Structural Dynamics

(CE586)
Single Degree of Freedom System [Formulation]

Dr. J. A. S. C. Jayasinghe,
Structural Laboratory,
The Faculty of Engineering,
University of Peradeniya.
CE586 – Structural Dynamics –JASC/UOP 1
Idealized Structural System

CE586 – Structural Dynamics –JASC/UOP 2

 Idealized Structural System

• This structure may be simplified by assuming that the

column has negligible mass along its length

• Assume that the vertical displacements are small

compared with the horizontal displacements of the body

• Ignore torsional rotations about the column axis

• Consider only the displacement in one direction

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 Idealized Structural System
• A simple structure = A structure that can be idealized as a concentrated mass “m”
supported by a massless structure with stiffness “k” in the lateral direction
Lateral deformation
(t - time)
Rigid roof

mass

Flexible column (Flexible in

lateral direction but rigid in
vertical direction)

Rigid ground

Idealization: A Single-Degree-of-Freedom System

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 Idealized Structural System
• Some examples of simple structures which can be idealized as single-degree-of-freedom
(SDF) systems

CE586 – Structural Dynamics –JASC/UOP 5

 Idealized Structural System
• By this idealization, if the roof of a simple structure is displaced laterally by a distance 𝑢𝑜
and then released, the idealized structure will oscillate around its initial equilibrium
configuration:

The oscillation with amplitude 𝒖𝒐 • The oscillation will continue

with the same amplitude 𝑢𝑜
and the idealized structure
will never come to rest
• This is an unrealistic
The lateral displacement of roof as a function of time
response because the actual
structure will oscillate with
decreasing amplitude and
will eventually come to rest

CE591 – Structural Dynamics –JASC/UOP 6

 Idealized Structural System
• To incorporate this feature into the Lateral deformation
idealized structure, an energy dissipating (t - time)
mechanism is required Rigid roof

Mass, m
• Therefore, an energy absorbing element
Viscous damper,
is introduced in the idealized structure:
coefficient, c
Lateral
the viscous damping element (denoted
stiffness, k
by a dashpot)

• This simple structure is sometimes called Rigid ground

a Single-Degree-of-Freedom Structure

• Many basic concepts in structural dynamics can be understood by studying this simple
structure
CE586 – Structural Dynamics –JASC/UOP 7
Equation of Motion - SDOF

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 Equation of Motion
• The motion of the idealized one-story structure caused by dynamic excitation is governed
by an ordinary differential equation, called the “equation of motion”

• Formulation of the equation is possibly the most important phase of the entire analysis
procedure (and sometimes the most difficult phase)

• This equation can be determined using the following approaches:

➢ Direct dynamic equilibration approach
➢ Principle of virtual work (energy approach)

CE586 – Structural Dynamics –JASC/UOP 9

 Equation of Motion
• The direct equilibrium using D'Alembert’s Principle will be employed in this lecture

Static Equilibrium Newton’s 2nd Law D'Alembert’s Principle

𝒇𝟏(𝑡) + 𝒇𝟐(𝑡) + 𝒇𝟑(𝑡) = 𝟎 𝒇𝟏(𝑡) + 𝒇𝟐(𝑡) + 𝒇𝟑(𝑡) = 𝑚 𝒂 (𝑡) 𝒇𝟏(𝑡) + 𝒇𝟐(𝑡) + 𝒇𝟑(𝑡) + 𝒇𝑰 (𝑡) = 𝟎

• A particle mass 𝑚 is subjected to a system of dynamic force vectors 𝑓1 𝑡 , 𝑓2 𝑡 & 𝑓3 𝑡

• 𝑎 𝑡 is the acceleration of the particle mass 𝑚

CE586 – Structural Dynamics –JASC/UOP 10
 Equation of Motion
• Newton’s 2nd law states that, “The rate of change of momentum of any mass m is equal
to the force acting on it”
𝑑 𝑑𝒖(𝑡)
𝑡 𝑑 2 𝒖(𝑡)
(𝒕)
𝒇1𝒇𝟏𝑡(𝑡)++𝒇𝒇2𝟐(𝑡)
𝑡 + 𝒇𝟑3(𝑡)
𝑡 == 𝑚 =𝑚 2
= 𝑚 𝒂(𝑡)
𝑑𝑡 𝑑𝑡 𝑑𝑡

• D’Alembert’s concept states that “A mass develops an inertia force in proportion to its
acceleration and opposing it”
𝒇𝑰 (𝑡) = − 𝑚 𝒂 (𝑡)

𝒇𝟏(𝑡) + 𝒇𝟐(𝑡) + 𝒇𝟑(𝑡) + 𝒇𝑰 (𝑡) = 𝟎 [Newton’s 2nd law]

• All dynamic forces (including the inertia force) are in equilibrium – Dynamic Equilibrium

• This is a very convenient concept in structure dynamics because its permits equations of
motion to be expressed as “equations of dynamic equilibrium”
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Equation of Motion of One-Story Building Subjected
to Dynamic Force
Lateral deformation
(t - time) 𝑓𝐼 (𝑡) 𝒑(𝑡)
Rigid roof

𝒑(𝑡) Mass, m 𝒇𝑺 (𝑡)/2 𝒇𝑫 (𝑡) 𝒇𝑺 (𝑡)/2

Viscous damper, 𝒖(𝑡)
coefficient, c
k 𝑑𝒖(𝑡)
𝑑𝑡
𝑑 2 𝒖(𝑡)
Rigid ground 𝑑𝑡 2

𝑖
• At any instantaneous time, the mass 𝑚 is under the action of four types of dynamic
forces CE586 – Structural Dynamics –JASC/UOP 12
Equation of Motion of One-Story Building Subjected
to Dynamic Force
• External dynamic force: 𝒑 𝑡
𝒇𝑰 (𝑡) 𝒑(𝑡)

• Inertia force: 𝒇𝑰 (𝑡)

𝒇𝑺 (𝑡)/2 𝒇𝑫 (𝑡) 𝒇𝑺 (𝑡)/2
𝑑2 𝒖(𝑡)
𝒇𝑰 𝑡 = −𝑚
𝑑𝑡 2

• Elastic force: 𝒇𝑺 𝑡
𝒇𝑺 𝑡 = −𝑘𝒖(𝑡)

Where 𝑘 is the lateral stiffness of the two columns combined. The negative sign means that the
forces is always in the opposite direction to the structural deformation (this is to bring the
structure back to its neutral position)
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Equation of Motion of One-Story Building Subjected
to Dynamic Force
𝒇𝑰 (𝑡) 𝒑(𝑡)

𝒇𝑺 (𝑡)/2 𝒇𝑫 (𝑡) 𝒇𝑺 (𝑡)/2

• Damping force: 𝒇𝑫 (𝑡)

𝑑𝒖 𝑡
𝒇𝑫 𝑡 = −𝑐 ሶ
= 𝑐 𝒖(𝑡)
𝑑𝑡
where 𝑐 is the damping coefficient of viscous damper. The units of 𝑐 are force×time/length.
The negative sign means that the damping force is always in the opposite direction to
velocity, hence it always dissipates energy
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Equation of Motion of One-Story Building Subjected
to Dynamic Force
• By the application of D’Alembert’s principle, the sum of all four forces must be zero
𝒇𝑰 𝑡 + 𝒇𝑫 𝑡 + 𝒇𝑺 𝑡 + 𝒑 𝑡 = 𝟎
OR
𝑑2 𝒖(𝑡) 𝑑𝒖 𝑡
𝑚 2
+𝑐 + 𝑘𝒖(𝑡) + 𝒑 𝑡 = 𝟎
𝑑𝑡 𝑑𝑡
• The vector can be converted to scalar function by:
𝑑 2 𝒖(𝑡) 𝑑 2 𝒖(𝑡)
𝒖 𝑡 = 𝑢 𝑡 .𝒊 = .𝒊
𝑑𝑡 2 𝑑𝑡 2

𝑑𝒖(𝑡) 𝑑𝑢(𝑡)
= .𝒊 𝒑 𝑡 = 𝑝 𝑡 .𝒊
𝑑𝑡 𝑑𝑡
[𝑝 and 𝑢 are a function of time. 𝒊 is a unit length base vector.]
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Equation of Motion of One-Story Building Subjected
to Dynamic Force
• Hence, the equation of motion in scalar form is:

𝑑2 𝑢(𝑡) 𝑑𝑢 𝑡
𝑚 2
+𝑐 + 𝑘𝑢(𝑡) = 𝑝 𝑡
𝑑𝑡 𝑑𝑡

𝑚𝑢(𝑡)
ሷ + 𝑐𝑢(𝑡)
ሶ + 𝑘𝑢(𝑡) = 𝑝(𝑡)

• This is a second-order linear (ordinary) differential equation

CE586 – Structural Dynamics –JASC/UOP 16

Equation of Motion of One-Story Building Subjected
to Dynamic Force
𝑚𝑢(𝑡)
ሷ + 𝑐𝑢(𝑡)
ሶ + 𝑘𝑢(𝑡) = 𝑝(𝑡)

𝑑𝑢 𝑑𝑢ሶ
= 𝑢(𝑡)
ሶ = 𝑢(𝑡)
ሷ
𝑑𝑡 𝑑𝑡

• 𝑘 – Stiffness of the SDOF system (The stiffness is defined as a force required to

develope a unit displacement in the structure)
• 𝑚 – Mass of the system (A mass is the force required to develope a unit acceleration of
the structure )
• 𝑢 – Relative displacement of the mass in target direction
• 𝑢ሶ – Relative velocity of yhe mass in target direction
• 𝑢ሷ – Total acceleration of the mass in targt direction
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Equation of Motion of One-Story Building Subjected
to Dynamic Force
𝑚𝑢(𝑡)
ሷ + 𝑐 𝑢(𝑡)
ሶ + 𝑘𝑢(𝑡) = 𝑝(𝑡) (a) (b)

Harmonic Loading (a)

(c)

Periodical Loading(b)
(e)

𝑝(𝑡) Impulse Loading(c)

Direct Dynamic Loading(d) (d)

Earthquake Loading(e)
18
 Problem Statement

Given: Determine:
a) The mass of the system (𝑚), • The displacement of the system 𝑢(𝑡)
•
• The other response quantities (e.g. the
b) Applied dynamic load 𝑝(𝑡), 𝑑𝑢(𝑡)
response velocity , response
𝑑𝑡
𝑑 2 𝑢(𝑡)
acceleration , base shear, overturning
𝑑𝑡 2
c) Lateral stiffness of the system (𝑘), and
moment etc.) can be subsequently derived
from 𝑢(𝑡)
d) The damping coefficient of the system (𝑐)

CE586 – Structural Dynamics –JASC/UOP 19

Multi-Degree-of-Freedom Structures - MDOF

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 Multi-Degree-of-Freedom Structures
• The example (idealized one-story) structure described
earlier is a single-degree-of-freedom system because
its motion can be completely describe by only one
scalar function – 𝑢(𝑡)
• A N-story building is a N-degree-of-freedom system
because at least N response functions
( 𝑢1 𝑡 , 𝑢2 𝑡 , 𝑢3 𝑡 … … … 𝑢𝑁 𝑡 ) are required to
completely describe the overall motion of this
structure.
• The dynamics of multi-degree-of-freedom systems
will be covered in detail later 21
Equation of Motion of One-Story Building
Subjected to Earthquake

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 Subjected to Earthquake - SDOF

Free-body diagram
Idealized structure

• Consider a case when an SDF system is subjected to a lateral ground displacement 𝒖𝑔 (𝑡).
• This represents a simplified earthquake excitation (i.e. the ground motion is assumed to
be a one-dimensional lateral motion)
• There is no external force applied to this SDF system
CE586 – Structural Dynamics –JASC/UOP 23
 Subjected to Earthquake - SDOF
• Let’s denote the ground displacement, ground velocity and ground acceleration as:

𝒖𝑔 𝑡 𝑑𝒖𝑔 (𝑡) 𝑑 2 𝒖𝑔 (𝑡)

𝑑𝑡 𝑑𝑡 2
• The total displacement at the roof is defined by 𝒖𝑡 (𝑡), where:
𝒖𝑡 𝑡 = 𝒖𝑔 𝑡 + 𝒖(𝑡)

• There are three dynamic forces acting on the roof mass:

𝑑𝒖 𝑡
➢ Elastic force: 𝒇𝑺 𝑡 = −𝑘𝒖(𝑡) ➢ Damping force: 𝒇𝑫 𝑡 = −𝑐
𝑑𝑡

• Each of these forces is a function of “relative” motion, not the absolute (or total) motion

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 Subjected to Earthquake - SDOF
𝑑 2 𝒖𝑡 𝑡
• However the mass undergoes an acceleration of ,
𝑑𝑡 2
• Therefore;
𝑑 2 𝒖𝑡 𝑡 𝑑 2 𝒖𝑔 𝑡 𝑑2 𝒖 𝑡
➢ Inertia force: 𝒇𝑰 𝑡 = −𝑚 = −𝑚 + −𝑚
𝑑𝑡 2 𝑑𝑡 2 𝑑𝑡 2

Free-body diagram
Idealized structure
CE586 – Structural Dynamics –JASC/UOP 25
 Subjected to Earthquake - SDOF
• Applying the D’Alembert’s dynamic equilibrium to this case, we get,

𝑑2 𝒖(𝑡)(𝑡) 𝑑𝒖(𝑡) 𝑑 2 𝒖𝑔 (𝑡)

𝑚 2
+𝑐 + 𝑘 𝒖(𝑡) = −𝑚
𝑑𝑡 𝑑𝑡 𝑑𝑡 2
In scalar form,

𝑑2 𝑢(𝑡)(𝑡) 𝑑𝑢(𝑡) 𝑑2 𝑢𝑔 (𝑡)

𝑚 2
+𝑐 + 𝑘 𝑢(𝑡) = −𝑚
𝑑𝑡 𝑑𝑡 𝑑𝑡 2

• This equation of motion is the governing equation of structural deformation 𝒖(𝑡),

𝑑 2 𝒖𝑔 (𝑡)
when the structure is subjected to ground acceleration
𝑑𝑡 2

CE586 – Structural Dynamics –JASC/UOP 26

 Subjected to Earthquake - SDOF
𝑑 2 𝒖(𝑡)(𝑡) 𝑑𝒖(𝑡) 𝑑 2 𝒖𝑔 (𝑡) 𝑑 2 𝒖(𝑡)(𝑡) 𝑑𝒖(𝑡)
𝑚 +𝑐 + 𝑘 𝒖(𝑡) = −𝑚 𝑚 2
+ 𝑐 + 𝑘 𝒖(𝑡) = 𝑷𝒆𝒇𝒇 𝑡
𝑑𝑡 2 𝑑𝑡 𝑑𝑡 2 𝑑𝑡 𝑑𝑡
𝑚 𝑚
𝑷𝒆𝒇𝒇 𝑡
identical
Where,
response 𝒖(𝑡) 𝑑 2 𝒖𝒈 (𝑡)
𝑷𝒆𝒇𝒇 𝑡 = −𝑚
𝑑𝑡 2
𝒖ሷ 𝒈 (𝑡)(𝑡) 𝑷𝒆𝒇𝒇 𝑡 = −𝑚𝒖ሷ 𝒈 (𝑡)
Fixed Base

• The deformation 𝒖(𝑡) of the structure due to ground acceleration 𝒖ሷ 𝒈 (𝑡) is identical to the
deformation 𝒖(𝑡) of the structure if its base were stationary and if it were subjected to an
external force 𝑷𝒆𝒇𝒇 (𝑡) = −𝑚𝒖ሷ 𝒈 (𝑡)
CE586 – Structural Dynamics –JASC/UOP 27
Ground Acceleration Recordings

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Solution of Equation of Motion

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 Typical Dynamic Analysis
Typical Dynamic Analysis

Equivalent Static Analysis Modal Analysis Modal Response Spectrum Steady State Analysis Direct Time History
Analysis Analysis

Modal Time History Direct Frequency Model Frequency

Analysis Response Analysis Response Analysis

CE586 – Structural Dynamics –JASC/UOP 30

 Typical Dynamic Analysis
Free Vibration Response

Response to Harmonic
Forces

Response to Periodical
Loading

Response to Impulse
Direct Time History Analysis
Loading

Ambient Vibration
Response

Response to Direct
Dynamic Force

Response to Earth
Quake Excitation

CE586 – Structural Dynamics –JASC/UOP 31

 Typical Dynamic Analysis
Acceleration Records

𝑀𝑢ሷ + 𝐶 𝑢ሶ + 𝐾𝑢 = −𝑀𝑢ሷ 𝑔 Time History Analysis

𝑀𝑢ሷ + 𝐶 𝑢ሶ + 𝐾𝑢 + 𝐹𝑁𝐿 = 𝐹 General Equation

Equivalent Static
𝑀𝑢ሷ + 𝐾𝑢 = 0 𝐾𝑢 = 𝐹𝐸𝑄 Analysis

𝐾𝑢 + 𝐹𝑁𝐿 = 𝐹𝐸𝑄 Pushover Analysis

Modal Response
𝐾𝑢 = 𝐹𝐸𝑄 Spectrum Analysis

Response Spectrum
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Solution of Equation of Motion

CE586 – Structural Dynamics –JASC/UOP 33

 End …

CE586 – Structural Dynamics –JASC/UOP 34