FORMULA SHEET: Structural Dynamics

Single Degree of Freedom SDOF

1. Free Vibration

a. Undamped System
The equation of motion is: 𝑚𝑚𝑥𝑥̈ + 𝑘𝑘𝑘𝑘 = 0
𝑥𝑥(𝑡𝑡) = 𝐴𝐴 𝑠𝑠𝑠𝑠𝑠𝑠(𝜔𝜔𝑛𝑛 𝑡𝑡 − ∅)

𝑥𝑥̇ (𝑡𝑡) = 𝐴𝐴 𝜔𝜔𝑛𝑛 𝑐𝑐𝑐𝑐𝑐𝑐(𝜔𝜔𝑛𝑛 𝑡𝑡 − ∅)

𝑥𝑥̈ (𝑡𝑡) = −𝐴𝐴 𝜔𝜔𝑛𝑛2 𝑠𝑠𝑠𝑠𝑠𝑠(𝜔𝜔𝑛𝑛 𝑡𝑡 − ∅)

𝑣𝑣0 2 𝜔𝜔𝑛𝑛 𝑥𝑥0

𝐴𝐴 = �𝑥𝑥02 + � � 𝑎𝑎𝑎𝑎𝑎𝑎 ∅ = tan−1 � �
𝜔𝜔𝑛𝑛 𝑣𝑣0

𝐾𝐾 𝜔𝜔𝑛𝑛 1 2𝜋𝜋
𝜔𝜔𝑛𝑛 = � 𝑓𝑓𝑛𝑛 = 𝑜𝑜𝑜𝑜 𝑇𝑇𝑛𝑛 =
𝑚𝑚 2𝜋𝜋 𝑇𝑇𝑛𝑛 𝜔𝜔𝑛𝑛

b. Damped System
The equation of motion is: 𝑚𝑚𝑥𝑥̈ + 𝑐𝑐𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 0
𝑐𝑐 𝑐𝑐 𝑐𝑐 2𝜋𝜋 1
𝜉𝜉 = = = 𝜔𝜔𝑑𝑑 = 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉2 𝑓𝑓𝑑𝑑 = =
𝑐𝑐𝑟𝑟 2 √𝐾𝐾 𝑚𝑚 2𝑚𝑚𝜔𝜔𝑛𝑛 𝜔𝜔𝑑𝑑 𝑇𝑇𝑑𝑑

• Under damped 𝟎𝟎 < 𝝃𝝃 < 𝟏𝟏

𝑥𝑥(𝑡𝑡) = 𝐴𝐴 𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛𝑡𝑡 sin(𝜔𝜔𝑑𝑑 𝑡𝑡 + ∅)

(𝑣𝑣0 + 𝜉𝜉 𝜔𝜔𝑛𝑛 𝑥𝑥0 )2 + (𝑥𝑥0 𝜔𝜔𝑑𝑑 )2 𝑥𝑥0 𝜔𝜔𝑑𝑑

𝐴𝐴 = � ∅ = tan−1 � �
𝜔𝜔𝑑𝑑2 𝑣𝑣0 + 𝜉𝜉 𝜔𝜔𝑛𝑛 𝑥𝑥0

• Over damped 𝝃𝝃 > 𝟏𝟏

2 −1 𝑡𝑡 2 −1 𝑡𝑡
𝑥𝑥(𝑡𝑡) = 𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛𝑡𝑡 �a1 𝑒𝑒 −𝜔𝜔𝑛𝑛 �𝜉𝜉 + 𝑎𝑎2 𝑒𝑒 +𝜔𝜔𝑛𝑛 �𝜉𝜉 �

𝑣𝑣0 + �−𝜉𝜉 + �𝜉𝜉 2 − 1 � 𝜔𝜔𝑛𝑛 𝑥𝑥0 𝑣𝑣0 + �𝜉𝜉 + �𝜉𝜉 2 − 1 � 𝜔𝜔𝑛𝑛 𝑥𝑥0
a1 = a2 =
2 𝜔𝜔𝑛𝑛 �𝜉𝜉 2 − 1 2 𝜔𝜔𝑛𝑛 �𝜉𝜉 2 − 1

• Critically damped 𝝃𝝃 = 𝟏𝟏
𝑥𝑥(𝑡𝑡) = (𝑎𝑎1 + 𝑎𝑎2 𝑡𝑡) 𝑒𝑒 −𝜔𝜔𝑛𝑛𝑡𝑡
𝑎𝑎1 = 𝑥𝑥0 𝑎𝑎2 = 𝑣𝑣0 + 𝜔𝜔𝑛𝑛 𝑥𝑥0

[1]
 FORMULA SHEET: Structural Dynamics

2. Force Vibration
a. Undamped System

The equation of motion is: 𝑚𝑚𝑥𝑥̈ + 𝑘𝑘𝑘𝑘 = 𝐹𝐹0 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐

𝑣𝑣0 𝑓𝑓0 𝑓𝑓
𝑥𝑥(𝑡𝑡) = sin(𝜔𝜔𝑛𝑛 𝑡𝑡) + �𝑥𝑥0 − � cos(𝜔𝜔𝑛𝑛 𝑡𝑡) + 2 0 2 cos(𝜔𝜔 𝑡𝑡)
𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛2 − 𝜔𝜔 2 𝜔𝜔𝑛𝑛 − 𝜔𝜔
𝐹𝐹0
𝑓𝑓0 = [𝑁𝑁/𝐾𝐾𝐾𝐾]
𝑚𝑚

If 𝝎𝝎𝒏𝒏 ≈ 𝝎𝝎
2 𝑓𝑓0 𝜔𝜔𝑛𝑛 − 𝜔𝜔 𝜔𝜔𝑛𝑛 + 𝜔𝜔
𝑥𝑥(𝑡𝑡) = sin � 𝑡𝑡� sin � 𝑡𝑡�
𝜔𝜔𝑛𝑛2 − 𝜔𝜔 2 2 2
And the maximum value of the total response
2 𝑓𝑓0
𝜔𝜔𝑛𝑛2 − 𝜔𝜔 2
If 𝝎𝝎𝒏𝒏 = 𝝎𝝎 resonance
𝑣𝑣0 𝑓𝑓0
𝑥𝑥(𝑡𝑡) = sin(𝜔𝜔 𝑡𝑡) + 𝑥𝑥0 cos(𝜔𝜔 𝑡𝑡) + 𝑡𝑡 sin(𝜔𝜔 𝑡𝑡)
𝜔𝜔 2 𝜔𝜔

𝜔𝜔𝑛𝑛 = 𝜔𝜔 = �𝐾𝐾�𝑚𝑚

another equations to solve undamped system

𝑥𝑥(𝑡𝑡) = 𝐴𝐴 sin(𝜔𝜔𝑛𝑛 𝑡𝑡 + ∅) + 𝑋𝑋 𝑐𝑐𝑐𝑐𝑐𝑐(𝜔𝜔 𝑡𝑡)

𝑓𝑓0 𝑣𝑣0 2 𝜔𝜔𝑛𝑛 (𝑥𝑥0 − 𝑋𝑋)

𝑋𝑋 = ; 𝐴𝐴 = �� � + (𝑥𝑥0 − 𝑋𝑋)2 ; ∅ = tan−1 � �
𝜔𝜔𝑛𝑛2 − 𝜔𝜔 2 𝜔𝜔𝑛𝑛 𝑣𝑣0

b. Damped System

The equation of motion is: 𝑚𝑚𝑥𝑥̈ + 𝑐𝑐𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 𝐹𝐹0 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐

The general equation in the under damped system is:

𝑥𝑥(𝑡𝑡) = 𝐴𝐴 𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛𝑡𝑡 sin(𝜔𝜔𝑑𝑑 𝑡𝑡 + ∅) + 𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋(𝜔𝜔𝜔𝜔 − 𝜃𝜃)

𝑓𝑓0 𝜔𝜔𝑑𝑑 (𝑥𝑥0 − 𝑋𝑋 cos 𝜃𝜃) 𝑥𝑥0 − 𝑋𝑋 cos 𝜃𝜃

𝑋𝑋 = ; ∅ = tan−1 � �; 𝐴𝐴 = ;
�(𝜔𝜔𝑛𝑛2 − 𝜔𝜔 2 )2 + (2𝜉𝜉𝜔𝜔𝑛𝑛 𝜔𝜔)2 𝑣𝑣0 + (𝑥𝑥0 − 𝑋𝑋 cos 𝜃𝜃)𝜉𝜉𝜔𝜔𝑛𝑛 − 𝜔𝜔𝜔𝜔 sin 𝜃𝜃 sin ∅

𝜔𝜔𝑑𝑑 = 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2

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 FORMULA SHEET: Structural Dynamics

If decided using " 𝒓𝒓 " 𝐖𝐖𝐖𝐖𝐖𝐖𝐖𝐖𝐖𝐖 𝒓𝒓 = 𝝎𝝎�𝝎𝝎𝒏𝒏

𝐹𝐹0�
𝑘𝑘 2𝜉𝜉𝜉𝜉
𝑋𝑋 = 𝑎𝑎𝑎𝑎𝑎𝑎 𝜃𝜃 = tan−1 � �
�(1 − 𝑟𝑟 ) + (2𝜉𝜉𝜉𝜉)2
2 2 1 − 𝑟𝑟 2

1
• If 𝜉𝜉 > 𝑟𝑟 = 0
√2
1
• If 0 < 𝜉𝜉 <
√2
𝜔𝜔𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝
𝑟𝑟𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 = �1 − 2𝜉𝜉 2 𝜔𝜔𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 = 𝜔𝜔𝑛𝑛 �1 − 2𝜉𝜉 2 𝑓𝑓𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 =
2𝜋𝜋
𝐹𝐹0 1 2𝜉𝜉𝜉𝜉
𝑋𝑋peak = 𝜃𝜃 = tan−1 � �
𝑘𝑘 2𝜉𝜉�1 − 𝜉𝜉 2 1 − 𝑟𝑟 2

• If 𝝎𝝎𝒏𝒏 = 𝝎𝝎 𝑟𝑟 = 1 𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫
𝐹𝐹0 1
𝐹𝐹𝐹𝐹𝐹𝐹 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑋𝑋 =
𝑘𝑘 2𝜉𝜉
𝐹𝐹0 1
𝐹𝐹𝐹𝐹𝐹𝐹 acceleration𝑠𝑠 𝑋𝑋 =
𝑚𝑚 2𝜉𝜉

Multiple Degree of Freedom MDOF

𝑓𝑓1 (𝑡𝑡)
m1
𝑓𝑓𝑠𝑠1 𝑓𝑓𝑐𝑐1
𝑘𝑘1 (𝑥𝑥1 − 𝑥𝑥2 ) 𝑎𝑎
𝑎𝑎 𝑓𝑓𝑐𝑐2
𝑓𝑓𝑠𝑠2
𝑓𝑓2 (𝑡𝑡)
m2 𝑏𝑏
𝑓𝑓𝑠𝑠2 𝑏𝑏
𝑓𝑓𝑐𝑐2
𝑘𝑘2 (𝑥𝑥2 − 𝑥𝑥3 ) 𝑎𝑎
𝑎𝑎 𝑓𝑓𝑐𝑐3
𝑓𝑓𝑠𝑠3
𝑓𝑓3 (𝑡𝑡)
m3 𝑏𝑏
𝑓𝑓𝑠𝑠3 𝑏𝑏
𝑓𝑓𝑐𝑐3
𝑘𝑘3 (𝑥𝑥3 − 𝑥𝑥4 ) 𝑎𝑎
𝑎𝑎 𝑓𝑓𝑐𝑐4
𝑓𝑓𝑠𝑠4
𝑓𝑓4 (𝑡𝑡)
m4 𝑏𝑏
𝑓𝑓𝑠𝑠4 𝑏𝑏
𝑘𝑘4 𝑥𝑥4 𝑓𝑓𝑐𝑐4

[3]
FORMULA SHEET: Structural Dynamics

Multiple Degree of Freedom MDOF

stiffness matrix ‫ﻳﺘﻢ اﺳتﻨﺘﺎﺟﻬﺎ‬

𝑘𝑘1 −𝑘𝑘1 0 0
−𝑘𝑘 𝑘𝑘1 + 𝑘𝑘2 −𝑘𝑘2 0
mass matrix [𝐾𝐾] = � 1 �
0 −𝑘𝑘2 𝑘𝑘2 + 𝑘𝑘3 −𝑘𝑘3
𝑚𝑚1 0 0 0 0 0 −𝑘𝑘3 𝑘𝑘3 + 𝑘𝑘4
0 𝑚𝑚2 0 0
[𝑀𝑀] = � � 𝑘𝑘 + 𝑘𝑘2 −𝑘𝑘2 0 0
0 0 𝑚𝑚3 0 ⎡ 1 ⎤
0 0 0 𝑚𝑚4 −𝑘𝑘2 𝑘𝑘2 + 𝑘𝑘3 −𝑘𝑘3 0 ⎥
[𝐾𝐾] = ⎢
⎢ 0 −𝑘𝑘3 𝑘𝑘3 + 𝑘𝑘4 −𝑘𝑘4 ⎥
⎣ 0 0 −𝑘𝑘4 𝑘𝑘4 ⎦

natural frequency for each storey det |[𝑀𝑀]−1 ∗ [𝐾𝐾] − 𝜔𝜔2 ∗ [𝐼𝐼]| = 0

modal matrices Where,

Φ1,1 Φ1,2 Φ1,3 Φ1,4
⎡ ⎤ Φ1,1 = Φ2,2 = Φ3,3 = Φ4,4 = 1
Φ2,1 Φ2,2 Φ2,3 Φ2,4
[Φ] = ⎢ ⎥
⎢Φ3,1 Φ3,2 Φ3,3 Φ3,4 ⎥
⎣ Φ4,1 Φ4,2 Φ4,3 Φ4,4 ⎦ [[𝑀𝑀]−1 ∗ [𝐾𝐾] − 𝜔𝜔2 ∗ [𝐼𝐼]] ∗ [Φ] = [0]

Spectral matrices modal mass

𝜔𝜔2 0 0 0 𝑚𝑚𝑟𝑟 = {Φ𝑟𝑟 }𝑇𝑇 [𝑀𝑀]{Φ𝑟𝑟 }, 𝑤𝑤ℎ𝑒𝑒𝑒𝑒 𝑟𝑟 = 1,2,3,4
⎡ 1 ⎤
0 𝜔𝜔22 0 0⎥
[Ω2 ] = ⎢⎢ modal stiffness
⎢0 0 𝜔𝜔32 0 ⎥⎥
⎣0 0 0 𝜔𝜔42 ⎦ 𝐾𝐾𝑟𝑟 = {Φ𝑟𝑟 }𝑇𝑇 [𝐾𝐾]{Φ𝑟𝑟 }, 𝑤𝑤ℎ𝑒𝑒𝑒𝑒 𝑟𝑟 = 1,2,3,4

Generalized coordinates, 𝒒𝒒𝒓𝒓 (𝒕𝒕)

Check
by calculate natural frequency 𝑞𝑞̇ 𝑟𝑟 (0) + 𝑞𝑞𝑟𝑟 (0)𝜉𝜉𝑟𝑟 𝜔𝜔𝑟𝑟
𝑞𝑞𝑟𝑟 (𝑡𝑡) = 𝑒𝑒 −𝜉𝜉𝑟𝑟𝜔𝜔𝑟𝑟𝑡𝑡 �𝑞𝑞𝑟𝑟 (0) cos(𝑤𝑤𝑟𝑟𝑟𝑟 𝑡𝑡) + sin(𝜔𝜔𝑟𝑟𝑟𝑟 𝑡𝑡)�
𝑤𝑤𝑟𝑟𝑟𝑟
𝐾𝐾
𝜔𝜔𝑛𝑛 = �
𝑚𝑚 𝜔𝜔𝑟𝑟𝑟𝑟 = 𝜔𝜔𝑟𝑟 �1 − 𝜉𝜉𝑟𝑟2

initial conditions for displacement initial conditions for velocity

{Φ𝑟𝑟 }𝑇𝑇 ∗ [𝑀𝑀] ∗ {𝑥𝑥̇ (0)} {Φ𝑟𝑟 }𝑇𝑇 ∗ [𝑀𝑀] ∗ {𝑥𝑥̇ (0)}
𝑞𝑞𝑟𝑟 (0) = 𝑞𝑞̇ 𝑟𝑟 (0) =
𝑚𝑚𝑟𝑟 𝑚𝑚𝑟𝑟

calculate and plot response vector {𝒙𝒙(𝒕𝒕)}

𝑟𝑟=𝑛𝑛
{𝑥𝑥(𝑡𝑡)} = � 𝑞𝑞𝑟𝑟 (𝑡𝑡){Φ𝑟𝑟 } = 𝑞𝑞1 (𝑡𝑡) ∗ {Φ1 } + 𝑞𝑞2 (𝑡𝑡) ∗ {Φ2 } + 𝑞𝑞3 (𝑡𝑡) ∗ {Φ3 } + 𝑞𝑞4 (𝑡𝑡) ∗ {Φ4 }
𝑟𝑟=1

[4]
 FORMULA SHEET: Structural Dynamics

Design for Vibration Serviceability – Footbridges

Table 4: Configuration factors K from BS5400-2:1978

Table 5: Factor C from BD37/01

Figure 57: Dynamic response factor Ψ

for footbridge
Dynamic deflection 𝑦𝑦𝑚𝑚𝑚𝑚𝑚𝑚 = 𝑦𝑦𝑠𝑠𝑠𝑠 𝐾𝐾 Ψ
If 𝑓𝑓0 > 5; 𝑛𝑛𝑛𝑛 𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 𝑡𝑡𝑡𝑡 𝑐𝑐ℎ𝑒𝑒𝑒𝑒𝑒𝑒
Static deflection for simply supported beam If 4 < 𝑓𝑓0 < 5 calculate 𝑎𝑎𝑟𝑟 > 𝑎𝑎
𝑊𝑊𝑙𝑙3
𝑦𝑦𝑠𝑠𝑠𝑠 =
48𝐸𝐸𝐸𝐸

Logarithmic decrement 𝛿𝛿 = 2 𝜋𝜋 𝜉𝜉

𝐶𝐶 2 𝐸𝐸𝐸𝐸𝐸𝐸
Natural frequency 𝑓𝑓0 = �
2𝜋𝜋𝑙𝑙2 𝑀𝑀

Maximum acceleration 𝑎𝑎 = 4 𝜋𝜋 2 𝑓𝑓02 𝑦𝑦𝑚𝑚𝑚𝑚𝑚𝑚

Limit of acceleration 𝑎𝑎𝑚𝑚𝑚𝑚𝑚𝑚 = 0.5�𝑓𝑓0
Where
𝑙𝑙 → 𝑚𝑚; 𝐸𝐸 → 𝐾𝐾𝐾𝐾/𝑚𝑚; 𝐼𝐼 → 𝑚𝑚4 ; 𝑀𝑀 → 𝐾𝐾𝐾𝐾/𝑚𝑚; 𝑔𝑔 → 𝑚𝑚/sec 2 ; 𝑦𝑦 → 𝑚𝑚𝑚𝑚; 𝑓𝑓0 → 𝐻𝐻𝐻𝐻; 𝑎𝑎 → 𝑚𝑚/sec 2

𝑙𝑙 → 𝑚𝑚; 𝐸𝐸 → 𝑁𝑁/𝑚𝑚; 𝐼𝐼 → 𝑚𝑚4 ; 𝑀𝑀 → 𝐾𝐾𝐾𝐾/𝑚𝑚; 𝑔𝑔 → ‫;ﺗﺤﺬف‬ 𝑦𝑦 → 𝑚𝑚𝑚𝑚; 𝑓𝑓0 → 𝐻𝐻𝐻𝐻; 𝑎𝑎 → 𝑚𝑚/sec 2

[5]