KNS4553

SOIL DYNAMICS
KANIRAJ SHENBAGA
UNIVERSITY MALAYSIA SARAWAK
Learning Objective 1

Describe free and forced vibrations

with damping including multi degree
of freedom (DOF) systems and to
explain elastic theories of soil
dynamics, wave propagation.
 KNS4553 SOIL DYNAMICS

Fundamentals of Vibrations
Sources of vibrations

Natural sources Man-made sources

Earthquake Machines
Construction
Wind operations
Waves Blasting, quarrying
Traffic
Static vs. Dynamics

Static phenomenon Dynamic phenomenon

Quantities do Quantities vary

not vary with with time [= f(t)].
time [ f(t)]. Complex to
Relatively easy analyze.
to analyze.
Static quantities

Force [Q f(t)]
Displacement [z = f(t)]

quantity Static constant with time

time, t
Vibration quantities

Displacement [z = f(t)]
It is the distance by which the
vibrating body moves from its mean
static equilibrium position.
Velocity [z = dz/dt = f(t)]
Acceleration [z = d2z/dt2 = f(t)]
Force [Q = f(t)]
Figures show variation of vibration in which quantities
(force, displacement, velocity, acceleration) vary with time.
Types of vibrations

Periodic vibration in which the vibratory motion

repeats itself in equal intervals of time.
Random vibration in which the vibratory motion
does not repeat itself in equal intervals of time.
Steady state vibration in which the vibration
occurs continuously.
Transient vibration in which the vibration ceases
after a period of time.
Periodic motion

Figure shows a
periodic motion in +
N

which the unit motion

O
MNOPQ called a cycle M
T
Q
T T
repeats itself in equal P
-
intervals of time
called period (T). MNOPQ = 1 cycle
T = period, time required
for one cycle
Periodic motion

Frequency (f) is the

number of cycles per
+
unit time. N

= O

M
T
Q
T T
A is the amplitude (i.e. P
maximum value - -
positive or negative) of
the vibration quantity. MNOPQ = 1 cycle
T = period, time required
for one cycle
Random vibration

In random
vibration, a unit
vibratory motion
does not repeat
itself in equal
intervals of time.
Exercise 1

Does the figure show a

vibratory motion?
If yes, is it a periodic vibration?
If yes:
Mark the unit repetitive
motion.
What is the period in s?
What is the frequency in
cpm?
What is the amplitude of
displacement in m?
Practice Exercise

Does the figure show a

vibratory motion?
If yes, is it a periodic vibration?
If yes:
Mark the unit repetitive
motion.
What is the period in s?
What is the frequency in
cpm?
What is the amplitude of
displacement in m?
Simple Harmonic Motion

Simple harmonic motion

(SHM) is a period motion. = sin
e.g. displacement
= sin Az
4
0 2 3
Az = amplitude of Az
displacement
= circular frequency
(radians/unit time)
Simple Harmonic Motion

t = 2 = 1 cycle
= sin
Period , T = 2/
Az
Frequency, f = 1/T
4
0 2 3

f = / 2 Az
Phase Difference In phase

SHMs of same
frequency of same
frequency are in
phase if their peaks
are reached
simultaneously.
Phase Difference Out of phase

SHMs of same
frequency are not in
phase if their peaks
are not reached
simultaneously.
Phase Difference

SHMs of same frequency

are not in phase if their Phase difference = sin
peaks are not reached
simultaneously. There is a
phase difference
between the motions.
z2 reaches peak /2
before z1.
= 1.5 sin( + )

Motion z2 leads z1 by /2.
Phase Difference

z2 reaches peak /2 Phase difference

= sin
after z1.
Motion z2 leads z1
by /2 or
Motion z1 lags z2 by
= 1.5 sin( )

/2.
Phase Difference

SHMs of same frequency

are not in phase if their Phase difference = sin
peaks are not reached
simultaneously. There is a
phase difference
between the motions.
z2 reaches peak /2
before z1.
= 1.5 sin( + )

Motion z2 leads z1 by /2.
Phase Difference

z2 reaches peak /2 Phase difference

= sin
after z1.
Motion z2 leads z1
by /2 or
Motion z1 lags z2 by
= 1.5 sin( )

/2.
Phase Difference

= sin

/2

= cos =


sin + 0 2 3 4
2

z
= sin =


sin +
Phase Difference

Velocity:
Leads displacement by /2.
/2

Amplitude of velocity = Az
Acceleration: 0 2 3 4
Leads displacement by
and leads velocity by /2. z

Amplitude of acceleration =
2Az
Sum of SHMs

Sum of two SHMs of = +

same frequency is = sin +

also a SHM of the
same frequency. = + cos + sin

= sin sin
= tan
= sin + + cos
Fundamentals of Vibrations
KNS4553 Soil Dynamics
 KNS4553
Soil Dynamics

Elements of Vibrating Systems

 Elements of Vibrating System

Any system possessing mass and elasticity is

capable of vibrating. In the analysis of vibrations,
a vibrating system is represented by a model.
 Spring

Elasticity of the vibrating

system is represented by a
linear spring. k

The deflection of the spring

is directly proportional to
the load on the spring.
The constant of k
proportionality or spring 1

constant is k. =

Spring

k = force per unit

deflection k

The spring conserves

energy.
The spring force acts
as a restorative force. 1
k

=

Mass

The mass of the

vibrating system is
represented by a rigid
body.
m = mass of vibrating m
system
The neither gains nor
loses kinetic energy.
 Dash Pot or Damper

The damping present in the

system is represented by a
c
damper or viscous dash pot.
The viscous damping force
is directly proportional to
the velocity.
c
The constant of 1
proportionality is called
=

damping coefficient, c.
 Dash Pot or Damper

c = force per unit

velocity c
The dashpot does not
conserve energy. It
dissipates energy in
heat. c
1
The damping force =


opposes motion.
External Excitation Element, F(t)

The external excitation force can be of two types.

Constant force excitation
F(t) = Fo sint; in which the amplitude of excitation force
(= Fo) is constant.
Variable force excitation
F(t) = mee2 sint; in which the amplitude of excitation
force (= mee2) depends on . me = eccentric mass
rotating at circular frequency of ; e = eccentricity of the
rotating mass.
 KNS4553
Soil Dynamics

Model for Vibrating Systems

Mass-Spring-Dash Pot Model

F(t) is called the active Support/Foundation

element which causes the
system to vibrate.
c
Mass, spring, and dashpot
are called passive elements F(t)
which respond to the active Mean static
equilibrium
element. position

The model can also be z

inverted.
Lumped Parameter Model

Properties distributed Support/Foundation

throughout the system are

lumped together in c
separate discrete elements
F(t)
in the model. The model is
also known as lumped Mean static
equilibrium
parameter model. position

z
Damped and Undamped Systems

Undamped system (c = 0) Damped system (c > 0)

Support/Foundation

c
F(t) F(t)
Mean static
equilibrium
position

z
Free and Forced Vibrations

Free vibration [F(t) = 0] Forced vibration [F(t) > 0]

Support/Foundation

c c
F(t)
Mean static
equilibrium
position

z z
Degree of Freedom

Degree of freedom = Number of

Support/Foundation
independent coordinates (or
variables) required to describe
the vibratory motion c
Figure shows a single degree F(t)
freedom system. The number Mean static
equilibrium
of independent variables position
required to describe the
z
motion is 1 ( = z).
Degree of Freedom

Figure shows a two degree

freedom system. The number
of independent variables
required to describe the
motion is 2 (z1 and z2).
z1 describes the motion of
m1
z2 describes the motion of
m2
 KNS4553
Soil Dynamics

Free Vibration of Undamped System

Free Vibration of Undamped System

The forces during

vibration are:
Inertial force =
Spring force =
The equation of motion is:
+ =
, ,
Free Vibration of Undamped System

Solution for + = :

= +

C1 and C2 are arbitrary constants determined by initial

conditions.

z is a SHM with a circular frequency of

, ,
Free Vibration of Undamped System

Natural circular frequency, =

Natural frequency, = =


Natural period, = = =

, ,
Vibration goes on indefinitely without change in amplitude of
motion.
fn can be altered by modifying the mass and stiffness of the
system.
 KNS4553
Soil Dynamics

Forced Vibration of Undamped System

Forced Vibration of Undamped System

The forces during vibration

are:
Inertial force =
F(t) = Fo sint Spring force =
Constant force external
excitation force = Fo sint
, , The equation of motion is:
+ = sin
Forced Vibration of Undamped System

Solution for + = :
= + +
C1 and C2 are arbitrary constants determined by initial conditions.
=

= = static deflection due to amplitude of excitation force


= = Magnification factor


=

Fundamentals of Vibrations
KNS4553 Soil Dynamics
 KNS4553
Soil Dynamics

Forced Vibration of Undamped System

Forced Vibration of Undamped System

The forces during vibration

are:
Inertial force =
F(t) = Fo sint Spring force =
Constant force external
excitation force = Fo sint
, , The equation of motion is:
+ = sin
Forced Vibration of Undamped System

Solution for + = :
= + +
C1 and C2 are arbitrary constants determined by initial conditions.
=

= = static deflection due to amplitude of excitation force


= = Magnification factor


=

 KNS4553
Soil Dynamics

Free Vibration of Damped System

Free Vibration of Damped System

The forces during

vibration are:
c Inertial force =
Spring force =
Damping force =
z The equation of motion is:
+ + =
Free Vibration of Damped System

Solution for + + = :
= +
R1 and R2 are arbitrary constants determined by initial conditions.

= +

c

=

z
Free Vibration of Damped System

There are three cases of vibration.

c
> overdamped system. Motion decays

exponentially with time. There is no oscillatory motion.

= critically damped system. Motion decays

exponentially with time. There is no oscillatory motion. z

< underdamped system. There is oscillatory motion.

Amplitude of motion decays with time. The motion with time is
of the form of damped sine wave.
Free Vibration of Damped System

The system returns to rest in

the minimum time when the
system is critically damped.

z
http://www.classle.net/book/vibration-damping
Critical Damping Coefficient, cc

The damping coefficient when the system is critically damped is

known as the critical damping coefficient, cc.

For critically damped system, =

= =
c
= =
= ; critically damped system
> ; over damped system
< ; under damped system z
Damping Factor, D

Damping factor is the ratio of damping coefficient to

the critical damping coefficient.

=

c
= 1; critically damped system
> 1; over damped system
< 1; under damped system
z
 KNS4553
Soil Dynamics

Forced Vibration of Damped System

Forced Vibration of Damped System

The forces during vibration are:

Inertial force =
c Spring force =
F(t) = Fo sint Damping force = c
Constant force external
excitation force = Fo sint
z The equation of motion is:
+ + = sin
Forced Vibration of Damped System

Solution for + + = :
= + +
At steady state condition: =
=

= = static deflection due to amplitude of

excitation force

= = Magnification factor; =

+
 = +
+

z t

= +
Transient and steady states

z t

= +

Transient state in which the free Steady state in which only

vibration decays and ceases. forced vibration occurs at
=
Forced Vibration of Damped System

Solution for + + = :
= + +
At steady state condition: =
i.e. Amplitude of displacement (zo) lags the excitation
force Fosint by .

=


=

Magnification factor, M (D 0)

F(t) = Fo sint
Magnification factor, M (D 0)

@ = 0, M = 1 for all values of D. i.e. = =

static deflection due to amplitude of excitation
force.
For D = 0, M tends to at r = 1. i.e. when the
operating frequency () of the dynamic force
becomes equal to the natural frequency of the
system (n) the amplitude of displacement becomes
very large. This condition, known as resonance,
occurs at r = 1.
Maximum magnification factor, Mmax (D > 0)

F(t) = Fo sint
(rmax, Mmax)
For D > 0, the maximum for D = 0.06
value of M, called Mmax, is
finite and does not tend to
.
Mmax is reached at a
particular value of r, (rmax, Mmax)
for D = 0.25
called rmax < 1.
rmax and Mmax depend on
the value of D.
Frequency ratio (rmax) at Mmax

F(t) = Fo sint
(rmax, Mmax)
To determine rmax, for D = 0.06

differentiate M with
respect to r and
equate to zero.
= (rmax, Mmax)
for D = 0.25

For ; =

Maximum magnification factor, Mmax (D > 0)

D rmax Mmax
To determine Mmax, 0.000
substitute r = rmax in 0.050
M. 0.100
0.200

= 0.300

0.400

For ; = 0.500

0.600
Complete the Table 0.700
0.707
Magnification factor, M

F(t) = Fo sint

At very large values of ,

i.e. at high values of
frequency ratio r, M 0 for
all values of D. i.e. .
At high r, the amplitude of
displacement is very small.
But, the amplitude of
velocity and amplitude of Mmax 0
for all D
acceleration could be very
high.
 KNS4553
Soil Dynamics

Transmissibility
Force Transmitted to the Support

As a result of the vibratory

motion, force is transmitted to
the support or foundation.
Dashpot and spring are c
attached to the support. F(t) = Fo sint
The force in the spring (kz)
and the force in the dashpot
() are transmitted to the
support. z
Transmissibility

Under constant force

excitation F(t) = Fo sint, force FT = Po sin (t - )
transmitted to the support
during steady state (FT) is: c
= F(t) = Fo sint
The ratio of amplitude of
transmitted force (Po) to the
amplitude of the excitation
z
force (Fo) is called
transmissibility, TR.
Transmissibility

Transmissibility, TR, and

FT = Po sin (t - )
phase angle, , are given
by: c

+ F(t) = Fo sint
= =
+

tan =
z
 KNS4553
Soil Dynamics

Vibration Due to Motion of Support

Motion of Support

Many times vibration is not

due to dynamic forces acting z1(t) = zs sint
directly on the system.
Vibration occurs due to c
transmission of vibration
through the support.
Earthquake
Traffic
Construction operations z
Machines operating nearby
Motion of Support and Mass

The motion of support is

expressed as: z1(t) = zs sint

=
c
Mass m vibrates due to
motion of support. There
are two motions of the
mass.
Absolute motion z z
Relative motion zr
Absolute Motion of Mass

Absolute motion z of the

mass m is given by: z1(t) = zs sint

=
c
=
Ms = Magnification factor
of support motion for
absolute motion of mass
z
Absolute Motion of Mass

+
= z1(t) = zs sint
+

c
=

The expression for Ms is the same
as for TR in transmissibility.
Absolute motion of mass lags the z
support motion by . Expression
for is the same as for in
transmissibility.
Relative Motion of Mass

Relative motion (zr) is the

motion of the mass z1(t) = zs sint

relative to the motion of

c
the support.
zr is expressed as:
=
z
Relative Motion of Mass

Relative motion of the mass

is given by: z1(t) = zs sint
=
= c
Mr = Magnification factor of
support motion for relative
motion of mass
Relative motion of mass lags z
the support motion by .
Relative Motion of Mass

= z1(t) = zs sint

+
c

=