Mechanical Vibrations Chapter VI Dr.

Bassuny El-Souhily

CHAPTER VI
Continuous Systems
INTRODUCTION
We have so far dealt with discrete systems where mass, damping, and elasticity
were assumed to be present only at certain discrete points in the system. There are
many cases, known as distributed or continuous systems, in which it is not possible
to identify discrete masses, dampers, or springs. We must then consider the
continuous distribution of the mass, damping, and elasticity and assume that each
of the infinite number of points of the system can vibrate. This is why a continuous
system is also called a system of infinite degrees of freedom.

If a system is modeled as a discrete one, the governing equations are ordinary

differential equations, which are relatively easy to solve. On the other hand, if the
system is modeled as a continuous one, the governing equations are partial
differential equations, which are more difficult. However, the information obtained
from a discrete model of a system may not be as accurate as that obtained from a
continuous model. The choice between the two models must be made carefully,
with due consideration of factors such as the purpose of the analysis, the influence
of the analysis on design, and the computational time available.

In this chapter, we shall consider the vibration of simple continuous systems-

strings, bars, shafts, beams, and membranes. In general the frequency equation of
a continuous system is a transcendental equation that yields an infinite number of
natural frequencies and normal modes. This is in contrast to the behavior of
discrete systems, which yield a finite number of such frequencies and modes. We
need to apply boundary conditions to find the natural frequencies of a continuous
system. The question of boundary conditions does not arise in the case of discrete
systems except in an indirect way, because the influence coefficients depend on the
manner in which the system is supported.

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

1- TRANSVERSE VIBRATION OF A STRING OR CABLE

Consider a tightly stretched elastic string or cable of length L, has a mass “ρ” per
unit length, stretched between two supports under tension “T”, subjected to a
transverse force p(x,t) per unit length, as shown in Fig. (a). The transverse (lateral )
displacement of the string, y(x,t), is assumed to be small, and the tension is
assumed constant. Equilibrium of the forces in the y direction gives (see Fig. b):

Equation of Motion

Consider an element of length “dx” at a distance “x” from the left support, Fig. b.
The element has a lateral deflection “y”. The left end makes an angle “θ” and the
right end makes an angle “θ + dθ”. Since the deflection is small, then
y
sin    tan  
x
 2 y
d   dx  dx
x  x2

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The forces acting on the element in the vertical direction are

y
 At the left end T sin θ = T downwards
x
 At the right end T sin (θ + d θ) = T (θ + d θ)
  y 2y 
= T   dx  upwards
 x x
2


2y
 The inertia force = ρ dx downwards
 t2
 External force = p(x,t) dx upwards

Net force acting on an element = inertia force acting on the element

2y 2y
T 2  p( x, t )  ρ 2
x t

Let “c2 = T/ρ”, then the equation of motion takes the form

 2 y p( x, t ) 2y
c2   (1)
 x2 ρ  t2

c ≡ speed of wave propagation

1-a Free Vibrations of a String

For the analysis of the free vibration of the string, the external force “p(x,t) = 0”.
Equation (1) becomes

2y 2y
c 2
 (2)
 x2  t2

This equation is known as the wave equation and “c” is known as the wave speed.
To obtain the natural frequencies of the string we consider that the string is moving
in one of the modes with a frequency “ω”. Assume that the motion is described by

y(x,t) = Y(x) (A cos ωt + B sin ωt)

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The constants “A” and “B” are arbitrary constants which are determined from the
initial conditions. “Y(x)” represents the amplitude of vibration of the string along
the x-axis which is a function of “x” only. Substituting in Eq. (2), thus

d 2 Y( x )
c2 2
= - ω2 Y(x) (3)
dx

Equation (3) is an ordinary second order differential equation in “x”. Its general
solution is in the form

Y(x) = C cos 
ωx  ωx 
 + D sin  
 c   c 

Hence

 x    x 
y(x,t) = C cos    D sin  A cos  t  B sin  t  (4)
  c   c 

The behavior of the string depends on the boundary conditions. For a string fixed
at both ends these conditions are

For x = 0, y(0,t) = 0

For x = L, y(L,t) = 0

Substitute the boundary conditions in Eq. (4). Since the time function is not equal
to zero all the time, then

C=0

D sin   = 0
ωL
 c 

For non trivial solution

sin 
ωL 
 =0
 c 

This is known as the characteristic equation which determines the natural

frequencies, which are given by

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

 ωL 
 = n π n = 1, 2, 3...
 c 

Therefore, the natural frequencies of the string are

nc 
ωn =  
 L 

For the “nth” mode, the motion of the string is given by

nx 
yn(x,t) = sin   [An cos ωn t + Bn sin ωn t]
 L 

nx 
Where, An = DA and Bn = DB. “sin   ” is called the modal function and
 L 
represents the mode shape for the natural frequency “ω n". The following Figure
shows the mode shapes for the first three frequencies.

The general motion of the string is a combination of all modes and is given by
n
  n x  
y(x,t) =  sin  L  An cos  n t  Bn sin  n t  (5)
n 1    

The values of “An” and “Bn” are determined from the initial conditions.

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

A general procedure for obtaining the constants An and Bn when the initial
displacement and velocity of the string are given, respectively, by

With these initial conditions, Eq. (5) yields

and its partial derivative with respect to t gives

Multiplying each of the last two equations by

and integrating from x=0 to x=l, gives

and

and are orthogonal functions over the interval 0 < x < l, a term-by-
term integration of either Eq. (6-a) or Eq. (6-b) yields all zeros except for the one
term in each when n=m. Thus, the integration of these two equations yields the
following expressions for the constants:

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

and

Example: 1

A uniform string of length “L” and mass per unit length “ρ” is fixed at the ends and
is stretched under tension “T”. A force P holds the string tightly stretched in the
configuration shown. Determine the motion of the string after the force P is
suddenly removed.

Solution

Noting the initial configuration of the string shown,

Since the string is released from rest, then its initial velocity is zero

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

Referring to Eq. (7-a)

which integrates to

Eq. (7-b), reveals that

Bn =0

Substituting An and Bn into Eq. (15), the motion of the string is

in which

Example: 2

The natural frequencies of the string depend upon the boundary conditions. Find
the natural frequencies of the string of Example 1 if the left end is fixed and the
right end is attached to a spring of stiffness “k” as shown in Figure.

y k

x
T

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

Solution

The Boundary conditions are

y(0,t) = 0

For the right end, the vertical component of the tension in the string is in
equilibrium with the spring force. The string makes an angle whose tangent is
y
. The deflection in the spring is equal to the string displacement at the right
x x L

y
end. Thus T = - k y |x = L
x x L

Apply the boundary conditions to Eq. (4). The first leads to “C = 0” as in example
(1). Applying the second condition, then

 T  L   L 
  cos   = - k sin   (8)
 c   c   c 

The values of “ω” that satisfy this equation give the natural frequencies. The values
of “ω”, in this case, are obtained graphically. Equation (8) is put in the form

 T   L   L 
    = - tan  
 kL   c   c 

Plot the left hand side and the right hand side of this equation with “ωL/πc”. The
 T 
left hand side is a straight line with a slope “   ”.
 kL 

The right hand side is a negative tangent curve. The intersection of the two curves
determines the natural frequencies, shown in Fig. It is noticed that for higher
(2 n  1)  c
frequencies “ωn ≈ ”.
2L

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

L
 tan
c
 T L
kL c
L
c

A general condition is when both ends are attached to spring-mass-damper

systems. In this case, the boundary condition for the right support is

2 y y y
m +T +c + k y x L = 0
 t2 x L
x x L
t x L

For the left support

2 y y y
m -T +c + k y x 0 = 0
 t2 x 0
x x 0
t x 0

As an illustration for applying these boundary conditions, consider the case when a
string is fixed at the left end and is attached to a spring-mass system at the right
end. Applying these conditions; the first one gives “C = 0”. Equation (4) becomes

y(x,t) = D sin 
ωx 
 (A cos ωt + B sin ωt)
 c 

The second condition gives

 L   T    L   L  
D  2 m sin   cos    k sin   =0 (9)
  c   c   c   c 

The natural frequencies are the roots of Eq. (9).

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

2- Longitudinal Vibration of Beams

A beam which is subjected to axial forces undergoes deformations along its length.
When a beam is subjected to longitudinal vibration the axial forces are actually the
inertia forces which vary along the beam and, also, vary with time. Consequently,
we expect that the axial displacements are functions of the position along the axis
of the beam and the time. These displacements are governed by the equation of
motion. u(x, t)
P P+dP x

x dx
L
Equation of Motion

Consider the free longitudinal vibration of an elastic beam of length “L” with a
uniform cross section “A”, shown in Figure. Assume that the beam is homogenous
with density “γ” and is subjected to an external force per unit length “p(x,t)”. The
longitudinal displacement of the beam at a distance “x” from the left end is
“u(x,t)”. The forces acting on an element of length “dx” are shown in the figure.
The analysis is based on assuming that the element is under tension. Thus the force
on the left side of the element is positive when directed to the left. For the right
side, it is positive when directed to the right. For the equilibrium of the element

 2u
(P + dP) - P + p(x,t) dx - γ A dx =0 (10)
 t2

Let the axial stress be “σ”, then

u
P=σA=EA
x

u
Where “E” is Young's modulus and “ ” is the axial strain. The variation of “P”
x
is given by
P
dP = dx
x

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

 2u
=EA dx
 x2

Substituting in Eq. (10), then

 2u  2u
EA + p(x,t) dx - γ A dx =0
 x2  t2

Or

 2u p( x )  2u
c2 + = (11)
 x2   t2

E
Where, “ρ” is mass per unit length and is equal to “ A” and “c2 =   ”; “c” is the

speed of propagation of the stress wave. Equation (11) is similar to Eq. (1) for the
string. The solution of the free vibration is the same and has the same form

u(x,t) = [C cos (ω/c) x + D sin (ω/c) x] [(A cos ωt + B sin ωt)] (12)

The values of “ω” are determined by applying the boundary conditions.

Boundary Conditions
 For a fixed end; u=0
u
 For a free end, the force is zero; =0
x
 The general boundary conditions are when each end is attached to a mass, a
spring, and a damper as shown in Figure-a. The forces at the ends of the
masses are shown in Figure-b.

u(0,t) u(L,t)
k1 k2

c1 m1 (a) m2 c2

m1utt(0,t) m2utt(L,t)
EA ux(0,t) EA ux(L,t)
c1ut(0,t) c2ut(L,t)
(b)

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

“ux” is denoted as the first partial derivative of “u” with respect to “x”, “u t” is
denoted as the first partial derivative of “u” with respect to “t”, and “u tt” is denoted
as the second partial derivative of “u” with respect to “t”. The equilibrium of the
masses gives the characteristic equations, which are

u  2u u
EA = m1 + c1 + k1 u x  0 (13)
x x 0
 t2 x 0
t x 0

u 2 u u
EA = - m2 - c2 - k2 u x L (14)
x x L
 t2 x L
t x L

Example: 3

The rod of length L shown is fixed at one end and free at the other end. Determine
a- The natural frequencies, b- The normal mode functions.

Solution

The first boundary condition is

Applying the first boundary condition in Eq. (12)

C=0

Applying the second boundary condition in the partial derivative of Eq. (12) with
respect to x, with C = 0

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

in which q(t) is the function of time given in Eq. (12), from the last equation, it
should be apparent that the frequency equation is

which is satisfied when

The undamped natural circular frequencies are thus found to be

The normal-mode functions are found to be

and the first two mode shapes are shown.

Example: 4

Find the natural frequencies of a uniform elastic bar which is fixed at one end. The
other end is carrying a mass “m” and is moving against a spring of stiffness “k”.

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

Solution

The first boundary condition is

u(0,t) = 0

Substituting in Eq. (12) gives “C = 0”. In this case

u(x,t) = D sin 
ωx 
 (A cos ωt + B sin ωt)
 c 

For the right end, apply Eq. (14), thus

u   2u 
EA = - m  k u x L 
x x L   t2 x L 

The time function in all terms is the same and can be cancelled. Then

EA   L  2  L 
  cos   = (m ω - k) sin  
 c   c   c 

L   EAω 
tan   =  
 c   c (m ω  k ) 
2

Let

L   E A ω 
f(ω) = tan   -   (15)
 c   c (m ω  k ) 
2

The values of “ω” which make “f(ω)” equal to zero are the natural frequencies. For
the purpose of demonstration let “L = 1 m, A = .01 m2, m = 5 kg, k = 105 N/m”.
For the steel, E = 200x109 N/m2, γ = 7800 kg/m3.

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

f(ω)

The Figure is a plot of Eq. (15). The first four natural frequencies are “7500,
22700, 37600, 52700 rad/s”, respectively. If the bar has a free end, the natural
frequencies are obtained from

L 
cos   =0
 c 

 (2 n  1)  c 
ω =   n = 1, 3, 5, …
 2L 

The first four natural frequencies are “7950, 23850, 39750, and 55650 rad/s”.

Stepped Bar

In the analysis of stepped bar, the bar is divided into two regions. Each region is
represented by a different equation of motion. Four boundary conditions are
required to determine the characteristic equation. There is one boundary condition
for each region and two at the connection of the two regions. This is demonstrated
by the following example.

Example: 5

Derive the frequency equation for the longitudinal vibration of a stepped bar
having two different cross-sectional areas A1 and A2 over lengths L1 and L2,
respectively. Assume fixed-free end conditions as shown in Figure.

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

Solution
It is easier to represent the axial positions of the second region by “ξ” starting from
the end of the first region. The equations of motions are given by

The solutions are given by

The boundary conditions are

 At x = 0 u1 (0,t) = 0 (a)

 At x1 = L1, x2 = L2 u1(L1,t) = - u2(L2,t) and (b)

(c)

 At x2 = 0 (d)

Boundary condition (a) gives “C1 = 0”. Then

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

Boundary condition (d) gives “D2 = 0”. Then

The other boundary conditions give

Eliminating “C2” and “D2” in the last two equations we obtain the characteristic
equation which is given by

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

3- Torsional Vibrations of Bars

Rotating shafts are important elements in machines. They have to be carefully
designed specially for those subjected to variable torques. They could break down
if one of the exciting frequencies coincides with one of the natural frequencies.

Equation of Motion
Figure-a represents a uniform shaft. Assume that the shaft is homogenous with
density “γ”. The twist angle of a section at a distance “x” from the left end is
“θ(x,t)” which is considered positive in the clockwise direction (looking at the
shaft at the right end). The torques acting on an element of length “dx” are shown
in Figure-b.

x dx
L
(a)
T θ T + dT

(b)

The analysis is based on assuming that the torque on the right of the element is
positive when clockwise. For the left end, it is positive in the counter clockwise
direction. For the equilibrium of the element

 2θ
T + dT - Ip dx -T=0 (20)
 t2

Where, “Ip” is the mass moment of inertia per unit length. It is equal to the density
“γ” multiplied by the area polar moment of inertia of the cross section “J” times the
length of the element.

Ip = γ J

The relation between the applied torque and the torsional deflection is given by
θ
T=GJ
x

Where, “G” is the shear modulus of rigidity. Then

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

T
dT = T dx
x

 2θ
=GJ dx
 x2

Substituting in Eq. (20), then

 2θ  2θ
c2 = (21)
 x2  t2

Where,
G
c2 =


Equation (21) is the same as the case of longitudinal vibration. The solution is
given by

θ(x,t) = [C cos (ω/c) x + D sin (ω/c) x] [(A cos ωt + B sin ωt)] (22)

Boundary Conditions

The boundary conditions are

 For a fixed end; θ=0

θ
 For a free end, the torque is zero; =0
x
 The general boundary conditions are when each end is attached to inertia
mass “I”, a torsion spring “s”, and a torsional damper “c”. Subscripts “L” and
“R” are used for the left and right ends, respectively.
For the left end

θ  2θ θ
GJ = IL + cL + sL θ x  0 (23)
x x 0
 t2 x 0
t x 0

For the right end

θ 2 θ θ
GJ = - IR - cR - sR θ x L (24)
x x L
 t2 x L
t x L

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

Example: 6

The uniform steal shaft shown in Figure, has a circular section with polar moment
of inertia “J” and is carrying two inertia masses. Find the characteristic equation.

x (1)  (2)

L1 L2
I1 I2
Solution

The shaft is divided into two regions. The axial position "ξ " is measured from the
end of the left disk. The equations of motion of the regions are

 2 θ1  2 θ1
c2 =
 x2  t2 θ  2
1
GJ GJ
(25) Fig. 6-8  x x  L1
  0
Fig.
2 22  2 θ 2 6-8 Fig.
c =
 2  t2 6-8
 2 θ1
(26) I1
 t2 x  L1
The solutions are given by

θ1(x,t) = [C1 cos 

ωx  ωx 
 + D1 sin   ] [(A
 c   c 
cos ωt + B sin ωt)] (27)
Fig. 6-8
    
θ2(ξ,t) = [C2 cos   + D2 sin   ] [(A cos ωt + B sin ωt)] (28)
 c   c 

The boundary conditions are

At x = 0 θ1 (0,t) = 0 (a)
Fig. 6-8
At x = L1, ξ = 0 θ1(L1,t) = θ2(0,t) (b)

To determine the third boundary condition,it is easier to consider the equilibrium

of the left disk. We separate the shaft at the faces of the disk and place the elastic

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

 θ1
torques. For shaft (1), the elastic torque is equal to “GJ ”which is positive in
x x  L1

the clockwise direction (right end) and is represented by an upwards arrow. The
effect of the elastic torque on the disk is equal to the same torque but acts in the
 θ2
counterclockwise direction. For shaft (2), the elastic torque is equal to “GJ ”
x ξ 0

which is positive in the counterclockwise direction (left end). The effect on the
disk is the same torque in the clockwise direction. The inertia torque is equal to “I 1
 2 θ1
” in the counterclockwise (θ is considered positive in the clockwise
 t2 x  L1

direction). The equilibrium of the disk leads to

 
 1  = I1  θ1
2
G J 2
 (c)
 x x   t2
  0 x  L1  x  L1

The forth boundary condition is obtained by considering the right end of shaft (2).

θ  2 θ2
GJ 2 = - I2 2 (d)
x ξ  L2
t ξ  L2

Substitute in Eqs. (6-44) and (6-45), boundary condition (a) gives “C1 = 0”.

 Boundary condition (b) gives

 ω L1 
D1 sin   = D2 (i)
 c 

 Boundary condition (c) gives

 ω  ω L1 
G J    D 2  D1 cos    I1 ω 2 C 2 (ii)
 c  c 

 Boundary condition (d) gives

 ω  ωL 2 ωL 2   ωL 2 ωL 2 
G J     C 2 sin  D 2 cos    I1 ω 2  C 2 cos  D 2 sin  (iii)
 c  c c   c c 

The characteristic equation is obtained by equating the determinant of the

coefficients of “D1, C2, and D2” of Eqs. (i), (ii), and (iii) to zero.

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 L1
sin 0 1
c
GJ   L1 GJ 
 cos I1 2
c c c =0
GJ  L L 2 GJ  L 2 L
0 sin 2  I12 cos  cos  I12 sin 2 (29)
c c c c c c
The roots of Eq. (29) are obtained graphically.

4- Lateral Vibration of Beams

Equation of Motion

The beam shown in Figure-a has a length “L”, area moment of inertia “I”, and a
mass per unit length “ρ”. To study the lateral vibration of the beam, consider an
element of length “dx” at a distance “x” from the left end, Figure-b.
y

(a)

(b)

The beam is subjected to a uniform load “p(x, t)”. The positive directions of the
moments and the forces are indicated on the element.

The equilibrium of moments on the element gives

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M + d M + p (dx)2 / 2 - [V + d V] d x - M = 0

Neglecting second order infinitesimals. That is

(d x)2 ≈ 0

dV dx ≈ 0

Then,
M
V= (30)
x

The equilibrium of forces gives

V + p(x,t) dx – [V + d V] = 0

Or
V
p(x,t) = (31)
x

From the fundamental theory of beams

2y
M=EI
 x2

Substitute in Eqs. (30) and (31), then

  2y 
V(x,t) = E I  (32)
x   x 2 
2  2y 
p(x,t) = E I 2  (33)
x 2  x 

In the case of the vibration of the beam, “p(x,t)” is divided into two parts. The first
2y
is the inertia effect and is equal to “- ρ ”. The second is the external effect and
 t2
is equal to “f(x,t)”. If the beam is homogenous and has a uniform section, the
equation of motion is given by

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

4y 2y
EI + ρ = f(x,t) (34)
 x4  t2

Analysis of Free Vibrations

To determine the natural frequencies of a beam, the external effect is considered

zero. The equation of motion in this case is given by

4y 2y
EI + ρ =0 (35)
 x4  t2

Let

y(x,t) = Y(x) (A cos ωt + B sin ωt)

Where, “A” and “B” are arbitrary constants which are determined from the initial
conditions. Substituting in Eq. (35)

 d 4 Y( x ) 
E I 4
  2 Y ( x ) (A cos ωt + B sin ωt) = 0 (36)
 dx 

Let

 2
= β4, then
EI

d 4 Y( x )
4
- β4 Y(x) = 0 (37)
dx

The solution of Eq. (37) is determined by assuming that

Y(x) = K esx

Substitute in Eq. (37), then

s4 - β4 = 0

The roots of this equation are “β, - β, i β, - i β”

The general solution of Eq. (37) is

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Y(x) = K1 eβx + K2 e-βx + K3 eiβx + K4 e-iβx

Expanding the exponentials and collecting the constants, hence

Y(x) = C1 cos βx + C2 sin βx + C3 cosh βx + C4 sinh βx (38)

The general form of the solution of the differential equation is

y(x,t) = (C1cos βx+C2sin βx+C3cosh βx+C4sinh βx) (Acos ωt+Bsin ωt) (39)

The natural frequencies are determined by applying the boundary conditions.

Boundary Conditions

The common boundary conditions are

1. Free end, the moment and the shearing force are zero.
2y
=0
 x2

3y
=0
 x3

2. Simply supported, the deflection and the moment are zero.

y(x,t) = 0

2y
=0
 x2

3. Fixed end, the deflection and the slope of the deflection are zero.
y(x,t) = 0
y
=0
x

4. The case when the ends are attached to a spring-mass-damper systems is

shown in Figure. The positive directions of the forces applied on the
element, as shown in Figure-b, are the positive directions.

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

m1 m2

c1 k1 k2 c2

3y 2y y
EI = m +c +ky for the right end
x 3
t 2
t

3y 2y y
EI =-m 2 -c -ky for the left end
x 3
t t

Example: 7

Find the natural frequencies of a beam simply supported at both ends.

Solution

For a simply supported beam we apply boundary conditions “2” at both ends.

 y(0,t) gives

C1 + C3 = 0

 yxx(x,t)|x=0 gives

- C1 + C3 = 0

Thus

C1 = C3 = 0

 y(x,t)|x=L gives

C2 sin βL + C4 sinh βL = 0

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 Yxx(x,t)|x=L gives

- C2 sin βL + C4 sinh βL = 0

From the above two equations

C4 sinh βL = 0

“sinh βL” is only zero when “β = 0”. This means that “ω = 0”, and, consequently,
there is no motion. Then, we conclude that “C4 = 0”. Therefore, the characteristic
equation is

sin βL = 0

βL=nπ n = 1, 2, 3, ....
2
n
The natural frequency of mode number “n” is equal to “  
EI
”.
 L  ρ

Example: 8

Find the natural frequencies of a beam fixed at one end and free at the other end.

Solution

For the left end, we apply conditions “3”,

 y(x,t)|x=0 gives C1 + C3 = 0

 yx(x,t)|x=0 gives C2 + C4 = 0

For the right end, we apply conditions “1”.

Yxx(x,t)|x=L gives -C1 cos βL - C2 sin βL+ C3 cosh βL+ C4 sinh βL = 0

Yxxx(x,t)|x=L gives C1 sin βL - C2 cos βL+ C3 sinh βL+ C4 cosh βL = 0

Substituting the values of “C3” and “C4” in the last two equations, then

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- C1 (cos βL + cosh βL) - C2 (sin βL + sin hβL) = 0

C1 (sin βL - sinh βL) - C2 (cos βL + cosh βL) = 0

For non trivial solution, the determinant of the coefficients is zero. Thus

(cos βL + cosh βL)2 + (sin βL - sinh βL) (sin βL + sinh βL) = 0

This is the characteristic equation and can be reduced to the form

1 + cos βL cosh βL = 0

The first four values for “βL” which satisfy this equation are “1.88, 4.7, 7.9 and
11.0”. The corresponding values of the natural frequencies are

EI EI EI EI
“3.15 , 22.1 , 61.78 , and 121 rad/s”.
ρ ρ ρ ρ

Example: 9

Find the natural frequencies of a beam supported as shown in Figure.

m1 m2 m3
(1) (2)
E, I1, L1 E, I2, L2

k1 k2 k3

Solution

Any interruption in the beam either by changing the cross-section, the property, or
the loading makes it necessary to divide the beam to separate regions, each region
is represented by an equation of motion. In this example, the beam is divided to
regions (1) and (2). The equations of motion are

 4 y1  2 y1
E I1 +ρ 2 =0
 x4 t

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Mechanical Vibrations Chapter VI Dr. Bassuny El-Souhily

4y2 2y2
E I2 +ρ 2 =0
 x4 t

The solutions are given by

y1(x,t)= (C1cos β1x+C2sin β1x+C3cosh β1x+C4sinh β1x) (Acos ωt+Bsin ωt)

y2(ξ,t)=(D1cos β2ξ+D2sin β2ξ+D3cosh β2ξ+D4sinh β2ξ) (Acos ωt+Bsin ωt)

“x” represents the axial position for the first region and “ξ” represents the axial
position for the second region; “ξ= 0” at the right side of “m2”. The application the
boundary conditions is performed as follows:

For the left side of region (1), we apply the moment condition in “1” and condition
“4”.

 The moment condition

 2 y1
E I1 0
 x2 x 0

- C1 + C3 = 0 (i)

 Condition 4
 3 y1  2 y1
E I1   m1  k 1 y1
 x3 x 0
 t2 x 0

E I1 β13 (- C2 + C4) = (C1 + C3) (m1 ω2 – k1) (ii)

For the right side of region (1) and the left side of region (2), we apply:

 The deflection is the same

y1(L1,t) = y2(0,t)

C1 cos β1L1 + C2 sin β1L1 + C3 cosh β1L1 + C4 sinh β1L1 = D1 + D3 (iii)

 The slope is the same

 y1  y2
E I1  E I2
x x  L1
 0

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E I1 β1 (- C1 sin β1L1 + C2 cos β1L1 + C3 sinh β1L1 + C4 cosh β1L1)

= E I2 β2 (D2 + D4) (iv)

 The moment is the same

 2 y1 2 y2
E I1  E I2
 x2 x  L1
 2 0

E I1 β12 (- C1 cos β1L1 - C2 sin β1L1 + C3 cosh β1L1 + C4 sinh β1L1)

= E I2 β22 (- D1 + D3) (v)

 The sum of the forces on “m2” is zero

 3 y1 3 y2
 E I1  E I2  (k 2  m 2 ω 2 ) y 2 0
 x3 x  L1
ξ3 ξ 0
ξ 0

- E I1 β13 (C1 sin β1L1 - C2 cos β1L1 + C3 sinh β1L1 + C4 cosh β1L1)

+ E I2 β23 (- D2 + D4) + (D1 + D3) (m2 ω2 – k2) = 0 (vi)

For the right side of region (2), we apply the moment condition in “1” and
condition “4”.

 The moment condition

2 y2
E I1 0
 2  L2

(- D1 cos β2L2 - D2 sin β2L2 + D3 cosh β2L2 + D4 sinh β2L2) = 0 (vii)

 Condition 4
3 y2 2 y2
E I2   m3  k3 y3
 3   L2
 t2   L2
  L2

E I2 β23 (D1 sin β2L2 - D2 cos β2L2 + D3 sinh β2L2 + D4 cosh β2L2) =

(D1 cos β2L2 + D 2 sin β2L2 + D 3 cosh β2L2 + D 4 sinh β2L2) (k3 – m3 ω2) (viii)

The determinant of the coefficients of the above eight equations is zero and
represents the characteristic equation for obtaining the natural frequencies.

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