CE-412: Introduction to Structural Dynamics and

Earthquake Engineering

MODULE 3

FREE VIBRATION RESPONSE

OF S.D.O.F SYSTEMS
1
 SOLUTION OF EOM
The differential equation of the type ku  cu  mu
  p(t)
can be solved by any one of the following four methods.

1. Classical mathematical solutions

2. Duhamel’s Integral

3. Frequency- Domain method

4. Numerical methods

In these lectures we will use classical mathematical solutions

 Undamped Free Vibration
We will first consider the case where there is no load acting on the Structure i.e. p(t)=0.
This case is known as free vibration.
………. 1
There are several ways of obtaining a solution to this second order differential equation.
The simplest is to assume that the solution of the equation is of following form
st st st
2

Substituting this solution into the equation of motion result in:

st st st

st
Since

The variable ωn is known as the natural circular

1 ,2 frequency with radians/second as unit
3
 Undamped Free Vibration

Inserting 1 ,2 in above eqn result in

the above eqn can be re-written as

1 + 2

1 2 + 1 2

This is the solution to equation of motion for undamped free vibration in the form
of Simple Harmonic Motion with an angular velocity, ωn
4
 Initial Conditions
The constants A and B in the solution can be determined by evaluating the solution at two
different times or more commonly from the velocity and displacement at time t = 0

……… 2

Using the value of A & B in equation 2 results in:

5
Displacement Response History: Undamped free vibration

u(t)

t 6
 Natural frequencies of free vibration
The Natural* Circular Frequency, can be calculated by using relation, =

= 𝑠𝑡 𝑠𝑡
𝑠𝑡

n is not a convenient measure for most engineers as it is difficult to visualize. Engineers

prefer to use Natural Cyclic Frequency, fn , which is usually measured in cycles/second (cps)
or Hertz
=

* The term natural comes from the fact that these properties are intrinsic to the system. These
properties depend solely on the mass and the stiffness of the system and are constant. these do not
depend on the initial conditions for a linear elastic system.
7
 Natural Period of Free vibration
In earthquake engineering the preferred measure of the dynamic characteristic of structures is
the Natural Period of free vibration, Tn , measured in units of seconds.

𝑛
𝑛 𝑛

𝑠𝑡

8
 Natural period of free vibration
Torsion

Alcoa Building, San Francisco

Steel structure, 26 stories.

Periods of vibration:

Transverse (east-west): 2.21 sec

Longitudinal (north-south): 1.67 sec
Torsional: 1.12 sec

9
 Natural period of free vibration
Golden Gate Bridge, San Francisco 10.9 s

Steel structure, center span of 4200 feet.

Periods of vibration:
 Transverse: 18.2 s

 Vertical : 10.9 s

 Longitudinal: 3.81 s

 Torsional: 4.43 s

10
 Natural period of free vibration: Rule of thumb

This applies primarily to moment frame buildings.

Natural Time Period (s) ≈ Number of Stories / 10

e.g. a 8 story building has a fundamental period of approximately 0.8 seconds.

This rule is not very accurate, specially when building height exceeds 11 story height,
but is good for understanding the general ballpark.

11
Problem 3.1
A heavy table is supported by flat steel legs. Its natural
period in lateral vibration is 0.5 sec. When a 50-lb
plate is clamped to its surface, the natural period in
lateral vibration is lengthened to 0.75 sec. What are
the weight and the lateral stiffness of the table?
Solution

madditional=Wadditional/g= 50 lb/32.2 ft/s2 = 1.55 slugs or Total mass, M=m+1.55 and;

12
 Alternate mathematical form of expressing solution
to EOM for free vibration

+
A simpler and more instructive form of equation 2 can be obtained in replacing the
arbitrary constants A and B by two new constants.
A= CCos and B = -CSin
2 2 2 2 2 2 2 2 2 ……… 4

CCos −CSin

Cos −Sin

13
Peak dynamic displacement : Undamped free vibration

Peak value of u(t), represented by uo, can be determined by substituting Sin( n

2 2
0 0

From initial conditions (slide 5) it was determined that

2 2 2 2
0

14
 Equivalent Static force

One of the most appealing approach for analyzing a structural system subjected to
dynamic loading is to use Equivalent Static force approach.
According to this approach, at any instant of time, t , the equivalent static force, fs ,
is the external force that will produce the deformation u at the same t in the stiffness
component of structure (i.e., the system without mass and damping).

Where k is the stiffness of the structure in the direction of mass vibration.

15
 Equivalent Static force

Displacement- time variation in Variation of corresponding equivalent

an undamped system static forces, fs(t), with time, using:
fs(t) = k.u(t)
Element forces or stresses can be determined at each instant of time by the
static analysis of the structure subjected to the force fs. 16
Problem 3.2

A mass of 5 kg is dropped onto the end of a cantilever beam with a velocity of 0.5 m/s, as shown
in Figure. The impact causes vibrations of the mass, which sticks to the beam. The beam is made
of steel (E= 210*109 N/m2), is 3 m long, and has a moment of inertia I= 3*10–6 m4.
Determine:
1. Natural time period and displacement response of beam
2. Peak dynamic displacement
3. Max shear force and Bending Moment in the beam

Neglect self weight of the beam and damping effect.

3

17
 Solution: Problem 3.2
9 2 4

3 3

=
= 𝑛

Let u(t) represent the displacement of the mass, which is measured positive downward from the
equilibrium position of the mass after it is attached to the beam.

The beam is in equilibrium at t = 0 when the particle hits, therefore, u is measured from the
equilibrium position of the system with the particle attached, thus

u(0) =ust = W/k= 5*9.81/7000 = 7*10-3 m = 7 mm

̇( )
transform to

18
Displacement Response History Problem 3.2

𝑢̇ 0

𝑢 0

19
Solution: Problem 3.2

2 .
2 2 0
0

0 W+fso = 5*9.81+574
=623.1 N
3

-623.1 N SFD

-1869 N.m BMD

20
 Exercise 3.1
1. A spring- mass system has a natural frequency of 10 Hz. When the stiffness of spring is
reduced by 800 N/m, the frequency is altered by 45%. Find the mass and stiffness of actual system.
Ans: k = 1147 N/m m = 0.29 kg

2. A pressure-vessel head is supported by a set of steel

cables of length 2 m as shown in Figure. The time period
of axial vibration (in vertical direction) is found to vary
from 4.0925 s to 5 s when an additional mass of 5,000 kg is
added to the pressure-vessel head. Determine the
equivalent cross-sectional area of the cables and the mass
of the pressure-vessel head
Ans: A = 2.37*10-7 m2. m = 10,000 kg

21
 Exercise 3.1
3. An electromagnet weighing 3,000 lb is at rest while holding an automobile of weight 2,000 lb in
a junkyard. The electric current is turned off, and the automobile is dropped. Assuming that the
crane and the supporting cable have an equivalent spring constant of 10,000 lb/in.,find the
following: (a) the natural Time period of vibration of the electromagnet, (b) the resulting motion of
the electromagnet, and (c) the maximum tension developed in the cable during the motion
Ans: Tn= 0.175 s, u(t)=0.5 Cos (35.92t) -in, Tmax= 5000 lb

4. A 60 kg drum of waste material is being hoisted by an overhead crane

and winch system as illustrated in Figure. The system is modeled as a 2 m
long simply supported beam to which the cable is attached. The drum of
waste material is attached to the end of the cable. When the length of the
cable is 6 m, the natural period of the system is measured as 0.3 s. What is
the mass of the waste material?
Ans: 4.93×106 kg
22
 Exercise 3.1

5. An acrobat weighing 120 lb walks on a

tightrope, as shown in Figure. If the natural
frequency of vibration in the given position, in
vertical direction, is 10 rad/sec, find the tension
in the rope.
Hint: Develop EOM using D’Alembert principle
of dynamic equilibrium to determine ωn

Ans: 1656 lb

23
Free vibrations Response of
Viscously Damped systems

24
 Viscously Damped Free Vibration
The equation of free vibration for damped free vibration has the form
The solution to this equation will be taken in the same form as for the undamped form
i.e
Substituting this value in equation of motion result in:

or

Since

k = mωn2
25
 Viscously Damped Free Vibration

is known as Critical damping coefficient

Also Where 𝜁 (Greek alphabet for Zeta) is known as Damping ratio or fraction of critical damping

Substituting in the above mentioned equation gives:

Where is known as Damped Natural Frequency

26
 Viscously Damped Free Vibration
There are 3 forms of solutions available depending on the magnitude of the
Damping Coefficient, c

1 Critically damped system

2 Over damped system

3 Under damped system

27
 Critically damped systems Over damped systems

There is no vibration in the response. The Like critically damped systems, there is no
vibration. However, the structure returns to its
structure returns to its initial position without
initial position slowly as compared to critically
vibrating about the zero position but in the
damped system.
shortest time.

An example of critically damped system An automatic door close is an

example of an over damped system 28
 Underdamped systems

Underdamped systems also returns to its origin but now vibrates.

Critically damped and over damped systems are of no interest to the Civil Engineers.
Underdamped systems is the only case that is of interest to civil or structural engineers as
in all our structures the level of damping is very small, usually less than 5% of critical
damping.

29
Free vibration response of under damped, critically damped ,
and over damped systems videos 1,2,3

Free vibration of under damped, critically

damped , and over damped systems
Equilibrium position
Approximate Damping Ratios

31
Free vibration Response of
Underdamped systems

32
 Displacement Response: Underdamped systems
The solution for the under-damped system have the form
where 𝜔 = 𝜔 1−𝜁

This is similar to the case for undamped free vibration except that the frequency is slightly smaller and
there is a decay of the response with time.
Again the constants A and B may be found from the solution at two different times or from the initial
conditions at time t = 0

Peak dynamic displacement ,uo , and equivalent static force, fso

2 2
0

33
 Underdamped Free Vibration
Problem 3.3
For the cantilever beam in Problem 3.2
Develop and solve the EOM and determine:
1. Damped Natural time period
2. Amplitudes of dynamic displacement and Equivalent static force

Take damping ratio, ζ =2.5%. Neglect self weight of the beam.

Solution: Problem 3.3

Solution: Problem 3.3 contd…
EOM

Solution to above EOM is

From Problem 3.2, u(0) = 7*10-3 m and

. ∗

.
Displacement Response History: Problem 3.3

Displacement Response history

10

8 uo
6
Displacement -mm

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-2

-4

-6

-8

-10

Time-s
Solution: Problem 3.3 contd…

2
0

2
0

0
Effect of damping ratio on response of civil engineering structures
 Damping has the effect of lowering the natural frequency from ωn to ωD and
lengthening the natural period from Tn to TD.
 These effects are negligible for damping ratios below 20%, a range that includes most
structures, as shown in Figure. For most structures the damped properties ωD and TD
are approximately equal to the undamped properties ωn and Tn, respectively.

𝜔 = 𝜔 1−𝜁
𝜁<1 ⇒𝜔 < 𝜔
 Decay of Response Due To Damping
The decay observed in the response of a structure to some initial disturbance can be used
to obtain a measure of the amount of viscous damping ,c, present in the structure.
Consider two successive positive peaks ui and ui+1 during viscously damped free vibration
response (shown in the figure) occurring at time ti and ti+1, respectively.
ti
ti Following relation can be derived that:

uui
i uui+1
i+1 =
u(t)

tti+1
i+1

t 39
 Decay of Response Due To Damping
Taking the natural logarithm of both sides, we get the so-called logarithmic decrement of damping,
δ, defined by the following equation.

For Civil engineering systems,ζ is usually less than 0.1 and

Therefore, for Civil engineering systems ≈

40
 Decay of Response after j no. of cycles
Decay of response after specific no of j cycles can be determined by considering peak
displacements over a range of j+1 peaks. ti
u1
. . ….. uui
i uuj+1
i+1

u(t)
. ….. =

j cycles
ti+1

t- s

41
Problem 3.4 :A free vibration test was conducted on an empty water tank
shown in figure. A force of 60 kips, applied through a cable attached to the tank,
displace the tank by 2 " in Horizontal direction.
The cable is suddenly cut and the resulting vibration is recorded. At the end of 5 cycles, which
complete in 2.55 sec., the amplitude of displacement is 0.9 ".
Ignore the vertical vibration of tank and compute the following:
2"
1. Damping ratio
2. Natural period of undamped vibration
3. Stiffness of structure
4. Weight of tank 60 k
5. Damping coefficient
6. Number of cycles to reduce the displacement
60o
amplitude to 0.5 ″
42
 Solution: problem 3.4
u1 = 2 in.
After j cycles, uj+1 =u6= 0.9 in.
1. Damping ratio, ζ =?

ζ =0.0254 or 2.54%
2. Tn =?
5 cycles of damped vibration takes 2.55 s
or 1 cycle of damped vibration takes 2.55/5= 0.51 s TD =0.51 s
= 0.5098 s

3. k =?

43
Solution: problem 3.4 (contd…)
4. Weight of empty tank, W =?

5. c=?

6. cycles required for displ. amplitude to reduce from 2 in. to 0.5 in. , j=?

44
 Exercise 3.2
1. Consider the R.C. slender tower shown in Figure, which vibrates in the transverse
direction shown in the figure. An estimate for the first natural frequency of this system is
0.15 Hz. The logarithmic decrement values measured for the tower with uncracked
reinforced concrete material and cracked reinforced concrete material are 0.04 and 0.10,
respectively. If a wind gust induces an initial displacement of 0.5 m and an initial
velocity of 0.2 m/s, determine the peak displacement amplitudes in the cases with
uncracked concrete material and cracked concrete material
Ans: uo=0.5429 m and 0.5426 m for uncracked and cracked concrete, respectively ;
therefore, the maximum displacement remains virtually unchanged.

2. The stiffness and damping properties of a mass–spring–damper system are to be determined

by a free vibration test; the mass is given as m = 0.1 lb-sec2/in. In this test the mass is displaced 1 in.
by a hydraulic jack and then suddenly released. At the end of 20 complete cycles, the time is 3 sec
and the amplitude is 0.2 in. Determine the stiffness and damping coefficients.

Ans: k= 175.5 lb/in. , c = 0.107 lb-s/in.

 Exercise 3.2
3. A body of mass 1.25 kg is suspended from a spring with stiffness of 2kN/m. A dashpot attached
to the spring-mass system require a force of 0.5 N to move with a velocity of 50 mm/s. Determine :
(a) Time required by the spring-mass system to complete one cycle during free vibration.
(b) Amplitude of displacement of the body after 5 cycles when the body was released after an
initial displacement of 20 mm. and
(c) Displacement after 0.5 s from the start of free vibration.

Ans: TD = 0.159 s. uo ater 5 cycles= 0.84 mm, u0.5s = 2.63 mm

4. A railroad car of mass 2,000 kg traveling at a velocity 10

m/s is stopped at the end of the tracks by a spring-damper
system, as shown in Fig. If the stiffness of the spring is, k= 80
N/mm and the damping constant, c = 20 N-s/mm
determine (a) the maximum displacement of the car after
engaging the springs and damper and (b) the time taken to
reach the maximum displacement.
Ans: uo = 2.58 m. t = 0.645 s
46
 Exercise 3.2
5. A MEMS (Micro Electro mechanical system) system consists of a mass of
50μ g hanging from a silicon (E = 73 x 109 N/m2) cable with a diameter 0.2 μ
m and a length of 120 μ m. The cable is suspended at the mid point of a simply
supported, circular silicon beam with a diameter of 1.6 μ m and a length of 50
μ m. The mass vibrates in a silicone oil such that its damping coefficient is 1.2
x 10–6 N s/m. The mass is given as an initial displacement of 2 μ m and
released. Determine Natural Frequency and Damping Ratio of the system.
Ans: ωn=1.1x104 rad/s, ζ= 0.0011.