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# Chapter 1 Introduction and Vibration of Single-Degree-of-Freedom Systems.........

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1.1 Introduction........................................................
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1.1.1 Degrees of Freedom and Generalized Coordinates............
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1.1.2 Scope of Study............................................
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1.2 Newton’s Second Law, Angular Momentum, and Kinetic Energy.............
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1.2.1 Particles.................................................
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1.2.2 Systems of Particles......................................
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1.2.3 Rigid Bodies..............................................
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1.3 Components of Vibrating Systems.....................................
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1.3.1 Inertia Elements..........................................
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1.3.2 Stiffness Elements........................................
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1.3.3 Energy Dissipation........................................
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1.3.4 External Energy Sources...................................
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1.4 Modeling of One-Degree-of-Freedom Systems...........................
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1.4.1 Introduction and Assumptions..............................
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1.4.2 Static Spring Forces......................................
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1.4.3 Derivation of Differential Equations......................
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1.4.4 Model Systems.............................................
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1.4.5 One-Degree-of-Freedom Models of Continuous Systems........
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1.5 Qualitative Aspects of One-Degree-of-Freedom Systems................
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1.6 Free Vibrations of Linear Single-Degree-of-Freedom Systems..........
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1.7 Response of a Single-Degree-of-Freedom System Due to Harmonic Excita
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1.7.1 General Theory............................................
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1.7.2 Frequency-Squared Excitation..............................
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1.7.3 Motion Input..............................................
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1.7.4 General Periodic Input....................................
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1.8 Transient Response of a Single-Degree-of-Freedom System.............
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Chapter 2 Derivation of Differential Equations Using Variational Methods........
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2.1 Functionals.........................................................
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2.2 Variations..........................................................
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and Shafts.............................119 2......... 2...............241 Chapter 4 Operators Used in Vibration Problems........................................................... .......................10 Bars................4 Linear Independence...............7..2 Differential Equations for Linear Systems..........216 3.2.....................1 Quadratic Forms...238 3..5 Basis and Dimension...........149 2....169 2....... ................................. .192 3............9 Orthogonal Expansions..... Lagrange’s Equations for Conservative Discrete Systems............................208 3. Linear Discrete Systems.........244 4......................1 Introduction...155 2....... .......141 2............................................................6 ......6 Inner Products......12 Timoshenko Beams........9 Continuous Systems....3 ...................221 3.........7......................................................10 Linear Operators.............................................. .......................................141 Euler–Lagrange Equation........3 Linearization of Differential Equations....12 Positive Definite Operators..201 3.............. .123 2........ ........................189 Chapter 3 Linear Algebra..........................13 Energy Inner Products... ........... Hamilton’s Principle......11 Adjoint Operators.....192 3....................13 Membranes............8 Gram–Schmidt Orthonormalization Method.............1 Summary of Basic Theory...................... ............................................................... ................... .225 3...................................................... ..............7.... Strings.............................................................. .................................. ..........................231 3...... ..........193 3.......... ...................204 3..112 2........... ...5 ............131 2..............144 2.............157 2.212 3...7 Norms..........8 Gyroscopic Systems........................................ .......................4 ................ . ....146 2..... .................................................11 Euler–Bernoulli Beams...2 Three-Dimensional Space.7 ................ Lagrange’s Equations for Non-Conservative Discrete Systems...............................3 Vector Spaces.....................................................................185 2...........................244 ..................196 3................................... ...................................... .......................... .. ......

..............302 Chapter 5 Free Vibrations of Conservative Systems...........321 5..285 4..................4 Summary........... ...............4 Solvability Conditions...............5 Free Response Using the Normal Mode Solution......324 5........305 5...................13 Combined Continuous and Discrete Systems.............. ........................320 5..............................335 5............................ .........359 ........ ...................................... ..........291 4.........6.....5 Flexibility Matrix...................281 4....9 Continuous Systems...... ............................................261 4.........2 Differential Equations for Discrete Systems.315 5..............................305 5............297 4........5.............. ................................3 Stiffness Matrix.......2 Properties of Eigenvalues and Eigenvectors......... ..1 The Matrix Eigenvalue Problem.5.....................327 5.................................... .11 Systems with Multiple Deformable Bodies............327 5......1 Normal Mode Solution..................... ... ....2...............8 Second-Order Problems. ..344 5. ............................6 Discrete Systems.................310 5........... ....7 Natural Frequency Calculations Using Flexibility Matrix..2 Positive Definite Operators.....................246 4......................272 4................... .................................. .................316 5......12 Continuous Systems with Attached Inertia Elements............................6 M–1K and AM...259 4..4 Mass Matrix...............3 Expansion Theorem.................. ..............8 Matrix Iteration......................... .332 5........... ......7 Formulation of Partial Differential Equations for Continuous Systems .... .................................................. .....................................2...............................................................2.................4..............246 4................ ...........................252 4...................................264 4..........2.................. ............. ....................... ..2 Principal Coordinates...334 5......10 Timoshenko Beams...1 Eigenvalues of Self-Adjoint Operators..................................... ......................253 4...........14 Membranes.. ..3 Rayleigh’s Quotient......................................................................................310 5..... .348 5......9 Euler–Bernoulli Beam......1 General Free Response...................

............448 Chapter 6 Non-Self-Adjoint Systems..540 8............................................................. .................. ......3.....................1 Fourier Best Approximation Theorem.. .....432 5...... ..................360 5..............486 7. .................475 Chapter 7 Forced Response................................ ......... .... ..........6.......427 5... .................................469 6........................................................513 7.........517 7................454 6.........................533 Chapter 8 Rayleigh–Ritz and Finite-Element Methods.................. . ..........14 Combined Continuous and Discrete Systems.............10 Second-Order Problems (Wave Equation)...............540 8.....532 7.....................1 General Theory................507 7....15 Membranes..............2 Continuous Systems...................................2 Harmonic Excitation of Continuous Systems..... ..........13 Timoshenko Beams.........12 Repeated Structures........................................481 7.............. ... ..546 ...................463 6.....................4 Modal Analysis for Undamped Discrete Systems.6 Discrete Systems with Damping.... ........2 General Viscous Damping....... ......... ...506 7.......................1........................................................378 5.16 Green’s Functions..6......................496 7..... .458 6.........................................11 Euler–Bernoulli Beams...................454 6......................2 Rayleigh–Ritz Method..................................................5..................................................2 Vibration Absorbers.532 7....... .................3 Galerkin Method............................................ ...........1 Response of Discrete Systems for Harmonic Excitations....................3................ .....416 5................... ......................2 Discrete Systems with Proportional Damping....................................1 Non-Self-Adjoint Operators..........1.......................3 Laplace Transform Solutions.............................. ....1 Proportional Damping.5 Modal Analysis for Undamped Continuous Systems.. ........1 Discrete Systems...........................3 Discrete Systems with General Damping.... ....... ......543 8....... .481 7................. ................5 Continuous Systems with Viscous Damping................................ .............481 7..........4 Discrete Gyroscopic Systems....393 5.... .............520 7..............

.592 8..............639 References.........585 8.......................599 Chapter 9 Exercises.........8 Finite-Element Method.....609 9.................................8 Chapter 8.......... .........................5 Chapter 5.............................643 .........7 Chapter 7.....6 Admissible Functions..................................................................................................................... ...........628 9. .............................. ........................................................... ...............................................................11 Beam Element.......................................... ................... .........................631 9......................................... ..............625 9...609 9..................575 8...........571 8.............................. ........ .5 Rayleigh–Ritz Methods for Forced Response...........547 8..641 Index.................. ...............6 Chapter 6.................................4 Chapter 4...... ..................... ..........................616 9..............................2 Chapter 2............634 9... ....10 Bar Element............. ............... .........................7 Assumed Modes Method........................590 8...........8...................................566 8.........................................636 9.................9 Assumed Modes Development of Finite-Element Method............................... ..................1 Chapter 1.............4 Rayleigh–Ritz Method for Natural Frequencies and Mode Shapes. ...................3 Chapter 3..................... ............