A) Dynamics of Structures
Structures Modeled as a
Single-Degree-of-Freedom
System
1. Undamped Single Degree-of-Freedom System
The analysis and design of structures to resist the effect produced by time dependent forces or
motions requires conceptual idealizations and simplifying assumptions through which the physical
system is represented by an idealized system known as the analytical or mathematical model. These
idealizations or simplifying assumptions may be classified in the following three groups:
1. Material assumptions. These assumptions or simplifications include material properties such as
homogeneity or isotrophy and material behaviors such as linearity or elasticity.
2. Loading assumptions. Some common loading assumptions are to consider concentrated forces to
be applied at a geometric point, to assume forces suddenly applied, or to assume external forces to be
constant or periodic.
3. Geometric Assumptions. A general assumption for beams, frames and trusses is to consider these
structures to be formed by unidirectional elements. Another common assumption is to assume that
some structures such as plates are two-dimensional systems with relatively small thicknesses. Of
greater importance is to assume that continuous structures may be analyzed as discrete systems by
specifying locations (nodes) and directions for displacements (nodal coordinates) in the structures as
described in the following section. 2
1.1 DOF
Degrees of freedom - number of independent coordinates necessary to specify the
configuration or position of a system at any time. In general, a continuous structure has
an infinite number of degrees of freedom. Nevertheless, the process of idealization or
selection of an appropriate mathematical model permits the reduction to a discrete
number of degrees of freedom
Fig 1.1 Examples of structures modeled as one-degree-of-freedom systems
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These one-degree-of-freedom systems may be conveniently described by the analytical model shown in
Fig. 1.2 which has the following elements:
1. A mass element m representing the mass and inertial characteristic of the structure.
2. A spring element k representing the elastic restoring force and potential energy storage of the structure.
3. A damping element c representing the frictional characteristics and energy dissipation of the structure.
4. An excitation force F(t) representing the external forces acting on the structural system.
Fig. 1.2 Analytical model for one-degree-of-freedom systems
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1.2 Undamped System
We start the study of structural dynamics with the analysis of a fundamental and simple system, the one-degree-of-
freedom system in which we disregard or “neglect” frictional forces or damping. In addition, we consider the system,
during its motion or vibration, to be free from external actions or forces. Under these conditions, the system is said to
be in free vibration and it is in motion governed only by the influence of the so-called initial conditions, that is, the
given displacement and velocity at time t ¼ 0 when the study of the system is initiated. This undamped, one-degree-
of-freedom system is often referred to as the simple undamped oscillator. It is usually represented as shown in Fig.
1.3a or Fig. 1.3b or any other similar arrangement. These two figures represent analytical models that are dynamically
equivalent. It is only a matter of preference to adopt one or the other. In these models the mass m is restrained by the
spring k and is limited to rectilinear motion along one coordinate axis, designated in these figures by the letter u.
Fig. 1.3 Alternate representations of analytical models for one-degree-of-freedom systems 5
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1.3 Springs in Parallel or in Series
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1.4 Newton’s Law of Motion
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1.5 Free Body Diagram
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1.6 D’Alembert’s Principle
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Illustrative Example 1.1
Show that the same differential equation is obtained for a body vibrating along a horizontal axis or for the same body
moving vertically, as shown in Fig. 1.7a, b.
Fig. 1.7 Two representations of the simple oscillator and corresponding free body diagrams. (a) Idealized single degree of
freedom system, (b) Alternative idealized single degree of freedom system
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Solution:
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1.7 Solution of the Differential Equation of Motion ( )
For this simple, second-order differential equation we may proceed directly by assuming a trial
solution given by:
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1.8 Frequency and Period
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Illustrative Example 1.2
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Solution:
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1.9 Amplitude of Motion
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Illustrative Example 1.3
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Solution:
Under these conditions, the frame may be modeled by the spring-mass system shown in Fig. 1.11b.
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Illustrative Example 1.4
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Solution:
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Illustrative Example 1.5
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Solution:
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PROBLEMS
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