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APPLICATION OF
INTEGRAL TRANSFORMS
IN THE THEORY OF ELASTICITY
EDITED BY
I.N. SNEDDON
UNIVERSITY OF GLASGOW
SPRINGER - VERLAG
W%CM
WITOLD NOWACKI
Professor of Meohaniaa
in The University of Warsaw
1.
Introduction
In this course of lectures we shall deal with the theory of two-
In Chapter I we
beams.
The differential equation of deflection of a string or a membrane
and on the other hand of a beam or a plate, have been derived on a common
basis, namely the principle of virtual work implying the Hamilton principle.
Moreover, we present a unified procedure for solving the differential equations describing transverse vibrations of strings, membranes
and beams and plates.
350
W. Nowacki
We
we first apply the exponential Fourier transform and then a finite sine
transform.
The general
Finally we demonstrate
2.
We assume that
These sources
produce in the body a displacement field u(x,t) and the associated with
this field state of strain e.. and stress a...
to
%3
351
td = 1.2,3.
(2.1)
The quantities y,X are material constants called the Lame1 constants.
The above equations are completed by the equations of motion which are
derived from the fundamental principles of mechanics, namely the principle of conservation of linear and angular momenta.
"Jtj
+X
i = Pai*
ji = ai3*
5e V*
t>0
'
(2 3)
"
i the acceleration.
two parts, A - A
on A
tractions.
+A .
On A
u.(x,t) = w.(x,t),
t t -
x e A , t > 0,
u
(2
^}
(2.5)
They express the fact that at the initial instant t = 0 the distribution
of the displacement field /.(x) and its velocity gAx) are prescribed.
The principle of virtual work and Hamilton's principle are of a
fundamental importance in deriving the differential equations for the
vibrations of strings, beams, membranes, plates and shells.
352
W. Nowacki
j(X.-P.)SuAV J p.tuM
V
- \oi;.Sc.AV.
Ao
(2.6)
hd7 = *Jv<n (
(2.7)
V
V
V
we write Equation (2.6) in the form
(2.8)
p > 0.
(2.9)
353
far.6u.dK + I p.6u.dA = V .
V
Aa
(2.9')
6ui(x,t2) = 0.
(2.10)
f*2
*2
fil/fdt =
f f
*2
6^dt - p dtii.6u.dV
t*1
(2.11)
where
6& = pr.6u.dV + I p.6u.d/l.
V
\
The variation of the kinetic energy is given by the formula
6X = fpfi.6fi.dV = fp|r(fi.6u.)dV - fpu.6u.dV
j u t *
Of
T*
since
ju.u.dV.
V
Integrating 6K. from tj to t2, and bearing in mind the assumption (2.10)
we obtain
354
W. Nowacki
(2.12)
J J**
ti
ti
*2
6 I CWE-JC)dt = J 6Adt.
(2.13)
*l
*1
If the external forces are conservative they possess a potential and in
this case
6f CW-K-C)dt = 0
(2.It)
61 (v-K)dt = 0
(2.15)
*1
It states therefore that the integral (2.15) takes an extremum value.
3.
A and B.
length by 1.
355
= -r and
/I
q(x,t)
* S
Fig. 3.1
I
qSwdx = 60iA, A = Idyda.
(3.1)
356
W. Nowacki
is the following:
I
(da-dx) = S(V-l).
(3.2)
We have denoted by da the length of the element da; after the deformation.
Summing the above deformations we obtain the quantity "1/f - S(l'~l).
The absence of the coefficient J in the right-hand side of Equation
(3.2) is due to the fact that at the instant of application of the
loading the tension S already had its final value.
Strictly speaking
I
{[1 + (ff )2]*" Dtef
(3-3)
3W 2 li
1 + (-r) J in series we arrive at the
formula
I
(f)2dx
(a.4)
0
Since Or) 2 1 we have retained only the first two terms in the expansion
of the function
1 + (-) j*.
deformation
0
we represent Equation (3.1) in the form
I
(5^
. pA
+ qHwda:
=s[|>ll.
(3.5)
i
3iC2
8*2
LZX J
0
If the string is clamped at its ends x - 0 and x = I we have
v(O,t) = 0,
w{ltt) = 0.
(3.6)
357
- q(.x,t) - 0,
2
3a;
3*
0 < x < I,
(3.7)
o
t > 0,
/pA,
a - pA.
(3.8)
By a membrane
loading q(xitx2,t).
W. Nowacki
358
Equation ( 2 . 8 ) :
-IJ
-IjTzpuSwdd +
A
Ufod/l = 6TV^.
(3.9)
element the work of deformation is the product of the tension S and the
increment of the surface, we have for the whole membrane
= S(.A ->!),
Fig. 3.2
(3.10)
359
Thus,
-II
A
Expanding the integrand of (3.11) in series and confining ourselves
to small deflections we obtain
A
Let us now determine the variation of the work of deformation.
5V
= S\\w
&W d4,
o = 1,2.
We have
(3.13)
A
The integral appearing in the right-hand side of the expression (3.13)
can be transformed as follows:
(3.It)
6 V
= S f|^5ud8 - S\\w
Jan
a
6WCL4,
JJ ,aa
A
(3.15)
360
W. Nowacki
(Su
-ahi+q)SwM - \5wdB = 0,
,aa
J an
(3.16)
If on the
There
(3.17')
or
e2v2u-u = -q/a,
a2 = S/a.
(3.17")
e e a, t > 0,
(3.18)
(a)
(3.19)
361
if.
(3.20)
o
= Ec .
XX
XX*
(3.21)
XX
where w is the deflection of the rod, and integrating over the length
and cross-section of the rod, we obtain
I
2
Fig.
3.3
(3.22)
362
W. Nowacki
I
2
(3.23)
I
6 =
(?6wdar.
(3.24)
0
Hamilton's principle has the form
(3.25)
6| (^_^)^dx = 2
J
3x 2
3x 2 3a;2
0
0
Taking into account the identity
ix2
3a;2
Sxk
dx 3a:2 3a; 3x 3
we obtain
J
o
I
(
; da; - 2
J 3a;2
owax t 2 -
J 3x 4
6W I .
(3. 26)
U x 2 3a; 3a;3 i
Integrating by parts
t\
(3.27)
353
If
M - -El- = 0
3x 2
and also 6u = 0.
M =
-ETLSL
=0,
T = -BjL2. = 0.
3a;2
3x3
Taking into account the above boundary conditions, we have from (3.28)
fdt[(H^1
i i
ti 0
Sx *
-o)6wda; = 0.
3t 2
Since this relation has to be satisfied for every value of &W and
t{t\<t<ti) t we obtain the differential equation of transverse vibration
of a rod
EIUL
1
3a: *
2 8 ^ +A
c-2i^E
JOS. .
3t2
:; =_ (? / n >
= 0,
C2
(3.29-)
. t
(3.29")
pAt
t - 0.
(3.30)
364
(d)
W. Nowacki
a)
- -x3w
(3.31)
a3=
J(
"a,S
+W
e,a)=-X3U,a0
(3
'32)
ae =
2ff(
a6 + l ^ V * f c ) '
^=e11^22,
O.33)
we obtain
2Cte3
a
(3 3
'
a6
j aaBXldX3>
-h/z
'B
= 1|2i
(3.35)
+ 6 w
].
(3.36)
365
where
N=
Eh3
12(l-v 2 )
Neglecting
the shearing stresses a 1 3 , 023 and the normal stress 033 we obtain the
expression
KeW11''
.B=l,2,
(3.37<)
A([(1+v)oa80aB-^am>V'
(3 37M)
'
V
where the integration is performed over the entire volume of the plate.
Replacing the stresses by the displacement w (Equation (3.3H)) and
performing the integration with respect to 3:3 (dV = dAdx$)t we obtain
([[(l-v^^v^)^.
(3.38)
A
The differential equation of the transverse vibrations of the plate can
be derived from Hamilton's principle
*2
*2
S| CW-K)dt = I 6kd*.
(3.39)
(3.40)
A
and the variation of the work done by external forces has the form
366
W. Nowacki
SC= Uq&wdA.
(3.41)
A
Here q denotes the load acting on the plate.
Let us perform the variation of 5V:
= y\?[[v2uV2(6w)ci4
5V =
+ /V(l-v) 2 - 6(
)
o( )
S( ) \aA.
'H 3xi3a;2 3xi3a;2 3 ^ 3a;2. 3x| 3a;2
(3.42)
JJ
UJ
3n
3n
V" = -N(l-v)
J J 3?1
da
-2
(3.44)
-4
where
36w a 2 ^
36w 32W
36u S 2 ^
36u 3 2 u
3ar, 3a;2
3a;2 S^jSiCj
3a;2 3#2
3a;j 3xj3x 2
Let us transform the q u a n t i t i e s -s , -5 appearing i n Equations (9.4-5)
36w
36w
36u . o.
36u
= c o s ^ - _-sin#,
36u .
SSw
= --emr? t - ^ c o s ^ .
(3.46)
367
p>V.
6-V" = --
da
3n
(3.47)
( i ^ . ^ ) c o s ^ s i n 2 5 !+
32U
(sin2#-cos2*2)> ds.
3x2
(3.48)
3s
0
Since 6u vanishes on the boundary of the plate only the second term of
the right side of Equation (3.48) remains.
The variation of the kinetic energy has the form
2
I JCdt = -a
Fig. 3.4
(3.49)
368
W. Nowacki
Thus, all the expressions occurring in Equation (3.39) are now known.
Hamilton's principle thus takes the form
I dt j j I [N^W+aw-q] SwdA
t,
(3.50)
3n
.,(TaV2U
- N\ 3n
L
,_ ,3 ,32w
(1-v)
3s (3a;2
^
32!<K
o . Q 32w i ia
2*\ L J A
1
2 )cos^sin* H
(sm^v-cos^-tr)
\6wds =0
3x
oxiax2
^2
(*
Q2
Q*. Q _
We shall now prove that the integral over C the boundary of the plate
vanishes for homogeneous boundary conditions.
contour of the plate C.
M
as follows:
M
= I
nn
M
- ^(M2z-Mn)sin2^
tWi2cos2^.
(3.51)
YIS
3w '
In view of (3.51), (3.52), (3.54) we represent Equation (3.50) in the form
369
hand side of Equation (3.55) vanishes, since all the boundary conditions
are satisfied.
then M
then W = 0,
oYl
an
The quantity V (u) is the sum of the transverse forces acting on the
boundary (the so-called Kelvin-Tait boundary condition).
Equation (3.55) takes the form
dt\\(NVHW+aw-q)6wdA = 0.
ti
(3.56)
(xitx2) e A, t > 0,
(3.57)
where
a2 - N/a,
a = ph.
= f(xltx2),
370
4.
W. Nowacki
x
2 2
c V w -w =
-a2LE
a2 = S/Q,
w z - lq(x,t),
0=
Ap,
a = ph,
a2 = EI/a, a = Ap,
- w = - q(x,t),
a = ph.
(U.I)
(4.2)
(H.3)
(4.4)
(4.5)
(4.6)
x & A, t > 0,
(4.7)
371
G(x,x',0) = 0,
x eA, t = 0.
(4.8)
(4.9)
(4.10)
We have made use here of the initial conditions (4.6) and (4.8) and we
have introduced the notations
00
00
Then we obtain
f[(p/(x)+9'(x))G(x,x',p)d4(x) + i.jj6(x-x')w(xip)dA(x).
A
f[(x-x')/(x)dA(x) = /(x 1 ),
A
we arrive at the following formula for the transform of the deflection:
372
W. Nowacki
W(x',p) =
A
Thus, after
Jr]G(xt,x,t)d4(xt).
C4.12)
A
For a one-dimensional problem we obtain from (t.12) the formula
t
w(x,t) =
dt q(x',t-T)G(x',x,T)dx'
0
I
+ of fg(x')+f(.x') ~\G(x',X,t)dxf.
(4.13)
g are known.
The
373
I
II =
\G(x,x\p)S5(w(x,p))-iJ(x,p))(G(.x,x' tp))]dx
(4.14)
o
in case of the one-dimensional problem, and the expression
I 2 = jj[G(x,KI,p)^(u(x,p))-w(x,p)^)(G(x,x',p))]d4(x),
A
vanish for the assumed homogeneous boundary conditions.
case of transverse vibrations of a string 35(w) = e
(4.15)
Thus, in the
.
3*2
I
dx 2
dx 2
I dx
Hence I = 0.
a -a2-
after integration
1
-I
( (O^U _ J^l)da. = 02|^.t3l..+S!!yl_E.My| ,
da1*
dxh
(4.17)
0
The expression in parenthesis vanishes for all types of the boundary
conditions.
Here
2 2
= o V U and therefore
i^)ds = 0
671
(4.18)
374
W. Nowacki
In this
(wvNj - GVhw)dA.
(4.19)
A
Transforming the above surface integral into a curvilinear integral over
the boundary a of the plate we arrive at the expression
;2
?)u d
V+(G)w\<
|
{V>i
V
^
V
l
?
V
]<
a
n
(w) = 0 and ? = 0, M
= 0 and G - 0,
= 0.
(?) = 0.
If it is clamped, we have W - 0,
(4.12) or (4.13).
5,
375
)G(x,x'tt) = - h{x-x')6(t)
3t 2
G(x,x',t)
(5.1)
(5.2)
(5.3)
'
- -
(5.4)
(5.5)
n=l
I
G*(.n,x',p) =
a = ^y.
(5.6)
0
Multiplying both sides of Equation (5.4) by sina x and integrating from
0 to i, we obtain
dx2
(5.7)
376
W. Nowacki
(5.9)
ina x'sina x
l
p -> o
-,
(5.10)
^f patera z
n-X *
n
and subsequently the Laplace transform.
Taking into account that
a/
)
M
(5.11)
n
n-l
Consider the differential equation of the deflection of the string
3t2
(5.12)
- 0, w(a,o) = f(x),
W(K,0) = ^ ( x ) .
(5.13)
t I
w(x,t) = UTLW ,t-i)G(x' ,x,T)dx'.
(5.15)
0 o
Suppose that at there acts a concentrated force which varies in time,
377
viz.
qix,t)
= F(t)6(x-Z),
0 < x, < I.
(5.16)
(5.17)
0 for t < 0,
1 for t > 0,
(5.18)
n-1
Locate now at 5 an external periodic concentrated force
qix,t) = 6(a;-5)cosut,
u> ={ u .
(5.19)
wix,t) = -if-/
^-(coswt-cosw t).
(5.20)
Applying
azt V
n=l
Formula (1.21) yields a steady increase of the deflection in time.
It
is valid only for small values of t, and hence for small deflections of
the spring from equilibrium.
378
W. Nowacki
for
(5.22)
Vt > I
, sino x
w(x,t) = /
(a fsina> t-u sina Vt).
(5.23)
Sl^a
(a 2V2-u, 2 ) "
n=l n n
n
This formula is valid for 0 < Vt < I. It yields the deflection at x due
to the action of a concentrated force moving along the string with
constant velocity V.
(5.24)
n=l
In the following we assume that q - 0, g - 0 and / \ 0.
From the
I
f
(5.25)
_ , sina a;sina g
5
Z
~
fix) = <*) = M=1
7 a2n
_
Lj
i .
- 2
Introducing (5.26) into (5.25) we obtain
op
(5#26)
379
sin
. 2pysina
Vc.
ina^cosw^t, wn = a a.
n=l
6.
(5.27)
(6.2)
Introducing the
notacions
,mja:|,|ip) =
1"2
II
G(xi,x2;x[,x^;p)snanxisin&mx2dx:idx2,
0 0
1=1 m=l
n
a\
(6.3)
380
W. Nowacki
;X >X ; p ) =
i 2
5"iBVl
siM
/2*
G(x,x',p)=-/
00
(6.6)
kk K^^
00
n = l m=l
(6.7)
Y
= (a 2 t 0 2 ) = .
m
n m
have
t
u(x,t) = I dTj|<7(x1,T)G(xl,x,t-T)cL4(x').
(6.8)
0
A
Suppose that a force
f F(.t)&(xi-Vt)6(x2-r)Z) for 0 < Vt < I,
qU,t) = \
for
(6.9)
Vt > I
we obtain
t
w(x,t) =
F(-[)G(.Vr,n2iXx,x2;t--r)dT.
(6.10)
o
If Fit) - Hit), after integration with respect to t we have
uU,t)
>
z
=1 m=l 'nw n
2_(a
'nm
Vsiny
at.Qy
s i n a
v t )
(6.11)
381
the variable r.
vibrations.
r 3r
3r2
) - }G(
r 3r
3t2J
We assume that the boundary condition and the initial conditions are
homogeneous.
r dr
(6.15)
We can solve the Equation (6.15) with use of the finite Hankel transform
a
G(r,r',p)nfo(a r)dr,
(6.16)
o
,r\p) = > G*(n,r',p)2
^_
-.
2
[^1 (-)]
(6-17)
382
W. Nowacki
The parameter a
<70(cyz) = 0,
n = 1,2,...,-.
(6.18)
a
21,d
a (
drz
&(r-r' )reTo(oy)dr.
(6.19)
a
rG^cyOdr.
(6.20)
0
The expression in brackets vanishes for the upper limit, provided
Jo(a a) - 0; for r - 0 it vanishes always.
Taking into account Equation (6.20) we find that
c 2 (a n 2 t p2)G*(n,r> ,p) = J T V 0 ( B B I " ) .
(6.21)
G(r,r',p) - -+-/
rV0(ar'V0(iip)
(6 . 22)
a o^;(anVn )tri(ana)]
Applying the inverse Laplace transformation, we arrive finally at the
result
v r V 0 ( V' ) t 7 0 ( V )
s i n u t,w
= a o.
(6.23)
383
we obtain
p
0 V*
w(r,t) = /
7.
o(anr
-(1-coswt).
(6.24)
w(x,o) = g(x),
(7.1)
which mean that at the time t = 0 the string has deflection f(x) and
velocity g(x).
The solution of the equation
OL
W =
;) s a([ [^(')+/(')|^]G(
[flr(* )+/(*'
Thus, we have to solve the equation
( c 2 - )G(x,x' ,t) = - ~6(x-x')6(t), -<x, *>0,
2
3x2
3t2
(7.4)
<te
2V3''l8llp) = - -^(s;-*1).
(7.5)
384
W. Nowacki
dx
(7.6)
a /2irJ
(7.7)
dx
The quantity in square brackets on the right side of the relation (7.7)
vanishes, since at infinity both the deflection G and its derivative
-T- vanish.
GU,x',p) = - M G(x,x',p)e^dx,
(7.8)
/2TTJ
(7.9)
/2irJ
p-)U
(7.10)
a/2ir
Introducing the Fourier transform for the expression pG, we obtain
d?.
(7.11)
(-
335
= C O S 5 C t,
p 2 +c 2 5 2
we obtain
ix x1)
3t " 2iroJ cosiat e'^ ~ iK.
(7.12)
ot
cos^t = ^
+0'
Uoi
),
J e"in5d5 = 2t6(n)
00
H = ^[6(x-x<-ct)+6(.x-x'+et)].
Assume now, that u(a;,O) = g(x) - 0.
(7.13)
w{x,t) - \
- l[f(.x-at)+f(.x+at)\.
(7.m)
Let us
deflect the string to the form of the curve f(x) at instant t - 0, and
remove the forces which produced the initial deflection, without inducing
an initial velocity of the element of the string (i.e. g - 0). For
t > 0 the deflected form of the string is divided into two waves (the
waves ^f(x-at) and \f{x+ct)). One wave moves to the right with the
Sconstant velocity a - ()2, while the second moves to the left (Fig. 7.1).
Let us discuss the problem of free vibrations of an infinite
membrane.
the form
W. Nowacki
386
t=0
Fig. 7.1
aV2w-u = 0, x e A, t > 0.
(7.15)
w(x,0) = g(x),
x = (x!,x 2 ) e. A, t = 0.
(7.16)
U(x,t) = of
ro
,t)dA(x').
(7.17)
(C2y2 _ 8l _ ) G ( X ) X . j t ) - _ i6(x-X
2
- "
0
is to be solved with the homogeneous initial conditions.
(7.18)
We first of
all place the Dirac function at the origin of the coordinate system.
In this case the equation of transverse vibrations of the membrane
can be written in cylindrical coordinates
387
|W(l.,0,t) . - | H U t ) ,
(7.19)
where
V2
- 5 1 .+ 1 i _
3r2
2
C
r 8r
(c2V2-p2)G(r,0,p) = - i | g i
(7.20)
f_
G(r,O,p)rer0(aj.)dr,
(7.21)
0
and by G(r,0,p) the inverse Hankel transform
00
G(r-,O,p) =
G(ct,0,p)a<7o(ou')da.
(7.22)
(7.23)
(7.2H)
G(*,O,p) =
~
2itc o pz+a'fl
(7.25)
388
W. Nowacki
G(r,0,t)
= ^ |
tT o (ar)sinactda
(7.26)
or
<
(
r = (x 2 + x 2 ) 5 .
where
Now,
(7.27)
0
x1.
We obtain
2iroo "1
(7.28)
for at < v
where, now,
8.
vibrations.
w(x,O) = g(x).
(8.1)
C2i^
y . 1 (Xtt)t
.[,
a Mi
(8.2)
389
0
I
+ o
\g(x')+f(x')^-\G(x',x,t)dx'.
(8.3)
+ -)G(x,x',t) = h(x-x')6(.t).
(8.4)
The Green function must satisfy the Equation (8.4) with the homogeneous
initial conditions
,0) = 0,
G(x,x',0) = 0,
(8.5)
=^.
(8.6)
Apply
(8.7)
00
W(p) = [
0
Now inverting the Laplace transform in Equation (8.7) and taking into
account the relations
390
W. Nowacki
2X2
(
P
(8.8)
2
-X2
p 2 +X 2
-l,
1
.
1 ,sinhXx-sinAxv
1 .,,, ..
l^r (
; = (
) = V(Xx),
p^-X1*
X3
2
X3
r-X,
v
p^-X
L-l(
p2
p^-X
XI
>
4
/COshXx-cosXa:..
2
X
) =
X
s
( - 2 - ) = (coshXar+cosXa;)
p^-X1*
2
..
1 ( sinhX J ;t5inXx )
X
1 .,,,
r ( A a ; ) |
X
=
S(\x),
We a r r i v e a t t h e f o l l o w i n g form of t h e s o l u t i o n of Equation ( 8 . 7 ) :
W(x) = W(0)S(\x)+
jW'(0)T(\x)+
(8.9)
The constants
For arbitrary
(8.10)
391
(8.11)
In view of (8.9) and the second relation (8.10), and taking into account
the boundary conditions (8.11), we are led to the system of two equations
= 0,
w"(o)s(\i) + Y^"(o)r(xz.) = o.
Equating to zero the determinant of this system, we have
tanhB - tanB = 0 ,
g = XI.
(8.12)
= -*^'z - t - x ) ,
V > 5.
Since
_ Bn2* _ 2 R
MSl 2
392
W. Nowacki
X3
(8.14)
We now prove that the modes of free vibration possess the important
property of orthogonality.
WAx)t
- \*t VI- = 0.
(8.15)
I
0
dx
dx
I
0
I
0
Since \k ? \l(uik ? ml), which has been assumed in view of two
different forms of vibration, Equation (8.16) is satisfied only if
I
WAx)Wt(x)dx
=0
k t I.
(8.17)
I
[yAx)]2dx - y
(8.18)
393
I
2
sin 2 a tfdx = y .
a
7
= ~r
C2l
/2
whence = = Y.
The functions
r, 1 \
/2 .
WAx) = / j s i n a ^ ,
kn
afe = -j,
WAx)WAx)dx
Ki
(8.19)
U i f k s I.
(8.20)
(8.21)
n n
We introduce
394
W. Nowacki
I
,p) = j G(a:,x',p)f/j
(8.22)
G(x,x',p) = ^G*(n,x',p)Wn(x).
(8.23)
n=l
This i s a new f i n i t e transform.
We have
M=l
= G*(m,x' ,p).
ruil
n=l
We have used the condition of orthogonality for the functions W (x).
Now we multiply Equation (8.20) by W (x) and integrate from 0 to I.
I
2
(a -
(8.24)
Since
dx = G ^dx+\W G"<-W 'G"+WI'G'-W"'G\
L
!
J djei+
n
n
n
n J0
7
(8.25)
we have
(<J2xSp2)G*(n,a;',p) = ^ n ( * r ) .
(8.26)
395
x->W(x<)W(x)
G(.x<c',p) = -/ 2 2 a^i
n=l rp +C Xn
(8.27)
" V (x')WJx)
G(,x,x',t) - -) -2
i- i
sinw t, u
to
= cA2.
a .
n
Let us examine forced vibrations: q i- 0, / = 0, g = 0.
(8.28)
The Equation
dx1
w(x,t) =
0
(8.29)
Z
t
1
= I da; ] q(x' ,t)G(x' ,x,t-t)dT.
0
Suppose that along the rod there moves a concentrated force of intensity
Fit) with the constant velocity 7, i . e .
f FU)5(.x-Vt) for 0 < Vt < I,
q(x,t) = {
(8.30)
1
0
for
Vt > I.
We have assumed that q(.x,t) varies in time during the motion along the
rod.
that
I
f
J Hx'-Vt)W n(x')dx' = Wn (Vt),
0
we obtain for the delfection of the rod the formula
A
t
sinw (t-f)dt.
,t) = i ) W (x)\ F ( T ) V (T7) j2
n=l
If F(t) = P0H(t), we have
(8.31)
396
W. Nowacki
W (x)rt
*-/-rt\
Vn(^)sinu.M(t-T)dx
(8.32)
=1 " 0
In the particular case of a rod simply supported at both ends, we obtain
from (8.32)
00
It suffices to take V + 0,
and to assume that, in spite of the infinitely small velocity, the force
reaches point ? i.e. we set V-*-O,Vt-+,
Hence
2P 0 r-> sina
Jx)=T/
n sina a;.
n=l
9.
(8.3H)
T(x,t) = -El.
3x 3
(8.35)
Assume that
W(.xux2,t) = W(xl,x2)et
(9.1)
397
and insert the function (9.1) into homogeneous equation governing the
bending of the plate.
c 2 = JL.
(9.2)
ph
Assume, also, that W(xi jc2) - X(x\ )Y(,x2), which corresponds with certain
types of boundary condition of a rectangular plate.
In such a case
(9.3)
The functions ^(xj), Y(x2) can be separated in the above equation for
instance, provided that either
X"(Xl) - -B 2 X(i), X^ixO
= -B 2 r'( l ),
(9.4)
or
F(xz)
(9.5)
f sing x2 ")
) where a^ = . & - ^cosa xj J
(_ cos6 a;2
m = 1,2,...,,
(9.6)
(9.7)
398
W. Nowacki
d-Jr
d2x
-e 4 )x - o.
(9.8)
m
Apply the Laplace transform to Equation (9.8).
We have
X(p)
( P -2e2)[p;r(o) + r(o)]+pr'(o)+r"(o)
2
(9.9')
2 _ o 2 \2 _ , i (
i.e.
= ~(2A2 p 2 - 6 2
p2te2
(9.9")
)|"p^"(0) t
'
> 2 -6 2
where
6 2 = A2 + 6 2 .
Observing that
-1
,-l(
? 2 -6 2
(
p2+e2
we find that Equation ( 9 . 9 " ) , by means of the inverse Laplace transform,
yields
= X(0)A(,xl)+X'(0)B(x1)+X"(,0)C(x1)i-X'"
(O)D(xl),
(9.10)
B(xl) = ^^(-^-sinh&t! + 6
2A2 6
C(x\) -
(coshtei - c
2A2
2A2 6
>
(9.11)
399
Observe that
i ) = X(.O)A(.x)+X'{O)B(x1)+X"(O)C(xi)+X"'(O)D(.x),
(9.12)
where
. D
m
(9.13)
Here the two first conditions of the set (9.13) have been used.
(9.14)
The
= r(0)C"(ai) + r"(0)C(ai) = 0.
(an) = 0.
^"1
ecot^) = 0.
(9.15)
400
W. Nowacki
The equation
&tanh-x~ + e t a n - y = 0
(9.16)
ecotan-- = 0
(9.17)
m
run
calculated by means of Equations (9.16) and (9.17);
furthermore the
= r'(0)
D(ai)
(9.19)
Since
n
^ ran
we have
A2 = a 2 + B2,
nm
n
m
a = .
n a\
(9.20)
'
'
(9.21)
401
= aifXk)^y..Vkt6A.
A
(9.23)
But the left side of Equation (9.23) is equal to zero (see (4.2)1). we
have
A
Since X .. =/= X, 7 , Equation (9.24) is satisfied only if
ff
..W.^dA = 0,
(t / k, 3 t I).
(9.25)
A
The eigenfunctions of the free vibrations of plates are orthogonal;
their coefficients are chosen to satisfy the condition
W2..dA = 1 .
(9.26)
I'd
In the following considerations it will be assumed that the eigenfunctions satisfy both conditions (9.25) and (9.26).
Observe that the orthogonality property holds also for modes of
vibration which cannot be written in the form of a product
402
W. Nowacki
Assume that at time t - 0 the deflection and the velocity of the plate
are known, i.e. that
w(x,0) = fix), u(x,O) = g(x),
x S (xi,x2).
(9.27)
IdTJL(xlst-T)G(x',x)T)d4(x')
0
(9.28)
A
Now, we must solve the differential equation for the Green's
function G(x,x',t):
(c2V4 + 32)C(x,x',t) = -6(x-x')6(t),
(9.29)
with the same boundary conditions as the deflection u(x,t) and with
homogeneous initial conditions.
Applying the Laplace transform to Equation (9.29) we obtain
(c2Vlt+p2)G(x,x',p) =-6(x-x').
(9.30)
finite transform
(9.31)
0 0
00
CXI
'l,x'2;p)ykl<.xl,x2).
k=l 1=1
(9.32)
403
(p2+o2^t)GHktl;xl,x'2;p)
= ^ k i <*{*p.
(9.33)
(9 34)
KL
fcsl 1=1
Introducing
fc=i Z=i
oo
w
(9#35)
Suppose that the force q(x,t) moves with the constant velocity V along
the line x^ = H2J a n d hence that
0 < Vt < a\
Inserting q(.x,t) into Equation (9.35.) and taking into account the relation
0 0
00
^T)'*'W^Tr2)JHjinuw(t-T)dT.
u(x,t) = i Tjia^l
fe=i 1=1
If Fit)
= P0H(t),
mkl
(9.36)
404
W. Nowacki
V, ,(Vt ,n2H:-siiW,,(t-T)dT .
fc*l 1=1
(9.37)
Kt
Since
w(x,t) =
CO
[a.Ksiiw^t-w^sinaj/t]. (9.38)
0 < Vt < a.
oo
w(x,t) =
k=l 1=1
^kTWl'
10.
405
3a*
c 2 = , o = pA.
a
(10.1)
+ w + K2W = ^q(x,t),
aa*
(10.2)
Thus Equation (10.1) takes the form
K2 - k/a.
(10.3)
It is
We
assume also that during the deformation the rod is in contact with the
foundation over the whole length.
Inverting the
8u3I
-(
0*
406
W. Nowacki
difficulties.
(i:)l(tk
(10.5)
For the
w(x) =
(10.6)
bI
= q(x,t), a2 = f, a = ph,
KZ
-k7Q.
(10.7)
_ is applied to the
is an axisymmetric one.
PQ
32
Sir)
13
atfy+rpw =
, V =
a
2nr
+
8r
2, i
= (^)cr.
(10.8)
r 3r
p0
(c2a4+nlt)w(a) = ,
w(a) =
w(r)rJ0(.ar)dx>.
(10.9)
0
Applying the inverse Hankel transform, we have
p
w(r) =
2j .SnVr2
(10.10)
407
or
v = (< + x | r .
There keio(z) is the modified Kelvin function.
(10.11)
Assuming PQ = 1 and
-jb^of'c!) 4 ].
= [(si-a,1)2*^-^)2]*.
P 0o
k
w44 ==
U
ac22
ao
u = 6(Xi-a;')6(x
(*!-!)6(a22),
k
= -.
N^
(10.13)
Using the finite sine transform and the integral cosine transform, we
obtain
2P 0
W(x) =
Jl,
r cos&czdg
) sina xjsina x.
1
rnt
, a =
(10.14)
o W+tn2Wn*>
/ O ~Y^2
fl-n
*M2-Y
where
In the particular
408
W. Nowacki
r COSfJa^dP
It
2 2
i (a 2+3 )
On
(1+a x2)e~anXz
Ha 3
"
n
x2 > 0.
(10.16)
u( } =
nX2)
-a x
X22 .
s i n a a x{sina
: s i n a ^1,0:2
sina
2SIiyZrir3 : L i ee' o nna ; 2'sinot
i rf
n Xisi
n=l
> 0. (10.17)
n=ln
(10.18)
n=l
sina aJxsina^x]
(10.19)
"
or
(10.20)
409
Now we can determine the bending and twisting moment in the closed form
M U ( G ) = -il
(10.23)
"3a:2
11.
"
3aj2*
,t) = of /(*'
(11.1)
(11.2)
W. Nowacki
410
(11.3)
2TTO
Since
we obtain
(11.4)
/2TT
-00
air^-SL
(11.6)
f{x-x')\cos t sirf^|dx'.
Hot
(11.7)
/(*')[c
or
w(.x,t) In the particular case
-x2,
"+az
i.e. when the initial curve has a prescribed form, w e obtain from (11.7)
fa
- e x p
atx2
4(a4+e2t2)
cos
411
t=0
t-N
Fig. 11.1
(11.9)
The equation (11.1) takes for the axisymmetric form of vibration the
412
W. Nowacki
form
00
''^dr
(11.10)
o
We have to solve the differential equation for the Green's function
(o2v2 + a2)G(r,r',t) = h(r-r')&(t).
(11.11)
After inverting, we
obtain
CO
= if r(J0(ar')aJ-0(ar)cos(a2ct)da.
(11.12)
o
Introducing (11.12) into the integral expression (11.10) we obtain
CO
w(r,t) =
CO
aJ0(ar')JQ(ar)cos(oa2t)da.
r'/(r')dr'
0
(11.13)
Inserting v = iat into Equation (11.14) and taking the real part
of the integral, we have
This procedure leads to the following final form of the formula for the
free vibration of the plate
413
k w / f0
1.0
/1)
f^
0.5
n -0
**__
7j = 3
Fig. 11.2
(11.15)
2ct
Let the initial deflection of the plate equal
(11.16)
aexp(-
exp(
(11.17)
l+n:
414
W. Nowacki
= r
/a*
12.
The system of Equations (12.1) can take a different form, corresponding to the representation of the deformation as a sum of volume and
shear deformations.
have
a - hhfku=
2ue
+ (Xe
fc*" s V V
(12 2)
kk
= {3X + 2vH
kk'
(12 3)
'
(12.4)
s = 3Ke,
(12.5)
where
'., K = X + | u .
(12.6)
415
Relations
(12.4) are generalized by adding to the right hand side a term representing the Newtonian viscosity, i.e. the term 2ne... Thus
%a
Equation (12.7) represents the Kelvin model.
The quantity t - n/ is
e = 3Jfe, tp = n/ y ,
(12.8)
= P 2 (O)e..(x,t),
P3(D)sU,t) = Pk(D)eU,t),
x = (xi,x2,x3),
(12.9)
(12.10)
where
N.
416
W. Nowacki
i.e. there are no stresses and deformations, and the loading is applied
at the instant t - 0.
(12.11)
-7(x,p) = 3K(p)7(x,p),
(12.12)
where
P2(p)
vip) =
. i\(p)
, Kip) = i
2Pi(p)
However,
(12.13)
where
Tip) =
We haw-already indicated the analogy between formulae (12.13) and ( 1 2 . 1 ) .
The analogies may be employed in constructing the stress-deformation
r e l a t i o n s for plane s t a t e s of s t r e s s , one dimensional s t a t e of s t r e s s ,
etc.
In the plane s t a t e of s t r e s s , we have for the e l a s t i c body
aB
~r[(l~v)eae+Ve6oi3~-l'
where
_ )i(3X+2u)
H + e 2 2 , <>>(? = X,2
(12.14)
417
a8
L^d-^+v^eJ,
<*. B = 1,2
(12.15)
(12.16)
X+vi
2(Xtu)
of a rod of perfectly elastic material (after applying the Laplace transform) has the form
O2^H
1
p2y - ^(XiP)
dx *
+ pf(x) + g(x),
(12.17)
where
The transformed
,p) + p f U )
W. Nowacki
418
P(p) - n(p)(3A(p)+2p(p))
I(p)+u(p)
Suppose that w, /(a;), g(x)can be expanded into a series of eigenfunctions
of the rod of perfectly elastic material, with the same conditions of
support as the rod under consideration:
(12.19)
n=l
g(x) -
The functions V ix) are orthogonal and normalized, and they satisfy the
equation
El
(12.20)
= 0,
(12.22)
;'tp)V (ar'Jdx'
00
(12.23)
419
We have now to carry out the required integration and then to invert in
(12.23) the Laplace transform.
_
, y(p)
P2(p)
we obtain
-2(p)
, .
E(p)I _ I
o
3P2(p)P4(p)
i
IS
(12.24)
o 2P1(p)Pl|(p)tP2(p)P3(p)
a2(p) ^
(12.25)
3 + fd+t^p)
Introducing (12.24) into (12.23) and inverting the Laplace transform,
we arrive at the required function w(x,t).
A considerable simplification
(12.24), we have
P2ip)
4 2 a
2 aP _
l ( ,p ). "
ZGI
=
(1+tp)a
3*
(12.26)
W. Nowacki
420
IV s
^ u n (1-0^)
n=l
no
where
U) t
= tan
n
ntfc% + ] +
(12.27)