SPECIAL ISSUE PAPER 467

Non-linear free transverse vibration of

thin rotating discs
H R Hamidzadeh
Department of Mechanical and Manufacturing Engineering, Tennessee State University,
3500 John A Merritt Boulevard, Nashville, TN 37209-1561, USA. email: hhamidzadeh@tnstate.edu

The manuscript was received on 23 January 2006 and was accepted after revision for publication on 22 September 2006.

DOI: 10.1243/14644193JMBD46

Abstract: An analytical method is adopted to determine modal characteristics of non-linear

spinning discs. The disc is assumed to be isotropic and rotating under steady-state conditions.
The effects of amplitude and rotating speed on natural frequencies are determined. The
developed procedure is also capable of analysing natural frequencies of linear free vibration,
which is independent of amplitude. Attention is confined to determine natural frequencies,
mode shapes, stress distributions, and critical speeds for different numbers of nodal diameters.
The developed procedure does not consider modes of vibration corresponding to nodal circles.
Validity of this procedure is verified by comparing some of the computed results with those
established for certain cases.

Keywords: free transverse vibration, non-linear vibration, thin disc, flexible rotating disc, high-
speed rotating disc, critical speeds, modal analysis

1 INTRODUCTION simple turbine blades. In most of these analyses the

The study of various vibration modes and stability of
high-speed circular disc components has a great sig-
nificance in many engineering applications. Typical
problems for these components include disc-brake
squeal, circular saw vibrations leading to noise, grind-
ing wheel vibrations, CD, or DVD drive structural fail-
ure, and turbine rotor disc motions. These are
examples where the transverse vibrations are
detrimental. With the advent of these components,
demand to increase efficiency and to reduce access
times has led to progressive increases in the
rotational speed of these components. In case of the
computer disc drive, over the past decade,
the operating speed has increased from almost 200 –
10 500 r/min. This ever-increasing higher speed
requirement for rotating discs demands better knowl-
edge of structural integrity of the rotating discs at
higher speed. To predict and control transverse
vibrations of rotating discs, accurate knowledge of
modal information associated with the application
of such high-speed components are required.
The earliest attention to the vibration of a spinning
disc was provoked for the investigation of failure of
periodic motions were investigated only in its linear
form. In this connection, works of Lamb and South-
well [1] and Southwell [2], which became classical
must be mentioned. While the linear case has
attracted much attention, non-linear dynamical ana-
lyses have scarcely been discussed. Because of the
recent wide application of high-speed thin rotating
discs, one should realize the possibility of large
vibration amplitudes that they may be subjected to.
Therefore, it is vital to investigate non-linear vibration
of these systems. Extensive literature review on linear
vibration of rotating discs can be found in a paper by
Parker [3]. He analysed a spinning disc spindle
system and presented governing equations in terms
of extended operators. The disc and spindle both
are modelled as elastic continua coupled by a rigid
clamp. System kinematics and dynamics are derived
for steady rotation about the spindle axis.
The first non-linear analysis of transverse
vibration in an asymmetric spinning disc system
is due to Nowinski [4]. He considered non-linear
transverse vibrations of a spinning isotropic disc
using von Karman field equations. It should be
noted that his study was limited to demonstrating

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468 H R Hamidzadeh

dependency of natural frequency of vibration and 2 GOVERNING EQUATIONS

radial and hoop stress distributions on amplitudes
only for a case of two nodal diameters. The appli- The transverse vibration of a flat and thin elastic spin-
cation of the von Karman plate theory to rotating ning disc of radius a and thickness h is considered.
discs in disc drives can be also found in references The disc rotates about its axis of symmetry with a
[5] and [6]. However, the aforementioned von constant angular velocity v. In the analysis, hence-
Karman theory for rotating discs does not include forth, the transverse deflections of the disc are
the Coriolis inertia caused by rotation, and the assumed to be large in comparison with thickness h.
membrane force contribution on the force balance A typical disc and its transverse deflection are
is considered only in the transverse direction. shown in Fig. 1.
Advani and Bulkely [7] analysed non-linear trans- Although a geometric non-linearity creeps into the
verse vibrations in spinning membrane discs. system due to large deflections, it has been documen-
Two exact solutions were obtained for non-linear ted that Hook’s law remains valid in its isotropic
equations governing transverse motion of spinning form. The two-dimensional equilibrium equations
circular membrane discs. Malhotra et al. [8] con- in terms of plane stresses for the disc can be written
sidered non-linear finite amplitude vibration of a as
flexible spinning disc. The transverse vibration of
a high-speed spinning disc that is clamped at
the inner radius and rotating with time-varying @ 1 @ sr
su
sr þ tr u þ þ rv2 r ¼ 0 (1a)
spin rate was examined in a fixed space frame of @r r @u r
reference. Raman and Mote [9] studied non- @ @ tr u
linear oscillations of circular plates near critical su þ t r u þ 2 ¼0 (1b)
r @u @r r
speed subjected to space-fixed transverse force.
The analysis included averaged Hamiltonian for
damped as well as undamped disc rotation. They Since displacement amplitudes of in-plane
also investigated forward and backward travelling vibration are very small in comparision with that of
waves caused due to high-speed rotation. Boulabal transverse vibration, the inertia terms in foregoing
and Crandall [10] experimentally demonstrated equations are ignored. Considering that the non-
the presence of stationary waves in rotating linearity in this problem is associated with large
discs. Based on Nowinski’s [4] analytical method, transverse displacement, the following non-linear
Hamidzadeh et al. [11] presented numerical strain-displacement relations are assumed
results for natural frequencies, mode shape, and
modal stresses for thin spinning discs. Luo and
Mote [12] developed an analytical solution for

@u 1 @w 2
the free vibration of rotating discs and to deter- 1r ¼ þ (2a)
@r 2 @r
mine the hardening and softening characteristics

of rotating discs for different nodal diameters. u 1 @v 1 @w 2
1u ¼ þ þ 2 (2b)
In this research work, the well-established r r @u 2r @u
approach of Nowinski’s [4] for free transverse 1 @u @v v 1 @w @w
gr u ¼ þ
þ (2c)
vibration of spinning discs with large amplitudes is r @u @r r r @r @u
adopted. The presented work formulates natural
frequencies, modal displacements distribution as
well as modal radial and hoop stress distributions where 1r, 1u, and gru are radial, hoop, and shear
for the thin rotating discs. The analysis considers strains, respectively. Also u, v, and w are the displace-
the linear and non-linear modes associated with ments in cylindrical coordinates. The above strains
any number of nodal diameters in the absence of consist of linear and non-linear components. The
circular nodes. The method outlined here assumes plane stresses in terms of a stress function f can be
a typical disc with small and uniform thickness,
elastic isotropic in nature, rotating with constant
angular velocity, and having negligible in-plane
vibrations. It is also assumed that the vibration is
controlled both by the flexural stiffness of the disc
and by the tensions induced due to centrifugal
forces. Von Karman bases the influence of these
two factors on the large amplitude deflection
theory of thin plates.
Fig. 1 A typical thin spinning disc

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 Non-linear transverse vibration of thin rotating discs 469

presented by the following equations into the compatibility equation (5) yields


1 4  1 @w 1 @2 v @2 w
1 @f 1 @2 f 1 2 2 r f
2(1
v)v r ¼

2
þ
sr ¼ þ
rv r (3a) E r @r r @u2 @r 2
r @r r 2 @u2 2
2

1 @2 w 2 @2 w @w 1 @w 2
@2 f 1 þ 2
3 þ 4 (7)
su ¼ 2
rv2 r 2 (3b) r @r@u r @r@u @u r @u
@r
2 
@ 1 @f
tr u ¼
(3c) The above equation in conjunction with equation (4)
@r r @u should be solved to obtain solutions for the displace-
ment function ‘w’ and the stress function ‘f’. Thus,
the problem reduces to the integration of two non-
The non-linear governing equation for the trans-
linear equations (4) and (7) along with the boundary
verse vibration of a rotating disc can be obtained by
conditions of the system.
transforming the von Karman equation and
supplementing it with the body and inertia forces.
Assuming free vibration, the governing equation in
the polar coordinate system will become 3 APPROXIMATE SOLUTION

An assumed solution for the displacement of the disc

 

D 4 @2 w @2 w 1 @f 1 @2 f has to be incorporated into the analysis. It has been
r wþr 2 ¼þ 2 þ well-documented by Prescot [13] that the radial pro-
h @t @r r @r r 2 @u2



 file of deflection of the disc surface for various modes
1 @w 1 @2 w @2 f @ 1 @w @ 1 @f
þ þ
2 of vibration assumes a separable form of power
r @r r 2 @u2 @r 2 @r r @u @r r @u series. In the absence of nodal circles for any
1 2 2 2 @w number of nodal diameters, the assumed displace-

rv r r w
rv2 r (4)
2 @r ment function reduces to the following deflection
pattern
where r4 is biharmonic operator, r2 is the two
w(r, u, t) ¼ A0 t(t)r n cos (nu þ c) (8)
dimensional Laplacian operator in polar coordinates,
and D ¼ (Eh3 =12(1
v2 )) is the bending rigidity of the
Where w(r, u, t) is the deflection of the disc in polar
disc.
coordinates, ‘A0’ is a constant, ‘c’ is the phase
The required compatibility equation relating linear
constant, ‘t(t)’ is a time function describing variation
components of strains is expressed as
of ‘w’ with respect to time, and ‘n’ is the number of
nodal diameters.

 As presented by Nowinski [4], the stress function
1 @2 1lin 1 @2 (r g lin
ru ) 1 @ 2 @1u
lin
1 @1lin
r

þ r
r
¼0 ‘f’ can be determined by substituting equation (8)
r 2 @ u2 r 2 @r@u r 2 @r @r r @r into (7) and solving for ‘f’. Upon further simplifica-
(5) tion the stress function becomes
 
a1 2n 1
n 2 4
r , 1u , and g ru are linear components of
where 1lin lin lin
f¼k r þ v rr þ Ar 2
strains presented in equations (2). c1 32
Employing Hook’s law in its isotropic condition, þ ½Br 2n þ Cr 2(nþ1)  cos 2(nu þ w) (9)
the stress – strain relations can be now expressed as
where A, B, and C are constants and

1 E 2 2
1r ¼ (sr
vsu ) (6a) k¼ A t (10)
E 2 0
1
1u ¼ (su
vsr ) (6b)
E The remaining constants of ‘a1’ and ‘c1’ are
tr u
gr u ¼ (6c)
G a1 ¼ 2n2 (n
1)2 (11a)
c1 ¼ 16n (n
1)2 2
(11b)
where 1r, 1u, and gru are radial, hoop, and shear strains
respectively, and ‘G’ is the shear modulus of the Substituting equations (9) and (10) into equations (3),
medium. Substituting from equations (3) and (6) then the three components of radial, hoop, and

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470 H R Hamidzadeh

shear stresses can be given as Jacobian elliptical function represented by

2na1 2(n
1) n þ 3 2 2 t(t) ¼ cn(qt, k) (17a)

sr ¼ k r
v rr þ 2A
c 8
1 
where
þ 2nB(1
2n)r 2(n
1)
þ 2C(n
2n þ 1)r
2 2n

pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 cos 2(nu þ c) (12a) q¼ (b1 þ b2 ) (17b)
 
2n(2n
1)a1 2(n
1) 1 þ 3n 2 2 b2
su ¼ k r
v rr þ 2A k2 ¼ (17c)
c1 8 2(b1 þ b2 )
 
þ 2nB(2n
1)r 2(n
1) þ 2C(n þ 1)(2n þ 1)r 2n
It should be noted that the Jacobian elliptic func-
 cos 2(nu þ c) (12b)
tion cn(qt, k) is a periodic function, which has the
tr u ¼ 2n½B(2n
1)r 2(n
1) þ C(2n þ 1)r 2n  period of T ¼ 4K/q, where ‘K’ is a function of ‘k’
 sin 2(nu þ c) (12c) and given by K(k) ¼ F(k, p/2), which is known to
be a complete elliptical integral of the first
Constants A, B, and C will be determined by satisfying kind [14].
the stress boundary conditions at r ¼ a. According to
Nowinski [4], by applying Galerkin’s method and sub-
stituting equations (8) to (10) into equation (4) and
integrating over the disc boundary results in the fol- 4 FREE NON-LINEAR VIBRATION
lowing second-order non-linear time equation
To calculate unknown coefficients of A, B, and C, two
d2 t boundary conditions need to be satisfied. These
þ b1 t þ b 2 t 3 ¼ 0 (13) boundary conditions require that the radial and
dt 2
tangential stresses on the outer radius of the disc to
The coefficients of the above non-linear differential be zero
equation are
sr (r ¼ a, u) ¼ 0 (18a)
s2 2 tr u (r ¼ a, u) ¼ 0 (18b)
b1 ¼
v (14a)
2s1
 
EA2 a2(n
2) 1 Upon imposing the above conditions on equations
b2 ¼
o s 3 D 1 þ s 4 a2 D 2 þ s 5 (14b)
rs 1 2 (12a) and (12c), and after simplification, they yield

where n(1
2n)B þ (n
2n2 þ 1)a2 C ¼ 0 (19a)

(2n
1)B þ (2n þ 1)a C ¼ 0 2
(19b)
B
D1 ¼ (15a)
EA20 t2
Since the principal determinant of the above
C equation (1
4n2 ) is not zero for any number of
D2 ¼ (15b)
EA20 t2 nodal diameters, the only possible solution of
equations (19a) and (19b) can be a trivial one,
and which can be expressed as

1 B¼C¼0 (20)
s1 ¼ (16a)
2(n þ 1)
 
n n
1 By substituting from equations (18a) and (20) into
s2 ¼
1þ (1
n) (16b) equation (12a), the only remaining constant, ‘A’
nþ1 4
becomes
s3 ¼
2n2 (n
1) (16c)
s4 ¼
n(n
1)(2n þ 1) (16d)  
nþ3 2 2 a1 2(n
1)
A¼ v ra
nk a (21)
2n2 (n
1)2 a1 16 c1
s5 ¼
(16e)
2n
1 c1
Since C and D are zero, equation (12c) yields
The solution to the non-linear equation (13) is a tr u ¼ 0.

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 Non-linear transverse vibration of thin rotating discs 471

In addition, remaining stresses are and the dimensionless amplitude of hoop stresses
due to non-linear vibration can be written as
nþ3 2 2 E
sr ¼ rv (a
r 2 )
A20 t2 n½a2(n
1)
r 2(n
1)  
 r 2(n
1) w 2 
8 8 a1
su
nonlin ¼ n (2n
1)
1 (32)
(22) c1 a h


n þ 3 2 2 1 þ 3n 2
su ¼ rv a
r where (r/a) is the radius ratio. Also, total stresses are
8 3þn
E

A20 t2 n½a2(n
1)
3r 2(n
1)  (23) sr ¼ sr
lin þ sr
nonlin (33)
8
su ¼ su
lin þ su
nonlin (34)
Using equation (8), and considering that the
maximum values for cos(nu þ C) and t(t) are both
one, the value of A0 in terms of the highest transverse 6 RESULTS AND DISCUSSIONS
displacement amplitude of the rim of the disc ‘W’ can
be presented as Comparison of the ratios of non-linear to linear
periods of vibration versus relative amplitudes
W for n ¼ 2 at different speeds are made with those
A0 ¼ (24)
an of Nowinski [4] in Fig. 2. The presented results
in this paper are for a disc with thickness ratio of
In the foregoing two equations for stresses, time- h/a ¼ 0.004, Poisson ratio of n ¼ 0.3, and (E/r)1/2 ¼
independent terms are found to be the same as 16408.3 m/s. Computed results indicate that at
those described by Lamb and Southwell [1] for lower relative amplitudes and higher operating
linear transverse vibration of spinning discs. How- speeds, the non-linear results differ slightly from
ever, the time-dependent terms are contributed due linear ones. However, at higher amplitudes, the
to the non-linearity of the problem. non-linear periods decrease drastically in compari-
son with the period of linear vibration. This corro-
borates the fact that the frequency of vibration is
getting higher and higher. A similar trend is
5 DIMENSIONLESS PARAMETERS observed for higher numbers of nodal diameters.
Therefore, the linear theory cannot provide an
For the ease of analysis and presentation of accurate estimation for modal frequencies for
results, the following dimensionless parameters are larger amplitudes of vibration at high speeds. As
introduced demonstrated in Fig. 2, the validity of the present

W
W ¼ (amplitude ratio) (25)
h
va
V1 ¼ pffiffiffiffiffiffiffiffi (dimensionless speed) (26)
E=r
sffiffiffiffi
 4K E
T ¼ (dimensionless period) (27)
qa r
2p
V2 ¼ (dimensionless frequency) (28)
T

Moreover, the dimensionless stresses are given by

sr a 2
sr ¼ (dimensionless radial stress) (29)
E h2
s ua
2
su ¼ (dimensionless hoop stress) (30)
E h2

The dimensionless amplitude of radial stresse due

to non-linear vibration is

 2  Fig. 2 Ratio of non-linear to linear period versus
a1  r 2(n
1) w
sr
nonlin ¼ n
1 (31) amplitude ratio at different dimensionless
c1 a h speeds for n ¼ 2

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472
Fig. 3 Variation of dimensionless natural frequencies
versus dimensionless speed for various nodal
diameters
procedure is verified by an excellent agreement
between these results.
The dimensionless natural frequencies for the non-
linear vibration of rotating discs are also computed.
Variations of dimensionless frequencies for different
numbers of nodal diameters versus a wide range of
rotating speeds is provided in Fig. 3 for a dimension-
less deflection ratio of W ¼ 5. Results reveal that the
natural frequency of non-linear vibration is indepen-
dent of amplitude when n ¼ 1, and increasingly
dependent on amplitudes for n ¼ 2 to 6, with ampli-
tude being more effective at lower speeds than
higher ones.
Figure 4 depicts the effect of relative amplitude
ratios of W on the variation of the dimensionless
natural frequencies versus speed ratio for the mode
with 4 nodal diameters. The results indicate that at
higher speeds, dimensionless frequencies for
Fig. 4 Variation of dimensionless natural frequency
versus dimensionless speed for various
amplitude ratios n ¼ 4
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H R Hamidzadeh
Fig. 5 Non-linear dimensionless radial stress versus
radius ratio of the disc at different W for n ¼ 2
different W approach the corresponding linear
dimensionless frequency.
Figure 5 shows that the variation of non-linear
components of dimensionless radial stress versus
radius ratio of r/a for different amplitude ratios of W
when n ¼ 4. In general, this non-linear component is
highly effected by higher amplitude ratios at a region
close to the centre of the disc. This effect is more signifi-
cant for higher numbers of nodal diameters. Neverthe-
less, the radial stress is found to be zero for n ¼ 1. This
indicates that radial stress is not the controlling stress
during the disc rotation for this mode.
The dimensionless critical speeds are the speeds
at which the dimensionless natural frequencies
experienced in the fixed coordinates for different
values of nodal diameters ‘n’ vanish. Figure 6 illus-
trates the variation of dimensionless critical speeds
versus the amplitude ratio of W for different num-
bers of nodal diameters. The results indicate that
the dimensionless critical speed for each value of ‘n’
is proportional to the amplitude ratio of W .
Fig. 6 Variation of dimensionless critical speed versus
amplitude ratio for different number of nodal
diameters
JMBD46 # IMechE 2007
 Non-linear transverse vibration of thin rotating discs 473

7 CONCLUSION 10 Boulabal, D. and Crandall, S. H. Self-excited harmonic

and solitary waves in a spinning disk (with video pre-
An analytical method is presented to determine sentation). ASME 16th Biennial Conference on Mechan-
ical Vibration and Noise, Sacramento, California, 1997,
modal information such as natural frequencies,
DETC97/VIB-4093.
mode shapes, modal in-plane stresses, and critical
11 Hamidzadeh, H. R., Nepal, N., and Dehghani, M.
speeds for non-linear transverse vibration of spin- Transverse vibration of thin rotating disks – Nonlinear
ning discs. The provided modal analysis is valid for modal analysis. ASME International Mechanical Engi-
thin discs and any number of nodal diameters in neering Congress and Exposition, Anaheim, California,
the absence of nodal circles. The provided method 1998, pp. 219 – 225, DE-98.
is also capable of computing all possible critical 12 Luo, A. C. J. and Mote, C. D. Jr An analytical
speeds within the wide range of rotating speeds. solution of the non-linear vibration of rotating disks.
Analysis indicates that modal parameters are highly ASME 17th Biennial Conference on Mechanical
dependent on the amplitudes of vibration. Also, it Vibration and Noise, Las Vegas, Nevada, 1999,
is concluded that at faster rotating speeds the signifi- DETC99/VIB-8150.
13 Prescot, J. Applied elasticity, 1961 (Dover Publications,
cance of amplitude over natural frequency of
New York).
vibration is greater. Furthermore, the validity of the
14 Abramowitz, M. and Stegun, I. A. Handbook of
presented solution is achieved by an excellent mathematical functions with formulas, graphs, and
agreement for the computed variation of non-linear mathematical tables, tenth printing, December 1972
dimensionless periods and the available established (US Government Printing Office, Washington, DC).
result. The presented results can provide a
guideline to assist designer by choosing appropriate
geometry and material properties to avoid critical
speeds and possible resonances for a desired operat- APPENDIX
ing speed.
Notation
a radius of the disc
REFERENCES A0 displacement constant
cn(qt, k) Jacobian elliptical function
1 Lamb, H. and Southwell, R. V. The vibrations of a spin- E modulus of elasticity
ning disk. Proc. R. Soc. Lond., 1922, 99, 272 – 280. F(k, p/2) complete elliptical integral of the
2 Southwell, R. V. On the free transverse vibrations of a first kind
uniform circular disk clamped at its centre, and on the G shear modulus
effects of rotation. Proc. R. Soc. Lond., 1922, 101, 133 – h thickness of the disc
153. n number of nodal diameters
3 Parker, R. G. Modeling and analysis of spinning disk- r, u, z cylindrical coordinates
spindle vibration. In Proceedings of DETC97, ASME
T period of vibration
Design Engineering Technical Conferences, Sacra-
mento, California, 1997, pp. 1 – 9.
T dimensionless time period
4 Nowinski, J. L. Nonlinear transverse vibrations of spin- t time
ning disk. J. Appl. Mech., 1964, 31, 72– 78. u, v, w displacements in cylindrical
5 Maher, J. F. and Adams, G. G. Effect of displacement- coordinates
dependent membrane stresses on the axisymmetric W A0 an, maximum transverse
configuration of a spinning flexible disk. ATLE Tribol. displacement amplitude at the rim
Trans., 1991, 34(4), 597 – 603. W W/h, amplitude ratio
6 Renshaw, A. A. and Mote, C. D. Jr A perturbation
solution for the flexible rotating disk: nonlinear equili- n Poisson’s ratio
brium and stability under transverse loading. J. Sound r density of the disc material
Vibr., 1995, 183, 309 – 326. sr , s u radial and transverse normal stresses
7 Advani, S. H. and Bulkely, P. Z. Nonlinear transverse sr , su dimensionless radial and transverse
vibrations and waves in spinning membrane disks. Int. stresses
J. Nonlinear Mech., 1969, 4, 123 – 127. t time function
8 Malhotra, N., Namachchivaya, N. S., and Whalen, T. tru shear stress
Finite amplitude dynamics of a flexible spinning disk. f stress function time function associated
ASME Design Engineering Technical Conferences III,
with lateral deflection of disc
Part A, 1995, pp. 239 – 250.
9 Raman, A. and Mote, C. D. Jr Nonlinear oscillations
v angular velocity of the spinning disc
of circular plates near critical speed. Symposium on V1 dimensionless angular speed
Nonlinear Dynamics and Stochastic Mechanics, V2 dimensionless natural frequency
IMECE, Dallas, Texas, 1997, DE-vol. 95, pp. 171 – 183. 52 Laplacian operator

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