FUNDAMENTALS OF

STRUCTURAL DYNAMICS
Original draft by
Prof. G.D. Manolis, Department of Civil Engineering
Aristotle University, Thessaloniki, Greece

Final draft - Presentation

Prof. P.K. Koliopoulos, Department of Structural Engineering,
Technological Educational Institute of Serres, Greece

 Topics :
Revision of single degree-of freedom vibration theory
Response to sinusoidal excitation
Response to impulse loading
Response spectrum
Multi-degree of freedom structures
References :
R.W. Clough and J. Penzien Dynamics of Structures 1975
A.K.. Chopra Dynamics of Structures: Theory and Applications to Earthquake
Engineering 20011
G.D. Manolis, Analysis for Dynamic Loading, Chapter 2 in Dynamic Loading
and Design of Structures, Edited by A.J. Kappos, Spon Press, London, pp. 31-65, 2001.

Why dynamic analysis? Loads change with time

Unit impulse
f(t)

Harmonic load

f(t)
1/
t

Ground acceleration

Single degree of freedom (sdof) system

u(t)

c
m
k

mass-spring-damper
system
f(t)

ass m (kgr, tn), spring parameter k (kN/m), viscous

damper parameter c (kN*sec/m), displacement u(t) (m),
excitation f(t) (kN).

Definitions of restoring force parameter k

Dynamic equilibrium DAlemberts principle

f(t) = fI(t) + fD(t) + fS(t)
Inertia force fI(t),
Damping force fD(t)
Restoring (elastic) force fS(t)

fI(t)
fD(t)

f(t)

fS(t)

Setting response parameters as: displacement u(t) (in m),

velocity u(t) (in m/s) and acceleration u(t) (in m/s2),
then:
fI(t) = m u(t) , fD(t) = c u(t) ,
fS(t) = k u(t) .

Shear plane frame - dynamic parameters

q
u
C

B
h

k
A

D
l

Rigid beam, mass less

columns. Total weight
(mass) accumulated in the
middle of the beam.
AB Fixed end
CD Hinged end

m = w/g = (ql)/g
k = fst(u=1) = VBA + V = 12EI/h3 + 3EI/h3 = 15EI/h3

Free vibration with no damping

u

q
B

k
A

FI
B
V

C
VCD

No external force f(t). Oscillations due to initial conditions

at t = 0. Initial displacement u0 or/and initial velocity u0
m u(t) + k u(t) = 0
u(t) = R1 sin t + R2 cos t = R sin(t+)
where R2 = R12 + R22 and tan = R2/R1
Natural frequency = [k/m]1/2 (rad/s),
Nat. period T = 2/ (sec)

u0
2
R

u0

t(s)

5
R

4
To = 2/
1

Unrealistic no decay

Free vibration
with damping

B
c

u(t)

Equation of motion Homogeneous 2nd order-ODE:

m u(t) + c u(t) + k u(t) = 0
Characteristic equation

(mr2 + cr + k) = 0

and roots: r1,2 =

c2
k
2 m
( 2m)

k
c
2 m
( 2m)

>0
=0
<0

[c/2m]2 k/m = 0
oscillat
ion

ccr = 2 k * m = 2m0
ccr = critical damping

c
c
Critical damping ratio =
=
c cr 2m 0
For < 1.0, and setting

d = 0 1 - 2

u(t) = e-0t (R1 sin dt + R2 cos dt) = R e-0t sin(dt+)

R
u 0 + u 0 0
2
2
2
R1 =
, R2 = u0, R = R 1 + R 2 , tan =
R1
d

u0

Exponential decay R*exp(-t)

Undamped

u0
t(s)

Damped
T0 = 2/0
Td = 2/d

1
0.9
0.8
0.7
0.6

Range of damping for most

structures

0.5
0.4
0.3
0.2
0.1
0
0

0.2

0.4

0.6

0.8

d/ 0

Logarithmic decrement = 2, relates the magnitude of

successive peaks
2
ln(Rj/Rj+n) = n
2 n*2 = n
1-

Oscillation due to ground motion

fI = m ut(t)

fD = c u(t)

Total displacement (ut),

ground displacement (ug),
relative displacement (u).
ut(t) = ug(t) + u(t)
Dynamic equilibrium:
fI + fD + fS = 0

ut

ug

fS = k u(t)

Equation of motion:
m ut(t) + c u(t) + k u(t) = 0

Setting ut(t) = ag(t) + u(t), where ag(t) = ground

acceleration, the equation of motion becomes:
m u(t) + c u(t) + k u(t) = - m ag(t) = fg(t)
The above is the equation of motion of a fixed-base frame
under an external dynamic force fg(t).
m
c

ug

fg(t) = - m ag(t)

Harmonic excitation
f0 sint

f(t)

c
t (s)

Force with amplitude f0 and excitation frequency

Equation of motion Non-homogeneous 2nd order-ODE:
m u( t ) + c u (t) + k u(t) = f0 sin t.

Two part solution u(t) = uc(t) + up(t)

Complementary component (transient)
uc(t) = e-0t (C1 sin dt + C2 cos dt)
Particular component (steady-state)
f0
up(t) =
k

1
(1 - 2 ) 2 + (2 * ) 2

* sin( t-) = sin( t-)

where =
= frequency ratio
0

2
Phase is determined via the relation: tan =
1 2

The steady-state peak is related to the peak of the static

response ust (corresponding to static force fst = f0).
f0
=
D(,) = ust D(,)
k

Dynamic amplification factor D(,), expresses the degree

of error, if an equivalent static (instead of fully dynamic)
analysis is performed

D(,) =

1
(1 - 2 ) 2 + (2 * ) 2

=0
=0,1

5
4
D(,) 3

=0,2

=0,5
=1

1
0
0

0.5

1.5

2.5

Unit impulse excitation

m

u(t))

f(t)

1/

Due to infinitesimal duration , during impulse damping

and restoring forces are not activated. After impulse, the
system performs a damped free vibration with initial
conditions u() = 0, u() = 1/m, (change of momentum
equal to applied force).

Unit impulse response function h(t-):

1
u(t) = h(t-) =
e--(t-) sin[d(t-)]
m d
h(t-)
1/m

h(t- )

t
t

An impulse occurring at time , determines the response at

a later time (t ). Due to damping, the influence of an
impulse weakens as the time interval increases (memory of
vibration).

Response to arbitrary excitation

f

R e s p o n s e to 1 s t im p u ls e

R e s p o n s e to 2 n d im p u ls e

R e s p o n s e to th im p u ls e

T o ta l re s p o n s e

In the limit, for infinitesimal time steps, the summation of

impulse responses becomes an integral - known as
Duhamels integral:
t

1
u(t) = h(t - ) f( ) d =
m d
0

f() e-(t-) sin[d(t-)]d

The above relation provides a means for determination of

the response of a single degree elastic system subjected to
arbitrary excitation (in analytical or digital form).

Earthquake response spectra

400
300

Athens 1999 (Splb1-L)

200
100

cm/s2 0
-100

-200
-300
-400

Equation of motion
m u(t) + c u(t) + k u(t) = - m ag(t) = fg(t)
Duhamel
t
1 t
-(t-) sin[ (t-)]d
y(t) = h(t - ) f g ( ) d =
a
()
e
g
d

d 0
0

For a system with

= 5% = 0.5 s
( = 12.57 rad/s)
the response was
computed as
Quasi-harmonic
response

3.0
2.0
1.0

= 5%, T = 0.5 s

cm0.0

-1.0
-2.0
-3.0

For design purposes, only peak response parameters

(displacement, velocity, acceleration, moments, shear
forces ) are of interest. These peak values, express the
seismic demand.
The seismic demand for systems with different periods is
expressed via the response spectra.

3 .0

1 .0
0 .8

T = 0 .2

0 .6

0 .4

cm

cm

0 .0

- 0 .2

0 .0

- 1 .0

- 0 .4
- 0 .8

T = 0 .5 s

1 .0

0 .2

- 0 .6

umax= 2,32

2 .0

- 2 .0

umax=-0,75

- 1 .0

- 3 .0

4 .0
3 .0

umax=3,61

T = 1 .0 s

2 .0
1 .0

cm

0 .0

- 1 .0
- 2 .0
- 3 .0
- 4 .0

6 .0
5 .0
4 .0
Sd
(c m ) 3 .0
2 .0
1 .0
0 .0
0 .2

0 .4

0 .6

0 .8

1 .2

T (s )

1 .4

1 .6

1 .8

7
6

Sd (cm)

5
4
3
2
1
0
0

0.5

1.5

2.5

(sec)

Displacement response
component SPLB1-L).

spectrum

Sd

(Athens

99,

The peak displacement values tend to increase with period

(more flexible or taller structures, exhibit larger
deflections).

Sv (cm/sec)

50
45
40
35
30
25
20
15
10
5
0
0

0.5

1.5

2.5

(sec)

Velocity response spectrum Sv

The previously noticed trend is not observed in Sv. After
an initial rise, follows a relatively constant value range and
then a decrease for large periods.

1.2
1

Sa (g)

0.8
0.6
0.4
0.2
0
0

0.5

1.5

2.5

(sec)

Acceleration response spectrum Sa

Here, an initial increase of Sa is followed by a rapid
decrease for periods above 0.4 sec. (Flexible structures do
not oscillate rapidly small values of acceleration).
Actual shape depends on rapture characteristics and local
soil conditions

If it is assumed that the response is quasi-harmonic with

frequency equal to the natural frequency, then:
u(t) = umaxsint, u(t) = umaxcost, u(t) = - umax2sint
Therefore, the following (approximate) relations between
response spectra are often implemented:
S v 0 * S d = P Sv ,

Sa 02* Sd = PSa

where, P Sv = pseudo-spectral velocity and PSa = pseudospectral acceleration

These approximate relations enable us to present all 3
response spectra with one tri-partite logarithmic plot.

Design parameters of response spectra

m

Static equivalence
approach
Vb = fs = k*Sd
Mb = h* Vb

fs= k*Sd = m* PSa

Vb = Base shear
Mb = Base moment

EI PSa
EI
Column moment: c = 2 * Sd = 2 * 2
h
h

where, = 3 for hinged-end, = 6 for fixed-end columns.

Spectral static equivalence approach (exact - !) is not a

fully static analysis approach (false - X).
fg(t) = -m ag(t)

fs = -m PSa
(!)

V b = fs

ug(t)

fg,max = -m Pga

fg(t) = -m ag(t)
=

ug(t)

(X)

Vb fg,max

Two degree of freedom (2-dof) system

m2

u2(t) f2(t)

Rigid beams
Massless columns
Zero damping

k2
m1

u1(t)

k1

Two storey shear-frame

f1(t)

Dynamic equilibrium
fI2
fS2a

f2(t)
fS2b

fS2a

fI1

fS1a

fS2b
f1(t)
fS1b

fIj = inertia force j = mj * u j

fSj = fSja + fSjb = kj*(uj ui) = restoring force due to
columns connecting levels j-1 and j.
fI2 + fS21 = f2(t) m2 u 2 + k2 (u2-u1) = f2(t)
fI1 + fS12 + fS10 = f1(t) m1 u1 + k2 (u1-u2) +k1 u1= f1(t)
System of coupled differential equations

Matrix notation

 + K U = F(t)
M U
u1 (t)
U = U(t) = displacement vector =

u
(t)
2
m1 0
= mass matrix =

0
m
2

k1 + k 2
= stiffness matrix =
k 2
f1 (t)
F(t) = force vector =

f 2 (t)

k 2

k2

Free vibration of undamped 2-dof system

*U + K*U = 0

u1 (t) 1 cos(t ) 1
U(t) =
=
= cos(t-) =

u 2 (t) 2 cos(t ) 2
cos(t-)

u1 (t) 2 1 cos(t )

 (t) =
= 2
= -2 cos(t-)
U

u 2 (t) 2 cos(t )

M [-2 cos(t-)] + K [ cos(t-)] = [0]
{K - 2 } cos(t-) = [0]
Unknowns are the amplitude vector and the frequency
of free oscillation .

{K - 2 } cos(t-) = [0]
Should be valid for any time instant zero determinant

= [0]
2

k1 + k 2 m1
2

k 2

k 2
= [0]
2
k 2 m2

4 (m1m2) 2 {(k1+k2)m2 + k2m1} + k1k2 = 0

This is the frequency equation. Setting 2 = , we get two
solutions for and hence, two frequency values for free
vibration 1 = 12 and 2 = 22.
Therefore, a 2-dof system exhibits 2 natural frequencies,
1 and 2.

Substituting 1 and 2 back into the matrix equation, the

two corresponding amplitude vectors (eigenvectors) can be
evaluated.
{K j2 } j cos(jt-) = [0] {K j2 } j = [0]
The eigenvalue problem does not fix the absolute
amplitude of the vectors j , but only the shape of the
vector (relative values of displacement)

u2(t)

Example

k
2m

2k

u1(t)

Natural frequencies determination

= 0
2

3k 22 m
k

k
=0
2
k m

24 m2 52 km + 2k2 = 0
Roots of quadratic equation 12 = k/2m 22 = 2k/m,
with corresponding natural periods
1 = 2/1 =

8m
,
k

Modal shapes calculation

2 = 2/2 =

2m
k

 11
Eigenvectors 1 = and 2 =
21
as:

2k

2
1 = k/2m

k k / 2

12
, are computed
22

11 0
= 0 211 = 21
21

k k 12 0

22 = 2k/m
= 12 = -22

k k 22 0
Setting (arbitrarily) 21 = 22 = 1.0, we get:

0.5
1 = ,
1.0

1
2 = , =
1

0.5 1
1

Orthogonality of modes
Eigenvectors are orthogonal with respect to mass and
stiffness matrices.
jT M k = 0 and jT k = 0, j k
Modal analysis
2

Set

U(t) =

q (t)
j=1

= Q(t)

Substitute to the matrix equation of motion:

 + Q(t) = [0]
 + K U = [0] Q(t)
MU
Pre-multiply all terms with :

 + * Q(t) = [0]
 + Q(t) = [0] * Q(t)
Q(t)

The transformed matrix equation of free vibration, reads:

 + * Q(t) = [0]
* Q(t)
Due to orthogonality property the new matrices M* and
K* are diagonal.

m1*
* = generalized mass matrix =
0

0
*
m2

k1*
* = generalized stiffness matrix =
0

0
*
k2

Therefore, the original matrix equation is transformed

into a set of uncoupled sdof free vibration equations of the
form (for j = 1, 2):

m*j q j (t) + k*j qj(t) = 0 q j (t) + 2j qj(t) = 0

Modal decoupling
m*1
k*1

u2

m2

q1

k2
m1

u2(t) = u21(t) + u22(t) =

21 q1(t) + 22 q2(t)

u1
k1
m*2

q2
k*2

Forced vibration of a damped multi degree of

freedom (mdof) system
Original (coupled) equation of motion:
 + K U = F(t)
 + C U
U

Modal (decoupled) equation of motion:

 + C Q + K Q = F(t)
M Q
 + C* Q + K* Q = F*(t)
* Q
where, C* = generalized damping matrix and F* =
generalized force vector.
To ensure diagonalization of C*, here the assumption is
made that the damping matrix of the original system C can
be expressed as
C = +

Typical generalized (sdof) equation of motion:

m*j q j + c*j q j + k *j qj = f j* (t) q j +2jj q j +j2qj =

f j* (t)
m*j

= f j (t)

To be solved within the framework of sdof theory (1st part

of presentation).
Following the determination of generalized vector Q, the
original response vector U is computed as

U(t) = Q(t) = jq j (t)

j=1

The contribution of first modes are much more important

than the contribution of higher modes.

Earthquake excitation of mdof systems

(Response spectrum analysis)

-storey
shear
plane frame under
ground
motion
ug(t)

The total displacement vector Ut(t), is composed by the

relative displacement vector U(t) and the ground motion.
Ut(t) = U(t) +[1]ug(t)

The matrix equation of motion of the original system is:

 + K U = - [1] a (t) = F (t)
 + C U
U
g
g

Firstly we compute j j, and then we proceed to the

modal transformation
 + C Q + K Q = F (t)
M Q
g
 + C* Q + K* Q = F*(t)
* Q

Here, the generalized force vector is

F*(t) = Fg(t) = - [1] ag(t)

The sdof generalized equations are

q j + 2 q j + 2q =
j j
j j

f j* (t)
m

*
j

m
k

= - ag(t)

k =1

kj

2
m

k kj

= - j ag(t)

k =1

The generalized force parameter j is known as modal

participation factor.
If the seismic action is expressed via the standard response
or design spectra, the corresponding spectral values of the
generalized response qj, are
Sd,j = j Sd(Tj,j),

Sv,j = j Sv(Tj,j),

Sa,j = j Sa(Tj,j)

Example of utilization of Greek Design spectrum (EAK)

for the estimation of modal spectral accelerations of a
mdof frame
The ordinates
of the design
spectrum
should
be
multiplied
by
the
corresponding
modal
participation
factors j.

The problem of combination of modal peak values

The following decomposition of physical response uj in
terms of generalized (modal) components qk is valid for
any instant of time.

uj(t) =

k =1

jk

q k (t) = u jk (t)
k =1

where ujk(t) is the contribution of k modal component

qk(t) to the response of the j degree of freedom uj(t) of the
original system.
However, if only spectral (peak) modal response quantities
are available
u jk= j,k k Sd(Tk,k)
these do not occur at the same time and hence, cannot be
added to obtain the peak value of uj(t)

Modal contributions
u3k(t) (for k = 1,2,3)
to the response of
the top floor of a 3storey frame
( u 31 + u 32 + u 33 ) =
(4.91 + 1.56 + 0.10) =
6.57 > 5.16
Modal combination
rule SRSS
2
2
2
= 4.912 + 1.562 + 0.102 = 5.15 5.16
u 31
+ u 32
+ u 33

THE END