PROBLEMS

IN ENGINEERING
FIFTH EDITION

W. WEAVER, JR.
Professor Emeritus of Structural Engineering
Stanford University

The Late S. P. TIMOSHENKO

Professor Emeritus of Engineering Mechanics
Stanford University

The Late D. H. YOUNG

Professor Emeritus of Civil Engineering
Stanford University

WILEY
A WILEY-INTERSCIENCE PUBLICATION

JOHN WILEY & SONS

New York

Chichester

Brisbane

Toronto

Singapore

CONTENTS

PREFACE
1 SYSTEMS WITH ONE DEGREE OF FREEDOM
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
1.10
1.11
1.12
1.13
1.14
1.15

xi
1

Examples of One-Degree Systems / 1

Undamped Free Translational Vibrations / 2
Rotational Vibrations / 12
Energy Method / 18/
Rayleigh's Method / 24
Forced Vibrations: Steady State / 39
Forced Vibrations: Transient State / 48
Free Vibrations with Viscous Damping / 52
Forced Vibrations with Viscous Damping / 61
Equivalent Viscous Damping / 69
General Periodic Forcing Functions / 76
Arbitrary Forcing Functions / 84
Arbitrary Support Motions / 93
Response Spectra / 99
Step-by-Step Response Calculations / 107
References / 113
Problems / 114

2 SYSTEMS WITH NONLINEAR CHARACTERISTICS

139

2.1 Examples of Nonlinear Systems / 139

2.2 Direct Integration for Velocity and Period / 149
2.3 Approximate Methods for Free Vibrations / 157
vii

viii

CONTENTS
2.%
2.5
2.6

190

SYSTEMS WITH T W O D E G R E E S OF F R E E D O M
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8

Forced Nonlinear Vibrations / 166

Piecewise-Linear Systems / 175
Numerical Solutions for Nonlinear Systems
References / 207
Problems / 208

Examples of T w o - D e g r e e Systems / 217

Action Equations: Stiffness Coefficients / 223
Displacement Equations: Flexibility Coefficients /
Inertial and Gravitational Coupling / 233
U n d a m p e d F r e e Vibrations / 241
U n d a m p e d Forced Vibrations / 251
Free Vibrations with Viscous Dampling / 260
Forced Vibrations with Viscous D a m p i n g / 265
References / 267
Problems / 267

217

225

SYSTEMS WITH M U L T I P L E D E G R E E S OF F R E E D O M

275

4.1
4.2

Introduction / 275
Frequencies and M o d e Shapes for U n d a m p e d
Systems / 276
4.3 Principal and N o r m a l Coordinates / 287
4.4 Normal-Mode Response to Initial Conditions / 295
4.5 Normal-Mode Response to Applied Actions / 301
4.6 Normal-Mode Response to Support Motions / 309
4.7 Iteration M e t h o d for Frequencies and M o d e Shapes / 318
4.8 Damping in Multidegree Systems / 333
4.9 D a m p e d Response to Periodic Forcing Functions / " 337
4.10 Transient Response of D a m p e d Systems / 343
4.11 Step-by-Step Response Calculations / 347
References / 352
Problems / 352

C O N T I N U A WITH INFINITE D E G R E E S OF F R E E D O M
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8

Introduction / 363
Free Longitudinal Vibrations of Prismatic Bars / 364
Forced Longitudinal Response of Prismatic Bars / 373
Normal-Mode M e t h o d for Prismatic Bars / 380
Prismatic Bar with a Mass or Spring at the E n d / 387
Bars Subjected to Longitudinal Support Motions / 395
Torsional Vibrations of Circular Shafts / 401
Transverse Vibrations of Stretched Wires / 409

363

CONTENTS

5.9
5.10
5.11
5.12
5.13
5.14
5.15
5.16
5.17
5.18
5.19
5.20
5.21
5.22
5.23
5.24

Transverse Vibrations of Prismatic Beams / 416

Transverse Vibrations of a Simple Beam / 422
Vibrations of Beams with Other End Conditions / 425
Effects of Rotary Inertia and Shearing Deformations / 433
Forced Response of a Simple Beam / 436
Forced Response of Beams with Other End
Conditions / 442
Beams Subjected to Support Motions / 444
Beams Traversed by Moving Loads / 448
Effect of Axial Force on Vibrations of Beams / 454
Beams on Eastic Supports or Elastic Foundations / 456
Ritz Method for Calculating Frequencies / 461
Vibrations of Nonprismatic Beams / 466
Coupled Flexural and Torsional Vibrations of Beams / 474
Vibrations of Circular Rings / 478
Transverse Vibrations of Membranes / 484
Transverse Vibrations of Plates / 495
References / 505
Problems / 506

6 FINITE-ELEMENT METHOD FOR DISCRETIZED

CONTINUA
6.1
6.2
6.3
6.4
6.5

ix

511

Introduction / 511
Stresses and Strains in Continua / 513
Equations of Motion for Finite Elements / 516
One-Dimensional Elements / 520
Vibrations of Beams by Finite Elements / 534
References / 542
Problems /.. 543

BIBLIOGRAPHY

551

APPENDIX A SYSTEMS OF UNITS AND MATERIAL

PROPERTIES

553

A.I Systems of Units / 553

A.2 Material Properties / 555
APPENDIX B COMPUTER PROGRAMS
B.I Introduction / 557
B.2 Step-by-Step Solutions for Linear One-Degree
Systems / 558
B.3 Numerical Solutions for Nonlinear OneDegree Systems / 561

557

CONTENTS

B.4 Iteration of Eigenvalues and

Eigenvectors / 562
B.5 Step-By-Step Solutions for Linear Multidegree
Systems / 565
B.6 Program Notation / 567
Flowcharts for Programs / 569
ANSWERS TO PROBLEMS

587

INDEX

603