Journal of Sound and Vibration 464 (2020) 115000

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Journal of Sound and Vibration

journal homepage: www.elsevier.com/locate/jsvi

Nonlinear vibrations of a coupled beam-arch bridge system

c a, b, *, Marko D. Petkovi

Vladimir Stojanovi
c c, Dunja Mili

cb
a
Department of Civil Engineering, Lakehead University, Thunder Bay, Ontario, P7B 5E1, Canada
b
Department of Theoretical and Applied Mechanics, Faculty of Mechanical Engineering, University of Nis, A. Medvedeva 14, 18000, Nis,
Serbia
c
Department of Computer Science, Faculty of Sciences and Mathematics, University of Nis, Visegradska 33, 18000, Nis, Serbia

a r t i c l e i n f o a b s t r a c t

Article history: A characteristic engineering example of the model presented in this paper, which consists
Received 30 October 2018 of a viscoelastically and nonlinearly coupled beam-arch system, can be found in the
Received in revised form 18 September 2019 physical model of a bridge. Here, the beam analogue of von K
arm
an's nonlinear strain-
Accepted 29 September 2019
displacement relationships is used. After that the p-version of the finite element method
Available online 4 October 2019
Handling editor: A.V. Metrikine
is employed for the coupled system's geometrically nonlinear responses. In order to
investigate the features of the arch's curvatures, a nonlinear analysis is performed in the
time domain by the Newmark method and in the frequency domain by harmonic balance
Keywords:
Beam-arch system
and continuation methods. The main contribution of the work is the discovery that the
Nonlinear vibrations upper excited beam (in a double-beam model) goes back to the amplitude-symmetric
Curvature effect vibration regime (as in the case of an excited single beam model) only if the lower
Improved Newmark method beam is curved for the same excited scenario. That phenomenon comes from the nonlinear
couplings in the beam-arch system and cannot be detected in the linear regime, while its
existence is not evident without the analysis presented in this paper. Therefore, the non-
symmetric higher amplitude deviations in the steady state regime of vibrations of the
upper beam are transferred to the lower beam, only if the latter is curved. The paper shows
that this nonlinear phenomenon is a consequence of 1:3 and 1:5 internal resonances
where the first and the third/fifth modes become coupled. The most important purpose of
the study lies in the clear physical insight into the nonlinear stabilizing benefits and the
appearance of the nonlinear dynamic absorption or decrease in the excited beam ampli-
tudes with determined amplitude-frequency responses, time histories, phase plots and
deformed shapes for each particular case. In addition, by applying the Richardson
extrapolation method within the standard Newmark procedure, an improvement is also
explained and presented. The results of all these analyses are very valuable and have a
wider application in vibrations.
© 2019 Elsevier Ltd. All rights reserved.

1. Introduction

The understanding of the dynamic behavior of two-layered or multilayered one-dimensional continuous systems, which
can be found in the technical practice, is of colossal significance due to the following three important structural performances:
weight reduction, strength and stiffness increase, and vibration absorption. The main advantage is that different layers of

* Corresponding author. Department of Civil Engineering, Lakehead University, Thunder Bay, Ontario, P7B 5E1, Canada.
E-mail address: vstojan2@lakeheadu.ca (V. Stojanovi

c).

https://doi.org/10.1016/j.jsv.2019.115000
0022-460X/© 2019 Elsevier Ltd. All rights reserved.
2 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

different materials can be designed in accordance with specific requirements and each layer is given a specific function (not
only structural strength and stiffness, but also thermal insulation, dissipation, etc.) when they are properly combined. Because
of this but also due to some other characteristics, these systems are applied in aerospace, automotive industry, microelec-
tronics engineering, naval engineering, civil engineering, etc.
By changing the geometry of curvatures of certain constituent parts in a mechanical system it is possible to affect the
change in the dynamic response. Characteristic examples of such structures are curved beams and arches. Petyt and Fleischer
[1] conducted one of the first studies related to the linear vibration of arches by FEM. They used three finite element models in
order to study the radial vibrations of curved beams, which possessed different subtended angels and boundary conditions. A
more recent study was done by Lee et al. [2], who presented a formulation in order to solve a problem of shear and membrane
locking providing three examples, however, none in dynamics. Furthermore, Eisenberger and Efraim [3] presented a dynamic
stiffness matrix for a circular beam and calculated the natural frequencies of vibration. The dynamic behavior of a shallow
arch under periodic excitations was studied by Bi and Dai [4]. They used a two-mode expansion and the ensuing two
nonlinear motion equations were integrated numerically. Regarding [5], nonlinear steady state vibrations of beams, frames
and shallow arches were examined by applying the finite element and incremental harmonic balance methods. By adopting
an h-version straight beam element, the authors calculated fundamental, super-harmonic, sub-harmonic, and combination
resonances. In Ref. [6], the h-version of the finite element method was shown as efficient in nonlinear analysis. An analysis of
internal resonances in undamped and free vibrations of curved Timoshenko beams can be seen in Ref. [7]. There, the Galerkin
method was used in the space and time domains as well, with an intention to present the nonlinear differential equations of
motion. The problem arising from the viscoelastically nonlinear interaction between a beam and an arch seems to affect the
vibration analysis of complex structures. A characteristic engineering example of such a dynamic model is a physical model of
a bridge, which is examined in this paper. Furthermore, a significant technological extension of the concept of the single beam
is the double-beam system such as double-beam cranes, double-beam spectrometers, double-beam interferometers, etc.
Being a complex continuous system that has two one-dimensional solids connected by an elastic medium, the elastically
connected double-beam system has attracted attention and different aspects of dynamics have been studied, although only in
the linear regime of vibrations. Seelig and Hoppmann II [8] presented the development and solution of such differential
equations of motion of an elastically connected double-beam system subjected to an impulsive load. The free response of
Timoshenko beam systems was investigated by Rao [9]. Free transverse vibrations of two simply supported BernoullieEuler
beams connected by a Winkler elastic layer were studied by Oniszczuk [10]. In addition, the damped transverse nonlinear
vibrations of an elastically coupled straight double-beam system under compressive axial loading were investigated by
Bochicchio et al. [11]. All of that showed that the stationary problem could use both unimodal and bimodal buckled solutions,
and that the number was dependent both on the structural parameters and the applied axial loads. The problems of nonlinear
curved beams have been investigated by many authors. Recent studies in nonlinear vibrations of curved beam models show
that the problem is still interesting. Thus, Huang et al. [12] analyzed a curved beam subjected to a uniform base harmonic
excitation with both quadratic and cubic nonlinearities. A high-dimensional model that can take nonlinear coupling into
account was derived in the study. Mohamed et al. [13] presented a modified numerical procedure for analyzing nonlinear
vibrations of a clampedeclamped curved beam in the vicinity of the post buckling configuration, where von Ka
rma
n's large
deformation and small strain are taken into consideration. Subsequently, Huang et al. [14] presented various bifurcation
phenomena in a single nonlinear curved beam subjected to a base harmonic excitation. The bifurcation phenomena were
explained and discussed according to the obtained frequency responses of the system without and with an anti-symmetric
mode being excited. Another interesting effect is that rotating beams are stretched due to centrifugal forces. Accordingly, the
stretching effect of a curved beam was analyzed by Chen et al. [15]. The radial point interpolation method was applied and the
results showed that the configurations in steady and transient states were very close. Medina et al. [16] analyzed the problem
of nonlinear curved beams at the micro-level. The paper analyzed an interesting phenomenon of latching curved bistable
beams when their deformed shape was their buckled state in absence of the force. Recent advances in the design of micro
structures have enabled the production of various free forms of curved beams and beam structures. Accordingly, the
nonlinear dynamic analysis of 3D curved beams is of great importance. Thus Weeger et al. [17] introduced an isogeometric
method for shape optimization of curved 3D beams and beam structures. They used the geometrically exact Cosserat rod
theory to model nonlinear 3D beams subjected to large deformations and rotations.
The problem of nonlinear vibrations of a viscoelastically coupled beam-arch system was investigated in this paper.
Complex beam structures very often work in complex environmental conditions and they are regularly exposed to a number
of dynamic excitations. The knowledge of their natural frequencies seems to be of high importance in order to prevent
resonance phenomena. Thus, we first focused on their determination in the linear regime and then continued the analysis in
the nonlinear regime under varying excitations. The main purpose of this study is to show the advantage of the beam-arch
system over the classical double-beam system, as well as to present newly discovered phenomena of coupled structures with
wide applications in vibrations. The curvature of the lower beam showed the improvements in the vibrations in the two main
aspects that were not detectable in the linear study and could not be predicted without the nonlinear analysis presented here.
The first aspect, if the curvature exists, is that the upper beam in the beam-arch system possesses the amplitude-symmetric
vibration behavior in the steady state response regimes (as in the case of a single beam model but not in the case of a classical
double-beam model for the same excited scenario). The second aspect is that the upper beam possesses lower amplitudes or
complete nonlinear dynamic absorption. The non-symmetric higher amplitude deviations in the steady state regime of
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 3

vibrations of the upper beam are transferred to the lower one, only if the lower beam is curved. It represents the stabilizing
feature of the curved lower beam. The same phenomenon caused the establishment of the vibration symmetry in terms of
velocity versus deflection of the points of the beam. Also, within the steady-state regime of vibrations, the maximal deviation
and the shapes of the beam and the arch were discovered and presented. In addition, by applying the Richardson extrapo-
lation method within the standard Newmark procedure, an improvement is also presented. The frequency domain analysis
was performed using the harmonic balance and continuation methods.

2. Problem statement and modeling of a geometrically nonlinear beam-arch coupled system using the p-version of
FEM

This section presents the derivation of equations of motion that relate to the coupled beam-arch elastic system with
uniform thicknesses h. The undeformed geometry of the beam is such that points on its centroidal axis lie at a distance wi
from a reference straight line (Fig. 1). Within the Oxz rectangular co-ordinate system, the quadratic centroidal axis of the beam
can be presented as


1 x2
wi ðxÞ ¼  ; (1)
2 R

where R stands for the principal radius of the curvature (R[x). The beams whose curvature radius is far greater than their
lengths were analyzed in Ref. [18].
By developing the final part in the Taylor series around x ¼ 0, the following can be obtained
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 x 2 1
1 ¼ 1  2 x2 þ h:o:t: (2)
R 2R

In this paper, rotary inertia and shear effects are taken into consideration for describing the coupled beam-arch system
(Fig. 2.). Timoshenko's beam theory is applied as well as the beam analogue of von Ka
rma
n's plate theory in order to take into
account the geometrical nonlinearity for large deflections. We consider the viscoelastically connected beam-arch system
joined by a nonlinear Winkler layer.
A viscoelastic layer [19] is defined with the linear stiffness modulus kL , nonlinear stiffness modulus kNL and damping
coefficient b. The beam and the arch are supposed to be both elastic and isotropic. The in-plane displacements u1 , u2 and the
transverse displacements w1 , w2 at points of the arch and the beam are hence given by

0
u1 ðx; z; tÞ ¼ u01 ðx; tÞ þ zq1 ðx; tÞ; w1 ðx; z; tÞ ¼ w01 ðx; tÞ; (3)

u2 ðx; z; tÞ ¼ u02 ðx; tÞ þ zq02 ðx; tÞ; w2 ðx; z; tÞ ¼ w02 ðx; tÞ; (4)

where w stands for the displacement along the z direction. When the radius of the curvature, defined by R, is far greater than
L, (R[L) the following longitudinal strain at z ¼ 0, ε0x1 can be presented approximately by

Fig. 1. Curved beam.

4 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 2. Coupled beam-arch system.

vu01 ðx; tÞ w01 ðx; tÞ

ε0x1 ¼ þ ; (5)
vx R
where the second term on the right-hand side of equation (5) is explained in detail for cylindrical shallow shells in Appendix

rm

A [20]. The essential part is the same in a curved beam. A von Ka an type of approach is adopted; therefore, the dominant
geometric nonlinearity is taken into consideration, and the longitudinal and shear strains for the arch and the straight beam,
when the radius of the curvature, defined by R, is far greater than L(R[L), are in this form, respectively
!2 !2
0 0
1 vw01 vq vu0 ðx; tÞ 1 vw02 vq2
εx1 ¼ ε0x1 þ þ z 1; εx2 ¼ 2 þ þz : (6)
2 vx vx vx 2 vx vx

vw01 0 vw02 0
gxz1 ¼ þ q1 ; gxz2 ¼ þ q2 : (7)
vx vx

The fundamental equations for the linear elastic isotropic materials are as follows
8 9 2 38 9
>
> s > E1 0 0 0 > εx1 >
< x1 >
=
60
>
< >
=
txz1 l1 G1 0 0 7 7 gxz1 ;
s ¼ Dε⇔ ¼6 (8)
>
> s > 40 0 E2 0 5 > ε >
: x2 > ; >
: x2 >
txz2 0 0 0 l2 G2 gxz2 ;
where E1 and E2 are the Young moduli of the arch, which represent the curved beam and the straight beam, respectively, G1
and G2 are the shear moduli, l1 and l2 are the shear correction factors (in line with the first order shear deformation theory),
D is the matrix of elastic constants, s and ε are the vectors with the non-zero stresses and strains, respectively. The shear
moduli of elasticity are given by Ei =ð2ð1 þni ÞÞ; where ni represents the Poisson ratios. In the p-version of the finite element
method for each element, the middle surface displacements are expressed in the form
8 9
>
> >
>
>
> >
>
>
> u01 ðx; tÞ >
>
>
> >
>
>
> >
>
>
> w01 ðx; tÞ >
> 8 9
>
> >
> > qu1 ðtÞ >
>
> >
> >
> >
> 0 > > qw1 ðtÞ >
>
< q1 ðx; tÞ
> >
= n            o>
< >
=
u1 T w1 T T T T
q1 ; N u2 ; N w2 ; N q2 T q ðtÞ
¼ diag N ; N ; N q1 ; (9)
>
>
0
u2 ðx; tÞ >> >
> qu2 ðtÞ >
>
>
> >
> > >
>
> qw2 ðtÞ >
>
> > >
>
>
> w02 ðx; tÞ >
>
>
>
:
qq2 ðtÞ
;
>
> >
>
>
> >
>
>
>
>
> q02 ðx; tÞ >
>
>
>
>
: >
;

where qui ðtÞ are the vectors of generalized longitudinal displacements, qwi ðtÞ are the vectors of generalized transverse dis-
placements, and qqi ðtÞ are the vectors of generalized rotations about the y axis, while NðxÞ is the matrix of shape functions
constituted by the row vectors of longitudinal, transverse and rotation shape functions. Thus, the row vectors of longitudinal,
transverse and rotation shape functions are written in the following form, respectively,
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 5

n oT n oT  
N u1 ðxÞ ¼ N u2 ðxÞ ¼ g1 ðxÞ g2 ðxÞ g3 ðxÞ … gpðgiÞ ðxÞ ;

n oT n oT  
N w1 ðxÞ ¼ N w2 ðxÞ ¼ f1 ðxÞ f2 ðxÞf3 ðxÞ … fpðfiÞ ðxÞ ;

n oT n oT  
N q1 ðxÞ ¼ Nq2 ðxÞ ¼ q1 ðxÞ q2 ðxÞ q3 ðxÞ … qpðqiÞ ðxÞ ; (10)

where the numbers of longitudinal, transverse and rotation shape functions are pðgiÞ, pðfiÞ and pðqiÞ, and x is the local co-
ordinate (x). The longitudinal strains (6) can be written as
08 9 ( )1 08 9 ( )1
< εp =
εpL1 A < εp = εpL2 A
@ 01 εI @ 02
εx1 ¼ ½1 z þ þ ; εx2 ¼ ½1 z þ ; (11)
: εb ; 0 0 : εb ; 0
01 02

p p
where {ε0i }, {εb0i } and {εLi } present the linear longitudinal strains, bending strains and geometrically nonlinear longitudinal
p p
strains. The strains {ε0i }, {εb0i }, {εLi } and contribution of the initial deformation to the longitudinal strain {εI } are defined as
8 !2 9
8 09 8 09 >
> 1 vw01 > >
> >
8 9 >> vu1 >
> 8 9 >> vq 1 >
> 8 9 >> >
>
<ε = >
p < vx >= > >
< εb = < vx = < ε = < p > 2 vx >
= w01
01 01 L1
¼ ; ¼ ; ¼ ; εI ¼ : (12)
: εp ; > > 0>
> : εb ; > > 0>> : p ; >
εL2 > ! > R
02 : vu2 >
> ; 02 >
: vq 2 >
; >
> vw 0 2> >
>
> 1 >
vx >
:
2 >
;
vx 2 vx

The stresses, couple resultants per unit lengths and shear stresses resultants are
Z Z Z
sxi dz; Mxi ¼ sxi z dz; Qxi ¼
h h h
Txi ¼ 2 2 2 txzi dz; i ¼ 1; 2: (13)
2h h2 h2

Substituting Equation (8) into Equation (13) yields the following constitutive relations for the beam-arch system
08 9 1
> p > 8 9
8 9 2 3B>> ε >
> 8 9 > p > 8 9
> 01 > > εL1 > C > E1 h1 l1 g
>
> T >> AD1 0 0 0 B> >
>
>
>
> >
> εI >
>
>
>
>
>
>
> C
>>
>
>
>
< 1 = 6 0 B < = < = < = C < 2ð1 þ n Þ xz1 =
0 7
b
ε
M1 6
¼4
DD1 0 7B
B p
01
þ
0
þ
0 C
C;
Qx1
¼
1
; (14)
> 5
> T2 > 0 B> > > > > > C > >
0 0 AD2 0 p Q
: >
; B>> ε > > ε
> > L2 > x2 > E h l >
DD2 @>> 02 >> :0; >
> >
>
>
>C >
: 2 2 2 gxz2 >
;
M2 0 0 0 >
> > : 0 > ;A 2ð1 þ n2 Þ
: εb >;
02

8Z   9
>
> E1 1; z2 >
>

>
< >
=
AD 1 ; D D 1 z
¼ Z  > (15)
AD2 ; DD2 >
> >
>
: E2 1; z2 >
;
z

The equations of motion are obtained by using the principle of virtual work, according to which dWin þ dWV þ dWex ¼ 0;
with the components dd ¼ Ndq. For the virtual work of internal forces, the following relations hold
Z
dWV ¼  dεT sdV
V

08 9T 1T 08 9 1
> p >
8 9 > p > 8 9
>
> >
> 8 9 > > 3B>> >
> 8 9 > >
B> ε
> 01 > > >
>
p
εL1 >
> C 2 ε
> 01 > p
>ε > C
0 B> > ε > > > L1 >
T
Z B > > > ε > > > C AD1 0 0 > > > >C
B>< εb > = >
< I>= >
< 0 > =C 6 B>< εb > < I>
= > = > < 0 >=C
B 0 C 6 0 DD1 0 0 7B
7B 01 þ 0 C
¼ b B 01 p > þ> 0 > þ > p >C þ p >C dx
B>> ε > > ε C 4 0 0 AD2 0 5B> ε p > > 0 > > ε C
L B >
> 02 > > : > ; >
>
> L2 >
>
> C B>>
> 02 >
> > > > L2 >
> :0; > > >
> C
@>> >
> 0 >
: 0 ;A> 0 0 0 DD2 @>> >
> >
: 0 ;> A
>
: εb02 >
; >
: εb02 >
;
6 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

8 9
> E1 h1 l1 g >
Z
T >
> >
>
dgxz1 < 2ð1 þ n1 Þ =
xz1
b dx ¼ dqT KðqÞq; (16)
dgxz2 > > E h l >
>
L >
: 2 2 2 gxz2 >
;
2ð1 þ n2 Þ

where dε is the vector composed of virtual strains. The virtual work of the inertia forces is

8 hZ1 =2 ZL=2
 9
>
> >
>
>
>
> r b
1 1 d u €
u
1 1 þ d w €
w
1 1 dx dz >
>
>
Z >
< >
=
T€ h1 =2 L=2
dWin ¼  rdd ddV ¼  €
¼ dqT Mq: (17)
>
> Z2 =2 ZL=2

h  >
>
>
> >
>
V > du2 u€2 þ dw2 w€ 2 dx dz>
: r2 b2
> >
;
h2 =2 L=2

€ are the components of acceleration of a point of the beam. The principle of virtual work of external forces is applied
where d
j
to describe the most general case of external mechanical actions. Considering the transversal point load, P wi ðtÞ, the
j
distributed transverse load, P dwi ðx; tÞ; the longitudinal point load, P ui ðtÞ, the distributed longitudinal load, P dui ðx; tÞ, and in the
same manner the point and distributed moment Mji ðtÞ; M ji ðx; tÞ; the expressions of virtual work of external forces are as
follows
Z h i Z h i
j   d j   d
dWexð1Þ ¼ Pw1 ðtÞd x  xj þ Pw1 ðx; tÞ  kw ðw1  w2 Þ dw1 dL þ Pu1 ðtÞd x  xj þ Pu1 ðx; tÞ du1 dL
L L

Z h i
 
þ M1j ðtÞd x  xj þ M1d ðx; tÞ dq1 dL: (18)
L

Z h i Z h i
j   d j   d
dWexð2Þ ¼ Pw2 ðtÞd x  xj þ Pw2 ðx; tÞ  kw ðw2  w1 Þ dw2 dL þ Pu2 ðtÞd x  xj þ Pu2 ðx; tÞ du2 dL
L L

Z h i
j  
þ M2 ðtÞd x  xj þ M2d ðx; tÞ dq2 dL; i ¼ 1; 2: (19)
L

Bearing in mind that in Fig. 2 only the transversal load exists

P dw2 ðx; tÞ ¼ FðtÞ; (20)

the other external forces and moments are equal to zero

P jwi ðtÞ ¼ P jui ðtÞ ¼ P dw1 ðx; tÞ ¼ P du1 ðx; tÞ ¼ P du2 ðx; tÞ ¼ Mji ðtÞ ¼ Mdi ðx; tÞ ¼ 0; i ¼ 1; 2: (21)

In equations 17e19, dðx xj Þ represents a spatial Dirac delta function, ri stands for the mass per unit volume and u
€ i ¼ d2 wi =

dWinð1Þ þ dWVð1Þ þ dWexð1Þ 0

dt 2 : Applying the virtual work principle ¼ , the following equations of motion of the
dWinð2Þ þ dWVð2Þ þ dWexð2Þ 0
nonlinearly coupled geometrically nonlinear beam-arch system are obtained and presented in the following form
2 3
M11 0 0 0 0 0 8 >
9
>
6 7 >
> >
>
6 0 M12 0 0 0 0 7> > >
>
6 < =
6 0 0 M13 0 0 0 77 q € € € € € €
6 7 u1 qw1 qq1 qu2 qw2 qq2
6 0 0 0 M21 0 0 7> > >
>
> >
4 0 0 0 0 M22 0 5> >
:
>
>
;
0 0 0 0 0 M23
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 7

02 318 9
K11 K12ðrÞ 0 0 0 0 > q_ u1 >
B6 K21ðrÞ K22ðsÞ þ K22ðg11Þ þ K22ðkL Þ K22ðkL Þ >
7C> >
>
B6 K23ðg12Þ 0 0 7C>
> q_ w1 >
>
B6 0 K32ðg21Þ K33ðg22Þ þ K33ð0Þ 0 0 0 7C< q_ q1
=
~B
þa 6
B6 0
7C
7C>
B6 0 0 K44 0 0 7C> q_ u2 >
>
@4 0 K22ðkL Þ 0 0 K55ðg11Þ þ K22ðkL Þ K56ðg12Þ 5A>
>
> q_ w2
>
>
>
: ;
0 0 0 0 K65ðg21Þ K66ðg22Þ þ K66ð0Þ q_ q2

02 318 9
M11 0 0 0 0 0 > q_ u1 >
B6 0 7 C >
> _ >
>
B6 M 12 0 0 0 0 7C> > q
< _ w1 >
>
=
~ B6 0 0 M 0 0 0 7 C q
þbB 6
B6 0
13 7C
7 C _
q1
B6 0 0 M 21 0 0 7C> > q
> _ u2 >
>
>
@4 0 0 0 0 M22 0 5A> >
: qw2 >
>
;
0 0 0 0 0 M23 q_ q2
2 38 9
K11 K12ðrÞ 0 0 0 0 > qu1 >
6 K21ðrÞ K22ðsÞ þ K22ðg11Þ þ K22ðkL Þ K22ðkL Þ 7>> >
>
6 K 23ðg12Þ 0 0 7>> qw1 >
>
6 0 K32ðg21Þ K33ðg22Þ þ K33ð0Þ 0 0 0 7< qq1
=
þ6
6 0
7
7>
6 0 0 K 44 0 0 7> qu2 >
>
4 0 K22ðkL Þ 0 0 K55ðg11Þ þ K22ðkL Þ K56ðg12Þ 5>>
> qw2 >
>
>
: ;
0 0 0 0 K65ðg21Þ K66ðg22Þ þ K66ð0Þ qq2
2 3
0 K12ðNLÞ 0 0 0 0 8 9 8 9
6 h iT 7>>
qu1 >
> > 0 >
6 K21ðNLÞ K22ðNLÞ þ K22ðrNL Þ þ 2 K22ðrNL Þ þ K22ðkNL Þ K24ðkNL Þ 07 >
> qw1 >
> >
> >
>
6 0 0 7>< >
= >
< 0 >
=
6 7 qq1 0
þ6 0 0 0 0 0 07 ¼ 0 ;
6 0 0 7>
7 > > >
> qu2 > > >
6 0 0 0 K45ðNLÞ >
> >
> >
> Fw2 >
>
0 5>
4 0 : qw2 >
; : ;
K22ðkNL Þ 0 K54ðNLÞ K55ðNLÞ þ K24ðkNL Þ 0
qq2
0 0 0 0 0 0
(22)

where f0; 0; 0; 0; Fw2 ; 0g represents the vector of generalized external forces. Matrices of type M** , K** ; and K**ðr;g;kL Þ
are constant matrices leading to linear terms in the equations of motion. Matrices K22ðrNL Þ , K12ðNLÞ , K21ðNLÞ , K45ðNLÞ and K54ðNLÞ
depend linearly on the solution, leading to quadratic nonlinear terms. Matrices K22ðkNL Þ and K55ðkNL Þ depend quadratically on
the solution (thus representing the cubic nonlinearity). Matrices K22ðkNL Þ and K24ðkNL Þ depend cubically on the solution. The
Rayleigh proportional type of damping is introduced with coefficients a~ and b ~, and by expressing the equations of motion in a
more condensed notation, one obtains

€ ðtÞ þ a
Mq _ þb
~ ðKÞqðtÞ ~ ðMÞqðtÞ
_ þ ðK þ Kn ðqðtÞÞÞqðtÞ ¼ FðtÞ: (23)

The linear mass, linear stiffness and nonlinear stiffness matrices are obtained in detail and given in Appendix A. Each of the
displacement components is related to a particular set of shape functions. The transverse displacement is given as a function
of the Legendre polynomials in Rodrigues’ form plus the four Hermite cubics [21]. At the end of each element, only one of the
first four shape functions, the Hermite cubics, has either displacement or rotation different from zero. All higher order hi-
erarchical functions, the Legendre polynomials, have zero amplitudes and slopes at x ¼ ±1. A set of polynomials labeled the g
set is applied in conjunction with linear functions for the longitudinal displacements and rotations. The value of these g
functions is zero, but their slope at the boundaries is not. In the numerical experiment that includes both the time domain and
the amplitude-frequency analysis, the vector of generalized external forces FðtÞ ¼ f0; 0; 0; 0; Fw2 ; 0g is an explicit function of
time and represents the concentrated harmonic excitation applied on the upper beam in the transverse direction. The
clamped-clamped beam-arch case is considered and discussed in detail.

2.1. Convergence study

The h-version element called BEAM 189, which takes into account rotary inertia and shear effects, is chosen in the
commercial software package Ansys [22], used for verification and comparison. This chosen beam element has 3 nodes with
six degrees of freedom at each node (however, to analyze vibrations in a plane only 3 of freedom per node are required).
BEAM189 is an element based on the Timoshenko beam theory and suitable for analyzing slender to moderately thick beam
structures. The current results from Ansys are obtained with 300 elements (100 elements e beam, 100 elements e arch, 100
elements e elastic continuous layer). This fine mesh is generated in order to have a reference model for the validation of the p-
version model, even though some 30 elements are enough to obtain the convergence of transverse natural frequencies. A
similar validation procedure was performed with an advanced layer that possesses discontinuity [19]. Tables 1e4 show that
8 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Table 1
rffiffiffi rffiffiffi
2 3 1 5
Natural frequencies (n ¼ 1) (rad/s) of a clamped-clamped beam-arch coupled system (Li ¼ 10 m, hi ¼ m, bi ¼ m, Ai ¼ 5  102 m2 ; ri ¼ 2 
5 5 8 3
5 
10 N 5 þ 5n
103 kgm3 , k ¼ 2* 2 ; Ei ¼ 1  1010 Nm2 ; Ii ¼ 4  104 m4 ; li ¼ ; ni ¼ 0:34 .
m 6 þ 5n

Mode number n¼1 dof

The curvature effect r[m1 ] 0 0:2 0:4 0:6

pðg; f ; qÞ ¼ 7 u11 44:463 62:693 62:864 62:892 42
u12 77:286 112:49 90:373 71:206
pðg; f ; qÞ ¼ 10 u11 44:460 62:691 62:861 62:889 60
u12 77:284 112:44 90:317 71:151
pðg; f ; qÞ ¼ 15 u11 44:457 62:688 62:859 62:886 90
u12 77:282 112:42 90:296 71:131
Ansys Beam189 u11 43:751 61:871 62.183 62.196 300
u12 76:193 111:372 89:196 70.029

Table 2
rffiffiffi rffiffiffi
2 3 1 5
Natural frequencies (n ¼ 2) (rad/s) of a clamped-clamped beam-arch coupled system (Li ¼ 10 m, hi ¼ m, bi ¼ m, Ai ¼ 5  102 m2 ; ri ¼ 2 
5 5 8 3
5 
10 N 5 þ 5n
103 kgm3 , k ¼ 2* 2 ; Ei ¼ 1  1010 Nm2 ; Ii ¼ 4  104 m4 ; li ¼ ; ni ¼ 0:34 .
m 6 þ 5n

Mode number n¼ 2 dof

The curvature effect r[m1 ] 0 0:2 0:4 0:6

pðg; f ; qÞ ¼ 7 u21 121:58 132:44 130:38 129:90 42
u22 137:01 206:67 194:51 173:45
pðg; f ; qÞ ¼ 10 u21 121:54 132:40 130:34 129:86 60
u22 136:96 206:06 193:16 171:82
pðg; f ; qÞ ¼ 15 u21 121:53 132:39 130:33 129:84 90
u22 136:95 205:94 193:03 171:68
Ansys Beam189 u21 120:84 131:68 129:62 129:15 300
u22 135:85 204:68 191:91 170:57

Table 3
rffiffiffi rffiffiffi
2 3 1 5
Natural frequencies (n ¼ 3) (rad/s) of a clamped-clamped beam-arch coupled system (Li ¼ 10 m, hi ¼ m, bi ¼ m, Ai ¼ 5  102 m2 ; ri ¼ 2 
5 5 8 3

105 N 5 þ 5n
103 kgm3 , k ¼ 2* 2 ; Ei ¼ 1  1010 Nm2 ; Ii ¼ 4  104 m4 ; li ¼ ; ni ¼ 0:34 .
m 6 þ 5n

Mode number n¼ 3 dof

The curvature effect r[m1 ] 0 0:2 0:4 0:6

pðg; f ; qÞ ¼ 7 u31 236:21 240:71 240:63 240:52 42
u32 244:47 373:08 347:12 320:56
pðg; f ; qÞ ¼ 10 u31 235:73 240:24 240:15 240:04 60
u32 244:01 369:75 342:31 314:55
pðg; f ; qÞ ¼ 15 u31 235:64 240:15 240:06 239:95 90
u32 243:92 369:50 341:99 314:18
Ansys Beam189 u31 234.83 239.30 239.25 239.11 300
u32 242.62 368.21 340.58 312.75

the p-version of FEM-based formulation introduced here provides accurate results and stands comparison with the h-version
FEM models. The shear correction factor, which depends on the beam's cross-section and different values, was proposed in
Refs. [23e25]. Kaneko [25] concluded that the value implied by Timoshenko [23] comes closest to experimental results. For
rectangular beams, this value is l ¼ ð5 þ5nÞ=ð6 þ5nÞ. Therefore, in this paper the value l ¼ ð5 þ5nÞ=ð6 þ5nÞ is used. The values
of the present approach (Tables 1e4) show that by taking the 90 DOF (pðg;f ; qÞ ¼ 15; 6,15 ¼ 90) over one element per beam
or arch model (the characteristic of the p-version of FEM) as a reference (used in the further numerical time domain analysis),
the error of the model with 42 DOF (pðg;f ; qÞ ¼ 7; 6,7 ¼ 42), also over one element per beam or arch, is lower than 1% in the
first two modes. In Tables 1e4 pðg; f ; qÞ present the number of the used shape functions. The natural frequencies un1 and un2
in Tables (1e4) are associated with vibrations in the transverse direction for the coupled beam-arch system.
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 9

Table 4
rffiffiffi rffiffiffi
2 3 1 5
Natural frequencies (n ¼ 4) (rad/s) of a clamped-clamped beam-arch coupled system (Li ¼ 10 m, hi ¼ m, bi ¼ m, Ai ¼ 5  102 m2 ; ri ¼ 2 
5 5 8 3
5 
10 N 5 þ 5n
103 kgm3 , k ¼ 2* 2 ; Ei ¼ 1  1010 Nm2 ; Ii ¼ 4  104 m4 ; li ¼ ; ni ¼ 0:34 .
m 6 þ 5n

Mode number n¼ 4 dof

The curvature effect r[m1 ] 0 0:2 0:4 0:6

pðg; f ; qÞ ¼ 7 u41 387:17 390:06 389:83 389:77 42
u42 392:24 413:25 616:99 659:44
pðg; f ; qÞ ¼ 10 u41 384:49 387:40 387:17 387:11 60
u42 389:60 407:80 508:55 488:67
pðg; f ; qÞ ¼ 15 u41 384:29 387:20 386:97 386:91 90
u42 389:40 407:69 507:44 487:18
Ansys Beam189 u41 382.53 385.90 385.63 385.55 300
u42 387.60 405.87 505.61 485.38

3. Time domain analysis and improvement of the newmark method

In this section all of the above is summed up by the obtained results. In what follows, several time domain results on
nonlinear vibrations are presented. A solution for displacements at time t can be obtained byapplying Newmark's method to
the derived system of nonlinear equations of motion. The standard Newmark procedure can be modified in order to slightly
increase the accuracy. Therefore, here presented is the improvement associated with the accuracy of the obtained results. This
method starts by dividing time t into smaller intervals as Dt and assumes that second derivatives of displacements (accel-
erations) are linear functions of time during any time interval of length Dt. Using Newmark's method, by introducing the
initial conditions, the displacements and velocities in the time Dt will be calculated. Using the newly calculated displacements
and velocities at time Dt as the initial conditions for the second time interval, from Dt to 2  Dt, the results for time 2 Dt will
be calculated. This procedure continues until the desired instant has been achieved. With the assumption that acceleration is
changing linearly between two consequent moments j and j þ 1 (so-called linear acceleration method), the acceleration
between these two moments is

1  
q €j þ
€ðtÞ ¼ q €jþ1 t; 0  t  Dt:
€j þ q
q (24)
Dt

By integrating with respect to time (t), the velocity is:

1  
_ tÞ ¼ q_ j þ q
qð €j t þ €j þ q
q €jþ1 t2 ; (25)
2Dt
and another integration with respect to time results in the displacements as

1 2 1  
€t þ
qðtÞ ¼ qj þ q_j t þ q €j þ q
q €jþ1 t3 ; (26)
2 j 6Dt
so, at time t ¼ Dt we have


1 1
q_ jþ1 ¼ q_ j þ Dt €j þ q
q €jþ1 ; (27)
2 2


2 1
qjþ1 ¼ qj þ q_j Dt þ ðDtÞ2 q €j þ q€jþ1 : (28)
6 6

Newmark's method is a generalization of the linear acceleration method, thus

h i
q_ jþ1 ¼ q_ j þ Dt ð1  gÞq
€j þ gq
€jþ1 ; (29)

 
1
qjþ1 ¼ qj þ q_j Dt þ ðDtÞ2 b q€j þ bq
€jþ1 : (30)
2

Now if g ¼ 12 and b ¼ 16 then Newmark's method will be equal to the linear acceleration method. One may alternatively
assume that the acceleration is equal to an average value in each time interval
10 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

€ 
q
€¼ q
q €j þ jþ1 ; (31)
2

so

€ 
q
q_ jþ1 ¼ q_ j þ Dt q€j þ jþ1 : (32)
2

€ 
1 q
qjþ1 ¼ qj þ q_ j Dt þ ðDtÞ2 q€j þ jþ1 : (33)
2 2

If g ¼ 12 and b ¼ 14 then Newmark's method is equal to the constant average acceleration method. From Eqs. 29 and 30 we
obtain
 

1 1 1
€jþ1 ¼
q qjþ1  qj  q_ j  1 q€j : (34)
bðDtÞ2 bDt 2b

g    g  g €
q_ jþ1 ¼ q  q þ 1  q_ j þ Dt 1  q: (35)
bDt jþ1 j b 2b j
or in a general form
 
€jþ1 ¼ a1 qjþ1  qj  a3 q_ j  a5 q
q €j : (36)
 
q_ jþ1 ¼ a2 qjþ1  qj þ a4 q_ j þ a6 q
€j : (37)

where


1 g 1 g 1  g
a1 ¼ ; a2 ¼ ; a3 ¼ ; a 4 ¼ 1  ; a 5 ¼  1 ; a6 ¼ Dt 1  : (38)
bðDtÞ2 bDt bDt b 2b 2b

Using the presented substitutions, we can write Eq. (22) in the following new form
n o n o n o n o n o
½a1 M þ a2 C þ K qjþ1 ¼ fjþ1 þ ½a1 M þ a2 C qj þ ½a3 M  a4 C q_ j þ ½a5 M  a6 C q
€j ;

where ½a1 M þa2 C þK presents the effective stiffness and the right-hand side of Eq. (38) presents the effective force. To obtain
deformations in time j þ 1; fqjþ1 g; we need to know the displacement, velocity and acceleration in time j, which is fqj g; fq_ j g;
€j g. To start the procedure, the displacement and velocity in time 0; fq0 g and fq_ 0 g, will be introduced in the problem
and fq
€0 g should be calculated by
asinitial conditions, and then acceleration in time 0; fq

€0 g ¼ ff0 g  ½Cfq0 g:
½Mfq (39)

By knowing fq0 g; fq_ 0 g and fq

€0 g, the procedure will continue until the goal time. Here, using Eq. (38), the next dis-
placements will be calculated. And by Eqs. 36 and 37, the velocity and acceleration in the new time will be obtained. After a
time that depends on the damping factor, the deformations can converge to a constant value in the case of static loads, or can
change in the case of dynamic loading. It is worth noting that, in linear systems, Newmark's method is unconditionally stable

2
when g  12 and b  14 g þ 12 and the constant average acceleration method is unconditionally stable (i.e.stability does not
depend on the time step). On the other hand, the linear acceleration method is conditionally stable (regarding the time step).
For the sake of accuracy, the constant average acceleration method, with the time step given by u20pDt ¼ 0; 01 or Dt ¼ 0; 01t0 ;
may be used, where t0 is the period of vibration.
After reviewing the applied method, it can be seen how an additional important accuracy improvement has been achieved.
This is done by applying the method for the time step Dt=2 and then using the extrapolation for Dt ¼ 0 by the Richardson
extrapolation method [26]. This improvement leads to the results reported in the paper. The verification is carried out by
comparing two examples with five and six shape functions. It is well known that a larger number of shape functions provides
better accuracy, so with the Richardson extrapolation method and five shape functions the result is closer to the solution
obtained with the classical procedure and six shape functions in comparison with the result obtained with the classical
procedure and five shape functions. The maximal deflection in the steady state regime of vibration is chosen for comparison:
beam (standard 0.427551; improved 0.427634), arch (standard 0.0358066; improved 0.0358155), where the effect of the
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 11

curvature exists. It is important to note that the standard Newmark procedure has already been verified and compared with
the experimental results for the Timoshenko beam model [27] and the Timoshenko curved beam model [28].

4. Frequency domain analysis using the harmonic balance and continuation methods

The harmonic balance method is used in frequency vibration analysis and the continuation method is applied for solving
the system of nonlinear algebraic equations with frequency variation [6,21,29]. The standard procedure of the continuation
method is used with two main loops. In the external loop a predictor to the solution is defined. The prediction of the vector of
generalized coordinates is obtained by using the last two determined vectors of the curve, fwgi and fwgi1 . The approxi-
mated solution is corrected in an internal loop. If we consider system (22), the longitudinal inertia can be neglected because it
represents a small quantity and does not affect the solutions in a nonlinear model [30,31]. After considering the longitudinal
inertia as a small quantity we obtain
2 38 9
M12 0 0 0 > >
6 0 7 < =
6 M13 0 0 7 € € € €
4 0 q q q q þ
0 M22 0 5> :
w1 q1 w2 q2
>
;
0 0 0 M23
02 318 9 2 38 9 2 3
e
M12 0 0 0 > q_ w1 > Kr Kr12 Kr13 0 > qw1 > K1n ðqw1 Þ 0 0 0
~ B 6 7 C < = 6 11 < =
b B6 0 M13 0 0 7C q_ q1 Kr Kr22 0 0 7 qq1 6 0 0 0 07
þ6 21 7 þ6 7
u @4 0 0 M22 0 5A> : q_ w2 > ;
4 Kr31 0 Kr33 Kr34 5>
: qw2 >
;
4 0 0 0 05
0 0 0 M23 q_ q2 0 0 Kr43 Kr44 qq2 0 0 0 0
8 9
> q
< w1 > =
qq1

: qw2 >
> ;
qq2
2   3
6 K1n qw1 ; qw1
5
0 0 0 78 9
qw1 >
6 >
< =
6 0 0 0 077 qq1
þ6   7
6 K3n qw2 ; q5 07 > qw2 >
4 0 0 w2 5: ;
qq2
0 0 0 0

2     3
6 K1n qw1 ; qw1 ; qw1
5 55
0 K1n qw2 ; q5
w2 ; qw2
55
0 78 9 8
qw1 > > 0
9
6 >
< = < >
=
6 0 0 0 077 qq1
þ6     7 ¼ F0 ; (40)
6 K3n qw1 ; q5w1 ; qw1 0 K3n qw2 ; q5
w2 ; qw2 07 > qw2 >
; > >
5: : w2 ;
55 55
4 0
qq2
0 0 0 0

where K1n ðqwi ; q5 wi

Þ and K3n ðqwi ; q5
wi
Þ mean that matrices K1n and K3n are a quadratic function of qwi ; K1n ðqwi ; q5
wi
; q55
wi
Þ
e
~ e e
and K3n ðqwi ; qwi ; qwi Þ mean that matrices K1n and K3n are a cubic function of qwi ; b ¼ ul1  a; where a presents the loss
5 55 2 ~ ~
factor [31,32]. The reduced form of the general equations results in the following obtained matrices
 T
Kr11 ¼ K22ðsÞ þ K22ðg11Þ þ K22ðkL Þ  K12ðrÞ ðK11 Þ1 K12ðrÞ ;

Kr12 ¼ K23ðg12Þ ; Kr21 ¼ K32ðg21Þ ; Kr22 ¼ K33ðg22Þ þ K33ð0Þ ; Kr13 ¼ Kr31 ¼  K22ðkL Þ ;

Kr33 ¼ K55ðg11Þ þ K22ðkL Þ ; Kr34 ¼ K56ðg12Þ ; Kr43 ¼ K65ðg21Þ ; Kr44 ¼ K66ðg22Þ þ K66ð0Þ ;
h iT  T
K1n ðqw1 Þ ¼ K22ðrNL Þ þ 2 K22ðrNL Þ  K21ðNLÞ ðK11 Þ1 K12ðrÞ  K12ðrÞ ðK11 Þ1 K12ðNLÞ
  1
K1n qw1 ; q5
w1 ¼ K22ðNLÞ  K21ðNLÞ ðK11 Þ K12ðNLÞ ;
  1
K3n qw2 ; q5
w2 ¼ K55ðNLÞ  K54ðNLÞ ðK11 Þ K45ðNLÞ ;
   
K1n qw1 ; q5
w1 ; qw1
55
¼ K22ðkNL Þ ; K1n qw2 ; q5
w2 ; qw2
55
¼  K24ðkNL Þ
   
K3n qw1 ; q5
w1 ; qw1
55
¼  K22ðkNL Þ ; K3n qw2 ; q5
w2 ; qw2
55
¼ K24ðkNL Þ :
12 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

The vector of generalized coordinates can be shown as a sum of the first three members of a trigonometric series in the
following form

X
3 X
3

( Qw1ci 9 8 Qw1si 9
= < =
qw1 ðtÞ i¼1 i¼1
¼ cosðiutÞ þ sinðiutÞ; (41)
qq1 ðtÞ X 3 ; :X
3 ;
Qq1ci Qq1si
i¼1 i¼1

X
3 X
3

( Qw2ci 9 8 Qw2si 9
= < =
qw2 ðtÞ i¼1
¼ i¼1
cosðiutÞ þ sinðiutÞ; (42)
qq2 ðtÞ X 3 ; :X
3 ;
Qq2ci Qq2si
i¼1 i¼1

where u represents the system's natural frequency. The vector of new unknowns is now
8 9 8 9
> Qw1c1 > > Qw2c1 >
>
> >
> >
> >
> Qw1s1 >
> > >
> Qw2s1 > >
>
>
> >
> >
> >
>
>
> Q >
> >
> Q >
>
>
>
w1 c2 >
> >
>
w2 c2 >
>
>
> Q >
> >
> Q >
s2 >
>
>
w1 s2 >
> >
>
w2 >
>
>
> Qw1c3 > >
>
>
>
> Qw2c3 > >
>
>
n o HBM

<Q = <Q =
Q HBM ¼ Q 1HBM ; Q 1HBM ¼ w1s3
; Q2 HBM
¼ w2s3
: (43)
Q2 > Qq1c1 >
> > > Qq2c1 >
> >
>
> >
> >
> >
>
>
> Q > > Q >
> q1s1 >
> > >
> q2s1 >>
>
> Qq1c2 > >
>
>
>
> Qq2c2 > >
>
>
>Q >
> >
> >
>
>
> q1s2 >> >
> Q q2s2 >>
>
> >
> >
> >
> Qq1c3 >
> > >
> Qq2c3 > >
>
: ; : ;
Qq1s3 Qq2s3

If we substitute expressions (43) into the initial set of equations of motion (40), we get
h in o
 u2 MHBM þ CHBM þ KLHBM þ KNLHBM Q HBM ¼ fFg; (44)

e
~M,
where MHBM represents the mass matrix, which is the function of M, CHBM the damping matrix, which is the function of b
KLHBM the linear stiffness matrix, which is the function of Kr matrix, and KNLHBM the nonlinear stiffness matrix, which is the
function of K1n ðqw1 Þ - linearly dependent on the generalized displacements, K1n ðqw1 ; q5
w1 Þ, K3n ðqw2 ; qw2 Þ - quadratically
5

dependent on the generalized displacements, and K1n ðqw1;2 ; q5

w1;2 ; qw1;2 Þ; K3n ðqw1;2 ; qw1;2 ; qw1;2 Þ - cubically dependent on
55 5 55

the generalized displacements. The harmonic balance and continuation methods provide an efficient procedure for obtaining
the amplitude-frequency responses in further analysis.

5. Applications

This section summarizes the results of various examples using all that we have obtained and shown previously. Figs. 3e7
show both the amplitude-frequency dependence and the response of the beam-arch nonlinearly coupled system to the
transverse harmonic point excitation with the varying curvature effect ðr ¼ 0; 0:1; 0:2; 0:3; 0:4Þ½m1 ; according to the
obtained linear frequencies given in Tables 1e4 with amplitude ðF ¼ 50 ,103 NÞ and excitation frequency ðu ¼ 0:9u[1 Þ applied
at mid-span. The beam-arch geometric and material properties used in calculations are reported in Table 1. These figures
show the steady state response, i.e. transients have died out. The response presented in Fig. 3(a) is always periodic, with the
first harmonic predominant. Another thing important in this case is the example without the curvature. It is evident that the
displacement of the upper beam ðw2 Þ is much more pronounced outwards than inwards (negative transverse displacements).
With an increase in the arch reciprocal curvature radius this phenomenon is lost.
The phase plots presented in Fig. 3(b) show the four times zero-velocity in each cycle of vibration that is not evident in all
cases when the curvature exists. The most interesting effect, where a new physical insight becomes completely clear, is
obvious from comparing the amplitude-frequency responses depicted in Fig. 3(c and d) with the responses depicted in Figs.
4(c and d)e7(c and d), where the curvature radius exists. The stabilization effect, as a case of a particularly dynamic ab-
sorption, with lower amplitudes (maximal transverse deflection of the upper beam under excitation), is now found in most
sub-segments of the frequency range f1:05u =u[1 ; 3u =u[1 g when the curvature effect exists. The classical double-beam
system possesses two resonances in the frequency range f1:05u =u[1 ; 2u =u[1 g, where two bifurcation points from the
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 13

Fig. 3a. Time histories at the middle of the beam and the middle of the zero arch ðr ¼ 0; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ.

Fig. 3b. Phase plots at the middle of the beam and the middle of the zero arch (r ¼ 0; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ.

main branches are consequences of 1:5 internal resonances where the first (u11 ) and the third modes (u31 ; u32 ) become
coupled. It is evident that the curvature effect is favorable in the frequency range after the first resonance, bearing in mind
that the second resonance appears for the higher frequency, which is not the case in a classical double-beam system. This
appears again in the 1:5 internal resonance case but the distribution of the frequencies is different in the case when the radius
of the curvature exists. The beamearch system possesses lower amplitudes for the lower frequency range in comparison with
the classical double-beam system. It is evident that the dynamic absorption appears in the case when the curvature effect is
lower (the first case, r ¼ 0.1 m-1) and it is retained for other higher values of r with almost the same influence. Fig. 3(c) shows
the lower amplitudes (maximal deflections) on the positive or negative side and the same rule is applied for Figs. 4(c)e7(c).
Fig. 3(d) shows the higher amplitudes (maximal deflections) on the positive or negative side and also the same rule is applied
for Figs. 4(d)e7(d). An amplitude-frequency response portrayed in Fig. 4(d) shows that the system possesses the dynamic
absorption of the upper beam around 2.9 u=u[1 . The lower, curved beam possesses a bifurcation point in that spot. The
interaction between the modes is quite different in comparison with the classical double-beam system and 1:3 internal
resonances are discovered here between the first and the third mode. The dynamic absorption phenomenon is evident in Fig.
5(c) and (d) with the very similar second and third resonance of around 3.6u=u[1 and 3.8u=u[1 . Figs. 6(c and d) and 7(c and d)
14 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 3c. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with lower amplitudes near the first two resonance
frequencies, r ¼ 0; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ.

show the very close dynamic behavior between the two cases (r ¼ 0.3 m-1 and r ¼ 0.4 m-1) and in comparison with Fig. 5(c and
d) the greater distance between the second and the third resonance. It is interesting to note that the lower beam (arch) in Figs.
6(d) and 7(d) possesses the first resonance at 0.88u=u[1 as a consequence of 1:3 internal resonances where the first (u12 ) and
the third mode (u31 ) become coupled. This is also evident from the deformed shapes of the beam-arch system portrayed in
Fig. 14.
The stabilizing effect is most pronounced in the case depicted in Fig. 7(a) when the R radius is the lowest and we have a
complete assimilation of an asymmetric response of the beam (physical insight becomes clear again). This effect is the
consequence of the existence of nonlinear couplings in the model and it cannot be found in the linear regime of vibrations
(Figs. 8e11). The linear solutions presented in Figs. 8e11 show only the symmetric response (according to the positive and
negative side of the transverse direction) and greater amplitudes. They are also not related to the change in excitation because
all examples (Figs. 3e7) are obtained with only the change in the radius of the curvature.
It is interesting to mention and compare the phase plots depicted in Figs. 3(b)e7(b). If we take a look only at the dynamic
behavior and change in the velocity of the central point of the upper beam, we can notice the positive effect of the radius of
the curve. It is obvious that the curvature radius brings a more uniform change in the velocity of the midpoint of the upper
beam. Negative effects in terms of peculiar changes in the velocity of the upper beam's point, represented in the case when
the radius is zero, are transmitted to the arch. In that case, the arch behaves differently and the change in the velocity of the
arch's point is interesting, as shown in Figs. 4(b)-7(b). Fig. 5(b) shows the most interesting arch's point velocity change
defined with a partial swirl effect. Let us now shortly summarize the discussion of the results concerning the existence of the
curvature in the lower beam. Figs. 4e7 present the cases where the curvature effects figure, and it is obvious that any un-
expected deviation or effect, such as an asymmetrical response of the upper beam, is transmitted to the arch, unlike in the
case when the curvature of the lower beam vanishes, as is depicted in Fig. 3.
In the following numerical examples we present the comparison between the two cases (beam-zero curvature arch system
or classical double-beam system and beam-arch system) with the varying influence of the amplitude of the harmonic point
excitation, Figs. 12 and 13, the influence of the amplitude force of the harmonic point excitation on the maximal deflections of
the beam's and arch's points, Fig. 14, the influence of the location of the point excitation and amplitude of the harmonic force,
Figs. 15e18, and finally the influence of the varying frequency excitations, Figs. 19 and 20. All these examples are considered in
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 15

Fig. 3d. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with higher amplitudes near the first two resonance
frequencies, r ¼ 0; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ.

Fig. 4a. Time histories at the middle of the beam and the middle of the arch ðr ¼ 0:1 m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:
16 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 4b. Phase plots at the middle of the beam and the middle of the arch (r ¼ 0:1m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:

Fig. 4c. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with lower amplitudes near the first three resonance
frequencies,r ¼ 0:1 m1 ; F ¼ 50,103 N; u ¼ 0:9u[1 ).
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 17

Fig. 4d. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with higher amplitudes near the first three reso-
nance frequencies,r ¼ 0:1m1 ; F ¼ 50,103 N; u ¼ 0:9u[1 ).

Fig. 5a. Time histories at the middle of the beam and the middle of the arch ðr ¼ 0:2m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:
18 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 5b. Phase plots at the middle of the beam and the middle of the arch (r ¼ 0:2m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:

Fig. 5c. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with lower amplitudes near the first three resonance
frequencies,r ¼ 0:2m1 ; F ¼ 50,103 N; u ¼ 0:9u[1 ).
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 19

Fig. 5d. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with higher amplitudes near the first three reso-
nance frequencies,r ¼ 0:2m1 ; F ¼ 50,103 N; u ¼ 0:9u[1 ).

Fig. 6a. Time histories at the middle of the beam and the middle of the arch ðr ¼ 0:3m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:
20 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 6b. Phase plots at the middle of the beam and the middle of the arch (r ¼ 0:3m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:

Fig. 6c. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with lower amplitudes near the first three resonance
frequencies,r ¼ 0:3m1 ; F ¼ 50,103 N; u ¼ 0:9u[1 ).
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 21

Fig. 6d. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with higher amplitudes near the first three reso-
nance frequencies,r ¼ 0:3m1 ; F ¼ 50,103 N; u ¼ 0:9u[1 ).

Fig. 7a. Time histories at the middle of the beam and the middle of the arch ðr ¼ 0:4 m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:
22 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 7b. Phase plots at the middle of the beam and the middle of the arch (r ¼ 0:4m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:

Fig. 7c. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with lower amplitudes near the first three resonance
frequencies,r ¼ 0:4m1 ; F ¼ 50,103 N; u ¼ 0:9u[1 ).
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 23

Fig. 7d. Maximum transverse displacement at x ¼ 0 in the function of excitation frequency (presented sides with higher amplitudes near the first three reso-
nance frequencies, r ¼ 0:4m1 ; F ¼ 50,103 N; u ¼ 0:9u[1 ).

Fig. 8. Time histories (linear solution) at the middle of the beam and the middle of the arch ðr ¼ 0:0; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:
24 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 9. Time histories (linear solution) at the middle of the beam and the middle of the arch ðr ¼ 0:1m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:

Fig. 10. Time histories (linear solution) at the middle of the beam and the middle of the arch ðr ¼ 0:2m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 25

Fig. 11. Time histories (linear solution) at the middle of the beam and the middle of the arch ðr ¼ 0:3m1 ; F ¼ 50 ,103 N; u ¼ 0:9u[1 Þ:

Fig. 12. Comparison of time histories at the middles of the beam-zero curvature arch system and the middles of the regular beam-arch system for various values
ofFðr ¼ 0:4m1 ; u ¼ 0:9u[1 Þ:
26 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 13. Comparison of phase plots at the middles of the beam-zero curvature arch system and the middles of the regular beam-arch system for various values of
Fðr ¼ 0:4m1 ; u ¼ 0:9u[1 Þ:

a comparative relation between the beam-zero arch system and the beam-arch system (r ¼ 0:4Þ. Fig. 12 gives a clear view of
the deflections of the beam and the arch, and the significant influence of the curvature effect. Moreover, for smaller am-
plitudes of excitation, the displacement is almost symmetric (blue lines) with regard to the beam's middle axis. By increasing
the amplitudes of excitations, the displacement becomes asymmetric with regard to the beam's middle axis in the situation
when the curvature does not exist. Regardless of the increase in the amplitude of excitation, in the case where the curvature
effect exists, it is obvious that the symmetry of the beam's displacement is preserved. The comparison shows that the absence
of the curvature effect causes the opposite asymmetric deflections between the upper and the lower beam (much more
pronounced outwards than inwards in relation to the upper beam, and much more pronounced outwards than inwards in
relation to the lower beam). An increase in the amplitudes of excitation does not affect the appearance of asymmetry when
the curvature effect exists, which is confirmed by the phase plots shown in Fig. 13, from which it can be verified that for
smaller amplitudes of excitation the phase plots deviate slightly from an ellipse ðF ¼ 5 ,103 N; F ¼ 5 ,103 N and F ¼ 30 ,103 NÞ.
The upper right diagram in Fig. 13 shows the absence of the increasing amplitude of the excitation effect because almost all
phase plots are a perfect ellipse. In the most effective cases of the amplitudes of excitation ðF ¼ 50 ,103 N; F ¼ 56 ,103 NÞ, the
arch takes unwanted deviations but still keeps the symmetry related to the horizontal axis (the lower right diagram in Fig. 13).
To understand the interesting dynamic behavior of all the continuous systems, it is necessary to carry out the calculation of
the maximum deflections of all points of the beam-arch system. These computations are graphically presented in Fig. 14. It
can be shown that Fig. 14 depicts maximal displacements of all points of both beams, but in this particular case one should pay
attention to the displacements of the points of the arch (the lower right diagram). The lower beam (arch) possesses the
bifurcation point close to the excitation frequency, 0.88u=u[1 , and presents 1:3 internal resonances where the first (u12 ) and
the third mode (u31 ) become coupled. It is clear now why this kind of “arch absorber”, Figs. 12e13, possesses stabilization
properties that maintain the symmetry of deflections and decrease the amplitudes of the vibrational response of the upper
beam. A direct consequence of that phenomenon is the interaction between the first and the third mode, as shown in Fig. 14. It
is also important to discuss this kind of dynamic behavior of continuous systems when the excitation is applied at the location
that is not at the midspan of the beam. In accordance with this, Figs. 15e18 show the interesting effect of the location where
the harmonic force acts. The analyzed cases depicted in Figs. 15e16 are related to the harmonic point excitation localized atx ¼
0:5, while the cases depicted in Figs. 17e18 are related to the harmonic point excitation localized at x ¼ 0:7. Analyzing the
maximum deflection points shown in Figs. 15 and 17 (beam-arch system), it is interesting to note that a four times larger
amplitude of excitation leads to a 3 times larger deflection of the central beam point if the excitation is shifted from x ¼ 0:5 to
x ¼ 0:7. So this relation can be used to predict the location effect on the deflections of the beam's points and it is not necessary
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 27

Fig. 14. Comparison of the maximal deflections during the forced nonlinear vibration of the nonlinearly coupled beam-zero curvature arch system and the
regular beam-arch system for various values of Fðr ¼ 0:0; r ¼ 0:4m1 ; u ¼ 0:9u[1 Þ:

Fig. 15. Time histories, phase plots and maximal deflections during the forced steady-state nonlinear vibrations of the beam-arch nonlinearly coupled system for
the unsymmetrical transverse harmonic point excitation ðr ¼ 0:4 m1 ; F ¼ 30 ,103 N; u ¼ 0:9u[1 Þ:
28 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 16. Time histories, phase plots and maximal deflections during the forced steady-state nonlinear vibrations of the beam-zero arch nonlinearly coupled
system for the unsymmetrical transverse harmonic point excitation ðr ¼ 0; F ¼ 75 ,103 N; u ¼ 0:9u[1 Þ:

to calculate any time of deflection for all points of the beam. This, naturally, represents just an assumption, bearing in mind
that the nonlinear coupled effects exist. If we compare the results between Figs. 16 and 18 (without the curvature), it would be
evident that the growth in the amplitude of excitation does not have a significant effect if the location of the excitation point is
far from the midspan. Figs. 19 and 20 show the varying excitation frequency effect depicted in time histories, phase plots and
maximal deflections of the beam-arch system. The comparison has already been verified by the previously discovered
phenomenon mentioned before, however, a new conclusion here is that the excitation frequency close to the second linear
frequency results in the growth of the deflection of the central point of the beam regardless of whether that curvature exists.
This is contrary to the already mentioned and discussed cases in the comparison between the beam-zero arch system and the
beam-arch system. The excitation close to the second linear frequency is 1:7u=u[1 for the double-beam system and 1:4u= u[1
for the beam-arch system. This example chosen for comparison presents a particularly non-stabilizing case, which is evident
from the amplitude-frequency responses shown in Figs. 3(d) and 7(d).
The most important purpose of the study is the clear physical insight into the nonlinear stabilizing benefits of the analyzed
beam-arch system with determined amplitude-frequency responses, time histories, phase plots and deformed shapes for
each particular case. The frequency zones with stabilizing effects (shown with amplitude-frequency responses) represent the
fully nonlinear dynamic absorption or decrease in the amplitudes of the upper excited beam when the radius of the curvature
exists in the lower beam. This has been clearly demonstrated in numerous different examples and can be practically applied in
engineering. The disadvantages of the linear solutions regarding the absence of the asymmetric response with larger obtained
amplitudes demonstrate the importance of considering nonlinear couplings in the system, which is yet another advantage of
this study.

6. Conclusions

The properties of geometrically nonlinear forced transverse vibrations of a nonlinearly and viscoelastically coupled beam-
arch system were studied, where the beam analogue of von K

n's plate theory was applied in order to take into account
arma
the geometric nonlinearity for large deflections. The procedures employed allowed for the derivation of response curves of
nonlinear structures, including the definition of internal resonances. Secondary branches were found as well. The features of
the arch's curvatures were investigated in a nonlinear vibration analysis using the harmonic balance and continuation
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 29

Fig. 17. Time histories, phase plots and maximal deflections during the forced steady-state nonlinear vibrations of the beam-arch nonlinearly coupled system for
the unsymmetrical transverse harmonic point excitation ðr ¼ 0:4m1 ; F ¼ 12 ,104 N; u ¼ 0:9u[1 Þ:

Fig. 18. Time histories, phase plots and maximal deflections during the forced steady-state nonlinear vibrations of the beam-zero arch nonlinearly coupled
system for the unsymmetrical transverse harmonic point excitation ðF ¼ 12 ,104 N; u ¼ 0:9u[1 Þ:
30 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Fig. 19. Time histories, phase plots and maximal deflections during the forced steady-state nonlinear vibrations of the beam-zero arch nonlinearly coupled
system for various frequency excitationsðr ¼ 0; F ¼ 5 ,103 NÞ

Fig. 20. Time histories, phase plots and maximal deflections during the forced steady-state nonlinear vibrations of the beam-arch nonlinearly coupled system for
various frequency excitationsðr ¼ 0:4m1 ; F ¼ 5 ,103 NÞ:
 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000 31

methods. The nonlinear dynamic absorption or decrease in the amplitudes of the upper excited beam was found in the case
when the lower coupled beam was curved. The time domain analysis was performed and it showed the stabilizing properties
as a consequence of nonlinear couplings. This nonlinear phenomenon was demonstrated in comparison with the linear
solutions, where the absence of the asymmetric response with the larger obtained amplitudes did not present the real dy-
namic behavior of the proposed model. The amplitude-frequency responses showed the appearance of 1:3 and 1:5 internal
resonances where the first and the third modes became coupled. The paper also presents the effect of the improved steady-
state response regimes of vibrations of the beam-arch system in comparison with the standard double-beam system. It was
shown that the upper beam returns to the stable symmetric vibrations regime (as in the case of a single-beam model but not
in the case of a classical double-beam model for the same excited scenario) only when it was coupled with the curved beam. A
slight improvement of the standard Newmark method in the time domain analysis was also presented. This was achieved by
performing the extrapolation for Dt ¼ 0 by the Richardson extrapolation method. The results of all these are very important
and have a wider application in vibrations of coupled structures.

Acknowledgments

The authors would like to acknowledge the help provided by the Ministry of Education, Science and Technological
Development of the Republic of Serbia through the grants ON 174011 and ON 174013, and in part by the Natural Sciences and
Engineering Research Council of Canada.

Appendix A

Z1 Z1 Z1
r i hi b i L ri hi bi L ri bi h3i L
Nu Nu dx; Mi2 ¼ Nw Nw dx; Mi3 ¼ Nw Nw dx;
T T T
Mi1 ¼
2 2 24
1 1 1

Z1 T Z1 T
2E h b dNu dNu 2E h b dNu dNu
K11 ¼ 1 1 1 dx; K44 ¼ 2 2 2 dx;
L dx dx L dx dx
1 1

Z1 T Z1 T
2l1 G1 h1 b1 dNw dNw 2l G h b dNw dNw
K22ðg11Þ ¼ dx; K55ðg11Þ ¼ 2 2 2 2 dx;
L dx dx L dx dx
1 1

Z1 T Z1 T
dNw q dNw q
K23ðg12Þ ¼ l1 G1 h1 b1 N dx; K56ðg12Þ ¼ l2 G2 h2 b2 N dx;
dx dx
1 1

Z1 Z1
dNw dNw
Nq Nq
T T
K32ðg21Þ ¼ l1 G1 h1 b1 dx; K65ðg21Þ ¼ l2 G2 h2 b2 dx;
dx dx
1 1

Z1 Z1
Ll1 G1 h1 b1 Ll2 G2 h2 b2
Nq Nq dx; K66ðg22Þ ¼ Nq Nq dx;
T T
K33ðg22Þ ¼
2 2
1 1

Z1 Z1
dNq dNq dNq dNq
T T
E1 b1 h31 E b h3
K33ð0Þ ¼ dx; K66ð0Þ ¼ 2 2 2 dx;
6L dx dx 6L dx dx
1 1

Z1 T
h iT Z1
dNu w LE b h T
K12ðrÞ ¼ rE1 b1 h1 N dx; K21ðrÞ ¼ K12ðrÞ ; K22ðsÞ ¼ r 2 1 1 1 Nw Nw dx;
dx 2
1 1

Z1
L T
K22ðkL Þ ¼ kL Nw Nw dx;
2
1
32 V. Stojanovi
c et al. / Journal of Sound and Vibration 464 (2020) 115000

Z1 T Z1 T
2E1 b1 h1 dw01 dNu dNw 4E b h dw01 dNw dNu
K12ðNLÞ ðqw1 Þ ¼ dx; K21ðNLÞ ðqw1 Þ ¼ 1 21 1 dx;
L2 dx dx dx L dx dx dx
1 1

Z1 T Z1 T
2E2 b2 h2 dw02 dNu dNw 4E b h dw02 dNw dNu
K45ðNLÞ ðqw2 Þ ¼ dx; K54ðNLÞ ðqw2 Þ ¼ 2 22 2 dx;
L2 dx dx dx L dx dx dx
1 1

Z1
 T Z1
 T
4E1 b1 h1 dw01 2 dNw dNw 4E b h dw02 2 dNw dNw
K22ðNLÞ ðqw1 Þ ¼ dx; K55ðNLÞ ðqw2 Þ ¼ 2 32 2 dx;
L3 dx dx dx L dx dx dx
1 1

Z1 Z1
L T L T
K22ðkNL Þ ðqw1 Þ ¼ kNL ðw01 Þ3 Nw Nw dx; K24ðkNL Þ ðqw2 Þ ¼ kNL ðw02 Þ3 Nw Nw dx;
2 2
1 1

Z1
E b h dw01 wT dNw
K22ðrNLÞ ðqw1 Þ ¼ r 1 1 1 N dx:
L dx dx
1

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