Soil Dynamics

Lecture 02
Simple Vibrations
Luis A. Prieto-Portar, August 2006.
Some simple initial definitions:
- A free vibration is any system that vibrates under the action of forces that are part of,
or are inherent to the system itself.
- A forced vibration is any system that vibrates under the action of an external force to
the system itself.
- The degree of freedom: The figure at left below can be described by a single
coordinate z so it is a single degree of freedom system; the figure in the middle needs z1
and z2 to describe the motion of the system, so it is a two-degrees of freedom system;
the figure at right is also a two-degree of freedom system, requiring z and to describe
the motion.
The basic design criterion for foundations subjected to vibrations (whether seismic,
machinery or impact loadings) is to control their displacements.
These displacements are of two kinds,
1) temporary cyclic elastic displacements (that is, they return to their original
position after the loading stops, and
2) permanent plastic displacements (the foundation remains displaced
from its original position after the loading ceases).
Foundations can vibrate in all six possible modes, as shown below.
These six modes of
vibration may contribute
to unbalanced forces in a
simple foundation. These
unbalanced forces in turn
generate the vibrations.
Each mode is analyzed separately. The most common simplification is to represent the
foundation-soil system subjected to a dynamic loading Q with a spring and a dashpot
analog model system (also known as a lumped parameter vibration system).
For example, a foundation subjected to a vertical axis dynamic loading, show below at
left is represented by the figure on the right:
this is equivalent to
a lumped parameter vibration system
Q
In this lecture, we will consider the following four cases, in progressively increasing
complexity:
1) A free vibration system without damping;
2) A steady-state forced vibration system without damping;
3) A free vibration system with viscous damping; and
4) A steady-state forced vibration system with viscous damping.
(1) A free-vibration system (with only a spring-mass).
The soil subgrade reaction q is the foundation load Wover an area A. In the lumped
parameter system, the displacement z
s
of the soil is proportional to the load W, or
s
W lb
k
z inch
=
3
s
s s
q W lb
k
z Az in
= =
expressed as an equality by using the spring
constant k,
The coefficient of sub-grade reaction k
s
is,
When the foundation is disturbed from its
static equilibrium, the foundation-soil system
will vibrate. The resulting equation of motion
can be written from Newtons second law of
motion,
0 0
| |
+ = + =
|
\

k
mz kz or z z
m
1 2
2
1 2 1
0 0
| |
| |
+ = + =
| |
\
\
= +
| |
+ +
|
\

n n
n
n n n
W k
z kz or z z
g m
with a solution z A cos t A sin t
where is the undamped natural circular frequency.
Substituting z back int o the differential equation yields,
k
( A cos t A sin t ) ( A cos
m



2
1 2 0 0
0
1 0 2
0
0
0
0
+ =
=
= = =
= =
| | | |
= +
| |
| |
\ \

n n
n
t A sin t )
k
and obviously the parenthesis is not zero, therefore
m
Find A and A from boundary conditions at t z z and z v
v
whichyields, A z and A
k
m
v k k
Thus z z cos t sin t
m m
k
m


0
0
1 2 2
0
0 0
0

| | | |
= +
| |
| |
\ \
=
| |
= = +
|
|
\
n
Now we can rewrite this equation,
v k k
z z cos t sin t
m m
k
m
as, the extremely simple,
z Z cos( t )
where,
v
tan and Z z ( m / k )v
z k / m


0
0
2
2 0
3 2
3 2 0
2
2
n
n
n
n
n
n
The displacement z of the foundation, z Z cos( t )
at different time int ervals,
t z Z cos( ) Z cos
t z Z cos( ) Z
/
t z Z cos( / )
t z Z cos( ) Z
/
t z Z cos( / )
t z Z cos( ) Z etc...
Thes
















=
= = =
= = =
+
= = =
+
= = =
+
= = =
+
= = =
e results are shown on the next slide...
use the analogy of a pendulum.
The maximum displacement Z is called the single amplitude. The peak-to-peak amplitude
is 2Z and is also referred to as the double amplitude. The time required for the
sinusoidal displacement to repeat itself is called the period T, which is given by,
2 1
2
1 1 1
2 2 2 2
= = =
| | | | | |
= = = =
| | |
\ \ \
n
n
n
n
s s
T and the frequency of oscillation f is, f
T
k Wg g
The undamped natural frequency f
m z W z




The plots for the velocity and the acceleration of the foundation can be found from the
first and second derivatives of the displacement z,
2 2
2
=
= = +
= = +

n
n n n n
n n n n
z Z cos( t )
z ( Z ) sin( t ) Z cos( t / ) and
z Z cos( t ) Z cos( t )



Example 1.
Find the natural frequency of vibration of a foundation with a mass m supported by a
soil that has experienced a static deflection of 0.5 inches under that mass.
2
1 1 32 2 12
4 42
2 2 0 5
| | | |
= = =
| |
\ \
n
s
g ( . ft / sec )( inches / feet )
f . cycles per sec ond
z ( . inches )
Example 2.
Find the period of oscillation and the natural frequency of vibration of a foundation
with a weight of 60 kN and a soil (spring) constant of 10
3
kN/m.
3
2
1 1 10
2 04
2 2 60 9 81
1 1
0 5
2 04
n
n
k kN / m
f . cycles per sec ond
m kN / . m / s
T . sec onds
f .

| | | |
= = =
| |
\ \
= = =
(2) A steady-state forced-vibration system without damping.
The previously studied free vibration foundation-soil system has now an additional
external alternating force Q
o
sin(t + ). This is shown below, where the spring
constant is still k. This type of problem is typical of footings supporting internal
combustion engines that have reciprocating pistons. The equation of motion is now,
0
mz kz Q sin( t ) + = +

A particular solution for that equation of

motion could be of the form,
( )
1
2
1 1 0
0
1
2
z A sin( t )
Substituting int o the differential equation,
mA sin( t ) kA sin( t ) Q sin( t )
Q / m
A
k / m



= +
+ + + = +
=

0
1
2
2 3
0
n n
Thus, the particular solution is,
Q / m
z A sin( t ) sin( t )
( k / m )
The complementary solution must satisfy mz kz
and the solution to this equation was found to be,
z A cos t A sin t
Therefore, the general soluti



(
= + = +
(

+ =
= +

1 2 3
0
0
1
0
0
n n
n
n
on will be the addition of these two,
z A sin( t ) A cos t A sin t
For the boundary conditions at t o,
z z
z v
which yields,
z A sin( t ) cos( t ) sin sin( t )cos
The sec ond term will disappear whe




= + + +
=
= =
= =
(
| |
= +
( |
(
\

0
n the system has damping, and if the force
function i s in phase with the vibratory system, that is , thus, =
0
2 2
0
2 2
1
1
1
n
n n
s
n
s n
n
Q / k
z sin t sin t
/
The ratio Q / k was seen before as the static deflection z , and the rest is
known as the magnification factor M,
M
/
Therefore,
z z M sin t sin t







( | |
=
| (

\
=

| |
=
|
\
The magnification factor Mvaries with the ratio of /
n
. Notice that when that ratio
approaches unity, the magnification increases without bound. This is called a resonant
condition, and is of great interest to all structural engineers.
( )
( )
( )
2 2
1
1
2
n
n n
s
n
s n n n
At resonance, the general solution can be solved usin g L' Hopital' s rule,
d
sin t / sin t
d
lim ( z ) z
d
/
d
from whence, the displacement and the velocity at resonance are,
z z sin t t cos t
z

(
(
(
=
(
(

(

=

( )
( )
2
2
1
2
1
0 0
2
1
2
s n n
s n n n n
max s max
resonance
z t sin t
Notice that the displacement is max imum when the velocity is zero,
z z t sin t or sin t which is t n
and
z n z which means that as n so does z



=
= = = =
=

The plot of z versus time t for the resonant condition shows its unending increase.
The largest and smallest forces from the foundation upon the soil sub-grade will occur
when the amplitude is the greatest, in other words, when the velocity is zero.
0
2 2
0
2 2
1
0
1
0
1
2
n
n n
n
n
n
n
Q / k
Since z sin t sin t
/
the velocity is,
Q / k
z ( cos t cos t ) for max imum deflection
/
or ( cos t cos t )
( )t m ( the other solution is"beating"and is not relevant )
or ,
t







( | |
=
| (

\
(
= =
(

=
+ =

2
n
m

=
+
0 0
0
2
1 1
1
max
n n n
maximum max
n
Substituting this value for the time int o the displacement yields,
Q / k Q / k m
z z sin
/ /
From this, the max imum dynamic force on the subgrade is,
Q
F kz
/
Thus, the max imum a



( | | (
= = =
| ( (
+
\
= =

0 0
1 1
n n
nd minimum forces from the foundationW are,
Q Q
W and W
/ /
+

Example 3.
Determine the maximum and minimum forces placed by a vibrating machines
foundation upon its soil sub-grade, if: (1) the machine and its foundation weigh 40 kips,
(2) the soils equivalent spring constant is 400 kip/in, and (3) the machine operates at
800 rpm. Assume that the force Q
o
(kips) upon the foundation is 8 sint.
2
0
400
62 2
40 32 2 12
2 2 800 1 60 83 8
8
23
1 1 83 8 62 2
40 23 63
n
dynamic
n
dynamic
k kip / in
. radians / s
m kip / ( . ft / s )( ft / in )
f ( cycles / minute )( minute / sec onds ) . radians / s
Q
F kips
/ . / .
The max imum force on the subgrade W F k



= = =
= = =
= = =

= + = + =
40 23 17
dynamic
ips
The minimum force on the subgrade W F kips = = =
(3) A free-vibration system with viscous damping.
We saw before that a free vibration imposed upon an undamped foundation-soil
system will continue to vibrate without end. In reality, all vibrations will gradually
decrease in amplitude with time due to damping. The figure below shows the modeling
of the damping through the use of a dashpot and a coefficient c.
The differential equation of motion is now,
2
2
2
2
0
0
0
2 4
1
2
rt
rt rt rt
overdam
mz cz kz
Let z Ae be a solution; therefore, backsubstituting yields,
mAr e cAre kAe
c k c c k
or r r with solution r
m m m m m
There are three possible cases :
c k
) If both p roots are real : d
m
c
m
e
+ + =
=
+ + =
| |
+ + = =
|
\
>

ase.
2
2 2
2
c
critical dampin
c k c
) If then r and this is the case.
m m m
For this case,
c
g
c k m
= =
= =
2
2
3
2
2 4
c k
) If then the roots are complex,
m m
c k c
r i This case is called .
m
underdam e
m
p d
m
<
=
2
2
2
2
1
2 4
c
n n
The damping ratio D is defined as,
c c
D
c
k m
The solution can now be written as,
c c k k
r ( D D ) where
m m m m

= =
= = =
( ) ( )
2
2 2
0 0
0
2
1
1
1 1
1
1
n
n
D t
n
n n
n
n
For the ( D ),
r ( D D ) and the displacement z may be written as,
v D z
overdamped case
critically damped conditi
z e z cosh D t sinh D t
D
For the ( D ),
r and the displacement z may be writ en
o
t
n

>
=
(
= + (
(

=
=
( )
0 0 0
n
t
n
as,
z z v z t e



( = + +

( )
2
2
2
0 0
0
2
1
0 0
2
0
1
1
1
1
n
n
d
D t
n
n
n
n
d
For the ( D ),
r ( D i D ) and the displacement z may be written as,
z Z cos t where,
v D z
Z e z
unde
D
v D z
tan
z D
where is the da
rdamped c
mped natural circular freq
s
n y
a e
ue c

<
=
=
| |
+
| = +
|

\
| |
+
| =
|

\
2
1
n
D =
( )
( )
( )
( )
1
1
1
1
2
1
2
2 2
1
2
2
1
n n
n
n n n
n n n
n n
d
n
n
n
exp D t
Z
exp D t t
Z exp D t
However , the factor t t is the period
log arithmic dec
T,
T
D
Defining as the ,
Z D
ln D
Z
D
rement









+
+
+
+
+

( = =

= =

| |
= =
|

\
Example 4. Determine (1) whether a foundation-soil system is over-damped,
critically damped or under-damped, (2) the logarithmic decrement , and (3) the ratio
of two successive amplitudes, if the weight of the foundation is 60 kN, the soil spring
constant is 11 MN per meter and the damping coefficient is 200 kN-s/m.
( )
( )
2 2
1
60 200
2 2 11 000 520 039 1
981 520
2
2 039
2
1
1 03
3
3
2
9
6
c
c
c
( )Thecritical dampingcoefficient c is,
c kN s / m
c km , kN s / m D .
. c kN s / m
( )The logarithmicdecrement is,
.
D
D
.
( )The ratioof twos
underdamped
uccessiv
.

| |
= = = = = = <
|

\
= = =

263
1
2 2
4
1 1 11 000 981
675
2 2 60
1 1 039 6
139
623 75
.
n
n
n
d n
eamplitudes is,
Z
e e
Z
( )Thedamped natural frequency is,
k , ( . )
f . cps
m
f D f (
.
. cp . ( ) s ) .


+
= = =
= = =
= = =
(4) A steady-state forced vibration system with viscous damping.
The differential equation of motion with a sinusoidal varying force Q = Q
0
sint, is
( )
( )
( )
( )
( ) ( )
0
1 2
2 2
2
1 1
0
2
2 2 2 2 2
1
2
1 4
n
n
n n
n
mz cz kz Q sin t
A particular solution for the steady state motion could be,
z A sin t A sin t or
z Z cos t where
/
k m
tan tan and
c D /
Q / k
Z
/ D /
where k / m is the










+ + =

= +
= +
| |

| |

|
= =
|
|
\
\
=
(
+

=

undamped natural frequency
( ) ( )
0
2
2 2 2 2 2
0
1
1 4
n n
The amplitude can be plotted normalized as Z /( Q / k ),
Z
( Q / k )
/ D /
=
(
+

Note that the maximum values do
not occur at =
n
as occurs in
the case of a forced vibration of
the foundation-soil system.
The maximum values occur at f
m
,
called the maximum amplitude.
( ) ( )
( )
( )
2
2 2 2 2 2
0
0
2
2 2
2
2 2
1
1 4
0
1 2 0 1 2
1
1 2 1 2
2
n n
n
n
n n n
m n
res
res
amplitude of vibration at resonanc
From
Z
( Q / k )
/ D /
the max imum value occurs at ,
Z / Q / k
/
D or D
k
f f D D
m
Therefore, the is
Z
e Z ,
Q






=
(
+

(

=

| | | |
= =
| |
\ \
= =
=
( ) ( )
0 0
2 2
2 2 2
1 1
2 1
1 1 2 4 1 2
Q
k k
D D
D D D
=

(
+

The maximum dynamic force that is transmitted to the soil sub-grade can be found
through the spring force and the damping force caused by the relative motion between
the foundation mass and the dashpot,
( )
( )
( ) ( )
dynamic
dynamic
F cz kz
U sin g the expression for the displacement z,
z Z cos t and therefore the velocity z is,
z Z sin t and replacing z and z int o the differential equation,
F c Z sin t kZ cos t
Let kZ Acos and c Z As




= +
= +
= +
= + + +
= =

( ) ( ) ( )
2 2 2
2
dynamic
in
F Acos( t )
where A Acos Asin Z k c
Notice that A is the magnitude of the max imum dynamic force.



= + +
= + = +
Example 5.
Determine (1) the undamped natural frequency f
n
of the foundation, (2) the amplitude
of the motion, and (3) the maximum dynamic force transmitted to the sub-grade, for
an electrical generator driven by a diesel engine placed on a isolated footing that
weighs 140 kN. The spring constant and the damping ratio of the soil is 12x10
4
kN/m
and 0.2 respectively. The vibrating force Q
o
is 46 kN at = 157 rad/s.
( )
( )
( ) ( )
( )
( )
( )
( )
( )
( )
4
2
4
0
2 2
2
2 2 2 2 2 2 2 2 2
4
1 1 12 10
1
2 2
140 981
2 2 2 146 917
46 12 10
1 4 1 157 917 4 02 157 917
140
3 2 2 02 12 10
146
01
523
7
81
8
9
n
n n
n n
k x kN/ m
) f
m
kN/ . m/ s
) f ( . ) . radians / s
/ x
Q / k
Z
/ D / / . . / .
. cps
. mm
)c D k m . x kN s / m
.



= = =
= = =
= = =
( (
+ +

| |
= = =
|
\
( ) ( )
( )
( )
2
2 2
2 4
0000187 12 27 10 523 157 2 A Z k c . x . kN x = + = + =
References.
1. Das, B., Principles of Soil Dynamics, PWS-Kent Publishing Co., Boston, 1993;
2. Richart F.E., Hall J.R., Woods R.D., Vibrations of Soils and Foundations,
Prentice-Hall Inc., New Jersey, 1970;
3. Humar J.L., Dynamics of Structures, Prentice-Hall, New Jersey, 1990;
4. Prakash S., Soil Dynamics, McGraw-Hill, New York, 1981;