The Euler-Bernoulli vibrating beam (Lateral Vibration of beams)

The equation of motion for the forced lateral vibration of a uniform beam:

4 2
∂ w( ∂ w
EI 4
x ,t ) + ρA 2 ( x , t ) =f ( x ,t ) ( E .1 )
∂x ∂t

where E is Young’s modulus and I is the moment of inertia of the beam cross section about the
y-axis, where ρ is the mass density and A is the cross-sectional area of the beam and f (x ,t) is
the external force per unit length of the beam.

For Homogeneous solution the right-hand side becomes zero, thus the eq (E .1) becomes

4 2
∂ w( ∂ w
EI 4
x ,t ) + ρA 2 ( x , t ) =0 ( E .2 )
∂x ∂t

The solution of Eq. (𝐸. 1) can be found by assuming

iωt
W ( t )=e ( E .3)

Where i=√ −1

by substituting Eq. (𝐸. 3) into Eq. (𝐸. 2) gives

4
∂ w ( ) iωt 2 iωt
EI 4
x e − ρA ω W ( x ) e =0( E.4 )
∂x
 [ ]
4
iωt ∂ w
e EI 4
( x ) −ρA ω 2 W ( x )=0 (E .5)
∂x

Since e iωt cannot be zero, we have

4
∂ w( ) 2
EI 4
x −ρA ω W ( x ) =0(E .6)
∂x

The solution of Eq. (𝐸. 6) can be found by assuming

sx
W ( x )=Ce ( E .7)

Where 𝐶 and 𝑠 are constants to be determined. Substitution of Eq. (𝐸. 7) into Eq. (𝐸. 6) gives

4 sx 2 sx
EI s Ce −ρA ω Ce =0 (E .8)

C [ EI s 4 Cesx −ρA ω 2 e sx ]=0( E.9)

Since 𝐶 cannot be zero, and derive the auxiliary equation as

4 2
EI s −ρA ω =0( E.10)

And hence

2
4ρA ω
s= (E .11)
EI
Where s4 = β 4, The roots of this equation are
s1 ,2 =± β , s 3 ,4 =± iβ
Hence the solution of Eq. (E .2) becomes

βx − βx iβx −iβx
W ( x )=C 1 e +C 2 e +C 3 e +C 4 e (E .12)

where C 1 , C 2 ,C 3, and C 4 are constants. Eq. (E .12) can also be expressed as

W ( x )=C 1 cos βx+C 2 sin βx +C 3 cosh βx +C 4 sinh βx( E.13)

where C 1 , C 2 ,C 3, and C 4, in each case, are different constants. The constants C 1 , C 2 ,C 3,

and C 4 can be found from the boundary conditions. The natural frequencies of the beam are
computed from Eq. (E .11) as

ω=β 2
√ EI
ρA
=(βl)2
EI
√
ρA l 4
(E .14)

The function W ( x) is known as the normal mode or characteristic functionof the beam and ω is
called the natural frequency of vibration. For any beam, there will be an infinite number of
normal modes with one natural frequency associated with each normal mode. The unknown
constants C 1 to C 4 in Eq. (E .12) or ( E .13 ) and the value of β in Eq. (E .14) can be determined
from the boundary conditions of the beam

Hence the Homogenous solution

w h ( x , t ) =[ C1 cos βx +C 2 sin βx +C3 cosh βx+C 4 sinh βx ] ¿

The Particular solution can be found by assuming

2 3
W ( x )=C 1+ C2 x+C 3 x +C 4 x (E .15)

By using Eq. (𝐸.15), and substituting Eq. (𝐸.3) into Eq. (𝐸.1) gives
 EI ( 0 )−ρA ω 2 ( C 1 +C 2 x +C3 x 2+C 4 x 3 ) =f ( x ) ( E .16)

Where C 1, C 2 , C 3 andC 4 are constants to be determined

−f
C 1= 2
, C 2=C 3=C 4=0 (E .17)
ρA ω

By substituting Eq. (𝐸.17) into Eq. (𝐸.15) gives

−f
W p ( x )= 2
(1.1)
ρA ω

Hence the total solution

w t ( x , t )=W h+W p (1.2)

Substituting Eq. (1.0) and Eq. (1.1) into Eq. (1.2) and rearranging leads to

w t ( x , t )=[ C 1 cos βx+C 2 sin βx +C 3 cosh βx +C 4 sinh βx ] ¿

Boundary Conditions

W ( x )=C 1 cos βx+C 2 sin βx +C 3 cosh βx +C 4 sinh βx( E.13)

End Conditions of Shaft:

1-) Clamped-free
2-) Simply supported
3-) Clamped-clamped
4-) Clamped-pinned

Using end conditions to calculate C 1 , C 2 ,C 3, and C 4 constants

1-) Clamped-free

The boundary conditions can be stated as

∂W
W ( 0 )=0 , ( 0 )=0(C .1)
∂x

( )
2 2
∂W ∂ ∂ W
EI 2
( l )=0 , EI ( l ) =0 (C .2)
∂x ∂ x ∂ x2

Applying conditions ( C .1 ) and ( C . 2 ) into Eq. (E .13) gives the frequency equation

cos β n l. cosh β n l=¿−1 ¿

2-) Simply supported

The boundary conditions can be stated as

 2
∂W( )
W ( 0 )=0 , EI 2
0 =0(C .3)
∂x

2
∂ W( )
W ( l )=0 , EI 2
l =0(C . 4 )
∂x

Applying conditions ( C . 5 ) and ( C . 6 ) into Eq. (E .13) yields

sin β n l=0

3-) Clamped-clamped

The boundary conditions can be stated as

∂W
W ( 0 )=0 , ( 0 )=0(C . 5)
∂x

∂W
W ( l )=0 , ( l )=0(C . 6)
∂x

Applying conditions ( C . 5 ) and ( C . 6 ) into Eq. (E .13) leads to

cos β n l. cosh β n l=¿ 1 ¿

4-) Clamped-pinned

The boundary conditions can be stated as

 ∂W
W ( 0 )=0 , ( 0 )=0(C . 7)
∂x

2
∂ W( )
W ( l )=0 , EI 2
l =0(C . 8)
∂x

Applying conditions ( C . 7 ) and ( C . 8 ) into Eq. (E .13) thus the frequency equation can be written
as

tan β n l−tanh β n l=0

Where

( )
1/ 2
2 EI
ω=( β n l) 4
ρA l