Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 1
TRANSVERSE VIBRATION
EQUATIONS

The different assumptions and corresponding theories of transverse vibrations of beams are
presented. The dispersive equation, its corresponding curve `propagation constant±
frequency' and its comparison with the exact dispersive curve are presented for each
theory and discussed.
The exact dispersive curve corresponds to the ®rst and second antisymmetrical Lamb's
wave.

NOTATION
p
cb Velocity of longitudinal wave,pc
b ˆ E=r
ct Velocity of shear wave, ct ˆ G=r
D0 Stiffness parameter, D40 ˆ EIz =…2rH†
E, n, r Young's modulus, Poisson's ratio and density of the beam material
E1 , G Longitudinal and shear modulus of elasticity, E1 ˆ E=…1 n2 †, G ˆ E=2…1 ‡ n†
Fy Shear force
H Height of the plate
Iz Moment of inertia of a cross-section
k Propagation constant
kb Longitudinal propagation constant, kb ˆ o=cb
kt Shear propagation constant, kt ˆ o=ct
k0 Bending wave number for Bernoulli±Euler rod, k04 ˆ o2 =D40
M Bending moment
p, q Correct multipliers
ux , uy Longitudinal and transversal displacements
w, c Average displacement and average slope
x, y, z Cartesian coordinates
sxx , sxy Longitudinal and shear stress
mt , l Dimensionless parameters, mt ˆ kt H, l ˆ kH
o Natural frequency
d
…0 † ˆ Differentiation with respect to space coordinate
dx
d
…
† ˆ Differentiation with respect to time
dt

1
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2 FORMULAS FOR STRUCTURAL DYNAMICS

1.1 AVERAGE VALUES AND RESOLVING

EQUATIONS

The different theories of dynamic behaviours of beams may be obtained from the equations
of the theory of elasticity, which are presented with respect to average values. The object
under study is a thin plate with rectangular cross-section (Figure 1.1).

1.1.1 Average values for de¯ections and internal forces

1. Average displacement and slope are

„
‡H uy
wˆ dy …1:1†
H 2H
„ yu
‡H
x
cˆ dy …1:2†
H Iz
where ux and uy are longitudinal and transverse displacements.
2. Shear force and bending moment are

„
‡H
Fy ˆ sxy dy …1:3†
H

„
‡H
Mˆ ysxx dy …1:4†
H

where sx and sy are the normal and shear stresses that correspond to ux and uy .
Resolving the equations may be presented in terms of average values as follows
(Landau and Lifshitz, 1986)

1. Integrating the equilibrium equation of elasticity theory leads to

2rH w ˆ Fy0 …1:5†
rIz c ˆ Mz0 Fy …1:6†
2. Integrating Hooke's equation for the plane stress leads to
 
u …H†
Fy ˆ 2HG w0 ‡ x …1:7†
H
 0   „
‡H
Mz ˆ E1 Iz c ‡ 2Hn uy …H† w ˆ EIz c0 ‡ n ysyy dy …1:7a†
H

FIGURE 1.1. Thin rectangular plate, the boundary conditions are not shown.

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TRANSVERSE VIBRATION EQUATIONS 3

Equations (1.5)±(1.7a) are complete systems of equations of the theory of elasticity with
respect to average values w, c, Fy and M. These equations contain two redundant
unknowns ux …H† and uy …H†. Thus, to resolve the above system of equations, additional
equations are required. These additional equations may be obtained from the assumptions
accepted in approximate theories.
The solution of the governing differential equation is

w ˆ exp…ikx iot† …1:8†

where k is a propagation constant of the wave and o is the frequency of vibration.
The degree of accuracy of the theory may be evaluated by a dispersive curve k o and
its comparison with the exact dispersive curve. We assume that the exact dispersive curve
is one that corresponds to the ®rst and second antisymmetric Lamb's wave. The closer the
dispersive curve for a speci®c theory to the exact dispersive curve, the better the theory
describes the vibration process (Artobolevsky et al. 1979).

1.2 FUNDAMENTAL THEORIES AND

APPROACHES

1.2.1 Bernoulli±Euler theory

The Bernoulli±Euler theory takes into account the inertia forces due to the transverse
translation and neglects the effect of shear de¯ection and rotary inertia.

Assumptions

1. The cross-sections remain plane and orthogonal to the neutral axis …c ˆ w0 †.

2. The longitudinal ®bres do not compress each other (syy ˆ 0; ! Mz ˆ EIz c0 †.
3. The rotational inertia is neglected …rIz c ˆ 0†. This assumption leads to
Fy ˆ Mz0 ˆ EIz w000

Substitution of the previous expression in Equation (1.5) leads to the differential equation
describing the transverse vibration of the beam

@4 w 1 @2 w EIz
4
‡ 4 2 ˆ 0; D40 ˆ …1:9†
@x D0 @t 2rH
Let us assume that displacement w is changed according to Equation (1.8). The dispersive
equation which establishes the relationship between k and o may be presented as

o2
k4 ˆ ˆ k04
D40
This equation has two roots for a forward-moving wave in a beam and two roots for a
backward-moving wave. Positive roots correspond to a forward-moving wave, while
negative roots correspond to a backward-moving wave.
The results of the dispersive relationships are shown in Figure 1.2. Here, bold curves 1
and 2 represent the exact results. Curves 1 and 2 correspond to the ®rst and second

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4 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 1.2. Transverse vibration of beams. Dispersive curves for different theories. 1, 2±Exact solution;
3, 4±Bernoulli±Euler theory; 5, 6±Rayleigh theory, 7, 8±Bernoulli±Euler modi®ed theory.

antisymmetric Lamb's wave, respectively. The second wave transfers from the imaginary
zone into the real one at kt H ˆ p=2. Curves 3 and 4 are in accordance with the Bernoulli±
Euler theory. Dispersion obtained from this theory and dispersion obtained from the exact
theory give a close result when frequencies are close to zero. This elementary beam theory
is valid only when the height of the beam is small compared with its length (Artobolevsky
et al., 1979).

1.2.2 Rayleigh theory

This theory takes into account the effect of rotary inertia (Rayleigh, 1877).

Assumptions
1. The cross-sections remain plane and orthogonal to the neutral axis (c ˆ w0 ).

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TRANSVERSE VIBRATION EQUATIONS 5

2. The longitudinal ®bres do not compress each other (syy ˆ 0, Mz ˆ EIz c0 ).

From Equation (1.6) the shear force Fy ˆ Mz0 
rIz c.

Differential equation of transverse vibration of the beam

@4 w 1 @2 w 1 @4 w E
‡ 4 2 ˆ 0; c2b ˆ …1:10†
@x 4 D0 @t c2b @x2 @t2 r

where cb is the velocity of longitudinal waves in the thin rod.

The last term on the left-hand side of the differential equation describes the effect of the
rotary inertia.
The dispersive equation may be presented as follows
q
2
2k1;2 ˆ kb2  kb2 ‡ 4k04

where k0 is the wave number for the Bernoulli±Euler rod, and kb is the longitudinal wave
number.
Curves 5 and 6 in Figure 1 re¯ect the effect of rotary inertia.

1.2.3 Bernoulli±Euler modi®ed theory

This theory takes into account the effect of shear deformation; rotational inertia is
negligible (Bernoulli, 1735, Euler, 1744). In this case, the cross-sections remain plane,
but not orthogonal to the neutral axis, and the differential equation of the transverse
vibration is

@4 y 1 @2 y 1 @4 y G
‡ 4 2 ˆ 0; c2t ˆ …1:11†
@x 4 D0 @t c2t @x2 @t 2 r
where ct is the velocity of shear waves in the thin rod.
The dispersive equation may be presented as follows
q
2 o2
2k1;2 ˆ kt2  kt2 ‡ 4k04 ; kt2 ˆ
c2t
Curves 7 and 8 in Figure 1.2 re¯ect the effect of shear deformation.
The Bernoulli±Euler theory gives good results only for low frequencies; this dispersive
curve for the Bernoulli±Euler modi®ed theory is closer to the dispersive curve for exact
theory than the dispersive curve for the Bernoulli±Euler theory; the Rayleigh theory gives
a worse result than the modi®ed Bernoulli±Euler theory.
Curves 1 and 2 correspond to the ®rst and second antisymmetric Lamb's wave,
respectively. The second wave transfers from the imaginary domain into the real one at
kt H ˆ p=2.

1.2.4 Bress theory

This theory takes into account the rotational inertia, shear deformation and their combined
effect (Bress, 1859).

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6 FORMULAS FOR STRUCTURAL DYNAMICS

Assumptions
1. The cross-sections remain plane.
2. The longitudinal ®bres do not compress each other (syy ˆ 0).
Differential equation of transverse vibration
 
@4 w 1 @2 w 1 1 @4 w 1 @4 w
‡ 4
‡ ‡ ˆ0 …1:12†
@x4 D0 @t2 cb ct @x2 @t 2 cb c2t @t 4
2 2 2

In this equation, the third and fourth terms re¯ect the rotational inertia and the shear
deformation, respectively. The last term describes their combined effect; this term leads to
the occurrence of a cut-off frequency of the model, which is a recently discovered
fundamental property of the system.

1.2.5 Volterra theory

This theory, as with the Bress theory, takes into account the rotational inertia, shear
deformation and their combined effect (Volterra, 1955).

Assumption
All displacements are linear functions of the transverse coordinates
ux …x; y; t† ˆ yc…x; t†; uy …x; y; t† ˆ w…x; t†

In this case the bending moment and shear force are

Mz ˆ E1 Iz c; Fy ˆ 2HG…w0 ‡ c†

Differential equation of transverse vibration

 
@4 w 1 n2 @2 w 1 1 @4 w 1 @4 w
‡ ‡ ‡ ˆ0 …1:13†
@x4 D40 @t 2 c2s c2t @x2 @t2 c2s c2t @t 4
where cs is the velocity of a longitudinal wave in the thin plate, c2s ˆ …E1 =r†, and E1 is the
longitudinal modulus of elasticity, E1 ˆ …E=1 n2 †.

Difference between Volterra and Bress theories. As is obvious from Equations (1.12)
and (1.13), the bending stiffness of the beam according to the Volterra model is
…1 n2 † 1 times greater than that given by the Bress theory (real rod). This is because
transverse compressive and tensile stresses are not allowed in the Volterra model.

1.2.6 Ambartsumyan theory

The Ambartsumyan theory allows the distortion of the cross-section (Ambartsumyan,

1956).

Assumptions
1. The transverse displacements for all points in the cross-section are equal: @uy =@y ˆ 0.

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TRANSVERSE VIBRATION EQUATIONS 7

2. The shear stress is distributed according to function f ( y):

sxy …x; y; t† ˆ Gj…x; t† f … y†

In this case, longitudinal and transverse displacements may be given as
@w…x; t†
ux …x; y; t† ˆ y ‡ j…x; t†g… y†
@x
„y
uy …x; y; t† ˆ w…x; t†; g…y† ˆ f …x†dx
0

Differential equation of transverse vibration

  4
@4 w 1 n2 @2 w 1 1 @ w 1 @4 w
‡ ‡ ‡ ˆ0 …1:14†
@x4 D40 @t 2 c2s ac2t @x2 @t 2 ac2s c2t @t4
where

Iz I1 „H „H
aˆ ; I1 ˆ f …x†dx; I0 ˆ yg… y†dy
2HI0 H H

Difference between Ambartsumyan and Volterra theories. The Ambartsumyan's differ-

ential equation differs from the Volterra equation by coef®cient a at c2t . This coef®cient
depends on f ( y).

Special cases
1. Ambartsumyan and Volterra differential equations coincide if f … y† ˆ 0:5.
2. If shear stresses are distributed by the law f … y† ˆ 0:5…H 2 y2 † then a ˆ 5=6.
3. If shear stresses are distributed by the law f … y† ˆ 0:5…H 2n y2n †, then a ˆ
…2n ‡ 3†=…2n ‡ 4†.

1.2.7 Vlasov theory

The cross-sections have a distortion, but after deformation the cross-sections remain
perpendicular to the surfaces y ˆ H (Vlasov, 1957).

Assumptions
1. The longitudinal and transversal displacements are
y2
ux …x; y; t† ˆ ey s0
2H 2 G xy
uy …x; y; t† ˆ w…x; y; t†


where e ˆ @ux =@y yˆ0 and s0xy is the shear stress at y ˆ 0.
This assumption means that the change in shear stress by the quadratic law is
 
y2
sxy ˆ s0xy 1
H2

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8 FORMULAS FOR STRUCTURAL DYNAMICS

2. The cross-sections are curved but, after de¯ection, they remain perpendicular to the
surfaces at

yˆH and y ˆ H
This assumption corresponds to expression
 
@ux
ˆ0
@y yˆH

These assumptions of the Vlasov and Ambartsumyan differential equations coincide at

parameter a ˆ 5=6. Coef®cient a is the improved dispersion properties on the higher
bending frequencies.

1.2.8 Reissner, Goldenveizer and Ambartsumyan approaches

These approaches allow transverse deformation, so differential equations may be devel-
oped from the Bress equation if additional coef®cient a is put before c2t .

Assumptions

1. syy ˆ 0:
2. sxy ˆ …x; y; t† ˆ Gj…x; t† f … y†:
These assumptions lead to the Bress equation (1.12) with coef®cient a instead of c2t . The
structure of this equation coincides with the Timoshenko equation (Reissner, 1945;
Goldenveizer, 1961; Ambartsumyan, 1956).

1.2.9 Timoshenko theory

The Timoshenko theory takes into account the rotational inertia, shear deformation and
their combined effects (Timoshenko, 1921, 1922, 1953).

Assumptions
1. Normal stresses syy ˆ 0; this assumption leads to the expression for the bending
moment
@c
Mz ˆ EIz
@x
2. The ratio ux …H†=H substitutes for angle c; this means that the cross-sections remain
plane. This assumption leads to the expression for shear force
 
@w
Fy ˆ 2qHG ‡c
@x
3. The fundamental assumption for the Timoshenko theory: arbitrary shear coef®cient q
enters into the equation.

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TRANSVERSE VIBRATION EQUATIONS 9

Mechanical presentation of the Timoshenko beam. A beam can be substituted by the

set of rigid non-deformable plates that are connected to each other by elastic massless pads.

The complete set of the basic relationships

2rH w ˆ Fy0
rI c ˆ M 0
z Fy z
@c
Mz ˆ EIz
@x  
@w
Fy ˆ 2qHG ‡c
@x
To obtain the differential equation of vibration eliminate from the basic relationships all
variables except displacement.

Timoshenko differential equation of the transverse vibration of a beam

  4
@4 w 1 @2 w 1 1 @ w 1 @4 w
‡ 4 2
‡ 2
‡ 2 2 4 ˆ0 …1:15†
@x 4 D0 @t 2 cb qct @x @t 2 2 qcb ct @t
The fundamental difference between the Rayleigh and Bress theories, on one hand, and the
Timoshenko theory, on the other, is that the correction factor in the Rayleigh and Bress
theories appears as a result of shear and rotary effects, whereas in the Timoshenko theory,
the correction factor is introduced in the initial equations. The arbitrary coef®cient q is the
fundamental assumption in the Timoshenko theory.
Presenting the displacement in the form (1.8) leads to the dispersive equation
s
 2
2 2 kt2 kt2
2k1;2 ˆ kb ‡  kb2 ‡ 4k04
q q
where k1;2 are propagation constants;
q is the shear coef®cient;
k0 is the wave number of the bending wave in the Bernoulli±Euler rod,
o2 EIz
k04 ˆ ; D40 ˆ
D40 2rH
kb and kt are the longitudinal and shear propagation constants, respectively.
o2 o2
kb2 ˆ ; kt2 ˆ
c2b c2t
cb and ct are the velocities of the longitudinal and shear waves
E G
c2b ˆ ; c2t ˆ
r r

Practical advantages of the Timoshenko model. Figure 1.3 shows a good agreement
between dispersive curves for both the Timoshenko model and the exact curve for high
frequencies. This means that the two-wave Timoshenko model describes the vibration of
short beams, or high modes of a thin beam, with high precision.

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10 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 1.3. Dispersive curves for the Timoshenko beam model. 1, 2±exact solution; 3, 4±Bress model;
5, 6±q ˆ p2 =12; 7, 8±q ˆ 2=3; 9, 10±q ˆ 1=2.

This type of problem is an important factor in choosing the shear coef®cient (Mindlin,
1951; Mindlin and Deresiewicz, 1955).
Figure 1.3 shows the exact curves, 1 and 2, and the dispersive curves for different shear
coef®cients: curves 3 and 4 correspond to q ˆ 1 (Bress theory), curves 5 and 6 to
q ˆ p2 =12, curves 7 and 8 to q ˆ 2=3, curves 9 and 10 to q ˆ 1=2.

1.2.10 Love theory

The equation of the Love (1927) theory may be obtained from the Timoshenko equation as
a special case.

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TRANSVERSE VIBRATION EQUATIONS 11

(a) Truncated Love equation

@4 w 1 @2 w 1 @4 w G
‡ 4 2 ˆ 0; c2t ˆ …1:16†
@x 4 D0 @t qc2t @x2 @t 2 r

(b) Complete Love equation

  4
@4 w 1 @2 w 1 1 @ w
‡ 4 2 ‡ ˆ0 …1:17†
@x 4 D0 @t c2b qc2t @x2 @t 2

1.2.11 Timoshenko modi®ed theory

Assumption

More arbitrary coef®cients are entered into the basic equations.

The bending moment and shear in the most general case are
 
@c @w
Mz ˆ pEIz ; Fy ˆ 2HG q ‡ sc
@x @x

where p, q, and s are arbitrary coef®cients.

Differential equation of transverse vibration

    4
@4 w s 1 @2 w 1 1 @ w 1 @4 w
‡ ‡ ‡ ˆ0 …1:18†
@x4 pq D40 @t 2 2 2
pcb qct @x @t 2 2 pqc2b c2t @t 4

The dispersive equation may be written in the form

s
 2 2
k2 k2 kb kt2 s
2
2k1;2 ˆ b‡ t  ‡ 4k04

p q p q pq

The dispersive properties of the beam (and the corresponding dispersive curve) is sensitive
to the change of parameters p, q and s. Two additional relationships between parameters p,
q, s, such that

Iz
s ˆ pq and kt2 ˆ pq
A
de®ne a differential equation with one optimal correct multiplier. The meaning of the
above-mentioned relationships was discussed by Artobolevsky et al. (1979). The special
case p ˆ q was studied by Aalami and Atzori (1974).
Figure 1.4 presents the exact curves 1 and 2 and dispersive curves for different values
of coef®cient p: p ˆ 0:62, p ˆ 0:72, p ˆ p2 =12, p ˆ 0:94 and p ˆ 1 (Timoshenko model).
The best approximation is p ˆ p2 =12 for kt H in the interval from 0 to p.

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12 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 1.4. Dispersive curves for modi®ed Timoshenko model. 1, 2±exact solution.

REFERENCES

Aalami, B. and Atzori, B. (1974) Flexural vibrations and Timoshenko's beam theory, Am. Inst.
Aeronautics Astronautics J., 12, 679±675.
Ambartsumyan, S.A. (1956) On the calculation of Shallow Shells, NACA TN 425, December 1956.
Artobolevsky, I.I., Bobrovnitsky, Yu.I. and Genkin, M.D. (1979) An Introduction to Acoustical
Dynamics of Machine (Moscow: Nauka), (in Russian).
Bresse, M. (1859) Cours de Mechanique Appliquee (Paris: Mallet-Bachelier).
Bernoulli, D. (1735) Letters to Euler, Basel.
Euler, L. (1744) Methodus Inveniendi Lineas Curvas Maximi Minimive Proprietate Gaudenies, Berlin.
Goldenveizer, A.L. (1961) Theory of Elastic Thin Shells (New York: Pergamon Press).
Landau, L.D. and Lifshitz, E.M. (1986) Theory of Elasticity (Oxford: New York: Pergamon Press).
Love, E.A.H. (1927) A Treatise on the Mathematical Theory of Elasticity (New York: Dover).
Mindlin, R.D. (1951) In¯uence of rotary inertia and shear on ¯exural motion of isotopic elastic plates,
J. Appl. Mech. (Trans. ASME), 73, 31±38.
Mindlin, R.D. and Deresiewicz, H. (1955) Timoshenko's shear coef®cient for ¯exural vibrations of
beams, Proc. 2nd U.S. Nat. Cong. Applied Mechanics, New York.

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 TRANSVERSE VIBRATION EQUATIONS

TRANSVERSE VIBRATION EQUATIONS 13

Rayleigh, J.W.S. (1877) The Theory of Sound (London: Macmillan) vol. 1, 326 pp.; vol. 2, 1878, 302
pp. 2nd edn (New York: Dover) 1945, vol. 1, 504 pp.
Reissner, E. (1945) The effect of transverse shear deformation on the bending of elastic plates, J. Appl.
Mech. 12.
Timoshenko, S.P. (1921) On the correction for shear of the differential equation for transverse
vibrations of prismatic bars. Philosophical Magazine, Series 6, 41, 744±746.
Timoshenko, S.P. (1922). On the transverse vibrations of bars of uniform cross sections. Philosophical
Magazine, Series 6, 43, 125±131.
Timoshenko, S.P. (1953) Colected Papers (New York: McGraw-Hill).
Vlasov, B.F. (1957) Equations of theory of bending plates. Izvestiya AN USSR, OTN, 12.
Volterra, E. (1955) A one-dimensional theory of wave propagation in elastic rods based on the method
of internal constraints. Ingenieur-Archiv, 23, 6.

FURTHER READING

Abbas, B.A.H. and Thomas, J. (1977) The secondary frequency spectrum of Timoshenko beams,
Journal of Sound and Vibration 51(1), 309±326.
Bickford, W.B. (1982) A consistent higher order beam theory. Developments in Theoretical and
Applied Mechanics, 11, 137±150.
Crawford, F.S. ( ) Waves. Berkeley Physics Course (McGraw Hill).
Ewing, M.S. (1990) Another second order beam vibration theory: explicit bending warping ¯exibility
and restraint. Journal of Sound and Vibration, 137(1), 43±51.
Green, W.I. (1960) Dispersion relations for elastic waves in bars. In Progress in Solid Mechanic, Vol.
1, edited by I.N. Sneddon and R. Hill (Amsterdam: North-Holland).
Grigolyuk, E.I. and Selezov, I.T. (1973) Nonclassical Vibration Theories of Rods, Plates and Shells,
Vol. 5. Mechanics of Solids Series (Moscow, VINITI).
Leung, A.Y. (1990) An improved third beam theory, Journal of Sound and Vibration, 142(3) pp. 527±
528.
Levinson, M. (1981) A new rectangular beam theory. Journal of Sound and Vibration, 74, 81±87.
Pippard, A.B. (1989) The Physics of Vibration (Cambridge University Press).
Timoshenko, S.P. (1953) History of Strength of Materials (New York: McGraw Hill).
Todhunter, I. and Pearson, K. (1960) A History of the Theory of Elasticity and of the Strength of
Materials (New York: Dover). Volume II. Saint-Venant to Lord Kelvin, part 1, 762 pp; part 2, 546 pp.
Wang, J.T.S. and Dickson, J.N. (1979) Elastic beams of various orders. American Institute of
Aeronautics and Astronautics Journal, 17, 535±537.

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 2
ANALYSIS METHODS

Reciprocal theorems describe fundamental properties of elastic deformable systems. Dis-

placement computation techniques are presented in this chapter, and the different cal-
culation procedures for obtaining eigenvalues are discussed: among these are Lagrange's
equations, Rayleigh, Rayleigh±Ritz and Bubnov±Galerkin's methods, Grammel, Dunker-
ley and Hohenemser±Prager's formulas, Bernstein and Smirnov's estimations.

NOTATION

a, b, c, d, e, f Speci®c ordinates of the bending moment diagrams

aik Inertial coef®cients
cik Elastic coef®cients
E Young's modulus of the beam material
EI Bending stiffness
g Gravitational acceleration
Iz Moment of inertia of a cross-section
k Stiffness coef®cient
L, l, h, a, b Geometrical parameters
M Bending moment
mij ; kij Mass and stiffness coef®cients
M, J Concentrated mass and moment of inertia of the mass
n Number of degrees of freedom
Q Generalized force
q, q_ , q Generalized coordinate, generalized velocity and generalized acceleration
r Radius of gyration
rik Unit reaction
U, T Potential and kinetic energy
x, y, z Cartesian coordinates
X(x) Mode shape
yc Ordinate of the bending moment diagram in the unit state under centroid
of bending moment diagram in the actual state
dik Unit displacement
O Area of the bending moment diagram under actual conditions

15
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 ANALYSIS METHODS

16 FORMULAS FOR STRUCTURAL DYNAMICS

d
…0 † ˆ Differentiation with respect to space coordinate
dx
d
…
† ˆ Differentiation with respect to time
dt

2.1 RECIPROCAL THEOREMS

Reciprocal theorems represent the fundamental and useful properties of arbitrary linear
elastic systems. The fundamental investigations were developed by Betti (1872), Helm-
holtz (1860), Maxwell (1864) and Rayleigh (1873, 1876).

2.1.1 Theorem of reciprocal works (Betti, 1872)

The work performed by the actions of state 1 along the de¯ections caused by the actions
corresponding to state 2 is equal to the work performed by the actions of state 2 along the
de¯ections due to the actions of state 1, e.g. A12 ˆ A21 .

2.1.2 Theorem of reciprocal displacements

If a harmonic force of given amplitude and period acts upon a system at point A, the
resulting displacement at a second point B will be the same, both in amplitude and phase,
as it would be at point A were the force to act at point B. The statical reciprocal theorem is
the particular case in which the forces have an in®nitely large period (Lord Rayleigh,
1873±1878).
Unit displacement dik indicates the displacement along the ith direction (linear or
angular) due to the unit load (force or moment) acting in the kth direction.
In any elastic system, the displacement along a load unity of state 1 caused by a load
unity of state 2 is equal to the displacement along the load unity of state 2 caused by a load
unity of the state 1, e.g. d12 ˆ d21 .

Example. A simply supported beam carries a unit load P in the ®rst condition and a unit
moment M in the second condition (Fig. 2.1).
In the ®rst state, the displacement due to load unity P ˆ 1 along the load of state 2 is
the angle of rotation
1  L2
y ˆ d21 ˆ
24EI

FIGURE 2.1. Theorem of reciprocal displacements.

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 ANALYSIS METHODS

ANALYSIS METHODS 17

In the second state, the displacement due to load unity M ˆ 1 along the load of state 1 is a
linear de¯ection

1  L2
y ˆ d12 ˆ
24EI

2.1.3 Theorem of the reciprocal of the reactions (Maxwell, 1864)

Unit reaction rik indicates the reaction (force or moment) induced in the ith support due to
unit displacement (linear or angular) of the kth constraint.
The reactive force rnm due to a unit displacement of constraint m along the direction n
equals the reactive force rmn induced by the unit displacement of constraint n along the
direction m, e.g. rnm ˆ rmn .

Example. Calculate the unit reactions for the frame given in Fig. 2.2a.

Solution. The solution method is the slope-de¯ection method. The given system has one
rigid joint and allows one horizontal displacement. The primary system of the slope-de¯ec-
tion method is presented in Fig. 2.2(b). Restrictions 1 and 2 are additional ones that prevent
angular and linear displacements. For a more detailed discussion of the slope-de¯ection
method see Chapter 4.
State 1 presents the primary system under unit rotational angle Z1 ˆ 1 and the
corresponding bending moment diagram; state 2 presents the primary system under unit
horizontal displacement Z2 ˆ 1 and the corresponding bending moment diagram.

FIGURE 2.2. Theorem of the reciprocal of the reactions: (a) given system; (b) primary system of the slope
and de¯ection method; (c) bending moment diagram due to unit angular displacement of restriction 1;
(d) bending moment diagram due to unit linear displacement of restriction 2.

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18 FORMULAS FOR STRUCTURAL DYNAMICS

Free-body diagrams for joint 1 in state 2 using Fig. 2.2(d), and for the cross-bar in state
1 using Fig. 2.2(c) are presented as follows.

The equilibrium equation of the constraint 1 (SM ˆ 0) leads to

6EI1
r12 ˆ
h2

The equilibrium equation of the cross-bar 1±2 (SFx ˆ 0) leads to

 
1 4EI1 2EI1 6EI1
r21 ˆ ‡ ˆ
h h h h2

2.1.4 Theorem of the reciprocal of the displacements and reactions

(Maxwell, 1864)

The displacement in the jth direction due to a unit displacement of the kth constraint and
the reaction of the constraint k due to a unit force acting in the jth direction are equal in
magnitude but opposite in sign, e.g. djk ˆ rkj .

Example. Find a vertical displacement at the point A due to a unit rotation of support B
(Fig. 2.3).

FIGURE 2.3. Theorem of the reciprocal of the displacements and reactions.

Solution. Let us apply the unit force F ˆ 1 in the direction dAB . The moment at the ®xed
support due to force F ˆ 1 equals rBA ˆ F…a ‡ b†.
Since F ˆ 1, the vertical displacement dAB ˆ a ‡ b.

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 ANALYSIS METHODS

ANALYSIS METHODS 19

2.2 DISPLACEMENT COMPUTATION

TECHNIQUES

2.2.1 Maxwell±Morh integral

Any displacement of the linear deformable system may be calculated by the formula

P „l Mi Mk P „l Ni Nk P „l Qi Qk
Dik ˆ dx ‡ dx ‡ Z dx …2:1†
0 EI 0 EA 0 GA

where Mk …x†, Nk …x† and Qk …x† represent the bending moment, axial and shear forces acting
over a cross-section situated a distance x from the coordinate origin; these internal
forces are due to the applied loads;
Mi …x†, Ni …x† and Qi …x† represent the bending moment, axial and shear forces due to a
unit load that corresponds to the displacement Dik
;
Z is the non-dimensional shear factor that depends on the shape and size of the
cross-section. Detailed information about the shear factor is presented in Chapter 1.
For bending systems, the second and third terms may be neglected.

Example. Compute the angle of rotation of end point C of a uniformly loaded cantilever
beam.

Solution. The unit stateÐor the imaginary oneÐis a cantilever beam with a unit moment
that is applied at the point C; this moment corresponds to an unknown angle of rotation at
the same point C.

The bending moments in the actual condition Mk and the unit state Mi are

qx2
Mk …x† ˆ ; Mi ˆ 1  x
2

The angle of rotation

P „l Mi Mk „l 1  x  qx2 ql 3
Dik ˆ dx ˆ dx ˆ
0 EI 0 2EI 6EI

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20 FORMULAS FOR STRUCTURAL DYNAMICS

Example. Compute the vertical and horizontal displacements at the point C of a

uniformly circular pinned-roller supported arch, due to unit loads P1 ˆ 1 and P2 ˆ 1.

Solution. The ®rst state is the arch with a unit vertical load that is applied at point C; the
second state is the arch with a unit horizontal load, which is applied at the same point.

The unit displacements according to the ®rst term of equation (2.1) are (Proko®ev et al.,
1948)
„
p=4
1 „ 1
p=4
0:01925R3
d11 ˆ …0:293R sin a1 †2 R da1 ‡ ‰0:707…1 cos a2 †RŠ2 R da2 ˆ
0 EI 0 EI EI
„
p=4
1 „ 1
p=4
0:1604R3
d22 ˆ …0:707R sin a1 †2 R da1 ‡ ‰R sin a2 0:707R…1 cos a2 †Š2 R da2 ˆ
0 EI 0 EI EI
„
p=4
1
d12 ˆ d21 ˆ 0:707  0:293R3 sin2 a1 da1
0 EI
„
p=4
1 R3
‡ ‰R sin a2 0:707R…1 cos a2 †Š  0:707R…1 cos a2 †R da2 ˆ 0:0530
0 EI EI

Graph multiplication method (Vereshchagin method). In the most common case, the
bending moment diagram is the actual condition bounded by any curve. The bending
moment diagram that corresponds to the unit condition is always bounded by a straight
line. This latter property allows us to present the Maxwell±Morh integral for bending
systems (Vereshchagin, 1925; Flugge, 1962; Darkov, 1989).
…
1 1
Mi Mk dx ˆ Oyc …2:2†
EI EI

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 ANALYSIS METHODS

ANALYSIS METHODS 21

The product of the multiplication of two graphs, at least one of which is bounded by a
straight line, equals the area O bounded by the graph of an arbitrary outline multiplied by
the ordinate yc to the ®rst graph measured along the vertical passing through the centroid
of the second one. The ordinate yc must be measured on the graph bounded by a straight
line (Fig. 2.4).

FIGURE 2.4. Graph multiplication method: (a) bending moment diagram that corresponds to the actual
condition; (b) bending moment diagram that corresponds to the unit condition.

If a bending structure in the actual condition is under concentrated forces and=or

moments, then both of bending moment diagrams in actual and unit conditions are
bounded by straight lines (Fig. 2.4). In this case, the ordinate yc could be measured on
either of the two lines.
If both graphs are bounded by straight lines, then expression (2.2) may be presented in
terms of speci®c ordinates, as presented in Fig. 2.5. In this case, displacement as a result of
the multiplication of two graphs may be calculated by the following expressions.

Exact formula
l
dik ˆ …2ab ‡ 2cd ‡ ad ‡ bc† …2:3†
6EI

Approximate formula (Simpson±Kornoukhov's rule)

l
dik ˆ …ab ‡ cd ‡ 4ef † …2:4†
6EI

FIGURE 2.5. Bending moment diagrams bounded by straight lines.

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22 FORMULAS FOR STRUCTURAL DYNAMICS

Equation (2.3) is used if two bending moment graphs are bounded by straight lines
only. Equation (2.4) may be used for the calculation of displacements if the bending
moment diagram in the actual condition is bounded by a curved line. If the bending
moment diagram in the actual condition is bounded by the quadratic parabola, then the
result of the multiplication of two bending moment diagrams is exact. This case occurs if
the bending structure is carrying a uniformly distributed load.
Unit displacement is displacement due to a unit force or unit moment and may be
calculated by expressions (2.3) or (2.4).

Example. A cantilever beam is carrying a uniformly distributed load q. Calculate the

vertical displacement at the free end.

Solution. The bending moment diagram due to the applied uniformly distributed force
(Mq ), unit condition and corresponding bending moment diagram MPˆ1 are presented in
Fig. 2.6.

condition

condition

FIGURE 2.6. Actual state, unit condition and corresponding bending moment diagram.

The bending moment diagram in the actual condition is bounded by the quadratic
parabola. The vertical displacement at the free end, by using the exact and approximate
formulae, respectively, is

1 1 ql 2 3 ql 4
Dˆ  l  1l ˆ
EI |‚‚‚‚{z‚‚‚‚}
3 2 |‚‚4 ‚{z‚‚‚} 8EI
O yc
0 1
l B 2 2 C
B0  0 ‡ ql  1  l ‡ 4  ql  1 l C ˆ ql
4
Dˆ |‚
‚ {z‚
‚ }
6EI @ 2 ‚{z‚‚‚‚‚‚‚}
|‚‚‚‚‚‚ 8 ‚{z‚‚‚‚‚2}A 8EI
|‚‚‚‚
ab
cd 4ef

Example. Consider the portal frame shown in Fig. 2.7. Calculate the horizontal dis-
placement of the point B.

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 ANALYSIS METHODS

ANALYSIS METHODS 23

FIGURE 2.7. Portal frame: actual condition and corresponding bending moment diagram.

Solution. The bending moment diagram, Mp , corresponding to the actual loading, P, is

presented in Fig. 2.7.
The unit loading consists of one horizontal load of unity acting at point B. The
corresponding bending moment diagram Mi is given in Fig. 2.8.

FIGURE 2.8. Unit condition and corresponding bending moment diagram.

The signs of the bending moment appearing in these graphs may be omitted if desired,
as these graphs are always drawn on the side of the tensile ®bres. The displacement of the
point B will be obtained by multiplying the two bending moment diagrams. Using
Vereshchagin's method and taking into account the different rigidities of the columns
and of the cross beam, we ®nd

1 1 2 1 1 Ph3 PLh2
DB ˆ  h  Ph  h  Ph  L |{z}h ˆ
EI1 |‚‚‚‚
2 ‚{z‚‚‚‚‚} |{z}
3 EI2 |‚‚‚‚
2 ‚{z‚‚‚‚‚} 3EI1 2EI2
yc
O yc O

2.2.2 Displacement in indeterminate structures

The de¯ections of a redundant structure may be determined by using only one bending
moment diagram pertaining to the given structureÐeither that induced by the applied loads
or else that due to a load unity acting along the desired de¯ection. The second graph may
be traced for any simple structure derived from the given structure by the elimination of
redundant constraints.

Example. Calculate the angle of displacement of the point B of the frame shown in Fig.
2.9. The stiffnesses of all members are equal, and L ˆ h.

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24 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 2.9. Design diagram of the statically indeterminate structure.

Solution. The bending moment diagram in the actual condition and the corresponding
bending moment diagram in the unit condition are presented in Fig. 2.10.

FIGURE 2.10. Bending moment diagrams in the actual and unit conditions.

The angular displacement may be calculated by using Equation 2.3

 
h PL PL PL PL PL2
yB ˆ 21 ‡21 ‡1 1 ˆ
6EI 22 44 44 22 88EI

2.2.3 In¯uence coef®cients

In¯uence coef®cients (unit displacements) dik are the displacement in the ith direction
caused by unit force acting in the kth direction (see Tables 2.1 and 2.2).
In Table 2.2 the in¯uence coef®cients at point 1 due to a unit force or moment being
applied at the same point 1 are:

d ˆ vertical displacement due to unit vertical force;

b ˆ angle of rotation due to unit vertical force or vertical displacement
due to unit moment;
g ˆ angle of rotation due to unit moment.

Example. Calculate the matrix of the unit displacements for the symmetric beam shown
in Fig. 2.11

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 ANALYSIS METHODS

ANALYSIS METHODS 25

TABLE 2.1 In¯uence coef®cients for beams with classical boundary conditions (static Green
functions); EI ˆ const:

Beam type d11 d12 ˆ d21 d22

 2  2
l3 l a a2 ab…l2 a2 b2 † l 3 …l b†2 b
3EI l l 6lEI 3EI l2 l

 
a3 …l a†3 a2 b2 2 ab b2 …l b†2
l a b‡
3l 3 EI 2
2l EI 3 l 3l3 EI

a3 a2  a …l b†3
l b
3EI 2EI 3 3EI
   
…l a†2 a3  a a2 b b2 b2 …l b†3 b
4 3…l a† …3l a† 3 ‡
12l 2 EI l 12lEI l2 12l2 EI l

TABLE 2.2 In¯uence coef®cients for beams with non-classical boundary

conditions; EI ˆ const:

Beam type In¯uence coef®cients

a2 k2 ‡ b2 k1 a3 b3 a2 b3
dˆ ‡ 2 ‡
l2 3l EI1 3l2 EI2
bk1 ak2 a3 b ab3
bˆ ‡
l2 3l2 EI1 3l2 EI2
k1 ‡ k2 a3 b3
gˆ ‡ 2 ‡
l2 3l EI1 3l2 EI2

b2 k1 ‡ …a ‡ b†2 k2 ab2 b3
dˆ 2
‡ ‡
a 3EI1 3EI2
bk1 ‡ …a ‡ b†k2 ab b2
bˆ ‡ ‡
a2 3EI1 3EI2
k2 ‡ k1 a b
gˆ ‡ ‡
a2 3EI1 3EI2

FIGURE 2.11. Clamped±clamped beam with lumped masses.

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26 FORMULAS FOR STRUCTURAL DYNAMICS

Solution. By using Table 2.1, case 2, the symmetric matrix of the unit displacements is
 
 9 1 13 
 
 4096 384 12288 
 
l3  1 1 

‰dik Š ˆ  
EI  192 384 

 
 9 
 
4096

2.2.4 In¯uence coef®cients for clamped±free beam of non-uniform

cross-sectional area
The distributed mass and the second moment of inertia
    
m1 x xn
m…x† ˆ m0 1 1 ; EI …x† ˆ EI0 1 …2:5†
m0 l l
where m0 , I0 are mass per unit length and moment of inertia at clamped support (x ˆ 0),
m1 is mass per unit length at free end (x ˆ l),
n is any integer or decimal number.
The unit force applied at x ˆ x0 and the position of any section x ˆ s0 , are as shown.

The in¯uence coef®cient (Green's function, see also Section 3.10) satis®es the Maxwell
theorem, or the symmetry property
G…x; s† ˆ G…s; x†
and may be presented in the form (Anan'ev, 1946)
l3
G…x; s† ˆ
…1 n†…2 n†EI0
 
2 2
 …1 s†2 n …x s† ‡ …2 n†xs x s …1 s†3 n
‡ for x  s
3 n 3 n
…2:6†
l3
G…x; s† ˆ
…1 n†…2 n†EI0
 
2 n 2 2
 …1 x† …s x† ‡ …2 n†sx s x …1 x†3 n
‡ for x < s
3 n 3 n
…2:7†
x0 s0
where x ˆ , s ˆ are non-dimensional parameters.
l l
Expressions (2.6) and (2.7) have no singular points except n ˆ 1, n ˆ 2 and n ˆ 3. For
n > 2, s 6ˆ 1 , x 6ˆ 1.

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ANALYSIS METHODS 27

Special case. For a uniform cross-sectional area, the parameter n ˆ 0, which yields the
result presented in Table 2.1, row 3.

2.3 ANALYSIS METHODS

2.3.1 Lagrange's equation

Lagrange's equation offers a uniform and fairly simple method for the formulation of the
vibration equations of a mechanical system
 
d @T @T @U
‡ ˆ Qi ; i ˆ 1; 2; 3; . . . ; n …2:8†
dt @_qi @qi @qi
where T and U are the kinetic energy and potential energy of the system;
qi and q_ i are generalized coordinates and generalized velocities;
t is time;
Qi is generalized force, which corresponds to generalized coordinate qi ;
n is number of degrees of freedom of the system.
The generalized force Qi , which corresponds to the generalized coordinate qi is equal to
the coef®cient at increment of generalized coordinate in the expression for virtual work. In
the case of ideal constraints, the right-hand parts of Lagrange's equation include only
generalized active forces, and the unknown reactions of the constraints need not be
considered. An important advantage is that their form and number depend neither on the
number of bodies comprising the system nor on the manner in which they are moving. The
number of equations equals the number of degrees of freedom of the system.
The kinetic energy of the system is a quadratic function of the generalized velocities
1 P n
Tˆ a q_ q_ …i; k ˆ 1; 2; . . . ; n† …2:9†
2 i;kˆ1 ik i k
Inertial coef®cients satisfy the reciprocal property, aik ˆ aki .
The potential energy of the system is a quadratic function of the generalized
coordinates
1 P n
Uˆ c qq …i; k ˆ 1; 2; . . . ; n† …2:10†
2 i;kˆ1 ik i k
The elastic coef®cients satisfy the reciprocal property, cik ˆ cki .
The differential equations of mechanical system are
a11 q1 ‡ a12 q2 ‡


‡ a1n qn ˆ c11 q1 c12 q2


c1n qn
a21 q1 ‡ a22 q2 ‡


‡ a2n qn ˆ c21 q1 c22 q2


c2n qn
…2:11†








































an1 q1 ‡ an2 q2 ‡


‡ ann qn ˆ cn1 q1 cn2 q2


cnn qn
Lagrange's equations can be used in the dynamic analysis of structures with complex
geometrical shapes and complex boundary conditions.
The system of differential equations (2.11) has the following solution
qi ˆ Ai exp iot …2:12†
where Ai is amplitude and o is the frequency of vibration.

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28 FORMULAS FOR STRUCTURAL DYNAMICS

By substituting Equations (2.12) into system (2.11), and reducing by exp iot, we obtain
a homogeneous algebraic equation with respect to unknown amplitudes. The condition of
non-trivial solution leads to the frequency equation
 
 a11 o2 c11 a12 o2 c12


a1n o2 c1n 
 
 a o2 c a22 o2 c22


a2n o2 c2n 
 21 21
 ˆ0 …2:13†













 
 
an1 o2 cn1 an2 o2 cn2


ann o 2
cnn

All roots of the frequency equation o2 are real and positive.

The special forms of kinetic or potential energy lead to speci®c forms for the frequency
equation.
Direct form. Kinetic energy is presented as sum of squares of generalized velocities

1P n
Tˆ a q_ 2
2 kˆ1 k k
…2:14†
1 P n
Uˆ c qq …i; k ˆ 1; 2; . . . ; n†
2 i;kˆ1 ik i k

In this case, the differential equations of the mechanical system are solved with respect to
generalized accelerations

a1 q1 ˆ c11 q1 c12 q2


c1n qn

a2 q2 ˆ c21 q1 c22 q2


c2n qn































an qn ˆ cn1 q1 cn2 q2


cnn qn

Presenting the generalized coordinates in the form of Equation (2.12), and using the non-
triviality condition, leads to the frequency equation
 
 m1 o2 r11 r12


r1n 
 
 r21 m2 o2 r22


r2n 
 
 ˆ0 …2:15†













 
 
rn1 rn2


mn o2 rnn

where rik are unit reactions (force or moment) in the ith restriction, which prevents linear or
angular displacement due to unit displacement (linear or angular) of the kth restriction. The
unit reactions satisfy the property of reciprocal reactions, rik ˆ rki (the theorem of
reciprocal reactions).
Inverted form. Potential energy is presented as sum of squares of generalized coordinates

1 P n
Tˆ a q_ q_ …i; k ˆ 1; 2; . . . ; n†
2 i;kˆ1 ik 1 k
…2:16†
1P n
Uˆ c q2 …i; k ˆ 1; 2; . . . ; n†
2 kˆ1 k k

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ANALYSIS METHODS 29

The differential equations of a mechanical system solved with respect to generalized

coordinates are

c1 q1 ˆ a11 q1 a12 q2


a1n qn

c2 q2 ˆ a21 q1 a22 q2


a2n q n




























cn qn ˆ an1 q1 an2 q2


ann q n

Solution of these system in the form of Equation (2.12), and using the non-triviality
condition, leads to the frequency equation in terms of coef®cients a and c
 
 c1 a11 o2 a12 o2


a1n o2 

 a21 o2 c2 a22 o2


a2n o2 

 ˆ0 …2:17†













 
 
an1 o2 an2 o2


cn ann o2

In terms of lumped masses m and unit displacements dik the frequency equation becomes
 
 1 m1 d11 o2 m2 d12 o2


mn d1n o2 
 
 m d o2 1 m2 d22 o2


mn d2n o2 
 1 21
 ˆ0 …2:18†













 
 
m1 dn1 o2 m2 dn2 o2


1 mn dnn o2

where dik is displacement in the ith direction due to the unit inertial load which is acting in
the kth direction. The unit displacements satisfy the property of reciprocal displacements
dik ˆ dki (the theorem of reciprocal displacements).

Example. Using Lagrange's equation, derive the differential equation of motion of the
system shown in Fig. 2.12.

Solution. The system has two degrees of freedom. Generalized coordinates are q1 ˆ x1
and q2 ˆ x2 . Lagrange's equation must be re-written as
 
d @T @T
ˆ Q1
dt @_q1 @q1
 
d @T @T
ˆ Q2
dt @_q2 @q2

FIGURE 2.12. Mechanical system with two degrees of freedom.

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 ANALYSIS METHODS

30 FORMULAS FOR STRUCTURAL DYNAMICS

where Q1 and Q2 are the generalized forces associated with generalized coordinates x1 and
x2 , of the system, respectively.
The kinetic energy, T, of the system is equal to the sum of kinetic energies of the masses
m1 and m2
1 1
T ˆ m1 x_ 21 ‡ m2 x_ 22
2 2
so kinetic energy, T, depends only on the generalized velocities, and not on generalized
coordinates. By using the de®nition of the kinetic energy, one obtains
 
@T d @T @T
ˆ m1 x_ 1 ˆ m1 x 1 ˆ0
@_x1 dt @_x1 @x1
 
@T d @T @T
ˆ m2 x_ 2 ˆ m2 x 2 ˆ0
@_x2 dt @_x2 @x2

For calculation of Q1 and Q2 we need to show all forces that act on the masses m1 and m2
at positions x1 and x2 (Fig. 2.13).
The total elementary work dW , which could have been done on the increments of the
generalized coordinates dx1 and dx2, is

dW ˆ Q1 dq1 ‡ Q2 dq2 ˆ dx1 ‰ k1 x1 k2 …x1 x2 † ‡ F0 sin otŠ ‡ dx2 k2 …x1 x2 †

The coef®cient at dx1 is the generalized force Q1 , and the coef®cient at dx2 is the
generalized force Q2 .
So, generalized forces are

Q1 ˆ k1 x1 k2 …x1 x2 † ‡ F0 sin ot
Q2 ˆ k2 …x1 x2 †

Substituting into Lagrange's equation for q1 and q2 yields, respectively, the following two
differential equations

m1 x 1 ‡ …k1 ‡ k2 †x1 k2 x2 ˆ F0 sin ot

m2 x 2 k2 x1 ‡ k2 x2 ˆ 0

FIGURE 2.13. Real displacements x1 , x2 and virtual displacements dx1 , dx2 . SEP ˆ Static equilibrium
position; DP ˆ Displaced position.

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 ANALYSIS METHODS

ANALYSIS METHODS 31

These equations describe forced vibration. The solution of this differential equation system
and its technical applications are discussed in detail by Den Hartog (1968), Weaver et al.
(1990).

Example. Using the direct form, derive the frequency equation of the system shown in
Fig. 2.14.

Solution

1. Let mass m1 have unit displacement in the positive direction while mass m2 is ®xed
(Fig. 2.15(a)). The elastic restoring forces acting on mass m1 are F1 ˆ k1 from the left
side and F2 ˆ k2 from the right side; the restoring force acting on mass m2 is F2 ˆ k2 .
Reactions that act on masses m1 and m2 are r11 and r21, respectively. The dotted
reactions are shown in the positive direction. The equilibrium equation for mass m1 and
mass m2 is SFkx ˆ 0, which leads to

r11 ˆ k1 ‡ k2 and r21 ˆ k2

2. Let mass m2 have unit displacement in the positive direction; mass m1 is ®xed (Fig.
2.15(b)). The elastic restoring force acting on mass m1 is F1 ˆ k2 from the right side;
the restoring force acting on mass m2 is F2 ˆ k2 . The reactions that act on masses m1

FIGURE 2.14. Mechanical system with two degrees of freedom.

FIGURE 2.15. (a) Calculation of coef®cients r11 and r21 . Direct form. (b) Calculation of coef®cients r12
and r22 . Direct form.

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 ANALYSIS METHODS

32 FORMULAS FOR STRUCTURAL DYNAMICS

and m2 are r12 and r22, respectively. The equilibrium equation for mass m1 and mass m2
is SFkx ˆ 0, which leads to

r12 ˆ k2 and r22 ˆ k2

The frequency equation corresponding to the direct form (2.15) may be formed immedi-
ately
 
 m o2 k k2 k2 
 
Dˆ 1 1
ˆ0
 k2 m2 o2 k2 

Example. Using the inverted form, derive the frequency equation of the system shown in
Fig. 2.14.

Solution

1. Let unit force F ˆ 1 be applied to mass m1 in the positive direction while mass m2 has
no additional restriction (Fig. 2.16(a)). In this case, displacement of the mass m1 is
d11 ˆ 1=k1 ; the displacement mass m2 equals d11 , since mass m2 has no restriction.
2. Let unit force F ˆ 1 be applied to mass m2 in the positive direction. Thus mass m2 is
under action of active force, while mass m1 has no active force applied to it (Fig.
2.16(b)). In this case, the internal forces in both springs are equal, F ˆ 1.

FIGURE 2.16. (a) Calculation of coef®cients d11 and d21 . (b) Calculation of coef®cients d12 and d12 .
Inverted form.

The frequency equation may be formed immediately

 
 1 m1 o2 m2 2
o 
 
 k1 k1 
D ˆ    ˆ 0

 m 1 2 1 1 
 o 1 m2 o2 ‡
k1 k1 k2 

The frequency equations in the direct and inverted forms are equivalent.

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 ANALYSIS METHODS

ANALYSIS METHODS 33

Example. The system shown in Fig. 2.17 consists of a clamped±free beam and a rigid
body of mass M and radius of gyration r with respect to centroid C. Derive the frequency
equation.

Solution. Generalized coordinates are the vertical displacement q1 ˆ f at the point A and
angular displacement q2 ˆ j at the same point. The corresponding generalized forces are
concentrated force P0 and moment M0 , which are applied at point A.
The kinetic energy of the system is

1 h
2 i 1  
T ˆ M f_ ‡ d j_ ‡ r2 j_ 2 ˆ M f_ 2 ‡ …d 2 ‡ r2 †j_ 2 ‡ 2d f_ j_
2 2

Kinetic energy may be presented in the canonical form (2.16)

1

Tˆ a q_ 2 ‡ 2a12 q_ 1 q_ 2 ‡ a22 q_ 22
2 11 1

where aik are inertial coef®cients.

Differential equations of motion in the inverted form are presented by Loitzjansky and
Lur'e (1934)



f ˆ dff a11 f ‡ a12 j df j a12 f ‡ a22 j

 
ˆ dff M f ‡ Md j df j Md f ‡ M …r2 ‡ d 2 †j



jˆ djf a11 f ‡ a12 j djj a12 f ‡ a22 j

 
ˆ djf M f ‡ Md j djj Md f ‡ M …r2 ‡ d 2 †j

where dff , df j , djf , djj are the in¯uence coef®cients.

Calculation of in¯uence coef®cients. Bending moment due to generalized forces

M …x† ˆ P0 x ‡ M0

Potential energy

 
1 „l M 2 …x† 1 l3 l2
Uˆ dx ˆ P02 ‡ 2P0 M0 ‡ M02 l
2 0 EI 2 3 2

FIGURE 2.17. Cantilever beam with a rigid body at the free end.

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34 FORMULAS FOR STRUCTURAL DYNAMICS

By using the Castigliano theorem

@U l3 l2
f ˆ ˆ P0 ‡ M
@P0 3EI 2EI 0
@U l2 l
jˆ ˆ P ‡ M
@M0 2EI 0 EI 0
So, the in¯uence coef®cients are
l3 l2 l
dff ˆ ; djf ˆ djf ˆ ; djj ˆ
3EI 2EI EI
The in¯uence coef®cients may be obtained from Table 2.1 immediately.
If the generalized coordinates change by the harmonic law, then the equations with
respect to f and j lead to the frequency equation
 
 1 lff o2 lf j o2 

 l o2 1 l o2  ˆ 0
jf jj

where
lff ˆ dff a11 ‡ df j a12 lf j ˆ dff a12 ‡ df j a22
ljf ˆ df j a11 ‡ djj a12 ljj ˆ df j a12 ‡ djj a22
The parameters l in the explicit form are
   
l3 M 3d l3 M 3 d 2 ‡ r2
lff ˆ 1‡ ; lf j ˆ d‡
3EI 2l 3EI 2 l
   
l3 M 1 d l 3 M d d 2 ‡ r2
ljf ˆ ‡ 2 ; ljj ˆ ‡
EI 2l l EI 2l l2
The roots of equation D ˆ 0
8 s9
 2
2 1< 3d 3…d 2 ‡ r2 † 3d 3…d 2 ‡ r2 † 3r2 =
O1;2 ˆ 1‡ ‡  1 ‡ ‡
2: l l 2 l l 2 l2 ;

where the dimensionless parameter

3EI 1
O2 ˆ
Ml 3 o2

Special cases
1. A cantilever beam with rigid body at the free end; the rotational effect is neglected. In
this case r ˆ 0. The frequency parameter
3d 3d 2
O2 ˆ 1 ‡ ‡ 2
l l
2. A cantilever beam with lumped mass M at the free end; the rotational effect is
neglected. In this case r ˆ d ˆ 0. The frequency parameter
3EI
O ˆ 1 and o2 ˆ
Ml 3

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 ANALYSIS METHODS

ANALYSIS METHODS 35

2.3.2 Rayleigh method

The Rayleigh method, based on the Rayleigh quotient, expresses the equality of the
maximum kinetic and strain energies for undamped free vibrations (Rayleigh, 1877). The
method can be used to determine the upper bound of the fundamental frequency vibration
of continuous systems.
The Rayleigh quotient and various types of Rayleigh method procedure are presented in
Table 2.3 (Birger et al., 1968). The vibrating object is a non-uniform beam with distributed
masses m(x), carrying a concentrated mass M that is placed at x ˆ xs , and a concentrated
force P that acts at x ˆ xj (version 4); the bending moment is M(x) (version 2); the bending
stiffness of the beam is EI(x).

TABLE 2.3 Rayleigh's quotients

Version Formula Procedure

1 Rayleigh quotient

„l 1. Choose an assumed mode shape function

EI…x†‰Xn00 …x†Š2 dx
0
X(x);
o2n ˆ 2. Calculate slope X 0 …x†
„l P
m…x†Xn2 …x†dx ‡ Ms Xn2 …xs †
0 s

2 „l 1. Choose an assumed mode shape

M 2 …x†dx
0
function X(x);
o2n ˆ 2. Calculate a bending moment
„l P
m…x†Xn2 …x†dx ‡ Ms Xn2 …xs † M …x† ˆ EIX 00 …x†
0 s

3 „l 1. Choose an expression for the distributed

q…x†X …x†dx
0
load q(x)
o2n ˆ 2. Calculate X(x) by integrating.
„l P
m…x†Xn2 …x†dx ‡ Ms Xn2 …xs †
0 s

4 „l P 1. Choose an expression for the distributed

q…x†X …x†dx ‡ Pj Xn …xj †
0 j load q(x)
o2n ˆ 2. Calculate X(x) by integrating.
„l P
m…x†Xn2 …x†dx ‡ Ms Xn2 …xs †
0 s

5 „l P 1. Use an expression that corresponds to

m…x†X …x†dx ‡ Ms Xn …xs †
s the actual distributed load q ˆ gm…x†
o2n ˆ g l0 2. Calculate X(x) by integrating.
„ P
m…x†Xn2 …x†dx ‡ Ms Xn2 …xs †
0 s

Notes
1. The natural frequency vibration obtained by the Rayleigh quotient (method) is always
larger than the true value of frequency: o  oreal .

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36 FORMULAS FOR STRUCTURAL DYNAMICS

2. The Rayleigh quotient gives exact results if:

(a) the chosen expressions for X coincide with the true eigenfunctions of vibration
(versions 1 and 2);
(b) the chosen expressions for q(x) are proportional to the true inertial forces (versions
3 and 4).
The assumed function expressions for beams with different boundary conditions are
presented in Appendix C.
3. In order to take into account the effect of rotary inertia of the beam it is necessary to add
to the denominator a term of the form
„
mIz …x†‰X 0 …x†Š2 dx
…l†

4. In order to take into account the effect of rotary inertia of the concentrated mass it is
necessary to add to the denominator a term of the form
J ‰X 0 …xs †Š2
where J is a mass moment of inertia and xs is the ordinate of the attached mass.
5. The low bound of the fundamental frequency of vibration may be calculated by using
Dunkerley's equation.
Example. Calculate the fundamental frequency of vibration of a cantilever beam
‰X …l† ˆ X 0 …l† ˆ 0Š using the Rayleigh method.

Solution. Version 1 (Rayleigh quotient). Choose an expression for the eigenfunction in a

form that satis®es the boundary condition at x ˆ l
 x2
X …x† ˆ 1
l
Differentiating with respect to x
2
X 00 …x† ˆ
l2
The Rayleigh quotient terms become
„l 4EI
EI …X 00 †2 dx ˆ
0 l3
„l 2
„l  x4 ml
mX dx ˆ m 1 dx ˆ
0 0 l 5
Substituting these expressions into the Rayleigh quotient leads to the fundamental
frequency vibration:
 ,  r
2 4EI ml 20EI 4:47 EI
o ˆ ˆ ; o ˆ
l3 5 ml 4 l2 m
r
3:5156 EI
The exact eigenvalue is equal to o ˆ .
l2 m
Version 2. Choose an expression for the bending moment in the form
 x2
M …x† ˆ 1
l

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 ANALYSIS METHODS

ANALYSIS METHODS 37

The differential equation is

 x2
EIX 00 …x† ˆ 1
l
Integrating twice
l x3
EIX 0 ˆ 1 ‡ C1
3 l
l2  x4
EIX ˆ 1 ‡ C1 x ‡ C2
12 l
Boundary conditions: X …l† ˆ X 0 …l† ˆ 0, so the arbitrary constants are C1 ˆ C2 ˆ 0.
The eigenfunction is

l2  x4
X …x† ˆ 1
12EI l
The Rayleigh quotient is

x4 „l 
dx 1
0 l 108EI
o2 ˆ  2 ˆ
„l l 2  
x 4 5ml 4
EI m 1 dx
0 12EI l

A frequency vibration equals

r
4:65 EI
oˆ
l2 m
Version 4. Choose an expression for eigenfunction X(x) in a form that coincides with an
elastic curve due to a concentrated force P applied at the free end
 
Pl 3 x3 3x
X …x† ˆ ‡ 2
6EI l3 l
The Rayleigh quotient is

Pl 3
P
3EI 140EI
o2 ˆ  2  2 ˆ 11ml4
„l Pl 3 x3 3x
m ‡ 2 dx
0 6EI l3 l

The fundamental frequency vibration equals

r
3:53 EI
oˆ 2
l m
Version 5. Choose an expression for eigenfunction X(x) in a form that coincides with an
elastic curve due to a uniformly distributed load q ˆ mg along the beam
 
mgl4 4x x4
X …x† ˆ 1 ‡ 4
8EI 3l 3l

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38 FORMULAS FOR STRUCTURAL DYNAMICS

Calculate:
„l m2 gl 5
mX …x†dx ˆ
0 20EI
„l 13m3 g 2 l 9
mX 2 …x†dx ˆ
0 3240…EI †2
The Rayleigh quotient is
„l
mX …x†dx
0 162EI
o2 ˆ g ˆ
„l 2
13ml 4
mX …x†dx
0

The fundamental frequency of vibration equals

r
3:52 EI
oˆ
l2 m

2.3.3 Rayleigh±Ritz Method

The Rayleigh±Ritz method (Rayleigh, 1877, Ritz, 1909) can be considered as an extension
of the Rayleigh method. The method can be used not only to obtain a more accurate value
of the fundamental natural frequency, but also to determine the higher frequencies and the
associated mode shapes.

Procedure
1. Assume that the shape of deformation of the beam is in the form

P
n
y…x† ˆ c1 X1 …x† ‡ c2 X …x†


ˆ ci Xi …x† …2:19†
iˆ1

which satis®es the geometric boundary conditions.

2. The frequency equation may be presented in two different canonical forms
Form 1
 
 k11 m11 o2 k12 m12 o2




 
 k21 m21 o2 k22 m22 o2


 ˆ 0 …2:20†
 










The parameters of the frequency equation (2.20) are the mass and stiffness coef®cients,
which are expressed in terms of shape mode X(x)
„l
mij ˆ rAXi Xj dx …2:21†
0

„l
kij ˆ EIXi00 Xj00 dx
0

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 ANALYSIS METHODS

ANALYSIS METHODS 39

Form 2
 
 m11 V11 o2 m12 V12 o2




 
 m21 V21 o2 m22 V22 o2


 ˆ 0 …2:22†
 










where mij is the mass stiffness coef®cient (2.21). In the case of transverse vibration, the
parameter of the frequency equation (2.22) is
„l Mi Mk dx
Vij ˆ …2:23†
0 EI
where bending moments Mi and Mk are caused by the loads mXi and mXk ; m ˆ rA. If
the assumed shape functions happen to be the exact eigenfunctions, the Rayleigh±Ritz
method yields the exact eigenvalues.

The frequency equations in the different forms for ®rst and second approximations are
presented in Table 2.4.

TABLE 2.4 Rayleigh±Ritz frequency equations

Approximation Form 1 Form 2

First k11 m11 o2 ˆ 0 m11 V11 o2 ˆ 0

   
k m11 o2 k12 m12 o2  m V11 o2 m12 V12 o2 
 11  11
Second  ˆ0  ˆ0
 k21 m21 o2 k22 m22 o2   m21 V21 o2 m22 V22 o2 

Example. Calculate the ®rst and second frequencies of a cantilever beam that has a
uniform cross-sectional area A; the beam is ®xed at x ˆ 0.

Solution

1. Assume that the shape of deformation of the beam is in the form

P x2 x3
y…x† ˆ Ci Xi ˆ C1 ‡ C2
l l
where functions Xi satisfy the geometry boundary conditions at the ®xed end.
2. Using the expressions for the assumed shape functions, the mass coef®cients are

„l „l x4 ml
m11 ˆ mX12 …x†dx ˆ m dx ˆ
0 0 l 5
„l „l x5 ml
m12 ˆ m21 ˆ mX1 …x†X2 …x†dx ˆ m dx ˆ
0 0 l 6
„l „l x6 ml
m22 ˆ mX22 …x†dx ˆ m dx ˆ
0 0 l 7

where m ˆ rA is the mass per unit length.

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40 FORMULAS FOR STRUCTURAL DYNAMICS

3. Using the expressions for assumed shape functions the stiffness coef®cients are
 2
„l „l 2 4EI
k11 ˆ EIX1002 …x†dx ˆ EI 2 dx ˆ 3
0 0 l l
„l „l 2 6x 6EI
k12 ˆ k21 ˆ EIX100 …x†X200 …x†dx ˆ EI 2 3 dx ˆ 3
0 0 l l l
  2
„l „l 6x 12EI
k22 ˆ EIX2002 …x†dx ˆ EI 3 dx ˆ 3
0 0 l l

4. The frequency equation, using the ®rst form, is

 
 ml4 2 ml 4 2 
4 o 6 o 
 5EI 6EI
D ˆ  ˆ0
 4
ml 2 ml 2 
4
6 o 12 o 
6EI 7EI
First approximation. The frequency equation yields the linear equation with respect to
eigenvalue l
l ml 4
4 ˆ 0; l ˆ o2
5 EI
The fundamental frequency of vibration is
r
4:4721 EI
o1 ˆ
l2 m
Second approximation. The frequency equation yields the quadratic equation with
respect to eigenvalues l:

l2 1224l ‡ 15121 ˆ 0
The eigenvalues of the problem are
l1 ˆ 12:4802; l2 ˆ 1211:519
The fundamental and second frequencies of vibration are
r r
3:5327 EI 34:8068 EI
o1 ˆ ; o 2 ˆ
l2 m l2 m
The exact fundamental frequency of vibration is equal to
r
3:5156 EI
oˆ
l2 m
Comparing the results obtained in both approximations shows that the eigenvalues
differed widely. The second approximation yields a large dividend in accuracy for the
fundamental frequency of vibration. A signi®cant improvement in the fundamental,
second and higher frequencies of vibration can be achieved by increasing the number of
terms in the expression for the mode shape of vibration.

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 ANALYSIS METHODS

ANALYSIS METHODS 41

2.3.4 Bubnov±Galerkin Method

The Bubnov±Galerkin method can be used to determine the fundamental frequency and
several lower natural frequencies, both linear and nonlinear, of the continuous systems
(Galerkin, 1915).

Procedure

1. Choose a trial shape function, X(x), that satis®es the kinematic and dynamic boundary
conditions and presents the deformable shape in the form
P
n
y…x† ˆ c1 X1 …x† ‡ c2 X2 …x†


ˆ ci Xi …x† …2:24†
iˆ1
where ci are unknown coef®cients.
2. Formulas for mass and stiffness coef®cients are presented in Table 2.5.
3. Frequency equation (Common formula)

 
 k11 m11 o2 k12 m12 o2



 
 
k m21 o2 k22 m22 o2


 ˆ 0 …2:25†
 21
 
 










First approximation for the frequency of vibration
k11 m11 o2 ˆ 0 …2:26†
Second approximation for the frequency of vibration
 
k 2 2
 11 m11 o k12 m12 o 
 ˆ0 …2:27†
 k21 m21 o2 k22 m22 o2 

As may be seen from the Equation (2.21) and Table 2.5, the mass coef®cients for the
Rayleigh±Ritz and Bubnov±Gakerkin methods coincide, while the stiffness coef®cients
are different.

TABLE 2.5 Mass and stiffness coef®cients for different types of vibration

Vibration Mass coef®cient Stiffness coef®cient

„l „l
Transversal mij ˆ rAXi Xj dx kij ˆ …EIXi00 †00 Xj dx
0 0

„l „l
Longitudinal mij ˆ rAXi Xj dx kij ˆ …EAXi0 †0 Xj dx
0 0

„l „l
Torsional mij ˆ rAXi Xj dx kij ˆ …GIp Xi0 †0 Xj dx
0 0

Example. Calculate the fundamental frequency of vibration of the beam shown in Fig.
2.18 (beam thickness is equal to unity).

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42 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 2.18. Cantilevered non-uniform beam.

Solution. The second moment of inertia, cross-sectional area and distributed mass at any
position x are
x3 2 x3 x x x x
Ix ˆ I0 ˆ b3 ; Ax ˆ A0 ˆ 2b ; mx ˆ m0 ˆ 2br
l 3 l l l l l
1. The boundary conditions of the beam are

y…l† ˆ 0; y0 …l† ˆ 0; EIy00 …0† ˆ 0; EIy000 …0† ˆ 0

so the function y(x) for the transversal displacement may be chosen as
y…x† ˆ C1 X1 …x† ‡ C2 X2 …x†
where the assumed functions are
x 2 x 2 x
X1 …x† ˆ 1 ; X2 …x† ˆ 1
l l l
First approximation. In this case we have to take into account only function X1
2 x3 2 12x
X100 ˆ ; EIX100 ˆ EI0 ; …EIX100 †00 ˆ EI0
l2 l3 l2 l5
The stiffness and mass coef®cients are
 
„l „l 12x x2 2x EI
k11 ˆ …EIX100 †00 X1 dx ˆ EI0 5 2
‡ 1 dx ˆ 30
0 0 l l l l
  2
„l „l x x2 2x l
m11 ˆ rAX12 dx ˆ m0 ‡ 1 dx ˆ m0
0 0 l l2 l 30
The frequency equation is k11 m11 o2 ˆ 0.
The fundamental frequency of vibration is
s
2 30EI0 2 30Eb2 b E
o ˆ or o ˆ and o ˆ 5:48 2
m0 l 4 3rl 4 l 3r

Second approximation. In this case we have to take into account both functions X1 and
X2
 4   2 
6x 4 6x 4x3 00 00 72x 24x
X200 ˆ 3 ; EIX 00
2 ˆ EI0 ; …EIX 2 † ˆ EI 0
l l2 l6 l5 l6 l5

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ANALYSIS METHODS 43

The stiffness and mass coef®cients that correspond to the second assumed function are
 2  
„l „l 72x 24x x3 2x2 x 2EI
k22 ˆ …EIX200 †00 X2 dx ˆ EI0 6 5 3 2
‡ dx ˆ 30
0 0 l l l l l 5l
  2
„l „l x x3 2x2 x l
m22 ˆ rAX22 dx ˆ m0 3 2
‡ dx ˆ m0
0 0 l l l l 280
 
„l „l 12x x3 2x2 x 2EI
k12 ˆ …EIX100 †00 X2 dx ˆ EI0 5 3 2
‡ dx ˆ 30
0 0 l l l l 5l
   
„l „l x x2 2x x3 2x2 x l
m12 ˆ rAX1 X2 dx ˆ m0 ‡ 1 ‡ dx ˆ m0
0 0 l l2 l l3 l2 l 105

Frequency equation:
    2
EI0 m0 l 2 2EI0 m0 l 2 2EI0 m0 l 2
o o o ˆ0
l3 30 5l3 280 5l 3 105

Fundamental frequency (Pratusevich, 1948)

s s
5:319 EI0 b E
oˆ 2 or o ˆ 5:319 2
l m0 l 3r

The exact fundamental frequency, obtained by using Bessel's function is

s
b E
o ˆ 5:315 2
l 3r

This is the result obtained by Kirchhoff (1879).

A comparison of the Bubnov±Galerkin method and the related ones is given in
Bolotin (1978).
The Bubnov±Galerkin method may be applied for deformable systems that are
described by partial nonlinear differential equations.

Example. Show the Bubnov±Galerkin procedure for solving the differential equation of
a nonlinear transverse vibration of a simply supported beam.
The type of nonlinearity is a physical one, the characteristics of hardening are hard
characteristics. This means that the `Stress±strain' relationship is s ˆ Ee ‡ be3 , b > 0,
where b is a nonlinearity parameter (see Chapter 14).

Solution. The differential equation of the free transverse vibration is

 2  2 2 4
@4 y @2 y @3 y @ y @ y @2 y
L… y; t†  EI2 4 ‡ 6bI4 2 ‡ 3bI 4 ‡ m ˆ0
@x @x @x3 @x2 @x4 @t 2

where L( y, t) is the nonlinear operator; and In is the moment of inertia of order n of the
cross-section area
„
In ˆ yn dA
…A†

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44 FORMULAS FOR STRUCTURAL DYNAMICS

For a rectangular section, b  h: I2 ˆ bh3 =12, I4 ˆ bh5 =80; for a circle section of diameter
d: I2 ˆ pd 4 =64, I4 ˆ pd 6 =512.
The bending moment of the beam equals

Mˆ y00 ‰EI2 ‡ bI4 … y00 †2 Š

First approximation. A transverse displacement of a simply supported beam may be

presented in the form
px
y…x; t† ˆ f1 …t† sin
l

Using the Bubnov±Galerkin procedure

„l px
dx ˆ 0
L…x; t† sin
0 l
"  2  2 2 4 # …2:28†
„l @4 y @2 y @3 y @ y @ y @2 y px
EI2 4 ‡ 6bI4 2 ‡ 3bI4 ‡ m 2 sin dx ˆ 0
0 @x @x @x3 @x2 @x4 @t l

This algorithm yields one nonlinear ordinary differential equation with respect to an
unknown function f1(t).
Second approximation. A transverse displacement may be presented in the form

px 2px
y…x; t† ˆ f1 …t† sin ‡ f2 …t† sin
l l

Using the Bubnov±Galerkin method

„l px
L…x; t† sin dx ˆ 0
0 l
…2:29†
„l 2px
L…x; t† sin dx ˆ 0
0 l

This algorithm yields two nonlinear ordinary differential equations with respect to
unknown functions f1 …t† and f2 …t†.

2.3.5 Grammel's Formula

Grammel's formula can be used to determine the fundamental natural frequency of
continuous systems, and it gives a more exact result than the Rayleigh method for the
same function X(x). Grammel's quotients always lead to an approximate fundamental
frequency that is higher than the exact one. Grammel's quotients for different types of
vibration are presented in Table 2.6.
In Table 2.6, M(x) denotes the bending moment along the beam, m is the distributed
mass, Mi is the concentrated masses and Xi is the ordinate of the mode shape at the point of
mass Mi .

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ANALYSIS METHODS 45

TABLE 2.6 Grammel's quotients

Type of vibration Square frequency

„l P
mX 2 …x†dx ‡ Mi Xi2
2 0
Longitudinal o ˆ
„l N 2 …x†dx
0 EA
„l P
IX 2 …x†dx ‡ Ii Xi2
2 0
Torsional o ˆ
„l Mt2 …x†dx
0 GIp
„l P
mx2 …x†dx ‡ Mi Xi2
Transversal o2 ˆ 0
„l M 2 …x†dx
0 EJ

Example. Calculate the frequency of free vibration of a cantilever beam.

Solution

1. Choose the expression for X(x) in the form

 
4x x4
X …x† ˆ 1 ‡
3l 3l4

2. Take the distributed load in the form

 
4x x4
q…x† ˆ mX …x† ˆ m 1 ‡
3l 3l 4

3. De®ne the bending moment M(x) by integrating the differential equation M 00 …x† ˆ q…x†
twice
 2 
x 2x3 x6
M …x† ˆ m ‡
2 9l 90l 4

4. It follows that
„l
mX 2 dx ˆ 0:2568ml
0

„l M 2 …x†dx m2 l5
ˆ 0:02077
0 EI EI

5. Substituting these expressions into the Grammel quotient, one obtains

r
3:51 EI
oˆ 2
l m

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46 FORMULAS FOR STRUCTURAL DYNAMICS

2.3.6 Hohenemser±Prager Formula

The Hohenemser±Prager formula can be used for a rough evaluation of the fundamental
frequency of vibration of a deformable system (Hohenemser and Prager, 1932).
The Hohenemser±Prager quotients for different types of vibration are presented in
Table 2.7.

TABLE 2.7 Hohenemser±Prager's quotients

Type of vibration Square of frequency vibration

„l …N 0 †2 dx „l N 2 …x†dx
Longitudinal
0 m 0 EA
„l …Mt0 †2 dx „l Mt2 …x†dx
Torsional
0 I 0 GIp
„l …M 00 †2 dx „l M 2 …x†dx
Transversal
0 m 0 EI

Example. Calculate the ®rst frequency of vibration of a cantilever beam that has a
uniform cross-sectional area.

Solution
1. Assume that elastic curve under vibration coincides with the elastic curve caused by
uniformly distributed inertial load q. In this case the bending moment M …x† ˆ qx2 =2. It
follows that

„l q2 l
…M 00 †2 dx ˆ
0 m
„l M 2 dx q2 l 5
ˆ
0 EI 20EI

3. Substituting these expressions into the Hohenemser±Prager quotient, one obtains

r
20EI 4:47 EI
o2 ˆ ! o ˆ
ml4 l2 m

2.3.7 Dunkerley Formula

The Dunkerley formula gives the lower bound of the fundamental frequency of vibration
(Dunkerley, 1894). The Dunkerley formula may be written in two forms. Form 1 is
presented in Table 2.8.
The in¯uence coef®cient d…x; x† is linear (angular) de¯ection of the point with abscissa
x due to the unit force (moment) being applied at the same point. For pinned±pinned,
clamped±clamped, clamped±free and clamped±pinned beams, the linear in¯uence coef®-
cient d…x; x† is presented in Table 2.1.

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ANALYSIS METHODS 47

TABLE 2.8 Dunkerley ®rst form

Type of vibration Square frequency vibration

l 
„ P
Transversal and longitudinal o2 ˆ 1 m…x†d…x; x†dx ‡ Mi d…xi ; xi †
0
l 
„ P
Torsional o2 ˆ 1 I …x†d…x; x†dx ‡ Ii d…xi ; xi †
0

Example. Calculate the fundamental frequency vibration of the cantilever uniform cross-
section beam carrying concentrated mass M at the free end (Fig. 2.19).

Solution

1. The in¯uence function is

x3
d…x; x† ˆ
3EI
It follows that
„l l4
d…x; x†dx ˆ
0 12EI
3. Substituting these expressions into the Dunkerley quotient, one obtains
1 12EI
o2 ˆ ˆ  
ml 4 Ml 3 M
‡ ml 1 ‡ 4
4
12EI 3EI ml

Special cases r

1:862 EI
1. If M ˆ 0, then o ˆ .
l2 m r
1:8752 EI
For comparison, the exact value is o ˆ (see Table 5.3).
l2 m
r
2
1:244 EI
2. If M ˆ ml, then o ˆ .
lr
2
 m
2
1:248 EI
Exact value o ˆ (from Table 7.7). See also Table 7.6.
l2 m

FIGURE 2.19. Cantilever beam with a lumped mass at the free end.

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48 FORMULAS FOR STRUCTURAL DYNAMICS

Dunkerley second formula. The Dunkerley formula gives the lower bound of the funda-
mental and second frequencies of vibration of a composite system in terms of the frequen-
cies of vibration of the system's partial systems.
The partial systems are those that are obtained from a given system if all coordinates
except one are deleted. In the case of a deformable system with lumped masses and
neglecting a distributed mass, the partial systems have one degree of freedom. If a
distributed mass is also taken into account, then one of the partial systems is continuous.
The partial systems may be obtained from a given system by using a mathematical
model or design diagram. In the ®rst case, the connections between generalized coordi-
nates must be deleted. In the second case, all masses except one must be equal to zero.
The relationship between the fundamental frequency of the actual system and partial
frequencies is
1 1 1 1
< ‡ ‡


‡ 2 …2:30†
o21r o21 o22 on
Since a partial frequency
s
1
on ˆ …2:31†
dnn mn

then the square of the frequency of vibration of the given system is

1
o21r  …2:32†
d11 m1 ‡ d22 m2 ‡


‡ dkk mk
where o1r and o2r are fundamental and second frequencies of vibration of the given
system;
o1 ; . . . ; oj are partial frequencies of vibration;
dn;n are unit displacements of the structure at the point of attachment of mass mn .
Each term on the right-hand side of Equation (2.30) presents the contribution of each
mass in the absence of all other masses. The fundamental frequency given by Equation
(2.30) will always be smaller than the exact value.
The relationship between the second frequency of the actual system and parameters of
system is

d11 m1 ‡ d22 m2 ‡


‡ dkk mk

o22r      …2:33†
 d11 m1 d12 m2   dk 1;k 1 mk 1 dk 1;k mk 
 
 d21 m1 ‡


‡
d22 m2   dk;k 1 mk 1 dkk mk 

Example. Calculate the fundamental frequency of vibration of the cantilever uniformly

massless beam carrying two lumped masses M1 and M2, as shown in Fig. 2.20.

FIGURE 2.20. Deformable system with two degrees of freedom and two partial systems.

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ANALYSIS METHODS 49

Solution. The ®rst and second partial frequencies according to Equation (2.31) are

1 a3
o21 ˆ ; d11 ˆ
M1 d11 3EI
1 …l b†3
o22 ˆ ; d22 ˆ
M2 d22 3EI

The fundamental frequency of vibration of the real system is

1
o21r 
d11 m1 ‡ d22 m2

The second frequency of vibration of the real system is

d m ‡ d22 m2 d11 m1 ‡ d22 m2

o22r   11 1 ˆ

d
 11 1m d m
12 2  @11 m1 d22 m2 m1 m2 d212
 
d m d m 
21 1 22 2
2 
a a
d12 ˆ l b
2EI 3

Here, unit displacement d12 is taken from Table 2.1. This table may also be used for
calculation of the frequencies of vibration of a beam with different boundary conditions.

Example. Calculate the fundamental frequency of vibration of the cantilever uniform

beam carrying lumped mass M at the free end (Fig. 2.21).

Solution. The partial systems are a continuous beam with distributed masses m and a
one-degree-of-freedom system, which is a lumped mass on a massless beam.

1. The frequency of vibration for a cantilever beam by itself is

1:8754 EI 3:5152 EI
o21 ˆ ˆ
l4 m l4 m

2. The frequency of vibration for the concentrated mass by itself, attached to a weightless
cantilever beam, is
1 3EI
o22 ˆ ˆ
dst M Ml 3

FIGURE 2.21. Continuous deformable system with lumped mass and two partial systems.

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50 FORMULAS FOR STRUCTURAL DYNAMICS

3. The square of the frequency of vibration for the given system, according to Equation
(2.30), is

o21 o22 o21 3:5152 EI 1

o2 ˆ ˆ ˆ
o21 ‡ o22 o12 l4 m M
1‡ 2 1 ‡ 4:1184
o2 ml

2.3.8 Approximate estimations (spectral function method)

The spectral function method is pro®cient at calculating the fundamental and second
frequencies of vibration. In particular, this method is effective for a system with a large
number of lumped masses.

Bernstein's estimations (Bernstein, 1941). Bernstein's ®rst formula gives upper and
lower estimates of the fundamental frequency

1 2
p < o21 < p …2:34†
B2 B1 ‡ 2B2 B21

Bernstein's second formula gives a lower estimate of the second frequency of vibration

2
o22 > p …2:35†
B1 2B2 B21

where B1 and B2 are parameters

„l P
B1 ˆ m…x†d…x; x†dx ‡ Mi d…xi ; xi †
0 i
…2:36†
„l „l PP
B2 ˆ m…x†m…s†d…x; s†dx ds ‡ Mi Mk d…xi ; xk †
00 i k

where d is the in¯uence coef®cient;

M is the lumped mass;
m is the distributed mass;
l is the length of a beam.
The expressions for in¯uence coef®cient, d, for beams with a classical boundary condition
are presented in Table 2.1 and for a beam with elastic supports in Table 2.2.

Example. Find the lowest eigenvalue for a cantilever beam (Fig. 2.22)

Solution
1. Unit displacements for ®xed±free beam are (Table 2.1, case 3)
x3 1
dxx ˆ ; dxs ˆ …3x2 s x3 †
3EI 6EI

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ANALYSIS METHODS 51

FIGURE 2.22. Cantilever uniform beam.

2. It follows that Bernstein's parameters are

„l „l x3 ml 4
B1 ˆ m…x†d…x; x†dx ˆ m dx ˆ
0 0 3EI 12EI
 2
„l „l „l „l 1 11m2 l 8
B2 ˆ m…x†m…s†d…x; s†dx ds ˆ m2 …3x2 s x3 † dx ds ˆ
00 00 6EI 1680…EI †2

3. Bernstein's estimations give the upper and lower bounds to the fundamental frequency
r r
EI EI 3:5153 EI 3:516 EI
12:360 < o21 < 12:364 4 or < o 1 <
ml 4 ml l2 m l2 m

The fundamental frequency of vibration is situated within narrow limits.

Bernstein±Smirnov's estimation. The Bernstein±Smirnov's estimation gives upper and

lower estimates of the fundamental frequency of vibration

s
1 B1
p < o1 < …2:37†
4 B
2
B2

In the case of lumped masses only, the distributed mass of the beam is neglected

P
B1 ˆ dii mi
P P …2:38†
B2 ˆ d2ii m2i ‡ 2 d2ik mi mk

where dii , dik are principal and side displacements, respectively, in the system, due to unit
forces applied to concentrated masses mi and mk (Smirnov, 1947).

Example. Find the fundamental frequency vibration for a beam shown in Fig. 2.23.

Solution
1. Bending moment diagrams due to unit inertial forces that are applied to all masses are
shown in Fig. 2.23

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52 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 2.23. Pinned±pinned beam with an overhang carrying concentrated masses; M1 , M2 , M3 are
bending moment diagrams due to unit concentrated forces which are applied to masses m1 , m2 , and m3,
respectively.

2. Displacements calculated using the unit bending moment diagrams by Vereshchagin's

rule are

P „ Mi …x†
Mk …x†
dik ˆ dx; dik ˆ dki
EI
8l3 7l 3
d11 ˆ d22 ˆ ; d12 ˆ d21 ˆ
486EI 486EI
8l3 10l 3 24l 3
d13 ˆ d31 ˆ ; d23 ˆ d32 ˆ ; d33 ˆ
486EI 486EI 486EI

3. Bernstein±Smirnov's parameters

48l 3 m
B1 ˆ d11 m1 ‡ d22 m2 ‡ d33 m3 ˆ
486EI
B2 ˆ d211 m21 ‡ d222 m22 ‡ d233 m23 ‡ 2…d212 m1 m2 ‡ d223 m2 m3 ‡ d213 m1 m3 †
 2
ml 3
ˆ 1620
486EI

4. The fundamental frequency lies in the following range:

(a) using the Bernstein±Smirnov estimation
r s r
1 EI B1 EI
o1 > p ˆ 3:48 3
and o1 < ˆ 3:70
4 B
2
ml B2 ml3

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ANALYSIS METHODS 53

(b) using Bernstein's ®rst formula

r
1 EI
o1 < v
s! ˆ 3:52 ml 3
u
uB1 2B2
t 1‡ 1
2 B21

The fundamental frequency of vibration is situated within narrow limits.

Example. Estimate the fundamental frequency of vibration for a symmetric three-hinged

frame with lumped masses, shown in Fig. 2.24(a); M2 ˆ M4 ˆ M , M1 ˆ M3 ˆ 2M , l ˆ h,
EI ˆ constant; AS ˆ axis of symmetry.

Solution. The given system has ®ve degrees of freedom. The vibration of the sym-
metrical frame may be separated as symmetrical and antisymmetrical vibrations; the
corresponding half-frames are presented in Figs. 2.24(b) and Fig. 2.24(c).

Symmetrical vibration
1. The half-frame has two degrees of freedom. The frequency equation in inverted form is
 
 M d o2 1 M2 d12 o2 
 1 11
Dˆ ˆ0
 M1 d21 o2 M2 d22 o2 1 

where dik are unit displacements.

Fundamental frequency of vibration

1
o2 ˆ
2…d11 d22 d212 †M1 M2
 q
 M1 d11 ‡ M2 d22 …M1 d11 ‡ M2 d22 †2 4M1 M2 …d11 d22 d212 †2

2. The bending moment diagram due to unit inertial forces is presented in Fig. 2.25.
3. Unit displacements obtained by multiplication of bending moment diagrams are
5l 3 4l 3 3l 3
d11 ˆ ; d22 ˆ ; d12 ˆ d21 ˆ
192EI 192EI 192EI

FIGURE 2.24. (a) Symmetrical three-hinged frame; (b) and (c) corresponding half-frame for symmetrical
and antisymmetrical vibration.

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54 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 2.25. Symmetrical vibration analysis. Bending moment diagrams due to unit forces P1 ˆ 1 and
P2 ˆ 1.

4. Frequency vibration

1
o2 ˆ
2…5  4 32 †  2  1
 q 
192EI
 25‡14 …2  5 ‡ 1  4†2 4  2  1…5  4 32 †2
Ml 3
r
EI
o ˆ 3:97
Ml 3

Antisymmetrical vibration
1. The half-frame has three degrees of freedom (see Fig. 2.26).
2. Unit displacements obtained by multiplication of bending moment diagrams are

l3 5l 3 80l 3 l3 192l3
d11 ˆ ; d22 ˆ ˆ ; d33 ˆ ˆ
384EI 24EI 384EI 2EI 384EI
l3 3l3
d12 ˆ d21 ˆ ˆ
128EI 384EI
l3 6l3
d13 ˆ d31 ˆ ˆ
64EI 384EI
5l 3 120l3
d23 ˆ d32 ˆ ˆ
16EI 384EI

3. Bernstein parameters

P Ml 3 466Ml 3
B1 ˆ dii mi ˆ …2  1 ‡ 1  80 ‡ 2  192† ˆ
384EI 384EI
P P
B2 ˆ d2ii m2i ‡ 2 d2ik mi mk
B2 ˆ ‰…22  12 ‡ 12  802 ‡ 22  1922 †
M 2 l6 211784M 2 l 6
‡ 2…2  1  32 ‡ 2  2  62 ‡ 1  2  1202 †Š  2
ˆ
…384EI † …384EI †2

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ANALYSIS METHODS 55

FIGURE 2.26. Antisymmetrical vibration analysis. Bending moment diagrams due to unit forces P1 ˆ 1,
P2 ˆ 1 and P3 ˆ 1.

4. Bernstein ®rst formula

1 2
p < o21 < p
B2 B1 ‡ 2B2 B21
1 2
p < o21 < r!
Ml 3 211784 466Ml 3
211784
1‡ 2 1
384EI 384EI 4662

So the fundamental frequency vibration satis®es the following condition

r r
EI EI
0:9134 3
< o < 0:9136
Ml Ml 3

REFERENCES

Anan'ev, I.V. (1946) Free Vibration of Elastic System Handbook (Gostekhizdat) (in Russian).
Bernstein, S.A. (1941) Foundation of Structural Dynamics (Moscow: Gosstroizdat).
Betti, E. (1872) The Italian Journal Nuovo Cimento (2), Vols 7, 8.
Birger, I.A. and Panovko, Ya.G. (Eds) (1968) Handbook: Strength, Stability, Vibration, Vols.1±3.
(Moscow: Mashinostroenie), Vol. 3, Stability and Vibrations (in Russian).
Darkov, A. (1989) Structural Mechanics (English Translation, Moscow: Mir Publishers).
Den Hartog, J.P. (1968) Mechanical Vibrations, (New York: McGraw-Hill).
Dunkerley, S. (1894) On the whirling and vibration of shafts, Philosophical Transactions of the Royal
Society of London, Series A, 185, 279±360.
Flugge, W. (Ed) (1962) Handbook of Engineering Mechanics (New York: McGraw-Hill).
Galerkin, B.G. (1915) Rods and plates. Vestnik Ingenera, 5(19).
Helmholtz, H. (1860) Theorie der Luftschwingungen in Rohren mit offenen Enden. Crelle J. 57, 1±70.
Hohenemser, K. and Prager, W. (1932) Uber das Gegenstuck zum Rayleigh-schen Verfahren der
Schwingungslehre. Ing. Arch. Bd.III, s.306.
Kirchhoff, G.R. (1879) Uber die Transversalschwingungen eines Stabes von veranderlichen Quer-
schnitt. Akademie der Wissenschaften, Berlin Monatsberichte, pp. 815±828.

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 ANALYSIS METHODS

56 FORMULAS FOR STRUCTURAL DYNAMICS

Maxwell, J.C. (1864) A Dynamical Theory of the Electromagnetic Field.

Pratusevich, Ya.A. (1948) Variational Methods in Structural Mechanics (Moscow, Leningrad: OGIZ)
(in Russian).
Rayleigh, J.W.S. (1877) The Theory of Sound (London: Macmillan) Vol. 1. 1877, 326 pp.; Vol. 2:
1878, 302 pp. 2nd edn (New York: Dover) 1945, Vol. 1, 504 pp.
Ritz, W. (1909) Theorie der Transversalschwingungen einer quadratischen Platte mit freien Randern.
Annalen der Physik, B. 28, 737±786.
Strutt, J.W. (Rayleigh) (1873) Some general theorems relating to vibrations. Proc. Lond. Math. Soc.,
IV, 357±368.
Strutt, J.W. (Rayleigh) (1876) On the application of the principle of reciprocity to acoustics. Proc. Roy.
Soc. 25, 118±122.
Vereshchagin, A.N. (1925) New methods of calculations of the statically indeterminate systems,
Stroitel'naja promyshlennost', p. 655. (For more detail see Darkov (1989)).

FURTHER READING

Babakov, I.M. (1965) Theory of Vibration (Moscow: Nauka) (in Russian).

Bisplinghoff, R.L., Ashley, H. and Halfman, R.L. (1955) Aeroelasticity (Reading, Mass: Addison-
Wesley).
Bolotin, V.V. (Ed) (1978) Vibration of Linear Systems, vol. 1, 352 p., In (1978) Handbook: Vibration
in Tecnnik, vol. 1±6, (Moscow: Mashinostroenie) (in Russian).
Clough, R.W. and Penzien, J. (1975) Dynamics of Structures, (New York: McGraw-Hill).
Collatz, L. (1963) Eigenwertaufgaben mit technischen Anwendungen (Leipzig: Geest and Portig).
Dym, C.L. and Shames, I.H. (1974) Solid Mechanics; A Variational Approach (New York: McGraw-
Hill).
Endo, M. and Taniguchi, O. (1976) An extension of the Southwell±Dunkerley methods for
synthesizing frequencies, Journal of Sound and Vibration, Part I: Principles, 49, 501±516; Part II:
Applications, 49, 517±533.
Furduev, V.V. (1948) Reciprocal Theorems (Moscow-Leningrad: OGIZ Gostekhizdat).
Helmholtz, H. (1886) Ueber die physikalische Bedeutung des Prinzips der kleinsten Wirkung.
Borchardt-Crelle J. 100, 137±166; 213±222.
Helmholtz, H. (1898) Vorlesungen uber die mathematischen. Prinzipien der Akustik No. 28, 54.
Hohenemser, K. and Prager, W. (1933) Dynamic der Stabwerke (Berlin).
Karnovsky, I.A. (1970) Vibrations of plates and shells carrying a moving load. Ph.D Thesis,
Dnepropetrovsk, (in Russian).
Karnovsky, I.A. (1989) Optimal vibration protection of deformable systems with distributed
parameters. Doctor of Science Thesis, Georgian Politechnical University (in Russian).
Kauderer, H. (1958) Nichtlineare Mechanik (Berlin).
Lenk, A. (1977) Elektromechanische Systeme, Band 1: Systeme mit Conzentrierten Parametern
(Berlin: VEB Verlag Technik); Band 2: Systeme mit Verteilten Parametern (Berlin: VEB Verlag
Technik).
Loitzjansky, L.G., and Lur'e, A.I. (1934) Theoretical Mechanics Part 3, (Moscow, Leningrad: ONTI).
Meirovitch, L. (1967) Analytical Methods in Vibrations (New York: MacMillan).
Meirovitch, L. (1977) Principles and Techniques of Vibrations (Prentice Hall).
Mikhlin, S.G. (1964) Integral Equations (Pergamon Press).
Mikhlin, S.G. (1964) Variational Methods in Mathematical Physics (Macmillan).
Pilkey, W.D. (1994) Formulas for Stress, Strain, and Structural Matrices ( New York: Wiley).
Proko®ev, I.P. and Smirnov, A.F. (1948) Theory of Structures (Moscow: Tranczheldorizdat).

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 ANALYSIS METHODS

ANALYSIS METHODS 57

Shabana, A.A. (1991) Theory of Vibration, Vol. II: Discrete and Continuous Systems (New York:
Springer-Verlag).
Sekhniashvili, E.A. (1960) Free Vibration of Elastic Systems (Tbilisi: Sakartvelo) (in Russian).
Smirnov, A.F., Alexandrov, A.V., Lashchenikov, B.Ya. and Shaposhnikov, N.N. (1984) Structural
Mechanics. Dynamics and Stability of Structures (Moscow: Stroiizdat) (in Russian).
Smirnov, A.F. (1947) Static and Dynamic Stability of Structures (Moscow): Transzeldorizdat).
Stephen, N.G. (1983) Rayleigh's, Dunkerleys and Southwell's methods. International Journal of
Mechanical Engineering Education, 11, 45±51.
Strutt, J.W. (Rayleigh) (1874) A statical theorem. Phil. Mag. 48, 452±456; (1875), pp. 183±185.
Temple, G. and Bickley, W.G. (1956) Rayleigh's Principle and its Applications to Engineering, (New
York: Dover).
Weaver, W., Timoshenko, S.P. and Young, D.H. (1990) Vibration Problems in Engineering 5th edn,
(New York: Wiley).

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 3
FUNDAMENTAL EQUATIONS
OF CLASSICAL BEAM
THEORY

This chapter covers the fundamental aspects of transverse vibrations of beams. Among the
aspects covered are mathematical models for different beam theories, boundary conditions,
compatibility conditions, energetic expressions, and properties of the eigenfunctions. The
assumptions for different beam theories were presented in Chapter 1.

NOTATION

A Cross-section area
D Rayleigh dissipation function
DS Deformable system
E, G Young's modulus and modulus of rigidity
EI Bending stiffness
F, V Shear force
g Gravitational acceleration
G…x; x; t; t† Green function
H Heaviside function
Iz Moment of inertia of a cross-section
j Pure imaginary number, j2 ˆ 1
k Shear factor
ktr , krot Stiffness coef®cients of elastic supports
kb Flexural wave number
l Length of the beam
MCD Mechanical chain diagram (Mechanical network)
mj ; kj Mass and stiffness coef®cients
M, J Concentrated mass and moment inertia of the mass
N, M Axial force, bending moment
P(t), P0 Force and amplitude of a force
r Dimensionless radius of gyration, r2 Al 2 ˆ I
rtr , rrot Transversal and rotational stiffness of foundation

59
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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

60 FORMULAS FOR STRUCTURAL DYNAMICS

Rx Reaction of the foundation

s Dimensionless parameter, s2 kAGl 2 ˆ EI
t Time
U, T Potential and kinetic energy
U, V Real and imaginary parts of an impedance, Z ˆ U ‡ joV
VPD Vibroprotective device
W …x; x; p† Transfer function
x Spatial coordinate
X(x) Mode shape
x, y, z Cartesian coordinates
y Transverse de¯ection
Yi Krulov±Duncan functions
Zm , Zb , Zk Impedance of the mass, damper and stiffness
Z, Y Impedance and admittance, Z ˆ P=n,Y ˆ n=P
d Dirac delta function
dik Unit displacement
l Frequency parameter, l4 EI ˆ ml 4 o2
m, b Damping coef®cients
x Dimensionless coordinate, x ˆ x=l
n Velocity
r, m Density of material and mass per unit length, m ˆ rA=g
s, e Stress and strain
j, N, B Linear operators of differential equations, boundary and initial conditions
c Bending slope
o Natural frequency, o2 ˆ l4 EI =ml 4
d
…0 † ˆ Differentiation with respect to space coordinate
dx
d
…
† ˆ Differentiation with respect to time
dt

3.1 MATHEMATICAL MODELS OF

TRANSVERSAL VIBRATIONS OF UNIFORM
BEAMS

The differential equations of free transverse vibrations and the equations for the normal
functions of uniform beams according to different theories are listed in Table 3.1.
Different mathematical models take into account the following effects: the Bress±
Timoshenko theoryÐbending, shear deformation and rotary inertia and their joint
contribution; the Love theoryÐbending, individual contributions of shear deformation
and rotary inertia; the Rayleigh theoryÐbending and shear; and the Bernoulli±Euler
theoryÐbending only.
The natural frequency of vibration equals
r
l2 EI
oˆ 2
l m
where l is the frequency parameter.

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 TABLE 3.1 Mathematical models of transverse vibration of uniform beams accordingly different theories

Equation for normal functions

(The prime denotes differentiation
Theory Differential equation with respect to x ˆ x=l)

Bernoulli±Euler Bending without rotary inertia and shear

@4 y @2 y
EI ‡m 2 ˆ0 X 1V l4 X ˆ 0
@x4 @t

Rayleigh …s  r† Bending with shear

@4 y @2 y gI @4 y
EI 4
‡m 2 ˆ0 X 1V ‡ l4 r2 X 00 l4 X ˆ 0
@x @t g @x2 @t 2
Love complete Bending with rotary inertia and shear
model …l4 r2 s2  1
  4
@4 y @2 y gI EI g @ y
EI ‡m 2 ‡ ˆ0 X 1V ‡ l4 …r2 ‡ s2 †X 00 l4 X ˆ 0
@x4 @t g gkG @x2 @t2

Love truncated model @4 y @2 y EIg @4 y

…r  s† EI 4
‡m 2 ˆ0 X 1V ‡ l4 s2 X 00 l4 X ˆ 0
@x @t gkG @x2 @t 2

Bress±Timoshenko Bending with rotary inertia, shear and their mutual effects
  4
FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

@4 y @2 y gI EIg @ y gI g @4 y
EI ‡m 2 ‡ ‡ ˆ0
@x4 @t g gkG @x2 @t2 g kgG @t4

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FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

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  X 1V ‡ l4 …r2 ‡ s2 †X 00 l4 …1 l4 r2 s2 †X ˆ 0
@4 c @2 c gI EIg @4 c gI g @4 c
EI 4 ‡ m 2 ‡ ‡ ˆ0
@x @t g gkG @x2 @t2 g kgG @t4
61

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

62 FORMULAS FOR STRUCTURAL DYNAMICS

Dimensionless parameters r and s are

I EI
r2 ˆ ; s2 ˆ
Al 2 kAGl 2
where r is the dimensionless radius of gyration, G is the modulus of rigidity, and k is the
shear factor, m ˆ rA, l is the length of the beam.

3.1.1 Bernoulli±Euler theory

Presented below are differential equations of the transverse vibration of non-uniformly thin
beams under different conditions. A mathematical model takes into account the effect of
longitudinal tensile or compressive force, and different types of elastic foundation.
1. Simplest Case. The design diagram of an elementary part of the Bernoulli±Euler
beam is presented in Fig. 3.1.

FIGURE 3.1. Notation and geometry of an element of the Bernoulli±Euler beam.

The differential equation of the transverse vibration of the thin beam is

 
@2 @2 y @2 y
2
EI …x† 2
‡ rA 2 ˆ 0 …3:1†
@x @x @t

The slope, bending moment and shear force are

 
@y @2 y @ @2 y
yˆ ; M ˆ EI 2 ; V ˆ EI …x† 2
@x @x @x @x

If a deformable system has certain speci®c conditions, such as a beam on an elastic

foundation, a beam under axial force, etc, then additional terms must be included in the
differential equation of vibration. Various effects and their corresponding differential
equations for Bernoulli±Euler beams are presented in Table 3.2. These data allow us to
take into account not only different effects but also to combine them to form differential
equations for different beam theories.

Example. Form the differential equation of a transverse vibration of a non-uniform

beam. The ends of the beam are shifted. Take into account the effect of axial force and
the one-parametrical Winkler foundation with viscous damping.

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 TABLE 3.2 Mathematical models of transverse vibration of non-uniform Bernoulli±Euler beams

Differential equation of transverse vibration

Effect Conditions (Bernoulli±Euler model, EI 6ˆ const) Comments
 
Axial force Ends are shifted; axial force @2 @2 y @2 y @2 y Force N is constant or not,
is compressive EI …x† 2 ‡ N 2 ‡ rA 2 ˆ 0 but does not depend on y(x, t);
@x2 @x @x @t
system is linear
 
Axial force Ends are shifted; axial force is tensile @2 @2 y @2 y @2 y Force N is constant or not,
EI …x† N ‡ rA 2 ˆ 0 but does not depend on y(x, t);
@x2 @x2 @x2 @t
system is linear
Axial force Ends do not shift   Force N is a result of vibrations,
@2 @2 y @2 y @2 y so N depends on y(x, t) ± case of a
EI …x† N …y† ‡ rA 2 ˆ 0
@x2 @x2 @x2 @t statically nonlinear system
l
 2 (see Chapter 14)
1„ @y
N …y† ˆ EA…x† dx
2l 0 @x
 
Elastic Winkler foundation. @2 @2 y @2 y Reaction of the foundation
Foundation One stiffness characteristic EI …x† ‡ ktr y ‡ rA 2 ˆ 0
@x2 @x2 @t
R…x† ˆ ktr y
ktr is translational stiffness coef®cient
 
Elastic Pasternak foundation. @2 @2 y @2 y @2 y Reaction of the foundation
Foundation Two stiffness characteristics 2
EI…x† 2 ‡ ktr y krot 2
‡ rA 2 ˆ 0
@x @x @x @t
@2 y
R…x† ˆ ktr y krot
@x2
krot is rotational stiffness coef®cient
FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

 
Elastic Pasternak foundation. @2 @2 y @2 y @y @2 y Foundation with viscous damping

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EI…x† ‡ ktr y krot 2 ‡ b ‡ rA 2 ˆ 0
FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

Foundation Three stiffness @x2 @x2 @x @t @t Reaction of the foundation

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characteristics
@2 y @y
R…x† ˆ ktr y krot ‡b
@x2 @t
b is the damping coef®cient
63

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

64 FORMULAS FOR STRUCTURAL DYNAMICS

Solution. The differential equation may be formed by the combination of different effects
 
@ @2 y @2 y @y @2 y
EI …x†  N 2 ‡ k…x†y ‡ b ‡ rA…x† 2 ˆ 0
@x 2 @x 2 @x @t @t

Other models
1. Visco-elastic beam. External damping of the beam may be represented by distributed
viscous damping dashpots with a damping constant c…x† per unit length (Humar, 1990).
In addition, the material of the beam obeys the stress±strain relationship

@e
s ˆ Ee ‡ mE
@t
In this case, the differential equation of the transverse vibration of the beam may be
presented in the form
   
@2 @2 y @2 @3 y @y @2 y
EI …x† ‡ mI …x† ‡ c…x† ‡ rA…x† 2 ˆ 0
@x2 @x2 @x2 @t@x2 @t @t

2. Different models of transverse vibrations of beams are presented in Chapter 14.

3.2 BOUNDARY CONDITIONS

The classical boundary condition takes into account only the shape of the beam de¯ection
curve at the boundaries. The non-classical boundary conditions take into account the shape
de¯ection curve and the additional mass, the damper, as well as the translational and
rotational springs at the boundaries.
The classical boundary conditions for the transversal vibration of a beam are presented
in Table 3.3.
The non-classical boundary conditions for the transversal vibration of a beam are
presented in Table 3.4.

Example. Form the boundary condition at x ˆ 0 for the transverse vibration of the beam
shown in Fig. 3.2(a). Parameters k1 , and b1 are the stiffness and damper of the translational
spring, k3 and b3 are stiffness and damper of the rotational spring (dampers b1 and b3 are
not shown); m and J are the mass and moment of inertia of the mass.

Solution. Elastic force R in the transversal spring, and elastic moment M in the rotational
spring are

@y @y
R ˆ k1 y ‡ b1 ; M ˆ k3 y ‡ b3
@t @t
where y and y ˆ …@y=@x† are the linear de¯ection and slope at x ˆ 0.

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 65

TABLE 3.3 Classical boundary conditions for transverse vibration of beams

Boundary At left end (x ˆ 0) At right end (x ˆ l)

conditions (the boundary conditions at the (the boundary conditions at the
right end are not shown) left end are not shown)

Clamped end
…y ˆ 0; y ˆ 0†
@y @y
y ˆ 0; ˆ0 y ˆ 0; ˆ0
@x @x
Pinned end
…y ˆ 0; M ˆ 0†

@2 y @2 y
y ˆ 0; EI ˆ0 y ˆ 0; EI ˆ0
@x2 @x2
Free end
…V ˆ 0; M ˆ 0†
   
@ @2 y @2 y @ @2 y @2 y
EI 2 ˆ 0; EI 2 ˆ 0 EI 2 ˆ 0; EI 2 ˆ 0
@x @x @x @x @x @x
Sliding end
…V ˆ 0; y ˆ 0†
   
@ @2 y @y @ @2 y @y
EI 2 ˆ 0; ˆ0 EI 2 ˆ 0; ˆ0
@x @x @x @x @x @x

Notation
y and y are the transversal de¯ection and slope;
M and V are the bending moment and shear force.

Boundary conditions may be obtained by using Table 3.4:

 
@ @2 y @y @2 y
EI 2 k1 y b1 ˆ M 2
@x @x @t @t
2 2
@ y @y @ y @3 y
EI 2 k3 b3 ˆJ
@x @x @x@t @x@t 2

Example. Form the boundary condition beam shown in Figs 3.2(b) and 3.2(c).

Solution
Case …b†
@y
y…0; t† ˆ 0; …0; t† ˆ 0
@x
@2 y @3 y @2 y @y
EI 2 …l; t† ˆ …J ‡ Md 2 † 2
…l; y† ‡ 2 …l; t† ‡ krot …l; t†
@x @x@t @t @x
@3 y @2 y @3 y
EI …l; t† ˆ M 2 …l; t† ‡ Md …l; t†
@x3 @t @x@t 2

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

66 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 3.4 Non-classical boundary conditions for transverse vibration of beams

Boundary
conditions At left end (x ˆ 0) At right end (x ˆ l)

Sliding end
with
translational
spring    
@ @2 y @y @ @2 y @y
EI 2 k1 y ˆ 0; ˆ0 EI 2 ‡ k2 y ˆ 0; ˆ0
@x @x @x @x @x @x
Pinned end
with
torsional
spring
@2 y @y @2 y @y
EI k3 ˆ 0; y ˆ 0 EI ‡ k4 ˆ 0; y ˆ 0
@x2 @x @x2 @x
Free end
with
translational
spring    
@ @2 y @2 y @ @2 y @2 y
EI 2 k1 y ˆ 0; EI ˆ0 EI 2 ‡ k2 y ˆ 0; EI 2 ˆ 0
@x @x @x2 @x @x @x
Sliding end
with
torsional
spring    
@ @2 y @2 y @y @ @2 y @2 y @y
EI 2 ˆ 0; EI 2 k3 ˆ0 EI 2 ˆ 0; EI 2 ‡ k4 ˆ 0
@x @x @x @x @x @x @x @x
Elastic
clamped end

   
@ @2 y @ @2 y
EI 2 k1 y ˆ 0; EI 2 ‡ k2 y ˆ 0;
@x @x @x @x
@2 y @y @2 y @y
EI k3 ˆ0 EI ‡ k4 ˆ 0
@x2 @x @x2 @x

Concentrated
mass
   
@ @2 y @2 y @ @2 y @2 y
EI 2 ˆ M1 2 ; EI 2 ˆ M2 ;
@x @x @t @x @x @x2
@2 y @3 y @2 y @3 y
EI ˆ J1 EI ˆ J2
@x2 @x@t2 @x2 @x@t2
Concentrated
damper
   
@ @2 y @y @2 y @ @2 y @y @2 y
EI 2 ˆ b ; EI 2 ˆ 0 EI 2 ˆ b ; EI 2 ˆ 0
@x @x @t @x @x @x @t @x

Parameters k1 , and k2 are stiffnesses of translational springs; k3 and k4 are the stiffnesses of rotational springs;
M and J are the lumped mass and the moment of inertia of the mass.

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 67

FIGURE 3.2. Nonclassical boundary condition. Beam with mass and with transitional and rotational
springs and dampers (a), Beam with a heavy tip body and with a rotational spring (b) and a translational
spring (c).

Case …c†

@y
y…0; t† ˆ 0; …0; t† ˆ 0
@x
@2 y @3 y @2 y
EI 2 …l; t† ˆ …J ‡ Md 2 † 2
…l; t† ‡ Md 2 …l; t†
@x @x@t @t
@3 y @2 y @3 y
EI …l; t† ˆ M 2 …l; t† ‡ Md …l; t† ‡ ktr y…l; t†
@x3 @t @x@t2
The frequency equations for cases (b) and (c) are presented in Sections 7.11.2 and 7.11.3,
respectively.

3.3 COMPATIBILITY CONDITIONS

Table 3.5 contains compatibility conditions between two beam segments.

Table 3.6 contains compatibility conditions between two elements of the frame with
immovable joints.

3.4 ENERGY EXPRESSIONS

Kinetic energy of a system. The total kinetic energy of a system is de®ned as

P
Tˆ Ti …3:2†
iˆ1

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

68 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 3.5 Compatability conditions for two beam segments

Design diagram Compatibility condition

y ˆ y‡ ; y 0 ˆ y 0‡ ;
…EIy 00 † ˆ …EIy 00 †‡ ; …EIy 000 † ˆ …EIy 000 †‡

y ˆ y‡ ˆ 0; y 0 ˆ y 0‡ ;
…EIy 00 † ˆ …EIy 00 †‡ ; …EIy 000 † ˆ …EIy 000 †‡ R

y ˆ y‡ ; y 0 ˆ y 0‡ ;
…EIy 00 † ˆ …EIy 00 †‡ ; …EIy 000 † ˆ …EIy 000 †‡ ‡ ky

y ˆ y‡ ˆ 0; y 0 ˆ y 0‡ ;
…EIy 00 † ˆ …EIy 00 †‡ ky 0 ; …EIy 000 † ˆ …EIy 000 †‡ R

y ˆ y‡ ; y 0 ˆ y 0‡ ;
…EIy 00 † ˆ …EIy 00 †‡ ; …EIy 000 † ˆ …EIy 000 †‡ M o2 y

y ˆ y‡ ; y 0 ˆ y 0‡ ;
…EIy † ˆ …EIy †‡ ‡ J o2 y 0 ; …EIy 000 † ˆ …EIy 000 †‡
00 00
M o2 y

TABLE 3.6 Compatability conditions for frame elements

Type of joint Compatibility condition

ys ˆ yr ˆ 0; y 0s ˆ y 0r
Ms ˆ Mr

ys ˆ yr 1 ˆ yr ˆ 0; y 0s ˆ y 0r 1 ˆ y 0r
Mr 1 ‡ Ms ˆ Mr

yr 1 ˆ yr ˆ ys 1 ˆ ys ˆ 0; y 0s 1 ˆ y 0s ˆ y 0r 1 ˆ y 0r
Mr 1 ‡ Ms ˆ Ms 1 ‡ Mr

The expressions for kinetic energy of the transversal and rotational displacements of a
beam and lumped masses are presented in Table 3.7(a).

Notation
y total transverse de¯ection;
r mass density of a beam material;

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 69

TABLE 3.7(a) Kinetic energy of transverse vibration of a beam

Kinetic energy of distributed masses Kinetic energy of lumped masses

Transversal Rotational Linear Rotational

displacement displacement displacement displacement

 2  2 2  2  2 2
1 „l @y 1 „l @ y @b 1P @y 1P @ y
rA…x† dx rI …x† dx Mi Ji
20 @t 20 @x@t @t 2 i @t xˆxi 2 i @x@t xˆxi

TABLE 3.7(b) Potential energy of a beam

Potential energy caused by

Bending Shear deformation Two-parameter elastic foundation

 2 2  
1 „l @ y @b 1 „l ktr f „l 2 krot f „l @y 2
EI dx kGAb2 dx y dx ‡ dx
20 @x2 @x 20 2 0 2 0 @x

E modulus of elasticity;
A(x) cross-sectional area;
I(x) second moment of inertia of area;
Jj moment of inertia of the concentrated mass;
c bending slope;
b shear angle; the relationships between y, b and c are presented in Chapter 11.

Potential energy of a system. The total potential energy of a system is de®ned as

P
Uˆ Ui …3:3†
iˆ1

The expressions for the potential energy of the beam according to the Timoshenko theory
(for more details see Chapter 11) are presented in Table 3.7(b).

Notation
G modulus of rigidity;
k shear coef®cient;
ktrf translational stiffnesses of elastic foundation;
krotf rotational stiffnesses of elastic foundation.
The potential energy accumulated in the translational and rotational springs, which are
attached at x ˆ 0, is calculated as

 2
1 1 @y
Utr ˆ ktr y2 …0† Urot ˆ krot …3:4†
2 2 @x xˆ0

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

70 FORMULAS FOR STRUCTURAL DYNAMICS

where ktr and krot are the stiffnesses of the translational spring and the elastic clamped
support, respectively. The energy stored in the springs is always positive and does not
depend on the sign of either the force (moment) or the spring de¯ection (angle of rotation).

Work. Expressions for the work done by active forces are presented in Table 3.8.

TABLE 3.8 Work done by active forces

Transverse load Axial distributed Axial tensile load

load (for compressive load negative sign)
 2  2
1 „x 1 „l @y N „l @y
q…x†y dx n…x† dx dx
2 x0 20 @x 2 0 @x

3.4.1 Rayleigh dissipative function

The real beam, transversal and rotational dampers dissipate the energy delivered to them.
The dissipation function of the beam is
 2 2
1 „l @@ y
Dbeam ˆ b EI …x† dx …3:5†
20 b @t @x2

where bb is the viscous coef®cient of the beam material.

The dissipation functions of the transversal and rotational dampers, which are placed at
x ˆ 0, are

1 @y…0† 1 @2 y…0†
Dtr ˆ btr ; Drot ˆ brot …3:6†
2 @t 2 @x@t
where btr and brot are coef®cients of the energy dissipation in the transversal and rotational
springs.
The Lagrange equation (2.8), with consideration of the energy dissipation, is presented
as
 
d @T @T @U @D
‡ ‡ ˆ Qi ; i ˆ 1; 2; 3; . . . ; n …3:7†
dt @_qi @qi @qi @_qi

3.5 PROPERTIES OF EIGENFUNCTIONS

The solution of the fourth-order partial differential equation (3.1) can be obtained by using
the technique of the separation of variables

y ˆ X …x†T …t† …3:8†

where X(x) is a space-dependent function, and T(t) is a function that depends only on time.
The function X(x) is called the eigenfunction.

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 71

3.5.1 Theorems about eigenfunctions

1. Eigenfunctions depend on boundary conditions, the distributed mass and stiffness along
a beam and do not depend on initial conditions.
2. Eigenfunctions are de®ned with an accuracy to the arbitrary constant multiplier.
3. Normalizing eigenfunctions satis®es the condition

„l
m…x†Xj2 dx ˆ 1 …3:9†
0

4. The number of a nodals (the number of sign changes) of an eigenfunction of order k is

equal to k 1. The fundamental shape vibration has no nodals.
5. Two neighbouring eigenfunctions Xj …x† and Xj‡1 …x† have alternating nodals.

3.5.2 Orthogonality conditions for Bernoulli±Euler beams

The property of the orthogonality of eigenfunctions can be used to obtain the solution of
the differential equation of vibration in a closed form. The important de®nitions, such as
the modal mass, modal stiffness, and modal damping coef®cients may be obtained by
using the orthogonality conditions of eigenfunctions.

General expression for the orthogonality condition of eigenfunctions

„l „l
EI …Xj00 †0 Xk jl0 EIXj00 Xk0 jl0 ‡ EIXj00 Xk00 dx ˆ o2j m…x†Xj Xk dx j ˆ 1; 2; 3; . . . …3:10†
0 0

(a) Classical boundary conditions. For a beam with ®xed ends, free ends, and simply
supported ends, the boundary conditions are, respectively

X …0† ˆ X …l† ˆ X 0 …0† ˆ X 0 …l†

X 00 …0† ˆ X 00 …l† ˆ X 000 …0† ˆ X 000 …l†
X …0† ˆ X …l† ˆ X 00 …0† ˆ X 00 …l†

In these cases the general expression for the orthogonality condition may be rewritten
as

„l „l
EI …x†Xj00 Xk00 dx ˆ o2j m…x†Xj Xk dx …3:11†
0 0

Case j 6ˆ k
1. Eigenfunctions are orthogonal over the interval (0, l) with respect to m(x) as the
weighting function

„l
m…x†Xj …x†Xk …x†dx ˆ 0
0

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

72 FORMULAS FOR STRUCTURAL DYNAMICS

If lumped masses Ms on a beam have spatial coordinates xs then

„l P
m…x†Xi …x†Xj …x†dx ‡ Ms Xi …xs †Xj …xs † ˆ 0
0 s

2. The second derivatives of eigenfunctions are orthogonal with respect to EI(x) as a

weighting function

„l
EI …x†Xj00 Xk00 dx ˆ 0
0
„l
3. Because 0 ‰EI …x†Xj00 Š00 Xk dx ˆ 0, then for a uniform beam, EI ˆ constant, and eigen-
functions and their fourth derivatives are orthogonal

„l
XjIV Xk dx ˆ 0
0

Case j ˆ k: The modal mass and modal stiffness coef®cients are

„l
mj ˆ m…x†Xj2 dx
0
…3:12†
„l
kj ˆ EI …x†…Xj00 †2 dx
0

The jth natural frequency oj is de®ned as

„l
EI…x†…Xj00 †2 dx
k j 0
o2j ˆ ˆ l …3:13†
mj „
m…x†Xj2 dx
0

Fundamental conclusion. A mechanical system with distributed parameters may be

considered as an in®nite number of decoupled simple linear oscillators. The mathematical
models are second-order ordinary differential equations whose solutions can be presented
in a simple closed form.

Example. Derive the differential equation of a Bernoulli±Euler beam using Equation

(3.7).

Solution. Transverse displacement is presented in the form of Equation (3.8)

P
kˆ1
y…x; t† ˆ Xk …x†Tk …t†
kˆ0

The kinetic energy, according to Table 3.7(a), is

 2 1 2
1 „l @y 1 „l P
rA…x† dx ˆ rA…x† Xk …x†T_ dx
20 @t 20 kˆ0

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 73

Taking into account the orthogonality conditions, the kinetic energy may be rewritten in
the form

P „l
1 kˆ1
Tˆ rA…x†Xk2 …x†dx…T_ †2
2 kˆ0 0

The potential energy, according to Table 3.7(b), is

 2 2 kˆ1 2
1 „l @ y 1 „l P 00
Uˆ EI …x† dx ˆ EI …x† X k …x†T k …t† dx
20 @x2 20 kˆ0

Taking into account the orthogonality properties, the potential energy may be rewritten in
the form

P „l
1 kˆ1
Uˆ EI …x†‰Xk00 …x†Š2 dxTk2 …t†
2 kˆ0 0

The dissipation function, according to Equation (3.5), is

 2 2 kˆ1 2
1 „l @@ y bb „l P 00
_ k dx
Dbeam ˆ bb EI …x† dx ˆ EI …x† Xk …x†T
20 @t @x2 2 0 kˆ0

Taking into account the orthogonality properties, the dissipation function may be rewritten
in the form

bb „l kˆ1
P
Dˆ EI …x†‰Xk00 …x†Š2 dxT_2k …t†
2 0 kˆ0

Substituting expressions of U, T and D into Equation (3.7) leads to the following

„l „l „l
rA…x†Xk2 …x†dxT k …t† ‡ EI …x†‰Xk00 …x†Š2 dxTk …t† ‡ bb EI …x†‰Xk00 …x†Š2 dxT_ k …t† ˆ 0
0 0 0

which leads to the equation corresponding to the kth mode of vibration

T …t† ‡ 2hk T_ …t† ‡ o2 T…t† ˆ 0

where the frequency of vibration and the damper coef®cient are

„l
EI …x†Xk002 dx
0 bb o2k
o2k ˆ ; hk ˆ
„l 2
m…x†Xk2 dx
0

The expression for the square of the frequency of vibration is the Rayleigh quotient (Table
2.3); Equation (3.13).

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

74 FORMULAS FOR STRUCTURAL DYNAMICS

(b) Non-classical boundary conditions. Consider a beam with a lumped mass, trans-
versal and rotational springs at x ˆ l shown in Fig. 3.3.

FIGURE 3.3. Non-classical boundary conditions at the

right end x ˆ l; boundary conditions at the left end have
not been shown.

Case j 6ˆ k: Orthogonality conditions over the interval (0, l) are presented in the form

„l
m…x†Xj …x†Xk …x†dx ‡ MXj …l†Xk …l† ˆ 0
0
…3:14†
„l
EI …x†Xj00 Xk00 dx ‡ ktr Xj …l†Xk …l† ‡ kr Xj0 …l†Xk0 …l† ˆ0
0

Case j ˆ k: The modal mass and modal stiffness coef®cients are as follows:

„l
mj ˆ m…x†Xj2 dx ‡ MXj2 …l† ‡ JXj02 …l†
0
…3:15†
„l
kj ˆ EI …x†…Xj00 †2 dx ‡ ktr Xj2 …l† ‡ kr …Xj0 †2 …l†
0

The jth natural frequency oj is de®ned as

" #
„l ktr Xj2 …l† kr Xj02 …l†
EI …x†…Xj00 †2
dx 1 ‡ ‡
kj 0 S* S*
o2j ˆ ˆ " # …3:16†
mj „l 2
MXj …l† JXj …l†02
2
m…x†Xj dx 1 ‡ ‡
0 M* M*

where the mass and stiffness of the beam corresponding to the jth eigenform are as follows:

„l
M * ˆ m…x†Xj2 dx
0
…3:17†
„l
S* ˆ EI …x†…Xj00 †2 dx
0

Equation (3.16) is an extension of the Rayleigh quotient (Table 2.3) to the case of a non-
classical boundary condition, such as elastic supports and a mass with an inertial effect
under rotation.

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 !
z„2
3.6 ORTHOGONAL EIGENFUNCTIONS IN INTERVAL z 1 z2 Xk2 …x†dx ˆ 1 (FILIPPOV, 1970)
z1

TABLE 3.9 Fundamental functions, frequency equation and frequency parameters for beams with different boundary conditions.

Roots of characteristic equation

Boundary condition Interval Fundamental Characteristic Number Asymptotic

at z1 and z2 z1 z2 function equation of mode l1 l2 values Note

1 1 cos lk x cosh lk x lk lk 2k ‡ 1
Free±Free ; ‡ tan ˆ tanh 1; 3; 5; . . . 4.7300408 10.9956078 p k5
2 2 l l 2 2 2
cos k cosh k
2 2
1 1 sin lk x sinh lk x lk l 2k ‡ 1
; ‡ tan ˆ tanh k 2; 4; 6; . . . 7.8532046 14.1371655 p k6
2 2 l l 2 2 2
sin k sinh k
2 2
p
Pinned±Pinned 0, 1 2 sin lk x sin lk ˆ 0 1; 2; 3; . . . p 2p kp

1 1 cos lk x cosh lk x lk lk 2k ‡ 1
; tan ˆ tanh 1; 3; 5; . . . 4.7300408 10.9956078 p k5
2 2 l l 2 2 2
cos k cosh k
Clamped±Clamped 2 2
1 1 sin lk x sinh lk x lk l 2k ‡ 1
; tan ˆ tanh k 2; 4; 6; . . . 7.8532046 14.1371655 p k6
2 2 l l 2 2 2
sin k sinh k
2 2
sin lk x sinh lk x 4k ‡ 1
Pinned±Clamped 0, 1 tan lk ˆ tanh lk 1; 2; 3; . . . 3.9266023 7.0685828 p k3
sin lk sinh lk 4
FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

1 1 sin lk x cosh lk x lk l 2k 1
; ‡ tan ˆ coth k 1; 3; 5; . . . 1.875104 7.854757 p k5

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FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

2 2 l l 2 2 2

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sin k cosh k
Clamped±Free 2 2
1 1 cos lk x sinh lk x lk lk 2k 1
; ‡ tan ˆ coth 2; 4; 6; . . . 4.694098 10.995541 p k6
2 2 l l 2 2 2
cos k sinh k
2 2
75

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1 1 sin lk x sinh lk x 4k ‡ 1
Pinned±Free ; ‡ tan lk ˆ tanh lk 1; 2; 3; . . . 3.9266023 7.0685828 p k3
2 2 sin lk sinh lk 4
 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

76 FORMULAS FOR STRUCTURAL DYNAMICS

3.7 MECHANICAL MODELS OF ELASTIC

SYSTEMS

Mechanical chain diagrams (MCDs) are abstract models of deformable systems (DSs) with
vibroprotective devices (VPDs) and consist of passive elements, such as springs, masses
and dampers, which are interlinked in a de®nite way. The MCD and DS equivalency
resides in the fact that the dynamic processes, both in the source DS and its generalized
diagram, coincide. The MCDs for mechanical systems with concentrated parameters
(MSCP) have been extensively studied (Lenk, 1975; Harris, 1996).
A MCD allows one to perform a complete analysis of a DS by algebraic methods and to
take into account structural and parametrical changes in the DS and VPD. This analysis
allows one to determine amplitude±frequency and phase±frequency characteristics; and to
de®ne the forces that arise in separate elements of the system, calculate dynamic
coef®cients, and so on.
The fundamental characteristics of the mechanical systems are impedance `force=
velocity' and admittance `velocity=force'. The transitional rules from a MSCP to a
mechanical chain diagram have been detailed in a number of publications (Harris,
1996). The amplitude±frequency and phase±frequency characteristics for a MSCP, which
are represented in the form of their equivalent MCDs, are well-known (Harris, 1996).

3.7.1 Input and transitional impedance and admittance

Figure 3.4 presents an arbitrary deformable system with distributed parameters (a beam, a
plate, etc) and peculiarities (holes, ribs, non-uniform stiffness, non-classical boundary
conditions, etc). The boundary condition is not shown. The system is supplied with
additional vibroprotective devices of the arbitrary structure such as mass m; stiffness k and
damper b with following impedances

Zm …jo† ˆ jom
Zk …jo† ˆ k=jo …3:18†
Zb …jo† ˆ b

or their combinations (vibro-isolators, vibro-absorbers, vibro-dampers). A concentrated

harmonic force affects the system in direction 1. The impedance of additional devices is
equal to Z ˆ U ‡ joV in direction 2.
Expressions for the input and transitional impedance and admittance are presented in
Table 3.10. (Karnovsky and Lebed, 1986; Karnovsky et al., 1994). The input character-
istics are related to the case when points 1 and 2 coincide; the transitional characteristics
mean that points 1 and 2 are not matches. These expressions take into account the

FIGURE 3.4. Deformable system with additional device with

impedance Z ˆ U ‡ joV .

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 77

TABLE 3.10 Input and transitional impedance and admittance for beams with additional devices

Transitional
Input (Points 1 and 2
(Points 1 and 2 coincide) not coincide) Comments

P P1 D ˆ d11 d22 d212

Impedance Zinp … p† ˆ Ztrn … p† ˆ p
n n2 p ˆ jo; j ˆ 1
p2 d22 V ‡ pd22 U ‡ 1 1 ‡ jod22 Z
ˆ 3 ˆ
p DV ‡ p2 DU ‡ pd11 jod21

n n2
Admittance Yinp … p† ˆ Ztrn … p† ˆ
p P1
p3 DV ‡ p2 DU ‡ pd11 jod21
ˆ 2 ˆ
p d22 V ‡ pd22 U ‡ 1 1 ‡ jod22 Z

properties of an arbitrary deformable system and additional passive elements mounted on

the deformable system. The properties of a deformable system are represented by the unit
displacements d11 , d12 , d21 and d22 . The calculations of unit displacements for bending
systems are presented in Section 2.2. The properties of passive elements are represented by
the real U and imaginary part V of their impedance, Z ˆ U ‡ joV .

3.7.2 Mechanical two-pole terminals

`Force±velocity' and `velocity±force' describes the dynamics of a DS in terms of the force
and velocity, which are measured at the same point or at different points. The networks for
characteristics Z and Y, which are presented in Table 3.10, are synthesized by the
techniques of Brune, Foster, Cauer (D'Azzo and Houpis, 1966; Karnovsky, 1989).
A mechanical two-pole terminal, which realizes the input impedance Zinp … p† of a DS
with an additional vibroprotective device of impedance Z ˆ U ‡ joV is presented in Fig.
3.5.
Mechanical two-pole terminal, which realizes the input admittance Yinp … p† of a DS with
an additional vibroprotective device of impedance Z ˆ U ‡ joV , is presented in Fig. 3.6.
The structure of the MCD does not change for different DSs. The peculiarities of the
DS, such as boundary conditions, non-uniform stiffness, etc, display themselves only in the
parameters of the MCD. The presence of the additional devices on the DS, such as
concentrated or distributed masses, or vibroprotective devices (VPD) of any structure, is
represented by additional blocks on the MCD.

Regular connections
Parallel elements: Several passive elements with impedances Z1 , Z2 ; . . . are
connected in parallel (Fig. 3.7(a)).

Theorem 1. The total mechanical impedance of the parallel combination of the

individual elements is equal to the sum of the partial impedances.

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

78 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 3.5. Network describing the input impedance Zinp …p† of a DS with an additional device of
impedance Z ˆ U ‡ joV :

FIGURE 3.6. Network describing the input admittance Yinp … p† of a DS with an additional device of
impedance Z ˆ U ‡ joV :

FIGURE 3.7. Regular connections: (a) parallel elements; (b) series elements.

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 79

Series elements. Several ideal passive elements with impedances Z1 ; Z2 ; . . . are

connected in series (Fig. 3.7(b)).

Theorem 2. The total mechanical impedance of the passive elements connected in series
may be calculated from
1 P
n 1
ˆ …3:19†
Zstr 1 Zi

Theorem 3. The natural frequency of vibration of a deformable system with any

additional impedance device Zstr ˆ U ‡ joV is
Im Zstr ˆ 0 …3:20†
where Zstr is the impedance of the total structure.

3.7.3 Mechanical four-pole terminal

…F1 V1 F2 V2 † takes into account two forces and two transversal velocities at different
points 1 and 2 (Fig. 3.8).
The matrix of the condition may be presented in the form (Johnson, 1983)
2 3
" # sinh l cos l ‡ cosh l sin l ol3 cosh l cos l 1 " #
6 j
v1 6 sin l ‡ sinh l EI l3 sin l ‡ sinh l 7 7 v2
ˆ6 7 …3:21†
F1 4 3
EI l 2 sinh l sin l sinh l cos l ‡ cosh l sin l 5 F2
jol3 sin l ‡ sinh l sin l ‡ sinh l
where F1 , V1 are the shear force and linear velocity at the left end of the beam; and F2, V2
are at the right end. Admittances Ya and Yb may be presented in the form

EI l3 sinh l cos l ‡ cosh l sin l sin l sinh l

Ya ˆ j
ol 3 cosh l cos l 1 …3:22†
EI l3 sin l ‡ sinh l
Yb ˆ j 3
ol cosh l cos l 1
The matrix equation may be easily presented in the following different forms (Karnovsky,
1989).
           
v1 F F1 v F1 F
ˆA 1 ; ˆB 1 ; ˆC 2
v2 F2 F2 v2 v2 v1

FIGURE 3.8. Mechanical four-pole terminal.

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

80 FORMULAS FOR STRUCTURAL DYNAMICS

The relationships between the bending moment and shear force on the one hand and the
linear and angular velocities on the other at the any point x of the in®nite beam are
   
M …x† y_ …x†
ˆ ‰ZŠ _
F…x† y…x†
2 3 2 3
kb2 kb kb2 kb
6 EI o …1 j†EI
o7 6 EI
o
…1 j†EI
o7
‰ZR Š ˆ 6
4
7;
5 ‰ZL Š ˆ 6
4
7
5
k3 2
kb kb3 kb
2
…1 ‡ j†EI b EI …1 ‡ j†EI EI
o o o o
rA
kb4 ˆ o2 …3:23†
EI
where ZR and ZL are the right- and left-wave impedance matrices respectively, kb is the
¯exural wave number; and y_ ˆ joy, y_ ˆ joy0 are transversal and angular velocities. The
matrices ZR and ZL describe the process of propagation of the waves to the right and left,
respectively, from a sole point force excitation (Pan and Hansen, 1993).

3.7.4 Mechanical eight-pole terminal

This takes into account the bending moment, shear force, transversal and rotational
velocities at two different points (Fig. 3.9). The fundamental matrix equation of the
dynamical condition of the uniform beam is (Johnson, 1983)
2
l
6 cos l ‡ cosh l …sin l sinh l†
6 l
2 3 6
F1 6 l
6 …sin l ‡ sinh l† cos l ‡ cosh l
6M 7 16 6 l
6 17
6 7ˆ 6
4 v1 5 2 66 jol3 jol 2
6 …sin l sinh l† …cos l cosh l†
y_ 1 6
6 EI l3 EI l2
6
4 jol 2 jol
…cos l cosh l† …sin l ‡ sinh l†
EI l2 EI l

3
EI l3 EI l2
…sin l ‡ sinh l† …cos l cosh l†
jol 3 jol2 77
72 3
7
EI l2 EI l 7 F2
…cos l cosh l† …sin l sinh l† 76
jol2 jol 7 M2 7
76 7
76 7
4 v2 5
l 7 7
cos l ‡ cosh l …sin l ‡ sinh l† 7 y_ 2
l 7
7
5
l
…sin l sinh l† cos l ‡ cosh l
l

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FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 81

FIGURE 3.9. Notation of the beam for its presentation as a mechanical eight-pole terminal.

The dispersive relationship and frequency parameter are

rA 2
k4 ˆ o ; l ˆ kl …3:24†
EI

3.8 MODELS OF MATERIALS

Table 3.11 contains mechanical presentation and mathematical models of the visco-elastic
materials. Here s and e are normal stress and axial strain, E is modulus of elasticity, and Z
is the visco-elasticity coef®cient (Bland, 1960; Bolotin, Vol. 1, 1978).
The fundamental characteristics of several models are presented in Table 3.12.

Example. Derive the differential equation of the transverse vibration of the beam. The
properties of the material obey the Kelvin±Voigt model

@e
s ˆ Ee ‡ Z
@t

Solution. The strain of the beam may be presented as

z
eˆ ˆ zy00
r
where r is the radius of curvature, and z is the distance from the neutral axis to the studied
®bre of the beam.
The normal stress and bending moment are

@3 y
sˆ Ezy 00 Zz
@t@x2
„ @2 y @3 y
Mx ˆ sz dA ˆ E 2I Z I
…A† @x @t@x2
„
where I ˆ …A† z2 dA:
Substituting the expression for distributed load under free vibration

@2 y
qˆ m
@t 2

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

82 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 3.11 Mechanical presentation and mathematical models of visco-elastic materials

Model Diagram Equation

Maxwell Relaxation medium

1 @s s @e
‡ ˆ
E @t Z @t

Kelvin±Voigt Elastic-viscous medium  

@
sˆ E‡Z e
@t

 
Kelvin±Voigt E1 Z @s @e
generalized linear 1‡ s‡ ˆ E1 e ‡ Z
E2 E2 @t @t
model
  1
Kelvin P
n @
generalized model Ei ‡ Zi sˆe
iˆ1 @t

  1
Maxwell Pn 1 @ 1 @e
generalized model sˆ ‡ 
iˆ1 Ei @t Zi @t

Three-element 1 @s 1 @2 e @e
model of ‡ s ˆ t0 2 ‡
E @t Z @t @t
viscous-elasticity

TABLE 3.12 Time dependent characteristics of visco-elastic materials

Diagram s t Diagram e t
Model (e ˆ const) (s ˆ const)

Maxwell
E η
σ σ

Kelvin±Voigt
E

σ σ
η

Kelvin±Voigt
generalized linear model
E2 E1

σ σ
η

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FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 83

into equation M 00 ˆ q yields the differential equation

@4 y @5 y @2 y
EI 4
‡ ZI 4
‡m 2 ˆ0
@x @t@x @t
The second term describes the dissipative properties of the beam material.

3.9 MECHANICAL IMPEDANCE OF BOUNDARY

CONDITIONS

The boundary bending moment and shear force are expressed as the product of the 2  2
impedance matrix Z and a column vector containing the linear and angular velocities of the
beam at the boundary
     
M y_ XM y_ ZM y_
ˆ ‰ZŠ _ ‰ZŠ ˆ …3:25†
F y ZF y_ ZF y_

Table 3.13 presents the impedance `force±linear velocity' Z1 ˆ ZF y_ and `moment±angular

velocity' Z2 ˆ ZM y_ for several typical supports (Pan and Hansen, 1993). The cross terms
ZM y_ and ZF y_ of the impedance matrix are zero.

TABLE 3.13 Impedance Z1 (force±linear velocity) and Z2 (moment±angular velocity) for different
boundary conditions

Boundary condition Impedance

Left end condition at x ˆ 0:5L Z1 and Z2

Pinned yˆ0 Z1 ˆ 1
y00 ˆ 0 Z2 ˆ 0

Fixed yˆ0 Z1 ˆ 1
y0 ˆ 0 Z2 ˆ 1
Free y00 ˆ 0 Z1 ˆ 0
y000 ˆ 0 Z2 ˆ 0
Translational spring y00 ˆ 0 k
Z1 ˆ j tr
o
EIy000 ‡ ktr y ˆ 0 Z2 ˆ 0
Rotational spring yˆ0
Z1 ˆ 1
k
EIy 00
krot y ˆ 0 Z2 ˆ j rot
o
Lumped mass y00 ˆ 0 Z1 ˆ joM
EIy000 ‡ M y ˆ 0 Z2 ˆ 0

Dashpot y00 ˆ 0 Z1 ˆ Z
EIy000 ‡ Z_y ˆ 0 Z2 ˆ 0

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84 FORMULAS FOR STRUCTURAL DYNAMICS

3.10 FUNDAMENTAL FUNCTIONS OF THE

VIBRATING BEAMS

The mathematical model of transverse vibration may be presented in operation form.

The differential equation of transverse vibration of an elastic system is

L‰ y…x; t†Š ˆ f …x; t†; x 2 D; t > t0 …3:26†

Initial conditions

N‰ y…x; t†Š ˆ y0 …t0 ; x†; x 2 D; t ˆ t0 …3:27†

Boundary conditions

B‰ y…x; t†Š ˆ g…x; t†; x 2 @D; t > t0 …3:28†

where L ˆ linear operator of differential equation;
N ˆ linear operator of boundary conditions;
B ˆ linear operator of initial conditions;
D ˆ open region;
@D ˆ boundary points.

A standardizing function, w(x, t), is a non-unique linear function of f (x), y0 …x†

and g(x), which transforms the mathematical model (3.26)±(3.28) with non-homogeneous
initial and boundary conditions to the mathematical model with homogeneous initial and
boundary conditions

L‰ y…x; t†Š ˆ w…x; t†; x 2 D; t > t0

N ‰ y…x; t†Š ˆ 0; x 2 D; t ˆ t0
B‰ y…x; t†Š ˆ 0; x 2 @D; t > t0
Green's function (impulse transient function, in¯uence function), G…x; x; t; t†, is a solution
of the differential equation in the standard form. Green's function satis®es the system of
equations

L‰G…x; x; t; t†Š ˆ d…x x; t t†; x 2 D; t > t0

N ‰G…x; x; t; t†Š ˆ 0; x 2 D; t ˆ t0
B‰G…x; x; t; t†Š ˆ 0; x 2 @D; t > t0
where x ˆ point of application of disturbance force;
x ˆ point of observation;
t ˆ moment of application of disturbance force;
t ˆ moment of observation.

Causality principle. The Green's function

G…x; x; t; t† ˆ 0; x 2 D; for t < t

It means that any physical system cannot react to the disturbance before the moment this
disturbance is applied.

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 85

The solution of system (3.26)±(3.28) is

„t „
y…x; t† ˆ G…x; x; t; t†w…x; t†dx dt …3:29†
t0 D

This formula allows us to ®nd the response of any linear system due to arbitrary
standardizing function w, which takes into account the effect not only of internal forces
f (t), but also kinematic disturbance.
The transfer function is the Laplace transform of Green's function
„
1
pt
W …x; x; p† ˆ e G…x; x; t†dt; p 2 K …3:30†
0

where K is set of a complex numbers.

3.10.1 One-span uniform Bernoulli±Euler beams

The differential equation of the transverse vibration is

@2 y…x; t† @4 y…x; t†
‡ a2 ˆ f …x; t† …3:31†
@t2 @x4
Initial conditions
@y…x; 0†
y…x; 0† ˆ y0 …x†; ˆ y1 …x† …3:32†
@t

Case 1. Boundary conditions

@2 y…0; t† @3 y…0; t†
ˆ g1 …t†; ˆ g2 …t†
@x2 @x3
2 3
@ y…l; t† @ y…l; t†
ˆ g3 …t†; ˆ g4 …t†; 0  x  l; a 6ˆ 0 …3:33†
@x2 @x3
The standardizing function is a linear combination of the exciting force f (t), initial
conditions y0 …t† and y1 …t† and kinematic actions gi …t†; i ˆ 1; . . . ; 4 (Butkovskiy, 1982).

w…x; t† ˆ f …x; t† ‡ y0 …x†d0 …t† ‡ y1 …x†d…t†

a2 d0 …x†g1 …t† ‡ a2 d…x†g2 …t† a2 d0 …l x†g3 …t† a2 d…x†g4 …t† …3:34†
Green's function
4P 1 X …x†X …x†
n n
G…x; x; t† ˆ sin akn2 t …3:35†
a nˆ1 kn2 Xn2 …l†
where the eigenfunction

Xn …x† ˆ …sinh kn l sin kn l†…cosh kn x ‡ cos kn x† …cosh kn l cos kn l†…sinh kn x ‡ sin kn x†

and eigenvalue kn are non-negative roots of equation

cosh kl cos kl ˆ 1

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86 FORMULAS FOR STRUCTURAL DYNAMICS

Transfer function

4P 1 X …x†X …x†
n n 1
W …x; x; p† ˆ ; p ˆ jakn2 ; n ˆ 1; 2; . . . …3:36†
a nˆ1 Xn2 …l† p2 ‡ a2 kn4 n

Case 2. Boundary conditions

@y…0; t†
y…0; t† ˆ g1 …t†; ˆ g2 …t†
@x …3:37†
@y…l; t†
y…l; t† ˆ g3 …t†; ˆ g4 …t†; 0  x  l; a 6ˆ 0
@x
Standardizing function (Butkovskiy, 1982)

w…x; t† ˆ f …x; t† ‡ y0 …x†d0 …t† ‡ y1 …x†d…t†

a2 d000 …x†g1 …t† a2 d00 …x†g2 …t† a2 d000 …l x†g3 …t† ‡ a2 d00 …x†g4 …t† …3:38†

Green's function

4P 1 X …x†X …x†
n n
G…x; x; t† ˆ sin akn2 t …3:39†
a nˆ1 kn2 ‰Xn00 …l†Š2

where

Xn …x† ˆ …sinh kn l sin kn l†…cosh kn x cos kn x† …cosh kn l cos kn l†…sinh kn x sin kn x†

kn are non-negative roots of the equation cosh kl cos kl ˆ 1:

Transfer function

4P 1 X …x†X …x†
n n 1
W …x; x; p† ˆ ; p ˆ jakn2 ; n ˆ 1; 2; . . . …3:40†
2
a nˆ1 ‰Xn …l†Š p
00 2 ‡ a2 kn4 n

Case 3. Boundary conditions

@2 y…0; t†
y…0; t† ˆ g1 …t†; ˆ g2 …t†
@x2 …3:41†
@2 y…l; t†
y…l; t† ˆ g3 …t†; ˆ g4 …t†; 0  x  l; a 6ˆ 0
@x2
Standardizing function (Carslaw and Jaeger, 1941; Butkovskiy, 1982)

w…x; t† ˆ f …x; t† ‡ y0 …x†d0 …t† ‡ y1 …x†d…t†

‡ a2 d000 …x†g1 …t† ‡ a2 d0 …x†g2 …t† ‡ a2 d000 …l x†g3 …t† ‡ a2 d0 …x†g4 …t† …3:42Š†

Green's function

2l P1 1 npx npx an2 p2

G…x; x; t† ˆ 2 2
sin sin sin 2 t …3:43†
ap nˆ1 n l l l

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 87

Transfer function

2P 1 npx npx 1
W …x; x; p† ˆ sin sin 2 2 4
l nˆ1 l l a n p
p2 ‡
l4
 
1 sin q…l x† sinh qx sinh ql sinh q…l x† sinh qx sin ql
W …x; x; p† ˆ ;
2a2 q3 sin ql sinh ql
…3:44†
0xxl
 
1 sin q…l x† sinh qx sinh ql sinh q…l x† sinh qx sin ql
W …x; x; p† ˆ 2 ;
2a q3 sin ql sinh ql

0xxl
r
p an2 p2
where q ˆ j , pn ˆ j 2 , n ˆ 1; 2; . . .
a l

3.10.2 Clamped-free beam of non-uniform cross-sectional area

The distributed mass and the second moment of inertia are changed accordingly Equation
2.5. In this case, Green function may be obtained using Equations 2.6 and 2.7. Green's
functions for two-span uniform Bernoulli±Euler beams with classical boundary conditions
and intermediate elastic support are presented by Kukla (1991).

3.10.3 Two-span uniform beam with intermediate elastic support

The differential equation of the transverse vibration of a uniform beam with an

intermediate elastic support is

@2 y…x; t† @4 y…x; t†
m ‡ EI ‡ k…x†y…x; t† ˆ 0; k…x† ˆ kd…x x1 † …3:45†
@t 2 @x4
where d is the Dirac delta function; k is the stiffness coef®cient of the translational spring
that is attached to the beam at the point x1 (Fig. 3.10).

FIGURE 3.10. Two-span uniform beam with intermediate elastic support; the boundary conditions are not
shown.

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

88 FORMULAS FOR STRUCTURAL DYNAMICS

The frequency equation

kl 3 x rAo2 l4
2l3 g…l† f …x1 ; l† ˆ 0; x1 ˆ 1 ; l4 ˆ …3:46†
EI l EI
Functions g…l† and f …x1 l† for beams with different boundary conditions are presented in
Table 3.14 (Kukla, 1991).

TABLE 3.14 Functions g…l† and f …x1 l† for beams with different boundary conditions

Type beam g…l† f …x1 l†

Pinned±pinned sin l sinh l sin l sinh lx1 sinh l…1 x1 † sinh l sin lx1 sin l…1 x1 †
Sliding±sliding sin l sinh l sin l cosh lx1 cos l…1 x1 † ‡ sinh l cos lx1 cos x…1 x1 †
Free±free 1 cos l cosh l sin l cosh lx1 cosh l…1 x1 †
sinh l cos lx1 cosh l…1 x1 † ‡ sin lx1 cosh lx1
cos lx1 sinh lx1 ‡ sin l…1 x1 † cosh l…1 x1 †
cos l…1 x1 † sinh l…1 x1 †

Special cases
1. The beam without intermediate support (k ˆ 0). In this case, the frequency equation is
g…l† ˆ 0.
2. The beam with an intermediate rigid support (k ! 1). In this case, the frequency
equation is f …x1 ; l† ˆ 0.

3.10.4 Static Green function for a beam with elastic support at x1

The parameters, which de®ne the position of the elastic support, are

x1 ˆ x1 =l; z1 ˆ lx1 and z01 ˆ l…1 x1 †

and the parameters, which de®ne the position of any section along the beam, are

x ˆ x=l; z ˆ lx and z0 ˆ l…1 x†

The Green function may be formed after solution of the frequency equation (3.46).
1. Pinned±pinned beam

 
1 sin z01 sin z sinh z01 sinh z
G…x1 ; x; l† ˆ ; x < x1
2l3 sin l sinh l
  …3:47†
1 sin z0 sin z1 sinh z0 sinh z1
G…x1 ; x; l† ˆ 3 ; x > x1
2l sin l sinh l

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 89

2. Sliding±sliding beam
 
1 cosh z01 cosh z cos z01 cos z
Gsl sl …x1 ; x; l† ˆ ‡ ; x < x1
2l3 sinh l sin l
  …3:48†
1 cosh z0 cosh z1 cos z0 cos z1
Gsl sl …x1 ; x; l† ˆ ‡ ; x > x1
2l3 sinh l sin l
3. Free±free beam
 
1 cos z cosh z
G…x1 ; x; l† ˆ Gsl …x
sl 1 ; x; l† ‡ A 1
4l3 sin l sinh l
 
1 cos z0 cosh z0
‡ 3 A2 …3:49†
4l sin l sinh l
where

A1 ˆ ‰…cos z1 sinh l cosh z1 sin l†…cos l sinh l cosh l sin l†

‡ …sin l ‡ sinh l†…sin l cosh z01 cos z01 sinh l†Š
 ‰sin l sinh l…1 cos l cosh l†Š 1
A2 ˆ ‰…sin l cosh l ‡ cos l sinh l†…cos z01 sinh l sin l cosh z01 †
‡ …sin l ‡ sinh l†…sin l cosh z1 cos z1 sinh l†Š
1
 ‰sin l sinh l…1 cos l cosh l†Š

3.10.5 One-span sliding±sliding uniform beam

The differential equation of the transverse vibration is

@2 y…x; t† @4 y…x; t†
m ‡ EI ˆ F…t†d…x b† …3:50†
@t 2 @x4
where d is the Dirac function.
Boundary conditions
@y…0; t† @3 y…0; t† @y…l; t† @3 y…l; t†
ˆ 0; ˆ 0; ˆ 0; ˆ0 …3:51†
@x @x 3 @x @x3

Case 1. Beam with uniformly distributed mass (Fig. 3.11). Green's function G(x, b) is
displacement at any point x due to unit load P at the point x ˆ b.

FIGURE 3.11. Sliding±sliding uniform beam carrying

concentrated load.

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90 FORMULAS FOR STRUCTURAL DYNAMICS

Green's function may be presented as (Rassudov and Mjadzel, 1987)

 
x b
G xˆ ; bˆ ˆ Y4 …x b†H…x b†
l l
 
l2 1
‡ Y4 …1†Y3 …1 b† Y2 …1†Y1 …x b† Y1 …x† …3:52†
sinh l sin l l4

‡ ‰Y4 …1†Y1 …x b† Y2 …1†Y3 …1 b†ŠY3 …x†

where H is the Heaviside function and Yi …i ˆ 1; 2; 3; 4† are Krylov±Duncan functions

(Krylov, 1936; Duncan, 1943)

1
Y1 …lx† ˆ …cosh lx ‡ cos lx†
2
1
Y2 …lx† ˆ …sinh lx ‡ sin lx†
2l
…3:53†
1
Y3 …lx† ˆ 2 …cosh lx cos lx†
2l
1
Y4 …lx† ˆ …sinh lx sin lx†
2l3

The properties of Krylov±Duncan functions will be discussed in Section 4.1.

The frequency equation and parameters l are presented in Table 5.4.

Special cases. Green's functions G…x; b† for speci®c parameters x ˆ x=l, b ˆ b=l are
presented below.
Force F ˆ 1 applied at point b ˆ 0

G…0; 0† ˆ 0:5F…cosh l sin l ‡ cos l sinh l†

G…1; 0† ˆ 0:5F…sin l ‡ sinh l†
G…x0 ; 0† ˆ 0:5F‰cos l…1 x0 † sin l ‡ cos l…1 x0 † sinh lŠ

1
where parameter F ˆ .
l3 sinh l sin l
Force F ˆ 1 applied at point b ˆ 1

G…0; 1† ˆ 0:5F…sin l ‡ sinh l†

G…1; 1† ˆ 0:5F…cosh l sin l ‡ cos l sinh l†
G…x0 ; 1† ˆ 0:5F…cosh lx0 sin l ‡ cos lx0 sinh l†

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 91

Force F ˆ 1 applied at point b ˆ x0

G…0; x0 † ˆ 0:5F‰cosh l…1 x0 † sin l ‡ cos l…1 x0 † sinh lŠ

G…1; x0 † ˆ 0:5F…cosh lx0 sin l ‡ cos lx0 sinh l†
G…x0 ; x0 † ˆ 0:5F‰cosh l…1 x0 † cosh lx0 sin l ‡ cos l…1 x0 † cos lx0 cosh lŠ

Case 2. Beam with distributed and lumped masses (Fig. 3.12). The mass of the system
may be presented as follows:
P
m…x† ˆ m ‡ mi d…x xi †
i

where mi is the lumped masses at x ˆ xi ; and d is the Dirac function.

FIGURE 3.12. Sliding±sliding uniform beam with lumped

masses.

Green's function

1
G…x0 ; 0† ˆ ‰H0 C ‡ lm 2 …AC BD†
l3
 fH02 ‡ H0 l‰…m
1 ‡m  0 EŠ ‡ l2 ‰m
 2 †A ‡ m  2 …A2
 1m B2 †
2 2 1
1 ‡m
‡ …m  2 †m
 0 AE  0 …m
m  1C ‡ m
 2 D †Šg …3:54†
where the dimensionless masses and parameters are
m0 m1 m2
0 ˆ
m ; m1 ˆ ; m2 ˆ
Mbeam Mbeam Mbeam
G…0; 0† G…1; 0† G…0; x0 † G…1; x0 † G…x0 ; x0 †
Aˆ ; Bˆ ; Cˆ ; Dˆ ; Eˆ
F F F F F
1
H0 ˆ sinh l sin l; F ˆ
l3 sinh l sin l

REFERENCES

Abramovich, H. and Elishakoff, I. (1990) In¯uence of shear deformation and rotary inertia on
vibration frequencies via Love's equations. Journal of Sound and Vibration, 137(3), 516±522.
Anan'ev I.V. (1946) Free Vibration of Elastic System Handbook, Gostekhizdat, Moscow±Leningrad.
Babakov, I.M. (1965) Theory of Vibration (Moscow: Nauka) (in Russian).
Birger, I.A. and Panovko, Ya.G. (Eds) (1968) Handbook: Strength, Stability, Vibration, vols 1±3
(Moscow: Mashinostroenie) Vol. 3, Stability and Vibrations (in Russian).

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

92 FORMULAS FOR STRUCTURAL DYNAMICS

Bland, R. (1960) The Theory of Linear Viscoelasicity (Oxford; New York: Pergamon Press).
Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
Bolotin, V.V. (Ed) (1978) Vibration of Linear Systems, vol. 1. In Handbook: Vibration in Tecnnik, vols
1±6 (Moscow: Mashinostroenie) (in Russian).
Butkovskiy, A.G. (1982) Green's Functions and Transfer Functions Handbook (New York: Wiley).
Carslaw H.S. and Jaeger J.G. (1941) Operational Methods in Applied Mathematics, New York.
Duncan, J. (1943) Free and forced oscillations of continuous beams treatment by the admittance
method. Phyl. Mag. 34, (228).
Filippov, A.P. (1970) Vibration of Deformable Systems (Moscow: Mashinostroenie) (in Russian).
Gladwell, G.M.L. (1986) Inverse Problems in Vibration (Kluwer Academic).
Humar, J.L. (1990) Dynamics of Structures (New Jersey: Prentice Hall).
Johnson, R.A. (1983) Mechanical Filters in Electronics (Wiley).
Karnovsky, I. and Lebed, O. (1986) Mechanical Networks for the Arbitrary Deformable Systems with
Vibroprotective Devices. VINITI 4487-86, Dnepropetrovsk, pp. 1±47.
Karnovsky, I., Chaikovsky, I., Lebed, O. and Pochtman, Y. (1994) Summarized structural models for
deformable systems with distributed parameters. The 25th Israel Conference on Mechanical
Engineering, Conference Proceedings, Technion City, Haifa, Israel, pp. 265±267.
Kukla, S. (1991) The Green function method in frequency analysis of a beam with intermediate elastic
supports. Journal of Sound and Vibration, 149(1), 154±159.
Meirovitch, L. (1977) Principles and Techniques of Vibrations (Prentice Hall).
Pan, X. and Hansen, C.H. (1993) Effect of end conditions on the active control of beam vibration.
Journal of Sound and Vibration, 168(3), 429±448.
Rassudov, L.N. and Mjadzel', B.N. (1987) Electric Drives with Distributed Parameters of Mechanical
Elements (Leningrad: Energoatomizdat).
Rayleigh, J.W.S. (1877, 1878) The Theory of Sound (London: MacMillan) vol. 1. 1877, 326 pp.; vol 2:
1878, 302 pp. 2nd edn 1945, vol. 1, 504 pp. (New York: Dover).

FURTHER READING

D'Azzo, J.J. and Houpis, C.H. (1966) Feedback Control System. Analysis and Synthesis, 2nd edn
(New York: McGraw-Hill).
Harris, C.M. (Ed). (1996) Shock and Vibration, Handbook, 4th edn (New York: McGraw-Hill).
Huang, T.C. (1961) The effect of rotatory inertia and of shear deformation on the frequency and
normal mode equations of uniform beams with simple end conditions. Journal of Applied Mechanics,
ASME, 28, 579±584.
Kameswara Rao, C. (1990) Frequency analysis of two-span uniform Bernoulli±Euler beams. Journal
of Sound and Vibration, 137(1), 144±150.
Karnovsky, I.A. (1989) Optimal vibration protection of deformable systems with distributed
parameters. Doctor of Science Thesis, Georgian Politechnical University, (in Russian).
Krylov, A.N. (1936) Vibration of Ships (Moscow, Leningrad: ONTI-NKTP).
Lenk, A. (1975, 1977) Elektromechanische Systeme, Band 1: Systeme mit Conzentrierten Parametern
(Berlin: VEB Verlag Technik) 1975; Band 2: Systeme mit Verteilten Parametern (Berlin: VEB Verlag
Technik) 1977.
Morse, P.M. and Feshbach, H. (1953) Methods of Theoretical Physics (New York: McGraw-Hill).
Meirovitch, L. (1967) Analytical Methods in Vibrations (New York: MacMillan).
Mikhlin, S.G. (1964) Variational Methods in Mathematical Physics (Macmillan).
Pasternak, P.L. (1954) On a New Method of Analysis of an Elastic Foundation by Means of Two
Foundation Constants (Moscow: Gosizdat).

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY 93

Pratusevich, Ya.A. (1948) Variational Methods in Structural Mechanics (Moscow, Leningrad: OGIZ)
(in Russian).
Sekhniashvili, E.A. (1960) Free Vibration of Elastic Systems (Tbilisi: Sakartvelo) (in Russian).
Shabana, A.A. (1991) Theory of Vibration, Vol. II: Discrete and Continuous Systems (New York:
Springer-Verlag).
Yokoyama, T. (1991) Vibrations of Timoshenko beam-columns on two-parameter elastic foundations.
Earthquake Engineering and Structural Dynamics 20, 355±370.
Yokoyama, T. (1987) Vibrations and transient responses of Timoshenko beams resting on elastic
foundations. Ingenieur-Archiv, 57, 81±90.

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 FUNDAMENTAL EQUATIONS OF CLASSICAL BEAM THEORY

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 4
SPECIAL FUNCTIONS FOR
THE DYNAMICAL
CALCULATION OF BEAMS
AND FRAMES

Chapter 4 is devoted to special functions that are used for the dynamical calculation of
different kind of beams and frames. Analytical expressions, properties and fundamental
relationships, as well as tables of numerical values, are presented.

NOTATION

A Cross-sectional area
E Young's modulus
EI Bending stiffness
Iz Moment of inertia of a cross-section
i ˆ EI =l Bending stiffness per unit r
length

2
4 mo
k Frequency parameter, k ˆ
EI
l Length of a beam
rik Unit reactions
S, T, U, V Krylov±Duncan functions
t Time
X(x) Mode shape
x Spatial coordinate
y Transversal displacement
r; m Density of material and mass per unit length
di Displacement in¯uence functions
x Dimensionless coordinate, x ˆ x=l
l Frequency parameter, l ˆ kl
f…t†; x…t† Harmonic angular and linear displacement

95
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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

96 FORMULAS FOR STRUCTURAL DYNAMICS

f…l†; c…l† Zal'tsberg functions r

l2 EI
o Natural frequency, o ˆ 2
l m

4.1 KRYLOV±DUNCAN FUNCTIONS

The transverse vibration of the uniform Bernoulli±Euler beam is described by the partial
differential equation

@4 y @2 y
EI ‡ rA 2 ˆ 0 …4:1†
@x 4 @t
where y ˆ y…x; t† ˆ transverse displacement of a beam;
r ˆ mass density;
A ˆ cross-sectional area;
E ˆ modulus of elasticity;
I ˆ moment of inertia of the cross-section about the neutral axis.

Solution
1. The travelling wave method. D'Alembert's solution. A solution of differential
equation (4.1) may be presented in the form

y…x; t† ˆ A cos …ot kx†

where A ˆ amplitude of vibration;

o ˆ frequency of free vibration;
k ˆ propagation constant;
t ˆ time;
x ˆ longitudinal coordinate of the beam.
Dispersion relationship

rA 2
k o2 ˆ 0
EI
Phase and group velocities are
r r
o o rA
cˆ ; Cˆ2 where a2 ˆ
a a EI
2. The standing wave method. Fourier's solution. A solution of differential equation
(4.1) may be presented in the form

y…x; t† ˆ X …x†T …t† …4:2†

where X …x† ˆ space-dependent function (shape function, mode shape function, eigen-
function);
T …t† ˆ time-dependent function.

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 97

A shape function X(x) depends on the boundary conditions only. After separation of
variables in (4.1) the function X(x) may be obtained from the equation
r
IV 4 4 mo2
X …x† k X …x† ˆ 0; where k ˆ …4:3†
EI
Note that differentiation is with respect to x, but not with respect to x ˆ x=l, as presented in
Table 3.1.
The common solution of this equation is

X …x† ˆ A cosh kx ‡ B sinh kx ‡ C cos kx ‡ D sin kx …4:4†

where A, B, C and D may be calculated by using the boundary conditions (see Chapter
3.2).
The natural frequency o of a beam is de®ned by
r r
2 EI l2 EI
oˆk ˆ 2 ; where l ˆ kl …4:5†
m l m

4.1.1 De®nitions of Krylov±Duncan functions

The common solution of differential equation (4.3) may be presented in the following
form, which signi®cantly simpli®es solution of the problems

X …kx† ˆ C1 S…kx† ‡ C2 T …kx† ‡ C3 U …kx† ‡ C4 V …kx†

S…kx† ˆ 12 …cosh kx ‡ cos kx†
T …kx† ˆ 12 …sinh kx ‡ sin kx† …4:6†
U …kx† ˆ 12 …cosh kx cos kx†
V …kx† ˆ 12 …sinh kx sin kx†
where X …kx† ˆ general expression for mode shape;
S(kx), T(kx), U(kx), V …kx† ˆ Krylov±Duncan functions (Krylov, 1936; Duncan,
1943; Babakov, 1965).
Ci ˆ constants, expressed in terms of initial parameters, as
follows

1 1 1
C1 ˆ X …0†; C2 ˆ X 0 …0†; C3 ˆ 2 X 00 …0†; C3 ˆ 3 X 000 …0†
k k k

4.1.2 Properties of Krylov±Duncan functions

Matrix representation of Krylov±Duncan functions and their derivatives at x 5 0

Krylov±Duncan functions and their derivatives result in the unit matrix at x ˆ 0

S…0† ˆ 1 S 0 …0† ˆ 0 S 00 …0† ˆ 0 S 000 …0† ˆ 0

T …0† ˆ 0 T 0 …0† ˆ 1 T 00 …0† ˆ 0 T 000 …0† ˆ 0
…4:7†
U …0† ˆ 0 U 0 …0† ˆ 0 U 00 …0† ˆ 1 U 000 …0† ˆ 0
V …0† ˆ 0 V 0 …0† ˆ 0 V 00 …0† ˆ 0 V 000 …0† ˆ 1

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

98 FORMULAS FOR STRUCTURAL DYNAMICS

Higher order derivatives of Krylov±Duncan functions. Krylov±Duncan functions and

their derivatives satisfy a circular relationship (see Table 4.1).

Integral relationships of Krylov±Duncan functions (Kiselev, 1980)

„ 1 „ x U …kx†
S…kx†dx ˆ T …kx†; xS…kx†dx ˆ T …kx†
k k k2
„ 1 „ x V …kx†
T…kx†dx ˆ U …kx†; xT …kx†dx ˆ U …kx†
k k k2
…4:8†
„ 1 „ x S…kx†
U …kx†dx ˆ V …kx†; xU …kx†dx ˆ V …kx†
k k k2
„ 1 „ x T …kx†
V …kx†dx ˆ S…kx†; xV …kx†dx ˆ S…kx†
k k k2

Combinations of Krylov±Duncan functions

ST UV ˆ 12 …cosh kx sin kx ‡ sinh kx cos kx†

TU SV ˆ 12 …cosh kx sin kx sinh kx cos kx†
2 2 2
S U cosh kx cos kx; T V 2 ˆ 2…SU V 2 † ˆ sinh kx sin kx …4:9†
1
U 2
TV ˆ 2 …1 cosh kx cos kx†; S 2
TV ˆ 12 …1 ‡ cosh kx cos kx†
T2 SU ˆ SU V 2 ˆ 12 sinh kx sin kx; 2SU ˆ T 2 ‡ V 2

Laplace transform of Krylov±Duncan functions (Strelkov, 1964)

p3 kp2 k2p k3
L…S† ˆ L…T† ˆ L…U † ˆ L…V † ˆ …4:10†
p4 k4 p4 k4 p4 k4 p4 k4

TABLE 4.1 Properties of Krylov±Duncan functions

First Second Third Fourth

Function derivative derivative derivative derivative

S(x) kV(x) k 2 U…x† k 3 T …x† k 4 S…x†

T(x) kS(x) k 2 V …x† k 3 U…x† k 4 T …x†
U(x) kT(x) k 2 S…x† k 3 V …x† k 4 U …x†
V(x) kU(x) k 2 T …x† k 3 S…x† k 4 V …x†

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 99

Krylov±Duncan functions as a series (Ivovich, 1981)

…kx†4 …kx†8 …kx†12

S…kx† ˆ 1 ‡ ‡ ‡ ‡



4! 8! 12!
" #
…kx†4 …kx†8
T…kx† ˆ …kx† 1 ‡ ‡ ‡



5! 9!
" # …4:11†
2 1 …kx†4 …kx†8
U …kx† ˆ …kx† ‡ ‡ ‡



2 6! 10!
" #
3 1 …kx†4 …kx†8
V …kx† ˆ …kx† ‡ ‡ ‡



6 7! 11!

Krylov±Duncan functions are tabulated in Table 4.2 (Birger, Panovko, 1968).

To obtain a frequency equation using Krylov±Duncan functions, the following general
algorithm is recommended.
Step 1. Represent the mode shape in the form that satis®es boundary conditions at x ˆ 0.
This expression will have only two Krylov±Duncan functions and, respectively,
two constants. The decision of what Krylov±Duncan functions to use is based on
Equations (4.7) and the boundary condition at x ˆ 0.
Step 2. Determine constants using the boundary condition at x ˆ l and Table 4.1. Thus,
the system of two homogeneous algebraic equations is obtained.
Step 3. The non-trivial solution of this system represents the frequency equation.

Detailed examples for using this algorithm are given below.

Example 1. Calculate the frequencies of vibration and ®nd the mode shape vibration for
a pinned±pinned beam. The beam has mass density r, length l, modulus of elasticity E, and
moment of inertia of cross-sectional area I.

Solution. Boundary conditions:

At the left end (x ˆ 0): (1) X …0† ˆ 0 …Deflection ˆ 0†;
(2) X 00 …0† ˆ 0 …Bending moment ˆ 0†;
At the right end (x ˆ l): (3) X …l† ˆ 0 …Deflection ˆ 0†;
(4) X 00 …l† ˆ 0 …Bending moment ˆ 0†.
At x ˆ 0 the Krylov±Duncan functions and their second derivatives equal zero. According
to Equations (4.7) these are T(kx) and V(kx) functions. Thus, the expression for the mode
shape is

X …x† ˆ C2 T …kx† ‡ C4 V …kx†

Constants C2 and C4 are calculated from boundary conditions at x ˆ l

X …l† ˆ C2 T …kl† ‡ C4 V …kl† ˆ 0

X 00 …l† ˆ k 2 ‰C2 V …kl† ‡ C4 T …kl†Š ˆ 0

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

100 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 4.2 Krylov±Duncan functions

kx S(kx) T(kx) U(kx) V(kx)

0.00 1.00000 0.00000 0.00000 0.00000

0.01 1.00000 0.01000 0.00005 0.00000
0.02 1.00000 0.02000 0.00020 0.00000
0.03 1.00000 0.03000 0.00045 0.00000
0.04 1.00000 0.04000 0.00080 0.00001
0.05 1.00000 0.05000 0.00125 0.00002
0.06 1.00000 0.06000 0.00180 0.00004
0.07 1.00000 0.07000 0.00245 0.00006
0.08 1.00000 0.08000 0.00320 0.00009
0.09 1.00000 0.09000 0.00405 0.00012
0.10 1.00000 0.10000 0.00500 0.00017
0.20 1.00007 0.20000 0.02000 0.00133
0.30 1.00034 0.30002 0.04500 0.00450
0.40 1.00106 0.40008 0.07999 0.01062
0.50 1.00261 0.50026 0.12502 0.02084
0.60 1.00539 0.60064 0.18006 0.03606
0.70 1.01001 0.70190 0.24516 0.05718
0.80 1.01702 0.80273 0.32036 0.08537
0.90 1.02735 0.90492 0.40574 0.12159
1.00 1.04169 1.00833 0.50139 0.16686
1.10 1.06106 1.11343 0.60746 0.22222
1.20 1.08651 1.22075 0.72415 0.28871
1.30 1.11920 1.33097 0.85170 0.36691
1.40 1.16043 1.44487 0.99046 0.45942
1.50 1.21157 1.56338 1.14083 0.56589
1=2p 1.25409 1.65015 1.25409 0.65015
1.60 1.27413 1.68757 1.30333 0.63800
1.70 1.39974 1.81864 1.47832 0.82698
1.80 1.44013 1.95801 1.66823 0.98416
1.90 1.54722 2.10723 1.87551 1.16093
2.00 1.67277 2.26808 2.08917 1.35828
2.10 1.82973 2.44253 2.32458 1.57937
2.20 1.98970 2.63280 2.57820 1.82430
2.30 2.18547 2.84133 2.85175 2.09562
2.40 2.40978 3.07085 3.14717 2.39537
2.50 2.66557 3.32433 3.46671 2.72586
2.60 2.95606 3.60511 3.81295 3.08961
2.70 3.08470 3.91682 4.18872 3.48944
2.80 3.65520 4.26346 4.59747 3.92846
2.90 4.07181 4.64940 5.04277 4.41016
3.00 4.53883 5.07949 5.52882 4.93837
3.10 5.06118 5.55901 6.06032 5.51743
p 5.29597 5.77437 6.29597 5.77437
3.20 5.64418 6.09375 6.64247 6.15212
3.30 6.29364 6.69006 7.28112 6.84781
3.40 7.01592 7.35491 7.98277 7.61045
3.50 7.81818 8.09592 8.75464 8.44760
3.60 8.70801 8.92147 9.60477 9.36399
3.70 9.69345 9.84072 10.54205 10.37056
3.80 10.78540 10.86377 11.57637 11.47563

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 101

TABLE 4.2 (Continued )

kx S(kx) T(kx) U(kx) V(kx)

3.9 11.99271 12.00167 12.71864 12.68943

4.0 13.32739 13.26656 13.98093 14.02336
4.1 14.80180 14.67179 15.37662 15.49007
4.2 16.43020 16.23204 16.92046 17.10362
4.3 18.27794 17.96347 18.62874 18.87964
4.4 20.21212 19.88385 20.51945 20.83545
4.5 22.40166 22.01274 22.61246 22.99027
4.6 24.81751 24.37172 24.92966 25.36541
4.7 27.48287 26.98456 27.49526 27.98448
3p=2 27.83169 27.32720 27.83169 28.32720
4.8 30.42341 29.87746 30.33591 30.87362
4.9 33.66756 33.07936 33.48105 34.06181
5.0 37.24680 36.62214 36.96314 37.58106
5.1 41.19599 40.54105 40.81801 41.46686
5.2 45.55370 44.87495 45.08518 45.75840
5.3 50.36263 49.66682 49.80826 50.49909
5.4 55.67008 54.96409 55.03539 55.73685
5.5 61.52834 60.81919 60.81967 61.52473
5.6 67.99531 67.29004 66.21974 67.92131
5.7 75.13504 74.44067 74.30033 74.99136
5.8 83.01840 82.34183 82.13288 82.80633
5.9 91.72379 91.07172 90.79631 91.44562
6.0 101.33790 100.71687 100.37773 100.99629
6.1 111.95664 111.37280 110.97337 111.55491
6.2 123.68604 123.19521 122.68950 123.22830
2p 134.37338 133.87245 133.37338 133.87245
6.3 136.64336 136.15092 135.64350 136.13411
6.4 150.96826 150.46912 149.97508 150.35257
6.5 166.77508 166.39259 165.79749 166.17747
6.6 184.24925 183.92922 183.29902 183.61768
6.7 203.55895 203.30357 202.64457 202.89872
6.8 224.89590 224.70860 224.02740 224.21449
6.9 248.47679 248.35764 247.66106 247.77920
7.0 274.53547 274.48655 273.78157 273.82956
7.1 303.33425 303.28381 302.64970 302.62707
7.2 335.16205 335.25434 334.55370 334.46067
7.3 370.33819 370.50003 369.81211 369.64954
7.4 409.21553 409.44531 408.77698 408.54660
7.5 452.18406 452.92446 451.73742 451.54146
7.6 499.67473 500.03281 499.42347 499.06489
7.7 552.16384 552.58097 552.01042 551.58780
7.8 610.17757 610.64966 610.12361 609.65112
5=2p 643.99272 644.49252 643.99272 643.49252
7.9 674.29767 674.81986 674.34367 673.82102
8.0 745.16683 745.73409 745.31233 744.74473
8.1 823.49532 823.95189 823.73886 823.28200
8.2 910.06807 910.70787 910.40722 909.76714
8.3 1005.75247 1006.41912 1006.18385 1005.51695
8.4 1111.50710 1112.19393 1112.02639 1111.33933
(continued)

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

102 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 4.2 (Continued )

kx S(kx) T(kx) U(kx) V(kx)

8.5 1228.39125 1229.09140 1228.99326 1228.29291

8.6 1357.57558 1358.28205 1358.25430 1357.54765
8.7 1500.35377 1501.05950 1501.10242 1500.39658
8.8 1658.15549 1658.85342 1658.96658 1658.26850
8.9 1832.56070 1833.42607 1833.42614 1832.74284
9.0 2025.31545 2025.97701 2026.22658 2025.56489
9.1 2238.34934 2238.98270 2339.29706 2238.66360
9.2 2473.79487 2474.39373 2474.76971 2474.17079
9.3 2734.00871 2734.56071 2735.00094 2734.44255
9.4 3021.59536 3022.10755 3022.59505 3022.08297
3p 3097.41192 3097.91193 3098.41197 3097.91193
9.5 3339.43314 3339.89411 3340.43031 3359.96926
9.6 3690.70306 3691.11321 3691.68775 3691.27754
9.7 4078.92063 4079.26590 4079.88299 4079.53766
9.8 4508.47103 4508.25298 4508.90146 4508.61946
9.9 4982.14802 4982.35202 4983.03721 4982.32136
10.0 5596.19606 5506.34442 5507.03599 5506.88844

A non-trivial solution of the above system is the frequency equation

 
 T…kl† V …kl† 
  2
V 2 …kl† ˆ 0
 V …kl† T …kl†  ˆ 0 ! T …kl†

According to Equation (4.9), this leads to sin kl ˆ 0. The roots of the equation are

kl ˆ p; 2p; . . .

Thus, the frequencies of vibration are

r r r
EI 3:14162 EI 6:28322 EI
o ˆ k2 ; o1 ˆ ; o 2 ˆ ;...
m l2 m l2 m
Mode shape
 
C
X …x† ˆ C2 T …kx† ‡ C4 V …kx† ˆ C2 T …ki x† ‡ 4 V …ki x†
C2

Find the ratio C4 =C2

X …l† ˆ C2 T…kl† ‡ C4 V …kl† ˆ 0

X 00 …l† ˆ k 2 ‰C2 V …kl† ‡ C4 T …kl†Š ˆ 0

so the ratio C4 =C2 from ®rst and second equations is

C4 T…ki l† V …ki l†
ˆ ˆ
C2 V …ki l† T…ki l†

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 103

and the mode shape (eigenfunction) is

 
T …ki l†
X …x† ˆ C2 T …kx† ‡ C4 V …kx† ˆ C2 T …ki x† V …ki x†
V …ki l†

or
 
V …ki l†
X …x† ˆ C2 U …kx† ‡ C4 V …kx† ˆ C2 T…ki x† V …ki x†
T…ki l†

According to Table 4.2, the Krylov±Duncan functions

T…p† ˆ V …p†; T …2p† ˆ V …2p†; . . .

so the mode shape is

X …x† ˆ C2 ‰T …ki x† V …ki x†Š

Example 2. Calculate the frequencies of vibration and ®nd the mode of shape vibration
for a clamped±free beam.

Solution. The boundary conditions are as follows:

At the left end (x ˆ 0): (1) X …0† ˆ 0 …Deflection ˆ 0†
(2) X 00 …0† ˆ 0 …Slope ˆ 0†
At the right end (x ˆ l): (3) X 00 …l† ˆ 0 …Bending moment ˆ 0†
(4) X 000 …l† ˆ 0 …Shear force ˆ 0†
At the left end (x ˆ 0), the Krylov±Duncan functions and their ®rst derivatives equal zero.
These are U(kx) and V(kx) functions. Thus, the expression for mode shape is

X …x† ˆ C3 U …kx† ‡ C4 V …kx†

Constants C3 and C4 are calculated from boundary conditions at x ˆ l:

X 00 …l† ˆ k 2 ‰C3 S…kl† ‡ C4 T …kl†Š ˆ 0

X 000 …l† ˆ k 3 ‰C3 V …kl† ‡ C4 S…kl†Š ˆ 0

A non-trivial solution of the above system is the frequency equation

 
 S…kl† T…kl† 
 ˆ 0 ! S 2 …kl† V …kl†T…kl† ˆ 0
 V …kl† S…kl† 

According to Equation (4.9) this leads to

cosh kl cos kl ‡ 1 ˆ 0

The roots of the frequency equation are

kl ˆ 1:8754; 4:694; 7:855; 10:996; . . .

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104 FORMULAS FOR STRUCTURAL DYNAMICS

Thus, the frequencies of vibration are

r r r

EI 1:8752 EI 4:6942 EI
o ˆ k2 ; o1 ˆ ; o 2 ˆ ;...
m l2 m l2 m

Mode shape

 
C
X …x† ˆ C3 U …kx† ‡ C4 V …kx† ˆ C3 U …ki x† ‡ 4 V …ki x†
C3

The ratio C4 =C3 may be obtained using Equation 4.7

X 00 …l† ˆ k 2 ‰C3 S…kl† ‡ C4 T…kl†Š ˆ 0

X 000 …l† ˆ k 3 ‰C3 V …kl† ‡ C4 S…kl†Š ˆ 0

so the ratio C4 =C3 from ®rst and second equations is

C4 S…ki l† V …ki l†
ˆ ˆ
C3 T…ki l† S…ki l†

and the mode shape (eigenfunction) is

 
S…ki l†
X …x† ˆ C3 U …kx† ‡ C4 V …kx† ˆ C3 U …ki x† V …ki x†
T …ki l†

or

 
V …ki l†
X …x† ˆ C3 U …kx† ‡ C4 V …kx† ˆ C3 U …ki x† V …ki x†
S…ki l†

Appendix A contains eigenfunctions for one-span beams with different boundary con-
ditions. It is assumed that the eigenfunctions are normalized, i.e.

„l
X 2 …x†dx ˆ 1
0

Example. Find an expression for the mode shape of vibration for a uniform beam with
standard boundary conditions at x ˆ 0.

Solution. According to the general algorithm, relationships (4.7) and the boundary
conditions (Table 3.3), the mode shape of vibration for a beam with standard boundary
conditions at x ˆ 0 may be presented as follows:

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 105

Type of support Boundary conditions Mode shape

at left end (x ˆ 0) at left end X(kx)

yˆ0 C3 U …kx† ‡ C4 V …kx†

@y
Clamped end ˆ0
@x
… y ˆ 0; y ˆ 0†

yˆ0 C1 S…kx† ‡ C2 T …kx†

Pinned end @2 y
EI 2 ˆ 0
( y ˆ 0; M ˆ 0) @x
 
@ @2 y
EI 2 ˆ 0 C2 T …kx† ‡ C3 U …kx†
@x @x
Free end
@2 y
(Q ˆ 0; M ˆ 0) EI ˆ0
@x2
 
@ @2 y
EI 2 ˆ 0 C1 S…kx† ‡ C3 U …kx†
@x @x
Sliding end
@y
(Q ˆ 0; y ˆ 0) ˆ0
@x

Two unknown constants Ci are determined using boundary condition for x ˆ l.

4.1.3 State equation (Strelkov, 1964; Babakov, 1965; Pilkey, 1994)

The relationship between states of two different points, for example at x ˆ l and x ˆ 0 is
2 3 2 3
y…l† y…0†
6 y…l† 7 6 7
6 7 ~ 6 y…0† 7
4 M …l† 5 ˆ A4 M …0† 5 …4:12†
Q…l† Q…0†
where y ˆ transverse displacement of the beam;
y ˆ angle of rotation;
M ˆ bending moment;
Q ˆ shear force;
A~ ˆ system matrix, which may be written in the form

2 3
1 1 1
S…kl† T…kl† U …kl† V …kl†
6 k EIk 2 EIk 3 7
6 7
6 1 1 7
6 kV …kl† S…kl† T …kl† U …kl† 7
A~ ˆ 6
6 EIk EIk 2 7
7 …4:13†
6 1 7
6 EIk 2 U …kl† EIkV …kl† S…kl† T …kl† 7
4 k 5
EIk 3 T…kl† EIk 2 U …kl† kV …kl† S…kl†

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106 FORMULAS FOR STRUCTURAL DYNAMICS

The state equation (4.12) and the system matrix (4.13) are the fundamental relationships in
the theory of the vibration of beams with a uniformly distributed mass (see the initial
parameter method, Chapter 5.1).

Example. Calculate the frequencies of vibration for a free±free beam.

Solution. The state equation (4.12) for the given system may be presented as two
systems

1
y…l† ˆ S…kl†y…0† ‡ T …kl†y…0†
k
y…l† ˆ kV …kl†y…0† ‡ S…kl†y…0†
kU …kl†y…0† ‡ V …kl†y…0† ˆ 0
kT …kl†y…0† ‡ U …kl†y…0† ˆ 0

The relationship between amplitudes at x ˆ 0 and x ˆ l may be obtained from the ®rst
system.
A non-trivial solution of the second system is the frequency equation
 
 kU …kl† V …kl† 
  2
 kT …kl† U …kl†  ˆ 0 ! U …kl† V …kl†T …kl† ˆ 0

According to Equations (4.9) this leads to

1 cosh kl cos kl ˆ 0
The roots of the equation are

0; 3:9266; 7:0685; . . .
Thus, the frequencies of vibration are
r r
3:92662 EI 7:06852 EI
o1 ˆ 0; o2 ˆ ; o3 ˆ ;...
l2 m l2 m
The frequency of vibration o1 ˆ 0 corresponds to the rigid body mode.

Special cases
1. Stiffness matrix. A stiffness matrix for a massless beam may be obtained from the
system matrix (4.13). If a uniformly distributed mass approaches zero (m ! 0) then,
according to Equation (4.3), parameter k approaches zero as well (k ! 0). If the functions
sin, cos, sinh and cosh are approximated by polynomial series and only the ®rst terms are
taken into account, then the stiffness matrix for a massless beam becomes
2 3
1 l l 2 =2EI l 3 =6EI
60 1 l=EI l 2 =2EI 7
kˆ6 40 0
7 …4:14†
1 l 5
0 0 0 1
2. Mass matrix. A mass matrix may be obtained from the system matrix (4.13) if the
length of a distributed mass approaches zero (l ! 0) and the distributed mass of a beam is
represented as single lumped mass (lm ! M ). If the functions sin, cos, sinh and cosh are

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 107

approximated by polynomial series and only the ®rst terms are taken into account, then the
mass matrix becomes
2 3
1 0 0 0
6 0 1 0 07
6
M ˆ4 7 …4:15†
0 0 1 05
M o2 0 0 1

System matrix (4.13), stiffness matrix (4.14) and mass matrix (4.15) are called transfer
matrices. Detailed information concerning transfer matrices is presented by Ivovich
(1981), Pilkey (1994).

4.1.4 Relationship between frequency parameters l for different frame

elements

In the general case, all elements of a frame have different  parameters m, EI and length l.
p
This yields different frequency parameters k ˆ 4 mo2 =EI for different elements. However,
for the system as a whole, the frequency vibration o is determined by frequency
parameters k of each element as follows

E0 I0 E I
o2 ˆ k04 ˆ k14 1 1 …4:16†
m0 m1

where m0 , EI0 , l0 and k0 are the parameters of any element, which is conditionally referred
as the base element;

m1 , EI01 , l1 and k1 are the parameters of other elements of the frame.

Equation (4.16) leads to the relationship
s
4 m 1 E 0 I0
k1 ˆ k0 x1 ; where x1 ˆ
m 0 E 1 I1

Frequency parameter

l0 l
l1 ˆ k1 l1 ˆ k0 x1 l1 ˆ l0 1 x1
l0 l0

which leads to the relationship

s
l 4 m1 E0 I0
l1 ˆ l0 1 …4:17†
l0 m0 E1 I1

Example. The frame with different parameters m, EI, and l is presented in Fig. 4.1.
Represent the frequency parameter l1 of the horizontal element in terms of frequency para-
meter l0 of the vertical element.

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

108 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 4.1. (a) Design diagram; (b) relationship between frequency parameters.

Solution. Let the vertical element be the base element. According to Equation (4.17) the
frequency parameter of the horizontal element in terms of the frequency parameter of the
vertical element is
s
l 4 m 1 E 0 I0
l1 ˆ l0 1
l0 m 0 E 1 I1

Substituting the given data of the system (Fig. 4.1(a)) in the equation above, obtains
q
4
l1 ˆ l0  2  4  12 ˆ 2:3784l0

Thus, the frequency parameter l1 of the horizontal element is reduced to the frequency
parameter l0 of vertical element.
The same algorithm is applicable for frames with any numbers of elements.

4.2 DYNAMICAL REACTIONS OF MASSLESS

ELEMENTS WITH ONE LUMPED MASS

For the solution of the eigenvalues problem for frames with elastic uniform massless
elements and a lumped mass, slope-de¯ection may be applicable. In this case, the
dynamical reactions of the one-span beams must be used. These reactions are presented
in Table 4.3. (Kiselev, 1969)
Dynamical reactions are reactions due to unit harmonic angular f…t† and linear
displacements x…t†, respectively

f…t† ˆ 1  sin yt; x…t† ˆ 1  sin yt …4:18†

where y is the frequency of harmonic displacements.

For the cases presented in Table 4.3 the frequencies of free vibrations are

3l 3 EI
o0 ˆ for cases 1 4 …4:19†
Ma3 b3
3
12l EI
o0 ˆ for cases 5 7 …4:20†
Mb2 a3 …3a ‡ 4b†

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 109

TABLE 4.3 Dynamical reactions of massless elements with one lumped mass

Bending Shear
moments forces
M(0) Q(0) Functions

 
4EI 6EI 3b
F m F m F1 ˆ 1 d 1‡
…1† l 1 l2 5 4a
 
3ab ‡ b2
F5 ˆ 1 d 1‡
2a2
2EI 6EI 1
F m F m F2 ˆ 1 ‡ d
…2† l 2 l2 6 2
l
F6 ˆ 1 ‡ d
2a
6EI 12EI
F m F m F3 ˆ F5
…3† l2 3 l3 7
" #
b…3a ‡ b†2
F7 ˆ 1 d 1‡
4a3

6EI 12EI l
F m F m F4 ˆ 1 ‡ d
…4† l2 4 l3 8 2b
3l2
F8 ˆ 1 ‡ d
4ab

6EI 12EI 4l2

F m F m F9 ˆ 1 d
…5† l2 9 l3 12 a…3a ‡ 4b†
2l2 3a ‡ 2b
F12 ˆ 1 d
a2 3a ‡ 4b

6EI 12EI 2l2 3a ‡ 2b

F m F m F10 ˆ 1 d
…6† l 2 10 l3 13 a2 3a ‡ 4b
4l3 3a ‡ b
F13 ˆ 1 d
a3 3a ‡ 4b

6EI 12EI 2l2

F m F m F11 ˆ 1 ‡ d
…7† l 2 11 l3 14 b…3a ‡ 4b†
6l3
F14 ˆ 1 ‡ d
ab…3a ‡ 4b†

* Asterisk denotes the in¯ection point of the elastic curve.

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

110 FORMULAS FOR STRUCTURAL DYNAMICS

Parameters m and d are as follows

1 y2
mˆ ; dˆ
1 d o20

Example. Find the eigenvalues of a symmetrical vibration for the frame shown in Fig.
4.2(a), assuming that all elements are massless.

Solution. The conjugate system of the frame, according to the slope and de¯ection
method, is given in Fig. 4.2(b). Restrictions 1 and 2 prevent angular displacements, and
restriction 3 prevents horizontal displacement of the frame. The basic unknowns, which
correspond to the symmetrical vibrations of the framed structure, are group rotation of
®xed joints 1 and 2 (Fig. 4.2(c)). The canonical equation of the slope-de¯ection method is

r11 Z1 ‡ R1p ˆ 0

where r11 ˆ unit reaction in restriction 1 due to group rotation of ®xed joint 1 through a
unit angle in a clockwise direction and joint 2 in the counter-clockwise
direction;
R1p ˆ reaction in the restriction 1 due to internal loads; R1p ˆ 0, since internal
loads are absent.
The square of the frequency of vibration of a massless clamped±clamped beam with one
lumped mass M according to Equation (4.19) is

3l 2 EI
o2 ˆ
Ma3 b3

FIGURE 4.2. Design diagram and conjugate system of slope and de¯ection method. Z1 and Z2 are
principal unknowns for symmetrical vibration.

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SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 111

If a ˆ b ˆ 0:5l, then

192EI
o2 ˆ
Ml 3
Vertical elements 1±5. The bending moment in restriction 1, according to Table 4.3, is

4EI
Mvert ˆ F m
h 1
where
 
y2 3 7 y2 1
F1 ˆ 1 1 ‡  1 ˆ1 mˆ
o2 4 4 o2 y2
1
o2
thus
!
4EI 7 y2
Mvert ˆ 1 m
h 4 o2

Horizontal elements 1±2. The bending moment in the additional joint 1 is

4EI 2EI 7 y2
Mhoriz ˆ F1 m F2 m F1 ˆ 1
l l 4 o2 !
2
d y 2EI y2
F2 ˆ 1 ‡ ˆ 1 ‡ 2 Mhoriz ˆ 1 4 2 m
2 2o l o

Unit reaction (if l ˆ h) is

" ! !# !
r11 4EI 7 y2 2EI y2 EI y2
ˆ Mvert ‡ Mhoriz ˆ 1 ‡ 1 4 2 mˆ 6 15 2 m
2 l 4 o2 l o l o

The frequency equation is

!
EI y2
r11 ˆ 6 15 2 m ˆ 0
l o

The square of the frequency of symmetrical vibration of the frame is

6 2 6 192EI
y2 ˆ o ˆ
15 15 Ml 3

4.3 DYNAMICAL REACTIONS OF BEAMS WITH

DISTRIBUTED MASSES

For the solution of the eigenvalue problem for frames with elastic uniform elements and
uniformly distributed masses along the length of elements, the slope-de¯ection method

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

112 FORMULAS FOR STRUCTURAL DYNAMICS

may be applicable (Kiselev, 1980). In this case, dynamical unit reactions of the one-span
beams must be used.
Dynamical reactions are unit reactions due to unit harmonic angular f…t† and linear x…t†
displacements according to Equation (4.18). In the case of free vibration, y ˆ o, where o
is the frequency of free vibration of a system (eigenvalue). The effects of the inertial forces
of distributed masses are taken into account by correction functions ci …l†.
The exact expression of the dynamical reactions may be presented using correction
functions (Table 4.4) or Krylov±Duncan functions (Table 4.5). To avoid cumbersome
calculation, numerical values of correction functions are presented in Table 4.6.
Approximate expression of dynamical reactions (Bolotin's functions) are presented in
Table 4.7 (Bolotin, 1964; Smirnov et al., 1984).
Tables 4.4±4.7 contain the following parameters:
r
4 o2 m
l is frequency parameter, l ˆ l
EI
EI
i is bending stiffness per unit length, i ˆ
l
The equations of elastic curves of beams subjected to unit support displacement are
presented in Table 4.10, later.

Example. Find eigenvalues of symmetrical vibration for the frame shown in Fig. 4.3(a),
assuming that masses are distributed uniformly along the length of the elements. The
length of all the elements is l; EI ˆ const.

Solution. The primary system of the frame, corresponding to the slope-de¯ection

method is given in Fig. 4.3(b). The basic unknowns are the group of angular displacements
Z1 and Z2 (Fig. 4.3(c)). The canonical equation is

r11 Z1 ‡ R1p ˆ 0

where R1p ˆ 0, since only free vibration is under investigation.

Reaction r11 is obtained from Table 4.4

r11
ˆ 3ic1 …l† ‡ 4ic2 …l† ‡ 4ic2 …l† 2ic3 …l†
2

or

r11 ˆ 2‰3c1 …l† ‡ 8c2 …l† 2c3 …l†Š

The frequency equation is

r11 ˆ 0

or

3c1 …l† ‡ 8c2 …l† 2c3 …l† ˆ 0

The roots of the transcendental equation are l1 ˆ 3:34, l2 ˆ 4:25, l3 ˆ 4:73, . . . .

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SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 113

TABLE 4.4 Exact dynamical reactions of beams with uniformly distributed masses

Design diagram
and bending Bending
moment diagram moments Reactions Correction functions

l 2 sinh l sin l
c1 …l† ˆ
A 1 MA VA 3i 3 cosh l sin l sinh l cos l
VA ˆ c4 …l†
l
MA ˆ 3ic1 …l† l2 cosh l sin l ‡ sinh l cos l
l c4 …l† ˆ
MB ˆ 0 3i 3 cosh l sin l sinh l cos l
VB
VB ˆ c7 …l†
l
B l2 sinh l ‡ sin l
c7 …l† ˆ
3 cosh l sin l sinh l cos l

VA l cosh l sin l sinh l cos l

A 1 MA c2 …l† ˆ
6i 4 1 cosh l cos l
VA ˆ c5 …l†
l
l MA ˆ 4ic2 …l† l sinh l sin l
c3 …l† ˆ
∗ VB MB ˆ 2ic3 …l† 3i 2 1 cosh l cos l
VB ˆ c6 …l†
B MB l
l2 sinh l sin l
∗ Inflection point of c5 …l† ˆ
elastic curve 6 1 cosh l cos l
l2 cosh l cos l
c6 …l† ˆ
6 1 cosh l cos l
1
MA VA 3i l3 2 cosh l cos l
VA ˆ c …l† c8 …l† ˆ
A 3i l2 8 3 cosh l sin l sinh l cos l
MA ˆ c …l†
l
l 4
3i l3 cosh l ‡ cos l
MB ˆ 0 VB ˆ c …l† c9 …l† ˆ
VB l2 9 3 cosh l sin l sinh l cos l
B
1
VA l3 cosh l sin l ‡ sinh l cos l
MA 6i 12i c10 …l† ˆ
A MA ˆ c5 …l† VA ˆ 2 c10 …l† 12 1 cosh l cos l
l l
l 3
l2i l sinh l ‡ sin l
VB 6i VB ˆ 2 c11 …l† c11 …l† ˆ 12 1 cosh l cos l
MB ˆ c6 …l† l
B MB l

1 VA
A 3i
MA ˆ 0 VA ˆ c …l†
l2 12 l3 1 ‡ cosh l cos l
3i c12 …l† ˆ
l MB ˆ c7 …l† 3i 3 cosh l sin l sinh l cos l
VB
l VB ˆ c …l†
l2 9
B MB

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114 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 4.5 Exact dynamical reactions of beams with uniformly distributed masses in terms of
Krylov±Duncan functions (Bezukhov et al., 1969)
r !
4 mo2 l 4
Design diagram Reactions l ˆ ˆ kl
EI

MA VA
A 1
EIk…SV TU † EIk 2 …SU V 2 †
r11 ˆ r21 ˆ
…1† l
U 2 TV U 2 TV

VB VEIk EIk 2 U
r31 ˆ r41 ˆ
B U 2 TV U 2 TV

r12
EIk 3 …ST UV † EIk 2 …V 2 SU †
r32 r22 ˆ r12 ˆ
…2† ξ (t) U 2 TV U 2 TV

EIk 2 U EIk 3 T
r22 r42 r32 ˆ r42 ˆ
U 2 TV U 2 TV

φ(t) EIk…T 2 V 2 † EIk 2 …UV ST †

r11 ˆ r21 ˆ
φ SV TU SV TU
…3† r
11
r21 EIk 2 T V
r31 r31 ˆ jˆ
SV TU SV TU

r12
EIk 3 …U 2 S 2 † EIk 2 …ST UV †
r22 ˆ r12 ˆ
ξ (t) φ SV TU SV TU
…4†
EIk 2 S Uk
r22 r32 r32 ˆ jˆ
SV TU SV TU

φ0
EIk 3 …SV TU†
ξ (t) r11 ˆ r21 ˆ r11
φ T2 V2
…5†

r21 k…UV ST † kT
r11 j0 ˆ jˆ
T2 V2 T2 V2
Translational motion of all beams
φ0 EIk 3 …Ua Va Sa Ta †
ξ (t) r11 ˆ
Sa2 Ua2
…6†
a a r11 k…Ta Ua Sa Va †
r11 j0 ˆ
Sa2 Ua2

Krylov±Duncan functions S, T, U, V calculated at x ˆ l; subscript a indicates that these functions are calculated
at x ˆ a.

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 TABLE 4.6 Numerical values of correction functions (Smirnov et al. 1984).

l c1 …l† c2 …l† c3 …l† c4 …l† c5 …l† c6 …l† c7 …l† c8 …l† c9 …l† c10 …l† c11 …l† c12 …l†

0.0 1.00000 1.00000 1.00000 1.00000 1.00000 1.00000 1.00000 1.00000 1.00000 1.00000 1.00000 1.00000
0.1 1.00000 1.00000 1.00000 1.00000 1.00000 1.00000 1.00000 0.99998 1.00000 1.00000 1.00000 0.99999
0.2 0.99999 1.00000 1.00001 0.99995 0.99999 1.00001 1.00002 0.99974 1.00007 0.99995 1.00002 0.99987
0.3 0.99994 0.99998 1.00003 0.99977 0.99993 1.00004 1.00011 0.99869 1.00038 0.99975 1.00009 0.99936
0.4 0.99984 0.99994 1.00009 0.99927 0.99978 1.00013 1.00034 0.99585 1.00119 0.99921 1.00027 0.99799
0.5 0.99960 0.99985 1.00022 0.99821 0.99945 1.00032 1.00082 0.98988 1.00290 0.99806 1.00067 0.99509
0.6 0.99918 0.99969 1.00046 0.99630 0.99887 1.00067 1.00170 0.97901 1.00602 0.99599 1.00139 0.98981
0.7 0.99847 0.99943 1.00086 0.99314 0.99790 1.00124 1.00315 0.96111 1.01116 0.99257 1.00257 0.98112
0.8 0.99739 0.99902 1.00146 0.98828 0.99642 1.00211 1.00537 0.93362 1.01906 0.98732 1.00439 0.96779
0.9 0.99582 0.99844 1.00235 0.98121 0.99427 1.00399 1.00862 0.89361 1.03057 0.97968 1.00704 0.94837
1.0 0.99363 0.99761 1.00358 0.97133 0.99126 1.00517 1.01316 0.83772 1.04667 0.96902 1.01074 0.92125
1.1 0.99065 0.99650 1.00525 0.95796 0.98719 1.00758 1.01931 0.76214 1.06850 0.95462 1.01575 0.88458
1.2 0.98673 0.99504 1.00744 0.94034 0.98184 1.01075 1.02743 0.66264 1.09733 0.93569 1.02234 0.83630
1.3 0.98167 0.99317 1.01026 0.91762 0.97496 1.01483 1.03792 0.53448 1.13462 0.91135 1.03083 0.77412
1.4 0.97525 0.99079 1.01384 0.88882 0.96627 1.02000 1.05125 0.37238 1.18201 0.88064 1.04157 0.69549
1.5 0.96723 0.98784 1.01828 0.85289 0.95547 1.02643 1.06794 0.17050 1.24142 0.84252 1.05495 0.59757
1.6 0.95734 0.98422 1.02375 0.80859 0.94223 1.03433 1.08859 0.07768 1.31504 0.79583 1.07141 0.47721
1.7 0.94525 0.97983 1.03039 0.75455 0.92618 1.04394 1.11391 0.37944 1.40540 0.73933 1.09144 0.33090
1.8 0.93060 0.97455 1.03838 0.68920 0.90692 1.05551 1.14470 0.74297 1.51549 0.67165 1.11557 0.15468
1.9 0.91298 0.96826 1.04791 0.61071 0.88400 1.06933 1.18194 1.17751 1.64887 0.59133 1.14442 0.05590
2.0 0.89188 0.96083 1.05922 0.51698 0.85694 1.08572 1.22675 1.69362 1.80980 0.49673 1.17870 0.30593
2.1 0.86671 0.95210 1.07255 0.40552 0.82519 1.10507 1.28054 2.30348 2.00346 0.38609 1.21920 0.60126
2.2 0.83678 0.94189 1.08819 0.27334 0.78815 1.12778 1.34499 3.02127 2.23621 0.25746 1.26683 0.94869

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2.3 0.80120 0.93000 1.10646 0.11685 0.74512 1.15436 1.42221 3.86381 2.51603 0.10867 1.32268 1.35628

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2.4 0.75891 0.91622 1.12776 0.06838 0.69533 1.18536 1.51486 4.85132 2.85300 0.06265 1.38794 1.83370
2.5 0.70855 0.90027 1.15252 0.28792 0.63789 1.22146 1.62361 6.00858 3.26008 0.25921 1.46412 2.39277
SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

2.6 0.64838 0.88187 1.18127 0.54885 0.57178 1.26345 1.76099 7.36650 3.75427 0.48401 1.55296 3.04824
(continued)
115
SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

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 116

TABLE 4.6 (Continued)

l c1 …l† c2 …l† c3 …l† c4 …l† c5 …l† c6 …l† c7 …l† c8 …l† c9 …l† c10 …l† c11 …l† c12 …l†

2.7 0.57610 0.86064 1.21465 0.86042 0.49582 1.31227 1.92479 8.96474 4.35821 0.74051 1.65655 3.81896
2.8 0.48864 0.83618 1.25340 1.23499 0.40859 1.36906 2.12566 10.8553 5.10279 1.03267 1.77743 4.72963
2.9 0.38175 0.80797 1.29844 1.68954 0.30844 1.43520 2.37473 13.1085 6.03118 1.36510 1.91871 5.81363
3.0 0.24937 0.77540 1.35089 2.24817 0.19336 1.51241 2.68795 15.8228 7.20554 1.74324 2.08425 7.11762
3.1 0.08256 0.73772 1.41217 2.94636 0.06090 1.60282 3.08906 19.1416 8.71851 2.17360 2.27887 8.70949
3.2 0.13252 0.69399 1.48404 3.83880 0.09197 1.70914 3.61495 23.2841 10.7144 2.66408 2.50873 10.6929
3.3 0.41847 0.64300 1.56877 5.10472 0.26908 1.83484 4.32616 23.6053 13.4304 3.22447 2.78172 13.2357
3.4 0.81502 0.58322 1.66931 6.63059 0.47534 1.98444 5.32940 35.7248 17.2849 3.86709 3.10821 16.6306
3.5 1.39906 0.51261 1.78959 8.98897 0.71717 2.16396 6.83166 45.8366 23.0905 4.60787 3.50200 21.4416
3.6 2.34150 0.42845 1.93491 12.7620 1.00321 2.38160 9.29380 61.5781 32.6572 5.46784 3.98191 28.9184
3.7 4.11481 0.32694 2.11269 19.8068 1.34530 2.64874 13.9908 90.2796 50.9940 6.47565 4.57418 42.5096
3.8 8.68383 0.20271 2.33351 37.8450 1.76031 2.98173 26.2273 162.264 98.9448 7.67158 5.31656 76.5449
3.9 47.5553 0.04780 2.61310 190.688 2.27304 3.40484 131.076 764.081 510.816 9.11447 6.26517 360.744
FORMULAS FOR STRUCTURAL DYNAMICS

4.0 19.4676 0.15008 2.97580 72.5892 2.92177 3.95573 50.0202 269.204 200.997 10.8945 7.50722 127.061
4.1 9.17015 0.41099 3.46151 32.0149 3.76880 4.69608 22.3504 108.347 92.4486 13.1577 9.18569 51.0506
4.2 6.39342 0.77004 4.14023 20.9844 4.92322 5.73426 15.0017 63.4671 63.7764 16.1590 11.5520 29.7927
4.3 5.09273 1.29502 5.14721 15.7435 6.59517 7.27962 11.0541 41.2098 50.8504 20.3881 15.0923 19.2100

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4.4 4.33068 2.13568 6.78170 12.6074 9.24895 9.79564 9.77808 27.0861 43.7338 26.9254 20.8829 12.4612

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4.5 3.82358 3.70212 9.86350 10.4603 14.1553 14.5521 8.60964 16.7007 39.4279 38.7254 31.8739 7.47032
4.6 3.45603 7.66550 17.7346 8.84763 26.4922 26.7259 7.83952 8.25542 36.7214 67.8215 60.0939 3.38788
4.7 3.17211 37.9477 78.2382 7.54805 120.374 120.430 7.31942 0.86832 35.0365 286.431 277.755 0.20327
4.8 2.94125 18.3048 34.3328 6.43993 53.8390 53.9758 6.96699 5.95313 34.0673 117.882 127.584 3.53645
4.9 2.74520 8.34376 14.4830 5.44965 22.9053 23.2523 6.74570 12.5144 33.6417 45.4706 56.2845 6.75683
SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

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 TABLE 4.6 (Continued)

l c1 …l† c2 …l† c3 …l† c4 …l† c5 …l† c6 …l† c7 …l† c8 …l† c9 …l† c10 …l† c11 …l† c12 …l†

5.0 2.57221 5.74862 9.37158 4.52887 14.7866 15.3625 6.61931 19.0240 33.6611 26.0348 38.0519 9.9388
5.1 2.41419 4.54448 7.04949 3.64239 10.9712 11.7966 6.57441 25.6381 34.0712 16.5568 29.8773 13.2326
5.2 2.26523 3.84172 5.73831 2.76656 8.70237 9.80006 6.60156 32.4852 34.8473 10.6284 25.3614 16.6251
5.3 2.12066 3.37489 4.90802 1.87670 7.15699 8.55222 6.69622 39.6811 35.9872 6.33368 22.5990 20.1978
5.4 1.97654 3.03685 4.34539 0.95373 6.00243 7.72326 6.85771 47.3398 37.5073 2.89632 20.8258 24.0068
5.5 1.82925 2.77590 3.94830 0.02214 5.07780 7.15559 7.08877 55.5820 39.4429 0.06147 19.6777 28.1115
5.6 1.67518 2.56393 3.66194 1.07206 4.29505 6.76502 7.39562 64.5440 41.8496 2.74869 18.9619 32.5797
5.7 1.51046 2.38420 3.45455 2.22019 3.60123 6.50316 7.78837 74.3878 44.8078 5.29338 18.5690 37.4921
5.8 1.33058 2.22596 3.30668 3.49580 2.96183 6.34091 8.28201 85.3146 48.4303 7.78152 18.4354 42.9490
5.9 1.13003 2.08186 3.20607 4.93603 2.35258 6.26051 8.89804 97.5837 52.8743 10.2762 18.5245 49.0801
6.0 0.90164 1.94654 3.14497 6.59010 1.75508 6.25142 9.66722 111.542 58.3610 12.8279 18.8176 56.0589
6.1 0.63564 1.81579 3.11863 8.52590 1.15419 6.30816 10.6340 127.670 65.2074 15.4813 19.3091 64.1260
6.2 0.31810 1.68609 3.12451 10.8411 0.53635 6.42908 11.8642 146.659 73.8813 18.2790 20.0042 73.6279
6.3 0.07184 1.55421 3.16184 13.6826 0.11165 6.61594 13.4590 169.550 85.0985 21.2656 20.9182 85.0866
6.4 0.56726 1.41697 3.23150 17.2838 0.80379 6.87382 15.5807 197.999 100.008 24.4907 22.0775 99.3306
6.5 1.22420 1.27096 3.33602 22.0407 1.55590 7.21151 18.5070 234.807 120.571 28.0127 23.5215 117.765
6.6 2.14624 1.11221 3.47984 28.6852 2.38707 7.64236 22.7533 285.156 150.433 31.9041 25.3065 142.986
6.7 3.54900 0.93590 3.66989 38.7417 3.32150 8.18582 29.3961 359.825 197.001 36.2582 27.5117 180.397
6.8 5.96878 0.73570 3.91647 56.0011 4.39125 8.86994 41.1164 485.620 279.826 41.2002 30.2495 243.432
6.9 11.2137 0.50302 4.23489 93.2444 5.64072 9.73560 66.9589 752.891 462.244 46.9040 33.6823 377.376
7.0 31.6355 0.22551 4.64819 237.782 7.13407 10.8439 168.735 1778.81 1181.36 53.6219 38.0513 891.557

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117
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118 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 4.3. Design diagram, conjugate system, bending moment diagram due topa
group of unit angular
displacements and the free-body diagram of the joint. Frequency parameter l ˆ l 4 o2 …m=EI †:

The frequencies of symmetrical vibration are

 2 r
3:34 EI
o1 ˆ
l m
 2 r
4:25 EI
o2 ˆ
l m
 2 r
4:73 EI
o3 ˆ ...
l m

Example. Find the frequencies of free vibration for the frame shown in Fig. 4.4(a),
assuming that bar masses are distributed uniformly along the length of the elements.
The length of all elements is l, and EI ˆ const.

Solution. The primary system of the frame, corresponding to the slope and de¯ection
method, as well as the bending moment diagram due to the unit angular displacements
Z1 , are given in Fig. 4.4(b).

FIGURE 4.4. Design diagram, conjugate system and bending moment diagram due to unit angular
displacement of joint 1.

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SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 119

The canonical equation of the slope-de¯ection method is

r11 Z1 ‡ R1p ˆ 0
where R1p ˆ 0 since the external forces are not considered.
Reaction r11 is obtained from Table 4.5

EIk…SV TU †
r11 ˆ 2
U 2 TV
Frequency equation is r11 ˆ 0, which leads to the transcendental equation

tan kl ˆ tanh kl
The roots of the above equation are

kl ˆ 3:926; 7:0685; . . .
The exact frequencies of vibration are
r r
3:9262 EI 7:06852 EI
o1 ˆ ; o 2 ˆ ;...
l2 m l2 m

4.3.2 Approximate formulas (Bolotin, 1964; Smirnov et al., 1984)

Approximate expressions for the reactions of elastic uniform beams with uniformly
distributed masses m due to unit angular and linear displacements of its ends, according
to Equation (4.18), are presented in Table 4.7. The ®rst term is the exact elastic reaction,
due to statical unit displacement, the second term is the approximate reaction due to
distributed inertial forces mo2 y…x†; k ˆ mo2 l 3 , i ˆ EI =l.
The ®rst term in the expressions for bending moment and shear force is used in statical
calculation using the slope-de¯ection method.

Example. Determine the natural frequencies of vibration for the frame shown in Fig.
4.5(a), assuming that masses are distributed uniformly along the length of the elements.
The length of all elements is l , EI ˆ const.

Solution. The basic system of the frame, corresponding to the slope-de¯ection method,
and the bending moment diagram due to unit angular displacements Z1 are given in Fig.

FIGURE 4.5. Design diagram, conjugate system and bending moment diagram due to unit angular
displacement of joint 1.

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120 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 4.7 Approximate dynamical reactions of beams with uniformly distributed masses.

Design diagram and bending

moment diagram Bending moment Reactions

3i 3 k
2 VA ˆ
MA ˆ 3i k l 35 l
105
MB ˆ 0 3i 11 k
VB ˆ ‡
l 280 l

6i 11 k
k VA ˆ
MA ˆ 4i l 210 l
105
k 6i 13 k
MB ˆ 2i ‡ VB ˆ ‡
140 l 420 l

3i 17 k
3i 3 k VA ˆ
MA ˆ l2 35 l 2
l 35 l
3i 39 k
VB ˆ ‡
MB ˆ 0 l2 280 l 2

12i 13 k
6i 11 k VA ˆ
MA ˆ l2 35 l 2
l 210 l
12i 9 k
6i 13 k VB ˆ ‡
MB ˆ ‡ l2 70 l 2
l 420 l

3i 33 k
VA ˆ
MA ˆ 0 l2 140 l 2
3i 39 k
3i 11 k VB ˆ ‡
MB ˆ ‡ l2 280 l 2
l 280 l

k
VA ˆ
MA ˆ 0 3l2

MB ˆ 0 k
VB ˆ
6l2

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SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 121

4.5(b). The canonical equation of the slope-de¯ection method is

r11 Z1 ‡ R1p ˆ 0
where R1p ˆ 0, since free vibration is considered.
Reaction r11 is obtained from Table 4.7
 
k
r11 ˆ 2 4i
105
The frequency equation is r11 ˆ 0, which leads to the algebraic equation

k
4i ˆ0
105
The root of the above equation is
EI
k ˆ 4  105 ˆ mo2 l 3
l
The approximate fundamental frequency of vibration of the frame is
r
4:5272 EI
oˆ
l2 m

4.4 DYNAMICAL REACTIONS OF BEAMS WITH

UNIFORM DISTRIBUTED MASSES AND ONE
LUMPED MASS

For the solution of eigenvalue problems for frames with elastic uniform elements and
uniformly distributed masses along the length of elements and one lumped mass, the slope-
de¯ection method may be applicable. In this case, the dynamical reactions (Kiselev's
functions) of one-span beams must be used. (Kiselev, 1969)
Dynamical unit reactions are reactions due to unit harmonic angular f…t† and linear
displacements x…t†, according to Equation (4.18). In the case of free vibration y ˆ o,
where o is the frequency of free vibration of a deformable system. The effects of inertial
forces of distributed masses and one lumped mass are taken into account by correction
functions.
The exact expression of dynamical reactions for beams with different boundary
conditions may be presented in terms of Krylov±Duncan functions (Table 4.8).
Table 4.8 contains the following parameters and functions:
r
4 o2 m
l is frequency parameter, l ˆ l ;
EI
D and D1 are parameters that are calculated by the following formulas

m1 y2
D ˆ U2 TV ‡ ‰U UV ‡ Ub UVa Ua Ub V TVa Vb Š
k 3 EI a b
…4:21†
m y2
D1 ˆ TU SV ‡ 31 ‰TUa Vb ‡ UVa Tb SVa Vb Tb Ua V Š
k EI

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122 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 4.8 Exact dynamical reactions of beams with uniformly distributed masses and one lumped
mass

Bending moment M(0) and shear force Q(0)

( )
kEI m y2
M …0† ˆ TU SV ‡ 31 ‰Ta UVb ‡ TUb Va SVa Vb Ta Ub V Š
D k EI
( )
k 2 EI m1 y2
Q…0† ˆ SU T2 ‡ ‰T U U ‡ SUa Vb Ta TVb TUa Ub Š
D k 3 EI a b

" #
kEI m y2
M …0† ˆ V ‡ 31 Va Vb
D k EI
" #
2
k EI m y2
Q…0† ˆ U ‡ 31 Ua Vb
D k EI

" #
k 2 EI m1 y2
M …0† ˆ U ‡ 3 Ub Va
D k EI
" #
k 3 EI m1 y2
Q…0† ˆ T ‡ 3 Ua Ub
D k EI

( )
k 2 EI m1 y2
M …0† ˆ V2 SU ‡ ‰S U V ‡ Va VVb Sa UVb SUb Va Š
D k 3 EI a b
( )
k 3 EI m1 y2
Q…0† ˆ ST UV ‡ ‰S TV ‡ SUa Ub Sa UUb Ua VVb Š
D k 3 EI a b

( )
kEI 2 2 m1 y2
M …0† ˆ T V ‡ 3 ‰Ta TVb ‡ Tb TVa Ta Tb V VVa Vb Š
D1 k EI
( )
k 2 EI m1 y2
Q…0† ˆ UV ST ‡ 3 ‰Ua VVb ‡ Ta Tb U STa Vb TTb Ua Š
D1 k EI

" #
k 2 EI m y2
M …0† ˆ T ‡ 31 Tb Va
D1 k EI
" #
k 3 EI m y2
Q…0† ˆ S ‡ 31 Tb Ua
D1 k EI

( )
k 2 EI m y2
M …0† ˆ UV ST ‡ 31 ‰Sa Tb V ‡ UVa Vb Sa TVb STb Va Š
D1 k EI
( )
3
k EI 2 2 m1 y2
Q…0† ˆ S U ‡ 3 ‰STb U ‡ Sa SVb Sa Tb V Ua UVb Š
D1 k EI

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SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 123

S; T ; U ; V ˆ Krylov±Duncan functions that must be calculated at x ˆ l; subscripts a

and b indicate that these functions are calculated at x ˆ a and x ˆ b,
respectively.

Example. Determine the natural frequencies of antisymmetrical vibration for the frame
shown in Fig. 4.6(a), assuming that the masses are distributed uniformly along the
length of the elements and one concentrated mass M is attached at the middle of the hori-
zontal element.

FIGURE 4.6. Design diagram, conjugate system and bending moment diagrams.

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124 FORMULAS FOR STRUCTURAL DYNAMICS

Solution. The basic system of the frame, corresponding to the slope-de¯ection method is
given in Fig. 4.6(b). The basic unknowns are a group of angular displacements Z1 , both in
a clockwise direction, and linear displacement Z2 (Fig. 4.6(c),(d)). The elastic curve and
in¯ection point are presented by a dotted line and asterisk. Canonical equations are
r11 Z1 ‡ r12 Z2 ˆ 0
r21 Z1 ‡ r22 Z2 ˆ 0
The frequency equation is
 
 r11 r12 
 ˆ0
 r21 r22 
The equilibrium of joint 1 in the ®rst and second conditions leads to
r11
ˆ 4ic2 …l† ‡ 4ic2 …l† ‡ 2ic3 …l† ! r11 ˆ 4i ‰4c2 …l† ‡ c3 …l†Š
2
r12 6i 12i
ˆ c …l† ! r12 ˆ c …l†
2 l 5 l 5
The equilibrium of the horizontal element in the ®rst and second conditions (Fig. 4.6(e),(f))
leads to
12i
r21 ˆ c …l†
l 5
12i 24i l4 EI …ml ‡ M †
r22 ˆ 2 2 c10 …l† …ml ‡ M †o2 ˆ 2 c10 …l†
l l l4 m
Let M ˆ 0:2ml, l ˆ 6 m. In this case
24i l4
r22 ˆ c …l† i
l 2 10 30
The frequency equation becomes
" #  2
24 l4 12i
2
4i ‰4c2 …l† ‡ c3 …l†Š 2 c10 …l† c25 …l† ˆ 0
l 30 l
The root is l ˆ 1:74 (c2 ˆ 0:97834, c3 ˆ 1:03263, c5 ˆ 0:92076, c10 ˆ 0:72026).
The ®rst frequency of antisymmetric vibration is
r r
1:742 EI EI
oˆ 2 ˆ 0:0841
6 m m

4.5 FREQUENCY FUNCTIONS

(HOHENEMSER±PRAGER'S FUNCTIONS)

For two-span beams with different classical and non-classical boundary conditions,
Krylov±Duncan functions (4.6) may be applicable for each span. Eight unknown constants
may be calculated using boundary conditions (Tables 3.3 and 3.4) and compatibility
conditions (Table 3.5 and Table 3.6 for frames). This leads to systems of homogeneous
algebraic equations with respect to unknown constants. A non-trivial solution of homo-
geneous equations is the frequency equation in the form of a determinant, which leads to a
transcendental frequency equation. A special combination of the Krylov±Duncan functions

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SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 125

TABLE 4.9 Numerical values of Hohenemser±Prager functions

l A…l† B…l† C…l† S1 …l† D…l† E…l†

0.00 0.00000 0.00000 2.00000 0.00000 0.00000 2.00000

0.10 0.20000 0.00067 1.99997 0.02000 0.00002 1.99998
0.20 0.39998 0.00533 1.99947 0.08000 0.00027 1.99973
0.30 0.59984 0.01800 1.99730 0.17998 0.00135 1.99865
0.40 0.79932 0.04266 1.99147 0.31991 0.00427 1.99573
0.50 0.99792 0.08331 1.97917 0.49965 0.01042 1.98958
0.60 1.19482 0.14391 1.95681 0.71896 0.02159 1.97841
0.70 1.38880 0.22841 1.92001 0.97739 0.03999 1.96001
0.80 1.57817 0.34067 1.86360 1.27418 0.06820 1.93180
0.90 1.76067 0.48448 1.78164 1.60820 0.10918 1.89082
1.00 1.93342 0.66349 1.66746 1.97780 0.16627 1.83373
1.10 2.09284 0.88115 1.51367 2.38068 0.24317 1.75683
1.20 2.23457 1.14064 1.31221 2.81375 0.34389 1.65611
1.30 2.35341 1.44478 1.05443 3.27298 0.47278 1.52722
1.40 2.44327 1.79593 0.73116 3.75319 0.63442 1.36558
1.50 2.49714 2.19590 0.33281 4.24789 0.83360 1.16640
1.60 2.50700 2.64573 0.15052 4.74911 1.07526 0.92474
1.70 2.46393 3.14556 0.72883 5.24716 1.36441 0.63559
1.80 2.35774 3.69467 1.41205 5.73046 1.70602 0.29398
1.875 0.000
1.90 2.17764 4.29076 2.20983 6.18533 2.10492 0.10492
2.00 1.91165 4.93026 3.15125 6.59579 2.56563 0.56563
2.10 1.54699 5.60783 4.18448 6.94341 3.09224 1.09224
2.20 1.07013 6.31615 5.37644 7.20711 3.68822 1.68822
2.30 0.46690 7.04566 6.71236 7.36304 4.35618 2.35618
2.365 0.0000
2.40 0.27725 7.78428 8.19532 7.38447 5.09765 3.09766
2.50 1.17708 8.51709 9.82569 7.24176 5.91284 3.91284
2.60 2.24721 9.22607 11.60057 6.90229 6.80028 4.80028
2.70 3.50179 9.88981 13.51311 6.33058 7.75655 5.75655
2.80 4.95404 10.48317 15.55181 5.48339 8.77591 6.77591
2.90 6.61580 10.97711 17.69976 4.33499 9.84988 7.84988
3.00 8.49687 11.33837 19.93382 2.82745 10.96691 8.96691
3.10 10.60443 11.52931 22.22376 0.92113 12.11188 10.11183
3.20 12.94222 11.50778 24.53139 1.42969 13.26569 11.26569
3.30 1.50974 11.22702 26.80960 4.27108 14.40480 12.40480
3.40 18.30128 10.63569 29.00150 7.64853 15.50075 13.50075
3.50 21.30492 9.67799 31.03947 11.60575 16.51973 14.51973
3.60 24.50142 8.29386 32.84428 16.18338 17.42214 15.42214
3.70 27.86297 6.41942 34.32433 21.41734 18.16216 16.16216
3.80 31.35198 3.98752 35.37489 27.33708 18.68744 16.68744
3.90 34.91970 0.92844 35.87753 33.96341 18.93876 16.93876
3.926 0.0000
4.00 38.50482 2.82906 35.69970 41.30615 18.84985 16.84985
4.10 42.03177 7.35626 34.69457 49.36091 18.34728 16.34728
4.20 45.41080 12.72446 32.70105 58.10912 17.35052 15.35052
4.30 48.53352 19.00015 29.54425 67.50881 15.77213 13.77213
4.40 51.27463 26.24587 25.03630 77.49713 13.51815 11.51815
(Continued )

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

126 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 4.9 (Continued )

l A…l† B…l† C…l† S1 …l† D…l† E…l†

4.50 53.48910 34.51621 18.97757 87.98360 10.48879 8.48879

4.60 55.01147 43.85518 11.15854 98.84668 6.57927 4.57927
4.694 0.0000
4.70 55.65491 54.29292 1.36221 109.92964 1.68111 0.31889
3p=2 0.0000
4.730 0.0000
4.80 55.21063 65.84195 10.63276 121.03618 4.31688 6.31638
4.90 53.44768 78.49300 25.04809 131.92604 11.52405 13.52405
5.00 50.11308 92.21037 42.10111 142.31052 20.05056 22.05056
5.10 44.93220 106.92652 61.99893 151.84743 29.99947 31.99947
5.20 37.61210 122.53858 84.93165 160.14093 41.46583 43.46683
5.30 27.83957 138.89839 111.06435 166.72965 54.53218 56.53218
5.40 15.28815 155.81036 140.52794 171.09153 69.26397 71.56397
5.498 0.0000
5.50 0.37999 173.02289 173.40867 172.63714 85.70434 87.70434
5.60 19.50856 190.22206 209.73636 170.70883 103.86818 105.86818
5.70 42.44092 207.02472 249.47123 164.58011 123.73562 125.73562
5.80 69.51236 222.97166 292.48939 153.45649 145.24469 147.24469
5.90 101.04091 237.52093 338.56692 136.47797 168.28346 170.28346
6.00 137.31651 250.04146 387.36272 112.72356 192.68136 194.68136
6.10 178.58835 259.80732 438.40008 81.21816 218.20004 220.20004
6.20 225.05037 265.99277 491.04719 40.94205 244.52359 246.52359
2p 0.0000
6.30 276.82475 267.66834 544.49676 9.15635 271.24838 273.24838
6.40 333.94326 263.79851 597.74507 70.14437 297.87253 299.87253
6.50 396.32660 253.24102 649.57056 143.08494 323.78528 325.78528
6.60 463.76158 234.74857 698.51270 229.01214 348.25635 350.25635
6.70 535.87600 206.97308 742.85132 328.90194 370.42566 372.42566
6.80 612.11205 168.47317 780.58716 443.63778 389.29358 391.29358
6.90 691.69715 117.72541 809.42422 573.97056 403.71211 405.71211
7.00 773.61370 53.13982 826.75490 720.47268 412.37745 414.37745

is the Hohenemser±Prager functions (Hohenemser and Prager, 1933; Anan'ev, 1946).

These functions may be presented in terms of trigonometric and hyperbolic functions.
These functions are

A…l† ˆ 2‰S…l†T…l† U …l†V …l†Š ˆ cosh l sin l ‡ sinh l cos l

B…l† ˆ 2‰T …l†U …l† S…l†V …l†Š ˆ cosh l sin l sinh l cos l
C…l† ˆ 2 cosh l cos l ˆ 2‰S 2 …l† U 2 …l†Š ˆ 2 cosh l cos l
…4:22†
D…l† ˆ 2‰T …l†V …l† U 2 …l†Š ˆ cosh l cos l 1
S1 …l† ˆ 2‰T 2 …l† V 2 …l†Š ˆ 2 sinh l sin l;
2
E…l† ˆ 2‰S …l† T …l†V …l†Š ˆ cosh l cos l ‡ 1

These functions occur in the frequency equations of the vibration of beams with classical
and non-classical boundary conditions and therefore they are called frequency functions.

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SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES 127

Hohenemser±Prager functions are tabulated in Table 4.9. Applications of Hohenemser±

Prager functions are presented in Chapter 6.

4.6 DISPLACEMENT INFLUENCE FUNCTIONS

Tables 4.3, 4.4, 4.5 contain reactions of the beam due to unit angular and linear
displacements of the support. The equations of elastic curves of beams subjected to unit
support displacement are presented in Table 4.10 (Weaver et al., 1990)

TABLE 4.10 Elastic curve functions of beams subjected to unit support displacement

Design diagram and unit Displacement functions

displacement of supports

x
1(a) d1 …x† ˆ 1
l

x
1(b) d2 …x† ˆ
l

3x2 2x3
2(a) d1 …x† ˆ 1 ‡ 3
l2 l

2x2 x3
2(b) d2 …x† ˆ x ‡ 2
l l

3x2 2x3
2(c) d3 …x† ˆ
l2 l3

x2 x3
2(d) d4 …x† ˆ ‡ 2
l l

3x2 x3
3(a) d1 …x† ˆ 1 ‡
2l2 2l3

3x2 x3
3(b) d2 …x† ˆ x ‡ 2
2l 2l

3x2 x3
3(c) d3 …x† ˆ
2l2 2l 3

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 SPECIAL FUNCTIONS FOR THE DYNAMICAL CALCULATION OF BEAMS AND FRAMES

128 FORMULAS FOR STRUCTURAL DYNAMICS

REFERENCES

Anan'ev (1946) Free vibration of Elastic System Handbook, Gostekhizolat, Moscow-Leningrad.

Babakov, I.M. (1965) Theory of Vibration (Moscow: Nauka) (in Russian).
Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
Clough, R.W. and Penzien, J. (1975) Dynamics of Structures (New York: McGraw-Hill).
Darkov, A. (1989) Structural Mechanics English translation, Fourth edition, Second printing
(Moscow; Mir) (translated from Russian by B. Lachinov and V. Kisin).
Duncan, W.J. (1943) Free and forced oscillations of continuous beams treatment by the admittance
method. Phyl. Mag. 34(228).
Hohenemser, K. and Prager, W. (1933) Dynamic der Stabwerke (Berlin)
Kiselev, V.A. (1980) Structural Mechanics. Dynamics and Stability of Structures, Third edition (1969,
Second edition) (Moscow: Stroizdat) (in Russian).
Lisowski, A. (1957) Drgania Pretow Prostych i Ram (Warszawa).
Meirovitch, L. (1967) Analytical Methods in Vibrations (New York: Macmillan).
Novacki, W. (1963) Dynamics of Elastic Systems (New York: Wiley).
Smirnov, A.F., Alexandrov, A.V., Lashchenikov, B.Ya. and Shaposhnikov, N.N. (1984) Structural
Mechanics. Dynamics and Stability of Structures (Moscow: Stroiizdat) (in Russian).
Weaver, W., Timoshenko, S.P. and Young, D.H. (1990) Vibration Problems in Engineering, Fifth
edition (New York: Wiley).

FURTHER READING

Bezukhov, N.I., Luzhin, O.V. and Kolkunov, N.V. (1969) Stability and Structural Dynamics (Moscow)
Stroizdat.
Birger, I.A. and Panovko, Ya.G. (Eds). (1968) Handbook: Strength, Stability, Vibration, vols 1±3
(Moscow: Mashinostroenie) Vol. 3, Stability and Vibrations, 567 pp. (in Russian).
Bolotin, V.V. (1964) The Dynamic Stability of Elastic Systems (San Francisco: Holden-Day).
Filippov, A.P. (1970) Vibration of Deformable Systems (Moscow: Mashinostroenie) (in Russian).
Ivovich, V.A. (1981) Transitional Matrices in Dynamics of Elastic Systems, Handbook (Moscow:
Mashinostroenie) (in Russian)
Krylov, A.N. (1936) Vibration of Ships (Moscow, Leningrad: ONTI-NKTP).
Pilkey, W.D. (1994) Formulas for Stress, Strain, and Structural Matrices (New York: Wiley).
Smirnov, A.F. (1947) Statical and Dynamical Stability of Structures (Moscow: Transzeldorizdat).
Spiegel, M.R. (1981) Applied Differential Equations, third edition (New Jersey: Prentice-Hall).
Strelkov, S.P. (1964) Introduction in Theory Vibration (Moscow: Nauka).
Zal'tsberg, S.G. (1935) Calculation of vibration of statically indeterminate systems with using the
equations of an joint de¯ections, Vestnik inzhenerov i tecknikov, no: 12 (for more detail see: A.P.
Filippov, 1970).

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 5
BERNOULLI±EULER
UNIFORM BEAMS WITH
CLASSICAL BOUNDARY
CONDITIONS

This chapter focuses on Bernoulli±Euler uniform one-span beams with classical boundary
conditions. Classical methods of analysis are discussed. Frequency equations and funda-
mental characteristics such as eigenvalues, eigenfunctions and their nodal points, as well as
integrals of eigenfunctions and their derivatives, are presented.
The initial parameter method is convenient to use for the calculation of different types
of uniform beams: statically determinate and indeterminate beams, one span and multispan
beams, as well as beams with non-classical boundary conditions. Different cases are
considered.
The force method may be applied for calculation of non-uniform beams as well as
frames. Both cases are considered.
The slope-de¯ection method is convenient to apply for the calculation of frames with a
high degree of statical indeterminancy.

NOTATION

A Cross-sectional area
A; B; C; E; S1 Hohenemser±Prager functions
E, G Youngs' modulus and modulus of rigidity
EI Bending stiffness
f1 ; f2 Correction functions
g Acceleration due to gravity
Iz Moment of inertia of a cross-section
k Shear factor r
4 mo2
kn Frequency parameter, kn ˆ
EI
ktr ; krot Translational and rotational stiffness coef®cients
l Length of the beam

129
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 BERNOULLI–EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

130 FORMULAS FOR STRUCTURAL DYNAMICS

M Bending moment
M; J Lumped mass and moment of inertia of the mass
Q Shear force
r Dimensionless radius of gyration, r2 Al 2 ˆ I
s Dimensionless parameter, s2 kAGl 2 ˆ EI
S; T ; U ; V Krylov±Duncan functions
t Time
x Spatial coordinate
x, y, z Cartesian coordinates
X …x†; c…x† Mode shapes
y Transversal displacement
z Dimensionless parameter
l Frequency parameter, l4 EI ˆ ml 4 o2
x Dimensionless coordinate, x ˆ x=l
r; m Density of material and mass per unit length
j; c Zal'tsberg functions
c Rotation of the cross-section
o Natural frequency, o2 ˆ l4 EI =ml 4

5.1 CLASSICAL METHODS OF ANALYSIS

5.1.1 Initial Parameters Method

The Initial Parameters Method is effective for dynamical calculation of beams with
different boundary conditions and arbitrary peculiarities, such as elastic supports,
lumped masses, etc. This method allows one to write expressions, in explicit form, for
the elastic curve, slope, bending moment and shear force.
The differential equation of the transverse vibration of a beam is

@4 y @2 y
EI ‡ rA 2 ˆ 0 …5:1†
@x4 @t
The solution of this equation may be represented using initial parameters.
Initial parameters represent transverse displacement y0 , angle of rotation j0 , bending
moment M0 and shear force Q0 at x ˆ 0 (Fig. 5.1).

FIGURE 5.1. Design diagram of a beam and its initial parameters. The dotted line at the very left end
indicates an arbitrary type of support.

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 BERNOULLI–EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 131

State parameters y…x†; j…x†; M …x†; Q…x† at any position x may be presented in the
following forms (Bezukhov et al, 1969; Babakov, 1965; Ivovich, 1981)

T…kx† U …kx† V …kx†

y…x† ˆ y0 S…kx† ‡ j0 ‡ M0 2 ‡ Q0 3
k k EI k EI
 
1 1P o2 P P
‡ 2 Ri V ‰k…x xi †Š ‡ Mi yi V ‰k…x xi †Š o2 Ji ji U ‰k…x xi †Š
k EI k k
…5:2†

T …kx† U …kx†
j…x† ˆ y0 V …kx†k ‡ j0 S…kx† ‡ M0 ‡ Q0
EIk EIk 2
 
1 1P o2 P P
‡ Ri U ‰k…x xi †Š ‡ Mi yi U ‰k…x xi †Š o2 Ji ji T ‰k…x xi †Š
EIk k k
…5:3†

T …kx†
M …x† ˆ y0 U …kx†EIk 2 ‡ j0 V …kx†EIk ‡ M 0 S…kx† ‡ Q0
k
1P o2 P P
‡ Ri T‰k…x xi †Š ‡ Mi yi T‰k…x xi †Š o2 Ji ji S‰k…x xi †Š …5:4†
k k

Q…x† ˆ y0 T …kx†EIk 3 ‡ j0 U …kx†EIk 2 ‡ M0 V …kx†k ‡ Q0 S…kx†

P P P
‡ Ri S‰k…x xi †Š ‡ o2 Mi yi S‰k…x xi †Š o2 k Ji ji V ‰k…x xi †Š …5:5†

where Mi ˆ lumped masses (note: M0 ˆ bending moment at x ˆ 0)

Ji ˆ moment of inertia of a lumped mass
Ri ˆ concentrated force (active or reactive)
xi ˆ distance between origin and point of application Ri or Mi
yi ; ji ˆ vertical displacement and slope at point where lumped
mass Mi is located
S…x†; T …x†; U …x†; V …x† ˆ Krylov±Duncan functions (properties of these functions
are presented in Chapter 4)
Parameter k is
r r
m 2
4 4 m 2
kˆ o ; kl ˆ o lˆl
EI EI

The application of lumped mass M at any point x ˆ a causes inertial force Fin ˆ Mo2 y…a†,
which acts on the beam at x ˆ a.
If the beam is supported by a transversal spring with stiffness parameter ktr at any point
x ˆ a, then elastic force R ˆ ktr y…a† must be taken into account in the above equations.
If the beam is supported by a rotational spring with stiffness parameter krot at any point
x ˆ a, then elastic moment M ˆ krot j…a† must also be taken into account in the above
equations.

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 BERNOULLI–EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

132 FORMULAS FOR STRUCTURAL DYNAMICS

The ®rst four terms of Equations (5.2)±(5.5) may be presented in matrix form (4.12)±
(4.13). The ®rst four terms in the expression for displacement (5.2) may be presented as a
series (Sekhniashvili, 1960)
" #
P1 …kx†4s j P 1 …kx†4s‡1 M P 1 …kx†4s‡2 Q P 1 …kx†4s‡3
y…x† ˆ y0 1 ‡ ‡ 0 ‡ 02 ‡ 03
sˆ1 …4s†! k sˆ0 …4s ‡ 1†! EIk sˆ0 …4s ‡ 2†! EIk sˆ0 …4s ‡ 3†!
…5:6†
The expression for slope, bending moment and shear force may be presented as a series
after taking higher derivatives of Equation (5.6).
In Sekhniashvili (1960), the Initial Parameters Method is modi®ed and applied for non-
uniform beams as well as Timoshenko beams.

Example. Find the frequency of vibration for a pinned±clamped beam.

Solution. The initial parameters and kinematic conditions are shown in Fig. 5.2. The
unknown parameters j0 ; Q0 may be calculated using boundary conditions at x ˆ l.
Using Equations (5.2) and (5.3) of the Initial Parameters Method, the de¯ection and
slope at x ˆ l may be presented in the form
Tl V
y…l† ˆ j0 ‡ Q0 l 3 ˆ 0
k EIk
U
j…l† ˆ j0 Sl ‡ Q0 l 2 ˆ 0
EIk
Thus, the homogeneous system of equations is obtained. This system has a non-trivial
solution if and only if the following determinant, which represents the frequency equation,
is zero.
 
 Tl Vl 
 
 k EIk 3 
  ˆ 0 ! Tl Ul Sl Vl ˆ 0
 Ul 

 Sl 
EIk 2
According to Equation (4.9), this leads to

Tl Ul Sl Vl ˆ cosh kl sin kl sinh kl cos kl ˆ 0

or

tan kl ˆ tanh kl
The roots of this equation, as well as the eigenfunction, nodal points and asymptotic
eigenvalues are presented in Tables 3.9 and 5.3.

FIGURE 5.2. Design diagram of pinned±clamped beam.

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 BERNOULLI–EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 133

Example. Find the frequency of vibration for a pinned±pinned beam with one concen-
trated mass M (Fig. 5.3).

FIGURE 5.3. Design diagram of a pinned±pinned beam with one lumped mass.

Solution. The initial parameters and kinematic conditions are shown in Fig. 5.3.
Unknown slope j0 and shear force Q0 at x ˆ 0 (point A) may be calculated using bound-
ary conditions at x ˆ l.
Displacement at x ˆ l (point B)

T …l† V …l† o2 M
yl ˆ j0 ‡ Q0 3 ‡ 3 y…a†V …kb† ˆ 0 …a†
k k EI k EI
Moment at x ˆ l (point B)

T …l† o2 M
Ml ˆ j0 V …l†EIk ‡ Q0 ‡ y…a†T …kb† ˆ 0 …b†
k k
Displacement at x ˆ a

T …ka† V …ka†
y…a† ˆ j0 ‡ Q0 …c†
k EIk 3
Substituting Equation (c) into Equations (a) and (b), the following system of two
homogeneous algebraic equations with unknown initial parameters j0 and Q0 is obtained
   
T…l† T …ka† V …l† V …ka†
j0 ‡ nlV …kb† ‡ Q0 3 ‡ nlV …kb† 3 ˆ0
k k k EI k EI
    …d†
o2 M T …l† nl
j0 V …l†EIk ‡ 2 T…ka†T …kb† ‡ Q0 ‡ V …ka†T …kb† ˆ 0
k k k
The trivial solution j0 ˆ Q0 ˆ 0 of the above system implies that there is no vibration. For
the non-trivial solution, the determinant of coef®cients at j0 and Q0 must be zero
2 3
T…l† T …ka† V …l† V …ka†
‡ nlV …kb† ‡ nlV …kb† 3
6 k k 3
k EI k EI 7
6 7ˆ0
4 o2 M T …l† nl 5
V …l†EIk ‡ 2 T…ka†T …kb† ‡ V …ka†T…kb†
k k k
or

T 2 …l† V 2 …l† ‡ nlT…l†‰V …ka†T…kb† ‡ V …kb†T…ka†Š

nlV …l†‰T …ka†T…kb† ‡ V …kb†V …ka†Š ˆ 0 …e†

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134 FORMULAS FOR STRUCTURAL DYNAMICS

In terms of elementary functions, the frequency equation (e) may be presented in closed
form

2shl sin l ‡ nl…sin lshx1 lshx2 l shl sin x1 l sin x2 l† ˆ 0

where

o2 M M a b
ˆ nl; nˆ ; x1 ˆ ; x2 ˆ ˆ1 x1
k 3 EI ml l l

Special case. If x1 ˆ 0 or x2 ˆ 0 (mass M is located at the support and does not

in¯uence vibration), or M ˆ 0, then the frequency equation becomes sin l ˆ 0 (Table
5.3, case 1).

Example. Derive the frequency equation for a uniform clamped±pinned±pinned beam

with uniformly distributed masses along the beam (Fig. 5.4).

FIGURE 5.4. Design diagram and notation for clamped±pinned±pinned beam.

Solution. The initial parameters and kinematic conditions are shown in Fig. 5.4.
Unknown parameters M0 ; Q0 ; R…l† may be calculated by using boundary conditions at
x ˆ l and x ˆ 2l:
Using the Initial Parameters Method (Equations (5.2)±(5.5)), leads to

U …l† V …l†
y…l† ˆ M0 ‡ Q0 ˆ0
EIk 2 EIk 3
U …2l† V …2l† 1
y…2l† ˆ M0 ‡ Q0 ‡ R…l†V …l† ˆ 0
EIk 2 EIk 3 EIK 3
T …2l† 1
M …2l† ˆ M0 S…2l† ‡ Q0 ‡ R…l†T …l† ˆ 0
k k
The non-trivial solution leads to the following frequency equation
 
 U …l† V …l† 
 0   
 EIK 2  kU …l†
 EIk 3   V …l† 0 
   
 U …2l† V …2l† V …l†   kU …2l†
  ˆ 0 or  V …2l† V …l†  ˆ 0
 EIk 2 EIk 3 EIk 3   
  kS…2l†
 T …2l† T …l†  T …2l† T …l† 
 S…2l†
 
k k

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BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 135

which can be written as

Ul V2l Tl ‡ Vl2 S2l Ul Vl T2l U2l Vl Tl ˆ 0

Subscripts l and 2l in the Krylov±Duncan functions denote that these functions are
calculated at x ˆ l and x ˆ 2l, respectively.

Example. Derive the frequency equation for a beam shown in Fig. 5.5.

FIGURE 5.5. Design diagram of beam with elastic supports.

Solution. Initial parameters and kinematic conditions are shown in Fig. 5.5. Unknown
initial parameters M0 ; Q0 ; and R…a† may be calculated using boundary conditions at
x ˆ l and x ˆ 2l.
Using the Initial Parameters Method (Equations (5.2)±(5.5)) leads to

T…l† 1
M …l† ˆ j0 V …kl†EIk ‡ Q0 ‡ R…a†T ‰k…l a†Š ˆ krot j…l†
k k
Q…l† ˆ '0 U …l†EIk 2 ‡ Q0 S…l† ‡ ktr y…a†S…b† ˆ 0

where

U …l† U …b†
j…l† ˆ j0 S…l† ‡ Q0 ‡ ktr y…a†
EIk 2 EIk 2
T …a† V …a†
y…a† ˆ j0 ‡ Q0
k EIk 3
Substituting expressions j…l† and y…a† in formulas for M …l† and Q…l† leads to two algebraic
equations with respect to two unknowns j0 ; Q0 : The non-trivial solution leads to a
frequency equation.

5.1.2 Force Method

Continuous beams. For dynamical calculation of multispan non-uniform beams with

different stiffness and mass distribution, Three-Moment Equations (Rogers, 1959) may
be used. A Three-Moment Equation establishes a relationship between moments
on three consecutive supports of a beam. The physical meaning of a Three-Moment Equa-
tion is that the mutual angle of rotation on the nth support is zero. The special numbering
of spans and supports is presented in Fig. 5.6.

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136 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 5.6. Notation of multispan non-uniform beam.

The Three-Moment Equation may be written in canonical form

 
ln l l l
f2 …ln †Mn 1 ‡ 2 n f1 …ln † ‡ n‡1 f1 …ln‡1 † Mn ‡ n‡1
f2 …ln‡1 †Mn‡1 ˆ 0
6EIn 6EIn 6EIn‡1 6EIn‡1
…5:7†
where Mn ˆ moment on the nth support
n ˆ numbering of a span that coincides with the numbering of a right
support (counted from left to right)
f1 …l†; f2 …l† ˆ dynamical functions

3 cosh l sin l sinh l cos l 3

f1 …l† ˆ ˆ jn …5:7a†
2l sinh l sin l 2l

3 sinh l sin l 3
f2 …l† ˆ ˆ cn …5:7b†
l sinh l sin l l

jn ˆ coth l cot l …5:7c†

cn ˆ csc l csch l …5:7d†

where jn ; cn ˆ Zal'tsberg functions.
Note: in Rogers (1959) coef®cients 3=2l and 3=l (Equations (5.7a,b)) are included in
functions jn ; cn .
Functions f1 …l† and f2 …l† are used for the determination of angle of rotation y 0 …0† and
shear force. The corresponding formulas are presented in Table 5.1.
The Three-Moment Equation (5.7), according to Table 5.1, may be presented in terms
of Zal'tsberg functions
 
cn jn jn‡1 c EIn
M 1 ‡ ‡ Mn ‡ n‡1 Mn‡1 ˆ 0; in ˆ
in n in in‡1 in‡1 ln

and Zal'tsberg functions may be presented in terms of Krylov±Duncan functions

V …l† T …l†U …l† S…l†V …l†

cn ˆ 2 ; jn ˆ 2
T 2 …l† V 2 …l† T 2 …l† V 2 …l†

Zal'tsberg functions are tabulated and presented in Table 5.2.

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BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 137

TABLE 5.1. Simply supported beam: angle of rotation and shear force caused by harmonic moments

Design diagram Angle of rotation y0 (0) Shear force Q(0)

l
y 0 …0† ˆ M f …l† UV ST
3EI 1 Q…0† ˆ Mk
3…TU SV † T2 V2
f1 …l† ˆ
l…T 2 V 2 † cosh l sin l ‡ sinh l cos l
ˆMk
3 cosh l sin l sinh l cos l s 2 sinh l sin l
ˆ
2 l sinh l sin l 4 my2
kˆ ; l ˆ kl
EI

l T sinh l ‡ sin l
y 0 …0† ˆ M f …l† Q…0† ˆ Mk ˆ Mk
6EI 2 T2 V2 2 sinh l sin l
6V 3 sinh l sin l
f2 …l† ˆ ˆ
l…T 2 V 2 † l sinh l sin l

Applications of Zal'tsberg functions are presented in Sections 5.2, 9.3 and 9.6.

The frequency equation. After the application of Equation (5.7) to a multispan con-
tinuous beam, a system of homogeneous algebraic equations is obtained. For non-trivial
solutions, the determinant of coef®cients in front of Mm 1 ; Mn and Mn‡1 must be zero.

TABLE 5.2. Zal'tsberg functions

l j c l j c l j c

0.01 0.01000 0.00000 1.60 1.11419 0.57948 3.20 16.09946 17.21375

0.10 0.06600 0.03400 1.70 1.19897 0.63043 3.30 5.25706 6.41301
0.20 0.13325 0.06675 1.80 1.28948 0.68697 3.40 2.78113 3.98010
0.30 0.20001 0.10002 1.90 1.38739 0.75077 3.50 1.66783 2.91124
0.40 0.26673 0.13335 2.00 1.49497 0.82403 3.60 1.02449 2.31447
0.50 0.33347 0.16679 2.10 1.61529 0.90983 3.70 0.59945 1.93684
0.60 0.40033 0.20032 2.20 1.75275 0.01250 3.80 0.29173 1.67912
0.70 0.44740 0.23401 2.30 1.91379 1.13845 3.90 0.05466 1.49447
0.80 0.53472 0.26801 2.40 2.10829 1.29653 4.00 0.13698 1.35799
0.90 0.60251 0.30243 2.50 2.35222 1.50565 4.10 0.29808 1.25523
1.00 0.67095 0.33748 2.60 2.67334 1.79049 4.20 0.43795 1.17735
1.10 0.74025 0.37337 2.70 3.12445 2.20482 4.30 0.56290 1.11864
1.20 0.81076 0.41043 2.80 3.82010 2.86309 4.40 0.67734 1.07544
1.30 0.88284 0.44902 2.90 5.06442 4.06935 4.50 0.78460 1.04521
1.40 0.95702 0.48964 3.00 8.02021 6.98635 4.60 0.88734 1.02646
1.50 1.03387 0.53288 3.10 25.03341 23.95974 4.70 0.98778 1.01827
0.5p 1.09033 0.56986 p ? ? 1.5p 1.00016 1.01797

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138 FORMULAS FOR STRUCTURAL DYNAMICS

It is convenient to express frequency parameters l of any span n in terms of frequency

parameter l0 of the very left-hand span. During the free vibration
s s
l2 E0 I0 l2n En In
o ˆ 20
2
ˆ 2
l0 m0 ln mn

s
l mn E0 I0
ln ˆ l0 n 4
l0 m0 En In

If one or both supports are not pinned but clamped, then additional spans l0 or li with
pinned supports must be added to replace the existing clamped support. After the Three-
Moment Equation (5.7) is applied to the modi®ed system, the length of additional spans
must be considered as zero.

Special cases

1. If rigidity EI and distributed mass m are constant throughout the length of a beam, then
frequency parameter ln ˆ ln‡1 ˆ l.
2. If ln ˆ ln‡1 ˆ l and li ˆ constant, then the Three-Moment Equation in terms of
Krylov±Duncan functions is

Mn 1 V ‡ 2Mn …TU SV † ‡ Mn‡1 V ˆ 0

Example. Derive the frequency equation for the following uniform beam.

Solution. For the middle support, the Three-Moment Equation is

 
cosh kl1 sin kl1 sinh kl1 cos kl1 cosh kl2 sin kl2 sinh kl2 cos kl2
M1 …t† ‡ ˆ0
2 sinh kl1 sin kl1 2 sinh kl2 sin kl2

or

M1 …t†‰coth kl1 cot kl1 ‡ coth kl2 cot kl2 Š ˆ 0

If l1 ˆ l2 ˆ l, then

M1 …t†‰coth kl cot klŠ ˆ 0

which means that such a beam has two types of vibrations.

1. The ®rst type of vibration occurs if M1 …t† ˆ 0.

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BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 139

In this case, the behavior of each span is similar to the behavior of a one-span simply-
supported beam.
2. The second type of vibration occurs if

coth kl cot kl ˆ 0

In this case, the behavior of each span is similar to the behavior of a one-span pinned±
clamped beam.
For both types of vibrations, the frequency equation, mode shape and nodal points are
presented in Tables 3.9, 5.3 and 5.4 respectively.

Example. A non-uniform beam with different lengths of spans, mass and rigidity is
shown in Fig. 5.7. Find the relationship m2 =m1 which leads to the fundamental frequency
parameter
s
l21 EI1
l1 ˆ 2:6; o1 ˆ :
l12 m1

Solution. For support 1, the Three-Moment Equation in terms of Zal'tsberg functions is

 
c1 j1 j2 c EI1 EI2
M0 ‡ ‡ M1 ‡ 2 M2 ˆ 0; i1 ˆ ˆ i; i2 ˆ ˆi
i1 i1 i2 i2 l1 l2

Since support moments M0 ˆ M2 ˆ 0, then the frequency equation may be rewritten in the
form

j1 ‡ j2 ˆ 0

or

coth l1 cot l1 ‡ coth l2 cot l2 ˆ 0

Since l2 ˆ nl1 , then the frequency equation becomes

coth l1 cot l1 ‡ coth nl1 cot nl1 ˆ 0

Using Table 5.2, the frequency equation leads to

2:67334 ‡ coth nl1 cot nl1 ˆ 0

The root of the above equation is

l2 ˆ nl1 ˆ 2:6n ˆ 3:40968 ! n ˆ 1:3114

FIGURE 5.7. Design diagram of a non-uniform beam.

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140 FORMULAS FOR STRUCTURAL DYNAMICS

Thus, the required relationship is

m2 n4 1
ˆ  4 ˆ 0:3697
m1 l2 EI1
l1 EI2

Frames. For dynamical calculation of frames with n lumped masses mi (distributed

masses are neglected), represent the displacement of each mass mi in general canonical
form

yi ˆ di1 X1 ‡ di2 X2 ‡


‡ dii Xi ‡


‡ din Xn ‡ Dip …5:8†

where X1 ; X2 ; . . . ; Xi ; . . . ; Xn ˆ inertial forces of the corresponding masses;
dik ˆ unit displacements (Chapter 2.3);
Dip ˆ displacement in the direction of Xi caused by external
vibrational loads. For the eigenvalue and eigenfunction
problems, the free terms of canonical form Dip ˆ 0.
In the case of harmonic free vibrations, displacement of mass mi , its acceleration and
inertial force are

yi ˆ ai sin ot; y i ˆ ai o2 sin ot; Xi ˆ mi y i

Substituting the above expressions into Equation (5.8) yields

d*11 X1 ‡ d12 X2 ‡


‡ d1n Xn ˆ 0

d21 X1 ‡ d*22 X2 ‡


‡ d2n Xn ˆ 0 …5:9†































dn1 X1 ‡ dn2 X2 ‡


‡ d*nn Xn ˆ 0
where
1
d*ii ˆ dii
mi o2
The non-trivial solution of Equations (5.9) with respect to ai yields the following frequency
(secular) equation
 
 d11 m1 1=o2 d12 m2 ... d1n mn 
 
 d21 m1 2
d22 m2 1=o . . . d2n mn 
 ˆ0 …5:10†
 . . . . . . . . . . . . 
 
 d m d m ... d m 1=o 2
n1 1 n2 2 nn n

The unit displacements may be calculated according to Equations (2.2)±(2.4). Equation

(5.10) is very convenient for the solution of eigenvalue problems in the case of statically
determinate systems. If a system is statically indeterminate, then calculation of unit
displacements presents dif®culties. In this case, the slope-de¯ection method is an ef®cient
one.
Equations (5.9) and the canonical equations of the Force Method for statical problems
are similar. However, there is a fundamental difference. The unknown Xi of system (5.9)
are not the reactions of the discarded constraints of a statically indeterminate system, but
amplitudes of inertial forces, which can be produced both in statically determinate and
indeterminate systems.

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BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 141

5.1.3 Slope-De¯ection Method

This method may be effectively applied for dynamic calculation of framed statically
indetermined systems with or without distributed and lumped masses.
In order to obtain a conjugate redundant system (basic, or primary system), the
additional introduced constraints must prevent rotation of all rigid joints as well as all
independent displacements of these joints. Canonical equations of the slope-de¯ection
method are:

r11 Z1 ‡ r12 Z2 ‡


‡ r1n Zn ‡ R1n ˆ 0

r21 Z1 ‡ r22 Z2 ‡


‡ r2n Zn ‡ R2p ˆ 0 …5:11†





































rn1 Z1 ‡ rn2 Z2 ‡


‡ rnn Zn ‡ Rnp ˆ 0

The equations of the slope-de¯ection method negate the existence of reactive moments and
forces developed by imaginary constraints in conjugate systems.
The system of equation (5.11) contains amplitudes of vibrational displacements Zi for
unknown variables. Coef®cients rik with unknown Zi variables represent amplitude values
of reactions of introduced constraints i due to unit vibrational displacements of restriction
k. The free terms, Rip , are amplitudes of reactions of constraints due to vibrational load; in
the case of the free vibrations these free terms are zeros.
The amplitudes of vibrational displacements Zi take into account inertial forces of
concentrated and=or distributed masses of elements of a system, by means of correction
functions to the formulas representing static reactions.
The effects of inertial forces of distributed and=or lumped masses are taken into
account by correction functions, whose numerical values depend on a frequency parameter.
The simplest case for dynamical reactions of massless elements with one lumped mass is
presented in Table 4.3. Smirnov's functions take into account the exact effects of inertial
forces of uniformly distributed masses. Their analytical expressions in different forms are
presented in Tables 4.4 and 4.5, and numerical values are presented in Table 4.6. Bolotin's
functions take into account the approximate effects of inertial forces of uniformly
distributed masses, and their analytical expressions are presented in Table 4.7. Kiselev's
functions take into account the exact effects of inertial forces of uniformly distributed
masses and one concentrated mass, and their analytical expressions are presented in Table
4.8.
In order to determine eigenvalues of the framed system, the determinant of coef®cients
with unknown variables has to equal zero
 
 r11 r12 ... r1n 

 r21 r22 ... r2n 
 ˆ0 …5:12†














r rn2 ... r 
n1 nn

5.2 ONE-SPAN BEAMS

Frequency equations, eigenvalues, nodal points and asymptotical formulas for eigenvalues
for classical and special boundary conditions are presented in Tables 5.3 and 5.4. The

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142 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 5.3. One-span beams with classical boundary conditions: frequency equation, frequencies para-
meters and nodal points

Nodal points x ˆ x=l of

No. Type of beam Frequency equation n Eigenvalue ln mode shape X

1 Pinned±pinned sin kn l ˆ 0 1 3.14159265 0; 1.0

2 6.28318531 0; 0.5; 1.0
3 9.42477796 0; 0.333; 0.667; 1.0
4 12.5663706 0; 0.250; 0.500; 0.750; 1.0
5 15.7079632 0; 0.2; 0.4; 0.6; 0.8; 1.0
n np
2 Clamped±clamped cos kn l cosh kn l ˆ 1 1 4.73004074 0; 1.0
2 7.85320462 0; 0.5; 1.0
3 10.9956079 0; 0.359; 0.641; 1.0
4 14.1371655 0; 0.278; 0.50; 0.722; 1.0
5 17.2787597 0; 0.227; 0.409; 0.591; 0.773; 1.0
n 0.5p(2n ‡ 1)
3 Pinned±clamped tan kn l tanh kn l ˆ 0 1 3.92660231 0; 1.0
2 7.06858275 0; 0.440; 1.0
3 10.21017612 0; 0.308; 0.616; 1.0
4 13.35176878 0; 0.235; 0.471; 0.706; 1.0
5 16.49336143 0; 0.190; 0.381; 0.571; 0.762; 1.0
n 0.25p(4n ‡ 1)
4 Clamped±free cos kn l cosh kn l ˆ 1 1 1.87510407 0
2 4.69409113 0; 0.774
3 7.85475744 0; 0.5001; 0.868
4 10.99554073 0; 0.356; 0.644; 0.906
5 14.13716839 0; 0.279; 0.500; 0.723; 0.926
n 0.5p(2n 7 1)
5 Free±free cos kn l cosh kn l ˆ 1 1 0 Rigid-body mode
2 4.73004074 0.224; 0.776
3 7.85320462 0.132; 0.500; 0.868
4 10.9956078 0.094; 0.356; 0.644; 0.906
5 14.1371655 0.0734; 0.277; 0.500; 0.723; 0.927
6 17.2787597 0.060; 0.227; 0.409; 0.591; 0.774;
n 0.5p(2n 7 1)* 0.940* (Geradin, and Rixen, 1997)
6 Pinned±free tan kn l tanh kn l ˆ 0 1 0 Rigid-body mode
2 3.92660231 0; 0.736
3 7.06858275 0; 0.446; 0.853
4 10.21017612 0; 0.308; 0.616; 0.898
5 13.35176878 0; 0.235; 0.471; 0.707; 0.922
6 16.49336143 0; 0.190; 0.381; 0.571; 0.763; 0.937
n 0.25p(4n 7 3)*

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BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 143

corresponding eigenfunctions in forms 1 and 2 are presented in Table 5.5. These forms are
as follows.

 
l x l x ln x ln x
Form 1: Xn …x† ˆ cosh n  cos n sn sinh  sin …5:13†
l l l l

ln x l x l x l x
Form 2: Xn …x† ˆ sin ‡ An cos n ‡ Bn sinh n ‡ Cn cosh n …5:14†
l l l l

The ordinates of mode shape vibration for one-span and multispan beams with classical
boundary conditions are presented in Appendices A and B respectively.

5.2.1 Eigenvalues
1. Eigenvalues for beams with Classical Boundary Conditions are discussed in
(Rogers, 1959; Babakov, 1965; Blevins, 1979; Pilkey, 1994; Inman, 1996; Young,
1982).
2. Eigenvalues for beams with Special Boundary Conditions are discussed in
(Bezukhov et al., 1969; Pilkey, 1994; Geradin and Rixen, 1997).

TABLE 5.4. One-span beams with special boundary conditions: frequency equation and frequencies
parameters.

Type of beam Frequency Equation n Eigenvalue ln

Free±guided tan l ‡ tanh l ˆ 0 1 0ÐRigid body mode

2 2.36502037
3 5.49780392
4 8.63937983
5 11.78097245
6 14.92256510
n 0.25p(4n 7 5)
Guided±guided sin l ˆ 0 1 0ÐRigid body mode
2 3.14159265
3 6.28318531
n p(n 7 1) (exact)
Guided±pinned cos l cosh l ˆ 0 1 1.5707963
2 4.71238898
3 7.85398163
n 0.5p(2n 7 1) (exact)
Clamped±guided tan l ‡ tanh l ˆ 0 1 2.36502037
2 5.498780392
3 8.63937983
4 11.78097245
5 14.92256510
n 0.25p(4n 7 1)

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 144

TABLE 5.5. One-span beams with classical boundary conditions: mode shape vibration

Mode shape (form 1) (Inman, 1996) Mode shape (form 2) (Babakov, 1965)

Type of beam n X …x† Formula and value for sn A B C

Pinned±pinned kn px none 0 0 0 0
sin
l
1 0.9825 1.0178 1.0000 1.0178
2 cosh kn x cos kn x 1.0008 0.999223 1.0000 0.999223
cosh kn l cos kn l
Clamped±clamped 3 0.9999 1.0000335 1.0000 1.0000335
sinh kn l sin kn l
4 sn …sinh kn x sin kn x† 1.0000 0.9999986 1.0000 0.9999986
5 0.9999 1.0000001 1.0000 1.0000001
n 1.000
1 1.0008 0.999223* 1.0000* 0.999223*
2 cosh kn x cos kn x 1.0000 0.9999986 1.0000 0.9999986
FORMULAS FOR STRUCTURAL DYNAMICS

cosh kn l cos kn l
Clamped±pinned 3 1.0000 0.9999986 1.0000 0.9999986
sinh kn l sin kn l
4 sn …sinh kn x sin kn x† 1.0000 0.9999986 1.0000 0.9999986
5 1.0000 0.9999986 1.0000 0.9999986
n 1.0000

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1 0.7341 1.3622 1.0000 1.3622

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2 cosh kn x cos kn x 1.0185 0.98187 1.0000 0.98187
cosh kn l sin kn l
Clamped±free 3 0.9992 1.000777 1.0000 1.000777
4 sn …sinh kn x sin kn x† cosh kn l ‡ cos kn l 1.0000 0.999965 1.0000 0.999965
5 1.0000 1.0000015 1.0000 1.0000015
BERNOULLI–EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

n 1.0000

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 TABLE 5.5. (continued )

Mode shape (form 1) (Inman, 1996) Mode shape (form 2) (Babakov, 1965)

Type of beam n X …x† Formula and value for sn A B C

1 ± ± ± ±
2 cosh kn x ‡ cos kn x 0.9825 1.0178 1.0000 1.0178
cosh kn l cos kn l
Free±free 3 1.0008 0.999223 1.0000 0.999223
4 sn …sinh kn x ‡ sin kn x† sinh kn l sin kn l 0.9999 1.0000335 1.0000 1.0000335
5 1.0000 0.9999986 1.0000 0.9999986
6 0.9999 1.0000001 1.0000 1.0000001
n 1.0000
1 ± ± ± ±
Pinned±free 2 cosh kn x ‡ cos kn x 1.0008 0.999223* 1.0000* 0.999223*
cosh kn l cos kn l
3 1.0000 0.9999986 1.0000 0.9999986
4 sn …sinh kn x ‡ sin kn x† sinh kn l ‡ sin kn l 1.0000 0.9999986 1.0000 0.9999986
5 1.0000 0.9999986 1.0000 0.9999986
6 1.0000 0.9999986 1.0000 0.9999986
n 1.0000
1 0.9825 1.0178* 1.0000* 1.0178*
Clamped±sliding 2 cosh kn x cos kn x 1.0000 1.0000 1.0000 1.0000
sinh kn l sin kn l
3 1.0000 1.0000 1.0000 1.0000
cosh kn l ‡ cos kn l
4 sn …sinh kn x sin kn x† 1.0000 1.0000 1.0000 1.0000
5 1.0000 1.0000 1.0000 1.0000
n 1.0000

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*The given data were obtained from form 1.

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BERNOULLI–EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

145

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146 FORMULAS FOR STRUCTURAL DYNAMICS

5.2.2 Eigenfunctions

Eigenfunctions for beams with guided support (Pilkey, 1994)

…2n 1†px
Guided pinned beam: X …x† ˆ cos
2l
npx
Guided guided beam: X …x† ˆ cos
l
Free guided beam: X …x† ˆ cosh kn x ‡ cos kn x sn …sinh kn x ‡ sin kn x†
where

sinh kn l sin kn l
sn ˆ
cosh kn l ‡ cos kn l

5.3 ONE-SPAN BEAM WITH OVERHANG

5.3.1 Pinned±pinned one-span beam with overhang (Fig. 5.8)

Frequency equation (Morrow, 1908)

…cosh kl sin kl sinh kl cos kl†…cosh kc sin kc sinh kc cos kc†

2 sinh kl sin kl…1 ‡ cosh kc cos kc† ˆ 0
The least root, l ˆ kl, of the frequency equation according to parameter c=l is presented in
Table 5.6 (Pfeiffer, 1928; Filippov, 1970)
r r
2 EI l2 EI
Frequency of vibration o ˆ k ˆ 2
m l m

FIGURE 5.8. Pinned±pinned beam with one overhang.

TABLE 5.6. Pinned±pinned beam with overhang: the least root of a frequency equation

c=l 1 1 3=4 1=2 1=3 1=4 1=5 1=6 1=7 1=8 1=9 1=10 0

kl 1.8751 1.5059 1.9017 2.5189 2.9404 3.0588 3.0997 3.1175 3.1264 3.1314 3.1344 3.1364 p

Special cases

1. Case c=l ˆ 0 corresponds a pinned±pinned beam without an overhang. The frequency

equation is sin kl ˆ 0. Eigenvalues and nodal points for different mode shapes are
presented in Table 5.3.

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BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 147

2. Case c=l ˆ 1 corresponds to a clamped±free beam with length c. The frequency

equation is 1 ‡ cosh kc cos kc ˆ 0. Eigenvalues and nodal points of the mode shape are
presented in Table 5.3.
If c=l is small, then the approximate solution of the frequency equation is (Chree, 1914)
 
p2 c3
kl ˆ p 1
6 l3
If c=l < 0:5, then the error according to the Chree approximation is less than 1%.

Example. Calculate the frequency of vibration for a pinned±pinned beam with one over-
hang, if l ˆ 8m, c ˆ 2m (Fig. 5.8).

Solution. Since the parameter c=l ˆ 0:25, then l ˆ kl ˆ 3:0588 (Table 5.1). The
frequency of vibration is:
r r r
2 EI l2 EI 3:05882 EI
oˆk ˆ 2 ˆ
m l m 82 m
The Chree formulae gives the following eigenvalue
   
1 2 c3 1 2 23
kl ˆ p 1 p 3 ˆp 1 p 3 ˆ 3:0608
6 l 6 8

5.3.2 Beam with two equal overhangs

Design diagram and notation are presented in Fig. 5.9(a). Frequency of vibration is
r
l2 EI l
oˆ 2 ; l ˆ l1 ‡ 2
l m 2

Symmetric vibration. The frequency equation may be written in the following form
(Anan'ev, 1946)

C‰l…1 l  †ŠE…ll  † B…ll  †A‰l…1 l  †Š ˆ 0

where l ˆ l1 =l is a dimensionless parameter, and A; B; C and E are Hohenemser±Prager's
functions.
The fundamental frequency corresponds to symmetrical shape vibration. The funda-
mental frequency parameter l in terms of l  is presented in Fig. 5.9(b).

Antisymmetric vibration. The frequency equation may be presented in the following

form

S1 ‰l…1 l †ŠE…ll † B‰l…1 l  †ŠB…ll  † ˆ 0 …5:15†

Example. Calculate the fundamental frequency of vibration for a beam with two equal
overhangs. if l1 ˆ 1 m; l2 ˆ 8 m (Fig. 5.9(a)).

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148 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 5.9. Beam with two equal overhangs. (a) Design diagram and notation; (b) frequency parameter
l for symmetric vibration.

Solution. The half-length of the beam l ˆ l1 ‡ 0:5l2 ˆ 5m, so a non-dimensional para-

meter l  ˆ l1 =l ˆ 0:2.
The frequency equation (5.14) leads to

C…0:8l†E…0:2l† B…0:2l†A…0:8l† ˆ 0
The least root is l ˆ 1:95.
The frequency of vibration is
r r
l2 EI 1:952 EI
oˆ ˆ 2
l2 m 5 m

5.3.3 Clamped±pinned beam with overhang

The design diagram and notation are presented in Fig. 5.10.

Frequency of vibration
r
l2 EI
oˆ 2
l m

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BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 149

The frequency equation may be presented in the following form

S‰l…1 l †Š
fS…l†V …ll  † T …l†U …ll  †g ‡ fS…l†U …ll † V …l†V …ll  †g ˆ 0 …5:16†
T ‰l…1 l †Š
where l  ˆ l1 =l, and S; T; U and V are Krylov±Duncan functions.

FIGURE 5.10. Design diagram of a clamped±pinned beam

with overhang.

Special case. Case l1 =l ˆ 1 corresponds to clamped±pinned beam without an overhang.

In this case l  ˆ 1; S…0† ˆ 1; T …0† ˆ 0 and the frequency equation (5.16) becomes

S…l†V …l† T…l†U …l† ˆ 0

which leads to

cosh l sin l sinh l cos l ˆ 0

Eigenvalues and nodal points for different mode shapes of vibration are presented in Tables
5.3 and 5.5.

5.4 FUNDAMENTAL INTEGRALS

Fundamental integrals are the additional characteristics of a system, which are used for
dynamic analysis of free vibration using approximate methods (see Chapter 2) as well as
for dynamic analysis of forced vibrations.

„l
5.4.1 Integrals Xk2 dx for beams with classical boundary conditions
0
The solution of the differential equation of transverse vibration (5.1) can be presented in
the following form
P
y…x; t† ˆ Xk …x†…Bk cos ot ‡ Ck sin ot† …5:17†
The differential equation of mode shape is
r
l2 EI
X IV b2 X ˆ 0; b2 ˆ l4 ; oˆ …5:18†
l2 m
Constants B and C can be found from the initial conditions

@y…x; 0† x
at t ˆ 0; y…x; 0† ˆ f …x†; ˆ f1 …x†; xˆ
@t l
The constants Bk and Ck take into account not only initial conditions, but boundary
conditions as well.

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150 FORMULAS FOR STRUCTURAL DYNAMICS

Constants Bk and Ck are determined as follows

„l „l
f …x†dx f1 …x†dx
0 0
Bk ˆ ; Ck ˆ ; …5:19†
„l „l
Xk2 …x†dx o Xk2 …x†dx
0 0
„l
Integrals Xk2 dx depend only on types of supports. For beams with classical boundary
0
conditions, these integrals are presented in Table 5.7 in terms of X and their derivatives at
x ˆ 0 (Form 1) and x ˆ l (Form 2).

TABLE 5.7. Beams with classical boundary condition: different presentations of

4 „l 2
fundamental integral X dx
l0 k

4 „l 2
Boundary Condition Integral X dx
l0

xˆ0 xˆl Form 1 Form 2

Clamped Clamped ‰X 00 …0†Š2

Simple supported Clamped 2X 0 …0†X 000 …0† ‰X 00 …l†Š2
Free Clamped X 2 …0†

Clamped Simple supported ‰X 00 …0†Š2

Simple supported Simple supported 2‰X 0 …0†Š2 2X 0 …l†X 000 …l†
Free Simple supported X 2 …0†

Clamped Free ‰X 00 …0†Š2

Simple supported Free 2X 0 …0†X 000 …0† X 2 …l†
Free Free X 2 …0†

Note: X 0 derivatives with respect to the argument of eigenfunction X, but not with respect to x.

„l
Example. Calculate the integral X 2 …x†dx for a pinned±pinned beam.
0
Solution. For a simply supported beam eigenfunction, its derivatives with respect to the
argument are
kpx kpx
Xk ˆ sin ; Xk0 …x† cos
l l

kpx kpx
Xk00 …x† ˆ sin ; Xk000 …x† ˆ cos
l l
„l
Integral X 2 dx may be calculated by using Table 5.5.
0
Form 1 (using the boundary condition at the left-hand end)
 2
„l kpx l l kp0 l
sin2 dx ˆ ‰X 0 …0†Š2 ˆ cos ˆ
0 l 2 2 l 2

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BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 151

Form 2 (using the boundary condition at the right-hand end)

 
„l kpx
l 0 l kpl kpl l
sin2 X …l†X 000 …l† ˆ
dx ˆ cos cos ˆ
0 l
2 2 l l 2
„l
Numerical values of integrals X 2 …x†dx and related ones for beams with different
0
boundary conditions are presented in Table 5.8. Some useful integrals concerning the
eigenvalue problem are presented in Appendix C.

5.4.2 Integrals with one index

Numerical values of several fundamental integrals for beams with different boundary
conditions and numbers of mode vibration are presented in Tables 5.8 and 5.9 (Babakov,
1965).
The following integrals may be presented in analytical form in terms of eigenfunctions
and their derivatives (Weaver et al. 1990)

„l l
…a† Xk2 dx ˆ ‰Xk2 2Xk0 Xk000 ‡ …Xk00 †2 Šxˆl …5:20†
0 4

„l „l
…b† XkIV Xk dx ˆ …Xk00 †2 dx …5:21†
0 0

TABLE 5.8. Beams with classical boundary condition: numerical values for some fundamental
integrals with one index

1 „l 2 „l „l 1 „l
Type of beam k X dx l …Xk0 †2 dx l3 …Xk00 †2 dx X dx
l0 k 0 0 l0 k

Pinned±pinned 1 0.5 4.9343 48.705 0.6366

2 0.5 19.739 779.28 0
3 0.5 44.413 3945.1 0.2122
4 0.5 78.955 12468 0
5 0.5 123.37 30440 0.1273
Clamped±clamped 1 1.0359 12.775 518.52 0.8445
2 0.9984 45.977 3797.1 0
3 1.0000 98.920 14619 0.3637
4 1.0000 171.58 39940 0
5 1.0000 264.01 89138 0.2314
Clamped±pinned 1 0.4996 5.5724 118.80 0.6147
2 0.5010 21.451 1250.4 0.0586
3 0.5000 47.017 5433.0 0.2364
4 0.5000 82.462 15892 0.0310
5 0.5000 127.79 36998 0.1464
Clamped±free 1 1.8556 8.6299 22.933 1.0667
2 0.9639 31.24 467.97 0.4252
3 1.0014 77.763 3808.5 0.2549
4 1.0000 152.83 14619 0.1819
5 1.0000 205.521 39940 0.1415

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152 FORMULAS FOR STRUCTURAL DYNAMICS

5.4.3 Integrals with two indexes

Integrals with two indexes occur in the approximate calculation of frequencies of vibration
of deformable systems. These integrals satisfy the following relationship

„l „l
l Xi0 Xj0 dx ˆ l Xi Xj00 dx …5:22†
0 0

where i and j are the number of modes of vibration. Numerical values of these integrals are
presented in Table 5.9 (Babakov, 1965).

TABLE 5.9. Beams with classical boundary condition: numerical values for some fundamental
integrals with two indexes

Type beam i 1 2 3 4 5

1 4.9343 0 0 0 0
2 0 19.739 0 0 0
3 0 0 44.413 0 0
4 0 0 0 78.955 0
5 0 0 0 0 123.37

i 1 2 3 4 5

1 12.755 0 9.9065 0 7.7511

2 0 45.977 0 17.114 0
3 9.9065 0 98.920 0 6.2833
4 0 17.114 0 171.58 0
5 7.7511 0 6.2833 0 246.01

i 1 2 3 4 5

1 5.5724 2.1424 1.9001 1.6426 1.4291

2 2.1424 21.451 3.9098 3.8226 3.5832
3 1.9001 3.9098 47.017 5.5836 5.6440
4 1.6426 3.8226 5.5836 82.462 7.2171
5 1.4291 3.5832 5.6440 7.2171 127.79

5.5 LOVE AND BERNOULLI±EULER BEAMS,

FREQUENCY EQUATIONS AND NUMERICAL
RESULTS

Love equations take into account individual contributions of shear deformation and rotary
inertia but omit their joint contribution (Table 3.1).

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BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 153

Complete Love equations may be presented as the following system of equations

  4
@4 y gA @2 y gI EI g @ y
EI ‡ ‡ ˆ0
@x4 g @t2 g gk G @x2 @t 2
  …5:23†
@4 c gA @2 c gI EI g @4 c
EI 4 ‡ ‡ ˆ0
@x g @t2 g gk G @x2 @t2
where y ˆ transverse displacement;
c ˆ angle of rotation of the cross-section;
k ˆ shear coef®cient;
E ˆ Young's modulus;
G ˆ modulus of rigidity.
Shear coef®cient k for various types of cross-section are presented in Table 11.1.
Truncated Love equations are obtained from Equations (5.23) and are presented as the
following system of equations:

@4 y gA @2 y EI g @4 y
EI ‡ ˆ0
@x4 g @t 2 gk G @x2 @t2
…5:24†
@4 c gA @2 c EI g @4 c
EI ‡ ˆ0
@x4 g @t 2 gk G @x2 @t2
The special case of system (5.24), when shear deformation and rotary inertia are not
considered is given by Bernoulli±Euler theory (Chapter 1)

@4 y gA @2 y
EI ‡ ˆ0 …5:25†
@x4 g @t 2
The general solution of the Love system of equations (5.23)

y ˆ X e jot
…5:26†
c ˆ Ce jot
Normalized equations for total transverse vibration mode and rotational vibrational mode
are

X IV ‡ l4 …r2 ‡ s2 †X 00 l4 X ˆ 0
…5:27†
CIV ‡ l4 …r2 ‡ s2 †C00 l4 C ˆ 0
where

mo2 l 4
l4 ˆ ; m ˆ rA
EI
I
r2 ˆ
Al 2
EI E
s2 ˆ ˆ r2
kAGl 2 kG
x
The prime denotes differentiation with respect to x ˆ .
l

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 154

TABLE 5.10. Uniform Love and Bernoulli±Euler beams. Frequency equations (Abramovich and Elishakoff, 1990)

Frequency
equation Roots of
Frequency equation (Bernoulli±Euler frequency equation
Type of beam Boundary conditions (Love theory, l4 r2 s2 << 1† theory) (Love theory)

Clamped±clamped X …0† ˆ c…0† ˆ 0 2 2 cosh…l2 s1 † cos …l2 s2 † cos l cosh l ˆ 1 Fig. 5.11
X …1† ˆ c…1† ˆ 0 l2
‡ ‰…3s2 r2 † ‡ l4 s4 …s2 ‡ r2 †Š
1 ‡ l4 s2 r2
 sinh…l2 s1 † sin…l2 s2 † ˆ 0

Clamped±pinned X …0† ˆ c…0† ˆ 0 s1 tanh l tan l ˆ 0 Fig. 5.11

z tanh…l2 s1 † tan…l2 s2 † ˆ 0
X …1† ˆ c0 …1† ˆ 0 s2

Clamped±free X …0† ˆ c…0† ˆ 0 2 ‡ l4 …r4 ‡ s4 † cos l cosh l ˆ 1 Fig. 5.11

2‡ cosh…l2 s1 † cos …l2 s2 †
1 1 ‡ l4 s2 r2
c0 …1† ˆ X 0 …1† c…1† ˆ 0
l
l2 …r2 ‡ s2 † sinh…l2 s1 † sin…l2 s2 † ˆ 0
FORMULAS FOR STRUCTURAL DYNAMICS

Clamped±guided X …0† ˆ c…0† ˆ 0 s1 tanh l ‡ tan l ˆ 0 Fig. 5.11

z tan…l2 s2 † ‡ tanh…l2 s1 † ˆ 0
1 s2
c…1† ˆ X 0 …1† c…1† ˆ 0
l

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Pinned±pinned X …0† ˆ c0 …0† ˆ 0 sin…l2 s2 † ˆ 0 sin l ˆ 0 …np†2
l2 ˆ q
X …1† ˆ c0 …1† ˆ 0
1 ‡ …np†2 …s2 ‡ r2 †
BERNOULLI–EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

Fig. 5.11

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 TABLE 5.10. (continued )

Frequency
equation Roots of
Frequency equation (Bernoulli±Euler frequency equation
Type of beam Boundary conditions (Love theory, l4 r2 s2 << 1† theory) (Love theory)

Pinned±guided X …0† ˆ c0 …0† ˆ 0 cos …l2 s2 † ˆ 0 cos l ˆ 0 …2n 1†2 n2

l2 ˆ s
 2
1 0 2n 1
c0 …1† ˆ X …1† c…1† 4
1‡ n …s2 ‡ r2 †
l 2

Fig. 5.11
1 0 …np†2
Guided±guided c…1† ˆ X …0† c…0† ˆ 0 sin…l2 s2 † ˆ 0 sin l ˆ 0 l2 ˆ q
l 1 ‡ …np†2 …s2 ‡ r2 †
1 0
c…1† ˆ X …1† c…1† ˆ 0 Fig. 5.11
l

1 0
Free±free c0 …0† ˆ X …0† c…0† ˆ 0 2 2 cosh…l2 s1 † cos …l2 s2 † cos l cosh l ˆ 1 Fig. 5.11
l
2 4 4
1 0 l ‰…3r2 s2 † ‡ l r …s2 ‡ r2 †Š
c0 …1† ˆ X …1† c…1† ˆ 0 ‡
l 1 ‡ l4 s2 r2
 sinh…l2 s1 † sin…l2 s2 † ˆ 0
1 0 s1
Free±pinned c0 …0† ˆ X …0† c…0† ˆ 0 z tan…l2 s2 † tanh…l2 s1 † ˆ 0 tanh l tan l ˆ 0 Fig. 5.11
l s2

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X …1† ˆ c0 …1† ˆ 0

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s1
Free±guided 1 0 tan…l2 s2 † ‡ z tanh…l2 s1 † ˆ 0 tanh l ‡ tan l ˆ 0 Fig. 5.11
c0 …0† ˆ X …0† c…0† ˆ 0 s2
BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

l
1
c…1† ˆ X 0 …1† c…1† ˆ 0
BERNOULLI–EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

l
155

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156 FORMULAS FOR STRUCTURAL DYNAMICS

The normal modes X and C are general solutions of Equations (5.27), which may be
presented as the following expressions

X …x† ˆ B1 cosh…l2 s1 x† ‡ B2 sinh…l2 s1 x† ‡ B3 cos …l2 s2 x† ‡ B4 sin…l2 s2 x†

C…x† ˆ C1 cosh…l2 s1 x† ‡ C2 sinh…l2 s1 x† ‡ C3 cos …l2 s2 x† ‡ C4 sin…l2 s2 x†

FIGURE 5.11. Frequency ratios o=o0 versus parameter r ˆ I =Al2 for the ®rst four modes of vibration n.

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 BERNOULLI–EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS

BERNOULLI±EULER UNIFORM BEAMS WITH CLASSICAL BOUNDARY CONDITIONS 157

FIGURE 5.11. (Continued )

where
s
r
 
s1 1 4
ˆ p …r2 ‡ s2 † ‡ …r2 ‡ s2 †2 ‡ 4
s2 2 l
Frequency equations for uniform Love and Bernoulli±Euler beams with different
boundary conditions are presented in Table 5.8. In this table, the parameter

s22 s2
zˆ
s21 ‡ s2

Numerical results. If parameters r and b for a given beam are known, the frequencies of
vibration can be calculated from the appropriate frequency equation (Table 5.10). The solu-
tion in closed form may be found only for the simplest cases.
Frequency ratios o=o0 for one-span beams under different boundary conditions in
terms of r ˆ I =AL2 and different modes of vibration (n ˆ 1; 2; 3; 4) are presented in Fig.
5.11, where o is frequency of vibration based on the Love equation; o0 is frequency of
vibration based on Bernoulli±Euler equation (Abramovich, Elishakoff, 1990).

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158 FORMULAS FOR STRUCTURAL DYNAMICS

These are graphs constructed for

E=G ˆ 8=3; k ˆ 2=3; s ˆ 2r

REFERENCES

Abramovich, H. and Elishakoff, I. (1990) In¯uence of shear deformation and rotary inertia on
vibration frequencies via Love's equations. Journal of Sound and Vibration 137(3), 516±522.
Anan'ev, I.V. (1946) Free Vibration of Elastic System Handbook (Gostekhizdat) (in Russian).
Babakov, I.M. (1965) Theory of Vibration (Moscow: Nauka) (in Russian).
Bezukhov, N.J., Luzhin, O.V. and Kolkunov, N.Y. (1969) Stability and Structural Dynamics (Moscow).
Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
Chree, C. (1914) Phil. Mag. 7(6), 504.
Filippov, A.P. (1970) Vibration of Deformable Systems (Moscow: Mashinostroenie) (in Russian).
Geradin, M. and Rixen, D. (1997) Mechanical Vibrations. Theory and Applications to Structural
Dynamics, 2nd edn (New York: Wiley).
Inman, D.J. (1996) Engineering Vibration (Prentice-Hall).
Ivovich, V.A. (1981) Transitional Matrices in Dynamics of Elastic Systems, Handbook (Moscow:
Mashinostroenie) (in Russian).
Love, E.A.H. (1927) A Treatise on the Mathematical Theory of Elasticity (New York: Dover).
Morrow, J. (1905) On lateral vibration of bars of uniform and varying cross-section. Philosophical
Magazine and Journal of Science, series 6, 10(55), 113±125.
Morrow, J. On lateral vibration of loaded and unloaded bars. (1906) Phil. Mag. (6), 11, 354±374;
(1908) Phil. Mag. (6), 15, 497±499.
Pfeiffer, F. (1928) Mechanik Der Elastischen Korper, Handbuch Der Physik, Band VI (Berlin).
Pilkey, W.D. (1994) Formulas for Stress, Strain, and Structural Matrices (Wiley).
Rogers, G.L. (1959) Dynamics of Framed Structures (New York: Wiley).
Sekhniashvili, E.A. (1960) Free Vibration of Elastic Systems (Tbilisi; Sakartvelo) (in Russian).
Timoshenko, S.P. (1953) History of Strength of Materials (New York: McGraw Hill).
Todhunter, L. and Pearson, K. (1960) A History of the Theory of Elasticity and of the Strength of
Materials. (New York: Dover) Volume II. Saint-Venant to Lord Kelvin; part 1Ð762 p., part 2Ð
546 p.
Weaver, W., Timoshenko, S.P. and Young, D.H. (1990) Vibration Problems in Engineering, 5th edn
(New York: Wiley). 610 p.
Young, W.C. (1989) Roark's Formulas for Stress and Strain, 6th edn (New York: McGraw-Hill).
Zal'tsberg, S.G. (1935) Calculation of vibration of statically indeterminate systems with using the
equations of an joint de¯ections, Vestnik inzhenerov i tecknikov, 12. (For more details see Filippov,
1970).

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 6
BERNOULLI±EULER
UNIFORM ONE-SPAN
BEAMS WITH ELASTIC
SUPPORTS

This chapter is devoted to Bernoulli±Euler uniform one-span beams with elastic (transla-
tional and torsional) supports. Fundamental characteristics, such as frequency equations,
eigenvalues and eigenfunctions, are presented. For many cases, the frequency equation is
presented in the different forms that occur in the various scienti®c examples. Special cases
are discussed.

NOTATION

A Cross-sectional area
A; B; C; E; S1 Hohenemser±Prager functions
E Young's modulus
EI Bending stiffness
Iz Moment inertia of a cross-section
r
2
4 mo
kn Frequency parameter, kn ˆ ; l ˆ kl
EI
ktr Translational stiffness coef®cients
krot Rotational stiffness coef®cients
ktr l 3
k*tr Dimensionless translational stiffness coef®cients, k*tr ˆ
EI
k l
k*rot Dimensionless rotational stiffness coef®cients, k*rot ˆ rot
EI
l Length of the beam
m Mass per unit length, m ˆ rA
S; T ; U ; V Krylov±Duncan functions
x Spatial coordinate
x; y; z Cartesian coordinates

159
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160 FORMULAS FOR STRUCTURAL DYNAMICS

X …x† Mode shape

a; g Dimensionless auxiliary parameters
l Frequency parameter, l4 EI ˆ ml 4 o2
x
x Dimensionless coordinate, x ˆ ; 0  x  1
l
r Density of material r 
l2 EI
o Natural frequency, o ˆ 2
l m

6.1 BEAMS WITH ELASTIC SUPPORTS AT

BOTH ENDS

Exact frequency equations and expressions for mode shape vibration for uniform beams
with uniformly distributed masses and elastic supports at both ends are presented in Table
6.1. (Anan'ev, 1946; Gorman, 1975). These equations may be also presented in terms of
Krylov±Duncan and Hohenemser±Prager functions. Frequency equations for special cases
are presented in Table 6.2.

6.1.1 Numerical results

Beam with two translational springs supports

Stiffnesses are equal (Fig. 6.1). In this case it is convenient to calculate a half-beam.
Design diagrams for symmetrical and antisymmetrical vibration and corresponding
frequency equations in terms of (1) Krylov±Duncan functions, (2) Hohenemser±Prager
functions, and (3) in explicit form arerpresented
 in Table 6.3.
l2 EI
The frequency vibration is o ˆ 2 , where l is a root of a frequency equation. The
l m
roots of the frequency equation in terms of k  ˆ kl 3 =EI for symmetrical vibration are
presented in Fig. 6.2. Design diagrams at the left and right of the graph present limiting
cases; corresponding frequency parameters are shown by a circle.
The roots of frequency equation in terms of k  ˆ kl 3 =EI for antisymmetric vibration
are presented in Fig. 6.3.
Stiffnesses are different (Fig. 6.4). Frequency equation (case 1, Table 6.4) may be
rewritten as follows
q
…1 ‡ n†B…l†  …1 ‡ n†2 B2 …l† ‡ 4nD…l†S1 …l†
k*2 ˆ l3 …6:1†
2nS1 …l†
where B…l†; D…l†; S1 …l) are Hohenemser±Prager functions; and the dimensionless para-
meters are

k*1 k1 k1 l 3 k l3
nˆ ˆ ; k*1 ˆ ; k*2 ˆ 2
k*2 k2 EI EI
2
r
l EI
The natural frequency of vibration is o ˆ 2 , where l is a root of frequency equation
l m
(6.1). Frequency parameters l in terms of k*2 and parameter n are presented in Fig. 6.5.

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 TABLE 6.1. Frequency equation and mode shape vibration for one-span beams with elastic supports at both ends

Beam Type Frequency equation and mode shape X …x† Parameters

l3 …1 ‡ a†…sinh l cos l cosh l sin l† l6 …1 cos l cosh l† sinh l sin l k*

…k*1 †2 ‡ k*
1 ‡ ˆ0 gˆ ;a ˆ 2
2a sin l sinh l 2a sin l sinh l k*1 k*1
2 3 sinh l ‡ cos l cosh l
sin l l
X …x† ˆ sin lx ‡ sinh lx ‡ g…cos lx ‡ cosh lx ‡ g1 sinh lx†
sinh l cos l cosh l
g1 ˆ
sinh l

l3  
…1 ‡ cos l cosh l† 2l sin l sinh l l4 sin l
…k*rot †2 ‡ k* a ˆ0 1‡
rot sinh l k*
cos l sinh l sin l cosh l a gˆ ; a ˆ tr
2l cosh l k*
rot
sin l ‡ cos l ‡
X …x† ˆ sin lx ‡ sinh lx ‡ g…cos lx cosh lx ‡ g1 sinh lx† k*
tr sinh l
sinh l
cos l ‡ cosh l
g1 ˆ
sinh l

l…1 ‡ a†…sin l cosh l cos l sinh l† 2l2 sin l sinh l sinh l sin l k*
…k*1 †2 ‡ k*
1 ‡ ˆ0 gˆ ;a ˆ 2
a…1 cos l cosh l† a…1 cos l cosh l† l k*
1
  cos l cosh l 2 sinh l
2l k*1
X …x† ˆ sin lx sinh lx ‡ g cos lx cosh lx sinh lx

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k*
1

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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS
BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

161

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162 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 6.2. Frequency equation for special cases

Beam type Related

(common case) Parameters Beam type Frequency equation* tables

k1 ˆ 0; k2 ˆ 0 Free±free cos l cosh l 1 ˆ 0 5.3

k1 ˆ 1; k2 ˆ 1 Pinned±pinned sin l ˆ 0 5.3; 6.4
k1 ˆ 0; k2 ˆ 1 Pinned±free sin l cosh l sinh l cos l ˆ 0 5.3; 6.4

krot ˆ 0; ktr ˆ 0 Pinned±free sin l cosh l sinh l cos l ˆ 0 5.3; 6.4

krot ˆ 1; ktr ˆ 1 Clamped±pinned sin l cosh l sinh l cos l ˆ 0 5.3; 6.4
krot ˆ 0; ktr ˆ 1 Pinned±pinned sin l ˆ 0 5.3; 6.4
krot ˆ 1; ktr ˆ 0 Clamped±free 1 ‡ cos l cosh l ˆ 0 5.3; 6.4

k1 ˆ 0; k2 ˆ 0 Pinned±pinned sin l ˆ 0 5.3; 6.4

k1 ˆ 1; k2 ˆ 1 Clamped±clamped 1 cos l cosh l ˆ 0 5.3; 6.5
k1 ˆ 0; k2 ˆ 1 Pinned±clamped sin l cosh l sinh l cos l ˆ 0 5.3; 6.4

*Eigenfunctions, nodal points and several types of fundamental integrals for one-span uniform beams with
classical boundary conditions are presented in Chapter 5.

FIGURE 6.1. Beam with two translational springs supports, AS is axis of

symmetry.

TABLE 6.3. Symmetrical beams with elastic supports: frequency equation for symmetrical and
antisymmetrical vibrations

Type of vibration
and design Frequency equation in Special cases and
diagram different forms corresponding frequency equation

Symmetrical kl 3 S…l†T …l† U…l†V …l† k ˆ 0 (free±sliding half-beam)

1. ˆ l3 A…l† ˆ 0 or tan l ‡ tanh l ˆ 0 (Table 5.4)
EI S 2 …l† U 2 …l†
kl 3 A…l†
2. ˆ l3 k ˆ 1 (pinned±sliding half-beam)
EI C…l† C…l† ˆ 0 or cos l cosh l ˆ 0 (Table 5.4)
kl 3 cosh l sin l ‡ sinh l cos l
3. ˆ l3
EI 2 cosh l cos l

Antisymmetrical kl 3 T …l†U…l† S…l†V …l† k ˆ 0 (free±pinned half-beam)

1. ˆ l3 B…l† ˆ 0 or tan l tanh l ˆ 0 (Table 5.4)
EI T 2 …l† V 2 …l†
kl 3 B…l†
2. ˆ l3 k ˆ 1 (pinned±pinned half-beam)
EI S1 …l† S1 …l† ˆ 0 or sin l ˆ 0 (Table 5.4)
kl 3 cosh l sin l sinh l cos l
3. ˆ l3
EI 2 sinh l sin l

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 163

FIGURE 6.2. Symmetrical vibration. Parameters l1 ; l2 as a function of k  ˆ kl3 =EI .

Beam with
r two torsional spring supports (Fig. 6.6). The frequency vibration equals
l EI
oˆ 2 , where l is a root of the frequency equation
l m
   
k l k l k lk l 1
2l2 tan l tanh l ‡ l 1 ‡ 2 …tan l tanh l† ‡ 1 2 1 ˆ 0 …6:2†
EI EI EI EI cos l cosh l

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164 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 6.3. Antisymmetrical vibration. Parameter l as a function of k  ˆ kl 3 =EI.

FIGURE 6.4. Design diagram.

λ
2π
} Third
mode vibration
6
n =10
n =2 n =1
5
4.7300 } Second
mode vibration
4
π n =10 n =2 n =1
3
} Fundamental
mode vibration
Asymptote at λ=π
2
n =∞ n = 10 n =2 n =1
1
Free–free
0
0 10 20 30 40 50 60 70 80 90 k2*

FIGURE 6.5. Fundamental, second and third modes of vibration. Parameters l1 ; l2 and l3 as a function of
3
2 ˆ k2 l =EI and parameter n ˆ k1 =k2.
k*

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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 165

FIGURE 6.6. Design diagram and notation.

Special cases are presented in Table 6.4.

TABLE 6.4 One-span beams with torsional spring supports: frequency equation for limiting cases

Design diagram Frequency equation

Elastic
k1 l
clamped± 2l tan l tanh l ‡ …tan l tanh l† ˆ 0
pinned beam EI
k2 ˆ 0
Elastic  
k1 l 1
clamped± l…tan l tanh l† ‡ 1 ˆ0
clamped beam EI cos l cosh l
k2 ˆ 1
Pinned±pinned
beam sin l ˆ 0
k1 ˆ k2 ˆ 1
Clamped±
clamped beam cos l cosh l 1ˆ0
k1 ˆ k2 ˆ 1
Clamped±
pinned beam tan l tanh l ˆ 0
k1 ˆ 1; k2 ˆ 0

Frequency parameters l for beams with two different torsional spring supports at the
ends and for fundamental and higher mode vibrations are presented in Table 6.5.
Dimensionless parameters are

k1 l k l
k*1 ˆ ; k*2 ˆ 2 :
EI EI
The bold data present two limiting cases: (1) pinned±pinned beam and (2) Clamped±
clamped beam (Hibbeler, 1975).

6.2 BEAMS WITH A TRANSLATIONAL SPRING

AT THE FREE END

A beam with typical boundary conditions at the left-hand end and an elastic spring support
at the right-hand end is shown in Fig. 6.7.

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166 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 6.5. One-span beams with two torsional spring supports:

numerical values of frequency parameters

Mode

k*
1 k*
2 1 2 3 4 5

0.00…1† 0.00 3.142 6.283 9.425 12.566 15.708

0.0 3.143 6.284 9.425 12.567 15.708
0.01 3.142 6.283 9.425 12.566 15.701
0.01 0.1 3.127 6.276 9.420 12.563 15.705
1.0 2.941 6.197 9.369 12.525 15.675
10 4.642 8.460 11.943 15.255 18.495
100 3.969 7.146 10.325 13.507 16.691
1 3.928 7.069 10.211 13.352 16.494
0.0 3.157 6.291 9.430 12.570 15.711
0.01 3.156 6.290 9.430 12.570 15.711
0.1 0.1 3.141 6.283 9.425 12.566 15.708
1.0 2.957 6.204 9.374 12.529 15.678
10 4.654 8.466 11.947 15.258 18.498
100 3.981 7.152 10.330 13.511 16.694
1 3.940 7.076 10.215 13.356 16.496
0.0 3.273 6.356 9.475 12.605 15.739
0.01 3.272 6.355 9.474 12.604 15.739
1.0 0.1 3.258 6.348 9.470 12.601 15.736
1.0 3.084 6.271 9.419 12.563 15.706
10 4.763 8.523 11.985 15.287 18.522
100 4.083 7.211 10.371 13.543 16.721
1 4.042 7.194 10.257 13.388 16.523
0.0 3.665 6.688 9.752 12.840 15.942
0.01 3.663 6.687 9.751 12.839 15.942
10 0.1 3.651 6.680 9.747 12.836 15.939
1.0 3.497 6.608 9.698 12.800 15.910
10 5.221 8.857 12.245 15.503 18.708
100 4.475 7.529 10.638 13.771 16.919
1 4.430 7.450 10.522 13.614 16.720
0.0 3.889 7.003 10.119 13.236 16.354
0.01 3.888 7.003 10.118 13.235 16.354
100 0.1 3.876 6.996 10.114 13.232 16.351
1.0 3.727 6.927 10.067 13.196 16.322
10 5.569 9.260 12.662 15.928 19.136
100 4.735 7.866 11.020 14.177 17.339
1 4.685 7.781 10.898 14.015 17.134
1…2† 1 4.730 7.853 10.996 14.137 17.279

(1) and (2) denote pinned±pinned and clamped±clamped beams, respectively.

FIGURE 6.7. Design diagram; left end of the beam is free,

or pinned, or clamped.

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 167

r 2
l EI
The frequency of vibration equals o ˆ 2 ; m ˆ rA, where l is a root of the
l m
frequency equation. The exact solution of the eigenvalue and eigenfunction problem for
beams with different boundary conditions at the left-hand end and translational spring
support at the right-hand end are presented in Table 6.6 (Anan'ev, 1946; Gorman, 1975).
Dimensionless parameters are

ktr l 3 x
k*tr ˆ ; xˆ
EI l

TABLE 6.6. Frequency equation and mode shape of vibration for beams with translational spring support at
right end

Frequency equation
Trigonometric-hyperbolic functions
Left end Krylov±Duncan functions Mode shape X …x† Parameter g

sin l sinh l
Free 1 cosh l cos l 
k* 3 sin l cosh l cos l
tr ˆ l sinh lx ‡ sin lx ‡ g cosh lx
cosh l sin l sinh l cos l sinh l

2 …cosh l cos l†
3U TV ‡ cosh lx ‡ sinh lx
k*tr ˆ l sinh l
TU SV
sin l cosh l cos l sinh l sin l
Pinned k*tr ˆ l3 sin lx ‡ g sinh lx
2 sin l sinh l sinh l
TU SV
k*tr ˆ l3 2
T V2
1 ‡ cos l cosh l sin l ‡ sinh l
Clamped k* ˆ l3 sinh lx sin lx ‡ g…cosh lx cos lx†
tr
sinh l cos l sin l cosh l cos l ‡ cosh l
S 2 VT
k*tr ˆ l3
TU SV

The frequency equations may also be presented in terms of Hohenemser±Prager functions

(Section 4.5).

TABLE 6.7. Frequency equation for special cases

Parameter
ktr
Left end (right end) Beam type Frequency equation Related tables

Free ktr ˆ 0 Free±free cos l cosh l 1 ˆ 0 5.3

ktr ˆ 1 Free±pinned sin l cosh l sinh l cos l ˆ 0 5.3; 6.4
Pinned ktr ˆ 0 Pinned±free sin l cosh l sinh l cos l ˆ 0 5.3; 6.4
ktr ˆ 1 Pinned±pinned sin l ˆ 0 5.3; 6.4
Clamped ktr ˆ 0 Clamped±free 1 ‡ cos l cosh l ˆ 0 5.3; 6.5
ktr ˆ 1 Clamped±pinned sin l cosh l sinh l cos l ˆ 0 5.3; 6.4

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168 FORMULAS FOR STRUCTURAL DYNAMICS

Numerical Results. Some numerical results for ®rst and second frequencies of vibra-
tion are presented below (Anan'ev, 1946).

6.2.1 Beam free at one end and with translational spring support
at the other
Design diagram and frequency parameters l1 and l2 as a function of k  ˆ kl 3 =EI are
presented in Figs. 6.8(a) and (b), respectively.

Special cases
1. Free±free beam (k ˆ 0). Frequency equation is D…l† ˆ 0 ! cosh l cos l ˆ 1:
2. Free±pinned beam (k ˆ 1). Frequency equation is B…l† ˆ 0 ! tan l tanh l ˆ 0:

6.2.2 Beam pinned at one end, and with translational spring support
at the other
Design diagram and frequency parameters l1 and l2 as a function of k  ˆ kl 3 =EI are
presented in Figs. 6.9(a) and (b), respectively.

Special cases
1. Pinned±pinned beam (k ˆ 1). Frequency equation is S1 …l† ˆ 0 ! sin l ˆ 0 (see table
5.3).
2. Pinned±free beam (k ˆ 0). Frequency equation is B…l† ˆ 0 ! tan l tanh l ˆ 0 (see
table 5.3).

6.2.3 Beam clamped at one end and with a translational spring

at the other
Design diagram and frequency parameters l1 and l2 as a function of k  ˆ kl 3 =EI are
presented in Figs. 6.10(a) and (b), respectively.
Table 6.8 presents parameters l1 and l2 as a function of k  ˆ kl 3 =EI .

TABLE 6.8. First and second frequency parameter for cantilevered beams with transitional spring
support at the end

k 0.0…1† 2.5 5.0 7.5 10.0 15.0 20.0 25.0 30.0 40.0 50.0

l1 1.875 2.169 2.367 2.517 2.639 2.827 2.968 3.078 3.168 3.303 3.401
l2 4.694 4.718 4.743 4.768 4.794 4.845 4.897 4.949 5.001 5.103 5.201

k 60.0 70.0 80.0 100 125 150 200 300 400 500 1…2†

l1 3.474 3.530 3.575 3.541 3.696 3.733 3.781 3.830 3.854 3.869 3.9266
l2 5.295 5.383 5.466 5.616 5.777 5.914 6.128 6.404 6.566 6.668 7.0685

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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 169

FIGURE 6.8(a). Design diagram.

FIGURE 6.8(b). Parameters l1 and l2 as a function of k  ˆ kl 3 =EI .

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170 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 6.9(a). Design diagram.

FIGURE 6.9(b). Parameters l1 and l2 as a function of k  ˆ kl3 =EI .

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 171

FIGURE 6.10(a). Design diagram.

FIGURE 6.10(b). Parameters l1 and l2 as a function of k  ˆ kl 3 =EI .

Special cases
1. Clamped±free beam (k ˆ 0). Frequency equation is cosh l cos l ˆ 1 (see table 5.3).
2. Clamped±pinned beam (k ˆ 1). Frequency equation is tanh l ˆ tan l (see table 5.3).

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172 FORMULAS FOR STRUCTURAL DYNAMICS

6.2.4 Beam clamped at one end and with translational spring along
the span
The design diagram is presented in Fig. 6.11.

FIGURE 6.11. Design diagram.

r
l2 EI
The frequency vibration equals o ˆ 2 . Here, l is a root of the frequency equation
l m
1 
S 2 …l† T…l†V …l† k S‰l…1 l †ŠfS…l†V …ll † T…l†U …ll  †g
l3
1 
k T ‰l…1 l †ŠfS…l†U …ll  † V …l†V …ll  †g ˆ 0
l3

where S…l†; T…l†; U …l) and V …l) are Krylov±Duncan functions.

l kl3
Numerical results for speci®c values of l ˆ 1 and k  ˆ are presented in Table
6.12. l EI

Special cases
1. Clamped±pinned beam with overhang (k ˆ 1)

S‰l…1 l  †Š
fS…l†V …ll  † T …l†U …ll  †g ‡ fS…l†U …ll  † V …l†V …ll †g ˆ 0
T‰l…1 l  †Š
2. Cantilever beam with translational spring at the free end (l1 ˆ l; l  ˆ 1)

S 2 …l† V …l†T…l† cosh l cos l ‡ 1

ktr ˆ l3 or k*tr ˆ l3 …see section 6.2.3)
S…l†V …l† T …l†U …l† sinh l cos l cosh l sin l
3. Clamped±pinned beam without overhang (k ˆ 1 and l  ˆ 1)

S…l†V …l† T…l†U …l† ˆ 0 or tan l tanh l ˆ 0 and l ˆ 3:9266 …see table 5.3)

4. Cantilever beam (l ˆ 0 or k ˆ 0)

S 2 …l† T…l†V …l† ˆ 0 or cosh l cos l ‡ 1 ˆ 0 and l ˆ 1:875 (see table 5.3)

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 173

Example. Calculate the stiffness parameter k  …l; l1 and EI are given), which leads to
frequency parameter l ˆ 3:0, if l ˆ 0:8.

Solution. Frequency of vibration may be rewritten in the following form with respect to
parameter k 

l3 ‰S 2 …l† T …l†V …l†Š

k ˆ
S‰l…1 l  †ŠfS…l†V …ll † T…l†U …ll †g ‡ T ‰l…1 l †ŠfS…l†U …ll † V …l†V …ll  †g
A table of Krylov±Duncan functions is presented in Section 4.1.
If l ˆ 3:0 and l  ˆ 0:8, then

33 ‰4:538832 5:07919  4:93838Š

k ˆ
1:00540f4:53883  2:39539 5:07919  3:14717g ‡






‡ 0:60074f4:53883  3:14717 4:93838  2:39539g

k ˆ 33:013
Some numerical results are presented below.

6.3 BEAMS WITH TRANSLATIONAL AND

TORSIONAL SPRINGS AT ONE END

A beam with typical boundary conditions at the left-hand end and elastic spring support at
the right-hand end is shown in Fig. 6.12.

FIGURE 6.12. Design diagram: the left end of the beam is free, or pinned, or clamped.

Natural frequency of vibration is

r
l2 EI
oˆ 2 ; m ˆ rA
l m

where l is a root of the frequency equation.

The exact solution of the eigenvalue and eigenfunction problem (frequency equation
and mode shape vibration) for beams with a classical boundary condition at the left-hand
end and elastic supports at right-hand end are presented in Table 6.9 (Anan'ev, 1946;
Weaver et al, 1990; Gorman, 1975); Special cases are presented in Table 6.10. Non-
dimensional parameters, used for the exact solution are:

krot l ktr l 3 x
k*rot ˆ ; k*tr ˆ ; xˆ ; 0x1
EI EI l

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 TABLE 6.9. Eigenvalues and eigenfunction for beams with different boundary condition at the left-hand end, and translational and torsional springs at the free
174

right-hand end

Frequency equation in different forms

Left end 1. Hohenemser±Prager functions; 2. Hyperbolic±trigonometric functions Mode shape X …x† and parameter g

Free l
B…l† ‡ l3 A…l† l4 D…l† sin lx ‡ sinh lx ‡ g…cos lx ‡ cosh lx†
2 a
1. …k*tr † k*
tr ˆ0 k*
E…l† a E…l† cos l cosh l ‡ tr3 …sin l ‡ sinh l†
l gˆ l
…sinh l cos l cosh l sin l† l3 …sin l cosh l ‡ cos l sinh l† k*
a tr
2. …k*tr †2 ‡ k*
tr sin l ‡ sinh l …cos l ‡ cosh l†
1 ‡ cos l cosh l l3

l4 1 cos l cosh l
‡ ˆ0
a 1 ‡ cos l cosh l

Pinned l
S1 …l† ‡ l3 C…l† l4 sin lx ‡ g sinh lx
2 a
1. …k*tr † k*
tr ˆ0 k*
B…l† a cos l ‡ tr3 sin l
2l gˆ l
…sin l sinh l† 2l3 …cos l cosh l† l4 k*tr
2 a cosh l sinh l
2. …k*tr † ‡ k*
tr ˆ0
cos l sinh l sin l cosh l a l3
FORMULAS FOR STRUCTURAL DYNAMICS

Clamped l
B…l† ‡ l3 A…l† sin lx sinh lx ‡ g…cos lx cosh lx†
2 a l4 E…l†
1. …k*tr † k*
tr ˆ0 k*
D…l† a D…l† cos l ‡ cosh l ‡ tr3 …sin l sinh l†
l gˆ l
…sinh l cos l sin l cosh l† ‡ l3 …cos l sinh l ‡ cosh l sin l† k*
tr

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2. …k*tr †2 ‡ k* a sin l sinh l …cos l cosh l†
tr

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1 cos l cosh l l3

l4 1 ‡ cos l cosh l
‡ ˆ0
BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

a 1 cos l cosh l

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 175

TABLE 6.10. Frequency equation for special cases

Stiffness
Left parameters Related
end at right end Beam type Frequency equation tables

Free 1. krot ˆ 0; ktr ˆ 0 Free±free cos l cosh l 1 ˆ 0 5.3

2. krot ˆ 1; ktr ˆ 1 Free±clamped 1 ‡ cos l cosh l ˆ 0 5.3; 6.4; 6.5
3. krot ˆ 0; ktr ˆ 1 Free±pinned sin l cosh l sinh l cos l ˆ 0 5.3; 6.4
4. krot ˆ 1; ktr ˆ 0 Free±sliding tan l ‡ tanh l ˆ 0 5.3; 6.5
Pinned 1. krot ˆ 0; ktr ˆ 0 Pinned±free sin l cosh l sinh l cos l ˆ 0 5.3; 6.4
2. krot ˆ 1; ktr ˆ 1 Pinned±clamped sin l cosh l sinh l cos l ˆ 0 5.3; 6.4
3. krot ˆ 0; ktr ˆ 1 Pinned±pinned sin l ˆ 0 5.3; 6.4
4. krot ˆ 1; ktr ˆ 0 Pinned±sliding cosh l cos l ˆ 0 5.3
Clamped 1. krot ˆ 0; ktr ˆ 0 Clamped±free 1 ‡ cos l cosh l ˆ 0 5.3; 6.5
2. krot ˆ 1; ktr ˆ 1 Clamped-clamped 1 cos l cosh l ˆ 0 5.3; 6.5
3. krot ˆ 0; ktr ˆ 1 Clamped±pinned sin l cosh l sinh l cos l ˆ 0 5.3; 6.5
4. krot ˆ 1; ktr ˆ 0 Clamped±sliding tan l ‡ tanh l ˆ 0 5.3; 6.5

6.3.1 Beam free at one end and with translational and rotational spring
support at the other (Fig. 6.13) r
l2 EI
Natural frequency vibration is o ˆ 2 ; m ˆ rA, where l is a root of the frequency
equation. l m
The frequency equation may be presented in the following forms (Anan'ev, 1946;
Gorman, 1975).
Form 1

k*tr
l …sinh l cos l cosh l sin l† l3 …sin l cosh l ‡ cos l sinh l†
2 k*r
ktr* ‡ k*tr
1 ‡ cosh l cos l
k*tr 1 cosh l cos l
4
‡l ˆ0
k*r 1 ‡ cosh l cos l

where dimensionless parameters are

kr l ktr l 3 x
k*r ˆ ; ktr* ˆ ; xˆ
EI EI l

FIGURE 6.13. Design diagram.

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

176 FORMULAS FOR STRUCTURAL DYNAMICS

Form 2

l3 ‰k*A…l†
r ‡ lD…l†Š
k*tr ˆ
k*E…l†
r lB…l†

where A, B, E and D are Hohenemser±Prager functions.

Mode shape

X …x† ˆ sin lx ‡ sinh lx ‡ g…cos lx ‡ cosh lx†

where

l3 …cos l cosh l† ‡ k*tr …sin l ‡ sinh l† x

gˆ ; xˆ
l3 …sin l ‡ sinh l† k*tr …cos l ‡ cosh l† l

Example. Calculate the stiffness of rotational spring support k*rot , which leads to the
fundamental frequency parameter l ˆ 1:5, if the stiffness of the translational spring
support is k*tr ˆ 50.

Solution. The frequency equation may be rewritten in the following form with respect to
dimensionless stiffness parameter k*rot. The table of Hohenemser±Prager functions is
presented in Chapter 4.

l4 D…l† ‡ k*tr lB…l† 1:54  … 0:83360† ‡ 50  1:5  2:19590

k*rot ˆ ˆ ˆ 3:216
k*tr E…l† l3 A…l† 50  1:16640 1:53  2:49714

TABLE 6.11. Special cases

Stiffness
parameters Related
No. Beam type at right end Frequency equation Tables

1 k*
tr ˆ 0 and k*
r ˆ0 1 cosh l cos l ˆ 0 5.3
1 cosh l cos l 6.3
2 k*
r ˆ0 k*tr ‡ l3 ˆ0
sinh l cos l cosh l sin l
1 cosh l cos l
3 k*
tr ˆ 0 k*
rot ˆ l 6.3
cosh l sin l ‡ cos l sinh l

4 k*
tr ˆ 1 and k*
r ˆ0 tan l tanh l ˆ 0 5.3
5 k*
tr ˆ 0 and k*
r ˆ1 tan l ‡ tanh l ˆ 0 5.3
6 k*tr ˆ 1 and k*
r ˆ1 1 ‡ cosh l cos l ˆ 0 5.3
3 sin l cosh l ‡ cos l sinh l
7 k*
r ˆ1 k*tr ˆ l 6.5
1 ‡ cos l cosh l
sinh l cos l cosh l sin l
8 k*
tr ˆ 1 k*
rot ‡ l ˆ0 6.4
1 ‡ cosh l cos l

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 177

6.3.2 Beam free at one end and with rotational spring support
at the other
The design diagram is presented in Fig. 6.14(a).r
l2 EI
The natural frequency of vibration is o ˆ 2 ; m ˆ rA, where l is a root of the
l m
frequency equation, which may be presented in the following forms (Anan'ev, 1946)

krot l D…l†
Form 1: ˆ l
EI A…l†

krot l T…l†V …l† U 2 …l†

Form 2: ˆ l
EI S…l†T …l† U …l†V …l†

krot l cosh l cos l 1

Form 3: ˆ l
EI cosh l sin l ‡ sinh l cos l

Frequency parameters l1 and l2 for ®rst and second modes of vibration as a function of
k*rot ˆ krot
l=EI are presented in Fig. 6.14(b).

Special cases
1. Free±free beam (krot ˆ 0). Frequency equation is D…l† ˆ 0 ! cosh l cos l ˆ 1 (see
Table 5.3).
2. Free±sliding beam (krot ˆ 1). Frequency equation is A…l† ˆ 0 ! tanh l ‡ tan l ˆ 0
(Table 5.3).

6.3.3 Beam clamped at one end with translational and rotational springs
supported along the span
The design diagram is presented in Fig. 6.15.
The natural frequency of vibration is

r
l2 EI
oˆ 2 ; m ˆ rA
l m

where frequency parameters l, in terms of spacing of support ul, mode number, stiffness
k l3 k l
parameters k1 ˆ tr and k2 ˆ rot are presented in Table 6.12 (Lau, 1984).
EI EI

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

178 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 6.14(a). Design diagram.

FIGURE 6.14(b). Parameters l1 and l2 as a function of k*ˆ krot l=EI.

FIGURE 6.15. Design diagram.

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

TABLE 6.12. Frequency parameters for cantilever beams with translational and rotational spring
support along the span

k2

u Mode k1 0.00 1.0 10.0 100.0 1000.0 10000.0

0.00 1.87510 1.92466 2.12534 2.30140 2.33413 2.33769

1.00 1.87572 1.92516 2.12549 2.30142 2.33414 2.33769
0.2 1 10.00 1.88118 1.92955 2.12684 2.30154 2.33418 2.33773
100.0 1.92730 1.96721 2.13892 2.30271 2.33457 2.33806
1000.0 2.09381 2.10996 2.19522 2.30942 2.33691 2.34005
10000.0 2.19789 2.20449 2.24472 2.31787 2.34013 2.34282
0.00 4.69409 4.74374 5.03755 5.52582 5.65969 5.67532
1.00 4.69497 4.74457 5.03811 5.52604 5.65983 5.67546
2 10.00 4.70277 4.75195 5.04313 5.52796 5.66112 5.67668
100.0 4.77440 4.81966 5.08944 5.54591 5.67313 5.68806
1000.0 5.14801 5.17475 5.34033 5.64947 5.74398 5.75537
10000.0 5.52057 5.53253 5.61044 5.77779 5.83634 5.84369
0.00 7.85476 7.87435 8.01592 8.41615 8.59232 8.61586
1.00 7.85551 7.87511 8.01669 8.41692 8.59307 8.61661
3 10.00 7.86227 7.88190 8.02362 8.42381 8.59981 8.62332
100.0 7.92788 7.94773 8.09057 8.48997 8.66441 8.68767
1000.0 8.41088 8.43090 8.57181 8.94475 9.10085 9.12142
10000.0 9.22942 9.24388 9.34335 9.59102 9.68953 9.70233
0.00 1.87510 2.00933 2.48428 2.88536 2.96256 3.01037
1.00 1.88303 2.01557 2.48692 2.88642 2.96341 3.02267
0.4 1 10.00 1.94760 2.06706 2.50929 2.89554 2.97068 3.12542
100.0 2.27905 2.34774 2.64827 2.95500 3.01835 3.73808
1000.0 2.65388 2.68652 2.85005 3.05046 3.09608 4.54227
10000.0 2.73595 2.76267 2.90012 3.07611 3.11727 4.67264
0.00 4.69409 4.70350 4.75949 4.85329 4.87941 5.36239
1.00 4.69860 4.70804 4.76414 4.85807 4.88422 5.36413
2 10.00 4.73862 4.74826 4.80542 4.90046 4.92679 5.37994
100.0 5.08767 5.09893 5.16422 5.26793 5.29569 5.55120
1000.0 6.44373 6.46655 6.59724 6.79561 6.84595 6.88590
10000.0 7.04720 7.08148 7.28627 7.62957 7.72363 7.79768
0.00 7.85476 7.88730 8.08744 8.44155 8.54119 8.52902
1.00 7.85533 7.88786 8.08795 8.44198 8.54161 8.52938
3 10.00 7.86049 7.89292 8.09252 8.44589 8.54536 8.53262
100.0 7.91408 7.94554 8.13989 8.48624 8.58405 8.56615
1000.0 8.56849 8.59002 8.72795 8.99043 9.06710 9.00039
10000.0 10.39927 10.43306 10.66299 11.14374 11.27404 11.18555
0.00 1.87510 2.06655 2.60876 2.94992 3.00458 3.01037
1.00 1.90646 2.09119 2.62383 2.96251 3.01690 3.02267
0.6 1 10.00 2.13029 2.27625 2.74618 3.06734 3.11984 3.12542
100.0 2.93657 3.02369 3.37790 3.67938 3.73240 3.73808
1000.0 3.57232 3.65365 4.03322 4.44670 4.53275 4.54227
10000.0 3.67174 3.75239 4.13617 4.56947 4.66230 4.67264
0.00 4.69409 4.73154 4.94831 5.27292 5.35322 5.36239
1.00 4.69745 4.73476 4.95083 5.27478 5.35497 5.36413
2 10.00 4.72779 4.76380 4.97370 5.29173 5.37090 5.37994
100.0 5.02875 5.05468 5.21296 5.47466 5.54328 5.55120
1000.0 6.50096 5.51977 6.63418 6.82770 6.87985 6.88590
10000.0 7.16288 7.19107 7.36797 7.69284 7.78663 7.79768
(Continued )

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 BERNOULLI–EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS

180 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 6.12. (Continued )

k2

u Mode k1 0.00 1.0 10.0 100.0 1000.0 10000.0

0.00 7.85476 7.88329 8.06553 8.41378 8.51683 8.52902

1.00 7.85522 7.88375 8.06595 8.41415 8.51719 8.52938
3 10.00 7.85941 7.88788 8.06978 8.41753 8.52044 8.53262
100.0 7.90312 7.93102 8.10963 8.45244 8.55412 8.56615
1000.0 8.47891 8.49948 8.63454 8.90724 8.99049 9.00039
10000.0 10.33018 10.36151 10.57627 11.03887 11.17078 11.18555
0.00 1.87510 2.07404 2.45029 2.59156 2.60974 2.61161
1.00 1.95026 2.13046 2.48409 2.61940 2.63687 2.63867
0.8 1 10.00 2.40287 2.50532 2.73864 2.83611 2.84894 2.85026
100.0 3.82712 3.84606 3.88307 3.89618 3.89781 3.89798
1000.0 4.67897 4.81699 5.30157 5.54922 5.57824 5.58115
10000.0 4.68230 4.82670 5.40219 5.81882 5.87974 5.88603
0.00 4.69409 4.85644 5.59037 6.25503 6.36381 6.37514
1.00 4.69414 4.85655 5.59075 6.25561 6.36442 6.37575
2 10.00 4.69459 4.85753 5.59420 6.26091 6.36996 6.38132
100.0 4.70206 4.87246 5.63557 6.31920 6.43036 6.44192
1000.0 6.20838 6.25650 6.62687 7.20711 7.30973 7.32023
10000.0 7.15257 7.21529 7.68878 8.78617 9.07182 9.09899
0.00 7.85476 7.90049 8.25443 9.24250 9.60592 9.65030
1.00 7.85508 7.90080 8.25463 9.24254 9.60593 9.65031
3 10.00 7.85798 7.90355 8.25640 9.24294 9.60608 9.65044
100.0 7.88786 7.93185 8.27455 9.24690 9.60755 9.65166
1000.0 8.24674 8.27293 8.49493 9.28874 9.62186 9.66352
10000.0 9.46537 9.46702 9.48155 9.58454 9.71318 9.73699
0.00 1.87510 2.05395 2.29117 2.35644 2.36415 2.36493
1.00 2.01000 2.14907 2.34704 2.40368 2.41042 2.41111
1.0 1 10.00 2.63892 2.66623 2.71468 2.73095 2.73297 2.73317
100.0 3.64054 3.68184 3.78882 3.84032 3.84749 3.84824
1000.0 3.89780 4.00421 4.35620 4.58450 4.62047 4.62427
10000.0 3.92374 4.03808 4.42292 4.67543 4.71512 4.71932
1 3.9266
0.00 4.69409 4.86860 5.28872 5.47087 5.49503 5.49753
1.00 4.70379 4.87680 5.29328 5.47404 5.49803 5.50051
2 10.00 4.79377 4.95203 5.33488 5.50295 5.52539 5.52770
100.0 5.61600 5.65171 5.75618 5.81301 5.82126 5.82212
1000.0 6.87629 6.91393 7.08432 7.25212 7.28464 7.28819
10000.0 7.05070 7.11325 7.41534 7.73343 7.79572 7.80252
1 7.0686
0.00 7.85476 7.96567 8.35306 8.59821 8.63508 8.63895
1.00 7.85682 7.96760 8.35436 8.59905 8.63587 8.63973
3 10.00 7.87565 7.98518 8.36607 8.60673 8.64295 8.64675
100.0 8.08409 8.17596 8.48887 8.68705 8.71725 8.72042
1000.0 9.55253 9.55375 9.55931 9.56499 9.56613 9.56625
10000.0 10.15498 10.19578 10.42747 10.76056 10.84018 10.84919
1 10.210

(1) Bold results are presented for a cantilever beam (k1 ˆ k2 ˆ 0) and a clamped±pinned beam
(k1 ˆ 1; k2 ˆ 0).
(2) The shape mode expressions are presented in Lau (1984).

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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 181

6.4 BEAMS WITH A TORSIONAL SPRING AT

THE PINNED END

A beam with typical boundary conditions at the left-hand end and elastic spring support at
the right-hand end is shown in Fig. 6.16.

FIGURE 6.16. Design diagram: left-hand end of the beam

is free, or pinned, or clamped.

The natural frequency of vibration is

r
l2 EI
oˆ 2 ; m ˆ rA
l m
where l is a frequency parameter.
The exact solution of the eigenvalue and eigenfunction problem (frequency equation
and mode shape vibration) for beams with a classical boundary condition at the left-hand
end and elastic supports at right-hand end are presented in Table 6.13 (Anan'ev, 1946;
Weaver et al., 1990; Gorman, 1975); Special cases are presented in Table 6.14.
k l x
Dimensionless parameters are k*rot ˆ rot and x ˆ ; 0  x  1.
EI l
Example. The clamped±pinned beam has a rotational spring at the pinned support.
Calculate the frequency vibration and compile the expression for mode shape.

Solution. Let parameter

krot l
k*rot ˆ ˆ 3:08
EI
The root of the frequency equation

sin l cosh l sinh l cos l

k* ˆ l
cos l cosh l 1
is l ˆ 4:20.
The frequency of vibration
r r
l2 EI 4:22 EI
oˆ 2 ˆ 2 ; m ˆ rA:
l m l m
Parameter

sinh l sin l
g…4:2† ˆ ˆ 1:01052
cos l cosh l

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 182

TABLE 6.13. Frequency equation and mode shape of vibration for beams with rotational spring support at the pinned end

Frequency equation*
(1) Trigonometric±hyperbolic functions Mode shape X …x† Parameter g
Left end (2) Krylov±Duncan functions

Free sin l cosh l sinh l cos l …sin lx ‡ sinh lx† ‡ g…cos lx ‡ cosh lx† sin l ‡ sinh l
k*
rot ˆ l
1 ‡ cos l cosh l cos l ‡ cosh l
TU SV
k*rot ˆ l
S2 TV

Pinned 2 sin l sinh l sin lx ‡ g sinh lx sin l

k*rot ˆ l
cos l sinh l sin l cosh l sinh l
T2 V2
k*rot ˆ l
TU SV

Clamped sinh lx sin lx ‡ g…cosh lx cos lx† sin l sinh l

FORMULAS FOR STRUCTURAL DYNAMICS

sin l cosh l sinh l cos l

k*rot ˆ l cosh l cos l
cos l cosh l 1
TU SV
k*rot ˆ l
TV U2

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* The frequency equations may also be presented in terms of Hohenemser±Prager functions (Section 4.5).
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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 183

Expressions for mode shape vibration and slope may be presented in the form

X …x† ˆ sin lx sinh lx ‡ g…cos lx cosh lx†; l ˆ 4:2; g ˆ 1:01052;

X 0 …x† ˆ l…cos lx cosh lx† ‡ gl… sin lx sinh lx†; 0  x  1

TABLE 6.14. Special cases

Parameter Beam type Frequency equation Related tables

krot ˆ 0 Free±pinned sin l cosh l sinh l cos l ˆ 0 5.3

Pinned±pinned sin l ˆ 0 5.3
Clamped±pinned sin l cosh l sinh l cos l ˆ 0 5.3
krot ˆ 1 Free±clamped 1 ‡ cos l cosh l ˆ 0 5.3; 4.4; 4.5
Pinned±clamped tan l tanh l ˆ 0 5.3
Clamped±clamped 1 cos l cosh l ˆ 0 5.3; 4.4; 4.5

6.4.1 Numerical results

Some numerical results are presented below (Anan'ev, 1946).

Beam free at one end and pinned with a rotational spring support at the other. The
design diagram and frequency parameters l1 and l2 for the fundamental and second
k l
mode of vibration, as a function of k*rot ˆ rot , are presented in Figs. 6.17(a) and (b).
EI

Special cases
1. Pinned±free beam (krot ˆ 0†: tan l tanh l ˆ 0 (see table 5.3).
2. Clamped±free beam (krot ˆ 1†: cosh l cos l ‡ 1 ˆ 0 (see table 5.3).

Beam pinned at one end and pinned with a torsional spring support at the other. The
design diagram and frequency parameters l1 and l2 for the fundamental and second mode
k l
of vibration, as a function of k  ˆ rot , are presented in Figs. 6.18(a) and (b).
EI

Special cases
1. Pinned±pinned beam (krot ˆ 0): Frequency equation is S1 …l† ˆ 0 ! sin l ˆ 0 (see
table 5.3).
2. Pinned±clamped beam (krot ˆ 1): Frequency equation is B…l† ˆ 0 ! tan l
tanh l ˆ 0 (see table 5.3).

Beam clamped at one end and pinned with a torsional spring support at the other. The
design diagram and frequency parameters l1 and l2 for the fundamental and second mode
kl
of vibration, as a function of k*r ˆ r , are presented in Figs. 6.19(a) and (b).
EI

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FIGURE 6.17(a). Design diagram.

FIGURE 6.17(b). Parameters l1 and l2 as a function of k  ˆ krot l=EI .

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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 185

FIGURE 6.18(a). Design diagram.

FIGURE 6.18(b). Parameters l1 and l2 as a function of k  ˆ krot l=EI .

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186 FORMULAS FOR STRUCTURAL DYNAMICS

Special cases
1. Clamped±pinned beam (krot ˆ 0). Frequency equation is tan l tanh l ˆ 0 (see table
5.3).
2. Clamped±clamped beam (krot ˆ 1). Frequency equation is cosh l cos l ˆ 1 (see table
5.3).

6.5 BEAMS WITH SLIDING-SPRING SUPPORTS

Exact solutions of the eigenvalue problem for beams with sliding-spring supports are
presented in Table 6.15 (Anan'ev, 1946).
r
l2 EI
Frequency of vibration is o ˆ 2 ; m ˆ rA, where l is a root of the frequency
l m
equation.
k l3 k l3
Stiffness parameters are k*1 ˆ 1 ; k*2 ˆ 2 .
EI EI

6.5.1 Numerical results

Some numerical results are presented below (Anan'ev, 1946).

Beam with a sliding spring support at one end and free at the other. The design
diagram and numerical results are presented in Fig. 6.20(a) and (b), respectively.
r
l2 EI
The natural frequency of vibration is o ˆ 2 ; m ˆ rA, where l is a root of the
l m
frequency equation, which may be presented in different forms.

kl 3 A…l†
Form 1. ˆ l3
EI E…l†
kl 3 S…l†T …l† U …l†V …l†
Form 2. ˆ l3
EI S 2 …l† T…l†V …l†
3
kl cosh l sin l ‡ sinh l cos l
Form 3. ˆ l3
EI cosh l cos l ‡ 1

Special cases

1. Sliding±free beam (k ˆ 0). Frequency equation is A…l† ˆ 0 ! tan l ‡ tanh l ˆ 0 (see

table 5.3)
2. Clamped±free beam (k ˆ 1). Frequency equation is E…l† ˆ 0 ! cos l cosh l ‡ 1 ˆ 0
(see table 5.3).

Example. Consider a beam free at one end with a sliding spring support at the other.
Calculate the stiffness parameter k  that leads to a fundamental frequency parameter
l ˆ 1:4.

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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 187

FIGURE 6.19(a). Design diagram.

FIGURE 6.19(b). Parameters l1 and l2 as a function of k  ˆ krot l=EI .

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 188

TABLE 6.15. Frequency equation for one-span beams with sliding spring supports

Frequency equation Special cases

(a) Hohenemser±Prager functions
Beam Type (b) Elementary functions Parameters Beam type Frequency equation Related tables
3
(a) l A…l† k* 1 D…l† ˆ 0; 1. k1 ˆ 0 Clamped±sliding tan l ‡ tanh l ˆ 0 5.3
(b) l3 …sin l cosh l ‡ sinh l cos l† 2. k1 ˆ 1 Clamped±clamped cos l cosh l ˆ 1 5.3; 6.4
k*1 …cosh l cos l 1† ˆ 0

A…l† D…l† 1. k1 ˆ 0 Sliding±sliding sin l ˆ 0 5.3

(a) l6 l3 …k*1 ‡ k*
2† ‡ k*1 k*2 ˆ 0; k2 ˆ 0 5.3; 6.4
S1 …l† S1 …l†
(b) 2l6 sin l sinh l
2. k1 ˆ 1 Clamped±clamped cos l cosh l ˆ 1 5.3
l3 …k*1 ‡ k*2 †…sin l cosh l ‡ sinh l cos l† k2 ˆ 1
‡ k*1 k*
2 …cos l cosh l 1† ˆ 0
3. k1 ˆ 0 Sliding±clamped tan l ‡ tanh l ˆ 0
k2 ˆ 1
FORMULAS FOR STRUCTURAL DYNAMICS

A…l† 1. k1 ˆ 0 Sliding±free tan l ‡ tanh l ˆ 0 5.3

(a) l3 k*1 ˆ 0; 2. k1 ˆ 1 Clamped±free cos l cosh l ‡ 1 ˆ 0 5.3; 6.4
E…l†
(b) l3 …sin l cosh l ‡ sinh cos l†
k*1 …cosh l cos l ‡ 1† ˆ 0

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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 189

FIGURE 6.20(a). Design diagram.

FIGURE 6.20(b). Parameters l1 and l2 as a function of k  ˆ kl 3 =EI :

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190 FORMULAS FOR STRUCTURAL DYNAMICS

Solution. According to Table 6.15, case 3, the required parameter is

A…l† 2:44327
k*tr ˆ l3 ˆ 1:43  ˆ 4:909
E…l† 1:36558

Example. Consider a beam clamped at one end with a sliding spring support at the other.
Calculate the stiffness parameter k , which leads to a fundamental frequency parameter
l ˆ 2:0.

Solution. The stiffness parameter according to case 1, Table 4.4

A…l† 1:91165
k*tr ˆ l3 ˆ 23 
D…l† 2:56563

is negative. So, for a given type of beam, the stiffness parameter l ˆ 2:0 is impossible to
achieve. The minimum value of the parameter l is 2.38 when Hohenemser±Prager
functions A and D have the same sign. In this case

A…l† 0:12644
k*tr ˆ l3 ˆ 2:383  ˆ 0:348
D…l† 4:94345

6.6 BEAMS WITH TRANSLATIONAL AND

TORSIONAL SPRING SUPPORTS AT EACH END

The supports of the beam, which are shown in Fig. 6.21, are all elastic. The spring
constants are k1 and k2 for the translational springs and k3 and k4 for the rotational springs.
This means that the amount of force (moment) present is proportional to the amount of
de¯ection (rotation):

Va ˆ k1 y…0; t† V ˆ k2 y…l; t†
and b
Ma ˆ k3 y0 …0; t† Mb ˆ k4 y0 …l; t†

The frequency equation for the general case is presented

rbelow. r
EI l2 EI
The natural frequency of vibration is o ˆ k 2 ˆ 2 ; kl ˆ l, where the
m l m
frequency parameter, k, is a root of the frequency equation.

FIGURE 6.21. Beam with elastic supports.

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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 191

The frequency equation for the general case is given below (Rogers, 1959; Weaver et
al., 1990; Maurizi et al., 1991).

2 k1 k1 3
k3 k3
6 EI EI 7
6 7
6 7
6 k3 k3 7
6 k k 7
6 EI EI 7
6 7
6 7ˆ0
6 7
6 k 3 cos kl k2 sin kl 3
k sin kl
k2 3
cos kl k cosh kl
k2 3
sin kl k sinh kl
k2
cosh kl 7
6 7
6 EI EI EI EI 7
6 7
4 5
k k4 k4 k4
k sin kl ‡ 4 cos kl k cos kl sin kl k sinh kl ‡ cosh kl k cosh kl ‡ sinh kl
EI EI EI EI

Special cases are presented in Table 6.16.

TABLE 6.16. Special cases

Left End Right End

Stiffness Boundary conditions Stiffness Boundary conditions

k1 ˆ 0; k3 ˆ 0 Free end k2 ˆ 0; k4 ˆ 0 Free end

k1 ˆ 0; k3 ˆ 1 Guided k2 ˆ 0; k4 ˆ 1 Guided

k1 ˆ 1; k3 ˆ 0 Pinned k2 ˆ 1; k4 ˆ 0 Pinned

k1 ˆ 1; k3 ˆ 1 Clamped k2 ˆ 1; k4 ˆ 1 Clamped

Example. Derive the frequency equation for a clamped±clamped beam (Fig. 6.22).

Solution. The frequency equation becomes

 
 0 1 0 1 

 1 0 1 0 
 ˆ0
 sin kl cos kl sinh kl cosh kl 

 cos kl sin kl cosh kl sinh kl 

FIGURE 6.22. Design diagram.

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192 FORMULAS FOR STRUCTURAL DYNAMICS

We expand this determinant with respect to the ®rst row to get

1…sinh2 kl cosh2 kl sin kl cos kl ‡ cos kl cosh kl†

1…cos kl cosh kl ‡ sin kl sinh kl sin2 kl cos2 kl† ˆ 0

Using the well-known trigonometric identities leads to the frequency equation

cos kl cosh kl ˆ 1 (Table 5.3).

FIGURE 6.23. Design diagram.

Example. Derive the frequency equation for a clamped±free beam (Fig. 6.23).

Solution. The frequency equation becomes

 
 0 1 0 1 

 1 0 1 0 
 ˆ0
 cos kl sin kl cosh kl sinh kl 

 sin kl cos kl sinh kl cosh kl 

This determinant is expanded to yield the frequency equation cos kl cosh kl ˆ 1 (Table
5.3).

Example. Derive the frequency equation for the free±free beam. All stiffnesses
ki ; i ˆ 1; . . . ; 4 equal zero.

Solution. The frequency equation becomes

 
 1 0 1 1 

 0 1 0 1 
 ˆ0
 cos kl sin kl cosh kl sinh kl 

 sin kl cos kl sinh kl cosh kl 

The frequency equation is the same as that for a clamped±clamped beam.

6.7 FREE±FREE BEAM WITH TRANSLATIONAL

SPRING SUPPORT AT THE MIDDLE SPAN

The design diagram is presented in Fig. 6.24(a). r

l2 EI
The natural frequency of vibration is o ˆ 2 ; m ˆ rA, where l is a root of the
l m
frequency equation, which may be presented in different forms (Anan'ev, 1946).

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BERNOULLI±EULER UNIFORM ONE-SPAN BEAMS WITH ELASTIC SUPPORTS 193

FIGURE 6.24(a). Design diagram.

FIGURE 6.24(b). Symmetrical mode of vibration: parameters l1 and l2 as a function of k  ˆ kl3 =EI .

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194 FORMULAS FOR STRUCTURAL DYNAMICS

Symmetrical vibration

kl 3 A…l†
Form 1. ˆ l3
2EI E…l†
kl 3 cosh l sin l ‡ sinh l cos l
Form 2. ˆ l3
2EI cosh l cos l ‡ 1
kl 3 …Sl†T…l† U …l†V …l†
Form 3. ˆ l3
2EI S 2 …l† T …l†V …l†
Frequency parameters l1 and l2 for the fundamental and second mode of vibration as a
function of k  ˆ kl 3 =2EI are shown in Fig. 6.24(b).

Antisymmetrical vibration. The frequency equation

B…l† ˆ 0 ! cosh l sin l sinh l cos l ˆ 0

or

T …l†U …l† S…l†V …l† ˆ 0

Frequency parameters are l1 ˆ 3:926; l2 ˆ 7:0685.

Special cases

1. Free±clamped (k ˆ 1). Frequency equation is E…l† ˆ 0 ! cos l cosh l ‡ 1 ˆ 0 (see

table 5.3).
2. Free±free beam length of 2l…k ˆ 0). Frequency equation is l ˆ 0; A…l† ˆ 0 (see table
5.3).

REFERENCES

Anan'ev, I.V. (1946) Free Vibration of Elastic System Handbook (Gostekhizdat) (in Russian).
Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
Duncan, W.J. (1943) Free and forced oscillations of continuous beams treatment by the admittance
method. Phil. Mag. 34, (228).
Gorman, D.J. (1975) Free Vibration Analysis of Beams and Shafts (New York: Wiley).
Hibbeler, R.C. (1975) Free vibration of a beam supported by unsymmetrical spring-hinges. Journal of
Applied Mechanics, June, pp. 501±502.
Krylov, A.N. (1936) Vibration of Ships (Moscow±Leningrad: ONTI-NKTP).
Lau, J.H. (1984) Vibration frequencies of tapered bars with end mass. Journal of Applied Mechanics,
ASME, 51, 179±181.
Maurizi, M.J., Rossi, R.E. and Reyes, J.A. (1991) Comments on `A note of generally restrained
beams'. Journal of Sound and Vibration, 147(1), 167±171.
Pilkey, W.D. (1994) Formulas for stress, strain, and structural matrices (New York: Wiley).
Rogers, G.L. (1959) Dynamics of Framed Structures, (New York: Wiley).
Weaver, W., Timoshenko, S.P. and Young D.H. (1990) Vibration Problems in Engineering, 5th edn
(New York: Wiley).

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 7
BERNOULLI±EULER BEAMS
WITH LUMPED AND
ROTATIONAL MASSES

This chapter focuses on Bernoulli±Euler uniform one-span beams with lumped and
rotational masses. Beams with classic and non-classic boundary conditions, as well as
elastic translational and torsional supports, are presented. Fundamental characteristics such
as frequency equations, natural frequencies of vibration and mode shape vibrations are
presented. For many cases, the frequency equation is presented in the different forms that
occur in scienti®c problems. The chapter contains a vast amount of numerical results.

NOTATION

A Cross-sectional area
A; B; C; D; E; S1 Hohenemser±Prager functions
E Young's modulus
EI Bending stiffness
g Acceleration of gravity, g ˆ 9:8 m=s2
Iz Moment of inertia of a cross-section
J Moment inertia of the lumped mass
J* Moment inertia ratio r
4 mo2
kn Frequency parameter, kn ˆ ; l ˆ kl
EI
ktr , krot Translational and rotational stiffness coef®cients
k*tr , k*rot Dimensionless translational and rotational stiffness coef®cients
l Length of the beam
M Concentrated mass
q Uniformly distributed load
S; T ; U ; V Krylov±Duncan functions
x Spatial coordinate
X …x† Mode shape
x; y; z Cartesian coordinates
a Mass ratio

195
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196 FORMULAS FOR STRUCTURAL DYNAMICS

l Frequency parameter, l4 EI ˆ ml 4 o2
x Dimensionless coordinate, x ˆ x=l
r, m Density of material and mass per unit length
o Natural frequency, o2 ˆ l4 EI =ml 4

7.1 SIMPLY SUPPORTED BEAMS

7.1.1 Beam with lumped mass at the middle-span

The design diagram is presented in Fig. 7.1(a). r
l2 EI
Symmetric vibration (SV). The natural frequency of vibration is o ˆ 2 ,
l m
m ˆ rA, where l is a root of the frequency equation, which may be presented in terms
of Hohenemser±Prager's functions or in explicit form (Anan'ev, 1946).

M C…l†
Form 1: ˆ …7:1†
2ml lB…l†
M 1 2 cosh l cos l
Form 2: ˆ …7:1a†
2ml l cosh l sin l sinh l cos l
M
Frequency parameters as a function of mass ratio a ˆ is presented in Fig. 7.1(b).
2ml
Antisymmetric vibration (AsV). The frequency equation and the corresponding roots
of the equation are

S1 …l† ˆ 0; l1 ˆ p; l2 ˆ 2p; l3 ˆ 3p; . . . …7:2†

The band frequency spectrum for symmetric vibration and the discrete spectrum for
antisymmetric vibration are presented in Fig. 7.2.

7.1.2 Beam with lumped mass along the span

The design diagram is presented in Fig. 7.3(a).
s
l2 EI
Natural frequency of vibration is o ˆ 2 , where l is a root of the frequency
l m…1 ‡ e†
equation, which may be presented in the following form (Morrow, 1906; Filippov, 1970):

2 sin l sinh l al…sin lx1 sin lx2 sinh l sinh lx1 sinh lx2 sin l† ˆ 0 …7:3†
The dimensionless parameters are

d
x1 ˆ ; x2 ˆ 1 x1
l
M q
aˆ ; eˆ
…1 ‡ e†ml grA
Parameter l4 for fundamental mode of vibration is presented in Fig. 7.3(b).

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 BERNOULLI–EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES

BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 197

FIGURE 7.1(a). Design diagram.

1.5
Symmetrical vibration

1.25

1.0
Fundamental mode
0.75 0 < λ < 0.5π

0.5

0.25
Asymptote at λ = 0
0

0 5 10 15 20 25 30 35 40 45 α*
λ2

4.8
Symmetrical vibration
4.7124
4.6

4.4
First mode
4.2 3.9266 < λ < 1.5π
M=∞

4.0
3.9266 M=∞
3.8 Half-beam
l

3.6

0 2 4 6 8 10 12 14 16 18 α*
FIGURE 7.1(b). Beam with lumped mass at the middle span. Symmetrical mode of vibration. Parameters
l1 and l2 are a function of mass ratio a ˆ M =2ml.

FIGURE 7.2. Frequency spectrum for a pinned±pinned beam with lumped mass.

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198 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 7.3(a). Design diagram.

λ4
97.408 α=0
90
0.1
80 81.216
0.2
70
0.3 69.458
60 60.766
0.4
50 53.935

48.502
40 0.5

1.0 32.247
30
Fundamental mode
20

0 0.1 0.2 0.3 0.4 ξ1=d /l

FIGURE 7.3(b). Simply supported beam with lumped mass along the span. Frequency parameter l4 is a
function of mass ratio a and spacing x1 .

Special case. Lumped mass at the middle of the beam.

Symmetric vibration. The frequency equation is
 
l l al l l l l
cosh cos cosh sin sinh cos ˆ0 …7:4†
2 2 4 2 2 2 2

Parameters l for the fundamental frequency of vibration are listed in Table 7.1.
Antisymmetric vibration. The frequency equation and corresponding roots of the
equation are

l
sin ˆ 0; l ˆ 2np; n ˆ 1; 2; 3; . . .
2

The expressions for mode shape vibration are presented in Section 7.6.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 199

TABLE 7.1. Simply supported uniform beam with lumped mass at middle of the span: Frequency
parameter l for fundamental symmetric vibration

a 0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.40 0.50 0.75
l 3.142 3.068 3.002 2.942 2.887 2.838 2.792 2.710 2.639 2.496

a 1.0 2.0 4.0 6.0 8.0 10 15 20 40 60

l 2.383 2.096 1.809 1.649 1.542 1.463 1.327 1.237 1.044 0.944

7.1.3 Beam with equal lumped masses

The design diagram of a symmetrical beam with lumped masses is presented in Fig. 7.4(a).
The natural frequency of vibration equals

r r
l2i EI …li n†2 EI
oi ˆ ˆ 2
l12 m l m

where li are roots of the frequency equation.

Frequency equation. (Filippov, 1970)

vp vp
cos2 …cosh l ‡ cos l† cos ‡ cosh l cos l M
D…l† ˆ h n n ˆ …7:5†
l vpi 2ml1
cosh l sin l sinh l cos l ‡ …sinh l sin l† cos
2 n

where n is a number of segments, 0 ˆ 1, 2, 3, . . . are natural numbers. The curves D…l† for
n ˆ 4 are presented in Fig. 7.4(b). Parameters l are the points of intersections of the line
n ˆ M =2ml with curves D…l†; the numbers i ˆ 1; 2; 3; . . . correspond to frequencies oi .
The relationship between number n of segments and number i of the frequencies is
presented in Table 7.2.

Example. Calculate the natural frequencies of vibration for the uniform symmetrical
simply supported beam with three equal point masses, shown in Fig. 7.5. Assume, that
ml1 ˆ 2M .

M
Solution. The number of segments n ˆ 4. Parameter ˆ 1.
2ml1
v 1 2 1 3
The horizontal line D…l† ˆ 1 intersects the curves D…l† for ˆ ; ˆ ; at the
following values of frequency parameters l n 4 4 2 4

i 1 2 3 4 5 6 7 8 9

l 0.60 1.19 1.76 3.48 4.10 4.69 6.62 7.21 7.73

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200 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 7.4(a). Simply supported beam with lumped masses.

FIGURE 7.4(b). Graph of D…l† for different v=n. Two groups of curves for l < p; and p < l < 2p: Third
group for l > 251 is not shown; l ˆ 1; 2; 3; . . . are natural numbers.

TABLE 7.2. Simply supported symmetrical uniform beam with equal lumped masses: Additional
parameters for graph D…l†

Number n of
segments 2 3 4 5
Parameters v=n
of the curves 1=2 1=3, 2=3 1=4, 2=4 ˆ 1=2, 3=4 1=5, 2=5, 3=5, 4=5
Number i of the
frequencies 3 6 9 12

FIGURE 7.5. Simply supported beam with

lumped masses.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 201

Natural frequencies of vibration are

r r r
0:62 EI …0:6  4†2 EI …1:19  4†2 EI
o1 ˆ ˆ ; o2 ˆ ;...
l12 m l2 m l2 m

Example. Calculate the natural frequency of vibration for the uniform symmetrical beam
with one point mass, shown in Fig. 7.6. Assume, that ml1 ˆ M .

FIGURE 7.6. Simply supported beam with one

point mass.

M
Solution. The number of segments n ˆ 2. Parameter ˆ 1.
2ml1
v 1
The horizontal line D…l† ˆ 1 intersects the curves D…l† for ˆ at l ˆ 1:19, 4.10,
7.21. n 2
Consequently, the frequencies of vibration are
r r r r
…1:19  2†2 EI 2:382 EI …4:10  2†2 EI …7:21  2†2 EI
o1 ˆ ˆ 2 ; o2 ˆ ; o3 ˆ
l2 m l m l2 m l2 m

Parameter l ˆ 1:19 corresponds to symmetrical vibration with one half-wave;

Parameter l ˆ 4:10 corresponds to antisymmetrical vibration with two half-waves;
Parameter l ˆ 7:21 corresponds to symmetrical vibration with two half-waves.

7.1.4 Beam with the spring-mass at the middle of the span

The design diagram is presented in Fig. 7.7(a).r
l2 EI
Natural frequency of vibration is o ˆ 2 , where l is a root of the frequency
equation. l m

Frequency equation for symmetrical vibration. (Anan'ev, 1946), see Fig. 7.7(b)

a C…l†
Form 1: a ˆ lB…l† …7:6†
4
1 l
3k*
a 2 cos l cosh l
Form 2: ˆ …7:6a†
4 a l…sin l cosh l sinh l cos l†
1 l
3k*

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202 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 7.7(a). Design diagram.

where the dimensionless mass and stiffness parameters are

FIGURE 7.7(b). Simply supported beam with a spring mass at the middle of the span. Fundamental mode
of vibration. Frequency parameter l is a function of mass ratio a ˆ M =2ml and stiffness ratio k* ˆ kl 3 =6EI .

M kl3
aˆ k* ˆ
2ml 6EI

7.1.5 Beam with equal lumped masses on elastic supports

The design diagram of a symmetrical uniform beam with lumped masses on elastic
supports is presented in Fig. 7.8.
The natural frequencies of vibration are
r
l2i EI
oi ˆ
l12 m

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 203

FIGURE 7.8. Design diagram.

FIGURE 7.9. Design diagram.

where l are roots of the frequency equation, which may be written in the form (Filippov,
1970)

vp vp
cos2 …cosh l ‡ cos l† cos ‡ cosh l cos l M 1 kl13
n n ˆ …7:7†
lh vpi 2ml1 l4 2EI
cosh l sin l sinh l cos l ‡ …sinh l sin l† cos
2 n

where n is the number of segments and v ˆ 1; 2; 3; . . . are integers.

The relationship between the number of segments, n and the number, i, of the frequency
of vibration is presented in Table 7.2.

TABLE 7.3. Simply supported uniform beam with one lumped mass on elastic support at the middle
of the span: Fundamental frequency parameter l for symmetrical vibration

k*

0.0 1.0 2.0 4.0 6.0 8.0 10.0 15.0 20.0 40.0 60.0
a

1.571 1.192 1.048 0.904 0.825 0.771 0.731 0.663 0.619 0.522 0.472

5.0 1.822 1.386 1.219 1.052 0.960 0.897 0.851 0.772 0.720 0.607 0.549
10.0 1.995 1.522 1.339 1.156 1.054 0.985 0.935 0.848 0.791 0.667 0.603
25.0 2.332 1.794 1.579 1.363 1.243 1.162 1.103 1.000 0.933 0.787 0.711
50.0 2.662 2.076 1.830 1.580 1.441 1.348 1.278 1.160 1.081 0.912 0.825
100 3.027 2.426 2.143 1.853 1.690 1.581 1.499 1.360 1.268 1.070 0.968
200 3.37 2.839 2.523 2.186 1.995 1.866 1.770 1.606 1.497 1.263 1.142
400 3.623 3.286 2.968 2.585 2.362 2.210 2.096 1.902 1.774 1.496 1.353

(1) First row (Case a ˆ 0) corresponds to the simply supported beam with the elastic support at the middle of the
span.
(2) First column (Case k ˆ 0) corresponds to the simply supported beam with the lumped mass at the middle of
the span (see Equation (7.5)).

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204 FORMULAS FOR STRUCTURAL DYNAMICS

Special case. Let l1 ˆ 0:5l (Fig. 7.9).

The number of segments n ˆ 2 and frequency equation for i ˆ 1 (fundamental
frequency of vibration) becomes

2 cosh l cos l M 1 kl13

ˆ …7:8†
l cosh l sin l sinh l cos l 2ml1 2l4 EI
kl13 M
Parameters l1 as a function of k* ˆ and a ˆ are listed in Table 7.3.
EI ml

7.2 BEAMS WITH OVERHANGS

7.2.1 Beam with one overhang and a lumped mass at the end

FIGURE 7.10. Design diagram.

The design diagram is presented in Fig. 7.10.

The natural frequency of vibration is
s s
l21 EI l2 EI
oˆ 2 ˆ
l1 m1 l2 m1
where l is a root of the following frequency equation (Filippov, 1970)
…cosh lx sin lx sinh lx cos lx†…cosh lZ sin lZ sinh lZ cos lZ†
2 sinh lx sin lx…1 ‡ cos lZ cosh lZ†
M
‡2 l ‰…cosh lx sin lx sinh lx cos lx† sin lZ sinh lZ ˆ0 …7:9†
m1 l
‡ sinh lx sin lx…cosh lZ sin lZ sinh lZ cos lZ†Š
Here, dimensionless parameters are
l1
xˆ ; Zˆ1 x
l
q
m1 ˆ m…1 ‡ e†; eˆ
gm

Special cases

1. Pinned±pinned beam. In this case x ˆ 1, and Z ˆ 0.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 205

The frequency equation is

sinh l sin l ˆ 0 …see Table 5:3†

2. Clamped beam with a lumped mass at the end. In this case x ˆ 0, and Z ˆ 1.

The frequency equation is

M
1 ‡ cos l cosh l l…sin l cosh l cos l sinh l† ˆ 0 …see Table 7:6†:
m1 l

3. Beam with one overhang (M ˆ 0) (Morrow, 1908; Chree, 1914) (see Section 5.2).

The frequency equation is

…cosh lx sin lx sinh lx cos lx†…cosh lZ sin lZ sinh lZ cos lZ†

2 sinh lx sin lx…1 ‡ cos lZ cosh lZ† ˆ 0

7.2.2 Beam with two overhangs and lumped masses at the ends
The design diagram is presented in Fig. 7.11(a). The natural frequency of vibration is given
r
l2 EI
by o ˆ 2 , where l is the root of the frequency equation.
l m
Symmetrical vibration. The frequency equation in terms of Hohenemser±Prager's
functions (Anan'ev, 1946) is

M 1 C‰l…1 l1*†ŠE…ll1*† A‰l…1 l1*†ŠB…ll1*†

ˆ …7:10†
ml l C‰l…1 l1*†ŠB…ll1*† ‡ A‰l…1 l1*†ŠS1 …ll1*†

where the dimensionless parameters are

l1 l2 l2 M
l1* ˆ ; l2* ˆ ; l ˆ l1 ‡ ; aˆ
l 2l 2 ml

The frequency parameters l as a function of mass ratio a ˆ M =ml and parameter l1* ˆ l1 =l
for the fundamental mode of vibration are shown in Fig. 7.11(b).

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206 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 7.11(a). Design diagram.

FIGURE 7.11(b). Beam with two overhangs and lumped masses at the ends. Fundamental mode of
vibration. Frequency parameter l as a function of mass ratio a ˆ M =ml and geometry ratio l1* ˆ l1 =l.

Antisymmetric vibration. The frequency equation may be presented in the form

M 1 S1 ‰l…1 l1*†ŠE…ll1*† B‰l…1 l1*†ŠB…ll1*†

ˆ …7:11†
ml lB‰l…1 l1*†Š S1 ‰l…1 l1*†Š S1 …ll1*†

Example. Derive the frequency equation for the symmetrical vibration of a three-span
beam with pinned supports at both ends.

Solution. This case corresponds to a simply-supported beam with two overhangs and two
in®nite lumped masses at the ends (M ˆ 1). The frequency equation is

C‰l…1 l1*†ŠB…ll1*† ‡ C‰l…1 l1*†ŠS1 …ll1*† ˆ 0

7.3 CLAMPED BEAM WITH A LUMPED MASS

ALONG THE SPAN

Figure 7.12(a) shows a ®xed±®xed beam with a uniformly distributed load q and a
concentrated mass at an arbitrary location d from the left support.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 207

FIGURE 7.12(a). Design diagram.

s
l2 EI q
The natural frequency of vibration of the beam is o ˆ 2 , eˆ . The
l m…1 ‡ e† grA
frequency parameters l are roots of the following frequency equation (Filippov, 1970).
 
 U …1† ‡ al4 U …x †V …x † V …1† ‡ al4 V …x1 †V …x2 † 
 1 2
 ˆ0 …7:12†
 U 0 …1† ‡ al4 U …x †V 0 …x † V 0 …1† ‡ al4 V …x †V 0 …x † 
1 2 1 2

where Krylov±Duncan functions and dimensionless parameters are

1
U …x† ˆ …cosh lx cos lx†
2l2
1
V …x† ˆ 3 …sinh lx sin lx†
2l
d x M
x1 ˆ ; x2 ˆ 1 x1 ; x ˆ ; aˆ
l l …1 ‡ e†ml

The frequency parameter l as a function of mass ratio a and the parameter x1 for the
fundamental mode of vibration are shown in Fig. 7.12(b) (Morrow, 1906; Pfeiffer, 1928).

4.7300
4.5 α=0.1
4.470
0.2
4.266
4.0 0.5
3.848

1.0
3.5
Fundamental mode 3.438

3.0
0 0.1 0.2 0.3 0.4 ξ1 = d/l

FIGURE 7.12(b). Clamped beam with a lumped mass along the span. Fundamental mode of vibration.
Frequency parameter l as a function of mass ratio a ˆ M =ml and geometry ratio l1* ˆ l1 =l.

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208 FORMULAS FOR STRUCTURAL DYNAMICS

Special case. Let d ˆ 0:5l. The frequency equation is D1 D2 ˆ 0, where

 
l l l l
D1 ˆ sin cosh cos sinh
2 2 2 2
  
l l l l al l l
D2 ˆ cosh sin ‡ sinh cos ‡ cosh cos 1
2 2 2 2 2 2 2
Antisymmetric vibration (AsV). The frequency equation is D1 ˆ 0. In this case, point
x ˆ 0:5 is the nodal point. In terms of Hohenemser±Prager functions, a frequency equation
and frequency parameter are

D1 ˆ B…0:5l† ˆ 0 ! 0:5lmin ˆ 3:92651

So, the equation D1 ˆ B…0:5l† ˆ 0 corresponds to clamped±pinned beam of length 0.5l
and mass M attached on the axis of symmetry. In this case, it is possible to assume that
M ˆ 0.
Symmetrical vibration (SV). The frequency equation is D2 ˆ 0. Parameter l1 of the
fundamental frequency vibration (®rst mode of symmetric vibration) can be taken from
Table 7.4(a).
Parameter l3 of the third frequency of vibration (second mode of symmetric vibration)
is listed in Table 7.4(b).

TABLE 7.4(a). Clamped uniform beam with lumped mass at the middle of the span: Fundamental
frequency parameter l for symmetric vibration

a 0.0 0.05 0.10 0.15 0.20 0.25 0.50 0.75 1.0 1.5
l 4.730 4.592 4.470 4.362 4.266 4.180 3.848 3.614 3.438 3.182

a 2.0 4.0 6.0 8.0 10.0 15.0 20.0 25.0 30.0 1

l 3.000 2.574 2.342 2.188 2.074 1.880 1.752 1.658 1.586 0.0

TABLE 7.4(b). Clamped uniform beam with lumped mass at the middle of the span: Frequency
parameter for second mode of symmetric vibration

a 0.00 0.10 0.50 1.0 10.0 20.0 40.0 1

l 10.996 10.588 10.000 9.786 9.500 9.480 9.470 9.46

The ®rst mode of antisymmetric vibration: l2 ˆ 7:8532 (see Table 5.3).

Symmetric vibration has a band frequency spectrum, while antisymmetric vibration has
a discrete frequency spectrum (Fig. 7.13).
Expressions for the mode shape vibration are presented in Section 7.7.

FIGURE 7.13. Frequency spectrum.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 209

7.4 FREE±FREE BEAMS

7.4.1 Beam with a lumped mass at the middle of the span

Figure 7.14(a) shows a free±free beam with concentrated
r mass at the middle of the span.
l2 EI
The natural frequency of vibration is o ˆ . The frequency parameters l are the
roots of the frequency equation. l2 m
Symmetrical vibration. The frequency equation may be presented as follows.

M 1 A…l†
Form 1: ˆ
2ml l E…l†
M 1 S…l†T …l† U …l†V …l†
Form 2: ˆ …7:13†
2ml l S 2 …l† T…l†V …l†
M 1 cosh l sin l ‡ sinh l cos l
Form 3: ˆ
2ml l cosh l cos l ‡ 1

FIGURE 7.14(a). Design diagram.

FIGURE 7.14(b). Free±free beam with a lumped mass at the middle of the span. Fundamental and third
mode of vibration. Frequency parameter l as a function of mass ratio a ˆ M=ml.

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210 FORMULAS FOR STRUCTURAL DYNAMICS

Frequency parameters l, as a function of the mass ratio a ˆ M =2ml for symmetrical modes
of vibration (fundamental and third mode of vibration) are shown in Fig. 7.14(b) (Anan'ev,
1946).
Antisymmetric vibration. The frequency equation may be presented in a different
form, as follows

Form 1: B…l† ˆ 0
Form 2: T…l†U …l† S…l†V …l† ˆ 0 …7:14†
Form 3: cosh l sin l sinh l cos l ˆ 0

The roots of the frequency equation are

l1 ˆ 3:92651; l2 ˆ 7:06848

The symmetric vibration has a band frequency spectrum and the antisymmetric vibration
has a discrete frequency spectrum (Fig. 7.15).

FIGURE 7.15. Frequency spectrum.

The case l ˆ 0 corresponds to the vibration of the beam without bending deformation
(vibration as a rigid body) (Table 5.3).
M
Example. Find the mass ratio parameter a ˆ ; which leads to frequency parameter
l ˆ 2:2. 2ml

Solution. The frequency equation is

M 1 A…l†
ˆ
2ml l E…l†

1 1:07013
so parameter a ˆ ˆ 0:288.
2:2 … 1:68822†

7.4.2 Beam with a translational spring and a lumped mass at the middle
of the span
Figure 7.16(a) shows a free±free beam carrying the lumped mass supported by one spring
at the middle of the span.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 211

FIGURE 7.16(a). Design diagram.

The natural frequencies of vibration are

r
l2 EI
oˆ
l2 m
The frequency parameter l is the root of the frequency equation.
Symmetrical vibration. The frequency equation may be presented as follows

A…l†
Form 1: k* al4 ˆ l3
E…l†
S…l†T …l† U …l†V …l†
Form 2: k* al4 ˆ l3 …7:15†
S 2 …l† T…l†V …l†
cosh l sin l ‡ sinh l cos l
Form 3: k* al4 ˆ l3
cosh l cos l ‡ 1
where dimensionless parameters are

kl 3 M
k* ˆ aˆ
2EI 2ml
Frequency parameters l as a function of mass ratio a ˆ M =2ml and stiffness ratio
k* ˆ kl3 =2EI for the fundamental and third modes of vibration are shown in Fig.
7.16(b) (Anan'ev, 1946).

Special cases for symetrical vibration are presented in Table 7.5.

TABLE 7.5. Free-ended uniform beam with translational spring and lumped mass at the middle of
the span: Frequency equations

Design diagram Parameter Frequency equation Related formulas

1 A…l†
kˆ0 aˆ Section 7.4
l E…l†
A…l†
M ˆ0 k* ˆ l3 Section 6.7
E…l†

Antisymmetric vibration. The frequency equation may be presented as follows:

Form 1: B…l† ˆ 0
Form 2: T …l†U …l† S…l†V …l† ˆ 0 …7:16†
Form 3: cosh l sin l sinh l cos l ˆ 0

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212 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 7.16(b). Free±free beam supported by a spring with a lumped mass at the middle of the span.
Symmetrical vibration. Frequency parameter l as a function of mass ratio a ˆ M =ml and stiffness ratio
k* ˆ kl 3 =2EI .

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 213

The frequency parameters are l1 ˆ 3:926, l2 ˆ 7:0685.

The symmetrical vibration has a band frequency spectrum and the antisymmetric
vibration has a discrete frequency spectrum (Fig. 7.17).

FIGURE 7.17. Frequency spectrum.

Example. Calculate the dimensionless stiffness parameter k* which, together with mass
ratio a ˆ 5:0; leads to the frequency parameter l ˆ 1:6.

Solution. Stiffness parameter

A…l† 2:5070
k* ˆ al4 ‡ l3 ˆ 5:0  1:64 ‡ 1:63 ˆ 43:872
E…l† 0:92474

Example. For a free±free beam of length 2l, the parameters m, l and EI are known. Is it
possible to ®nd parameters for a translational spring and a lumped mass at the middle of
the span which leads to the eigenvalue l ˆ 2:2?

Solution. From the frequency spectrum graph we can see that parameter l ˆ 2:2 cannot
be realized.

7.5 BEAMS WITH DIFFERENT BOUNDARY

CONDITIONS AT ONE END AND A LUMPED
MASS AT THE FREE END

A beam with typical boundary conditions at the left-hand end and a lumped mass at the
right-hand end is shown in Fig. 7.18.
Dimensionless parameters are

M x
aˆ ; xˆ ; 0x1
ml l
The frequency of vibration is equal to
r
l2 EI
oˆ 2 ; m ˆ rA
l m

FIGURE 7.18. Design diagram of a beam; the left-hand

end of the beam is free, or pinned or clamped.

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214 FORMULAS FOR STRUCTURAL DYNAMICS

where l is a root of the frequency equation. The exact solution of the eigenvalue and
eigenfunction problem (frequency equation and mode shape vibration) for beams with
classical boundary condition at the left-hand end and a lumped mass at right-hand end are
presented in Table 7.6 (Anan'ev, 1946; Gorman, 1975).

TABLE 7.6. Eigenvalues and eigenfunction for beams with different boundary conditions (left-hand
end) with a lumped mass at the free end

Left end Frequency equation Mode shape X …x† Parameter g

1 sinh l cos l cosh l sin l sin l sinh l

Free ˆl sin lx ‡ sinh lx
a 1 cos l cosh l cosh l cos l
‡ g…cos lx ‡ cosh lx†
1 2 sin l sinh l sin l
Pinned ˆl sin lx ‡ g sinh lx
a cos l sinh l sin l cosh l sinh l
1 sin l cosh l sinh l cos l
Clamped ˆl sinh lx sin lx sin l ‡ sinh l
a 1 ‡ cos l cosh l
‡ g…cosh lx cos lx† cos l ‡ cosh l

Special cases. (Related formulas are presented in Table 5.3).

If M ˆ 0, then the frequency equations for a beam with different boundary conditions
are:
Free±free beam: 1 cos l cosh l ˆ 0
Pinned±free beam: cos l sinh l sin l cosh l ˆ 0
Clamped±free beam: 1 ‡ cos l cosh l ˆ 0
If M ˆ 1, then the impedance of the mass is equal to in®nity, which corresponds to a
pinned beam supported at the right-hand end, so the frequency equations for a beam with
different boundary conditions become:
Free±pinned beam: sinh l cos l cosh l sin l ˆ 0
Pinned±pinned beam: sin l ˆ 0
Clamped±pinned beam: sin l cosh l sinh l cos l ˆ 0

NUMERICAL RESULTS

7.5.1 Cantilever beam with a lumped mass at the end

Frequency parameter l1, the fundamental frequency of vibration, and l2, the second
frequency of vibration, as a function of mass ratio a ˆ M =ml; are listed in Tables 7.7(a)
and 7.7(b), respectively. Bold data correspond to the limiting cases.
Frequency parameters l1 and l2 as a function of mass ratio a ˆ M =ml for fundamental
and second modes of vibration are shown in Fig. 7.19 (Anan'ev, 1946).
The vibration has band frequency spectrum with mixed numbers of shape modes (Fig.
7.20). Point l ˆ 0:00 corresponds to clamped±free beam with M ˆ 1. It means that the
beam does not vibrate. Point l ˆ 1:875 corresponds to a fundamental mode of the
clamped±free beam without M . Points l ˆ 3:926 and l ˆ 4:6941 correspond to the

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 215

TABLE 7.7(a). Cantilever uniform beam with a lumped mass at the free end: Frequency parameter
for fundamental mode of vibration

a 0.0 0.05 0.10 0.15 0.20 0.25 0.50 0.75 1.0 1.5
l 1.875 1.791 1.723 1.665 1.616 1.574 1.420 1.320 1.248 1.146

a 2.0 4.0 6.0 8.0 10 15 20 25 30 40 1

l 1.076 0.917 0.833 0.777 0.736 0.666 0.621 0.587 0.561 0.523 0.0

TABLE 7.7(b). Cantilever uniform beam with a lumped mass at the free end: Frequency parameter
for second mode of vibration

a 0.00 0.05 0.10 0.15 0.20 0.25 0.50 0.75 1.0

l 4.694 4.513 4.400 4.323 4.267 4.225 4.111 4.060 4.031

a 1.5 2.0 3.0 4.0 6.0 8.0 10 15 20 1

l 4.000 3.983 3.965 3.956 3.946 3.941 3.938 3.935 3.933 3.926

FIGURE 7.19. Cantilever beam with a lumped mass at the free end. Frequency parameters l1 and l2 as a
function of mass ratio a ˆ M =ml.

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216 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 7.20. Frequency spectrum.

fundamental modes of vibration of a clamped±pinned beam and the second mode of

vibration of a clamped±free beam without M , respectively.

Example. Consider a clamped±free beam carrying a lumped mass M at the free end,
a ˆ M =ml ˆ 0:5. Calculate the eigenvalue and eigenfunctions that correspond to the
fundamental mode of vibration.

Solution. From Table 7.7, the frequency parameter l ˆ 1:420.

Parameter g according to Table 7.6 is

sin l ‡ sinh l 0:98865 ‡ 1:94770

gˆ ˆ ˆ 1:255038
cos l ‡ cosh l 0:15023 ‡ 2:18942

Mode shape of vibration

X …x† ˆ sinh 1:420x sin 1:420x 1:255038…cosh 1:420x cos 1:420x†

Nodal point at x ˆ 0:0.

The maximum velocity of the free end

jvmax j ˆ lX …1† ˆ 1:420  ‰1:94770 0:98865 1:255038…2:18942 0:15023†Š

ˆ 2:2723

7.5.2 Cantilever beam with a lumped mass along the span

Figure 7.21(a) shows a clamped±free beam carrying the uniformly distributed load and one
lumped mass along the span.
Natural frequencies of vibration are

s
l2 EI
oˆ 2 ; m ˆ rA
l m…1 ‡ e†

FIGURE 7.21(a). Design diagram.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 217

FIGURE 7.21(b). Cantilever beam with a lumped mass along the span. Fundamental mode of vibration.
Frequency parameter l1 as a function of mass ratio a ˆ M =ml and spacing l* ˆ l1 =l.

The frequency parameters l are the roots of the frequency equation, which may be
presented in terms of Krylov±Duncan functions (Filippov, 1970)

S 2 …l† T…l†V …l† ‡ lnS‰l…1 l*†ŠfS…l†V …ll*† T …l†U …ll*†g ‡ lnT ‰l…1 l*†Š
 fS…l†U …ll*† V …l†V …ll*†g ˆ 0 …7:17†

where dimensionless parameters are

M q l1
nˆ ; eˆ ; l* ˆ
…1 ‡ e†ml grA l

Frequency parameters l as a function of mass ratio a ˆ M =ml and mass position ratio
l* ˆ l1 =l for the fundamental mode of vibration, is shown in Fig. 7.21(b) (Anan'ev, 1946).
The beam has a band frequency spectrum, which is presented in Fig. 7.21(c).

FIGURE 7.21(c). Clamped±free beam with a lumped mass along the span. Frequency spectrum.

Special cases

1. If M ˆ 0 or l* ˆ 0 (cantilever beam), then the frequency equation is

1 ‡ cos l cosh l ˆ 0 …see Table 5:3†

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218 FORMULAS FOR STRUCTURAL DYNAMICS

2. If l* ˆ 1 (cantilever beam with lumped mass at the free end), then the frequency
equation is

1 ‡ cos l cosh l nl…sin l cosh l cos l sinh l† ˆ 0

(see Sections 7.2 and 7.5.3; Table 7.6).

7.5.3 Elastic cantilever beam with a lumped mass at the free end
Figure 7.22(a) shows a pinned±free beam carrying the lumped mass at the free end. A
rotational spring is attached at the pinned support of the beam. The restoring moment,
@y
which arises in this spring, is M ˆ kr .
@x
The natural frequency of vibration is
r
l2 EI
oˆ 2 ; m ˆ rA
l m
Frequency parameters l are the roots of a frequency equation, which may be presented in
terms of Hohenemser±Prager functions (Anan'ev, 1946; Filippov, 1970)

k*
M E…l† B…l†
ˆ l …7:18†
ml lS1 …l† ‡ k*B…l†
where the dimensionless parameters are

M kr l
nˆ k* ˆ
ml EI
For a fundamental mode of vibration frequency, parameters l, as a function of mass ratio
and stiffness ratio, are shown in Fig. 7.22(b) (Anan'ev, 1946). For k* ˆ 0, frequency
parameter l ˆ 0. This case is presented by a horizontal line, which coincides with the a-
axis. It means that the beam rotates around pinned support as a solid body without any
bending deformation.

Frequency equations for special cases

1. Pinned±free beam with a lumped mass at the free end (krot ˆ 0)

M B…l† M cosh l sin l sinh l cos l

ˆ ! ˆ …see Table 7:6†
ml lS1 …l† ml 2l sin l sinh l
2. Elastic cantilever beam (M ˆ 0)

cosh l sin l sinh l cos l

k*E…l† lB…l† ˆ 0 ! k* l ˆ 0 …see Table 6:11†
1 ‡ cosh l sin l
3. Clamped±free beam (krot ˆ 1, and M ˆ 0)

E…l† ˆ 0 ! 1 ‡ cosh l sin l ˆ 0 …see Table 5:3†

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 219

FIGURE 7.22(a). Design diagram.

FIGURE 7.22(b). Pinned±free beam with a rotational spring at the pinned end and a lumped mass at the
free end. Fundamental mode of vibration. Frequency parameter l as a function of mass ratio a ˆ M =ml and
stiffness ratio k* ˆ kl=EI .

4. Clamped±free beam with a lumped mass at the free end (krot ˆ 1)

M E…l† ml cosh l sin l sinh l cos l

ˆ ! ˆl …see Section 7:5:2†
ml lB…l† M 1 ‡ cosh l sin l

5. Pinned±free beam (krot ˆ 0, and M ˆ 0)

B…l† ˆ 0 ! cosh l sin l sinh l cos l ˆ 0 …see Table 5:3†:

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220 FORMULAS FOR STRUCTURAL DYNAMICS

7.5.4 Beam with a sliding-spring support at one end and a lumped mass
at the other
Figure 7.23(a) shows a beam with the sliding-spring support at the left-hand end and free at
right-hand end. The beam is carrying the lumped mass at the free end; the restoring force,
which arises in the translational spring, is R ˆ ky.

FIGURE 7.23(a). Design diagram.

FIGURE 7.23(b). Elastic cantilever beam with a lumped mass at the free end. Fundamental mode of
vibration. Frequency parameter l as a function of mass ratio a ˆ M =ml and stiffness ratio k* ˆ kl3 =EI .

The natural frequency of vibration is

r
l2 EI
oˆ 2 ; m ˆ rA
l m

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 221

The frequency parameters l are the roots of the frequency equation, which may be
presented in terms of Hohenemser±Prager functions (Anan'ev, 1946)

k*
E…l† A…l†
M 3
ˆ l …7:19†
ml k*
lC…l† ‡ 2 B…l†
l
where dimensionless parameters are

M kl 3
aˆ k* ˆ
ml EI
Eigenvalues l as a function of mass ratio a ˆ M =ml and stiffness ratio k*tr ˆ kl 3 =EI for the
fundamental mode of vibration are shown in Fig. 7.23(b). For k*tr ˆ 0, frequency parameter
l ˆ 0. This case is presented by the horizontal line, which coincides with the n-axis. It
means that the beam is in translation as a solid body without any bending deformation.

Frequency equations for special cases

1. Sliding±free beam (k ˆ 0; M ˆ 0). The frequency equation is

A…l† ˆ 0 ! tan l ‡ tanh l ˆ 0 …see Table 5:4†

2. Cantilever beam with a lumped mass at the free end (k ˆ 1). The frequency equation
is

E…l†
aˆ …see Sections 7:5:2 and 7:5:3; Table 7:6†
lB…l†

7.5.5 Beam with a translational and torsional spring support at one end
and a lumped mass at the other
Figure 7.24 shows a beam with non-classical boundary conditionsÐa translation and
torsional spring support at the left-hand end and a lumped mass at the right-hand end. The
restoring force and the restoring moment that arise in the translational and rotational
@y
springs are R ˆ ktr y and M ˆ krot , respectively.
@x
The natural frequency of vibration is
r
l2 EI
oˆ 2
l m

FIGURE 7.24. Beam with non-classical boundary conditions.

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222 FORMULAS FOR STRUCTURAL DYNAMICS

The frequency parameters l are the roots of the frequency equation which may be written
as (Anan'ev, 1946)

k*tr
‰kr*E…l† lB…l† nl2 S1 …l† nk*r lB…l†Š lD…l†
l3
‡ nl2 B…l† nlkr*C…l† kr*A…l† ˆ 0 …7:20†

where A, E, B, D and S1 are Hohenemser±Prager functions.

The dimensionless parameters are

ktr l 3 kr l M
k*tr ˆ kr* ˆ nˆ
EI EI ml

Frequency equations for special cases.

1. If M ˆ 0, krot ˆ 0, then the frequency equation is

k*tr B…l† ˆ l3 D…l† …see Section 6:2:1†

2. If M ˆ 0, ktr ˆ 0, then the frequency equation is

lD…l† ‡ kr*A…l† ˆ 0 …see Table 6:6†

3. If M ˆ 0, then the frequency equation is

k*tr
‰kr*E…l† lB…l†Š lD…l† kr*A…l† ˆ 0 …see Table 6:9†
l3

7.6 BEAMS WITH DIFFERENT BOUNDARY

CONDITIONS AND LUMPED MASSES

Figure 7.25 shows a beam with arbitrary boundary conditions and lumped masses along
the span; the speci®c boundary conditions are not shown.
The lumped masses Mi are reduced to `equivalent' distributed mass m. The value of this
mass is de®ned by the mode shape Xi . The adjustment mass method is conveniently used
for the cases of different masses that have different intervals between them.

FIGURE 7.25. Design diagram of a beam with arbitrary boundary condition and different lumped masses.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 223

7.6.1 Method adjustment mass

The natural frequencies of vibrations may be calculated by the approximate formula

s
l2 EI
oi ˆ 2i …7:21†
l mi

In this method, the eigenvalues l depend only boundary conditions and take the values as
for uniform beams without lumped masses. Eigenvalues li for one-span beams with
different boundary conditions are given in Table 5.1. The adjustment uniform mass mi
corresponding to the ith eigenform is (Korenev, 1970)

1P n xs
mi ˆ m ‡ X 2 …x †M ; xs ˆ …7:22†
l sˆ1 i s s l

where expressions Xi2 …xs † are the adjustment coef®cient of the sth mass to the uniform
mass m. The normalized eigenfunctions Xi …xs † for one-span and multispan beams with
different boundary conditions are given in Applications A and B.
It should be emphasized that the symmetry of the position of the lumped masses, the
small difference between them as well as between masses and one of the beams, leads to a
more accurate result.

Example. Determine the fundamental frequency of vibration of the cantilever beam with
lumped mass at the free end, if the mass ratio a ˆ M =ml ˆ 0:5.

Solution. The ®rst eigenfunction at x ˆ x=l ˆ 1 is X1 …1† ˆ 2:0. The adjustment of

uniform mass m1 corresponding to the ®rst eigenform is

1
m1 ˆ m ‡ …2†2 …0:5ml† ˆ 3m
l

The fundamental frequency of vibration is

s r r

l2 EI 1:8752 EI 1:42462 EI
o1 ˆ 21 ˆ ˆ
l m1 l2 3m l2 m

The accuracy value is l ˆ 1:4200, the error is ‡1%.

Example. Determine the ®rst and second frequencies of vibration of the pinned±clamped
beam with lumped masses located as shown in Fig. 7.26. Let M1 ˆ 0:2ml; M2 ˆ 0:25ml;
M3 ˆ 0:3ml; M4 ˆ 0:25ml. The x-coordinates of the masses are x1 ˆ 0:2l; x2 ˆ 0:3l;
x3 ˆ 0:5l; x4 ˆ 0:8l.

Solution. For the pinned±clamped beam, the exact frequency parameters are l1 ˆ 3;927;
l2 ˆ 7:069 (Table 5.3).
For a beam with the given boundary conditions, the ordinates X1 and X2 for the
speci®ed xs are taken from Appendix A and presented in Table 7.8.

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224 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 7.26. Design diagram of a beam with lumped masses.

TABLE 7.8 Ordinates of ®rst and second eigenvalues at x ˆ xi

xi 0:2l 0:3l 0:5l 0:8l

X1 1.0346 1.365 1.4449 0.4557

X2 1.3935 1.1988 0.5703 1.0774

Adjustment of the uniform masses, corresponding to the ®rst and second eigenforms
are

1P 4 1
m1 ˆ m ‡ X 2 …a †M ˆ m ‡ ‰1:03462  0:2 ‡ 1:3652
l kˆ1 1 k k l
 0:25 ‡ 1:44492  0:3 ‡ 0:45572  0:25Šml; m1 ˆ 2:3581m
1P 4 1
m2 ˆ m ‡ X 2 …a †M ˆ m ‡ ‰1:39352  0:2 ‡ 1:19882
l kˆ1 2 k k l
 0:25 ‡ … 0:5703†2  0:3 ‡ … 1:0774†2  0:25Šml; m2 ˆ 2:1354m

The fundamental and second frequencies of vibration are

s r
l2 EI 3:9272 EI
o1 ˆ 21 ˆ 2
l m1 l 2:3581m
s r
l2 EI 7:0692 EI
o2 ˆ 22 ˆ
l m2 l2 2:1354m

Example. Calculate the fundamental frequency of vibration for a cantilever beam with
the attached body having mass M and moment of inertia J (Fig. 7.27). The location para-
meter is x1 =l ˆ 0:6 from the free end.
M
Assume that ˆ a and J ˆ r2 M ˆ r2 aml.
ml
Solution. For a cantilever beam, l1 ˆ 1:8751 (see Table 5.3). For a beam with given
boundary conditions, the ordinates of eigenfunction X1 and its derivatives X10 for the speci-
®ed x1 are taken from Appendix A.1

X1 ˆ 0:4598 and X10 ˆ 2:0452

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 225

FIGURE 7.27. Design diagram.

Adjustment mass

1 1
m1 ˆ m ‡ ‰X12 …x†M ‡ X102 …x†J Š ˆ m ‡ …0:45982  aml ‡ 2:04522  r2 aml†
l l
m1 ˆ m‰1 ‡ a…0:45982 ‡ 2:04522  r2 †Š

The fundamental frequency of vibration

s
1:87512 EI
o1 ˆ
l2 m‰1 ‡ a…0:2114 ‡ 4:1853r2 †Š

The adjustment mass method for multispan beams is presented in Section 9.7.2.

7.7 MODAL SHAPE VIBRATIONS FOR BEAMS

WITH CLASSICAL BOUNDARY CONDITIONS

Tables 7.9, 7.10 and 7.11 present the eigenfunctions for beams with different boundary
conditions and one lumped mass along the span (Anan'ev, 1946; Gorman, 1975). Notation
r
l2 EI x d c
oˆ 2 , m ˆ rA, x ˆ , m ˆ , g ˆ ˆ 1 m.
l m l l l

7.7.1 Clamped beams at the one end, classical boundary condition at the
other and with lumped mass along the span (Table 7.9)

Compatibility conditions
1. Compatibility of displacement

X1 …x†jxˆm ˆ X1 …x†jxˆg

2. Compatibility of slope
 
dX1 …x†  dX2 …x† 
ˆ
dx xˆm dx xˆg

3. Compatibility of bending moment

 
d2 X1 …x†  d2 X2 …x† 
ˆ
dx2 xˆm dx2 xˆg

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 226

TABLE 7.9 One-span uniform beams with one lumped mass a long the span; Mode shape of vibration

Beam type Modal shapes X …x† Matrix D

2 3
X1 …x† ˆ A1 …sin lx sinh lx† ‡ B1 …cos lx cosh lx† cos lm cosh lm sin lg sinh lg cos lg cosh lg
4 sin lm sinh lm cos lg ‡ cosh lg sinh lg sin lg 5
X2 …x† ˆ A2 …sin lx ‡ sinh lx† ‡ B2 …cos lx ‡ cosh lx†
2 3 cos lm ‡ cosh lm sinh lg sin lg cosh lg cos lg
sinh lm sin lm
6 7
A1 ˆ 1; ‰B1 A2 B2 Š ˆ D 1 4 cosh lm cos lm 5
sin lm sinh lm

2 3
X1 …x† ˆ A1 …sin lx sinh lx† ‡ B1 …cos lx cosh lx† cos lm cosh lm sin lg sinh gl
4 sin lm sinh lm cos lg cosh lg 5
X2 …x† ˆ A2 sin lx ‡ B2 sinh lx
2 3 cos lm cosh lm sin lg sinh lg
sinh lm sin lm
6 7
A1 ˆ 1; ‰B1 A2 B2 Š ˆ D 1 4 cosh lm cos lm 5
sin lm ‡ sinh lm

2 3
FORMULAS FOR STRUCTURAL DYNAMICS

X1 …x† ˆ A1 …sin lx sinh lx† ‡ B1 …cos lx cosh lx† cos lm cosh lm sinh lg sin lg cosh lg cos lg
4 sin lm sinh lm cos lg cosh lg sin lg sinh lg 5
X2 …x† ˆ A2 …sin lx sinh lx† ‡ B2 …cos lx cosh lx†
2 3 cos lm cosh lm sinh lg ‡ sin lg cosh lg ‡ cos lg
sinh lm sin lm
6 7

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A1 ˆ 1; ‰B1 A2 B2 Š ˆ D 1 4 cosh lm cos lm 5

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sin lm ‡ sinh lm
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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 227

4. Compatibility of shear forces (dynamic equilibrium between motion of the lumped

mass and adjacent shear forces)
 
d3 X1 …x†  d3 X2 …x†  M
‡ ˆ l4 X …m†
dx3 xˆm dx3 xˆg ml 1

Frequency equation. The expressions for mode shape vibration and compatibility condi-
tions lead to the four linear homogeneous algebraic equations with respect to coef®cients
A1 , A2 , B1 and B2 . A non-trivial solution exists if the determinant of the coef®cients of the
matrix of the constants appearing in the four equations is equal to zero.

7.7.2 Pinned beams at the one end, classical boundary condition at the
other and with lumped mass along the span (Table 7.10)

r
l2 EI x d c
oˆ 2 ; m ˆ rA; xˆ ; mˆ ; gˆ ˆ1 m
l m l l l

Compatibility conditions

1. Compatibility of displacements

X1 …x†jxˆm ˆ X1 …x†jxˆg

2. Compatibility of slopes
 
dX1 …x†  dX2 …x† 
ˆ
dx xˆm dx xˆg

3. Compatibility of bending moments

 
d2 X1 …x†  d2 X2 …x† 
ˆ
dx2 xˆm dx2 xˆg
4. Compatibility of shear forces (dynamic equilibrium of moving lumped mass)
 
d3 X1 …x†  d3 X2 …x†  M
 ‡ ˆ l4 X …m†
dx 3
xˆm dx xˆg
3 ml 1

7.7.3 Beams with overhang and with lumped mass along the span
(Table 7.11)

r
l2 EI x d c
oˆ 2 ; m ˆ rA; xˆ ; mˆ ; gˆ ˆ1 m
l m l l l

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 228

TABLE 7.10. One-span uniform beams with one lumped mass along the span: Mode shapes of vibration

Beam type Modal shapes X …x† Matrix D

2 3
X1 …x† ˆ A1 sin lx ‡ B1 sinh lx sinh lm sin lg sinh lg cos lg cosh lg
4 cosh lm cos lg ‡ cosh lg sinh lg sin lg 5
X2 …x† ˆ A2 …sin lx ‡ sinh lx† ‡ B2 …cos lx ‡ cosh lx†
2 3 sinh lm sin lg sinh lg cos lg cosh lg
sin lm
6 7
A1 ˆ 1; ‰B1 A2 B2 Š ˆ D 1 4 cos lm 5
sin lm

2 3
X1 …x† ˆ A1 sin lx ‡ B1 sinh lx sinh lm sin lg sinh gl
4 cosh lm cos lg cosh lg 5
X2 …x† ˆ A2 sin lx ‡ B2 sinh lx
2 3 sinh lm sin lg sinh lg
sin lm
6 7
A1 ˆ 1; ‰B1 A2 B2 Š ˆ D 1 4 cos lm 5
FORMULAS FOR STRUCTURAL DYNAMICS

sin lm

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 TABLE 7.11. One-span uniform beam with one lumped mass at the end of overhang: Mode shapes of vibration

Beam type Modal shapes X …x† Parameters

X1 …x† ˆ …sin lx sinh lx† ‡ d…cos lx cosh lx† sinh lm sin lm Z ‡ 2yl
dˆ aˆ
X2 …x† ˆ g1 ‰sin lx ‡ y…cos lx ‡ cosh lx† ‡ a…sinh lx ‡ f cos lx ‡ f cosh lx†Š cos lm cosh lm Z 2fl
cosh lm cos lm ‡ d…sin lm ‡ sinh lm† sin lg
g1 ˆ yˆ
cos lg ‡ y…sinh lg sin lg† ‡ a…cosh lg ‡ f sinh lg f sin lg† cos lg ‡ cosh lg
sinh lg
fˆ
cos lg ‡ cosh lg

sin lm Z ‡ 2yl
X1 …x† ˆ sin lx sinh lx aˆ
sinh lm Z 2fl
X2 …x† ˆ g1 ‰sin lx ‡ y…cos lx ‡ cosh lx† ‡ a…sinh lx ‡ f cos lx ‡ f cosh lx†Š sin lg
yˆ
sin lm cos lg ‡ cosh lg
cosh lm cos lm sinh lg
sinh lm fˆ
g1 ˆ cos lg ‡ cosh lg
cos lg ‡ y…sinh lg sin lg† ‡ a…cosh lg ‡ f sinh lg f sin lg†

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230 FORMULAS FOR STRUCTURAL DYNAMICS

7.8 BEAMS WITH CLASSIC BOUNDARY

CONDITIONS AT ONE END AND A
TRANSLATIONAL SPRING SUPPORT AND
LUMPED MASS AT THE OTHER

A beam with pinned or clamped boundary conditions at the left-hand end and non-classical
boundary condition at the right-hand end is shown in Fig. 7.29.
The natural frequency of vibration is
r
l2 EI
oˆ 2 ; m ˆ rA
l m
Frequency parameters l are roots of a frequency equation. The exact solutions of the
eigenvalue and eigenfunction problem (frequency equation and mode shape of vibration)
for beams with classic boundary conditions at the left-hand end and a lumped mass with
elastic support at the right-hand end are presented in Table 7.12 (Anan'ev, 1946; Gorman,
1975). Dimensionless parameters are
r
ml 1 kl 3 Z l2 EI
Zˆ M* ˆ Z k* ˆ aˆ oˆ 2
M EI k* l m

Numerical results. Eigenvalues l as a function of mass ratio and stiffness ratio for the
fundamental mode of vibration are shown in Fig. 7.30 (left end is pinned) and Fig. 7.31
(left end is clamped) (Anan'ev, 1946).

Example. Beam clamped at the one end with a translational spring support and lumped
mass at other end. Calculate the mass parameter Z which leads to the frequency parameter
kl 3
l ˆ 1:2 if the relative stiffness k* ˆ ˆ 10.
EI
Solution. Hohenemser±Prager functions at l ˆ 1:2 are E…1:2† ˆ 1:65611, and
B…1:2† ˆ 1:14064.
The algebraic equation with respect to parameter a is

1:23  1:65611 1:24

102 ‡ 10  ˆ0
1:14064 a
and the root of the frequency equation is a ˆ 0:01657699.
The mass parameter is Z ˆ ak* ˆ 0:1657699 and the relative mass is

M 1
ˆ ˆ 6:0324
ml ak*

FIGURE 7.29. Design diagram of a beam; the left-hand end

of the beam is pinned, or clamped.

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 TABLE 7.12. Frequency equation and mode shape of vibration for beams with classical boundary conditions at the left-hand
end and with a translational spring support and lumped mass at the other end

Frequency equation (two forms)

Hyperbolic-trigonometric functions
Left end Hohenemser±Prager functions Mode shape X …x†, 0  x  1

Pinned l3 …cos l sinh l sin l cosh l† l4 sin lx ‡ g sinh lx

…k*†2 ‡ k* ˆ0
2 sin l sinh l a
l3 B…l† l4 sin l
…k*†2 k* ˆ0 gˆ
S1 …l† a sinh l

Clamped l3 …1 ‡ cos l cosh l† l4 sin lx sinh lx ‡ g…cos lx cosh lx†

…k*†2 ‡ k* ˆ0
sin l cosh l sinh l cos l a

l3 E…l† l4 sin l ‡ sinh l

…k*†2 ‡ k* ˆ0 gˆ
B…l† a cos l ‡ cosh l

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232 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 7.30. Fundamental mode of vibration. Parameter l as a function of mass ratio M * ˆ M =ml and
stiffness ratio k* ˆ kl3 =EI .

FIGURE 7.31. Fundamental mode of vibration. Parameter l as a function of mass ratio M * ˆ M =ml and
stiffness ratio k* ˆ kl3 =EI .

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 233

Example. Consider a beam pinned at one end with a translational spring support and
lumped mass at other end.
Derive the expression for stiffness parameter k* that leads to the frequency parameter l
M
if the relative mass M * ˆ .
ml
Solution. The frequency equation leads to the following expression for the stiffness
parameter

sin l cosh l cos l sinh l

k* ˆ l4 M * ‡ l3
2 sin l sinh l

7.9 BEAMS WITH ROTATIONAL MASS

7.9.1 Beams with rotational mass at the pinned end and classical
boundary condition at the other

The beam with classical boundary conditions at the left-hand end and a rotational mass (J
is the rotational moment of inertia of the mass) at the right-hand end is shown in Fig. 7.32.

FIGURE 7.32. Design diagram of the beam and notation; the left-hand end of the beam is free, or pinned,
or clamped.

7.9.2 Frequency equation and mode shape of vibration for beams with
different boundary conditions (left-hand end) with a point rotational mass
of the pinned right-hand end
The natural frequency of vibration is
r
l2 EI
oˆ ; m ˆ rA
l2 m
Frequency parameters l are the roots of a frequency equation. The exact solution of the
eigenvalue and eigenfunction problem (frequency equation and mode shape of vibration)
for beams with classical and non-classical boundary conditions at the left-hand end and a
rotational mass at one end are presented in Tables 7.13±7.15 (Anan'ev, 1946; Gorman,
1975).
Dimensionless parameters are

x rAl 3
x ˆ ; J* ˆ
l J0

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 234

TABLE 7.13. One-span uniform beams with rotational mass at the pinned end: Frequency equation and mode shape of
vibration.

Left end Frequency equation Mode shape X …x† Parameter g

Free 1 ‡ cos l cosh l sin lx ‡ sinh lx ‡ g…cos lx ‡ cosh lx† sin l ‡ sinh l
J * ˆ l3
sinh l cos l sin l cosh l cos l ‡ cosh l

Pinned sin l cosh l cos l sinh l sin lx ‡ g sinh lx sin l

J * ˆ l3
2 sin l sinh l sinh l

Clamped 1 cos l cosh l sin lx sinh lx ‡ g…cos lx cosh lx† sinh l sin l
J * ˆ l3
sin l cosh l sinh l cos l cos l cosh l
FORMULAS FOR STRUCTURAL DYNAMICS

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 235

Example. Find the fundamental frequency of vibration and mode shape vibration for a
clamped±pinned beam with a rotational mass at the pinned end. Assume the parameter
rAl 3
J* ˆ ˆ 34:767.
J0
Solution. The minimal root of equation

1 cos l cosh l
J * ˆ l3
sin l cosh l sinh l cos l
is l ˆ 1:48.
The fundamental frequency of vibration is
r r
l2 EI 1:482 EI
oˆ ˆ 2 ; m ˆ rA
l2 m l m
Parameter l according to Table 7.13 is calculated by

sinh l sin l
g…1:48† ˆ ˆ 0:48962
cos l cosh l
Mode shape

X …x† ˆ sin 1:48x sinh 1:48x 0:48962…cos 1:48x cosh 1:48x†; x ˆ x=l

Frequency equation for special cases (Table 5.3)

1. J0 ˆ 0
Free±pinned beam sinh l cos l sin l cosh l ˆ 0
Pinned±pinned beam sin l ˆ 0
Clamped±pinned beam sin l cosh l sinh l cos l ˆ 0

2. J0 ˆ 1 In this case, the pinned support at the right-hand end converts to a clamped
support
Free pinned beam ! Free clamped beam: 1 ‡ cos l cosh l ˆ 0
Pinned pinned beam ! Pinned clamped beam: tan l tanh l ˆ 0
Clamped pinned beam ! Clamped clamped beam: 1 cos l cosh l ˆ 0

7.9.3 Beams with rotational mass at the pinned end and a non-classical
boundary condition at the other
Design diagrams and corresponding frequency equations and eigenfunctions are presented
in Table 7.14 (Anan'ev, 1946; Gorman, 1975). Dimensionless parameters are

ml3 k l3 k l x
J* ˆ ; k*tr ˆ tr ; k*rot ˆ rot ; x ˆ :
J EI EI l

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 236

TABLE 7.14. One-span uniform beams with rotational masses at the pinned ends: Frequency equation and mode shape of vibration

Beam type Frequency equation and mode shape X …x† Parameters

l3 …1 ‡ a†…cos l sinh l sin l cosh l† l6 …1 ‡ cos l cosh l† sin l ‡ sinh l J*

…k*tr †2 ‡ k*tr ˆ 0 g ˆ J* ; aˆ
2a sin l sinh l 2a sin l sinh l k*tr
2 3 sinh l cos l cosh l
l
sin l cos l ‡ cosh l
X …x† ˆ sin lx ‡ sinh lx ‡ g…cos lx cosh lx ‡ g1 sinh lx† g1 ˆ
sinh l sinh l

l3 l3 sinh l sin l J*
2l sin l sinh l ‡ cos l cosh l gˆ ; aˆ
a a l4 2J * k*rot
…k*rot †2 ‡ k*rot ˆ0 cos l cosh l ‡ 3 sinh l
sin l cosh l cos l sinh l a l
 
2J *
X …x† ˆ sin lx sinh lx ‡ g cos lx cosh lx ‡ sinh lx
l3

l3 …1 ‡ a†…cos l sinh l sin l cosh l† l6 …1 cos l cosh l† sin l

1
FORMULAS FOR STRUCTURAL DYNAMICS

…J1*†2 ‡ J1* ‡ ˆ0 sinh l J*

2a sin l sinh l 2a sin l sinh l gˆ ; aˆ 2
cosh l cos l J1* J1*
2 3
sinh l l
sin l cosh l cos l

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X …x† ˆ sin lx sinh lx ‡ g…cos lx cosh lx ‡ g1 sinh lx† g1 ˆ

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sinh l sinh l
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 TABLE 7.15. One-span uniform beams with rotational masses and torsional spring at the pinned end: Frequency equation and mode shape of vibration

Beam type Frequency equation and mode shape X …x† Parameters g

l…cos l sinh l sin l cosh l† l4 sin l ‡ sinh l

…k*rot †2 ‡ k*rot ˆ0 gˆ
1 ‡ cos l cosh l a 2l sinh l
cos l ‡ cosh l ‡
X …x† ˆ sin lx sinh lx g…cos lx cosh lx g1 sinh lx† l4
k*rot
J*

2l sin l sinh l l4 sin l sinh l

…k*rot †2 ‡ k*rot ˆ0 gˆ
sin l cosh l cos l sinh l a 2l sinh l
cos l cosh l
X …x† ˆ sin lx sinh lx g…cos lx cosh lx g1 sinh lx† l4
k*rot
J*

l…sin l cosh l cos l sinh l† l4 cos l sinh l sin l cosh l

…k*rot †2 ‡ k*rot ˆ0 gˆ
1 cos l cosh l a sin l sinh l ‡ cos l cosh l ‡ sinh2 l cosh2 l
sin l cosh l cos l
X …x† ˆ sin lx sinh lx ‡ g…cos lx cosh lx ‡ g2 sinh lx† g2 ˆ
sinh l sinh l

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238 FORMULAS FOR STRUCTURAL DYNAMICS

7.9.4 Beams with a pinned rotational mass and torsional spring at the
left-hand end and classical boundary conditions at the right-hand end
Design diagrams and corresponding frequency equations and the expressions for eigen-
functions are presented in Table 7.15 (Anan'ev, 1946; Gorman, 1975). Dimensionless
parameters are

ml 3 k l J* 2l
J* ˆ ; k*rot ˆ rot ; a ˆ ;g ˆ
J EI k*rot 1 l4
k*rot
J*
.

7.10 BEAMS WITH ROTATIONAL AND LUMPED

MASSES

Design diagrams and the exact solution of the eigenvalue and eigenfunction problem are
presented in Tables 7.13±7.16
r (Anan'ev, 1946; Gorman, 1975). The natural frequency of
l2 EI ml 3 ml
vibration is o ˆ 2 ; m ˆ rA. Dimensionless parameters are J * ˆ , Zi ˆ ,
l m J Mi
where J is the rotational moment of inertia of mass; M is a lumped mass. Frequency
parameters l are roots of a frequency equation.

Example. Consider a design beam with two lumped masses at the free ends (Table 7.16).
Find the ratio a ˆ Z2 =Z1 ˆ M1 =M2 for Z2 ˆ ml=M2 ˆ 10 which leads to l ˆ 4.

Solution. The frequency equation from Table 7.16, case 1, may be rewritten by using
Hohenemser±Prager functions in the form

M1 n2 lB…l† D…l† 1
‡ ˆ 0; n2 ˆ ˆ 0:1
M2 n22 l2 S1 …l† ‡ n2 lB…l† Z2
M1 0:1  4:0  … 2:82906† … 18:84985†
‡ ˆ0
M2 0:12  42  … 41:30615† ‡ 0:1  4:0  … 2:82906†
This equation leads to the following parameter

a ˆ Z2 =Z1 ˆ M1 =M2 ˆ 2:28899

Numerical results for a beam having two lumped masses at the free ends with different
mass parameters a ˆ M1 =M2 and n2 ˆ M2 =ml are presented in Fig. 7.33.

7.11 BEAMS WITH ATTACHED BODY OF A

FINITE LENGTH

This section is devoted to the vibration of a clamped±free beam with a body at the free end.
The length of the body is taken into account. The motion of a structure may be restricted
by torsional or translational elastic spring supports, which are attached at the free end.

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 TABLE 7.16. One-span uniform beams with lumped and rotational masses: Frequency equation and mode shape of vibration

Beam type Frequency equation and mode shape X …x† Parameters

l…1 ‡ a†…sin l cosh l cos l sinh l† 2l2 sin l sinh l sin l sinh l
…Z1 †2 ‡ Z1 ‡ ˆ0 gˆ
a…1 cos l cosh l† a…1 cos l cosh l† l
cosh l cos l ‡ 2 sinh l
Z1

  Z2
l aˆ
X …x† ˆ sin lx ‡ sinh lx ‡ g cos lx ‡ cosh lx ‡ 2 sinh lx Z1
Z1

l…1 ‡ a†…cos l sinh l sin l cosh l† 2l2 sin l sinh l …sin l ‡ sinh l†
…k*rot †2 ‡ k*rot ˆ0 gˆ 2l
a…1 ‡ cos l cosh l† a…1 ‡ cos l cosh l† cos l ‡ cosh l ‡ sinh l
k*rot

  Z
2l aˆ
X …x† ˆ sin lx sinh lx ‡ g cos lx cosh lx sinh lx k*rot
k*rot

a sinh l ‡ sin l
1 ‡ cos l cosh l ‡ 2 sin l sinh l gˆ
2 l2 l4 J*
Z ‡Z ˆ0 2 3 sinh l …cos l ‡ cosh l†
a a l
…cosh l sin l sinh l cos l†
l3

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2J * J*
X …x† ˆ sin lx sinh lx ‡ g cos lx cosh lx ‡ sinh lx aˆ
l3 Z
BERNOULLI–EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES

239

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240 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 7.33. Free±free beam with two different tip masses. Fundamental mode vibration. Parameter l as
a function of mass ratios a* and n2 .
r
l2 EI
The natural frequencies of vibration are o ˆ ; m ˆ rA. Frequency parameters l
l2 m
are the roots of a frequency equation. (Table 7.16, case 1).

7.11.1 Beam with a heavy tip body

A cantilever beam with a body attached at the free end is presented in Fig. 7.34.

FIGURE 7.34. Design diagram.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 241

The parameters of a body are:

2d; b; h ˆ length; width; and height

J ˆ moment of the rotary inertia of the body with respect to the z-axis
passing through the centroid
rz ˆ radius gyration of the body; r2z ˆ J =M
M ˆ mass of the body
Displacements of a body at x ˆ l
 
@y  @y 
f0 ˆ y0 ˆ y…l; t† ‡ d …7:23†
@x xˆl @x xˆ1
Differential equation of motion for mass M
 
@2 y0 @2 f0 @2 y  @3 y 
M ˆ Q…l; t†; M r2z ˆ Qd EI Q…l; t† ˆ EI …7:24†
@t 2 @t2 @x2 xˆl @x3 xˆ1
Boundary conditions at x ˆ l

@3 y @2 y @3 y
EI ‡ M ‡ Md ˆ0
@x3 @t2 @t 2 @x
…7:25†
@3 y @2 y @3 y
EId 3 ‡ EI 2 ‡ M r2z 2 ˆ 0
@x @x @t @x
The normal function is

X …x† ˆ CU …x† ‡ DV …x†

where U …x† and V …x† are Krylov±Duncan functions.
The frequency equation may be presented as follows (Filippov, 1970)

1
…1 ‡ cosh l cos l† l…sin l cosh l cos l sinh l† 2el2 sin l sinh l
a
…d ‡ e2 †…sin l cosh l ‡ cos l sinh l†l3 ‡ adl4 …1 cos l cosh l† ˆ 0 …7:26†
where the dimensionless parameters are

M r2z d
aˆ ; dˆ ; eˆ
rAl l2 l

Special cases
1. A cantilever beam with a lumped mass at the free end (e ˆ 0, d ˆ 0)

1
…1 ‡ cosh l cos l† l…sin l cosh l cos l sinh l† ˆ 0 …see Table 7:6†
a
2. A clamped±free beam (a ˆ 0)

1 ‡ cosh l cos l ˆ 0 …see Table 5:3†

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242 FORMULAS FOR STRUCTURAL DYNAMICS

7.11.2 Beam with a heavy tip body and rotational spring at the free end
A cantilever beam with an attached body and elastic rotational spring support at the free
end is presented in Fig. 7.35. The parameters of a body are described in Section 7.11.1.
Boundary conditions
@y
at x ˆ 0: y…0† ˆ 0; ˆ0
@x
@2 y @3 y d@2 y @y
at x ˆ l: EI ˆ …J ‡ Md 2 † ‡ M 2 ‡ Krot ; …7:27†
@x 2 @x@t 2 @t @x
@3 y @2 y @3 y
EI 3 ˆ M 2 ‡ Md
@x @t @x@t 2
The frequency equation may be presented as follows (Maurizi et al., 1990)

…J *M *l4 K*rot M *†…1 cosh l cos l† …J * ‡ M *d 2 †l3

K*rot
…sin l cosh l ‡ cos l sinh l† 2l2 M *d* sin l sinh l …7:28†
l
‡ M *l…sinh l cos l sin l cosh l† ‡ …1 ‡ cos l cosh l† ˆ 0
where the dimensionless parameters are
d J M Krot l
d* ˆ ; J* ˆ ; M* ˆ ; K*rot ˆ
l Mbeam l 2 Mbeam EI

Frequency equations for special cases

1. Cantilever beam (M ˆ 0, J ˆ 0, d ˆ 0, Krot ˆ 0) (see Table 5.3)

1 ‡ cos l cosh l ˆ 0
2. Cantilever beam with lumped mass at the end (J ˆ 0, d ˆ 0, Krot ˆ 0) (see Table 7.6)

M *l…sinh l cos l sin l cosh l† ‡ …1 ‡ cos l cosh l† ˆ 0

3. Cantilever beam with torsional spring at the free end (J ˆ 0, d ˆ 0, M ˆ 0) (see Tables
6.9 and 6.12)
K*rot
…sin l cosh l ‡ cos l sinh l† ‡ …1 ‡ cos l cosh l† ˆ 0
l
4. Clamped±clamped beam (J ˆ 0, d ˆ 0, Krot ! 1) (see Table 5.3)

1 cosh l cos l ˆ 0

FIGURE 7.35. Design diagram.

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BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 243

7.11.3 Beam with a body and translational spring at the free end
A cantilever beam with an attached body and elastic translational spring support at the free
end is presented in Fig. 7.36. The parameters of the body are described in Section 7.11.1.

Boundary conditions

@y
at x ˆ 0: y…0† ˆ 0; ˆ0
@x
@2 y @3 y @2 y
at x ˆ l: EI ˆ …J ‡ Md 2 † ‡ Md 2 ; …7:29†
@x 2 @x@t 2 @t
@3 y @2 y @3 y
EI 3 ˆ M 2 ‡ Md ‡ Ktr y
@x @t @x@t 2
The frequency equation may be presented as follows (Maurizi et al., 1990):

‰J *M *l4 …J * ‡ M *d 2 †Ktr Š…1 cosh l cos l†

…J * ‡ M *d 2 †l3 …sin l cosh l ‡ cos l sinh l† 2l2 M *d* sin l sinh l …7:30†
 
K*tr
‡ M *l …sinh l cos l sin l cosh l† ‡ …1 ‡ cos l cosh l† ˆ 0
l3

where the dimensionless parameters are

d J M Ktr l 3
d* ˆ ; J* ˆ ; M* ˆ ; K*tr ˆ
l Mbeam l2 Mbeam EI

Special cases
1. Cantilever beam (M ˆ 0, J ˆ 0, d ˆ 0, Ktr ˆ 0) (see Table 5.3).
2. Cantilever beam with lumped mass at the free end (J ˆ 0, d ˆ 0, Ktr ˆ 0) (see Table
7.6).
3. Cantilever beam with spring at the end (J ˆ 0, d ˆ 0, M ˆ 0) (see Table 6.6; Section
6.2.3).

K*tr
…sinh l cos l cosh l sin l† ‡ …1 ‡ cos l cosh l† ˆ 0
l3
4. Clamped±pinned beam (J ˆ 0, d ˆ 0, Ktr ! 1) (see Table 5.3).

FIGURE 7.36. Design diagram.

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 BERNOULLI–EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES

244 FORMULAS FOR STRUCTURAL DYNAMICS

7.12 PINNED±ELASTIC SUPPORT BEAM WITH

OVERHANG AND LUMPED MASSES

Figure 7.37 presents a beam with uniformly distributed load and lumped masses that are
attached at x1 , x2 ˆ l1 and x3 ˆ l. The beam is pinned at x ˆ 0 and elastic supported at
x ˆ l1 < l.
The natural frequency of vibration is de®ned as
s
l2 EI
oˆ 2
l m…1 ‡ e†

The frequency parameters l are roots of a frequency equation; this equation may be
presented as follows (Filippov, 1970)

g1 d2 g2 d1 ˆ 0 …7:31†
 
a 1 R
g1 ˆ sinh l ‡ 1 l…sinh lZ1 ‡ sin lZ1 † sinh lx1 a2 l …sinh lZ2 ‡ sin lZ2 †X1 …x2 †
2 2 l3
 
a 1 R
d1 ˆ sin l ‡ 1 l…sinh lZ1 ‡ sin lZ1 † sin lx1 a2 l …sinh lZ2 ‡ sin lZ2 †X2 …x2 †
2 2 l3
a1
g2 ˆ cosh l ‡ l…cosh lZ1 ‡ cos lZ1 † sinh lx1
 2 
1 R
a2 l …cosh lZ2 ‡ cos lZ2 †X1 …x2 †
2 l3
h a
‡ la3 sinh l ‡ 1 l…sinh lZ1 sin lZ1 † sinh lx1
 2 
1 R
3
a2 l …sinh lZ2 sin lZ2 † X1 …x2 †
2 l
a
d2 ˆ cos l ‡ 1 l…cosh lZ1 ‡ cos lZ1 † sin lx1
 2 
1 R
a2 l …cosh lZ2 ‡ cos lZ2 †X2 …x2 †
2 l3
h a
‡ la3 sin l ‡ 1 l…sinh lZ1 sin lZ1 † sin lx1
 2 
1 R
a2 l …sinh lZ2 sin lZ †X
2 2 2…x †
2 l3

FIGURE 7.37. Design diagram.

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 BERNOULLI–EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES

BERNOULLI±EULER BEAMS WITH LUMPED AND ROTATIONAL MASSES 245

where the dimensionless parameters are

x1 x2
x1 ˆ ; x2 ˆ ; Z1 ˆ 1 x1 ; Z2 ˆ 1 x2
l l
M1 M2 M
a1 ˆ ; a2 ˆ ; a3 ˆ 3
q q q
q0 k l3
q ˆ …1 ‡ e†ml; eˆ ; R ˆ tr
gm EI
The mode shapes of vibration are
a1
X1 …x2 † ˆ sinh lx2 ‡ l‰sinh l…x2 x1 † sin l…x2 x1 †Š sinh lx1
2
…7:32†
a
X2 …x2 † ˆ sin lx2 ‡ 1 l‰sinh l…x2 x1 † sin l…x2 x1 †Š sin lx1
2
Special cases
1. Pinned±free beam (ktr ˆ 0, M1 ˆ M2 ˆ M3 ˆ 0) (see Table 5.3).
2. Pinned±free beam with lumped mass at the free end (ktr ˆ 0, M1 ˆ M2 ˆ 0) (see Table
7.6).
3. Pinned±pinned beam with overhang (ktr ˆ 1, M1 ˆ M2 ˆ M3 ˆ 0) (see Section 5.3).
4. Pinned beam with elasic support M1 ˆ M2 ˆ M3 ˆ 0 (see Table 6.6).

REFERENCES

Anan'ev, I.V. (1946) Free Vibration of Elastic System Handbook (Gostekhizdat) (in Russian).
Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
Chree, C. (1914) Phil. Mag. 7(6), 504.
Felgar, R.P. (1950) Formulas for integrals containing characteristic functions of vibrating beams.
Circular No. 14, The Univesity of Texas.
Filippov, A.P. (1970) Vibration of Deformable Systems (Moscow: Mashinostroenie) (in Russian).
Gorman, D.J. (1974) Free lateral vibration analysis of double-span uniform beams. International
Journal of Mechanical Sciences, 16, 345±351.
Gorman, D.J. (1975) Free Vibration Analysis of Beams and Shafts (New York: Wiley).
Korenev, B.G. (Ed) (1970) Instruction. Design of Structures on Dynamic Loads (Moscow: Stroizdat)
(in Russian).
Maurizi, M.J., Belles, P. and Rosales, M. (1990) A note on free vibrations of a constrained cantilever
beam with a tip mass of ®nite length. Journal of Sound and Vibration, 138(1), 170±172.
Morrow, J. (1905) On lateral vibration of bars of uniform and varying cross section. Philosophical
Magazine and Journal of Science, Series 6, 10(55), 113±125.
Morrow, J. (1906) On lateral vibration of loaded and unloaded bars. Phil. Mag. 11(6), 354±374; (1908)
Phil. Mag. 15(6), 497±499.
Pfeiffer F. Vibration of elastic systems, Moscow-Leningrad. ONTI, 1934, 154p. (Translated from
Germany: Mechanik Der Elastischen Korper, Handbuch Der Physik, Band VI, Berlin, 1928).
Pilkey, W.D. (1994) Formulas for Stress, Strain, and Structural Matrices (New York: Wiley).
Young, D. and Felgar R.P., Jr. (1949) Tables of Characteristic Functions Representing the Normal
Modes of Vibration of a Beam (The University of Texas Publication, No. 4913).

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 8
BERNOULLI±EULER BEAMS
ON ELASTIC LINEAR
FOUNDATION

Chapter 8 describes the different mathematical models of an elastic foundation. A

mechanical model of the Winkler model is discussed and natural frequencies of vibration
of Bernoulli±Euler uniform and stepped one-span beams with different boundary condi-
tions on the elastic foundation are presented.

NOTATION

A Cross-sectional area of the beam

d Viscous damping coef®cient of foundation
E0 Elastic constant of the foundation material
E, G Modulus of elasticity and shear modulus of the beam material
EI Bending stiffness
G0 Foundation modulus of rigidity (Pasternak model)
I Moment of inertia of a cross-sectional area of the beam
mo2 k0
kn Frequency parameter, kn4 ˆ
EI
k Shear factor
kslope , D0 Elastic sloping stiffness of medium
ktilt Elastic tilting (transverse rotating) stiffness of medium [Nm=m]
ktr , k0 Elastic transverse translatory stiffness of medium (Winkler foundation
modulus)
l Length of the beam
M Lumped mass
p Foundation reaction
t Time
Vi Puzyrevsky functions
x Spatial coordinate
X …x† Mode shape
x; y; z Cartesian coordinates

247
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 BERNOULLI–EULER BEAMS ON ELASTIC LINEAR FOUNDATION

248 FORMULAS FOR STRUCTURAL DYNAMICS

y…x; t†, w Lateral displacement of the beam

a Frequency parameter, k 4 ˆ 4a4
l Frequency parameter, l2 ˆ k 2 l 2
y Slope
r; m Density of material and mass per unit length of beam, m ˆ rA
o Natural frequency of free transverse vibration

8.1 MODELS OF FOUNDATION

The differential equation of the transverse vibration of a beam on an elastic foundation is

@4 y @2 y @2 y
EI ‡ N ‡ rA ‡ p… y; t† ˆ 0 …8:1†
@x4 @x2 @t 2
where N is the axial force and p… y; t† is the reaction of the foundation.
The models of the foundation describe the relation between the reaction of the
foundation (or pressure) p, the de¯ection of the beam and the parameters of foundation.

8.8.1 Winkler foundation (Winkler, 1867)

The foundation may be presented as closely spaced independent linear springs. The
foundation reaction equals p ˆ k0 y, where y is the vertical de¯ection of the foundation
surface (vertical de¯ection of the beam, plate), and k0 is Winkler's foundation modulus.
Shear interactions between the foundation spring elements are neglected. This type of
foundation is equivalent to a liquid base.

8.1.2 Viscoelastic Winkler foundation

The foundation reaction equals

@y
p ˆ k0 y ‡ d …8:2†
@t
where second term takes into acount the viscoelastic properties of the Winkler foundation;
d is viscous damping coef®cient of the foundation.
The governing equation is

@4 y @2 y @2 y @y
EI ‡ N 2 ‡ rA 2 ‡ k0 y ‡ d ˆ 0 …8:3†
@x4 @x @t @t

8.1.3 Hetenyi foundation (Hetenyi, 1946)

The relationship between load p and de¯ection y for the three-dimensional case is

p ˆ k0 y ‡ D0 H2 H2 y …8:4†
where the parameter D takes into acount the interaction of the spring elements.

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BERNOULLI±EULER BEAMS ON ELASTIC LINEAR FOUNDATION 249

8.1.4 Viscoelastic Hetenyi foundation

@y
p ˆ k0 y ‡ d ‡ D0 H2 H2 y …8:5†
@t
The governing equation is

@4 y @2 y @2 y @y
…EI ‡ D0 † ‡ N ‡ rA ‡ k0 y ‡ d ˆ 0 …8:6†
@x4 @x2 @t2 @t
In this model, the overall bending stiffness beam (EI ) has been increased by the `bending
stiffness' of the foundation (term D0 ).

8.1.5 Pasternak foundation (Pasternak, 1954)

The load±de¯ection relation is

p ˆ k0 y G0 H2 y …8:7†
where the second term describes the effect of the shear interactions between the spring
elements; G0 is the shear foundation.

8.1.6 Viscoelastic Pasternak foundation

The load±de¯ection relation

@y
p ˆ k0 y ‡ d G0 H2 y …8:7a†
@t
takes into acount the viscoelastic properties of the Pasternak foundation; d is the viscous
damping coef®cient of the foundation.
The governing equation is

@4 y @2 y @2 y @y
EI ‡ …N G0 † ‡ rA 2 ‡ k0 y ‡ d ˆ 0 …8:8†
@x4 @x 2 @t @t
In this model, the effect of the compressive static load (N ) has been reduced by the
effective foundation shear (term G0 ).
Some fundamental characteristics of the Pasternak foundation mathematical model are
discussed by Kerr (1964).

8.1.7 Different model beams on a Pasternak foundation

(Saito and Terasawa, 1980)

The governing equation of the rectangular beam, with shear deformation and rotatory
inertia being ignored, is

1 ‡ v 3 @4 y @2 y @y @2 y
Gh 4 ‡ rh 2 ‡ k0 y ‡ d G0 ˆ0 …8:9†
6 @x @t @t @x2
where h is height of the beam.

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250 FORMULAS FOR STRUCTURAL DYNAMICS

The governing equations of the rectangular beam, where shear deformation and rotatory
inertia are incorporated, are
 
1 ‡ v 3 @2 y @y rh3 @2 y
Gh 2 Gkh ‡y ˆ0
6 @x @x 12 @t 2
 2  …8:10†
@2 y @ y @y @y @2 y
rh 2 Gkh ‡ ‡ k0 y ‡ d G 0 ˆ 0
@t @x2 @x @t @x2
where y is the bending slope and k is the shear coef®cient.

8.1.8 `Generalized' foundation (Pasternak, 1954)

At the each point of the foundation the pressure p is proportional to the de¯ection y and the
moment m is proportional to the angle of rotation
dy
p ˆ k0 y; m ˆ k1 …8:11†
dn
where n is any direction at a point in the plane of the foundation surface; k0 and k1 are the
corresponding moduli of elasticity.

8.1.9 Reissner foundation (Reissner, 1958)

Assumptions

1. The in-plane stresses throughout the foundation layer are negligibly small.
2. The horizontal displacements at the upper and lower surfaces of the foundation layer are
zero.
The relationship between the reaction of the foundation p and de¯ection y is
c2 2 E0 HE0
c1 y c2 H2 y ˆ p H p; c1 ˆ ; c2 ˆ …8:12†
c1 H 3
where E0 and G0 are the elastic constants of the foundation material, and H is the thickness
of the foundation layer.
The case when Reissner's and Pasternak's models of foundation coincide, as well as the
Vlasov foundation model (Vlasov and Leontiev, 1966) have been discussed by Kerr
(1964).

8.2 UNIFORM BERNOULLI±EULER BEAMS ON

AN ELASTIC WINKLER FOUNDATION

The differential equation of the transverse vibration of the beam resting on an elastic
Winkler foundation without damping is

@4 y @2 y
EI ‡ rA 2 ‡ k0 y ˆ 0 …8:13†
@x4 @t

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BERNOULLI±EULER BEAMS ON ELASTIC LINEAR FOUNDATION 251

Solution. Method of the separation of variables y…x; t† ˆ X …x†T …t†, where X …x† is a
space-dependent function and T …t† is a time-dependent function. A shape function X …x†
depends on the boundary conditions.
The space-dependent function X …x† can be obtained from

mo2 k0
X IV …x† k 4 X …x† ˆ 0; k4 ˆ ˆ 4a4 …8:14†
EI
The natural frequencies are de®ned by the formula (Weaver, Timoshenko and Yaung, 1990;
Hetenyi, 1958; Blevins, 1979)
rs
l2 EI k l4
oˆ 2 1‡ 0 4 …8:15†
l m EI l
Parameter l corresponds to beams with the same boundary conditions but without an
elastic foundation. The Winkler elastic foundation increases the frequency vibration.

Eigenfunction. The solutions of equation (6.2) may be presented in the following forms:
Case 1. The frequency parameter k 4 > 0.
The solutions of (8.2) are the same for k0 ˆ 0 and k0 6ˆ 0. So, the elastic Winkler
foundation has no effect on the mode shape vibration.
Case of long beams (Boitsov et al., 1982)
ax
X …kx† ˆ e …C0 cos ax ‡ C1 sin ax† ‡ eax …C2 cos a x ‡ C3 sin ax† …8:4†
Case of short beams (especially for symmetric and antisymmetric forms)

X …kx† ˆ C0 cosh ax cos ax ‡ C1 cosh ax sin ax ‡ C2 sinh ax sin a x ‡ C3 sinh ax cos ax

…8:16†
Eigenfunction X …x† may be presented in the form of Puzyrevsky functions

X …kx† ˆ C0 V0 …ax† ‡ C1 V1 …ax† ‡ C2 V2 …ax† ‡ C3 V3 …ax† …8:17†

1
V0 ˆ cosh ax cos ax V1 ˆ p …cosh ax sin ax ‡ sinh ax cos ax†
2
…8:18†
1
V2 ˆ sinh ax sin ax V3 ˆ p …cosh ax sin ax sinh ax cos ax†
2

8.2.1 Properties of Puzyrevsky functions

Puzyrevsky functions and their derivatives result in the diagonal matrix at x ˆ 0.

V0 …0† ˆ 1 V00 …0† ˆ p

0  V000 …0† ˆ 0 V0000 …0† ˆ 0
V1 …0† ˆ 0 V10 …0† ˆ 2a V100 …0† ˆ 0 V1000 …0† ˆ 0
…8:19†
V2 …0† ˆ 0 V20 …0† ˆ 0 V200 …0† ˆ 2a2 V2000 …0† ˆ 0p
V3 …0† ˆ 0 V30 …0† ˆ 0 V300 …0† ˆ 0 V3000 …0† ˆ 2 2a3

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252 FORMULAS FOR STRUCTURAL DYNAMICS

Derivatives of Puzyrevsky Functions

p p
V30 …ax† ˆ2aV2 …ax†; V20 …ax† ˆ 2aV1 …ax†
0
p 0
p
V1 …ax† ˆ 2aV0 …ax†; V0 …ax† ˆ 2aV3 …ax†

Case 2. The frequency parameter k 4 < 0.

The solution of (8.2) is

kx kx kx kx kx kx kx kx
X ˆ A sin p sinh p ‡ B sin p cosh p ‡ C cos p sinh p ‡ D cos p cosh p
2 2 2 2 2 2 2 2
…8:20†

which is different from expressions (8.4) and (8.5) (Wang, 1991).

8.2.2 Beams on linear inertial foundation

The beam length l and mass per unit m rest on an elastic foundation. A linear inertial
foundation is a two-way communication one. The model of the foundation represents
separate rods with parameters: modulus EF , cross-sectional area AF ˆ b  1, and density
rF ; the length of the rods is l0 (Fig. 8.1) (Bondar', 1971).
Reaction of the rods

@u 
q0 ˆ EF AF 
@z zˆl0

where u is the longitudinal displacement of the rod.

Differential equations
(a) Longitudinal vibration of the rods

@2 u @2 u
2
ˆ a2 2 …8:21†
@t @z
EF AF
where a2 ˆ ; AF ˆ b  1 mF ˆ r F AF
mF

FIGURE 8.1. Mechanical model of elastic foundation. System coordinates: for beam xOy; for rods O1 z.

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 BERNOULLI–EULER BEAMS ON ELASTIC LINEAR FOUNDATION

BERNOULLI±EULER BEAMS ON ELASTIC LINEAR FOUNDATION 253

(b) Transverse vibration of the beam


@4 y @2 y @u 
EI2 ‡ m ‡ E A ˆ0 …8:22†
@x4 @t 2 F F
@z zˆl0

where the moment of inertia of the cross-sectional area of order n is

„
In ˆ zn dA
…A†

where z is a distance from the neutral axis. For a rectangular cross-section, b  h:

I2 ˆ bh3 =12; I4 ˆ bh5 =80

The differential equation for the mode shape of vibration is
 o o 
X IV ‡ C cot l0 b2 o2 X ˆ 0 …8:23†
a a
where

EF AF m
Cˆ ; b2 ˆ
EI2 EI2
The frequency equation may be presented in the form
np4 o o
‡C cot l0 b2 o2 ˆ 0 …8:24†
l a a
or
np4  2
abg Cg
tan g ˆ tan g …8:24a†
l l0 l0
s
o a g EF
where g ˆ l0 ; o ˆ g ˆ .
a l0 l0 r F
This equation takes into account the bending stiffness of the beam and the elastic
foundation. The fundamental natural frequency of vibration
s
g EF
oˆ …8:25†
l0 rF

where g is the minimal root of the frequency equation (8.24). For soil of average density
the length of the rods, l0 , approximately equals 5l. For the condition l0 ˆ 5l, displacement
of the bottom ends of the rods makes up 2.5% of the displacement of the beam. For more
details see Section 14.4.

Special cases
1. No-foundation condition. In this case, EF ˆ 0, then C=a ˆ 0 and the frequency
equation of the beam becomes
np4
b2 o2 ˆ 0
l

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254 FORMULAS FOR STRUCTURAL DYNAMICS

The frequency of the transverse vibration of the beam is

np2 r
EI2

on ˆ ; …n ˆ 1; 2; 3; . . .†
l m
2. No-beam condition. In this case EI2 ˆ 0, then b ˆ 1, C ˆ 1 and the frequency
equation of the clamped±free rod becomes
ip
tan g ˆ 1; gˆ ; i ˆ 1; 3; 5; . . .
2
The frequency of the longitudinal vibration of the clamped±free rod is
s
ip EF
ocl fr ˆ ; i ˆ 1; 3; 5; . . .
2l0 mF

3. Beam is absolutely rigid. EI2 ˆ 1 then b ˆ 0, C ˆ 0 and the frequency equation

becomes tan g ˆ 0; y ˆ ip; i ˆ 1; 2; 3; . . . : The frequency of the longitudinal vibration of
the clamped±clamped rod is
s
ip EF
ocl cl ˆ ; i ˆ 1; 2; 3; . . .
l0 mF

For the fundamental mode (i ˆ 1) the frequency of vibration o of the system's `beam-
inertial foundation' satis®es condition

ocl fr  o  ocl cl

8.3 PINNED±PINNED BEAM UNDER

COMPRESSIVE LOAD

The design diagram of a pinned±pinned uniform beam on an elastic foundation with

compressive load N is presented in Fig. 8.2. The parameters of the elastic foundation are
kslope ˆ D0 , ktr ˆ k0 and ktilt (Nielsen, 1991).

8.3.1 Bernoulli±Euler beam theory

Winkler foundation. The differential equation of the transverse vibration is

EIyIV ‡ Ny00 ‡ ktr y ‡ my ˆ 0 …8:26†

FIGURE 8.2. Beam on an elastic foundation.

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 BERNOULLI–EULER BEAMS ON ELASTIC LINEAR FOUNDATION

BERNOULLI±EULER BEAMS ON ELASTIC LINEAR FOUNDATION 255

where y denotes the transverse displacement of the beam axis at position x and time t. The
elastic foundation does not change the boundary condition.
Frequency of vibration

rr
n2 p2 EI Nl 2 k l4
on ˆ 2 1 2 2
‡ tr4 4 ; n ˆ 1; 2; . . . …8:27†
l m EIn p EIn p

Pasternak foundation. The differential equation of the transverse vibration is

EIyIV ‡ …N kslope †y00 ‡ ktr y ‡ my ˆ 0 …8:28†

The natural frequency of vibration is

rs
n2 p2 EI …N kslope †l 2 k l4
on ˆ 2 1 ‡ tr4 4 …8:29†
l m EIn p 2 2 EIn p

The elastic foundation leads to the increment of the eigenfrequencies, whereas the
compressive force leads to the decrement of the eigenfrequencies.

8.3.2 Rayleigh±Timoshenko beam theory

The differential equations of the transverse vibration for an undamped beam are

kGA… y0 ‡ f†0 ˆ my ‡ ktr y ‡ Ny00

…8:30†
EI f00 kGA… y0 ‡ f† ‡ kslope y0 ˆ mr2 f ‡ ktitl f

where y…x; t† and f…x; t† denote the transverse displacement of the beam axis and the
transverse rotation (tilting) of the beam cross-section at position x and time t; I and r are
the moment of inertia and the radius of gyration of the cross-section with respect to the z-
axis (Lunden and Akesson, 1983).

Solution

npx npx
y ˆ A1 sin exp…iot†; f ˆ A2 cos exp…iot†
l l

The eigenvalues of the pinned±pinned beam are

2 np2 3
np
6 …N kGA† ‡ mo2 ktr kGA 7
6 l l 7
4 np np2 5 ˆ 0 …8:31†
…kGA kslope † mro2 kGA ktilt EI
l l

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256 FORMULAS FOR STRUCTURAL DYNAMICS

The frequency equation may be presented in the form

" r#
kGA 4r2 B2
o2n ˆ 2
B1  B21 …8:32†
2mr kGA
 
ktilt ‡ EI m2n ‡ r2 ktr N np
B1 ˆ 1 ‡ ‡ r2 1 m2 mn ˆ
kGA kGA n l
 2
  
k ‡ EI mn N
B2 ˆ ktr 1 ‡ tilt ‡ 1 …k ‡ EI m2n †m2n ‡ …kslope N†m2n
kGA kGA tilt

It may occur that the minimum eigenfrequency does not correspond to the simplest mode
of vibration (n ˆ 1).

8.4 A STEPPED BERNOULLI±EULER BEAM

SUBJECTED TO AN AXIAL FORCE AND
EMBEDDED IN A NON-HOMOGENEOUS
WINKLER FOUNDATION

A design diagram of a stepped beam is presented in Fig. 8.3. Boundary conditions are not
shown. The elastic foundation is non-uniform with translational stiffness coef®cients k0
and k1 . The exact fundamental eigenfrequencies for a beam with different boundary
conditions, beam parameters, load and foundation are presented in Tables 8.1 and 8.2. The
method of separation of variables is applied (Filipich et al., 1988).

FIGURE 8.3. Stepped beam embedded in a non-homogeneous foundation.

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BERNOULLI±EULER BEAMS ON ELASTIC LINEAR FOUNDATION 257

The dimensionless parameters of the system are

k0 L4 k1 L4 E I r A
w20 ˆ ; w21 ˆ ; bˆ 1 1; gˆ 1 1
E 0 I0 E 0 I0 E0 I0 r0 A0
 2
NL2 w1 k r A
p2 ˆ … 0†; eˆ ˆ 1 ; O2 ˆ o2 L4 0 0
E 0 I0 w0 k0 E 0 I0

8.4.1 The stepped beam is partially embedded in a Winkler foundation

(Fig. 8.3(b))

In this case k1 ˆ 0 and w0 ˆ e ˆ 0. The fundamental eigenvalues, O1 , for a ˆ 0:5;

b ˆ 0:512; g ˆ 0:8 and w20 ˆ 25 are presented in Table 8.1.

TABLE 8.1. One-span stepped beam partially embedded in a Winkler foundation: Fundamental
frequency vibration for beams with different boundary conditions and axial force

Force p2 Pinned±pinned Clamped±clamped Pinned±clamped Clamped±pinned

Tensile 0 9.2874 20.0711 14.0381 14.0926

5 11.9450 21.7646 16.0357 16.4150
10 14.0977 23.3174 17.8034 18.4058

Compressive 2 7.9717 19.3454 13.1513 13.0287

3 7.2219 18.9705 12.6840 12.4577
5 5.4119 18.1941 11.6917 11.2168
10 Ð 16.0647 8.7171 7.1072
20 Ð 10.3917 Ð Ð
25 Ð 5.5051 Ð Ð

8.4.2 The stepped beam is completely embedded in a homogeneous

Winkler foundation (Fig. 8.3(c))
In this case k0 ˆ k1 and e ˆ 1. The fundamental eigenvalues, O1 for a ˆ 0:5; b ˆ 0:512;
g ˆ 0:8 and w20 ˆ 25 are presented in Table 8.2.

TABLE 8.2. One-span stepped beam completely embedded in a Winkler foundation: Fundamental
frequency vibration for beams with different boundary conditions and axial force

Force p2 Pinned±pinned Clamped±clamped Pinned±clamped Clamped±pinned

Tensile 0 10.1041 20.4739 14.4310 14.8147

5 12.5774 22.1324 16.3829 17.0245
10 14.6286 23.6578 18.1185 18.9401

Compressive 2 8.8187 19.7650 13.5689 13.8146

3 8.2607 19.3993 13.1159 13.2818
5 6.7499 18.6430 12.1576 12.1355
10 Ð 16.5784 9.3279 8.5241
20 Ð 11.1956 Ð Ð
25 Ð 6.9393 Ð Ð

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258 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 8.4. (a) In®nite beam with lumped mass on elastic foundation (b) Corresponding frequency
spectrum.

8.5 INFINITE UNIFORM BERNOULLI±EULER

BEAM WITH A LUMPED MASS ON AN ELASTIC
WINKLER FOUNDATION

An in®nite uniform Bernoulli±Euler beam with a distributed mass m and lumped mass M
on an elastic Winkler foundation with modulus elasticity k is presented in Fig. 8.4(a).
The spectrum of this system is mixed (discrete and continuous) and is presented in Fig.
8.4(b). The discrete frequency oM is a real root of the characteristics equation (Bolotin,
1978)
 3=4
o2 M k mo2
ˆ …8:33†
8EI 4E
r
k
The distributed spectrum begins in the frequency o0 ˆ .
m

REFERENCES

Bojtsov, G. V., Paliy O. M., Postnov, V. A. and Chuvikovsky, V. S. (1982) Dynamics and Stability of
Construction, Vol. 3, 317 p., In Handbook: Structural Mechanics of a Ship, Vol. 1±3, Leningrad,
Sudostroenie, 1982 (In Russian).
Engel, R.S. (1991) Dynamic stability of an axially loaded beam on an elastic foundation with
damping. Journal of Sound and Vibration, 146(3), 463±477.
Filipich, C.P., Laura, P.A.A., Sonenblum, M. and Gil, E. (1988) Transverse vibrations of a stepped
beam subject to an axial force and embedded in a non-homogeneous Winkler foundation. Journal of
Sound and Vibration, 126(1), 1±8.
Issa, M.S. (1988) Natural frequencies of continuous curved beams on Winkler-type foundation.
Journal of Sound and Vibration, 127(2), 291±301.
Hetenyi, M. (1958) Beams on Elastic Foundation (Ann Arbor: The University of Michigan Press).
Kerr, A.D. (1964) Elastic and viscoelastic foundation models. ASME Journal of Applied Mechanics,
31, 491±498.
Lunden, R. and Akesson, B. (1983) Damped second-order Rayleigh±Timoshenko beam vibration in
space ± an exact complex dynamic member stiffness matrix. International Journal for Numerical
Methods in Engineering, 19, 431±449.
Mathews, P.M. (1958, 1959) Vibrations of a beam on elastic foundation. Zeitschrift fur Angewandte
Mathematik und Mechanik, 38, 105±115; 39, 13±19.
Nielsen, J.C.O. (1991) Eigenfrequencies and eigenmodes of beam stuctures on an elastic foundation.
Journal of Sound and Vibration, 145(3), 479±487.
Pasternak, P.L. (1954) On a New Method of Analysis of an Elastic Foundation by Means of Two
Foundation Constants (Moscow, USSR: Gosizdat).

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 BERNOULLI–EULER BEAMS ON ELASTIC LINEAR FOUNDATION

BERNOULLI±EULER BEAMS ON ELASTIC LINEAR FOUNDATION 259

Reissner, E. (1958) A note on de¯ections of plates on a viscoelastic foundation. Journal of Applied

Mechanics, Trans. ASME, 25, 144±145.
Saito, H. and Terasawa, T. (1980) Steady-State Vibrations of a Beam on a Pasternak Foundation for
Moving Loads. ASME Journal of Applied Mechanics, 47, 879±883.
Vlasov, V.Z. and Leontev, U.N. (1966) Beams, Plates and Shells on Elastic Foundations, NASA TTF-
357.
Wang, T.M. and Gagnon, L.W. (1978) Vibrations of continuous Timoshenko beams on Winkler±
Pasternak foundations. Journal of Sound and Vibration, 59, 211±220.
Wang, T.M. and Stephens, J.E. (1977) Natural frequencies of Timoshenko beams on Pasternak
foundations. Journal of Sound and Vibration, 51, 149±155.
Weaver, W., Timoshenko, S.P. and Young, D.H. (1990) Vibration Problems in Engineering, Fifth
edition (New York: Wiley).
Winkler, E. (1867) Die Lehre von der Elasticitaet und Festigkeit (Prag: Dominicus).
Yokoyama, T. (1991) Vibrations of Timoshenko beam-columns on two-parameter elastic foundations.
Earthquake Engineering and Structural Dynamics, 20, 355±370.
Yokoyama, T. (1987) Vibrations and transient responses of Timoshenko beams resting on elastic
foundations. Ingenieur-Archiv, 57, 81±90.

FURTHER READING

Bert, C.W. (1987) Application of a version of the Rayleigh technique to problems of bars, beams,
columns, membranes and plates. Journal of Sound and Vibration, 119, 317±327.
Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
Bolotin, V.V. (Ed) (1978) Vibration of Linear Systems, vol. 1. In Handbook: Vibration in Tecnnik, vols
1±6 (Moscow: Mashinostroenie) (in Russian).
Bondar', N.G. (1971) Non-Linear Problems of Elastic System (Kiev: Budivel'nik) (in Russian).
Capron, M.D. and Williams, F.W. (1988) Exact dynamic stiffnesses for an axially loaded uniform
Timoshenko member embedded in an elastic medium. Journal of Sound and Vibration, 124(3), 453±
466.
Cheng, F.Y. and Pantelides, C.P. (1988) Dynamic Timoshenko beam-columns on elastic media. ASCE
Journal of Structural Engineering, 114, 1524±1550.
Crandall, S.H. (1957) The Timoshenko beam on an elastic foundation. Proceedings of the Third
Midwestern Conference on Solid Mechanics, Ann Arbor, Michigan, pp. 146±159.
De Rosa, M.A. (1989) Stability and dynamics of beams on Winkler elastic foundations. Earthquake
Engineering and Structural Dynamics, 18, 377±388.
Djodjo, B.A. (1969) Transfer matrices for beams loaded axially and laid on an elastic foundation. The
Aeronautical Quarterly, 20(3), 281±306.
Doyle, P.F. and Pavlovic, M.N. (1982) Vibration of beams on partial elastic foundations. Earthquake
Engineering and Structural Dynamics, 10, 663±674.
Eisenberg, M., Yankelevsky, D.Z. and Adin, M.A. (1985) Vibrations of beams fully or partially
supported on elastic foundations. Earthquake Engineering and Structural Dynamics, 13, 651±660.
Eisenberg, M. and Clastornik, J. (1987) Vibrations and buckling of a beam on a variable Winkler
elastic foundation. Journal of Sound and Vibration, 115(2), 233±241.
Eisenberg, M. and Clastornik, J. (1987) Beams on variable two-parameter elastic foundation. ASCE
Journal of Engineering Mechanics, 113, 1454±1466.
Eisenberg, M. (1990) Exact static and dynamic stiffness matrices for general variable cross section
members. AIAA Journal, 28, 1105±1109.
Filipich, C.P. and Rosales, M.B. (1988) A variant of Rayleigh's method applied to Timoshenko beams
embedded in a Winkler±Pasternak medium. Journal of Sound and Vibration, 124(3), 443±451.

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 BERNOULLI–EULER BEAMS ON ELASTIC LINEAR FOUNDATION

260 FORMULAS FOR STRUCTURAL DYNAMICS

Fletcher, D.Q. and Hermann, L.R. (1971) Elastic foundation representation of continuum. ASCE
Journal of Engineering Mechanics, 97, 95±107.
Jones, R. and Xenophontos, J. (1977) The Vlasov foundation model. International Journal of
Mechanical Science, 19, 317±323.
Karamanlidis, D. and Prakash, V. (1988) Buckling and vibration analysis of ¯exible beams resting on
an elastic half-space. Earthquake Engineering and Structural Dynamics, 16, 1103±1114.
Karamanlidis, D. and Prakash, V. (1989) Exact transfer and stiffness matrices for a beam=column
resting on a two-parameter foundation. Comput. Methods Appl. Mech Eng. 72, 77±89.
Kassem, S.A. (1986) Lateral vibration of cantilevers on viscoelastic foundations. Armed Forces
Science Research Journal, XVII(39), 34±41.
Kerr, A.D. (1961) Viscoelastic Winkler foundation with shear interactions. Proc ASCE, 87(EM3), 13±
30.
Kukla, S. (1991) Free vibration of a beam supported on a stepped elastic foundation. Journal of Sound
and Vibration, 149(2), 259±265.
Laura, P.A.A. and Cortinez, V.H. (1987) Vibrating beam partially embedded in Winkler-type
foundation. ASCE Journal of Engineering Mechanics, 113, 143±147.
Pavlovic, M.N. and Wylie, G.B. (1983) Vibration of beams on non-homogeneous elastic foundations.
Earthquake Engineering and Structural Dynamics, 11, 797±808.
Richart, F.E. Jr., Hall, J.R. Jr. and Woods, R.D. (1970) Vibrations of Soils and Foundations
(Englewood Cliffs, New Jersey: Prentice-Hall).
Selvadurai, A.P.S. (1979) Elastic Analysis of Soil-Foundation Interaction (Amsterdam: Elsevier).
Scott, R.F. (1981) Foundation Analysis (Englewood Cliffs, New Jersey: Prentice-Hall).
Sundara Raja Iyengar, K.T. and Anantharamu, S. (1963) Finite beam-columns on elastic foundations.
ASCE Journal of Engineering Mechanics, 89(6), 139±160.
Taleb, N.J. and Suppiger, E.W. (1962) Vibrations of stepped beams. Journal of Aeronautical Science,
28, 295±298.
Valsangkar, A.J. and Pradhanang, R.B. (1988) Vibrations of beam-columns on two-parameter elastic
foundations. Earthquake Engineering and Structural Dynamics, 16, 217±225.
Wang, J. (1991) Vibration of stepped beams on elastic foundations. Journal of Sound and Vibration,
149(2), 315±322.

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 9
BERNOULLI±EULER
MULTISPAN BEAMS

This chapter contains analytical and numerical results for Bernoulli±Euler multispan
beams on rigid and=or the elastic supports.

NOTATION
A Cross-sectional area of the beam
E Modulus of elasticity of the beam material
EI Bending stiffness
i Bending stiffness per unit length, i ˆ EI =l
I Moment of inertia of a cross-sectional area of the beam
mo2
k Frequency parameter, k 4 ˆ
EI
l Length of the beam
M Bending moment, amplitude of harmonic moment
rik Unit reaction of the slope-de¯ection method
S; T ; U ; V Krylov±Duncan functions
t Time
x Spatial coordinate
x; y; z Cartesian coordinates
X …x† Mode shape
y…x; t†; w Lateral displacement of the beam
Z Unknown of the slope-de¯ection method
l Frequency parameter, l2 ˆ k 2 l 2
r; m Density of material and mass per unit length of beam, m ˆ rA
f…l†, c…l† Zal'tsberg functions
o Natural frequency of free transverse vibration

9.1 TWO-SPAN UNIFORM BEAMS

The eigenvalue problem for uniform multispan beams with a distributed mass and
with=without lumped masses may be studied by using different classical methods. The

261
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 BERNOULLI–EULER MULTISPAN BEAMS

262 FORMULAS FOR STRUCTURAL DYNAMICS

most effective among these methods are the slope-de¯ection method, which uses speci®c
functions (see Chapter 4), and the force method in the form of three moment equations.
These methods lead to a governing equation for eigenvalues in exact analytical form.

9.1.1 Beams with equal spans

Natural frequencies of vibration are

r
l2i EI
oi ˆ 2 …9:1†
l m
The ®rst ®ve frequency parameters l for two-span beams with classical boundary
conditions are presented in Table 9.1. One-span beams with overhangs are considered in
Chapter 7.2 and Table 7.11.
Exact values of the frequency parameter l for the fundamental mode of vibration of
two-span uniform beams with equal spans, are presented in Table 9.2 (Gorman, 1974;
Kameswara Rao, 1990).

9.1.2 Two-span beam with an elastic support at the middle span

The symmetrical beam with an elastic support is presented in Fig. 9.1(a). The frequency
equation may be presented in different forms.

Symmetric vibration (Anan'ev, 1946; Boitsov et al., 1982). In term of Hohenemser±

Prager functions
C…l†
k* ˆ l3 …9:2†
B…l†
In term of Krylov functions

S 2 …l† U 2 …l†
k* ˆ l3 …9:2a†
T …l†U …l† S…l†V …l†
In explicit form
2 cosh l cos l
k* ˆ l3 …9:2b†
cosh l sin l sinh l cos l
kl 3
where the dimensionless stiffness parameter k* ˆ .
The natural frequency of vibration is 2EI
r
l2 EI
oˆ 2
l m
The roots of the frequency equation in terms of dimensionless parameter k* are shown in
Fig. 9.1(b).
Eigenfunctions for the given system and for the pinned±clamped beam are the same.

Antisymmetric vibration. The frequency equation is

S1 …l† ˆ 0; l1 ˆ p; l2 ˆ 2p; l3 ˆ 3p; . . .
where S1 is the Hohenemser±Prager function (Section 4.6).
Eigenfunctions for the given system and for the pinned±pinned beam are the same.

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 BERNOULLI–EULER MULTISPAN BEAMS

BERNOULLI±EULER MULTISPAN BEAMS 263

TABLE 9.1. Two-span uniform beams with equal spans and classical boundary conditions:
frequency parameter l for different mode shapes

Type of beam i Mode shape Related materials

Pinned±pinned±pinned 1 3.142 Antisymmetric Table 5.3

2 3.927 Symmetric Fig. 9.2(a)
3 6.283 Antisymmetric Table 9.3(a)
4 7.069
5 9.425
Clamped±pinned±pinned 1 3.393 Fig. 9.2(e)
2 4.463 Table 9.3(a)
3 6.545
4 7.591
5 9.685
Clamped±pinned±clamped 1 3.927 Antisymmetric Fig. 9.2(b)
2 4.730 Symmetric Table 9.3(b)
3 7.069 Antisymmetric Table 5.3
4 7.855
5 10.210

TABLE 9.2. Two-span uniform beams with equal spans: fundamental frequency parameter l

Type of beam Parameter l Related materials

Clamped±pinned±guided 4.0590 Tables 9.3(b), 9.5, Fig. 9.2(j)

Pinned±pinned±guided 3.9266 Table 9.3(b), Fig. 9.2(i)

Guided±pinned±guided 3.1416 Tables 9.3(b), 9.5, Fig. 9.2(d)

Clamped±pinned±free Table 9.3(b), Fig. 9.2(g)

Pinned±pinned±free 1.5059 Tables 5.6, 9.3(a), Fig. 9.2(f)

Guided±pinned±free 2.3409 Tables 9.3(b), 9.5, Fig. 9.2(h)

Free±pinned±free 0.0 Rigid-body mode

Table 9.3(b), Fig. 9.2(c)
1.8751 Symmetrical vibration
Table 5.3, Figs. 5.9, 9.2(c)

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 BERNOULLI–EULER MULTISPAN BEAMS

264 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 9.1(a). Design diagram.

FIGURE 9.1(b). Parameter l as a function of k* ˆ kl3 =2EI for the fundamental mode of symmetric
vibration.

9.1.3 Beams with different spans

Tables 9.3(a), (b), (c) contain the frequency equations and mode-shape expressions for ten
types of two-span uniform beams with classical boundary conditions (Gorman, 1974;
Kameswara Rao, 1990). Dimensionless parameters are

l1 l
mˆ ; nˆ 2ˆ1 m
L L
x1 x
x1 ˆ ; x2 ˆ 2
l1 l2
M1;2 ˆ cos lm sinh lm  sin lm cosh lm
N1;2 ˆ cos ln sinh ln  sin ln cosh ln
rAL4 2
The frequency parameter is l4n ˆ on , where l1 ‡ l2 ˆ L.
EI

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 TABLE 9.3a. Two-span uniform beams with different spans and different boundary conditions: frequency equation and mode shape of vibration

Frequency equation
Beam of type and corresponding chart Mode-shape expressions Parameters

Pinned±pinned±pinned M1 sin ln sinh ln X1 …x1 † ˆ sin lx1 ‡ a1 sinh lx1 sin lm sin lm
a1 ˆ ; a2 ˆ ;
‡ N1 sin lm sinh lm ˆ 0 X2 …x2 † ˆ a2 …sin lx2 ‡ a3 sinh lx2 † sinh lm sinh lv
sin ln
a3 ˆ
sinh ln
Fig: 9:2…a†

Pinned±pinned±free 1 ‡ cos ln cosh ln X1 …x1 † ˆ sin lx1 ‡ a1 sin lx1 sin lm

a1 ˆ
M1 N1 X2 …x2 † ˆ a2 fsin lx2 ‡ sinh lx2 sinh lm
ˆ0 …sin lm cos lm cos lm sinh lm†…cos ln ‡ cosh ln†
2 sin lm sinh lm ‡ a3 …cos lx2 ‡ cosh lx2 †g a2 ˆ
2 sinh lm…1 ‡ cos ln cosh ln†
sin ln ‡ sinh ln
Fig: 9:2…b† a3 ˆ
cos ln ‡ cosh ln
BERNOULLI±EULER MULTISPAN BEAMS

Clamped±pinned±pinned 1 cos ln cosh ln X1 …x1 † ˆ sin lx1 sinh lx1 sinh lm sin lm
BERNOULLI–EULER MULTISPAN BEAMS

a1 ˆ
M1 N1 ‡ a1 …cos lx1 cosh lx1 † cos lm cosh lm
‡ ˆ0 2…1 cos lm cosh lm†
2 sin ln sinh ln X2 …x2 † ˆ a2 …sin lx2 ‡ a3 sinh lx2 † a2 ˆ
…cos lm cosh lm†…cos ln sinh ln sin ln cosh ln†

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sin ln

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Fig: 9:2…c† a3 ˆ
sinh ln
265

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 TABLE 9.3b. Two-span uniform beams with different spans and different boundary conditions: frequency equation and mode shape of vibration 266

Frequency equation
Beam of type and corresponding chart Mode-shape expressions Parameters

Clamped±pinned±clamped N1 …1 cos lm cosh lm† X1 …x1 † ˆ sin lx1 sinh lx1 sinh lm sin lm
a1 ˆ ;
‡ M1 …1 cos ln cosh ln† ˆ 0 ‡ a1 …cos lx1 cosh lx1 † cos lm cosh lm
X2 …x2 † ˆ a2 fsin lx2 sinh lx2 …1 cos lm cosh lm†…cos ln cosh ln†
a2 ˆ
…cos lm cosh lm†…1 cos ln cosh ln†
Fig: 9:2…d† ‡ a3 …cos lx2 cosh lx2 †g
sinh ln sin ln
a3 ˆ
cos ln cosh ln

Clamped±pinned±free N1 …1 cos lm cosh lm† X1 …x1 † ˆ sin lx1 sinh lx1 sinh lm sin lm
a1 ˆ
M1 …1 ‡ cos ln cosh ln† ˆ 0 ‡ a1 …cos lx1 cosh lx1 † cos lm cosh hlm
X2 …x2 † ˆ a2 fsin lx2 ‡ sinh lx2 …1 ‡ cos lm cosh lm†…cos ln ‡ cosh ln†
a2 ˆ
…cosh lm cos lm†…1 ‡ cos ln cosh ln†
Fig: 9:2…e† ‡ a3 …cos lx2 ‡ cosh lx2 †g
sinh ln ‡ sin ln
a3 ˆ
cos ln ‡ cos ln

Free±pinned±free N1 …1 ‡ cos lm cosh lm† X1 …x1 † ˆ sin lx1 ‡ sinh lx1 sin lm ‡ sinh lm
a1 ˆ
‡ M1 …1 ‡ cos ln cosh ln† ˆ 0 ‡ a1 …cos lx1 ‡ cosh lx1 † cos lm ‡ cosh lm
X2 …x2 † ˆ a2 fsin lx2 ‡ sinh lx2 …1 ‡ cos lm cosh lm†…cos ln ‡ cosh ln†
a2 ˆ
…cos lm ‡ cosh lm†…1 ‡ cos ln cosh ln†
FORMULAS FOR STRUCTURAL DYNAMICS

Fig: 9:2…f † ‡ a3 …cos lx2 ‡ cosh lx2 †g

BERNOULLI–EULER MULTISPAN BEAMS

sin ln ‡ sinh ln
a3 ˆ
cos ln ‡ cosh ln

Guided±pinned±free 1 ‡ cos lm cosh lm X1 …x1 † ˆ cos lx1 ‡ a1 cosh lx1 cos lm

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a1 ˆ

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M2 N 1 X2 …x2 † ˆ a2 fsin lx2 ‡ sinh lx2 cosh lm
‡ ˆ0 cos lm…cos ln ‡ cosh ln†
2 cos lm cosh lm ‡ a3 …cos lx2 ‡ cosh lx2 †g a2 ˆ
…cos ln sinh ln sin ln cosh lm†
sin ln ‡ sinh ln
Fig: 9:2…g† a3 ˆ
cos ln ‡ cosh ln

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 TABLE 9.3c. Two-span uniform beams with different spans and different boundary conditions: frequency equation and mode shape of vibration

Frequency equation
Beam type and corresponding chart Mode-shape expressions Parameters

Guided±pinned±guided N2 cos lm cosh lm X1 …x1 † ˆ cos lx1 ‡ a1 cosh lx1 cos lm

a1 ˆ
‡ M2 cos ln cosh ln ˆ 0 X2 …x2 † ˆ a2 fcos lx2 ‡ a3 cosh lx2 g cosh lm
cos lm
a2 ˆ
cosh ln
Fig: 9:2…h†
cos ln
a3 ˆ
cosh ln

Guided±pinned±pinned N1 cos lm cosh lm X1 …x1 † ˆ cos lx1 ‡ a1 cosh lx1 cos bm

a1 ˆ
M2 sin ln sinh ln ˆ 0 X2 …x2 † ˆ a2 fsin lx2 ‡ a3 sinh lx2 g cosh bm
cos lm
a2 ˆ
sin ln
Fig: 9:2…i†
sin ln
a3 ˆ
sinh ln
BERNOULLI±EULER MULTISPAN BEAMS

Guided±pinned±clamped 1 cos ln cosh ln X1 …x1 † ˆ cos lx1 ‡ a1 cosh lx1 cos lm

BERNOULLI–EULER MULTISPAN BEAMS

a1 ˆ
M2 N1 X2 …x2 † ˆ a2 fsin lx2 sinh lx2 cosh lm
ˆ0 cos lm‰cos ln cosh lnŠ
2 cos lm cosh lm ‡ a3 …cos lx2 cosh lx2 †g a2 ˆ
cos ln sinh ln sin ln cosh ln

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sin ln sinh ln

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Fig: 9:2…j† a3 ˆ
cos ln cosh ln
267

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268 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 9.4. Transformation of two-span beams: limiting cases of the span length

No. Beam type l1 ˆ 0 (m ˆ 0; n ˆ 1) l2 ˆ 0 (m ˆ 1; n ˆ 0)

1 Pinned±pinned±pinned Clamped±pinned Pinned±clamped

2 Pinned±pinned±free Clamped±free Pinned±pinned
3 Clamped±pinned±pinned Clamped±pinned Clamped±clamped
4 Clamped±pinned±clamped Clamped±clamped Clamped±clamped
5 Clamped±pinned±free Clamped±free Clamped±pinned
6 Free±pinned±free Pinned±free Free±pinned
7 Guided±pinned±free Clamped±free Guided±pinned
8 Guided±pinned±guided Clamped±guided Guided±clamped
9 Guided±pinned±pinned Clamped±pinned Guided±clamped
10 Guided±pinned±clamped Clamped±clamped Guided±clamped

Special cases. Two-span beams reduce to one-span beams in the two special cases.
1. l1 ˆ 0 …m ˆ 0; n ˆ 1†.
2. l2 ˆ 0 …m ˆ 1; n ˆ 0†.
The types of the given beams and beams that correspond to special cases are presented in
Table 9.4.
The related data for special cases are contained in Tables 5.3 and 5.4.

9.1.4 Numerical results

Figures 9.2(a)±(j) give frequency parameter values, l, for the ®rst three modes of vibration
as a function of intermediate support spacing, m, for two-span uniform beams with
different boundary conditions (Gorman, 1974; Kameswara Rao, 1990).

Guided±pinned±XX beam. A two-span uniform beam with intermediate support is

presented in Fig. 9.3. The beam has guided support at the left-hand end and speci®c
XX support at the right-hand end. The boundary condition, shown as XX, is a clamped
support, or guided, or pinned, or free end.
Values of fundamental parameters l for guided±pinned±XX beams for various values
of intermediate support spacing, m ˆ l1 =L, and end conditions, XX, are presented in Table
9.5. This table also presents the location of the intermediate support, which leads to the
maximum value of the frequency parameter.
The ®rst row in the table may be used for determination of frequency parameters for
single-span beams with the following boundary conditions: clamped±free, clamped±
guided, clamped±pinned and clamped±clamped, respectively (see Tables 5.3 and 5.4).
The last row in Table 9.5 may be used for calculation of single-span guided±pinned and
guided±clamped beams.

9.2 NON-UNIFORM BEAMS

9.2.1 Exact methods

Two classical methods are presented.

Slope and de¯ection method. The slope and de¯ection method is used for calculation of
continuous beams and frames (Flugge, 1962; Darkov, 1989).

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BERNOULLI±EULER MULTISPAN BEAMS 269

FIGURE 9.2(a). Pinned±pinned±pinned beam.

FIGURE 9.2(b). Clamped±pinned±clamped beam.

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270 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 9.2(c). Free±pinned±free beam.

FIGURE 9.2(d). Guided±pinned±guided beam.

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Clamped±pinned±pinned beam.
FIGURE 9.2(e).

271
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Pinned±pinned±free beam.
FIGURE 9.2(f).

272
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Clamped±pinned±free beam.
FIGURE 9.2(g).

273
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Guided±pinned±free beam.
FIGURE 9.2(h).

274
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Guided±pinned±pinned beam.
FIGURE 9.2(i).

275
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Guided±pinned±clamped beam.
FIGURE 9.2(j).

276
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BERNOULLI±EULER MULTISPAN BEAMS 277

FIGURE 9.3. Design diagram of guided±pinned±XX beams. The XX boundary condition is a free, or
guided, or pinned, or clamped end.

Assumptions
1. The strains and displacements due to normal and shearing forces will be neglected.
2. The difference in length between the original member and the chord of the elastic line is
practically non-existent.
Unknowns. The unknowns of this method represent the de¯ection and angles of twist of
various joints induced by bending moments. The total number of unknowns is

n ˆ nd ‡ nt …9:3†

where nt is a number of rigid joints of a frame;

nd is a number of independent de¯ections of the joints of a frame.
The number of unknown angles of twist is equal to the number of the rigid joints of the
structure.

TABLE 9.5. Two-span uniform beams with different spans and one guided end: fundamental
frequency parameter l

End condition XX

m ˆ l1 =L Free Guided Pinned Clamped

0.00 1.8751 2.3650 3.9266 4.7300

0.05 1.8813 2.3778 3.9608 4.7777
0.10 1.8990 2.4136 4.0504 4.8985
0.15 1.9276 2.4696 4.1817 5.0591
0.20 1.9664 2.5447 4.3441 5.2670
0.25 2.0153 2.6379 4.5107 5.4462
0.30 2.0739 2.7479 4.6716 lmax ˆ 5:4800
0.35 2.1408 2.8705 lmax ˆ 4:7000 5.2177
0.40 2.2132 2.9956 4.5197 4.8046
0.45 2.2842 3.0991 4.2254 4.4056
0.50 2.3409 lmax ˆ 3:1416 3.9266 4.0590
0.55 lmax ˆ 2:3650 3.0991 3.6582 3.7461
0.60 2.3416 2.9956 3.4247 3.5128
0.65 2.2725 2.8705 3.2229 3.2971
0.70 2.1741 2.7479 3.0482 3.1102
0.75 2.0631 2.6379 2.8960 2.9469
0.80 1.9510 2.5447 2.7627 2.8030
0.85 1.8438 2.4696 2.6453 2.6752
0.90 1.7444 2.4136 2.5411 2.5610
0.95 1.6534 2.3778 2.4482 2.4581
1.00 1.5708 2.3650 2.3650 2.3650

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278 FORMULAS FOR STRUCTURAL DYNAMICS

The number of independent joint de¯ections is equal to the degree of instability of the
system obtained by the introduction of hinges at all of the rigid joints and supports of the
original structure.
Conjugate redundant system. In order to obtain the conjugate redundant system
(primary system), the additional constraints introduced must prevent the rotation of all
rigid joints as well as the independent de¯ections of these joints.
Canonical equation. The equations of the slope and de¯ection method negate the
existence of reactive moments and forces developed by the imaginary constraints of the
conjugate system of redundant beams. According to the reaction reciprocal theorem,
rik ˆ rki (Section 2.1).
The canonical equation may be written as

r11 Z1 ‡ r12 Z2 ‡


‡ r1n Zn ‡ R1p ˆ 0

r21 Z1 ‡ r22 Z2 ‡


‡ r2n Zn ‡ R2p ˆ 0
…9:4†




rn1 Z1 ‡ rn2 Z2 ‡


‡ rnn Zn ‡ Rnp ˆ 0

Coef®cient rik is the amplitude of the dynamical reaction (moment or force) induced in the
imaginary support i due to harmonic de¯ection (angle or linear) of the kth constraint. In the
case of the eigenproblem, the free terms Rip ˆ 0. So the frequency equation is

 
 r11 r12


r1n 

r r22


r2n 
D ˆ  21 ˆ0 …9:5†













r rn2


rnn 
n1

Example. Statically indeterminant framed systems A, B and C are presented in Fig. 9.4.
The uniformly distributed masses are m1 for the cross bar and m2 for the vertical element.
Show the conjugate system (CS) and determine the coef®cients of the unknowns in the
slope and de¯ection method for given systems A, B and C.

Solution
Analysis of the structures. The systems A, B and C have one rigid joint. Systems A
and B do not have a linear de¯ection, whereas system C has a linear de¯ection in the hori-
zontal direction. Consequently, frames A and B have one unknown of the de¯ection-slope
method, namely the angle of the twist of the rigid joint; frame C has two unknowns,
namely the angle of the twist and de¯ection of the rigid joint.
Conjugate system. Conjugate system for systems A and B: additional constraint 1
opposes the rotation of the rigid joint included in the original system.
Conjugate system for systems C: additional constraints 1 and 2 oppose the rotation and
de¯ection of the joint included in the original system.
The free-body diagram for r11 and r12 is the rigid joint; the free-body diagram for r21
and r22 is the cross bar. The dynamic reactions at the ends of the members and forces
depend on the type of displacement (linear or angular), and on the mass distribution along
the frame element, such as distributed, or lumped masses. These cases are presented in

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BERNOULLI±EULER MULTISPAN BEAMS 279

FIGURE 9.4. Redundant frames, primary systems and free body diagrams.

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280 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 9.6. Design diagrams of a single element of a frame

Massless elements Elements Elements with distributed

with one lumped mass with distributed mass and one lumped mass

Functions, Krylov±Duncan: Section 4.1

related Table 4.3 Zal'tsberg: Section 9.5 Kiselev: Table 4.8
materials Smirnov: Table 4.6
Bolotin: Table 4.7
Hohenemser±Prager:
Table 4.9, Section 4.5

Table 9.6. The corresponding special functions are discussed in Chapter 4. We use
Smirnov's functions. The unit reactions are
System A: r11 ˆ 4i1 c2 …l1 † ‡ 4i2 c2 …l2 †
System B: r11 ˆ 3i1 c1 …l1 † ‡ 4i2 c2 …l2 †
System C: r11 ˆ 3i1 c1 …l1 † ‡ 4i2 c2 …l2 †
6i
r12 ˆ r21 ˆ 2 c5 …l2 †
h
12i2
r22 ˆ 2 c10 …l2 †
h
Note the indices with i and l denote the element (1 for a horizontal element and 2 for a
vertical one); the index with c denotes the number of functions according to Table 4.4.
The bending stiffness per unit length is
EI1 EI2
i1 ˆ ; i2 ˆ
l h
The frequency parameters l1 and l2 are
s s
4 m1 o2 m2 o2
2 4
l1 ˆ l1 ; l2 ˆ l
EI1 EI2
Let the base eigenvalue be
s s
2
4 m1 o l2 4 m2 EI1
l 1 ˆ l1 ˆ l, then l2 ˆ l :
EI1 l1 m1 EI2
The frequency equation should be written in the form of (9.5).
Table 9.6 presents different types of design diagram of the elements and the
corresponding functions that could be applied for dynamic calculation of a structure
with these elements.

Three-moment equation (Kiselev, 1980; Filippov, 1970). This method is convenient to

use for multispan beams with a different stiffness for each span. The three-moment equa-
tion establishes a relationship between the moments on the three series of beam supports.
The notation of the spans and supports is presented in Fig. 5.6. The canonical form of the
equations may be written in the form of (5.7) or (5.8).
The system of equations ((5.7) or (5.8)) has a non-trivial solution if and only if the
determinant obtained from the coef®cients at the support moments is zero. This condition
leads to the frequency of vibration.

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BERNOULLI±EULER MULTISPAN BEAMS 281

FIGURE 9.5. Design diagram of the uniform three-span symmetric beam.

Example. Derive the frequency equation of the symmetric vibration of the uniform three-
span beam shown in Fig. 9.5. Apply the three-moment equation.

Solution. The equation of the symmetrical vibration is

 
l1 l l l
f2 …l1 †M0 ‡ 2 1 f1 …l1 † ‡ 2 f1 …l2 † M1 ‡ 2 f2 …l2 †M2 ˆ 0
6EI1 6EI1 6EI2 6EI2

Because of symmetry M1 ˆ M2 ; M0 ˆ 0, so
 
l l l
2 1 f1 …l1 † ‡ 2 f1 …l2 † M1 ‡ 2 f2 …l2 †M2 ˆ 0
6EI1 6EI2 6EI2

Since EI1 ˆ EI2 ˆ EI , so

 
4 6 6
2 f1 …l1 † ‡ f1 …l2 † M1 ‡ f …l †M ˆ 0
6EI 6EI 6EI 2 2 2

After reducing by 2=6EI the previous equation becomes

4f1 …l1 † ‡ 6f1 …l2 † ‡ 3f2 …l2 † ˆ 0

l l
The relationship between l1 and l2 is 2 ˆ 2 ˆ 1:5. This leads to
l1 l1
4f1 …l1 † ‡ 6f1 …1:5l1 † ‡ 3f2 …1:5l1 † ˆ 0

Consequently, the frequency equation in terms of l1 ˆ l is (Kiselev, 1980)

3 cosh l sin l sinh l sin l 3 cosh 1:5l sin 1:5l sinh 1:5l sin 1:5l
4  ‡6 
2 l sinh l sin l 2 l sinh 1:5l sin 1:5l
sinh 1:5l sin 1:5l
‡33 ˆ0
l sinh 1:5l sin 1:5l
If the uniform beam has uniform spacing, then a three-moment equation may be presented
in terms of Krylov±Duncan functions

Vn Mn 1 ‡ 2…Tn Un Sn Vn †Mn ‡ Vn‡1 Mn‡1 ˆ 0

9.2.2 Non-uniform two-span beams

Frequency equation for non-uniform two-span beams by using special functions (slope and
de¯ection method) are presented in Table 9.7.

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 282

TABLE 9.7 Non-uniformly two-span beams: Frequency equations in different forms (slope and de¯ection method)

Frequency equation

Type of beam Smirnov's functions (Table 4.6) Krylov's functions (Section 4.1) Bolotin's functions (Section 4.3)
(u4i ˆ li4 o2 mi =EIii ) (l ˆ kl, o2 ˆ k 4 EI =m) (k ˆ mo2 l3 )
(Smirnov et al., 1984) (Prokof'ev and Smirnov, 1948) (Bolotin, 1978)

Pinned±pinned±pinned    
3EI1 3EI2 3EI1 l…T12 V12 † 3EI2 l…T22 V22 † 3EI1 2k1 3EI2 2k2
c1 …u1 † ‡ c1 …u2 † ˆ 0 ‡ ˆ0 ‡ ˆ0
l1 l2 l1 3…T1 U1 S1 V1 † l2 3…T2 U2 S2 V2 † l1 105 l2 105

Clamped±pinned±pinned    
4EI1 3EI2 4EI1 l…T1 U1 S1 V1 † 3EI2 l…T22 V22 † 3EI1 k1 3EI2 2k2
c2 …u1 † ‡ c1 …u2 † ˆ 0 ‡ ˆ0 ‡ ˆ0
l1 l2 l1 4…U12 T1 V1 † l2 3…T2 U2 S2 V2 † l1 105 l2 105

Clamped±pinned±clamped    
4EI1 4EI2 4EI1 l…T1 U1 S1 V1 † 4EI2 l…T2 U2 S2 V2 † 3EI1 k1 3EI2 k2
c …u † ‡ c …u † ˆ 0 ‡ ˆ0 ‡ ˆ0
l1 2 1 l2 2 2 l1 4…U12 T1 V1 † l2 4…U22 T2 V2 † l1 105 l2 105
FORMULAS FOR STRUCTURAL DYNAMICS
BERNOULLI–EULER MULTISPAN BEAMS

1. The conjugate system contains the imaginary ®xed joint at the intermediate support. This additional restriction prevents rotation.
2. The basic unknown of the slope and de¯ection method is the angle of rotation of the ®xed joint.
3. The canonical equation is r11 Z1 ˆ 0.

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4. The frequency equation is r11 ˆ 0, where r11 is the reactive moment at the ®xed joint due to rotation of the ®xed joint through an angle equal to unity.

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BERNOULLI±EULER MULTISPAN BEAMS 283

9.3 THREE-SPAN UNIFORM SYMMETRIC

BEAMS

9.3.1 Beam on rigid supports

A symmetric three-span continuous beam and its half-beam for symmetric and antisym-
metric vibration are shown in Figs. 9.6(a), 9.6(b), and 9.6(c), respectively.
The natural frequency of vibration is

r
l2 EI
oˆ
l2 m
l
where l ˆ l1 ‡ 2 .
2
The frequency equation for symmetric vibration in terms of Hohenemser±Prager
functions is (Anan'ev, 1946)

C‰l…1 l*†B…ll*† ‡ A‰l…1 l*†ŠS1 …ll*† ˆ 0 …9:6†

l
where the dimensionless parameter l* ˆ 1.
l
The frequency parameter l for the fundamental mode of vibration is presented in Fig.
9.7(d).
The frequency equation for antisymmetric vibration in terms of the Hohenemser±
Prager functions is

B‰l…1 l*†ŠS1 …ll*† ‡ S1 ‰l…1 l*†ŠB…ll*† ˆ 0 …9:7†

FIGURE 9.6. Three-span uniform beam on rigid supports. SA ˆ axis of symmetry.

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284 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 9.7. Three-span uniform symmetric continuous beam: parameter l as a function of l* ˆ l1 =l for
fundamental mode of vibration.

Special cases. Limiting cases for l1 ˆ 0 and l2 ˆ 0 transfer the given system into a new
system (Table 9.8).

TABLE 9.8. Transformation of two-span beams: limiting cases of the span length and correspond-
ing frequency parameters

l1 ˆ 0 (l ˆ 0:5l2 ) l2 ˆ 0 (l ˆ l1 )

Symmetric Clamped±guided Pinned±clamped

vibration l ˆ 2:3650; 5.49878; 9.63938 . . . l ˆ 3:9266; 7.06858; 10.2101, . . .
0:25p…4n 1† 0:25p…4n ‡ 1†
Antisymmetric Clamped±pinned Pinned±clamped
vibration l ˆ 3:9266; 7.06858; 10.2101, . . . l ˆ 3:9266; 7.06858; 10.2101, . . .
0:25p…4n ‡ 1† 0:25p…4n ‡ 1†

9.3.2 Beam with elastic end supports

A symmetric three-span continuous beam and its half-beam for symmetric and antisym-
metric vibrations are shown in Fig. 9.8(a).
The natural frequency of vibration is
r
l2 EI
oˆ ;
l2 m
l
where l ˆ l1 ‡ 2 .
2
The frequency equation for symmetric vibration in terms of Hohenemser±Prager
functions is (Anan'ev, 1946)

kl 3 C‰l…1
l*†ŠE…ll*† A‰l…1 l*†ŠB…ll*†
ˆ l3 …9:8†
EI C‰l…1
l*†ŠB…ll*† ‡ A‰l…1 l*†ŠS1 …ll*†
l
where the dimensionless geometry parameter l* ˆ 1 .
l

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BERNOULLI±EULER MULTISPAN BEAMS 285

The frequency parameter, l, for the fundamental mode of vibration is presented in Fig.
9.8.
Special cases. Limiting cases for k ˆ 1 and k ˆ 0 transfer the given system into a new
system (Table 9.9).

l* = 0.5 Asymptote at λ= 3.9266 (k =∞)

3.6
Asymptote at λ= 3.42
*
l = 0.4
3.2
Asymptote at λ= 3.05
l* = 0.3
2.8
Asymptote at λ= 2.765
*
l = 0.2
2.4
Asymptote at λ= 2.54
*
l = 0.1
2.0
Symmetric vibration

Fundamental mode
1.6
0 20 40 60 80 100 120 140 160 180 k*

(d)

FIGURE 9.8. (a) Symmetrical three-span beam with elastic end supports; (b,c) Three-span uniform beam
on elastic end supports; (d) Parameter l as a function of l* ˆ l1 =l and k* ˆ kl3 =El for the fundamental mode
of vibration.

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286 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 9.9. Transformation of three-span beams: limiting cases

of rigidity of elastic supports

Symmetric vibration Antisymmetric vibration

kˆ1 Pinned±pinned±guided Pinned±pinned±pinned

Fig. 9.2(i) Fig. 9.2(a)
kˆ0 Free±pinned±guided Free±pinned±pinned
Fig. 9.2(f) Fig. 9.2(b)

9.3.3 Beam with clamped supports

A symmetric three-span continuous beam and its half-beam for symmetric and antisym-
metric vibration are shown in Figs. 9.9(a), 9.9(b), and 9.9(c), respectively.
Analytical and numerical results for these cases are presented in Tables 9.3(c) and 9.5.

9.3.4 Beam with overhangs

A symmetric one-span beam with overhangs is presented in Fig. 9.10.

The analytical and numerical results for this case is presented in Chapter 4 and Tables
9.3(a) and 9.3(b).

FIGURE 9.9. Symmetric system and half-system for symmetric and antisymmetric vibration.

FIGURE 9.10. Design diagram.

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BERNOULLI±EULER MULTISPAN BEAMS 287

Symmetrical vibration. In this case, the design diagram of half-beam is a free±

pinned±guided beam (Table 9.3(b)).
Antisymmetric vibration. In this case, the design diagram of the half-beam is a free±
pinned±pinned beam (Table 9.3(a)).

9.4 UNIFORM MULTISPAN BEAMS WITH

EQUAL SPANS

The natural frequency of vibration of uniform multispan beams with equal spans is
r
l2 EI
oi ˆ 2i
l m
The frequency parameters, l, for uniform multispan beams with equal spans and different
boundary conditions are presented in Table 9.10 (Bolotin, 1978).
Eigenfunctions for prismatic multispan beams (number of spans, n ˆ 2; 3; 4) with
equal spans are shown in Appendix B (Korenev, 1970). These functions satisfy orthogon-
ality conditions

N „1

P 1 rˆk
Xri …x†Xki …x†dx ˆ …9:9†
iˆ1 0 0 r 6ˆ k

where x ˆ x=l; i is number of the spans, and k and r are numbers of the eigenfunctions.
The frequencies of vibrations of multispan beams with equal spans produce `ranges of
extension'. In each of these zones the number of frequencies is equal to the number of
spans, and the eigenvalues are closely spaced.

TABLE 9.10. Multispan uniform beams with equal spans: frequency parameters l

Mode
Number
Type of beam of spans 1 2 3 4 5

2 3.142 3.927 6.283 7.069 9.425

3 3.142 3.550 4.304 6.283 6.692
4 3.142 3.393 3.927 4.461 6.283
5 3.142 3.299 3.707 4.147 4.555
10 3.142 3.205 3.299 3.487 3.707
2 3.927 4.744 7.069 7.855 10.210
3 3.550 4.304 4.744 6.692 7.446
4 3.393 3.927 4.461 4.744 6.535
5 3.299 3.707 4.147 4.555 4.744
10 3.205 3.299 3.487 3.707 3.927
2 3.393 4.461 6.535 7.603 9.677
3 3.267 3.927 4.587 6.409 7.069
4 3.205 3.644 4.210 4.650 6.347
5 3.205 3.487 3.927 4.367 4.681
10 3.142 3.236 3.456 3.582 3.801

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288 FORMULAS FOR STRUCTURAL DYNAMICS

9.5 FREQUENCY EQUATIONS IN TERMS OF

ZAL'TSBERG FUNCTIONS

The Zal'tsberg functions arise from equations (5.7) or (5.8) and may be presented in the
form (Filippov, 1970)

cosh li cos li 1
fi ˆ coth li cot li ; ci ˆ csc li csch li ; si ˆ 2
sinh li sin li
…9:10†
cosh li cos li ‡ 1
di ˆ ; ni ˆ tanh li ‡ tan li
sinh li sin li
where index i denotes the number of a span.
The natural frequency of vibration for a two-span beam with length of spans l1 and l2 is
r r
l2 EI l21 EI l1 ‡ l2
oˆ 2 ˆ 2 ; l ˆ l1 ; l ˆ l1 ‡ l2
l m l1 m l1

If parameter l1 is a basic one (frequency parameters li for all spans are presented in terms
of frequency parameter l1 for ®rst span), then the transfer to the basic parameter is
l
l2 ˆ l1 2 .
l1

9.5.1 Prismatic two-span beams with classic boundary conditions

Consider a pinned±pinned±pinned uniform beam with different lengths of the span (Fig.
9.11).
The frequency equation may be presented in the form

f1 ‡ f2 ˆ 0 …9:11†
or, in explicit form, as

coth l1 cot l1 ‡ coth l2 cot l2 ˆ 0 …9:11a†

where the frequency parameter for the ith span is
r
m
l2i ˆ oli2
EI
Change from parameters l1 and l2 to parameter l

coth al cot al ‡ coth Zl cot Zl ˆ 0 …9:11b†

l
where a ˆ 1 ; Zˆ1 a.
l

FIGURE 9.11. Design diagram.

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BERNOULLI±EULER MULTISPAN BEAMS 289

If EI1 6ˆ EI2 then the frequency equation is

l1 l2
…coth l1 cot l1 † ‡ …coth l2 cot l2 † ˆ 0
EI1 EI2

Example. Find the eigenvalues of the two-span symmetric beam (l1 ˆ l2 ) with a
uniformly distributed mass.

Solution. The frequency equation is

coth l1 cot l1 ‡ coth l2 cot l2 ˆ 0 or coth l ˆ cot l

The minimal root is l ˆ 3:927, which corresponds to symmetric vibration. As this takes
place, the mode shape of each span coincides with the mode shape for the pinned±clamped
beam. If, however, the beam vibrates according to the antisymmetric shape (in this case the
eigenvalues of the system under investigation and the simple-supported beam are equal),
then the bending moment at the middle support is zero. The frequency parameter values, l,
for the ®rst modes of vibration as a function of the intermediate support spacing, l1 =l, are
presented in Fig. 9.2(a).
Consider a pinned±pinned±clamped uniform beam with different lengths of the span
(Fig. 9.12).
The frequency equation may be presented in the form (Filippov, 1970)

f…l1 † 1
ˆ0 …9:12†
s…l2 † f…l2 †

or, in explicit form as

sin l1 cosh l1 sinh l1 cos l1 1 cosh l2 cos l2

‡2 ˆ0 …9:12a†
sinh l1 sin l1 sin l2 cosh l2 sinh l2 cos l2

The frequency of vibration equals

r
l21 EI
oˆ
l12 m

The ®rst ®ve frequency parameters, li , as a function of ratio l1 =l2 are presented in Table
9.11. The data presented in Table 9.11 also de®ne the frequencies of the symmetric
vibrations for a four-span beam that is symmetric with respect to the middle support.

FIGURE 9.12. Design diagram.

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TABLE 9.11. Uniform pinned±pinned±clamped two-span beams with

different spans: frequency parameters l

l2 =l1 iˆ1 iˆ2 iˆ3 iˆ4 iˆ5

0.00 3.9266 7.0685 10.2102 13.3518 16.4934

0.05 3.8804 6.9824 10.0985 13.2106 16.3253
0.10 3.8392 6.9920 10.0122 13.0850 16.2094
0.20 3.7693 6.8181 9.8832 12.9517 16.0016
0.30 3.7116 6.7363 9.7641 12.6663 14.4770
0.40 3.6627 6.6892 9.5168 11.0086 13.0935
0.50 3.6195 6.5607 8.5557 10.0275 12.8576
0.60 3.5796 6.3666 7.4931 9.8186 12.1594
0.70 3.5404 5.9246 6.9584 9.6259 10.8154
0.80 3.4992 5.3602 6.7670 9.0887 10.0668
0.90 3.4591 4.8632 6.6592 8.2827 9.8468
1.00 3.3932 4.4633 6.5454 7.5916 9.6865
1.10 3.3141 4.1561 6.3527 7.1069 9.3447
1.20 3.2063 3.9349 6.0306 6.8533 8.7561
1.30 3.0707 3.7868 5.6579 6.7265 8.1666
1.40 2.9200 3.6895 5.3043 6.6316 7.6554
1.50 2.7685 3.6212 4.9873 6.5186 7.2437
1.60 2.6234 3.5673 4.7077 6.3407 6.9594
1.70 2.4889 3.5193 4.4635 6.0886 6.7973
1.80 2.3663 3.4709 4.2524 5.8099 6.6965
1.90 2.2522 3.4173 4.0735 5.5387 6.6074
2.00 2.1487 3.3538 3.9266 5.2858 6.4952

9.5.2 Prismatic beams with special boundary conditions, EI ˆ constant,

m ˆ constant
Two-span beams. Table 9.12 contains the design diagrams of uniform beams
(EI ˆ const: m ˆ const:) with speci®c boundary conditions and corresponding frequency
equations in terms of Zal'tsberg functions (Filippov, 1970).
In the limiting cases, the design diagrams are changed. For example, limiting case
l2 ˆ 0 transfers diagrams 3 and 6 into the pinned±clamped beam with frequency equation

tan l1 ˆ tanh l1 …see Table 5:3†

The limiting case l2 ˆ 0 or l1 ˆ 0 transfers diagrams 1 and 4 into the clamped±clamped

beam with frequency equation

cosh l1 cos l1 ˆ 1 …see Table 5:3†:

The equations presented in Table 9.12 may be used for calculation of three- and four-
span symmetric beams.

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BERNOULLI±EULER MULTISPAN BEAMS 291

TABLE 9.12. Uniform two-span beams with different spans and special boundary conditions:
frequency equations in terms of Zal'tsberg functions

Beam type

Frequency equation s1 d2 s1 d2 f1 ‡ n2 ˆ 0
‡ ˆ0 ˆ0
f1 f2 f1 f2

Beam type

Frequency equation s1 d2 d2
n2 ˆ 0 f1 ˆ0 n1 ˆ0
f1 f2 f2

Example. Derive the frequency equation of the symmetric vibration for the system
shown in Fig. 9.13(a).

Solution. One-half of the system, which corresponds to symmetric vibration, is shown in

Fig. 9.13(b).
In our case l2 ˆ 1:5l1 (see Section 5.1.2).
The frequency equation is (Table 9.12, diagram 6)

d2
n1 ˆ0
f2

In an explicit form, the frequency equation is given by

cosh l2 cos l2 ‡ 1
tanh l1 ‡ tan l1 ˆ0
sinh l2 sin l2 …coth l1 cot l1 †

The frequency equation in terms of l1 is

cosh 1:5l1 cos 1:5l1 ‡ 1

tanh l1 ‡ tan l1 ˆ0
sinh 1:5l1 sin 1:5l1 …coth l1 cot l1 †

FIGURE 9.13. (a) Design diagram of the symmetrical system; (b) symmetrical vibration: one-half of the
system; AS is axis of symmetry.

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292 FORMULAS FOR STRUCTURAL DYNAMICS

The natural frequency of vibration is

r
l2 EI
o ˆ 21
l1 m

Multispan beam with n different spans. Figure 9.14 shows the multispan beam with n
different spans.
The three-moments equations (5.7) for a continuous beam lead to the frequency
equation
 
 …f1 ‡ f2 † c2 0




 c2 …f2 ‡ f3 † c3



D ˆ  ˆ0 …9:13†
 0 c3 …f3 ‡ f4 †
















where Hohenemser±Prager functions (see Table 5.2) are

fk ˆ coth lk cot lk
ck ˆ cosech lk cosec lk
The frequency parameter for each element is
r
mk
lk ˆ olk2
EIk

FIGURE 9.14. Multispan beam.

The index k points to the number of the span and its parameters.
The natural frequency of vibration is
s
l2 EIk
o ˆ 2k
lk mk

9.6 BEAMS WITH LUMPED MASSES

9.6.1 Two-span uniform beams with equal spans and lumped masses
Figure 9.15(a) shows the symmetric two-span uniform beam with lumped masses.

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BERNOULLI±EULER MULTISPAN BEAMS 293

FIGURE 9.15. Design diagram and primary system of the slope-de¯ection method.

Antisymmetric vibration. The principal system of the slope and de¯ection method is
presented in Fig. 9.15(b).
The principal unknown is the angle of rotation Z1 . The canonical equation is r11 Z1 ˆ 0.
The reaction r11 due to unit rotation of the support 1 equals (Table 4.8, case 5)

 
kEI M o2
r11 ˆ 2 T2 V2 ‡ ‰T TV ‡ Tb TVa Ta Tb V VVa Vb Š …9:14†
D1 k 3 EI a b

where T and V are Krylov functions at x ˆ l; Ta and Va at x ˆ a; Tb and Vb at x ˆ b.

The frequency equation is

T2 V 2 ‡ nl‰Ta TVb ‡ Tb TVa Ta Tb V VVa Vb Š ˆ 0 …9:15†

or

2 sinh l sin l ‡ nl…sin l sinh x1 l sinh x2 l sinh l sin x1 l sin x2 l† ˆ 0 …9:15a†

o2 M M a b
where ˆ nl; n ˆ ; x1 ˆ ; x2 ˆ ˆ 1 x1 (see section 5.2).
k 3 EI ml l l
If a ˆ b ˆ 0:5l, then the frequency equation becomes

  r
l l l2 EI
2 sinh l sin l ‡ nl sin l sinh2 sinh l sin2
ˆ 0; oˆ 2
2 2 l m

The fundamental parameters, l, as a function of mass ratio, n, are given in Table 9.13.

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TABLE 9.13. Uniform symmetric two-span beam with two symmetrically located equal lumped
masses: Fundamental frequency parameters l

n 0.0 0.25 0.50 1.0 2.0 5.0 10.0 20.0 50.0 100 500 1000
l 3.142 2.838 2.639 2.383 2.096 1.720 1.463 1.273 0.987 0.831 0.557 0.468

9.6.2 Uniform beams with equal spans and different lumped masses

Adjustment mass method. A multispan beam with arbitrary boundary conditions, equal
spans and different lumped masses is shown in Fig. 9.16; the boundary conditions are not
shown.
The natural frequency of vibration may be calculated by the formula

s
l2 EI
or ˆ 2r
l mr

The frequency parameter, lr , for the rth mode of vibration of the beams with different
boundary conditions and without lumped masses is given in Table 9.10.
The adjustment uniform mass, mr , corresponding to the r-mode of vibration is

1P n xk
mr ˆ m ‡ X 2 …x †M ; xk ˆ …9:16†
l kˆ1 r k k l
xk
Eigenfunctions Xk …xk †; xk ˆ , for multispan beams with different boundary conditions
l
are presented in Appendix B (Korenev, 1970).

Example. Calculate the fundamental frequency of vibration for a pinned±pinned±

clamped beam with two lumped masses M1 and M2 as shown in Fig. 9.17.

FIGURE 9.16. Multispan beam with different boundary conditions and lumped masses.

FIGURE 9.17. Multispan beam with distributed and lumped masses.

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BERNOULLI±EULER MULTISPAN BEAMS 295

Solution. Parameter l for a pinned±pinned±clamped beam equals 3.393 (Table 9.10).

The ordinates of the ®rst eigenfunction at point x ˆ 0:4l in the ®rst span and at
x ˆ 0:5l in the second span are 1.276 and 0.5435, respectively. So the uniform adjustment
mass

1
m1 ˆ m ‡ …1:2762 ‡ 0:54352  1:4†ml ˆ m ‡ 1:9236m ˆ 2:9236m
l
The natural fundamental frequency of vibration is
r
3:3932 EI
oˆ
l2 2:9236m
The adjustment mass method for one-span beams is presented in Chapter 7.

9.7 SLOPE AND DEFLECTION METHOD

This method is convenient to use for frequency analysis of beams and frames with different
stiffness, length and mass density of elements.

Example. Derive the frequency equation for a three-span beam with different span
length, stiffness and mass density. The system is presented in Fig. 9.18(a).

Solution. This beam contains two rigid joints, 1 and 2; consequently, the number of inde-
pendent joint de¯ections is equal to two. In order to obtain the principal system of the
slope and de¯ection method, the additional constraints introduced must prevent the rota-
tion of all the rigid joints. The conjugate redundant system is presented in Fig. 9.18(b).
The canonical equations of the slope and de¯ection method are

r11 Z1 ‡ r12 Z2 ‡ R1p ˆ 0

r21 Z1 ‡ r22 Z2 ‡ R2p ˆ 0

where R1p and R2p are the reactive moments developed by the additional constraints 1 and
2 under the action of loads P; in the case of free vibration R1p ˆ R2p ˆ 0. The unit
coef®cients r11 and r21 are the reactive moments developed by the additional constraints 1
and 2 (®rst index) due to the rotation of the ®xed joint 1 (second index) through an angle
equal to unity. Unit coef®cients r12 and r22 are the reactive moments developed by the
additional constraints 1 and 2 due to the rotation of the ®xed joint 2 through an angle equal
to unity. The elastic curves due to the rotation of the ®xed joints are shown as dashed lines,
and the corresponding bending moment diagrams are shown as solid lines. The reactive
moments at the ends of the each element may be calculated by using Smirnov functions
(Chapter 4).
Consider Fig. 9.18(c), unit reactions are

4EI1 4EI2 2EI2

r11 ˆ c2 …l1 † ‡ c …l †; r21 ˆ c …l †
l1 l2 2 2 l2 3 2
The indices of c (c1 and c2 ) denote the function number, i.e. a special type of function
(Table 4.4), while the indices of l (l1 and l2 ) denote the number of the span.

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296 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 9.18. Continuous three-span clamped±pinned non-uniform beam. (a) Design diagram of multi-
span beam; (b) conjugate reduntant system; (c) bending moment diagram due to Z1 ˆ 1; (d) bending
moment diagram due to Z2 ˆ 1.

Consider Fig. 9.18(d), unit reactions are

4EI2 3EI3
r22 ˆ c …l † ‡ c …l †; r12 ˆ r21
l2 2 2 l3 1 3
The frequency parameters are
s s s
4 m1 o2 4 m2 o2 4 m3 o3
l1 ˆ l1 ; l2 ˆ l2 ; l3 ˆ l3 ;
EI1 EI2 EI3
s
2
4 m1 o
Let the base eigenvalue be l1 ˆ l1 ˆ l, then
EI1
s s
l 4 m2 EI1 l 4 m3 EI1
l2 ˆ l 2 ˆ 1:0976l; l3 ˆ l 3 ˆ 1:91l
l1 m1 EI2 l1 m1 EI3
2
The frequency equation is r11 r22 r12 ˆ 0, where unit reactions in terms of the frequency
parameter, l, are

r11 ˆ 4ic2 …l† ‡ 4  1:333ic2 …1:0976l†

r21 ˆ 2  1:333ic3 …1:0976l†; r12 ˆ r21
r22 ˆ 4  1:333ic2 …1:0976l† ‡ 3  0:9ic1 …1:91l†

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BERNOULLI±EULER MULTISPAN BEAMS 297

Smirnov's functions, c, which are required for calculation of the frequency of vibration are

l 2 sinh l sin l
c1 …l† ˆ
3 cosh l sin l sinh l cos l
l cosh l sin l sinh l cos l
c2 …l† ˆ
4 1 cosh l cos l
l sinh l sin l
c3 …l† ˆ
2 1 cosh l cos l

REFERENCES

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Moscow).
Bishop, R.E.D. and Johnson, D.C. (1956). Vibration Analysis Tables (Cambridge, UK: Cambridge
University Press).
Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
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298 FORMULAS FOR STRUCTURAL DYNAMICS

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 10
PRISMATIC BEAMS UNDER
COMPRESSIVE AND TENSILE
AXIAL LOADS

This chapter focuses on prismatic Bernoulli±Euler beams under compressive and tensile
loading. Analytic results for frequency equations and mode shape functions for beams with
classical boundary conditions are presented. Galef's formula is discussed in detail. Upper
and lower values for the frequency of vibrations are evaluated.

NOTATION

A Cross-sectional area of the beam

E; n Modulus of elasticity and Poisson ratio of the beam material
EI Bending stiffness
G Gauge factor
i Bending stiffness per unit length, i ˆ EI =l
I Moment of inertia of a cross-sectional area of the beam
mo2
k Frequency parameter, k 4 ˆ
EI
l Length of the beam
M; N Dimensionless frequency parameters
t Time
T Axial load
TE First Euler critical load
Tmi Critical buckling load corresponding to mode i:
Tl 2 T l2
U , Umi Dimensionless parameter, U ˆ ; Umi ˆ mi
2EI 2EJ
x Spatial coordinate
x; y; z Cartesian coordinates
X …x† Mode shape
y…x; t†; w Lateral displacement of the beam
r; m Density of material and mass per unit length of beam, m ˆ rA

299
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300 FORMULAS FOR STRUCTURAL DYNAMICS

l Frequency parameter, l2 ˆ k 2 l 2
o Circular natural frequency of the transverse vibration of a compressed beam
(relative natural frequency)
o0i Circular natural frequency of transverse vibration of a beam with no axial
force in the ith mode of vibration
O Dimensionless natural frequency parameter of a compressed beam (relative
natural frequency); O ˆ ol 2 =a; a2 ˆ EI =rA
O ˆ O=O0i Normalized natural frequency parameter
O0i Dimensionless natural frequency parameter of a beam with no axial force in
the ith mode of vibration; O0i ˆ o0i l 2 =a;

10.1 BEAMS UNDER COMPRESSIVE LOAD

10.1.1 Principal equations

The notation for a beam without axial load and under compressive constant axial load T is
presented in Figs. 10.1(a) and (b), respectively; boundary conditions of the beam are not
shown. Parameter a2 ˆ EI =rA.

Notation
 o0i and O0i ˆ o0i l 2 =a are the circular natural frequency and dimensionless
natural frequency parameters of the beam with no axial force in the ith mode of
vibration;
 o and O ˆ ol 2 =a are the circular natural frequency and dimensionless natural
frequency parameters of the compressed beam (relative natural frequency);
 O ˆ O=O0i is the normalized natural frequency parameter.

Differential equation of vibration

@4 y @2 y @2 y
EI ‡ T 2 ‡ rA 2 ˆ 0 …10:1†
@x4 @x @x

Solution

y…x; t† ˆ X …x† cos ot

FIGURE 10.1. Notation of a beam (a) Beam without axial load; (b) Beam under axial compressed
load.

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PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 301

Differential equation for modal displacement

d4 X d2 X
EI ‡ T rAo2 X ˆ 0 …10:2†
dx4 dx2

Modal displacement. Form 1

X …x† ˆ X …lx† ˆ C1 sinh M x ‡ C2 cosh M x ‡ C3 sin Nx ‡ C4 cos N x …10:3†

where x ˆ x=l is a dimensionless beam coordinate;
Ci …i ˆ 1; 2; 3; 4† are constants to be determined from the boundary conditions;
M and N are parameters, which may be written as
v

u 
u  s 
2    q
p
t T T rA 2
M ˆl
‡ ‡ o ˆ U ‡ U 2 ‡ O2
2EI 2EI EI
v
s q …10:3a†
u   2  
u p 

t T T rA 2
N ˆl
‡ ‡ o ˆ U ‡ U 2 ‡ O2
2EI 2EI EI

U ˆ Tl 2 =2EI is a dimensionless compression parameter (the relative axial force);

O ˆ ol2 =a; a2 ˆ EI =m is a dimensionless natural frequency of vibration.
Form 2 (Initial parameter form) (Nowacki, 1963)

X …x† ˆ X …0†‰H…x† ‡ a2 F…x†Š ‡ X 0 …0†‰G…x† ‡ a2 E…x†Š ‡ X 00 …0†F…x† ‡ X 000 …0†E…x† …10:4†

where X …0†; X 0 …0†; X 00 (0) and X 000 (0) are lateral displacement, slope, bending moment, and
shear force at x ˆ 0
 
1 1 1
E…x† ˆ 2 sinh M x sin N x
N ‡ M2 M N
1
F…x† ˆ 2 …cosh M x cos N x†
N ‡ M2 …10:4a†
1
G…x† ˆ 2 …M sinh M x ‡ N sin N x†
N ‡ M2
1
H…x† ˆ 2 …M 2 cosh M x ‡ N 2 cos Nx†
N ‡ M2
Galef's formula is a useful relationship between the frequency of vibration and the critical
load of the compressed beam. The existence of this relationship is obviously because the
frequency of vibration and the critical load are eigenvalues of the deformable system.
For bending vibration, it is worthwhile to cite Amba±Rao (1967) and Bokaian (1988) for
Galef's formula:
The fundamental natural frequency of a compressed beam=natural frequency of
uncompressed beam ˆ (1 7 compressive load=Euler buckling load)0.5.
p
O ˆ 1 U 
O o T …10:5†
O ˆ ˆ ; i ˆ 1 and U  ˆ
O0i o0i TE

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302 FORMULAS FOR STRUCTURAL DYNAMICS

where TE is the Euler critical buckling load in the ®rst mode and U  is the normalized
compression force parameter.
1. Galef's formula for the fundamental mode of vibration is
(a) exact for pinned±pinned, sliding±pinned and sliding±sliding beams;
(b) approximate for sliding±free, clamped±free, clamped±pinned, clamped±clamped
and clamped±sliding beams;
(c) not valid for pinned±free and free±free beams.
2. Galef's formula is valid for the third and higher modes of vibrations for all types of
boundary conditions.

Example. Find the fundamental frequency of vibration of the pinned±pinned uniform

beam under compressive load, if T=Tcr ˆ 0.2 (Fig. 10.2).

Solution. According to Galef's formula

p O o T
O ˆ 1 U  O ˆ ˆ ; i ˆ 1; U ˆ
O0i o0i Te
so the fundamental frequency of vibration of a compressed beam equals
s r r
T 3:141592 EI p 2:971132 EI
o ˆ o0 1 ˆ 1 0:2 ˆ
Te l2 m l2 m

FIGURE 10.2. Pinned±pinned uniform beam under compressive axial load.

10.1.2 Frequency equations

Table 10.1. contains the frequency equation for compressed beams with classical boundary
conditions (Bokaian, 1988). Parameters M and N are presented in Section 10.1.1. The
relative natural frequency parameter and the frequency of vibration are
s
ol 2 2 l2i EI
Oˆ ˆ li oi ˆ 2
a l rA
Table 10.2 predicts eigenvalues for axial compressed beams. They include the critical load
and frequency of vibration for beams with different boundary conditions.
The critical buckling load parameter corresponding to the ith mode is Umi ˆ Tmi l2 =2EI .

10.1.3 Modal displacement and mode shape coef®cients

The modal displacement may be written in the form
X …x† ˆ X …lx† ˆ C1 sinh M x ‡ C2 cosh M x ‡ C3 sin N x ‡ C4 cos N x …10:6†
The mode shape coef®cients Cn (n ˆ 1, 2, 3, 4) for a beam with different boundary
conditions are presented in Table 10.3 (Bokaian, 1988). Parameters M and N are listed in
Section 10.1.1, formulae (10.3a).

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PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 303

TABLE 10.1. Uniform one-span beams with different boundary conditions under compressive axial load:
frequency equations

Boundary condition

Beam type Left end (x ˆ 0) Right end (x ˆ l) Frequency equation

Free±free X 00 …0† ˆ 0 X 00 …l† ˆ 0 O3 ‰1 cosh M cos N Š ‡

X 000 …0† ‡ X 000 …l† ‡ …4U 3 ‡ 3U O2 † sinh M sin N ˆ 0
…T =EI†X 0 …0† ˆ 0 …T =EI †X 0 …l† ˆ 0
Sliding±free X 0 …0† ˆ 0 X00 …l† ˆ 0 M 3 cosh M sin N ‡ N 3 cos N sinh M ˆ 0
X 000 …0† ˆ 0 X 000 …l† ‡ …T =EI†X 0 …l† ˆ 0 or M 3 tan N ‡ N 3 tanh M ˆ 0

Clamped±free X …0† ˆ 0 X 00 …l† ˆ 0 O2 OU sinh M sin N ‡

X 0 …0† ˆ 0 X 000 …l† ‡ …T =EI†X 0 …l† ˆ 0 …2U 2 ‡ O2 † cosh M cos N ˆ 0

Pinned±free X …0† ˆ 0 X 00 …l† ˆ 0 N 3 cosh M sin N M 3 sinh M cos N ˆ 0

X 00 …0† ˆ 0 X 000 …l† ‡ …T =EI†X 0 …l† ˆ 0 or N 3 tan N M 3 tanh M ˆ 0

Pinned±pinned X …0† ˆ 0 X …l† ˆ 0 sin N ˆ 0

X 00 …0† ˆ 0 X 00 …l† ˆ 0

Clamped±pinned X …0† ˆ 0 X …l† ˆ 0 M cosh M sin N N sinh M cos N ˆ 0

X 0 …0† ˆ 0 X 00 …l† ˆ 0 or M tan N N tanh M ˆ 0

Clamped±clamped X …0† ˆ 0 X …l† ˆ 0 O U sinh M sin N O cosh M cos N ˆ 0

X 0 …0† ˆ 0 X 0 …l† ˆ 0

Clamped±sliding X …0† ˆ 0 X 0 …l† ˆ 0 N cosh M sin N ‡ M sinh M cos N ˆ 0

X 0 …0† ˆ 0 X 000 …l† ˆ 0 or N tan N ‡ M tanh M ˆ 0

Sliding±pinned X 0 …0† ˆ 0 X …l† ˆ 0 cos N ˆ 0

X 000 …0† ˆ 0 X 00 …l† ˆ 0

Sliding±sliding X 0 …0† ˆ 0 X 0 …l† ˆ 0 sin N ˆ 0

X 000 …0† ˆ 0 X 000 …l† ˆ 0

Special case: If compressed load T ˆ 0, then U ˆ V ˆ 0 and M ˆ N ˆ l.

Example. Find the frequencies of vibration for the simply-supported compressed beam
shown in Fig. 10.2.

Solution. The frequency equation is sin N ˆ 0, so N ˆ ip, i ˆ 1; 2, or

q
p
U ‡ U 2 ‡ O2 ˆ ip

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304 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 10.2. Uniform one-span beams with different boundary conditions under compressive axial
load: frequency parameter and critical buckling load

Critical buckling Euler critical

load parameter buckling load Parameter Galef formula
Beam type Umi TE O0i for ®rst mode

Free±free
i2 p2 =2 p2 EI =l 2 …2i ‡ 1†2 p2 =4y Not valid

Sliding±free
…2i 1†2 p2 =8 p2 EI =4l 2 …4i 1†2 p2 =16y Approximate

Clamped±free
…2i 1†2 p2 =8 p2 EI =4l 2 …2i 1†2 p2 =4 Approximate

Pinned±free
i2 p2 =2 p2 EI =l 2 …4i ‡ 1†2 p2 =16y Not valid

Pinned±pinned p
i2 p2 =2 p2 EI =l 2 i2 p 2 O ˆ 1 U

Clamped±pinned
…2i ‡ 1†2 p2 =8 2:05p2 EI =l 2 …4i ‡ 1†2 p2 =16 Approximate

Clamped±clamped
…i ‡ 1†2 p2 =2 4p2 EI =l 2 …2i ‡ 1†2 p2 =4 Approximate

Clamped±sliding
i2 p2 =2 p2 EI =l 2 …4i 1†2 p2 =16 Approximate

Sliding±pinned p
…2i 1†2 p2 =8 p2 EI =4l 2 …2i 1†2 p2 =4 O ˆ 1 U

Sliding±sliding p
i2 p2 =2 p2 EI =l 2 i2 p2y O ˆ 1 U

y
The asymptotic formulas are also presented in Table 5.1. The numerical results concerning variation of O with U
for beams with classical boundary conditions are presented by Bokaian (1988).

r
Tl 2 2 m
Because U ˆ and O ˆ ol , the expression for N leads to the exact expression for
2EI EI
the frequency of the system

rv
u

i2 p2 EI u T
oi ˆ u1
l2 mt EIi2 p2
l2

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PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 305

TABLE 10.3. Uniform one-span beams with different boundary conditions under compressive axial
loads: mode shape coef®cients

Beam type C1 C2 C3 C4

Free±free 1 N 3 … cosh M ‡ cos N † N M 2 N …cos N cosh M †

N 3 sinh M ‡ M 3 sin N M N 3 sinh M ‡ M 3 sin N

Sliding±free 0 1 0 N sinh M
M sin N

Clamped±free 1 M 2 sinh M ‡ MN sin N M M 2 sinh M ‡ MN sin N

M 2 cosh M ‡ N 2 cos N N M 2 cosh M ‡ N 2 cos N

Pinned±free 1 0 M 2 sinh M 0
N 2 sin N

Pinned±pinned
0 0 1 0

Clamped±pinned 1 tanh M M M
tan N
N N

Clamped±clamped 1 M sin N N sinh M M M sin N N sinh M

N …cosh M cos N † N N …cosh M cos N †

Clamped±sliding 1 M …cosh M cos N † M M …cosh M cos N †

M sinh M ‡ N sin N N M sinh M ‡ N sin N

Sliding±pinned
0 0 0 1

Sliding±sliding
0 0 0 1

Let i ˆ 1 (fundamental mode) and T=TE ˆ 0.3. In this case, the frequency of vibration is
r
p p2 EI
o ˆ o0 1 0:3 ˆ 0:8366o0 ; o0 ˆ 2
l m
Calculate the following parameters
Tl 2 0:3TE l 2 0:3  p2 EI l 2
Uˆ ˆ ˆ ˆ 1:4804
2EI 2EI l2 2EI
r r
m m
O ˆ ol 2 ˆ 0:8336o0 l2 ˆ 8:2569
EI EI
q
p q 
p
2
U ‡ U ‡ O ˆ 1:4804 ‡ 1:48042 ‡ 8:25692 ˆ 3:1415
2

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306 FORMULAS FOR STRUCTURAL DYNAMICS

The modal displacement is

h p xi x
X …x† ˆ sin …U ‡ U 2 ‡ O2 †1=2 ˆ sin 3:1415
l l
Example. Find the frequencies of vibration for a clamped±pinned compressed beam, if
T=TE ˆ 0.3.

Solution. The frequency equation is

M cosh M sin N N sinh M cos N ˆ 0

p2 EI
The ®rst Euler critical force, TE ˆ , so parameter
…0:7l†2
Tl 2 l2
Uˆ ˆ 0:3TE ˆ 3:0201
2EI 2EI

and the frequency equation becomes

q
p q 
3:0201 ‡ 3:02012 ‡ O2 p
2
q
p tan 3:0201 ‡ 3:201 ‡ O
2
2
3:0201 ‡ 3:02012 ‡ O
q
p 
tanh 3:0201 ‡ 3:02012 ‡ O2 ˆ 0

r
m
The root of this equation is O ˆ ol 2 ˆ 12:954, so the fundamental frequency of
EI
vibration of a compressed clamped±pinned beam equals

r r
12:954 EI 3:5992 EI
oˆ ˆ
l2 m l2 m
r
2
3:9266 EI
If T ˆ 0, then o ˆ :
l2 m
Parameters
q
p
Mˆ 3:0201 ‡ 3:02012 ‡ O2 ˆ 3:2064
q
p
N ˆ 3:0201 ‡ 3:02012 ‡ O2 ˆ 4:0399

The mode shape coef®cients are

C1 ˆ 1; C2 ˆ tanh M ˆ 0:9967
M M
C3 ˆ ˆ 0:7937; C4 ˆ tan N ˆ 0:9968
N N

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PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 307

The modal displacement and slope are

X …x† ˆ X …lx† ˆ sinh 3:2064x 0:9967 cosh 3:2064x 0:7937 sin 4:0399x
‡ 0:9968 cos 4:0399x
X 0 …lx† ˆ 3:2064 cosh 3:2064x 3:1958 sinh 3:2064x 3:2065 cos 4:0399x
4:0273 sin 4:0399x

10.2 SIMPLY SUPPORTED BEAM WITH

CONSTRAINTS AT AN INTERMEDIATE POINT

The design diagram of the compressed simply supported uniform beam with translational
and rotational spring supports at an intermediate point, is presented in Fig. 10.3.
The differential equation for eigenfunctions in the ith mode is

XiIV ‡ k 2 Xi00 l4 Xi ˆ 0; i ˆ 1; 2 …10:7†

where
r
2 Tl 2 l2 EI
k ˆ ˆ 2U ; oˆ 2
EI l m
Boundary and compatibility conditions are

xˆ0 X1 ˆ X100 ˆ 0
xˆl c X1 ˆ X2 ; X10 ˆ X20 ; k*1 X10 ‡ X100 ˆ X200 ; X1000 k*2 X1 ˆ X2000 …10:8†
xˆl X2 ˆ X200 ˆ 0

where the dimensionless parameters of rotational and translational spring supports are,
respectively

krot l ktr l3
k*1 ˆ ; k*2 ˆ
EI EI
The fundamental natural frequencies parameter l for a simply-supported beam with
axial compressive force and various restraint parameters and their spacing are presented in
Table 10.4 (Liu and Chen, 1989). The normalized compression force parameter and the

FIGURE 10.3. Compressed beam with elasic restrictions at any point.

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 TABLE 10.4. Compressed uniform pinned±pinned beam with translational and rotational spring support at intermediate point: fundamental frequency
308

parameter l

a ˆ T =Tcr a ˆ T =Tcr
c=l k*
1 k*
2 c=l k*
1 k*
2
a ˆ 0:2 0.4 0.6 0.8 0.2 0.4 0.6 0.8

0 2.97113 2.76495 2.49842 2.10091 0 2.97113 2.76495 2.49842 2.10091

1 2.97872 2.77201 2.50479 2.10627 1 2.98627 2.77903 2.51114 2.11161
0 10 3.04355 2.83235 2.55933 2.15215 0 10 3.11273 2.89673 2.61749 2.20104
100 3.48250 3.24305 2.93274 2.46842 100 3.90783 3.63712 3.28701 2.76452
1000 4.33520 4.04904 3.67278 3.10098 1000 5.94227 5.52991 4.99683 4.20182
0 3.04069 2.82969 2.55691 2.15010 0 2.97113 2.76495 2.49842 2.10091
1 3.04782 2.83631 2.56290 2.15514 1 2.98627 2.77903 2.51114 2.11161
1 10 3.10886 2.89314 2.61426 2.19834 1 10 3.11273 2.89673 2.61749 2.20104
100 3.52883 3.28646 2.97232 2.50207 100 3.90783 3.63712 3.28701 2.76452
1000 4.36019 4.07293 3.69500 3.12025 1000 6.01379 5.59647 5.05700 4.25242
0.25 0.50
0 3.39257 3.15735 2.85319 2.39942 0 2.97113 2.76495 2.49842 2.10091
1 3.39790 3.16231 2.85768 2.40319 1 2.98627 2.77903 2.51114 2.11161
10 10 3.44407 3.20532 2.89658 2.43595 10 10 3.11273 2.89673 2.61749 2.20104
100 3.78345 3.52638 3.19261 2.69125 100 3.90783 3.63712 3.28701 2.76452
1000 4.50527 4.21180 3.82429 3.23246 1000 6.43922 5.99329 5.41648 4.55556
FORMULAS FOR STRUCTURAL DYNAMICS

0 3.85833 3.59212 3.24734 2.73202 0 2.97113 2.76495 2.49842 2.10091

1 3.86221 3.59574 3.25061 2.73478 1 2.98627 2.77903 2.51114 2.11161
100 10 3.89615 3.62752 3.27957 2.75940 100 10 3.11273 2.89673 2.61749 2.20104
100 4.16402 3.89167 3.53679 2.99840 100 3.90783 3.63712 3.28701 2.76452

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1000 4.73881 4.43407 4.02981 3.40937 1000 7.18649 6.69520 6.05723 5.10049

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0 3.97417 3.70029 3.34544 2.81486 0 2.97113 2.76495 2.49842 2.10091
1 3.97779 3.70367 3.34851 2.81744 1 2.98627 2.77903 2.51114 2.11161
PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

1000 10 4.00957 3.73351 3.37580 2.84082 1000 10 3.11273 2.89673 2.61749 2.20104
100 4.26481 3.98976 3.67121 3.08568 100 3.90783 3.63712 3.28701 2.76452
1000 4.80240 4.49381 4.08428 3.45554 1000 7.40653 6.90130 6.24476 5.25936

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 PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 309

FIGURE 10.4. Buckling coef®cient B for a simply-supported compressed beam with elastic restrictions at
3
any point for various parameters k*
1 ˆ krot l=EI ; k*
2 ˆ ktr l =EI and spacing ratio m ˆ c=l.

Euler critical buckling load in the ®rst mode for a pinned±pinned beam without elastic
constraints are

T p2 BEI
aˆ ; Tcr ˆ
Tcr l2
The buckling coef®cients B for a pinned±pinned beam with various values of k*1 ; k*2 , and
spacing ratio c=l are presented in Fig. 10.4.

10.3 BEAMS ON ELASTIC SUPPORTS AT

THE ENDS

A uniform one-span beam with ends elastically restrained against translation and rotation
and initially loaded with an axial constant compressive force T is presented in Fig. 10.5.

Differential equation of vibration

@4 y @2 y @2 y
EI ‡ T 2 ‡ rA 2 ˆ 0 …10:9†
@x4 @x @t

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 PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

310 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 10.5. Compressed beam with elasic restrictions at both ends.

Boundary Conditions

@y…0; t† @2 y…0; t† @3 y…0; t† @y…0; t†

at x ˆ 0: Krot1 ˆ EI EI ˆ Ktr1 y…0; t† T
@x @x2 @x3 @x
…10:10†
@y…l; t† @2 y…l; t† @3 y…l; t† @y…l; t†
at x ˆ l: Krot2 ˆ EI EI ˆ Ktr2 y…l; t† T
@x @x2 @x3 @x

Solution

y…x; t† ˆ X …x† cos ot

The differential equation for modal displacement is

d4 X d2 X
EI ‡ T rAo2 X ˆ 0
dx4 dx2

Modal displacement

X …x† ˆ X …lx† ˆ C1 sinh M x ‡ C2 cosh M x ‡ C3 sin N x ‡ C4 cos N x

v

u 
u  s 
2    q
p
t T T rA
M ˆl ‡ ‡ o2 ˆ U ‡ U 2 ‡ O2
2EI 2EI EI …10:11†
v
s q
u   2  
u p
t T T rA 2
N ˆl ‡ ‡ o ˆ U ‡ U 2 ‡ O2
2EI 2EI EI

where U ˆ Tl 2 =2EI is the dimensionless compression parameter and O ˆ ol 2 =a is the

dimensionless natural frequency parameter of the compressed beam, a2 ˆ EI =rA.

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 PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 311

The frequency equation may be written as follows (Maurizi and Belles, 1991)

T1 T2 R1 R2 f…cos N cosh M 1†‰2M 5 N 5 ‡ 4U …M 3 N 5 M 5N 3† 8U 2 M 3 N 3 Š

4 6 6 4 4 4 2 4 2
‡ sin N sinh M ‰…M N M N † 8UM N ‡ 4U …M N M 2 N 4 †Šg
‡ …R1 T1 T2 ‡ R2 T1 T2 †fsin N cosh M ‰…M 5 N 4 ‡ M 3 N 6 † 2U …M 5 N 2 ‡ M 3 N 4 †Š
‡ cos N sinh M ‰…M 4 N 5 ‡ M 6 N 3 † ‡ 2U …M 2 N 5 ‡ M 4 N 3 †Šg
‡ T1 T2 sin N sinh M …M 6 N 2 ‡ M 2 N 6 ‡ 2M 4 N 4 †
‡ …R1 R2 T1 ‡ R1 R2 T2 †fsin N cosh M ‰…M 5 N 2 ‡ M 3 N 4 † ‡ 2U …M 3 N 2 ‡ MN 4 †Š
cos N sinh M ‰…M 2 N 5 ‡ M 4 N 3 † ‡ 2U …M 2 N 3 ‡ M 4 N†Šg
…R1 T2 ‡ R2 T1 † cos N cosh M ‰…M 5 N ‡ MN 5 † ‡ 8M 3 N 3 Š
…R1 T1 ‡ R2 T2 †‰…MN 5 ‡ M 5 N † ‡ 2M 3 N 3 cos N cosh M
‡ 2U …MN 3 M 3 N †…cos N cosh M 1†
4 2 2 4 2 2
…M N M N ‡ 4U M N † sin N sinh M Š
…T1 ‡ T2 †‰…M 3 N 2 ‡ MN 4 † sin N cosh M ‡ …M 2 N 3 ‡ M 4 N† cos N sinh M Š
R1 R2 …M 4 ‡ N 4 ‡ 2M 2 N 2 † sin N sinh M …M 2 N 2 † sin N sinh M
…R1 ‡ R2 †‰…M 3 ‡ MN 2 † sin N cosh M …N 3 ‡ M 2 N† cos N sinh M Š
‡ 2M 3 N 3 …cos N cosh M 1† ˆ 0

where the dimensionless stiffness parameters are

EI EI EI EI
R1 ˆ ; T1 ˆ ; R2 ˆ ; T2 ˆ
Kr1 l Kt1 l 3 Kr2 l Kt2 l 3

To reduce the system presented in Fig. 10.5 to the system with classical boundary
conditions, the stiffness coef®cients in the above frequency equation must be changed
accordingly, data presented in Table 10.5.

TABLE 10.5. Special cases: compressed uniform beam with elastic

restrictions at both ends: stiffness parameters for limiting cases

Beam type R1 T1 R2 T2

Free±free R1 !1 T1 !1 R2 !1 T2 !1
Sliding±free R1 ˆ0 T1 !1 R2 !1 T2 !1
Clamped±free R1 ˆ0 T1 ˆ0 R2 !1 T2 !1
Pinned±free R1 !1 T1 ˆ0 R2 !1 T2 !1
Pinned±pinned R1 !1 T1 ˆ0 R2 !1 T2 ˆ0
Clamped±pinned R1 ˆ0 T1 ˆ0 R2 !1 T2 ˆ0
Clamped±clamped R1 ˆ0 T1 ˆ0 R2 ˆ0 T2 ˆ0
Clamped-sliding R1 ˆ0 T1 ˆ0 R2 ˆ0 T2 !1
Sliding±pinned R1 ˆ0 T1 !1 R2 !1 T2 ˆ0
Sliding±sliding R1 ˆ0 T1 !1 R2 !1 T2 !1

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 PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

312 FORMULAS FOR STRUCTURAL DYNAMICS

10.4 BEAMS UNDER TENSILE AXIAL LOAD

10.4.1 Principal equations

The notation for a beam without axial load and under tensile constant axial load T is
presented in Figs. 10.6(a) and (b), respectively; the boundary conditions of the beams are
not shown.
Parameter a2 ˆ EI =rA.

Notation
 o0i and O0i ˆ o0i l 2 =a are the circular natural frequency and the dimensionless
natural frequency parameters of a beam with no axial force in the ith mode of
vibration;
 o and O ˆ ol 2 =a are the circular natural frequency and the dimensionless
natural frequency parameter of a compressed beam (relative natural frequency);
 O ˆ O=O0i is the normalized natural frequency parameter.

The differential equation of vibration

@4 y @2 y @2 y
EI T ‡ rA 2 ˆ 0 …10:12†
@x4 @x 2 @t

Solution

y…x; t† ˆ X …x† cos ot

The differential equation for modal displacement is

d4 X d2 X
EI T rAo2 X …x† ˆ 0 …10:13†
dx4 dx2

Modal displacement

x
X …x† ˆ X …lx† ˆ C1 sinh M x ‡ C2 cosh M x ‡ C3 sin N x ‡ C4 cos Nx; xˆ …10:14†
l

FIGURE 10.6. Notation of a beam. (a) Beam without axial load; (b) Beam under axial tensile load.

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PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 313

As opposed to compressed beams (Section 10.1.1) the parameters M and N are

v
s q
u   2  
u p
t T T rA 2
M ˆl ‡ ‡ o ˆ U ‡ U 2 ‡ O2
2EI 2EI EI
v
s 
 …10:14a†
u   2   q
u p 
t T T rA 2
N ˆl ‡ ‡ o ˆ U ‡ U 2 ‡ O2
2EI 2EI EI

The modal shape coef®cients Ck , k ˆ 1; 2; 3; 4 are presented in Table 10.7.

10.4.2 Relationship of the normalized natural frequency parameter, V ,

with the normalized tension parameter, U 

The Rayleigh quotient is

„l
EIX 002 dx  
0 b
2
o ˆ l 1‡ 1 …10:15†
„ b2
mX 2 dx
0
where parameters b1 and b2 are
„l „l
b1 ˆ T X 02 dx b2 ˆ EIX 002 ; dx
0 0
so the normalized natural frequency parameter O may be presented in the form
p
O ˆ 1 ‡ gU  …10:16†
This relationship (O U  ) is exact if the exact X …x) is employed, and is only true if the
vibrating mode shape is identical with the buckling mode shape. So, for pinned±pinned,
sliding±pinned and sliding±sliding beams, the coef®cient g ˆ 1. The values of coef®cient g
for a beam with different boundary conditions are presented in Table 10.9.
p

For third and higher modes of vibration, the expression O ˆ 1 ‡ U  is valid for any
boundary conditions of one-span beams. The exact frequency equations for a beam with
different boundary conditions are presented in Table 10.6.

Frequency equations. The dimensionless parameters M and N for tensile beams are
(Bokaian, 1990)
p p
M ˆ …U ‡ U 2 ‡ O2 †1=2 ; N ˆ… U‡ U 2 ‡ O2 †1=2
The Table 10.6 contains the frequency equation for uniform one-span beams with different
boundary conditions under tensile axial load.

Example. Find the fundamental frequency of vibration of the pinned±pinned uniform

beam under tensile load (Fig. 10.7)

FIGURE 10.7. Pinned±pinned uniform beam under tensile axial load.

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314 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 10.6. Uniform one-span beams with different boundary conditions under tensile axial load:
frequency equation

Boundary condition

Beam type Left end (x ˆ 0) Right end (x ˆ l) Frequency equation

Free±free
X 00 …0† ˆ 0 X 00 …l† ˆ 0 O3 ‰1 cosh M cos N Š
X 000 ‡ …T =EI †X 0 ˆ 0 X 000 ‡ …T =EI †X 0 ˆ 0 (4U 3 ‡ 3U O2 † sinh M sin N ˆ 0
Sliding±free
X 0 …0† ˆ 0 X 00 …l† ˆ 0 M 3 cosh M sin N ‡ N 3 cos N sinh M ˆ 0
X 000 …0† ˆ 0 X 000 …T =EI †X 0 ˆ 0 or (M 3 tan N ‡ N 3 tanh M ˆ 0)
Clamped±free
X …0† ˆ 0 X 00 …l† ˆ 0 O2 ‡ OU sinh M sin N
X 0 …0† ˆ 0 X 000 …l† …T =EI †X 0 …l† ˆ 0 ‡ (2U 2 ‡ O2 † cosh M cos N ˆ 0
Pinned±free
X …0† ˆ 0 X 00 …l† ˆ 0 N 3 cosh M sin N M 3 sinh M cos N ˆ 0
X 00 …0† ˆ 0 X 000 …l† …T =EI †X 0 …l† ˆ 0 or (N 3 tan N M 3 tanh M ˆ 0)
Pinned±pinned
X …0† ˆ 0 X …l† ˆ 0 sin N ˆ 0
X 00 …0† ˆ 0 X 00 …l† ˆ 0
Clamped±pinned
X …0† ˆ 0 X …l† ˆ 0 M cosh M sin N N sinh M cos N ˆ 0
X 0 …0† ˆ 0 X 00 …l† ˆ 0 or (M tan N N tanh M ˆ 0)
Clamped±clamped
X …0† ˆ 0 X …l† ˆ 0 O ‡ U sinh M sin N O cosh M cos N ˆ 0
X 0 …0† ˆ 0 X 0 …l† ˆ 0
Clamped±sliding
X …0† ˆ 0 X 0 …l† ˆ 0 N cosh M sin N ‡ M sinh M cos N ˆ 0
X 0 …0† ˆ 0 X 000 …l† ˆ 0 or (N tan N ‡ M tanh M ˆ 0)
Sliding±pinned
X 0 …0† ˆ 0 X …l† ˆ 0 cos N ˆ 0
X 000 …0† ˆ 0 X 00 …l† ˆ 0
Sliding±sliding
X 0 …0† ˆ 0 X 0 …l† ˆ 0 sin N ˆ 0
X 000 …0† ˆ 0 X 000 …l† ˆ 0

Solution. The frequency equation for a pinned±pinned beam is sin N ˆ 0, so N ˆ ip, or

q
p
Nˆ U ‡ U 2 ‡ O2 ˆ ip
Because
r
Tl 2 2 m
Uˆ and O ˆ ol
2EI EI
the expression for N leads to the exact expression for the frequency of vibration of the
tensile simply supported beam
rv
u

i2 p2 EI u T
oi ˆ 2 u1 ‡ 2 2
l mt EIi p
l2

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PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 315

Example. Find the frequencies of vibration for a clamped±pinned tensile beam, if

T=TE ˆ 0.3.

Solution. The frequency equation is

M cosh M sin N N sinh M cos N ˆ 0

2
p EI
The ®rst Euler critical force TE ˆ , so the parameter
…0:7l†2
Tl 2 l2
Uˆ ˆ 0:3TE ˆ 3:0201
2EI 2EI
and the frequency equation becomes
q
p q
p
3:0201 ‡ 3:02012 ‡ O2
q
p  tan 3:0201 ‡ 3:02012 ‡ O2
2
3:0201 ‡ 3:02012 ‡ O
q
p 
tanh 3:0201 ‡ 3:02012 ‡ O2 ˆ 0

r
m
The root of this equation is O ˆ ol 2 ˆ 17:519, so the fundamental frequency of
EI
vibration of a tensile clamped±pinned beam equals
r r
17:519 EI 4:18452 EI
oˆ ˆ
l2 m l2 m
r
3:92662 EI
If T ˆ 0, then o ˆ .
l2 m
Parameters
q
p
Mˆ 3:0201 ‡ 3:02012 ‡ O2 ˆ 4:5604
q
p
Nˆ 3:0201 ‡ 3:02012 ‡ O2 ˆ 3:84152

The mode shape coef®cients are (Table 10.7)

C1 ˆ 1; C2 ˆ tanh M ˆ 0:99978;
M M
C3 ˆ ˆ 1:1871; C4 ˆ tan N ˆ 0:99973
N N
The modal displacement and slope

X …x† ˆ X …lx† ˆ sinh 4:5604x 0:99978 cosh 4:5604x 1:1871 sin 3:84152x
‡ 0:99973 cos 3:84152x
X 0 …lx† ˆ 4:5604 cosh 4:5604x 4:5593 sinh 4:5064x 4:56026 cos 3:84152x
3:84048 sin 3:84152x

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 TABLE 10.7. Uniform one-span beams with different boundary conditions under tensile axial load: critical buckling load, frequency parameters, and mode shape
coef®cients
316

Mode shape coef®cients

Tcr l 2 o0i l 2
Beam type Umi ˆ Pcr O0i ˆ O ˆ f …U  † C1 C2 C3 C4
2EI a

Free±free i2 p2 p2 EI …2i ‡ 1†2 p2 ± 1 N 3 … cosh M ‡ cos N † N M 2 N …cos N cosh M †

2 l2 4 N 3 sinh M ‡ M 3 sin N M N 3 sinh M ‡ M 3 sin N
Sliding± …2i 1†2 p2 p2 EI …4i 1†2 p2 ± 0 1 0 N sinh M
free 8 4l 2 16 M sin N
Clamped± …2i 1†2 p2 p2 EI …2i 1†2 p2 ± 1 M 2 sinh M ‡ MN sin N M M 2 sinh M ‡ MN sin N
free 8 4l 2 4 M 2 cosh M ‡ N 2 cos N N M 2 cos M ‡ N 2 cos N
Pinned± i2 p2 p2 EI …4i ‡ 1†2 p2 ± 1 0 M 2 sinh M 0
free 2 l2 16 N 2 sin N
p
Pinned± i2 p2 p2 EI i2 p2 O ˆ 1 ‡ U 0 0 1 0
pinned 2 l2
2 tanh M M M
Clamped± …2i ‡ 1†2 p2 p EI …4i ‡ 1†2 p2 ± 1
tan N
pinned 8 …0:7l†2 16 N N
Clamped± …i ‡ 1†2 p2 4p2 EI …2i ‡ 1†2 p2 ± 1 M sin N N sinh M M M sin N N sinh M
FORMULAS FOR STRUCTURAL DYNAMICS

clamped 2 l2 4 N …cosh M cos N † N N …cosh M cos N †

Clamped± i2 p2 p2 EI …4i 1†2 p2 ± 1 M …cosh M cos N † M M …cosh M cos N †
sliding 2 l2 16 M sinh M ‡ N sin N N M sinh M ‡ N sin N
p

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Sliding± …2i 1†2 p2 p2 EI …2i 1†2 p2 O ˆ 1 ‡ U 0 0 0 1

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pinned 8 4l 2 4
p
PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

Sliding± i2 p2 p2 EI i2 p2 O ˆ 1 ‡ U 0 0 0 1
sliding 2 l2

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Umi is the exact critical buckling load parameter in the ith mode.
Pcr is the exact critical load in the ®rst mode.
 PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 317

Control. At the left clamped end

X …0† ˆ 0:99978 ‡ 0:99973  0
X 0 …0† ˆ 4:5604 4:5602  0
At the right pinned end
X …l† ˆ 47:80563 47:80557 ‡ 0:76468 0:76468  0

10.4.3 Mode shape coef®cients

Exact expressions for mode shape coef®cients for a beam with different boundary
conditions under axial tensile load are presented in Table 10.7.

10.4.4 Mode shape coef®cients. The case of a large U

The frequency equation and expressions for mode shape coef®cients for a beam with
different boundary conditions may be simpli®ed if the dimensionless tension parameter U
is greater than about 12. The approximate frequency equations are presented in Table 10.8
(Bokaian, 1990). Additional dimensionless parameters
s
O O2
aˆ ; dˆ 1‡ 1‡ 2
U U

Example. Find a value of tensile load T that acts on the clamped±pinned beam so that
parameter U would be so big it would be possible to use the approximate results presented
in Table 10.8.

Solution. Let T =TE ˆ k, where k is unknown. Parameter

Tl 2 l2 p2 EI l 2
Uˆ ˆ kTE ˆk ˆ k  10:07
2EI 2EI …0:7l†2 2EI
So parameter U equals 12 (the case of large U ) starting from k ˆ T =TE ˆ 1.2.

Example. Compare the frequency of vibration and mode shape coef®cients for the
clamped±pinned beam by using exact and approximate formulas; parameter U ˆ 12.

Solution
Exact solution. Parameters M and N are
q
p q
p
M ˆ U ‡ U 2 ‡ O2 ˆ 12 ‡ 144 ‡ O2
q
p q
p
Nˆ U ‡ U 2 ‡ O2 ˆ 12 ‡ 144 ‡ O2
The frequency equation (Table 10.6) is
M
tan N tanh M ˆ 0
N
The root of this equation is O ˆ 22.572, which leads to parameters
q
p
M ˆ 12 ‡ 144 ‡ O2 ˆ 6:1289
q
p
Nˆ 12 ‡ 144 ‡ O2 ˆ 3:6828

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318 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 10.8 Uniform one-span beams with different boundary conditions under tensile axial load:
approximate frequency equations and mode shape coef®cients for tension parameter U > 12

Mode shape coef®cients

Beam type Frequency equation C1 C2 C3 C4

   2
1 a3 N M2
Free±free tan ‡ …i ‡ 1†p 1 ±1
4 ‡ 3a2 M N2
ˆ Ud

p d3
Sliding±free tan Ud ˆ ± ± ± ±
a3

p 2 ‡ a2 M
Clamped±free tan Ud ˆ 1 ±1 1
a N

p a3
Pinned±free tan Ud ˆ 3 ± ± ± ±
d

Pinned±pinned sin N ˆ 0y 0 0 1 0

p d M M
Clamped±pinned tan Ud ˆ 1 ±1 tan N
a N N
p
Clamped±clamped tan Ud ˆ a 1 ±1 M ±1
N

p d M
Clamped±sliding tan Ud ˆ 1 ±1 1
a N

Sliding±pinned cos N ˆ 0y 0 0 0 1

Sliding±sliding sin N ˆ 0y 0 0 0 1

y
Approximate and exact frequency vibrations coincide (Table 10.6).

The mode shape coef®cients are (Table 10.7)

C1 ˆ 1;
C2 ˆ tanh M ˆ 0:99999
M M
C3 ˆ ˆ 1:6642; C4 ˆ tan N ˆ 1:00030
N N
Approximate solution. The frequency equation (Table 10.7)
0 s1
p U O2
tan U d ˆ @ 1 ‡ 1 ‡ 2A
O U

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PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 319

or
v
s1 s 1
u 0 0
u
u @ O2 A 12 @ O2 A
tan t12 1‡ 1‡ ‡ 1 1‡ ˆ0
144 O 144

The root of this equation is O ˆ 22.569. Parameters M , N and mode shape coef®cients
practically coincide with results that were obtained by using exact formulas.

10.4.5 Upper and lower bound approximation to the frequency of

vibration

Table 10.9 gives the upper and lower bound approximation to the frequency of vibration of
tensile beams with different boundary conditions. The parameters O ; O are given in terms
of tension parameter U (Bokaian, 1990).

U ˆ Tl 2 =2EI ; O ˆ ol 2 =a; a2 ˆ EI =rA; U  ˆ T =TE ;

   1=2
O ˆ O=O0 ; O ˆ …1 ‡ gU †

Example. Find the fundamental frequency of vibration for a pinned±pinned tensile

beam.

Solution. The value of a dimensionless natural frequency parameter is

r r
p p m p Tl 2
O ˆ 2pi U ; so ol 2 ˆ 2pi
EI 2EI
r
pi T
The frequency of vibration is o ˆ . This formula coincides with the rexact 
l m
T
expression for the frequency of transversal vibration of the string for which o ˆ k,
where the wavenumber kl ˆ pi (Crawford, 1976). m

The upper bound value for the normalized natural  frequency parameter O in terms of
p
normalized tension parameter U  is O ˆ 1 ‡ U  , so
r
o Tl 2
O ˆ ˆ 1‡ 2
o0 p EI
which leads to
rr
p2 EI Tl 2
oˆ 2 1‡ 2
l m p EI

Example. Find the upper bound value for the fundamental frequency of vibration of a
clamped±pinned beam. Parameter T=TE ˆ 1.1915; in this case parameter U ˆ 12.

Solution. The upper bound value for

p p
O ˆ 1 ‡ 0:978U  ˆ 1 ‡ 0:978  1:1915 ˆ 1:47149

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320 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 10.9. Uniform one-span beams with different boundary conditions under tensile axial load:
upper and lower bounds of frequency parameters

Value of O Upper bound Lower bound

for lower modes value for O value for O
Beam type (i ˆ 1; 2; 3 . . .) g (The Rayleigh quotient) (i ˆ 1)
p p p p
Free±free …i ‡ 1†p 2U 0.975 1 ‡ 0:975U  2 2p U

p p p p

Sliding±free pi 2U 0.925 1 ‡ 0:925U  2p U

p p p p p

Clamped±free p …2i 1† U 0.926 1 ‡ 0:926U  p U
2 2

p p py 3p p

Pinned±free p …2i ‡ 1† U 1.13 1 ‡ U p U
2 2

p py
Pinned±pinned pi 2U 1.0 1 ‡ U ±

p p p p

Clamped±pinned 2piU 0.978 1 ‡ 0:978U  2p U
p  pi 2U
2U 1

p p p p

Clamped±clamped 2piU 0.97 1 ‡ 0:97U  2p U
p  pi 2U
2U 2

p p p p p

Clamped±sliding p …2i 1† U 0.97 1 ‡ 0:97U  p U
2 2

p py
Sliding±pinned pi 2U 1.0 1 ‡ U ±

p py
Sliding±sliding pi 2U 1.0 1 ‡ U ±

A tensile force has the effect of increasing the frequency of vibration.

The extensive numerical results and their discussion for beams with different boundary conditions are presented by
Bokaian (1990).
y
These expressions are exact.

So the frequency
rof vibration of the beam under tensile load is o ˆ 1:47149o0 , where
3:92662 EI
o0 ˆ is the frequency of vibration of the beam without tensile load.
l2 m
So the the parameter l2 for the upper bound value for the fundamental frequency of
vibration equals 3:92662  1:47149 ˆ 22:68771.
The exact value is 22.572.

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 PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 321

10.5 VERTICAL CANTILEVER BEAMS.

THE EFFECT OF SELF-WEIGHT

This section contains the frequency parameter l for the transversal vibration of a
Bernoulli±Euler vertical uniform cantilever beam, with account taken of the effect of
self-weight. The axial tension at coordinate x is T …x† ˆ mg…l x†; the gravity parameter
and frequency of vibration are
r
mgl3 l2 EI
gˆ ; oˆ 2
EI l m
Squared frequency parameters l2 for clamped±free (CL-FR) and pin-guided±clamped
(PG-CL) beams are presented in Table 10.10 (Naguleswaran, 1991).
The critical gravity parameter g (natural frequency is equal to zero) for standing (CL-
FR) and (PG-CL) beams is shown in Table 10.11.

10.6 GAUGE FACTOR

The gauge factor, GNn ; describes the sensitivy of the beam as a gauge, vibrating at o ˆ on
to changes in the axial force N in the vicinity of the operating force T0 .

Static linearity. The axial force is a result of an external effect on the beam
 
1 @o
GNn ˆ …10:17†
on @T T ˆT0

For a beam with rectangular cross-section

 2
1 n2 l
gn
1 Ebh h
GNn ˆ  2 …10:18†
2 l
1 ‡ gn e0 …1 n2 †
h

Static nonlinearity. The axial force is a result of an axial elongation of the beam caused
by vibration (Chapter 12.1.1). In this case, it is more useful to de®ne a gauge factor Gen ,
describing the sensitivity of mode n to changes in the strain e in the vicinity of the operat-
ing point e0 ˆ …1 n†s0 =E
 
1 @on
Gen ˆ …10:19†
on @e eˆe0

For a beam with rectangular cross-section

 2
l
gn …1 n2 †
1 h
Gen ˆ  2 …10:20†
2 l
1 ‡ gn e0 …1 n2 †
h

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 TABLE 10.10. Uniform beams under tensile or compress self-weight: frequency parameters l2
322

Mode Mode
Clamped±free Pin-guided±clamped
g beam 1 2 3 beam 1 2 3

1000 38.69551 92.28009 160.70198 27.39606 106.09241 188.31185

500 27.58902 67.61250 123.47107 20.93861 80.59374 146.26870
100 12.86874 36.50917 78.98033 11.77221 46.47428 91.28511
50 9.46853 30.21719 70.97195 9.44016 37.70100 79.00464
10 5.29178 23.91200 63.68155 5.98253 26.65655 65.76094
5 4.49431 22.99353 62.69867 5.05197 24.52076 63.77334
4 4.31675 22.80513 62.49990 4.81491 24.05477 63.36528
3 4.13139 22.61507 62.30037 4.55173 23.57404 62.95365
2 3.93715 22.42331 62.10009 4.25542 23.47769 62.53844
1 3.73263 22.22980 61.89904 3.91564 22.56483 62.11963
0y 3.51602 22.03449 61.69721 3.51602 22.03449 61.69721
1 3.28492 21.83734 61.49461 3.02762 21.48573 61.27118
2 3.03604 21.63830 61.29121 2.38845 20.91759 60.84154
3 2.76454 21.43732 61.08701 1.38853 20.32915 60.40828
4 2.46297 21.23433 60.88201 ± 19.71963 59.97142
5 2.11849 21.02928 60.76619 ± 19.08839 59.53097
6 1.70527 20.82211 60.46945 ± 18.43517 59.08695
7 1.15155 20.61276 60.26206 ± 17.76018 58.63939
FORMULAS FOR STRUCTURAL DYNAMICS

10 ± 19.97091 59.63452 ± 15.62022 57.27586

20 ± 17.65619 57.48446 ± 9.00946 52.52602
30 ± 14.97621 55.23622 ± 5.94514 47.55911
40 ± 11.69198 52.87665 ± ± 42.56732

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50 ± 7.06487 50.38951 ± ± 37.73623

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100 ± ± 35.04791 ± ± 15.15995
120 ± ± 26.37614 ± ± 6.70530
PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

140 ± ± 13.48791 ±
y
Special cases and related formulas (Section 5.3.1).

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PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 323

TABLE 10.11. The critical gravity parameters

Standing clamped±free beam mode Standing pin-guided±clamped beam mode

1 2 3 1 2 3

7.837347 55.97743 148.5083 3.476597 44.13849 129.25843

In both cases, the coef®cient

„l
‰Xn0 …x†Š2 dx
12
gn ˆ 2 0l
l „
‰Xn00 …x†Š2 dx
0

where Xn …x) is the shape function for a particular mode n. Integrals in the formula for g are
presented in Table 5.6.
The analytical expression for the gauge factor considering the effects of lateral
deformation

 2
l
gn …1 n2 †
1 h
Gen ˆ …2 ‡ n† ‡ ‰1 ‡ 2e0 …1 ‡ n†Š  2 …10:21†
2 l
1 ‡ gn e0 …1 n2 †
h

Numerical results
Clamped±clamped beam, Static nonlinearity. The gauge factor G of the fundamental
mode as a function of the residual tensile strain e0 is presented in Fig. 10.8 (Tilmans, 1993)

FIGURE 10.8. Gauge factor G of the fundamental mode of vibration for a clamped±clamped beam for
three values of the slenderness ratio l=h; a cross-section of the beam is rectangular, the width is b, height is
h; b > h; and the Poisson ratio of material n ˆ 0:3.

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324 FORMULAS FOR STRUCTURAL DYNAMICS

The gauge factors for a cantilever beam with a lumped mass and for a simply supported
beam with a symmetrical distributed mass are studied by Lebed et al. (1996a and b).

REFERENCES

Amba-Rao, C.L. (1967) Effect of end conditions on the lateral frequencies of uniform straight
columns. Journal of the Acoustical Society of America, 42, 900±901.
Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
Bokaian, A. (1988) Natural frequencies of beams under compressive axial loads. Journal of Sound and
Vibration, 126(1), 49±65.
Bokaian, A. (1990) Natural frequencies of beams under tensile axial loads. Journal of Sound and
Vibration, 142(3), 481±498.
Galef, A.E. (1968) Bending frequencies of compressed beams. Journal of the Acoustical Society of
America, 44(8), 643.
Liu, W.H. and Huang, C.C. (1988) Vibration of a constrained beam carrying a heavy tip body. Journal
of Sound and Vibration. 123(1), 15±19.
Liu, W.H. and Chen, K.S. (1989) Effects of lateral support on the fundamental natural frequencies and
buckling coef®cients. Journal of Sound and Vibration, 129(1), 155±160.
Maurizi, M.J. and Belles, P.M. (1991) General equation of frequencies for vibrating uniform one-span
beams under compressive axial loads. Journal of Sound and Vibration 145(2), 345±347.
Naguleswaran, S. (1991) Vibration of a vertical cantilever with and without axial freedom at clamped
end. Journal of Sound and Vibration, 146(2), 191±198.
Tilmans, H.A.C. (1993) Micro-Mechanical Sensors using Encapsulated Built-in Resonant Strain
Gauges (Enschede, The Netherlands: Febodruk) 310 p.
Timoshenko, S.P. and Gere, J.M. (1961) Theory of Elastic Stability, 2nd ed, (New York: McGraw-Hill).
Weaver, W., Timoshenko, S.P. and Young, D.H. (1990) Vibration Problems in Engineering, 5th edn
(New York: Wiley).

FURTHER READING

Crawford, F.S. (1976) Waves. Berkeley Physics Course, Vol. 3 Moscow, Nauka (translated from
English).
Felgar, R.P. (1950) Formulas for Integrals Containing Characteristic Functions of Vibrating Beams,
The University of Texas, Circular No.14.
Gorman, D.J. (1975) Free Vibration Analysis of Beams and Shafts (New York: Wiley).
Kim, Y.C. (1986) Natural frequencies and critical buckling loads of marine risers. American Society of
Mechanical Engineers, Fifth Symposium on Offshore Mechanics and Arctic Engineering, pp. 442±
449.
Kunukkasseril, V.X. and Arumugan, M. (1975) Transverse vibration of constrained rods with axial
force ®elds. Journal of the Acoustical Society of America, 57(1), 89±94.
Lebed, O.I., Karnovsky, I.A. and Chaikovsky, I. (1996) Limited displacement microfabricated beams
and frames used as elastic elements in micromechanical devices. Mechanics in Design, University of
Toronto, Ontario, Canada, Vol. 2, 1055±1061.
Lebed, O.I., Karnovsky, I.A. and Chaikovsky, I. (1996) Application of the mechanical impedance
method to the de®nition of the mechanical properties of the thin ®lm. Mechanics in Design,
University of Toronto, vol. 2, 861±867.
Novacki, W. (1963) Dynamics of Elastic Systems (New York: Wiley.)

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 PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS

PRISMATIC BEAMS UNDER COMPRESSIVE AND TENSILE AXIAL LOADS 325

Paidoussis, M.P. and Des Trois Maisons, P.E. (1971) Free vibration of a heavy, damped, vertical
cantilever. Journal of Applied Mechanics, 38, 524±526.
Pilkington, D.F. and Carr, J.B. (1970) Vibration of beams subjected to end and axially distributed
loading. Journal of Mechanical Engineering Science, 12(1), 70±72.
Shaker, F.J. (1975) Effects of axial load on mode shapes and frequencies of beams. NASA Lewis
Research Centre Report NASA-TN-8109.
Schafer, B. (1985) Free vibration of a gravity loaded clamped-free beam, Ingenieur-Archiv, 55, 66±80.
Wittrick, W.H. (1985) Some observations on the dynamic equations of prismatic members in
compression. International Journal of Mechanical Science, 27(6), 375±382
Young, D. and Felgar, R.P., Jr. (1949) Tables of characteristic functions representing the normal modes
of vibration of a beam. The University of Texas Publication, No. 4913.

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 11
BRESS±TIMOSHENKO
UNIFORM PRISMATIC
BEAMS

Chapter 11 focuses on uniform Bress±Timoshenko beams. Eigenvalues and eigenfunctions

for beams with a classical boundary conditions are presented.

NOTATION

A Cross-sectional area of the beam

E; G Modulus of elasticity and modulus of rigidity of the beam material
EI Bending stiffness
r0 Radius of gyration of a cross-sectional area of the beam
I Moment of inertia of a cross-sectional area of the beam
k Shear coef®cient
l Length of the beam
R Correction factor
s Notation of stiffness coef®cients
s…M c† Flexural stiffness coef®cient of moment due to rotational deformation
s…MX † Flexural stiffness coef®cient of moment due to transverse deformation
s…V c† Flexural stiffness coef®cient of shear due to rotational deformation
s…VX † Flexural stiffness coef®cient of shear due to transverse deformation
t Time
v1 v2 Velocities of propagation of the waves
Q; M Shear force and bending moment
x Spatial coordinate
x; y; z Cartesian coordinates
X …x†c…x† Mode shape
y…x; t†; c…x; t† Lateral displacement of the beam
n Poisson coef®cient
r; m Density of material and mass per unit length of beam, m ˆ rA
o Circular natural frequency of the transverse vibration of the beam

327
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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

328 FORMULAS FOR STRUCTURAL DYNAMICS

11.1 FUNDAMENTAL RELATIONSHIPS

11.1.1 Differential equations

The Bress±Timoshenko theory is used for describing the vibration of thick beams and for
calculation of higher frequencies of vibrations. Timoshenko's equation is called the wave
equation of the transverse vibration of a beam.
The slope of the de¯ection curve (DC) depends not only on the rotation of the cross-
sections of the beam but also on the shearing deformations. Love and Bress±Timoshenko
theories take into account the effects of rotatory inertia and shearing force (Chapter 1)
(Timoshenko, 1922; Weaver et al. 1990). The free-body diagram of an element of a
Timoshenko beam theory is presented in Fig. 11.1.
The lines n and t denote the normal to the face a b and the tangent to the de¯ection
curve; subscripts BE and T denotes the Bernoulli±Euler and Timoshenko theories,
respectively. If the shear deformation is neglected, the tangent to the de¯ection curve t
coincides with the normal to the face a b (Bernoulli±Euler theory). The angle c denotes
the slope of the de¯ection curve due to bending deformation alone, e.g when the shearing
force is neglected; the angle b between the tangent to the de¯ection curve and the normal
to the face denotes the shear deformation of the element (shear angle). Due to shear
deformation, the tangent to the de¯ection curve will not be perpendicular to the face a b.
The total slope, bending moment and shear force are

dy
ˆc‡b
dx
dc
M ˆ EI …11:1†
dx  
dy
Q ˆ kbAG ˆ kAG c
dx

where k is a shear coef®cient depending on the shape of the cross-section, and G is the
modulus of elasticity in the shear. Shear coef®cients for different cross-sections are
presented in Section 9.1.4.
The higher order theories (Heyliger and Reddy, 1988; Stephen, 1978, 1983; Levinson
1981, 1982; Stephen and Levinson, 1979; Bickford, 1982; Murty, 1985, Ewing, 1990)

FIGURE 11.1 Notation and geometry of an element of a Timoshenko beam.

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 329

correctly account for the stress-free conditions on the upper and lower surfaces of the
beam. In this case the need for a shear correction coef®cient is eliminated.

Timoshenko equations. First form ± coupled equations

 
@2 y @y @2 c
EI 2 ‡ kAG c rI 2 ˆ 0
@x @x @t
 2  …11:2†
@ y @y @2 y
kAG rA 2 ˆ 0
@x2 @x @t
The shear coef®cient k for various cross sections is presented in Table 11.1.

Timoshenko complete equations. Secondform ± separated equations

(Cheng, 1970)

The equation with respect to the transverse displacement y may be written as follows
  4
@4 y @2 y E @ y r2 I @4 y
EI 4 ‡ rA 2 rI 1 ‡ 2 2
‡ ˆ0 …11:3†
@x @t kG @x @t kG @t 4
The equation with respect to bending slope c
  4
@4 c @2 c E @ c r2 I @4 c
EI 4 ‡ rA 2 rI 1 ‡ ‡ ˆ0 …11:3a†
@x @t kG @x @t
2 2 kG @t 4
The Timoshenko equation describes
s the disturbance
s of propagation in the axial direction of
E kG
two waves with velocities v1 ˆ and v2 ˆ .
r r

11.1.2 Kinetic and potential energy (Bolotin, 1978; Yokoyama, 1991)

Kinetic energy
 2  2 2
1 „l @y 1 „l @ y @b
Tˆ m…x† dx ‡ rI dx …11:4†
20 @t 20 @x@t @t

Potential energy
 2 2  2  2
1 „l @ y @b 1 „l @y 1 „l 1 „l @y
I ˆ EI dx ‡ kGA c dx ‡ ktr y2 dx ‡ kG dx …11:5†
20 @x2 @x 20 @x 20 20 @x
where y ˆ total transversal de¯ection
c ˆ slope of the de¯ecting curve due to bending deformation alone
ktr ˆ Winkler foundation modulus
kG ˆ shear foundation modulus
k ˆ shear coef®cient
b ˆ shear angle
The work W done by a compressive axial force N (positive for tension) is
 
„l 1 @y 2
W ˆ N dx …11:6†
0 2 @x

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

330 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 11.1. Shear coef®cients for various cross-sections (Love, 1927; Cowper, 1996)

Cross-section Coef®cient k

Circle 6…1 ‡ v†
7 ‡ 6v
Hollow 6…1 ‡ v†…1 ‡ m2 †2 b
circle ;m ˆ
…7 ‡ 6v†…1 ‡ m2 †2 ‡ …20 ‡ 12v†m2 a

Rectangular 10…1 ‡ v†
12 ‡ 11v†

Ellipse 12…1 ‡ v†a2 …3a2 ‡ b2 †

…40 ‡ 37v†a4 ‡ …16 ‡ 10v†a2 b2 ‡ vb4

Semicircle 1‡v
1:305 ‡ 1:273v

Thin walled 2…1 ‡ v†

round tube 4 ‡ 3v

Thin walled 20…1 ‡ v†

square tube 48 ‡ 39v

Thin-walled 10…1 ‡ v†…1 ‡ 3m†2 2btf b

I-section ;m ˆ ;n ˆ
M1 ‡ vM2 ‡ 5mn2 ‰6…1 ‡ m† ‡ v…8 ‡ 9m†Š htw h

M1 ˆ 12 ‡ 72m ‡ 150m2 ‡ 90m3 ; M2 ˆ 11 ‡ 66m ‡ 135m2 ‡ 90m3

Thin-walled 10…1 ‡ v†…1 ‡ 3m†2 bt b

box section ;m ˆ 1 ;n ˆ
M1 ‡ vM2 ‡ 10mn2 …3 ‡ v ‡ 3m† ht h

Spar-and-web 10…1 ‡ v†…1 ‡ 3m†2 2F

section ; m ˆ s ; Fs is area of one spar
M1 ‡ vM2 ht

Thin-walled 10…1 ‡ v†…1 ‡ 4m†2 bt b

T-section ;m ˆ 1 ;n ˆ ;
M3 ‡ vM4 ‡ 10mn2 …1 ‡ m†‰3 ‡ …1 ‡ 4m†Š ht h

M3 ˆ 12 ‡ 96m ‡ 276m2 ‡ 192m3 ; M4 ˆ 11 ‡ 88m ‡ 248m2 ‡ 216

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BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 331

11.2 ANALYTICAL SOLUTION

11.2.1 Frequency and normal mode equations

The differential equations of the transverse vibration of uniform beams are
  4
@4 y gA @2 y gI EI g @ y gI g @4 y
EI ‡ ‡ ‡ ˆ0
@x4 g @t2 g kgG @x @t
2 2 g kgG @t 4
  …11:7†
@4 c gA @2 c gI EI g @4 c gI g @4 c
EI ‡ ‡ ‡ ˆ0
@x4 g @t2 2
g kgG @x @t 2 g kgG @t4

@y
where y, c and are the transversal displacement, bending and total slope, respectively.
@x
The shear slope, bending moment and shear force are

@y
bˆ c
@x
@c
Mˆ EI
 @x 
@
Qˆk c AG
@x

Solution

y ˆ X …x†ejot and c ˆ Cejot

Equations for normal functions of X and C are (Huang, 1961)

X 1V ‡ b2 …r2 ‡ s2 †X 00 b2 …1 b2 r2 s2 †X ˆ 0
…11:8†
C1V ‡ b2 …r2 ‡ s2 †C00 b2 …1 b2 r2 s2 †C ˆ 0

mL4 2 I EI g
b2 ˆ o r2 ˆ s2 ˆ m ˆ rA; r ˆ
EI Al 2 kAGl 2 g

where r is the dimensionless radius of gyration.

Eigenvalues. The frequencies of vibration may be calculated by the formula

r
b EI
oˆ
l2 m
It is necessary to differentiate two cases.
Case 1. This case would correspond to lower frequency vibrations
r
4 mo2 I
…r2 s2 †2 ‡ 2 > …r2 ‡ s2 † or b2 r2 s2 ˆ <1 …11:9†
b kA2 G

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

332 FORMULAS FOR STRUCTURAL DYNAMICS

Case 2. This case would correspond to higher frequency vibrations

r
4 mo2 I
…r2 s2 †2 ‡ 2 < …r2 ‡ s2 † or b2 r2 s2 ˆ 2 > 1 …11:10†
b kA G

Eigenfunctions. Let
s
r
 
a 1 4
ˆ p …r2 ‡ s2 † ‡ …r2 s2 †2 ‡ 2 for case 1
b 2 b
s
r
j 4
0
a ˆ ja ˆ p …r2 ‡ s2 † …r2 s2 †2 ‡ 2 ; j2 ˆ 1 for case 2
2 b
Parameter b for cases 1 and 2 are the same.
Case 1 (a is a real number, i.e. b2 r2 s2 < 1)
X …x† ˆ C1 cosh bax ‡ C2 sinh bax ‡ C3 cos bax ‡ C4 sin bax; x ˆ x=l
…11:11†
Cˆ C10 sinh bax ‡ C20 cosh bax ‡ C30 sin bax ‡ C40 cos bax
Case 2 (a is an imaginary number, i.e. b2 r2 s2 > 1†
X …x† ˆ C1 cosh ba0 x ‡ jC2 sinh ba0 x ‡ C3 cos bbx ‡ C4 sin bbx; x ˆ x=l
…11:12†
C ˆ jC10 sin bax ‡ C20 cos bax ‡ C30 sin bbx ‡ C40 cos bbx
Only one half of the constants are independent. They are related as follows:

l b a2 ‡ s2
C1 ˆ ‰1 b2 s2 …a2 ‡ r2 †ŠC10 C10 ˆ C1
ba l a
l b a2 ‡ s2
C2 ˆ ‰1 b2 s2 …a2 ‡ r2 †ŠC20 C20 ˆ C2
ba l a
or
l b b2 s2
C3 ˆ ‰1 ‡ b2 s2 …b2 r2 †ŠC20 C30 ˆ C3
bb l b
l b b2 s2
C3 ˆ ‰1 ‡ b2 s2 …b2 r2 †ŠC40 C40 ˆ C4
bb l b
The orthogonality condition of normal functions for the mth and nth modes
„1
…Xm Xn ‡ r02 cm cn †dx ˆ 0; m 6ˆ n;
0 r
I
where r0 is the radius of gyration of the cross-section around the principal axis, r0 ˆ
.
A
The frequency equation and normal modes for a beam with classical boundary
conditions are presented in Tables 11.2 and 11.3. Additional notation:

a a0
lˆ for case 1; and l0 ˆ for case 2;
b b

a2 ‡ r2 b2 s2 a2 ‡ r2 b2 s2
zˆ ˆ ˆ ˆ for both cases
a2 ‡ s2 b2 r2 b2 r2 a2 ‡ s2

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 TABLE 11.2. Uniform Bress±Timoshenko one-span beams with different boundary conditions: Frequency equations and mode shape expressions for Case 1
(Huang, 1961)

Beam type Frequency equations Normal modes Parameters

Pinned± sin bb ˆ 0 X ˆ D sin bbx

pinned c ˆ H sin bbx
 
Free±free b 1 cosh ba cos bb
2 2 cosh ba cos bb ‡ p X ˆ Dcosh bax ‡ ld sinh bax ‡ cos bbx ‡ d sin bbx dˆ
1 b2 r2 s2 z l sinh ba z sin bb
 
 ‰b2 r2 …r2 s2 †2 d 1
c ˆ H cosh bax sinh bax ‡ z cos bbx ‡ sin bbx
‡ …3r2 s2 †Š sinh ba sin bb ˆ 0 l d
 
Clamped± b cosh ba ‡ cos bb
2 2 cosh ba cos bb ‡ p X ˆ D cosh bax ‡ lz sinh bax cos bbx ‡ d sin bbx dˆ
clamped 1 b2 r2 s2 lx sinh ba ‡ sin bb
 
 ‰b2 s2 …r2 s2 †2 d lz… cosh ba ‡ cos bb†
c ˆ H cosh bax ‡ sinh bax cos bbx ‡ y sin bbx yˆ
‡ …3r2 r2 †Š sinh ba sin bb ˆ 0 lz sinh ba ‡ lz sin bb

 
Clamped±free 2 ‡ ‰b2 …r2 s2 †2 ‡ 2Š cosh ba cos bb sinh ba l sin bb
X ˆ D cos bax lxd sinh bax cos bbx ‡ d sin bbx dˆ
2 2 l…z cosh ba ‡ cos bb†
b…r ‡ s †  
p sinh ba sin bb ˆ 0 y z…l sinh ba ‡ sin bb†
1 b2 r2 s2 c ˆ H cosh bax ‡ sinh bax cos bbx ‡ y sin bbx yˆ
lz cosh ba ‡ cos bb

Clamped±pinned lz tanh ba tan bb ˆ 0 X ˆ D‰cosh bax coth ba sinh bax z…l sinh ba ‡ sin bb†
yˆ
BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS

cos bbx ‡ cot bb sin bbxŠ cosh ba ‡ z cos bb

 
BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

y
c ˆ H cosh bax ‡ sinh bax cos bbx ‡ y sin bbx

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lz

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Pinned±free l tanh ba z tan bb ˆ 0 cos bb
X ˆl sinh bax ‡ sin bbx
cosh ba
1 sin bb
333

cˆ cosh bax ‡ cos bbx

l sinh ba

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 TABLE 11.3. Uniform Bress±Timoshenko one-span beams with different boundary conditions: Frequency equations and mode shape expressions for Case 2

Beam type Frequency equations Normal modes Parameters

334

Pinned± sin bb ˆ 0 X ˆ D sin bbx

pinned c ˆ H sin bbx
 
Free±free b 1 cos ba0 cos bb
2 2 cos ba0 cos bb ‡ p X ˆ D cos ba0 x l0 Z sin ba0 x ‡ cos bbx ‡ Z sin bbx Zˆ
b2 r2 s2 1 z l0 sin ba0 ‡ z sin bb
 
 ‰b2 r2 …r2 s2 †2 0 Z 0 1
c ˆ H cos ba x sin ba x ‡ z cos bbx ‡ sin bbx
‡ …3r2 s2 †Š sin ba0 sin bb ˆ 0 l0 Z

Clamped± b X ˆ Dcos ba0 x l0 zZ sin ba0 x cos bbx ‡ Z sin bbxŠ cos ba0 cos bb
2 2 cos ba0 cos bb ‡ p   Zˆ
clamped b2 r2 s2 1 m l0 x sin ba0 sin bb
c ˆ H cos ba0 x ‡ 0 sinh ba0 x cos bbx ‡ m sin bbx l0 z… cos ba0 ‡ cos bb†
 ‰b2 s2 …r2 s2 †2 lz mˆ
sinh ba0 ‡ l0 z sin bb
‡ …3s2 r2 †Š sin ba0 sinbb ˆ 0

Clamped± 2 ‡ ‰b2 …r2 s2 †2 ‡ 2Š cos ba0 cos bb X ˆ D‰cos ba0 x ‡ l0 zZ sin ba0 x cos bbx ‡ Z sin bbxŠ sin ba0 l0 sin bb
free   Zˆ 0
2 2 m l …z cos ba0 ‡ cos bb†
b…r ‡ s †
p sinh ba0 sin bb ˆ 0 c ˆ H cos ba0 x ‡ 0 sin ba0 x cos bbx ‡ m sin bbx
b2 r2 s2 1 lz z…l0 sin ba0 sin bb†
mˆ
cos ba0 ‡ cos bb

Clamped± l0 z tan ba0 ‡ tan bb ˆ 0 X ˆ D‰cosh ba0 x cot ba0 sin ba0 x z…l0 sinh ba0 sin bb†
FORMULAS FOR STRUCTURAL DYNAMICS

pinned mˆ
cos bbx ‡ cot bb sin b sin bbxŠ cosh ba0 ‡ z cos bb
 
m 0
c ˆ H cos ba0 x sin ba x cos bbx ‡ m sin bbx
BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

l0 z

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Pinned± l0 tan ba0 z tan bb ˆ 0 cos bb
X ˆ l0 sin ba0 x ‡ sin bbx
free cos ba0
1 sin bb
cˆ cos ba0 x ‡ cos bbx
l0 sinh ba0

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 335

Special case (Bernoulli±Euler theory). In this case r ˆ 0; s ˆ 0 and

1 a a0 a2 ‡ r2 b2 s2
a ˆ b ˆ p ; l ˆ ˆ 1; l0 ˆ ˆ j; z ˆ 2 ˆ ˆ 1:
b b b b r2 a2 ‡ s2

Example. For a pinned±free beam the frequency equations for cases 1 and 2 are

l tanh ba z tan bb ˆ 0
l0 tan ba0 ‡ z tan bb ˆ 0

In both cases, the frequency equations reduce to

p p
tanh b tan bˆ0

Solution of equation 11.8. The expression for the normal function may be presented as
follows

X …x† ˆ A1 sinh bax ‡ A2 cosh bax ‡ A3 sin bbx ‡ A4 cos bbx

or, by using special functions, such as Krylov's functions

X …x† ˆ A1 X1 …x† ‡ A2 X2 …x† ‡ A3 X3 …x† ‡ A4 X4 …x†

where

1
X1 …x† ˆ …b2 a2 cosh jbbx ‡ b2 b2 cosh bax†
b2 …a2 ‡ b2 †
!
1 jba2 bb2
X2 …x† ˆ sinh jbbx ‡ sinh bax
b2 …a2 ‡ b2 † b a
1
X3 …x† ˆ …cosh bax cosh jbbx†
b …a ‡ b2 †
2 2
 
1 1 j
X4 …x† ˆ sinh bax ‡ sinh jbbx
b2 …a2 ‡ b2 † ba bb
s
r
 
a 1 4
ˆ p …r2 ‡ s2 † ‡ …r2 s2 †2 ‡ 2
b 2 b

Fundamental functions and their derivatives result in the unit matrix at x ˆ 0 (Chapter 4).

Special case. For the Bernoulli±Euler theory, the parameters are

r
1 1 o2 ml 4
s ˆ r ˆ 0; a ˆ b ˆ ˆ ; l4 ˆ
b l EI
and functions Xi transfer to Krylov functions (Section 4.2).

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

336 FORMULAS FOR STRUCTURAL DYNAMICS

11.2.2 State matrix. Dynamic stiffness matrix

The dynamic stiffness coef®cients are presented as non-dimensional parameters corre-
sponding to the effects of rotary inertia and of bending and shear deformation. The beam
element and positive directions for the bending moment M, shear force Q, normal
functions X and c are presented in Fig. 11.2.
Conditions matrix (Cheng, 1970)

2 3 2 3
X …x† C1
6 7 6 7
6 c…x† 7 6C 7
6 7ˆA6 27 …11:13†
6 Q…x† 7 6C 7
4 5 4 35
M …x† C4

where the matrix of the system is

2
cosh bax sinh bax
6
6 T sinh bax T cosh bax
Aˆ6
6 …m
4 kGAT † sinh bax …m kGAT † cosh bax
O cosh bax O sinh bax

3
cos bbx sin bbx
7
U 0 sin bbx U 0 cos bbx 7
7
… Z ‡ kAGU 0 † sin bbx …Z kAGU 0 † cos bbx 7
5
0 0
t cos bbx t sin bbx

Parameters b; r; s; a; b are presented in Section 11.2.1. Additional parameters are

b a2 ‡ s2 ab bb
Tˆ m ˆ kaG Z ˆ kAG
l a l l
ab bb 0 b b2 s2
O ˆ EI T t0 ˆ EI U U0 ˆ
l l l b

FIGURE 11.2. Timoshenko beam, positive notation.

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 337

The vector of integration constants may be presented in terms of initial parameters as

follows

2 3 2 3 1 2 3
C1 1 0 1 0 Y …0†
6 7 6 7 6 7
6 C2 7 6 0 T 0 U0 7 6 c…0† 7
6 7ˆ6 7 6 7
6C 7 6 0 …m kGAT † 0 …Z kAGU 0 † 7 6 Q…0† 7
4 35 4 5 4 5
C4 O 0 t0 0 M …0†

Dynamic stiffness matrix

2 3 2 3 2 3
Mi s…M c†1 s…M c†2 s…MX †1 s…MX †2 ci
6 7 6 7 6 7
6 Mj 7 6 s…M c†1 s…MX †2 s…MX †1 7 6 cj 7
6 7ˆ6 76 7 …11:14†
6Q 7 6 s…QX †2 7 6 7
4 i5 4 s…QX †1 5 4 Xi 5
Qj Symmetric s…QX †1 Xj

The elements of the dynamic stiffness matrix for cases 1 and 2 are as follows (Cheng,
1970).
Case 1. b2 r2 s2 < 1

l‰ a…b2 s2 † sinh ba cos bb ‡ b…a2 ‡ s2 † cosh ba sin bbŠ

s…M c†1 ˆ
kAGbs2 …a2 ‡ b2 †D

l‰a…b2 s2 † sinh ba b…a2 ‡ s2 † sin bbŠ

s…M c†2 ˆ
kAGbs2 …a2 ‡ b2 †D

l 2 ‰ab…2s2 ‡ a2 b2 †…1 cosh ba cos bb† …2a2 b2 a2 s2 ‡ b2 s2 † sinh ba sin bbŠ

s…MX †1 ˆ
EIb2 …a2 ‡ b2 †2 abD

…b2 s2 †…a2 ‡ s2 †‰ cosh ba ‡ cos bbŠ

s…MX †2 ˆ
kAGs2 …a2 ‡ b2 †D

l‰a…b2 s2 † cosh ba sin bb ‡ b…a2 ‡ s2 † sinh ba cos bbŠ

s…QX †1 ˆ
EIbab…a2 ‡ b2 †D

l‰b…a2 ‡ s2 † sinh ba ‡ a…b2 s2 † sin bbŠ

s…QX †2 ˆ
EIbab…a2 ‡ b2 †D

l 2 f2ab…b2 s2 †…a2 ‡ s2 † 2ab…b2 s2 †…a2 ‡ s2 † cosh ba cos bb

‡ ‰…a2 b2 †…a2 b2 s4 † ‡ 4a2 b2 s2 Š sinh ba sin bbg
Dˆ
kAGEIb2 …a2 ‡ b2 †2 abs2
…11:15†

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

338 FORMULAS FOR STRUCTURAL DYNAMICS

Case 2. b2 r2 s2 > 1; a0 ˆ ja

1 0 2 EI
s…M c†1 ˆ ‰a …b s2 † sin ba0 cos bb ‡ b…a2 ‡ s2 † sin bb cos ba0 Š
bD l
1 0 2 EI
s…M c†2 ˆ ‰a …b s2 † sin ba0 ‡ b…a2 ‡ s2 † sin bbŠ
bD l
 
1 2 2 2 2 2 2 s 2 2
…s ‡ r2 † ‡ 2b2 a2 0 EI
s…MX †1 ˆ …a ‡ s †…b s † …s r † sin ba sin bb
…a2 ‡ b2 †D ba0 l2
…a2 ‡ s2 †…b2 s2 † 2 EI
‡ …r s2 † cos ba0 cos bb
…a2 ‡ b2 †D l2
…a2 ‡ s2 †…b2 s2 † EI
s…MX †2 ˆ ‰cos bb cos ba0 Š 2
" D l#
1 …a2 ‡ s2 † 0 …b2 s2 † EI
S…QX †1 ˆ sin ba ‡ sin bb 3
bD a0 b l
" #
2
1 …a2 ‡ s2 † 0 …b s2 † 0 EI
S…QX †2 ˆ cos bb sin ba ‡ sin bb cos ba 3
bD a0 b l
2…a2 ‡ s2 †…b2 s2 †
Dˆ ‰1 cos bb cos ba0 Š
b2 …a2 ‡ b2 †
b2 …a ‡ s2 †2 ‡ a02 …b2 s2 †2
‡ sin bb sin ba0 …11:16†
a0 bb2 …a2 ‡ b2 †

Another representation of the Timoshenko equation is presented in Genkin and Tarckha-

nov (1979).
The transitional matrix for the Timoshenko equation is presented in Ivovich (1981) and
Pilkey (1994).

11.3 SOLUTIONS FOR THE SIMPLEST CASES

In this section, the results for the fundamental mode of vibration for simply supported,
cantilever and clamped beams are presented.

11.3.1 Pinned±pinned beam. Frequency equation and frequency of

vibration: exact solution
@4 y
Truncated differential equation. In this case, the term 4 in the Timoshenko equation is
omitted. @t
Effect of rotary motion and shearing force. Frequency equation (Filin, 1981)
 
n2 p2 mo2 E mo2 n4 p4
2
1 ‡ ‡ ˆ 4 …11:17†
l EA kG EI l

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 339

Frequency of vibration
r
n2 p2 EI
oˆ 2 R
l m
where correction factor
1
R ˆ s
 
2 2
n p I E
1‡ 2 1‡
l A kG
Effect of shearing force. The frequency equation and natural frequency of vibration
are

n2 p2 mo2 mo2 n4 p4
‡ ˆ 4
l 2 kAG EI l
r
n2 p2 EI
oˆ 2 R
l m
where the correction factor is
1
R ˆ r
n2 p2 EI
1‡ 2
l kAG
Complete differential equation. Frequency equation and frequency of vibration
Effect of rotary motion and shearing force. The frequency equation, and natural
frequency of vibration are
   
n2 p2 mo2 E mo2 mr02 2 n4 p4
2
1 ‡ ‡ 1 o ˆ 4
l EA Gk EI AGk l
p …11:18†
b  b2 4ac
1
o21;2 ˆ 1
2a
where
 
I m n2 p2 m E m2 r02 n4 p4
r02 ˆ ; b1 ˆ ‡ 2 1‡ ; aˆ ; cˆ 4
A EI l EA Gk EAGIk l
Effect of shearing force. The frequency equation, and natural frequency of vibration
are
 
n2 p2 mo2 mo2 mr2 2 n4 p4
‡ 1 o ˆ 4
l 2 AGk EI kAG l
p
b  b22 4ac
o21;2 ˆ 2
2a
where

m n2 p2 m
b2 ˆ ‡
EI l2 AGk

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

340 FORMULAS FOR STRUCTURAL DYNAMICS

Effect of rotary motion. The frequency equation, and natural frequency of vibration
are

n2 p2 mo2 mo2 n4 p4
‡ ˆ 4
l2 EA EI l
r
2 2
n p EI 1
oˆ 2 r
l m n2 p2
1 ‡ r2 2
l
Technical (Bernoulli±Euler) theory. The effects of rotary motion and shearing force
are neglected.
The natural frequency of vibration is
r
n2 p2 EI
oˆ 2 (see Table 5.3)
l m
Different numerical approaches, vast numerical results and their detailed analysis are
presented in Sekhniashvili (1960).

Approximate solution. The approximate expressions for the fundamental frequency of

vibration of pinned±pinned beam are obtained by using the Bubnov±Galerkin method
from the following assumptions (Sekhniashvili, 1960).

1. Elastic curve y ˆ sin px=l; E=kG  1

r   
p2 EI 1 2 r02 E
o1 ˆ 2 R Rˆ 1 p 2 1‡
l m 2 l kG
If correction factor R < 0 then one needs to use the following formula.
2. More precise formula; elastic curve y ˆ sin px=l
r
p2 EI
o1 ˆ 2 R
l m
where the correction factor is
v
u 1
Rˆu
u 2
 
t r E
1 ‡ p2 20 1 ‡
l kG

3. The governing equation is a four-term differential one, the elastic curve neglects the
effects of rotary motion and shearing force. Elastic curve

ml 4 x
yˆ …x 2x3 ‡ x4 †; xˆ
24EI l
In this case the fundamental frequency of vibration
r
9:876 EI
o1 ˆ 2 R
l m

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BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 341

where the correction factor is

v
u 1
Rˆu
u  
t r02 E
1 ‡ 9:871 2 1 ‡
l kG
4. The elastic curve takes into account the effects of rotary motion and shearing force
  
ml 4 24…1 ‡ n†r02
y…x† ˆ ‡ 1 x 2x3 ‡ x4
24EI kl 2
where n is the Poisson coef®cient.
Initial parameters are

ml 3 ml ml
y…0† ˆ 0; y0 …0† ˆ ‡ ; y00 …0† ˆ 0; y000 …0† ˆ
24EI 2kGA 2
The fundamental frequency of vibration
r s
9:876 EI A0 1 r2
o1 ˆ 2 R; R ˆ A0 ˆ 1 ‡ 60 …1 ‡ n† 20
l m B0 k l
3654 1 r2 120960 1 r2
B0 ˆ 1 ‡ …1 ‡ n† 20 ‡ 2
…1 ‡ n†2 40
31 k l 31 k l
  
7560 i2 1 17 1 r02
‡ 1 ‡ 2 …1 ‡ n† ‡ 2 …1 ‡ n†
31 l2 k 420 k l2
5. Euler two-term differential equation; the elastic curve takes into account the effects of
rotary motion and shearing force
  
ml 24…1 ‡ n†r02
y…x† ˆ ‡ 1 x 2x3 ‡ x4
24EI kl 2
The fundamental frequency of vibration
r s
9:876 EI A0 1 ‡ n r04
o1 ˆ 2 R; Rˆ ; A0 ˆ 1 ‡ 60
2
l m B0 k l
3654 1 ‡ n r02 120960 …1 ‡ n†2 r02
B0 ˆ 1 ‡ ‡
31 k l2 31 k 2 l4
Correction factor R for pinned±pinned±beam, which are calculated using different
governing equations and assumptions concerning elastic curves, are presented in Table
11.4.

11.3.2 Cantilever beam. Approximate solution

The frequency of the fundamental mode of vibration may be calculated by the formula
r
3:529 EI
o1 ˆ 2 R
l m

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342 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 11.4. Pinned±pinned beam. Correction factor R for the fundamental mode of vibration
including effects of rotary motion and shearing force. Beam with rectangular cross-section
…1=k ˆ 3=2; 1 ‡ n ˆ 1:25†

h=l

Expr 0.05 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0

(1) 0.9951 0.9805 0.9219 0.8244 0.6878 0.5122 0.2975 0.0438 ± ± ±

(2) 0.9954 0.9811 0.9301 0.8603 0.7849 0.7114 0.6448 0.5860 0.5347 0.4902 0.4516
(3) 0.9953 0.9810 0.9300 0.8601 0.7844 0.7112 0.6446 0.5858 0.5345 0.4900 0.4514
(4) 0.9835 0.9411 0.8111 0.6776 0.5675 0.4808 0.4159 0.3647 0.3241 0.2912 0.2641
(5) 0.9870 0.9562 0.8409 0.7333 0.6257 0.5376 0.4679 0.4124 0.3676 0.3310 0.3008

1. Sign (±) means loss of physical meaning. In this case use expression (2).
2. Rows 1 and 2 have multiples 9:869=l 2 …EI =m†1=2 .
3. Rows 3,4,5 have multiples 9:876=l 2 …EI=m†1=2 :

where the correction factor is

s
A1 40 r2
Rˆ ; A1 ˆ 1 ‡ …1 ‡ n† 20
B1 3k l
21:96 r2 132:82 r2
B1 ˆ 1 ‡ …1 ‡ n† 20 ‡ …1 ‡ n†2 40
k l k2 l
  
135 r02 2 1 1:6 r02 64 4
2 r0
1 ‡ …1 ‡ n† …1 ‡ n† …1 ‡ n†
26 l 2 k 7 k l2 k2 l4
Galerkin's method has been applied; the expression for the elastic curve takes into account
the shear effect (Sekhniashvili, 1960).

11.3.3 Clamped beam. Approximate solution

The frequency of the fundamental mode of vibration may be calculated by the formula
r
22:449 EI
o1 ˆ R
l2 m
where the correction factor
s
A2 120 r2
Rˆ ; A2 ˆ 1 ‡ …1 ‡ n† 20
B2 k l
216 r2 12096 r4
B2 ˆ 1 ‡ …1 ‡ n† 20 ‡ …1 ‡ n†2 40
k l k2 l
  
r02 2 71 1:6 r2 96 r4
‡ 1260 2 1 ‡ …1 ‡ n† ‡ …1 ‡ n† 20 ‡ 2 …1 ‡ n†2 40
l k 105 k l k l
Galerkin's method has been applied; the expression for the elastic curve takes into account
the shear effect.
Correction factor R for one-span beams with different values h : l for prismatic beams
or r 20 : l 2 for beams of any cross section are presented in Table 11.5. These data correspond
to static elastic curves, which takes into account the effects of rotary motion and shear
force.

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 343

TABLE 11.5. Correction factor R for prismatic beams with different

boundary conditions and values h : l or r02 : l2
 
l
r02 ˆ ; k ˆ 2=3; n ˆ 0:25
A
.
h : l or r02 : l2

0.05 or 1=4800 0.9835 0.9987 0.9760

0.10 1=1200 0.9411 0.9976 0.9118
0.20 4=1200 0.8111 0.9784 0.7297
0.30 9=1200 0.6776 0.9502 0.5552
0.40 16=1200 0.5675 0.9096 0.4191
0.50 25=1200 0.4808 0.8572 0.3212
0.60 36=1200 0.4159 0.7954 0.2492
0.70 49=1200 0.3647 0.7275 0.1986
0.80 64=1200 0.3241 0.6580 0.1606
0.90 81=1200 0.2912 0.5902 0.1320
1.00 100=1200 0.2641 0.5268 0.1101

11.4 BEAMS WITH A LUMPED MASS AT THE

MIDSPAN

The frequency equations for one-span Timoshenke beams with different boundary
conditions and one additional lumped mass are presented.

11.4.1 Simply supported beam

The design diagram is presented in Fig. 11.3(a).

Symmetric modes of vibration. The frequency equation may be written as follows

bb ba
b4 ba…b2 ‡ a2 † cosh cosh
2 2
  2
  
s ba bb s2 2 2 bb ba
‡ nb2 bb d b2 b2 sinh cos ba d b a sin cosh ˆ 0 …11:19†
2 2 2 2 2 2

FIGURE 11.3 Uniform one-span beams with lumped mass in the middle of the span.

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344 FORMULAS FOR STRUCTURAL DYNAMICS

where

! s
r
ba b 4
ˆ p …r2 ‡ s2 † ‡ …r2 s2 †2 ‡ 2
bb 2 b

ml 4 2 l r2 EI E
b2 ˆ o ; r2 ˆ 2 ˆ 20 ; s2 ˆ ˆ r2
EI Al l kAl2 G kG
"  2 # r
1 2 4 E 1 2 2 M I
dˆ 1‡b r ˆ …1 ‡ b s †; n ˆ ; r0 ˆ
2 kG 2 ml A

Here, r0 is the radius of gyration of a cross-section, and r is the non-dimensional radius of

gyration, which is the reciprocal of slenderness.
The frequency parameters b for the fundamental mode and different values n ˆ M =ml
are presented in Table 11.6. Assume that l=r0 ˆ r 1 ˆ 20, i.e. for rectangular cross-section
h : l  1 : 5:8; k ˆ 5=6; E=G ˆ 23:33 (Filippov, 1970).

TABLE 11.6. Simply supported uniform beam with lumped mass

at the middle of the span: Fundamental frequency parameter accord-
ing to two theories

n ˆ M =ml

Frequency parameter b 0.045 0.638 2.270 4.370

Timoshenko's theory 9.00 6.25 4.00 3.00

Technical theory (b0) 9.45 6.50 4.16 3.12
…b0 b†100%=b0 4.8 4.13 4.0 3.8

Vast numerical results for simply-supported beams with lumped mass along the span
are presented in Maurizi and Belles (1991).

Antisymmetric modes of vibration. The frequency equation may be written as

bb ba
sin sinh ˆ 0 …11:20†
2 2

1
Special case: For Bernoulli±Euler theory, parameters s ˆ r ˆ 0; a ˆ b ˆ p : The
p r b
b 4p2 EI
frequency equation is sin ˆ 0 and frequency of vibration o ˆ 2 :
2 l M

11.4.2 Clamped beam

The design diagram is presented in Fig. 11.3(b).

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 345

Symmetric modes of vibration. The frequency equation may be written as follows (Filip-
pov, 1970)
 
ba bb ba bb
b2 …b2 ‡ a2 † bb cosh sin ‡ ba sinh cos
2 2 2 2
  2

bb ba s
‡ nb2 cos cosh 1 2d b2 …b2 a2 †
2 2 2
 2 2 
1 ba bb b s 4
sinh sin …b ‡ a4 † d…b2 a2 † ˆ 0 …11:21†
ba 2 2 2
The frequency parameters b for the fundamental mode and different values n ˆ M =ml are
presented in Table 11.7. Assume that l=r0 ˆ 20, i.e. for rectangular cross-section
h : l  1 : 5:8; k ˆ 5=6; E=G ˆ 23:33 (Filippov, 1970).

TABLE 11.7. Clamped uniform beam with lumped mass at the

middle of the span: Fundamental frequency parameter according to
two theories

n ˆ M =ml

Frequency parameter b 0.053 0.319 0.851 1.78

b (Timoshenko's theory) 20 16 12 9
b0 (Technical theory) 21.1 16.78 12.58 9.43
…b0 b†100%=b0 5.22 4.65 4.60 4.55

Antisymmetric modes of vibration. The frequency equation may be written as

1 bb ba 1 ba bb
sin cosh sinh cos ˆ0 …11:22†
b 2 2 a 2 2

11.5 CANTILEVER TIMOSHENKO BEAM OF

UNIFORM CROSS-SECTION WITH TIP MASS AT
THE FREE END

The frequency coef®cients for the ®rst ®ve modes of vibration of the Timoshenko beam of
uniform cross-section are presented in Table 11.8 (Rossi et al., 1990).

Notation
O2 ˆ rAL4 o2 =EI ; n ˆ M =mL; r2 ˆ I =AL2 ; n ˆ 0:3; k ˆ 5=6:

11.6 UNIFORM SPINNING BRESS±TIMOSHENKO

BEAMS

In this section, a free vibration analysis of a spinning, ®nite Timoshenko beam with general
boundary conditions is presented. Analytical solutions of the frequency equations and
mode shapes are given for six types of boundary conditions.

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

346 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 11.8 Timoshenko cantilever uniform beam with tip mass at the
free end: Frequency parameters for different mode shapes

r2 n O1 O2 O3 O4 O5

0.0 3.51 22.03 61.69 120.89 199.85

0.2 2.61 18.20 53.55 108.18 182.42
7
10 0.4 2.16 17.17 52.06 106.45 180.53
0.6 1.89 16.70 51.44 105.77 179.82
0.8 1.70 16.42 51.10 105.41 179.45
1.0 1.55 16.25 50.89 105.19 179.22
0.0 3.50 21.47 58.14 109.02 171.29
0.2 2.60 17.82 50.86 98.55 158.19
0.0004 0.4 2.16 16.83 49.48 97.04 156.66
0.6 1.88 16.37 48.91 96.45 156.08
0.8 1.69 16.10 48.60 96.14 155.77
1.0 1.55 15.93 48.40 95.94 155.58
0.0 3.46 20.01 50.56 88.19 129.98
0.2 2.58 16.82 44.89 80.96 121.79
0.0016 0.4 2.14 15.92 43.74 79.81 120.69
0.6 1.87 15.50 43.25 79.35 120.26
0.8 1.68 15.26 42.99 79.10 120.03
1.0 1.54 15.10 42.82 78.94 119.89
0.0 3.40 18.14 42.89 70.84 100.38
0.2 2.54 15.48 38.60 65.86 95.22
0.0036 0.4 2.12 14.70 37.65 64.96 94.39
0.6 1.85 14.33 37.25 64.60 94.06
0.8 1.66 14.11 37.02 64.40 93.89
1.0 1.52 13.97 36.88 64.28 93.78
0.0 3.32 16.23 36.53 57.94 79.68
0.2 2.50 14.05 33.21 54.57 77.08
0.0064 0.4 2.08 13.39 32.42 53.88 76.47
0.6 1.82 13.07 32.07 53.59 76.21
0.8 1.64 12.88 31.88 53.43 76.07
1.0 1.50 12.76 31.76 53.32 75.97
0.0 3.22 14.46 31.50 47.90 62.34
0.2 2.44 12.70 28.88 46.09 61.24
0.01 0.4 2.04 12.13 28.20 45.61 60.53
0.6 1.78 11.86 27.90 45.39 60.16
0.8 1.61 11.70 27.72 45.27 59.95
1.0 1.47 11.59 27.62 45.19 59.82

The case of n ˆ 107 corresponds, from a practical engineering viewpoint, to the

Bernouilli±Euler theory.

FIGURE 11.4 Spinning Bress±Timoshenko beam (boundary conditions are not shown).

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BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 347

11.6.1 Fundamental equations

A spinning beam and its frame of reference are presented in Fig. 11. 4.

Differential equations The transverse de¯ections along 0z; 0y axis are represented by
uy ; uz ; y ˆ uz ‡ juy ; and their corresponding bending angles by cy ; jz ; so f ˆ
fz ‡ jfy : Differential equation may be presented as follows (Zu and Han, 1992).
  4
EI @4 y @2 y rI E @ y r2 I @4 y rJ @3 y OJ @3 y
4 4
‡ rA 2 2
1 ‡ 2
‡ 4
jO 3
‡j 2 2 ˆ0
l @x @t l kG @x @t2 kG @t kG @t l @x @t
4 2
  4 2 4 3
EI @ c @ c rI E @ c r I@ c rJ @ c OJ @3 c
4
‡ rA 2 1‡ 2
‡ jO ‡j 2 2 ˆ0
l @x
4 @t l 2 kG @x @t 2 kG @t 4 kG @t 3 l @x @t
…11:23†
where x is the spatial coordinate along the beam axis, x ˆ x=l; y and c are the total
de¯ection and bending slope; E, G, r and k are Young's modulus, shear modulus, mass
density and shear coef®cient; A, l are the cross-sectional area and length of beam; I and J
are the transverse moment of inertia of an axisymmetric cross-section and the polar mass
moment of inertia, respectively; O is rotational speed; j2 ˆ 1.

Solution
y ˆ X …x†T …t† ˆ X0 exp … j px† exp … jot†
c ˆ C…x†T…t† ˆ C0 exp … jc† exp … jot†
where X0 and c0 are complex amplitudes, o is the natural frequency and p is the
coef®cient characterizing the normal modes.

Characteristic equation
B 2 C
p4 p ‡ ˆ0 …11:24†
A A
where
EI
Aˆ
rAl 2
 
I E OJ
Bˆ 2 1‡ o2 o
Al kG rAl 2
rI 4 OJ 3
Cˆ o o o2
kAG kAG
The roots of the characteristic equation are p1 ˆ  js1 ; p2 ˆ s2 , where
s
p s
r
  2
s1 B ‡ B 4AC 1 B B2 4C
ˆ ˆ p  ‡
s2 2A 2 A A2 A
4
ml 2 2 I E J o2
The roots of the equation in terms of b2 ˆ o ; r ˆ 2 ; s2 ˆ r 2 and f ˆ are
  EI Al kG kAG
s1
ˆ
s2
v

u 
u  s
2  
b t O O O 4 O
p  …r2 ‡ s2 † 2 r2 ‡ …r2 s2 †2 4…r2 ‡ s2 † r2 ‡ 4 2 r4 ‡ 2 f ‡1
2 o o o b o

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 TABLE 11.9. Spinning Bress±Timoshenko uniform beam with different boundary conditions: frequency equation and mode shape expression for Case 1 (Zu and
Han, 1992)
Beam type Frequency equations Normal modes Parameters

Pinned± sin s2 ˆ 0 X ˆ D sin s2 x

pinned c ˆ H cos s2 x
s   s  c s s 
Free± 1 d 1
c 1 s1 c1 …cosh s1 cos s2 †2 X ˆ D cosh s1 x sinh s1 x c1 sinh s1 ‡ 1 1 2 ‡ c2 sin s2
free l  s1 =l c1 l c 2 s2 l
 dˆ
s=l c1 cosh s1 cos s2
c1 s1 sinh s1 c s sin s2 c 1 s1 d
s2 =l ‡ c2 2 2 cos s2 x ‡ sinh s2 x
hs  c 2 s2 s2 =l ‡ c2
1
 c1 sinh s1 dc1
l  c ˆ H…c1 sinh s1 x cosh s1 x
c1 s1 s2  s1 =l c1
‡ ‡ c2 sin s2 ˆ 0 c 1 s1 dc2
c2 s2 l sin s2 x cos s2 x
s2 s2 =l ‡ c2
 
Clamped± c1 …cosh s1 cos s2 †2 d d c1 sinh s1 c2 sin s2
X ˆ D cosh s1 x sinh s1 x cos s2 x sin s2 x dˆ
clamped …c1 sinh s1 c2 sin s2 † c1 c2 cosh s1 cos s2
  c ˆ H…c1 sinh s1 x d cosh s1 x c2 sin s2 x ‡ d sin s2 x†
c
 sinh s1 ‡ 1 sin s2 ˆ 0
c2
 
Clamped± …c1 s1 cosh s1 c2 s2 cos s2 † d d c1 s1 cosh s1 c2 s2 cos s2
  X ˆ D cosh s1 x sinh s1 x cos s2 x sin s2 x dˆ
free s1  c s  c1 c2 s1 sinh s1 ‡ s2 sin s2
 c1 cosh s1 ‡ 1 2 ‡ c2 cos s2
l c2 l c ˆ H…c1 sinh s1 x d cosh s1 x c2 sin s2 x ‡ d cos s2 x†
c1 …s1 sinh s1 ‡ s2 sin s2 †
hs  s  i
1
 c1 sinh s1 ‡ 2 ‡ c2 sin s2 ˆ 0
l l
 
Clamped± c1 …cosh s1 cos s2 †…s1 sinh s1 ‡ s2 sin s2 † d d c1 s1 cosh s1 c2 s2 cos s2
  X ˆ D cosh s1 x sinh s1 x cos s2 x sin s2 x dˆ
BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

pinned c c1 c2 s1 sinh s1 ‡ s2 sin s2

sinh s1 ‡ 1 sin s2

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c2 c ˆ H…c1 sinh s1 x d cosh s1 x c2 sin s2 x ‡ d cos s2 x†

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 …c1 s1 cosh s1 c2 s2 cos s2 † ˆ 0
s   
Pinned± c1 s1 2 ‡ c2 sinh s1 cos s2 d c1 s1 sinh s1
X ˆ D sinh s1 x sin s2 x dˆ
free l  c2 s2 sin s2
s
c2 s2 1 c1 cosh s1 sin s2 ˆ 0 c ˆ H…c1 cosh s1 x ‡ d cos s2 x†
l

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 TABLE 11.10. Spinning Bress±Timoshenko uniform beam with different boundary conditions: Frequency equations and mode shape expression for Case 2 (Zu
and Han, 1992)
Beam type Frequency equations Normal modes Parameters

Pinned± sin s2 ˆ 0 X ˆ D sin s2 x

pinned c ˆ H cos s2 x
      
Free± s01 d0 s01 c01 s01 s02
c01 s01 ‡ c01 …cos s01 cos s2 †2 X ˆ D cos s01 x ‡ sin s01 x ‡ c01 sin s01 ‡ c2 sin s2
free l s01 =l ‡ c01 l c2 s2 l
   d0 ˆ
s01 =l ‡ c01 c01 s01 d0 cos s01 cos s2
‡ c01 s01 sin s01 c s sin s2 cos s2 x sin s2 x
s2 =l ‡ c2 2 2 c s s2 =l ‡ c2
 0    2 2
s1 c01 s01 s2 d 0 c01
 ‡ c01 sinh s1 ‡ c2 sin s2 ˆ 0 c ˆ H c01 sin s01 x 0 cos s01 x
L c2 s2 L s1 =l ‡ c01

c01 s01 d 0 c2
sin s2 x ‡ cos s2 x
s2 s2 =l ‡ c2
 0

Clamped± c01 …cos s01 cos s2 †2 d d0 c01 sin s01 c02 sin s2
  X ˆ D cos s01 x ‡ 0 sin s01 x cos s2 x sin s2 x d0 ˆ
clamped c01 c1 c2 cos s01 cos s2
‡ …c01 sin s01 c2 sin s2 † sin s01 sin s2 ˆ0
c2 c ˆ H…c01 sin s01 x d 0 cos s01 x c2 sin s2 x ‡ d 0 sin s2 x†
 
Clamped± …c01 s01 cos s01 c2 s2 cos s2 † d0 d0 c01 s01 cos s01 c2 s2 cos s2
 0  X ˆ D cos s01 x sin s01 x cos s2 x ‡ sin s2 x d0 ˆ
free s1 c01 s2 i c01 c2 s01 sin s01 s2 sin s2
 ‡ c01 cos s01 ‡ c2 † cos s2
l c2 l c ˆ H…c01 sin s01 x ‡ d 0 cos s01 x c2 sin s2 x d 0 cos s2 x†
‡ c01 …s01 sin s01 s2 sin s2 †
 0  s  
s1 2
 ‡ c01 sin s01 ‡ c2 sin s2 ˆ 0
l l
 
Clamped± c01 …cosh s01 cos s2 †…s01 sinh s01 ‡ s2 sin s2 † d0 d0 c01 s01 cos s01 c2 s2 cos s2
  X ˆ D cosh s01 x sinh s01 x cos s2 x sin s2 x d0 ˆ
pinned c0 c01 c2 s01 sin s01 s2 sin s2
sinh s01 ‡ 1 sin s2
BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

c2 c ˆ H…c01 sinh s01 x ‡ d cosh s01 x c2 sin s2 x ‡ d 0 cos s2 x†

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 …c01 s01 c2 s2 cos s2 † ˆ 0
cosh s01

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 0
  
Hinged± s d0 c01 s01 sin s01
c01 s01 2 ‡ c02 sinh s01 cos s2 X ˆ D sinh s01 x sin s2 x d0 ˆ
free l c2 s2 sin s2
0 
s c ˆ H…c01 cosh s01 x ‡ d 0 cos s2 x†
c2 s2 1 ‡ c02 cosh s01 sin s2 ˆ 0
l

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

350 FORMULAS FOR STRUCTURAL DYNAMICS

If O ˆ 0, then the equation for s1;2 reduces to the following formula (Section 11.3.1)
s
r
 
ba b 4
ˆ p …r2 ‡ s2 † ‡ …r2 s2 †2 ‡ 2
bb 2 b
It is necessary to differentiate between two cases.
Case 1
p
B2 4AC > B or C<0
In this case the roots are p1;2 ˆ  js1 ;  s2 : This case would correspond to lower
frequencies of vibrations.
Case 2
p
B2 4AC < B or C > 0
In this case, the roots are p1 ˆ  s01 in which s01 ˆ js2 . This case would correspond to
higher frequencies of vibrations.
The frequency equation and mode shape of vibration are presented in Tables 11.9 and
11.10 for cases 1 and 2, respectively. Additional parameters are
     
1 rl 2 s21 1 rl 2 s22 1 rl 2 s012
c1 ˆ o ‡ c2 ˆ o c01 ˆ o
s1 kG l s2 kG l s01 kG l
Numerical results have been obtained, analysed and discussed by Zu and Han, (1992).

REFERENCES

Abramovich, H. and Elishakoff, I. (1990) In¯uence of shear deformation and rotary inertia on
vibration frequencies via Love's equations. Journal of Sound and Vibration, 137(3), 516±522.
Bolotin, V.V. (1978) Vibration of Linear Systems, vol. 1, 1978. In Handbook: Vibration in Tecnnik,
vols 1±6 (Moscow: Mashinostroenie) (in Russian).
Cheng, F.Y. (1970) Vibrations of Timoshenko beams and frameworks. Journal of the Structural
Division, Proceedings of the American Society of Civil Engineers, March 551±571.
Cowper, G.R. (1966) The shear coef®cients in Timoshenko's beam theory. Journal of Applied
Mechanics, ASME, 33, 335±340.
Filippov, A.P. (1970) Vibration of Deformable Systems. (Moscow: Mashinostroenie) (in Russian).
Genkin, M.D. and Tarkhanov, G.V. (1979) Vibration of Machine-building Structures (Moscow: Nauka)
(in Russian).
Huang, T.C. (1958) Effect of rotatory inertia and shear on the vibration of beams treated by the
approximate methods of Ritz and Galerkin. ASME Proceedings of The Third US National Congress
of Applied Mechanics, pp. 189±194.
Huang, T.C. (1961) The effect of rotary inertia and of shear deformation on the frequency and normal
mode equations of uniform beams with simple end conditions. ASME Journal of Applied Mechanics,
December, pp. 579±584.
Love, E.A.H. (1927) A Treatise on the Mathematical Theory of Elasticity, 4th edn (Cambridge:
Cambridge University Press), vol 1, 1892; vol 2, 1893.
Rayleigh, J.W.S. (1945) The Theory of Sound 2nd edn (New York: Doker Publication vol. 1±2).
Sekhniashvili, E.A. (1960) Free Vibration of Elastic Systems. (Tbilisi: Sakartvelo) (in Russian).

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

BRESS±TIMOSHENKO UNIFORM PRISMATIC BEAMS 351

Timoshenko, S.P. (1921) On the correction for shear of the differential equation for transverse
vibrations of prismatic bars. Philosophical Magazine and Journal of Science, Series 6, 41, 744±746.
See also: (1953) The Collect Papers. (New.York: McGraw Hill).
Timoshenko, S.P. (1922) On the transverse vibrations of bars of uniform cross sections. Philosophical
Magazine and Journal of Science, Series 6, 43, 125±131.
Weaver, W., Timoshenko, S.P. and Young, D.H. (1990) Vibration Problems in Engineering, 5th edn
(New York: Wiley).
Yokoyama, T. (1987) Vibrations and transient responses of Timoshenko beams resting on elastic
foundations. Ingenieur-Archiv, 57, 81±90.
Yokoyama, T. (1991) Vibrations of Timoshenko beam-columns on two-parameter elastic foundations.
Earthquake Engineering and Structural Dynamics, 20, 355±370.
Zu, J.W.-Z. and Han, R.P.S. (1992) Natural frequencies and normal modes of a spinning Timoshenko
Beam with general boundary conditions. ASME Journal of Applied Mechanics, 59, S197±S204.

FURTHER READING

Aalami, B. and Atzori, B. (1974) Flexural vibrations and Timoshenko's beam theory. American
Institute of Aeronautics and Astronautics Journal, 12(5), 679±685.
Abbas, B.A.H. and Thomas, J. (1977) The secondary frequency spectrum of Timoshenko beams.
Journal of Sound and Vibration, 51(1), 309±326.
Berdichevskii, V.L. and Kvashnina S.S. (1976) On equations describing the transverse vibrations of
elastic bars. Applied Mathematics and Mechanics, PMM vol. 40, N1, 120±135.
Bickford, W.B. (1982) A consistent higher order beam theory. Developments in Theoretical and
Applied Mechanics, 11, 137±150.
Bresse, M. (1859) Cours de Mechanique Appliquee. (Paris: Mallet-Bachelier).
Bruch, J.C. and Mitchell, T.P. (1987) Vibrations of a mass-loaded clamped-free Timoshenko beam.
Journal of Sound and Vibration, 114(2), 341±345.
Carr, J.B. (1970) The effect of shear ¯exibility and rotatory inertia on the natural frequencies of
uniform beams. The Aeronautical Quarterly, 21, 79±90.
Clough, R.W. and Penzien, J. (1975) Dynamics of Structures, (New York: McGraw-Hill).
Cowper, G.R. (1968) On the accuracy of Timoshenko's beam theory, Proceedings of the American
Society of Civil Engineering, Journal of the Engineering Mechanics Division, EM6, December, pp.
1447±1453.
Dolph, C.L. (1954) On the Timoshenko beam vibrations, Quarterly of Applied Mathematics, 12, 175±
187.
Downs, B. (1976) Transverse vibrations of a uniform simply supported Timoshenko beam without
transverse de¯ection. ASME Journal of Applied Mechanics, December, pp. 671±674.
Ewing, M.S. (1990) Another second order beam vibration theory: explicit bending warping ¯exibility
and restraint. Journal of Sound and Vibration, 137(1), 43±51.
Filin, A.P. (1981) Applied Mechanics of a Solid Deformable Body, Vol. 3, (Moscow: Nauka) (in
Russian).
Flugge, W. (1975) Viscoelasticity, 2nd Edn. (New York: Springer-Verlag).
Heyliger, P.R. and Reddy, J.N. (1988) A higher order beam ®nite element for bending and vibration
problems, Journal of Sound and Vibration, 126(2), 309±326.
Huang, T.C. and Kung, C.S. (1963) New tables of eigenfunctions representing normal modes of
vibration of Timoshenko beams. Developments in Theoretical and Applied Mechanics 1, pp. 59±16,
Proceedings of the1st Southeastern Conference on Theoretical and Applied Mechanics, Gatlinburg,
Tennessee, USA, 3±4 May (New York: Plenum Press).
Huang, T.C. (1964) Eigenvalues and modifying quotients of vibration of beams. Report 25,
Engineering Experiment Station, University of Wisconsin, Madison, Wisconsin.

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 BRESS–TIMOSHENKO UNIFORM PRISMATIC BEAMS

352 FORMULAS FOR STRUCTURAL DYNAMICS

Ivovich, V.A. (1981) Transitional Matrices in Dyanmics of Elastic Systems. Handbook (Moscow:
Mashinostroenie) 181p. (in Russian).
Kaneko, T. (1975) On Timoshenko's correction for shear in vibrating beams. Journal of Physics D:
Applied Physics, 8, 1927±1936.
Leung, A.Y. (1990) An improved third beam theory. Journal of Sound and Vibration, 142(3)
527±528.
Levinson, M. (1981) A new rectangular beam theory. Journal of Sound and Vibration, 74, 81±87.
Levinson, M. and Cooke, D.W. (1982) On the two frequency spectra of Timoshenko beams. Journal of
Sound and Vibration, 84(3) 319±326.
Maurizi, M.J. and Belles P.M. (1991). Natural frequencies of the beam-mass system: comparison of
the two fundamental theories of beam vibrations. Journal of Sound and Vibration, 150(2) 330±334.
Murty, A.V.K. (1985) On the shear deformation theory for dynamic analysis of beams, Journal of
Sound and Vibration, 101(1), 1±12.
Pilkey, W.D. (1994) Formulas for Stress, Strain, and Structural Matrices. (Wiley).
Rossi, R.E., Laura, P.A.A. and Gutierrez, R.H. (1990) A note on transverse vibrations of a
Timoshenko beam of non-uniform thickness clamped at one end and carrying a concentrated
mass at the other. Journal of Sound and Vibration, 143(3), 491±502.
Stephen N.G. (1978) On the variation of Timoshenko's shear coef®cient with frequency. Journal of
Applied Mechanics, 45, 695-697.
Stephen, N.G. and Levinson, M. (1979) A second order beam theory. Journal of Sound and Vibration,
67, 293±305.
Stephen N.G. (1982) The second frequency spectrum of Timoshenko beams. Journal of Sound and
Vibration, 80(4), 578±582.
Wang, J.T.S. and Dickson, J.N. (1979) Elastic beams of various orders. American Institute of
Aeronautics and Astronautics Journal, 17, 535±537.
Wang, C.M. (1995) Timoshenko beam±bendings solutions in terms of Euler±Bernoulli solutions.
Journal of Engineering Mechanics. June, 763±765.
Wang, C.M., Yang, T.Q. and Lam, K.Y. (1997) Viscoelastic Timoshenko beam solutions from Euler±
Bernoulli solutions. Journal of Engineering Mechanics, July, 746±748.
White, M.W.D. and Heppler, G.R. (1993) Vibration modes and frequencies of Timoshenko beams with
attached rigid bodies. Journal of Applied Mechanics, 62, 193±199.
Young, D. and Felgar, R.P., Jr. (1949) Tables of Characteristic functions representing the normal modes
of vibration of a beam. The University of Texas Publication, No. 4913.

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 12
NON-UNIFORM ONE-SPAN
BEAMS

In this chapter, free vibration analyses of non-uniform one-span beams with different
boundary conditions are presented. Continuous and stepped beams are investigated.

NOTATION

A Cross-sectional area of the beam

E Modulus of elasticity of the beam material
EI Bending stiffness
h, d, b Geometrical dimensions of the cross-sectional of the beam
I Moment of inertia of a cross-sectional area of the beam
k Stiffness coef®cient of a transversal spring
kF Stiffness coef®cient of the elastic foundation
l Length of the beam
t Time
x Spatial coordinate
x, y, z Cartesian coordinates
X …x† Mode shape
y…x; t† Lateral displacement of the beam
a Taper parameter
l Frequency parameter
r, m Density of material and mass per unit length of beam, m ˆ rA
f Flexibility constant of the rotational spring
o Circular natural frequency of the transverse vibration of the beam

12.1 CANTILEVER BEAMS

12.1.1 Wedge and truncated wedge

A wedge and truncated wedge of length l are presented in Figs. 12.1(a) and (b).

353
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 NON-UNIFORM ONE-SPAN BEAMS

354 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 12.1. Tapered cantilever beam: (a) wedge; (b) truncated wedge.

The differential equation for the Bernoulli±Euler theory

 
@2 y…x; t† @2 2 @2 y…x; t†
rA…x† ˆ EA…x†r …x† …12:1†
@t 2 @x2 @x2
where r…x† is the radius of gyration of a cross-section about an axis through its centre
parallel to the z axis.

Wedge. The natural frequency of vibration is

s
l EI0
oˆ 2 …12:2†
l rA0

where A0 ˆ cross-sectional area in the root section

I0 ˆ second moment of inertia in the root section
l ˆ frequency parameter.
Bernoulli±Euler theory. Exact values of l for the three lowest frequencies of vibra-
tions are 5.315, 15.202 and 30.019, respectively.
Timoshenko theory. Approximate values of the frequency parameters, l, in terms of
the geometrical parameter, a ˆ l=h0 , are presented in Table 12.1, E=G ˆ 2:6, shear coef®-
cient k ˆ 0:833 (bars of rectangular cross-section). The Rayleigh±Ritz method is applied
(Gaines and Volterra, 1966).

Truncated wedge. The dimensionless frequency parameter l, and the geometrical coef®-
cients w and a relating to vibration in the vertical plane are (Fig. 12.1(b))

rA0 o2 l 4 h1
l2 ˆ ; wˆ
EI0 h0
The frequency parameters according to the Bernoulli±Euler and Timoshenko theories are
presented.
Bernoulli±Euler theory. Approximate values for the upper and lower bound of the
frequency parameters l for different w are presented in Table 12.2 (Gaines and Volterra,
1966).
Timoshenko theory. The approximate values for the upper and lower bounds of the
frequency parameters l for w ˆ h1 =h0 ˆ 0:5 and different parameters a ˆ l=h0 are
presented in Table 12.3; E=G ˆ 2:6; k ˆ 0:833 for bars of rectangular cross-section.

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 355

TABLE 12.1 Frequency parameter l for wedge. Timoshenko theory

Mode 1 Mode 2 Mode 3

a Upper bound Lower bound Upper bound Lower bound Upper bound Lower bound

3 4.9875 4.9362 13.2322 12.3542 24.0774 19.7426

4 5.1235 5.0846 13.9954 13.2577 26.1653 22.1151
5 5.1901 5.1575 14.3973 13.7426 27.3632 23.5295
10 5.2830 5.2586 14.9919 14.4585 29.2803 25.8134
15 5.3008 5.2776 15.1104 14.5977 29.6854 26.2810
20 5.3070 5.2843 15.1525 14.6466 29.8315 26.4463
50 5.3138 5.2915 15.1984 14.6993 29.9919 26.6251
1 5.3151* 5.2998 15.2072 14.8603 30.0199 27.5880

* See Table 12.7 for the following case: mode 1, D ˆ 0, H ˆ 1.

TABLE 12.2 Frequency parameter l for truncated wedge. Bernoulli±Euler theory

Mode 1* Mode 2 Mode 3

h1
wˆ Upper bound Lower bound Upper bound Lower bound Upper bound Lower bound
h0
0.0 5.3151 5.2998 15.2072 14.8603 30.0199 27.5880
0.1 4.6307 4.6246 14.9314 14.7291 32.8574 30.8563
0.2 4.2925 4.2891 15.7442 15.5782 36.9200 34.9201
0.3 4.0817 4.0794 16.6264 16.4745 40.6421 38.5641
0.4 3.9343 3.9326 17.4882 17.3449 44.0557 41.9052
0.5 3.8238 3.8225 18.3173 18.1797 47.2735 45.0479
0.6 3.7371 3.7361 19.1138 18.9799 50.3546 48.0489
0.7 3.6667 3.6659 19.8806 19.7493 53.3259 50.9370
0.8 3.6083 3.6076 20.6210 20.4915 56.2024 53.7292
0.9 3.5587 3.5581 21.3381 21.2099 58.9953 56.4382

* Fundamental parameter l for a nonlinear vibration of a cantilever tapered beam is presented in Table 14.3.

TABLE 12.3 Frequency parameter for l for truncated wedge. Timoshenko theory

Mode 1 Mode 2 Mode 3

a Upper bound Lower bound Upper bound Lower bound Upper bound Lower bound

3 3.5766 3.5597 13.9981 13.0774 29.5796 23.0213

4 3.6781 3.6670 15.4597 14.6962 34.3038 27.7793
5 3.7284 3.7204 16.3202 15.6882 37.5593 31.3497
10 3.7992 3.7957 17.7461 17.3985 44.1657 39.5036
15 3.8128 3.8101 18.0569 17.7793 45.9123 41.8514
20 3.8176 3.8152 18.1700 17.9173 46.5909 42.7687
50 3.8228 3.8207 18.2948 18.0685 47.3751 43.8163
1 3.8238 3.8225 18.3173 18.1797 47.2753 45.0479

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 NON-UNIFORM ONE-SPAN BEAMS

356 FORMULAS FOR STRUCTURAL DYNAMICS

12.1.2 Cone and truncated cone

The clamped±free cone and truncated cone of length l are presented in Figs. 12.2(a) and (b).

Cone. The natural frequency of vibration is

s
l EI0
oˆ 2
l rA0

where A0 ˆ cross-sectional area in the root section

I0 ˆ second moment of inertia in the root section
l ˆ frequency parameter.

Bernoulli±Euler theory. Exact values of l of the three lowest frequency parameters of

vibrations are 8.719 (see Table 12.5), 21.146 and 38.453, respectively (Volterra and Zach-
manoglou, 1965).
Timoshenko theory. Approximate values of frequency parameters l in terms of
geometrical parameter a ˆ l=d0 are presented in Table 12.4. The Rayleigh±Ritz method
is applied; E=G ˆ 2:6; k ˆ 0:9 (Gaines and Volterra, 1966).

FIGURE 12.2. Tapered cantilever beam: (a) cone; (b) truncated cone.

TABLE 12.4 Cantilevered cone: upper and lower bounds of frequency parameter l by Timoshenko
theory

Mode 1 Mode 2 Mode 3

a Upper bound Lower bound Upper bound Lower bound Upper bound Lower bound

3 8.1162 7.9585 18.5089 16.8389 31.4859 24.8727

4 8.3640 8.2390 19.5310 18.0814 33.9930 27.7074
5 8.4868 8.3783 20.0674 18.7478 35.4011 29.3633
10 8.6593 8.5728 20.8593 19.7301 37.6166 31.9877
15 8.6925 8.6096 21.0169 19.9209 38.0798 32.5202
20 8.7042 8.6225 21.0729 19.9880 38.2466 32.7085
50 8.7168 8.6365 21.1340 20.0605 38.4294 32.9124
1 8.7193 8.6628 21.1457 20.3766 38.4540 34.3348

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 357

Truncated cone.
Bernoulli±Euler theory. Analytical expression. The fundamental frequency of vibra-
tion may be calculated by the formula (Dunkerley±Mikhlin estimates) (Brock, 1976)
s
1 0:016d EI0 d2 d
o1  8:72 4
; m0 ˆ p 0 r; d ˆ 1 …12:3†
1 ‡ 5:053d m0 l 4 d0

where r is mass density. There is a maximum error of 1.4% for d ˆ 0:1. The exact results,
for comparison, were calculated from formulas given by Conway et al. (1964).
Numerical results. For the beam presented in Fig. 12.2(b), the approximate upper and
bound values of the frequency parameters l are presented in Table 12.5. The Rayleigh±
Ritz method has been applied (Gaines and Volterra, 1966).
Natural frequency of vibration is
s
l EI0
oˆ 2
l rA0

where A0 ˆ cross-sectional area in the root section

I0 ˆ second moment of inertia in the root section
l ˆ frequency parameter.

TABLE 12.5 Frequency parameter l for truncated cone. Bernoulli±Euler theory

Mode 1 Mode 2 Mode 3

d1
dˆ Upper bound Lower bound Upper bound Lower bound Upper bound Lower bound
d0
0.0 8.7193 8.6628 21.1457 20.3766 38.4540 34.3348
0.1 7.2049 7.1827 18.6838 18.3071 37.2195 34.4834
0.2 6.1964* 6.1863 18.3866 18.1268 39.8509 37.3952
0.3 5.5093 5.5037 18.6431 18.4313 42.8739 40.4715
0.4 5.0090* 5.0056 19.0657 18.8807 45.7917 43.3934
0.5 4.6252 4.6229 19.5478 19.3807 48.6001 46.1909
0.6 4.3188* 4.3172 20.0500 19.8956 51.3379 48.9003
0.7 4.0669 4.0658 20.5555 20.4104 54.0172 51.5382
0.8 3.8551* 3.8543 21.0568 20.9189 56.6390 54.1102
0.9 3.6737 3.6730 21.5503 21.4182 59.2037 56.6205
1.0 3.5160y 3.5155 22.0345 21.9072 61.7151 59.0746

* Table 14.3 presents fundamental parameters for the case e ˆ 1 d.

y
Parameter l is presented in Table 5.3, case 4; this case corresponds to a uniform cantilever beam.
The above-mentioned reference present frequency parameters l for truncated-cone beams with different
boundary conditions.

Timoshenko theory. The natural frequency of vibration is

s
l EI0
oˆ 2
l rA0

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 NON-UNIFORM ONE-SPAN BEAMS

358 FORMULAS FOR STRUCTURAL DYNAMICS

where A0 ˆ cross-sectional area in the root section

I0 ˆ second moment of inertia in the root section
l ˆ frequency parameter.
Approximate results for upper and lower values of the three lowest frequency parameters l
d
for d ˆ 1 ˆ 0:5 and different parameters a are presented in Table 12.6; E=G ˆ 2:6,
d0
k ˆ 0:9 for bars of circular cross-section (Gaines and Volterra, 1966).

TABLE 12.6 Frequency parameter l for truncated cone. Timoshenko theory

Mode 1 Mode 2 Mode 3

l
aˆ Upper bound Lower bound Upper bound Lower bound Upper bound Lower bound
d0
3 4.3782 4.3555 15.9145 14.9203 33.3741 26.3384
4 4.4806 4.4657 17.2188 16.4251 37.8986 31.1577
5 4.5309 4.5199 17.9511 17.3019 40.8311 34.5640
10 4.6010 4.5956 19.1067 18.7301 46.3220 41.6202
15 4.6144 4.6100 19.3491 19.0332 47.6722 43.4606
20 4.6191 4.6150 19.4365 19.1418 48.1845 44.1573
50 4.6242 4.6205 19.5325 19.2601 48.7666 44.9396
1 4.6252 4.6229 19.5478 19.3807 48.6001 46.1909

12.1.3 Doubly tapered beam

A doubly tapered clamped±free beam is presented in Fig. 12.3.
The dimensionless tapered parameters are

d1 h1
Dˆ ; Hˆ
d0 h0

FIGURE 12.3. Doubly-tapered cantilever beam.

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 359

The natural frequency of vibration is

s
l EI0
oˆ 2
l rA0

where A0 ˆ cross-sectional area in the root section

I0 ˆ second moment of inertia in the root section
l ˆ frequency parameter
Frequency parameters, l, for both Bernoulli±Euler and Timoshenko models of beams are
presented in Table 12.7 (Downs, 1977). The results obtained by using the Bernoulli±Euler
theory (identi®ed by the letter E) can be applied to any material and slenderness ratio, but
for the results based on Timoshenko theory (identi®ed by the letter T), Poisson's ratio
n ˆ 0:3, the ratio of the radius of gyration at the cantilever root to beam length equals 0.08,
and the shear coef®cient of 0.85 applies.

TABLE 12.7 Frequency parameters l for a doubly-tapered cantilever beam

H ˆ h1 =h0

Mode D Theory 0.00 0.10 0.20 0.40 0.70 1.00

0 E 8.71926 7.82581 7.21932 6.43567 5.74690 5.31511*

T 8.13372 7.36318 6.82660 6.11936 5.48694 5.08622
0.1 E 8.24538 7.20487 6.53990 5.72513 5.04388 4.63072
T 7.68773 6.78850 6.19738 5.45828 4.82987 4.44487
0.2 E 7.95834 6.87510 6.19639 5.37614 4.69913 4.29249
1 T 7.40367 6.46638 5.86287 5.11942 4.49591 4.11769
0.4 E 7.61278 6.51107 5.82882 5.00903 4.33622 3.93428
T 7.04337 6.09270 5.48871 4.74979 4.13389 3.76228
0.7 E 7.32708 6.23078 5.55297 4.73721 4.06693 3.66675
T 6.72179 5.78358 5.18913 4.46107 3.85346 3.48689
1.00 E 7.15648 6.07038 5.39759 4.58531 3.91603 3.51602**
T 6.51116 5.59053 5.00623 4.28829 3.68723 3.32405

0.0 E 21.1457 18.6893 17.5871 16.4963 15.6876 15.2076*

T 18.5758 16.7222 15.8247 14.9034 14.2026 13.7798
0.1 E 21.7596 18.6802 17.4387 16.2732 15.4298 14.9308
T 18.7124 16.4421 15.4497 14.4845 13.7683 13.3372
2 0.2 E 22.8572 19.6740 18.3855 17.1657 16.2744 15.7427
T 19.1968 16.9194 15.9230 14.9440 14.2069 13.7575
0.4 E 25.1001 21.7763 20.3952 19.0649 18.0803 17.4879
T 20.1615 17.9264 16.9224 15.9107 15.1297 14.6449
0.7 E 28.2077 24.6738 23.1578 21.6699 20.5555 19.8806
T 21.2941 19.1076 18.0864 17.0229 16.1766 15.6411
1.0 E 31.0414 27.2989 25.6558 24.0211 22.7860 22.0345**
T 22.0961 19.9429 18.9026 17.7871 16.8752 16.2890

0 E 38.4539 33.9593 32.5770 31.3715 30.5230 30.0241*

T 31.6431 28.6418 27.5953 26.6492 25.9650 25.5528
0.1 E 42.6956 37.1238 35.5883 34.2873 33.3747 32.8331
T 33.3657 29.8463 28.7514 27.7936 27.1025 26.6811
(Continued )

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 NON-UNIFORM ONE-SPAN BEAMS

360 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.7 (Continued )

H ˆ h1 =h0

Mode D Theory 0.00 0.10 0.20 0.40 0.70 1.00

3 0.2 E 47.2173 41.4727 39.8336 38.4392 37.4635 36.8846

T 35.2211 31.8154 30.7258 29.7628 29.0643 28.6363
0.4 E 55.2933 49.1472 47.3051 45.7384 44.6583 44.0248
T 38.1256 34.8498 33.7513 32.7692 32.0582 31.6243
0.7 E 65.9035 59.1332 57.0157 55.2224 54.0152 53.3222
T 41.1711 37.9753 36.8520 35.8346 35.1026 34.6625
1.00 E 75.4872 68.1145 65.7470 63.7515 62.4361 61.6972**
T 43.3089 40.1409 38.9854 37.9221 37.1588 36.7078

0 E 60.6814 53.9428 52.4194 51.1626 50.2955 49.7864

T 46.7586 42.7247 41.6481 40.7356 40.0918 39.7040
0.1 E 71.6072 63.5049 61.8123 60.4359 59.4835 58.9171
T 50.7045 46.2748 45.2000 44.3042 43.6694 43.2814
4 0.2 E 81.5116 73.0967 71.2418 69.7438 68.7209 68.1164
T 54.0154 49.8117 48.7398 47.8437 47.2131 46.8294
0.4 E 98.3986 89.2099 87.0561 85.3438 84.2101 83.5541
T 58.6460 54.6403 53.5481 52.6316 51.9995 51.6232
0.7 E 120.127 109.780 107.231 105.241 103.975 103.267
T 63.0086 59.1060 57.9562 56.9726 56.3081 55.9280
1.00 E 139.610 128.169 125.264 123.025 121.648 120.902**
T 65.6745 61.7985 60.5477 59.4336 58.6872 58.2788

0.0 E 87.8399 78.8001 77.2017 75.9181 75.0404 74.5244

T 63.5175 58.6032 57.5472 56.6870 56.0929 55.7378
0.1 E 108.759 98.1657 96.3716 94.9465 93.9695 93.3881
T 70.0331 64.9540 63.9346 63.1141 62.5467 62.2042
5 0.2 E 125.944 114.831 112.828 111.263 110.212 109.594
T 74.6994 69.9218 68.9018 68.0847 67.5298 67.1993
0.4 E 154.555 142.220 139.842 138.035 136.871 136.203
T 80.7452 76.1821 75.1288 74.2587 73.7320 73.4140
0.7 E 190.971 176.865 173.998 171.877 170.577 169.862
T 86.0218 81.4909 80.3262 79.3632 78.7486 78.4163
1.0 E 223.491 207.734 204.426 202.022 200.609 199.860**
T 88.8684 84.2094 82.7133 81.4199 80.6153 80.2127

0.0 E 119.940 108.639 106.995 105.696 104.811 104.289

T 81.6222 75.9677 74.9517 74.1479 73.6048 73.2848
0.1 E 154.279 141.233 139.365 137.906 136.913 136.321
T 90.9234 85.2855 84.3244 83.5736 83.0691 82.7708
6 0.2 E 180.601 166.781 164.668 163.056 161.988 161.360
T 96.9181 91.4678 90.4981 89.7485 89.2576 88.9730
0.4 E 223.807 208.266 205.719 203.845 202.661 201.986
T 104.325 98.6520 97.6310 96.8403 96.3430 96.0680
0.7 E 278.445 260.469 257.357 255.142 253.820 253.099
T 108.631 103.512 102.260 101.223 100.592 100.271
1.0 E 327.122 306.893 303.268 300.745 299.307 298.556
T 98.5342 96.6104 95.7096 95.0009 94.6239 94.4520

Special cases:
* D ˆ 0, H ˆ 1. This case corresponds to a clamped±free wedge (Table 12.1).
** D ˆ 1, H ˆ 1. This case corresponds to a cantilever uniform beam (Table 5.3).

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 361

12.1.4 Tapered beams with a tip mass

Bernoulli±Euler theory. Tapered beams with a tip mass at the free end (x ˆ L0 ) and
clamped at x ˆ L1 ˆ L ‡ L0 are presented in Fig. 12.4.

FIGURE 12.4. (a) Truncated pyramid; (b) truncated cone; (c) general notation for a pyramid and cone with
a tip mass.

The ¯exural rigidity, EI …x†, and the area of cross-section, A…x†, are given by
 4
x
EI …x† ˆ EI0 …12:4†
L1
 2
x
A…x† ˆ A0 …12:5†
L1

where A0 ˆ the cross-section area at x ˆ L1 (root section)

I0 ˆ second moment of inertia at x ˆ L1 .
Formulas (12.4) and (12.5) may be applied to doubly truncated pyramids (Fig. 12.4(a)) and
truncated cones (Fig. 12.4(b),(c)).
The differential equation for mode shape X is
 2 
1 d2 4d X x
y l4 X ˆ 0; y ˆ …12:6†
y2 dy2  dy2 L1
The general solution may be written by using Bessel functions
p
X ˆ y 1 ‰C1 J2 …z† ‡ C2 Y2 …z† ‡ C3 I2 …z† ‡ C4 K2 …z†Š; z ˆ 2l y …12:7†

where J2 and Y2 are the second-order Bessel functions of the ®rst and second kind,
respectively; J2 and I2 and K2 are the modi®ed second-order Bessel functions of the ®rst
and second kind, respectively.
The frequency equation is presented by Lau (1984).

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362 FORMULAS FOR STRUCTURAL DYNAMICS

The natural frequency of vibration is

s
l2 EI0
oˆ 2 …12:8†
L rA0

Frequency coef®cients, l, for different modes of vibration in terms of dimensionless mass

M L
ratio Z ˆ and geometry ratio 0 are presented in Table 12.8 (Lau, 1984).
rA0 L L1

TABLE 12.8 Cantilevered tapered beams with lumped mass at the end: Frequency parameters l by
Bernoulli±Euler theory

Mode

Z L0 =L1 1 2 3 4 5

0.1 2.68419 4.32206 6.09293 7.96900 9.90786

0.2 2.48926 4.28783 6.31139 8.44048 10.62205
0.3 2.34718 4.31754 6.54297 8.86120 11.22275
0.0 0.4 2.23809 4.36633 6.76301 9.23817 11.74885
0.5 2.15062 4.42127 6.96986 9.58190 12.22252
0.6 2.07817 4.47772 7.16482 9.89975 12.65692
0.7 2.01666 4.53382 7.34950 10.19682 13.06052
0.8 1.96345 4.58876 7.52531 10.47678 13.43915
0.9 1.91669 4.64222 7.69341 10.74233 13.79699
1.0* 1.87510 4.69409 7.85476 10.99554 14.13717

0.1 1.10212 3.15637 5.11296 7.10001 9.10876

0.2 1.29695 3.31638 5.45913 7.65757 9.88171
0.3 1.41336 3.46089 5.75049 8.11207 10.50084
0.2 0.4 1.48992 3.59643 6.01266 8.51076 11.03690
0.5 1.54127 3.72491 6.25635 8.87359 11.51935
0.6 1.57524 3.84671 6.48690 9.21107 11.96382
0.7 1.59681 3.96180 6.70713 9.52936 12.37965
0.8 1.60936 4.07015 6.91860 9.83234 12.77289
0.9 1.61530 4.17182 7.12218 10.12251 13.14762
1.0** 1.61640 4.26706 7.31837 10.40156 13.50670

0.1 0.92869 3.15207 5.11131 7.09909 9.10815

0.2 1.09856 3.30136 5.45278 7.65382 9.87911
0.3 1.20610 3.43098 5.73653 8.10341 10.49466
0.4 0.4 1.28282 3.54948 5.98853 8.49516 11.02548
0.5 1.34001 3.66057 6.22005 8.84917 11.50105
0.6 1.38332 3.76604 6.43711 9.17624 11.93714
0.7 1.41618 3.86680 6.64329 9.48294 12.34322
0.8 1.44093 3.96331 6.84085 9.77360 12.72590
0.9 1.45924 4.05581 7.03125 10.05118 13.08929
1.0** 1.47241 4.14443 7.21549 10.31781 13.43668

0.1 0.83974 3.15064 5.11076 7.09879 9.10795

0.2 0.99509 3.29631 5.45065 7.65256 9.87824
0.3 1.09534 3.42067 5.73179 8.10049 10.49259

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 363

TABLE 12.8 (Continued )

Mode

Z L0 =L1 1 2 3 4 5

0.6 0.4 1.16882 3.53275 5.98021 8.48985 11.02160

0.5 1.22551 3.63669 6.20725 8.84072 11.49478
0.6 1.27031 3.73472 6.41907 9.16396 11.92787
0.7 1.30608 3.82810 6.61942 9.46622 12.33047
0.8 1.33471 3.91761 6.81076 9.75189 12.70895
0.9 1.35757 4.00369 6.99473 10.02406 13.06777
1.0** 1.37567 4.08665 7.17252 10.28498 13.41021

0.1 0.78174 3.14993 5.11048 7.09864 9.10785

0.2 0.92717 3.29377 5.44958 7.65193 9.87781
0.3 1.02193 3.41545 5.72941 8.09903 10.49154
0.8 0.4 1.09233 3.52417 5.97599 8.48716 11.01966
0.5 1.14759 3.62425 6.20071 8.83643 11.49161
0.6 1.19217 3.71808 6.40976 9.15769 11.92316
0.7 1.22867 3.80712 6.60695 9.45760 12.32390
0.8 1.25876 3.89227 6.79480 9.74059 12.70022
0.9 1.28360 3.97412 6.97506 10.00979 13.05659
1.0** 1.30409 4.05308 7.14898 10.26749 13.39631

0.1 0.73947 3.14950 5.11032 7.09854 9.10779

0.2 0.87751 3.29225 5.44894 7.65155 9.87755
0.3 0.96797 3.41230 5.72798 8.09815 10.49092
1.0 0.4 1.03572 3.51895 5.97345 8.48555 11.01848
0.5 1.08945 3.61661 5.19674 8.83384 11.48970
0.6 1.13335 3.70777 6.40407 9.15389 11.92031
0.7 1.16983 3.79396 6.59928 9.45234 12.31991
0.8 1.20042 3.87617 6.78492 9.73366 12.69489
0.9 1.22619 3.95507 6.96277 10.00099 13.04974
1.0** 1.24792 4.03114 7.13413 10.25662 13.38776

0.1 0.56219 3.14836 5.10988 7.09830 9.10763

0.2 0.66808 3.28818 5.44723 7.65054 9.87685
0.3 0.73854 3.40382 5.72413 8.09579 10.48924
3.0 0.4 0.79247 3.50478 5.96659 8.48121 11.01534
0.5 0.83643 3.59561 6.18599 8.82686 11.48456
0.6 0.87359 3.67898 6.38855 9.14358 11.91262
0.7 0.90570 3.75657 6.57814 9.43802 12.30910
0.8 0.93389 3.82956 6.75736 9.71464 12.68037
0.9 0.95889 3.89876 6.92806 9.97659 13.03093
1.0** 0.98123 3.96482 7.09160 10.22621 13.36409

0.1 0.49484 3.14813 5.10979 7.09825 9.10760

0.2 0.58822 3.28736 5.44688 7.65034 9.87671
0.3 0.65054 3.40212 5.72336 8.09532 10.48891
5.0 0.4 0.69844 3.50190 5.96521 8.48034 11.01471
0.5 0.73771 3.59130 6.18381 8.82546 11.48353
0.6 0.77113 3.67299 6.38538 9.14149 11.91107
0.7 0.80024 3.74867 6.57379 9.43510 12.30690
(Continued )

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 NON-UNIFORM ONE-SPAN BEAMS

364 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.8 (Continued)

Mode

Z L0 =L1 1 2 3 4 5

0.8 0.82603 3.81953 6.75163 9.71073 12.67741

0.9 0.84913 3.88642 6.92076 9.97155 13.02707
1.0** 0.87002 3.94998 7.08254 10.21986 13.35920

0.1 0.45494 3.14804 5.10975 7.09823 9.10758

0.2 0.54085 3.28702 5.44673 7.65025 9.87665
0.3 0.59827 3.40138 5.72303 8.09511 10.48876
7.0 0.4 0.64248 3.50066 5.96462 8.47997 11.01444
0.5 0.67882 3.58944 6.18287 8.82485 11.48308
0.6 0.70982 3.67040 6.38401 9.14059 11.91040
0.7 0.73693 3.74524 6.57191 9.43384 12.30596
0.8 0.76103 3.81516 6.74915 9.70905 12.67614
0.9 0.78272 3.88101 6.91759 9.96937 13.02541
1.0** 0.80243 3.94344 7.07860 10.21712 13.35709

0.1 0.42725 3.14798 5.10973 7.09822 9.10757

0.2 0.50797 3.28682 5.44665 7.65021 9.87662
0.3 0.56195 3.40098 5.72285 8.09500 10.48868
9.0 0.4 0.60356 3.49997 5.96429 8.47976 11.01429
0.5 0.63780 3.58840 6.18235 8.82451 11.48284
0.6 0.66707 3.66895 6.38325 9.14009 11.91003
0.7 0.69270 3.74332 6.57086 9.43314 12.30544
0.8 0.71555 3.81271 6.74777 9.70811 12.67543
0.9 0.73616 3.87797 6.91582 9.96815 13.02448
1.0** 0.75494 3.93976 7.07639 10.21558 13.35591

In this table Parameter L0 =L1 ˆ 1 corresponds to a uniform beam (Table 5.3). Case *
corresponds to a uniform beam without lumped mass. Case ** corresponds to a uniform
beam with lumped mass.

Timoshenko theory. A cantilevered tapered beam with a tip mass at the free end is
presented in Fig. 12.5. The width of the cross-section is assumed to be constant.

FIGURE 12.5. Cantilever tapered beam with end mass.

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 365

The governing equations and frequency equation are presented by Rossi et al. (1990).
The natural frequency of vibration is
s
l2 EI0
oˆ 2
L rA0

where A0 ˆ cross-sectional area in the root section

I0 ˆ second moment of inertia in the root section
l ˆ frequency parameter.
Table 12.9 shows the ®rst four frequency coef®cients l for different combinations of the
geometry ratio h1 =h0 , dimensionless parameters Z ˆ I0 =…A0 L†2 and mass ratio m ˆ M =Mb
(Mb is total beam mass). The ®nite element method has been applied for Poisson's
coef®cient n ˆ 0:3, and shear coef®cient k ˆ 5=6 (Rossi et al., 1990).

12.1.5 Haunched beam with a tip mass at the free end

A haunched beam with a tip mass at the free end is shown in Fig. 12.6. The width of the
cross-section is assumed to be constant.

FIGURE 12.6. Cantilevered haunched beam.

In the range from x ˆ 0 (clamped end) to x ˆ l1 the area and moment of inertia are
  
x
A…x† ˆ A0 1 ‡ k 1 …12:9†
l1
  3
x
I …x† ˆ I0 1 ‡ k 1 …12:10†
l1
where the dimensionless parameters are
2a h1 h0
kˆ ; aˆ
h0 2
The natural fundamental frequency of vibration, according to the Bernoulli±Euler theory,
may be calculated by
v
357 u
u EI0
o ˆ 2 u  …12:11†
lr t 140 M
1‡ rA0
35 rA0 l

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 NON-UNIFORM ONE-SPAN BEAMS

366 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.9 Cantilevered tapered beams with lumped mass at the

end: Frequency parameters l by Timoshenko theory

Mode

Z h2 =h1 m 1 2 3 4

0.0 3.61 20.61 56.17 109.27

0.2 2.61 16.73 48.24 97.15
0.8 0.4 2.15 15.78 46.95 95.69
0.6 1.87 15.36 46.44 94.55
0.8 1.67 15.12 46.17 94.72
1.0 1.53 14.96 45.99 94.65
8
10
0.0 3.73 19.09 50.31 96.92
0.2 2.61 15.09 42.55 85.34
0.6 0.4 2.11 14.25 41.51 84.18
0.6 1.82 13.88 41.10 83.82
0.8 1.63 13.68 40.90 83.51
1.0 1.48 13.55 40.76 83.43

0.0 3.59 20.17 53.48 100.32

0.2 2.61 16.44 46.23 89.97
0.8 0.4 2.14 15.52 45.03 88.63
0.6 1.86 15.11 44.54 88.22
0.8 1.67 14.87 44.28 87.85
1.0 1.52 14.72 44.12 87.75
0.0004
0.0 3.72 18.77 48.36 90.46
0.2 2.60 14.89 41.13 80.20
0.6 0.4 2.11 14.06 40.13 79.23
0.6 1.82 13.70 39.74 78.89
0.8 1.62 13.51 39.55 78.50
1.0 1.48 13.38 39.42 78.49

0.0 3.56 19.01 47.43 83.48

0.2 2.59 15.67 41.56 75.84
0.8 0.4 2.13 14.82 40.52 74.82
0.6 1.85 14.43 40.10 74.37
0.8 1.66 14.21 39.86 74.27
1.0 1.51 14.07 39.72 74.09
0.0016
0.0 3.69 17.88 43.74 77.32
0.2 2.58 14.32 37.65 69.47
0.6 0.4 2.09 13.54 36.76 68.67
0.6 1.81 13.20 36.43 68.26
0.8 1.61 13.02 36.24 68.13
1.0 1.47 12.89 36.12 68.09

0.0 3.49 17.47 40.96 68.43

0.2 2.55 14.59 36.24 62.92

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 367

TABLE 12.9 (Continued )

Mode

Z h2 =h1 m 1 2 3 4

0.8 0.4 2.10 13.84 35.46 62.08

0.6 1.83 13.49 35.10 61.75
0.8 1.64 13.29 34.91 61.56
1.0 1.50 13.17 34.78 61.52
0.0036
0.0 3.62 16.65 38.49 64.77
0.2 2.55 13.51 33.52 58.80
0.6 0.4 2.08 12.79 32.76 58.09
0.6 1.79 12.48 32.46 57.79
0.8 1.60 12.31 32.29 57.67
1.0 1.46 12.20 32.20 57.55

0.0 3.42 15.84 35.35 56.91

0.2 2.51 13.42 31.66 52.81
0.8 0.4 2.07 12.76 30.92 52.13
0.6 1.80 12.45 30.60 51.84
0.8 1.62 12.28 30.42 51.74
1.0 1.48 12.16 30.32 51.64
0.0064
0.0 3.55 15.30 33.69 54.75
0.2 2.52 12.58 29.63 50.08
0.6 0.4 2.05 11.94 28.96 49.48
0.6 1.77 11.66 28.69 49.24
0.8 1.58 11.50 28.55 49.13
1.0 1.44 11.40 28.46 49.06

0.0 3.33 14.29 30.79 48.05

0.2 2.46 12.27 27.78 45.15
0.8 0.4 2.03 11.69 27.13 44.59
0.6 1.77 11.42 26.84 44.39
0.8 1.59 11.26 26.69 44.25
1.0 1.46 11.16 26.59 44.18
0.01
0.0 3.47 13.98 29.68 46.97
0.2 2.47 11.64 26.27 43.27
0.6 0.4 2.01 11.07 25.67 42.76
0.6 1.74 10.81 25.43 42.55
0.8 1.56 10.67 25.30 42.45
1.0 1.42 10.58 25.22 42.38

where the reduced length of the beam is lr ˆ fl; A0 and I0 are the cross-sectional area and
moment of inertia of any cross-section at l1  x  l.
Parameter f is presented in Table 12.10 in terms of geometry ratios n ˆ h1 =h0 and
Z ˆ l1 =l. The Rayleigh±Ritz method has been applied. If Z and k are small, then the kinetic
energy of the haunched part of the beam is neglected (Filippov, 1970).

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368 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.10 Parameter f for a reduced

length of a cantilever haunched beam

Parameter n ˆ h1 =h0

l1
Zˆ 1.2 1.3 1.4 1.5
l
0.1 0.97 0.96 0.95 0.92
0.2 0.96 0.93 0.91 0.89

Expression for mode shape of vibration is

x2 …3l x†
a1 X …x† ˆ a1 …12:12†
2l 3

12.2 STEPPED BEAMS

12.2.1 Bernoulli±Euler beams with different boundary conditions

A beam with a discontinuous variation of thickness is presented in Fig. 12.7.

The natural frequency of vibrations is
s
l2 EI1
oˆ 2 ; l ˆ l1 ‡ l2
l rA1

The exact frequency equations for beams with different boundary conditions are presented
in Table 12.11. The dimensionless frequency and geometry parameters are

k2 rAi 2 I2
kˆ ; ki4 ˆ o ; i ˆ 1; 2 and I ˆ
k1 EIi I1

Notation:

S1 ˆ sin k1 l1 ; S2 ˆ sin k2 l2 ; C1 ˆ cos k1 l1 ; C2 ˆ cos k2 l2 ;

SH1 ˆ sinh k1 l1 ; SH2 ˆ sinh k2 l2 ; CH1 ˆ cosh k1 l1 ; CH2 ˆ cosh k2 l2 :

FIGURE 12.7. Stepped-beam geometry. The types of

supports are not shown.

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 TABLE 12.11 Frequency parameter l2 for stepped beams with different boundary conditions

Type beam Frequency equation (common case l1 and l2 ) I l2

2 3
Clamped±clamped S1 SH1 C1 CH1 S2 ‡ SH2 C2 ‡ CH2 1* 22.3733
6 C1 CH1
6 S1 SH1 k…C2 CH2† k…S2 ‡ SH2† 77ˆ0 5 25.9591
4 S1 SH1 C1 CH1 k 2 I…S2 ‡ SH2† k 2 I …C2 ‡ CH2† 5 10 27.6807
C1 CH1 S1 SH1 k 3 I …C2 ‡ CH2† k 3 I …S2 SH2† 20 30.3213
40 34.3252

2 3
Pinned±pinned S1 SH1 S2 SH2 1* 9.8696
6 C1 CH1
6 kC2 kCH2 7 7ˆ0 5 10.4129
4 S1 SH1 k 2 IS2 k 2 ISH2 5 10 9.8781
3 20 9.0747
C1 CH1 k 3 IC2 k ICH2
40 8.1369

2 3
Clamped±free S1 SH1 C1 CH1 S2 SH2 C2 CH2 1* 3.5160
6 C1 CH1
6 S1 SH1 k…C2 ‡ CH2† k… S2 ‡ SH2† 7 7ˆ0 5 2.4373
4 S1 SH1 C1 CH1 k 2 I…S2 SH2† k 2 I …C2 CH2† 5 10 2.0629
NON-UNIFORM ONE-SPAN BEAMS

C1 CH1 S1 SH1 k 3 I …C2 CH2† k 3 I …S2 ‡ SH2† 20 1.7418

NON-UNIFORM ONE-SPAN BEAMS

40 1.4685

2 3
Clamped±pinned S1 SH1 C1 CH1 S2 SH2 1* 15.4182
6 C1 CH1
6 S1 SH1 kC2 kCH2 7 7ˆ0 5 16.2811

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4 S1 SH1 C1 CH1 k 2 IS2 k 2 ISH2 5 10 15.5129

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C1 CH1 S1 SH1 k 3 IC2 k 3 ICH2 20 14.2568
40 12.7501

(continued)
369

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 370

TABLE 12.11 (continued)

Type beam Frequency equation (common case l1 and l2 ) I l2

2 3
Free±free S1 ‡ SH1 C1 ‡ CH1 S2 SH2 C2 CH2 1* 22.3733
6 C1 ‡ CH1
6 S1 ‡ SH1 k…C2 ‡ CH2† k… S2 ‡ SH2† 7 7ˆ0 5 24.1650
4 S1 ‡ SH1 C1 ‡ CH1 k 2 I…S2 SH2† k 2 I …C2 CH2† 5 10 23.5459
3 20 22.4725
C1 ‡ CH1 S1 ‡ SH1 k 3 I …C2 CH2† k I …S2 ‡ SH2†
40 21.1907
2 3
Guided±guided C1 CH1 C2 CH2 1* 9.8696
NON-UNIFORM ONE-SPAN BEAMS

FORMULAS FOR STRUCTURAL DYNAMICS

6 S1 SH1
6 kS2 kSH2 7 7ˆ0 5 13.5124
4 C1 CH1 k 2 IC2 k 2 ICH2 5 10 15.9066
3 20 18.2949
S1 SH1 k 3 IS2 k ISH 2
40 20.1954

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2 3
Guided±pinned C1 CH1 S2 SH2 1* 2.4674

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6 S1 SH1
6 kC2 kCH2 7 7ˆ0 5 2.4372
4 C1 CH1 k 2 IS2 k 2 ISH2 5 10 2.3292
3 20 2.1841
S1 SH1 k 3 IC2 k ICH2
40 2.0122

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 TABLE 12.11 (continued)

Type beam Frequency equation (common case l1 and l2 ) I l2

2 3
Clamped±guided S1 SH1 C1 CH1 C2 CH2 1* 5.5933
6 C1 CH1
6 S1 SH1 kS2 kSH2 7 7ˆ0 5 5.6912
4 S1 SH1 C1 CH1 k 2 IC2 k 2 ICH2 5 10 5.6321
3 20 5.3573
C1 CH1 S1 SH1 k 3 IS2 k ISH2
40 4.8913
2 3
Free±guided S1 ‡ SH1 C1 ‡ CH1 C2 CH2 1* 5.5933
6 C1 ‡ CH1
6 S1 ‡ SH1 kS2 kSH2 7 7ˆ0 5 9.3624
4 S1 ‡ SH1 C1 ‡ CH1 k 2 IC2 k 2 ICH2 5 10 11.0519
3 20 12.4070
C1 ‡ CH1 S1 ‡ SH1 k 3 IS2 k ISH2
40 13.2947
2 3
Free±pinned S1 ‡ SH1 C1 ‡ CH1 S2 SH2 1* 15.4182
6 C1 ‡ CH1 2 5 18.6102
6 S1 ‡ SH1 k IS2 kCH 2 7 7ˆ0
4 S1 ‡ SH1 C1 ‡ CH1 k 2 IS2 k 2 ISH2 5 10 18.7641
3 20 18.4031
C1 ‡ CH1 S1 ‡ SH1 k 3 IC2 k ICH2
40 17.7778
NON-UNIFORM ONE-SPAN BEAMS

Special case:
NON-UNIFORM ONE-SPAN BEAMS

* Frequency parameters for uniform beams (Table 5.3).

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 NON-UNIFORM ONE-SPAN BEAMS

372 FORMULAS FOR STRUCTURAL DYNAMICS

Table 12.11 also shows the exact solution, l2 , of the fundamental mode of vibration for
beams with circular cross-section with l1 ˆ l2 ˆ l=2, A2 ˆ aA1 , I ˆ I2 =I1 ˆ a2 (Jano and
Bert, 1989).

12.2.2 Stepped±cantilever Bernoulli±Euler beam

A stepped clamped±free beam is presented in Fig. 12.8.
Natural frequencies of vibration may be calculated by the formula
s
l EI1
oi ˆ 2i …12:12†
l m1

The frequency parameters li are presented in Table 12.12 for the dimensionless
h m EI
geometry ratio H ˆ 2 , mass ratio 2 ˆ H 2 ; 2 ˆ H 4 for H ˆ 0:2.
h1 m1 EI1
Finite element method higher degree polynomials have been used (Balasubramanian et
al., 1990).

FIGURE 12.8. Stepped±cantilever beam.

TABLE 12.12 Frequency parameter l for a stepped±cantilever Bernoulli±

Euler beam

Mode

1 2 3 4 5 6

2.78514 13.1938 18.5068 49.3539 85.8066 99.1000

12.2.3 Bernoulli±Euler beams with guided mass

Details of a guided±clamped stepped beam with a mass are shown in Fig. 12.9.
The natural frequencies of vibration may be calculated by
s
l2 EI0
oˆ 2
l rA0

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 373

FIGURE 12.9. Guided±clamped stepped beam with concentrated mass M .

Frequency parameters l2i for different modes of vibration of a beam with rectangular cross-
sections of constant width and h0 =h1 ˆ 0:8 are listed in Table 12.13. Dimensionless
parameters are

M c
mˆ ; bˆ
rA0 l l

TABLE 12.13 Guided±clamped stepped beam with guided mass: Frequency parameters l2 by
Bernoulli±Euler theory

m ˆ M =rA0 l
c
bˆ Mode 0.0 0.2 0.4 0.6 0.8 1.0 5.0 10.0
l
1 6.70 5.45 4.71 4.20 3.832 3.54 1.792 1.28
2 35.61 31.07 29.33 28.41 27.85 27.47 25.99 25.77
1=3 3 85.85 76.68 74.18 73.04 72.39 71.97 70.45 70.24
4 159.5 147.3 144.6 143.4 142.8 142.4 140.9 140.8
5 259.5 240.4 236.9 235.4 234.6 234.1 232.4 232.2

1 6.81 5.51 4.74 4.22 3.84 3.55 1.79 1.28

2 33.90 29.68 28.09 27.26 26.75 26.41 25.09 24.89
1=2 3 83.11 75.42 73.23 72.21 71.62 71.24 69.86 69.67
4 154.0 140.7 137.7 136.4 135.7 135.3 133.7 133.5
5 248.8 231.8 228.7 227.4 226.7 226.2 224.7 224.5

1 6.791 5.46 4.69 4.17 3.79 3.504 1.760 1.26

2 32.67 29.00 27.59 26.86 26.41 26.11 24.92 24.74
2=3 3 80.58 72.59 70.29 69.23 68.61 68.22 66.77 66.56
4 150.1 138.0 135.3 134.1 133.4 133.0 131.5 131.3
5 237.1 220.7 217.6 216.4 215.7 215.3 213.8 213.6

The ®nite element method has been applied ([Laura et al., 1989; Bambill and Laura, 1989).

12.2.4 Cantilever Timoshenko beam with tip mass

Details of a stepped clamped±free beam having constant width b and a mass M at the tip
are shown in Fig. 12.10.

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 NON-UNIFORM ONE-SPAN BEAMS

374 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 12.10. Clamped±free beam with concentrated mass M .

Dimensionless parameters are

A2 L1 I1 M
gA ˆ ; gL ˆ ; Zˆ ; mˆ
A1 L A1 L21 Mb

where Mb is the total beam mass.

Natural frequencies of vibration may be calculated by
s
l EI1
oˆ 2
L rA1

The frequency parameters, l, for beams with shear factor k ˆ 5=6, Poisson ratio n ˆ 0:3
and different combinations of the parameters Z, gL , gA and m are listed in Table 12.14
(Rossi et al., 1990). The case of Z ˆ 10 7 corresponds, from a practical engineering
viewpoint, to the classical Bernoulli±Euler theory of vibrating beams.

12.3 ELASTICALLY RESTRAINED BEAMS

12.3.1 Tapered Bernoulli±Euler beam with one end spring-hinged and a

tip body at the free end
Consider a rectangular beam of depth h, tapered linearly in the vertical plane and of
constant width b in the horizontal plane (Fig. 12.11). The rotational spring constant is k; a
body attached at the free end has a mass M and a rotatory inertia J .
The tapered parameter of the beam is a ˆ …h0 h1 †=h0 . The cross sectional area,
¯exural rigidity and the total beam mass Mb are given by
 x
A…x† ˆ A0 1 a ; A0 ˆ bh0 …12:13†
l
 x3 bh3
EI …x† ˆ EI0 1 a ; I0 ˆ 0 …12:14†
 l 12
a
Mb ˆ rA0 l 1 …12:15†
2
The differential equation for eigenfunctions X is given by
 2 
d2 3d X
x b4 xX ˆ 0 …12:16†
dx2 dx2

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 375

TABLE 12.14 Clamped±free stepped beam with lumped mass at the end: Frequency parameters l
by Timoshenko theory

Mode

I1 L1 A2 M
Zˆ gL ˆ gA ˆ mˆ 1 2 3 4 5
A1 L21 L A1 Mb
0.0 3.83 21.57 56.34 112.33 185.60
0.2 2.76 17.03 48.32 100.58 167.59
0.8 0.4 2.26 15.99 47.15 99.25 166.02
0.6 1.96 15.54 46.69 98.74 165.45
0.8 1.75 15.28 46.45 98.48 165.15
1.0 1.60 15.12 46.30 98.31 164.97
2=3
0.0 4.23 19.94 49.55 103.32 162.83
0.2 2.90 14.62 43.11 90.63 146.74
0.6 0.4 2.33 13.71 42.40 89.51 145.76
0.6 2.00 13.33 42.14 89.10 145.41
0.8 1.78 13.13 42.00 88.89 145.24
1.0 1.62 13.01 41.91 88.76 145.13
7
10
0.0 3.62 19.35 53.12 104.97 171.00
0.2 2.59 16.00 45.78 93.68 156.22
0.8 0.4 2.11 15.18 44.56 92.28 154.79
0.6 1.83 14.82 44.07 91.75 154.26
0.8 1.64 14.61 43.81 91.47 153.98
1.0 1.49 14.48 43.64 91.29 153.81
1=3
0.0 3.49 16.87 42.60 86.25 142.40
0.2 2.34 14.03 36.63 76.07 130.09
0.6 0.4 1.88 13.43 35.78 75.00 129.05
0.6 1.61 13.18 35.45 74.59 128.67
0.8 1.43 13.04 35.27 74.38 128.47
1.0 1.30 12.95 35.16 74.25 128.35

0.0 3.82 21.35 55.04 107.50 173.62

0.2 2.75 16.90 47.34 96.69 157.79
0.8 0.4 2.26 15.87 46.21 95.44 156.36
0.6 1.96 15.42 45.76 94.97 155.83
0.8 1.75 15.17 45.33 94.72 155.56
1.0 1.60 15.01 45.37 94.56 155.39
2=3
0.0 4.22 19.78 48.57 99.47 154.33
0.2 2.89 14.54 42.33 87.74 139.58
0.6 0.4 2.32 13.63 41.64 86.69 138.66
0.6 2.00 13.26 41.38 86.30 138.33
0.8 1.78 13.06 41.25 86.10 138.16
1.0 1.62 12.93 41.16 85.97 138.05
0.0004
0.0 3.62 19.30 52.84 103.92 168.34
0.2 2.59 15.97 45.57 92.84 154.00
1=3 0.8 0.4 2.11 15.16 44.37 91.47 152.59
0.6 1.83 14.79 43.88 90.95 152.07
0.8 1.64 14.59 43.62 90.67 151.80
1.0 1.49 14.45 43.45 90.50 151.63
(continued)

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 NON-UNIFORM ONE-SPAN BEAMS

376 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.14 (Continued )

Mode

I1 L1 A2 M
Zˆ gL ˆ gA ˆ mˆ 1 2 3 4 5
A1 L21 L A1 Mb
0.0 3.49 16.84 42.45 85.67 140.87
0.2 2.34 14.01 36.52 75.62 128.72
1=3 0.6 0.4 1.88 13.42 35.68 74.56 127.70
0.6 1.61 13.16 35.34 74.16 127.32
0.8 1.43 13.02 35.17 73.95 127.13
1.0 1.30 12.93 35.06 73.82 127.01

0.0 3.80 20.72 51.68 96.39 148.97

0.2 2.74 16.51 44.77 87.51 137.04
0.8 0.4 2.25 15.52 43.72 86.44 135.87
0.6 1.95 15.08 43.31 86.02 135.44
0.8 1.75 14.84 43.08 85.81 135.21
1.0 1.59 14.68 42.94 85.67 135.08
2=3
0.0 4.20 19.32 45.98 90.28 135.74
0.2 2.88 14.28 40.25 80.62 123.72
0.6 0.4 2.32 13.40 39.61 79.71 122.91
0.6 1.99 13.04 39.36 79.37 122.62
0.8 1.77 12.84 39.24 79.19 122.47
1.0 1.61 12.72 39.16 70.09 122.38
0.0016
0.0 3.61 19.18 52.03 100.98 161.15
0.2 2.58 15.88 44.98 90.50 147.92
0.8 0.4 2.11 15.08 43.80 89.18 146.60
0.6 1.83 14.72 43.32 88.67 146.11
0.8 1.64 14.51 43.06 88.40 145.85
1.0 1.49 14.38 42.90 88.24 145.69
1=3
0.0 3.48 16.75 42.01 84.00 136.16
0.2 2.34 13.96 36.19 74.33 124.88
0.6 0.4 1.87 13.36 35.36 73.30 123.91
0.6 1.61 13.11 35.03 72.91 123.56
0.8 1.43 12.97 34.86 72.70 123.37
1.0 1.30 12.88 34.75 72.58 123.26

0.0 3.77 19.80 47.35 84.14 125.06

0.2 2.73 15.92 41.36 77.08 116.30
0.8 0.4 2.24 14.98 40.42 76.17 115.36
0.6 1.94 14.57 40.04 75.82 115.01
0.8 1.74 14.34 39.83 75.63 114.82
1.0 1.59 14.19 39.71 75.52 114.71
0.0036 2=3
0.0 4.16 18.62 42.54 79.68 116.41
0.2 2.86 13.89 37.44 72.05 106.99
0.6 0.4 2.30 13.04 36.84 71.29 106.30
0.6 1.98 12.69 36.62 71.00 106.05
0.8 1.76 12.50 36.50 70.85 105.92
1.0 1.60 12.38 36.43 70.76 105.84

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 377

TABLE 12.14 (Continued )

Mode

I1 L1 A2 M
Zˆ gL ˆ gA ˆ mˆ 1 2 3 4 5
A1 L21 L A1 Mb
0.0 3.60 18.97 50.78 96.63 151.24
0.2 2.58 15.74 44.04 86.99 139.41
0.8 0.4 2.11 14.95 42.90 85.75 138.19
0.6 1.83 14.59 42.44 85.27 137.73
0.8 1.63 14.39 42.19 85.02 137.49
1.0 1.49 14.26 42.03 84.86 137.35
0.0036 1=3
0.0 3.48 16.62 41.32 81.43 129.43
0.2 2.34 13.86 35.67 72.33 119.24
0.6 0.4 1.87 13.28 34.86 71.34 118.34
0.6 1.61 13.02 34.54 70.97 118.01
0.8 1.43 12.89 34.36 70.77 117.84
1.0 1.30 12.80 34.26 70.65 117.73

0.0 3.73 18.70 42.91 73.22 105.69

0.2 2.70 15.19 37.77 67.55 99.16
0.8 0.4 2.22 14.33 36.92 66.78 98.40
0.6 1.93 13.94 36.58 66.48 98.11
0.8 1.73 13.72 36.39 66.32 97.96
1.0 1.58 13.58 36.28 66.22 97.86
2=3
0.0 4.11 17.77 38.92 69.94 99.89
0.2 2.84 13.40 34.39 63.86 92.56
0.6 0.4 2.29 12.59 33.85 63.22 91.97
0.6 1.97 12.26 33.65 62.97 91.75
0.8 1.75 12.07 33.54 62.85 91.64
1.0 1.59 11.96 33.47 62.77 91.57
0.0064
0.0 3.59 18.69 49.18 91.48 140.31
0.2 2.57 15.55 42.84 82.76 129.89
0.8 0.4 2.11 14.78 41.74 81.61 128.77
0.6 1.83 14.43 41.30 81.17 128.35
0.8 1.63 14.23 41.06 80.93 128.13
1.0 1.49 14.10 40.91 80.78 127.99
1=3
0.0 3.47 16.43 40.40 78.22 121.64
0.2 2.33 13.73 34.99 69.80 112.58
0.6 0.4 1.87 13.16 34.19 68.87 111.75
0.6 1.60 12.91 33.88 68.51 111.45
0.8 1.43 12.77 33.71 68.33 111.29
1.0 1.30 12.68 33.61 68.21 111.20

0.0 3.67 17.52 38.81 64.15 90.53

0.2 2.67 14.40 34.38 59.52 85.64
2=3 0.8 0.4 2.20 13.60 33.60 58.85 85.02
0.6 1.91 13.24 33.29 58.59 84.77
0.8 1.71 13.04 33.12 58.45 84.65
1.0 1.56 12.91 33.01 58.36 84.57
(continued)

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 NON-UNIFORM ONE-SPAN BEAMS

378 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.14 (Continued )

Mode

I1 L1 A2 M
Zˆ gL ˆ gA ˆ mˆ 1 2 3 4 5
A1 L21 L A1 Mb
0.0 4.05 16.82 35.49 61.68 86.54
0.2 2.81 12.83 31.46 56.72 80.81
2=3 0.6 0.4 2.27 12.08 30.96 56.17 80.30
0.6 1.95 11.76 30.77 55.96 80.12
0.8 1.74 11.59 30.67 55.85 80.02
1.0 1.58 11.48 30.60 55.78 79.96
0.01
0.0 3.58 18.36 47.35 86.02 129.48
0.2 2.57 15.32 41.44 78.21 120.34
0.8 0.4 2.10 14.56 40.40 77.15 119.33
0.6 1.82 14.22 39.97 76.74 118.94
0.8 1.63 14.03 39.74 76.52 118.74
1.0 1.49 13.91 39.60 76.38 118.61
1=3
0.0 3.46 16.20 39.33 74.64 113.61
0.2 2.33 13.57 34.17 66.94 105.57
0.6 0.4 1.87 13.01 33.40 66.06 104.82
0.6 1.60 12.76 33.10 65.72 104.54
0.8 1.43 12.63 32.93 65.55 104.39
1.0 1.29 12.54 32.83 65.44 104.30

x
where x ˆ 1 a . Frequency parameter
l
rA l 4 l4
b4 ˆ 0 o2 4 ˆ 4 …12:17†
EI0 a a
The boundary conditions are:
kl dX d2 X
At x ˆ 1 …left end†: y ˆ 0 and ‡a 2 ˆ0 …12:18†
EI0 dx dx

FIGURE 12.11. Elastic±clamped tapered beam with a body attached at the free end.

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 379

At x ˆ 1 a (right end):

J 4 a dX d2 X
l 1 ‡ a…1 a†3 ˆ0
Mb l2 n 2 dx dx2
 2  …12:19†
M 4 a d X d3 X
l 1 X a3 …1 a†2 3 2 ‡ …1 a† 3 ˆ 0
Mb n 2 dx dx
The general expression for the vibration mode is expressed as
1=2
p
X …x† ˆ x ‰C1 J1 …Z† ‡ C2 Y1 …Z† ‡ C3 I1 …Z† ‡ C4 K1 …Z†Š; Z ˆ 2b x …12:20†
where J , Y , I and K are Bessel functions of the ®rst order with argument Z.
The frequency equation can be obtained by using the expression for X …x† and the
boundary conditions. The complete frequency equation is presented by Lee (1976).
The natural frequency of vibration of the ith mode is
s
l2 EI0
oˆ 2
l rA0

The frequency parameters l for various values of the spring stiffness, end mass, rotary
inertia and taper parameter are shown in Table 12.15 (Lee, 1976).
Elastic±clamped tapered Bernoulli±Euler beams with a tip body at the free end and
with translational and rotational springs along the space are studied by Yang (1990).

12.3.2 Tapered simply supported Timoshenko beam with ends elastically

restrained against rotation
A simply supported non-uniform beam with two rotational springs is presented in Fig.
12.12. The thickness b of the beam is constant and the depth is tapered linearly in the plane
of vibration. The parameters h, A and I are the depth, cross-sectional area and the moment
of inertia; subscripts 0 and 1 denote the values at the left and right-hand supports,
respectively; f1 and f2 are the ¯exibility constants of the rotational springs.
The cross-sectional area and ¯exural rigidity are given by
 ax
A…x† ˆ A0 1 ‡ …12:31†
L
 ax  3
EI …x† ˆ EI0 1 ‡ …12:32†
L
The taper parameter and the dimensionless parameters of the beam are
h1 h0 I0 EI0 EI1
aˆ  0; Z0 ˆ ; f01 ˆ f1 ; f02 ˆ f2 ;
h0 A0 L2 L L
The natural frequency of vibration is
s
l EI0
oˆ 2
L rA0

The governing functional is presented by Magrab (1979). The Ritz minimization procedure
is presented by Guttierrez et al. (1991). The fundamental frequency parameters, l, for

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 380

TABLE 12.15 Fundamental frequency coef®cients l for a tapered Bernoulli±Euler beam with one end spring-hinged and a tip body

kl M J
bˆ ; mˆ ; cˆ
EI0 Mb Mb l 2

a ˆ 0:2 a ˆ 0:4 a ˆ 0:6

b m c ˆ 0:0 1.0 10 100 c ˆ 0:0 1.0 10 100 c ˆ 0:0 1.0 10 100

0.1 0 0.76581 0.52648 0.31212 0.17655 0.80329 0.53786 0.31630 0.17873 0.85244 0.54214 0.31460 0.17749
1 0.53447 0.46056 0.30581 0.17617 0.55190 0.47240 0.31044 0.17838 0.57229 0.48247 0.30994 0.17722
10 0.31911 0.31147 0.26704 0.17291 0.32815 0.32008 0.27299 0.17537 0.33836 0.32954 0.27733 0.17484
100 0.18068 0.18022 0.17624 0.15066 0.18570 0.18521 0.18102 0.15396 0.19134 0.19081 0.18624 0.15631

1.0 0 1.29285 0.80143 0.46224 0.26060 1.34860 0.77587 0.44305 0.24953 1.42170 0.71316 0.40350 0.22704
1 0.88824 0.72881 0.45708 0.26031 0.90651 0.71950 0.43949 0.24932 0.92322 0.68145 0.40172 0.22694
10 0.52778 0.51119 0.41814 0.25768 0.53565 0.51643 0.41034 0.24752 0.54128 0.51617 0.38579 0.22604
100 0.29864 0.29763 0.28901 0.23562 0.30288 0.30173 0.29175 0.23108 0.30577 0.30431 0.29128 0.21709

10 0 1.75935 0.91673 0.52059 0.29303 1.80561 0.85139 0.48138 0.27085 1.86889 0.74992 0.42260 0.23769
1 1.16386 0.86721 0.51759 0.29286 1.15829 0.81761 0.47944 0.27074 1.14177 0.73252 0.42163 0.23764
10 0.68517 0.65103 0.49228 0.29135 0.67763 0.63679 0.46237 0.26976 0.66244 0.60760 0.41288 0.23715
NON-UNIFORM ONE-SPAN BEAMS

FORMULAS FOR STRUCTURAL DYNAMICS

100 0.38725 0.38517 0.36753 0.27709 0.38270 0.38024 0.35919 0.26016 0.37376 0.37056 0.34235 0.23223

100 0 1.89955 0.93482 0.52973 0.29812 1.93315 0.86185 0.48677 0.27385 1.98350 0.75447 0.42501 0.23904
1 1.23624 0.89117 0.52713 0.29797 1.21827 0.83202 0.48506 0.27375 1.18790 0.73884 0.42414 0.23899

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10 0.72545 0.68353 0.50490 0.29665 0.71062 0.66136 0.46999 0.27289 0.68747 0.62301 0.41627 0.23855

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100 0.40985 0.40728 0.38571 0.28414 0.40119 0.39821 0.37290 0.26441 0.38777 0.38396 0.35093 0.23415

Special cases:
Parameters m ˆ 0 and c ˆ 0 correspond to a tapered beam without a tip body.
Parameter c ˆ 0 corresponds to a tapered beam with a tip mass but without a rotational effect.

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 381

FIGURE 12.12. Tapered Timoshenko beam with ends elastically restrained against rotation.

tapered Timoshenko beams with different boundary conditions and parameters f are
presented in Tables 12.16(a)±(d). Calculations have been performed with Poisson coef®-
cient n ˆ 0:3 and shear coef®cient k ˆ 0:833.
In the tables are depicted numerical results obtained by (1) the optimized Ritz
approach; (2) exact value and (3) by applying the ®nite element method, if the element
was subdivided into 20 slices of constant thickness.

TABLE 12.16(a) Clamped±clamped beam. Fundamental frequency coef®cients l1 (f01 ˆ f02 ˆ 0)

a ˆ 0:0* a ˆ 0:05 a ˆ 0:10 a ˆ 0:15 a ˆ 0:20

Z0 (1) (2) (1) (3) (1) (3) (1) (3) (1) (3)

0.0009 21.263 20.872 21.659 21.325 22.073 21.765 22.503 22.197 22.949 22.621
0.0016 20.254 19.901 20.633 20.294 21.024 20.673 21.401 21.043 21.728 21.403
0.0025 19.309 18.837 19.643 19.173 19.931 19.492 20.227 19.801 20.530 20.101
0.0036 18.311 17.749 18.596 18.031 18.866 18.297 19.120 18.552 19.377 18.799
0.0049 17.313 16.682 17.539 16.919 17.772 17.138 18.010 17.348 18.247 17.549
0.0064 16.342 15.666 16.552 15.864 16.753 16.045 16.946 16.217 17.124 16.381

TABLE 12.16(b) Clamped±pinned beam. Fundamental frequency coef®cients l1 (f01 ˆ 0;

f02 ˆ 1)

a ˆ 0:0* a ˆ 0:05 a ˆ 0:10 a ˆ 0:15 a ˆ 0:20

Z0 (1) (2) (1) (3) (1) (3) (1) (3) (1) (3)

0.0009 14.989 14.793 15.234 15.035 15.453 15.271 15.676 15.502 15.906 15.728
0.0016 14.517 14.358 14.739 14.578 14.922 14.789 15.102 14.996 15.289 15.197
0.0025 13.985 13.856 14.178 14.050 14.372 14.236 14.551 14.417 14.735 14.592
0.0036 13.478 13.311 13.671 13.480 13.849 13.641 13.988 13.796 14.131 13.945
0.0049 12.984 12.746 13.113 12.892 13.247 13.029 13.386 13.160 13.531 13.285
0.0064 12.439 12.178 12.571 12.303 12.708 12.418 12.838 12.527 12.946 12.663

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 NON-UNIFORM ONE-SPAN BEAMS

382 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.16(c) Elastically clamped±pinned beam. Fundamental frequency coef®cients l1

(f01 ˆ 10; f02 ˆ 1)

a ˆ 0:0* a ˆ 0:05 a ˆ 0:10 a ˆ 0:15 a ˆ 0:20

Z0 (1) (2) (1) (3) (1) (3) (1) (3) (1) (3)

0.0009 9.842 9.789 10.082 10.019 10.325 10.244 10.540 10.465 10.756 10.682
0.0016 9.703 9.657 9.922 9.878 10.129 10.094 10.338 10.305 10.548 10.512
0.0025 9.534 9.498 9.732 9.707 9.932 9.912 10.133 10.111 10.336 10.307
0.0036 9.342 9.315 9.532 9.513 9.723 9.705 9.916 9.892 10.106 10.074
0.0049 9.138 9.114 9.320 9.300 9.502 9.479 9.676 9.653 9.836 9.822
0.0064 8.926 8.901 9.097 9.074 9.256 9.241 9.413 9.402 9.565 9.556

TABLE 12.16(d) Pinned±pinned beam. Fundamental frequency coef®cients l1 (f01 ˆ f02 ˆ 1)

a ˆ 0:0* a ˆ 0:05 a ˆ 0:10 a ˆ 0:15 a ˆ 0:20

Z0 (1) (2) (1) (3) (1) (3) (1) (3) (1) (3)

0.0009 9.748 9.695 9.990 9.927 10.235 10.154 10.458 10.377 10.676 10.597
0.0016 9.611 9.567 9.835 9.790 10.045 10.007 10.067 10.221 10.469 10.430
0.0025 9.446 9.411 9.648 9.623 9.850 9.830 10.054 10.031 10.259 10.229
0.0036 9.257 9.232 9.450 9.433 9.645 9.627 9.840 9.816 10.033 10.001
0.0049 9.057 9.036 9.242 9.224 9.428 9.406 9.604 9.582 9.767 9.754
0.0064 8.850 8.827 9.026 9.003 9.189 9.172 9.346 9.336 9.500 9.494

Special case:
* The case a ˆ 0 corresponds to a uniform beam.

12.3.3 Stepped Timoshenko beam with restrained at one end and guided
at the other

The stepped beam with translational and rotational springs at one end and a guided support
at the other is presented in Fig. 12.13, where K is the stiffness constant for a translational
spring and f is the ¯exibility constant for a rotational spring.

FIGURE 12.13. Stepped beam with an elastic support at one end and a guided support at the other.

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 383

TABLE 12.17(a) Clamped±guided beam (f0 ˆ 0, k0 ˆ 1). Natural frequency coef®cients l

Mode

I1 L1 b2 h2
1 2 3 4 5
A1 L21 L b1 h1
1.0 0.8 5.319 26.304 62.996 117.694 189.343
0.6 4.783 22.647 50.514 92.775 151.862
0.25
0.8 0.8 5.606 27.035 63.107 117.344 189.658
0.6 4.957 23.452 50.831 92.123 151.544
7
10
1.0 0.8 5.458 27.150 66.568 123.364 199.284
0.6 5.484 22.616 58.752 102.704 173.226
0.5
0.8 0.8 5.822 26.966 66.977 122.722 200.092
0.6 5.883 22.274 59.411 101.990 173.622

1.0 0.8 5.299 25.938 61.172 111.798 174.952

0.6 4.770 22.416 49.510 89.745 144.102
0.25
0.8 0.8 5.584 26.658 61.289 111.472 175.194
0.6 4.943 23.209 49.805 89.126 143.872
0.0036
1.0 0.8 5.374 25.620 58.883 102.013 151.955
0.6 5.411 21.687 52.979 88.517 138.784
0.50
0.8 0.8 5.731 25.453 59.171 101.453 152.436
0.6 5.802 21.369 53.513 87.762 139.274

1.0 0.8 5.263 25.328 58.331 103.389 156.477

0.6 4.747 22.024 47.887 85.099 133.002
0.25
0.8 0.8 5.546 26.029 58.456 103.086 156.643
0.6 4.919 22.796 48.149 84.527 132.884
0.01
1.0 0.8 5.236 23.475 50.325 82.550 117.386
0.6 5.289 20.304 46.059 74.074 110.051
0.50
0.8 0.8 5.581 23.326 50.512 82.010 117.771
0.6 5.666 20.017 46.452 73.323 110.493

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 NON-UNIFORM ONE-SPAN BEAMS

384 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.17(b) Pinned±guided beam. Natural frequency coef®cients l (f0 ˆ k0 ˆ 1)

Mode

I1 L1 b2 h2
1 2 3 4 5
A1 L21 L b1 h1
1.0 0.8 1.980 18.237 52.086 103.140 168.986
0.6 1.483 13.757 40.404 82.627 137.813
0.25
0.8 0.8 1.975 18.055 51.726 103.278 169.724
0.6 1.477 13.517 39.843 82.356 138.639
7
10
1.0 0.8 2.025 20.192 54.457 108.396 177.675
0.6 1.519 17.089 47.531 90.470 155.485
0.5
0.8 0.8 1.997 20.114 54.657 108.029 178.246
0.6 1.482 16.832 48.154 89.558 156.643

1.0 0.8 1.979 18.110 51.055 99.210 158.951

0.6 1.483 13.696 39.899 80.547 132.112
0.25
0.8 0.8 1.974 17.931 50.697 99.292 159.585
0.6 1.476 13.457 39.343 80.271 132.853
0.0036
1.0 0.8 2.018 19.540 50.254 93.489 142.828
0.6 1.515 16.677 44.553 81.045 129.834
0.50
0.8 0.8 1.991 19.449 50.443 93.074 143.240
0.6 1.479 16.421 45.079 80.230 130.606

1.0 0.8 1.976 17.892 49.494 93.379 145.386

0.6 1.481 13.591 39.053 77.267 123.773
0.25
0.8 0.8 1.971 17.717 49.035 93.387 145.904
0.6 1.475 13.352 38.507 76.984 124.399
0.01
1.0 0.8 2.007 18.546 44.978 78.401 113.996
0.6 1.509 16.022 40.596 70.271 106.318
0.50
0.8 0.8 1.980 18.437 45.157 77.946 114.327
0.6 1.473 15.770 41.012 69.538 106.823

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 385

TABLE 12.17(c) Beam elastically restrained at one end and guided at the other. Natural frequency
coef®cients l. The beam at the left-hand end is rigidly restrained against rotation (f0 ˆ 0) and

elastically restrained in translation (k0 ˆ 10)

Mode

I1 L1 b2 h2
1 2 3 4 5
A1 L21 L b1 h1
1.0 0.8 3.010 9.696 34.010 74.430 132.341
0.6 3.168 8.190 28.309 60.305 103.823
0.25
0.8 0.8 3.249 9.664 34.315 74.645 131.803
0.6 3.385 8.117 28.630 60.997 103.439
7
10
1.0 0.8 2.958 10.046 34.993 80.145 139.666
0.6 3.122 9.323 28.811 69.948 118.328
0.5
0.8 0.8 3.124 10.165 34.688 80.570 139.175
0.6 3.284 9.499 28.501 70.123 118.482

1.0 0.8 3.007 9.668 33.571 72.393 126.111

0.6 3.164 8.176 28.054 59.179 100.629
0.25
0.8 0.8 3.245 9.635 33.862 72.607 125.617
0.6 3.381 8.103 28.364 59.839 100.245
0.0036
1.0 0.8 2.946 9.919 33.205 71.469 116.725
0.6 3.110 9.225 27.746 63.908 102.720
0.50
0.8 0.8 3.112 10.030 32.926 71.741 116.362
0.6 3.272 9.391 27.449 64.020 102.697

1.0 0.8 3.001 9.619 32.841 69.229 117.238

0.6 3.158 8.151 27.622 57.361 95.751
0.25
0.8 0.8 3.239 9.586 33.109 69.444 116.798
0.6 3.374 8.078 27.914 57.970 95.370
0.01
1.0 0.8 2.926 9.710 30.711 61.768 95.623
0.6 3.089 9.060 26.172 56.534 86.795
0.50
0.8 0.8 3.019 9.809 30.464 61.912 95.326
0.6 3.251 9.211 25.893 56.578 86.647

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 NON-UNIFORM ONE-SPAN BEAMS

386 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.17(d) Beam elastically restrained at one end and guided at the other. Natural frequency
coef®cients l. The beam at the left-hand end is free to rotate (f0 ˆ 1) and elastically restrained in

translation (k0 ˆ 10)

Mode

I1 L1 b2 h2
1 2 3 4 5
A1 L21 L b1 h1
1.0 0.8 1.752 7.943 24.772 61.662 117.334
0.6 1.402 7.392 18.727 46.706 91.233
0.25
0.8 0.8 1.782 7.942 24.295 60.937 116.755
0.6 1.409 7.422 18.400 45.932 90.284
7
10
1.0 0.8 1.771 7.847 27.481 67.061 123.556
0.6 1.417 7.277 22.282 59.390 103.078
0.5
0.8 0.8 1.775 7.772 27.123 67.560 122.939
0.6 1.398 7.283 21.730 60.088 102.425

1.0 0.8 1.751 7.931 24.535 60.219 112.322

0.6 1.402 7.385 18.599 45.985 88.703
0.25
0.8 0.8 1.781 7.931 24.060 59.505 111.728
0.6 1.408 7.415 18.269 45.213 87.771
0.0036
1.0 0.8 1.767 7.792 26.344 60.916 105.004
0.6 1.417 7.234 21.602 54.957 91.209
0.50
0.8 0.8 1.771 7.718 25.984 61.337 104.473
0.6 1.395 7.239 21.062 55.534 90.603

1.0 0.8 1.750 7.909 24.132 57.929 105.023

0.6 1.400 7.371 18.379 44.794 84.754
0.25
0.8 0.8 1.779 7.910 23.662 57.230 104.403
0.6 1.407 7.401 18.044 44.026 83.846
0.01
1.0 0.8 1.760 7.700 24.680 53.626 86.999
0.6 1.412 7.161 20.553 49.343 78.298
0.50
0.8 0.8 1.764 7.625 24.316 53.981 86.541
0.6 1.390 7.162 20.028 49.796 77.754

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 387

The natural frequency of vibration is

s
l EI1
oˆ 2
L rA1
The ®rst ®ve natural frequency coef®cients, l, for stepped beams with different boundary
conditions in terms of the dimensionless parameters are presented in Tables 12.17(a)±(d).
The dimensionless parameters are

KL3 EI1 I1 L1 b2 h2
k0 ˆ ; f0 ˆ f ; Zˆ ; gL ˆ ; gb ˆ ; gh ˆ
EI1 L A1 L21 L b1 h1
Calculations have been performed with the shear factor k ˆ 0:866, and the Poisson
coef®cient n ˆ 0:3 (Guttierrez et al., 1990). This article also contains the governing
Timoshenko differential equation, boundary and compatibility conditions as well as
expressions for eigenfunctions.

12.4 TAPERED SIMPLY SUPPORTED BEAMS ON

AN ELASTIC FOUNDATION

Consider a non-uniform simply supported beam resting on an elastic foundation; KF is the

foundation modulus. Three types of linear tapers are presented in Fig. 12.14. They are
referred as (a) breadth taper, (b) depth taper, and (c) diameter taper.
The cross-sectional area A…x† and the moment of inertia I …x† may be expressed in
common form
 n1  n2
2x 2x l
A…x† ˆ Ac 1 b ‡ b ; I …x† ˆ Ic 1 b ‡ b ; 0x …12:23†
l l 2
 n1  n2
2x 2x l
A…x† ˆ Ac 1 ‡ b b ; I …x† ˆ Ic 1 ‡ b b ; xl …12:24†
l l 2
Parameter gFT depends of the types of taper. The various types of linear taper and the
corresponding power parameters n1 , n2 as well as expressions for gFT for the ®rst and
second mode of vibration of simply supported beams are presented in Table 12.18 (Kanaka
Raju, Venkateswara Rao, 1990). The dimensionless parameter of the foundation is
K l4
gF ˆ 4F , where KF is the foundation modulus.
p EIc

FIGURE 12.14. Non-uniform simply supported beam on an elastic foundation. Types of linear taper.

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388 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 12.18 Expressions for gFT for the ®rst and second modes of vibration of tapered simply
supported beams

Type of taper b n1 n2 Expression for gFT

Breadth taper bc be 1 1 1
…74:0220 59:0251b ‡ 11:0070b2 †
bc b

Depth taper dc de 1 3 1
…74:0220 135:0438b ‡ 98:0387b2
dc b
31:3730b3 ‡ 3:9184b4 †

Diameter taper Dc De 2 4 1
… 3:75 ‡ 9:8318b 11:5007b2
Dc b…0:1013 0:0380b†
‡ 7:5146b3 2:8629b4 ‡ 0:6049b5 0:0567b6 †

TABLE 12.19 Parameters gFT for the ®rst and second mode of vibrations
(m ˆ 1; 2)

Taper parameter b Breadth taper Depth taper Diameter taper

0.05 1540.02 1620.5 827.77

0.10 800.34 885.39 462.03
0.15 554.16 643.95 343.33
0.20 431.34 526.05 286.56

If the foundation parameter gF < gFT then the beam vibrates in the ®rst mode (m ˆ 1),
and if gF > gFT then the beam vibrates in the second mode (m ˆ 2), with the values of lf
being the lowest, as listed in Table 12.20 later.
The subscripts c and e indicate the midpoint and ends for each of the beams. Several
numerical results for parameters gFT for different taper parameters b and types of taper are
presented in Table 12.19. rA o2 l 4
The non-dimensional frequency parameter is l4 ˆ c and is presented for
different types of taper in Table 12.20. EIc

12.5 FREE±FREE SYMMETRIC PARABOLIC BEAM

A doubly symmetric parabolic beam is presented in Fig. 12.15.

The area of the cross-section and the moment of inertia are

A…x† ˆ A0 …1 cx2 † …12:25†

2
I …x† ˆ I0 …1 bx † …12:26†

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 TABLE 12.20 Tapered simply supported beams on elastic foundation: Frequency parameters l4 for different types of taper

Type of taper Frequency parameter l4 ˆ a=b

       
Breadth taper 1 1 cos mp 1 cos mp 1
a ˆ p4 m4 1 ‡ ‡ 2 2
b ‡ gF ; bˆ1 ‡ 2 2 b
2 m2 p2 m p 2 m p m2 p2

         
Depth taper 3 3 3 cos mp 6 1 3 6 cos mp 6
a ˆ p4 m4 1 ‡ ‡ 2 2 2 2
b‡ 1 b2 ‡ ‡ ‡ b3 ‡ gF
2 m p m p m2 p2 4 m2 p2 m4 p4 m4 p4
 
1 1 cos mp
bˆ1‡ ‡ b
2 m2 p2 m2 p2

       
Diameter taper 2 4 cos mp 6 2 12 24 cos mp 24
a ˆ p4 m4 1 ‡ 2‡ b ‡ 2 1 b ‡ 1‡ 2 2‡ b3
m2 p2 m2 p2 m2 p2 m p m4 p4 m4 p4
   
1 4 24 4
‡ ‡ b ‡ g
NON-UNIFORM ONE-SPAN BEAMS

F
5 m2 p2 m4 p4
NON-UNIFORM ONE-SPAN BEAMS

   
2 2 cos mp 1 2
bˆ1‡ 1‡ 2 2 b ‡ b2
m p m2 p2 3 m2 p2

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Special cases:

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If a simply supported beam has a uniform cross section then the taper parameter b ˆ 0 and the frequency parameter is l4 ˆ p4 …m4 ‡ gF †.
If a simply supported beam has no elastic foundation then gF ˆ 0 and l4 ˆ p4 m4 .
389

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 NON-UNIFORM ONE-SPAN BEAMS

390 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 12.15. Free±free doubly symmetric parabolic beam.

The mode shape of vibration is

x x
cosh ki cos ki ‡ cos ki cosh ki
Xi …x† ˆ l
q l …12:27†
cos 2 ki ‡ cosh2 ki

where ki are the roots of the equation

tan ki ‡ tanh ki ˆ 0; k1 ˆ 0; k1 ˆ 2:3650

The ®rst root k ˆ 0 corresponds to the motion of the beam without the bending effect.
Eigenfunctions Xi …x† satisfy the boundary condition at free ends:

‰Xi …x†Š00xˆl ˆ ‰Xi …x†Š000

xˆl ˆ 0 …12:28†
The eigenfunctions that correspond to the found roots are
x x
k22 cos k2 cosh k2 l cosh k2 cos ki l
X1 …x† ˆ const; X2 …x† ˆ 2 q …12:29†
l
cos 2 k2 ‡ cosh2 k2

1
Let X1 …x† ˆ p. In this case, the Ritz method yields the following expression for the
2
fundamental frequency of vibration (Morrow, 1905; Krasnoperov, 1916; Timoshenko and
Gere, 1961)
vs
u a 1 I0 E
oˆu
u …12:30†
tb22 b212 A0 r
1
b11 b22
where

„l
‡ „l
‡
aˆ …1 bx2 †…X200 †2 dx bij ˆ …1 cx2 †Xi Xj dx …12:31†
l l

Substitution of expression (12.29) into (12.31) leads to the following results

31:28
aˆ …1 0:087bl2 †
l3
b11 ˆ l…1 0:333cl 2 †; b12 ˆ 0:297cl 3 ; b22 ˆ l…1 0:481cl 2 †

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NON-UNIFORM ONE-SPAN BEAMS 391

REFERENCES

Balasubramanian, T.S., Subramanian, G. and Ramani, T.S. (1990) Signi®cance and use of very high
order derivatives as nodal degrees of freedom in stepped beam vibration analysis. Journal of Sound
and Vibration, 137(2), 353±356.
Brock, J.E. (1976) Dunkerley±Mikhlin estimates of gravest frequency of a vibrating system. Journal of
Applied Mechanics, June, 345±348.
Conway, H.D., Becker, E.C.H. and Dubil, J.F. (1964) Vibration frequencies of tapered bars and circular
plates. ASME Journal of Applied Mechanics, 33, Trans ASME, 88, Series E, 329±331.
Downs, B. (1977) Transverse vibrations of cantilever beams having unequal breadth and depth tapers.
ASME Journal of Applied Mechanics, 44, 737±742.
Filippov, A.P. (1970) Vibration of Deformable Systems (Moscow: Mashinostroenie) (in Russian).
Gaines, J.H. and Volterra, E. (1966) Transverse vibrations of cantilever bars of variable cross section.
The Journal of the Acoustical Society of America, 39(4), 674±679.
Gutierrez, R.H., Laura, P.A.A. and Rossi, R.E. (1990) Natural frequencies of a Timoshenko beam of
non-uniform cross-section elastically restrained at one end and guided at the other. Journal of Sound
and Vibration, 141(1), 174±179.
Gutierrez, R.H., Laura, P.A.A. and Rossi, R.E. (1991) Fundamental frequency of vibrations of a
Timoshenko beam of non-uniform thickness. Journal of Sound and Vibration, 145(2), 341±344.
Jano, S.K. and Bert, C.W. (1989) Free vibration of stepped beams: exact and numerical solution.
Journal of Sound and Vibration, 130(2), 342±346.
Kanaka Raju, K. and Venkateswara, Rao G. (1990) Effect of elastic foundation on the mode shapes in
stability and vibration problems of tapered columns=beams. Journal of Sound and Vibration, 136(1),
171±175.
Laura, P.A.A., Paloto, J.C., Santos, R.D. and Carnicer, R. (1989) Vibrations of a non-uniform beam
elastically restrained against rotation at one end and carrying a guided mass at the other. Journal of
Sound and Vibration, 129(3), 513±516.
Lau, J.H. (1984) Vibration frequencies of tapered bars with end mass. ASME Journal of Applied
Mechanics, 51, 179±181.
Lee, T.W. (1976) Transverse vibrations of a tapered beam carrying a concentrated mass. ASME
Journal of Applied Mechanics, 43, Trans ASME, 98, Series E, 366±367.
Magrab, E.B. (1979) Vibrations of Elastic Structural Members (Alphen aan den Rijn, The Nether-
lands=Germantown, Maryland, USA: Sijthoff and Noordhoff).
Rossi, R.E., Laura, P.A.A. and Gutierrez, R.H. (1990) A note on transverse vibrations of a
Timoshenko beam of non-uniform thickness clamped at one end and carrying a concentrated
mass at the other. Journal of Sound and Vibration, 143(3), 491±502.
Sankaran, G.V., Kanaka Raju, K. and Venkateswara, Rao G. (1975) Vibration frequencies of a tapered
beam with one end spring-hinged and carrying a mass at the other free end. ASME Journal of Applied
Mechanics, September, 740±741.

FURTHER READING

Abramovitz, M. and Stegun, I.A. (1970) Handbook of Mathematical Functions (New York: Dover).
Avakian, A. and Beskos, D.E. (1976) Use of dynamic in¯uence coef®cients in vibration of nonuniform
beams. Journal of Sound and Vibration, 47(2), 292±295.
Bambill, E.A. and Laura, P.A.A. (1989) Application of the Rayleigh±Schmidt method when the
boundary conditions contain the eigenvalues of the problem. Journal of Sound and Vibration, 130(1),
167±170.
Banks, D.O. and Kurowski, G.J. (1977) The transverse vibration of a doubly tapered beam. ASME
Journal of Applied Mechanics, March, 123±126.

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 NON-UNIFORM ONE-SPAN BEAMS

392 FORMULAS FOR STRUCTURAL DYNAMICS

Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
Conn, J.F.C. (1944) Vibration of truncated wedge. Aircraft Engineering, 16, 103±105.
Conway, H.D. (1946) The calculation of frequencies of vibration of a truncated cone. Aircraft
Engineering, 18, 235±236.
Conway, H.D. and Dubil, J.F. (1965) Vibration frequencies of truncated-cone and wedge beams. ASME
Journal of Applied Mechanics, 32, 932±934.
Cranch, E.T. and Adler, A.A. (1956) Bending vibrations of variable section beams. Journal of Applied
Mechanics, 29, Trans ASME, 84, 103±108.
Dinnik, A.N. (1955) Selected Transactions, Vol. 2 (Kiev: AN Ukraine SSR), pp. 125±221 (in
Russian).
Gast, R.G. and Sneck, H.J. (1991) Modal analysis of non-prismatic beams: uniform segments method.
Journal of Sound and Vibration, 149(3), 489±494.
Goel, R.P. (1976) Transverse vibrations of tapered beams. Journal of Sound and Vibration, 47, 1±7.
Grossi, R.O. and Bhat, R.B. (1991) A note on vibrating tapered beams. Journal of Sound and
Vibration, 147(1), 174±178.
Gupta, A.K. (1985) Vibration of tapered beams. Journal of Structural Engineering, American Society
of Civil Engineers, 111, 19±36.
Gutierrez, R.H., Laura, P.A.A. and Rossi, R.E. (1991) Numerical experiments on vibrational
characteristics of Timoshenko beams of non-uniform cross-section and clamped at both ends.
Journal of Sound and Vibration, 150(3), 501±504.
Housner, G.W. and Keightley, W.O. (1962) Vibrations of linearly tapered cantilever beams. Journal
Engineering Mechanics Division, Proceedings ASCE, 88, EM2, 95±123.
Kirchhoff, G.R. (1879) Uber die Transversalschwingungen eines Stabes von veranderlichen Quer-
schnitt. Akademie der Wissenschaften (Berlin: Monatsberichte), S.815±828.
Klein, L. (1974) Transverse vibrations of nonuniform beams. Journal of Sound and Vibration, 37(4),
491±505.
Krasnoperov, E.B. (1916) Application of Ritz Method to the Free Vibration of a Beam (Petrograd:
Politechnical Institute), 25, pp. 377±400.
Lau, J.H. (1984) Vibration frequencies for a non-uniform beam with end mass. Journal of Sound and
Vibration, 97, 513±521.
Lee, H.C. (1963) A generalized minimum principle and its application to the vibration of a wedge with
rotary inertia and shear. Journal of Applied Mechanics, 30, Trans ASME, 85, Series E, 176±180.
Lee, S.Y. and Ke, H.Y. (1990) Free vibrations of a non-uniform beam with general elastically
restrained boundary conditions. Journal of Sound and Vibration, 136(3), 425±437.
Lee, Ho Chong and Bisshopp, K.E. (1964) Application of integral equations to the ¯exural vibration
of a wedge with rotary inertia. Journal of The Franklin Institute, 277, 327±336.
Levinson, M. (1976) Vibrations of stepped strings and beams. Journal of Sound and Vibration, 49,
287±291.
Lindberg, G.M. (1963) Vibrations of nonuniform beams. The Aeronautical Quarterly, November,
387±395.
Mononobe, N. (1921) Z. Angew. Math. Mech., 1(6), 444±451.
Morrow, J. (1905) On the lateral vibration of bars of uniform and varying sectional area. Philosophical
Magazine and Journal of Science, Series 6, 10(55), 113±125.
Krishna Murty, A.V. and Prabhakaran, K.R. (1969) Vibrations of tapered cantilever beams and shafts.
The Aeronautical Quarterly, May, 171±177.
Mabie, H.H. and Rogers, C.B. (1974) Transverse vibrations of double-tapered cantilever beams with
end support and with end mass. Journal of Acoustical Society of America, 55(5), 986±991.
Pfeiffer, F. (1934) Vibration of elastic systems (Moscow-Leningrad: ONTI) 154 p. Translated from the
German-Mechanik Der Elastischen Korper, Handbuch Der Physik, Band IV (Berlin) 1928.
Sato, H. (1983) Free vibrations of beams with abrupt changes of cross-section. Journal of Sound and
Vibration, 89, 59±64.

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 NON-UNIFORM ONE-SPAN BEAMS

NON-UNIFORM ONE-SPAN BEAMS 393

Sekhniashvili, E.A. (1960) Free Vibration of Elastic Systems (Tbilisi: Sakartvelo).

Subramanian, G. and Balasubramanian, T.S. (1989) Effects of steps on the free vibrations character-
istics of short beams. Journal of the Aeronautical Society of India, 41, 71±74.
Subramanian, G. and Balasubramanian, T.S. (1987) Bene®cial effects of steps on the free vibrations
characteristics of beams. Journal of Sound and Vibration, 118, 555±560.
Taleb, N.J. and Suppiger, E.W. (1961) Vibration of stepped beams. Journal of the Aerospace Sciences,
28, 295±298.
Timoshenko, S.P. and Gere, J.M. (1961) Theory of Elastic Stability, 2nd ed. (New York: McGraw Hill).
Thomson, W.T. (1949) Vibrations of slender bars with discontinuities in stiffness. Journal of Applied
Mechanics, 16, 203±207.
Todhunter, I. and Pearson, K. (1960) A History of the Theory of Elasticity and of the Strength of
Materials (New York: Dover). Volume II. Saint-Venant to Lord Kelvin. Part 1±762 p., part 2±546 p.
Volterra, E. and Zachmanoglou, E.C. (1965) Dynamics of Vibrations (Columbus, Ohio: Charles E.
Merrill Books).
Wang, H.C. (1967) Generalized hypergeometric function solutions on transverse vibrations of a class
of nonuniform beams. Journal of Applied Mechanics, 34, Trans ASME, 89, Series E, pp. 702±708.
Ward, P.F. (1913) Transverse vibration of a rod of varying cross section. Philosophical Magazine, 46,
85±106.
Weaver, W., Timoshenko, S.P. and Young, D.H. (1990) Vibration Problems in Engineering, 5th edn
(New York: Wiley).
Wrinch, D. (1922) On the lateral vibrations of bars of conical type. Proceedings of the Royal Society,
London, Series A, 101, 493±508.
Yang, K.Y. (1990) The natural frequencies of a non-uniform beam with a tip mass and with translation
and rotational springs. Journal of Sound and Vibration, 137(2), 339±341.

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 13
OPTIMAL DESIGNED BEAMS

Chapter 13 is devoted to the optimal design of vibrating one-span beams. Two main
problems are discussed.
1. The volume±frequency problem: ®nd a con®guration of the cross-sectional area A…x†
along the beam for the minimum (or maximum) frequency o of a beam, if the volume
of the beam V0 is given.
2. The frequency±volume problem: ®nd a con®guration of the cross-sectional area A…x† for
the minimum (or maximum) volume V of a beam, if frequency o ˆ o0 is given.
The Bernoulli±Euler and Timoshenko beam theories are applicable. Analytical and
numerical results for a beam with classical boundary conditions are presented. The
maximum principle of Pontryagin has been applied.

NOTATION

A…x† Cross-sectional area of a beam

E Modulus of elasticity of the beam material
EI Bending stiffness
h, b, r Geometrical dimensions of the cross-section of the beam
H Hamiltonian
I …x† Moment of inertia of a cross-sectional area of a beam
k1 , k2 Lagrange multipliers
l Length of the beam
M, Q Bending moment and shear force
t Time
V Volume of a beam
V , V‡ Lower and upper limit of the volume of a beam
x Spatial coordinate
x, y, z Cartesian coordinates
X …x† Mode shape
y…x† Lateral displacement of a beam
r, m Density of material and mass per unit length of beam, m ˆ rA
f…x† Slope of a beam

395
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 OPTIMAL DESIGNED BEAMS

396 FORMULAS FOR STRUCTURAL DYNAMICS

o Circular natural frequency of a transverse vibration of a beam

o , o‡ Lower and upper bounds of the frequency vibration

13.1 STATEMENT OF A PROBLEM

The objects under study are non-uniform beams with different boundary conditions. The
problem is to ®nd the cross-sectional area distribution along the beam for a minimum
volume of the beam, if the frequency of vibration is given. The dual problem is to ®nd the
cross-sectional area distribution along the beam for a minimum frequency of vibration of
the beam if the volume of the beam is given.

Mathematical model. Differential equations of the transverse vibration presented in

normal form are

dy
ˆf
dx
df M
ˆ
dx EI
…13:1†
dM
ˆQ
dx
dQ
ˆ o2 rAy
dx
where a vector of the state variables consists of the amplitude values of a lateral
displacement y, slope f, shear force Q and bending moment M with corresponding
boundary conditions.
Boundary conditions may be presented in a common form

a1 y…0† ‡ b1 Q…0† ˆ 0; a2 f…0† ‡ b2 M …0† ˆ 0

…13:2†
a3 y…l† ‡ b3 Q…l† ˆ 0; a4 f…l† ‡ b4 M …l† ˆ 0

Coef®cients ai and bi for different types of the supports are listed in Table 13.1.

Variable parameters. The cross-sectional area distribution along the beam, A…x† (con-
®guration), is the controlled variable.

TABLE 13.1. Boundary condition coef®cients

Elastic
Pinned Fixed Free support

Left end a1 ˆ b2 ˆ 1 a1 ˆ a2 ˆ 1 a1 ˆ a2 ˆ 0 b1 ˆ b2 ˆ 1
(x ˆ 0) a2 ˆ b1 ˆ 0 b1 ˆ b2 ˆ 0 b1 ˆ b2 ˆ 1 a1 ˆ ktr
a2 ˆ krot

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 OPTIMAL DESIGNED BEAMS

OPTIMAL DESIGNED BEAMS 397

Restrictions. The con®guration A…x† at any x 2 ‰0; lŠ must satisfy the condition
A1 …x†  A…x†  A2 …x†, where A1 …x† and A2 …x† are given functions, and represent the
lower and upper bounds of the cross-sectional area of the beam.

Criteria optimality. Optimal con®guration A…x† is such that it leads to the minimal
volume of the beam:
…
V ˆ A…x†dx ! min

Problem
R v ! V . Find the con®guration of A…x† for the minimum (or maximum) volume
V ˆ A…x† dx of a beam, if the frequency o ˆ o0 is given.
This problem may be solved if o 2 ‰o ; o‡ Š, where o and o‡ are the lower and
upper bounds of the frequency of vibration according to the restriction.

Problem V ! v . Find the con®guration A…x† for the minimum (or maximum)
frequency o of a beam, if the volume of the beam, V0 , is given
…
V ˆ A…x†dx ˆ V0 …13:3†

This problem may be solved if V 2 ‰V ; V ‡ Š, where V and V ‡ are the lower and upper
limits of the volume of the beam according to the restriction.

TABLE 13.2. Presentation of moment of inertia for different cross-

sections according to formula 13.5

Cross-section Variable Constant Moment of inertia I

parameter parameter vs area cross-section A

b h h2
Iˆ A
12
h b 1 3
Iˆ A
12b2

r Ð 1 2
Iˆ A
4p

b a I ˆ gA

a b I ˆ gA3

Z a, b I ˆ gA2

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 OPTIMAL DESIGNED BEAMS

398 FORMULAS FOR STRUCTURAL DYNAMICS

The Hamiltonian is de®ned in terms of the vector of state variables and the criteria of
optimality as follows
 2 
M
H ˆ k1 ‡ o2 rAy2 k2 A …13:4†
EI
where k1 and k2 are the Lagrange multipliers.
The optimal con®guration A…x† will be expressed in terms of state variables from the
condition of the maximum Hamiltonian (Pontryagin et al., 1962).
The relation between a moment of inertia and cross-sectional area is conveniently
expressed by
I ˆ gAn …13:5†
where g is the proportional coef®cient (Table 13.2). Parameters n ˆ 1, n ˆ 2 and n ˆ 3
correspond to the variable width, homothetic cross-sections, and variable height, respec-
tively.

13.2 COMMON PROPERTIES OF o

v ! V AND
V !o v PROBLEMS

The fundamental properties of the optimal designed beams are distinctly and completely
characterized by using the characteristic curve, which is presented in Fig. 13.1 (Grinev and
Filippov, 1979).
The frequencies of vibrations o1 and o2 correspond to con®gurations
A…x†  A1 …x† and A…x†  A2 …x†; respectively
The minimum and maximum volumes of the beam, according to restrictions on the cross-
sectional area are
„l „l
V ˆ A1 …x† dx; V‡ ˆ A2 …x†dx …13:6†
0 0

If volume V is given, then con®guration A1 …x† is the solution of the problem V ! o

and its frequency vibration is o1 . If volume V‡ is given, then con®guration A2 …x† is the
solution of the problem V ! o and its frequency vibration is o2 .

FIGURE 13.1. Characteristic curve. Notation and signs of Lagrange's multipliers.

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 OPTIMAL DESIGNED BEAMS

OPTIMAL DESIGNED BEAMS 399

The frequencies of vibrations o , o‡ present the minimal and maximal frequencies for
the V ! o problem, if we need only minimal and maximal frequencies without the
condition V ˆ constant. This means that, in the expression of the Hamilton function, the
Lagrange multiplier k2 equals zero.

Properties of the characteristic curve. The points A and C correspond to volumes V1 and
V2 and eigenvalues o and o‡ . The points B and D correspond to eigenvalues o1 and o2
and volumes V and V‡ . The line BD corresponds to a uniform beam.

Problem o ! V . Part ABC corresponds to minimal volumes.

Part CDA corresponds to maximal volumes.

Problem V ! o . Part BCD corresponds to maximal eigenvalues.

Part BAD corresponds to minimal eigenvalues.

Types of solution. The problem of maximal eigenvalues, if the volume of the beam is
given, has a continuous solution (see Figs. 13.2±13.5).
The problem of minimal eigenvalues, if the volume of the beam is given, has a
discontinuous solution (see Figs. 13.2±13.5).

13.3 ANALYTICAL SOLUTION o ! V AND

V ! o PROBLEMS

The optimal con®guration A…x† may be expressed in terms of state variables.

Continuous solution, k1 < 0. This condition corresponds to the part BCD of the charac-
teristic curve
8
> A2 ; b  0
>
>
>
>
< A2 ; A  A2 ; b > 0
>
A…x† ˆ njk jM 2 1=1‡n …13:7†
>
> 1
; A1  A  A2 ; b > 0
>
> gbE
>
>
:
A1 ; A  A1 ; b > 0
where b ˆ jk1 jo2 ry2 ‡ k2 ; parameter n is listed in Table 13.2.

Discontinuous solution, k1  0. This condition corresponds to the part BAD of the

characteristic curve
(
A1 ; k1 M 2  gEx…b 2k2 †
A…x† ˆ …13:8†
A2 ; k1 M 2 < gEx…b 2k2 †

where

A2 A1
x ˆ An1 An2
An2 An1
The numerical procedures for ®nding the optimal con®guration and the location of the
points of the switch were developed and compehensively discussed by Grinev and Filippov
(1979).
The properties of the solution are presented in Table 13.3.
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 OPTIMAL DESIGNED BEAMS

400 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 13.3. Properties of continuous and discontinuous solutions for

o ! V and V ! o problems

Continuous solution Discontinuous solution

(k1 < 0) (k1  0)

1. Maximum o, if V ˆ constant 1. Minimum o, if V ˆ constant

2. Minimum V , if o 2 ‰o1 o‡ Š 2. Minimum V , if o 2 ‰o o1 Š
3. Maximum V , if o 2 ‰o2 o‡ Š 3. Maximum V , if o 2 ‰o o2 Š

FIGURE 13.2(a). Optimal designed cantilever and simply-supported beams. Cross-section: rectangle;
width b ˆ 0:02 m; height h is variable (parameter of cross-section n ˆ 3). Length of a beam l ˆ 1:2 m.
Restriction: A1 ˆ 4  10 4 m2, A2 ˆ 2A1 . Material: E ˆ 1:96  1011 N=m2 , r ˆ 7:8  103 kg=m3.

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 OPTIMAL DESIGNED BEAMS

OPTIMAL DESIGNED BEAMS 401

FIGURE 13.2(b). Optimal designed clamped±pinned and clamped±clamped beams. Cross-section:

rectangle; width b ˆ 0:02 m; height h is variable (parameter of cross-section n ˆ 3). Length of a beam
l ˆ 1:2 m. Restriction: A1 ˆ 4  10 4 m2, A2 ˆ 2A1 . Material: E ˆ 1:96  1011 N=m2 , r ˆ 7:8 
103 kg=m3.

13.4 NUMERICAL RESULTS

The numerical results of optimal designed beams with different boundary conditions are
presented in Figs. 13.2±13.4, (Grinev and Filippov, 1979). There are characteristic curves
for fundamental frequencies of vibration in the dimensionless coordinates V =V‡ and o=o1
and the corresponding optimal con®guration A=A2 in terms of x=l for different volumes
(lines 1, 2, 3) of the beam. The continuous solution corresponds to the problem V ! omax
and the discontinious one corresponds to the problem V ! omin .

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 OPTIMAL DESIGNED BEAMS

402 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 13.3(a). Optimal designed cantilever and simply-supported beams. Cross-section: rectangle;
height h ˆ 0:02 m; width b is variable (parameter of cross-section n ˆ 1). Length of a beam l ˆ 1:2 m.
Restriction: A1 ˆ 4  10 4 m2, A2 ˆ 2A1 . Material: E ˆ 1:96  1011 N=m2 , r ˆ 7:8  103 kg=m3.

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 OPTIMAL DESIGNED BEAMS

OPTIMAL DESIGNED BEAMS 403

Cross section

h fixed

ω/ω1 b ω/ω1
variable C
1.4 1.2

C
D D
1.0 1.0
B B
A A
0.6 0.8 A
1 2 3
0.5 0.75 A V/V+ 0.5 0.75 V/V+

Problem V → ωmax Problem V → ωmax

A/A2 A/A2
3
1 2
0.75 3 0.75 1 2

0.5 0.5
0 0.25 0.5 0.75 x /l 0 0.25 0.5 0.75 x /l

Problem V → ωmin Problem V → ωmin

A/A2 A/A2

3 2 1 3 2 1
0.75 0.75

0.5 0.5
0 0.25 0.5 0.75 x /l 0 0.25 0.5 0.75 x /l
(b)

FIGURE 13.3(b). Optimal designed clamped±pinned and clamped±clamped beams. Cross-section:

rectangle; height h ˆ 0:02 m; width b is variable (parameter of cross-section n ˆ 1). Length of a beam
l ˆ 1:2 m. Restriction: A1 ˆ 4  10 4 m2, A2 ˆ 2A1 . Material: E ˆ 1:96  1011 N=m2 , r ˆ 7:8 
103 kg=m3.

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404 FORMULAS FOR STRUCTURAL DYNAMICS

Cross section

ω/ω1
C r variable
D ω/ω1
1.8 1.4 C

D
1.4 1.2

1.0 1.0
B A A.B 1 2 3
0.6 1 2 3
0.5 0.75 V/V+
0.5 0.75 V/V+

Problem V → ωmax Problem V → ωmax

A/A2 A/A2
1
1 2 3 2
0.75 0.75

3
0.5 0.5
0 0.25 0. 5 0.75 x/l 0 0.25 0. 5 0.75 x/l

Problem V → ωmin Problem V → ωmin

A/A2 A/A2

0.75 3 2 1 0.75 3 2 1

0.5 0.5
0 0.25 0.5 0.75 x /l 0 0.25 0.5 0.75 x /l
(a)

FIGURE 13.4(a). Optimal designed cantilever and simply-supported beams. Cross-section: circle; radius r
is variable (n ˆ 2). Restriction: A1 ˆ 4  10 4 m2, A2 ˆ 2A1 . Length of a beam l ˆ 1:2 m. Material:
E ˆ 1:96  1011 N=m2 , r ˆ 7:8  103 kg=m3.

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 OPTIMAL DESIGNED BEAMS

OPTIMAL DESIGNED BEAMS 405

ω/ω1
C
ω/ω1 D
1.4 r variable 1.4
C
D 1.2
1.5
B
A 1.0
0.8
1 2 3 B A
0.8 1 2 3
0.5 0.75 V /V+
0.5 0.75 V /V+

Problem V → ωmax Problem V → ωmax

A/A2 A/A2
3 2 3

0.75 2
0.75
1
1
0.5 0.5

0 0.25 0.5 0.75 x /l 0 0.25 0.5 0.75 x /l

Problem V → ωmin Problem V → ωmin

A/A2 A/A2
1 2 3 3
0.75 0.75
2 1

0.5 0.5
0 0.25 0.5 0.75 x /l 0 0.25 0.5 0.75 x /l
(b)

FIGURE 13.4(b). Optimal designed clamped±pinned and clamped±clamped beams. Cross-section: circle;
radius r is variable (n ˆ 2). Length of a beam l ˆ 1:2 m. Restriction: A1 ˆ 4  10 4 m2, A2 ˆ 2A1 . Material:
E ˆ 1:96  1011 N=m2 , r ˆ 7:8  103 kg=m3.

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406 FORMULAS FOR STRUCTURAL DYNAMICS

Fundamental mode Second mode

ω/ω1 ω/ω1
C DBE
2.0 2.0
BE C D
BE
Tim
1.5 1.5 DT
BBE
Tim
1.0 A 1.0 A
B 1 2 3 BT 1 2 3
0.5 0.75 V /V+ 0.5 0.75 V /V+

Timoshenko theory (Tim)

Problem V → ωmax Problem V → ωmax
A/A2 A/A2
3
1 2 3 2
0.75 0.75

1
0.5 0.5

0 0.25 0.5 0.75 x /l 0 0.25 0.5 0.75 x /l

Bernoulli-Euler theory (BE)

Problem V → ωmax Problem V → ωmax

A/A2 A/A2
3
0.75 0.75 2
1 2 3 1
0.5 0.5
0 0.25 0.5 0.75 x /l 0 0.25 0.5 0.75 x /l

Bernoulli-Euler and Timoshenko theories

Problem V → ωmin Problem V → ωmin

A/A2 A/A2
1 2
0.75 0.75 3

3 2 1
0.5 0.5
0 0.25 0.5 0.75 x /l 0 0.25 0.5 0.75 x /l

FIGURE 13.5. Optimal designed cantilever beam. Length of a beam l ˆ 1:2 m. Cross-section: rectangle;
b ˆ 0:02 m; h is variable (n ˆ 3). Material: E ˆ 1:96  1011 N=m2 , r ˆ 7:8  103 kg=m3. Restriction:
A1 ˆ 4  10 4 m2, A2 ˆ 2A1 .

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 OPTIMAL DESIGNED BEAMS

OPTIMAL DESIGNED BEAMS 407

The numerical results for fundamental and second modes of vibration (clamped±free
beam) are presented in Fig. 13.5. Lines I and II on the characteristic curve correspond to
the Bernoulli±Euler and Timoshenko beam theories, respectively.
The numerical procedures developed and vast numerical results for longitudinal,
bending and torsional vibrations were obtained by Grinev and Filippov (1971±1979).

REFERENCES

Grinev, V.B. and Filippov, A.P. (1979) Optimization of Rods by Eigenvalues (Kiev: Naukova Dumka)
(in Russian).
Karihaloo, B.L. and Niordson, F.I. (1973) Optimum design of vibrating cantilevers. Journal of
Optimization Theory and Application, 11, 638±654.
Olhoff, N. (1977) Maximizing higher order eigenfrequencies of beams with constraints on the design
geometry. Journal of Structural Mechanics, 5(2), 107±134.
Olhoff, N. (1980) Optimal design with respect to structural eigenvalues. Proceedings of the XVth
International Congress of Theoretical and Applied Mechanics, Toronto.
Pontryagin, L.S., Boltyanskii, V.G., Gamkrelidze, R.V. and Mishchenko, E.F. (1962) The Mathema-
tical Theory of Optimal Processes (New York: Pergamon).

FURTHER READING

Banichuk, N.V. and Karihaloo, B. L. (1976) Minimum-weight design of multipurpose cylindrical bars.
International Journal of Solids and Structures, 12(4).
Brauch, R. (1973) Optimized design: characteristic vibration shapes and resonators. Journal of
Acoustic Society of America, 53(1).
Bryson, A.E., Jr. and Ho, Yu-Chi. (1969) Applied Optimal Control (Waltham, Massachusetts:
Toronto).
Collatz, L. (1963) Eigenwertaufgaben mit technischen Anwendungen (Leipzig: Geest and Portig).
Elwany, M.H.S. and Barr, A.D.S. (1983) Optimal design of beams under ¯exural vibration. Journal of
Sound and Vibration, 88, 175±195.
Haug, E.J. and Arora, J.S. (1979) Applied Optimal Design. Mechanical and Structural Systems (New
York: Wiley).
Johnson, M.R. (1968) Optimum frequency design of structural elements. Ph.D. Dissertation, Depart-
ment of Engineering Mechanics, The University of Iowa.
Karnovsky, I.A. (1989) Optimal vibration protection of deformable systems with distributed
parameters. Doctor of Science Thesis, Georgian Polytechnical University, (in Russian).
Liao, Y.S. (1993) A generalized method for the optimal design of beams under ¯exural vibration.
Journal of Sound and Vibration, 167(2), 193±202.
Miele, A. (Ed) (1965) Theory of Optimum Aerodynamic Shapes (New York: Academic Press).
Niordson, F.I. (1965) On the optimal design of vibrating beam. Quart. Appl. Math., 23, 47±53.
Olhoff, N. (1976) Optimization of vibrating beams with respect to higher order natural frequencies.
Journal of Structural Mechanics, 4(1), 87±122.
Sippel, D.L. (1970) Minimum-mass design of structural elements and multi-element systems with
speci®ed natural frequencies. Ph.D. Dissertation, September, University of Minnesota.
Tadjbakhsh, I. and Keller, J. (1962) Strongest columns and isoperimetric inequalities for eigenvalues.
Journal of Applied Mechanics, 9, 159±164.

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 OPTIMAL DESIGNED BEAMS

408 FORMULAS FOR STRUCTURAL DYNAMICS

Taylor, J.E. (1967) Minimum mass bar for axial vibrations at speci®ed natural frequencies. AIAA
Journal, 5(10).
Turner, M.J. (1967) Design of minimum mass structures with speci®ed natural frequencies. AIAA
Journal, 5(3), 406±412.
Troitskii, V.A. (1975) On some optimum problems of vibration theory. Journal of Optimization Theory
and Application, 15(6), 615±632.
Troitskii, V.A. and Petukhov L.V. (1982) Optimization of form of elastic bodies. (Moscow: Nauka) (in
Russian).
Vepa, K. (1973±1974) On the existence of solutions to optimization problems with eigenvalue
constraints. Quart. Appl. Math., 31, 329±341.
Weisshaar, T.A. (1972) Optimization of simple structures with higher mode frequency constraints.
AIAA Journal, 10, 691±693.

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 14
NONLINEAR TRANSVERSE
VIBRATIONS

Chapter 14 is devoted to nonlinear transverse vibrations of beams. Static, physical and

geometrical nonlinearities are discussed. In many cases, a method of reduction of non-
linear problems to linear ones with modi®ed parameters is applied. This method is
developed and presented by Bondar (1971). Some of the examples from the above
mentioned book, are presented in this chapter. These are beams in magnetic ®elds,
beams on nonlinear foundations, pipelines under moving liquids and internal pressure, etc.
The frequency equations and the fundamental modes of vibrations are presented.

NOTATION

A Cross-sectional area
AF Cross-sectional area of the rods
A0 Open area of the pipeline
E; r Young's modulus and density of the beam material
EF ; rF Young's modulus and density of the foundation material
EI Bending stiffness
I2 ; I4 Cross-sectional area moments of inertia of order 2 and 4
k Magnetic ®eld parameter
l Length of the beam
m; mL Mass per unit length of the beam and liquid
M Bending moment
P Internal pressure
r Radius of gyration, r2 A ˆ I
t Time
u Longitudinal displacement of the rod
v; vcr Velocity and critical velocity of the moving liquid
w0 Uniformly distributed force due to self-weight
x Spatial coordinate
x; y; z Cartesian coordinates
X …x† Mode shape
y Transversal displacement of the beam
b; bF Nonlinear parameter of the beam and foundation
s; e Stress and strain of the beam material
o Natural frequency

409
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 NONLINEAR TRANSVERSE VIBRATIONS

410 FORMULAS FOR STRUCTURAL DYNAMICS

14.1 ONE-SPAN PRISMATIC BEAMS WITH

DIFFERENT TYPES OF NONLINEARITY

14.1.1 Static nonlinearity

The uniform beam rests on two inmovable end supports, so displacements in the
longitudinal direction of the beam at the support points are impossible, and the axial
force N , e.g. thrust, is the response due to a vibration (Fig. 14.1). (Bondar', 1971; Lou and
Sikarskie, 1975; Filin, 1981).

Fundamental relationships. Axial deformation and strain

 2  2
„l 1 „l @y Dl 1 „1 @y
Dl ˆ e…x†dx ˆ dx; eavr ˆ ˆ dx …14:1†
0 2 0 @x l 2l 0 @x
The length of the curve, axial force and bending moment are
s
 2 "  2 #
„l dy „l dy
Sˆ 1‡ dx  1 ‡ dx; …14:2†
0 dx 0 dx
 2
EA „l @y
N ˆ EAeavr ˆ dx; M ˆ M0 Ny …14:3†
2l 0 @x
where M0 is the bending moment due to the transverse inertial force only.

Differential equation of transverse vibration. The governing differential equation is

"   #
2
@4 y EA @2 y „l @y @2 y
EI 4 2
dx ‡ rA 2 ˆ 0 …14:4†
@x 2l @x 0 @x @t

The integral term in (14.4) represents the axial tension induced by the de¯ection and is the
source of the nonlinearity in the problem.

Approximate solution

y…x; t† ˆ X …x† cos f…t†; f…t† ˆ ot ‡ c …14:5†

where X …x† ˆ fundamental functions
f…t† ˆ phase functions
o ˆ frequency of vibration
c ˆ initial phase angle

FIGURE 14.1. Beam on two inmovable end supports.

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NONLINEAR TRANSVERSE VIBRATIONS 411

Equation for normal functions

3 00 „l 0 2 A m
X IV aX …X † dx bo2 X ˆ 0; aˆ ; bˆ …14:6†
4 0 2lI EI

The solution of equation (14.6) may be presented as

p
X …x† ˆ ymax sin x
l
where ymax is the transverse displacement of a beam at x ˆ 0:5l.

Fundamental frequency of nonlinear vibration

v
"
p2 u  2 #   r"  2 # r 
u1
t l p 2 1 1 l p2 EI 3 ymax 2
oˆ 1‡ q  1‡ q ˆ 2 1‡ ;
l b p l b 2 p l m 8 2r
…14:7†

where
r
3a 2 2 I
q ˆ p ymax ; rˆ
8l A
This result may be obtained in another way. Let the transverse displacement be
px
y…x; t† ˆ ymax T …t† sin
l
The Bubnov±Galerkin procedure is

„l px
L…x; t† sin dx ˆ 0
0 l

where L is the left part of the differential equation of transverse vibration; this algorithm
yields to Duf®ng's equation (Hayashi, 1964)
 y 2 
p4 EI
T ‡ 1 ‡ max
T2 T ˆ 0 …14:8†
ml4 2r

The fundamental frequency of vibration o is as in equation 14.7.

If a free vibration is a response of a transverse shock on the beam, then the nonlinear
mode shape and frequency vibration are

Vmax p
X …x† ˆ sin x
o0 l
"  2 # r
3 Vmax p2 EI
o ˆ o0 1 ‡ ; o0 ˆ 2
8 2ro0 l m

where Vmax is the initial velocity in the middle of the beam due to the transverse shock.

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 NONLINEAR TRANSVERSE VIBRATIONS

412 FORMULAS FOR STRUCTURAL DYNAMICS

Note. The static nonlinearity does not have an in¯uence on the mode shape of vibration.

14.1.2 Physical nonlinearity

Hook's law cannot be applied to the material of the beam.

Hardening nonlinearity. The `stress±strain' relationship for the material of the beam is

s ˆ Ee ‡ be3 …14:9†

where s, e are the stress and strain of the beam's material and b is the nonlinear parameter
of the beam's material.
Bending moment

Mˆ y00 ‰EI2 ‡ bI4 …y00 †2 Š

The moment of inertia of the cross-sectional area of the order n is

„
In ˆ zn dA …14:10†
…A†

where z is the distance from a neutral axis.

For a rectangular cross section, b  h:

bh3 bh5
I2 ˆ ; I4 ˆ
12 80
for a circular section of diameter d

pd 4 pd 6
I2 ˆ ; I4 ˆ
64 512
for a pipe with inner and outer diameters d and D, respectively
p 4 p
I2 ˆ …D d 4 †; I4 ˆ …D6 d6†
64 512

Differential equation
 2  2 2 4
@4 y @2 y @3 y @ y @ y @2 y
EI2 ‡ 6bI 4 ‡ 3bI 4 ‡ m ˆ0 …14:11†
@x4 @x2 @x3 @x2 @x4 @t 2

Approximate solution

y…x; t† ˆ X …x† cos f…t†; f…t† ˆ ot ‡ c …14:12†

Equation for normal functions

 
9 9
X IV EI2 ‡ bI4 …X 00 †2 ‡ bI4 X 00 …X 000 †2 mo2 X ˆ 0 …14:13†
4 2

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 NONLINEAR TRANSVERSE VIBRATIONS

NONLINEAR TRANSVERSE VIBRATIONS 413

Fundamental frequency of nonlinear vibration

  r 
p2 1 p2 6 p4 2 p2 EI2 27 p4 bI4 2
o ˆ p  2  p 
 1 ‡ l y ˆ 1 ‡ y
l b
2
3 p4 2 l2 b 16 l4 max l2 m 32 l 4 EI2 max
1 l y
16 l 4 max
…14:14†
The fundamental mode of vibration may be presented as
p
ymax …1 s† sin x h  p i p
 s s† 1 ‡ s 1 ‡ cos 2 x sin x
X ˆ p   ymax …1 l l
…14:14a†
1 s 1 ‡ cos 2 x
l
where

l p4 2 9 bI4 m
sˆ ymax ; lˆ ; bˆ
8 l 4 EI2 EI2

Softening nonlinearity. The stress±strain relationship for the beam material is (Kauderer,
1958; Khachian and Ambartsumyan, 1981)

s ˆ Ee b 1 E 3 e3 …14:14b†
x
Displacement: y…x; t† ˆ X …x†Y …t†, x ˆ p , t ˆ ot.
l
The differential equation for the time function Y …t†
 
@2 Y v2 a2 1 2
‡ Y 1 lb Y ˆ0 …14:15†
@t2 o2 3 2
where

p4 EI2 3p4 b1 E2 I4 1 „p 00 2
a2 ˆ 4
; lˆ 4
; v2 ˆ X dx;
ml l I2 b0 0
„p 1 „p 00 4
b0 ˆ X 2 dx; b2 ˆ 2 X dx
0 v b0 0
„
The moment of inertia of the order n is In ˆ zn dA.
…A†
Period of nonlinear vibration
"  2  6 #
1 3 lb2 2 57 lb2 2 315 lb2 6
Tˆ 1‡ y ‡ ymax ‡ ymax ‡


…14:16†
va 8 2 max 256 3 2048 3

where ymax is the ®xed initial maximum lateral displacement of a beam.

Notes
1. Physical nonlinearity has an in¯uence on the mode shape of vibration.
2. A hardening nonlinearity increases the frequency of vibration.
3. A softening nonlinearity decreases the frequency of vibration.

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414 FORMULAS FOR STRUCTURAL DYNAMICS

Special cases. The shape mode and period of the nonlinear vibration for beams with
different boundary conditions may be calculated by the following formulas. (Khachian
and Ambartsumyan, 1981)

Simply supported beam. Normal function

X …x† ˆ sin x; b0 ˆ 0:5p; v2 ˆ 1; b2 ˆ 0:75

Nonlinear vibration period

T ˆ T0 ‰1 ‡ 0:09375ly2max ‡ 0:013916l2 y4max ‡ 0:002403l3 y6max ‡


Š

where T0 ˆ 2p=a is the period of linear vibration.

Clamped±clamped beam. Fundamental function

 
1 k k k k
X …x† ˆ sin x 1:0178 cos x sinh x ‡ 1:0178 cosh x ;
1:61643 p p p p
Xmax ˆ 1; k ˆ 4:73

therefore b0 ˆ 1:24542, v2 ˆ 5:1384, b2 ˆ 3:77213.

Nonlinear vibration period

T ˆ T0 ‰1 ‡ 0:47152l y2max ‡ 0:35203l2 y4max ‡ 0:30577l3 y6max ‡


Š

where T0 ˆ 2p=2:267a.

Pinned±clamped beam. Normal function is

 
1 k k
X …x† ˆ sin x ‡ 0:027875 sinh x ; k ˆ 3:927
1:06676 p p
where Xmax ˆ 1 at x ˆ 0:421l from the pinned support.
For the above-mentioned expression X parameters b0 , v2 , b2 and period of nonlinear
vibration are

b0 ˆ 1:37911; v2 ˆ 2:4423; b2 ˆ 1:8116

T ˆ T0 ‰1 ‡ 0:22645ly2max ‡ 0:081193l2 y4max ‡ 0:03387l3 y6max ‡


Š

where the period of linear vibration is

T0 ˆ 2p=1:563a

Cantilever beam
 
1 k k k k
X …x† ˆ sin x 1:3622 cos x sinh x ‡ 1:3622 cosh x ; k ˆ 1:875
2:7242 p p p p
b0 ˆ 0:78536; v2 ˆ 0:1269; b2 ˆ 0:074514
T ˆ T0 ‰1 ‡ 0:009314ly2max ‡ 0:000137l2 y4max ‡ 0:0000023l3 y6max ‡


Š

where T0 ˆ 2p=0:362a.

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NONLINEAR TRANSVERSE VIBRATIONS 415

Notes
1. A hardening nonlinearity increases the frequency of vibration and has an in¯uence on
the fundamental shape of the mode of vibration.
2. A softening nonlinearity decreases the frequency of vibration and does not have an
in¯uence on the fundamental shape of the mode of vibration.

Example. The clamped±clamped beam has the following parameters: l ˆ 300 cm,
b ˆ h ˆ 40 cm. The beam material is concrete; a maximum strain of a concrete equals
0.003. Calculate the period of nonlinear vibration.

Solution. Expression (14.14) may be used if

ds
ˆ E…1 3b1 E2 e2 † > 0
de
which leads to a maximum value of the nonlinear coef®cient

1
b1 ˆ
3E2 e2
In this case, the coef®cient

3p4 b1 E2 I4 p 4 I4 p4 12h2
lˆ ˆ ˆ
l4 I2 l 4 e2 I2 l4 e2 80

If the maximum strain is 0.003 then the corresponding parameter

l ˆ 0:32 …1=cm2 †

If ymax ˆ l=200  1:5 cm, then the period of nonlinear vibration

T ˆ T0 ‰1 ‡ 0:47152ly2max ‡ 0:35203l2 y4max ‡ 0:30577l3 y6max ‡


Š ˆ 1:6T0

14.1.3. Geometrical nonlinearity (large amplitude vibration)

Geometrical nonlinearity occurs at large beam de¯ections.

Uniform beams. The differential equation of the free vibration of the geometrical
nonlinear beam with different boundary conditions is given by Bondar (1971). The nota-
tion of the pinned±pinned beam with large transversal displacements is presented in Fig.
14.2.
The approximate fundamental frequency of vibration for a beam with various boundary
conditions may be calculated by the formula
r 
l2 EI 1 „1 0 2
o 2 1‡ …X † ds …14:17†
l m 4l 0

where l is a frequency parameter, which depends from boundary condition (Table 5.3), and
X is a mode shape of vibration for the linear problem.

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416 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 14.2. Simply supported beam with large transversal displacements.

Period of nonlinear vibration  

2p 1 „l 0 2
Tˆ  T0 1 …X † ds …14:18†
o 4l 0
„l
For calculation of the integral …X 0 †2 ds for beams with different boundary conditions
Table 5.8 may be used. 0

Special cases. The period of nonlinear vibration for beams with different boundary
conditions may be presented in the following form.
Pinned±pinned beam. The fundamental mode of vibration is

ps „l p2
X …s† ˆ ymax sin ; so …X 0 †2 ds ˆ y
l 0 2l max

and the period of nonlinear vibration in terms of initial maximum displacement is

 
p2 ymax 2
T ˆ T0 1
8 l

Cantilever beam. The fundamental mode of vibration is

1 h as as  as asi
X …s† ˆ ymax cosh cos 0:734 sinh sin ;
2 l l l l
„l 0 2 p2
a ˆ 1:875; so …X † ds ˆ ymax
0 2l

and the period of nonlinear vibration

 
1 ymax 2
T ˆ T0 1
8 l

Free±free beam. The period of nonlinear vibrations is

 y 2 
T ˆ T0 1 1:55 max
l

where T0 is the period of vibration of the linear problem; and ymax is the maximum lateral
displacement of the middle point for a pinned±pinned beam and free±free beam and at the
free end for a cantilever beam.

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NONLINEAR TRANSVERSE VIBRATIONS 417

Note. Geometrical nonlinearity decreases the period of vibration and does have an in¯u-
ence on the fundamental shape of the mode of vibration.

Tapered beams. Table 14.1 present the types of linear tapered beams: breadth taper,
depth taper, and diameter taper and their characteristics.
The mass per unit length m and the moment of inertia I of the tapered beams
h Z in1
m ˆ mR 1 e ‡ e
l …14:19†
h Z in2
I ˆ IR 1 e ‡ e
l
where Z ˆ s=l.

TABLE 14.1. Types of linear tapered beams

Type of taper Geometry of tapered beams Taper parameter e n1 n2

Linear breadth taper BT 1 1

1
BR

Linear depth taper DT 1 3

1
DR

Linear diameter taper DT 2 4

1
DR

Numerical results. The governing equations for the geometry of the nonlinear vibration
of the beam take into account both the axial and transverse inertia terms. The numerical
method had been applied.
Free±free tapered beam (Nageswara Rao and Venkateswara Rao, 1990). A free±
tapered beam with large displacements is presented in Fig. 14.3, where l is a length of
the beam and a is a slope at the tip.
The frequency of vibration may be calculated by

s
l EIR
oˆ 2 …14:20†
l mR

where subscript R denotes characteristics at the root of the beam.

Fundamental natural frequency parameters, l, for different types of taper are presented
in Table 14.2. Here, e is a tapered parameter and a is the slope at the tip.

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418 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 14.3. Free±free tapered beam with large displacements.

TABLE 14.2. Free±free linear tapered beams: fundamental frequency parameter

e
Type of
taper Geometry of tapered beams e n1 n2 a… † 0.0** 0.2 0.4 0.6

0.01* 22.373 22.407 22.552 22.940

Linear 10 22.295 22.334 22.486 22.885
breadth BT 1 1 20 22.069 22.123 22.296 22.726
1
taper BR 30 21.722 21.797 22.001 22.477
40 21.292 21.390 21.629 22.160
50 20.822 20.941 21.215 21.801
60 20.355 20.490 20.792 21.429
0.01* 22.373 20.127 17.863 15.586
Linear 10 22.295 20.068 17.822 15.565
depth DT 1 3 20 22.069 19.896 17.706 15.503
1
taper DR 30 21.722 19.629 17.523 15.405
40 21.292 19.294 17.290 15.279
50 20.822 18.919 17.025 15.133
60 20.355 18.537 16.748 14.978
0.01* 22.373 20.171 18.066 16.173
Linear 10 22.295 20.115 18.035 16.162
diameter DT 2 4 20 22.069 19.957 17.943 16.133
1
taper DR 30 21.722 19.710 17.800 16.087
40 21.292 19.397 17.615 16.028
50 20.822 19.045 17.402 15.960
60 20.355 18.683 17.178 15.891

* Linear vibration.
** Uniform free±free beam.

FIGURE 14.4. Cantilever tapered beam with large displacements.

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 TABLE 14.3. Amplitude vibrations xT , yT and fundamental parameter l for a cantilever tapered beam

e ˆ 0:2 e ˆ 0:4 e ˆ 0:6 e ˆ 0:8

Type of taper a… † xT yT l xT yT l xT yT l xT yT l

Linear breadth taper 0.01* 1.000 0.000 3.763 1.000 0.000 4.097 1.000 0.000 4.585 1.000 0.000 5.398
10 0.991 0.125 3.770 0.991 0.124 4.105 0.991 0.122 4.594 0.991 0.121 5.407
20 0.963 0.248 3.792 0.964 0.245 4.128 0.965 0.242 4.619 0.965 0.239 5.436
30 0.918 0.365 3.829 0.920 0.361 4.168 0.921 0.356 4.663 0.923 0.352 5.485
40 0.857 0.474 3.883 0.859 0.469 4.225 0.862 0.464 4.725 0.864 0.459 5.555
50 0.779 0.574 3.954 0.783 0.568 4.301 0.787 0.562 4.808 0.790 0.556 5.649
60 0.688 0.661 4.045 0.693 0.655 4.399 0.698 0.648 4.914 0.703 0.642 5.768
Linear depth taper 0.01* 1.000 0.000 3.6081 1.000 0.000 3.7371 1.000 0.000 3.9341 1.000 0.000 4.2921
10 0.991 0.122 3.615 0.992 0.116 3.744 0.993 0.107 3.941 0.994 0.095 4.299
20 0.965 0.241 3.636 0.967 0.229 3.764 0.971 0.213 3.961 0.976 0.188 4.317
30 0.922 0.355 3.671 0.927 0.338 3.799 0.935 0.315 3.994 0.946 0.279 4.348
40 0.862 0.462 3.721 0.872 0.441 3.848 0.885 0.412 4.042 0.904 0.366 4.392
50 0.788 0.560 3.788 0.802 0.535 3.914 0.821 0.501 4.106 0.850 0.448 4.452
60 0.699 0.646 3.873 0.719 0.619 3.998 0.746 0.582 4.188 0.786 0.523 4.528
Linear diameter taper 0.01* 1.000 0.000 3.8552 1.000 0.000 4.3192 1.000 0.000 5.0092 1.000 0.000 6.1962
NONLINEAR TRANSVERSE VIBRATIONS

10 0.991 0.120 3.862 0.992 0.112 4.326 0.993 0.102 5.017 0.995 0.086 6.203
NONLINEAR TRANSVERSE VIBRATIONS

20 0.965 0.238 3.884 0.969 0.223 4.349 0.973 0.202 5.040 0.979 0.171 6.225
30 0.923 0.351 3.921 0.930 0.329 4.387 0.939 0.299 5.079 0.952 0.253 0.261
40 0.864 0.457 3.974 0.877 0.429 4.442 0.893 0.391 5.135 0.915 0.333 6.314
50 0.791 0.554 4.044 0.810 0.522 4.515 0.834 0.477 5.210 0.868 0.410 6.385

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60 0.704 0.640 4.134 0.730 0.605 4.609 0.763 0.555 5.306 0.811 0.481 6.475

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* Linear problem.
1
Table 12.2 for cases w ˆ 1 e.
2
Table 12.5 for cases d ˆ 1 e.
419

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420 FORMULAS FOR STRUCTURAL DYNAMICS

Cantilever tapered beam (Nageswara Rao and Venkateswara Rao, 1988). A canti-
lever tapered beam with large displacements is presented in Fig. 14.4, where l is the
length of the beam and a is the slope at the tip.
The frequency of vibration may be calculated by formula (14.20). Amplitude vibrations
xT , yT and fundamental parameter l for different types of taper are presented in Table 14.3;
e is a tapered parameter and a is the slope at the tip.

14.2 BEAMS IN A MAGNETIC FIELD

14.2.1 Physical nonlinear beam in a nonlinear magnetic ®eld

A uniform simply-supported beam in a magnetic ®eld is presented in Fig. 14.5.

Types of nonlinearity
1. Physical nonlinearity: stress±strain relation for a beam material

s ˆ Ee ‡ be3 …14:21†
2. Nonlinearity of the magnetic ®eld: attractive force of the magnetic ®eld
 
ay y y2
qM ˆ k  k 1 ‡ 2 ; …y  a† …14:22†
…a2 y2 †2 a3 a2

where a ˆ distance between beam and magnet

y ˆ transverse displacement of a beam
k ˆ proportional coef®cient (k ˆ constant)

Differential equation of the transverse vibration

 2  2 2 4  
@4 y @2 y @3 y @ y @ y @2 y y y2
EI2 ‡ 6bI 4 ‡ 3bI 4 ‡ m k 1 ‡ 2 ˆ0 …14:23†
@x4 @x2 @x3 @x2 @x4 @t 2 a3 a2
This equation takes into account a physical nonlinearity of the beam material (a term with
coef®cient b) and the nonlinearity of the magnetic ®eld (term ky3 =a5 ).
Bending moment and de¯ection are related as follows:

Mˆ y00 ‰EI2 ‡ bI4 …y00 †2 Š

FIGURE 14.5. Simply-supported beam in the magnetic

®eld.

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NONLINEAR TRANSVERSE VIBRATIONS 421

Approximate solution

y…x; t† ˆ X …x† cos f…t†; f ˆ ot ‡ c

where X …x† ˆ fundamental mode of vibration
f…t† ˆ phase functions
o ˆ frequency of vibration
c ˆ initial phase angle

Equation for fundamental normal function

   
9 9 k 3k 3
X IV EI2 ‡ bI4 …X 00 †2 ‡ bI4 X 00 …X 000 †2 mo2 ‡ X X ˆ0 …14:24†
4 2 a3 2a5

Frequency of vibration
s
    
1 p4 3 y2max 9 p4 bI4 kl 4 k
o EI2 1 ‡ …14:25†
m l 8 EI2 2 l 4 p4 a5 a3

Vibration is unstable, if
p4   4 
3 y2 9 p bI4 3k 4 k
EI2 1 ‡ max 
l 8 EI2 2 l 4 p4 a5 a3
Fundamental mode shape of vibration
"  4 #
l p4 2  px k* l 2 px px
X  ymax 1 ‡ ymax 1 ‡ cos 2 2
ymax sin sin …14:26†
8 l l 8 p l l

where parameters l and k* are as follows

9bI4 3k
lˆ ; k* ˆ
4EI2 2a5 EI2
Different limiting cases are presented in Table 14.4.

14.2.2 Geometrical nonlinear beam in a nonlinear magnetic ®eld

Consider a simply supported beam with a large displacement placed in a nonlinear
magnetic ®eld (Fig. 14.5). The attractive force of the magnetic ®eld (k ˆ const)
 
ay y y2
qM ˆ k  k 1 ‡ 2 ; …y  a†
…a2 y2 †2 a3 a2

For moderately large displacements, the differential equation for the fundamental mode of
vibration is
 
k 3k 3
EI2 X IV mo2 ‡ 2 X X ˆ0 …14:27†
a 2a5

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422 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 14.4. Physical nonlinear beam in nonlinear magnetic ®eld and its limiting cases

No. Description of problem Conditions

1 Nonlinear physical beam in a linear magnetic ®eld k=a5 ˆ 0

2 Linear physical beam in a nonlinear magnetic ®eld bˆ0
3 Linear physical beam in a linear magnetic ®eld k=a5 ˆ 0 and b ˆ 0
4 Linear physical beam without a magnetic ®eld k ˆ 0 and b ˆ 0 (Table 5.3)

The frequency of vibration

s
   
1 p4 3 kcl4 2 kc p 2
oˆ EI 1 y ; cˆ1 ymax …14:28†
mc l 8 EI p4 a5 max a3 2l

where ymax is the ®xed initial maximum lateral displacement of the beam.
Vibration is unstable, if
p4  3 kcl4 2

kc
EI 1 ymax  3
l 8 EI p4 a5 a
For the cantilever beam, coef®cient c ˆ 1.

Special cases
1. Geometrical nonlinear beam in a linear magnetic ®eld: k=a5 ˆ 0. In this case, the
frequency of vibration
s
 
1 p4 kc
oˆ EI
mc l a3

2. Geometrical nonlinear beam without a magnetic ®eld: k ˆ 0 (Section 14.1.3). In this

case, the frequency of vibration

s
p2 EI
oˆ 2
l mc

14.3 BEAMS ON AN ELASTIC FOUNDATION

14.3.1 Physical nonlinear beams on massless foundations

Consider simply supported physically nonlinear beams resting on a massless foundation.

Types of nonlinearity
1. Physical nonlinearity: the stress±strain relation for a beam material is presented by
(14.21).

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NONLINEAR TRANSVERSE VIBRATIONS 423

2. Nonlinearity of foundation: reaction of the foundation

qF ˆ kF y…1 ‡ bF y2 † …14:29†
where y ˆ transverse displacement of a beam
kF ˆ stiffness of a foundation
bF ˆ nonlinearity parameter of the foundation

Differential equation of the transverse vibration of the beam

 2  2 2 4
@4 y @2 y @3 y @ y @ y @2 y
EI2 ‡ 6bI 4 ‡3bI 4 ‡ m ‡ kF …1 ‡ bF y2 † ˆ 0 …14:30†
@x4 @x2 @x3 @x2 @x4 @t 2
Moment of inertia of the order n may be calculated by formula (14.10).

Frequency of vibration
s
    
1 p4 3 y2max 9p4 bI4 kF bF l4
oˆ EI2 1 ‡ ‡ kF …14:31†
m l 8 EI2 l4 p4

Different limiting cases are presented in Table 14.5

TABLE 14.5. Physical nonlinear beam on massless foundation and its limiting cases

No. Description of problem Conditions

1 Physical nonlinear beam without foundation kF ˆ 0: (Section 14.1.2)

2 Linear elastic beam on a nonlinear foundation bˆ0
3 Nonlinear beam on a linear foundation bF ˆ 0
4 Linear elastic beam on a linear foundation b ˆ 0 and bF ˆ 0 (Section 8.2.2)
5 Simply supported linear elastic beam without a b ˆ 0 and bF ˆ 0, kF ˆ 0 (Table 5.3)
foundation

14.3.2 Physical nonlinear beam on a nonlinear inertial foundation

The physical nonlinear beam length l and mass m per unit length rest on a nonlinear elastic
foundation. The stress±strain relation for a beam material is presented in formula (14.21).
A nonlinear inertial foundation is a two-way communication one. A reaction to the
foundation equals

qF ˆ kF y…1 ‡ bF y2 †

where y ˆ transverse displacement of a beam

kF ˆ stiffness of a foundation
bF ˆ nonlinearity parameter of the foundation
The model of the foundation is represented as separate rods with the following parameters:
modulus EF , cross-sectional area AF ˆ bb  1, and density of material rF ; the length of
the rods are l0 and they are shown in Fig. 14.6.

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424 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 14.6. Mechanical model of nonlinear elastic foundation. Systems coordinates: for beam xOy; for
rods O1 z.

Reaction of the rods

( "  2 #)
@u b @u
q0 ˆ EF AF 1‡ F …14:32†
@z EF @z
zˆl0

where u is the longitudinal displacement of the rod.

Differential equations
1. Longitudinal nonlinear vibration of the rods (Kauderer, 1958)
"  2 #
@2 u 2
2@ u @u
ˆa 2 1‡l …14:33†
@t 2 @z @z

where
EF AF EF bF
a2 ˆ ˆ ; lˆ3
mF rF EF
2. Transverse vibration of the beam

 2  2 2 4
@4 y @2 y @3 y @ y @ y
EI2 ‡ 6bI 4 ‡ 3bI 4
@x4 @x2 @x3 @x2 @x4
( "  2 #)
@2 y @u bF @u
‡ m 2 ‡ EF AF 1‡ ˆ0 …14:34†
@t @z EF @z
zˆl0

where moments of inertia of the order n…I2 and I4 † may be calculated by formula
(14.10).

Approximate solution. Transverse displacement y…x; t† of a beam and longitudinal

displacement of rods u…x; t† may be presented as

y…x; t† ˆ X …x† cos f…t†

…14:35†
u…z; x; t† ˆ Z…z; x† cos f…t†

where f ˆ ot ‡ c.

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NONLINEAR TRANSVERSE VIBRATIONS 425

The normal function for a pinned±pinned beam

p
X …x† ˆ ymax sin x
l

Approximate equations for normal functions. For longitudinal linear vibration of the
rods after averaging (Bondar', 1971)

d2 Z o 2
‡ c Zˆ0 …14:36†
dz2 a z

where parameter

r a 2o
oy 2  3 oymax 2
1‡
3ol0
sin l
a 0
max
cz ˆ 1 3l d1 l d; dˆ  o 2
4a 2 4a
sin l0
a

For transverse nonlinear vibrations of the beam

 
9 9
X IV EI2 ‡ bI4 …X 00 †2 ‡ bI4 X 00 …X 000 †2
4 2
o o  3
‡ EF AF cz cot cz l0 mo2 X b A c3 X 3 ˆ 0 …14:37†
a a 4 F F x

where parameter

o o
cx ˆ c cot cz l0
a z a

Nonlinear frequency equation

o o p4  
3 y2max 9p4 bI4 l 4 bF AF 3

o2 b2 C cot cz l0 ˆ 1‡ cx …14:38†
a a l 16 EI2 l4 p4

where parameter

EF AF EF bb m
Cˆ ˆ ; b2 ˆ
EI2 EI2 EJ2

Special case
Linear vibration: ymax ˆ 0 (Section 8.3.3). In this case a frequency equation becomes

o o p4
o2 b2 C cot l0 ˆ
a a l

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426 FORMULAS FOR STRUCTURAL DYNAMICS

1. Beam without an elastic foundation …EF ˆ 0 ! C=a ˆ 0†: The frequency equation of
the beam is
p4
b2 o2 ˆ 0
l r
p2 EI2
and the fundamental frequency of vibration of the beam is o ˆ 2 .
l m
2. Elastic foundation without a beam …EI2 ˆ 0 ! b ˆ 1, C ˆ 1). The frequency
equation of the longitudinal vibration of the rod is

tan g ˆ 1; g ˆ p=2
and the fundamental frequency of the longitudinal vibration is
s
p EF
oˆ
2l0 rF

This case corresponds to a longitudinal vibration of the clamped±free rods.

3. The beam is absolutely rigid …EI2 ˆ 0 ! b ˆ 0, C ˆ 0†: The frequency equation
becomes

tan g ˆ 0; g ˆ p:
and the fundamental frequency of the longitudinal vibration is
s
p EF
oˆ
l0 r F

This case corresponds to longitudinal vibration of the clamped±clamped rods.

14.4 PINNED±PINNED BEAM UNDER MOVING

LIQUID

Consider a vertical pipeline, or a horizontal one, without initial de¯ections, carrying a

moving liquid; the velocity of the liquid, V , and stiffness of the beam, EI , are constant. The
quazi-static regime is discussed.

14.4.1 Static nonlinearity

The beam rests on two inmovable supports (Fig. 14.7).
The distributed load on the beam is
 2 
@2 y @ y 2
2@ y
w ˆ m 2 mL ‡ V …14:39†
@t @t 2 @x2
where m and mL are the mass per unit length of the beam and the mass of the moving
liquid, respectively. The ®rst term in equation (14.39) describes the inertial force of the

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NONLINEAR TRANSVERSE VIBRATIONS 427

FIGURE 14.7. Pipeline under moving liquid. Quasi-static regime. Static nonlinearity.

beam. The ®rst and second terms in the brackets take into account the relative and transfer
forces of inertia of a moving liquid, respectively.

Differential equation of transverse vibration of the beam

"  2 #
@4 y m ‡ m L @2 y @2 y m L V 2 1 „l @y
‡ ‡ dx ˆ 0 …14:40†
@x4 EI @t2 @x2 EI 2lr2 0 @x

where y is a transverse displacement of a beam; and r2 ˆ I =A, a square of the radius of

gyration of a cross-section area.
This equation is approximate because it does not take into account the Coriolis inertia
force. The solution of equation (14.40) may be presented in a form

y…x; t† ˆ X …x† cos o…t†

Equation for normal function

 
m ‡ mL 2 m V2 3 „l 0 2 1
X IV o X ‡ X 00 L
a …X † dx ˆ 0 ; aˆ …14:41†
EI EI 4 0 2lr2
The second term in the brackets takes into account the nonlinear effect.
The expression for the normal function
px
X …x† ˆ ymax sin
l
leads to a fundamental nonlinear frequency of vibration
ss
 
p2 EI l 2 3 pymax 2 mL V 2
o1 ˆ 2 1‡ 2 …14:42†
l m ‡ mL p 4 2lr EI

Condition of stability loss

 
l 2 3 pymax 2 mL V 2
ˆ 1
p2 4 2lr EI
First critical velocity
sr
p EI y 2 p r EI

3 ymax 2

max
V1cr ˆ 1‡3  1‡
l mL 4r l mL 2 4r

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428 FORMULAS FOR STRUCTURAL DYNAMICS

Second frequency of vibration and critical velocity. These characteristics may be

obtained by using the Bubnov±Galerkin method.
The mode shape
2px
X …x† ˆ ymax sin ; where ymax ˆ y…0:25l†
l
which corresponds to the second frequency of vibration, and leads to the following
expressions for the natural frequency of vibration and critical velocity
ss
 
4p2 EI l 2 3 pymax 2 mL V 2
o2 ˆ 2 1‡ 2
l m ‡ mL 4p 4 lr EI
sr s 
2p EI y  2p EI 3 ymax 2
V2cr ˆ 1 ‡ 3 max  1‡
l mL 2r l mL 2 2r

For the linear problem V2cr ˆ 2V1cr .

Special cases
1. Linear problem, if ymax ˆ 0:
2. If the Coriolis inertia force is taken into account, then the distributed load is

 2 
@2 y @ y @2 y 2
2@ y
wˆ m mL ‡ 2V ‡ V
@t 2 @t2 @t@x @x2
and the differential equation of the transverse vibration of the beam becomes
"  2 #
@4 y m ‡ mL @2 y @2 y mL V 2 A „l @y 2m V @2 y
‡ ‡ 2 dx ‡ L ˆ0
@x 4 EI @t 2 @x EI 2lI 0 @x EI @x@t

In this case, the frequency of vibration is very close to the results that were obtained by
using the expression for o1.

14.4.2 Physical nonlinearity

Consider a simply supported beam carrying the moving load. The velocity of the liquid, V ,
and stiffness of the beam, EI , are constant (Fig. 14.8). The stress±strain relationship for the
material of the beam s ˆ Ee ‡ be3 . The initial de¯ection of the beam under self-weight is
ignored. The quasi-static regime is discussed.

FIGURE 14.8. Pipeline under in®nite moving liquid. Quasi-static regime.

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NONLINEAR TRANSVERSE VIBRATIONS 429

The bending moment is

 
Mˆ y00 EI2 ‡ bI4 …y00 †2

The second term in brackets describes the effect of physical nonlinearity.

Differential equation of the transverse vibration

 2  2 2 4
@4 y @2 y @3 y @ y @ y @2 y @2 y
EI2 4
‡ 6bI 4 2 3
‡ 3bI 4 2 4
‡ …m ‡ mL † 2 ‡ mL V 2 2 ˆ 0 …14:43†
@x @x @x @x @x @t @x

where m and mL are the mass per unit length of the beam and the mass of the moving
liquid, respectively. Expressions for the cross-sectional area moments of inertia I2 and I4
are presented in Section 14.1.2.
The expression for transverse displacement in the form

y…x; t† ˆ X …x† cos o…t†

leads to the following equation for a normal function

   
9 9
X IV EI2 ‡ bI4 …X 00 †2 ‡ X 00 mL V 2 ‡ bI4 …X 000 †2 mo2 X ˆ 0 …14:44†
4 2

The approximate presentation of a normal function

px
X …x† ˆ ymax sin
l
leads to the following frequency of vibration of the beam under the quasi-static regime
ss
 
p2 EI2 l2 27 bI4 p6 2 mL V 2
oˆ 2 1‡ 2 y …14:45†
l m ‡ mL p 16 EI2 l 6 max EI2

The ®rst critical velocity

ss s 
p EI2 27 bI4 p4 2 p EI2 27 bI4 p4 2
Vcr ˆ 1‡ y max  1 ‡ ymax
l mL 16 EI2 l4 l mL 32 EI2 l 4

Special case. Consider a physically linear beam under the quasi-static regime. In this
case, the parameter nonlinearity b ˆ 0 and the expression for the linear frequency of vibra-
tion and critical velocity are
ss
p2 EI2 l 2 mL V 2
oˆ 2 1
l m ‡ mL p2 EI2
s
p EI2
Vcr ˆ
l mL

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430 FORMULAS FOR STRUCTURAL DYNAMICS

14.5 PIPELINE UNDER MOVING LOAD AND

INTERNAL PRESSURE

A vertical pipeline or a horizontal one without initial de¯ections is kept under moving
liquid and internal pressure P; the velocity of the liquid V and stiffness of the beam EI are
constant. The quasi-static regime is discussed.

A0
P
A, m

Distributed load on a beam

 2 
@2 y @ y @2 y @2 y
wˆ m mL ‡ 2V …mL V 2 ‡ PA0 † …14:46†
@t 2 @t 2 @t@x @x2
where m and mL are the mass per unit length of the beam and the mass of the moving
liquid, respectively, and A0 is the open cross-section.
The ®rst term describes the inertial force of the beam. The ®rst terms in the ®rst and
second brackets take into account relative and transfer forces of inertia of a moving liquid,
respectively. The second terms in the ®rst and second brackets take into account Coriolis
inertia force of a moving liquid and interval pressure.

14.5.1 Static nonlinearity

The beam rests on two immovable supports (Fig. 14.7).

Frequency of vibration
ss
 
p2 EI l 2 3 pymax 2 1 2
oˆ 2 1‡ 2 …m V ‡ PA0 † …14:47†
l m ‡ mL p 4 2lr EI L

Critical velocity
s
    r
1 p2 3 ymax 2 T
Vcr ˆ EI 2 1 ‡ PA0 ; rˆ
mL l 4 2r A

Special case. Consider a statically linear beam under an in®nite moving load and internal
pressure. In this case ymax ˆ 0 and the expressions for the linear frequency of vibration and
critical velocity are
sr
p2 EI l2
oˆ 2 1 …m V 2 ‡ PA0 †
l m ‡ mL p EI L
2

s
 
1 p2
Vcr0 ˆ EI 2 PA0
mL l

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 NONLINEAR TRANSVERSE VIBRATIONS

NONLINEAR TRANSVERSE VIBRATIONS 431

From these equations, one may easily obtain formulas for frequency of vibration and
critical velocity if internal pressure P ˆ 0, or the velocity of the liquid V ˆ 0.

14.6 HORIZONTAL PIPELINE UNDER A MOVING

LIQUID AND INTERNAL PRESSURE

Consider a horizontal pipeline under self-weight, moving liquid and internal pressure P;
the velocity of the liquid, V , and the stiffness of the beam, EI , are constant (Fig. 14.8). The
initial de¯ection is taken into account. The quasi-static regime is discussed.
Distributed load on the beam

@2 y @2 y
w ˆ w0 …m ‡ mL † …mL V 2 ‡ PA0 † …14:48†
@t 2 @x2
where w0 is the uniformly distributed force due to self-weight.

14.6.1 Static nonlinearity

The beam rests on two immovable supports (Fig. 14.9).

Total de¯ection of a beam

y…x; t† ˆ y1 …x† ‡ y2 …x; t† …14:49†

where y1 and y2 are de¯ections that correspond to the quasi-static regime only and the
process of vibration, respectively.

Differential equation of the beam under static nonlinearity

 2 !
@4 y @2 y @2 y „l @y w
4
‡ b 2 ‡ 2 C* a dx ˆ 0 …14:50†
@x @t @x 0 @x EJ

where

m ‡ mL 1 A mL V 2 ‡ PA0
bˆ ; aˆ ˆ ; C* ˆ
EI 2lr2 2lI EI

FIGURE 14.9. Pipeline under moving liquid. The initial de¯ection is taken into account.

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 NONLINEAR TRANSVERSE VIBRATIONS

432 FORMULAS FOR STRUCTURAL DYNAMICS

Approximate equation for normal functions. Quasi-static regime

 
„l w
yIV
1 ‡ y00
1 C* a … y0 †2 dx ˆ 0
0 EI

Dynamic regime
"    # !
2 2
@4 y2 @2 y2 @2 y „l @y1 @y2 @2 y „l @y1 @y2
‡ b 2a 21 dx ‡ 22 C* a ‡ dx ˆ 0
@x4 @t2 @x 0 @x @x @x 0 @x @x

If y2 …x; t† ˆ X …x† cos o…t†, then the equation for the normal function, X , becomes

 l 
„ 3 „l 0 2 „l
X IV bo2 X ‡ X 00 C* a … y01 †2 dx ‡ …X † dx 2y001 a y01 X 0 dx ˆ 0
0 40 0

The de¯ection of the beam in the quasi-static regime is

px
y1 …x† ˆ f sin
l

where the maximum de¯ection of the linear problem is

4w0 l 4 1
f ˆ
p5 EI l2
1 …m V 2 ‡ PA0 †
p2 EI L
px
Normal function X …x† ˆ ymax sin .
l
Frequency of vibration

sv
u

"  2 #
p2 EI u 2
t1 ‡ l 3 p2 f ‡ ymax 1
oˆ 2 …m V ‡ PA0 †
2 …14:51†
l m ‡ mL p2 4 2lr EI L

De¯ection f of the beam in the quasi-static regime increases the frequency of vibration.
The equation for nonlinear critical velocity
"  2 #
l2 w0 l 3 1 mL Vcr2 ‡ PA0
1‡ 3 ˆ0
p2 p4 rEI S 2 EI

where

l2
Sˆ1 …m V 2 ‡ PA0 †
p2 EI L cr

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 NONLINEAR TRANSVERSE VIBRATIONS

NONLINEAR TRANSVERSE VIBRATIONS 433

14.6.2 Physical nonlinearity

If the material of a simply-supported beam has a hardening characteristic of nonlinearity
(14.9), then the frequency of free vibration may be calculated as follows
ss
 
p2 EI2 l 2 27 bI4 p6 2 1
oˆ 2 1‡ 2 … f ‡ y max † …m V 2 ‡ PA †
l m ‡ mL p 16 EI2 l 6 EI2 L 0

The equation for critical velocity

"  2 #
l 2 3bI4 3w0 l 1 mL Vcr2 ‡ PA0
1‡ 2 ˆ0
p EI2 p2 EI2 S 2 EI2

where

l2
Sˆ1 …mL Vcr2 ‡ PA0 †
p2 EI 2

Note

1. Hardening nonlinearity …b > 0†: the critical velocity for a physically nonlinear problem
is more than for a linear one, Vcr: > Vcr:lin .
2. Softening nonlinearity …b < 0†: the critical velocity for a physically nonlinear problem
is less then for a linear one, Vcr: < Vcr:lin .

REFERENCES

Bondar', N.G. (1971) Non-Linear Problems of Elastic Systems (Kiev: Budivel'nik) (in Russian).
Cunningham, W.J. (1958) Introduction to Nonlinear Analysis (New York: McGraw-Hill).
Filin, A.P. (1981) Applied Mechanics of a Solid Deformable Body, vol. 3, (Moscow: Nauka) (in
Russian).
Karnovsky, I.A. and Cherevatsky, B.P. (1970) Linearization of nonlinear oscillatory systems with an
arbitrary number of degrees of freedom, New York. Soviet Applied Mechanics. 6(9), 1018±1020.
Kauderer, H. (1961) Nonlinear Mechanics, (Izd. Inostr. Lit. Moscow) translated from Nichtlineare
Mechanik (Berlin, 1958).
Khachian, E.E. and Ambartsumyan, V.A. (1981) Dynamical Models of Structures in the Seismic
Stability Theory, Moscow, Nauka, 204 pp.
Lou, C.L. and Sikarskie, D.L. (1975) Nonlinear vibration of beams using a form-function approxima-
tion. ASME Journal of Applied Mechanics, pp. 209±214.
Nageswara Rao, B. and Venkateswara Rao, G. (1988) Large-amplitude vibrations of a tapered
cantilever beam. Journal of Sound and Vibration, 127(1), 173±178.
Nageswara Rao, B. and Venkateswara Rao, G. (1990) Large-amplitude vibrations of free±free tapered
beams. Journal of Sound and Vibration, 141(3), 511±515.
Tang, D.M. and Dowell, E.H. (1988) On the threshold force for chaotic motions for a forced buckled
beam. ASME Journal of Applied Mechanics, 55, 190±196.

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 NONLINEAR TRANSVERSE VIBRATIONS

434 FORMULAS FOR STRUCTURAL DYNAMICS

FURTHER READING

Blekhman, I.I. (Ed) (1979) Vibration of Nonlinear Mechanical Systems, vol. 2. In Handbook:
Vibration in Tecnnik, vol. 1±6 (Moscow: Mashinostroenie) (in Russian).
Collatz, L. (1963) Eigenwertaufgaben mit technischen Anwendungen (Leipzig: Geest and Portig).
D'Azzo, J.J. and Houpis, C.H. (1966) Feedback Control System. Analysis and Synthesis, 2nd ed.
(McGraw-Hill).
Evensen, D.A. (1968) Nonlinear vibrations of beams with various boundary conditions. American
Institute of Aeronautics and Astronautics Journal, 6, 370±372.
Gould, S.H. (1966) Variational Methods for Eigenvalue Problems. An Introduction to the Weinstein
Method of Intermediate Problems, 2nd edn (University of Toronto Press).
Graham, D. and McRuer, D. (1961) Analysis of Nonlinear Control Systems (New York: Wiley).
Hayashi, C. (1964) Nonlinear Oscillations in Physical Systems (New York: McGraw Hill).
Ho, C.H., Scott, R.A. and Eisley, J.G. (1976) Non-planar, non-linear oscillations of a beam, Journal of
Sound and Vibration, 47, 333±339.
Holmes, P.J. (1979) A nonlinear oscillator with a strange attractor. Philosophical Transactions of the
Royal Society, London, 292 (1394), 419±448.
Hu, K.-K. and Kirmser, P.G. (1971) On the nonlinear vibrations of free±free beams. Journal of Sound
and Vibration, 38, 461±466.
Inman, D.J. (1996) Engineering Vibration, (Prentice-Hall).
Karnovsky, I.A. (1970) Vibrations of plates and shells carrying a moving load. Ph.D. Thesis,
Dnepropetrovsk (in Russian).
Masri, S.F., Mariamy, Y.A. and Anderson, J.C. (1981) Dynamic response of a beam with a geometric
nonlinearity. ASME Journal of Applied Mechanics, 48, 404±410.
Moon, F.C. and Holmes, P.J. (1979) A magnetoelastic strange attractor. Journal of Sound and
Vibration, 65(2), 275±296.
Nageswara Rao, B. and Venkateswara Rao, G. (1990a) On the non-linear vibrations of a free±free
beam of circular cross-section with linear diameter taper. Journal of Sound and Vibration, 141(3),
521±523.
Nageswara Rao, B. and Venkateswara Rao, G. (1990b) Large amplitude vibrations of clamped±free
and free±free uniform beams. Journal of Sound and Vibration, 134, 353±358.
Nageswara Rao, B. and Venkateswara Rao, G. (1988) Large amplitude vibrations of a tapered
cantilever beam. Journal of Sound and Vibration, 127, 173±178.
Nayfeh, A.H. and Mook, D.T. (1979) Nonlinear Oscillations (New York: Wiley).
Ray, J.D. and Bert, C.W. Nonlinear vibrations of a beam with pinned ends. Transactions of the
American Society of Mechanical Engineers, Journal of Engineering for Industry, 91, 997±1004.
Sathyamoorthy, M. (1982) Nonlinear analysis of beams, part I: a survey of recent advances. Shock and
Vibration Digest, 14(17), 19±35.
Sathyamoorthy, M. (1982) Nonlinear analysis of beams, part II: ®nite element method. Shock and
Vibration Digest, 14(8), 7±18.
Singh, G., Sharma, A.K. and Venkateswara Rao, G. (1990) Large-amplitude free vibrations of
beams ± a discussion on various formulations and assumptions. Journal of Sound and Vibration,
142(1), 77±85.
Singh, G., Venkateswara Rao, G. and Iyengar, N.G.R. (1990) Re-investigation of large-amplitude free
vibrations of beams using ®nite elements. Journal of Sound and Vibration, 143(2), 351±355.
Srinavasan, A.V. (1965) Large-amplitude free oscillations of beams and plates. American Institute of
Aeronautics and Astronautics Journal, 3, 1951±1953.
Wagner, H. (1965) Large amplitude free vibrations of a beam. Transactions of the American Society of
Mechanical Engineers, Journal of Applied Mechanics, 32, 887±892.

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 15
ARCHES

Chapter 15 considers the vibration of arches. Fundamental relationships for uniform and
non-uniform arches are presented ± they are the differential equations of vibrations, strain
and kinetic energy, as well as the governing functional. Eigenvalues for arches with
different equations of the neutral line, different boundary conditions, uniform, continu-
ously and discontinuously varying cross-sections are presented.

NOTATION

A Cross-sectional area
E; r Young's modulus and the density of the material of the arch
EI Bending stiffness
f; l Rise and span of an arch
I0 Second moment of inertia with respect to the neutral line of the cross-
sectional area
m Mass per unit length of an arch
M ; N; Q Bending moment, normal force and shear force
n Integer number
r Radius of gyration, r2 A ˆ I
R…a† Radius of curvature
t Time
U; T Potential and kinetic energy
v Tangential displacement of an arch
V0 …a†, W0 …a† Tangential and rotational amplitude displacement
w Radial displacement of an arch
x Spatial coordinates
x; y; z Cartesian coordinates
a Slope
b0 Angle of opening
c Angle of rotation of the cross-section
o Natural frequency

435
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 ARCHES

436 FORMULAS FOR STRUCTURAL DYNAMICS

15.1 FUNDAMENTAL RELATIONSHIPS

This section presents the geometric parameters for arches with various equations of the
neutral line (i.e. different shapes of arches) as well as differential equations of vibrations of
arches.

15.1.1 Equation of the neutral line in term of span l and arch rise h
Different shapes of arches and notations are presented in Fig. 15.1 (Bezukhov, 1969; Lee
and Wilson, 1989).

FIGURE 15.1. Types of arches and equations of the neutral line.

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 ARCHES

ARCHES 437

15.1.2 Equation of the neutral line in terms of radius of curvature R 0 and

slope a
Figure 15.2 presents arch notation in the polar coordinate system. The radius of curvature
is given by the functional relation (Romanelli and Laura, 1972; Laura et al., 1988; Rossi
et al., 1989):

R…a† ˆ R0 cosn a …15:1†

where R0 is the radius of curvature at a ˆ 0 and n is an integer speci®ed for a typical line
(Table 15.1).
For an elliptic arch, the equations of neutral line in standard form and the radius of
curvature are as follows:

 3=2
x2 y2 1 ‡ tan2 a
‡ ˆ1 R ˆ a2 b2
a2 b2 a2 tan2 a ‡ b2

FIGURE 15.2. Arch geometry. Boundary conditions are not shown.

TABLE 15.1. Geometry relationships of the arches with different equations of the neutral line

Parameters
Parameter
Curve n Equation of the neutral line l=R0 f =R0

Parabola 3 2
y ˆ x =2R0 2 tan a0 1 2
tan a0
2
Catenary 2 y ˆ R0 …cosh x=R0 1† 2 arc sinh tan a0 1=cos a0 1
Spiral 1 yˆ R0 ln cos x=R0 2a0 ln cos a0
p
Circle 0 y ˆ R0 R20 x2 2 sin a0 1 cos a0
 s
 
Cycloid 1 1 1 cos 2a0
R0 4y R0 R0 p a0 ‡ sin 2a0
xˆ arccos 1  y y 2
4 R0 2 4

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 ARCHES

438 FORMULAS FOR STRUCTURAL DYNAMICS

The instantaneous radius of curvature, R, of an axis of any type of arch is expressed in

terms of polar coordinates r and a as follows

‰r2 ‡ …r0 †2 Š3=2 0 dr 00 d2 r

Rˆ ; r ˆ ;r ˆ 2
r2 rr00 ‡ 2…r0 †2 da da

15.1.3 Differential equations of in-plane vibrations of arches

This section considers the fundamental relationship for an arch of non-uniform cross-
section with a variable radius of curvature.
The geometry of a uniform, symmetric arch with a variable radius of curvature R…a† is
de®ned in Fig. 15.3. Its span length, rise, shape of middle surface, and inclination with the
x-axis are l; h; y…x† and a, respectively. The positive radial, w, and tangential, v, displace-
ments, positive rotation c of cross-section, as well as all internal forces ± axial forces N ,
bending moments M , shear forces V , and rotary inertia couple T ± are shown (Rzhanitsun,
1982; Lee and Wilson, 1989; Borg and Gennaro, 1959 convention is used). Radial and
tangential displacement, and angle of rotation, are related by the following formulas

@v 1
wˆ ; c ˆ …w0 v†; where …0 † ˆ d=da …15:2†
@a R

Assumptions (Navier's hypothesis)

(1) A plane section before bending remains plane after bending.
(2) The cross-section of an arch is symmetric with respect to the loading plane.
(3) Hook's law applies.
(4) Deformations are small enough so that the values of the stresses and moments are not
substantially affected by these deformations.

FIGURE 15.3. Arch geometry and loads on the arch element.

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 ARCHES

ARCHES 439

With the speci®ed assumptions, the fundamental equations for the `dynamic equili-
brium' of an element are

dN
‡ Q ‡ RPtan ˆ 0
da
dQ
N ‡ RPrad ˆ 0 …15:3†
da
dM
RQ RT ˆ 0
da

The inertial forces and couple are

Prad ˆ mo2 w
Ptan ˆ mo2 v …15:4†
2 2
T ˆ mo r c

where m ˆ mass per unit length

r ˆ radius of gyration of a cross-section
o ˆ frequency of vibration
Internal forces in terms of tangential and radial displacements, and radius of curvature
are

 
EA 0 r2
Nˆ v ‡ w ‡ 2 …w00 ‡ w†
R R
r2 00
Mˆ EA …w ‡ w†
R2
 
1 dM 1 000 R0 00 mo2 r2 0
Qˆ
ST ˆ EAr2 …w ‡ w0 † 2 …w ‡ w† S …w v†
R da R3 R4 R
…15:5†

where S is a switch function. The switch function S ˆ 1 if the rotatory inertia couple T is
included, and S ˆ 0 if T is excluded.
Differential equations for N; V and M are as follows

 
dN 1 r2 R0 0 3r2 R0 00
ˆ EA …v00 ‡ w0 † ‡ 3 …w000 ‡ w0 † …v ‡ w† …w ‡ w†
da R R R2 R4
 0

dM 1 2R 00
ˆ EAr2 2 …w000 ‡ w0 † …w ‡ w†
da R R3
  02   …15:6†
dQ 1 5R0 000 4R R00
ˆ EAr2 3 …w0000 ‡ w0 † …w ‡ w 0
† ‡ 2
…w00
‡ w†
da R R4 R5 R4
 0

1 R 0
Smo2 r2 …w00 v0 † …w v†
R R2

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440 FORMULAS FOR STRUCTURAL DYNAMICS

Special case. Consider arches with constant curvature …R ˆ R0 ˆ constant). In this case,
the in-plane vibration of a thin curve element is described by the following differential
equations, which are obtained from (15.3) …ds ˆ Rda†:

dN Q
‡ ‡ Ptan ˆ 0
ds R
dQ N
‡ Prad ˆ 0
ds R
dM
Q T ˆ0
ds
If R ˆ 1, then the equations break down into two independent equations, which describe
the longitudinal and transverse vibrations of a beam.

Strain and kinetic energy of an arch. Potential energy U and kinetic energy T of a non-
uniform arch may be presented in the following forms.
Form 1. This form uses a curvilinear coordinate s along the arch

U ˆ U1 ‡ U2 …15:7†
 2 2
1 „l @ w @ v
U1 ˆ EI ‡ ds …15:8†
20 @s2 @s R
 2
1 „l @v w
U2 ˆ EA ds …15:9†
20 @s R
"    #
2 2
1 „l @v @w
Tˆ rA ‡ ds …15:10†
20 @t @t

Form 2. This form uses angular coordinate a: ds ˆ Rda

 2
1 „a EI …a† @2 w 1 @R @w 1 @R
U1 ˆ ‡w v da …15:11†
2 0 R3 …a† @a2 R…a† @a @a R…a† @a
"    #
2 2
1 „a @v @w
Tˆ rA ‡ Rda …15:12†
20 @t @t

Expression (15.11) may be presented in a form that contains only tangential displacement
  2
1 „a EI …a† @3 v @v 1 @R @2 v
U1 ˆ ‡ ‡ v da …15:13†
2 0 R3 …a† @a3 @a R @a @a2

Governing functional. Tangential and radial displacements are

v…a; t† ˆ V0 …a† exp …iot†

…15:14†
w…a; t† ˆ W0 …a† exp …iot†

where V0 and W0 are normal modes that are related by the formula W0 ˆ dV0 =da.

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 ARCHES

ARCHES 441

The maximum kinetic energy of lumped mass M0 , which is attached at a ˆ a0 , is

determined by the formula

1 
T ˆ M0 o2 …V02 ‡ W02 † …15:15†
2 aˆa0

where o is the frequency of vibration.

Ritz's classical method requires that the functional

J ‰V0 Š ˆ Umax Tmax …15:16†

be a minimum. This leads to the governing functional
 2
E „ I …a† R0 …a† 00
J ‰V0 Š ˆ V 000 ‡ V00 …V0 ‡ V0 † da
2 …a† R3 …a† 0 R…a†

ro2 „ M 2 02 
A…a†R…a†…V002 ‡ V02 †da o …V0 ‡ V02 † …15:17†
2 …a† 2 aˆ0

where V0 ˆ tangential displacement amplitude

R…a† ˆ radius of curvature at any arbitrary point
A…a† ˆ cross-sectional area
I …a† ˆ second moment of inertia of cross-sectional area
The last term in the equation (15.17) takes into account a lumped mass M0 at a ˆ a0 .

15.2 ELASTIC CLAMPED UNIFORM CIRCULAR

ARCHES

This section provides eigenvalues for uniform circular arches with elastic supports.
A circular arch with constant cross-section and elastic supports is shown in Fig. 15.4
Here m ˆ constant distributed mass
R ˆ radius of the arch
2a ˆ angle of opening
Assumptions:

(1) Axis of arch is inextensible.

(2) Shear effects and rotary inertia can be neglected.
(3) Cross-section is small in comparison with the radius of an arch.

FIGURE 15.4. Clamped uniform circular arch with various types of elastic supports.

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442 FORMULAS FOR STRUCTURAL DYNAMICS

The non-dimensional rotational stiffness parameter and the vertical and horizontal
stiffnesses are as follows

krot R
br ˆ
EI
kvert R3
bv ˆ
EI
khor R3
bh ˆ
EI

The mathematical model, numerical procedure and results (Table 15.2) are obtained and
discussed by De Rosa (1991). The square of frequency vibration is

lEI
o2 ˆ …15:18†
mR4

Table 15.2(a)±(e) present the frequency parameter l for different types of elastic supports.

Type 1. Circle. …bvert ˆ 1, bhor ˆ 1†

krot R
br ˆ
EI

Type 2. Circle. …brot ˆ 1, bvert ˆ 1†

khor R3
bh ˆ
EI

TABLE 15.2(a). Type 1. Non-dimensional frequency parameter l for different values of rotational
stiffness

a nbr 0 6 12 18 24 100 107

10 102930 122100 136981 148839 158496 209038 250560

20 6146.0 8225.1 9540.7 10443 11100 13710 15188
30 1126.3 1659.8 1944.7 2120.7 2240.0 2654.1 2854.0
40 321.55 515.89 605.75 657.17 690.37 796.68 843.63
50 115.75 201.40 236.37 255.23 267.00 302.69 317.58
60 47.842 90.388 105.95 113.95 118.82 133.03 138.73
70 21.599 44.541 52.139 55.908 58.144 64.500 66.973
80 10.332 23.468 27.441 29.345 30.462 33.555 34.731
90 5.1286 13.004 15.192 16.213 16.803 18.407 19.005

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ARCHES 443

TABLE 15.2(b). Type 2. Non-dimensional frequency parameter l for different values of horizontal
axial stiffness

bh na 10 20 30 40 50 60 70 80 90

0 33001 1968.9 361.79 104.47 38.617 16.738 8.1345 4.3191 2.4639

1 33001 1969.4 362.39 105.18 39.379 17.512 8.8915 5.0391 3.1342
5 33002 1971.3 364.81 108.02 42.422 20.581 11.844 7.7586 5.5262
10 33003 1973.4 367.84 111.57 46.207 24.352 15.363 10.803 7.9228
50 33012 1991.2 392.03 139.75 75.655 51.650 36.615 24.260 15.219
100 33024 2013.4 422.21 174.55 110.18 77.918 49.682 29.225 17.050
500 33119 2191.1 661.30 430.66 264.48 127.91 63.808 33.658 18.613
1000 33237 2412.9 953.71 658.16 297.14 133.76 65.434 34.199 18.809
5000 34182 4170.7 2613.1 828.90 314.36 137.80 66.673 34.626 18.966
104 35362 6322.6 2801.8 837.01 316.02 138.27 66.824 34.678 18.986
105 56501 15149 2850.7 843.02 317.43 138.68 66.958 34.726 19.003
1010 250565 15188 2854.0 843.63 317.58 138.73 66.973 34.731 19.005

TABLE 15.2(c). Type 3. Non-dimensional frequency parameter l for different values of horizontal
axial stiffness

bh na 10 20 30 40 50 60 70 80 90

0 2047.0 129.57 26.142 8.5196 3.6246 1.8308 1.0436 0.6514 0.4365

1 2047.0 129.57 26.143 8.5214 3.6269 1.8336 1.0469 0.6551 0.4404
5 2047.0 129.58 26.148 8.5284 3.6354 1.8427 1.0556 0.6625 0.4464
10 2047.0 129.58 26.155 8.5367 3.6442 1.8506 1.0614 0.6634 0.4487
50 2047.1 129.62 26.204 8.5875 3.6826 1.8730 1.0729 0.6719 0.4515
100 2047.1 129.66 26.256 8.6273 3.7013 1.8800 1.0754 0.6729 0.4519
500 2047.3 129.97 26.503 8.7222 3.7280 1.8875 1.0778 0.6738 0.4523
1000 2047.5 130.29 26.636 8.7473 3.7328 1.8886 1.0781 0.6739 0.4523
5000 2049.1 131.62 26.843 8.7723 3.7368 1.8895 1.0784 0.6740 0.4524
105 2072.3 133.24 26.920 8.7790 3.7378 1.8897 1.0785 0.6740 0.4524
108 2107.0 133.40 26.924 8.7794 3.7379 1.8897 1.0785 0.6740 0.4524

TABLE 15.2(d). Type 4. Non-dimensional frequency parameter l for different values of vertical
axial stiffness

bv na 10 20 30 40 50 60 70 80 90

0 2107.0 133.40 26.924 8.7795 3.7379 1.8897 1.0785 0.6740 0.452

1 2114.4 137.09 29.363 10.586 5.1593 3.0506 2.0496 1.4996 1.161
5 2144.1 151.85 39.113 17.804 10.839 7.6888 5.9306 4.7969 3.981
10 2181.2 170.30 51.290 26.811 17.923 13.474 10.774 8.9062 7.457
50 2478.0 317.62 148.24 98.224 73.843 59.015 48.878 34.628 18.768
100 2848.8 501.16 268.20 185.55 140.80 109.78 66.495 34.716 18.927
500 5808.3 1942.4 1158.7 683.79 307.12 137.91 66.936 34.729 18.993
1000 9490.2 3664.9 1972.1 795.31 313.59 138.37 66.957 34.730 18.999
5000 38177 12043 2763.6 836.98 316.92 138.66 66.970 34.731 19.004
105 233294 15097 2859.2 843.32 317.55 138.72 66.973 34.731 19.005

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444 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 15.2(e). Type 5. Non-dimensional frequency parameter l for different values of vertical
axial stiffness

bv na 10 20 30 40 50 60 70 80 90

0 2047.0 129.57 26.142 8.5196 3.6246 1.8308 1.0436 0.6514 0.4365

1 2054.0 133.05 28.431 10.206 4.9411 2.8927 1.9163 1.3747 1.0352
5 2082.0 146.89 37.454 16.716 9.8353 6.5877 4.6029 3.1567 2.0823
10 2116.9 164.05 48.425 24.305 15.070 9.8706 6.2487 3.7871 2.2949
50 2395.0 295.81 123.89 64.293 31.795 15.406 7.8178 4.2291 2.4341
100 2739.1 446.74 190.03 82.912 35.358 16.104 7.9817 4.2752 2.4492
500 5352.1 1197.1 320.22 100.38 38.005 16.616 8.1048 4.3105 2.4610
1000 8277.0 1537.7 341.29 102.46 38.313 16.677 8.1197 4.3148 2.4624
5000 21438 1881.5 357.77 104.08 38.556 16.726 8.1315 4.3182 2.4636
104 32355 1964.6 361.59 104.45 38.614 16.737 8.1343 4.3190 2.4638

Type 3. Circle. …brot ˆ 1, bvert ˆ3 0†

k R
bh ˆ hor
EI

Type 4. Circle. …brot ˆ 1, bhor ˆ 1†

k R3
bv ˆ ver
EI

Type 5. Circle. …brot ˆ 1, bhor ˆ 0†

k R3
bv ˆ vert
EI

Type 6. Elastically cantilevered circular arch

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ARCHES 445

TABLE 15.3. Type 6. Elastically cantilevered uniform circular arch:

upper and lower bounds of fundamental frequency parameter

a0  Bound f* ˆ 0:10 1.0 5.0 10.0 50.0

10 Upper 2.97 1.55 0.75 0.54 0.24

Lower 2.93 1.55 0.75 0.54 0.24
30 Upper 2.98 1.56 0.76 0.54 0.24
Lower 2.64 1.56 0.76 0.54 0.24
60 Upper 3.04 1.60 0.77 0.55 0.25
Lower 3.00 1.59 0.77 0.55 0.25
90 Upper 3.14 1.66 0.80 0.57 0.26
Lower 3.09 1.64 0.80 0.57 0.26

The parameter of the ¯exibility, f, of the elastic support de®nes the angle of rotation in
accordance with the relation y ˆ fM . The fundamental frequency of vibration may be
calculated by the formula
s
l1 EI0
oˆ …15:19†
…R0 a0 †2 rA0

Upper and lower bounds for the fundamental frequency coef®cient, l1 , for different angles
fEI0
a0  and dimensionless parameter, f* ˆ (where a0 is in radians), are presented in
Table 15.3 (Laura et al., 1987). R0 a0

15.3 TWO-HINGED UNIFORM ARCHES

15.3.1 Circular arch. In-plane vibrations

A two-hinged circular uniform arch with central angle 2a0 is presented in Fig. 15.5(a).

FIGURE 15.5. (a) Two-hinged uniform circular arch and end-

supported `reference' beam.

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446 FORMULAS FOR STRUCTURAL DYNAMICS

The frequency of vibration of an arch is calculated by the formula

b…b2 1†
o ˆ q …15:20†
l…b2 ‡ 3†
mR4 p
where l ˆ ,bˆ .
EI a0
The frequency of vibration, o, of an arch in terms of the frequency of vibration, o0 , of
the simply supported `reference' beam (Bezukhov et al., 1969) is
r
1 n2 a
o ˆ o0 ;n ˆ 0 …15:21†
1 ‡ 3n2 p
The frequencies of vibration, which correspond to fundamental (antisymmetric) and
second (symmetric) modes, may be calculated as follows
s
l EI
oˆ 2 2 …15:22†
4R a0 rA

where a0 is in radians.
The corresponding frequency coef®cients l1 and l2 are presented in Table 15.4
(Gutierrez et al., 1989).

TABLE 15.4. Two-hinged uniform circular arch:

frequency parameters for ®rst and second modes of
vibration

Antisymmetric Symmetric
2a0 mode mode
(degrees) l1 l2

10 39.40 84.25
20 39.18 84.09
30 38.80 83.81
40 38.29 83.43

The fundamental frequency of vibration corresponds to the ®rst antisymmetric mode of

vibration. Frequency coef®cients l1 and l2, which are obtained using different numerical
methods, are compared in Gutierrez et al. (1989).

15.3.2 Circular arch with constant radial load. Vibration in the plane
A circular arch of uniform cross-section under constant hydrostatic pressure X is presented
in Fig. 15.5(b).
The fundamental frequency of vibration of an arch is
s
…b2 1†…b2 1 c2 †
oˆb …15:23†
l…b2 ‡ 3†

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ARCHES 447

FIGURE 15.5 (b) Two-hinged uniform circular arch under

constant hydrostatic pressure.

where the non-dimensional parameters are

mR4 2 XR3 p
lˆ ;c ˆ ; bˆ
EI EI a0
The inertial force due to the angle of rotation is neglected (Bezukhov et al., 1969)
Critical pressure

EI 2
X  …b 1†
R3

Special case. Hydrostatic pressure X ˆ 0. In this case expression (15.23) transforms to

expression (15.20).

15.3.3 Shallow parabolic arch. In-plane vibration

A shallow parabolic arch carrying a uniformly distributed load q is presented in Fig. 15.6.
The fundamental frequency of vibration of an arch

FIGURE 15.6. Shallow parabolic arch carrying a

uniformly distributed load.

p4 …1 0:5653k 2 † EIg
o2 ˆ …15:24†
1 ‡ 4:1277k 2 ‡ 1:6910k 4 ql14

where k ˆ f =l1 .
This expression has been obtained by the Ritz method and yields good results if
f  0:3l, l ˆ 2l1 (Morgaevsky, 1940; Bezukhov et al., 1969).

15.3.4 Non-circular arches

Figure 15.7 shows a design diagram of a symmetric arch with different equations of the
neutral line. Geometric relationships for different curves are presented in Table 15.1.

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448 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 15.7. Two-hinged non-circular arch.

The fundamental frequency of vibration for arches corresponds to the ®rst antisym-
metric mode of vibration.
The frequency of vibration of uniform symmetric arches with different equations of the
neutral line may be presented by the formula
s
l EI0
oˆ …15:25†
…R0 b0 †2 rA0
where b0 ˆ 2a0 ˆ the angle of opening of arch
R0 ˆ radius at the axis of symmetry, which corresponds to a ˆ 0
A0 ˆ cross-section area at a ˆ 0
I0 ˆ second moment of inertia of the cross-section area at a ˆ 0

TABLE 15.5. Two-hinged uniform arches with different shapes of

neutral line: ®rst and second frequency parameters

Antisymmetric Symmetric
Arch's b0 mode mode
shape (degrees) l1 l2

Parabola 10 39.10 83.68

20 37.98 81.81
30 36.17 78.72
40 33.71 74.45
Catenary 10 39.20 83.87
20 38.38 82.57
30 37.03 80.40
40 35.19 77.39
Spiral 10 39.30 84.06
20 38.77 83.33
30 37.91 82.10
40 36.72 80.39
Circle 10 39.40 84.26
20 39.17 84.10
30 38.80 83.82
40 38.28 83.44
Cycloid 10 39.50 84.38
20 39.57 84.79
30 39.70 85.48
40 39.88 86.46

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ARCHES 449

The ®rst and second frequency parameters, l1 and l2, as a function of b0 for different
arch shapes, are tabulated in Table 15.5. These parameters correspond to fundamental
(antisymmetric) and lowest symmetric modes, respectively. For their determination the
governing functional (15.11a) has been used (Gutierrez et al., 1989).

15.3.5 Circular arch. Out-of-plane vibration of arch

The a a axis of hinge supports, is horizontal and located in the plane of the arch (Fig.
15.8). The bending stiffness EI and mass m per unit length are constant.

FIGURE 15.8. Design diagram of uniform circular arch for out-of-plane vibration.

The antisymmetric frequency of vibration is determined by the following formula

(Bezukhov et al., 1969)
s
kp…a20 k 2 p2 † EI
oˆ …15:26†
a20 R2 m…k 2 p2 ‡ a20 w†

The symmetric kth frequency of vibration

s
…2k 1†p‰4a20 …2k 1†2 p2 Š EI 1
ok ˆ …15:27†
4a20 R2 m …2k 1†2 p2 ‡ 4a20 w

EI
where w ˆ ; I and J are the axial and polar moments of inertia of the cross-sectional
GJ
area; and k ˆ 1; 2; 3; . . . ;

15.4 HINGELESS UNIFORM ARCHES

15.4.1 Circular arch

The natural frequency of vibration of a circular uniform arch with clamped ends may be
calculated by the formula
s
l EI
oˆ
…Rb0 †2 rA

where b0 is the angle of opening (radians).

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450 FORMULAS FOR STRUCTURAL DYNAMICS

Coef®cients l1 and l2 are listed in Table 15.6 (Gutierrez et al., 1989). Comparisons of
frequency coef®cients, which are obtained by different numerical methods, can be found in
Gutierrez et al. (1989).

TABLE 15.6. Hingeless uniform circular arch:

frequency parameters for ®rst and second mode of
vibration

Antisymmetric Symmetric
b0 mode mode
(degrees) l1 l2

10 61.59 110.94
20 61.35 110.78
30 60.96 110.51
40 60.42 110.13

15.4.2 Circular arch with constant radial load

The uniform circular arch with clamped ends carrying a constant radial load is shown in
Fig. 15.9.
The differential equation of in-plane vibration is discussed in Section 15.1.3. The

FIGURE 15.9. Clamped circular arch with radial load.

fundamental frequency of vibration is obtained by the integration of the differential

equation (Bezukhov et al., 1969)
s r
3 41b4 20b2 …2 ‡ c2 † ‡ 16…1 ‡ c2 † 1 EI
oˆ b …15:28†
4 9b2 ‡ 20 R2 m

180 2 XR3
where b ˆ ,c ˆ .
a0  EI
Vibration is unstable if 41b4 20b2 …2 ‡ c2 † ‡ 16…1 ‡ c2 † < 0.

15.4.3 Non-circular arches

Notations for hingeless arches with different shapes are presented in Fig. 15.10.

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ARCHES 451

FIGURE 15.10. Hingeless arches with different

shapes.

The frequency of vibration of uniform symmetric arches with different shapes may be
calculated by the formula
s
l EI
oˆ
…R0 b0 †2 rA

where the central angle of the arch is b0 (in radians); the radius of curvature R0 is shown at
the axis of symmetry; the cross-section area, A, and the second moment of inertia, I , are
constant (Fig. 15.10).
The governing functional is presented by expression (15.17). First and second
frequency parameters l1 and l2 are listed in Table 15.7. These parameters correspond

TABLE 15.7. Hingeless uniform arches with different shapes of

neutral line: frequency parameters for ®rst and second modes of
vibration

Arch's shape b0 (degrees) l1 l2

Parabola 10 61.12 110.18

20 59.49 107.81
30 56.82 103.87
40 53.19 98.43
Catenary 10 61.28 110.44
20 60.11 108.79
30 58.18 106.06
40 55.54 102.26
Spiral 10 61.43 110.69
20 60.73 109.77
30 59.56 108.27
40 57.95 106.16
Circle 10 61.59 110.93
20 61.35 110.78
30 60.96 110.51
40 60.42 110.13
Cycloid 10 61.75 111.04
20 61.98 111.64
30 62.37 112.63
40 62.95 114.04

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452 FORMULAS FOR STRUCTURAL DYNAMICS

to fundamental (antisymmetric) and lowest symmetric modes, respectively. For their

determination, a ®nite element method has been used (Gutierrez et al., 1989. This article
contains also frequency coef®cients that are obtained by using polynomial approximations
and the Ritz method.)

15.5 CANTILEVERED UNIFORM CIRCULAR

ARCH WITH A TIP MASS

The uniform circular arch with a clamped support at one end and a tip mass at the other is
presented in Fig. 15.11. Parameters A; R and EI are constant.

FIGURE 15.11. Cantilevered uniform circular arch with a tip mass.

The fundamental frequency of the in-plane transverse vibration in the case of a constant
cross-section area, may be calculated by the formula

s
l1 EI
oˆ
…Rb0 †2 rA

Upper and lower bounds for the fundamental frequency coef®cient, l1 , in terms of the non-
M
dimensional parameter M * ˆ and angle b0 are listed in Table 15.8.
rARb0
Upper bounds are determined using the Rayleigh±Ritz method (the governing func-
tional is presented by formula (15.17) for the case when R ˆ constant); lower bounds are
obtained using the Dunkerley method (Laura et al., 1987).

FIGURE 15.12. Cantilevered non-circular non-uniform arch

with a tip mass.

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ARCHES 453

TABLE 15.8. Cantilevered uniform circular arch with a trip mass: upper and lower bounds for
fundamental frequency parameter l

b0 Bounds M * ˆ 0:0 0.20 0.40 0.60 0.80 1.00

5 Upper 3.517 Ð Ð Ð Ð 1.558

Lower 3.465 Ð Ð Ð Ð 1.550
10 Upper 3.51 2.61 2.16 1.89 1.70 1.559
Lower 3.466 2.58 2.15 1.88 1.69 1.551
20 Upper 3.52 Ð Ð Ð Ð 1.563
Lower 3.473 Ð Ð Ð Ð 1.554
30 Upper 3.53 2.63 2.18 1.90 1.71 1.569
Lower 3.483 2.59 2.16 1.89 1.70 1.561
40 Upper 3.55 Ð Ð Ð Ð 1.579
Lower 3.498 Ð Ð Ð Ð 1.570
50 Upper 3.57 2.66 2.21 1.93 1.73 1.591
Lower 3.517 2.62 2.19 1.91 1.72 1.582
60 Upper 3.59 Ð Ð Ð Ð 1.608
Lower 3.54 Ð Ð Ð Ð 1.597
70 Upper 3.62 2.71 2.25 1.97 1.77 1.627
Lower 3.568 2.67 2.23 1.95 1.76 1.615
80 Upper 3.66 Ð Ð Ð Ð 1.652
Lower 3.60 Ð Ð Ð Ð 1.635
90 Upper 3.709 2.78 2.32 2.03 1.83 1.68
Lower 3.637 2.74 2.29 2.00 1.80 1.659
180 Upper 4.435 3.48 2.96 2.62 2.38 2.192
Lower 4.203 3.27 2.77 2.44 2.21 2.041
270 Upper 5.84 4.90 4.18 3.71 3.37 3.092
Lower 5.286 4.33 3.76 3.37 3.08 2.854

15.6 CANTILEVERED NON-CIRCULAR ARCHES

WITH A TIP MASS

Figure 15.12 presents a non-circular arch of non-uniform cross-section, rigidly clamped at

one end and carrying a concentrated mass at the other. The tangential displacement at any
point of an arch is v ˆ V0 …a† exp …iot†.
The governing functional is presented by the formula
 2
E b„0 I …a† R0 …a† 00
J ‰V0 Š ˆ V 000 ‡ V00 …V ‡ V0 † da
2 0 R3 …a† 0 R…a† 0

ro2 b„0 M 2 02 2 

A…a†R…a†
…V00 2 ‡ V02 †da o …V0 ‡ V0 †
2 0 2 aˆ0

where V0 is the tangential displacement amplitude, V 0 ˆ dV=da.

15.6.1 Arch of uniform cross-section

A non-circular arch of uniform cross-section, rigidly clamped at one end and carrying a
concentrated mass at the other, is presented in Fig. 15.12. The fundamental frequency of

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454 FORMULAS FOR STRUCTURAL DYNAMICS

the in-plane transverse vibration of elastic arches is

s
l1 EI
o1 ˆ
…R0 b0 †2 rA

where r ˆ the mass density of the arch material

b0 ˆ central angle (radians)
R0 ˆ radius of an arch at a ˆ 0
The fundamental frequency coef®cients, l1 , in terms of the non-dimensional mass
M
M* ˆ and angle b0 for arches with different shapes are listed in Table 15.9. The
rAR0 b0
Rayleigh optimization method has been used to obtain the results (Rossi et al., 1989).

TABLE 15.9. Cantilevered uniform non-circular arch with a tip mass: fundamental frequency
parameter l

Arch's shapes b nM * 0.0 0.2 0.4 0.6 0.8 1.0

Parabola 10 3.41 2.54 2.11 1.84 1.66 1.52

20 3.11 2.34 1.95 1.71 1.54 1.41
30 2.65 2.01 1.69 1.49 1.34 1.23
40 2.02 1.60 1.36 1.20 1.09 1.00
Catenary 10 3.44 2.56 2.13 1.86 1.67 1.53
20 3.24 2.43 2.02 1.77 1.59 1.46
30 2.90 2.21 1.85 1.62 1.46 1.34
40 2.46 1.90 1.61 1.42 1.28 1.18
Spiral 10 3.48 2.59 2.15 1.87 1.68 1.54
20 3.38 2.52 2.10 1.83 1.65 1.51
30 3.21 2.41 2.01 1.76 1.58 1.45
40 2.97 2.26 1.89 1.65 1.49 1.37
Cycloid 10 3.55 2.63 2.19 1.91 1.71 1.57
20 3.67 2.71 2.25 1.96 1.76 1.61
30 3.87 2.85 2.36 2.05 1.84 1.69
40 4.19 3.06 2.52 2.19 1.97 1.80

The above mentioned reference contains a comparison of the fundamental frequency

coef®cients l1 , which are obtained using different numerical methods.

15.6.2 Arch with a discontinuously varying cross-section

A non-circular arch of non-uniform cross section, rigidly clamped at one end and carrying
a concentrated mass at the other is presented in Fig. 15.13.
Expressions for tangential and radial displacements v…a; t†, w…a; t† and the correspond-
ing governing functional are presented in Section 15.1.3.
The fundamental frequency in-plane transverse vibration is
s
l1 EI0
o1 ˆ
…R0 b0 †2 rA0

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 ARCHES

ARCHES 455

FIGURE 15.13. Cantilevered non-circular arch of discontinuously varying cross-section.

where b0 (radians) is the central angle. The frequency coef®cient, l1 , for different non-
M
dimensional mass, M * ˆ , geometry ratio, h1 =h0 , and various equations of the
rA0 R0 b0
neutral line of the arches are presented in Tables 15.10(a) and (b). The ®nite element
method has been used to obtain numerical results (Rossi et al., 1989. This article contains
results that are obtained using a polynomial approximation (a one-term solution and a
three-term solution) and an optimization approach.)
Note: if parameter M * is ®xed while h* is varying, then the fundamental frequency
coef®cient l1 for the cycloid arch as a function of parameter h* ˆ h1 =h0 is presented in
Table 15.11 (for M * ˆ 1:0). The ®nite element method has been used (Rossi et al., 1989).

15.6.3 Arch of continuously varying cross-section

An arch of continuously varying cross-section, rigidly clamped at one end and carrying a
concentrated mass M at the other, is presented in Fig. 15.14.

TABLE 15.10. (a) Cantilevered non-circular arches of discontinuously varying cross-section with a
tip mass: fundamental frequency parameter l for h1 =h0 ˆ 1:25

Arch's shapes b nM* 0.0 0.2 0.4 0.6 0.8 1.0

Parabola 10 4.63 3.42 2.83 2.47 2.21 2.02

20 4.23 3.16 2.63 2.30 2.06 1.89
30 3.58 2.74 2.30 2.01 1.82 1.67
40 2.74 2.17 1.84 1.63 1.48 1.36
Catenary 10 4.68 3.45 2.85 2.49 2.23 2.04
20 4.41 3.28 2.72 2.37 2.13 1.95
30 3.96 2.99 2.50 2.19 1.97 1.80
40 3.36 2.59 2.18 1.92 1.73 1.59
Spiral 10 4.73 3.48 2.88 2.50 2.25 2.06
20 4.59 3.40 2.81 2.45 2.20 2.01
30 4.37 3.26 2.70 2.36 2.12 1.94
40 4.05 3.06 2.50 2.23 2.01 1.84
Cycloid 10 4.82 3.54 2.92 2.54 2.28 2.09
20 4.98 3.64 3.00 2.61 2.34 2.14
30 5.25 3.81 3.14 2.73 2.44 2.23
40 5.65 4.07 3.34 2.89 2.59 2.37

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456 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 15.10. (b) Cantilevered non-circular arches of discontinuously varying cross-section with a
tip mass: Fundamental frequency parameter l for h1 =h0 ˆ 10=6

Arch's shapes b nM * 0.0 0.2 0.4 0.6 0.8 1.0

Parabola 10 6.67 4.80 3.93 3.40 3.04 2.78

20 6.13 4.48 3.69 3.20 2.87 2.62
30 5.24 3.94 3.27 2.86 2.57 2.35
40 4.04 3.17 2.68 2.36 2.13 1.96
Catenary 10 6.73 4.84 3.96 3.43 3.06 2.80
20 6.37 4.63 3.80 3.29 2.95 2.69
30 5.77 4.27 3.53 3.07 2.75 2.52
40 4.93 3.75 3.13 2.74 2.47 2.26
Spiral 10 6.79 4.87 3.98 3.45 3.08 2.81
20 6.62 4.77 3.91 3.39 3.03 2.77
30 6.32 4.60 3.78 3.28 2.94 2.68
40 5.90 4.35 3.59 3.13 2.80 2.56
Cycloid 10 6.92 4.94 4.04 3.49 3.12 2.85
20 7.12 5.07 4.13 3.57 3.19 2.91
30 7.47 5.27 4.29 3.70 3.31 3.02
40 7.99 5.58 4.52 3.90 3.47 3.17

TABLE 15.11. Cantilevered cycloid arch of discontinuously

varying cross-section with a tip mass: fundamental frequency
parameter l for M * ˆ 1

b nh* 1.30 1.40 1.50 1.60

10 2.187 2.381 2.565 2.740

Cycloid 20 2.242 2.438 2.625 2.801
30 2.336 2.536 2.726 2.904
40 2.474 2.680 2.873 3.053

J0

FIGURE 15.14. Cantilevered arch with continuously varying

cross-section.

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 ARCHES

ARCHES 457

TABLE 15.12. (a) Cantilevered non-circular arches of discontinuously varying

cross-section with a tip mass: Fundamental frequency parameter l for Z ˆ 0:2

Arch's
shapes b nM * 0.0 0.2 0.4 0.6 0.8 1.0

Parabola 10 4.18 3.13 2.60 2.27 2.04 1.87

20 3.81 2.88 2.41 2.11 1.90 1.74
30 3.23 2.49 2.10 1.85 1.67 1.53
40 2.48 1.97 1.68 1.49 1.35 1.25
Catenary 10 4.22 3.15 2.62 2.29 2.06 1.88
20 3.98 2.99 2.49 2.18 1.96 1.80
30 3.58 2.73 2.29 2.01 1.81 1.66
40 3.03 2.36 1.99 1.76 1.59 1.46
Spiral 10 4.27 3.18 2.64 2.31 2.07 1.90
20 4.15 3.10 2.58 2.26 2.03 1.86
30 3.94 2.97 2.48 2.17 1.95 1.79
40 3.66 2.79 2.33 2.05 1.84 1.69
Cycloid 10 4.35 3.24 2.69 2.34 2.11 1.93
20 4.49 3.33 2.76 2.41 2.16 1.98
30 4.74 3.49 2.89 2.52 2.26 2.07
40 5.11 3.74 3.08 2.68 2.40 2.20

The height of the cross-section for any angle a is determined by the following formula
 
a
h…a† ˆ h0 1 ‡ Z
b0
where h0 is the height of cross-section at a ˆ 0; and the Z parameter, which represents the
increase of the height of the cross-section at given a, can be any number.
The fundamental frequency of vibration of an elastic arch with central angle b0 (rad)
may be calculated by the formula
s
l1 EI0
o1 ˆ
…R0 b0 †2 rA0
Frequency coef®cients, l, for various equations of the neutral line, opening angle, b ,
M
parameter Z and non-dimensional mass, M * ˆ , are presented in Tables 15.12(a)
and (b). rA0 R0 b0
These results have been obtained by the ®nite element method; 12 prismatic beam
elements have been used (Rossi et al., 1989). This article contains results that are obtained
using the Rayleigh optimization method.
Note: The varying cross-section for symmetric arches may be presented in the ana-
lytical form by the following expression (Darkov, 1989)
Ic
Ix ˆ  
x
1 …1 n† cos jx
l1
where x ˆ abscissa of any point on a neutral line, referred to the coordinate origin which is
located at a centroid of a crown section
Ic ˆ second moment of inertia of a crown section

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458 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 15.12. (b) Cantilevered non-circular arches of discontinuously varying

cross-section with a tip mass: Fundamental frequency parameter l for Z ˆ 0:4

Arch's
shapes b nM * 0.0 0.2 0.4 0.6 0.8 1.0

Parabola 10 4.97 3.72 3.10 2.71 2.43 2.23

20 4.54 3.44 2.88 2.52 2.27 2.08
30 3.85 2.98 2.51 2.21 2.00 1.84
40 2.97 2.37 2.02 1.80 1.63 1.50
Catenary 10 5.02 3.75 3.12 2.73 2.45 2.25
20 4.73 3.57 2.98 2.60 2.34 2.15
30 4.26 3.26 2.73 2.40 2.16 1.99
40 3.62 2.83 2.39 2.11 1.91 1.76
Spiral 10 5.07 3.79 3.15 2.75 2.47 2.26
20 4.93 3.70 3.08 2.69 2.42 2.22
30 4.69 3.55 2.96 2.59 2.33 2.14
40 4.36 3.33 2.79 2.45 2.21 2.03
Cycloid 10 5.17 3.85 3.20 2.79 2.51 2.30
20 5.33 3.96 3.28 2.87 2.57 2.36
30 5.62 4.15 3.43 2.99 2.68 2.46
40 6.04 4.43 3.65 3.18 2.85 2.60

Ix ˆ second moment of inertia of a cross-section area, which is located at a distance x

from the coordinate origin
jx ˆ angle between the tangent to the neutral line of the arch and the horizontal
l1 ˆ one half of the arch span
The value of parameter n is given by formula

Ic
nˆ
I0 cos j0

where I0 , j0 correspond to the cross-section at the support.

15.7 ARCHES OF DISCONTINUOUSLY VARYING

CROSS-SECTION

This section is devoted to the in-plane vibration of non-circular symmetric and non-
symmetric arches of non-uniform cross-section with different boundary conditions. Figure
15.15 presents the notation of a non-circular arch of non-uniform cross-section.
The relationships R…a† for different types of arch geometry are presented in Table 15.1.
The mathematical model and governing functional are presented in Section 15.1.3.
Numerical results for different arch shapes and boundary conditions, and types of
discontinuously varying cross-sections, are presented in Tables 15.13±15.19 (Gutierrez
et al., 1989).

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ARCHES 459

FIGURE 15.15. Arch geometry (boundary conditions are not shown).

15.7.1 Pinned±pinned arches

Two types of symmetric pinned±pinned arches of discontinuously varying cross-section are
presented in Fig. 15.16.

1
FIGURE 15.16. Pinned±pinned arches of discontinuously varying cross section.

The frequency of an in-plane vibration of an elastic arch for different arch shapes is
s
l EI0
oˆ 2 rA
…R0 b0 † 0

where the parameter l for the ®rst and second modes of pinned±pinned arches for both
types 1 and 2 are listed in Table 15.13. The ®nite element method has been used.

15.7.2 Clamped±clamped arches

Two types of symmetric clamped±clamped arches of discontinuously varying cross-section
are presented in Fig. 15.17.
The frequency of in-plane vibration of elastic arches is
s
l EI0
oˆ 2 rA
…R0 b0 † 0

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460 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 15.13. Pinned±pinned non-circular symmetric arches of discon-

tinuously varying cross-section: frequency parameters l for ®rst and second
mode of vibration

First mode Second mode

Arch's b0
shape (degrees) Type 1 Type 2 Type 1 Type 2

Parabola 10 45.93 32.17 100.47 71.25

20 44.70 31.21 98.17 69.69
30 42.70 29.66 94.37 67.10
40 39.97 27.56 89.13 63.52
Catenary 10 46.04 32.26 100.66 71.39
20 45.14 31.55 99.10 70.32
30 43.66 30.39 96.45 68.50
40 41.63 28.81 92.76 65.98
Spiral 10 46.15 32.34 100.90 71.54
20 45.57 31.89 100.04 70.95
30 44.63 31.13 98.54 69.92
40 43.32 30.10 96.45 68.48
Circle 10 46.26 32.43 101.17 71.73
20 46.01 32.23 100.98 71.59
30 45.61 31.89 100.66 71.35
40 45.05 31.43 100.21 71.01
Cycloid 10 46.37 32.51 101.33 71.82
20 46.45 32.57 101.85 72.16
30 46.60 32.66 102.71 72.72
40 46.82 32.80 103.95 73.52

1
FIGURE 15.17. Clamped±clamped arches of discontinuously varying cross-section.

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 ARCHES

ARCHES 461

where b0 is the central angle (in radians). The parameter l, for the ®rst and second modes
of clamped±clamped arches for both types 1 and 2, is presented in Table 15.14. The ®nite
element method has been used.

TABLE 15.14. Clamped±clamped non-circular symmetric arches of discontinuously varying cross-

section: frequency parameters l for ®rst and second mode of vibration

First mode Second mode

Arch's b0
shape (degrees) Type 1 Type 2 Type 1 Type 2

Parabola 10 71.30 50.96 133.52 92.58

20 69.52 49.17 130.63 90.63
30 66.59 46.86 125.83 87.38
40 62.59 43.73 119.18 82.89
Catenary 10 71.47 50.72 133.62 92.68
20 70.20 49.70 131.83 91.43
30 68.10 48.02 128.51 89.17
40 65.21 45.73 123.87 86.03
Spiral 10 71.65 50.86 133.92 92.89
20 70.89 50.24 133.03 92.24
30 69.63 49.21 131.21 90.99
40 67.88 47.79 128.65 89.23
Circle 10 71.82 50.99 134.43 93.19
20 71.58 50.77 134.26 93.05
30 71.17 50.41 133.95 92.82
40 70.62 49.91 133.51 92.49
Cycloid 10 71.99 51.13 134.55 93.29
20 72.27 51.31 135.29 93.76
30 72.74 51.63 136.52 94.56
40 73.42 52.09 138.26 95.69

15.7.3 Non-symmetric arches

Non-symmetric arches with different shapes of discontinuously varying cross-section are
presented in Fig. 15.18.

FIGURE 15.18. Non-symmetric arch (boundary condi-

tions are not shown).

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462 FORMULAS FOR STRUCTURAL DYNAMICS

The fundamental frequency of in-plane vibration of elastic pinned and clamped arches
is

s
l EI0
oˆ
…R0 b0 †2 rA0

The parameter l for arches with different shapes is presented in Table 15.15. Polynomial
approximations and the Ritz method are used.

TABLE 15.15. Non-circular non-symmetrical arches of discontinuously varying cross-section with

different boundary conditions: fundamental frequency parameter l

Pinned at left end,

Pinned± Clamped± clamped at right end
Arch's b0 pinned clamped
shapes (degrees) Z ˆ 0:8 Z ˆ 0:8 Z ˆ 0:8 Z ˆ 1:0

Parabola 10 44.22 68.87 56.49 49.15

20 42.94 67.17 54.88 47.83
30 40.89 64.25 52.23 45.69
40 38.05 60.06 48.66 42.61
50 34.52 54.91 44.27 38.88
60 30.19 48.58 38.98 34.40
Catenary 10 44.36 69.10 56.63 49.31
20 43.35 67.82 55.46 48.24
30 41.81 65.66 53.55 46.81
40 39.79 62.80 50.99 44.58
50 37.09 58.99 47.66 41.80
60 33.94 54.47 43.81 38.47
Spiral 10 44.45 69.22 56.78 49.31
20 43.86 68.46 56.07 48.82
30 42.89 67.23 54.88 47.74
40 41.47 65.42 53.29 46.47
50 39.82 63.18 51.26 44.72
60 37.78 60.43 48.84 42.61
Circle 10 44.54 69.39 56.92 49.47
20 44.27 69.10 56.63 49.31
30 43.90 68.64 56.21 48.82
40 43.26 68.05 55.64 48.33
50 42.56 67.35 54.91 47.66
60 41.66 66.39 54.03 46.98
Cycloid 10 44.63 69.51 57.06 49.63
20 44.72 69.80 57.27 49.71
30 44.90 70.14 57.55 49.96
40 45.07 70.71 58.03 50.20
50 45.25 71.38 58.58 50.67
60 45.60 72.22 59.33 51.14

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ARCHES 463

15.7.4 Arches of continuously varying cross-section

Symmetric arches of continuously varying cross-section are presented in Figs. 15.19(a)
and (b).

FIGURE 15.19. Symmetric arches of continuously varying cross-section. (a) Pinned±pinned arch;
(b) clamped±clamped arch.

The width of the arch is constant, the height h1 for the left and right parts of the arch is
   
a a
h1 ˆ h0 1 Z and h1 ˆ h0 1 ‡ Z
b b

TABLE 15.16. (a) Pinned±pinned non-circular symmetric arches of continuously varying cross-
section: Frequency parameters for ®rst and second modes of vibration

Fundamental mode Second mode

b0
(degrees) Z ˆ 0:1 0:2 0:3 0:4 Z ˆ 0:1 0:2 0:3 0:4

Parabola 10 39.27 39.76 40.53 41.56 88.15 95.59 97.02 101.45

20 38.15 38.63 39.39 40.40 86.19 90.54 94.88 99.21
30 36.33 36.80 37.54 38.53 82.95 87.16 91.34 95.51
40 33.87 34.32 35.03 35.98 78.48 82.48 86.46 90.42
Catenary 10 39.37 39.86 40.63 41.66 88.35 92.80 97.24 101.68
20 38.55 39.03 39.79 40.81 86.99 91.37 95.74 100.12
30 37.20 37.67 38.42 39.42 84.72 89.00 93.26 97.52
40 35.36 35.81 36.55 37.51 81.57 85.71 89.82 93.93
Spiral 10 39.47 39.96 40.73 41.76 88.55 93.01 97.46 101.91
20 38.08 39.43 40.20 41.22 87.78 92.21 96.62 101.03
30 36.08 38.55 39.31 40.32 86.50 90.86 95.21 99.56
40 36.88 37.35 38.10 39.08 84.70 88.99 93.25 97.52
Circle 10 39.57 40.06 40.84 41.86 88.75 93.22 97.68 102.14
20 39.34 39.83 40.60 41.62 88.58 93.04 97.49 101.94
30 38.97 39.45 40.22 41.23 88.29 92.74 97.18 101.62
40 38.45 38.93 39.69 40.69 87.89 92.33 96.75 101.17
Cycloid 10 39.67 40.16 40.94 41.97 88.95 93.43 97.90 102.37
20 39.74 40.23 31.01 42.04 89.38 93.88 98.37 102.87
30 39.87 40.36 41.13 42.16 90.11 94.64 99.17 103.71
40 40.06 40.54 41.32 42.34 91.14 95.73 100.31 104.90

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464 FORMULAS FOR STRUCTURAL DYNAMICS

The current angle 0  a  b, b ˆ 0:5b0 and parameter Z is any number. The fundamental
s
l EI0
and second frequency of in-plane vibration may be calculated by o ˆ . The
…R0 b0 †2 rA0
frequency coef®cients l1 and l2, as a function of parameter Z, central angle b0 , various
equations of the neutral line and different boundary conditions, are presented in Tables
15.16(a) and (b). The polynomial approximation and Ritz method have been applied
(Gutierres et al., 1989).

15.7.5 Pinned±pinned symmetric arches

The design diagram is presented in Fig. 15.19(a). Fundamental and second frequency
coef®cients, l1 and l2, as a function of the parameter Z, central angle b0 and various
equations of the neutral line are presented in Table 15.16(a).

15.7.6 Clamped-clamped symmetric arch

The design diagram is presented in Fig. 15.19(b). Fundamental and second frequency
coef®cients, l1 and l2, as a function of the parameter Z, central angle b0 and various
equations of the neutral line are presented in Table 15.16(b).

TABLE 15.16. (b) Clamped±clamped non-circular symmetric arches of continuously varying cross-
section: Frequency parameters for ®rst and second modes of vibration.

Fundamental mode Second mode

b0
(degrees) Z ˆ 0:1 0:2 0:3 0:4 Z ˆ 0:1 0:2 0:3 0:4

Parabola 10 61.49 62.57 64.27 66.48 116.79 123.36 129.90 136.44

20 59.86 60.91 62.58 64.76 114.28 120.71 127.11 133.52
30 57.18 58.20 59.82 61.92 110.13 116.34 122.52 128.70
40 53.53 54.51 56.05 58.06 104.39 110.31 116.19 122.06
Catenary 10 61.65 62.73 64.43 66.65 117.06 123.63 130.19 136.75
20 60.47 61.54 63.22 65.41 115.32 121.80 128.27 134.73
30 58.54 59.59 61.23 63.37 112.44 118.77 125.08 131.39
40 55.89 56.90 58.49 60.57 108.43 114.56 120.66 126.75
Spiral 10 61.81 62.89 64.60 66.82 117.32 123.91 130.48 137.05
20 61.10 62.17 63.87 66.07 116.36 122.90 129.43 135.95
30 59.93 60.99 62.66 64.84 114.77 121.23 127.67 134.11
40 58.31 59.35 60.99 63.13 112.55 118.90 125.22 131.54
Circle 10 61.96 63.05 64.76 66.98 117.58 124.18 130.77 137.36
20 61.72 62.81 64.51 66.74 117.41 124.01 130.59 137.18
30 61.33 62.41 64.11 66.33 117.13 123.72 130.29 136.87
40 60.79 61.87 63.56 65.77 116.74 123.22 129.88 136.44
Cycloid 10 62.12 63.21 64.92 67.15 117.84 124.46 131.06 137.67
20 62.36 63.45 65.17 67.40 118.47 125.12 130.76 138.41
30 62.76 63.85 65.59 67.84 119.52 126.24 132.94 139.66
40 63.34 64.45 66.19 68.46 121.02 127.83 134.63 141.45

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ARCHES 465

15.7.7 Arch structures of continuously varying cross-section

Different types of continuously varying cross-sections of elastic arch structures are
presented in Fig. 15.20. Cases 1 and 2 present arches of symmetric varying cross-section,
cases 3 and 4 present arches of non-symmetric varying cross-section.

   
a a
h1 ˆ h0 1 Z ba0 h1 ˆ h0 1 Z ba0
b b
a a
h1 ˆ 1 ‡ Z 0ab h1 ˆ 1 ‡ Z 0ab
b b

   
a a
h1 ˆ h0 1 Z h1 ˆ h0 1 Z
b b
bab bab

FIGURE 15.20. Different types of non-uniform cross-section of arch structures. Boundary conditions are
not shown. Parameter Z is any positive number.

The frequency of the in-plane vibration is

s
l EI
oˆ
…R0 b0 †2 rA0

where b0 ˆ 2b is the angle of opening. Fundamental frequency parameters l are predicted

in Tables 15.17±15.19 (Gutierres et al., 1989). Polynomial approximations and the Ritz
method are used.

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466 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 15.17. Pinned±clamped non-circular arches of symmetric continuously varying cross-

section: Fundamental frequency parameter.

Pinned±clamped, Case 1 Pinned±clamped, Case 2

Arch's b0
shape (degrees) Z ˆ 0:1 0:2 0:3 0:4 Z ˆ 0:1 0:2 0:3 0:4

Parabola 10 51.76 54.47 57.13 59.80 46.21 43.45 40.39 37.09

20 50.43 53.06 55.71 58.31 44.98 42.16 39.09 35.88
30 48.16 50.75 53.36 55.85 42.89 40.10 37.09 33.96
40 45.07 47.58 49.96 52.46 40.00 37.20 34.29 31.11
50 41.18 43.54 45.78 48.08 36.22 33.58 30.85 27.71
60 36.44 38.67 40.89 42.98 31.87 29.39 26.68 23.83
Catenary 10 51.84 54.55 57.27 59.93 46.39 43.45 40.39 37.20
20 50.91 53.59 56.21 58.78 45.51 42.52 39.59 36.22
30 49.31 51.92 54.55 57.06 44.00 41.18 38.05 34.87
40 47.07 49.63 52.07 54.62 41.76 39.09 36.11 32.98
50 44.18 46.64 49.07 51.45 39.09 36.44 33.58 30.33
60 40.79 43.08 45.34 47.58 35.88 33.34 30.33 27.42
Spiral 10 52.00 54.69 57.41 60.06 46.56 43.63 40.59 37.31
20 51.45 54.03 56.78 59.33 45.86 43.08 40.00 36.77
30 50.43 53.06 55.64 58.31 44.98 42.14 39.09 35.77
40 49.07 51.61 54.18 56.71 43.63 40.79 37.84 34.64
50 47.24 49.80 52.30 54.84 41.95 39.19 36.33 33.10
60 45.16 47.66 50.04 52.46 40.00 37.20 34.40 31.24
Circle 10 52.15 54.84 57.48 60.20 46.56 43.72 40.69 37.41
20 51.92 54.55 57.27 60.00 46.39 43.51 40.39 37.20
30 51.53 54.25 56.85 59.53 46.04 43.08 40.20 36.87
40 50.91 53.66 56.28 58.99 45.51 42.70 39.59 36.33
50 50.27 52.99 55.57 58.24 44.81 41.95 38.98 35.77
60 49.47 52.07 54.77 57.41 44.09 41.37 38.36 35.10
Cycloid 10 52.23 54.99 57.61 60.33 46.73 43.81 40.79 37.52
20 52.38 55.13 57.82 60.53 46.81 44.00 40.98 37.63
30 52.61 55.35 58.03 60.72 47.07 44.18 41.18 37.84
40 52.91 55.71 58.37 61.12 47.41 44.45 41.37 38.15
50 53.36 56.14 58.85 61.64 47.74 44.81 41.76 38.57
60 53.81 56.63 59.46 62.22 48.24 45.34 42.23 38.98

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 ARCHES

ARCHES 467

TABLE 15.18. Pinned±pinned and pinned±clamped non-circular arches of non-symmetric con-

tinuously varying cross-section: Fundamental frequency parameter

Pinned±pinned, Case 3 Pinned±clamped, Case 3

Arch's b0
shape (degrees) Z ˆ 0:1 0:2 0:3 0:4 Z ˆ 0:1 0:2 0:3 0:4

Parabola 10 38.88 38.57 38.15 37.41 49.47 49.71 49.63 48.99

20 37.73 37.52 37.09 36.33 48.24 48.33 48.16 47.66
30 36.00 35.77 35.21 34.52 45.95 46.13 45.86 45.34
40 33.46 33.22 32.74 32.12 42.89 42.98 42.80 42.33
50 30.33 33.06 29.66 29.12 39.09 39.19 38.98 38.57
60 26.68 26.38 25.92 25.61 34.52 34.64 34.64 34.40
Catenary 10 38.98 38.78 38.36 37.52 49.63 49.88 49.80 49.15
20 38.15 37.94 37.52 36.77 48.66 48.82 48.74 48.16
30 36.87 36.66 36.11 35.44 47.07 47.15 47.07 46.56
40 35.10 34.64 34.29 33.58 44.90 44.90 44.81 44.27
50 32.74 32.37 31.87 31.36 41.52 42.14 41.95 41.47
60 29.79 29.66 29.25 28.70 38.67 38.78 38.67 38.26
Spiral 10 39.09 38.78 38.36 37.63 49.80 50.04 49.96 49.31
20 38.57 38.36 37.94 37.09 49.15 49.39 49.31 48.66
30 37.73 37.52 36.98 36.33 48.16 48.33 48.24 47.66
40 36.55 36.22 35.77 35.21 46.73 46.98 46.81 46.30
50 35.10 34.87 34.29 33.58 45.07 45.25 44.98 44.45
60 33.22 32.98 32.49 31.87 42.89 43.08 42.89 42.42
Circle 10 39.19 38.98 38.57 37.73 49.88 50.12 49.96 49.47
20 38.88 38.78 38.15 37.52 49.63 49.88 49.80 49.15
30 38.67 38.36 37.94 37.20 49.31 49.55 49.47 48.81
40 38.05 37.84 37.31 36.66 48.82 49.07 48.99 48.33
50 37.41 37.20 36.66 36.00 48.16 48.41 48.33 47.83
60 36.66 36.44 36.00 35.32 47.32 47.58 47.49 46.98
Cycloid 10 39.29 38.98 38.57 37.84 50.04 50.27 50.12 49.63
20 39.29 39.09 38.57 37.94 50.20 50.43 50.35 49.80
30 39.49 39.29 38.78 38.05 50.35 50.67 50.75 50.12
40 39.59 39.39 38.98 38.26 50.75 51.14 51.22 50.59
50 39.79 39.59 39.19 38.57 51.22 51.76 51.84 51.30
60 40.10 39.90 39.49 38.98 51.76 52.46 52.68 52.15

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468 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 15.19. Clamped±clamped and pinned±clamped non-circular arches of non-symmetric

continuously varying cross-section: Fundamental frequency parameter

Clamped±clamped, Case 3 Pinned±clamped, Case 4

Arch's b0
shape (degrees) Z ˆ 0:1 0:2 0:3 0:4 Z ˆ 0:1 0:2 0:3 0:4

Parabola 10 60.53 60.46 59.73 58.37 48.49 47.74 46.46 45.34

20 59.05 58.85 58.10 56.78 47.15 46.47 45.43 44.09
30 56.49 56.21 55.42 54.11 45.07 44.36 43.26 41.85
40 52.91 52.65 51.76 50.43 42.14 41.28 40.29 38.88
50 48.41 40.08 47.15 46.14 38.26 37.52 36.55 35.32
60 42.98 42.70 41.85 40.86 33.70 32.98 32.00 30.05
Catenary 10 60.59 60.59 59.93 58.65 48.58 47.91 46.81 45.43
20 59.59 59.46 58.78 57.41 47.66 46.90 45.95 44.45
30 57.75 57.55 56.85 55.49 46.04 45.34 44.36 42.89
40 55.20 54.99 54.18 52.83 44.00 43.17 42.14 40.79
50 52.00 51.69 50.75 49.55 41.18 40.39 39.39 38.05
60 48.08 47.66 46.81 45.78 37.84 37.09 36.11 34.87
Spiral 10 60.79 60.79 60.13 58.78 48.74 48.00 46.98 45.51
20 60.13 60.06 59.33 58.10 48.16 47.41 46.30 44.98
30 58.99 58.92 58.24 56.85 47.15 46.39 45.43 43.90
40 57.55 57.41 56.56 55.20 45.86 45.07 44.00 42.61
50 55.57 55.35 54.55 53.21 44.09 43.26 42.33 40.98
60 53.21 52.92 52.07 50.83 42.04 41.18 40.20 38.88
Circle 10 60.92 60.92 60.26 58.92 48.82 48.08 47.07 45.69
20 60.72 60.66 60.00 58.65 48.58 47.83 46.81 45.43
30 60.33 60.26 59.59 58.31 48.24 47.49 46.47 45.07
40 59.80 59.73 59.05 57.82 47.74 46.90 45.95 44.54
50 59.12 59.05 58.37 57.13 47.07 46.21 45.25 43.81
60 58.31 58.24 57.68 56.35 46.21 45.51 44.54 43.08
Cycloid 10 61.05 61.05 60.39 59.05 48.90 48.24 47.15 45.78
20 61.35 61.25 60.66 59.33 49.07 48.33 47.32 45.95
30 61.57 61.57 61.05 59.80 49.31 48.49 47.49 46.13
40 62.03 62.16 61.64 60.46 49.55 48.82 47.91 46.47
50 62.54 62.86 62.48 61.31 49.96 49.23 48.24 46.81
60 63.30 63.62 63.56 62.41 50.35 49.71 48.74 47.49

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 ARCHES

ARCHES 469

REFERENCES

Blevins, R.D. (1979) Formulas for Natural Frequency and Mode Shape (New York: Van Nostrand
Reinhold).
Bolotin, V.V. (1978) Vibration of Linear Systems, vol. 1, In Handbook: Vibration in Tecnnik, vol 1±6
(Moscow: Mashinostroenie) (In Russian).
Borg, S.F. and Gennaro, J.J. (1959) Advanced Structural Analysis (New Jersey: Van Nostrand).
De Rosa, M.A. (1991) The in¯uence of the support ¯exibilities on the vibration frequencies of arches.
Journal of Sound and Vibration, 146(1), 162±169.
Filipich, C.P., Laura, P.A.A. and Cortinez, V.H. (1987) In-plane vibrations of an arch of variable cross
section elastially restrained against rotation at one end and carrying a concentrated mass, at the other.
Applied Acoustics, 21, 241±246.
Gutierrez, R.H., Laura, P.A.A., Rossi, R.E., Bertero, R. and Villaggi, A. (1989) In-plane vibrations of
non-circular arcs of non-uniform cross-section. Journal of Sound and Vibration, 129(2), 181±200.
Laura, P.A.A., Filipich, C.P. and Cortinez, V.H. (1987) In-plane vibrations of an elastically cantilevered
circular arc with a tip mass. Journal of Sound and Vibration, 115(3), 437±446.
Laura, P.A.A., Verniere De Irassar, P.L., Carnicer, R. and Bertero, R. (1988a) A note on vibrations of a
circumferential arch with thickness varying in a discontinuous fashion. Journal of Sound and
Vibration, 120(1), 95±105.
Laura, P.A.A., Bambill, E., Filipich, C.P. and Rossi, R.E. (1988b) A note on free ¯exural vibrations of
a non-uniform elliptical ring in its plane. Journal of Sound and Vibration, 126(2), 249±254.
Lee, B.K. and Wilson, J.F. (1989) Free vibrations of arches with variable curvature. Journal of Sound
and Vibration, 136(1), 75±89.
Maurizi, M.J., Rossi, R.E. and Belles, P.M. (1991) Lowest natural frequency of clamped circular arcs
of linearly tapered width. Journal of Sound and Vibration, 144(2), 357±361.
Romanelli, E. and Laura, P.A. (1972) Fundamental frequencies of non-circular, elastic hinged arcs.
Journal of Sound and Vibration, 24(1), 17±22.
Rossi, R.E., Laura, P.A.A. and Verniere De Irassar, P.L. (1989) In-plane vibrations of cantilevered non-
circular arcs of non-uniform cross-section with a tip mass. Journal of Sound and Vibration, 129(2),
201±213.

FURTHER READING

Abramovitz, M. and Stegun, I.A. (1970) Handbook of Mathematical Functions (New York: Dover).
Bezukhov, N.I., Luzhin, O.V. and Kolkunov, N.V. (1969) Stability and Structural Dynamics (Moscow,
Stroizdat).
Chang, T.C. and Volterra, E. (1969) Upper and lower bounds or frequencies of elastic arcs. The
Journal of the Acoustical Society of America, 46(5) (Part 2), 1165±1174.
Collatz, L. (1963) Eigenwertaufgaben mit technischen Anwendungen (Leipzig: Geest and Portig).
Darkov, A. (1984) Structural Mechanics English translation (Moscow: Mir Publishers).
Den Hartog, J.P. (1928) The lowest natural frequencies of circular arcs. Philosophical Magazine Series
75, 400±408.
Ewins, D.J. (1985) Modal Testing: Theory and Practice (New York: Wiley).
Filipich, C.P. and Laura, P.A.A. (1988) First and second natural frequencies of hinged and clamped
circular arcs: a discussion of a classical paper. Journal of Sound and Vibration, 125, 393±396.
Filipich, C.P. and Rosales, M.B. (1990) In-plane vibration of symmetrically supported circumferential
rings. Journal of Sound and Vibration, 136(2), 305±314.
Flugge, W. (1962) Handbook of Engineering Mechanics (New York: McGraw-Hill).

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 ARCHES

470 FORMULAS FOR STRUCTURAL DYNAMICS

Irie, T., Yamada, G. and Tanaka, K. (1982) Free out-of-plane vibration of arcs. ASME Journal of
Applied Mechanics, 49, 439±441.
Laura, P.A.A. and Maurizi, M.J. (1987) Recent research on vibrations of arch-type structures. The
Shock and Vibration Digest, 19(1), 6±9.
Laura, P.A.A. and Verniere De Irassar, P.L. (1988) A note on in-plane vibrations of arch-type structures
of non-uniform cross-section: the case of linearly varying thickness. Journal of Sound and Vibration,
124, 1±12.
Morgaevsky, A.B. (1940) Vibrations of parabolic arches. Scienti®c Transactions, Vol. IV, Metallurgical
Institute, Dnepropetrovsk, (in Russian).
Pfeiffer, F. (1934) Vibration of Elastic Systems (Moscow±Leningrad, ONT1) p. 154. Translated from
(1928) Mechanik Der Elastischen Korper : Handbuch Der Physik, Band IV (Berlin).
Rabinovich, I.M. (1954) Eigenvalues and eigenfunctions of parabolic and other arches. Investigation
Theory of Structures, Gosstroizdat, Moscow, Vol. V. (In Russian).
Rzhanitsun A.R. (1982) Structural mechanics (Moscow: Vushaya Shkola).
Sakiyama, T. (1985) Free vibrations of arches with variable cross section and non-symmetrical axis.
Journal of Sound and Vibration, 102, 448±452.
Suzuki, K., Aida, H. and Takahashi, S. (1978) Vibrations of curved bars perpendicular to their planes.
Bulletin of the Japanese Society of Mechanical Engineering, 21, 1685±1695.
Volterra, E. and Morell, J.D. (1960) A note on the lowest natural frequencies of elastic arcs. American
Society of Mechanical Engineering Journal of Applied Mechanics 27, 4744±4746.
Volterra, E. and Morell, J.D. (1961) Lowest natural frequencies of elastic hinged arcs. Journal of the
Acoustical Society of America, 33(12), 1787±1790.
Volterra, E. and Morell, J.D. (1961) Lowest natural frequencies of elastic arcs outside the plane of
initial curvature. ASME Journal of Applied Mechanics, 28, 624±627.
Wang, T.M. (1972) Lowest natural frequencies of clamped parabolic arcs. Proceedings of the
American Society of Civil Engineering 98(ST1), 407±411.
Wang, T.M. and Moore, J.A. (1973) Lowest natural extensional frequency of clamped elliptic arcs.
Journal of Sound and Vibration, 30, 1±7.
Wang, T.M. (1975) Effect of variable curvature on fundamental frequency of clamped parabolic arcs.
Journal of Sound and Vibration, 41, 247±251.
Wasserman, Y. (1978) Spatial symmetrical vibrations and stability of circular arches with ¯exibly
supported ends. Journal of Sound and Vibration, 59, 181±194.
Weaver, W., Timoshenko, S.P. and Young, D.H. (1990) Vibration Problems in Engineering, 5th edn
(New York: Wiley).
Wolf, J.A. (1971) Natural frequencies of circular arches. Proceedings of the American Society of Civil
Engineering 97(ST9), 2337±2349.
Young, W.C. (1989) Roark's Formulas for Stress and Strain, 6th edn (New York: McGraw-Hill).

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 Source: Formulas for Structural Dynamics: Tables, Graphs and Solutions

CHAPTER 16
FRAMES

This chapter deals with the vibration of frames. Eigenvalues for symmetric portal frames,
symmetric multi-storey frames, viaducts, etc. are presented. A detailed example of the
calculation of non-regular frames is discussed.

NOTATION

A Cross-sectional area
B; C; S; D; E Hohenemser±Prager functions
E Young's modulus
EI Bending stiffness
F; H; L; R Frequency functions
g Gravitational acceleration
I Moment of inertia of a cross-sectional area
k; b Dimensionless geometry parameters
l; h Length of frame element
m Mass per unit length
M Concentrated mass
rik Unit reaction
t Time
x Spatial coordinate
y Transversal displacement
Z Unknown of the slope-de¯ection method
a Dimensionless mass ratio
l Frequency parameter, l4 EI ˆ ml 4 o2
r Density of material
n Eigenvector
o Natural frequency, o2 ˆ l2 EI =ml 4

16.1 SYMMETRIC PORTAL FRAMES

A portal symmetric frame with clamped supports is shown in Fig. 16.1. The distributed
masses of elements per unit length are m1 and m2 . Additional distributed load, which is

471
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 FRAMES

472 FORMULAS FOR STRUCTURAL DYNAMICS

carried by horizontal and vertical elements, are q1 and q2, respectively (load q2 is not
shown).
The differential equation for each member is

@4 y @2 y q
EI ‡ ri Ai …1 ‡ ei † 2 ˆ 0; ei ˆ i
@x 4 @t gmi

where qi =g is the mass per unit length of the distributed load, and mi is the mass per unit
length of a member itself.
For a symmetrical framed system, investigation of symmetrical and antisymmetrical
vibrations, are considered separately.

16.1.1 Frame with clamped supports

A portal symmetric frame is presented in Fig. 16.1.

The dimensionless parameters, which are needed for calculation of the natural
frequency of vibration are as follows:

s
I h h 4 A2 …1 ‡ e2 †I1
k ˆ 1 ;b ˆ
I2 l l A1 …1 ‡ e1 †I2
A1 rl…1 ‡ e1 † q q q q
a1 ˆ ; e1 ˆ 1 ˆ 1 ; e2 ˆ 2 ˆ 2
A2 rh grA1 gm1 grA2 gm2
rA1 …1 ‡ e1 †l 4 2
l4 ˆ o
EI1

The natural frequency of vibration may be calculated by the formula

s
l2 EI1
oˆ 2 …16:1†
l rA1 …1 ‡ e1 †

where l are the roots of the frequency equation.

FIGURE 16.1. A portal symmetric frame with

clamped supports.

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 FRAMES

FRAMES 473

Frequency equation. The frequency equation may be presented in terms of trigono-

metric±hyperbolic functions as follows (Filippov, 1970).
Symmetric vibration
 
l l l l
bl…sin bl
cosh bl cos bl sinh bl† sin cosh ‡ cos sinh
2 2 2 2
l l
‡ 2lk…1 cos bl cosh bl† cos cosh ˆ 0 …16:2†
2 2
Limiting case: if h ˆ 0 or I2 ˆ 1, then k ˆ 0, b ˆ 0 and the frequency of vibration is

l l l l
sin cosh ‡ cos sinh ˆ 0
2 2 2 2
which corresponds to a clamped±guided beam with length of the span 0:5l (Table 5.4).
Antisymmetric vibration
 
l l l l
sin cosh cos sinh ‰…1 ‡ cos bl cosh bl†bl
2 2 2 2
‡ a1 b2 l2 …cos bl sinh bl sin bl cosh bl†Š
l l
‡ 2kl sin sinh ‰sin bl cosh bl ‡ cos bl sinh bl
2 2
‡ a1 bl…cos bl cosh bl 1†Š ˆ 0 …16:3†
The frequency equation may also be presented in terms of Hohenemser±Prager functions
as follows (Anan'ev, 1946).
Symmetric vibration
r r
m B…l2 † m C…l1 †
EI2 4 2 ˆ EI1 4 1 …16:4†
EI2 D…l2 † EI1 D…l1 †
where the relationship between frequency parameters is
s
l 4 m1 EI2
l1 ˆ l2 …16:4a†
2h EI2 m2
If EI1 ˆ EI2 ˆ EI and m1 ˆ m2 ˆ m, then the frequency equation (16.4) becomes
B…l2 † C…l1 † l
ˆ ; l ˆ l2
D…l2 † D…l1 † 1 2h
Antisymmetric vibration
r r
m l B…l † E…l2 † m S…l1 †
EI2 4 2 2 2 ˆ EI1 4 1 …16:5†
EI2 D…l2 † ‡ A…l2 † EI1 B…l1 †

16.1.2 Frame with clamped supports and lumped mass

Figure 16.2 shows a portal symmetric frame with clamped supports and one lumped mass.
The distributed masses of the elements per unit length are m1 and m2, lumped mass M is
located at the middle span. The additional distributed loads carried by the horizontal and
vertical elements are q1 and q2, respectively (load q2 is not shown). (Filippov, 1970.)

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 FRAMES

474 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 16.2. A portal symmetric frame with

clamped supports and one lumped mass.

Exact solution. For the exact solution, the following non-dimensional parameters are
used:

s
I h h 4 A2 …1 ‡ e2 †I1
k ˆ 1 ;b ˆ
I2 l l A1 …1 ‡ e1 †I2
M M ‡ A1 rl…1 ‡ e1 †
aˆ ;a ˆ
…1 ‡ e1 †A1 rl 1 A2 rh
q1 q2
e1 ˆ ;e ˆ
grA1 2 grA2
rA1 …1 ‡ e1 †l4 2
l4 ˆ o
EI1

The frequency of vibration may be calculated by formula (16.1), where l is the roots of the
frequency equation.

Frequency equation.
Symmetric vibration
  
l l l l al l l
bl…sin bl cosh bl cos bl sinh bl† sin cosh ‡ cos sinh ‡ cos cosh 1
2 2 2 2 2 2 2
"   #
l l al2 l l l l
‡ k…1 cos bl cosh bl† 2l cos cosh ‡ cos sinh sin cosh ˆ0
2 2 2 2 2 2 2
…16:6†

Limiting case: If h ˆ 0 or I2 ˆ 1, then k ˆ 0, b ˆ 0 and frequency equation (16.6)

becomes:

 
l l l l al l l
sin cosh ‡ cos sinh ‡ cos cosh 1 ˆ0
2 2 2 2 2 2 2

which corresponds to a clamped±clamped beam with a lumped mass at the middle span
(section 7.4, frequency equation is D2 ˆ 0).

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 FRAMES

FRAMES 475

Antisymmetric vibration
 
l l l l
sin cosh cos sinh
2 2 2 2
 ‰…1 ‡ cos bl cosh bl†bl ‡ a1 b2 l2 …cos bl sinh bl sin bl cosh bl†Š
l l
 2kl sin sinh ‰sin bl cosh bl ‡ cos bl sinh bl ‡ a1 bl…cos bl cosh bl 1†Š ˆ 0
2 2
…16:7†

Limiting case: if h ˆ 0 or I2 ˆ 1, then k ˆ 0, b ˆ 0 and the frequency equation (16.7)

becomes:

l l l l
sin cosh cos sinh ˆ 0
2 2 2 2
which corresponds to a clamped±pinned beam (the length of the span is 0:5l) with a
lumped mass at the pinned support (Table 5.3, position 3).

Approximate solution. The approximate solution may be obtained using the Rayleigh±
Ritz method. The design diagram of the portal frame is presented in Fig. 16.2. The
non-dimensional parameters, used for the approximate solution are:

I1 h A h h
kˆ ;b ˆ 2 ;s ˆ
I2 l A1 l l
M M
aˆ ˆ
rA1 l Mhor

where M is the concentrated mass, and Mhor is the mass of the horizontal bar.

Frequency equation
Symmetric vibration
(a) If it is assumed that the shape of vibration corresponds to a uniformly distributed load,
then the frequency of vibration equals
sv
u

EI1 u 1008…3k 2 ‡ 7k ‡ 2†
oˆ u …16:8†
rAl 4 t 315
…31k 2 ‡ 22k ‡ 4† ‡ 12s2 k 2 b ‡ …5k ‡ 2†2 a
128

Example. Calculate the fundamental frequency of vibration for the frame if I1 ˆ I2 ,

A1 ˆ A2 , h ˆ l, M ˆ 0.

Solution. In this case k ˆ s ˆ b ˆ 1, a ˆ 0 and the frequency of vibration occurs, and is

obtained by the approximate solution
s
13:24 EI1
oˆ 2
l rA

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 FRAMES

476 FORMULAS FOR STRUCTURAL DYNAMICS

while the exact value of the natural frequency is

r
12:65 EI1
oˆ
l2 rA

(b) If it is assumed that the shape of vibration corresponds to the concentrated load at the
middle span then the frequency of vibration equals

s s
EI1 6720…2k 2 ‡ 5k ‡ 4†
oˆ …16:8a†
rA1 l …136k 2 ‡ 117k ‡ 26† ‡ 48s2 k 2 b ‡ 70…2k ‡ 1†2 a
4

Antisymmetric vibration
If it is assumed that the shape of the vibration corresponds to a concentrated horizontal
load, then the frequency of vibration is

sv
u
EI2 u 210…18k 2 ‡ 15k ‡ 2†
oˆ u …16:9†
rA2 h4 t 3 1‡a
117k 2 ‡ 123k ‡ 33 ‡ ‡ 17:5…2 ‡ 3k†2
4bs2 b

16.1.3 Frame with haunched clamped supports

Figure 16.3 presents a portal frame with a broadening of the cross-sectional area at a zone
of clamped supports and rigid joints. The parameters of the broadening are the same. The
cross-bar of the frame is loaded by a uniformly distributed load q and lumped mass M .

FIGURE 16.3. Portal frame with haunched clamped supports.

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Non-dimensional parameters, used for the approximate solution are:

I1 h A h h
kˆ ;b ˆ 2 ;s ˆ
I2 l A1 l l
q M
eˆ aˆ
grA1 rA1 l

The approximate expressions for fundamental symmetric and antisymmetric frequencies of

vibration have been obtained by the Rayleigh±Ritz method (Filippov, 1970).
Symmetric vibration
ss
1 EI1 1008‰3k 2 ‡ …7 ‡ a1 †k ‡ 2Š
oˆ 2 …16:10†
l rA1 …31k ‡ 22k ‡ 4†…1 ‡ e† ‡ 12s2 k 2 b…1 ‡ b1 † ‡ 2:46…5k ‡ 2†2 a
2

Antisymmetric vibration
s
l EI2
oˆ …16:11†
h2 rA2

where the frequency parameter is

v
u
u 210‰…18 ‡ a4 †k 2 ‡ …15 ‡ a3 †k ‡ a2 ‡ 2Š
lˆu …16:11a†
t 3 1‡a
…117 ‡ b4 †k 2 ‡ b2 ‡ …123 ‡ b3 †k ‡ 33 ‡ ‡ 17:5…2 ‡ 3k†2
4bs2 b

The coef®cients ai and bi for the various parameters of the broadening of the cross-
sectional area are presented in Table 16.1.

16.1.4 Frame with hinged supports

Frame with a lumped mass. Figure 16.4 shows a two-hinged frame with one lumped
mass; the distributed masses of elements are neglected. Mass M is located in the middle
of the horizontal element.

Frequency vibration (exact solution). Assumption: longitudinal deformation of all

members are neglected.
Symmetric vibration. In this case, mass M moves only in the vertical direction and the
natural frequency is
s
48EI1 12k ‡ 8b
oˆ …16:12†
Ml 3 3k ‡ 8b

where the dimensionless parameters are

l I
k ˆ ;b ˆ 1
h I2

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478 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 16.1. Parameters ai and bi for a portal frame with haunched clamped supports and joints

Ratio a=d1

h1 =h ai , bi 0.1 0.2 0.3 0.4 0.6 0.8 1.00

a1 0.07 0.14 0.23 0.32 0.54 0.83 1.15

0.1 a2 0.09 0.19 0.31 0.44 0.74 1.11 1.56
a3 0.52 0.12 1.79 2.50 2.49 5.72 9.06
a4 0.74 1.39 2.45 3.43 6.26 9.41 13.20
a1 0.106 0.229 0.369 0.526 0.901 1.37 1.93
0.2 a2 0.17 0.34 0.51 0.87 1.36 1.96 2.93
a3 0.94 1.87 2.90 4.60 7.64 11.33 16.56
a4 1.32 2.61 4.05 6.45 10.70 15.96 23.40
a1 0.130 0.281 0.450 0.650 1.120 1.72 2.41
0.3 a2 0.24 0.41 0.81 1.15 1.97 2.95 4.14
a3 1.27 2.72 4.46 8.79 10.65 16.08 23.24
b3 Ð Ð 0.04 0.05 0.07 0.10 0.12
a4 1.71 3.69 5.92 7.84 13.71 22.04 31.50
b4 Ð Ð 0.05 0.07 0.19 0.14 0.17
a1 0.144 0.310 0.502 0.721 1.25 1.91 2.72
b1 Ð Ð Ð Ð Ð Ð 0.019
0.4 a2 0.28 0.63 1.16 1.44 2.46 3.67 5.30
b2 Ð Ð Ð Ð Ð 0.07 0.09
a3 1.52 3.29 5.36 7.84 13.81 21.80 27.47
b3 Ð 0.10 0.14 0.19 0.29 0.38 0.47
a4 1.99 4.26 6.83 8.36 16.60 28.28 36.6
b4 Ð 0.13 0.19 0.25 0.38 0.54 0.63

Parameters bi , which are not presented in the table, are equal to zero.

Antisymmetric vibration. In this case, mass M moves only in the horizontal direction
and the natural frequency is
s
12EI1 1
oˆ …16:13†
Mh3 2b ‡ k

FIGURE 16.4. Frame with hinged supports and lumped

mass.

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Note. If EI1 ˆ EI2 and ratio …l=h†2 ˆ 240=11, then the frequencies of vibration,
which correspond to symmetrical and antisymmetrical modes of vibration of a frame,
are equal.

Frame with distributed masses. A two-hinged symmetric portal frame with distributed
masses m1 and m2 is presented in Fig. 16.5(a).
The exact solution for the given frame is based on the slope-de¯ection method
(Chapter 4).
The primary system of the slope-de¯ection method is presented in Fig. 16.5(b).
Imaginary constraint 1 prevents angular displacement, constraint 2 prevents both angular
and linear displacements. Because the system is symmetric, symmetric and antisymmetric
vibrations are considered separately.
Symmetric vibration. Unknown Z1 of the slope-de¯ection method is the simultaneous
symmetric rotation of constraints 1 and 2. The frequency equation is r11 ˆ 0, where r11 is
the reactive moment in the imaginary constraint 1 due to the simultaneous unit symmetric
rotation of constraints 1 and 2. For calculation of r11 , consider the equilibrium of joint 1.
The necessary formulas for reactive moments (Smirnov's function) in restriction 1 due to

Antisymmetric vibration

FIGURE 16.5. Symmetric two-hinged frame: (a) design diagram; (b,c) Symmetric vibration: primary
system, unit group rotation Z1 ˆ 1 and equilibrium of the joint 1; (d±h) Antisymmetric vibration: (d±e)
primary system, unit group rotation Z1 ˆ 1 and unit displacement Z2 ˆ 1; (f±g) equilibrium of the joint 1
due to Z1 ˆ 1 and Z2 ˆ 1; (h) equilibrium of the cross-bar.

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480 FORMULAS FOR STRUCTURAL DYNAMICS

the rotation of constraints 1 and 2 are presented in Table 4.4. The free body diagram of
joint 1 is presented in Fig. 16.5(c). The equilibrium condition for joint 1 leads to the
expression for the reaction

r11 ˆ 2‰3i1 c1 …l1 † ‡ 4i2 c2 …l2 † 2i2 c3 …l1 †Š

where i1 and i2 are bending stiffnesses per unit length for the ®rst and second elements
l1 and l2 are frequency parameters for the ®rst and second elements
c1 , c2 and c3 are different types of Smirnov functions according to types of
displacements and types of reactions (Table 4.4).
All terms in expression for r11 represent reactive moments, which arise in restriction 1.
The moment, represented by the ®rst term, is created by bending the left vertical
element due to the rotation of restriction 1 in the clockwise direction.
The moment, represented by the second term, is created by bending the horizontal
element due to the rotation of restriction 1 in the clockwise direction.
The moment, represented by the third term, is created by bending of the horizontal
element due to rotation of restriction 2 in the counterclockwise direction. Parameters l1
and l1 are related by formula (4.17).
Antisymmetric vibration. Unknown Z1 in the slope-de¯ection method is the simulta-
neous antisymmetric rotation of joints 1 and 2; unknown Z2 is the linear displacement of
joints 1 and 2 in the horizontal direction. The frequency equation is

 
r r12 
D ˆ  11 ˆ0
r21 r22 

where r11 ˆ reactive moment in the imaginary joint 1 due to the unit antisymmetric
rotation of restrictions 1 and 2
r12 ˆ reactive moment in the imaginary joint 1 due to the linear displacement of
restriction 2 in the horizontal direction
r21 ˆ reactive force in the imaginary restriction 2 due to the unit rotation of joints 1
and 2,
r12 ˆ r21 as reciprocal reactions (Section 2.1)
r22 ˆ reactive force in the imaginary restriction 2 due to the unit linear displace-
ment of restriction 2
Unit reactions are

r11 ˆ 2‰3i1 c1 …l1 † ‡ 4i2 c2 …l2 † ‡ 2i2 c3 …l2 †Š

r12 ˆ r21 ˆ 6i1 c4 …l1 †=h
r22 ˆ 6i1 c8 …l1 †=h2

Equation (16.4a) establishes the relationship between frequency parameters for vertical and
2
horizontal elements. Condition D ˆ r11 r22 r12 ˆ 0 leads to a transcedental equation with
respect to the frequency parameter.
For approximate solutions, all reactions rik for the element with speci®ed boundary
conditions in the primary system, may be taken from Table 4.7.

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16.2 SYMMETRICAL T-FRAME

T-frames with clamped and pinned supports are presented in Figs. 16.6(a) and (b),
respectively. Bending stiffness EI , length l, and mass m per unit length for all members
are equal.
Antisymmetric and symmetric modes of in-plane transverse vibration have natural
frequencies.

r
l2 EI
oˆ
l2 m

Frame with clamped supports

Antisymmetrical vibration. All members vibrate as a pinned±clamped beam. The
frequency of vibration is B…l† ˆ 0, where B is the Hohenemser±Prager function. The
roots of the frequency equation are

4n ‡ 1
l1 ˆ 3:9266; l2 ˆ 7:0685; . . . ; ln ˆ p
4

Symmetrical vibration. Horizontal members vibrate as a clamped±clamped beam. The

frequency of vibration is D…l† ˆ 0, where D is the Hohenemser±Prager function. The roots
of the frequency equation are

2…n ‡ 1† ‡ 1
l0 ˆ 4:7300; l1 ˆ 7:8532; . . . ; ln  p
2

Corresponding numerical results are listed in Table 5.3.

Frame with pinned supports

Antisymmetrical vibration. All members vibrate as simply supported beams. The
frequency of vibration is sin l ˆ 0 (Table 5.3). The roots of the frequency equation are

l1 ˆ p; l2 ˆ 2p; . . . ; ln ˆ np

Symmetrical vibration. Horizontal members vibrate as a pinned±clamped beam

(Table 5.3).

FIGURE 16.6. T-frame with (a) clamped supports, and (b) pinned supports.

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482 FORMULAS FOR STRUCTURAL DYNAMICS

16.3 SYMMETRICAL FRAMES

16.3.1 Properties of symmetrical systems

The purpose of this section is to show how to convert an initial symmetrical system into a
half-system.

Symmetric system with an odd number of spans

1. In the case of symmetric vibrations, at the axis of symmetry,

(a) antisymmetric internal force (shear force) is zero;
(b) symmetrical displacements (horizontal and rotation) are zero.
2. In the case of antisymmetric vibrations, at the axis of symmetry.
(a) symmetric internal forces (bending moment and axial force) are zero;
(b) antisymmetric displacement (vertical) is zero.
In symmetrical systems the symmetric and antisymmetric vibration modes are determined
independently.

Symmetric system with an even number of spans

1. In the case of symmetric vibrations, the central strut and a joint of the frame at the axis
of symmetry, remain unmoved.
2. In the case of antisymmetric vibrations, the central strut of the frame may be presented
as two struts, each having a bending stiffness equal to one half of the bending stiffness
of the initial element.

These properties let us convert an initial symmetrical system into a half-system. The
advantage of such a transformation is the decreasing of number of unknowns in the force
or slope-de¯ection method (Darkov, 1989).
Table 16.2 shows the rules for conversion of an initial symmetric frame with odd or
even numbers of spans corresponding to the half-frame.
Note
1. The rules presented in Table 16.2, are also applicable for multi-store frames.
2. Q, M and N are internal forces at the axis of symmetry.

16.3.2 Frames with in®nite rigidity of the cross-bar

Symmetric one-store frames. This section presents portal one-span and multi-span one-
store frames whose girders may be assumed to be in®nitely rigid (very rigid in comparison
with the rigidities of columns).
Case 1. The mass of the vertical strut is taken into account: m is the distributed mass
per unit length; the mass of the horizontal cross-bar is neglected.
The frequency of horizontal vibration is
r
l2 EI
on ˆ n2
h m
where the frequency equation and the parameters l are presented in Table 16.3.

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TABLE 16.2. Symmetric frame and corresponding half-frame for symmetric and antisymmetric
vibrations

Number
of spans Symmetric vibrations Antisymmeteric vibrations

1,3,5,. . .

Guided support Pinned support

shear force Q ˆ 0 Bending moment M ˆ 0
Axial force N ˆ 0

Half-frame Half-frame

2,4,6,. . .
Clamped support

Half-frame Half-frame

Case 2. The mass of the horizontal cross-bar is taken into account and the masses of
the vertical struts are neglected (Bezukhov et al., 1969) (see Table 16.4).
Case 3. The masses of the horizontal and vertical elements are taken into account (see
Table 16.5).

TABLE 16.3. Equivalent schemes for frames with in®nite rigidity of cross-bar (mass of vertical
struts is taken into account)

Frame
design
diagram

Viaduct
design
diagram

Equivalent tan kn l ‡ tanh kn l ˆ 0 cos kn l cosh kn l ˆ 0

scheme. kn l ˆ ln k n l ˆ ln
Frequency equation
and l21 ˆ 5:6; l22 ˆ 30:25 p2 2 9p2
l21 ˆ ;l ˆ
frequency 4 2 4
parameters
(Table 5.4) (Table 5.4)

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484 FORMULAS FOR STRUCTURAL DYNAMICS

TABLE 16.4. Equivalent schemes for frames with in®nite rigidity of cross-bar (mass of cross-bar
taken into account)

Frame
design
diagram

Viaduct
design diagram
(n number
of struts)

Equivalent
scheme
and frequency of
vibration

TABLE 16.5. Equivalent schemes for frames with in®nite rigidity of cross-bar (mass of struts and
cross-bar are taken into account)

Design
frame scheme

Design
viaduct scheme
(n is the number
of the struts)

Equivalent
design scheme

Symmetric three-store frame (Smirnov et al., 1984). The masses of the horizontal
elements are 2M , 2M and M ; the masses of the vertical elements are neglected (Fig. 16.7).
The frequencies of horizontal vibration are

s
pr r s
pr
3 24EI 24EI 3 24EI
o1 ˆ 1 ; o ˆ ; o ˆ 1 ‡ …16:14†
2 h3 m 2 h3 m 3 2 h3 m

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FIGURE 16.7. Symmetric three-store frame.

The eigenvectors are

2 3 2 3 2 3
p1 1 p1
y1 ˆ 4 3=2 5; y2 ˆ 4 0 5; y3 ˆ 4 3=2 5 …16:15†
1=2 1 1=2

The corresponding mode shapes are presented in Fig. 16.8.

FIGURE 16.8. Mode shapes of the three-store frame.

Quasi-regular multi-storey frames. Figure 16.9 presents multi-storey frames with in-
®nite rigidity of all horizontal cross-bars.
The number of storeys is s, the height of each story is h, and the mass of the cross-bar
with the mass of the columns of one storey is M . The total rigidity of all columns of one
storey is EI .
Case 1. Masses of the girders are equal; bending stiffnesses of all struts are the same
except for the ®rst storey.
Case 2. Bending stiffnesses of all struts are the same; the masses of all girders are the
same except for the last storey (Bezukhov et al., 1969).
Case 1. Parameter u is the decreasing …u > 0† or increasing …u < 0† coef®cient of
bending stiffness for the lower strut. The frequency of vibration is

r
12EI
oˆl 3 …16:16†
h M

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486 FORMULAS FOR STRUCTURAL DYNAMICS

FIGURE 16.9. Quasi-regular multi-storey frames.

where l ˆ 2 sin f and f is the root of the following equation:

1‡u
tan f tan 2sf ˆ …16:17†
1 u
Case 2. Parameter n is the decreasing …n > 0† or increasing …n < 0† coef®cient of
mass for the upper cross-bar. The frequency of vibration is determined by equation
(16.16), where l ˆ 2 sin f and f is root of the following equation

1
tan f tan 2sf ˆ …16:18†
1 2n

16.4 VIADUCT FRAME WITH CLAMPED

SUPPORTS

A symmetric viaduct frame is presented in Fig. 16.10. The bending stiffness and mass per
unit length for all girders are EI0 , m0 , and for all struts are EI , m.
Natural frequencies of a viaduct frame in terms of the parameters of a strut are given by
r
l2 EI
oˆ
h2 m

The frequency parameter l is the root of the frequency equation.

Antisymmetric vibration. The frequency equation is (Anan'ev, 1946)
 
1 L2 …l†‰2F…l† ‡ k…3F…l0 † H…l0 ††Š
l4 2R…l† ˆ0
m …2F…l† ‡ kF…l†0 †‰F…l† ‡ k…2F…l0 † ‡ H…l0 ††Š k 2 H 2 …l0 †
…16:19†

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FIGURE 16.10. Viaduct frame with clamped supports.

where l is the frequency parameter for the column (base frequency parameter), and l0 is
the frequency parameter for the cross-bar. This parameter, in terms of the base element, is
s
l 4 m0 EI
l0 ˆ l
h mEI0

Additional parameters are

hEI0 3m0 l
kˆ ;m ˆ
lEI 2hm
Frequency functions R; L; F; H are as follows:

sin l cosh l cos l sinh l

F…l† ˆ l
1 cos l cosh l
sinh l sin l
H…l† ˆ l
1 cos l cosh l
…16:20†
sin l sinh l
L…l† ˆ l2
1 cos l cosh l
sin l cosh l ‡ cos l sinh l 3
R…l† ˆ l
1 cos l cosh l
Special case. Let k ˆ 1. In this case l0 ˆ l and frequency equation (16.19) becomes:
 
1 L2 …l†‰5F…l† H…l†Š
l4 2R…l† ˆ0
m 2F…l†‰3F…l† ‡ H…l†Š H 2 †l†
The minimal root of the above equation is l ˆ 1:70.
Symmetric vibration. The frequency equation is

k 2 H 2 …l0 †
k‰2F…l0 † H…l0 †Š ‡ F…l† ˆ0 …16:21†
F…l† ‡ kF…l0 †
Special case. Let k ˆ 1. In this case l0 ˆ l and frequency equation (16.21) becomes:

H 2 …l†
3F…l† H…l†
2F…l† ˆ 0
The minimal root of the above equation is l ˆ 3:4373.

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16.5 NON-REGULAR FRAME

This section provides a detailed example of the calculation of the natural frequency of
vibration and the corresponding mode shape for a non-regular frame.

Example. The design diagram of a non-regular frame is presented in Fig. 16.11 (Smirnov
et al., 1984). Element CD has an in®nite bending rigidity.
Calculate the natural frequency of vibration and ®nd the mode shape by using Bolotin's
functions for the slope-de¯ection method.

Solution. Designate one of the elements as the base one and express the parameters of all
other elements through the base one. Let element BC be the base one, then parameters i
and k for other elements are presented in the following table.

Element BC AB CD BE

i ˆ EI =l i i=2 1 i
k ˆ mo2 l3 k 8k k k

The primary system of the slope-de¯ection method is presented in Fig. 16.12.

Imaginary restriction Z1 prevents angular displacement of joint B and restriction Z2
prevents the linear vertical displacement of point C.

FIGURE 16.11. Design diagram of a non-regular frame.

FIGURE 16.12. Primary system of slope-de¯ection method.

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FRAMES 489

Canonical equations of the free vibration of the slope-de¯ection method are

  
r11 r12 Z1
ˆ0
r21 r22 Z2
Bending moment diagrams …M1 † due to unit angular displacement, and the diagram …M2 †
due to unit linear displacement, are shown in Fig. 6.13. The elastic curve is shown by the
dotted line.
Bolotin's dynamic reactions due to the rotation of a ®xed joint through angle Z1 ˆ 1
and linear vertical displacement Z2 ˆ 1 are as follows:
     
i 2 k 2k
r11 ˆ 3
8k ‡ 4i ‡ 3i ˆ 8:5i 0:181k
2 105 105 105
 
3i 33k k i k
r22 ˆ 2 ˆ 3 2 0:57 2
l 140l 2 3l 2 l l
   
3i 11k i k
r12 ˆ r21 ˆ ‡ ˆ 3 ‡ 0:04
l 280l l l
The canonical equations of the slope-de¯ection method are:
Z2
…8:5 0:181m†Z1 …3 ‡ 0:04m† ˆ0
l
Z
…3 ‡ 0:04m†Z1 ‡ …3 0:57m† 2 ˆ 0
l
k mo2 l 4 2 mEI
where m ˆ ˆ ;o ˆ 4
i EI ml
The frequency equation is

…8:5 0:181m†…3 0:57m† …3 ‡ 0:04m†2 ˆ 0

or

0:101Z2 5:63m ‡ 16:5 ˆ 0

FIGURE 16.13. Bending moment diagrams due to unit displacements of additional restrictions and free
body diagrams of the joints.

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490 FORMULAS FOR STRUCTURAL DYNAMICS

The roots of the frequency equation and the frequencies of vibrations are as follows (see
Fig. 16.14)
r r
3:1EI 52:5EI
m1 ˆ 3:1; m2 ˆ 52:5 and o1 ˆ 4
; o2 ˆ
ml ml 4
Mode shape

3 ‡ 0:04m Z2
Z1 ˆ
8:5 0:181m l
Two modes shapes of vibration are presented in Fig. 16.14.

FIGURE 16.14. Mode shapes of vibration, which correspond to o1 and o2 .

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