Basics of Dynamics

Amit Prashant
Indian Institute of Technology Gandhinagar
Short Course on

Geotechnical Aspects of Earthquake Engineering

04 08 March, 2013

Our Dear Pendulum Revisited

g.sin

Force Equilibrium:
Cord length, s l.
ds
d
l.
Velocity, v
dt
dt
Acceleration, a g.sin
dv
g.sin
dt
d 2s
d 2

l
.
g.sin
dt 2
dt 2
g
.sin 0
l
g
For small
. 0
l

Single Degree of Freedom Systems

Stiffness, k

Stiffness, k

Mass, m

Mass, m

Stiffness, k

Stiffness, k

Mass, m

Damping
c

Mass, m

Damping, c

Single Degree of Freedom Systems

Structures which have

Most of their mass lumped at a single location

Only a single displacement as unknown

Bridges

Elevated
Water
Tank

Equivalent SDOF System

4

Dynamic Equilibrium

Three independent
properties

Mass, m
Stiffness, k
Damping, c

Building

u(t)

Roof

Disturbance

External force f(t)

Response

Displacement,
Velocity,
Acceleration,

ut
u t
t
u

f(t)

Column

Internal forces
f I t m ut

Inertia force

Damping force

f D t c u t

Stiffness force

fS t k ut

f I t

f S t

f D t
m

ut

u t

k
1

u t

Force Equilibrium

Dynamic equilibrium

fI(t)+ fD(t) + fS(t) = f(t)

mu cu ku f (t )
External
force

Inertia force

f(t)
Stiffness
force

Damping force
7

Neutral
position

Free Vibrations

Initial disturbance

Pull and release : Initial displacement

Impact
: Initial velocity

Extreme
position

No external force
cu ku 0
mu
Divide by mass
c
k
u u u 0
m
m

Natural
frequency

Damping Ratio

k
m

2m
n

u 2 nu nu 0
Natural Period, T

Free Vibration Response

Displacement u(t)

v0
Undamped system

u0
d0

un

Time t
T

Displacement u(t)

v0
u0
d0

Damped system

Exponential decay
un

Time t
T

Dt

Free Vibration Response of Damped Systems

u0

Overdamped
0

u0

In Civil Engineering Structures

Underdamped

d0
u(t)

u(t)

d0

10

Analogy of Swing Door with Dashpot

Closing Mechanism

If the door oscillates through the closed position it is

underdamped
If it creeps slowly to the closed position it is
overdamped.
If it closes in the minimum possible time, with no
overswing, it is critically damped.

Critical Damping: the smallest amount of damping for

which no oscillation occurs

If it keeps on oscillating and does not stop, it is ??

11

Undamped System: Free vibrations

Equation of motion

u nu 0

Solution:

Displacement u(t)

uo

Initial
velocity

Initial
displacement

sin nt uo cos nt

v0 = uo
0

u0

Time t

12

Undamped System:
Free vibrations

m = 5000 kg

Example

k = 8000 kN/m

m = 5000 kg
k = 8000 kN/m

k
8000 1000 40 rad / s
5000
m

T 2 2 0.1571 s
n
40
n
f 1 1 6.37 cycles / s 6.365 Hz
n T
0.1571
n

13

Damped System: Free vibrations

Equation of motion

u 2 nu nu 0

Displacement u(t)

Solution:

Initial
velocity

Initial
displacement

uo nuo

u
sin Dt uo cos Dt e nuo

D 1 2
n
v0 = uo
0

u0

Time t

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Damped System: Free vibrations

Example
m = 5000 kg
c = 20 kN/(m/s)
k = 8000 kN/m

2m
n

m = 5000 kg
k = 8000 kN/m
c = 20 kN/(m/s)

20 1000 0.05
2 5000 40

1 2 40 1 0.052 39.95 rad/s

D
n
D n
T 2 = 2 =0.1573 s
D
39.95
D
f = 1 = 1 =6.366 Hz
D T
0.1573
D

15

Example: Damping
From the given data,
a0 = 5.5 m,
a9 = 0.1 m
t9 - t0 = 4.5 s

Time t (s)

Damped natural period

TD = (tN - t0)/N
= 4.5/9 = 0.5 s

2 2

12.57 rad/s
TD 0.5

Damping ratio

1
1 log 5.5 0.07

log e

e
2N
2

9
a

0.1

16

f sin t

Forced Vibrations

Displacement u(t)

Apply a sinusoidal loading

with frequency,
The equilibrium equations becomes
mu cu ku f sin t

Time t

17

f sin t

Forced Vibration Response

Sinusoidal Force
Constant Amplitude

Static

ustatic

u1

u2

u3

u4

u5

u6

Displacement

Frequency

18

Forced Vibration Response

Resonance at natural
frequency of structure
Critically dependant on
damping
Undamped
Magnification
Factor
=
Normalised
Displacement
umax/ustatic

Underdamped
1

Critically Damped

Frequency

n
19

Evaluation of Damping

Half-Power Method

Normalised Displacement
umax/ustatic

B A
2n

Frequency

20

10

Seismic Ground Motion

From Earthquake Dynamics of Structures, Chopra (2005)

21

Seismic Ground Motion Response

Change of reference frame

Rigid body motion causes no stiffness & damping forces

Moving-base Structure

Fixed-base Structure

Mass m

g t
mu

g t
u

u
g ) cu ku 0
m( u
Absolute
acceleration

Relative
Velocity/displacement

cu ku mu
g t
mu
22

11

Seismic Ground Motion Response

g t
u
Time t

u t
Time t

23

Deformation Response

From Earthquake Dynamics of Structures, Chopra (2005)

24

12

Double Pendulum

1 l1
m1

2 l
2
m2

25

Multi Degree of Freedom (MDOF)

Systems

MDOF?

Mass located at
multiple locations
More than one
displacement as
unknowns

u1(t)
u2(t)
Building

Equilibrium equation in matrix form

f I f D f S f E(t)

Solution is found by

Simultaneously solving the equation

Modal Analysis
26

13

Summary

SDOF system

Free Vibration Response

Structures with SDOF

Internal Forces
Force Equilibrium
Undamped
Damped

Forced Vibration Response

Seismic Ground Motion Response

27

Thank You

28

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