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

 Force Equilibrium:
Cord length, s  l.
l ds d
Velocity, v   l.
[Link]   dt dt
Acceleration, a   [Link] 
s
g dv
  [Link] 
dt
d 2s d 2
 l .   [Link] 
dt 2 dt 2
g
  .sin   0
l
g
For small    .  0 2
l

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 Single Degree of Freedom Systems

Stiffness, k Mass, m Stiffness, k

Mass, m

Stiffness, k Mass, m Stiffness, k Damping

c

Damping, c Mass, m

Single Degree of Freedom Systems

 Structures which have
 Most of their mass lumped at a single location
 Only a single displacement as unknown

Elevated
Bridges
Water
Tank Equivalent SDOF System
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 Dynamic Equilibrium
 Three independent
properties
 Mass, m
 Stiffness, k Building
 Damping, c

u(t)
Roof
 Disturbance f(t)
 External force f(t)
 Response Column
 Displacement, ut 
 Velocity, u t 
 Acceleration, t 
u
5

Internal forces
 Inertia force f I t   m  ut 

 Damping force f D t   c  u t 

 Stiffness force fS t   k  ut 

f I t  f D t  f S t 
m c k
1 1 1

ut  u t  u t 

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Force Equilibrium
 Dynamic equilibrium

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

mu  cu  ku  f (t )

External
Inertia force force
f(t)
Stiffness
force
Damping force

Neutral
Free Vibrations position

 Initial disturbance
 Pull and release : Initial displacement
Extreme
 Impact : Initial velocity position
 No external force
  cu  ku  0
mu
Divide by mass
c k
u  u  u  0
m m Natural
Damping Ratio frequency
k
n 
m u  2 nu  nu  0
 c
2mω Natural Period, T  2
n n  8
n

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 Free Vibration Response
v0
u0 Undamped system
Displacement u(t)

d0 un
0
Time t

T
v0
u0 Damped system
Displacement u(t)

Exponential decay
d0 un
0
Time t
T
Dt 9

Free Vibration Response of Damped Systems

u0

d0 Overdamped
0
u(t)

In Civil Engineering Structures

u0

d0
Underdamped

0
u(t)

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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 ??

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Undamped System: Free vibrations

 Equation of motion
u  nu  0
Initial
 Solution: velocity Initial
displacement
uo
u sin nt  uo cos nt
n
v0 = uo
Displacement u(t)

u0 Time t
0

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 Undamped System:
Free vibrations m = 5000 kg

 Example
k = 8000 kN/m
m = 5000 kg
k = 8000 kN/m

 8000 1000  40 rad / s

k
 
n m 5000

T  2  2  0.1571 s
n  40
n

f  1  1  6.37 cycles / s  6.365 Hz

n T 0.1571
n
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Damped System: Free vibrations

 Equation of motion
u  2 nu  nu  0
Initial Initial
 Solution: displacement
velocity
 uo  ωnuo 
u  sin ωDt  uo cos ωDt e ωnuo
 ωD 
 
ωD  ω 1   2
v0 = uo n
Displacement u(t)

u0 Time t
0

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 Damped System: Free vibrations
 Example m = 5000 kg

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

 c  20 1000  0.05
2mω 2  5000  40
n
ω  ω 1   2  40 1  0.052  39.95 rad/s
D n
T  2π = 2π =0.1573 s  D  n
D ω 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
2π 2π
ωD    12.57 rad/s
TD 0.5
Damping ratio 
a 
 1 
 0 
log e  

1 log  5.5   0.07
2N a 2 9 e
  0.1  
 N
  16

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 Forced Vibrations f sin t

 Apply a sinusoidal loading

with frequency, 
 The equilibrium equations becomes
mu  cu  ku  f sin t
Displacement u(t)

0 Time t

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Forced Vibration Response f sin t

 Sinusoidal Force
 Constant Amplitude

Static 1 2 3 4 5 6
ustatic u1 u2 u3 u4 u5 u6

Displacement

Frequency 
0
n
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 Forced Vibration Response
 Resonance at natural
frequency of structure
 Critically dependant on
damping

Undamped
Magnification
Factor
=
Normalised
Displacement
Under-
umax/ustatic damped

1
Critically Damped Frequency 
0
n
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Evaluation of Damping
 Half-Power Method

B   A
X 
2n
Normalised Displacement

X 2
umax/ustatic

0 A n B Frequency  20

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Seismic Ground Motion

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From Earthquake Dynamics of Structures, Chopra (2005)

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
m( u g )  cu  ku  0
g t 
  cu  ku  mu
mu

Absolute Relative
acceleration Velocity/displacement 22

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Seismic Ground Motion Response
g t 
u

0 Time t

u t 

0 Time t

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Deformation Response

From Earthquake Dynamics of Structures, Chopra (2005) 24

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Double Pendulum

1 l1

m1
2 l
2

m2

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Multi Degree of Freedom (MDOF)

Systems u1(t)

 MDOF? u2(t)
 Mass located at
multiple locations
Building
 More than one
displacement as
unknowns
 Equilibrium equation in matrix form

f I  f D f S   f E(t)

 Solution is found by
 Simultaneously solving the equation
 Modal Analysis

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 Summary
 SDOF system
 Structures with SDOF
 Internal Forces
 Force Equilibrium
 Free Vibration Response
 Undamped
 Damped
 Forced Vibration Response
 Seismic Ground Motion Response

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Thank You

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