DEPARTMENT OF CIVIL ENGINEERING

METU MIDDLE EAST TECHNICAL UNIVERSITY

CE586
EARTHQUAKE ENGINEERING

EARTHQUAKE RESPONSE OF
MDOF SYSTEMS: OVERVIEW

SPRING SEMESTER 2024-2025

 Multi Degree of Freedom (MDoF) Systems
Multi Degree of Freedom: The deformed shape of the system
at any instant of time can be represented by more than one
dynamic coordinate.
In this chapter, we will focus on plane frames as the simplest
form of building structures.
The best way to idealize MDoF systems is to consider either a
mass-spring-damper system connected in series, or a shear
frame.

3-DOF mass-spring-damper system

3-DOF (3 story) shear frame
 Multi Degree of Freedom (MDoF) Systems
In order to write the equations of motion for the mass-spring-
damper system, FBD and KD are required first at a slightly
displaced position at any instant of time t.

m1 ü1 m2 ü2 m3 ü3

Free Body Diagram (FBD) Kinetic Diagram (KD)

Internal elastic forces fsi can be written as

(5.1)
 Multi Degree of Freedom (MDoF) Systems
In a similar manner, internal damping forces fDi developed by
the dampers ci can be writtten as

(5.2)

The equation of motion for each mass mi can be expressed in

the horizontal direction through direct equilibrium by employ-
ing Newton’s second law ∑Fx=müx

𝐹1 − 𝑘1 𝑢1 + 𝑘2 𝑢2 − 𝑢1 − 𝑐1 𝑢ሶ 1 + 𝑐2 𝑢ሶ 2 − 𝑢ሶ 1 = 𝑚1 𝑢ሷ 1

𝐹2 − 𝑘2 (𝑢2 − 𝑢1 ) + 𝑘3 𝑢3 − 𝑢2 − 𝑐2 (𝑢ሶ 2 − 𝑢ሶ 1 ) + 𝑐3 𝑢ሶ 3 − 𝑢ሶ 2 = 𝑚2 𝑢ሷ 2 (5.3)

𝐹3 − 𝑘3 𝑢3 − 𝑢2 − 𝑐3 𝑢ሶ 3 − 𝑢ሶ 2 = 𝑚3 𝑢ሷ 3
 Multi Degree of Freedom (MDoF) Systems
Eqs 5.3 can be rearranged and expressed in matrix form

(5.4)

The mass matrix is a diagonal matrix where the mass of a

block is assigned to the associated translational DOF of that
block (no-coupling). Moreover, the damping and the stiffness
matrices in Eq 5.4 are tri-diagonal since the damping and
elastic forces are written in terms of the relative velocities and
displacements between adjacent blocks (close-coupling).
 Multi Degree of Freedom (MDoF) Systems

The closed form of the above equation is as follows

(5.5)

The same set of equations can also be written for a shear

frame. A shear frame is a single bay, N-story frame consisting
of flexible columns and dampers in each story with fully rigid
girders, where the story masses are assigned to the girders.
 Multi Degree of Freedom (MDoF) Systems
Since the girders are rigid, there are no rotations at the joints
and horizontal displacements at both ends of a girder are
identical. Accordingly only one degree of freedom ui is
sufficient for each story i, which is along the girder where the
mass mi is assigned. Each story i has a total lateral stiffness
ki that is composed of the sum of column shear stiffnesses,
i.e. ki = ∑12EI/ hi3 in that story. Eqs 5.4 and 5.5 are also valid
for the shear frames.
 Equation of Motion under Base Excitation
Consider an N-story shear frame subjected to an earthquake
base excitation üg(t). The equation of motion under base
excitation has the same form with the one for a SDoF system,
where the scalar kinematical variables u, u and ü for a SDoF
system are replaced with the vectorial kinematical variables u,
u and ü for a MDoF system. Similarly, the scalar mass,
stiffness and damping terms of a SDoF system are replaced
with the associated matrix forms of a MDoF system.
 Equation of Motion under Base Excitation
Hence the equation of motion of a MDoF system subjected
to base excitation can be written as
(5.6)

In Eq 5.6, total acceleration vector can be defined as

(5.7)

In Eq 5.7, the vector l that transmits the ground acceleration

to the story DoFs is called the influence vector. For shear
frames l=1 since a unit displacement at the ground is
transmitted equally to all DoFs above as rigid body
translation, i.e.

(5.8)
 Equation of Motion under Base Excitation
Finally we obtain the equation of motion as
(5.9)

Where the diagonal mass and tri-diagonal stiffness matrices

are
 Equation of Motion under Base Excitation
Each stiffness coefficient ki represents the total lateral
stiffness of the ith story due to the column shear stiffnesses

(5.10)

The displacement vector is composed of N lateral story

displacements (DoFs).

(5.11)

There is no analytical method for obtaining the coefficients

of damping matrix c from the properties of structural
members. There is only a practical approach in structural
dynamics, called as Rayleigh damping.
 Equation of Motion under Base Excitation
But there are also cases where l ≠ 1. For instance, consider
the inverted L-shaped frame with axially rigid members.
m3
m2
u2
Static application of ug=1
u3 results in displacements as
m1 u1

Since peff = -m l üg(t)

ug=1
-(m2+m3)üg(t) 𝑚1 0 0 1
m2
𝑝𝑒𝑓𝑓 =- 0 𝑚2 + 𝑚3 0 1 𝑢ሷ 𝑔 (𝑡)
0 0 𝑚3 0

m1 -m1üg(t) 𝑚1
𝑝𝑒𝑓𝑓 = - 𝑚2 + 𝑚3 𝑢ሷ 𝑔 (𝑡)
0
 Earthquake Response of 3-D Frame Systems
The idealization for 2-D plane frames is very practical in
seismic response analysis but it is applicable to regular
structural systems with symmetrical mass and stiffness
distributions about both horizontal directions.
 Earthquake Response of 3-D Frame Systems
Each frame along x and y directions can be analyzed
seperately under ground excitations in x and y directions.
Also all frames in a given direction can be combined by rigid
links at floor levels by ignoring the transverse coupling.
Then the equation of motion can be written as

(Eq 5.9)

Frame 1 Frame 2 Frame 3

 Earthquake Response of 3-D Frame Systems
If the structure is not symmetrical with respect to both mass
and stiffness about the horizontal orthogonal axes, then it
cannot be idealized as a 2-D frame system. It has to be
modeled as a 3-D system.
For the N-story frame, assume in-
plane rigid floor diaphragms. Note
that rigid diaphragm distributes hori-
zontal seismic forces to the vertical
structural elements in proportion to
their relative stiffnesses. This means
there are 3 DoFs at each floor level
(ujx, ujy, qj) that represent the rigid
body translation and rotation of the
floor slabs. This makes 3N DoFs in
total.
 Earthquake Response of 3-D Frame Systems
For ground motion in x-direction, 3N equations can be
written where c and k are fully populated matrices for ujx,
ujy, qj.
Diagonal mass matrix and influence vector are
story 1
𝑚1
story 1
𝑚1
𝐼1 0
𝑚2
𝑚= 𝑚2
𝐼2
0 .
.
.
3𝑁 × 3𝑁 3𝑁 × 1

𝑎2 + 𝑏2
where mass moment of inertia is 𝐼𝑗 = 𝑚𝑗
12
 MDOF Systems with Unsymmetrical Plan
The lateral earthquake force always acts from the mass
center (G). If G is different from stiffness center (C), then the
floor slab exhibits rigid body rotation in addition to rigid body
translation.
This means that a lateral force Vy and a torque (torsional
moment) MT=Vyex is applied to C. G tends to rotate about C,
i.e. resultant of moments about C should b zero.

Vy ex
C G G
q
C
ex Vy Vy
 MDOF Systems with Unsymmetrical Plan
Consider a single story frame building with unsymmetrical
distribution of stiffness about both axes as shown.

Let’s assume that the ith column is located at distances xi

and yi from the coordinate (mass) center the lateral
stiffnesses of ith column are kxi and kyi respectively.
 MDOF Systems with Unsymmetrical Plan
In order to obtain the stiffness matrix of this building,
stiffness method is applied for each DOF separately. We
first impose a unit displacement in the x direction (ux= 1,
uy=0, uθ = 0).

Case 1

All columns i resist this displacement with the internal force

kxi·1= kxi whereas kxx=k11, kyx=k21 and kqx=k31 are the
stiffness coefficients for this specific case.
 MDOF Systems with Unsymmetrical Plan
The equilibrium of forces in the x and y directions and the
equilibrium of moments in the θz direction gives the following
expressions. The stiffness coefficients on the left constitute
the 1st column of the structural stiffness matrix.

(5.12)
 MDOF Systems with Unsymmetrical Plan
Then we impose a unit displacement in the y direction (ux =
0, uy = 1, uθ = 0) and establish the three equations of
equilibrium to obtain another set of stiffness coefficients.
Actually these constitute the 2nd column of the structural
stiffness matrix.

Case 2

Note that with the internal force kyi·1= kyi the stiffness
coefficients are kxy=k12, kyy=k22 and kqy=k32 are for this
specific case.
 MDOF Systems with Unsymmetrical Plan
As a results of the considered equilibrium conditions, the
following expressions are obtained for Case 2

(5.13)
 MDOF Systems with Unsymmetrical Plan
Finally, we impose a unit rotational displacement in the z
direction (ux = 0, uy = 0, uθ = 1). Column i develops resis-
tance in both directions in proportion to the relative top
displacements of (-1·yi) and (1·xi) in the x and y directions
respectively, due to unit rotation uθ = 1.

Case 3
kx,i.([Link])

kxq=k13
kyq=k23
kqq=k33
 MDOF Systems with Unsymmetrical Plan
As a results of the considered equilibrium conditions, the
following expressions are obtained for Case 3. These
stiffness coefficients constitute the 3rd column of the
structural stiffness matrix.

(5.14)
 MDOF Systems with Unsymmetrical Plan
If all the cases are combined, the following 3x3 structural
stiffness matrix can be obtained. Note that the coupling is
between ux and uθ or uy and uθ, not between ux and uy.

Case 1 Case 2 Case 3

 MDOF Systems with Unsymmetrical Plan
Then we can write the undamped equation of motion as

What happens if the building is symmetrical about one axis

(for instance x) and unsymmetrical about the other?

+ =-

Due to symmetry, there is no coupling between ux and uθ.

This means kxq = 0 and kqx = 0.
 MDOF Systems with Unsymmetrical Plan
Then the equation of motion in x direction can be solved
separately as an independent equation, and the rest as a
reduced 2x2 system of equations (uy and uθ coupled)

+ =-

Then

(5.15)
+ =-
 MDOF Systems with Unsymmetrical Plan
a b
Example 5.1: Formulate the equations of uy
motion for the single story structure b uq
O
ux

subjected to ground motions in x and y d c

directions. The slab can be assumed as

rigid both in and out of plane. Column h
inertias are Ia=Id=2I and Ib=Ic=I. Do not
consider damping. b

Let k = EI / h3
Case 1
24k 12k
2 24𝑘 + 12𝑘 = 72𝑘
kyx
kxx
0 kqx

24k 12k
0
 MDOF Systems with Unsymmetrical Plan
a b
Example 5.1: Formulate the equations of uy
motion for the single story structure b uq
O
ux

subjected to ground motions in x and y d c

directions. The slab can be assumed as

rigid both in and out of plane. Column h
inertias are Ia=Id=2I and Ib=Ic=I. Do not
consider damping. b

Let k=EI/h3

24k 12k
0 kyy
kxy
kqy
2 24𝑘 + 12𝑘 = 72𝑘
24k 12k
Case 2
𝑏 𝑏
24𝑘 − 48𝑘 = −12𝑏𝑘
2 2
 MDOF Systems with Unsymmetrical Plan
a b 12kb 6kb
uy
b uq
12kb 6kb
ux
O
d c kyq
kxq
h kqq
12kb 6kb
b

12kb 6kb
Case 3
Let k=EI/h3

6𝑘𝑏 + 12𝑘𝑏 − 6𝑘𝑏 − 12𝑘𝑏 = 0

12𝑘𝑏 − 24𝑘𝑏 = −12𝑏𝑘

𝑏 𝑏
12𝑘𝑏 4 + 6𝑘𝑏 4 = 36𝑏2 𝑘
2 2
 MDOF Systems with Unsymmetrical Plan
a b
Example 5.1: Formulate the equations of uy
motion for the single story structure b uq
O
ux

subjected to ground motions in x and y d c

directions. The slab can be assumed as

rigid both in and out of plane. Column h
inertias are Ia=Id=2I and Ib=Ic=I. Do not
consider damping. b

𝑚 0 0 𝑢ሷ 𝑥 72𝑘 0 0 𝑢𝑥 𝑚𝑢ሷ 𝑔𝑥
0 𝑚 0 𝑢ሷ 𝑦 + 0 72𝑘 −12𝑏𝑘 𝑢𝑦 = - 𝑚𝑢ሷ 𝑔𝑦
𝑚𝑏2
0 0 𝑢ሷ 𝜃 0 −12𝑏𝑘 36𝑏2 𝑘 𝑢𝜃 0
6

or
𝑚𝑢ሷ 𝑥 + 72𝑘 𝑢𝑥 = −𝑚𝑢ሷ 𝑔𝑥

𝑚 0 𝑢ሷ 𝑦 72𝑘 −12𝑏𝑘 𝑢𝑦 𝑚𝑢ሷ 𝑔𝑦

𝑚𝑏2 + = -
0 𝑢ሷ 𝜃 −12𝑏𝑘 36𝑏2 𝑘 𝑢𝜃 0
6