡
Also, the values of base shear and moment are
ℓ ∗ ℓ
𝑉0 𝑥 = 𝑓
0 𝑠0
𝑥 𝑑𝑥 = Г 𝑆𝑎 0 𝑚 𝑥 ѱ 𝑥 𝑑𝑥
ℓ ℓ
𝑀0 𝑥 = 𝑥𝑓𝑠0 𝑥 𝑑𝑥 = Г∗ 𝑆𝑎 𝑥 𝑚 𝑥 ѱ 𝑥 𝑑𝑥
0 0

Shear and bending moment at the base of tower are: 𝑉𝑏0 = 𝐿∗ Г∗ 𝑆𝑎 𝑀𝑏0 = 𝐿∗𝜃 Г∗ 𝑆𝑎
ℓ
𝐿∗𝜃 = 𝑥 𝑚 𝑥 ѱ 𝑥 𝑑𝑥
0
4.0 Generalized Properties: Lumped Mass MDOF Systems
To approximate a system having several degrees of freedom by a generalized SDF system, let us consider the
frame shown in Fig. that is excited by an earthquake.
Let mj is the lumped mass at the jth floor. With
N-stories, it has N-degrees of freedom:
u1, u2, . . . , uN.
Here, the shape vector is assumed as the first mode shape.
𝑢𝑗 𝑡 = ψ𝑗 𝑧 𝑡 Here, j = 1, 2, … , N.
Here, ψ𝑗 is the assumed shape vector as shown in Fig.
In vector form: u 𝑡 = ѱ 𝑥 𝒛 𝑡
The total displacement of the jth floor is: 𝑢𝑗𝑡 𝑡 = 𝑢𝑗 𝑡 + 𝑢𝑔 𝑡
For shear building idealization, beams are rigid in axial and in flexure actions. The internal force-
displacement relation is: The shear Vj in the jth story (which is the sum of the shear in all columns) is related
to the story drift Δj = uj − uj−1 through the story stiffness kj: 𝑉𝑗 = 𝑘𝑗 ∆𝑗 = 𝑘𝑗 𝑢𝑗 − 𝑢𝑗−1
12𝐸𝐼
Here storey stiffness with flexural rigidity EI and storey height h is: 𝑘𝑗 = columns ℎ3
4.0 Generalized Properties: Lumped Mass MDOF Systems
At each time instant internal story shears and fictitious shear forces must be in equilibrium.
𝑓𝐼𝑗 = −𝑚𝑗 𝑢𝑗𝑡 = −𝑚𝑗 𝑢𝑗 𝑡 + 𝑢𝑔 𝑡
Using the principle of virtual work:
𝑁 𝑁 𝑁

𝛿𝑊𝑒 = 𝑓𝐼𝑗 𝑡 𝛿𝑢𝑗 = − 𝑚𝑗 𝑢𝑗 𝑡 𝛿𝑢𝑗 − 𝑢𝑔 𝑡 − 𝑚𝑗 𝛿𝑢𝑗

𝑗=1 𝑗=1 𝑗=1

Internal virtual work is due to storey shears 𝑉𝑗 𝑡 acting through the storey drifts associated
with the virtual displacements:
𝑁

𝛿𝑊𝑖 = 𝑉𝑗 𝑡 𝛿𝑢𝑗 − 𝛿𝑢𝑗−1

𝑗=1

Assume consistent shape vector with virtual displacements: 𝛿𝑢𝑗 = ψ𝑗 𝛿𝑧 or 𝛿𝒖 = 𝝍𝛿𝑧

𝑁 2
𝛿𝑊𝑒 = −𝛿𝑧 𝑧 𝑗=1 𝑚𝑗 ψ2𝑗 + 𝑢𝑔 𝑡 𝑁
𝑗=1 𝑚𝑗 ψ𝑗 and 𝛿𝑊𝑖 = 𝛿𝑧 𝑧 𝑁
𝑗=1 𝑘𝑗 ψ𝑗 − ψ𝑗−1
4.0 Generalized Properties: Lumped Mass MDOF Systems
𝛿𝑊𝑒 = 𝛿𝑊𝑖
𝑁 2 𝑁 2 𝑁
⟹ 𝑚
𝑗=1 𝑗 𝑗ψ 𝑧+ 𝑗=1 𝑘𝑗 ψ𝑗 − ψ𝑗−1 𝑧= 𝑗=1 𝑚𝑗 ψ𝑗 𝑢𝑔 𝑡
⟹ 𝒎∗ 𝒛 + 𝒌∗ 𝒛 = −𝑳∗ 𝒖𝒈 𝑡
The equation of motion of the multistory shear frame building assumed to deflect in the
shape defined by the vector ψ. The mass matrix of the system is a diagonal matrix with mjj =
mj. Using the shape vector, ψ = ψ1 ψ2· · · ψN 𝑇 , the generalized properties can be expressed
as: 𝑚∗ = 𝛙𝑇 𝒎𝝍 𝑘 ∗ = 𝛙𝑇 𝒌𝝍 𝐿∗ = 𝛙𝑇 𝒎𝒍
Response Analysis: Here, the generalized mass m*, generalized stiffness k*, and generalized
excitation − 𝐿∗ 𝑢𝑔 (t) are same as for the generalized SDF system.
∗ 𝑁 2
2
𝑘 𝑗=1 𝑘𝑗 ψ𝑗 − ψ𝑗−1 𝛙𝑇 𝒎𝝍
𝜔𝑛 = ∗ = 𝑁 2 = 𝑇
𝑚 𝑚 ψ
𝑗=1 𝑗 𝑗 𝛙 𝒌𝝍
Peak response of structure due to earthquake excitation given by response spectrum is
𝑢𝑗𝑜 = ψ𝑗 𝑧𝑜 = Г∗ 𝑆𝑑 ψ𝑗 𝑓𝑗𝑜 = Г∗ 𝑚𝑗 ψ𝑗 𝑆𝑎
4.0 Generalized Properties: Lumped Mass MDOF Systems
Static analysis of the structure subjected to storey forces develops shear force and
overturning moments in the ith storey.
𝑁 𝑁
𝑉𝑖𝑜 = 𝑗=1 𝑓𝑗𝑜 𝑀𝑖𝑜 = 𝑗=1 ℎ𝑗 − ℎ𝑖 𝑓𝑗𝑜
Shear and overturning moment at the base are
𝑁 𝑁
𝑉𝑏𝑜 = 𝑗=1 𝑓𝑗𝑜 𝑀𝑖𝑜 = 𝑗=1 ℎ𝑗 𝑓𝑗𝑜
𝑁
𝑉𝑏𝑜 = 𝐿∗ Г∗ 𝑆𝑎 𝑀𝑏𝑜 = 𝐿𝜃∗ Г∗ 𝑆𝑎 Here, 𝐿𝜃∗ = 𝑗=1 ℎ𝑗 𝑚𝑗 ψ𝑗
4.1 Review of Single Degree of Freedom System to Support Movement
Development of Effective Earthquake Force
𝑢𝑡 𝑡
𝑢𝑔 𝑡 𝑢 𝑡
ug(t)= Ground displacement
u(t) = Relative displacement
ut(t)= Total displacement
𝐶 = ug (t)+ u(t)

𝑢𝑔 𝑡

• Inertia force depends on the total acceleration of the masses.

• Resisting forces from stiffness and damping depend on the relative
displacement and velocity.
Development of Effective Earthquake Force
• Thus, the equation of motion can be written as:
𝒎𝒖𝒕 𝒕 + 𝒄𝒖 𝒕 + 𝒌𝒖 𝒕 = 𝟎

𝒎 𝒖 𝒕 + 𝒖𝒈 𝒕 + 𝒄𝒖 𝒕 + 𝒌𝒖 𝒕 = 𝟎

𝒎𝒖 𝒕 + 𝒄𝒖 𝒕 + 𝒌𝒖 𝒕 = −𝒎𝒖𝒈 𝒕
Earthquake Ground Motion - 1940 El Centro
0.4
40

Ground Acceleration (g's)

0.3
30

Ground Velocity (cm/sec)

0.2
20
0.1
10
0

-0.1 0

-0.2 -10

-0.3 -20
0 10 20 30 40 50 60
-30
Time (sec)
0 10 20 30 40 50 60
Time (sec)
15
Ground Displacement (cm)

10

-5

-10

-15
0 10 20 30 40 50 60
Time (sec)
Equation of Motion for Support Movement
For a given ground motion, the response history u(t) is a function of the
structure’s frequency ω and damping ratio ξ
𝒎𝒖 𝒕 + 𝒄𝒖 𝒕 + 𝒌𝒖 𝒕 = −𝒎𝒖𝒈 𝒕
Divide through by m and make substitutions: 𝑐 𝑚 = 2ξω; 𝑘 𝑚 = ω2 to get simplified
form
𝒖 𝒕 + 2ξω𝒖 𝒕 + 𝜔𝟐 𝒖 𝒕 = −𝒖𝒈 𝒕
Here, support motion and initial conditions are not well defined. Support ground motions
are not initially at rest and not compatible. For initially rest condition, solution of above
equation is given by Duhamel integral
1 ℓ
u 𝑡 =− 𝑢 𝜏 𝑒 −ξω 𝑡−𝜏 sin𝜔𝑑 𝑡 − 𝜏 dτ
𝜔𝑑 0 𝑔
1 ℓ
𝑢 𝑡 = −ξωu 𝑡 − 𝑢𝑔 𝜏 𝑒 −ξω 𝑡−𝜏 cos𝜔𝑑 𝑡 − 𝜏 dτ e
𝜔𝑑 0
𝑢 𝑡 = ω2 𝑢 𝑡 − 2ξω𝑢 𝑡
Response Spectrum Concept
It is practical means of characterizing ground motions and their effects on structures.
Response spectrum displays the peak response of all possible linear SDOF systems to a
particular component of ground motion. It converts the dynamic effects to a equivalent
static effect required for the design of structures, which is widely used in the development
of lateral force requirements in building codes.
A plot of the peak value of response quantity as a function of natural vibration period, T or
circular frequency, ω or cyclic frequency, f is called response spectrum for that quantity.
Every plot is for SDOF system having a fixed damping ratio ζ , and several such plots for
different values of ζ are included to cover the range of damping values encountered in
actual structures. A variety of response spectra can generated based on response quantity
to be plotted. uo(T, ζ ) ≡ max |u(t, T, ζ), 𝑢(𝑇, ζ)≡max |𝑢(t, T, ζ)|, 𝑢(𝑇, ζ)≡max |𝑢 (t, T, ζ)|
The deformation response spectrum is a plot of uo against T for fixed ζ . A similar plot for
𝑢0 is the relative velocity response spectrum, and for 𝑢0𝑡 is the acceleration response
spectrum.
Response Spectrum Concept
The differences in the natural periods are responsible for the large differences in
the deformation responses. Time required for an SDOF system to complete a cycle
of vibration when subjected to the earthquake ground motion is very close to the
natural period of the system.

Once the deformation response history

u(t) has been evaluated by dynamic
analysis of the structure, the internal
forces can be determined by static
analysis of the structure at each time
instant.
Response Spectrum Concept
In earthquake engineering, internal force is determined based on the concept of the
equivalent static force, fS (Fig.) because it can be related to earthquake forces
specified in building codes.
𝑓𝑠 (t)=k u(t)

Once the deformation response history

u(t) has been evaluated by dynamic
analysis of the structure, the internal
forces can be determined by static
analysis of the structure at each time
instant.
 Response Spectrum Concept

• The peak deformations are D = 6.79 cm for a system

with natural period T = 0.5 sec and damping ratio ζ =
2%; D = 15.15 cm for a system with T= 1 sec and ζ =
2%; and D = 18.96 cm for a system with T = 2 sec
and ζ = 2%.
• The D value so determined for each system provides
one point on the deformation response spectrum.
• Repeating such computations for a range of values of
T while keeping ζ constant at 2% provides the
deformation response spectrum.
• The complete response spectrum includes such
spectrum curves for several values of damping.
Fig.: Ground acceleration; deformation
response of three SDOF systems
Response Spectrum (Sd) Concept
The maximum relative response of linear elastic SDOF system, initially at rest subjected to
ground acceleration is known as relative displacement response spectrum and is given by
ℓ
1
𝑆𝑑 ξ, ω = 𝑆𝑑 ξ, 𝑇𝑛 = 𝑢 𝑡 𝑚𝑎𝑥 = 𝑢𝑔 𝜏 𝑒 −ξω 𝑡−𝜏 𝑠𝑖𝑛𝜔𝑑 𝑡 − 𝜏 dτ
𝜔𝑑 0 𝑚𝑎𝑥

The relative velocity spectrum is given by

𝑆𝑣 ξ, ω = 𝑆𝑣 ξ, 𝑇𝑛 = 𝑢 𝑡 𝑚𝑎𝑥
ℓ ℓ
ξ
= 𝑢𝑔 𝜏 𝑒 −ξω 𝑡−𝜏 sin𝜔𝑑 𝑡 − 𝜏 dτ + 𝑢𝑔 𝜏 𝑒 −ξω 𝑡−𝜏
cos𝜔𝑑 𝑡 − 𝜏 dτ
1 − ξ2 0 0
𝑚𝑎𝑥

For lightly damped systems: ξ ≈ 0, so the first term can be neglected and we get
ℓ
The relative velocity spectrum is given by 𝑆𝑣 0, ω = 𝑢
0 𝑔
𝜏 cosω 𝑡 − 𝜏 dτ
𝑚𝑎𝑥
ℓ
𝑆𝑣 ξ, ω = 𝑆𝑣 ξ, 𝑇𝑛 = 𝑢𝑔 𝜏 𝑒 −ξω 𝑡−𝜏 𝑠𝑖𝑛𝜔𝑑 𝑡 − 𝜏 dτ
0 𝑚𝑎𝑥
Pseudo-Spectral Velocity (Spv) and Pseudo-Spectral Acceleration (Spa) Response Spectrums
The peak deformation of a SDOF system is 𝑢𝑜 ≡ 𝐷 = 𝑆𝑑 . The maximum relative
velocity is called pseudo-spectral velocity, 𝑆𝑝𝑣 . For a SDOF system with natural
2𝜋
frequency, ω, excited by earthquake ground motion: 𝑆𝑝𝑣 = 𝜔𝐷 = 𝑆 . [⸪𝑢 𝑡 =
𝑇 𝑑
𝜌𝜔cos 𝜔𝑡 + 𝜑 ]. Pseudo is not real, it is only maximu,
As ω → 0, the relative velocity spectrum 𝑆𝑣 → 𝑢 𝑡 𝑚𝑎𝑥 and relative pseudo-velocity
response 𝑆𝑝𝑣 →0, because the mass does not move. Hudson had numerically shown that
𝑆𝑣 0, ω and 𝑆𝑝𝑣 0, ω are nearly equal except very long period structure. Variation is
high in case of highly damped structure.
The absolute acceleration spectra is 𝑆𝑎 ξ, ω ≡ 𝑆𝑎 ξ, 𝑇 = 𝑢𝑡 𝑡 𝑚𝑎𝑥 . For damping
ratio
0 ≤ ξ ≤ 0.2, 𝑆𝑎 ξ, ω ≈ 𝜔𝑆𝑝𝑣 ξ, ω ≡ 𝑆𝑝𝑎 ξ, ω , here 𝑆𝑝𝑎 ξ, ω is called absolute pseudo-
acceleration spectral response. For ξ = 0, 𝑆𝑝𝑎 ξ, ω ≤𝑆𝑎 ξ, ω .
Response to Ground Motion (1940 El Centro)
0.4
Excitation applied to
Ground Acceleration (g's)
0.3

0.2 structure with given x and w

0.1

-0.1

-0.2
SOLVER
-0.3
0 10 20 30 40 50 60
6
Time (sec)

Structural Displacement (in)

4 Computed Response
2
Change in ground motion
or structural parameters x 0

and w requires re-calculation

-2

of structural response -4
Peak Displacement
-6
0 10 20 30 40 50 60
Time (sec)
The Elastic Response Spectrum
An Elastic Response Spectrum is a plot of the peak computed relative displacement,
u, for an elastic structure with a constant damping x and a varying fundamental
frequency w (or period T=2p/w), responding to a given ground motion.
16

inches
5% Damped Response
DISPLACEMENT, inches
12
PEAKDISPLACEMENT,
Spectrum for Structure
8 Responding to 1940 El
Centro Ground Motion
4

0
0 2 4 6 8 10
PERIOD, Seconds
Computation of Deformation (or Displacement)
Response Spectrum
Complete 5% Damped Elastic Displacement Response Spectrum for El Centro Ground Motion

12.00

10.00

Displacement, Inches
8.00

6.00

4.00

2.00

0.00
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
Period, Seconds
Development of Pseudo-velocity Response Spectrum

5% Damping

PSV ( T ) ≡ ωD
Development of Pseudo-acceleration Response Spectrum

400.0

350.0 5% Damping

300.0

Pseudoacceleration, in/sec2
250.0

200.0

150.0 PSA( T ) ≡ ω 2 D
100.0

50.0

0.0
0.0 1.0 2.0 3.0 4.0
Period, Seconds
Pseudo-acceleration Response Spectrum
The Pseudo-acceleration Response Spectrum represents the TOTAL ACCELERATION of the system,
not the relative acceleration. It is nearly identical to the true total acceleration response spectrum
for lightly damped structures.

5% Damping
Difference Between Pseudo-Acceleration and Total Acceleration
• System with 5% Damping 350.00

300.00

Acceleration (in/sec )
2
250.00

200.00

150.00

100.00

50.00

0.00
0.1 1 10
Period (sec)
Total Acceleration Pseudo-Acceleration
Pseudo-acceleration Response Spectra for Different Damping Values

Damping
4.00
0%
5%

Pseudoacceleration, g
3.00 10%
20%

2.00

1.00

0.00
0.0 1.0 2.0 3.0 4.0 5.0
Period, Seconds
Use of an Elastic Response Spectrum
400.0
Example Structure
350.0

Pseudoacceleration, in/sec2
K = 500 kips/in.
300.0
W = 2,000 kips
250.0
M = 2000/386.4 = 5.18 kip-sec2/in.
w = (K/M)0.5 =9.82 rad/sec 200.0

T=2p/w = 0.64 sec 150.0

5% Critical Damping 100.0

50.0

0.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
Period, Seconds

@T=0.64 sec, Pseudo-acceleration = 301 in./sec2

Base Shear = M x PSA = 5.18(301) = 1559 kips
Four-Way Log Plot of Response Spectrum

100.00

PSEUDOVELOCITY, in/sec
10.00

1.00

0.10
0.01 0.10 1.00 10.00
PERIOD, Seconds
1940 El Centro, 0.35 g, N-S

100
For a given earthquake,
small variations in structural
frequency (period) can produce
significantly different results.
Pseudo Velocity, In/Sec

10

0% Damping
5% Damping
10% Damping
20* Damping
1

0.1
0.01 0.1 1 10
Period, Seconds
5% Damped Spectra for Four California Earthquakes Scaled to 0.40 g (PGA)
Different earthquakes
will have different spectra.
100.0

Pseuso Velocity, in/sec 10.0 El Centro

Loma Prieta
North Ridge
San Fernando
1.0 Average

0.1
0.01 0.10 1.00 10.00
Period, seconds
VERY FLEXIBLE STRUCTURE (T > 10 sec)

Relative Displacement Ground Displacement

Total Acceleration Zero
VERY STIFF STRUCTURE (T < 0.01 sec)

Relative Displacement Zero

Total Acceleration Ground Acceleration
ASCE 7-10 Uses a Smoothed Design Acceleration Spectrum

0.7
SDS
0.6
Sa = SD1 / T
Spectral Acceleration, g

0.5 Sa = SDS(0.4 + 0.6 T/T0)

0.4 SD1 TS = SD1 / SDS

0.3 T0 = 0.2TS
0.4SDS
0.2

Sa = SD1 TL / T2
0.1

0.0
0 T0 TS 1 2 3 4 5 6 7

Period, seconds
4.2 Mode Shapes and Frequencies of Multi Degrees of Freedom System
𝑚𝑢 𝑡 + 𝑐 𝑢 𝑡 + 𝑘𝑢 𝑡 = −𝑚𝑙 𝑢𝑔 𝑡 Dividing this equation by m, yields
ι is the influence vector represents the displacements of the masses resulting from static
application of a unit ground displacement
𝑙
𝑢 𝑡 + 2ξ𝜔𝑢 𝑡 + 𝜔2 𝑢 𝑡 = −Г𝑢𝑔 𝑡 Here, Г =
𝑚
4.3 Normal Mode Theory
𝑒