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ADVANCED STRUCTURAL DYNAMICS

Advanced Structural Dynamics will appeal to a broad readership that includes

both undergraduate and graduate engineering students, doctoral candidates,
engineering scientists working in various technical disciplines, and practicing
professionals in an engineering office. The book has broad applicability and
draws examples from aeronautical, civil, earthquake, mechanical, and ocean
engineering, and at times it even dabbles in issues of geophysics and seismol-
ogy. The material presented is based on miscellaneous course and lecture notes
offered by the author at the Massachusetts Institute of Technology for many
years. The modular approach allows for a selective use of chapters, making it
appropriate for use not only as an introductory textbook but later on function-
ing also as a treatise for an advanced course, covering materials not typically
found in competing textbooks on the subject.

Professor Eduardo Kausel is a specialist in structural dynamics in the

Department of Civil Engineering at the Massachusetts Institute of Technology.
He is especially well known for two papers on the collapse of the Twin Towers
on September 11, 2001. The first of this pair, published on the web at MIT only
a few days after the terrorist act, attracted more readers around the world than
all other works and publications on the subject combined. Professor Kausel
is the author of the 2006 book Fundamental Solutions in Elastodynamics
(Cambridge University Press).

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Advanced Structural
Dynamics

EDUARDO KAUSEL
Massachusetts Institute of Technology

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University Printing House, Cambridge CB2 8BS, United Kingdom

One Liberty Plaza, 20th Floor, New York, NY 10006, USA
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Cambridge University Press is part of the University of Cambridge.

It furthers the University’s mission by disseminating knowledge in the pursuit of
education, learning, and research at the highest international levels of excellence.

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Information on this title: [Link]/​9781107171510
10.1017/​9781316761403
© Eduardo Kausel 2017
This publication is in copyright. Subject to statutory exception
and to the provisions of relevant collective licensing agreements,
no reproduction of any part may take place without the written
permission of Cambridge University Press.
First published 2017
Printed in the United States of America by Sheridan Books, Inc.
A catalogue record for this publication is available from the British Library.
Library of Congress Cataloging-​in-​Publication Data
Names: Kausel, E.
Title: Advanced structural dynamics / by Eduardo Kausel, Massachusetts Institute of Technology.
Other titles: Structural dynamics
Description: Cambridge [England]: Cambridge University Press, 2017. |
Includes bibliographical references and index.
Identifiers: LCCN 2016028355 | ISBN 9781107171510 (hard back)
Subjects: LCSH: Structural dynamics – Textbooks. | Structural analysis (Engineering) – Textbooks.
Classification: LCC TA654.K276 2016 | DDC 624.1/71–dc23
LC record available at [Link]
ISBN 978-​1-​107-​17151-​0 Hardback
Cambridge University Press has no responsibility for the persistence or accuracy of URLs
for external or third-​party Internet Web sites referred to in this publication and does not
guarantee that any content on such Web sites is, or will remain, accurate or appropriate.

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To my former graduate student and dear Guardian Angel Hyangly Lee,

in everlasting gratitude for her continued support of my work at MIT.

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Contents

Preface page xxi

Notation and Symbols xxv
Unit Conversions xxix

1 Fundamental Principles 1
1.1 Classification of Problems in Structural Dynamics 1
1.2 Stress–​Strain Relationships 2
1.2.1 Three-​Dimensional State of Stress–​Strain 2
1.2.2 Plane Strain 2
1.2.3 Plane Stress 2
1.2.4 Plane Stress versus Plane Strain: Equivalent
Poisson’s Ratio 3
1.3 Stiffnesses of Some Typical Linear Systems 3
1.4 Rigid Body Condition of Stiffness Matrix 11
1.5 Mass Properties of Rigid, Homogeneous Bodies 12
1.6 Estimation of Miscellaneous Masses 17
1.6.1 Estimating the Weight (or Mass) of a Building 17
1.6.2 Added Mass of Fluid for Fully Submerged
Tubular Sections 18
1.6.3 Added Fluid Mass and Damping for Bodies Floating
in Deep Water 20
1.7 Degrees of Freedom 20
1.7.1 Static Degrees of Freedom 20
1.7.2 Dynamic Degrees of Freedom 21
1.8 Modeling Structural Systems 22
1.8.1 Levels of Abstraction 22
1.8.2 Transforming Continuous Systems into Discrete Ones 25
Heuristic Method 25
1.8.3 Direct Superposition Method 26
1.8.4 Direct Stiffness Approach 26
1.8.5 Flexibility Approach 27
1.8.6 Viscous Damping Matrix 29

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viii Contents

1.9 Fundamental Dynamic Principles for a Rigid Body 31

1.9.1 Inertial Reference Frames 31
1.9.2 Kinematics of Motion 31
Cardanian Rotation 32
Eulerian Rotation 33
1.9.3 Rotational Inertia Forces 34
1.9.4 Newton’s Laws 35
(a) Rectilinear Motion 35
(b) Rotational Motion 36
1.9.5 Kinetic Energy 36
1.9.6 Conservation of Linear and Angular Momentum 36
(a) Rectilinear Motion 37
(b) Rotational Motion 37
1.9.7 D’Alembert’s Principle 37
1.9.8 Extension of Principles to System of Particles and
Deformable Bodies 38
1.9.9 Conservation of Momentum versus
Conservation of Energy 38
1.9.10 Instability of Rigid Body Spinning Freely in Space 39
1.10 Elements of Analytical Mechanics 39
1.10.1 Generalized Coordinates and Its Derivatives 40
1.10.2 Lagrange’s Equations 42
(a) Elastic Forces 42
(b) Damping Forces 43
(c) External Loads 44
(d) Inertia Forces 45
(e) Combined Virtual Work 45

2 Single Degree of Freedom Systems 55

2.1 The Damped SDOF Oscillator 55
2.1.1 Free Vibration: Homogeneous Solution 56
Underdamped Case (ξ < 1) 57
Critically Damped Case (ξ = 1) 58
Overdamped Case (ξ > 1) 59
2.1.2 Response Parameters 59
2.1.3 Homogeneous Solution via Complex Frequencies:
System Poles 60
2.1.4 Free Vibration of an SDOF System with
Time-​Varying Mass 61
2.1.5 Free Vibration of SDOF System with
Frictional Damping 63
(a) System Subjected to Initial Displacement 64
(b) Arbitrary Initial Conditions 65
2.2 Phase Portrait: Another Way to View Systems 67
2.2.1 Preliminaries 67
2.2.2 Fundamental Properties of Phase Lines 69
Trajectory Arrows 69
Intersection of Phase Lines with Horizontal Axis 70
Asymptotic Behavior at Singular Points and Separatrix 70
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Period of Oscillation 71
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Contents ix

2.2.3 Examples of Application 71

Phase Lines of a Linear SDOF System 71
Ball Rolling on a Smooth Slope 71
2.3 Measures of Damping 73
2.3.1 Logarithmic Decrement 74
2.3.2 Number of Cycles to 50% Amplitude 75
2.3.3 Other Forms of Damping 76
2.4 Forced Vibrations 76
2.4.1 Forced Vibrations: Particular Solution 76
(a) Heuristic Method 77
(b) Variation of Parameters Method 78
2.4.2 Forced Vibrations: General Solution 79
2.4.3 Step Load of Infinite Duration 80
2.4.4 Step Load of Finite Duration (Rectangular Load,
or Box Load) 81
2.4.5 Impulse Response Function 81
2.4.6 Arbitrary Forcing Function: Convolution 83
Convolution Integral 83
Time Derivatives of the Convolution Integral 84
Convolution as a Particular Solution 84
2.5 Support Motion in SDOF Systems 85
2.5.1 General Considerations 85
2.5.2 Response Spectrum 88
Tripartite Spectrum 88
2.5.3 Ship on Rough Seas, or Car on Bumpy Road 89
2.6 Harmonic Excitation: Steady-​State Response 92
2.6.1 Transfer Function Due to Harmonic Force 92
2.6.2 Transfer Function Due to Harmonic Support Motion 96
2.6.3 Eccentric Mass Vibrator 100
Experimental Observation 101
2.6.4 Response to Suddenly Applied Sinusoidal Load 102
2.6.5 Half-​Power Bandwidth Method 103
Application of Half-​Power Bandwidth Method 105
2.7 Response to Periodic Loading 106
2.7.1 Periodic Load Cast in Terms of Fourier Series 106
2.7.2 Nonperiodic Load as Limit of Load with
Infinite Period 107
2.7.3 System Subjected to Periodic Loading: Solution in the
Time Domain 109
2.7.4 Transfer Function versus Impulse Response Function 111
2.7.5 Fourier Inversion of Transfer Function by Contour
Integration 111
Location of Poles, Fourier Transforms, and Causality 113
2.7.6 Response Computation in the Frequency Domain 114
(1) Trailing Zeros 115
(2) Exponential Window Method: The
Preferred Strategy 115
2.8 Dynamic Stiffness or Impedance 115
2.8.1 Connection of Impedances in Series and/​or Parallel 117
Standard Solid 118
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