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∑ F = 0, ∑ F = 0, ∑ F = 0
x y z
[1.1]
∑ M = 0, ∑ M = 0, ∑ M = 0
x y z
• Structural dynamics:
Ø Time-dependent motion
Ø Significant inertial effects
Ø Nature of motion:
♦ Often oscillatory & periodic
♦ Depends on characteristics of loading and system
• Newton’s Second Law:
∑F = ma ; ∑M = I o α [1.2]
• Assumptions:
Ø Mass moves in horizontal (x) direction only
Ø Spring is unstretched when x = 0
Ø Mass on frictionless rollers
Fk
F( t )
FD
• Dashpot force:
Ø Relies on viscous fluid forces
Ø Proportional to velocity of mass
FD = − c x&
dx [1.5]
= −c
dt
Ø Damping force opposes the motion of mass
Ø Work done by FD :
♦ Dissipative (nonconservative)
♦ Converted to heat or some other form of energy
♦ Can not be recovered by reversing the path of motion
+ x , + x& , + &&
x
Fk
FI F( t )
FD
δ2
δ1
c c
F (t ) = Fo sin (2 π f t + φ) [1.11]
• Possible sources:
Ø Collisions
Ø Impacts & moving equipment
Ø Blast loads
Ø Manufacturing processes
Ø Earthquakes
• Loading histories defined by analytical expression or measured
data
Ø Repeatable & predictable
Ø Deterministic process
F(t)
• Possible sources:
Ø Wind
Ø Earthquakes
Ø Traffic loads on roadways and bridges
• Quantifying random loads:
Ø Often exhibit well defined characteristics
Ø Quantified on a statistical basis
Ø Characterize all possible loading events with similar
statistical characteristics
♦ Eg. Wind & earthquake loads
Fk
x
Fig. 1.8 Linear and nonlinear springs.
1.6.2. Damping, c
• Damping used to describe all types of energy dissipation
• Energy dissipation:
Ø Reduction in kinetic and potential energy
Ø Non-recoverable
• Sources:
Ø Imperfect elasticity → Hysteresis loops
• Mathematical model:
Ø Exact nature and magnitude uncertain
Ø Simple model - Dashpot (piston in perfectly viscous fluid)
♦ Damping force directly proportional to velocity
♦ Viscous damping constant c defined as force associated
with a unit relative velocity between ends of dashpot
♦ Accuracy:
§ Adequate for aerodynamic, hysteresis & radiation
damping
§ Very approximate for friction damping
• Multiplication:
C ⋅ D = (a + i b ) (d + i e )
• Division:
C a + ib
= [1.17]
D d + ie
C a + ib d − ie
=
D d + ie d − i e
=
(a⋅d +b⋅e ) + i (b⋅d − a⋅e )
d 2 + e2
C = r ei θ [1.22]