CHAPTER 14 ELASTICITY THEORY OF WAVES IN RODS 14.1 INTRODUCTION AND Basic EQuaTIoNs We now consider the theory of waves in rods fron an elasticity point of view. This problem was first investigated by Pochhammer (1876) and later by Chree (1889); hence it 4s sometimes called the Pochhanmer-Chree theory of rods Tt is normally considered the exact theory, whereas the previous discussions on rod and beans have been approximate on eLementary theories. We restrict ourselves to rods of circular cross-section and of infinite extent. It is much more convenient to introduce cylindrical coordinates (r,0,2), where rake sy” 0 = tan a4.t) We now list the fundamental elasticity equations in cylindrical coordinates. * Also see: Abramson, et al. , “Stress Wave Propagation in Rods and Beams”, Advances in Applied Mechanics, Vol. V, Academic Press, 1958; Redwood, Mechanical Waveguides, Pergamon, 1960.1-2 (4.2) where u,, Ug, u, are the displacements in the r,6,z directions. Hookes Law O° aoe due, Gg = AU + 2uey os M+ due, (14.3) Te" re Ton = Mon Tor > Mor - where the dilatation is now given by vw : (14.4) Equations 20, om +F, = i, ag (14.5) 3 + Fy =i14-3 aes + de +E, ou, ‘The stress free boundary conditions on the lateral surface of the cylindrical rod, i.e., at r = a, are written ere e teats eras (14.6) We now consider the propagation of an infinite train of harmonic waves traveling along the solid cylindrical rod in the z-direction, So we write the displacements as a. = vel(ke ~ wt) ug ~ Vette ~ wt) aan w wet(ke — we) where in general U, V and W are function of r and @. 14.2 LONGITUDINAL HAVES Considering solely the longitudinal case, the displacements are written U = U(r) wr) (44.8) W v=o Introducing the displacement potentials and y such that tee or” az (4.9) 3 ont a= 2+ Lr), then from the equations of motion we must have thatUsing where where (14.10) In light of (14.7), we consider solutions of the form $ (rete - we) (14.11) b= V(apet lle = OE) form (14.11) in (14.10) yields ax’ (14.12) ‘The bounded solutions to (14.12) are = Alp (ar) 4.13) Ye wr), A and B are constants. So our displacements are given by v= AS dy(ar) + Bey, (Br) (14.14) We ipkar(ar) +2 = Gy, 6r))] Using form (14.14) in the boundary conditions (14.6) gives 2 a Al2 5 Jy(ar) = ae? a de v 2 a ky Ig (ar) Ieag + BK Ge Jy (Br) | ry Hed $= Jol) lnag + BR? - B75, (Ba) = 0. M4Mis Note that t,, 1s {dentically zero, Equations (14.15) then give our frequency 8 equation, since the determinant of the coefficients of this homogeneous system must be zero, 1.e., 2 a ye? eo a To@2) leea 7 Tey ky Ig (@) 2k $3, (82) | a =o. A 2. 2 2 4 TQ (OX) pag Ge" > 8')5, (Ba) (14.16) ‘The solution for the roots of (14,16) give w = w(k) or c= c(k) and hence the phase velocity will be frequency dependent. Tt should be pointed out that these solutions are not exact for a circular rod of finite length, since the conditions on the ends of the rods will not be satisfied in general. 4 plot of the first three modes of the dispersion relation are shown in the following figure 1.50! 1 140) { 130 rol 1 4 eI ~«{% 10 bs 100! ‘. 3 020 y \ oop 070: 60) 080) 040. A 00020 040.060 080 100 120 140 160 180200220 2 Phase velocity ¢ of extensional waves of wave length 2 in-a cylindrical bor of radius a, cccording to RM, Davies Dotted curve corresponds to lateral inertia correction.14-6 IAL WAVES 14.3 Torsi Next we consider the torsional wave case and write the displacements as vew=0 (14.17) v= vir) The stresses corresponding to form (14,17) follow to be yg 7 we ED} gi(ke - wt) (14.18) = ak Voy] KF = OO) Tez Next we use (14,18) into the equations of motion (14.5) to get ryt +e + Gr? -DVve0 , (14.19) where 2 The bounded solution to (14.19) is V(x) = By, (Br), (14,20) where B is a constant. Finally using (14,20) into the boundary conditions (14.6) gives 3, (Be) 70. (14.21) Note that 9, = t,, Equation (14.21) is then the frequency equation or dispersion relation for torsional waves. The first root of (14.21) is B= 0. This root implies V = Bfr, where B' = constant; and hence each transverse section of the cylinder rotates as a whole about its center. In addition the 6 = 0 case the first four modes are shown in the following figure.14.4 160: 1.40: 100. 80: 060: ogo 040 080-120 °~«160=«00 aM Prose velocity ¢ of torsonal aves of wove leah in fnarigat bor of rods”, ON cording Wo 9.0: Owen FvexuraL Waves ‘To simplify the work consider only transverse waves with motion in the x-z plane. Hence the deformations u, and u, will be even functions of 8, so we can write u, = U(x) cosd of (K# = UE) i(kz - wt) tig = V(r) sind e (14.22) A(kz - wt) u, = W(x) cosd e' To satisfy the equations of motion, U(r), V(r) and W(r) must be a5, (ax) ay, (Bx) G@) = aGe— + ok E+ 8 60 ay, (Br) vee) = - A syn) - «23, (@e) - 0 (24,23) W(x) = Atk, (or) ~ B18, (Br),14-8 where A, B, C are arbitrary constants and Using (14.23) into the boundary conditions (14.6) gives three homogeneous equations for the three unknowns A, B and G. Again setting the determinant equal to zero gives the frequency (dispersion) equation. Again the first three modes are shown graphically in the following figure. & \\ ok 2.00. ive 28. ood ovo : <= ovo - oO 20 Odo 080 080 100 20 $ Phase veleciy © of flex! ves of woveenghin 3 no Synrea br of raus oy ocordng 1o HN Abromsn,