3D Vibration Analysis of Combined Shells of Revolution: Jae-Hoon Kang

International Journal of Structural Stability and Dynamics
Vol. 19, No. 2 (2019) 1950005 (23 pages)

#.c World Scienti¯c Publishing Company
DOI: 10.1142/S0219455419500056
by UNIVERSITY OF LOUISIANA AT on 10/20/18. Re-use and distribution is strictly not permitted, except for Open Access articles.
3D Vibration Analysis of Combined Shells of Revolution
Jae-Hoon Kang
Department of Architectural Engineering, Chung-Ang University
221 Heuksuk-Dong, Dongjak-Ku, Seoul 156-756, South Korea
jhkang@cau.ac.kr
Int. J. Str. Stab. Dyn. Downloaded from www.worldscientific.com
Received 30 June 2017

Accepted 3 August 2018
Published 5 September 2018
A three-dimensional (3D) method of analysis is presented for determining the natural fre-
quencies and the mode shapes of combined hemispherical–cylindrical shells of revolution with
and without a top opening by the Ritz method. Instead of mathematically two-dimensional
(2D) conventional thin shell theories or higher-order thick shell theories, the present method
is based upon the 3D dynamic equations of elasticity. Mathematically, minimal or orthonormal
Legendre polynomials are used as admissible functions in place of ordinary simple algebraic
polynomials which are usually applied in the Ritz method. The analysis is based upon the
circular cylindrical coordinates instead of the shell coordinates which are normal and tangent to
the shell mid-surface. Strain and kinetic energies of the combined shell of revolution with and
without a top opening are formulated, and the Ritz method is used to solve the eigenvalue
problem, thus yielding upper bound values of the frequencies by minimizing the frequencies. As
the degree of the Legendre polynomials is increased, frequencies converge to the exact values.
Convergence to four-digit exactitude is demonstrated for the ¯rst ¯ve frequencies. Numerical
results are presented for the combined shells of revolution with or without a top opening, which
are completely free and ¯xed at the bottom of the combined shells. The frequencies from the
present 3D Ritz method are compared with those from 2D thin shell theories by previous
researchers. The present analysis is applicable to very thick shells as well as very thin shells.
Keywords: Combined shell; spherical shell; cylindrical shell; free vibration; thick shell; Legendre
polynomial; three-dimensional analysis; Ritz method.
1. Introduction
Combined hemispherical–cylindrical shells of revolution have been applied to mis-
siles, airplanes, pressure vessels, architecture, submersibles, and many structures in
the petro-chemical and nuclear industries. However, there has been very little work
done on the vibrations of joined hemispherical–cylindrical shells. The research on
their mechanical behavior such as vibration characteristics under various external
excitations and boundary restrictions has great importance in engineering practice.1
Unlike the case of a single shell, the investigation on free vibration for such combined
shell structures is rather limited, due to the mathematical complexity of shell
1950005-1
J.-H. Kang
equations and the di±culty to match conditions at the junction between two sub-
structures.2 Recently, static and dynamic behaviors of joined conical–cylindrical
shells have been studied by some researchers.1,3–7
The ¯rst investigation of the joined hemispherical–cylindrical shells was made by
Hammel.8 He obtained an exact result using a series solution. The natural frequencies
of vibration of cylindrical shells clamped at one end and closed at the other one by
di®erent types of shells (cones, hemi-spheres, hemi-ellipsoids) were determined
by Galletly and Mistry.9 The principal numerical methods of investigation were
variational ¯nite-di®erences and ¯nite elements. Some results obtained by numerical
integration of the di®erential equation of motion using Runge–Kutta techniques and
by series solutions were also given for purposes of comparison. They utilized the
kinematic relations due to Novozhilov, Flügge, or Reissner. Lee et al.10 investigated
the free vibration characteristics of a joined spherical–cylindrical shell with various

boundary conditions. The Flügge shell theory and Rayleigh's energy method were
applied. The natural frequencies and mode shapes were calculated numerically and
compared with those of the ¯nite-element method and model test. In their formu-
lation, the hemispherical shell had free boundary condition and the cylindrical shell
had simply supported boundary condition at the joint. Particularly, at the joint, the
spherical shell is free to translate along all direction, while the cylinder is restrained
to translate along the radial direction. In their model test, the considered boundary
conditions of the joined structure were free–free, simply supported–free, and
clamped–free. Free–free and clamped–free boundary conditions in the experiment
were realized by using the wire and welding along the circumferential direction,
respectively. However, all the abovementioned studies were based upon thin shell
theories, which are mathematically 2D. That is, for thin shells one assumes the
Kirchho® hypothesis that normals to the shell middle surface remain normal to it
during deformations (vibratory, in this case), and unstretched in length. Conven-
tional shell theory is only applicable to thin shells. A higher-order thick shell theory
could be used which considers the e®ects of transverse shear deformation and rotary
inertia, and would be useful for the low frequency modes of moderately thick shells.
Such a theory would also be 2D. Moreover, all abovementioned papers dealt with the
combined shells without a top opening.
For bodies of revolution like the present combined spherical–cylindrical shells, a
3D analysis may be greatly simpli¯ed if the body is closed circumferentially. As
the displacements are periodic in the circumferential angle , the modes may be
uncoupled by the circumferential wave number n, leaving a problem that is math-
ematically only 2D for each n. Nevertheless, the present 3D method is applicable to
very thick combined shells as well as very thin combined shells.
3D analysis of structural elements has long been a goal of engineers. If one can use
3D analysis, then the kinematic approximations which are required in 1D or 2D
representations need not be made (e.g. assuming that plane cross-sections remain
plane during deformation). With the current availability of computers of increased
1950005-2
Vibrations of Combined Shells
speed and capacity, it is now possible to perform 3D structural analyses of bodies in

some cases to obtain accurate values of static displacements, free vibration fre-
quencies and mode shapes, and buckling loads and mode shapes. Especially, bodies of
revolution permit more e±cient 3D analysis because all mode shapes are Fourier
components of the circumferential angle (). This allows one to analyze each of the
Fourier components separately, and each component entails a problem that has two
independent variables in space, instead of three.
In the present study, a 3D analysis on the vibrations of combined spherical–
cylindrical shells of revolution with and without an axially circular cylindrical hole is
investigated. Instead of attempting to solve the equations of motion, an energy
approach is followed which, as su±cient freedom is given to the three displacement
components, yields frequency values as close to the exact ones as desired. The
Legendre polynomials, which are mathematically complete and orthonormal,

are used as admissible displacements instead of ordinary simple polynomials.
To evaluate the energy integrations over the joined shell volume, displacements
and strains are expressed in terms of the circular cylindrical coordinates, instead of
related 3D shell coordinates which are normal and tangent to the shell mid-surface,
due to the greater e±ciency of the energy integration based upon the circular
cylindrical coordinates than the 3D shell ordinates. The frequencies from the present
3D method are compared with those from 2D thin shell theories by previous
researchers.
2. Method of Analysis
A representative cross-section of a combined shell of revolution of hemispherical–
cylindrical shell having an axially (z) circular cylindrical hole with a radius and a
height of the mid-surface of the circular cylinder R and L, respectively, is shown in
Fig. 1. The radius of the axially circular cylindrical hole is denoted by Ri . The radius
of the mid-surface of the hemispherical cap is also R. The joined shell has constant
thickness H. A cross-section of the combined shell without a top opening (Ri ¼ 0) is
shown in Fig. 2.
The joined shell with a top opening (Ri 6¼ 0Þ is obtained by rotating the cross-
section for r 0 360 about the axis of revolution (zÞ. Thus, the mid-surface of the
joined shell for r 0 has the equations of
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
z ¼ R 2 r 2 ðRi r RÞ; ð1Þ
r¼R ðL z 0Þ: ð2Þ

The cylindrical coordinate system (r, z, Þ also shown in the ¯gures, is used in the
analysis, where is the circumferential angle. The domain of the joined shell of
revolution in Fig. 1 is obtained by subtracting the inner portion
Ri r R H=2; L z zi ; 0 2; ð3Þ
1950005-3
J.-H. Kang
Fig. 1. Cross-section of combined hemispherical–cylindrical shell of revolution with axially circular top
opening and circular cylindrical coordinate system (r; ; zÞ.
Fig. 2. Cross-section of combined hemispherical–cylindrical shell of revolution without top opening and
the circular cylindrical coordinate system (r; ; zÞ.
from the outer portion

Ri r R þ H=2; L z zo ; 0 2; ð4Þ
where zi;o are the coordinates of the inner and outer hemispherical surface of the
cross-section, respectively, i.e.
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
zi;o ¼ ðR H=2Þ 2 r 2 : ð5Þ
1950005-4
For mathematical convenience, the radial (rÞ and axial (zÞ coordinates are put into
the following dimensionless form:
r=R; z=L: ð6Þ
Thus, the domain (Þ of the combined shell in terms of the nondimensional circular
cylindrical coordinates ( ; ; Þ are given by subtracting the inner portion
R i 1 H =2; 1 i ; 0 2; ð7Þ
from the outer portion
R i 1 þ H =2; 1 o ; 0 2; ð8Þ
where
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
i;o zi;o =L ¼ ð1 H =2Þ 2 2 =L ð9Þ
with the nondimensional parameters R i , H , L de¯ned by

R i Ri =R; H H=R; L L=R: ð10Þ
By utilizing tensor analysis, the three equations of motion in terms of the circular
cylindrical coordinate system (r, z, Þ are found to be11
::
rr;r þ rz;z þ ðrr þ r; Þ=r ¼ ur ;
::
rz;r þ zz;z þ ðrz þ z; Þ=r ¼ uz ; ð11Þ
::
r;r þ z;z þ ð2r þ ; Þ=r ¼ u ;
where the ij are the normal (i ¼ jÞ and shear (i 6¼ jÞ stress components; ur , uz , and
u are the displacement components in the r, z, and directions, respectively; is
mass density per unit volume; the commas indicate spatial derivatives; and the dots
denote time derivatives. The well-known relationships between the tensorial stresses
(ij Þ and strains ("ij Þ of isotropic, linear elasticity are
ij ¼ "ij þ 2G"ij ; ð12Þ
where and G are the Lame parameters, expressed in terms of Young's modulus (EÞ
and Poisson's ratio (Þ for an isotropic solid as
¼ E=ð1 þ Þð1 2Þ; G ¼ E=2ð1 þ Þ; ð13Þ
" "rr þ "zz þ " is the trace of the strain tensor, and ij is Kronecker's delta. The
3D tensorial strains ("ij Þ are related to the three displacements ur , uz , and u , by11
"rr ¼ ur;r ; ð14aÞ
"zz ¼ uz;z ; ð14bÞ
" ¼ ður þ u; Þ=r; ð14cÞ
2"rz ¼ ur;z þ uz;r ; ð14dÞ
1950005-5
J.-H. Kang
2"r ¼ u;r þ ður; u Þ=r; ð14eÞ

2"z ¼ u;z þ uz; =r: ð14fÞ
By substituting Eqs. (12) and (14) into Eqs. (11), one obtains a set of three second-
order partial di®erential equations in ur , uz , and u governing the free vibrations.

However, in the case of the joined hemispherical–cylindrical shells, exact solutions
are intractable because of the variable coe±cients that appear in many terms.
Alternatively, one may approach the problem from an energy perspective.
In the case of the combined shell without a top opening in Fig. 2, because the
strains are related to the displacement components by Eqs. (14a)–(14f), unaccept-
able strain singularities may be encountered exactly at r ¼ 0 due to the term 1/r.
Since a negligibly small hole does not a®ect the frequencies, such singularities
may be avoided by replacing the range for ð r=RÞ in Eqs. (7) and (8),
R i 1 H =2, with 10 3 1 H =2.

During vibratory deformation of the body, its strain (potential) energy (V Þ is the
integral over the domain (Þ:
ZZZ
1
V ¼ ðrr "rr þ zz "zz þ " þ 2rz "rz þ 2r "r þ 2z "z Þrdrdzd: ð15Þ
2
The substitution of Eq. (12) into (15) results in the strain energy in terms of the
strains
ZZZ
1
V ¼ ½ð"rr þ "zz þ " Þ 2
2
2
þ 2Gf" rr þ " 2zz þ " 2 þ 2ð" 2rz þ " 2z þ " 2r Þgrdrdzd; ð16Þ
where the tensorial strains "ij are expressed in terms of the three displacements by
Eqs. (14).
The kinetic energy (T Þ is given by
ZZZ
1 :2 : :
T ¼ ðu r þ u 2z þ u 2 Þrdrdzd: ð17Þ
2
For the free, undamped vibration, the time (tÞ response of the three displacements is
sinusoidal and, moreover, the circular symmetry of the body of revolution allows the
displacements to be expressed as
ur ð ; ; ; tÞ ¼ Ur ð ; Þ cos n sinð!t þ Þ;
uz ð ; ; ; tÞ ¼ Uz ð ; Þ cos n sinð!t þ Þ; ð18Þ
u ð ; ; ; tÞ ¼ U ð ; Þ sin n sinð!t þ Þ;
where Ur , Uz , and U are displacement functions of and , ! is a natural frequency,
and is an arbitrary phase angle determined by the initial conditions. The
circumferential wave number is taken to be an integer (n ¼ 0; 1; 2; . . . ; 1Þ, to ensure
periodicity in . It may be veri¯ed by substituting the displacements into the 3D
equations of motion that the variables separable form of Eqs. (18) applies. Equations (18)
1950005-6
account for all free vibration modes except for the torsional ones. These modes arise
from an alternative set of solutions which are the same as Eqs. (18), except that cos n
and sin n are interchanged. For n 1, this set duplicates the solutions of Eqs. (18),
with the symmetry axes of the mode shapes being rotated. But for n ¼ 0 the alter-
native set reduces to ur ¼ uz ¼ 0, u ¼ U ð ; Þ sinð!t þ Þ, which corresponds to

the torsional modes. The displacements uncouple by circumferential wave number
(nÞ, leaving only coupling in r(or Þ and z(or Þ.
The Ritz method uses the maximum potential (strain) energy (Vmax Þ and the
maximum kinetic energy (Tmax Þ functionals in a cycle of vibratory motion.
The energy functionals for the combined shell are obtained by setting sin 2 ð!t þ Þ
and cos 2 ð!t þ Þ equal to unity in Eqs. (16) and (17) after the displacements
(18) are substituted, and by using the nondimensional coordinates and , as
follows:
"Z #
1þH =2Z o Z 1H =2Z i
LG
Vmax ¼ IV dd IV dd ; ð19Þ
2 0 1 0 1
"Z #
1þH =2Z o Z 1H =2Z i
! 2 LR 2
Tmax ¼ IT dd IT dd ; ð20Þ
2 0 1 0 1
where
IV ½ð
1 þ
2 þ
3 Þ 2 =G þ 2ð
21 þ
22 þ
23 Þ þ
24 1 þ ð
25 þ
26 Þ2 ; ð21Þ
IT ðU r2 þ U z2 Þ1 þ U 2 2 ; ð22Þ
and

1 ðUr þ nU Þ= ;

2 Ur; ;

3 Uz; =L ;
ð23Þ

4 Uz; þ Ur; =L ;

5 nUz = U; =L ;

6 ðnUr þ U Þ= U; ;
and 1 and 2 are constants, de¯ned by
Z
2
2 if n ¼ 0;
1 cos 2 nd ¼
0 if n 1;
Z ð24Þ
2
0 if n ¼ 0;
2 sin 2 nd ¼
0 if n 1:
From Eq. (13), it is seen that the nondimensional constant =G in Eq. (21) involves
only as follows:
=G ¼ 2=ð1 2Þ: ð25Þ
1950005-7
J.-H. Kang
According to Mikhlin12 and Mikhlin and Smolitskiy,13 a set of algebraic polynomial

functions is not minimal, and numerical instability of the Ritz system may occur even
within a relatively small number of terms of polynomial functions. They suggested
the use of strongly minimal or orthonormal set of functions in DA or other space
similar to DA if those functions are available, where DA is a Hillbert space or energy

space de¯ned by the di®erential operators in the governing equations of motion.
Using the orthogonal polynomials instead of ordinary ones as admissible functions
permits one to use higher degrees before encountering ill-conditioning, thereby
obtaining more accurate frequencies. In practice, the orthonormalized sets of
admissible functions in the energy space or its similar space may be pursued by the
use of either the classi¯ed orthogonal functions such as Bessel, Legendre,
Hermite, Laguerre, Chebyshev, Jacobi, and so forth, or the Gram–Schmidt orthog-
onalization. In particular, the Gram–Schmidt procedure by means of recurrence

formula14 may provide an e±cient tool to produce orthonormal admissible functions
numerically.
In the present analysis, the Legendre polynomials are used as admissible
functions. The Legendre polynomials Pn ðxÞ are de¯ned by Rodrigues' formula15
1 dn 2
Pn ðxÞ ¼ ðx 1Þ n ; ðn ¼ 0; 1; 2; . . .Þ; ð26Þ
2 n n! dx n
for arbitrary real or complex values of the variable x. The general expression for the nth
Legendre polynomial is obtained from Eq. (26) by using the familiar binomial expansion
2
Xn
ð1Þ k n! 2n2k
ðx 1Þ n ¼ x ; ð27Þ
k¼0
k!ðn kÞ!
which implies
½n=2
X ð1Þ k ð2n 2kÞ!
Pn ðxÞ ¼ x n2k ; ð28Þ
k¼0
kÞ!ðn 2kÞ!
2 n k!ðn
where the symbol [] denotes the largest integer . Alternatively, we can produce
the Legendre polynomials from the recursion formula given by Courant and Hillbert16)
Pnþ1 ðxÞ ¼ ½ð2n þ 1ÞxPn ðnÞ nPn1 ðxÞ=ðn þ 1Þ ðn ¼ 0; 1; 2; . . .Þ: ð29Þ
Thus, from Eqs. (26), (28), or (29) the ¯rst few Legendre polynomials are
P0 ðxÞ ¼ 1; P1 ðxÞ ¼ x; P2 ðxÞ ¼ ð3x 2 1Þ=2; P3 ðxÞ ¼ ð5x 3 3xÞ=2; . . . : ð30Þ
The orthogonality condition is given by

Z 1
0 for m 6¼ n
Pm ðxÞPn ðxÞdx ¼ : ð31Þ
1 2=ð2m þ 1Þ for m ¼ n
1950005-8
The displacement functions Ur , Uz and U in Eqs. (18) are further assumed as the
Legendre polynomials,
I X
X J
Ur ð ; Þ ¼ r ð ; Þ Aij Pi ð ÞPj ðÞ;
i¼0 j¼0
K X
X L
Uz ð ; Þ ¼ z ð ; Þ Bkl Pk ð ÞPl ðÞ; ð32Þ
k¼0 l¼0
M X
X N
U ð ; Þ ¼ ð ; Þ Cmn Pm ð ÞPn ðÞ;
m¼0 n¼0
and similarly for U , where i, j, k, l, m, and n are integers; I, J, K, L, M, and N

are the highest degrees taken in the Legendre polynomial terms; Aij , Bkl , and Cmn
are arbitrary coe±cients to be determined, and the functions r;z; ð ; Þ are
depending upon the geometric boundary conditions to be enforced. For example, r ¼
z ¼ ¼ 1 for completely free and r ¼ z ¼ ¼ þ 1 for ¯xed at the bottom edge
of cylinder.
The aforementioned functions r;z; impose only the necessary geometric con-
straints related to displacement boundary conditions. Together with the Legendre
polynomials in Eq. (32), they form function sets which are mathematically com-
plete.17 Thus, the function sets are capable of representing any 3D motion of the shell
with increasing accuracy as the indices I, J, . . . , N are increased. In the limit,
as su±cient terms are taken, all internal kinematic constraints vanish, and the
functions (32) will approach the exact solution as closely as desired.
The eigenvalue problem is formulated by minimizing the free vibration frequen-
cies with respect to the arbitrary coe±cients Aij , Bkl , and Cmn , thereby minimizing
the e®ects of the internal constraints present, when the upper limits (I; J; . . . ; NÞ
become large. This corresponds to the equations18:
@
ðV ! 2 T max Þ ¼ 0; ði ¼ 0; 1; 2; . . . ; I; j ¼ 0; 1; 2; . . . ; JÞ;
@Aij max
@
ðV ! 2 T max Þ ¼ 0; ðk ¼ 0; 1; 2; . . . ; K; l ¼ 0; 1; 2; . . . ; LÞ; ð33Þ
@Bkl max
@
ðV ! 2 T max Þ ¼ 0; ðm ¼ 0; 1; 2; . . . ; M; n ¼ 0; 1; 2; . . . ; NÞ;
@Cmn max

where Tmax ¼ ! 2 T max . The minimizing equations (33) yield a set of (I þ 1)(J þ 1) þ
(K þ 1)(L þ 1) þ (M þ 1)(N þ 1) linear, homogeneous, algebraic equations (or Ritz
system) in the unknowns Aij , Bkl , and Cmn . The equations can be written in the form
ðK MÞx ¼ 0; ð34Þ
where K and M are sti®ness and mass matrices resulting from the maximum strain
energy (Vmax Þ and the maximum kinetic energy (Tmax Þ, respectively, and is an
1950005-9
J.-H. Kang
eigenvalue of the vibrating system, expressed as the square of nondimensional

frequency, ! 2 R 2 =G, and the vector x takes the form
x ¼ ðA00 ; A01 ; . . . ; AIJ ; B00 ; B01 ; . . . ; BKL ; C00 ; C01 ; . . . ; CMN Þ T : ð35Þ
In the present problem, the Ritz system has the following form:
2 32 3
Kiji^j^ Kijk^^l Kijm^ n^ Ai^j^
6 K 7
4 kli^j^ Kklk^^l Kklm^ n^ 54 Bk^l^ 5
Kmni^j^ Kmnk^^l Kmnm^ n^ Cm^ n^
2 32 3
Miji^j^ 0 0 Ai^j^
¼4 0 Mklk^^l 0 54 Bk^^l 5; ð36Þ
0 0 Mmnm^ n^ Cm^ n^
where
2
R Pij Pi^j^
Kiji^j^ ¼ 1 þ2 hPij; ; Pi^j;
^ i þ hP ij; ; P i^j;
^ i þ n 2
2 ; ;
G L
2
Pkl Pk^^l R
Kklk^^l ¼ 1 þ2 ; þ hPkl; ; Pk^l;^ i þ hPkl; ; Pk^l;
^ i
G L

Pkl; Pkl P P ^^
þ ; Pk^^l þ ; Pk^l;^ þ n 2 2 kl ; k l ;
G
2
Pmn Pm^ n^ R
Pmn Pm^ n^
Kmnm^ n^ ¼ n 2 1 þ2 ; þ 2 Pmn; ; Pm^ n;
^ þ ;
G L

Pmn Pmn;
þ Pmn; ; Pm^ n; ^ ; Pm^ n;
^ ; Pm^ n^ ;

R Pij;
Kijk^^l ¼ 1 ; Pk^l^ þ hPij; ; Pk^^l; i þ hPij; ; Pk^l; ^ i ;
L G

R Pij; Pij
Kijm^ n^ ¼ n 1 ; Pm^ n^ 2 ; Pm^ n;
^ ;
L G

Pkl Pm^ n^ Pkl;
Kklm^ n^ ¼ n1 þ2 ; þ ; Pm^ n^
G G

Pkl Pm^ n^ Pkl
þ n2 ; ; Pm^ n;
^ ;
Miji^j^ ¼ 1 hPij ; Pi^jî;

Mklk^^l ¼ 1 hPkl ; Pk^^l i;
Mmnm^ n^ ¼ 2 hPmn ; Pm^ n^ i;
ð37Þ
where P is de¯ned by P P ð ÞP ðÞð ¼ i; k; m; ¼ j; l; nÞ and K ^ ^ and
^ m;
M ^ ^ ð ¼ i; k; m; ¼ j; l; n; ^ ¼ î; k; ^ ^ ¼ j;
^ ^l; nÞ
^ denote the submatrices of
1950005-10
the sti®ness and mass matrices, respectively. The notation of h; i denotes an inner
product de¯ned by
ZZ
hf; gi ð ; Þ fð ; Þgð ; Þ dd : ð38Þ
For a nontrivial solution, the determinant of the coe±cient matrix is set equal to zero,
that is jK Mj ¼ 0, which yields the frequencies (eigenvalues). These frequencies
are upper bounds of the exact values. The mode shape (eigenfunction) corresponding
to each frequency is obtained, in the usual manner, by substituting each back into
the set of algebraic equations, and solving for the ratios of coe±cients.
3. Convergence Studies
To guarantee the accuracy of frequencies obtained by the procedure described above,
it is necessary to conduct some convergence studies to determine the number of terms
required in the Legendre polynomials of Eq. (32). A convergence study is based upon
the fact that, if the displacements are expressed as the Legendre polynomials, all the
frequencies obtained by the Ritz method should converge to their exact values in
an upper bound manner. If the results do not converge properly, or converge too
slowly, it would be likely that the assumed displacement functions are poor or some
functions for a minimal complete set of the Legendre polynomials are missing.
Tables 1–6 are such a study for the joined hemispherical–cylindrical shells of
revolution with a top opening (Ri =R ¼ 0:2) for L=R ¼ 0:5, H=R ¼ 0:2, and ¼ 0:3
which are corresponding to the ¯rst shell con¯guration in Fig. 3.
Tables 1–3 are for the completely free, joined shells while Tables 4–6 are for the
joined shells ¯xed at the bottom (z ¼ LÞ. The tables list the ¯rst ¯ve nondimen-
pffiffiffiffiffiffiffiffiffi
sional frequencies !R =G for torsional modes (n ¼ 0 T Þ in Tables 1 and 4,
axisymmetric modes (n ¼ 0 A Þ in Tables 2 and 5 and bending modes (n ¼ 2) in
Tables 3 and 6. The bending modes (n ¼ 2) have two circumferential waves in their
mode shapes.
To make the study of convergence less complicated, equal numbers of the
Legendre polynomial terms were taken in both the r (or Þ coordinate (i.e. I ¼ K ¼
MÞ and z (or Þ coordinate (i.e. J ¼ L ¼ NÞ, although some computational
optimization could be obtained for some con¯gurations and some mode shapes by
using unequal numbers of the Legendre polynomial terms. The symbols TZ and TR
in the tables indicate the total numbers of the Legendre polynomial terms used
through the axial (z or Þ and the radial (r or Þ directions, respectively. Note that
the frequency determinant order DET is related to TZ and TR as follows:
8
< TZ TR
> for torsional modes ðn ¼ 0 T Þ;
DET ¼ 2 TZ TR for axisymmetric modes ðn ¼ 0 A Þ; ð39Þ
>
:
3 TZ TR for general modes ðn 1Þ:
1950005-11
J.-H. Kang
Table 1. Convergence of nondimensional frequencies !R =G of
completely free, combined hemispherical–cylindrical shell of revo-
lution with top opening (Ri =R ¼ 0:2) for the ¯ve lowest torsional
modes (n ¼ 0 T Þ for L=R ¼ 0:5 and H=R ¼ 0:2 ( ¼ 0:3).
TR TZ DET 1 2 3 4 5
3 2 6 2.477 5.791 10.41 17.30 20.87
4 12 2.336 4.143 6.204 9.642 13.74
6 18 2.334 3.958 5.625 7.642 9.783
8 24 2.334 3.950 5.572 7.266 9.141
10 30 2.334 3.949 5.566 7.223 8.936
12 36 2.334 3.949 5.564 7.210 8.891
4 2 8 2.475 5.199 9.923 15.10 17.50
4 16 2.336 4.027 6.198 8.465 12.06
6 24 2.334 3.951 5.585 7.248 9.688
8 32 2.334 3.948 5.551 7.164 8.886

10 40 2.334 3.947 5.549 7.154 8.775
12 48 2.334 3.947 5.548 7.150 8.758
5 2 10 2.467 5.027 8.443 14.56 16.77
4 20 2.335 4.019 6.005 8.457 10.86
6 30 2.334 3.950 5.570 7.246 9.086
8 40 2.334 3.948 5.550 7.157 8.795
10 50 2.334 3.947 5.548 7.149 8.756
11 55 2.334 3.947 5.548 7.149 8.749
6 2 12 2.465 4.982 8.321 11.73 16.02
4 24 2.335 4.012 5.992 8.175 10.81
6 36 2.334 3.949 5.566 7.214 9.041
8 48 2.334 3.947 5.549 7.153 8.785
10 60 2.334 3.947 5.548 7.149 8.750
11 66 2.334 3.947 5.548 7.149 8.747
Notes: TR ¼ total number of the Legendre polynomial terms used
in r or direction. TZ ¼ total number of the Legendre polynomial
terms used in z or direction. DET ¼ size of determinant.
Table 2. Convergence of nondimensional frequencies !R =G of completely
free, combined hemispherical–cylindrical shell of revolution with top opening
(Ri =R ¼ 0:2) for the ¯ve lowest axisymmetric modes (n ¼ 0 A Þ for L=R ¼ 0:5 and
H=R ¼ 0:2 ( ¼ 0:3).
TR TZ DET 1 2 3 4 5
4 2 16 1.523 2.755 2.990 4.471 7.193
4 32 1.461 1.670 2.631 2.866 4.298
6 48 1.451 1.656 2.301 2.857 3.539
8 64 1.449 1.653 2.250 2.853 3.383
10 80 1.448 1.652 2.235 2.851 3.332
12 96 1.448 1.652 2.230 2.850 3.307
5 2 20 1.519 2.699 2.931 4.321 7.141
4 40 1.457 1.664 2.545 2.863 4.250
6 60 1.450 1.654 2.271 2.854 3.444
8 80 1.448 1.652 2.238 2.851 3.336
10 100 1.448 1.652 2.229 2.849 3.300
11 110 1.448 1.652 2.227 2.849 3.294
1950005-12
Table 2. (Continued)
TR TZ DET 1 2 3 4 5
6 2 24 1.518 2.562 2.918 4.257 6.872
4 48 1.455 1.660 2.514 2.862 4.099
6 72 1.449 1.653 2.261 2.853 3.407

8 96 1.448 1.652 2.233 2.850 3.312
10 120 1.448 1.652 2.227 2.849 3.290
11 132 1.448 1.652 2.227 2.849 3.285
Table 3. Convergence of nondimensional frequencies !R =G of completely
free, combined hemispherical–cylindrical shell of revolution with top opening
(Ri =R ¼ 0:2) for the ¯ve lowest bending modes (n ¼ 2) for L=R ¼ 0:5 and
H=R ¼ 0:2 ( ¼ 0:3).
TR TZ DET 1 2 3 4 5
4 2 24 0.3897 1.687 2.240 3.506 4.371
4 48 0.3142 1.393 1.825 2.449 3.144
6 72 0.3100 1.374 1.810 2.197 3.124
8 96 0.3092 1.370 1.806 2.167 3.113
10 120 0.3090 1.369 1.806 2.158 3.106
12 144 0.3089 1.369 1.805 2.155 3.103
5 2 30 0.3812 1.647 2.117 3.444 4.288
4 60 0.3130 1.377 1.819 2.392 3.134
6 90 0.3097 1.369 1.808 2.180 3.115
8 120 0.3090 1.367 1.806 2.160 3.106
10 150 0.3089 1.366 1.805 2.154 3.101
11 165 0.3089 1.366 1.805 2.153 3.099
6 2 36 0.3770 1.637 2.079 3.432 4.269
4 72 0.3118 1.374 1.817 2.360 3.130
6 108 0.3096 1.367 1.807 2.170 3.111
8 144 0.3090 1.366 1.806 2.156 3.103
10 180 0.3089 1.366 1.805 2.153 3.099
11 198 0.3089 1.366 1.805 2.153 3.098
combined hemispherical–cylindrical shell of revolution with top
opening (Ri =R ¼ 0:2) ¯xed at the bottom (z ¼ LÞ of the com-
bined shell for the ¯ve lowest torsional modes (n ¼ 0 T Þ for L=R ¼
0:5 and H=R ¼ 0:2 ( ¼ 0:3).
TR TZ DET 1 2 3 4 5
3 2 6 1.294 3.263 6.251 11.40 17.33
4 12 1.291 3.151 4.920 6.818 9.087
6 18 1.291 3.146 4.781 6.425 8.407
8 24 1.290 3.146 4.773 6.392 8.098
10 30 1.290 3.146 4.770 6.382 8.049
12 36 1.290 3.146 4.769 6.380 8.038
1950005-13
J.-H. Kang
Table 4. (Continued)
TR TZ DET 1 2 3 4 5
4 2 8 1.293 3.239 5.730 9.894 16.16
4 16 1.291 3.149 4.827 6.627 8.857
6 24 1.291 3.146 4.768 6.371 8.044

8 32 1.290 3.146 4.765 6.352 7.959
10 40 1.290 3.146 4.765 6.348 7.949
12 48 1.290 3.146 4.765 6.348 7.944
5 2 10 1.293 3.217 5.712 8.835 14.03
4 20 1.291 3.147 4.814 6.556 8.475
6 30 1.290 3.146 4.767 6.358 8.005
8 40 1.290 3.146 4.765 6.349 7.951
10 50 1.290 3.146 4.765 6.348 7.942
11 55 1.290 3.146 4.765 6.348 7.941
6 2 12 1.293 3.214 5.572 8.776 12.01

4 24 1.291 3.147 4.804 6.525 8.409
6 36 1.290 3.146 4.766 6.357 7.979
8 48 1.290 3.146 4.765 6.348 7.944
10 60 1.290 3.146 4.765 6.348 7.941
11 66 1.290 3.146 4.765 6.348 7.940
Table 5. Convergence of nondimensional frequencies !R =G of combined
hemispherical–cylindrical shell of revolution with top opening (Ri =R ¼ 0:2)
¯xed at bottom (z ¼ LÞ of combined shell for the ¯ve lowest axisymmetric
modes (n ¼ 0 A Þ for L=R ¼ 0:5 and H=R ¼ 0:2 ( ¼ 0:3).
TR TZ DET 1 2 3 4 5
4 2 16 1.436 2.303 3.232 3.930 5.406
4 32 1.250 2.091 2.461 3.303 4.077
6 48 1.239 2.054 2.410 3.266 3.448
8 64 1.237 2.039 2.395 3.211 3.357
10 80 1.237 2.035 2.391 3.190 3.349
12 96 1.236 2.033 2.389 3.176 3.344
5 2 20 1.403 2.280 3.191 3.713 5.321
4 40 1.248 2.074 2.448 3.298 3.781
6 60 1.238 2.044 2.399 3.238 3.386
8 80 1.237 2.035 2.392 3.187 3.348
10 100 1.236 2.032 2.389 3.171 3.342
11 110 1.236 2.032 2.388 3.165 3.341
6 2 24 1.390 2.279 3.166 3.635 5.264
4 48 1.245 2.066 2.433 3.292 3.708
6 72 1.238 2.038 2.394 3.216 3.365
8 96 1.237 2.034 2.390 3.175 3.344
10 120 1.236 2.032 2.388 3.164 3.341
11 132 1.236 2.032 2.388 3.162 3.341
Tables 1–6 show the monotonic convergence of all ¯ve frequencies as TZ (¼ J þ 1,

L þ 1, and N þ 1 in Eq. (32)) as well as TR (¼ I þ 1, K þ 1, and M þ 1 in Eq. (32))
are increased. One sees in Table 6, for example, that the ¯rst nondimensional fre-
quency !R =G for n ¼ 2 converges to four digits 1.271 when (TR, TZ) ¼ (6, 10)
1950005-14
combined hemispherical–cylindrical shell of revolution with top
opening (Ri =R ¼ 0:2) ¯xed at bottom (z ¼ LÞ of combined
shell for the ¯ve lowest bending modes (n ¼ 2) for L=R ¼ 0:5 and
H=R ¼ 0:2 ( ¼ 0:3).
TR TZ DET 1 2 3 4 5
4 2 24 1.411 2.633 2.920 4.127 4.955
4 48 1.287 2.074 2.584 3.508 3.875
6 72 1.277 2.013 2.573 3.145 3.861
8 96 1.275 1.994 2.568 3.039 3.854
10 120 1.274 1.990 2.566 3.025 3.850
12 144 1.274 1.989 2.565 3.013 3.848
5 2 30 1.389 2.598 2.770 4.069 4.910
4 60 1.281 2.047 2.577 3.347 3.872
6 90 1.274 1.998 2.569 3.080 3.856

8 120 1.273 1.990 2.565 3.026 3.850
10 150 1.272 1.987 2.564 3.011 3.847
11 165 1.272 1.986 2.564 3.008 3.846
6 2 36 1.381 2.588 2.723 4.050 4.878
4 72 1.278 2.035 2.573 3.297 3.866
6 108 1.273 1.993 2.567 3.051 3.853
8 144 1.272 1.988 2.564 3.015 3.848
10 180 1.271 1.986 2.564 3.007 3.846
11 198 1.271 1.986 2.564 3.007 3.846
terms are used, which results in DET ¼ 3 ð6 10Þ ¼ 180. It is interesting to note
in Tables 1–6 that the modes for n ¼ 2 require much larger size of DET compared
with the torsional modes (n ¼ 0 T Þ and the axisymmetric modes (n ¼ 0 A Þ. This is
primarily because only the circumferential displacement component (u Þ is involved
in the torsional modes, and the radial (ur Þ and axial (uz Þ displacement components
are involved in the axisymmetric modes, whereas all three components enter into the
modes having n 1, as seen in Eq. (39). In the case of ¯xed boundary conditions,
larger size of DET are required compared with completely free boundary ones except
torsional modes (n ¼ 0 T Þ to obtain the converged frequencies. Frequencies
in underlined, bold-faced values in Tables 1–6 represent the converged results
(up to four signi¯cant ¯gures) achieved with the smallest determinant size.
4. Comparison Studies
Table 7 shows comparisons of the ¯rst nondimensional frequencies 2!R =G for
each n of joined hemispherical–cylindrical shells without a top opening (Ri ¼ 0Þ ¯xed
at their bottoms (z ¼ LÞ of the combined shells from the present 3D method and
the 2D shell (2DS) theories by Galletly and Mistry9 for H=R ¼ 0:02 and ¼ 0:2. It is
observed that irrespective of the values of L/R and n, all the frequencies from the
present 3D method are smaller than those from 2DS, as expected. Since an accurate
3D analysis should typically yield lower frequencies than those from 2D thin shell
1950005-15
J.-H. Kang
Fig. 3. Cross-sections of combined hemispherical–cylindrical shells of revolution with top opening for
H/R ¼ 0:2.
Table 7. Comparisons of the ¯rst nondimensional frequencies 2!R =G for each n of combined
hemispherical–cylindrical shells of revolution ¯xed at bottom (z ¼ LÞ of combined shell without top
opening (Ri ¼ 0Þ from present 3D method and 2DS theories for H=R ¼ 0:02 ( ¼ 0:2).
L=R ¼ 1
2DS L=R ¼ 2
n Present 3D Finite element Finite di®erence Numerical integration Present 3D 2DS
0A 2.006 2.0589 2.0589 2.0597 — —

1 0.9184 0.9438 0.9435 0.9436 0.5464 0.562
2 1.579 1.6205 1.6222 1.6207 — —
3 1.275 1.3070 1.3100 — 0.6370 0.655
4 1.068 1.0940 1.0978 — 0.5302 0.544
5 0.9804 1.008 0.5678 0.582
6 1.012 1.040 — —
1950005-16
theory, mainly because shear deformation and rotary inertia e®ects are accounted for
in a 3D analysis, but not in 2D, thin shell theory.
5. Results and Discussion

Tables 8–11 present the nondimensional frequencies !R =G of the joined,
spherical–cylindrical shells of revolution with a top opening (in Tables 8 and 9 which
are corresponding to Fig. 3) and without a top opening (in Tables 10 and 11 which
Table 8. Nondimensional frequencies !R =G of completely free, combined hemi-
spherical–cylindrical shells of revolution with top opening for H=R ¼ 0:2 ( ¼ 0:3).
Ri =R ¼ 0:2 Ri =R ¼ 0:5
n s L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2 L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2
0T 1 2.344 1.786 1.162 2.440 1.822 1.172

2 3.967 3.157 2.228 4.318 3.322 2.270
3 5.578 4.451 3.153 6.281 4.789 3.266
4 7.190 5.720 4.065 8.264 6.282 4.256
5 8.803 7.007 4.982 10.25 7.787 5.273
0A 1 1.389 1.336 1.234 1.469 1.418 1.313
2 1.610 1.601 1.550 1.624 1.609 1.572
3 1.772 1.648 1.609 1.955 1.701 1.613
4 2.262 1.866 1.653 2.278 2.043 1.685
5 2.877 2.294 1.780 2.735 2.248 1.865
1 1 1.325 1.224 1.079 1.368 1.256 1.103
2 1.602 1.500 1.164 1.623 1.524 1.188
3 1.935 1.649 1.459 2.015 1.670 1.485
4 2.215 2.008 1.600 2.295 2.096 1.612
5 2.483 2.076 1.750 2.796 2.156 1.782
2 1 0.1631(1) 0.1484(1) 0.1374(1) 0.1608(1) 0.1475(1) 0.1371(1)
2 1.207(5) 1.061(4) 0.6274(3) 0.4839(3) 0.4574(3) 0.4124(3)
3 1.656 1.331 1.112 1.671 1.252 0.7280
4 1.760 1.711 1.311 1.726 1.704 1.235
5 2.191 1.895 1.627 2.221 1.875 1.631
3 1 0.4272(2) 0.3948(2) 0.3750(2) 0.4263(2) 0.3945(2) 0.3749(2)
2 1.599 1.134(5) 0.6320(4) 1.141(5) 1.051(5) 0.6295(4)
3 1.953 1.666 1.131 1.786 1.251 1.068
4 2.523 2.038 1.567 2.344 1.887 1.220
5 2.818 2.564 1.815 2.789 2.440 1.657
4 1 0.7706(3) 0.7255(3) 0.7016(5) 0.7702(4) 0.7254(4) 0.7015(5)
2 1.807 1.288 0.8776 1.708 1.284 0.8772
3 2.298 1.911 1.278 2.088 1.773 1.275
4 3.025 2.366 1.738 2.773 2.183 1.688
5 3.702 2.986 2.074 3.664 2.779 1.915
5 1 1.186(4) 1.135 1.111 1.186 1.135 1.111
2 2.110 1.606 1.264 2.094 1.604 1.264
3 2.725 2.243 1.598 2.632 2.217 1.597
4 3.559 2.771 2.032 3.346 2.685 2.025
5 4.511 3.463 2.422 4.246 3.289 2.378
1950005-17
J.-H. Kang
Table 9. Nondimensional frequencies !R =G of combined hemispherical-cylindrical
shells of revolution with top opening ¯xed at the bottom (z ¼ LÞ of the combined shells for
H=R ¼ 0:2 ( ¼ 0:3).
Ri =R ¼ 0:2 Ri =R ¼ 0:5
n s L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2 L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2
0T 1 1.296(4) 0.9296(4) 0.5869(4) 1.322(5) 0.9411(4) 0.5909(4)

2 3.161 2.518 1.713 3.374 2.607 1.735
3 4.789 3.795 2.702 5.308 4.041 2.776
4 6.383 5.090 3.604 7.265 5.540 3.756
5 7.989 6.363 4.528 9.255 7.029 4.764
0A 1 1.172(3) 1.056(5) 0.8071(5) 1.280(4) 1.143 0.8489
2 1.705 1.580 1.416 1.891 1.666 1.479
3 2.232 1.870 1.633 2.162 1.875 1.658
4 2.277 1.877 1.700 2.645 2.045 1.730

5 3.022 2.305 1.813 2.721 2.356 1.878
1 1 0.6569(1) 0.4776(1) 0.2841(1) 0.7180(2) 0.5129(2) 0.2996(1)
2 1.483 1.338 0.8516 1.516 1.396 0.8805
3 1.898 1.439 1.293 1.974 1.463 1.305
4 2.003 1.729 1.415 2.153 1.771 1.444
5 2.465 1.996 1.619 2.780 2.074 1.637
2 1 1.137(2) 0.8860(2) 0.5079(2) 0.5286(1) 0.4719(1) 0.3996(2)
2 1.532 1.266 1.029 1.518 1.020(5) 0.6043(5)
3 2.087 1.717 1.264 2.133 1.732 1.129
4 2.497 2.098 1.569 2.406 2.102 1.567
5 2.905 2.323 1.884 2.988 2.248 1.898
3 1 1.414(5) 0.9245(3) 0.5522(3) 1.107(3) 0.9025(3) 0.5509(3)
2 1.872 1.630 1.023 1.564 1.176 0.9961
3 2.494 1.970 1.497 2.348 1.817 1.173
4 3.277 2.494 1.771 3.106 2.359 1.570
5 3.732 3.138 2.116 3.525 2.992 2.010
4 1 1.587 1.100 0.8084 1.551 1.099 0.8081
2 2.193 1.836 1.175 1.945 1.732 1.174
3 2.942 2.271 1.649 2.694 2.083 1.622
4 3.846 2.893 2.016 3.584 2.682 1.860
5 4.687 3.615 2.396 4.542 3.398 2.254
5 1 1.867 1.427 1.197 1.862 1.427 1.196
2 2.589 2.132 1.495 2.506 2.116 1.495
3 3.439 2.653 1.932 3.238 2.577 1.928
4 4.422 3.345 2.343 4.124 3.183 2.310
5 5.529 4.119 2.758 5.228 3.884 2.685
are corresponding to Fig. 4). The results in Tables 8 and 10 are for completely free
boundary condition and those in Tables 9 and 11 are for ¯xed boundary condition at
the bottom (z ¼ LÞ of the combined shells. Poisson's ratio (Þ is taken to be 0.3.
Thirty-¯ve frequencies are given for each shell con¯guration, which arise from seven
circumferential wave numbers (n ¼ 0 T , 0 A , 1, 2, 3, 4, 5) and the ¯rst ¯ve modes
(s ¼ 1, 2, 3, 4, 5) for each value of n, where the superscripts T and A indicate
torsional and axisymmetric modes, respectively. The bold numbers in parentheses
identify the ¯rst ¯ve frequencies for each shell con¯guration. For example, in the case
1950005-18
Table 10. Nondimensional frequencies !R =G of completely free, combined hemispherical–
cylindrical shells of revolution without top opening (Ri ¼ 0Þ for ¼ 0:3.
H=R ¼ 0:2 L=R ¼ 1

L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2 H=R ¼ 0:05 H=R ¼ 0:1
n s
0T 1 2.331 1.780 1.160 1.787 1.785

2 3.930 3.138 2.221 3.153 3.150
3 5.496 4.413 3.139 4.434 4.430
4 7.040 5.651 4.044 5.680 5.674
5 8.563 6.894 4.947 6.930 6.924
0A 1 1.433(5) 1.367 1.251 1.299 1.320
2 1.647 1.614 1.579 1.552 1.598
3 2.186 1.827 1.629 1.609 1.641
4 2.973 2.385 1.824 1.651 1.847
5 3.187 2.716 2.089 1.789 2.254

1 1 1.351(3) 1.239(4) 1.089(5) 1.210 1.217
2 1.845 1.601 1.179 1.462 1.494
3 2.179 1.931 1.578 1.527 1.652
4 2.652 2.151 1.703 1.690 2.021
5 3.179 2.666 1.979 1.874 2.061
2 1 0.3097(1) 0.2873(1) 0.2689(1) 0.07517(1) 0.1485(1)
2 1.549 1.238(3) 0.7357(3) 1.075 1.130(4)
3 1.811 1.706 1.320 1.416 1.492
4 2.275 1.959 1.731 1.578 1.815
5 3.178 2.431 1.910 1.760 1.903
3 1 0.7879(2) 0.7468(2) 0.7180(2) 0.2013(2) 0.3948(2)
2 1.947 1.498 0.9982(4) 0.9456 1.134(5)
3 2.631 2.157 1.551 1.483 1.675
4 2.917 2.812 2.065 1.638 2.055
5 3.875 2.980 2.567 1.876 2.591
4 1 1.389(4) 1.338(5) 1.307 0.3731(3) 0.7255(3)
2 2.454 1.954 1.534 0.8990(5) 1.288
3 3.345 2.706 2.002 1.523 1.912
4 3.764 3.530 2.544 1.743 2.368
5 4.624 3.785 3.098 2.038 2.993
5 1 2.089 2.036 2.007 0.5897(4) 1.135
2 3.091 2.582 2.213 0.9863 1.606
3 4.092 3.364 2.626 1.609 2.243
4 4.660 4.229 3.157 1.896 2.773
5 5.427 4.683 3.734 2.248 3.469
of the joined shell without a top opening for H=R ¼ 0:2 and L=R ¼ 0:5 in the ¯rst
column of Table 10, the ¯rst ¯ve frequencies are modes for (n; sÞ ¼ ð2; 1Þ, (3, 1),
(1, 1), (4, 1), and (0 A , 1) in this order. The zero frequencies of rigid body modes
occurring at the joined shells with completely free boundary conditions have been
omitted from Tables 8 and 10. The mode shapes of the center line of the combined
shells at arbitrary z and 0 2 are given in Fig. 5 for each value of n except
for the torsional ones (n ¼ 0 T Þ. The mode shapes have 2n nodal points (ur ¼ 0) for
each n.
1950005-19
J.-H. Kang
Table 11. Nondimensional frequencies !R =G of combined hemispherical–cylindrical
shells of revolution ¯xed at bottom(z ¼ LÞ of combined shells without a top opening
(Ri ¼ 0Þ for ¼ 0:3.
H=R ¼ 0:2 L=R ¼ 1

n s L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2 H=R ¼ 0:5 H=R ¼ 0:1
0T 1 1.290(3) 0.9266(2) 0.5857(2) 0.9300 0.9293(4)

2 3.137 2.506 1.709 2.517 2.515
3 4.732 3.768 1.692 3.786 3.783
4 6.270 5.038 5.587 5.063 5.058
5 7.793 6.274 4.500 6.306 6.300
0A 1 1.213(2) 1.063(4) 0.8063(5) 1.031 1.041(5)
2 2.013 1.743 1.463 1.497 1.566
3 2.370 1.938 1.703 1.639 1.851
4 3.090 2.385 1.844 1.780 1.877

5 3.589 3.192 2.197 1.857 2.261
1 1 0.6732(1) 0.4823(1) 0.2854(1) 0.4669(1) 0.4716(1)
2 1.661(5) 1.412 0.8653 1.285 1.326
3 2.003 1.504 1.318 1.398 1.438
4 2.539 2.050 1.536 1.621 1.724
5 2.867 2.499 1.905 1.685 2.014
2 1 1.395(4) 1.042(3) 0.6155(3) 0.8404(4) 0.9078(2)
2 2.105 1.704 1.228 1.397 1.478
3 2.739 2.264 1.663 1.548 1.781
4 3.097 2.491 2.098 1.734 2.223
5 3.990 3.196 2.179 1.986 2.399
3 1 1.724 1.280(5) 0.9004 0.7395(3) 0.9249(3)
2 2.594 2.080 1.437 1.424 1.637
3 3.634 2.813 1.977 1.608 1.986
4 3.784 3.381 2.490 1.844 2.521
5 4.999 3.737 3.099 2.148 3.190
4 1 2.175 1.738 1.440 0.7363(2) 1.101
2 3.194 2.575 1.876 1.430 1.837
3 4.381 3.387 2.432 1.714 2.275
4 4.685 4.334 2.990 1.994 2.901
5 5.745 4.369 3.651 2.348 3.633
5 1 2.774 2.367 2.123 0.8472(5) 1.427
2 3.887 3.189 2.494 1.497 2.133
3 5.140 4.048 3.026 1.858 2.657
4 5.631 5.055 3.605 2.188 3.352
5 6.532 5.309 4.270 2.594 4.136
It is interesting to note that the fundamental (lowest) and second frequencies are
all for modes having two (n ¼ 2) and three (n ¼ 3) circumferential waves in their
modes, respectively, for completely free boundary conditions in Tables 8 and 10
irrespective of existence of the top opening. The fundamental ones all occur at n ¼ 1
for the combined shells without a top opening having ¯xed boundary conditions
at the bottom in Table 11 irrespective of shell con¯gurations. In the case of the
combined shells with a top opening ¯xed at the bottom in Table 9, as the magnitude
1950005-20
Fig. 4. Cross-sections of combined hemispherical–cylindrical shells of revolution without top opening.
Fig. 5. Mode shapes for each n at arbitrary z and 0 2.
1950005-21
J.-H. Kang
of the radius of the axially circular hole (Ri =RÞ becomes smaller the fundamental
frequencies occur at n ¼ 1 as expected. It is seen in Tables 9 and 11 that the tor-
sional (n ¼ 0 T Þ and axisymmetric modes (n ¼ 0 A Þ are more important for ¯xed
boundary conditions compared with completely free ones. It is also seen in Table 11
for ¯xed boundary conditions that as the shell thickness (H=RÞ becomes larger the
modes for n ¼ 0 T and 0 A are more important. That is, they are among the lowest
frequencies of the joined shells.
6. Concluding Remarks
Accurate frequency data determined by the 3D Ritz analysis have been presented for
the joined hemispherical–cylindrical shells of revolution with and without an axially
circular top opening. The Legendre polynomials which is mathematically complete

and orthonormal are used instead of algebraic simple polynomials as admissible
functions. The analysis uses the 3D equations of the theory of elasticity in their
general forms for isotropic materials. They are only limited to small strains. No other
constraints are placed upon the displacements. This is in stark contrast with classical
2D thin shell theories and 2D thick shell theories, which make very limiting
assumptions about the displacement variation through the shell thickness. For
bodies of revolution like the present combined shells, the 3D analysis may be greatly
simpli¯ed if the body is closed circumferentially, so that the displacements are pe-
riodic in the circumferential angle . Then the modes uncouple by circumferential
wave number n, leaving a problem that is mathematically only 2D for each
n. Nevertheless the present analysis is applicable to very thick shells as well as very
thin shells.
The method is capable of determining natural frequencies as close to the exact
ones as desired. Therefore, the data in Tables 8–11 may be regarded as benchmark
results and may be compared to determine the accuracy of 3D results obtained by
other methods such as ¯nite elements and ¯nite di®erences. Moreover, the frequency
determinants required by the present method are at least an order of magnitude
smaller than those needed by ¯nite-element analyses of comparable accuracy. This
was demonstrated extensively in a paper by McGee and Leissa.19 The Ritz method
guarantees upper bound convergence of the frequencies in terms of functions
sets that are mathematically complete, such as the Legendre polynomials. Some
¯nite-element methods can also accomplish this, but at much greater costs, and
others cannot.
The method presented could also be extended to circumferentially open
(0 0 Þ combined shells, instead of circumferentially closed (0 2Þ
combined shells of revolution. However, the periodicity in would not be present.
It would be necessary then to replace the double sums of the Legendre poly-
nomials in Eq. (32) by triple sums, with the Legendre polynomials in being
included.
1950005-22
References
1. M. A. Kouchakzadeh and M. Shakouri, Free vibration analysis of joined cross-ply lami-
nated conical shells, Int. J. Mech. Sci. 78 (2014) 118–125.
2. X. Shang, Exact solution for free vibration of a hermetic capsule, Mech. Res. Commun.
28 (2001) 283–288.
3. X. Ma, G. Jin, Y. Xiong and Z. Liu, Free and forced vibration analysis of coupled conical–
cylindrical shells with arbitrary boundary conditions, Int. J. Mech. Sci. 88 (2014)
122–137.
4. M. Shakouri and M. A. Kouchakzadeh, Stability analysis of joined isotropic conical shells
under axial compression, Thin-Walled Struct. 72 (2013) 20–27.
5. M. Shakouri and M. A. Kouchakzadeh, Free vibration analysis of joined conical shells:
Analytical and experimental study, Thin-Walled Struct. 85 (2014) 350–358.
6. J.-H. Kang, Three-dimensional vibration analysis of joined thick conical–cylindrical shells
of revolution with variable thickness, J. Sound Vibr. 331 (2012) 4187–4198.
7. B. P. Patel, Y. Nath and K. K. Shukla, Nonlinear thermo-elastic buckling characteristics

of cross-ply laminated joined conical–cylindrical shells, Int. J. Solids Struct. 43 (2006)
4810–4829.
8. J. Hammel, Free vibration of a cylindrical shell with a hemispherical head, in 2nd Int.
SMiRT Conf., E4/6, 1–12, Berlin, Germany (1973).
9. G. D. Galletly and J. Mistry, The free vibrations of cylindrical shells with various end
closures, Nucl. Eng. Design 30(2) (1974) 249–268.
10. Y.-S. Lee, M.-S. Yang, H.-S. Kim and J.-H. Kim, A study on the free vibration of the
joined cylindrical–spherical shell structures, Comput. Struct. 80 (2002) 2405–2414.
11. I. S. Sokolniko®, Mathematical Theory of Elasticity, 2nd edn. (McGraw-Hill, New York,
1956).
12. S. G. Mikhlin, Variational Methods in Mathematical Physics (Pergamon, New York,
1964).
13. S. G. Mikhlin and K. L. Smolitskiy, Approximate Methods for Solution of Di®erential
and Integral Equations (American Elsevier Publishing Company Inc., New York, 1967),
pp. 229–250.
14. P. Beckmann, Orthogonal Polynomials for Engineers and Physicists, Chapter 3 (The
Golem Press, Boulder, 1973).
15. N. N. Lebedev, Special Functions & Their Applications (Dover Publications, Englewood
Cli®s, 1972).
16. R. Courant and D. Hilbert, Methods of Mathematical Physics, Vol. I (Interscience
Publishers, Hoboken, 1953).
17. L. V. Kantorovich and V. I. Krylov, Approximate Methods of Higher Analysis (Noordho®
International Publishers, Groningen, 1958).
18. A. W. Leissa, The historical bases of the Rayleigh and Ritz methods, J. Sound Vibr. 287
(2005) 961–978.
19. O. G. McGee and A. W. Leissa, Three-dimensional free vibrations of thick skewed can-
tilever plates, J. Sound Vibr. 144 (1991) 305–322 (Errata 149 (1991) 539–342).
1950005-23

3D Vibration Analysis of Combined Shells of Revolution: Jae-Hoon Kang

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International Journal of Structural Stability and Dynamics

Vol. 19, No. 2 (2019) 1950005 (23 pages)

3D Vibration Analysis of Combined Shells of Revolution

Received 30 June 2017

the free vibration characteristics of a joined spherical–cylindrical shell with various

speed and capacity, it is now possible to perform 3D structural analyses of bodies in

Legendre polynomials, which are mathematically complete and orthonormal,

r¼R ðL z 0Þ: ð2Þ

from the outer portion

R i 1 H  =2; 1 i ; 0 2; ð7Þ

from the outer portion

R i 1 þ H  =2; 1 o ; 0 2; ð8Þ

with the nondimensional parameters R i , H  , L  de¯ned by

2"r ¼ u;r þ ður; u Þ=r; ð14eÞ

order partial di®erential equations in ur , uz , and u governing the free vibrations.

R i 1  H  =2, with 10 3 1  H  =2.

native set reduces to ur ¼ uz ¼ 0, u ¼ U  ð ; Þ sinð!t þ Þ, which corresponds to

According to Mikhlin12 and Mikhlin and Smolitskiy,13 a set of algebraic polynomial

similar to DA if those functions are available, where DA is a Hillbert space or energy

onalization. In particular, the Gram–Schmidt procedure by means of recurrence

P0 ðxÞ ¼ 1; P1 ðxÞ ¼ x; P2 ðxÞ ¼ ð3x 2 1Þ=2; P3 ðxÞ ¼ ð5x 3 3xÞ=2; . . . : ð30Þ

The orthogonality condition is given by

and similarly for U  , where i, j, k, l, m, and n are integers; I, J, K, L, M, and N

eigenvalue of the vibrating system, expressed as the square of nondimensional

Miji^j^ ¼ 1 hPij ; Pi^j^i;

8 32 2.334 3.948 5.551 7.164 8.886

6 72 1.449 1.653 2.261 2.853 3.407

6 24 1.291 3.146 4.768 6.371 8.044

6 2 12 1.293 3.214 5.572 8.776 12.01

Tables 1–6 show the monotonic convergence of all ¯ve frequencies as TZ (¼ J þ 1,

6 90 1.274 1.998 2.569 3.080 3.856

n Present 3D Finite element Finite di®erence Numerical integration Present 3D 2DS

0A 2.006 2.0589 2.0589 2.0597 — —

5. Results and Discussion

n s L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2 L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2

0T 1 2.344 1.786 1.162 2.440 1.822 1.172

n s L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2 L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2

0T 1 1.296(4) 0.9296(4) 0.5869(4) 1.322(5) 0.9411(4) 0.5909(4)

4 2.277 1.877 1.700 2.645 2.045 1.730

H=R ¼ 0:2 L=R ¼ 1

0T 1 2.331 1.780 1.160 1.787 1.785

5 3.187 2.716 2.089 1.789 2.254

H=R ¼ 0:2 L=R ¼ 1

n s L=R ¼ 0:5 L=R ¼ 1 L=R ¼ 2 H=R ¼ 0:5 H=R ¼ 0:1

0T 1 1.290(3) 0.9266(2) 0.5857(2) 0.9300 0.9293(4)

4 3.090 2.385 1.844 1.780 1.877

Fig. 4. Cross-sections of combined hemispherical–cylindrical shells of revolution without top opening.

Fig. 5. Mode shapes for each n at arbitrary z and 0 2.

circular top opening. The Legendre polynomials which is mathematically complete

7. B. P. Patel, Y. Nath and K. K. Shukla, Nonlinear thermo-elastic buckling characteristics

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R i 1 H =2; 1 i ; 0 2; ð7Þ

R i 1 þ H =2; 1 o ; 0 2; ð8Þ

with the nondimensional parameters R i , H , L de¯ned by

R i 1 H =2, with 10 3 1 H =2.

native set reduces to ur ¼ uz ¼ 0, u ¼ U ð ; Þ sinð!t þ Þ, which corresponds to

and similarly for U , where i, j, k, l, m, and n are integers; I, J, K, L, M, and N