CE-5113:

DYNAMICS OF STRUCTURES
By: Dr. Mohammad Ashraf (engineerashraf@yahoo.com)
Office: CE: B109

Department of Civil Engineering, University of Engineering and

Technology, Peshawar

Module-3
Single Degree of Freedom System:
Free Vibration Response

Dynamics of Structures

Solution of Equation of Motion

For a single degree of freedom system the equation of motion is a linear

second order differential equation:

mu&& + cu& + ku = p(t )

Various methods for the solution of equation of motion are:

z
z
z
z

Classical Solution
Duhamels Integral
Frequency Domain Method
Numerical Methods

Dynamics of Structures

Free Vibration

The vibration of a system excided by initial disturbances (initial

displacement or velocity) without any external force is called free
vibration

mu&& + cu& + ku = 0

The equation of motion becomes a homogenous 2nd order linear

differential equation
The study of free vibration response is important because:
z
z

Many practical systems are excited by initial disturbances

The complete solution of force vibration also include free vibration
component.
Dynamics of Structures

Undamped Free Vibration

The free vibration response an undamped system is governed by:

mu&& + ku = 0

In reality there is no existence of undamped system, however the its

response gives an insight into the nature of damped system.
A possible solution of the above 2nd order ordinary differential equation
is:
t

u = Ge

Substituting the solution into equation of motion:

G2 me t + Gke t = 0 2 m + k = 0
2 + 2 = 0 = i
where _ =

k
m

called circular frequency of system

Dynamics of Structures

Undamped Free Vibration

The general solution of the equation of motion now becomes:

u = G1e it + G2 e it = A cos t + B sin t

The velocity is obtained by differentiating the above equation:

u& = A sin t + B cos t

The arbitrary constants A and B are determined from the initial conditions
i.e. At t = 0, u (0) = uo _ and _ u& (0) = vo
v
A = uo _ and _ B = o

The solution of undamped free vibration response of single degree of

freedom system is, therefore:
v
u = uo cos t + o sin t

Dynamics of Structures

Undamped Free Vibration

The solution may be written as:

u = sin (t + )
u
v
where _ = uo2 + o _ and _ tan = o
vo

2

is known as the amplitude of vibration and is called the phase angle

Both amplitude and phase angle depend upon the initial condition and
natural circular frequency of the system

Dynamics of Structures

Undamped Free Vibration

It can be shown that: u (t1 ) = u t1 +

u (t1 ) = sin (t1 + )

2
2

u t1 +
+
= sin t1 +

u t1 +
= sin{(t1 + ) + 2 }

u t1 +
= sin (t1 + )

Thus the vibration repeats itself after T = 2 and is the natural period of

system

The reciprocal of T is call the natural frequency of system; f = 2

Dynamics of Structures

Natural Frequency of a Frame

The natural frequency of a 2D frame

with fixed base and rigid beam of
mass m, neglecting mass of
columns, is given by:

k
m
24 EI
k= 3
L
24 EI
=
mL3

Dynamics of Structures

Natural Frequency of a Suspended Mass

W = k st mg = k st k =

=
T=
f =

mg
st

k
mg / st
g
=
=
m
m
st
2

1
2

= 2

st
g

g
st

Dynamics of Structures

10

Phase Plan Diagram

u = sin (t + )
u&
= cos(t + )

(u )2 + u
&

= 2

Dynamics of Structures

11

Phase Plan Diagram (Initial Displacement)

u (0 ) = u0 , _ u& (0 ) = 0
2

vo
= u0

= uo2 +
tan =

uo

= =
vo
2

u = uo sin t + = uo cos t
2

u&

= uo cos t + = uo sin t

Dynamics of Structures

12

Phase Plan Diagram (Initial Velocity)

u (0 ) = 0, _ u& (0 ) = vo
2

v
vo
= o

= uo2 +
tan =
u=
u&

vo

uo
= 0 = 0
vo

sin (t )

vo

cos(t )

Dynamics of Structures

13

Phase Plan Diagram (Impulse)

u
vo
_ and _ tan 1 = o
vo

2

1 = uo2 +

ut1
u&t1 + I / m
_ and _ tan 1 =

u&t1 + I / m

u = 1 sin (t + 1 ) for 0 t t1
2

2 = ut21 +

u = 2 sin ( (t t1 ) + 2 ) for t t1

Dynamics of Structures

14

Phase Plan Diagram (Ground Motion)

= u g2 + = u g

3
tan = _ =

2
3

u = u g + u g sin t +

u = u g (1 cos t )

Dynamics of Structures

15