LINEAR VIBRATION OF CONTINUOUS SYSTEMS

Longitudinal -Torsional
Vibration of rods

Thai Phuong Thao

Department of Applied Mechanics
Hanoi University of Science and Technology

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Longitudinal Vibration of rods

• Differential equation of motion

• Free longitudinal vibration of a homogeneous rod with
constant cross-section
• Forced longitudinal vibration of a homogeneous rod with
constant cross-section

Torsional vibration of a homogeneous straight rod

with circular cross-section
• Differential equation of motion
• Free vibration
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 DIFFERENTIAL EQUATION OF MOTION
Properties of Rod
• Cross sectional area A [m2]
• Length L [m]
N
• Density  [kg/m3] N (x )  dN  dx
• Elastic module E [N/m2] x
Excitation force distributed along rod: p(x,t).
If u is the displacement at x, the displacement at x+dx will be u+(

u(x,t) dx
,E,A p(x,t)dx

N N+dN
x dx p(x,t)

L
u(x , t )dm dm  Adx

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 dx DIFFERENTIAL EQUATION OF MOTION
p(x,t)dx
 2u N
N N+dN  A(x )dx  N  (N  dx )  p(x , t )dx
t 2
x
dN
 u N
2
u(x , t )dm  A(x ) 2   p(x , t )
t x
  E
Hooke's law the ratio of unit stress to unit strain is equal to the
du u
modulus of elasticity   
u dx x
N   A(x )  A(x )E   EA(x ) u(x,t)
x
u(x,t)+du
u
2
  u 
 A(x ) 2  EA(x )   p(x , t ),
t x  x  Strain
dx du u
0x l   
dx x

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 DIFFERENTIAL EQUATION OF MOTION – FREE VIBRATION
u(x,t) ,E,A
  const, A(x )  A  const
 2u  u 
x dx A 2  EA   0,
L t x  x 

 2u  2u c 2  E / ,
c 2
 0; 0 x l (3.3)
t 2
x 2

2u 2
Solution’s form:
t t
 
u  2  2 X (x )T (t )  X (x )T(t )

u(x , t )  X (x )T (t )  2u 2
 
u   2  2 X (x )T (t )  X (x )T (t );
x x

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 DIFFERENTIAL EQUATION OF MOTION – FREE VIBRATION

 2u  2u
 c2  0; 0 x l (3.3)
t 2
x 2

X (x ) T(t )
X (x )T(t )  c 2 X (x )T (t )  0  c 2

X (x ) T (t )

X (x ) T(t )
c 2
   2
X (x ) T (t )

2
X (x )  X (x )  0, T(t )   2T (t )  0
c2

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 DIFFERENTIAL EQUATION OF MOTION – FREE VIBRATION
2  
X (x )  X (x )  0, X (x )  A cos

x  B sin x
c2 c c
T(t )   2T (t )  0 T (t )  C cos t  D sin t

A*, B can be determined from boundary conditions

C, D can be determined from initial conditions
Example
Consider a uniform rod with one end fixed and the other free
u(x,t) ,E,A
 
X (x )  A cos x  B sin x
c c
x dx
   
X (x )  A sin x B cos x L
c c c c

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 DIFFERENTIAL EQUATION OF MOTION – FREE VIBRATION
Boundary conditions:
u(x,t) ,E,A
• x = 0: fixed
• x = L: free
x dx
• x = 0: fixed
L
u(0, t )  0 
X (0)  A cos 0  B sin 0  A  0
• x = L: free

N (l , t )   A  (u E )A  0  EAX (l )  0

 X (l )  0
B0
 l  l  l
 A 
sin B cos B cos 0  l
c c c c c c cos 0
c c
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 DIFFERENTIAL EQUATION OF MOTION – FREE VIBRATION
u(x,t) ,E,A
 l
cos 0
c c
x dx
B0
L

The equation for frequency with fixed-free rod:

l
cos 0
c

Eigenfrequencies:
l (2k  1) (2k  1)  c (2k  1) E
  k   , k  1, 2, 3,..., 
c 2 2 l 2 l 2

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 DIFFERENTIAL EQUATION OF MOTION – FREE VIBRATION
Substitude eigenfrequency into X(x)  eigen-function u(x,t) ,E,A
k
Xk (x )  Bk sin x, do A*  0
c
x dx

l
Orthogonal properties of eigen-functions:

l  0, when ij

0 Xi (x )X j (x )dx   0, when ij

Proof. (reference)
Notes: we can choose parameter Bk by normalization
l
 X (x )X (x )dx  1
0 k k
 Bk 

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Example: determine the equation of frequency of a rod with one end fixed
and the other attached with a concentrated mass
u(L,t)
Solution: 2 parts of the system: u(x,t) ,E,A
- Straight rod m
- Concentrated mass
x
- 2 parts are connected by force N(L,t)
L
Straight rod 0x l
 2u  2
u E
c 2
 0; c 
2
u(x,t) ,E,A
t 2
x 2
 N(l,t)

Right-end condition: x u(L,t)

u(l, t )
EA  N (l , t )
L
m
x N(l,t)

Concentrated mass: EOM mu(l, t )  N (l, t )

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Similarly, we have:  
X (x )  A cos
*
x  B sin x
c c
Left end condition
u(l, t )
 X (l )T (t )
u(0, t )  0  X (0)  0  A 0

x

Right boundary condition  2u(l, t ) (t )  X (l ) 2T (t )

 X (l )T
t 2
u(l, t )  2u(l , t )
EA  m  EAX (l )  m 2
X (l )
x t 2

  
 EAB cos l  m 2B sin l cot 
c c c
 mc
 cot l 
c EA 

  l / c,   m / (  Al ) O 1 2 3

Frequency equation cot     2

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 Boundary
Figure Connection type
condition
EA
0
Fixed u(0, t )  0
x l

EA
0 u(0, t )
Free EA 0
x l x

0 EA

u(0, t )
N Longitudinal EA N
x l
force x

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 Figure Connection type Boundary condition

u(0, t )
0 EA EA  ku
Linear elastic x
k x
connection
0 EA u(l , t )
EA  ku
k
x
x l

0 EA
u(0, t )  2u
EA m 2
m x x t
One end attached
0 EA a mass u(l, t )  2u
EA  m 2
x l m x t

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