58 A CHAPTER 3 Undamped Free Vibration Figure 3.9 Cantilever beam with tip Toad. As a more practical example of the equivalent spring constant for an elastic ele- ment, consider the cantilever beam loaded at its free end as shown in Figure 3.9. The deflection of the beam at the point of application of the force F is given by FL 4 = ser (3.52) where E is Young's modulus for the beam material and / is the moment of inertia of the beams cross-sectional area about the neutral axis. The equivalent stiffness for the beam is the ratio of the applied load to the deflection at the point of application of the load. ‘Thus, from Eq. (3.52) the equivalent stiffness is F _3EL A vb (3.53) ‘The equivalent spring constants for beams with various other types of loading and/or boundary conditions can be obtained in a similar manner. Some of the more commonly encountered cases of equivalent stiffness are summarized in Table 3.1 TABLE 3.1. Equivalent Spring Constants Case Equivalent Spring Constant 1. maxial springs in parallel ky thy thy tooth, wie |] iia Mii WAAAY iC pel 2. maxial springs in series F Ay ky hy SN MA (continued)3.3. Equivalent stiffness a 59 Case Equivalent Spring Constant 3. Springs in parallel and in series us Kuk + kak Rigid Rigid ky thtk Ay F MN! i iy [Pann Wy \ Rigid 4, Inclined axial spring A k cos? Fritionless KAN wae “ nw ~ 5. Rotating bar with spring support 1 St () 7 mda ze as eT 6. Rigid bar supported on two springs 4kjky FA KU + a/LP + kll + a/LP Rigid = 4% 2 ky (continued)60 A CHAPTER 3 Undamped Free Vibration Case Equivalent Spring Constant 9. Axially loaded tapered bar EDD, aL E — 3, mea ee] 10. Axial helical spring Gat + G4nR* 11. Torsion of a uniform shaft —t 12, Torsion of tapered circular shaft 13. Spiral torsional spring ©) 14. Cantilever beam, end load Li! aL a active number of turns G = clastic shear modulus GI L J = torsional constant of cross section (1d‘/32) 30 DiG 32 L[D,/D, + (D,/D,. +(D,/D,)] EL L E= Young's modulus ‘moment of inertia of cross-sectional area total length of spiral 3El DP (continued)3.3. Equivalent stiffness a 61 Case Equivalent Spring Constant ; 15. Simply supported beam, load at midspan 48EI Dp 16. Simply supported beam, load anywhere between supports 3EIL : F ah’ a » a L 17. Fixed-fixed beam, load at midspan 1921 3EI(a + 6) 19, Propped cantilever, load at midspan , T68El a 3 RI TL: \-£_]__£. 2 2 20, Propped cantilever with overhang, load at free end 24EI @(3L + 8a) (continued)62 & CHAPTER 3 Undamped Free Vibration Case 21. Simple beam with overhang, load at free end Lee 22. Shear frame, fixed base Equivalent Spring Constant 3EL (L+a)a* 1 Ba Figure 3.10 ‘System with springs in parallel and in series. For systems that have spring elements both in parallel and in series, the equiva- lent stiffness is determined by calculating the equivalent spring constant for the elastic lements in parallel (4,),, and for the elastic elements in series (k,),, and then appropri- ately combining the two. An example of a system having spring e and in series is illustrated in Figure 3.10. The equivalent stiffness fe culated by or where key and. (kee (be), +), 1 170 ),1 U7 ED,] =htk 1 © (7k) +7) ‘lements in parallel for the system is cal- (3.54) (3.55) 3.56) 3.57)3.3. Equivalent Stiffness A 63 At this point it should be recognized that (K,), and (k,), are in series; therefore, k, is determined by Eq. (3.55) as follows: 3.58) EXAMPLE 3.3 v For the system shown in Figure 3.11, determine (a) the differential equation of the motion of the mass m and (b) the natural circular frequency of vibration of the mass m. Solution Springs k, and k, are in parallel with one another, and spring k; is in series with k, and k;. Let k’ = ky + ky; then from Eq. (3.49), Figure 3.11 Lita System of Pte a Example 3.3. or Kk _ kylky +a) k= Pek 7 tht @ (a) The equation of motion is expressed as k, E+ ne 3) and substitution of Eq. (2) into Eq. (3) yields ee falls + he) + mF Ey = “ (b) The natural circular frequency is calculated as _fE ky(ky thy) J? w= f [ats rad/sec (5) EXAMPLE 3.4 v ‘A spherical container of weight W is supported at the tip of a cantilever beam hav- ing flexural rigidity EY and length L as shown in Figure 3.12. The container is also