Beam Vibrations

Chapter 8

f(x, t) y(x, t)
Forget BCs for now

m(x), EI(x) f(x, t)dx Q(x, t) + M(x, t) Q(x, t) dx m(x)dx

Q(x,t) x dx M(x,t) dx x

M(x, t) +

f(x, t)dx Q(x, t) + M(x, t) Q(x, t)

Q(x,t) x dx M(x,t) dx x

M(x, t) +

dx m(x)dx Q(x, t) Q(x, t) + dx Q(x, t) + f(x, t)dx x 2 y(x, t) = m(x)dx t2 Q(x, t) 2 y(x, t) + f(x, t) = m(x) x t2

f(x, t)dx Q(x, t) + M(x, t) Q(x, t)

Q(x,t) x dx M(x,t) dx x

M(x, t) +

dx m(x)dx M(x, t) Rotary Inertia M(x, t) + dx M(x, t) Neglected x Q(x, t) dx + Q(x, t) + dx dx + f(x, t)dx =0 x 2 M(x, t) + Q(x, t) = 0 x

Euler-Bernoulli Beam Theory

Plane sections remain plane and perpendicular to the beam axis
No shear deformation

2 y(x, t) M(x, t) = EI(x) x2

Timoshenko Beam Theory: Shear deformation is included

dy = dx
M
x

y z

( )d d = d =

dx = 1 d = dx

d = dx

dx

M =

ZZ

dA ( = E) ZZ

M = EI

= EdA A ZZ = E0 2 dA
A 0

Z ZA

I=

2 dA

M = EIy 00

Q(x, t) 2 y(x, t) + f(x, t) = m(x) x t2 M(x, t) + Q(x, t) = 0 x

2 y(x, t) M(x, t) = EI(x) x2

2 y(x, t) 2 y(x, t) + f(x, t) = m(x) 2 EI(x) 2 x x t2
2

Simple Boundary Conditions

free fixed

Q=0 y =0 / M =0 =0 /

Q=0 y =0 / M =0 =0 /

pinned

mixed

Q=0 y =0 / M =0 =0 /

Q=0 y =0 / M =0 =0 /

Cantilevered Beam
fixed free

Simply-supported Beam
pinned pinned

Free-free Beam
free free

Cantilevered Beam
2 y(x, t) 2 y(x, t) + f(x, t) = m(x) 2 EI(x) 2 x x t2
2

=0 x=0 2 y(x, t) M(L, t) = EI(x) =0 2 x x=L 2 y(x, t) EI(x) =0 Q(L, t) = 2 x x

x=L

y(0, t) = 0 y(x, t) (0, t) = x

Free Vibration
2 y(x, t) 2 y(x, t) = m(x) 2 EI(x) 2 x x t2
2

Separation of Variables
y(x, t) = Y (x)F (t)

 2 d d Y (x) d2 F (t) F (t) = m(x)Y (x) 2 EI(x) 2 dx dx dt2

2

Y (0) = 0 dY (x) =0 dx x=0 2 d Y (x) =0 2 dx x=L 2 d Y (x) d EI(x) =0 2 dx dx x=L

d Y (x) 1 d2 F (t) d 1 EI(x) = = 2 m(x)Y (x) dx2 dx2 F (t) dt2

d2 F (t) + 2 F (t) = 0 dt2 F (t) = A sin t + B cos t = C cos(t + ) 2 d d Y (x) EI(x) = 2 m(x)Y (x) dx2 dx2 Y (0) = 0 Y 0 (0) = 0 00 00 0 [EIY ] (L) = 0 Y (L) = 0
2

 For prismatic beam with constant mass distribution and cross-sectional bending stiffness

d4 Y (x) 2 m Y (x) = 0 4 dx EI 2 m d4 Y (x) 4 = 4 Y (x) = 0 dx4 EI Y (0) = 0 Y 0 (0) = 0 Y 00 (L) = 0 Y 000 (L) = 0
Solution:

Y (x) = A sin x + B cos x + C sinh x + D cosh x

Boundary Conditions
Y (x) = A sin x + B cos x + C sinh x + D cosh x Y 0 (x) = A cos x B sin x + C cosh x + D sinh x

Y 000 (x) = A 3 cos x + B 3 sin x + C 3 cosh x + D 3 sinh x

Y 00 (x) = A 2 sin x B 2 cos x + C 2 sinh x + D 2 cosh x

0 1 0 1 A B 1 0 1 0 sin L cos L sinh L cosh L C = 0 cos L sin L cosh L sinh L D

Non-Trivial Solutions
0 1 0 1 1 0 1 0 =0 det sin L cos L sinh L cosh L cos L sin L cosh L sinh L 1 + cos(L) cosh(L) = 0 r EI 2 = m

Solutions: Eigenvalues
1 = 1.87512 1 L 1.8751 2 L 4.6941 3 L = 7.8548 4 L 10.996 5 L 14.137 2 = 4.69412 3 = 7.85482 4 = 10.9962 5 = 14.1372

q q q q q

EI mL4 EI mL4 EI mL4 EI mL4 EI mL4

Eigenfunctions/Modeshapes
Yr (x) = Ar sin r x + Br cos r x + Cr sinh r x + Dr cosh r x
Dr = Br Cr = Ar ( sin r L sinh r L)Ar + ( cos r L cosh r L)Br = 0 sin r L + sinh r L Ar Br = cos r L + cosh r L

Yr (x) = Ar [sin r x sinh r x

sin r L + sinh r L (cos r x cosh r x) cos r L + cosh r L

Orthogonality
2 d Yr (x) d 2 EI(x) = r m(x)Yr (x) dx2 dx2
2

2 d Yr (x) d 2 = r m(x)Ys (x)Yr (x) Ys (x) 2 EI(x) dx dx2

2

Z L 2 d Yr (x) d 2 dx = r Ys (x) 2 EI(x) m(x)Ys (x)Yr (x)dx 2 dx dx 0

2

2 d d Yr (x) Ys (x) 2 EI(x) dx 2 dx dx 0 L Z L 2 2 d Yr (x) d Yr (x) d dYs (x) d EI(x) = Ys (x) EI(x) dx 2 2 dx dx dx dx dx 0 0 L L 2 2 d dYs (x) d Yr (x) d Yr (x) = Ys (x) EI(x) EI(x) dx dx2 dx dx2 0 0 Z L 2 2 d Yr (x) d Ys (x) + EI(x) dx 2 2 dx dx 0
L 2

For simple BCs only

d Ys (x) d Yr (x) 2 EI(x) dx = r dx2 dx2

m(x)Ys (x)Yr (x)dx

L 0 L

d Ys (x) d Yr (x) 2 EI(x) dx = r dx2 dx2

m(x)Ys (x)Yr (x)dx

0 L

d Yr (x) d Ys (x) 2 EI(x) dx = s dx2 dx2

2 2 0 = (r s )

0= m(x)Yr (x)Ys (x)dx 0 Z L d2 Yr (x) d2 Ys (x) 0= EI(x) dx 2 2 dx dx 0

m(x)Yr (x)Ys (x)dx

m(x)Yr (x)Ys (x)dx

Normalization
Z
L 0

d Yr (x) EI(x) dx2

dx = Z
L

2 r

m(x) [Yr (x)] dx

Select Yr (x) such that : Z

m(x) [Yr (x)]2 dx = 1

2

d Yr (x) EI(x) dx2

2 dx = r

Initial (unforced) Response

y(x, t) =
X r=1

Yr (x)r (t)

Yr(x) are mass normalized mode shapes

2 s (t) + s s (t) = 0

s (0) s (t) = s (0) cos s t + sin s t s Z L s (0) = m(x)Ys (x)y0 (x)dx 0 Z L s (0) = m(x)Ys (x)v0 (x)dx
0

Forced Response
y(x, t) =
X r=1

Yr (x)r (t)

Yr(x) are mass normalized mode shapes

2 s (t) + s s (t) = Ns (t)

Ns (t) =

Ys (x)f (x, t)dx

0

Interesting BCs: spring

For constant EI and separation of variables

3

2 y(x, t) Q(L, t) = = ky(L, t) EI(x) 2 x x x=L d Y (x) EI kY (L) = 0 3 dx x=L

 0 1 0 1 A B 1 0 1 0 C = 0 sinh L cosh L sin L cos L D (L)3 cos L k sin L (L)3 sin L k cos L (L)3 cosh L k sinh L (L)3 sinh L k cosh L

kL3 k= EI
1 0 cos L 3 (L) sin L k cos L 0 1 sinh L 3 (L) cosh L k sinh L

0 1 det sin L 3 (L) cos L k sin L

1 0 =0 cosh L (L)3 sinh L k cosh L

6 L

0 0

0.2

0.4 0.6 kbar/(kbar+3)

0.8

2 d d Yr (x) Ys (x) 2 EI(x) dx 2 dx dx 0 L L 2 2 d Yr (x) d Yr (x) d dYs (x) EI(x) EI(x) = Ys (x) dx dx2 dx dx2 0 0 Z L 2 2 d Yr (x) d Ys (x) + EI(x) dx 2 2 dx dx 0 Z L 2 2 d Yr (x) d Ys (x) EI(x) dx = kYs (L)Yr (L) + 2 2 dx dx 0
L 2
2 2

L 0

d Ys (x) d Yr (x) 2 EI(x) dx + kYs (L)Yr (L) = r dx2 dx2

m(x)Ys (x)Yr (x)dx

0

0= 0= Z
L

d Yr (x) d2 Ys (x) EI(x) dx + kYs (L)Yr (L) 2 2 dx dx Z

m(x)Yr (x)Ys (x)dx

0 2

Select Yr (x) such that : Z

L

m(x) [Yr (x)]2 dx = 1

2 dx + k [Yr (L)]2 = r

d Yr (x) EI(x) dx2

Modal Equations
y(x, t) =
X r=1

Yr (x)r (t)

Yr(x) are mass normalized mode shapes

2 s (t) + s s (t) = Ns (t) Z L s (0) = m(x)Ys (x)y0 (x)dx

s (0) =

m(x)Ys (x)v0 (x)dx

Ns (t) =

Ys (x)f (x, t)dx

0

Interesting BCs: mass

M

2 2 y(x, t) y(x, t) EI(x) Q(L, t) = = M 2 x x t2 x=L x=L

For constant EI, separation of variables and frequency response

d Y (x) EI + 2 MY (L) = 0 dx3 x=L

3

 0 1 0 1 A B 1 0 1 0 C = 0 sin L cos L sinh L cosh L D cos L + ML sin L sin L + ML cos L cosh L + ML sinh L sinh L + ML cosh L

EI m

M M= mL
0 1 sinh L cosh L + M L sinh L

0 1 1 0 det sin L cos L cos L + M L sin L sin L + M L cos L

1 0 =0 cosh L sinh L + M L cosh L

5 4 3 L 2
SDOF Massless Beam

1 0 0

0.2

0.4 0.6 Mbar/(Mbar+1)

0.8

2 d d Yr (x) Ys (x) 2 EI(x) dx 2 dx dx 0 L L 2 2 d Yr (x) d Yr (x) d dYs (x) EI(x) EI(x) = Ys (x) dx dx2 dx dx2 0 0 Z L 2 2 d Yr (x) d Ys (x) + EI(x) dx 2 2 dx dx 0 Z L 2 2 d Yr (x) d Ys (x) 2 EI(x) dx = r MYs (L)Yr (L) + 2 2 dx dx 0
L 2
2 2

d Ys (x) d Yr (x) 2 2 EI(x) dx r MYs (L)Yr (L) = r dx2 dx2

m(x)Ys (x)Yr (x)dx

0=

m(x)Yr (x)Ys (x)dx + MYs (L)Yr (L) 0 Z L d2 Yr (x) d2 Ys (x) 0= EI(x) dx 2 2 dx dx 0

Select Yr (x) such that : Z L 2 2 m(x) [Yr (x)] dx + M [Yr (L)] = 1

0

d Yr (x) EI(x) dx2

2 dx = r

Modal Equations
y(x, t) =
X r=1

Yr (x)r (t)

Yr(x) are mass normalized mode shapes

2 s (t) + s s (t) = Ns (t)

s (0) = s (0) =

Z Z

m(x)Ys (x)y0 (x)dx + MYs (L)y0 (L)

L

m(x)Ys (x)v0 (x)dx + MYs (L)v0 (L)

Ns (t) =

Ys (x)f (x, t)dx

0

Variational Approach
Extended Hamiltons Principle
t2 t1

(T V + W )dt = 0

Kinetic Energy
L

T =
0

1 m(x) 2
L

y(x, t) t
2

dx

1 = 2 T =
0

m(x) [y(x, t)] dx

0 L

m(x)y(x, t) y(x, t)dx

T = Z
t2

T dt = = =

t1

t1 Z L

m(x)y(x, t) y(x, t)dx

t2

0 Z t2 t1

m(x)y(x, t) y(x, t)dxdt m(x)y(x, t) y(x, t)dtdx dx

t2 [m(x)y(x, t)y(x, t)]|t1 L

t2

m(x)(x, t)y(x, t)dtdx y

t1

V = = = =

Potential (Strain) Energy

L

1 2 E(x, , t) dAdx A 2 0 2 # Z L ZZ " 1 2 y(x, t) E dAdx 2 2 0 x A 2 Z Z Z L 2 y(x, t) 1 2 E dAdx 2 0 x2 A Z L 1 2 00 EI(x) [y (x, t)] dx 2 0

ZZ

V =

= [EI(x)y (x, t)] y

= [EI(x)y (x, t)] y Z L 0 00 [EI(x)y (x, t)] y 0 (x, t)dx

0

EI(x)y 00 (x, t)y00 (x, t)dx

00 0 L (x, t)|0

L 0 00 [EI(x)y (x, t)] y(x, t) 0 Z L 00 00 + [EI(x)y (x, t)] y(x, t)dx

0

00

L (x, t)|0

Virtual Work
L

W =
0

[f (x, t)y] dx

t2

t1

+ +

t2

n o 00 m(x)(x, t) [EI(x)y 00 (x, t)] + f (x, t) y(x, t)dxdt y

00 0 L (x, t)|0

[EI(x)y (x, t)] y

dt

t1 Z L 0

t1 Z t2

[m(x)y(x, t)y(x, t)]|t2 dx = 0 t1 m(x)(x, t) + [EI(x)y (x, t)] = f (x, t) y Boundary Conditions : x = 0 & x = L either [EI(x)y 00 (x, t)] = 0 or y 0 (x, t) = 0 either [EI(x)y (x, t)] = 0 or y(x, t) = 0
00 0 00 00

L 0 [EI(x)y 00 (x, t)] y(x, t) dt

0

Simple BCs

Interesting BC
M

1 2 2 m(x) [y(x, t)] dx + M [y(x, t)] 2 x=L 0 Z L 1 1 2 00 2 V = EI(x) [y (x, t)] dx + ky(x, t) x=0 2 0 2 Z L W = [f (x, t)y] dx 1 T = 2
L 0

t2 t1

+ +

L 0

t2

y m(x)(x, t) [EI(x)y (x, t)] + f (x, t) y(x, t)dxdt

L

00

00

t1 Z L 0

t1 t2

[EI(x)y 00 (x, t)] y 0 (x, t)|0 dt L 0 [EI(x)y 00 (x, t)] y(x, t) ky(x, t)y(x, t)|x=0 M y (x, t)y(x, t)|x=L dt
0 t t

[m(x)y(x, t)y(x, t)]|t2 dx + M y(x, t)y(x, t)|x=L |t2 = 0 1 1

00

m(x)(x, t) + [EI(x)y 00 (x, t)] = f (x, t) y Boundary Conditions : x = 0 & x = L either x=0: x=L: [EI(x)y 00 (x, t)] = 0 either either
00 00

or
0 0

y 0 (x, t) = 0 or or y(x, t) = 0 y(x, t) = 0

[EI(x)y (x, t)] + ky(x, t) = 0 [EI(x)y (x, t)] M y (x, t) = 0