CE 26005

Structural Dynamics

M.Tech I Yr 2024-2025
Lecture : Introduction to Structural Dynamics

Dr. K. GopiKrishna
Department of Civil Engineering
Introduction to Structural Dynamics

K.Gopikrishna, ESC221, Chapter1 2

 Statics Vs Dynamics

• Vibratory response is different from static response—far

reaching implications for safe design.
• Strong dynamic loadings are relatively infrequent, and
act only for a short duration.
• Extremely tempting to ignore those and hope that these
will not be encountered during the life
K.Gopikrishna, CE 5265 Introduction to
structural dynamics 3
 Structures as Personalities

The simplest possible example of dynamics of structure—the simple

pendulum.
• Executes simple harmonic oscillations according to its natural
frequency—free vibrations.
• Three basic elements:
– Storage for potential energy
– Storage for kinetic energy
– Energy loss/dissipation mechanism
K.Gopikrishna, CE 5265 Introduction to
structural dynamics 4
 Structural Dynamics
 Structural Dynamics deals with study of structural vibrations
under time varying forces.
 At present, Structural Dynamics is being used for the analysis
of tall buildings, bridges, towers due to wind, earthquake, and
for marine / offshore structures subjected wave, current, wind
forces etc.
 Dynamic Force: The time-varying loads are called dynamic
loads. Eg: wind, vehicle, impact, blast or ground motion like
earthquake.
 Dynamic System : Simple representation of Physical system by
means of Analytical / mathematical models necessary for
analysis.
 Basic components of dynamic system are Mass, Stiffness,
Damping and Forcing function

K.Gopikrishna, CE5203 5
Overview of Structural Dynamics

K.Gopikrishna, ESC221, Chapter1 6

Load classifications
Deterministic Load Vs Random Dynamic Load

Periodic Load Vs Non-Periodic Load

K.Gopikrishna, ESC221, Chapter1 7

Structural Models
• Mathematical Representation of the structure

K.Gopikrishna, ESC221, Chapter1 8

Discrete Parameter Systems
 SDOF / MDOF systems

K.Gopikrishna, ESC221, Chapter1 9

Equation of Motion (EOM) / Dynamic
Equilibrium Equation
A mathematical Expression defining dynamic
displacement of a structural system.

Solution of this expression provides a

complete description of system response as a
function of time.

K.Gopikrishna, ESC221, Chapter1 10

Dynamic Equilibrium (SDOF system)

K.Gopikrishna, ESC221, Chapter1 11

Free Vibration

K.Gopikrishna, ESC221, Chapter1 12

Free Vibration…

K.Gopikrishna, ESC221, Chapter1 13

Problem1
 Consider a simply supported beam of
span L subjected to a concentrated load
of ‘w’ kN at Mid span.
 Consider mass of the beam as negligible
compared to mass of concentrated
weight.
 Neglect & effects of damping. Determine
Equation of motion and calculate the
Natural frequency of the system.(take EI
as constant)
K.Gopikrishna, ESC221, Chapter1 14
Definitions

K.Gopikrishna, ESC221, Chapter1 15

K.Gopikrishna, CE5265, SD 16
K.Gopikrishna, CE5265, SD 17
K.Gopikrishna, CE5265, SD 18
Free Vibration

K.Gopikrishna, CE5265, SD 19
K.Gopikrishna, CE5265, SD 20
K.Gopikrishna, CE5265, SD 21
Problem 2
 A 6.8kg mass is suspended by a linear spring.
The mass receives an impact such that its
motion begins with an initial velocity but no
initial displacement. In the ensuing motion,
natural period of the system is measured to
be 0.25 sec and displacement amplitude of
oscillation is 50mm. Find
 (a) Spring constant of the system
 (b) initial velocity impacted to the mass
 (c ) Determine x(t), v(t) and a(t) of the mass
at 0.63 sec.

K.Gopikrishna, ESC221, Chapter1 22

NEXT Class..

K.Gopikrishna, ESC221, Chapter1 23

Damped Free Vibration

K.Gopikrishna, ESC221, Chapter1 24

K.Gopikrishna, ESC221, Chapter1 25
Damped Free Vibration

K.Gopikrishna, ESC221, Chapter1 26

Damped SDOF system

K.Gopikrishna, CE5265, SD 27
Damped free vibration…

K.Gopikrishna, ESC221, Chapter1 28

Damped Response

K.Gopikrishna, ESC221, Chapter1 29

Damped SDOF system

K.Gopikrishna, CE5265, SD 30
K.Gopikrishna, ESC221, Chapter1 31
Measurement of damping

K.Gopikrishna, CE5265, SD 32
Problem 1
 Determine the expression for number of
cycles elapsed for 50% reduction in
displacement amplitude incase of lightly
damped system.

 ln(ui/uj+1) = j* 2*π*ξ
 ln(2) = j* 2*π*ξ
 J = 0.1103/ ξ

K.Gopikrishna, ESC221, Chapter1 33

Problem 2
 Consider a SDOF system having mass
10kg and spring constant 12kN/m. The
amplitude of vibration decreases to 0.2
times of initial value after 6 consecutive
cycles. Find the damping constant C.
 Solution:
 ln(5) = 6*δ
 ln(5) = 6* 2*π*ξ/ (sqrt(1-ξ^2))
 = 0.0427=> c = ccr*ξ
 =2*sqrt(km)*ξ = 29.58Ns/m
K.Gopikrishna, ESC221, Chapter1 34
Problem 3
 Determine natural period and damping
ratio of the structure from the data given

K.Gopikrishna, ESC221, Chapter1 35

Problem 4

K.Gopikrishna, ESC221, Chapter1 36

Problem 5

K.Gopikrishna, ESC221, Chapter1 37

Problem 5
 Effective weight of girder

 Frequency of vibration

 Dynamic Properties

K.Gopikrishna, ESC221, Chapter1 38

Problem - Assignment
 A simply supported beam of span l supports
a concentrated weight ‘w’ at it’s midspan. Its
natural circular frequency is given as 27.88
rad/sec. If the midspan of the beam is
displaced downwards through a distance of 2
units and suddenly released with an upward
velocity of 3m/sec.
 Determine Natural frequency in hertz and
time period
 Maximum midspan displacement, velocity
and acceleration
 Phase angle

K.Gopikrishna, ESC221, Chapter1 39

Energy in free vibration

K.Gopikrishna, ESC221, Chapter1 40

Energy in free vibration

K.Gopikrishna, ESC221, Chapter1 41

Problem
 Free vibration test conducted on a elevated
water tank. The cable attached to the tank
applies a lateral (horizontal) force of 16.4kN
and pulls the tank by 2mm. The cable is
suddenly cut and the resulting free vibration
isrecorded. At the end of 4 complete cycles
time is 2.0 sec and amplitude is 1mm.
 Determine
 Damping ratio, natural period, stiffness,
weight of the watertank, damping coefficient,
number of cycles required for displacement
amplitude to reduce to 0.2mm
K.Gopikrishna, ESC221, Chapter1 42
Home Assignment
 Understand the concept of Phase plane
diagram and draw for undamped and
damped SDOF sytem.

K.Gopikrishna, ESC221, Chapter1 43

Next Class

K.Gopikrishna, ESC221, Chapter1 44

Response to Harmonic excitation

K.Gopikrishna, ESC221, Chapter1 45

Undamped SDOF

K.Gopikrishna, ESC221, Chapter1 46

Undamped Forced Vibration with Harmonic excitation

K.Gopikrishna, ESC221, Chapter1 47

General Solution

K.Gopikrishna, ESC221, Chapter1 48

Response Amplitude

K.Gopikrishna, ESC221, Chapter1 49

Problem : forced vibration
 The undamped SDOF system has m = 4.5kg, k =
3.5kN/mm. It is excited by a harmonic force
having an amplitude of F0 =100kN and excitation
frequency ω=18rad/sec.
 IC: x(0) = 15mm, v(0) =150mm/sec
 Determine (a) frequency ratio
 (b) Amplitude of forced vibration
 (c) displacement of mass at time t = 2sec
 (d) velocity of mass at time t=4sec.

K.Gopikrishna, ESC221, Chapter1 50

Undamped forced vibration
 Solution

 Steady state response under zero IC’s

 Ignoring dynamic effects static deflection

 Max value

K.Gopikrishna, ESC221, Chapter1 51

Mathematical rep of soln with Phase
 Solution
 Amplitude U0 and Phase angle Phi

Rd is dynamic magnification factor.

K.Gopikrishna, ESC221, Chapter1 52

 Damped Vibration with Harmonic
excitation

Where the constants A and B are determined in terms of initial

displacement (u(0)) and initial velocity

K.Gopikrishna, ESC221, Chapter1 53

Total solution

K.Gopikrishna, ESC221, Chapter1 54

 Damped Vibration with Harmonic
excitation

Where the constants A and B are determined in terms of initial

displacement (u(0)) and initial velocity

K.Gopikrishna, ESC221, Chapter1 55

Response for r=1

C =0; D =

K.Gopikrishna, ESC221, Chapter1 56

Solution for lightly damped

K.Gopikrishna, ESC221, Chapter1 57

Forced vibration response

K.Gopikrishna, CE5265, SD 58
DMF..

K.Gopikrishna, ESC221, Chapter1 59

K.Gopikrishna, ESC221, Chapter1 60
DMF Max given damping

K.Gopikrishna, CE5265, SD 61
 When r<<1.0 , DMF -> 1
Implies disturbing force
frequency is very low
For r>>1.0, DMF is very low
implies there is insufficient
time for the system to
respond.

K.Gopikrishna, ESC221, Chapter1 62

K.Gopikrishna, ESC221, Chapter1 63
 Sharpness of resonance / evaluation
of damping
 free-vibration decay curve permits the
evaluation of damping of a single-degree-of
freedom system by simply calculating the
logarithm decrement

 Another technique for determining damping

is based on observations of steady-state
harmonic response, which requires
harmonic excitations of the structure in a
range of frequencies in the neighborhood of
resonance

 The error involved in evaluating the

damping ratio ξ using the approximate Eq.
(DMFres = 1/2 ξ) is not significant in
ordinary structures
 This method of determining the damping ratio requires only some simple
equipment to vibrate the structure in a range of frequencies that span the
resonance frequency and a transducer for measuring amplitudes;
K.Gopikrishna, ESC221, Chapter1 64
 Sharpness of resonance / evaluation
of damping..
 An examination of the response curves in
Fig. shows that the shape of these curves is
controlled by the amount of damping
present in the system;
 In particular, the bandwidth, that is, the
difference between two frequencies
corresponding to the same response
amplitude, is related to the damping in the
system.
 In the evaluation of damping it is convenient
to measure the bandwidth at 1/sqrt(2)
times peak amplitude.
 The frequencies corresponding in this
bandwidth f1 and f2 are also referred to as
half-power points

K.Gopikrishna, ESC221, Chapter1 65

Problem 1
 A SDOF structure weighs 1200N and has
stiffness given by k = 800N/m and possess
damping coefficient C =60 N-sec/m is
subjected to a harmonic force of
amplitude F0 = 400N. Determine
a) Resonance amplitude of steady state
vibration
b) Maximum amplitude of steady state
vibration

K.Gopikrishna, ESC221, Chapter1 66

Problem2

K.Gopikrishna, ESC221, Chapter1 67

Thank you

K.Gopikrishna, ESC221, Chapter1 68