Review

Appendix A and B in Geotechnical

Earthquake Engineering Book
By:
Yuamar Imarrazan Basarah

Review APPENDIX A-B

GOALS of this Lesson
1. Know the types of vibratory motion
2. Review Mathematical solutions of simple vibration problems

Outline
1. Types of vibratory motion
Periodic loading : Simple Harmonic Motion
Nonperiodic loading
2. Fourier Series
3. SDOF
Undamped Free vibration
Damped Free vibration
Undamped forced vibration
Damped forced vibration
4. Response Spectrum

1. Types of Vibratory Motion

Periodic Loading:
Non-Periodic Loading:
It has same PERIOD elapsed for 1 cycle Random period (inconsistent interval
Ex: harmonic motion
Ex: impact loading, explosion,
falling weight, Earthquake
T
T

Impact loading

Earthquake loading
T

Periodic Loading
Harmonic Loading

Characterized by SINUSOIDAL motion

IMPORTANT properties:
1. Amplitude (A)
2. Period (T)
3. Frequency (f)
4. Natural frequency ()
5. Phase ()
2 types of notations:
1. Trigonometry
2. Complex

Trigonometry for Simple

Harmonic Loading

T
A

IMPORTANT properties:
1. Amplitude (A)
2. Period (T)
3. Frequency (f)
4. Natural frequency ()
5. Phase ()

Simple Harmonic Loading

For 1 Sinusoidal:

For 2 Sinusoidal:

+b

Complex Notation for Simple Harmonic Motion

Not all dynamic problem, solved easily
using trigonometric Notation
Another simpler notation : Complex
Notation
It derived directly from trigonometric
notation
using Eulers law:

Real part
(imaginary number)
Eulers law:

Imaginary part :

+b

Other Measures of Motion

Parameters to describe vibratory
motion: Trigonometric
Displacement

Velocity

Acceleration

Complex

Non-Periodic Loading

Periodic Loading

Using artificial Quiet Zone

Superposition is used to sum the
responses of system to a series of
simple harmonic loading

Earthquake loading can also be

desbribed as Periodic loading in terms of
fourier series

Fourier Series
Developed by French mathematician, J.B.J. Fourier
Periodic function = as the SUM of a series of
simple harmonic loading
Different amplitude, frequency, and phase

Loading
Time Hystory

Calculation of
Summation of harmonic
The response of each load
Responses to create
For a SDOF system
complex time hystory of respon

Fourier representation
of loading time
hystory
as a sum of harmonic

Response of each load

For a SDOF system

Fourier Series :
1. Trigonometric forms

ao, an, and bn are fourier coefficients and calculated from:

ao = average x(t) value from t=0 to t=Tf

In many geotechnical earthquake application, ao 0
Another trigonometric expression:

Example Page 537

The fourier series of the square wave function:

The Problem

Square wave function

1.5
1
0.5
x(t)
-1.5

The Fourier Series

0
-1

-0.5

0.5

1.5

-0.5
-1
-1.5
t(Tf)

Square wave
function

Fourier Series :
2. Exponential forms

The above expression can be written as:

* means complex number

Because -n = -n, then the expression can be compacted into:

Fourier Series :
3. Discrete Fourier Transforms (DFT)
Ground motion parameters are described by a finite number of data
Thus, fourier coefficient are obtained by summation rather than integration
That summation = The Discrete Fourier Transform (DFT)

Using Eulers law, the expression can be written as:

The DFT can be inverted as Inverse Discrete Fourier Transform (IDFT):

VIBRATING SYSTEM
Definition of Degress of Freedom:
The number of INDEPENDENT VARIABLES needed to describe
the motion of a system
Modes of vibration for foundation:
1) Longitudinal (translation about
y-axis)
2) Rocking (rotation about z-axis
3) Vertical (translation about zaxis)
4) Yawing (rotation about z-axis)
5) Lateral (translation about xaxis)

6 DOF : 3 translational and 3 rotational

6) Pitching (rotation about x-axis)

VIBRATING SYSTEM

Movement
Movement in
Only in
Vertical and rocking
Vertical direction
(2 DOF)
(1 DOF = SDOF)

m1, m2, m3
translation
(3 DOF)

Discrete system:
Mass concentrateted at a finite
Number of locations and have a
finite DoF

Infinite DOF

Infinite DOF

Continous system
Mass is distributed throughout syst
And have a infinite DOF

SDOF

Example of SDOF

Characteristic of SDOF:
1) M connected to a spring (K)
2) M connected to a dashpot
of viscous damping coeff.
(c)
3) M is subjected to external
loading (Q(t))

inerial force
viscous damping

Generalized system

fI =
fD =
force
Fs =
Q(t)=

Force acting in a system

m =
u(t)
c =
u(t)
K =
u(t) =

mass
= acceleration
coef of viscous damping
= velocity
spring constant
displacement

elastic spring force

external load

SDOF : Vibration of
Support
For earthquake engineering,
dynamic loads result from:

SHAKING of GROUND not from

EXTERNAL LOAD applied at the mass lev
Displaced
condition

Static
condition

ub(t)
= displ acement of base
u(t) = displacement of frame relative to
base
ut(t)
= total displacement

ub+u

SDOF : Undamped Free Vibration ; C=0, Q(t)=0

Solution to this differential equation is:

Undamped natural freq.

C1 and C2 can be obtained from initial condition of displacement and

velocity (t=0)

Amplitude remains constant

No energy loss (no damping)
Oscillate forever
Dont exist in the real eng. application

Example: Undamped Free Vibration ; C=0, Q(t)=0

SDOF : Damped Free Vibration ; C0, Q(t)=0

Critical damping
coefficient

Damping
ratio In EQ engineering, the structure are alwa
virtually underdamped, then :
he equation can be expressed as:

SDOF : Damped Free Vibration ; C0, Q(t)=0

et D be the damped natural circular freq:

1 and C2 are obtained from initial cond:

Therefore,

Example: Damped Free Vibration ; C=0, Q(t)=0

SDOF : Undamped Forced Vibration ; C=0, Q(t)0

Harmonic Loading

neral solution is THE SUM of the COMPLEMENTARY and PARTICULAR solution

Particular solution:
Homogeneous solution:
(describe the response caused by external loading)

Assume has the same form responses as harmonic

Tuning Ratio:

Initial condition

SDOF : Undamped Forced Vibration ; C=0, Q(t)0

C 2 = uo

inally, the equation can be written as:

he case, in which the system initially at rest in its equilibrium position (uo=uo=0

Responses

due to free vibration effect (at freq )

Responses

due to applied loading (at freq )

If = 1 = /, the displacement, u

When
harmonic loading applied at of SDOF
system, the response goes infinity ().. Infinity
indicating RESONANCE of the system.
In reality, because real system has damping,
Infinity is never reached, but it can become

SDOF : Undamped Forced Vibration ; C=0, Q(t)0

Example: Undamped Forced Vibration ; C=0, Q(t)0

Ub(t)=ubsint

See Ex B.1

SDOF : Damped Forced Vibration ; C 0, Q(t)0

he most general case : Damped system subjected to harmonic loading

After

dividing by m and using =c/(2m) and =k/m, the equation become:

The complementary solution represent damped free vibration:

It can be assumed a harmonic particular solution for damped SDOF,

The coresponding velocity and acceleration are

ubtituting two previous equation into equation of motion & grouping the sin and

SDOF : Damped Forced Vibration ; C 0, Q(t)0

For sin = 0 for t = 0 and cos = 1, thus

For sin = 1 and cos = 0, thus

Then, C3 and C4 is solved as:

Finally the general solution is obtained by combinaing the

complementaru and particular solution:

Example: Damped Forced Vibration ;

C 0, Q(t)0

Response Spectra

nition
e MAX response (Acc, Vel, Disp) of all possible linear SDOF
Ground Acc (EQ loading)

Deformation Response Spectrum

SDOF system
T=
=

T=
=

T=
=

Deformation Response

Response Spectra
The response will depend on:
Mass (m)
Stiffness (k)
Damping ratio ()

Method to construct Response Spectrum

1) Calculated from actual time historie
2) PSHA
3) Building codes
Type of Response spectrum:
1) Deformation (D)
2) Pseudo velocity (V)
3) Pseudo acceleration (A)

nvert from Deformation (D) to Vel (V) and Acceleration (A)

D, V, and A values are the peak response of all possible linear SDF system

Response Spectra for El Centro ground motion

TUGAS 1
Tugas Vibratory Motions:
Braja M.Das. Principles of Soil Dynamics, 1993,
Hal 47-49 No. 2.2, 2.3, 2.4, 2.7, & 2.8

Tugas Wave Propagations:

S.L. Kramer. Geotechnichal Earthquake
Engineering,1996, Hal 181-183 No. 5.2, 5.4, 5.7,
& 5.9