BENDING FREQUENCIES OF BEAMS, RODS, AND PIPES Revision K

By Tom Irvine
Email: tomirvine@aol.com
June 24, 2004
Introduction
The fundamental frequencies for typical beam configurations are given in Table 1.
Higher frequencies are given for selected configurations.

Table 1. Bending Frequencies

Configuration Frequency (Hz)

1 3.5156 EI
f1 =
2 L2
Cantilever

f 2 = 6.268 f1

f 3 = 17.456 f1

1 3EI
Cantilever with f1=
End Mass m
2 (0.2235 L + m ) L3

Simply-Supported 2
1 n EI
at both Ends fn = , n = 1, 2, 3, ...
(Pinned-Pinned) 2 L

1 22.373 EI
f1=
2 L2
Free-Free

f 2 = 2.757 f 1

f 3 = 5.404 f 1

Fixed-Fixed Same as Free-Free

1 15.418 EI
f1=
2 L2
Fixed - Pinned

1
where

E is the modulus of elasticity.

I is the area moment of inertia.
L is the length.
is the mass density (mass/length).

The derivations and examples are given in the appendices per Table 2.

Table 2. Table of Contents

Appendix Title Mass Solution

A Cantilever Beam I End mass. Beam mass Approximate

is negligible
B Cantilever Beam II Beam mass only. Approximate

C Cantilever Beam III Both beam mass and Approximate

the end mass are
significant
D Cantilever Beam IV Beam mass only. Eigenvalue

E Beam Simply- Center mass. Beam Approximate

Supported at Both mass is negligible.
Ends I
F Beam Simply- Beam mass only Eigenvalue
Supported at Both
Ends II
G Free-Free Beam Beam mass only Eigenvalue

H Steel Pipe example, Beam mass only Approximate

Simply Supported
and Fixed-Fixed
Cases
I Rocket Vehicle Beam mass only Approximate
Example, Free-free
Beam
J Fixed-Fixed Beam Beam mass only Eigenvalue

Reference

1. T. Irvine, Application of the Newton-Raphson Method to Vibration Problems,

Vibrationdata Publications, 1999.

2
 APPENDIX A

Cantilever Beam I
Consider a mass mounted on the end of a cantilever beam. Assume that the end-mass is
much greater than the mass of the beam.

Figure A-1.

E is the modulus of elasticity.

I is the area moment of inertia.
L is the length.
g is gravity.
m is the mass.

The free-body diagram of the system is

Figure A-2.

R is the reaction force.

MR is the reaction bending moment.

3
Apply Newtons law for static equilibrium.

+ forces = 0 (A-1)

R - mg = 0 (A-2)
R = mg (A-3)

At the left boundary,

+ moments = 0 (A-4)

MR - mg L = 0 (A-5)

MR = mg L (A-6)

Now consider a segment of the beam, starting from the left boundary.

V
y

MR M
R

Figure A-3.

V is the shear force.

M is the bending moment.
y is the deflection at position x.

Sum the moments at the right side of the segment.

+ moments = 0 (A-7)

MR - R x - M = 0 (A-8)

4
 M = MR - R x (A-9)

The moment M and the deflection y are related by the equation

M = EI y (A-10)

EI y = M R R x (A-11)

EI y = mgL mg x (A-12)

EI y = mg ( L x) (A-13)

mg
y = ( L x) (A-14)
EI

Integrating,

x2
mg
y = Lx + a (A-15)
EI 2

Note that a is an integration constant.

Integrating again,

3
mg x x
2
y( x ) = L + ax + b (A-16)
EI 2 6

A boundary condition at the left end is

y(0) = 0 (zero displacement) (A-17)

Thus
b=0 (A-18)

Another boundary condition is

y' ( 0) = 0 (zero slope) (A-19)

5
Applying the boundary condition to equation (A-16) yields,

a=0 (A-20)

The resulting deflection equation is

3
mg x x
2
y( x ) = L (A-21)
EI 2 6

The deflection at the right end is

3
mg L L
2
y( L) = L (A-22)
EI 2 6

mgL3
y ( L) = (A-23)
3EI

Recall Hookes law for a linear spring,

F=ky (A-24)

F is the force.
k is the stiffness.

The stiffness is thus

k=F/y (A-25)

The force at the end of the beam is mg. The stiffness at the end of the beam is

mg
k = (A-26)
mgL3
3EI

3EI
k= (A-27)
L3

6
The formula for the natural frequency fn of a single-degree-of-freedom system is

1 k
fn = (A-28)
2 m

The mass term m is simply the mass at the end of the beam. The natural frequency of the
cantilever beam with the end-mass is found by substituting equation (A-27) into (A-28).

1 3 EI
fn = (A-29)
2 mL3

7
 APPENDIX B

Cantilever Beam II

Consider a cantilever beam with mass per length . Assume that the beam has a uniform
cross section. Determine the natural frequency. Also find the effective mass, where the
distributed mass is represented by a discrete, end-mass.

EI,

Figure B-1.

The governing differential equation is

4 y 2 y
EI = (B-1)
x 4 t 2

The boundary conditions at the fixed end x = 0 are

y(0) = 0 (zero displacement) (B-2)

dy
= 0 (zero slope) (B-3)
dx x= 0

The boundary conditions at the free end x = L are

d2y
= 0 (zero bending moment) (B-4)
dx 2
x=L

d 3y
= 0 (zero shear force) (B-5)
dx 3
x=L

Propose a quarter cosine wave solution.

8
 x
y( x) = y o 1 cos (B-6)
2L

dy x
= y o sin (B-7)
dx 2L 2L

d2y 2 x
= y o cos (B-8)
dx 2 2L 2L

d 3y x 3 x
= y o sin (B-9)
dx 3 2L 2L

The proposed solution meets all of the boundary conditions expect for the zero shear
force at the right end. The proposed solution is accepted as an approximate solution for
the deflection shape, despite one deficiency.

The Rayleigh method is used to find the natural frequency. The total potential energy and
the total kinetic energy must be determined.

The total potential energy P in the beam is

2
EI L d 2 y
2 0 dx 2
P= dx (B-10)

By substitution,

2 2
EI L x
2 0
P= y o cos dx (B-11)
2 L 2L

2
EI 2 L x 2
P= y
2 o 2 L 0 cos 2 L dx

(B-12)

2
EI 2 L 1 x
P= y
2 o 2 L 0 2 1 + cos L dx

(B-13)

9
 2 L
EI 2 1 L x
P= y x + sin (B-14)
2 o 2 L 2 L
0

4
EI 2
P=
2
[ ]
yo
32 L4
L (B-15)

1 4 EI
P=
64
yo
3
2
[ ] (B-16)
L

The total kinetic energy T is

1 L 2
T = 2n [ y] dx (B-17)
2 0

2
1 2 L x
T = n y o 1 cos dx (B-18)
2 0 2 L

1 2 L x x
T =
2
[ ]
2n y o 1 2 cos + cos2 dx
0 2L 2L
(B-19)

1 2 L x x
T =
2
[ ]
2n y o 1 2 cos + cos2 dx
0 2L 2L
(B-20)

1 2 L x 1 1 x
T =
2
[ ]
2n y o 1 2 cos + + cos dx
0 2L 2 2 L
(B-21)

1 2 L 3 x x
T =
2
[ ]
2n y o 2 cos + cos dx
0 2 2L L
(B-22)

L
1 2 3 4 L x L x
2
2
[ ]
T = n y o x sin + sin
2 2L L
(B-23)
0

1 2 3 4L
T =
2
[ ]
2n y o L
2
(B-24)

10
 1 2 8
T =
4
[ ]
2n y o L 3

(B-25)

Now equate the potential and the kinetic energy terms.

1 2 8 1 4 EI
4
[ ]
2n y o L 3 =
64
yo
3
2
[ ] (B-26)
L

8 1 EI
2n L 3 = 4 (B-27)
16 L3

EI
4
L3
2n = (B-28)
16L 3 8

1/2
4 EI

L3
n = (B-29)
16L 3 8

1/2
4 EI

1 L4
f n = (B-30)
2 8
16 3

1/2
4 EI

1 L4
f n = (B-31)
2 8
16 3

11
 1/2
2
1 EI
f n = (B-32)
2
2 4 L 8
3

1 3.664 EI
f n (B-33)
2 L2

Recall that the stiffness at the free of the cantilever beam is

3EI
k= (B-34)
L3

The effective mass meff at the end of the beam is thus

k
m eff = (B-35)
[ 2 fn ] 2

3EI
m eff = (B-36)
3 1 3.664 EI 2
L 2
2 L2

3EI
m eff = (B-37)
L3 EI
{13.425}
L4

m eff = 0.2235 L (B-38)

12
 APPENDIX C

Cantilever Beam III

Consider a cantilever beam where both the beam mass and the end-mass are significant.

g
EI,
m

Figure C-1.

The total mass mt can be calculated using equation (B-38).

m t = 0.2235L + m (C-1)

Again, the stiffness at the free of the cantilever beam is

3EI
k= (C-2)
L3

The natural frequency is thus

1 3EI
fn (C-3)
2 ( 0.2235L + m ) L3

13
 APPENDIX D

Cantilever Beam IV
This is a repeat of part II except that an exact solution is found for the differential
equation. The differential equation itself is only an approximation of reality, however.

EI,

Figure D-1.

The governing differential equation is

4 y 2 y
EI = (D-1)
x 4 t 2

Note that this equation neglects shear deformation and rotary inertia.
Separate the dependent variable.

y( x, t ) = Y( x)T(t ) (D-2)

4 [Y( x)T( t )] 2 [Y( x)T( t )]

EI = (D-3)
x 4 t 2

d 4 d 2
EI T(t ) Y ( x ) = Y( x ) T(t ) (D-4)
4 2
dx dt

14
 d 4 d 2
Y ( x ) 2 T(t )
EI dx 4 dt
= (D-5)
Y ( x) T(t )

Let c be a constant

d 4 d 2
4 Y( x) 2 T(t )
EI dx dt
= = c2 (D-6)
Y( x ) T(t )

Separate the time variable.

d 2
2 T(t )
dt
= c2 (D-7)
T(t )

d2
T(t ) + c 2 T(t ) = 0 (D-8)
dt 2

Separate the spatial variable.

d 4
4 Y( x )
EI dx
= c2 (D-9)
Y ( x )

d4
Y( x) c 2 Y( x) = 0 (D-10)
dx 4 EI

A solution for equation (D-10) is

Y( x) = a1 sinh( x) + a 2 cosh( x) + a 3 sin( x) + a 4 cos( x) (D-11)

15
 dY( x)
= a1 cosh( x) + a 2 sinh( x) + a 3 cos( x) a 4 sin( x) (D-12)
dx

d 2 Y ( x)
= a1 2 sinh( x) + a 2 2 cosh( x) a 3 2 sin( x) a 4 2 cos( x) (D-13)
dx 2

d 3 Y( x)
= a1 3 cosh( x) + a 2 3 sinh( x) a 3 3 cos( x) + a 4 3 sin( x) (D-14)
dx 3

d 4 Y ( x)
= a1 4 sinh( x) + a 2 4 cosh( x) + a 3 4 sin( x) + a 4 4 cos( x) (D-15)
dx 4

Substitute (D-15) and (D-11) into (D-10).

{a14 sinh(x) + a 24 cosh(x) + a 34 sin(x) + a 44 cos(x)}

{ }
c 2 a1 sinh( x) + a 2 cosh( x) + a 3 sin( x) + a 4 cos( x) = 0
EI

(D-16)

{
4 a1 sinh( x) + a 2 cosh( x) + a 3 sin( x) + a 4 cos( x) }

{ }
c 2 a1 sinh( x) + a 2 cosh( x) + a 3 sin( x) + a 4 cos( x) = 0
EI

(D-17)
The equation is satisfied if

4 = c2 (D-18)
EI

1/4
= c 2 (D-19)
EI

16
The boundary conditions at the fixed end x = 0 are

Y(0) = 0 (zero displacement) (D-20)

dY
= 0 (zero slope) (D-21)
dx x= 0

The boundary conditions at the free end x = L are

d 2Y
= 0 (zero bending moment) (D-22)
dx 2
x= L

d 3Y
= 0 (zero shear force) (D-23)
dx 3
x= L

Apply equation (D-20) to (D-11).

a2 + a4 = 0 (D-24)

a4 = a2 (D-25)

Apply equation (D-21) to (D-12).

a1 + a 3 = 0 (D-26)

a 3 = a1 (D-27)

Apply equation (D-22) to (D-13).

a1 sinh( L) + a 2 cosh( L) a 3 sin( L) a 4 cos( L) = 0 (D-28)

Apply equation (D-23) to (D-14).

a1 cosh( L) + a 2 sinh( L) a 3 cos( L) + a 4 sin( L) = 0 (D-29)

Apply (D-25) and (D-27) to (D-28).

a1 sinh( L) + a 2 cosh( L) + a1 sin( L) + a 2 cos( L) = 0 (D-30)

17
 { } {
a1 sin( L) + sinh( L) + a 2 cos( L) + cosh( L) = 0 } (D-31)

Apply (D-25) and (D-27) to (D-29).

a1 cosh( L) + a 2 sinh( L) + a1 cos( L) a 2 sin( L) = 0 (D-32)

{ } {
a1 cos( L) + cosh( L) + a 2 sin( L) + sinh( L) = 0 } (D-33)

Form (D-31) and (D-33) into a matrix format.

sin( L) + sinh( L) cos( L) + cosh( L) a1 0

= (D-34)
cos( L) + cosh( L) sin( L) + sinh( L) a 2 0

By inspection, equation (D-34) can only be satisfied if a1 = 0 and a2 = 0. Set the

determinant to zero in order to obtain a nontrivial solution.

{ sin 2 (L) + sinh2 (L)} {

cos( L) + cosh( L) }2 = 0 (D-35)

{ sin 2 (L) + sinh 2 (L)} {cos2 (L) + 2 cos(L) cosh(L) + cosh2 (L)} = 0
(D-36)

sin 2 ( L) + sinh 2 ( L) cos2 ( L) 2 cos( L) cosh( L) cosh 2 ( L) = 0

(D-37)

2 2 cos( L) cosh( L) = 0 (D-38)

1 + cos( L) cosh( L) = 0 (D-39)

cos( L) cosh( L) = 1 (D-40)

There are multiple roots which satisfy equation (D-40). Thus, a subscript should be
added as shown in equation (D-41).

18
 cos( n L) cosh( n L) = 1 (D-41)

The subscript is an integer index. The roots can be determined through a combination of
graphing and numerical methods. The Newton-Rhapson method is an example of an
appropriate numerical method. The roots of equation (D-41) are summarized in Table D-
1, as taken from Reference 1.

Table D-1. Roots

Index n L
n=1 1.87510
n=2 4.69409
n>3 (2n-1)/2

Note: the root value formula for n > 3 is approximate.

Rearrange equation (D-19) as follows

EI
c2 = n4 (D-42)

Substitute (D-42) into (D-8).

d2 EI
T(t ) + n 4 T(t ) = 0 (D-43)
dt 2

Equation (D-43) is satisfied by

EI EI
T(t ) = b1 sin n 2 t + b 2 cos n 2 t (D-44)

19
The natural frequency term n is thus

EI
n = n2 (D-45)

Substitute the value for the fundamental frequency from Table D-1.

187510
. 2 EI
1 = (D-46)
L

1 3.5156 EI
f1 = (D-47)
2 L2

Substitute the value for the second root from Table D-1.

2
4.69409 EI
2 = (D-48)
L

1 22.034 EI
f2 = (D-49)
2 L2

f 2 = 6.268 f1 (D-50)

Compare equation (D-47) with the approximate equation (B-33).

The effective mass meff at the end of the beam for the fundamental mode is thus

k
m eff = (D-51)
[ 2 fn ] 2

3EI
m eff = (D-52)
1 35156 2
3 . EI
L 2
2 L2

20
 3EI
m eff = (D-53
L3 EI
{12.3596}
L4

m eff = 0.2427 L (D-54

21
 APPENDIX E

Beam Simply-Supported at Both Ends I

Consider a simply-supported beam with a discrete mass located at the middle. Assume
that the mass of the beam itself is negligible.

EI
m

L1 L1

Figure E-1.

The free-body diagram of the system is

L1 L1

Ra mg Rb

Figure E-2.

Apply Newtons law for static equilibrium.

+ forces = 0 (E-1)

Ra + Rb - mg = 0 (E-2)
Ra = mg - Rb (E-3)

22
At the left boundary,

+ moments = 0 (E-4)

Rb L - mg L1 = 0 (E-5)

Rb = mg ( L1 / L ) (E-6)

Rb = (1/2) mg (E-6)

Substitute equation (E-6) into (E-3).

Ra = mg (1/2)mg (E-7)

Ra = (1/2)mg (E-8)

x
V y

L1

Ra M
mg

Sum the moments at the right side of the segment.

+ moments = 0 (E-9)

- Ra x + mg <x-L1 > - M = 0 (E-10)

23
Note that < x-L1> denotes a step function as follows

0, for x < L1

< x L1 > =
x L , for x L
1 1
(E-11)

M = - Ra x + mg <x-L1 > (E-12)

M = - (1/2)mg x + mg <x-L1 > (E-13)

M = [ - (1/2) x + <x-L1 > ][ mg ] (E-14)

EI y = [ - (1/2) x + < x - L1 > ][ mg ] (E-15)

mg
y = [ - (1/2) x + < x - L1 > ] (E-16)
EI

1 2 1 mg
y = [ - x + < x - L1 > 2 ] + a (E-17)
4 2 EI

1 1 mg
y( x ) = - x 3 + < x - L1 > 3 + ax + b (E-18)
12 6 EI

The boundary condition at the left side is

y(0) = 0 (E-19)

This requires
b=0 (E-20)

Thus
1 1 mg
y( x ) = - x 3 + < x - L1 > 3 + ax (E-18)
12 6 EI

The boundary condition on the right side is

y(L) = 0 (E-21)

24
 1 3 1 3 mg
- 12 L + 6 < L - L1 > EI + aL = 0 (E-22)

1 3 1 3 mg
- 12 L + 48 L EI + aL = 0 (E-23)

4 3 1 3 mg
- 48 L + 48 L EI + aL = 0 (E-24)

3 3 mg
- 48 L EI + aL = 0 (E-25)

1 3 mg
- 16 L EI + aL = 0 (E-26)

1 3 mg
aL = L (E-27)
16 EI

1 2 mg
a = L (E-28)
16 EI

Now substitute the constant into the displacement function

1 1 mg 1 2 mg
y( x ) = - x 3 + < x - L1 > 3 + L [x ] (E-29)
12 6 EI 16 EI

1 1 1 mg
y( x ) = - x 3 + xL2 + < x - L1 > 3 (E-30)
12 16 6 EI

The displacement at the center is

1 L 3 1 L mg
L 1 L
y = - + L2 + < - L1 > 3 (E-31)
2 12 2 16 2 6 2 EI

25
 L 1 1 mgL3
y = - + (E-32)
2 96 32 EI

L 1 3 mgL3
y = - + (E-33)
2 96 96 EI

L 2 mgL
3
y = (E-34)
2 96 EI

L 1 mgL
3
y = (E-35)
2 48 EI

Recall Hookes law for a linear spring,

F=ky (E-36)

F is the force.
k is the stiffness.

The stiffness is thus

k=F/y (E-37)

The force at the center of the beam is mg. The stiffness at the center of the beam is

mg
k = (E-38)
mgL3

48EI

48 EI
k= (E-39)
L3

The formula for the natural frequency fn of a single-degree-of-freedom system is

26
 1 k
fn = (E-40)
2 m

The mass term m is simply the mass at the center of the beam.

1 48 EI
fn = (E-41)
2 mL3

1 EI
fn = (6.928) (E-42)
2 mL3

27
 APPENDIX F

Beam Simply-Supported at Both Ends II

Consider a simply-supported beam as shown in Figure F-1.

EI,

Figure F-1.

Recall that the governing differential equation is

4 y 2 y
EI = (F-1)
x 4 t 2

The spatial solution from section D is

Y( x) = a1 sinh( x) + a 2 cosh( x) + a 3 sin( x) + a 4 cos( x) (F-2)

d 2 Y ( x)
= a1 2 sinh( x) + a 2 2 cosh( x) a 3 2 sin( x) a 4 2 cos( x) (F-3)
dx 2

The boundary conditions at the left end x = 0 are

Y(0) = 0 (zero displacement) (F-4)

d2Y
= 0 (zero bending moment) (F-5)
dx 2 x = 0

The boundary conditions at the free end x = L are

28
 Y(L) = 0 (zero displacement) (F-6)

d 2Y
= 0 (zero bending moment) (F-7)
dx 2
x= L

Apply boundary condition (F-4) to (F-2).

a2 + a4 = 0 (F-8)

a4 = a2 (F-9)

Apply boundary condition (F-5) to (F-3).

a2 a4 = 0 (F-10)

a2 = a4 (F-11)

Equations (F-8) and (F-10) can only be satisfied if

a2 = 0 (F-12)
and
a4 = 0 (F-13)

The spatial equations thus simplify to

Y( x) = a1 sinh( x) + a 3 sin( x) (F-14)

d 2 Y( x)
= a1 2 sinh( x) a 3 2 sin( x ) (F-15)
dx 2

Apply boundary condition (F-6) to (F-14).

a1 sinh( L) + a 3 sin( L) = 0 (F-16)

Apply boundary condition (F-7) to (F-15).

29
 a1 2 sinh( L) a 3 2 sin( L) = 0 (F-17)

a1 sinh( L) a 3 sin( L) = 0 (F-18)

sinh( L) sin( L) a 1 0

= (F-19)
sinh( L) sin( L) a 3 0

By inspection, equation (F-19) can only be satisfied if a1 = 0 and a3 = 0. Set the

determinant to zero in order to obtain a nontrivial solution.

sin( L) sinh( L) sin( L) sinh( L) = 0 (F-20)

2 sin( L) sinh( L) = 0 (F-21)

sin( L) sinh( L) = 0 (F-22)

Equation (F-22) is satisfied if

n L = n, n = 1, 2, 3,.... (F-23)

n
n = , n = 1, 2, 3,.... (F-24)
L

The natural frequency term n is

EI
n = n2 (F-25)

2
n EI
n = , n = 1, 2, 3,... (F-26)
L

2
1 n EI
fn = , n = 1, 2, 3,... (F-27)
2 L

30
 2
1 n EI
fn = , n = 1, 2, 3,... (F-28)
2 L

Now calculate effective mass at the center of the beam for the fundamental frequency.

2
EI
1 = (F-29)
L

Recall the natural frequency equation for a single-degree-of-freedom system.

k
1 = (F-30)
m

Recall the beam stiffness at the center from equation (E-39).

48EI
k= (F-31)
L3

Substitute equation (F-31) into (F-30).

48EI
1 = (F-32)
mL3

Substitute (F-32) into (F-29).

2
48EI EI
= (F-33)
mL3 L

4
48EI EI
= (F-34)
mL3 L

4
48 1
= (F-35)
mL3 L

1 4
= (F-36)
m 48 L

The effective mass at the center of the beam for the first mode is

31
 48 L
m= (F-37)
4

32
 APPENDIX G

Free-Free Beam

Consider a uniform beam with free-free boundary conditions.

EI,

Figure G-1.

The governing differential equation is

4 y 2 y
EI = (G-1)
x 4 t 2

Note that this equation neglects shear deformation and rotary inertia.

The following equation is obtain using the method in Appendix D

d4
Y( x) c 2 Y( x) = 0 (G-2)
dx 4 EI

The proposed solution is

Y( x) = a1 sinh( x) + a 2 cosh( x) + a 3 sin( x) + a 4 cos( x) (G-3)

dY( x)
= a1 cosh( x) + a 2 sinh( x) + a 3 cos( x) a 4 sin( x) (G-4)
dx

d 2 Y ( x)
= a1 2 sinh( x) + a 2 2 cosh( x) a 3 2 sin( x) a 4 2 cos( x) (G-5)
dx 2

d 3 Y(x )
= a1 3 cosh ( x ) + a 2 3 sinh ( x ) a 3 3 cos( x ) + a 43 sin ( x ) (G-6)
dx 3
Apply the boundary conditions.

33
 d2Y
=0 (zero bending moment) (G-7)
dx 2 x =0

a2 a4 = 0 (G-8)

a4 = a2 (G-9)

d 3Y
=0 (zero shear force) (G-10)
dx 3 x =0

a1 a 3 = 0 (G-11)

a 3 = a1 (G-12)

d 2 Y(x )
= a1 2 [sinh ( x ) sin (x )] + a 2 2 [cosh ( x ) cos( x )] (G-13)
dx 2

d3 Y ( x )
= a13 [cosh ( x ) cos(x )] + a 23 [sinh (x ) + sin ( x )] (G-14)
dx 3

d 2Y
= 0 (zero bending moment) (G-15)
dx 2
x= L

34
 a1[sinh ( L ) sin ( L )] + a 2 [cosh ( L ) cos( L )] = 0 (G-16)

d 3Y
= 0 (zero shear force) (G-17)
dx 3
x= L

a1[cosh ( L ) cos( L )] + a 2 [sinh ( L ) + sin ( L )] = 0 (G-18)

Equation (G-16) and (G-18) can be arranged in matrix form.

sinh ( L ) sin ( L ) cosh ( L ) cos( L ) a1 0

= (G-19)

cosh ( L ) cos(L ) sinh ( L ) + sin ( L ) a 2 0

Set the determinant equal to zero.

[sinh (L ) sin (L )][sinh (L ) + sin (L )] [cosh (L ) cos(L )]2 = 0 (G-20)

sinh 2 ( L ) sin 2 ( L ) cosh 2 ( L ) + 2 cosh ( L )cos( L ) cos 2 (L ) = 0 (G-21)

+ 2 cosh ( L )cos( L ) 2 = 0 (G-22)

cosh ( L )cos(L ) 1 = 0 (G-23)

The roots can be found via the Newton-Raphson method, Reference 1. The first root is

L = 4.73004 (G-24)

35
 EI
n = n2 (G-25)

2
4.73004 EI
1= (G-26)
L

22.373 EI
1= L2 (G-27)

The second root is

L = 7.85320 (G-28)

EI
n = n2 (G-29)

2
7.85320 EI
2 = L (G-30)

61.673 EI
2 = 2 (G-31)
L

2 = 2.757 1 (G-32)

The third root is

L = 10.9956 (G-33)

EI
n = n2 (G-34)

2
10.9956 EI
3= (G-35)
L

36
 120.903 EI
3= 2 (G-36)
L

3 = 5.404 1 (G-37)

Equation (G-18) can be expressed as

cosh ( L ) + cos( L )
a 2 = a1 (G-38)
sinh ( L ) + sin ( L )

Recall

a4 = a2 (G-39)

a 3 = a1 (G-40)

The displacement mode shape is thus

Y( x ) = a1[sinh ( x ) + sin ( x )] + a 2 [cosh (x ) + cos(x )] (G-41)

cosh ( L ) + cos( L )
Y( x ) = a1[sinh ( x ) + sin ( x )] + [cosh(x ) + cos(x )] (G-42)
sinh ( L ) + sin ( L )

37
An alternate form is

Y(x ) =

a1{[sinh ( L ) + sin ( L )][sinh (x ) + sin ( x )] + [ cosh ( L ) + cos( L )][cosh (x ) + cos( x )]}

(G-43)

The first derivative is

dy
=
dx

a1 {[sinh ( L ) + sin (L )][cosh ( x ) + cos( x )] + [ cosh ( L ) + cos(L )][sinh ( x ) sin ( x )]}

(G-44)

The second derivative is

d2y
=
dx 2

a12 {[sinh ( L ) + sin ( L )][sinh ( x ) sin ( x )] + [ cosh ( L ) + cos( L )][cosh ( x ) cos( x )]}

(G-45)

38
 APPENDIX H

Pipe Example
Consider a steel pipe with an outer diameter of 2.2 inches and a wall thickness of 0.60
inches. The length is 20 feet. Find the natural frequency for two boundary condition
cases: simply-supported and fixed-fixed.

The area moment of inertia is

I=

64
[
Do4 D i4 ] (H-1)

D o = 2.2 in (H-2)

D i = 2.2 2(0.6) in (H-3)

D i = 2.2 1.2 in (H-4)

D i = 1.0 in (H-5)

I=

32
[
2 .2 4 1 .0 4 ] in 4 (H-6)

I = 1.101 in 4 (H-7)

The elastic modulus is

( )
E = 30 10 6
lbf
in 2
(H-8)

The mass density is

= mass per unit length. (H-9)

= 0.282

lbm
3 4
in
[ ]
2.2 2 1.0 2 in 2

(H-10)

39
 lbm
= 0.850 (H-11)
in

( )
30 106
lbf
in 2
1.101 in 4
1 slug ft / sec 2 12 in
1 lbf

1 ft
EI
=
lbm 1 slug
0.850
in 32.2 lbm

(H-12)

EI

( )
= 1.225 10 5
in 2
sec
(H-13)

The natural frequency for the simply-supported case is

2
1 n EI
fn = , n = 1, 2, 3,... (H-14)
2 L

Substitute equation (H-13) into (H-14).

2


1
f1 =
2

12 in
( )
1.225 105 in 2
sec
(H-15)
(20 ft )
1ft

f1 = 3.34 Hz (simply-supported) (H-16)

40
The natural frequency for the fixed-fixed case is

1 22.37 EI
f1 = (H-17)
2 L2

1
f1 =

2
22.37
2

( )
1.225 10
5 in 2
sec
(H-18)
12 in
(20 ft )
1 ft

f1 = 7.58 Hz (fixed-fixed) (H-19)

41
 APPENDIX I

Suborbital Rocket Vehicle

Consider a rocket vehicle with the following properties.

mass = 14078.9 lbm (at time = 0 sec)

L = 372.0 inches.

14078.9 lbm
=
372.0 inches

lbm
= 37.847
in

The average stiffness is

6
EI = 63034 (10 ) lbf in^2

The vehicle behaves as a free-free beam in flight. Thus

1 22.37 EI
f1 = (I-1)
2 L2

[63034e + 06 lbf in 2 ]slug ftlbf/ sec 2 12ftin 32slugs

.2 lbm

1 22.37
f1 =
2 (372 in )2 lbm
37.847
in

(I-2)

f1 = 20.64 Hz (at time = 0 sec) (I-3)

Note that the fundamental frequency decreases in flight as the vehicle expels propellant
mass.

42
 APPENDIX J

Fixed-Fixed Beam

Consider a fixed-fixed beam with a uniform mass density and a uniform cross-section.
The governing differential equation is

4 y 2 y
EI = (J-1)
x 4 t 2

The spatial equation is

d4
Y( x) c 2 Y( x) = 0 (J-2)
dx 4 EI

The boundary conditions for the fixed-fixed beam are:

Y(0) = 0 (J-3)

dY( x )
=0 (J-4)
dx x =0

Y ( L) = 0 (J-5)

dY( x )
=0 (J-6)
dx x =L

The eigenvector has the form

Y( x) = a1 sinh( x) + a 2 cosh( x) + a 3 sin( x) + a 4 cos( x) (J-7)

dY( x )
= a 1 cosh ( x ) + a 2 sinh ( x ) + a 3 cos(x ) a 4 sin (x ) (J-8)
dx

43
 d 2 Y( x )
= a12 sinh ( x ) + a 22 cosh ( x ) a 32 sin ( x ) a 42 cos(x ) (J-9)
dx 2

Y(0) = 0 (J-10)

a2 +a4 = 0 (J-11)

a2 = a4 (J-12)

dY( x )
=0 (J-13)
dx x =0

a 1 + a 3 = 0 (J-14)

a1 + a 3 = 0 (J-15)

a1 = a 3 (J-16)

Y( x ) = a 1 [sinh ( x ) sin (x )] + a 2 [cosh (x ) cos( x )] (J-17)

dY( x )
= a 1[cosh (x ) cos(x )] + a 2 [sinh ( x ) + sin (x )] (J-18)
dx

Y ( L) = 0 (J-19)

a 1 [sinh (L ) sin (L )] + a 2 [cosh (L ) cos(L )] = 0 (J-20)

dY( x )
=0 (J-21)
dx x =L

a 1[cosh (L ) cos(L )] + a 2 [sinh (L ) + sin (L )] = 0 (J-22)

44
 a 1 [cosh (L ) cos(L )] + a 2 [sinh (L ) + sin (L )] = 0 (J-23)

sinh (L ) sin (L ) cosh (L ) cos(L ) a 1 0

cosh (L ) cos(L ) sinh (L ) + sin (L ) a = 0
2
(J-24)

sinh (L ) sin (L ) cosh (L ) cos(L )

det
cosh ( L ) cos ( L ) sinh ( L ) + sin ( L ) =0

(J-25)

[sinh (L ) sin (L )][sinh (L ) + sin (L )] [cosh(L ) cos(L )]2 = 0 (J-26)

sinh 2 (L ) sin 2 (L ) cosh 2 (L ) + 2 cos(L ) cosh (L ) cos 2 (L ) = 0 (J-27)

2 cos(L ) cosh (L ) 2 = 0 (J-28)

cos(L ) cosh (L ) 1 = 0 (J-29)

The roots can be found via the Newton-Raphson method, Reference 1. The first root is

L = 4.73004 (J-30)

EI
n = n2 (J-31)

45
 2
4.73004 EI
1= (J-32)
L

22.373 EI
1= (J-33)
L2

1 22.373 EI
f1 = (J-34)
2 L2

a 1 [cosh (L ) cos(L )] = a 2 [sinh (L ) + sin (L )] (J-35)

Let a 2 =1. (J-36)

a 1 [cosh (L ) cos(L )] = [sinh (L ) + sin (L )] (J-37)

sinh (L ) sin (L )
a1 = (J-38)
cosh (L ) cos(L )

sinh (L ) sin (L )
Y( x ) = [cosh (x ) cos(x )] + [sinh ( x ) sin ( x )] (J-39)
cosh (L ) cos(L )

sinh (L ) + sin (L )
Y( x ) = [cosh (x ) cos(x )] [sinh ( x ) sin (x )] (J-40)
cosh (L ) cos(L )

46
The mode shape for a fixed-fixed beam is

Yn ( x ) = [cosh ( n x ) cos( n x )] n [sinh ( n x ) sin ( n x )] (J-41)

where

sinh ( n L ) + sin ( n L )
n = (J-42)
cosh ( n L ) cos( n L )

n n L
1 4.73004
2 10.9956
3 14.13717
4 17.27876

The first derivative is

d
Yn ( x ) = n [sinh ( n x ) + sin ( n x )] n n [cosh ( n x ) cos( n x )]
dx
(J-43)

The second derivative is

d2
Yn ( x ) = n 2 [cosh ( n x ) + cos( n x )] n n 2 [sinh ( n x ) + sin ( n x )]
dx 2
(J-44)

47