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Overview
1. Part I Single-Degree-of-Freedom Systems 1

1. 1 Equations of Motion, Problem Statement, and Solution Methods 3

2. 2 Free Vibration 37

3. 3 Response to Harmonic and Periodic Excitations 63

4. 4 Response to Arbitrary, Step, and Pulse Excitations 119

5. 5 Numerical Evaluation of Dynamic Response 157

6. 6 Earthquake Response of Linear Systems 187

7. 7 Earthquake Response of Inelastic Systems 243

8. 8 Generalized Single-Degree-of-Freedom Systems 293

2. Part II Multi-Degree-of-Freedom Systems 329

1. 9 Equations of Motion, Problem Statement, and Solution Methods 331

2. 10 Free Vibration 387

3. 11 Damping in Structures 429

4. 12 Dynamic Analysis and Response of Linear Systems 451

5. 13 Earthquake Analysis of Linear Systems 493

6. 14 Analysis of Nonclassically Damped Linear Systems 601

7. 15 Reduction of Degrees of Freedom 639

8. 16 Numerical Evaluation of Dynamic Response 655

9. 17 Systems with Distributed Mass and Elasticity 677

10. 18 Introduction to the Finite Element Method 707

3. Part III Earthquake Response, Design, and Evaluation of Multistory Buildings 739

1. 19 Earthquake Response of Linearly Elastic Buildings 741

2. 20 Earthquake Analysis and Response of Inelastic Buildings 757

3. 21 Earthquake Dynamics of Base-Isolated Buildings 833

4. 22 Structural Dynamics in Building Codes 857

5. 23 Structural Dynamics in Building Evaluation Guidelines 883

1. Appendix A Frequency-Domain Method of Response Analysis 901

2. Appendix B Notation 921

3. Appendix C Answers to Selected Problems 933

4. Index 949
Contents
1. Foreword xix

2. Preface xxi

3. Acknowledgments xxix

1. Part I Single-Degree-of-Freedom Systems 1

1. 1 Equations of Motion, Problem Statement, and Solution Methods 3

1. 1.1 Simple Structures 3

2. 1.2 Single-Degree-of-Freedom System 7

3. 1.3 Force–Displacement Relation 7

4. 1.4 Damping Force 12

5. 1.5 Equation of Motion: External Force 13

6. 1.6 Mass–Spring–Damper System 18

7. 1.7 Equation of Motion: Earthquake Excitation 22

8. 1.8 Problem Statement and Element Forces 25

9. 1.9 Combining Static and Dynamic Responses 26

10. 1.10 Methods of Solution of the Differential Equation 27

11. 1.11 Study of SDF Systems: Organization 31

1. Appendix 1: Stiffness Coefficients for a Flexural Element 31

2. 2 Free Vibration 37

1. 2.1 Undamped Free Vibration 37

2. 2.2 Viscously Damped Free Vibration 45

3. 2.3 Energy in Free Vibration 53

4. 2.4 Coulomb-Damped Free Vibration 54

3. 3 Response to Harmonic and Periodic Excitations 63

1. Part A: Viscously Damped Systems: Basic Results 63

1. 3.1 Harmonic Vibration of Undamped Systems 63

2. 3.2 Harmonic Vibration with Viscous Damping 70

2. Part B: Viscously Damped Systems: Applications 82

1. 3.3 Response to Vibration Generator 82

 2. 3.4 Natural Frequency and Damping from Harmonic Tests 84

3. 3.5 Force Transmission and Vibration Isolation 87

4. 3.6 Response to Ground Motion and Vibration Isolation 88

5. 3.7 Vibration-Measuring Instruments 92

6. 3.8 Energy Dissipated in Viscous Damping 96

7. 3.9 Equivalent Viscous Damping 99

3. Part C: Systems With Nonviscous Damping 101

1. 3.10 Harmonic Vibration with Rate-Independent Damping 101

2. 3.11 Harmonic Vibration with Coulomb Friction 104

4. Part D: Response To Periodic Excitation 108

1. 3.12 Fourier Series Representation 109

2. 3.13 Response to Periodic Force 110

1. Appendix 3: Four-Way Logarithmic Graph Paper 113

4. 4 Response to Arbitrary, Step, and Pulse Excitations 119

1. Part A: Response to Arbitrarily Time-Varying Forces 119

1. 4.1 Response to Unit Impulse 120

2. 4.2 Response to Arbitrary Force 121

2. Part B: Response to Step and Ramp Forces 123

1. 4.3 Step Force 123

2. 4.4 Ramp or Linearly Increasing Force 125

3. 4.5 Step Force with Finite Rise Time 126

3. Part C: Response to Pulse Excitations 129

1. 4.6 Solution Methods 129

2. 4.7 Rectangular Pulse Force 130

3. 4.8 Half-Cycle Sine Pulse Force 136

4. 4.9 Symmetrical Triangular Pulse Force 141

5. 4.10 Effects of Pulse Shape and Approximate Analysis for Short Pulses 143

6. 4.11 Effects of Viscous Damping 146

7. 4.12 Response to Ground Motion 148

5. 5 Numerical Evaluation of Dynamic Response 157

 1. 5.1 Time-Stepping Methods 157

2. 5.2 Methods Based on Interpolation of Excitation 159

3. 5.3 Central Difference Method 162

4. 5.4 Newmark’s Method 165

5. 5.5 Stability and Computational Error 171

6. 5.6 Nonlinear Systems: Central Difference Method 173

7. 5.7 Nonlinear Systems: Newmark’s Method 174

6. 6 Earthquake Response of Linear Systems 187

1. 6.1 Earthquake Excitation 187

2. 6.2 Equation of Motion 193

3. 6.3 Response Quantities 193

4. 6.4 Response History 194

5. 6.5 Response Spectrum Concept 197

6. 6.6 Deformation, Pseudo-Velocity, and Pseudo-Acceleration Response Spectra 197

7. 6.7 Peak Structural Response from the Response Spectrum 206

8. 6.8 Response Spectrum Characteristics 210

9. 6.9 Elastic Design Spectrum 217

10. 6.10 Comparison of Design and Response Spectra 226

11. 6.11 Distinction Between Design and Response Spectra 228

12. 6.12 Velocity and Acceleration Response Spectra 229

1. Appendix 6: El Centro, 1940 Ground Motion 233

7. 7 Earthquake Response of Inelastic Systems 243

1. 7.1 Force–Deformation Relations 247

2. 7.2 Normalized Yield Strength, Yield-Strength Reduction Factor, and Ductility Factor 250

3. 7.3 Equation of Motion and Controlling Parameters 251

4. 7.4 Effects of Yielding 252

5. 7.5 Response Spectrum for Yield Deformation and Yield Strength 258

6. 7.6 Yield Strength and Deformation from the Response Spectrum 262

7. 7.7 Yield Strength–Ductility Relation 263

8. 7.8 Relative Effects of Yielding and Damping 264

 9. 7.9 Dissipated Energy 266

10. 7.10 Supplemental Energy Dissipation Devices 268

11. 7.11 Inelastic Design Spectrum 273

12. 7.12 Applications of the Design Spectrum 280

13. 7.13 Gravity Load Effects and Collapse 286

8. 8 Generalized Single-Degree-of-Freedom Systems 293

1. 8.1 Generalized SDF Systems 293

2. 8.2 Rigid-Body Assemblages 295

3. 8.3 Systems with Distributed Mass and Elasticity 297

4. 8.4 Lumped-Mass System: Shear Building 309

5. 8.5 Natural Vibration Frequency by Rayleigh’s Method 315

6. 8.6 Selection of Shape Function 318

1. Appendix 8: Inertia Forces for Rigid Bodies 323

2. Part II Multi-Degree-of-Freedom Systems 329

1. 9 Equations of Motion, Problem Statement, and Solution Methods 331

1. 9.1 Simple System: Two-Story Shear Building 331

2. 9.2 General Approach for Linear Systems 336

3. 9.3 Static Condensation 355

4. 9.4 Planar or Symmetric-Plan Systems: Ground Motion 358

5. 9.5 One-Story Unsymmetric-Plan Buildings 363

6. 9.6 Multistory Unsymmetric-Plan Buildings 368

7. 9.7 Multiple Support Excitation 372

8. 9.8 Inelastic Systems 376

9. 9.9 Problem Statement 377

10. 9.10 Element Forces 377

11. 9.11 Methods for Solving the Equations of Motion: Overview 378

2. 10 Free Vibration 387

1. Part A: Natural Vibration Frequencies and Modes 388

1. 10.1 Systems without Damping 388

2. 10.2 Natural Vibration Frequencies and Modes 390

 3. 10.3 Modal and Spectral Matrices 392

4. 10.4 Orthogonality of Modes 392

5. 10.5 Interpretation of Modal Orthogonality 393

6. 10.6 Normalization of Modes 394

7. 10.7 Modal Expansion of Displacements 404

2. Part B: Free Vibration Response 405

1. 10.8 Solution of Free Vibration Equations: Undamped Systems 405

2. 10.9 Systems with Damping 408

3. 10.10 Solution of Free Vibration Equations: Classically Damped Systems 408

3. Part C: Computation of Vibration Properties 412

1. 10.11 Solution Methods for the Eigenvalue Problem 412

2. 10.12 Rayleigh’s Quotient 413

3. 10.13 Inverse Vector Iteration Method 414

4. 10.14 Vector Iteration with Shifts: Preferred Procedure 418

5. 10.15 Transformation of kϕ=ω2mϕ to the Standard Form 423

3. 11 Damping in Structures 429

1. Part A: Experimental Data and Recommended Modal Damping Ratios 429

1. 11.1 Vibration Properties of Millikan Library Building 429

2. 11.2 Estimating Modal Damping Ratios 434

2. Part B: Construction of Damping Matrix 438

1. 11.3 Damping Matrix 438

2. 11.4 Classical Damping Matrix 438

3. 11.5 Nonclassical Damping Matrix 447

4. 12 Dynamic Analysis and Response of Linear Systems 451

1. Part A: Two-Degree-of-Freedom Systems 451

1. 12.1 Analysis of Two-DOF Systems Without Damping 451

2. 12.2 Vibration Absorber or Tuned Mass Damper 454

2. Part B: Modal Analysis 456

1. 12.3 Modal Equations for Undamped Systems 456

2. 12.4 Modal Equations for Damped Systems 458

 3. 12.5 Displacement Response 460

4. 12.6 Element Forces 460

5. 12.7 Modal Analysis: Summary 461

3. Part C: Modal Response Contributions 465

1. 12.8 Modal Expansion of Excitation Vector P(t)=sp(t) 465

2. 12.9 Modal Analysis for P(t)=sp(t) 469

3. 12.10 Modal Contribution Factors 470

4. 12.11 Modal Responses and Required Number of Modes 472

4. Part D: Special Analysis Procedures 478

1. 12.12 Static Correction Method 478

2. 12.13 Mode Acceleration Superposition Method 481

3. 12.14 Mode Acceleration Superposition Method: Arbitrary Excitation 482

5. 13 Earthquake Analysis of Linear Systems 493

1. Part A: Response History Analysis 494

1. 13.1 Modal Analysis 494

2. 13.2 Multistory Buildings with Symmetric Plan 500

3. 13.3 Multistory Buildings with Unsymmetric Plan 519

4. 13.4 Torsional Response of Symmetric-Plan Buildings 529

5. 13.5 Response Analysis for Multiple Support Excitation 533

6. 13.6 Structural Idealization and Earthquake Response 539

2. Part B: Response Spectrum Analysis 539

1. 13.7 Peak Response from Earthquake Response Spectrum 539

2. 13.8 Multistory Buildings with Symmetric Plan 544

3. 13.9 Multistory Buildings with Unsymmetric Plan 556

4. 13.10 A Response-Spectrum-Based Envelope for Simultaneous Responses 563

5. 13.11 A Response-Spectrum-Based Estimation of Principal Stresses 571

6. 13.12 Peak Response to Multicomponent Ground Motion 579

6. 14 Analysis of Nonclassically Damped Linear Systems 601

1. Part A: Classically Damped Systems: Reformulation 602

1. 14.1 Natural Vibration Frequencies and Modes 602

 2. 14.2 Free Vibration 602

3. 14.3 Unit Impulse Response 604

4. 14.4 Earthquake Response 605

2. Part B: Nonclassically Damped Systems 605

1. 14.5 Natural Vibration Frequencies and Modes 605

2. 14.6 Orthogonality of Modes 607

3. 14.7 Free Vibration 610

4. 14.8 Unit Impulse Response 615

5. 14.9 Earthquake Response 619

6. 14.10 Systems with Real-Valued Eigenvalues 621

7. 14.11 Response Spectrum Analysis 629

8. 14.12 Summary 629

1. Appendix 14: Derivations 630

7. 15 Reduction of Degrees of Freedom 639

1. 15.1 Kinematic Constraints 639

2. 15.2 Mass Lumping in Selected DOFs 640

3. 15.3 Rayleigh–Ritz Method 641

4. 15.4 Selection of Ritz Vectors 644

5. 15.5 Dynamic Analysis Using Ritz Vectors 650

8. 16 Numerical Evaluation of Dynamic Response 655

1. 16.1 Time-Stepping Methods 655

2. 16.2 Linear Systems with Nonclassical Damping 656

3. 16.3 Nonlinear Systems 663

9. 17 Systems with Distributed Mass and Elasticity 677

1. 17.1 Equation of Undamped Motion: Applied Forces 678

2. 17.2 Equation of Undamped Motion: Support Excitation 679

3. 17.3 Natural Vibration Frequencies and Modes 680

4. 17.4 Modal Orthogonality 687

5. 17.5 Modal Analysis of Forced Dynamic Response 688

6. 17.6 Earthquake Response History Analysis 695

 7. 17.7 Earthquake Response Spectrum Analysis 699

8. 17.8 Difficulty in Analyzing Practical Systems 702

10. 18 Introduction to the Finite Element Method 707

1. Part A: Rayleigh–Ritz Method 707

1. 18.1 Formulation Using Conservation of Energy 707

2. 18.2 Formulation Using Virtual Work 711

3. 18.3 Disadvantages of Rayleigh–Ritz Method 712

2. Part B: Finite Element Method 713

1. 18.4 Finite Element Approximation 713

2. 18.5 Analysis Procedure 714

3. 18.6 Element Degrees of Freedom and Interpolation Functions 716

4. 18.7 Element Stiffness Matrix 718

5. 18.8 Element Mass Matrix 718

6. 18.9 Element Geometric Stiffness Matrix 720

7. 18.10 Element (Applied) Force Vector 720

8. 18.11 Comparison of Finite Element and Exact Solutions 729

9. 18.12 Dynamic Analysis of Structural Continua 730

3. Part III Earthquake Response, Design, and Evaluation of Multistory Buildings 739

1. 19 Earthquake Response of Linearly Elastic Buildings 741

1. 19.1 Systems Analyzed, Design Spectrum, and Response Quantities 741

2. 19.2 Influence of T 1 and ρ on Response 746

3. 19.3 Modal Contribution Factors 747

4. 19.4 Influence of T 1 on Higher-Mode Response 748

5. 19.5 Influence of ρ on Higher-Mode Response 751

6. 19.6 Heightwise Variation of Higher-Mode Response 752

7. 19.7 How Many Modes to Include 754

2. 20 Earthquake Analysis and Response of Inelastic Buildings 757

1. Part A: Nonlinear Response History Analysis 758

1. 20.1 Equations of Motion: Formulation and Solution 758

2. 20.2 Computing Seismic Demands: Factors To Be Considered 759

 3. 20.3 Story Drift Demands 763

4. 20.4 Strength Demands for SDF and MDF Systems 768

2. Part B: Structural Modeling 770

1. 20.5 Overall System 770

2. 20.6 Structural Elements 771

3. 20.7 Viscous Damping 776

3. Part C: Ground Motion Selection and Modification 784

1. 20.8 Target Spectrum 784

2. 20.9 Ground Motion Selection and Amplitude Scaling 789

3. 20.10 Ground Motion Selection to Match Target Spectrum Mean and Variance 792

4. 20.11 Influence of GM Selection and Amplitude Scaling on Seismic Demands 794

5. 20.12 Ground Motion Selection and Spectral Matching 800

6. 20.13 Influence of GM Selection and Spectral Matching on Seismic Demands 806

7. 20.14 Amplitude Scaling versus Spectral Matching of Ground Motions 811

4. Part D: Approximate Analysis Procedures 812

1. 20.15 Motivation and Basic Concept 812

2. 20.16 Uncoupled Modal Response History Analysis 814

3. 20.17 Modal Pushover Analysis 820

4. 20.18 Evaluation of Modal Pushover Analysis 825

5. 20.19 Simplified Modal Pushover Analysis for Practical Application 830

3. 21 Earthquake Dynamics of Base-Isolated Buildings 833

1. 21.1 Isolation Systems 833

2. 21.2 Base-Isolated One-Story Buildings 836

3. 21.3 Effectiveness of Base Isolation 842

4. 21.4 Base-Isolated Multistory Buildings 845

5. 21.5 Applications of Base Isolation 851

4. 22 Structural Dynamics in Building Codes 857

1. Part A: Building Codes and Structural Dynamics 858

1. 22.1 International Building Code (United States), 2018 858

2. 22.2 National Building Code of Canada, 2015 860

 3. 22.3 Mexico Federal District Code, 2004 863

4. 22.4 Eurocode 8, 2004 865

5. 22.5 Structural Dynamics in Building Codes 868

2. Part B: Evaluation of Building Codes 873

1. 22.6 Base Shear 873

2. 22.7 Story Shears and Equivalent Static Forces 877

3. 22.8 Overturning Moments 879

4. 22.9 Concluding Remarks 882

5. 23 Structural Dynamics in Building Evaluation Guidelines 883

1. 23.1 Nonlinear Dynamic Procedure: Current Practice 884

2. 23.2 SDF-System Estimate of Roof Displacement 885

3. 23.3 Estimating Deformation of Inelastic SDF Systems 888

4. 23.4 Nonlinear Static Procedures 893

5. 23.5 Concluding Remarks 899

1. A Frequency-Domain Method of Response Analysis 901

2. B Notation 921

3. C Answers to Selected Problems 933

4. Index 949
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 will be of special value to those engineers who are engaged in actual seismic
design and want to improve their understanding of the subject.

Although the material in the book leads to earthquake engineering, the information presented is also relevant to
wind-induced vibrations of structures, as well as man-made motions such as those produced by drophammers or
by heavy vehicular traffic. As a textbook on vibrations and structural dynamics, this book has no competitors and
can be recommended to the serious student. I believe that this is the book for which John R. Freeman was
searching.

George W. Housner

California Institute of Technology

1994
Preface
Philosophy and Objectives
This book on dynamics of structures is conceived as a textbook for courses in civil engineering. It includes many
topics in the theory of structural dynamics, and applications of this theory to earthquake analysis, response,
design, and evaluation of structures. No prior knowledge of structural dynamics is assumed in order to make this
book suitable for the reader learning the subject for the first time. The presentation is sufficiently detailed and
carefully integrated by cross-referencing to make the book suitable for self-study. This feature of the book,
combined with a practically motivated selection of topics, should interest professional engineers, especially
those concerned with analysis and design of structures in earthquake country.

In developing this book, much emphasis has been placed on making structural dynamics easier to learn by
students and professional engineers because many find this subject to be difficult. To achieve this goal, the
presentation has been structured around several features: The mathematics is kept as simple as each topic will
permit. Analytical procedures are summarized to emphasize the key steps and to facilitate their implementation
by the reader. These procedures are illustrated by over 125 worked-out examples, including many
comprehensive and realistic examples where the physical interpretation of results is stressed. Some 600 figures
have been carefully designed and executed to be pedagogically effective; many of them involve extensive
computer simulations of dynamic response of structures. Photographs of structures and structural motions
recorded during earthquakes are included to relate the presentation to the real world.

The preparation of this book has been inspired by several objectives:

Relate the structural idealizations studied to the properties of real structures.

Present the theory of dynamic response of structures in a manner that emphasizes physical insight into the
analytical procedures.

Illustrate applications of the theory to solutions of problems motivated by practical applications.

Interpret the theoretical results to understand the response of structures to various dynamic excitations, with
emphasis on earthquake excitation.

Apply structural dynamics theory to conduct parametric studies that bring out several fundamental issues in
the earthquake response, design, and evaluation of multistory buildings.

This mode of presentation should help the reader to achieve a deeper understanding of the subject and to apply
with confidence structural dynamics theory in tackling practical problems, especially in earthquake analysis,
design, and evaluation of structures, thus narrowing the gap between theory and practice.

Evolution of the Book

Since the book first appeared in 1995, it has been revised and expanded in several ways, resulting in the second
edition (2001), third edition (2007), and fourth edition (2012). Prompted by an increasing number of recordings
of ground motions in the proximity of the causative fault, Chapter 6 was expanded to identify special features of
near-fault ground motions and compare them with the usual far-fault ground motions. Because of the increasing
interest in seismic performance of bridges, examples on dynamics of bridges and their earthquake response were
added in several chapters. In response to the growing need for simplified dynamic analysis procedures suitable
for performance-based earthquake engineering, Chapter 7 was expanded to provide a fuller discussion relating
the earthquake-induced deformations of inelastic and elastic systems, and to demonstrate applications of the
inelastic design spectrum to structural design for allowable ductility, displacement-based design, and seismic
evaluation of existing structures. Chapters 5 and 16 on numerical evaluation of dynamic response were rewritten
to conform with the ways these numerical methods are usually implemented in computer software, and to offer an
integrated presentation of nonlinear static analysis—also known as pushover analysis—and nonlinear dynamic
analysis. Chapter 13 was extended to include two topics: (1) combining peak responses of a structure to
individual translational components of ground motion to estimate its peak response to multicomponent excitation;
and (2) response-spectrum-based equations to determine an envelope that bounds the joint response trajectory of
all simultaneously acting forces that control the seismic design of a structural element. The addition of Chapter
14 on nonclassically damped systems was motivated by growing interest in such systems that arise in several
practical situations: for example, structures with supplemental energy-dissipating systems or on a base isolation
system, soil–structure systems, and fluid-structure systems. Chapter 19 (now Chapter 20) was rewritten
completely to incorporate post-1990 advances in earthquake analysis and response of inelastic buildings.
Originally limited to three building codes—United States, Canada, and Mexico—Chapter 21 (now Chapter 22)
was expanded to include the Eurocode. The addition of Chapter 22 (now Chapter 23) was motivated by the
adoption of performance-based guidelines for evaluating existing buildings by the structural engineering
profession.

In response to reader requests, the frequency-domain method of dynamic analysis was included, but presented as
an appendix instead of weaving it throughout the book. This decision was motivated by my goal to keep the
mathematics as simple as each topic permits, thus making structural dynamics easily accessible to students and
professional engineers.

Scope of this Revision

Dynamics of Structures has been well received in the 21 years since it was first published. It continues to be
used as a textbook at universities in the United States and many other countries, and enjoys a wide professional
readership as well. Translations in Japanese, Korean, Chinese, Greek, Spanish, Persian, and Turkish have been
published. The S.I. version of the 4th edition was published in 2015. Preparation of the fifth edition provided me
with an opportunity to improve, expand, and update the book.

Chapter 20 has been expanded in a major way; Chapters 7, 9, 13, and 18 have also been expanded; Chapter 11
underwent significant revision; and Chapters 22 and 23 have been updated. Specific changes include:

Two new parts, B and C, have been added to Chapter 20, which is now more than twice its previous size.
These additions were motivated by the increasing use of nonlinear response history analyses (RHAs) of
buildings in professional practice. Discussed in Part B are several issues that arise in modeling of the
overall structure as well as structural elements for nonlinear RHAs. Part C is concerned with selection and
modification of recorded ground motions to define the excitations for which seismic demands on structures
are to be determined by nonlinear RHAs. A "hot" topic for research since 1998, it has been included in a
textbook for the first time.

Chapter 13 has been extended to include a topic that so far has been confined to the research literature but is
of practical interest: a response-spectrum-based method to estimate principal stresses in continuum
structures, such as concrete dams.

Chapters 7, 9, and 18 have been expanded to include P−Δ analysis of gravity load effects and an
introduction to their influence on the lateral response, permanent deformation, and collapse of structures.

Chapter 11 has been revised to include recent data on damping ratios determined by system-identification
analysis of motions of 203 buildings recorded during earthquakes. New recommendations for estimating
damping ratios to be used in earthquake analysis of structures are presented.

Chapters 22 and 23 have been updated to reflect the current editions of building codes for designing new
buildings, and of performance-based guidelines and standards for evaluating existing buildings.

Many new figures, several worked-out examples, and end-of-chapter problems have been added.
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