ARTICLE IN PRESS

International Journal of Mechanical Sciences 52 (2010) 515–522

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International Journal of Mechanical Sciences

journal homepage: www.elsevier.com/locate/ijmecsci

Vibration analysis of non-uniform beams having multiple edge cracks along

the beam’s height
K. Mazanoglu, M. Sabuncu n
Department of Mechanical Engineering, Dokuz Eylul University, 35100 Bornova, _Izmir, Turkey

a r t i c l e in fo abstract

Article history: Bending vibration of non-uniform rectangular beams with multiple edge cracks along the beam’s height
Received 13 May 2008 is investigated. These cracks are called height-edge cracks in this paper. The energy based method is
Received in revised form used for defining the vibration of height-edge cracked beams. The opening form of the height-edge
17 November 2009
crack is determined when the external moment is assumed to be applied for stretching the beam’s
Accepted 19 November 2009
Available online 27 November 2009
width. Strain energy increase is obtained by calculating the strain change at the stretched surface by
taking into account the effect of angular displacement of the beam due to the bending. The Rayleigh–
Keywords: Ritz approximation method is used in the analysis. The cases of multiple cracks are analysed in the
Cracked non-uniform beams method by using the approach based on the definition of strain disturbance variation along the beam.
Multiple height-edge cracks
Examples are presented on a fixed–fixed beam and several cantilever beams having different taper
The energy consumed
factors. When the results are compared with the results of a commercial finite element program, good
Rayleigh–Ritz approximation
agreement is obtained. The effects of taper factors, boundaries and positions of cracks on the natural
frequency ratios are presented in graphics.
& 2009 Elsevier Ltd. All rights reserved.

1. Introduction On the other hand, studies about the bending vibration of

All damages instantaneously change the vibration character-
istics of the structures. It is for this reason that, definition of
changes in vibration parameters is essential for identification of
damages. Cracks are the most frequent damage types and beams
are the most commonly used elements in engineering applica-
tions. Therefore, the vibration identification of cracked beams has
been of universal interest for many researchers.
In the existing literature, almost all researchers deal with the
bending vibration of beams having width-edge crack at the
stretched surface. More endurance fall and consequently more
natural frequency decrease may be the reason of this interest.
However, vibration of beams having height-edge crack may also
be significant if the external forces bend the beam in the plane of
crack tip axis. Stress/strain behaviour of the cracked planes under
tension is given in a handbook presented by Tada et al. [1]
together with many cases of the cracked structures. A thin slender
beam can be considered in this scope to analyse its vibration in
both planes. If the cracked beam has considerable thickness,
vibration effects of the height-edge cracks should be different
from those of width-edge cracks. This issue is not presented in the
existing literature.
n
Corresponding author. Tel./fax: + 90232 3887868.
E-mail address: mustafa.sabuncu@deu.edu.tr (M. Sabuncu).
beams having width-edge crack are commonly presented for only
single crack, and rarely dealt with the multiple cracks. Further-
more, most of the studies are restricted to the vibration of cracked
uniform beams. In the analysis of cracked beams, researchers
generally use the flexibility compliance of the cracks obtained
from the fracture mechanics principles. Refs. [2–4] are just a few
of the many studies presented for analysing the vibration of single
cracked beams using local flexibility model. In addition, vibration
analysis of beams having arbitrary number of cracks is presented
in a few works [5–7].
Some methods used by the researchers are based on the
variational principle for defining effects of cracks on the vibration.
An exponential type crack disturbance function was proposed by
Christides and Barr [8] to model the stress/strain variation around
the crack zone for one or more pairs of symmetric cracks. A similar
approach was proposed by Shen and Pierre [9] for single cracked
beams by using many termed Galerkin’s method in solution.
Chondros et al. [10] developed another crack disturbance function
for the vibration of simply supported beam having one or two
cracks. Another approach, which defines stiffness variation around
the crack using strain energy distribution along the beam, was
proposed by Yang et al. [11] for single and double cracked beams.
Their method was not applicable in multiple cracked beams when
two or more cracks lie in close proximity to each other. It should be
noted that, all these studies are still restricted with uniform beams.
The finite element method may be helpful to obtain the
vibration of beams having different types of cracks. They are also

0020-7403/$ - see front matter & 2009 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ijmecsci.2009.11.016
 ARTICLE IN PRESS
516 K. Mazanoglu, M. Sabuncu / International Journal of Mechanical Sciences 52 (2010) 515–522
Nomenclature
a crack depth
A cross-section area
b width of a beam
b1 width of a beam at the root
b2 width of a beam at the tip
BE energy balance equation
CE the energy consumed
E modulus of elasticity
G strain energy release rate
h height of a beam
h1 height of a beam at the root
h2 eight of a beam at the tip
I second moment of inertia
k stiffness of which type is specified by the superscripts
K1 stress intensity factor for the first mode crack
KE maximum kinetic energy
L length of the beam
m total number of terms of polynomial mode shape
function
M bending moment
n total number of cracks
PE maximum potential energy
w coordinate axis along the beam’s height
used for beams with smoothly or sharply varying cross-section.
However, a good approximation can be obtained by using a large
number of elements which in return will extend the computation
time. Furthermore, need for use of much more smaller sized
elements in the vicinity of the cracks for an accurate solution also
results in an increase of the number of elements and thus the
computation time. Therefore, the conventional finite element
method should be supported by extremely refined meshes or
some kind of special elements. In the literature, many researchers
applied the finite element method to evaluate the vibration of
cracked beams in numerous works. Refs. [12–16] are just a few of
the papers including the finite element based models.
An exact solution of the cracked non-uniform beams is much
more difficult than that of the cracked uniform beams. At this
point, approximation methods can be more practical. The
Rayleigh–Ritz approximate solution of a continuous model results
in much less time requirements compared to the finite element
method. Approximate solution may also be possible using some
other serial expansion methods and energy based approaches.
However, there is limited number of studies on the application of
continuous methods for vibration analysis of cracked non-
uniform beams. Modified Fourier series were proposed by Zheng
and Fan [17] to determine the approximate natural frequencies of
multiple cracked non-uniform beams. Another approach was
presented by Li [18,19] for determining natural frequencies and
mode shapes of cracked stepped beams having varying cross-
section and cracked non-uniform beams having concentrated
masses, respectively. However, only some specific forms of non-
uniformities could be solved in these papers. Coudhari and Maiti
[20,21] proposed a method for defining transverse vibrations of
tapered beams and geometrically segmented slender beams with
a single crack using the Frobenius technique. Even though the
beam had a single crack, their results were quite coarse. A semi-
analytical model based on an extension of the Rayleigh–Ritz
method was presented by El Bikri et al. [22] for non-linear
vibrations mainly influenced by the choice of the admissible
functions. This study was also restricted with a single crack and
W the transverse vibration mode shape of the beam
y coordinate axis along the beam’s width
z coordinate axis along the beam’s length
a taper factor of beam’s height or width
g influence ratio of the energy consumed
G distribution of the energy
Du linear displacement at the opened side of crack
DU change in strain energy
Dy varying angular displacement at the cracked side of
beam
Df angular displacement of the beam due to the bending
at the crack location
k coefficient of the term of polynomial mode shape
function
n Poisson’s ratio
r mass density
w term of polynomial mode shape function
o circular frequency
o0 natural frequency of un-cracked beam
c subscript-abbreviation for the word ‘‘crack’’ to relate
the parameters with the cracks
d difference between the numerators of crack and part
i crack and part numerator
j numerator of the mode shape terms
p abbreviation for the word ‘‘part’’
fundamental frequency. Detailed review on the vibration of
cracked structure was given by Dimarogonas [23] including the
studies presented before 1996.
This paper presents a vibration analysis of non-uniform beams
having multiple height-edge open cracks. The method uses the
changes in the strain energy distribution caused by the cracks.
Change of the strain energy distribution given by Yang et al. [11]
is modified for height-edge crack to obtain the distribution of the
energy consumed. The effect of additional bending of the beam
due to the crack is determined by developing a simple spring
model at the crack location. Coupling effects are neglected for low
bending vibration modes of the Euler–Bernoulli beam. In the case
of multiple cracks, a strain disturbance model is presented to
overcome the problem of the methods based on a variational
principle, which can be described as interaction of the crack
effects. Results obtained by the present method are compared
with the results of a commercial finite element program
(ANSYS&) for several tapered cantilever beams and a fixed–fixed
beam. Influences of the taper, boundary and crack location on
modal frequencies are given in the figures.
2. Theoretical explanations
According to fracture mechanics theory, structural strain
energy increases with crack growth. Increase in strain energy,
which is equal to the energy consumed, under the constant
external bending moment is defined as follows:
Z a
DU ¼ CE ¼ Ghc da ð1Þ
0
G is called the strain energy release rate, which can be written
as G ¼ K12 =E0 for the transverse vibration of the beam by taking the
effects of only bending stresses into account and neglecting the
effects of shear stresses on the crack. E0 is equal to E for plain
stress, or E/(1  n2) for plain strains [1].
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K. Mazanoglu, M. Sabuncu / International Journal of Mechanical Sciences 52 (2010) 515–522 517

Stress intensity factor for the first mode edge crack in semi- the energy of rotational springs placed at the closed side as shown
infinite body (K1) is given as in Fig. 1:
pffiffiffiffiffiffi Za
6MðzÞ pa 1 2 ~
K1 ¼ 1:12 ; ð2Þ DU ¼ kðuÞ
bc h2c 2a y~ ðDuy~ Þ dy; ð6Þ
y~ ¼ 0
M(z) is the bending moment that can be defined as
Za
d2 WðzÞ 1
0
MðzÞ ¼ E IðzÞ : ð3Þ DU ¼ kðy~yÞ ðDyy~ Þ2 dy:
~ ð7Þ
dz2 2a
y~ ¼ 0

The energy consumed can be written using Eq. (1) as Since the cross-section decreases at the crack location, angular
displacement of the crack ðDyy~ Þ results in the angular displace-
CE ¼ DðaÞ½MðzÞ2 ; ð4Þ
ment of the beam (Df). Strain is neutralised by the tensile stress
at the un-cracked part of crack location and thus energy is not
where D(a) can be formulated for the edge crack as follows:
consumed in this region. That means strain energy of (Df) should
18p 1:122 a2 be a base for the additional strain energy at the crack location. At
DðaÞ ¼ : ð5Þ result, Eq. (7) can be modified as follows:
Eb2c h3c
Za
Eq. (5) is true for the plane stresses or strains and consequently 1
DU ¼ ðkyð~yÞ ðDyy~ Þ2 kðjÞ ðDjÞ2 Þ dy:
~ ð8Þ
for the slender beam that has hc 5bc. When the edge cracked 2a
y~ ¼ 0
beam has the considerable height, (hc), Eq. (5) is incomplete
unless the beam is assumed to be only strained due to the crack as Relation between the opening angles (Df, Dy0) at the tip
given in many works in the literature. However, opening of the ðy~ ¼ aÞ and the mouth ðy~ ¼ 0Þ of the crack can be settled as
crack also causes additional bending of the beam during the follows:
transverse vibration. In this case, average strain along the height Dj ¼ ða=hc Þ3 Dy0 : ð9Þ
of beam and thus stress amount should be half of the maximum
values. This means, the stress intensity factor is halved for the Average angular displacement Dyav is equal to Dy0/2. If
considered opening mode of crack. Consequently, Eq. (5) bending moment equivalence is provided on the stretched
should be multiplied by the factor of e = 1/4 for the rectangular surface, the relation between the stiffness and angular displace-
beams. ments can be written as
Strains are neutralised by the tensile stresses at the un-cracked Dy0 ðyÞ Dyav ðyÞ
kðjÞ ¼ k ¼ k : ð10Þ
cross-sections. However, additional strains come into existence Dj 0 Dj av
at the crack location. Since the open crack model is used, Varying opening angles and stiffness can be defined by the
only additional strains are considered; hence the neutral layer is following equations:
not mentioned in this paper. Nevertheless, E0 is modified  
as E/(1  0.52n2) for a beam with height-edge open crack to y~
Dyy~ ¼ 2Dyav ðða=hc Þ3 1Þ þ 1 ; for 0 o y~ o a; ð11Þ
contribute the effect of breathing. Increase in strain energy a
through the stretched surface can correspond to the energy of
yÞ  
linear springs located at the opened side of the height-edge crack kðav y~
kyð~yÞ ¼ = ðða=hc Þ3 1Þ þ 1 ; for 0 o y~ o a: ð12Þ
when the beam is under the effect of bending moment in the w z 2 a
plane. The energy of linear springs can be transformed into Thus, Eq. (8) can be arranged using Eqs. (9–12) as follows:
h  3 i
DU ¼ 12kðavyÞ ðDyav Þ2 1 a=hc : ð13Þ

Consequently, Eq. (5) can be redefined for ða=hc Þ3 r0:5 and a/

bc r0.5 as follows:
18pð1:12Þ2 a2 h i
DðaÞ ¼ e 1ða=hc Þ3 : ð14Þ
Eb2c h3c

Increase in strain energy corresponding to the energy

consumed is distributed along the beam length as follows [11]:
Q ða; zc Þ
CCE ¼ ; ð15Þ
1 þ ½ðzzc Þ=ðqðaÞaÞ2

where Q(a,zc) and q(a) can be defined as follows [11]:

DðaÞ½MðzÞ2
Q ða; zc Þ ¼ ; ð16Þ
qðaÞafarctan½ðLzc Þ=ðqðaÞaÞ þ arctan½zc =ðqðaÞaÞg

3pð1:12Þ2 ðhc aÞ3 a

qðaÞ ¼ : ð17Þ
ðh3c ðhc aÞ3 Þbc

According to the principle of conservation of energy, max-

imum potential and kinetic energies should be equal along the
beam when there is no crack. If a crack exists on a beam, the
Fig. 1. Assumed opening form of the crack as the external moment applied to the energy consumed results in the decrease of maximum potential
beam. energy with the assumption of no mass loss at the crack location.
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Table 1
The functions satisfying several end conditions.

End conditions wj(z)

Fixed–fixed (z/L)j + 1(1  z/L)2

Pinned–pinned (z/L)j(1  z/L)
Fixed-free (z/L)2(1 z/L)j  1
Fixed–pinned (z/L)j + 1(1  z/L)

As a consequence, balance of maximum energies can be obtained

as follows:
ZL
ððCPE CCE ÞCKE Þ dz ¼ 0; ð18Þ
z¼0

where GPE and GKE represent the distributions of the maximum

potential and kinetic energies as
 2 2
1 d WðzÞ
CPE ¼ EIðzÞ ; ð19Þ
2 dz2 Fig. 2. Distribution of the energy consumed caused by ith crack.

1
CKE ¼ rAðzÞo2 ðWðzÞÞ2 : ð20Þ
2
If kj is the coefficient of admissible mode shape function, the shown in Fig. 2. If gcðiÞ;pðiÞ defines the influence ratio of the energy
derivatives of Eq. (18) or those of Rayleigh quotient derived from consumed caused by crack i on part i, influence ratios of crack i on
Eq. (18) should be equal to zero. the neighbour parts can be written as follows:
0 L 1 gcðiÞ;pði1Þ ¼ 1ai1 =bcði1Þ ;
Z
PE CE KE
@@ ððC C ÞC Þ dzA=@kj ¼ 0: ð21Þ gcðiÞ;pðiÞ ¼ 1;
z¼0 gcðiÞ;pði þ 1Þ ¼ 1;
If wj(z) are series of functions satisfying end conditions, the gcðiÞ;pði þ 2Þ ¼ 1ai þ 1 =bcði þ 1Þ : ð23Þ
mode shape function can be written as
X
m At this point of view, the influence ratios of the energy
WðzÞ ¼ kj wj ðzÞ: ð22Þ consumed in parts i+ d and i d are generalised as follows:
j¼1
gcðiÞ;pði þ dÞ ¼ gcðiÞ;pði þ d1Þ ð1ai þ d1 =bcði þ d1Þ Þ; d Z 2;
The functions, wj(z), are given in Table 1 for several end ð24Þ
gcðiÞ;pðidÞ ¼ gcðiÞ;pðid þ 1Þ ð1aid =bcðidÞ Þ; d Z 1:
conditions.
The distributions of the energy consumed are obtained
similarly for the other cracks also. Thus, the decrease of potential
3. Energy balance in beam with multiple height-edge cracks energy in each part of the beam is obtained by superposing the
consumed energies caused by all cracks. If n height-edge cracks
In the case of multiple height-edge cracks, some parameters exist on the beam, the following energy balance equations can be
used in previous equations can be modified as ai ; zcðiÞ ; hcðiÞ ; bcðiÞ written for n +1 parts:
where i=1 to n. Each height-edge crack partially interferes (as much ZL

as its depth ratio) the strain disturbances created by the other BE1 ¼ CPE gcð1Þ;pð1Þ CCE CE CE
cð1Þ gcð2Þ;pð1Þ Ccð2Þ     gcðnÞ;pð1Þ CcðnÞ C
KE
dz;
cracks. By means of this assumption, the distribution of the energy Zcð1Þ
Z

consumed throughout the beam length is modified for the multiple ZcðiÞ
BEi ¼ CPE gcð1Þ;pðiÞ CCE CE CE
cð1Þ gcð2Þ;pðiÞ Ccð2Þ     gcðnÞ;pðiÞ CcðnÞ C
KE
dz;
cracked beams by affecting the influence ratios described below. Zcði1Þ
Z ZcðnÞ

Sketch of the distribution of the energy consumed caused by CPE gcð1Þ;pðn þ 1Þ CCE CE CE KE
BEn þ 1 ¼ cð1Þ gcð2Þ;pðn þ 1Þ Ccð2Þ     gcðnÞ;pðn þ 1Þ CcðnÞ C dz:
ith crack is shown in Fig. 2. It can be noticed that, the energy 0

consumed is maximum at the crack mouth where there is no ð25Þ

stress and maximum strain. Stress and strain values are
approximately equal at the crack tip and the remaining section Thus, the energy balance can be obtained by satisfying the
of the beam’s width at the crack location. Consequently, the following equation:
energy consumed becomes zero on this line as seen in Fig. 2. In
X
n þ1
our assumption, rotation of the beam around the z axis is BEi ¼ 0: ð26Þ
neglected since the ratios (ai/bc(i), (ai/hc(i))3) related with the crack i¼1
depths are less than 0.5 and the rectangular beam bends in the Eq. (26) can also be approximated to zero by using the
w z plane. Therefore, the energy consumed immediately spreads Rayleigh–Ritz method.
along the beam’s width with the influences of the inner stresses of
the beam. The energy consumed caused by ith crack decreases at
the other crack locations where the strain waves are partially 4. Results and discussion
damped. The ratio of strain waves passing from the remaining un-
cracked section of the location of crack i+1 is equal to 1  ai + 1/ Results are represented by applying the method on several
bc(i + 1). As a result, the energy consumed observed in the fixed–fixed and cantilever beams, whose dimensions are shown in
neighbour parts of ith crack decreases at this ratio in part i+ 2 as Fig. 3. Variation of the height and width of the beams can be
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expressed by the following functions: and crack size have negligible effects on the results. Natural
frequencies of the un-cracked beams obtained by Rayleigh–Ritz
hðzÞ ¼ h2 þðh1 h2 Þz=L; ð27Þ
approximations and the finite element program is shown in Table 2.
Vibrations of the beams having single, double, and triple cracks
bðzÞ ¼ b2 þ ðb1 b2 Þz=L: ð28Þ are investigated as follows.

Example 1. Tapered cantilever beams with a crack.

Three different beams considered have the same density
r = 7800 kg/m3, modulus of elasticity E= 210 GPa, and Poisson’s Beam1, Beam2 and Beam3 are examined by the following crack
ratio v =0.3. The beams also have the following geometric properties:
properties: ac ¼ 0:2b1 ; 0:4 b1 ; zc ðvariableÞ:
Beam 1 : L ¼ 0:6m; h1 ¼ b1 ¼ 0:02m; ah ¼ h2 =h1 ¼ 0:5; ab ¼ b2 =b1 ¼ 0:75: Results of the present method are in good agreement with the
results of the finite element program for single crack cases of
Beam 2 : L ¼ 0:6m; h1 ¼ b1 ¼ 0:02m; ah ¼ 1:5; ab ¼ 0:75: three different tapered cantilever beams as shown in Figs. 4–6.

Beam 3 : L ¼ 0:6m; h1 ¼ b1 ¼ 0:02m; ah ¼ 0:5; ab ¼ 2:25:

All these beams are considered as cantilevers fixed from z =L. In
addition, Beam1 is reconsidered as fixed–fixed beam.
Results obtained by the present study are compared with the
results of commercial finite element program (ANSYS&) for the
beams considered. Cracks are formed by subtracting thin transverse
blocks from ‘‘solid95’’ beams in the program. Element size is set to
0.009 m with the ‘‘esize’’ command, and the crack widths are chosen
as 0.0004 m. Extra division requirements in the vicinity of the cracks
are provided by the‘‘smrtsize,1’’ command, and free meshing
procedures are applied. As a result, modal frequencies are obtained
by using ‘‘modal analysis’’ as analysis type. It should be noted that,
changes in the element number caused by variation of crack location

Fig. 4. Natural frequency ratios for the (i) first, (ii) second and (iii) third mode
vibration of cantilever Beam1 with variably located crack having depths a =0.2b1
and a= 0.4b1. Results of Ansys for a =0.2b1 (J) and for a= 0.4b1 (n). Results of
Fig. 3. Geometry of a beam. approximations with 6 terms ( - - - ) and 8 terms ( —– ).

Table 2
Natural frequencies of the un-cracked beams (oo).

Beams Vibration modes Frequencies (Hz) obtained Frequencies (Hz) obtained Frequencies (Hz) obtained Frequencies (Hz)
by Rayleigh–Ritz (4 terms) by Rayleigh–Ritz (6 terms) by Rayleigh–Ritz (8 terms) obtained by Finite
Element program

Cantilever Beam1 1 54.9031 54.8964 54.8963 54.945

2 249.6583 249.2314 249.2008 248.75
3 689.958 636.7900 632.941 629.05

Cantilever Beam2 1 48.8426 48.8420 48.8420 48.91

2 344.3177 344.0024 344.0013 341.69
3 1053.128 996.4606 995.1637 976.5

Cantilever Beam3 1 40.311 40.3082 40.3082 40.36

2 225.5448 224.9975 224.9894 224.62
3 633.242 609.3576 607.0943 603.60

Fixed Beam1 1 217.6039 217.6028 217.6027 217.6

2 598.556 597.4309 597.4229 594.42
3 1181.955 1169.652 1169.194 1155.6
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The analyses are performed for different crack location intervals

in which acceptable ratios of crack depths are provided.
Application of Rayleigh–Ritz approximation with six terms is
sufficient to obtain good agreement with the natural frequency
ratios of the first and second mode vibrations. However, use of the
method with eight terms gives better results for the third mode of
vibration as seen in the figures. Natural frequencies of the un-
cracked beams given in Table 2 can be used to determine required
number of terms to be used in the method. It can be observed
that, the number of terms, which is sufficient to obtain accurate
natural frequencies for the un-cracked beams, also becomes
sufficient for the cracked beams. In this sense, four termed
approximation can be applicable for only the first vibration mode
as can be observed in the table.
If the trends of the natural frequency ratios are comparatively
examined for the cracks on the beams, some distinctions can be
observed. Increase of the height taper factor, ah, results in the
highest natural frequency reduction near the root of the beam
that can be seen by the comparison of Figs. 4 and 5. Similarly,
higher width taper factor, ab, causes the more natural frequency
reductions near the root as seen in Fig. 6. In addition, node points,
where no natural frequency reduction is obtained, are shifted
from tip to root with the increasing taper factor. It can be clearly
seen that ah is more influential than ab. Resultantly, variation of
the mass and inertia moment together with the variation of crack
depth ratio along the beam are all influential on the natural
frequency ratios seen in the figures.

Fig. 5. Natural frequency ratios for the (i) first, (ii) second and (iii) third mode Example 2. Tapered fixed–fixed beam with a crack.
vibration of cantilever Beam2 with variably located crack having depths a = 0.2b1
and a =0.4b1. Results of Ansys for a = 0.2b1 (J) and for a= 0.4b1 (n). Results of
approximations with 6 terms (- - -) and 8 terms ( —– ).
Beam1 is fixed from both ends and it is examined by the
following crack properties:

ac ¼ 0:2b1 ; 0:4 b1 ; zc ðvariableÞ:

Fig. 6. Natural frequency ratios for the (i) first, (ii) second and (iii) third mode Fig. 7. Natural frequency ratios for the (i) first, (ii) second and (iii) third mode
vibration of cantilever Beam3 with variably located crack having depths a = 0.2b1 vibration of fixed–fixed Beam1 with variably located crack having depths a ¼ 0:2b1
and a =0.4b1. Results of Ansys for a = 0.2b1 (J) and for a= 0.4b1 (n). Results of and a= 0.4b1. Results of Ansys for a= 0.2b1 (J) and for a= 0.4b1 (n). Results of
approximations with 6 terms (- - -) and 8 terms (—–). approximations with 6 terms (- - -) and 8 terms ( —– ).
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Fig. 7 shows that the application of the method when

analysing a beam whose both ends are fixed, gives good results
that agree well with the results of the finite element program.
Although the natural frequencies of the fixed–fixed beam are
higher than those of cantilevers due to the increased rigidity, one
sees that the accuracy of the present method does not depend on
the different boundary conditions. Fig. 7 also shows that the
analysis of a fixed–fixed beam using six terms instead of eight
suffices and gives results that agree with the finite element
program. However, when the six termed function is used in the
analysis of the cantilever, there is a discrepancy especially for the
third mode frequency ratios. Maximum natural frequency
drops are seen in Fig. 7 when the cracks are located near the
ends of the beam where maximum bending moments occur.
Comparing Fig. 7 to Figs. 4–6 shows that there exists one more
node point where there is no natural frequency reduction. This is
a result of the bending moments at the two ends of the fixed–
fixed beam.

Example 3. Tapered cantilever and fixed–fixed beams with two

cracks.

Beam1 is examined by the following crack properties:

a1 ¼ 0:2b1 ; a2 ¼ 0:2b1 ; 0:4b1 ; zcð1Þ ¼ 0:91L; zcð2Þ ðvariableÞ:
Natural frequency ratios obtained by the method agree with
those obtained by the finite element program for the double
cracked cantilever and double cracked fixed–fixed Beam1 as
shown in Figs. 8 and 9. Agreements are achieved with the same Fig. 9. Natural frequency ratios for the (i) first, (ii) second and (iii) third mode
number of terms used for single cracked beams. vibration of double cracked fixed–fixed Beam1 with variably located second crack
Trends of the natural frequency reductions of the double having depths a2 =0.2b1 and a2 = 0.4b1 as a1 = 0.2b1. Results of Ansys for a2 =0.2b1
(J) and for a2 = 0.4b1 (n). Results of approximations with 6 terms (- - -) and 8 terms
cracked cantilever and both ends fixed beams are similar to the
(—–).
trends obtained from single cracked beams seen in Figs. 4. and 7

except for the cases of proximity of the cracks. The difference

arises from partially damped strain disturbances caused by the
cracks that interact with each other. It is clear that, maximum
frequency ratio of the double cracked Beam1 should be equal to
the frequency ratio of Beam1 having one crack located at the
position, zc(1). Interestingly, using the presented method or the
finite element program gives the same results, which indicates
that there is no clear effect of coupling on the considered
vibration modes even if the beams have two cracks.

Example 4. Tapered cantilever beam with three cracks.

Beam1 has the following crack properties:

a1 ¼ 0:2b1 ; a2 ¼ 0:2b1 ; a3 ¼ 0:2b1 ; 0:4 b1 ðvariableÞ;

zcð1Þ ¼ 0:91L; zcð2Þ ¼ 0:82L; zcð3Þ ðvariableÞ:

Natural frequency ratios of cantilever Beam1 having three

Fig. 8. Natural frequency ratios for the (i) first, (ii) second and (iii) third mode
vibration of double cracked cantilever Beam1 with variably located second crack
having depths a2 = 0.2b1 and a2 =0.4b1 as a1 =0.2b1. Results of Ansys for a2 = 0.2b1
(J) and for a2 = 0.4b1 (n). Results of approximations with 6 terms (- - -) and 8 terms
( —– ).
cracks are seen in Fig. 10 for the first three modes of vibrations.
Good agreements are also obtained. As seen in the figures for
single, double and triple cracked beams, eight termed
approximation is sufficient to obtain good agreement with the
finite element program for the first three modes of vibration.
Thus, it can be said that the number of cracks along the beam is
not effective on the number of terms required to be used in the
approximation. As seen in the figures, crack depths are also not
influential over the number of terms required.
It should be noted that performing the finite element program
with the acceptable number of elements that results in the correct
solution requires very long computation time when the cracks are
too close to each other for double and triple cracked beams.
Processes can exceed the memory limitations of computers with
defined cracks and meshing properties.
 ARTICLE IN PRESS
522 K. Mazanoglu, M. Sabuncu / International Journal of Mechanical Sciences 52 (2010) 515–522
Fig. 10. Natural frequency ratios for the (i) first, (ii) second and (iii) third mode
vibration of triple cracked cantilever Beam1 with variably located third crack
having depths a3 = 0.2b1 and a3 = 0.4b1 as a1 =a2 = 0.2b1. Results of Ansys for
a3 = 0.2b1 (J) and for a3 =0.4b1 (n). Results of approximations with 6 terms (- - -)
and 8 terms (—–).
5. Conclusion
The energy method presented by Yang et al. [11] is modified to
obtain the vibration of multiple height-edge cracked non-uniform
Euler–Bernoulli beams. Fracture mechanics theory is adapted to the
height-edge open cracks via a proposed model for the vibration
behaviour of crack. The energy consumed is determined by forming
the opening of the crack and distributing the strain disturbance
along the beam’s length. If the beam has multiple cracks, it is
assumed that the strain disturbance caused by one of the cracks is
damped as much as the depth ratio of the other cracks at their
locations. Consumed energies caused by the cracks are superposed
to obtain the overall energies consumed from the potential energy.
Thus, interaction of the multiple crack effects, which is the problem
for the methods based on a variational principle, is defined by the
strain disturbance model presented in this paper.
When the results of the method are compared with the results
of a commercial finite element program for a fixed–fixed beam
and the cantilever beams having different taper factors, good
agreements are found. Significant advantage of the method can be
performing the processes in quite short durations in the order of
seconds when compared with the finite element program. Even if
the beam has multiple cracks, the solution time of the method
does not increase as much as the solution time of the finite
element program, because the mode shape function used in the
approximation method is not changed in the analysis of the
multiple cracked beam. Thus, natural frequencies required for the
frequency based inverse methods like prediction schemes or
contour graphs can easily be obtained for each different beam. In
practise, it is not impossible to obtain exact natural frequency
ratios represented in figures. Sensitivity and resolution of the
measurement system should be satisfactory. Restriction caused
by the sampling can be kept to a minimum by the acquisition of
long data with sufficient sampling frequency. Furthermore,
sensitivity in the frequency domain can be improved by several
statistical methods.
Vibration of the beam with height-edge cracks can also be
described as the unique plane vibration of width-edge cracked
beam. Vibrations in the plane perpendicular to crack tip axis are
well-known with many papers presented in the literature. Unique
plane vibrations obtained by the present method can be critical in
measuring and crack identification. Determination of the vibration
characteristics in two planes results in adequacy of lower frequency
modes especially if the cross-section of the beam is not square.
Coupling effects are neglected in this paper. Bending-torsion,
which is probably the most coupling type, can have considerable
influence if the cracks become deep enough. However, admissible
sized cracks do not have clear influence of coupling on the lower
modes of bending vibrations as obtained from the present results.
It is certain that coupling is effective at the higher modes of
vibration even if the beam is un-cracked.
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