AE 2403 VIBRATIONS AND

ELEMENTS OF AEROELASTICITY

BY
Mr. G.BALAJI
DEPARTMENT OF AERONAUTICAL ENGINEERING
REC,CHENNAI
Fundamentals of Linear Vibrations

1. Single Degree-of-Freedom Systems

2. Two Degree-of-Freedom Systems
3. Multi-DOF Systems
4. Continuous Systems
Single Degree-of-Freedom Systems

1. A spring-mass system
General solution for any simple oscillator
General approach
Examples
2. Equivalent springs
Spring in series and in parallel
Examples
3. Energy Methods
Strain energy & kinetic energy
Work-energy statement
Conservation of energy and example
A spring-mass system

Governing equation of motion:

mx  kx  0
General solution for any simple oscillator:
vo
x(t )  xo cos( nt )  sin( nt )
where: n
x o  initial displacement; v o  initial velocity  x o ; t  time (sec.)
k 2π
ωn   natural frequency (rads/sec. )  ; T  period of vibration
m T
2
1 ω v 
fn  frequency (cycles/se c. or Hz)   n ; C  amplitude  x 2o   o 
T 2π  ωn 
Any simple oscillator

General approach:
1. Select coordinate system
2. Apply small displacement
3. Draw FBD
4. Apply Newton’s Laws:
d
F  ( mx )
dt
d
M  ( I)
dt
Simple oscillator – Example 1

I  mass moment of inertia  M  I +

 I cg  md 2  ml 2  K  I
K
ωn  ml   K  0
2
ml 2
Simple oscillator – Example 2

I  I cg  md 2  ml 2  M o  I o +

ωn 
k a
 
 (ka)a  ml 2
m l 

Note limits: When

a
 1, ωn 
k ml   ka   0

2 2

l m
a
As  0, ωn  0 (unstable)
l
Simple oscillator – Example 3

I cg   r 2 dm  2 0 x 2 Adx
l/2

 M o  I o +
Al
3 2
ml
  2
ml 
12 12
 (kb)b  
Io  I cg  md 2 3
2
ml 2  m ml 2 2
ml 
  m  
12 2 3   kb 2  0
3k  b  3
ωn   
ml
Simple oscillator – Example 4

ma 2
From table : I   M z  I +
2

TL  JG   T  I
    T
JG  L 
ma 2  GJ
Equivalent stiffness: K 
JG
   0
L 2 L
2GJ
 n2 
ma 2 L
Equivalent springs

Springs in series: Springs in parallel:

same force - flexibilities add same displacement - stiffnesses add
1 1
  1   2     P P  k1  k 2 
 k1 k 2   ( k1  k 2 )   keq 
 ( f1  f 2 ) P  f eq P

f eq  f1  f 2 keq  k1  k 2
Equivalent springs – Example 1

mx  K eq x  0

 12EI 3EI 
mx   3  3  x  0
 L1 L2 
Equivalent springs – Example 2

 Wl  M o  I o
2
ka +
ωn 
2

ml 2
 ( ka )a  Wl  ml 2
n  n ( a )
ml    ( ka  Wl )  0
2  2
Consider:
ka2 > Wl n2 is positive - vibration is stable
ka2 = Wl statics - stays in stable equilibrium
ka2 < Wl unstable - collapses
Equivalent springs – Example 3

We cannot define n  M o  I o +

since we have sin term
 Wl sin  ml 2
If  < < 1, sin   :
g ml   mgl sin  0
2 

   0

l g
g   sin  0

ωn  l
l
Energy methods

Strain energy U: Kinetic energy T:

energy in spring = work done 1  
T  mr  r
1 2 1 2
U  k  P  
2 2 Increment of work done  F  dr
   
Conservation of energy:  (mr)  (rdt)  d( 2 mr  r)  dT
1

work done = energy stored  increment of kinetic energy T

Work-Energy principles

Work done = Change in kinetic energy


r2   T2

r1
F  dr  T
1
dT  T2  T1

Conservation of energy for conservative systems

E = total energy = T + U = constant

Energy methods – Example
Work-energy principles have many
uses, but one of the most useful is
to derive the equations of motion.

Conservation of energy: E = const.

d
1 (E)0
U  kx 2 dt
2
kxx  mxx  0
1 2
T  mx
2 mx  kx  0
1 2 1 2
E  U  T  kx  mx Same as vector mechanics
2 2
Two Degree-of-Freedom Systems

1. Model problem
Matrix form of governing equation
Special case: Undamped free vibrations
Examples
2. Transformation of coordinates
Inertially & elastically coupled/uncoupled
General approach: Modal equations
Example
3. Response to harmonic forces
Model equation
Special case: Undamped system
Two-DOF model problem

Matrix form of governing equation:

m1 0   x1  (c1  c2 )  c2   x1  (k1  k2 )  k2   x1   P1 

 0 m  x     c   
c2   x2    k2    
 2  2   2 k2   x2   P2 
where:
[M] = mass matrix; [C] = damping matrix;
[K] = stiffness matrix; {P} = force vector
Note: Matrices have positive diagonals and are symmetric.
Undamped free vibrations
Zero damping matrix [C] and force vector {P}
Assumed general solutions:
 x1   A1 
     cos(t   )
 x2   A2 
Characteristic equation:
(k1  k2  m1 2 )  k2   A1  0
 2   
  k2 (k2  m2 )  A2  0
Characteristic polynomial (for det[ ]=0):
 k1  k 2 k 2  2 k1k 2
  
4
   0
 m1 m2  m1m2
Eigenvalues (characteristic values):
  2

1
2

1  k  k2 k2   k1  k 2 k 2  4k1k 2 
1  12   1         
2 2 2  m1 m2    m1 m2  m1m2  
 
Undamped free vibrations
Special case when k1=k2=k and m1=m2=m
Eigenvalues and frequencies: k
ω1  0.618  fundamental frequency
12  0.3819 k m
1   2     2π
2 
 1  2.618 m T   fundamental period
ω

Two mode shapes (relative participation of each mass in the motion):

A2 2k  m 2 1.618 A2 k  0.618
st
1 mode shape   2nd mode shape  
A1 k 1 A1 k  m 2 1

The two eigenvectors are orthogonal:

 A1(1)   1   A1( 2)   1 
Eigenvector (1) =  (1)     Eigenvector (2) =  ( 2 )    
 2  
A 1.618  2  
A  0.618
Undamped free vibrations (UFV)

Single-DOF: x(t )  C cos( nt   )

For two-DOF:
 x1 (t )   A1(1)   A1( 2) 
x     C1  (1)  cos(1t  1 )  C2  ( 2)  cos( 2t  2 )
 x2 (t )  A2   A2 
For any set of initial conditions:

We know {A}(1) and {A}(2), 1 and 2

Must find C1, C2, 1, and 2 – Need 4 I.C.’s
UFV – Example 1
 1.0 
Given: x  0 and xo     
1.618
No phase angle since initial velocity is 0:
 x1   1.0   1.0 
x     C1   cos(1t )  C2   cos( 2t )
 x2  1.618  0.618
From the initial displacement: C1   ; C2  0;
xo    
1.0   1.0   1.0  2
  C1   C 2   T1 
1.618 1.618  0.618 1
UFV – Example 2
1
Now both modes are involved: x  0 and xo     
2
From the given initial displacement:
1  1   1   1 1  C1 
xo       C1    C2    C 
 
2 1.618   0.618  1 .618  0.618 2 
Solve for C1 and C2:
C1  1  0.618  1 1  1.171 
     1.618 1  2    
 2
C  0.618  1. 618     0.171 
Hence,  1   1 
x  (1.171)   cos(1t )  (0.171)   cos( 2t )
1.618  0.618
or x1 (t )  1.171  (1) cos(1t )  0.171  (1) cos( 2t )
x2 (t )  1.171  (1.618) cos(1t )  0.171  (0.618) cos( 2t )

Note: More contribution from mode 1

Transformation of coordinates
UFV model problem:
“inertially uncoupled”

m1 0   x1  (k1  k2 )  k2   x1  0

 0 m  x     k    
k2   x2  0
 2  2   2

“elastically coupled”
Introduce a new pair of coordinates that represents spring stretch:
z1(t) = x1(t) = stretch of spring 1
z2(t) = x2(t) - x1(t) = stretch of spring 2
or x1(t) = z1(t) x2(t) = z1(t) + z2(t)
Substituting maintains symmetry:
(m1  m2 ) m2   z1  k1 0   z1  0
 m       
 2 m2  z2   0 k2   z2  0
“inertially coupled” “elastically uncoupled”
Transformation of coordinates
We have found that we can select coordinates so that:
1) Inertially coupled, elastically uncoupled, or
2) Inertially uncoupled, elastically coupled.
Big question: Can we select coordinates so that both are uncoupled?

Notes in natural coordinates:

Eigenvecto rs (modal vectors) :
 A1(1)   1   A1( 2)   1 
u1   (1)     u2    ( 2)    
 2  
A 1.618  2  
A  0.618

The eigenvectors are orthogonal w.r.t [M]: u1T M  u2   0

u2 T M  u1  0
The modal vectors are orthogonal w.r.t [K]: u1T K  u2   0
u2 T K  u1  0
Algebraic eigenvalue problem: K u1  1M u1 K u2   2 M u2 
Transformation of coordinates
General approach for solution
Governing equation: M x  K x  0
Let x  u1 q1 (t )  u2  q2 (t ) (**)
 x1 (t )  u11  u12 
or  
   1 q (t )   q2 (t )
 x2 (t ) u21  u22 
We were calling “A” - Change to u to match Meirovitch
Substitution:

(*) M  u1 q1 (t )  u2  q2 (t )  K u1 q1 (t )  u2  q2 (t )  0

Modal equations:
u1T (*)  q1 (t )  12 q1 (t )  0 
Known solutions

u2 T (*)  q2 (t )   22 q2 (t )  0
Solve for these using initial conditions then substitute into (**).
Transformation - Example
xo    
1
xo   
0
Model problem with:  and 
2 0
1) Solve eigenvalue problem:
u   1  u12   1 
1  0.618;  11     and   1.618;   
u22   0.618
2
 21  
u 1.618
2) Transformation:
q1 (t )  12 q1 (t )  0
x  u1 q1 (t )  u2  q2 (t ) and 

 2
q  (t )   2 q2 (t )  0
2

1   1   1 
   q1 (0)    q2 (0)
  
2 1. 618   0.618
 q1 (0)   1.171   q1 (t )  q1 (0) cos(1t )
   and 
 2
q ( 0)    0. 171 q2 (t )  q2 (0) cos( 2t )

 1   1 
So x    1.171  cos(1t )   (0.171  ) cos( 2t )
1.618  0.618
As we had before.
More general procedure: “Modal analysis” – do a bit later.
Response to harmonic forces
 F1  i t
Model equation: M x  C x  K x  F (t )    e
F2 
[M], [C], and [K] are full but symmetric. {F}
not function of time
Assume:  X 1 (i )  i t
x  X (i )   e
 X 2 (i )
Substituting gives:

2
M   i C   K X (i )  F 
  
Z (i )  2x2 impedance matrix
 Z (i )1 Z (i ) X (i )  Z (i )1 F 
Hence:
All zij are function of (i ) :
 X1   z22  z12   F1 
X      1
2   F  zij   ω2 mij  iω cij  kij i, j  1, 2
z z 
 2  11 22 12  12
X z  z z11   2 
Special case: Undamped system
Zero damping matrix [C]
Entries of impedance matrix [Z]:
z11 ( )  k11  m1 2 ; z22 ( )  k22  m2 2 ; z12 ( )  k12
Substituting for X1 and X2:
(k 22  m2 2 ) F1  k12 F2  k12 F1  (k11  m1 2 ) F2
X1  ; X2 
(k11  m1 2 )( k22  m2 2 )  k122 (k11  m1 2 )( k22  m2 2 )  k122
For our model problem (k1=k2=k and m1=m2=m), let F2 =0:
(k  m 2 ) F1 k F1
X1  2 2 ; X2 
m (  12 ) ( 2   22 ) m 2 ( 2  12 ) ( 2   22 )

Notes:
1) Denominator originally (-)(-) = (+).
As it passes through 1, changes sign.
2) The plots give both amplitude
and phase angle (either 0o or 180o)
Multi-DOF Systems

1. Model Equation
Notes on matrices
Undamped free vibration: the eigenvalue problem
Normalization of modal matrix [U]

2. General solution procedure

Initial conditions
Applied harmonic force
Multi-DOF model equation
Multi-DOF systems are so similar to two-DOF.

Model equation: M x  Cx  K x  Q

We derive using: 1) Vector mechanics (Newton or D’ Alembert)
2) Hamilton's principles
3) Lagrange's equations
Notes on matrices:

They are square and symmetric.

Kinetic energy : T 1
2
xT M x
Strain energy in spring : U  12 x K  x
T

[M] is positive definite (since T is always positive)

[K] is positive semi-definite:
 all positive eigenvalues, except for some potentially 0-eigenvalues which
occur during a rigid-body motion.
 If restrained/tied down  positive-definite. All positive.
UFV: the eigenvalue problem

Equation of motion:

M q  K q  0 in terms of the generalized D.O.F. qi

Substitution of
q  u f (t ) f (t )  A1ei t  A2e i t
leads to
K u   2 M u Matrix eigenvalue problem

For more than 2x2, we usually solve using computational techniques.

Total motion for any problem is a linear combination of the natural

modes contained in {u} (i.e. the eigenvectors).
Normalization of modal matrix [U]
ui  M  u j  ui  M  u j  C  ij
T
We know that: where :
δij  Kronecker delta
So far, we pick our 1  Let the 1st 1 if i  j

eigenvectors to look like: uk    entry be 1 0 if i  j
 
  1 
Instead, let us try to pick uk new   uk    
so that: 
 
uk Tnew M  uk new   2 uk T M  uk   1 Do this a row at a time to form [U].

Then: U T M U   I  and U T K U   

12 0 . 0
This is a common technique  
0  22
for us to use after we have solved where :   
 . . 
. . . . 
the eigenvalue problem.  
 0 . .  n2 
General solution procedure

Consider the cases of:

1. Initial excitation qo  and qo 

2. Harmonic applied force
3. Arbitrary applied force

For all 3 problems:

1. Form [K]{u} = 2 [M]{u} (nxn system)

Solve for all 2 and {u}  [U].
2. Normalize the eigenvectors w.r.t. mass matrix (optional).
Initial conditions
General solution for any D.O.F.:

q(t )  u1C1 cos(1t  1 )  u2 C2 cos(2t  2 )    un Cn cos(nt  n )

2n constants that we need to determine by 2n conditions on qo i and qo i

Alternative: modal analysis q  U 

Displacement vectors: q(t )  u11 (t )  u2 2 (t )    un n (t )
UFV model equation: M q  K q  0
U T M U η  U T K U η  0
    0
n modal equations: 1  121  0 

2   22 2  0 
  Need initial conditions on ,
  not q.
n   n n  0 
2 
Initial conditions - Modal analysis

Using displacement vectors: q  U 

U T M  q  U T M U η
or η  U T M  q
ηo   U  M  qo 
 T
As a result, initial conditions: 

 oη
   U  T
M  qo 
Since the solution of 
   2  0 is: C cos( t   ) or

 (t )  o cos( t )  o sin(  t )

hence we can easily solve for ( )
1 (t )  (o )1 cos(1t )  o 1 sin( 1t )
1

And then solve
( )
q  U η n (t )  (o ) n cos( nt )  o n sin(  nt )
n
Applied harmonic force
Driving force {Q} = {Qo}cos(t)
Equation of motion:
M q  K q  Q
Substitution of
q  U η and
U  known Q  Qo cos( t )
η unknown ω  driving frequency
leads to
U T M U η  U T K U η  U T Qo cos( t )  N 
Hence, u1 Qo 
1  2
T
cos( t ) then
1  
2

u 2  Qo 
T q  U η
2  2 cos( t )
2  2

etc.
Continuous Systems

1. The axial bar

Displacement field
Energy approach
Equation of motion
2. Examples
General solution - Free vibration
Initial conditions
Applied force
Motion of the base
3. Ritz method – Free vibration
Approximate solution
One-term Ritz approximation
Two-term Ritz approximation
The axial bar

Main objectives:
1. Use Hamilton’s Principle to derive the equations of motion.
2. Use HP to construct variational methods of solution.

A = cross-sectional area = uniform

E = modulus of elasticity (MOE)
u = axial displacement
 = mass per volume

Displacement field: u(x, y, z) = u(x, t)

v(x, y, z) = 0
w(x, y, z) = 0
Energy approach

For the axial bar:

1  u  u E  u 
2

Uo  strain energy density  12 σ ε  12 (E ε x )ε x   E    

2  x  x 2  x 
V  potential energy  strain energy  U   U o dV
V

T  kinetic energy  mu 

1
2
2 1
2 ρ (Adx)u 2

Hamilton’s principle:
t2
0   (T  V ) dt
t1

t2  L   u    
0      Adx u u  A E   u  dx dt
t1
 
0
 x  x  
 L    u   u L
0      Adx u u  u  dx  AE u dt    A u u tt12 dx
t2 L
 AE 
  t x  x   x 0
t1 0 0

t2  L     u   u L
0      A u    AE   u dx  AE u dt
t1
 
0 t  x   x   x 0
Axial bar - Equation of motion

Hamilton’s principle leads to:   A u     AE u   0
t x  x 

 2u 2  u
2
E  F L2 
If area A = constant   where :   2
M 
t 2 x 2   L3 
Since x and t are independent, must have both sides equal to a constant.

Separation of variables: u ( x, t )  X ( x) T (t )

 2 d 2
X dx 2 

d 2T dt 2 
 contant  - p 2
X T
T  p 2 T  0 X    p   X  0
2

T  A cos( pt )  B sin( pt ) X  C cos p x    D sin  p x  

Hence 
u ( x, t )   A cos( p t )  B sin( p t ) C cos p x    D sin  p x  
i 1
i i i i i i i i
Fixed-free bar – General solution
E
Free vibration:  = wave speed

EBC: u (0)  0
u u
NBC: AE xL 0  xL 0
x x
General solution: 
u ( x, t )   A cos( p t )  B sin( p t ) C
i 1
i i i i i cos pi x    Di sin  pi x  

EBC  u (0, t )   C A cos( p t )  B sin( p t )  0
i 1
i i i i i  Ci  0

u 
cos pi L   Ai cos( pi t )  Bi sin( pi t )  0
Di pi
NBC 
x
xL  
i 1 
 p L pi L  3 5
Either Di  0 (trivial solution) or cos i   0  or or 
    2 2 2
i 
pi  (i  1, 3, 5, )
For any time dependent problem: 2L


 i x    i  t   i  t 
u ( x, t )   sin 



 i
A cos



 Bi sin 



i  1, 3, 5,  2 L  2 L 2 L
Fixed-free bar – Free vibration

 2u 2  u
2
For free vibration: 
t 2
x 2
General solution: u( x, t )  A( x) cos( n t )

i E
Hence n  are the frequencies (eigenvalues)
2L 
(i  1, 3, 5, )
 i x  are the eigenfunctions
sin  
 2 L 
Fixed-free bar – Initial conditions
Give entire bar an initial stretch.
Release and compute u(x, t).
Initial conditions:
 L  L u
u ( x, 0)   o  x and t 0 0
 L  t
u 
i   i x 
Initial velocity: t 0   Bi sin  0  Bi  0
t i  1, 3,  2 L  2L 

 Lo  L  
 i x 
Initial displacement:   x   Ai sin  
 L  i  1, 3,   2L 
 Lo  L   i x  
 i x   i x  L

L L
0

 L 
 x sin 
 2L 
 dx 
i  1, 3, 
0 Ai sin   sin
 2L   2L 
  dx  Ai
2
( i  1)
2( Lo  L) L  i x  8( Lo  L)
or Ai 
L2 
0
x sin 
 2L 
 dx 
i
2 2
( 1) 2 (i  1, 3, )

( i  1)
8( Lo  L) 
1  i x   i  t 
Hence u ( x, t ) 
2

i  1, 3, 
( 1) 2
i2
sin 
 2L 
 cos
 2L 

Fixed-free bar – Applied force
u (0, t )  0
Now, B.C’s: 
 u
 A E x  L  Fo sin(  t )
  x
 2u 2  u
2

From 
t 2
x 2
we assume: u( x, t )  X ( x) sin( n t )
  x    x 
Substituting: u ( x, t )   A1 cos   A2 sin   sin  t 
      

B.C. at x = 0: u (0, t )  0  A1  0

u  L 
B.C. at x = L: AE xL  AE A 2 cos  sin(  t )  Fo sin(  t )
x   L 
Fo  L 
or A2  sec 
AE   

Fo  L   x 
Hence u ( x, t )  sec  sin   sin  t 
AE      
Fixed-free bar – Motion of the base
 2u 2  u
2
From 
t 2 x 2
Using our approach from before:

  x    x 
u ( x, t )   A1 cos   A2 sin   sin  t 
      
B.C. at x = 0: u (0, t )  A1 sin(  t )  U o sin(  t )  A1  U o

u
B.C. at x = L: AE xL 0
x
u  U   L  A2    L  L 
  o sin    cos  sin  t   0  A 2  U o tan  
x
xL
           
  x    L    x 
Hence u ( x, t )  U o cos   tan   sin   sin  t 
         
 L  3   3 
Resonance at:  , , or  , , etc.
 2 2 2L 2L
Ritz method – Free vibration

Start with Hamilton’s principle after I.B.P. in time:

 L   u    
0   A u u  AE   u  dx dt
t2
0 
  t  x  x  
t1

Seek an approximate solution to u(x, t):

In time: harmonic function  cos(t) ( = n)
In space: X(x) = a11(x)
where: a1 = constant to be determined
1(x) = known function of position
1(x) must satisfy the following:
1. Satisfy the homogeneous form of the EBC.
u(0) = 0 in this case.
2. Be sufficiently differentiable as required by HP.
One-term Ritz approximation 1
Pick : 1 ( x)  x  u ( x, t )  a1 1 ( x) cos( t )  a1 x cos( t )
Also approximate : u  1 ( x) cos( t )  x cos( t )

Substituting:
t2  L
  
0     a1  2 A ( x)( x)  AE (1)(1) dx  cos 2 ( t ) dt
t1
 0 
 2   A x 2 dx  a1   A E dx a1
 0
L

  0
L



in matrix form:  2 M  a  K a 
2 AL
3
3 E 3
  AE L   2  2    2  2
3 L  L 1RITZ  x

Hence 3 
 RITZ    1.732  x 
1EXACT  sin  
L L  2 L 
 
 EXACT    1.571
2L L
Ritz estimate is higher than the exact
Only get one frequency
If we pick a different basis/trial/approximation function 1,
we would get a different result.
One-term Ritz approximation 2
 x  d1   x 
What if we pick : 1 ( x)  sin     cos  
 2L  dx 2 L  2 L 
u ( x, t )  a1 1 ( x) cos( t )  a1 sin  x 2 L  cos( t )
Also approximate : u  1 ( x) cos( t )  sin  x 2 L  cos( t )
t2  L    u    
Substituting: 0      A u u  AE   u  dx dt
  t  x  x  
t1 0

 L   
2
 
 x    2 x 
t2
0 0 a1   A sin 
2 2
  AE   cos   dx  cos 2 ( t ) dt
t1
   2L   2L   2 L  

 E 
Hence  RITZ      EXACT
2L  2L

Both mode shape and natural frequency are exact.

But all other functions we pick will never give us a
frequency lower than the exact.
Two-term Ritz approximation
dX
Let : X ( x)  a1 x  a2 x 2   a1  2a2 x
dx

  A 
t2  L 
If approximate u  1  x : 0   
2
(a1 x  a2 x 2 ) x  AE (a1  2a2 x)(1) dx dt
t1
 0


  A 
t2  L 
If approximate u  x 2 : 0  2
(a1 x  a2 x 2 ) x 2  AE (a1  2a2 x)(2 x) dx dt
t1
 0


In matrix form:  M 11 M 12   a1  E  K11 K12   a1 

 
2
   
 M 21 M 22  a2    K 21 K 22  a2 
where:
 L L3 
 M 11  0 ( x)( x) dx  L
 11 0 (1)(1)dx  L
K 
 3
 
L L4 
 M 12  M 21  0 ( x )( x) dx 
L
  0 (2 x)(1)dx  L
2 2
 12
K K 21
 4 
  K  L (2 x)( 2 x)dx  4 L
3
L5
0
L
 M 22  0 ( x )( x )dx 
2 2


22
3
 5
Two-term Ritz approximation (cont.)
E
Substitution of:    2 and  2 

 ( 2 L   L3 3) ( 2 L2   L4 4)   a1  0
leads to  2 2     
( L   L 4) ( 4 L 3   L 5) a2  0
4 2 3 5

Solving characteristic polynomial (for det[ ]=0) yields 2 frequencies:

(1 ) RITZ  1.5767  L and (2 ) RITZ  5.67  L

(1 ) EXACT  1.5708  L and ( 2 ) EXACT  4.7123  L
Let a1 = 1:

Mode 1: Mode shape 1 :

 2 L (0.1713 a1  0.3785 L a2 )  0  a2   0.4526 L  X 1 ( x)  x  0.4526 x 2 L
Mode 2: Mode shape 2 :
 2 L2 ( 7.043 a1  5.10 L a2 )  0  a2   1.38 L  X 2 ( x)  x  1.38 x 2 L