BASIC CONCEPTS OF STRUCTURAL DYNAMICS

D.K. Paul
Emeritus Fellow, Department of Earthquake Engg., IIT Roorkee, Roorkee, 247667
dpaulfeq@gmail.com

INTRODUCTION
Every structure vibrates under external excitation. The response mainly depends on its
mass, stiffness, damping and boundary conditions. All of these parameters can be
expressed by a single parameter frequency f or time period T of vibration. A
structure may be idealized into single degree of freedom system (SDOFS) or a multidegree of freedom system (MDOFS). These idealized systems can then be analyzed
and its response to various excitations can be evaluated.

SINGLE DEGREE OF FREEDOM SYSTEM (SDOFS)

Figure 1 shows an idealization of a structure into spring-mass-dashpot system, which
can be idealized as a SDOFS.

x
m

x
k

Fig.1(a) Single degree of freedom (s.d.o.f) subjected to a force

External Applied

Damping
force

f (t )

Load

f (t )

cx
Inertia Force
Restoring
force

c
(a) SDOFS

m x

kx
(b) Free body diagram

Fig.1(b) Single Degree Freedom System

Basic Concepts of Structural Dynamics/ -1

If x is the deflection of the mass then the spring/ restoring force will be k x acting
opposite to the motion producing a restoring force = k x . The damping force also acts
opposite to the motion and is assumed to be proportional to velocity of the moving mass
equal to c x , where c is the damping coefficient and x is the velocity of the vibrating
mass.
The inertia forces acting on the mass is the product of mass and absolute acceleration and
acts opposite to the motion.
Inertia force = m

d 2x
m x
dt 2

(1)

where, x is the absolute acceleration of the mass.

Equilibrium of forces gives the equation of motion of the system as follows:
m x c x k x f (t )

(2)

For undamped free vibration, the damping and external force will vanish and the equation
can be expressed as:
m x k x 0

(3)

Assuming x a sin pt b cos pt as a solution to Eq.(3)

frequency as:

k
rad/ sec
m

or

2
sec
p

or

gives undamped natural

1
T

c/ sec

(4)

The constants a and b are evaluated by applying the initial conditions i.e. at
t 0, x xo and x x o and the solution can be expressed as
x xo cos pt

x o
sin pt
p

(5)

The damped free vibration can be obtained from

m x c x k x 0

(6)

For an under damped system the solution of Eq.(6) can be expressed as

x e p t a cos ( p 1 2 ) t b sin ( p 1 2 ) t

(7)

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Where, is the damping ratio defined as c / cc (cc is the coefficient of critical

Response

damping); Constants a and b are obtained from the initial conditions as explained
above. The above solution is oscillatory and decays exponentially as shown in Fig.2.

Time

Fig. 2 Undamped and damped response of a SDOFS

Table 1 gives the period of vibration of a 6 DOFS system (three translations and three
rotations of the roof slab) shown in Fig.1(a) for the given mass and stiffness.
Table 1-Time periods of vibration of structure (Fig.1(a)) and a comparison with
ETAB
Direction

Translation in X direction
(horizontal)
Tortional motion about Zaxis
Translation in X direction
(horizontal)
Translation in X direction
(horizontal)

Mass
(kN-sec2/m)

Stiffness
(kN/m)

Time period
(sec)

Time period
(sec)
(ETABS)

6.00

71112.0

0.0600

0.0610

58.00

597349.5

0.0620

0.0690

6.00

40000.0

0.0770

0.0790

6.00

4000000.0

0.0077

0.0077

RESPONSE TO GROUND MOTION

The equation of motion of single degree of freedom system (SDOFS) subjected to
ground excitation (Fig.3) is expressed as:
x(t ) is the absolute motion of the
mass m
x
y

z (t ) is the relative motion of the

mass m w.r.t. the fixed reference

x
k

y(t ) is the absolute acceleration

of the ground

Fig.3 Single degree of freedom (s.d.o.f) subjected to support excitation

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 c( x y ) k( x y) 0
mx
c( x y ) k( x y) 0
mx

(8)

or

m(
x )
y c( x y ) k( x y) my

or

cz kz my

mz

z 2pz p 2 z
y

(9)

where, z = x - y is the relative motion of mass with respect to ground, x is the absolute
motion of mass with respect to fixed base and y is the absolute acceleration of ground,
m, k and c are the mass, stiffness and damping of the SDOFS system, p
undamped natural frequency,

k
is the
m

c
is the fraction of critical damping or damping
2 mp

ratio. If the ground excitation is expressed as y y0 sin t then the response is worked
out as
z( t )

y 0
p2

1
(1 ) (2) 2

Defining, z st yo p 2

2 2

and

sin(t )

(10)

the frequency ration, p

Therefore, the dynamic amplification w.r.t static deflection can be expressed as:

Dd

zm
1

2
2
z st
(1 ) (2 ) 2

(11)

Absolute acceleration of mass is given by

z y (2 p z p 2 z )
y0

Da

1 (2 ) 2
(1 2 ) 2 (2 ) 2

(12)

sin(t ( 0 ))

1 (2 ) 2
z y

y
(1 2 ) 2 (2 ) 2

(13)

Figures 4 and 5 show the dynamic displacement and acceleration amplifications for
frequency ratios and damping ratios for sinusoidal excitation. Resonance

Basic Concepts of Structural Dynamics/ -4

condition is observed when the excitation frequency matches with the natural
frequency of the system. In an earthquake, the damaging energy is carried by several
frequencies instead of only one frequency and therefore the motion is random in nature.
The response of the system to random excitation can be obtained using Green's
function, the solution of (9) gives,

Dd

Fig. 4 Dynamic displacement-magnification factor with damping and

frequency as parameters

Da

Fig. 5 Dynamic acceleration-magnification factor with damping and

frequency as parameters

1
pd

y( )e

p ( t )

sin p d (t )d

(14)

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Let

s v* y( )e p (t ) sin p d (t )d
0
max

Then, z max s d

(15)

1 *
s v (relative max. displacement response)
pd

(16)

p d p 1 2 p (Since << 1)

(17)

z max sv s * (Relative max. velocity response)

(18)

xmax s a p sv*

(19)

The detail of calculations for evaluating s v and s a can be found elsewhere.

p sv p s d (Pseudo-velocity)

(20)

p s a p 2 s d (Pseudo-acceleration)

(21)

Period (sec)
Fig.6(a) Displacement, (b) Velocity and (c) Acceleration response spectra for
an earthquake ground motion

Basic Concepts of Structural Dynamics/ -6

A plot of maximum response quantity ( either relative displacement, maximum relative

velocity or absolute acceleration) against the period of vibration of structure of SDOFS
is defined as the Response Spectra of that response quantity. It can be obtained directly
using relations (16), (18) and (19). These plots are known as displacement, velocity and
acceleration response spectra respectively. Figure 5 shows the displacement, velocity
and acceleration response spectra for El-Centro earthquake motion for 2% damping.
A response spectra vary much depends on the time history characteristics of ground
motion which largely depends upon on the local site condition. Prediction time history
of ground motion at a site is not possible as it is a random phenomenon. Therefore, an
average response spectra depending upon the site soil type is used as Design Response
Spectra as given in IS 1893-2002.

SELECTION AND DESIGN GROUND MOTIONS

Selection of ground motion acceleration time history at a site is required for linear or
nonlinear time history analysis of structure. This can done either modifying the existing
ground motion recorded at similar site condition or artificial simulation of spectra
compatible ground motion.
Modifying Existing Ground Motion
An actual recorded time history on a similar site conditions (near similar tectonic,
geological conditions, magnitude, epicentral distance and local site conditions) is used
for structural analysis by modifying the record in two ways, such that, (i) the
predominant ground period of the recorded ground motion is matched with the
expected predominant ground motion of the site and (ii) the ground parameter (either
PGA, PGV, PGD or spectral ordinates) of the recorded ground motion is either scaled
up or scaled down depending upon the estimated ground parameter at the site. Where,
it is not possible to select actual recorded ground motions, spectra compatible ground
motion can be generated for analysis.
Spectrum Compatible Ground Motions
The ground acceleration time history is used as base excitation for dynamic analysis.
Spectrum compatible time histories can also be generated. A procedure for generation of
IS: 1893 (Part l)-2002 spectra compatible ground motion corresponding to hard soil
condition and Zone IV (0.24g) is presented. The WAVEGEN code is used for generation
of spectra compatible time histories. The computer code is based on the wavelet-based
algorithm presented by Mukherjee and Gupta (2002). The spectrum compatible time
histories are generated from the real earthquake, recorded at the stations having geology
similar to site condition. The five ground motions considered are from five earthquakesNorthridge, El Centro, Uttarkashi, Kobe, and Chamoli. The compatible time history for
one such Northridge earthquake is shown in Fig.7.

Basic Concepts of Structural Dynamics/ -7

acceleration (g)

0.2

Northridge earthquake

0.1
0.0
-0.1
-0.2
0

10

time (sec)

15

20

Fig. 7 - Spectrum compatible ground acieration time history

A comparison of response spectra of five specified earthquakes with IS 1893:2002 (Part

1) with code based target design spectrum is shown Fig.7.

Fig 8 Comparison of response spectra

MULTI-DEGREE FREEDOM SYSTEM

Figure 8 shows a 2D frame of a four story building. The floors are considered rigid
and base is considered fixed.
For multi-degree freedom system, the equation of motion can be expressed as:

M z C z K z M I y

(22)

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where, M , C, K are the mass, damping and stiffness matrices of the structure and
z is the vector of independent relative displacements. The undamped free vibration
of multi degree freedom system can be expressed as

f4
x4
f3
x3

f2
z

x2
f1
x1
y

/////////////////////////////////////////////////////////
Fig.9 Four storey building and deflected shape

M z K z 0

(23)

Assume relative displacement vector z [ ( x y)] to be harmonic such as

z a e ipt

(24)

where, a is constant and is the mode shape vector and is given by:

T 1 , 2 n T

(25)

Substitute (24) in (23),

p2 M K 0
Various forms of above equation are as follows:
or

K p2 M

or

or

D p 2

(26)

K p2
(27)

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or

p2

p2

D1

(28)

Both are of the form

A

(29)

Which represent an Eigen value problem. Since the solution converges to highest value of
and eigen vector which is the mode shape or the characteristic shape. The matrix
iteration of (29) will converge to the highest value of p 2 or the highest value of
frequency of vibration.
Thus when the mass moves in a vertical direction, measurement of the static deflection
st enable us to compute the period and frequency of vibration of the system. It is not
necessary that we know the mass m or the spring constant k .

We seek solution of

K p2 I

K p2 I 0

(30)

(31)

For nontrivial solution,

K p 2 I 0

Let

or

z i i( r ) r

(32)

(33)

(34)

r 1

is the normal or principle coordinates.

r p r2 r

m j (j r )
j 1

m j
m

j 1

(r ) 2
j

y C r y

(35)

Basic Concepts of Structural Dynamics/ -10

m j (j r )

i 1
n

m j (j r )
j 1

1 t
y sin p r t d
pr o

(36)

zi

ir m j (j r )

r 1

j 1

m j
n

j 1

(r ) 2
j

z i( r )

xi( r )

i( r ) Cr S ar

max

max

1 t
y sin p r t d
pr o

1 (r )
i C r S vr 1( r ) C r S dr
pr

(37)

(38)

..

.(39)

///////////////////////////////
Fig. 10 - Mode shapes

z1

z2

z3

t1

t2

t3

Fig. 11 Combination of modal response

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Figure 10 shows the modes shape of vibration and Fig. 11 shows the combination of modal
response. Only first few modes are significant and contribute to the total response. Higher
modes response is small. This mode superposition is only applicable to linear problems.
For nonlinear problem the response is obtained by direct time integration.

REFEENCES
Dowric, David (2011), Earthquake Resistant Design and Risk Reduction, John Wiley &
Sons, Inc., UK
Kramer, S.L. (2008), Geotechnical Earthquake Engineering, Published by Dorling
Kindersley (India) Pvt. Ltd.
Mukherjee, S. & Gupta, V. K. (2004). Wavelet-based generation of spectrumcompatible time-histories. Soil Dynamics and Earthquake Engineering 22 (2002)
799804

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