Dynamic Analysis of Non Uniformly Pretwisted Timeshenko Beams

International Journal of Mechanical Sciences 43 (2001) 23852405
The dynamic analysis of nonuniformly pretwisted Timoshenko

beams with elastic boundary conditions
Shueei-Muh Lin
a,
, Wen-Rong Wang
a
, Sen-Yung Lee
b
a
Mechanical Engineering Department, Kun Shan University of Technology, Tainan, Taiwan 710-03, ROC
b
Mechanical Engineering Department, National Cheng Kung University, Tainan, Taiwan 701, ROC
Received 2 February 2000; received in revised form 11 January 2001
Abstract
The coupled governing dierential equations and the general elastic boundary conditions for the cou-
pled bendingbending forced vibration of a nonuniform pretwisted Timoshenko beam are derived by
Hamiltons principle. The closed-form static solution for the general system is obtained. The relation
between the static solution and the eld transfer matrix is derived. Further, a simple and accurate mod-
ied transfer matrix method for studying the dynamic behavior of a Timoshenko beam with arbitrary
pretwist is presented. The relation between the steady solution and the frequency equation is revealed.
The systems of Rayleigh and BernoulliEuler beams can be easily examined by taking the corresponding
limiting procedures. The results are compared with those in the literature. Finally, the eects of the
shear deformation, the rotary inertia, the ratio of bending rigidities, and the pretwist angle on the natural
frequencies are investigated. ? 2001 Elsevier Science Ltd. All rights reserved.
1. Introduction
The analysis of the pretwisted beams is important in a number of designs of engineering
components, e.g. turbine blades, helicopter rotor blades and gear teeth. An interesting review
of the subject can be found in the literature [1]. For many purposes, it is satised to neglect
shear deformation and rotary inertia of beams and to use the proposed method given by Lin
[2], based on BernoulliEuler beam theory. However, signicant errors are introduced if no
account is taken of them for thicker beams. It is well known [2,3] that a pretwisted Bernoulli
Euler beam system is composed of two coupled governing dierential equations and eight
boundary conditions. A modied transfer matrix method is a very useful tool to investigate
the vibrations of pretwisted blades where exact solutions are dicult to obtain even for the
Corresponding author.
0020-7403/01/$ - see front matter ? 2001 Elsevier Science Ltd. All rights reserved.
PII: S0020- 7403(01)00018- 2
2386 S.-M. Lin et al. / International Journal of Mechanical Sciences 43 (2001) 23852405
Nomenclature
A(x) cross-sectional area of the beam
B
i)
() dimensionless bending rigidity, E(x)I
i)
(x)}[E(0)I
,,
(0)],
i, ) =x, ,
E(x) Youngs modulus of beam material
[(x, t) external transverse load in the : direction
F(, t) dimensionless external transverse load in the : direction,
[(x, t)L
3
}[E(0)I
,,
(0)]
I (x) area moment inertia of the beam
K
,TL
, K
,0L
, K
,TR
, K
,0R
and translational and rotational spring constants at the left
K
:TL
, K
:0L
, K
:TR
, K
:0R
and the right end of the beam in the , and : directions,
respectively
K kinetic energy
L length of the beam
M() dimensionless mass, j(x)A(x)}[j(0)A(0)]
(x, t) external transverse load in the : direction
P(, t) dimensionless external transverse load in the , direction,
(x, t)L
3
}[E(0)I
,,
(0)]
S() dimensionless shear rigidity, (x)G(x)A(x)}[(0)G(0)A(0)]
t time variable
[1
f
]
)
, [1
s
]
)
the )th eld and station transfer matrix
[

1] overall transfer matrix
u(x, t), t(x, t), and w(x, t) displacements in the x, , and : directions, respectively
J(), W() dimensionless lateral displacement in the , and : directions,
respectively, t}L, w}L
X, Y, Z principal frame coordinates
x, ,, : xed frame coordinates
[
1
, [
2
, [
3
, [
4
, [
5
, [
6
, [
7
, [
8
dimensionless rotational and translational spring constants
at the left and right of the beam in the , and : directions,
respectively,
K
:0L
L}[E(0)I
,,
(0)], K
:TL
L
3
}[E(0)I
,,
(0)], K
,0L
L}[E(0)I
,,
(0)],
K
,TL
L
3
}[E(0)I
,,
(0)], K
:0R
L}[E(0)I
,,
(0)], K
:TR
L
3
}[E(0)I
,,
(0)],
K
,0R
L}[E(0)I
,,
(0)], K
,TR
L
3
}[E(0)I
,,
(0)]
c strain
p dimensionless rotary inertia, I
,,
(0)}[A(0)L
2
]
0 angle between principal and xed frames
dimensionless natural frequency,
OL
2
_
j(0)A(0)}[E(0)I
,,
(0)]
j dimensionless ratio between bending and shear rigidities,
E(0)I
,,
(0)}[(0)G(0)A(0)L
2
]
dimensionless distance to the left end of the beam, x}L
S.-M. Lin et al. / International Journal of Mechanical Sciences 43 (2001) 23852405 2387
H total potential energy
j(x) the mass density per unit volume
o stress
t dimensionless time, (t}L
2
)
_
E(0)I
,,
(0)}[j(0)A(0)]
1 tip pretwist angle of the beam, 0(L)
T
,
, T
:
angle of rotation due to bending about the : and , directions,
respectively.
O natural frequency
c dimensionless excitation frequency
simplest cases. Moreover, a pretwisted Timoshenko beam system is composed of four coupled
governing dierential equations and eight boundary conditions. A Timoshenko beam system is
more complicated than a BernoulliEuler beam system. Hence, it is necessary to develop an
accurate and simple method to solve the complicated problem and to nd the performance.
For BernoulliEuler beams, Dawson [4], Dawson and Carnegie [5] used the RayleighRitz
method and transformation techniques to study the eects of uniform pretwist on the frequencies
of cantilever blades. Carnegie and Thomas [6] and Rao [7,8] used the RayleighRitz method
and RitzGalerkin method to study the eects of uniform pretwist and the taper ratio on the
frequencies of cantilever blades, respectively. Sabuncu [9] found by using the nite element
method that the eect of trigonometric pretwist angle on the frequencies increased as the pretwist
angle increased. Rosard and Lestar [10] and Rao and Carnegie [11] used the transfer matrix
method to determine the frequencies of vibration of the cantilever beam with uniform pretwist.
Rosard and Lestar [10] assumed that the displacements at each element are linear. Rao and
Carnegie [11] used an iteration procedure to determine the displacements at each element while
the initial displacements were assumed to be linear. The diculties of the methods given by
Rosard and Lestar [10] and Rao and Carnegie [11] are overcome by Lin [2]. Lin [2] presented
a simple and accurate transfer matrix method for an elastically restrained nonuniform beam
with arbitrary pretwist. Moreover, it was found that the inuence of the pretwist angle on the
natural frequencies of the beam with nonuniform pretwist is greater than those of the beam with
uniform pretwist. The inuence of the pretwist angle on the natural frequencies of higher modes
is greater than on those of lower modes. The stier the boundary supports are, the greater the
inuence of the pretwist angle on the natural frequencies. Lin [3] studied the force vibration
of an elastically restrained nonuniform beam with time-dependent boundary conditions. The
vibration control of a pretwisted beam with boundary inputs is investigated.
For Timoshenko beams the inuence of the shear deformation and the rotary inertia have
been considered. Carnegie [12] determined the fundamental frequency of a cantilever beam
by using Rayleighs principle. Dawson et al. [13] used the transformation method to study
the eects of shear deformation and rotary inertia on the natural frequencies. Gupta and Rao
[14] and Abbas [15] used the nite element method to determine the natural frequencies of
uniformly pretwisted tapered cantilever blading. Subrahmanyam et al. [16] and Subrahmanyam
and Rao [17] used the nite element method and the Reissner method to determine the natural
frequencies of uniformly pretwisted tapered cantilever blading, respectively. Celep and Turhan
[18] used the Galerkin method to investigate the inuence of nonuniform pretwisting on the
natural frequencies of uniform cross-sectional cantilever or simply supported beams. From the
existing literature, it can be found that all the previous investigations are restricted to cantilever
or simply supported and tapered or uniform cross-sectional beams. There still is no study on
the analysis of an elastically restrained nonuniform Timoshenko beam with arbitrary pretwist.
In this paper, the four coupled governing dierential equations and the eight elastic bound-
ary conditions for the coupled bendingbending forced vibration of a nonuniform pretwisted
Timoshenko beam are derived by Hamiltons principle. The closed-form static solution for the
general system is derived. A simple and accurate modied transfer matrix method for studying
the dynamic behavior of a Timoshenko beam with arbitrary pretwist is presented. The relation
between the steady solution and the frequency equation is derived. The results are compared
with those in the literature. Finally, the eects of the shear deformation, the rotary inertia, the
ratio of bending rigidities, and the pretwist angle on the natural frequencies are investigated.
2. Governing equations and boundary conditions
Consider the forced vibration problem of a generally elastically restrained pretwisted nonuni-
form Timoshenko beam as shown in Fig. 1. Both shear deformation and rotary inertia are
considered. The displacement elds of the beam are
u(x, t) =(:T
:
(x, t) +,T
,
(x, t)), t(x, t) =t(x, t), w(x, t) =w(x, t), (1)
where u, t, and w are the displacements in the x, ,, and : directions, respectively. T
,
and T
:
are the angle of rotation due to bending about the : and , directions, respectively. t is time
variable. The total potential energy H and the kinetic energy

K of beam are
H=
1
2
_
L
0
_
A
(o
xx
c
xx
+ 2o
x,
c
x,
+ 2o
x:
c
x:
) dAdx +
1
2
K
:0L
T
2
:
(0, t)
+
1
2
K
:TL
w
2
(0, t) +
1
2
K
,0L
T
2
,
(0, t) +
1
2
K
,TL
t
2
(0, t)
+
1
2
K
:0R
T
2
:
(L, t) +
1
2
K
:TR
w
2
(L, t) +
1
2
K
,0R
T
2
,
(L, t) +
1
2
K
,TR
t
2
(L, t)
_
L
0
[[(x, t)w(x, t) +(x, t)t(x, t)] dx, (2)
K =
1
2
_
L
0
_
A
_
_
cw
ct
_
2
+
_
ct
ct
_
2
+
_
cu
ct
_
2
_
jdAdx. (3)
Application of Hamiltons principle [2,3] yields the coupled governing dierential equations and
the associated general elastic boundary conditions.
Fig. 1. Geometry and coordinate system of a generally elastically restrained pretwisted beam.
The four coupled dimensionless governing characteristic dierential equations of motion are
obtained
c
c
_
S()
j
_
cW
c
T
:
__
M()
c
2
W
ct
2
=F(, t), (4)
c
c
_
S()
j
_
cJ
c
T
,
__
M()
c
2
J
ct
2
=P(, t), (5)
c
c
_
B
,,
cT
:
c
_
+
c
c
_
B
,:
cT
,
c
_
+
S()
j
_
cW
c
T
:
_
pR
,,
()
c
2
T
:
ct
2
pR
,:
()
c
2
T
,
ct
2
= 0, (6)
c
c
_
B
,:
cT
:
c
_
+
c
c
_
B
::
cT
,
c
_
+
S()
j
_
cJ
c
T
,
_
pR
,:
()
c
2
T
:
ct
2
pR
::
()
c
2
T
,
ct
2
= 0, (0, 1), (7)
and the associated dimensionless elastic boundary conditions are
at = 0:
12
_
B
,,
cT
:
c
+B
,,
cT
,
c
_
11
T
:
= 0, (8)
22
j
_
cW
c
T
:
_
21
W = 0, (9)
32
_
B
,:
cT
:
c
+B
::
cT
,
c
_
31
T
,
= 0, (10)
42
j
_
cJ
c
T
,
_
41
J = 0, (11)
at = 1:
52
_
B
,,
cT
:
c
+B
,,
cT
,
c
_
+
51
T
:
= 0, (12)
62
S
j
_
cW
c
T
:
_
+
61
W = 0, (13)
72
_
B
,:
cT
:
c
+B
::
cT
,
c
_
+
71
T
:
= 0, (14)
82
S
j
_
cJ
c
T
,
_
+
81
J = 0, (15)
where
i1
=[
i
}(1 +[
i
) and
i2
= 1}(1 +[
i
).
Neglecting the shear deformation and the rotary inertia, the four coupled governing dierential
equations are reduced to be the two coupled governing dierential equations for forced vibration
of BernoulliEuler beam studied by Lin [3]. Moreover, neglecting the forcing terms, the system
becomes to be an eigenvalue system studied by Lin [3].
3. Solution method
The steady solution of the generally elastically restrained pretwisted Timoshenko beam
subjected to a harmonic excitation is derived. The harmonic transverse excitations F(, t) and
P(, t) are given as follows:
F(, t) =

F() cos ct, P(, t) =

P() cos ct, (16)
where c is the dimensionless frequency of excitation. The steady solutions can be assumed to
take the form
J(, t) =

J() cos ct, W(, t) =

W() cos ct,
T
,
(, t) =

T
,
() cos ct, T
:
(, t) =

T
:
() cos ct.
(17)
Substituting Eqs. (16)(17) into the governing equations (4)(7) and the boundary conditions
(8)(15), the following governing ordinary dierential equations and boundary conditions are
obtained, respectively,
d
d
_
S()
j
_
d

W
d

T
:
__
+c
2
M()

W =

F(), (18)
d
d
_
S()
j
_
d

J
d

T
,
__
+c
2
M()

J =
P(), (19)
d
d
_
B
,,
d

T
:
d
_
+
d
d
_
B
,:
d

T
,
d
_
+
S()
j
_
d

W
d

T
:
_
+pc
2
R
,,
()

T
:
+pc
2
R
,:
()

T
,
=0,
(20)
d
d
_
B
,:
d

T
:
d
_
+
d
d
_
B
::
d

T
,
d
_
+
S()
j
_
d

J
d

T
,
_
+pc
2
R
,:
()

T
:
+pc
2
R
::
()

T
,
= 0, (0, 1), (21)
and the associated dimensionless general elastic boundary conditions are
at = 0:
12
_
B
,,
d

T
:
d
+B
,,
d

T
,
d
_
11

T
:
= 0, (22)
22
j
_
d

W
d

T
:
_
21

W = 0, (23)
32
_
B
,:
d

T
:
d
+B
::
d

T
,
d
_
31

T
,
= 0, (24)
42
j
_
d

J
d

T
,
_
41

J = 0, (25)
at = 1:
52
_
B
,,
d

T
:
d
+B
,,
d

T
,
d
_
+
51

T
:
= 0, (26)
62
S
j
_
d

W
d

T
:
_
+
61

W = 0, (27)
72
_
B
,:
d

T
:
d
+B
::
d

T
,
d
_
+
71

T
:
= 0, (28)
82
S
j
_
d

J
d

T
,
_
+
81

J = 0. (29)
3.1. Static analysis
When the frequency of excitation is zero, the inertia terms disappear and the system is reduced
to be a static one. The corresponding shear forces are obtained by integrating the governing
equations (18) and (19) once, respectively,
Q
:
() =
S()
j
_
d

W
d

T
:
_
=
_

F() d +c
1
, (30)
Q
,
() =
S()
j
_
d

J
d

T
,
_
=
_

P() d +c
2
. (31)
Substituting Eqs. (30) and (31) into Eqs. (20) and (21), respectively, and integrating these
once,

M
:
() =B
,,
d

T
:
d
+B
,:
d

T
,
d
=
_

)
_

F(z) dz d c
1
(
)
) +c
3
, (32)

M
,
() =B
,:
d

T
:
d
+B
::
d

T
,
d
=
_

)
_

P(z) dz d c
2
(
)
) +c
4
. (33)
Obviously, the coecients c
1
, c
2
, c
3
and c
4
are the corresponding shear forces and moments at
=
)
in the : and , directions, respectively. The following equations can be obtained easily
via Eqs. (32) and (33)
(B
::
B
,,
B
2
,:
)
d

T
:
d
=B
::
_

)
_

F(z) dz d B
,:
_

)
_

P(z) dz d
c
1
(
)
)B
::
+c
2
(
)
)B
,:
+c
3
B
::
c
4
B
,:
, (34)
(B
2
,:
B
::
B
,,
)
d

T
,
d
=B
,:
_

)
_

F(z) dz d B
,,
_

)
_

P(z) dz d
c
1
(
)
)B
,:
+c
2
(
)
)B
,,
+c
3
B
,:
c
4
B
,,
. (35)
Integrating Eqs. (34) and (35) once, respectively, one obtains
T
:
=[
p
() +c
1
[
1
() +c
2
[
2
() +c
3
[
3
() +c
4
[
4
() +c
5
, (36)
T
,
=
p
() +c
1
1
() +c
2
2
() +c
3
3
() +c
4
4
() +c
6
, (37)
where
[
p
() =
_

)
B
::
()
_

)
_
z
F(,) d, dz B
,:
()
_

)
_
z
P(,) d, dz
B
::
()B
,,
() B
2
,:
()
d,
p
() =
_

)
B
,:
()
_

)
_
z
F(,) d, dz B
,,
()
_

)
_
z
P(,) d, dz
B
2
,:
() B
::
()B
,,
()
d,
[
1
() =
_

)
(
)
)B
::
()
B
::
()B
,,
() B
2
,:
()
d,
[
2
() =
_

)
(
)
)B
,:
()
B
::
()B
,,
() B
2
,:
()
d,
[
3
() =
_

)
B
::
()
B
::
()B
,,
() B
2
,:
()
d,
[
4
() =
_

)
B
,:
()
B
::
()B
,,
() B
2
,:
()
d,
1
() =[
2
(),
3
() =[
4
(),
2
() =
_

)
(
)
)B
,,
()
B
::
()B
,,
() B
2
,:
()
d,
4
() =
_

)
B
,,
()
B
::
()B
,,
() B
2
,:
()
d.
(38)
Substituting Eqs. (36) and (37) back into Eqs. (30) and (31), respectively, the displacements
are obtained
W =w
p
() +c
1
w
1
() +c
2
w
2
() +c
3
w
3
() +c
4
w
4
() +c
5
(
)
) +c
7
, (39)
J =t
p
() +c
1
t
1
() +c
2
t
2
() +c
3
t
3
() +c
4
t
4
() +c
6
(
)
) +c
8
, (40)
where c
5
, c
6
, c
7
and c
8
are

T
:
(
)
),

T
,
(
)
),

W(
)
) and

J(
)
), respectively,
w
p
() =
_

)
_
[
p
()
j
S()
_

F(z) dz
_
d,
t
p
() =
_

)
_
p
()
j
S()
_

P(z) dz
_
d,
w
1
() =
_

)
_
j
S()
+[
1
()
_
d, w
i
() =
_

)
[
i
() d, i = 2, 3, 4,
t
2
() =
_

)
_
j
S()
+
2
()
_
d, t
i
() =
_

i
() d, i = 1, 3, 4.
(41)
Letting
)
= 0 and = 1, and substituting Eqs. (30)(33) and (36)(41) into the bound-
ary conditions (22)(29), the coecients c
i
, i = 1, 2, . . . , 8, of the general static solutions
(36)(37) and (39)(40) are obtained and tabulated in Appendix A. It is shown that if the in-
tegrals (38) and (41) are done analytically, then the exact static solution is obtained. Otherwise,
a semi-exact solution can be easily obtained by using the numerical integration method.
3.2. Dynamic analysis
When the frequency of excitation is not zero, the system composed of Eqs. (18)(29) presents
the steady motion of a pretwisted Timoshenko beam subjected to harmonic transverse loads
with an excitation frequency c. The steady solution, the eigenvalue and the eigenfunctions
of the system are derived by using the following modied transfer matrix method. The pre-
sented method is the generalization of the method [2] which was derived to study only the
free vibration problem of pretwisted BernoulliEuler beams. It is assumed that the mass and
the rotary inertia of beam are concentrated in n + 1 lumps at n + 1 stations and the elds
between the concentrated masses are massless and without the eect of rotary inertia but posing
varying bending and shear stinesses. The beam is divided into n number of elements of equal
length 1}n.
3.2.1. Extended eld transfer matrix
Letting the domain of the )th eld is (
)
,
)+1
) and =
)+1
in Eqs. (31)(42), the )th eld
transfer matrix relation with arbitrarily varying coecients is obtained easily via
Eqs. (30)(41)
[

W
L
)+1

T
L
:, )+1

M
L
:, )+1

Q
L
:, )+1

J
L
)+1

T
L
,, )+1

M
L
,, )+1

Q
L
,, )+1
1]
T
=[1
f
]
)
[

W
R
)

T
R
:, )

M
R
:, )

Q
R
:, )

J
R
)

T
R
,, )

M
R
,, )

Q
R
,, )
1]
T
, (42)
where the superscript T is the transpose of matrix and the extended eld transfer matrix
pertaining to the )th eld is
[1
f
]
)
=
_
_
1 w
3
(
)+1
) w
1
(
)+1
) 0 0 w
4
(
)+1
) w
2
(
)+1
) [
1
(
)+1
)
0 1 [
3
(
)+1
) [
1
(
)+1
) 0 0 [
4
(
)+1
) [
2
(
)+1
) [
2
(
)+1
)
0 0 1 0 0 0 0 [
3
(
)+1
)
0 0 0 1 0 0 0 0 [
4
(
)+1
)
0 0 t
3
(
)+1
) t
1
(
)+1
) 1 t
4
(
)+1
) t
2
(
)+1
) [
5
(
)+1
)
0 0
3
(
)+1
)
1
(
)+1
) 0 1
4
(
)+1
)
2
(
)+1
) [
6
(
)+1
)
0 0 0 0 0 0 1 [
7
(
)+1
)
0 0 0 0 0 0 0 1 [
8
(
)+1
)
0 0 0 0 0 0 0 0 1
_
_
,
(43)
in which =
)+1

)
. The forcing terms are
[
1
(
)+1
) =w
p
(
)+1
), [
2
(
)+1
) =[
p
(
)+1
),
[
3
(
)+1
) =
_

)+1
)
_

F(z) dz d, [
4
(
)+1
) =
_

)+1
F() d,
[
5
(
)+1
) =t
p
(
)+1
), [
6
(
)+1
) =
p
(
)+1
),
[
7
(
)+1
) =
_

)+1
)
_

P(z) dz d, [
8
(
)+1
) =
_

)+1
P() d.
(44)
3.2.2. Extended station transfer matrix
The dimensionless governing dierential equations (19)(22) can be written as
d

Q
:
d
+c
2
m()

W() =

F(), (45)
d

Q
,
d
+c
2
m()

J() =
P(), (46)
d

M
:
d
+

Q
:
() +pc
2
R
,,
()

T
:
() +pc
2
R
,:
()

T
,
() = 0, (47)
d

M
,
d
+

Q
,
() +pc
2
R
::
()

T
,
() +pc
2
R
,:
()

T
:
() = 0. (48)
The distributions of the mass and the rotary inertia are determined by statics [2]. Eqs.
(45)(48) in dierence form, applied at the )th station, yields
Q
R
:, )
=

Q
L
:, )
c
2
m
)

W
)

F
)
, (49)
Q
R
,, )
=

Q
L
,, )
c
2
m
)

J
)

P
)
, (50)
M
R
:, )
=

M
L
:, )
+pc
2
R
,,, )

T
:, )
+pc
2
R
,:, )

T
,, )
, (51)
M
R
,, )
=

M
L
,, )
+pc
2
R
,:, )

T
:, )
+pc
2
R
::, )

T
,, )
, (52)
where

F
)
and

P
)
are the concentrated forces at the )th station. The parameters m
)
, R
,,, )
, R
,:, )
,
and R
::, )
are
z
1
=n
_

2
0
(
2
)z() d,
z
)
=n
_

)
)1
(
)1
)z() d +n
_

)+1
)
(
)+1
)z() d, ) = 2, . . . , n,
z
n+1
=n
_
1
n
(
n
)z() d,
(53)
in which z represents among m, R
,,
, R
,:
and R
::
. The continuity conditions are
J
R
)
=

J
L
)
=

J
)
,

W
R
)
=

W
L
)
=

W
)
,
T
R
,, )
=

T
L
,, )
=

T
,, )
,

T
R
:, )
=

T
L
:, )
=

T
:, )
.
(54)
Using Eqs. (50)(53), the extended station transfer matrix relation is obtained
_
W
R
)
T
R
:, )
M
R
:, )
Q
R
:, )
J
R
)
T
R
,, )
M
R
,, )
Q
R
,, )
1
_
_
=
_
_
1 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0
0 :
2
1 0 0 :
3
0 0 0
:
1
0 0 1 0 0 0 0

F
)
0 0 0 0 1 0 0 0 0
0 0 0 0 0 1 0 0 0
0 :
3
0 0 0 :
5
1 0 0
0 0 0 0 :
4
0 0 1
P
)
0 0 0 0 0 0 0 0 1
_
_
_
W
L
)
T
L
:, )
M
L
:, )
Q
L
:, )
J
L
)
T
L
,, )
M
L
,, )
Q
L
,, )
1
_
_
, (55)
where
:
1
=c
2
m
)
, :
2
=pc
2
R
,,, )
, :
3
=pc
2
R
,:, )
,
:
4
=c
2
m
)
, :
5
=pc
2
R
::, )
.
(56)
The rst square matrix at the right-hand side of Eq. (55) is the station transfer matrix
pertaining to the )th station, denoted as [1
s
]
)
. The extended transfer matrix [1]
)
for the )th
station and eld is the product of [1
f
]
)
and [1
s
]
)
. Letting p =j = 0 and neglecting the forcing
terms, the extended transfer matrices are reduced to be those given by Lin [2].
3.2.3. Harmonic solution and frequency equation
According to the above results, the overall transfer matrix relation is obtained
[

W(1)

T
:
(1)

M
:
(1)

Q
:
(1)

J(1)

T
,
(1)

M
,
(1)

Q
,
(1) 1 ]
T
=[

1][

W(0)

T
:
(0)

M
:
(0)

Q
:
(0)

J(0)

T
,
(0)

M
,
(0)

Q
,
(0) 1 ]
T
, (57)
where the extended overall transfer matrix [

1] can be expressed as
[

1] = [1
s
]
n+1
1
i=n
[1]
i
=
_
1
11

1
12

1
13

1
14

1
15

1
16

1
17

1
18

[
1
1
21

1
22

1
23

1
24

1
25

1
26

1
27

1
28

[
2
1
31

1
32

1
33

1
34

1
35

1
36

1
37

1
38

[
3
1
41

1
42

1
43

1
44

1
45

1
46

1
47

1
48

[
4
1
51

1
52

1
53

1
54

1
55

1
56

1
57

1
58

[
5
1
61

1
62

1
63

1
64

1
65

1
66

1
67

1
68

[
6
1
71

1
72

1
73

1
74

1
75

1
76

1
77

1
78

[
7
1
81

1
82

1
83

1
84

1
85

1
86

1
87

1
88

[
8
0 0 0 0 0 0 0 0 1
_
_
. (58)
Substituting Eqs. (57) and (58) into the boundary conditions (22)(29), the following relation
is obtained as follows:
_
_
0
11

12
0 0 0 0 0
21
0 0
22
0 0 0 0
0 0 0 0 0
31

32
0
0 0 0 0
41
0 0
42
q
11
q
12
q
13
q
14
q
15
q
16
q
17
q
18
q
21
q
22
q
23
q
24
q
25
q
26
q
27
q
28
q
31
q
32
q
33
q
34
q
35
q
36
q
37
q
38
q
41
q
42
q
43
q
44
q
45
q
46
q
47
q
48
_
_
_
W(0)
T
:
(0)
M
:
(0)
Q
:
(0)
J(0)
T
,
(0)
M
,
(0)
Q
,
(0)
_
_
=
_
_
0
0
0
0
52

[
3

51

[
2
62

[
4

61

[
1
72

[
7

71

[
6
82

[
8

81

[
5
_
_
, (59)
where
q
1)
=
51

1
2)

52

1
3)
, q
2)
=
61

1
1)
+
62

1
4)
,
q
3)
=
71

1
6)

72

1
7)
, q
4)
=
81

1
5)
+
82

1
8)
, ) = 1, 2, . . . , 7, 8.
(60)
The square matrix in Eq. (59) is denoted as G. Multiplying Eq. (59) by the inverse of the
matrix, the state vector at = 0 can be obtained. For free vibration problems, the frequency
equation can be obtained by letting the determinant of the matrix G equal to zero.
For Rayleigh beams the eect of rotary inertia is considered and that of shear deformation
is neglected. By letting j = 0, the corresponding steady response and frequency equation are
obtained easily. For BernoulliEuler beams the eects of rotary inertia and shear deformation
are neglected. Similarly, by letting j =p =0, the corresponding steady response and frequency
equation are obtained easily. The reduced frequency equation is the same as that given by
Lin [2].
4. Numerical results and discussion
To illustrate the application of the method, compare the results with those in the exist-
ing literature and explore the physical phenomena of the system, the following examples are
presented.
Example 1. Consider a cantilever unpretwisted uniform beam subjected to a unit concentrated
force in the : direction at =
0
. The following governing equation and boundary conditions
can be obtained from Eqs. (18)(29)
d
4

W
d
4
+(p +j)c
2
d
2

W
d
2
+(pjc
4
c
2
)

W = (1pjc
2
)
o(
0
)j
d
2
o(
0
)
d
2
, (61)
at = 0:
W = 0, (62)
j
d
3

W
d
3
+ (1 +pj)
d

W
d
= 0, (63)
at = 1:
d
2

W
d
2
+jc
2

W = 0, (64)
d
3

W
d
3
+ (p +j)c
2
d

W
d
= 0. (65)
The four fundamental solutions of Eq. (61) are obtained
w
1
=
1
,
2
1
+,
2
2
(,
2
2
cosh ,
1
+,
2
1
cos ,
2
),
w
2
=
1
,
2
1
+,
2
2
_
,
2
2
,
1
sinh ,
1
+
,
2
1
,
2
sin ,
2
_
,
w
3
=
1
,
2
1
+,
2
2
(cosh ,
1
cos ,
2
),
w
4
=
1
,
2
1
+,
2
2
_
1
,
1
sinh ,
1

1
,
2
sin ,
2
_
,
(66)
where
,
1
=
_
R
1
+
_
R
2
1
4R
2
2
, ,
2
=
_
R
1
+
_
R
2
1
4R
2
2
, (67)
in which R
1
= (p +j)c
2
and R
2
=jpc
4
c
2
.
The exact solution of the system can be obtained by using the generalized Green function
obtained by Lin [19]
W =c
2
w
2
()+c
3
w
3
()+c
4
w
4
()+
[jw
2
(
0
)+(j
2
c
2
+1)w
4
(
0
)]H(
0
),
(68)
where
c
2
=
[
1
:
4
[
2
:
2
:
1
:
4
:
2
:
3
, c
3
=
[
2
:
1
[
1
:
3
:
1
:
4
:
2
:
3
, c
4
=
(1 +j
2
c
2
)
j
c
2
, (69)
Table 1
The response of the cantilever unpretwisted uniform Timoshenko beam subjected to a unit
concentrated force in the : direction at
0
= 0.5. (
= 0.1)
c

W(0.2)

W(0.4)

W(0.6)

W(0.8)

W(1.0)
p = 0.0001 1
a
0.00094 0.00317 0.00588 0.00864 0.01140
j = 0.000312
b
0.00094 0.00318 0.00589 0.00864 0.01140
2
a
0.00121 0.00416 0.00787 0.01176 0.01571
b
0.00122 0.00417 0.00787 0.01177 0.01571
3
a
0.00278 0.00978 0.01913 0.02946 0.04009
b
0.00279 0.00980 0.01915 0.02949 0.04009
p = 0.001 1
a
0.00100 0.00329 0.00604 0.00880 0.01158
j = 0.00312
b
0.00100 0.00330 0.00605 0.00881 0.01158
2
a
0.00129 0.00434 0.00813 0.01208 0.01607
b
0.00130 0.00435 0.00814 0.01209 0.01607
3
a
0.00306 0.01056 0.02051 0.03146 0.04270
b
0.00307 0.01058 0.02053 0.03149 0.04270
a
Exact solutions.
b
Results obtained by the proposed method.
in which
:
1
= j[w
2
(1) +jc
2
w
2
(1)] (1 +j
2
c
2
) [w
4
(1) +jc
2
w
4
(1)],
:
2
= j[w
3
(1) +jc
2
w
3
(1)],
:
3
= j[w
2
(1) + (p +j)c
2
w
2
(1)] (1 +j
2
c
2
) [w
4
(1) + (p +j)c
2
w
4
(1)],
:
4
= j[w
3
(1) + (p +j)c
2
w
3
(1)],
[
1
= j
{[jw
2
(1
0
) (1 +j
2
c
2
)w
4
(1
0
)]
+jc
2
[jw
2
(1
0
) (1 +j
2
c
2
)w
4
(1
0
)]}
[
2
= j
{[jw
2
(1
0
) (1 +j
2
c
2
)w
4
(1
0
)]
+(p +j)c
2
[jw
2
(1
0
) (1 +j
2
c
2
)w
4
(1
0
)]}.
(70)
Its numerical results are listed in the rows with the mark a of Table 1. Those in the
rows b are determined by using the proposed method. As can be seen, these results are very
consistent.
Example 2. To demonstrate eciency and convergence of the proposed numerical method, the
rst four frequencies are determined for a cantilever uniform pretwisted beam. For compari-
son, the natural frequencies obtained by the proposed method as well as those given by other
Table 2
Convergence pattern and comparison of the frequencies of a
cantilever pretwisted uniform Timoshenko beam (Hz)
a
n O
1
O
2
O
3
O
4
4 60.3 282.4 820.4 1117.9
10 61.7 300.9 917.0 1175.1
20 61.9 303.8 933.1 1183.7
30 62.0 304.3 936.2 1185.3
40 62.0 304.5 937.3 1185.7
50 62.0 304.6 937.7 1186.0
60 62.0 304.6 938.0 1186.2
b
62.0 305.1 955.1 1214.7
c
61.9 304.7 937.0 1205.1
d
59.0 290.0 920.0 1110.0
a
[A(0) = 0.4387 cm
2
, E = 206.85 GPa, G = 82.74 GPa,
I
,,
(0) =0.0010906 cm
4
, I
ZZ
(0) =0.23586 cm
4
, L=15.24 cm,
1 = 45
, = 0.847458, j = 7857.6 kg}m

3
].
b
Potential energy method by Subrahmanyam et al. [16].
c
Reissner method by Subrahmanyam et al. [16].
d
Experiment by Carnegie [12].
investigators are tabulated in Table 2. It is observed that fair agreement is obtained between
the numerical and experimental results and those by the proposed method. The natural fre-
quencies determined by the proposed method converge very rapidly. Even when the number of
subsections is only 10, the dierence between the present fourth frequency and the converged
frequency is less than 0.94%.
Example 3. Consider a doubly tapered beam subjected to a unit concentrated force in the :
direction. The breadth and depth of the beam are
b() =b
0
(1 +z
1
), h() =h
0
(1 +z
2
), (71)
where z
1
and z
2
are the taper ratios of the breadth and depth, respectively. The corresponding
coecients are
R
,,
() =B
,,
() =
_
b
0
h
0
_
2
(1 +z
1
)
3
(1 +z
2
) sin
2
0 + (1 +z
1
) (1 +z
2
)
3
cos
2
0,
R
::
() =B
::
() =
_
b
0
h
0
_
2
(1 +z
1
)
3
(1 +z
2
) cos
2
0 + (1 +z
1
) (1 +z
2
)
3
sin
2
0,
R
,:
() =B
,:
() =
1
2
sin 20
_
_
b
0
h
0
_
2
(1 +z
1
)
3
(1 +z
2
) (1 +z
1
) (1 +z
2
)
3
_
.
(72)
Fig. 2. The inuence of shear deformation, rotary inertia, ratio of bending rigidities and pretwist angle on the
frequencies of a cantilever beam [z
1
=z
2
= 0, () j = 0.0031325, p = 0.001; ( ) j =p = 0].
From Eq. (72), if the cross-section of the beam is square, i.e., b
0
=h
0
, z
1
=z
2
, I
YY
}I
ZZ
= 1,
and B
,:
=R
,:
=0, then the original system is uncoupled into two identical subsystems that are
independent of the pretwist angle. The fact for a cantilever beam twisted uniformly along its
length by an angle 1, i.e., 0 = 1, is vericated in Fig. 2. When I
YY
}I
ZZ
= 0.9, the inuence
of the total pretwist angle on the frequencies is very small, the rst frequency approaches the
second, and the third approaches the fourth. The reason is that when the ratio I
YY
}I
ZZ
approaches
unity, the original system is uncoupled into two identical subsystems. There is almost no eect
of the rotary inertia and the shear deformation on the rst two natural frequencies. However,
the eect of those on the third and fourth natural frequencies is large especially for a beam with
a small ratio of bending rigidities, I
YY
}I
ZZ
. Moreover, its inuence on the natural frequencies of
higher modes is greater than on those of lower modes.
Fig. 3a shows the inuence of nonuniform pretwist on the frequencies of a cantilever taper
beam. The real lines represent the frequencies of the beam with the nonuniform pretwisted
angle of 0 = (2 )1. The dashed lines represent the frequencies of the beam with the uni-
form pretwisted angle of 0 = 1. The variation of the pretwisted angle 0 of the previous is
greater than that of the latter near =0. It is observed that the frequencies of the higher mode
are uctuated with the variation of the total pretwist angle 1. The inuence of the nonuni-
form pretwist on the higher frequencies is greater than that of the uniform pretwist. Moreover,
when the total pretwist angle is increased the dierence of the rst two frequencies and the
fourth frequency are decreased. It is revealed in Figs. 3b and 3c that when 1 = 90
, the node
points of the second mode shape are at = 0. When 1 = 700
, the displacement t() of

the second mode shape is dierent from that of the rst mode shape. But the node point of the
second mode shape is at = 0. It is the reason that when the total pretwist angle is large, the
second frequency approaches the rst. Moreover, because the variation of the fourth mode shape
Fig. 3. (a) The inuence of two kinds of nonuniform pretwist on the frequencies of a cantilever nonuniform beam
[I
YY
}I
ZZ
=0.05, z
1
=z
2
=0.1, j =0.000031325, p =0.00001, () 0 =(2 )1; ( ) 0 =1]; (b) The rst
four mode shapes of a cantilever nonuniform beam [I
YY
}I
ZZ
= 0.05, z
1
=z
2
= 0.1, j = 0.000031325, p = 0.00001,
0 = }2, () W; ( ) J]; (c) The rst four mode shapes of a cantilever nonuniform beam [I
YY
}I
ZZ
= 0.05,
z
1
=z
2
= 0.1, j = 0.000031325, p = 0.00001, 0 = 35}9, () W; ( ) J].
of the beam with 1=90
is greater than that of the beam with 1=700
, the fourth frequency

of the beam with 1 = 90
is greater than that of the beam with 1 = 700
. Fig. 4a shows the

inuence of the total pretwist angle on the frequencies of beam with the spring constant
61
of 0.9. It is observed that when the total pretwist angle is large, the rst frequency does not
approach the second. It is revealed in Fig. 4b that when 1 = 480
, the node points of the rst

and second mode shapes are at = 0 and = 0, respectively.
Fig. 4. (a) The inuence of two kinds of nonuniform pretwist on the frequencies of a beam
[
61
= 0.9,
11
=
21
=
31
=
41
=
52
=
72
=
82
= 1, I
YY
}I
ZZ
= 0.05, z
1
= z
2
= 0.1, j = 0.000031325,
p = 0.00001, () 0 = (2 )1; ( ) 0 = 1]; (b) The rst two mode shapes of a nonuniform beam
[
61
=0.9,
11
=
21
=
31
=
41
=
52
=
72
=
82
=1, I
YY
}I
ZZ
=0.05, z
1
=z
2
=0.1, j =0.000031325, p =0.00001,
0 = 5}3, () W; ( ) J].
5. Conclusion
The coupled governing dierential equations and the general elastic boundary conditions for
the coupled bendingbending forced vibration of a nonuniform pretwisted Timoshenko beam
are derived by Hamiltons principle. The closed-form static solution for the general system is
obtained. A simple and accurate modied transfer matrix method for studying the steady motion
of the elastically restrained nonuniform Timoshenko beam with arbitrary pretwist is proposed.
The relation between the steady solution and the frequency equation is revealed. When the
ratio of bending rigidities I
YY
}I
ZZ
is unity, the general system is uncoupled into two identical
subsystems that are independent to the pretwist angle. The inuence of the taper ratio, the
spring constants, the rotary inertia and the shear eect on the natural frequencies of higher
modes is greater than on those of lower modes. The inuence of the nonuniform pretwist
on the frequencies is greater than that of the uniform pretwist. The systems of Rayleigh and
BernoulliEuler beams can be easily examined by taking the corresponding limiting procedures.
It is well known that when the variations of the parameters including the pretwist angle are
large, the required matrix dimension of the nite element method is increased greatly. However,
the disadvantage does not exist in the proposed method.
Acknowledgements
The support of the National Science Council of Taiwan, ROC, is gratefully acknowledged
(Grant number: Nsc88-2212-E168-003).
Appendix A. Static solution
The coecients of the general solutions (36)(37) and (39)(40) are
_
_
c
1
c
2
c
3
c
4
c
5
c
6
c
7
c
8
_
_
=
_
_
0 0
12
0
11
0 0 0
22
0 0 0 0 0
21
0
0 0 0
32
0
31
0 0
0
42
0 0 0 0 0
41
q
1
q
2
q
3
q
4

51
0 0 0
q
5
q
6
q
7
q
8

61
0
61
0
q
9
q
10
q
11
q
12
0
71
0 0
q
13
q
14
q
15
q
16
0
81
0
81
_
_
1
_
_
0
0
0
0
[
1
[
2
[
3
[
4
_
_
, (A.1)
where
q
1
=
51
[
1
(1)
52
, q
2
=
51
[
2
(1), q
3
=
51
[
3
(1)
52
,
q
4
=
51
[
4
(1), q
5
=
61
w
1
(1) +
62
, q
6
=
61
w
2
(1),
q
7
=
61
w
3
(1), q
8
=
61
w
4
(1), q
9
=
71
1
(1),
q
10
=
71
2
(1)
72
, q
11
=
71
3
(1), q
12
=
71
4
(1)
72
,
q
13
=
81
t
1
(1), q
14
=
81
t
2
(1) +
82
, q
15
=
81
t
3
(1),
q
16
=
81
t
4
(1), [
1
=
52
e
2

51
[
p
(1), [
2
=
62
e
1

61
w
p
(1),
[
3
=
72
e
4

71
p
(1), [
4
=
82
e
3

81
t
p
(1),
(A.2)
in which
e
1
=
_
1
0
F() d, e
2
=
_
1
0
_

0
F(z) dz d, e
3
=
_
1
0
P() d, e
4
=
_
1
0
_

0
P(z) dz d.
(A.3)
References
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1991;44(12):483515.
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1997;35(11):16817.
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1979;83:4503.
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Dynamic Analysis of Non Uniformly Pretwisted Timeshenko Beams

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Dynamic Analysis of Non Uniformly Pretwisted Timeshenko Beams

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International Journal of Mechanical Sciences 43 (2001) 23852405

The dynamic analysis of nonuniformly pretwisted Timoshenko

, = 0.847458, j = 7857.6 kg}m

, the displacement t() of

is greater than that of the beam with 1=700

, the fourth frequency

is greater than that of the beam with 1 = 700

. Fig. 4a shows the

, the node points of the rst

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