DYNAMICS OF STRUCTURES
PRENTICE-HALL INTERNATIONAL SERIES
IN CIVIL ENGINEERING AND ENGINEERING MECHANICS
William J. Hall, Editor
Au and Christiano, Structural Analysis
Bathe, Finite Element Procedures
Biggs, Introduction to Structural Engineering
Chopra, Dynamics of Structures: Theory and Applications to Earthquake
Engineering, 4/e
Cooper and Chen, Designing Steel Structures
Cording et al., The Art 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
Pfeffer, 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
Fourth Edition
Prentice Hall
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Cover Photo: Transamerica Building, San Francisco, California. The motions shown are accelerations recorded
during the Loma Prieta earthquake of October 17, 1989 at basement, twenty-ninth floor, and forty-ninth floor.
Courtesy Transamerica Corporation.
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Library of Congress Cataloging-in-Publication Data on File
10 9 8 7 6 5 4 3 2 1
ISBN 10:
0-13-285803-7
ISBN 13: 978-0-13-285803-8
Dedicated to Hamida and Nasreen with gratitude for suggesting the idea of
working on a book and with appreciation for patiently enduring and sharing
these years of preparation with me. Their presence and encouragement
made this idea a reality.
Overview
PART I SINGLE-DEGREE-OF-FREEDOM SYSTEMS
1
2
3
4
5
6
7
8
Equations of Motion, Problem Statement, and Solution
Methods
Free Vibration
Response to Harmonic and Periodic Excitations
Response to Arbitrary, Step, and Pulse Excitations
Numerical Evaluation of Dynamic Response
Earthquake Response of Linear Systems
Earthquake Response of Inelastic Systems
Generalized Single-Degree-of-Freedom Systems
1
3
39
65
125
165
197
257
307
vii