28/10/2015

Lecture - 36

WAVE PROPAGATION IN CONTINUUM SYSTEM

¾ Equation of motion for vibrating string is another problem of interest in continuum
system.

¾ Undamped free vibration equation is derived by considering equilibrium of an

element cable element for transverse vibration.

⎛ ∂θ ⎞ ∂2 y
T ⎜θ + dx ⎟ − Tθ = ρdx 2
⎝ ∂x ⎠ ∂t
where ρ is the mass per unit length of the cable.
∂θ ρ ∂ 2 y
=
∂x T ∂t 2
∂y ∂ 2 y 1 ∂ 2 y T
Since θ = ; = ; c=
∂x ∂x 2 c 2 ∂t 2 ρ
c is called the velocity of wave propagation.

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Contd.
¾ The general solution of the equation of motion is
y = F1 (ct − x ) + F2 (ct + x )
Regardless of the type of function F, the (ct ± x ) argument upon differentiation leads
to ∂2F 1 ∂2F
=
∂x 2 c 2 ∂t 2
Hence, the differential equation is satisfied.

¾ For component y = F1 (ct − x ) , it can be easily shown that the wave propagates in
positive x direction with speed c and the opposite phenomena is experienced for the
component y = F2 (ct + x ) .

¾ So
So, the general solution consists of wave propagations in two opposite directions for
one dimensional wave propagation problem.

¾ Solution of the equation of motion can be obtained by the method of separation of

variable is, y ( x, t ) = Y ( x ) q (t )
Substituting in equation of motion,
1 ∂ 2 y 1 1 ∂ 2q
=
y ∂x 2 c 2 q ∂t 2

Contd.
¾ Since both the sides are independent of each other, the ratios of the terms on the two
sides should be the same and hence,
∂2 y ⎛ w ⎞
2

+⎜ ⎟ =0
∂x 2 ⎝ c ⎠
∂ 2q
+ ω2 q = 0
∂t 2
The general solution of the two equations are:
ω ω
y = A sin x + B cos x
c c
q = C sin ωt + D cos ωt
¾ Constants of the two equations are obtained from the initial and boundary conditions.

¾ Consider a stretched string between two fixed points separated by l, y (0, t ) = y (l , t ) = 0

ω
¾ Then B = 0 and y = (C sin ωt + D cos ωt ) sin x
c
¾ Note A could be a function of t (not x).
ω
¾ For y (l , t ) = 0 , gives sin l=0
c

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Contd.
ωnl 2πl n = 1,2,3.....
= = nπ
c λ
c
λ=
f
¾ Each n represents a normal mode with a frequency
n n T
fn = c=
2l 2l ρ
The mode shape is
x
y = sin nπ
l
¾ For free vibration initiated in any manner, the equation of motion becomes
∞ nπx
y ( x, t ) = ∑ (Cn sin ωnt + Dn cos ωnt ) sin
n =1 l
nπc
ωn =
l
Example

A uniform string of length l is fixed at the ends and stretched under tension T. If the
string is displaced in an arbitrary shape of y(x,0) and released, determine Cn and Dn .

Contd.
¾ At t = 0, the displacement and velocity are ∞
nπx
y ( x,0) = ∑ Dn sin
1 l
∞ nπx
y& ( x,0) = ∑ ωnCn sin =0
kπx 1 l
¾ Multiplying each equation by sin and integrating over 0,l.
0l
l
Ck = 0
2y kπx
Dk = ∫ y ( x,0) sin dx k = 1,2,3.....
l0 l
¾ Same type of equation of motion is achieved for longitudinal vibration of rods.

¾ Referring to the figure below,

below
∂u P
=
∂x AE
∂ 2u ∂P
AE =
∂x 2 ∂x
∂P ∂ 2u
dx = ρAdx 2
∂x ∂t

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Contd.
∂P
¾ Substituting for ,
∂x
∂ 2u E ∂ 2u
=
∂t 2 ρ ∂x 2
∂ 2u 1 ∂ 2u E
= 2 2 c=
∂x 2 c ∂t ρ
¾ The solution of the equation is same as before.
E
¾ The velocity of propagation of displacements as stress wave is c =
ρ
Example
Determine the natural frequency of mode shape of a free - free rod.
∂u
¾ Free – Free end denotes zero stress on either end is: (strain) = 0
∂x
at x=0, x=-l
⎛ ∂u ⎞ Aω
⎜ ⎟ = (C sin ωt + D cos ωt ) = 0
⎝ ∂x ⎠ x =0 c
⎛ ∂u ⎞ ω⎛ ωl ωl ⎞
⎜ ⎟ = ⎜ A cos − B sin ⎟(C sin ωt + D cos ωt ) = 0
∂
⎝ ⎠ x =l
x c ⎝ c c ⎠

Contd.
ωl
¾ A becomes zero; and for B to be finite sin =0
c
ωnl
= π ,2π ,3π .....nπ
c
nπ E
¾ ωn = is the frequency of vibration
l ρ
¾ Solution of the free-free rod with zero initial displacement can the be written as
nπ nπ E
u = u0 cos x sin t
l l ρ
¾ It is a cosine wave having n modes.

¾ Another problem of interest is seismic wave propagation (one dimensional) through

soil originating from rock bed and travelling to the ground surface.

¾ Being wave propagation problem, same undamped equation of motion is solved; the
wave velocity is represented by either V s or V p depending upon the kind of wave
(Shear wave / P - wave).

¾ The solution is obtained in complex domain using the concept that waves move in
two opposite direction from a point within the continuum.