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 A ?flgBBD FOR CAl^y|^yjpQ THE MATPRAL fgBSBMUSk

sz sssaasm m&* mm* m $mm BOB OF &A2B

by
A* S. Velatsos and N. M. Sewnark

A Technical Report of a Research Progress

Sponsored by

IS OFFICE CF XAVAL RESEARCH

EBPARTMBRT OF TRE HOT

In Cooperation With

THE DEPARTMENT OF CIVIL ENGINEERING

UNIVERSITY OF ILLINOIS

Contract 36ori-071 (06), ?ask Order VI

Project HR-064-183

Grbaaa, Illinois
June 1953
yjh.

C0KTEKT3

L12? OF FIGURES

1. IKERODOCTIGK

1. Object and Scope of Investigation ......... -L

2. oigu Convention and Rotation 5

3. AeknovledKespents , . < . 9
II. METHOD OF ANALYSIS

h.. B*«is of Method of Analysis 10

5. Elastic Constants for a Vibrating Bar 12

6. luaerical Values of Stiffnesses and Carry-Over Factors 16

7. numerical Values of Deflections Due to End Rotations 18

III. APPLICATIONS OF METHOD TO CONTINUOUS BEAMS ON RIGID SUPPORTS

8. General 19

9- Development of the Basic Equations 20

10. Outline of the Procedure 22

11. Determination of Modes of Vibration 2k

12. Illustrative Examp dk

Example 1 2k

Example 2 27

13. Alternate Methods of Analysis 31

The Effective Stiffness Criterion 32

The Moment Distribution Procedure 32

TM "Direct" Procedure 33
T-IA Methnn of Three Moments 56

Ik. Range of Applicability and Relative Merits of

Various Proc 36
g
i
1 ii
« CONTENTS (Continued)

Page
17. APPLICATION OF METHOD TO CONTINUOUS FRAMES WITHDUT SIDESWAI
15. General .......... ......... 3# .
16. Basic Relations .•••••••••'« 38
17. Open Frames 40
18. Illustrative Examples ..» 42
ExsiBpxo .i. »..»•...... .... ••.....» 4<<-

Example 4* .............. «..••••• 45

19« Closed Frames •••» 46
20, Outline of Procedure 49
j
21* Illustrative Examples". ........«..»..•• 51
Example 5 .... ? -. ........ 51
••!
Example 6. > 55
22. Comments on Natural Modes of Partial Vibration ...» 63 |
23• Need for Approximate Methods of Analysis . . 64 \
\ 2L. Effect of Axial Forces? Problems of Instability .... 65 j
V. APPLICATION OF METHOD TO CONTINUOUS BEAMS ON FLEXIBLE SUPPORTS
:.:
25* General ......... •• 67
26. Basic Relations 67
27. Outline of Procedure 71
it
28. Effect of Various Intermediate Constraints ...... 74
Rigid Concentrated Masses -. ...... 74
I
"vuCauiru'tjed Sprung Masses .............. 74
Rigid Intermediate Supports ..... 75
Supports Having Kase ................. ?6

^ti^*»i*J'er"' •" "

 iii
§
it
CONTENTS (Continued)
i

Oontir.uous Jttastis Subgrade 77

29. Determination of Modea of Vibration ... 79
30. Illustrative Example • 8l
Example 7 ......... . Si
VI. APPLICATION OF METHOD TO FRAMES WITH SIDESWAI
31 • Symmetrical, Single-Bay, Multi-Story Frames ...... 36
VII. EXTENSION OF METHOD TO CONTINUOUS PLATES
32. General 87
33. Batds of Method , g7
%m Details of the Method . . . . <• >«....* ;J9
35* Elastic Constants for a Panel of a Plate , . . . . , . 91
36. Illustrative Example . %
Example 8 . • > • , . » • • %
VIII. SUMMARY
37. General . - 96
APPENDIX A. TABULATED NUMERICAL CONSTANTS
1. Table I : Stiffnesses end Carry-Over Factors ..... 98
2. Table II: Coefficients for Deflection Due to End
Rotations ... .......... 126
APPENDIX B. DERIVATION OF FORMULAS
1. Formulas for Bars Without Axial Forces • • 152
a. General Solution of Fundamental Equation for
Vibration of Bars 1*2
b. Formulas for Elastic Constants .......... 153
Co Formulas for Deflections of a Bar Due to
Distortions at the Er?ds .............. 15b
 iv

CONTENTS (Concluded)

Pake

d. Rayleigh's Reciprocal Halations and Principle of

Influence Lines • •»••• 157

2. Formulas for Bars vith Axial Forces • 158

a. General Solution of Govez-ning Differential Equation 158

bo Formulas for Flexural Stiffness and Flexural Carry- -

over Factor • 159

3« Formulae for Plates Simply Support*"* Along Two Opposite

Bdg&s • . . , ....... . . , . . . • ....*.. 161

a. General Solution of Fundamental Equation for Vibi»

rat5on of Plates * 362

b» Formulas for Flexural Stiffness and Flexural Carry-

Over Factor ....... .a.*..»•••*•« 162

c. Correlation Bstveer; Elastic Constants for Vibrating

Plates snd Compressed Platoa . .<«*•••••« 164-

APPENDIX C, ANALYSIS OF STEADY-STATE FORCED VIBRATIONS

1. General Description cf Method of Analysis ..*»*•• 166

2<> Formulas for Steady-Stats Deflection of a Simply Support-

ed t-iiiform Beam Carrying a Concentrated Force FcosoJt « « 169

BIBLIOGRAPHY , . 171

FIGDKES 174— 212

 . _ i

LIST OF FIGURSB

Figure rfo» Page

1* Typical Joint of a Plane Framework ...... 174

2. Definition of Elastic Constants * 174

3. Coefficients of Dynamic Flexural Stiffness £ for a Uniform

Bar Fixed at the Far End T 175

4. Coefficients of the Product of Dynamic Flexural Stiffness

and Dynamic Flexural Carry-Over Factor kg for a Uniform Bar
Fixed at the Far End » . • • 176

5. Dynamic Flexural Carry-Over Factor k for a Uniform Bar

Fixed at the Far End T . . „ . . 177

6. Coefficients of Dynamic Flexural Stiffness S" for a Uniform

Bar Hinged at the Far End 7 178

7. Coefficients of Dynamic Flexure-Shear Stiffness 0, for a

Uniform Bar Fixed at the Per End • 179

8. Coefficients of the Product of Dynamic Flexure-Shear Stiff-

ness and Dynamic Flexural-Shear Carry-Over Factor qQ for a
Uniform Bar Fixed at the Far End 180

9o Coefficients of Dynamic Shear Stiffness T for a Uniform

Bar Fixed at the Far End ..... o ..... • 181

10. Coefficients of the Product of Dynamic Shear Stiffness and

Dynamic Shear Carry-Over Factor t| for a Uniform Bar Fixed
at the Far End • . « , c ......... • 182

11. Dynamic Flexure-Shesv Csrry-Over Factor q for a Uniform Bar

Fixed at the Far End ......... »''•»«•..»»•• 183

12. Dynamic Shear Carry-Over Factor t for a Uniform Bar Fixed

at the Far *hd ..«,.*.„.•«.«.*»..*.... 134
t 1 Deflected Shape of Two Adjacent Spans of a Continuous Beam
on Rigid Supports «•»••«.••#•••••••»••• 185

14 o Beam Considered in Example 1 ...,.....«• 185

15. beam Considered in Example 2. <.••••* • •«*»».•• 135

16. Variation of Rotation ©- as e Function of ^ , Example 1 . . 186

17. First Six Natural Viurafcio:i hfodes of a Uniform, 4-Span Con-

tinuous Beam Hinged at Left End and Fixed at Right gad . . . 187
 "•-.

vi

UST OF FIGURES (Continued)

Figure No. Pagg

18. Variation of Exciting Moment L ae a Function of CX, ,

Example 2 ....... 1#8

19. First Two Natural Vibration Modes of Beam Considered in

Example 2 , «••,.• 189

20. Effective Stiffness at Right End of the Bean as a Function

of % , Example 2 . . • . « 190

21. Topical Joint of a Plane Rigid Frame, No Sideevay • • . . » 191

22. Typical Portal and L-Frames . , • 191

23. Typical Open Frames • 191

24. Possible Natural "Modes of Partial Vibration" 192

25. Illustrative Example 3 ............ 193

26. Variation of Exciting Moment M_ as a Function of % ,

Example 3 194-

27. Natural Vibration Modes for Frame Considered in Example 3 * 195

C
28. Variation of Exciting Moment M~ as a Function of X, ,
Example 4..........?... 196
29. Typical Closed Frames, No Sidesvay . 197

30. Illustrative Example 5 » 197

30d Variation of the Determinant A6(Mlte,) as a Function of

% , Example 5 ....»*.......... 198

31. Natural Vibration Modes for Frame Considered in Example 5 • 199

32. Illustrative Example 6 200-201

33. Variati-tn of Determinant A.<(0, >e±) as a Function of 'X*. t

Example 6 . 202

34-35 Illuotxotlve Example 6 (Continued) ........... #.203-204

36• Typical Continuous Beam on Flexible Supports ....... 205

37. Space 3-1 and j of a Continuous Beam on Flexible Supports • 205

 JM

vii
LIST OF FIGURES (Concluded)

Figure Kp*

38-39 Beams with Various Intermediate Constrain** . . • * . . . 206-207

4.C. Properties of Beam Considered in Example 7 • * r . . « 208

41* Variation of Exciting Moment JL as a Function of X.

Example 7 ••*••••••••»••#••••«• 209

4-2. Symmetrical Single-Bey Frames with Sidesvay ?!Q

L'X. 1Srr-»
ype of«f Continuous
H Plate Considered e • • • 211

LU. Elastic Constants for a Panel of a Plate on algid Supports. 211

4.5* Variation of Rotation Amplitude 6_ vith u/ for Example 8 • . 212

 V»n|fc-» - ;.'

A METHOD FOR CAICPUTISG THE NATURAL ITOODEHCIES

OF CONTINUOUS BEAMS. FRAMES. AND CERTAIN

TYPES OF PLATES

I. INTRODUCTION

lt Object and Scope of Investigation.

Ths purpose of this report is to pre89nt a method for calculating

the undazapud natural frequencies of flcrural vibration of elastic structures.

The method is applicable to continuous beans on rigid or flexible supports,

te rigid jointed plane frameworks, and to certain types of continuous plates.

The beams may have any number of spans of arbitrary length and any condition

of restraint at the far ends* In general, the frames are assumed to be fis-

ed against lateral displacement, but consideration is also given to symmetri-

cal, single-bay, multi~story frames free to undergo sideeway. The plates are

assumed to be simply supported along two opposite edges and, in one direction,
-••

continuous over a series of rigid supports transverse to the simply supported

edges. The mass of the members comt»sing the structure is assumed to be uni- *

formly distributed along each member. A system which has distributed mass
I
and elasticity has an infinite number of natural frequencies. With the method
•-?.
presented herein one is capable of determining all natural frequencies as well
i
as the corresponding natural modes of vibration of a system. The assumptions
•

made in the analysis are those of the ordinary theory of flexure of beams and
of medium-thick plates •
Knowledge of the natural frequencies cf structures is important for
the analysis and design of structures subjected to time-dependent forces.
 2

Thlei knowledge ie particularly significant in the ease of stationary periodic

forces such as those resulting from rotating machinery. If the operating fre-

quency of the machinery is sufficiently close to one of the natural frequencies

of the structure supporting it, violent vibrations will ensue which, in the

absence of dieeipative forces, nay attain extremely large amplitudes. In

order to avcid, by proper design, the destructive condition of resonance, it

is necessary to have a workable method for predicting the natural frequencies

of structures. It has been the object of this investigation to attempt to

meet this need.

-
The problem of calculating natural frequencies of dynamic systems
,\
has been the subject of discussion for a long period of time. The natural

frequencies of single span members having different boundary conditions have

been investigated rather exhaustively; yet, comparatively little has been

done for multiple member systems. Except for structures consisting of only

a few members, the classical method of determining natural frequencies be-

s

comes so cumbersome that it tends to be entirely useless for practical pur-

poses. Several considerably more efficient methods have been developed, but

these seem to be applicable to limited typap of structures.

Among the available methods, Mudrak's method (1), (2), (3) which

utilizes the effective stiffness criterion for determining natural frequencies,

-
is by far the most efficient. This method has been applied only to continu-

ous beams en rigid supports and apparently ie not capable of extension to

'1
continuous frames involving closed panels. The natural frequencies of con-

tiiiuuuo beams on interned? ate flexible supports may be best determined by the

method developed by Lee and Saibel (4)» (5)« This method utilizes principles

Numbers in parentheses, unless otherwise identified, refer to the Bibli-

ography at the end of this report.
 3

that are not wall known to engineers; furthermore, it presupposes that the

natural modes of vibration of the beam without the intermediate supports are

known. This aasuaption restricts seriously the range of applicability of this

procedure. The determination of the natural frequencies of continuous frames,

»
involving closed panels, has apparently been attempted only by use of the

classical method (6), which, as already stated, is too laborious for practical

applications.

The method described herein Is a generalization of Holier'a method

(7) for calculating the natural frequencies of torslonal vibration of shafts.

It utilizes well known engineering principles and, like Bolzer'8 method, it

is reduced to a routine scheme of computation which, when repeated a suf-

ficient number of times, will give the natural frequencies of the system to

any desired degree of accuracy. Holzer's method has been applied to the de- •'••

I
termination of the natural frequencies of flexurai vibration of beams, firal,

by Ifrklestad (8) and later by Prohl (9), Bankin (10), and Bellin (11). In

these studies, distributed masses were assumed to be lumped at a number of

stations along the length of the beam while the portion of the beam between

these stations was assumed to be massless. In the method to be presented,

the mass is assumed to be uniformly distributed along each member of the

-.
structure. Abrupt, changes in. tha magnitude of the distributed mass or of* *

the flexurai rigidity within a member say be treated by assuming that the

member is supported by a flexible support of zero stiffness at the point of

the discontinuity.

The principles underlying the method are presented in Chapter II M

of this report. This chapter also includes definitions of the several physi-

cal quantities which are neceasary in the analysis* These quantities are the

dynamic stiffnesses and the dynamic carry-over factors which are analogous to
".*. •:".

those Introduced by Hardy Cross in connection vith the method of moment distri-
bution (12)• Extensive tables of numerical values of these quantities are pre-
sented in Appendix A, while the derivation of the governing equations is given
••

in Appendix Bo With these tabulated values, the calculations required in the

.1
application of tha method to particular problems are simplified immensely. •
The application of the method to continuous beams on rigid supports
is discussed in Chapter III. In addition, several alternate methods of analysis
ar<? considered and the range of applicability and the relative merits of each
are discussed.
Chaptsr T/ presente the extension of the method to frames without
side8way. For continuous beams, a single procedure is capable of determining .-
all possible natural frequencies. For frames, however, this procedure may
I
fail to detect those natural frequencies for which only a portion of the
structure vibrates while the rest remains stationary. A technique for over-
coming this difficulty has been developed and is presented also in Chapter IV.
•is
In the study of frames, the effect of permanent axial forces is neglected.
The concluding section of Chapter 17 is devoted to a discussion of the manner
in which this effect may be taken into account. Alsot it is pointed out that
problems of framework Instability are special cases of the more general problem
.-*
of the vibration of axially compressed members * ... *
In Chapter V, the method is extended to beams continuous over sup-
4
ports tnat are flexible instead of rigid. The resistance to deformation of
*
the supports is represented by an equivalent set of mutually indepenuent de-
flecticnal and roxational springs. It is shown that the method may be modi-
fied readily to include the influence of concentrated rigid messes, of con-
*
centrated sprung masses, and of att elastic Subgrade of the Winkler type.
 5
Chapter VI shows tho application of the nwo.hod to summetrical. one-

bay, multi-story building frames which are free to undergo sidesway.

Chapter 711 is concerned with the extension of the method to con-

tinuous plates having two opposite edges simply supported* The pertinent
»
expressions for dymanic stiffness and dynamic carry-over factor for plates

are presented in Appendix B. It is also shown that numerical values cf these

quantities may be obtained from available tables of stiffness and carry-over

factor for compressed plates*

Table II in Appendix A gives influence coefficients for calculating

the natural frequencies of vibration of systems composed of bars. It is

pointed out that M&ller -Ereslau's principle of influence lines is applicable -T

in the case of steady-state forced vibrations, so that these coefficients may

be interpreted also as coefficients for dynamic fixed-end aoments produced by

V'i
a concentrated harmonic force*

Appendix C includes a brief account of the manner in which the in-

formation presented in this report may be used in the analysis of the steady-
i
state forced vibration of frames*

For convenience of reference, a detailed outline of the steps in-

:•»
volved in the application of the method to each class of problems is in-

eluded in each chapter. In addition, several numerical examples are given

1
to illustrate the application of the method and to indicate convenient schemee
-
for arranging the computations. Throughout this report, special effort has

been made to present each chapter as independently of the others es possible

1
and to diHeuss the numerical examples adequately.

Si Sign Convention and Rotation.

The following sign convention is used throughout this report with

the exception of Appendix E. Clockwise rotations are positive. Internal

 6
bending aoments acting at the ends of a member (cot a joint) and external
momenta, except for the restraining mo»nents provided by rotational springe*
are positive clockwise. The restraining sr-oment of a rotational spring is
positive when it acts in a counter-clockwise direction. Deflections are
posixiva downward. Shears acting at the ends of a member (not a joint) and
external forces, except for the forces produced by deflectlonal springs* sre i

positive downward. The restraining force of a deflectlonal spring is posi-

tive upward.
The letter symbols used are defined where they first appear in the
t

| text or by illustration, and they are assembled in this section for con*-
j -
I venience of reference*
ass;
Generalt
u) = circular frequency of vibration
u)„ - natural circular frequency of vibration
«"•

f = frequency of vibration, in cycles per second "is

-
t = time
£ = modulus of elasticity
For structures composed of barst
4
x = horizontal coordinate
?
I = moment of Inertia of the cross section of a bar about its
centroidal axis
1
L = span length of a bar
m = mass per unit of length of a bar
m = magnitude of a concentrated rigid mass
'••>.

(m) = magnitude of an equivalent concentrated rigid mess

eq
* 4/—r
X = /pi— L =s c'imensionlsss parameter for a bar ••v.

3
XN = A value corresponding to a natural frequency
 v deflection amplitude at a point of a bar defined by the
• x coordinate x
*
rotetion amplitude at support or joint J[
•j
* deflection amplitude at support J^
*,
M amplitude of internal bending moment at support j_ of a continuous
J beam
-
> M amplitude of internal bending moment at end j_ of a bar Ji^ in c
i Ji continuous frame
1 external moment at support or joint _j of a continuous beam or
5
j frsind
h

T amplitude of shear at support j_ of a continuous beam

\ J
eS
f external force at support j[
'i 3
1
:\ U, V variable parameters 4

« •',?## values of 9, 8 , M, and F due to u= 1.0C and v = 0

i
li _« —If —»
! e ,5 ,M ,F values of 6, 5 , M, and F due to u = 0 and v = 1*00
s
i K, Q, T dynamic stiffnesses for a bar, defined in Section 5
1 :
1 k, q, t dynamic carry-over factors for a bar, defined in Section 5
1
j
1 •
cK,cQ,cT dimensionless coefficients in expressions for K, £f and X

iV,** modified stiffnesses for a bar, defined by Kqs. (9), (10) and (11)
1
K effective flexural stiffness for a bar, defined in Section 13 •

f i
j,Vfj stiffnesses K, £, T, of all bars meeting at support or joint j

s
5 effective flerural stiffness of all bars meeting at support or
joint _J i
D stiffness of a deflectional elastic spring

• (B) stiffness of an equivalent deflectional spring

«,
a stiffness of « rotational rsstraiut *

c dimensionless coefficient in Sq. (14) for the deflection of a bar

» p axial force in a bar

P buckling load for a bar hinged at both ends

o
 3
d = modulus of a continuous elastic subgrade
U)g = circuit!? vibration frequency for a hsr on a continuous elastic
subgrade
5 = deflection amplitude of a sprung mass
^'P'X'I ~ dimensioniess coefficients defined, respectively, by Bqs. (24)?
(73), (74), and (50)
For continuous plates t
x, y s horizontal rectangular coordinates* The y-axis is taken parallel
to the pair of simply supported edges
a, b = span lengths in the x and y directions, respectively, for a panel ...
of a plate
/O = density of plate material in a particular panel
•

h = thickness of plate in a particular panel

I = h /12 = moment of inertia, per unit width, for a particular
panel of the plate m
V = Poisson's ratio
N = H/l- J>z = flexural rigidity of a particular panel of a plate
= a
W - —j- ffj— dimensionless parameter for a panel of a plate
n = integer representing number of half sine waves in the distribu-
tion of deflections, slopes, moments, etc., across a plate
width a 5

0. = maximum rotation amplitude along support j

H = maximum amplitude of bending moment at support j_
K, k = flexural stiffness snd flexural carry-over factor for a panel
of a plate* defined in Section 35

•I
 9
1± Acknowledgements

This investigation has been part of a research program on "Numerical

find Approximate Methods of Stress Analysis" sponsored by the Office of Naval

Research (Mechanics Branch) in the Structural Research Laboratory, Department

of Civil Engineering, of the University of Illinois. The material of this

report has been drawn from a doctoral dissertation by A. S. Veletsos sub-

mitted to the Graduate College of the University of Illinois. The disser-

.<
tation was prepared under the direction of Professor N. M. Kewmark in the

Department of Civil Engineering.

The writers wish to thank Dr. L. E„ Goodman, Research Associate

Professor in Civil Engineering, for calling their attention to Lord Rayleigh's

•4m

paper (14), and Dr. J. G. Sutherland, formerly Research Assistant in Civil

Engineering, for first calling their attention to Mr. Gaskell's paper (13)•

The numerical values reported in Appendix A of this report were cal-

- -I
culated on the Electronic Digital Computer of the University of Illinois.

The governing expressions for these constants were coded for machine solution
•1
by Mr. A. J. Carlson, Jr., Research Associate in Civil Engineering. Ac-

knowledgment of Mr* Carlson's part in this work is made gratefully. Apprecia-

tion is finally due to Mr. D. Trimakas for the treeing of the diagrams.
4
 10
II. METHOD OF ANALYSIS
it Basle of Method of Analysis.
The method used in this report is based on the fact that the ex-
citing eouple or the exciting force which is necessary to maintain a dynamical
system in a steady-state forced vibration with finite amplitudes becomes equal
i
to zero at any one of the natural frequencies of the system.
| Figure 1 shows 2 members of a plane framework rigidly connected at
Si
their common joint 6, The far ends of the members may be considerea elasti-
§
cally restrained against both rotation and translation. These restraints are
furnished by the portion of the structure not shovm on the figure.
!

Consider that the frame undergoes a steady-state forced vibration

under the action of a harmonically varying exciting couple applied at joint z.
•

Joint z is assumed to be different from joint o. The magnitude of the exciting

. •_ •

moment is assumed to be such that the amplitude of either the slope or of the
Internal bending moment at a joint of the structure different from joint z*
4
say at joint 1, has a prescribed finite velue. The vibration of the structure
'•ft i
is harmonic and its frequency is equal to the frequency of the exciting couple;
-
since the effect of damping is neglected, the amplitudes of vibration are
constant and the response is either in phase with, or 180 degrees out of
phase with, the exciting couple.
For a given system* the magnitude of the exciting moment necessary M
to maintain the prescribed amplitude of vibration at joint 1 depends on the
frequency of vibration. For the limiting case of no vibration* the magni-
tude of the moment is obviously finite; its actual value may, if desired* be
calculated by any of the available methods of Indeterminate stress analysis*
As the frequency of vibration increases above zero* the structure Is acted upon
 11 J
by inertia forces of increasingly greater magnitudes. These forces, which

are distributed along the length of the individual members, bring about dis-

tortions in addition to those produced by the external moment acting static-

|
ally. Therefore5 the amplitude of the dynamic moment necessary to produce
i
the prescribed distortion at joint 1 may be quite different from the magni-

tude of the corresponding static moment. As the vibration frequency approaches •.

any one of the natural frequencies of the structure considered, the inertia g
-t

effects predominate, and at a natural frequency the vibration is maintained

without any exciting moment acting permanently on the structure.

ft
Briefly, the method presented herein consists of (a) choosing a fre-

quency of vibration, (b) determining the magnitude of the exciting moment

• which, when applied at joint z, will produce a vibration configuration with a

••

fixed amplitude of slope or bending moment at joint 1, (c) repeating these

••%•

steps for a number of assumed frequencies, and (d) plotting the magnitude of

the exciting moment as a function of the frequency of vibration. The fre-

if
quencies for which the exciting moment vanishes represent natural frequen-

cies of the system.

I

In the application of this procedure, the following two conditions

must be satisfiedt (1) The joint to which a finite amplitude of slope is

assigned should be one that is known to rotate for all the natural frequen-

cies that need to be determined. If instead of fixing the amplitude of

slope the amplitude of moment is fixed, it must be known that this moment

amplitude remains finite. (2) The exciting couple must be applied at a

*
Joint which is known to rotate for all the natural frequencies that need to

be determined. A couple applied at a joint which does not rotste sets

through zero displacement and imparts no energy to the structurej therefore,

it does not influence the natural frequencies cr the vibration modes of the
 12 1
•i

_ system. In such a case, the exciting moment may not vanish at a natural
freauency. 3
If either •* ' jnese conditions is not satisfied, the procedure •]
will fail to revesl some of the natural frequencies of the system. It
will be shown later that, for certain structures, it is impossible to
* satisfy these requirements. In such cases» in order to obtain the nstursl
frequencies which the basic procedure fails to reveal, it becomes necessary
to use a supplementary technique as described in Chapter 17.
\
For an assumed frequency of vibration, the magnitude of the ex-
citing moment may be determined by a number of different procedures. The
conditions to be satisfied are simply those of equilibrium and continuity
| « for each (1oint of the structure. To satisfy the condition of equilibrium,
the sum of the moments and of the forces at the ends of the members meeting
ft"
at a joint must be respectively equal to zero. To satisfy the condition
of continuity, the slopes of the members meeting at a joint must be equal
i
and also the deflection of the members meeting at the joint must have the
same magnitude. These conditions may be expressed in equation form in a
number of different ways and the equations may be solved by a number of pro-
cedures. In the method adopted, these conditions are expressed in the form
1
of a generalized slope deflection equation, end the distortions of the ;|
:
structure at the supports are computed by the repeated application of this
equation, working progressively from one end of the structure to the other.
-V

5r.^ Slsstic Constants for a Vibrating B?^

%
The various quantities necessary to express the resistance to de-
• .

formation of a bar undergoing steady-state forced vibration are defined in

this section.
 13

fc Consider a bar fg with the far end g fixed. Let the near end be

-subjected to a harmonically varying bending moment of a circular frequency

UI producing at that end a steady-state forced rotation

ect) - dcoswt .
•:
The amplitude of the impressed moment may be related to the amplitude of

the resulting rotation at end f by the equation

Mf-K6 (1)
>
The quantity K represents the moment required to produce a rotation of unit

amplitude and is defined herein as the "dynamic fiexural stiffnese" of the

i
i
end of the bar being rotated.
t -.
The moment induced at the fixed end g may be written as
t

tlg'HKd. (2)
The quantity k is the ratio of the dynamic moment at the far fixed end to

the moment at the near end and is defined as the "dynamic fiexural carry-

over factor".

In the analysis of continuous beams on rigid supports and of con-

-s
tinuous frames for which the joints do net translate, the fiexural stiffness
mi
and the product of the fiexural stiffness and the fiexural carry-over factor

are the only two quantities needed„

The foregoing definitionsi are generalizations of .those.origiaally

introduced by Hardy Cross (12) for the analysis of frames subjected to static

loads, and they were first used by Gaskell (13)• who extended and applied the
i
method of moment distribution to the problem of determining the steady-state

forced vibration of continuous Yearns and frames subjected to pulsating loads.

For static conditions, the end reactions of the bar resulting from

the rotation of one end, msy be determined from the end moments by statics.

For dynamical conditions, this is not possible, since tha bar is acted upon
 • •'• -
• i=,-,«*/. ^^.ii'-

1
U i
by inertia forces the distribution of which along the length of the bar la

generally unknown. The reactions must, therefore, be defined by additional

constants.

The amplitude of the vertical reaction at the end being rotated may ;
,i
be written as

Vf-Qd. (3) I
aud the reaction at the fixod end may be written ae
.a
V3--<fQ6 "<fVf. (U)
The quantity (J represents the reaction at end f produced by a

rotation of unit amplitude at that end and is defined as the "dynamic

flexural shear stiffness"• The quantity £ represents the ratio of the re-
-a

action induced at the far fixed end to that produced at the near end and
•

is called the "dynamic flexure-shear carry-over factor".

Consider now that end f is subjected to a harmonically varying -x.

force producing at that end a steady-state forced deflection without
-i'
rotation, such that the magnitude of the deflection is

Bit) " 8cosu)t.

t
The amplitudes of the force and of the deflection at tne left end may be

related by the expression

\
Vf - T5 (5)
The quantity T denotes the force necessary to cause a deflection of unit
>
amplitude and is defined as the "dynamic shear stiffness" for the end being

deflected. The reaction at the far fixed end may be written as

V3--iTo ~-iVf. (6)

The quantity t shows the ratio of the reaction at the far end to that at the

near end and is called the "dynamic shear carry-over factor" • The amplitude

of the moment induced at the end being deflected is

 15

rv - Q5. (7)
and the moment at the far fixed end is

Hs - ejQS • ftff . (8)

The quantities £ and £ are the ease as those used in Eqs. (3) and (£)• That

these should be the seme follows from a reciprocal theorem given by Lord

Rayleigh (14), which is the dynamic equivalent of Maxwell's Law of reciprocal

i

relations•

Throughout this presentation) the members composing the structure

are considered to be uniform. The stiffness and the carry-over factors for

both ends of such members are equal.

9 The notation used for the various stiffnesses and carry-over factors

is the same as that used by Newmsrk (15) in his static analysis of slabs con-

tinuous over flexible supports* The notation is summarized is Fig. 2* The

derivation of the algebraic expressions for the various stiffnesses and

carry-over factors is given in Appendix B«

...
For certain conditions of symmetry, antisymmetry, and for those

cases for which the degree of restraint at the far end of a member is known,
t
it is convenient to use effective stiffnesses. The pertinent expressions for

these stiffnesses are the same as those for the static case. Expressions are
-f
given here only for effective flexural stiffnesses. The particular cases con-
•'
i
sidered end the symbols used to identify them are* g. , when the far end of

the ber is prevented from deflecting and is elastically restrained against

I
•>

If e
rotation; K , when the far end is simply supported; jf% when the bar is on

rigid supports ard its deformation is symmetrical, and $Tt when the bar is

• un rigid supports and its deformation is antisyrametricsl. It can be proved

readily that
 •

16
:

K = K(l-k2) , (9)

j
K5 = K(l-k) , (10)

X1 as K(l+k) . (11)
•

The stiffness rof a given bar is also equal to the atiffness K of a similar
1
bar one half as long* The expression for X is given in article 12, where it
• 1
is used first. |
'./.:•.

It is possible to derive also expressions for effective shear stiff-

nesses. However, these are not, in general, as simple and convenient to use

as the effective flexural stiffnesses.

j •

6. Numerical Values of Stiffness and Carry-Over Factors.

All carry-over factors are dimensionless and depend on a single di-

mensionless parameter

in which m = the mass per unit of length of the bar,

i
iv = the circular frequency of vibration, as previously noted,

B as the modulus of elasticity of the material in the bar,

I = the moment of inertia of the cross section of the bar about its
centroidal axis, and

L as the Bpan length of the bar* 8

The various stiffnesses are determined from the expressions

K-Cc-71 • Q-Ca-p-> T-CrQ-> 03)

where the C*s are dimensionless coefficients depending on the parameter A •

A graphical representation of the variation with A of the various

carry-over factors, stiffnees coefficients, and of their products is given in

 17
|
Figs. 3 through 12. It is noted that the curves in these figures range be-
tween minus infinity and plus infinity. The ?\ values corresponding to the
zero ordinates and to the discontinuities of the curves, represent natural
frequencies of bars naving standard boundary conditions. For example, con-
•i
aider the curves in Figs. 3 and 5 for the flexural stiffnesa and the flexural
carry-over factor. Values of A equal to 3.927, 7.069 and 10.210 correspond,
respectively, to the first, the aecond, and the third natural frequencies of
-*•

s hinged-fixed bar. At these frequencies, no exciting moment is required to

maintain the vibrationj consequently, the value of dynamic stiffness is equal
to zero. Furthermore, since the moment at the fixed end of the bar has a
finite magnitude, the carry-c/er factor for the member becomes infinite at
these frequencies. Values of A equal to 4.730 and 7.S53 correspond, re<-
I
spectively, to the first and the second natural frequencies of a bar fixed
a
at both ends. At these frequencies, the end moments have a finite value
while the rotations of the ends are zero} accordingly, the stiffness of the
m
member has an infinite value. For the case of no vibration, A = 0, the
various quantities in Fig. 3 through 12 assume the well known static values
of
: •

K ••

at
k=0o5 = 4 ^ kX = 2^ K* = 3 ^

q = 1.00 Q = 6 « qQ = 6 »
zr IT
t = 1.00 T = 12 5£ tT = 12 SJ
V IT
Numerical values of the carry-over factors, of the coefficients of
the various stiffnesses, and of their products sre given in Table I of Ap-
pendix A. All values are reported to seven significant figures for the range
of A from zero to 10.20 at increments of 0.01. In some cases, the accuracy
 18

of the seventh significant figure reported is uncertain. These values wers

computed by use of the Electronic Digital Computer of the University of
Illinois.

?.« Numerical Values of Deflections due to Bid Rotations*

Consider the beam shown in Pig. 2a with the left end subjected to
a steady-state forced rotation $• The deflection amplitude of the beam at
••*

a distance X from the left end may be written as

Ix = C6L t (U)
where C is a dimensionless coeffleient dependent on the value of x" and the
parameter A * If jg represents the rotation at the right end instead of at
.i
a
the left end of the beam, the deflection amplitude at a distance x from the
right end will be equal to the right band side of Bq. (14) multiplied by m

minus one. The minus sign is a consequence of the sign convention adopted*
• :

Numerical values of C are given in Table II of Appendix A for sue-

•-

cessive twelveth points of the beam for values of A ranging between sero and
10.20. These values were computed from Eq. (B-32) in Appendix B, by use of
'.%
the Electronic Digital Computer of the university of Illinois. The values
I
are reported to five significant figures, but to no more than six decimal
-;.
places.
The values in Table II may also be interpreted as coefficients of
dynamic fixed-end moment for a beam subjected to a pulsating concentrated
force. This follows from Muller-Broslau'B principle, which it can be shown
to hold true for dynamical systems undergoing steady-state forced vibrv»ti«n:
This principle, as applied to the dynamical c£se, is presented in Appendix B.
•
-"5
 III. APPLICATION OF METHOD TO CONTINUOUS
4 1

BEAMS ON RIGID SUPPORTS J

i
8. General,.

The beams considered are assumed to be straight and may have any

number of spans of arbitrary length. At their extreme endB they may be

hinged, fixed, or only partially fixed by means of rotational restraints

which are assumed to be proportional to the end rotations. The cross section

and the mass per unit of length of the beam may vary from one Bpan to the
i
other, but in any one span these quantities are considered constant. It is

assumed that vibration is restricted to one of the principal planes of flexure

of the beam, and that the cross sectional dimensions of each span are small
• - I
in comparison to its length so that the effects of shearing deformation and
-&. .
rotatory inertia are negligible.
p
The supports of the beam are numbered successively from left to

right starting with 1 at the extreme left end and terminating with z at the

extreme right end.

-
The portion of the beam between two consecutive supports J and j+1

is referred to as the ^-th sp*"?- The quantities L , B., I,, '\., K., and k.

refer to the ^-th span.

©. denotes the amplitude of rotation of the deflected beam over the

^-th support and M. denotes the amplitude of bending moment across a section

at the same support. The subscripts L and R designate, respectively, sections

just to the left and just to the right of the support. M^ denotes the ampli-
•i

tude of the external couple at support £.

 1
;i
20 i
4
2A. Development of the Basic gqvsticns>
Figure^ shows the extreme deflected position of spans fl-j and ^ of
a continuous beam undergoing a stead7-state forced vibration. The vibration
J
is assumed to be maintained by an exciting couple applied at the extreme right f

I
end of the beam. There is no other exciting force or moment acting on the •::f

system.
In Fig. 13, the rotations and bending moments et the ends of each
spec are indicated in their positive directions. The slope and the bending
moment at a time t for eupport J are

dj(t) - dj cos tat, ond Mj(t) = tlj cos ut . (15)

In the equations to be used the cosi*rt appears as a common factor j for con-
venience, this will be omitted, and in the remainder of this discussion the
i
terms "amplitude of slope" and "slope" and the terms "amplitude of moment" and
-;,
"moment" trill be used interchangeably.
I
To insure continuity and equilibrium of the beam over the interior
support j, it is required that 5
(djk - (&})* - 6j , (16)

-
tlj ' (t1j)L + (Mj)s - 0 • (17)
=»
The moments (M.)T and (M.)D can now be expressed as functions of the
end rotations of the two spans as follows? Consider span j_. First, assume
that the right end of the span is held fixed while the left end xa rotated ...

through an angle d.j then, the moment at the end being rotated is equal to
•

the product of the rotation 9* and the flexura'l. stiffness of the member K •
Next, imagine that the left end of the span is kept fixed while the right end
is rotated through ©1+1J the moment induced at the fixed left end is equal to
the product of the rotation 6. , and the product of the flexural stiffness
 21

and flexural carry-over factor of the member (kX),« Since the principle of

euperpoeition holds true, the moment (M,)R corresponding to the rotations ©.

k
and 9. ., is the sum of these partial momenta.

(rtj)n - Kj6j + (1tK)j6jH . (18a)

v

Considering span fl-1, one obtain8 in a similar manneri

(Mj)L - Kj-idj + (*K)j-,ej-, . dsb) I

'%'••

Substituting Sqs. (18a) swi (18b) in Eq. (17) and solving for 64j,, one obtains
j+x
the following equation relating the slopes over three consecutive supports of

a continuous beam:

--••

This equation is a generalized slope deflection equation with the deflection

i
term missing* It will be referred to as the "three slope equation". Eq. (19a)

is applicable only to interior supports; the appropriate relations for the end

supports sre given in the following paragraphs.

It is assumed that the extreme ends of the beam are elastically re-

strained against rotation. The relationship between the end moments and end

roT>a"oions are i-*

n, - -R,e, , (20)
'•'•

1% - -Kdi, (21)
where, R. and R_ are the known stiffnesses of the rotational restraints at

the left and the right ends, respectively* For a hinged end, R = 0, and for

a clamped end, K = infinity* The negative signs in these expressions follow

fro?n the sign convention used and indicate that for a positive restraint. "i
 22 1
i
the moment exerted on the beam by ths restraint ..ots in a direction opposite
•1
to the direction of rotation of the beam*

The moments ML and M can also be expressed by the following equa-

tions, obtained respectively from Bqs. (18a) end (18b).

M, - K,0, * (kK),dt , (IBa1)

Eliminating M^ between Bqs. (18a ) and (20) and M between Eqs. (13b ) and (21). j
'-
4
one obtains

(R, + K,)6, +. (*K),67 « 0 , (21a)

(K^Rz)6z U*K)z.,ez.r 0 . (22a)

At a natural frequency, both of these equations must be satisfied identically.

Equations (21a) and (22a) apply only to hinged and to partially -"
*••

fixed ends. For fixed ends, the equations are specialized as followst For •1
• •-*

1
0 = 0, the relation between the moment at the fixed end and the rotation of

the beam over the second support is obtained from Bq. (18a ) as

Mi - (ft/0,0, . (?ib)
i
If the right end is fixed, \
si

ft
dz " 0 , (22b)
.. . •' •«

and the criterion for a natural frequency is thst Sq. (22b) be satisfied.
1
The magnitude of the moment at the fixed end is of no interest but, should

it be desired, it msy be calculated from Sq. (18b ), keeping in mind that 9^=0.
*
9
10. Outline of the Procedure*
i
The procedure for arriving at the natural frequencies of a continuous
V
..
beam may be outlined as follows:
 23
i
1* A fixed value is assigned to the amplitude of slope or bending
1
moment at the first support of the beam. Sincu the natural fre-
|
quenciee of a system depend only on the relative values of the da- )
i
flection, any arbitrary amplitude consistent with the actual bound-
-1

ary conditions may be chosen. For a hinged or for a partially fix-

ed end, ©, is taken, for convenience, equal to unity; for a clamped

end, ©, is equal to zero, and R. or H, times the L/EI of some re-

ference span is taken equal to unity instead*

2. A trial frequency of vibration, to • is chosen and the A values for

all spans are evaluated. These calculations are carried out con-

veniently in a tabular form, as illustrated in Example 2*

3. With the A values available, the flexural stiffness and the product

of the flexural stiffness and flexural carry-over factor for each

I
.-••—---- "if
span of the beam are found from Table I in Appendix A* ;
' 'M
U+ The rotation of the beam over the second support is determined from
- *
Bq. (21a) or (21b).

5* By successive applications of Bq. (19), the rotations ©- to ©.are

evaluated* A convenient tabular scheme for arranging the computations

is dee?ribed in Example 2*

6* If support z is fixed, the determination of the rotation 9 completes

««••* •••••
• sue cyel-a* of* the procedure' (see* Jsq'. 22b).' However, if this support

is hiiiged or is only partially fixed, it is necessary to carry out

the additional step of evaluating the left hand aide of Bq. (22a).
1
.-?
7, Steps 1 through 6 are repeated for different assumed frequencies? and
'•

the values calculated for the left hand side of Bq* (22a) or (22b)

are plotted as a function of the assumed frequencies, or what is

1*
usually more convenient, as a function of the corresponding A
 24
values for some reference span. The zero intercepts of the re-

sulting curve vhich is, In general, similar in shape to that shown

in Figs. 16 and IS, correspond to the natural frequencies of the

system.

111 Determination of Modes of Vibration

Since the rotations of the beam over the supports are evaluated in

each cycle of this procedure, the deflection configuration of the beam for

any desired frequency can ordinarily be sketched from these rotations. The
.'.;
natural modes of free vibration may be determined from the rotations corre-
#
spending to the natural frequencies in the same manner*
,|
If it is desired to compute these deflections accurately, it is
£
necessary to use the numerical coefficients given in Table II. The de- J

flection at any point within a span may be obtained by adding (a) the de-
3
1
flection produced by the rotation of the left end of the span, assuming
I
that the right end is fixed and (b) the deflection produced by the rotation
--•--•.-" -• •'...."' ;i
of the right end of the span, assuming that the left end is fixed.
:|

12. Illustrative Examples.

I
Example 1. Consider a unifom beam continuous over five rigid

supports spaced equidistantly* The beam is simply supported at the left

end and fixed at the right end, as shown in Fig. 1U• It is desired to cal-

culate its first eight natural frequencies and the corresponding natural modes

of vibration. It is assumed that the beam is cut at the extreme right end and %
M
8
then an exciting moment is applied there. At a natural frequency, the magni-
I
"tode of this moment must be such that the condition o- = 0 is satisfied. 1
5
The amplitude of slope at the extreme left end is taken equal to unity. Since
3s
I
•a
all spans are identical, rather than repeating the procedure outlined in Sec-

i
 25

tion 10 for each assumed frequency of vibration, it is more convenient to

derive a general expression for «- and determine directly from this expression

the natural frequencies of the beam.

Let K be the flexural stiffness and k the flsxural carry-over factor

for esch span. These quantities depend, of course, on the parameter A «

From Eq. (21a) one obtains

K J_
e,
Applying Eq. (19) successively to joints 2, 3» and 4» one obtains

3*t- 4
&--/C 2

The expression for ©,. was evaluated for several values of ,A and the results
•3
were used to plot the curve shown in Fig. 16. The values of k corresponding ••

MJ the assumed values of A were obtained from Table I. The A values cor- I-

responding to the natural frequencies are

Order of Value of Order of Value of I

A* AN A* B
3
1 3.21 5 6.36 $
3
2 3.65 6 6.79 •f

3 4.21 7 7.34
4 4.655 8 7.78

These values agree with those reported elsewhere (16). The circular natural

frequencies UJN are obtained from the expression

El
^ "1
 26

and the natural frequencies, in cycles per second, are computed from

f* " Zir

In order to determine the natural modes of vibration, first, the k

values corresponding to the natural frequencies were determined, and then the

expressions of Q?, 0«, and tt, were evaluated. The results are summarized in

the following:

1 i
Order of
1WVU
*1 V *3 «4 9
5

1 1.00 -.924 .707 -.383 0

2 1.00 -.383 -.707 .924 0
3 1.00 .383 -.707 -»924 0
4 1.00 .924 .707 .383 0
5 1.00 .924 .707 .383 0
6 1.00 -.383 -.707 -.924 0 -
•

7 1.00 -.383 -.707 .924 0

8 1.00 -.924 .707 -.383 0

From these rotations, the shapes of the natural modes of vibration can be

sketched. For this particular problem, the vibration modes were computed

by use of the numerical values given in Table II, following the procedure
:
described in the preceding Article. For the purpose of illustration, the
• ?
computations involved in the determination of the first natural mode :

(A =3.21) are presented in detail. 6

Deflection of span 1 at successive 1/6 - points:

•

for 0, = 1.00, «2 = 0: 0 .128 .179 .163 .103 .033 0

i
for €, = 0, Qe - -.924: 0 .031 .095 .151 .166 .118 0
i
total: 0 .159 .274 .314 .269 .151 0
•;

Deflection of span 2 at successive 1/6 - points:

n
..,*-. -»..-'• -

27
for ©, = -.924, 0, = 0: 0 -.118 -,166 -.151 -.095 —031 0
for e2 = 0, «, = .707: 0 -.024. -.072 -.115 —127 -.090 0
total: 0 -.342 -.238 -.266 -.222 -.121 0
Deflection of span 3 at successive 1/6 - points:
for ©3 = .707, «, = 0: 0 .090 .127 .115 .072 .024 0
for 93 = 0, % - -.383: 0 .013 .039 .062 .069 .04.9 0
total: 0 .103 .166 .177 .141 .073 0
Deflection of span 4- at successive 1/6 - points:
for Q4 •- -.383, ©5 = 0: 0 -.049 -.069 -.062 -.039 -.013 0
9

The first six natural modes of vibration are shown in Fig. 17

.... 4
Example 2. In order to illustrate several additional details of the
procedure and present a convenient tabular scheme for recording the compu-
tations for the general case in which the dimensions of the beam may vary r.

from span to span, we consider the four-span continuous beam shown in Fig. 15.
• • . • |

Only the first five natural frequencies will be evaluated. The beam is as-
sjmed to be elastically restrained at the left end and hinged at the right
. i
end. The stiffness of the end restraint and the characteristics of the
various spans are shown in Fig. 15 •
For convenience in carrying out the calculations, the natural fre-
quencied of the system are expressed in terms of the pertinent properties of
some reference span, say span r. In this particular example we take r = 1.
In terms of the A value of the r-th span, the A value for any span j is

AJ . y^TEE iL.Ar t (23)

J •r tj Lj Lr
El of the r-th span, the stiffness and the product of the
In terms of the -j-
stiffness and of the carry-over factor for any span j are equal to the values
obtained from Table I multiplied by the dimensionleBS factor
 28

(24)
*J Erlr ij •
Equations (23) and (24) can be verified readily*

The quantities XijAr and <xj are evaluated in Table 1A. It should
-,
be noted that the calculations in this table are independent of the frequency t
of vibration.

The ti*ial-and-error produce for determining the natural frequencies

of the system is carried out in Table 1EU As an example of the use of this

table, a complete cycle of calculations is carried out for a trial value of

Ar* \, » 2.4.0. This value, shown encircled in the r-th line of Column (2),

corresponds to a circular frequency of vibration to --'/f- / ' • The

S J Mi
arrangement of the various quantities in this table is believed to facilitate

the computational work and to reduce substantially the probability for errors.

The order in which the columns in this table are filled in is indicated by
-
the following sequence of column numbers: (1), (3)* (2), (4 and 8), (5)t
I

(7), and (6). Columns (1) and (3) are reproduced, respectively, from Columns

(5) and (6) of Table A. The A values for the various spans in Column (2)

are obtained as the product of the assumed Ar and each of the values in • •••

I-
Column (1). Columns (4) and (8) give, respectively, values of the stiffness

and of the product of the stiffness snd the carry-over factor for each span,

in terms of j 3 j these quantities are obtained directly from Table I in

i
Appendix A, using the A values computed in Column (2). Column (5) gives the

total stiffness of the spans adjoining each support in terms of * •• .

The value for the .1-th line in this column is determined by tmclng the tnrm

of the products of the values in Columns (3) and (4) for lines J-l and £.

Column (7) gives the product of the stiffness and of the carry-over factor
E
*r
for each span in terms of ••?—•
L ; the entries in this column are obtained
r I
 29

1 M r
to
V_*>
«4S 1 _—
^>
1—
B« 3• UN
o
UN

*
|
•
CM CV cv fN

SIS
1 V:
*
v—•
g
6
«4> £k
vO
II
Is o• en• *•
O UN
00 UN
UN
H r-i O Ik KV •
—J . w dp VN O fQ **
^^
UJ UN
UN en s
en
9
• o• •
I— ^» •--> CV o 00
>-^ •
* c<V cv cv rn CV
o
€
UN 1 s cv
• • •
iH
81 fl
^

8
I
^-0
UN

vO a?
| § 8 en UN O
o~ • • • • •
3i a
•

UJ H rH vf
1

4» 8 H
cv
• •
UN
8
H r»4
O
UN
« I
to
-^ cv
^
i , •>_' +
«
sip en
< « *

9
E-i
en 8• St•
UN iH

O
O

i
p
1^
23
H *w*
4-

-o
i
8
• • •
en
en
cv
O

3
H
•
CV

& X) t> r«-

• G o
•

*-•
O
CV 8• 8• UN
en
• •
UN
3 u? •s>
1 O UN cn o
rH
00
H
*-«»
**
V

>2»
*s
E I r-l
O
«-l
to
• en• r*»• -*
en en ev
•
cf -^•
CV

•f
vfc o I
o
i=|s 8• o• 8• 8• 8• UN
iH en
o
C»%
X* • • •
o Ho
CO

Si
O en o
CM
**—-• ^ • • • •
3
en en"
Oi cv cv en
i
1 5 cv P\ -*
o
4 £
H 8• 3• fc• SN
en
1 —<
•
r-l m4

•p

AO Pi
co p.
ft
rH CV en -* a\
s
p •.
w •
_ , J ! i ! 1 •i
 r

30 |

by multiplying the entries in Column (S) by those in Column (3). Column (6)
givee the rotstion of the beam over the supports. The first value in this
r,

column is unity. (Had the beam been fixed at the left end, this value would
is
©valua-ted from Eq*
•

have been ssro). The? second value in the column, ©2»

(21a)
y = - (0.5000 + 3.6649) 1.0000 = _1#g466
2 2.2555
This operation is not indicated in the Table. (Had support 1 been fixed,
Eq. (21b) would have been used instead). The values of ©_ to Q are de-
termined from the values in Columns (5) and (7) by use of Bq. (19a), which,
in terms of column members, takes the form:

V J
%•! * (1)j — (for j i 2). (19b)
«
Thus, 6, - - 6>306l(--l.a466), 1.0000(2.2555) = ^^
•f

The left hand side of Eq. (22a), evaluated at the bottom of the table, is
found to be equal to 17.55 -£«= . -
h
Since, for the assumed value of X, - 2*40, Eq. (22a) was not satis-
fied, this value does not correspond to a natural frequency of the system.
The physical significance of the computed value of 17.55 f * is as
follows: the negative of this value* divided by the rotation ©2»

17.55 SO = _o OT7Q ZX - i

represents the stiffness of a rotational constraint which, if it were im-

posed at the right end of the beam, would have made the assumed frequency
correspond to a aatural frequency of the system.
By repeating several such cycles of computation for different values
of A, , the curve in Fig. IS was obtained. The first fivt critical values
 i
31

are recorded on +he figure. The corresponding circular natural frequencies

are

If it is desired to evaluate these quantities more precisely* the compu-

tations should be repeated for several additional values of X, in the

neighborhood of the critical values, and the results should be plotted on

a larger scale*
- - i
The natural modes of vibration.determined in the manner described

in Section 11, are shown in Fig. 19. It should be stated that, in general,

for the fundamental or lowest natural frequency, the rotations of the beam
I
over the supports are not very sensitive to the magnitude of the frequency
-
of vibration. For some of the higher vibration frequencies, however, a
;.
•*'

slight variation in the value of the frequency may affect the rotations
i
materially. Accordingly, the accurate evaluation of the rotations in these
•

latter cases may become somewhat cumbersome.

S
13. Alternate Methods of Analysis.

As applied to continuous beams, the criterion for a natural-fre-

quency is that

nz - 0 . (22a) . I
It is presumed that support z is not fixed.
— a
As has already been remarked, the method used to evaluate M is
Z ?!
 32

merely one of a number of possible s?thodff8 It is the purpose of the follow-

ing discussion to present several alternate procedures for arriving at the

same result.

The Effective Stiffness Criterion* The moment at a joint of a structure

necessary to produce at that joint a rotation of unit amplitude, while all

other joints ere in their actual condition of restraint, is defined as the

"effective flerural stiffness" of the joint. This quantity depends on the

—!
properties of all the members of the structure, and it will be denoted by K .
*
Let K represent the total effective stiffness at the right ha.ad
z
support z of a continuous beam; then, Bq. (22a) may be written as

K'Z ez - o. (25)
Since 6 is assumed to be different from zero, this equation is satisfied

only if
.. *

K'z- 0 (26a) ]
It should be emphasized that Eqs. (22a) and (26a) express identically the

saiuw condition, only in slightly different forms*

Equation (26a) represents the effective stiffness criterion for

determining natural frequencies. Thia criterion will now be applied by use

of the moment distribution procedure and a procedure which, for want of

any better term, will be referred to as the "direct" procedure.

The Moment Distribution Procedure. Gaskell'e adaptation of the method

of moment distribution (13) may be applied as follows:

1 A frsfuenc,r of vibration is ssffcss?^ - ?Txi the flMtu?*! stiffneon- K-

and the flerural carry-over factor, k, for each span of the beam

ere computed from Table I in Appendix A*

 33
2. With all joints of the structure, except joint s, fixed against
rotation, an exciting moment is applied at joint z producing a
rotation of unit amplitude at that joint. Obviously, the fre-
quency of this moment is equal to the assumed frequency of vibra-
+
tion and the magnitude of the moment is equal to Kz., Rz .
3. This moment is distributed to the adjacent members in proportion
to their relative stiffness, and the proper proportion of the
balancing moment is carried-over to joint z-1.
4.* Joint z is then locked, and the unbalanced moment at joint z-1 1B
distributed, carried over, and balanced through the rest of the
structure. During this process of moment balancing, joint z is
maintained locked*
*••-•'' •. J
5* The total moment carried back to joint z is determined. Finally,
*" - i
••
V,
the effective stiffness of the joint is computed as the algebraic
sum of the moment applied initially to the joint and the moment
carried back after all the other joints have been balanced.
6* Steps 1 through 5 are repeated for several frequencies of vibration,
and the natural frequencies are determined as those frequencies for
«
which the effective stiffness vanishes.
The "Direct" Procedure. The second procedure for applying the effective
stiffness criterion is presented in this section. Consider a bar on unyielding
supports at each end with one end elastically restrained against rotation.
The restraint may be due bo an actual coil spring or it may symbolize the con-
tinuity of the bar with adjoining members. The stiffness of i,he restraint is

At this point, attention
moment distribution does not
method, which probably would
practical application. This
Section 14-•
should be called to the fact that the method of
converge always to an answer* Therefore, this
appeal bo many engineers, is restricted in its
fact is considered in somewhat greater detail in
denoted by fi. It can be shows (17) that the effective flexural stiffness of
~ M
the opposite end of the bar is given by the expression

This equation may be used to calculate the effective Stiffness of a

continuous beam as follows:
1. A frequency of vibration is assumed, and the corresponding values -:

of K and kE for each span of the beam are determined from Table I
•7

in Appendix A*
2* With the stiffness of the restraint &. at the extreme left end of
the beam known, the value of effective stiffness of the first span,
i
K, , is computed from Eq. (27). This value represents also the
stiffness of the rotstional restraint IL exerted by the first span
on the left end of the second span* By application of Bq. (27) to
I -•
consecutive spans, the effective stiffness of spans 2 to 2-1 are
evaluated*
t
3* Having determined Kz_i, the effective stiffness at joint z is
9
computed as K z**x. + Rz •
U» As usual, the foregoing steps are repeated for a number of frequencies
and the natural frequencies are determined as those frequencies for
which the effective stiffness vanishes.
In the foregoing discussion it was assumed that 0=0. Consider
now that support a is fixed; then, R2 = infinite, © = 0, and M is finite* i

But, since

K'z., - infinity (26b)

'5
-a
 35
becomes the modified criterion for a natural frequency.

The curve in Fig. 20 shows the -wf.iation of the effective stiffness

K^ ef a continuous beam as a function of the frequency cf vibration. The

curve was determined by the "direct" method and is applicable to the partic-

ular beam considered in Example 2. The zeros of the curve correspond to the

natural frequencies of the beam; the discontinuities correspond to the natural

frequencies of the beam assuming that its right and is fixed. The abscissa

of any other point of the curve corresponds to the natural frequency of the

beam, provided its right end is subjected to a restraint, the stiffness of

which is equal to the negative of the value represented by the ordinsts of

the curve.

It should be pointed out again that the main method, which was pre-

sented at the beginning of this Chapter, and the effective stiffness method

presented in the preceding paragraphs, are fundamentally alike. In the

former method, the moment at joint z necessary to produce a rotation of unit

amplitude at joint 1 is determined, while in the latter method, the moment

at joint z necessary to produce a rotation of unit amplitude at the same

.
joint z is determined. The correspondence of the two methods can be demon-
Sf
strated further by noting that, if each ordinate of the curve in Fig. 18 Is

divided by the rotation of the beam 9 corresponding to that ordinate, the

curve will be transformed into that shown in Fig. 20. For example, for
„ E-I.
A, - 2.4-0 the ordinate of the curve in Fig. 18 is 17.55 =#=• • and the
=
corresponding rotation ©2 = ©5 = 21,463 • The ratio 21163 LT^
E-I, * TL

h " ~
Fig, 20.

The effective stiffness method is similar to Porter's (18) and

Manley's (19), (20) methods of determining natural frequencies of torslonal

 36

vibration of shafts, and is similar also to Lundquist's stiffness and series

criteria for determining the critical buckling loads of structures (21). The

stiffness criterion has been applied tc the determination of the natural fre-

quencies of continuous beajr.s previously by Mudrak (I), (2), (3). However,

Mudrak1s method differs from the procedures described in this section both in

its development and in the form of its application.

The Method of Three Moments. An alternate procedure for calculating the

magnitude of the exciting moment M is provided by the use of the equation of

three moments, first applied to the study of steady-state forced vibrations

by W. Prager (22). Humerical values of the various coefficients appearing in

these equations have been published (23), (24-) but, unfortunately, these

references are not readily accessible. In general, the three-moment equa-

tion can be applied in the same manner as the three-slope equation.

14-. Range of Applicability and Relative Merits of Various Procedures.

As previously remarked, the moment distribution procedure is of

restricted practical value. Convergence of this procedure can be insured

only for vibration frequencies which are tnnaller that the (unknown) funda-

mental or lowest natural frequency of the system considered (13). Con*-

sequently, the method can, in general, be used to determine only the lowest

natural frequency of a structure. Also, it might be important to note that,

even for vibration frequencies which are below the fundamental natural fre-

quency of a structure, the moment distribution procedure may be so slow to

converge that it may be necessary to carry out a large number of distri-

butions to affect a solution. This process may become rather time consuming,

especially when applied to structures involving a large number of members*

The "direct- method does not offer any difficulty of convergence.

 37

It can, therefore, bs used to calculate the higher natural frequencies of

continuous bean •. In general, this procedure requires a much larger number

of trials than the main procedure of this report. In addition? it cannot be

extended to continuous frames involving closed panels. It is, therefore, of

restricted applicability, too.

For continuous beams only, the choice between the main method of

this report and the procedure based on the use of the three moment equation

depends, to a large extent, on personal preference and on one's fasiilierity

with the particular procedure. One major advantage of the use of the three

slope equation is that it gives a clear picture of the distortions which the

structure undergoes during vibration. This feature is particularly important

because9 in practice, it is frequently desirable to have a rapid means of

sketching the vibration configuration corresponding to a given frequency.

For the analysis of continuous frames, equations involving the rotation of

the joints as unknowns are remarkably better suited than equations involving

moments as the redundant quantities. The extension of the main method of

this report to the determination of the natural frequencies of continuous

frames without sidcsway is presented in the following Chapter.

•
;
 ^•iUresSi-'S^3? •

38
IV. APPLICATION OF METHOD TO CONTINUOUS FRAMES

WITHOUT SIDESWAT

15* General

This Chapter la concerned with the determination of the natural

frequencies of flexural vibration of rigid jointed plane framevorka for

which the joints do not move. The extension of the method to some rela-

tively simple frames with sidesvay will be presented in Chapter VI*

The frames considered may have any number of members of arbitrary

length} the mass per unit of length and the flexural rigidity of cross section
¥
of the members may differ from one member to the other? but in any one member,
i
these quantities are assumed to remain.constant* The simplifying assump-
.v
tions made in the analysis are as followsi The vibrations are assumed to
§
take place in the plane of the framework* The change in length of the
"Si
bers due to axial deformation, and the effect of the axial forces on the

bending moment in the members are neglected* In addition* no account is

1
taken of the influence of axial vibrations. As before* the cross sectional

dimensions of the members are considered to be small in comparison to their

1
length, so that the effects of shearing deformation and rotatory inertia may

be neglected*

16. Basic Relations

Figure 21 shows s members of a structure rigidly connected at their

common intersection o* The far ends of the members are assumed to be fixed

against translation* but free to rotate subject to the restraint imposed by

1
the adjoining members. Assume that the structure Is in a steady-state forced |

vibration under the action of some exciting moment spplied at a joint differ- il
a
ent from joint o. s
 39 i
i

Let 9Oj. denote the amplitude of rotation at end o of member oj,

^ ^
and
m

6. denote the amplitude of rotation at end j of the same member. Similarly,

let M . and K. be the corresponding moment amplitudes at the same ends*
i
Since all members are rigidly connected at their joints, f-

o„- dot" -eOJ- -eo0"e0 , (2Sa) SB

I
and 6JO = 6j . (23b) i
-
Furthermore, since no external moment acts at joint o,

/%-a,+a*+ +
>v +o« - tnej - o . (29)
The moment H . may be expressed in terms of the end rotations of
member oj by the relation
—- I1
H,j- K0jd0 * (*K)0j6j . (30) I
. %
Substituting this expression into Eq. (29)* one obtains Kq. (31a)
Pjl
•-•••— •:?.

LKojSo +£<«K)iieJj-<> : (31a) I

which expresses the conditions of both equilibrium and continuity for joint
o of the structure* If only two members meet at joint o, Eq. (31a) reduces
to Eq. (19a) for continuous beams.
If the degree of restraint at the far ends of the members meeting
at a joint are known, it is convenient to use effective stiffnesses. Assume
that the restraints at ends 1 and 2 of the portion of the structure shown in
Fig. 21 are known. Let K , and K _ represent the effective stiffness of '.

members ol and o2. Then* Eq. (31a) may be written as

S S_ :i
-s

j-3 j-5

Squetions (30) and (31) are the only two relations needed in the analysis
of frames without sidesway.
 40

111 Qpon, Frames. :

-•H

The frames considered in this section do not involve any closed

i
panels and have known conditions of restraint at all ezternal terminals*
-:
It is assumed that the Joints of the fraae do not translate•
Simple L-frames and portal frames, sttch as those shown in Fig* 22,
act as continuous beams on rigid supports* Their nstursl frequencies can
i

therefore be calculated by the procedure outlined in Section 10 of the pre-

ceding Chapter.
I
When applied to the analysis of continuous frames* such as those -

shown in Fig* 23* this procedure will* in general, reveal only a portion of
the natural frequencies of the frame considered. The failure of the procedure
to identify the complete set of natural frequencies results from the fact
that, for certain natural frequencies, only a portion of the frame may vibrate
-
with finite amplitudes while the rest may remain stationary. The natural j&
frequencies corresponding to these modes, which will be referred to as "modes
of partial vibration", must be determined by a supplementary procedure*
i
Consider sny of the frames shown in Fig* 23* Let 1 denote the joint 5

.1I
—•

of the frame at the extreme left terminal end z denote the joint at the ex-
treme right terminal. Without loss of generality, it may be assumed that
n
joint z is either hinged or elssticslly restrained. A fixed end maybe
handled in the manner described in Illustrative Example 1* Assume -chat the
I
4 •
.
structure is in a steady-state forced vibration under the action of an ex-
I
v
citing couple M applied at joint s. The amplitude of the slops or of the \
bending moment at joint 1 is assumed to have some fixed value* V.t the joint
is hinged or elasticslly restrained, the amplitude of slope is taken equal
to unity. If the joint is fixed, the amplitude of bending moment is taken
equal to unity instead. For an assumed frequency of vibration, it is
 u
generally possible to calculate the magnitude of the exciting moment M « in

a manner entirely analogous to that used for continuous beams, by working

progressively from one end of the frame to the other. Bjr repeating this

procedure for several frequencies of vibration* the magnitude of M may be

z
plotted as a function of the frequency. All frequencies for which the

magnitude of the exciting moment vanishes are natural frequencies of the

frame.
s
The natural frequencies determined by the previous procedure may
1
not represent the complete set of natural frequencies of the frame* The

procedure is based on the assumption that the amplitude of slope or bending

moment at joint 1 is finite. For continuous beams this condition is satis-

fied for all non-trivial natural frequencies. For continuous frames* how-

ever, bar 1-2 may be still even though the rest of the structure* or some \

portion of it, vibrates with finite amplitudes. Obviously theni the pro-

cedure falls to reveal those natural frequencies for which bar 1-2 remains

still. A second assumption implicit in the procedure described is that the

rotation of joint z is finite for the natural frequencies to be determined.

;1
For continuous frames, this condition is not satisfied always. Therefore«

the procedure fails also to reveal the natural frequencies for which the bar
1
meeting at joint z is stationary.
i
Figure 24- presents several natural modes of vibration for which

either bar 1-2 or the bar meeting at joint z is stationary. The modes are

applicable to the particular structures shown in Fig; 23 and can, of course,

exist only If the dimensions of the various members composing these structures

satisfy certain definite relations* It should be emphasized that natural modes

1
-i
of partial vibration are peculiar to frames and cannot exist in the case of

continuous beams*
 .,-,.- • -.-"

I
•-4
•'• i

42 I
The technique for determining the natural frequencies for which

either bar 1-2 or the bar meeting at joint a is stationary consists of

2

(a) calculating the frequencies for which these conditions can occur, aad
1
(b) ascertaining whether or not these frequencies are natural frequencies of

the system. The details of this supplementary technique will be explained

;:
in the examples to be presented. *'
•

i
18| Illustrative Bcamples.

Example 3. The simple frame shown in Fig* 25a has been selected

for analysis. To illustrate several features of the method, the bars

identified by (1) are taken identical whi?«* the bar designated by (2) is

considered to have such dimensions that

4

*2*2 = *A , L- = 0.80L,

\ - 1M \ = 0.83=2 A, |
The subscripts 1 and 2 refer to bars (1) and (2), respectively*
I
For the sake of brevity, only one cycle of the procedure is pre-

sented. The computations are given for a value of A, = 3*30; this corresponds

to a value of A2 = 2.74-. The appropriate values of K and kK are obtained

from Table I in Appendix A.

for bars (1) Kx = 2.5720 ~-i and (kK^ = 3.1375 -J^ I

•

for bar (2) ^ = 3.4051 -£* and (kK)2 = 2.4589 -£^

The data necessary for the analysis are compiled on the diagram in Fig. 25b.

The numbsr in parentheses opposite eaoh joint gives the sum of the stiffnesses

of the members meeting at that joint. The parenthesized number at the middle
 :
•

43

of each member gives the product of the stiffness and the carry-over factor
\
for the member. Both quantities are expressed in terms of -=— . The numbers
TL -"4
vithout parentheses denote the rotations of the various joints* These rota-
"m
tiona are evaluated ir the manner described below, and they are recorded on
-*•••/

-
the diagram as they are computed*

The procedure is started by taking M, = 1.00 -=-= • Vi Then, ©.. is

I
computed by application to joint 1 of Sq* (30), as
i
6
2 = 3^5 = °'31873 :
j
The rotations ©. and ©_ are determined successively by application of Eq•

(31a) to joints 2 and 4.

e• (5.1440) o.ffig + 34375 (0) = ^#52256

-4 ^.1575 -w.^^^w

e =. 8.5491 (-t?22?6) + 3*127? umn = 1#a0l

5 «*45o7
• a
-
The magnitude of the exciting moment is determined from Sq* (30), as
-
1
M, = (1.4101)3.4051
Vl
-f"* +
Ml
(-.52256)2.4589 -f* * 3.517
^L
-^
!

It should be noted that each of the foregoing operations can be carried out

with a single set-up on a desk calculator* it

|
Repeating this procedure for several values of \ * the curve
,
shown in Fig. 26 was obtained. The \ values corresponding to the natural

frequencies are recorded on the figure. The corresponding natural modes of

I
free vibration are given in Figs. 27a to 27f*'
i
The foregoing procedure is based on the assumption that the amplitudes

of both the bending moment at joint 1 and of the rotation at joint z - 5 are

finite. To obtain the natural frequencies for which K, = 0, the following

3

reasoning is used. In ordor for M, to be equal to sero, bar 1-2 must be

 u
-1
stationary; then, the rotation of joint 2 and the internal bending moment at
«
the joint are BIBO equal to zero. This condition requires that bar 2-4 be

stationary and that 9, - M,2 = 0. But with joint 4 remaining fixed against

rotation, bar 3-4 can oscillate freely only for frequencies represented by
I
values of
33

A, = 4.730, 7.853> (32)

During a natural frequency, every member of the structure vibrates with

the same frequency. Therefore, in order for these frequencies to be natural '•:•

-•

frequencies of the entire frame, they must be also natural frequencies of the

remaining portion of the frame (bar 4-5, in thi - particular case). The

natural frequencies of bar 4-5, considering that its left end is fixed, are

A2 = 3.927, 7.069, ;
—
1
==5
these correspond to values of

A( = 4.73C, 8.514, ••»»»•

Comparing the latter values with those given in Sq. (32), one concludes that,

within the range of frequencies considered in Fig. 26, A, = 7.853 and

t
A( = 8.514- do not represent a natural frequency, while X> = 4.730 does.
•

The natural mode of vibration for A, = 4.730 is shown by the solid curve in

Fig. 27g.

The natural frequencies, if any, for which 6~ = 0, are determined

3
in r similar manner. d~ can be equal to zero only if bar 4-5 is stationary.

Under this condition; ©• = M,5 = 0; then, bsr 3-4 may vibrate frwely only at

frequencies represented by the A, values given in Bq. (32). Since members

1-2 and 2-4 of the remaining portion of the frame are identical to member ;

3-4, each of these members can vibrate with its ends fixed for the same fre-

quency j therefore, the X} values given in Eq. (32) correspond tc aatursl

 « 1
frequencies of the frame* The natural mode corresponding to A, - 4-.730 is

shewn by the dotted curve in Pig. 27g, while the node corresponding to
-
A, a 7.853 is shown in fig. 27h.

It should be observed that the natural modes shown in Figs. 27c and
-if
27R can exist for the same frequency. Of these three modes, however, only

the two are independent; the third is a linear combination of the other two.

In fact, from any two of these three modes, one can obtain an infinite number

of combination modes.

Within the range of frequencies considered in Fig. 26, the complete

set of At values corresponding to natural frequencies is

(A1)]r= 3.59, 4.22, 4.73 (double), 6.80, 7.44. 7.85. 8*35

— ._. 'f
More involved frames may be handled by the same procedure. The

technique for obtaining the natural frequencies corresponding to modes of

partial vibration is illustrated further by the examples given in Section 21*

Bcample 4. A sketch of the frame considered is shown in Fig. 28.

This frame is similar to that analysed In the preceding example. In this

case, the dimensions of the structure are assumed to be such that

h. H h H
and \= 0.75X,, A,= 1.30 A,, \= 0.90>„ .

To determine the natural frequencies of this frame* we proceed in

the usual manner and plot the magnitude of the exciting moment at joint 5 as

a function of the assumed frequency of vibration. The curve in Fig. 28

summarizes the results obtained. It should be noted that'this curve* un-

like that shown ia fig. 26, is not continuous. The values of A, corresponding

to the first few natural frequencies are recorded on Fig. 28. It can be shown

that, within the range of the frequencies considered, there are no natural
 -1

46
frequencies corresponding to modes of partial vibration*
I
• 12» Closed Frames*
I The application of the method to frames involving closed panels,
such as those ahowa in Fig* 29* is described in this section by reference
to a simple example* The hypothertical two called rectangular frame shovm
in Fig. 29a is selected for this purpose.
% The first step in the analysis is to assume that the frame is cut
f.
at some convenient joint* In the example considered, the cut is introduced
I at joint 6. Next* it is assumed that the structure undergoes a steady-state
1
forced vibration with finite amplitudes and known frequency* The vibration
is assumed to be maintained by an exciting couple applied at the cut joint
(joint 6). If the frequency of vibration iB equal to the natural frequency i

of the frame* the magnitude of the exciting moment must vanish and the
amplitudes of slope on either side of the cut must be equal*
Fcr an assumed frequency* the discontinuity of slope and the magni-
tude of the exciting moment may be determined in the same way as for open
frames, by working progressively from joint to joint across the structure*
For the frame considered* Bq* (31a) is first applied to joint 1*
It is noted that the resulting expression involves three unknownsi 6. s 9_.
and
and d_. Therefore* Q2 ®, cannot be solved directly in terms of 6, alone*
as it was possible in the case of continuous beams and continuous open frames*
*
Instead* it is necessary to express €L in terms of both 9. and ©2* S61**
I* (31a) is applied to joint 2. and 6. is determined is terse of the saae
two permanent unknowns flu and ©-,. By successive applications of the
equation to joints 3» 4.* and 5> the rotations ©5, ©£/» end Bcc may also be
determined in terms ot ©, and ©2» Having computed the rotations of all
Joints« the exciting moment at joint 6 may also be expressed in terms of
the two permanent unknowns S^ and *L* In the application of this tWnniqus*
coneeoutive joints oust be selected in suoh an order that* when Bq. (31a)
is applied to a joint, the resulting expression involves only one new unknown.
This technique is an adaption of Wilbur's scheme (25) of solving the set of
simultaneous equations resulting froa the use of the elope deflection eqoa*>
tion.
The joint for whioh the rotation is evaluated last in this procedure
(joint 6 in this case)* is the ens st whioh the structure is generally aa-
suaed to be cut. The number of members meeting at thia joint muat be equal
to the number of permanent unknowns used*
At a natural frequency

and a \ (33a)
nc • 0.
In terma of the two permanent unknowns 6. and $2> these conditions may be
written as
C,,6, v Cndt - 0 ,
05b)
CtA + cn6t - 0 .
where the o'e are constants, the magnitudea of whioh depend on the assumed
frequency of vibration and on the characteristics of all the members in the
structure* Equation (33b) represents a set of linear and homogeneous equa-
tions for the unknowns 6. and 9,1 these equations have a solution different
from zero when the determinant of their ooeffioient is aero,

As to, «fc) - ! -0. (34)

This criterion of vanishing determinant will fail to reveal

(a) tha natural frequencies for whioh Gk and 6~ are aimultaneoualy
equal to zero* srA
 43

m (b) the natural frequencies fer wfeiea the btr§ seetisg at the cttt- Joint

(joint 6) are stationary*

The natural frequencies eorreaponding to the foregoing two conditions

may be calculated by the aupplamsntary technique described in connection with

•.'JSc

continuous open framesc

The single-bay aulti-ftery frame shown in Fig* 29b may be handled ••'•-•

m-X
• • *

py the sssa procedure. The rotstions of its Joints say be expressed in terms *w
••"«-"

;§
of §2 end e^j the out may be introduced at joint 9 or 10* For the analysis •

of the two-bay multi-story frame shewn in Fig. 29o« one needs to take three -:

quantities, say ©,, H,, and Q-, as permanent unknowns• The cut must be

introduced at joint 14• The conditions of continuity and equilibrium for

«* this joint may then be expressed as

I I
where the £ s are numerics! constants. The criterion for a natural fro-
;
quency is
•••v
C c
C« « 9
A^9ttl%M - C» Cat cn - 0 .
•a

Q» c
« C
J» i •

It is sees that, for this problem, it becomes necessary to evaluate a third

order determinant. For the general ca&e, the order of the determinant is
i
equal to the auHber of the paroaiwct unknowns ihst oust be uaad in evaxu-

ating the rotations of the Joints*

...
The computational work required to calculate the exciting moment

and the discontinuity of slope at the cut, may get fairly involved, particu-

i i in MmtmMm~ arawrtr-ir-^TiT-^**"-t^«~»'«.-~«'»—<•"•—•*»•""«» !*•-=•»••—^^M"

••^Sfw^^Sftyai •';/;•= * vf, c ••irv.-rtf-;

49
larly if sore than two quantities must be used as permanent unknowns; One
may simplify this work considerably by carrying out the computations in
parts: Consider agsin the frame shown in Fig* 29*» First, assume that
Q^ = 1.00 and that 9, = 0. Calculate the rotations of the joints in the
i
usual manner, and designate them by " • Calculate also the magnitude of
—t
the exciting moment at the cut joint. Designate this by M . Herb, assume
•

that 9, - 0 end that 9- = 1.00, and calculate the corresponding rotations

n —»
and moment. Denote these by 0 and M , respectively. Then, the actual ~M
rotation at a joint j is

and the total exciting moment at the cut joint, say joint j , is ^
«
Mj = Mlei • M/42 . (35b)

The direct combination of these partial effects is justified by the fact

'••A

that the differential equation for steady-state forced vibration is linear.

' M
I
20. Outline of Procedure.
The procedure for determining the natural frequencies of con-
tinuous frames involving closed panels may be outlined as follows!
1. For some member of the frame, say member r, assume a value of 1
Ar •J £ . Lr • This is equivalent to assuming a frequency
of vibration to •
.2. From Bq. (23) compute the A values for the remaining members of i en

-•-!

the framcu ...

I
Tit
3. From Table I in Appendix A, calculate the appropriate values of K
V
and kg for each member. These values,as obtained from Table I,
are expressed in terms of g-* , where the subscript J_ refers to a
L
j
the particular member considered.

^~*amt±mm;'it&fc•~-~^'>^~'&"'"^-*B'?r**'^^
SSWfe***^>.:*-,- r.f. wre-„.-r•-^ ,

50

• 4. Repress the quantities determined in step (3) in terms of the

rjj" of the reference member r, by multiplying them by the dimen-
sionless coefficient a, (Bq. 24).
* 5* Compute the sum of the stiffnesses of the members meeting at the
various joints and reocrd these values on a diagram of the frame*
On the same diagram record also the product of the stiffness end
the carry-over factor for each member* These quantities must bo
expressed in terms of the %* of the same reference member r. A
convenient scheme for arranging the computations is shown in the •-:•

illustrative examples presented In the next section* ... *-,

6. Choose the unknowns in terms of which the distortions of the frame
• will be expressed* In general, the number of unknowns that must
"-"- ~ " • : •-• §
be selected is equal to the number of the main longitudinal i|.
members in the frame* For the frame shown in Fig* 29a, one may 1

take 6, and 9, as the two permanent unknowns*

••

7* Consider the first of these quantities equal to unity and the &-
'•••

other equal to zero (0. =1.00 and ©„ = 0). Working across the -
I

structure, as described in the preceding section, compute the. •:

i
rotations of the joints* Denote these by 6 • Compute also the
«
exciting moment and denote it by M •
8* Repeat step (7), taking the second quantity equal to unity and £
'?
the first equal to zero (©, = 0 and Q~ = 1*00). Denote the
« ** —• it
resulting rotations by 6 and the exciting moment by M • In %
***.<**••**«••» 1 « + ar«o fl\ avsA (Ct\ wial Kn woTvaa + o/? 00 mewvr +4*««a mm

there are permanent unknowns*

9* Determine the total discontinuity of slope and the total ex-
citing moment and set each expression equal to zero* For the

JSZi'viJ-5ttaaj&IS*S*^S^'*fc**»**^^ •C2?,:-- ^ MM**. ••>'.> ..-mxn ',V32,W.'.-- ••.-U'-—- M*. . ._. . ._--^:-..^so^;-^.V •HiUMtigtfWWCW
 ^^S»*:t^Kf»»«aNoW^C*r-ttC»^t««r:

51

* frame considered, these expressions will be

t%e, + nlet~o.
10* Evaluate the determinant of the coefficients of «, and 62 in the

expressions of Bq# (33c).

11. Repeat steps (1) to (10) for different values of Ar .

12. Plot the variation of the determinant evaluated in step (10) as a

function of the Xr values. The frequencies for which the deter- I

;J
minant becomes equal to zero are natural frequencies of the frame*
£
The foregoing procedure fails to reveal the natural frequencies

,' for which the permanent unknowns (©, and ©2) are simultaneously equal to

aero. In addition, it fails to reveal the natural frequencies for which i

the members meeting at the cut joint are stationary* A supplementary

procedure for determining these natural frequencies has been described,

and Its details are illustrated further in the two numerical examples

that follow.
I#
1
• • &

21a, Illustrative Examples.

Example 5- The structure considered is shown in Fig. 30a* All

members are assumed to be uniform and identical to each other. It is de-

..•sL

sired to calculate the natural frequencies and the corresponding natural

modes of vibration of this frame for a range of values of A less than 6*50.
A
Since all members are identical, rather than repeating the procedure out- I
• 'M
lined in Section 20 for each assumed frequency, it is more convenient to

derive a general expression for the criterion for a natural frequency and w

determine directly from this expression the desired quantities. This is

similar to what was done in Section 12 for jfecaapla 1.

^%)^^tSB^rssifi!wM>ASi»«^~' S*a».?.Yrea4*-»w-*g5*Mu*i*' ~SgHI*HHH! KWgJ^>*

.-T5,-^,!V-. .,„_„;

52

Let K be the fiexural stiffness and k the flsxural carry-over

factor for each member of the frame* These quantities are, of course,

functions of the parameter A . The sum of the stiffnesses for the vari-

ous joints and the product of the stiffnees and the carry-over factor for

each member of the frame are shovn in Fig. 30b. The rotations cf the

joints will be expressed, not in terms of 6, and ©2>as i-fc W0B BU

gge8'fced

in the preceding discussion, but rather, in terms of 8-, and the internal

bending moment M,_. The reason for this choice will become apparent

shortly. The frame is assumed to be cut at joint 6. First, it is assumed

that M_g = M- = 1.00 and ©, = 0. Applying Sq. (30) to ends 1 of members

5.
(1) and (2), one obtains -
f
w :•
• 2 kK '
;
. .. _. • .=8

*3 kK
*
Similarly, applying Eq. (31a) successively to joints 2, 3. 4-? and 5, one
-v

obtains i

«.- •* fz(- A)* *GA$+ *K -

The discontinuity of slope at joint 6 is Z

*.. ri- . *:« ,

8
and the exciting moment at joint 6 is

fli- Kftwh *(lk)+<-Tk)] —?<••*•> •

n» ii.jiijiijiwi>M«»iwi»«CMi—w»w»aKjwirj»ifim.ii»»
^^aaBHW^aiP»ww>ww***ww " r
 53
n
Next, it ia assumed that M^sO and 6^ - 1*00. The rotations ©
are obtained in a similar manner* The results *re

• x

The discontinuity of slope and the exciting moment at joint 6 are

The total discontinuity of slope and the total exciting moment

at joint 6 are

(36)
J
/% --£(4+*)^ + fe(l3$-IZ-ir)6l . jj
The determinant of the coefficients of 0,1 and H,x is
'1
Asin,,di) « -^j- ^5 • (37)

The curve in Fig. 30d shows the variation of this determinant with
••:
A • The values of k and E corresponding to the various values of A were
*
obtained from Table I in Appendix A* The saro intercepts of this curve rep-
•
i
resent natural frequencies of vibration. These values are indicated on the
•:
figure*

*..-w<pv«v,i—•*5KSW."«*i*-•• ••».'-* «•>*••_j^f^»H(H*.;:• :^i.. -:';t*»MW»'«aw-«*

^^?^^4lW&&&'**&^v's!*f^-^-'~''''iF' KKX!°
 54
The vibration modes corresponding to a natural frequency are

determined as follows* First, the relationship between ft, and M, is deter-

mined by setting either ox the expressions in Eq. (36) equal to zero. Then,

the rotations of the Joints are evaluated, in terms of either i or M,» by "a
• -f
use of the relation

.-
M

In this particular case, the rotations were expressed in terms of 8-,. The

results are summarised in the following table*

Value of
AN
w yv vv V>1 V«i

T -1.00 -1.00 1.00 1.00 -1.00

3.556 -I.00 0 0 -1.00 1.00
3.805 1.00 -1.333 -1.333 1.00 1.00 -
if.
4.048 -1.00 1.333 -1.333 1.00 -1.00
I
4.298 1.00 0 0 -1.00 -1.00 •i
*
2TT 1.00 1.00 1.00 1.00 1.00

It should be noted that the value of AN = 4.730 is not included in this

• •

table. For this valt», as ifc will follow from the discussion of the succeed- .3

ing paragraphs, there is an infinite number of possible natural modes.

Such modes cannot be determined by the procedure described. From the

rotations in the above table, the deflections at the interior points of the -

members may be obtained by use of the influence coefficients given in Table

II of Appendix A. The natural modes corresponding to the natural frequen-

cies determined in Fig. 30d, are shown in Fig. 31a through 31g.

The next step in the solution is the determination of the natural

'

frequencies for which ©, and M, vanish simultaneously. ©^ and ML may be

equal to zero only if both bars (1) and (2) are stationary. Under this

condition, bar (3) also is stationary and joints 3 and 4 remain fixed against

" ikB'U —njimiwi.il -•

-r^J.«fc.^^a»3**SBWBK»**='irtftw»k'
 55

% rotation as shown in Fig. 30c. For the range of A values considered, bar

U ) can execute free vibrations with fixed, ends only at a frequency represent-

ed by

A = 4.730.

Since all members of panel 3-4-6-5 are identical, each member can vibrate

at this frequency with fixed ends; therefore, A = 4.730 corresponds to a

natural frequency of the frame. The vibration mode corresponding to this es

naturel frequency is shown in Fig. 31h.

The concluding step in the solution of the problem under con-

sideration is the determination of the natural frequencies for which the

members meeting at a joint 6 remain stationary. Proceeding in the manner

* described in the preceding case, it can be shown that, within the range of

A values considered, A = 4*730 represents a natural frequency for which

bars (6) and (7) are stationary. The vibration mode corresponding to this

natural frequency is Bhown in Fig. 31i»

It should be observed that the natural modes shown in Figs. 31ft

31h, and 311 can exist for the same frequency of vibration. However, of

these three modes only two are independent. The third is a linear combin-
•••.

ation of the other two.

_
Had the distortions of the frame and the exciting moment K been

expressed in terms of A, and 0o instead of in terms of ft, and ML, the basic

procedure would have failed to reveal the natural frequencies for which
%
61 = ©_ = 0. In other words, the curve in Fig. 30* would not have inter-

sected the A-axis at A = 4*730. Of course, this natural frequency would

have been determined by the supplementary teohnique.

Erample 6. As a further illustration of the application of the

method to continuous closed frames, the symmetrical frame shown in Fig. 32A
 56
is selected for analysis, ill columns are considered hinged at the base

It is desired to calculate natural frequencies corresponding only to

symmetrical modes of vibration. Since for symmetrical vibrations the

joints cf the frame, even though free from external restraining forces*

do not translate* the method of this Chapter is directly applicable to the

problem considered. The effect of symmetry is taken into account by using

for the girders of the central bay modified stiffnesses IT instead of the

usual stiffnesses K.
it.
The dimensions of the frame and some additional data pertinent
i
in the analysis are assembled in the table below. Member (2) of the frame
5
is taken as the reference member. Columns (5) and (6) of this table give,

(1) (2) (3) (4) (5) (6) (7) i

Member i •S
E I
i
r r 7* Li
-i
L
r
^= (3) (4)
•'-•«
*4
i

1 0.50 0*6^ j 0.9294 1.00 0.9294 0.67 2.04

2=r 1.00 1.00 :;..ooo 1.00 1.000 1.00 2.20
3 3.00 1.75 1.H4 1.50 1.716 1.1667 3.78
4 3.00 1.50 l.Io9 1.125 1.338 1.3333 2.94
5 0.40 0.45 0.97x: 0.75 0.7282 0.600 1.60
6 0.50 0.625 0.9457 0.75 0.7093 0.83333 1.56
7 2.00 1.25 1.125 1* "0 1.687 0.83333 3.71
4
8 2.00 1.25 1.125 1.1k.. 1.265 1.1111 2.78 1
respectively, the ratio of *j /\z OSq* 23; *»d the «*. values (Eq. 24) for

each member of the frame. For the sake of brevity, only one cycle of the

procedure is presented. The computations are giver, for a value of A2= 2.20J
... -,4. .,-, .,,..•.- i2 2o^ m~
tills corresponds «o a Cj-iuCu-oT xrequency
VXUJ.-UOJ.UH to «• -— , ' / .
L • 171
The o< values of the various members are recorded also on the dia-

gram in Fig. 32b. The numbers without parentheses above these values give
 57
the stiffness of the various members, while the parenthesised numbers below
the a values give the product of the stiffness and the carry-over factor of
the members s These quantities are expressed in terms of the -s* vdff the mem-
ber to which they rGisr, and they are obtained directly from Table I in
Appendix A*
On the diagram in Fig. 32c, the number in parenthesis opposite
each joint represents the total stiffness of the members framing into that
joint. These stiffnesses are expressed in terms of the -§* of the reference
member (2). Thus, the total stiffness of the members connecting at joint 4- is
K, = 3.7675x1.00 + 0.91884x1.1667 + 3.94-30x0.83333 + 0.54-510x1.3333 = 8.8521 .
The parenthesised number et the middle of each member represents the product
of the Btiffness and the carry-over factor for that member* these values
-- £
are also expressed in terms of the r- °? the reference member (2).
MM 'T'
••_

The rotations of the joints sre expressed in terms of 6.. and ©_.
The frame is assumed to be cut at joint 5 (and joint 5 ). First, consider :
i
that -

©, = 1,00 and 62 = 0 .
Applying Bq. (30) to joints 1 and 2, one obtains
-.
Q« _ 2.5661 x 1.00 _ 1, 7993
?qq3
9
3 " 1.4262 ~ - * >

*A 2.1764- °
As usual, these vslues are recorded on the diagram as they are computed. I
Applying Eq. (31) successively to joints 3, 4, and 6, one obtains

e' - - ° * ?'^24(-1.7993) + 0 = 5ab359

5a6359
°6 1.7024- '

•a.J11»al.'B.^»ti|H> HKWfc AH
 58

°* - - ?-?10?fe%9 > * ° • -H» •

The unbalanced exciting moment at joint 5 is computed as

M*:J - 1.2285(-1.7993) + 2.36ZL(7.6273) + 1.0522(-8.4201) + 3.5544(5.3103) = 26.979 •

Next, consider that -;, .

9. » 0 and Q0 - 1.00 .

The rotations © ..are^ocunputed in the same manner and the results are recorded
a
t - •|
on the diagram above the values of 9 • ij
6
The total slope at a joint, say at joint 6, is

S, = 5.63596, + 7.72296,. .
O 1 A

The total discontinuity of 3lope and the total exciting moment at

joint 5 are

6 6
56 " 53 = -l6«°^7«i " 18.223e2 ,
!
M5 = 26.97961 + 33.931«2 •

The value of the determinant of the coefficients of 9^ and 9Z Is

-16.047 -18.223 1
AS(e,.6t) = = -52.85 • i|
26.979 33.931

iM
Since this is different from zero, the assumed value of \7 = 2.20 does not

correspond to a natural frequency. Repeating this procedure for several

1
values of Az and evaluating, in each case, the resulting determinant, the

curve given in Fig. 33 was obtained. The values of A^ corresponding to the

natural frequencies of the frame are recorded on the figure.

i
The next s-ep in the solution is the determination of the natural
i-
•a

frequencies for vhich 9 and 92 sre simultaneously equal to zero. 6, and <3_
.:-«:
can be equal to zero only when bars (1) and (2) are stationary as shovn in

Fig. 34a.

'"•ML,HWBMBBW I "' mmammw*mmm**mm»mimm, .•.. •»•»——-••—»•——»—wwxwwMiwiwt

 59
Then, 8L- = H^, *= 0 and #- = ©,:= 0
If <•
-• * Uwier thla condition, bars (3) and (4) can vibrate freely only at frequencies

| equal to the natural frequencies of these bars for the condition of fixed

* ends. For bar (3), these natural frequencies are represented by values of

| A, = 4.730, 7.853» 10.996, . . . . (38a)

The equivalent values of A2 are
I A* • 2.756, 4.576, 6.4,08, .... (38b)

For bar (4), natural frequencies corresponding only to symmetrical nodes

must be consideredj these are given by values of

A4 =4-730, 10.996, .... (39a)

which ere equivalent to ._

A2 = 3*535, 8.218, .... (39b)

-- It is nov necessary to ascertain whether or not these frequencies

are natural frequencies of the portion of the frame composed of bars (5),

(6)» (7), and (8). To do this, it is necessary to carry out one cycle of

the basic procedure for each frequency to be investigated. For the pur-

pose of illustration, three different frequencies will be considered in

detail.

(a) A2 = 2.756 ( A, = 4.730). Since none of the values given in

1 Eq. (39b) is equal to 2.756, bar (4) must be stationary; this means that

The condition of equilibrium at joints 3 and 4 requires that

I Sines, for the A value considered, the deflection of bar (3) is symmetrical

I
"M43 = +K
34 " **35
I
«
 60
- The Joint notation* of the frame may now be expressed in terms
V cf y^y which; for convenience* my be taken equal to 1.0C #-= • Starting
from Joint 3 and considering that #* « 0, ona may determine th* rotation* of
joints 5» 6, and 4 in the uaual manner. If Xz • 2*756 ia a natural frequency,

I the computed value cf 6, muat be equal to atro and JLc muet be equal to
-1.00 -|-2 ,

The data necessary in earrying out these computations are assembled

in the following table and in Fige. 34b and 34o.

Member 2 5 7 8 6

*j/*t 1.00 0*7282 1.687 1.265 0.7093

*j 2.756 2.01 4*65 3.49 1*95
fc
*
In Fig. 34b the stiffnesses are expressed in terms of the ** of the laember
I I*

to which they refer, while in Fig. 34o they are expressed in terms of -== •
» T

... ----- - V
0 The rotation #- ia computed by application of Bq» (30) to joint 3» while 0^
and 0, are oomputed by use of Eq. (31)* Since the computed value of 0, is
different from aero* As/* 2*756 does not represent a natural frequency of
the frsme. If 9. were found to be equal to aero, it would have been neo-
0 ELI,
easary to inveatigate also if MU were equal to -1.00 -£—• •

e , (b) A2 « 4.576 ( Aj« 7.853). In thia oase alao, bar (4) is sta-
tionary, but K.£ ia equal to +IL. instead of -ML** In >U other respects,

c the deteila of the analysis are similar to those of the previous case. The
pertinent computations are given in the following table and in Figs. 34d
0 and 34«*

Member 2 5 7 8 6
•5 *'i51 *a 1.00 0.7282 1.667 1.265 0.7093
"J 4.576 3.33 7.72 5.79 3.25

t
 61

Since the computed value of 9, la different from aero* \ ~ 4*576 does not

correspond to « netnral frequency*

(c) >, s 3*535 ( \ = 4*730). Since none of the values giver, in

Sq. (38b) aseaaqual to 3*535, bar (3) in Flge 34a stoat be stationary in this

ease. This ateana thet bars (5) and (7) are stationary also and that joints

4 and 6 remain fixed against rotation. - It follows that, if At« 3*535 ia a

natural frequency* each of the members composing panel 4-6-6 -4 must be

capable of vibrating fseely with the ends fixed* For bar (6) thle ie poss-

ible for values of

\ - 4*730, 7.853, • • • • (40s)

while for bar (8) It is possible for values of

^ = 4*730, 10.996* . . .:, (41a)

The corresponding Xz values are, respectively

\ =6.669, 11,071, . ... (40b)

\ = 3*739, 8.692, . . . . (41b)

Since these are different from 3.535, A. = 3.535 does not correspond to a
I
natural frequency* It is worth noting also that the At values given in Bqs.

(40b), (41b), and (39b) are different. It ia, therefore, concluded that,

within the range of the frequencies considered, the panel f ormed by the

members (4), (6), and (8) cannot vibaqte freely while the rest of the frame

remains stationary.

The concluding step in the solution of the problem under considera-

tion consists of investigating if there are any natural frequencies for which

the bars seet-in«* at- •'oint 6 *r*> 9t*tion*r^«

When bars (5) and (7) are stationary !L_ = HV- 7 0 and joints 3 and
6 remain fixed against rotation as shown in Pig. 35s» Excluding the trivial Ii
i
case of no vibration, this condition can occur only at frequencies equal to
 62

the natural fr^quencias of bar (3), assuming that it is fixed at the ends,
1
and of bar (1), assuming that joint 3 is fixed, for bar (8) the first two

I of these natural frequencies are represented by the A Talues given in Bq,

• (4-1). For bar (l) the first two natural frequencies are giren by values of

I A, m 3.927, 7,069 (42a)

. which are equivalent to
f V=4«?25t 7,606 (42b)
It remains now to investigste whether these values represent natural fre-

quencies of the frame shown in Fig, 35a, Only two frequencies will be con-

sidered in detail; the ethers nay be handled in a simiisr manner,

(a) A*, = 3*739 ( A5 = 4,730). Since none of the values given in

•V Eq. (42b) are equal to 3*739, bar (1) cannot vibrate freely in this ease*

consequently, both bars (1) and (3) must remain still and Joint 4 must
B remain fixed against rotation as shown in Fig, 35b. If A* = 3-739 represents

|^ r natural f r* juency, each member of the frame in this figure must be capable

of vibrating at the same frequency. It has already been shown that this
D condition is not possible for panel 4-6-6 -U • It remains* therefore, to

0 ascertain whether panel 2-4-4 -2 can vibrate freely. The first two natural

frequencies of bars (4) and (2) are represented respectively by values of

A, = 3,535, 8.213

A, = 3.927, 7.069
0. Since the A2 valuea for the two bars are unequal, it ia concluded also that

panel 2-4-4 -2 cannot vibrate freely while the rest of the frame remains
still.

I (b) A2 = 4*225 ( A, as 3,927), In this case, bar (6) cannot vibrate

•ir freely* therefore, bars (8) sad (6) in Fig, 35a are stationery, and the rota-

tion of joint 4 is sere as shown in Fig, 35e. This mesns that each member of
 63
i. the frame shows in Fig* 35c must bshsve ss if it were fixed at joints 3 and 4-.

The At values for vhieh this condition can be realised are different for the

different membersj consequently, A* = 4*225 doe* not correspond to a natural

frequency.

7n summary, it should be stated thtii for this particular problem

Mil
and for the range of frequencies considered, the aero intercepts of the curve

in Fig* 33 represent the complete set of natural frequencies of the frame*

I 22. Comments on Hatural Modes of Partial Vibration.

The determination of the natural frequencies corresponding to modes

I of partial vibration is not as tedious as it might appear from the space devoted

I to its discussion in the preceding sections* Furthermore, it should be noted

that, for most practical applications, it may be entirely unnecessary to cal-

I culate these natural frequencies* As already explained, the procedure for

determining these natural frequencies consists of (a) computing a number of

I frequencies,, and (b) establishing whether or not these frequencies are natural

frequencies of the frame* In most actual problems, one is interested in

1 determining natural frequencies comprised within specified ranges of frequen-

§ vies. Therefore, if the values calculated in the first Step of this procedure

are found to lie outside the ranges of interest, it will be superfluous to

I carry out the second step* The first step of the procedure can usually be

I carried out almost by inspection.

Natural modes of partial vibration correspond always to higher

1 natural frequencies* Therefore, no consideration need be given to these

sedsp, if only the Cuijuamwcval caiural frequency of a frame is to be deter-

I mined. The fundamental natural frequency of a frame may be determined also

1 by the moment distribution procedure described in Section 13*

1
II
I 22i Heed for Approximate tts'thodfl of Ag»lysj,p»
64

The method that has besn described, sveu though simple 5»thoth

principle and in the details of Its application, may beoome time consuming
i when applied to structures comprising a very large number of members* For

i very complex structures* such as multi-story multi-bay building frames, it

may be desirable to halve a simpler, though less accurate, method of analysis*

E Strictly speaking; the dynamic response of a member of a framework

and, as a consequence, the nctural frequencies of the structure depend on the

I properties of all the members in the structure* Intuition leads one to ex-

I pect, however, that the importance of this influence diminishes rapidlyx as

the distance from the member concerned increases* For example, the natural!

I frequencies of a two-spaa beam may vary greatly, depending on whether the

extreme ends are fixed or hinged; en the other hand, for a multiple-span
I beam the natural frequencies may be almost independent of the condition of

I restraint at the extreme ends* For example, for a uniform beam of two

equal spans, the fundamental natural frequency for fixed ends is 56 percent

I higher than the corresponding natural frequency for hinged ends* For a

uniform beam, of seven equal spans, the fundamental natural frequency for
I fixed ends is only 6 percent higher than for hinged ends* (The latter value

I was obtained from reference (16) )• This condition indicates that it may

be possible to determine the natural frequencies of complicated systems by

I considering czJLy a portion of the structure instead of the entire structure*

It is believed that an investigation aimed at determining the

|1 possibilities of such an approximate procedure will be most rewarding* The

procedure described herein will be of great value in such a study.

I
§

!
sI V
I
fi 65

i I'
I Xa the diaeueslon thus far, the effset of permanent axial fores? on
the natural frequencies of flexural vibration hae been omitted* This effect,
vhich aay be quite important when the magnitude of the external force on the
1 structure is a aiseahls fraction of the critical buckligg load, may be taken

i into account by use of modified stiffness and carry-over factors which in-
clude the influence of the axial thrust. It is aaeumed that the axial loada
I are independent of time and that they are applied at the ends of the members*
The modified stiffnesses and earry-orer factors may be expressed
! conveniently i& terss of the dimensiosless parameter \ , which vaa uswd
9 previously, and the ratio P/P0» where £ is the axial eompresslve or tensile
s ."_; foroe and P^ is the fundamental buckling load of the member assuming its
1 ends to be simply supported,
Algebraic expressions for the dynamic flexural stiffness and the
i dynamic flexural carry-ever factor are given in Appendix II• Numerical
values of these two quantities and of their product have been computed for '
values of A between zero and 4*75 at increments of 0*05 and for values of
E P/?0 between -4*00 and 4*00 at increments of 0*1* It is expected that these
results will be made available soon*
i For the limiting case of P\ = 0, the values of stiffness and carry-
over factors are those for an axially leaded bar which does not vibrate*
i Detailed tabulations ef these quantities have been presented previously by

i Jsses (26), by Lundquiet and Xroll (27), and by Bu and Libove (28)* It
becomes apparent that the problem of elastic instability is s limiting ease

i of the more general problem of the vibration of structures for which the
members are subjected to axial farces*
I The three slope equatita ha a been applied to the investigation of

I
t
I
66

the Instability of fraaeworke by Gfcvalle and Jokiah (2?) aad by Winter am

I 11' Ma aeacaietea (3C). The procedure deecrlbed in this report has the advantage

| p that it can be need to obtain solutions with considerably leaa effort.

io

I .

0
0;
D
D
D
0
Si
eU
a

D
!!
 1
m
67 a
7. IPPLICif IOM 0? METHOD TO COSTIKUCUS B8AKS 1

OH FUETJBLB SUPPOSES
25* General.
Thus far application, of the method hat beta restricted to oostinuous
beans on rigid support* and to continuous frames for which the joint do not
translate. In this chapterf the Method is extended to continuous beams on
I flexible support*. The flexibility of the supports is represented by s set
of mutually independent deflectienal and rotational springs* To start with,
I it is assumed that the stiffnesses of the restraints are independent of the
I vibration frequency* The assumptions made in the analysis are similar to
those made in the ease of continuous beams on rigid supports*.
lr The continuous beam considered Is shown in Fig* 36* Aa in the eese
m of continuous beams on rigid supports, consecutiTo supports are numbered from
v4 left to right* starting with 1 at the extreme left end and terminating with
I"'•••&•:• ' ' " ''' - _—:

z at the extreme right end*

I 26. Basic Relations*

Figure 37 shows the extreme deflected position of spans j-1 sad j of

I a continuous beam undergoing steady-state forced vibrations. The vibrations

are assumed to be maintained by an exciting moment applied at the extreme
I right end of the beam.

I The forces acting at the ends of each span and the deflections and
rotations at tie supports sio indicated in their positive directions* In
I addition to the symbols used previously? the symbol S is used to designate
the deflection of the beam at a support; the stiffness of a deflections!
I spring is denoted by D, while that of a rotational spring is denoted by g*
Since the beam is continuous at the supports,
I
I
 B ••rsL^UJm^»^W^3^^gS'**,

l-M-
i •
i IT' (%Jt - (%)« " %, o«/ (5J)L - f5j)ff - % . (43)
" II*
r Also, since no external moment or force act? at the joint, and since the in-

. teraal moments and forces must be in equilibria*,

[} " Rj - Mj)L * fMj> • Kj0j - 0/ (44)

/5 » CV/)t + (Vj)K t Pj% -. 0.- (45)
PJ xae moments and shears acting at the ends ©fa span may be ex-
pressed In terms of the rotations and deflections of the ends of the span*
D For examples the moment or sheer at the left end of span j nay be obtained

i'.-... by the addition of the following four component effectst

(1) Moment or shear produced at the left end, when that end is rotated by

0; 9. without deflection and the right end is held fixed.

(2) Moment or shear produced at the left end, when that end Is held fixed

0/ while the right end is rotated by •. . without deflection.

D (3) Moment or shear produced at the left end, when that end is displaced

by S. without rotation and right end is held fixed*

| (4.) Moment or shear produced at the left end, when that end is held fixed
and the other end is deflected by 8. - without rotation*
G The direct superposition of these effects is justified by the fact that, for
a given frequency of Tibretion, the moments and shears are linear functions
0 of the distortions* Thus,
\\ Olj)* - KjBj * ftJtytyi • QjSj - (fQ)j6j*, , (46a)

(Vj)R - TjSj - (tVj SJH * Qj0j * (JG)J9„ . (47a)

y
Similarly,
(46b)

(V})L - Tj-,<5j - (tT)j-,6j-, - (ty-ity - tyQ)j-,ej-, . (47b)

I
!
E 69

Substituting Eqa. (46a) and (4-6*0 in Eq. (44) and Eqs. (47«)
I (47b) 1B Eq. (45)» one obtains

48a)

(49)

I
SUmluating «j+1 from 3q. (49) by use of Eq. (48a), one obtains

i
i (50)

0
fj ~ Ti-,iDj + Tj ,
D
D Equation (50) expresses the deflection at support j+1 in tersas of the de-

flections and rotations at the two preceding supports* The rotation at sup-
D port j+1 ssj be obtained in tense of the deflection S. , and the distortions

1 at supports j and j-1 from Eq* (48a). which may be rewritten as

-c^^-fwqH^-44 -ftaJ +<<flW> -<*K)ja> - o. (4«W

Equation (50) assures equilibrium of shears, while Sq* (48) assures equl*
I libriun of moments for support ^. Of course, both equations satisfy the con-

I ditions of continuity. If support £ is rigid, Eq. (50) is satisfied auto-

matically, and need not bo used. If S. ^ • 5^ = 5.+1 = 0, that is, when
f i

three eonseeutire (supports ere rigid, then Eq? (48) reduces to Eq. (19a)*

I
 70
B The foregoing relation* are applicable to intermediate -mpports only*
!

F*r the end support! the following cpaeialiaad relations net bo need- First,

the boundary oonditlona for the extreme left support are considered. Four

different esses mat be diatlaguishodi

Cats I. Beth B. and E, are considered finite or aero in this case*, Then, the

equilibrium condition for moments at support 1 Is

IS J ^ ft,~ Q^ + CRt + K^Q-tyQlSt +(**:),% - 0. (51a)

I The correapofiding condition for shears la

f, « 01+1)5, * 0,6, -'(*T),4 • (fQ),e* - 0. (52a)

I Eliminating #- from Bq. (52), one ebtaina an equation similar to Bq. (50),

I!; foQr(o,*Tt)]S,+fow^^ -o. (53)

I; From this equation, &2 aay be determined In terms of €L and JL* With <$2

determined, «2 also may be computed from Bq. (51a) in terms of ^ and 5^*

LI Caae Ht D. : , considered infinite (rigid deflectional support) and B^ finite

I» or aero* Then, the equilibrium condition for momenta is expressed by the

equation

0 Rt - (Ki+K,)e, - (<fQ),5z"*r'aim - 0. (5ib)

So equilibrium equation for shears need be written, since at a rigid support
II this is satisfied sutonaticsliy.

j, Caae III. Dx ia considered finite or sere, but B, infinite (elamped end). In

thia case, It la uevttamuxj to write only one equilihrlas eauation for shearst
1
0 this ia '

IJ F, - (n + 7,)8, -(tT),6t +(fQ)Am 0. (52b)

I
 „. M—BIWW8

:
iB
71
Case IT. Both D. and B^ are considered infinite la this ease (fixed end).

U* The relation between the soscnt or shear at the fixed end and the distortions

j- at the seoond support are

/I,';•- m),dk - (fQ),8t ,•'••• (54)

• V, - (fbjdk- (tT),6t. - (55)

P It should he noted that Bjs. (53), (sis), (52b):,'atad^ (54) or (55^)
Involve only three unknown quantitiest

I • The conditions that oust be satisfied at the right end of the bean

— are as follows*

For Case H» :'i:..".__-.-j_;

I L A - K*-, + K,)ft + C*K)x.,ft.rQ.-j£ ?CfQi&, -0, (56) s

v
• £ - (Tz.t + DX)5X - CtT)M*w- G*.,^ -^QUA-i " °- <57^

& - o; (5s)
• n, - (<,., + /?, )e, + wa-,0*-, * (^Q)z-, 5z.f - o. (59)
for gflP* ffliff

I| ft -0,
^ - CT,.#* DX)SZ - (tT)t.,6t., - (yQ)z.,eg., - 0.
(60)
(61)
I For Case 1^.

I ft " 0, (62)
£r " 0 . (63)
\
27^ Outline of Procedure.

I The rotation and deflection of the bean at support J nay be written

as
I
1
 i
0

where a and v are dimenalonleaa paraaetere which repreaent two of the three

I uaknowna in the equationa expressing the boundary conditions for the left end

of the baas. 0. sad <5, are, respectively, the rotation end deflection at

support j when a = 1.00 and v = 0. and 9. and 0. are the oorreaponding rota-

tion and deflection when u = 0 and • = 1*00. Sinoe the natural frequenciaa

of a abates depend on the relative values of the deflection, any arbitrary :

B amplitude oonaiatent with the actual boundary condition may be ohoaen for

n either u or v. For convenience, the following valuaa are aelectedi

Ser Caae It u = «,1 « 1.00 and v = s-

h
X For Caae lit u = ^ > 1.00 and V m «2
For Case mi u = s* =1.00 and v = 90
nLI For Caae 37s
^ **
u • it^ «~ « 1.00 and T = #2 •
r r
The details of the procedure ares
0 1. For aoase reference span of the bean, say span £, assume a value

! of A i this ia equivalent to aaauming a frequency of vibration

I 2. From Bq. (23) compute the A valuaa for the remaining spans of

,• the beam.

— 3* From Table I in Appendix A and th* A valuaa computed in the

previoue step, datersine the stiffnesses and the product of

the stiffnesses and the carry-ovwr factors for each span.

4. Identify the parameter a xj and v.

5. Consider that u = 1*00 and v - 0. Progreseing from support

 73
-i
.*
to support acrosB the beam, determine the deflections and rota-

tions at all supports. Denote these by 9 end 5 • If necessary,

A
s
evaluate also the unbalanoed moment or shear at the extreme right

hand support. Denote this by M or F . The distortions of the

S 8 ;|
second support are determined from the appropriate expressions

given in Eqs. (51) through (55)• The distortions of the remain-

ing supports are evaluated by the repeated application to each

support of Kqs. (50) and (-48b).

6* Repeat the preceding step by considering that u - 0 and v = 1*00.

B fn "3
Denote the resulting distortions by 6 and b • If necessary,
1
determine also the magnitude of the unbalanced moment or shear
_n _n
at the extreme right- hsnd end. Denote this by M or F • -
s s -
7* The actual distortions at a support, say at support j, are

Sj - 5j •_+ SJv .
Similarly the total unbalanced moment or shear at support z is

F.- Fi* Kv .
8. From one of the two equations expressing the boundary conditions

for the right end of the beam, determine the unknown parameter v.

9* Evaluate the second boundary equation*

10. Repeat steps 1 through 9 for different assumed values of Ar and

plot the value calculated in step (9) against the assumed values

of Xr • The valueB of Ar for which the ordinates of the result-

ing curve are equal to zero represent the natural frequencies

of the beam.

i*^>-*'.rt;'St..^^^'-\^T^^*''i:^wW¥»r^<uu^i^-.'-. i^tfcJWPS^SflSfS''-
s:4E«Hiwijjwa«i4^^
 74.

2S». Effect of YqiFfoW* lB&B12B&fl$g PjSJgfeBa&lfta

The forogoliig procedure can be modified readily to include concen-

trated rigid masses, concentrated sprung masses, intermediate rigid supports,

flexible supports for which the stiffness depends on the frequency of vib-

ration, and a continuous elastic subgrade of ths Winkler type. For con-

venience, these effects are discussed separately.

Rigid Concentrated Masses. Assume that at station j the beam has no de-

flectional support, instead it carries a concentrated mass a. as shown in Fig*

3Sa. Assume that the beam undergoes a steady-state forced vibration with a

frequency tf • Then for a downward deflection 8., the force exerted en the

beam by the mass is mjutx6j , downward, Had the beam been elastically supported

against deflection at that point, the corresponding force would have been

Dj8j , upward. Thus, the effect of the concentrated mass is equivalent to

that of a deflectional spring of stiffness

If the mass is applied at a point on the beam that is supported by a de-

flectional spring of stiffness D,, as shown in Fig. 38b, the stiffness of

the equivalent spring is

(Dj)tf<?. - Dj - mju? . (66b)

After the concentrated mass has been replaced by the equivalent

deflectional spring, the natural frequencies of the system may be determined

in the usual manner. It must be noted, however, that the stiffness of the

equivalent spring is a function of the assumed frequency of vibration and

must be evaluated for each cycle of the procedure.

Concentrated Sprung Masses. Assume that the mass m. is spring borne as shown

in Fig. 38o. Let S. be the stiffness of the spring. The influence of the

h •^••jifl^7^jf^^
 !•••. .'•: XWr&V"

75
flexible support may be taken into account by replacing the actual mass by
an equivalent rigid mass of magnitude

m*..
' '<*- = —a
J
, %u>*
r ' (67)
Si
The amplification factor—=—r-is determined as follows* Let d; be the
deflection of the mass while Sj is, aa before, the deflection of the elastic
axis of the beam. The forces acting on the mass are the inertia force and
the spring reactionj these must be in equilibrium; therefore,

WjufSf - Sj(6f-5j) ,
whence, the amplification factor is

It should be noted that, for vibration^ frequencies greater than the

natural frequency of the spring borne mass, the amplification factor becomes
negative, and Xq. (67) results in a negative equivalent mass*
Rigid Intermediate Supports. Consider the beam shown in Fig- 3od for which
support A is rigid instead of flexibile* Let the outer supports be flexible.
The natural frequencies of this beam may be determined by a combination of
the principles that have been described. As usual, the procedure may be
initiated at support 1 by taking 6, = 1.00. For the portion of the beam be-
tween supports 1 and U the distortions at the supports may be expressed as
the sum of a constant term and a term involving ~r— as unknown. The magni-
tude of this unknown may be determined from the condition that S4 - 0, For
the portion of the beam between supports A and 7, 0c may be selected us the
new unknown, 2nd the distortions at the sapporos msy be computed oy the re-
peated application of Eqs. (50) and (48b). As usual, the value of €~ may be
determined from one of the two equations describing the boundary condition

^^zp-^frffWWftmammmmtimlimmma^^ w*"^* 1**,KW« «ww«—-W». -a*"* ..:•.-. ••• .-..>—•*

 76

for the right end of the beam. The natural frequencies are those fre-

quencies for which the second boundary condition ie satisfied identically.

In the application cf this procedure, one must, in general, change

temporary unknowns as many times as there are rigid intermediate supports*

Abrupt changes in the magnitude of the distributed mass or in the

flexural rigidity within a span may be handled by assuming that the beam is

supported by a flexible support of zero stiffness at the point of the dis-

continuity*

Supports Having Mass. Consider a conatruction consisting of a cross beam

supported on a series of longitudinal girders as shown in Fig* 39a* For

simplicity*s sake, the connections between the beam and the girders are con-

sidered hinged. It is assumed that the mass of the supports cannot be

neglected; consequently, the stiffnesses of the supports are functions of

the frequency of vibration.

The natural frequencies of this system are the same as those of the

cross beam assuming that it is supported on deflectionsl springs as shown in

Fig. 39b. The stiffness of each spring is equal to the stiffness of the

corresponding girder. Tbe stiffness of each girder is, in turn, equal to the

magnitude of a harmonically varying concentrated force which, when applied

at the point of intersection of the girder and the beam, will deflect the

girder- by a unit amount. The magnitude of this force may be calculated in

terms of the numerical values tabulated in Table I, Appendix A* As an ex-

ample, consider a girder fixed at both ends. For the point of application

of the force, the conditions of equilibrium and continuity are expressed by

the equations

(Qz-Q,)w« * (Ki+Kt)eK - 0 ,

.:•-.-•*.......vp.*\r w
-**:.;.T^"* -l,'rr'

77

whare the subscripts 1 and 2 refer, respectively, to the portions of tbt

girder to the left and the right of the concentrated force, and the sub-

script x refers to the point of application of the force. From the simul-

taneous solution of these equations one obtains

For a force at midspan, this equation reduces to

D « 27T, (68b)
The stiffness of a girder with different boundary conditions may be de-

termined in a similar manner.

With the expression for the effective stiffness of the deflectional

spring available, the natural frequencies of the system may be determined in

the usual manner. It is only necessary to evaluate the stiffness of the

--.-•-- " - i
springs for each assumed frequency of vibration and to use this value in 4
a
-a
the calculations.
... .
,
-
i|
3
Continuous Elastic Subgrade. Consider that the beam is supported along a

portion of its length on a continuous elastic subgrade of the Winkler type,

m
as shown in Fig. 39c• Let d be the foundation modulus, defined as the force |

per unit length necessary to compress the foundation by unit amount. The mass

of the foundation is assumed to be negligible.

The natural frequencies of such a system may be determined by the

fix*

same procedure, except that the influence of the elastic foundation mutt be

taken into account in evaluating the stiffnesses and the carry-over factors

of the elastically supported spans. 1

A vibrating beam which in not supported by say foundation, is acted

upon only by distributed inertia forces, the intensity of which is

1
is
mu) w

^ • i ...irrmtiMir •»- aaat—vazaf*---»^je«i.»a-gg-aBfriJVWBWr»•«««>^' "W-*."-•.«.-• '.".'i-wi.

 78

The intensity of the reactive forces produced by tV:e elastic foundation is

u>v. These forces act opposite to the inertia forces and, in effect, reduce

the intensity of the latter to

Now, the coefficients of dynamic stiffnesses and the carry-over factors depend

solely on the dimensionless parameter A» y-^- L ; therefore, the effect of

the foundation can be taken into account by replacing in this expression the

quantity muf1 by the reduced value of mu?-d a

If mtJ-d is positive, A is real, and the various stiffness and

carry-over factors may be obtained directly from Table I in Appendix A. If,

however, muf-d is negative, A is imaginary and the values of Table I can

,* no longer be used. In this case, the expressions for dynamic stiffness and

dymanic carry-over factors may be obtained from the expressions for static

« stiffness and static carry-over factors of a bar on elastic foundation* It

is only necessary to replace in the latter expressions the quantity d by the

reduced value d -mm • These expressions may be obtained readily from sol-

utions given by Hetenyi (31)»

Consider now "the case for which the foundation extends along., the

efitire length of the beam as shown in Fig* 39d. The modulus of the foundation

may differ from one span to the other* Let d. be the foundation modulus for

span j. In what follows, it is shown that, if the natural frequencies of

the system without the subgrsde are known, under certain conditions, the

natural frequencies of the system with the subgrade may be computed directly*

Assume that the beam without subgrade and the beam with the sub-

grade are in a steady-state of vibration. Let to be the circular vibrat5.on

» frequency of the beam without the subgrade and oos be the frequency of the beam

with the subgrade. Then, for span r the A value of the beam without tl.

&?^3Sm&SS&g8g*&SB&.±WHmt ' ms^&nstsi>mimi&»~M*<*'- -• • •a*-**-"***"— *» «w*»: • **

 i 79
subgrade is

I >. **£F ^
and tho value for the beam with the subgrede is
(12)

•
St'

(69)

For any other sp«n jtf the values for the two cases are

and if -dt- — _J&_ (70)

mr ITU — cor/3r*sn>
#'4 - J rrtj E7T, Lf Aj
Wfc V f»r Ej Zj Lr
Now, if 2K and ^J^ are equal, the numerical calculations involved in carry-

ing out a cycle of the procedure will be identical for the two systems <,

Therefore, if Ar corresponds to a natural frequency of the beam without the

subgrade, then (ArjL will correspond to a natural frequency of the beam with

the subgradeo Equating Eqs. (12) and (69), one obtains the following rela-

tionship between the natural frequencies of tho two systems.

The subscript N designates natural frequencies. Equation (71) can be applied

to beams having any number of spans and any boundary conditions, provided that
the relationship given in Eq. (70) is satisfied,,

29. Determination of Modes of Vibration,

After the distortions of the beam at the ends of a span have been

*&^mii&g8&^^^**^^*y•y»~~^,t^->vi'y'r"
 i
•v

80

evaluated, the deflection configuration of the span may be determined by

superimposing the feller-lug four component configurations!

(1) Deflection configuration produced by the rotation of the left end

of the span when that end is restrained against deflection and the

right end is fixed.

(2) Deflection configuration produced by the rotation of the right end

of the span when that end is restrained against deflection and the

left end is fixed,

(3) Deflection configuration produced by the deflection of the left end

of the span when that end is restrained against rotation and the

right end is fixed, and

(4) Deflection configuration produced by the deflection of the right

5
s
end of the span when that end is restrained against rotation and

the left end is fixed.

Effects (1) and (2) can be obtained readily by multiplying the end
'•"

rotations by the appropriate values given in Table II, paying proper atten-

tlon to signs. Effects (3) and (4) may be calculated from Eq. (B-34) in
I
-
Appendix B. These effects may also be expressed in terms of the quantities

given in Table I as follows: Consider a clamped ended uniform beam, the left
V.
end of which is displaced by unit amount* The deflection amplitude at a point,

a distance x from the end being displaced, may be obtained by writing for the

point the two equilibrium equations (see Eqs. 48a and 49) j

fit - (Qz-Q,)wM * (Kt + KZ)6K +(<jQ)f - 0 ,

fx - (T,+TZ)KA * (QZ-GMQ. -an - 0 .
The sxibecripts 1 and 2 denote, respectively, the left and the right, portions

of the beam. Eliminating from the first of the foregoing two equations the

unknown © » and solving for the deflection >v » one obtains

;;^»«^^.aw*^^^
i
i
a
I

The deflection at the sane point of the beam due to a unit deflection at the

right end may be obtained from Eq. (72B) by interchanging the subscripts 1

and 2. When x = -s9 this equation reduces to

„ - -£IL- (72b) I
"••"

•<

Note that for A =0 this equation yields •£> which is* of course, the correct

value for the static deflection at midspan*

30* Illustrative Example*

Example 7. In order to illustrate the details of the procedure and 4

present a tabular scheme for arranging the computations, we shall calculate

the first three natural frequencies of the hypothetical continuous beam shown 5»

I in Fig. 40. The dimensions of this beam and the stiffnesses of the rotation-
t
al and deflectional restraints ere shown in Fig. 40. The various quantities

are expressed in terms of the physical properties of a reference span r. In

this particular case, we choose r = £•

It is convenient to express the stiffnesses and the carry-over

effects for each span in terms of the El and L of the reference span r. To

do this, the values obtained froa Table I in Appendix A must be multiplied by \

certain dimeusionless factors as followsi The coefficients of K and kK for

a span J raueit be multiplied by the factor <x, (Eq. 24-). The coefficients

of Q and aQ must b« multiplied by (

2
A
E.I. L
T T L,
1
and the coefficients of T and tT by

jjiii4 JillllUi|lW»JWi*"» r imm-mm-an •gratXmSMir" • * •--•«•"«•—TW««P;» ».-«*•«»«=•»»* i-rawa

 8id

g T r *

r r Lj

Thsse relations may be verified readily.

For the beam considered, the ratio A,/\.and the factors ex., 9 p

and T. are evaluated in Table 2A. This table is independent of the fre-

quency of vibration and is computed but once.

Table 2B presents one complete cycle of the procedure fa? a txta.l

value of At=Ar= 1.30. This value, shown encircled in the r-th li^« of Goltasu

(1), corresponds to a circular frequency of vibration to= *'D /"^ " Coiuaaaa

(1) through (18) in this table are conveniently filled in the following orders

(2), (9), (1), (3 and 8), (4 and 7), (10 and 12), (5), (6), (11), (13), (H),
&
(15), (16), (17), and (18). It should be noted that all quantities in Col-

umns (2) through (12) are expressed in terms of the gj and L of the reference

span r. The value of -5*7122 in Column (9), which represents the stiffness

of an equivalent deflectional spring having the same effect as the concen-

trated mass nu, is computed from Sq. (66a), The partial distortions £», e«»

5", and 8? are evaluated in •Columns (19) through (22)*- The paramettcer

is determined from the condition that

•&- a -87.5781 + 3436.36 v = 0 ; ::

whence, v = 0.0254857 •
„„.„,,.,. .-..--
The total distortions at supports 4 and 5 are given in Columns (23) and (24).

The magnitude of the exciting moment

M5 = [4.473(2.327) + 2.021(-1.177) + 6.089(0.3438)] ^ - 10.12 |- .

Under iha action of this moment the distortions at the extreme left

support are

©j = 1.00 and 8^- 0.0254857L.

S^pptfWWMWB****8** - '•"'' ''*** *sM**c- •'•"»" ——'""" •• »~<m '•***-*-**•**—**-•*»..•. <..-*• - - ••!.•»••,-•.'- ••>-.»•- • , .:»a«u».
 83

Had^/L, instead of 9^, been taken equal to unity, the magnitude of the ex-

citing moment would have been

10 U
M
n - ' S.,«iS
5 " 0.02»H857 L •** * T,
Since M, is different frca zero, the assumed value of \ = 1.30

does not correspond to a natural frequency* By repeating several such cycles

of computation for different values of \ . the curves shown in Fig. 41 were

obtained. The solid curve in this figure shows the moment Me necessary to

produce a rotation 61 = 1.00, while the dashed curve shows the moment M*

necessary to produce a deflection 8 . = l.OOl. The A intercepts of these .

::
curves correspond to natural frequencies of vibration. The first three crit- i

ical values are

( A^)1 = 0.85 , ( \)2 = 2.01 , ( Xl)3 = 2.55 . 1

It should be noted that the distortions 5 and £ are obtained as

small differences between large quantities. It becomes necessary• therefore,

to use in the computations a relatively large number of significal figures,

-
particularly if the higher natural frequencies of the beam are to be evalu-

ated. It is recommended that at least 6 or 7 significant figures be retained

throughout the computations. I

3
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f; 86 1
71. APPLICATION OF METHOD TO FRAMES i
* .1
WITH SIBSStfjff

2i& Symmetrical. Single-Bay. Multi-Story Frames.

The method described in the preceding Chapter can also be used to
determine the natural frequancies of lateral vibration of frames for which
the Joints are free to translate. Though this method can be applied to frames
of any complexity, it can efficiently be used only for symmetrical, single-
bay , multi-story frames. For such frames, the details of application of the
procedure are similar to those for e continuous beam on flexible supports.
Consider the symmetrical frame shown in Fig* 42a* Because of symmetry,
the end rotations of each girder are algebraically equal, and the midpoints of
V j. _ v.-—..
\ \ . the girders ere points of inflection. Consequently, it is possible to consider
in the analysis only one half of the structure as shown in Fig. 42b. In this
figure, the right ends of the girders can rotate and slide freely in the hori-
zontal direction but can not deflect in the vertical direction. The influence
of these horizontal members may be represented by a set of concentrated masses
and concentrated rotational springs, attached at the points of intersection of
the horizontal members and the main column as shown in Fig. 42o. The magnitude
of each concentrated mass in Fig. 42c is equal to the total distributed mass of
the corresponding girder in Fig. 42b. Similarly, the stiffness of each rota*
tional spring in Fig. 42c is equal to the flexursl stiffness K" of the corres-
ponding girder in Fig. 42b.
The natural frequencies of this system may be determined by the
procedure described in Sections 27 and 28. It must be borne in mind, how-
ever, that the stiffnesses of the rotational restraints are not constant in
this case, but rather depend on the frequency of vibration, and must be eval-
uated for each cycle of the procedure.
 87

VII. ^TENSION OF METHOD TO CONTINUOUS PLATES

32. General.

This chapter is concerned with the determination of the natural

frequencies of flexural vibration of rectangular plates which are simply

supported along two opposite edges and which, in one direction, are con-

tinuous over rigid supports transverse to the simply supported edges* The

plate may have any number of panels of arbitrary length. The mass per unit
1
of area and the flexural rigidity of the plate may vary from one panel to

the other, but, in any one panel, these quantities are assumed to remain
r constant.

The method of analysis is similar to that described in Chapter III

for the case of continuous beams on rigid supports. The assumptions made in

the analysis are those embodied in the ordinary flexure theory of medium thick
i plates composed of an elastic, homogeneous, and isotropic material* In. add-

ition, it is assumed that the supports can offer no torsional restraint and

that no frictional forces or horizontal sheering forces may develop between

the plate and the supports. Throughout this discussiqr "•** effects of damp-

ing, rotatory inertia, and shearing deformation are disregarded.

/ ...
33. Baela of the Method.

Figure 4-3 shows the -type of the continuous plate considered. The

coordinate axes are taken parallel to the edges se shown in Fig. 43 • The sides

parallel to the y-axLs are assumed to be simply supported. All transverse

supports lire considered to be rigid. Along the ev.-trewa edges the plate may be

hinged, fixed or subjected to a rotational elastic restraint of conatent stiff-

ness. Fo:r simplicity, it will first be assumed i,hat the extreme right edge

is either hinged or elastically restrained against rotation, A fixed edge

 88 1
will be treated separately at the end*

» For the piste shown in Fig. 43» the solution of the differential
*.-
equation for transverse vibration of plates reveals tba*s during fi*» vib-
BE
ration, the deflections, rotations, shears, and bending moments along sections

perpendicular to the simply supported edges are proportional to

ts
| sinJlI>LC03u)Nt . (75)

In this expression,to» represents e circular natural frequency, t time, and

a the width of the plate; n is an integer which designates the number of half-

sine waves, alternately upward and downward, in the distribution of the de-

flection, slope, ehear, or bending moment along the plate width* Corresponding

to each value of n there is an infinite number of natural frequencies*

Consider now that the plate undergoes a steady-state f orced vib-

ration, such that the rotation of the plate at the extreme left support is

where, to is the circular frequency of vibration, 2 is the same integer used

•

in Eq. (75), and 9. is the maximum amplitude of alone at the left support* i

The magnitude of 6, is assumed to have a prescribed finite value. If support

1 is fixed instead of hinged or elastically restrained, ۥ, is equal to zero,

and it becomes necessary to assume that the bending moment at that support is
- •>..*

n, (x4t) « f%sin-SSL €§9 uit .

v^
ft, is assumed to have a fixed value. In either case, the vibration of the

plate is presumed to be maintained by an exciting couple applied »t- the ex-

~.\
treme right hand support z. Then, the solution for steady-state forced vib-
;.-.•

ration of the governing differential equation reveals (a) that the deflections,

elopes, shears, end bending momenta along sections perpendicular to the simply

ai«f,.i-~ w f"- -•» -*"***1 «.wawi'flBr*>:

 89 3
4
supported edges are proportional to, and in phase with, the rotation (or
bending moment) et the extreme left edge, and (b) that the exciting moment
I
may be expressed as

W, M) - Fit sin-^-— cosu>t .

o
I Obviously, the magnitude of K depends upon the frequency of vib-
?• '
ration. For a frequency equal to a natural frequency of the plate (U) ^UOt
s M8 becomes equal to zero, but the deflection of the plate remains finite* The
deflected surface of the plate, which represents a natural mode of vibration,
is then expressed as

w(x,y,t)- Y sin^^-costvt .
a
where, Y is a function of the y-coordinate only; its absolute value depends
on the value assigned to the amplitude of slope (or bending moment) at
support 1.
•. -• • .. '- - f.
- In the discussion thus far, it was assumed that the extreme right
support of the plate was either hinged or elastically restrained* If support
z is fixed, the criterion for a natural frequency is that %z = 0# .-;«

34-. Details of the MBthod.

The foregoing considerations suggest the following procedure for
calculating the natural vibration frequencies of continuous plates having two
%
opposite edges simply supportede
%.
1* Assume that the amplitude of slope or bending moment at the extreme gg
•VA*.
left edge of the plate is distributed sinusoidally, and that it has
-*'"',
a fixed value. Since the natural frequencies of a system depend only
3
on the relative values of the deflection, any arbitrary amplitude, ••?*,

consistent with the actual boundary condition, may be chosen* For •

 %

90
hinged edge or for a partially fixed edge, take •J

ftjfr) = 1,00 sin Sffi

For a fixed end, 3,-0* therefore, take

H^x) = 1.00 sin SJ*

In the application of this procedure, it ie necessary to consider

a specific value of £ in each case* Let n = n.

2. Choose a frequency of vibration and determine the rotations of the

plate over the supports, and from these determine the magnitude of

•one exciting moment at the extreme right edge* (For a fixed edge

the moment at that edge need not be evaluated). These quantities

are determined by identically the same procedure that was used for

continuous beams. The pertinent relations are reviewed in s«b*»

sequent paragraphs.

3« Bepeat the previous step for different frequencies and, from the

results obtained, plot a curve of the variation of the exciting

moment or of the slops at the right edge as a function of the fre-

quency of vibration. If the right edge is hinged or elasticaliy

restrained, plot the variation of the exciting moment} then, the

natural frequencies are those frequencies for which the exciting

moment vanishes. If the right end is fixed, establish the variation

of the rotation 6 ; the frequencies for which 6. vanishes are

s s
natural frequencies*

4.. For the natural frequencies determined in at#n (3)- the deflection

of the plate along sections perpendicular to the hinged edges has

n. half-sine waves. In general, steps (1) to (3) must be repeated

for as many values of n as may be neceesary for a given problem.

 91
s
I For a given frequency of vibration, the rotations of the plate over
g •
p ,
^ the supports and the magnitude of the exciting moment may be determined from

the same equations that were used to anelyze continuous beams en rigid sup-

ports , nemely from Eqs. (19), (21), and (22). Equation (19) expresses the

condition of equilibrium and continuity at an interior support of a continuous

beam, by relating the rotations of the beam over three consecutive supports*
& •
Equations (21) and (22) express, respectively, the boundary conditions for
I the extreme left and the extreme right ends of the beam.

In the application of these equations to continuous platess it is

only necessary to interpret 9. as the maximum amplitude of slope along the 3-th
J
I
;' support, and M.3 as the maximum amplitude of moment at that support. In add*
I „ ition, it is necessary to replace the stiffness and carry-over factors for

beams by equivalent quantities for plates* Such quantities are defined in

the section that follows.

35. Elastic Constants for a Panel of a Plate*

Consider a rectangular plate simply supported on three edges and

fixed on the fourth as shown in Fig. AA» Let edge f be subjected to a steady-

state rotation without deflection, such that the magnitude of the rotation is

given by the relation

nwx
•dfCKty^SfSin-^-cos u>t'

The amplitude of the moment at edge f necessary to produce this

rotation is proportional to sin and may be written as

Mf = K6f . (76)

The quantity 5 is a measure of the resistance to steady-state forced rota-

tion of edge f of the plate, when edge g is fixed, and is referred to as

 92
i

the "dynamic flexurel stiffness" of edge f.

I *• Tna amplitude of the moment induced at the fixed edge is also
| . • "
proportional to sin2® , and may be exr*°ssed as
r-

I * Mg = WC6f = SM / (77)

The quantity k, which represents the ratio of the moment at the far fixed
%
edge to that at the edge being rotated, is defined as the "dynamic flexural
E carry-over factor"*

These quantities are strictly analogous to those defined for beams*

fef -- •
Si * " - .•— - -•

and they are used in the analysis of pistes in identically the same way as

the quantities for beams are used in the analysis of continuous beams*

The quantity K may be expressed as

• - K = CKf , (78)

where N is the flexural rigidity of the plate per 'unit width and b is its

span length in a direction parallel to the simply supported edges* The

a
coefficient C~ is dimensionless and depends on the ratio *TT~ and the di-

mensionless parameter

*'-#/^
where p denotes the density and h the thickness of the plate* The carry-

over factor k is dimensionless and depends on the. same two quantities as

the coefficient C„*

The pertinent analytical expressions for K and k are given in

Appendix E. For A =0, that is* when the plate does not vibrate, the

values of £ and k reduce to those given by Kewnark (15)*

Assume now that the plate is not vibrating but is instead sub-

jected along its simply supported edges to uniformly distributed compress-

 93
ire forces px. Let

t «
Then, it can be Bhown that the values of £ and k of a vibrating plate for

given v alues of ;*£ and A are numerically equal to the stiffnesa and carry-

over factor of an equivalent compressed plate having the sane •"%• value but
| a value of
•S

rj - .... -
.••_'"

I Numerical values of K and k for comureaeed plates have been tab-

( •-••-• ; •_

ulated by W. D. Kroll (32)* as a function of -4- and k« • It should be noted

j nb
that Kroll defines stiffness as the moment necessary to produce a maximum

rotation amplitude of 1/4- radian instead of one radian* Consequently, the

stiffness values obtained from Kroll's tables must be multiplied by 4- to

make them conform to the definition given in this report-

As s simple illustration* we shall determine the dynamic flexural • i

i
stiffness and dynamic flexural carry-over factor for a rectangular plate

having a ratio of sides a/b = 0.5 when n = 1 and A = 4*00. The equivalent

value of k' ,

k» = (16)(0.25) « 4.00 .

From page 14. of reference (32) we find

| = 2.54385 | and k = 0.1264.99 ,

whence „
K = 10.1754 | and k = 0.126499 .

See Section 2c of Appendix B.

Kroll uses the symbols ^ for —r- . k for k» . S. for K, and C for k.
 2kt Illustrative Example*

Example 8* This example involves a rectangular plate simply

supported along two opposite edges and continuous over five equally spaced

rigid supports as shown by the sketch in Fig. 45 • The plate is simply

supported at the extreme left edge and fixed at the extreme right edge.

All panels are square. It is desired to calculate the first few natural

frequencies of this structure.

The plate is analyzed in identically the same manner as the con-

tinuous beam considered in Example !• - In fact the expression for Q- is the

same as that for the beam:

5*
k* - 8k2 • 8
I e. =
The carry-over factor k, vhich depends on the parameters *rr* and A , was

determined from the numerical values reported in reference (32) as described

in the preceding section. In Fig* 4-5 6c has been plotted as a function of

(A*)1 (jjft) for values of n = 1 and n = 2. The values of (A*) ("fjjn

corresponding to natural frequencies are recorded on the figure*

The lowest circular natural frequency for n - 1 is

N
h2J Ph bZ

The lowest frequency UiH for n = 2 is

* b2Jfh b2
For purposes of comparison, the corresponding circular natural frequencies

of Q square plate having (a) all four edges simply supported and (b) three

edges simply supported and one fixed are given in the following* For edge

condition (a):
 95
when c s i «,«H = i2*Z£ /X
.2

vhtn n = 2 W

--- —g* i-WUVU UUQ (b,'S

when a = 1 UJ
N
b^yph •
when a = 2 WB - 2la6g /jj
* b2 y^ •
These valuee hare been obtained from reference (33).
 96
Till SOMMABI

37. General.

A method hcs been pre«»r>tAd la this report for the determination

of the undamped natural frequencies and of the corresponding natural nodes

of flexural vibration of elastic structures. The method has been applied

to continuous beams on rigid or flexible supports, to continuous frames

without sideswey, to symmetrical single-bay multi-story frames for which

the joints are free to translate, and to continuous plates having two op-

posite edges simply supported.

The method is a generalization of Holser's method for calculating

the natural frequencies of torsional vibration of shafts and, like Holser's

• -

method, it has been reduced to a routine scheme of computation which, when

repeated a sufficient number of times, will give the natural frequencies of

the system to any desired degree of accuracy. The method is based on the

fact that the exciting couple necessary to maintain a dynamical system in a

•

steady-state of forced vibration with finite amplitudes becomes equal to

zero at any one of the natural frequencies of the system.

•i
Extensive tables of numerical values for the various quantities -

entering in the analysis are presented in Appendix A of this report. With

these tables the calculations required in the application of the method to

particular problems are simplified greatly. The tabulated values may be

used also with other analytical techniques as well as for the analysis of

the steady-state forced vibration of structures*

 97
i&

APPENDIX A

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 152
APPENDIX B. DERIVATION OF FORMULAS

1± Formulas for Bars Without Axial Forces

a^ General Solution nf Fundamental Equation for Vibration 01 Bars
Using BernouLLi-Euler's beam theory* the differential equation
for transverse -eibrcticr; of a uniform bar which is free from external
loads is

El
~dS * mltr ° > (B1)

where w(xj,t) is the deflection of any point of the bar at a time t* _

m is the mass per unit of length of the bar, and EX is the flexural •

rigidity of its cross section. The effects of damping, shearing de-

formation, and rotatory inertia are disregarded.
W8 can let

w(x,t) - Y(x)cosu)t, (B2)

where the amplitude of the motion I(x) is a function of x only, and

Oi is the circular frequency of the motion.
Substituting (B2) in (Bl) , one obtains the following expression
for determining the function l(x)x

r*-(-f)V - o, (B3)
where L is the span length of the bar and

4/WX L . (B4)
y EI
Primes in Eq. (B3) Indicate differentiations with respect to x. r-.-a

The solution of Eq. (B3) is

r
Y(x) - c, cosh Aj- + ct sinh A -r- f c3 cos A 7- + C^sin X 4- . (B5)

•nv gaggS5B5S35l<3PWMWWWIW*ff| ww'^'"

 m

153
The integration r!an«tont.« « . c . n $ aa(i c suat be determined from |
* * > * -i
the boundary conditions of the particular problem considered.
-I

•
b. Formulas for Elastic Constanta

Consider the bar shown in Fig. B-l. At x = 0 the bar is fixedt "' s

: -r..

••••'

g
n-*Kd (| *—— i"^v)n-/<e J

-v-Qd
rxg. £)-x
- • "j3

while at x = L it is subjected to a moment

- —
- . " - 4
K(x,t) = Mcoswt (E6) 17
*

producing at that end a steady-state forced rotation

' ~- " - ••: - - ' - " '". - • . I
e(x,t) = ©cosuA . (B7)
! *
With the notation and sign convention given in Section 2, the

boundary conditions may be stated as follows:

i..
At i = 0 5-1 = 0, •-

e = i»= o , (B8) I
i
and at x = L 5 = 1 = 0,
v(B9) fl
M = Elf" • ^'

From these boundary conditions* one finds the following values for

the integration constants in Eq. (B5): .-1

H/.2 sinhX-sinX I
c,--c3- ZXt£J • Qosh A sjn> _ sjnh A co9X ,
(BIO)
ML* coshX-cosX
c
'"~c*~ ZXEI ' coshX sinX - sinhX cosX '
i
 154
The moments M and the reactions V at the ends of the bar are found

to be as follows?

At x = L M = K6. (Bll)

wnere K . mi . x co5h\ sinX = sinhXcosX EI_

r / - cos^j A cosA L

and -V = Q6 , (B13)

where Q ..___ ^ ______ . (BU)

At x = 0 M = kl©, (B15)

r
where * - - f° = SinhX-sinX (Bl6)
*"j*. J. cos.h A ssr, X -5inh X cosX

and V = qQ©, (B17)

51
.3
vhere - (B18)
t TTE:, ^AI^A
For a simply supported beam, the moment at x = L may be expressed as

M = Kn© . (B19)

It can be shown that

i
l*>, _ \ Z sinhX sinX (B20)
cosh A sin X - sinh X cos A
....•:.

Equations (B12), (B16), and (B20) have been presented previously by

Gaskell (13).

Now consider the case in which the right end of the beam is dis-

placed without rotation by

• •«.

Sfx.t) =Sccsu,t , (ail)

as shown in Fig* B2.

i ill IIUMUIM HI lilll WWI '• I ' '•

 (-55
i

t i
y
-M = Q<5
-V-tTS i
V'TS
Fig. B2
In this case, the boundary ccnditiona may be stated as follows:
At x = 0 6 = Y = 0,
(B22)
0 = Y« =0.
• . -••'..

At x = L e = I» - 0; 5"
(B23)
5 = 1.
For these conditions, one finds the following values for the integration
constants in Eq. (B5).
-

C,"C3a • -5"
' 2 / -coshX cosX
(B24-)
_.£ 5inh>^5in'X
c2- c4 * -2- i-^shXcosX •

The moments M and the reactions V at the ends of the bar are found
to be as follows: -.3-
At x = L M= -QS, (B25) ~3
• *
where (j is given by Eq. (B14), and
I
V = T<5. (B26) •
• •

A
where j _ _tVT_ m coshX 5inX * sinhX cos A 3
(B27) ••

8 / ~ cash* casA
V-

At x = 0 M = -qQ6". (B28)

where q is given by Eq. (B18), and

>s
 156

V = -tT5. (B29)
A. . -"
.a,-• * T'"JX.Q sinh X + sin X /B,n\
where t " -^7i— * r-\—~r— . , , r- • t 3°J
/ jA.L cosh X sinX + sinh / cosA

As already remarked, the quantities g in Eqa. (B13) and (B25) are equalj
likewise the quantities q in Eqe. (B17) and (B28) are equal. These
equalities follow from Lord Rayleigh's reciprocal relations which, for
convenience, are reviewed in Section Id of this Appendix*
It should be stated that numerical values of the trigonometric and
hyperbolic functions appearing in the numerator and denominator of most ]
of the formulas given in this section have been tabulated previously in
Reference (24)• These functions were tabulated for values of P> be-
tween zero and 10.00 at increments of 0.02. The numerical values pre-
--
sented in this report have been tabulated at increments of X of 0.01.
Since all quantities were computed on the ElRetronic Digital Computer,
there was no need to use the previously tabulated functions.
- • I

c. Formulas for Deflections of a. Bar Due to Distortions at the Endp

It is desired to find the deflections of the bars shown in Figs. Bl
and B2. The distortions Q and 5 may be introduced at either end of the
bar.
's
—, --i
First consider the bar shown in Fig. Bl. Let x denote the distance
&
of any point of the bar from the end being rotated. Then, if © represents
the rotation at the left end, the deflection amplitude

Y* = C©L , (B31a)

ana if 9 represents the rotation at the right end

I- = -CO. , (B31b)

•»—••>•;» »fci •*••>

 157

where C is a diaensienless coefficient dependent on the coordinate s and

*A the parameter *)i •

Substituting the integration constants given in Eq. (BIO) into Eq..

(B5)» the following expression is found for C;

C
' ZX(i-colhXco5\) jlfr>*-*»>il[cosh-a-S)X - co,(hs)A]
(B32)
-[a>sh\-cos\][smha-S)\ - sin (hi))]} ,

where- § .5 ^

Consider now the bar shown in Fig* B2. Let x denote the distance of a

point of the bar from the deflected end. Then, for a deflection ampli-

_ tude 8 at either end

1= = C«<5, (B34)

where C* is a dimensionless coefficient*

Substituting the integration constants given in Eq* (B2U) into Eq*

(B5J, the following expression is found for C'I

hX c
C
'" Z\(i-J*\cos»{fa
(
- ^ttco5ha-^ -asO-SK]
/ (B35)
-[sinhX + sinX][sinh (IS)X -sin(h§)X]j .

d. Ravleigh's Recinrocsl Relations and principle of Influence Lines

Rayleigh's reciprocal relations for dynamics (14) are strictly ana-

logous to Maxwell's law of reciprocal relations for statics. Rayleigh's

relations may be stated as follows: If A and B denote two points in a

given structure, the steady-state forced displacement at A produced by

a harmonically varying load applied at B is equal to the steady-state

displacement at B due to the same load applied at A.* The term dis-

* placement may be interpreted in a general sense as either linear or

 158
i
angular di»placement; similarly, the term load nay be interpreted in tbe
same general sense as either force or couple. Couples correspond to re—
tations while forces correspond to linear displacements.
Using Rayleigh's reciprocal relations, one can prove readily that
MBller-Breslau^s principle is also applicable in the case of steady- I
state forced vibrations. The proof is identical to that for the static
case and is, therefore, omitted. According
_
to this principles The V
3
influence line for any dynamic function, such as reaction, shear, bend-
- ->
ing moment, torque, at some point A of • structure due to harmonically
~ If
varying load can be obtained as the deflected shape of the structure due
• -^

to a very small unit displacement, linear or angular, introduced at

point A.
It follows from this principle that the deflection of a fixed ended
a
beam subjected to a unit rotation at one end represents an influence
':
line for fixed end moment due to a unit concentrated force on the beam. 4
|
Similarly, the deflection of a beam resulting 1'rom a unit deflection
without rotation of one end represents an influence line for fixed end
sh*»ar due to a concentrated unit force.
1
.a
m
m
2> Formulas for Bars with Axial Forces
"•

a. General Solution Q£ Governing Differential Equation

The differential equation for transverse deflection w(x,t) of a uni-
I
form bar which is free from lateral loads but is acted upon by constant
axial forces P is

vj£-?l% + '»J&-°- **>

A positive P indicates a tensile force.

- • iv«u<**r-• ;-««^vS28&fe^^
 159
The deflection w(x,t) may be expressed as

w(x,t) = YMcoswt . (bff)

where Y(x) is the amplitude of the harmonic motion and ui is its cir-

cular frequency.

Substituting Eq. (B37) into Eq. (B36) and using the symbols

P,= -^- , (B38)

X-Wl. M •

s
one obtains the following expression for determining the function Y(x)i ';

r
'.---• "~~rir r-(^-)V-o. (B39)
The roots of the corresponding charaoteristic equation are

r - +
(B40)
r * ±-r^-
L
where
$8
•

(BU)

Then, the solution of Eq. (B39) becomes

•

Y(x) " C,C05hij- + Czsmh $-y- +c3cosX-Y+QtSin\4~ • (B4-3)

The integration constants c,» c2> c», and c, must be determined from the
1
i
boundary conditions of the particular problem considered*
*
,•5

b. Formulas for Flexural Stiffness and Flexural Carry-Over Factor

Consider a bar, such as that shown in Fig. Bl, fixed at x = 0 and

- *.> '^vr?M.»r.x^;.s^aW3!«S^'St5««^K> -^i-i^'dv^^ •waagWWwtiniwWMt. ji'MMmfcC'-wMim*-.. «——i •

 160

subjected to a periodic moment

M(x,t) = hfcoeurt
•a
at x = L. Assume that the bar is acted upon by tensile end forces. ,1

j
The boundary conditions in this case are the same as those given

in Eqs. (B8) and (B9). For these boundary conditions, one finds the ••

following values for the integration constants in Eq. (B43)»

_ HLf. _J Xsinh*-t$mX
c c =
>~ 3 'El * r+X1' tcoshtsinX-Xsinh + cosX ' - :•.

s
(BU)
X Hi! X coshf-cosX -•

c? Q
" *.f El ' 9l^X* ' tcoshfsmX- XsmhfcosX ' •-

The moments at the ends of the bar are found to be as follows*

At x = L M = KB = ET«, (B45)
•••,•

t, __ fcosh 4> sin X - X sinh f cos X El ...

where K- -fy —TT*I —f~ '•'- (B46) |
9?
-pij^T 11-cosh 9 cosX] * p; y 5inh $ sin \

At x = 0 M = kxe , (B47) i

Y»I sinh 9 —y-sin X • a

where ^=_ r^2_ = \ (m)
' JxmL Y cosh 9 sin X - sinh 4> cos X

Now* assume that the bar is subjected to compress!ve forces. In

this case, it is necessary to replace +P by -P. Then* Eq* (B£l) is

3
... ..... ••.••••.*

changed to Eq. (B42) and vice versa. Therefore* the expressions of K

and k for a compress!ve force can be obtained from the corresponding 13

expressions for a tensile force simply by interchanging in the latter

««
OXUI-OBSIODB vae quacxixies T anct -v •
%
For the special case in which no axial force is present, 9" \m X >
end Eqs. (B46) and (B48) reduce respectively to Eqs. (HL2) and (B16). *J

-•.^rrfqw^^^^jg^rg^^^^^^^^.ye^
 161

2JL formulas for Platea Simply Supported Along Two Opposite Edges

£t Q&MMSk Solution of Fundamental Equation for Vibration of Platee

Using the ordinary flerure theory of medium thick plates, the diff-

erential equation for lateral deflection w(x,y,t) of a uniform plate

which is free from lateral loads is

(B49)
d* d/dy- ay* N dtx
where p = the density of the plate material, h = the thickness of the

plate, assumed to be constant, and N = the flexural rigidity of the

plate.

The coordinate axes are taken in the middle plane of the plate

parallel to the sides of the plate. The origin of the axes is taken at

the upper left hand corner of the plate.

If the plate is simply supported along two opposite edges (say, •'•'

along x = 0 and x = a) the solution of Eq. (B49) may be taken in the •

form
"3
.
n(KY,t)= Yn5in^C05U)t (B50) • •--

where T is s function of the y variable only. Substituting this equa-

tion into Eq. (B49), one obtains the following equation for determining S3

the function I :
n

r r
» a* " I d> N )y» ° • (B51)

The roots of the corresponding characteristic equation are

* /-1.3.4
•*tffi>* (B52)

where
phut
(B53)
*"*/ N

iiirnrri"Bin»ii .mm iLirji niL " ^Z~*- ^TfriK&^G&fi " - • »**P;5S***^S5"-nW5?fa^W«

 162
Two different casea must now be consideredt
2
fm\ , and
Case (i) . wh«a A* => f»^r

Case (II). when tf<(^)2 •

The particular case in which X - 0 is omitted.

In the first case two of the roots are real while the remaining two are

imaginary. In the second case all four roots are real.

First consider Oase (I). Uaing the notation

-3
-• 9
-•••

...»

and " \- TJX-ffi (B55) |

the solution of Bq. (B51) becomes

YJy) * c, cosh f •*- + c2 sinh f ^ + c, cos v£- • c^s/'/i\-£ (B56)

.4
In Case (II) the X values in Eq. (B55) ere imaginary and, using
r
. •-. I
the notation

the solution of Eq. (B5l) becomes

m
X (y) C, cosh <t-^-+c± sinh Hj- + c;cos/7 x.' ^- + c45w/? \'-£-. (B58)
••

The integration constants in Eqs. (B56) and (B58) must be determined

from the boundary. qonditjQns of.the particular problem considered.

I
'I
"-•'•

bj Formulas for Flexural Stiffness and Flerural Carry-Over Factor

;
Consider a rectangular plate simply supported at x - 0 and x = a

BTid fixed ct J = C. Let au cumi uilig fflOiSQIlt

M(x,t) = Main— coswt (B59)

be applied along the edgt y = b

-••'• ••^>-^':;'-.«?3S£B5a^;-'«--^:,;^^ •«<*awJ«ao8aww^»«»»«wiwnniiii- nm*»v-*imr—rn».

 1A?

The boundary conditions in this case are:

at y = 0 5 = *n = 0 ,
(aso)
0 = I« = 0 .
n

at v - b 8 s T
n = 0 ,
(B61)
M = NY" •
n

The moment amplitudes at the ends nay ba expressed in terms cf the

rotation amplitude © as followsI

At y = 0 M = K© , (B62)

At y = b M = kK« (363)

where K and k are respectively the flexural stiffness and the flexural

carry-over factor.

It should be noted that when A >("*") Eq. (B51) for plates is '

similar to Eq. (B39) for bars subjected to fixed axial forces. And

since, for the particular case considered, the boundary conditions given

in Eqs. (B60) and (B61) are similar to those given in Eqs. (B8) and (B9)9

the expressions of K and k for a plate panel can be obtained directly

from the corresponding expressions given in Eqs. (B46) and (B48). It

is only necessary to replace in Eqs. (B46) and (B48) the quantities

^ , \ , EX, and L by f , % , N, and b, respectively. The results are

as follows:

f cosh 9~ sin 5 - X sinh jj cos.X N

(B64)
z?x [/ - cosh? cos%]+ Zt+ h sinh 9~s,n \
-ffijT

9
5inh f sin\
*--x :— — (B65)
-£- cosh $ sin \ - srh $ cos \

..-.»i7 nausea**:, K nwegg* ..y-.-v.

*-:v.'.-^^ifi^sa^jfca*,,^^
 These relations apply to values of A*>-pjp) •
For A*<(—) the expreesiona for K and k are obtained from thoae
given in Eqs. (5oi) and (S65) by replacing trigonometric functionB by
hyperbolic functione and the quantity (\f by -{XT . The results arei

„ roowrsmn
$ ^ - AAzinhrcoshX
cosh $ sinh X won r cosn A. r*
N /nc£-\
^i_(fy* [ / - cosh f cosh X] t fe-f'fyi sinh f Sinh X

3 _
sinh? - -krsmh V
fc - -y ^ (B67}
Y' cos/7 # s/'/ih X - sinh f cosh %'

c. Correlation Between Elastic Constanta fpr Vibrating Plateg and

Consider a flat plate loaded on two edges parallel to the y-axls by

uniforaly distributed compresaive forces p . Assume that no lateral

load acts on the plate.

The differential equation for the deflection w(x,y) of the plate is

ox ox Oj oy ox

For the case in which the loaded edges are simply supported, the

solution of Eq. (B68) may be taken in the form

w(x,y) = I airf? , (B69)

n a

wh*»Y is a function of y only* The unloaded edges may hare any con-

dition of restraint.

Substituting Eq. (B69) into Eq. (263)$ one obtains the following

s»<SttSifv5 •-*>=> ••
 165

where (B71)
7rl/V

Comparing Eq, (B70) with Eq. (Bpl) it can readily be shown that if

*'- (W'fctf (H72)

the two equations will be identical. Accordingly} the quantities K and

k of a vibrating plate for a given value of "~r and X are numerically

equal to the corresponding quantities of a compressed plate for the same

—r- value but for a value of #• (A*) (—r~) • Since tabulated values of

stiffness and carry-over factor for compressed plates do exist (see

Reference 32), these values can be used to determine the corresponding

dynamic quantities. It should be noted, however, that in Reference 32

stiffness has been defined as the moment necessary to produce a rota-

tion of a maximum amplitude of a quarter radian rather than one radian.

Therefore, the stiffness values obtained from Reference 32 must be multi-

plied by U to make them conform to the definition given in this report.

•Sail-.-W«««'• "' ' r. ••''"*-4S»' :«i5 ': r^-'Z:-*- • '- •±1^- •;"" ^J^^,JU ~',«*"<i
 166

APPENDS C. ANALT5IS OF STEADY-STATE FORCED 7IEMTI0RS

lx General Description of Msthod of Analysi*

The information presented in this report may be used also to ana-

lyse the steady-state forced vibration of continuous beams and frames sub-

jected to harmonically varying forces. The forces are presumed to have the

same frequency and bhe same phase angle* The effect of damping is neglected*

The determination of the steady-state forced vibration of a system

is a much simpler problem than the calculation of its natural frequencies,

since in the former case it is only necessary to go through a single cycle

of the trlal-and-error procedure used in the determination of natural fre-

quencies.

An analysis for steady-state forced vibrations can be carried out in

substantially the same way as an analysis for static conditions. In either

case, the analysis involves two basic steps:

a. Determination of the redundant quantities at the joints or

supports of the continuous system. In general, the redundant quantities

may be moments, rotations, deflections or any combination of these.

b. Determination of the moments, shears, deflections at points

between joints or supports* The principal difference between a static and

dynamic analysis is that while in a static analydis moments and shears with-

in a member may be determined by statics from the moments and shears at the

ends of the member, in a dynamic analysis these effects must be computed

independently.

We shall now outline one of a number of possible procedures for

executing these steps. For illustration, we shall consider the relatively

simple frame shown in Fig. 53 and, for simplicity's sake, shall essume that

i
"»^^^^:.v.;^-r^:vr'^^^rr,^'-fr--^s^- •,'.•- ^ ~**Si&^^~~:.-^Z#**^'-'*^'$^ 'mpmmsvmiv.'*!*** >• ~ wasr-*--—*,#-*,*vs*—.- ~Ts>^&<&\zij-*t!,is~.~-:.. ' * »a*»*j*WiM£
 107

the joints of the frame do not move- Joints 1 and 9 are assumed to be

simply supported.

\F,cosu)t iFzcosu)t
i_ a —n
17JW

3X 4-5
Fig. B3

Although this procedure, In the form presentod herein, is appli-

cable to continuous open frames only, It can readily be extended to frames

involving closed panels. The details of the procedure are as follows:

Step a» (1) Replace the concentrated forces by equivalent fixed

end moments. The magnitude of these moments may be obtained directly from

Table II iii Appendix A. (If the ends of the loaded members were free to

deflect, it would have been necessary to calculate also fixed end shears.

These could have been computed either from Eq* (72) or from Bq. (B3l)«

(2) For each span compute the quantities K and kK. (If the joints

of the frame were free to translate, it would have been necessary to compute

also the quantities g, gj}, T, and tT.) These quantities are obtained direct-

ly from Table I in Appendix A.

(3) Assume a slope at support 1. Progressing from joint to

joint across the frame in the manner described In the body of this report,

evaluate the rotations of the joints. It should be remembered that in this

case the external moment M, is, in general, different from zero.

(4.) From the rotations determined in the preceding seep, calculate

the magnitude of the moment at the extreme right end of the frame. This

^—*Vv"^^A'-M3^:*?-'-.*-^^.-^i"-•^ &r*se*. !••

 166
aosent will, in general, be different from the aotteal aaaeni at that end, a
condition indicating that the assessed alone «- was in error. It ie therefore
necessary to add a correction configuration.
(5) Disregarding ths asternal sjosests, fiaS the influence of a
unit rotation at joint 1 on the diatortiona of the reaaining joints. Cal-
culate also the magnitude of the correaponding moment at the right and*
(6) Combine the configurationa determined in (4) and (5) eo aa te
eliminate the unbalanced moment at the right end*
(7) From the rotations determined in (6), compute the magnitude
of the momenta at the joints or supports of the frame using the relational?

s
<J »o * kWj
where MQj is the moment at end o of the member oi. Thie concludes Step a•
Step b. Any desired effect (moment, shear, deflection, etc.) with-
in a member oj may be determined by superimposing the following effeotat
(1) The effect of the load on a simply supported member
(2) The effect of the moment at end o
(3) The effect of the moment at end mj
If the ends of the member deflect, the following effeota must also be added?
(U) The effect of the deflection at end o
(5) The effect of the deflection at end £
Saeh effect is computed on the assumption that the member la simply supported
at the ends.
The quantities added may, if desired, be different from those out-
lined. For example, one may add the effect of the load on a member fixed at
both ends, the effects of the end deflectlona, and the effeota of the end
rotetiona. Irrespective of the manner in which the computations are carried

•-"^**r--TEr^>-/*b-^^£:-;-f^'^.i-."IM---?-^"7.""- KZ&W - ••"'~-eSr^*v-«.-*?..*;»:«; • v»*v mz^ •vjajy-yggacaa/jmc*wmt&n-»+m**9v >m»a»ftto

 169

out? the facility with which results are computed depends on the information

available for the various quantities added.

The appropriate expressions for effects (2) through (5) ore given

in Reference (24). Included in this reference are also tabulated numerical

values of functions in terms of vhich these effects can easily be computed*

The appropriate expression for effect (I) is givan in the next section.

2. Formulas for Steady-State Deflection of a Simply Supported Uniform Beam

Carrying a Concentrated Force Fcogu/t

The force is assumed to be applied at a distance fL from the left

end of the beam as shown in Fig. B4> The subscripts 1 and 2 will be used to
Fcos tot

(I) (2)
"WWr

fL (l-f)L
x,~-
Fig. B4

dssignsti quantities for the left and the right portions of the beam; The

distances x. and x~ are measured from the ends of the beam as shown on

the figure.

The deflections w, and w- may be written as

w, - jc,cosh A -jn- + ctsinh A -£- + c, cosA -^ + c4 sinA-f-jcovuot ,

w, \c,coshX-^- + czsmhX^ * C^ccsX -r1 t c+sinX^ j coswt .

The eight integration constants have been evaluated from the four boundary

conditions and from the four continuity and equilibrium conditions for the

point of application of the force. The results ares

•v*..c" -->•****»*-H T. *r-«:.i;•*-.-- a.Af,~* -m**?w^ txf&i^'-'&ttmsiiartm-M.^i.i*. ^..«w«Ta»rtfnwi»*--.^;.-i-afi^--•-•^'-. -^•••

 170

FL3 J_ fs/nO• r—5MA-7— sinh COS U)t

kVjtVj-
El 'lX[ 5inX
sh L

FL' ±_r_stnt\_ smA

. , Ai_ sink V*
... 7
A / coswt
sinh f*
wfrOO- El 'IX[ sin* L

Fro• these equations, expressions for bending moment and shear can

be obtained readily by differentiation.

:
a»iw«i6M*R^»->*^xiaatt*«s>r**«"cwai -A* „•• . ,'w.S'*^^.«^)MIv>^ "vio*- **»*• • i i *t*m p .1 x - W.F9*
 171

&I£tf2S£A£HX

(1) "SUE EradiLIiiug dar Grundschwingungszahlen von durchlaufenden Tra*gern",

by W. Mudrak* Ingenieur-Archiv, vol. 7, 1936- pp. t>l—55

(2) "Ermittlung der Eigonschvingzahlen von cferchlaufenden Tragsm rait

feldweise veranderlicher Langskraft", by W. MucLTak,iag«nieur-Archlv,
vol.7, 1936, pp. 293-297

(3) "Bestimmung der Eigenschwingungszahlen von durchlaufenden Tragsra und

Rahman", by W. Mudrak, Zeitschrift fur Angevandte Mathematik and Mechanik,
vol. 28, 1948, pp. 258-263

(4.) "Vibration Frequencies ox CuuLLnuoua Beams", by Edward Saibel, Journal of

the Aeronautical Sciences, vol. 11, 1944, pp. 88-90

(5) "Free Vibrations of Constrained Beams", by W. F. Z. Lee and E. Saibel,

Journal of Applied Mechanics, vol. 19, 1952, pp. 471-4-77

(6) "Natural Modes of Vibration of Simple Frames", by S. Bennon, Journal of

the Franklin Institute, vol. 243» 1947, pp. 13-39
V
•1
(7) "Die Berechnuiig der Drechschwingungen", by H. Holzer, J. Springer,
Berlin, 1921.
Holzer's method is also described in "Mechanical Vibrations", by
J. P. Den Hsrtcg, McGraw-Hill Book Company, Inc., N.I., 2nd Edition,
1940, pp. 228-233» or in "Vibration Analysis", by N. 0. Myklestad,
McGraw-Hill Book Cospsry. I**, w.Y~ 1944. pp. 165-168
n
(8) v, New Method of Calculating Natural Modes of Uncoupled Bending Vibration
of Airplane Wings and Other Types of Beamo", by N. 0. Myklestad, Journal
of the Aeronautical Sciences, vol. 11, 1944, pp. 153-162

(9) "A general Method for Calculating Critical Speeds of Flexible Rotors", by
h. H. Prohl, Journal of Applied Mechanics, vol. 12, 1945, pp. 142-148

(10) "Calculation of the Multiple-Span Critical Speeds of Flexible Shafts by

Means of Punched-f^rd Machines*, by A. -*'. Rankin, Journal of Applied
Mechanics, vol. 13> 1946, pp. 117-126

(U) "Determination of the Natural Frequencies of the. Bending Vibrations of

Beams", by A. I. Bellin, Journal of Applied Mechanics, vol. 14, 1947,
pp. 1-6

(12) "Analysis of Continuous Frames by Distributing Fixed-Eni Moments", by

Hardy Cross, Transactions A.S.C.E., vol. 96, 1932, pp. 1-10

(13) "On Moment Balancing in Structural Dynamics", by R. E. Gaskell, Quarterly

of Applied Mathematics, vol. 1, 1943, pp. ;y7-249
 172

(1A) "Some General Theorems Relating to Vibrations", by lord Rayleigh,

>•• London Proceedings Mathematical Society,, 1873* pp. 357-368} also,
"The Theory of Sound", by Lord Rayleigh, Cover Publications, 1945,
vol. 1, pp. 150-157

(15) "A Distribution Procedure for the Analysis of Slabs Continuous over
Flexible Beams", by N. M. Newmark, University of Illinois Engineering
1 Experiment Station Bulletin 304, 1938. p. 2y
1 (16) "Natural Frequencies of Continuous Beams of Uniform cpan Length", by
I R. S= Ayre and L. S. Jaeobsen, Journal of Applied Mechanics, vol. 17,
| 1950, pp. 391-395
§ — -•

I (17) "4 Direct Method of Moment Distribution", by T. I. Lin, Transactions

A.S.C.E., vol. 102, 1937, pp. 561-571
&•
I (18) "A Simple Method for the Calculation of Natural Frequencies of Torsional
f Vibration", by F. P. Porter, Transactions A.S.M.E., vol. 53, Paper
§ OGP-53-2, 1931, pp. 17-32.
A detailed description of Porter's method is given also by N. Cv
Myklestad "Vibration Analysis", McGraw-Hill Book Company, Inc. N.I.,
1944, pp. 168-177

(19) "Fundamentals of Vibration Study", by R. G. Manley, John Wiley and Sons,

I Inc., N.I., 1943

(20) "Free and Forced Vibrations of Composite Systems", by S. Saibel, Pro-

I ••. ceedings of the Symposium on Spectral Theory and Differential Problems,
; Oklahoma Agr. and x-iech. College, 1951, pp. 333-343

(21) "Stability of Structural Members Under Axial Load", by E. E. Lundqulsx,

Technical Note No. 617, National Advisory Committee for Aeronautics,
Washington, D.C., October, 1937

(22) "Die Beanspruchung von Tregwerken durch schuingends listen", by W. Prager,

In^enieur—Archiv, T>O1S 1« 1930, pp? 527—532

(2*0 "B«ansnruchunff und Formanrianincr von St«bw«rken bel opawunfirenan Sahvine^

ungen", by S. Gradstein and W. Prager,Ixgemeur~Arnhiv, 1932, vol. 2,
rf — -*• -

?,
(24) Dynaaik dar Stabv«©rke% \ty Eo Sjibaiiffifiaier ex& V. Prsgir, Julias &or-ir»ger,
Berlin, 1933
(25) "Successive Elimination of Unknowns in the Slope Deflection Method", by
J. B. Wilbur, Transactions A.S.C*E*7 vol. 102, 1937, pp* 346-351

(26) "Principal Effects of Axial Load on Moment Distribution Analysis of Rigid

Structures" - b*r 3i W= Jasies- Technical Sot* Nc« 534; National Advisorv
Committee for Aeronautics, Washington, D.C., July 1935

>Mnimii"TV wwrtfaTi»iiMii»WHr N --•*•• — w*^,r>->fc- r • Mt;*»~m*M**M':

I 173
t
(27) "Extended Tables of Stiffness end Garry-Over Factor for Structural
I x4 Members Under Axial Load", by E„ E. Lundquist and W. D. Kroll,
I Wartime Report L-255 (ARR 4B 24), National Advisory Committee for
Aeronautics, Washington. D»C.February, 1944-
Is

I (23) "A Relaxation Prvcedure for the Stress Analysis of a Continuous Beam-
g t Column Elastically Restrained Against Deflection and Rotetion at the
Supports V by Pai 0. Hu and Charles Libovc, Technical Note No. 1150,
Rational Advisory Committee for Aeronautics, Washington, D.Co?
October 1946
(29) "Uber das ebene Knickproblem dea Stockverkrahmeng", by E. Chwaila and
*
F. Jokisch, Der Stahlbau, vol. 14> p. 32, 1941
(30) "Buckling of Trusses and Rigid Frames", by G. Winter, P. T. Hsu, B. Koo,
i sad Me H» loh, Cornell University Engineering Experiment Station Bull-
f etln 36? Ithaca, N.y,
I
(31) "Beams on Elastic Foundation", by M. Hetenyi, University of Michigan
Press, Ann Arbor, 1946
1 (32) "Tables of Stiffness and Carry-Over Factor for Flat Rectangular Plates
Under Compression", by W. Do Kroll, Wartime Report L-398 (ARE N0.3K27),
National Advisory Committee for Aeronautics, Washington, D.C., Nov.1943
I
(33) "The Frequency of Vibration of Rectangular Isotropic Plates17, by R. F. S.
Eearmon, Journal of Applied Mechanics, vol. 19, 1952, pp» 402-403
(34) "On the Fundamental Frequencies of Vibration of Rigid Framei", by B. F»
Kasurj paper presented at the First Midwestern Conference on Solid
Mechanics, University of Illinois, April 24. 1953

**** — a*"' "'• '** tii-lt^aa'T WHH i m i • HW > - * **** •«**» m>~Ki*gmXzzj,i22?rhS? rags^!"' • *»* OW—>i **" j*r~*crv •
 i
:•

s 174.
I
,*

f
2-1

» i

M
*y xcos u?t

It
FIG. I TYPICAL JOINT OF A PLANE FRAMEWORK

-vg=<joe

I
If

Sum«*»nry of Plastic Constants

Movement At End "f" At End V

of End Y' Moment M Shear V Moment M Shear V
e«i K Q kX -qQ
8«l Q T qQ -tT

FIG. 2 DEFINITION OF ELASTIC CONSTANTS

MwssaBssssm
 16 175

,*

12
t
§
w.
S
t 8
•:

4 J

/706B 10.210.
3.927
-IUJ o ^4.730 ,-7853
8 10

=fe

i -A
I
|

-8

-12

-16

FIG. 3 COEFFICIENTS OF DYNAMIC FLEXURAL STIFF

MESS Jl FOR A UNIFORM BAR FIXED AT
THE FAR END
J
n
•:-wfcif*»,.:ii.:.«^t^'jHV.*..OT«iniwni.'-rt^fl'.j'
 -

176
16

,*

:
:<•

12

1
>
! 8
E

-I|UJ

-4

-8

-12
i
i
-16

FIG. 4 COEFFICIENTS OF THE PRODUCT OF DYNAMIC

FLEXURAL STIFFNESS AND DYNAMIC FLEXURAL
CARRY-OVER FACTOR £& FOR A UNIFORM
BAR FIXED AT THE FAR END

• «»»^ftCT-.> Uajrmef1***"' «e •
 .

177 1
,*

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u
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>-
tr
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-4

FI6.5 DYNAMIC FLEXURAL CARRY-OVER FACTOR JL

FOR A UNIFORM BAR FIXED AT THE FAR END

tiMIHIiWIWW
 9BB

xco
16

,*

-12

-16

FIG. 6 COEFFICIENTS OF DYNAMIC FLEXURAL STIFFNESS J£l

FOR A UNIFORM BAR HINGED AT THE FAR END

•MKMMBW>M*r«%-^-:. ->**..*.,,.* j&mm*-— >!

 179
160

120

80

40

-40

-80

-120

-160

FIG. 7 COEFFICIENTS OF DYNAMIC FLEXURE - SHEAR

STIFFNESS H FOR A UNIFORM BAR FIXED
AT THE FAR END
 180
ISO

.*

120

80

40

-40

-80

-120

-160
fiG. 6 COEFFICIENTS OF THE PRODUCT OF DYNAMIC
FLEXURE- SHEAR STIFFNESS AND DYNAMIC
FLEXURE-SHEAR CARRY-OVER FACTOR ^Q
FOR A UNIFORM BAR FIXED AT THE FAR END
 I 1600

1200

800

400

M5 12.00 <;2j65 473(

^
I- °

-400

- -
-800

-I20Q
«

--•_. •••

» -1600
1

FIG. 9 COEFFICIENTS OF DYNAMIC

FOR A UNIFORM BAR F
 Itf2

**. * A » m • i
^E PRODUCT OF DYreAMiC
AND DYNAMIC SHEAR
OR H FOR A UNIFORM
: FAR END
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R6.!? DYNAMIC FLEXURE-SHEAR CARRY-OVER

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AT THE FAR END

%s»^%^sfe^s«?~ss3;ii{:!^--*!*' •*•'•• '»a«£»s«JS3»fM»KW!if^~ *&s-

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8 10

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FIG. 12 DYNAMIC SHEAR CARRY-OVER FACTOR ±

FOR A UNIFORM BAR FIXED AT THE FAR END

. i-UBt

a t&m&tB&»tsi&xwBi& • i£££*j'. > -yKl*!****^'<•****- i*>:.ftirS?vjS: r-i "SfST;-:i

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FIG. 53 DEFLECTED SHAPE OF TWO ADJACENT SPANS

OF A CONTINUOUS BEAM ON RIGID SUPPORTS

__£ Uniform
^3£ -35T
z 3 4
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FIG. 14 BEAM CONSIDERED IN EXAMPLE I

R.«0.5-^
*J"' E.I, E,I, 1.35 E.I, 1.35 E.I,
0.80 m. 1.20m, m.

H— L. r-— 1-25 L. -1- L, ••»• 1.50 L, i

FIG, 15 BEAM CONSIDERED IN EXAMPLE 2

EgBMBBai

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 191

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FRAME, NO SIDE SWAY

F!G. 22 TYPICAL PORTAL AND L- FRAMES

j-M,= constant -s M_
** 1 aJ ^

3 •9 A-
iv).: constant
n 8.* constant
to

FIG. 23 TYPICAL OPEN FRAMES

; um«i.iaiiinii' *KBK3»» «> »i^<wv«ww«(i(sb<i^««rwinst»«ii» K< «>M» -AOW-

_J
 ""^!2H

192

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(a)
i

(b)

i \

/
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Cc)

FIG. 24 POSSIBLE NATURAL "MODES OF FARTIAL

VIBRATION3

I
**w!r III mmmmmm i WOT*1
 w—»a

193

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f
rffli.E.j* rm*»EA s
(2) '-*-

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L, (I)
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(5.1440) (0.5491)
(3.4051)
M6* 3.517 ^*~

'2
to

I-
X^3.30
E,l,
M =1.00

(b)

FIG. 25 ILLUSTRATIVE EXAMPLE 3

mmm

*.*»M^3Wj|IMBigM!eja8giayiiM«^«l^^<g3P^^ .-^-su .**•—c ~v.;^..o.

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FIG. 27 NATURAL VIBRATION MODES FOR FRAME

CONSIDERED IN EXAMPLE 3
;^i=ss-; BS HSS27S

•awsniiin 11 jn mmm»—«•»< •' w— tc^>«„. F* -rse>r«ii>w**-' --•»» .=-•«-—•—

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FIG. 29 TYPICAL CLOSED FRAMES, NO SIDESWAY

(b)

FIG. 30 ILLUSTRATIVE EXAMPLE 5

—-JMT5«S.-«1 »MMT»».T*g-'-—J iT»»M»»«i^«-««• -*.•>»*«»•»--^.^^»«<»~!»'W

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FIG. 34 ILLUSTRATIVE EXAMPLE 6 (CONTINUED)

OKHMBUW
I
-- '•^«i«Wtt;'i^'-*.^i.",'--fl''''i *'*••
 j
r .iLMIl

204

r
ia 171
t
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(6) j
S fh\ U !i4) *
43

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(6)

(8)
s 6

(6)

4l—m.
(2)

(b)

3 (3) (4) (3) 3

r 1

CD (2) (2) (I)

1 I 1

1 2 2 I"

FIG. 35 ILLUSTRATIVE EXAMPLE (CONTINUED)

 205

*^ ^•"i £\

FIG. 36 TYPICAL CONTINUOUS BEAM ON FLEXIBLE

SUPPORTS

iSJSH^^Wi..... .._
IV:), (vs)B

FIG. 37 SPANS j-i AND j OF A CONTINUOUS

BEAM ON FLEXIBLE SUPPORTS

!-«*
 s***

^06

t>

iSi r*^mJ <

^~
"^

! 2 z

(a)

!+i

(b)
.-
I

i <
m
j
i j 4
•af
v.
5

.(c)

ft

4
JT^E
(d)

FIG. 38 SEAMS WITH VARIOUS INTERMEDIATE

CONSTRAINTS
>•

MBB I'll IffliUM

 mrmmmmm^mr,

207
t '•**'<••'••"- ,...^.M~,. ,^...,,,......fw ..l<mf.l.,..,.r.,....:• t^t(t(.<llv,^,^..,.,.,...„•,!,m„Ut,

t~Cross beon

(I) (2) t3) W (5)

•tiii»//i..jM>r.m»i)»)ii.iii>- •t},f)„^f>fml>it})lfl,ifnf,r.,)\ffm},fii <i^i)i)'})»rb»m',JH'i,>«>y"n>r»in}"irf>)iii!i

(a)

Cross beam
T"
TWfarf

-f
J
j i+l
(c)

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6ds
-;•
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nr »UP llll Til

no. »>» • CMIKiO nun vHniuuo IN i trxwiLUiA 11.
CONSTRAINTS
A

SI

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i ui|-
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