Dynamics Analysis of Structures

MODULE 2:
FUNDAMENTAL CONCEPT OF DYNAMIC ANALYSIS

Prof. Dr. Mohammad Javed

javednwfpuet@yahoo.com

1
 Structural Degrees of Freedom

The number of independent displacements required

to define the displaced positions of all the masses
relative to their original position is called the number
of degrees of freedom (DOFs) for dynamic analysis.

2
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
Discrete and Continuous mass systems

Some systems, specially those involving continuous elastic

members, have an infinite number of DOF. As an example of this
is a cantilever beam with self weight only (see next slide). This
beam has infinites mass points and need infinites number of
displacements to draw its deflected shape and thus has an infinite
DOF. Systems with infinite DOF are called Continuous or
Distributed systems.

Systems with a finite number of degree of freedom are called

Discrete or Lumped mass parameter systems.

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 3

Discrete and Continuous mass systems
u1
u2
u3
etc
Continuous or distributed system

ρL/8 ρL/4 ρL/4 ρL/4 ρL/8

L/4 L/4 L/4 L/4

Corresponding lumped mass system of the above given cantilever

beam with DOF= 4 (How? there are 5 lumped masses.)
ρ = Mass per unit length

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 4

Single Degree-of-Freedom (SDOF) System
In a single degree of freedom system, the deformation of
the entire structure can be described by a single number equal
to the displacement of a point from an at-rest position.
Single Degree of freedom systems do not normally exist
in real life. We live in a three-dimensional world and all mass
is distributed resulting in systems that have an infinite number
of degrees of freedom. There are, however, instances where a
structure may be approximated as a single degree of freedom
system.
The study of SDOF systems is an integral step in
understanding the responses of more complicated and realistic
systems.
5
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
Idealization of a structural system as SDOF system

This 3-dimensional water tower may be considered as a single

degree of freedom system when one considers vibration in one
horizontal direction only.

SDOF model of water tank

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 6

Idealization of a structural system as SDOF system

The structural system of water tank may be

simplified by assuming that the column has
negligible mass along its length. This is
reasonable, assuming that the tube is hollow
and that the mass of the tube is insignificant
when compared with the mass of the water
tank and water at the top.
This means that we can consider that the
tank is a point mass

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 7

 Equivalent lumped mass SDOF system of a cantilever
wall with uniform x-sectional area

0.227 ρ .H
ψ(x)

H
Equivalent lumped mass model is
determined using a shape function,
ψ(x) = [1-Cos (πx/2H)].

ρ = Mass per unit height, H= total height, x= Distance along height

and k =Dynamic Analysisofofcantilever
lateral stiffness Structures, Module
member = 23EI/H
( Fall 32014) 8
 DOF for static & dynamic analysis
Consider the one-story frame shown in Figure, constrained to move
only in the direction of the excitation. The static analysis problem has
to be formulated with three DOFs—lateral displacement and two joint
rotations—to determine the lateral stiffness of the frame.
In contrast, the structure has only one DOF—lateral displacement—
for dynamic analysis if it is idealized with mass concentrated at one
location, typically the roof level. Thus we call this a single-degree-of-
freedom (SDF) system.

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 9

Multiple Degree-of-Freedom (MDOF) System
In a Multi degree of freedom system, the deformation of the
entire structure cannot be described by a single displacement. More
than one displacement coordinates are required to completely
specify the displaced shape.
m2

u2(t)

m1
u1(t)

10
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
 Multiple Degree-of-Freedom (MDOF) System
What is the DOF for this system…?

m u1 m
u1

u2

DOF may be taken 1 when DOF is 2 when we have a

flexural stiffness of beam is taken flexible beam
infinite/ too high
Dynamic Analysis of Structures, Module 2 ( Fall 2014) 11
Multiple Degree-of-Freedom (MDOF) System

More DOFs are typically necessary to define the stiffness

properties of a structure compared to the DOFs necessary for
representing inertial properties.

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 12

Multiple Degree-of-Freedom (MDOF) System
u2(t)

u1(t)

Considering all DOFs

Lumped mass model of building (DOF=2, slide 10). u3(t) to u6(t)
(shown on previous slide) get eliminated by lumping the masses at
mid length of beam. However, in order to calculate k we need to
consider all 6 DOFs
Dynamic Analysis of Structures, Module 2 ( Fall 2014) 13
Home Assignment No. M1H1
Determine the DOF of systems shown in given figures. Support
you answer with argument(s)

(a)

(d)

(b)

(e)

(c) Dynamic Analysis of Structures, Module 2 ( Fall 2014) 14

Damping
In structures many mechanism contributes to the damping.
In a vibrating building these include friction at steel
connections, opening and closing of microcracks in concrete,
and friction between the structures itself and nonstructural
elements such as partition walls.

Since there is considerable uncertainty regarding the exact

nature and magnitude of energy dissipating mechanisms in
most structural systems, the simple model of a dashpot is
often used to quantify damping.

15
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
Damping
The Dashpot or viscous damper
is a ‘device’ that limit or retard
vibrations.
Dashpot can be imagined as a
cylinder filled with a viscous fluid
and a piston with holes or other
passages by which the liquid can
flow from one side of the piston to
the other.

Simplified diagram of linear dashpot

16
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
Damping

Dash pots are imagined to

exist diagonally in a building
for dissipating energy .

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 17

Damping

Simple dashpots as shown schematically in below given

figure exert a force fD whose magnitude is proportional to the
velocity of the vibrating mass
.

Dash Pot

18
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
Damping
Figure a shows a linear viscous damper subjected to a force
fD along the DOF u. The internal force in the damper is equal and
apposite to the external force fD (Figure b). The damping force fD
is related to the velocity across the linear viscous damper by:

f D  c u
Where the constant c is the viscous damping coefficient

19
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
 Idealization of structural system as
springs

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 20

STIFNESS OF SPRINGS IN SERIES

21
Dynamic Analysis of Structures, Module 2 ( Fall 2014) 21
STIFNESS OF SPRINGS IN SERIES

p p1 p 2
u  u1  u 2   
k e k1 k 2
p p p
Since p 1  p 2  p   
k e k1 k 2

1 1 1
 
k e k1 k 2
22
Dynamic Analysis of Structures, Module 2 ( Fall 2014) 22
STIFNESS OF SPRINGS IN SERIES

EAXMPLE

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 23

STIFNESS OF SPRINGS IN PARALLEL
Centre of stiffness (Centre of rigidity)

p  p1  p 2

 k e u  k 1u 1  k 2 u 2

Since u1  u 2  u
 k e u  k 1u  k 2 u
 k e  k1  k 2

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 24

STIFNESS OF SPRINGS IN PARALLEL

k e  k1  k 2

EAXMPLE
p
u1 u2

k2
k1

u1=u2 provided the change in axial length of beam is

neglected (a reasonable assumption).
Dynamic Analysis of Structures, Module 2 ( Fall 2014) 25
Deflection in beam and their stiffness

k  P / max  3EI / l 3


k  6EI / a (3l  a)
2


k  P / max  48EI / l 3

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 26

Deflection in beam and their stiffness

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 27

STIFFNESS CONSTANTS OF SOME
STRUCTURAL ELEMENTS

28
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
STIFFNESS CONSTANTS OF SOME
STRUCTURAL ELEMENTS

29
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
EQUATION OF MOTION (E.O.M) OF
A SINGLE DOF SYTEM

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 30

EQUATION OF MOTION (E.O.M) OF A SINGLE DOF
SYTEM

Two commonly used vector mechanics based approaches are:

1. NEWTON’S SECOND LAW OF MOTION
2. D’ALEMBERT PRINCIPLE OF DYNAMIC EQUILIBRIUM

31
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
E.O.M USING NEWTON’S SECOND
LAW OF MOTION

The Resultant force along x-axis = p (t) – fS – fD

Where fS = Elastic resisting force; (also known elastic
restoring force), fD= Damping resisting force
According to Newton’s second law, the resulting
force causing acceleration = p(t)– fS – fD = mü or;
fS + fD+ mü = p (t); or
ku  cu  mu
  p(t)

32
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
 E.O.M USING DYNAMIC EQUILIBRIUM

Using D’Alembert’s Principle, a state of dynamic equilibrium can

be defined by assuming that a fictitious inertial force fI acts on the
mass during motion.

Equilibrium along
x-axis requires that:
-fS - fD – fI + p(t) = 0 or;
fS + fD + fI = p(t) or;
ku  cu  mu
  p(t)

33
CE-409: MODULE 2 ( Fall 2013)
 E.O.M FOR A SINGLE STORY FRAME UNDER
LATERAL DYNAMIC FORCE
Problem M 2.1
Develop the equation of motion of the frame shown in figure under the
action of a lateral dynamic force p(t). Consider a uniformly Distributed
gravity load of 5 k/ft acting on the beam. Neglect damping effect

Assume: 20 ft
1. The flexural stiffness of beam is p(t)
too high as compared to that of
connected columns.
2. Axial deformations in beam is
I, 10ft
negligible I, 15ft
Take E = 29,000 ksi, I = 1200 in4

34
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
Solution M2.1

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 35

 M2.1 (contd….)

fI u
Using D-Alembert’s Principle of dynamic equilibrium
P(t)

fs1 fs2

As , k= 3759k/ft
3106 u  3 . 76 * 10 6 u  p(t) Where u & p(t) are in ft and lb, respectively
Dynamic Analysis of Structures, Module 2 ( Fall 2014) 36
 E.O.M FOR A CANTILVER BEAM UNDER
LATERAL DYNAMIC FORCE

Problem M 2.2
Develop the equation of motion for the cantilever beam under the action of
p(t). Neglect the self weight of beam as well as damping effect. Take E=
29000 ksi & I = 150 in4

p(t)
37
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
 Undeformed Shape of
beam (i.e., shape before
application of static load)

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 38

However, the gravity loads must be considered if they act as either restoring
forces ( e.g., Pendulum) or as destabilizing forces (inverted pendulum).

Where u & Module

Dynamic Analysis of Structures, p(t) are in2ft( and lb, respectively
Fall 2014) 39
 Home Assignment No. M2H1
1. Determine the equivalent stiffness of system shown in Figure a
(Answer= 7.03 * 107 N/m)

Figure a

40
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
 Home Assignment No. M2H1
2. Determine the equivalent stiffness of the systems (in vertical direction
when vertical force is applied at point A) shown in Figures b & c.
Take k1= 1 kN/m and kbeam = 5 kN/m

A
Fig. b Fig. c

41
Dynamic Analysis of Structures, Module 2 ( Fall 2014)
 Home Assignment No. M2H1

3. An assembly plant uses a hoist to

raise and maneuver large objects.
The hoist shown in Figure is a
winch attached to a beam that can
move along a track. Develop the
EOM of the system when the hoist
is used to raise a 800-kg machine
part at a cable length of 9 m.

Dynamic Analysis of Structures, Module 2 ( Fall 2014) 42

 Home Assignment No. M2H1

Q 4. Develop the equation of motion for the cantilever beam under

the action 1000 lb weight. A weight of 500 lb is placed on
already acting weight of 1000 lb. Assume that the time required
to place the 500 lb weight on beam is insignificant as compared
to natural time period of beam. Neglect the self weight of beam
as well as damping effect. Take E = 29000 ksi & I = 150 in4

43
Dynamic Analysis of Structures, Module 2 ( Fall 2014)