‫ٱﻟﺭ ْﺣ ٰ َﻣ ِﻥ ﱠ‬

‫ٱﻟﺭ ِﺣ ِﻳﻡ‬ ‫ٰ‬

‫ِﺑ ْﺳ ِﻡ ٱ ﱠ ِ ﱠ‬
 DYNAMICS OF STRUCTURES
PRESENTED BY:
MOHSIN ALI
2024-UET/MSC-CE-08
PRESENTED TO:
PROF. DR. QAISER UZ ZAMAN

UNIVERSITY OF ENGINEERING & TECHNOLOGY

TAXILA
 CHAPTER # 9
TOPICS : 9.1 TO 9.6

EQUATION OF MOTION, PROBLEM STATEMENT

AND SOLUTION METHODS
9.1 SIMPLE SYSTEM: TWO-STORY SHEAR BUILDING

9.2 GENERAL APPROACH FOR LINEAR SYSTEMS

9.3 STATIC CONDENSATION

9.4 PLANAR OR SYMMETRIC-PLAN SYSTEMS: GROUND MOTION

9.5 UNSYMMETRIC-PLAN BUILDINGS: GROUND MOTION

9.6 SYMMETRIC-PLAN BUILDINGS: TORSIONAL EXCITATION

INTODUCTION

The structural dynamics problem is formulated for structures

discredited as systems with a finite number of degrees of
freedom.

The equations of motion are developed first for a simple multi-

degree-of-freedom (mdf) system; a two story shear frame is
selected to permit easy visualization of elastic, damping, and
inertia forces.

A general formulation is presented for mdf systems subjected

to external forces or earthquake induced ground motion.

This general formulation is then applied to develop the

equations of motion for multistory buildings, first for symmetric
plan buildings and then for unsymmetrical-plan buildings.
9.1 SIMPLE SYSTEM: TWO-STORY SHEAR BUILDING

We first formulate the equations of motion for the simplest

possible MDF system, a highly idealized two-story frame
subjected to external forces P1 (t) and p2(t) (fig. 9.1.1a).
In this idealization the beams and floor systems are rigid
(infinitely stiff) in flexure.
Several factors are neglected: axial deformation of the
beams and columns, and the effect of axial force on the
stiffness of the columns.
This shear-frame or shear-building idealization, although
unrealistic, is convenient for illustrating how the equations
of motion for an mdf system are developed. Later, we
extend the formulation to more realistic
9.1 SIMPLE SYSTEM: TWO-STORY SHEAR BUILDING

Idealizations of buildings that consider beam flexure and

joint rotations, and to structures other than buildings.

The mass is distributed throughout the building, but we

will idealize it as concentrated at the floor levels. This
assumption is generally appropriate for multistory
buildings because most of the building mass is indeed at
the floor levels.

Just as in the case of sdf systems (chapter 1), we assume

that a linear viscous damping mechanism represents the
energy dissipation in a structure
9.1 SIMPLE SYSTEM: TWO-STORY SHEAR BUILDING

The number of independent displacements required to

define the displaced positions of all the masses relative to
their original equilibrium position is called the number of
degrees of freedom.

The two-story frame of fig. 9.1.1a, with lumped mass at

each floor level, has two dofs: the lateral displacements U
I and U2 of the two floors in the direction of the x-axis.
9.1 SIMPLE SYSTEM: TWO-STORY SHEAR BUILDING
9.1.1 USING NEWTON'S SECOND LAW OF MOTION

The forces acting on each floor mass include the external

force pj(t), the elastic (or inelastic) resisting force fs and
the damping force fdj.

The external force is taken as positive and the elastic and

damping forces are shown acting in the opposite direction
because they are internal forces that resist the motions.

Newton's second law of motion then gives for each mass:

p j  f Sj  f Dj  m j u j
m j u j  f Dj  f Sj  p j (t )
 CONT…..

Equation (9.1.1) contains two equations for j = 1 and 2, and

these can be written in matrix form:

m10 u1  fD1  fS1  p1(t)

0 m u f f p (t)
 2 2  D2  S2  2 
This equation can be written compactly as

mu fD  fS  p(t)
By introducing the following notation:
 u1   m1 0   f D1   f S1   p1 
u   m    fD    fS  p   
u 2  0 m 2   fD2   fS2   p2 

Where m is the mass matrix for the two-story shear frame.

CONT…..

For this purpose we introduce the lateral stiffness kj of the

jth story; it relates the story shear V; to the story
deformation or drift, j = uj - uj_i> by

Vj  k j j
The story stiffness is the sum of the lateral stiffness of all
columns in the story. For a story of height h and a column
with modulus E and second moment of area ie, the lateral
stiffness of a column with fixed ends, implied by the
shear- building idealization, is 12E ic/h3.
CONT…..

Thus the story stiffness is

12 EI e
kj   3
columns h
With the story stiffness's defined, we can relate the
elastic resisting forces fsi and fs2 to the floor
displacements, ui and u2. Thus

f S1  f  f b
S1
a
S1
CONT…..

Which, after substituting and noting that til = UI and ti2

= U2 - UI, becomes
f S 1  k1u1  k 2 (u2  u1 )
The force fs2 at the second floor is

f S 2  k 2 (u2  u1 )
Observe that fs1 and fs2 are equal in magnitude and
opposite in direction because both represent the
shear in the second story.
CONT…..

In matrix form eqs. (9.1.6a) and (9.1.6b) are

 f S 1  k1  k 2  k 2  u1 
    orf s  ku
 f S 2    k2 k 2  u 2 
Thus the elastic resisting force vector fs and the
displacement vector u are related through the
stiffness matrix k for the two-story shear building.

The damping forces fd1 and fd2 are next related

to the floor velocities u1 and u2.
 CONT…..

The jth story damping coefficient cj relates the story shear

vj due to damping effects to the velocity dj associated
with the story deformation by

Vj  c j j
In a manner similar to eq. (9.1.6), we can derive

f D1  c1u1  c2 (u1  u2 ) f D 2  c2 (u2  u1 )

CONT…..
In matrix form the eq. Is
 f D 1   c1  c 2  c 2   u 1 
      orf  c u
 f D 2    c2
D
c 2   u 2 
 The damping resisting force vector fd and the
velocity vector it are related through the damping
matrix c for the two-story shear building. We now
substitute eqs. (9.1.7) and (9.1.10) into eq.
(9.1.3) to obtain

mu  cu  ku  p(t )

 9.2 GENERAL APPROACH FOR LINEAR
SYSTEMS
The formulation of the equations of motion in the
preceding sections, while easy to visualize for a shear
building and other simple systems, is not suitable for
complex structures.

For this purpose a more general approach is presented

in this section. We first define the three types of forces-
inertia forces, elastic forces, and damping forces-and
then use the line of reasoning presented in section
9.1.4 to develop the equations of motion.
9.2 GENERAL APPROACH FOR LINEAR SYSTEMS
 9.2.1 DISCRETIZATION
For example, a two-story, two-bay planar frame has six
nodes and 18 dofs (fig. 9.2.1a). Axial deformations of
beams can be neglected in analyzing most buildings, and
axial deformations of columns need not be considered for
low rise buildings. With these assumptions the two-story. Two-
bay frame has eight dofs (fig. [Link]). This is the structural
idealization we use for illustration. The external dynamic
forces are applied at the nodes (fig. 9.2.2). The moments
p3(t) to p8(t) are zero in most (if not all) practical cases.
 9.2.1 Discretization

.
9.2.2 Elastic Forces
 9.2.2 ELASTIC FORCES
The force fsi at DOF i associated with displacements

Uj, j = I to N (fig. 9.2.3a), is obtained by superposition;

f Si  ki1u1  ki 2u2  ...  kij u j  ...  kiN u N

One such equation exists for each i = 1 to N. The set of N equations
can be written in matrix form:
 f S1   k 11 k 12 ... k 1 j ... k 1 N  u1 
 f    
 S2   k 21 k 22 ... k 2 j ... k 2 N  u 2 
.  .   . 
      orf S  ku
.  .  . 
.  .  . 
    
 f SN   k N 1 k N 2 ... k Nj ... k NN   u N 
 CONT…..

The most commonly used method is the direct

stiffness method where in the stiffness matrices of
individual elements are assembled to obtain the structural
stiffness matrix.
 This and other methods should be familiar to the reader.
Therefore, these methods will not be developed in this
book; we will use the simplest method appropriate for the
problem to be solved.
 9.2.3 DAMPING
FORCES
The mechanisms by which the energy of a vibrating structure is
dissipated can usually be idealized by equivalent viscous
damping.

With this assumption we relate the external forces fdj acting on

the damping component of the structure to the velocities uj (fig.
9.2.4).

We impart a unit velocity along dof j, while the velocities in all
other dofs are kept zero. These velocities will generate internal
damping forces that resist the velocities, and external forces
would be necessary to equilibrate these forces.
 9.2.4 Inertia Forces

The mass influence coefficient mij is the external force in DOF i

due to unit acceleration along DOF j. In particular, the forces
mi1 (i = 1,2 .... , 8) are required in the various DOF to
equilibrate the inertia forces associated with Ui, = I and all other
uj = O. Similarly, the forces mi4 (i = I, 2, ... , 8) shown in Fig.
9.2.5c are necessary to cause acceleration u4 = 1 and all other
Uj = O. The force fIi at DOF i associated with accelerations Uj,
j = 1 to N
9.2.4 Inertia Forces
 9.2.4 INERTIA FORCES

(FIG. 9.2.5A), IS OBTAINED BY SUPERPOSITION:

f Ii  mi1u1  mi 2 u2  ...  mij u j  ...  miN uN

One such equation exists for each i = I to N. The set of N
equations can be written in matrix form:
 f I 1   m11 m12 ...m1 j ...m1 N  u1 
 f   m m ...m ...m  u 
 I 2   21 22 2j 2N  2 

.  .  . 
    orf I  m u
.  .  . 
.  .  . 
    
 f IN   m N 1m N 2 ...m Nj ...m NN  uN 
 9.3 STATIC CONDENSATION
The static condensation method is used to eliminate from
dynamic analysis those dofs of a structure to which zero
mass is assigned; however, all the dofs are included in the
static analysis.

Consider the two-bay, two-story frame. With axial

deformations in structural elements neglected, the system has
eight dofs as discussed in section 9.2.4, typically the mass
of the structure is idealized as concentrated in point.
 CONT…..

The dofs that can be eliminated from the dynamic analysis

of the structure provided that the dynamic excitation does
not include any external forces in the rotational dofs, as in
the case of earthquake excitation.

Even if included in formulating the stiffness matrix, the

vertical dofs of the building can also be eliminated from
dynamic analysis-because the inertial effects associated
with the vertical dofs of building frames are usually small-
provided that the
9.3 STATIC CONDENSATION
CONT…..

Dynamic excitation does not include vertical forces at the

nodes, as in the case of horizontal ground motion (section
9.4).
 9.4 PLANAR OR SYMMETRIC-PLAN SYSTEMS: GROUND
MOTION
One of the important applications of structural dynamics is
in predicting how structures respond to earthquake-induced
motion of the base of the structure.

Planar systems subjected to translational and rotational

ground motions are considered in sections 9.4.1 and 9.4.3,
symmetric-plan buildings subjected to translational and
torsional excitations in sections 9.4.2 and 9.6, and
unsymmetrical-plan buildings subjected to translational
ground motion in section 9.5.
 9.4.1 Planar Systems: Translational Ground Motion

Systems excited by different prescribed motions at their multiple

supports are the subject of section 9.7.

We start with the simplest case where all the dynamic degrees
of freedom are displacements in the same direction as the
ground motion. Two such structures-a tower and a building
frame-are shown in fig. 9.4.1.

The displacement of the ground is denoted by ug , the total (or

absolute) displacement of the mass mj by uf' and the relative
displacement between this mass and the ground by u j.
CONT…..

At each instant of time these displacements are related by

CONT…..

Such equations for all the N masses can be combined in

vector form:
u (t )  u (t )  u g (t )1
t

where 1 is a vector of order N with each element equal to

unity. The equation of dynamic equilibrium, Eq. (9.2.11),
developed earlier is still valid, except that p(t) = 0 because
no external dynamic forces are applied.
CONT…..

THUS
fI  fD  fS  0
Only the relative motions u between the masses and the
base due to structural deformations produce elastic and
damping forces (i.E., The rigid-body component of the
displacement of the structure produces no internal forces).
9.4.2 SYMMETRIC-PLAN BUILDINGS: TRANSLATIONAL
GROUND MOTION
Consider the N -story building shown in fig. 9.4.5 having
rigid floor diaphragms and several frames in each of the x
and y directions; the plan wise distribution of mass and
stiffness is symmetric about the x and y axes.

We show in section 9.5 that such symmetric-plan buildings

can be analyzed independently in the two lateral directions.
The motion of the building due to ground motion along one of
the two axes, say the x-axis. Is also governed by eq. (9.4.4)
with appropriate interpretation of m and
CONT…..
 CONT…..
K. The mass matrix is a diagonal matrix with diagonal elements
mjj = mj, where mj is the total mass lumped at the jth floor
diaphragm (section 9.2.4). The stiffness matrix k is the lateral
stiffness matrix of the building for motion in the x -direction.

The lateral stiffness matrix of a building can be determined from

the lateral stiffness matrices of the individual frames of the
building. First, the lateral stiffness matrix kx; of the ith frame
oriented in the x-direction is determined by the static condensation
procedure to condense out the joint rotations.
9.5 UNSYMMETRIC-PLAN BUILDINGS: GROUND
MOTION

We now extend the development of the preceding sections

to formulate the equations of motion for buildings with
unsymmetrical plan.

Such buildings, when subjected to, say, the y-component of

ground motion, would simultaneously undergo lateral motion
in two horizontal (x and y) directions and torsion about the
vertical (z) axis..
9.5.1 ONE-STORY, TWO-WAY UNSYMMETRICAL SYSTEM

SYSTEM CONSIDERED

Consider the idealized one-story building shown in fig. 9.5.1, consisting

of a roof diaphragm, assumed rigid in its own plane, supported on
three frames: A, B, and C.

Frame a is oriented in the y-direction, located at a distance e from the

y-axis passing through the center of mass (cm) of the diaphragm.

Frames band c are oriented in the x-direction, located at the same

distance d /2 on the two sides of the x-axis; for simplicity the frames
are located at the edge of the diaphragm and we neglect the frame
thickness.
 CONT…..
The motion of the roof mass will be described by three dofs
defined at the CM of the roof: displacements ux in the x-
direction and uy in the y-direction, and torsional rotation ue
about the vertical axis.
 Force-displacement relation.
Let fs represent the vector of statically applied external forces on the
stiffness component of the structure and u the vector of
 9.5.1 One-Story, Two-Way Unsymmetrical System
Force-displacement relation.

Resulting displacements both defined in terms of the three

dofs. The forces and displacements are related through
 f Sx   k xx k xy k x  u x 
    
 f Sy   k yx k yy k y  u y  orf S  ku
  k ky k  u 
 f S   x
The 3 x 3 stiffness matrix k of the structure can be
determined by the direct equilibrium method (based on
the definition of stiffness influence coefficients) or by the
direct stiffness method.
CONT….

The first equation applies to frames oriented in the x -direction and the
second to frames in the y-direction. Substituting the appropriate axi or
ayi and kxi or kyi gives the stiffness matrices ka, kb, and kc of the three
frames: 0  0 0 0 
  0
k A  1 k y 0 1 e  k y  1 e 
e   0 e 2 
  e
 1   1 0  d / 2
 
k B   0 k xB 1 0  d / 2  k xB  0 0 0 
 d / 2   d / 2 0 d 2 / 4 
 
 1   1 0 d /2 
   0
kC   0  k xC 1 0 d / 2  k xC  0 0 
d / 2  d / 2 0 d 2 / 4 
 
CONT…

FINALLY, THE STIFFNESS MATRIX OF THE SYSTEM IS

k  k A  k B  k C

Substituting Eqs. (9.5.6), (9.5.7), and (9.5.8) gives

 k xB  k xC 0 (d / 2)(k xC  k xB ) 
 
k 0 ky ek y 
(d / 2)(k xC  k xB ) ek y e 2 k y  (d 2 / 4)(k xB  k xC )


AS EXPECTED, THIS STIFFNESS MATRIX IS THE SAME AS THAT DETERMINED

EARLIER FROM THE DEFINITION OF STIFFNESS INFLUENCE COEFFICIENTS.
 Inertial force.

Since the selected global dofs are located at the center of

mass 0, the inertia forces on the mass component of the
structure are f Ix  m u x
t

f Iy  m u y
 t

f I  I O u 
t

Where m is the diaphragm mass distributed uniformly

over the plan, 10 = m(b2 +d2)/12 is the moment of
inertia of the diaphragm about the vertical axis passing
through 0, and u~, u~, and u~ are the x, y, and (J
components of the total acceleration of the center of
mass.
 CONT…

In matrix form the inertia forces and accelerations are

related through the mass matrix:

 f Ix  m u 
t
x
     t
 f Iy    y orfI  mut
m  u
     
 I 
f  I O u
t
 
 Equation of Motion

Substituting eqs. (9.S.12b) and (9.S.1b) into eq. (9.4.2) and

excluding damping forces gives

m u   ku
t
 0
Consider the earthquake excitation defined by ugx (1) and
ugy(t), the x and y components of the ground acceleration,
and uge(t), the rotational acceleration of the base of the
building about the vertical axis.
CONT…

uxt  ux  ugx 

 t    
uy   uy   ugy 
 t    
u  u  ug  
Substituting Eq. (9.S.14) into (9.S.13) and using m and k
defined in Eqs. (9.S.12) and (9.S.1O) gives
m   ux   k xx 0 k x   u x   m ugx ( t ) 
   u    0   
k y    u y     m ugy ( t ) 

 m  y   k yy
 I O   u   k  x ky k    u   
I u ( t )

     O g 
where
k xx  k xB  k xC k yy  k y k   e 2 k y  d 2
/ 4 ( k xB  k xC )
k x   k  x  d / 2 ( k xC  k xB ) k y   k  y  ek y
 CONT…

The three differential equations in eq. (9.5.1S) governing the

three dofs-ux • uy, and ue-are coupled through the stiffness matrix
because the stiffness properties are not symmetric about the x or
y axes.

Thus the response of the system to the x (or y)component of

ground motion is not restricted to lateral displacement in the x (or
y)direction, but will include lateral motion in the transverse
direction, y (or x), and torsion of the roof diaphragm about the
vertical axis.
 9.5.2 ONE-STORY, ONE-WAY UNSYMMETRICAL
SYSTEM
We next consider a special case of the system of fig. 9.S.1
for which the lateral stiffness of frames B and C is identical
(i.E., Kxb = kxc = kx). This system is symmetric about the x-
axis but not about the y-axis. For this one-way unsymrnetric
system, eq. (9.S.15) specializes to

m ux  2 k x u x   m ugx ( t )
Where the rotational excitation has been dropped. The first
of three equations is a familiar SDF equation of motion that
CONT…
Governs the response U x of the one-story system to ground
motion in the x-direction; uy and ue do not enter into this
equation. This implies that motion in the x-direction occurs
independent of the motion in the y direction or of torsional
motion. Such is the case because the system is symmetric
about the x-axis. The second and third equations can be
rewritten as
 CONT…

 These equations governing u y and Ue are coupled through

the stiffness matrix because the stiffness properties are not
symmetric about the y-axis.
 Thus the system response to the y-component of ground motion
is not restricted to the lateral displacement in the y-direction
but includes torsion about a vertical axis. The separation of
the governing equations into Eqs. (9.5.18) and (9.5.19)
indicates that the earthquake response of a system with plan
symmetric about the x-axis but unsymmetrical about
9.6 SYMMETRIC-PLAN BUILDINGS: TORSIONAL
EXCITATION
Consider a multistory building with its floor plan symmetric about
the x and y axes with its base undergoing rotational acceleration
ugo (t) about a vertical axis.

This excitation would cause only torsion of the building without any
lateral motion for a one-story symmetric system. The equations
governing this torsional motion of a multistory building can be
written by modifying eq. (9.5.28): key and kye vanish for
symmetric-plan systems, and the translational excitation is
replaced by rotational excitation.
9.6 SYMMETRIC-PLAN BUILDINGS: TORSIONAL
EXCITATION

Without presenting the derivation details, the final equation

is

The rotational acceleration U ge (t) of the base of a

building is not measured directly during an earthquake
but can be calculated from the translational accelerations
recorded in the same direction at two locations on the
base.
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