(Lecture - 3 - Updated) Dynamics of Structures Chapter 3 PDF

Dynamics of
Structures
Dr. Naik Muhammad
Department of Civil Engineering
BUITEMS, Quetta
1
Chapter 3 Response to Harmonic and
Periodic Excitations
2
PART A: Viscously damped systems: basic results 3
3.1 Harmonic vibration of undamped systems
Dr. Naik Muhammad (Ph.D. Structural Engineering)

3.2 Harmonic vibration with viscous damping
3
3.1 Harmonic vibration of undamped systems 4
Harmonic force

Figure 3.1.1 (a) Harmonic force
Harmonic force：p ( t ) = po sin ω t or po cos ω t

po : The amplitude or maximum value of the force
ω : The exciting frequency or forcing frequency
T = 2π ω : The exciting period or forcing period
4
Response of forced harmonic vibration system without damping

po sin ω t
EOM: mu + ku =
po 1
=
Particular solution: u p ( t ) sin ω t ω ≠ ωn Derivation 3.1
k 1 − ( ω / ωn ) 2
uc ( t ) A cos ωn t + B sin ωn t
Complementary solution:=
( t ) uc ( t ) + u p ( t )
Complete solution: u=
po 1
= A cos ωn t + B sin ωn t + sin ω t ( ω ≠ ωn )

k 1 − ( ω / ωn ) 2
Impose the initial condition: u = u ( 0) u = u ( 0 )
 u ( 0 ) p ω / ωn  po 1
( t ) u ( 0 ) cos ωn t + 
u= − o
 sin ω t + sin ω t
 ωn k 1 − (ω / ωn )  k 1 − ( ω / ωn )
2 n 2
 
Transient Response Steady-state Response
5
po sin ω t
Derivation 3.1: solution of mu + ku = ( ω ≠ ωn )
Assume particular solution: u p ( t ) = C sin ω t
Time derivation: u p ( t ) = ω C cos ω t up ( t ) = −ω C sin ω t
2
−mω 2C sin ω t + kC sin ω t =

mu + ku = po sin ω t
⇒ ( k − mω ) C =
2
p o
 k   k 

⇒  k − 2 ω 2  C = po  m = 2 
 ωn   ω n 
p 1
∴ C =o
k 1 − ( ω / ωn ) 2
po 1
=
Particular solution: u p ( t ) sin ω t ω ≠ ωn
k 1 − ( ω / ωn ) 2
3
po sin ω t
Derivation 3.1: solution of mu + ku = ( ω ≠ ωn )
Assume complementary solution:= uc ( t ) A cos ωn t + B sin ωn t
p 1
Complete solution: u ( t ) = uc ( t ) + u p ( t ) = A cos ωn t + B sin ωn t + o sin ω t
k 1 − ( ω / ωn ) 2
po ω
u ( t ) =
−ωn A sin ωn t + ωn B cos ωn t + cos ω t
k 1 − ( ω / ωn ) 2
=
Using the initial conditions: ( 0 ) u u ( 0 )
u u=
u ( 0) = A u ( 0)
∴A=

po ω u ( 0 ) ω / ωn
( 0 ) ωn B +
u = ∴=
B −
po
k 1 − ( ω / ωn ) 2 ωn k 1 − ( ω / ωn ) 2
 u ( 0 ) p ω / ωn  po 1
u (t ) u ( 0 ) cos ωn t +  − o
 ωn k 1 − (ω / ωn )  k 1 − ( ω / ωn )
2 n 2

 
Transient Steady-state
po 1  ω 
u ( t ) =−  sin ω t sin ω n 
t when u ( 0 ) =
u ( 0 ) =
0
k 1 − ( ω / ωn ) 2  ωn  7
 u ( 0 ) p ω / ωn  po 1
u ( t ) = u ( 0 ) cos ωn t +  − o
 ωn k 1 − (ω / ωn )  k 1 − ( ω / ωn )
2 n 2
 
Transient vibration: Oscillation at the natural frequency of the system, depends on
the initial conditions
Forced vibration or steady-state vibration: Oscillation at the forced frequency of
the system, is present because of the applied force.

Figure 3.1.1 (b) Response of undamped system to harmonic force 8
ω/ωn = 0.2, u(0) = 0.5po/k, and 𝑢𝑢(0)
̇ = ωn po/k.
What is the maximum value of the static deformation?
Ignoring the inertial force term mu in EOM:

po sin ω t
mu + ku =
⇒ ku = po sin ω t
po
Static deformation at each instant: ust ( t ) = sin ω t
k
po
( ust )o =

The max value of the static deformation is:
k
po  1 
Steady-state Response: u (t ) =  2
sin ω t
k 1 − (ω / ωn ) 
 1 
( ust )o 
∴ u (t ) = 2
sin ω t
1 − (ω / ωn ) 
9
 1  1 1 
u ( t ) =( ust )o  2
sin ω t =  2
⋅ p0 sin ω t p ( t ) =p0 sin ω t
1 − (ω / ωn )  k 1 − (ω / ωn ) 
1
 ω/ωn < 1 or ω < ωn , >0
1 − ( ω / ωn )
2
in phase u (t ) ∝ p (t )
The displacement is said to be in phase with

the applied force.
1
 For ω/ωn > 1 or ω >ωn , <0
1 − ( ω / ωn )
2
out of phase
u (t ) ∝ − p (t )
The displacement is said to be out of phase
relative to the applied force.
10
Steady-state Response
 1 
u ( t ) = ( ust )o  2
sin ω t
1 − (ω / ωn ) 
 1 1
 (= ust )o sin ω t ( u ) sin (ω t − 0° ) ( ω < ωn )
1 − ( ω / ωn ) 1 − ( ω / ωn )
2 st o 2

=
 1 1
 ( st )o
− u sin ω t =
− ( st )o
u sin (ω t − 180° ) ( ω > ωn )
1 − ( ω / ωn ) 1 − ( ω / ωn )
2 2


This equation can be rewritten in terms of the amplitude uo of the vibratory
displacement u(t) and phase angle φ :
1
u ( t ) ( ust )o
= sin (ω t= − φ ) ( ust )o Rd sin (ω t − φ )
− φ ) uo sin (ω t=
1 − ( ω / ωn )
2
Deformation (or displacement) response factor Rd : The ratio of the amplitude uo

of the dynamic deformation to the static deformation ( ust )o
uo 1  0 ω < ωn
=
Rd = &=φ  
( ust )o 1 − (ω / ωn )2  180 ω > ωn
11
ω ωn > 2, 0 < Rd < 1

dynamic displacement < static displacement
ω ωn → ∞, Rd =0
dynamic displacement = 0
ω ωn = 2 ω ωn ≈ 1, Rd → ∞
dynamic displacement → ∞

ω < ωn , φ = 0°
The displacement varies as sin ωt, in
phase with the applied force.
ω > ωn , φ = 180°
The displacement varies as -sin ωt, out
of phase relative to the force.
12
Response of a undamped SDF system under harmonic load with resonant frequency
Resonant frequency: the forcing frequency at which Rd is maximum.
If ω = ωn , the particular solution now is:

p
− o ωnt cos ωnt (ω =
u p (t ) = ωn )
2k
( 0 ) u=
Complete solution for at-rest initial conditions, u= ( 0 ) 0 , is:

1p
− o (ωn t cos ωn t − sin ωn t )
u (t ) = Derivation 3.2
2 k
u (t ) 1  2π t 2π t 2π t  po 2π
=−  cos − sin  where ( st )o
u = ω =
( ust )o 2  Tn Tn Tn  k
n
Tn
13
po sin ω t
Derivation 3.2: solution of mu + ku = ( ω = ωn )
Assume particular solution: u p ( t ) = C t cos ωn t
= u p ( t ) C cos ωn t − ωnCt sin ωn t
Time derivations: 
up ( t ) =
−2ωn C sin ωn t − ωn2Ct cos ωn t
⇒ mu + ku = m ( −2ωn C sin ωn t − ωn2C t cos ωn t ) + k ( C t cos ωn t )

−2mωn C sin ωn t =
= po sin ωn t

p po po
⇒ C=
− o = − =
− ωn
2mωn 2 ( k / ωn ) ωn
2
2k
po
Particular solution: u p ( t ) = −ωn t cos ωn t
2k
=
Complementary solution: uc ( t ) A cos ωn t + B sin ωn t
po
Complete solution: u ( t ) = uc ( t ) + u p ( t ) = A cos ωn t + B sin ωn t − ωn t cos ωn t
2k
13
Derivation 3.2: solution of mu + ku = po sin ω t (ω = ωn )

p
u ( t ) = A cos ωn t + B sin ωn t − o ωn t cos ωn t
2k
p p
u ( t ) =−ωn A sin ωn t + ωn B cos ωn t − o ωn cos ωn t + o ωn2t sin ωn t
2k 2k
=
Using the initial conditions: (0) u u (0)
u u=
u (0) = A  A = u ( 0)
 
 po ⇒  u ( 0 ) po
u
= ( 0 ) ω n B − ωn =
 B ω + 2k
2k 

n
 u ( 0 ) po  p
u ( t ) u ( 0 ) cos ωn t + 
∴= +  sin ωn t − o ωn t cos ωn t
 ωn 2 k  2k
Specializing for at-rest initial conditions u (0) = u (0) = 0 gives:
u (0)= A= 0  A= 0
 
 po ⇒  po
u ( 0 ) = ω n B − =ω n 0 =  B
2k 2k
1p
∴ u (t ) = − o (ωn t cos ωn t − sin ωn t ) 14
2 k
1p
u (t ) = − o (ωn t cos ωn t − sin ωn t )
2 k
u (t ) 1  2π t 2π t 2π t  po 2π
∴ =−  cos − sin  where ( ust )o =ωn =
( ust )o 2  Tn Tn Tn  k Tn
The local maximum value & minimum value happen when u (t ) = 0

16
The local maximum value & minimum value corresponding time

1 po
u (t ) =
− (ωn t cos ωn t − sin ωn t )
2 k
u ( t ) = −
1 po
2 k
( ωn cos ωnt − ωn2t sin ωnt − ωn cos ωnt )
1 po 2
= ωn t sin ωn t
2 k

1 po 2 t = 0
at peaks : u (t ) 0=
= ⇒ ωn t sin ωn t 0 ⇒ 
2 k sin ωnt = 0
2π j − π = ( j − 1 2 ) ωnTn , j = 1, 2, 3 u(t) is maximum
⇒ ωnt = 
= 2π j j= ωnTn , j 1, 2, 3 u(t) is minimum
tmax= ( j − 1 2 )Tn
⇒ 
tmin = jTn
17
1 po
The local maximum value & minimum value u ( t ) =
− (ωn t cos ωn t − sin ωn t )
2 k
For jth loop:
 1   1 po  2π  1   2π  1    2π  1   
umax =−
u  j  Tn  =
−   j −  Tn cos   j −  Tn  − sin   j −  Tn  
 2   2 k  Tn  2   Tn  2    Tn  2   
1 po   1    1     1  
=
− 2π  j −  cos 2π  j −  − sin  2π  j −   
2 k   2    2     2  
1 po   1    1
= 2π  j −  = ( u ) π
st o  j −  , =j 1, 2,3
2 k   2    2 

1 p  2π  2π   2π 
u ( jTn ) =
umin = − o  jTn cos  jTn  − sin  jTn  
2 k  Tn  Tn   Tn 
1p
− o ( 2π j ) =
= − ( ust )o π j , j = 1, 2,3
2 k
The difference of peak values between the successive cycles
 from umax ( ust )o π {( j + 1) − 1 2} − ( j − 1 2 )  π po

u j +1 − u=  =  ( ust )o=
π
( ust )o π ( j + 1) − j 
j
 from umin  k 18
3.2 Harmonic vibration with viscous damping 19
3.2.1 Steady-state and transient responses

3.2.2 Response for ω = ωn
3.2.3 Maximum deformation and phase lag
3.2.4 Dynamic response factors

3.2.5 Resonant frequencies and resonant responses
3.2.6 Half-power bandwidth
3.2.7 Steady-state response to cosine force
19
3.2.1 Steady-state and transient responses 20
Response of forced harmonic vibration system with damping

po sin ω t
EOM: mu + cu + ku =
=
Initial condition: (0) u u (0)
u u=
u p ( t ) C sin ω t + D cos ω t
Particular solution: = Derivation 3.3
1 − ( ω / ωn )
2
po po −2ζω / ωn
C= D=
k 1 − (ω / ω )2  2 +  2ζ (ω / ω ) 2 k 1 − (ω / ω )2  2 +  2ζ (ω / ω )  2
 n
  n 
 n
  n 

solution: uc (t ) e n ( A cos ωDt + B sin ωDt )
−ζω t
Complementary =
ω D ωn 1 − ζ 2
Damped circular natural frequency: =
( t ) uc ( t ) + u p ( t )
Complete solution: u=
= e−ζωnt ( A cos ωDt + B sin ωDt ) + C sin ω t + D cos ω t ( ω ≠ ωn )
20
Derivation 3.3: The particular solution of mu + cu + ku = po sin ω t

c k po p
⇒ u=+ u + u sin ω t ⇒ u + 2= ζωnu + ωn2u o sin ω t
m m m m
Assume particular solution: =u p ( t ) C sin ω t + D cos ω t
= u p ( t ) ω C cos ω t − ω D sin ω t
Time derivation: 

 p
u ( t ) =
−ω 2
C sin ω t − ω 2
D cos ω t
⇒ u + 2ζωnu + ωn2u

−ω 2C sin ω t − ω 2 D cos ω t + 2ζωn (ωC cos ω t − ω D sin ω t ) + ωn2 ( C sin ω t + D cos ω t )
=
= (ωn2 − ω 2 ) C − 2ζωnω D  sin ω t +  2ζωnωC + (ωn2 − ω 2 ) D  cos ω t
⇒ (ωn − ω ) C − 2ζωnω D  sin ω t +  2ζωnωC + (ωn − ω ) D  cos ω t =sin ω t

 2 2
  2 2
 po
m
3
Derivation 3.3: The particular solution of mu + cu + ku =po sin ω t

(ωn2 − ω 2 ) C − 2ζωnω D  sin ω t +  2ζωnωC + (ωn2 − ω 2 ) D  cos ω t = po
sin ω t
    m
For the above equation to be valid for all t, the coefficients must be equal.
   ω 2   ω po
 1 −    C −  2ζ  D =
 2
 (ωn − ω ) C − 2ζωnω D =
po po 2
2
= ωn    ωn    ωn  k
∴ m k ⇒ 
 2ζωnω C + (ωn − ω ) D =  ω 
2
2 2
0  ω 
   2ζ  C + 1 −    D =

0
  ωn    ωn  
 1 − ( ω / ωn )
2
po
C=
2 2
 k 1 − (ω / ωn )  +  2ζ (ω / ωn )  2
⇒ 
    
 D = po −2ζω / ωn
 k 1 − (ω / ω )2  2 +  2ζ (ω / ω )  2
  n
  n 
3
po sin ω t
The complete solution of mu + cu + ku =
=u ( t ) e−ζωnt ( A cos ωDt + B sin ωDt ) + C sin ω t + D cos ω t
    
⇒ u ( t ) = e−ζωnt  −ζωn ( A cos ωDt + B sin ωDt ) + ( −ωD A sin ωDt + ωD B cos ωDt ) 
+ ω C cos ω t − ω D sin ω t
Using the initial conditions: = u u= (0) u u (0)
 A u ( 0) − D
=
 u (0)= A + D 

⇒  ⇒  u ( 0 ) + ζωn u ( 0 ) − D  − ωC
 u (0) = −ζωn A + ωD B + ωC  B=
 ω n 1 − ζ 2
 po 2ζω / ωn
=
 A u ( 0 ) +
k 1 − (ω / ω )2  2 +  2ζ (ω / ω )  2
  n
  n 

⇒   
ω  ζ ( ω ω ) 
2
 1  1 + 2 2
− / 
po  
( ) ( )
n
 B  
u 0 + ζ ω u 0 + 
 ω D 
n
k 2 2
1 − (ω / ωn )  +  2ζ (ω / ωn )   2
       23
po sin ω t
The complete solution of mu + cu + ku =

    
 po 2ζω / ωn
=
 A u ( 0 ) +
k 1 − (ω / ω )2  2 +  2ζ (ω / ω )  2
  n
  n 

  ω 1 + 2ζ 2 − (ω / ωn )2  
 B 1 u 0 + ζω u 0 + po   
( ) ( )

  
ωD  n
k 1 − (ω / ω )2  2 +  2ζ (ω / ω )  2 
   n
  n 


 po 1 − ( ω / ωn )
2
C=
 k 1 − (ω / ω )2  2 +  2ζ (ω / ω )  2
  n
  n 
 po −2ζω / ωn
 D =
2 2
 k  1 − (ω / ωn )  +  2ζ (ω / ωn ) 
2
  
24

    
Transient vibration: Oscillation at the natural frequency of the system, depends on the
initial conditions. Finally will disappear under damping effect.
Steady-state vibration: Oscillation at the forced frequency of the system, is present
because of the applied force. After awhile, essentially the forced response remains.

Figure 3.2.1 Response of damped system to harmonic force
ω/ωn = 0.2, ζ = 0.05, u(0) = 0.5po/k, and 𝑢𝑢(0)
̇ = ωn po/k. 25
3.2.2 Response for ω = ωn 26
When ω = ωn or ω
= ωn = 1 u ( t ) e−ζωnt ( A cos ωDt + B sin ωDt ) + C sin ω t + D cos ω t
 1 − ( ω / ωn )
2
po po 0
= C = = 0

2
k 1 − (ω / ω )  +  2ζ (ω / ω ) 
2 2 k 0 + ( 2ζ ) 2
  n
  n 

 po −2ζω / ωn po −2ζ po 1 ( ust )o
 D= 2
k 1 − (ω / ω )  +  2ζ (ω / ω ) 
2 2
=
k 0 + ( 2ζ ) 2
=
−
k 2ζ
=
−
2ζ
  n
  n 
With at-rest initial conditions: u (0) = u (0) = 0

 ( ust )o
 A= u ( )
0 − D=
 u (0)= A + D  2ζ
 ⇒ 
 −ζωn A + ωD B + ωC
 u ( 0) =  B = u ( 0 ) + ζωn u ( 0 ) − D  − ωC = ( ust )o
 ω − ζ 2
− ζ 2
 n 1 2 1
1  −ζωnt  ζ  
u (t ) ( ust )o e  cos ωDt + = sin ωDt  − cos ωn t  (ω ωn )

2ζ   1−ζ 2
 
 26
1  −ζωnt  ζ  
u ( t ) ( ust )o e  cos ωDt + sin ωDt  −=
cos ωn t  when ω ωn
2ζ   1− ζ 2  
  
(
≈ ( ust )o
1 −ζωnt
2
e
ζ
) − 1 cos ωn t ( For slightly damped system, ωD ≈ ωn =
ω)
 
Envelop function

27
The peak value for u ( t ) ≈ ( ust )o

2ζ
(
1 −ζωnt
e )
− 1 cos ωn t happens at t = jTn
( ust )o
u j ≈ ( ust )o
2ζ
(
1 −ζωn jTn
e )
− 1 cos ωn jTn =
2ζ
( 1− e ) (
−2 πζ j
= )
uo 1 − e
−2 πζ j
(t =
jTn )
uj ( ust )o
= 1 − exp ( −2πζ j ) where uo =
uo 2ζ

28
The important influence of the damping ratio on the amplitude

29
uj
= 1 − exp ( −2πζ j )
The lighter the damping, the larger is the number of
uo cycles required to reach a certain percentage of uo.

30
3.2.3 Maximum deformation and phase lag 31
The steady-state deformation of the system due to harmonic force

u p ( t ) C sin ω t + D cos ω t
=
 1 − ( ω / ωn )
2
po
C =
 k 1 − (ω / ω )2  2 +  2ζ (ω / ω ) 2
  n
  n 

D =
po −2ζω / ωn
 k 1 − (ω / ω )2  2 +  2ζ (ω / ω ) 2
  n
  n 

p ( t ) u0 sin ( ω t=
Assume u= − φ ) u0 sin ω t cos φ − X cos ω t sin φ
u0 cos φ = C
⇒ 
−u0 sin φ = D
 D 2ζω / ωn −1 2ζω / ωn
 tan φ =
− = ⇒ φ =
tan
1 − ( ω / ωn ) 1 − ( ω / ωn )
2 2
⇒  C
 2 2
u0 cos φ + u0 sin φ = C 2 + D 2 ⇒ u0 = C 2 + D2
2 2
31
The steady-state deformation of the system due to harmonic force

Steady-state deformation:
− φ ) ( ust )o Rd sin (ω t − φ )
p ( t ) uo sin ( ω t=
∴ u=
2 2
Response amplitude: 1 − (ω / ωn )  +  2ζ (ω / ωn )  2
  
2
 po  
uo = C 2 + D2 =  
 k  
{ }
2
2 2
 (
1 − ω / ωn ) +  2ζ (ω / ωn ) 
 2

po / k
=
2 2
1 − (ω / ωn )  +  2ζ (ω / ωn )  2
   
Deformation response factor:
uo 1
= Rd =
( ust )o 1 − (ω / ω )2  2 + 2ζ (ω / ω ) 2
 n
  n 
32
Deformation response factor

uo 1
=
Rd =
( u st ) o 2 2
1 − (ω / ωn )  +  2ζ (ω / ωn )  2
   

Phase angle
2ζ (ω / ωn )
φ = tan −1
1 − ( ω / ωn )
2
33
The steady-state Response amplitude

po / k 1
uo = Rd =
2 2
1 − (ω / ωn )2  +  2ζ (ω / ωn )  2 1 − (ω / ωn )2  +  2ζ (ω / ωn )  2
       
In phase : if ω / ωn << 1, φ ≈ 0
po / k po
uo ≈ ≈ ( ust )o = : Rd = 1
1 +0
2 2 k

Out of phase : if ω / ωn >> 1, φ ≈ 180
po / k po / k ωn2 po
uo = ≈ ( ust )o 2 = 2 : Rd = 0
1 − 2 (ω / ωn ) + (ω / ωn ) + 4ζ 2 (ω / ωn )
2 4 2
( ω / ωn )
4 ω mω
( ust )o
po 1
If ω / ωn = 1, φ = 90 
uo  = Rd =
2ζ cωn 2ζ 34
2π  2π t 
 T= ∴ u ( t ) ( ust )o Rd sin (ω t − φ ) = ( ust )o Rd sin 
= −φ 
ω  T 
The static deformation is shown by

dashed lines;
The steady-state motion is seen to

occur at the forcing period T = 2π/ω,

but with a time lag t=𝜙𝜙/2π
Figure 3.2.5 Steady-state response of damped

systems (ζ = 0.2) to sinusoidal force for three values
of the frequency ratio: (a) ω/ωn = 0.5, (b) ω/ωn = 1,
(c) ω/ωn = 2. 35
Example 3.1
The displacement amplitude uo of an SDF system due to harmonic force is known for
two excitation frequencies. At ω = ωn, uo = 5 in.; at ω = 5ωn, uo = 0.02 in. Estimate
the damping ratio of the system.
Solution At ω = ωn i.e. ω/ωn=1
( ust )o
uo  =5
2ζ
At ω = 5ωn i.e. ω/ωn>>1

ωn2 ( ust )o
uo  ( ust )o 2 = = 0.02
ω 25
So (ust)o = 0.5 in. ζ = 0.05.
36
3.2.4 Dynamic response factors 37
− φ ) ( ust )o Rd sin (ω t − φ )
u ( t ) uo sin (ω t=
= where (=
ust )o po / k
u (t )
⇒= Rd sin (ω t − φ )
po / k
uo 1
Deformation response factor :=
Rd =
( ust )o 2
1 − (ω / ωn )2  +  2ζ (ω / ωn ) 2
   

ω=/ ωn 0,= Rd 1
ω / ωn → ∞, Rd → 0
ω / ωn < 1, Rd peaks
37
poω po ω u ( t ) ( ust )o Rd sin (ω t − φ )

=u ( t ) =
Rd cos (ω t − φ ) Rd cos (ωt −=
φ)
k km ωn
u ( t )
⇒ = Rv cos (ω t − φ )
po / km
ω
Velocity response factor : Rv = Rd
ωn

ω=/ ωn 0,= Rv 0
ω / ωn → ∞, Rv → 0
ω / ωn = 1, Rv peaks
38
po ω 2 po ω 2 po
u( t ) = − Rd sin (ω t − φ ) =
− R sin (ω=
t − φ ) u ( t ) Rv cos (ω t − φ )
km ωn m ωn 2 d
km
u( t )
⇒ = − Ra sin (ω t − φ )
po / m
2
ω
Acceleration response factor : Ra =   Rd
 ωn 

ω=/ ωn 0,= Ra 0
ω / ωn → ∞, Ra → 1
ω / ωn > 1, Ra peaks
39
Ra ω
= R= Rd
ω / ωn v
ωn

40
41
Displacement resonant frequency
1 1
Rd = = ( β ω / ωn )
1 − β 2  + [ 2ζβ ]
2 2
1 − (ω / ωn )2  +  2ζ (ω / ωn )  2
2
   
Rd , β =
−
( )(
2β β + 1 − 2ζ 2 β − 1 − 2ζ 2
ζ <1/ 2
) ( )
3 2> 0
(1 − β 2 ) + ( 2πβ )2 
2
 

Rd ,=
β 0 ⇒ β= 0 or β= 1 − 2ζ 2
ω
This condition β =
1 − 2ζ 2 ⇒ 1 − 2ζ 2
=
ωn
ω ωn 1 − 2ζ 2
Displacement resonant frequency=
1 1
Rd = =
( ) ( ) 2ζ 1 − ζ 2
2 2
  2
1 − 1 − ζ 2  +  2ζ 1−ζ 2 
  
41
42
Velocity resonant frequency
β 1
= dβ
Rv R= =
1 − β 2  + [ 2ζβ ]
2 2
1 
2
 β − β  + 2ζ
 
Rv , β = −
(β 4
− 1) / β 3
32
(1 β − β ) + 2ζ  > 0
2
 
ω
⇒ β 1=

=
Rv , β 0= ⇒ 1
ωn
Velocity resonant frequency ω = ωn
ω / ωn 1 1
=Rv = =
2 2
1 − (ω / ωn )  +  2ζ (ω / ωn )  1 − 1  + [ 2ζ ] 2ζ
2 2
2 2
   
42
43
Calculate acceleration resonant frequency
β2
= dβ
Ra R= 2
(1 − β )
2 2
+ ( 2ζβ )
2
Ra, β
( )(
2β β 1 − 2ζ 2 + 1 β 1 − 2ζ 2 − 1 ) (ζ < 1 / 2 )
(1 − β 2 )2 + 4ζ 2 β 2 
12
  >0
⇒=
Ra, β 0 ⇒
= β 0 or β 1 − 2ζ=
2
−1 0

ω
β = 1 / 1 − 2ζ 2
⇒=
ωn
=
Acceleration resonant frequency ω ωn / 1 − 2ζ 2
(1/ 1−ζ )
2
2
1
Ra =
( ) ( ) 2ζ 1 − ζ 2
2 2
   
2
1 − 1 / 1 − ζ 2
+ 2ζ 1 − ζ 2
  
43
PART B: Viscously damped systems: applications44
3.5 Force transmission and vibration isolation

3.6 Response to ground motion and vibration

isolation
44
3.5 Force transmission and vibration isolation 45
Consider the mass-spring-damper system subjected to a harmonic force
po sin ω t
mu + cu + ku =
The force transmitted to the base is:
fT = f S + f D = ku ( t ) + cu ( t )
The displacement and velocity are:
=u ( t ) ( ust )o Rd sin (ω t − φ )

= u ( t ) ω ( ust )o Rd cos (ω t − φ )

So the transmitted force can be rewritten as:
=fT ( ust )o Rd  k sin (ω t − φ ) + cω cos (ω t − φ ) 
= ( ust )o Rd k 2 + c 2ω 2 sin (ω t − φ ′ )
The maximum value of fT is:
=( fT )o ( ust )o Rd k 2 + c 2ω 2
45
Transmissibility (TR): The ratio of maximum transmitted force due to applied
force po
TR = ( fT )o po
For the damped system, ζ ≠0
( ust )o Rd k 2 + c 2ω 2 ,
 ( fT ) o = ( ust )o =
po / k , 2mωζ
c=
1
Rd =
2 2
1 − (ω ωn )  +  2ζ (ω ωn )  2
   

1/2
 
( fT ) o 1 +  2ζ (ω ωn ) 
2 2
 ω  
∴TR= = Rd 1 +  2ζ  =  
po  ω n 
2 2
 1 − (ω ωn )  +  2ζ (ω ωn )  
2
  
For the undamped system, ζ = 0
1
TR ζ =0 =
( ω ωn ) − 1
2
46
12
 
1 +  2ζ (ω ωn ) 
2
 
TR =   If ω ωn ≤ 2, TR ≥ 1 , the transmitted
2 2
 1 − (ω ωn )  +  2ζ (ω ωn )  
2
force is larger than the applied force.
   Damping decreases the transmitted force
If ω ωn ≥ 2, TR ≤ 1 , the transmitted
force is less than the applied force.
Damping increases the transmitted force,
thus no damping is desired in the support

system in this frequency range.
This implies a trade-off between a soft

spring to reduce the transmitted force and
an acceptable static displacement.
47
3.6 Response to ground motion and vibration isolation 48
SDF system subjected to a harmonic ground motion (acceleration)

The ground acceleration is: ug ( t ) = ugo sin ω t
The total displacement is u t , ground displacement is u g
The relative displacement of mass is u
u t − u g ; u =
Their relationship is: u = u t − u g ; u =
ut − ug
EOM: mut + cu + ku =
0
−mug ( t ) =
⇒ mu + cu + ku = peff ( t )
−mugo sin ω t =

mugo
Because −mugo is a constant value, can be regarded as “po” ∴ ( ust ) =−
o
k
=
The displacement response is: u ( t ) ( ust ) Rd sin (ω t − φ )
o
mugo 2 2
∴u (t ) = Rd sin (ω t − φ ) ; Rd = 1 1 − (ω ωn ) +  2ζ (ω ωn ) 
  2
−
k  
mugo 2
∴ u( t ) ω R= ( ω φ ) go ( n ) Rd sin (ω t − φ )
 ω ω
2
= d sin t − u
k
48
From the u & ug , the total acceleration is:
ut ( t ) = ug ( t ) + u( t ) = ugo sin ω t + ugo (ω ωn ) Rd sin (ω t − φ )
2
=
{
ugo 1 + (ω ωn ) Rd cos φ  sin ω t − (ω ωn ) Rd sin φ cos ω t
2

2
}
2 2
ugo 1 + (ω ωn ) Rd cos φ  + (ω ωn ) Rd sin φ  sin (ω t − φ ′ )
2 2
=
   
So the maximum total acceleration is:
2 2
ugo 1 + (ω ωn ) Rd cos φ  + (ω ωn ) Rd sin φ 
u = let β = (ω ωn )
2 2

t
o
   
ugo 1 + 2β 2 Rd cos φ + β 4 Rd2
=
(1 − β 2 ) + ( 2ζβ )
2
1 − (ω ωn )2  +  2ζ (ω ωn )  2 = 1
2
 Rd = 1
2
   
1 − ( ω ωn )
2
& cos φ= = (1 − β 2 ) Rd
2
1 − (ω ωn )2  +  2ζ (ω ωn ) 2
    49
∴ u=
t
o ugo 1 + 2β 2 Rd cos φ + β 4 Rd2
= ugo 1 +  2β 2 (1 − β 2 ) + β 4  Rd2
= ugo
(1 − β ) + ( 2ζβ ) + 2β (1 − β ) + β
2 2 2 2 2 4
(1 − β ) + ( 2ζβ )
2 2 2
1 + ( 2ζβ )
2
= ugo
(1 − β ) + ( 2ζβ )
2 2 2

Transmissibility (TR): The ratio of accelerationuot transmitted to the mass and
amplitude ugo of ground acceleration
1/2
 
1 + ( 2ζβ )  ( n )
2
ut 2
 1 +  2 ζ ω / ω  
= =
TR o
=  
ugo (1 − β ) + ( 2ζβ )  1 − (ω / ωn )  + 2ζ (ω / ωn ) 
2 2 2 2 2 2
50
SDF system subjected to a harmonic ground motion (displacement)

The ground displacement is: u g ( t ) = u go sin ω t
Corresponding ground acceleration is: ug ( t ) = −ugoω 2 sin ω t
The total displacement is u t , ground displacement is u g
The relative displacement of mass is u
u t − u g ; u =
Their relationship is: u = u t − u g ; u =
ut − ug
EOM: mu + cu + ku =
t
0

−mug ( t ) = mugoω 2 sin ω t =
⇒ mu + cu + ku = peff ( t )
mugoω 2
Because mugoω is a constant value, can be regarded as “po” ∴ ( ust )o =
2
k
=
The displacement response is: u ( t ) ( ust )o Rd sin (ω t − φ )
2 2
∴ u ( t )= ugo (ω ωn ) Rd sin (ω t − φ ) ; Rd = 1 1 − (ω ωn )  +  2ζ (ω ωn ) 2
2
   
51
From the u & u g , the total displacement is:
u t ( t ) = u g ( t ) + u ( t ) = u go sin ω t + u go (ω ωn ) Rd sin (ω t − φ )
2
=
{
u go 1 + (ω ωn ) Rd cos φ  sin ω t − (ω ωn ) Rd sin φ cos ω t
2

2
}
2 2
u go 1 + (ω ωn ) Rd cos φ  + (ω ωn ) Rd sin φ  sin (ω t − φ ′ )
2 2
=
   
So the maximum total displacement is:
2 2
u go 1 + (ω ωn ) Rd cos φ  + (ω ωn ) Rd sin φ  let β = (ω ωn )
2 2
u =
t

o
   
u go 1 + 2β 2 Rd cos φ + β 4 Rd2
=
 Rd = 1

2 2
1 − (ω ωn )  +  2ζ (ω ωn )  2 = 1
   (1 − β )
2 2
+ ( 2ζβ )
2
1 − ( ω ωn )
2
& cos φ= = (1 − β 2 ) Rd
2 2
1 − (ω ωn )  +  2ζ (ω ωn )  2
    52
∴ u=
t
o u go 1 + 2 β 2
Rd cos φ + β 4 2
Rd
= u go 1 +  2β 2 (1 − β 2 ) + β 4  Rd2
= u go
(1 − β )
2 2
+ ( 2ζβ ) + 2β 2 (1 − β 2 ) + β 4
2
(1 − β )
2 2
+ ( 2ζβ )
2
1 + ( 2ζβ )
2
= u go
(1 − β )

2 2
+ ( 2ζβ )
2
t
Transmissibility (TR): The ratio of displacement uo transmitted to the mass and
amplitude u go of ground displacement
1/2
 
1 + ( 2ζβ ) ( n )
2
u t 2
 1 + 
 2 ζ ω / ω  
= =
TR o
=  
u go (1 − β ) + ( 2ζβ )  1 − (ω / ωn )  + 2ζ (ω / ωn ) 
2 2 2 2 2 2
53
1/2
 
1 +  2ζ (ω / ωn ) 
2
uo 
t

= = 
TR 
u go  1 − (ω / ω )2  2 +  2ζ (ω / ω )  2 
 n
  n 

If ω << ωn , TR → 1, uot  ugot
ω >> ωn , TR → 0, uot  0

54
Example 3.3
A sensitive instrument with weight 100 lb is to be installed at a location
where the vertical acceleration is 0.1g at a frequency of 10 Hz. This
instrument is mounted on a rubber pad of stiffness 80 lb/in. and damping
such that the damping ratio for the system is 10%. (a) What acceleration is
transmitted to the instrument? (b) If the instrument can tolerate only an
acceleration of 0.005g, suggest a solution assuming that the same rubber
pad is to be used. Provide numerical results.

Solution (a) Determine TR.
80
= ωn = 17.58 rad/ sec
100 386
ω 2π (10 )
= = 3.575
ωn 17.58
1/2
 
 ( n )
2
u  t 1 +  2ζ ω / ω  
Substituting these in = = 
TR o

u go  1 − (ω / ω )2  2 +  2ζ (ω / ω )  2 
 n
  n 
 55
Example 3.3
1 +  2 ( 0.1)( 3.575 ) 
2
t
u
= =
TR o
= 0.104
2 2
u go 1 − ( 3.575 )  +  2 ( 0.1)( 3.575 )  2
   
=
Therefore, uot (=
0.104 ) ugot ( 0.104
= ) 0.1g 0.01g
(b) Determine the added mass to reduce acceleration. The acceleration
transmitted can be reduced by increasing ω/ωn, which requires reducing ωn

by mounting the instrument on mass mb. Suppose that we add a mass mb =
150 lb/g; the total mass = 250 lb/g, and
80 ω
= ′
ωn = 11.11 rad/=
sec 5.655
250 386 ′
ωn
To determine the damping ratio for the system with added mass, we need
the damping coefficient for the rubber pad:
 100 
= ( 2mωn ) 0.1( 2 )  =
c ζ= 17.58 0.911lb-sec/in.
 386  56
Example 3.3
c 0.911
=
Then ζ ′ = = 0.063
2 ( m + mb ) ωn′ 2 ( 250 386 )11.11
Substituting for ω ωn′ and ζ ′ in

1/2
 
1 +  2ζ (ω / ωn ) 
2
uo 
t

= = 
TR 
ugo  1 − (ω / ω )2  2 +  2ζ (ω / ω )  2 

 n
  n 

uot ugo 0.04,

gives = = uot 0.004g, which is satisfactory because it is less than
0.005g.
Instead of selecting an added mass by judgment, it is possible to set up a
quadratic equation for the unknown mass, which will give uo = 0.005g.
t
57
3.6 Response to Periodic Excitation 58
• Periodic function is one in which the portion defined over T0 repeats itself
indefinitely

Many forces are periodic or nearly periodic, Examples:
• (1) Propeller forces on a ship (2) wave loading on an offshore platform (3) wind
forces induced by vortex shedding on tall, slender structures
• A periodic excitation implies that the excitation has been in existence for a long
time, by which time the transient response associated with the initial
displacement and velocity has decayed. Thus, we are interested in finding the
steady-state response only.

(Lecture - 3 - Updated) Dynamics of Structures Chapter 3 PDF

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Dynamics of

3.1 Harmonic vibration of undamped systems

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Harmonic force：p ( t ) = po sin ω t or po cos ω t

Response of forced harmonic vibration system without damping

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Impose the initial condition: u = u ( 0) u = u ( 0 )

−mω 2C sin ω t + kC sin ω t =

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Dr. Naik Muhammad (Ph.D. Structural Engineering)

What is the maximum value of the static deformation?

Ignoring the inertial force term mu in EOM:

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Deformation (or displacement) response factor Rd : The ratio of the amplitude uo

ω ωn > 2, 0 < Rd < 1

Dr. Naik Muhammad (Ph.D. Structural Engineering)

If ω = ωn , the particular solution now is:

Dr. Naik Muhammad (Ph.D. Structural Engineering)

⇒ mu + ku = m ( −2ωn C sin ωn t − ωn2C t cos ωn t ) + k ( C t cos ωn t )

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Derivation 3.2: solution of mu + ku = po sin ω t (ω = ωn )

Dr. Naik Muhammad (Ph.D. Structural Engineering)

The local maximum value & minimum value happen when u (t ) = 0

Dr. Naik Muhammad (Ph.D. Structural Engineering)

The local maximum value & minimum value corresponding time

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Dr. Naik Muhammad (Ph.D. Structural Engineering)

 from umax ( ust )o π {( j + 1) − 1 2} − ( j − 1 2 )  π po

3.2.1 Steady-state and transient responses

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Response of forced harmonic vibration system with damping

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Derivation 3.3: The particular solution of mu + cu + ku = po sin ω t

⇒ u + 2ζωnu + ωn2u

Dr. Naik Muhammad (Ph.D. Structural Engineering)

⇒ (ωn − ω ) C − 2ζωnω D  sin ω t +  2ζωnωC + (ωn − ω ) D  cos ω t =sin ω t

Derivation 3.3: The particular solution of mu + cu + ku =po sin ω t

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Dr. Naik Muhammad (Ph.D. Structural Engineering)

=u ( t ) e−ζωnt ( A cos ωDt + B sin ωDt ) + C sin ω t + D cos ω t

Dr. Naik Muhammad (Ph.D. Structural Engineering)

=u ( t ) e−ζωnt ( A cos ωDt + B sin ωDt ) + C sin ω t + D cos ω t

Dr. Naik Muhammad (Ph.D. Structural Engineering)

With at-rest initial conditions: u (0) = u (0) = 0

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Dr. Naik Muhammad (Ph.D. Structural Engineering)

The peak value for u ( t ) ≈ ( ust )o

Dr. Naik Muhammad (Ph.D. Structural Engineering)

The important influence of the damping ratio on the amplitude

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Dr. Naik Muhammad (Ph.D. Structural Engineering)

The steady-state deformation of the system due to harmonic force

Dr. Naik Muhammad (Ph.D. Structural Engineering)

The steady-state deformation of the system due to harmonic force

Dr. Naik Muhammad (Ph.D. Structural Engineering)

Deformation response factor

Dr. Naik Muhammad (Ph.D. Structural Engineering)

The steady-state Response amplitude

Dr. Naik Muhammad (Ph.D. Structural Engineering)