784 7 Continuous Systems

⎛ ⎞
∞

0 = ün + ωn2 un + ε⎝2μn u̇n − nmpq um up uq
⎠ − fzn (t)
m,p,q=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + ωn2 (un0 + εun1 )
⎛ ⎞
∞

+ε⎝2μn D0 un0 − nmpq um0 up0 uq0
⎠ − 2εδns kn cos t (7.14.15)
m,p,q=1

= D02 un0 + ωn2 un0 + ε D02 un1 + ωn2 un1 + 2D0 D1 un0
⎞
∞

+2μn D0 un0 − nmpq um0 up0 uq0 − 2δns kn cos t ⎠
m,p,q=1

Making the coefficient of the same power of ε zero in the above equation yields

D02 un0 + ωn2 un0 = 0 (7.14.16)

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0

∞

+ nmpq um0 up0 uq0
m, p, q=1

+ 2δns kn cos t (7.14.17)

The solution of (7.14.16) is

un0 = An (T1 )eiωn T0 + cc (7.14.18)

Substituting (7.14.18) into (7.14.17) yields

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0

∞

+ nmpq um0 up0 uq0 + 2δns kn cos t
m,p,q=1

= −2iωn An eiωn T0 − 2iωn μn An eiωn T0

∞
(7.14.19)
 0
+ nmpq Am Ap Aq e
iωm T0 iωp T0 iωq T0
e e
m,p,q=1

+Am Ap Aq eiωm T0 e−iωp T0 eiωq T0 + Am Ap Aq eiωm T0 eiωp T0 e−iωq T0

4
+Am Ap Aq eiωm T0 e−iωp T0 e−iωq T0 + δns kn ei T0 + cc + NST

In order to eliminate secular terms from the above equation, and take into account
ω1 + ω2 + ω3 = ω4 + εσ1 and = ωs + εσ2 , we need
7.14 Exercise 7.14 (Transverse Oscillation of a Clamped–Clamped Beam … 785

∞

 
−2iω1 A1 + μ1 A1 + A1 α1m Am Am + 8QA4 A3 A2 e−iσ1 T1 + δ1s k1 eiσ2 T1 = 0
m=1
(7.14.20)
∞

 
−2iω2 A2 + μ2 A2 + A2 α2m Am Am + 8QA4 A3 A1 e−iσ1 T1 + δ2s k2 eiσ2 T1 = 0
m=1
(7.14.21)
∞

 
−2iω3 A3 + μ3 A3 + A3 α3m Am Am + 8QA4 A2 A1 e−iσ1 T1 + δ3s k3 eiσ2 T1 = 0
m=1
(7.14.22)
∞

 
−2iω4 A4 + μ4 A4 + A4 α4m Am Am + 8QA3 A2 A1 eiσ1 T1 + δ4s k1 eiσ2 T1 = 0
m=1
(7.14.23)
∞

 
−2iωn An + μn An + An αnm Am Am = 0, n ≥ 5 (7.14.24)
m=1

where

8Q = 2( + 1324 + 1423 )
1234

2( nnmm + 2 nmnm ) for n = m
αmn = αnm = (7.14.25)
6 nnnn

Let
1 iβn
An = an e (7.14.26)
2
Substituting it into (7.14.24) yields
∞
1 
iωn an − ωn an βn + iωn μn an − an αnm am2 = 0, n ≥ 5 (7.14.27)
8 m=1

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 5 (7.14.28)

Therefore,

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 5 (7.14.29)

786 7 Continuous Systems

When s = 1, the Eqs. (7.14.20)–(7.14.23) become

   
4
−2iω1 A1 + μ1 A1 + A1 α1m Am Am + 8QA4 A3 A2 e−iσ1 T1 + k1 eiσ2 T1 = 0
m=1
(7.14.30)

   
4
−2iω2 A2 + μ2 A2 + A2 α2m Am Am + 8QA4 A3 A1 e−iσ1 T1 = 0 (7.14.31)
m=1

  
4
−2iω3 A3 + μ3 A3 + A3 α3m Am Am + 8QA4 A2 A1 e−iσ1 T1 = 0 (7.14.32)
m=1

  
4
−2iω4 A4 + μ4 A4 + A4 α4m Am Am + 8QA3 A2 A1 eiσ1 T1 = 0 (7.14.33)
m=1

where (7.14.29) is taken into account.

Substitute (7.14.26) into (7.14.30)–(7.14.33), we obtain

1 
4
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 − a1 α1m am2 − Qa2 a3 a4 e−iγ1 − k1 eiγ2 = 0
8 m=1
(7.14.34)

1 
4
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 − a2 α2m am2 − Qa1 a3 a4 e−iγ1 = 0 (7.14.35)
8 m=1

1 
4
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 − a3 α3m am2 − Qa1 a2 a4 e−iγ1 = 0 (7.14.36)
8 m=1

1 
4
iω4 a4 − ω4 a4 β4 + iω4 μ4 a4 − a4 α4m am2 − Qa1 a2 a3 eiγ1 = 0 (7.14.37)
8 m=1

where

γ1 = σ1 T1 + β1 + β2 + β3 − β4 , γ2 = σ2 T1 − β1 (7.14.38)

Separating the real and imaginary parts of (7.14.35) and (7.14.37), we obtain

ω2 a2 = −ω2 μ2 a2 − Qa1 a3 a4 sinγ1 (7.14.39)

ω4 a4 = −ω4 μ4 a4 + Qa1 a2 a3 sinγ1 (7.14.40)

7.14 Exercise 7.14 (Transverse Oscillation of a Clamped–Clamped Beam … 787

The steady state solutions of a1 and a2 satisfy

ω2 μ2 a2 = −Qa1 a3 a4 sinγ1
ω4 μ4 a4 = Qa1 a2 a3 sinγ1 (7.14.41)

Eliminating γ1 from the above equation yields

ω2 μ2 a22 + ω4 μ4 a42 = 0 (7.14.42)

Therefore, a2 = a4 = 0. Separating the real and imaginary parts of the Eq.

(7.14.36), we obtain

a3 = −μ3 a3 ⇒ a3 = a30 e−μ3 T1 → 0 (7.14.43)

So

a2 = a3 = a4 = 0 (7.14.44)

Thus, the Eq. (7.14.34) becomes

1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 − α11 a13 − k1 eiγ2 = 0 (7.14.45)
8
Separates the real part from the imaginary part of the above equation, we can
obtain

ω1 a1 = −ω1 μ1 a1 + k1 sinγ2

1
ω1 a1 γ2 = ω1 σ2 a1 + α11 a13 + k1 cosγ2 (7.14.46)
8

Let a1 = γ2 = 0 in (7.14.46), we can obtain the equation satisfied by the steady
state solution:

ω1 μ1 a1 = k1 sinγ2
 
1
− a1 ω1 σ2 + α11 a12 = k1 cosγ2 (7.14.47)
8

The frequency–response equation is

 2
1
ω12 μ21 a12 + a12 ω1 σ2 + α11 a12 = k12 (7.14.48)
8

(f) and (g) Readers are invited to complete Exercise 7.14(f) and (g).
When s = 4, substituting (7.14.26) into (7.14.20)–(7.14.23), we can obtain
788 7 Continuous Systems

1 
4
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 − a1 α1m am2 − Qa2 a3 a4 e−iγ1 = 0 (7.14.49)
8 m=1

1 
4
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 − a2 α2m am2 − Qa1 a3 a4 e−iγ1 = 0 (7.14.50)
8 m=1

1 
4
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 − a3 α3m am2 − Qa1 a2 a4 e−iγ1 = 0 (7.14.51)
8 m=1

1 
4
iω4 a4 − ω4 a4 β4 + iω4 μ4 a4 − a4 α4m am2 − Qa1 a2 a3 eiγ1 − k4 eiγ2 = 0
8 m=1
(7.14.52)

where

γ1 = σ1 T1 + β1 + β2 + β3 − β4 , γ2 = σ2 T1 − β1 (7.14.53)

and (7.14.29) is taken into account. Separating the real and imaginary parts of
(7.14.35) and (7.14.37) and taking into account (7.14.53), we can obtain

ω1 a1 = −ω1 μ1 a1 − Qa2 a3 a4 sinγ1 (7.14.54)

ω2 a2 = −ω2 μ2 a2 − Qa1 a3 a4 sinγ1 (7.14.55)

ω3 a3 = −ω3 μ3 a3 − Qa1 a2 a4 sinγ1 (7.14.56)

ω4 a4 = −ω4 μ4 a4 + Qa1 a2 a3 sinγ1 + k4 sinγ2 (7.14.57)

1 
4
ω1 a1 γ2 = ω1 σ2 a1 + a1 α1m am2 + Qa2 a3 a4 cosγ1 (7.14.58)
8 m=1

1 
4
ω2 a2 β2 = − a2 α2m am2 − Qa1 a3 a4 cosγ1 (7.14.59)
8 m=1

1 
4
ω3 a3 β3 = − a3 α3m am2 − Qa1 a2 a4 cosγ1 (7.14.60)
8 m=1

1 
4
−ω4 a4 γ1 − ω4 a4 γ2 + ω4 a4 β2 + ω4 a4 β3 = −ω4 (σ1 + σ2 )a4 − a4 α4m am2
8 m=1
− Qa1 a2 a3 cosγ1 − k4 cosγ2 (7.14.61)
7.14 Exercise 7.14 (Transverse Oscillation of a Clamped–Clamped Beam … 789

The corresponding steady state solution must satisfy

ω1 μ1 a1 = −Qa2 a3 a4 sinγ1 (7.14.62)

ω2 μ2 a2 = −Qa1 a3 a4 sinγ1 (7.14.63)

ω3 μ3 a3 = −Qa1 a2 a4 sinγ1 (7.14.64)

ω4 μ4 a4 − Qa1 a2 a3 sinγ1 − k4 sinγ2 = 0 (7.14.65)

1 
4
ω1 σ2 a1 + a1 α1m am2 + Qa2 a3 a4 cosγ1 = 0 (7.14.66)
8 m=1

1 
4
a2 α2m am2 + Qa1 a3 a4 cosγ1 = 0 (7.14.67)
8 m=1

1 
4
a3 α3m am2 + Qa1 a2 a4 cosγ1 = 0 (7.14.68)
8 m=1

1 
4
ω4 (σ1 + σ2 )a4 + a4 α4m am2 + Qa1 a2 a3 cosγ1 + k4 cosγ2 = 0 (7.14.69)
8 m=1

(7.14.62)–(7.14.69) have different steady state solutions, which are discussed

separately as follows.
The Case of a Partially Zero Steady State Solution
From the direct observation on (7.14.62)–(7.14.69) we can find that there exists
a steady state solution.

a1 = a2 = a3 = 0 and a4 TBD (7.14.70)

Then (7.14.65) and (7.14.69) become

ω4 μ4 a4 = k4 sinγ2
1
a4 ω4 (σ1 + σ2 ) + α44 a42 = −k4 cosγ2 (7.14.71)
8

The frequency–response equation is

1
ω42 μ24 a42 + a42 [ω4 (σ1 + σ2 ) + α44 a42 ]2 = k42 (7.14.72)
8
790 7 Continuous Systems

Therefore, the steady state solution a4 = 0.

The case of all non-zero steady state solutions
When a1 = 0, a2 = 0, a4 = 0, we can solve for sinγ1 from (7.14.64) and
substitute it into (7.14.65); solve for cosγ1 from (7.14.68) and substitute it into
(7.14.69):

ω4 μ4 a42 + ω3 μ3 a32 = a4 k4 sinγ2 (7.14.73)

1  1 
4 4
ω4 (σ1 + σ2 )a42 + a42 α4m am2 − a32 α3m am2 = −a4 k4 cosγ2 (7.14.74)
8 m=1 8 m=1

Eliminating γ1 from three sets of Eqs. (7.14.62) and (7.14.66), (7.14.63) and
(7.14.67), as well as (7.14.64) and (7.14.68); and eliminating γ2 from (7.14.73) yield
" #2
1
4
ω12 μ21 a12 + a12 ω1 σ2 + α1m am2 = Q2 a22 a32 a42 (7.14.75)
8 m=1
" #2
1
4
ω22 μ22 a22 + a22 α2m am2 = Q2 a12 a32 a42 (7.14.76)
8 m=1
" #2
1
4
ω32 μ23 a32 + a32 α3m am2 = Q2 a12 a22 a42 (7.14.77)
8 m=1
 2
1  1 
4 4
ω4 (σ1 + σ2 )a42
+ a42 α4m am2 − a32 α3m am2
8 m=1 8 m=1
 2
+ ω4 μ4 a42 + ω3 μ3 a32 = a42 k42 (7.14.78)

This set of equations is the frequency–response equation for the steady-state

amplitude. It can be seen that there is a non-trivial solution when a1 = 0, a2 =
0, a4 = 0; for example, whenever a1 = 0, then, by (7.14.75), we know that there
must be a2 = 0, a3 = 0, a4 = 0.
7.15 Exercise 7.15 (Transverse Oscillation of a Clamped–Clamped Beam … 791

7.15 Exercise 7.15 (Transverse Oscillation

of a Clamped–Clamped Beam Under Internal
Resonance and Non-resonance Excitation
at u = O(w2 ))

Solution: We take the characteristic length of the beam,L, to be the actual length of
the beam, then the dimensionless length of the beam l = 1. In turn, the linear free
oscillation mode function of the beam is

φn (x) = Cn [(sin ηn − sinh ηn )(cos ηn x − cosh ηn x)

− (cos ηn − cosh ηn )(sin ηn x − sinh ηn x)] (7.15.1)

where the value of Cn is taken to normalize the mode shape function φn (x). The first
five natural frequencies of the beam are

22.42 61.700 120.89 199.80 298.43

We note that

ω1 + ω2 + ω3 = ω4 + εσ1 (7.15.2)

Hence there is internal resonance. The discrete equation of the mode shape
function of the beam in this problem is
⎛ ⎞
∞

ün + ωn2 un = ε⎝ nmpq um up uq − 2μn u̇n ⎠ + fzn (t) (7.15.3)
m, p, q=1

where
⎛ l
⎞⎛ l
⎞
1⎝
nmpq =− φn φm dx⎠⎝ φp φq dx⎠, l = 2 (7.15.4)
2l
0 0

and

nmpq = mnpq = nmqp = pqnm (7.15.5)

We use the method of multiple scales to solve (7.15.3). Let the solution of the
equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.15.6)

Substituting (7.15.6) into (7.15.3) and retaining to O(ε), we get

792 7 Continuous Systems
⎛ ⎞
∞

0 = ün + ωn2 un + ε⎝2μn u̇n − nmpq um up uq
⎠ − fzn (t)
m,p,q=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + ωn2 (un0 + εun1 )
⎛ ⎞
∞

+ε⎝2μn D0 un0 − nmpq um0 up0 uq0
⎠ − 2Kn cos t (7.15.7)
m,p,q=1

= D02 un0 + ωn2 un0 − 2Kn cos t + ε D02 un1 + ωn2 un1
⎞
∞

+2D0 D1 un0 + 2μn D0 un0 − nmpq um0 up0 uq0
⎠
m,p,q=1

Making the coefficient of the same power of ε zero in the above equation yields

D02 un0 + ωn2 un0 = 2Kn cos T0 (7.15.8)

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0 (7.15.9)
m, p, q=1

The solution of (7.15.8) is

un0 = An (T1 )eiωn T0 + ne

i T0
+ cc (7.15.10)

where
Kn
n = (7.15.11)
ωn2 − 2

Substituting (7.15.10) into (7.15.9) and taking into account ω1 + ω2 + ω3 =

ω4 + εσ1 and = ω3 − ω1 − ω2 + εσ2 , we obtain
7.15 Exercise 7.15 (Transverse Oscillation of a Clamped–Clamped Beam … 793

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0
m,p,q=1
∞
  
= −2iωn An eiωn T0 − 2iωn μn An eiωn T0 + 2An eiωn T0 nnpq +2 npnq p q
p,q=1
∞
  
+A4 np4q + nqp4 + n4pq Ap Aq eiω4 T0 e−iωp T0 e−iωq T0
p,q=1
∞
 0
+ nmpq Am eiωm T0 Ap e−iωp T0 qe
i T0
+ Am eiωm T0 pe
i T0
Aq e−iωq T0
m,p,q=1
−i T0
+Am eiωm T0 pe Aq e−iωq T0 + Am eiωm T0 Ap eiωp T0 qe
−i T0

+Am eiωm T0 Ap e−iωp T0 qe

−i T0
+ me
i T0
Ap e−iωp T0 Aq eiωq T0
+ me
i T0
Ap eiωp T0 Aq e−iωq T0 + me
i T0
Ap e−iωp T0 Aq e−iωq T0
+Am eiωm T0 Ap eiωp T0 qe
i T0
+ Am eiωm T0 pe
i T0
Aq eiωq T0
+ me
i T0
Ap eiωp T0 Aq eiωq T0 + Am eiωm T0 Ap eiωp T0 Aq e−iωq T0
4
+Am eiωm T0 Ap e−iωp T0 Aq eiωq T0 + Am e−iωm T0 Ap eiωp T0 Aq eiωq T0
+2( 1234 + 1324 + 1423 )A1 A2 A3 e
iσ1 T1 iω4 T0
e + cc + NST
(7.15.12)

In order to eliminate secular terms from the above equation, and taking into
account ω1 + ω2 + ω3 = ω4 + εσ1 and = ω3 − ω1 − ω2 + εσ2 , we need
∞

 
− 2iω1 A1 + μ1 A1 + 2H11 A1 + A1 α1m Am Ām
m=1
+ 8QĀ2 Ā3 A4 e−iσ1 T1 + 4F Ā2 A3 e−iσ2 T1 = 0 (7.15.13)

∞

 
− 2iω2 A2 + μ2 A2 + 2H22 A2 + A2 α2m Am Ām
m=1
−iσ1 T1 −iσ2 T1
+ 8QĀ1 Ā3 A4 e + 4F Ā1 A3 e =0 (7.15.14)

∞

 
− 2iω3 A3 + μ3 A3 + 2H33 A3 + A3 α3m Am Am
m=1

+ 8QA1 A2 A4 e−iσ1 T1 + 4FA1 A2 eiσ2 T1 = 0 (7.15.15)

∞

 
−2iω4 A4 + μ4 A4 + 2H44 A4 + A4 α4m Am Am + 8QA1 A2 A3 eiσ1 T1 = 0
m=1
(7.15.16)
794 7 Continuous Systems

∞

 
−2iωn An + μn An + 2Hnn An + An αnm Am Am = 0, n ≥ 5 (7.15.17)
m=1

where
∞

8Q = 2( 1234 + 1324 + 1423 ), 4F = 2 ( 123m + 231m + 132m ) m
m=1

2( nnmm + 2 nmnm ) for n = m
αmn = αnm =
6 nnnn
 
Hnm = nmpq + 2 npmq p q (7.15.18)
p, q

Let
1 iβn
An = an e (7.15.19)
2
2
∞
Substituting it into 2iωn An +2iωn μn An −2Hnn An −An αnm Am Am = 0, n ≥ 3
m=1
yields
∞
1 
iωn an − ωn an βn + iωn μn an − Hnn an − an αnm am2 = 0, n ≥ 5 (7.15.20)
8 m=1

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 5 (7.15.21)

therefore

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 5 (7.15.22)

Substituting (7.15.19) into (7.15.13)–(7.15.16) and taking into account that

(7.15.22), we have

− iω1 a1 + ω1 a1 β1 − iω1 μ1 a1 + H11 a1

1 
4
+ a1 α1m am2 + Qa2 a3 a4 eiγ1 + Fa2 a3 eiγ2 = 0 (7.15.23)
8 m=1

− iω2 a2 + ω2 a2 β2 − iω2 μ2 a2 + H22 a2

7.15 Exercise 7.15 (Transverse Oscillation of a Clamped–Clamped Beam … 795

1 
4
+ a2 α2m am2 + Qa1 a3 a4 eiγ1 + Fa1 a3 eiγ2 = 0 (7.15.24)
8 m=1

− iω3 a3 + ω3 a3 β3 − iω3 μ3 a3 + H33 a3

1 
4
+ a3 α3m am2 + Qa1 a2 a4 eiγ1 + Fa1 a2 e−iγ2 = 0 (7.15.25)
8 m=1

1 
4
−iω4 a4 + ω4 a4 β4 − iω4 μ4 a4 + H44 a4 + a4 α4m am2 + Qa1 a2 a3 e−iγ1 = 0
8 m=1
(7.15.26)

where

γ1 = β4 − β3 − β2 − β1 − σ1 T1 , γ2 = β3 − β2 − β1 − σ2 T1 (7.15.27)

Separating the real and imaginary parts of (7.15.23)–(7.15.26) and making a1 =
a2 = a3 = a4 = 0, we obtain

−ω1 μ1 a1 + Qa2 a3 a4 sinγ1 + Fa2 a3 sinγ2 = 0 (7.15.28)

−ω2 μ2 a2 + Qa1 a3 a4 sinγ1 + Fa1 a3 sinγ2 = 0 (7.15.29)

−ω3 μ3 a3 + Qa1 a2 a4 sinγ1 − Fa1 a2 sinγ2 = 0 (7.15.30)

−ω4 μ4 a4 − Qa1 a2 a3 sinγ1 = 0 (7.15.31)

1 
4
ω1 a1 β1 + H11 a1 + a1 α1m am2 + Qa2 a3 a4 cosγ1 + Fa2 a3 cosγ2 = 0 (7.15.32)
8 m=1

1 
4
ω2 a2 β2 + H22 a2 + a2 α2m am2 + Qa1 a3 a4 cosγ1 + Fa1 a3 cosγ2 = 0 (7.15.33)
8 m=1

1 
4
ω3 a3 β3 + H33 a3 + a3 α3m am2 + Qa1 a2 a4 cos γ1 + Fa1 a2 cos γ2 = 0
8 m=1
(7.15.34)

1 
4
ω4 a4 β4 + H44 a4 + a4 α4m am2 + Qa1 a2 a3 cosγ1 = 0 (7.15.35)
8 m=1
796 7 Continuous Systems

(7.15.28)–(7.15.35) control the magnitude and phase of the mode shape function.
For any set of amplitude steady state solutions, the phase is assumed to be

βn = βn T1 + τn = εβn t + τn , n = 1, 2, 3, 4 (7.15.36)

Then by the Eqs. (7.15.10) and (7.15.6), we can obtain the approximate solution
of un (t):
  
un ≈ un0 = an cos ωn + εβn t + τn
+ 2 n cos t + O(ε), n = 1, 2, 3, 4
un ≈ un0 = 2 n cos t + O(ε), n ≥ 5 (7.15.37)

2
∞
Since the deflection of the beam is w(x, t) = un φn (x), the approximate solution
n=1
for the beam deflection response is
 4 

4
   

w(x, t) = an φn (x)cos ωn + εβn t + τn + 2 n φn (x) cos t (7.15.38)
n=1 n=1

It is clear that the (7.15.28)–(7.15.35) has a zero amplitude steady state solution
a1 = a2 = a3 = a4 = 0. For non-trivial amplitude solutions, (7.15.32)–(7.15.35)
can be written as:

1 4
β1 + ω1−1 H11 + ω1−1 α1m am2
8 m=1

+ ω1−1 Qa1−1 a2 a3 a4 cosγ1 + ω1−1 Fa1−1 a2 a3 cosγ2 = 0 (7.15.39)

1 4
β2 + ω2−1 H22 + ω2−1 a2−1 α2m am2
8 m=1

+ ω2−1 Qa2−1 a1 a3 a4 cosγ1 + ω2−1 Fa2−1 a1 a3 cosγ2 = 0 (7.15.40)

1 4
β3 + ω3−1 H33 + ω3−1 α3m am2
8 m=1

+ ω3−1 Qa3−1 a1 a2 a4 cosγ1 + ω3−1 Fa3−1 a1 a2 cosγ2 = 0 (7.15.41)

1 4
β4 + ω4−1 H44 + ω4−1 α4m am2 + ω4−1 Qa4−1 a1 a2 a3 cosγ1 = 0 (7.15.42)
8 m=1

From (7.15.27), we have

7.15 Exercise 7.15 (Transverse Oscillation of a Clamped–Clamped Beam … 797

γ1 + σ1 = β4 − β3 − β2 − β1 , γ2 + σ2 = β3 − β2 − β1 (7.15.43)

Combining (7.15.39)–(7.15.42) according to the right-hand side of the two

equations of (7.15.43) yields

γ1 + σ1 + ω4−1 H44 − ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1 −1  1 −1  1 −1 −1  1 −1 
4 4 4 4
+ ω4 α4m am − ω3
2
α3m am − ω2 a2
2
α2m am − ω1
2
α1m am2
8 m=1
8 m=1
8 m=1
8 m=1
 
+Q ω4−1 a4−1 a1 a2 a3 − ω3−1 a3−1 a1 a2 a4 − ω2−1 a2−1 a1 a3 a4 − ω1−1 a1−1 a2 a3 a4 cos γ1
 
−F ω3−1 a3−1 a1 a2 + ω2−1 a2−1 a1 a3 + ω1−1 a1−1 a2 a3 cos γ2 = 0
(7.15.44)

γ2 + σ2 + ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1  4
1  4
1  4
+ ω3−1 α3m am2 − ω2−1 a2−1 α2m am2 − ω1−1 α1m am2
8 m=1
8 m=1
8 m=1
(7.15.45)
 
+Q ω3−1 a3−1 a1 a2 a4 − ω2−1 a2−1 a1 a3 a4 − ω1−1 a1−1 a2 a3 a4 cos γ1
 
+F ω3−1 a3−1 a1 a2 − ω2−1 a2−1 a1 a3 − ω1−1 a1−1 a2 a3 cos γ2 = 0

Let γ1 = γ2 = 0, we obtain

σ1 + ω4−1 H44 − ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1  4
1 4
1  4
1 4
+ ω4−1 α4m am2 − ω3−1 α3m am2 − ω2−1 a2−1 α2m am2 − ω1−1 α1m am2
8 m=1
8 m=1
8 m=1
8 m=1
 −1 −1 −1 −1 −1 −1 −1 −1

+Q ω4 a4 a1 a2 a3 − ω3 a3 a1 a2 a4 − ω2 a2 a1 a3 a4 − ω1 a1 a2 a3 a4 cos γ1
 
−F ω3−1 a3−1 a1 a2 + ω2−1 a2−1 a1 a3 + ω1−1 a1−1 a2 a3 cos γ2 = 0
(7.15.46)

σ2 + ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1 −1  1 −1 −1  1 −1 
4 4 4
+ ω3 α3m am − ω2 a2
2
α2m am − ω1
2
α1m am2
8 m=1
8 m=1
8 m=1
(7.15.47)
 −1 −1 −1 −1 −1 −1

+Q ω3 a3 a1 a2 a4 − ω2 a2 a1 a3 a4 − ω1 a1 a2 a3 a4 cos γ1
 
+F ω3−1 a3−1 a1 a2 − ω2−1 a2−1 a1 a3 − ω1−1 a1−1 a2 a3 cos γ2 = 0

(7.15.46), (7.15.47) and (7.15.28)–(7.15.31) are the equations satisfied by the

steady state solutions of a1 , a2 , a3 , a4 , γ1 , γ2 . After finding a set of steady state
solutions, we substitute them into (7.15.39)–(7.15.42) and obtain the values for
β1 , β2 , β3 , β4 by integration. Obviously, these values contain integration constants,
which need to be determined from the initial conditions.
798 7 Continuous Systems

7.16 Exercise 7.16 (Transverse Oscillation

of a Clamped-Supported Beam Under Internal
Resonance and Non-resonance Excitation
at u = O(w2 ))

Solution: We take the characteristic length of the beam L to be the actual length of
the beam, then the dimensionless length of the beam l = 1. In turn, the mode shape
function of the linear free oscillation of the beam is

φn (x) = Cn [(sin ηn − sinh ηn )(cos ηn x − cosh ηn x)

− (cos ηn − cosh ηn )(sin ηn x − sinh ηn x)] (7.16.1)

where the value of Cn Cn is taken to normalize the mode shape function φn (x). The
first five natural frequencies of the beam are

22.42 61.700 120.89 199.80 298.43

We note that

ω1 + ω2 + ω3 = ω4 + εσ1 (7.16.2)

Hence there is internal resonance. The discrete equation of the mode shape
function of the beam of this problem is
⎛ ⎞
∞

ün + ωn2 un = ε⎝ nmpq um up uq − 2μn u̇n ⎠ + fzn (t) (7.16.3)
m, p, q=1

where
⎛ l
⎞⎛ l
⎞
1⎝
nmpq =− φn φm dx⎠⎝ φp φq dx⎠, l = 2 (7.16.4)
2l
0 0

and

nmpq = mnpq = nmqp = pqnm (7.16.5)

We use the method of multiple scales to solve (7.16.3). Let the solution of the
equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.16.6)

Substituting (7.16.6) into (7.16.3) and retaining to O(ε), we obtain

7.16 Exercise 7.16 (Transverse Oscillation of a Clamped-Supported Beam … 799
⎛ ⎞
∞

0 = ün + ωn2 un + ε⎝2μn u̇n − nmpq um up uq
⎠ − fzn (t)
m,p,q=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + ωn2 (un0 + εun1 )
⎛ ⎞
∞

+ε⎝2μn D0 un0 − nmpq um0 up0 uq0
⎠ − 2Kn cos t (7.16.7)
m,p,q=1

= D02 un0 + ωn2 un0 − 2Kn cos t + ε D02 un1 + ωn2 un1
⎞
∞

+2D0 D1 un0 + 2μn D0 un0 − nmpq um0 up0 uq0
⎠
m,p,q=1

Making the coefficient of the same power of ε zero in the above equation yields

D02 un0 + ωn2 un0 = 2Kn cos T0 (7.16.8)

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0 (7.16.9)
m, p, q=1

The solution of the Eq. (7.16.8) is

un0 = An (T1 )eiωn T0 + ne

i T0
+ cc (7.16.10)

where
Kn
n = (7.16.11)
ωn2 − 2

Substituting (7.6.10) into (7.16.9) and taking into account ω1 + ω2 + ω3 = ω4 +

εσ1 ω1 + ω2 + ω3 = ω4 + εσ1 and 2 = ω4 − ω1 + εσ2 , we obtain
∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0
m,p,q=1
∞
   iω T −iωp T0 e−iωq T0
+A4 np4q + nqp4 + n4pq Ap Aq e 4 0 e
p,q=1
∞
 3
+ −2i T0 eiωm T0 + −2i T0 eiωp T0 + −2i T0 eiωq T0 + A 2i T0 eiωm T0
nmpq Am p q e m Ap q e m p Aq e m p qe
m,p,q=1

+ m p Aq e−2i T0 eiωq T0 + Am p q e2i T0 eiωm T0

1
+ m Ap q e2i T0 eiωp T0 + m p Aq e2i T0 eiωq T0

+2( 1234 + 1324 + 1423 )A1 A2 A3 eiσ1 T1 eiω4 T0 + cc + NST

(7.16.12)
800 7 Continuous Systems

In order to eliminate secular terms from the above equation, and taking into
account ω1 + ω2 + ω3 = ω4 + εσ1 and 2 = ω4 − ω1 + εσ2 , we need
∞

 
− 2iω1 A1 + μ1 A1 + 2H11 A1 + A1 α1m Am Am
m=1
−iσ1 T1 −iσ2 T1
+ 8QA2 A3 A4 e + H14 A4 e =0 (7.16.13)

∞

 
−2iω2 A2 + μ2 A2 + 2H22 A2 + A2 α2m Am Am + 8QA1 A3 A4 e−iσ1 T1 = 0
m=1
(7.16.14)
∞

−2iω3 (A3  + μ3 A3 ) + 2H33 A3 + A3 α3m Am Am + 8QA1 A2 A4 e−iσ1 T1 = 0
m=1
(7.16.15)
 
−2iω4 A4 + μ4 A4 + 2H44 A4
∞
 (7.16.16)
+A4 α4m Am Am + 8QA1 A2 A3 eiσ1 T1 + H14 A1 eiσ2 T1 = 0
m=1
∞

−2iωn (An  + μn An ) + 2Hnn An + An αnm Am Am = 0, n ≥ 5 (7.16.17)
m=1

where

8Q = 2( 1234+ 1324 + 1423 )


2( nnmm + 2 nmnm ) for n = m
αmn = αnm =
6 nnnn
  
Hnm = nmpq + 2 npmq p q (7.16.18)
p, q

Let
1 iβn
An = an e (7.16.19)
2
Substituting it into (7.16.17) yields
∞
1 
iωn an − ωn an βn  + iωn μn an − Hnn an − an αnm am2 = 0, n ≥ 5 (7.16.20)
8 m=1

Separating the real and imaginary parts of the above equation yields
7.16 Exercise 7.16 (Transverse Oscillation of a Clamped-Supported Beam … 801

an + μn an = 0, n ≥ 5 (7.16.21)

therefore

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 5 (7.16.22)

Substituting (7.16.19) into (7.16.13)–(7.16.16) and taking into account that

(7.6.22), we have

− iω1 a1 + ω1 a1 β1 − iω1 μ1 a1 + H11 a1

1 
4
1
+ a1 α1m am2 + Qa2 a3 a4 eiγ1 + H14 a4 eiγ2 = 0 (7.16.23)
8 m=1 2

1 
4
−iω2 a2  + ω2 a2 β2  − iω2 μ2 a2 + H22 a2 + a2 α2m am2 + Qa1 a3 a4 eiγ1 = 0
8 m=1
(7.16.24)

1 
4
−iω3 a3  + ω3 a3 β3  − iω3 μ3 a3 + H33 a3 + a3 α3m am2 + Qa1 a2 a4 eiγ1 = 0
8 m=1
(7.16.25)

− iω4 a4  + ω4 a4 β4  − iω4 μ4 a4 + H44 a4

1 
4
1
+ a4 α4m am2 + Qa1 a2 a3 e−iγ1 + H14 a1 e−iγ2 = 0 (7.16.26)
8 m=1 2

where

γ1 = β4 − β3 − β2 − β1 − σ1 T1 , γ2 = β4 − β1 − σ2 T1 (7.16.27)

Separating the real and imaginary parts of (7.16.23)–(7.16.26) and making a1 =
a2  = a3  = a4  = 0, we obtain

1
−ω1 μ1 a1 + Qa2 a3 a4 sinγ1 + H14 a4 sinγ2 = 0 (7.16.28)
2

−ω2 μ2 a2 + Qa1 a3 a4 sinγ1 = 0 (7.16.29)

−ω3 μ3 a3 + Qa1 a2 a4 sinγ1 = 0 (7.16.30)

1
−ω4 μ4 a4 − Qa1 a2 a3 sinγ1 − H14 a1 sinγ2 = 0 (7.16.31)
2
802 7 Continuous Systems

1 
4
1
ω1 a1 β1  + H11 a1 + a1 α1m am2 + Qa2 a3 a4 cosγ1 + H14 a4 cosγ2 = 0
8 m=1 2
(7.16.32)

1 
4
ω2 a2 β2  + H22 a2 + a2 α2m am2 + Qa1 a3 a4 cosγ1 = 0 (7.16.33)
8 m=1

1 
4
ω3 a3 β3 + H33 a3 + a3 α3m am2 + Qa1 a2 a4 cosγ1 = 0 (7.16.34)
8 m=1

1 
4
1
ω4 a4 β4 + H44 a4 + a4 α4m am2 + Qa1 a2 a3 cosγ1 + H14 a1 cosγ2 = 0
8 m=1 2
(7.16.35)

Equations (7.16.28)–(7.16.35) control the magnitude and phase of the mode shape
function. For any set of amplitude steady state solutions, the phase is assumed to be

βn = βn T1 + τn = εβn t + τn , n = 1, 2, 3, 4 (7.16.36)

Then by (7.16.10) and (7.16.6), we can obtain the approximate solution of un (t)
  
un ≈ un0 = an cos ωn + εβn t + τn + 2 n cos t + O(ε), n = 1, 2, 3, 4
un ≈ un0 = 2 n cos t + O(ε), n ≥ 5 (7.16.37)

2
∞
Since the deflection of the beam is w(x, t) = un φn (x), the approximate solution
n=1
for the beam deflection response is
 4 

4
   
w(x, t) = an φn (x)cos ωn + εβn t + τn + 2 n φn (x) cos t (7.16.38)
n=1 n=1

It is clear that (7.16.28)–(7.16.35) has a zero amplitude steady state solution. For
non-trivial amplitude solutions, (7.16.28)–(7.16.35) can be written as:

1 4
β1 + ω1−1 H11 + ω1−1 α1m am2
8 m=1
1
+ ω1−1 Qa1−1 a2 a3 a4 cosγ1 + ω1−1 H14 a1−1 a4 cosγ2 = 0 (7.16.39)
2

1 4
β2 + ω2−1 H22 + ω2−1 a2−1 α2m am2 + ω2−1 Qa2−1 a1 a3 a4 cosγ1 = 0 (7.16.40)
8 m=1
7.16 Exercise 7.16 (Transverse Oscillation of a Clamped-Supported Beam … 803

1 −1 
4
β3 + ω3−1 H33 + ω3 α3m am2 + ω3−1 Qa3−1 a1 a2 a4 cosγ1 = 0 (7.16.41)
8 m=1

1 4
β4 + ω4−1 H44 + ω4−1 α4m am2
8 m=1
1
+ ω4−1 Qa4−1 a1 a2 a3 cosγ1 + ω4−1 H14 a4−1 a1 cosγ2 = 0 (7.16.42)
2
From (7.16.27), we have

γ1 + σ1 = β4 − β3 − β2 − β1 , γ2 + σ2 = β4 − β1 (7.16.43)

Combining (7.16.39)–(7.16.42) according to the right-hand side of the two

equations of (7.16.43) yields

γ1 + σ1 + ω4−1 H44 − ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1  4
1 4
1  4
1 4
+ ω4−1 α4m am2 − ω3−1 α3m am2 − ω2−1 a2−1 α2m am2 − ω1−1 α1m am2
8 m=1
8 m=1
8 m=1
8 m=1
 
+Q ω4−1 a4−1 a1 a2 a3 − ω3−1 a3−1 a1 a2 a4 − ω2−1 a2−1 a1 a3 a4 − ω1−1 a1−1 a2 a3 a4 cos γ1
1  
+ H14 ω4−1 a4−1 a1 − ω1−1 a1−1 a4 cos γ2 = 0
2
(7.16.44)

1 4
1 4
γ2 + σ2 + ω4−1 H44 − ω1−1 H11 + ω4−1 α4m am2 − ω1−1 α1m am2
8 m=1
8 m=1
 −1 −1 −1 −1
 (7.16.45)
+Q ω4 a4 a1 − ω1 a1 a4 a2 a3 cos γ1
1  
+ H14 ω4−1 a4−1 a1 − ω1−1 a1−1 a4 cos γ2 = 0
2

Let γ1 = γ2 = 0, we obtain

σ1 + ω4−1 H44 − ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1 −1  1 −1  1 −1 −1  1 −1 
4 4 4 4
+ ω4 α4m am − ω3
2
α3m am − ω2 a2
2
α2m am − ω1
2
α1m am2
8 m=1
8 m=1
8 m=1
8 m=1
 
+Q ω4−1 a4−1 a1 a2 a3 − ω3−1 a3−1 a1 a2 a4 − ω2−1 a2−1 a1 a3 a4 − ω1−1 a1−1 a2 a3 a4 cos γ1
1  
+ H14 ω4−1 a4−1 a1 − ω1−1 a1−1 a4 cos γ2 = 0
2
(7.16.46)
804 7 Continuous Systems

1 4
1 4
σ2 + ω4−1 H44 − ω1−1 H11 + ω4−1 α4m am2 − ω1−1 α1m am2
8 m=1
8 m=1
 −1 −1 −1 −1
 (7.16.47)
+Q ω4 a4 a1 − ω1 a1 a4 a2 a3 cos γ1
1  
+ H14 ω4−1 a4−1 a1 − ω1−1 a1−1 a4 cos γ2 = 0
2
(7.16.46), (7.16.47) and (7.16.28)–(7.16.31) are the equations satisfied by the
steady state solutions of a1 , a2 , a3 , a4 , γ1 , γ2 . After finding a set of steady state
solutions, we substitute them into (7.16.39)–(7.16.42) and obtain the values of
β1 , β2 , β3 , β4 by integration. Obviously, these values contain integration constants,
which need to be determined by the initial conditions.

7.17 Exercise 7.17 (Coupled Longitudinal and Transverse

Oscillation Analysis of Hinged-Hinged Beams
at u = O(w))

Solution: Consider the coupling of longitudinal and transverse oscillations of a

hinged-hinged beam, the equations describing the modal coordinates are
 ∞

  
ξ̈n + λ2n ξn = ε −2νn ξ̇n − nκ m ηm pηp + qηq + fxn (t)
m=1
 ∞

  
η̈n + ωn2 ηn = ε −2μn η̇n − nκ m ξm pηp + qηq + fyn (t) (7.17.1)
m=1
 1/2
nπ nπ n2 π 2
λn = , ωn = +N , p = |n − m|, q = n + m (7.17.2)
rl l l2


M
fxn (t) = 2εgn cos( 1t − τ ), fyn (t) = 2ε fnm cos( 2m t − θm ) (7.17.3)
m=1

We use the method of multiple scales to solve (7.17.1). Let the solution of the
equation be

ξn (t; ε) = ξn0 (T0 , T1 ) + εξn1 (T0 , T1 ) + · · ·

ηn (t; ε) = ηn0 (T0 , T1 ) + εηn1 (T0 , T1 ) + · · · (7.17.4)

Substituting (7.17.4) and (7.17.3) into (7.17.1) and retaining to O(ε), we obtain
7.17 Exercise 7.17 (Coupled Longitudinal and Transverse Oscillation … 805
 ∞

  
0 = ξ̈n + λ2n ξn + ε 2νn ξ̇n + nκ mηm pηp + qηq − fxn (t)
m=1
 
= D02 + 2εD0 D1 (ξn0 + εξn1 ) + λ2n (ξn0 + εξn1 )
 ∞

  
+ε 2νn D0 ξn0 + nκ mηm0 pηp0 + qηq0 − 2εgn cos( 1t − τ) (7.17.5)
m=1

= D02 ξn0 + λ2n ξn0 + ε D02 ξn1 + λ2n ξn1 + 2D0 D1 ξn0 + 2νn D0 ξn0
∞

  
+nκ mηm0 pηp0 + qηq0 − 2gn cos( 1 t − τ )
m=1
 ∞

  
0 = η̈n + ωn2 ηn + ε 2μn η̇n + nκ mξm pηp + qηq − fyn (t)
m=1
 
= D02 + 2εD0 D1 (ηn0 + εηn1 ) + ωn2 (ηn0 + εηn1 )
 ∞

   
M
+ε 2μn D0 ηn0 + nκ mξm0 pηp0 + qηq0 − 2ε fnm cos( 2m t − θm )
m=1 m=1

= D02 ηn0 + ωn2 ηn0 + ε D02 ηn1 + ωn2 ηn1 + 2D0 D1 ηn0 + 2μn D0 ηn0
∞

   M
+nκ mξm0 pηp0 + qηq0 − 2 fnm cos( 2m t − θm )
m=1 m=1
(7.17.6)

Making the coefficient of the same power of ε zero in the above two equations,
we obtain

ξ̈n0 + λ2n ξn0 = 0

η̈n0 + ωn2 ηn0 = 0 (7.17.7)

∞
  
D02 ξn1 + λ2n ξn1 = −2D0 D1 ξn0 − 2νn D0 ξn0 − nκ mηm0 pηp0 + qηq0
m=1
+ 2gn cos( 1t − τ )
∞
  
D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0 − 2μn D0 ηn0 − nκ mξm0 pηp0 + qηq0
m=1

M
+2 fnk cos( 2k t − θk ) (7.17.8)
k=1

The solution of the Eq. (7.17.7) is

ξn0 = An (T1 )eiλn T0 + cc

806 7 Continuous Systems

ηn0 = Bn (T1 )eiωn T0 + cc (7.17.9)

Substituting (7.17.9) into (7.17.8) yields

D02 ξn1 + λ2n ξn1 = −2iλn An eiλn T0 − 2iλn νn An eiλn T0

∞

− nκ mBm
m=1
3 1
× p Bp ei(ωm +ωp )T0 + pB̄p ei(ωm −ωp )T0 + qBq ei(ωm +ωq )T0 + qB̄q ei(ωm −ωq )T0

+ gn ei( 1 T0 −τ ) + cc (7.17.10)
D02 ηn1 + ωn2 ηn1 = −2iωn Bn eiωn T0 − 2iωn μn Bn eiωn T0
∞

− nκ mAm
m=1
3 1
× pBp ei(λm +ωp )T0 + pB̄p ei(λm −ωp )T0 + qBq ei(λm +ωq )T0 + qB̄q ei(λm −ωq )T0


M
+ fnk ei( 2k T0 −θk ) + cc (7.17.11)
k=1

By (7.17.10) and (7.17.11), we can see that the internal resonance occurs when

λn ≈ ωm ± ωp or λn ≈ ωm ± ωp (7.17.12)

With (7.17.11), we can write (7.17.12) as

 2 2 1/2 1/2
n m π (n − m)2 π 2
≈m + N ± |n − m| + N
r l2 l2
 2 2 1/2 1/2
n m π (n − m)2 π 2
or ≈m + N ± |n + m| +N (7.17.13)
r l2 l2

This suggests that r is a parameter regulating internal resonance.

Since the beam theory requires a small slenderness ratio, our interest in longi-
tudinal oscillations is mainly restricted to their fundamental frequency modes, i.e.,
n = 1. In addition, when the plus sign is taken, the condition (7.17.13) is satisfied
first. Therefore, to obtain the value of the aspect ratio parameter l/r when internal
resonance occurs, we let N = 0, which yields

l  
≈ 2m2 + 2m + 1 π (7.17.14)
r
From this, it is possible to estimate the value of l/r required for the internal
resonance between the fundamental frequency mode of longitudinal oscillation and
the mth order frequency mode of transverse oscillation.
Consider the following case:
7.17 Exercise 7.17 (Coupled Longitudinal and Transverse Oscillation … 807

λ1 = ω2 + ω3 + εσI , 1 = λ1 + εσ1
22 = ω2 + εσ2 , 23 = ω3 + εσ3 (7.17.15)

In order to eliminate secular terms from (7.17.10) and (7.17.11), we need

2iλ1 A1 + 2iλ1 ν1 A1 + 6κB2 B3 e−iσI T1 − g1 ei(σ1 T1 −τ ) = 0 (7.17.16)

An + νn An = 0, n ≥ 2 (7.17.17)

2iω2 B2 + 2iω2 μ2 B2 + 6κA1 B3 eiσI T1 − f22 ei(σ2 T1 −θ2 ) = 0 (7.17.18)

2iω3 B3 + 2iω3 μ3 B3 + 6κA1 B2 eiσI T1 − f33 ei(σ3 T1 −θ3 ) = 0 (7.17.19)

Bn + μn Bn = 0, n = 2 and 3 (7.17.20)

From (7.17.17) and (7.17.20), we have

An = An0 e−νn T1 → 0, n ≥ 2
(7.17.21)
and Bn = Bn0 e−μn T1 → 0, n = 2 and 3

Let
1 iαn 1
An = an e , Bn = bn eiβn (7.17.22)
2 2
and substitute them into (7.17.16), (7.17.18) and (7.17.19), we have

iλ1 a1 − λ1 a1 α1 + iλ1 ν1 a1 + kb2 b3 e−iγI − g1 eiγ1 = 0 (7.17.23)

iω2 b2 − ω2 b2 β2 + iω2 μ2 b2 + ka1 b3 eiγI − f22 eiγ2 = 0 (7.17.24)

iω3 b3 − ω3 b3 β3 + iω3 μ3 b3 + ka1 b2 eiγI − f33 eiγ3 = 0 (7.17.25)

where

k = 23 κ, γI = σI T1 + α1 − β2 − β3 ,
(7.17.26)
γ1 = σ1 T1 − α1 − τ, γ2 = σ2 T1 − β2 − θ2 , γ3 = σ3 T1 − β3 − θ3

Separate the real and imaginary parts of (7.17.23)–(7.17.25) and let a1 = b2 =
b3 = 0, we can obtain the governing equation of the steady state solution:

λ1 ν1 a1 − kb2 b3 sin γI − g1 sin γ1 = 0

808 7 Continuous Systems

ω2 μ2 b2 + ka1 b3 sin γI − f22 sin γ2 = 0

ω3 μ3 b3 + ka1 b2 sin γI − f33 sin γ3 = 0 (7.17.27)

− λ1 a1 α1 + kb2 b3 cos γI − g1 cos γ1 = 0

− ω2 b2 β2 + ka1 b3 cos γI − f22 cos γ2 = 0
− ω3 b3 β3 + ka1 b2 cos γI − f33 cos γ3 = 0 (7.17.28)

When g1 = 0, f22 = 0, we can obtain from (7.17.27) that

λ1 ν1 a1 = kb2 b3 sin γ1
ω2 μ2 b2 = −ka1 b3 sin γ1 (7.17.29)

Eliminating γI from (7.17.29) yields

λ1 ν1 a12 + ω2 μ2 b22 = 0 (7.17.30)

So a1 = b2 = 0.
When g1 = 0, f33 = 0, we can obtain from (7.17.27) that

λ1 ν1 a1 = kb2 b3 sin γI
ω3 μ3 b3 = −ka1 b2 sin γI (7.17.31)

Eliminating γI from (7.17.30) yields

λ1 ν1 a12 + ω3 μ3 b23 = 0 (7.17.32)

So a1 = b3 = 0.
When g1 = 0, f22 = 0, f33 = 0, we can obtain from (7.17.27) and (7.17.28) that

λ1 ν1 a1 − kb2 b3 sin γI = 0
ω2 μ2 b2 + ka1 b3 sin γI − f22 sin γ2 = 0
ω3 μ3 b3 + ka1 b2 sin γI − f33 sin γ3 = 0 (7.17.33)

kb2 b3
α1 = cos γI
λ1 a1
ka1 b3 f22
β2 = cos γI − cos γ2
ω2 b2 ω2 b2
ka1 b2 f33
β3 = cos γI − cos γ3 (7.17.34)
ω3 b3 ω3 b3

From (7.17.26), we have

7.17 Exercise 7.17 (Coupled Longitudinal and Transverse Oscillation … 809

γI − σI = α1 − β2 − β3 , −γ2 + σ2 = β2 , −γ3 + σ3 = β3 (7.17.35)

Then from (7.17.34) and (7.17.35), we have

 
kb2 b3 ka1 b2 ka1 b3 f22 f33
γI = σI + − − cos γI + cos γ2 + cos γ3
λ1 a1 ω3 b3 ω2 b2 ω2 b2 ω3 b3
ka1 b3 f22
γ2 = σ2 − cos γI + cos γ2
ω2 b2 ω2 b2
ka1 b2 f33
γ3 = σ3 − cos γI + cos γ3 (7.17.36)
ω3 b3 ω3 b3

Let γI = γ2 = γ3 = 0, we obtain

 
kb2 b3 ka1 b2 ka1 b3 f22 f33
σI + − − cos γI + cos γ2 + cos γ3 = 0
λ1 a1 ω3 b3 ω2 b2 ω2 b2 ω3 b3
ka1 b3 f22
σ2 − cos γI + cos γ2 = 0
ω2 b2 ω2 b2
ka1 b2 f33
σ3 − cos γI + cos γ3 = 0 (7.17.37)
ω3 b3 ω3 b3

The above three equations are combined to give

kb2 b3
cosγI = σ2 + σ3 − σI (7.17.38)
λ1 a1

From the first equation of (7.17.33) and (7.17.38), we have

ν1
tanγI = (7.17.39)
σ2 + σ3 − σI

Solving for sinγI from the first equation of (7.17.33), substituting it into the second
and third equations of (7.17.33) and then substituting (7.17.38) into the second and
third equations of (7.17.37) yields

ω2 μ2 b22 + λ1 ν1 a12 = b2 f22 sinγ2

ω3 μ3 b23 + λ1 ν1 a12 = b3 f33 sinγ3 (7.17.40)

λ1 a12 (σ2 + σ3 − σI ) − ω2 b22 σ2 = b2 f22 cosγ2

λ1 a12 (σ2 + σ3 − σI ) − ω3 b23 σ3 = b3 f33 cosγ3 (7.17.41)

Eliminating γ2 and γ3 from these two sets of equations yields

(ω2 μ2 b22 + λ1 ν1 a12 )2 + [λ1 a12 (σ2 + σ3 − σI ) − ω2 b22 σ2 ]2 = b22 f222

810 7 Continuous Systems

(ω3 μ3 b23 + λ1 ν1 a12 )2 + [λ1 a12 (σ2 + σ3 − σI ) − ω3 b23 σ3 ]2 = b23 f332 (7.17.42)

7.18 Exercise 7.18 (Analysis of Internal and Primary

Resonances of Cylindrical Shells, Saturation
Phenomena)

Solution: (a) We use the method of multiple scales to solve the given equation by
setting the solution of the equation as

un (t; ε) = εun0 (T0 , T1 ) + ε2 un1 (T0 , T1 ) + · · · (7.18.1)

Substituting (7.18.1) into the given equation and keeping to O(ε2 ), we obtain
∞

0 = ün + ωn2 un + 2εμn u̇n − ε αnpq up uq − fn (t)
p, q
    
= D02 + 2εD0 D1 εun0 + ε2 un1 + ωn2 εun0 + ε2 un1
 
+2εμn (D0 + εD1 ) εun0 + ε2 un1
∞
    (7.18.2)
− αnpq εup0 + ε2 up1 εuq0 + ε2 uq1 − 2ε2 δns kn cos T0
p, q
  
= ε D02 un0 + ωn2 un0 + ε2 D02 un1 + ωn2 un1 + 2D0 D1 un0
∞
#

+2μn D0 un0 − αnpq up0 uq0 − 2δns kn cos T0
p, q

Making the coefficient of the same power of ε zero in the above equation yields

D02 un0 + ωn2 un0 = 0 (7.18.3)

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + αnpq up0 uq0 + 2δns kn cos T0
p,q
(7.18.4)

The solution of the Eq. (7.18.3) is

un0 = An (T1 )eiωn T0 + cc (7.18.5)

Substituting (7.18.5) into (7.18.4) yields

7.18 Exercise 7.18 (Analysis of Internal and Primary Resonances … 811

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + αnpq up0 uq0 + 2δns kn cos T0
p, q

= −2iωn An eiωn T0 − 2iωn μn An eiωn T0

∞
 !
+ αnpq Ap Aq ei(ωp +ωq )T0 + Ap Aq ei(ωp −ωq )T0 + δns kn ei T0
+ cc
p, q
(7.18.6)

In order to eliminate secular terms from the above equation and taking into account
ω3 ≈ ω1 + ω2 + εσ , = ωn + εσn , n = 1 or 2 or 3, we need
 
2iω1 A1 + μ1 A1 = (α132 + α123 )A3 A2 eiσ T1 + δ1s k1 eiσ1 T1 (7.18.7)

 
2iω2 A2 + μ2 A2 = (α213 + α231 )A3 A1 eiσ T1 + δ2s k2 eiσ2 T1 (7.18.8)

 
2iω3 A3 + μ3 A3 = (α312 + α321 )A1 A2 e−iσ T1 + δ3s k3 eiσ3 T1 (7.18.9)

An + μn An = 0, n ≥ 4 (7.18.10)

From (7.18.10), we have

An = An0 e−μn T1 → 0, n ≥ 4 (7.18.11)

When s = 1, (7.18.7)–(7.18.9) become

 
2iω1 A1 + μ1 A1 = (α132 + α123 )A3 A2 eiσ T1 + k1 eiσ1 T1 (7.18.12)

 
2iω2 A2 + μ2 A2 = (α213 + α231 )A3 A1 eiσ T1 (7.18.13)

 
2iω3 A3 + μ3 A3 = (α312 + α321 )A1 A2 e−iσ T1 (7.18.14)

Let
1 iβn
An = an e (7.18.15)
2
and substitute it into (7.18.9)–(7.18.12), we have

1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 = (α132 + α123 )a2 a3 eiγI + k1 eiγ1
4
1
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 = (α213 + α231 )a1 a3 eiγI
4
812 7 Continuous Systems

1
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 = (α312 + α321 )a1 a2 e−iγI (7.18.16)
4
where

γI = σ T1 − β1 − β2 + β3 , γ1 = σ1 T1 − β1 (7.18.17)

Separating the real and imaginary parts of (7.18.16) yields

1
ω1 a1 + ω1 μ1 a1 = (α132 + α123 )a2 a3 sinγI + k1 sinγ1
4
1
ω2 a2 + ω2 μ2 a2 = (α213 + α231 )a1 a3 sinγI
4
 1
ω3 a3 + ω3 μ3 a3 = − (α312 + α321 )a1 a2 sinγI (7.18.18)
4
1
− ω1 a1 β1 = (α132 + α123 )a2 a3 cosγI + k1 cosγ1
4
1
− ω2 a2 β2 = (α213 + α231 )a1 a3 cosγI
4
1
− ω3 a3 β3 = (α312 + α321 )a1 a2 cosγI (7.18.19)
4
From (7.18.17) and (7.18.19), we have

1
ω1 a1 γ1 = ω1 σ1 a1 + (α132 + α123 )a2 a3 cosγI + k1 cosγ1
4
1
a1 a2 a3 γI = σ a1 a2 a3 + ω1−1 (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32
4
−ω3−1 (α312 + α321 )a12 a22 cosγI − a2 a3 ω1−1 k1 cosγ1
(7.18.20)

Then from (7.18.18) and (7.18.20), we can obtain the corresponding equations
for steady state solution

1
ω1 μ1 a1 = (α132 + α123 )a2 a3 sinγI + k1 sinγ1
4
1
ω2 μ2 a2 = (α213 + α231 )a1 a3 sinγI
4
1
ω3 μ3 a3 = − (α312 + α321 )a1 a2 sinγI (7.18.21)
4
1
ω1 σ1 a1 + (α132 + α123 )a2 a3 cosγI + k1 cosγ1 = 0
4
1
σ a1 a2 a3 + [ω1−1 (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32
4
7.18 Exercise 7.18 (Analysis of Internal and Primary Resonances … 813

− ω3−1 (α312 + α321 )a12 a22 ]cosγI − a2 a3 ω1−1 k1 cosγ1 = 0 (7.18.22)

Eliminating γI from the second and third equations of (7.18.21) yields

(α312 + α321 )ω2 μ2 a22 + (α213 + α231 )ω3 μ3 a32 = 0 (7.18.23)

Therefore, we need a2 = a3 = 0. In this case, the first equations of (7.18.21) and

(7.18.22) become

ω1 μ1 a1 = k1 sinγ1
ω1 σ1 a1 = −k1 cosγ1 (7.18.24)

So
 
k12 = ω12 μ21 + σ12 a12 (7.18.25)

It follows that the response in this case contains only first order modes.
When s = 2, the results are similar to the above result. In this case, the response
contains only second-order mode.
When s = 3, (7.18.7)–(7.18.9) become
 
2iω1 A1 + μ1 A1 = (α132 + α123 )A3 A2 eiσ T1 (7.18.26)

 
2iω2 A2 + μ2 A2 = (α213 + α231 )A3 A1 eiσ T1 (7.18.27)

 
2iω3 A3 + μ3 A3 = (α312 + α321 )A1 A2 e−iσ T1 + k3 eiσ3 T1 (7.18.28)

Substituting (7.18.15) into (7.18.26)–(7.18.28) yields

1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 = (α132 + α123 )a2 a3 eiγI
4
1
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 = (α213 + α231 )a1 a3 eiγI
4
1
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 = (α312 + α321 )a1 a2 e−iγI + k3 eiγ3
 
(7.18.29)
4
where

γI = σ T1 − β1 − β2 + β3 , γ3 = σ3 T1 − β3 (7.18.30)

Separating the real and imaginary parts of (7.18.30) gives

1
ω1 a1  + ω1 μ1 a1 = (α132 + α123 )a2 a3 sinγI
4
814 7 Continuous Systems

1
ω2 a2  + ω2 μ2 a2 = (α213 + α231 )a1 a3 sinγI
4
1
ω3 a3  + ω3 μ3 a3 = − (α312 + α321 )a1 a2 sinγI + k3 sinγ3 (7.18.31)
4
1
− ω1 a1 β1  = (α132 + α123 )a2 a3 cosγI
4
1
− ω2 a2 β2  = (α213 + α231 )a1 a3 cosγI
4
1
− ω3 a3 β3  = (α312 + α321 )a1 a2 cosγI + k3 cosγ3 (7.18.32)
4
From (7.18.30) and (7.18.32), we can obtain

1  −1
a1 a2 a3 γI = σ a1 a2 a3 + ω (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32
4 1
−ω3−1 (α312 + α321 )a12 a22 cosγI − a1 a2 ω3−1 k3 cosγ3
1
ω3 a3 γ3 = ω3 σ3 a3 + (α312 + α321 )a1 a2 cosγI + k3 cosγ3
4
(7.18.33)

Then from (7.18.31) and (7.18.33), we can obtain the corresponding equations
for the steady state solution as follows:

1
ω1 μ1 a1 = (α132 + α123 )a2 a3 sinγI
4
1
ω2 μ2 a2 = (α213 + α231 )a1 a3 sinγI
4
1
ω3 μ3 a3 = − (α312 + α321 )a1 a2 sinγI + k3 sinγ3 (7.18.34)
4
1
σ a1 a2 a3 + [ω1−1 (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32
4
− ω3−1 (α312 + α321 )a12 a22 ]cosγI − a1 a2 ω3−1 k3 cosγ3 = 0
1
ω3 σ3 a3 + (α312 + α321 )a1 a2 cosγI + k3 cosγ3 = 0 (7.18.35)
4
Eliminating γI from the first and second equations of (7.18.34) yields

(α213 + α231 )ω1 μ1 a12 − (α132 + α123 )ω2 μ2 a22 = 0 (7.18.36)

As can be seen,a1 and a2 can be either a trivial solution or a non-trivial solution.

When a1 = a2 = 0.
From (7.18.34) and (7.18.35), we have
7.18 Exercise 7.18 (Analysis of Internal and Primary Resonances … 815

ω3 μ3 a3 = k3 sinγ3
ω3 σ3 a3 = −k3 cosγ3 (7.18.37)

So
 
k32 = ω32 μ23 + σ32 a32 (7.18.38)

When a1 = 0, a2 = 0.
From (7.18.35), we can obtain

1  −1 
(σ + σ3 )a1 a2 a3 + ω1 (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32 cosγI = 0
4
(7.18.39)

The first equation of (7.18.34) and the Eq. (7.18.39) can be written as:

4ω1 μ1 a1
a3 sinγI =
(α132 + α123 ) a2
4(σ + σ3 )
a3 cosγI = − $ % (7.18.40)
ω1−1 (α132 + α123 ) aa21 + ω2−1 (α213 + α231 ) aa21

Eliminating γI from (7.18.40), we obtain

16ω12 μ21 a12 16(σ + σ3 )2

a32 = +$ %2
(α132 + α123 ) a2
2 2
ω1−1 (α132 + α123 ) aa21 + ω2−1 (α213 + α231 ) aa21
(7.18.41)

With (7.18.36), the above equation becomes

16ω1 ω2 μ1 μ2 (σ + σ3 )2
a32 = 1+ (7.18.42)
(α132 + α123 )(α213 + α231 ) (μ1 + μ2 )2

It can be seen that the steady state amplitude a3 is independent of the excitation
amplitude k3 , thus, u3 mode is saturated. From (7.18.38) and (7.18.42), we can see that
as the excitation amplitude k3 increases from zero, so does the steady state amplitude
a3 until it reaches the saturation value given by (7.18.42), while a1 = a2 = 0. When
the saturation phenomenon occurs, k3 reaches the critical value kc kc . Substituting
(7.18.42) into (7.18.38), we can obtain that critical value kc :
 
16ω1 ω2 ω32 μ1 μ2 μ23 + σ32 (σ + σ3 )2
kc2 = 1+ (7.18.43)
(α132 + α123 )(α213 + α231 ) (μ1 + μ2 )2
816 7 Continuous Systems

When k3 > kc , the steady state amplitude a3 is independent of the excitation

amplitude k3 and the steady state amplitude a3 is constant at the saturation value
given by (7.18.42). At this point,a1 = 0,a2 = 0 and, from (7.18.34) and (7.18.35),
a1 and a2 a2 depend on k3 .

7.19 Exercise 7.19 (Primary Resonance Analysis

of Transverse Oscillations of a Taut String)

Solution: From Sect. 7.5 of the Book or Exercise 7.4, we can write the governing
equation for the transverse oscillation of a taut string as

l
c2  2 
vtt − c22 vxx + 2μ̂vt = c12 vxx P(t) + 1 vxx vx + wx2 dx + G(x, t) (7.19.1)
2l
0

l
c2  2 
wtt − c22 wxx + 2μ̂wt = c12 wxx P(t) + 1 wxx vx + wx2 dx + F(x, t) (7.19.2)
2l
0

Expanding the displacements v and w of the string in terms of linear modes with
fixed ends, i.e.
∞
  ∞
nπ x nπ x
v(x, t) = ζn (t)sin , w(x, t) = ηn (t)sin (7.19.3)
n=1
l n=1
l

Substituting (7.19.3) into (7.19.1) and (7.19.2), taking into account the orthog-
onality of the mode shape function, we can obtain the discrete modal coordinate
equations

2
∞  
ζ̈n + ωn2 ζn = − 2μ̂n ζ̇n + n2 p(t)ζn + n2 ζn m2 ζm2 + ηm2 + gn (t)
m=1
2∞   (7.19.4)
η̈n + ωn2 ηn = − 2μ̂n η̇n + n2 p(t)ηn + n2 ηn m2 ζm2 + ηm2 + fn (t)
m=1

where

nπ c2 π 4 c12 π 2 c12 P(t)

ωn = , = , p(t) = (7.19.5)
l 4l 4 l2
l l
2 nπ x 2 nπ x
gn = G(x, t)sin dx, fn = F(x, t)sin dx (7.19.6)
l l l l
0 0
7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 817

In the following case, we analyze a primary resonance case. Let

gn (t) = 2Kn cos t, fn = 0, p(t) = 0, ≈ ωs (7.19.7)

where s is a given positive integer. Since (7.19.4) contains only cubic nonlinearities,
the solution of the equation is given as follows to find a first-order approximate
solution

ζn (t; ε) = εζn0 (T0 , T1 , T2 ) + ε2 ζn1 (T0 , T1 , T2 ) + ε3 ζn2 (T0 , T1 , T2 ) + · · ·

ηn (t; ε) = εηn0 (T0 , T1 , T2 ) + ε2 ηn1 (T0 , T1 , T2 ) + ε3 ηn2 (T0 , T1 , T2 ) + · · ·
(7.19.8)

In order to let the damping, the resonant excitation term and the nonlinear term
appear simultaneously in the third order equation, we make

μ̂n = ε2 μn , Kn = ε3 kn (7.19.9)

Substituting (7.19.7)–(7.19.9) into (7.19.4) and retaining to O(ε3 ), we obtain

∞
  
0 = ζ̈n + ωn2 ζn + 2μ̂n ζ̇n + n2 ζn m2 ζm2 + ηm2 − 2δns Ks cos t
m=1
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εζn0 + ε2 ζn1 + ε3 ζn2
 
+ωn2 εζn0 + ε2 ζn1 + ε3 ζn2
  
+2ε2 μn D0 + εD1 + ε2 D2 εζn0 + ε2 ζn1 + ε3 ζn2
 ∞ $ 2
+n εζn0 + ε ζn1 + ε ζn2
2 2 3
m2 εζn0 + ε2 ζn1 + ε3 ζn2 (7.19.10)
m=1
 2 %
+ εηn0 + ε2 ηn1 + ε3 ηn2 − 2ε3 δns ks cos T0
   
= ε D02 ζn0 + ωn2 ζn0 + ε2 D02 ζn1 + ωn2 ζn1 + 2D0 D1 ζn0
  
+ε3 D02 ζn2 + ωn2 ζn2 + D12 + 2D0 D2 ζn0 + 2D0 D1 ζn1
∞

  2 
+2μn D0 ζn0 + n 2
ζn0 m ζm0
2
+ ηm0
2
− 2δns ks cos T0
m=1
 ∞

  
0 = η̈n + ωn2 ηn + 2μ̂n η̇n + n 2
ηn 2
m ζm2 + ηm2
m=1
 2   2 
= ε D0 ηn0 + ωn ηn0 + ε D0 ηn1 + ωn2 ηn1 + 2D0 D1 ηn0
2 2
   (7.19.11)
+ε3 D02 ηn2 + ωn2 ηn2 + D12 + 2D0 D2 ηn0 + 2D0 D1 ηn1
∞

  
+ 2μn D0 ηn0 + n ηn0
2
m ζm0 + ηm0
2 2 2

m=1
818 7 Continuous Systems

Let the coefficient of the like power of ε be zero in (7.19.10) and (7.19.11), we
obtain.
Order ε:

D02 ζn0 + ωn2 ζn0 = 0

(7.19.12)
D02 ηn0 + ωn2 ηn0 = 0

Order ε2 :

D02 ζn1 + ωn2 ζn1 = −2D0 D1 ζn0

(7.19.13)
D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0

Order ε3 :
 
D02 ζn2 + ωn2 ζn2 = − D12 + 2D0 D2 ζn0 − 2D0 D1 ζn1
∞
  2 
−2μn D0 ζn0 − n2 ζn0 m2 ζm0 + ηm0
2
+ 2δns ks cos T0
m=1
  (7.19.14)
D02 ηn2 + ωn2 ηn2 = − D12 + 2D0 D2 ηn0 − 2D0 D1 ηn1
∞
  2 
−2μn D0 ηn0 − n2 ηn0 m2 ζm0 + ηm0
2

m=1

The solution of (7.19.12) is

ζn0 = An eiωn T0 + cc, ηn0 = Bn eiωn T0 + cc (7.19.15)

where An = An (T1 , T2 ), Bn = Bn (T1 , T2 ). Substituting (7.19.15) into (7.19.13), we

obtain

D02 ζn1 + ωn2 ζn1 = −2iωn D1 An eiωn T0 + cc

(7.19.16)
D02 ηn1 + ωn2 ηn1 = −2iωn D1 Bn eiωn T0 + cc

In order to eliminate secular terms from the above equation, we need

D1 An = 0 ⇒ An = An (T2 )
(7.19.17)
D1 Bn = 0 ⇒ Bn = Bn (T2 )

By (7.19.13), we can obtain

ζn1 = 0, ηn1 = 0 (7.19.18)

Substituting (7.19.15), (7.19.17) and (7.19.18) into (7.19.14), we obtain

7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 819

D02 ζn2 + ωn2 ζn2 = −2D0 D2 ζn0 − 2μn D0 ζn0

∞
  2 
−n2 ζn0 m2 ζm0 + ηm0
2
+ 2δns ks cos T0
m=1
 
= −2iωn An eiωn T0 − 2iωn μn An eiωn T0 − n4 An A2n + Bn2 (7.19.19)
∞
 
−2 n An e
2 iωn T0
m2 Am Am + Bm Bm + δns ks ei T0

m=1
+cc + NST
∞
  2 
D02 ηn2 + ωn2 ηn2 = −2D0 D2 ηn0 − 2μn D0 ηn0 − n2 ηn0 m2 ζm0 + ηm0
2

m=1
 
= −2iωn Bn eiωn T0 − 2iωn μn Bn eiωn T0 − n Bn A2n + Bn2
4

∞
 
−2 n2 Bn eiωn T0 m2 Am Am + Bm Bm + cc + NST
m=1
(7.19.20)

The prime denotes the derivative with respect to T2 . Let

= ωs + ε2 σ (7.19.21)

In order to eliminate secular terms from the equation, we need

 
2iωn An + 2iωn μn An + n4 An A2n + Bn2
2
∞   (7.19.22)
+2 n2 An m2 Am Am + Bm Bm − δns ks eiσ T2 = 0
m=1
 
2iωn Bn + 2iωn μn Bn + n4 Bn A2n + Bn2
2
∞   (7.19.23)
+2 n2 Bn m2 Am Am + Bm Bm = 0
m=1

Let
1 iαn 1
An = an e , Bn = bn eiβn (7.19.24)
2 2
and substitute (7.19.24) into (7.19.22) and (7.19.23), we can obtain
 
iωn an − ωn an αn + iωn μn an + 18 n4 an3 + an b2n eiγn
2
∞   (7.19.25)
+ 41 n2 an m2 am2 + b2m − δns ks eiν = 0
m=1
820 7 Continuous Systems
 
iωn bn  − ωn bn βn  + iωn μn bn + 18 n4 an2 bn e−iγn + b3n
2∞   (7.19.26)
+ 41 n2 bn m2 am2 + b2m = 0
m=1

where

γn = 2(βn − αn ), ν = σ T2 − αs (7.19.27)

Separating the real and imaginary parts of (7.19.25) and (7.19.26), we obtain

1 4 2
ωn an  + ωn μn an + n an bn sinγn − δns ks sinν = 0 (7.19.28)
8
2
∞  
−ωn an αn + 1
8
n4 an3 + 1
4
n2 an m2 am2 + b2m
m=1 (7.19.29)
+ 18 n4 an b2n cosγn − δns ks cosν = 0
1 4 2
ωn bn + ωn μn bn − n an bn sinγn = 0 (7.19.30)
8
∞
1 4 3 1 2  2 2  1 4 2
−ωn bn βn  + n bn + n bn m am + b2m + n an bn cosγn = 0
8 4 m=1
8
(7.19.31)

When n = s, for the steady state solutions of an and bn , (7.19.28) and (7.19.30)
degenerate into

ωn μn an + 1
8
n4 an b2n sinγn = 0
(7.19.32)
ωn μn bn − 1
8
n4 an2 bn sinγn = 0

This set of equations has only trivial solution an = 0, bn = 0. Otherwise, if

an = 0, bn = 0, eliminating γn from (7.19.32) yields

an2 + b2n = 0 (7.19.33)

which contradicts with an = 0, bn = 0. Therefore,

an = 0, bn = 0, for all n = s (7.19.34)

When n = s, (7.19.28)–(7.19.31) can be written as

1 4 2
ωs as + ωs μs as + s as bs sinγs − ks sinν = 0 (7.19.35)
8
7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 821
 
−ωs as αs  + 18 s4 as3 + 41 s4 as as2 + b2s
(7.19.36)
+ 18 s4 as b2s cosγs − ks cosν = 0
1 4 2
ωs bs + ωs μs bs − s as bs sinγs = 0 (7.19.37)
8
1 4 3 1 4  2  1 4 2
−ωs bs βs + s bs + s bs as + b2s + s as bs cosγs = 0 (7.19.38)
8 4 8
Let
( (
s4 s4
μ = μs , (a, b) = (as , bs ), k = ks , γ = γs (7.19.39)
8ωs 8ωs3

and also consider Eq. (7.19.27), we can write (7.19.35)–(7.19.38) can be written as

a + μa + ab2 sinγ − ksinν = 0 (7.19.40)

ν − σ + 3a2 + 2b2 + b2 cosγ − a−1 kcosν = 0 (7.19.41)

b + μb − a2 bsinγ = 0 (7.19.42)

1
b γ  − ν + σ − 3b2 − 2a2 − a2 cosγ = 0 (7.19.43)
2

There are two possible steady state solutions for the amplitude: (1) b = 0, a = 0;
(2) a = 0, b = 0. In the first case, the oscillation of the string degenerates into plane
oscillation.
For the case of steady state plane oscillation of a string b = 0, a = 0, (7.19.42)
and (7.19.43) are automatically satisfied, the Eqs. (7.19.40) and (7.19.41) become

μa − ksinν = 0 (7.19.44)

−σ + 3a2 − a−1 kcosν = 0 (7.19.45)

Eliminating ν from the above equations, we can obtain the frequency–response

equation
 1/2
k2
σ = 3a2 ± − μ2 (7.19.46)
a2

For the steady state solution b = 0, a = 0, we can linearize (7.19.40)–(7.19.43)

near the steady state solution and obtain
822 7 Continuous Systems

 a + μa − (kcosν)ν

 =0
(7.19.47)
ν + 6a + a−2 kcosν a + a−1 ksinν ν = 0

 
b + μ − a2 sinγ b = 0
(7.19.48)
σ − 2a2 − a2 cosγ b = 0

Their characteristic equations can be written as

 (λ + μ)a  − (kcosν)ν
 = 0
(7.19.49)
6a + a−2 kcosν a + λ + a−1 ksinν ν = 0
 
 λ + μ − a 2
sinγ b
 =0 (7.19.50)
σ − 2a − a cosγ b = 0
2 2

(7.19.47) and (7.19.48) are two independent sets of differential equations and, of
course, the characteristic Eqs. (7.19.49) and (7.19.50) are also independent; therefore,
the value of λ obtained from (7.19.49) can be different from (7.19.50). In another
word, (7.19.47) and (7.19.48) can have different exponential forms.
From (7.19.49) and non-trivial solution condition, we have

λ= ( 2
− μ+a−1 ksinν )
3 11/2 (7.19.51)
(μ+a−1 ksinν )2 −4[μa−1 ksinν+kcosν (6a+a−2 kcosν )]
± 2

Taking into account (7.19.44) and (7.19.45), we can write the above equation as
  1/2
λ = −μ ± σ − 3a2 9a2 − σ (7.19.52)

It can be seen that when σ ≤ 3a2 or σ ≥ 9a2 , λ is a negative real root or a complex
root with a negative real part; therefore, a and ν decay. When 3a2 < σ < 9a2 ,
λ is a real root.
The frequency–response curve, which is obtained from Eq. (7.19.46), is shown
in Fig. 7.4. The spine curve equation is

σ = 3a2 (7.19.53)

Taking the positive and negative signs, respectively, in the frequency–response

Eq. (7.19.46), we can obtain branch 1 and branch 2. When σ ≤ 3a2 , the points
 are on
branch 1; and when σ ≥ 3a2 , the points are on branch 2. When k 2 /a2 − μ2 = 0,
the two branches intersect at point A on the spine curve; at this point σ = 3a2 , so
the horizontal coordinate of the intersection point A, σA , is

k2 3k 2
aA2 = , σA = 3a 2
= (7.19.54)
μ2 A
μ2
7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 823

Fig. 7.4 Frequency–response curve for Exercise 7.19

Clearly, aA is the maximum value of.a For branch 1, we have

 1/2
k2
σ = 3a2 + − μ2 (7.19.55)
a2

From this, we have

 2
a2 σ − 3a2 = k 2 − μ2 a2

Taking the derivative of the above equation with respect to a yields

 
  dσ
σ − 3a2 σ − 9a2 + a = −μ2 (7.19.56)
da

Let d σ/da = 0, the extreme point on branch 1 is

σ 2 − 12a2 σ + 27a4 + μ2 = 0

therefore
'
μ2
σ = 6a + 3a
2 2
1− (7.19.57)
9a4
It can be seen that the extreme point, B, on branch 1 is unique if it exists on branch
1. From (7.19.55), we know that as a decreases from aA , σ → +∞ on branch 1;
therefore, the value of point B can be the minimum. From (7.19.57), we know that
as long as there exists an extreme point B with minimum value, the coordinates of
point B satisfy σ < 9a2 . Therefore, the coordinates of each point of the AB segment
on branch 1 satisfy 3a2 < σ < 9a2 .
From the above result, we have σB < σA , aB < aA and there is only unique
minimal point B on the segment of the curve AB. Therefore, on the segment of the
824 7 Continuous Systems

curve AB (without points A and B), we have d σ/da > 0 and, from (7.19.56), we can
obtain
    dσ
σ − 3a2 9a2 − σ − μ2 = a σ − 3a2 >0
da
i.e.,
  
σ − 3a2 9a2 − σ > μ2 (7.19.58)

Therefore, from the eigenvalue obtained by (7.19.52), we know that there must be
a positive eigenvalue on the curve AB segment. Consequently, the perturbations of
the steady state solutions a and ν on the curve AB segment diverge with the growth
of time, i.e., the steady state solutions on the curve AB segment are unstable. It is
already clear that points A and B are two points on the frequency–response curve,
and their tangents are perpendicular to the σ axis.
From (7.19.50) and the non-trivial solution condition, we have

λ + μ − a2 sinγ = 0
(7.19.59)
σ − 2a2 − a2 cosγ = 0

Eliminating γ from the above equation yields

 2
(λ + μ)2 + σ − 2a2 = a4 (7.19.60)

therefore
 2  1/2
λ = −μ ± 3a − σ σ − a2 (7.19.61)

It can be seen that when σ ≤ a2 or σ ≥ 3a2 , λ is a negative real root or a

complex root with a negative real part, the perturbation system (7.19.48) is stable.
When a2 ≤ σ ≤ 3a2 , λ is a real root; in this case, the steady state solution or
the point representing the motion on the branch 2 or the upper half branch of the
frequency–response curve, as shown in Fig. 7.4.
Therefore, the steady state solution on branch 2 might make λ ≥ 0, which makes
the perturbed system (7.19.48) unstable. However, from the result of Exercise 7.19(c),
we know that the steady state solutions a and σ are inherently stable; therefore, it is
only possible that the steady state solution b = 0 is unstable, i.e., the branching of
the out-of-plane motion will diverge with the growth of time. Obviously, the steady
state solutions a and σ , which makes the steady state solution b = 0 unstable, can
only be on the CA segment of branch 2. The following is to determine the equation
that should be satisfied by the coordinate of point C.
For branch 2 of the frequency–response curve, we have
7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 825

 1/2
k2
σ = 3a − 2
− μ2 (7.19.62)
a2

The coordinate of point C makes λ = 0. Therefore, by (7.19.61), we have

 2  1/2
−μ + 3a − σ σ − a2 =0 (7.19.63)

Eliminating σ from (7.19.62) and (7.19.63) yields

4μ2 a8 − 4k 2 a6 + k 4 = 0 (7.19.64)

This is the equation that the coordinates aC of point C should satisfy.

 1/3
When,μ = 0 from (7.19.64), we can obtain aC = 21 k . When μ = 0 but μ/k
is very small, we let aC be
 1/3
1
aC = k + cμ2 + · · · (7.19.65)
2

Substituting (7.19.65) into (7.19.64) and retaining to O(μ2 ), we obtain

0 = 4μ2 a8 − 4k 2 a6 + k 4
 8/3     
2 1 1 2 1 5/3  
= 4μ k − 4k 2
k +6 k cμ + k 4 + O μ3
2
2 2 2 (7.19.66)
 5/3
1 1  
=4 k k − 6k 2 c μ2 + O μ3
2 2

Let the coefficient of μ2 be zero, we obtain

1
c= (7.19.67)
12k
therefore
 1/3
1 μ2  
aA = k + + O μ3 (7.19.68)
2 12k

From (7.19.68), we know that when the out-of-plane motion is unstable, damping
makes the amplitude of the out-of-plane motion larger.
826 7 Continuous Systems

7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve

with Boundary Nonlinearities)

Solution: The dynamic behavior of a relief valve which is used to protect a fluid
system from overpressure, held against a seat by a helical spring and excited by a
sinusoidal motion, is considered. The valve system under consideration is shown
in Fig. 7.5(a). It consists of a valve having a mass, m, resting on a seat having
nonlinear spring characteristics and retained by a helical spring which is considered
as a continuous system. The mechanical model of this relief valve system is shown in
Fig. 7.5(b). The linear spring is considered as a distributed parameter system whose
motion is governed by the longitudinal wave equation and its boundary conditions,
and the left end of the spring is fixed. Assume that the total mass of the linear spring
is M, the length is L, and the stiffness coefficient is K. Let the fixed end of the linear
spring be the origin of the coordinates; the displacement of the micro-segment at its
coordinates x at the instant of t is denoted by.u The ball valve, with mass m, connects
with the linear spring at the coordinate x = L + u(L, t). The seat restricts the ball
movement and is described by a massless nonlinear spring.
Here we analyze the longitudinal oscillation of the linear spring, which is regarded
as a uniform continuum (or uniform elastic rod). Its governing differential equations
and boundary conditions are:

(a)

(b)

Fig. 7.5 a Schematic diagram of a relief valve system; b mechanical model of a relief valve for
Exercise 7.20
7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 827

∂ 2u KL2 ∂ 2 u ∂ 2 u KL2 ∂ 2 u
= = (7.20.1)
∂t 2 M ∂x2 ∂t 2 M ∂x2

u = 0 at x = 0 (7.20.2)

∂ 2u ∂u  
m + KL + αu + βu3 = − F̂0 + F̂1 cos t at x = L (7.20.3)
∂t 2 ∂x

where α,β are the elasticity coefficients of the nonlinear ring seat,F̂0 ,F̂1 are the
static and dynamic pressure amplitudes of the fluid, respectively. The following
dimensionless variables are introduced
' '
∗ u ∗ K ∗ x ∗ M
u = , t = t, x = , = (7.20.4)
L M L K

Substituting (7.20.4) into (7.20.1)–(7.20.3) and removing the asterisk from the
variable in the result for brevity yields

utt = uxx
u = 0, at x = 0 (7.20.5)
utt + α1 ux + α2 u + α3 u = F0 + F1 cos t, at x = 1
3

where

M Mα βL2 M F̂0 M F̂1 M

α1 = , α2 = , α3 = , F0 = − , F1 = − (7.20.6)
m mK mK mKL mKL
Let F1 = 0 and all terms with time derivatives are zeros in (7.20.5), it becomes:

uxx = 0
u = 0, at x = 0 (7.20.7)
α1 ux + α2 u + α3 u = F0 , at x = 1
3

The solution to (7.20.7) is

u = bx (7.20.8)

where

α1 b + α2 b + α3 b3 = F0 (7.20.9)

To determine the nonlinear oscillation of the system near the static equilibrium
position, let

u(x, t) = bx + v(x, t) (7.20.10)

828 7 Continuous Systems

Substituting (7.20.10) into (7.20.5) and applying (7.20.9) yields

vtt = vxx
v = 0,   at x = 0 (7.20.11)
vtt + α1 vx + α2 + 3b2 α3 v + 3bα3 v2 + α3 v3 = F1 cos t, at x = 1

The linearized equation of (7.20.11) is

vtt = vxx
v = 0,   at x = 0 (7.20.12)
vtt + α1 vx + α2 + 3b2 α3 v = F1 cos t, at x = 1

The solution of (7.20.12) can be represented by adding the forced oscillation

solution v1 and the free oscillation solution v2 , i.e.,

v(x, t) = v1 (x, t) + v2 (x, t) (7.20.13)

where v1 and v2 satisfy the following equations, respectively:

v1tt = v1xx
v1 = 0,   at x = 0 (7.20.14)
v1tt + α1 v1x + α2 + 3b2 α3 v1 = F1 cos t, at x = 1

v2tt = v2xx
v2 = 0,   at x = 0 (7.20.15)
v2tt + α1 v2x + α2 + 3b2 α3 v2 = 0, at x = 1

Let the solution to Eq. (7.20.14) be

v1 = g(x)cos t (7.20.16)

Substituting this into (7.20.14), we obtain

−
g = gxx
2

g = 0,   at x = 0 (7.20.17)
− g + α1 gx + α2 + 3b α3 g = F1 at x = 1
2 2

The generalized solution of this equation is

g(x) = Bsin x + Ccos x (7.20.18)

Substituting (7.20.18) into the boundary conditions, we obtain

7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 829

C = 0  (7.20.19)
− 2
Bsin + α1 Bcos + α2 + 3b2 α3 Bsin = F1

therefore
   −1
B = F1 α1 cos + α2 + 3b2 α3 − 2
sin (7.20.20)

v1 = sin xcos t (7.20.21)

Let the solution to Eq. (7.20.15) be

v2 = ψ(x)eiωt + cc (7.20.22)

Substituting this into (7.20.15), we get

ψxx = −ω2 ψ
ψ = 0,   at x = 0 (7.20.23)
−ω2 ψ + α1 ψx + α2 + 3b2 α3 ψ = 0, at x = 1

The generalized solution of this equation is

ψ(x) = Asinωx + Dcosωx (7.20.24)

Substituting (7.20.24) into the boundary conditions, we get

 D = 0   (7.20.25)
−ω2 sinω + α1 ωcosω + α2 + 3b2 α3 sinω A = 0

From the non-trivial solution condition, we can obtain the characteristic equation:
 
α2 + 3b2 α3 − ω2 tanω + α1 ω = 0 (7.20.26)

From this, we can obtain natural frequencies ωm and the corresponding mode
shape functions

ψm (x) = Am sinωm x (7.20.27)

Substitute (7.20.27) into (7.20.22) and let Am = 21 am eiβm , we get

∞

v2 = Am sinωm xcos(ωm t + βm ) (7.20.28)
m=1
830 7 Continuous Systems

Substituting (7.20.28) and (7.20.21) into (7.20.13), we obtain the linearized Eq.
(7.20.12). Let the solution to the linearized equation be
∞

v= am sinωm xcos(ωm t + βm ) + sin xcos t (7.20.29)
m=1

When = ωn , we can obtain → ∞ by (7.20.20) and (7.20.16); therefore,

the primary resonance will occur when ≈ ωn . The orthogonality condition for the
mode shape function is given by (7.20.23), i.e.,

d 2 ψn
ωn2 ψn = −
dx2
d 2 ψm
ωm2 ψm = − (7.20.30)
dx2
Boundary conditions:

ψk (0)= 0  (7.20.31)
−ωk2 ψk (1) + α1 d ψdxk (1) + α2 + 3b2 α3 ψk (1) = 0

The two equations of (7.20.30) are multiplied by ψm (x) and ψn (x), and then
integrated over [0, 1]. By integration by parts, we obtain

1 1 1
1
d 2 ψn d ψn d ψn d ψm
ωn2 ψn ψm dx = − ψm dx = − ψm + dx (7.20.32)
dx2 dx 0 dx dx
0 0 0

1 1 1
1
d 2 ψm d ψm d ψn d ψm
ωm2 ψn ψm dx = − ψn 2
dx = − ψn + dx (7.20.33)
dx dx 0 dx dx
0 0 0

Subtracting these two equations and taking into account the boundary conditions
yields

 2  1
ωn − ωm2 ψn ψm dx = −ψm (1) d ψdxn (1) + ψn (1) d ψdx
m (1)

 0 
= −α1−1 ωn2 − ωm2 ψn (1)ψm (1)

Thus, when n = m,ωn = ωm , there are

α1 ψn ψm dx = −ψn (1)ψm (1) (7.20.34)

0
7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 831

When n = m and ωn = ωm , by (7.20.32) and the boundary conditions, we have

1
d ψn d ψm  
dx = −α1−1 α2 + 3b2 α3 ψn (1)ψm (1) (7.20.35)
dx dx
0

Therefore, there is no regular orthogonality of the mode shape function of the

system of this exercise. When n = m is used by (7.20.31) and (7.20.32), we can
obtain
⎡ 1
⎤ 1
2⎣ d ψn (x) 2  
ωn α1 ψn (x)dx + ψn (1) = α1
2 2 ⎦ dx + α2 + 3b2 α3 ψn2 (1)
dx
0 0
(7.20.36)

To obtain the governing equation in discrete, modal coordinate form, let

∞

v(x, t) = ηn (t)ψn (x), ψn (x) = sinωn x (7.20.37)
n=1

and use the Lagrange equation to obtain the governing equation for.ηn
The kinetic energy of the system is

L
T= 1
2
M
L
u̇2 dx + 21 m[u̇(L)]2
0
1  ∂v dt ∗ 2 $ %2
dt ∗
= 1
2
M
L
L ∂t ∗ dt Ldx∗ + 21 m L ∂v(1)
∂t ∗ dt
(7.20.38)
0
1  $ %2
∂v 2 1 mKL2 ∂v(1)
= 21 KL2 ∂t
dx + 2 M ∂t
0

Equation (7.20.4) is adopted to obtain the above equation. In addition, we remove

the asterisk from the variable after the third equal sign.
The elastic potential energy of the spring and the potential energy of the fluid with
constant pressure are
832 7 Continuous Systems
 2
1 L
∂u 1 1
= KL dx + αu2 (L) + βu4 (L) + F̂0 u(L)
2 0 ∂x 2 4
1 ∗ 2  2 1  4
1 ∂u 1
= KL2 ∗
dx∗ + α · Lu∗ (1) + β · Lu∗ (1) + LF̂0 u∗ (1)
2 0 ∂x 2 4
1 2
1 ∂u 1 1
= KL2 dx + αL2 u2 (1) + βL4 u4 (1) + LF̂0 u(1)
2 0 ∂x 2 4
1 
1 2 2  1 ∂v 2 1  
= KL b + 2bv(1) + KL2 dx + αL2 b2 + 2bv(1)v2 (1)
2 2 0 ∂x 2
1 4 4 
+ βL b + 4b3 v(1) + 6b2 v2 (1) + 4bv3 (1) + v4 (1) + LF̂0 [b + v(1)]
4
 
1 2 1 ∂v 2 1   1
= KL dx + L2 α + 3βL2 b2 v2 (1) + βL4 bv3 (1) + βL4 v4 (1)
2 0 ∂x 2 4
(7.20.39)

Equation (7.20.9) is adopted to obtain the above equation. In addition, we remove

the constant part of the potential energy and the asterisk from the variable after the
third equal sign.
Thus, the Lagrange function L is

L=T −
∞
1  1
mKL2
= KL2 ψp (x)ψq (x)dx + ψp (1)ψq (1) η̇p η̇q
2 p,q=1 0 M
∞
1  1
d ψp d ψq  
− KL2 dx + L2 α + 3βL2 b2 ψp (1)ψq (1) ηp ηq
2 p,q=1 0 dx dx (7.20.40)
∞

−bβL4 ψp (1)ψq (1)ψr (1)ηp ηq ηr
p,q,r=1

∞
1
− βL4 ψp (1)ψq (1)ψr (1)ψs (1)ηp ηq ηr ηs
4 p, q, r, s=1

The virtual work done by the dynamic pressure of the fluid is

   
δW = −F̂1 cos t δu(1) = −LF̂1 cos ∗ t ∗ δv∗ (1)
   2
∞
(7.20.41)
= −LF̂1 cos t δv(1) = −LF̂1 cos t ψp (1)δηp
p=1

Therefore, the corresponding generalized force is

Qp = −LF̂1 ψp (1)cos t (7.20.42)

7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 833

From the Lagrange equation, we have

d ∂L ∂L
− = Qn , n = 1, 2, . . . (7.20.43)
dt ∂ η̇n ∂ηn

Substituting the Lagrange function and the generalized force into (7.20.43) and
taking into account (7.20.6), we obtain
∞
 1
ψp (1)ψn (1) + α1 ψp (x)ψn (x)dx η̈p
p=1 0
∞
   1
d ψp d ψn
+ α2 + 3α3 b2 ψp (1)ψn (1) + α1 dx ηp
p=1 0 dx dx
∞
(7.20.44)

+3bα3 ψp (1)ψq (1)ψn (1)ηp ηq
p,q=1
∞

+α3 ψp (1)ψq (1)ψr (1)ψn (1)ηp ηq ηr = ψn (1)F1 cos t,
p,q,r=1

Taking into account (7.20.34), (7.20.35) and (7.20.36) and adding linear damping
artificially, we can write this set of equations as
∞
 ∞

η̈n + ωn2 ηn + 2μn η̇n + Gnpq ηp ηq + Hnpqr ηp ηq ηr = Kn cos t
p, q=1 p, q, r=1
(7.20.45)

where

Gnpq = 3bα3 n ψp (1)ψq (1), Hnpqr = α3 n ψp (1)ψq (1)ψr (1)


1
(7.20.46)
Kn = n F1 , n = ψn (1)/ ψn (1) + α1 ψn (x)dx
2 2
0

Noted that (7.20.44) can also be obtained from the governing differential equation,
(7.20.11), of the system directly. Substituting (7.20.37) into the boundary conditions
of x = 1 of (7.20.11), we obtain

2
∞ 2
∞
d ψp (1)  2
∞
ψp (1)η̈p + α1 dx
ηp + α2 + 3b2 α3 ψp (1)ηp
p=1 p=1 p=1
2
∞
+3bα3 ψp (1)ψq (1)ηp ηq (7.20.47)
p, q=1
2
∞
+α3 ψp (1)ψq (1)ψr (1)ηp ηq ηr = F1 cos t
p, q, r=1
834 7 Continuous Systems

Substituting (7.20.37) into the first equation of (7.20.11), multiplying both sides
by ψn (x) and then integrating over [0, 1] yields

∞ 1 ∞ 1
  d 2 ψp (x)
η̈p ψn (x)ψp (x)dx = ηp ψn (x) dx
p=1 p=1
d 2x
0 0

Utilizing the method of integration by parts and the boundary conditions at x = 0

yields

∞ ∞ 1 ∞ 1
 d ψp (1)   d ψn d ψp
ηp ψn (1) = η̈p ψn (x)ψp (x)dx + ηp dx
p=1
dx p=1 p=1
dx dx
0 0
(7.20.48)

Multiplying Eq. (7.20.47) by ψn (1) and then substituting (7.20.48) into (7.20.47),
we can obtain the Eq. (7.20.44).
In the following, we find the primary resonance solution of (7.20.45) when ≈
ω1 . Let

= ω1 + ε2 σ (7.20.49)

ηn (t; ε) = εηn0 (T0 , T1 , T2 ) + ε2 ηn1 (T0 , T1 , T2 ) + ε3 ηn2 (T0 , T1 , T2 ) + · · ·

(7.20.50)

In order to make the nonlinear term appear in the third order equation along with
the damping term and the excitation term, we need

2ε3 k1 , n = 1
μn = 2ε2 μ̂n , Kn = (7.20.51)
2εkn , n = 1

Substituting (7.20.50) and (7.20.51) into (7.20.45) and retaining to O(ε3 ), we

obtain
7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 835

∞
 ∞

0 = η̈n + ωn2 ηn + 2μ̂n η̇n + Gnpq ηp ηq + Hnpqr ηp ηq ηr − Kn cos t
p,q=1 p,q,r=1
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εηn0 + ε2 ηn1 + ε3 ηn2
 
+ωn2 εηn0 + ε2 ηn1 + ε3 ηn2
  
+2ε2 μ̂n D0 + εD1 + ε2 D2 εηn0 + ε2 ηn1 + ε3 ηn2
∞
   
+ Gnpq εηp0 + ε2 ηp1 + ε3 ηp2 εηq0 + ε2 ηq1 + ε3 ηq2
p,q=1
∞

+ε3 Hnpqr ηp0 ηq0 ηr0 − 2ε3 kn cos T0
p,q,r=1
⎡ ⎤
∞

= εD02 ηn0 + εωn2 ηn0 + ε2 ⎣D02 ηn1 + ωn2 ηn1 + 2D0 D1 ηn0 + Gnpq ηp0 ηq0 ⎦
p,q=1
⎤
∞
 ∞

 
+ Gnpq ηp0 ηq1 + ηp1 ηq0 + Hnpqr ηp0 ηq0 ηr0 ⎦ − Kn cos T0
p,q=1 p,q,r=1
(7.20.52)

Let the coefficient of the same power of ε in (7.20.52) be zero, we get

D02 η10 + ω12 η10 = 0 (7.20.53)

D02 ηn0 + ωn2 ηn0 = 2kn cos T0 , n = 1 (7.20.54)

∞

D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0 − Gnpq ηp0 ηq0 (7.20.55)
p, q=1
 
D02 η12 + ω12 η12 = − D12 + 2D0 D2 η10 − 2μ̂1 D0 η10 − 2D0 D1 η11
2∞   2∞
− G1pq ηp0 ηq1 + ηp1 ηq0 − H1pqr ηp0 ηq0 ηr0 (7.20.56)
p, q=1 p, q, r=1
+2k1 cos T0
 
D02 ηn2 + ωn2 ηn2 = − D12 + 2D0 D2 ηn0 − 2μ̂n D0 ηn0 − 2D0 D1 ηn1
2∞   2
∞
(7.20.57)
− Gnpq ηp0 ηq1 + ηp1 ηq0 − Hnpqr ηp0 ηq0 ηr0 , n = 1
p, q=1 p, q, r=1

The solutions to (7.20.53) and (7.20.54) are

ηn0 = An eiωn T0 + (1 − δ1n ) ˆ n ei T0

+ cc (7.20.58)
836 7 Continuous Systems

where An = An (T1 , T2 ). Substituting (7.20.58) into (7.20.55), we get

D02 ηn1 + ωn2 ηn1 = −2iωn D1 An eiωn T0

∞ $
− Gnpq Ap Aq ei(ωp +ωq )T0 + Ap Aq ei(ωp −ωq )T0
p,q=1
   
+ 1 − δ1q ˆ q Ap ei(ωp + )T0 + 1 − δ1q ˆ q Ap ei(ωp − )T0 (7.20.59)
   
+ 1 − δ1p ˆ p Aq ei( +ωq )T0 + 1 − δ1p ˆ p Aq ei( −ωq )T0
  
+ 1 − δ1p 1 − δ1q ˆ p ˆ q e2i T0
   
+ 1 − δ1p 1 − δ1q ˆ p ˆ q + cc

In order to eliminate secular terms from the above equation, we need

D1 An = 0 ⇒ An = An (T2 ) (7.20.60)

Further, by (7.20.59), we can obtain.

∞ $

ηn1 = − (1)
Gnpq Ap Aq ei(ωp +ωq )T0 + Gnpq
(2)
Ap Aq ei(ωp −ωq )T0
p,q=1
   
(3)
+Gnpq 1 − δ1q ˆ q Ap ei(ωp + )T0 + Gnpq
(4)
1 − δ1q ˆ q Ap ei(ωp − )T0
    (7.20.61)
(5)
+Gnpq 1 − δ1p ˆ p Aq ei( +ωq )T0 + Gnpq
(6)
1 − δ1p ˆ p Aq ei( −ωq )T0
(7)
  
+Gnpq 1 − δ1p 1 − δ1q ˆ p ˆ q e2i T0
   %
(8)
+Gnpq 1 − δ1p 1 − δ1q ˆ p ˆ q + cc

(k)
where Gnpq is

(1) Gnpq (2) Gnpq

Gnpq =  2 , Gnpq =  2
ωn2
− ωp + ωq ωn − ωp − ωq
2

(3) Gnpq (4) Gnpq

Gnpq =  2 , Gnpq =  2
ωn2 − ωp + ωn2 − ωp −
(7.20.62)
(5) Gnpq (6) Gnpq
Gnpq =  2 , Gnpq =  2
ωn −
2 + ωq ωn −
2 − ωq
(7) Gnpq (8) Gnpq
Gnpq = 2 , Gnpq = 2
ωn − 4 2 ωn

Substituting (7.20.58) and (7.20.60) into (7.20.57) yields

7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 837

D02 ηn2 + ωn2 ηn2 = −2D0 D2 ηn0 − 2μ̂n D0 ηn0

∞
 ∞

 
− Gnpq ηp0 ηq1 + ηp1 ηq0 − Hnpqr ηp0 ηq0 ηr0
p,q=1 p,q,r=1 (7.20.63)
= −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0 + ST
+cc + NST , n = 1

where the prime denotes the derivative with respect to

T
2 ;ST denotes the resonance excitation  term generated by
2
∞   2∞
− Gnpq ηp0 ηq1 + ηp1 ηq0 − Hnpqr ηp0 ηq0 ηr0 . A closer inspection
p, q=1 p, q, r=1
shows that after substituting An = 21 an eiβn into ST and removing the factor eiβn eiωn T0 ,
the sum of the imaginary parts of all coefficients is zero. For example, the coefficients
2
∞
of the terms with non-zero imaginary parts in Gnpq ηp0 ηq1 are:
p, q=1

∞ $
 (1)    
2 Gnpq Gqn1 1 − δp1 ˆ p An A1 e−iσ T2 + Gn1q Gqnp
(3)
1 − δp1 ˆ p An A1 eiσ T2
p,q=1
%
(2)    
+Gnpq Gqn1 (4)
1 − δp1 ˆ p An A1 eiσ T2 + Gn1q Gqnp 1 − δp1 ˆ p An A1 e−iσ T2 eiωn T0

1 $
∞
(1)  
= Gnpq Gqn1 1 − δp1 ˆ p an a1 e−(iσ T2 −β1 )
2 p,q=1
 
(3)
+Gn1q Gqnp 1 − δp1 ˆ p an a1 eiσ T2 −β1
(2)  
+Gnpq Gqn1 1 − δp1 ˆ p an a1 eiσ T2 −β1
  %
(4)
+Gn1q Gqnp 1 − δp1 ˆ p an a1 e−(iσ T2 −β1 ) eiβn eiωn T0
(7.20.64)

where
(1) Gnpq Gqn1 (3) Gn1q Gqnp
Gnpq Gqn1 = ωq2 −(ωn +ω1 )2
, Gn1q Gqnp = ω2 −(ω
n+ )
2
q

Gnpq Gqn1 = (3bα3 ) n q ψn (1)ψp (1)ψq (1)ψ1 (1)

2 (7.20.65)
Gn1q Gqnp = (3bα3 )2 n q ψn (1)ψq (1)ψp (1)ψ1 (1)

Apparently.
(1) (3)
Gnpq Gqn1 = Gn1q Gqnp (7.20.66)

Therefore, the sum of the imaginary parts of the first and second terms on the
right-hand side of (7.20.64) is zero. Similarly, the sum of the imaginary parts of the
third and fourth terms on the right-hand side of (7.20.64). Thus, in order to eliminate
838 7 Continuous Systems

secular terms in (7.20.63), we substitute An = 21 an eiβn into the excitation term in

(7.20.63), the sum of the imaginary parts of all the coefficient terms must be zero
after removing the factor eiβn eiωn T0 , i.e.

an  + μ̂n an = 0, n = 1 (7.20.67)

or

an → 0, n = 1 or An → 0, n = 1 (7.20.68)

Then (7.20.53)–(7.20.57) degenerate to a unimodal (first order modal) equation,

which can be rewritten as follows:

D02 η10 + ω12 η10 = 0 (7.20.69)

D02 η11 + ω12 η11 = −2D0 D1 η10 − G111 η10

2
(7.20.70)

D02 η12 + ω12 η12 = −2D0 D2 η10 − 2μ̂1 D0 η10 − 2G111 η10 η11
(7.20.71)
−H1111 η10
3
+ 2k1 cos T0

The solution of (7.20.69) is

η10 = A1 eiω1 T0 + cc (7.20.72)

Substituting (7.20.72) into (7.20.70) yields

D02 η11 + ω12 η11 = −2iω1 D1 A1 eiω1 T0 − G111 A21 e2iω1 T0 − A1 A1 + cc (7.20.73)

In order to eliminate secular terms from the above equation, we need

D1 A1 = 0 ⇒ A1 = A1 (T2 ) (7.20.74)

Further, by (7.20.73), we can obtain

1
η11 = −ω1−2 A1 A1 + ω1−2 G111 A21 e2iω1 T0 + cc (7.20.75)
3
Substituting (7.20.72) and (7.20.74) into (7.20.71) yields

D02 η12 + ω12 η12 = −2D0 D2 η10 − 2μ̂1 D0 η10 − 2G111 η10 η11
−H1111 η10 3
+ 2k1 cos T0
(7.20.76)
= −2iω1 A1 eiω1 T0 − 2iω1 μ̂1 A1 eiω1 T0 − P1 A21 A1 eiω1 T0
+k1 eiσ T2 eiω1 T0 + cc + NST
7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 839

where
 
2
P1 = − 4ω1−2 G111 − ω1−2 G111
2
− 3H1111 (7.20.77)
3

In order to remove secular terms from (7.20.76), we need

2iω1 A1 + 2iω1 μ̂1 A1 + P1 A21 A1 − k1 eiσ T2 = 0 (7.20.78)

Substituting A1 = 21 a1 eiβ1 into (7.20.78) yields

1
iω1 a1  − ω1 a1 β1  + iω1 μ̂1 a1 + P1 a13 − k1 ei(σ T2 −β1 ) = 0 (7.20.79)
8
Separating the real and imaginary parts of the above equation yields

ω1 a1  = −ω1 μ̂1 a1 + k1 sinγ1

(7.20.80)
ω1 a1 γ1  = ω1 a1 σ − 18 P1 a13 + k1 cosγ1

Therefore, the first order modal response of the system is

   
η1 = εη10 + O ε2 = εa1 cos(ω1 T0+ β1 ) + O ε2
= εa1 cos[ T0 − (σ T2 − β1)] + O ε2 (7.20.81)
= εa1 cos( t − γ1 ) + O ε2

From the above results, the primary resonance response of the system can be
written as
  
  a1cos( t − γ1 ) + O ε 2 , n = 1
ηn ≈ εηn0 + O ε2 =  (7.20.82)
O ε2 , n = 1

where εa1 has been written as a1 ;a1 and γ1 are controlled by (7.20.80). Let a1  =
γ1  = 0 in (7.20.80), we can obtain the equation satisfied by the steady state solution

ω1 μ̂1 a1 = k1 sinγ1
(7.20.83)
ω1 a1 σ − 18 P1 a13 = −k1 cosγ1

Therefore, the frequency–response equation is

 2
1
ω12 μ̂21 a12 + ω1 σ − P1 a1 a12 = k12
2
(7.20.84)
8

In order to solve (7.20.45) with subharmonic ( ≈ 2ω1 and ≈ 21 ω1 ) and

combined ( ≈ ω1 + ω2 ) resonance, we need to specify the excitation term as a
non-resonant hard excitation, and consequently, the resonance excitation term will
840 7 Continuous Systems

appear in the second order equation. Therefore, in order to let the nonlinear term
appear in the second order equation along with the damping and the excitation term,
we let

μn = 2εμ̂n , Kn = 2εkn (7.20.85)

and the solution of (7.20.45) be

ηn (t; ε) = εηn0 (T0 , T1 ) + ε2 ηn1 (T0 , T1 ) + · · · (7.20.86)

Substituting (7.20.85) and (7.20.86) into (7.20.45) and retaining to O(ε2 ), we

obtain
∞
 ∞

η̈n + ωn2 ηn + 2μn η̇n + Gnpq ηp ηq + Hnpqr ηp ηq ηr = Kn cos t
p, q=1 p, q, r=1
(7.20.87)

Substituting (7.20.50) and (7.20.51) into (7.20.45) yields

∞
 ∞

0 = η̈n + ωn2 ηn + 2an η̇n + Gnpq ηp ηq + Hnpqq ηp ηq ηr − Kn cos t
p,q=1 p,q,r=1
    
= D02 + 2εD0 D1 εηn0 + ε2 ηn1 + ωn2 εηn0 + ε2 ηn1
 
2εμ̂n (D0 + εD1 ) εηn0 + ε2 ηn1
∞
   
+ Gnpq εηp0 + ε2 ηp1 εηq0 + ε2 ηq1 − 2εkn cos T0
p,q=1
 
= ε D02 ηn0 + ωn2 ηn0 − 2kn cos T0
⎡ ⎤
∞

+ε2 ⎣D02 ηn1 + ωn2 ηn1 + 2D0 D1 ηn0 + 2μ̂n D0 ηn0 + Gnpq ηp0 ηq0 ⎦
p,q=1
(7.20.88)

Let the coefficient of the same power of ε in the Eq. (7.20.88) be zero, we obtain

D02 ηn0 + ωn2 ηn0 = 2kn cos T0 (7.20.89)

∞

D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0 − 2μ̂n D0 ηn0 − Gnpq ηp0 ηq0 (7.20.90)
p, q=1

The solution of (7.20.89) is

7.21 Exercise 7.21 (First-Order Subharmonic Resonance Analysis … 841

ηn0 = An eiωn T0 + ˆ n ei T0
+ cc (7.20.91)

where An = An (T1 ). Substituting (7.20.91) into (7.20.90), we obtain

∞

D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0 − 2μ̂n D0 ηn0 − Gnpq ηp0 ηq0
p, q=1

= −2iωn D1 An eiωn T0 − 2iωn An An eiωn T0

∞ $
− Gnpq Ap Aq ei(ωp +ωq )T0 + Ap Aq ei(ωp −ωq )T0 (7.20.92)
p,q=1

+ ˆ q Ap ei(ωp + )T0 + ˆ q Ap ei(ωp − )T0

%
+ ˆ p Aq ei( +ωq )T0
+ ˆ p Aq ei( −ωq )T0
+ ˆ p ˆ q e2i T0
+ cc

In order to eliminate secular terms from the above equation, we need to consider
the values of ,ωn and their combinations. It is clear that different resonance cases
such as ≈ 2ω1 , ≈ 21 ω1 and ≈ ω1 + ω2 will occur. Readers are invited to
choose one of these cases to complete the solution.

7.21 Exercise 7.21 (First-Order Subharmonic Resonance

Analysis of a Uniform Circular Plate Clamped Along
Its Edge)

Solution: The dimensionless governing equation for the symmetric responses of a

uniform circular plate is (7.21.1) to (7.21.4) (Sect. 7.6 of the Book).
 
∂ 2w 1 ∂ ∂F ∂w ∂w
+∇ w =ε
4
− 2μ + f (r, t) (7.21.1)
∂t 2 r ∂r ∂r ∂r ∂t
  
1 ∂ ∂w 2
∇ F =−
4
(7.21.2)
2r ∂r ∂r
 
∂u 1 ∂w 2 1 ∂F ∂ 2F
+ = −ν 2 (7.21.3)
∂r 2 ∂r r ∂r ∂r

u ∂ 2F ν ∂F
= − (7.21.4)
r ∂r 2 r ∂r
where

ε = 12h2 /R2
842 7 Continuous Systems

The boundary conditions for clamped edges are

w = 0, u = 0, ∂w/∂r = 0 at r = 1 (7.21.5)

Equation (7.21.3) and (7.21.4) can be combined to yield the following equation
for F:
 
1 ∂w 2 1 ∂F ∂ 2F ∂ 3F
= − 2 −r 3 (7.21.6)
2 ∂r r ∂r ∂r ∂r

Then it follows from (7.21.4) and (7.21.5) that the boundary conditions for F is

∂ 2F ∂F
−ν = 0 at r = 1 (7.21.7)
∂r 2 ∂r
In addition,w and F are required to be finite at r = 0.
Let the deflection of the circular plate be
∞

w(r, t; ε) = ψm (t; ε)φm (r) (7.21.8)
m=1

where the φm are the linear, free-oscillation modes. Thus the φm are the solutions of
the following eigenvalue problem:

∇ 4 φm − ωm2 φm = 0 (7.21.9)

φm (1) = 0, φm (1) = 0, φm (0) < ∞ (7.21.10)

The eigenvalues ωm are the natural frequencies of the plate. The φm are orthogonal
with respect to the weighting function r. The amplitude of each mode is chosen such
that
1

rφn φm dr = δnm (7.21.11)

0

Next we obtain the solution of the eigenvalue problem defined above. We rewrite
(7.21.9) in the following convenient form:
  
∂2 1 ∂ ∂2 1 ∂
+ − κm2 + + κm φm = 0
2
(7.21.12)
∂r 2 r ∂r ∂r 2 r ∂r

where κm4 = ωm2 . Thus we can obtain the four linearly independent solutions of
(7.21.12) from the following two equations:
7.21 Exercise 7.21 (First-Order Subharmonic Resonance Analysis … 843
 
∂2 1 ∂
+ − κm φm = 0
2
(7.21.13)
∂r 2 r ∂r
 2 
∂ 1 ∂
+ + κ m φm = 0
2
(7.21.14)
∂r 2 r ∂r

From (7.21.13) and (7.21.14), we obtain

φm(1) = E1 I0 (κm r) + E2 K0 (κm r) (7.21.15)

φm(2) = E3 J0 (κm r) + E4 Y0 (κm r) (7.21.16)

where the En are constants of integration; Jn ,Yn are the Bessel functions of the first
and second kind, respectively;In ,Kn are the modified Bessel functions of the first and
second kind, respectively. The complete solution is

φm = φm(1) + φm(2) (7.21.17)

The condition that φm (0) be bounded demands that E2 = E4 = 0 because both

K0 and Y0 have logarithmic singularities at the origin. Thus it follows from (7.21.10)
that

φm = Cm [J0 (κm r)I0 (κm ) − J0 (κm )I0 (κm r)] (7.21.18)

where the κm are the roots of

I0 (κ)J0 (κ) − J0 (κ)I0 (κ) = 0 (7.21.19)

and the Cm are obtained from (7.21.11).

The first five natural frequencies obtained from (7.21.19) are

ωm = 10.2158, 39.7710, 89.1040, 158.1830, 247.0050

We note that

ω1 + 2ω2 = 89.7578 ≈ ω3 (7.21.20)

Introduce the detuning parameter σ1 such that

ω1 + 2ω2 = ω3 + εσ1 (7.21.21)

Hence there is an internal resonance involving three modes.

Equations (7.21.6) and (7.21.7) suggest that it may be more convenient to solve
∂F/∂r instead of F. Thus we let
844 7 Continuous Systems

G = ∂F/∂r (7.21.22)

Substituting (7.21.22) into (7.21.7), we obtain the following boundary condition

for G:

∂G/∂r − νG = 0 at r = 1 (7.21.23)

Substituting (7.21.22) and (7.21.8) into (7.21.6), we obtain

"∞ #2
∂ 2
G ∂G 1 
r2 2 + r −G =− r ψm φm  (7.21.24)
∂r ∂r 2 m=1

The function G can be represented by an expansion in terms of a complete set of

orthogonal eigenfunctions. Because
 
d2 d
r 2 2 + r − 1 J1 (ζm r) = −ζm2 r 2 J1 (ζm r) (7.21.25)
dr dr

it is convenient to express G as follows:

∞

G(r, t) = ηm (t)J1 (ζm r) (7.21.26)
m=1

where the ζm are the roots of the following equation

ζ J0 (ζ ) − (1 + ν)J1 (ζ ) = 0 (7.21.27)

For ν = 13 , the first 12 roots of (7.21.27) are:

ζ1 = 1.545, ζ2 = 5.266, ζ3 = 9.497, ζ4 = 11.68

ζ5 = 14.84, ζ6 = 18.00, ζ7 = 21.15, ζ8 = 24.30
ζ9 = 30.59, ζ10 = 33.74, ζ11 = 36.88, ζ12 = 40.03

To obtain the functions ηm (t), we substitute (7.21.26) into (7.21.25), multiply by

r −1 J1 (ζn r) and integrate from r = 0 to r = 1. The result is
∞

ηn (t) = Snpq ψp (t)ψq (t) (7.21.28)
p, q=1

where
7.21 Exercise 7.21 (First-Order Subharmonic Resonance Analysis … 845

1
  −1
Snpq = ζn2 − 1 + ν 2 J12 (ζn ) φq φp J1 (ζn r)dr (7.21.29)
0

Using (7.21.28) we can now rewrite (7.21.26) in the following form:

∞

G(r, t) = Smnp ψn (t)ψp (t)J1 (ζm r) (7.21.30)
m, n, p=1

To obtain the equations governing the ψn , we substitute (7.21.30) and (7.21.8)

into (7.21.21), multiply by rφn from r = 0 to r = 1. The result is
⎛ ⎞
∞

ψ̈n + ωn2 ψn = −ε⎝2μn ψ̇n − nmpq ψm ψp ψq
⎠ + fn (t) (7.21.31)
m, p, q=1

where
1 1

fn (t) = rφn f (r, t)dr, μn = μrφn dr (7.21.32)

0 0

To obtain the expression for the nmpq , we consider

1   1
∂ ∂w ∂w ..1 ∂w
G φn dr = Gφn − Gφn  dr (7.21.33)
∂r ∂r ∂r 0 ∂r
0 0

The first term vanishes as a result of the boundary conditions and the symmetry
of the deflection. Substituting (7.21.8) and (7.21.30) into (7.21.33) leads to
⎡ ⎤
1    ∞ ∞ 1
∂ ∂w ⎣
G φn dr = − Skpq J1 (ζk r)φn φm dr ⎦ψm ψn ψp
∂r ∂r m, n, p=1
0 k=1 0
(7.21.34)

Using (7.21.29) leads to

1 1
∞ J1 (ζk r)φp φq dr J1 (ζk r)φm φm dr
 0 0
nmpq =  2  (7.21.35)
k=1
ζk − 1 + ν 2 J12 (ζk )

Let
846 7 Continuous Systems

= 3ω1 + εσ (7.21.36)

Following the method of multiple scales, we let

ψn (t; ε) = ψn0 (T0 , T1 ) + εψn1 (T0 , T1 ) + · · · (7.21.37)

Substituting (7.21.37) into (7.21.31) and retaining to O(ε)), we obtain

" #
2
∞
0 = ψ̈n + ωn2 ψn + ε 2μn ψ̇n − nmpq ψm ψp ψq − fn (t)
m, p, q=1

= D02 ψn0 + ωn2 ψn0 − 2Kn cos T0 + ε D02 ψn1 + ωn2 ψn1# (7.21.38)
2
∞
+2D0 D1 ψn0 + 2μn D0 ψn0 − nmpq ψm0 ψp0 ψq0
m, p, q=1

Equating coefficients of like powers of ε in the above equation yields

D02 ψn0 + ωn2 ψn0 = 2Kn cos T0 (7.21.39)

∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m, p, q=1
(7.21.40)

The solution of (7.21.39) is

Kn
ψn0 = An (T1 )eiωn T0 + ne
i T0
+ cc, n = (7.21.41)
ωn2 − 2

Substituting (7.21.41) into (7.21.40) and taking into account = 3ω1 + εσ and
ω1 + 2ω2 = ω3 + εσ1 yields
∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m,p,q=1
∞
 0
= −2iωn An eiωn T0 − 2iωn μn An eiωn T0 + nmpq Am Ap Aq e−iωm T0 eiωp T0 eiωq T0
m,p,q=1
iωm T0 −iωp T0 iωq T0
+Am Ap Aq e e e + Am Ap Aq eiωm T0 eiωp T0 e−iωq T0
i T0 −iωp T0 −iωq T0 −iωm T0 i T0 −iωq T0
+ m Ap Aq e e e + p Am Aq e e e
−iωm T0 −iωp T0 i T0
+Am Ap qe e e +2 m p Aq e
iωq T0
+2 m Ap qe
iωp T0
4
+2Am p qe
iωm T0
+ cc + NST
(7.21.42)
7.21 Exercise 7.21 (First-Order Subharmonic Resonance Analysis … 847

In order to eliminate secular terms from the above equation, we need

2
∞
−2iω1 A1  − 2iω1 μ1 A1 + 3 2
1111 A1 A1 + A1 2(2 1m1m + 11mm )Am Am
m=1
∞ 
2  2 2
∞
+2A1 11mp +2 1m1p m p + 3A1 eiσ T1 111m m =0
m, p=1 m=1
(7.21.43)
2
∞
−2iωn An  − 2iωn μn An + 3 2
nnnn An An + An 2(2 nmnm + nnmm )Am Am
m=n
∞ 
2 
+2An nnmp +2 nmnp m p = 0, n = 1
m, p=1
(7.21.44)

The above two equations can be written as

∞
 2
−2iω1 A1  − 2iω1 μ1 A1 + A1 α1m Am Am + 2H11 A1 + 4FA1 eiσ T1 = 0 (7.21.45)
m=1
∞

−2iωn An  − 2iωn μn An + An αnm Am Am + 2Hnn An = 0, n = 1 (7.21.46)
m=1

where

 ∞
 3
Hnk = nkmj +2 nmkj m j, F= 111n n
m, j
4 n=1
  
2 2 njnj + for n = j
αnj = αjn = nnjj
3 nnnn

Let
1 iβn
An = an e (7.21.47)
2
Substituting (7.21.47) into (7.21.46) yields
∞
1 
−iωn an  + ωn an βn  − iωn μn an + an αnm am2 + Hnn an = 0, n = 1 (7.21.48)
8 m=1

Separating the real and imaginary parts of the above equation yields

an  + μn an = 0, n = 1 ⇒ an = an0 e−μn T1 → 0, n = 1 (7.21.49)

848 7 Continuous Systems

Substituting (7.21.47) into (7.21.45) and taking into account that (7.21.49), we
obtain
1
−iω1 a1  + ω1 a1 β1  − iω1 μ1 a1 + α11 a13 + H11 a1 + Fa12 ei(σ T1 −3β) = 0 (7.21.50)
8
Separating the real and imaginary parts of the above equation yields

ω1 a1 + ω1 μ1 a1 − Fa12 sinγ = 0

(7.21.51)
−ω1 a1 γ  + ω1 a1 σ + 38 α11 a13 + 3H11 a1 + 3Fa12 cosγ = 0

where

γ = σ T1 − 3β (7.21.52)

From Eq. (7.21.51), we know that the steady state solution satisfies the following
equations:

 1 μ1 − Fa1 sinγ ) = 0
a1 (ω  (7.21.53)
a1 ω1 σ + 38 α11 a12 + 3H11 + 3Fa1 cosγ = 0

Combining the above results, we can obtain the steady-state deflection of

subharmonic resonance of the axisymmetric circular plate when ≈ 3ω1 is
   ∞

1 1 
w(r, t) = a1 φ1 (r)cos t− γ + 2 n φn (r) cos t + O(ε) (7.21.54)
3 3 n=1

where a1 and γ are given by (7.21.53).

7.22 Exercise 7.22 (First-Order Superharmonic Resonance

Analysis of a Uniform Circular Plate Clamped Along
Its Edge)

Solution: Let

3 = ω1 + εσ (7.22.1)

and

ψn (t; ε) = ψn0 (T0 , T1 ) + εψn1 (T0 , T1 ) + · · · (7.22.2)

Substituting (7.22.2) into (7.21.31) and retaining to O(ε), we obtain

7.22 Exercise 7.22 (First-Order Superharmonic Resonance Analysis … 849
" #
2
∞
0 = ψ̈n + ωn2 ψn + ε 2μn ψ̇n − nmpq ψm ψp ψq − fn (t)
m, p, q=1

= D02 ψn0 + ωn2 ψn0 − 2Kn cos T0 + ε D02 ψn1 + ωn2 ψn1# (7.22.3)
2
∞
+2D0 D1 ψn0 + 2μn D0 ψn0 − nmpq ψm0 ψp0 ψq0
m, p, q=1

Equating coefficients of like powers of ε in the above equation yields

D02 ψn0 + ωn2 ψn0 = 2Kn cos T0 (7.22.4)

∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0 (7.22.5)
m, p, q=1

The solution of (7.22.4) is

Kn
ψn0 = An (T1 )eiωn T0 + ne
i T0
+ cc, n = (7.22.6)
ωn2 − 2

Substituting (7.22.6) into (7.22.5) and taking into account 3 = ω1 + εσ and

ω1 + 2ω2 = ω3 + εσ1 , we obtain
∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m,p,q=1
∞
 0
= −2iωn A eiωn T0 − 2iωn μn An eiωn T0 + nmpq Am Ap Aq e−iωm T0 eiωp T0 eiωq T0
m,p,q=1
iωm T0 −iωp T0 iωq T0
+Am Ap Aq e e e + Am Ap Aq eiωm T0 eiωp T0 e−iωq T0
+2 m p Aq e
iωq T0
+ 2 m Ap q eiωp T0 + 2Am p qe
iωm T0
4
+ m p qe
3i T0
+ cc + NST
(7.22.7)

In order to eliminate secular terms from the above equation, we need

2
∞
−2iω1 A1  − 2iω1 μ1 A1 + 3 2
1111 A1 A1 + A1 2(2 1m1m + 11mm )Am Am
m=1
∞ 
2  2
∞
+2A1 11mp +2 1m1p m p + eiσ T1 1mpq m p q =0
m, p=1 m, p, q=1
(7.22.8)
850 7 Continuous Systems

2
∞
−2iωn An  − 2iωn μn An + 3 2
nnnn An An + An 2(2 nmnm + nnmm )Am Am
m=n
∞ 
2 
+2An nnmp +2 nmnp m p = 0, n = 1
m, p=1
(7.22.9)

The above two equations can be written as

∞

−2iω1 A1  − 2iω1 μ1 A1 + A1 α1m Am Am + 2H11 A1 + Feiσ T1 = 0 (7.22.10)
m=1
∞

−2iωn An  − 2iωn μn An + An αnm Am Am + 2Hnn An = 0, n = 1 (7.22.11)
m=1

where

 ∞


Hnk = nkmj +2 nmkj m j, F= 1mpq m p q
m, j m, p, q=1
  
2 2 njnj + for n = j
αnj = αjn = nnjj
3 nnnn

Let
1 iβn
An = an e (7.22.12)
2
Substituting (7.22.12) into (7.22.11) yields
∞
1 
−iωn an  + ωn an βn  − iωn μn an + an αnm am2 + Hnn an = 0, n = 1 (7.22.13)
8 m=1

Separating the real and imaginary parts of the above equation yields

an  + μn an = 0, n = 1 ⇒ an = an0 e−μn T1 → 0, n = 1 (7.22.14)

Substituting (7.22.12) into (7.22.10) and taking into account that (7.22.14), we
obtain
1
−iω1 a1  + ω1 a1 β1  − iω1 μ1 a1 + α11 a13 + H11 a1 + Fei(σ T1 −β) = 0 (7.22.15)
8
Separating the real and imaginary parts of the above equation yields
7.23 Exercise 7.23 (Second-Order Superharmonic Resonance Analysis … 851

ω1 a1  + ω1 μ1 a1 − Fsinγ = 0
(7.22.16)
−ω1 a1 γ  + ω1 σ a1 + 18 α11 a13 + H11 a1 + Fcosγ = 0

where

γ = σ T1 − β (7.22.17)

From Eq. (7.22.16), we know that the steady state solution satisfies the following
equations:

ω1 μ1 a1 − Fsinγ = 0
(7.22.18)
ω1 σ a1 + 18 α11 a13 + H11 a1 + Fcosγ = 0

Combining the above results, we can obtain the steady-state deflection of

subharmonic resonance of the axisymmetric circular plate when ω1 ≈ 3 is
 ∞


w(r, t) = a1 φ1 (r)cos(3 t − γ ) + 2 n φn (r) cos t + O(ε) (7.22.19)
n=1

where a1 and γ are given by (7.22.18).

7.23 Exercise 7.23 (Second-Order Superharmonic

Resonance Analysis of a Uniform Circular Plate
Clamped Along Its Edge)

Solution: Let

3 = ω2 + εσ (7.23.1)

and

ψn (t; ε) = ψn0 (T0 , T1 ) + εψn1 (T0 , T1 ) + · · · (7.23.2)

Substituting (7.23.2) into (7.21.31) and retaining to O(ε), we obtain

" #
2
∞
0 = ψ̈n + ωn2 ψn + ε 2μn ψ̇n − nmpq ψm ψp ψq − fn (t)
m, p, q=1

= D02 ψn0 + ωn2 ψn0 − 2Kn cos T0 + ε D02 ψn1 + ωn2 ψn1# (7.23.3)
2
∞
+2D0 D1 ψn0 + 2μn D0 ψn0 − nmpq ψm0 ψp0 ψq0
m, p, q=1
852 7 Continuous Systems

Equating coefficients of like powers of ε in the above equation yields

D02 ψn0 + ωn2 ψn0 = 2Kn cos T0 (7.23.4)

∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0 (7.23.5)
m, p, q=1

The solution of (7.23.4) is

Kn
ψn0 = An (T1 )eiωn T0 + ne
i T0
+ cc, n = (7.23.6)
ωn2 − 2

Substituting (7.23.6) into (7.23.5) and taking into account 3 = ω2 + εσ and

ω1 + 2ω2 = ω3 + εσ1 yields
∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m,p,q=1
∞
 0
= −2iωn An eiωn T0 − 2iωn μn An eiωn T0 + nmpq Am Ap Aq e−iωm T0 eiωp T0 eiωq T0
m,p,q=1
iωm T0 −iωp T0 iωq T0
+Am Ap Aq e e e + Am Ap Aq eiωm T0 eiωp T0 e−iωq T0
+2 m p Aq e
iωq T0
+ 2 m Ap q eiωp T0 + 2Am p qe
iωm T0
4
+ m p qe
3i T0
+ cc + NST
(7.23.7)

In order to eliminate secular terms from the above equation, we need

2
∞
−2iω2 A2  − 2iω2 μ2 A2 + 3 2
2222 A2 A2 + A2 2(2 2m2m + 22mm )Am Am
m=2
∞ 
2  2
∞
+2A2 22mp +2 1m1p m p + eiσ T1 2mpq m p q =0
m, p=1 m, p, q=1
(7.23.8)
2
∞
−2iωn An  − 2iωn μn An + 3 2
nnnn An An + An 2(2 nmnm + nnmm )Am Am
m=n
∞ 
2 
+2An nnmp +2 nmnp m p = 0, n = 2
m,p=1
(7.23.9)

The above two equations can be written as

7.23 Exercise 7.23 (Second-Order Superharmonic Resonance Analysis … 853

∞

−2iω2 A2  − 2iω2 μ2 A2 + A2 α2m Am Am + 2H22 A2 + Feiσ T1 = 0 (7.23.10)
m=1
∞

−2iωn An  − 2iωn μn An + An αnm Am Am + 2Hnn An = 0, n = 2 (7.23.11)
m=1

where

 ∞


Hnk = nkmj +2 nmkj m j, F= 2mpq m p q
m, j m, p, q=1
  
2 2 njnj + for n = j
αnj = αjn = nnjj
3 nnnn

Let
1 iβn
An = an e (7.23.12)
2
Substituting (7.23.12) into (7.23.11) yields
∞
1 
−iωn an  + ωn an βn  − iωn μn an + an αnm am2 + Hnn an = 0, n = 2 (7.23.13)
8 m=1

Separating the real and imaginary parts of the above equation yields

an  + μn an = 0, n = 1 ⇒ an = an0 e−μn T1 → 0, n = 2 (7.23.14)

Substituting (7.23.12) into (7.23.10) and taking into account that (7.23.14), we
obtain
1
−iω2 a2  + ω2 a2 β2  − iω2 μ2 a2 + α22 a23 + H22 a2 + Fei(σ T1 −β) = 0 (7.23.15)
8
Separating the real part from the imaginary part of the above equation yields

ω2 a2  + ω2 μ2 a2 − Fsinγ = 0
(7.23.16)
−ω2 a2 γ  + ω2 σ a2 + 18 α22 a23 + H22 a2 + Fcosγ = 0

where

γ = σ T1 − β (7.23.17)
854 7 Continuous Systems

From Eq. (7.23.16), we know that the steady state solution satisfies the following
equations:

ω2 μ2 a2 − Fsinγ = 0
(7.23.18)
ω2 σ a2 + 18 α22 a23 + H22 a2 + Fcosγ = 0

Combining the above results, we can obtain the steady-state deflection of

subharmonic resonance of the axisymmetric circular plate when ω2 ≈ 3 is
 ∞


w(r, t) = a2 φ2 (r)cos(3 t − γ ) + 2 n φn (r) cos t + O(ε) (7.23.19)
n=1

where a1 and γ are given by (7.23.18).

7.24 Exercise 7.24 (Combined Resonance Analysis

of a Uniform Circular Plate Clamped Along Its Edge)

Solution: Let

εσ1 = ω1 + 2ω2 − ω3 , εσ2 = 2 − ω1 − ω2 (7.24.1)

and

ψn (t; ε) = ψn0 (T0 , T1 ) + εψn1 (T0 , T1 ) + · · · (7.24.2)

Substituting (7.24.2) into (7.21.31) and retaining to O(ε), we obtain

" #
2
∞
0 = ψ̈n + ωn2 ψn + ε 2μn ψ̇n − nmpq ψm ψp ψq − fn (t)
m, p, q=1

= D02 ψn0 + ωn2 ψn0 − 2Kn cos T0 + ε D02 ψn1 + ωn2 ψn1# (7.24.3)
2
∞
+2D0 D1 ψn0 + 2μn D0 ψn0 − nmpq ψm0 ψp0 ψq0
m, p, q=1

Equating coefficients of like powers of ε in the above equation yields

D02 ψn0 + ωn2 ψn0 = 2Kn cos T0 (7.24.4)

∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0 (7.24.5)
m, p, q=1
7.24 Exercise 7.24 (Combined Resonance Analysis of a Uniform Circular … 855

The solution of (7.24.4) is

Kn
ψn0 = An (T1 )eiωn T0 + ne
i T0
+ cc, n = (7.24.6)
ωn2 − 2

Substituting (7.24.6) into (7.24.5) and taking into account εσ1 = ω1 + 2ω2 −
ω3 andεσ2 = 2 − ω1 − ω2 yields
∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m,p,q=1

= −2iωn An eiωn T0 − 2iωn μn An eiωn T0

∞
 0
+ nmpq Am Ap Aq eiωm T0 eiωp T0 eiωq T0 + Am Ap Aq e−iωm T0 eiωp T0 eiωq T0
m,p,q=1

+Am Ap Aq eiωm T0 e−iωp T0 e−iωq T0 + Am Ap Aq eiωm T0 e−iωp T0 eiωq T0

+Am Ap Aq e−iωm T0 eiωp T0 e−iωq T0 + Am Ap Aq e−iωm T0 e−iωp T0 eiωq T0
+Am Ap Aq eiωm T0 eiωp T0 e−iωq T0 + m p Aq e
2i T0 iωq T0
e
+ m Ap qe
2i T0 iωp T0
e + Am p qe
2i T0 iωm T0
e
2i T0 −iωm T0 2i T0 −iωq T0 2i T0 −iωp T0
+Am p qe e + m p Aq e e + m Ap qe e
+2 m p Aq e
iωq T0
+ m Ap qe
iωp T0
+ m Ap q e iωp T0
4
+Am p qe
iωm T0
+ Am p qe
iωm T0
+ cc + NST
(7.24.7)

In order to eliminate secular terms from the above equation, we need

2
∞
−2iω1 A1  − 2iω1 μ1 A1 + A1 α1m Am Am
m=1 (7.24.8)
2
+2H11 A1 + H12 A2 e iσ2 T1
+ 8QA3 A2 e−iσ1 T1 =0
2
∞
−2iω2 A − 2iω2 μ2 A2 + A2 α2m Am Am + 2H22 A2
m=1 (7.24.9)
+16QA1 A2 A3 e−iσ1 T1 + H12 A1 eiσ2 T1 + H23 A3 e−i(σ1 +σ2 )T1 = 0
2
∞
−2iω3 A3  − 2iω3 μ3 A3 + A3 α3m Am Am
m=1 (7.24.10)
+2H33 A3 + 8QA1 A22 eiσ1 T1 + H23 A2 ei(σ1 +σ2 )T1 = 0
∞

−2iωn An  − 2iωn μn An + An αnm Am Am + 2Hnn An = 0, n ≥ 4 (7.24.11)
m=1

Let
856 7 Continuous Systems

1 iβn
An = an e (7.24.12)
2
Substituting (7.24.12) into (7.24.11) yields
∞
1 
−iωn an  + ωn an βn  − iωn μn an + an αnm am2 + Hnn an = 0, n ≥ 4 (7.24.13)
8 m=1

Separating the real and imaginary parts of the above equation gives

an  + μn an = 0, n ≥ 4 ⇒ an = an0 e−μn T1 → 0, n ≥ 4 (7.24.14)

Substituting (7.24.12) into (7.24.8)–(7.24.10) and taking into account that

(7.24.14), we obtain

2
3
−iω1 a1  + ω1 a1 β1  − iω1 μ1 a1 + 18 a1 α1m am2 + H11 a1
m=1 (7.24.15)
+ 21 H12 a2 ei(σ2 T1 −β1 −β2 ) + Qa22 a3 ei(−σ1 T1 −β1 −2β2 +β3 ) = 0
2
3
−iω2 a2  + ω2 a2 β2  − iω2 μ2 a2 + 18 a2 α2m am2 + H22 a2
m=1
(7.24.16)
+2Qa1 a2 a3 ei(−σ1 T1 −β1 −2β2 +β3 ) + 21 H12 a1 ei(σ2 T1 −β1 −β2 )
+ 21 H23 a3 ei(−σ1 T1 −σ2 T1 −β2 +β3 ) = 0
2
3
−iω3 a3  + ω3 a3 β3  − iω3 μ3 a3 + 18 a3 α3m am2 + H33 a3
m=1 (7.24.17)
+Qa1 a22 ei(σ1 T1 +β1 +2β2 −β3 ) + 1
H a e
2 23 2
i(σ1 T1 +σ2 T1 +β2 −β3 )
=0

Separating the real part from the imaginary part of the above equation yields

1
ω1 a1  + ω1 μ1 a1 + Qa22 a3 sinγ1 + H12 a2 sinγ2 = 0 (7.24.18)
2
1 1
ω2 a2  + ω2 μ2 a2 + 2Qa1 a2 a3 sinγ1 + H12 a1 sinγ2 + H23 a3 sin(γ1 − γ2 ) = 0
2 2
(7.24.19)
1
ω3 a3  + ω3 μ3 a3 − Qa1 a22 sinγ1 − H23 a2 sin(γ1 − γ2 ) = 0 (7.24.20)
2

1 
3
1
ω1 a1 β1  + a1 α1m am2 + H11 a1 + Qa22 a3 cosγ1 + H12 a2 cosγ2 = 0 (7.24.21)
8 m=1 2
7.24 Exercise 7.24 (Combined Resonance Analysis of a Uniform Circular … 857

2
3
ω2 a2 β2  + 18 a2 α2m am2 + H22 a2 + 2Qa1 a2 a3 cosγ1
m=1 (7.24.22)
+ 21 H12 a1 sinγ2 + 21 H23 a3 cos(γ1 − γ2 ) = 0

1 
3
1
ω3 a3 β3  + a3 α3m am2 + H33 a3 + Qa1 a22 cosγ1 + H23 a2 cos(γ1 − γ2 ) = 0
8 m=1 2
(7.24.23)

where

−γ1 = β3 − 2β2 − β1 − σ1 T1 , −γ2 = σ2 T1 − β1 − β2 (7.24.24)

(7.24.24) can be rewritten as

−γ2  = σ2 − β1  − β2 , γ1  − γ2  = σ1 + σ2 − β3  + β2  (7.24.25)

Clearly there exists a trivial solution a1 = a2 = a3 = 0 in (7.24.18)–(7.24.23).

When a1 = 0, a2 = 0, a3 = 0, we can obtain the following equations from
(7.24.21)–(7.24.23) considering (7.24.25):

2
3 ! !
α1m am2 α2m am2 a22 a3
−γ2  = σ2 + 1
8 ω1
+ ω2
+ H11
ω1
+ H22
ω2
+Q ω1 a1
+ 2a1 a3
ω2
cosγ1
m=1 !
+ 21 H12 a2
ω1 a1
+ a1
ω2 a2
sinγ2 + 21 H23 ωa23a2 cos(γ1 − γ2 )
(7.24.26)
23 !
α3m am2 α2m am2
γ1  − γ2  = σ1 + σ2 + 18 ω3
− ω2
+ H33
ω3
− H22
ω2
2
! m=1
a a
+Q ω13 a23 − 2aω12a3 cosγ1 − 21 H12 ωa21a2 sinγ2 (7.24.27)
!
+ 21 H23 ωa32a3 − ωa23a2 cos(γ1 − γ2 )

Let the time derivatives in (7.24.18)–(7.24.20), (7.24.26) and (7.24.27) be zero,

we can obtain the equations satisfied by the non-trivial steady state solutions of
a1 , a2 , a3 and γ1 , γ2 :

1
ω1 μ1 a1 + Qa22 a3 sinγ1 + H12 a2 sinγ2 = 0 (7.24.28)
2
1 1
ω2 μ2 a2 + 2Qa1 a2 a3 sinγ1 + H12 a1 sinγ2 + H23 a3 sin(γ1 − γ2 ) = 0 (7.24.29)
2 2
1
ω3 μ3 a3 − Qa1 a22 sinγ1 − H23 a2 sin(γ1 − γ2 ) = 0 (7.24.30)
2
858 7 Continuous Systems

2
3 ! !
α1m am2 α2m am2 a22 a3
0 = σ2 + 1
8 ω1
+ ω2
+ H11
ω1
+ H22
ω2
+Q ω1 a1
+ 2a1 a3
ω2
cosγ1
m=1 ! (7.24.31)
+ 21 H12 a2
ω1 a1
+ a1
ω2 a2
sinγ2 + 21 H23 ωa23a2 cos(γ1 − γ2 )

2
3 !
α3m am2 α2m am2
0 = σ1 + σ2 + 1
8 ω3
− ω2
+ H33
ω3
− H22
ω2
!m=1
a1 a22 (7.24.32)
+Q ω3 a3
− 2a1 a3
ω2
cosγ1 − 21 H12 ωa21a2 sinγ2
!
+ 21 H23 a2
ω3 a3
− ωa23a2 cos(γ1 − γ2 )

Combining the above results, we can obtain the steady-state deflection of

subharmonic resonance of the axisymmetric circular plate when 2 ≈ ω1 + ω2
is
 ∞ 

3 
w(r, t) = an φn (r)cos[(ωn + εβn )t + τn ] + 2 n φn (r) cos t + O(ε)
n=1 n=1
(7.24.33)

where am and βm  are determined by (7.24.18)–(7.24.27).

Readers are invited to complete Exercises 7.25 to 7.27 by referring to Exercises
7.21 to 7.24.

7.25 Exercise 7.25 (Combined Resonance Analysis

of a Uniform Circular Plate Clamped Along Its Edge I)

7.26 Exercise 7.26 (Combined Resonance Analysis

of a Uniform Circular Plate Clamped Along Its Edge
II)

7.27 Exercise 7.27 (Axisymmetric Response of a Uniform

Circular Plate Clamped Along Its Edge with 1st to 3rd
Order Modes Subjecting To Corresponding Resonant
Excitation III)
7.28 Exercise 7.28 (Derivation of Modal Discretization Equations … 859

7.28 Exercise 7.28 (Derivation of Modal Discretization

Equations for Berger’s Equation for Axisymmetric
Oscillation Analysis of a Clamped Circular Plates)

Solution: (a) In the Berger approximation, the nonlinear forced oscillations of a

clamped plate are given by

D∇ 4 w − ρhecp2 ∇ 2 w + ρhwtt = −2μwt + f (r, t) (7.28.1)

¨
1
Ae(t) = − w∇ 2 wdxdy (7.28.2)
2
A

where A is the area of the plate, and

Eh3 E
D=   , cp2 =   (7.28.3)
12 1 − ν 2 ρ 1 − ν2

The following dimensionless variables with asterisks are induced:

'
∗ ρh ∗ h2 12 5 Dh2
r = Rr , t = R 2
t , w = w∗ , μ = 4 ρh5 Dμ∗ , f = 5 f ∗ (7.28.4)
D R R R

Taking into account

 2
∂2 1 ∂
∇4 = + (7.28.5)
∂r 2 r ∂r

Substituting this into (7.28.1) and (7.28.2), and then dropping the asterisks, we
obtain

R4 2
∇ 4w − α e∇ w + wtt = −2αμwt + f (r, t) (7.28.6)
h4
 2 
h4 1 h4 1 d w 1 dw
e(t) = − 4 rw∇ 2 wdr = − 4 rw + dr
R 0 R 0 dr 2 r dr
1 1
h4 d 2w dw
=− 4 rw 2 dr + w dr
R dr dr
 0 .1
0
 (7.28.7)
h4
dw .. 1
dw 1
dw
= − 4 rw . − d (rw) + w dr
R dr 0 0 dr 0 dr
  2
h4 1 dw
= 4 r dr
R 0 dr
860 7 Continuous Systems

where α = 12h2 /R2 . The above two equations are combined to give

1  2
dw
∇ w − α∇ w
4 2
r dr + wtt = −2αμwt + f (r, t) (7.28.8)
dr
0

Let the deflection of the circular plate be

∞

w(r, t) = ψm (t)φm (r) (7.28.9)
m=1

where the φm are the linear, free oscillation modes of the plate. The undamped free
oscillation equation of the plate is

∇ 4 w + wtt = 0 (7.28.10)

Let w(r, t) = ψm0 eωm t φm (r), the corresponding eigenvalue problem can be
obtained as:

∇ 4 φm − ωm2 φm = 0 (7.28.11)

φm (1) = 0, φm (1) = 0, φm (0) < ∞ (7.28.12)

The eigenvalue ωm are the natural frequencies of the plate. The φm are orthogonal
with respect to the weighting function r. The amplitude of each mode is chosen such
that
1

rφn φm dr = δnm (7.28.13)

0

The eigenvalue problem is solved below. Write (7.28.11) in a more convenient

form below:
 2  2 
∂ 1 ∂ ∂ 1 ∂
+ − κ 2
+ + κ m φm = 0
2
(7.28.14)
∂r 2 r ∂r m
∂r 2 r ∂r

where κm4 = ωm2 . Thus we can obtain the four linearly independent solutions of
(7.28.14) from the following two equations:
 
∂2 1 ∂
+ − κ m φm = 0
2
(7.28.15)
∂r 2 r ∂r
7.28 Exercise 7.28 (Derivation of Modal Discretization Equations … 861
 
∂2 1 ∂
+ + κm φm = 0
2
(7.28.16)
∂r 2 r ∂r

From (7.28.15) and (7.28.16), we obtain

φm(1) = E1 I0 (κm r) + E2 K0 (κm r) (7.28.17)

φm(2) = E3 J0 (κm r) + E4 Y0 (κm r) (7.28.18)

where the En are constants of integration; Jn , Yn are the Bessel functions of the first
and second kind, respectively;In ,Kn are the modified Bessel functions of the first and
second kind, respectively. The complete solution is

φm = φm(1) + φm(2) (7.28.19)

The condition that φm (0) be bounded demands that E2 = E4 = 0 because both

K0 and Y0 have logarithmic singularities at the origin. Thus it follows from (7.28.12)
and (7.28.19) that

φm = Cm [J0 (κm r)I0 (κm ) − J0 (κm )I0 (κm r)] (7.28.20)

where the κm are the roots of

I0 (κ)J0 (κ) − J0 (κ)I0 (κ) = 0 (7.28.21)

and the Cm are obtained from (7.28.13).

The first five natural frequencies obtained from (7.28.21) are

ωm = 10.2158, 39.7710, 89.1040, 158.1830, 247.0050

We note that

ω1 + 2ω2 = 89.7578 ≈ ω3 (7.28.22)

Hence there is an internal resonance involving three modes.

Substituting (7.28.9) into (7.28.8) and taking into account the eigenvalue Eq.
(7.28.11) yields

2
∞ 2
∞ 2
∞ 1
ωm2 ψm φm − α ψm ∇ 2 φm ψp ψq rφp φq dr
m=1 m=1 p, q=1 0 (7.28.23)
2
∞ 2
∞
+ ψ̈m φm = −2αμ ψ̇m φm + f (r, t)
m=1 m=1
862 7 Continuous Systems

where the prime denotes the derivative with respect to r. Multiply (7.28.23) by rφn (r)
from r = 0 to r = 1. The result is

2
∞ 1 2
∞ 1 2
∞ 1
ωm2 ψm rφn φm dr − α ψm rφn ∇ 2 φm dr ψp ψq rφp φq dr
m=1 0 m=1 0 p, q=1 0
2
∞ 1 2
∞ 1 1
+ ψ̈ m rφn φm dr = −2α ψ̇m μrφn φm dr + rφn f (r, t)dr
m=1 0 m=1 0 0
(7.28.24)

Considering the orthogonality of the φm , we obtain

2
∞ 1 2
∞ 1
ψ̈n + ωn2 ψn = α ψm rφn ∇ 2 φm dr ψP ψq rφp φq dr
m=1 0 p, q=1 0 (7.28.25)
−2αμn ψ̇n + fn (t)

where
1 1

μn = μrφn2 dr, fn (t) = rφn (r)f (r, t)dr (7.28.26)

0 0

Dealing with the Eq. (7.28.25) again. The first integral on the right-hand side of
(7.28.25) is

1 1 ! 1 1
d 2 φm 1 d φm
rφn ddrφ2m dr + φn ddrφm dr
2
rφn ∇ 2 φm dr = rφn dr 2
+ r dr
dr =
0 0 0 0
. 1 1
= rφn .10 − d φm
dr (rφn )
d + φn ∂φ
∂r
m
dr (7.28.27)
0 0
1
= − r ddrφn ddrφm dr
0

Substituting (7.28.27) into (7.28.25) yields

∞

ψ̈n + ωn2 ψn = α nmpq ψm ψp ψq − 2αμn ψ̇n + fn (t) (7.28.28)
m, p, q

where
1 1

nmpq =− rφn φm dr rφp φq dr (7.28.29)

0 0
7.29 Exercise 7.29 (Berger Equation for Nonlinear Oscillation Analysis … 863

7.29 Exercise 7.29 (Berger Equation for Nonlinear

Oscillation Analysis of Simply Supported Rectangular
Plates)

Solution: (a) In the Berger approximation, the nonlinear forced oscillations of a

simply-supported rectangular plate are given by

D∇ 4 w − ρhecp2 ∇ 2 w + ρhwtt = f (r, t) (7.29.1)

¨  2  2 
1 ∂w ∂w
Ae(t) = + dxdy (7.29.2)
2 ∂x ∂y
A

where A is the area of the plate; and

Eh3 E ∂ ∂
D=   , cp2 =   , ∇2 = 2 + 2 (7.29.3)
12 1 − ν 2 ρ 1−ν 2 ∂x ∂y

Let the deflection of the simply supported plate be w(x, y) = φ(x, y)eiωt , then the
corresponding eigenvalue problem can be obtained as:

D∇ 4 φ − ρhω2 φ = 0 (7.29.4)

φ(0, y) = φ(a, y) = 0, φ(x, 0) = φ(x, b) = 0 (7.29.5)

The oscillation mode function for a simply supported rectangular plate is given
by
nπ x mπ y
φnm (x, y) = sin sin (7.29.6)
a b
Natural frequencies are
 2
D n2 m2
ωnm
2
= + 2 (7.29.7)
ρh a2 b

Therefore, let the deflection of the plate be

∞
 ∞
 nπ x mπ y
w(x, y, t) = ψnm (t)φnm ψnm (t)sin sin (7.29.8)
n, m=1 n, m=1
a b

Substituting (7.29.8) into (7.29.2) yields

864 7 Continuous Systems

¨  2  2 
1 ∂w ∂w
e(t) = + dxdy
2A A ∂x ∂y
⎧
¨  2
1 ⎨
∞
nπ nπ x mπ y
= ψnm cos sin dxdy
2ab ⎩ A n,m a a b
⎤⎫
¨  ∞
2
⎬
mπ nπ x mπ y
+ ψnm sin cos dxdy⎦
A n,m b a b ⎭
¨  ∞ 
1  nπ pπ nπ x pπ x mπ y qπ y
= ψnm ψpq cos cos sin sin dxdy
2ab A n,m,p,q a a a a b b
¨   ∞
 
mπ qπ nπ x pπ x mπ y qπ y
+ ψnm ψpq sin sin cos cos dxdy
A n,m,p,q b b a a b b
∞
π 2  2 n2 a nπ x b
mπ y
= ψnm 2 cos2 dx sin2 dy
2ab n,m a 0 a 0 b
∞
 a b
m2
nπ x mπ y
+ ψnm
2
dx sin2
cos2 dy
n,m 0 ab2 0 b
∞  
π 2  ab n2 m2
= + 2 ψnm 2
2ab n,m 4 a2 b

i.e.,
∞  
π 2  n2 m2
e(t) = + 2 ψnm
2
(7.29.9)
8 n, m=1 a2 b

Substituting (7.29.8) and (7.29.9) into (7.29.1) and considering (7.29.4) yields

2
∞ 2
∞ ! 2
∞
p2 q2
ψnm φnm − ρhcp2 π8
2
D ωnm
2
a2
+ b2
ψnm
2
ψnm ∇ 2 φnm
n, m p, q=1 n, m
2
∞ (7.29.10)
+ρh ψ̈nm φnm = f (x, y, t)
n, m

Multiplying the above equation by φrs (x, y) and integrating over the area of the
plate, we obtain
7.29 Exercise 7.29 (Berger Equation for Nonlinear Oscillation Analysis … 865

∞
 ¨
ρh ωnm
2
ψnm φnm φrs dxdy
n,m A
∞  2
  ∞ ¨
π 2
p q2
−ρhcp2 + 2 ψpq 2
ωnm2
φrs ∇ 2 φnm dxdy (7.29.11)
8 p,q=1 a2 b n,m A
∞
 ¨ ¨
+ρh ψ̈nm φnm φrs dxdy = φrs f (x, y, t)dxdy
n,m A A

The oscillation mode function have orthogonality, i.e.

¨ 1
ab, n = r, m = s
φnm φrs dxdy = 4 (7.29.12)
0, n = r, m = s
A

Dealing with (7.29.11) again. The integral in the second term on the right-hand
side of (7.29.11) is
˜ ˜ $ %
∂ 2 φnm ∂ 2 φnm
φrs ∇ 2 φnm dxdy = φrs ∂x2
+ ∂y2
dxdy
A A
! a b
n2 m2
= −π 2 + a2 b2
sin rπx
a
sin nπx
a
dx sin sπb y sin mπb y dy (7.29.13)
 0 ! 0
− π 4ab an2 +
2 2
m2
, n = r, m = s
= b2

0, n = r, m = s

Substituting (7.29.9), (7.29.12) and (7.29.13) into (7.29.11) yields

π 4 cp2
! 2
∞ !
n2 m2 p2 q2
ψ̈nm + ωnm
2
ψnm + 8 a2
+ b2 a2
+ b2
ψpq
2
ψnm
˜ p, q=1 (7.29.14)
= 4
ρhab
φnm f (x, y, t)dxdy
A

The following dimensionless variables with asterisks are induced:

∗
ψnm =&lψnm , x = lx∗ , y = ly∗ , a = la∗ , b = lb∗
& (7.29.15)
t = l 2 ρh
D
t ∗
, ωnm = l
1
2
D ∗
ω , f = Dab
ρh nm 4l 5
f∗

where l is the characteristic width of the plate; for a square plate, l = a; for a
rectangular plate, l can be taken as the radius of gyration of the rectangular plate.
Substituting (7.29.15) into (7.29.14), and then dropping the asterisk for brevity
yields
866 7 Continuous Systems

  ∞  2 
n2 m2 p q2
ψ̈nm + ωnm
2
ψnm =α 2 + 2 2
+ 2 ψpq
2
ψnm + fnm (t) (7.29.16)
a b p, q=1
a b

where
¨
π 4 ρhl 2 cp2
α=− , fnm (t) = φnm f (x, y, t)dxdy (7.29.17)
8D
A

Note that ωnm in (7.29.16) and f in (7.29.17) have been nondimensionalized by

(7.29.15). The dimensionless natural frequency ωnm is defined as:
 2
n2 m2
ωnm
2
= + (7.29.18)
a2 b2

Adding dimensionless linear damping to (7.29.16) yields

  ∞  2 
n2 m2 p q2
ψ̈nm + ωnm
2
ψnm = α + + ψpq
2
ψnm − 2μnm ψ̇nm + fnm (t)
a2 b2 p, q=1
a 2 b2

(7.29.19)

This is the dimensionless governing equation of discrete modes of a simply-

supported rectangular plate with the Berger approximation.
Following the method of multiple scales, we let

ψnm (t; ε) = εψnm0 (T0 , T1 , T2 ) + ε2 ψnm1 (T0 , T1 , T2 ) + ε3 ψnm2 (T0 , T1 , T2 ) + · · ·

(7.29.20)

In order to let the damping, excitation and the cubic nonlinearity terms appear in
the same order equation:

μnm = ε2 μ̂nm , Knm = 2ε3 knm (7.29.21)

where knm = 0 when n = 1, m = 1.

Substituting (7.29.20) and (7.29.21) into (7.29.19) and retaining to O(ε3 ), we
obtain
7.29 Exercise 7.29 (Berger Equation for Nonlinear Oscillation Analysis … 867

∞

0 = ψ̈nm + ωnm
2
ψnm − α nm pq ψpq ψnm
2
+ 2μnm ψ̇nm − fnm (t)
p,q=1
   
= ε D02 ψnm0 + ωnm
2
ψnm0 + ε2 D02 ψnm1 + ωnm
2
ψnm1 + 2D0 D1 ψnm0
   (7.29.22)
+ε3 D02 ψnm2 + ωnm
2
ψnm2 + D12 + 2D0 D2 ψnm0 + 2D0 D1 ψnm1
⎤
∞
+2μ̂nm D0 ψnm0 − α nm pq ψpq0 ψnm0 − 2knm cos T0
2 ⎦
p,q=1

where

n2 m2
nm = + (7.29.23)
a2 b2
Let the coefficients of the like powers of ε in (7.29.22) be zero, we obtain

D02 ψnm0 + ωnm

2
ψnm0 = 0 (7.29.24)

D02 ψnm1 + ωnm

2
ψnm1 = −2D0 D1 ψnm0 (7.29.25)

 
D02 ψnm2 + ωnm
2
ψnm2 = − D12 + 2D0 D2 ψnm0 − 2D0 D1 ψnm1 − 2μ̂nm D0 ψnm0
2∞
+α nm pq ψpq0 ψnm0 + 2knm cos T0
2
p, q=1
(7.29.26)

The solution of (7.29.24) is

ψnm0 = Anm (T1 , T2 )eiωnm T0 + cc (7.29.27)

Substituting (7.29.27) into (7.29.25) yields

D02 ψnm1 + ωnm

2
ψnm1 = −2iωnm D1 Anm eiωnm T0 + cc (7.29.28)

In order to eliminate secular terms from the above equation, we need

D1 Anm = 0 ⇒ Anm = Anm (T2 ) (7.29.29)

Further, from (7.29.28), we have

ψnm1 = 0 (7.29.30)

Let
868 7 Continuous Systems

= ω11 + ε2 σ (7.29.31)

and substitute them into (7.29.26), we obtain

D02 ψ112 + ω11

2
ψ112 = −2iω11 A11 eiω11 T0 − 2iω11 μ̂11 A11 eiω11 T0
(7.29.32)
+3α 11 A11 A11 eiω11 T0 + k11 eiσ T2 eiω11 T0 + cc + NST
2 2

D02 ψnm2 + ωnm

2
ψnm2 = −2iωnm Anm eiωnm T0 − 2iωnm μ̂nm Anm eiωnm T0
(7.29.33)
+3α nm Amm Amm eiωnm T0 + cc + NST , n = 1, m = 1
2 2

In order to eliminate secular terms from these two equations, we need

−2iω11 A11 − 2iω11 μ̂11 D0 A11 + 3α 2 2

11 A11 A11 + k11 eiσ T2 = 0 (7.29.34)

−2iωnm Anm − 2iωnm μ̂nm Anm + 3α 2 2

nm Amm Amm =0
(7.29.35)
n = 1, m = 1

Let

Anm = anm eiβnm (7.29.36)

and substitute this into (7.29.35), we can obtain

 
−iωnm anm + ωnm anm βnm − iωnm μ̂nm anm + 38 α 2 3
nm amm =0
(7.29.37)
n = 1, m = 1

Separating the real and imaginary parts of the above equation yields

anm + μ̂nm anm = 0, n = 1, m = 1 (7.29.38)

So

anm = anm0 e−μ̂nm T2 → 0, n = 1, m = 1 (7.29.39)

Substituting (7.29.36) into (7.29.34) yields

  3
−iω11 a11 + ω11 a11 β11 − iω11 μ̂11 a11 + α 2 3
11 a11 + k11 ei(σ T2 −β11 ) = 0 (7.29.40)
8
Separating the real part from the imaginary part of the above equation yields


−ω11 a11 − ω11 μ̂11 a11 + k11 sinγ11 = 0
 (7.29.41)
−ω11 a11 γ11 + ω11 σ a11 + 38 α 11 a11 + k11 cosγ11 = 0
2 3
7.29 Exercise 7.29 (Berger Equation for Nonlinear Oscillation Analysis … 869

where

γ11 = σ T2 − β11 (7.29.42)

From Eq. (7.29.41), we know that the steady state solution satisfies the following
equations:

ω11 μ̂11 a11 = k11 sinγ11 

(7.29.43)
−a11 ω11 σ + 38 α 11 a11 = k11 cosγ11
2 2

From this, the frequency–response equation is

3
ω11
2
μ̂211 a11
2
+ a11
2
(ω11 σ + α 11 a11 )
2 2 2
= k11
2
(7.29.44)
8
As seen from the above results, only 1 ~ 1 mode is excited under the above resonant
excitation.
When a = b,ω12 = ω21 . Since this is still a primary resonance of the plate, the
solution to Exercise 7.29(b), (7.29.20)–(7.29.30), still holds.
When k12 = k21 , Eqs. (7.29.32) and (7.29.33) change to:

D02 ψ122 + ω12

2
ψ122 = −2iω12 A12 eiω12 T0 − 2iω12 μ̂12 A12 eiω12 T0
(7.29.45)
+3α 12 A12 A12 eiω12 T0 + k12 eiσ T2 eiω12 T0 + cc + NST
2 2

D02 ψnm2 + ωnm

2
ψnm2 = −2iωnm Anm eiωnm T0 − 2iωnm μ̂nm Anm eiωnm T0
(7.29.46)
+3α nm Amm Amm eiωnm T0 + cc + NST , n = 1, m = 2
2 2

From this, we can obtain

anm = anm0 e−μ̂nm T2 → 0, n = 1, m = 2 (7.29.47)

Hence only 1 ~ 2 mode is excited in this case.

When k12 = k21 , Eqs. (7.29.32) and (7.29.33) change to:

D02 ψ122 + ω12

2
ψ122 = −2iω12 A12 eiω12 T0 − 2iω12 μ̂12 A12 eiω12 T0
(7.29.48)
+3α 12 A12 A12 eiω12 T0 + k12 eiσ T2 eiω12 T0 + cc + NST
2 2

D02 ψ212 + ω21

2
ψ212 = −2iω21 A21 eiω21 T0 − 2iω21 μ̂21 A21 eiω21 T0
(7.29.49)
+3α 21 A21 A21 eiω21 T0 + k21 eiσ T2 eiω21 T0 + cc + NST
2 2

D02 ψnm2 + ωnm

2
ψnm2 = −2iωnm Anm eiωnm T0 − 2iωnm μ̂nm Anm eiωnm T0
(7.29.50)
+3α nm Amm Amm eiωnm T0 + cc + NST , n = 1, m = 2
2 2

From this, we can obtain

870 7 Continuous Systems

anm = anm0 e−μ̂nm T2 → 0, n = 1, m = 2 and n = 2, m = 1 (7.29.51)

Hence both 1 ~ 2 and 2 ~ 1 modes are excited.

7.30 Exercise 7.30 (Nonlinear Oscillation Analysis

of Rotating Circular Films)

Solution: In order to have a more thorough understanding of the problem, let us

first derive the nonlinear governing equations for the rotating film in the problem.
Neglecting the inertial force of the longitudinal motion of the plate, we can obtain
the equation of motion of the plate in the Cartesian coordinate system is (Sect. 7.6.1
of the Book)
   
∂ 2 Mx ∂ 2 My ∂ 2 Mxy ∂ ∂w ∂ ∂w
+ + 2 + N x + Ny
∂x2 ∂y2 ∂x∂y ∂x ∂x ∂y ∂y
   
∂ ∂w ∂ ∂w ∂ 2w
+ Nxy + Nxy + f = ρh 2 (7.30.1)
∂x ∂y ∂y ∂x ∂t
∂Nx ∂Nxy
+ = −qx (7.30.2)
∂x ∂y
∂Nxy ∂Ny
+ = −qy (7.30.3)
∂x ∂y

where qx and qy are the centrifugal loads in the rotating surface. Assuming that the
film does not resist bending, i.e., the bending moment and torque in (7.30.1) are
zeros, yields
       
∂ ∂w ∂ ∂w ∂ ∂w ∂ ∂w ∂ 2w
Nx + Ny + Nxy + Nxy + f = ρh 2
∂x ∂x ∂y ∂y ∂x ∂y ∂y ∂x ∂t
(7.30.4)

Let’s rewrite Eqs. (7.30.2)–(7.30.4) in the polar coordinate form. As shown in

Fig. 7.6a, b, we have

qr = ρ(hrdrd θ ) 2
r/rdrd θ = ρh 2
r (7.30.5)

The force equilibrium equations for the film element in radial and tangential
directions are:
   
∂Nr ∂Nrθ
Nr + dr (r + dr)d θ − Nr rd θ + Nrθ + d θ dr − Nrθ dr
∂r ∂θ
7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 871

(a) (b)

Fig. 7.6 a Polar coordinate, b force analysis on thin film elements for Exercise 7.30

 
∂Nθ
− Nθ + d θ drd θ + qr r drd θ = 0
∂θ
   
∂Nθ ∂Nrθ
Nθ + d θ dr − Nθ dr + Nrθ + dr (r + dr)d θ − Nrθ rd θ
∂θ ∂r
 
∂Nr θ
+ Nr θ + d θ drd θ = 0
∂θ

The above two equations are reorganized to give

∂(Nr r) ∂Nrθ
+ − Nθ = −ρh 2 2
r
∂r ∂θ
∂(Nrθ r) ∂Nθ
+ + Nrθr = 0 (7.30.6)
∂r ∂θ
Define the stress function according to the following equation F:

1 ∂F 1 ∂ 2F 1
Nr = + 2 2 − ρh 2 2
r
r ∂r r ∂θ 2
 
∂ 2F 1 ∂ 1 ∂F
Nθ = − ρh 2 r 2 , Nrθ =− (7.30.7)
∂r 2 2 ∂r r ∂θ

It is easy to verify that the Nr , Nθ , Nrθ given by the above equation automatically
satisfy the equations of equilibrium shown in (7.30.6).
In order to convert (7.30.4) into polar coordinate form, we consider the relationship
between the derivatives in two coordinate systems. First, we have
y
r 2 = x2 + y2 , tanθ = (7.30.8)
x
From this, we have
872 7 Continuous Systems

∂r x ∂r y
= = cos θ, = = sin θ
∂x r ∂y r
∂θ y sin θ ∂θ x cos θ
=− 2 =− , = 2 = (7.30.9)
∂x r r ∂y r r

Furthermore, for any function G(x, y) in the xy plane, or G(rcosθ, rsinθ ) in the
rθ plane, there are

∂G ∂G ∂r ∂G ∂θ ∂G sin θ ∂G
= + = cos θ −
∂x ∂r ∂x ∂θ ∂x ∂r r ∂θ
∂G ∂G ∂r ∂G ∂θ ∂G cos θ ∂G
= + = sin θ + (7.30.10)
∂y ∂r ∂y ∂θ ∂y ∂r r ∂θ
   
∂ 2G ∂ 2G 1 ∂G 1 ∂ 2G ∂ 1 ∂G
= cos2 θ 2 + sin2 θ + 2 2 − 2 sin θ cos θ
∂x2 ∂r r ∂r r ∂θ ∂r r ∂θ
 2   
∂ 2G ∂ 2
G 1 ∂G 1 ∂ G ∂ 1 ∂G
= sin2 θ 2 + cos2 θ + 2 2 + 2 sin θ cos θ
∂y2 ∂r r ∂r r ∂θ ∂r r ∂θ
 2   
∂ 2G 1 ∂G 1 ∂ G ∂ G
2   ∂ 1 ∂G
= − sin θ cos θ + 2 2 − 2 + cos2 θ − sin2 θ
∂x∂y r ∂r r ∂θ ∂r ∂r r ∂θ
(7.30.11)
 2   
∂ ∂2 ∂2 1 ∂ 1 ∂2
∇2G = + G = + + G (7.30.12)
∂x2 ∂y2 ∂r 2 r ∂r r 2 ∂θ 2

The relationship between the internal forces in the midplane Nx , Ny , Nxy and
Nr , Nθ , Nrθ in both coordinate systems are

Nx = Nr cos2 θ + Nθ sin2 θ − 2Nrθ sin θ cos θ

Ny = Nr sin2 θ + Nθ cos2 θ + 2Nrθ sin θ cos θ
 
Nxy = (Nr − Nθ ) sin θ cos θ + Nrθ cos2 θ − sin2 θ (7.30.13)

Nr = Nx cos2 θ + Ny sin2 θ + 2Nxy sin θ cos θ

Nθ = Nx sin2 θ + Ny cos2 θ − 2Nxy sin θ cos θ
   
Nrθ = Ny − Nx sin θ cos θ + Nxy cos2 θ − sin2 θ (7.30.14)

Substituting (7.30.7) into (7.30.13) yields

1 ∂F 1 ∂ 2F ∂ 2F
Nx = cos2 θ + 2 2 cos2 θ + 2 sin2 θ
r ∂r   r ∂θ ∂r
∂ 1 ∂F 1
+2 sin θ cos θ − ρh 2 r 2
∂r r ∂θ 2
7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 873

1 ∂F 1 ∂ 2F ∂ 2F
Ny = sin2 θ + 2 2 sin2 θ + 2 cos2 θ
r ∂r   r ∂θ ∂r
∂ 1 ∂F 1
−2 sin θ cos θ − ρh 2 r 2
∂r r ∂θ 2
 
1 ∂F 1 ∂ 2F ∂ 2F
Nxy = + 2 2 − 2 sin θ cos θ
r ∂r r ∂θ ∂r
 
∂ 1 ∂F  2 
− cos θ − sin2 θ (7.30.15)
∂r r ∂θ

Remove the external load f from Eq. (7.30.4) and take into account (7.30.2) and
(7.30.3), we obtain
       
∂2w ∂ ∂w ∂ ∂w ∂ ∂w ∂ ∂w
ρh = Nx + Ny + Nxy + Nxy
∂t 2 ∂x ∂x ∂y ∂y ∂x ∂y ∂y ∂x
   
∂2w ∂2w ∂2w ∂Nx ∂Nxy ∂w ∂Nxy ∂Ny ∂w
= Nx 2 + Ny 2 + 2Nxy + + + +
∂x ∂y ∂x∂y ∂x ∂y ∂x ∂x ∂y ∂y
∂2w ∂2w ∂2w ∂w ∂w
= Nx + Ny 2 + 2Nxy − qx − qy
∂x2 ∂y ∂x∂y ∂x ∂y

i.e.,

∂ 2w ∂ 2w ∂ 2w ∂ 2w ∂w ∂w
ρh = Nx + Ny + 2Nxy − qx − qy (7.30.16)
∂t 2 ∂x 2 ∂y 2 ∂x∂y ∂x ∂y

Let’s deal with the terms on the right-hand side of (7.30.16). First, we know

qx = qr cosθ, qy = qr sinθ (7.30.17)

So
∂w ∂w ∂w ∂w ∂w
qx + qy = qr cosθ + qr sinθ = ρh 2
r (7.30.18)
∂x ∂y ∂x ∂y ∂r

Using (7.30.15) and (7.30.11), we can write the first term on the right-hand side
of (7.30.16) as
 
∂ 2w 1 ∂F 1 ∂ 2F ∂ 2F ∂ 1 ∂F
Nx = cos 2
θ + cos 2
θ + sin 2
θ + 2 sin θ cos θ
∂x2 r ∂r r 2 ∂θ 2 ∂r 2 ∂r r ∂θ
   
2 ∂ w 1 ∂w 1 ∂ 2w ∂ 1 ∂w
2
× cos θ 2 + sin θ 2
+ 2 2 − 2 sin θ cos θ
∂r r ∂r r ∂θ ∂r r ∂θ
1 ∂ w
2
− ρh 2 r 2 2 (7.30.19)
2 ∂x
The second term on the right-hand side of (7.30.16) is
874 7 Continuous Systems
 
∂ 2w 1 ∂F 1 ∂ 2F ∂ 2F ∂ 1 ∂F
Ny 2 = sin θ + 2 2 sin θ + 2 cos θ − 2
2 2 2
sin θ cos θ
∂y r ∂r r ∂θ ∂r ∂r r ∂θ
   
2 ∂ w 1 ∂w 1 ∂ 2w ∂ 1 ∂w
2
× sin θ 2 + cos θ 2
+ 2 2 + 2 sin θ cos θ
∂r r ∂r r ∂θ ∂r r ∂θ
1 ∂ w
2
− ρh 2 r 2 2 (7.30.20)
2 ∂y

The third term on the right-hand side of (7.30.16) is

   
∂ 2w 1 ∂F 1 ∂ 2F ∂ 2F ∂ 1 ∂F  2 
2Nxy =2 + 2 2 − 2 sinθ cosθ − cos θ − sin2 θ
∂x∂y r ∂r r ∂θ ∂r ∂r r ∂θ
   
1 ∂w 1 ∂ 2w ∂ 2w  2  ∂ 1 ∂w
× −sinθ cosθ + 2 2 − 2 + cos θ − sin θ 2
r ∂r r ∂θ ∂r ∂r r ∂θ
(7.30.21)

After reorganization, we obtain

∂ 2w ∂ 2w ∂ 2w
Nx + N y + 2N xy
∂x2 ∂y2 ∂x∂y
2  
1 ∂ w 1 ∂F 1 ∂ 2F
= − ρh r ∇ w + 2
2 2 2
+ 2 2
2 ∂r r ∂r r ∂θ
     
1 ∂w 1 ∂ 2w ∂ 2F ∂ 1 ∂w ∂ 1 ∂F
+ + 2 2 − 2 (7.30.22)
r ∂r r ∂θ ∂r 2 ∂r r ∂θ ∂r r ∂θ

Substituting (7.30.18) and (7.30.22) into (7.30.16), we can obtain the governing
equation for the rotating film
 2   
∂ w 2 ∂w 1 ∂ 2 w 1 ∂F 1 ∂ 2F
ρh +r + r2 2
∇ w =
2
+ 2 2
∂t 2 ∂r 2 ∂r 2 r ∂r r ∂θ
 
1 ∂w 1 ∂ 2w ∂ 2F
+ + 2 2
r ∂r r ∂θ ∂r 2
   
∂ 1 ∂w ∂ 1 ∂F
−2 (7.30.23)
∂r r ∂θ ∂r r ∂θ

The following is to derive the relation between the stress function F and the
transverse displacement w. From the definition of the stress function (7.30.7), we
obtain

∇ 4 F = 4ρh 2
+ ∇ 2 (Nr + Nθ ) (7.30.24)

From (7.30.14), we can see that the Eq. (7.30.24) becomes

7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 875
 
∇ 4 F = 4ρh 2
+ ∇ 2 Nx + Ny (7.30.25)

By (7.30.2) and (7.30.3), we have

 
∂ 2 Nx ∂ 2 Ny ∂ 2 Nxy ∂qx ∂qy
+ +2 =− + (7.30.26)
∂x2 ∂y2 ∂x∂y ∂x ∂y

Substituting (7.30.6) into (7.30.25) yields

 
∂qx ∂qy ∂ 2 Ny ∂ 2 Nx ∂ 2 Nxy
∇ F = 4ρh
4 2
− + + + − 2 (7.30.27)
∂x ∂y ∂x2 ∂y2 ∂x∂y

The midplane strain is

   
∂u 1 ∂w 2 ∂v 1 ∂w 2 ∂v ∂u ∂w ∂w
εx = + , εy = + , γxy = + +
∂x 2 ∂x ∂y 2 ∂y ∂x ∂y ∂x ∂y
(7.30.28)

The midplane internal force can be expressed in terms of midplane strain as

Eh
Nx = (εx + νεx ) (7.30.29)
1 − ν2
Eh  
Ny = εy + νεy (7.30.30)
1−ν 2

Eh
Nxy = Ghγxy =   (1 − ν)γxy (7.30.31)
2 1 − ν2

which adopts the relationship between the elastic constants of isotropic materials
G = E/2(1 + ν).
Substituting (7.30.29)–(7.30.31) into (7.30.26) yields
 2    
∂ 2 εx ∂ 2 εy ∂ 2 εxy ∂ εx ∂ 2 εy ∂ 2 εxy 1 − ν 2 ∂qx ∂qy
+ + = −ν + − − +
∂x2 ∂y2 ∂x∂y ∂x2 ∂y2 ∂x∂y Eh ∂x ∂y
(7.30.32)

From the expression of the midplane strain (7.30.28), we can obtain the
compatibility equation for midplane strain
 2
∂ 2 εx ∂ 2 εy ∂ 2 γxy ∂ 2w ∂ 2w ∂ 2w
+ − = − (7.30.33)
∂y2 ∂x2 ∂x∂y ∂x∂y ∂x2 ∂y2

Substituting (7.30.29)–(7.30.30) into (7.30.27) yields

876 7 Continuous Systems
 
∂qx ∂qy
∇ 4 F = 4ρh 2
− +
∂x ∂y
 2 
Eh ∂ εx
2
∂ 2 εy ∂ 2 γxy ∂ εx ∂ 2 εy ∂ 2 γxy
+ + − +ν + +
1 − ν2 ∂y2 ∂x2 ∂x∂y ∂x2 ∂y2 ∂x∂y
(7.30.34)

Substituting (7.30.32) into (7.30.34) yields

   2 
∂qx ∂qy ∂ εx ∂ 2 εy ∂ 2 γxy
∇ F = 4ρh
4 2
− (1 + ν) + + Eh + −
∂x ∂y ∂y2 ∂x2 ∂x∂y
(7.30.35)

Substituting the compatibility Eq. (7.30.33) into the above equation, we obtain
  
∂qx ∂qy ∂ 2w 2 ∂ 2w ∂ 2w
∇ F = 4ρh
4 2
− (1 + ν) + + Eh[ ) − 2 (7.30.36)
∂x ∂y ∂x∂y ∂x ∂y2

Now, let’s return the Eq. (7.30.36) back into the polar coordinate system. We have

∂qx ∂qy ∂(qr cos θ ) sin θ ∂(qr cos θ )

+ = cos θ −
∂x ∂y ∂r r ∂θ
∂(qr sin θ ) cos θ ∂(qr sin θ )
+ sin θ +
∂r r ∂θ
= 2ρh 2 (7.30.37)
 2  
∂2w ∂2w ∂2w ∂ 2 w 1 ∂w 1 ∂2w
= sin2 θ cos2 θ + sin2 θ sin2 θ 2 + 2
∂x2 ∂y2 ∂r 2 ∂r r ∂r r ∂θ 2
 2  
1 ∂w 1 ∂2w ∂ 1 ∂w 2
+ sin2 θ cos2 θ + 2 − 4 sin 2
θ cos 2
θ
r ∂r r ∂θ 2 ∂r r ∂θ
 2w  ∂2w  
1 ∂w 1 ∂   ∂ 2 w ∂ 1 ∂w
+ cos4 θ + 2 + 2 sin θ cos θ cos2 θ − sin2 θ
r ∂r r ∂θ 2 ∂r 2 ∂r ∂r r ∂θ
2
 2 w  ∂  1 ∂w 
 2  1 ∂w 1 ∂
− 2 sin θ cos θ cos θ − sin2 θ + 2
r ∂r r ∂θ 2 ∂r r ∂θ

 2  2
∂ 2w 1 ∂w 1 ∂ 2w ∂ 2w
= sin2 θ cos2 θ + 2 2 − 2
∂x∂y r ∂r r ∂θ ∂r
  2
 2 ∂ 1 ∂w
+ cos2 θ − sin2 θ
∂r r ∂θ
  
 2  ∂ 1 ∂w 1 ∂w 1 ∂ 2w ∂ 2w
− 2sinθ cosθ cos θ − sin θ
2
+ 2 2 − 2
∂r r ∂θ r ∂r r ∂θ ∂r

So
7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 877

 2    
∂ 2w ∂ 2w ∂ 2w 1 ∂w 1 ∂ 2w ∂ 2w ∂ 1 ∂w 2
− 2 =− + 2 2 +
∂x∂y ∂x ∂y2 r ∂r r ∂θ ∂r 2 ∂r r ∂θ
 2  2  2
1 ∂w 1 ∂ w ∂ w 1 ∂ 2w
=− + 2 2 + 2
r ∂r r ∂θ ∂r 2 r ∂r∂θ
 2
2 ∂ w ∂w
2
1 ∂w
− 3 + 4 (7.30.38)
r ∂r∂θ ∂θ r ∂θ

Substituting (7.30.37) and (7.30.38) into (7.30.36) yields

∇ 4 F = 2ρh(1 − ν) 2
    2   
1 ∂w 1 ∂ 2w ∂ 2w 1 ∂ 2w 2 ∂ 2 w ∂w 1 ∂w 2
+ Eh − + 2 2 + 2 − 3 + 4
r ∂r r ∂θ ∂r 2 r ∂r∂θ r ∂r∂θ ∂θ r ∂θ
(7.30.39)

Now we have deduced all governing equations for a rotating film expressed in
terms of the transverse displacement w and the stress function F.
Let

w = Ar 2 sin2(θ ± ct)
1  4
F = Br 4 cos4(θ ± ct) + 2hEA2 + (1 − ν)ρh 2
r − Cr 2 (7.30.40)
32
Substituting (7.30.40) into the governing Eq. (7.30.23) yields

  1 
2ρh −2c2 + 2
=− 2hEA2 + (1 − ν)ρh 2
+ 48B
2
The above equation is reorganized to give

1 E 2 12B
c2 − (5 − ν) 2
= A − (7.30.41)
8 4ρ ρh

Substituting (7.30.40) into (7.30.39), we can find that the equation is automatically
satisfied.
For a free rotating circular film with radius R, the boundary conditions can be
written as

Nr (R, θ ) = 0, Nrθ (R, θ ) = 0 (7.30.42)

Combining (7.30.7) and (7.30.40), we have

1 ∂F 1 ∂ 2F 1
Nr (R, θ ) = + 2 2 − ρh r | r=R
2 2
r ∂r r ∂θ 2
878 7 Continuous Systems

1
= −12BR2 cos 4(θ ± ct) − ρh 2 R2
2
1 
+ 2hEA + (1 − ν)ρh 2 R2 − 2C = 0
2
8  
∂ 1 ∂F
Nrθ (R, θ ) = − | r=R
∂r r ∂θ
= −12BR2 sin 4(θ ± ct) = 0 (7.30.43)

So

1 1
B = 0, 2C = hEA2 − (3 + ν)ρh 2
R2 (7.30.44)
4 8

The displacement solution w = Ar 2 sin2(θ ± ct) given in (c) is a wave propagating

in the circumferential direction with a velocity c. The wave does not change with time
along the axial direction; therefore, this wave, with a definite wave form, propagates
around the central axis with an angular velocity c. When this wave form rotates at the
same speed and in the same direction as the film, it becomes a stationary wave; i.e.,
the transverse displacement, as well as the stress and strain, at any definite point on
the film does not change with time. Therefore, for stationary wave,c = . Further,
from (7.30.41) and (7.30.44), we have
2
= 2EA2 /ρ(3 + ν) (7.30.45)

For a free spinning membrane with radius R, we assume that the separated variable
solution to (7.30.39) be

r !2
w= A cos2θ ψ(t) (7.30.46)
R

Substituting (7.30.46) into (7.30.39) yields

4EhA2 2
∇ 4 F = 2ρh(1 − ν) 2
+ ψ
R4
i.e.,
 2
∂2 1 ∂ 1 ∂2 4EhA2 2
+ + 2 2 F = 2ρh(1 − ν) 2
+ ψ (7.30.47)
∂r 2 r ∂r r ∂θ R4

The right-hand side of Eq. (7.30.47) is independent of the spatial variables r and
θ , and the lowest order of the derivative of the left-hand side of the equation F with
respect to θ is second order; therefore, if we wish to obtain a polynomial solution for
F, then F can only take the quadratic and linear terms of θ . Since θ is a rotational
variable in the whole circumference, F would be a multivalued function of θ , which
7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 879

might cause the film to break up along any radial direction and is not allowed (or a
case that is outside of the scope of the present study). In summary, we can only take
F to be independent of θ . Thus, the Eq. (7.30.47) becomes
 2
∂2 1 ∂ 4EhA2 2
+ F = 2ρh(1 − ν) 2
+ ψ (7.30.48)
∂r 2 r ∂r R4

The solution to (7.30.48) can be assumed to be

F = a4 r 4 + a2 r 2 (7.30.49)

Substituting (7.30.49) into (7.30.48) yields

4EhA2 2
64a4 = 2ρh(1 − ν) 2
+ ψ (7.30.50)
R4

Note that the Eq. (7.30.49) cannot contain the term r 3 ; otherwise, the Eq. (7.30.50)
would have a term containing 1/r on the right-hand side.
Then, from the boundary condition (7.30.42), we have

1 ∂F 1 ∂ 2F 1
Nr (R, θ ) = + 2 2 − ρh 2 r 2 | r=R
r ∂r r ∂θ 2
1
= 4a4 R2 + 2a2 − ρh 2 R2 = 0 (7.30.51)
2
The boundary condition Nrθ (R, θ ) = 0 is automatically satisfied.
From (7.30.50) and (7.30.51), we have

1 EhA2 2
a4 = ρh(1 − ν) 2
+ ψ
32 16R4
1 EhA2 2
a2 = ρh(3 + ν) R −
2 2
ψ (7.30.52)
16 8R2
Therefore, the stress function F is

EhA2 r !4 r!2
F= −2
16 R R
1 1
ψ 2 + ρh(1 − ν) 2 r 4 + ρh(3 + ν) 2 2 2
R r (7.30.53)
32 16

Substitute the expression for the displacement w (7.30.46) and the stress function
F (7.30.53) into the governing Eq. (7.30.23), we obtain

ψ̈ + α1 ψ + α3 ψ 3 = 0 (7.30.54)
880 7 Continuous Systems

where

1 EA2
α1 = (5 − ν) 2
, α3 = (7.30.55)
2 ρR4

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Chapter 8
Traveling Waves

8.1 Exercise 8.1 (Determination on Dispersive Wave)

Solution: (a) Let the solution of the equation be

u(x, t) = aei(kx−ωt) (8.1.1)

Substituting this into the given equation gives

ω
k − ω = 0 ⇒ c0 = =1 (8.1.2)
k
It can be seen that the phase speed c0 is constant and hence the solution to the
given equation is a non-dispersive wave.
(b) Substituting (8.1.1) into the given equation, we get
ω
ω − k + ik 2 = 0 ⇒ c0 = = 1 − ik (8.1.3)
k
It can be seen that the phase speed c0 is a function of the wave number k and
therefore the solution to the given equation is a dispersive wave.
(c) Substituting (8.1.1) into the given equation, we get
ω
ω = k − k 3 ⇒ c0 = = 1 − k2 (8.1.4)
k
It can be seen that the phase speed c0 is a function of the wave number k and
therefore the solution to the given equation is a dispersive wave.
(d) Substituting (8.1.1) into the given equation, we get

© The Author(s) 2025 881

Z. He et al., Solved Problems in Nonlinear Oscillations,
https://doi.org/10.1007/978-981-97-6113-5_8
882 8 Traveling Waves

ω 
ω2 = k 2 + 1 ⇒ c0 = = 1 + k −2 (8.1.5)
k
It can be seen that the phase speed c0 is a function of the wave number k and
therefore the solution to the given equation is a dispersive wave.

8.2 Exercise 8.2 (Direct Expansion and Reformulation

Analysis of Longitudinal Waves of Semi-infinite
Uniform Rods with Material Nonlinearity)

Solution: (a) The given equation is a nonlinear control equation for a uniform
semi-infinite bar with material nonlinearity. Let the solution of the equation can
be expressed as

u(x, t) = εu1 (x, t) + ε2 u2 (x, t) + · · · (8.2.1)

Substituting this into the control equation and retaining to O(ε2 ) yields

∂ 2u ∂ 2u ∂u ∂ 2 u
0= − + 2E 1
∂x2 ∂t 2 ∂x ∂x2
 2   2 
∂ u1 ∂ u1
2
2 ∂ u2 ∂ 2 u2 ∂u1 ∂ 2 u1
=ε − + ε − + 2E1 (8.2.2)
∂x2 ∂t 2 ∂x2 ∂t 2 ∂x ∂x2

Equating coefficients of like powers of ε in (8.2.2) yields

∂ 2 u1 ∂ 2 u1
− =0 (8.2.3)
∂x2 ∂t 2

∂ 2 u2 ∂ 2 u2 ∂u1 ∂ 2 u1
− = −2E1 (8.2.4)
∂x2 ∂t 2 ∂x ∂x2
Equation (8.2.3) is a one-dimensional wave equation whose general solution for
a right-running wave is

u1 (x, t) = f (t − x) = f (s1 ), s1 = t − x (8.2.5)

Substituting (8.2.5) into (8.2.4) yields

∂ 2 u2 ∂ 2 u2 df d 2 f
− = 2E1 (8.2.6)
∂x2 ∂t 2 ds1 ds12

Let
8.2 Exercise 8.2 (Direct Expansion and Reformulation Analysis … 883

u2 (x, t) = u2 (x, s1 ) = X (x)S(s1 ) (8.2.7)

Substituting this into (8.2.6) yields

d 2X dX dS df d 2 f
S − 2 = 2E1 (8.2.8)
dx2 dx ds1 ds1 ds12

where ∂ 2 S/∂x2 − ∂ 2 S/∂t 2 = 0 has been considered. In order to make the left side
of the above equation to be a function of s1 , we need

dX
= constant ⇒ X (x) = Cx + B (8.2.9)
dx
where C, B is the constant of integration. Since BS(s1 ) is the homogeneous solution
of (8.2.6) and it need not be considered, hence X (x) = Cx. The Eq. (8.2.8) becomes

dS df 2
−2C = E1 (8.2.10)
ds1 ds1

therefore
1
S=− E1 f 2 (8.2.11)
2C
and
1
u2 = − E1 xf 2 (8.2.12)
2
Finally,

1
u = εf (s1 ) − ε2 E1 xf 2 (s1 ) + · · · (8.2.13)
2
Applying boundary conditions to the above equation yields

φ(t) = f (t) ⇒ f (s1 ) = φ(s1 ) (8.2.14)

Therefore, the approximate solution of the original equation is

1
u = εφ(s1 ) − ε2 E1 xφ 2 (s1 ) + · · · (8.2.15)
2

(b) The longitudinal strain of the rod e is

∂u 1
e= = −εφ  (s1 ) − ε2 E1 φ 2 (s1 ) + ε2 E1 xφ  (s1 )φ  (s1 ) + · · ·
∂x 2
884 8 Traveling Waves

i.e.,

1  
e = −εφ  (s1 ) − ε2 E1 φ 2 (s1 ) − 2xφ  (s1 )φ  (s1 ) + · · · (8.2.16)
2
The second term on the right-hand side of the above equation diverges as x
increases. When x = O ε−1 or larger, the second term is of the same order as the
first term or becomes of lower order. Therefore, the above expansion is not uniformly
valid.
(c) Apply the reformulation method such that

s1 = ξ + εξ1 (x, ξ ) + · · · (8.2.17)

Substituting this into the expression of strain yields

1  
e = −εφ  (ξ ) − ε2 E1 φ 2 (ξ ) − ε2 E1 xφ  (ξ )φ  (ξ ) − ξ1 φ  (ξ ) + · · · (8.2.18)
2
In order to eliminate secular terms from the above equation, we need

ξ1 = E1 xφ  (ξ ) (8.2.19)

So, the approximate expressions for e and s1 become

e = −εφ  (ξ ) + · · · (8.2.20)

s1 = ξ + εE1 xφ  (ξ ) + · · · (8.2.21)

(d) Substituting (8.2.17) into (8.2.15) yields

1
u = εφ(s1 ) − ε2 E1 xφ 2 (s1 ) + · · ·
2
1
= εφ(ξ ) + ε2 ξ1 φ  (ξ ) − E1 xφ 2 (ξ ) + · · · (8.2.22)
2

In order to eliminate secular terms from the above equation, we need

1
ξ1 = E1 xφ  (ξ ) (8.2.23)
2
So, the approximate expressions for u and s1 become

u = εφ(ξ ) + · · · (8.2.24)
8.3 Exercise 8.3 (Direct Expansion and Reformulation Analysis … 885

1
s1 = ξ + εE1 xφ  (ξ ) + · · · (8.2.25)
2
In this case, the approximate expression for the strain e becomes

∂u 1
e= = −εφ  (s1 ) − ε2 E1 φ 2 (s1 ) + ε2 E1 xφ  (s1 )φ  (s1 ) + · · ·
∂x 2
1 2 1
= −εφ (ξ ) − ε E1 xφ  (ξ )φ  (ξ ) − ε2 E1 φ 2 (ξ ) + ε2 E1 xφ  (ξ )φ  (ξ ) + · · ·

2 2
1 1
= −εφ  (ξ ) + ε2 E1 xφ  (ξ )φ  (ξ ) − ε2 E1 φ 2 (ξ ) + · · ·
2 2
i.e.,

1  
e = −εφ  (s1 ) − ε2 E1 φ 2 (s1 ) − xφ  (s1 )φ  (s1 ) + · · · (8.2.26)
2
Clearly, such results for strain diverge with x and are not uniformly valid.

8.3 Exercise 8.3 (Direct Expansion and Reformulation

Analysis of a Nonlinear Acoustic Equation)

Solution: (a) The given equation is the governing equation for the nonlinear acoustic
wave of the pipe. Since the given edge value φx (0, t) contains a constant term, let its
direct expansion be

φ(x, t) = Mx + εφ1 (x, t) + ε2 φ2 (x, t) + · · · (8.3.1)

Substituting this into the control equation and retaining to O(ε2 ) yields

1 1
0 = φtt − φxx + 2φx φxt − (1 − γ ) φt + φx2 − M 2 φxx + φx2 φxx
2 2
∂ 2 φ1 ∂ 2 φ2 ∂ 2 φ1 ∂ 2 φ2
= ε 2 + ε2 2 − ε 2 − ε2 2
∂t ∂t ∂x ∂x
  2 
∂φ1 ∂ φ1 2 ∂ φ2
2
+2 M +ε ε +ε
∂x ∂x∂t ∂x∂t
   2 
∂φ1 1 ∂φ1 2 1 2 ∂ φ1 ∂ 2 φ2
− (1 − γ ) ε + M +ε − M ε 2 + ε2 2
∂t 2 ∂x 2 ∂x ∂x
 2  2 
∂φ1 ∂ φ1 ∂ 2 φ2
+ M +ε ε 2 + ε2 2
∂x ∂x ∂x
886 8 Traveling Waves
 
∂ 2 φ1 ∂ 2 φ1 2 ∂ φ1
2
∂ 2 φ1
=ε + 2M +M −
∂t 2 ∂x∂t ∂x2 ∂x2
⎡ 2 ⎤
∂ φ2 ∂ φ2
2
2 ∂ φ2
2
∂ 2 φ2 ∂φ1 ∂ 2 φ1
⎢ ∂t 2 + 2M ∂x∂t + M ∂x2 − ∂x2 + 2 ∂x ∂x∂t ⎥
+ ε2 ⎢
⎣
⎥ (8.3.2)
∂φ1 ∂ 2 φ1 ∂φ1 ∂ 2 φ1 ∂φ1 ∂ 2 φ1 ⎦
−(1 − γ ) − (1 − γ )M + 2M
∂t ∂x2 ∂x ∂x2 ∂x ∂x2
Equating coefficients of like powers of ε in (8.3.2) yields

∂ 2 φ1 ∂ 2 φ1 2 ∂ φ1
2
∂ 2 φ1
+ 2M + M − =0
∂t 2 ∂x∂t ∂x 2 ∂x 2
∂ 2 φ2 ∂ 2 φ2 ∂ 2
φ 2 ∂ 2
φ 2 ∂φ1 ∂ 2 φ1
+ 2M + M 2
− = −2
∂t 2 ∂x∂t ∂x2 ∂x2 ∂x 2∂x∂t
+(1 − γ ) ∂t ∂x2 + (1 − γ )M ∂x ∂x2 − 2M ∂φ
∂φ1 ∂ 2 φ1 ∂φ1 ∂ 2 φ1 1 ∂ φ1
∂x ∂x2

These two equations can be written as

 2
∂ ∂ ∂ 2 φ1
+M φ1 − =0 (8.3.3)
∂t ∂x ∂x2
∂ 
∂ 2
φ2 − ∂∂xφ22 = −2 ∂φ 1 ∂ φ1
+ (1 − γ ) ∂φ 1 ∂ φ1
2 2 2

∂t
+ M ∂x ∂x ∂x∂t ∂t ∂x2 (8.3.4)
+ (1 − γ ) ∂φ 1 ∂ φ1
− 2M ∂φ 1 ∂ φ1
2 2

∂x ∂x2 ∂x ∂x2

If we make η = (1 + M )t − x, φ1 = φ1 (η), the general solution of the Eq. (8.3.3)

is

φ1 = g(η)

or

φ1 = f (ξ ), ξ = t − (1 + M )−1 x (8.3.5)

Substituting (8.3.5) into (8.3.4) yields

∂ ∂ 2
 ∂ 2 φ2
∂t
+ M ∂x φ2 −∂x2
= −2(1 + M )−2 ddgξ d 2g
dξ2
+ (1 − γ )(1 + M )−2 ddgξ d 2g
dξ2
−3 dg d 2 g
− (1 − γ )M (1 + M ) d ξ d ξ 2
+ 2M (1 + M )−3 ddgξ dd ξg2
2

= −(1 + M )−3 (1 + γ ) ddgξ ddξ 2g·

2

(8.3.6)

Let

φ2 (x, t) = φ2 (x, ξ ) = X (x)H (ξ ) (8.3.7)

8.3 Exercise 8.3 (Direct Expansion and Reformulation Analysis … 887

Substituting (8.3.7) into (8.3.6) yields

 2  d 2X dX dH 1 −3 dg 2
M −1 H + 2 = − (1 + M ) (1 + γ ) (8.3.8)
dx2 dx d ξ 2 dξ

The prime represents the derivative with respect to ξ . In order to make the left
side of the above equation to be a function of ξ , one must take

dX
= cons tan t ⇒ X (x) = Cx + B (8.3.9)
dx
where C, B are the constants of integration. Since BH (ξ ) is the homogeneous solution
of (8.3.3) it need not be considered. Hence X (x) = Cx. The equation (8.3.8) becomes

dH 1 dg 2
= − (1 + M )−3 (1 + γ ) (8.3.10)
dξ 4C dξ

Therefore
1
H (ξ ) = − (1 + M )−3 (1 + γ )g 2 (8.3.11)
4C
And
1
φ2 = − (1 + M )−3 (1 + γ )xg 2 (8.3.12)
4
thereby

1
φ(x, t) = Mx + εg(ξ ) − ε2 (1 + M )−3 (1 + γ )xg 2 (ξ ) (8.3.13)
4
From all these, we can obtain

u = ∂φ
∂x
= M − ε(1 + M )−1 g  (ξ ) − 41 ε2 (1 + M )−3 (1 + γ )g 2 (ξ )
(8.3.14)
+ 2 ε (1 + M )−4 (1 + γ )xg  (ξ )g  (ξ )
1 2

Applying boundary conditions to the above equation yields

f (t) = −(1 + M )−1 g  (t) ⇒ g  (ξ ) = −(1 + M )f (ξ ) (8.3.15)

Substituting (8.3.15) into (8.3.14), with only secular terms are retained for higher-
order terms, yields

1  
u = M + εf (ξ ) + ε2 (γ + 1)(1 + M )−2 xf (ξ )f (ξ ) + O ε3 (8.3.16)
2
888 8 Traveling Waves

Clearly, this solution diverges with x and is a non-uniform expansion.

(b) Apply the reformulation method to solve the problem. Let ξ = s+εs1 (s, x)+· · · ,
and substitute this into (8.3.16), we can obtain

1
u = M + εf (s) + ε2 f  (s) s1 + (γ + 1)(1 + M )−2 xf (s) + · · · (8.3.17)
2

In order to eliminate secular terms in the above equation, we need

1
s1 = − (γ + 1)(1 + M )−2 xf (s) (8.3.18)
2
Therefore, the solution after reformulation is

u = M + εf (s) + · · · (8.3.19)

where
1
t − (1 + M )−1 x = s − ε(γ + 1)(1 + M )−2 xf (s) + · · · (8.3.20)
2

8.4 Exercise 8.4 (Multiscale Analysis on a One-Dimensional

Wave Equation with Cubic Nonlinearity)

Solution: (a) We use the method of multiple scales to find the solution. The corre-
sponding linear homogeneous equation of the given equation is a one-dimensional
wave equation with a right-running wave solution as a function of s1 = t − x. The
nonlinear term in the equation is the cube of the partial derivatives of u with respect
to time t. In order to take this nonlinear effect into account, we introduce the slow-
varying time variable T1 = εt; therefore, the solution of the equation is set as a
function of s1 and T1 . The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s1 ∂T1 ∂t ∂s1 ∂s1 ∂T1 ∂T1
(8.4.1)
∂2 ∂2
= 2
∂x 2 ∂s1

Let the solution of the given equation be

u(x, t) = u0 (s1 , T1 ) + εu1 (s1 , T1 ) + · · · (8.4.2)

8.4 Exercise 8.4 (Multiscale Analysis on a One-Dimensional Wave … 889

Substituting (8.4.1) and (8.4.2) into the given equation and keeping to O(ε), we
get

∂2u ∂2u
 3
0= ∂t 2
− + ε ∂u
∂x2 ∂t
  3 (8.4.3)
= ε 2 ∂s∂1 ∂T ∂u0
2
u0
1
+ ∂s1

Equating coefficients of like powers of ε in (8.4.3) yields

 3
∂ 2 u0 ∂u0
2 + =0 (8.4.4)
∂s1 ∂T1 ∂s1

Let the solution of the Eq. (8.4.4) is

u0 = f (s1 , T1 ) (8.4.5)

then from (8.4.2), we can obtain

u(x, t) = f (s1 , T1 ) + O(ε) (8.4.6)

f satisfies Eq. (8.4.4), i.e.,

 3
∂ 2f ∂f
2 + =0 (8.4.7)
∂s1 ∂T1 ∂s1

Write Eq. (8.4.7) as

∂g ∂f
2 = −g 3 , g = (8.4.8)
∂T1 ∂s1

Separating the variables of the above equation yields

dg
2 = −dT1 (8.4.9)
g3

After integration,

g −2 = T1 + F(s1 ) (8.4.10)

i.e.,

∂f
= [T1 + F(s1 )]−1/2 (8.4.11)
∂s1
890 8 Traveling Waves

(c) From the given initial conditions as well as Eqs. (8.4.6) and (8.4.1), we have

f (−x, 0) = asinωx (8.4.12)

∂ ∂
f (−x, 0) + ε f (−x, 0) = −aωcosωx (8.4.13)
∂s1 ∂T1

Substituting (8.4.11) into (8.4.13) yields

1 ∂
√ +ε f (−x, 0) = −aωcosωx (8.4.14)
F(−x) ∂T1

Equating the coefficients of like powers of ε in the above equation yields

1 1
√ = −aωcosωx ⇒ √ = −aωcosωs1 (8.4.15)
F(−x) F(s1 )

So

sec2 ωs1
F(s1 ) = (8.4.16)
a2 ω2

8.5 Exercise 8.5 (A Simplified Model for Wind-Induced

Oscillation of Overhead Power Lines)

Solution: (a) We use the method of multiple scales to find the solution. The corre-
sponding linear homogeneous equation of the given equation is a one-dimensional
wave equation with a right-running wave solution as a function of s1 = t − x. The
nonlinear term in the equation is the cube of the partial derivatives of u with respect
to time t. In order to take this nonlinear effect into account, we introduce the slow-
varying time variable T1 = εt; therefore, the solution of the equation is set as a
function of s1 and T1 . The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s1 ∂T1 ∂t ∂s1 ∂s1 ∂T1 ∂T1
(8.5.1)
∂2 ∂2
=
∂x2 ∂s12

Let the solution of the given equation be

u(x, t) = u0 (s1 , T1 ) + εu1 (s1 , T1 ) + · · · (8.5.2)

8.5 Exercise 8.5 (A Simplified Model for Wind-Induced Oscillation … 891

Substituting (8.5.1) and (8.5.2) into the given equation and keeping to O(ε), we
get
 3
∂ 2u ∂ 2u ∂u ∂u
0= − − ε β − α
∂t 2 ∂x2 ∂t ∂t
  (8.5.3)
∂ 2 u0 ∂u0 ∂u0 3
=ε 2 −β +α
∂s1 ∂T1 ∂s1 ∂s1

Equating coefficients of like powers of ε in the above equation yields

 
∂ 2 u0 ∂u0 ∂u0 3
2 −β +α =0 (8.5.4)
∂s1 ∂T1 ∂s1 ∂s1

Let the solution of the Eq. (8.5.4) be

u0 = f (s1 , T1 ) (8.5.5)

then from (8.5.2), we can obtain

u(x, t) = f (s1 , T1 ) + O(ε) (8.5.6)

f satisfies the Eq. (8.5.4), i.e.,

 
∂ 2f ∂f ∂f 3
2 −β +α =0 (8.5.7)
∂s1 ∂T1 ∂s1 ∂s1

(b) Write the Eq. (8.5.7) as

∂g ∂f
2 = βg − αg 3 , g =
∂T1 ∂s1

Separating the variables of the above equation yields

2dg
= dT1
βg − αg 3

After integration,

g2 g2
ln = βT1 + C(s 1 ) ⇒ = B(s1 )eβT1
αg 2 − β αg 2 − β

i.e.,
892 8 Traveling Waves

−1/2
∂f α
=g= + F(s1 )e−βT1 (8.5.8)
∂s1 β

(c) From the given initial conditions as well as Eqs. (8.5.6) and (8.5.1), we have

f (−x, 0) = −asinωx (8.5.9)

∂ ∂
f (−x, 0) + ε f (−x, 0) = −aωcosωx (8.5.10)
∂s1 ∂T1

Substituting (8.5.8) into (8.5.10) yields

1 ∂
√ +ε f (−x, 0) = −aωcosωx (8.5.11)
α/β + F(−x) ∂T1

Equating the coefficients of like powers of ε in the above equation yields

1 1
√ = −aωcosωx ⇒ √ = −aωcosωs1 (8.5.12)
α/β + F(−x) α/β + F(s1 )

So

sec2 ωs1 α
F(s1 ) = − (8.5.13)
a ω
2 2 β

And then, by (8.5.8), we can get

∂f aωcosωs1
=   1/2 (8.5.14)
∂s1 α
β
a2 ω2 1 − e−βT1 cos2 ωs1 + e−βT1

In order to make the integration of (8.5.14), we write it as

acosωs1 d (ωs1 )
df =       1/2
α 2 2
β
a ω 1 − e−βT1 + e−βT1 − βα a2 ω2 1 − e−βT1 cos2 ωs1
ad (sinωs1 )
=       1/2
α 2 2
β
1 − e−βT1 + e−βT1 − βα a2 ω2 1 − e−βT1 sin2 ωs1
a ω
 1/2
1 β/α dz
= −βT
√ · (8.5.15)
ω 1−e 1 2 − z2

where
8.6 Exercise 8.6 (Wave Propagating Along a Uniform, Initially Undeformed … 893
 
e−βT1 + βα a2 ω2 1 − e−βT1
2
= α 2 2
  , z = sinωs1 (8.5.16)
β
a ω 1 − e−βT1

Make the integration of Eq. (8.5.15), we can obtain

1 β/α z
f = ( )1/2 arcsin + h(T1 )
ω 1 − e−βT1 ⎧ ⎫
 
1 β/α ⎨ α 2 2
a ω 1 − e−βT1
1/2 ⎬
β
= ( ) arcsin
1/2
  sinωs1 + h(T1 )
ω 1 − e−βT1 ⎩ e−βT1 + βα a2 ω2 1 − e−βT1 ⎭

Assume h(T1 ) = 0, then

⎧   ⎫
 1/2 ⎨ α 2 2
a ω 1 − e−βT1
1/2 ⎬
1 β/α β
f = arcsin   sinωs1
ω 1 − e−βT1 ⎩ e−βT1 + βα a2 ω2 1 − e−βT1 ⎭
(8.5.17)

When T1 → 0, the above equation becomes

⎧   ⎫
 ⎨1 β/α
1/2 α 2 2
a ω 1 − e−βT1
1/2 ⎬
β
f T 1 →0
= lim   sin(−ωx)
T1 →0⎩ ω 1 − e−βT1 e−βT1 + βα a2 ω2 1 − e−βT1 ⎭

= −asinωx (8.5.18)

Therefore, the solution (8.5.17) satisfies the initial condition (8.5.9).

Substituting (8.5.17) into (8.5.6) yields
⎧   ⎫
 1/2 ⎨ α 2 2
a ω 1 − e−βT1
1/2 ⎬
1 β/α β
u= arcsin   sinωs1
ω 1 − e−βT1 ⎩ e−βT1 + βα a2 ω2 1 − e−βT1 ⎭
(8.5.19)

8.6 Exercise 8.6 (Wave Propagating Along a Uniform,

Initially Undeformed Nonlinear Elastic bar with Linear
Damping)

Solution: (a) We use the method of multiple scales to find the solution. The corre-
sponding linear homogeneous equation of the given equation is a one-dimensional
wave equation with a right-running wave solution as a function of s1 = t − x/c. The
nonlinear term in the equation is the square of the spatial partial derivatives of u.
894 8 Traveling Waves

And the damping term is the temporal partial derivatives of u. In order to take these
nonlinear and damping effects into account, we introduce a slow-varying spatial vari-
able, x1 = εx, and a slow-varying temporal variable, T1 = εt; therefore, the solution
of the equation is set to be a function of s1 , x1 andT1 . The space and time derivatives
are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s1 ∂T1 ∂t ∂s1 ∂s1 ∂T1 ∂T1
(8.6.1)
∂ 1 ∂ ∂ ∂2 1 ∂2 1 ∂2 ∂2
=− +ε , 2 = 2 2 − 2ε + ε2 2
∂x c ∂s1 ∂x1 ∂x c ∂s1 c ∂s1 ∂x1 ∂x1

Let the solution of the given equation be

u(x, t) = εu1 (s1 , x1 , T1 ) + ε2 u2 (s1 , x1 , T1 ) + · · · (8.6.2)

Substituting (8.6.1) and (8.6.2) into the given equation and keeping to O(ε2 ), we
get

∂2u 1 ∂2u
+ 2E1 ∂u ∂ u
− 2εμ ∂u
2
0= −
∂x2  c2 ∂t 2 ∂x ∂x2 ∂t 
∂ 2 u1 1 ∂ 2 u1 E1 ∂u1 ∂ 2 u1 (8.6.3)
= −2ε2 1c ∂s1 ∂x1
+ c2 ∂s1 ∂T1
+ c3 ∂s1 ∂s12
+ μ ∂u1
∂s1

Equating coefficients of like powers of ε in (8.6.3) yields

1 ∂ 2 u1 1 ∂ 2 u1 E1 ∂u1 ∂ 2 u1 ∂u1
+ 2 + 3 +μ =0 (8.6.4)
c ∂s1 ∂x1 c ∂s1 ∂T1 c ∂s1 ∂s12 ∂s1

The strain of the rod e is

∂u 1 ∂u1    
e= = −ε + O ε2 = εf (s1 , x1 , T1 ) + O ε2 (8.6.5)
∂x c ∂s1

where
1 ∂u1
f (s1 , x1 , T1 ) = − (8.6.6)
c ∂s1

Substituting (8.6.6) into (8.6.4) yields

∂f 1 ∂f E1 ∂f
+ + μcf + f =0 (8.6.7)
∂x1 c ∂T1 c ∂s1

(b) In order to examine the waves that are “nonlinearly distorted with distance”, we
let ∂f /∂T1 = 0, hence f = f (s1 , x1 ), (8.6.7) becomes
8.6 Exercise 8.6 (Wave Propagating Along a Uniform, Initially Undeformed … 895

∂f E1 ∂f
+ μcf + f =0 (8.6.8)
∂x1 c ∂s1

Let

f = Q(x1 )h(s1 , z), z = Z(x1 ) (8.6.9)

and substitute (8.6.9) into (8.6.8), we can obtain

 
  Z ∂h E1 ∂h
h Q + μcQ + cQ2 + 2h =0 (8.6.10)
cQ ∂z c ∂s1

The prime denotes the derivative with respect to x1 . In order to obtain the constant
coefficient equations of Q and h from the above equation, we select Q, Z so that they
satisfy.

Q + μcQ = 0, Z  = cQ (8.6.11)

Thus, from (8.6.10), we have

∂h E1 ∂h
+ 2h =0 (8.6.12)
∂z c ∂s1

The solutions of (8.6.11) are

 
Q = A exp(−μcx1 ), Z = Aμ−1 B − exp(−μcx1 )

where A and B are constants of integration. We take the variable z to have the same
origin as x1 , i.e. Z(0) = 0 and hence B = 1. So
 
Q = A exp(−μcx1 ), Z = Aμ−1 1 − exp(−μcx1 ) (8.6.13)

In order to solve (8.6.12), we consider the following linear equation in advance:

∂h E1 ∂h
+ 2 =0
∂z c ∂s1

The solution to this equation is

h = φ(ξ ), ξ = s1 − Dz

where D is a constant. Inspired by this, we use the parameter variation method to

solve the nonlinear Eq. (8.6.12). For this purpose, we assume that the solution of
(8.6.12) is
896 8 Traveling Waves

h = φ(ξ ), ξ = s1 − D(ξ )z (8.6.14)

In this way, we can treat φ as a function of s1 and ξ . Substituting (8.6.14) into

(8.6.12), we get

∂ξ E1 ∂ξ
+ 2φ =0
∂z c ∂s1

From (8.6.14), we can obtain

    !
∂ξ ∂D −1 ∂ξ ∂D −1
= −D(ξ ) 1 + z , = 1+z
∂z ∂ξ ∂s1 ∂ξ

So
E1
−D(ξ ) + φ(ξ ) = 0 (8.6.15)
c2
i.e.,

D(ξ ) = E1 c−2 φ(ξ ) (8.6.16)

Combining the above results and taking into account x1 = εx yields

f = exp(−εμcx)φ(ξ ) (8.6.17)

 
s1 = ξ + E1 μ−1 c−2 1 − exp(−εμcx) φ(ξ ) (8.6.18)

(c) In order to examine waves that are “nonlinearly distorted with time”, we let
∂f /∂x1 = 0, hence, f = f (s1 , T1 ) and (8.6.7) becomes

∂f ∂f
+ μc2 f + E1 f =0 (8.6.19)
∂T1 ∂s1

Comparing (8.6.19) with (8.6.8), we know that by replacing μc, E1 /c and x1

with μc2 , E1 and T1 , respectively, (8.6.8) can be changed to (8.6.19). Therefore, the
solution of (8.6.19) can be obtained just by making these substitutions in the solution
of (8.6.8), i.e.,
  
s1 = ξ + E1 μ−1 c−2 1 − exp −εμc2 t φ(ξ ) (8.6.20)

   
e = ε exp −εμc2 t φ(ξ ) + O ε2 (8.6.21)
8.6 Exercise 8.6 (Wave Propagating Along a Uniform, Initially Undeformed … 897

(d) For the nonlinear wave problem of a rod, the rightward and leftward waves in
the rod cannot be superimposed in general. The conditions for their superposition
are derived here.
The governing equations and solutions for the right-running wave have been given
by (a). Similarly, let the left-running wave solution be a function of s2 , x1 and T1 ,
s2 = t + x/c The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s2 ∂T1 ∂t ∂s2 ∂s2 ∂T1 ∂T1
(8.6.22)
∂ 1 ∂ ∂ ∂2 1 ∂2 1 ∂2 ∂2
= +ε , 2 = 2 2 + 2ε + ε2 2
∂x c ∂s2 ∂x1 ∂x c ∂s2 c ∂s2 ∂x1 ∂x1

Let the solution of the given equation be

u(x, t) = εu1r (s1 , x1 , T1 ) + εu1l (s2 , x1 , T1 )

(8.6.23)
+ε2 u2r (s1 , x1 , T1 ) + ε2 u2l (s2 , x1 , T1 ) + · · ·

Substituting (8.6.23), (8.6.22) and (8.6.2) into the nonlinear control equation of
the rod and retaining to O(ε2 ) yields:

∂ 2u 1 ∂ 2u ∂u ∂u ∂ 2 u
0= − 2 2 − 2εμ + 2E1
∂x 2 c ∂t ∂t ∂x ∂x2
 
2 1 ∂ u1r 1 ∂ u1r ∂u1r 1 ∂u1r ∂ 2 u1r
2 2
= −2ε + 2 +μ + E1 3
c ∂s1 ∂x1 c ∂s1 ∂T1 ∂s1 c ∂s1 ∂s12
 
1 ∂ u1l
2
1 ∂ u1l
2
∂u1l 1 ∂u1l ∂ 2 u1l
+ 2ε2 − 2 −μ + E1 3
c ∂s2 ∂x1 c ∂s2 ∂T1 ∂s2 c ∂s2 ∂s22
 
1 ∂u1l ∂ 2 u1r ∂u1r ∂ 2 u1l
+ 2ε2 E1 3 − (8.6.24)
c ∂s2 ∂s1 2 ∂s1 ∂s22

Equating coefficients of like powers of ε in (8.6.24) yields

 
1 ∂ 2 u1r 1 ∂ 2 u1r ∂u1r 1 ∂u1r ∂ 2 u1r
+ 2 +μ + E1 3
c ∂s1 ∂x1 c ∂s1 ∂T1 ∂s1 c ∂s1 ∂s12
 
1 ∂ 2 u1l 1 ∂ 2 u1l ∂u1l 1 ∂u1l ∂ 2 u1l
+ − 2 −μ + E1 3 (8.6.25)
c ∂s2 ∂x1 c ∂s2 ∂T1 ∂s2 c ∂s2 ∂s22
 
1 ∂u1l ∂ 2 u1r ∂u1r ∂ 2 u1l
+E1 3 − =0
c ∂s2 ∂s1 2 ∂s1 ∂s22

The strain of the rod e is

 
e = ∂u = −ε 1c ∂u 1r
+ ε 1c ∂u1l
+ O ε2
∂x ∂s1 ∂s2   (8.6.26)
= εf (s1 , x1 , T1 ) + εg(s2 , x1 , T1 ) + O ε2
898 8 Traveling Waves

where
1 ∂u1r 1 ∂u1l
f (s1 , x1 , T1 ) = − , g(s2 , x1 , T1 ) = (8.6.27)
c ∂s1 c ∂s2

Substituting (8.6.27) into (8.6.25), we obtain

 
∂f 1 ∂f 1 ∂f
+ + E1 f + μcf
∂x1 c ∂T1 c ∂s1
 
∂g 1 ∂g 1 ∂g
+ − + E1 g − μcg (8.6.28)
∂x1 c ∂T1 c ∂s2
 
E1 ∂f ∂g
− g −f =0
c ∂s1 ∂s2

From the previous analyses, we know that the right-running wave f and the left-
running wave g satisfy the following two equations, respectively:

∂f 1 ∂f 1 ∂f
+ + E1 f + μcf = 0 (8.6.29)
∂x1 c ∂T1 c ∂s1
∂g 1 ∂g 1 ∂g
− + E1 g − μcg = 0 (8.6.30)
∂x1 c ∂T1 c ∂s2

Generally speaking, the superposition of right-running waves f and left-running

waves g that satisfy these equations fail to satisfy (8.6.28) unless:

∂f ∂g
g −f =0 (8.6.31)
∂s1 ∂s2

8.7 Exercise 8.7 (Modeling and Multiscale Analysis

on the High-Frequency Oscillation of a Homogenous
Visco-Elastic Rod)

Solution: (a) Applying Newton’s second law to the bar control volume yields

∂ 2u ∂(Aσ )
ρA = (8.7.1)
∂t 2 ∂x
For a uniform bar, ρ and A are constants and the above equation becomes

∂ 2u ∂σ
ρ = (8.7.2)
∂t 2 ∂x
8.7 Exercise 8.7 (Modeling and Multiscale Analysis on the High-Frequency … 899

The longitudinal strain of the bar e = ∂u/∂x. Therefore, from the approximate
constitutive relation for a homogenous visco-elastic material with high frequencies,
we can obtain:
 
∂σ ∂u ∂ 2 u ∂u
= E 1 + 2E1 − 2τ̂ (8.7.3)
∂t ∂x ∂x∂t ∂x

where the coefficients of the linear correction term, τ , are denoted as τ̂ to facili-
tate different treatments depending on different situations. (8.7.2) and (8.7.3) are
the governing equations for waves propagating along a uniform bar made of a
homogenous visco-elastic material with high-frequencies.
(b) For small but finite-amplitude waves, let τ̂ = ετ and seek an expansion in the
form

u = εu1 (s1 , s2 , x1 , T1 ) + ε2 u2 (s1 , s2 , x1 , T1 ) + · · ·

(8.7.4)
σ = εσ1 (s1 , s2 , x1 , T1 ) + ε2 σ2 (s1 , s2 , x1 , T1 ) + · · ·

The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂
= + +ε
∂t ∂s1 ∂s2 ∂T1
∂ 1 ∂ 1 ∂ ∂
=− + +ε
∂x c ∂s1 c ∂s2 ∂x1
∂2 ∂2 ∂2 ∂2 ∂2 ∂2 2 ∂
2
= + + 2 + 2ε + 2ε + ε
∂t 2 ∂s12 ∂s22 ∂s1 ∂s2 ∂s1 ∂T1 ∂s2 ∂T1 ∂T12
∂2 1 ∂2 1 ∂2 1 ∂2 1 ∂2 1 ∂2 ∂2
= 2 2 + 2 2 −2 2 − 2ε + 2ε + ε2 2
∂x 2 c ∂s1 c ∂s2 c ∂s1 ∂s2 c ∂s1 ∂x1 c ∂s2 ∂x1 ∂x1
∂2 1 ∂2 1 ∂2 ∂2 ∂2 1 ∂2
=− + +ε +ε −ε
∂x∂t c ∂s1
2 c ∂s2
2 ∂s1 ∂x1 ∂s2 ∂x1 c ∂s1 ∂T1
1 ∂2 ∂2
+ε + ε2
c ∂s2 ∂T1 ∂x1 ∂T1
(8.7.5)

Substituting (8.7.4) and (8.7.5) into (8.7.2) and (8.7.3), we obtain

 2 
∂ u1 ∂ 2 u1 ∂ 2 u1 1 ∂σ1 1 ∂σ1
0 = ε ρ 2 + 2ρ +ρ 2 + −
∂s ∂s1 ∂s2 ∂s2 c ∂s1 c ∂s2
⎛ 12 ⎞
∂ u2 ∂ 2 u2 ∂ 2 u2 1 ∂σ2 1 ∂σ2
⎜ ρ 2 + ρ 2 + 2ρ ∂s ∂s + c ∂s − c ∂s ⎟
2⎜ ∂s1 ∂s2 1 2 1 2⎟
+ε ⎜ ⎟ (8.7.6)
⎝ ∂σ1 ∂ u1
2
∂ u1
2 ⎠
− + 2ρ + 2ρ
∂x1 ∂s1 ∂T1 ∂s2 ∂T1
900 8 Traveling Waves

 
∂σ1 ∂σ1 E ∂ 2 u1 E ∂ 2 u1
0=ε + + −
∂s1 ∂s2 c ∂s12 c ∂s22
⎡ ⎤
∂σ2 ∂σ2 E ∂ u2
2
E ∂ 2 u2
⎢ ∂s1 + + − ⎥
⎢ ∂s2 c ∂s12 c ∂s22 ⎥
⎢ ⎥
⎢ ∂σ1 ∂ 2 u1 ∂ 2 u1 E ∂ 2 u1 E ∂ 2 u1 ⎥
⎢+ −E −E + − ⎥
⎢
2⎢ ∂T ∂s ∂x ∂s ∂x c ∂s ∂T c ∂s ∂T ⎥
+ε ⎢
1 1 1 2 1 1 1 2 1 ⎥ (8.7.7)
⎥
⎢ −2EE 1 ∂u1 ∂ u1 + 2EE 1 ∂u1 ∂ u1 + 2EE 1 ∂u1 ∂ u1 ⎥
2 2 2
⎢ 1 2 1 2 1 2 ⎥
⎢ c ∂s1 ∂s1 2 c ∂s1 ∂s2 2 c ∂s2 ∂s1 ⎥2
⎢   ⎥
⎣ 1 ∂u1 ∂ 2 u1 1 ∂u1 1 ∂u1 ⎦
−2EE1 2 + 2τ − +
c ∂s2 ∂s22 c ∂s1 c ∂s2

Equating the coefficients of the like power of ε in the above two equations, we
obtain
   
∂ ∂ 2 ∂ ∂
ρc + u1 − − σ1 = 0 (8.7.8)
∂s2 ∂s1 ∂s2 ∂s1
   
∂ ∂ E ∂2 ∂2
+ σ1 − − u1 = 0 (8.7.9)
∂s2 ∂s1 c ∂s22 ∂s12
   
∂ ∂ 2 ∂ ∂ ∂σ1 ∂ 2 u1 ∂ 2 u1
ρc + u2 − − σ2 = c − 2ρc − 2ρc
∂s2 ∂s1 ∂s2 ∂s1 ∂x1 ∂s1 ∂T1 ∂s2 ∂T1
(8.7.10)
   2 
∂ ∂ E ∂ ∂2 ∂σ1 ∂ 2 u1 ∂ 2 u1
+ σ2 − − 2 u2 = − +E +E
∂s2 ∂s1 c ∂s2 2
∂s1 ∂T1 ∂s1 ∂x1 ∂s2 ∂x1
E ∂ 2 u1 E ∂ 2 u1 1 ∂u1 ∂ 2 u1
− + + 2EE1 2
c ∂s1 ∂T1 c ∂s2 ∂T1 c ∂s1 ∂s12
(8.7.11)
1 ∂u1 ∂ 2 u1 1 ∂u1 ∂ 2 u1
−2EE1 2 − 2EE 1
c ∂s1 ∂s22 c2 ∂s2 ∂s12
 
1 ∂u1 ∂ 2 u1 1 ∂u1 1 ∂u1
+2EE1 2 − 2τ − +
c ∂s2 ∂s22 c ∂s1 c ∂s2

For a right-running wave, let u1 = f (s1 , x1 , T1 ). , σ1 = σ1 (s1 , x1 , T1 ). and then from

(8.7.8) or (8.7.9), we have

∂ 2f ∂σ1
ρc + =0 (8.7.12)
∂s12 ∂s1

i.e.,
8.7 Exercise 8.7 (Modeling and Multiscale Analysis on the High-Frequency … 901

∂f
σ1 = −ρc (8.7.13)
∂s1

in which we take σ1 = 0 when the approximate strain ε∂f /∂s1 = 0.

(c) For the right-running wave,u1 = f (s1 , x1 , T1 ). Considering (8.7.13), we can
change (8.7.10) and (8.7.11) into
   
∂ ∂ 2 ∂ ∂ ∂ 2f ∂ 2f
ρc + u2 − − σ2 = −2ρc − ρc2 (8.7.14)
∂s2 ∂s1 ∂s2 ∂s1 ∂s1 ∂T1 ∂s1 ∂x1
   
∂ ∂ E ∂2 ∂2 ∂ 2f 2EE1 ∂f ∂ 2 f 2τ ∂f
+ σ2 − − u2 = E + 2 +
∂s2 ∂s1 c ∂s22
∂s12 ∂s1 ∂x1 c ∂s1 ∂s1 2 c ∂s1
(8.7.15)

Subtracting these two equations yields

   
− σ2 = −ρc ∂s∂1 ∂T − ρc2 ∂s∂1 ∂x
2 2
∂
∂s2
ρc ∂s∂ 2 +
∂
∂s1
u2 f
1
f
1
∂f ∂ f
2
τ ∂f
(8.7.16)
−ρE1 ∂s1 ∂s1
2 − c ∂s
1

After integration
⎡ ⎤
∂ 2f 2 ∂ f
2
  ⎢ −ρc ∂s ∂T − ρc ∂s ∂x ⎥
∂ ∂ ⎢ 1 1 1 1⎥
ρc + u2 − σ2 = ⎢ ⎥s2 + A(s1 , x1 , T1 )
∂s2 ∂s1 ⎣ ∂f ∂ 2 f τ ∂f ⎦
−ρE1 −
∂s1 ∂s12 c ∂s1
(8.7.17)

where A(s1 , x1 , T1 ) is a function to be determined. In order to eliminate secular terms

from the above equation, we need

∂ 2f 1 ∂ 2f E1 ∂f ∂ 2 f τ ∂f
+ + 2 + 3 =0 (8.7.18)
∂s1 ∂x1 c ∂s1 ∂T1 c ∂s1 ∂s1 2 ρc ∂s1

(d) For waves propagating along this uniform bar, the right-running and left-running
waves in the bar cannot be superimposed in general. The conditions for their
superposition are derived here.
For a left-running wave u1 = g(s2 , x1 , T1 ), σ1 = σ1 (s2 , x1 , T1 ), by (8.7.8) or
(8.7.9), we have
 2  
∂ ∂ ∂ ∂
ρc + u1 − − σ1 = 0 (8.7.19)
∂s2 ∂s1 ∂s2 ∂s1
902 8 Traveling Waves

∂ 2g ∂σ1
ρc − =0 (8.7.20)
∂s22 ∂s2

i.e.,

∂g
σ1 = ρc (8.7.21)
∂s2

in which we take σ1 = 0 when the approximate strain ε∂f /∂s1 = 0.

For a left-running wave, by the Eqs. (8.7.10), (8.7.11) and (8.7.21), we have
 2 
 !
∂ ∂ ∂ ∂ ∂ 2g 2 ∂g
ρc + u2 − − σ2 = −2ρc + ρc
∂s2 ∂s1 ∂s2 ∂s1 ∂s2 ∂T1 ∂s2 ∂x1
(8.7.22)
   2 
∂ ∂ E ∂ ∂2 ∂ 2g 2EE1 ∂g ∂ 2 g 2τ ∂g
+ σ2 − − 2 u2 = E + 2 −
∂s2 ∂s1 c ∂s22
∂s1 ∂s2 ∂x1 c ∂s2 ∂s22 c ∂s2
(8.7.23)

Adding these two equations together yields

 
∂ ∂ ∂2 ∂ 2g ∂ 2g
ρc + u2 + σ2 = ρc2 − ρc
∂s1 ∂s2 ∂s1 ∂s2 ∂x1 ∂s2 ∂T1
(8.7.24)
EE1 ∂g ∂ g2
τ ∂g
+ 2 −
c ∂s2 ∂s2 2 c ∂s2

In order to eliminate secular terms from the above equation, we need

∂ 2g 1 ∂ 2g E1 ∂g ∂ 2 g τ ∂g
− + 2 − 3 =0 (8.7.25)
∂s2 ∂x1 c ∂s2 ∂T1 c ∂s2 ∂s2 2 ρc ∂s2

Assuming that the right-running wave f and the left-running wave g controlled by
(8.7.18) and (8.7.25) can be superimposed, we can obtain the solution to the original
equation

u = εu1 + · · · = εf (s1 ,x1 , T1 ) + εg(s2 , x1 , T1 ) + · · · 

∂ ∂ (8.7.26)
σ = εσ1 + · · · = −ερc ∂s1
f (s1 , x1 , T1 ) − ∂s2
g(s2 , x1 , T1 ) + ···

which satisfy (8.7.10) and (8.7.11). Substituting them into (8.7.10) and (8.7.11) yields
 
σ2 = −ρc2 ∂s∂1 ∂x + ρc2 ∂s∂2 ∂x
2 2
ρc( ∂s∂ 2 + ∂ 2
∂s1
) u2 − ∂s∂ 2 − ∂s∂ 1 f g
1 1
(8.7.27)
2ρc ∂s∂1 ∂T − 2ρc ∂s∂1 ∂T − 2ρc ∂s∂2 ∂T − 2ρc ∂s∂2 ∂T
2 2 2 2
f g f g
− 1 1 1 1
8.7 Exercise 8.7 (Modeling and Multiscale Analysis on the High-Frequency … 903

   
∂ ∂ E ∂2 ∂2 ∂ 2f 1 ∂f ∂ 2 f
+ σ2 − − u2 = E + 2EE1
∂s2 ∂s1 c ∂s22 ∂s12 ∂s1 ∂x1 c2 ∂s1 ∂s12
1 ∂f ∂ 2g 1 ∂g ∂ 2 g 1 ∂g
+2τ +E + 2EE1 2 − 2τ (8.7.28)
c ∂s1 ∂s2 ∂x1 c ∂s2 ∂s2 2 c ∂s2
1 ∂f ∂ 2 g 1 ∂g ∂ 2 f
−2EE1 − 2EE1 2
c ∂s1 ∂s2
2 2 c ∂s2 ∂s12

Adding up and subtracting the above two equations, respectively, yields

 
∂ ∂ ∂ ∂ 2f ∂ 2f
ρc + u2 − σ2 = −ρc − ρc2
∂s2 ∂s2 ∂s1 ∂s1 ∂T1 ∂s1 ∂x1
(8.7.29)
∂f ∂ f
2
τ ∂f 1 ∂f ∂ g2
1 ∂g ∂ 2 f
−ρE1 − + ρE1 + ρE1
∂s1 ∂s12 c ∂s1 c2 ∂s1 ∂s22 c2 ∂s2 ∂s12
 
∂ ∂ ∂2 ∂ 2g ∂ 2g
ρc + u2 + σ2 = ρc2 − ρc
∂s1 ∂s2 ∂s1 ∂s2 ∂x1 ∂s2 ∂T1
(8.7.30)
EE1 ∂g ∂ 2 g τ ∂g 1 ∂f ∂ 2 g 1 ∂g ∂ 2 f
+ 2 − − ρE 1 2 − ρE 1 2
c ∂s2 ∂s22 c ∂s2 c ∂s1 ∂s22 c ∂s2 ∂s12

From the above two equations, we can see that the right-running wave f and the
left-running wave g are coupled with each other. The sufficient conditions that f and
g are governed by (8.7.18) and (8.7.25), respectively, is

∂f ∂ 2 g ∂g ∂ 2 f
+ =0 (8.7.31)
∂s1 ∂s22 ∂s2 ∂s12

(e) In order to examine the right-running wave with nonlinear distortion with distance,
let ∂f /∂T1 = 0, therefore, f = f (s1 , x1 ) and (8.7.18) becomes

∂F E1 ∂F τ
+ 2F + 3F = 0 (8.7.32)
∂x1 c ∂s1 ρc

in which F = ∂f /∂s1 . Let

F = Q(x1 )H (s1 , z), z = Z(x1 ) (8.7.33)

and substitute them into (8.7.32) yields

    
 τ 2 Z ∂H E1 ∂H
H Q + 3Q + Q + 2H =0 (8.7.34)
ρc Q ∂z c ∂s1
904 8 Traveling Waves

The prime denotes the derivative with respect to x1 . In order to obtain the
differential equations of Q, H with constant coefficients, we make Q and Z satisfy
τ
Q + Q = 0, Z = Q (8.7.35)
ρc3

Thus, from (8.7.34) we have

∂H E1 ∂H
+ 2H =0 (8.7.36)
∂z c ∂s1

The solution for (8.7.35) is

     
τ τ −1 τ
Q = A exp − 3 x1 , Z = A B − exp − 3 x1
ρc ρc3 ρc

where A and B are constants of integration. We take the variable z to have the same
origin as x1 , i.e., Z(0) = 0, and hence B = 1. So
     
τ τ −1 τ
Q = A exp − 3 x1 , Z = A 1 − exp − x1 (8.7.37)
ρc ρc3 ρc3

Equation (8.7.36) is the same as Eq. (8.6.12), and its solution is

H = ψ(ξ ), ξ = s1 − D(ξ )z (8.7.38)

D(ξ ) = E1 c−2 ψ(ξ ) (8.7.39)

Combining above results and taking x1 = εx into account yields

 
ετ
F = exp − 3 x ψ(ξ ) (8.7.40)
ρc
 
E1 ρc τ
s1 = ξ + 1 − exp − 3 x1 ψ(ξ ) (8.7.41)
τ ρc

where the undetermined A and function ψ are combined as ψ.

Combine (8.7.4) and (8.7.13), we have
 
∂f ετ
σ = εσ1 = −ερc = −ερcF = −ερcexp − 3 x ψ(ξ )
∂s1 ρc

i.e.
8.8 Exercise 8.8 (Modeling and Multiscale Analysis on Low-Frequency … 905
   
ετ
σ = −ερc exp − 3 x ψ(ξ ) (8.7.42)
ρc

8.8 Exercise 8.8 (Modeling and Multiscale Analysis

on Low-Frequency Oscillation of a Homogeneous
Visco-Elastic Rod)

Solution: (a) Applying Newton’s second law to the bar control volume yields

∂ 2u ∂(Aσ )
ρA = (8.8.1)
∂t 2 ∂x
For a uniform bar, ρ and A are constants and the above equation becomes

∂ 2u ∂σ
ρ = (8.8.2)
∂t 2 ∂x
The longitudinal strain of the bar e = ∂u/∂x. Therefore, from the approximate
constitutive relation for a homogenous visco-elastic material with low frequencies,
we can obtain

∂ 2u 1 ∂ 2u ∂u ∂ 2 u μ̂ ∂ 3 u
− = −2E1 − 2 (8.8.3)
∂x2 c2 ∂t 2 ∂x ∂x2 E ∂x2 ∂t

where E = ρc2 . (8.8.3) is the governing equation for waves propagating along a
uniform bar made of a homogenous visco-elastic material with high-frequency.
(b) For a small but finite amplitude right-running wave, let μ̂ = εμE and set the
solution of Eq. (8.8.3) as

u = εf (s1 , x1 , T1 ) + · · · (8.8.4)

The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s1 ∂T1 ∂t ∂s1 ∂s1 ∂T1 ∂T1
(8.8.5)
∂ 1 ∂ ∂ ∂2 1 ∂2 1 ∂2 ∂2
=− +ε , 2 = 2 2 − 2ε + ε2 2
∂x c ∂s1 ∂x1 ∂x c ∂s1 c ∂s1 ∂x1 ∂x1

Substituting (8.8.4) and (8.8.5) into (8.8.3) yields

906 8 Traveling Waves

∂2u
− 1 ∂ u + 2E1 ∂u ∂2u
+ 2εμ ∂x∂ 2u∂t
2 3
0= ∂x2  c2 ∂t 2 ∂x ∂x2  (8.8.6)
−ε2 2c ∂s∂1 ∂x 1 ∂ f E1 ∂f ∂ f μ ∂3f
2 2 2
f
= 1
+ c ∂s1 ∂T1
+ c ∂s1 ∂s1
2 2 − c ∂s1
3

Equating the coefficients of the like power of ε in the above equation, we obtain

∂ 2f 1 ∂ 2f E1 ∂f ∂ 2 f μ ∂ 3f
+ + 2 − =0 (8.8.7)
∂s1 ∂x1 c ∂s1 ∂T1 c ∂s1 ∂s12 c ∂s13

Or

∂F 1 ∂F E1 ∂F μ ∂ 2F
+ + 2F − =0 (8.8.8)
∂x1 c ∂T1 c ∂s1 c ∂s12

where
∂f
F= (8.8.9)
∂s1

For a right-running wave that is nonlinearly distorted with time, let ∂f /∂x1 = 0,
hence, f = f (s1 , T1 ), and (8.8.8) becomes

∂F E1 ∂F ∂ 2F
+ F −μ 2 =0 (8.8.10)
∂T1 c ∂s1 ∂s1

(c) For waves propagating along this uniform bar, the simple right-running and left-
running waves in the bar cannot be superimposed in general. The conditions for their
superposition are derived here.
Let the simple left-running wave be

u = εg(s2 , x1 , T1 ) + · · · (8.8.11)

The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s2 ∂T1 ∂t ∂s2 ∂s2 ∂T1 ∂T1
(8.8.12)
∂ 1 ∂ ∂ ∂2 1 ∂2 1 ∂2 ∂2
= +ε , 2 = 2 2 + 2ε + ε2 2
∂x c ∂s2 ∂x1 ∂x c ∂s2 c ∂s2 ∂x1 ∂x1

Substituting (8.8.12) into (8.8.3) yields

∂2u
− 1 ∂ u + 2E1 ∂u ∂2u
+ 2εμ ∂x∂ 2u∂t
2 3
0= ∂x2  c2 ∂t 2 ∂x ∂x2  (8.8.13)
2ε2 1c ∂s∂2 ∂x 1 ∂2g E1 ∂g ∂ 2 g μ ∂3g
2
g
= 1
− c ∂s2 ∂T 1
+ c 2 ∂s 2 + c
2 ∂s1 ∂s2
3
8.9 Exercise 8.9 (Transform the Burgers’ Equation into the Heat Equation) 907

Equating the coefficients of the like power of ε in the above two equations, we
obtain

∂ 2g 1 ∂ 2g E1 ∂g ∂ 2 g μ ∂ 3g
− + 2 + =0 (8.8.14)
∂s2 ∂x1 c ∂s2 ∂T1 c ∂s2 ∂s1 2 c ∂s23

Assuming that the right-running wave f and the left-running wave g controlled by
(8.8.7) and (8.8.14) can be superimposed, we can obtain the solution to the original
equation

u = εf (s1 , x1 , T1 ) + εg(s2 , x1 , T1 ) + · · · (8.8.15)

which satisfies Eq. (8.8.3). Substituting them into (8.8.3) yields

∂ 2u 1 ∂ 2u ∂u ∂ 2 u ∂ 3u
0= − 2 2 + 2E1 + 2εμ 2
∂x 2 c ∂t ∂x ∂x 2 ∂x ∂t
 2 
2 ∂ f 1 ∂ 2
f E 1 ∂f ∂ 2f μ ∂ 3f
= −ε 2
+ + 2 −
c ∂s1 ∂x1 c ∂s1 ∂T1 c ∂s1 ∂s12 c ∂s13
 2 
1 ∂ g 1 ∂ 2g E1 ∂g ∂ 2 g μ ∂ 3g
+ 2ε2 − + 2 +
c ∂s2 ∂x1 c ∂s2 ∂T1 c ∂s2 ∂s12 c ∂s23
 
E1 ∂f ∂ 2 g ∂g ∂ 2 f
− 2ε2 3 − (8.8.16)
c ∂s1 ∂s2 2 ∂s2 ∂s12

From the above equation, we can see that the right-running wave f and the left-
running wave g are coupled with each other. The sufficient conditions that f and g
are governed by (8.8.7) and (8.8.14), respectively, is

∂f ∂ 2 g ∂g ∂ 2 f
− =0 (8.8.17)
∂s1 ∂s22 ∂s2 ∂s12

8.9 Exercise 8.9 (Transform the Burgers’ Equation

into the Heat Equation)
∂ψ ∂φ
Solution: Let u = − ψδ ∂x
and u = ∂x
, then the Burgers’ equation becomes

1
φxt + φx φxx = δφxxx
2
Integrate over x, we can obtain
908 8 Traveling Waves

1 1
φt + φx2 = δφxx (8.9.1)
2 2
Since φ = −δ log ψ, we have

δ δ δ δ
φt = − ψt , φx = − ψx , φxx = − ψxx + 2 ψx2 (8.9.2)
ψ ψ ψ ψ

Substituting the above equations into (8.9.1) yields

∂ψ 1 ∂ 2ψ
= δ 2 (8.9.3)
∂t 2 ∂x

8.10 Exercise 8.10 (Stationary Solutions of the Burgers’

Equation)

Solution: Let ξ = x − ct, the original equation can be written as

df df 1 d 2f
−c +f − δ 2 =0 (8.10.1)
dξ dξ 2 dξ

Integrate over ξ , we can obtain

1 1 df
−cf + f 2 − δ =A (8.10.2)
2 2 dξ

where A is the constant of integration. (8.10.2) can also be written as

df 1  1  
= f 2 − 2cf − 2A = (f − c)2 − c2 + 2A (8.10.3)
dξ δ δ

Assuming that df /d ξ = 0 is available at f = c, then c2 + 2A > 0. Further,

(8.10.3) can be rewritten as

df 1
= (f − f1 )(f − f2 ) (8.10.4)
dξ δ

where
 
f1 = c + c2 + 2A, f2 = c − c2 + 2A (8.10.5)

Make the integration of (8.10.4) over ξ , we can obtain

8.11 Exercise 8.11 (Steady-State Solution of the Burgers’ Equation and Their … 909

1 (f1 − f2 )
f = c − (f1 − f2 ) tanh (ξ − ξ0 )
2 2δ
or
√
 c2 + 2A
u=f =c− c2 + 2A tanh (ξ − ξ0 ) (8.10.6)
δ

where ξ0 is the constant of integration. This is the traveling wave solution (stationary
solution) of the Burgers equation.

8.11 Exercise 8.11 (Steady-State Solution of the Burgers’

Equation and Their Stability Analysis)

Solution: (a) Let the traveling wave solution of the Burgers equation be

u = u(ξ ), ξ = x − ct (8.11.1)

Substituting this into the Burgers’ equation yields

du du d 2u
−c +u −ν 2 =0 (8.11.2)
dξ dξ dξ

Integrating the above equation over ξ , we obtain

1 du
−cu + u2 − ν =A (8.11.3)
2 dξ

where A is the constant of integration. (8.11.3) can be written as

du 1 2  1  2 
= u − 2cu − 2A = (u − c)2 − c2 + 2A (8.11.4)
dξ 2ν 2ν

Assuming that du/d ξ = 0 is available at u = c, then c2 + 2A > 0. Further, the

Eq. (8.11.3) can be rewritten as

du 1
= (u − u1 )(u − u2 ) (8.11.5)
dξ 2ν

where
 
u1 = c + c2 + 2A, u2 = c − c2 + 2A (8.11.6)
910 8 Traveling Waves

Make the integration of (8.11.5) over ξ , we can obtain

1 (u1 − u2 )
u = c − (u1 − u2 ) tanh (ξ − ξ0 )
2 4ν
or
√
 c2 + 2A
u=c− c2 + 2Atanh (ξ − ξ0 ) (8.11.7)
2ν

where ξ0 is the constant of integration. This is the traveling wave solution (steady
state solution) of the Burgers equation.
Notice that the traveling wave solution (8.11.7) is the constant solution of the
Burgers equation when c = 0. Therefore, let c = 0 and ξ0 = 0, then ξ = x and
(8.11.7) becomes
√
√ 2A
u = − 2Atanh x (8.11.8)
2ν
√
From the above equation, u(±∞) = ∓ 2A. Write
√
u∞ = 2A (8.11.9)

Then the constant solution of the Burgers equation u0 is

u x
∞
u0 = −u∞ tanh (8.11.10)
2ν

(b) Let u = u0 + v, where |v| |u0 |. Substituting this into the Burgers equation and
retaining the linear term only yields

∂v du0 ∂v du0 ∂ 2v d 2 u0
+v + u0 + u0 =ν 2 +ν 2 (8.11.11)
∂t dx ∂x dx ∂x dx
For a constant solution u0 , (8.11.2) becomes

du0 d 2 u0
u0 −ν 2 =0 (8.11.12)
dx dx
From (8.11.11) and (8.11.12), the control equation for the perturbation v(x, t) is

∂v ∂v du0 ∂ 2v
+ u0 + v=ν 2 (8.11.13)
∂t ∂x dx ∂x
8.12 Exercise 8.12 (Constant Solutions of the KdV Equation and Their … 911

(c) Let the general solution of (8.11.13) be

v = v(ξ ), ξ = x − ct (8.11.14)

Substituting this into (8.11.13) yields

d 2v dv dv du0
ν +c − u0 − v=0 (8.11.15)
dξ2 dξ dξ dx

Write this equation as a system of first order equations:

dv
dξ
=w
(8.11.16)
dw
dξ
= ν1 du
dx
0
v + ν1 (u0 − c)w

For the constant solution u0 , we can obtain from (8.11.5), (8.11.6) and (8.11.9) that

du0 1
= (u0 − u∞ )2 (8.11.17)
dξ 2ν

Substituting (8.11.17) into (8.11.16), we obtain

dv
dξ
=w
(8.11.18)
dw
dξ
= 2ν1 2 (u0 − u∞ )2 v + ν1 (u0 − c)w

The corresponding eigenvalues are


(u0 − c) ± (u0 − c)2 + 2(u0 − u∞ )2
λ1,2 = (8.11.19)
2ν
It can be seen that one of the eigenvalues is positive and hence the constant solution
u0 is unstable.

8.12 Exercise 8.12 (Constant Solutions of the KdV

Equation and Their Stability Analysis)

Solution: (a) The Kottweg-de Vries equation is also named as the KdV equation.
Let the traveling wave solution of the KdV equation be given by

u = u(ξ ), ξ = x − ct (8.12.1)

Substituting this into the KdV equation yields

912 8 Traveling Waves

du du d 3u
−c +u −β 3 =0 (8.12.2)
dξ dξ dξ

Integrating the above equation over ξ , we obtain

1 d 2u
−cu + u2 − β 2 = A (8.12.3)
2 dξ

where A is the constant of integration. (8.12.3) can be written as

d 2u 1  2 
= u − 2cu − 2A (8.12.4)
dξ 2 2β

(8.12.4) is multiplied by du/d ξ . After integration, we have

 2
du 1  3 
= u − 3cu2 − 6Au − 6B (8.12.5)
dξ 3β

where B is the constant of integration.

Assuming that the equation

u3 − 3cu2 − 6Au − 6B = 0 (8.12.6)

has three real roots u1 , u2 , u3 , and let u1 ≥ u2 ≥ u3 . From the relation between roots
and coefficients we have

c = 13 (u1 + u2 + u3 )
A = − 16 (u1 u2 + u2 u3 + u3 u1 ) (8.12.7)
B = 16 u1 u2 u3

(8.12.5) can be rewritten as

 2
du 1
= (u − u1 )(u − u2 )(u − u3 ) (8.12.8)
dξ 3β

For the case of β > 0, the solution of (8.12.8) is

(
u1 − u3
u = u2 − (u2 − u3 )cn 2
(ξ − ξ0 ), k , u3 ≤ u ≤ u2 (8.12.9)
12β

where
(
u2 − u3
k= (8.12.10)
u1 − u3
8.12 Exercise 8.12 (Constant Solutions of the KdV Equation and Their … 913

(8.12.9) is the traveling wave solution of the KdV equation when ε > 0 and is an
elliptical cosine wave, which is also called cnoidal waves, as shown in Fig. 8.1a.
This is a periodic function with amplitude

U = u2 − u3 (8.12.11)

The period of the function cn2 (x) is 2K(k), so the wavelength of the elliptical
cosine wave is
(
u1 − u3
L = 2K(k)/ (8.12.12)
12β

where

Fig. 8.1 a Cnoidal wave

solution of the KdV
equation, b isolator of the
KdV equation, c schematic
of V (u) for Exercise 8.12

(a)

(b)

(c)
914 8 Traveling Waves

)π/2 )1
1 1
K(k) =  dϕ = *   dx (8.12.13)
1 − k 2 sin2 ϕ 1 − x2 1 − k 2 x2
0 0

is Legendre’s complete elliptic integral of the first kind.

When u2 → u3 , k → 0. In this case, cnx → cosx; therefore, (8.12.9) becomes
(
1 1 u1 − u3
u = (u2 + u3 ) − (u2 − u3 ) cos (ξ − ξ0 ) (8.12.14)
2 2 3β

This is a simple harmonic solution.

When u2 → u1 , k → 1. In this case, cnx → sechx; therefore, (8.12.9) becomes
(
u1 − u3
u = u1 − (u1 − u3 )sech 2
(ξ − ξ0 ) (8.12.15)
12β

This is a solitary wave (Fig. 8.1b), which is often called a soliton since it remains
unchanged as it moves.
Notice that the traveling wave solution (8.12.15) is the constant solution of the
KdV equation when c = 0. In this case,

u3 = −2u1 (8.12.16)

Let ξ0 = 0, (8.12.15) can be obtained by

 1/2
u1
u = u1 1 − 3 sech 2
x (8.12.17)
4β

From the above equation, u(±∞) = u1 > 0, therefore, let

u∞ = u1 (8.12.18)

The constant solution of the KdV equation u0 is

 1/2
u∞
u0 = u∞ 1 − 3 sech2 x , u∞ > 0 (8.12.19)
4β

(b) Let w = du/d ξ in (8.12.4), we obtain

du
=w
dξ
(8.12.20)
dw
= F(u) = −V  (u)
dξ
8.12 Exercise 8.12 (Constant Solutions of the KdV Equation and Their … 915

where a prime denotes the derivative with respect to u; functions F and V are given
below:
1  2  1   
F(u) = u − 2cu − 2A = u − u1∗ u − u2∗
2β 2β (8.12.21)
 
∗ ∗
u1 = c + c + 2A, u2 = c − c2 + 2A
2

1  3 
V (u) = − u − 3cu2 − 6Au − 6B (8.12.22)
6β

The situation with c2 + 2A > 0 has been described in Exercise 8.11 (a).
Furthermore, (8.12.5) can be written as

1 2
w + V (u) = 0 (8.12.23)
2
which requires

V (u) ≤ 0 (8.12.24)

From (8.12.20), the equilibrium points of the system are

 ∗ ∗   ∗     
u1 , w1 = u1 , 0 and u2∗ , w2∗ = u2∗ , 0 (8.12.25)

Near the equilibrium position u∗ , we let u = u∗ +v, then (8.12.20) can be linearized
as
+ , + ,
dv/d ξ 0 1 v
= (8.12.26)
dw/d ξ −V  (u∗ ) 0 w

The corresponding characteristic equation is

 
λ2 + V  u∗ = 0 (8.12.27)

where
1
V  (u) = − (u − c) (8.12.28)
β

From (8.12.21), (8.12.22) and (8.12.28), we can know that:

     
(1) For the equilibrium point u1∗ , 0 , V  u1∗ = 0, V  u1∗ < 0, one of the eigen-
values is positive and another one is negative, so the equilibrium point u1∗ , 0
is the saddle point.
916 8 Traveling Waves
     
(2) For the equilibrium point u2∗ , 0 , V  u2∗ = 0, V  u2∗ > 0, two eigenvalues

are a pair of conjugate imaginary roots, so the equilibrium point u2∗ , 0 is the
center.
A schematic of V (u) is presented in Fig. 8.1c, where curve I is the potential
energy curve for the general case. For a simple harmonic solution described by
(8.12.14), there is u2 → u3 , so u2∗ → u3 , the potential energy curve becomes curve
II. For the soliton described by (8.12.15), there is u2 → u1 , so u1∗ → u1 , the potential
energy curve becomes curve III. Therefore, the equilibrium point (u1 , 0) of the soliton
(8.12.15) is the saddle point, which is unstable. Since the constant solution (8.12.19)
is a stationary soliton, it is also unstable.

8.13 Exercise 8.13 (Traveling Wave Solutions

of the Sine–Gordon Equation)

Solution: Substituting ψ = π + φ(s) into sine–Gordon equation, we obtain

φxx − φtt = −sinφ (8.13.1)

Let s = x − vt, we get

 −1
φ  + 1 − v2 sin φ = 0 (8.13.2)

where the prime denotes the derivative with respect to s. Equation (8.13.2) is a single
pendulum equation.
(1) When v → 1
 −1
In this case, 1 − v2 → ∞, which corresponds to the situation that the torsional
stiffness of the pendulum is infinity or the pendulum length is zero. Then Eq. (8.13.2)
is solved by

φ=0 (8.13.3)

Therefore, the solution to the sine–Gordon equation is

ψ =π (8.13.4)

(2) When v = 1
 −1
In this case, 1 − v2 = 0. Make the integration of (8.13.2), we obtain

1 2  −1
φ − 1 − v2 cos φ = E (8.13.5)
2
8.14 Exercise 8.14 (Characteristic Transformation and Straightforward … 917

Or write
(  
 −1
φ = ± 2 E − 1 − v2 cos φ (8.13.6)

Therefore, the solution to the sine–Gordon equation is

(  
 −1
ψ = ± 2 E − 1 − v2 cos ψ (8.13.7)

8.14 Exercise 8.14 (Characteristic Transformation

and Straightforward Expansion for Waves
Propagating Along a Uniform Elastic bar
with Material Nonlinearity)

Solution: (a) The given nonlinear governing equation for the rod can be written as

1 ∂ 2u ∂ 2u ∂u
= (1 + 2E1 e) ,e = (8.14.1)
c ∂t
2 2 ∂x 2 ∂x
Or

∂ 2u ∂ 2u 2
= ĉ 2
(e) , ĉ (e) = c2 (1 + 2E1 e) (8.14.2)
∂t 2 ∂x2
Let
∂u
v= (8.14.3)
∂t
then the following system of first order equations can be obtained by (8.14.3) and
(8.14.2):

∂e ∂v
− =0 (8.14.4)
∂t ∂x
∂v ∂e
− ĉ2 (e) =0 (8.14.5)
∂t ∂x
A linear combination of these two equations yields

∂e ∂e ∂v ∂v
p1 − p2 ĉ2 + p2 − p1 =0 (8.14.6)
∂t ∂x ∂t ∂x
918 8 Traveling Waves

Let the coefficients p1 , p2 satisfy the following conditions:

p1 p2
2
= or p1 = ±ĉp2 (8.14.7)
p2 ĉ p1

Taking the positive and negative signs, respectively, and substituting them into
(8.14.6) yields
   
∂e ∂e ∂v ∂v
ĉ − ĉ + − ĉ =0 (8.14.8)
∂t ∂x ∂t ∂x
   
∂e ∂e ∂v ∂v
ĉ + ĉ − + ĉ =0 (8.14.9)
∂t ∂x ∂t ∂x

In the t ∼ x plane, we specify a family of curves by the following equation:

dx
= −ĉ (8.14.10)
dt
Such curves are called characteristics. Thus, (8.14.8) along the characteristics
becomes
∂e ∂v ∂e ∂v
ĉ + = 0orĉ + =0 (8.14.11)
∂x ∂x ∂t ∂t
Similarly, the characteristics of (8.14.9) are specified by the following equations:

dx
= ĉ (8.14.12)
dt
(8.14.11) and (8.14.12) are called the characteristics or canonical forms of the
original problem. Squaring each of the above two equations yields the following
equation:

dx 2
( ) = ĉ2 (8.14.13)
dt

Substituting the expressions of ĉ2 and e into the above equation, we obtain
  2  
∂u dt 1 dt 1 ∂u −1/2
1 + 2E1 = ⇒ = ± 1 + 2E1 (8.14.14)
∂x dx c2 dx c ∂x

Since ∂u/∂x is a small quantity, the right-hand side of the above equation is
expanded to give
 
dt 1 ∂u
= ± 1 − E1 + higher − order terms (8.14.15)
dx c ∂x
8.14 Exercise 8.14 (Characteristic Transformation and Straightforward … 919

(b) Omitting the higher order terms in (8.14.15), we obtain

dt 1 dt 1
= − (1 − E1 e), = (1 − E1 e) (8.14.16)
dx c dx c
The two equations in (8.14.16) define two consecutive families of characteristics
in the t ∼ x plane, which are the integral curves (or solution curves) of two differential
equations, and they are denoted as the ξ and η axes, respectively. ξ and η axes form a
curve coordinate system in the t ∼ x plane, where the curve coordinates are denoted
as (ξ, η). Thus, there are

dt 1
Along ξ axis : = − (1 − E1 e)  c2 (8.14.17)
dx c
dt 1
Along η axis : = (1 − E1 e)  c1 (8.14.18)
dx c
which are shown in Fig. 8.2a. Considering (8.14.18), we have

Fig. 8.2 a Line element

involved in ∂t/∂x and ∂t/∂h,
b line element relations
formed by arbitrary two
adjacent points A and C for
Exercise 8.14

(a)

(b)
920 8 Traveling Waves

∂t t c1 x2 ∂x
= = = c1
∂η η η ∂η

i.e.,
 
∂t 1 E1 e ∂x ∂x
= −  c1 (8.14.19)
∂η c c ∂η ∂η

Similarly, we can obtain

 
∂t 1 E1 e ∂x ∂x
= − +  c2 (8.14.20)
∂ξ c c ∂ξ ∂ξ

(c) For any function F(x, t) = F(x(ξ, η), t(ξ, η)), applying the chain rule yields

∂F ∂F ∂ξ ∂F ∂η
= + (8.14.21)
∂x ∂ξ ∂x ∂η ∂x

Referring to Fig. 8.2b, noting that quadrilateral ABCD is an approximate

parallelogram, and considering (8.14.17), (8.14.18), (8.14.19) and (8.14.20), we have

∂ξ ξ ξ 1 1 1 c1
= = =  = c1 −c2 = (8.14.22)
∂x x x1 − x2 1
− 1 t c x
c1 c2 2 ξ
c1 − c2 xξ
c2 c1 ξ

∂η η η 1 1 1 c2
=− = =  = c2 −c1 =
∂x x x2 − x1 1
− 1 t c x
c1 c2 1 η
c2 − c1 xη
c1 c2 η
(8.14.23)

It should be noted that (8.14.22) implies that ∂ξ /∂x is positive and ξ increases
(or decreases) as x increases (or decreases) (Fig. 8.2b); hence, ∂ξ /∂x = ξ /x.
(8.14.23) implies that ∂η/∂x is positive and η decreases (or increases) as x
increases (or decreases) (Fig. 8.2b); hence, ∂η/∂x = −η/x. Substituting
(8.14.22) and (8.14.23) into (8.14.21), we obtain
 
∂F 1 c1 ∂F c2 ∂F
=− −
∂x c2 − c1 xξ ∂ξ xη ∂η

i.e.,
 
∂ 1 c1 ∂ c2 ∂
=− − (8.14.24)
∂x c2 − c1 xξ ∂ξ xη ∂η

With the chain rule and taking c2 = −c1 into account, we can obtain
8.14 Exercise 8.14 (Characteristic Transformation and Straightforward … 921

∂F ∂F ∂ξ ∂F ∂η ∂F ∂ξ dx  ∂F ∂η dx 
= + = onξ + onη
∂t ∂ξ ∂t ∂η ∂t ∂ξ ∂x dt ∂η ∂x dt
∂F 1 c1 1 ∂F 1 c2 1
= +
∂ξ c1 − c2 xξ c2 ∂η c2 − c1 xη c1
1 ∂F 1 1 ∂F 1
= −
c2 − c1 ∂ξ xξ c2 − c1 ∂η xη

i.e.,
 
∂ 1 1 ∂ 1 ∂
= − (8.14.25)
∂t c2 − c1 xξ ∂ξ xη ∂η

Using (8.14.24) and (8.14.25), we can replace the partial derivatives of x, t with
the partial derivatives of ξ , η in (8.14.4) and (8.14.5) and obtain
   
xξ eη + c2 vη − xη eξ + c1 vξ = 0 (8.14.26)

   
xξ vη + c2 c2 (1 + 2E1 e)eη −xη vξ + c2 c1 (1 + 2E1 e)eξ = 0 (8.14.27)

which assumes xξ = 0, xη = 0.
(d) (8.14.26) and (8.14.27) can be solved by the method of straightforward expansion.
Let the solution of the equation be

e(ξ, η) = εe1 (ξ, η) + ε2 e2 (ξ, η) + · · ·

(8.14.28)
v(ξ, η) = εv1 (ξ, η) + ε2 v2 (ξ, η) + · · ·

Substituting (8.14.28) into (8.14.26) and (8.14.27) and keeping to O(ε2 ), we obtain
   
∂e1 1 ∂v1 ∂e1 1 ∂v1
0 = ε xξ − − xη +
∂η c ∂η ∂ξ c ∂ξ
     
∂e2 1 ∂v2 ∂e2 1 ∂v2 ∂v1 ∂v1
+ ε xξ
2
− − xη + + E1 e1 xξ + xη
∂η c ∂η ∂ξ c ∂ξ ∂η ∂ξ
(8.14.29)
   
∂e1 1 ∂v1 ∂e1 1 ∂v1
0 = ε xξ − + xη +
∂η c ∂η ∂ξ c ∂ξ
     
∂e2 1 ∂v2 ∂e2 1 ∂v2 ∂e1 ∂e1
+ ε xξ
2
− + xη − + E1 e1 xξ + xη
∂η c ∂η ∂ξ c ∂ξ ∂η ∂ξ
(8.14.30)

Let the coefficient of the same power of ε be zero, we get

922 8 Traveling Waves
   
∂e1 1 ∂v1 ∂e1 1 ∂v1
xξ − − xη + =0 (8.14.31)
∂η c ∂η ∂ξ c ∂ξ
   
∂e1 1 ∂v1 ∂e1 1 ∂v1
xξ − + xη + =0 (8.14.32)
∂η c ∂η ∂ξ c ∂ξ
     
∂e2 1 ∂v2 ∂e2 1 ∂v2 ∂v1 ∂v1
xξ − − xη + = −E1 e1 xξ + xη (8.14.33)
∂η c ∂η ∂ξ c ∂ξ ∂η ∂ξ
     
∂e2 1 ∂v2 ∂e2 1 ∂v2 ∂e1 ∂e1
xξ − + xη + = −E1 e1 xξ + xη (8.14.34)
∂η c ∂η ∂ξ c ∂ξ ∂η ∂ξ

From (8.14.31) and (8.14.32), we have

∂e1 1 ∂v1 ∂e1 1 ∂v1

− = 0, + =0 (8.14.35)
∂η c ∂η ∂ξ c ∂ξ

Integrating these two equations, respectively, yields

1 1
e1 − v1 = 2f (ξ ), e1 + v1 = 2g(η) (8.14.36)
c c
From this

e1 = f (ξ ) + g(η), v1 = −cf (ξ ) + cg(η) (8.14.37)

therefore,

e = εf (ξ ) + εg(η) + · · ·
(8.14.38)
v = −εcf (ξ ) + εcg(η) + · · ·

Also make the expansion of t and x, we obtain

t(ξ, η) = t0 (ξ, η) + εt1 (ξ, η) + · · ·

(8.14.39)
x(ξ, η) = x0 (ξ, η) + εx1 (ξ, η) + · · ·

Substituting (8.14.39) and (8.14.38) into (8.14.19) and (8.14.20), respectively,

yields
 
∂t0 ∂t1 1-  . ∂x0 ∂x1
+ε = 1 − εE1 f (ξ ) + g(η) +ε (8.14.40)
∂η ∂η c ∂η ∂η
 
∂t0 ∂t1 1-  . ∂x0 ∂x1
+ε = − 1 − εE1 f (ξ ) + g(η) +ε (8.14.41)
∂ξ ∂ξ c ∂ξ ∂ξ
8.14 Exercise 8.14 (Characteristic Transformation and Straightforward … 923
 
∂t 1 E1 e ∂x ∂x
= −  c1 (8.14.42)
∂η c c ∂η ∂η
 
∂t 1 E1 e ∂x ∂x
= − +  c2 (8.14.43)
∂ξ c c ∂ξ ∂ξ

Equating the coefficients of the same powers of ε, we obtain

∂t0 1 ∂x0
− =0 (8.14.44)
∂η c ∂η
∂t0 1 ∂x0
+ =0 (8.14.45)
∂ξ c ∂ξ
∂t1 1 ∂x1 1   ∂x0
− = − E1 f (ξ ) + g(η) (8.14.46)
∂η c ∂η c ∂η
∂t1 1 ∂x1 1   ∂x0
+ = E1 f (ξ ) + g(η) (8.14.47)
∂ξ c ∂ξ c ∂ξ

Equation (8.14.44) and (8.14.45) can be solved by

t0 = A(η + ξ ), x0 = cA(η − ξ ) (8.14.48)

where A is the constant of integration. Substituting (8.14.48) into (8.14.46) and

(8.14.47), we obtain

∂t1 1 ∂x1  
− = −AE1 f (ξ ) + g(η) (8.14.49)
∂η c ∂η
∂t1 1 ∂x1  
+ = −AE1 f (ξ ) + g(η) (8.14.50)
∂ξ c ∂ξ

Integrating these two equations, respectively, yields the special solution of the
equation

1 η
t1 − x1 = −AE1 (η − ξ )f + ∫ g(s)ds (8.14.51)
c ξ

1 ξ
t1 + x1 = −AE1 ∫ f (s)ds + (ξ − η)g (8.14.52)
c η

From this
924 8 Traveling Waves

ξ η
t1 = − 21 AE1 (η − ξ )f + (ξ − η)g + ∫ f (s)ds + ∫ g(s)ds
η ξ
ξ η (8.14.53)
x1 = 21 cAE1 (η − ξ )f − (ξ − η)g − ∫ f (s)ds + ∫ g(s)ds
η ξ

Substituting (8.14.48) and (8.14.53) into (8.14.39) yields

ξ η
t = A(η + ξ ) − 21 εAE1 (η − ξ )f + (ξ − η)g + ∫ f (s)ds + ∫ g(s)ds + · · ·
η ξ
ξ η
x = cA(η − ξ ) + 1
2
εcAE1 (η − ξ )f − (ξ − η)g − ∫ f (s)ds + ∫ g(s)ds + · · ·
η ξ
(8.14.54)

Considering x(ξ, ξ ) = 0 and t(ξ, ξ ) = ξ , we can obtain

1
ξ = 2Aξ ⇒ A = (8.14.55)
2
Therefore,

/ξ /η
t = 21 (η + ξ ) − 41 εE1 (η − ξ )f + (ξ − η)g + f (s)ds+ g(s)ds + · · ·
η ξ
/ξ /η
x = 21 c(η − ξ ) + 41 εcE1 (η − ξ )f − (ξ − η)g − f (s)ds+ g(s)ds + · · ·
η ξ
(8.14.56)

From the above two equations, we can obtain

/η
t− x
c
= ξ − 21 εE1 2x
c
f (ξ ) + g(s)ds + · · ·
ξ
(8.14.57)
/ξ
t+ x
c
=η+ 1
2
εE1 2x
c
g(η) − f (s)ds + · · ·
η

8.15 Exercise 8.15 (Forced Excitations of a Nonlinear Finite

Elastic bar)

Solution: (a) The given equation is the nonlinear governing equation of forced exci-
tations of a nonlinear finite elastic bar. Let the straightforward expansion of the
solution of that equation be
8.15 Exercise 8.15 (Forced Excitations of a Nonlinear Finite Elastic bar) 925

u(x, t) = εu1 (x, t) + ε2 u2 (x, t) + · · · (8.15.1)

 
Substituting this into the governing equation and retaining to O ε2 yields

∂ 2u ∂ 2u ∂u ∂ 2 u
0 = 2 − 2 + 2E1
∂x ∂t ∂x ∂x2
 2   2  (8.15.2)
∂ u1 ∂ u1
2
2 ∂ u2 ∂ 2 u2 ∂u1 ∂ 2 u1
=ε − 2 +ε − 2 + 2E1
∂x2 ∂t ∂x2 ∂t ∂x ∂x2

Let the coefficient of the same power of ε be zero, we obtain

∂ 2 u1 ∂ 2 u1
− =0 (8.15.3)
∂x2 ∂t 2

∂ 2 u2 ∂ 2 u2 ∂u1 ∂ 2 u1
− 2 = −2E1 (8.15.4)
∂x 2 ∂t ∂x ∂x2
(8.15.3) is a one-dimensional wave equation, which can be solved by the variable
separation method. Let

u1 (x, t) = φ(x)q(t) (8.15.5)

and substitute (8.15.5) into (8.15.4), we can obtain

φ  q̈
= = −ω2 (8.15.6)
φ q

hence

φ  + ω2 φ = 0, q̈ + ω2 q = 0 (8.15.7)

and

φ(x) = A sin ωx + B cos ωx, q(t) = C cos(ωt + θ ) (8.15.8)

u1 (x, t) = (Asinωx + Bcosωx)cos(ωt + θ ) (8.15.9)

u(x, t) = ε(Asinωx + Bcosωx)cos(ωt + θ ) + ε2 u2 (8.15.10)

Applying the boundary conditions u1 (0, t) = 0 andu1 (1, t) = εpcosωt, we can

obtain

B cos(ωt + θ ) = 0
(8.15.11)
(A sin ω + B cos ω) cos(ωt + θ ) = p cos ωt
926 8 Traveling Waves

therefore

B = 0, θ = 0, A = p(sin ω)−1 (8.15.12)

From the above results, we have

u1 = p(sinω)−1 cosωtsinωx (8.15.13)

Substituting (8.15.13) into (8.15.4) yields

∂ 2 u2 ∂ 2 u2 E1 ω3 p2
− = (1 + cos 2ωt) sin 2ωx (8.15.14)
∂x2 ∂t 2 2 sin2 ω
The boundary conditions for u2 are

u2 (0, t) = u2 (1, t) = 0 (8.15.15)

Let the solution of (8.15.14) be

u2 = u21 + u22 (8.15.16)

where u21 and u22 satisfy, respectively, the following two equations:

∂ 2 u21 ∂ 2 u21 E1 ω3 p2
− = sin2ωx (8.15.17)
∂x2 ∂t 2 2sin2 ω

u21 (0, t) = u21 (1, t) = 0 (8.15.18)

∂ 2 u22 ∂ 2 u22 E1 ω3 p2
− = cos2ωtsin2ωx (8.15.19)
∂x2 ∂t 2 2sin2 ω

u22 (0, t) = u22 (1, t) = 0 (8.15.20)

Clearly, the solution to (8.15.17) and (8.15.18) can be written as

u21 = ψ1 (x) (8.15.21)

where

E1 ω3 p2
ψ1 = sin2ωx (8.15.22)
2sin2 ω

ψ1 (0) = ψ1 (1) = 0 (8.15.23)

8.15 Exercise 8.15 (Forced Excitations of a Nonlinear Finite Elastic bar) 927

therefore

E1 ωp2
u21 = ψ1 (x) = (x − sin2ωx) (8.15.24)
8sin2 ω
(8.15.19) and (8.15.20) can be solved by

u22 = ψ2 (x)cos2ωt (8.15.25)

where

E1 ω3 p2
ψ2 + 4ω2 ψ2 = sin2ωx (8.15.26)
2sin2 ω

ψ2 (0) = ψ2 (1) = 0 (8.15.27)

The special solution of (8.15.26) is

E1 ω2 p2
ψ2 (x) = − xcos2ωx
8sin2 ω
However, this special solution does not satisfy the boundary condition (8.15.27).
Superimposing the general solution on it, we have

E1 ω2 p2
ψ2 (x) = A1 sin2ωx + A2 cos2ωx − xcos2ωx (8.15.28)
8sin2 ω
Substituting (8.15.28) into (8.15.27) yields

A2 = 0
E1 ω2 p2 (8.15.29)
A1 sin2ω + A2 cos2ω = 8sin2 ω
cos2ω

therefore

E1 ω2 p2 cos 2ω
A2 = 0, A1 = (8.15.30)
8 sin 2ω sin2 ω
and
 
E1 ω2 p2 cos2ω
ψ2 (x) = sin2ωx − xcos2ωx (8.15.31)
8sin2 ω 8sin2ω
 
E1 ω2 p2 cos2ω
u22 = sin2ωx − xcos2ωx cos2ωt (8.15.32)
8sin2 ω 8sin2ω

From (8.15.32), (8.15.24) and (8.15.16), we have

928 8 Traveling Waves
 
E1 p2 ω2 1 cos 2ω sin 2ωx
u2 = (x sin 2ω − sin 2ωx) − x cos 2ωx − cos 2ωt
8 sin2 ω ω sin 2ω
(8.15.33)

From the above result, the solution of the given problem can be obtained as
p
u=ε cos ωt sin ωx
sin ω ⎡ ⎤
1
2 2⎢ (x sin 2ω − sin 2ωx) ⎥
E1 p ω ⎢ ω ⎥
+ ε2   (8.15.34)
2 ⎣ ⎦
8 sin ω − x cos 2ωx − cos 2ω sin 2ωx
cos 2ωt
sin 2ω

(b) When ω ≈ nπ , all terms in (8.15.34) tend to infinity and this solution is invalid.
The corresponding free oscillation equation to the governing equation of the rod
given in the problem is

∂ 2u ∂ 2u
− 2 =0
∂x2 ∂t (8.15.35)
u(0, t) = 0, u(1, t) = 0

It is easy to find out that the natural frequency of this set of equations is ωn =
nπ, n = 1, 2, . . .. Therefore, this case demonstrates a primary resonance.
When ω ≈ nπ , only the nth order modes are excited and the response of the other
modes decays very quickly due to damping (see Exercise 7.20). (8.15.34) becomes
p
u=ε cosωtsinωx (8.15.36)
sinω
Detuning parameter σ is introduced such that

ω = nπ + εσ (8.15.37)

Substituting this into (8.15.36) yields

p
u≈ cosnπ tsinnπ x (8.15.38)
σ cosnπ
Readers are invited to complete Exercise 8.15 (c)–(f).
8.16 Exercise 8.16 (Derivation of the Lagrangian Form of the Wave Equation … 929

8.16 Exercise 8.16 (Derivation of the Lagrangian Form

of the Wave Equation for an Inviscid Isentropic Gas)

Solution: (a) In order to derive the Lagrangian form of one-dimensional wave equa-
tion for an inviscid isentropic gas, we take the gas control volume shown in Fig. 8.3
and write the following equation according to the law of conservation of mass:
 
∂η
ρ0 dxdydz = ρ 1+ dx dydz
∂x

Therefore, the mass conservation equation (continuity equation) is

 
∂η
ρ0 = ρ 1 + (8.16.1)
∂x

Applying Newton’s second law along the x direction of the control volume shown
in Fig. 8.3 yields
 
∂ 2η ∂p
(ρ0 dxdydz) = − p + dx dydz + pdydz
∂t 2 ∂x

Therefore, the equation of conservation of momentum (or equation of motion) is

∂ 2η ∂p
ρ0 =− (8.16.2)
∂t 2 ∂x
For an isentropic gas, the equation of state is:
 γ
p ρ
= (8.16.3)
p0 ρ0

where γ = Cp /CV is the specific heat ratio or adiabatic exponent.

Fig. 8.3 The control volume

of inviscid gas for Exercise
8.16 and 8.19
930 8 Traveling Waves

(b) Substituting (8.16.3) into (8.16.2) yields

 
∂ 2η p0 ρ γ −1 1 ∂ρ
= −γ (8.16.4)
∂t 2 ρ0 ρ0 ρ0 ∂x

Substituting (8.16.1) into (8.16.4) yields

 
∂ 2η p0 ∂η −(γ +1) ∂ 2 η
= γ 1 + (8.16.5)
∂t 2 ρ0 ∂x ∂x2

Let
p0
c02 = γ (8.16.6)
ρ0

Therefore
 
∂ 2η ∂η −(γ +1) ∂ 2 η
= c0 1 +
2
(8.16.7)
∂t 2 ∂x ∂x2

8.17 Exercise 8.17 (Exact Solution of the One-Dimensional

Wave Equation for an Inviscid Isentropic Gas)

Solution: (a) Substituting the given form of solution into the wave equation of the
gas yields
 
∂f ∂η −(γ +1) ∂ 2 η
= c02 1 + (8.17.1)
∂t ∂x ∂x2

Let
∂η
g= (8.17.2)
∂x
then
∂f ∂u ∂g
= = (8.17.3)
∂x ∂x ∂t
therefore,
 2
∂f df ∂g df ∂f df ∂g ∂ 2 η ∂g
= = = , 2 = (8.17.4)
∂t dg ∂t dg ∂x dg ∂x ∂x ∂x
8.17 Exercise 8.17 (Exact Solution of the One-Dimensional Wave Equation … 931

Substituting (8.17.4) into (8.17.1) yields

 2
df
= c02 (1 + g)−(γ +1) (8.17.5)
dg
or
 
∂η −(γ +1)
f = c02 1 + (8.17.6)
∂x

The prime denotes the derivative of f with respect to ∂η/∂x.

(b) From (8.17.5), we have

df
= ±c0 (1 + g)−(γ +1)/2 (8.17.7)
dg

After integration, we have

2c0
f =u=± (1 + g)(1−γ )/2 + A (8.17.8)
1−γ

where A is the constant of integration. When the gas is undisturbed, u = 0. Assuming

that the gas is homogeneous, then g = ∂η/∂x = 0, and hence u(0) = 0. This gives

2c0
A=∓ (8.17.9)
1−γ

Therefore, Eq. (8.17.8) becomes

 
2c0 ∂η (1−γ )/2
u=± 1− 1+ (8.17.10)
1−γ ∂x

(c) Considering Eq. (8.17.3), we can obtain

df ∂f ∂x ∂f ∂t dx ∂f /∂x dx dx
= = = = (8.17.11)
dg ∂x ∂g ∂x ∂g dt ∂g/∂t dt dt

Substituting it into (8.17.7), we can obtain the characteristic line equation

 
dt 1 ∂η −(γ +1)/2
= ± , c = c0 1 + (8.17.12)
dx c ∂x

(d) From (8.17.10), we have

932 8 Traveling Waves

 
∂η 1 − γ 2/(1−γ )
1+ = 1∓ u (8.17.13)
∂x 2c0

Substituting (8.17.13) into (8.17.12) yields

 
1 − γ (γ +1)/(γ −1)
c = c0 1 ∓ u (8.17.14)
2c0

(e) From the above results, we assume that the right-running wave solution is
 x
u=F t− (8.17.15)
c
For the right-running wave
 
γ − 1 (γ +1)/(γ −1)
c = c0 1 + u (8.17.16)
2c0

Therefore, the solution can also be written as

 
x γ − 1 −(γ +1)/(γ −1)
u=F t− 1+ u (8.17.17)
c0 2c0

Below we verify that the solution (8.17.15) satisfies the wave equation for a gas,
i.e., it satisfies the following equation:
 
∂ 2η ∂η −(γ +1) ∂ 2 η
− c 2
1 + =0 (8.17.18)
∂t 2 0
∂x ∂x2

We have.

∂η ∂η dt u ∂ 2η 1 ∂u 1 ∂u
= = , 2 = = 2 (8.17.19)
∂x ∂t dx c ∂x c ∂x c ∂t
For a right-running wave, we can obtain from (8.17.13) that
 
∂η γ − 1 2/(1−γ )
1+ = 1+ u (8.17.20)
∂x 2c0

Substituting (8.17.20) and the second equation of (8.17.19) into the left side of
(8.17.18), we obtain
8.18 Exercise 8.18 (Approximate Solutions of the One-Dimensional Wave … 933

 
∂ 2η ∂η −(γ +1) ∂ 2 η
− c0 1 +
2
∂t 2 ∂x ∂x2
 
∂u c02 γ − 1 2(γ +1)/(γ −1) (8.17.21)
= 1− 2 1+ u
∂t c 2c0
∂u
= (1 − 1) = 0
∂t
It can be seen that the solution (8.17.15) satisfies the wave equation for the gas.
(f) For small and finite propagation, u is a finite small quantity, so
 
γ − 1 −(γ +1)/(γ −1) γ +1
1+ u ≈1− u (8.17.22)
2c0 2c0

Substituting (8.17.22) into (8.17.17) yields

 
x γ +1
u=F t− 1− u (8.17.23)
c0 2c0

8.18 Exercise 8.18 (Approximate Solutions

of the One-Dimensional Wave Equation for a Viscous
Isentropic Gas and Its Fourier Expansion)

Solution: (a) Because u(0, t) = u0 sinωt, we replace the variable in this equation
with the function F and obtain

ωx γ + 1
u = u0 sin ωt − + ωxu  u0 sinξ (8.18.1)
c0 2c02

(b) Because

ωx γ + 1 (γ + 1)ωu0 x ωx
ξ = ωt − + 2
ωxu = s + 2
sinξ, s = ωt − (8.18.2)
c0 2c0 2c0 c0

Rewrite (8.18.1) as
+ ,
u (γ + 1)ωu0 x
= sinξ = sin s 1 + sinξ (8.18.3)
u0 2c02 s

Since u0 is a finite small quantity, u/u0 is approximated as a periodic function of

s by expanding it into the Fourier sine series of s:
934 8 Traveling Waves

0 ∞
u
= sinξ = bn sinns (8.18.4)
u0 n=1

where

2 2π
bn = ∫ sinξ sinnsds (8.18.5)
π 0

Integrating (8.18.5) by part, we obtain

2 2π 2  2 2π
bn = ∫ sinξ sinnsds = − sinξ cosns2π
0 + ∫ cosnscosξ d ξ
π 0 nπ nπ 0
2 2π
= ∫ cosnscosξ d ξ (8.18.6)
nπ 0

From (8.18.2), we can obtain

(γ + 1)ωu0 x
s = ξ − σ sin ξ, σ = (8.18.7)
2c02

Therefore,

σ cosξ d ξ = d ξ − ds (8.18.8)

then

1 2π 1 2π 1 2π
∫ cos ns cos ξ d ξ = ∫ cos ns(d ξ − ds) = ∫ cos nsd ξ
π 0 σπ 0 σπ 0
1 2π
= ∫ cos ns(nξ − nσ sin ξ )d ξ (8.18.9)
σπ 0
1
= Jn (nσ )
σ
Substituting (8.18.9) into (8.18.6) yields

2
bn = Jn (nσ ) (8.18.10)
nσ
Substituting (8.18.10) and (8.18.7) into (8.18.4) yields

0∞  
u 4c02 1 n(γ + 1)ωu0 x ωx
= Jn ]sin[n ωt − (8.18.11)
u0 (γ + 1)ωu0 x n=1 n 2c02 c0
8.19 Exercise 8.19 (Derivation of the Eulerian Form of the One-Dimensional … 935

8.19 Exercise 8.19 (Derivation of the Eulerian Form

of the One-Dimensional Wave Equation for an Inviscid
Isentropic Gas)

Solution: (a) In order to derive the Eulerian form of one-dimensional wave equation
for an inviscid isentropic gas, we take the gas control volume and write the following
equation according to the law of conservation of mass:
  
∂ρ ∂u ∂ρ
ρudtdydz − ρ + dx u + dx dtdydz = dtdxdydz
∂x ∂x ∂t

Therefore, the equation of conservation of mass (or continuity equation) is

1 ∂ρ u ∂ρ ∂u
+ =− (8.19.1)
ρ ∂t ρ ∂x ∂x

Apply the momentum theorem to the control volume. The sum of the original
momentum of the control volume and the momentum flowing into the control volume
from t to t + dt is

p(t) = ρudxdydz + ρu2 dtdydz (8.19.2)

At t + dt instant, the sum of the momentum of the control volume and the
momentum of the outgoing control volume is
    
p(t + dt) = ρ + ∂ρ dt u + ∂u
dt dxdydz + ρ + ∂ρ
dx (u + ∂u dx)2 dtdydz
  ∂t 
∂t   ∂x 
∂x

= ρ + ∂ρ ∂t
dt u + ∂u
∂t
dt dxdydz + ρ + ∂ρ ∂x
dx u2 + 2u ∂u ∂x
dx dtdydz
(8.19.3)

Then the increment of the momentum of the control volume during time interval
dt is

dp = p(t + dt) − p(t)

 
∂ρ (8.19.4)
= ρ ∂u
∂t
dtdxdydz + u ∂t
+ u ∂ρ
∂x
+ 2ρ ∂u
∂x
dtdxdydz

Assuming that the mass in the control volume is conserved during time interval
dt and applying the momentum theorem, we obtain
 
dp
= ρ ∂u dxdydz + u ∂ρ
∂t  ∂t
+ u ∂ρ
∂x
+ 2ρ ∂u
∂x
dxdydz
dt  (8.19.5)
= pdydz − p + ∂p∂x
dx dydz

i.e.,
936 8 Traveling Waves

∂u ∂ρ ∂ρ ∂u ∂p
ρ +u +u + 2ρ =− (8.19.6)
∂t ∂t ∂x ∂x ∂x

Applying the mass conservation Eq. (8.19.1) to the above equation yields

∂u ∂u 1 ∂p
+u =− (8.19.7)
∂t ∂x ρ ∂x

This is the equation of conservation of momentum or the equation of motion.

For an isentropic gas, the equation of state is
 γ
p ρ
= (8.19.8)
p0 ρ0

where γ = Cp /CV is the specific heat ratio or adiabatic exponent.

(b) Multiplying (8.19.1) by c and −c, respectively, and adding them to (8.19.7) yields

c ∂ρ u ∂ρ ∂u ∂u ∂u 1 ∂p
+c + +u = −c − (8.19.9)
ρ ∂t ρ ∂x ∂t ∂x ∂x ρ ∂x
c ∂ρ u ∂ρ ∂u ∂u ∂u 1 ∂p
− −c + +u =c − (8.19.10)
ρ ∂t ρ ∂x ∂t ∂x ∂x ρ ∂x

where c2 = ∂p/∂ρ. (8.19.9) and (8.19.10) can be written as

 
∂u c ∂ρ ∂u c ∂ρ
+ = −(u + c) + (8.19.11)
∂t ρ ∂t ∂x ρ ∂x
 
∂u c ∂ρ ∂u c ∂ρ
− = −(u − c) − (8.19.12)
∂t ρ ∂t ∂x ρ ∂x

Considering the equation of state (8.19.8), we can immediately rewrite these two
equations as

∂J1 ∂J1
= −(u + c) (8.19.13)
∂t ∂x
∂J2 ∂J2
= −(u − c) (8.19.14)
∂t ∂x
where
ρ c 2
J1 = u + ∫ dρ = u + (c − c0 ) (8.19.15)
ρ0 ρ γ −1
8.19 Exercise 8.19 (Derivation of the Eulerian Form of the One-Dimensional … 937

ρ c 2
J2 = u − ∫ dρ = u − (c − c0 ) (8.19.16)
ρ0 ρ γ −1
p0
c02 = γ (8.19.17)
ρ0

where c0 is the speed of sound of a linear sound wave.

(c) Set up the characteristic line equation:

dx dx
= u + c, =u−c (8.19.18)
dt dt
The coordinates of the curves, ξ, η are adopted. From (8.19.13) and (8.19.14), we
can obtain
∂J1 ∂ξ dx ∂J1 ∂ξ dt ∂J1 ∂ξ dx
= −(u + c) =−
∂ξ ∂x dt ∂ξ ∂t dx ∂ξ ∂x dt

i.e.,

∂ξ ∂J1
(u + c) =0 (8.19.19)
∂x ∂ξ

therefore,

∂J1
=0 (8.19.20)
∂ξ

similarly, there are

∂J2
=0 (8.19.21)
∂η

Therefore, J1 is a constant along the curve of ξ and J2 is a constant along the curve
of η. J1 and J2 are Riemann invariants.
(d) For the present one-dimensional wave propagation, a relatively simple exact
solution to the nonlinear wave equation can be obtained.
From c2 = ∂p/∂ρ and the equation of state (8.19.8), we have
 (γ −1)/2  2/(γ −1)  
ρ c ∂ρ 2 ρ0 c (3−γ )/(γ −1)
c = c0 , ρ = ρ0 , =
ρ0 c0 ∂c γ − 1 c0 c0
(8.19.22)

Considering (8.19.22), we can rewrite (8.19.1) and (8.19.7) as follows:

938 8 Traveling Waves

∂c ∂c ∂u
+u +c =0 (8.19.23)
∂t ∂x ∂x
∂u ∂u 2 ∂c
+u =− c (8.19.24)
∂t ∂x γ − 1 ∂x

Let there exist the relation c = c(u), then

∂c ∂u ∂c ∂u dc
= c , = c where c = (8.19.25)
∂t ∂t ∂x ∂x du
Substituting (8.19.25) into (8.19.23) and (8.19.24) yields

∂u ∂u γ − 1 ∂u
c + c u + c =0
∂t ∂x 2 ∂x
∂u ∂u 2 ∂u
+u + cc =0
∂t ∂x γ − 1 ∂x

Eliminating u form the above two equations, we can obtain

γ −1 c 2
= cc
2 c γ −1
or
dc γ −1
=± (8.19.26)
du 2
The plus and minus signs of these determine the direction of propagation of the
traveling wave. The positive sign indicates a right-running wave, therefore:

γ −1
c = c0 + u (8.19.27)
2
Substituting (8.19.27) into (8.19.24) yields

∂u ∂u
+ (c0 + βu) =0 (8.19.28)
∂t ∂x
where
1
β= (γ + 1) (8.19.29)
2
Now, (8.19.23) and (8.19.24) are reduced to a single first-order Eq. (8.19.28).
Notice that the general solution of the corresponding linear equation of this
equation is
8.20 Exercise 8.20 (Derivation of Linear Inviscid Acoustic Waves … 939
 
x
u=f t− (8.19.30)
c0

Comparing (8.19.28) with the corresponding linear equation, we can suppose that
the solution to this nonlinear equation is
 
x
u=F t− (8.19.31)
c0 + βu

We can verify that (8.19.31) is exactly the solution of the Eq. (8.19.28).

8.20 Exercise 8.20 (Derivation of Linear Inviscid Acoustic

Waves in a Hardwalled Duct)

Solution: (a) Let the velocity of the fluid mass be

u = ui + vj + wk (8.20.1)

Take the control volume shown in Fig. 8.4a, which shows the mass inflow and
outflow per unit time from the control volume. From the law of conservation of mass,
we have
∂    
(ρxyz) = yz (ρu)|x − (ρu)|x+x ]+zx[(ρu)y − (ρu)y+y
∂t  
+ xy (ρu)|z − (ρu)|z+z (8.20.2)

i.e.,

∂ρ ∂(ρu) ∂(ρu) ∂(ρu)

+ + + =0 (8.20.3)
∂t ∂x ∂y ∂z

The above equation is written in vector form as

∂ρ
+ ∇ · (ρu) = 0 (8.20.4)
∂t
This is the continuity equation.
Based on the expression for the substantial derivative:

D(·) ∂(·) ∂(·) ∂(·) ∂(·) ∂(·)

= + u · ∇(·) = +u +v +w (8.20.5)
Dt ∂t ∂t ∂x ∂y ∂z

Equation (8.20.4) can be written as

940 8 Traveling Waves

(a)

(b)

Fig. 8.4 a Mass flow of the control volume of inviscid fluid, b momentum flow of the control
volume of inviscid fluid for Exercise 8.20

Dρ
+ ρ∇ · u = 0 (8.20.6)
Dt
Applying the momentum theorem to the x direction of the control volume shown
in Fig. 8.4b yields

∂
∂t (ρuxyz)
= Pyz|x − Pyz|x+x
+ρu2 yz|x − ρu2 yz|x+x
+ρuvxz y − ρuvxz y+y
+ρuwxy|z − ρuwxy|z+z

where P is the pressure on each face. The above equation can be rearranged as
 
∂(ρu) ∂ ρu2 ∂(ρuv) ∂(ρuw) ∂P
+ + + + =0
∂t ∂x ∂y ∂z ∂x

Expanding this equation and applying the continuity equation yields the equation
for the conservation of momentum along the x-direction
8.20 Exercise 8.20 (Derivation of Linear Inviscid Acoustic Waves … 941
 
∂u ∂u ∂u ∂u ∂P
ρ +u +v +w + =0
∂t ∂x ∂y ∂z ∂x

i.e.,

Du ∂P
ρ + =0 (8.20.7)
Dt ∂x
Similarly, the equations of the conservation of momentum along the y- and z-
direction can be obtained as
Dv ∂P
ρ + =0 (8.20.8)
Dt ∂y
Dw ∂P
ρ + = −ρg (8.20.9)
Dt ∂z
The above three equations can be written in vector form:

Du
ρ + ∇P = −ρgk (8.20.10)
Dt
For an isentropic fluid, the equation of state is
 γ
p ρ
= (8.20.11)
p0 ρ0

Ignoring gravity effects, the viscosity of the medium and heat conduction, we can
degenerate the continuity and momentum equations into

ρt + u · ∇ρ + ρ∇ · u = 0 (8.20.12)

ρ[ut + (u · ∇)u] + ∇P = 0 (8.20.13)

This set of equations is called Euler’s equations. The equation of state can be
written as
   
B ρ − ρ0 C ρ − ρ0 2
P − p0 = c02 (ρ − ρ0 ) 1 + + + ··· (8.20.14)
2!A ρ0 3!A ρ0

where
p0
c02 = γ (8.20.15)
ρ0
942 8 Traveling Waves

When there are no sound waves in the medium, the solutions of the above three
equations are

ρ = ρ0 , P = p0 , u = 0 (8.20.16)

This set of solutions is called the zeroth-order solutions, which describe the
stationary state of the fluid.
Now suppose there is a small perturbation to the stationary state, i.e.,

ρ = ρ0 + δρ, |δρ| << ρ0

P = p0 + p, |δρ| << ρ0 c02 (8.20.17)
u = 0 + u, |u| << c0

As a result, the continuity, momentum and equation of state become

∂(δρ)
+ u · ∇δρ + ρ0 ∇ · u + δρ∇ · u = 0
∂t
∂u ∂u
ρ0 + ρ0 (u · ∇)u + δρ + δρ(u · ∇)u + ∇p = 0
∂t ∂t

B (δρ)2
p = c02 δρ +
2!A ρ0

where the underlined terms are second-order or higher small quantities. Omitting
these terms yields

∂(δρ)
+ ρ0 ∇ · u = 0 (8.20.18)
∂t
∂u
ρ0 + ∇p = 0 (8.20.19)
∂t
p
c02 = (8.20.20)
δρ

This is the set of three-dimensional linearized wave equations for an inviscid,

non-heat-transferring fluid that neglects gravity effects.
Eliminating δρ from (8.20.18) and (8.20.20), we obtain

∂p
+ ρ0 c02 ∇ · u = 0
∂t
Then eliminate u from the above equation and (8.20.19), we can obtain
8.20 Exercise 8.20 (Derivation of Linear Inviscid Acoustic Waves … 943

∂ 2p
− c02 ∇ 2 p = 0 (8.20.21)
∂t 2
This is the three-dimensional wave equation for an inviscid fluid expressed in
terms of the wave pressure p.
For a viscous fluid, the boundary condition is un = 0. From (8.20.19), we can
obtain
∂p ∂un
= −ρ0 (8.20.22)
∂n ∂t
Therefore, the boundary conditions are

∂p
= 0on (8.20.23)
∂n

(b) Since the fluid is inviscid, it can be conjectured that the pressure at the same
cross-section of the pipe propagate along the pipe with the same velocity. Thus, for
a right running wave in a pipe, we assume that the solution of Eq. (8.20.21) is

p = ψ(y, z)exp[i(kx − ωt)] (8.20.24)

Substituting (8.20.24) into (8.20.21) and (8.20.23) yields

∂ 2ψ ∂ 2ψ
+ 2 + λ2 ψ = 0 (8.20.25)
∂y 2 ∂z
∂ψ
= 0 on (8.20.26)
∂n
where
 
ω2 = c02 k 2 + λ2 (8.20.27)

(c) For a rectangular pipe, we assume that the cross section of the pipe is 0 ≤ y ≤ a
and 0 ≤ z ≤ b, and set the solution of Eq. (8.20.25) be
nπ y mπ z
ψ =  cos cos , n, m = 1, 2, 3, . . . (8.20.28)
a b
so that the boundary conditions are automatically satisfied. Substituting (8.20.28)
into (8.20.25), we obtain
 
n2 m2
λ2 = π 2 2
+ 2 (8.20.29)
a b
944 8 Traveling Waves

Substituting (8.20.29) into (8.20.27) yields

 
n2 m2
ω = 2
c02 k +π2 2
+ (8.20.30)
a2 b2

It can be seen that the phase speed ω/k is not a constant and therefore the waves
are dispersive.
The function ψ determined by the Eqs. (8.20.28) and (8.20.30) is the natural or
acoustic mode of the traveling wave in a rectangular duct, and they are
nπ y mπ z
ψnm (y, z) = cos cos , n, m = 1, 2, 3, . . . (8.20.31)
a b
It can be seen from (8.20.30) that for a given mode, the corresponding natural
frequency ωnm and wave number knm can be multivalued; while for a given frequency
ω, there are
 2 
ω2 2 n m2
2
knm = 2 −π + 2 (8.20.32)
c0 a2 b

When the right-hand side of the above equation is less than zero, knm is an imagi-
nary number, and it can be seen from (8.20.24) that the wave is no longer a traveling
wave. Therefore, the frequency ω must make the right-hand side of (8.20.32) greater
than zero, otherwise it cannot propagate (precisely, it cannot propagate over long
distances).
Write the dispersion relation as:
 ω 2  
π 2 n2 m2
= c02 1+ 2 + 2 (8.20.33)
k k a2 b

For the given a and b, it is assumed that the mode of r ∼ s order also satisfy (8.20.33),
i.e.,
 ω 2  
π 2 r2 s2
= c02 1+ 2 + 2 (8.20.34)
k k a2 b

where r = n, s = m. In this case, the traveling wave mode of order n ∼ m has the
same wave number and phase speed as the traveling wave mode of order r ∼ s, and
these two traveling waves interact strongly, i.e., they resonate harmonically.
Readers are invited to complete the analysis on Exercise 8.20 (d).
8.21 Exercise 8.21 (Analysis on the Linear Waves Propagating on the Surface … 945

8.21 Exercise 8.21 (Analysis on the Linear Waves

Propagating on the Surface of an Inviscid Liquid
of Finite Depth)

Solution: (a) The governing equation of the problem is the two-dimensional Lapla-
cian equation for the velocity potential function φ(x, y, t) in x ∼ y plane, and the
boundary conditions are expressed in terms of the potential function φ(x, y, t) and
the elevation of the interface above its undisturbed position η(x, t). The propagation
regions are −∞ < x < ∞ and −h ≤ y ≤ 0, as shown in Fig. 8.5.
Let the governing equation of the velocity potential function φ(x, y, t) have a
separated variable solution:

φ(x, y, t) = f (x)g(y)q(t) (8.21.1)

Substituting this into the Laplacian equation of φ yields

d 2f d 2g
dx2 dy2
=− = −k 2
f g

So there’s

d 2f
+ k 2f = 0 (8.21.2)
dx2

d 2g
− k 2g = 0 (8.21.3)
dy2

Let the solution of Eq. (8.21.2) be

f (x) = exp(ikx) (8.21.4)

and the solution of Eq. (8.21.3) be

Fig. 8.5 Surface waves of a viscous-free fluid for Exercise 8.21

946 8 Traveling Waves
 
g(y) = Acosh k(y + y1 ) (8.21.5)

where A and y1 are the constants of integration. So

 
φ(x, y, t) = Acosh k(y + y1 ) exp(ikx)q(t)

Applying the boundary condition at y = −h to the above equation yields

 
A sinh k(−h + y1 ) = 0 ⇒ y1 = h (8.21.6)

If we wish to obtain a simple harmonic solution for a right-running wave, we can

take q(t) = exp(−iωt), and thus have
   
φ(x, y, t) = Acosh k(y + h) exp i(kx − ωt) (8.21.7)

Substituting (8.21.7) into the joint boundary conditions of φ and η, we obtain

∂η
= kAsinh(kh)exp[i(kx − ωt)] (8.21.8)
∂t

∂ 2η
W − η = −iωAcosh(kh)exp[i(kx − ωt)] (8.21.9)
∂x2
The solution of Eq. (8.21.8) can be set as

η(x, t) = η0 exp[i(kx − ωt)] (8.21.10)

which leads to
iωη0
A=− (8.21.11)
ksinh(kh)

Substituting (8.21.10) and (8.21.11) into (8.21.9) yields

 
ω2 = ktanh(kh) Wk 2 + 1 (8.21.12)

(b) For the case of small surface tension, W ≈ 0, so the Eq. (8.21.12) becomes

ω2 = ktanh(kh)

When h → 0, the above equation becomes

ω
ω2 ≈ hk 2 ⇒ ≈h (8.21.13)
k
8.22 Exercise 8.22 (The Method of Multiple Scales for Wave Group … 947

The phase speed is constant and hence the solution (8.21.12) represents a non-
dispersive wave, i.e., the surface wave in the shallow water region is approximated
as a non-dispersive wave.
(c) For deep water and nonnegligible surface tension,h → ∞, the Eq. (8.21.12)
becomes
 
ω2 = k Wk 2 + 1 (8.21.14)

For a positive integer n, we assume that (nω, nk) also satisfies the dispersion relation
(8.21.14) i.e.
 
(nω)2 = nk W (nk)2 + 1 (8.21.15)

then we need
1
k2 = (8.21.16)
nW
If the condition
√ (8.21.16) is satisfied, then the low-order traveling wave with wave
number k = 1/ nW √ has the same phase speed as the high-order traveling wave with
wave number k = n/W , and these two traveling waves will interact strongly, i.e.,
resonate harmonically.

8.22 Exercise 8.22 (The Method of Multiple Scales

for Wave Group Propagation Governed
by Klein–Gordon Equation)

Solution: (a) We consider the propagation of a group of waves whose frequencies

and wave numbers are around a center frequency w and wave number k. We adopt
the method of multiscale to complete this problem by introducing two slow-varying
time scales T1 and T2 , and two slow-varying space scales X1 and X2 :

T1 = εt, T2 = ε2 t and X1 = εx, X2 = ε2 x (8.22.1)

Therefore, the derivatives for the fast-varying scales t = T0 and x = X0 become

∂ ∂
∂t
= ∂T0
+ ε ∂T∂ 1 + ε2 ∂T∂ 2
∂ ∂ (8.22.2)
∂x
= ∂X0
+ ε ∂X∂ 1 + ε2 ∂X∂ 2

Let the solution of the given Klein–Gordon equation be

948 8 Traveling Waves

0
2
 
u(x, t; ε) = εn un (X0 , X1 , X2 , T0 , T1 , T2 ) + O ε3 (8.22.3)
n=0

Substituting (8.22.2) and (8.22.3) into the Klein–Gordon equation, we obtain

∂ 2u ∂ 2u
0= − 2 − γ u − εαu3
∂t 2 ∂x
 2 
∂ ∂2 2 ∂
2
∂2  
= + 2ε +ε + 2ε 2
u0 + εu1 + ε2 u2
∂T02 ∂T0 ∂T1 ∂T12 ∂T0 ∂T2
 2 
∂ ∂2 2 ∂
2
∂2  
− + 2ε +ε + 2ε 2
u0 + εu1 + ε2 u2
∂X 2 ∂X0 ∂X1 ∂X1 2 ∂X0 ∂X2
 0 
− γ u0 + εu1 + ε u2 − ε α(u0 + εu1 + ε2 u2 )3
2 2

∂ 2 u0 ∂ 2 u0
= − − γ u0
∂T0 2
∂X02
 2 
∂ u1 ∂ 2 u1 ∂ 2 u0 ∂ 2 u0
+ε − − γ u1 − 2 +2
∂T 2 ∂X02 ∂X0 ∂X1 ∂T0 ∂T1
⎛ 02 ⎞
∂ u2 ∂ u2
2
∂ u0
2
∂ 2 u0
⎜ − − γ u2 + +2 ⎟
2 ⎜ ∂T0
2
∂X02 ∂T12 ∂T0 ∂T2 ⎟
+ε ⎜ ⎟ (8.22.4)
⎝ ∂ 2 u0 ∂ u0
2
∂ u1
2
∂ u1
2 ⎠
− 2 −2 +2 −2 − αu03
∂X1 ∂X0 ∂X2 ∂T0 ∂T1 ∂X0 ∂X1

Making the coefficient of the same power of ε be zero in the above equation yields

∂ 2 u0 ∂ 2 u0
− − γ u0 = 0 (8.22.5)
∂T0 2
∂X02
∂ 2 u1 ∂ 2 u1 ∂ 2 u0 ∂ 2 u0
− − γ u1 = 2 − 2 (8.22.6)
∂T02 ∂X02 ∂X0 ∂X1 ∂T0 ∂T1
∂ 2 u2 ∂ 2 u2
− γ u2 = − ∂∂Tu20 + ∂ 2 u0
− 2 ∂T∂ 0 ∂T + 2 ∂X∂ 0 ∂X
2 2 2

∂T02
− ∂X02 ∂X12
u0 u0
1 2 2
(8.22.7)
−2 ∂T∂ 0 ∂T + 2 ∂X∂ 0 ∂X
2 2
u1
1
u1
1
+ αu03

The solution to Eq. (8.22.5) can be written as

u0 = A(X1 , X2 , T1 , T2 )ei(kX0 −ωT0 ) + cc (8.22.8)

Substituting (8.22.8) into (8.22.6), we can obtain the dispersion relation:

ω2 = k 2 − γ (8.22.9)

Substituting (8.22.8) into (8.22.6) yields

8.22 Exercise 8.22 (The Method of Multiple Scales for Wave Group … 949
 
∂ 2 u1 ∂ 2 u1 ∂A ∂A i(kX0 −ωT0 )
− − γ u1 = 2ik + 2iω e + cc (8.22.10)
∂T02 ∂X02 ∂X1 ∂T1

In order to eliminate secular terms from the above equation, we need

∂A ∂A
k +ω =0 (8.22.11)
∂X1 ∂T1

Then the solution to (8.22.10) is

u1 = 0 (8.22.12)

Substituting (8.22.8) and (8.22.12) into (8.22.7) yields

∂ 2 u2 ∂ 2 u2 ∂ A2
∂2A ∂A ∂A
∂T02
− ∂X02
− γ u2 = (− ∂T 2 +
∂X12
+ 2iω ∂T + 2ik ∂X
1 2 2 (8.22.13)
+3αA2 A)ei(kX0 −ωT0 ) + cc + NST

In order to eliminate secular terms from the above equation, we need

∂ 2A ∂ 2A ∂A ∂A
− + + 2iω + 2ik + 3αA2 A = 0 (8.22.14)
∂T12 ∂X12 ∂T2 ∂X2

From Eq. (8.22.11), we have

∂A k ∂A
=− (8.22.15)
∂T1 ω ∂X1

Applying the partial derivative with respective to T1 to (8.22.15) yields

∂ 2A k ∂ 2A k 2 ∂ 2A
= − = (8.22.16)
∂T12 ω ∂T1 ∂X1 ω2 ∂X12

And then substituting (8.22.16) into (8.22.14) yields

 
∂A k ∂A i k 2 ∂ 2A 3iα 2
+ − 1− 2 = A A (8.22.17)
∂T2 ω ∂X2 2ω ω ∂X1 2 2ω

Using the dispersion relation (8.22.9), we can obtain

k  ω2 − k 2
ω = ,ω = (8.22.18)
ω ω3

where ω = d ω/dk and ω = d 2 ω/dk 2 . Substituting (8.22.18) into (8.22.17) yields
950 8 Traveling Waves

∂A ∂A 1 ∂ 2A 3iα 2
+ ω − iω 2 = A A (8.22.19)
∂T2 ∂X2 2 ∂X1 2ω

Use (8.22.1) to replace the independent variables in the above equation with t and
x, we obtain

∂A ∂A 1  ∂ 2 A 3iε2 α 2
+ ω − iω = A A (8.22.20)
∂t ∂x 2 ∂x 2 2ω
From (8.22.11) and (8.22.14), we have

∂A ∂A 1  ∂ 2 A 3iε2 α 2
+ k + ik = A A (8.22.21)
∂x ∂t 2 ∂t 2 2k

where k  = dk/d ω and k  = d 2 k/d ω2 . Therefore, the first order traveling wave
solution of the Klein–Gordon equation is

U = a(x, t) exp[i(kx − ωt)] + cc + · · · (8.22.22)

(b) When ω is a real number, k is also a real number and the motion is a steady
state fluctuation by (8.22.22). For a given k, the amplitude of the fluctuation A is
independent of x and then (8.22.20) becomes

∂A 3iε2 α 2
= A A (8.22.23)
∂t 2ω
Let
1 iβ
A= ae (8.22.24)
2
and substitute (8.22.24) into (8.22.23), we can obtain

3iε2 α 3
ȧ + iaβ̇ = a (8.22.25)
8ω
Then

3ε2 α 2
ȧ = 0, β̇ = a (8.22.26)
8ω
therefore,

3ε2 α 2
a = a0 , β = a t + β0 (8.22.27)
8ω 0
8.22 Exercise 8.22 (The Method of Multiple Scales for Wave Group … 951

 2 
1 3ε α 2
A = a0 exp i a t + β0 (8.22.28)
2 8ω 0

Substituting (8.22.28) into (8.22.22) yields

u = a0 cos(kx − ω̂t + β0 ) + · · · (8.22.29)

where

3ε2 α 2
ω̂ = ω − a (8.22.30)
8ω 0

(c) In order to analyze the stability of steady state solution (8.22.29), we denote A as

1
A= a(x, t) exp[iβ(x, t)] (8.22.31)
2
Substituting (8.22.31) into (8.22.20) and then separating the real and imaginary
parts yields
 
∂a  ∂a  ∂β ∂a 1 ∂ 2β
+ω +ω + a 2 =0 (8.22.32)
∂t ∂x ∂x ∂x 2 ∂x
 2
∂β  ∂β 1  ∂ 2 a ∂β 3ε2 α 3
a + aω − ω − a − a =0 (8.22.33)
∂t ∂x 2 ∂x2 ∂x 8ω

We denote a and β as the superimposition of the steady state solution and the
perturbation:

a = a0 + a1 (x, t)
3ε2 α 2 (8.22.34)
β= a t + β0 + β1 (x, t)
8ω 0
Substituting (8.22.34) into (8.22.32) and (8.22.33), we can obtain the linearized
equation for the perturbation

∂a1 ∂a1 1 ∂ 2 β1
+ ω + ω a0 2 = 0
∂t ∂x 2 ∂x (8.22.35)
∂β1 ∂β 1 ∂ 2 a1 3 2 2
+ ω a0 − ω 2 −
1
a0 ε αa0 a1 = 0
∂t ∂x 2 ∂x 4ω
The solution to (8.22.35) is
952 8 Traveling Waves

a1 = a10 exp[i(Kx − t)]

(8.22.36)
β1 = β10 exp[i(Kx − t)]

Substituting (8.22.36) into (8.22.35) yields

  1
i ω K −  a10 − ω a0 K 2 β10 = 0
 2 
  (8.22.37)
1  2 3 2 2
ω K − ε αa0 a10 + ia0 ω K −  β10 = 0
2 4ω

From the non-trivial solution conditions for the system of Eq. (8.22.37), we have
 
 
2 1 2 4 3ε2 αa02
ωK − = ω K 1− (8.22.38)
4 2K 2 ωω

From (8.22.38), we can obtain:

(1) When α has the same sign as ω and 3ε2 αa02 > 2K 2 ωω ,  is a complex number
and a1 and β1 become unbounded.
(2) For any given real K and , when αω < 0,  is a real number, then a1 and β1
are bounded. Considering (8.22.18) and (8.22.9), we can obtain the sufficient
condition for a1 and β1 to be bounded is αγ > 0.
Readers are invited to complete the analyses on Exercise 8.22 (d) and (e).

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