206 VIBRATIONS OF CONTINUOUS SYSTEMS [CHAP.

Thus application of Newton's law to the differential element leads to

a 1 a'
a(x)A(x) +:h (aA) + lax' (aA)(dx)' + .. . + -a(x) A(x)

a'u
=p(x)A(x) at' dx

Neglecting terms with higher-order differentials leads to

(7.21)

The normal stress is related to the normal strain through Hooke's law:
'\
a =E.

where the normal strain is defined in terms of the displacement as

E= -
au
ax

Substituting into Eq. (7.21) leads to

~ (EA ~) - A a'u
ax ax - Pat'

If the bar is uniform and homogeneous, the previous equation reduces to

dx
I I

. _Jl_~ a
oA1JcrA + a:;-(oA) dx
I I
I~U(X.t)

Fig. 7-1

7_3 Determine the natural fequencies and mode shapes of torsional oscillation of a uniform
shaft of length L , mass density p, and cross-sectional polar moment of inertia 1. The shaft
is fixed at one end and free at the other end.
The torsional oscillations of the shaft e(x, t) are governed by
Ga'e a'e
--=-
P ax' at'
 CHAP. 71 VIBRATIONS OF CONTINUOUS SYSTEMS 207

The fixed end is constrained against ro tatio n; thus

e(o, I) = 0
The free end has no shear stress; th us

ae
a;(L,I)=O

When used with the normal mode solution, e(x, I) = X(x)e'-, these conditions lead to

X(O) =0, dX(L)=O

dx
App lication of the first boundary condition to Eq. (7 .5) leads to

X(O)=O=C,
Applica tion o f the second boundary condition to Eq. (7.5) then yields

dX w w
dx (L)=O= C,~cos~L

If C, = 0 or w = 0, the n X(x) = O. Thus the system 's na tural frequencies are determined from

cos ~ L = 0
c

w =(2n-l)Jr @. n = 1, 2,.
" 2L Y'P
The corresponding mode shapes are

X"(x) = c . [(2n - l)JrX]

SIO --2-L--

fo r any nonzero C".

7.4 D e te rmine the characteristic equation for lo ngitudinal oscilla tion of a bar of length L,
~I.

:sa
Monhcad
e lastic m odulus E, and mass density 'p tha t is fixed a t o ne e nd and has a pa rticle of mass
m a ttac hed to the other e nd.

The eq uatio n governing the mo tion of the system is

p ax' at'
The end a t x = 0 is fixed; thus

u(O, I) = °
The bo undary condition at x = L is obtained by applyi ng Newton's law to a free·body dia gra m of
the particle, as shown in Fig. 7·2:

~(L
2
-EA I) = m a 1/(L I)
ax' aI"
Application of the norm al mode solution, I/(x, I) = X(x)e '·' to the boundary conditions leads to

dX 2
X (O) = 0, EA dx (L) = m w X(L)