Tribhuvan University

Institute of Engineering
Department of Civil Engineering
M.Sc. Programme in Structural Engineering
Pulchowk Campus

STRUCTURAL DYNAMICS
ASSIGNMENT NO. 2

Submitted by: Prayush Rajbhandari
Roll no: 074MSStE016
Department of Civil Engineering
M.Sc. Programme in Structural Engineering
Pulchowk Campus
Submitted to: Prof. Dr. Prem Nath Maskey
Department of Civil Engineering
M.Sc. Programme in Structural Engineering
Pulchowk Campus

Date of Submission: June 26, 2018

1. A construction worker is goofing around on site and is standing on a wood beam at its
center. The worker is shaking up and down as he does his job but eventually the beam fails.
The site engineer is called over to analyze the dynamic system to determine the stiffness of
the beam. Determine the equivalent stiffness, for the massless beam system. Leave your
answer in terms of E, I, and L. Your degree of freedom is the displacement of the beam in the
down direction at the point indicated

Solution,
5𝑃 11𝑃
Reaction at roller support= , So the vertical reaction at the fixed support= and the
16 16
3𝑃𝐿
moment= 16

Breaking the system into two parts and considering the left support, we have M(x) as,
3𝑃𝐿 11𝑃𝑥
M(x)= 16 - 16
3𝑃𝐿 11𝑃𝑥
EI d2 y/ dx2= M(x) = 16
- 16
3𝑃𝐿𝑥 11𝑃 2
EI ϴ= - x + c1…………………………..(1)
16 16∗2
3𝑃𝐿 2 11𝑃
EIy= 16∗2
x - 16∗2∗3x3 + c1x+ c2……………….(2)

We have, Boundary Conditions:

For x=0, ϴ=0

For x= 0, y=0

Applying these conditions in equation (1) and (2), we get,

C1=0 and C2=0

For x=L/2, we get

3𝑃 11𝑃
EIy= 128 L3 - 768 L3
7𝑃
EIy= 768 L3
𝑃 768𝐸𝐼
Hence, K= 𝑦
= 7𝐿^3

1
2. Consider a heavy mass of weight W on the following beam system.
Assume the damping ratio of the beam is ξ=10%. If the displacement, v(t) corresponds to the
displacement of beam at the location of the attached weight and if the system is given an
initial displacement of 0.5in and initial velocity of 15in/sec, determine the following:
a. Write the equation of motion of the system. What type of system is it?
b. The undamped natural frequency (w) and period(T) of the system.
c. The damped natural frequency(wd) and period (Td) of the system.
d. The critical damping coefficient, Cc
e. Phase angle of the vibrating motion
f. The peak displacement at time t=Td+ϴ/w
g. The peak displacement at time t=2Td+ϴ/w
h. The logarithmic decrement, δ

Solution,
𝑃 𝑃𝐿
Reaction at left support= Reaction at right support = , and the moment at each supprot=
2 8

Breaking the system into two parts and considering the left support, we have M(x) as,
𝑃𝐿 𝑃𝑥
M(x)= -
8 2
𝑃𝐿 𝑃𝑥
EI d2 y/ dx2= M(x) = -
8 2
𝑃𝐿𝑥 𝑃
EI ϴ= 8
- 2∗2x2+ c1…………………………..(1)
𝑃𝐿 2 𝑃
EIy= 8∗2
x - 2∗2∗3x3 + c1x+ c2……………….(2)

We have, Boundary Conditions:

For x=0, ϴ=0

For x= 0, y=0

Applying these conditions in equation (1) and (2), we get,

C1=0 and C2=0

For x=L/2, we get

𝑃 𝑃
EIy= 16∗2^2 L3 - 12∗2^3 L3
𝑃
EIy= 192 L3
𝑃 192𝐸𝐼
Hence, K= 𝑦
= 𝐿^3

2
 192𝐸𝐼 192∗10^6
K= = =111.111K/in
𝐿^3 120^3

w = √111.111 ∗ 386/5=92.61 rad/sec

c=2mw ξ =2*5/386*92.61*0.1=0.2399

cc=2mw=2*5/386*92.61=2.399

a) C<Cc So the system in Underdamped

2𝜋 2𝜋
b) w=92.61 rad/sec and T= 𝑤
= 92.61= 0.0678sec

𝑇
c) wD=w √1 − ξ^2 =92.1457 rad/sec and TD= =0.06814 sec
√1−ξ^2

d) Cc=2.399
ύ(0)+𝜉𝑤𝑣(0) 15+0.1∗92.61∗0.5
e) ϴ=tan-1[ 𝑤𝑑∗𝑣(0)
]= tan-1[ 92.1457∗0.5
]=0.40278 rad

f) T=TD+ ϴ/w=0.06814+0.40278/92.61=0.07249
ύ(0)+𝜉𝑤𝑣(0)
v(t)=[v(0)coswDt+{ sinwDt}*e-ξwt=0.286in
𝑤𝑑

g) T=2TD+ ϴ/w=2*0.06814+0.40278/92.61=0.1406
ύ(0)+𝜉𝑤𝑣(0)
v(t)=[v(0)coswDt+{ 𝑤𝑑
sinwDt}*e-ξwt=0.1455in

h) δ=Ln(Vn/Vn+1)= 2𝜋𝜉/ √1 − 𝜉^2=0.6314

3
3. With a purpose to determine the dynamic properties of a frame system it has lost the
original blueprint, it is decided to do a free vibration test of the frame system. With the help
of a hydraulic jack, a jacking force is applied to displace the frame. With a jacking force of 20
kips it is noted that the frame has displaced 0.2 in. After jacking the frame, the frame is
released from the jack and its motion is recorded. On the first return swing after release, the
frame does not come back to the release point but rather 0.16in towards it. The recorded
time between the time of release and the first return swing of 0.16in is 1.4 seconds.
Determine the following:
a. Natural Frequency(w)
b. Mass of the girder(m)
c. Logarithmic decrement (δ)
d. Damping ratio (ξ)
e. Damping coefficient (c)
f. Damping frequency (wd)
g. Amplitude of the frame after 6 cycles, v6
h. Plot the time history response of the system, v(t)

Solution,

Force, F= 20 kips

Deflection, Δ= 0.2in

Stiffness, k= F/ Δ=20/0.2= 100 kips/in

Given, T= 1.4 sec

So f=1/T=0.71428

a) w=2πf=2π*0.71428= 4.48799 rad/sec

b) w=√𝑘/𝑚 so m=k/w2=100/ 4.48799^2=4.9647 kipa-sec2/in
c) δ=Ln(Vn/Vn+1)=Ln(0.2/0.16)=0.223
d) δ= 2𝜋𝜉/ √1 − 𝜉^2
On solving the above equation using the value δ=0.223, we get,
𝜉=0.0355=3.55%
𝑐
e) 𝜉=2𝑚𝑤 or, c=2mw𝜉= 2*4.9647*4.48799*0.0355=1.5815 kips-sec/ in
f) WD=w√1 − 𝜉^2=4.48516 rad/sec

4
 1
g) No. of cycles=δ Ln(Vn/Vn+1)
On solving the above equation using δ=0.223 and Vn=0.2, we get
v6= 0.0524 in
h) v(t)=[v(0)coswDt+{ύ(0)+ 𝜉wv(0)}sinwDt/wD]e-ξwt
Here v(0)=0 and ύ(0)=0 (As the system starts from rest)

So we have the following equation,

v(t)=[0.2cos4.485t+0.00785sin4.485t]e-0.1762t

Using the above equation and tabulating the values of displacement for time starting from t=0 with
an increment of 0.2 sec
Table 1

t (s) V(t) t (s) V(t) t (s) V(t)

0 0.2000 1.4 0.1600 2.8 0.1280
0.2 0.1263 1.6 0.1015 3.0 0.0816
0.4 -0.0351 1.8 -0.0275 3.2 -0.0215
0.6 -0.1608 2.0 -0.1284 3.4 -0.1025
0.8 -0.1615 2.2 -0.1294 3.6 -0.1037
1.0 -0.0443 2.4 -0.0360 3.8 -0.0292
1.2 0.098 2.6 0.0780 4.0 0.0620

Time History Response of the System

0.250

0.200

0.150

0.100

0.050
v(t)

0.000
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
-0.050

-0.100

-0.150

-0.200
t(s)

5
4. Estimate the natural frequency, undamped natural period and fraction of critical damping of
the following time series.

Solution,

From the graph given, we can see that

During 5 cycles, the time taken is 10 sec or during 10 cycles, the time taken is 20 sec.

TD=5/10=0.5sec or 10/20=0.5sec

Also,

v(0)=0.950

v(10)=0.505
1
No. of cycles=δ Ln(Vn/Vn+1)

δ=Ln(0.950/0.505)/5=0.126

δ= 2𝜋𝜉/ √1 − 𝜉^2

On solving the above equation using the value δ=0.126, we get,

𝜉=0.020=2.00%

T=TD√1 − 𝜉^2=0.5√1 − 0.02^2=0.4999sec

f=1/T=2.0004 Hz

w=2πf=2π*2.0004=12.569 rad/sec

6
5. For a system with a damping ratio ξ, determine the number of the free vibration cycles
required to reduce the displacement amplitude to 10% of the initial amplitude; the initial
velocity is zero.

Solution,

We know,
1
No. of cycles=δ Ln(Vn/Vn+1)……………………...(1)

δ=Ln(Vn/Vn+1)= 2𝜋𝜉/ √1 − 𝜉^2………………..(2)

Given condition, Vn/Vn+1=v/0.1v=10…………(3)

For different values of 𝜉, there will be different values of δ and different number of cycles.

Different values of 𝜉 is taken to determine δ and the number of cycles using the equations
(1), (2) and (3) which has been tabulated below:

Table 2

𝜉 Δ No. of cycles 𝜉 δ No. of cycles

0.05 0.315 7.320 0.55 4.138 0.556
0.10 0.631 3.646 0.60 4.712 0.489
0.15 0.953 2.415 0.65 5.374 0.428
0.20 1.283 1.795 0.70 6.159 0.374
0.25 1.622 1.419 0.75 7.124 0.323
0.30 1.976 1.165 0.80 8.378 0.275
0.35 2.348 0.981 0.85 10.138 0.227
0.40 2.742 0.840 0.90 12.973 0.177
0.45 3.166 0.727 0.95 19.116 0.120
0.50 3.628 0.635

'𝜉' VS 'No. of Cycles'

8.000

7.000

6.000
No. of Cycles

5.000

4.000

3.000

2.000

1.000

0.000
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
𝜉

From the table and graph, we can easily determine the number of cycles rounded to the
closest zero for any practical value of ξ.

7
6. What is the ratio of successive amplitudes of vibration if the viscous damping ratio is known
to be (a) ξ=0.01, (b) ξ=0.05, or (c) ξ=0.25?
Solution,

δ=Ln(Vn/Vn+1)= 2𝜋𝜉/ √1 − 𝜉^2

(Vn/Vn+1)=e^ δ

a) 𝜉 = 0.01
δ=2𝜋𝜉/ √1 − 𝜉^2 =0.0628
v1/v2=e^0.0628=1.0648

b) 𝜉 = 0.05
δ=2𝜋𝜉/ √1 − 𝜉^2 =0.3146
v1/v2=e^0.3146=1.3696

c) c) 𝜉 = 0.25
δ=2𝜋𝜉/ √1 − 𝜉^2 =1.6223
v1/v2=e^1.6223=5.0648

7. The stiffness and damping properties of a mass-spring-damper system are to be determined

by a free vibration test; the mass is given as m=0.1 lb-sec2/in. In this test the mass is
displaced 1 in by hydraulic jack and then suddenly released. At the end of 20 complete
cycles, the time is 3 sec. and the amplitude is 0.2 in. Determine the stiffness and damping
coefficients.
Solution,

M=0.1lb-sec2/in=10-4kips-sec2/in
=1 in
1
No. of cycles= Ln(Vn/Vn+1)
δ

On solving the above equation using Cycles=20, Vn= 1 in and Vn+m= 0.2 in, we get,
δ=0.08047
And,
δ=2𝜋𝜉/ √1 − 𝜉^2

On solving the above equation using δ=0.08047, we get,

𝜉= 0.012806=1.281%

Now,

TD=3/20=0.15 sec

T=TD√1 − 𝜉^2 =0.15√1 − 0.012806^2=0.14999 sec

W=2π/T=2π/0.14999=41.891 rad/sec

K=w2*m=41.8912*10-4=0.17549 kips/in=175.488 lb/in

C=2mw 𝜉=2*10-4*41.891*0.012806=10.729 kips-sec/in

8
8. A machine weighting 250 lb is mounter on a supporting system consisting of four springs and
four dampers. The vertical deflection of the supporting system under the weight of the
machine is measured as 0.8 in. The dampers are designed to reduce the amplitude of
vertical vibration to one-tenth of the amplitude after two complete cycles of free vibration.
Find the following properties of the system: (a) undamped natural frequency, (b) damping
ratio, and (c) damped natural frequency. Comment on the effect of damping on the natural
frequency.

Solution,

250
M=386∗10^3=6.47668*10-4 kips-sec2/in (acceleration due to gravity=386in/sec2)
= 0.8 in

250
K=0.8∗10^3=0.3125 kips/in

1
No. of cycles=δ Ln(Vn/Vn+1)

On solving the above equation using Cycles=2, Vn= v in and Vn+m= 0.1v in, we get,
δ=1.15129
(a) w = √𝑘/𝑚=√0.3125 ∗ 10^4/6.47668=21.9659 rad/sec
(b) δ=2𝜋𝜉/ √1 − 𝜉 2
On solving the above equation using δ=1.15129, we get,
𝜉= 0.18023=18.023%

(c) wD=w √1 − 𝜉 2 = 21.966√1 − 0.18022=21.606 rad/sec

The natural frequency of a system is an inherent property, i.e. it depends only upon the
properties of the system. The following expressions shows that natural frequency is
depended upon the stiffness and the mass of the system.

w=√𝑘/𝑚 or, m=k/w2 or, k=mw2

This shows that the natural frequency actually remains the same. What changes is, the
actual vibrating frequency, also called the damped frequency. If the natural frequency is ‘w’
and the damping ratio is ‘𝜉′, then the damped frequency becomes:

wD=w √1 − 𝜉 2

We can see from the equation that when 𝜉 = 0 then wD=w i.e. no damping condition. For
such a condition to arise, the damping coefficient (c) must be equal to zero.