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
1. Equivalent springs
Spring in series and in parallel
Examples
1. 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

+
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:
) (
) (

I
dt
d
M
x m
dt
d
F


Simple oscillator Example 1
2 2
ml md I
inertia of moment mass I
cg
+

I K
I M


0
2
+ K ml

2
ml
K

n

+
Simple oscillator Example 2

,
_

+
l
a
m
k

ml md I I
n
cg
2 2

2
) ( ml a a k
I M
o o


0
2 2
+ 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

3
) (
2
ml
b b k
I M
o o


0
3
2
2
+ 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

,
_

I T
I M
z


0
2
2
+
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
+
+
+
eq
k k k
k k P
) (
2 1
2 1
P f P f f
P
k k
eq
+

,
_

+ +
) (
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

2
2
2

2
ml l W a ) a k (
I M
o o
+

0
2 2
+ ) Wl ka ( ml

+
Consider:
ka
2
> Wl
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
+

sin mgl ml
ml sin Wl
I M
o o



0 + sin
l
g

l
g

l
g
n

+ 0

+
We cannot define
n

since we have sin term
If < < 1, sin :
Energy methods
Strain energy U:
energy in spring = work done
Kinetic energy T:
Conservation of energy:
work done = energy stored
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
1. Transformation of coordinates
Inertially & elastically coupled/uncoupled
General approach: Modal equations
Example
1. Response to harmonic forces
Model equation
Special case: Undamped system
Two-DOF model problem
Matrix form of governing equation:

'

'

1
]
1

+
+

'

1
]
1

+
+

'

1
]
1

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

'

'

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

'

1
1
]
1

,
_

+
+
t
1
]
1

+
+

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

Eigenvalues (characteristic values):
Characteristic equation:

'

'

1
]
1

+
0
0
) (
) (
2
1
2
2 2 2
2
2
1 2 1
A
A
m k k
k m k k

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

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

1
618 . 1 2
2
1
2

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

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)
,
1
and
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
+

'

+ +

'

'

t
A
A
C t
A
A
C
t x
t x
x
Single-DOF:
For two-DOF:
) cos( ) ( + 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

'

'

'

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

'

618 . 1
0 . 1
0
o
x x and
{ }

'

'

'

618 . 0
0 . 1
618 . 1
0 . 1
618 . 1
0 . 1
2 1
C C x
o

From the initial displacement:
1
1
2 1
2
; 0 ;

T
C C
UFV Example 2
{ } ) cos(
618 . 0
1
) 171 . 0 ( ) cos(
618 . 1
1
) 171 . 1 (
2 1
t t x

'

'

Now both modes are involved:

Solve for C
1
and C
2
:
{ } { } { }

'

2
1
0
o
x x and
{ }

'

1
]
1

'

'

'

2
1
2 1
618 . 0 618 . 1
1 1
618 . 0
1
618 . 1
1
2
1
C
C
C C x
o

From the given initial displacement:

'

'

1
]
1

'

171 . 0
171 . 1
2
1
1 618 . 1
1 618 . 0
618 . 1 618 . 0
1
2
1

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




Transformation of coordinates
Introduce a new pair of coordinates that represents spring stretch:

'

'

1
]
1

+
+

'

1
]
1

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:

'

'

1
]
1

'

1
]
1

+
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

[ ] { } { } ( ) [ ] { } { } ( ) 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

'

'

2) Transformation:

)

'

'

'

'

618 . 0
1
; 618 . 1
618 . 1
1
; 618 . 0
22
12
2
21
11
1
u
u
u
u
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

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
{ } { } { }

'

+
+
+
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

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

'

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

'

) (
) (
) (
2
1
Substituting gives:
[ ] [ ] [ ] ( ) { } { } F i X K C i M + + ) (
2

[ ] matrix impedance 2x2 ) ( i Z
[ ] [ ] { } [ ] { } F i Z i X i Z i Z
1 1
) ( ) ( ) ( ) (


{ }

'

1
]
1

'

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

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

+

Notes:
1) Denominator originally (-)(-) = (+).
As it passes through
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
) ( ) (
;
) ( ) (
) (
2
2
2 2
1
2 2
1
2
2
2
2 2
1
2 2
1
2
1

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]
1. 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

+
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

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
{ }

'

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

k new k
u u
{ } [ ] { } { } [ ] { } 1
2

k
T
k new k
T
new k
u M u u M u
Then:
[ ] [ ] [ ] [ ] I U M U
T
[ ] [ ] [ ] [ ] U K U
T
and
[ ]
1
1
1
1
1
]
1

2
2
2
2
1
. . 0
. . . .
. . 0
0 . 0
n

: where
Let the 1
st

entry be 1
General solution procedure
For all 3 problems:
1. Form [K]{u} =
2
[M]{u} (nxn system)
Solve for all
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 + + +
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

+ + +

UFV model equation: [ ]{ } [ ]{ } { }

[ ] [ ] [ ] { } [ ] [ ] [ ] { } { }
{ } [ ]{ } { } 0
0
0
+
+
+



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







Need initial conditions on ,
not q.
Initial conditions - Modal analysis
Using displacement vectors:
{ } [ ] { }
[ ] [ ] { } [ ] [ ] [ ] { } U M U q M U
U q
T T

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

+
+
And then solve
hence we can easily solve for
{ } [ ] [ ] { } q M U
T
or
0
2
+ is:
) sin( ) cos( ) (
) cos(
t t t
t C
o
o

+
or
{ } [ ]{ } U q
Applied harmonic force
Driving force {Q} = {Q
o
}cos(t)
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(
{ } { }
requency driving f
t Q Q
o

) cos(
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

then
{ } [ ]{ } U q
Continuous Systems
1. The axial bar
Displacement field
Energy approach
Equation of motion
1. Examples
General solution - Free vibration
Initial conditions
Applied force
Motion of the base
1. 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
( )
( ) ( )


+

'

1
]
1

,
_

'

1
]
1

,
_

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




2
2
1
2
1
2
1
2
1
u m
x
u
x
u
E ) (E
x x

,
_

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

'

1
]
1

,
_

2
1
0
0
0

2
1
) ( 0
t
t
dt V T
2
2
1
u (Adx)

V
o
dV U
2
2

,
_

x
u E
Axial bar - Equation of motion
2
2
2
2
2
x
u
t
u

Hamiltons principle leads to:

If area A = constant
( ) 0

,
_

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
+
+

( )
( ) ( )

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
1
]
1

3
2
2
L
M
L
F
E

: where
( ) ( )
2
2 2 2 2
2
contant p -
T
dt T d
X
dx X d

Fixed-free bar General solution
0 cos 0

,
_

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

For any time dependent problem:

1
]
1

,
_

,
_

,
_

, 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

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
EBC:
NBC:
0 ) 0 ( u
0 0

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
( ) [ ]

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

0
i
C

2
5
2
3
2

or or
L p
i
) , 5 , 3 , 1 (
2
i
L
i
p
i

NBC
Fixed-free bar Free vibration

E
L
i
n
2

are the eigenfunctions

,
_

L
x i
2
sin

For free vibration:
General solution:
Hence
) cos( ) ( ) , ( t x A t x u
n

are the frequencies (eigenvalues)
2
2
2
2
2
x
u
t
u

) , 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

Give entire bar an initial stretch.

Release and compute u(x, t).
0 ) 0 , (
0

,
_

t
o
t
u
x
L
L L
x u and
Initial conditions:
Initial velocity:
Initial displacement:

,
_

0
2
sin
2
, 3 , 1
0
i
i t
L
x i
B
L
i
t
u
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

,
_

,
_

,
_

,
_

,
_

,
_

) , 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

Hence
Fixed-free bar Applied force
or
( ) t
x L
E A
F
t x u
o

sin sin sec ) , (

,
_

,
_

Now, B.Cs:

'

) sin(
0 ) , 0 (
t F
x
u
E A
t u
o L x

From
B.C. at x = 0:
B.C. at x = L:
0 ) , 0 ( t u 0
1
A

,
_

L
E A
F
A
o
sec
2
Hence
2
2
2
2
2
x
u
t
u

) sin( ) ( ) , ( t x X t x u
n
we assume:
Substituting:
( ) t
x
A
x
A t x u

sin sin cos ) , (

2 1 1
]
1

,
_

,
_

) sin( ) sin( cos

2
t F t
L
L
A E A
x
u
E A
o L x

,
_

Fixed-free bar Motion of the base

) sin( ) sin( ) , 0 (
1
t U t A t u
o

2
2
2
2
2
x
u
t
u

Using our approach from before:

Resonance at:
( ) t
x L x
U t x u
o

sin sin tan cos ) , (

1
]
1

,
_

,
_

,
_

o
U A
1

,
_

L
U A
o
tan
2
Hence
( ) t
x
A
x
A t x u

sin sin cos ) , (

2 1
1
]
1

,
_

,
_

( )
1
]
1

,
_

,
_

0 sin cos sin

2
t
L
A
L U
x
u
o
L x

L x
x
u
E A
From
B.C. at x = 0:
B.C. at x = L:
or ,
2
3
,
2

L
. ,
2
3
,
2
etc
L L


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(t) ( =
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

'

1
]
1

,
_

2
1
0
0

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 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

'

Substituting:
2
2 2
2
3
2
3 3
3

L
E
L
L E A
L A

,
_

L L
RITZ

732 . 1
3

L L
EXACT

571 . 1
2

1
0
1
0
2 2
a dx E A a dx x A
L L
1
]
1

1
]
1

Hence
[ ] { } [ ] { } ( ) a K a M
2
: form matrix in

,
_

L
x
EXACT
2
sin
1

x
RITZ

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

: 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

'

1
1
]
1

,
_

,
_

,
_

'

1
]
1

,
_

Substituting:
EXACT RITZ
L
E
L

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 approximat Also

,
_

L
x
L dx
d
2
cos
2
1

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
where:
:
1
x u e approximat If
x a a
dx
dX
2 1
2 +
:
2
x u 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

'

1
]
1

'

1
]
1

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.)

E

2 2
and
+ L a a L a L 4526 . 0 0 ) 3785 . 0 1713 . 0 (
2 2 1
2

'

'

1
]
1

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


leads to
Solving characteristic polynomial (for det[ ]=0) yields 2 frequencies:
L L
RITZ RITZ
67 . 5 ) ( 5767 . 1 ) (
2 1
and
Substitution of:
L L
EXACT EXACT
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

Mode 2:
L x x x X
2
2
38 . 1 ) (
: 2 shape Mode