Vibrations of Continuous media

Unit 4
MECHANICAL VIBRATIONS (16 ME 71)
Compiled by: Dr P R Venkatesh
Associate Professor
ME Dept, RVCE, Bengaluru-59

Dr P R Venkatesh, ME Dept RVCE

 Vibration of continuous Systems
• Models of vibratory systems can be divided into two
broad classes, lumped and continuous, depending on
the nature of the parameters.
• In the case of lumped systems, the components are
discrete, with the mass assumed to be rigid and
concentrated at individual points, and with the stiffness
taking the form of massless springs connecting the rigid
masses.
• The masses and springs represent the system
parameters, and we refer to such models as discrete or
lumped-parameter models. The motion of discrete
systems is governed by ordinary differential equations.
Dr P R Venkatesh, ME Dept RVCE
 Vibration of continuous Systems....
• Continuous systems, on the other hand, differ from discrete
systems in that the mass and elasticity are continuously
distributed.
• Examples include strings, rods, beams, plates and shells.
• While discrete systems possess a finite number of degrees
of freedom, continuous systems have an infinite number of
degrees of freedom because we need an infinite number of
coordinates to specify the displacement of every point in an
elastic body.
• The displacement in this case depends on two independent
variables, namely x and t.
• As a result, the motion of continuous systems is governed by
partial differential equations to be satisfied over the entire
domain of the system, subject to boundary conditions and
initial conditions.
Dr P R Venkatesh, ME Dept RVCE
 Boundary conditions & Initial conditions
Boundary conditions are those which depends on
space while Initial conditions are depends on time.
• Essential or Geometric boundary conditions: These
correspond to slopes & displacements. (Geometric
compatibility)
Ex: If a bar is fixed at both ends, the displacement &
slope will be zero at the fixed ends.
• Natural or Force boundary conditions: These correspond to
forces & moments.
Ex: If a bar is hinged at one end, the bending moment
will be zero at the fixed ends.
Initial conditions : They are related to time.
For Ex: At time t = 0, displacement = 2 mm
At time t = 0, velocity = 10 m/sec
Dr P R Venkatesh, ME Dept RVCE
Vibration of Strings (Transverse wave propagation)
• The figure shows a flexible string of negligible stiffness
& of uniform mass  per unit length, rigidly supported
at both ends and stretched to a tension T.

• Consider Let the origin be at the left support & the y

coordinate represent the transverse displacement w.r.t
equilibrium position.
Dr P R Venkatesh, ME Dept RVCE
• It is also assumed that the tension force in the string
remains constant during vibration, which follows from
the assumptions of small displacements.
• A free body diagram of a string element is shown below.

Dr P R Venkatesh, ME Dept RVCE

Neglecting gravity effects, we can apply Newton's second law on the
string element to obtain the governing equation of motion.
Applying F y  m  a y gives;
   2 y
T Sin    dx   T sin    dx 2 (i) where  is the mass per
 x  t
unit length of the string. Also, for small displacements, sin  
 2 y y
So, we obtain T  2 (ii) But,  = Hence;
x t x
2 y 2 y 2 y 1 2 y
T 2   2 which can be written as;  2 2
x t x 2
c t
T
which is known as one - dimensional wave equation and c  is

the velocity of wave propagation along the string.
Dr P R Venkatesh, ME Dept RVCE
 Solution of the wave equation
Since the lateral deflection y along the string is a function of variables
x & t , y  y ( x, t ) Assume that the solution of y to be a product of two
functions X ( x) and T (t ) where X(x) is a function of x alone and T(t)
is a function of t alone. Hence let y  XT (for simplicity)
2 y d2X 2 y d 2T 2 y 1 2 y
 2 T & 2  X 2 ; The wave equation is  2 2
x dx 2 t dt x 2
c t
d 2 X X d 2T
Substituting the above in wave equation;  T 2
 2 2
dx c dt
c 2  d 2 X  1  d 2T 
i.e.  2    2  .The LHS of the equation is a function of x
X  dx  T  dt 
alone & LHS is a function of t alone. The equality is possible only if
they are individually equal to a constant, say   2 .
( +ve or zero  vibratory motion)
Dr P R Venkatesh, ME Dept RVCE
 c2  d 2 X  1  d 2T

  2    which results in two equations;
  2
2

X  dx  T  dt

 d2X    2  d 2T 

 2    X  0 and  2    2
T  0 The solutions of the
 dx   c   dt 
   
above equations are; X ( x)  A cos   x  B sin   x
c c
and T (t )  C cos t  D sin t
     
 y   A cos   x  B sin   x  C cos t  D sin t 
 c c 
where  is the frequency of vibration and the above equation gives
solution corresponding to one value of frequency. For a continuous
system, there are infinite frequencies, hence the general solution can

     
be written as; y    Ai cos  i  x  Bi sin  i  x  Ci cos i t  Di sin i t 
i 1   c   c  
The constants A i , Bi can be obtained from the boundary conditions
and Ci & Di from initial conditions given
Dr P R Venkatesh, ME Deptin the problem.
RVCE
 Longitudinal Vibrations of bars
• Propagation of longitudinal waves in a bar or a rod is another
important type of wave motion.
• During propagation of longitudinal wave disturbance in a bar, the
displacement of the particles of the bar is parallel to the axis.
• Consider a thin and uniform rod as shown in fig, the
displacements along the rod due to axial force will be function of
both position & time.
l
F dx
F F+
x
dx
s+  s dx
x
s x

 s dx
dx +
x
Dr P R Venkatesh, ME Dept RVCE
Considering a small elemental length of rod dx at a distance x from
 F 
the left end. Let F and  F  dx  be the force at the left and right
 x 
 s 
ends of the element. Similarly, s and  s  dx  be the displacements at
 x 
the left & right ends of the element.
 s  s
Change in length for the element =  dx  dx   dx  dx
 x  x
s
dx
x s F
 Strain in the element    By Hooke's law,  
dx x AE
s F 2s 1  F    2 s   F 
  and hence 2    or AE  2    
x AE x AE  x   x   x 

Dr P R Venkatesh, ME Dept RVCE

Applying Newton's II law for the dynamic equilibrium of the element,
Mass of the element  Acceleration = Resultant external force
  2 s  F
 Adx  2   dx where  is the mass density of the rod.
 t  x
  2 s   F 
Also it was shown that AE  2    
 x   x 
 2s   2s  2s E  2s  E
  Adx  2   AE  2  dx and hence 2   2  ; Let   c 2
 t   x  t   x  
2s   2
s   2
s 1   2
s E
 2  c  2  or 2  2  2  where c 
2
is the velocity of
t  x  x c  t  
propagation of stress or dispalcement wave in the rod.

Dr P R Venkatesh, ME Dept RVCE

Since the displacement along the rod is a function of variables x & t ,
s  s ( x, t ) Assume that the solution of y to be a product of two
functions X ( x) and T (t ) where X(x) is a function of x alone and T(t)
is a function of t alone. Hence let s  XT (for simplicity)
2s d2X 2s d 2T 2s 1 2s
 2 T & 2  X 2 ; The wave equation is 2  2 2
x dx 2 t dt x c t
d 2 X X d 2T
Substituting the above in wave equation;  T 2
 2 2
dx c dt
c 2  d 2 X  1  d 2T 
i.e.  2    2  .The LHS of the equation is a function of x
X  dx  T  dt 
alone & LHS is a function of t alone. The equality is possible only if
they are individually equal to a constant, say   2 .
( +ve or zero  vibratory motion)
Dr P R Venkatesh, ME Dept RVCE
 c2  d 2 X  1  d 2T

  2    which results in two equations;
  2
2

X  dx  T  dt

 d2X    2  d 2T 

 2    X  0 and  2    2
T  0 The solutions of the
 dx   c   dt 
   
above equations are; X ( x)  A cos   x  B sin   x
c c
and T (t )  C cos t  D sin t
     
 s   A cos   x  B sin   x  C cos t  D sin t 
 c c 
where  is the frequency of vibration and the above equation gives
solution corresponding to one value of frequency. For a continuous
system, there are infinite frequencies, hence the general solution can

     
be written as; s    Ai cos  i  x  Bi sin  i  x  Ci cos i t  Di sin i t 
i 1   c   c  
The constants A i , Bi can be obtained from the boundary conditions
and Ci & Di from the initial
Dr Pconditions given
R Venkatesh, ME Dept RVCE in the problem.
 Torsional Vibrations of rods
• The equation of motion of rod in torsional vibration is
similar to that of longitudinal vibrations.
• Consider a small elemental length of rod dx at a
distance x from the left end. Let the torques & angles of
twist be as shown at the left & right ends of the shaft
element.

l
  dx

  dx x
T+
T x 
x dx dx

Dr P R Venkatesh, ME Dept RVCE

Let  = mass density of material of the shaft
J  Polar moment of inertia, G = Rigidity modulus of the material
T G Tl
From torsion equation,   Angle of twist  
J l GJ
T  dx
For the element length dx, angle of twist 
GJ
   
But, angle of twist for the element =    dx     dx
 x  x
T  dx   T  2 1  T 
  dx   and hence 2   
GJ x x GJ x GJ  x 
  2   T 
or, GJ  2    
 x   x 
From Newton's II law, for dynamic equilibrium of element,
Mass moment of inertia of element  Angular acceleration =Torque
Dr P R Venkatesh, ME Dept RVCE
Mass moment of inertia I  mr       r 2  dx   r 2   Jdx
1 2 1
2 2
  2  T  T    2 
  Jdx   2   dx; Also it was shown that    GJ  2 
 t  x  x   x 
  2    2   2 G   2  G
  Jdx   2   GJ  2  dx and hence 2   2  ; Let   c 2

 t   x  t   x  
 2 2  
2
 2 1   2  G
 2  c  2  or 2  2  2  where c  is the velocity of
t  x  x c  t  
propagation of angle of twist in the rod.
Since the angle of twist along the rod is a function of variables x & t ,
   ( x, t ) Assume that the solution of y to be a product of two
functions X ( x) and T (t ) where X(x) is a function of x alone and T(t)
is a function of t alone. Hence let   XT (for simplicity)

Dr P R Venkatesh, ME Dept RVCE

  2 d2X  2 d 2T  2 1  2
 2 T & 2  X 2 ; The wave equation is  2 2
x dx 2 t dt x 2
c t
d 2 X X d 2T
Substituting the above in wave equation;  T 2
 2 2
dx c dt
c 2  d 2 X  1  d 2T 
i.e.  2    2  .The LHS of the equation is a function of x
X  dx  T  dt 
alone & LHS is a function of t alone. The equality is possible only if
they are individually equal to a constant, say   2 .
( +ve or zero  vibratory motion)
c2  d 2 X  1  d 2T 
  2   2    2
which results in two equations;
X  dx  T  dt 
 d2X    2  d 2T 
 2 
   X  0 an d  2    2
T 0
 dx  c  dt 
Dr P R Venkatesh, ME Dept RVCE
 d2X    2  d 2T 

 2    X  0 and  2    2
T 0
 dx   c   dt 
The solutions of the above equations are;
   
X ( x)  A cos   x  B sin   x and T (t )  C cos t  D sin t
c c
     
   A cos   x  B sin   x  C cos t  D sin t 
 c c 
where  is the frequency of vibration and the above equation gives
solution corresponding to one value of frequency. For a continuous
system, there are infinite frequencies, hence the general solution can

  i   i  
be written as;     Ai cos   x  Bi sin   x  Ci cos i t  Di sin i t 
i 1   c   c  
The constants A i , Bi can be obtained from the boundary conditions
and Ci & Di from initial conditions given in the problem.
Dr P R Venkatesh, ME Dept RVCE
 Problem 1
Derive an expression for the lateral vibrations of a
string of length L, which is fixed at both ends.

The general solution for transverse vibrations of a string is


  i   i   T
s    Ai cos   x  Bi sin   x  Ci cos i t  Di sin i t  where c 
i 1   c   c   
T  Tension in the string,   Mass of the string per unit length
The constants A i , Bi can be obtained from the boundary conditions
and Ci & Di from the initial conditions given in the problem.
Dr P R Venkatesh, ME Dept RVCE
Here,only boundary conditions are known.
The boundary conditions are; y = 0 @ x = 0 and y = 0 @ x = L
Using the first bc, 0   Ai  0Ci cos i t  Di sin i t   Ai  0
  i L  
Using the second bc, 0   Bi sin    Ci cos i t  Di sin i t 
  c 
 i L 
 sin    0  As already Ai  0, Bi  0 
 c 
 i L   i L  i c
But sin  0   i ; where i  1, 2,3.... or i 
 c   c  L
(The constant Bi having been included in C i & Di )

  i x  
 y   sin    Ci cos i t  Di sin i t 
i 1,2,3...   L 
Dr P R Venkatesh, ME Dept RVCE
 Problem 2
Derive an expression for the free longitudinal vibration
of a uniform bar of length L, one end of which is fixed
and the other end is free.
L
x

The general solution for longitudinal vibrations of a bar is


  i   i   E
s    Ai cos   x  Bi sin   x  Ci cos i t  Di sin i t  where c 
i 1   c   c   
E  Elastic modulus,   Mass density of the bar material.
The constants A i , Bi can be obtained from the boundary conditions
and Ci & Di from the initial conditions given in the problem.
Dr P R Venkatesh, ME Dept RVCE
The boundary conditions are;
(i ) Displacement is zero at the fixed end  s  0 @ x  0

i.e. 0    Ai  0Ci cos i t  Di sin i t   Ai  0
i 1

 x  E
 s   Bi sin  i  Ci cos i t  Di sin i t ; where c 
i 1  c  
s
(ii ) As the tensile is zero at the fixed end, strain 0 @xL
x
  L 
0  Bi i cos  i  Ci cos i t  Di sin i t  As already Ai  0, Bi  0
c  c 
 L   L i i c
 cos  i   0 or i   i  where i  1,3,5, 7......
 c  c 2 2L
 The general solution is (The constant Bi having been included in C i & Di )

 iπx    iπx   iπx  
s(x,t) = 
i=1,3,5...
sin   i
 2L  
C cos 
 2L 
 t + Di sin  t
 2L  
Dr P R Venkatesh, ME Dept RVCE
 Problem 3
Derive an expression for the free longitudinal vibration
of a uniform bar of length L, whose both ends are free.

L
x

The general solution for longitudinal vibrations of a bar is


  i   i   E
s    Ai cos   x  Bi sin   x  Ci cos i t  Di sin i t  where c 
i 1   c   c   
E  Elastic modulus,   Mass density of the bar material.
The constants Ai , Bi can be obtained from the boundary conditions
and Ci & Di from the initial conditions given in the problem.
Dr P R Venkatesh, ME Dept RVCE
Since both ends are free, there is no stress and hence no strain.
 s   s 
The boundary conditions are;     0
 x @ x 0  x @ x  L
 s   Aii  i x  Bii  i x  
But      sin   cos    Ci cos i t  Di sin i t 
 x   c  c  c  c 
 s   Bii 
   0   0   Ci cos it  Di sin it   0 or Bi  0
 x @ x 0  c 
 s   Aii  i L  
Also    0   sin    Ci cos i t  Di sin i t   0
 x @ x  L  c  c 
 i L  i L i c
As already Bi  0, Ai  0  sin    0 or  i  i 
 c  c L
E
where i  1, 2,3, 4.... & c 

 The general solution is (The constant Ai having been included in C i & Di )

 iπx    iπx   iπx  
s(x,t) = 
i=1,2,3...
cos   iC cos   t
 L   Dr P RVenkatesh,
+ Di sin  t
L  ME Dept RVCE L  