Journal of Sound and Vibrafion (1988) 126(l), 49-65

NATURAL FREQUENCIES OF BEAMS UNDER

COMPRESSIVE AXIAL LOADS

A. BOKAIANt

Principia Mechanica Ltd, Genesis Centre, Birchwood Science Park South,

Warrington, WA3 7 BH, England

(Received 31 January 1987, and in revised form 15 February 1988)

A study of the influence of a constant axial compressive load on natural frequencies

and mode shapes of a uniform single-span beam with ten different combinations of end
conditions is presented. The relative critical buckling load is found to be the same for
sliding-free, clamped-free and sliding-pinned beams, and similarly for free-free, pinned-
free, pinned-pinned, clamped-sliding and sliding-sliding beams. Analytical results indi-
cate that the variation of normalized natural frequency with normalized axial force is
excatly the same for pinned-pinned, pinned-sliding and sliding-sliding beams and can
be expressed in a closed form. Numerical results show that this closed-form expression
roughly describes the above variation for sliding-free, clamped-clamped and clamped-
sliding beams in a fundamental vibration mode. Further, in this mode, apart from a region
close to buckling, the above variation is almost the same for clamped-pinned, pinned-free
and free-free beams. The above closed-form expression could also be used for a beam
with any kind of end conditions when the beam vibrates in a high mode. It is observed
that Galef’s formula, previously assumed to be valid for beams with all types of end
constraints, is valid only for a few.

1. INTRODUCTION
The problem of lateral vibrations of beams under axial loading is of considerable practical
interest, and has a wide application in civil, mechanical and aircraft industry. For example,
in the design of certain spacecraft structural components it sometimes becomes necessary
to determine the natural frequencies and mode shapes of beam type components which
are in a state of preload or prestress. Another example is the effect of compressive forces
on some nuclear reactor fuel pins. In most of the cases an exact solution for the modes
and frequencies of the system would be intractable, and recourse would be made to one
of the many approximate solutions such as the Rayleigh-Ritz method, Galerkin’s tech-
nique or the finite element method [l].
However, there exists a class of structures for which the problem becomes simpler.
This class consists of uniform beams under a constant axial load with various types of
simple end conditions. This type of structure may represent some structural components
reasonably well for preliminary design information. Even in those cases where it does
not adequately model the structure, the modes obtained for these cases can be used to
obtain Rayleigh-Ritz or Galerkin types of solution.
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 in the past
[2-61, a summary of which has been given in reference [7]. Based on Amba-Rao’s study
[4], Galef [8] developed the following formula: fundamental natural frequency of com-
pressed beam/natural frequency of uncompressed beam = (1 - compresive load/Euler
t Professional address of A. Bokaian: NDA, Canute Court, Taft Road, Km&ford, England.
49
0022-460X/88/190049+ 17 %03.00/O @ 1988 Academic Press Limited
50 A. BOKAIAN

TABLE 1
Characteristics of beams under compressive axial loads

Boundary conditions
Beam description Left-hand end
(1) (2)

Free-free T- -T d2 Y(0)
-=O
dx2 ’
d’Y(O) I T WO)_O
dx3 EI dx

Sliding-free T--~-I--T

d Y(O)
--0
d3Y(O)_ o
dx ’ dx3

Clamped-free T-~---T
d Y(O)
Y(O)=O, FdJ

Pinned-free
T-y-T
d2 Y(0)
Y(O)=O, 7=0

Y(0) = 0,
d*Y(O)_ o
Pinned-pinned T-A-J- T dx2

Clamped-pinned T-g-h-T

Y(0) = 0, dYo=O
dx

Clamped-clamped T- -T
Y(0) = 0, dYo=O
dx

Clamped-sliding T-#-&--T

dY(0) =.
Y(0) = 0,
dx

d Y(O) d3 Y(0) _ o
Sliding-pinned T-@-A-T dxzo7
dx’

d Y(O) d” Y(0) _ o
Sliding-sliding T-#-&-T dx=” dx’
 FREQUENCIES OF AXIALLY COMPRESSED BEAMS 51

Boundary conditions
Right-hand end Characteristic equation
(3) (4)

d2W)=0
dx’ ’
d’Y(U I 7 dYW_O
dx3 El dx

d*Y(l)_O
dx2
d3 Y(1)
~+-rdY(I)=O
dx3 EI dx

d2Y(0_0
dx2
d’Y(0 I T dY(O_O
dx’ El dx

d’Y(I) =.
dx2 ’
d3Y(U I T dW)_O
dx3 El dx

d’Y(/)
Y(I)=O, dx’=O

d*Y(l)
Y(I)=O, 7=0

dY(0
Y(I)=O, x=0

dYWzO d3Y(0_0
dx ’ dx3

d’Y(l)
Y(I)=O, --p=O

dY(l) d3Y(I)_0
-----=O
dx ’ dx”
52 A. BOKAIAN

TABLE l-continued.

Free-free T- -T
i*iT* 7?EI
2 I2

(2i-1)277’
Sliding-free T-d- -T
8
l?EI
412

(2i - 1)27r2 dEI

Clamped-free -4-, -T
8 412

i’d
Pinned-free ‘-h-‘-T
2

i27r2 lr2EI
Pinned-pinned T---A-- T
2 I2

(2i+ 1)2772 2.05.~~ El

Clamped-pinned T-$-~-T
8 I2

(i+ 1)2n2 4r;‘EI

Clamped-clamped T- -T
2 I2

;tn2
dEI
Clamped-sliding T-~-@-T
2 I2

(2i - 1)2s-2 7PEI

Sliding-pinned T-@-~-T
8 412

T’EI
Sliding-sliding T-@-‘-T
2 I2
 FREQUENCIES OF AXIALLY COMPRESSED BEAMS 53

Mode shape coefficients

Variation of

0, fi with 0 ’i c2 c3 c.I
(7) (8) (9) (10) (11) (12)

[
(2ifl)T
I2
- 1
N3(-cash M+cos N) N M*N(cos N-cash M)

12
N3 sinh M + MS sin N G N3 sinh M + M3 sin N

[
N sinh M
(4i-1); - 0 1 0 ---

1?
M sin N

[
M + MN sin N M M2 sinh M + MN sin N
(2i-1); - 1 - M2 sinh
M2 cash M + N’cos N -z M* cash M + N2 cos N

M2 sinh M
(4i+l)$ - 1 0 -- 0
[ 3’ N’ sin N

(ilr? ji=Jl- 0 0 1 0

3:
M M
- 1 -tanh M - ztan N
N

I2
[ (4i+l);

[
M sin N - N sinh M M M sin N - N sinh M
(2i+l)q - 1 -

I2
N (cash M-cos N) -% N (cash M -cos N)

[
M (cash M -cos N) M M (cash M-cos N)
(4i-1); - 1 -
MsinhM+Nsin N -% MsinhM+NsinN

[
(Zi-1):
I2 fiEJJ1 0 0 0

(ia? n=Ji-z 0 0 0
54 A. BOKAlAN

buckling load) “2 . This approximate relationship was subsequently used in the study of
beams subjected to end and axially distributed loading [9]. However, the above investiga-
tions of natural frequencies of beams are all very limited. Further, the procedures that
were used in these investigations for non-dimensionalization of the numerical data make
the application of their results to engineering situations difficult. These serious shortcom-
ings instigated the research work reported here, in which the influence of a constant
compressive load on both natural frequencies and mode shapes of a uniform beam with
a variety of end conditions has been studied. In the sequel Galef’s approximate relation-
ship is checked against the new numerical evidence of this work.

2. THEORETICAL DEVELOPMENT
Column 1 of Table 1 depicts uniform beams of length 1 with ten different combinations
of end constraints subjected to a constant compressive force T. Consider the beam clamped
at one end and pinned at the other as shown in row 6 of this table. Under the assumptions
that the beam material is linearly elastic and that the shear deformation and rotary inertia
are negligible, the differential equation of motion for small deflections is

EI a4y/ax4+ T a2y/ax2 = -pA a2y/at2, (1)

where y = y(x, t) is the transverse displacement of a typical segment of the beam located
at the distance x from the left-hand end, E is the Young’s modulus, Z is the second
moment of area, A is the cross-sectional area, p is the mass density of the beam material
and t is the time (a list of nomenclature is given in the Appendix).
When the beam performs one of its natural modes of oscillation y(x, t) = Y(x) cos wt
the above expression becomes

EZ d4Y(x)/dx4+ T d2Y(x)/dx2-pAo’Y(x) =O, (2)

where w is the circular natural frequency and Y(x) is the modal displacement. By
introducing the dimensionless beam co-ordinate I = x/Z, where 0 5 [d 1, the solution to
the above equation may be written as

Y(x) = Y( 15) = c1 sinh Ml + c2 cash MJ + c3 sin N4’+ c4 cos Nl (3)

where cl, c2, c3 and c4 are constant coefficients, and M and N are defined as

M=I{-(T/2EZ)+[(T/2EZ)2+(pA/EZ)~2]”2}”2=(-U+~U2+~2)1’2,

N=I{(T/2EZ)+[(T/2EZ)2+(pA/EZ)~2]”2}”’=( U+hJ2+L?2)“‘, (4)

in which U = 77”/2EZ is the relative axial force, Kl = w12/(Yis the relative natural frequency
and the parameter (Y= m.
At the left-hand end of the beam the deflection and slope are both equal to zero: that
is, Y(0) = 0 and d Y(O)/dx = 0. At the right-hand end, the deflection and bending moment
both vanish: i.e., Y(Z) = 0 and d2 Y( Z)/dx’ = 0. Implementing these conditions on equation
(3) results in the following relationships:

c2+c4=0, MC, + NC, = 0,

(sinh M)c,+(cosh M)c,+(sin N)c,+(cos N)c4=0,

( M2 sinh M)c, + (M’ cash M)c, - ( NZ sin N)c, - ( N2 cos N)c, = 0. (5)
 FREQUENCIES OF AXIALLY COMPRESSED BEAMS 55

600 - I / , I I , I I c
.’

500 -

400 -

100

0
I 2 3 4 5 6 7 8 9 IO

Figure 1. Variation of U”,,, with i. 0, Clamped-clamped; x, clamped-pinned; A, free-free or pinned-free

or pinned-pinned or clamped-sliding or sliding-sliding; 0, sliding-free or clamped-free or sliding-pinned.

0.8

0.6
k
8

0.2 -

IO
0
0 0.1 0.2 0.3 0.4 05 0.6 0.7 0.8 0.9 I.0
0

Figure 2. Variation of fi with ij for a clamped-pinned. beam.

56 A. BOKAIAN

This set of homogeneous equations will have a non-trivial solution if its determinantal
equation becomes zero. This results in the following characteristic equation:
(-U+~U2+R2)“‘cosh(-U+~U2+R2)““sin(U+~~*+~*)”’
-(~+~~~+~~)“~sinh(-~+~~~+R~)~‘~~~s(~+~~~+~~)’~~=~. (6)
To find the mode shape it is assumed without loss of generality that c, = 1. From
equations (5) it is concluded that c2 = -tanh M, c3= -M/N and cd = (M/ N) tan IV.These
coefficients are functions only of U and R.
At a sufficiently large compressive force the natural frequency becomes zero and the
beam transversely buckles. The value of the critical buckling load T,,,i corresponding to
vibration mode i can be obtained by putting 0 = 0 in equation (6) which results in the
relationship tan a = a, where ZJmj= T,,J2/2EZ. At buckling the value of U,,,, is
large and an approximate solution to this equation may be written in the form U,,,,=
[(2i+ l)~r/2]*/2. For the first mode U,,,, =?s7~’or T,,,, = 2.25 IT’EZ/I*. This value is only
slightly different from the exact value of Tb = 2.057r2EZ/ Z*[7], as indicated in column 6
of Table 1. The variation of Z-J,,,,with i is plotted in Figure 1.
For U = 0 the characteristic equation (6) is reduced to tanh ,@? = tan fl which is the
classical equation for the natural frequencies of a clamped-pinned beam under no axial
load. The roots of this equation may be approximated [7] as L!i = wil*/a = [7r{(4i + 1)/4}12.
When the beam is under compressive loading, its natural frequency may be obtained by
solving the transcendental equation (6) numerically by using the method given in reference

I.0

0.9

0.0

0.7
0.6 T=0.8 r,

Ii 0.5'r

0 0.2 0.4 0.6 OB I.0

I.0

0.0

0.6
0.4
T=O

-0.6-

J
0 0.2 0.4 0.6 0.6 I.00 0.2 O-4 0.6 0.6 I.0
5

Figure 3. Variation of p with (’ for a clamped-pinned beam. (a) i = 1; (b) i = 2; CC)i =3.
FREQUENCIES OF AXIALLY COMPRESSED BEAMS
58 A. BOKAIAN
 FREQUENCIES OF AXIALLY COMPRESSED BEAMS 59

[lo]. The results for ten vibration modes are plotted in Figure 2, showing the normalized
natural frequency fi = n/0, versus the normalized axial force 0 = U/ Umi (equivalent
to compressive force divided by the critical buckling load associated with the mode
concerned). The above observations are conveniently tabulated in row 6 of Table 1.
Indicated in Figure 3 is the effect of axial loading on the mode shapes of the beam. This
figure shows the normalized amplitude v, defined as the vibration amplitude divided by
the maximum amplitude along the beam length, against the beam co-ordinate l for the
first three modes, when the compression T is equal to 0.8 of the critical buckling load
Tb. The corresponding results for beams with other types of end conditions are similarly
presented in Table 1 and drawn in Figures 1 and 4-12.
The above observations indicate a number of interesting points. Firstly, the relative
critical buckling load U,,,i is the same for sliding-free, clamped-free and sliding-pinned
beams, and similarly for free-free, pinned-free, pinned-pinned, clamped-sliding and
sliding-sliding beams. The value of the former group is smaller than that of the latter.
This latter value is smaller than the corresponding value of the clamped-pinned beam
which is in turn smaller than that of the clamped-clamped beam. Secondly, fom
pinned-pinned, sliding-pinned and sliding-sliding beams, the equation d = 41- r/
defines the variation of the normalized natural frequency with the normalized compressive
force for all modes. This is because, for these beams, the vibration mode under no axial
load and the buckling mode are identical [ll]. The mode shape coefficients of these
beams are constant values, those of the last two beams being identical. Thirdly, the
normalization procedure suggested in this paper makes the variation of fi versus ij in
high modes almost identical, with the exception of a region close to buckling (Amba-Rao
[4] and Shaker [5] presented the variation of fl with T/ Tb for the fundamental frequency
of the clamped-clamped, clamped-pinned, pinned-pinned and clamped-free beams, and
for the first three modes of all beams respectively, while Gorman [6] incompletely plotted
the variation of fi against TI’/dEI for the fundamental frequency of the clamped-
clamped and clamped-free beams). As expected a compressive force has the effect of
decreasing the vibration frequency. Fourthly, Figure 2 shows that, in some modes of the
clamped-pinned beam, the buckling occurs at a value of r/ somewhat different from
unity. This is because, for the sake of consistency and simplifying the presentation, a
closed-form but approximate solution was used for the calculation of U,,,i rather than
exact numerical values. A similar reason underlies the fact that for a clamped-free beam
at u = 0 the value of fi is different from unity. Figures 3, 11 and 12 show that the effect
of axial force is greatest on the fundamental mode, and this effect rapidly decreases as
the mode number increases. The most pronounced effect occurs for the pinned-free beam
(see Figure 12). However, all other cases exhibit this effect as the compressive load
approaches the critical buckling force.

I.0

0.6 -

0.6 -
‘G
0.4

0.2 Y.5
-

0
0 0.1 0.2 0.3 04 0 5 0.6 0.7 0.6 0.9 I.0
u

Figure 8. Variation of fi with fi for a pinned-pinned or a pinned-sliding or a sliding-sliding

60 A. BOKAIAN
 FREQUENCIES OF AXIALLY COMPRESSED BEAMS 61
I.0

06

0.6

0.4

0.2
IL
0

-0.2

-0.4 *.
I
-0.6 i
T=O
- o+l / i___L _j
0 0.2 0.4 0.6 O-6 0

Figure 11. Variation of v with [ for a sliding-free beam. (a) i = 1; (b) i = 2; (c) i = 3.

0 0.2 04 0.6 0.8 I.0

I.0

0.8

0.6

0.4

0.2
lb.
0

-0.2

-0.4

-0.6

Figure 12. Variation of p with [ for a pinned-free beam. (a) i = 1; (b) i=2; (c) i=3.
 62 A. BOKAIAN

An attempt was made to compare the variation of the normalized natural frequency
fi with the normalized axial force 0 for beams with different end constraints. This was
done by replotting the data associated with the first, second, third and the tenth mode
of Figures 2 and 4-10 in Figure 13. It is seen that in the fundamental mode, in spite of
different characteristic equations, the clamped-clamped and clamped-sliding beams have

2-

0.6 -
3-
0.4 -

0.2-
.
??
0 I I 1 c-1 IO
0 0.1 0.2 0.3 O-l 0.5 06 0.7 0.8 0.9 I.0
(7

Figure 13. Variation of fi with ii for the first, second, third and the tenth mode. 0, Sliding-free; x,
pinned-free; 0, clamped-pinned; 0, clamped-clamped; 0, clamped-free; A, clamped-sliding; +, free-free;
-, pinned-pinned or sliding-pinned or sliding-sliding.

0.6
IC

0.4

Figure 14. Variation of d with 0 for the fundamental mode with exact numerical values for 0, and U,,,.
Key as Figure 13.
 FREQUENCIES OF AXIALLY COMPRESSED BEAMS 63

almost identical variation of fi with c These two data sets lie slightly above the curve
ji = Jl - fl. The sliding-free data fall slightly above all these data. Similarly, the clamped-
pinned and pinned-free beams have almost the same variation of fi with ii, except in a
region close to buckling. For low and moderate values of d the free-free beam data fall
slightly above these two data sets, but for large values the results are oice versa. The scatter
of data is reduced from the first mode to the second and is further reduced in the third.
In higher modes such as the tenth, apart from a region close to buckling, all data fall
onto one another as all beams modes approach a multi-sine waves shape. The variation
of d with 0 can be described satisfactorily by the concise equation fi =Jl - 0.
Galef [8] plotted the numerical results of Amba-Rao [4] in the form of d a&t u.
He found that the data may closely be approximated by the equation fi = 41 - 0. He
assumed this formula to be valid for the fundamental natural frequency of beams with
all types of end conditions. To check this assumption the first mode data of Figures 2
and 4-10 are replotted in Figure 14 in the form of fi against 0. To be consistent with
Amba-Rao’s observations, exact numerical values were used in the calculation of fii and
U,; (which affect only the clamped-pinned and clamped-free data). It is seen that Galef’s
approximate relationship is valid not only for clamped-clamped, clamped-pinned,
pinned-pinned and clamped-free beams upon which his equation is based, but also for
sliding-free, clamped-sliding, sliding-pinned and sliding-sliding beams. This is probably
because, for these beams, the vibration mode with no axial force and the buckling mode
are similar. Galef’s expression is not, however, valid for pinned-free and free-free beams.

3. CONCLUDING REMARKS
A uniform single-span beam under a constant compressive axial loading displays a number
of interesting features. The relative critical buckling load is found to be the same for
sliding-free, clamped-free and sliding-pinned beams, and similarly for free-free, pinned-
free, pinned-pinned, clamped-sliding and sliding-sliding beams. The variation of the
normalized natural frequency fi with the normalized axial force ii for inned-pinned,
pinned-sliding and sliding-sliding beams is observed to be d = ? 1 - 0. In the funda-
mental vibration mode, the variation of fi with fl is found to be the same for clamped-
clamped and clamped-sliding beams, and roughly the same for clamped-pinned and
pinned-free-s. The former variations fall in a very narrow region bounded by the
curve fi = 41 - U and the data associated with the sliding-free beam. The latter variations
lie below that of the free-free beam for low and moderate values of u, but oice versa for
high values. Galef’s formula, previously assumed to be valid for beams with all types of
end conditions, is observed to be valid only for a few. The results indicate that the effect
of end constraints on natural frequency of a beam is significant only in the first few
modes. For higher modes, mode shapes of all beams approach multi-sine waves, and the
equation fi =x&?? gives the variation of d with t? for all beams.

ACKNOWLEDGMENTS
This work was carried out during the author’s fellowship at Rice University, Houston,
Texas. The author is thankful to Dr W. F. Walker, the former Chairman of the Mechanical
Engineering and Material Science Department, and particularly to Dr J. L. Margrave,
the former Vice President of this University, for supporting the author’s fellowship. Thanks
are extended to the two reviewers for many useful comments and criticisms.
 64 A. BOKAIAN

REFERENCES
1. R. R. CRAIG JR 1981 Structural D~vnamics, An Introduction to Computer Methods. New York:
John Wiley. See pp. 381-445.
2. CH. MASSONNET 1940 Bulletin des Cours et des Laboratoires d’essais des Constructions du
Genie Civil et d’Hydraulique FZuuiale, Brussels, Belgium I (1,2), l-353. Les relations entre les
modes normaux de vibration et la stabilite des systtmes elastiques.
3. S. P. TIMOSHENKO, D. H. YOUNG and W. WEAVER, JR. 1974 Vibration Problems in Engineering.
New York: John Wiley. 4th edition; see pp. 453-455.
4. C. L. AMBA-RAO 1967 Journal of the Acoustical Society of America 42, 900-901. Effect of end
conditions on the lateral frequencies of uniform straight columns.
5. F. J. SHAKER 1975 NASA Lewis Research Centre Report NASA-TN-8109. Effects of axial load
on mode shapes and frequencies of beams. See pp. l-25.
6. D. J. GORMAN 1975 Free Vibration Analysis of Beams and Shafts. New York: John Wiley. See
pp. 359-381.
7. R. D. BLEVINS 1979 Formulas for Natural Frequencies and Mode Shapes. New York: Van
Nostrand Reinhold. See pp. 101-l 13.
8. A. E. GALEF 1968 Journal of the Acoustical Society of America 44, (8), 643. Bending frequencies
of compressed beams.
9. D. F. PILKINGTON and J. B. CARR 1970 Journal of Mechanical Engineering Science 12(l),
70-72. Vibration of beams subjected to end and axially distributed loading.
10. A. SWIFT and G. R. LINDFIELD 1978 Computer Journal 21, 359-362. Comparison of a
continuation method for the numerical solution of a single nonlinear equation.
11. W. H. WIT~RICK 1985 International Journal of Mechanical Sciences 27 (6), 375-382. Some
observations on the dynamic equations of prismatic members in compression.

APPENDIX: NOMENCLATURE
A cross-sectional area
parameter as defined in text
; parameter as defined in text
cl mode shape coefficient
c2 mode shape coefficient
c3 mode shape coefficient
C4 mode shape coefficient
E Young’s modulus
Fe
_. a constant value as defined in text
j-(t) a function of time
z second moment of area
vibration mode number
f beam length
M parameter as defined in text
N parameter as defined in text
T axial compressive force
Tb critical buckling load in the first mode
TIn! critical buckling load associated with vibration mode i
t time
u relative axial force, TZ2/2EZ
U normalized axial force, V/ V,,,
umi normalized critical buckling load associated with vibration mode i
X distance from the left-hand end of the beam
Y(X) modal displacement
F normalized vibration amplitude defined as the vibration amplitude divided by the maximum
amplitude along the beam length
transverse displacement, y(x, t)
dimensionless oarameter. m
relative natural frequency of beam under axial load, w12/a
relative natural frequency of beam under no axial force in vibration mode i
normalized natural frequency of beam, n/n,
 FREQUENCIES OF AXIALLY COMPRESSED BEAMS 65

w circular natural frequency of beam under axial load

wi circular natural frequency of beam under no axial load in vibration mode i
5 dimensionless beam co-ordinate, x/ 1
7l 3.1415927
P mass density of beam material