Chapter 1

Equations of Motion
Course Notes for
CIVL 507
Dynamics of Structures I
Instructor: Carlos Estuardo Ventura
Professor, Department of Civil Engineering &
Director, EERF
CEME - Room 2018; E-mail: ventura@civil.ubc.ca
Civil and Mechanical Engineering Building
The University of British Columbia
6250 Applied Science Lane
Vancouver BC V6T 1Z4
Canada.
Prepared By: Muhib Muazzam
Graduate Research Student
CEME – Room 1206
Department of Civil Engineering, UBC
Vancouver BC, Canada.
September 1, 2018
Acknowledgement

The material included in this presentation has been extracted from the
Fourth Edition of the book:
Dynamics of Structures
Theory and Applications to Earthquake Engineering
written by Anil K. Chopra, University of California at Berkeley.
 Chapter# 1

Single-Degree-of-Freedom System Slide# 3

Any system whose response depends on only in one direction/parameter

(either displacement or rotation) i.e. system having only one independent
displacement coordinate.
 In structural engineering, system with one DOF; The system of mass
concentrated at floor level, stiffness provided by massless frame and
vibrational energy dissipated by viscous damper.
 An idealized one-story structure is shown below:

Idealization concentrated in 3 separate and pure components:

1. Mass Component;
2. Stiffness Component;
3. Damping Component.

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 Chapter# 1
Single-Degree-of-Freedom System
Slide# 4
(Continued)

So, the physical properties of any linearly elastic structural or mechanical

system subjected to an external source of excitation or dynamic loading:-
1. mass;
2. elastic properties (exibility or stiffness);
3. energy loss mechanism or damping.
 Idealization by Classic SDF System ≡ Mass-Spring-Damper system:

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 Chapter# 1

Parameters of Discrete Systems Slide# 5

 Inertial Force(s): Newton's second law of motion, which states that the
rate of change of momentum of any mass particle is equal to the force
acting on it. Mathematically,
p(𝑡𝑡)= 𝑑𝑑/𝑑𝑑𝑡𝑡 (𝑚𝑚 𝑑𝑑𝑢𝑢/𝑑𝑑𝑡𝑡)=𝑚𝑚 (𝑑𝑑^2 𝑢𝑢)/(𝑑𝑑𝑡𝑡^2 )=𝑚𝑚ü(𝑡𝑡); → p(𝑡𝑡)−𝑚𝑚ü(𝑡𝑡)=0.
where p(t) is the applied force vector and u(t) is the position vector of
particle mass m. mü(t) is called the inertial force resisting the acceleration of
the mass = 𝑓𝑓𝐼𝐼 𝑡𝑡 .
 Spring Force(s): On the basis of Hook’s Law. As Hooke put it: Ut tensio,
sic vis. Translated from Latin, this means "As the extension, so the force."
Mathematically, Spring Force, F = kX; k = constant factor characteristic of
the spring: its stiffness, X = deformation/displacement of spring.

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 Chapter# 1
Parameters of Discrete Systems
Slide# 6
(Continued)

In structural dynamics, The internal force resisting the displacement u is

equal and opposite to the external force 𝑓𝑓𝑠𝑠 ; desired relationship during
oscillatory motion.
For a linear elastic system, 𝑓𝑓𝑠𝑠 = ku, k = lateral stiffness of the system;
For a inelastic system, 𝑓𝑓𝑠𝑠 = 𝑓𝑓𝑠𝑠 𝑢𝑢 .***

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 Chapter# 1
Parameters of Discrete Systems
Slide# 7
(Continued)

 Damping Force(s): Linear relationship; dissipation of vibrational energy;

Generally, idealized as a linear viscous damper or dashpot; Mechanism for
damping in buildings:
1. Elastic Stage: thermal effect, internal friction;
2. Inelastic Stage: microcracks in concrete;
3. Miscellaneous: friction at steel connection, friction between the
Actual damping in a SDF structure ≡ A linear viscous damper or
dashpot = equivalent viscous damping;
 Relationship between damping force, 𝑓𝑓_𝐷𝐷 and velocity, 𝑢𝑢 ̇ across the
linear viscous damper:
structure itself and non-structural elements such as partition walls.

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 Chapter# 1

Influence of Base Excitation Slide# 8

Influence on a system depends on how the loads are applied. Two types of
excitation are considered in the dynamic problem: 1. External Applied Load;
2. Base Excitation.
In Structural (Earthquake) Engineering, Base Excitations are considered to
be an earthquake excitation.

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 Chapter# 1

Formulations of Equation of Motion Slide# 9

 Mathematical expression of dynamic response of a system, in this case

against two force: (1) External Force and (2) Earthquake Excitation;
 5 ways to derive the differential equation governing the displacement:
1. Using Newton’s Second Law of Motion;
2. Dynamic Equilibrium;
3. Combination of Three Pure Components;
4. Principle of Virtual Work;
5. Variational Approach.
The basic Differential of Equation of Motion for a structure under dynamic
excitation:
𝑚𝑚𝑢𝑢̈ + 𝑐𝑐 𝑢𝑢̇ + 𝑘𝑘𝑘𝑘 = 𝑃𝑃(𝑡𝑡);
For, inelastic system , 𝑚𝑚𝑢𝑢̈ + 𝑐𝑐𝑢𝑢̇ + 𝑓𝑓𝑆𝑆 (𝑢𝑢) = 𝑃𝑃(𝑡𝑡);
Here, P(t) = External force or Earthquake Excitation.

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 Chapter# 1
Formulations of Equation of Motion:
Slide# 10
Newton’s Second Law of Motion

The forces acting on the mass: External Force 𝑃𝑃 𝑡𝑡 , Elastic/Inelastic

Resisting Force 𝑓𝑓𝑆𝑆 and Damping Resisting Force, 𝑓𝑓𝐷𝐷 .
 Considering along external force positive, the resultant force along x-axis
= P(t) - 𝑓𝑓𝑆𝑆 - 𝑓𝑓𝐷𝐷 .
 According to Newton’s Second Law of Motion;
𝑃𝑃 𝑡𝑡 − 𝑓𝑓𝑆𝑆 − 𝑓𝑓𝐷𝐷 = 𝑚𝑚𝑢𝑢;̈ => 𝑚𝑚𝑢𝑢̈ + 𝑓𝑓𝑆𝑆 + 𝑓𝑓𝐷𝐷 = 𝑃𝑃 𝑡𝑡 ;
⸫ 𝑚𝑚𝑢𝑢̈ + 𝑐𝑐 𝑢𝑢̇ + 𝑘𝑘𝑘𝑘 = 𝑃𝑃(𝑡𝑡).

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 Chapter# 1
Formulations of Equation of Motion:
Slide# 11
Dynamic Equilibrium

 D'Alembert’s Principle: mass develops an inertial force proportional to

its acceleration and opposing; It states that with inertia forces included, a
system is in equilibrium at each time instant.
 The system works by isolating mass and drawing Free body Diagram
(FBD);

 By balancing forces and moments,

𝑚𝑚𝑢𝑢 ̈+𝑐𝑐𝑢𝑢 ̇+𝑘𝑘𝑢𝑢=𝑃𝑃(𝑡𝑡).

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 Chapter# 1
Formulations of Equation of Motion:
Slide# 12
Combination of Three Pure Components

Visualizing a one-story structural system as combination of three pure

components:
1. The stiffness component: the frame without damping or mass;
2. The damping component: the frame with its damping property but
no stiffness or mass;
3. The mass component: the roof mass without the stiffness or
damping of the frame.

Directed by Dr. Carlos E. Ventura; Developed by Muhib Muazzam

 Chapter# 1
Formulations of Equation of Motion:
Slide# 13
Principle of Virtual Work

 If a system which is in equilibrium under the action of a set of externally

applied forces is subjected to a virtual displacement, i.e., a displacement
pattern compatible with the system’s constraints, the total work done by the
set of forces will be zero.
 Useful to implement in Complex Structure;

Internal Virtual Work: −𝑚𝑚𝑢𝑢𝛿𝛿𝛿𝛿

̈ − 𝑐𝑐𝑢𝑢𝛿𝛿𝛿𝛿
̇ − 𝑘𝑘𝑘𝑘𝛿𝛿𝛿𝛿;
External Virtual Work: 𝑃𝑃(𝑡𝑡)𝛿𝛿𝛿𝛿; Total Virtual Work, δW = −𝑚𝑚𝑢𝑢𝛿𝛿𝛿𝛿
̈ − 𝑐𝑐𝑢𝑢𝛿𝛿𝛿𝛿
̇ −
𝑘𝑘𝑘𝑘𝛿𝛿𝛿𝛿 + 𝑃𝑃(𝑡𝑡)𝛿𝛿𝛿𝛿 = 0;
Which gives, 𝑚𝑚𝑢𝑢̈ + 𝑐𝑐 𝑢𝑢̇ + 𝑘𝑘𝑘𝑘 = 𝑃𝑃(𝑡𝑡).

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 Chapter# 1
Formulations of Equation of Motion:
Slide# 14
Variational Approach

 Typically, known as as Hamilton's principle;

 Alternative Energy Formulation of Virtual Work;
 dealing only with purely scalar energy quantities;
 Where the system is prescribed, the variation must be zero.
 It should be noted that the variation of potential energy of the system is
given by
𝜕𝜕𝜕𝜕
𝛿𝛿𝛿𝛿 = ∑𝑛𝑛𝑖𝑖=1 . δ𝒓𝒓𝒊𝒊 ;
𝜕𝜕𝒓𝒓𝒊𝒊
and the variation of the work done by non-conservative forces is
𝛿𝛿𝛿𝛿 = ∑𝑛𝑛𝑖𝑖=1 𝑭𝑭𝒊𝒊 . δ𝒓𝒓𝒊𝒊 .
Where, 𝒓𝒓𝒊𝒊 = the position vector of the system or a particle of the system of
any mass.

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 Chapter# 1

Problem Statement and Examples Slide# 15

To determine response quantity such as displacement, velocity or

acceleration of the mass; internal force/stress in the structure ≡ Deformation
Response History;
 Element forces (bending moments, shears and axial forces) determined
by static analysis. Two ways it can be visualized:
1. Using lateral displacement and joint rotation from each time
instant;
2. Equivalent Static Force; a central concept in earthquake
response of the structure.
 Combining Static and Dynamic Response
For linear systems, use superposition.
For nonlinear system, it is continuous analysis. Static for initial stiffness
while dynamic accounts for the existing forces and deformations before the
onset of dynamic excitation.

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 Chapter# 1
Problem Statement and Examples
Slide# 16
(Continued)

Example 1: Frames of Reference

𝑚𝑚𝑚𝑚
𝑚𝑚𝑚𝑚 = 𝑘𝑘∆𝑠𝑠𝑠𝑠 => ∆𝑠𝑠𝑠𝑠 =
𝑘𝑘

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 Chapter# 1
Problem Statement and Examples
Slide# 17
(Continued)

Example 2: Base Motion

𝑚𝑚𝑢𝑢̈ + 𝑐𝑐 𝑢𝑢̇ − 𝑢𝑢̇ 𝑔𝑔 + 𝑘𝑘 𝑢𝑢 − 𝑢𝑢𝑔𝑔 = 0;

Let, 𝑢𝑢 − 𝑢𝑢𝑔𝑔 = 𝑢𝑢𝑅𝑅 (relative); 𝑢𝑢̈ − 𝑢𝑢̈ 𝑔𝑔 = 𝑢𝑢̈ 𝑅𝑅 .
Thus, 𝑚𝑚𝑢𝑢̈ + 𝑐𝑐𝑢𝑢̇ 𝑅𝑅 + 𝑘𝑘𝑢𝑢𝑅𝑅 = 0; => 𝑚𝑚 𝑢𝑢̈ 𝑅𝑅 + 𝑢𝑢̈ 𝑔𝑔 + 𝑐𝑐 𝑢𝑢̇ 𝑅𝑅 + 𝑘𝑘𝑢𝑢𝑅𝑅 = 0
⸫ 𝑚𝑚𝑢𝑢̈ 𝑅𝑅 𝑢𝑢̈ 𝑔𝑔 + 𝑐𝑐 𝑢𝑢̇ 𝑅𝑅 + 𝑘𝑘𝑢𝑢𝑅𝑅 = −𝑚𝑚𝑢𝑢̈ 𝑔𝑔 .

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 Chapter# 1
Problem Statement and Examples
Slide# 18
(Continued)

Example 3: Virtual Work

Forces & Moments: from 2nd Figure;

Work due to Virtual Displacement (Rotation): Internal = −𝐼𝐼𝑂𝑂 𝜃𝜃𝛿𝛿𝛿𝛿 ̈ −
𝐿𝐿 sin 𝜃𝜃 𝛿𝛿𝛿𝛿 𝑚𝑚𝑚𝑚; External = 𝑃𝑃 𝑡𝑡 𝛿𝛿𝛿𝛿.
Equilibrium: ∑ 𝛿𝛿𝛿𝛿 = 0; => −𝐼𝐼𝑂𝑂 𝜃𝜃𝛿𝛿𝛿𝛿 ̈ − 𝐿𝐿 sin 𝜃𝜃 𝛿𝛿𝛿𝛿 𝑚𝑚𝑚𝑚 + 𝑃𝑃 𝑡𝑡 𝛿𝛿𝛿𝛿 = 0
⸫ 𝐼𝐼𝑂𝑂 𝜃𝜃̈ + 𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝜃𝜃 = 𝑃𝑃 𝑡𝑡 .

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 Chapter# 1

Practice Problem From Book Slide# 19

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 Chapter# 1

Practice Problem From Book (Continued) Slide# 20

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 Chapter# 1

Practice Problem From Book (Continued) Slide# 21

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 Chapter# 1

Slide# 22

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 Chapter# 1

SDOF vs MDOF Slide# 23

Real Model: Lumped Mass Model:

Lumped Mass Model: Free body Diagram (FBD):2*

Free body Diagram (FBD):1*

Real Model: Building;

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 Chapter# 1

Methods of Solution Slide# 24

The equation of motion for a linear SDF system subjected to external force:
𝑚𝑚𝑢𝑢 ̈+𝑐𝑐𝑢𝑢 ̇+𝑘𝑘𝑢𝑢=𝑃𝑃(𝑡𝑡).
*****The initial displacement u(0) and initial velocity ˙ u(0) at time zero must
be specified to define the problem completely.
There are 4 methods to solve that 2nd Order Differential Equation.
1. Classical Solution: Sum of Complementary Solution 𝑢𝑢𝑐𝑐 𝑡𝑡 and
Particular Solution 𝑢𝑢𝑃𝑃 𝑡𝑡 ;
𝑢𝑢 𝑡𝑡 = 𝑢𝑢𝑐𝑐 𝑡𝑡 + 𝑢𝑢𝑃𝑃 𝑡𝑡 .
Used to solve for Free Vibration and for excitations such as harmonic, step
and pulse forces.
2. Duhamel’s Integral: Based on representing the applied force as a
sequence of infinitesimally short impulses; obtained by adding the
responses to all impulses up to that time. Mathematically, for an undamped
𝑡𝑡
SDF system: 1
𝑢𝑢 𝑡𝑡 = � 𝑝𝑝 𝑡𝑡 sin ω𝑛𝑛 𝑡𝑡 − 𝜏𝜏 𝑑𝑑𝜏𝜏.
𝑚𝑚ω𝑛𝑛 0

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 Chapter# 1

Methods of Solution (Continued) Slide# 25

3. Frequency-Domain Method: two ways to transform:

a) Laplace Transformation;
b) Fourier Transformation.
Mathematically, The Fourier transform of the excitation,
∞
𝑃𝑃 𝜔𝜔 = 𝓕𝓕 𝑝𝑝 𝑡𝑡 = � 𝑝𝑝 𝑡𝑡 𝑒𝑒 −𝑖𝑖𝜔𝜔𝑡𝑡 𝑑𝑑𝑑𝑑 .
−∞
Then, The Fourier transform of the response,
𝑈𝑈 𝜔𝜔 = 𝐻𝐻 𝜔𝜔 𝑃𝑃 𝜔𝜔 .
where the complex frequency-response function H(ω) describes the
response of the system to harmonic excitation.
Thus, the desired solution u(t)***
1 ∞
𝑢𝑢 𝑡𝑡 =
2𝜋𝜋
∫−∞ 𝐻𝐻 𝜔𝜔 𝑃𝑃 𝜔𝜔 𝑒𝑒 𝑖𝑖𝜔𝜔𝑡𝑡 𝑑𝑑𝜔𝜔.

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 Chapter# 1

Methods of Solution (Continued Slide# 26

4. Numerical Method: All the methods mentioned above is useful for linear
systems. For an intense shaking, structures become inelastic. To solve such
an inelastic SDF system, Numerical time stepping methods generally used.

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 Chapter# 1

Reference Slide# 27

Chopra, A. K. (2012). Equations of Motions, Problem Statements. In A. K.

Chopra, Dynamics of Structures: Theory and Applications to Earthquake
Engineering (pp. 8-32). California: Pearson Education Inc.(Prentice Hall).
Clough, R. W., & Penzien, J. (2003). Formulation of Equations of Motion. In
R. W. Clough, & J. Penzien, Dynamics of Structures (pp. 9-12). California:
Computers & Structures, Inc.
Clough, R. W., & Penzien, J. (2009). Chapter 2: Analysis of Free Vibration.
In R. W. Clough, & J. Penzien, Dynamics of Structures (pp. 15-20).
California: Computers & Structures, Inc.
Physics Tutorial. (2017, 10 01). Motion of a Mass on a Spring. Retrieved
from The Physics Classroom:
http://www.physicsclassroom.com/class/waves/Lesson-0/Motion-of-a-Mass-
on-a-Spring

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