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
Transverse Vibration of a String or Cable

2
For a Uniform bar

f=0 for free vibration

Wave Equation

3
 Initial Conditions

Boundary Conditions

4
Boundary Conditions (Contd )

5
Solution of Free Vibration Problem with Method of Separation of Variables

6
 Requires A should be zero.

Frequency or Characteristic Eqn

7
nth mode of vibration or nth harmonic or nth normal mode.

Number
of Nodes
= n+1

Fourier Sine
series
Expansion
8
Multiplying by Sin (n (pi)x )/l and integrating from 0 to l and multiplying the
integral by 1/(l/2)

Example 8.1

9
 Longitudinal Vibration of a Bar or Rod

For a Uniform bar

f=0 for free vibration

12
13
Example 8.2

14
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 15
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

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 Torsional Vibrations of a shaft or a Bar

Where rho is the mass density of the bar. Tc

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

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Example 8.6 Natural Frequencies of a plane milling cutter

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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 21

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

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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

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

26
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 27

Forced Vibrations Solution for a beam

Where

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29
The problem of vibrations of a beam under the action of axial force finds 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.

Effect of Axial Force

30
31
32
 Effect of Rotary Inertia and Shear Deformation
 If the effect of shear deformation is disregarded, the tangent to the 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, the tangent to the deformed center line O`T will not be
perpendicular to the 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

33
 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 = kγGA by introducing a factor ‘k’ on the right-hand side to
take care of the shape of the cross section. 34
1. For translation in the z direction:

35
 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 𝜕𝑥 36

and substituting the result in Eq. (8.134),

For free vibration,

1. Fixed end:

2. Simply supported end:

3. Free end:

37
 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.
Note the 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)):

frequency equation

reduces to

38
 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

39
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. 40
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

41
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

42
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

43
 8.7 Rayleigh s Method

In order to apply Rayleigh s method, we need to derive expressions for the maximum
kinetic and potential energies and Rayleigh’s quotient.
The kinetic energy of the beam can be expressed as

The maximum kinetic energy can be found by assuming a harmonic variation

w(x, t) = W(x) cos ωt

The potential energy of the beam V is the same as the work done in deforming the beam.
By disregarding the work done by the shear forces, we have

44
where M is the bending moment given by Eq. (8.75)
and θ is the slope of the deformed
beam given by

Eq. (8.148) rewritten

Since the maximum value of w(x, t) is W(x), the maximum value of V is given by

By equating Tmax to Vmax, we obtain Rayleigh s quotient:

 Thus the natural frequency of the beam can be found once the deflection W(x) is known.
 In general, W(x) is not known and must therefore be assumed.
 Generally, static equilibrium shape is assumed for W(x) to obtain fundamental frequency.
 It is to be noted that the assumed shape W(x) unintentionally introduces a constraint on the
system (which amounts to adding additional stiffness to the system), and so the frequency given
by Eq. (8.151) is higher than the exact value [8.27]. 45
For a stepped beam, Eq. (8.151) can be more conveniently written as

where Ei, Ii, Ai and li correspond to the ith step ( i = 1, 2, …. ).

46
 EXAMPLE 8 . 1 2 Fundamental Frequency of a Tapered Beam
Find the fundamental frequency of transverse vibration of the non-uniform cantilever
beam shown, using the deflection shape W(x) = (1 - x/l)2.
Solution: Given deflection shape can be verified to satisfy bcs of the beam.
The cross-sectional area A and the moment of inertia I of the beam can be expressed as

Thus Rayleigh’s quotient gives

or

The exact value of the frequency for this case [8.2] is known to be

Rayleigh’s method’ value can be seen to be 3.0503 percent higher than exact value.47
8.8 The Rayleigh-Ritz Method
 An extension of Rayleigh’s method.
 Premise:- a closer approximation to the exact natural mode can be obtained by
superposing a number of assumed functions than by using a single assumed
function, as in Rayleigh’s method.
 If the assumed functions are suitably chosen, this method provides not only the
approximate value of the fundamental frequency but also the approximate values of
the higher natural frequencies and the mode shapes.
 An arbitrary number of functions can be used, and the number of frequencies that
can be obtained is equal to the number of functions used.
 A large number of functions, although it involves more computational work, leads to
more accurate results.
In case of transverse vibration of beams, if n functions are chosen for approximating
deflection W(x), we can write
 where w1(x), w2(x), … , wn(x) are known linearly independent functions of the spatial coordinate
x, which satisfy all the boundary conditions of the problem, and
 c1, c2, …. , cn are coefficients to be found.
 The coefficients ci are to be determined so that the assumed functions wi(x) provide the best
possible approximation to the natural modes.
 To obtain such approximations, the coefficients ci are adjusted and the natural frequency is
made stationary at the natural modes.
 For this we substitute Eq. (8.153) in Rayleigh s quotient, Eq. (8.151), and the resulting
expression is partially differentiated with respect to each of the coefficients ci .
 To make the natural frequency stationary, we set each of the partial derivatives equal to zero
and obtain 48
 Equation (8.154) denotes a set of n linear algebraic equations in the coefficients c1,
c2, …. , cn and
 also contains the undetermined quantity ω2.
 This defines an algebraic eigenvalue problem similar to the ones that arise in multi-
degree-of-freedom systems.
 The solution of this eigenvalue problem generally gives n natural frequencies ωi2
i = 1, 2, ... , n, and
 n eigenvectors, each containing a set of numbers for c1, c2, …. , cn .
 For example, the ith eigenvector corresponding to ωi may be expressed as

 When this eigenvector ---the values of c1i, c2i, …. , cni ---is substituted into Eq.
(8.153), we obtain the best possible approximation to the ith mode of the beam.
 A method of reducing the size of the eigen problem in the Rayleigh-Ritz method is
presented in reference [8.28].
 A new approach, which combines the advantages of the Rayleigh-Ritz analysis and
the finite element method is given in reference [8.29]. 49
EXAMPLE 8.13 First Two Frequencies of a Tapered Beam
Find the natural frequencies of the tapered cantilever beam of Example 8.12 by using
the Rayleigh-Ritz method.
Solution: We assume the deflection functions to be

If we use the one-term approximation,

fundamental frequency will be same as one found in Example 8.12.

Now, using 2 term approximation

Rayleigh’s quotient is given by

where

and 50
If Eq. (E.5) is substituted, Eq. (E.6) becomes a function of c1 and c2 .
The conditions that make ω2 or R[W(x)] stationary are

These equations can be rewritten as

By substituting Eq. (E.5) into Eqs. (E.7) and (E.8), we obtain

51
With the help of Eqs. (E.13) and (E.14), Eqs. (E.11) and (E.12) can be expressed as

where

By setting the determinant of the matrix in Eq. (E.15) equal to zero, we obtain the
frequency equation

The roots of Eq. (E.17) are given by

Thus the natural frequencies of the tapered beam are

and

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EXAMPLE 8.14
Plotting the Forced-Vibration Response of a Simply Supported Beam
Using MATLAB, plot the steady-state response of the pinned-pinned beam considered
in Example 8.8, Eq. (E.7), for n = 1, 2, and 5.

EXAMPLE 8.15 Solution of a Frequency Equation

Using MATLAB, find the root(s) of the frequency equation corresponding to the fixed-
pinned beam

with the starting value of

8.80 Using MATLAB, plot the dynamic response of the plucked string, Eq. (E.6) of
Example 8.1, at x = L/2. Data: h = 0.1 m, L = 1.0 m, c = 100 m/s.

8.81 Write a computer program for finding numerically the mode shapes of thin fixed-
simply supported beams by using the known values of the natural frequencies.
Roots
3.926602e+000
7.068583e+000
1.021018e+001
1.335177e+001 53