Chapter 12

Systems with Distributed Mass and

Elasticity

Dr. Adil Zekaria (AAIT)

 Systems with distributed properties 12.2
SINGLE SPAN BEAMS Dr. Adil Z. (AAIT)
Vertical dynamic equation
Free vibration in bending of a uniform
∂ 2u  ∂V 
beam with distributed mass and flexibility m d x 2 = V − V + d x + pd x
is studied.
∂t  ∂x 
∂ 2u ∂V
→ m 2 + = p L (1)
DIFFERENTIAL EQUATION ∂t ∂x

Rotational static equation ( the inertial

u u( x,t ) ?
p( x,t ) moment associated with the angular
acceleration is neglected ) :
x
∂M
x dx EI m (kg/m) V=
∂x

∂ 2u ∂V ∂ 2M ∂ 4u
p dx M = EI 2 → = = EI 4 L (2 )
∂x ∂x ∂x 2 ∂x

∂ 2u ∂V ∂M Equations (1) and (2) give

M V V+ dx M+ dx
∂t 2 ∂x ∂x
dx ∂ 4u ∂ 2u
EI 4 + m 2 = p( x, t )
∂x ∂t
 Systems with distributed properties 12.3
Dr. Adil Z. (AAIT)
FREE VIBRATION
φ iv ( x ) m &q&( t )
→ = −
φ (x) EI q( t )
The differential equation
The above equation must hold for every x and t
∂ 4u ∂ 2u
EI 4
+ m 2
= 0
∂x ∂t φ iv ( x ) m &q&( t )
→ = − = β4 (a constant)
φ (x) EI q( t )
can be solved analytically.

 φ iv ( x ) − β 4φ ( x ) = 0
A possible solution is of the form 
→  2 2 EI β 4
 &q&( t ) + ω q ( t ) = 0 ω =
 m
u (x, t ) = φ (x ) ⋅ q( t )
The solution is
which gives
 q( t ) = E cos(ω n t ) + F sin( ω n t )

EI φ iv ( x ) q( t ) + m φ ( x ) &q&( t ) = 0  φ ( x ) = A sin( β x ) + B cos( β x ) + C sinh( β x ) + D cosh( β x )

d 4 φ (x) d 2 q( t )
with iv
φ (x) = &q&( t ) = E, F are determined by the initial conditions.
d x4 d t2
A, B, C, D are determined by the boundary conditions.
 Systems with distributed properties 12.4
EXAMPLE 1: SIMPLY SUPPORTED BEAM Dr. Adil Z. (AAIT)

 φ (0) = 0  B+ D = 0  B = 0
 →  → 
u  φ ′′(0) = 0 − B+ D = 0  D = 0
EI L m
x
 φ ( L) = 0  A sin( β L) + C sinh( β L) = 0
 → 
 φ ′′( L ) = 0  − A sin( β L) + C sinh( β L) = 0
u ( x, t ) = φ ( x ) ⋅ q( t )
Boundary conditions  A sin( β L) = 0 (1)
→ 
∂ 2u  C sinh( β L) = 0 (2)
M = EI 2 = EI φ ′′( x ) ⋅ q ( t )
∂x
 u( x = 0,t ) = 0  φ (0) = 0 ( 2) → C = 0 or β = 0 (no motion) → C = 0
 
 u( x = L,t ) = 0  φ (L ) = 0 (1) → A = 0 (no motion) or sin( β L) = 0
 → 
 M ( x = 0,t ) = 0  φ ′′(0) = 0
  Conclusion: the boundary conditions require
 M ( x = L,t ) = 0  φ ′′(L) = 0
sin( β L) = 0 and B = C = D = 0
φ ( x ) = Asin( β x ) + Bcos( β x ) + Csinh( β x ) + D cosh( β x )

φ ′′( x ) = β 2 [− Asin( β x ) − Bcos( β x ) + Csinh( β x ) + Dcosh( β x )]

 Systems with distributed properties 12.5
nπ
sin( β L) = 0 → β L = nπ → β = Dr. Adil Z. (AAIT)
L visualisation of the three first eigenmodes

EIβ 4 EI
2
ω = → ωn = n 2π2
m mL4 n=1
EI
ω1 = π2
mL4
nπx 
B=C=D=0 → φn ( x ) = A sin  πx 
 L  φ1( x ) = A sin 
 
L

ωn are the natural circular frequencies n=2

φn are the natural eigenmodes EI
ω 2 = 4 π2
mL4
An infinite number of solutions un are found
 2πx 
φ2 ( x ) = A sin 
un ( x,t ) = φn ( x ) ⋅ [ En cos(ωnt ) + Fn sin(ωnt ) ]  L 

The general solution for free vibration is a n=3

superposition of all the eigenmodes. EI
ω3 = 9π 2
∞ mL4
u( x,t ) = ∑ φn ( x ) ⋅ [ En cos(ωnt ) + Fn sin(ωnt ) ]
n =1  3πx 
φ3( x ) = A sin 
 L 
En Fn are given by the init . cond. u( x,t = 0) , u& ( x,t = 0)
 Systems with distributed properties 12.6
EXAMPLE 2: UNIFORM CANTILEVER BEAM Dr. Adil Z. (AAIT)
 φ ( 0) = 0  B+ D = 0  D=-B
x  →  → 
 φ ′(0) = 0  β ( A + C) = 0  C=-A

 φ ′′(L) = 0
 →
L M, EI ′′′
 φ ( L) = 0
 A(sin β L + sinh β L) + B(cos β L + cosh β L) = 0
u, φ 
 A(cos β L + cosh β L) + B(− sin β L + sinh β L) = 0
Boundary conditions
Rewriting in a matrix form
∂ 2u
M = EI 2 = EI φ ′′( x ) ⋅ q ( t )
∂x
 sin β L + sinh β L cos β L + cosh β L  A  0
 u ( x = 0, t ) = 0  φ ( 0) = 0 cos β L + cosh β L − sin β L + sinh β L  B  = 0
    
 u′( x = 0, t ) = 0  φ ′(0) = 0
 
 → 
 M ( x = L, t ) = 0  φ ′′(L) = 0
The non-trivial solution is yields the
 V( x = L, t ) = 0  φ ′′′(L) = 0 frequency equation

φ ( x ) = Asin( β x ) + Bcos( β x ) + Csinh( β x ) + D cosh( β x ) 1 + cos β L cosh β L = 0

 Systems with distributed properties 12.7
Dr. Adil Z. (AAIT)
The solution is numerically obtained as:

β n L = 1.8751, 4.6941, 7.8548, and 10.996

The first four natural frequencies are:

EI EI EI EI
ω1 = 3.516 ω2 = 22.03 ω3 = 61.70 ω4 = 120.9
mL4 mL4 mL4 mL4

Corresponding to each value of βnL, the natural vibration mode is:

 cosh β n L + cos β n L 
φn ( x ) = A cosh β n x − cos β n x − (sinh β n x − sin β n x )
 sinh β n L + sin β n L 
 Systems with distributed properties 12.8
∞
Dr. Adil Z. (AAIT)
MODAL ORTHOGONALITY Letting: u ( x, t ) = ∑φr ( x ) q r ( t ) & substituting
r =1
∞ ∞
The most important property of the ∑ m(x )φ (x )&q& (t ) +∑[EI(x )φ ′′(x )]′′q (t ) = p(x, t )
r =1
r r
r =1
r r

normal modes is that of orthogonality. It is

this property which make the uncoupling
of modes possible. The derivation is Multiplying each term by φn(x) & integrating
essentially the same as that of discrete ∞ L

systems. ∑ &q& (t )∫ m(x )φ (x )φ ( x)dx +

r =1
r n r
0
∞ L L

 L
∑ q (t )∫ φ (x )[EI( x)φ ′′(x )]′′dx = ∫ p(x, t )φ (x )dx
r =1
r n r n

 ∫ m( x )φn ( x )φr ( x ) dx = 0
0 0


If ωn ≠ ωr ⇒ L o
 φ ( x )[EI(X)φ ′′( x )]′′ dx = 0 By virtue of orthogonality the equation is
∫o n r
simplified to:
L
q&&n ( t )∫ m( x )[ φn ( x )] 2 dx +
MODAL ANALYSIS 0
L L
qn ( x )∫ φn ( x )[ EI ( x )φn′′( x )] ′′dx = ∫ p( x ,t )φn ( x )dx
The equation of motion can be written as: 0 0

This equation can be rewritten as

∂ 2u ∂ 2  ∂ 2u 
m( x ) 2 + 2  EI ( x ) 2  = p( x ,t )
∂t ∂t  ∂x  M n q&&n ( t ) + K n qn ( t ) = P( t )
 Systems with distributed properties 12.9
Dr. Adil Z. (AAIT)

M n &q&( t ) + K n q n ( t ) = P( t ) The generalized Mn and Kn related by

Where the generalized values are: K n = ωn2 M n

L
The PDE is transformed into infinite set of
M n = ∫ m( x )[φn ( x )]2 dx ODE with the unknown qn(t) which are
0
independent of each other. Once qn(t) is
L
determined, the total displacement,
K n = ∫ φn ( x )[EI( x )φn′′( x )]′′dx bending moment and shear force along
0
the length are:
L
P( t ) = ∫ p( x , t )φn ( x )dx
∞
u ( x , t ) = ∑ φn ( x ) q n ( t )
0

n =1
If the beam is free, hinged or clamped ∞
M ( x , t ) = ∑ EI( x )φn′′( x )q n ( t )
L n =1
K n = ∫ EI( x )[φn′′( x )] dx2
∞

0 V( x , t ) = ∑ [EI( x )φn′′( x )]′q n ( t )

n =1
 Systems with distributed properties 12.10
Dr. Adil Z. (AAIT)
Comparison between discrete and distributed systems

the eigenmodes
discrete systems are defined with
a multiplicative
constant
eigenmode = vector
number of natural
frequencies = number φ11  convention
of degrees of freedom  
φ1 = φ21 
φ  φ11 = 1
 31 

distributed systems eigenmode = function convention

infinite number of
natural frequencies A = 1
φ1( x ) = A sin 
πx
 L 