CHAP. 7] VIBRATIONS OF CONTINUOUS SYSTEMS 207 14 ‘The fixed end is constrained against rotation; thus (0,1) =0 The free end has no shear stress thus 2.920 When used with the normal mode solution, 6(x, r) = X(x)e, these conditions lead to x) . Zao Anplication of the frst boundary condition to Eq, (75) leads to X= Application of the second boundary condition to Eq, (7) them yields = Cy 2ayn0-c2cos%e dx ce If C,=0 or w =0, then X(x)=0, Thus the system's natural frequencies are determined from cosSL =o aQa=De [G Te NG ‘The corresponding mode shapes are for any nonzero Cy Determine the characteristic equation for longitudinal oscillation of a bar of length L, elastic modulus £, and mass density’p that is fixed at one end and has a particle of mass ‘m attached to the other end. ‘The equation governing the motion of the system is eu ar ‘The end at x =0 is fixed; thus (0,1) =0 ‘The boundary condition at x= is obtained by applying Newton’s law to a free-body diagram of the particle, as shown in Fig. 7-2: -eAaz sets jem Zuo Application of the normal mode solution, u(x, 1) = X(x}e~ to the boundary conditions leads to X()=0, EA 2a = mu*X(L)208 VIBRATIONS OF CONTINUOUS SYSTEMS. (CHAP. 7 Application of the Application of the boundary condition at x=0 to Eq. (7.5) leads to C, boundary condition at x= L to Eq, (7.5) with C, = 0 leads to f won f) fi VFA =o an (w/t) lo le ze(“ye4) ms of the above characteristic equation are the system's natural frequencies. fay E au au eatin = man Fig. 7-2 75 A ship's propeller is « 20-m steel (E=210 x 10" N/m, p = 7800 kg/m’) shaft of diameter <2 10cm, The shaft is fixed at one end with a S00-kg propeller attached to the other end. SBY What are the three lowest natural frequencies of longitudinal vibration of the propeller- shaft system? ‘The propeller-shaft system is modeled by the system of Problem 7.4. The transcendental equation governing the natural frequencies is 4 AVE ota =otand & 7300 88 : where = oLy/2= (20m), |——"—=3.85 x 107° w Ve noxio 5 (0.05 m)*(20 m) 500 ke and 245 ‘The three smallest solutions of the transcendental equation are $= 1137, G2=3.725, y= 6.637 leading to waver, g=rrno'tCHAP. 7] VIBRATIONS OF CONTINUOUS SYSTEMS 209 7.6 What is the required tension in a transmission line of length 15 m and linear density of 5 kg/m such that the transmission line’s lowest natural frequency for transverse vibrations Lis 100 rad/s? Assume the line is simply supported. ‘The differential equation governing the transverse vibration u(x,t) of the line is Since the line is simply supported, both ends are constrained from transverse motion; thus 40,9=0, — u(L,)=0 When the normal mode solution u(x, 1) = X (xe is assumed, the boundary conditions lead to x@)=0, X(L)=0 in Eg, (7.5) leads to C, =0. Application of X(L)=0 then leads to Application of (0) Gxsin (wt 4) =0 The smallest value of w for which a nontrivial solution occurs is =2,/T EINE which is rearranged as wlte Substituting given values, requiring «, ~ 100 rad/s leads to (ve asm) T= = 4x 10°N 7.7 Determine the characteristic equation for natural frequencies of the system of Fig. 7-3. —————— Fig. 73 Let u,(x¢) be the displacement in the left bar, and let u(x, 1) be the displacement in the right bar, The partial differential equations governing a(t) and uss, t) ate Pu ar ‘The boundary conditions are210 VIBRATIONS OF CONTINUOUS SYSTEMS. [CHAP. 7 ‘The displacement must be continuous at the junction between the two bars u(L,)=w(L, 9) ‘The resultant force due to the normal stress distribution must be the same in each bar at t junction: 2 pgp pA: EAS (LN EG SL Use of the normal mode solution u(x, t) = Xi(x)e™, ua(x, 1) = Xze leads to X (x)= Cy 0s (o/2) +Grsin(o ves) (0)~ 6,008 (w[Bs) + Casa (o/s) and X,(0)=0, X(L)= XA(L), Application of the boundary conditions leads to X,0)=0 + C=0 %(31)-0 + c.-cun(3s), ote a 32) X(L)=XAL) + C,=Cicot 6 +tan}¢) ax, ze 1dx, a (L) (L) + 40s (cot + tan 34) = ~sin g + cos ¢ tan} 78 Determine the lowest natural frequency of longitudinal motion for the system of Fig. 7-4 A=3x 10% m? B= 200% 10° Mt 70 q p= 7800-3 ax ey Fig. 7-4 ‘al equation governing u(r, 1), the longitudinal displacement of the bar, is E_iu_fu par aFCHAP. 7] VIBRATIONS OF CONTINUOUS SYSTEMS un Since the end at is fixed, (0,1) =0 The resultant of the normal stress at the right end of the bar must equal the force in the spring at any instant; thus EAB (L, 0) = tall.) Application of the normal mode solution u(x, r) = X(x)e“ to the boundary conditions leads to - ox x)= EAT (b) = ~kX(L) Using X(0) =0 in Eq. (7.5) leads to C, = 0. Application of the second boundary condition to Eq, G3) kaso caw /f ~tsin(w 2) Substituting given values leads to 15@=-tand ‘The smallest solution of the transcendental equation is 1.907, which leads to sx 7.9 Show that the mode shapes of Problem 7.3 satisfy an orthogonality condition of the form of Eq. (7.6). Let w, and a, be distinct natural frequencies of the system of Problem 7.3 with corresponding mode shapes X,(x) and X;(x), These mode shapes and natural frequencies satisfy the following problems; (722) Bt eXn0 (723) Bayao22 7.10 VIBRATIONS OF CONTINUOUS SYSTEMS (CHAP. 7 Mulipying Eg, (722) by X nd integrating from 00 L les 0 Jaws Pac +2 | xayxinyar=0 Applying integration by parts twice to the first integral leads to x) XO - x) Xe)- xO Lo + xy Xo + fxoSace 2 f xa xpoae-0 Application of the boundary conditions leads to 2 From Eq. (7.23), aX of ae et which when substituted into Eq. (7.24) leads to Stui= 0) [ Xe) X@)de=0 and since w, # w,, Eq. (7.6) is satisfied. Develop an orthogonality condition satisfied by the mode shapes of Problem 7.4. Let w, and w, be distinct natural frequencies of Problem 7.4 with corresponding mode shapes X, and X,, The problems satisfied by these natural frequencies and mode shapes are (725) (7.26) syo-0. ex yamaha Multiplying Eq. (7.25) by X, and integrating between 0 and L leads toCHAP. 7] VIBRATIONS OF CONTINUOUS SYSTEMS 213 Using integration by parts twice on the first integral leads to aX, dx XL) FL) ~ x @- xi) Xe) +x) Xo f ax, £2 f - + [xe Siero fa [xe ateraren Using he boundary conto inte previous equation lad to mya By EA % XML) X(L)~ FE X(L) X(L) +f xtBac+2or | xen apnae=0 Using Eq. (7.26) in the previous equation and rearranging leads to mn 2 xexee [gxenngl x XC ra] 0 Since 0, a, the appropriate orthogonality condition is pa ED (L) + | X(0)(0) de =0 7.11 Determine the natural frequencies of a uniform simply supported beam of length L, elastic modulus E, mass density p, area A, and moment of inertia [. The free transverse vibrations w(x, ) a simply supported beam are governed by Eq. (7.8) ew war-0 ane0 weno Sfe.ye0 Application of the normal mode solution w(x, 2) = X(z)e' to the boundary conditions leads to i IX qa X@-0 FM=0 a X(L)=0 =(L)=0 de Application of the boundary conditions at x = 0 to Eq. (7.11) leads to X()=0 > C.+C,=0 FX e=0 + -¥E+40C=24 VIBRATIONS OF CONTINUOUS SYSTEMS [CHAP. 7 from which it is determined that C=C, =0. Application of the boundary conditions at x = L to Eq, (7.11) leads to X(L)=0 — Cysin AL + C,sinh AL =0 £XL)=0 + -¥,sin aL + 6, sinh Nontrivial solutions of the above equations are obtained if and only if Hence ‘Then using Eq. (7.12), the natural frequencies are on = 12,3, 7.12 Determine the characteristic equation for a beam pinned at one end free at its other end. ‘The problem governing the free transverse vibrations of a pinned-free beam pinned at x = 0 and free at x= L is Eq, (7.8) subject to w(0,1)=0, Pw) Application of the normal mode solution w(x, 2) = X(z)e to the boundary condition leads to ax, X@)=0 F5@=0 ax ax @BO=0 FBw=0 Application of the boundary conditions at x =0 to Eq. (7.11) leads to X(0)=0 + G+C,=0 a&x pesca FeO =0 > -NC +E =0 from which it is determined that C, = C,=0. Application of the boundary conditions at x = L leads to ax, 2 a a Ga(l)=0 + AC; sin AL + 2? sinh AL=0 EX) n0 + eco at PGenaat~0 A nontrivial solution of the above equations exists if and only if the determinant of the coefficient matrix is zero, ~sin AL cosh AL + sinh AL cos AL = 0 leading to tan AL = tanh AL ‘The solutions of the previous transcendental equation are used with Eq. (7.12) to determine theCHAP. 7] VIBRATIONS OF CONTINUOUS SYSTEMS 21s system's natural frequencies. The smallest solution is, exists. =0, for which a nontrivial mode shape 13 Determine the three lowest natural frequencies for the system of Fig. 7-5. m=10kg & 200 x 10? 1100 88 +, 4 A= 26% 10? mt L=tm 124.7% 10% mt Fig. 7-5 ‘The free transverse vibrations of the beam of Fig. 7-5 are governed by Eq. (7.8). Since the beam is fixed at x=0, aw 09-0, 2on=0 The boundary conditions at x= are determined by applying Newton's law to the free body diagram of the block, Fig. 7-6: aw a Ln=0 z gp (Li t)=m Se (Lat) Application of the normal mode solution w(x, r) = X(r)e™' to the boundary conditions leads to XO) ax ano ex ax Bono T= murX Application of the boundary conditions to Eq, (7.11) leads to ‘X(0)=0 + C+G=0 ax, Gq = AC + AC. =0 ax eh A? cos ALC, — A? sin ALC; + A® cosh ALC; + A* sinh ALC, =0 Eld’X i Ty agp E> —@ XL) > (PAsinac+acosat)c, (eas at tasinat)e + (sth at-+aoain at) + (Main at asian at}C.=0 where w* has been replaced using Eq. (7.12). The previous equations represent a system of four homogeneous linear simultaneous equations for C,, C,, Cy and C.. A nontrivial solution exists if216 VIBRATIONS OF CONTINUOUS SYSTEMS [CHAP. 7 and only if the determinant of the systems coefficient matrix is zero. Setting the determinant to zero and simplifying leads to me (1 #056 cosh #) +225 (cos sinh d ~cosh d sin 6) =0 b= Noting that tt = 0493 (7800 #8) (2.6 10° a(t. m) the three lowest solutions of the transcendental equation are G9 1423 gb, =4113 gy = 7.192 ‘The natural frequencies are calculated using Eq, (7.12): w= @ | -——™ _-s.347 ke > m)(1 m)* (7300 H§)c216x 10-* mya. my o.=362x10 82 gy =Liaxi0 oa - a mn SRL Fig. 76 7.14 Demonstrate that the mode shapes of a fixed-free beam satisfy an orthogonality condition of the form of Eq. (7.6). Let w, and w, be distinct natural frequencies of a fixed-free beam with corresponding mode shapes X, and X,. The problems satisfied by these natural frequencies and mode shapes are (7.27) (728)CHAP. 7} VIBRATIONS OF CONTINUOUS SYSTEMS 217 Multiplying Eq. (7.27) by X, and integrating from 0 to L leads to [xB -teof xerxeaceo Using integration by parts four times on the first integral leads to KOE - xO SX - Ky FX ay a 4% yy Xd 200) TL) FL) FX) ox, + Sexy f fh ~ BOK +B OXO) [Que 0A, Bye | Xe) XU) de which after application of boundary conditions reduces to jet ~ PF ot f Nile) Xx) de [aac Using Ea. (728) in the previous equation and rearranging leads to Aaron [. Bo «9 [ xan xurae=o Since 1, #,, the orthogonality condition is verified. 7415 Determine the steady-state amplitude of the end of the shaft of Fig. 7 ‘The problem governing the motion ofthe system of Fig. 727i ove_a