AE 2403 VIBRATIONS AND

ELEMENTS OF AEROELASTICITY
BY
Mr. G.BALAJI
DEPARTMENT OF AERONAUTICAL ENGINEERING
REC,CHENNAI
Fundamentals of Linear Vibrations
1. Single Degree-of-Freedom Systems
2. Two Degree-of-Freedom Systems
3. Multi-DOF Systems
4. Continuous Systems
Single Degree-of-Freedom Systems
1. A spring-mass system
General solution for any simple oscillator
General approach
Examples
2. Equivalent springs
Spring in series and in parallel
Examples
3. Energy Methods
Strain energy & kinetic energy
Work-energy statement
Conservation of energy and example
A spring-mass system
General solution for any simple oscillator:
Governing equation of motion:
0 = + kx x m` `
) sin( ) cos( ) ( t
v
t x t x
n
n
o
n o
e
e
e + =
2
n
o 2
o
n
n
n
o o o

v
x amplitude C ;
2

T
1
Hz) or c. (cycles/se frequency f
vibration of period T ;
T
2
) (rads/sec. frequency natural
m
k

(sec.) time t ; x velocity initial v nt; displaceme initial x

|
|
.
|

\
|
+ = = = = =
= = = =
= = = =

`
where:
Any simple oscillator
General approach:

1. Select coordinate system
2. Apply small displacement
3. Draw FBD
4. Apply Newtons Laws:
) (
) (
u
`
`
I
dt
d
M
x m
dt
d
F
= E
= E
Simple oscillator Example 1
2 2
ml md I
inertia of moment mass I
cg
= + =
=
u u
u
` `
` `
I K
I M
=
= E
0
2
= + u u K ml
` `
2
ml
K

n
=
+
Simple oscillator Example 2
|
.
|

\
|
=
= + =
l
a
m
k

ml md I I
n
cg
2 2
u u
u
` `
` `
2
) ( ml a a k
I M
o o
=
= E
0
2 2
= + u u ka ml
` `
+
(unstable) ,
l
a
As
m
k
,
l
a
When its: lim Note
n
n
0 0
1

= =
Simple oscillator Example 3
|
.
|

\
|
=
=
|
.
|

\
|
+ =
+ =
= =
= =
} }
l
b
m
k

ml m
m
ml
md I I
ml l A
Adx x dm r I
n
cg o
cg
l
3
3 2 12
12 12
2
2
2
2
2
2
3
2 2
2 /
0

u u
u
` `
` `
3
) (
2
ml
b b k
I M
o o
=
= E
0
3
2
2
= + u u kb
ml
` `
+
Simple oscillator Example 4
L ma
GJ
L
JG
K : stiffness Equivalent
T
L
JG
JG
TL
ma
I : table From
n
2
2
2
2
2
=
=
=
|
.
|

\
|
=
=
e
u u
u
u
` `
` `
I T
I M
z
=
= E
0
2
2
= + u u
L
GJ ma
` `
+
Equivalent springs
Springs in series:
same force - flexibilities add
Springs in parallel:
same displacement - stiffnesses add
2 1
k k k
eq
+ =
A = A + =
A + A =
eq
k k k
k k P
) (
2 1
2 1
P f P f f
P
k k
eq
= + =
|
|
.
|

\
|
+ = A + A = A
) (
1 1
2 1
2 1
2 1
2 1
f f f
eq
+ =
Equivalent springs Example 1
0 = + x K x m
eq
` `
0
3 12
3
2
3
1
=
|
|
.
|

\
|
+ + x
L
EI
L
EI
x m` `
Equivalent springs Example 2
) a (
ml
Wl ka

n n
n
e e =

=
2
2
2
u u u
u
` `
` `
2
ml l W a ) a k (
I M
o o
= +
= E
0
2 2
= + ) Wl ka ( ml u u
` `
+
Consider:
ka
2
> Wl e
n
2
is positive - vibration is stable
ka
2
= Wl statics - stays in stable equilibrium
ka
2
< Wl unstable - collapses
Equivalent springs Example 3
0
2
2
= +
=
= E
u u
u u
u
sin mgl ml
ml sin Wl
I M
o o
` `
` `
` `
0 = + u u sin
l
g
` `
l
g

l
g
n
=
= + 0 u u
` `
+
We cannot define e
n

since we have sinu term

If u < < 1, sinu ~ u :
Energy methods
Strain energy U:
energy in spring = work done
Kinetic energy T:
Conservation of energy:
work done = energy stored
A = A = P k U
2
1
2
1
2
T energy kinetic of increment
done work of Increment
=
= = =
=
dT ) r r m d( dt) r ( ) r (m
r d F
,
`
,
`
,
`
,
` `
,
,
2
1
r r m T
,
`
,
` =
2
1
Work-Energy principles
Work done = Change in kinetic energy
Conservation of energy for conservative systems
E = total energy = T + U = constant
1 2
2
1
2
1
T T dT r d F
T
T
r
r
= =
} }
,
,
,
,
Energy methods Example
0
0
= +
=
x x m x kx
) E (
dt
d
` ` ` `
0 = + kx x m` `
2 2
2
2
2
1
2
1
2
1
2
1
x m kx T U E
x m T
kx U
`
`
+ = + =
=
=
Same as vector mechanics
Work-energy principles have many
uses, but one of the most useful is
to derive the equations of motion.
Conservation of energy: E = const.
Two Degree-of-Freedom Systems
1. Model problem
Matrix form of governing equation
Special case: Undamped free vibrations
Examples
2. Transformation of coordinates
Inertially & elastically coupled/uncoupled
General approach: Modal equations
Example
3. Response to harmonic forces
Model equation
Special case: Undamped system
Two-DOF model problem
Matrix form of governing equation:
)
`

=
)
`

+
+
)
`

+
+
)
`

2
1
2
1
2 2
2 2 1
2
1
2 2
2 2 1
2
1
2
1
) ( ) (
0
0
P
P
x
x
k k
k k k
x
x
c c
c c c
x
x
m
m
`
`
` `
` `
where:
[M] = mass matrix; [C] = damping matrix;
[K] = stiffness matrix; {P} = force vector
Note: Matrices have positive diagonals and are symmetric.
Undamped free vibrations
Zero damping matrix [C] and force vector {P}
) cos(
2
1
2
1
| e
)
`

=
)
`

t
A
A
x
x
Assumed general solutions:
Characteristic polynomial (for det[ ]=0):
0
2 1
2 1
2
2
2
1
2 1
4
= +
|
|
.
|

\
|
+
+

m m
k k
m
k
m
k k
e e

(
(

|
|
.
|

\
|
+
+

+
+
= =
2
1
2 1
2 1
2
2
2
1
2 1
2
2
1
2 1
2
2
1
2
1
4
2
1
m m
k k
m
k
m
k k
m
k
m
k k
e
Eigenvalues (characteristic values):
Characteristic equation:
)
`

=
)
`

+
0
0
) (
) (
2
1
2
2 2 2
2
2
1 2 1
A
A
m k k
k m k k
e
e
Undamped free vibrations
Special case when k
1
=k
2
=k and m
1
=m
2
=m
Eigenvalues and frequencies:
period l fundamenta
frequency l fundamenta
= =
= =

T
m
k
.
2
618 0
1
m
k
)
`

=
)
`

=
618 . 2
3819 . 0
2
1
2
1
2
1
e
e

Two mode shapes (relative participation of each mass in the motion):

1
618 . 1 2
2
1
2
=

=
k
m k
A
A e
shape mode 1
st
1
618 . 0
2
1
2

=

=
e m k
k
A
A
shape mode 2
nd
The two eigenvectors are orthogonal:
)
`

=
)
`

618 . 1
1
) 1 (
2
) 1 (
1
A
A
)
`

=
)
`

618 . 0
1
) 2 (
2
) 2 (
1
A
A
Eigenvector (1) =
Eigenvector (2) =
Undamped free vibrations (UFV)
For any set of initial conditions:

We know {A}
(1)
and {A}
(2)
, e
1
and e
2

Must find C
1
, C
2
, |
1
, and |
2
Need 4 I.C.s
{ } ) cos( ) cos(
) (
) (
2 2
) 2 (
2
) 2 (
1
2 1 1
) 1 (
2
) 1 (
1
1
2
1
| e | e +
)
`

+ +
)
`

=
)
`

= t
A
A
C t
A
A
C
t x
t x
x
Single-DOF:
For two-DOF:
) cos( ) ( | e + = t C t x
n
UFV Example 1
{ } ) cos(
618 . 0
0 . 1
) cos(
618 . 1
0 . 1
2 2 1 1
2
1
t C t C
x
x
x e e
)
`

+
)
`

=
)
`

=
Given:
No phase angle since initial velocity is 0:
{ } { } { }
)
`

= =
618 . 1
0 . 1
0 o
o
x x and `
{ }
)
`

+
)
`

=
)
`

=
618 . 0
0 . 1
618 . 1
0 . 1
618 . 1
0 . 1
2 1
C C x
o
o
From the initial displacement:
1
1
2 1
2
; 0 ;
e
t
o
=
= =
T
C C
UFV Example 2
{ } ) cos(
618 . 0
1
) 171 . 0 ( ) cos(
618 . 1
1
) 171 . 1 (
2 1
t t x e o e o
)
`

+
)
`

=
Now both modes are involved:
Solve for C
1
and C
2
:
{ } { } { }
)
`

= =
2
1
0 o
o
x x and `
{ }
)
`

=
)
`

+
)
`

=
)
`

=
2
1
2 1
618 . 0 618 . 1
1 1
618 . 0
1
618 . 1
1
2
1
C
C
C C x
o
o
From the given initial displacement:
)
`

=
)
`

=
)
`

171 . 0
171 . 1
2
1
1 618 . 1
1 618 . 0
618 . 1 618 . 0
1
2
1
o
C
C
Hence,
or
Note: More contribution from mode 1
) cos( ) 618 . 0 ( 171 . 0 ) cos( ) 618 . 1 ( 171 . 1 ) (
) cos( ) 1 ( 171 . 0 ) cos( ) 1 ( 171 . 1 ) (
2 1 2
2 1 1
t t t x
t t t x
e o e o
e o e o
=
=
Transformation of coordinates
Introduce a new pair of coordinates that represents spring stretch:
)
`

=
)
`

+
+
)
`

0
0 ) (
0
0
2
1
2 2
2 2 1
2
1
2
1
x
x
k k
k k k
x
x
m
m
` `
` `
UFV model problem:
inertially uncoupled
elastically coupled
z
1
(t) = x
1
(t) = stretch of spring 1
z
2
(t) = x
2
(t) - x
1
(t) = stretch of spring 2
or x
1
(t) = z
1
(t) x
2
(t) = z
1
(t) + z
2
(t)
Substituting maintains symmetry:
)
`

=
)
`

+
)
`

+
0
0
0
0 ) (
2
1
2
1
2
1
2 2
2 2 1
z
z
k
k
z
z
m m
m m m
` `
` `
inertially coupled elastically uncoupled
Transformation of coordinates
We have found that we can select coordinates so that:
1) Inertially coupled, elastically uncoupled, or
2) Inertially uncoupled, elastically coupled.
Big question: Can we select coordinates so that both are uncoupled?
Notes in natural coordinates:
The eigenvectors are orthogonal w.r.t [M]:


The modal vectors are orthogonal w.r.t [K]:


Algebraic eigenvalue problem:

{ } { }
)
`

=
)
`

=
)
`

=
)
`

=
618 . 0
1
618 . 1
1
: vectors) (modal rs Eigenvecto
) 2 (
2
) 2 (
1
2
) 1 (
2
) 1 (
1
1
A
A
u
A
A
u
{ } | |{ }
{ } | |{ } 0
0
1 2
2 1
=
=
u M u
u M u
T
T
{ } | |{ }
{ } | |{ } 0
0
1 2
2 1
=
=
u K u
u K u
T
T
| |{ } | |{ } | |{ } | |{ }
2 2 2 1 1 1
u M u K u M u K = =
Transformation of coordinates
Governing equation:
Modal equations:
Solve for these using initial conditions then substitute into (**).
| |{ } | |{ } 0 = + x K x M ` `
{ } { } { }
) ( ) (
) (
) (
) ( ) (
2
22
12
1
21
11
2
1
2 2 1 1
t q
u
u
t q
u
u
t x
t x
t q u t q u x
)
`

+
)
`

=
)
`

+ = (**)
General approach for solution
We were calling A - Change to u to match Meirovitch
{ }
{ }
)

= +
= +
0 ) ( ) ( (*)
0 ) ( ) ( (*)
2
2
2 2 2
1
2
1 1 1
t q t q u
t q t q u
T
T
e
e
` `
` `
| | { } { } ( ) | | { } { } ( ) 0 ) ( ) ( ) ( ) (
2 2 1 1 2 2 1 1
= + + + t q u t q u K t q u t q u M ` ` ` ` (*)
Substitution:
Let
or
Known solutions
Transformation - Example
{ } ) cos( ) 171 . 0 (
618 . 0
1
) cos( 171 . 1
618 . 1
1
2 1
t t x e o e o
)
`

+
)
`

=
2) Transformation:
)
`

=
)
`

=
)
`

=
)
`

=
618 . 0
1
; 618 . 1
618 . 1
1
; 618 . 0
22
12
2
21
11
1
u
u
u
u
e e and
1) Solve eigenvalue problem:

=
=
)
`

=
)
`

)
`

+
)
`

=
)
`

) cos( ) 0 ( ) (
) cos( ) 0 ( ) (
171 . 0
171 . 1
) 0 (
) 0 (
) 0 (
618 . 0
1
) 0 (
618 . 1
1
2
1
2 2 2
1 1 1
2
1
2 1
t q t q
t q t q
q
q
q q
e
e
o
o
and
So
As we had before.
More general procedure: Modal analysis do a bit later.
Model problem with:
{ } { }
)
`

=
)
`

=
0
0
2
1
o o
x x ` and o
{ } { } { }

= +
= +
+ =
0 ) ( ) (
0 ) ( ) (
) ( ) (
2
2
2 2
1
2
1 1
2 2 1 1
t q t q
t q t q
t q u t q u x
e
e
` `
` `
and
Response to harmonic forces
Model equation:
[M], [C], and [K] are full but symmetric.
| |{ } | |{ } | |{ } { }
t i
e
F
F
t F x K x C x M
e
)
`

= = + +
2
1
) ( ` ` `
{F}
not function of time
Assume:
{ } { }
t i
e
i X
i X
i X x
e
e
e
e
)
`

= =
) (
) (
) (
2
1
Substituting gives:
| | | | | | ( ){ } { } F i X K C i M = + + ) (
2
e e e
| | matrix impedance 2x2 = ) ( e i Z
| | | | { } | | { } F i Z i X i Z i Z
1 1
) ( ) ( ) ( ) (

= e e e e
{ }
)
`

=
)
`

=
2
1
11 12
12 22
2
12 22 11 2
1
1
F
F
z z
z z
z z z X
X
X
_

Hence:
( ) 2 1
2
, j i, k c i m z
ij ij ij ij
= + + =
: ) (i of function are z All
ij
e
Special case: Undamped system
Zero damping matrix [C]
Entries of impedance matrix [Z]:
For our model problem (k
1
=k
2
=k and m
1
=m
2
=m), let F
2
=0:
2
12
2
2 22
2
1 11
2
2
1 11 1 12
2
2
12
2
2 22
2
1 11
2 12 1
2
2 22
1
) )( (
) (
;
) )( (
) (
k m k m k
F m k F k
X
k m k m k
F k F m k
X

+
=


=
e e
e
e e
e
Notes:
1) Denominator originally (-)(-) = (+).
As it passes through e
1
, changes sign.
2) The plots give both amplitude
and phase angle (either 0
o
or 180
o
)
Substituting for X
1
and X
2
:
12 12
2
2 22 22
2
1 11 11
) ( ; ) ( ; ) ( k z m k z m k z = = = e e e e e
) ( ) (
;
) ( ) (
) (
2
2
2 2
1
2 2
1
2
2
2
2 2
1
2 2
1
2
1
e e e e e e e e
e

=

=
m
F k
X
m
F m k
X
Multi-DOF Systems
1. Model Equation
Notes on matrices
Undamped free vibration: the eigenvalue problem
Normalization of modal matrix [U]
2. General solution procedure
Initial conditions
Applied harmonic force
Multi-DOF model equation
Model equation:
Notes on matrices:
They are square and symmetric.



[M] is positive definite (since T is always positive)
[K] is positive semi-definite:
all positive eigenvalues, except for some potentially 0-eigenvalues which
occur during a rigid-body motion.
If restrained/tied down positive-definite. All positive.

| |{ } | |{ } | |{ } { } Q = + + x K x C x M ` ` `
1) Vector mechanics (Newton or D Alembert)
2) Hamilton's principles
3) Lagrange's equations
We derive using:
Multi-DOF systems are so similar to two-DOF.
{ } | |{ }
{ } | |{ } x K x U
x M x T
T
T
2
1
2
1
=
=
: spring in energy Strain
: energy Kinetic ` `
UFV: the eigenvalue problem
Matrix eigenvalue problem
Equation of motion:
{ } { }
t i t i
e A e A t f t f u q
e e
+ = =
2 1
) ( ) (
| |{ } | |{ } { } 0 = + q K q M
` `
Substitution of

in terms of the generalized D.O.F. q
i


leads to

| |{ } | |{ } u M u K
2
e =
For more than 2x2, we usually solve using computational techniques.

Total motion for any problem is a linear combination of the natural
modes contained in {u} (i.e. the eigenvectors).
Normalization of modal matrix [U]
Do this a row at a time to form [U].
This is a common technique
for us to use after we have solved
the eigenvalue problem.
We know that:

| |{ } { } | |{ }
ij j
T
i j i
C u M u u M u o = =
{ }

=
1
k
u

=
=
=
=
j i
j i

ij
if
if
delta Kronecker
: where
0
1
So far, we pick our
eigenvectors to look like:
Instead, let us try to pick
so that:
{ } { }

= =
1
o o
k new k
u u
{ } | |{ } { } | |{ } 1
2
= =
k
T
k new k
T
new k
u M u u M u o
Then:
| | | || | | | I U M U
T
= | | | || | | | O = U K U
T
and
| |
(
(
(
(
(

= O
2
2
2
2
1
. . 0
. . . .
. . 0
0 . 0
n
e
e
e
: where
Let the 1
st

entry be 1
General solution procedure
For all 3 problems:

1. Form [K]{u} = e
2
[M]{u} (nxn system)
Solve for all e
2
and {u} [U].
2. Normalize the eigenvectors w.r.t. mass matrix (optional).
Consider the cases of:

1. Initial excitation
2. Harmonic applied force
3. Arbitrary applied force
{ } { }
o o
q q and `
Initial conditions
2n constants that we need to determine by 2n conditions
General solution for any D.O.F.:
Alternative: modal analysis
{ } { } { } { } ) cos( ) cos( ) cos( ) (
2 2 2 2 1 1 1 1 n n n n
t C u t C u t C u t q | e | e | e + + + =
Displacement vectors:
{ } { }
i o i o
q q ` and on
{ } | |{ }
{ } { } { } { } ) ( ) ( ) ( ) (
2 2 1 1
t u t u t u t q
U q
n n
q q q
q
+ + + =
=

UFV model equation: | |{ } | |{ } { }

| | | || |{ } | | | || |{ } { }
{ } | |{ } { } 0
0
0
= O +
= +
= +
q q` `
` `
` `
U K U U M U
q K q M
T T
n modal equations:

= +
= +
= +
0
0
0
2
2
2
2 2
1
2
1 1
n n n
q e q
q e q
q e q
` `
.
` `
` `
Need initial conditions on q,
not q.
Initial conditions - Modal analysis
Using displacement vectors: { } | |{ }
| | | | { } | | | || |{ } U M U q M U
U q
T T
=
= q
As a result, initial conditions:
Since the solution of
{ } | | | | { }
{ } | | | | { }

=
=
o
T
o
o
T
o
q M U
q M U
` `
) sin(
) (
) cos( ) ( ) (
) sin(
) (
) cos( ) ( ) (
1
1
1
1 1 1
t t t
t t t
n
n
n o
n n o n
o
o
e
e
q
e q q
e
e
q
e q q
`
.
`
+ =
+ =
And then solve
hence we can easily solve for
{ } | | | | { } q M U
T
= or
0
2
= + q e q` ` is:
) sin( ) cos( ) (
) cos(
t t t
t C
o
o
e
e
q
e q q
| e
`
+ =
or
{ } | |{ } U q =
Applied harmonic force
Driving force {Q} = {Q
o
}cos(et)
Equation of motion:
{ } | |{ }
| |
{ } unknown
known U
U q =
| |{ } | |{ } { } Q = + q K q M ` `
Substitution of
leads to

| | | || |{ } | | | || |{ } | | { } { } N t Q U U K U U M U
o
T T T
= = + ) cos(e ` `
{ } { }
requency driving f
t Q Q
o
=
= ) cos(e
and
Hence,

{ } { }
{ } { }
.
) cos(
) cos(
2 2
2
2
2
2 2
1
1
1
etc
t
Q u
t
Q u
o
T
o
T
e
e e
q
e
e e
q

=
then

{ } | |{ } U q =
Continuous Systems
1. The axial bar
Displacement field
Energy approach
Equation of motion
2. Examples
General solution - Free vibration
Initial conditions
Applied force
Motion of the base
3. Ritz method Free vibration
Approximate solution
One-term Ritz approximation
Two-term Ritz approximation
The axial bar
Main objectives:
1. Use Hamiltons Principle to derive the equations of motion.
2. Use HP to construct variational methods of solution.
A = cross-sectional area = uniform
E = modulus of elasticity (MOE)
u = axial displacement
= mass per volume
Displacement field: u(x, y, z) = u(x, t)
v(x, y, z) = 0
w(x, y, z) = 0
Energy approach
( )
( ) ( )
} } }
} }
+
)
`

c
c

|
.
|

\
|
c
c
c
c
+
c
c
=
)
`

c
c
|
.
|

\
|
c
c
=
L
t
t
t
t
L
L
t
t
L
dx u u A dt u
x
u
E A dx u
x
u
E A
x
u u dx A
t
dt dx u
x x
u
E A u u dx A
0 0
0
0
2
1
2
1
2
1
0
0
o o o o
o o
` `
` `
2
2
1
2
1
2
1
2
1
u m
x
u
x
u
E ) (E
x x
` = =
= = =
c
c
|
.
|

\
|
c
c
= = = =
energy kinetic T
U energy strain energy potential V
density energy strain U
o
For the axial bar:
Hamiltons principle:
( ) dt u
x
u
E A dx u
x
u
E A
x
u A
t
t
t
L
L
} }
)
`

c
c

|
.
|

\
|
c
c
c
c
+
c
c
=
2
1
0
0
0 o o `
}
=
2
1
) ( 0
t
t
dt V T o o
2
2
1
u (Adx) ` =
}
=
V
o
dV U
2
2
|
.
|

\
|
c
c
=
x
u E
Axial bar - Equation of motion
2
2
2
2
2
x
u
t
u
c
c
=
c
c
o
Hamiltons principle leads to:
If area A = constant
( ) 0 =
|
.
|

\
|
c
c
c
c
+
c
c

x
u
E A
x
u A
t
`
Since x and t are independent, must have both sides equal to a constant.
Separation of variables: ) ( ) ( ) , ( t T x X t x u =
) sin( ) cos(
0
2
t p B t p A T
T p T
+ =
= +
` `
( )
( ) ( ) o o
o
x p D x p C X
X p X
sin cos
0
2
+ =
= + ' '
Hence
| | ( ) ( ) | |

=
+ + =
1
sin cos ) sin( ) cos( ) , (
i
i i i i i i i i
x p D x p C t p B t p A t x u o o
(

=
3
2
2
L
M
L
F
E

o : where
( ) ( )
2
2 2 2 2
2
contant p -
T
dt T d
X
dx X d
= = = o
Fixed-free bar General solution
0 cos 0 =
|
.
|

\
|
=
o
L p
D
i
i
or solution) (trivial Either
= wave speed

o
E
=
For any time dependent problem:

=
(

|
.
|

\
|
+
|
.
|

\
|
|
.
|

\
|
=
. , 5 , 3 , 1
2
sin
2
cos
2
sin ) , (
i
i i
L
t i
B
L
t i
A
L
x i
t x u
o t o t t
Free vibration:
| | ( ) ( ) | |

=
+ + =
1
sin cos ) sin( ) cos( ) , (
i
i i i i i i i i
x p D x p C t p B t p A t x u o o
EBC:
NBC:
0 ) 0 ( = u
0 0 =
c
c
=
c
c
= = L x L x
x
u
x
u
E A
General solution:
EBC
| |

=
= + =
1
0 ) sin( ) cos( ) , 0 (
i
i i i i i
t p B t p A C t u
( ) | |

=
=
= + =
c
c
1
0 ) sin( ) cos( cos
i
i i i i i
i i
L x
t p B t p A L p
p D
x
u
o
o
0 =
i
C

2
5
2
3
2
t t t
o
or or =
L p
i
) , 5 , 3 , 1 (
2
. = = i
L
i
p
i
o t
NBC
Fixed-free bar Free vibration

t
e
E
L
i
n
2
=
are the eigenfunctions
|
.
|

\
|
L
x i
2
sin
t
For free vibration:
General solution:
Hence
) cos( ) ( ) , ( t x A t x u
n
e =
are the frequencies (eigenvalues)
2
2
2
2
2
x
u
t
u
c
c
=
c
c
o
) , 5 , 3 , 1 ( . = i
Fixed-free bar Initial conditions
or

|
.
|

\
|
|
.
|

\
|

=
. , 3 , 1
2
2
) 1 (
2
2
cos
2
sin
1
) 1 (
) ( 8
) , (
i
i
o
L
t i
L
x i
i
L L
t x u
o t t
t
Give entire bar an initial stretch.
Release and compute u(x, t).
0 ) 0 , (
0
=
c
c
|
.
|

\
|

=
= t
o
t
u
x
L
L L
x u and
Initial conditions:
Initial velocity:
Initial displacement:
=
|
.
|

\
|
=
c
c

=
=
0
2
sin
2
, 3 , 1
0
. i
i t
L
x i
B
L
i
t
u t o t
0 =
i
B
2 2
sin
2
sin
2
sin
2
sin
, 3 , 1
0 0
, 3 , 1
L
A dx
L
x i
L
x i
A dx
L
x i
x
L
L L
L
x i
A x
L
L L
i
i
L
i
L
o
i
i
o
=
|
.
|

\
|
|
.
|

\
|
=
|
.
|

\
|
|
.
|

\
|

|
.
|

\
|
=
|
.
|

\
|

} }

=
.
.
t t t
t
) , 3 , 1 ( ) 1 (
) ( 8
2
sin
) ( 2
2
) 1 (
2 2
0
2
. =

=
|
.
|

\
|

=

}
i
i
L L
dx
L
x i
x
L
L L
A
i
o
L
o
i
t
t
Hence
Fixed-free bar Applied force
or
( ) t
x L
E A
F
t x u
o
e
o
e
o
e
e
o
sin sin sec ) , (
|
.
|

\
|
|
.
|

\
|
=
Now, B.Cs:

=
c
c
=
=
) sin(
0 ) , 0 (
t F
x
u
E A
t u
o L x
e
From
B.C. at x = 0:
B.C. at x = L:
= 0 ) , 0 ( t u 0
1
= A
|
.
|

\
|
=
o
e
e
o L
E A
F
A
o
sec
2
Hence
2
2
2
2
2
x
u
t
u
c
c
=
c
c
o
) sin( ) ( ) , ( t x X t x u
n
e =
we assume:
Substituting:
( ) t
x
A
x
A t x u e
o
e
o
e
sin sin cos ) , (
2 1 (

|
.
|

\
|
+
|
.
|

\
|
=
) sin( ) sin( cos
2
t F t
L
L
A E A
x
u
E A
o L x
e e
e
o
e
=
|
.
|

\
|
=
c
c
=
Fixed-free bar Motion of the base
= = ) sin( ) sin( ) , 0 (
1
t U t A t u
o
e e
2
2
2
2
2
x
u
t
u
c
c
=
c
c
o
Using our approach from before:
Resonance at:
( ) t
x L x
U t x u
o
e
o
e
o
e
o
e
sin sin tan cos ) , (
(

|
.
|

\
|
|
.
|

\
|
+
|
.
|

\
|
=
o
U A =
1
|
.
|

\
|
=
o
eL
U A
o
tan
2
Hence
( ) t
x
A
x
A t x u e
o
e
o
e
sin sin cos ) , (
2 1
(

|
.
|

\
|
+
|
.
|

\
|
=
( ) =
(

|
.
|

\
|
+
|
.
|

\
|
=
c
c
=
0 sin cos sin
2
t
L
A
L U
x
u
o
L x
e
o
e
o
e
o
e
o
e
0 =
c
c
= L x
x
u
E A
From
B.C. at x = 0:
B.C. at x = L:
or . ,
2
3
,
2
t t
o
e
=
L
. ,
2
3
,
2
etc
L L
t o t o
e =
Ritz method Free vibration
Start with Hamiltons principle after I.B.P. in time:
Seek an approximate solution to u(x, t):
In time: harmonic function cos(et) (e = e
n
)
In space: X(x) = a
1
|
1
(x)
where: a
1
= constant to be determined
|
1
(x) = known function of position
( ) ( ) dt dx u
x x
u
E A u u A
t
t
t
L
} }
)
`

c
c
|
.
|

\
|
c
c

c
c
=
2
1
0
0 o o `
|
1
(x) must satisfy the following:
1. Satisfy the homogeneous form of the EBC.
u(0) = 0 in this case.
2. Be sufficiently differentiable as required by HP.
One-term Ritz approximation 1
Ritz estimate is higher than the exact
Only get one frequency
If we pick a different basis/trial/approximation function |
1
,
we would get a different result.
) cos( ) cos( ) (
) cos( ) cos( ) ( ) , ( ) (
1
1 1 1 1
t x t x u
t x a t x a t x u x x
e e | o
e e | |
= =
= = =
: e approximat Also
: Pick
| | dt t dx E A x x A a
t
t
L
) ( cos ) 1 )( 1 ( ) )( ( 0
2
0
2
1
2
1
e e
} }
)
`

= Substituting:
2
2 2
2
3
2
3 3
3
o

e e
L
E
L
L E A
L A
=
|
|
.
|

\
|
= =
L L
RITZ
o
o e 732 . 1
3
= =
L L
EXACT
o
o
t
e 571 . 1
2
= =
1
0
1
0
2 2
a dx E A a dx x A
L L
(

=
(

} }
e
Hence
| |{ } | |{ } ( ) a K a M =
2
e : form matrix in
|
|
.
|

\
|
=
L
x
EXACT
2
sin
1
t
|
x
RITZ
=
1
|
One-term Ritz approximation 2
Both mode shape and natural frequency are exact.
But all other functions we pick will never give us a
frequency lower than the exact.
|
|
.
|

\
|
=
L
x
x
2
sin ) (
1
t
| : pick we if What
( ) ( )
dt t dx
L
x
L
E A
L
x
A a
dt dx u
x x
u
E A u u A
t
t
t
L
t
t
L
) ( cos
2
cos
2 2
sin 0
0
2
0
2
2
2 2
1
0
2
1
2
1
e
t t t
e
o o
} }
} }

(
(

|
|
.
|

\
|
|
|
.
|

\
|

|
|
.
|

\
|
=
)
`

c
c
|
.
|

\
|
c
c

c
c
= `
Substituting:
EXACT RITZ
L
E
L
e o
t

t
e = = =
2 2
Hence
( )
( ) ) cos( 2 sin ) cos( ) (
) cos( 2 sin ) cos( ) ( ) , (
1
1 1 1
t L x t x u
t L x a t x a t x u
e t e | o
e t e |
= =
= =
: e approximat Also
|
|
.
|

\
|
=
L
x
L dx
d
2
cos
2
1
t t |
Two-term Ritz approximation
2
2 1
) ( x a x a x X + = : Let
| | dt dx x a a E A x x a x a A
t
t
L
} }
)
`

+ + =
2
1
0
2 1
2
2 1
2
) 1 ( ) 2 ( ) ( 0 e
where:
:
1
x u = =| o e approximat If
x a a
dx
dX
2 1
2 + =
:
2
x u = o e approximat If | | dt dx x x a a E A x x a x a A
t
t
L
} }
)
`

+ + =
2
1
0
2 1
2 2
2 1
2
) 2 ( ) 2 ( ) ( 0 e
)
`

=
)
`

2
1
22 21
12 11
2
1
22 21
12 11 2
a
a
K K
K K
E
a
a
M M
M M

= =
= = =
= =
}
}
}
5
) )( (
4
) )( (
3
) )( (
5
0
2 2
22
4
0
2
21 12
3
0
11
L
dx x x M
L
dx x x M M
L
dx x x M
L
L
L
In matrix form:

= =
= = =
= =
}
}
}
3
4
) 2 )( 2 (
) 1 )( 2 (
) 1 )( 1 (
3
0
22
2
0
21 12
0
11
L
dx x x K
L dx x K K
L dx K
L
L
L
Two-term Ritz approximation (cont.)

o e
E
= =
2 2
and
= = + L a a L a L 4526 . 0 0 ) 3785 . 0 1713 . 0 (
2 2 1
2
o
)
`

=
)
`

0
0
) 5 3 4 ( ) 4 (
) 4 ( ) 3 (
2
1
5 3 2 4 2 2
4 2 2 3 2
a
a
L L L L
L L L L
o o
o o
leads to
Solving characteristic polynomial (for det[ ]=0) yields 2 frequencies:
L L
RITZ RITZ
o e o e 67 . 5 ) ( 5767 . 1 ) (
2 1
= = and
Substitution of:
L L
EXACT EXACT
o e o e 7123 . 4 ) ( 5708 . 1 ) (
2 1
= = and
Mode 1:
Let a
1
= 1:
L x x x X
2
1
4526 . 0 ) ( =
: 1 shape Mode
= = L a a L a L 38 . 1 0 ) 10 . 5 043 . 7 (
2 2 1
2 2
o
Mode 2:
L x x x X
2
2
38 . 1 ) ( =
: 2 shape Mode