Module: 14

Lecture: 2
Vibration of Bars or rods
Bar elongates/contracts.
Assumptions
1) Cross-section of bar normal to its length is essentially plane and perpendicular to the axis of the bar and
remains plane and perpendicular to the axis even after deformation.
2) The normal stress is the stress along axial direction x .
3) The rod considered is assumed to beuniform along its length.

p
2u
, d x P Adx 2
x
t
2
p
u
or ,
A 2 (1)
x
t
u
P
p
2u
X

or ,
AE 2
x AE
x
x
P

u
AE
..............(2)
x
x

If Cross Section

If A & E are ....... of x

& E is constant

(2) in (1) AE
or , C12

2 u 2u

x 2 t 2

2u
2u

x 2
t 2
C1

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speed of stress wave or displacement wave

kg .m / s 2 / m 2
m2
N / m2

kg / m3
s2
kg / m3

Page 1

Force-Free Vibration

u ( x, t ) u ( x) sin(t )..............(3)
Substituting (3) in (2) we can write
2U
C1 2 sin(t ) 2U ( x) sin(t )
x
2U
C12 2 2 0
x
U ( x) Aei x
C12 Aei x ( 2 ) 2 Aei x 0

C1

J B1 sin

x
C1

B2 cos

x
C1

.................(4)

Case I (Free-Free Bar)

u
0 x 0
x

x
x U

B1 cos
B2 sin

x
C1
C1
C1
x
At x 0, l

0 B1 0
x 0

0 B2 . sin
0
x x l
C1
C1
B2 should not be zero sin

n C1 n

l
l

fn

n
2l

C1

0 or ,
fn

n l
C1

n
2

U ( x) B2 cos

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n x

n x
n C1 x
B2 cos
B2 cos
C1
l
l C1

Page 2

Complete Solution

n 1

B2 0

x 0

x l

t n

Both ends clamp at x 0, l U 0

Case II

n
sin
l

n x
l

u ( x, t ) Bn cos

B1 sin

l
C1

n C1 n

l
l

n l
C1

n x
n C1 x
. B1 sin
l
l C1

Mode Shape U ( x) B1 sin

Solution u ( x, t )

B
n 1

sin

n
n x
sin
l
l

Case III
Cantilever Bar or rod (clamped at x=0 & free at x=L)

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Page 3

U B1 sin

x
C1

B2 cos

x
C1

at x 0 0 B2 0

0
x

l
l

0
(2n 1)
B1 cos
C1
C1
C1
2

at x l x 0

n 1, 2,...........

E
(2n 1)
.
2l

Mode Shape

(2n 1)

U Bn sin
2l

E x

C1

(2n 1)
x
Bn sin
2l

Complete Solution

u ( x, t ) Bn sin
n 1

(2n 1)
(2n 1) x
sin
l
2l

.......... n

To obtain response, we have to specify initial condition

x
u ( x, 0) u0
t 0;
l

u ( x, ) 0
Assume at Applying the 2nd initial condition

(2n 1)
2l

Bn sin

(2n 1) x
2l

To find Bn , multiply both sides by sin

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[as sin n 1]

(2n 1) x
and integrate over o to l
2l

Page 4

u0 x
4 u l (1) n 1
(2n 1) x
sin
dx 0
...........( a) [Verified with matlab program symbol.m at
l
2l
(2n 1) 2 2
o
l

at D:/usr/dkmaiti/matlab/dynamics]
l

sin

l
(2n 1) x
dx ..............(b)
2l
2

Bn l 4 u0l (1) n 1

2
(2n 1) 2 2

or , Bn

8 u0 (1) n 1
(2n 1) 2 2

Complete Solution

(2n 1)
8u0 (1) n 1
(2n 1) x
sin
cos
2 2
l
2l
n 1 (2 n 1)

u ( x, t )

E
t

Q- Plot various time response curves for different n (n = 1,2,3,4) and show the convergence.

Calculate response Analytically& Numerically using damped discrete system and compare the results.

Fixed Ended Bar

Continuous System (distributed system)

A- Cross section
E Youngs modulus
density (mass/m3)

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Page 5

AE
(l / s )

A l
n
; n
S
l

E
m

Continuous system solution

n
l

un Bn sin

x1

3L
5L
7L
9L
L
, x2
, x3
, x4
, x5
10
10
10
10
10

n 1, 2,................

n x
l

Mode Shape

1 3.1416

l 2

B1 0.3090, 0.8090, 1.0, 0.8090, 0.3090

2 6.2832

l 2

B2 [0.5878, 0.9511, 0, 0.9511, 0.5878]

3 9.4248

l 2

B3 [0.8090, 0.3090, 1.0, 0.3090, 0.8090]

4 12. 5664

E
B4 [0.9511, 0.5078, 0.0, 0.5878, 0.9511]
l 2

5 15.7080

E
B5 [1, 1, 1, 1, 1.0]
l 2

Discrete System

5 AE
l
A l
m
5
k

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Page 6

 3 1 0 0 0
1 2 1 0 0

5 AE
0 1 2 1 0
[K ]
l

0 0 1 2 1
0 0 0 1 3
1
0
Al
0
[M ]
5
0
0

0 0 0 0
1 0 0 0
0 1 0 0

0 0 1 0
0 0 0 1

K 2[M ] 0
From continuous system solution

1 3.0902

E
l 2

1 3.1416

2 5.8779

E
l 2

2 6.2832..........

Error 6.4505%

3 8.0902

E
l 2

3 9.4248..........

Error 14.16 %

4 9.5106

E
l 2

4 12.5664..........

Error 24.317 %

5 10.00

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E
l 2

E
l 2

5 15.7080..........

Error 1.636 %

Error 36.338%

Page 7