Advanced Theory of

Vibrations ME-742
Ch 08
I owe thanks to all those who directly or indirectly contributed to this work.
Dr Nadeem Shafi Khan
PhD (Mech) (USA), MS (Rotorcraft Structural Dynamics) (USA), MS (Structural Fatigue)
(PAK), MBA (Finance) (PAK)
PE, HEC Approved PhD Supervisor
M(ASME), M(AIAA), M(ASQ), M(iMechE), M(AHS)
Email: nadeem @gatech.edu
0335-8396553/0340-5665859/0322-5360576
1
 q=int(sin (a*x)*sinh (a*x),x)
-(cos(a*x)*sinh(a*x) - cosh(a*x)*sin(a*x))/(2*a)

2
3
Transverse Vibration of a String or Cable

4
For a Uniform bar

f=0 for free vibration

Wave Equation

Where c can be called the

velocity of the wave. 5
 Initial Conditions

Boundary Conditions

6
Boundary Conditions (Contd )

7
Solution of Free Vibration Problem with Method of Separation of Variables

8
 Requires A should be zero.

Frequency or Characteristic Eqn

9
nth mode of vibration or nth harmonic or nth normal mode.

Number
of Nodes
= n+1

Fourier Sine
series
Expansion
10
Multiplying by Sin (n (pi)x )/l and integrating from 0 to l and multiplying the
integral by 1/(l/2)

Example 8.1

11
 Longitudinal Vibration of a Bar or Rod

For a Uniform bar

f=0 for free vibration

14
15
Example 8.2

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Multiplication by
alternate U

Orthogonality Principle for

Normal Functions
Example 8.3 Free Vibrations
of a Fixed – Free Bar
Example 8.4 Natural
Frequencies of a Bar Carrying a
Mass 17
Example 8.3 Free Vibrations
of a Fixed – Free Bar

Example 8.4 Natural

Frequencies of a Bar Carrying a
Mass
Example 8.5 Vibrations of a Bar subjected to an Initial Force

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 Torsional Vibrations of a shaft or a Bar

Per Unit Length

J= Polar Moment of
inertia of the shaft per
unit length

I0= Mass Polar Moment

of inertia of the shaft per
unit length

TL
  max 
Tc
JG J 20
 Torsional Vibrations of a shaft or a Bar

Where rho is the mass density of the bar.

21
Torsional Vibrations of a shaft or a Bar

22
Example 8.6 Natural Frequencies of a plane milling cutter

23
inertia force acting on the element of the beam is
Force EOM in the z- axis

Moment EOM about the y- axis passing through ‘O’

Lateral Vibrations of a Beam 24

Disregarding terms involving second powers in dx, Eqs. (8.70) and (8.71) can be written as

From elementary theory of beams (also

called Euler –Bernoulli beam theory or
thin beam theory

For Uniform beam

For Free Vibration

25
For Free Vibration Solution,

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Or

W(x) is the normal mode (or characteristic)

function of the beam

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Boundary Conditions

28
Common Boundary
Conditions and
associated frequency
equations, mode shapes
etc. for transverse
vibrations of thin beam

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Orthogonality of Normal Functions

For any combination of free, fixed and simply supported boundary conditions,

Example 8.7 Natural Frequencies of a fixed – pinned beam 30

Forced Vibrations Solution for a beam

Where

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32
The problem of vibrations of a beam under the action of axial force finds Effect of Axial Force
application in the study of vibrations of cables and guy wires.
For example, although the vibrations of a cable can be found by treating it as an equivalent string,
many cables have failed due to fatigue caused by alternating flexure.
The alternating flexure is produced by the regular shedding of vortices from the cable in a light wind.
We must therefore consider the effects of axial force and
bending stiffness on lateral vibrations in the study of fatigue failure of cables.

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34
 𝑛𝜋
𝛽=
𝐿

35
 Effect of Rotary Inertia and Shear Deformation
 If the effect of shear deformation is disregarded, the
tangent to deflected center line O`T coincides with the normal to the face Q`R`
(since cross sections normal to the center line remain normal even after deformation).
 Due to shear deformation,
tangent to deformed center line O`T will not be perpendicular to face Q`R`.
 The angle gamma between the tangent to the deformed center line (O`T) and
the normal to the face (O`N) denotes the shear deformation of the element.
 Since positive shear on the right face acts downward

where ϕ denotes the slope of the deflection

curve due to bending deformation alone

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 Note that because of shear alone, the element undergoes distortion but no rotation.

k is a constant, also known as Timoshenko’s shear coefficient,

which depends on the shape of the cross section.

For a rectangular section, the value of k is 5/6 ;

for a circular section, it is 9/10 [8.11].

P.S. Equation (8.129) is similar to Eq. (8.75).
Equation (8.130) can be obtained as follows:
Shear force = Shear stress * Area = Shear strain * Shear modulus * Area
Or V = γGA
This equation is modified as V = kAGγ by
introducing a factor ‘k’ on the right-hand side to take care of the shape of the cross section.

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1. For translation in the z direction:

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 2. For rotation about a line passing through point D and parallel to the y-axis:

Using the relations

and
disregarding terms involving second powers in dx,

𝜕∅
solving Eq. (8.133) for 39

and substituting the result in Eq. (8.134), 𝜕𝑥

For free vibration,

1. Fixed end:

2. Simply supported end:

3. Free end:

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EXAMPLE 8 . 1 0
Natural Frequencies of a Simply
Supported Beam
Determine the effects of rotary inertia and shear deformation on
the natural frequencies of a simply supported uniform beam.

frequency equation

Note following aspects of rotary inertia and shear deformation:

 If the effect of rotary inertia alone is considered,
resulting equation of motion does not contain
any term involving shear coefficient k.
 Hence we obtain (from Eq. (8.136)):

reduces to

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 2. If the effect of shear deformation alone is considered,
the resulting equation of motion does not contain the terms originating from

in Eq. (8.134). Thus we obtain the equation of motion

and the corresponding frequency equation

3. If both the effects of rotary inertia and shear deformation are disregarded,
Eq. (8.136) reduces to the classical equation of motion, Eq. (8.78),

and Eq. (E.4) to

42
f EB Beam eqn for EB+Rotary=Rayleigh
static case Rayleigh +Shear= Timoshenko

f
f Timoshenko beam eqn for
static case
EB Beam eqn for
dynamic case i.e
vibration

Timoshenko beam eqn for

dynamic case i.e. vibraion
Rayleigh Beam eqn
for dynamic case i.e
vibration
EB Beam (with
shear alone) eqn for
dynamic case i.e
vibration
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8.6 Vibration of Membranes
 A membrane is a plate that is subjected to tension and has negligible bending resistance.
 Thus a membrane bears the same relationship to a plate as a string bears to a beam.
 A drumhead is an example of a membrane.

Let P be the intensity of tension at a point that is equal to

the product of the tensile stress and the thickness of the membrane. 44
The net forces acting along the z direction due to these forces are

and

The pressure force along the z direction is f(x, y, t) dx dy, and the inertia force is

mass per unit area.

45
1. If the membrane is fixed at any point (x1, y1) on a segment of the boundary,
we have

2. If the membrane is free to deflect transversely (in the z direction)

at a different point (x2, y2) of the boundary,
then the force component in the z direction must be zero.
Thus

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EXAMPLE 8 . 1 1 Free Vibrations of a Rectangular Membrane
Find the free-vibration solution of a rectangular membrane of sides a and b along the x-
and y-axes, respectively.

By using Eqs. (E.1) and (8.138), we obtain

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13.4.1 Membrane with Clamped Boundaries

natural mode of vibration corresponding to ωmn

Multiplying by sin(mπx/a) sin(nπy/b) and integrating over area of membrane.

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1. The fundamental or lowest mode shape of the membrane corresponds to m = n = 1.
In this modal pattern, the deflected surface of the membrane will consist of
one half of a sine wave in each of the x and y directions.
The higher values of m and n correspond to mode shapes with
m and n half sine waves along the x and y directions, respectively.
Thus, for values of m and n larger than 1,
the deflection (mode) shapes will consist of lines within the membrane along which the deflection is zero.
The lines along which the deflection is zero during vibration are called nodal lines.
For specificity, the nodal lines corresponding to m, n = 1, 2 are shown in Fig. 13.4.
For example, for m = 2 and n = 1, the nodal line will be parallel to the y axis at x = a/2, as shown in Fig. 13.5(a).
Note that a specific natural frequency is associated with each combination of m and n values.
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2. Some of higher natural frequencies (ωmn) are integral multiples of fundamental natural frequency (ωpp = pω11),
where p is an integer, whereas some higher frequencies are not integral multiples of ω11.
For example, ω12, ω21, ω13, and ω31 are not integral multiples of ω11.

3. It can be seen that when a2 and b2 are incommensurable,

no two pairs of values of m and n can result in the same natural frequency.
However, when a2 and b2 are commensurable,
two or more values of ωmn may have the same magnitude.
If the ratio of sides K = a/b is a rational number,
the eigenvalues ωmn and ωij will have the same magnitude if

For example, ω35 = ω54, ω53 = ω46, etc. when K = 4/3, and ω13,4 = ω12,5, etc. when K = 5/3.

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4. If the membrane is square, a = b and Eq. (13.70) reduces to

and the magnitudes of ωmn and ωnm will be the same.

This means that two different eigen functions Wmn(x, y) and Wnm(x, y)
correspond to the same frequency ωmn (= ωnm);
thus, there will be fewer frequencies than modes.
Such cases are called degenerate cases.
If the natural frequencies are repeated with ωmn = ωnm,
any linear combination of the corresponding natural modes Wmn and Wnm
can also be shown to be a natural mode of the membrane.
Thus, for these cases a large variety of nodal patterns occur.

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 5. To find the modal patterns and nodal lines of a square membrane corresponding to repeated frequencies,
consider, as an example, the case of ωmn with m = 1 and n = 2.
For this case, ω12 = ω21 =√5πc/a and
the corresponding distinct mode shapes can be expressed as (with a = b) (13.73)

(13.72)

Since the frequencies are the same,

it will be of interest to consider a linear combination of the maximum deflection patterns given
by Eqs. (13.72) and (13.73) as
(13.74)

where A and B are constants.

The deflection shapes given by Eq. (13.74) for specific combinations of values of A and B are shown in Fig. 13.6.
Figure 13.6(a) to 13.6(d) correspond to values of B = 0, A = 0, A = B, and A = −B, respectively.
When B = 0, the deflection shape given by Eq. (13.74)
consists of one-half sine wave along the x direction and two half sine waves along the y direction with
a nodal line at y = a/2.
Similarly, when A = 0, the nodal line will be at x = a/2.

Figure 13.6 Deflection shapes given by Eq. (13.74): (a) B = 0; (b) A = 0;

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 When A = B, Eq. (13.74) becomes

It can be seen that w = 0 in Eq. (13.75) when

The cases in Eq. (13.76) correspond to w = 0 along

the edges of the membrane, while
the case in Eq. (13.77) gives w = 0 at which

Figure 13.6 Deflection shapes given by Eq. (13.74): (c) A = B; (d) A = −B; (e) A = B/2; (f ) A = 2B.
Equation (13.78) indicates that the nodal line is a diagonal of the square as shown in Fig. 13.6(c).
Similarly, the case A = −B gives the nodal line along the other diagonal of the square as indicated in Fig. 13.6(d).
For arbitrary values of A and B, Eq. (13.74) can be written as

where R = B/A is a constant. Different nodal lines can be obtained based on the value of R.
For example, nodal line [along which w = 0 in Eq. (13.79)] corresponding to K = 2 is shown in Fig. 13.6(e) and (f ).
The following observations can be made from the discussion above:
(a) A large variety of nodal patterns can exist for any repeated frequency in a square or rectangular membrane.
Thus, it is not possible to associate a mode shape uniquely with a frequency in a membrane problem.
(b) The nodal lines need not be straight lines. It can be shown that all the nodal lines of a square membrane
pass through the center, x = y = a/2, which is called a pole.

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6. For a square membrane, the modal pattern corresponding to m = n = 1 consists of
one-half of a sine wave along each of the x and y directions.
For m = n = 2, no other pair of integers i and j give the same natural frequency, ω22.
In this case the maximum modal deflection can be expressed as

The nodal lines corresponding to this mode are determined by the equation

Equation (13.81) gives the nodal lines as (in addition to the edges)
which are shown in Fig. 13.7.

Figure 13.7 Nodal lines corresponding to ω22 of a square membrane.

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7. Next, consider the case of m = 3 and n = 1 for a square membrane.
In this case, ω31 = ω13 =√10(πc/a) and the corresponding distinct mode shapes can be expressed as

Since the frequencies are the same, a linear combination of the

maximum deflection patterns given by Eqs. (13.83) and (13.84) can be represented as

where A and B are constants.

The nodal lines corresponding to Eq. (13.85) are defined by w = 0, which can be rewritten as

Neglecting the factor sin(πx/a) sin(πy/a), which corresponds to nodal lines along the edges,
Eq. (13.86) can be expressed as

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It can be seen from Eq. (13.87) that:
(a) When A = 0, y = a/3 and 2a/3 denote the nodal lines.
(b) When B = 0, x = a/3 and 2a/3 denote the nodal lines.
(c) When A = −B, Eq. (13.87) reduces to

denote the nodal lines.

(d) When A = B, Eq. (13.87) reduces to

which represents a circle.

Figure 13.8 Nodal lines of a square membrane corresponding to ω31 = ω13: (a) A = 0; (b) B = 0; (c) A = −B; (d) A =
56B.
8. Whenever, in a vibrating system, including a membrane,
certain parts or points remain at rest,
they can be assumed to be absolutely fixed and the result may be applicable to another system.
For example, at a particular natural frequency ω,
if the modal pattern of a square membrane consists of a diagonal line as a nodal line,
the solution will also be applicable for a membrane whose boundary is an isosceles right triangle.
In addition, it can be observed that each possible mode of vibration of the isosceles triangle corresponds to
some natural mode of the square.
Accordingly, the fundamental natural frequency of vibration of an isosceles right triangle will be
equal to the natural frequency of a square with m = 1 and n = 2:

The second natural frequency of the isosceles right triangle will be equal to the natural frequency of a square
plate with m = 3 and n = 1:

The mode shapes corresponding to the natural frequencies of Eqs. (13.91) and (13.92) are shown in Fig. 13.9.

Figure 13.9 (a) ω = √5πc/a; (b) ω = √10πc/a. 57

 Example 13.1 Find the free vibration response of a rectangular membrane when it
is struck such that the middle point experiences a velocity V0 at t = 0.

two-dimensional spatial Dirac

delta function

Figure 13.3 Deflection of a membrane at different times, initial velocity at the middle. Times given, t , are in
terms of fractions of the fundamental natural period of vibration. (Source: Ref. [10].)

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13.5 FORCED VIBRATION OF RECTANGULAR MEMBRANES
13.5.1 Modal Analysis Approach

59
Example 13.2 Find the forced vibration response of a rectangular membrane of
sides a and b subjected to a harmonic force F0 sin Ωt at the center of the membrane.
Assume all edges of the membrane to be fixed and the initial conditions to be zero.
two-dimensional spatial Dirac delta function

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Mathematical Complexity of Continuous Systems

64
 L

EOMs for 3D body

65
The First Ten Frequencies of a Membrane with Aspect
Ratio (a/b) of 1.5

Nodal patterns for superimposed degenerate modes of

square membranes.

First nine nodal patterns for a/b = 1.5.

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Some nodal patterns which arise when one
superimposes two degenerate modes unequally.

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ch 14 Transverse Vibration of Plates 14.2 EOM: CLASSICAL PLATE THEORY

flexural rigidity

14.3 BOUNDARY CONDITIONS

1. Clamped, fixed, or built-in edge.
If the edge x = a, =EI.
biharmonic operator

2. Simply supported edge.

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3. Free edge.

4. Edge resting on a linear elastic spring.

5 . Edge resting on an elastic torsional spring.

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6. Boundary conditions on a skew edge.

(a) Clamped, fixed, or built-in edge.

(b) Hinged or simply supported edge.

(c) Free edge.

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 14.4 FREE VIBRATION OF RECTANGULAR PLATES

λ is to be replaced by iλ

14.4.1 Solution for a Simply Supported Plate

all the constants Ai, except A1, in Eq. (14.98) are zero;

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73
14.4.2 Solution for Plates with Other Boundary Conditions
74
Reddy

75
Qx and Qy= transverse shearing forces
(per unit length along an edge)

Leissa 76
14.5 FORCED VIBRATION OF RECTANGULAR PLATES
Simply supported rectangular plates subjected to external pressure f (x,y,t) using a modal analysis procedure.

77
Example 14.1 Find the response of a simply supported uniform plate subjected to a concentrated force F(t) at the
point x = x0, y = y0. Assume the initial conditions to be zero.

Plug in result to get response.

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Example 14.2 A rectangular plate simply supported along all the edges is subjected to a harmonically varying
pressure distribution given by

Where Ω is the frequency of the applied force. Find the steady-state response of the plate.

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 Forced (harmonically excited) single DoF vibration – undamped.
• Let the forcing function acting on the mass of an undamped SDOF system be:

F( t )  F0 cos( t )
• The eqn. of motion reduces to:

• Where the homogeneous solution is:

mx  kx  F0 cos( t )

xh ( t )  C1 cos( nt )  C2 sin( nt ) where n  k / m

• As the excitation is harmonic,
• the particular solution is also harmonic with the same frequency:
x p ( t )  X cos( t )
• Substituting xp(t) in the eqn. of motion and
• solving for X gives: F0
X
• The complete solution becomes
k  m 2

F0
x( t )  xh ( t )  x p ( t )  C1 cos( nt )  C2 sin( nt )  cos( t )
k  m 2
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Forced (harmonically excited) single DoF vibration – undamped.
• Applying the initial conditions

x( t  0 )  x0 x( t  0 )  x0
F0 x0
C1  x0  C2 
n
k  m 2
• The complete solution becomes:

 F0   x0  F0
x( t )   x0  2
cos( nt )    sin( nt )  cos( t )
 k  m   n  k  m 2

97