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ANALYSIS OF
BEAMS
PREPARED BY:
ENGR. CLINT JAN A. SUMALPONG
ENGR. JUNNAZ P. BALACUIT
0 OF 4 D Y N A M I C A N A LY S I S :
The treatment of beam flexure developed in this section is based on the simple
bending theory.
1 OF 4
Flexural Vibration of Uniform Beams
The equation of motion perpendicular to the x axis of the deflected beam obtained by
equating to zero the sum of the forces in the free body diagram of Fig. 21.1 (b),
𝜕𝑉 𝜕2y
V− V+ dx + p x, t dx − mdx
ഥ 2
=0
𝜕𝑥 𝜕t
𝜕𝑉 𝜕2 𝑦
+ m
ഥ 2 = p x, t [1.1]
𝜕𝑥 𝜕𝑡
𝜕2 y
M= EI 2
𝜕x
𝜕M 𝜕3 y
= EI 3 [1.2]
𝜕x 𝜕x
1 OF 4
Flexural Vibration of Uniform Beams
𝜕𝑉 𝜕4 y
=EI 4 [1.4]
𝜕x 𝜕x
𝜕4 y 𝜕2 y
EI 4 + m
ഥ 2 = p x, t [1.5]
𝜕x 𝜕t
SOLUTION OF THE EQUATION Of
2 OF 4 MOTION IN FREE VIBRATION
The solution may be expressed as the product of a function of position Φ x and a function of
time f t by “Method of Separation of Variables”, that is,
y x, t = Φ x f t [2.2]
The substitution of eq. [2.2] in the differential equation [2.1] leads to,
d4 Φ(x) d2 f t
EI 4 [f t ]+ m
ഥ [Φ x ] = 0
dx 𝑑𝑡 2
SOLUTION OF THE EQUATION Of
2 OF 4 MOTION IN FREE VIBRATION
d4 Φ(x) d2 f t
EI f t + m
ഥ Φ x =0
dx4 𝑑𝑡 2
ഥ fሷ t Φ x
EI ΦIV x f t + m =0
EI ΦIV x fሷ t
ഥ Φ x
= − [2.3]
m f t
In this notation Roman indices indicate derivatives with respect to x and overdots indicate
derivatives with respect to time. Since the left-hand side of eq. [2.3] is a function only of x
while the right-hand side is a function only of t, each side of the equation must equal the
same constant value; otherwise, the identity of eq. [2.3] cannot exist. We designate the
constant by ω2 which equated separately to each side of eq. [2.3] results in the two following
differential equations:
ഥ 2
mω
ΦIV x − a4 Φ x = 0 2.4 a4 = [2.6]
𝐸𝐼
fሷ t + ω2 f t = 0 [2.5]
SOLUTION OF THE EQUATION Of
2 OF 4 MOTION IN FREE VIBRATION
It is particularly convenient to solve eq. [2.6] for ω to use the following notation, namely,
EI
ω=C ഥ 4
C = (aL)2
mL
The substitution of each of these roots into Φ x = 𝐶𝑒 𝑠𝑥 provides a solution of eq. [2.4]. The
general solution is then given by the superposition of these four possible solutions, namely,
Φ x = 𝐶1 𝑒 𝑎𝑥 + 𝐶2 𝑒 −𝑎𝑥 + 𝐶3 𝑒 𝑖𝑎𝑥 +𝐶4 𝑒 𝑎𝑥 [2.7]
The exponential functions in eq. [2.7] may be expressed in terms of trigonometric and
hyperbolic functions by means of the relationships
𝑒 ±𝑎𝑥 = cosh 𝑎𝑥 ± sinh 𝑎𝑥
𝑒 ±𝑖𝑎𝑥 = cos 𝑎𝑥 ± isin 𝑎𝑥
where A, B, C, and D are new constants of integration. These four constants of integration
define the shape and the amplitude of the beam in free vibration; they are evaluated by
considering the boundary conditions at the ends of the beam as illustrated in the examples
presented in the following section.
NATURAL FREQUENCIES AND MODE
3 OF 4 SHAPES FOR UNIFORM BEAMS
At x = 0,
Φ 0 = 0, Φ′′ 0 = 0
Φ L = 0, Φ′′ L = 0
The substitution of the first two of these boundary conditions {Φ 0 = 0, Φ′′ 0 = 0} into
Φ x = Asin 𝑎𝑥 + Bcos 𝑎𝑥 + Csinh 𝑎𝑥 + Dcosh 𝑎𝑥 yields,
Φ x = A(0) + B(1) + C(0) + D(1) =0
NATURAL FREQUENCIES AND MODE
3 OF 4
(1/5) SHAPES FOR UNIFORM BEAMS
Both Ends Simply Supported
Φ′′ x = a2 {−A 0 − B(1) + C(0) + D(1) } =0
which reduce to
B+D=0
−B+D=0
Hence,
B=D=0
Asin 𝑎L + C sinh 𝑎L = 0
Substituting C = 0 to either of leads to
− Asin 𝑎L + C sinh 𝑎L = 0
A sin 𝑎L = 0
(A = 0)
NATURAL FREQUENCIES AND MODE
3 OF 4
(1/5) SHAPES FOR UNIFORM BEAMS
Both Ends Simply Supported
Excluding the trivial solution (A = 0) we obtain the frequency equation
sin 𝑎L = 0
ഥ 2
mω
a𝐿 = 𝑛π, a4 =
𝐸𝐼
(n = 1, 2, 3, … . ,)
𝑛π
a=
𝐿
NATURAL FREQUENCIES AND MODE
3 OF 4
(1/5) SHAPES FOR UNIFORM BEAMS
Both Ends Simply Supported
𝑛π ഥ 2
mω
Substituting a = to a4 = leads to,
𝐿 𝐸𝐼
ഥ 2
𝑛π 4 mω
( ) =
𝐿 𝐸𝐼
2 2 𝐸𝐼
ω=𝑛 π ഥ 4
mL
2 2 𝐸𝐼
ω𝑛 = 𝑛 π ഥ 4
(𝑁𝑎𝑡𝑢𝑟𝑎𝑙 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦)
mL
where the subscript n serves to indicate the order of the natural frequencies.
𝑛π𝑥 𝑛π𝑥
Φ x = Asin or simply Φ x = sin
𝐿 𝐿
NATURAL FREQUENCIES AND MODE
3 OF 4
(1/5) SHAPES FOR UNIFORM BEAMS
Both Ends Simply Supported
From eq. (21.7) a modal shape or normal mode of vibration is given by
yn x, t = Φn x fn t ; Recall: f t =Acos ω𝑡 + 𝐵 sin ω𝑡
𝑛π𝑥
We note that in Φ x = Asin , the constant A is absorbed by the other constants in the
𝐿
modal response given below.
nπx
yn x, t = Asin A cos ωt + B sin ωt
L
nπx
yn x, t = sin An cos ωn t + Bn sin ωn t
L
NATURAL FREQUENCIES AND MODE
3 OF 4
(1/5) SHAPES FOR UNIFORM BEAMS
Both Ends Simply Supported
The general solution of the equation of motion in free vibration that satisfies the boundary
Φ 0 = 0, Φ′′ 0 = 0
conditions, ′′ , is the sum of all the normal modes of vibration,
Φ L = 0, Φ L =0
nπx
yn x, t = sin An cos ωn t + Bn sin ωn t , namely,
L
∞
nπx
yn x, t = sin An cos ωn t + Bn sin ωn t
L
𝑛=1
The constants An and Bn are determined, as usual, from the initial conditions. If at t = 0, the
shape of the beam is given by
𝑦 x, 0 = 𝜌 x
𝜕𝑦 x,0
= 𝜑 x => Velocity
𝜕𝑡
NATURAL FREQUENCIES AND MODE
3 OF 4
(1/5) SHAPES FOR UNIFORM BEAMS
Both Ends Simply Supported
∞ nπx
for 0 ≤ 𝑥 ≤ 𝐿, it follows from yn x, t = σ𝑛=1 sin An cos ωn t + Bn sin ωn t that
L
∞ nπx
σ𝑛=1 An sin =𝜌 x and
L
∞ nπx
σ𝑛=1 Bn ωn sin =𝜑 x
L
𝑎𝑖
3 OF 4
Table Natural Frequencies and Normal Modes for Simply Supported Beams
(1/5)
NATURAL FREQUENCIES AND MODE
3 OF 4
(2/5) SHAPES FOR UNIFORM BEAMS
Both Ends Free (Free Beam)
The boundary conditions for a beam with both ends free are as follows.
At x = 0,
M 0, t = 0, or Φ′′ 0 = 0
V 0, t = 0, or Φ′′′ 0 = 0
At x = L,
M L, t = 0, or Φ′′ L = 0
V L, t = 0, or Φ′′′ L = 0
The substitutions of these conditions to the second and third derivative of Φ x = Asin 𝑎𝑥 +
Bcos 𝑎𝑥 + Csinh 𝑎𝑥 + Dcosh 𝑎𝑥 yield,
Φ′′ 0 = 𝑎2 −𝐵 + 𝐷 = 0
Φ′′′ 0 = 𝑎3 −𝐴 + 𝐶 = 0
NATURAL FREQUENCIES AND MODE
3 OF 4
(2/5) SHAPES FOR UNIFORM BEAMS
Both Ends Free (Free Beam)
−𝐵 + 𝐷 = 0
𝐷=𝐵
−𝐴 + 𝐶 = 0
𝐶=𝐴
The expansion of this determinant provides the frequency equation for the free beam, namely
cos aL cosh aL − 1 = 0
The first five natural frequencies which are obtained by substituting the roots of
𝐸𝐼
cos aL cosh aL − 1 = 0 into ω𝑛 = C𝑛 ഥ 4 .
mL
NATURAL FREQUENCIES AND MODE
3 OF 4
(2/5) SHAPES FOR UNIFORM BEAMS
Both Ends Free (Free Beam)
The corresponding normal modes are obtained by letting A = 1 (normal modes are
determined only to a relative magnitude), substituting in
sinh aL − sin aL A+ cosh aL − cos aL B = 0
the roots of cos aL cosh aL − 1 = 0, solving
cosh aL − cos aL A+ sinh aL + sin aL B = 0
one of these equations for B, and finally introducing into Φ x = Asin 𝑎𝑥 + Bcos 𝑎𝑥 + Csinh 𝑎𝑥
D=B
+ Dcosh 𝑎𝑥, the constants C, D from together with B. Performing these operations,
C=A
we obtain,
where,
cosh a𝑛 𝐿−cos a𝑛 𝐿
σ𝑛 =
sinh a𝑛 𝐿−𝐿
NATURAL FREQUENCIES AND MODE
3 OF 4
(2/5) SHAPES FOR UNIFORM BEAMS
Both Ends Free (Free Beam)
Φ𝑛 x = cosh a𝑛 𝑥 + cos a𝑛 𝑥 − σ𝑛 sinh a𝑛 𝑥 + sin a𝑛 𝑥
a𝑛
σ𝑛
3 OF 4
Table Natural Frequencies and Normal Modes for Free Beams
(2/5)
3 OF 4
Table Natural Frequencies and Normal Modes for Fixed End Beams
(3/5)
3 OF 4
Table Natural Frequencies and Normal Modes for Cantilever Beams
(4/5)
3 OF 4
Table Natural Frequencies and Normal Modes for Propped Beams
(5/5)
4 OF 4
FORCED VIBRATION OF BEAMS
For a uniform beam acted on by lateral forces p x, t , the equation of motion, may be written as
𝜕4 y 𝜕2 𝑦
EI 4 + m
ഥ 2 = p x, t
𝜕x 𝜕𝑡
We assume that the general solution of this equation may be expressed by the summation of the
products of the normal modes Φ𝑛 x multiplied by factors z𝑛 t which are to be determined. Hence
y x, t = σ∞
𝑛=1 Φ𝑛 x z𝑛 t
IV 4 4 ഥ 2
mω
Φ x −a Φ x =0 2.4 a = [2.6]
𝐸𝐼
𝐸𝐼ΦIV x = mω
ഥ 2Φ x , n=1, 2, 3,……
4 OF 4
FORCED VIBRATION OF BEAMS
The normal modes should also satisfy the specific force boundary conditions at the ends of the
𝜕4 y 𝜕2 𝑦
beam. Substitution of y x, t = σ∞
𝑛=1 Φ𝑛 x z𝑛 t in EI 4 + m
ഥ 2 = p x, t gives
𝜕x 𝜕𝑡
𝐸𝐼 σ∞ Φ
𝑛=1 𝑛
IV x z t = p x, t − m
𝑛 ഥ σ∞
𝑛=1 Φ𝑛 x 𝑧𝑛
ሷ t
ഥ 2 Φ x , we can write 𝐸𝐼 σ∞
In view of 𝐸𝐼ΦIV x = mω Φ
𝑛=1 𝑛
IV x z t = p x, t − m
𝑛 ഥ σ ∞
𝑛=1 Φ𝑛 x 𝑧𝑛
ሷ t as
𝐸𝐼 σ𝑛 Φ𝑛IV x z𝑛 t = p x, t − m
ഥ σ𝑛 Φ𝑛 x 𝑧𝑛ሷ t
We note that all the terms that contain products of different indices (n ≠ 𝑚) vanish from the
summations in 𝐸𝐼 σ∞ Φ
𝑛=1 𝑛
IV
x z𝑛 t = p x, t − m
ഥ σ ∞
𝑛=1 Φ𝑛 x 𝑧𝑛 ሷ t , it may conveniently be written as
M𝑛 𝑧𝑛ሷ t + ω2𝑛 M𝑛 z𝑛 t = F𝑛 t 𝑛 = 1, 2, 3, … , 𝑚 …
where
𝐿
M𝑛 = ഥ 𝑛2
0 mΦ 𝑥 𝑑𝑥 𝑀𝑜𝑑𝑎𝑙 𝑀𝑎𝑠𝑠
𝐿
F𝑛 = 0 Φ𝑛 x p x, t 𝑑𝑥 𝑀𝑜𝑑𝑎𝑙 𝐹𝑜𝑟𝑐𝑒
Modal damping could certainly be introduced by simply adding the damping term in M𝑛 𝑧𝑛ሷ t +
ω2𝑛 M𝑛 z𝑛 t = F𝑛 t ; hence we would obtain
M𝑛 𝑧𝑛ሷ t + C𝑛 𝑧𝑛ሶ t + K 𝑛 𝑧𝑛 t = F𝑛 t
F𝑛 t
𝑧𝑛ሷ t + 2𝜉𝑛 𝑧𝑛ሶ t + 𝜔𝑛2 𝑧𝑛 t =
M𝑛
DYNAMIC ANALYSIS SAMPLE PROBLEM
1 SAMPLE PROBLEM1:
Determine the maximum deflection at the midpoint of the fixed beam shown in Figure 1
subjected to a harmonic load p(x, t) = 𝑝𝑜 sin 300t 𝑙𝑏Τ𝑖𝑛 uniformly distributed along the span. Consider
BUCKLING THEORY
in the analysis the first three modes contributing to the response.
Figure 1.
1 SAMPLE PROBLEM1:
Solution:
The natural frequencies for uniform beams are given by
BUCKLING THEORY
𝐸𝐼
ω𝑛 = C𝑛 ഥ 4
mL
30 𝑥 108
ω𝑛 = C𝑛
0.1(240)4
BUCKLING THEORY
𝑧ሷ t + ω2 z t =
𝐿
0 p x,t Φ𝑛 x 𝑑𝑥
𝑛 𝑛 𝑛 𝐿
ഥ 2𝑛
0 mΦ 𝑥 𝑑𝑥
𝐿
200 0 Φ𝑛 x 𝑑𝑥
𝑧𝑛ሷ t + ω2𝑛 z𝑛 t = 𝐿
0.1 0 Φ2𝑛 𝑥 𝑑𝑥
𝐿
0 Φ𝑛 x 𝑑𝑥
𝑧𝑛ሷ t + ω2𝑛 z𝑛 t = 2000I𝑛 sin 300𝑡 ; I𝑛 = 𝐿
0 Φ2𝑛 𝑥 𝑑𝑥
1 SAMPLE PROBLEM1:
Solution:
I𝑛 is given for the first five modes in Table 21.3.
BUCKLING THEORY
1 SAMPLE PROBLEM1:
Solution:
The modal steady-state response is
BUCKLING THEORY
2000I𝑛
z𝑛 t = sin 300𝑡
ω2𝑛 − 300 2
BUCKLING THEORY
The deflections at midspan of the beam are then calculated from
y x, t σ∞
𝑛=1 Φ𝑛 x z𝑛 t and values in Table 21.6 as
𝐿
y ,t = [(1.588)( −0.0194) + (−1.410)(0.0173) + (1.414)(0.00065)] sin 300𝑡
2
𝐿
y ,t = −0.0541 sin 300𝑡
2
2 SAMPLE PROBLEM2:
A uniform steel shaft which is carried in long bearings at each end has an effective
𝐼
unsupported length of 3 m. Calculate the first two whirling speeds. Take = 0.1𝑥10−3 𝑚2 , 𝐸 =
BUCKLING THEORY 𝐴
𝑘𝑔
200 𝐺𝑃𝑎, 𝑎𝑛𝑑 𝜌 = 8,000 3 . The shaft is supported in long bearings, it can be considered to be ‘built
𝑚
in’ at each end so that 𝛼1 = 22.4 and 𝛼2 = 61.7. See table below for 𝛼 values.
2 SAMPLE PROBLEM2:
Solution:
ഥ 2
mω 𝜌𝐴ω2
BUCKLING THEORY a4 = =
𝐸𝐼 𝐸𝐼
2 𝐸𝐼
ω=a C = (𝑎𝐿)2
𝜌𝐴
𝐶 𝐸𝐼
ω=
L2 𝜌𝐴
𝛼 𝐸𝐼
ω= α = 𝑎𝐿
𝐿 𝜌𝐴
2 SAMPLE PROBLEM2:
Solution:
BUCKLING THEORY
The first two whirling speeds are:
𝛼1 𝐸𝐼
ω1 =
𝐿 𝜌𝐴
ω1 = 124.4 𝑟𝑎𝑑/𝑠
ω1 124.4
f1 = =
2𝜋 2𝜋
f1 = 19.8 𝑐𝑦𝑐𝑙𝑒/𝑠
2 SAMPLE PROBLEM2:
Solution:
BUCKLING THEORY
The first two whirling speeds are:
N1 = 19.8 (60)
N1 = 1188 𝑟𝑒𝑣/𝑚𝑖𝑛
61.7
N2 = ( )(1188)
22.4
N2 = 3272 𝑟𝑒𝑣/𝑚𝑖𝑛
3 SAMPLE PROBLEM3:
Find the first three natural frequencies of a steel bar 3 cm in diameter, which is simply
𝑘𝑔
supported at each end, and has a length of 1.5 m. Take 𝜌 = 7,780 3 and 208 𝐺𝑃𝑎. See table below for
BUCKLING THEORY 𝑚
𝐶𝑛 values.
3 SAMPLE PROBLEM3:
Solution:
BUCKLING THEORY
𝐶𝑛 𝐸𝐼
ω=
L2 𝜌𝐴
9 𝜋𝑥0.034
𝜋2 208𝑥10 ( )
64
ω1 = 𝜋𝑥0.032
1.52 7,780( )
4
ω1 = 170.2 𝑟𝑎𝑑/𝑠
ω1 170.2
f1 = =
2𝜋 2𝜋
f1 = 27.1 Hz
3 SAMPLE PROBLEM3:
Solution:
BUCKLING THEORY
𝐶𝑛 𝐸𝐼
ω=
L2 𝜌𝐴
9 𝜋𝑥0.034
4𝜋2 208𝑥10 ( )
64
ω2 = 𝜋𝑥0.032
1.52 7,780( )
4
ω2 = 680.8 𝑟𝑎𝑑/𝑠
ω2 680.8
f2 = =
2𝜋 2𝜋
f2 = 108.4 Hz
3 SAMPLE PROBLEM3:
Solution:
BUCKLING THEORY
𝐶𝑛 𝐸𝐼
ω=
L2 𝜌𝐴
9 𝜋𝑥0.034
9𝜋2 208𝑥10 ( )
64
ω3 = 𝜋𝑥0.032
1.52 7,780( )
4
ω3 = 1,531.8 𝑟𝑎𝑑/𝑠
ω3 1,531.8
f3 = =
2𝜋 2𝜋
f3 = 243.8 Hz
REFERENCE
BUCKLING THEORY
Paz, M., (1997). “Structural Dynamics: Theory and Computation”. ISBN-13:
978-1-4684-0020-5.
THANK YOU!