CHAPTER 14 TRANSVERSE VIBRATION OF EULER BEAM

It was recognized by the early researchers that the bending effect is the single most important
factor in a transversely vibrating beam. The Euler-Bernoulli model includes the strain energy due
to the bending and the kinetic energy due to the lateral displacement. The Euler-Bernoulli model
dates back to the 18th century. Jacob Bernoulli (1654-1705) first discovered that the curvature of
an elastic beam at any point is proportional to the bending moment at that point. Daniel Bernoulli
(1700-1782), nephew of Jacob, was the first one who formulated the differential equation of
motion of a vibrating beam. Later, Jacob Bernoulli's theory was accepted by Leonhard Euler
(1707}1783) in his investigation of the shape of elastic beams under various loading conditions.
Many advances on the elastic curves were made by Euler. The Euler-Bernoulli beam theory,
sometimes called the classical beam theory, Euler beam theory, Bernoulli beam theory, or
Bernoulli-Euler beam theory, is the most commonly used because it is simple and provides
reasonable engineering approximations for many problems. However, the Euler-Bernoulli model
tends to slightly overestimate the natural frequencies. This problem is exacerbated for the natural
frequencies of the higher modes.

Mathematical formulation:

x
dx

Figure 1: A beam under transverse vibration

Consider a long slender beam as shown in figure 1 subjected to transverse vibration. The free
body diagram of an element of the beam is shown in the figure 2. Here, M ( x, t ) is the bending
moment, V ( x, t ) is the shear force, and f ( x, t ) is the external force per unit length of the beam.

∂ 2 w( x, t )
Since the inertia force acting on the element of the beam is ρA( x)dx
∂t 2

247
 Figure 2: Freebody diagram of a section of a beam under
transverse vibration

balancing the forces in z direction gives

∂ 2 w( x, t )
− (V + dV ) + f ( x, t )dx + V = ρA( x)dx ,
∂t 2
where ρ is the mass density and A(x ) is the cross-sectional area of the beam. The moment
equation about the y axis leads to
dx
( M + dM ) − (V + dV )dx + f ( x, t )dx −M =0
2
By writing
∂V ∂M
dV = dx and dM = dx
∂x ∂x
and disregarding terms involving second powers in dx , the above equations can be written as
∂V ( x, t ) ∂ 2 w( x, t )
− + f ( x, t ) = ρA( x)
∂x ∂t 2
∂M ( x, t )
− V ( x, t ) = 0
∂x
∂M
By using the relation V = from above two equations
∂x
∂ 2 M ( x, t ) ∂ 2 w( x, t )
− + f ( x , t ) = ρA( x )
∂x 2 ∂t 2

248
From the elementary theory of bending of beam, the relationship between bending moment and
deflection can be expressed as
∂ 2 w( x, t )
M ( x, t ) = EI ( x)
∂x 2
where E is the Young’s modulus and I ( x ) is the moment of inertia of the beam cross section
about the y axis. Inserting above two equations, we obtain the equation of the motion for the
forced transverse vibration of a non-uniform beam:

∂2 ⎡ ∂ 2 w( x, t ) ⎤ ∂ 2 w( x, t )
⎢ EI ( x ) ⎥ + ρA( x ) = f ( x, t )
∂x 2 ⎣ ∂x 2 ⎦ ∂t 2

For a uniform beam above equation reduces to

⎡ ∂ 4 w( x, t ) ⎤ ∂ 2 w( x, t )
⎢ EI ( x) ⎥ + ρA( x) = f ( x, t )
⎣ ∂x 4 ⎦ ∂t 2

For free vibration, f ( x, t ) = 0 , and so the equation of motion becomes

∂ 4 w( x, t ) ∂ 2 w( x, t )
c2 + =0
∂x 4 ∂t 2
where
EI
c=
ρA
Initial Conditions:
Since the equation of the motion involves a second order derivative with respect to time and a
fourth order derivative with respect to x , two initial equations and four boundary conditions are
needed for finding a unique solution for w( x, t ) . Usually, the values of transverse displacement
.
and velocity are specified as w0 ( x) and w0 ( x ) at t = 0 , so that the initial conditions become:

w( x, t = 0) = w0 ( x)
∂w( x, t = 0) .
= w0 ( x)
∂t
Free Vibration:
The free vibration solution can be found using the method of separation of variables as
w( x, t ) = W ( x )T (t )

249
Substituting this equation in the final equation of motion and rearranging leads to
c 2 d 4W ( x) 1 d 2T (t )
= − = a = ω2
W ( x) dx 4 T (t ) dt 2

where a = ω 2 is a positive constant. Above equation can be written as two equations:

d 4W ( x)
− β 4W ( x) = 0
dx 4
d 2T (t )
+ ω 2T (t ) = 0
dt 2
where,
ω2 ρAω 2
β4 = =
c2 EI
The solution to time dependent equation can be expressed as
T (t ) = A cos ωt + B sin ωt
where, A and B are constant that can be found from the initial conditions. For the solution of
displacement dependent equation we assume,
W ( x) = Ce sx
where C and s are constant, and derive the auxiliary equation as:
s1, 2 = ± β , s1, 2 = ±iβ

Hence the solution of the equation becomes:

W ( x ) = C1e βx + C 2 e − βx + C3e iβx + C4 e − iβx

where C1 , C2 , C3 and C4 are constant. Above equation can also be expressed as:

W ( x) = C1 cos β x + C2 sin β x + C3 cosh β x + C4 sinh β x

or,

W ( x) = C1 (cos βx + cosh βx ) + C2 (cos βx − cosh βx ) + C3 (sin βx + sinh β x ) + C4 (sin β x + sinh βx )

The constants C1 , C2 , C3 and C4 can be found from boundary conditions. The natural frequencies
of the beam are computed from:

= (β l )
EI EI
ω = β2 2

ρA ρAl 4

250
The function W ( x ) is known as normal mode or characteristic function of the beam and ω is
called the natural frequency of vibration. For any beam, there will be infinite number of normal
modes with one natural frequency associated with each normal mode. The unknown
constant C1 , C2 , C3 and C4 and value of β can be determined from boundary conditions of the
beam.

Boundary Conditions:

Hinged, M(0, t) =0, D(0, t) =0; Free, M(0, t)=0, Q(0, t)=0

1. Free End:
∂2w
Bending Moment = EI = 0,
∂x 2

∂ ⎛ ∂2w ⎞
Shear Force = ⎜⎜ EI 2 ⎟⎟ = 0 .
∂x ⎝ ∂x ⎠

2. Simply supported (pinned) end:

∂2w
Bending Moment = EI 2 = 0 ,
∂x
Deflection = w = 0 .

The value of β n L is unknown and is determined using the boundary condition of the beam
given. For different boundary conditions we get different equations.
While the case of simply supported beam admits a closed form solution, the other equation has to
be solved numerically. All these equations have a number of solutions each corresponding to
different modes of vibration. The first, second and third positive solutions were determined for

251
each case and the solutions obtained are used to determine the frequencies of vibration for three
modes.

1. Free End:

Frequency Equation: sin β n l = 0 ,

Mode Shape: wn = Cn sin β n x .

β1l = π
β 2l = 2π
β 3l = 3π

2. Simply supported (pinned) end:

Frequency Equation: cos β nl. cos β n l = 1

⎡ ⎛ sin β n x − sinh β n x ⎞ ⎤
Mode Shape: wn = Cn ⎢sin β n x + sinh β n x + ⎜⎜ ⎟⎟(cos β n x + cosh β n x )⎥
⎣ ⎝ cosh β n x − cos β n x ⎠ ⎦
β1l = 4.730041
β 2l = 7.853205
β 3l = 10.995608
β 4l = 14.137165

We now consider the effect of different masses at different locations. A lower bound
approximation method “Dunkerley’s Equation” is used to determine the frequency with lumped
masses attached to the beam.
The Dunkerleys formulae is given as

252
 1 1 1 1
= + + + .......
ωsys 2
ωbeam 2
ω
1
2
ω22
where
ωsys = fundamental frequency of the total system
ωbeam = fundamental frequency of the beam alone
ωi = fundamental frequency of the ith mass mounted on the beam alone

The natural frequency of the mass alone is determined from the static deflection value obtained
by using the strength of materials theory

F = K ( ∆x )
ωi2 = K i / mi
• Rigorously speaking, all real system are continuous system
• A continuous system for analysis purpose can be reduces to a finite number of discrete
models. Each discrete model can be reduced to an eigenvalue problem.
• In can of continuous systems the solution yield infinite number of eignvalus and
eigenfunctions where as in discrete system the number of eignvalues and vector are finite.
• The concept of orthogonality is applicable to both discrete and continuous systems.
• The eigen value problem in case of discrete system takes the from of algebraic equations
while in continuous systems differential equations and some times integral equations are
obtained. Eigenvectors of the discrete system becomes eigenfunction of the continuous
system.
Geometric boundary conditions (or essential or imposed
boundary conditions)

Boundary resulting from conditions of purely geometric compatibility

conditions Ex Here, deflections and slope at
both ends are zero constitute
geometric b.c s

Natural boundary conditions (additional or dynamic b.cs)

resulting from the balance of moments or forces.

253
 Bending moment is zero at both the ends.

So in case of a simply supported beam, the natural boundary conditions are bending moment is
zero at both the ends and in geometric boundary condition is deflections are are zero at both the
ends. For a cantilever beam, while the fixed end has geometric bcs (deflection and slope zero)
and free end has natural bcs (shear force and bending moment zero)

Approximate methods
In exact method difficulties arises in
• Solving roots of the characteristic equation. Except for very simple boundary conditions,
one has to go for numerical solution.
• In determining the normal modes of the system
• Determination of steady state response

So quick for determination of the natural frequencies of a system, when a very accurate
result is not of much importance one should go for an approximate method.

Modeling
Approximation
Series solution
.
Approximate method where approximation error should be within acceptable limits one may
assume a series solution as
α
y ( x, t ) = ∑ f n (t ) φ n ( x) (1)
n=0

where φn ( x ) is the normal modes and f n (t ) is the time function which depends upon initial
conditions and forcing function. There are certain difficulties that limit the application of
classical analysis of continua to a very simple geometries only.
• The infinite series sometimes converge very slowly and it is difficult to estimate how
many terms are needed for engineering accuracy.
• The formulation and computation efforts are prohibitive for systems of engineering
complexity.

254
The special methods (as approximate methods) treat the continuous systems, for vibration
analysis purpose, as discrete systems. This can be done with one of the following methods.
¾ Retaining n natural modes only and considering them as generalized coordinates
and computing the n weighing functions fn(t) to best fit the initial conditions or the
forcing functions.
¾ Substituting for the n modes an equal number of known functions φn(x) that
satisfy the geometric conditions of the problem and then compute the functions
fn(t) to best fit the differential equation, the remaining boundary conditions, and
the intitial conditions of the forcing functions.
¾ Taking as generalized coordinates the n physical conditions of a certain number of
points of the system q, (q, " qn) considering them as functions of time, and
computing them to fit the differential equation; and the initial and boundary
conditions.
The main advantage of all theses methods is that instead of dealing with one or more
partial differential equations, one deals with a larger number of ordinary differential
equations (usually liner with constant coefficients) which are particularly suitable for
solution in fast computing machines.

Rayleigh’s Method
(Lord Rayleigh (1842-1919) 1868 fellow of Trinity collage. His first experimental investigation
was in electricity, but soon he turned to Acoustics & Vibration. He started writing Theory of
Sound on a boat trip up the Nile in 1872 and the book was published in 1877. 1904-Got Nobel
Prize in physics.)

-Rayleigh method gives a fast and rather accurate computation of the fundamental frequency of
the system.
-It applies for both discrete and continuous systems.
Consider a discrete, conservative system describe of by way of Matrix equation

Mx + Kx = 0 (2)

255
The equation above is satisfied by a set of n eigenvalues ω i2 and normalized eigenvectors φ i ,

which satisfy the equation

Kφ i = ω 22 Mφ i i =1, 2----n (3)

Multiplying both sides of (3) by φ iT and dividing by a scalar φ T Mφ i , , which is a quadratic form,
we have

φ iT Kφ i
ω i2 = (4)
φ iT Mφ i
If we know the eigenvector φ i , we can obtain the corresponding eigen value ω i2 by eqn (4).
However in general, we donot know the eigenvectors is advance. Suppose that we consider an
arbitrary vector Z in eqn(3)
z T Kz
ω 2 = R( z ) = (5)
z T Mz
where R(z) depends on the vector z and is called Rayleigh’s quotient . When the vector z
coincides with an eigenvector φ i , Rayleigh’s quotient coincides with the corresponding
eigenvalues.

From vector algebra it is known that we can express any vector z by a linear combination of then
linearly independent vectors (expansion theorem):

n
z = ∑ ciz (i ) = ZC (6)
j =1

where Z is a square modal matrix [z(1)……z(2)] and C = {c1 c2….cn}

If the vector z(i) have been normalized so that

Z T MZ = I , then Z T KZ = diag [ w12 , w22 ........wn2 ] = P (7)

using (6) in (6) and using orthogonal Property

256
 n

T T
C Z KZC C PC T ∑ ςω 2
2
R( z ) = = = i =1
(8)
C T Z T MZC C T IC n

∑ς
i =1
2

Example: Using Rayleigh quotient method, find the fundamental frequency for a cantilever
beam assuming the approximate function as the static deflection curve.

Static deflection of a cantilever beam can be found using bending equation as follows.
x d2y
M = wx. = EI 2
2 dx
dy 1 wx 3
or, EI = + C1
dx 2 3
1 wx 4
EIy = + C1 x + C 2
6 4
y=0 ⎫
⎪ −1 3
BCs x = l dy ⎬⇒ C1 = wl
= 0⎪ 6
dx ⎭

⎛ 1 wx 4 ⎞
C 2 = −⎜⎜ + C1 x ⎟⎟ x = l
⎝ 6× 4 ⎠

⎛ wl 4 ⊥ 4 ⎞ wl 4
⎜
= −⎜ ⎟
− wl ⎟ = +
⎝ 24 6 ⎠ 8

257
⇒y=
w
24 EI
(
x 4 − 4l 3 x + 3l 4 ) (deflection from free end)

To measure x from fixed end

One may substitute x = (l − x ' ) in the above equation.

∴y =
w
24 ET
[
(l − x ' ) 4 − 4l 3 (l − x ' ) + 3l 4 ]
=
w
24 EI
[(
l 3 − x 3 − 3l 2 x + 3lx 2 − 4l 3 )] replacing x’ by x

=
w
24 EI
[
− 3l 4 − x 3 l − 3l 3 x + 3l 2 x 2 + 3l 3 x + x 4 + 3l 2 x 2 − 3lx 3 + 3l 4 ]
=
w
24 EI
[
x 4 − 4lx 3 + 6l 2 x 2 ]
Taking static deflection curvee ϕ ( x) =
w
24 EI
(
x 4 − 4 x 3 l + 6l 2 x 2 )
dϕ ( x ) w
= ( 4 x 3 − 12lx 2 + 12l 2 x ) w = weight/unit length
dx 24 EI
d 2ϕ ( x ) w w
2
= (12 x 2 − 24lx + 12l 2 ) = ( x 2 − 2lx + l 2 )
dx 24 EI 2 EI

2
1 l ⎛ ∂2 y ⎞
potential energy = ∫ EI ⎜⎜ ⎟ dx
2 0 ⎝ ∂x 2 ⎟⎠

1 2 l
K .E = w ∫ m( x) y 2 dx
2 o

1 l w
2 ∫ 0
EI .
2 EI
( x − l ) 4 dx ( I 1 ) ⎡ ∂ 2u ∂2 ⎛ ∂ 2 y ⎞⎤
⇒w =
2
⎢m 2 = − 2 ⎜⎜ EI 2 ⎟⎟⎥
1 l w 2 dx ∂t ∂x ⎝ ∂x ⎠⎦
∫ m( x − 4lx + 6l x )
4 3 2 2 2
2 2 2
(I 2 ) ⎣
2 o 24 E I
o
t − x = t → dt = − dx
1
I1 = − − ∫ (t ) dt
EIw 4
x = 0, t = +l
2 l 2 EI
x=l t =o
o
1 ⎡ w t5 ⎤
= − ⎢E ⎥
2 ⎣ 2 5 ⎦l
= −
1 w
2 × 10
o − l 5
=
wl 5
20
( )

258
 1 mw 2 l
I2 = ∫ (x + 16l 2 x 6 + 36l 4 x 4 − 2 × 4lx 7 − 48l 2 x 5 + 12lx 6 )dx
8

2 (24 EI ) 2 0

l
1 ⎡ x 9 16 36 8/ lx 8 8 4/ 8/ l 3 x 6 12l 2 x 7 ⎤ w2
= m⎢ + l 2 x 7 + l 4 x 5 − − + ⎥
2 ⎣9 7 5 8/ 6/ 7 ⎦ o (24 EI ) 2

1 ⎛ l 9 16l 9 36l 9 8/ l 9 12 ⎞ w 2
= m⎜⎜ + + − − 8l 9 + l 9 ⎟⎟
2 ⎝9 7 5 8/ 7 ⎠ (24 EI ) 2

1 ⎛ 1 16 36 12 ⎞ ⎛ w2 ⎞
= ml9 ⎜ + + −1− 8 + ⎟ ⎜⎜ ⎟⎟
⎝ 9 17 5 7⎠ 2
2 ⎝ (24 EI ) ⎠
0.96657 ml 9 × w 2
= ×
2 (24 EI ) 2

ωl 5 × 2 × (24 EI ) 2
⇒
20 × mω 2/ × 0.96657t 9

59.591963( EI ) 2
= Ans
ml 5

Uniformly loaded shaft:

d 4y d 2y
EI + ρ = 0 ⇒ Euler Equation
dx 4 dt 2

General Solution

y = a cosh β x + b sinh β x + c cos β x + d sin β x ……………….(A)

ω2
β =ρ
4

EI
EI EI
⇒ ωn = β n2 = ( β nl )2
ρ PL4

β n depends on the bcs

259
 Beam Conf ( β1l ) 2 fundamental ( β 2l ) 2 second mode ( β 3l ) 2 thirdmode

Simply supported 9.87 39.5 88.9

Cantilever 3.52 22.0 61.7
Free-free 22.4 61.7 121.0
Clamped-clamped 22.4 61.7 121.0
Clamped-hinged 15.4 50.0 104.0
Hinged-free 0 15.4 50.0
d 4ω md 2 y
+ =0
dx 4 EIdt 2
ω = y ( x ), g (t )

d4y my d 2 g
g (t ) + . =0
dx 4 EI dt 2
⎛ d 4 y ⎞ ⎛ my ⎞ ⎛ d 2g ⎞
= − ⎜ 2 ⎟ g (t ) = (const )ω
2
or, ⎜ 4 ⎟ ⎜ ⎟
⎝ dx ⎠ ⎝ EI ⎠ ⎝ dt ⎠

d 4 y myω 2
=> − =0
dx 4 EI

d4y
4
− β4y = 0 Roots ± iβ , ± β
dx

For simply supported

Bcs y = 0, x = 0 & L

d2y
BM = 0 => at x = 0 & L
dx 2
y = 0 eqn. (A)
d2y
at x = 0 => y = 0 = a + c, = a – c = 0 => a = c =0
dl 2
=> y = b sinh β x + d sin β x

260
x = l, y = 0 => b sinh β l + d sin β l = 0 => b sinh β l = 0 as sinh β l ≠ 0 ,
2
d y b=0
= 0 => b sinh β l − d sin β l = 0
dx 2

Also, d sin β l = 0
As d ≠ 0, sin β l = 0 if (d = 0, y = 0, leads to trivial)
sin β l = 0 → Frequency Equation
=> sin β l = sin nπ , n = 1,2,3 ……

=> β l = nπ , n = 1,2,3…… β l ≠ 0

For n = 1, first mode β l = π

EI
ωn2 = (nπ ) 2
ρ L4

EI
=> ωn = nπ 4
ρ L4

for simply supported beam carrying has maximum deflection at midpoint.

5WL3
∆= W = total weight
384 EI
= 5ρ gL4 / 384 EI

5g EI 5g
Hence, ωn2 = n 2π 2 =
384∆ ρ L 384∆
4

For Cantilever Beam

ρ gl 4
∆=
384 EI
Shaft carrying several loads:

Dunkerley’s Method (Semi empirical) approximate solution

According to Dunkerley’s empirical formula

261
 1 1 1 1
= + + .......... +
ω 2
n ω 2
n1 ω 2
n2 ωn2 s

1 1 1 1
2
= 2 + 2 + .......... + 2
fn f n1 f n2 f ns

Dunkerley’s lowerbound approximation.

Let W1, W2,…….Wn be the concentrated loads on the sharft due to masses m1, m2, …. mn and ∆1,
∆2,…… ∆3 are the static deflections of the shaft under each load. When the load acts alone as
shaft. Also let the shaft carry a uniformly distributed mass of m per unit length over its whole
span and static deflection at the mid span due to the load of this mass be ∆s. Also
Let
ω n = Frequency of tranverse vibration of the whole system.
ω ns = Frequency with distributed load acting alone
ω n1, ω n2 ...... = Frequency of tranverse vibration when each of W1, W2,W3…. act alone.

Energy Method (Rayleigh’s upper bound approximation):

Max P.E.(Extreme Position)=Max K.E (Mean Position)

1 1 1 Neglects mass of the

= W1Y1 + W2Y2 + W3Y3 + ....
2 2 2 beam difficult to apply in
the presence of many
masses.

262
 g
Max P.E. = (m1 y1 + m1 y1 + ......)
2
g
=
2
∑ my
1 1 1
Max K.E. = m1v12 + m2 v2 2 + m3v32 + ......
2 2 2
1 1 1
= m1 (ω y1 ) 2 + m2 (ω y2 ) 2 + m3 (ω y3 ) 2 + ......
2 2 2
1
= ω 2 ∑ my 2
2

g 1
=>
2
∑ my = ω 2 ∑ my 2
2

g ∑ my
=> ωn 2 =
∑ my 2

Unlike Dunker ley’s formula, which is valid for lateral vibration of shafts only, Rayleigh’s
method is valid for a system performing oscillatory motion in any manner i.e., bending, torsional
or longitudinal motions.

Example:

Consider a shaft carrying three discs as shown in the figure. The influence coeffiecients are,
3l 3 l3 3l 3
a11 = , a22 = , a33 =
256 EI 48 EI 256 EI

263
 Influence Coefficients:
Using Dunkerley’s formula aij deflection at station i due to
1 3ml 3 1 2ml 3 1 3ml 3 unit load at station j
= , 2 = , =
ω12 256 EI ω2 48EI ω32 256 EI

1 3ml 3 2ml 3 3ml 3

= + +
ωn 2 256 EI 48 EI 256 EI ωn 2 = 15.36
EI
Dunkerly
ml 3
(3+10.66+3)ml3 16.199EI
= = Exact
256EI ml 3
256 EI EI
ωn 2 = 3
= 15.36 3
16.66 ml ml

EI
ωn = 3.9191
ml 3

Rayleigh method:
Flexibility influence coefficient
displacement at i due to unit load
9l 3 11l 3 7l 3 at j with all other forces equal to
a11 = , a12 = , a13 = zero.
768 EI 768EI 768 EI
16l 3 11l 3 9l 3
a22 = , a23 = , a33 =
768EI 768EI 768 EI

By Maxwell’s reciprocal theorem the remaining influence coefficients can easily be determined.
The static deflections are therefore given by,
X 1 = m1 ga11 + m2 ga12 + m3 ga13

X 2 = m1 ga21 + m2 ga22 + m3 ga23

X 3 = m1 ga31 + m2 ga32 + m3 ga33

m1 = m3 = m and m2 = 2m

38ml 3 g 54ml 3 g 38ml 3 g

X1 = , X2 = , X3 =
768EI 768 EI 768EI

264
 n
g ∑ mi X i
16.2055EI
=> ωn 2 = i =1
n
=
ml 3
∑m Xi =1
i i

EI
( which is slightly higher than the exact value 16.199 )
ml3

Example:
A steam turbine blade of length l, can be considered as a uniform cantilever beam, mass
m per unit length with a tip mass M. The flexural rigidity of the blades is EI. Determine
fundamental bending frequency.(Use Rayleigh Method)

Sol: g
ωn =
Assuming Y(x,t)=Y(x)cosω t ∆
g g.256 EI 256 EI
πx => ωn 2 = = =
Y(x)=A(1-cos ) ∆ 3mgl 3 3mgl 3
2l
• πx
Y( x, t ) = −ω Y(x)sinω t=-ω A(1-cos ) sin ωt
2l
l
1 •2
K .E. = T = ∫ m y dx
0
2
l
1 πx
= ∫ mω 2 (1 − cos ) 2 A2 dx
0
2 2l

mA2ω 2 πx
l
=
2 0 ∫ (1 − cos ) 2 dx
2l

mA2ω 2 ⎡ l
= x − 2⎤
2 ⎣ 0 ⎦

⎡ ⎛ ⎛πx ⎞⎞
l
l⎤
⎢ πx ⎥
mA2ω 2 ⎢ l ⎜ 2sin ⎜ ⎟⎟ l sin 2( )
x −⎜ ⎝ 2l ⎠ ⎟ + x − 2l ⎥
2 ⎢ 0 ⎜ π ⎟ 2 π ⎥
⎢ 2( ) ⎥
0
⎜ ⎟
⎢⎣ ⎝ 2l ⎠0 2 0
⎥⎦

mA2ω 2 ⎡⎛ 3 ⎞ 2l l ⎤
= ⎢⎜ 2 ⎟ l − π .2(1 − 0) − π (0 − 0) ⎥
2 ⎣⎝ ⎠ ⎦

265
 mA2ω 2 ⎛ 3 4l ⎞ 2 2 3 2
= ⎜ l − ⎟ = mA ω l ( − )
2 ⎝2 π ⎠ 4 π
1 • 1 1
M ( y (l )) = M {ω A} = M ω 2 A2
2
The K.E. of tipmass =
2 2 2
⎛3 2⎞ 1
The K.E. of the system = mA 2ω 2l ⎜ − ⎟ + M ω 2 A2
⎝4 π ⎠ 2
2
1
l
⎛ d2y ⎞ π 4 EI 2
P.E. V= EI ∫ ⎜ 2 ⎟ dx = A
2 0 ⎝ dx ⎠ 64 l 3

Strain Energy

Equating max P.E. with max K.E.,

3.0382 EI
ω2 =
( M + 0.232ml )l 3
Exercise Problems

1. A shaft 40 mm diameter and 2.5 m long has a mass of 15 kg per m length. It is fixed at
both the ends and carries three masses 90 kg, 140 kg and 60 kg at 0.8 m, 1.5 m and 2 m
respectively from the left support. Taking E = 200 GN/m2, find the frequency of the
transverse vibrations. (Hinds: λ 1 L = 4.730).
2. A rotor has a mass of 12 kg and is mounted midway on a 24 mm diameter horizontal
shaft supported at the ends by two bearings. The mass of the shaft is 2 kg and bearings
are 1 m apart. The shaft rotates at 2400 rpm. If the center of mass of the rotor is 0.1 mm
away from the geometric center of the rotor due to a certain manufacturing defect, find
the amplitude of steady state vibration and the dynamic force transmitted to the bearing.
Take ξ = 0.01 and E = 200 GN/ m 2 .
3. A rotor has a mass of 15 kg and is mounted midway on a 24 mm diameter horizontal
shaft supported at the ends by two bearings. The mass of the shaft is 2 kg and bearings
are 1 m apart. Find the first two natural frequency using energy principle. E = 200 GN/
m2 .

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