University of Basrah
College of Engineering
Department of Mechanical Engineering
Advanced Vibration Lecture-6
Dr. Jaafrar Khalaf
Continuous Systems
Broadly speaking, models of vibratory systems can be divided into two classes, lumped
and continuous, depending on the nature of the parameters. In the case of lumped
systems, the components are discrete, with the mass assumed to be rigid and
concentrated at specific points, and with the stiffness taking the form of massless springs
connecting the concentrated masses. The masses and springs represent the system
parameters, and such models are referred as discrete or lumped-parameter models. The
motion of discrete systems is governed by a set of ordinary differential equations.
Continuous systems, on the other hand, differ from discrete systems in that the mass
and elasticity are continuously distributed. Such systems are also known as distributed-
parameter systems, and examples include strings, rods, beams, plates and shells. While
discrete systems possess a finite number of degrees of freedom, continuous systems
have an infinite number of degrees of freedom because we need an infinite number of
coordinates to specify the displacement of every point in an elastic body. The
displacement is governed by a function of spatial and temporal variables. As a result, the
motion of continuous systems is governed by partial differential equations to be satisfied
over the entire domain of the system, subject to boundary conditions and initial
conditions.
The discrete and continuous systems are indeed closely connected, and in fact, both
systems possess natural frequencies and normal modes of vibration.
1
Vibration of Strings
u(x, t)
It is assumed that both displacement and slope are small. It is also assumed that the
tension remain constant along the string during vibration.
2u
T sin( dx ) T sin dx 2 (1)
x t
2u
T 2 (2)
x t
u
But ,
x
2u 2u 1 2u
2 2 (3)
x 2
T t 2
c t
2
T
Where c
is the velocity of wave propagation through in the string. Equation (3) is
a 1-dim wave equation. Separation of variables method can be used to solve the this
equation:
u (x , t ) U (x ).G (t ) (4)
Substituting in the differential equation follows that:
1 d 2U 1 1 d 2G
(5)
U dx 2 c 2 G dt 2
Which can be re-written as:
1 d 2U 1 d 2G
c 2
(6)
U dx 2 G dt 2
Equation (6) cannot be satisfied unless it equals a given constant other than zero:
1 d 2U 1 d 2G
c 2
2
2
2 (7)
U dx G dt
Taking the left hand side:
2
2
d 2U
U U (8)
dx 2 c2 c
Which can be arranged as:
d 2U
2
U 0 (9)
dx 2 c
The solution of equation (9) is given by:
U (x ) A sin x B cos x (10)
c c
Similarly, we can show that:
3
G (t) C sin t D cos t (11)
Hence:
u (x , t ) A sin x B cos x C sin t D cos t (12)
c c
Example-1: For the fixed-fixed boundary conditions:
u (0, t ) 0
u (L , t ) 0
u (x , 0) h (x )
u (x , 0) v (x )
Applying boundary conditions;
u (0, t ) 0 B G (t) C sin t B cos t B 0
u (L , t ) 0 A sin L C sin t D cos t A sin L 0
c c
Constant A cannot be zero, hence: sin L 0
c
Hence:
n c
n , n 1, 2, 3,... These are eigenvalues
L
Therefore:
n
u n (x , t ) A n sin x C n sin n t D n cos n t
L
U n (x ).G n (t )
n
Note that eigenvectors are given by U n (x ) A n sin x
L
4
The complete solution can be written as:
n
u (x , t ) C n sin n t D n cos n t sin x
n 1 L
The constants Cn and Dn can be evaluated from the initial conditions:
2 L n
L 0
Dn h ( x ) sin x dx
L
2 L n
Cn
n L 0
v (x ) sin
L
x dx
Longitudinal vibration of Rods
Longitudinal vibration in rods can also be characterized as 1-dim wave equation.
5
Considering an infinitesimal strip of length dx:
P
(13)
A
Since E and u / x ,equation (13) becomes:
P u
E (14)
A x
u
P EA (15)
x
Differentiating with respect to x:
P 2u
EA (16)
x x 2
Applying Newton’s second low of motion on the strip:
6
P 2u
dx Adx 2 (17)
x t
Substituting eq. (16) in (17):
2u 2u
EA A 2 (18)
x 2 t
Which can be re-arranged as:
2u 2u 1 2u
(19)
x 2 E t 2 c 2 t 2
E
Where c is the velocity of wave propagation through rod material.
The solution is given by:
u (x , t ) A sin x B cos x C sin t D cos t (20)
c c
Example-2: cantilever beam:
Boundary conditions:
u(0, t) = 0 which leads to: B = 0
At the free end, the axial force must vanishes P = 0
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u u
P EA 0 0
x x
u
( L, t ) 0 A cos L.G (t ) A cos L 0
x c c c
cos L 0
c
Which is the frequency or characteristics equation of the system. Hence:
n L (2n 1)
, n 1, 2, 3,...
c 2
(2n 1) c
Or n , n 1, 2, 3,...
2 L
n
un ( x, t ) Cn sin n t Dn cos n t sin x
c
The complete solution is:
(2n 1)
u( x, t ) Cn sin n t Dn cos n t sin x
n 1 2L
The constants Cn , Dn are to be determined from initial conditions.
8
Torsional Vibration of Rods and Shafts
Tdx
The angle of twist can be expressed as: d (21)
GJ
We can write:
T 2
dx GJ 2 dx (22)
x x
Applying inertial law of motion:
2 2
GJ dx Jdx (23)
x 2 t 2
Hence:
G 2 2
(24)
x 2 t 2
Which can be re-arranged as:
2 1 2
(25)
x 2 c 2 t 2
G
Where c is the velocity of wave propagation through rod material.
9
Transverse Vibration of Beams
From strength of materials, the bending moment
2w
M EI 2 (26)
x
And also, the shear force:
M
V (27)
x
Where w is the transverse displacement, I is the second moment of cross sectional area
and E is the Young’s modulus.
Consider the infinitesimal element:
Applying inertial law of motion in the vertical direction:
10
V 2w
dx Adx 2 (28)
x t
Hence:
M 2w
V EI 2 (29)
x x x
So, we can write:
3w
V EI 3 (30)
x
differentiating eq. (30) with respect to x:
V 4w
EI 4 (31)
x x
From eq. (28):
2w 4w
A 2 EI 4 (32)
t x
Which can be re-arranged as:
EI 4 w 2 w
(33)
A x 4 t 2
Separation of variables method can be used to solve this equation:
w( x, t ) W ( x ).G(t ) (34)
Substituting in the differential equation follows that:
EI 1 d 4W 1 d 2G
(35)
A W dx 4 G dt 2
Which can be cannot be satisfied unless it equals a given constant other than zero:
11
EI 1 d 4W 1 d 2G
2 (36)
A W dx 4
G dt 2
Taking the left hand side:
EI 1 d 4W
2 (37)
A W dx 4
Which can be arranged as:
d 4W A 2
W 0 (38)
dx 4 EI
A
Denoting 2
4
EI
d 4W
4
4W 0 (39)
dx
The solution of equation (38) is given by:
W ( x ) A sin x B cos x C sinh x D cosh x (40)
Similarly, taking right side of eq. (35), we can show that:
G(t) E sin t F cos t (41)
Hence:
w( x, t ) A sin x B cos x C sinh x D cosh x E sin t F cos t (42)
Example-1: Cantilever beam
Boundary conditions:
dW
At x = 0, the displacement and slope are zeros : W 0, and 0
dx
d 2W d 3W
At x = L, the bending moment and shear force are zeros, then 0, 0
dx 2 dx 3
12
By substituting the boundary conditions into eq. (39) and after some manipulations, we
obtain:
sin n L sinh n L
Wn ( x ) An sin n x sinh n x cos n x cosh n x
cos n L cosh n L
And n can be obtained by solving:
cos n L cosh n L 1
The above equation can be solved numerically to give Eigen values n L , with the first
three Eigen values are:
1.8751 4.6941 7.8548
1 , 2 , 3
L L L
EI
The natural frequencies n n
2
A with first three values:
EI
1 1.8751
2
AL4
EI
2 4.6941
2
AL4
EI
3 7.8548
2
AL4
The following table lists the common beam configurations and the associated mode
shapes and Eigen values:
13
Notes about boundary conditions:
dW
(1) Clamped: both displacement and slope are zeros: W 0, and 0
dx
14
(2) Hinged (or simply supported) both displacement and bending moment are zeros:
d 2W
W 0, and 0
dx 2
d 2W d 3W
(3) Free: bending moment and shear force are zeros: 0, and 0
dx 2 dx 3
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