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YK Lee
MECH300G
Mechanical Vibration
Vibration of Continuous media
Textbook: Chap 8
1
Dr. YK Lee
MECH300G
Dr. YK Lee
MECH300G
Introduction
It is difficult (or time-consuming) to identify
discrete masses, dampers and springs in
continuous systems
They are systems of infinite degree of freedom.
If they are modeled as discrete systems, the
equations are ordinary differential equations
(ODE)
If they are modeled as continuous systems, the
equations are partial differential equations (PDE),
which are more accurate but harder to solve
3
Dr. YK Lee
MECH300G
Introduction
The frequency equation of a continuous
system (for natural frequencies) is a
transcendental equation
Yields infinite number of natural
frequencies and natural modes
Need to apply boundary conditions to find
the natural frequencies, unlike discrete
systems.
Dr. YK Lee
MECH300G
f(x,t)
y
x
Start by considering a
uniform string stretched
between two fixed
boundaries
Assume constant, axial
tension in string
Let a distributed force
f(x,t) act along the
string
http://www.kettering.edu/~drussell/Demos/HangChain/HangChain.html
http://www.kettering.edu/~drussell/Demos/string/Fixed.html
5
Dr. YK Lee
MECH300G
f (x,t)
y
x
2
1
w(x,t)
1
x1
m a
2 w( x, t )
Fy = x t 2 =
1 sin 1 + 2 sin 2 + f ( x, t )x
x2 = x1 +x
Dr. YK Lee
MECH300G
EOM Linearization
2 sin 2 1 sin 1 + f ( x, t )x
2 w( x, t )
w( x, t )
w( x, t )
x
+ f ( x, t )x =
2
x x 2
x x1
t
w
w
w
2
+ O(x ) + K
+ x
=
x x x1
x x2 x x1
w( x, t )
2 w( x, t )
x
x + f ( x, t )x =
2
x
x x
t
1
w( x, t )
2 w( x, t )
+ f ( x, t ) =
x
x
t 2
7
Dr. YK Lee
MECH300G
c=
, wave speed
cf. Eq. (8.9)
t >0
Dr. YK Lee
MECH300G
Physical quantities
Dr. YK Lee
MECH300G
The solution
wn ( x, t ) = cn sin n ct sin n x + d n cos n ct sin n x
n
n
n
n
= cn sin(
ct ) sin(
x) + d n cos(
ct ) sin(
x)
l
l
l
l
n
n
n
n
w( x, t ) = cn sin(
ct ) sin(
x) + d n cos(
ct ) sin(
x)
l
l
l
l
n =1
Dr. YK Lee
MECH300G
w0 ( x) = sin
n
n
n
n
ct ) sin(
x) + d n cos(
ct ) sin(
x)
l
l
l
l
l
cn = 0, n
2
n
d n = sin( x) sin(
x)dx = 0, n = 2,3K
l0
l
l
l
d1 = 1
w( x, t ) = sin(
nc
n =
l
11
c
x) cos t
l
l
= N-th frequency
Dr. YK Lee
MECH300G
n=1
n=3
0.5
X 1, x
X 2, x
0
0.5
1.5
X 3, x
0.5
nodes
1
x
n=2
See the animation: http://www.kettering.edu/~drussell/Demos/string/Fixed.html
12
Dr. YK Lee
MECH300G
11.1 104 N
1 =
=
=
l 1.4 1.4 0.0786 kg/m
= 2666.69 rad/s or 424 Hz
Dr. YK Lee
MECH300G
w (x,t)
f (x,t)
h1
x
h2
dx
E = Youngs modulus
I ( x) = cross - sect. area moment of
2 w( x, t )
M ( x, t ) = EI ( x)
x 2
14
M(x,t)
w(x,t)
V(x,t)
V(x,t)+Vx(x,t)dx
A(x)= h1h2
bending stiffness = EI ( x)
inertia about z
M(x,t)+Mx(x,t)dx
f(x,t)
x +dx
Dr. YK Lee
MECH300G
m a
V ( x , t )
2 w( x, t )
dx V ( x, t ) + f ( x, t )dx = A( x)dx
V ( x, t ) +
x
t 2
M ( x , t )
V ( x , t )
dx M ( x, t ) + V ( x, t ) +
dx dx
M ( x, t ) +
x
x
dx
I
+ f ( x, t )dx
=0
0
2
M ( x , t )
V ( x , t ) f ( x , t )
2
+
(
)
=0
dx + V ( x, t ) dx +
dx
x
x
15
Dr. YK Lee
MECH300G
V ( x, t ) =
M ( x , t )
x
2
x
t 2
2 w( x, t )
EI ( x)
= f ( x, t )
2
x
c
+
=
0
,
=
t 2
x 4
A
16
Dr. YK Lee
MECH300G
A 2
Define = =
EI
c
Let X ( x) = Aex to get :
X ( x) = a1 sin x + a2 cos x + a3 sinh x + a4 cosh x
4
Dr. YK Lee
MECH300G
A 2
4
= =
EI
c
2
cosh n l cos n l
18
Dr. YK Lee
MECH300G
Mode shapes
X n, x
cosh n
sinh n
cos n
. sinh n. x
sin n
sin n. x
cosh n. x
cos n. x
1.5
Mode 3
Mode 2
0.5
X 3.926602 , x
0
X 7.068583 , x
X 10.210176 , x
0.2
0.4
0.6
0.8
0.5
1.5
2
x
19
Mode 1
Dr. YK Lee
MECH300G
n = ( nl ) 2
20
EI
l 4
Dr. YK Lee
MECH300G
Rayleighs Method
Consider the beam shown below.
1 l 2
1 l 2
T = w& dm = w& A( x )dx
2 0
2 0
Kinetic energy
Assuming w(x,t)=W(x)cos
t, maximum
2
l
KE: Tmax = 0 A(x )W 2 (x )dx
21
Dr. YK Lee
MECH300G
Rayleighs Method
Ignoring work done by shear forces, potential
energy:
2w
w
1 l
V = Md where M ( x, t ) = EI ( x ) 2 ( x, t ) and =
x
x
2 0
Thus
1 l w w
1 l w
V = EI 2 2 dx = EI 2 dx
2 0 x x
2 0 x
2
Vmax
22
Dr. YK Lee
MECH300G
Rayleighs Method
Equating Tmax to Vmax, Rayleighs quotient
2
2
l
d W (x )
dx
EI (x )
R( ) = 2 =
dx 2
A(W ( x ))2 dx
E1 I1
l1
d W
2
dx
2
l1
dx + E2 I 2
0
l2
l2
d W
2
dx
2
dx + L
A1 W dx + A2 W 2 dx + ...
0
23
Dr. YK Lee
MECH300G
24
Dr. YK Lee
MECH300G
25
Dr. YK Lee
MECH300G
26
Dr. YK Lee
MECH300G
( nl ) 2
fn =
2
EI
1 3.515 EI
=
l 4 2 l 2
Dr. YK Lee
MECH300G
Example 8.12
Find the fundamental frequency of transverse
vibration of the nonuniform cantilever beam
shown below, using the deflection shape
W(x)=(1-x/l)2
28
Dr. YK Lee
MECH300G
Solution
hx
A( x ) =
l
1 hx
I (x ) =
12 l
Rayleighs quotient
h 3 x 3 2
E
dx
3 2
2
2
0
l
l
12
Eh
Eh
R ( ) = 2 =
= 2.5 4 or = 1.5811
4
l
l 4
l hx
x
0 l 1 l dx
Eh 2
l
Dr. YK Lee
MECH300G
30
Dr. YK Lee
MECH300G
31
http://www.mandolincafe.com/archives/briefhistory.html
Dr. YK Lee
MECH300G
Ex 8.1, p.508
w(x,t)
h
L
32
w( x, t ) =
x
8 h x
ct 1
3x
3ct
sin
cos
sin
cos
+
L
L
L 9
L
L
2
Dr. YK Lee
MECH300G
33
Dr. YK Lee
MECH300G
34
Dr. YK Lee
MECH300G
35
Dr. YK Lee
MECH300G
http://www.phys.unsw.edu.au/~jw/Bows.html
36
Dr. YK Lee
MECH300G
37
Dr. YK Lee
MECH300G
Middle C = 261.63 Hz
http://www.vibrationdata.com/piano.htm
38
Dr. YK Lee
MECH300G
SPM-like bio-sensing
http://www.sciencemag.org/cgi/content/full/288/5464/316
39
Dr. YK Lee
MECH300G
Biochemo-optomechanical chip
http://web.mac.com/majumdargroup/iWeb/Site/Biosensing.html
40
Dr. YK Lee
MECH300G
= 1 Jul 1940
= 7 Nov 1940
Dr. YK Lee
MECH300G
6 lb
=
total
tension
at
the
tower
=
13.8210
0
Dr. YK Lee
MECH300G
f1 ~ 4cpm, f2 ~ 8cpm:
consistent with Prof F.B. Farquharsons report about Tacoma bridge
cpm = cycle per minute, 1 cpm = 60 Hz
43
Dr. YK Lee
MECH300G
= 17,000
12
32.2
12
2
955 39
2
= 22,400
J for the girders plus cables
32.2 2
Dr. YK Lee
MECH300G
45
Dr. YK Lee
MECH300G
Dr. YK Lee
MECH300G
sin
J
L = , 2 ,K, n
K
f2 =
47
Freq equation
1
L
K
J
39,400
J
= 2800
10 3
2 = L
19,900
K
= 3.94 s