VIII International Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 !

ne 2014, "#tart $a%e&-"'n( $a%e&

Natural Frequencies of a Tapered Cantilever Beam of Constant
Thickness and Linearly Tapered Width
Aleksandar Nikoli
*1
, Slavia alini
1
1
Faculty of Mechanical and Civil Enineerin
!niversity of "rau#evac, $%&&& "ral#evo, 'osite#eva 1( )Ser*ia+,
A method for determination of natural frequencies of a tapered cantilever beam in free bending vibration by a rigid
multibody system is proposed. The considerations are performed in the frame of Euler-Bernoulli beam theory. The method
consists of two steps. In the first step, the tapered cantilever beam is approimated by n fleible straight beam, and after
that all of the n segments are divided into ! segments. In the second step, all of the fleible straight beams are replaced by
three rigid beams connected through revolute and prismatic "oints with the corresponding springs in them. The results of
the proposed method are compared with similar methods proposed in literature.
Keywords: Free endin! viration" tapered cantilever eam" ri!id multiody system" natural frequencies
1, -N./0'!C.-0N
/esearch on dyna1ic characteristics of fle2i*le
ta3ered cantilever *ea1s is very i13ortant in different
enineerin fields, .hese ty3es of *ea1s a33ear 1ost
fre4uently as the result of a need for savin in 1aterial,
reduction of 5eiht, *etter utili6ation of 1aterial,
increased riidity, etc, A sinificant nu1*er of 3a3ers
dedicated to the solution of this 3ro*le1 have *een
recently 3u*lished,
.his 3a3er 3resents a ne5 a33roach to
a33ro2i1ative deter1ination of natural fre4uencies of free
vi*ration of this ty3e of *ea1s usin the 1ain ideas
3resented in 7%8 and 798, A short analysis and ada3tation of
a33roaches fro1 718, 7:8, and 7$8 5ill *e carried out for the
3ur3ose of co13arin the o*tained results 5ith the results
fro1 si1ilar a33roaches so that the 3rocedure of analysis
of this ty3e of *ea1s could *e feasi*le, Co13arison
*et5een the 3resented a33roach and the t5o 1entioned
,
a33roaches 5ill *e 3erfor1ed on the e2a13le fro1
7;8, 5here e2act values of fre4uencies of the ste33ed
cantilever *ea1 are deter1ined, Also, the results of the
3resented a33roach 5ill *e co13ared 5ith the results fro1
7<8, 5here the ta3ered cantilever *ea1 of a rectanular
cross section, constant thickness and linearly ta3ered 5idth
is analysed,
:, A /-=-' M!>.-?0'@ M0'E> 0F A .AAE/E'
CAN.->EBE/ ?EAM
>et us consider free vi*ration of the fle2i*le ta3ered
cantilever *ea1 5ith the lenth #, 5here its end A is
cla13ed, and the end ? is free, as sho5n in Fi, 1, .he
*ea1 thickness h is constant, 5hereas its 5idth chanes
linearly alon the *ea1, startin fro1 bA in the cla13ed
end of the *ea1, u3 to bB at the free endC
( ) , & ,
B A
b A
b b
f b #
#

+ < )1+

$igure %& Tapered cantilever beam
)Corre*$on(in% a!thor+ ,ac!lty of Mechanical an( Civil 'n%ineerin%
-niver*ity of .ra%!/evac, 01000 .ral/evo, 2o*ite/eva 13 4#erbia5, ni6olic7a89f6v76%7ac7r*
VIII International Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 !ne 2014, "#tart $a%e&-"'n( $a%e&
A riid 1ulti*ody 1odel of the ta3ered cantilever
*ea1 5ill *e created in t5o ste3s, -n the first ste3, the
e2act sha3e of the cantilever *ea1 is a33ro2i1ated 5ith n
fle2i*le se1ents of constant 5idth, -n the second ste3,
each n fle2i*le se1ent is divided into ! e4ual fle2i*le
se1ents, -n further te2t, the division in the first ste3 5ill
*e called 3ri1ary division, and the division in the second
ste3 5ill *e called secondary division, Ari1ary division
should a33ro2i1ate the e2act sha3e of the cantilever *ea1
in the *est 5ay, and secondary division should additionally
increase accuracy,
.he 3ara1eters 5hich define each of the o*tained
se1ents areC
Dthe 1odulus of elasticity of the 1aterial E,
Dthe shear 1odulus of the 1aterialC
( )
,
: 1
E
'

+
):+
Dthe Aoisson coefficient

,
Dthe density of the 1aterial ,
Dthe lenth of the se1ent after 3ri1ary divisionC
, 1,,,,, ,
i
#
# i n
n
)$+
Dthe 5idth of the se1ent after 3ri1ary divisionC
1
1
1
) +, 1,
:
) +, 1 ,
:
b
i i
i
b !
!
#
f i
b
#
f # i n

'

+ <

);+
Dthe area of the cross section of the se1ent after 3ri1ary
division
i
A
,
Dthe a2ial 1o1ent of inertia for the 3rinci3al a2is 6 of the
cross section of the *ea1 after 3ri1ary division
(i
I
,
.he a33ro2i1ative sha3e of the ta3ered *ea1 after
3ri1ary and secondary divisions is sho5n in Fi, : *y
dashed lines,
:,1, 0ur a33roach
Each of n)! fle2i*le se1ents is divided into three
riid se1ents, 5here the first and second riid se1ents
are interconnected throuh a 3ris1atic #oint, and the
second and third se1ents throuh a revolute #oint )see
Fi, $a+,
.he s3rins of corres3ondin stiffness are 3laced in
the #oints, .he a33ro2i1ative 1odel of the fle2i*le
ta3ered cantilever *ea1 is thus o*tained in the for1 of an
o3ened kine1atic chain 5ithout *ranchin 1ade of :n)!
riid se1ents connected throuh the corres3ondin #oints
and s3rins in the1 )see Fi, ;+, >et us deter1ine the
3ara1eters of the o*served 1echanical syste1 5hich are
necessary for further considerations,
.he stiffness of s3rins in the #oints of the iDth
se1ent *ased on 798, for the case of *endin of the *ea1
in one 3lane, areC
$
$
1:
, ,
(i (i
r s
i i
E I EI
c ! c !
# #

)<+
5here the indices r and s areC
( )
( )
: 1 : 1 ,
: : 1 , 1, , 1, ,
r " ! i
s " ! i i n " !
+
+
)%+
.he lenth of the riid se1ents isC
,
:
i
r
l
l

)9+
$
, ,
:
, ,
, ,
i
s i i
i
l " !
l l l " ! i n
l " ! i n

<

+ <
'

)E+
5here
1
, ,
: ;
i i
i i
# #
l l
! !
+

)(+
.he 1ass of the riid se1ents isC
( ) 1
,
, ,
,
r i r
i i i i
s
i s
m Al
Al A l " ! i n
m
Al

+ <

'

)1&+
.he 3osition of the centre of 1ass of each riid
se1ent is defined *y the local 3osition vector of the
centre of 1ass in relation to the *einnin of the se1entC
,
u u u u
T
c c c c
1
]
# )11+
$igure *& An approimation of the cantilever tapered beam by stepped beams
:7;i6oli<, #7=alini<
>rocee(in%* of VIII International Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 !ne 2014, "#tart >a%e&-"'n( >a%e&

a+ b+
c+
$igure ,& The rigid multibody model of the i-th fleible beam segment& a+ -resented approach, b+ .ef. /%0, c+ .ef. /*0, /,0
$igure 1& The rigid multibody model of the fleible beam
5here
&,< ,
r
c r
l
( )
:
1
1
&,< &,<
, ,
&,< ,
s
i i i i i i
c
i i i i
s
Al A l l l
" ! i n
A l A l
l

+
+

+ +

<

'

+

&, &, 1, : ,
u u
c c
u !n
)1:+
.he local vectors of the riid se1ents areC
[ ] & & , 1, : ,
T
u u
l u !n # )1$+
.he 1o1ent of inertia of the riid se1ent in relation to
the a2is 3er3endicular to the 3lane of rotation isC
( )
( )
( )
( )
: :
:
: :
:
: :
1 1
: :
,
1:
1
1: :
1
,
1: :
,
,
1:
r
s
s s
r
c r r
i
i i i i c
i
c i i i i i c
s
i r
m
2 a l
l
Al a l
l
2 A l a l l
" ! i n
m
a l

+ +
+
_
_


+ +

,
,

_
_

+ + + +
'

,
,

<

)1;+
;at!ral fre?!encie* of a ta$ere( cantilever bea9 of con*tant thic6ne** an( linearly ta$ere( @i(th
VIII International Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 !ne 2014, "#tart $a%e&-"'n( $a%e&
5hereC
, if the cross section is rectanular ,
$
, if the cross section is circular ,
:
i
i
h
d

'

a
)1<+
.he unit vectors of the a2is of the uDth #oint areC
[ ]
[ ]
& 1 & , if the Dth #oint is 3ri61atic,
& & 1 , if the Dth #oint is revolute,
T
u
T
u
u

'

e
)1%+
5here 1, : , u !n
.he coefficients
u
and
u
re3resent identifiers of
the #oint ty3e, 5here it holds thatC
1, if the Dth #oint is 3ris1atic,
&, if the Dth #oint is revolute,
u
u
u

'

)19+
as 5ell as that
1
u u

:,:, A33roach fro1 718
Each of n)! fle2i*le se1ents is divided into three
riid se1ents, 5here the first and second riid se1ents,
as 5ell as the third and fourth ones, are interconnected
5ith a revolute #oint )see Fi, $*+, .he s3rins of the
corres3ondin riidity are 3laced in those #oints, Si1ilarly
to our a33roach, the a33ro2i1ative 1odel of the fle2i*le
ta3ered cantilever *ea1 in the for1 of an o3en kine1atic
chain 5ithout *ranchin 1ade of :n)! riid se1ents
connected 5ith the corres3ondin #oints and s3rins in
the1 is o*tained, >et us deter1ine the 3ara1eters of the
o*served 1echanical syste1 5hich are necessary for
further considerations,
.he stiffnesses of s3rins in the #oints of the iDth
se1ent *ased on 718 areC
: , 1, ,
(i
r s
i
EI
c c ! i n
#

)1E+
5here the indices r and s are defined in the e23ression )%+,
.he lenth of the riid se1ents isC
1 :
,
r i
p
l l
p

)1(+
: , ,
, ,
, ,
i
s i i
i
l " !
l l l " ! i n
l " ! i n

<

+ <
'

):&+
5here
1
, ,
i i
i i
# #
l p l p
! !
+

):1+
and 5here
1 1
1
: $
p
_


,
is the coefficient of division of
the *ea1, /eference 718 sho5s that, es3ecially for this
value of the coefficient, the assu1ed 1odel of the *ea1 is
reduced to a si13ler sha3e 5hich contains s3rins only in
the #oints )see Fi, $*+, -n an o33osite case, the 1odel of
the *ea1 also contains a s3rin 5hich connects the first
and third riid *odies, and then the 3rocess of 1odellin
the fle2i*le *ea1 *y this 1ethod *eco1es considera*ly
co13licated,
.he local 3osition vector of the centre of 1ass of
riid se1ents
u
c
#
, the 1ass of the riid se1ents
u
m
and
the 1o1ent of inertia of the riid se1ent in relation to
the a2is
u
c
2
) 1, : u ! n + 1ay *e defined fro1 the
e23ressions )1&+D)1;+, 5here i
i i
l l

are iven in the
e23ression ):1+,
.he unit vectors of the a2is of the uDth #oint areC
[ ] & & 1 ,
T
u
e )::+
All #oints in the kine1atic chain are revolute, so thatC
1, 1, :
u
u n ! ):$+
:,$, A33roach fro1 7:8, 7$8
/eferences 7:8 and 7$8 3ro3ose discreti6ation of
each of n! fle2i*le se1ents so that they are divided into
t5o e4ual riid se1ents 5hich are interconnected *y one
cylindrical s3rin and one revolute s3rin 5ith the
corres3ondin riidity )see Fi, $c+, .his division results
in an o3en kine1atic chain 5ithout *ranchin 1ade of n!
riid se1ents connected *y the corres3ondin s3rins,
.he stiffnesses of s3rins in the #oints of the uDth se1ent
*ased on 7:8 and 7$8 areC
, ,
s s
i (i
T 3
i i
'A EI
c ! c
# #

):;+
5here the inde2 s isC
( ) 1 , 1, , 1, , s " ! i i n " ! + ):<+
.he lenth of the riid se1ents isC
: , ,
, ,
, ,
i
s i i
i
l " !
l l l " ! i n
l " ! i n

<

+ <
'

):%+
5here
1
, ,
: :
i i
i i
# #
l l
! !
+

):9+
.he local 3osition vector of the centre of 1ass of
the riid se1ents
u
c
#
, the local vectors of the riid
se1ents
u
#
, the 1ass of the riid se1ents
u
m
and the
1o1ent of inertia of the riid se1ent of constant 5idth in
relation to the a2is
u
c
2
) 1, : u ! n + 1ay *e
deter1ined fro1 the e23ressions )1&+D)1;+, 5here
, i
i i s
l l l

are iven in ):%+ and ):9+,
$, E-=ENBA>!E A/0?>EM
/eference 718 and our a33roach use relative
coordinates for descri3tion of the syste1, 5hereas 7:8 and
7$8 use a*solute coordinates, .hat is the reason 5hy the
for1ation of differential e4uations of 1otion 5ill *e
3resented for the cases of usin relative coordinates )for
our a33roach and the a33roach in 718+ and a*solute
coordinates )for the a33roaches in 7:8 and 7$8+,
:7;i6oli<, #7=alini<
>rocee(in%* of VIII International Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 !ne 2014, "#tart >a%e&-"'n( >a%e&
$,1, /elative coordinates
.he 3otential enery of the syste1 of s3rins in the
#oints readsC
:
:
F1
1
,
:
!n
c u u
u
c q

):E+
5here qu )uF1,G,:!n+ are relative #oint dis3lace1ents,
.he kinetic enery of the syste1 is
( )
: :
1 1
1
,
:
!n !n
T m q q

q &&
):(+
5here an overdot denotes the derivative 5ith res3ect to
ti1e, qF7q1,q:,G,q*!n8
T
is the vector of enerali6ed
coordinates and
( )
:
F
,
u u
u
T
!n
c c
T
u 4
u
m m 2
q q

_

+


,

r r
q e e
)$&+
the 1etric tensor coefficient of the inertia 1atri2 of the
syste1, For 1ore details see 7(8,
-n E4uation )$&+, mu is the 1ass of the uDth riid
se1ent in the chain,
u
4
2
is its a2ial 1o1ent of inertia
relative to the 3rinci3al a2is 5hich is 3er3endicular to the
3lane of *ea1 *endin, rcu is the vector of 3osition of the
centre of 1asses of the riid *ody )5u+ in relation to the
inertial fra1e Ay(, .he confiuration q$F7q1F&,G,q*!nF&8
T
in 5hich ( ) &,
u
q t &
( ) &
u
q t &&
)uF1,,,,,:!n+ corres3onds to
the e4uili*riu1 3osition of the fle2i*le *ea1 sho5n in Fi,
; in the a*sence of ravity and force at the free end of the
*ea1 ?, >ineari6ed differential e4uations of 1otion of the
considered syste1 of riid *odies in the surroundins of
the e4uili*riu1 3osition read )see 7E8+C
: 1
,
n
+ %q Kq $ &&
)$1+
5here $:n1/
:!n1
,
1 :
) ,,,,, +
!n
diag c c K is the stiffness
1atri2, and %/
:!n:!n
is the 1ass 1atri2, 5hose 1e1*ers
areC
( )
( ) ( )
& &
:
&
F
:
& &
, ) , 1, : +,
u u
u
T
!n
c c
u
u
!n
T
4
u
m m
q q
2 !n

_ _



, ,
+

q q
r r
q
e q e q
)$:+
.he 3artial derivative of the 3osition vector rcu relative to
enerali6ed coordinate q

at the 3osition q$ readsC

( ) ( ) ( )
( )
( ) ( ) ( )
&
& 1 & &
1
&
& & &
, ,
, ,
,
u
u
u
u
! 4
!
c
4
u
q
u
u

+
_
+

,

_

+ <

'

,
+

>

q
e q# q # q
r
e q
e q# q e q
$
)$$+
$,:, A*solute coordinates
.he 3otential enery of the syste1 of s3rins in the
#oints readsC
( )
: :
F1
1
,
:
v v
!n
c 3 v T v
v
c c y +

)$;+
5here 67v and 6yv are relative #oint dis3lace1ents 5hich,
e23ressed as a function of a*solute coordinates, readC
1
,
v v v



)$<+
1 1 1 & &
, &, &,
v v v v v v v
y y (l y (r y


)$%+
,
v
v c
(l ,
v
v v c
(r l
)$9+
.he a*solute coordinates
v
y
and
v

re3resent
transverse dis3lace1ents of the centres of 1asses and
rotation a*out that centres of the vDth riid se1ent in
relation to the hori6ontal 3osition, res3ectively, A2ial
dis3lace1ents of the centres of 1asses of the vDth riid
se1ent are nelected *ecause of the assu13tion of s1all
defor1ations of the *ea1,
.he kinetic enery of the syste1 is
( )
: :
1
1
,
:
v
!n
v v c v
v
T m y 2

& &
)$E+
5here an overdot denotes the derivative 5ith res3ect to
ti1e, ?y a33lyin the >arane e4uations of the second
kind for the case of conservative syste1s,
&,
v v
d # #
dt y y
_



,
&
&,
v v
d # #
dt
_



,
&
)$(+
5here 1, , v ! n and # T is the >arane function,
differential e4uations of 1otion of the 1echanical syste1
are o*tained in the for1C
: 1
,
!n
+ %& K& $ &&
);&+
5here $:!n1/
:!n1
, &F7&1, &:,G,&!n8
.
is the vector of
a*solute coordinates, and it holds that &vF7yv, Hv8
.
)vF1,
G,!n+,
.he 1ass 1atri2 isC
1,1 :,: ,
) , ,,,,, +,
!n !n
diag %' % % %
);1+
5hereC
( )
, v
, ,
v
v v c
diag m 2

%
);:+
.he stiffness 1atri2 isC
1,1
1, 1 1,
, 1 , , 1
1, 1, 1
,
,, & & & ,, &
,, ,, C C C C C
& ,, & ,, &
& ,, ,, & ,
& ,, & ,, &
C CC C C C CC C
& ,, & & & ,,
v v v v
v v v v v v
v v v v
!n !n

+
+ + +
1
1
1
1
1

1
1
1
1
1
]
K
K K
K K K K
K K
K
);$+
5hereC
1 1
1 1
1
v, v 1
1 1
,
v v
v v v
T T v
T v 3 T v v
c c (r
c (l c c (r (l

1
+
1
]
K
);;+
1 1
1
1
1
,
: :
,
v v v v
v v
v v
v v
T T T v T v
3 3
T v T v
T v T v
c c c (l c (r
c c
c (l c (r
c (l c (r

+ + 1
1
+

1
+
1
+ +
1
]
K
);<+
1
, 1
1
,
v v
v v v
T T v
v v
T v 3 T v v
c c (l
c (r c c (l (r
+
+
+
1

1
+
1
]
K
);%+
For 1ore details, see 7:8 or 7$8,
;at!ral fre?!encie* of a ta$ere( cantilever bea9 of con*tant thic6ne** an( linearly ta$ere( @i(th
VIII International Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 !ne 2014, "#tart $a%e&-"'n( $a%e&
Finally, the eienvalue 3ro*le1, for1ulated on the *asis of
)$1+ and );&+, readsC
( )
:
: 1
,
!n

K( % v $
);9+
5here is the natural fre4uency of free vi*ration of the
fle2i*le ta3ered cantilever *ea1, and v.
:!n1
re3resents
the eienvector 5hich corres3onds to the iven fre4uency,
A33ro2i1ate values of natural fre4uencies of the
considered cantilever *ea1 are o*tained *y solvin the
eienvalue 3ro*le1 );9+,
;, N!ME/-CA> EIAMA>E AN' BE/-F-CA.-0N 0F
.JE ME.J0'
Berification of the efficiency of the 3resented
1ethod 5ill *e 3erfor1ed throuh t5o e2a13les, .he first
e2a13le 5ill treat the 3ro*le1 of deter1ination of natural
fre4uencies of the fle2i*le cantilever *ea1 5ith three
ste33ed chanes of the circular cross section, .hus,
3ri1ary division is carried out in advance, so that nF;, and
the influence of secondary divisions of the *ea1 on the
accuracy of our 1ethod 5ill *e analy6ed, E2act values of
natural fre4uencies of such a *ea1 are deter1ined in 7;8,
so it is a ood e2a13le for co13arin the accuracy of the
3ro3osed a33roach 5ith the relevant a33roaches 3resented
in 718 and 7:8, .he second e2a13le analy6es the ta3ered
cantilever *ea1 of a rectanular cross section, constant
thickness and linearly varia*le 5idth, .he influence of
3ri1ary division on the accuracy of our 1ethod 5ill *e
analy6ed in this e2a13le, .he results achieved *y usin
our a33roach 5ill *e co13ared 5ith the results fro1 7<8,
;,1, E2a13le 1
>et us o*serve the fle2i*le cantilever *ea1 5ith three
ste33ed chanes of the circular cross section 5ith the
follo5in characteristicsC
D @ounKs 1odulusC
: 11
L 1& &%E , : m 8 E ,
D 1ass densityC
$
9E<& L , !g m
D total lenthC
m # & , :
,
D dia1eterC
1
&,&$ , d m
D
dia1eters ratioC

: 1
L &,E d d
%< , & L
1 $
d d , :< , & L
1 ;
d d ,
D lenth of the se1entsC
# # :< , &
1
,
# # $ , &
:

, # # :< , &
$
,
;
&,: , # #
Darea of the cross section of the se1ent after 3ri1ary
division of the *ea1C
:
,
;
u
u
d
A

D a2ial 1o1ent of inertia for the 3rinci3al a2is 6 of

the cross section of the *ea1C
;
,
%;
u
(u
d
I

-n further considerations, for convenience of co13arisons

5ith the results fro1 3a3er 7;8, the nonDdi1ensional
fre4uency coefficients
;
1
;
1
:
+ L)
(
EI # A # are
used, !sin the a*ove theory, the a33ro2i1ative nu1erical
values of the first three nonDdi1ensional fre4uency
coefficients are o*tained, .hese fre4uency coefficients
alon 5ith the corres3ondin relative errors are sho5n in
.a*le 1, .he errors are calculated asC
7M8, 1&& 1&&
value eact
value ive approimat
$igure 9& The three-stepped cantilever beam
.a*le 1 ives the co13arative results o*tained *y usin all
three 3resented 1ethods of discreti6ation de3endin on the
nu1*er of secondary divisions of each se1ent of the
*ea1, -t also sho5s relative errors of the o*tained values
of fre4uencies in relation to the e2act values of fre4uencies
fro1 7;8, -t can *e noticed that the values of o*tained
fre4uencies, at the increased nu1*er of secondary
divisions of *ea1 se1ents, convere faster to5ard the
e2act values if our a33roach is used, e2e3t for the third
fre4uency 5here the a33roach fro1 7:8 is slihtly *etter,
?esides, the relative error in deter1ination of the first
fre4uency 5ith one division of the *ea1 se1ent is &,&<(
M, i,e, the error is far s1aller than 1M, .his fact is
3articularly i13ortant if it is taken into account that the
:7;i6oli<, #7=alini<
>rocee(in%* of VIII International Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 !ne 2014, "#tart >a%e&-"'n( >a%e&
values of the first fre4uency are of 1ost sinificance in
studyin dyna1ic characteristics of various technical
o*#ects,
;,:, E2a13le :
>et the ta3ered cantilever *ea1 of constant
thickness and linearly ta3ered 5idth *e iven )see Fi, 1+,
.he 1aterial of the *ea1 is the sa1e as in the 3revious
e2a13le, .he *ea1 lenth is
&,< # m
, and the thickness
is
&,&&< , h m
.he area of the cross section of the se1ent after 3ri1ary
division of the *ea1 isC
,
u u
A b h
.he a2ial 1o1ent of inertia for the 3rinci3al a2is 6
of the cross section of the *ea1 isC
$
,
1:
u
(u
b h
I
.he *ea1 5idth at the *einnin and the end of the
*ea1 5ill *e varied in order to o*tain necessary relations
of these di1ensions for the needs of co13arison of results,
.hat is 5hy the 3ara1eter related to the deree of *ea1
ta3erin is introducedC
1 ,
B
A
b
c
b

);E+
>et us also introduce the conce3t of the iDth nonD
di1ensional fre4uency
i

, 5hich is connected 5ith the iDth

fre4uency ( ) L
i
rad s
in the follo5in 5ayC
;
1
,
i i
(i
A #
E I

);(+
.a*le : ives the values of the first three nonD
di1ensional fre4uencies, 5here the value of the 3ara1eter
c chanes fro1 & to 1, 5ith the ste3 &,1, and for nF1& and
nF:&, res3ectively, -t can *e noticed that there is very ood
aree1ent *et5een our results and the results fro1 7<8, -t
is o*vious that the converence of fre4uency to5ard the
values fro1 7<8 is faster at s1aller values of the 3ara1eter
c, i,e, 5hen the *ea1 is less ta3ered )see Fi, % and Fi, 9+,
-n that case it is enouh for the nu1*er of se1ents of
constant 5idth )3ri1ary divisions+ to *e nF1&, and to
achieve the satisfactory accuracy,
Table %& 8atural frequencies of the cantilever beam : comparison of the present paper results and the results from /10
Nu1*er
of
divisions
NonDdi1ensional fre4uency coefficients
1
#
:
#
$
#
/elative error 7M8 /elative error 7M8
/elative error 7M8
0ur
a33r,
A33r,
fro1
ref, 718
A33r,
fro1
ref, 7:8
0ur
a33r,
A33r,
fro1 ref,
718
A33r,
fro1
ref, 7:8
0ur
a33r,
A33r,
fro1
ref, 718
A33r,
fro1
ref, 7:8
1
:,<11<( :,<1&&& :,<%E1; ;,$1$1< ;,;$;1< ;,E9E;% <,;9;&$ <,9(((( %,1&$<1
&,&<( D&,&&; :,$1: D:,(9< D&,:<; (,9;1 D<,($E D&,$$9 ;,E9E
:
:,<1:&& :,;($(& :,<:$(% ;,;$1&& ;,;$E:% ;,<$191 <,9;:%9 <,99::& <,E%(:9
&,&9% D&,%;< &,<<: D&,$:; D&,1%1 1,(;1 D1,$:: D&,E1< &,E<$
$
:,<111; :,;(<:; :,<1%1: ;,;;1%& ;,;$E<< ;,;E:91 <,9E9E1 <,99$&; <,E;1&9
&,&;: D&,<(: &,:;& D&,&E% D&,1<< &,E$( D&,<;% D&,E&& &,$%(
<
:,<1&<1 :,;((&( :,<1:1$ ;,;;;9& ;,;;&&( ;,;<E$: <,E&E<% <,9E$19 <,E:%&%
&,&1% D&,;$( &,&E1 D&,&1% D&,1:& &,:(& D&,1(& D&,%:% &,111
9
:,<1&$& :,<&1<% :,<11&; ;,;;<1; ;,;;1:& ;,;<1%9 <,E1$E% <,9(&%; <,E:1E;
&,&&E D&,$;& &,&$9 D&,&&% D&,&(< &,1;1 D&,&(( D&,;(E &,&$E
1&
:,<1&1E :,<&$9< :,<1&;% ;,;;<:9 ;,;;::: ;,;;E1< <,E1%<E <,9(9%$ <,E1(<E
&,&&$ D&,:<$ &,&1; D&,&&$ D&,&9: &,&%1 D&,&<: D&,$9E D&,&&1
E2act
solution
7; 8
:,<1&1 ;,;;<;: <,E1(%1
;at!ral fre?!encie* of a ta$ere( cantilever bea9 of con*tant thic6ne** an( linearly ta$ere( @i(th
VIII International Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 !ne 2014, "#tart $a%e&-"'n( $a%e&
$igure ;. Absolute error of natural frequency of& straight beam <c=>+ in comparison with /90
$igure ?. Absolute error of natural frequency of& maimum tapered beam <c=%+,
in comparison with /90
Table *& 8atural frequencies of the cantilever beam : comparison of the present paper results and the results from /90
c
NonDdi1ensional fre4uencies
1

0ur results /ef,

7<8
0ur results
/ef, 7<8
0ur results
/ef, 7<8
nF1& nF:& nF1& nF:& nF1& nF:&
& $,<1%( $,<1%: $,<1%& :1,EE(& :1,((E; ::,&$< %&,$%$% %1,$%;: %1,%(9&
&,1 $,%$&9 $,%$&( $,%$1& ::,&((: ::,:1<% ::,:<; %&,<;9; %1,<%(% %1,(1&&
&,: $,9%1: $,9%:; $,9%:( ::,$$%1 ::,;%&9 ::,<&: %&,9<9$ %1,E&;; %:,1<$&
&,$ $,(1:< $,(1<: $,(1%& ::,%&9$ ::,9;19 ::,9E% %1,&&1( %:,&9E; %:,;$%
&,; ;,&(1$ ;,&(<% ;,&(9& ::,(:;& :$,&9&; :;,&:1 %1,:(;: %:,;&%E %:,99%
&,< ;,$&%9 ;,$1$& ;,$1<: :$,$&$( :$,;%<( :$,<1( %1,%<<% %:,E1;< %$,1((
&,% ;,<9:E ;,<E:: ;,<E<$ :$,999$ :$,(%&% :;,&:1 %:,1:$E %$,$;<E %$,9<1
&,9 ;,(1$; ;,(:91 ;,($19 :;,;&1: :;,%1%: :;,%E9 %:,99:E %;,&E(: %;,<:9
&,E <,$9&$ <,$(&9 <,$(9% :<,:(E$ :<,<%%E :<,%<% %$,99;; %<,:<$9 %<,9;9
&,( %,&:9: %,&<(< %,&9&; :%,9(;% :9,19:9 :9,:(( %<,%<:9 %9,;(;< %E,11<
1 9,&E&< 9,1$9; 9,1;:: $&,11&E $&,E&%$ $&,(9& 91,1;<< 9;,$9<$ 9<,%<$
:7;i6oli<, #7=alini<
>rocee(in%* of VIII International Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 !ne 2014, "#tart >a%e&-"'n( >a%e&
<, C0NC>!S-0N
.his 3a3er 3resents a ne5 1ethod of a33ro2i1ative
deter1ination of fre4uency of the ta3ered cantilever *ea1
5hich can serve as an alternative to relevant a33roaches
fro1 718, 7:8 and 7$8, -n such discreti6ation of the fle2i*le
ta3ered cantilever *ea1, a 5ellDdevelo3ed 1ethodoloy
for 1echanics of a syste1 of riid *odies is used for the
for1ation of the characteristic 3ro*le1, -t results in
o*tainin a co13uterDefficient alorith1 for deter1ination
of a33ro2i1ate values of fre4uencies of the *ea1,
Co13arison of our 1ethod 5ith the results fro1 relevant
a33roaches in 718, 7:8 and 7$8 5as carried out on the
e2a13le fro1 3a3er 7;8, -t 5as sho5n that the relative
errors of o*tained fre4uencies in relation to the e2act
values iven in 3a3er 7;8 are s1aller for first t5o
fre4uencies if our a33roach is used than if the a33roaches
fro1 718, 7:8 and 7$8 are used, For the third fre4uency
a33roach fro1 7:8 ive slihtly *etter results, .hen the
results of our a33roach are co13ared 5ith the results fro1
7<8, -n 7<8, the Initial value method 5as used for analysis
of free vi*ration of the *ea1, 5here the .unge-@utta
method of nu1erical interation 5as used for
deter1ination of fre4uencies, .hat is 5hy this alorith1 is
de1andin in ter1s of co13utin, -t 5as sho5n that the
results o*tained *y usin our a33roach aree to a
considera*le e2tent 5ith the results fro1 7<8,
?ased on everythin 3reviously stated, it is clear
that the 3resented 1ethod is less de1andin in ter1s of
co13utin than the alorith1 3resented in 7<8, and it
achieves *etter results than the relevant alorith1s fro1
718, 7:8 and 7$8 for first t5o natural fre4uencies, .he
3resented 1ethodoloy can also *e used for treatin 1ore
co13le2 1odels of fle2i*le *ea1s, fra1es, etc,
Jo5ever, the 4uestion re1ains ho5 the 3osition of
the 3ris1atic #oint in the riid 1ulti*ody 1odel of the
ta3ered cantilever *ea1 affects the accuracy of the
e23osed alorith1, Ne assu1e that 3ris1atic #oint is
3laced in the 1iddle of the first half of the *ea1, -n 718 the
authors have sho5n for 5hich 3artition coefficient p
alorith1 achieved the *est accuracy and si13le
a33ro2i1ate 1odel of the *ea1, .his analysis 5ill *e the
su*#ect of further research *y authors,
AC"N0N>E'=EMEN.S
.his research 5as su33orted under rants no,
0N19;&1% and no, ./$<&&% *y the Ministry of
Education, Science and .echnoloical 'evelo31ent of the
/e3u*lic of Ser*ia, .his su33ort is ratefully
ackno5leded,
/EFE/ENCES
718 Schiehlen N0, /auh O, PModelin of fle2i*le
1ulti*ea1 syste1s *y riidDelastic su3erele1entsQ, /ev
?ras Cienc Mec E):+C1<1R1%$, )1(E%+
7:8 S,A, Aars6e5ski, O,M,"rodkie5ski, O, Skorac6ynski,
P/-=-' FEM -NA CASE J-S.0/@ 0F ?0->E/ FEE'
A!MA B-?/A.-0NQ, Co13utersTStructures, Bol, $1,
No,1, 33,1&$D11&, )1(E(+
7$8 O,M,"rodkie5ski, PMECJAN-CA> B-?/A.-0NQ,
.JE !N-BE/S-.@ 0F ME>?0!/NE, 'e3art1ent of
Mechanical and Manufacturin Enineerin, ):&&E+
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?ea1 on Elastic End Su33orts and 5ith u3 to .hree Ste3
Chanes in CrossDSectionQ, International 2ournal of
3echanical Aciences, )), 33, :<;1D:<<<, ):&&:+
7<8 C,@, Nan, PBi*ration of a ta3ered cantilever of
constant thickness and linearly ta3ered 5idthQ, Arch, A33l,
Mech, Bol, E$, 33, 191D19%, ):&1$+
7%8 S, alini, PModelin of a liht elastic *ea1 *y a
syste1 of riid *odiesQ, .heoret, A33l, Mech,, Bol, $1,
No, $D;, 33, $(<D;1&, ):&&;+
798 S, alini, A, Nikoli, P0n the deter1ination of natural
fre4uencies of a cantilever *ea1 in free *endin vi*rationC
a riid 1ulti*ody a33roachQ, Forsch -nenieur5es, Bol,99C
33,(<R1&;, ):&1$+
7E8 >, Meirovitch, PFunda1entals of vi*rationsQ,
Mc=ra5DJill, Ne5 @ork ):&&1+
7(8 B, Uovi, M, >a6arevi, PMechanics of ro*otsQ Faculty
of Mechanical Enineerin, !niversity of ?elrade )in
Ser*ian+ ):&&(+
;at!ral fre?!encie* of a ta$ere( cantilever bea9 of con*tant thic6ne** an( linearly ta$ere( @i(th