Chapter 9 Mathematical Models of Continuous Systems

• Vibration of Strings(Cables)
Ref: “Anaytical Methods in Vibrations,” L Meirovitch 2ed, 1967,
§5-6( pp. 143-144)

Figure 5.2

 ∂T ( x )   ∂y ( x , t ) ∂ 2 y ( x , t )  ∂y ( x , t )
T ( x ) + dx   ∂x + dx  + p( x , t )dx − T ( x )
∂x  ∂x 2  ∂x
∂ 2 y( x , t )
= ρ ( x )dx
∂t 2

∂  ∂y( x, t )  ∂ 2 y( x, t )
T ( x) + p( x, t ) = ρ ( x)
∂x  ∂x  ∂t 2 (5.59)

Partial differential equation

Two boundary conditions and two initial conditions are required

for solution

•Boundary Conditions
p( x e , t ) = 0 forced − free end

y( x e , t ) = 0 fixed end

1
 ∂y
T ( x) =0 free end
∂x
xe

•Initial Conditions
y( x ,0), y& ( x ,0)

Change Notation
y( x , t ) → v ( x , t )

• Vibration of Taut Cable with Damper

Non-dimensionalized Equation of Motion

The motion of the taut cable in the linear range is described by the
following partial differential equation
∂ v ∂ 2v ∂v
T( x ) 2 = m +c δ ( x − xc )
∂x ∂t 2
∂t
v=lateral displacement from static position.
x=coordinate along the cable chord line,
xc = location of the damper , t=time, and
T=initial static tension force in the cable,
m=mass per unit length of cable,
c=damper coefficient,
δ = Dirac’s delta function,
The inherent damping of the cable is assumed to be negligible.

§9.1 Longitudinal Vibration of Bars (Rods, Truss Members)

2
 u( x , t )
y

p( x , t )

x ∆x

p( x , t ) ∆ x
p( x , t ) p( x + ∆ x , t )

A( x ) A( x + ∆x )

Figure 9.1. Member undergoing axial deformation. (a) portion of a

member undergoing axial deformation. (b) Freebody diagram

∂u
ε= (9.1)
∂x
σ = Eε (9.2)
P = Aσ (9.3)
+ ∑ Fx = ( ∆m )a x (9.4)

∂ 2u
p∆x + P ( x + ∆x , t ) − P ( x , t ) = ρA∆x 2 (9.5)
∂t
 P ( x + ∆x , t ) − P ( x , t )  ∂ 2u
lim   + p = ρA 2
∆x → 0  ∆x  ∂t
∂P ∂ 2u
+ p = ρA 2 (9.6)
∂x ∂t
∂  ∂u  ∂ 2u
 AE  + p = ρ A (9.7)
∂x  ∂x  ∂t 2

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•Boundary Conditions

P ( xe , t ) = 0 forced − free end (9.8a)

u( x e , t ) = 0 fixed end (9.8b)

∂u
=0 free end (9.8c)
∂x
xe

Example 9.1 Boundary Conditions

Determine the appropriate axial deformation boundary conditions at

x=0 for the two members shown below.

m
x
k

P ( 0, t )
m

Solution

∂ 2u
P (0, t ) = m 2 x = 0 (1)
∂t
∂u
P (0, t ) = AE (2)
∂x
x=0

∂u ∂ 2u
AE =m (3)
∂x ∂t 2
x=0 x=0

4
 P ( 0, t )
Ls

u(0, t )

P (0, t ) = ku(0, t ) (4)

∂u
AE = ku(0, t ) (5)
∂x
x=0

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§9.2 Transverse Vibration of Beams (Bernoulli-Euler Theory)

Figure 9.2. Member undergoing transverse vibration

−y
ε= (9.9)
R
EI
M ( x, t ) = (9.10)
R
+↑ ∑ F y = ( ∆m )a y (9.11)

+ ∑ M G = ( ∆I G )α (9.12)

∑M G
=0 (9.13)

∂ 2v
S ( x , t ) − S ( x + ∆x , t ) + p( x , t )∆x = ρA∆x 2 (9.14)
∂t
∂S ∂ v
2

− + p ( x , t ) = ρA 2 (9.15)
∂x ∂t
∂M
S= (9.16)
∂x
∂ 2v
M ( x , t ) = EI 2 (9.17)
∂x

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∂2  ∂ 2v  ∂ 2v
 EI  + ρ A = p( x , t ) (9.18)
∂x 2  ∂x 2  ∂t 2

•Boundary Conditions
a. Fixed end:
v( xe , t ) = 0 (9.19a)
∂v
=0 (9.19b)
∂x
x = xe

b. Simply supported* end:

v( xe , t ) = 0 (9.20a)

M ( xe , t ) = 0 (9.20b)

∂ 2v
=0 (9.20c)
∂x 2
x = xe

c. Force-free end:
S ( xe , t ) = 0 (9.21a)

M ( xe , t ) = 0 (9.21b)

∂  ∂ 2v 
 EI 2  =0 (9.22a)
∂x  ∂x 
x = xe

∂ 2v
=0 (9.22b)
∂x 2
x = xe

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Example 9.2 Boundary Conditions

Determine the appropriate boundary conditions if a point mass m is

attached at the end of the beam at x=L

Solution

S ( L, t )

m
M ( L, t )

+↑ ∑ F y = ma y (1)

∂ 2v
S ( L, t ) = m 2 (2)
∂t
x=L

∂  ∂ 2v  ∂ 2v
 EI 2  x= L = m (3)
∂x  ∂x  ∂t 2
x= L

∑M G
=0 (4)

M ( L, t ) = 0 (5)

∂ 2v
m 2 =0 (6)
∂t
x= L

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Example 9.3 Compressive Load

Determine the equation of motion for a beam that is subjected to a

compressive load N, which remains parallel to the x-axis. Neglect axial
strain. (Note: Coupled axial-bending motion will be considered in
Problem 9.1.)

Solution

+↑ ∑ F y = ∆ma y (1)

+ ∑ MG = 0 (2)

∂S ∂ 2v
− + p ( x , t ) = ρA 2 (3)
∂x ∂t
M ( x + ∆x , t ) − M ( x , t ) + N [v ( x + ∆x , t ) − v ( x , t )]
(4)
− S ( x + ∆ x , t )∆ x = 0

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∂M ∂v
+N =S (5)
∂x ∂x
∂2M ∂ 2v ∂ 2v
+ N 2 + ρA 2 = p( x , t ) (6)
∂x 2 ∂x ∂t
∂2  ∂ 2v  ∂ 2v ∂ 2v
 EI 2  + N 2 + ρA 2 = p( x , t ) (7)
∂x 2  ∂x  ∂x ∂t

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●Torsional Vibration of Bars: Newton’s Laws
Ref: “Anaytical Methods in Vibrations,” L Meirovitch 2ed, 1967,
§5-9( pp.156-157)

Figure 5.6
∂θ ( x , t )
M T ( x , t ) = GJ ( x ) (5.125)
∂x
GJ ( x ) : torsional stiffness.

 ∂M T ( x , t )  ∂ 2θ ( x , t )
 M T ( x, t ) + dx  + mT ( x , t )dx − M T ( x , t ) = ρI ( x )dx
 ∂x  ∂x 2
(5.126)
∂M T ( x , t ) ∂ 2θ ( x , t )
+ m T ( x , t ) = ρI ( x ) (5.127)
∂x ∂t 2

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∂  ∂θ ( x , t )  ∂ 2θ ( x , t )
GJ ( x ) + mT ( x , t ) = ρI ( x ) (5.128)
∂x  ∂x  ∂t 2

•Boundary Conditions

θ (0, t ) = 0 Fixed end (5.130)

∂θ ( x , t )
GJ ( x ) =0 Free end (5.131)
∂x x = L

§9.3 Torsional Vibration of Bars: Hamilton’s Principle:

Figure 9.3. Rod undergoing torsional deformation

t2 t2
∫ δ (T − V )dt + ∫ δW
t1 t1 nc
dt = 0 (9.23)

πR 4
I p = J = ∫∫ r dA =
2
(9.25)
2
1 L
V= ∫ GJ (θ ′ ) 2 dx (9.26)
2 0

1 L
T = ∫0 ρI p (θ& ) 2 dx (9.27)
2

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 ∂( )
( )′ =
∂x
•
∂( )
( )=
∂t
L
δW nc = ∫0 t ( x , t )δθ ( x , t )dx + TL ( t )δθ ( L, t ) (9.28)

1
t2 L 1 L 
∫ δ  2t ∫ ρI (θ&) p
2
dx − ∫ GJ (θ ′ ) 2 dx dt
t1 0
2 0
 (9.29)
+ ∫t
t2

1
[∫ t( x, t )δθ ( x, t )dx + T (t )δθ ( L, t )]dt = 0
0
L
L

L
δV = ∫0 GJθ ′δθ ′dx (9.30)
L
δT = ∫0 ρI pθ&δθ&dx (9.31)
t2 t2 L
∫ δVdt = ∫t ∫ GJθ ′δθ ′dxdt

[ ]
t1 1 0

t2 L
(9.32)
= ∫t (GJθ ′δθ ) 0L − ∫0 (GJθ ′ )′δθdx dt
1

t2 L t2
∫t1
δTdt = ∫0 ∫ ρI θ&δθ&dtdx
t1 p

L
[
= ∫0 ( ρI pθ&δθ ) tt − ∫t ρI pθ&&δθ dt dx 2
1
t2

1
] (9.33)

Since θ ( x , t 1 ) and θ ( x , t 2 ) are known, δθ ( x , t 1 ) = δθ ( x , t 2 ) =0

∫ {[(GJθ ′)δθ ] − [(GJθ ′ − TL )δθ ]x = L }dt

t2

t1 x =0
(9.34)
+ ∫t
t2

1
∫
L

0
[(GJθ ′)′ − ρI θ&& + t ]δθ dxdt = 0
p

δθ x =0
= 0 and δθ x=L
≠0

(GJθ ′ ) x = L = TL ( t ) natural boundary condition (9.35)

(GJθ ′)′ + t ( x , t ) = ρI pθ&& Euler equation (9.36)

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∂  ∂θ ( x , t )  ∂ 2θ ( x , t )
GJ ( x ) + mT ( x , t ) = ρI ( x ) (5.128)
∂x  ∂x  ∂t 2

A natural boundary condition, when the principle of virtual

displacement is employed, is a boundary condition that arises when no
geometric boundary condition is prescribed on a portion of the
boundary.

§9.4 Beam Flexure Including Shear Deformation and Rotatory Ineria

(Timoshenko Beam Theory): Hamilton’s Principle

∂v
β =α − (9.37)
∂x
M = EIα ′ (9.38)
1 L
Vb = ∫0 EI (α ′ ) 2 dx (9.39)
2
1 L
Vs = ∫0 κGAβ 2 dx (9.40)
2
1 L
τγ dA dx
2 ∫0 ∫∫A
Vs = (9.41)

Figure 9.4. Kinematics of deformation of a beam including shear

deformation

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 1 L 1 L
T= ∫ ρA(v& ) 2 dx + ∫0 ρI (α& ) 2 dx (9.42)
2 0
2
L
δW nc = ∫0 p( x , t )δv ( x , t )dx (9.43)

1 t L
∫t ∫0
δ [ ρAv& 2 + ρIα& 2 − EI (α ′ ) 2 − κGA(α − v ′ ) 2 ]dx
2

2 1
(9.44)
t2 L
+ ∫t
1
∫ pδvdx = 0
0

t2 L
∫∫
t1 0
{ − ρAv&& − [κGA(α − v ′ )]′ + p}δv dx dt
t2 L
+ ∫t ∫
0
[− ρIα&& + ( EIα ′ )′ − κGA(α − v ′ )]δα dx dt (9.45)
1

t2 t2
+ ∫t [κGA(α − v ′ )δv ] 0L dt − ∫t [( EIα ′ )δα ] 0L dt = 0
1 1

[κGA(α − v ′ )]′ + ρAv&& = p( x , t ) (9.46a)

κGA(α − v ′ ) − ( EIα ′ )′ + ρIα&& = 0 (9.46b)

(κGAβ )δv = 0, at x = 0 (9.47a)

(κGAβ )δv = 0, at x = L (9.47b)

( EIα ′ )δα = 0, at x = 0 (9.47c)

( EIα ′ )δα = 0, at x = L (9.47d)

 1 
α ′ = v ′′ +  ( p − ρAv&&) (9.48)
 κGA 

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 ∂ 4v  ∂ 2v  ∂ 4v
EI 4 −  p − ρA 2  − ρI 2 2
∂x  ∂t  ∂x ∂t

Bernoulli-Euler theory Principle rotary inertia term (9.49)

EI ∂ 2  ∂ 2 v  ρI ∂ 2  ∂ 2v 
+  p − ρA 2  −  p − ρA 2  = 0
κGA ∂x 2  ∂t  κGA ∂t 2  ∂t 

Principle shear Combined rotary inertia

●Vibration of Membranes
deformation term and shear deformation
Ref: “Anaytical Methods in Vibrations,” L Meirovitch

●Vibration of Membranes
Ref: “Anaytical Methods in Vibrations,” L Meirovitch 2ed, 1967,
§5-11( pp.166-167)

∂ 2w
T∇ 2 w + p = ρ (5.171)
∂t 2

∇ 2 : Laplace operator
w: displacement
T: uniform tension
p: external pressure
ρ : mass per unit area

•Boundary Conditions
w=0 at (a , b )
1 1 fixed points (5.173)

∂w
T =0 at (a , b2 ) free (5.174)
∂n
2

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●Vibration of Plates
Ref: “Anaytical Methods in Vibrations,” L Meirovitch 2ed, 1967,
§5-12( pp.170-171)

∂2w Eh 3
− DE ∇ w + p = ρ 2 ,
4
DE = (5.236)
∂t 12(1 − v 2 )
∇ 4 = ∇ 2 ∇ 2 : biharmonic operator
DE : plate flexural rigidity.

h: plate thickness
ν: poisson’s ratio

•Boundary Conditions
n and s : the coordinates in the directions normal and tangential to
the boundary
∂w
w=0 and =0 clamped edge (5.238)
∂n
which are both geometric boundary conditions.
w=0 and M n = 0 simply supported edge (5.239)

Mn : bending moment per unit length associated with the cross

section whose normal is n .

∂M ns
Mn = 0 and Vn = Qn − =0 free edge (5.240)
∂s

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