CONTINUOUS SYSTEMS

Torsional vibration of uniform shafts for free vibration.

(
θ ( x ,t )= A cos
ꞷx
c
+ B sin
ꞷx
c )
( C cos ꞷ t+ D sin ꞷ t )

Boundary conditions for uniform shaft; free at both sides

The boundary conditions can be stated as.
∂θ
at x=0 ; =0
∂x

∂θ
at x=l; =0
∂x
Applying conditions
∂θ
∂x (
( x , t )= − A ꞷ sin
ꞷx
c
+ B ꞷcos
ꞷx
c )
( C cos ꞷt + D sin ꞷt )

Thus the normal model become.

∂θ
( l, t )=Bꞷ cos ( 0 )=0∨B=0
∂x

Appling conditions
∂θ ωl
( l, t )= A ꞷsin =0
∂x c
ωl
notes that , A ≠ 0 that is ,sin =0
c

ωn l nπc
=nπ normal frquecy of ribretion ω n=
c l
 (
θ ( x ,t )= A cos
nπx
l )
( C cosωt + D sinωt )

nπx
θ ( x )= A cos , n=1 ,2 , … … …
l
Lateral vibration of uniform beams for free vibration
W ( x )=C 1 cos βx+C 2 sin βx +C 3 cosh βx +C 4 sinh βx

The boundary condition of a simply supported (pinned) at both sides can be stated as:
2
∂ w
at x=0 →W =0 , EI 2
=0
∂x
2
∂ w
at x=l→ W =0 , EI 2
=0
∂x
Applying the boundary conditions at x = 0 , thus the solution becomes
C 1=C3 =0

Applying the boundary conditions at x=l , thus the solution becomes

C 4=0 ,note that C2 ≠ 0

That is
sin β n l=0

The roots of this equation, βnl, give the natural frequencies of vibration

( )
1/ 2
2 E
ω n=( β n l) 4
ρA l
n=1 ,2 , . ..
Timoshenko’s Beam theory (thick beam theory)

Timoshenko’s beam Equation for Free Vibration, Uniform Beam

( )
4 2 4 2 4
∂ w ∂ w E ∂ w ρ I ∂ w
EI 4
+ ρA 2 −ρI 1+ 2 2
+ 4
=0( E .1)
∂x ∂t kG ∂ x ∂ t kG ∂ t

The boundary condition for a simply supported beam (Pinned) can be written as

∂ϕ
EI =w=0
∂x

Natural frequencies of a Simply Supported beam (Pinned)

By defining

2 EI 2 I
α = ∧r =
ρA A

Eq ( E .1) can be written as

( )
4 2 4 2 4
2 ∂ w ∂ w 2 E ∂ w ρr ∂ w
α 4
+ 2 −r 1+ + =0(E . 2)
∂x ∂t kG ∂ x ∂ t kG ∂ t 4
2 2
We can express the solution of Eq. ( E .2) as
nπx
w ( x , t ) =C sin cos ω n t (E . 3)
l

which satisfies the necessary boundary conditions at x=0 and x=l .And by substituting Eq. (E .3)
into Eq. (E . 2) we obtain the frequency equation:

( ) ( )( )
2 2 2 2 2 2 2 2 4 4
4 ρr 2 n π r n π r E α n π
ωn −ωn 1+ 2 + 2
+ 4
=0(E .4)
kG l l kG l

It can be seen that Eq. (E .4)is a quadratic equation in ω n2, and for any given n there are two
values of ω nthat satisfy Eq. ( E .4 ) . The smaller value corresponds to the bending deformation
mode, while the larger one corresponds to the shear deformation mode.