STRUCTURAL DYNAMICS

Learning Module 9: Vibration of

Continuous Structures

Prof J. Mahachi, Pr.Eng, Pr.CPM, FSAICE

University of Johannesburg

School of Civil Engineering & Built Environment

Email: [email protected]
Cell: 082 904 9569
 Course Outline
• SDOF Free vibration, with no damping
• SDOF Free vibration with damping
• SDOF Forced vibration
– Harmonic Loading
– Periodic Loading
– Impulse or Pulse Loading (Blast Loading)
– Transient loading (Earthquake loading)
• MDOF
• Vibration of Continuous Structures
• Foundations of Reciprocating Machines
 Learning Outcome
At the end of this module, the learner will know:
• Solve free vibration for beams with different support
conditions
• Understand and apply orthogonality of modes of vibration
• Solve forced vibration of beams
• Solve beams subject to moving loads; and
• Solve vibrating strings problems
 Flexural Behaviour of Uniform Beams
𝑣 𝑃(𝑥, 𝑡)
𝑥

𝑑𝑥 m (unit length), EI
L
𝑃𝑑𝑥
𝜕𝑀
𝑀 V 𝑀+ 𝑑𝑥
𝜕𝑥

𝜕𝑉
𝑑𝑥 V+ 𝑑𝑥
𝜕𝑥
𝜕 2𝑣
(𝑚𝑑𝑥) ∙ 2
𝜕𝑡
 Flexural vibration of uniform beams (cont…)
From the above figure, and assuming Bernoulli – Euler theory,
𝜕𝑉 𝜕2 𝑣
∴ V− 𝑉 + 𝑑𝑥 + 𝑃𝑑𝑥 − 𝑚𝑑𝑥 2 =0
𝜕𝑥 𝜕𝑡
𝜕𝑉 𝜕2 𝑣
⇒ + 𝑚 2 = 𝑃 (1) 𝑃𝑑𝑥
𝜕𝑥 𝜕𝑡
𝜕2 𝑣 𝑀
𝜕𝑀
But 𝑀 = 𝐸𝐼 2 V 𝑀+ 𝑑𝑥
𝜕𝑥 𝜕𝑥
𝜕𝑀
and 𝑉 =
𝜕𝑥
3
𝜕 𝑣
∴ 𝑉 = 𝐸𝐼 𝜕𝑉
𝑑𝑥 V+ 𝑑𝑥
𝜕𝑥 3 𝜕𝑥
𝜕4 𝑣 𝜕2 𝑣 𝜕 2𝑣
⇒ 𝐸𝐼 +𝑚 =𝑃 (2) (𝑚𝑑𝑥) ∙ 2
𝜕𝑥 4 𝜕𝑡 2 𝜕𝑡
 Flexural vibration of uniform beams (cont…)
Note:
Equation (2) does not take into account shear deflections and rotary inertia.

For free vibration, 𝜕 4𝑣 𝜕 2𝑣

𝜕 4𝑣 𝜕 2𝑣 𝐸𝐼 4 + 𝑚 2 = 𝑃
𝐸𝐼 +𝑚 =0 (3) 𝜕𝑥 𝜕𝑡
𝜕𝑥 4 𝜕𝑡 2

The solution to Equation (3) is:

𝑣 𝑥, 𝑡 = 𝜙 𝑥 ∙ 𝑓(𝑡) (4)

Equation (4) into Equation (3),

𝐸𝐼𝑓 𝑡 𝜙 𝐼𝑉 𝑥 + 𝑚𝜙 𝑥 𝑓(𝑡) ሷ =0
𝐸𝐼 𝜙 𝐼𝑉 𝑥 𝑓ሷ 𝑡
=− = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 𝜔 2 (say)
𝑚 𝜙 𝑥 𝑓 𝑡
 Flexural vibration of uniform beams (cont…)
⇒ 𝜙 𝐼𝑉 𝑥 − 𝑎4 𝜙 𝑥 = 0 (5) 𝐸𝐼 𝜙 𝐼𝑉 𝑥 𝑓ሷ 𝑡
=− = 𝜔2
𝑚 𝜙 𝑥 𝑓 𝑡
and 𝑓ሷ 𝑡 + 𝜔 2 𝑓 𝑡 = 0 (6)

4 𝑚𝜔2
where 𝑎 =
𝐸𝐼
𝐸𝐼𝑎 4 𝐸𝐼 2
∴𝜔= =𝐺 where G = 𝑎𝐿
𝑚 𝑚𝐿4

The solution of Equation (6) is

𝑓 𝑡 = 𝐴 cos 𝜔𝑡 + 𝐵 sin 𝜔𝑡 (7)

 Flexural vibration of uniform beams (cont…)
The solution of Equation (5) is obtained by letting Equation (5):
𝜙 𝑥 = 𝑅ℯ 𝑠𝑥 (8) 𝜙 𝐼𝑉 𝑥 − 𝑎4 𝜙 𝑥 = 0

Substitute Equation (8) into Equation (5), to get

𝑠 4 − 𝑎4 𝑅ℯ 𝑠𝑥 = 0
For non-trivial solutions,
⇒ 𝑠 4 − 𝑎4 = 0
i.e. 𝑠1 = 𝑎; 𝑠2 = −𝑎
𝑠3 = 𝑎𝑖; 𝑠4 = −𝑎𝑖
 Flexural vibration of uniform beams (cont…)

The general solution is therefore;

𝜙 𝑥 = 𝑅1 ℯ 𝑎𝑥 + 𝑅2 ℯ −𝑎𝑥 + 𝑅3 ℯ 𝑖𝑎𝑥 + 𝑅4 ℯ −𝑖𝑎𝑥 (9)

But ℯ ±𝑎𝑥 = cosh 𝑎𝑥 ± sinh 𝑎𝑥

ℯ ±𝑖𝑎𝑥 = cos 𝑎𝑥 ± 𝑖 sin 𝑎𝑥

∴ 𝜙 𝑥 = 𝐴 sin 𝑎𝑥 + 𝐵 cos 𝑎𝑥 + 𝐶 sinh 𝑎𝑥 + 𝐷 cosh 𝑎𝑥 (10)

 Example 1: Simply Supported Beam
Determine the General Solution for a simply supported beam.
The boundary conditions are:
𝑣 0, 𝑡 = 0 , 𝑀 0, 𝑡 = 0 𝜙 𝑥 = 𝐴 sin 𝑎𝑥 + 𝐵 cos 𝑎𝑥 + 𝐶 sinh 𝑎𝑥 + 𝐷 cosh 𝑎𝑥

𝑣 𝐿, 𝑡 = 0, 𝑀 𝐿, 𝑡 = 0
∴ At 𝑥=0 ; 𝜙 0 =0 , 𝜙 ′′ 0 = 0
𝑥=𝐿 ; 𝜙 𝐿 =0 , 𝜙 ′′ 𝐿 = 0
 Example 1: Simply Supported Beam (cont…)
Thus, from Equation (10),
𝜙 0 =0 ⇒ 𝐵+𝐷=0 𝜙 𝑥 = 𝐴 sin 𝑎𝑥 + 𝐵 cos 𝑎𝑥 + 𝐶 sinh 𝑎𝑥 + 𝐷 cosh 𝑎𝑥
𝜙 ′′ 0 = 0 ⇒ −𝐵 + 𝐷 = 0
∴𝐵=𝐷=𝑂

𝜙 𝐿 = 0 ⟹ 𝐴 sin 𝑎𝐿 + 𝐶 sinh 𝑎𝐿 = 0
𝜙 ′′ 𝐿 = 0 ⟹ 𝑎2 −𝐴 sin 𝑎𝐿 + 𝐶 sinh 𝑎𝐿 = 0 (a)

∴ 2𝐶 sinh 𝑎𝐿 = 0.
⟹𝐶=0

∴ Equation (𝑎) reduces to:

𝐴 sin 𝑎𝐿 = 0.
𝐴 ≠ 0 (Trivial Solution)
 Example 1: Simply Supported Beam (Cont…)
⇒ sin 𝑎𝐿 = 0 ∴ 𝑎𝐿 = 𝑛𝜋 ; 𝑛 = 0, 1, 2, ⋯ ∞ (b)

𝐸𝐼 𝜔=𝐺
𝐸𝐼
where G = 𝑎𝐿 2
∴𝜔=𝐺 𝑚𝐿4
𝑚𝐿4
∴ 𝐺 = 𝑛2 𝜋 2
𝐸𝐼
i.e. 𝜔 = 𝑛 2 𝜋 2
𝑚𝐿4

and since 𝐵 = 𝐶 = 𝐷 = 0
𝑛𝜋𝑥
∴ 𝜙𝑛 𝑥 = 𝐴 sin 𝜙 𝑥 = 𝐴 sin 𝑎𝑥 + 𝐵 cos 𝑎𝑥 + 𝐶 sinh 𝑎𝑥 + 𝐷 cosh 𝑎𝑥
𝐿

The modal shape (normal mode of vibration) is therefore

𝑣𝑛 𝑥, 𝑡 = 𝜙𝑛 𝑥 ∙ 𝑓𝑛 𝑡 ; 𝑛 = 0, 1, 2, ⋯ ∞
 Example 1: Simply Supported Beam (Cont…)

𝑛𝜋𝑥
i.e. 𝑣𝑛 𝑥, 𝑡 = sin 𝐴𝑛 cos 𝜔𝑛 𝑡 + 𝐵𝑛 sin 𝜔𝑛 𝑡
𝐿

The general solution is the σ normal modes of vibration.

∞
𝑛𝜋𝑥
𝑣 𝑥, 𝑡 = ෍ sin 𝐴𝑛 cos 𝜔𝑛 𝑡 + 𝐵𝑛 sin 𝜔𝑛 𝑡
𝐿
𝑛=1

Exercise: Plot the Graphs for different support conditions

 Orthogonality of Modes of Vibration
For undamped free vibration of a vibration 𝜕 4𝑣 𝜕 2𝑣
𝐸𝐼 4 + 𝑚 2 = 𝑃
𝜕𝑥 𝜕𝑡
𝜕 2𝑣 𝜕 4𝑣
𝑚 + 𝐸𝐼 =𝑜 (1)
𝜕𝑡 2 𝜕𝓍 4

For 2 different normal modes 𝜙𝑛 (𝓍) and 𝜙𝑚 (𝓍)

𝑑4 𝜙𝑛 (𝓍) 2𝑚
𝜔𝑛
⇒
𝑑𝓍 4
=
𝐸𝐼
𝜙𝑛 (𝑥) (2a)
𝐸𝐼 𝜙 𝐼𝑉 𝑥 𝑓ሷ 𝑡
=− = 𝜔2
𝑚 𝜙 𝑥 𝑓 𝑡
𝑑4 𝜙𝑚 (𝑥) 2 𝑚
𝜔𝑚
𝑑𝑥 4
=
𝐸𝐼
𝜙𝑚 (𝑥) (2b)
 Orthogonality of Modes of Vibration
Multiply Equation (2a) by 𝜙𝑚 (𝑥) and Equation (2b) by 𝜙𝑛 (𝑥) and subtract one from the other
and integrate from o to L.
2 −𝜔2
𝜔𝑛 𝐿 𝐿 𝑑4 𝜙𝑛 𝑑𝜙𝑚
𝑚
‫𝑚𝜙 𝑜׬‬ 𝑥 𝜙𝑛 𝑥 𝑑𝑥 = ‫𝑜׬‬ 𝜙𝑚 − 𝜙𝑛 𝑑𝑥
𝐸𝐼 𝑑𝑥 4 𝑑𝑥 4
𝐿
𝐿 𝑑4 𝜙𝑛 𝑑3 𝜙𝑛𝐿 𝑑𝜙𝑚 𝑑3 𝜙𝑛
‫ 𝑥𝑑 𝑚𝜙 𝑜׬‬4 𝑑𝑥 = 𝜙𝑚 3 − ‫𝑜׬‬ . 3 dx
𝑑𝑥 𝑜 𝑑𝑥 𝑑𝑥
𝐿 𝐿
𝑑3 𝜙𝑛 𝑑𝜙𝑚 𝑑2 𝜙𝑛 𝐿 𝑑2 𝜙𝑚 𝑑2 𝜙𝑛
= 𝜙𝑚 3 − ∙ 2 + ‫𝑜׬‬ ∙ 𝑑𝑥
𝑑𝑥 𝑜 𝑑𝑥 𝑑𝑥 𝑜 𝑑𝑥 2 𝑑𝑥 2
𝐿 𝑑2 𝜙𝑚 𝑑2 𝜙𝑛
= ‫ 𝑥𝑑 𝑜׬‬2 ∙ 𝑑𝑥
𝑑𝑥 2
Similarly,
𝐿 𝑑4 𝜙𝑚 𝐿 𝑑2 𝜙 2
𝑛 𝑑 𝜙𝑚
න 𝜙𝑛 4
𝑑𝑥 = න 2
∙ 2
𝑑𝑥
𝑜 𝑑𝑥 𝑜 𝑑𝑥 𝑑𝑥
 Orthogonality of Modes of Vibration (Cont…)
𝜔𝑛2 − 𝜔𝑚2 𝐿
∴ න 𝜙𝑚 (𝑥)𝜙𝑛 (𝑥)𝑑𝑥 = 0
𝐸𝐼 𝑜
Thus for 𝜔𝑛 ≠ 𝜔𝑛
𝐿
⇒ ‫ = 𝑥𝑑 𝑛𝜙)𝑥( 𝑚𝜙 𝑜׬‬0 (3)

For a beam with non-uniform mass a stiffness

𝐿
‫𝑛𝜙 𝑜׬‬ 𝑥 𝜙𝑚 𝑥 𝑚(𝑥)𝑑𝑥 = 0 ; 𝜔𝑛 ≠ 𝜔𝑚 (4)

𝐿 𝑑2 𝜙𝑚 𝑑2 𝜙𝑛
‫ 𝑥𝑑 𝑜׬‬2 ∙ 𝐸𝐼 𝑥 𝑑𝑥 = 0 (5)
𝑑𝑥 2
 MODAL ANALYSIS OF STRUCTURES
Forced Vibration of Beams
𝜕2 𝒱 𝜕4 𝒱
m 2 + 𝐸𝐼 4 = 𝑃(𝑥, 𝑡) (6)
𝜕𝑡 𝜕𝑥
• 𝑃(𝑥, 𝑡) excites several natural frequencies and modes of the
structure
• Every mode is a possible solution
• Therefore, dynamic deflection under arbitrary loading is a
linear combination of all possible modes.
∴ 𝑣(𝑥, 𝑡) = σ∞ 𝑛=1 𝜙𝑛 (𝑥) ∙ 𝑌𝑛 (𝑡) (7)
𝑌𝑛 (𝑡) are time-varying modal amplitudes
 Forced vibration of beams
Equation (7) into Equation (6) 𝜕2𝒱 𝜕4𝒱
m 𝜕𝑡 2 + 𝐸𝐼 𝜕𝑥 4 = 𝑃 𝑥, 𝑡 (6)
𝜕 2 𝑌𝑛 (𝑡) 𝐸𝐼 𝜕 4𝜙𝑛 (𝑥) 𝑃(𝑥,𝑡)
σ∞
𝑛=1 𝜙𝑛 (𝑥) + σ∞
𝑛=1 ∙ 𝑌𝑛 (𝑡) = (8)
𝜕𝑡 2 𝑚 𝜕𝑥 4 𝑚 𝑣(𝑥, 𝑡) = σ∞
𝑛=1 𝜙𝑛 (𝑥) ∙ 𝑌𝑛 (𝑡) (7)
But;
𝐸𝐼 𝜕 4𝜙𝑛 (𝑥)
∙ 𝜕𝑥 4 = 𝜔𝑛2 (9) 𝐸𝐼 𝜙 𝐼𝑉 𝑥 𝑓ሷ 𝑡
𝑚𝜙𝑛 (𝑥)
=− = 𝜔2
𝑚 𝜙 𝑥 𝑓 𝑡

Equation (9) into (8)

𝜕 2 𝑌𝑛 𝑡 𝑃(𝑥,𝑡)
σ∞
𝑛=1 𝜙𝑛 𝑥 + σ∞ 2
𝑛=1 𝜙𝑛 𝑥 𝜔𝑛 𝑌𝑛 (𝑡) = (10)
𝜕𝑡 2 𝑚

Multiply equation (10) by 𝜙𝑚 (𝑥) and integrate from o to L

𝐿 𝐿 1 𝐿
σ∞ ሷ ∞ 2
𝑛=1 ‫ 𝑡 𝑛𝑌 𝑥𝑑 𝑥 𝑛𝜙 𝑚𝜙 𝑜׬‬+ σ𝑛=1 ‫׬‬0 𝜙𝑚 𝑥 𝜙𝑛 𝑥 𝑑𝑥𝜔𝑛 𝑌𝑛 (𝑡) = 𝑚 ‫𝑥 𝑃 𝑥 𝑚𝜙 𝑜׬‬, 𝑡 𝑑𝑥 (11)
 Forced vibration of beams (Cont…)
𝐿
But ‫𝑛 ≠ 𝑚 ; 𝑜 = 𝑥𝑑 𝑥 𝑛𝜙 𝑥 𝑚𝜙 𝑜׬‬

∴ Equation (11) reduces to

𝑄 𝑡
𝑌𝑛ሷ 𝑡 + 𝜔𝑛2 𝑌𝑛 (𝑡) = 𝑛 ; 𝑛 = 1,2, ⋯ ∞ (12)
𝑀𝑛

Where;
𝐿
𝑄𝑛 (𝑡) = ‫𝑥 𝑝 𝑥 𝑛𝜙 𝑜׬‬, 𝑡 𝑑𝑥 (13)

𝐿
𝑀𝑛 = 𝑚 ‫𝑛𝜙 𝑜׬‬2 𝑥 𝑑𝑥 (14)
 Forced vibration of beams (Cont…)
𝑄𝑛 (𝑡) : Generalized Force
𝐿
𝑄𝑛 (𝑡) = ‫𝑥 𝑝 𝑥 𝑛𝜙 𝑜׬‬, 𝑡 𝑑𝑥

𝑀𝑛 : Generalized Mass
𝐿
𝑀𝑛 = 𝑚 න 𝜙𝑛2 𝑥 𝑑𝑥
𝑜

Solve for generalized coordinates 𝑌𝑛 (𝑡) from equation (12) ; and

𝑣(𝑥, 𝑡 = ෍ 𝜙𝑛(𝑥)𝑌𝑛 (𝑡)

𝑛=1
 Example:
Beam subjected to Impulsive Load
A simply supported beam of 8m span is subjected to an impulse of 70 Ns at mid-span. The
mass of the beam is 750 kg/m and its 𝐸𝐼 𝑖𝑠 30 × 106 𝑁𝑚2. Determine the response of the
beam.
Solution

𝑛2 𝜋 2 𝐸𝐼
𝜔𝑛 = 2 = 𝑛2 𝜔1
𝐿 𝑚
∴ 𝜔𝑛 = 30.84𝑛2
𝑛𝜋𝑥
𝜙𝑛 (𝑥) = 𝐶1 sin ; 𝐶1 = 1 (arbitrary)
𝐿
𝑛𝜋𝑥
∴ 𝜙𝑛 (𝑥) = sin
𝐿
 Example
Beam subjected to Impulsive Load
Generalized mass (𝑀𝑛 )
𝐿 𝐿 𝑛𝜋𝑥
𝑀𝑛 = 𝑚 න 𝜙𝑛2 𝑥 𝑑𝑥 = 𝑚 න sin 2
𝑑𝑥
𝑜 𝑜 𝐿
𝑚𝐿
∴ 𝑀𝑛 = = 3 000 𝑘𝑔
2

Note: Generalized mass is the same for every mode of vibration and is exactly one half of the
mass of the beam.
 Example (Cont…)
F(t) Consider a moving constant force (F(t)
𝑥 = 𝑉𝑡

𝑃(𝑥, 𝑡)

𝑃 𝑉𝑡 = 𝑃(𝑥, 𝑡)

𝑥 = 𝑉𝑡 𝑑𝑥 𝑥
 Example (Cont…)
𝐿 𝐿
𝑛𝜋𝑥 𝑛𝜋𝑥
𝑄𝑛 𝑡 = න 𝜙𝑛 𝑥 ∙ 𝑝 𝑥, 𝑡 𝑑𝑥 = න sin ∙ 𝑝 𝑥, 𝑡 𝑑𝑥 𝜙𝑛(𝑥) = sin
𝐿
𝑜 0 𝐿

But 𝑥 = 𝑉 ∙ 𝑡 ;
𝐿 𝑛𝜋𝑉𝑡 𝑛𝜋𝑉𝑡 𝐿
∴ 𝑄𝑛 (𝑡) = ‫ 𝑜׬‬sin 𝐿 ∙ 𝑝 𝑥, 𝑡 𝑑𝑥 = sin ‫𝑥(𝑝 𝑜׬‬, 𝑡) ∙ 𝑑𝑥
𝐿

𝐿
But ‫׬‬0 𝑝 𝑥, 𝑡 𝑑𝑥 = 𝐹 𝑡
𝑛𝜋𝑉𝑡 (15)
∴ 𝑄𝑛 (𝑡) = 𝐹(𝑡) ∙ sin
𝐿
 Example (Cont…)
𝐿
For 𝑥 = 𝑉𝑡 = (Load applied at mid-span)
2

𝐹 𝑡 ; 𝑛 = 1,5,9, ⋯ 𝑛𝜋𝑉𝑡
𝑛𝜋
𝑄𝑛 (t)= 𝐹 𝑡 sin =ቐ 0; 𝑛 𝑒𝑣𝑒𝑛 𝑄𝑛 (𝑡) = 𝐹(𝑡) ∙ sin
2 𝐿
−𝐹 𝑡 ; 𝑛 = 3; 7; 11, ⋯
Response of a structure subject to an impact 𝐼 where 𝐼 = 𝐹(𝑡) ∙ 𝑑𝑡
𝐼
𝑢= ∙ sin 𝜔𝑡
𝑚𝜔

𝑄𝑛 𝑡
𝑌𝑛ሷ 𝑡 + 𝜔𝑛2 𝑌𝑛 𝑡 = ; 𝑛 = 1,2, ⋯ ∞
𝑀𝑛
𝐼𝑛
∴ 𝑌𝑛 (𝑡) = ∙ sin 𝑛 2 𝜔1 𝑡
𝑀𝑛 𝜔𝑛
 Example (Cont…)
∞

𝑣(𝑥, 𝑡) = ෍ 𝜙𝑛 𝑥 𝑌𝑛 (𝑡)
𝑛=1

∞
𝐼𝑛 sin 𝑛𝜋ൗ2
∴ 𝑣 𝐿ൗ2 , 𝑡 = ෍ ∙ sin(𝑛 2
𝜔1 𝑡)
𝑀𝑛 𝑛2 𝜔1
𝑛=1

𝐿 70 1 1
∴ 𝑣 ൗ2 , 𝑡 = sin 𝜔1 𝑡 + sin 9𝜔1 𝑡 + sin 25𝜔1 𝑡 + ⋯
3000 × 30.84 9 25
where 𝜔1 = 30.84 𝑟𝑎𝑑/𝑠
General Solutions to Moving Loads
 General Solutions to Moving Loads
ሷ𝑌𝑛 𝑡 + 𝜔𝑛2 𝑌𝑛 𝑡 = 𝑄𝑛 𝑡
; 𝑛 = 1,2, ⋯ ∞ ; 𝑄𝑛 (𝑡) = 𝐹(𝑡) ∙ sin
𝑛𝜋𝑉𝑡
𝑀𝑛 𝐿
𝐿 𝐿 𝑛𝜋𝑥 𝑚𝐿
𝑀𝑛 = 𝑚 ‫𝑛𝜙 𝑜׬‬2 𝑥 𝑑𝑥 = 𝑚 ‫ 𝑜׬‬sin2 𝑑𝑥 ∴ 𝑀𝑛 =
𝐿 2

2𝐹(𝑡) 𝑛𝜋𝑉𝑡
ሷ 2
∴ 𝑌𝑛 𝑡 + 𝜔𝑛 𝑌𝑛 𝑡 = ∙ sin ; 𝑛 = 1,2, ⋯ ∞ (16)
𝑚𝐿 𝐿

𝑛𝜋𝑉
Periodic function with 𝜔
ഥ=
𝐿
2𝐹ൗ 𝑛𝜋𝑉𝑡ൗ
𝑚𝐿 ∙sin 𝐿
∴ Steady state solution is: 𝑌𝑛 (𝑡) = 2 − 𝑛𝜋𝑉ൗ 2 (17)
𝜔𝑛 𝐿

Refer to Lecture 4 (Periodic Function) Notes

 General Solutions to Moving Loads
Transient response cannot be ignored,
∴ Total response is given by
2𝐹ൗ 𝑛𝜋𝑉𝑡
𝑚𝐿 sin 𝐿
𝑌𝑛 (𝑡) = 𝐴 cos 𝜔𝑡 + 𝐵 sin 𝜔𝑡 + 2 − 𝑛𝜋𝑣Τ 2
(18)
𝜔𝑛 𝐿

If beam is initially at rest: 𝑌𝑛 𝑜 = 𝑌𝑛ሶ 0 = 0 ∴ 𝐴 =0 and

2𝐹 𝑛𝜋𝑉 1
𝐵=− ∙ ∙ 2
𝜔𝑚𝐿 𝐿 𝜔 2 − 𝑛𝜋𝑉ൗ
𝑛 𝐿
𝑛𝜋𝑥
𝑛𝜋𝑥 𝜙𝑛(𝑥) = sin
∴ 𝑣(𝑥, 𝑡) = σ∞
𝑛=1 𝜙𝑛 𝑥 𝑌𝑛 (𝑡) = σ∞
𝑛=1 𝑌𝑛 (𝑡) sin 𝐿
𝐿
Thus;
2𝐹 sin 𝑛𝜋𝑥Τ𝐿 𝑛𝜋𝑉𝑡 𝑛𝜋𝑉ൗ
𝐿
𝑣(𝑥, 𝑡) = σ 2 𝑛𝜋𝑉 2 sin − sin 𝜔𝑡 (19)
𝑚𝐿 𝜔𝑛 − ൗ𝐿 𝐿 𝜔
 General Solutions to Moving Loads
Consider ; 𝑛 = 1
𝜋 4 𝐸𝐼
𝜔2 =
𝐿4 𝑚

Mid-span deflection is obtained for Equation (19) as:

2𝐹𝐿3 sin 𝜋𝑉𝑡ൗ𝐿 − 𝜋𝑉ൗ𝐿𝜔 sin 𝜔𝑡

𝑣𝑐 (𝑡) =
𝜋4𝐸𝐼 1− 𝜋𝑉ൗ𝐿𝜔
2 (20)
 General Solutions to Moving Loads
Crawl Deflection
Crawl Deflection (Pseudo-Static Deflection):

Deflection occurs when 𝜋𝑉Τ𝐿 is ≪ compared to 𝜔. From Equation (20);

2𝐹𝐿3 𝜋𝑉𝑡Τ
∴ 𝛿𝑐 (𝑡) = sin 𝐿 (21)
𝜋 4 𝐸𝐼

when: 𝑉𝑡 = 𝐿Τ2
𝐹𝐿3
𝛿𝑐 (𝑡) =
48 𝐸𝐼
 Vibrating String
𝑣 T

𝜕𝜃
𝜃+ 𝑑𝑥
𝜕𝑥

𝜃 𝑣
T
𝑥
 Vibrating String (cont…)
Let the mass per unit length =𝜌

Assume lateral deflection 𝑣 to be small, then

𝜕𝜃 𝜕2𝑣
T 𝜃+ 𝑑𝑥 − 𝑇𝜃 = 𝜌𝑑𝑥 (small deflections and slope)
𝜕𝑥 𝜕𝑡 2

𝜕𝜃 𝜌 𝜕2𝑣
= ∙ (1)
𝜕𝑥 𝑇 𝜕𝑡 2

𝜕𝑣
𝜃=
𝜕𝑥
𝜕2𝑣 1 𝜕2𝑣 𝑇
∴ = ; where 𝐶 =
𝜕𝑥 2 𝐶 2 𝜕𝑡 2 𝜌

C = velocity of wave propagation

 Vibrating String (cont…)
The solution to the above equation is
𝑣 𝑥, 𝑡 = 𝑌 𝑥 ∙ 𝐺 𝑡
1 ′′ 1 𝐺ሷ 𝜔 2
∴ 𝑌 = 2 = 𝑐𝑜𝑛𝑠𝑡 = −
𝑌 𝐶 𝐺 𝐶
𝑑2 𝑌 𝜔 2
∴ 2+ 𝑌=0
𝑑𝑥 𝐶
𝑑2𝐺 2𝐺 = 0
+ 𝜔
𝑑𝑡 2
𝜔 𝜔
⇒ 𝑌 = 𝐴 sin 𝑥 + 𝐵 cos 𝑥 (2)
𝐶 𝐶

and G = 𝐸 sin 𝜔𝑡 + 𝐹 cos 𝜔𝑡 (3)

 Example: Vibrating String
A string stretched between two fixed points with distance 𝑙 between them.
The Boundary Conditions are:

𝑣 0, 𝑡 = 𝑣 𝑙, 𝑡 = 0
𝑣 0, 𝑡 = 0 ⇒ 𝐵 = 0

The solution is therefore given by

𝜔
𝑣 = 𝐸 sin 𝜔𝑡 + 𝐹 cos 𝜔𝑡 sin 𝐶 𝑥
𝑣 𝑙, 𝑡 = 0
𝜔𝑙
⇒ sin =0
𝐶
𝜔𝑛 𝑙 2𝜋𝑙
i.e. 𝐶
= 𝜆
= 𝑛𝜋; 𝑛 = 1, 2, …
𝐶
𝜆= 𝑓
= 𝑤𝑎𝑣𝑒𝑙𝑒𝑛𝑔𝑡ℎ.
𝑛 𝑛 𝑇
∴ 𝑓𝑛 = 2𝑙 ∙ 𝐶 = 2𝑙 𝜌
𝑛 = 1, 2 … ;
 Example: Vibrating String (cont…)
∴ The mode shape is given by
𝑛𝜋𝑥
𝑣= sin
𝑙
The general solution is therefore
∞
𝑛𝜋𝑥
𝑣 𝑥, 𝑡 = ෍ 𝐸𝑛 sin 𝜔𝑛 𝑡 + 𝐹𝑛 cos 𝜔𝑛 𝑡 sin
𝑙
𝑛=1
𝑛𝜋𝐶
where 𝜔𝑛 =
𝑙