University of technology civil engineering

Harmonic ground acceleration for

s.d.o.f. system 3

Muhammed abdulhussein kadhim

Structure brunch
4th stage

2019-2020
1-1 INTODUCTION:
Vibration is the motion of a particle or a body or a system of
concentrated bodies having been displaced from a position of
equilibrium, appearing as an oscillation. Vibrations in structural systems
may result from a wide variety of sources. Some typical examples of the
forces that set off dynamic waves on the structure are environmental
sources such as wind, earthquakes and waterways. Out of these
environmental sources, earthquakes are the most important in terms of
their enormous potential for damage to structures and loss of life. Every
year approximately ten thousand people die on an average worldwide
due to earthquakes. In addition to this staggering loss of life,
earthquakes are responsible for billions of rupees of property damage
annually. Therefore the interest in the study of structural dynamics has
been increasing steadily over the years.

Vibration is the study of repetitive motion of objects relative to a

stationary frame of reference or equilibrium position. The system tends
to return to its original equilibrium position under the action of restoring
forces (like mass attached to a spring or gravitational forces). Generally,
vibrations are undesirable for structures because they produce
increased stresses and energy losses. Hence vibrations can be harmful
and should be avoided. They can occur in many directions and can be
the result of interaction of many objects. The motion of vibrating system
is governed by the laws of mechanics, and in particular by Newton's
second law of motion (F = ma) (1).

Vibration also refers to mechanical oscillations about an equilibrium

point. The oscillations may be periodic such as the motion of a
pendulum or random such as the movement of a tire on a gravel road. In
practice, every object is subject to a certain level of vibration, which can
often not be seen with the naked eye. This does not mean that this
phenomenon is not important, and it deserves, in many cases, to be
studied. Examples of objects creating vibration in everyday life are a
shaver, a vibrator in a cell phone, a loudspeaker, tools, rotating
machines and vehicles in motion such as trains or trams(3).
1-2 SINGLE-DEGREE-OF-FREEDOM SYSTEM :
It consists of a mass m concentrated at the roof level, a massless frame
that provides stiffness to the system, and a viscous damper (also known
as a dashpot) that dissipates vibrational energy of the system. The beam
and columns are assumed to be inextensible axially. This system may be
considered as an idealization of a one-story structure. Each structural
member (beam, column, wall, etc.) of the actual structure contributes to
the inertial (mass), elastic (stiffness or flexibility), and energy dissipation
(damping) properties of the structure. In the idealized system, however,
each of these properties is concentrated in three separate, pure
components: mass component, stiffness component, and damping
component. The number of independent displacements required to
define the displaced positions of all the masses relative to their original
position is called the number of degrees of freedom (DOFs) for dynamic
analysis. More DOFs are typically necessary to define the stiffness
properties of a structure compared to the DOFs necessary for
representing inertial properties. Consider the one-story frame of Fig.(1),
constrained to move only in the direction of the excitation. The static
analysis problem has to be formulated with three DOFs—lateral
displacement and two joint rotations—to determine the lateral stiffness
of the frame. In contrast, the structure has only one DOF—lateral
displacement—for dynamic analysis if it is idealized with mass
concentrated at one location, typically the roof level. Thus we call this a
single-degree-of-freedom (SDF) system.

Figure(1)
Two types of dynamic excitation will be considered: (1) external force
p(t) in the lateral direction Fig.(1), and (2) earthquake-induced ground
motion ug(t) Fig.(1). In both cases u denotes the relative displacement
between the mass and the base of the structure(2).

1-3 TYPES OF VIBRATION:

In order for a body to vibrate, it has to be excited by a source. The
sources of excitation can be divided in two main categories : free
vibrations and forced vibrations. Free vibrations correspond to the case
where the vibration is caused by an initial source which is then removed
so that the structure vibrates without any force acting on it. Forced
vibrations correspond to the case where an excitation is permanently
applied to the structure(3).

1-3-1 Free vibration :

A free vibration is generally induced by either an external force with a
very short duration (shock), or by an initial displacement or velocity
imposed to the structure. The simplest example is the mass spring
system: when the mass is pulled downwards, an initial displacement
is imposed Figure(2). Once the mass is released, it starts vibrating
freely(3).

Figure(2)

1-3-2 Forced vibrations:

In forced vibrations, we can distinguish between three different types
of excitation signals: harmonic, periodic, and random signals
Figure(3) (3).
 Figure(3)

1-4 TYPES OF FORCED VIBRATION:

o Harmonic excitation : the force applied to the body is a sine or a
cosine function with a given period T. Rigid rotating machines are
an example of source of harmonic excitation signal: as the rotor is
never perfectly balanced (its center of gravity does not
correspond to its geometric center), there exists an inertial force
due to the unbalance. This force has a radial direction and an
amplitude m* 𝑒𝑜* 𝜔 (m= mass of the spring 𝑒𝑜 = distance
between the center of gravity and the rotation center, 𝜔=
rotational speed, Figure (4) and can be decomposed into a vertical
and an horizontal force varying with the rotation angle. Each of
these components is a sine or cosine. function and is transmitted
to the environment through the fixations of the rotating machine.
This excitation is therefore periodic and harmonic(3).

Figure (4)
 o Periodic excitation: this corresponds to excitation signals which
repeat themselves over time with a certain period T. As an
example, piston engines generate periodic excitation (the period
corresponding to one full rotation of the crankshaft) which is not
made of a single sine or cosine component (existence of
harmonics of the fundamental frequency) (3).

o Random excitation: a random excitation signal has no

fundamental frequency and one cannot distinguish a pattern
which repeats itself over time. Examples are the forces generated
by wind, earthquakes ,Figure (5), traffic, waves etc(3).

Figure (5)

1-5 VIBRATION SOURCES IN CIVIL ENGINEERING:

In civil engineering, one can distinguish between internal and external
sources of vibrations(3):

o Internal sources:
– Ventilation systems
– Elevator and conveyance systems
– Fluid pumping equipment
– Machines and generators
– Aerobics and exercise rooms, human activity

o External sources:
– Seismic activity
– Subway, road and rail systems, airplanes
– Construction equipment
– Wind, Wave
1-6 EXAMPLE:
The rigid frame shown in figure below was subjected to an acceleration at
the support of the following equation (𝑦𝑠°°(𝑡)=0.4g sin9 𝑡+0.3g cos9 𝑡)
find the maximum shear at the spring noting that : K= 360 KN/m ,c =14
KN.sec/m , m =600 Kg/m , a =2m

Solution:
First we draw the mechanism

A
m = m × 4a = m × 8
𝑚𝑙 2 𝑚4𝑎2 𝑚 16𝑎2 4𝑎2 𝑚
Ic = = = =
12 12 12 3
y ÿ
𝜃= 𝜃°° =
3a 3a

4𝑎2 𝑚 ÿ 4 ÿ
Ic 𝜃°° = × =m ×a
3 3a 9

Fs = m × a(t)
∑ 𝑀𝐴 = 0
𝑦̈ 4 ÿ 2 𝑦̇
[m× × a + m ×a+c× × 2a + K × y × 3a + Fs × a = 0 ] ÷ a
3 9 3

7 4
m ×𝑦̈ + c × 𝑦̇ +3 K× y = -m × a(t)
9 3
7 7
M* = m = ×600×8 =3733.334 Kg
9 9

K* =3K = 3×360 =1080 KN/m

4 4
c* = c = ×14 = 18.667 KN.sec /m
3 3

𝐹𝑜
𝐾∗
Y=
√(1−𝑟 2 )2 +(2𝑟𝜉)2

K∗ 1080×103
𝜔=√ =√ = 17.0084 rad /sec
M∗ 3733.334

From acceleration equation ( 𝜔 = 9)

𝜔 9
𝑟= = 𝑟= = 0.529
ω 17.0084

cr = 2 √𝐾 ∗ 𝑀 ∗ = 2 √1080 × 103 × 3733.334

cr =126.9961 KN.sec/m
 𝑐 18.667
𝜉= = = 0.147
c𝑟 126.9961

𝐹𝑜= ℒ 𝐺

ℒ = -m = -600×8 = -4800 Kg

𝐺 = √b12 + a12 = √(0.3 × 9.807)2 + (0.4 × 9.807)2

𝐺 =4.9035

𝐹𝑜 = 4800× 4.9035

𝐹𝑜 =23.5368 KN
23.5368
1080
Y=
√(1−0.529 ) +(2×0.529× 0.147)2
2 2

Y =0.0295 m
Vmax = Y× K

Vmax = 0.0295× 360

Vmax = 10.62 KN
1-7 EXAMPLE :
Consider the water tower shown below subjected to ground motion
produced by a passing train in the vicinity of the tower. The ground
motion is idealized as a harmonic acceleration find maximum shear at the
column. Assume an effective damping of (10 %) of the critical damping
in the system. noting the following :

o M = 60000 Kg
o EI = 5×108 N.m2
𝜋𝑥
o Ø = 1-cos
2𝑙
o L = 8m
o m = 900 Kg/m

Solution :
𝜋𝑥 𝜋𝑙 𝜋
∅(𝑥)=1−cos =1−cos =1−cos =1-0 =1
2𝑙 2𝑙 2
3 4
M*= m L ( − )+ΣM𝒊 ∅𝒊
2 𝜋
3 4
M*= 900×8( − )+60000(1)
2 𝜋

M*=61632.675 Kg
2
ℒ = m L ( 1 − )+ΣM𝒊 ∅𝒊
𝜋
2
ℒ = 900× 8( 1 − ) + 60000(1)
𝜋

ℒ = 62616.3376 Kg

𝑲*𝒕=
π4 EI Mgπ2 mg
32L 3 − 8L
−
16
(𝝅𝟐 −𝟒)

𝑲*𝒕=
π4 × 5×108 60000×9.807π2 900×9.807
− − ( 𝝅𝟐−𝟒)
32×83 8×8 16

𝑲*𝒕= 2878.709855 KN/m

 K∗ 2878.709855×103
𝜔=√ =√ = 6.834 rad /sec
M∗ 61632.675

ω 9
r= = =1.317
ω 6.834

𝐺 = √b12 + a12 = √(0.3 × 9.807)2 + (0.4 × 9.807)2

𝐺 =4.9035

𝐹𝑜= ℒ 𝐺

𝐹𝑜 = 62616.3376 × 4.9035

𝐹𝑜 =307.039 KN
𝐹𝑜
𝐾∗
Y=
√(1−𝑟 2 )2 +(2𝑟𝜉)2

307.039
2878.709855
Y=
√(1−1.3172 )2 +(2×1.317× 0.1)2

Y = 0.137 m
Vmax = Y× K*

Vmax = 0.137× 2878.709855

Vmax = 394.38 KN
1-8 DISCUSSION:
In example (1-6) the required was finding maximum shear force at the
spring due to the acceleration so we must find the amplitude (Ymax) to
𝐹𝑜
find (Ymax) we need find (yst) which is equal to ( ) because the load is
𝐾∗
due to acceleration so 𝐹 𝑜 will equal to (𝐹𝑜= ℒ 𝐺) because we have
distributed load then we need to find the frequency ratio (r) so we will
K∗ 𝑐
find 𝜔 which is (𝜔 = √ ) and then we will find (𝜉 = ) and now we
M∗ c𝑟
𝐹𝑜
𝐾∗
will applicate this equation to find (Ymax) Y =
√(1−𝑟 )2 +(2𝑟𝜉)2
2

Now we found (Ymax) which is (2.95 cm) and it is accepted because its
value is small and in the end we find maximum shear by this equation
(Vmax = Ymax× K) and it will equal (10.62 KN) and it is a small value
respected to the (K) of the spring.

In example (1-7) the required was finding maximum shear force also at
the column due to the acceleration so we must find the amplitude
𝐹𝑜
(Ymax) to find (Ymax) we need find (yst) which is equal to ( ) because
𝐾∗
the load is due to acceleration so 𝐹 𝑜 will equal to (𝐹𝑜= ℒ 𝐺) because we
𝑲*𝒕=
π4 EI Mgπ2 mg
have and (K*) will equal to − − (𝝅𝟐 −𝟒) because
32L3 8L 16
K∗
the column is flexible find 𝜔 which is (𝜔 = √ ) to find the frequency
M∗
𝑐
ratio (r) and then we will find (𝜉 = ) and now we will applicate this
c𝑟
𝐹𝑜
𝐾∗
equation to find (Ymax) Y =
√(1−𝑟 2 )2 +(2𝑟𝜉)2

After we found (Ymax) which is (13.7 cm) and it is high displacement

and then we find maximum shear by this equation (Vmax = Ymax× K) and
it will equal (394.38 KN) and it is high value but still less than (K) of the
column so it is OK.
References:
(1) Basic of Structural Dynamics and Aseismic Design

. by S.R Damodarasamy S. kavitha / published @ 2009

(2) DYNAMICS OF STRUCTURES ( Theory and Applications to .

. . . Earthquake Engineering ) by Anil K. Chopra ( Fourth Edition )

(3) Dynamics of Structures by Arnaud Deraemaeker