Dynamics of Structures
1. Introduction:
a. Degrees of freedom
b. Lumped mass
c. Period of vibration
d. Frequency of vibration
e. Free Vibration
f. Forced vibration
g. Damped and undamped vibration
2. Equation of Motion (SDOF)
a. Undamped free vibration
b. Damped free vibration
c. Forced vibration
3. Multi degree of freedom systems
1
Dynamic Loads
• Dynamic = Time-varying
• Dynamic Load Its magnitude, direction
and/or position varies with time the
resulting stresses and deflections are also
time-varying.
• Examples of dynamic loads:
2
DEGREE OF FREEDOM (DOF) AND LUMPED
MASS
• DOF : independent displacement
components to specify the position of all
significant mass particles in the structure.
Actual structure Lumped-mass equivalent
m1 m2
3
VIBRATION THEORY: EQUATION OF
MOTION
Newton’s 2nd law of motion: ‘the rate of change of
momentum of any mass particle m = the force acting
on it’.
p(t) = d(m dv ) (1)
dt dt
P (t) : applied force vector
v (t) : position vector of particle mass m
If m does not vary with time,
p(t) = m d 2 v =m (t)
dt 2
v
p(t) - m (t) = 0 (2)
v
m (t) = inertia force
v 4
VIBRATION THEORY: EQUATION OF
MOTION
• Equation (2) also known as D’Alembert
Principle: ‘A mass develops an inertial
(t)
force proportional to its acceleration v
and opposing it.
5
Idealized Single Degree of Freedom (SDOF)
System
C v(t)
m
P(t)
k
• v(t): dynamic response (displacement
from the static equilibrium position)
• P(t): effective load acting on the
system
6
Force equilibrium
By d’Alembert equilibrium of forces:
C v(t)
m
P(t)
k
P inertia + P damping + P stiffness = P external
m v (t) + cv (t) + k v(t) = P(t) (3)
7
UN-DAMPED FREE VIBRATION
v (t)
m
k
Equation (3) becomes:
m v (t) + c v (t) + k v(t) = 0 (4)
The solution for equation (4) :
v(t) = G e st (5)
G : arbitrary complex constant
e st : exponential function 8
To derive the vibration response, substitute (5) into (4),
leading to:
( ms2 + cs + k ) G e st = 0 (6)
dividing by mGe st and introducing
ω2 = k ( ie., k ) (7)
m m
equation (6) becomes
s2 + c s + ω2 = 0 (8)
m
The type of motion given by (8) depends on the amount
of damping in the system.
9
For un-damped vibration, c=0, the two values of s given by
(8) are:
S 1,2 = ± i ω (9)
Thus the total response includes two terms of (5), i.e.:
v(t) = G1 e iωt + G2 e – iωt (10)
an alternative form :
v(t) = A cos ωt + B sin ωt (11)
Constants A and B may bevdetermined from the initial
conditions, i.e. v(0) and (0) at t=0. It can be shown that
v (0)
A = v(0) and B =
(12)
10
Thus equation (11) becomes
v(t) = v(0) cos ωt + v (0) sin ωt (13)
v(t) from equation (13) has the same value at time t and
(t + n 2 ), n=1,2,3…….
So equation (13) is periodic, and the period of motion is
2
T= [seconds] (14)
T : time required to complete one cycle
The natural frequency
1
f= = (15)
T 2
ω [radian/second] = angular velocity
11
f [cycles/second] or [Hertz]
Un-damped free-vibration response
12
Alternatively, equation (13) may be
expressed as
v(t) = ρ cos ( ωt + θ ) (16)
where:
2
v (
amplitude ρ = [v(0)]2 0 ) (17)
v (0)
phase angle θ = tan –1
v(0) (18)
13
Natural Frequency and Period of
various structures
14
15
Example 1
8W
Assume beam weight + loading = 8W,
EI L and the weight of the two columns are
EI 2EI
0.8W 1.2W 0.8W and 1.2W respectively. Determine
the approximate value of the natural
frequency and natural period of vibration
Total lumped weight at beam level = 8W + 0.5(0.8W+1.2W) = 9W
Lumped mass, m = 9W , Total stiffness: m
g
12 EI
k= + 12(2 EI ) = 36 EI OR
L 3
L3 m
L3 k
ω= k =2 EIg
k
m
WL3
WL3
f= = 1 EIg T= 1 =ᴫ
2 EIg
WL3 f
16
Practice Problems:
17
Q2. The building frame shown in Figure 10 supports a rotating machine.
Neglect the axial and shear deformations and the weight of the columns,
and assume that the girder is rigid. Take E=200 GPa; I=12x106 mm4;
m=2500 kg and L=5 m. Calculate the natural frequency of vibration
sidesway and the natural period of vibration for the frame.
Q3. Same as Q2 for frame shown in Figure 11. Assume E 200 GPa;
I=10x106 mm4; m=2700 kg; and L=4 metres.
m m
I I L 2EI
2EI
L
L
2L
18
