Computers and Structures 116 (2013) 7587

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Computers and Structures

journal homepage: www.elsevier.com/locate/compstruc

Wave propagation analysis of carbon nano-tube conveying uid including

slip boundary condition and strain/inertial gradient theory
Fareed Kaviani, Hamid Reza Mirdamadi
Department of Mechanical Engineering, Isfahan University of Technology, Isfahan 8415683111, Iran

a r t i c l e

i n f o

Article history:
Received 16 May 2012
Accepted 19 October 2012
Available online 12 November 2012
Keywords:
Wave propagation
Carbon nano-tube (CNT)
Strain/inertia gradient
Slip boundary condition
Knudsen number (Kn)
Fluid-structure interaction (FSI)

a b s t r a c t
This article addresses wave propagation in carbon nano-tube (CNT) conveying uid. CNT structure is
modeled by using size-dependent strain/inertia gradient theory of continuum mechanics, CNT wall-uid
ow interaction by slip boundary condition and Knudsen number (Kn). Complex-valued wave dispersion
relations and corresponding characteristic equations are derived. Fluid viscosity, gyroscopic inertial force,
ow velocity, wave number, wave frequency, and decaying ratio are among parameters that their variations are discussed and some remarkable results are drawn. It was observed Kn could impress complex
wave frequencies at both lower and higher ranges of wave numbers, while small-size had impression at
higher range.
2012 Elsevier Ltd. All rights reserved.

1. Introduction
Carbon nano-tubes are one of the most important nanomaterials, developed by nano technology, that are nding a wide
range of applications. Superior properties of these materials, such
as mechanical, thermal, and electronic properties used in nanoelectronics, nano-devices, and nano-composites are among the
major reasons for their wide applications in various industries
[1,2]. The investigation of pipe vibrations and wave propagation
are among important engineering analyses with the most interest
in uid-structure interaction (FSI) community [3,4]. There are different structural mechanics models in use for the investigation of
vibration and wave propagation in nano-size [5,6]. A model, used
frequently for the investigation of nano-size problems in mechanics, is Eringens nonlocal theory of elasticity [7]. In the literature,
research groups have presented diverse publications on the problem of wave propagation in nano-tubes by use of Eringens nonlocal
theory of elasticity. Wang [8] showed that Eringens nonlocal
theory had dramatic inuence on dispersion relations previously
obtained based on local theory of continuum mechanics. He found
that an increase in Eringens nonlocal parameter for higher wave
numbers could cause a decrease in corresponding frequencies, as
compared to local continuum mechanics theory. Eringen [9]
linearized the nonlocal elasticity given in [7] and obtained a one
dimensional plane wave equation. Polizzotto [10] presented a
Corresponding author. Tel.: +98 311 391 5248; fax: +98 311 391 2628.
E-mail addresses: fareedkaviani@yahoo.com (F. Kaviani), hrmirdamadi@cc.iut.
ac.ir (H.R. Mirdamadi).
0045-7949/$ - see front matter 2012 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.compstruc.2012.10.025

model of nonlocal theory, rened by assuming an attenuation

function depending on the geodetical distance between material
particles. He showed that the nonlocality effects would propagate
along geodetical paths from the source points to the others, in a
way that they would not traverse obstacles such as cracks, holes,
and in general, any gap in the convexity of the domain. Furthermore, Eringen [11] solved the eld equation of nonlocal elasticity
for determining the state of stress in the neighborhood of a line
crack in an elastic plate subject to a uniform shear at the surface
of the crack tip. To develop a nonlocal continuum theory, Di Paola
and Zingales [12] dened a nonlocal continuum model including
long-range force between non-adjacent volume elements. They
used a proper selection of the attenuation function in the Eringens
model to yield stress-strain relation involving fractional derivatives, instead of classical derivatives or convolution integrals. Di
Paola et al. [13] used the model developed by Di Paola and Zingales
[12] to analyze beams and Zingales [14] used this model for wave
propagation analysis in 1/D elastic solids. To develop another nonlocal analysis, Silling [15] proposed a new framework for the basic
equation of continuum mechanics called the peridynamic formulation. The peridynamic elasticity theory could introduce interactions between solid elements with the aid of proper long-range
potentials. This formulation permitted the solution of fracture
problems using the same equations corresponding to either on or
off the crack surface or crack tip. In this topic, Silling et al. [16] used
the peridynamics formulation for analyzing deformation relations
of a bar. Askes and Aifantis [17], showed that Eringens nonlocal
theory was incapable of investigating wave propagation phenomena. For example, they concluded that in the range of higher wave

76

F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

numbers, with increasing wave number, the corresponding phase

velocity remained constant at a non-zero value, an analytical result
against experimental observations for nano-tubes. They observed
closer agreement between theoretical and experimental results
by proposing the use of gradient elasticity for the problem of wave
propagation in nano-tubes [18]. Aifantis [19] had a brief account
on the role of higher-order strain gradient in the localization of
plastic ow and showed that the higher-order gradient could provide a mechanism for capturing the evolution of plastic ow in
the material softening regime. Again Aifantis [20] provided an
update of the standard theories of dislocation dynamics, plasticity
and elasticity that were modied to include scale effects in the
higher-order spatial gradients of the governing equations in a material description. He noted two new features, rst the role of wavelet
analysis and randomness in interpreting deformation heterogeneity measurements and second, indentations in a stress-strain
graph. There are wide applications of gradient elasticity theory for
the investigation of structural behavior in nano-size and different
results have been obtained as contrasted with other theories for
modeling nano-size. Some examples may be found in [21,22].
One of the challenging applications of nano-tube vibrations are
in uid conveying problems with the most applications in targeted
drug delivery systems. Hence, there are many remarkable investigations on the vibration behavior of nano-tubes conveying uid. Of
this type of research [23], we may emphasize investigation of dynamic stability of nano-tube conveying viscous uid by using
EulerBernoulli beam theory, conducted by Khosravian and
Rai-Tabar [24]. They paid attention to the effect of uid viscosity
on the critical velocity of uid. They showed that increasing uid
viscosity is followed by an increase in the uid critical velocity.
Wang and Ni [25] modied formulation obtained by [24], and
showed that the effect of viscosity could be ignored in the uid
critical velocity in nano-tube conveying uid. Ignorance of the
effect of nano-size was the major deciency of these research
works. Later, Lee and Chang [26], included the effect of small-size
into equations of motion by using Eringens nonlocal elasticity
and showed that increasing Eringens nonlocal parameter had the
effect of a decrease in the critical velocity of uid.
The investigation of wave propagation in nano-tube conveying
uid, based on FSI equations for viscous ow, was conducted by
Wang et al. [27]. They showed that increasing viscosity had the
consequence of decreasing nano-tube frequency in the range of
higher wave numbers. Furthermore, Wang [28] showed that by
using gradient elasticity theory, the effect of small-size might be
included into the equation of wave propagation in nano-tube conveying uid. He showed that the use of gradient elasticity theory
had a dramatic effect on dispersion relation. He compared the results of this theory with those of Eringens nonlocal and local classical theories and showed that the results of gradient elasticity
theory were more feasible than those of the other two theories.
The effect of small-size in the study of FSI problems is not limited
to the mechanical behavior of the structure part. It may inuence
the boundary condition between the interface of uid and structure;
thus, it plays an important role on the structural response. The key
parameter covering this boundary effect is the Knudsen number
(Kn) dened as the ratio of uid mean free path to a characteristic
length of the structure under study. This parameter is used as a separator among different ow regimes. Based on Kn, there are four different ow regimes: (1) 0 < Kn < 102 for continuum ow regime;
(2) 102 < Kn < 101 for slip ow regime; (3) 101 < Kn < 10 for transition ow regime; and (4) Kn > 10 for free molecular ow regime. In
micro/nano-size FSI problems, it could be possible that Kn would fall
beyond 102 value. Thus, the uid ow regime might fall in either
slip ow or transition ow regimes, or in-between [29].
Thus far, the effects of small-size in the area of nano-tube conveying uid, were limited to the behavior of elastic structure part

of FSI. Those effects were ignored in the interaction between uid

and structure, until Rashidi et al. [30] inserted the effect of slip
boundary condition between uid and structure into equation of
motion of uid and nano-structure in the nano-level, by using a
dimensionless parameter called VCF (velocity correction factor).
They showed that Kn parameter had a considerable effect on the
gas uid critical velocity. They considered the small-size effect
only on the uid part of FSI. However, they did not incorporate this
effect for the elastic structure part of the FSI problem. In the sequel,
Mirramezani and Mirdamadi [31], surveyed the higher vibration
modes of nano-tube conveying uid with different boundary conditions and observed the coupled mode utter happening sooner
than that predicted by conventional continuum mechanics. However, as [30], they did not bring into consideration the small-size
effect for the elastic behavior of nano-structure. For completing
their work, they used Eringens nonlocal theory in the presence
of slip boundary condition in [32] for investigating the vibration
and stability of a nite length CNT. Again, they did not pay any
attention to both a wave propagation analysis of an innite length
CNT and incorporating strain/inertia gradient nonlocal theory into
their size-dependent elastic analysis.
In this paper, we pay attention to the analysis of wave propagation phenomena in nano-tube conveying uid such that by including the size-dependent or nonlocal continuum theories, we
compensate the deciencies of analyses due to ignoring the
small-size effect for structural behavior by Rashidi et al. [30] and
Mirramezani and Mirdamadi [31]. We further bring into consideration the gradient strain/inertia elasticity theory and its application
for the behavior of nano-tube structure. In addition, as mentioned
previously, the investigation of wave propagation is one of the
important elds of the behavior of nano-tubes. Thus, we have
continued our studies on the investigation of the effects of
small-size in the level of both nano-tube structural behavior and
uid-structure interface mechanism. In this study, the results
obtained from the incorporation of the effect of small-size appears
in such a way that in the dispersion relation for higher wave numbers, the decaying ratio (real part of complex frequency) decreases
as Kn increases, a substantial result not observed by the authors in
the literature, as far as the authors knowledge goes. Furthermore,
we would use strain/inertia gradient elasticity theory, because, as
mentioned previously, Wang [28] showed that in the investigation
of wave propagation phenomena in the nano-size, this theory could
present more convincing results. The combination of these two
nano-size effects with their corresponding theories of slip boundary
condition and strain/inertia gradient theory could show us that not
detectable by the common-sense, but as observed by dispersion
relations, the imaginary and real parts of complex frequency in
the range of higher wave numbers could decrease substantially.
The remainder of the paper is organized as follows: In section 2,
we present the theoretical equations of strain/inertia gradient elasticity. In section 3, we develop the FSI equations of motion of nanotube conveying uid by using VCF, and then, we investigate the
wave propagation in an innite nano-tube conveying uid. In section 4, we present a complex-valued dispersion relation. In section
5, we present numerical examples and study the dispersion relations parameterized by Kn, gyroscopic force, uid viscosity, and
different size-effect elasticity theories in order to show the effects
of nano-sizes of different types followed by related discussions. In
section 6, nally, we draw important conclusions.

2. Non-classical theories of strain/inertia gradient and stress

gradient
According to the theory of combined strain/inertia gradients
developed by Askes and Aifantis [33], a combination of equation

F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

of motion and the strain/inertia gradient constitutive relation

could be written as

q ui  2m u i;mm C ijkl uk;jl  2s uk;jlmm

In the above relation, q is the mass density, Cijkl are Cartesian components of elasticity tensor, and ui denotes Cartesian displacements
for an elastic structure. The quantities s and m denote length scales
and are related to strain gradient and inertia gradient, respectively.
The strain gradient length scale is related to a representative volume element (RVE) size for elastostatics and inertia gradient length
scale to a RVE size for elastodynamics problems, since generally,
inertia gradient length scale tends to be larger than the strain
gradient length scale [17]. The constitutive relation for 1/D EulerBernoulli beam theory, is obtained by equating i = 3 and using the
strain-displacement relations of Euler-Bernoulli theory. Accordingly, for 1/D strain-exural curvature relation, we have

!
@2w
e z
@x2

where u3 = w. The only non-zero term of right hand side of Eq. (1) is
for i = j = 1. Based on strain/inertia gradient theory, Eq. (1), the
stress-strain relation may be written as [33]
2

r E e  2s

@ e
@x2

qc 2m

@ e
@t2

where r and e are, respectively, exural stress and strain in the

beam. The bending moment M, resulting from the strain-curvature
Eq. (2), and stress-strain relation (3) and (3) by integrating over the
cross-sectional area of the beam, is

!
4
4
@2w
2@ w
2 @ w

zrdA EI


q
I
c
s
m
@x2
@x4
@x2 @t2

Z
A

In this relation, E is Youngs modulus, I is the moment of inertia of

area cross section, and A is the area of the beam cross-section. qc is
the mass density of nano-tube per unit volume. x is a longitudinal
coordinate along the nano-tube axis, w is the tube transverse
deections along the z-direction, and t is time. According to
Eringens nonlocal model, the stress eld at a point x in an elastic
continuum is dependent not only on the strain eld at the point
under consideration but also on the strains at all other points of
the body. The most general form of constitutive equation for
Eringens nonlocal elasticity involves a convolution integral over
the entire region of interest. This integral contains a kernel function
that describes the relative inuences of strain at various locations
on the stress at a given location. Thus, the nonlocal stress tensor
r at point x is expressed as

rN

Kjx0  xj; srx0 dx0

@2M
0
p qc Ai w
@x2

@2
1
@x2
2

r Ee

where , and rN are respectively, a characteristic length of nanotube as related to the stress gradient theory, and the nonlocal stress

The Eringens nonlocal bending moment MN is obtained as

MN

zrN dA M  2

@2M
@x2

The bending moment M, resulting from the stress-strain relation (6)

is given by

!
@2w
@2w
2
M EI 2 qc Ai 2 p
@x
@t

where Ai is the area of beam cross section of nano-tube in which

uid is moving through, and p includes two parts that are additive:
First, a dynamic pressure, pD, resulting from the uid-structure
interaction and is dened as [25]


2 @ 2 w

 @2w
@2w
pD mf uav gnoslip

2m
u

m
f
a
v
gnoslip
f
@x2
@x@t
@t 2
3
3

@ w
@ w
 le Ai 2  le Ai uav gnoslip
@x @t
@x3

10

where mf, le, and uavg-no slip are, respectively, the uid mass density
per unit length, continuum viscosity, and average ow velocity
through the tube subject to no-slip condition. In Eq. (10), the rst
term on the right-hand side represents an inertial force corresponding to the centripetal or centrifugal accelerations, while the second
term denotes the inertial force resulting from Coriolis accelerations.
The third term is the inertial force due to translational transverse
accelerations. Second, the external pressure, pe, including possibly
a pretension, internal pressure, and a Winkler foundation effect,
are expressed as follows [25]

pe P Ai  T  

@2w
Kw
@x2

11

where P is the internal pressure on the tube, T is the pretension,

and K is Winkler modulus of an elastic foundation, if available.
3. FSI governing equation
For inserting slip boundary conditions into equation of motion,
as mentioned previously, we would insert th VCF dimensionless
number into the uid-structure interaction equation of motion
multiplied by an average velocity term appearing in NavierStokes
equation. The VCF is dened as the ratio of the average ow velocity for a slip boundary condition to the average ow velocity for
no-slip boundary condition, as follows [35]

VCF

where r(x) is the classical stress tensor at point x and the kernel
function (Kjx0  xj; s)) represents a nonlocal modulus. jx0  xj is
the distance in Euclidean norm and s is a material constant that depends on internal and external characteristic lengths of the structure. In the stress gradient or the differential form of Eringens
nonlocal model, the constitutive relation, such as that used by
Reddy and Pang [34], but specialized for Euler-Bernoulli beam
theory, is represented by

rN

corresponding to the local stress r. The local equation of motion of

beam could be as follows

77


 


uav gslip
1
2  rv
Kn
4
1

1  bKn
uav gnoslip CrKn
rv

12

where rv is the tangential momentum accommodation coefcient,

and herein, it is considered to be 0.7. The quantity Cr(Kn) is the rarefaction coefcient of uid and is dened by [29], as the ratio of
dynamic viscosity to bulk viscosity of uid. Furthermore, for a second-order approximation of slip boundary conditions, b = 1. We
insert the effect of slip boundary condition into FSI equation, as suggested by Rashidi et al. [30], and Mirramezani and Mirdamadi [31],
for the nano-tube, by using uavg-slip instead of uavg-no slip. Furthermore, we add the inuence of strain/inertia gradient elasticity theory through the noncbending moment suggested by Eq. (4). The
classical equation of motion for a tube, ignoring the gravity effect,
and using Euler-Bernoulli kinematic relation for a tube modeled
as a beam, is as follows [25,36];

78

F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

i @2w
2
@ 2 Mc h 
mf uav gno slip P Ai  T 
2
@x2
@x
2
2

@ w 
@ w
@3w
mc mf
2mf uav gnoslip
 l 0 Ai 2
2
@x@t
@x @t
@t
@3w
 l0 Ai xuav gnoslip 3 Kw 0
@x

4. Dispersion relations
The wave propagation solution of Eqs. (14) and (15) can be
expressed as follows

13

In this local equation, Mc is the local bending moment resisting

beam exure in a classical continuum sense for the tube. w is the
transversal displacement of the tube center-line, E is Youngs modulus, I is the moment of inertia of wall area cross-section, mc is the
tube mass density, Ai is the area cross-section of the tube through
which the uid is passing, and t is time. As it was mentioned previously, by using uavg-slip instead of uavg-noslip, and bending moment of
Eq. (4) instead of Mc, all in the conventional equation of motion of
beam FSI, we could derive a generalized equation of motion for
nano-tube, specialized for size-effects, by inserting the Kn effect
through VCF dimensionless number. This relation is as follows

EI

!
6
h
i @2w

2
@4w
2@ w


mf VCF2 uav gnoslip P Ai  T 

s
4
6
@x
@x
@x2

 @2w
@2w
@6w
mc mf 2 qc I2m 4 2
2mf VCF uav gnoslip
@x@t
@t
@x @t

 @3w
@3w
 le Ai 2  le Ai uav gnoslip
Kw 0
14
@x @t
@x3

In addition, by substituting Eq. (9) into Eq. (13), the equation of

motion of nano-tube, specialized for Eringens nonlocal model is
derived as [30,35,37]

@4w
@2
EI 4 1  2 2
@x
@x

!(
h

2

mf VCF uav gnoslip

2

P Ai  T

i @2w
@x2

6

 @2w 
 @2w
2 @ w
2mf VCF uav gnoslip
mc mf

q
I
c
m
@x@t
@t2 )
@x4 @t 2
3
3


@ w
@ w
l0 CrAi 2  l0 CrAi uav gnoslip
Kw 0
15
@x @t
@x3

The viscosity of uid, according to a ow-rate moving through the

nano-tube in the Knudsen layer is dened as a function of Kn [29].
Polard [38] suggested the following second relation for viscosity of
uid

CrKn 11aKn
le Kn l0 CrKn

16

In the above relation Cr is the rarefaction coefcient, l0, is bulk

viscosity, a is a theoretical constant, while le is an effective viscosity including the effect of Kn. Assuming a constant value for a could
be an origination for large errors in the uid ow-rate within a
channel. For deriving a, Karniadakis et al. [29] used exact results obtained from an analysis of Boltzmann linear equation by Loyalka
and Hamoodi and experimental results of Tison [29]. They proposed
the following equation in terms of Kn:

a a0 tan1 a1 KnB 
p

17

The values of parameters a1 and B = 0.4 were obtained from experimental observations. In addition, the value of a0 was obtained for
various values of Kn, increasing from the values corresponding to
the slip ow regime to those corresponding to the free molecular
regime (as Kn ? 1); [29]

aKn!1  a0

64


3p 1  4b

!
18

In the above equation, for a slip boundary condition of second-order

approximation, b is equal to 1.

wx; t  Weikxst

19

In this relation, W is the wave amplitude, k is the wave number and

s is the complex frequency of wave motion. By substituting Eq. (19)
into Eq. (14), the complex-valued dispersion relation for uid
conveying nano-tube, by using strain/inertia elasticity, results:


 h
i

2
4
6
2
EI k 2s k  mf VCF2 uav gnoslip P Ai  T  k


4
2mf VCF uav gnoslip ks  i mc mf s2 qc I2m k s2

 3
le A2ik s le Ai uav gnoslip k  i K 0

20

p
where i is the imaginary basis 1. In the above relation, by equating viscosity equal to zero and VCF = 1, we might obtain the dispersion relation that was obtained by Wang [28]. Further, by
considering inertia and strain gradient length scales tending to zero,
we could obtain dispersion relation for uid conveying nano-tube in
the classical continuum elasticity model. For using Eringens nonlocal model for the analysis of wave propagation behavior, substituting Eq. (19) into Eq. (15), the corresponding complex-valued
dispersion relation results


2
4
2
2
EIk 1 2 k fmf VCF2 uav gnoslip P Ai  T  k


2
2mf VCF uav gnoslip ks  i mc mf s2 le Ai k s

 3
le Ai uav gnoslip k  i Kg 0

21

To investigate the behavior of nano-tube in the wave propagation

by using the dispersion relations (20) and (21), assume s is separated into real (r) and imaginary (x) parts. r shows the decay rate
(equivalent viscous damping or Neperian frequency in the units of
Neper) and x the wave frequency (the resonance frequency in the
units of Hz) of the nano-tube for a constant wave number, respectively. By decomposing the complex frequency into its real and
imaginary parts, both equations of (20) and (21) can be separated
into two coupled equations, as follows:
For strain/inertia model:

h
i
4
6
2
EIk 2s k  mf VCF2 uav gnoslip 2 P Ai  T  k K
h
i
2
2mf VCFuav gnoslip k le Ai k r
h
i
h
i
4
4
mc mf qc I2m k r2  mc mf qc I2m k x2 0
i

2
2mf VCFuav gnoslip k le Ai k x  2 mc mf
i

 3
4
qc I2m k rx le Ai uav gnoslip k 0
22

For Eringens nonlocal model:

n h
i

2
4
2
2
EIk 1 2 k  mf VCF2 uav gnoslip P  Ai  T  k
o


2
2mf VCF uav gnoslip kr mc mf r2  x2 le Ai k r K 0


2
 1 2 k f2mf VCF uav gnoslip kx  2mc mf rx

 3
2
le Ai uav gnoslip k le Ai k xg 0
23

5. Results and discussion

In this section, there are subsections in relation to parametric
studies for the effect of gyroscopic term, slip boundary condition,
viscosity, and size-dependent continuum theories. In each subsection, the results and discussion for each parameter is further
divided into discussing the dispersion relations for real (decaying
ratio) and imaginary (wave frequency) parts of complex wave

F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

79

frequency. All the numerical and graphical results and their discussion followed, are based on Eq. (22) for nonlocal strain/inertia gradient and Eq. (23) for Eringens nonlocal theories.
Before presenting the numerical results in a context of parametric study, some parameters appearing in the characteristic equations (20) and (21) are set to xed values. This is pursued for
decreasing the number of parametric studies. For example, the values of s , m , and which are respectively, the characteristic lengths
in relation to strain gradient, inertia gradient, and stress gradient
(Eringens nonlocal analysis), are set to 0.0355, 0.355, and
0.0355 nm, for CNT (20, 20), following [28]. The geometrical properties of CNT are such that its internal radius and wall thickness are
respectively, equal to 1 and 0.34 nm. Furthermore, the CNT material properties of Youngs modulus and mass density are set to 1
TPa and 2.3 g/cm3. The uid passing through CNT is considered
to be acetone. Its material properties of mass density and viscosity
are 0.79 g/cm3 and 0.0003 Pa s [39]. The tangential momentum
accommodation coefcient, rv, for the CNT-acetone interaction is
assumed to be 0.7. In the sequel, the complex-valued dispersion
equations of the elastic wave propagation in the CNT are investigated thoroughly.

upstream and downstream wave frequencies against large wave

numbers. It is observed that there is no difference between these
two frequencies. The parameter f is dened as f = (xupstream  xdownstream)/xdownstream. Fig. 4b shows f against the wave number. It may be seen that an increase in the wave number is
accompanied by a decrease in the parameter f. This point explains
that for the range of higher wave numbers, as seen in Fig. 4a, the
effect of gyroscopic term is smaller, as compared with other terms
of FSI equation. Therefore, the relative difference between the two
wave frequencies of upstream and downstream is diminished. For
higher velocities of uid, the difference between these two upstream and downstream wave frequencies is remarkable for higher
wave numbers and it cannot be ignored. This conclusion is in a relative sense.

5.1. Effect of gyroscopic term

5.2. Slip boundary condition

5.1.1. Imaginary part of complex frequency

The investigation of dispersion relation of elastic wave propagation for a given wave number would result in two different waves,
propagating in two opposite directions of upstream and downstream. The corresponding wave frequencies are called upstream
and downstream frequencies [40]. The numerical results demonstrate that these frequencies have different values when there is
a uid owing through a CNT with an innite length. These wave
frequencies are the same when there is either no ow or the ow
is still [28]. An investigation of parametric studies shows that the
reason for having two different wave frequencies of upstream
and downstream is the presence of gyroscopic term of inertia
forces. These inertia forces (corresponding to Coriolis acceleration)
originate from observing the coupled motion of uid and CNT from
a non-inertial reference frame attached to the CNT wall. These
inertia forces are the product of two terms, i.e., the relative velocity
of the non-inertial coordinate system and the angular velocity of
the non-inertial coordinate system, as observed from an inertial
reference frame. The angular velocity comes from a time derivative
of angular displacement, herein, ow/@x. The presence of a spatial
derivative of the rst degree, capable of sign change, is the main
source for the generation of two different upstream and downstream traveling wave frequencies. Fig. 1 shows the effect of gyroscopic term on the dispersion relation of upstream and
downstream wave frequencies propagating in the CNT against
the wave number.
Furthermore, the numerical results show that the gyroscopic
term makes an increase in upstream wave frequency and a
decrease in downstream wave frequency. The reason is the unidirectional ow of uid from the upstream to the downstream.
Fig. 2 shows the effect of gyroscopic term on both upstream and
downstream wave frequencies.
An investigation of uid velocity passing through the CNT reveals that when the gyroscopic term is considered, an increase in
the uid velocity causes more pronounced difference between upstream and downstream wave frequencies. This issue is depicted in
Figs. 3a and 3b.
An increase in wave number causes a decrease in the difference
between upstream and downstream wave frequencies. The evidence is the diminishing of gyroscopic term, as compared to other
terms in FSI equation (such as structural bending stiffness and uid
centrifugal forces), for very large wave numbers. Fig. 4a illustrates

5.2.1. Imaginary part of complex frequency

As explained in the previous sections of this article, for the
investigation of slip boundary condition, the dimensionless parameter VCF is used which is a function of Kn. Fig. 6 shows the effect of
slip boundary condition on the two upstream and downstream
wave frequencies without considering the gyroscopic term.
Increasing Kn would cause a decrease in both upstream and downstream wave frequencies in the CNT. The reason could be an increase in the uid centrifugal forces (an increase in VCF followed
by an increase in the centrifugal force). Consequently, the overall
structural stiffness of the CNT would result from these forces.
Considering the presence of gyroscopic term, the effect of slip
boundary condition on the dispersion relation in the CNT, could
be variant. An increase in Kn would make an increase in the upstream wave frequency but a decrease in the downstream wave
frequency. For a better description of the reason, we would need
to digress what the meaning of an increase in Kn could be from a
molecular viewpoint. In addition to providing a mechanism for
comparing the geometrical dimensions of a structure against
molecular mean free path, an increase in Kn would result an increase in the number of uid molecular collisions to the CNT wall.
For this reason, an increase in Kn would cause the effect of slip
boundary condition to show itself more pronounced. It is worth
mentioning that slip boundary condition is present for any geometrical dimensions of a tube interacting with a uid owing
internally. However, being Kn very low, this effect might be ignored. Regarding this molecular interpretation, an increase in Kn
could cause an increase in the number of collisions of uid molecules with the CNT wall. This effect would cause an increase in
the upstream wave frequency due to being opposite the direction
of relative motion of uid in the CNT and the propagation of elastic
waves. The same effect could cause a decrease in the downstream
wave frequency due to being the same the direction of relative motion of uid in the CNT and the propagation of elastic waves. Fig. 7
shows the effect of Kn on the dispersion relation.
The effect of slip boundary condition would decrease with an
increase in the wave number. For much higher range of wave numbers, this effect could be ignored. The reason could be that this effect of slip condition would appear in those terms of FSI
characteristic equations of (22) and (23) which would include lower powers of wave number, as compared to the other terms. For
example, for higher range of wave numbers, since elastic bending

5.1.2. Real part of complex frequency

The gyroscopic term is effective on the variations of decaying
ratio against wave number. This is shown in Fig. 5. Higher values
of gyroscopic term would cause a decrease in decaying ratio as well
as a decrease in the wave number in which decaying ratio goes to
zero.

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F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

Fig. 1. Upstream and downstream wave frequencies against wave number effect of gyroscopic term (a) neglected (b) included for constant ow velocity (uavg-no slip = 10 m/s).

Fig. 2. Effect of including and excluding gyroscopic term on the difference between upstream and downstream frequencies for constant ow velocity (uavg-no

stiffness would appear with a higher power of wave number, as opposed to centrifugal and gyroscopic terms, the structural behavior
of CNT would be more dependent on the elastic bending stiffness

slip

= 10 m/s).

than the other terms. In addition, it would also be noticed that

for this higher wave numbers, both the variations in uid velocity
and Kn would have little inuence on the wave frequency. Fig. 8

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F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

Fig. 3a. Effect of different ow velocities on variations of wave frequency (imaginary part of s) versus wave number for upstream and downstream waves for non-viscous
uid (l = 0.0).

Fig. 3b. Effect of ow velocity on difference between upstream and downstream wave frequencies for constant wave number (k = 108) and non-viscous uid (l = 0.0).

Fig. 4a. Upstream/downstream wave frequencies against higher range of wave numbers including gyroscopic term for constant ow velocity (uavg-no
viscous uid (l = 0.0).

slip

= 10 m/s) and non-

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F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

Fig. 4b. Variation of f = (xupstream  xdownstream)/xdownstream versus wave number for various ow velocities and non-viscous uid (l = 0.0).

Fig. 5. Variations of decaying ratio versus wave number with and without gyroscopic effect for constant ow velocity (uavg-no

slip

= 10 m/s) and non-viscous uid (l = 0.0).

Fig. 6. Effect of different Kns on upstream and downstream frequencies of CNT without gyroscopic term for constant ow velocity (uavg-no slip = 10 m/s) and non-viscous uid
(l = 0.0).

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F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

Fig. 7. Effect of different Kns on upstream and downstream frequencies of CNT with gyroscopic term for constant ow velocity (uavg-no
(l=0.0).

slip

= 10 m/s) and non-viscous uid

Fig. 8. Effect of different Kns on upstream/downstream frequencies against higher range of wave numbers for constant ow velocity (uavg-no
uid (l = 0.0).

Fig. 9. Effect of different Kns on variations of decaying ratio versus wave number for constant ow velocity (uavg-no

slip

slip

= 10 m/s) and non-viscous

= 10 m/s) and non-viscous uid (l = 0.0).

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F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

shows that Kn could have little effect on the wave frequency for
higher wave numbers.
5.2.2. Real part of complex frequency
Of parameters effective on the decaying ratio, the slip boundary
condition might be recalled. The variations of decaying ratio with
the wave number could be such that for a non-viscous uid, an increase in wave number would cause an early increase in decaying
ratio and later on, a decrease in that parameter, and nally, becoming zero for a specic wave number. Higher values of Kn would
cause an increase in the decaying ratio as well as an increase in
the wave number in which decaying ratio would be zero. Fig. 9 depicts this effect.
5.3. Viscosity
5.3.1. Imaginary part of complex frequency
Of other inuential and debatable factors in investigating the
wave propagation in CNTs conveying uid would be the effect of
uid viscosity. The uid viscosity could have little effect on the

wave frequency, which would be dened as the imaginary part

of complex frequency. In the literature, some authors have observed and reported a major effect of uid viscosity on the wave
frequency. However, they have not distinguished between imaginary part of complex frequency and complex frequency itself. It
would be the real part of complex frequency, which might take
effect from viscosity. Fig. 10 illustrates the non-effectiveness of viscosity on the imaginary part of complex frequency, which could be
a representative for the structural stiffness of CNT. Merely, the
imaginary part would be really a wave frequency in Hz or rad/s,
not the real part which is in the units of Neper (Np).
5.3.2. Real part of complex frequency
The uid viscosity is effective on the variations of decaying ratio
against the wave number, as shown in Fig. 11. The viscosity would
cause that the decaying ratio could not remain constant at a zero
value, but would decrease below zero as the wave number would
increase. Increasing Kn could cause a decrease in the effect of
viscosity. The reason might be that as Kn would increase, the collisions of uid molecules with the CNT wall could increase while the

Fig. 10. Effect of different uid viscosity on variations of upstream/downstream wave frequencies versus wave number for constant ow velocity (uavg-no

slip

= 10 m/s).

Fig. 11. Variations of decaying ratio versus wave number for different Kns but constant ow velocity (uavg-no slip = 10 m/s) and constant uid viscosity (l = 0.0003), including
gyroscopic term.

F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

85

Fig. 12. Variations of upstream/downstream wave frequencies versus wave number for both viscous and non-viscous uid ow by different size-dependent continuum
theories and constant ow velocity (uavg-no slip = 10 m/s).

collisions among molecules themselves would decrease, as explained earlier. Accordingly, the uid viscosity could decrease with
an increase in Kn [35]. This point might be more claried by investigating Eq. (16).
5.4. Size-dependent continuum theories
5.4.1. Imaginary part of complex frequency
Small-size effects in the structural behavior of CNTs might be
described by non-classical theories of continuum mechanics. This
small-size effect could manifest in the higher range of wave
numbers where upstream and downstream wave frequencies
would be nearly the same. Thus, this parameter could have the
same effect on both frequencies. Fig. 12 shows this effect. As
might be observed, strain/inertia gradient theory might be more
sensitive to both ranges of lower and higher wave numbers,
while Eringens nonlocal theory would seem to be sensitive only
to the range of higher wave numbers. Accordingly, the strain/
inertia gradient theory could present a wider and more complete
picture of system behavior as contrasted to the Eringens nonlocal theory.

5.4.2. Real part of complex frequency

The non-classical continuum theories could also be effective on
the variations of decaying ratio against the wave number. The effect of small-size might be only for a viscous uid because for a
non-viscous uid in lower range of wave numbers, before the effects of non-classical theories and their dependence on the size
would be disclosed, the decaying ratio would reach a constant value of zero. Furthermore, for a viscous uid, Eringens nonlocal theory would have little effect on the variations of decaying ratio
against the wave number and could predict results similar to those
for classical continuum theory; however, the strain/inertia gradient theory would make the decaying ratio decrease. Fig. 13 shows
these variations. The effect of small-size on the decaying ratio for a
non-viscous uid could not be predicted by using the Eringens
nonlocal and strain/inertia gradient theories. These theories would
seem to be disabled and limited in this eld. Nevertheless, as Fig. 9
might illustrate, the effect of small-size in investigating the decaying ratio for a non-viscous uid could be predicted by using the slip
boundary condition and the dimensionless number VCF, such that
for Kn = 0, the effect of small-size could be ignorable, while by
increasing Kn, this effect would become apparent.

Fig. 13. Variation of decaying ratio versus wave number for constant uid viscosity (l = 0.0003) and constant ow velocity (uavg-no slip = 10 m/s) but different size-dependent
theories.

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F. Kaviani, H.R. Mirdamadi / Computers and Structures 116 (2013) 7587

6. Conclusions
This research work investigated the elastic wave propagation in a
CNT of innite length conveying viscous uid and enforcing slip
boundary condition between the CNT and passing uid, by using
both the strain/inertia gradient theory and Eringens nonlocal continuum theory for the structural part, and Kn-dependent ow for
uid part of size-dependent FSI problem. For deriving an interaction
equation between the CNT structure and passing internal uid (FSI),
the Euler-Bernoulli beam was used. The effect of viscosity, as proposed by [25], was added to the terms showing the effect of uid
on the CNT structure. Noticing that in the nano-scale, the characteristic length of CNT would be comparable with the uid molecular
mean free path, the uid-CNT boundary condition would be
governed by a slip condition. The effect of slip boundary conditions
between a CNT and uid was modeled in FSI problem by using the
dimensionless number of VCF, dened as the ratio of mean ow
velocity of uid passing through the CNT in a slip boundary condition
to the mean uid velocity of the same uid in a no-slip boundary condition. For solving the elastic wave propagation, the linear FSI equation in a general form was derived and the non-separable
(interwoven time and space-dependent) eigenfunctions of linear
partial differential equation of transverse motion were substituted,
representing a traveling wave phenomenon. In this type of solution,
there were two transformations from temporal and spatial independent variables, respectively to the complex frequency-domain and
wave number-domain. The complex frequency was divided into
the real (decaying ratio) and the imaginary (wave frequency) parts.
The coupled dispersion equations were divided into two categories
based on these two parts of complex frequency. By studying numerical results obtained from these coupled dispersion equations, we
could investigate the behavior of this FSI system, which would have
been paid little attention so far. These numerical and parametric
studies on gyroscopic inertia force, slip boundary condition, viscosity, and size-dependent continuum theories disclosed to us the
following remarkable results:

 The higher values of Kn would cause an increase in the decaying

ratio as well as in the wave number in which the decaying ratio
would go to zero.
Viscosity effects
 The uid viscosity would seem to have little effect on the wave
frequency, which is the imaginary part of complex frequency.
 The viscosity would cause that the decaying ratio could not
remain constant at a zero value, but would decrease below zero
as the wave number would increase.
Size-dependent continuum effects
 The small-size effect would manifest in the range of higher
wave numbers, where upstream and downstream wave frequencies would be nearly the same.
 The strain/inertia gradient theory could be more sensitive to
both ranges of lower and higher wave numbers, while the Eringens nonlocal theory would seem to be sensitive only to the
range of higher wave numbers; thus, the strain/inertia gradient
theory could present a wider and more complete picture of
system behavior as contrasted to the Eringens nonlocal
theory.
 The effect of small-size on the decaying ratio might be only visible for a viscous uid.
 For a viscous uid, the Eringens nonlocal theory might have little effect on the variations of decaying ratio against wave number and could predict results similar to the classical continuum
theory; however, the strain/inertia gradient theory would make
the decaying ratio decrease.
 The non-classical continuum theories would seem to be disabled and limited to predict the size-dependent effects on the
decaying ratio for a non-viscous uid ow. The effect of
small-size in investigating the decaying ratio for a non-viscous
uid could be predicted by using the slip boundary condition
and the dimensionless number VCF, such that for Kn = 0 the
effect of small-size could be ignorable, while by increasing Kn,
this effect would become apparent.

Gyroscopic effects
 The gyroscopic term could affect on the dispersion relation of
both upstream and downstream wave frequencies propagating
in a CNT against wave number.
 The gyroscopic term could make an increase in the upstream
wave frequency and a decrease in the downstream wave
frequency.
 When the gyroscopic term is considered, an increase in the uid
velocity causes more pronounced difference between the
upstream and downstream wave frequencies.
 An increase in the wave number would cause a decrease in the
difference between upstream and downstream wave frequencies.
 The higher values of gyroscopic term could cause the decrease
in the decaying ratio as well as in the wave number in which
the decaying ratio goes to zero.
Slip boundary condition effects
 The effect of slip boundary condition on the two upstream and
downstream wave frequencies without considering the gyroscopic term would be observed like this: An increase in Kn
would cause a decrease in both upstream and downstream
wave frequencies.
 In the presence of gyroscopic term, an increase in Kn could
make an increase in the upstream wave frequency, but a
decrease in the downstream wave frequency.
 The effect of slip boundary condition could decrease with an
increase in the wave number, and for much higher range of
wave numbers, it could be ignorable.

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