STRUCTURAL DYNAMICS

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

 TABLE OF CONTENTS
1. STATICS VS DYNAMICS
2. CLASSIFICATION OF STRUCTURES BASED ON DEGREE’S OF FREEDOM
3. SDOF : GENERAL SOLUTION
4. FREE VIBRATIONS CLASSIFICATION
5. FREE VIBRATIONS: UN-DAMPED(SDOF)
6. FREE VIBRATIONS: VISCOUS DAMPING(SDOF)
7. SDOF WITH HARMONIC LOADING
8. MULTI DEGREE OF FREEDOM SYSTEM

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

STATICS VS. DYNAMIC SYSTEMS

• Static Systems
• Definition: Static systems are those in which the position or configuration remains unchanged
over time.
• Characteristics:
• No motion or change in position.
• Equilibrium is maintained.
• Examples: A book on a table, a parked car.
• Dynamic Systems
• Definition: Dynamic systems are those in which the position or configuration changes over time.
• Characteristics:
• Motion or change in position occurs.
• Equilibrium may not be maintained.
• Examples: A swinging pendulum, a moving car.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

 CLASSIFICATION OF STRUCTURES BASED ON
DEGREE’S OF FREEDOM
Single Degree of Freedom (SDOF) Structures:
1. Free Vibrations:
• - SDOF structures with one degree of freedom oscillate without external forces after an initial displacement.
• - Examples include simple pendulums and buildings swaying after a disturbance.
2. Forced Vibrations:
• - SDOF structures subjected to external periodic or non-periodic forces or displacements.
• - Response depends on the applied force characteristics and the structure's single degree of freedom.

Multi-Degree of Freedom (MDOF) Structures:

1. Free Vibrations:
• - MDOF structures have multiple degrees of freedom, and each can oscillate independently after an initial displacement.
• - Modal analysis helps understand the natural modes of vibration in these structures.

2. Forced Vibrations:
• - MDOF structures involve multiple degrees of freedom responding to external forces or displacements.
• - Interactions among degrees of freedom contribute to the complex dynamic behavior.

Understanding the degree of freedom classification is crucial for selecting appropriate analysis methods and designing structures that
can withstand various dynamic loading conditions.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

SDOF : GENERAL SOLUTION
 Given a Single Degree of Freedom (SDOF) system, Mass (m), stiffness (k), damping (c) and External
force (Fa).
 Newton's second law: Start with F = ma.
 Define variables: x(t) = Displacement, v(t) = Velocity.
 Force components: Spring Force: Fs = -kx, Damping Force: Fd = -cv.
 Equation of motion:
 Divide by mass:
 Define natural frequency and damping ratio:

 Rewrite equation of motion:

 Solve for Displacement:
 Solve for Velocity:

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

• If v(0)=0, integrate to find v(t) in terms of x(t). Substitute v(t) into x(t) to get the integral equation for x(t).
• Solve the equation numerically or analytically with specific initial conditions and system properties to find
x(t) over time.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

FREE VIBRATIONS CLASSIFICATION
Free Vibration in Structural Systems
• Free vibration refers to natural oscillations in structural systems without external forces after an initial
disturbance.
• Understanding free vibration is essential for analyzing dynamic behaviour in structures.
Un-damped Free Vibrations
• Occurs when there is no energy dissipation in the system.
• In the absence of damping the system will continue vibrating indefinitely.
• Idealized for theoretical analysis but rarely found in practice.
• Example: A simple pendulum can exhibit un-damped free vibration.
Damped Free Vibration
• Occurs when a structural system experiences energy dissipation over time.
• Damping is represented by the damping coefficient “c” in the free vibration equation.
• Damping reduces the amplitude of vibrations and alters the response characteristics.
• Example: Car suspension systems utilize damping to provide a smoother ride.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

FREE VIBRATIONS:
UN-DAMPED(SDOF)
• Start with the equation of motion:
• Assume a solution of the form:
• Substitute this solution into the equation of motion and solve for ω: ω=
• The general solution for displacement x(t) is:

This equation describes un-damped free vibration, where A is the initial displacement, ω is the
natural frequency, t is time, and ϕ is the phase angle determined by initial conditions.

FURTHER READING.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

 ANALYTICAL SOLUTION

• Given the equation of motion for an undamped SDOF system:

• The analytical solution is: x(t) = Acos(ωnt)+Bsin(ωnt)
v(t) = −Aωn​sin(ωnt)+Bωn​cos(ωnt)
• Where:
x(t) is the displacement as a function of time.
v(t) is the velocity as a function of time.
A and B are constants determined by initial conditions.
ωn​ is the natural frequency, ωn​ = m*k​​.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

 NUMERICAL SOLUTION
• Using the finite difference method, we discretize time into intervals Δt, and the equations
become:

• For free un-damped vibrations, c=0. We can rearrange the equation to find the next displacement
xn+1​ as follows: xn+1​=2xn​−xn−1​−ωn2​xn​(Δt)2
• Where:
xn​ represents the displacement at time tn​.
xn−1​ represents the displacement at the previous time step, tn−1​.
ωn​ is the natural frequency, ωn ​= mk​​.
Δt is the time step used in the numerical method.
• To find the velocity vn+1​ at the next time step, we can use the central difference scheme:
vn+1​ = (xn+1​−xn−1)/(2Δt)​​
• This method allows us to iteratively calculate both displacement and velocity at each time step.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

NUMERICAL V/S ANALYTICAL SOLUTION

USING MATLAB
USING SPREADSHEET

Here,
l=2
theta(1) = 0.785
v(1) = 0
lambda = sqrt(9.81 / l)
dt = 0.001
num_steps = 16000

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

FREE VIBRATIONS: VISCOUS DAMPING(SDOF)
• Consider a system with Mass (m), stiffness (k), viscous damping (c), External force (Fa).
• Start with the equation of motion for a single degree of freedom (SDOF) system:

• Derive the characteristic equation by assuming x(t)= eλt and substituting it into the equation:

• Solve the characteristic equation to find the roots λ1 and λ2​. These roots depend on the damping
(c), mass (m), and stiffness (k).
• Damping Classification: Based on the roots, classify the vibration as:
Overdamped (distinct real roots),
Critically damped (equal real roots),
Underdamped (complex conjugate roots).

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

• For each case, use the appropriate general solutions for displacement and velocity:
Overdamped:
Critically Damped:
Underdamped:
• Constants Determination: Apply initial conditions to determine the constants C1​ and C2 specific to
the problem.
• Final Solutions: Obtain the final solutions for displacement x(t) and velocity v(t).

FURTHER READING.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

• OVERDAMPED VIBRATIONS:
Description: In the overdamped case, the roots of the characteristic equation are real and distinct, indicating
a slow decay of oscillations. The system returns to equilibrium without oscillation.

Solution for Displacement :

Velocity:

• CRITICALLY DAMPED VIBRATIONS:

Description: In the critically damped case, the roots of the characteristic equation are real and equal, indicating
the fastest return to equilibrium without oscillation. It reaches equilibrium in the shortest time.
Solution for Displacement :
Velocity:

• UNDERDAMPED VIBRATIONS:
Description: In the underdamped case, the roots of the characteristic equation are complex conjugates,
indicating oscillatory behaviour with gradual decay. The system undergoes oscillations before settling.
Solution for Displacement :
Velocity:

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

 Responses for all four types of system (or values of damping ratio) in viscous damping. All four systems have the same mass and
spring values, and have been given the same initial perturbations (initial position and initial velocity); this is apparent because they
start at the same y-intercept and have the same slope at x=0.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

ANALYTICAL SOLUTION
• The analytical solution for free vibrations of a single-degree-of-freedom (SDOF) system with viscous
damping (c) can be expressed as:

Where:
- x(t) is the displacement of the mass as a function of time t.
• -A and B are constants determined by initial conditions.
• c/2m​ is the damping ratio.
• ωd​ is the damped angular frequency, given by
This equation describes how the displacement of the damped SDOF system changes over time due to the
effects of mass, viscous damping, and stiffness, considering initial

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

NUMERICAL SOLUTION
Central Difference Method:
The Central Difference Method is a widely used numerical method for solving the equations of motion in
damped free vibrations. It's a second-order accurate scheme that provides good stability and accuracy.
Discretization of Equations of Motion:
• Starting with the equation of motion for a damped SDOF system:
We discretize the time variable t into equally spaced time steps ℎ:
Here, ti​ represents the time at each discrete step.

Central Difference Approximation for Velocity and Acceleration:

• To approximate the velocity and acceleration at each time step, we use the central difference method. The
central difference formulae are:
• Velocity :
• Acceleration :
Displacement Update:
• Using the approximated velocity and acceleration, we can update the displacement at each time step using
the following central difference scheme:

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

Newmark Method:
The Newmark Method is another numerical method for solving dynamic problems, including damped free
vibrations. It's a family of methods that can be adapted for various levels of damping.
Discretization of Equations of Motion:
Similar to the Central Difference Method, we discretize time into equally spaced intervals ℎ.
Newmark Integration Scheme:
The Newmark method introduces two parameters, β and γ, which define the method's behavior. Common
choices are β=1/4​ and γ=1/2​.
Displacement Update:
Velocity Update:
• Here, x¨i+1​ is the acceleration at the i+1 time step, which needs to be calculated. You can use the equation of
motion to find it:
Where Fi is the applied force or load at time step i.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

NUMERICAL V/S ANALYTICAL SOLUTION
USING MATLAB
USING SPREADSHEET

Here,
m = 1.0
k = 10.0 (N/m)
c = 0.5 (N-s/m)
tmax = 10.0
dt = 0.01
x0 = 1.0m
v0 = 0.0m/sec

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

SDOF WITH HARMONIC LOADING
1. Start with the Equation of Motion:

We begin with the general equation of motion for an SDOF system:

Where:
- m is the mass of the system.
- c is the damping coefficient.
- k is the stiffness of the system.
- F0 is the amplitude of the harmonic force.
- ω is the angular frequency of the force.

2. Assume Harmonic Response:

We assume that the response of the system is

also harmonic and can be expressed as:

Where:
- X is the amplitude of the displacement.
- ϕ is the phase angle of the displacement.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

3. Velocity and Acceleration:

To find the velocity and acceleration, we differentiate the displacement equation with respect to time:

4. Substitute into the Equation of Motion:

Now, we substitute the expressions for displacement, velocity, and acceleration into the equation of motion:

5. Simplify the Equation:

Group the terms with the same trigonometric functions:

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

6. Solve for Displacement Amplitude (X):
Equate the coefficients of cos(ω t + ϕ) on both sides:
Solve for X:

7. Solving for Phase Angle (ϕ):

To determine the phase angle (ϕ), we'll consider the case where damping (c) is present (non-zero):
Equate the coefficients of sin(ω t + ϕ) on both sides: -cXω = 0
Since c and ω are non-zero, this implies that X = 0 or sin(ω t + ϕ) = 0.
- If X = 0, it means there's no displacement response, which is not the case we're interested in.
- Therefore, we focus on sin(ω t + ϕ) = 0.
Solve for ϕ when sin(ω t + ϕ) = 0 : ωt + ϕ = nπ
ϕ = nπ - ωt
Where n is an integer.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

8. Dynamic Magnification Factor (DMF):
The Dynamic Magnification Factor (DMF) is the ratio of the maximum displacement amplitude X to the static
displacement Xs due to a constant force:

This factor quantifies how much the displacement is magnified compared to the static displacement under
harmonic loading. It depends on the excitation frequency relative to the natural frequency and the damping
ratio.
9. Energy Transfer:
The rate of energy transfer (P(t)) from the force to the SDOF system at any given time can be expressed as:

Substituting the expressions for F(t) and , we obtain:

This equation represents the rate of energy transfer as a function of time, illustrating how energy is exchanged
between the force and the system during harmonic loading.

FURTHER READING.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

ANALYTICAL SOLUTION
- Equation of Motion:

- Displacement:

- Velocity:

- Acceleration:

- Dynamic Magnification Factor:

- Resonance: Occurs when (ω = ωn), leading to significant displacement amplification.

- Phase Angle (ϕ): Depends on damping (c), influencing phase relationships between displacement and force.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

NUMERICAL SOLUTION
1. Central Difference Method:
The central difference method is a simple numerical method for solving second-order differential equations. It
approximates the acceleration using central differences, and then integrates to find velocity and displacement.

Here are the steps for implementing it:

- Discretize time from 0 to T with a time step h.
- Initialize arrays to store time, displacement, velocity, and acceleration.
- Use the following iterative scheme for each time step:
- Calculate acceleration:
- Update velocity:
- Update displacement:

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

2. Newmark Method:
The Newmark method is a time integration scheme commonly used for structural dynamics. It provides better
numerical stability for problems with significant damping.
Here are the steps for implementing it:
- Discretize time from 0 to (T) with a time step (h).
- Initialize arrays to store time, displacement, velocity, and acceleration.
- The Newmark method introduces two parameters, β and γ, which define the method's behavior. Common
choices are β=1/4​ and γ=1/2​.
- Use the following iterative scheme for each time step:
- Calculate acceleration:
- Predict the displacement at the next time step:
- Correct the velocity:
- Correct the displacement:

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

 NUMERICAL V/S ANALYTICAL SOLUTION
USING MATLAB
USING SPREADSHEET

m = 1.0kg
k = 10.0N/m
c = 0.5N-s/m
tMAX = 10.0s
dt = 0.01sec
x0 = 1.0m
v0 = 0.0 m/sec
Harmonic load parameters:
F=2.0N
omega_force = 2.0rad/sec

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

 MULTI DEGREE OF FREEDOM SYSTEM
Agenda:

 What is a Multiple Degree of Freedom System?

 Why Study MDOF Systems?

 Equations of Motion for MDOF Systems

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

WHAT IS A MULTIPLE DEGREE OF FREEDOM
SYSTEM?
• Definition: "A system in which a structure can move in multiple independent directions (degrees of freedom)
simultaneously."

An example of a MDOF system

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

WHY STUDY MDOF SYSTEMS?
 Importance: Understanding MDOF systems is crucial for analyzing and designing complex structures.
 Real-world structures rarely have a single degree of freedom.
 Allows for accurate modeling of dynamic behavior.
 Essential for earthquake engineering, aerospace, and more.

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

Free body diagram of a 3 mass spring system with three Degrees of Freedom, u1 , u2 and u3
 Equations of motion:

This system of equations constitutes the stiffness formulation of the equations of motion for a three-
story shear building. It may conveniently be written in matrix notation as:

where [M] and [K] are the mass and stiffness matrices,

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

The elements of the stiffness matrix are designated stiffness coefficients. In general, the stiffness coefficient, kij is is
defined as the force at coordinate i when a unit displacement is given at j, all other coordinates being fixed For
example, the coefficient in the second row and second column, k22 = k2 + k3, is the force required at the second floor
when a unit displacement is given to this floor.

The problem of free vibration requires that the force vector {F} be equal to zero

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

For free vibrations of the undamped structure, we seek solutions of the form:

where ai is the amplitude of motion of the ith coordinate and n is the number of degrees of freedom. The
equation in vector form is:

The substitution of this vector equation into our matrix equation gives us :

Simplifying it we get:

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The solution of this equation is of two types trivial and non trivial , the trivial solution being ai = 0 with all
displacements being individually 0.
However we need the non trivial solution

In general, the expansion of the determinant results in a polynomial equation of degree n in which
should be satisfied for n values of .This polynomial is known as the characteristic
equation of the system. For each of these values of satisfying the characteristic equation we can
solve for a1, a2, . . ., an in terms of an arbitrary constant

| FINAL YEAR PROJECT-VNIT(2023-24) | ANUPAM SONAR | ASHUTOSH RABARY |

Finite Element analysis
 FEA involves discretizing complex structures into smaller finite elements. MDOF systems can be analyzed by
assembling these elements and solving for the displacements and forces at each node. FEA is a powerful method
for solving problems with irregular geometries and complex boundary conditions. Following are it’s steps:

 Discretization: Divide the system into finite elements. Each element consists of a mass, a spring, and the
connecting links.

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 Nodal Points: Define the nodal points or degrees of freedom (DOFs) for each element.For each mass (m1, m2,
m3), we have one horizontal displacement DOF (u1, u2, u3).
 Mass Matrix: Create the mass matrix [M]. For each element, this matrix represents the mass at that location

 Stiffness Matrix: Create the stiffness matrix [K]. Each element will have a stiffness matrix that represents the
stiffness of the spring. Combine these matrices for the entire system.

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 Boundary Conditions: Apply boundary conditions to represent the spring attached to the wall.
 Initial Conditions: Specify initial conditions.
 Time Integration: Depending on the type of analysis we're conducting, we'll need to select an appropriate time
integration scheme (new mark beta) and specify the time steps for the analysis.
 Solve.

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