Professional Documents
Culture Documents
Beam
Beam
Beam
Revision S
By Tom Irvine
Email: tom@vibrationdata.com
November 20, 2012
_________________________________________________________________________________________________________
Introduction
The fundamental frequencies for typical beam configurations are given in Table 1.
Higher frequencies are given for selected configurations.
Table 1. Fundamental Bending Frequencies
Configuration
Frequency (Hz)
f1 =
Cantilever
1 3.5156 EI
2 L2
f2 = 6.268 f1
f3 = 17.456 f1
Cantilever with
End Mass m
f1 = 1
Simply-Supported
at both Ends
(Pinned-Pinned)
1 n
fn =
2 L
f1 = 0
f2 =
Free-Free
3EI
0.2235 L m L3
2
EI
, n=1, 2, 3, .
(rigid-body mode)
1 22.373 EI
2 L2
f3 = 2.757 f1
f4 = 5.404 f1
Frequency (Hz)
Fixed-Fixed
Fixed - Pinned
f1 =
1 15.418 EI
2 L2
where
E
I
L
Note that the free-free and fixed-fixed have the same formula.
The derivations and examples are given in the appendices per Table 2.
Table 2. Table of Contents
Appendix
A
B
C
D
E
F
Title
Cantilever Beam I
Mass
Solution
Approximate
Approximate
Approximate
Cantilever Beam IV
Beam Simply-Supported at
Both Ends I
Beam Simply-Supported at
Both Ends II
Cantilever Beam II
Eigenvalue
Approximate
Eigenvalue
Title
Mass
Free-Free Beam
Eigenvalue
Approximate
Approximate
Solution
Fixed-Fixed Beam
Eigenvalue
Fixed-Pinned Beam
Eigenvalue
Reference
1. T. Irvine, Application of the Newton-Raphson Method to Vibration Problems,
Revision E, Vibrationdata, 2010.
APPENDIX A
Cantilever Beam I
Consider a mass mounted on the end of a cantilever beam. Assume that the end-mass is
much greater than the mass of the beam.
g
EI
m
L
Figure A-1.
E
I
L
g
m
MR
mg
R
Figure A-2.
R is the reaction force.
MR is the reaction bending moment.
Apply Newtons law for static equilibrium.
forces 0
(A-1)
R - mg = 0
(A-2)
R = mg
(A-3)
moments 0
(A-4)
MR - mg L = 0
(A-5)
MR = mg L
(A-6)
Now consider a segment of the beam, starting from the left boundary.
V
y
x
MR
M
R
Figure A-3.
V is the shear force.
M is the bending moment.
y is the deflection at position x.
moments 0
(A-7)
MR - R x - M = 0
(A-8)
M = MR - R x
(A-9)
(A-10)
EI y M R R x
(A-11)
EI y mgL mg x
(A-12)
EI y mg L x
(A-13)
mg
L x
y
EI
(A-14)
Integrating,
x2
mg
y Lx a
EI
2
(A-15)
2
3
mg x x
y( x) L ax b
EI 2 6
(A-16)
(zero displacement)
(A-17)
Thus
b=0
(A-18)
y' 0 0
(zero slope)
(A-19)
(A-20)
2
3
mg x x
y( x) L
EI 2 6
(A-21)
2
3
mg L L
y( L) L
EI 2 6
(A-22)
mgL3
y( L)
3EI
(A-23)
(A-24)
F is the force.
k is the stiffness.
The stiffness is thus
k=F/y
(A-25)
The force at the end of the beam is mg. The stiffness at the end of the beam is
mg
k
mgL3
3EI
k
(A-26)
3EI
L3
(A-27)
fn
1 k
2 m
(A-28)
The mass term m is simply the mass at the end of the beam. The natural frequency of the
cantilever beam with the end-mass is found by substituting equation (A-27) into (A-28).
fn
1 3EI
2 mL3
(A-29)
APPENDIX B
Cantilever Beam II
Consider a cantilever beam with mass per length . Assume that the beam has a uniform
cross section. Determine the natural frequency. Also find the effective mass, where the
distributed mass is represented by a discrete, end-mass.
EI,
Figure B-1.
The governing differential equation is
EI
4 y
2 y
x 4
t 2
(B-1)
(zero displacement)
dy
0
dx x 0
(zero slope)
(B-2)
(B-3)
(B-4)
x L
d 3y
dx 3
x L
(B-5)
x
y( x) y o 1 cos
2L
(B-6)
dy
x
y o sin
2L 2L
dx
(B-7)
d2y
2
x
y o cos
2L
2L
dx 2
(B-8)
d 3y
x 3 x
y o sin
2L
2L
dx 3
(B-9)
The proposed solution meets all of the boundary conditions expect for the zero shear
force at the right end. The proposed solution is accepted as an approximate solution for
the deflection shape, despite one deficiency.
The Rayleigh method is used to find the natural frequency. The total potential energy
and the total kinetic energy must be determined.
(B-10)
By substitution,
EI L
P
2 0
2
2
x
y o cos dx
2L
2 L
EI 2
y
P
2 o 2 L
EI 2
y
P
2 o 2 L
(B-11)
2
L x
0 cos 2L dx
(B-12)
L 1
x
2 1 cos L dx
(B-13)
10
2
EI 2 1 L x
y
P
x sin
2 o 2 L 2 L
L
(B-14)
4
EI
2
P
y
L
2 o 32 L4
(B-15)
1 4 EI
2
yo
64
L3
(B-16)
1
L 2
2n y dx
0
2
(B-17)
2
1
L
x
2
T n y o 1 cos dx
2L
0
2
(B-18)
1
x
x
2 L
2n y o 1 2 cos cos2 dx
2L
2L
0
2
(B-19)
1
x
x
2 L
2n y o 1 2 cos cos2 dx
2L
2L
0
2
(B-20)
1
x 1 1 x
2 L
2n y o 1 2 cos cos dx
2L 2 2 L
0
2
(B-21)
1
x
x
2 L 3
2n y o 2 cos cos dx
L
0 2
2
2L
(B-22)
L
1
4 L x L x
2 3
2n y o x sin sin
2L L
2
2
0
(B-23)
1
4L
2 3
2n y o L
2
2
(B-24)
11
1
2 8
2n y o L 3
4
(B-25)
(B-26)
EI
8 1
2n L 3 4
16 L3
(B-27)
EI
4
L3
2n
16L 3 8
(B-28)
1/2
EI
4
L3
n
16L 3 8
(B-29)
1/2
EI
4
1
L4
f n
8
2
16 3
(B-30)
1/2
EI
4
1
L4
f n
8
2
16 3
(B-31)
12
1/2
EI
2
1
f n
2 8
2
4L
3
1 3.664 EI
f n
2 L2
(B-32)
(B-33)
3EI
L3
(B-34)
meff
2 fn
(B-35)
3EI
2
1 3.664 EI
3
L 2
2 L
meff
3EI
(B-36)
(B-37)
EI
L3
13.425
L4
meff 0.2235 L
(B-38)
13
APPENDIX C
Cantilever Beam III
Consider a cantilever beam where both the beam mass and the end-mass are significant.
g
EI,
m
L
Figure C-1.
(C-1)
3EI
L3
(C-2)
1
2
3EI
(C-3)
0.2235L m L3
14
APPENDIX D
Cantilever Beam IV
This is a repeat of part II except that an exact solution is found for the differential
equation. The differential equation itself is only an approximation of reality, however.
EI,
Figure D-1.
The governing differential equation is
EI
4 y
2 y
x 4
t 2
(D-1)
Note that this equation neglects shear deformation and rotary inertia.
Separate the dependent variable.
y( x, t ) Y( x)T(t )
(D-2)
4 Y( x)T( t )
2 Y( x)T( t )
EI
x 4
t 2
(D-3)
d4
d2
EI T(t )
Y( x) Y( x)
T(t )
4
2
dx
dt
(D-4)
15
d 4
4 Y( x )
EI dx
Y( x )
d 2
2 T(t )
dt
T(t )
(D-5)
Let c be a constant
d 4
Y
(
x
)
EI dx 4
Y( x )
d 2
T(t
)
2
dt
c2
T(t )
(D-6)
2 T(t )
dt
c2
T(t )
(D-7)
d2
T(t ) c 2 T(t ) 0
2
dt
(D-8)
d 4
Y( x )
EI dx 4
c2
Y
(
x
)
(D-9)
d4
Y( x) c 2 Y( x) 0
EI
dx 4
(D-10)
16
(D-11)
dY( x)
a1 coshx a 2 sinh x a 3 cos x a 4 sinx
dx
(D-12)
d 2 Y( x)
a1 2 sinh x a 2 2 cosh x a 3 2 sin x a 4 2 cos x
2
dx
(D-13)
d 3 Y( x)
a1 3 cosh x a 2 3 sinh x a 3 3 cos x a 4 3 sin x
3
dx
(D-14)
d 4 Y( x)
a1 4 sinh x a 2 4 cosh x a 3 4 sin x a 4 4 cos x
4
dx
(D-15)
(D-16)
(D-17)
The equation is satisfied if
4 c2
EI
(D-18)
1/4
c 2
EI
(D-19)
17
(zero displacement)
dY
0
dx x 0
(zero slope)
(D-20)
(D-21)
(D-22)
(D-23)
x L
x L
(D-24)
a4 a2
(D-25)
(D-26)
a 3 a1
(D-27)
(D-28)
(D-29)
18
(D-30)
(D-31)
(D-32)
(D-33)
cos L cosh L
cos L cosh L a1 0
sin L sinh L a 2 0
(D-34)
sin2 L sinh2 L
2 0
cos L cosh L
(D-35)
2 2 cosL cosh L 0
(D-38)
1 cosL coshL 0
(D-39)
cosL coshL 1
(D-40)
There are multiple roots which satisfy equation (D-40). Thus, a subscript should be
added as shown in equation (D-41).
(D-41)
cos n L cosh n L 1
19
The subscript is an integer index. The roots can be determined through a combination of
graphing and numerical methods. The Newton-Rhapson method is an example of an
appropriate numerical method. The roots of equation (D-41) are summarized in Table D1, as taken from Reference 1.
1.87510
n=2
4.69409
n>3
(2n-1)/2
(D-42)
EI
d2
T(t ) n 4 T(t ) 0
dt 2
(D-43)
EI
EI
t b 2 cos n 2
t
T(t ) b1 sin n 2
20
(D-44)
n n2
(D-45)
Substitute the value for the fundamental frequency from Table D-1.
.
187510
2 EI
1
f1
(D-46)
1 3.5156 EI
2 L2
(D-47)
Substitute the value for the second root from Table D-1.
4.69409
2
L2
f2
EI
(D-48)
1 22.034 EI
2 L2
(D-49)
f 2 6.268 f1
(D-50)
2 fn
(D-51)
21
meff
3EI
1 35156
2
EI
.
3
L 2
2 L
meff
3EI
(D-53)
EI
L3
12.3596
L4
meff 0.2427 L
(D-52)
(SDOF Approximation)
(D-54)
Eigenvalues
n L
1.875104
4.69409
7.85476
10.99554
(2n-1)/2
Normalized Eigenvectors
Mass normalize the eigenvectors as follows
L
0 Yn
2 ( x ) dx 1
(D-55)
22
The calculation steps are omitted for brevity. The resulting normalized eigenvectors are
Y1 ( x )
cosh1 x cos1 x 0.73410 sinh 1 x sin 1 x
(D-56)
Y2 ( x )
cosh 2 x cos 2 x 1.01847 sinh 2 x sin 2 x
(D-57)
Y3 ( x )
cosh3 x cos3 x 0.99922 sinh 3 x sin 3 x
(D-58)
Y4 ( x )
cosh 4 x cos 4 x 1.00003 sinh 4 x sin 4 x
(D-59)
Yi ( x )
coshi x cosi x Di sinhi x sini x
(D-60)
where
Di
cosi L coshi L
sini L sinhi L
(D-61)
Participation Factors
The participation factors for constant mass density are
L
0
n Yn ( x ) dx
(D-62)
23
1 0.7830 L
(D-63)
2 0.4339 L
(D-64)
3 0.2544 L
(D-65)
4 0.1818 L
(D-66)
m eff , n
L Y ( x )dx
n
0
L
2
Yn (x) dx
(D-67)
(D-68)
Thus,
L
m eff , n n 2 Yn ( x )dx
0
(D-69)
m eff , 1 0.6131 L
(D-70)
m eff , 2 0.1883 L
(D-71)
m eff , 3 0.06474 L
(D-72)
m eff , 4 0.03306 L
(D-73)
24
APPENDIX E
EI
m
L1
L1
L
Figure E-1.
L1
Rb
mg
Ra
Figure E-2.
Apply Newtons law for static equilibrium.
forces 0
(E-1)
Ra + Rb - mg = 0
(E-2)
Ra = mg - Rb
(E-3)
25
moments 0
(E-4)
Rb L - mg L1 = 0
(E-5)
Rb = mg ( L1 / L )
(E-6a)
Rb = (1/2) mg
(E-6b)
(E-7)
Ra = (1/2)mg
(E-8)
L1
Ra
mg
moments 0
(E-9)
- Ra x + mg <x-L1 > - M = 0
(E-10)
26
for x L1
0,
x L1
x L , for x L
1
1
(E-11)
M = - Ra x + mg <x-L1 >
(E-12)
(E-13)
(E-14)
EI y [ - (1/2) x x - L1 ][ mg ]
(E-15)
mg
y [ - (1/2) x x - L1 ]
EI
(E-16)
y [ -
1 2 1
mg
x x - L1 2 ]
a
4
2
EI
1
1
mg
y( x ) - x 3 x - L1 3
ax b
6
12
EI
(E-17)
(E-18)
(E-19a)
This requires
b=0
(E-19b)
Thus
1
1
mg
y( x ) - x 3 x - L1 3
ax
6
12
EI
(E-20)
(E-21)
27
1 3 1
3 mg
- 12 L 6 L - L1 EI aL 0
(E-22)
1 3 mg
1 3
- 12 L 48 L EI aL 0
(E-23)
1 3 mg
4 3
- 48 L 48 L EI aL 0
(E-24)
3 3 mg
- 48 L EI aL 0
(E-25)
1 3 mg
- 16 L EI aL 0
(E-26)
1 3 mg
aL
L
16
EI
(E-27)
1 2 mg
a
L
16
EI
(E-28)
(E-29)
1
1
1
mg
y( x ) - x 3 xL2 x - L1 3
16
6
12
EI
(E-30)
mg
1 L 2 1 L
L 1 L
3
y - L - L1
16 2
6 2
EI
2 12 2
28
(E-31)
1 mgL3
L 1
y
2 96 32 EI
(E-32)
3 mgL3
L 1
y
2 96 96 EI
(E-33)
3
L 2 mgL
y
2 96 EI
(E-34)
3
L 1 mgL
y
2 48 EI
(E-35)
(E-36)
F is the force.
k is the stiffness.
The stiffness is thus
k=F/y
(E-37)
The force at the center of the beam is mg. The stiffness at the center of the beam is
mg
k
mgL3
48EI
(E-38)
48 EI
L3
(E-39)
29
1 k
fn
2 m
(E-40)
The mass term m is simply the mass at the center of the beam.
1 48 EI
fn
2 mL3
(E-41)
EI
1
fn 6.928
2
mL3
(E-42)
30
APPENDIX F
Beam Simply-Supported at Both Ends II
Consider a simply-supported beam as shown in Figure F-1.
EI,
Figure F-1.
4 y
2 y
EI
x 4
t 2
(F-1)
d 2 Y( x)
a1 2 sinh x a 2 2 cosh x a 3 2 sin x a 4 2 cos x
2
dx
(F-2)
(F-3)
d 2Y
dx 2 x 0
(zero displacement)
31
(F-4)
(F-5)
Y(L) = 0
d 2Y
dx 2
(zero displacement)
0
(F-6)
(F-7)
x L
a2 a4 0
(F-8)
a4 a2
(F-9)
a2 a4 0
(F-10)
a2 a4
(F-11)
and
a2 0
(F-12)
a4 0
(F-13)
Y( x) a1 sinhx a 3 sinx
d 2 Y( x )
a1 2 sinh x a 3 2 sin x
2
dx
(F-14)
(F-15)
a1 sinhL a 3 sinL 0
32
(F-16)
a1 2 sinhL a 3 2 sinL 0
(F-17)
a1 sinhL a 3 sinL 0
(F-18)
sinh L
sinh L
sin L a1 0
sin L a 3 0
(F-19)
(F-20)
2 sinL sinhL 0
(F-21)
sinL sinhL 0
(F-22)
n L n, n 1, 2, 3,....
(F-23)
n
, n 1, 2, 3,....
L
(F-24)
(F-25)
2
n EI
n
, n 1, 2, 3,...
(F-26)
n n2
2
1 n EI
fn
, n 1, 2, 3,...
2 L
33
(F-27)
2
1 n EI
fn
, n 1, 2, 3,...
2 L
(F-28)
SDOF Approximation
Now calculate effective mass at the center of the beam for the fundamental frequency.
1
L
EI
(F-29)
k
m
(F-30)
48EI
(F-31)
L3
48EI
(F-32)
mL3
3
L
mL
48EI
EI
(F-33)
4
EI
mL3 L
(F-34)
4
1
mL3 L
(F-35)
1 4
m 48 L
(F-36)
48EI
48
34
The effective mass at the center of the beam for the first mode is
m
48 L
4
(SDOF Approximation)
(F-37)
Normalized Eigenvectors
The eigenvector and its second derivative at this point are
Y( x) a1 sinhx a 3 sinx
(F-38)
d 2 Y( x )
a1 2 sinh x a 3 2 sin x
2
dx
(F-39)
(zero displacement)
0
(F-40)
(F-41)
x L
Thus,
d 2Y
dx 2
Y 0
(F-42)
2
2
(F-43)
(F-44)
35
0 Yn
2 ( x ) dx 1
(F-45)
a n 2 sin 2 nx / L dx 1
(F-46)
a n 2 L
1 cos(2 n x / L) 1
2 0
(F-47)
a n 2
1
sin(2nx / L) 1
x
2
2 n
0
(F-48)
L
0
a n 2 L
2
(F-49)
an2
2
L
(F-50)
an
2
L
(F-51)
Yn ( x )
2
sin n x / L
L
(F-52)
36
Participation Factors
The participation factors for constant mass density are
L
0
n Yn ( x ) dx
L
0
(F-53)
2
sin n x / L dx
L
2 L
sin n x / L dx
L 0
2
L
(F-53)
(F-54)
L
L
n cosn x / L 0
(F-55)
1
n 2 L cosn 1 , n=1, 2, 3, .
n
(F-56)
m eff , n
L Y ( x )dx
n
0
L
2
Yn (x) dx
(F-57)
(F-58)
37
Thus,
m eff , n n
L
Yn ( x )dx
0
m eff , n 2 L
m eff , n 2 L
1
n cosn 1
n2
cosn 12
38
(F-59)
(F-60)
, n=1, 2, 3, .
(F-61)
APPENDIX G
Free-Free Beam
Consider a uniform beam with free-free boundary conditions.
EI,
Figure G-1.
The governing differential equation is
EI
4 y
2 y
x 4
t 2
(G-1)
Note that this equation neglects shear deformation and rotary inertia.
The following equation is obtain using the method in Appendix D
d4
Y( x) c 2 Y( x) 0
4
EI
dx
(G-2)
(G-3)
dY( x)
a1 coshx a 2 sinh x a 3 cos x a 4 sinx
dx
(G-4)
d 2 Y( x)
a1 2 sinh x a 2 2 cosh x a 3 2 sin x a 4 2 cos x
2
dx
(G-5)
d 3 Y( x )
a13 coshx a 23 sinh x a 33 cosx a 43 sin x
3
dx
(G-6)
39
x 0
a2 a4 0
(G-8)
a4 a2
d 3Y
dx 3
(G-7)
(G-9)
(G-10)
x 0
a1 a 3 0
(G-11)
a 3 a1
(G-12)
d 2 Y( x )
a1 2 sinh x sin x a 2 2 coshx cosx
dx 2
(G-13)
d3 Y( x )
a13coshx cosx a 23sinh x sin x
3
dx
(G-14)
d 2Y
dx 2
x L
40
(G-15)
d 3Y
dx 3
(G-16)
(G-17)
x L
(G-18)
sinh L sin L
coshL cosL
cosh L cosL a1 0
sinh L sin L a 2 0
(G-19)
(G-20)
(G-21)
2 coshLcosL 2 0
(G-22)
coshLcosL 1 0
(G-23)
41
n n2
4.73004
2
(G-24)
EI
(G-25)
EI
(G-26)
22.373 EI
2
L2
(G-27)
(G-28)
2 EI
n n
(G-29)
7.85320
3
EI
(G-30)
61.673 EI
3
L2
(G-31)
3 2.757 2
(G-32)
L 10.9956
(G-33)
42
2 EI
n n
(G-34)
10.9956
4
EI
(G-35)
120.903 EI
4
L2
(G-36)
4 5.404 2
(G-37)
Eigenvalues
n L
4.73004
7.85320
10.9956
n L n
2
for n 5
(G-38)
The following mode shape and coefficient derivation applies only to the elastic modes
where L 0 .
Equation (G-18) can be expressed as
coshL cosL
a 2 a1
sinh L sin L
(G-39)
Recall
a4 a2
(G-40)
43
a 3 a1
(G-41)
(G-42)
coshL cosL
coshx cosx
Y( x ) a1 sinh x sin x
sinh L sin L
(G-43)
Y( x )
a 1
coshL cosL
coshx cosx
sinh x sin x
L
sinh L sin L
(G-44)
(G-45)
Y( x )
coshL cosL
1
coshx cosx
sinh x sin x
L
sinh L sin L
(G-46)
44
coshL cosL
dy
sinhx sinx
coshx cosx
dx
L
sinh L sin L
(G-47)
coshL cosL
2
sinh
sin
cosh
cos
L
dx 2
sinh L sin L
d2y
(G-48)
n Yn ( x ) dx
(G-49)
n 0
for n > 1
(G-50)
45
APPENDIX H
Pipe Example
Consider a steel pipe with an outer diameter of 2.2 inches and a wall thickness of 0.60
inches. The length is 20 feet. Find the natural frequency for two boundary condition
cases: simply-supported and fixed-fixed.
The area moment of inertia is
I
Do 4 D i 4
64
(H-1)
D o 2.2 in
(H-2)
D i 2.2 2(0.6) in
(H-3)
D i 2.2 1.2 in
(H-4)
D i 1.0 in
(H-5)
2.2 4 1.0 4
64
in 4
(H-6)
I 1.101 in 4
(H-7)
E 30 10 6
lbf
(H-8)
in 2
(H-9)
lbm
0.282
2.2 2 1.0 2 in 2
3 4
in
46
(H-10)
lbm
in
0.850
(H-11)
1 slug ft / sec2 12 in
1.101 in 4
2
1 ft
1
lbf
in
lbm 1 slug
0.850
in 32.2 lbm
lbf
30 106
EI
(H-12)
EI
1.225 10 5
in 2
sec
(H-13)
2 L
(H-14)
1
1.225 105
f1
12 in
2
20 ft
1ft
f1 3.34 Hz
in 2
sec
(simply-supported)
(H-15)
(H-16)
1 22.37 EI
f1
2 L2
(H-17)
47
1
22
.
37
5
f1
1.225 10
2
2
12 in
20 ft
1ft
f1 7.58 Hz
in 2
sec
(fixed-fixed)
(H-18)
(H-19)
48
APPENDIX I
Suborbital Rocket Vehicle
Consider a rocket vehicle with the following properties.
mass = 14078.9 lbm (at time = 0 sec)
L = 372.0 inches.
14078.9 lbm
372.0 inches
37.847
lbm
in
f1
f1
1 22.37 EI
2 L2
1 22.37
2 372 in 2
(I-1)
.2 lbm
63034e 06 lbf in 2 slug ftlbf/ sec2 12ftin 32slugs
37.847
lbm
in
(I-2)
f1 = 20.64 Hz
(I-3)
Note that the fundamental frequency decreases in flight as the vehicle expels propellant
mass.
49
APPENDIX J
Fixed-Fixed Beam
Consider a fixed-fixed beam with a uniform mass density and a uniform cross-section.
The governing differential equation is
EI
4 y
2 y
x 4
t 2
(J-1)
Y( x ) c 2 Y( x ) 0
EI
(J-2)
4
x 4
(J-3)
dY( x )
0
dx x 0
(J-4)
Y(L)=0
(J-5)
dY( x )
0
dx x L
(J-6)
50
(J-7)
(J-8)
d 2 Y( x)
a1 2 sinh x a 2 2 cosh x a 3 2 sin x a 4 2 cos x
2
dx
(J-9)
Y(0) = 0
(J-10)
a2+a4=0
(J-11)
-a2=a4
(J-12)
dY( x )
0
dx x 0
(J-13)
a1 + a3 = 0
(J-14)
a1 + a3 = 0
(J-15)
- a1 = a3
(J-16)
(J-17)
dY( x )
a1coshx cosx a 2sinh x sin x
dx
(J-18)
Y(L) = 0
(J-19)
(J-20)
(J-21)
51
(J-22)
(J-23)
(J-24)
(J-25)
(J-26)
(J-27)
2 cosLcoshL 2 0
(J-28)
cosLcoshL 1 0
(J-29)
The roots can be found via the Newton-Raphson method, Reference 1. The first root is
L 4.73004
(J-30)
2 EI
n n
(J-31)
4.73004
1
EI
(J-32)
22.373 EI
1
L2
(J-33)
52
f1
1 22.373 EI
2 L2
(J-34)
Let a 2 = 1
(J-36)
a1
(J-35)
sinh L sin L
coshL cosL
(J-37)
(J-38)
sinh L sin L
Y( x ) coshx cosx
sinh x sin x
coshL cosL
(J-39)
sinh L sin L
Y( x ) coshx cosx
sinh x sin x
cosh
cos
(J-40)
(J-41)
where
sinh L sin L
n
coshL cosL
(J-42)
53
n L
4.73004
7.85321
10.9956
14.13717
17.27876
For n> 5
1
n L n
2
(J-43)
Normalized Eigenvectors
Mass normalize the eigenvectors as follows
L
0 Yn
2 ( x ) dx 1
(J-44)
Yn ( x )
1
L
(J-45)
where
sinh L sin L
n
coshL cosL
(J-46)
54
(J-47)
Yn ( x )
dx 2
(J-48)
Participation Factors
The participation factors for constant mass density are
L
0
n Yn ( x ) dx
1
n
(J-49)
(J-50)
(J-51)
1
n
(J-52)
1
n
(J-53)
55
1 0.8309 L
(J-54)
2 0
(J-55)
3 0.3638 L
(J-56)
4 0
(J-57)
5 0.2315 L
(J-58)
56
APPENDIX K
Beam Fixed Pinned
Consider a fixed pinned beam as shown in Figure K-1.
EI,
Figure K-1.
4 y
2 y
EI
x 4
t 2
(K-1)
d 2 Y( x)
a1 2 sinh x a 2 2 cosh x a 3 2 sin x a 4 2 cos x
2
dx
(K-2)
(K-3)
(K-4)
(zero displacement)
57
(K-5)
dY( x )
0
dx x 0
(zero slope)
(K-6)
Y(L) = 0
d 2Y
dx 2
(zero displacement)
0
(K-7)
(K-8)
x L
a2 a4 0
(K-9)
a 4 a 2
(K-10)
(K-11)
a 3 a1
(K-12)
(K-13)
58
(K-14)
Apply the left boundary results to the second derivative of the displacement function.
d 2 Y( x )
dx 2
(K-15)
(K-16)
(K-17)
(K-18)
(K-19)
(K-21)
2 sinhLcosL 2 sinLcoshL 0
59
(K-22)
sinhLcosL sinLcoshL 0
tanhL tanL 0
(K-23)
(K-24)
n L
3.9266
7.0686
10.2102
13.3518
16.4934
For n>5,
a 2 a1
n L n
4
(K-25)
sinhL sinL
coshL cosL
(K-26)
coshL cosL
(K-27)
Y( x )
coshL cosL
L
60
(K-28)
Participation Factors
The participation factors for constant mass density are
L
0
n Yn ( x ) dx
(K-29)
1
n
sinhL sinL
coshL cosL
1
n
1
n
(K-30)
(K-31)
(K-32)
(K-33)
(K-34)
1 - 0.8593 L
(K-35)
2 -0.0826 L
(K-36)
3 - 0.3344 L
(K-37)
4 - 0.2070 L
(K-38)
5 - 0.0298 L
(K-39)
61