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Daniel A. Mendelsohn
Ohio State University
d2 x d2 x
¡kx = m 2 ) m 2 + kx = 0 (14:2)
dt dt
Alternatively, Lagrange's equation (with only one generalized coordinate, x) may be used to
find the equation of motion:
µ ¶
d @L @L
¡ =0 (14:3)
dt @(dx=dt) @x
The Lagrangian, L, is the difference between the kinetic energy, T, and the potential energy,
U, of the system. The Lagrangian for the system in Fig. 14.2(a) is
µ ¶2
1 dx 1
L ´ T ¡U = m ¡ kx2 (14:4)
2 dt 2
Substituting Eq. (14.4) into Eq. (14.3) gives the same equation of motion as in Eq. (14.2).
Using the harmonic form in Eq. (14.1) for x, Eq. (14.2) is satisfied if ! takes on the value
p
! = k=m (14:5)
which is therefore the natural frequency of the system. If the displacement and velocity are
known at some time (say, t = 0), then the constants in Eq. (14.1) may also be evaluated,
1 dx
A= (0); B = x(0) (14:6)
!0 dt
The natural frequency for conservative systems can also be found by the energy method.
As the mass passes through equilibrium, U = 0 and T = Tmax , while at its maximum
displacement where the mass has zero velocity, T = 0 and U = Umax . Since the total energy
is constant, ! is the frequency for which Tmax = Umax . Using Eq. (14.1a) and the system in
Fig. 14.2(a), this principle gives
1 1
Tmax = m(!X)2 = kX 2 = Umax (14:7)
2 2
dx d2 x d2 x dx
¡kx ¡ c =m 2 ) m 2 +c + kx = 0 (14:8)
dt dt dt dt
where the damped natural frequency, !d , damping factor, ³, and critical damping coefficient,
cc , are given by
p c p
!d ´ ! 1 ¡ ³2 ; ³´ ; cc ´ 2m! = 2 mk (14:10)
cc
respectively. If c < cc , then !d is real and Eq. (14.9) represents exponentially damped
oscillation, as shown in Fig. 14.4. If c ¸ cc , then the system is supercritically damped and
decaying motion but no vibration occurs.
Figure 14.4 Time history of viscously Figure 14.5 Time history of frictionally
damped vibration. damped vibration.
where ° = (¹mg=k) is the minimum initial displacement to allow motion, and ! is the
undamped natural frequency, Eq. (14.5). Figure 14.5 shows x(t) for an initial displacement
of x0 = 20° .
to the particular system yields the n equations of motion in the n unknown coordinates xi ,
½ 2 ¾
d x
[M ] + [K]fxg = f0g (14:14)
dt2
The ratios are found by eliminating one equation of [A]fXg = f0g, dividing the remaining
n ¡ 1 equations by X1 , and solving. Then setting ! = !i gives the ith mode shape.
Equations of motion, natural frequencies, and mode shapes for some two-DOF systems
undergoing small amplitude vibrations are in Table 14.2. Gravity acts down and
displacements and rotations are taken with respect to the position of static equilibrium.
Table 14.2 Equations of Motion, Natural Frequencies, and Mode Shapes for some Two-DOF Systems
Simplifying, letting dx go to zero, and noting uniaxial Hooke's law and the definition of the
strain, "x ,
@2 u ³ ½ ´ @2 u
= (14:18)
@x2 E @t2
d2 U ½! 2
¡ ¸2 U = 0; 2
¸ = (14:19)
dx2 E
which has solution U (x) = C sin(¸x) + D cos(¸x). Now as an example, consider the
fixed-fixed bar of length L shown in Fig. 14.6(b) that has boundary conditions (BCs)
U (0) = 0 and U (L) = 0, which give, respectively, D = 0 and either C = 0, which is not of
interest, or
s
n¼ n¼ E
sin(¸L) = 0 ) ¸ = ¸n = ) !n = (n = 1; 2; 3; : : :) (14:20)
L L ½
This is the frequency equation and the resulting infinite set of discrete natural frequencies for
the fixed-fixed beam of length L. The mode shapes are Un (x) = sin(¸n x).
The transverse motion y(x; t) of a taut flexible string (tension T and mass per unit length
½), the longitudinal motion u(x; t) of a rod (Young's modulus E), and the torsional rotation
Á(x; t) of a rod of circular or annular cross section (shear modulus G) all share the same
governing equations (14.18) and (14.19), but with different ¸ values: ¸2 = ½! 2 =T , ½! 2 =E,
and ½! 2 =G, respectively. Tables 14.3 and 14.4 contain frequency equations, nondimensional
natural frequencies, and mode shapes for various combinations of BCs for a rod of length L.
Only the fixed-fixed conditions apply to the string.
Figure 14.6 Longitudinal vibration of a rod of circular cross section: (a) free-body diagram of
representative volume element and (b) a clamped-clamped rod of length L.
The transverse deflection of a beam, w(x; t), is governed by the equation of motion,
µ ¶
@4 w ½A @ 2 w
= (14:21)
@x4 EI @t2
d4 w ½A! 2
4
¡ ¸4 W = 0; ¸4 = (14:22)
dx EI
Defining Terms
Cyclic and circular frequency: The cyclic frequency of any cyclic or periodic motion is the
number of cycles of motion per second. One cycle per second is called a hertz (Hz). The
circular frequency of the motion is 2¼ times the cyclic frequency and converts one cycle
of motion into 2¼ radians of angular motion. The circular frequency is measured in
radians per second.
Degree of freedom (DOF): An independent motion of a moving system. A single mass
rolling on a surface has one DOF, a system of two masses rolling on a surface has two
DOFs, and a continuous elastic structure has an infinite number of DOFs.
References
Clark, S. K. 1972. Dynamics of Continuous Elements. Prentice Hall, Englewood Cliffs, NJ.
Den Hartog, J. P. 1956. Mechanical Vibrations, 4th ed. McGraw-Hill, New York.
Gorman, D. J. 1975. Free Vibration Analysis of Beams and Shafts. John Wiley & Sons, New
York.
Leissa, A. W. 1993a. Vibrations of Plates. Acoustical Society of America, New York.
(Originally issued by NASA, 1973.)
Leissa, A. W. 1993b. Vibrations of Shells. Acoustical Society of America, New York.
(Originally issued by NASA, 1973.)
Magrab, E. B. 1979. Vibrations of Elastic Structural Members. Sijthoff and Noordhoff,
Leyden, The Netherlands.
Meirovitch, L. 1967. Analytical Methods in Vibrations. Macmillan, New York.
Thomson, W. T. 1988. Theory of Vibrations with Applications. Prentice Hall, Englewood
Cliffs, NJ.
Timoshenko, S. P., Young, D. H., and Weaver, J. W. 1974. Vibration Problems in
Engineering, 4th ed. John Wiley & Sons, New York.
Further Information
There are several excellent texts that discuss the free vibrations of discrete systems (finite
number of DOFs). In particular the books by Den Hartog [1956], Timoshenko et al.[1974],
and Thomson [1988] are recommended.
Extensive data for the natural frequencies of beams having elastic supports (translational or
rotational), end masses, multiple spans, discontinuities in cross sections, axial tension or
compression, variable thickness, or elastic foundations may be found in the monograph by