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Application of the Ritz

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non-linear free vibrations of
beams
ARTICLE in JOURNAL OF SOUND AND VIBRATION DECEMBER 1987
Impact Factor: 1.81 DOI: 10.1016/S0022-460X(87)80236-5

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Journal of Sound and Vibration (1987) 114(1), 91-101

APPLICATION OF THE RITZ METHOD TO THE

ANALYSIS OF
NON-LINEAR FREE VIBRATIONS OF BEAMS
R. LEWANDOWSKI
Technical University of Poznan, Poznan, Poland
(Received 23 May 1985, and in revised form 1 May 1986)
This paper presents an analytical solution for geometrically non-linear free vibrations
of beams with elastically supported ends in the horizontal direction. The equation of
motion is obtained by employing Hamilton's principle and assuming that horizontal inertia
forces can be neglected. The Ritz method, with a continuum solution and an iterative
procedu'e, are used for determining the frequencies and non-linear modes of vibrations.
The orthogonality conditions for these modes are also discussed. Numerical results for
various beam boundary conditions are presented and compared with available results.

1. INTRODUCTION
The problem of non-linear free vibrations of beams with immovable ends has attracted
many researchers in the past. Both a continuum approach [1-6] and finite element methods
[7-12] have been used.
The solution can be obtained in three ways. The assumption that the non-linear mode
shape of the vibration is the same as the linear one is the basis of the first method (see
references [1,3-5]). This enables one to write a modal equation of Duffing's type (in
time) whose exact solution is a cosine elliptic function, and a period or frequency of the
oscillation is given by an elliptic integral.
In the second class of solutions [6,7,10,11,13], the time factor of the problem is
assumed to be a cosine harmonic function. The frequency and mode of vibrations are
obtained by solving approximately the differential equation in the space variable.
Recently Bhashyam and Prathap [8], and Sarma and Varadan [9] reduced the problem
to a so-called non-linear eigenvalue problem by the assumption that w(x, t) = -a^w^x, /)
at the point of a maximum amplitude of a transverse displacement w, and interpreted <u
not as a frequency but as a coefficient of proportionality between w and w in this point.
The solution of the non-linear eigenvalue problem defines <D2 and a non-linear mode of
vibration.
The idea of a non-linear normal mode was introduced by Rosenberg [14]. SzemplinskaStupnicka [15-18] used this mode to analyze several types of non-linear vibrations, and
included an analysis for beams.
This paper presents an analytical solution for geometrically non-linear free vibrations
of beams with their ends elastically supported in the horizontal direction. The problem
is formulated as a variational one, Hamilton's principle being used, and the solution of
the problem is found by using the second of the three classes of methods described above.
The Ritz method, with a continuum solution and an iterative procedure, is used for
determining any frequencies and non-linear modes. The orthogonality conditions for
91
0022-460X/87/010091+11 $03.00/0
@ 1987 Academic Press Inc. (London) Limited

92

R- LEWANDOWSKI

these modes are discussed too. At the end, numerical results for various beams including
elastically supported ones are presented and compared with available results.

2. EQUATION OF MOTION
The non-linear strain displacement relations of a beam are (see reference [8])
e^=^9w/Sxf+Su/8x,

^=8tw/^xl,

(1)

where e^ is the axial strain, i/^ is the curvature, and u and w are the axial and transverse
displacements, respectively. Using Hooke's law one can write the following relation for
the elastic strain energy U:
U= \ ^EAel+Wl+Ss^dx
Jo

. ['^[^i^yi^^^y^^y^nidx

h[2\.Sx 2\Qx} j 2 \Qx2}

\.9x 2\Qx)\}

Here E, A, I, S, and ; are Young's modulus, the area of the cross-section, the moment
of inertia of the cross-section, the initial axial force, and the length of the beam,
respectively.
The kinetic energy of the beam is given by
T^f'O^+^df,

(3)

2 Jo
where m is the mass per unit length of the beam.
Applying Hamilton's principle, 6\',\ L d( = 0, to the Lagrangian L=T-Uofthe system
gives
@/^4w/ax4-5^2w/^x2-(^/^x){@A[au/^x+i(^w/flx)2](^w/^x)}+mfl2w/<5^2=0,
m Q^u/Qt2 - W9x){EA[Qu/9x+^9w/9x)2]} = 0.

(4)

With the horizontal inertia forces omitted in the second equation of the system (4), one
has
N=EA[9u/^x+^9w/Qx)2]= const.

(5)

Integrating expression (5) between the limits 0 and / and taking into consideration that
u(0, t) = KoN(.t) and u(l, t) = -K,N(t) one can write
EA C'/awV
N=@- (@) dx,
UK Jo \9x/

(6)

where K =I+(EA/I)(KO+K,), and KO, and K, are the flexibilities of the left and right
ends,.respectively. It is evident that the axial force depends only on time and is independent
of x.
Inserting expressions (5) and (6) into the first of equations (4) yields the equation of
motion for a large amplitude free oscillation of the beam, in the following form:
^w ^w r (7)
^['(^YA '\Qlw n
^,^^EI^-[S^\^) dxj^=0.

NON-LINEAR FREE VIBRATIONS OF BEAMS

93

3. SOLUTION
The aim here is to find the periodic solutions of the problem. The approximate solution
thus is assumed to have the form
w(x, t) = av(x) cos at,

(8)

where v(x) is a so-called "non-linear normal mode" (see references [14,18]) and v(x) = 1
for freely chosen x = x, a denotes the amplitudes of vibrations at the point x = x, and w
is the radian frequency of the oscillations. The solution (8) satisfies the initial and boundary
conditions but it does not satisfy exactly equation (7). Applying the Ritz method yields
the condition
e(x, () cos <u? d(<t)() = 0,(9)
Jo

where s(x, t) denotes the residual of equation (7) after substituting into it the approximate
solution (8). From equation (9) one obtains

"@^-^[^J^HS-",
or, in a dimensionless form,
d\/d^-y2d\/d^-t3^=0,

(11)

where
S=x/l,

^=^ml'/EI,

y^l^C+S^EI,

^=|,

C = (/MEAa2/!!2^ [' (dv/dfi2 df,

(12)

Jo
which constitutes, with boundary conditions, a so-called "non-linear eigenvalue problem".
A similar equation with p. = 1 may be written if the following properties of the time
function at the point of the reversal of motion (the point of maximum amplitude) are used:
w^(x, ;i) = -w^^x, tt),

w(x, ti) = 0.

(13)

This method was first suggested by Mei [7],

The solution of equation (11), or (10), has the form
v(fi = Di cosh 8^+ DZ sinh 8^+ D-,, cos v^+ D^sin v@,
because C in equation (12) can be treated as an unknown constant and equation (11)
can thus be regarded as a linear one. The above D, denotes constants dependent on
boundary conditions, and
8=^/^/(74/4)+/34-^-(y2/2),

^yT^^^CTTz).

(15)

The parameters 8 and c are functions of C, and will be determined, for a given value of
C, from the characteristic equation, which can be generally written in the form
/(W,r03))=0.
This equation can be obtained in the same way as in linear dynamic analysis and it is
possible to solve it numerically.

(16)

(14)

94

R. LEWANDOWSKI

The proposed method for determining C is an iterative one. Assume, that a certain
approximation for C is known, denoted by C, (f is the index of the iteration steps).
Initially C = 0 or is equal to C for the previous value of a, if one is calculating C for
the set of values of a. Equations (11), (12), and (14)-(16) are used to compute OyV,, o,(^),
Cf+i corresponding to the chosen C,-. Inserting C = C,+i one repeats the iteration until
[C,+i-C,|s@eC;.
By using expressions (6) and (8) the dimensionless amplitude of the axial force
l^N^JEI can be written in the form
I2 N^/ El@@ (a/I)2 ('(dv/d^dS.
2.K

Jo

One can see that it does not depend explicitly on the parameter ^.
The following three end conditions cases have been studied.
3.1. SIMPLY SUPPORTED BEAM

For the end conditions u(0)=u(l)=0 and El d^v/d^^o^EI d^/d^^O, one

has @>i = @>3 = 0, and Di sinh 8 + D^ sin v = 0 and S2D@^ sinh 8 - v^D^ sin v = 0, which leads
to the following results;
v=n-n-,

v(S)=D4sin-irnf,

C =(EAa2/4l2K)t^,n2'JT2D'i,

w2=a)2+(EAa2fMn4v4/4l2Km)Dl,

n=l,2,...,

(17)

where co2=(n2@rr2/l2ml(n2@^@2/l2)EI+S~\ denotes the linear frequency of the beam and

D4 = 1/sin -n-nf, i=x/l, has been obtained from the condition u(^) = 1.
In this case the iterative process is superfluous and the mode of vibration is independent
of the vibration amplitude.

3.2. SIMPLY SUPPORTED-CLAMPED BHAM

For this case the end conditions u(0)=u(l)=0, El d2v/df\^o=0, and du/d^iO
are satisfied if Di = Dy = 0 and
Dz sinh 6 + 04 sin v = 0,

oD^ cosh 5 + D^ v cos v = 0.

(18)

The characteristic equation and the mode of vibration have the forms
tgh8-(8/v)tgv=0,
v(^) = Dy. sinh 8^+ D^ sin v^,
where one obtains D^ and Ds, by solving the equations D; sinh 8 + Ds, sin v = 0 and
Dzsinh 8i"+D4sin v^= 1. Inserting equation (20) into the fourth of equation (12) gives
EAa2/^/ , , 8 + cosh 5 sinh 8 _, 8 sinh 5 cos v+ v cosh 8 sin v
C=^[D28@@@@28@@@@+2WSV@@@@@@82^2@@@@@@

^^+sin^cos.\

(19)
(20)

NON-LINEAR FREE VIBRATIONS OF BEAMS

95

3.3. CLAMPED-CLAMPED BEAM

Moving the origin of co-ordinates to the middle of the beam and applying the boundary
conditions v(-0-5)= v(0-5)=0, and du/d^=i/2=dy/d^i/:>=0, one can write
D, cosh (5/2) + D3 cos (v/2) = 0,
Dz sinh (5/2)+D4 sin (y/2)=0,

SD, sinh (8/2) - Dj v sin (v/2) == 0,

5D;,cosh (5/2)+D4i/cos (v/2)=0, (22)

and the characteristic equation takes the form

[tg(@'/2)+(5/r)tgh(5/2)][(5/y)tg(^/2)-tgh(5/2)]=0.

(23)

Symmetric and antisymmetric modes of vibrations are expressed as

v(^) = D, cosh 8^+Dy cos v^

v(f) = Dy sinh 8^+ D^ sin v^

(24a, b)

where D, satisfies the equations

D, cosh (5/2) + Ds cos (v/2) = 0,

Di cosh 5^+ Dy cos yj= 1,

DZ sinh (5/2)+D4 sin (2//2)=0,

Dzsinh 5^+D4sin vH= 1.

(25a)
(25b)

The constant C is equal to

EAa2^ f 2 / . 5 ,55\ 4(/5 _ _ 5 f/ v
S\
c=^/2^LD@Tmh2cosh2-2)-,^52DlD3cosh2cos2(5tg2-ytgh2}
n /y c v\~\
@^Dsvl^-sm^cos-^} \,

(26a)

gAa^f -/ . 5 ,55\4^__ 5 vl 8 v\
C = @^- [^D^^smh ^ cosh ^+^ +-^r^ 0^4 cosh ^ cos ^ ( 5 tgh ^+ v tg ^1
-.-, I v sin y y\"l
+D^^2+^-COS2)J'

(26b)

for the symmetric and antisymmetric modes, respectively.

It can be noticed that the differences between the linear and "non-linear" modes of
vibrations depend only on the parameters 5 and v.
It is well-known that the modes of vibrations thus obtained for a simply supported
beam are orthogonal (see reference [4]) but for the other cases the situation is not clear.
The problem can be briefly discussed as follows.
Assume that w,(x, t) and w,(x, t) are two different known solutions with corresponding
axial forces N, and N,, amplitudes a, and a,, frequencies a, and &@@ and modes of
vibration v,(x) and v,(x). The following relationship then is to be satisfied:
| w,(x,t)im^(t)+EI^-[S+N^,t)]^}dx=0.

(27)

@'0
I
OX
r)x )
Substituting equation (8) into equation (27) shows that condition (27) is not satisfied,
because equation (8) is only an approximate solution of equation (7). It will be satisfied,
however, if the procedure of the Ritz method is applied to equation (27). One then obtains

J:-^^'-^-^^!:^)'-]^}-0- ^

Proceeding similarly, one can write

^,W[E,^-^M-\S^ fWJ^L.-o. (29)

@'o

I dx

2/K Jo \dx/

J dx- J

R. LEWANDOWSKI
96
Adding expressions (28) and (29), integrating by parts and using the boundary conditions

gives

^-^j;^.^^!:^)2^^:^)2.]!;^,.

((n2-^2) wzw

Jo2lK L Jo \dx/
' ' -Jo
Jo \<"/ J Jo aj.
This condition will be satisfied, and then the "non-linear modes" of vibration will be

orthogonal, if
d^vjdx^-^av^m,

(30)

or if
@A^f'/d^\2

@A^r'/d^\2^
@A^f'/d^V^@A^r'/d^\2^

2lK Jo \dx/

2/K"11..
Jo \dx/\ \

Av I

^
'>lie - V (\v i

Condition (30) is satisfied for a simply supported beam and for freely chosen a, an
For a simply supported-clamped and clamped-clamped beam, the "non-linear modest
of vibration will be orthogonal if for some given values of a, and a, the axial forces N,
and Nr (averaged over time) are equal.
4. NUMERICAL RESULTS
First, in this section, the results for a simply supported beam obtained by the Ritz and
Mei methods are compared with an exact solution. For the fundamental frequency, the
relation (17) between the ratios W/WL and a/i can be rewritten in the form
((./^l+^MXa/O2,

(32)

where i=v7/A, ^=0-5, K=I and S=0.

The exact backbone curve equation is given by (see references [1,13])
(^W^/W+i^/O2]/?2^2, Tr/2),

(33)

where k2=3i(a/i)2/2[l+3t(a/i)2] and F( ) is the elliptic integral of the first kind. Figure
1 shows the ratio W/WE for /A = 0-75 (Ritz method) and ^ = 1 (Mei method). Both methods
give too large values of w, but for the Ritz method the error is considerably smaller. The

Figure 1. Increase of the fundamental frequency error for the Ritz (@@) and Mei (---) methods vs.
amplitude of the vibration ratio a/i.

NON-LINEAR FREE VIBRATIONS OF BEAMS

97

Mei method is, in fact, a collocation-type method with freely chosen collocation points
?=0, n/u, 2-ir/w. The approximate solution parameters determined on the basis of this
method do not necessarily assign a minimum value to the functional J;2 Ldt. In respect
to the solution parameters, the minimum of the functional is obtained in the Ritz method
(see reference [18]), and for that reason@when the same form of approximate solution
is used in the two methods@the error of the non-linear frequency of vibrations obtained
by using the Ritz method is smaller.
Recently Bhashyam and Prathap [8], and Sarma and Varadan [9] interpreted w2 not
as a frequency but only as a proportionality coefficient between w and w at the point of
maximum amplitude of the transverse displacement. In this context a method for calculating the frequency, which of course is a very important characteristic feature of the motion,
is not generally available. For a simply supported beam the relation between the period
of vibrations and this coefficient depends on the ratio (a/i) (see Figure 1). For the reasons
mentioned above, the author prefers the Ritz method.
Table 1 gives the non-linear frequency ratio (w/w,)2 for the fundamental mode of a
simply supported beam as obtained by several methods. It can be observed that the Ritz
method is in good agreement with the exact results and those obtained by Mei [7], who
made use of a finite element formulation. The differences between the results obtained
for /j.=l from equations (31) and (32) are presented in Figure 1. As was discussed
recently [19], in the finite element formulation presented in reference [7] there are a few
inaccuracies which have probably reduced the errors shown in Figure 1 to small values.
TABLE 1
Comparison with published results for a simply supported beam
(w/wi)2
Present
analysis
a+/( /x=0-75
[10]
1-0
2-0
3-0

1-1875
1-7500
2-6875

Rao et at.
Mei
[7]
[2]

1-1855
1-7211
2-5670

1-1857
1-7379
2-6439

Srinivasan Cheung
[18]
[1]

1-1874
1-7477
2-6798

1-1864
1-7366
2-6422

Exact

1-1864
1-7366
2-6429

+ a is the amplitude in the middle of the beam.

Tables 2 and 3 give the variation of the non-linear frequency ratio (<u/<u,)2 and the
amplitude of the non-linear axial force ratio (Nl2/ El) with an increase of amplitude of
the vibration ratio (a/i) for simply supported-clamped and clamped-clamped beams,
respectively. In both tables the new results for the fundamental mode are compared with
others presented in references [5,9]. Good agreement is achieved for the axial force, but
there are significant differences between the frequency values reported in reference [9]
and those presented here. As can be observed, the normal force amplitude does not
depend appreciably on the value of the parameter /z.
Tables 4 and 5 present (w/w,)2 for four dominant modes for simply supported-clamped,
and clamped-clamped beams, respectively. It can be seen, that the second and fourth
frequencies for a clamped-clamped beam change with the amplitude ratio in the same
way as the first and second frequencies fora simply supported-clamped beam, respectively.
Shown in brackets are results obtained by Rao et al. [10]. The normal force amplitudes
presented in Tables 4 and 5 are correct only when one can neglect the interactions among
particular forms of vibrations.

98

R. LEWANDOWSKI
TABLE 2
Frequency and axial force ratio for a simply supported-clamped beam (5==0)
(w/u,)2

N^/EI

'@@@@@@@@@@@@@@@p^^'
at/i

Sarma et at.
Evensen
analysis
Sarma et al.
[5]_______^=0-75_______[9]_______^=0-75

[9]

0.2
0.4
0.6
0-8
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.o

present

1-0053
1-0213
1-0479
1-0850
1.1323
1-2947
1.5175
1-7978
2-1331
2.5217
2-9625
3-4550
3.9989

1-0040
1-0160
1-0360
1-0641
1-1001
1-2253
1-4005
1-6258
1-9011
2-2265
2-6020
3-0275
3-5031

1-0040
1-0610
1-0360
1-0638
1-0995
1-2220
1-3908
1-6038
1-8592
2-1556
2-4919
2-8675
3-2819

0-1103
0-4407
0-9902
1-7569
2-7387
6-1167
10-7771
16-6787
23-7907
32-0941
41-5779
52-2454
64-0989

analysis

0-1103
0-4408
0-9908
1-7588
2-7433
6-1365
10.8303
16.7863
23.9716
32-3620
41-9428
52-7063
64-6515

+ a is the amplitude in the middle of the beam.

TABLE 3
Frequency and axial force ratio for a clamped-clamped beam (5=0)
(^Nl2EI~
/;PresentPresent
Sarma et al.EvensenanalysisSarma et al. analysis
a\li [9][5]^=0-75[9]_______^=0-75
0.2
0.4
0.6
0.8
1.0

1-0024
1-0096
1-0216
1.0383
1-0598

1-0018
1-0072
1-0162
1-0288
1-0450

1-0018
1-0072
1-0162
1-0287
1-0449

0-0955
0-3902
0-8779
1-5606
2.4381

0.0976
0-3902
0-8779
1-5606
2-4383

1.5
2.0

1.1343
1-2382

1-1012
1-1800

1-1009
1-1789

5.4839
9-7452

5.4847
9-7474

2.5
3.0

1.3708
1-5320

1-2812
1-4050

1-2788
1-4002

15-2203
21.9087

15-2247
21-9156

3.5
4.0
4.5
5.0

1-7211
1.9377
2-1816
2-4522

1-5512
1-7200
1-9112
2-1250

1-5430
1-7066
1-8910
2-0957

29-8106
38-9281
49-2639
60-8218

29-8200
38-9372
49-2704
60-8208

(1-0439)

(1-1731)

(1-3820)

+ a is the amplitude in the middle of the beam.

NON-LINEAR FREE VIBRATIONS OF BEAMS

99

TABLE 4
Frequency ratio for a simply supported-clamped beam (5=0)
________________(wf^f__________

a/i

x=0-5l

0-2
0-4
0-6
0.8
1-0

1-0040
1-0160
1.0360
1.0638
1-0995

1-5
2-0

1-2220
1-3908

2-5
3-0

1-6038
1.8592

3-5

2-1556

First mode Second mode Third mode

x= 0.251
jc=0-81
jc=0-61
1.0058
1-0231
1.0517
1.0915
1-1421
(1-1080)
1.3142
1-5487
(1.4021)
1.8434
2-1970
(1-8387)
2-6096

1-0056
1-0225
1.0506
1-0901
1-1411

1-0066
1-0265
1-0592
1-1049
1-1630

1-3190
1.5694

1-3616
1-6345

1-8919
2-2855

1.9810
2.4018

2-7497

2.8981

Fourth mode

TABLE 5
Frequency ratio for a clamped-clamped beam (5=0)
_______________(^)2______
a/i

x=0.51

First mode
x=0x251

Second mode Third mode

x=0.51
x= 0-6251

Fourth mode

0-2 1-00181.00401-00511-0058
0-4 1-00721.01601-02031-0231
0-6 1-01621-03601-04541-0517
0-8 1-02871-06381-08021.0915
1-0 1.04491-09951-12461-1421
(1-0439)(1-1080)(1-1319)
1-5 1-10091-22201-27541.3142
2-0 1-17891.39091.48081.5487
(1-1731)(1-4021)(1.4864)
2-5 1-27881.60381-73871.8434
3-0 1.40021-85922-04842-1970
(1-3820)(1-8387)(2.0150)/
3-5 1.54302-15562-40972-6096

The effects of a variable axial restraint and slenderness ratio (//;) for a simply supportedclamped beam have been discussed recently by Prathap [20]. He has found that a softening
type of beam behaviour takes place at low values of spring constant and slenderness
ratio, while at high values of these parameters a hardening type of behaviour occurs. The
backbone curves for a few values of the parameter 5,= (KO+K,)(EA/I), for the fundamental mode, are shown in Figures 2-4. It is evident that there are also significant
non-linear effects in cases of large support flexibility.
All the above results were obtained for e = 0-0001, and five or less iterations are needed
to achieve this accuracy.

R. LEWANDOWSKI

1.0

1-1 1-2 1-3 1-4 1-5 1-6 1-7 1-8 1-9

<>>/0>[

Figure 2. Variation of tii/ai, for a simply supported beam for various a/i and S,.

1-0 1-1 1-2 1-3 1-4 1-5 1-6 1-7

tU/fa^

Figure 3. Variation of w/a, for a simply supported-clamped beam for various a/i and S,.

Figure 4. Variation of M/&), for a clamped beam for various a/i and 5,

NON-LINEAR FREE VIBRATIONS OF BEAMS

101

5. CONCLUSION
The Ritz method has been used for studying non-linear free vibrations of beams. The
analytical solution for a non-linear eigenvalue problem is given, and the orthogonality
conditions for non-linear modes of vibration are presented. The effects of both large
amplitude and partially movable ends have been considered.
The Frequency increases considerably with the amplitude of vibration when the support
has a large flexibility in the horizontal direction. It is also of interest that for the
fundamental mode shape parameter 5 ss 0-05, the beam considered behaves like one with
immovable ends.

REFERENCES
1. S. WOINOWSKY-K.RIEGER 1950 Journal of Applied Mechanics 17, 35-36. The effect of an axial
force on the vibration of hinged bars.
2. A. V. SRINIVASAN 1969 American Institute of Aeronautics and Astronautics Journal 3,1951-1953.
Large amplitude free oscillations of beams and plates.
3. K. SATO 1968 Bulletin of Japan Society of Mechanical Engineering 11, 1027-1036. Non-linear
free vibrations of beams with clamped ends and with one end clamped other end simply
supported.
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