Advanced Vibrations

Distributed-Parameter Systems: Exact

Solutions
(Lecture 10)

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

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Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

Introduction
The motion of distributed-parameter systems is
governed by partial differential equations:
to be satisfied over the domain of the system,
and
is subject to boundary conditions at the end
points of the domain.

Such problems are known as boundary-value

problems.

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RELATION BETWEEN DISCRETE AND

DISTRIBUTED SYSTEMS: TRANSVERSE
VIBRATION OF STRINGS

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RELATION BETWEEN DISCRETE AND

DISTRIBUTED SYSTEMS: TRANSVERSE
VIBRATION OF STRINGS

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RELATION BETWEEN DISCRETE AND

DISTRIBUTED SYSTEMS: TRANSVERSE
VIBRATION OF STRINGS

Ignoring
2nd order
term

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DERIVATION OF THE STRING VIBRATION

PROBLEM BY THE EXTENDED HAMILTON
PRINCIPLE

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DERIVATION OF THE STRING VIBRATION

PROBLEM BY THE EXTENDED HAMILTON
PRINCIPLE

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DERIVATION OF THE STRING VIBRATION

PROBLEM BY THE EXTENDED HAMILTON
PRINCIPLE

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DERIVATION OF THE STRING VIBRATION

PROBLEM BY THE EXTENDED HAMILTON
PRINCIPLE

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DERIVATION OF THE STRING VIBRATION

PROBLEM BY THE EXTENDED HAMILTON
PRINCIPLE

EOM
BCs
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BENDING VIBRATION OF BEAMS

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BENDING VIBRATION OF BEAMS

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BENDING VIBRATION OF BEAMS

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BENDING VIBRATION OF BEAMS:EHP

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BENDING VIBRATION OF BEAMS:EHP

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BENDING VIBRATION OF BEAMS:EHP

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Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

School of Mechanical Engineering

Iran University of Science and Technology

Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

Advanced Vibrations
Distributed-Parameter Systems:
Exact Solutions
(Lecture 11)

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

School of Mechanical Engineering

Iran University of Science and Technology

Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

FREE VIBRATION. THE DIFFERENTIAL

EIGENVALUE PROBLEM

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FREE VIBRATION. THE DIFFERENTIAL

EIGENVALUE PROBLEM

On physical grounds

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FREE VIBRATION. THE DIFFERENTIAL

EIGENVALUE PROBLEM
The differential eigenvalue problem

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FREE VIBRATION. THE DIFFERENTIAL

EIGENVALUE PROBLEM

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Example:

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Example:

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The free vibration of beams in bending:

The differential eigenvalue problem:

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Simply Supported beam:

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Uniform Clamped Beam:

0
1
0
1

1
0
1
0

sin( L ) cos( L ) sinh( L ) cosh( L )

cos
(
L
)
sin
(
L
)
cosh
(
L
)
sinh
(
L
)

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Uniform Clamped Beam:

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The spring supported-pinned beam

Characteristic equation
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The spring supported-pinned beam

sin( )
sinh( )

f : =0
=

3
3
25 sin( ) + cos( ) 25 sinh( ) cosh( ) C

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ORTHOGONALITY OF MODES.
EXPANSION THEOREM
Consider two distinct solutions of the string
eigenvalue problem:

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ORTHOGONALITY OF MODES.
EXPANSION THEOREM

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ORTHOGONALITY OF MODES.
EXPANSION THEOREM
To demonstrate the orthogonality relations for
beams, we consider two distinct solutions of the
eigenvalue problem:

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Orthogonality relations for beams

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Orthogonality relations for beams

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Expansion Theorem:
Any function Y(x) representing a possible displacement of
the system, with certain continuity, can be expanded in
the absolutely and uniformly convergent series of the
eigenfunctions:

The expansion theorem forms the basis for modal

analysis, which permits the derivation of the response to
both initial excitations and applied forces.
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Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

School of Mechanical Engineering

Iran University of Science and Technology

Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

Advanced Vibrations
Distributed-Parameter Systems:
Exact Solutions
(Lecture 12)

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

School of Mechanical Engineering

Iran University of Science and Technology

Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

SYSTEMS WITH LUMPED MASSES AT

THE BOUNDARIES: Rod with Tip Mass

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SYSTEMS WITH LUMPED MASSES AT

THE BOUNDARIES: Rod with Tip Mass
By means of the extended Hamilton's principle:

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SYSTEMS WITH LUMPED MASSES AT

THE BOUNDARIES: Rod with Tip Mass

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SYSTEMS WITH LUMPED MASSES AT

THE BOUNDARIES: Rod with Tip Mass

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SYSTEMS WITH LUMPED MASSES AT THE

BOUNDARIES: Beam with Lumped Tip Mass

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SYSTEMS WITH LUMPED MASSES AT THE

BOUNDARIES: Beam with Tip Mass
By means of the extended Hamilton's principle:

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SYSTEMS WITH LUMPED MASSES AT THE

BOUNDARIES: Beam with Tip Mass

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EIGENVALUE PROBLEM AND EXPANSION

THEOREM FOR PROBLEMS WITH LUMPED
MASSES AT THE BOUNDARIES

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EIGENVALUE PROBLEM AND EXPANSION

THEOREM FOR PROBLEMS WITH LUMPED
MASSES AT THE BOUNDARIES
The orthogonality of modes:

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EIGENVALUE PROBLEM AND EXPANSION

THEOREM FOR PROBLEMS WITH LUMPED
MASSES AT THE BOUNDARIES

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EIGENVALUE PROBLEM AND EXPANSION

THEOREM FOR PROBLEMS WITH LUMPED
MASSES AT THE BOUNDARIES

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EIGENVALUE PROBLEM AND EXPANSION

THEOREM FOR PROBLEMS WITH LUMPED
MASSES AT THE BOUNDARIES

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EIGENVALUE PROBLEM AND EXPANSION

THEOREM FOR PROBLEMS WITH LUMPED
MASSES AT THE BOUNDARIES

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Example 8.6. The eigenvalue problem for

a uniform circular shaft in torsion

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Example 8.6. The eigenvalue problem for

a uniform circular shaft in torsion

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Example 8.7. The eigenvalue problem for

a uniform cantilever beam with tip mass

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Example 8.7. The eigenvalue problem for

a uniform cantilever beam with tip mass
As the mode number
increases, the end
acts more as a
pinned end

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EIGENVALUE PROBLEM AND EXPANSION

THEOREM FOR PROBLEMS WITH LUMPED
MASSES AT THE BOUNDARIES
Any function U(x) representing a possible displacement of
the continuous model, which implies that U(x) satisfies
boundary conditions and is such that its derivatives up to
the order appeared in the model is a continuous function,
can be expanded in the absolutely and uniformly
convergent series of the eigenfunctions:

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Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

School of Mechanical Engineering

Iran University of Science and Technology

Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

Advanced Vibrations
Distributed-Parameter Systems:
Exact Solutions
(Lecture 13)

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

School of Mechanical Engineering

Iran University of Science and Technology

Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

RAYLEIGH'S QUOTIENT. VARIATIONAL

APPROACH TO THE DIFFERENTIAL
EIGENVALUE PROBLEM
Cases in which the differential eigenvalue
problem admits a closed-form solution are very
rare :
Uniformly distributed parameters and
Simple boundary conditions.

For the most part, one must be content with

approximate solutions,
Rayleigh's quotient plays a pivotal role.
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The strong form of the eigenvalue

problem
A rod in axial vibration fixed at x=0 and with a spring of
stiffness k at x=L .

An exact solution of the eigenvalue problem in the

strong form is beyond reach,
The mass and stiffness parameters depend on the
spatial variable x .
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The differential eigenvalue problem in a

weak form

Test function

The solution of the differential eigenvalue

problem is in a weighted average sense
The test function V(x) plays the role of a
weighting function.
The test function V(x) satisfies the geometric
boundary conditions and certain continuity
requirments.
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The differential eigenvalue problem in a

weak form

Symmetrizing the left side

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The differential eigenvalue problem in a

weak form: Rayleigh's quotient

We consider the case in which the test function
is equal to the trial function:

The value of R depends on the trial function

How the value of R behaves as U(x) changes?
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Properties of Rayleigh's quotient

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Properties of Rayleigh's quotient

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Properties of Rayleigh's quotient

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Properties of Rayleigh's quotient

The trial function U(x) differs from the rth
eigenfunction Ur ( x ) by a small quantity of first
order in
and
Rayleigh's quotient differs from the rth
eigenvalue by a small quantity of second order
in
Rayleigh 's quotient has a stationary value at

an eigenfinction Ur(x), where the stationary

value is the associated eigenvalue.
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Properties of Rayleigh's quotient

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Rayleigh's quotient
A fixed-tip mass rod:

A pinned-spring supported beam in bending:

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Rayleigh's quotient
Rayleigh's quotient for all systems have one
thing in common:
the numerator is a measure of the potential
energy
and the denominator a measure of the kinetic
energy.

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A fixed-spring supported rod in axial

vibration

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A fixed-spring supported rod in axial

vibration

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Example 8.8. Estimation of the lowest

eigenvalue by means of Rayleigh's principle

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Example 8.8: a) The static

displacement curve as a trial function

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Example 8.8: a) The static

displacement curve as a trial function

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Example 8.8: b)The lowest eigenfunction of

a fixed-free string as a trial function

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Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

School of Mechanical Engineering

Iran University of Science and Technology

Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

Advanced Vibrations
Distributed-Parameter Systems:
Exact Solutions
(Lecture 14)

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

School of Mechanical Engineering

Iran University of Science and Technology

Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

RESPONSE TO INITIAL EXCITATIONS

Various distributed-parameter systems exhibit
similar vibrational characteristics, although their
mathematical description tends to differ in
appearance.
Consider the transverse displacement y(x,t) of
a string in free vibration

caused by initial excitations in the form of

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RESPONSE TO INITIAL EXCITATIONS

the normal modes

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Example:
Response of a uniform string to the initial
displacement y0(x)and zero initial velocity.

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Example:

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RESPONSE TO INITIAL EXCITATIONS:

Beams in Bending Vibration

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RESPONSE TO INITIAL EXCITATIONS:

Beams in Bending Vibration
To demonstrate that every one of the natural
modes can be excited independently of the other
modes we select the initials as:

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RESPONSE TO INITIAL EXCITATIONS:

Response of systems with tip masses

Boundary conditions

Initial conditions

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RESPONSE TO INITIAL EXCITATIONS:

Response of systems with tip masses

Observing from
boundary condition

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RESPONSE TO INITIAL EXCITATIONS:

Response of systems with tip masses

Similarly,

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Example:
Response of a cantilever beam with a lumped
mass at the end to the initial velocity:

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Example:

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Example:

Because initial velocity resembles the 2nd mode

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RESPONSE TO EXTERNAL
EXCITATIONS
The various types of distributed-parameter
systems differ more in appearance than in
vibrational characteristics.
We consider the response of a beam in
bending supported by a spring of stiffness k at
x=0 and pinned at x=L.

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RESPONSE TO EXTERNAL
EXCITATIONS

Orthonormal modes

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RESPONSE TO EXTERNAL
EXCITATIONS: Harmonic Excitation

Controls which
mode is
excited.

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Controls the
resonance.

RESPONSE TO EXTERNAL
EXCITATIONS: Arbitrary Excitation

The developments remain essentially the same

for all other boundary conditions, and the same
can be said about other systems.

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Example
Derive the response of a uniform pinned-pinned
beam to a concentrated force of amplitude F0
acting at x = L/2 and having the form of a step
function.
Orthonormal Modes

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Example

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Distributed-Parameter Systems: Exact

Solutions
Relation between Discrete and
Distributed Systems .
Transverse Vibration of Strings
Derivation of the String Vibration
Problem by the Extended
Hamilton Principle
Bending Vibration of Beams
Free Vibration: The Differential
Eigenvalue Problem
Orthogonality of Modes
Expansion Theorem
Systems with Lumped Masses at
the Boundaries

School of Mechanical Engineering

Iran University of Science and Technology

Eigenvalue Problem and

Expansion Theorem for
Problems with Lumped Masses
at the Boundaries
Rayleigh's Quotient . The
Variational Approach to the
Differential Eigenvalue Problem
Response to Initial Excitations
Response to External Excitations
Systems with External Forces at
Boundaries
The Wave Equation
Traveling Waves in Rods of
Finite Length

Advanced Vibrations
Distributed-Parameter Systems:
Exact Solutions
(Lecture 15)

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

Stepped Beams
Free Vibrations of Stepped Beams
Compatibility Requirements at the Interface
Characteristic Equations

Elastically Restrained Stepped Beams

Multi-Step Beam with Arbitrary Number of
Cracks
Multi-Step Beam Carrying a Tip Mass

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FREE VIBRATION OF STEPPED

BEAMS: EXACT SOLUTIONS
As presented by:
S. K. JANG and C. W. BERT 1989 Journal of
Sound and Vibration 130, 342-346. Free
vibration of stepped beams: exact and
numerical solutions.
They sought lowest natural frequency of a
stepped beam with two different cross-sections
for various boundary conditions.

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FREE VIBRATION OF STEPPED

BEAMS: EXACT SOLUTIONS
The governing differential equation for the small
amplitude, free, lateral vibration of a BernoulliEuler beam is:

Assuming normal modes, one obtains the

following expression for the mode shape:

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FREE VIBRATION OF STEPPED

BEAMS: EXACT SOLUTIONS
For the shown stepped beam, one can rewrite the
governing equation as:

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Boundary Conditions:
(1) pinned-pinned,

(2) clamped-clamped,

(3) clamped-free,

(4) clamped-pinned,

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Compatibility Requirements at the

Interface
Stress concentration at the junction of the two
parts of the beam is neglected.
At the junction, the continuity of deflection, slope,
moment and shear force has to be preserved:

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The clamped-clamped beam problem:

Introducing the BCs

Yields: C3=-C1, C4=-C2, C7=-C5 . C8=-C6

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The clamped-clamped beam problem:

Compatibility Requirements
Let:

Then the compatibility requirements yield:

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Characteristic Equations for Other

BCs

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Characteristic Equations for Other

BCs

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Characteristic Equations for Other

BCs

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Characteristic Equations for Other

BCs

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Characteristic Equations for Other

BCs

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Exact Solutions:

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HIGHER MODE FREQUENCIES AND

EFFECTS OF STEPS ON FREQUENCY
By extending the computations, higher mode
frequencies were found (Journal of Sound and
Vibration ,1989, 132(1), 164-168):

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Elastically Restrained Stepped Beams

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Boundary Conditions and Compatibility

Requirements at the Interface :

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The Characteristic Equation

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Exact Solutions:

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Extension of the Research Work:

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Extension of the Research Work:

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Extension of the Research Work:

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Extension of the Research Work:

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Advanced Vibrations
Distributed-Parameter Systems:
Exact Solutions
(Lecture 16)

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

INTRODUCTION
The problem of lateral vibrations of beams under
axial loading is of considerable practical interest,
Tall buildings
Aerospace structures
Rotating machinery shafts
Because of its important practical applications, the
problem of uniform single-span beams under a
constant axial load has been the subject of
considerable study.
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BEAM FLEXURE: INCLUDING

AXIALFORCE EFFECTS
Axial forces acting in a flexural element may have
a very significant influence on the vibration
behavior of the member,
resulting generally in modifications of
frequencies and mode shapes.
The equation of motion, including the effect of a
timeinvariant uniform axial force throughout its
length, is:
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BEAM FLEXURE: INCLUDING

AXIALFORCE EFFECTS

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BEAM FLEXURE: INCLUDING

AXIALFORCE EFFECTS
Separating variables:

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BEAM FLEXURE: INCLUDING

AXIALFORCE EFFECTS

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Example: A simply supported uniform

beam

D1=0, D3=0, D4=0.

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BEAM FLEXURE: INCLUDING

AXIALFORCE EFFECTS
Retaining the constant axial force N, the
governing equation can be used to find the static
buckling loads and corresponding shapes:

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GALEF Formula
E. GALEF 1968 Journal of the Acoustical
Society of America 44, (8), 643. Bending
frequencies of compressed beams:

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GALEF Formula
A. BOKAIAN, NATURAL FREQUENCIES OF
BEAMS UNDERCOMPRESSIVE AXIAL
LOADS, Journal of Sound and Vibration

(1988) 126(1), 49-65

Studied the influence of a constant
compressive load on natural frequencies and
mode shapes of a uniform beam with a variety
of end conditions.
Galefs formula, previously assumed to be valid
for beams with all types of end conditions, is
observed to be valid only for a few.
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GALEF Formula
BOKAIAN showed:
The variation of the normalized natural
frequency
with the normalized axial force
for pinned-pinned, pinned-sliding and slidingsliding beams is observed to be:

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GALEF Formula
BOKAIAN showed:
Galefs formula, previously
assumed to be valid for
beams with all types of end
conditions, is observed to
be valid only for a few.
The effect of end
constraints on natural
frequency of a beam is
significant only in the first
few modes.

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School of Mechanical Engineering

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For pinned-pinned, pinned-sliding and sliding-sliding

beams, this variation may exactly be expressed as
0 = 1 + i?.
This formula may be used for beams with other types
of end constraints when the beam vibrates in a third
mode or higher.
For beam with other types of boundary conditions, this
approximation may be expressed as 0 = F 1 + yU (y <
where the coefficient y depends only on the type of the
end constraints.
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School of Mechanical Engineering

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The study is an investigation of the combined effects of

compressive inertia forces due to a conservative
model of steady thrust and
uniform mass depletion on the transverse vibration
characteristics of a single stage variable mass rocket.
the effect of the aerodynamic drag in comparison to
the thrust is considered to be negligible and
the rocket is structurally modeled as a non-uniform
slender beam representative of practical rocket
configurations.
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In the study the typical

single stage rocket
structure is divided into a
number of segments.
Within which the
bending rigidity, axial
compressive force and
the mass distributions
can be approximated
as constants.
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The non-dimensional equation of motion for the ith

constant beam segment :

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The free-free boundary conditions are:

and the continuity conditions are

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The variation of frequency

parameter and cyclic
frequency versus the mass
depletion parameter Md for
the first three modes of
vibration of a typical rocket
executing a constant
acceleration trajectory.
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School of Mechanical Engineering

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School of Mechanical Engineering

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Advanced Vibrations
Distributed-Parameter Systems:
Exact Solutions
(Lecture 17)

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
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SYSTEMS WITH EXTERNAL FORCES

AT BOUNDARIES

The 2nd of boundary conditions is nonhomogeneous,

precludes the use of modal analysis for the
response.
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SYSTEMS WITH EXTERNAL FORCES

AT BOUNDARIES
We can reformulate the problem by rewriting the
differential equation in the form:
and the boundary conditions as:
Now the solution can be obtained routinely by
modal analysis.
Any shortcomings?
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SYSTEMS WITH EXTERNAL FORCES

AT BOUNDARIES: Example
Obtain the response of a uniform rod, fixed at x=0 and
subjected to a boundary force at x=L in the form:

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SYSTEMS WITH EXTERNAL FORCES

AT BOUNDARIES: Example

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School of Mechanical Engineering

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School of Mechanical Engineering

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System Dynamics in the Feed

Direction

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System Dynamics in the Cutting Direction

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Modeling Tool as Stepped Beam on

Elastic Support: Boundary Conditions

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Modeling Tool as Stepped Beam on Elastic

Support: The compatibility requirements

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Modeling Tool as Stepped Beam on

Elastic Support

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Modeling Tool as Stepped Beam on

Elastic Support

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Advanced Vibrations
VIBRATION OF PLATES
Lecture 17-1

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
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VIBRATION OF PLATES
Plates have bending stiffness in a manner
similar to beams in bending.
In the case of plates one can think of two
planes of bending, producing in general two
distinct curvatures.
The small deflection theory of thin plates, called
classical plate theory or Kirchhoff theory, is
based on assumptions similar to those used in
thin beam or Euler-Bernoulli beam theory.
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EQUATION OF MOTION: CLASSICAL

PLATE THEORY

The elementary theory of plates is based on the following assumptions:

The thickness of the plate (h) is small compared to its lateral
dimensions.
The middle plane of the plate does not undergo in-plane
deformation. Thus, the midplane remains as the neutral plane after
deformation or bending.
The displacement components of the midsurface of the plate are
small compared to the thickness of the plate.
The influence of transverse shear deformation is neglected. This
implies that plane sections normal to the midsurface before
deformation remain normal to the rnidsurface even after deformation
or bending.
The transverse normal strain under transverse loading can be
neglected. The transverse normal stress is small and hence can be
neglected compared to the other components of stress.
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Moment - Shear Force Resultants:

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Equation of motion

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BOUNDARY CONDITIONS

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BOUNDARY CONDITIONS

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BOUNDARY CONDITIONS: Free Edge

There are three boundary conditions, whereas
the equation of motion requires only two:

Kirchhoff showed that the conditions on the

shear force and the twisting moment are not
independent and can be combined into only
one boundary condition.
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BOUNDARY CONDITIONS: Free Edge

Replacing the twisting moment by an equivalent
vertical force.

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BOUNDARY CONDITIONS

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BOUNDARY CONDITIONS

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BOUNDARY CONDITIONS

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FREE VIBRATION OF RECTANGULAR

PLATES

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FREE VIBRATION OF RECTANGULAR

PLATES

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FREE VIBRATION OF RECTANGULAR

PLATES

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Solution for a Simply Supported Plate

We find that all the constants Ai except A1 and

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Solution for a Simply Supported Plate

The initial conditions of the plate are:

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Solution for a Simply Supported Plate

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Solution for a Simply Supported Plate

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Solution for a Simply Supported Plate

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Advanced Vibrations
VIBRATION OF PLATES
Lecture 17-2

By: H. Ahmadian
[email protected]

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Vibrations of Rectangular Plates

The functions X(x) and Y(y) can be separated provided

either of the followings are satisfied:

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Vibrations of Rectangular Plates

These equations can be satisfied only by the

trigonometric functions:

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Vibrations of Rectangular Plates

Assume that the plate is simply supported
along edges x =0 and x =a:

Implying:

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Vibrations of Rectangular Plates

The various boundary conditions can be stated,
SS-SS-SS-SS, SS-C-SS-C, SS-F-SS-F, SS-C-SS-SS, SS-F-SS-SS, SS-F-SS-C

Assuming:

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Vibrations of Rectangular Plates

y = 0 and y = b are simply supported:

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Vibrations of Rectangular Plates

y = 0 and y = b are simply supported:

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Vibrations of Rectangular Plates

y = 0 and y = b are clamped:

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Vibrations of Rectangular Plates

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Vibrations of Rectangular Plates

Exact characteristic equations for some of classical boundary
conditions of vibrating moderately thick rectangular plates
Shahrokh Hosseini Hashemi and M. Arsanjani ,International Journal of Solids
and Structures Volume 42, Issues 3-4, February 2005, Pages 819-853

Exact solution for linear buckling of rectangular Mindlin plates

Shahrokh Hosseini-Hashemi, Korosh Khorshidi, and Marco Amabili, Journal of
Sound and Vibration Volume 315, Issues 1-2, 5 August 2008, Pages 318-342

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FORCED VIBRATION OF
RECTANGULAR PLATES

the normal modes

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FORCED VIBRATION OF
RECTANGULAR PLATES
Using a modal analysis procedure:

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FORCED VIBRATION OF
RECTANGULAR PLATES
The response of simply supported rectangular
plates:

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Advanced Vibrations
VIBRATION OF PLATES
Lecture 17-2

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

EQUATION OF MOTION: Variational

Approach
To develop the strain energy one may assume the
state of stress in a thin plate as plane stress:

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EQUATION OF MOTION: Variational

Approach

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EQUATION OF MOTION: Variational

Approach
Extended Hamilton's principle can be written as:

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EQUATION OF MOTION: Variational

Approach

Greens Theorem
F1 F2
A x y dx dy = C (F1 dx + F2 dy )
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EQUATION OF MOTION: Variational

Approach

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EQUATION OF MOTION: Variational

Approach

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School of Mechanical Engineering

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School of Mechanical Engineering

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School of Mechanical Engineering

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School of Mechanical Engineering

Iran University of Science and Technology

Advanced Vibrations
Distributed-Parameter Systems:
Approximate Methods
Lecture 18

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

Distributed-Parameter Systems:
Approximate Methods
Rayleigh's Principle
The Rayleigh-Ritz Method
An Enhanced Rayleigh-Ritz Method
The Assumed-Modes Method: System Response
The Galerkin Method
The Collocation Method

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RAYLEIGH'S PRINCIPLE
The lowest eigenvalue is the minimum value that
Rayleigh's quotient can take by letting the trial
function Y(x) vary at will.
The minimum value is achieved when Y(x)
coincides with the lowest eigenfunction Y1(x).

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RAYLEIGH'S PRINCIPLE
Consider the differential eigenvalue problem for a string in transverse
vibration fixed at x=0 and supported by a spring of stiffness k at x=L.

Exact solutions are possible only in relatively few cases,

Most of them characterized by constant tension and uniform mass
density.
In seeking an approximate solution, sacrifices must be made, in the
sense that something must be violated.
Almost always, one forgoes the exact solution of the differential
equation, which will be satisfied only approximately,
But insists on satisfying both boundary conditions exactly.
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RAYLEIGH'S PRINCIPLE
Rayleigh's principle, suggests a way of
approximating the lowest eigenvalue, without
solving the differential eigenvalue problem
directly.

Minimizing Rayleigh's quotient is equivalent to

solving the differential equation in a weighted
average sense, where the weighting function is
Y(x).
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RAYLEIGH'S PRINCIPLE
Boundary conditions do not appear explicitly in
the weighted average form of Rayleigh's quotient.
To taken into account the characteristics of the
system as much as possible, the trial functions

used in conjunction with the weighted average

form of Rayleigh's quotient must satisfy all the
boundary conditions of the problem.
Comparison functions: trial functions that are as
many times differentiable as the order of the
system and satisfy all the boundary conditions.
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RAYLEIGH'S PRINCIPLE
The trial functions must be from the class of
comparison functions.
The differentiability of the trial functions is
seldom an issue.
But the satisfaction of all the boundary
conditions, particularly the satisfaction of the
natural boundary conditions can be.
In view of this, we wish to examine the
implications of violating the natural boundary
conditions.
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RAYLEIGH'S PRINCIPLE

Raylighs quotient involves Vmax and Tref, which are defined for trial
functions that are half as many times differentiable as the order of the
system and
need satisfy only the geometric boundary conditions,
as the natural boundary conditions are accounted for in some
fashion.
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RAYLEIGH'S PRINCIPLE
Trial functions that are half as many times
differentiable as the order of the system and satisfy the
geometric boundary conditions alone as admissible

functions.
In using admissible functions in conjunction with the
energy form of Rayleigh's quotient, the natural boundary
conditions are still violated.
But, the deleterious effect of this violation is somewhat
mitigated by the fact that the energy form of Rayleigh's
quotient, includes contributions to Vmax from springs at
boundaries and to Tref from masses at boundaries.

But if comparison functions are available, then their

use is preferable over the use of admissible functions,
because the results are likely to be more accurate.
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Example: Lowest natural frequency of the

fixed-free tapered rod in axial vibration

The 1st mode of a uniform clamped-free rod

as a trial function:
A comparison function

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THE RAYLEIGH-RITZ METHOD

The method was developed by Ritz as an
extension of Rayleigh's energy method.
Although Rayleigh claimed that the method
originated with him, the form in which the
method is generally used is due to Ritz.
The first step in the Rayleigh-Ritz method is to
construct the minimizing sequence:
undetermined coefficients
independent trial functions

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THE RAYLEIGH-RITZ METHOD

The independence of the trial functions implies

the independence of the coefficients, which in turn
implies the independence of the variations

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THE RAYLEIGH-RITZ METHOD

Solving the equations amounts to determining the coefficients, as well

as to determining
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THE RAYLEIGH-RITZ METHOD

To illustrate the Rayleigh-Ritz process, we
consider the differential eigenvalue problem for
the string in transverse vibration:

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THE RAYLEIGH-RITZ METHOD

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Example : Solve the eigenvalue problem for

the fixed-free tapered rod in axial vibration
The comparison functions

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Example :

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Example : n = 2

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Example : n = 2

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Example : n = 3

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Example : n = 3

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Example :
The Ritz eigenvalues for the two approximations
are:

The improvement in the first two Ritz natural

frequencies is very small,
indicates the chosen comparison functions
resemble very closely the actual natural modes.

Convergence to the lowest eigenvalue with six

decimal places accuracy is obtained with 11
terms:
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Truncation
Approximation of a system with an infinite number
of DOFs by a discrete system with n degrees of
freedom implies truncation:

Constraints tend to increase the stiffness of a

system:

The nature of the Ritz eigenvalues requires

further elaboration.
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Truncation
A question of particular interest is how the
eigenvalues
of the (n +1)-DOF
approximation relate to the eigenvalues
of the n-DOF approximation.
We observe that the extra term in series does not
affect the mass and stiffness coefficients
computed on the basis of an n-term series
(embedding property):

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Truncation
For matrices with embedding property the
eigenvalues satisfy the separation theorem:

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Distributed-Parameter Systems:
Approximate Methods
Rayleigh's Principle
The Rayleigh-Ritz Method
An Enhanced Rayleigh-Ritz Method
The Assumed-Modes Method: System Response
The Galerkin Method
The Collocation Method

School of Mechanical Engineering

Iran University of Science and Technology

Advanced Vibrations
Distributed-Parameter Systems:
Approximate Methods
Lecture 19

By: H. Ahmadian
[email protected]
School of Mechanical Engineering
Iran University of Science and Technology

Distributed-Parameter Systems:
Approximate Methods
Rayleigh's Principle
The Rayleigh-Ritz Method
An Enhanced Rayleigh-Ritz Method
The Assumed-Modes Method: System Response
The Galerkin Method
The Collocation Method

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Rayleigh-Ritz method (contd.)

How to choose suitable comparison functions, or
admissible functions:
the requirement that all boundary conditions, or
merely the geometric boundary conditions be
satisfied is too broad to serve as a guideline.

There may be several sets of functions that could be

used and the rate of convergence tends to vary from
set to set.
It is imperative that the functions be from a complete
set, because otherwise convergence may not be
possible:
power series, trigonometric functions, Bessel
functions, Legendre polynomials, etc.
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Rayleigh-Ritz method
Extreme care must be exercised when the end involves a discrete
component, such as a spring or a lumped mass,
As an illustration, we consider a rod in axial vibration fixed at x=0
and restrained by a spring of stiffness k at x=L:

If we choose as admissible functions the eigenfunctions of a uniform

fixed-free rod, then the rate of convergence will be very poor:

The rate of convergence can be vastly improved by using

comparison functions:
.

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Rayleigh-Ritz method
Example : Consider the case in which the end x = L of
the rod of previous example is restrained by a spring
of stiffness k = EA/L and obtain the solution of the
eigenvalue problem derived by the Rayleigh-Ritz
method:
1) Using admissible functions
2) Using the comparison functions

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Example: Using Admissible Functions

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Example: Using Admissible Functions,

Setting n=2

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School of Mechanical Engineering

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Example: Using Admissible Functions,

Setting n=3

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School of Mechanical Engineering

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Example: Using Admissible Functions,

The convergence using admissible functions is
extremely slow.
Using n = 30, none of the natural frequencies
has reached convergence with six decimal
places accuracy:

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Example: Using Comparison Function

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School of Mechanical Engineering

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Example: Using Comparison Function

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School of Mechanical Engineering

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Example: Using Comparison Function

Convergence to six decimal places is reached by
the three lowest natural frequencies as follows:

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AN ENHANCED RAYLEIGH-RITZ
METHOD
Improving accuracy, and hence convergence rate,
by combining admissible functions from several
families,
each family possessing different dynamic
characteristics of the system under
consideration

Free end
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Fixed end

AN ENHANCED RAYLEIGH-RITZ
METHOD
The linear combination can be made to satisfy the
boundary condition for a spring-supported end

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AN ENHANCED RAYLEIGH-RITZ
METHOD
Example: Use the given comparison function
given in conjunction with Rayleigh's energy
method to estimate the lowest natural frequency
of the rod of previous example.

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AN ENHANCED RAYLEIGH-RITZ
METHOD

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AN ENHANCED RAYLEIGH-RITZ
METHOD

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AN ENHANCED RAYLEIGH-RITZ METHOD

It is better to regard a1 and a2 as independent
undetermined coefficients, and let the Rayleigh- Ritz
process determine these coefficients.
This motivates us to create a new class of functions
referred to as quasi-comparison functions
defined as linear combinations of admissible
functions capable of satisfying all the boundary
conditions of the problem

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AN ENHANCED RAYLEIGH-RITZ
METHOD
One word of caution is in order:
Each of the two sets of admissible functions is complete
As a result, a given function in one set can be
expanded in terms of the functions in the other set.
The implication is that, as the number of terms n
increases, the two sets tend to become
dependent.
When this happens, the mass and stiffness
matrices tend to become singular and the
eigensolutions meaningless.
But, because convergence to the lower modes tends to
be so fast, in general the singularity problem does not
have the chance to materialize.
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AN ENHANCED RAYLEIGH-RITZ
METHOD
Solve the problem of privious example using the
quasi-comparison functions

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Example: n=2

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School of Mechanical Engineering

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Example: n=3

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School of Mechanical Engineering

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AN ENHANCED RAYLEIGH-RITZ
METHOD

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Distributed-Parameter Systems:
Approximate Methods
Rayleigh's Principle
The Rayleigh-Ritz Method
An Enhanced Rayleigh-Ritz Method
The Assumed-Modes Method: System Response
The Galerkin Method
The Collocation Method

School of Mechanical Engineering

Iran University of Science and Technology