Front. Mech. Eng.
2014, 9(2): 191–202
DOI 10.1007/s11465-014-0293-y
RESEARCH ARTICLE
Alborz MIRZABEIGY, Firooz BAKHTIARI-NEJAD
Semi-analytical approach for free vibration analysis of
cracked beams resting on two-parameter elastic foundation
with elastically restrained ends
© Higher Education Press and Springer-Verlag Berlin Heidelberg 2014
Abstract In present study, free vibration of cracked
beams resting on two-parameter elastic foundation with
elastically restrained ends is considered. Euler-Bernoulli
beam hypothesis has been applied and translational and
rotational elastic springs in each end considered as support.
The crack is modeled as a mass-less rotational spring
which divides beam into two segments. After governing
the equations of motion, the differential transform method
(DTM) has been served to determine dimensionless
frequencies and normalized mode shapes. DTM is a
semi-analytical approach based on Taylor expansion series
that converts differential equations to recursive algebraic
equations. The DTM results for the natural frequencies in
special cases are in very good agreement with results
reported by well-known references. Also, the DTM
procedure yields rapid convergence beside high accuracy
without any frequency missing. Comprehensive studies to
analyze the effects of crack location, crack severity,
parameters of elastic foundation and boundary conditions
on dimensionless frequencies as well as effects of elastic
boundary conditions on cracked beams mode shapes are
carried out and some problems handled for first time in this
paper. Since this paper deals with general problem, the
derived formulation has capability for analyzing free
vibration of cracked beam with every boundary condition.
Keywords free vibration, cracked beam, elastic founda-
tion, restrained ends, differential transform method
Received January 16, 2014; accepted February 25, 2014
✉
Alborz MIRZABEIGY ( ), Firooz BAKHTIARI-NEJAD
Department of Mechanical Engineering, Amirkabir University of
Technology, Hafez Ave, Tehran 15914, Iran
E-mail: alborz.mi1987@yahoo.com or alborz.mi@aut.ac.ir
1 Introduction
Fault detection such as crack in a beam-like structure at the
beginning of its presence is of vital importance in
engineering problems in order to avoid irreparable
damages. In recent decades, researchers have developed
different methods for non-destructive crack detection in
structural elements. Among these methods, vibration-
based techniques received much attention because of its
accuracy and low cost. Natural frequencies, mode shapes
and in general, dynamic response of beam-like structure
changes due to presence of crack. Therefore, study of beam
vibratory behavior can be useful in terms of crack
detection. There are different approaches in order to
crack modeling in beam-like structure. In general classi-
fication, crack model is divided into two subjects: first is
open crack with assumption that the crack remains open
during vibration and second is breathing crack with
assumption that the crack in beam opens and closes
frequently during vibration. If the static deflection due to
some loading component on the beam such as dead loads,
own weight, etc. is larger than the vibration amplitudes,
then the crack remains open all the time and open crack
model could be considered [1]. Some approaches for open
crack modeling in beam-like structure with Euler-
Bernoulli hypothesis are as follow:
1) local flexibility for the crack section [2],
2) decreasing the section modulus [3],
3) continuing-cracked beam model using Hu-Washizu-
Barr variational formulation [4].
Beam is modeled as two separate segments connected by
a rotational mass-less spring at the crack section in the
local flexibility approach.
Abovementioned approaches for modeling open crack
in the beam used by researchers for different problems.
Rizos et al. [5] applied open crack model to identify crack
location and depth in a cantilever beam from the vibration
modes. Khiem and Lien [6] developed dynamic matrix
192 Front. Mech. Eng. 2014, 9(2): 191–202
stiffness method for spectral analysis of forced vibration of
a beam with multiple open cracks. Hsu [7] applied
differential quadrature method for vibration analysis of
edge-cracked beam on elastic foundation with axial
loading. Yang et al. [8] studied the free and forced
vibration of beams made of functionally graded material
containing open edge crack. They assumed the beam is
subjected to an axial compressive force and a concentrated
transverse load moving along the longitudinal direction.
Khorram et al. [9] compared the performances of two
wavelet based damage detection approaches to find the
location and the size of a crack in a beam subjected to a
moving load.
Structural elements that are represented as a beam when
resting on elastic foundation have wide application in
numerous aspects of engineering. The well-known models
for elastic foundations are Winkler, Pasternak and Vlasov.
The Winkler model of elastic foundation is the most
preliminary in which the vertical displacement is assumed
to be proportional to the contact pressure at an arbitrary
point [10]. Pasternak model or two-parameter foundation is
more precise model for elastic foundation rather than
Winkler model which adds shearing layer to Winkler
model. Mentioned model has been used for different
problems of beams and plates that resting on elastic
foundation [11–13].
Boundary conditions of beams have significant effect on
natural frequencies, dynamic behavior and critical buck-
ling load of structures. Often, boundary conditions in
beams are modeled by classic and ideal assumption that
yields relative simplicity to derive analytical expression for
natural frequencies and mode shapes. Classic and ideal
boundary conditions are hinged, clamped, sliding and free.
In practical case, implementation classic and ideal
boundary conditions are onerous and this assumption
cause error between predicted results from theory and
measured results. This issue especially in crack detection
in beam is important. In recent decades, some researchers
consider elastic restrained ends instead classic and ideal
boundary conditions for vibration analysis. In their work,
boundary conditions are modeled by rotational and
translational spring. These springs also can satisfy
conditions for classic and ideal boundary conditions. Ho
and Chen [14] applied differential transform method for
free and forced vibration analysis of a general elastically
restrained non-uniform beam. Mao [15] analyzed the free
vibration of multiple-stepped beams with elastically
restrained by using Adomian decomposition method and
so on [16,17].
The differential transform is a semi-analytic and
powerful method for solving linear and nonlinear differ-
ential equations. This method was first used in structural
dynamics by Chen and Ho [18], then different types of
problem in structural dynamics are analyzed by DTM [19–
24]. Shahba and Rajasekaran [25] introduced new
approach based on DTM called differential transform
element method for free vibration and stability analysis of
tapered beams made of functionally graded material.
Jandaghi et al. [26] extended application of two-dimen-
sional DTM to study free vibration of thin plates with
arbitrary varying thickness. Wattanasakulpong and Chai-
kittiratana [27] applied DTM to solve linear and nonlinear
vibration problems of elastically end restrained beams.
Beside applications in structural dynamics, DTM has wide
applications in other fields of science and engineering
[28,29]. It is worth noting that other methods exist to free
vibration analysis of continuous systems by solving
differential equations of motion, such as discrete singular
convolution [30], differential quadrature method [31,32]
and finite elements methods. These methods discretize the
domain of solution while the DTM does not need to
domain discretizing. Also, mode shape obtained by DTM
is a continuous function and does not discrete numerical
values at knot point by meshing discrete technique [33].
In this study, free vibration of cracked Euler-Bernoulli
beam with elastically restrained ends resting on two-
parameter elastic foundation is considered. Open crack
replaced by mass-less rotational spring and differential
transform method applied to determine natural frequencies
and mode shapes. Effect of different parameters such as
crack severity and location, elastic foundation and elastic
boundary conditions on natural frequencies and mode
shapes are investigated. Although, Torabi et al. [34]
studied natural frequencies of clamped-hinged beam by
DTM, present study deals with general problem of cracked
beam with mentioned conditions and some new and more
useful results.
2 The mathematical model and formulation
Consider a cracked beam with elastically restrained ends
resting on two-parameter elastic foundation as shown in
Fig. 1. The beam has length L, rectangular cross section
with height of h and width of w, open crack of depth b
located at xc and elastic restrained ends with rotational
springs (kRL for left and kRR for right) and translational
springs (kTL for left and kTR for right) at both ends. Elastic
foundation contained Winkler spring and shearing layer
where kw is coefficient of Winkler springs and ks is
modulus of shearing layer. Equations of motion with Euler-
Bernoulli hypothesis are as follows:
∂4 y1 ðx1 ,tÞ ∂2 y1 ðx1 ,tÞ
EI – k s þ kw y1 ðx1 ,tÞ
∂x41 ∂x21
∂2 y1 ðx1 ,tÞ
þ
A
∂t 2
¼ 0, 0<x1 <xc ¼ L1 , (1)
 Alborz MIRZABEIGY et al. Semi-analytical approach for free vibration of cracked beams 193

α 2
f ðαÞ ¼ 2 ð5:93 – 19:69α
1–α
þ 37:14α2 – 35:64α3 þ 13:12α4 Þ: (11)
where α is crack depth to beam height ratio (α ¼ b=h).
Assuming the motion is harmonic and using separation
of variables, followings functions are considered:
y1 ðx1 ,tÞ ¼ y1 ðx1 ÞexpðiωtÞ (12)

y2 ðx2 ,tÞ ¼ y2 ðx2 ÞexpðiωtÞ (13)

where ω is the circular frequency.
The equations of motion in Eqs. (1) and (2) derived in
Fig. 1 Cracked beam with elastically restrained ends resting on dimensionless form are as follow:
two-parameter elastic foundation
∂4~y1 ∂2~y ~1
– Ks 21 þ Kw~y1 – Ω4~y1 ¼ 0, 0<~x1 <L (14)
∂~x14
∂~x1
∂ y2 ðx2 ,tÞ
4
∂ y ðx ,tÞ
2
EI – ks 2 22 þ kw y2 ðx2 ,tÞ
∂x42 ∂x2
∂4~y2 ∂2~y2 ~2
– K s þ Kw~y2 – Ω4~y2 ¼ 0, 0<~x2 <L (15)
∂2 y ðx ,tÞ ∂~x42 ∂~x22
þ
A 2 2 2
∂t where dimensionless parameters are:
¼ 0, 0<x2 <L – xc ¼ L2 : (2) x1 x y y
~x1 ¼ , ~x2 ¼ 2 , ~y1 ¼ 1 , ~y2 ¼ 2 ,
In Eqs. (1) and (2), E is modulus of elasticity and I is the L L L L
cross-sectional moment of inertia. k s L2 kw L4 4
Aω2 L4
Ks ¼ , Kw ¼ ,Ω ¼ , (16)
Corresponding boundary conditions with rotational and EI EI EI
translational springs formulate as follows: ~ 1 ¼ L1 , L
~xc ¼ L ~ ¼ L2 ¼ 1 – L ~1
L 2 L
∂3 y1 ð0Þ k
þ TL y1 ð0Þ ¼ 0 (3) Also, dimensionless boundary conditions and compat-
∂x1 3 EI
ibility conditions in crack location are expressed as follow:
∂2 y1 ð0Þ kRL ∂y1 ð0Þ ∂3~y1 ð0Þ ~
– ¼0 (4) þ K TL~y1 ð0Þ ¼ 0 (17)
∂x21 EI ∂x1 ∂~x31

∂3 y2 ð0Þ k ∂2~y1 ð0Þ ~ ∂~y1 ð0Þ

þ TR y2 ð0Þ ¼ 0 (5) – K RL ¼0 (18)
∂x2 3 EI ∂~x21 ∂~x1

∂2 y2 ð0Þ kRR ∂y2 ð0Þ ∂3~y2 ð0Þ ~

– ¼0 (6) þ K TR~y2 ð0Þ ¼ 0 (19)
∂x22 EI ∂x2 ∂~x32
The compatibility conditions at the crack location are:
∂2~y2 ð0Þ ~ ∂~y2 ð0Þ
y1 ðL1 Þ ¼ y2 ðL2 Þ (7) – K RR ¼0 (20)
∂~x22 ∂~x2

y $1 ðL1 Þ ¼ y $2 ðL2 Þ (8)    

~1 ¼ ~y2 L
~y1 L ~2 (21)
y %1 ðL1 Þ ¼ – y %2 ðL2 Þ (9)   ~  
y~$1 L
~1 ¼ y $2 L
~2 (22)
y#1 ðL1 Þ þ y#2 ðL2 Þ þ hf ðαÞy $2 ðL2 Þ ¼ 0 (10)    
y~%1 L
~1 ¼ – y~%2 L
~2 (23)
where f ðαÞ is non-dimensional cracked beam sectional
flexibility, which is a function of crack size and defined as
follow [35]:
194 Front. Mech. Eng. 2014, 9(2): 191–202

  ~   h   which implies that:

y~#1 L ~2 þ f ðαÞy~$2 L
~1 þ y#2 L ~2 ¼ 0 (24)  
L X1
tn dn xðtÞ
xðtÞ ¼ (30)
where
n¼N þ1
n! dt n t¼0

~ TL ¼ kTL L , K
~ RL ¼ kRL L , K
~ TR ¼ kTR L ,
3 3
K is negligibly small. In this study, the convergence of the
EI EI EI natural frequencies determines the value of N .
k
~ RR ¼ RR L Basic transformation rules depending on the DTM for
K (25)
EI differential equations and boundary conditions are tabu-
h lated in Tables 1 and 2, respectively.
In present study, f ðαÞ is considered as crack severity in
L
beam and is shown by η.
4 Solution procedure with DTM
3 The differential transform method (DTM) In the solution stage, the DTM is applied to the Eq. (14)
and Eq. (15) by using the transformation rules given in
Differential transform method is an efficient semi-analytic Table 1 and the following recurrence relation is obtained:
approach for solving ordinary and partial differential
equation that uses the form of polynomials as the ðn þ 4Þ!Y1 ðn þ 4Þ – Ks ðn þ 2Þ!Y1 ðn þ 2Þ
approximations to the exact solutions that are sufficiently
differentiable. It is different from high-order Taylor series þ Kw n!Y1 ðnÞ – Ω4 n!Y1 ðnÞ
expansions because Taylor series expansions requires ¼0 (31)
symbolic computation of the necessary derivatives of the
data functions and is expensive for large orders.
The conceptual feature of the DTM is to transform the ðn þ 4Þ!Y2 ðn þ 4Þ – Ks ðn þ 2Þ!Y2 ðn þ 2Þ
governing differential equations and boundary conditions
as well as continuity conditions into a set of algebraic þ Kw n!Y2 ðnÞ – Ω4 n!Y2 ðnÞ
equations using a transformation role. Solving the
algebraic equations in the usual way leads to accurate ¼0 (32)
results with fast convergence rate and small computational
effort.
A function xðtÞ, analytical in domain D, can be Table 1 Basic transformation rules of differential transform method
represented by a power series around any arbitrary point Original function Transformed function
in this domain. Differential transform of a function xðtÞ is f ðxÞ ¼ αgðxÞ FðnÞ ¼ αGðnÞ
defined as follows: f ðxÞ ¼ gðxÞ  hðxÞ FðnÞ ¼ GðnÞ  HðnÞ
 
1 dn xðtÞ f ðxÞ ¼
dm gðxÞ
FðnÞ ¼
ðn þ mÞ!
Gðn þ mÞ
X ðnÞ ¼ , (26) dxm n!
n! dt n t¼0
f ðxÞ ¼ gðxÞhðxÞ Xn
F ðnÞ ¼ GðnÞH ðn – rÞ
In Eq. (26), xðtÞ is the original function and X ðnÞ is the r¼0
transformed function. Differential inverse transform of X
ðnÞ is defined as:
X 1
xðtÞ ¼ X ðnÞtn , (27)
n¼0 Applying the DTM rules given in Table 2 to Eqs. (17)–
(20), the boundary conditions at both ends are transformed
Combining Eqs. (26) and (27), we obtain the following as:
equation
X1 n n  ~ TL Y1 ð0Þ ¼ 0,
3!Y1 ð3Þ þ K (33)
t d xðtÞ
xðtÞ ¼ , (28)
n! dtn t¼0
n¼0 ~ RL Y1 ð1Þ ¼ 0,
2!Y1 ð2Þ – K (34)
In principal applications, the function xðtÞ is shown by a
finite numbers of terms and Eq. (28) can be written as: ~ TR Y2 ð0Þ ¼ 0,
3!Y2 ð3Þ þ K (35)
XN  
t n dn xðtÞ
xðtÞ ¼ , (29) ~ RR Y2 ð1Þ ¼ 0:
2!Y2 ð2Þ – K (36)
n¼0
n! dtn t¼0
 Alborz MIRZABEIGY et al. Semi-analytical approach for free vibration of cracked beams 195

Table 2 Basic rules of differential transform method for the boundary conditions
Original B.C. Transformed B.C. Original B.C. Transformed B.C.

f ð0Þ ¼ 0 Fð0Þ ¼ 0 f ðLÞ ¼ 0 X

N
Ln F ðnÞ ¼ 0
n¼0

df ð0Þ Fð1Þ ¼ 0 df ðLÞ X

N
¼0 ¼0 nLn – 1 F ðnÞ ¼ 0
dx dx
n¼0

d2 f ð0Þ Fð2Þ ¼ 0 d2 f ðLÞ X

N
¼0 ¼0 nðn – 1ÞLn – 2 F ðnÞ ¼ 0
dx2 dx2 n¼0

d3 f ð0Þ Fð3Þ ¼ 0 d3 f ðLÞ X

N
¼0 ¼0 nðn – 1Þðn – 2ÞLn – 3 F ðnÞ ¼ 0
dx3 dx3 n¼0

The values of deflection and slope at both ends are X

N
~n1 – 3 Y1 ðnÞ
nðn – 1Þðn – 2ÞL
unknown; therefore, we assume the transformation of these
n¼0
values as follow:
X
N
n–3
Y1 ð0Þ ¼ C1 (37) ¼– ~2 Y2 ðnÞ,
nðn – 1Þðn – 2ÞL (46)
n¼0
Y1 ð1Þ ¼ C2 (38) X
N X
N
n–1 n–1
~1 Y1 ðnÞ þ
nL ~2 Y2 ðnÞ
nL
Y2 ð0Þ ¼ C3 (39) n¼0 n¼0

h XN
Y2 ð1Þ ¼ C4 (40) þ f ðαÞ ~n2 – 2 Y2 ðnÞ ¼ 0:
nðn – 1ÞL (47)
L n¼0
where C1 , C2 , C3 and C4 are unknown parameters. Substituting Y1 ðnÞ and Y2 ðnÞ into transformed compat-
From recurrence equation in Eq. (31) and Eq. (32) and ibility conditions in Eqs. (44)–(47), yields four algebraic
by using Eqs. (33)–(40), Y1 ðnÞ for all values of n, can be equations which can be arranged and expressed in the
determined in terms of K ~ TL , K
~ RL , C1 , C2 , Kw , Ks and Ω, matrix form as follows:
also, Y2 ðnÞ for all values of n, can be determined in terms 2 n 3 2 3 2 3
~ TR , K
~ RR , C3 , C4 , Kw , Ks and Ω. For example, for Y1 ðnÞ Q11 Qn12 Qn13 Qn14 C1 0
of K
6 n 7 6 7 6 7
we have: 6 Q21 Qn22 Qn23 Qn24 7 6 C2 7 6 0 7
6 7$6 7 ¼ 6 7 (48)
~ C
K 6 Qn Qn Qn Qn 7 6 C 7 6 0 7
4 31 34 5 4 3 5 4 5
Y1 ð2Þ ¼ RL 2 , (41) 32 33
2! Qn41 Qn42 Qn43 Qn44 C4 0
~ TL C1
K where Qnij ði,j
¼ 1 – 4Þ are polynomials of Ω that the
Y1 ð3Þ ¼ – , (42)
3! coefficients of theses polynomials are determined from
values of K~ TL , K
~ RL , K
~ TR , K
~ RR , Kw and Ks . For the non-
1 ~ ~   
~ w – Ω4 C1
Y1 ð4Þ ¼ K s K RL C2 – K (43) trivial solutions of Eq. (48), it is necessary that the
4! determinant of the coefficient matrix is equal to zero:
…  n 
 Q11 Qn12 Qn13 Qn14 
According to transformation rules in Table 2, compat-  
 n 
ibility conditions are transformed as follows:  Q21 Qn22 Qn23 Qn24 
 ¼0 (49)
X
N X
N  n 
~n1 Y1 ðnÞ ¼ ~n2 Y2 ðnÞ,  Q31 Qn32 Qn33 Qn34 
L L (44)  
 Qn Qn Qn Qn 
n¼0 n¼0 41 42 43 44

X
N Solving Eq. (49), the dimensionless frequencies are
n–2
~1 Y1 ðnÞ
nðn – 1ÞL calculated. The m th estimated dimensionless frequency,
ðnÞ
n¼0 Ωm corresponds to n and the value of n is determined by
XN the following convergence criterion:
¼ ~n2 – 2 Y2 ðnÞ,
nðn – 1ÞL (45)  
 ðnÞ – 1Þ 
n¼0 Ωm – Ωðnm < ε (50)
196 Front. Mech. Eng. 2014, 9(2): 191–202

Mode shapes can be determined in similar approach as used for setting boundary conditions in this paper is 1018 .
explained by Suddoung et al. [24]. Table 6 is given to study the influence of crack location
and elastic foundation on first three dimensionless
frequencies of simply supported beam. Crack severity
5 Numerical results considers 0.05 (η ¼ 0:05). The results show, Pasternak
foundation coefficient has greater effect on dimensionless
To validate the solution procedure, the first three frequencies rather than Winkler foundation coefficient.
dimensionless frequencies of intact beam with elastically Crack detections in beams are very interesting topic
restrained ends studied by Adomian decomposition among researchers and different studies exist which used
method (ADM) [36] are reexamined and results are vibration based-technique to crack detection. Commonly,
presented in Table 3. Also, the frequency ratio of simply clamp-free boundary conditions considered by researchers
supported cracked beam relative to an intact one for and both theoretical and experimental analysis are carried
different values of crack depth ratio is compared with other and noticeable difference between results exists. Non-ideal
studies [9,37] and presented in Table 4. Very good
agreement can be observed in both comparisons.
In Fig. 2 the convergence of first five dimensionless
frequencies for cracked beam with elastically restrained
ends with respect to the number of terms are investigated.
As observed, the DTM shows rapid convergence and by
considering more number of terms in calculation, accuracy
increase and higher modes can be evaluated.
In Table 5, the effects of crack location and severity on
first five dimensionless frequencies of beams with classic
and ideal boundary conditions are investigated. It is clear
that elastically restrained ends conditions can be applied
for classic boundary conditions by setting spring constant
value. For example, for simply support boundary condi- Fig. 2 Convergence of dimensionless frequencies obtained via
tion, the translational spring constant considers infinity and DTM for a cracked beam with K ~ TL ¼ K
~ RL ¼ K
~ TR ¼ K
~ RR ¼
the rotational spring constant is zero. The infinity value 105 , ~xc ¼ 0:25, η ¼ 0:1

Table 3 Comparison between dimensionless frequencies obtained via DTM and ADM [36] in the case of intact beams with elastically restrained
ends
~ TL
K ~ RL
K ~ TR
K ~ RR
K Ω1 Ω2 Ω3
1 1 102 0 DTM 3.6405 5.6160 8.0841
ADM [36] 3.6405 5.6160 8.0841
1 1 104 0 DTM 3.9237 7.0507 10.1549
ADM [36] 3.9237 7.0507 10.1549
10 2 10 2 DTM 2.0987 3.4030 6.2664
10 10
ADM [36] 2.0987 3.4030 6.2664
3 1 3 1 DTM 3.3543 6.1349 8.5841
10 10
ADM [36] 3.3543 6.1349 8.5841
4 4 4 4 DTM 4.7087 7.7537 10.7148
10 10 10 10
ADM [36] 4.7087 7.7537 10.7148

Table 4 Comparison between frequency ratio of simply supported cracked beam relative to an intact one
~xc ¼ 1=2, L=h ¼ 36:22
Mode α ¼ 1=4 α ¼ 1=3 α ¼ 2=5
DTM [9] [37] DTM [9] [37] DTM [9] [37]
1st 0.983 0.983 0.984 0.970 0.970 0.970 0.953 0.953 0.953
3rd 0.984 0.984 0.984 0.971 0.971 0.972 0.957 0.957 0.957
 Alborz MIRZABEIGY et al. Semi-analytical approach for free vibration of cracked beams 197

Table 5 Effects of crack location and severity on dimensionless frequencies of beams with classic and ideal boundary conditions
B.C. ~xc η Ω1 Ω2 Ω3 Ω4 Ω5
C-C 0.3 0.04 4.71676 7.72831 10.93561 14.11114 17.00675
0.08 4.70479 7.62489 10.89000 14.08980 16.80505
0.6 0.04 4.68193 7.78667 10.95244 13.90097 17.27155
0.08 4.63934 7.73151 10.91637 13.72734 17.26630
0.9 0.04 4.68230 7.83930 10.99457 14.09325 17.14357
0.08 4.64520 7.82891 10.99377 14.05760 17.02432
C-F 0.3 0.04 1.84978 4.67621 7.73167 10.93540 14.11114
0.08 1.82605 4.66014 7.62996 10.88966 14.08978
0.6 0.04 1.87115 4.61034 7.77619 10.95574 13.90345
0.08 1.86722 4.53387 7.71162 10.92275 13.73177
0.9 0.04 1.87508 4.69247 7.83819 10.92845 13.96987
0.08 1.87506 4.69085 7.82117 10.85791 13.79978
S-S 0.3 0.04 3.10157 6.17934 9.40868 12.48654 15.44275
0.08 3.06365 6.09212 9.39568 12.41925 15.25257
0.6 0.04 3.08707 6.24305 9.36474 12.37067 15.70796
0.08 3.03678 6.20860 9.31367 12.22401 15.70796
0.9 0.04 3.13560 6.23997 9.30442 12.35682 15.44335
0.08 3.12963 6.19726 9.19131 12.18306 15.25869
C-S 0.3 0.04 3.92454 6.96592 10.11635 13.34978 16.27812
0.08 3.92267 6.87837 10.04465 13.34817 16.11027
0.6 0.04 3.86167 7.05524 10.08800 13.20324 16.46596
0.08 3.80368 7.04374 9.98661 13.09453 16.44495
0.9 0.04 3.91578 7.00920 10.06686 13.12367 16.22487
0.08 3.90502 6.95089 9.93541 12.94213 16.04454

Table 6 Effects of crack location and elastic foundation on dimensionless frequencies of S-S beam (η ¼ 0:05)
Ks ¼ 0 Ks ¼ 20 Ks ¼ 40
~xc Kw Kw Kw
0 100 500 0 100 500 0 100 500
0.1 Ω1 3.1341 3.7439 4.9419 4.1337 4.4495 5.3049 4.6988 4.9232 5.6057
Ω2 6.2292 6.3302 6.6921 6.9008 6.9757 7.2533 7.4191 7.4796 7.7079
Ω3 9.2754 9.3066 9.4282 9.7578 9.7843 9.8893 10.1770 10.2006 10.2935
0.2 Ω1 3.1148 3.7327 4.9370 4.1080 4.4290 5.2928 4.6694 4.8977 5.5885
Ω2 6.1503 6.2551 6.6288 6.8133 6.8910 7.1781 7.3247 7.3875 7.6239
Ω3 9.2446 9.2762 9.3989 9.7269 9.7539 9.8599 10.1465 10.1703 10.2641
0.3 Ω1 3.0919 3.7194 4.9314 4.0776 4.4048 5.2787 4.6348 4.8677 5.5684
Ω2 6.1561 6.2606 6.6334 6.8207 6.8982 7.1844 7.3334 7.3960 7.6316
Ω3 9.4052 9.4351 9.5519 9.8950 9.9207 10.0216 10.3213 10.3439 10.4331
0.4 Ω1 3.0741 3.7092 4.9270 4.0543 4.3864 5.2681 4.6083 4.8449 5.5532
Ω2 6.2339 6.3346 6.6959 6.9066 6.9813 7.2583 7.4257 7.4861 7.7138
Ω3 9.3512 9.3816 9.5004 9.8380 9.8642 9.9667 10.2616 10.2847 10.3754
0.5 Ω1 3.0675 3.7055 4.9254 4.0457 4.3796 5.2641 4.5987 4.8366 5.5477
Ω2 6.2831 6.3816 6.7358 6.9611 7.0341 7.3053 7.4843 7.5432 7.7661
Ω3 9.2188 9.2505 9.3744 9.6987 9.7260 9.8329 10.1163 10.1403 10.2349
198 Front. Mech. Eng. 2014, 9(2): 191–202

clamp condition in experimental test is one reason for this
difference. Therefore, clamp boundary condition are
considered as rotational and translational springs with
large value of constant and effects of crack location and
severity on first three dimensionless frequencies studied in
Table 7. As obvious and shown by *, for different values of
spring constants, crack location and crack severity,
dimensionless frequencies are closed together and this
issue maybe cause significant error in crack detection. So,
it is very important to exact modeling of boundary
conditions in theoretical analysis in order to crack
detection with minimum error.
In Table 8, effects of crack severity and rotational
springs at both ends on first three dimensionless frequen-
cies are investigated. Crack located at midpoint, boundary
conditions are symmetric and translational springs constant
values consider infinity. It is found that second dimension-
less frequency is not sensitive to crack because although
boundary conditions are elastic but they are symmetric, in
symmetric boundary conditions one node occurred in
midpoint of even mode shapes. Also, in this section crack
is located at midpoint and naturally has no effect on second
frequency.
Effects of crack location on first and second dimension-
less frequencies of beams with symmetric and asymmetric
elastic boundary conditions are plotted in Figs. 3 and 4,
respectively. Effects of elastic foundation parameters and
crack severity on fundamental dimensionless frequency of
beams with symmetric and asymmetric elastic boundary
conditions are plotted in Figs. 5 and 6, respectively. It is
clear that elastic foundation parameters and crack severity
have inverse effects on frequency, by increasing elastic
foundation parameters frequency increase where increas-
ing crack severity yields decrease in frequency.
Again consider cantilever cracked beam with elastic
boundary conditions in clamped end. Effects of springs

Table 7 Dimensionless frequencies of cracked beam with elastic-free boundary conditions (non-ideal C-F boundary conditions)
η ¼ 0:05 η ¼ 0:1
~ TL
K ~ RL
K
~xc ¼ 0:1 ~xc ¼ 0:3 ~xc ¼ 0:5 ~xc ¼ 0:1 ~xc ¼ 0:3 ~xc ¼ 0:5
104
104 Ω1 1.81067 1.84321 1.86390 1.75628 1.81428* 1.85348
Ω2 4.62965 4.66061 4.57354 4.59076 4.64111* 4.47954
Ω3 7.79042 7.65937 7.80368 7.78068 7.54468 7.80324
105 Ω1 1.81082 1.84336 1.86406 1.75640 1.81442 * 1.85363
Ω2 4.62999 4.66105 4.57394 4.59104 4.64158* 4.47994
Ω3 7.79103 7.66004 7.80437 7.78123 7.54532 7.80394
106 Ω1 1.81083 1.84338 1.86408 1.75641 1.81443* 1.85365
Ω2 4.63002 4.66109 4.57398 4.59107 4.64162* 4.47998
Ω3 7.79109 7.66010 7.80444 7.78129 7.54539 7.80401
105
104 Ω1 1.81095 1.84350 1.86421 1.75652 1.81454 1.85377
Ω2 4.63839 4.67045 4.58226 4.59884 4.65108 4.48753
Ω3 7.83259 7.69936 7.84895 7.82096 7.58086 7.84881
105 Ω1 1.81109 1.84365 1.86437 1.75664 1.81468 1.85393
Ω2 4.63873 4.67089 4.58267 4.59912 4.65155 4.48793
Ω3 7.83321 7.70005 7.84966 7.82152 7.58152 7.84952
106 Ω1 1.81110* 1.84367 1.86438 1.75665 1.814670 1.85395
Ω2 4.63877* 4.67094 4.58271 4.59915 4.65159 4.48797
Ω3 7.83327 7.70012 7.84973 7.82157 7.58159 7.84959
106
104 Ω1 1.81097* 1.84353 1.86424 1.75654 1.81457 1.85380
Ω2 4.63926* 4.67143 4.58313 4.59964 4.65207 4.48832
Ω3 7.83668 7.70327 7.85334 7.82485 7.58440 7.85322
105 Ω1 1.81112* 1.84368 1.86440 1.75666 1.81471 1.85396
Ω2 4.63960* 4.67188 4.58354 4.59993 4.65254 4.48872
Ω3 7.83730 7.70395 7.85405 7.82541 7.58507 7.85393
106 Ω1 1.81113* 1.84369 1.86442 1.75667 1.81473 1.85398
Ω2 4.63964* 4.67192 4.58359 4.59995 4.65259 4.48876
Ω3 7.83736 7.70402 7.85412 7.82547 7.58513 7.85401
 Alborz MIRZABEIGY et al. Semi-analytical approach for free vibration of cracked beams 199

~ TL , K
Table 8 Effects of crack severity and rotational springs on dimensionless frequencies (K ~ TR ↕ ↓1, ~xc ¼ 0:5)
η
~ RL ¼ K
K ~ RR
0 0.02 0.04 0.06 0.08 0.1
0 Ω1 3.14159 3.11092 3.08166 3.05370 3.02694 3.00130
Ω2 6.28318 6.28318 6.28318 6.28318 6.28318 6.28318
Ω3 9.42478 9.33564 9.25574 9.18378 9.11869 9.05954
1 Ω1 3.39879 3.37056 3.34376 3.31831 3.29407 3.27097
Ω2 6.42725 6.42725 6.42725 6.42725 6.42725 6.42725
Ω3 9.52445 9.43514 9.35515 9.28317 9.21810 9.15902
10 2 Ω1 4.64132 4.60878 4.57843 4.55005 4.52346 4.49847
Ω2 7.71029 7.71029 7.71029 7.71029 7.71029 7.71029
Ω3 10.80125 10.70018 10.61065 10.53091 10.45952 10.39529
10 4 Ω1 4.72909 4.69539 4.66399 4.63466 4.60721 4.58144
Ω2 7.85163 7.85163 7.85163 7.85163 7.85163 7.85163
Ω3 10.99341 10.88899 10.79669 10.71463 10.64128 10.57538
10 6 Ω1 4.73003 4.69631 4.66491 4.63556 4.60809 4.58232
Ω2 7.85318 7.85318 7.85318 7.85318 7.85318 7.85318
Ω3 10.99558 10.89113 10.79879 10.71671 10.64333 10.57741

Fig. 3 Effects of crack location on dimensionless frequencies of Fig. 4 Effects of crack location on dimensionless frequencies of
beam with symmetric boundary conditions (K ~ TL ¼ K~ RL ¼ K
~ TR ¼ beam with asymmetric boundary conditions (K ~ TL ¼ K~ RL ¼ 103 ,
~ RR ¼ 103 , η ¼ 0:1)
K ~ TR ¼ 0, K
K ~ RR ↕ ↓1, η ¼ 0:1)
200 Front. Mech. Eng. 2014, 9(2): 191–202

Fig. 5 Effects of elastic foundation parameters and crack Fig. 6 Effects of elastic foundation parameters and crack
severity on fundamental dimensionless frequency of beam with severity on fundamental dimensionless frequency of beam with
symmetric boundary conditions (K ~ TL ¼ K
~ RL ¼ K
~ TR ¼ K
~ RR ¼ ~ TL ¼ K
asymmetric boundary conditions (K ~ RL ¼ K
~ TR ¼ 103 , K
~ RR
103 , ~xc ¼ 0:5) ¼ 0, ~xc ¼ 0:5)

Fig. 7 Normalized mode shapes of cracked beam with E-F boundary conditions: ~ TL ¼ 102 , K
—K ~ RL ¼ 103 ;
~ TL ¼ 500, K
K ~ RL ¼ 500; - - -K
~ TL ¼ 103 , K
~ RL ¼ 102 (~xc ¼ 0:3, η ¼ 0:1)
 Alborz MIRZABEIGY et al. Semi-analytical approach for free vibration of cracked beams
constants on first four normalized mode shapes are
presented in Fig. 7. As seen in this figure, although elastic
boundary conditions have small effects on fundamental
mode shape, but have great effects on higher mode shapes
so that in some cases crack effects are negligible and in
others crack effects are significantly observed.
6 Conclusions
In this study, free vibration of an Euler-Bernoulli cracked
beams resting on two-parameter elastic foundations with
elastically restrained ends is studied by semi-analytical
technique, called differential transform method (DTM).
The method yields high accuracy, rapid convergence,
stability in computation and small computational effort.
For special cases results compared with results are reported
by well-known references and very good agreement is
observed. Also, effects of different parameters on dimen-
sionless frequencies and normalized mode shapes are
investigated. The main conclusions are as follows:
1) Pasternak foundation coefficient has greater effect on
dimensionless frequencies rather than Winkler foundation
coefficient.
2) For crack detection application, it is very important to
serve elastic conditions at supports because no entirely
rigid support exists. Elastic supports assumption could
significantly increase accuracy of crack detection proce-
dure in experiment.
3) Symmetry and asymmetry of supports affects trends
of frequencies changing with crack location variation.
4) Elastic supports significantly affects higher mode
shapes rather than fundamental mode shape so that in some
cases effects of crack on higher mode shapes cannot be
observed.
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