Acta Mech

DOI 10.1007/s00707-013-0937-8

Keivan Kiani

Characterization of free vibration of elastically supported

double-walled carbon nanotubes subjected
to a longitudinally varying magnetic field

Received: 8 March 2013 / Revised: 12 June 2013

Springer-Verlag Wien 2013

Abstract Free transverse vibrations of elastically supported double-walled carbon nanotubes (DWCNTs)
subjected to axially varying magnetic fields are examined. Using nonlocal Rayleigh beam theory, the explicit
expressions of the governing equations are obtained and then numerically solved via an efficient numerical
scheme. For magnetically affected DWCNTs with simply supported, fully clamped, simple-clamped, and
clamped-free ends, the flexural frequencies as well as the corresponding vibration modes are evaluated for
different varying magnetic fields. The influences of the small-scale parameter and the magnetic field strength
on the dominant flexural frequencies of the DWCNTs are explained and discussed. The results indicate that
the vibration characteristics of DWCNTs can be significantly affected by the axially varying magnetic field.
The role of variation of the axial magnetic field on the vibrational mode patterns of both the innermost and
outermost tubes is also revealed. For a special applied magnetic field, the alteration from coaxial to noncoaxial vibration pattern is also reported. The obtained results display that the flexural frequencies magnify with
the magnetic field strength. Generally, the variation of the magnetic field strength has more influence on the
variation of the frequencies of DWCNTs with higher small-scale parameters. This matter is mainly attributed
to the incorporation of the size effect into the nonlocal Lorentz forces.

1 Introduction
Thanks to the unprecedented physical and chemical properties of carbon nanotubes (CNTs) [13], they have
been the focus of attention of scientists from various disciplines since the past two decades. Such excellent
properties of CNTs have made researchers and companies to consider them in various fields such as nanotechnology, materials science, optics, electronics, medical and healthcare sciences, and civil engineering. In most
of the above-mentioned engineering and technological applications, vibrations of CNTs should be realized
and properly controlled.
To date, vibration characteristics of CNTs have been theoretically investigated from various aspects including free vibration [412], flow-induced vibration [1317], impact loadings [1820], interactions with moving
loads and nanoparticles [2127], and nanomechanical sensor analysis [2831], and an inclusive knowledge
regarding such matters is beginning to come out. However, ways to control such vibrations have not been
thoroughly examined. One efficient way for controlling the dynamic response of CNTs would be the application of an appropriate magnetic field. There are some research works dealing with the influence of a uniform
magnetic field on the vibration characteristics of CNTs [3234] and nanowires [35,36]. Most of the undertaken works validate this fact that exertion of a longitudinal magnetic field causes extra lateral stiffness within
K. Kiani (B)
Department of Civil Engineering, Islamic Azad University, Chalous Branch, Chalous, Mazandaran, Iran
E-mail: [email protected]; [email protected]
Tel.: +98-191-2223796
Fax: +98-191-2220536

K. Kiani

Kz (x=0)

H (x)
x

Kz (x=lb)
1

K (x=l )
b

Cv/2

Ky (x=0)

C /2

Ky (x=0)

K (x=l )
y

Hx (x)

K (x=0)
z
2

Kz (x=l )
2

Fig. 1 Continuum-based configuration of an elastically supported DWCNT subjected to an axially varying magnetic field

the nanostructure; thereby, the flexural frequencies of the nanostructure would increase. However, the effect
of the variation of the magnetic field across the CNTs length on its vibration characteristics has not been
revealed. This matter encouraged the author to propose a numerical model based on the nonlocal continuum
theory of Eringen [3739] to study vibrations of double-walled carbon nanotubes (DWCNTs) immersed in a
longitudinally varying magnetic field. Since the role of the DWCNTs boundary conditions on its vibrations is
also of interest, the suggested model covers a wide range of boundary conditions for both the innermost and
outermost tubes.
In this paper, free dynamic response of lateral motion of an elastically supported DWCNT exposed to a
longitudinally varying magnetic field is investigated in the context of the nonlocal continuum theory of Eringen. By exploiting Maxwells equation, the Lorentz forces due to the applied steady magnetic field on the
laterally deformed innermost and outermost tubes are determined. The strong form of the equations of motion
is obtained. Since finding an analytical solution to the obtained equations is a very difficult task, an effective
numerical scheme is proposed. For some special boundary conditions as well as axially varying magnetic
fields, the frequencies and the corresponding vibration modes are assessed. In the continuing of our investigations, the influences of small-scale parameter, magnetic field strength, and the variation of the magnetic field
along the nanostructure on the free dynamic response of the DWCNT are addressed and discussed in some
detail.

2 Definition of the problem

Consider an elastically supported DWCNT exposed to an axially varying magnetic field, Hx (x), as demonstrated in Fig. 1. For continuum-based modeling of the problem, the innermost and outermost tubes of the
DWCNT are substituted by equivalent continuum structures (ECSs) where most of their dominant frequencies are identical to their counterpart tubes. The investigations of Gupta and Batra [40] show that the ECS
is a hollow isotropic tube whose mean radius and length are analogous to those of the parent tube, and its
wall thickness is 0.34 nm. Throughout this study, the properties associated with the innermost and outermost
tubes are specified via subscripts 1 and 2, respectively. The length, mean radius, cross-sectional area, moment
inertia, density, and elasticity modulus of the ith tube are represented by lb , rm i , Abi , Ibi , bi , and E bi ,
respectively. Both the innermost and outermost tubes are interacted with each other during their deformations
by the van der Waals (vdW) forces between their atoms. Until transverse vibration of the DWCNT has not
occurred, no interactional forces would exist and both the innermost and outermost tubes are at their initial
equilibrium states. When the DWCNT is subjected to a lateral deformation, the positions of the atoms of
both tubes would change. As a result, interactional forces would result, which are calculated based on the
Lennard-Jones potential function [41,42]. For lateral vibration of the DWCNT, such forces are commonly
modeled via a laterally continuous spring system of constant Cv . There are some theoretical works dealing
with the determination of Cv for both finite and infinite DWCNTs [4346,22]. In order to cover a wide range of
boundary conditions and to avoid unnecessary discussion on the imposition of essential boundary conditions
in the used meshless methodology, both ends of each tube have been attached to lateral and rotary springs of
constants K zi (xk ) and K yi (xk ); k = 1, 2, respectively, where xk = (k 1)lb .
In the upcoming part, the exerted body forces on both innermost and outermost tubes with elastic supports
due to the application of an axially varying steady magnetic field are methodically assessed. Subsequently, such

Characterization of free vibration

forces are appropriately incorporated into the nonlocal equations of motion of the problem under study. The
procedure for frequency analysis of the governing equation via reproducing kernel particle method (RKPM)
is also explained.

3 Exerted body forces within the tubes of a DWCNT due to the presence of an axially varying
magnetic field
Maxwells equations read [4750]
+ J,
h=D

E = B,

(1)

.D = b ,
.B = 0,

where E, H, J, B, and D in order denote the electric field intensity, magnetic field, current density vector, magnetic field density, and the displacement current density. The overdot sign and represent the first
derivative with respect to time and the nabla operator, respectively. The constitutive relations for the ECS are
considered as
D =  E,
B = H,

(2)

where  and in order are the permittivity and the permeability of the CNT. It is assumed that the displacement
current density as well as its derivative with respect to time would be negligible. Let E = E0 +e and H = H0 +h
where e and h are the small disturbances associated with E0 and H0 , respectively. For the problem under study,
E0 = 0. On the other hand, the generalized Ohms law explains J-E-B relation by: J = (E + v B) where
and v represent the electrical conductivity and the velocity filed vector of the DWCNT. By assuming DWCNT
and
as a highly conducting medium (i.e., a large value for ), one can arrive at: e = u B where v = u,
u = u(x, y, z, t) is the displacement field of the DWCNT. Assuming h  H0 , using the recent relation, and
Eq. (2), one has the following: e = u H0 . By using the latter relation as well as Eqs. (1) and (2), one can
derive the following: h = (u H0 ). This expression states that the origin of the magnetic disturbance is
the deformation of the DWCNT. Herein, such a deformation is caused by the propagation of transverse waves
within the DWCNT. According to the Lorentz formulas, the exerted electromagnetic forces per unit volume
of the medium are given by fm = J B. Using the recent relation, Eq. (1), and above-mentioned assumptions,
the Lorentz force in terms of the displacement field of the DWCNT as well as the magnetic field is stated as:
fm = (u H0 ) H0 .

(3)

According to the Rayleigh beam theory, the components of the displacement field of the ECSs are expressed by:
u xi (x, z, t) = u i (x, t) zwi,x (x, t); u zi (x, z, t) = wi (x, t);

i = 1, 2 ,

(4)

where the x axis is coincident with the revolutionary axis of the DWCNT, and the z axis represents a lateral
direction which is perpendicular to the x axis. Additionally, u xi and u zi in order are the dynamical longitudinal and transverse displacements of the ith tube, whereas u i and wi denote the dynamical longitudinal and
transverse displacements of the neutral axis of the ith tube. Herein, H0 = Hx (x)i, where i represents the unit
vector associated with the x axis. Using Eqs. (3) and (4), the only nonzero component of the magnetically
applied force per unit length of the ECS of the ith tube, f zi , is evaluated as follows:

f zi =

k.fm dA = Abi Hx (Hx wi ),x x ,

Abi

where dA is an infinitesimal area of the ECSs cross-section.

(5)

K. Kiani

4 Free transverse vibration of elastically supported DWCNTs subjected to an axially varying magnetic
field
4.1 Nonlocal equations of motion using NRBT
The kinetic energy, T (t), and elastic strain energy, U (t), of the elastically supported DWCNT as well as the
work done by the axially applied magnetic field on the nanostructure, W (t), based on the NRBT are stated as:
1
T (t) =
2
2

lb


2 

dx,
bi Abi (w i (x, t))2 + Ibi w i,x (x, t)

(6.1)

i=1 0

wi,x x (x, t)Mbnli (x, t) + (i 1)Cv (w2 (x, t) w1 (x, t))2

2 lb

1
2 



2 
U (t) =
dx,

K zi (xk ) (wi (xk , t))2 + K yi (xk ) wi,x (xk , t)

+
2
i=1 0

W (t) =

2 lb


(6.2)

k=1

f zi wi dx,

(6.3)

i=1 0

where Mbnli denote the nonlocal bending moment of the ith tube. According to the nonlocal continuum theory
of Eringen [3739], the nonlocal bending moments within the innermost and outermost tubes in this model
based on the NRBT are expressed by [22,5153]
Mbnli (e0 a)2 (Mbnli ),x x = E bi Ibi wi,x x ; i = 1, 2,

(7)

where a is an internal characteristic length. The value of e0 is determined by adjusting the dispersion curves
of the nonlocal model with those of an atomistic-based model when the experimentally observed data are not
available. The parameter e0 a is called small-scale effect parameter or small-scale parameter. By employing
Hamiltons principle, after taking the required integration by parts, the equations of motion corresponding to
the transverse vibration of an elastically supported DWCNT exposed to a longitudinally varying magnetic field
are obtained as:


b1 (Ab1 w 1 Ib1 w 1,x x ) Mbnl1

,x x

2



+ Cv (w1 w2 ) Ab1 Hx (Hx w1 ),x x


K z 1 (xk )w1 K y1 (xk )w1,x x (x xk ) = 0,

(8.1)

k=1



b2 (Ab2 w 2 Ib2 w 2,x x ) Mbnl2

,x x

2



Cv (w1 w2 ) Ab2 Hx (Hx w2 ),x x


K z 2 (xk )w2 K y2 (xk )w2,x x (x xk ) = 0,

(8.2)

k=1

where is the delta function. By combining Eq. (7) with Eqs. (8.1) and (8.2), the nonlocal equations of motion
of the problem under study as a function of the deflections of the innermost and outermost tubes are derived
as:






b1 Ab1 w 1 (e0 a)2 w 1,x x b1 Ib1 w 1,x x (e0 a)2 w 1,x x x x + Cv w1 w2 (e0 a)2 (w1,x x w2,x x ) + E b1 Ib1 w1,x x x x
2


  



K z 1 (xk ) w1 (x xk ) (e0 a)2 (w1 (x xk )),x x
Ab1 Hx (Hx w1 ),x x (e0 a)2 Hx (Hx w1 ),x x ,x x +
k=1


 

K y1 (xk ) w1,x x (x xk ) (e0 a)2 w1,x x (x xk ) ,x x = 0,

(9.1)

Characterization of free vibration







b2 Ab2 w 2 (e0 a)2 w 2,x x b2 Ib2 w 2,x x (e0 a)2 w 2,x x x x Cv w1 w2 (e0 a)2 (w1,x x w2,x x ) + E b2 Ib2 w2,x x x x
2



  


Ab2 Hx (Hx w2 ),x x (e0 a)2 Hx (Hx w2 ),x x ,x x +
K z 2 (xk ) w2 (x xk ) (e0 a)2 (w2 (x xk )),x x
k=1



 
K y2 (xk ) w2,x x (x xk ) (e0 a)2 w2,x x (x xk ) ,x x = 0.

(9.2)

For the sake of generality in studying the problem, the following dimensionless parameters are considered:

x
1
= , = 2
lb
lb

e0 a
lb
wi
E b1 I b1
t, =
, 1 =
, wi =
;
b1 A b1
lb
r b1
lb

i = 1, 2,

(10)

where is the dimensionless coordinate, wi is the dimensionless deflection field of the ith tube, is the dimensionless time, is the dimensionless small-scale parameter, rb1 denotes the gyration radius of the innermost
tube, and 1 is the slenderness ratio of the innermost tube. Through introducing Eq. (10) to Eqs. (9.1) and (9.2),
the dimensionless equations of motion describing transverse vibration of elastically supported DWCNTs in
the presence of a longitudinal magnetic field are derived as follows:




w 1, 2 w 1, 2
w1, 2 w 1, + C v w 1 w2 2 (w 1, w2, ) + w1,
1

 
2





 


H x1 w 1 , 2 H x1 H x1 w 1 ,
K z 1 (k ) w 1 ( k ) 2 (w 1 ( k )),
+
,

k=1


 

= 0,
(11.1)
K y1 (k ) w1, ( k ) 2 w1, ( k ) ,







12 w2, 2 w 2,
22 2
w 2, 2 w2, C v w 1 w 2 2 (w 1, w 2, ) +
32 w 2,
1

 
2





 


2
H x2 w 2 , H x2 H x2 w2 ,
K z 2 (k ) w 2 ( k ) 2 (w 2 ( k )),
+
,

k=1


 

K y2 (k ) w2, ( k ) 2 w2, ( k ) , = 0,

(11.2)

where
Cv lb4
b2 Ab2
b Ib
E b Ib
,
22 = 2 2 ,
32 = 2 2 , C v =
,
b Ab
b1 Ib1
E b1 Ib1
E b1 Ib1
1 1
K zi (xk )lb3
Abi lb2
K yi (xk )lb
=
Hx , K zi (k ) =
, K yi (k ) =
.
E b1 Ib1
E b1 Ib1
E b1 Ib1

12 =
H xi

(12)

4.2 A numerical solution to the governing equations via a meshless technique

Seeking an analytical solution to the governing equations in Eqs. (11.1) and (11.2) is a very problematic task.
This matter is mainly related to the variation of the axial magnetic field along the DWCNTs length as well as
the existence of elastic supports for each tube at both ends. To overcome such a dilemma, RKPM is employed
to discretize the unknown fields of the problem in the spatial domain.
RKPM is an efficient numerical scheme from the meshless methods family. In contrast to finite element
method (FEM) where the used shape function for each degree of freedom (DOF) is mesh dependent, the
RKPMs shape functions are mesh independent. In other words, they depend on the positions of the particles.
Further, the continuity of FEMs shape functions is generally limited by the chosen DOFs for the considered
element. However, there is actually no limit for the order of continuity of the RKPMs shape functions. These
two main privileges of the RKPMs shape functions with respect to those of the FEM have provided RKPM
as a powerful and an efficient methodology for solving the problems that suffer from discontinuity, sharp
variation, and progressive damage. To date, RKPM has been implemented for vibrational analysis of various
structures, and a fairly good achievement has been reported [11,34,5456].
For discretizing the governing equations, both sides of Eqs. (11.1) and (11.2) in order are premultiplied by
w 1 and w 2 . Subsequently, the sum of the resulting equations is integrated over the normalized length of the
DWCNT. By taking successful integration by parts, one can arrive at

K. Kiani

2 






2i2
2

12i2 wi 2 wi, wi, + 2

w
+

w
w
w
i,
i,

i,

i,

1
2

i=1 0



 




+(1)i+1 C v wi 2 wi, (w 1 w 2 ) +
32i2 wi, wi, + H xi wi , H xi wi , + 2 wi, H xi H xi wi ,

2 





2
2
+
K zi (k ) wi wi, wi + K yi (k ) wi, wi, + wi, wi, ( k ) d = 0.
(13)
k=1

The unknown fields of the suggested model are discretized in the spatial domain as follows: w 1 (, ) =
 N P2 w2
 N P1 w1
w1
w2
I =1 I ( )w 1 I ( ) and w 2 (, ) =
I =1 I ( )w 2 I ( ) where N P1 /N P2 , I ( )/ I ( ), and w 1 I ( )
/w 2 I ( ) in order are the number of RKPM particles, the RKPM shape function pertinent to the I th particle,
and the nodal parameter value of the I th particle of the innermost/outermost tube. As a result, Eq. (13) could
be rewritten in the following form:


w w

w w

[Mb ] 1 1 [Mb ] 1 2
w w
w w
[Mb ] 2 1 [Mb ] 2 2



w1,
w2,


+

w w

w w

[Kb ] 1 1 [Kb ] 1 2
w w
w w
[Kb ] 2 1 [Kb ] 2 2



w1
w2


=

 
0
,
0

(14)

where the only nonzero submatrices in Eq. (14) are

wi = < wi1 , wi2 , . . . , wi N Pi >T ; i, j = 1, 2



1
2i2 wi 2 wi wi
 wi wi
1
I
I,

J

 d,
Mb I J =
wi
wi
2 wi
i
+ 2
22i2 w

I, J,
I, J,
0

Kb

wi wi
IJ

Kb

wi w j
IJ

(15.2)

1 
=
0




wi
wi
wi
2 wi
i

32i2 w

+
C

v
I
I,
J
d
 I, J,
 
wi 
wi 
wi 
2
i
+ H xi w
I , H xi J , + H xi I, H xi J ,




i
i
i
2

K zi (k ) w
(k ) 2 w
(k ) w
(k )
I
I,


,
+
wi
wi
wi
2 wi
K
(
)

(
)
(
)
+

(
)
(
)
+
yi k
I, k J, k
I, k J, k
k=1

(15.1)

1
=


 w
j
2 wi
i
C v w
I I, J d ; i  = j.

(15.3)

(15.4)

For evaluating the flexural frequencies of the DWCNT, one can assume wi ( ) = wi0 ei ; i = 1, 2 where
w10 and w20 are the initial nodal parameter values of the innermost and outermost tubes, respectively, and 
denotes the dimensionless flexural frequency of the elastically restrained DWCNT under an axially varying
magnetic field. By introducing these new forms of wi into Eq. (14), and by solving the resulting set of eigenvalue equations, the eigenvalues (i.e., dimensionless flexural frequencies) and the corresponding eigenvectors
(i.e., vibrational modes) of the elastically supported DWCNT subjected to an axially varying magnetic field
would be determined.
5 Results and discussion
Consider a DWCNT subjected to an axially varying magnetic field modeled via ECSs with the following data:
E bi = 1 TPa, i = 0.2, bi = 2500 kg/m3 , rm 1 = 0.5 nm, and tb = 0.34 nm. According to Table 1, four
different case studies are considered for the variation of the magnetic field along the DWCNT. For RKPM
analysis of the problem, 31 particles with equal distances, linear base function, exponential window function,
and dilation parameter equal to 3.2 are taken into account. The dimensionless values of the stiffness of the
attached springs to both ends of the DWCNT are given in Table 2 for different boundary conditions. In this
table, SS, CC, SC, and CF represent the fully simply supported, fully clamped supported, simple-clamped,
and clamped-free (i.e., cantilevered) boundary
conditions, respectively. For free vibration studies, the dimen
sionless frequency is defined by: n = n . In the following, the role of various axially varying magnetic

Characterization of free vibration

Table 1 Under study cases for the exerted axially varying magnetic field
H x1 (x)
  


H 0 sin lbx 

Case
1

H0x
lb 

2
3

  


H 0 1 sin lbx 

H0

Table 2 Values of K yi and K zi for the considered boundary conditions

K zi (1 )
K zi (2 )
K yi (1 )
K yi (2 )

SS

CC

SC

CF

108

108

108

108
0
0

108
108
108

108
0
108

108
0
108
0

fields, small-scale parameter, and strength of the applied magnetic field on the flexural frequencies as well as
vibration mode shapes of the elastically supported DWCNT will be explained and scrutinized.
In Tables 3, 4, 5, and 6, the first five dimensionless frequencies of a DWCNT exposed to various axially
varying magnetic fields are provided for SS, CC, SC, and CF boundary conditions. The results are provided for
three levels of the strength of the applied magnetic field of the case 1 (i.e., H 0 = 0, 10, and 20), four levels of
the small-scale parameter (i.e., e0 a = 0, 1, 1.5, and 2 nm) as well as 1 = 30. For such a level of the slenderness
ratio of the innermost tube, the predicted results of the NRBT would be reliable with a good accuracy [23]. As
it is seen in these Tables, for all cases of the applied magnetic fields, the predicted flexural frequencies of the
DWCNT magnify with the strength of the applied magnetic field. For all considered boundary conditions and
applied magnetic fields, the variation of the strength of the magnetic field is more influential on the variation
of the frequencies of DWCNTs with higher small-scale parameters. It is mainly related to the incorporation
of the small-scale parameter into the induced body force within the nanostructure due to the applied magnetic
field.
In the case of SS boundary condition (see Table 3), for all considered cases of the applied magnetic field,
the predicted frequencies would reduce as the magnitude of the small-scale parameter increases. This fact is
more obvious for higher vibration modes. Concerning DWCNTs with SC boundary conditions (see Table 5),
for small-scale parameter larger than 1 nm, the predicted frequencies would generally lessen as the size effect
becomes highlighted. Both local and nonlocal continuum theories predict that both simply supported and simply clamped DWCNTs subjected to the axially applied magnetic field of case 4 have the highest frequencies.
Moreover, variation of the magnetic field strength of the case 4 has the most significant influence on the variation of the flexural frequencies of the DWCNT. Such a fact is more apparent for those of higher vibration
modes. Based on Table 3, both the classical and nonlocal continuum theories state that the applied magnetic
field in case 3 leads to the lowest frequencies. Further, such a case has the lowest effect on the variation of the
frequencies of DWCNT with SS and SC conditions. As a result, among various forms of the axially applied
magnetic field, the uniform one would be the most effective way for altering the frequencies of the DWCNT
with both SS and SC ends.
For fully clamped DWCNTs subjected to a longitudinally varying magnetic field (see Table 4), both local
and nonlocal continuum theories predict that the frequencies of the DWCNT would increase as the magnitude
of the strength of the applied magnetic field magnifies. According to Table 4, the classical continuum theory predicts that the DWCNT subjected to the magnetic field of case 1 has the highest fundamental flexural
frequencies among all considered cases. Additionally, the predicted second and higher frequencies by the
classical elasticity theory for case 4 are larger than for other cases. However, the proposed nonlocal model
explains that the case 4 of the applied magnetic field would lead to the highest frequencies for all vibration
modes. Further, it is predicted that the variation of the strength of the applied magnetic field in case 4 has the
highest impact on the variation of the frequencies of the DWCNT. Such contradictions between the predicted
results by the above-mentioned continuum models reveal that the classical continuum theory would not be
trustable for predicting the vibration behavior of nanostructures subjected to an axially varying magnetic field.

K. Kiani

Table 3 First five dimensionless frequencies of a DWCNT with SS boundary condition subjected to various axially varying
magnetic fields for different levels of magnetic field strength as well as small-scale parameter
Case

e0 a = 0 nm

e0 a = 1 nm

e0 a = 1.5 nm

e0 a = 2 nm

H0 = 0

H 0 = 10

H 0 = 20

H0 = 0

H 0 = 10

H 0 = 20

H0 = 0

H 0 = 10

H 0 = 20

H0 = 0

H 0 = 10

H 0 = 20

3.7249
7.3101
10.5731
13.1573
13.2348
3.7249
7.3101
10.5731
13.1573
13.2348
3.7249
7.3101
10.5731
13.1573
13.2348
3.7249
7.3101
10.5731
13.1573
13.2348

5.7680
8.4210
11.3505
13.2546
13.4537
4.7607
7.9772
11.0635
13.1864
13.3652
4.6166
7.8327
10.9333
13.1844
13.3207
5.8336
8.9755
11.9031
13.2625
13.6157

7.7085
10.1880
12.9077
13.5035
13.9845
5.9302
9.1651
12.1211
13.2498
13.6651
5.6565
8.7885
11.7314
13.2371
13.5171
7.9798
11.4830
13.5639
14.3731
14.5998

3.6557
6.8360
9.3194
11.1420
12.4583
3.6557
6.8360
9.3194
11.1420
12.4583
3.6557
6.8360
9.3194
11.1420
12.4583
3.6557
6.8360
9.3194
11.1420
12.4583

5.7162
8.0790
10.3291
12.0790
13.2445
4.7023
7.5900
9.9641
11.7536
13.0729
4.5316
7.4130
9.7814
11.5666
12.8736
5.8167
8.7352
11.0783
12.8913
13.2613

7.6006
9.8165
11.9783
13.4608
13.5982
5.8434
8.7774
11.1100
12.8551
13.2331
5.4673
8.2993
10.5838
12.3088
13.2114
7.9740
11.3733
13.5630
13.9155
14.5573

3.5776
6.4092
8.4253
9.8423
10.8569
3.5776
6.4092
8.4253
9.8423
10.8569
3.5776
6.4092
8.4253
9.8423
10.8569
3.5776
6.4092
8.4253
9.8423
10.8569

5.6612
7.7806
9.6395
11.0186
12.0315
4.6379
7.2481
9.2078
10.6185
11.6428
4.4421
7.0392
8.9764
10.3714
11.3817
5.7985
8.5440
10.5803
12.0879
13.2158

7.5018
9.4946
11.3150
12.6246
13.4036
5.7533
8.4322
10.3933
11.7832
12.7685
5.3012
7.8801
9.7715
11.1259
12.0940
7.9678
11.2901
13.5620
13.6670
14.5261

3.4807
5.9815
7.6578
8.8212
9.6585
3.4807
5.9815
7.6578
8.8212
9.6585
3.4807
5.9815
7.6578
8.8212
9.6585
3.4807
5.9815
7.6578
8.8212
9.6585

5.5970
7.4898
9.0722
10.2206
11.0533
4.5599
6.9120
8.5784
9.7569
10.6070
4.3370
6.6675
8.2957
9.4489
10.2822
5.7774
8.3769
10.2213
11.5672
12.5657

7.3993
9.1789
10.7336
11.7702
12.4099
5.6500
8.0905
9.7804
10.9354
11.7174
5.1293
7.4691
9.0730
10.1906
10.9749
7.9607
11.2205
13.5014
13.5609
14.5007

Table 4 First five dimensionless frequencies of a DWCNT with CC boundary condition subjected to various axially varying
magnetic fields for different levels of magnetic field strength as well as small-scale parameter
Case

e0 a = 0 nm

e0 a = 1 nm

e0 a = 1.5 nm

e0 a = 2 nm

H x1 = 0

H x1 = 10

H x1 = 20

H x1 = 0

H x1 = 10

H x1 = 20

H x1 = 0

H x1 = 10

H x1 = 20

H x1 = 0

H x1 = 10

H x1 = 20

5.7109
9.2373
12.3182
13.2150
13.5935
5.7109
9.2373
12.3182
13.2150
13.5935
5.7109
9.2373
12.3182
13.2150
13.5935
5.7109
9.2373
12.3182
13.2150
13.5935

6.9835
10.1311
13.0181
13.3710
13.9105
6.1753
9.6270
12.6596
13.2579
13.7249
5.8694
9.3835
12.4579
13.2270
13.6381
6.9128
10.3841
13.3148
13.3945
14.0129

8.7459
11.7839
13.6875
14.5744
14.6541
7.0624
10.5041
13.3535
13.4792
14.0802
6.2508
9.7601
12.8246
13.2622
13.7582
8.7118
12.4906
13.7005
15.0573
15.5160

5.8555
8.8612
11.0301
12.5185
13.1974
5.8555
8.8612
11.0301
12.5185
13.1974
5.8555
8.8612
11.0301
12.5185
13.1974
5.8555
8.8612
11.0301
12.5185
13.1974

7.2240
10.0215
12.1042
13.3685
13.5633
6.4086
9.4105
11.5810
13.0940
13.2510
6.0475
9.0769
11.2641
12.7747
13.2109
7.3199
10.4685
12.7011
13.3830
13.9849

9.0594
11.9088
13.7163
14.0295
14.6183
7.3837
10.4655
12.6378
13.3759
13.9558
6.4530
9.5364
11.7470
13.2431
13.2570
9.4272
13.1005
13.8817
15.3885
15.5911

5.6711
8.1642
9.8397
10.9602
11.7521
5.6711
8.1642
9.8397
10.9602
11.7521
5.6711
8.1642
9.8397
10.9602
11.7521
5.6711
8.1642
9.8397
10.9602
11.7521

7.1943
9.5901
11.2169
12.3288
13.1225
6.3381
8.8696
10.5686
11.7172
12.5334
5.9259
8.4579
10.1621
11.3063
12.1202
7.4295
10.2099
12.0445
13.3151
13.3858

9.1039
11.6355
13.2602
13.7300
14.2698
7.3908
10.0305
11.7367
12.8660
13.3359
6.3864
8.9796
10.7079
11.8521
12.6539
9.7568
13.1678
13.9780
15.3366
15.4424

5.4542
7.5153
8.8734
9.7754
10.4243
5.4542
7.5153
8.8734
9.7754
10.4243
5.4542
7.5153
8.8734
9.7754
10.4243
5.4542
7.5153
8.8734
9.7754
10.4243

7.1612
9.2188
10.5381
11.4171
12.0406
6.2457
8.3743
9.7741
10.7041
11.3655
5.7718
7.8803
9.2804
10.2062
10.8749
7.5359
10.0024
11.6053
12.6970
13.3893

9.1604
11.3985
12.6664
13.3433
13.6820
7.3689
9.5980
10.9920
11.8685
12.4349
6.2659
8.4286
9.8550
10.7657
11.4075
10.0587
13.2030
14.0736
15.1858
15.4792

For practical applications, when controlling the frequencies of DWCNTs with clamped ends is of concern,
exploiting a uniformly applied magnetic field would be the most efficient solution.
Regarding DWCNTs with CF conditions (see Table 6), the variation of the strength of the magnetic field
has the most significant influence on the variation of the fundamental frequencies of the DWCNT in case 1.
This fact holds true for the predicted results by both local and nonlocal continuum theories. Furthermore, the
fundamental frequencies of the DWCNT of the cases 1 and 2 in order are the highest and the lowest ones
among the considered cases. As it is seen in Table 6, the variation of the magnetic field strength of case 4
has the most pronounced effect on the variations of the second and higher-level frequencies of the DWCNT.
Additionally, such frequencies in case 4 are the highest ones among all studied cases. In brief, when adjusting
the second and higher flexural frequencies of cantilevered DWCNTs is of concern, a uniformly axial magnetic
field could be efficiently employed. However, when altering the fundamental frequency of such nanostructures

Characterization of free vibration

Table 5 First five dimensionless frequencies of a DWCNT with SC boundary condition subjected to various axially varying
magnetic fields for different levels of magnetic field strength as well as small-scale parameter
Case

e0 a = 0 nm

e0 a = 1 nm

e0 a = 1.5 nm

e0 a = 2 nm

H x1 = 0

H x1 = 10

H x1 = 20

H x1 = 0

H x1 = 10

H x1 = 20

H x1 = 0

H x1 = 10

H x1 = 20

H x1 = 0

H x1 = 10

H x1 = 20

4.6975
8.2728
11.4572
13.1693
13.3791
4.6975
8.2728
11.4572
13.1693
13.3791
4.6975
8.2728
11.4572
13.1693
13.3791
4.6975
8.2728
11.4572
13.1693
13.3791

6.2831
9.2546
12.1919
13.2881
13.6468
5.2153
8.6766
11.8015
13.1934
13.4809
5.1949
8.5850
11.6971
13.1978
13.4526
6.3258
9.6514
12.6250
13.2959
13.7837

8.1401
10.9550
13.5195
13.7800
14.2781
6.1247
9.5559
12.6148
13.2577
13.7451
5.9332
9.2502
12.2699
13.2477
13.6277
8.3235
11.9633
13.6252
14.7858
14.9521

4.7087
7.8421
10.1857
11.8477
13.0312
4.7087
7.8421
10.1857
11.8477
13.0312
4.7087
7.8421
10.1857
11.8477
13.0312
4.7087
7.8421
10.1857
11.8477
13.0312

6.3271
9.0115
11.2132
12.8370
13.2773
5.2702
8.3595
10.6959
12.3730
13.1838
5.2210
8.2188
10.5259
12.1845
13.1871
6.4829
9.5608
11.8790
13.3035
13.6000

8.1601
10.7892
12.9432
13.5553
14.1164
6.1908
9.3270
11.6730
13.2431
13.3453
5.9171
8.8898
11.1627
12.7939
13.2238
8.6246
12.1854
13.6891
14.7302
14.9213

4.5830
7.2929
9.1462
10.4192
11.3203
4.5830
7.2929
9.1462
10.4192
11.3203
4.5830
7.2929
9.1462
10.4192
11.3203
4.5830
7.2929
9.1462
10.4192
11.3203

6.2770
8.6543
10.4290
11.6843
12.5865
5.2166
7.9322
9.8099
11.1112
12.0384
5.1266
7.7391
9.5780
10.8541
11.7651
6.5235
9.3500
11.3103
12.7116
13.3040

8.0940
10.4808
12.2497
13.4202
13.4969
6.1584
8.9611
10.8725
12.1717
13.0692
5.8043
8.4179
10.2451
11.5003
12.3843
8.7626
12.1884
13.7205
14.4971
14.9296

4.4312
6.7632
8.2791
9.3164
10.0558
4.4312
6.7632
8.2791
9.3164
10.0558
4.4312
6.7632
8.2791
9.3164
10.0558
4.4312
6.7632
8.2791
9.3164
10.0558

6.2160
8.3279
9.8101
10.8336
11.5543
5.1415
7.5243
9.0926
10.1687
10.9298
5.0106
7.2756
8.7986
9.8429
10.5911
6.5631
9.1762
10.9168
12.1485
13.0394

8.0201
10.1857
11.6417
12.4933
12.9741
6.0965
8.5896
10.1969
11.2522
11.9417
5.6691
7.9473
9.4727
10.4901
11.2007
8.8931
12.1878
13.7514
14.3506
14.9370

Table 6 First five dimensionless frequencies of a DWCNT with CF boundary condition subjected to various axially varying
magnetic fields for different levels of magnetic field strength as well as small-scale parameter
Case

e0 a = 0 nm

e0 a = 1 nm

e0 a = 1.5 nm

e0 a = 2 nm

H x1 = 0

H x1 = 10

H x1 = 20

H x1 = 0

H x1 = 10

H x1 = 20

H x1 = 0

H x1 = 10

H x1 = 20

H x1 = 0

H x1 = 10

H x1 = 20

2.2529
5.5489
9.0169
12.0264
13.0198
2.2529
5.5489
9.0169
12.0264
13.0198
2.2529
5.5489
9.0169
12.0264
13.0198
2.2529
5.5489
9.0169
12.0264
13.0198

4.9014
7.0145
9.9081
12.7154
13.1324
4.2384
7.1794
10.0703
12.7621
13.2101
4.5189
7.1346
9.9119
12.5945
13.1976
4.3270
7.8092
10.7278
13.2162
13.3812

6.7460
8.9107
11.5464
13.3145
13.6034
5.3676
8.6194
11.5607
13.2594
13.5989
5.3810
8.2114
11.0503
13.2282
13.4388
5.8539
10.2188
13.3021
13.3508
14.1265

2.3173
5.5387
8.5149
10.6674
12.1911
2.3173
5.5387
8.5149
10.6674
12.1911
2.3173
5.5387
8.5149
10.6674
12.1911
2.3173
5.5387
8.5149
10.6674
12.1911

4.9155
7.0708
9.6210
11.6712
13.0668
4.2964
7.1328
9.5998
11.5380
12.9705
4.5508
6.9950
9.3464
11.2625
12.6839
4.4543
7.9227
10.5319
12.5558
13.2197

6.7477
8.9601
11.3703
13.2453
13.3697
5.4508
8.5829
11.0460
12.8950
13.2579
5.3910
8.0087
10.3074
12.1126
13.2151
6.0810
10.5077
13.3241
13.4451
14.2248

2.3226
5.3662
7.9042
9.5695
10.7265
2.3226
5.3662
7.9042
9.5695
10.7265
2.3226
5.3662
7.9042
9.5695
10.7265
2.3226
5.3662
7.9042
9.5695
10.7265

4.9156
7.0068
9.2261
10.8417
11.9876
4.2802
6.9416
9.0492
10.5723
11.6708
4.5039
6.7359
8.7253
10.2144
11.2973
4.5177
7.9042
10.2510
11.9307
13.1553

6.7343
8.8948
11.0402
12.6283
13.0932
5.4404
8.3771
10.4703
11.9356
12.9627
5.3277
7.6903
9.6029
11.0100
12.0219
6.2064
10.6027
13.3350
13.3755
14.2604

2.3302
5.1554
7.3262
8.6508
9.6016
2.3302
5.1554
7.3262
8.6508
9.6016
2.3302
5.1554
7.3262
8.6508
9.6016
2.3302
5.1554
7.3262
8.6508
9.6016

4.9193
6.9237
8.8745
10.1766
11.1098
4.2629
6.7344
8.5506
9.7935
10.6999
4.4447
6.4535
8.1534
9.3553
10.2429
4.5959
7.8805
10.0328
11.4952
12.5767

6.7251
8.8081
10.7170
11.9386
12.5322
5.4317
8.1643
9.9530
11.1468
11.9566
5.2462
7.3491
8.9743
10.1146
10.9315
6.3457
10.6787
13.3334
13.3475
14.2903

is of particular interest, application of the axially magnetic field of case 1 would be the most influential way
among the cases studied herein.
In Figs. 2, 3, 4, and 5, the influence of various axially magnetic fields on the first four vibration modes of the
DWCNTs with SS, CC, SC, and CF conditions is demonstrated. The solid and dashed lines are associated with
the innermost and the outermost tube, respectively. In the case of a DWCNT with SS boundary condition (see
Fig. 2), those magnetic fields that are symmetric with respect to the midspan point of the DWCNT would result
in symmetric first and third modes as well as anti-symmetric second and fourth vibration modes. In the case
of the DWCNT subjected to a uniformly applied magnetic field (case 4), the profiles of the first three vibration
modes of the DWCNT generally remain unchanged. However, in other cases, the vibration mode shapes are
totally different from the DWCNT in the absence of the magnetic field. Interestingly, the application of the
uniformly distributed magnetic field to the DWCNT would result in noncoaxial deflections of the innermost

K. Kiani

Fig. 2 First four flexural mode shapes of the DWCNT with SS boundary condition subjected to axially varying magnetic fields:
a case 1, b case 2, c case 3, d case 4; (1 = 30, H 0 = 20, e0 a = 2 nm)

Fig. 3 First four flexural mode shapes of the DWCNT with CC boundary condition subjected to axially varying magnetic fields:
a case 1, b case 2, c case 3, d case 4; (1 = 30, H 0 = 20, e0 a = 2 nm)

and outermost tubes in the fourth mode of vibration. As it is seen in Fig. 2, in the cases of both first and second
vibrational modes, the amplitudes of the innermost tube are slightly larger than those of the outermost tube,
and the DWCNT exhibits coaxial vibration modes. For higher vibration modes, the discrepancies between
the deflections of the innermost and outermost tubes are more obvious. In such cases, the amplitude of the
innermost is apparently larger than that of the outermost tube.
In Fig. 3, the first four modes of lateral vibrations of the innermost and outermost tubes are plotted for
the considered axially varying magnetic fields. For the first three modes, the amplitude of the innermost tube
is generally larger than that of the outermost tube. Further, for higher modes, the discrepancies between the
amplitudes of the innermost and outermost tubes are more apparent. Except the third vibration mode of the
case 4, the DWCNT generally exhibits a coaxial vibration pattern. The predicted first and second vibrational
modes of the DWCNT exposed to the magnetic field of case 4 are commonly identical to those of the DWCNT
in the absence of the magnetic field. Concerning the fourth mode of vibration, the amplitudes of the innermost
tube are generally larger than those of the innermost tube for both cases 2 and 3. However, the amplitudes of
the outermost tube are generally larger than those of the outermost tube for both cases 1 and 4.
In Fig. 4, the plots of the first four vibration modes of the DWCNT with SC boundary conditions are provided for different axially varying magnetic fields. Except the fourth mode of the case study 4, the amplitude of
the innermost tube is larger than that of the outermost tube. As the mode number increases, the discrepancies
between the amplitudes of the innermost tube and those of the outermost tube generally magnify for all studied
cases. Except the third vibration mode of the case study 4, the DWCNT subjected to the axial magnetic field
demonstrates a coaxial vibration pattern.

Characterization of free vibration

Fig. 4 First four flexural mode shapes of the DWCNT with SC boundary condition subjected to axially varying magnetic fields:
a case 1, b case 2, c case 3, d case 4; (1 = 30, H 0 = 20, e0 a = 2 nm)

Fig. 5 First four flexural mode shapes of the DWCNT with CF boundary condition subjected to axially varying magnetic fields:
a case 1, b case 2, c case 3, d case 4; (1 = 30, H 0 = 20, e0 a = 2 nm)

For the cantilevered DWCNT exposed to an axially varying magnetic field, the first four vibrational modes
are given in Fig. 5. As it is seen, the vibration patterns of the first mode of the DWCNT for the cases 1-3
are almost different from those of the DWCNT in the absence of the magnetic field. Moreover, the first three
mode patterns of the DWCNT subjected to the uniform magnetic field are generally analogous to those of
the non-exposed DWCNT. Except the fourth mode of the case study 4, the cantilevered DWCNT commonly
exhibits a coaxial vibration pattern. Furthermore, except the third vibration mode of the case 4, the amplitudes
of the innermost tube are larger than those of the outermost tube.

6 Concluding remarks
Free transverse vibrations of elastically supported DWCNTs exposed to axially varying magnetic fields are
studied using nonlocal Rayleigh beam theory. The dimensionless-nonlocal equations of motion are derived
and numerically solved via RKPM. However, the formulations of the problem have been provided for a wide
range of boundary conditions, we restrict our studies to magnetically induced DWCNTs with fully simple, fully
clamped, simple-clamped, and clamped-free ends. For different axially varying magnetic fields, the frequencies and the corresponding vibration modes of the DWCNT with different boundary conditions are obtained.
The influences of the small-scale parameter as well as the magnetic field strength on the characteristics of
the free vibration of the DWCNT are carefully addressed and explained. The results show that the predicted
frequencies magnify with the magnetic field strength. For most of the considered boundary conditions, the

K. Kiani

variation of the magnetic field strength has a more pronounced impact on the variation of the frequencies
of DWCNTs with higher small-scale parameters. This fact is primarily attributed to the incorporation of the
small-scale parameter into the generated body forces within the DWCNT resulting from the magnetic field. In
the case of DWCNTs subjected to uniformly applied magnetic fields, the dominant vibration modes are fairly
identical to those of the nonmagnetically induced DWCNTs. The obtained results also reveal that the variation
of the axial magnetic field along the DWCNT can crucially affect the flexural frequencies as well as vibration
mode patterns of both the innermost and outermost tubes.
The attained results would be useful in design of upcoming nanoelectromechanical systems as well as
nanomechanical sensors based on CNTs. It is also hoped that this work will have provided valuable guides for
the designers of those nanodevices whose essential tasks rely on the vibrational characteristics of CNTs.
Acknowledgments The financial support of the Iranian National Science Foundation (INSF) under the Grant No. 89003876 is
gratefully acknowledged.

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