Appl. Phys.
A (2016) 122:673
DOI 10.1007/s00339-016-0196-3
Influence of thermal and surface effects on vibration behavior
of nonlocal rotating Timoshenko nanobeam
Majid Ghadiri1 • Navvab Shafiei1 • Amir Akbarshahi1
Received: 12 April 2016 / Accepted: 6 June 2016 / Published online: 18 June 2016
 Springer-Verlag Berlin Heidelberg 2016
Abstract This paper is proposed to study the free vibration
of a rotating Timoshenko nanobeam based on the nonlocal
theory considering thermal and surface elasticity effects. The
governing equations and the related boundary conditions are
derived using the Hamilton’s principle. In order to solve the
problem, generalized differential quadrature method is
applied to discretize the governing differential equations
corresponding to clamped–simply and clamped–free
boundary conditions. In this article, the influences of some
parameters such as nonlocal parameter, angular velocity,
thickness of the nanobeam, and thermal and surface elas-
ticity effects on the free vibration of the rotating nanobeam
are investigated, and the results are compared for different
boundary conditions. The results show that the surface effect
and the nonlocal parameter and the temperature changes
have significant roles, and they should not be ignored in the
vibrational study of rotating nanobeams. Also, the angular
velocity and the hub radius have more significant roles than
temperature change effects on the nondimensional fre-
quency. It is found that the nonlocal parameter behavior and
the temperature change behavior on the frequency are dif-
ferent in the first mode for the rotating cantilever nanobeam.
1 Introduction
Nanotechnology is able to develop many materials and
create new devices with a wide variety of applications, for
example in medicine, biomaterials, electronics, and energy
& Majid Ghadiri
ghadiri@eng.ikiu.ac.ir
1
Faculty of Engineering, Department of Mechanics, Imam
Khomeini International University, Qazvin 3414916818, Iran
production. In recent years, nanomechanical systems
receive special attention from researchers. Among all of
them, nanobeams and carbon nanotubes attract more
attention and hold a wide range of potential applications,
such as sensors, actuators, transistors, probes, and
resonators.
Three main approaches were provided to investigate the
mechanical behaviors of nanostructures: atomistic model,
and semi-continuum and continuum models. However,
atomistic and semi-continuum models are computationally
expensive and are not suitable for analyzing large-scale
systems. In other words, since performance of experiments
at the nanoscale is difficult and atomistic modeling is
limited to small-scale systems and because of computer
resource limitations, continuum mechanics offers an easy
and useful tool for the analysis of nanostructures. Unfor-
tunately, classical continuum theories are incapable of
analyzing these nanostructures. Therefore, the classical
continuum models need to be developed considering the
nanoscale effects, and this can be achieved by the nonlocal
elasticity theory.
The nonlocal elasticity theory is a modified classical
elasticity theory. In the nonlocal continuum mechanics, it is
supposed that the stress at a point is a function of strains at
all points, but in the local continuum mechanics, it is
supposed that the stress state at a point is only dependent to
the strain at the point. Eringen and Edelen [1] presented the
nonlocal continuum mechanics theory to state the small-
scale effects specifying the stress at a given point to be
dependent on the strain at all of the points.
Then, many papers have been published considering the
applications of nonlocal elasticity theory for vibration of
nanostructures. First, Peddieson et al. [2] applied the non-
local elasticity theory to obtain the static deformations of
the beam using a simplified nonlocal beam model.
123
673 Page 2 of 19
Murmu and Adhikari [3] extended a nonlocal double-
elastic beam model and applied it to study the free vibra-
tion of a double-nanobeam system. Roque et al. [4] used
the nonlocal elasticity theory to study buckling, bending,
and free vibration of Timoshenko nanobeams using a
meshless approach. Thai [5] and Thai and Vo [6] stated the
nonlocal shear deformation beam theory for buckling,
bending, and vibration of nanobeams based on the Erin-
gen’s nonlocal theory.
Kiani [7] reported a meshless method for free transverse
vibration analysis of embedded SWCNTs using the Erin-
gen’s nonlocal theory with different boundary conditions.
Kiani and Mehri [8] examined the behavior of nanotube
structures under a moving nanoparticle using nonlocal
beam theory. Besides, Torabi and Dastgerdi [9] reported an
analytical approach for free vibration analysis of Timosh-
enko beam theory applied to cracked nanobeams using the
Eringen’s nonlocal elasticity model. Ansari and Sahmani
[10] studied the small-scale effect on vibrational SWCNTs
with arbitrary boundary conditions using the Eringen’s
nonlocal model. Afterward, Kiani [11] studied the vibra-
tion analysis of elastically double-walled carbon nanotubes
subjected to axial load.
The Timoshenko beam model is more appropriate than
Euler–Bernoulli model. Wang et al. [12] showed that the
vibration solutions obtained from the nonlocal Timoshenko
beam theory (TBT) provide a better result of the vibration
behavior of nanobeams, because in addition to bending
moment, the transverse shear deformation and the rotary
inertia are considerable. On the other hand, the researchers
estimated that the thermal effects will affect the mechani-
cal properties of nanostructures, and therefore, they have
studied the thermal effects in vibration of nanobeams.
It is obvious that the consideration of thermal effects in
vibration of nanobeams is essential and should not be
ignored. Ke et al. [13] analyzed the thermal effects on free
vibration of nanobeams using the nonlocal elasticity theory
and the Timoshenko beam model. Wang et al. [12] studied
the thermal effects on the transverse vibration of double-
walled carbon nanotubes using nonlocal elasticity theory.
Hsu et al. [14] studied the vibration of a SWCNT consid-
ering the thermal effects and using the Timoshenko beam
model. Ni et al. [15] investigated the buckling behavior of a
SWCNT subjected to axial compression considering the
thermal effects. Cao et al. [16] used molecular dynamics
simulation to examine the vibration behaviors of SWCNTs
considering thermal effect. Yao and Lordi [17] calculated
Young’s modulus of different nanotubes using MD simu-
lation considering the thermal effects. Abbasi and Sab-
baghian [18] presented the accurate solution of the
dynamic coupled thermoelastic response of Timoshenko
beams. Ansari and Ramezannezhad [19] reported the large-
amplitude vibrations of embedded multi-walled CNTs
123
M. Ghadiri et al.
including thermal effects using nonlocal elasticity
Timoshenko beam model. Then, some works on the
mechanical properties of the CNT with thermal effects
were reported [20]. On the other hand, after many resear-
ches, the scientists found that the surface effects play major
roles in determining the physical and chemical attributes of
nanostructures [21], and thus, they examined the surface
effects in vibration of nanobeams.
Surface atoms have different properties from bulk
atoms. In other words, the energy related to surface atoms
will be different from atoms in the bulk. In continuum
mechanics, the energy related to surface atoms is neglec-
ted. In nanostructures, the rate of the energy related to
surface atoms to energy related to atoms in the bulk is
large. Therefore, in the study of nanostructures, surface
effects should not be ignored.
Surface effects have a major role on static and dynamic
behaviors of nanostructure materials. In recent years, the
surface effects of nanostructures have received special
attention from researchers.
The surface effects, containing the surface energy, the
surface tension, and the surface relaxation, should not be
ignored where the overall elastic attributes of nanostruc-
tures are studied.
The surface energy plays an important role due to the
high surface-to-volume ratio. In surface energy theory, the
energy saved in the surfaces is due to the surface elasticity,
the surface stress, and the surface density. Most of the
articles using the surface energy consider only the surface
stress and the surface elasticity. There are a few papers that
all parts of the surface energy have been considered and the
balance conditions have been satisfied. Gurtin et al. [22]
established the surface elasticity theory and its applications
in nanostructural elements [23, 24].
Liu and Rajapakse [25] investigated the linear static and
dynamic behaviors of Timoshenko and Euler–Bernoulli
nanobeams when all of the effects of the surface energy
components have been considered and also the balance con-
ditions have been satisfied. Then, they presented the analytical
solutions for the linear response of thin and thick beams
considering different boundary conditions and loadings.
Feng et al. [26] investigated the surface effects on elastic
modulus of nanomaterials and understood that the influ-
ence of the surface elasticity on the effective modulus was
stronger than residual surface stress. Lee and Chang [27]
used the nonlocal Timoshenko beam theory (TBT) con-
sidering the surface elasticity theory to examine the natural
frequencies of nanostructures.
Chen et al. [28] studied the Young’s modulus of a ZnO
nanowire and understood that the surface effects are sig-
nificant on the elastic characteristics of the nanowire.
Wang and Feng [29] studied the surface effects on
transverse vibration of nanowires using the Timoshenko
Influence of thermal and surface effects on vibration behavior of nonlocal rotating…
beam theory (TBT) and found that the surface effects with
positive surface constants tend to increase the natural fre-
quency and shear deformation tends to reduce the natural
frequency. A free vibration analysis of shallow and deep
curved functionally graded nanobeam was presented by
Hosseini and Rahmani [30].
Wang and Wang [31] also examined the surface effects
on vibration of a double-nanobeam system. They found
that both surface elasticity and residual surface tension
could affect the natural frequency. Gheshlaghi and
Hasheminejad [32] examined the surface effects on non-
linear vibration of nanobeams. On et al. [33] reported a
continuum model to examine the surface effects on nano-
beams. They demonstrated that the surface effects can
influence the stress and deformation characteristics of
nanobeams. Zarepour et al. [34] presented electrothermo-
mechanical nonlinear vibration of nanobeam resting on the
Winkler–Pasternak foundations.
On the other hand, the researchers found that many
nanodevices have a rotating motion, and therefore, they
have studied the rotation effects in vibration of
nanodevices.
Recently, many researchers devoted their studies to
design the rotation of artificial nanodevices such as turn-
stiles [35], ratchets [36], artificial muscles [37], scissors
[38], and cars [39, 40]. Also, they did their studies to
design nanodevices that can generate controllable unidi-
rectional rotation such as biological molecular motors,
smart drug delivery, DNA nanomachines, and modern
chemical synthesis [20].
Another application of rotating nanodevices is in
molecular rotors. Molecular rotors have attracted the
attention of researchers creating the rotational movement.
The effect of thermal fluctuations on the rotary behavior of
the nanodevices is more significant than the macroscopic
counterpart [41]. For this reason, in this article, thermal and
surface effects with the rotation effect are considered,
concurrently.
Narendar [42] reported a model for the analysis of
rotating single-walled carbon nanotubes as an Euler–Ber-
noulli beam considering the Eringen’s nonlocal elasticity
model and clamped–simply support boundary conditions.
Then, Narendar and Gopalakrishnan [43] studied the wave
dispersion properties of a rotating single-walled carbon
nanotube for clamped–simply support boundary conditions.
Lim et al. [44] studied the effects of nonlocal stress and
axial tension on free vibration of cantilever nanobeams.
Aranda-Ruiz et al. [45] studied the bending vibration
properties of rotating nanobeam with DQM. Pradhan and
Murmu [46] studied the bending vibration properties of a
rotating nanocantilever with DQM. Narendar [47] studied
the free vibration of flapwise bending for a rotating nan-
otube considering transverse shear deformation and rotary
Page 3 of 19 673
inertia. Lately, Ciekot and Kukla [48] studied the free
vibration of a system of two coupled cantilever nanobeams.
Recently, Li et al. [41] presented the model—a nan-
oturbine constructed by a single-walled carbon nanotube
(CNT) and graphene nanoblades. Rotating motion of a
nanoturbine is quantitatively studied by molecular
dynamics simulations on this model. The simulation was
performed at different temperatures, i.e., 300 and 360 K,
and they found that thermal fluctuation on the rotary
behavior of the nanoturbine is remarkable. These nan-
oturbines will be used to measure the rheology and can be
used as a flow meter to measure the flow rate. Ghadiri and
Shafiei [49] investigated the vibration behavior of a nan-
oturbine blade. They used the differential quadrature
method and studied the transverse vibration of a rotating
cantilever nanoplate and rotating propped cantilever
nanoplate using the Eringen nonlocal elasticity theory.
The Euler–Bernoulli beam theory (EBT) neglects
transverse shear deformations, and it can lead to erroneous
results for moderately thick beam. The Timoshenko beam
theory (TBT) considers the transverse shear deformation
effects, but requires a shear corrector factor to rectify the
error due to constant shear stress supposition. This factor
depends on the material, geometric parameters and
boundary conditions. Researchers reported the various
higher-order shear deformation theories (HSDT) to avoid
the application of shear corrector factor. But, in some
cases, the equations of motion are much more complicate
than those yielded with EBT or TBT. It should be noted
that the EBT, TBT, and HSDT neglect the thickness
stretching effect (i.e., they assume ez = 0). Therefore,
researchers reported the higher-order shear and normal
deformation theory via apportion of transverse displace-
ment into bending, shear, and thickness stretching com-
ponents [50]. Literatures [51–56] show that increasing
attention exists for utilization of this theory. The bending
and buckling behaviors of FGM size-dependent nanobeams
including the shear deformation and the thickness stretch-
ing effects on the basis of the nonlocal continuum model
were studied by Mahmoud et al. [57]. They found that the
inclusion of small-scale parameter and thickness stretching
effects leads to diminution of deflections and an increment
in buckling load for functionally graded material nano-
beams. Benguediab et al. [58] used the nonlocal continuum
and the Timoshenko beam theories considering the chi-
rality and small-scale effects to examine mechanical
buckling properties of a zigzag double-walled carbon
nanotube subjected to axial compression. They found that
the critical buckling loads depend on the chirality of zigzag
carbon nanotube, and the influence of chirality on the
nonlocal critical buckling load decreased with increasing
the scale coefficients. Zemri et al. [59] used the nonlocal
shear deformation theory to investigate buckling, bending,
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673 Page 4 of 19 M. Ghadiri et al.

and free vibration of functionally graded material nano- where N, M, and Q are the axial force, the bending
beams without using shear correction factor. They used a moment, and the shear force, respectively.
refined nonlocal beam theory which accounts for higher- Z Z Z
order variation in the transverse shear strains across the N ¼ rxx dA Q ¼ rxz dA M ¼ z  rxx dA ð6Þ
thickness of the FG nanobeam. They presented the
numerical examples and found that the results of this the- Also, the kinetic energy T [60] and the work W ext can be
ory are almost identical with the results obtained by obtained by:
Timoshenko beam theory. In this study, the rate of the ZL Z  2  2  2 !
length to thickness is smaller than 20. Also, since the 1 ou1 ou2 ou3
T¼ qðz; T Þ þ þ dAdx
rotation is highly regarded and it is ignored in classical 2 ot ot ot
0 A
theory, we decided to use the Timoshenko theory.
ð7aÞ
In this paper, the Eringen nonlocal elasticity theory and
Timoshenko beam theory are used, and Hamilton’s prin- ZL 
   
odu ou odw ow odu ou odu ou
ciple is employed to derive the governing equations. The dT ¼ m0 þ þ m1 þ
main purpose was to analyze the vibration of cantilever and ot ot ot ot ot ot ot ot
0
propped cantilever nanobeam considering the thermal,  
odu ou
rotational, and surface effects. þ m2 X2 udu þ dx ð7bÞ
ot ot
Here, m0 , m1 , and m2 are mass inertias and can be
obtained by:
2 Problem formulation Z
mi ¼ qðzÞ  zi dz ð8Þ
Consider a rotating nanobeam with the length L, the A
thickness h, the hub radius r, and the cross-sectional area A
which rotate about an axis with angular velocity X. The For the Timoshenko rotating nanobeam imposed by the
origin of the system is selected at the left end of the beam, bending deformation, the term m2 X2 u is defined. Because
and x-coordinate is taken along the length and z-coordinate of the centrifugal force on elements symmetrically placed
along the thickness. with respect to the mid-plane of the beam cross-section has
a different radius from the axis of rotation when under-
2.1 The Timoshenko beam theory going bending deformation. Therefore, there are various
centrifugal forces which are dependent on angular velocity
The displacement components (u1, u2, u3) along the axis X and create a moment m2 X2 u.
(x, y, z) can be defined as: Z1  2
ext 1 ow 
u1 ðx; z; tÞ ¼ zuðx; tÞ ð1aÞ W ¼ Ndx ð9Þ
2 ox
0
u2 ðx; z; tÞ ¼ 0 ð1bÞ
Zt
u3 ðx; z; tÞ ¼ wðx; tÞ ð1cÞ dðT  U þ W ext Þdt ¼ 0 ð10Þ
0
The strain–displacement relations for the Timoshenko
beam are obtained as: Substituting Eqs. (2, 3) and (5–9) in Eq. (10), Hamil-
ouðx; tÞ ouðx; tÞ ouðx; tÞ ton’s principle leads to the following equations of motion:
eTxx ¼ þz ¼ e0xx þ z ð2Þ  
ox ox ox o2 U oM
qI þQ ¼0 ð11Þ
ou1 ou3 owðx; tÞ ot2 ox
cTxz ¼ þ ¼ þ uðx; tÞ ð3Þ  2   
oz ox ox o w oQ o  ow
qA  þ N ¼ Pðx; tÞ ð12Þ
The strain energy can be obtained by: ot2 ox ox ox
Z
dU ¼ rij deij dV ð4Þ
2.2 Nonlocal theory
Substituting Eq. (2) in Eq. (4) yields:
In nonlocal elasticity, the stress at a point x is considered to
Z1    be a function of the strain field at every point in the body.
1 0 ou ow
U¼ Nexx þ M þQ uþ dx ð5Þ But, in the local model of elasticity, the effect of strain at
2 ox ox
0 any points but x is neglected.

123
Influence of thermal and surface effects on vibration behavior of nonlocal rotating… Page 5 of 19 673

Therefore, the basic equations for linear, homogeneous, o2 rxz

rxz  l ¼ Gcxz ð17Þ
isotropic, and nonlocal elastic solid are defined by: ox2
Z
According to the nonlocal elasticity theory of Eringen,
rij ðxÞ ¼ aðjx  x0 j; sÞCijkl ekl ðx0 ÞdVðx0 Þ ð13Þ
the nonlocal axial normal force, the bending moment, and
1 the shear force for the Timoshenko beam theory can be
eij ¼ ðui;j þ uj;i Þ ð14Þ obtained as:
2
where rij , eij , and Cijkl are stress and strain tensors and o2 N ou
Nl 2
¼ EA ð18Þ
elastic modulus tensor, respectively. Also, ui , aðjx  x0 j; sÞ, ox ox
and a are the displacement vector, nonlocal kernel, and o2 M ou
nonlocal modulus, respectively. Ml ¼ EI ð19Þ
ox2 ox
ðe0 aÞ  
Also, the material constant s ¼ appertains to the 2
l oQ ow
external characteristics length l, the internal characteristics Q  l 2 ¼ Ks GA u þ ð20Þ
ox ox
length a, and a constant for each material, e0 .
Here, e0  a is the small-scale parameter, and it denotes here, Ks denotes the shear correction factor.
the small-scale effect on the responses of nanobeams. Consider the uniform beam rotation about an axis par-
Hereunto, there is no meticulous study made on predicting allel to the z-axis with the constant angular velocity X.
the magnitude of the scale coefficient. But, the researchers According to Fig. 1, at any point x along the beam, the
found that the value of the small-scale parameter depends centrifugal force creates an axial rotation force, Nrotation :
on the boundary conditions, the geometric sizes, the nature ZL
of motion, and mode shapes. The researchers suggested Nrotation ¼ qAX2 ðf þ rÞdf ð21Þ
that the magnitude of the scale coefficient can be charac-
x
terized by a comparison of dispersion curves from molec-
ular dynamics (MD) simulation and the nonlocal The surface effects on the vibration of nonlocal
continuum mechanics. It should be noted that a conserva- Timoshenko beam can be examined considering the sur-
tive estimate of the e0  a is smaller than 2.0 nm for face energy or the surface stresses.
nanostructures [61]. According to Cammarata [64], the surface stress tensor,
Lu et al. [62] investigated the dynamic properties of the rsab , is: rsab ¼ cdab þ oeocs where c is the surface energy
ab
clamped, simply supported and the cantilever beams using
density and esab is the surface strain tensor.
a nonlocal elasticity theory and understood that the
For the vibration of nanobeams, only rsab and esab are
dynamical properties of the cantilever nanobeams are more
dependent on the nonlocal parameter. Wang et al. [12] important along the nanobeam longitudinal direction.
showed that in the case of an Euler–Bernoulli cantilever Then, the one-dimensional and linear form is:
nanobeam, when nondimensional nonlocal parameter is rs ¼ s0 þ Es es ð22Þ
greater than 0.6126, one even cannot acquire nontrivial real
eigenvalues. This means that no nontrivial real frequencies where s0 and Es are residual surface stress in the axial
exist for e0la [ 0:6126. It should be noted that this partic- direction and surface elastic modulus, respectively. The
ular value is 0.6138 for a Timoshenko cantilever nano- surface elastic modulus can be achieved by experiment or
beam, and this issue is considered in this paper. atomistic simulation, and it is dependant on the material
Since it is difficult to solve the above integral, the spatial properties.
integrals can be converted to equal differential constitutive
equations under certain conditions [1].
Using the modified Bessel function, constitutive relation
is obtained as:
ð1  ðe0 :aÞ2 r2 Þr ¼ C : e ð15Þ
where r2 and C are Laplacian operator and fourth-order
elasticity tensor.
For a beam, the nonlocal stress–strain relation can be
obtained as [63]:
o2 rxx Fig. 1 Schematic of a rotating nanobeam; a propped cantilever
rxx  l ¼ Eexx ð16Þ
ox2 nanobeam, b cantilever nanobeam

123
673 Page 6 of 19 M. Ghadiri et al.

   
oc oc EA
0
s ¼ cþ s; s
for e ¼ 0 ð23Þ Nt ¼  ax h ð32Þ
oe oes 1  2m

To illustrate the effects of surface elasticity on vibration of a Nt denotes the axial force due to the influence of temper-
nanobeam, the effective flexural rigidity should be considered. ature changes. Also, h is the temperature change, and ax is
For a nanobeam with rectangular cross section: the coefficient of thermal expansion in the direction of the
E
x-axis [19]. Here, m is the Poisson’s ratio, and G ¼ 2þ2m is
Eah3 1 s 2 1 s 3
ðEIÞ ¼ þ E ah þ E h ð24Þ the shear modulus, E is the Young’s modulus of the bulk,
12 2 6
and I is the cross-sectional moment of inertia.
where h and a are the height and width of a rectangle cross The corresponding exact boundary conditions are
section, respectively [29]. defined as:
The residual surface tensions on the top and bottom clamped (at x ¼ 0):
surfaces of the nanobeam can be introduced through the
W ¼ 0; u¼0 ð33Þ
effective transversely distributed loading along the longi-
tudinal direction, q(x) [65, 66]: Free (at x ¼ L):
  
o2 w ou o2 w o3 u o   ow
qðx; tÞ ¼ H ð25Þ M ¼ EI þ ðe  aÞ2 qA 2 þ qI 2
þ N  2s0 b ¼0
ox ot oxot ox ox
ox2     
ow o o2 w o    ow
here, H is a constant parameter. Q ¼ Ks GA u þ þ ðe  aÞ2 qA 2 þ N  2s0 b ¼0
ox ox ot ox ox
For a nanobeam with rectangular cross section: ð34Þ
0
H ¼ 2s a ð26Þ
simply supported (at x ¼ L):
Applying the surface elasticity effect in Eqs. (11, 12), W¼0
(19, 20), (27, 28), we can obtain:   
ou o2 w o3 u o   ow
M ¼ EI þ ðe  aÞ2 qA 2 þ qI þ N  2s 0
b ¼0
ou ox ot oxot2 ox ox
M ¼ EI
ox    ð35Þ
o2 w
2 o3 u o  0 ow
þ ðe  aÞ qA 2 þ qI þ ðN  2s bÞ
ot oxot2 ox ox
ð27Þ
  3 Solution procedure
ow
Q ¼ Ks GA u þ
ox The basic idea of the GDQ method is that the derivative of
  
o o2 w o ow a function f is approximated as a weighted linear sum of
þ ð e  aÞ 2 qA 2 þ ðN  2s0 bÞ ð28Þ
ox ot ox ox all functional values within a computational domain. This
method was obtained from simple analogy with integral
Finally, by substituting Eqs. (27, 28) in Eqs. (11, 12),
quadrature. Generalized differential quadrature (GDQ)
the equation of motion for the vibration of nonlocal
method is a useful approach for solving partial differential
Timoshenko beam including surface elasticity, thermal,
equations (PDEs). This method has high validity and great
and rotation effects is obtained as:
potential in solving equilibrium equations, and Bellman
 
o2 u ow et al. [67, 68] introduced it. Then, Shu et al. [69] per-
ðEIÞ 2  Ks GA u þ þ m2 X2 u
ox ox formed important steps to improve the calculation of
 2 2
2o ou weighting coefficients. In this method, partial derivatives
 qI 1  ðe0  aÞ 2 are calculated using the weighting coefficients. Because
ox ot2
¼0 ð29Þ of its simple formulation and low computational costs,
       generalized differential quadrature (GDQ) method is
ou o2 w o2 o ow
Ks GA þ 2 þ 1  ðe0  aÞ2 2 
ð2s0 b  NÞ better than other numerical methods. Each PDE can be
ox ox ox ox ox
 2  2 
transformed into a set of algebraic equations using
o o w
¼ qA 1  ðe0  aÞ2 2 weighting coefficients [69]. In this method, the domain is
ox ot2
divided into n points. The r-th order derivative of a
ð30Þ function f ðxi Þ can be stated as [69]:
where N is: or f ð xÞ  Xn
ðr Þ
x¼x p
¼ Cij f ðxi Þ ð36Þ
N ¼ Nr þ Nt ð31Þ oxr j¼1

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Influence of thermal and surface effects on vibration behavior of nonlocal rotating… Page 7 of 19 673

Table 1 Investigation of sufficient number of grid points for the first three frequencies considering various values of U for cantilever and
propped cantilever nanobeam for (l ¼ 0:3; h ¼ b4 ¼ 20L
¼ 0:5 nm)

Number of grid points Cantilever Propped cantilever

Wi U=1 U=2 U=4 U=8 U=1 U=2 U=4 U=8

N=5 i=1 1.944326 2.123287 2.580473 3.428259 3.055828 3.132135 3.397088 4.12376
i=2 3.46809 3.534888 3.771271 4.44732 4.088927 4.137714 4.315307 4.852812
i=3 4.634065 4.669733 4.804188 5.245116 5.064638 5.096356 5.21738 5.62908
N=7 i=1 1.941324 2.11735 2.570205 3.41617 3.061922 3.137724 3.401433 4.126089
i=2 3.403772 3.473121 3.717936 4.415237 4.050281 4.100058 4.28222 4.842949
i=3 4.307194 4.3548 4.53125 5.091205 4.53966 4.580016 4.731054 5.218842
N=9 i=1 1.941322 2.11736 2.570175 3.415884 3.061701 3.137519 3.401309 4.126118
i=2 3.405958 3.475217 3.719689 4.415952 4.049104 4.098997 4.282004 4.844368
i=3 4.310297 4.357098 4.531329 5.091846 4.536971 4.56442 4.721022 5.21585
N = 11 i=1 1.941322 2.11736 2.570174 3.415879 3.061698 3.137524 3.401311 4.126117
i=2 3.405906 3.475167 3.71965 4.415951 4.049007 4.09903 4.282005 4.84433
i=3 4.309888 4.356812 4.531453 5.09293 4.526511 4.567159 4.719914 5.215135
N = 13 i=1 1.941322 2.11736 2.570174 3.415879 3.061698 3.137524 3.401311 4.126117
i=2 3.405906 3.475168 3.719651 4.41595 4.049004 4.09903 4.282001 4.84433
i=3 4.309902 4.356819 4.531436 5.092871 4.526615 4.567228 4.71958 5.215156
N = 15 i=1 1.941322 2.11736 2.570174 3.415879 3.061698 3.137524 3.401311 4.126117
i=2 3.405906 3.475168 3.719651 4.41595 4.049004 4.09903 4.282001 4.84433
i=3 4.309901 4.356819 4.531437 5.092873 4.526614 4.567221 4.719576 5.21516
N = 17 i=1 1.941322 2.11736 2.570174 3.415879 3.061698 3.137524 3.401311 4.126117
i=2 3.405906 3.475168 3.719651 4.41595 4.049004 4.09903 4.282001 4.84433
i=3 4.309901 4.356819 4.531437 5.092873 4.526614 4.56722 4.719576 5.215161
N = 19 i=1 1.941322 2.11736 2.570174 3.415879 3.061698 3.137524 3.401311 4.126117
i=2 3.405906 3.475168 3.719651 4.41595 4.049004 4.09903 4.282001 4.84433
i=3 4.309901 4.356819 4.531437 5.092873 4.526614 4.56722 4.719576 5.21516

Table 2 Comparison of nondimensional frequencies of a propped Table 3 Comparison of nondimensional frequencies of cantilever
cantilever nanobeam for various values of l with the results presented nanobeam for various values of l with the results presented by [12]
by Wang et al. [12]
Nonlocal parameter (l) U = 0, W1 U = 0, W2
Nonlocal parameter (l) U = 0, W1 U = 0, W2
Present [12] Present [12]
Present [12] Present [12]
0 1.86102 1.8610 4.47341 4.4733
0 3.78541 3.78542 6.47279 6.4728 0.1 1.86509 1.8650 4.35059 4.3506
0.1 3.69392 3.6939 6.03479 6.0348 0.3 1.89999 1.8999 3.65938 3.6594
0.3 3.21149 3.2115 4.60129 4.6013 0.5 2.00239 2.0024 2.89025 2.8903
0.5 2.74711 2.7471 3.73121 3.7312
0.7 2.40589 2.4059 3.20029 3.2003
ð1Þ
X
n
ð1Þ
Cij ¼  Cij i¼j ð38Þ
From the above equation, it can be understood that the j¼1;i6¼j
main components of this method are weighting coeffi- Y
n  
cients. In this method, the most important step is finding M ðxi Þ ¼ xi  xj ð39Þ
the weight coefficients. j¼1;i6¼j
ð1Þ ðr Þ
Where Cij ,M ð xÞ, and Cij are defined as: " ðr1Þ
#
ðrÞ ðr1Þ ð1Þ Cij
Cij ¼r Cij Cij   i; j ¼ 1; 2; . . .; n;
ð1Þ M ðx i Þ xi  xj
Cij ¼     i; j ¼ 1; 2; . . .; n and i 6¼ j
xi  xj M xj
i 6¼ j and 2rn  1 ð40Þ
ð37Þ

123
673 Page 8 of 19 M. Ghadiri et al.

ðrÞ
X
n
ðr Þ By implementation of GDQM into final equations, the
Cii ¼  Cij i; j ¼ 1; 2; . . .; n and 1rn  1
j¼1;i6¼j
following equations can be obtained:
!
ð41Þ X
ni X
ni
ðEIÞ Ci;kð2Þ ui  Ks GA ui þ Ci;kð1Þ wi
where n is the number of grid points along the x-direction k¼1 k¼1
!
and superscript r is the order of the derivative, and CðrÞ is 2
X
ni
o2 u i
2 ð2Þ
the weight coefficient along the x-direction. þ m2 X ui  qI 1  ðe0  aÞ Ci;k ¼0 ð42Þ
k¼1
ot2

Table 4 Comparison of results for nondimensional angular velocity (U) of a cantilever nanobeam for d = l = 0, L/h [ 40
U Fundamental frequency Second frequency
Present Shafiei et al. [70] and Present Shafiei et al. [70] and
Dehrouyeh-Semnani [71] Dehrouyeh-Semnani [71]

0 3.516024127 3.516 22.03437512 22.035

1 3.681657949 3.6816 22.18089419 22.181
2 4.137299432 4.1373 22.61480281 22.615
3 4.797278856 4.7973 23.32014566 23.32
4 5.584996142 5.585 24.27323227 24.273
5 6.449523977 6.4495 25.44596417 25.446
6 7.360344878 7.3604 26.80896705 26.809
7 8.299605386 8.2996 28.33396811 28.334
8 9.256792429 9.2568 29.99526949 29.995
9 10.22567529 10.226 31.77038743 31.771
10 11.20232093 11.202 33.64023661 33.64

Table 5 Comparison of the first and the second nondimensional frequencies of a propped cantilever nanobeam for various values of the nonlocal
parameters, thickness, and surface elastic modulus with U ¼ 2; DT ¼ 25; ss ¼ 0; L ¼ 10; b ¼ 40 ðnmÞ
Thickness (nm) Surface elastic modulus Fundamental frequency Second frequency
l=0 l = 0.15 l = 0.3 l = 0.45 l=0 l = 0.15 l = 0.3 l = 0.45

h=4 Es = 0 3.910852 3.697689 3.288642 2.92077 6.770985 5.733357 4.586537 3.874438

Es = 25 3.881022 3.671842 3.26856 2.904512 6.614395 5.611537 4.494011 3.797954
Es = 50 3.846493 3.641263 3.244042 2.884308 6.472259 5.499144 4.408169 3.726958
Es = 75 3.811861 3.610345 3.218999 2.863576 6.344366 5.396737 4.329587 3.661938
Es = 100 3.778184 3.58012 3.194368 2.84314 6.228908 5.303333 4.257602 3.602352
h=6 Es = 0 3.846433 3.639304 3.239832 2.879198 6.467677 5.488034 4.39519 3.714535
Es = 25 3.789324 3.58854 3.198996 2.845561 6.262743 5.325922 4.271835 3.612845
Es = 50 3.735047 3.539872 3.159447 2.812858 6.088009 5.185034 4.163702 3.523589
Es = 75 3.684358 3.494137 3.122015 2.781837 5.937174 5.061691 4.068327 3.444772
Es = 100 3.63716 3.451338 3.08678 2.752585 5.805317 4.952736 3.983548 3.374635
h=8 Es = 0 3.754313 3.55511 3.16891 2.818794 6.143176 5.223854 4.189516 3.54321
Es = 25 3.67917 3.487797 3.114394 2.773911 5.918821 5.043407 4.051604 3.429757
Es = 50 3.611298 3.426485 3.064244 2.732486 5.733553 4.891408 3.934066 3.332834
Es = 75 3.549954 3.37071 3.018254 2.694396 5.577313 4.761556 3.832755 3.249127
Es = 100 3.494287 3.319833 2.976019 2.659336 5.443155 4.649107 3.744449 3.176052
h = 10 Es = 0 3.650465 3.459905 3.08865 2.750652 5.83369 4.970109 3.991915 3.379039
Es = 25 3.563131 3.381213 3.024628 2.698056 5.606646 4.78459 3.849144 3.261717
Es = 50 3.486589 3.31164 2.967386 2.650834 5.422645 4.631518 3.7298 3.163316
Es = 75 3.419001 3.249801 2.916048 2.608337 5.269514 4.502814 3.628604 3.079683
Es = 100 3.358846 3.194486 2.869796 2.56994 5.139315 4.392741 3.541608 3.007683

123
Influence of thermal and surface effects on vibration behavior of nonlocal rotating… Page 9 of 19 673

! !
X
ni X
ni
2
X
ni
equation in the form of (45), the overall problem will be
ð1Þ ð2Þ ð2Þ
Ks GA Ci;k ui þ Ci;k wi þ 1  ðe0  aÞ Ci;k solved and nondimensional frequency will be computed.
k¼1 k¼1
!!
k¼1    
X
ni  0 X
ni ½Kww  Kwu fw i g 2 ½Mww  0 fwi g
¼x
 Ci;kð1Þ 2s b  N Ci;kð1Þ wi Kuw Kuu fu i g 0 Muu fui g
k¼1 k¼1
!  ð45Þ
2 o2 wi X
ni
ð2Þ
¼ qA 1  ðe0  aÞ Ci;k ð43Þ
k¼1
ot2

In order to obtain a better convergence speed, Cheby- 4 Numerical results

shev–Gauss–Lobatto technique is defined as follows:
   We have obtained the numerical results of vibration anal-
1 ði  1Þ ysis of the propped cantilever and cantilever Timoshenko
fi ¼ 1  cos p i ¼ 1; 2; 3; . . .; n ð44Þ
2 ðN  1Þ nanobeam. In order to have a better judgment on results,
Finally, substituting w ¼ Weixt and boundary conditions nondimensional parameters are defined as follows:
pffiffiffiffiffiffiffiffiffiffiffiffiffi
[Eqs. (33–35)] in Eqs. (42, 43) and using the eigenvalue w2 ¼ xL2 qA=EI ð46Þ

h=1 h=2

(a) 9 (b)
14
8
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ

12
7
10
6
8
μ=0.0 5 μ=0
μ=0.1 μ=0.1
6
μ=0.2 μ=0.2
4
μ=0.3 μ=0.3
4 μ=0.4 μ=0.4
μ=0.5 3 μ=0.5

0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
τ τ

h=4 h=8
4.2
(c) (d)
5.5 4
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ

3.8
5
3.6
4.5
3.4

4
3.2 μ=0
μ=0
μ=0.1 μ=0.1
3.5 3
μ=0.2 μ=0.2
μ=0.3 μ=0.3
2.8
3 μ=0.4 μ=0.4
μ=0.5 μ=0.5
2.6
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
τ τ

Fig. 2 Variation in the fundamental nondimensional frequency of a rotating propped cantilever nanobeam versus residual surface stress for
various nonlocal parameters and thickness with U ¼ 0; DT ¼ 0; Es ¼ 0; L ¼ 10; b ¼ 40 ðnmÞ

123
673 Page 10 of 19 M. Ghadiri et al.

Z
qL4 2 validity and efficiency of the reported numerical analysis,
U2 ¼ X dA ð47Þ
EI the results of this paper are compared with the results
e0 a reported by Wang et al. [12].
l¼ ð48Þ According to Tables 2 and 3, nondimensional frequen-
L
r cies of propped cantilever and cantilever nanobeam for
d¼ ð49Þ various values of l are compared with the results presented
L
by Wang et al. [12]. Tables 2 and 3 show that the results of
in which w, U, l, and d indicate nondimensional fre-
this paper agree very well with the results obtained by
quency, nondimensional angular velocity, nondimen-
Wang et al. [12].
sional nonlocal parameter, and nondimensional hub
In order to check the validity and accuracy of reported
radius, respectively.
analysis in this paper, comparison of results for nondi-
In Table 1, sufficient numbers of grid points for the first
mensional angular velocity of a cantilever nanobeam with
three frequencies considering various values of U for
the results reported by Shafiei et al. [70] and Dehrouyeh-
cantilever and propped cantilever nanobeam are presented.
Semnani [71] is represented in Table 4. According to
Table 1 shows that, to get converged to exact results for
Table 4, results of this paper are in a good agreement with
GDQ method, 15 grid points for cantilever and 17 grid
the results reported by Shafiei et al. [70] and Dehrouyeh-
points for propped cantilever are enough. To check the

h=1 h=2
22
(a) 13 (b)
20
12
18
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ

11
16 10

14 9

12 8

10 μ=0.0 7 μ=0
μ=0.1 μ=0.1
8 μ=0.2 6 μ=0.2
μ=0.3 5 μ=0.3
6
μ=0.4 μ=0.4
4 μ=0.5 4 μ=0.5

0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
τ τ

h=4 h=8
8.5 6.5
(c) (d)
8
6
Non-dimensional frequency, Ψ

7.5
Non-dimensional frequency, Ψ

7 5.5

6.5
5
6

5.5 μ=0 4.5 μ=0

5 μ=0.1 μ=0.1
μ=0.2 4 μ=0.2
4.5 μ=0.3 μ=0.3
4 μ=0.4 μ=0.4
3.5
μ=0.5 μ=0.5
3.5
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
τ τ

Fig. 3 Variation in the second mode of nondimensional frequency of a rotating propped cantilever nanobeam versus residual surface stress for
various nonlocal parameters and thickness with U ¼ 0; DT ¼ 0; Es ¼ 0; L ¼ 10; b ¼ 40 ðnmÞ

123
Influence of thermal and surface effects on vibration behavior of nonlocal rotating… Page 11 of 19 673

Semnani [71]. It should be noted that the accuracy of the N

elastic modulus Es ¼ 5:1882 m , the residual surface stress
results for the surface effects in this paper is acceptable and N
s ¼ 0:9108 m are applied in the analysis, as were used for
it was proven in a previous article by Ghadiri and Shafiei alumina nanobeam by Amirian et al. [66].
[72].
Then, vibration behavior of the nanobeam considering
the effects of various parameters such as thermal effects,
surface elastic modulus, nonlocal parameter, residual sur- 5 Results and discussion
face stress, and thickness is presented. In all cases, the
length of the nanobeam is assumed to be constant In this section, we have examined the vibration of
(L = 10 nm). In addition, the mass density, q, the Young’s rotating cantilever and propped cantilever Timoshenko
modulus, E, and the hub radius, r, are assumed to be nanobeam considering the thermal and the surface elas-
kg ticity effects.
2700 m 3 , 70 Gpa, and 0.34 nm, respectively [47].
Table 5 shows the comparison of the first and the second
Moreover, the Poisson’s ratio t = 0.3, the thermal
nondimensional frequencies of a propped cantilever
expansion coefficient ax ¼ 8:4  106 k1 , the surface

without surface effect surface effect: 10%

4.4 5
(a) (b)
4.2 4.9
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ
4
4.8

3.8
4.7
3.6
4.6
3.4
ΔT=0 ΔT=0
4.5
3.2 ΔT=25 ΔT=25
ΔT=50 ΔT=50
3 4.4
ΔT=75 ΔT=75
ΔT=100 ΔT=100
2.8 ΔT=125 4.3
ΔT=125

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Φ Φ

surface effect: 25% surface effect: 100%

5.5 6.44
(c) (d)
6.42
5.45
6.4
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ

5.4
6.38
5.35
6.36
5.3
6.34
5.25 6.32
ΔT=0 ΔT=0
5.2 6.3
ΔT=25 ΔT=25
5.15 ΔT=50 6.28 ΔT=50
ΔT=75 ΔT=75
5.1 6.26
ΔT=100 ΔT=100
ΔT=125 6.24 ΔT=125
5.05
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Φ Φ

Fig. 4 Variation in the fundamental nondimensional frequency of a effects with l ¼ 0; d ¼ 0:5; s100%
s ¼ 0:9108; Es100% ¼ 5:1882; L ¼ 5;
rotating propped cantilever nanobeam versus the angular velocity for h ¼ 10; b ¼ 20 ðnmÞ
various values of the temperature changes and percentages of surface

123
673 Page 12 of 19 M. Ghadiri et al.

nanobeam for various values of nonlocal parameters, presence of the nonlocal parameter decreases the stiffness
thickness, and surface elastic modulus. of the nanobeam and hence decreases the values of
It is observed that the nondimensional frequency is nondimensional frequency.
reduced when the surface elastic modulus increments. Figures 2 and 3 show the variation in the first and the
Also, with increasing thickness, the nondimensional fre- second modes of nondimensional frequency of a propped
quency is decreased. This is due to this fact that, by cantilever nanobeam with respect to the residual surface
increasing the thickness, the surface effect decreases and stress in the axial direction for various values of nonlocal
finally the nondimensional frequency decreases. Therefore, parameters and thickness.
thickness has an influence on vibrational properties of According to Figs. 2 and 3, when the residual surface
nanobeams, and in the study of nanostructures, it should stress effect is taken into account, the nondimensional
not be ignored. frequencies increase, as were reported by Amirian et al.
It is observed that the nondimensional frequency is [66]. Also, in thin beams, the influence of the nonlocal
reduced when the nonlocal parameter increments, as it was effects on the nondimensional frequency is decreased when
reported by other researchers. The reason is that the the residual surface stress decreases. It is observed that, as

without surface effect surface effect: 10%

7.3 (a) (b)
7.8
7.2
Non-dimensional frequency, Ψ

7.1 Non-dimensional frequency, Ψ 7.7

7
7.6
6.9

6.8 7.5
ΔT=0 ΔT=0
6.7 ΔT=25 7.4 ΔT=25
ΔT=50 ΔT=50
6.6
ΔT=75 ΔT=75
7.3
6.5 ΔT=100 ΔT=100
ΔT=125 ΔT=125

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Φ Φ

surface effect: 25% surface effect: 100%

8.4
(c) 9.45 (d)
8.35

8.3
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ

9.4
8.25

8.2
9.35
8.15

8.1
ΔT=0 9.3 ΔT=0
8.05 ΔT=25 ΔT=25
ΔT=50 ΔT=50
8 9.25 ΔT=75
ΔT=75
7.95 ΔT=100 ΔT=100
ΔT=125 ΔT=125

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Φ Φ

Fig. 5 Variation in the second mode of nondimensional frequency of effects with l ¼ 0; d ¼ 0:5; s100%
s ¼ 0:9108; Es100% ¼ 5:1882; L ¼
a rotating propped cantilever nanobeam versus the angular velocity 5; h ¼ 10; b ¼ 20 ðnmÞ
for various values of the temperature changes and percents of surface

123
Influence of thermal and surface effects on vibration behavior of nonlocal rotating… Page 13 of 19 673

the beam thickness increases, the nondimensional fre-
quency tends to its classical values. This means that the
residual surface stress effect can be ignored in large scale.
It is observed that with the increase in thickness, the
nondimensional frequency decreases. The reason is that as
the thickness nanobeam gets thicker, the rate of the surface
energy to bulk energy and the nondimensional frequency
decrease.
Figures 4 and 5 show the variation in the first and sec-
ond nondimensional frequencies of a propped cantilever
nanobeam with respect to angular velocity for various
values of the temperature changes.
Figures 4 and 5 are plotted considering various per-
centages of applied surface effects. It is found that
considering the surface effects and increasing the per-
centage of the applied surface effects, the nondimen-
sional frequency increases, due to the increase in
stiffness of beam. Moreover, it is found that the nondi-
mensional frequency is increased when the angular
velocity increases.
It should be noted that, considering the surface effects
and increasing the percentage of the applied surface
effects, the temperature change effect on the nondimen-
sional frequency is reduced. Therefore, in the study of
vibration behavior of nanostructures, the surface effects
have a more important role than temperature change effect,
and it should not be ignored.
Table 6 shows the comparison of the first and the second
nondimensional frequencies of a rotating cantilever nano-
beam for various values of the nonlocal parameters,
thicknesses, and surface elastic modulus.
It is observed that the nondimensional frequency
decreases with increasing the surface elastic modulus.
Also, with the increase in thickness, the nondimensional
frequency decreases. This is due to this fact that, by
increasing the thickness, the surface effects and the
nondimensional frequency are decreased. Therefore,
thickness has an important influence on vibrational prop-
erties of nanobeams, and in the study of nanostructures, it
should not be ignored.
According to Table 6, in the first mode of the rotating
cantilever nanobeam, the nonlocal parameter behavior is
different, and with the increase in the nonlocal parame-
ter, the fundamental nondimensional frequency is
increased. But, the second nondimensional frequency is
reduced when the nonlocal parameter increases, as it was
reported in the above section for the propped cantilever
nanobeam.
Figures 6 and 7 show the first and the second nondi-
mensional frequencies of a cantilever nanobeam versus the

Table 6 Comparison of the first and the second modes of nondimensional frequency of a rotating cantilever nanobeam for various values of the
nonlocal parameters, thicknesses, and surface elastic modulus with U ¼ 2; DT ¼ 25; ss ¼ 0; L ¼ 10; b ¼ 40 ðnmÞ
Thickness (nm) Surface Fundamental frequency Second frequency
elastic modulus
l=0 l = 0.15 l = 0.3 l = 0.45 l=0 l = 0.15 l = 0.3 l = 0.45

h=4 Es = 0 2.122449 2.131208 2.161315 2.23313 4.635674 4.330994 3.722278 3.112063

Es = 25 2.113605 2.121894 2.150308 2.217414 4.587248 4.285134 3.685605 3.090708
Es = 50 2.108522 2.116496 2.143812 2.208153 4.53764 4.237842 3.646456 3.064067
Es = 75 2.104646 2.112356 2.138765 2.200954 4.489778 4.192111 3.608224 3.036951
Es = 100 2.101323 2.108792 2.134386 2.194707 4.44421 4.148515 3.571606 3.010469
h=6 Es = 0 2.107211 2.115102 2.142162 2.206067 4.520085 4.222086 3.633467 3.053586
Es = 25 2.100778 2.108235 2.133811 2.19421 4.44285 4.148758 3.572493 3.01027
Es = 50 2.095642 2.102722 2.127029 2.184591 4.371558 4.080849 3.515573 2.968678
Es = 75 2.091057 2.097785 2.120925 2.175953 4.306171 4.018425 3.463015 2.929732
Es = 100 2.086783 2.093177 2.115215 2.167897 4.246158 3.96103 3.414524 2.893456
h=8 Es = 0 2.095105 2.102192 2.126549 2.184359 4.375003 4.086206 3.521065 2.971744
Es = 25 2.088217 2.094791 2.117445 2.171561 4.27971 3.995901 3.44557 2.915962
Es = 50 2.08206 2.08816 2.109255 2.160093 4.195256 3.915519 3.377923 2.865266
Es = 75 2.076314 2.081965 2.101596 2.149414 4.12012 3.84377 3.317224 2.81933
Es = 100 2.070859 2.076081 2.094323 2.139319 4.052898 3.779416 3.262535 2.777619
h = 10 Es = 0 2.082596 2.088824 2.110365 2.162273 4.219414 3.941794 3.401968 2.882502
Es = 25 2.074605 2.080225 2.099785 2.147619 4.113908 3.841884 3.318179 2.81939
Es = 50 2.067224 2.072275 2.089997 2.134131 4.023041 3.755337 3.244994 2.763656
Es = 75 2.060276 2.064788 2.080786 2.121501 3.944077 3.67981 3.180697 2.714261
Es = 100 2.053683 2.057684 2.072055 2.109587 3.87483 3.61337 3.123825 2.670248

123
673 Page 14 of 19 M. Ghadiri et al.

h=1 h=2
5 2
(a) μ=0.0 (b) μ=0
4.5 μ=0.1 μ=0.1
1.8
μ=0.2 μ=0.2
4
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ
μ=0.3 1.6 μ=0.3
μ=0.4 μ=0.4
3.5
μ=0.5 1.4 μ=0.5
3
1.2
2.5
1
2
0.8
1.5

1 0.6

0.5 0.4

0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
τ τ

h=4 h=8
2 (c) μ=0 (d) μ=0
1.95
μ=0.1 μ=0.1
1.8 μ=0.2 μ=0.2
1.9
μ=0.3
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ

μ=0.3
μ=0.4 μ=0.4
1.6 1.85
μ=0.5 μ=0.5

1.8
1.4

1.75
1.2
1.7
1
1.65

0.8
1.6
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
τ τ

Fig. 6 Variation in the fundamental nondimensional frequency of a rotating cantilever nanobeam versus the residual surface stress for various
nonlocal parameters and thicknesses with U ¼ 0; DT ¼ 0; Es ¼ 0; L ¼ 10; b ¼ 40 ðnmÞ

residual surface stress in longitudinal direction for various stress effect can be ignored in large scale. According to
values of the nonlocal parameters and thicknesses. Fig. 7, in thin beams, the influence of the nonlocal effect
According to Figs. 6 and 7, increasing the residual on the second nondimensional frequency is reduced when
surface stress, the fundamental nondimensional frequency the residual surface stress is low.
is reduced, and the critical value is obtained and then the Figures 8 and 9 show the variation in the first and the
fundamental nondimensional frequency is increased. It second modes of nondimensional frequency of a cantilever
should be noted that, with the increase in thickness, the nanobeam with respect to angular velocity for various
critical value for the residual surface stress is increased. values of the temperature changes and percentages of
But, the second nondimensional frequency increases with applied surface effects.
increasing the residual surface stress. In other words, when It is found that considering the surface effects and
the residual surface stress effect is taken into account, the increasing the percent of the applied surface effects, the
second nondimensional frequency increases. fundamental nondimensional frequency is reduced. But,
It is observed that, as the beam thickness increases, the the second nondimensional frequency is increased.
second nondimensional frequency tends to classical value, In a rotating nanobeam, the angular velocity has an
as it was mentioned in the above section for the propped important impact on temperature changes. It can be seen
cantilever nanobeam. This means that the residual surface that, by increasing the angular velocity, the effect of

123
Influence of thermal and surface effects on vibration behavior of nonlocal rotating… Page 15 of 19 673

h=1 h=2
(a) (b)
9
14

8
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ
12

7
10

6
8
μ=0.0 μ=0
5
μ=0.1 μ=0.1
6
μ=0.2 μ=0.2
μ=0.3 4 μ=0.3
4 μ=0.4 μ=0.4
μ=0.5 3 μ=0.5

0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
τ τ

h=4 h=8
(c) 4.6 (d)
6
4.4
5.5
Non-dimensional frequency, Ψ
Non-dimensional frequency, Ψ

4.2

5 4

3.8
4.5
3.6

4 μ=0 3.4 μ=0

μ=0.1 μ=0.1
3.2
μ=0.2 μ=0.2
3.5
μ=0.3 3 μ=0.3
μ=0.4 μ=0.4
3 2.8
μ=0.5 μ=0.5

0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
τ τ

Fig. 7 Variation in the second mode of nondimensional frequency of a rotating cantilever nanobeam versus the residual surface stress for
various nonlocal parameters and thicknesses with U ¼ 0; DT ¼ 0; Es ¼ 0; L ¼ 10; b ¼ 40 ðnmÞ

temperature changes on nondimensional frequency is Finally, it should be noted that the thermal stress affects
reduced. This means that the angular velocity has a more the vibrational behavior of the beam when the ends of the
significant role than temperature changes. beam have no vertical or axial movements. Here, the
According to Figs. 8 and 9, in the first mode of the consideration of the thermal stress is to examine the dif-
rotating cantilever nanobeam, the temperature change ference in the behavior of these two boundary conditions in
behavior on frequency is different, and by increasing the the response of the fundamental frequency to the external
temperature changes, the fundamental nondimensional effect. Also, the external effect can be in shape of thermal,
frequency is increased. However, with increasing the magnetic, etc., which is shown as the thermal stress in this
temperature changes, the second nondimensional fre- paper.
quency is reduced.
It should be noted that, considering the surface effects
and increasing the percentage of the applied surface 6 Conclusions
effects, the temperature change effects on nondimensional
frequency are reduced. Therefore, in the study of nanos- The nonlocal Timoshenko beam theory was used to study
tructures, the surface effect has a more important role than the free vibration of rotating nanobeams in consideration of
temperature change effect, and it should not be ignored. thermal and surface elasticity effects. The Hamilton’s

123
673 Page 16 of 19 M. Ghadiri et al.

without surface effect surface effect: 10%

3 (a) (b)
2.6

2.8 2.4
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ
2.6 2.2

2
2.4

Δ T=0 1.8 Δ T=0

2.2 Δ T=25 Δ T=25
Δ T=50 Δ T=50
1.6
Δ T=75 Δ T=75
2
Δ T=100 Δ T=100
1.4
Δ T=125 Δ T=125

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Φ Φ

surface effect: 25% surface effect: 100%

2.6 2.5
(c) (d)
2.4
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ

2.2 2

1.8 1.5

1.6
Δ T=0 Δ T=0
1.4 Δ T=25 Δ T=25
1
Δ T=50 Δ T=50
1.2 Δ T=75 Δ T=75
Δ T=100 Δ T=100
1 Δ T=125 Δ T=125
0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Φ Φ

Fig. 8 Variation in the fundamental nondimensional frequency of a l ¼ 0; d ¼ 0:5; s100%

s ¼ 0:9108; Es100% ¼ 5:1882; L ¼ 5; h ¼ 10; b ¼
rotating cantilever nanobeam versus the angular velocity for various 20 ðnmÞ
values of temperature changes and percents of surface effects with

principle was used to obtain the governing equations and is that, as the thickness is increased, the rate of the
the related boundary conditions. Then, generalized differ- surface energy to the bulk energy is decreased, and
ential quadrature (GDQ) method was applied to discretize therefore, the surface effect and the nondimensional
the governing differential equations corresponding to frequency are decreased.
clamped–simply and clamped–free boundary conditions. In • It was observed that with the increase of surface elastic
this article, the influence of the several parameters such as modulus, nondimensional frequency decreases. Also,
angular displacement, thickness, nonlocal parameter, sur- for thick beams, the influence of the surface elastic
face elastic modulus, and thermal effect on free vibration modulus on nondimensional frequency is remarkable.
of rotating nanobeam was examined. • We found that the nondimensional frequency is reduced
The following summaries could be highlighted from this when the nonlocal parameter increases. The reason is
paper: that the presence of the nonlocal parameter tends to
decrease the stiffness of the nanobeam and finally
• It was demonstrated that by increasing the thickness,
decreases the values of the nondimensional frequency.
the nondimensional frequency is decreased. The reason

123
Influence of thermal and surface effects on vibration behavior of nonlocal rotating… Page 17 of 19 673

without surface effect surface effect: 10%

5.6
(a) (b)
5 5.5
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ
4.8 5.4

5.3
4.6

5.2
4.4
ΔT=0 ΔT=0
ΔT=25 5.1 ΔT=25
4.2 ΔT=50 ΔT=50
ΔT=75 ΔT=75
5
ΔT=100 ΔT=100
4 ΔT=125 ΔT=125
4.9
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Φ Φ

surface effect: 25% surface effect: 100%

6
(c) 6.8
(d)
5.95

5.9
Non-dimensional frequency, Ψ

Non-dimensional frequency, Ψ

6.75
5.85

5.8
6.7
5.75

5.7 ΔT=0 ΔT=0

6.65
ΔT=25 ΔT=25
5.65
ΔT=50 ΔT=50
5.6 ΔT=75 ΔT=75
ΔT=100 6.6 ΔT=100
5.55 ΔT=125 ΔT=125

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Φ Φ

Fig. 9 Variation in the second mode of nondimensional frequency of l ¼ 0; d ¼ 0:5; s100%

s ¼ 0:9108; Es100% ¼ 5:1882; L ¼ 5; h ¼ 10; b ¼
a rotating cantilever nanobeam versus the angular velocity for various 20 ðnmÞ
values of the temperature changes and percents of surface effects with

But, in the first mode of the rotating cantilever
nanobeam, the nonlocal parameter behavior is different,
and with the increase in nonlocal parameter, the
nondimensional fundamental frequency increases.
• It was concluded that considering the surface effect and
increasing the percent of the applied surface effect, the
nondimensional frequency increases, due to the
increase in the beam stiffness. But, when the surface
effects were taken into account for a cantilever
nanobeam, the fundamental nondimensional frequency
decreases.
• Results showed that considering the surface effects, the
temperature change effect on the nondimensional
frequency is reduced. This means that the surface
effect has a more significant role than temperature
change effect.
• In the first mode of the rotating cantilever nanobeam,
the temperature change behavior on the frequency is
different, and by increasing the temperature changes,
the fundamental nondimensional frequency increases.
However, with increasing the temperature changes, the
second nondimensional frequency decreases.
We found that the nonlocal parameter, surface effect,
and the temperature changes have significant roles, and in
the study of nanobeams, they should not be ignored.
Because of the lack of modality in a rotating cantilever
nanobeam, the fundamental frequency behaves differently,
in some cases. Presented herein will be helpful for

123
673 Page 18 of 19
understanding the vibration features of nanobeams which
can be useful for engineers who are designing nanoelec-
tromechanical, nanosensors, and nanoactuators and in
which nanobeams act as basic elements.
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