DYNAMICS

OF
STRUCTURES

PRENTICE-HALL INTERNATIONAL SERIES

IN CIVIL ENGINEERING AND ENGINEERING MECHANICS
William J. Hall, Editor
Bathe, Finite Element Procedures
Biggs,
to Structural
Engineering
Au and Introduction
Christiano. Structural
Analysis
Chopra, Dynamics of Structures: Theory and Applications to Earthquake
Engineering, 2/e
Cooper and Chen, Designing Steel Structures
Cording el al,. The An and Science of Geotechnical Engineering
Hendrickson and Au. Project Management for Construction, 2/e
Higdon et al.. Engineering Mechanics, 2nd Vector Edition
Hultz and Kovacs. Introduction in Geotechnical Engineering
Johnston, Lin. and Galambos. Basic Steel Design, 3/e
Kelkar and Sewell, Fundamentals of the Analysis and Design of Shell
Structures
Kramer. Geotechnical Earthquake Engineering
MacGregor. Reinforced Concrete: Mechanics and Design, 3/e
Melosh. Structural Engineering Analysis by Finite Elements
Nawy, Prestressed Concrete: A Fundamental Approach. 3/e
Nawy. Reinforced Concrete: A Fundamental Approach, 4/e
Ostwald. Construction Cost Analysis and Estimating
Pfefter, Solid Waste Management
Popov, Engineering Mechanics of Solids, 2/e
Popov. Mechanics of Materials. 2/e
Schneider and Dickey. Reinforced Masonry Design, 3/e
Wang and Salmon. Introductory Structural Analysis
Weaver and Johnson. Structural Dynamics by Finite Elements
Wolf, Dynamic Soil-Structure Interaction
Young et al., The Science and Technology of Civil Engineering Materials

DYNAMICS OF STRUCTURES
Theory and Applications to
Earthquake Engineering
Anil K. Chopra
University of California at Berkeley

Second Edition

Prentice
Hall
PRENTICE HALL

Upper Saddle River, New Jersey

07458

Overview

PART I

SINGLE-DEGREE-OF-FREEDOM SYSTEMS

Equations of Motion, Problem Statement, and Solution

Methods

Free Vibration

39

Response to Harmonic and Periodic Excitations

65

Response to Arbitrary, Step, and Pulse Excitations

125

Numerical Evaluation of Dynamic Response

165

Earthquake Response of Linear Systems

197

Earthquake Response of Inelastic Systems

257

Generalized Single-Degree-of-Freedom Systems

305

vii

viii

PART II

Overview

MULTI-DEGREE-OF-FREEDOM SYSTEMS
9

343

Equations of Motion, Problem Statement, and Solution

Methods

345

10

Free Vibration

401

11

Damping in Structures

447

12

Dynamic Analysis and Response of Linear Systems

467

13

Earthquake Analysis of Linear Systems

507

14

Reduction of Degrees of Freedom

593

15

Numerical Evaluation of Dynamic Response

609

16

Systems with Distributed Mass and Elasticity

629

17

Introduction to the Finite Element Method

661

PART III

EARTHQUAKE RESPONSE AND DESIGN OF

MULTI STORY BUILDING

687

18

Earthquake Response of Linearly Elastic Buildings

689

19

Earthquake Response of Inelastic Buildings

707

20

Earthquake Dynamics of Base-Isolated Buildings

731

21

Structural Dynamics in Building Codes

755

APPENDIX A

FREQUENCY-DOMAIN METHOD OF RESPONSE

ANALYSIS

783

Contents
Foreword

xix

Preface to the Second Edition

xxi
Preface
Foreword
xxiii
Acknowledgments
xxix
PART I

SINGLE-DEGREE-OF-FREEDOM SYSTEMS

Equations of Motion, Problem Statement, and Solution

Methods

1.1

Simple Structures

1.2

Single-Degree-of-Freedom System

1.3

Force-Displacement Relation

1.4

Damping Force

1.5

Equation of Motion: External Force

1.6

Mass-Spring-Damper System

1.7

Equation of Motion: Earthquake Excitation

3
7

12
14

19
23

ix

Contents
1.8

Problem Statement and Element Forces

26

1.9

Combining Static and Dynamic Responses

1.10

Methods of Solution of the Differential Equation

1.11

Study of SDF Systems: Organization 33

Appendix I: Stitfness Coefficients for a Flexural Element

28
28
33

Free Vibration

39

2.1

Undamped Free Vibration

39

2.2

Viscously Damped Free Vibration

2.3

Energy in Free Vibration

2.4

Coulomb-Damped Free Vibration

48

56
57

Response to Harmonic and Periodic Excitations

65

Part A: Viscously Damped Systems: Basic Results

66

3.1

Harmonic Vibration of Undamped Systems

66

3.2

Harmonic Vibration with Viscous Damping 72

Part B: Viscously Damped Systems: Applications

85

3.3

Response to Vibration Generator

85

3.4

Natural Frequency and Damping from HarmonicTests

3.5

Force Transmission and Vibration Isolation

3.6

Response to Ground Motion and VibrationIsolation

3.7

Vibration-Measuring Instruments

3.8

Energy Dissipated in Viscous Damping 99

3.9

Equivalent Viscous Damping 10

87

90
91

95

Part C: Systems with Nonviscous Damping

3.10
3.11

Harmonic Vibration with Rale-Independent Damping

105
105

Harmonic Vibration with Coulomb Friction109

Part D: Response to Periodic Excitation

113

Contents
3.12
3.13
4

xi
Fourier Series Representation

114

Response to Periodic Force 114

Appendix 3: Four-Way Logarithmic Graph Paper

Response to Arbitrary, Step, and Pulse Excitations

Part A: Response to Arbitrarily Time-Varying Forces
4.1

Response to Unit Impulse

4.2

Response to Arbitrary Force

125
125

126
127

Part B: Response to Step and Ramp Forces

118

4.3

Step Force

4.4

Ramp or Linearly Increasing Force

4.5

Step Force with Finite Rise Time

132

Part C: Response to Pulse Excitations

135

129

129
131

4.6

Solution Methods

135

4.7

Rectangular Pulse Force

4.8

Half-Cycle Sine Pulse Force

4.9
4.10

Symmetrical Triangular Pulse Force 148

Effects of Pulse Shape and Approximate Analysis for Short Pulses

4.11

Effects of Viscous Damping

4.12

Response to Ground Motion

137
143

154
155

Numerical Evaluation of Dynamic Response

165

5.1

Time-Stepping Methods

165

5.2

Methods Based on Interpolation of Excitation

5.3

Central Difference Method

5.4

Newmark's Method

5.5
5.6
5.7

Stability and Computational Error 180

Analysis of Nonlinear Response: Central DifferenceMethod
Analysis of Nonlinear Response: Newmark'sMethod 184

167

171

174
184

151

xii
6

Contents
Earthquake Response of Linear Systems
6.1

Earthquake Excitation

6.2

Equation of Motion

6.3

Response Quantities

6.4

Response History

6.5
6.6
6.7

Response Spectrum Concept 207

Deformation, Pseudo-velocity, and Pseudo-accelerationResponse
Spectra 208
Peak Structural Response from the ResponseSpectrum 217

6.8

Response Spectrum Characteristics

6.9

Elastic Design Spectrum 228

6.10

Comparison of Design and Response Spectra 238

6.11

Distinction between Design and Response Spectra 240

6.12

Velocity and Acceleration Response Spectra 241

Appendix 6:

197

197

203
204

205

222

El Centra, 1940 Ground Motion

245

Earthquake Response of Inelastic Systems

257

7.1
7.2

Force-Deformation Relations 258

Normalized Yield Strength, Yield Strength ReductionFactor, and
Ductility Factor 264

7.3

Equation of Motion and Controlling Parameters

7.4

Effects of Yielding

7.5

Response Spectrum for Yield Deformation and YieldStrength 273

7.6

Yield Strength and Deformation from the ResponseSpectrum 277

7.7

Yield Strength-Ductility Relation

7.8

Relative Effects of Yielding and Damping

7.9

Dissipated Energy 280

7.10

Energy Dissipation Devices

265

266

283

277
279

Contents

xiii

7.11

Inelastic Design Spectrum 288

7.12

Applications of the Design Spectrum 295

7.13

Comparison of Design and Response Spectra 301

Generalized Single-Degree-of-Freedom Systems

8.1

Generalized SDF Systems

8.2

Rigid-Body Assemblages

8.3

Systems with Distributed Mass and Elasticity

8.4
8.5

Lumped-Mass System: Shear Building 321

Natural Vibration Frequency by Rayleigh'sMethod

8.6

Selection of Shape Function

Appendix 8:

PART II
9

305

305
307
309
328

332

Inertia Forces for Rigid Bodies

336

MULTI-DEGREE-OF-FREEDOM SYSTEMS

343

Equations of Motion, Problem Statement, and Solution

Methods
9.1

Simple System: Two-Story Shear Building

9.2

General Approach for Linear Systems

9.3

Static Condensation

9.4

Planar or Symmetric-Plan Systems: GroundMotion

9.5

Unsymmetric-Plan Buildings: Ground Motion

9.6

Symmetric-Plan Buildings: TorsionalExcitation

9.7

Multiple Support Excitation

9.8

Inelastic Systems

9.9

Problem Statement

9.10

Element Forces

9.11

345

345

350

367
370

375
383

384

389
389

390

Methods for Solving the Equations of Motion: Overview

390

xiv
10

Contents
Free Vibration

401

Part A: Natural Vibration Frequencies and Modes

402

10.1

Systems without Damping 402

10.2

Natural Vibration Frequencies and Modes 404

10.3

Modal and Spectral Matrices

10.4

Orthogonality of Modes

10.5

Interpretation of Modal Orthogonality 408

10.6

Normalization of Modes

10.7

Modal Expansion of Displacements

406

407
408
418

Part B: Free Vibration Response 419

10.8
Solution of Free Vibration Equations: Undamped Systems
10.9
10.10

Free Vibration of Systems with Damping 422

Solution of Free Vibration Equations: Classically Damped Systems

Part C: Computation of Vibration Properties

11

419

428

10.11

Solution Methods for the Eigenvalue Problem 428

10.12

Rayleigh's Quotient 430

10.13

Inverse Vector Iteration Method 430

10.14
10.15

Vector Iteration with Shifts: Preferred Procedure 435

Transformation of k = 2m to the Standard Form 440

Damping in Structures

447

Part A: Experimental Data and Recommended Modal Damping Ratios

11.1

Vibration Properties of Millikan Library Building 447

11.2

Estimating Modal Damping Ratios

452

Part B: Construction of Damping Matrix 454

11.3

Damping Matrix 454

11.4

Classical Damping Matrix 455

11.5

Nonclassical Damping Matrix

426

463

447

Contents
12

xv

Dynamic Analysis and Response of Linear Systems

467

Part A: Two-Degree-of-Freedom Systems 467

12.1

Analysis of Two-DOF Systems without Damping 467

12.2

Vibration Absorber or Tuned Mass Damper 470

Part B: Modal Analysis

472

12.3

Modal Equations for Undamped Systems

12.4

Modal Equations for Damped Systems

12.5

Displacement Response 476

12.6

Element Forces 477

12.7

Modal Analysis: Summary 477

472
475

Part C: Modal Response Contributions 482

12.8

Modal Expansion of Excitation Vector p(t) = sp(t)

12.9

Modal Analysis for p(t) = sp(t)

12.10

Modal Contribution Factors

12.11

Modal Responses and Required Number of Modes 489

486
487

Part D: Special Analysis Procedures

13

482

496

12.12

Static Correction Method 496

12.13

Mode Acceleration Superposition Method 499

12.14

Analysis of Nonclassically Damped Systems

500

Earthquake Analysis of Linear Systems

Part A: Response History Analysis

507

508

13.1

Modal Analysis

508

13.2

Multistory Buildings with Symmetric Plan

13.3

Multistory Buildings with Unsymmetric Plan

13.4

Torsional Response of Symmetric-Plan Buildings

13.5

Response Analysis for Multiple Support Excitation

13.6

Structural Idealization and Earthquake Response

514
533
544
548
554

xvi

Contents
Part B: Response Spectrum Analysis

14

15

16

17

555

13.7

Peak Response from Earthquake Response Spectrum

13.8

Multistory Buildings with Symmetric Plan

13.9

Multisiory Buildings with Unsymmetric Plan

560
572

Reduction of Degrees of Freedom

593

14.1

Kinematic Constraints

14.2

Mass Lumping in Selected DOFs

14.3

Rayleigh-Ritz Method 595

14.4

Selection of Ritz Vectors 599

14.5

Dynamic Analysis Using Ritz Vectors

594
595

604

Numerical Evaluation of Dynamic Response

609

15.1

Time-Stepping Methods 609

15.2

Analysis of Linear Systems with Nonclassical Damping

15.3

Analysis of Nonlinear Systems

611

618

Systems with Distributed Mass and Elasticity

629

16.1

Equation of Undamped Motion: Applied Forces

16.2

Equation of Undamped Motion: Support Excitation

16.3

Natural Vibration Frequencies and Modes 632

16.4

Modal Orthogonality

16.5

Modal Analysis of Forced Dynamic Response

16.6

Earthquake Response History Analysis

16.7

Earthquake Response Spectrum Analysis

16.8

Difficulty in Analyzing Practical Systems

630
631

639

Introduction to the Finite Element Method

Part A: Rayleigh-Ritz Method

555

661

641

648
653
656
661

Contents

xvii

17.1

Formulation Using Conservation of Energy

17.2

Formulation Using Virtual Work

17.3

Disadvantages of Rayleigh-Ritz Method

Part B: Finite Element Method

PART III

18

19

661

665
667

667

17.4

Finite Element Approximation 667

17.5

Analysis Procedure

17.6

Element Degrees of Freedom and Interpolation Functions

17.7

Element Stiffness Matrix

17.8

Element Mass Matrix 673

17.9

Element (Applied) Force Vector 675

17.10

Comparison of Finite Element and Exact Solutions

17.11

Dynamic Analysis of Structural Continua 680

669
671

672

EARTHQUAKE RESPONSE AND DESIGN OF

MULTISTORY BUILDINGS

679

687

Earthquake Response of Linearly Elastic Buildings

689

18.1

Systems Analyzed, Design Spectrum, and Response Quantities

689

18.2

Influence of T1 and on Response 694

18.3

Modal Contribution Factors

18.4

Influence of T1 on Higher-Mode Response

697

18.5

Influence of on Higher-Mode Response

700

18.6

Heightwise Variation of Higher-Mode Response 701

18.7

How Many Modes to Include

695

703

Earthquake Response of Inelastic Buildings

707

19.1

Allowable Ductility and Ductility Demand 708

19.2

Buildings with "Weak" or "Soft" First Story

713

xviii

Contents
19.3

Buildings Designed for Code Force Distribution 718

19.4

Limited Scope
Appendix 19:

20

21

728
Properties of Multistory Buildings

730

Earthquake Dynamics of Base-Isolated Buildings

20.1

Isolation Systems

20.2

Base-Isolated One-Story Buildings 734

20.3

Effectiveness of Base Isolation 740

20.4

Base-Isolated Multistory Buildings

20.5

Applications of Base Isolation

731

731

744

750

Structural Dynamics in Building Codes

755

Part A: Building Codes and Structural Dynamics 756

21.1

International Building Code (United States), 2000

21.2

National Building Code of'Canada, 1995

21.3

Mexico Federal District Code, 1993

21.4

Eurocode 8

21.5

Structural Dynamics in Building Codes

756

758

762

764

Part B: Evaluation of Building Codes

766

772

21.6

Base Shear 772

21.7

Story Shears and Equivalent Static Forces 777

21.8

Overturning Moments

21.9

Concluding Remarks

778
781

Frequency-Domain Method of Response Analysis

783

Notation

805

Answers to Selected Problems

817

Index

833

Foreword

The need for a textbook on earthquake engineering was first pointed out by the
eminent consulting engineer, John R. Freeman (1855-1932). Following the
destructive Santa Barbara, California earthquake of 1925, he became
interested in the subject and searched the Boston Public Library for relevant
books. He found that not only was there no textbook on earthquake
engineering, but the subject itself was not mentioned in any of the books on
structural engineering. Looking back, we can see that in 1925 engineering
education was in an undeveloped state with computing done by slide rule and
curricula that did not prepare the student for understanding structural
dynamics. In fact, no instruments had been developed for recording strong
ground motions, and society appeared to be unconcerned about earthquake
hazards.
In recent years books on earthquake engineering and structural dynamics
have been' published, but the present book by Professor Anil K. Chopra fills a
niche that exists between more elementary books and books for advanced
graduate studies. The author is a well-known expert in earthquake engineering
and structural dynamics, and his book will be valuable to students not only in
earthquake-prone regions but also in other parts of the world, for a knowledge
of structural dynamics is essential for modern engineering. The book presents
material on vibrations and the dynamics of structures and demonstrates the
application to structural motions caused by earthquake ground shaking. The
material in the book is presented very clearly with numerous worked-out
illustrative examples so that even a student at a university where such a course
is not given should be able to study the book on his or her own time. Readers
who are now practicing engineering should have no difficulty in studying the
subject by means of this book. An especially interesting feature of the book is
the application of structural dynamics theory to important issues in the seismic
response and design of multistory buildings. The information presented in this
book
xix