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ff 653 July 65

A SURVEY OF STRUCTURAL DYNAMICS OF

SOLID PROPELLANT ROCKET MOTORS

by J. H , Bultrzlkonis

Prepared by
CATHOLIC UNIVERSITY
Washington, D. C.
for

N A T I O N A L AERONAUTICS A N D SPACE ADMINISTRATION 0 WASHINGTON, D. C. 0 DECEMBER 1966

 I c NASA CR-658

I
A SURVEY O F STRUCTURAL DYNAMICS OF

SOLID PROPELLANT ROCKET MOTORS

By J. H. Baltrukonis

Distribution of t h i s r e p o r t is provided in the i n t e r e s t of

information exchange. Responsibility for the contents
r e s i d e s i n the author o r organization that p r e p a r e d it.

P r e p a r e d under Grant No. NsG-125 by

CATHOLIC UNIVERSITY
Washington, D.C.

for

NATIONAL AERONAUTICS AND SPACE ADMINISTRATION

For sale by the Clearinghouse for Federal Scientific and Technical Information
Springfield, Virginia 22151- Price $2.00
 The Author acknowledges t h e a i d provided by The H a t i o n a l A e r o n a u t i c s
and Space A d m i n i s t r a t i o n , t h e H e r c u l e s Powder Company of Magna, Utah and
t h e Allegany B a l l i s t i c s Laboratory of Rocket C e n t e r , West V i r g i n i a a l l o f
whom s u p p o r t e d p o r t i o n s of t h e research program i n t h e Mechanics D i v i s i o n
of The C a t h o l i c U n i v e r s i t y of America. Addit i o n a l l y , t h e Author t e n d e r s
s i n c e r e t h a n k s t o h i s F a c u l t y c o l l e a g u e s and g r a d u a t e s t u d e n t s who have
p a r t i c i p a t e d i n t h i s p r o g r a m F i n a l l y , t h e Author e x t e n d s w a r m a p p r e c i a t i o n
t o P r o f . P a t r i c i o A. Laura, Miss Joan Roderick and M r . A l f r e d Mulzet who
a i d e d immeasurably i n t h e p r e p a r a t i o n o f t h i s p a p e r and s p e c i a l t h a n k s
t o Mrs. Evelyn Mead, Miss S a r a McCornack and Mr. A m i r T u t e j a who p r o v i d e d
assistance, above and beyond t h e c a l l of d u t y , i n t h e p r e p a r a t i o n of t h e
manuscript.

iii
 A SURVEY OF STRUCTURAL DYNAMICS

OF SOLID PROPELLANT ROCKET MOTORS:';

by J . H . B a l t r u k o n i s

ABSTRACT

From t h e p o i n t o f view o f dynamics, a s o l i d p r o p e l l a n t r o c k e t motor. i s an

unique s t r u c t u r e i n t h a t it i s composed of a s u b s t a n t i a l mass o f p r o p e l l a n t
material case-bonded t o a r e l a t i v e l y massless, t h i n - w a l l e d c y l i n d e r . The
mechanical p r o p e r t i e s o f t h e p r o p e l l a n t a r e such t h a t it c o n t r i b u t e s l i t t l e t o
t h e s t i f f n e s s o f t h e c o m p o s i t e _ s t r u c t u r e b u t it does c o n t r i b u t e t o t h e dynamic
c h a r a c t e r i s t i c s o f t h e s t r u c t u r e because o f i t s mass. Furthermore, due t o t h e
v i s c o e l a s t i c c h a r a c t e r o f t h e p r o p e l l a n t , it can be e x p e c t e d t o p r o v i d e con-
s i d e r a b l e damping t o t h e system. A t t h i s p o i n t i n t h e development o f t h e a r t
of d e s i g n o f s o l i d p r o p e l l a n t r o c k e t motors t h e r e are no c l e a r - c u t or w e l l -
founded methods t o q u a n t i t a t i v e l y e v a l u a t e t h e c o n t r i b u t i o n s o f t h e p r o p e l l a n t
t o t h e dynamic r e s p o n s e s o f t h e composite s t r u c t u r e . I t i s c l e a r t h a t u n l e s s
such methods are d e v i s e d , it w i l l be d i f f i c u l t t o a r r i v e a t a c c u r a t e missile
designs.

I n t h e p a p e r a s u r v e y o f t h e dynamic problems o f s o l i d p r o p e l l a n t r o c k e t
motors is p r e s e n t e d s t a r t i n g from t h e s i m p l e s t model t h e r e o f and p r o c e e d i n g ,
s t e p - b y - s t e p , t o t h e c o n s i d e r a t i o n of more s o p h i s t i c a t e d and r e a l i s t i c models.
The c o n s i d e r a t i o n i s r e s t r i c t e d t o i n f i n i t e s i m a l d e f o r m a t i o n s o f p r o p e l l a n t
g r a i n s w i t h l i n e a r mechanical p r o p e r t i e s . S u b s t a n t i a l p r o g r e s s h a s been
a c h i e v e d towards t h e s o l u t i o n of many important dynamical problems. W e shall
a t t e m p t t o summarize t h e p e r t i n e n t developments and i n d i c a t e along which l i n e s
w e f e e l f u t u r e s t u d y s h o u l d proceed. A f e w i l l u s t r a t i v e s o l u t i o n s are i n c l u d e d
i n areas wherein p r o g r e s s h a s been s u b s t a n t i a l .

$:An a b b r e v i a t e d form o f t h i s p a p e r was p r e s e n t e d a t t h e I n t e r n a t i o n a l

Conference on t h e Mechanics and Chemistry o f S o l i d P r o p e l l a n t s h e l d a t Purdue
U n i v e r s i t y , L a f a y e t t e , I n d i a n a on A p r i l 19-21, 1965.
 INTRODUCTION

S t r u c t u r a l dynamics concerns t h e a n a l y s i s , by t h e o r e t i c a l a n d / o r e x p e r i -
m e n t a l means, of t h e i n t e r a c t i o n s o f time-dependent l o a d s a n d / o r deformations
e x t e r n a l l y a p p l i e d t o a s t r u c t u r e o r s t r u c t u r a l element and t h e i n t e r n a l
stress and displacement r e s p o n s e wherein i n e r t i a l e f f e c t s must be i n c l u d e d i n
t h e a n a l y s i s . I t is t h e o b j e c t i v e of t h i s p a p e r t o p r e s e n t a s u r v e y of t h e
f i e l d o f s t r u c t u r a l dynamics o f s o l i d p r o p e l l a n t r o c k e t motors, t o d i s c u s s
t h o s e a s p e c t s of t h e s u b j e c t which are o f p a r t i c u l a r i n t e r e s t t o t h e a u t h o r
and t o recommend t h o s e areas i n which f u r t h e r s t u d y s h o u l d prove f r u i t f u l and
rewarding. I t i s n o t o u r o b j e c t i v e t o p r e s e n t a b i b l i o g r a p h i c a l s u r v e y o f t h e
f i e l d and, consequently, many s p e c i f i c , i n d i v i d u a l c o n t r i b u t i o n s w i l l p r o b a b l y
be overlooked. There is no claim o f uniqueness f o r t h i s s u r v e y o f t h e f i e l d
n o r do w e m a i n t a i n t h a t it i s complete s i n c e it i s i n e v i t a b l e t h a t a s t u d y of
t h i s s o r t w i l l be b i a s e d t o a l a r g e e x t e n t by t h e l i m i t a t i o n s , i n t e r e s t s and
viewpoint of t h e a u t h o r .

The first l o g i c a l s t e p i n a t a s k o f t h i s s o r t is t o d e l i m i t t h e f i e l d
under c o n s i d e r a t i o n . I n g e n e r a l , w e s h a l l n o t be i n t e r e s t e d i n t h e dynamics
of complete r o c k e t s o r missiles which may c o n s i s t o f s e v e r a l s t a g e s . I n s t e a d ,
we s h a l l l i m i t o u r concern t o i n d i v i d u a l s o l i d p r o p e l l a n t r o c k e t motors; i . e . ,
c a s i n g p l u s p r o p e l l a n t . We s h a l l n o t be i n t e r e s t e d i n any a t t a c h m e n t s t o t h e
c a s i n g such a s r o c k e t n o z z l e s , guidance and c o n t r o l system a s s e m b l i e s , e t c .
I t i s n o t i n t e n d e d t o imply t h a t t h e dynamics o f complete r o c k e t s i s n o t i m -
p o r t a n t , b u t r a t h e r t h e i n t e n t i o n is t o l i m i t t h e scope o f t h i s p r e s e n t a t i o n .

A s o l i d p r o p e l l a n t r o c k e t motor i s an u n u s u a l l y c o m p l i c a t e d s t r u c t u r e ,
a t l e a s t from t h e s t a n d p o i n t o f a n a l y s i s t h e r e o f . I t c o n s i s t s of a t h i n ,
c i r c u l a r c y l i n d r i c a l c a s i n g w i t h domed end c l o s u r e . The e n e r g e t i c p r o p e l l a n t
g r a i n i s bonded t o t h e c a s i n g a l o n g i t s o u t e r c y l i n d r i c a l s u r f a c e . Frequent-
l y , a r u b b e r l i n e r i s i n t e r p o s e d between t h e g r a i n and c a s i n g f o r p u r p o s e s of
i n s u l a t i o n . The flow o f t h e g a s e s developed by s u r f a c e combustion o f t h e s o l i d
p r o p e l l a n t o c c u r s through p a s s a g e s o f r e l a t i v e l y complex geometry w i t h i n t h e
g r a i n t o t h e one o r more n o z z l e s i n t h e a f t dome o f t h e motor. The motor
c a s i n g m a t e r i a l i s u s u a l l y a n e l a s t i c material such as s t e e l though t h e r e h a s
been a r e c e n t t r e n d t o c a s i n g s wound o f f i b e r g l a s s f i l a m e n t s and impregnated
w i t h some s o r t o f h a r d r e s i n .

The p r o p e l l a n t material i s a composite c o n s i s t i n g of an e l a s t o m e r i c

b i n d e r , a c r y s t a l l i n e o x i d i z e r and d i s p e r s e d s o l i d materials such as aluminum
p a r t i c l e s . T h i s material i s v e r y compliant r e l a t i v e t o t h e c a s i n g , i s t i m e -
o r frequency-dependent and is h i g h l y t e m p e r a t u r e - s e n s i t i v e . Finally, the
g r a i n is very massive compared t o t h e c a s i n g u s u a l l y c o n s t i t u t i n g from 80 t o
95 p e r c e n t of t h e t o t a l mass o f t h e motor.

C l e a r l y , a n a l y s i s o f t h i s s t r u c t u r e f o r i t s r e s p o n s e s t o v a r i o u s dynamic
s t i m u l i i s a n imposing t a s k i n d e e d . The u s u a l f i r s t s t e p i n t h e a n a l y s i s of

2
a complicated s t r u c t u r e is t h e f o r m u l a t i o n o f a t r a c t a b l e mathematical model.
The s t r u c t u r e i n v o l v e s s e v e r a l fundamental d i f f i c u l t i e s b u t probably t h e
p r i n c i p a l ones are ( 1 ) t h e complex geometry o f t h e i n t e r n a l p a s s a g e s i n t h e
p r o p e l l a n t g r a i n ; and ( 2 ) t h e f a c t t h a t t h e motor is of f i n i t e l e n g t h t h e r e b y
i n t r o d u c i n g p o s s i b l e i n t e r a c t i o n o f end e f f e c t s . These two d i f f i c u l t i e s are
o f t h e same n a t u r e a s t h e c o m p l i c a t i o n s t h a t have plagued e l a s t i c i a n s from
t h e v e r y b e g i n n i n g s o f t h e f i e l d o f e l a s t i c i t y . Consequently, a t t h e o u t s e t ,
it seems wise t o i d e a l i z e t h e s t r u c t u r e t o t h e e x t e n t t h a t t h e s e c o m p l i c a t i o n s
are no l o n g e r p r e s e n t . Thus, w e c o n s i d e r a mathematical model t h a t i s i n -
finitely-long with a c i r c u l a r perforation. W e do n o t i n c l u d e a l i n e r so t h a t
t h e motor c o n s i s t s o n l y o f g r a i n and c a s i n g . W e f u r t h e r restrict t h e present
c o n s i d e r a t i o n t o l i n e a r a n a l y s i s ; i . e . , w e c o n s i d e r o n l y i n f i n i t e s i m a l de-
f o r m a t i o n s o f l i n e a r materials. These r e s t r i c t i o n s may n o t be as s e v e r e a s
t h e y seem when it is r e a l i z e d t h a t most of t h e dynamic environments of i n t e r e s t
w i l l r e s u l t i n very small d i s p l a c e m e n t s w i t h i n t h e l i n e a r range o f t h e mater-
i a l s under c o n s i d e r a t i o n . Materials p r o p e r t i e s i n v e s t i g a t i o n s have r e v e a l e d
t h a t , f o r small s t r a i n s , p r o p e l l a n t s t y p i c a l l y behave as l i n e a r l y - v i s c o e l a s t i c
solids.

ELASTIC GRAINS

The mathematical model which we have t h u s f a r d e v i s e d i s s t i l l t o o com-

p l i c a t e d f o r i n i t i a l s t u d i e s . Thus, w e i n t r o d u c e t h e f u r t h e r assumptions t h a t
t h e g r a i n i s p e r f e c t l y e l a s t i c w i t h no i n t e r n a l p e r f o r a t i o n and, s i n c e t h e
c a s i n g is very s t i f f r e l a t i v e t o t h e c o r e , t h a t t h e c a s i n g be p e r f e c t l y r i g i d .
T h e r e f o r e , o u r i n i t i a l , v e r y c r u d e model o f a s o l i d p r o p e l l a n t r o c k e t motor
c o n s i s t s of a n i n f i n i t e l y - l o n g composite c y l i n d e r w i t h a r i g i d o u t e r l a y e r
and a v e r y c o m p l i a n t , s o l i d , e l a s t i c c o r e . I n v e s t i g a t i o n o f such a model,
however c r u d e , w i l l b e g i n t o y i e l d v a l u a b l e i n f o r m a t i o n concerning n a t u r a l
f r e q u e n c i e s and displacement and stress f i e l d s c o r r e s p o n d i n g t o normal modes.
Such i n f o r m a t i o n i s o f immediate u t i l i t y , f o r example, i n t h e d e s i g n o f t h e
guidance systems whose r e l i a b i l i t y depends, t o a large e x t e n t , on estimates
of n a t u r a l f r e q u e n c i e s and mode s h a p e s o f t h e r o c k e t motor.

O t h e r p o s s i b l e a p p l i c a t i o n s are dynamic l o a d s a n a l y s e s , s t a g i n g s t u d i e s ,
t r a n s p o r t a t i o n and h a n d l i n g s t u d i e s , etc. Over and above t h e s e p r a c t i c a l
a p p l i c a t i o n s , i n i t i a l a n a l y s e s o f crude mathematical models p r o v i d e s t h e
a n a l y s t w i t h t h e e x p e r i e n c e r e q u i r e d f o r subsequent r e f i n e m e n t o f t h e model.
A d d i t i o n a l l y , a c a t a l o g o f s o l u t i o n s i s r a p i d l y developed which may prove t o
be v e r y u s e f u l as checks on t h e s o l u t i o n s o f more r e f i n e d models.

The n a t u r a l c o o r d i n a t e system f o r t h e f o r m u l a t i o n of t h e problem posed is

t h e p o l a r c y l i n d r i c a l system. There has l o n g been a c t i v i t y w i t h i n t h e g e n e r a l
area o f dynamics of e l a s t i c b o d i e s i n p o l a r c y l i n d r i c a l c o o r d i n a t e s . The
e a r l i e s t f o r m u l a t i o n o f a problem by means o f t h e dynamical e q u a t i o n s o f
e l a s t i c i t y i n c y l i n d r i c a l c o o r d i n a t e s is due t o Pochhammer ( 1 ) and Chree ( 2 )
who i n d e p e n d e n t l y i n v e s t i g a t e d l o n g i t u d i n a l and t r a n s v e r s e wave p r o p a g a t i o n
i n i n f i n i t e l y - l o n g c i r c u l a r r o d s w i t h t r a c t i o n - f r e e s u r f a c e s . An e x c e l l e n t

3
s u r v e y of t h e h i s t o r y o f t h i s problem was p r e s e n t e d by Abramson, Plass and
Ripperger ( 3 ) b u t , n e v e r t h e l e s s , it would be u s e f u l and i n t e r e s t i n g t o mention
a f e w of t h e more i m p o r t a n t i n v e s t i g a t i o n s . Followinp Pochhammer and Chree
t h e n e x t s t u d y t h a t s h o u l d be mentioned i s due t o Ghosh ( 4 ) who d e r i v e d d i s -
p e r s i o n e q u a t i o n s f o r l o n g i t u d i n a l wave propaEation i n t h i c k - and t h i n - w a l l e d ,
i n f i n i t e l y - l o n g , hollow, c i r c u l a r c y l i n d e r s w i t h b o t h s u r f a c e s f r e e o f trac-
t i o n and w i t h one s u r f a c e t r a c t i o n - f r e e and t h e o t h e r r i p i d l y clamped.

Bancroft (5) was among t h e first t o p u b l i s h numerical s o l u t i o n s of t h e

d i s p e r s i o n e q u a t i o n s f o r l o n e i t u d i n a l wave p r o p a g a t i o n . I n a d d i t i o n , he re-
corded t h e d i s p e r s i o n e q u a t i o n f o r t r a n s v e r s e wave p r o p a g a t i o n i n i n f i n i t e l y -
l o n g , c i r c u l a r r o d s w i t h t r a c t i o n - f r e e surfaces b u t no n u m e r i c a l work was
i n d i c a t e d . Hudson ( 6 ) c a r r i e d o u t some n u m e r i c a l work w i t h t h e d i s ? e r s i o n
e q u a t i o n f o r t r a n s v e r s e wave p r o p a p a t i o n b u t a r r i v e d a t t h e e r r o n e o u s conclu-
s i o n t h a t t h e r e was o n l y one mode of p r o p a g a t i o n of t r a n s v e r s e waves, T h i s
error was s u b s e q u e n t l y propapated by Davies ( 7 ) and Kolsky ( 8 1 , amonp o t h e r s ,
and was f i n a l l y p o i n t e d o u t by Abramson ( 9 ) who c a l c u l a t e d s e v e r a l d i s p e r s i o n
c u r v e s i n t h e f i r s t mode o f p r o p a g a t i o n o f t r a n s v e r s e waves.

McFadden ( 1 0 ) was cancerned w i t h r a d i a l v i b r a t i o n s i n hollow, t h i c k -

w a l l e d c y l i n d e r s w h i l e Gazis (11) p r e s e n t e d a s t u d y o f p l a n e s t r a i n v i b r n t i o r s
i n hollow c y l i n d e r s w i t h t r a c t i o n - f r e e s u r f a c e s . The most complete s t u d y , t o
d a t e , by means of t h e dynamical e q u a t i c n s of e l a s t i c i t y , was presented. by
Gazis ( 1 2 ) on t h e l o n p i t u d i n a l and t r a n s v e r s e wave p r o p a g a t i o n and f r e e v i b r a -
t i o n s i n i n f i n i t e l y - l o n g , thick-walled c y l i n d e r s with t r a c t i o n - f r e e s u r f a c e s .
Other p e r t i n e n t s t u d i e s were r e p o r t e d by Herrmann and Mirsky (131, P i r s k y and
Herrmann ( 1 4 , 1 5 1 , Greenspon ( 1 6 , 1 7 , 1 8 ) B i r d , Hart and FlcClure ( 1 9 ) and
B i r d (20).

The f i e l d and c o n s t i t u t i v e e q u a t i o n s f o r dynamic d e f o r m a t i o n s o f com-

p r e s s i b l e e l a s t i c c o n t i n u a i n p o l a r c y l i n d r i c a l c o o r d i n a t e s may be reduced
t o t h e f o l l o w i n g t h r e e e q u a t i o n s of motion:
L
2 au0
02,
r
U
- -2 -
r --+
1
-- aA
- - -
P U
r
r r2 ae 1-2v ar G at2

2
e U 2 aur 1 i a ~p a 2u ,
v u --+- -+---- -
' r
2
r2 ao 1-2v r ao -G at
1

1 - 2 ~az G atL * .I

4
, * S o l u t i o n s of t h e s e e q u a t i o n s of motion a r e r e a d i l y o b t a i n e d by meens of t h r e e
I
displacement p o t e n t i a l s as Follows:

It may be v e r i f i e d by d i r e c t s u b s t i t u t i o n t h a t Eqs. ( 1 ) are i d e n t i c a l l y s a t i s -

f i e d by t h e s e components of displacement provided w e take t h e d i s p l a c e m e n t
p o t e n t i a l s as s o l u t i o n s o f t h e f o l l o w i n g d i f f e r e n t i a l e q u a t i o n s :

024 = c
C
-2 -
a2+
at2

v2 ($, x) = cS -
-2 a 2
at2
(JI, x),

wherein c and c d e n o t e t h e d i l a t a t i o n a l and s h e a r wave v e l o c i t i e s , r e s p e c -

C S
t i v e l y , and a r e giver, by

cS = G/p

5
 I
L

W e r e c o g n i z e t h e d i f f e r e n t i a l e q u a t i o n s ( 3 ) a s wave e q u a t i o n s , s o l u t i o n s of
which a r e w e l l known. On s e l e c t i o n of a p p r o p r i a t e s o l u t i o n s of t h e s e wave
e q u a t i o n s , t h e d i s p l a c e m e n t s f o l l o w from E q s . ( 2 ) w h i l e t h e components of
stress a r e o b t a i n e d from t h e followinF: s t r e s s - d i s p l a c e m e n t r e l a t i o n s :

cy r = 2G(br a r 2 C A) (sa)

L e t u s now i l l u s t r a t e t h e a p p l i c a t i o n of t h i s g e n e r a l t h e o r v i n t h e c a l -
c u l a t i o n of t h e n a t u r a l f r e q u e n c i e s and normal modes o f t h e i n i t i a l c r u d e
model for t h e s o l i d p r o p e l l a n t r o c k e t motor. S i n c e t h e c r a i n i s s o l i d , t h e
boundary c o n d i t i o n s are Riven by

i
 The s i m p l e s t modes of v i b r a t i o n are t h e s o - c a l l e d a x i a l - s h e a r modes which
a r e d e f i n e d as t h o s e modes o f f r e e v i b r a t i o n i n which t h e o n l y non-zero
component o f d i s p l a c e m e n t is t h a t p a r a l l e l t o t h e a x i s o f t h e c y l i n d e r ,
Furthermore, t h i s a x i a l d i s p l a c e m e n t component depends o n l y on t h e c o o r d i n a t e s
i n t h e plane of a cross-section. These modes a r e of fundamental importance
i f f o r no o t h e r r e a s o n t h a n t h a t t h e y a r e among t h e v e r y few modes f o r which
e x a c t , closed-form s o l u t i o n s of t h e t h r e e - d i m e n s i o n a l e q u a t i o n s o f e l a s t i c i t y
are p o s s i b l e . There are, however, o t h e r r e a s o n s f o r concern w i t h a x i a l - s h e a r
modes. They r e p r e s e n t l i m i t i n g f l e x u r a l or l o n g i t u d i n a l modes; i.e., t h e y are
f l e x u r a l o r l o n g i t u d i n a l wave modes w i t h i n f i n i t e wave-length. In accord with
t h e i r d e f i n i t i o n we seek s o l u t i o n s o f t h e e q u a t i o n s of e l a s t i c i t y i n t h e form

u
r
= u0 = o (7a)

u Z = W(r) e i w t cos ne (7b)

S u b s t i t u t i o n i n t o Eqs. (1)r e s u l t s i n t h e f o l l o w i n g s i n g l e e q u a i t o n :

wherein primes d e n o t e d i f f e r e n t i a t i o n with r e s p e c t t o t h e argument, T h i s i s

t h e well-known n t h - o r d e r B e s s e l e q u a t i o n which has t h e f o l l o w i n g g e n e r a l
solution:

wherein R i s a d i m e n s i o n l e s s frequency c o e f f i c i e n t d e f i n e d by

Cnl and C are a r b i t r a r y c o n s t a n t s which must be e v a l u a t e d such t h a t t h e

boundary “ c n d i t i o n s w i l l be s a t i s f i e d , and Jn and Y are t h e nth-order Bessel
f u n c t i o n s of t h e 1st and 2nd k i n d s , r e s p e c t i v e l y . f n view of Eqs, ( 7 ) t h e
boundary c o n d i t i o n s g i v e n by Eqs. ( 6 ) reduce t o t h e f o l l o w i n g s i n g l e c o n d i t i o n :

7
T h i s c o n d i t i o n w i l l be i d e n t i c a l l y s a t i s f i e d provided t h a t w e t a k e C to I
v a n i s h and t h a t 2n
I

,
T h i s r e s u l t c o n s t i t u t e s t h e frequency e q u a t i o n i n t h e p r e s e n t problem. It
d e f i n e s a d o u b l y - i n f i n i t e f a m i l y o f n a t u r a l f r e q u e n c i e s and normal modes;
i . e . , corresponding t o e a c h v a l u e o f n w e f i n d an i n f i n i t e number of r o o t s of
Eq. ( 1 0 ) . I t i s c l e a r from Eq. ( s a ) t h a t t h e n=O modes are axisymmetric
whereas t h e modes f o r which n = l are a n t i s y m m e t r i c . I n view o f Eqs. ( 9 a ) and I

(71, w e observe t h a t a l l t h e stresses v a n i s h w i t h t h e e x c e p t i o n o f t h e s h e a r

stresses and and t h e l a t t e r v a n i s h e s f o r t h e axisymmetric modes.
= Z
C l e a r l y , tcis gen;& type of v i b r a t i o n is pure shear i n n a t u r e accounting,
p a r t i a l l y , f o r t h e name a x i a l s h e a r . These modes, among o t h e r s , were thorough-
l y i n v e s t i g a t e d i n Ref. ( 2 1 ) .

Another i m p o r t a n t class of v i b r a t i o n s o c c u r s when t h e a x i a l component of

displacement v a n i s h e s i d e n t i c a l l y y i e l d i n g a t r a n s v e r s e mode o f v i b r a t i o n .
Such a mode o f v i b r a t i o n o c c u r s when w e t a k e

n ($2 f
a ) eiwt s i n n e
J (llc)
X='n2

I t is immediately clear from Eqs. ( 2 ) t h a t w e o b t a i n a p l a n e s t r a i n mode o f

v i b r a t i o n wherein uz v a n i s h e s i d e n t i c a l l y . S u b s t i t u t i o n i n t o Eqs. ( 2 ) a n d ,
t h e n c e , i n t o t h e boundary c o n d i t i o n s g i v e n by Eqs. ( 6 ) r e s u l t s i n t h e f o l l o w -
i n g frequency e q u a t i o n :

wherein w e have used t h e r e c u r r e n c e r e l a t i o n s f o r t h e Bessel f u n c t i o n s . These

t r a n s c e n d e n t a l frequency e q u a t i o n s d e f i n e a doubly i n f i n i t e s e t of n a t u r a l
c i r c u l a r frequency c o e f f i c i e n t s which depend upon P o i s s o n ' s r a t i o . I n Refer-
ence ( 2 2 ) t h i s dependency i s i n v e s t i g a t e d i n d e t a i l . The f i r s t f o u r b r a n c h e s
of t h e first f o u r modes of v i b r a t i o n a r e p l o t t e d i n f u n c t i o n o f K which de-
pends o n l y upon P o i s s o n ' s r a t i o . A d d i t i o n a l l y , t h e d i s p l a c e m e n t f i e l d s f o r
s e v e r a l d i f f e r e n t modes are p l o t t e d .

8
 .
4
The l a s t problem o f i n t e r e s t concerning t h i s i n i t i a l c r u d e model is t h a t
o f t r a n s v e r s e wave p r o p a g a t i o n . I n Ref. ( 2 3 ) t h i s problem was t r e a t e d i n some
d e t a i l . The d i s p e r s i o n e q u a t i o n s were d e r i v e d and s e v e r a l branches were
p l o t t e d . A d d i t i o n a l l y , it was p o i n t e d out t h a t t h e d i s p e r s i o n e q u a t i o n s de-
g e n e r a t e f o r i n f i n i t e wavelengths i n t o t w o uncoupled f r e q u e n c y e q u a t i o n s de-
f i n i n g t h e a x i a l - s h e a r and t r a n s v e r s e v i b r a t i o n s modes which w e have d i s c u s s e d
above.

Before proceeding t o t h e r e f i n e m e n t o f o u r i n i t i a l mathematical model,

mention s h o u l d be made o f a n i n t e r e s t i n g problem t h a t arises i n c o n n e c t i o n w i t h
Eq. (121, t h e frequency e q u a t i o n f o r f r e e , t r a n s v e r s e v i b r a t i o n s . I t was men-
t i o n e d t h a t t h e n a t u r a l frequency depends upon P o i s s o n ' s r a t i o . I n Ref. (22)
it was demonstrated t h a t f i n i t e , r e a l n a t u r a l f r e q u e n c i e s e x i s t when t h e
material o f t h e c o r e is i d e a l l y i n c o m p r e s s i b l e ; i . e . , when P o i s s o n ' s r a t i o h a s
t h e v a l u e 1 / 2 . A q u e s t i o n immediately a r i s e s : "How can n a t u r a l f r e q u e n c i e s
exist for an i n c o m p r e s s i b l e material when it o c c u p i e s t h e e n t i r e i n t e r n a l
volume of t h e tank?" I n R e f . ( 2 4 ) it was demonstrated t h a t , as t h e c o r e mater-
i a l t e n d s t o become i n c o m p r e s s i b l e ; i . e . , as P o i s s o n ' s r a t i o t e n d s t o 1 / 2 ,
t h e f r e q u e n c y spectrum t e n d s t o a s i m p l e l i n e spectrum. C l e a r l y , t h i s k i n d of
a f r e q u e n c y spectrum i s p h y s i c a l l y i m p o s s i b l e . That t h i s s h o u l d be t h e case
is n o t s u r p r i s i n g s i n c e t h e i d e a l l y i n c o m p r e s s i b l e material i s a h y p o t h e t i c a l
material which cannot e x i s t i? n a t u r e . N e v e r t h e l e s s , t h e assumption o f such
a material is q u i t e r e g u l a r l y used i n p r a c t i c e . The b e h a v i o r mentioned above
is simply one d i f f i c u l t y t h a t can arise from t h e a p p l i c a t i o n o f such an as-
sumption. F i n a l l y , w e draw a t t e n t i o n t o a f e w i n t e r e s t i n g s t u d i e s due t o
Magrab ( 2 5 , 2 6 , 27) concerning t h e displacement and stress f i e l d s i n t h e s o l i d
g r a i n due t o s t e a d y - s t a t e , f o r c e d harmonic o s c i l l a t i o n of t h e r i g i d case.

On t h e b a s i s o f t h e s t u d i e s c i t e d w e conclude t h a t o u r i n i t i a l c r u d e
model h a s been t h o r o u g h l y i n v e s t i g a t e d and t h a t i t s s t e a d y - s t a t e r e s p o n s e is
a d e q u a t e l y understood. T h e r e f o r e , w e proceed t o a s l i g h t r e f i n e m e n t o f o u r
m a t h e m a t i c a l model by a l l o w i n g f o r a c i r c u l a r i n t e r n a l p e r f o r a t i o n o f t h e
g r a i n . N o w o u r model c o n s i s t s o f an i n f i n i t e l y - l o n g , two-layered c y l i n d e r
w i t h t h e o u t e r l a y e r i d e a l l y - r i g i d and t h e i n n e r l a y e r e l a s t i c . The boundary
c o n d i t i o n s i n t h i s case a r e g i v e n by t h e f o l l o w i n g :

r=a r=a r=a

9
wherein a and b d e n o t e t h e e x t e r n a l and i n t e r n a l r a d i i , r e s p e c t i v e l y , of t h e
g r a i n . Equations ( 1 3 a ) e x p r e s s t h e c o n d i t i o n s t h a t t h e i n t e r n a l g r a i n p e r f o r -
a t i o n be f r e e of s u r f a c e t r a c t i o n s w h i l e Eqs. (13b) r e s u l t from t h e assumption
of a n i d e a l bond between t h e g r a i n and r i g i d c a s i n g .

For t h e a x i a l - s h e a r mode o f v i b r a t i o n s w e s e e k s o l u t i o n s i n t h e form

g i v e n by Eq. ( 7 ) so t h a t Eq. ( 8 ) i s t h e governing e q u a t i o n o f motion w h i l e
Eq. ( s a ) g i v e s an a d m i s s i b l e s o l u t i o n . I n view o f Eqs. (5), ( 7 ) and ( 9 a )
we f i n d t h a t a l l b u t two o f t h e boundary c o n d i t i o n s g i v e n by Eqs. ( 1 3 ) are
t r i v i a l l y s a t i s f i e d and t h e s e two c o n d i t i o n s r e s u l t i n t h e f o l l o w i n g :

T h i s is a homogeneous system o f l i n e a r , a l g e b r a i c e q u a t i o n s i n t h e unknown

c o n s t a n t s Cnl and Cn2. Such a system can have n o n - t r i v i a l s o l u t i o n s o n l y i f
t h e d e t e r m i n a n t o f t h e c o e f f i c i e n t s of t h e unknowns v a n i s h e s i d e n t i c a l l y .
Thus, w e are l e d t o t h e f o l l o w i n g frequency e q u a t i o n s :

Axisymmetric Modes:

Anti-symmetric Modes:

Jn ($2) Ynt ($2;) b - ' (SI;) b Yn ($2) = 0, n = 1, 2... (l4b)

Jn

The z e r o s o f t h e s e frequency e q u a t i o n s were c a l c u l a t e d i n Ref. ( 2 1 ) .

I n R e f . ( 2 8 ) t h e problems o f p l a n e s t r a i n v i b r a t i o n s and t r a n s v e r s e wave

p r o p a g a t i o n i n t h e more r e f i n e d model are t r e a t e d . I n t h e case of t r a n s v e r s e
.
wave p r o p a g a t i o n none o f t h e boundary c o n d i t i o n s g i v e n by Eqs. ( 1 3 ) is t r i v -
i a l l y s a t i s f i e d so t h a t a d i s p e r s i o n e q u a t i o n is o b t a i n e d i n t h e form o f a
6 x 6 d e t e r m i n a n t set e q u a l t o z e r o . The e l e m e n t s o f t h e d e t e r m i n a n t a r e , i n
g e n e r a l , l i n e a r combinations o f n t h - o r d e r Ressel f u n c t i o n s o f t h e first and
second kind. T h i s d i s p e r s i o n e q u a t i o n i s w r i t t e n i n R e f . ( 2 8 ) and sample
c a l c u l a t i o n s were c a r r i e d o u t i n R e f . ( 2 9 ) f o r an i n c o m p r e s s i b l e g r a i n . I n
R e f . ( 2 8 ) it is demonstrated t h a t t h e d i s p e r s i o n e q u a t i o n g o v e r n i n g t r a n s v e r s e
wave propagation d e g e n e r a t e s f o r i n f i n i t e wavelength t o two uncoupled f r e q u e n c y

10
@ e q u a t i o n s . One o f t h e s e is t h a t f o r a x i a l - s h e a r modes of v i b r a t i o n as g i v e n
by Eq. (14b) and t h e o t h e r i s t h a t governing p l a n e s t r a i n v i b r a t i o n s . The
l a t t e r frequency e q u a t i o n i s a 4 x 4 determinant i n v o l v i n g n t h - o r d e r Bessel
f u n c t i o n s of t h e first and second k i n d set t o z e r o . Four branches f o r each o f
t h e first f o u r modes o f v i b r a t i o n were c a l c u l a t e d i n Ref. ( 3 0 ) f o r an incom-
pressible grain. I

The n e x t refinement w e can make i n our mathematical model o f t h e r o c k e t

motor i s t o a l l o w f o r an e l a s t i c c a s i n g so t h a t o u r new model c o n s i s t s i n a
composite c y l i n d e r of t w o c o n c e n t r i c elastic l a y e r s b o t h o f which are i n f i n -
itely-long. I n g e n e r a l , t h e s t i f f n e s s of t h e g r a i n w i l l be c o n s i d e r e d small
as compared w i t h t h a t o f t h e c a s i n g m a t e r i a l i n d e f e r e n c e t o t h e o r i g i n s of
t h e problem. The understanding of t h e behavior o f such a model should shed
c o n s i d e r a b l e l i g h t upon t h e r o c k e t motor problem. T o be s u r e , t h e o u t e r l a y e r
which models t h e motor c a s i n g w i l l u s u a l l y be t h i n r e l a t i v e t o i t s mean r a d i u s
and, c o n s e q u e n t l y , s h e l l t h e o r y may be used i n d e s c r i b i n g i t s b e h a v i o r . How-
e v e r , f o r t h e time-being, w e s h a l l t r e a t both l a y e r s by means o f e l a s t i c i t y
t h e o r y as g i v e n i n Eqs. (1) - ( 5 ) . We s h a l l r e t u r n , s u b s e q u e n t l y , t o t h e u s e
o f s h e l l t h e o r y i n t r e a t i n g t h e b e h a v i o r of t h e o u t e r l a y e r . I n o r d e r t o as-
s o c i a t e a g i v e n q u a n t i t y w i t h one o r t h e o t h e r o f t h e two l a y e r s , w e append a
1 when r e f e r r i n g t o t h e o u t e r l a y e r and d 2 when r e f e r e n c e t o t h e i n n e r l a y e r
i s i n t e n d e d . Thus, uz2 d e n o t e s t h e a x i a l component o f displacement i n t h e
i n n e r l a y e r while u z l d e n o t e s t h e same q u a n t i t y i n t h e o u t e r l a y e r . I n a c c o r d
w i t h t h i s convention: t h e boundary c o n d i t i o n s a r e given by

r = r
I = r

= "1 = "1
= o (15a& , c )

I
1

U
r1
r = a
= u
1'2 I
r = a

U = u
% r. = a
02
r = a

U
z1
J; a

11
 a = a
r1 r
2
r=a r=a

T T
= re
2
r=a r=a

T = T
rz rz
1 2
r=a r=a

(15j , k , l )
r=r r=r r=r
2 2 2

For t h e a x i a l - s h e a r mode of v i b r a t i o n t h e o n l y non-zero component of

displacement i s t h e a x i a l component and w e t a k e it i n t h e form

wherein
,

(16b) I

Direct s u b s t i t u t i o n r e v e a l s t h a t t h e e q u a t i o n s of motion g i v e n by Eqs. (1)

are i d e n t i c a l l y s a t i s f i e d f o r t h i s d i s p l a c e m e n t f i e l d . S u b s t i t u t i n g i n t o
Eqs. ( 5 ) w e f i n d t h a t t h e o n l y non-zero components of stress are t h e

12
 following:

0 0

RaJn (Q,)

rik.ere i n
 I

wherein

2
Q
2
= ill / a22 =.-G2/%
p2 p1

The frequency e q u a t i o n given by Eq. ( 1 8 ) i s an i m p l i c i t f u n c t i o n r e l a t i n g t h e

density ratio p2/p1 ,t h e r a t i o o f t h e s h e a r modulii G2/Gl, t h e r a d i u s r a t i o s
r l / a and r 2 / a and one o r t h e o t h e r of t h e two frequency c o e f f i c i e n t s ill o r
n2 I n Ref. ( 3 1 ) i t is shown t h a t t h i s frequency e q u a t i o n i n c l u d e s Eqs. (10)
and ( 1 4 ) as s p e c i a l cases, as it should. A d d i t i o n a l l y , v a r i o u s branches of
t h e frequency e q u a t i o n are p l o t t e d i n o r d e r t o e s t a b l i s h t h e c o n d i t i o n s under
which t h e e a r l i e r s i m p l e r s o l u t i o n s can be used. I n g e n e r a l , it would seem
t h a t when t h e c a s i n g is reasonably t h i n , t h e assumption o f a r i g i d c a s i n g is
a c c e p t a b l e only f o r axisymmetric, a x i a l - s h e a r modes. f

For t r a n s v e r s e ( p l a n e s t r a i n ) v i b r a t i o n s o f t h e composite c y l i n d e r w e
t a k e t h e a x i a l displacement t o vanish i d e n t i c a l l y and a l l d i s p l a c e m e n t s and
stresses t o b e independent of t h e z c o o r d i n a t e v a r i a b l e . Under t h e s e condi-
t i o n s T~~ and T = vanish i d e n t i c a l l y and f o u r o f t h e twelve boundary condi-
t i o n s given by E q s . ( 1 5 ) are t r i v i a l l y s a t i s f i e d . S u b s t i t u t i o n i n t o t h e re-
maining boundarv c o n d i t i o n s r e s u l t s i n a system o f 8 homogeneous, l i n e a r ,
a l g e b r a i c e q u a t i o n s i n t h e 8 unknown c o n s t a n t s . The n e c e s s a r y and s u f f i c i e n t
c o n d i t i o n t h a t n o n - t r i v i a l s o l u t i o n s of t h i s system e x i s t is t h a t t h e d e t e r -
minant o f t h e c o e f f i c i e n t s o f t h e unknowns must vanish. Thus, t h e frequency
e q u a t i o n is o b t a i n e d i n t h e form o f an 8 x 8 d e t e r m i n a n t s e t t o zero. I n
g e n e r a l , t h e elements of t h e determinant are l i n e a r combinations o f nth-order
Bessel f u n c t i o n s of t h e first and second k i n d s . C a l c u l a t i o n s o f n a t u r a l fre-
quencies have been c a r r i e d o u t i n R e f . ( 3 2 ) f o r a case wherein t h e o u t e r l a y e r
( c a s i n g ) i s very much s t i f f e r than t h e i n n e r l a y e r ( g r a i n ) . I n t h i s p a r t i c u -
l a r case, t h e v a r i o u s branches o f t h e frequency e q u a t i o n have been p l o t t e d and
analyzed f o r modes wherein n = 1; i . e * , f o r modes t h a t have o n l y a s i n g l e n o d a l
diameter. Modes of v i b r a t i o n have been i d e n t i f i e d t h a t d e g e n e r a t e t o pure
g r a i n and pure c a s i n g modes. A pure g r a i n mode i s d e f i n e d as t h a t mode of
v i b r a t i o n e x i s t i n g i n t h e g r a i n when t h e case is p e r f e c t l y r i g i d w h i l e a p u r e

14
A
c a s i n g mode o c c u r s i n an empty c a s i n g . It was shown t h a t , f o r t y p i c a l
g e o m e t r i e s and material p a r a m e t e r v a l u e s , t h e l o w e s t n = 1 c a s i n g mode i s
s u b s t a n t i a l l y h i g h e r t h a n t h e lowest n = 1 g r a i n mode. I t is demonstrated
t h a t t h e n a t u r a l frequency of t h e l o w e s t c a s i n g mode i s v e r y s e n s i t i v e t o
g r a i n t h i c k n e s s . I t may be p o s s i b l e t o i n c l u d e t h i s e f f e c t i n an approximate
s o l u t i o n based on s h e l l t h e o r y wherein t h e mass o f t h e g r a i n i s lumped w i t h
t h e mass o f t h e t h i n c a s i n g and t h e s t i f f n e s s o f t h e g r a i n is n e g l e c t e d .
T h i s p o s s i b i l i t y s h o u l d be e x p l o i t e d . A d d i t i o n a l l y , it was shown t h a t t h e
g r a i n modes are r e l a t i v e l y i n s e n s i t i v e t o v a r i a t i o n s i n c a s i n g t h i c k n e s s
i n d i c a t i n g t h a t , a t l e a s t f o r t h e m a t e r i a l parameters considered, t h e
c o u p l i n g of c a s i n g and g r a i n r i g i d i t i e s i s r e l a t i v e l y weak. I t f o l l o w s t h a t
r e a s o n a b l e approximations t o t h e n a t u r a l f r e q u e n c i e s of t h e g r a i n modes can
be o b t a i n e d by assuming t h a t t h e c a s i n g i s p e r f e c t l y r i g i d . The s t u d i e s o f .
Ref. ( 3 2 ) were l i m i t e d t o n = 1 modes. Work i s i n p r o g r e s s a t The C a t h o l i c
U n i v e r s i t y of America t o o b t a i n similar r e s u l t s f o r n = 2,3,4 modes. The
frequency e q u a t i o n has been programmed f o r machine computation, t h e program
h a s been checked and d a t a produced. I t remains t o a n a l y z e t h e d a t a p r e s e n t l y
a v a i l a b l e and t o supplement it as r e q u i r e d .

As p r e v i o u s l y mentioned, it is p o s s i b l e t o u s e t h i n s h e l l t h e o r y i n
t r e a t i n g t h e d e f o r m a t i o n of t h e c a s i n g r a t h e r t h a n e l a s t i c i t y t h e o r y . However,
since t h i n s h e l l theory i s not s u b s t a n t i a l l y simpler than e l a s t i c i t y theory i n
t h i s p a r t i c u l a r a p p l i c a t i o n , t h e r e a p p e a r s t o be l i t t l e p r o f i t e s p e c i a l l y
s i n c e e l a s t i c i t y t h e o r y must be used f o r t h e g r a i n . Sann and S h a f f e r ( 3 3 )
have performed an i n t e r e s t i n g s t u d y wherein s h e l l t h e o r y was used f o r t h e
c a s i n g . Although t h e f r e q u e n c y e q u a t i o n s are developed f o r a l l modes of
t r a n s v e r s e v i b r a t i o n s , n u m e r i c a l r e s u l t s and a n a l y s i s are p r e s e n t e d o n l y f o r
axisymmetric modes. Two d i f f e r e n t s o l u t i o n s are p r e s e n t e d : one a p p l i c a b l e
t o a c o m p r e s s i b l e g r a i n and t h e o t h e r t o a n i n c o m p r e s s i b l e g r a i n . I t is
found t h a t w i t h a c o m p r e s s i b l e core, t h e axisymmetric mode has two uncoupled
motions; one i s a ' r i g i d ' r o t a t i o n of t h e c a s i n g w i t h a t w i s t i n g of t h e g r a i n
and t h e o t h e r i s a p u r e l y r a d i a l motion, The l a t t e r motion i s n o t p r e s e n t
i n an i n c o m p r e s s i b l e g r a i n . Some s i m p l i f i e d frequency e q u a t i o n s are a l s o
p r e s e n t e d f o r l i m i t i n g extremes o f r i g i d i t y and d e n s i t y r a t i o s .

The s t e a d y - s t a t e , t r a n s v e r s e wave p r o p a g a t i o n problem f o r t h e two-layered,

e l a s t i c c y l i n d e r remains f o r f u r t h e r t r e a t m e n t . None o f t h e boundary
c o n d i t i o n s g i v e n by Eqs. ( 1 5 ) i s t r i v i a l l y s a t i s f i e d i n t h i s c a s e so t h a t t h e
d i s p e r s i o n e q u a t i o n takes t h e form o f a 1 2 x 1 2 d e t e r m i n a n t set e q u a l t o
z e r o , T h i s d i s p e r s i o n e q u a t i o n is r e a d i l y w r i t t e n down b u t it remains t o
calculate i t s branches and perform t h e r e q u i s i t e a n a l y s e s t h e r e o f ,

W e are once a g a i n r e a d y f o r an a d d i t i o n a l r e f i n e m e n t o f o u r mathematical

model. There are two t y p e s of r e f i n e m e n t s t h a t can be made, both o f which
are f r a u g h t w i t h d i f f i c u l t i e s : (1) complicated i n t e r n a l p e r f o r a t i o n and
( 2 ) f i n i t e l e n g t h . I t would a p p e a r that each of t h e s e p o s s i b l e
refinements r e q u i r e s i n d i v i d u a l t r e a t m e n t .
 Let us first c o n s i d e r t h e problem of t h e complicated geometry of t h e i n -
t e r n a l p e r f o r a t i o n s of t h e g r a i n . These i n t e r n a l p a s s a g e s are u s u a l l y t h r e e -
dimensional i n c h a r a c t e r h a v i n g s h a p e s t h a t are u s u a l l y d i c t a t e d by t h e con-
s i d e r a t i o n s o f i n t e r n a l b a l l i s t i c s . L i t t l e h a s been accomplished c o n c e r n i n g
t h e dynamics o f s u c h motors n o r i s it l i k e l y t h a t a p e a t d e a l w i l l b e a c h i e v e d
i n t h e n e a r f u t u r e o t h e r than n u m e r i c a l s o l u t i o n s o f s p e c i f i c problems. How-
e v e r , it f r e q u e n t l y happens t h a t t h e s e i n t e r n a l g r a i n p e r f o r a t i o n s are two-
dimensional i n n a t u r e o v e r s u b s t a n t i a l p o r t i o n s of t h e t o t a l l e n g t h of t h e
motor. I n t h e s e p o r t i o n s t h e g r a i n c r o s s - s e c t i o n i s c i r c u l a r , o f c o u r s e , w i t h
a s t a r - s h a p e d p e r f o r a t i o n . T h e r e f o r e , it i s n o t unreasonable t o c o n s i d e r an
i n f i n i t e l y - l o n g g r a i n w i t h such a c r o s s - s e c t i o n . A c o n s i d e r a b l e volume of
work h a s been accomplished w i t h t h i s model of a r o c k e t motor and i n t h e f o l -
lowing paragraphs w e s h a l l a t t e m p t t o s u r v e y at l e a s t a p o r t i o n o f t h e work
w i t h which t h e a u t h o r h a s a f a m i l i a r i t y .

For a mathematical model c o n s i s t i n g o f an i n f i n i t e l y - l o n g , c i r c u l a r g r a i n

w i t h a complicated i n t e r n a l p e r f o r a t i o n , i d e a l l y bonded a l o n g i t s o u t e r p e r i -
phery t o a r i g i d c a s i n g , t h e boundary c o n d i t i o n s are t h a t a l o n g t h e o u t e r
p e r i p h e r y t h e d i s p l a c e m e n t s must vanish w h i l e t h e p e r i p h e r y o f t h e c o m p l i c a t e d
i n t e r n a l p e r f o r a t i o n must be t r a c t i o n - f r e e . The l a t t e r c o n d i t i o n i s e x p r e s s e d
a n a l y t i c a l l y as f o l l o w s :

'r nr + 'rene = o

T n + a n = O along s ( r , e ) = 0
rer 8 8
(20)
~n
rz r + 'e2e = o

wherein S ( r , 8 ) = 0 d e f i n e s t h e i n t e r n a l p e r f o r a t i o n and nr and n e d e n o t e

t h e components i n t h e r a d i a l and c i r c u m f e r e n t i a l d i r e c t i o n s of t h e u n i t nor-
mal drawn outwardly w i t h r e s p e c t t o t h e domain u n d e r c o n s i d e r a t i o n . I n
w r i t i n g t h i s c o n d i t i o n w e have t a k e n n z , t h e a x i a l component o f t h e u n i t n o r -
mal, t o vanish s i n c e t h e g r a i n i s c y l i n d r i c a l . Our i n i t i a l c o n s i d e r a t i o n s
concerning t h i s problem s h o u l d be d i r e c t e d toward d e v e l o p i n g a method o f s o l u -
t i o n . For t h i s reason we choose t o s i m p l i f y t h e problem by c o n s i d e r i n g a
s o l i d c y l i n d r i c a l bar w i t h i t s o u t e r p e r i p h e r y h a v i n g t h e same shape as t h e
i n t e r n a l p e r f o r a t i o n o f t h e g r a i n , Thus, t h e boundary c o n d i t i o n a p p l i c a b l e
t o t h i s b a r problem is given e x a c t l y by Eq. ( 2 0 ) . B a s i c a l l y , t h e only d i f -
f e r e n c e between t h e b a r problem and t h e g r a i n problem i s t h a t t h e d i s p l a c e m e n t
boundary c o n d i t i o n s are a b s e n t i n t h e former. Consequently, t e c h n i q u e s suc-
c e s s f u l l y a p p l i e d i n t h e b a r problem s h o u l d a l s o be s u c c e s s f u l f o r t h e g r a i n
problem.

16 I
t

f
4 A d d i t i o n a l l y , f o r t h e s a k e o f s i m p l i c i t y , we concern o u r s e l v e s only w i t h
t h e a x i a l - s h e a r mode of free v i b r a t i o n s . Thus, w e seek s o l u t i o n s i n t h e form

$J = .(.r,8 ) e i w t

Accordingly Eqs. ( 2 ) reduce t o

u = u = o
r 8

u
z
= -e iwt v12 Y(r,e)

and E q s . ( 3 ) d e g e n e r a t e t o t h e f o l l o w i n g s i n g l e Helmholtz e q u a t i o n :

v1 2 Y = - - PW2 Y
G
-
F i n a l l y , as a consequence o f Cqs
given by Eqs. ( 5 ) become
. ( 2 2 ) , t h e stress-displacement equations

1aY iwt
T = pw2 --e
8z r a0

N o w , it can be shown* t h a t t h e outward u n i t normal t o S i n t h e p l a n e o f S is

given by

* See, f o r example, Wylie ( 3 4 )

 t
I
wherein

vs
+ = ; t-
a3Ps + --
7 la:
*
r ae

I t follows t h a t

n = -as- / Ii)s I (25a)

r ar

I n view o f Eqs. ( 2 4 ) and (25) t h e boundary c o n d i t i o n s given by Eqs. (20) re-

duce t o t h e f o l l o w i n g s i n g l e c o n d i t i o n :

Thus, t h e problem has been reduced t o one of f i n d i n g a s o l u t i o n of C q . ( 2 3 )

such t h a t t h e boundary c o n d i t i o n given by E q . ( 2 6 ) w i l l be i d e n t i c a l l y s a t i s -
fied.

Closed form s o l u t i o n o f t h e problem posed above i s n o t f e a s i b l e s o we

I

I s h a l l be c o n t e n t w i t h approximate s o l u t i o n s .

I n Ref. (35) t h e c o l l o c a t i o n method i s a p p l i e d t o s o l v e t h e problem f o r

a s t a r - s h a p e d boundary ( w i t h f o u r s t a r t i p s ) given by

-a-b
I W
S(r,e) = r cos 48 = 0 (27)

e r e a d i l y recognize t h e s i m i l a r i t y o f t h i s family of p l a n e c u r v e s t o t h e
boundary curve o f t h e i n t e r n a l p e r f o r a t i o n of mmy common s o l i d p r o p e l l a n t
r o c k e t motors. Another advantage of t h i s f a m i l y i s t h e f a c t t h a t t h e c i r c l e
i s one curve of t h e family. Consequently, s o l u t i o n s can b e d e g e n e r a t e d t o
t h o s e f o r c i r c u l a r boundaries. S i n c e t h e l a t t e r are a v a i l a b l e , w e have a
ready means f o r checking t h e r e s u l t s . The c o l l o c a t i o n method used c o n s i s t e d
i n t a k i n g a s o l u t i o n i n t h e form o f a f i n i t e sequence of s o l u t i o n s of Eq. (23)
and s a t i s f y i n g t h e boundary c o n d i t i o n given by Eq. ( 2 6 ) a t a f i n i t e number o f
p o i n t s on t h e boundary. L i t t l e i s known concerning convergence of t h e col-
l o c a t i o n method a p p l i e d t o e i g e n v a l u e problems such as t h e p r e s e n t case. I t
,
i s g e n e r a l l y presumed t h a t provided a s u f f i c i e n t number o f c o l l o c a t i o n p o i n t s
are used, t h e r e s u l t i n g e i g e n v a l u e s w i l l be r e a s o n a b l y a c c u r a t e . Even less
i s known concerning t h e manner of d i s t r i b u t i n g t h e c o l l o c a t i o n p o i n t s a l o n g
t h e boundary although i t i s g e n e r a l l y presumed t h a t t h e d i s t r i b u t i o n becomes
less i m p o r t a n t as t h e number o f c o l l o c a t i o n p o i n t s i n c r e a s e s . I n t h i s s t u d y
t h e first f o u r n a t u r a l frequency c o e f f i c i e n t s were c a l c u l a t e d and p l o t t e d i n
f u n c t i o n o f t h e p a r a m e t e r b / a which governs t h e l e n g t h o f t h e s t a r t i p s .
When b / a = 0 , t h e b a r is c i r c u l a r and as b / a i n c r e a s e s t h e s t a r t i p grows
longer. The s t u d y concludes t h a t , f o r t h e problem under c o n s i d e r a t i o n , t h e
c o l l o c a t i o n method is very s e n s i t i v e t o t h e d i s t r i b u t i o n o f c o l l o c a t i o n p o i n t s .
Furthermore, l i t t l e convergence i s demonstrated f o r as many as seven c o l l o c a -
t i o n p o i n t s t a k e n w i t h i n an a c t a n t o f t h e boundary. I n view of t h e fact t h a t
it is n o t p o s s i b l e t o o b t a i n e x a c t , closed form s o l u t i o n s i n problems o f t h i s
t y p e , p r o c e d u r e s f o r o b t a i n i n g upper and lower bounds on t h e branches of t h e
frequency e q u a t i o n are s o r e l y needed. Only then can w e be e x p e c t e d t o make
d e f i n i t i v e s t a t e m e n t s concerning e r r o r i n approximate procedures. Such
bounding t e c h n i q u e s f r e q u e n t l y b e g i n w i t h estimates of t h e e i g e n v a l u e s . P e r -
haps t h e v a l u e o f t h e c o l l o c a t i o n method l i e s i n i t s a b i l i t y t o p r o v i d e t h e s e
e s t i m a t e s f a i r l y e a s i l y and q u i c k l y .

J a i n ( 3 6 ) h a s i n t r o d u c e d a new k i n d o f c o l l o c a t i o n procedure which elim-

i n a t e s some o f t h e d i f f i c u l t i e s of t h e boundary c o l l o c a t i o n method r e f e r r e d --
t o above. He refers t o t h e method as ' e x t r e m a l p o i n t c o l l o c a t i o n ' . He h a s
a p p l i e d t h e new method w i t h s t r i k i n g s u c c e s s t o t h e s o l u t i o n of s e v e r a l
boundary v a l u e problems. The method r e q u i r e s t h e i n i t i a l s e l e c t i o n o f a f i n -
i t e number o f c o l l o c a t i o n p o i n t s . This s e l e c t i o n is a r b i t r a r y as i n boundary
c o l l o c a t i o n . I n s t e a d o f r e q u i r i n g t h a t t h e e r r o r i n s a t i s f a c t i o n of t h e
boundary c o n d i t i o n s v a n i s h at t h e c o l l o c a t i o n p o i n t s , as i n boundary c o l l o -
c a t i o n , i n e x t r e m a l p o i n t c o l l o c a t i o n i t i s r e q u i r e d t h a t t h e e r r o r a t ad-
j a c e n t c o l l o c a t i o n p o i n t s be e q u a l i n magnitude b u t o p p o s i t e i n sign. Fur-
,
thermore t h e e r r o r a t t h e c o l l o c a t i o n p o i n t s must be l a r g e r t h a n t h a t a t any
o t h e r boundary p o i n t . I t is from t h e l a t t e r c o n d i t i o n t h a t t h e method de-
r i v e s i t s name. I n o r d e r t o s a t i s f a y t h e s e c o l l o c a t i o n c o n d i t i o n s , an itera-
t i v e procedure is r e q u i r e d by means of which t h e d i s t r i b u t i o n of c o l l o c a t i o n
p o i n t s is determined. Extrema1 p o i n t c o l l o c a t i o n h a s two d i s t i n c t advan-
t a g e s . S e l e c t i o n o f t h e c o l l o c a t i o n p o i n t s i s n o t a r b i t r a r y ; i n s t e a d it i s
determined by t h e method. I n o r d i n a r y c o l l o c a t i o n t h e r e i s n o c o n t r o l o v e r
t h e maximum error o r t h e d i s t r i b u t i o n of e r r o r . I n e x t r e m a l p o i n t c o l l o c a -
t i o n t h e e r r o r can nowhere exceed t h a t a t t h e c o l l o c a t i o n p o i n t s and t h e
e r r o r is uniformLy d i s t r i b u t e d o v e r t h e e n t i r e boundary.

I n R e f . ( 3 7 ) t h e problem d e f i n e d by E q s . ( 2 3 1 , ( 2 6 ) and ( 2 7 ) was s o l v e d

u s i n g e x t r e m a l p o i n t c o l l o c a t i o n . I n t h i s s t u d y it i s shown t h a t t h e method
i s an e f f e c t i v e t e c h n i q u e f o r t h e c a l c u l a t i o n of e i g e n v a l u e s . I t i s rela-
t i v e l y s i m p l e t o use p r o v i d e d t h a t a l a r g e - s c a l e computer is a v a i l a b l e . The
method converges r a p i d l y and y i e l d s r e a s o n a b l y a c c u r a t e r e s u l t s even f o r a
small number of c o l l o c a t i o n p o i n t s . The q u e s t i o n o f a c c u r a c y r e q u i r e s f u r -
t h e r s t u d y by means o f a method wherein t h e e i g e n v a l u e s can be bounded.

L e t us r e t u r n t o t h e boundary c o n d i t i o n s g i v e n by Eqs. ( 2 0 ) f o r f u r t h e r
c o n s i d e r a t i o n . If we s u b s t i t u t e i n t o Eqs. ( 2 0 ) from Eqs. (241, we o b t a i n

The q u a n t i t y on t h e l e f t i s t h e normal d e r i v a t i v e which d e f i n e s t h e r a t e o f

change of Y i n t h e d i r e c t i o n o f t h e normal t o S. Thus, t h e boundary condi-
t i o n t h a t r e q u i r e s t h a t t h e l a t e r a l s u r f a c e of t h e b a r be t r a c t i o n - f r e e can
a l s o be w r i t t e n i n t h e f o l l o w i n g form:

S
T h i s form s u g g e s t s t h a t t h e r e may be some advantage i n f o r m a l l y mapping t h e
b a r c r o s s - s e c t i o n o n t o a u n i t c i r c l e . If t h e conformal t r a n s f o r m a t i o n i s
d e f i n e d by
w = w (5)

wherein w = re
iod e f i n e s t h e r e a l p l a n e w h i l e 5 = Reiu d e f i n e s t h e complex
p l a n e , t h e boundary c o n d i t i o n g i v e n by Eq. ( 2 8 ) becomes

(29)
R= 1

To be s u r e , s a t i s f a c t i o n of t h i s boundary c o n d i t i o n i s a t r i v i a l t a s k c o m -
p a r e d t o s a t i s f a c t i o n o f t h e boundary c o n d i t i o n g i v e n by Eq. ( 2 8 ) . However,
we s h o u l d h a s t e n t o p o i n t o u t t h a t , by conformal t r a n s f o r m a t i o n , we have
s i m p l i f i e d t h e t a s k o f s a t i s f y i n g t h e boundary c o n d i t i o n s b u t w e have com-
p l i c a t e d t h e t a s k of f i n d i n g s o l u t i o n s of t h e d i f f e r e n t i a l e q u a t i o n o f motion
s i n c e i t , t o o , must be t r a n s f o r m e d . I t c a n be shown& t h a t t h e p l a n e ,
Laplacian operator transforms according t o

&See, f o r example, p. 629 o f Wylie (34)

20
 I
~
. and it f o l l o w s , t h e r e f o r e , t h a t , under t h e conformal t r a n s f o r m a t i o n , Eq. ( 2 3 )
be come s

I
I t is immediately c l e a r t h a t w e w i l l probably have d i f f i c u l t i e s f i n d i n g s o l u -
1 t i o n s of t h i s d i f f e r e n t i a l e q u a t i o n . N e v e r t h e l e s s , t h i s f o r m u l a t i o n o f t h e
problem proves advantageous i n c e r t a i n circumstances. For example, common
4 approximate methods o f s o l u t i o n o f problems o f t h i s t y p e such as Rayleigh's
p r i n c i p l e o r t h e R i t z method r e q u i r e t r i a l f u n c t i o n s t h a t s a t i s f y t h e bound-
a r y conditions. I n t h e t r a n s f o r m p l a n e such t r i a l f u n c t i o n s can b e f o r m u l a t e d
with l i t t l e d i f f i c u l t y .

I n Ref. ( 3 8 ) conformal t r a n s f o r m a t i o n i s used as o u t l i n e d above i n t h e

s o l u t i o n o f t h e problem o f a x i a l - s h e a r v i b r a t i o n s of a s t a r - s h a p e d b a r w i t h
a c r o s s - s e c t i o n i n t h e form of a four-lobed e p i t r o c h o i d . The e p i t r o c h o i d a l
boundary was chosen since i t s conformal mapping o n t o t h e u n i t c i r c l e i s rela-
t i v e l y simple and s i n c e it p o s s e s s e s t h e g e n e r a l c h a r a c t e r i s t i c s of t h e s o l i d
p r o p e l l a n t r o c k e t g r a i n p e r f o r a t i o n . To s o l v e t h e problem i n t h e complex
p l a n e t h e c o l l o c a t i o n method is a p p l i e d wherein t h e boundary c o n d i t i o n is
i d e n t i c a l l y s a t i s f i e d and t h e e r r o r i n s a t i s f a c t i o n of t h e d i f f e r e n t i a l equa-
t i o n i s c o l l o c a t e d a t a f i n i t e number of p o i n t s i n t h e i n t e r i o r o f t h e u n i t
c i r c l e . The r e s u l t s were c o n s i d e r e d f a v o r a b l e though some d i f f i c u l t y was en-
c o u n t e r e d w i t h r e g a r d t o t h e s p a t i a l d i s t r i b u t i o n of c o l l o c a t i o n p o i n t s .

Among t h e many methods a v a i l a b l e f o r t h e s o l u t i o n o f e i g e n v a l u e problems

t h e methods of Rayleigh and Ritz are probably t h e most familiar. These
methods y i e l d upper bounds on t h e e i g e n v a l u e s b u t , i n t h e absence of e x a c t
v a l u e s , it is d i f f i c u l t t o estimate t h e e r r o r i n t h e approximate s o l u t i o n .
Temple ( 3 9 ) s u g g e s t e d a method f o r e s t i m a t i n g t h e e r r o r i n each s t a g e o f an
i t e r a t i o n procedure d i r e c t e d toward t h e p r e c i s e d e t e r m i n a t i o n o f t h e l o w e s t
e i g e n v a l u e . Temple's method can be i n t e r p r e t e d as one which e s t a b l i s h e s t h e
lower bound. A very powerful method f o r t h e d e t e r m i n a t i o n of upper and lower
bounds on a l l e i g e n v a l u e s h a s been developed independently by Kohn (40) and
Kat0 ( 4 1 1 , as a g e n e r a l i z a t i o n of Temple's method, This method was a p p l i e d
i n Ref. ( 4 2 ) f o r t h e c a l c u l a t i o n o f t h e n a t u r a l f r e q u e n c i e s i n a x i a l - s h e a r
v i b r a t i o n s o f c i r c u l a r and e p i t r o c h o i d a l b a r s . The r e s u l t i n g bounds were ex-
b tremely a c c u r a t e f o r t h e fundamental n a t u r a l frequency b u t t h e accuracy d e t e r -
i o r a t e d somewhat f o r t h e high n a t u r a l f r e q u e n c i e s . However, it s h o u l d be
p o i n t e d o u t t h a t t h e bounds can be improved a t w i l l i f one is w i l l i n g t o ex-
I pend t h e r e q u i s i t e a d d i t i o n a l e f f o r t .

I n an e i g e n v a l u e problem i t i s r e q u i r e d t o f i n d one or more c o n s t a n t s A ,

c a l l e d e i g e n v a l u e s , and corresponding f u n c t i o n s B , c a l l e d e i g e n f u n c t i o n s ,
such t h a t a d i f f e r e n t i a l equation

21
 ,
i s s a t i s f i e d throughout a domain D s u b j e c t t o c e r t a i n boundary c o n d i t i o n s on
t h e boundary of D. I n g e n e r a l , t h e domain D may be e i t h e r a one- or a two-
dimensional continuum. For many e i g e n v a l u e problems M [..] and N [. .] are
Loth l i n e a r , s e l f - a d j o i n t , p o s i t i v e - d e f i n i t e , d e f f e r e n t i a l o p e r a t o r s with t h e
o r d e r of M g r e a t e r t h a n 14. Under t h e s e c o n d i t i o n s t h e e i g e n v a l u e s a r e r e a l
and p o s i t i v e and t h e e i g e n f u n c t i o n s form an o r t h o g o n a l s e t . When t h e e i g e n -
value does n o t appear i n t h e boundary c o n d i t i o n s , t h e e i g e n v a l u e problem i s
c a l l e d s p e c i a l provided t h a t t h e o p e r a t o r N has t h e form

N c B 1 = gB

where g is a p r e s c r i b e d continuous f u n c t i o n which is p o s i t i v e throughout t h e

domain D. Thus, t h e governing d i f f e r e n t i a l e q u a t i o n f o r s p e c i a l e i g e n v a l u e
problems becomes

We see immediately t h a t Eqs. ( 2 3 ) and ( 3 1 ) have t h i s form and, s i n c e t h e

e i g e n v a l u e does n o t a p p e a r i n t h e boundary c o n d i t i o n , i t is c l e a r t h a t t h e
a x i a l s h e a r v i b r a t i o n s problem is a s p e c i a l e i g e n v a l u e problem i n b o t h t h e

been developed f o r s p e c i a l e i g e n v a l u e problems .

r e a l and complex p l a n e s . T h e r e f o r e , w e can m a k e use o f t h e methods t h a t have
C o l l a t z ( 4 3 ) has developed
a procedure f o r o b t a i n i n g upper and lower bounds i n s p e c i a l e i g e n v a l u e prob-
lems. Using a t r i a l f u n c t i o n which s a t i s f i e s t h e boundary c o n d i t i o n s , b u t
n o t n e c e s s a r i l y t h e d i f f e r e n t i a l e q u a t i o n , a few simple o p e r a t i o n s are per-
formed and t h e upper and lower bounds r e s u l t . However, t h e s e bounds may n o t
be very good u n l e s s t h e t r i a l f u n c t i o n i s c l o s e t o t h e e x a c t s o l u t i o n o f t h e
problem. The f a c t t h a t t h e method i s r e l a t i v e l y simple t o apply f o r any given
f u n c t i o n i n d i c a t e s t h a t it might become much more u s e f u l i f a s y s t e m a t i c pro-
cedure were added f o r "choosing" t h e s e t r i a l f u n c t i o n s . Such a procedure was
developed by Appl and Zorowski ( 4 4 ) . Another such method was developed i n
R e f . ( 4 5 ) and a p p l i e d i n t h e s o l u t i o n of t h e a x i a l - s h e a r v i b r a t i o n s problem
f o r an e p i t r o c h o i d a l b a r . The bounds o b t a i n e d w e r e adequate and s u b j e c t t o
a d d i t i o n a l refinement b u t t h e e f f o r t i n v o l v e d i s probably less t h a n t h a t re-
q u i r e d t o o b t a i n Kohn-Kat0 bounds.

W e have d i s c u s s e d a number of t e c h n i q u e s t h a t s h o u l d prove u s e f u l i n t h e

s o l u t i o n of t h e v i b r a t i o n s problem f o r t h e r o c k e t motor model c o n s i s t i n g o f
an i n f i n i t e l y - l o n g , c i r c u l a r g r a i n with a complicated i n t e r n a l p e r f o r a t i o n ,
i d e a l l y bonded a l o n g i t s o u t e r p e r i p h e r y t o a r i g i d casing. The more effec-
t i v e o f t h e s e t e c h n i q u e s r e q u i r e t r i a l f u n c t i o n s t h a t s a t i s f y t h e boundary
c o n d i t i o n s , I t is c l e a r , t h e r e f o r e , t h a t a key r e q u i r e m e n t is a t e c h n i q u e
f o r conformally t r a n s f o r m i n g t h e c i r c u l a r domain w i t h a complicated p e r f o r a -
t i o n onto a c i r c u l a r annulus. Wilson ( 4 6 ) h a s developed s u c h a t e c h n i q u e

22
 .
. b u t it is l i m i t e d t o t h e case t h a t t h e web f r a c t i o n * is r e l a t i v e l y small.
For example, Arango (47) has shown t h a t , when t h e p e r f o r a t i o n h a s f o u r axes
o f symmetry, t h e e r r o r i n mapping t h e e x t e r n a l boundary i n c r e a s e s r a p i d l y
when t h e web f r a c t i o n i n c r e a s e s beyond 0.5. When t h e web f r a c t i o n r e a c h e s
t h e v a l u e 0.9, t h e o u t e r boundary h a s l o s t a l l semblance o f a circle. This
e r r o r arises due t o t h e f a c t t h a t Wilson t r e a t e d t h e conformal t r a n s f o r m a t i o n
o f an i n f i n i t e domain w i t h a h o l e i n t o a n o t h e r such domain. Consequently,
while t h e mapping f u n c t i o n a c c u r a t e l y t r a n s f o r m s t h e i n t e r n a l boundary i n t o
t h e u n i t c i r c l e , t h e e x t e r n a l boundary t r a n s f o r m s only approximately i n t o a
circle. R i m and S t a f f o r d ( 4 8 ) have very r e c e n t l y p r e s e n t e d a simple method
of d e r i v i n g approximate mapping f u n c t i o n s i n t h e form o f low o r d e r polynomials
which conformally t r a n s f o r m s an a n n u l a r r e g i o n i n t o one whose i n n e r and o u t e r
b o u n d a r i e s are star-shaped and c i r c u l a r , r e s p e c t i v e l y . The d e r i v a t i o n i s
based on t h e S c h w a r z - C h r i s t o f f e l t r a n s f o r m a t i o n . T h i s method h a s t h e same
accuracy problems i n t r a n s f o r m i n g t h e o u t e r boundary as Wilson's method.
This concern with t h e accuracy o f t h e t r a n s f o r m a t i o n of t h e e x t e r n a l boundary
i s o f s u b s t a n t i a l importance s i n c e , while t h e web f r a c t i o n may be r e l a t i v e l y
small i n t h e unburned s o l i d p r o p e l l a n t g r a i n , i t w i l l i n c r e a s e toward u n i t y
as a consequence o f t h e b u r n i n g process. I t s h o u l d be c l e a r , t h e r e f o r e , t h a t
it i s e s s e n t i a l t o develop t e c h n i q u e s for t h e conformal t r a n s f o r m a t i o n o f
f i n i t e , doubly-connected domains.

Laura ( 4 9 ) h a s developed such a technique based on n u m e r i c a l i n t e g r a t i o n

o f a p a i r of d u a l i n t e g r a l e q u a t i o n s d e r i v e d by Kantorovich and Muratov (50)
f o r t h e purpose o f conformal t r a n s f o r m a t i o n o f an a r b i t r a r y , f i n i t e , doubly-
connected r e g i o n o n t o a c i r c u l a r annulus. Laura demonstrates t h a t , i f t h e
domain under c o n s i d e r a t i o n h a s one o r more axes o f symmetry and one o f t h e
b o u n d a r i e s i s a c i r c l e , t h e system o f two i n t e g r a l e q u a t i o n s s i m p l i f i e s con-
s i d e r a b l y . S e v e r a l i l l u s t r a t i v e t r a n s f o r m a t i o n s are p r e s e n t e d i n c l u d i n g t h e
t r a n s f o r m a t i o n o f a domain which is t y p i c a l o f a s o l i d p r o p e l l a n t r o c k e t
motor. The accuracy o f t h e technique is e x c e p t i o n a l .

For purposes o f i l l u s t r a t i o n , l e t us c o n s i d e r a g r a i n c r o s s - s e c t i o n w i t h
4 axes o f symmetry. An o c t a n t o f t h i s c r o s s - s e c t i o n i s shown i n Fig. 1 be-
tween t h e h e a v i l y - a c c e n t e d i n n e r and o u t e r boundaries. The o u t e r boundary
i s a circle w i t h a r a d i u s of 1 8 i n c h e s w h i l e t h e i n n e r boundary h a s a maximum
r a d i u s o f 9-inches and a minimum r a d i u s o f 3-inches. The i n n e r and o u t e r
b o u n d a r i e s are f u r t h e r i d e n t i f i e d w i t h t h e c a p t i o n s R = 1.0 and R = b = 2.61,
r e s p e c t i v e l y . A mapping f u n c t i o n o f t h e f o l l o w i n g form was used t o con-
f o r m a l l y t r a n s f o r m (approximately b u t w i t h more t h a n adequate accuracy) t h e
domain between t h e i n n e r and o u t e r boundaries i n Fig. 1 o n t o a c i r c u l a r

*
Web f r a c t i o n i s d e f i n e d as t h e r a t i o of t h e d i a m e t e r o f t h e c i r c l e circum-
s c r i b i n g t h e i n n e r boundary of a doubly connected r e g i o n t o t h e d i a m e t e r of
t h e circle c i r c u m s c r i b i n g t h e o u t e r boundary.
 c

Fig. 1 F i r s t approximation t o a set o f b u r n i n g c u r v e s f o r a t y p i c a l s o l i d

prope l l a n t r o c k e t mot o r

annulus with u n i t i n n e r r a d i u s :

wherein p denotes t h e number o f axes of symmetry. I n t h i s case we had 4 axes

of symmetry and, t h e r e f o r e , w e took p = 4. A t w e l v e term mapping f u n c t i o n
was u s e d ; i.e., we took M = 1 and N = 10. A l a r g e r number o f terms would
have r e s u l t e d i n a more a c c u r a t e mapping. The unknown c o e f f i c i e n t s , A lfdip
i n Eq. (32) were e v a l u a t e d by Laura's method. Using t h i s mapping f u n c t i
seven a d d i t i o n a l c i r c l e s i n t h e complex p l a n e , i n t e r m e d i a t e between t h e
c
i n n e r and o u t e r b o u n d a r i e s , were t r a n s f o r m e d o n t o t h e c u r v e s shown i n Fig. 1.
Each of t h e c o n t o u r s shown i s i d e n t i f i e d by t h e r a d i u s of t h e c i r c l e i n t h e i
complex plane upon which it maps. Thus, t h e curve R = 1.6 t r a n s f o r m s i n t o
t h e circle w i t h r a d i u s 1.6, t h e curve R = 2.0 t r a n s f o r m s i n t o t h e c i r c l e w i t h
r a d i u s 20, etc. If one were able t o s t o p t h e b u r n i n g p r o c e s s i n a s o l i d
p r o p e l l a n t r o c k e t motor a t seven i n s t a n t s of time between i g n i t i o n and burn-
o u t and t o p l o t t h e shape o f t h e i n n e r boundary at e a c h time, t h e s o - c a l l e d
' b u r n i n g curves' would be o b t a i n e d . The r e s u l t i n g c o n t o u r s would look much

24
L

l i k e t h e curves o f Fig. 1. Thus, as a f i r s t approximation, we r e g a r d t h e con-

t o u r s o f Fig. 1 as a s e t o f b u r n i n g curves f o r a t y p i c a l s o l i d p r o p e l l a n t
r o c k e t motor. I n c i d e n t a l l y , it s h o u l d be p o i n t e d o u t t h a t , i f a c t u a l b u r n i n g
c u r v e s were g i v e n , t h e y c o u l d be conformally transformed o n t o c i r c l e s i n t h e
complex p l a n e w i t h e x c e p t i o n a l accuracy u s i n g Laura's method.

With t h e mapping f u n c t i o n known i t i s n o t a d i f f i c u l t t a s k t o c a l c u l a t e

t h e n a t u r a l f r e q u e n c i e s i n t h e a x i a l - s h e a r mode f o r each o f t h e r e g i o n s o f
Fig. 1. The r e s u l t s would p r o v i d e e s t i m a t e s o f how t h e n a t u r a l f r e q u e n c i e s
change d u r i n g t h e b u r n i n g p r o c e s s . There are any number o f approximate pro-
c e d u r e s a v a i l a b l e f o r t h i s c a l c u l a t i o n . We choose t o u s e G a l e r k i n ' s method.
The a p p l i c a b l e e q u a t i o n o f motion i s given by Eq. ( 3 1 ) which w e choose t o
rewrite as f o l l o w s :

-+-
a 2Y 1 31
(33a)

wherein

The q u a n t i t y g(R, p ) was c a l c u l a t e d u s i n g Eq. (32). The a p p r o p r i a t e bound-

a r y c o n d i t i o n s are

Y j = o
P=b

R=a

The first of t h e s e c o n d i t i o n s e x p r e s s e s t h e f a c t t h a t t h e displacement a t t h e

o u t e r p e r i p h e r y of t h e g r a i n must vanish s i n c e t h e g r a i n is i d e a l l y bonded t o
a r i g i d case. The second c o n d i t i o n above e x p r e s s e s t h e f a c t t h a t t h e i n n e r
c o n t o u r i s free of t r a c t i o n s . The q u a n t i t y a w i l l t a k e on 7 d i f f e r e n t v a l u e s
c o r r e s p o n d i n g t o t h e 7 d i f f e r e n t burning c u r v e s i n Fig. 1. The f o l l o w i n g
 t r i a l f u n c t i o n , s a t i s f y i n g t h e boundary c o n d i t i o n s , was used:

We have chosen t o i g n o r e t h e p -dependency, which we are a t l i b e r t y t o do

s i n c e we are a t t e m p t i n g an approximation. If t h e p -dependency had been i n -
c l u d e d , t h e r e s u l t i n g approximation would have been b e t t e r than t h a t o b t a i n e d
u s i n g Eq. ( 3 5 ) . For t h e s e c a l c u l a t i o n s w e used a one-term t r i a l f u n c t i o n ;
i.e., S = 1. S u b s t i t u t i o n f r o m Eq. ( 3 5 ) i n t o Eq. ( 3 3 a ) r e s u l t s i n

wherein d R , p ) is an error f u n c t i o n which does n o t , i n g e n e r a l , v a n i s h

s i n c e , i n g e n e r a l , Wn is n o t an e i g e n f u n c t i o n . G a l e r k i n ' s method r e q u i r e s
t h a t t h e error f u n c t i o n E ( R , p) b e o r t h o g o n a l t o t h e t r i a l f u n c t i o n s
Wn( R) throughout t h e domain of i n t e r e s t ; i . e , ,

1D E ( R , u ) Wn ( R ) dD = 0 , ( n = 1,2,....,,S) (37)

Performing t h e i n d i c a t e d i n t e g r a t i o n r e s u l t s i n S homogeneous, l i n e a r , a l g e -
g r a i c e q u a t i o n s i n t h e S unknown c o n s t a n t s Bn. W e o b t a i n a frequency equa-
t i o n by r e q u i r i n g t h a t t h e d e t e r m i n a n t of t h e c o e f f i c i e n t s of t h e unknowns
v a n i s h i d e n t i c a l l y . This frequency e q u a t i o n was s o l v e d 7 times f o r t h e lowest
n a t u r a l c i r c u l a r frequency c o e f f i c i e n t c o r r e s p o n d i n g t o t h e 7 d i f f e r e n t v a l u e s
of a. The r e s u l t s have been p l o t t e d i n Fig. 2. The h o r i z o n t a l c o o r d i n a t e i n
Fig. 2 i s t h e web f r a c t i o n b u t , s i n c e t h e web f r a c t i o n w i l l b e a f u n c t i o n of
time as t h e burning p r o c e s s proceeds, t h e p l o t i n F i g . 2 shows t h e v a r i a t i o n
of t h e lowest n a t u r a l c i r c u l a r frequency c o e f f i c i e n t w i t h t i m e throughout t h e
b u r n i n g p r o c e s s from i g n i t i o n t o burnout. W e see t h a t t h e n a t u r a l frequency
i n c r e a s e s r a p i d l y as t h e motor b u r n s o u t which is n o t an unexpected r e s u l t .
Such information i s o f extreme importance i n t h e d e s i g n of a guidance loop f o r
t h e v e h i c l e i n which t h e motor i s t o b e used.

I t has been demonstrated t h a t s u b s t a n t i a l p r o g r e s s h a s been made con-

c e r n i n g t h e t r e a t m e n t o f complicated g r a i n p e r f o r a t i o n s when t h e s e p a s s a g e s
are s u b s t a n t i a l l y two-dimensional. Conformal t r a n s f o r m a t i o n of t h e p e r f o r a -
t i o n by Laura's method s h o u l d open t h e d o o r t o t h e u s e o f a v a r i e t y of a c c e p t -
a b l e methods f o r c a l c u l a t i n g n a t u r a l f r e q u e n c i e s i n v a r i o u s modes of v i b r a t i o n
and t o the s t u d y of v a r i o u s s t e a d y - s t a t e wave p r o p a g a t i o n and f o r c e d v i b r a -
t i o n s problems. I n c i d e n t a l l y , it is worth p o i n t i n g o u t t h a t Laura's method

26
.

20

16

12

0.5 0.6 0.7 0. R 0.9 le0

Fig. 2 V a r i a t i o n o f t h e fundamental n a t u r a l c i r c u l a r frequency c o e f f i c i e n t

i n t h e a x i a l - s h e a r mode w i t h web f r a c t i o n f o r a typica.l s o l i d p r o p e l -
l a n t r o c k e t motor

i s e q u a l l y a p p l i c a b l e t o t h e s t u d y of problems wherein i n e r t i a l e f f e c t s a r e
unimportant such as q u a s i - s t a t i c i n t e r n a l p r e s s u r i z a t i o n . Thus f a r only
a x i a l - s h e a r modes of v i b r a t i o n have been c o n s i d e r e d f o r g r a i n s w i t h compli-
c a t e d p e r f o r a t i o n s . A d d i t i o n a l e f f o r t i s r e q u i r e d on t r a n s v e r s e modes and i n
wave p r o p a g a t i o n s t u d i e s . \!hen t h e geometry of t h e p e r f o r a t i o n v a r i e s r a p i d -
l y w i t h d i s t a n c e p a r a l l e l t o t h e motor a x i s , a p p l i c a t i o n o f t h e s e two-dimen-
s i o n a l methods becomes q u e s t i o n a b l e . L i t t l e , i f any, work is b e i n g accom-
p l i s h e d on t h e s e t h r e e - d i m e n s i o n a l problems. I t would seem t h a t f u t u r e work
i n t h i s area w i l l b e c o n f i n e d t o t h e a p p l i c a t i o n of f i n i t e d i f f e r e n c e t e c h -
niques.

‘de come now t o t h e c o n s i d e r a t i o n of t h e u l t i m a t e r e f i n e m e n t o f o u r model

o f a s o l i d p r o p e l l a n t r o c k e t motor; c o n s i d e r a t i o n o f a model of f i n i t e l e n g t h .
Most o f t h e modern s o l i d p r o p e l l a n t r o c k e t motors are s h o r t w i t h length-to-
d i a m e t e r r a t i o s of t h e o r d e r of u n i t y not uncommon. L i t t l e has been accom-
p l i s h e d w i t h t h e s t u d y of such dynamic problems. However, much i s b e i n g done
w i t h q u a s i - s t a t i c problems of t h i s n a t u r e , p a r t i c u l a r l y u s i n g f i n i t e d i f f e r -
e n c e schemes of v a r i o u s t y p e s . The development o f u n d e r s t a n d i n g o f f i n i t e

27
l e n g t h e f f e c t s and t h e s t u d y of t h e v a l i d i t y o f o u r two-dimensional r e s u l t s
when a p p l i e d t o r e l a t i v e l y s h o r t motors are probably t h e most i m p o r t a n t un-
s o l v e d problems i n s o l i d p r o p e l l a n t motor dynamics today. Some l i t t l e work is
b e i n g accomplished b u t t h e r e i s a n o t i c e a b l e lack o f l i t e r a t u r e on t h e subject.
We should c a l l a t t e n t i o n t o t h e e x p e r i m e n t a l s t u d y of t h e v i b r a t i o n s of s h o r t ,
s o l i d e l a s t i c c y l i n d e r s due t o McMahon ( 5 1 ) . E x t e n s i v e e x p e r i m e n t s were per-
formed and comparisons with a v a i l a b l e t h e o r y p r e s e n t e d . However, t h e a v a i l -
a b l e t h e o r i e s were l i m i t e d t o t h i c k d i s k and Timoshenko beam t h e o r i e s . I t
s h o u l d be clear t h a t much f u t u r e e f f o r t s h o u l d be expended i n t h e area o f
f i n i t e length cylinders.

VISCOELASTIC GRAINS

The s t u d y o f e l a s t i c g r a i n s h a s been r e a s o n a b l y a c t i v e as can be judged

from t h e d e t a i l o f o u r d i s c u s s i o n t h e r e o f , This i s as it s h o u l d be s i n c e ,
because of t h e e l a s t i c - v i s c o e l a s t i c correspondence p r i n c i p l e ,>? s o l u t i o n s of
e l a s t i c g r a i n problems are i n t i m a t e l y r e l a t e d t o t h e s o l u t i o n s o f v i s c o e l a s t i c
g r a i n problems. This p r i r i c i p l e s t a t e s t h a t t h e Laplace- or F o u r i e r - t r a n s f o r m e d
s o l u t i o n of a v i s c o e l a s t i c problem can be o b t a i n e d from t h e Laplace- or
Fourier-transformed s o l u t i o n o f t h e a s s o c i a t e d e l a s t i c problem by r e p l a c i n g
t h e e l a s t i c c o n s t a n t s t h e r e i n w i t h a p p r o p r i a t e f u n c t i o n s o f t h e Laplace or
F o u r i e r t r a n s f o r m ?ammeter. T h e r e f o r e , i n p r i n c i p l e , it would seem t h a t one
can always o b t a i n t h e v i s c o e l a s t i c s o l u t i o n a s s o c i a t e d w i t h a given e l a s t i c
solution. In p r a c t i c e , the s i t u a t i o n is n o t q u i t e so straight-forward s i n c e
i n v e r s i o n of t h e v i s c o e l a s t i c s o l u t i o n remains t o be accomplished. To be
s u r e , e x a c t i n v e r s i o n is always p r e f e r a b l e when p o s s i b l e . In the p r a c t i c a l
s i t u a t i o n t h i s is r a r e l y possible since the q u a n t i t i e s replacing t h e elastic
c o n s t a n t s are u s u a l l y measured material p r o p e r t y f u n c t i o n s o f t h e Laplace or
F o u r i e r transform p a r a m e t e r a v a i l a b l e o n l y i n curve or t a b u l a r form. I t
s h o u l d be c l e a r , t h e r e f o r e , t h a t a c o n s i d e r a b l e e f f o r t s h o u l d be mounted con-
c e r n i n g approximate t e c h n i q u e s f o r performing Laplace and F o u r i e r t r m s f o r m a -
t i o n s and i n v e r s i o n s . I n t h i s r e g a r d w e s h o u l d mention t h e methods d i s c u s s e d
by Schapery ( 5 6 ) and Cost ( 5 7 ) f o r t h e Laplace t r a n s f o r m and by Solodovnikov
( 5 8 ) and Papoulis ( 5 9 ) f o r t h e F o u r i e r t r a n s f o r m . Assuming t h a t approximate
i n v e r s i o n methods w i l l be a v a i l a b l e , o u r p r i n c i p a l concern s h o u l d b e w i t h
e l a s t i c problems s i n c e t h e s e c o u l d be r e a d i l y c o n v e r t e d t o v i s c o e l a s t i c s o l u -
tions. C l e a r l y , t h e r e f o r e , t h o s e d i f f i c u l t i e s t h a t a r i s e i n e l a s t i c problems
w i l l remain w i t h us i n v i s c o e l a s t i c problems; f o r example, t h e f i n i t e l e n g t h
d i f f i c u l t y i s s t i l l troublesome. Summarizing, i t seems e v i d e n t t h a t v i s c o -
e l a s t i c problems p r e s e n t n o fundamental d i f f i c u l t i e s t h a t are n o t i n h e r e n t i n
t h e a s s o c i a t e d e l a s t i c problems ; t h e c o m p u t a t i o n a l problem is more c o m p l i c a t e d

.
and t e d i o u s b u t t h e b a s i c q u a l i t i e s of t h e two t y p e s of problems remain t h e
s ame

%See A l f r e y (521, Lee ( 5 3 ) and S i p s ( 5 4 , 5 5 )

28
*
Because of t h e i n t i m a t e r e l a t i o n s h i p of e l a s t i c and v i s c o e l a s t i c problems
and because of o u r r a t h e r l e n g t h y d i s c u s s i o n o f e l a s t i c g r a i n problems, w e
s h a l l n o t b e l a b o r t h e v i s c o e l a s t i c problem area. However, we w i l l mention a
f e w p e r t i n e n t i n v e s t i g a t i o n s and p r e s e n t a n i l l u s t r a t i v e s o l u t i o n , j u s t enough
t o impart t h e f l a v o r of t h e problem.

Gottenberg ( 6 0 ) h a s r e p o r t e d t h e r e s u l t s o f a n e x p e r i m e n t a l i n v e s t i g a t i o n
o f s t e a d y - s t a t e , t r a n s v e r s e v i b r a t i o n s o f a l o n g , s t e e l c y l i n d r i c a l t u b e con-
t a i n i n g an i n e r t p r o p e l l a n t w i t h a c i r c u l a r p e r f o r a t i o n . Many bending modes
were d e t e c t e d and t h e r e s o n a n t f r e q u e n c i e s and mode s h a p e s compared w i t h t h e
p r e d i c t i o n s of a Timoshenko beam t h e o r y i n which t h e bending s t i f f n e s s o f t h e
p r o p e l l a n t was n e g l e c t e d r e l a t i v e t o t h e c a s i n g s t i f f n e s s but t h e a d d i t i o n a l
mass o f t h e i n e r t p r o p e l l a n t was i n c l u d e d . The comparisons were q u i t e adequate
f o r e n g i n e e r i n g p u r p o s e s . S u b s t a n t i a l d i f f i c u l t i e s were encountered i n d e t e c t -
i n g modes o t h e r t h a n bending modes. However, one axisymmetric, l o n g i t u d i n a l
mode and a few b r e a t h i n g modes were i d e n t i f i e d . No t h e o r y was a v a i l a b l e f o r
comparison w i t h t h e s e modes.

Henry and F r e u d e n t h a l ( 6 1 ) r e p o r t e d t h e r e s u l t s o f a n e x t e n s i v e a n a l y t i c a l
i n v e s t i g a t i o n of t h e s t e a d y - s t a t e , f o r c e d v i b r a t i o n s o f a t h i c k - w a l l e d v i s c o -
e l a s t i c c y l i n d e r c o n t a i n e d by and bonded t o a t h i n , c y l i n d r i c a l s h e l l . Only
axisymmetric s o l u t i o n s were c o n s i d e r e d . Complex frequency r e s p o n s e f u n c t i o n s
were determined which may b e e a s i l y used f o r a r b i t r a r y and random i n p u t s by
means o f t h e w e l l - e s t a b l i s h e d methods o f g e n e r a l i z e d harmonic a n a l y s i s . The
s t u d y i s broken down i n t o t h r e e s t e p s : (1) t h e t h i c k - w a l l e d c y l i n d e r , ( 2 ) t h e
t h i n s h e l l , and ( 3 ) t h e composite c y l i n d e r . For a t h i c k - w a l l e d , e l a s t i c
c y l i n d e r t h e s o l u t i o n s o f Eqs. ( 1 ) - ( 5 ) a r e developed i n t h e u s u a l manner ex-
panding t h e normal t r a c t i o n s on t h e i n n e r boundary and t h e normal and tangen-
t i a l t r a c t i o n s on t h e o u t e r boundary i n F o u r i e r t r i g o n o m e t r i c series i n t h e
a x i a l c o o r d i n a t e . The boundary c o n d i t i o n s on t h e l a t e r a l s u r f a c e s are i d e n t i -
c a l l y s a t i s f i e d b u t , r a t h e r t h a n r e q u i r i n g t h e a x i a l normal and s h e e r stresses
t o v a n i s h o v e r t h e e n d s , t h e a x i a l normal stress and t h e r a d i a l displacement
are r e q u i r e d t o v a n i s h . As a consequence of t h i s r e l a x a t i o n o f t h e boundary
c o n d i t i o n s , t h e p h y s i c a l s i g n i f i c a n c e of t h e r e s u l t s h a s been obscured t o a
c e r t a i n e x t e n t . The d i f f e r e n c e between t h i s ' f i n i t e - l e n g t h ' s o l u t i o n and t h e
infinite-length solution is not c l e a r . In order t o obtain the v i s c o e l a s t i c
s o l u t i o n , t h e e l a s t i c - v i s c o e l a s t i c correspondence p r i n c i p l e is invoked wherein,
f o r a f o r c e d v i b r a t i o n s problem, t h e elastic c o n s t a n t s are r e p l a c e d by complex
material p r o p e r t i e s f u n c t i o n s o f frequency. Membrane t h e o r y is used f o r t h e
t h i n e l a s t i c c a s i n g and a h i g h e r - o r d e r s h e l l t h e o r y i s i n c l u d e d i n an appendix.
The l a t t e r s h o u l d be used when t h e membrane t h e o r y i s i n a d e q u a t e ; f o r example,
f o r e x t e r n a l l o a d s o f a c o u s t i c n a t u r e . The assumption t h a t t h e p r o p e l l a n t and
case f o r m a c o n t i n u o u s s t r u c t u r e a t t h e i r i n t e r f a c e r e q u i r e s c o n t i n u i t y o f d i s -
p l a c e m e n t s a n d , t h e r e f o r e , produces s t r o n g c o u p l i n g o f t h e motions o f g r a i n and
c a s i n g . T h i s c o u p l i n g is c o n s i d e r e d of primary importance a n d , t h e r e f o r e , t h e
i n t e r a c t i o n i s t r e a t e d r i g o r o u s l y . The i n t e r n a l p r e s s u r e i s t a k e n as harmonic
and a l a r g e volume o f numerical r e s u l t s i s p r e s e n t e d f o r t h e fundamental r a d i a l
mode. I t i s concluded " t h a t any a n a l y s i s o f a s o l i d f u e l r o c k e t motor which

29
does n o t t a k e i n t o c o n s i d e r a t i o n t h e v i s c o e l a s t i c effects o f t h e p r o p e l l a n t r
would not g i v e a t r u e o v e r a l l p i c t u r e " . Another i m p o r t a n t o b s e r v a t i o n i s ar-
r i v e d a t by v a r y i n g t h e g r a i n geometry i n s i m u l a t i o n o f t h e s t a t e of t h e com-
p o s i t e s t r u c t u r e a t v a r i o u s s t a g e s o f t h e b u r n i n g p r o c e s s . The r e s u l t s i n d i -
cate t h a t , f o r c e r t a i n r a n g e s o f f r e q u e n c y , t h e r e o c c u r s a c o n s i d e r a b l e i n -
crease i n t h e a m p l i t u d e s of stress and d i s p l a c e m e n t s . The i m p l i c a t i o n i s t h a t
t h e c r i t i c a l p e r i o d i n r o c k e t o p e r a t i o n would o c c u r i n t h e l a t e r s t a g e s o f t h e
burning p r o c e s s when t h e p r o p e l l a n t i s a l m o s t completely burned o u t . Thus,
t h e important f r e q u e n c i e s might be c l o s e t o t h e fundamental r a d i a l mode o f t h e
casing .
I n Ref. ( 6 2 ) t h e stress r e s p o n s e t o p r e s s u r e t r a n s i e n t s h a s been i n v e s t i -
g a t e d i n an i n f i n i t e l y - l o n g , two-layered c y l i n d e r having a t h i n , i n c o m p r e s s i b l e
e l a s t i c o u t e r l a y e r and an i n n e r l a y e r o f an i n c o m p r e s s i b l e , two-parameter
Voigt m a t e r i a l . T h i s composite structure was t a k e n as a c r u d e mathematical
model o f a s o l i d p r o p e l l a n t rocket motor. The p a r t i c u l a r problem o f i n t e r e s t
concerned t h e c i r c u m f e r e n t i a l stress r e s p o n s e o f t h e case t o t h e p r e s s u r e
t r a n s i e n t s induced a t i g n i t i o n i n t h e g r a i n p e r f o r a t i o n . Two d i f f e r e n t p r e s -
s u r e programs were s t u d i e d i n some d e t a i l : a s q u a r e i g n i t i o n p u l s e and a
t r i a n g u l a r i g n i t i o n p u l s e followed by a p r e s s u r e , c o n s t a n t i n t i m e . By s o l v i n g
t h e e l a s t i c problem first and t h e n invoking t h e correspondence p r i n c i p l e t o
o b t a i n t h e v i s c o e l a s t i c s o l u t i o n , it was shown t h a t t h e stress r e s p o n s e is
r a t h e r i n s e n s i t i v e t o t h e shape of t h e p u l s e . However, it was a l s o demonstrated
t h a t t h e d u r a t i o n o f t h e t r a n s i e n t i s i m p o r t a n t . When t h e d u r a t i o n o f t h e
t r a n s i e n t is an o r d e r o f magnitude smaller t h a n t h e n a t u r a l p e r i o d of t h e c y l -
i n d e r i n t h e r a d i a l mode, t h e stress r e s p o n s e b a r e l y r e f l e c t s t h e p r e s e n c e of
t h e i g n i t i o n p u l s e . However, as t h e d u r a t i o n o f t h e t r a n s i e n t approaches t h e
n a t u r a l p e r i o d , t h e c i r c u m f e r e n t i a l stress approaches t h e stress l e v e l corres-
ponding t o t h e p r e s s u r e magnitude o f t h e t r a n s i e n t . The i m p l i c a t i o n as f a r as
c a s i n g and i g n i t e r d e s i g n s h o u l d be e v i d e n t . If one is t o economize on c a s i n g
weight b u t n o n e t h e l e s s m a i n t a i n r a p i d and p o s i t i v e i g n i t i o n , t h e i g n i t e r must
be designed such t h a t t h e p r e s s u r e t r a n s i e n t w i l l p e r s i s t f o r a t i m e no l a r g e r
t h a n one o r d e r o f magnitude smaller t h a n t h e n a t u r a l p e r i o d o f t h e motor i n t h e
r a d i a l mode.

L o c k e t t ( 6 3 ) p r e s e n t e d t h e r e s u l t s of a s t u d y of s i g n i f i c a n t importance w i t h
r e g a r d t o t h e a n a l y s i s of t r a n s i e n t r e s p o n s e s i n v i s c o e l a s t i c materials. He
d i s c u s s e d t h e e f f e c t produced by a r a p i d , b u t n o t d i s c o n t i n u o u s , change i n p r e s -
s u r e a t t h e s u r f a c e of a s p h e r i c a l c a v i t y i n an i n f i n i t e , v i s c o e l a s t i c medium.
Invoking t h e correspondence p r i n c i p l e , L o c k e t t o b t a i n s t h e s o l u t i o n t o t h e
v i s c o e l a s t i c problem from t h e F o u r i e r t r a n s f o r m of t h e a s s o c i a t e d e l a s t i c
problem by r e p l a c i n g t h e r e i n t h e e l a s t i c s h e a r and bulk moduli w i t h t h e v i s c o -
e l a s t i c complex s h e a r and bulk modulus f u n c t i o n s of c i r c u l a r f r e q u e n c y . Thus,
he is s u b s e q u e n t l y concerned w i t h performing i n v e r s e t r a n s f o r m a t i o n s . It is
t h e manner of performing t h e s e i n v e r s i o n s t h a t is s i g n i f i c a n t . Before proceed-
i n g t o t h e a c t u a l i n v e r s i o n p r o c e d u r e , L o c k e t t d i s c u s s e s t h e n a t u r e of modulus
f u n c t i o n s t h a t should be used and t h e c h a r a c t e r of t h e p r e s s u r e - t i m e h i s t o r y .
Most s o l u t i o n s t o v i s c o e l a s t i c problems a p p e a r i n g i n t h e l i t e r a t u r e are e i t h e r
. l e f t i n t h e i n t e g r a l form o r are s p e c i a l i z e d t o some s i m p l e spring-dashpot
r e p r e s e n t a t i o n f o r t h e complex moduli. However, it h a s been shown by Kolsky
and S h i ( 6 4 ) t h a t , i n g e n e r a l , t h e s e simple models do n o t a d e q u a t e l y r e p r e s e n t
t h e b e h a v i o r o f r e a l , v i s c o e l a s t i c materials. Thus, i f o n l y t h e s o l u t i o n t o
a p a r t i c u l a r problem i s r e q u i r e d , it would seem a d v i s a b l e t o use t h e e x p e r i -
mental d a t a d i r e c t l y i n t h e numerical i n v e r s i o n of t h e Fourier-transformed
s o l u t i o n s . If it is d e s i r e d t o keep a number o f parameters i n t h e s o l u t i o n ,
t h e n mathematical models should be chosen which f i t t h e e x p e r i m e n t a l d a t a w e l l ,
even though t h e y may n o t correspond t o a simple spring-dashpot c o n f i g u r a t i o n .
The s i m p l e forms of modulus f u n c t i o n s corresponding t o spring-dashpot models
o n l y have an advantage i n t h e s o l u t i o n of simple problems when it may be pos-
s i b l e t o e v a l u a t e t h e i n t e g r a l s e x p l i c i t l y . I n h i s subsequent numerical work
Lockett t a k e s a c o n s t a n t bulk modulus; i . e . , he assums t h a t t h e material is
e l a s t i c i n d i l a t a t i o n , and f o r t h e complex shear modulus he u s e s an a n a l y t i c a l
e x p r e s s i o n t h a t h a s been d e r i v e d from c u r v e f i t t i n g t o e x p e r i m e n t a l measurements
performed on r e a l , v i s c o e l a s t i c materials. For a p r e s s u r e - t i m e h i s t o r y Lockett
selects a t i m e f u n c t i o n which h a s t h e following complex F o u r i e r t r a n s f o r m :

I 0, 0
-< o < w
- 1

wherein t h e r a n g e ( q, 9 )d e f i n e s t h e range i n which a c c u r a t e measurements

are a v a i l a b l e of t h e complex s h e a r modulus. It f o l l o w s t h a t , s i n c e t h e F o u r i e r
transform of t h e p r e s s u r e - t i m e h i s t o r y is a f a c t o r i n t h e transformed s o l u t i o n ,
t h e e x a c t s o l u t i o n i n b o t h t h e e l a s t i c and v i s c o e l a s t i c problems is a f i n i t e
i n t e g r a l o v e r t h e range ( y, 9 )w i t h i n which t h e s h e a r modulus i s a c c u r a t e l y
known. The f o l l o w i n g p r e s s u r e - t i m e h i s t o r y is o b t a i n e d by i n v e r s i o n o f t h e
F o u r i e r t r a n s f o r m g i v e n by Eq. ( 3 8 ) :

where S i ( x ) d e n o t e s t h e s i n e i n t e g r a l which h a s been t a b u l a t e d by Jahnke and

Emde (65) and Abramowitz and Stegun (66), among o t h e r s . F o r w2 very much
l a r g e r t h a n W i t h i s p r e s s u r e program has t h e shape shown i n Fig. 3 . Lockett
c o n s i d e r s t h i s . l o a d i n g i n i t s own r i g h t and n o t as an approximation t o an
e x a c t l y s q u a r e l o a d i n g . The l a t t e r i s n o t o b t a i n a b l e i n p r a c t i c e , so t h e load-
i n g shown i n F i g . 3 i s more r e a l i s t i c . Obviously, t h e rise-time o f t h e p r e s -
s u r e program can be made s h o r t e r by i n c r e a s i n g o 2 up t o t h e upper l i m i t o f t h e
 0.6

0.4

0.2 -
*
t
- -0.2
--0.4

- -0.6

Fig. 3 F i r s t v e r s i o n o f t h e a l t e r n a t e p r e s s u r e program

frequency r a n g e i n which t h e s h e a r modulus i s w e l l - d e f i n e d . The F o u r i e r i n v e r -

s i o n s o f t h e transformed s o l u t i o n s are now performed n u m e r i c a l l y s i n c e i n t e g r a -
t i o n is over a f i n i t e frequency range o n l y . Lockett completes t h e s o l u t i o n and
a r r i v e s a t some i n t e r e s t i n g c o n c l u s i o n s concerning t h e d i f f e r e n c e s between
e l a s t i c and v i s c o e l a s t i c s o l u t i o n s .

Making use of L o c k e t t ' s s u g g e s t i o n s t h e problem o f dynamic i n t e r n a l p r e s -

s u r i z a t i o n was s o l v e d i n Ref. ( 6 7 ) f o r a n i n f i n i t e l y - l o n g , i n c o m p r e s s i b l e ,
v i s c o e l a s t i c c y l i n d e r case-bonded t o a t h i n e l a s t i c t a n k . The p r e s s u r e - t i m e
h i s t o r y of Fig. 3 h a s some o f t h e c h a r a c t e r of a p r e s s u r e - t i m e program of a
s o l i d p r o p e l l a n t r o c k e t motor b u t it h a s two i m p o r t a n t d e f i c i e n c i e s : t h e ap-
p l i e d p r e s s u r e is n e g a t i v e f o r time l e s s t h a n z e r o and t h e p r e s s u r e r i s e s t a r t s
a t n e g a t i v e time. Both o f t h e s e d e f i c i e n c i e s were c o r r e c t e d by a p p r o p r i a t e
s h i f t i n g of a x e s SO t h a t Eq. ( 3 9 ) becomes

T h i s e x p r e s s i o n d e f i n e s t h e one-parameter, w 2 / y , f a m i l y of c u r v e s shown i n F i g .
4. W e s e e t h a t t h e s e c u r v e s p o s s e s s most of t h e c h a r a c t e r i s t i c s of a c t u a l
p r e s s u r e - t i m e programs f o r s o l i d rocket motors. W e see a f i n i t e r i s e time
which is c o n t r o l l e d p r i n c i p a l l y by t h e v a l u e of w 2 and g i v e n v e r y c l o s e l y by

tR = 2 a / w2 (41)

32
Fig. 4 P r e s s u r e - t i m e program a p p l i e d t o t h e i n n e r c y l i n d r i c a l s u r f a c e o f t h e
core

The f a m i l y o f c u r v e s r i s e s t o a maximum and t h e n . o s c i l l a t e s about a q u a s i -

s t a t i c c u r v e whose shape depends upon t h e v a l u e o f t h e r a t i o w 2 / w l . In
Ref. ( 6 7 ) a v a l u e of 1000 was used f o r t h i s r a t i o and f o r t h i s v a l u e t h e os-
c i l l a t i o n is a b o u t a c u r v e t h a t is approximately p a r a l l e l t o t h e d i m e n s i o n l e s s
t i m e a x i s a t least f o r a s u b s t a n t i a l p e r i o d of t i m e . S i n c e a t t e n t i o n was
focused on t h e immediate dynamic effects of t h e p r e s s u r i z a t i o n it m a t t e r e d
l i t t l e t h a t t h e p r e s s u r e program d e c r e a s e s g r a d u a l l y f o r long t i m e s . The
F o u r i e r t r a n s f o r m of t h e p r e s s u r e program is g i v e n by

T h i s t r a n s f o r m is non-zero o v e r a l i m i t e d frequency r a n g e o n l y so t h a t , u l t i -
m a t e l y , t h e i n v e r s i o n i n t e g r a l s can also be e v a l u a t e d by numerical methods.

The s h e a r s t o r a g e and loss moduli used i n t h e i n v e s t i g a t i o n were t h e a c t u -

a l l y measured d a t a shown i n F i g s . 5. These m a t e r i a l p r o p e r t i e s were i n t r o d u c e d
i n t o t h e t r a n s f o r m e d s o l u t i o n by e x p r e s s i n g t h e s h e a r s t o r a g e modulus i n t h e
f o l l o w i n g form:

+ *1
2 2
w T n
G1(w) = Go Gn 2 2
n=l l + w r n

33
wherein Go, GI, G2, ...... , GN, q , q,.. ....., T and N are a r b i t r a r y c o n s t a n t s
which must be e v a l u a t e d such t h a t Eq. ( 4 3 a ) w i l l f S . i e l d a good approximation t o
t h e s h e a r s t o r a g e modulus shown i n F i g . 5 ( a ) i n t h e frequency r a n g e of i n t e r e s t .
Equation ( 4 3 a ) i s t h e a n a l y t i c a l r e p r e s e n t a t i o n f o r t h e s h e a r s t o r a g e modulus
f o r t h e (2Nt1)-parameter Maxwell material. Thus, use of t h i s e x p r e s s i o n i m p l i e s
t h a t w e have i d e a l i z e d t h e s o l i d p r o p e l l a n t as a l i n e a r l y - v i s c o e l a s t i c , (2N+1)-
parameter Maxwell material. I t is clear i n Eq. ( 4 3 a ) t h a t Go c o n s t i t u t e s t h e
s h e a r s t o r a g e modulus a t z e r o f r e q u e n c y a n d , on t h e b a s i s of e x t r a p o l a t i o n of
t h e d a t a of F i g . 3 ( a ) , t h e v a l u e s e l e c t e d was

Go = 400 p s i

The remaining p a r a m e t e r s i n Eq. ( 4 3 a ) were e v a l u a t e d by means o f a method i n -

t r o d u c e d by Schapery (68) wherein t h e T n ' s were a r b i t r a r i l y a s s i g n e d and t h e
G n ' s e v a l u a t e d by s o l v i n g a system o f N l i n e a r a l g e b r a i c e q u a t i o n s o b t a i n e d by
t h e c o l l o c a t i o n method. F i v e c o l l o c a t i o n p o i n t s were used and t h e r e s u l t i n g
a n a l y t i c a l e x p r e s s i o n a g r e e d w i t h t h e c u r v e o f F i g . 5 ( a ) t o w i t h i n t h e width
of a p e n c i l l i n e . The a n a l y t i c a l e x p r e s s i o n f o r t h e s h e a r l o s s modulus f o r
t h e (2N+l)-parameter Maxwell material, which is a l s o r e q u i r e d , is g i v e n by

N UT
n
GI1 (b)) = 1 Gn
2 2
(43b)
n=l 1 t W T
n

I t is c l e a r , t h e r e f o r e , t h a t t h e s h e a r s t o r a g e and l o s s moduli are n o t indepen-

d e n t s i n c e t h e unknown p a r a m e t e r s were e v a l u a t e d from s h e a r s t o r a g e modulus
d a t a and t h e s e same p a r a m e t e r s a l l o w immediate c a l c u l a t i o n of t h e s h e a r l o s s
modulus by means o f Eq. ( 4 3 b ) . T h i s r e s u l t i s n o t s u r p r i s i n g and was recog-
n i z e d by Gross ( 6 9 ) when he c a l c u l a t e d t h e f o l l o w i n g exact i n t e r - r e l a t i o n be-
tween t h e s e two material p r o p e r t y f u n c t i o n s :

As a n i n t e r e s t i n g experiment, t h e p a r a m e t e r s c a l c u l a t e d by means of S c h a p e r y ' s

method u s i n g Eq. ( 4 3 a ) and t h e s h e a r s t o r a g e modulus d a t a o f F i g . 5 ( a ) were
used i n Eq. ( 4 3 b ) t o c a l c u l a t e t h e s h e a r l o s s modulus. The r e s u l t s are p l o t t e d
as a d o t t e d c u r v e i n F i g . 5 ( b ) . W e o b s e r v e a v e r y s u b s t a n t i a l disagreement
between t h i s r e s u l t and t h e measured e x p e r i m e n t a l d a t a . T h i s d i s c r e p a n c y h a s
n o t been e x p l a i n e d . R a t h e r t h a n u s i n g t h e e x p e r i m e n t a l d a t a of F i g . 5 ( b ) ,
Eq. ( 4 3 b ) was used f o r t h e s h e a r loss modulus.

34
 0' I I I I I
-2 -I 0 I 2 3
loqmf (f = w / 2 u IN CPS)

Dynamic s h e a r s t o r a g e modulus as a f u n c t i o n o f frequency f o r

Hercules Powder Co. CYH s o l i d p r o p e l l a n t

c
2 leo r TEMPERATURE - 70 DEGREES F
w
(3
z 0.8
a
c
cn-
"2 EXPERIMENTAL
s-,
a\
0.6

a-
:? 0.4
ab STORAGE MODULUS \
0 \
s
a '\
0.2
z
& \\\
\
01 I I I I I
-2 -I 0 I 2 3
loql0 f (f = ~ 1 IN 2C P S )~

Fig. 5 ( b ) Dynamic s h e a r loss t a n g e n t as a f u n c t i o n o f frequency f o r Hercules

Powder Co. CYH s o l i d p r o p e l l a n t

Making u s e of t h e transformed p r e s s u r e program g i v e n by Eq. (42) and t h e

material p r o p e r t y f u n c t i o n s shown i n Eqs. (43) t h e transformed stresses and
d i s p l a c e m e n t s i n t h e two-layered c y l i n d e r were c a l c u l a t e d . The i n v e r s i o n i n -
t e g r a l s were e v a l u a t e d n u m e r i c a l l y with r e l a t i v e ease s i n c e t h e y were i n t e -
g r a l s o v e r a f i n i t e frequency r a n g e only. The r e s u l t s f o r t h e c i r c u m f e r e n t i a l
stress a t t h e i n t e r n a l p e r f o r a t i o n a r e shown i n F i g s . 6. These r e s u l t s d i s p l a y
some i n t e r e s t i n g f e a t u r e s t o which w e should draw a t t e n t i o n . F i r s t , w e draw

35
 t

a t t e n t i o n t o t h e small p e r t u r b a t i o n s d i s p l a y e d by a l l s o l u t i o n s f o r t i m e less
t h a n z e r o and f o r time g r e a t e r t h a n z e r o a l t h o u g h , i n t h e l a t t e r time regime,
t h e y may be obscured by l a r g e r o s c i l l a t i o n s . These p e r t u r b a t i o n s o f t h e
c a l c u l a t e d r e s p o n s e s are c l e a r l y due t o t h e small p e r t u r b a t i o n s p r e s e n t i n
t h e p r e s s u r i z a t i o n program. These small o s c i l l a t i o n s can be ignored s i n c e
o u r i n t e r e s t c o n c e r n s t h e g r o s s r e s p o n s e s due t o t h e g r o s s p r e s s u r e i n c r e a s e .
Next, q u a s i - s t a t i c s o l u t i o n s c o r r e s p o n d i n g t o a l l t r a n s i e n t s o l u t i o n s were
o b t a i n e d (and p l o t t e d i n Figs. 6 ) by t a k i n g t h e s p e c i f i c w e i g h t s o f b o t h case
and g r a i n e q u a l t o z e r o . Now, w e o b s e r v e t h a t , f o r t h e l a r g e r p e r f o r a t i o n
(7.0-incher) t h e c i r c u m f e r e n t i a l stress a t t h e i n t e r n a l p e r f o r a t i o n i s
compressive d e s p i t e t h e f a c t t h a t t h e accompanying c i r c u m f e r e n t i a l s t r a i n s
are t e n s i l e . See F i g s . 6 ( a ) . T h i s same e f f e c t was n o t e d i n Reference ( 7 0 )
and was e x p l a i n e d t h e r e i n . We summarize t h e e x p l a n a t i o n h e r e i n f o r p u r p o s e s
of completeness. The c i r c u m f e r e n t i a l stress may be thought o f as c o n s i s t i n g
of two components: a h y d r o s t a t i c compressive component due t o t h e compressioil
o f t h e c o r e a g a i n s t t h e r e s t r a i n t o f f e r e d by t h e case and a t e n s i l e
component due t o r a d i a l growth o f t h e c o r e under p r e s s u r i z a t i o n . If t h e
c o r e i s s u f f i c i e n t l y t h i n , such t h a t t h e case r e s t r a i n t i s i m p o r t a n t ,
t h e n t h e compressive component i s l a r g e r t h a n t h e t e n s i l e component and t h e
r e s u l t i n g c i r c u m f e r e n t i a l stress i s compressive even though t h e c i r c u m f e r e n t i a l
s t r a i n is t e n s i l e . This i s undoubtedly t h e s i t u a t i o n when a = 7.0 i n c h e s .
I t i s c l e a r t h a t , w i t h t h e a p p r o p r i a t e combination o f material p r o p e r t i e s
and geometry, t h e o p p o s i t e c o u l d a l s o be t r u e . As a matter o f f a c t , w e
see from Fig. 6 ( b ) t h a t , f o r a = 1.3 i n c h e s and f o r b o t h r i s e times, t h e
c i r c u m f e r e n t i a l stress a t t h e i n t e r n a l p e r f o r a t i o n and t h e accompanying
c i r c u m f e r e n t i a l s t r a i n are b o t h t e n s i l e . I t seems obvious i n t h i s s i t u a t i o n
t h a t case r e s t r a i n t p l a y s t h e s u b o r d i n a t e r o l e .

Now, we o b s e r v e t h a t f o r t h e 40 m i l l i s e c o n d r i s e time t h e t r a n s i e n t and

q u a s i - s t a t i c s o l u t i o n s coincided, f o r a l l p r a c t i c a l purposes, f o r a l l
times and i n a l l cases c o n s i d e r e d . I t seems clear t h a t t h e 40 m i l l i s e c o n d
r i s e t i m e is l o n g compared t o t h e fundamental n a t u r a l p e r i o d o f t h e
c y l i n d e r and, under t h e s e c o n d i t i o n s , t h e t r a n s i e n t and q u a s i - s t a t i c
f o r m u l a t i o n s o f t h e problem a r e e q u a l l y v a l i d t h u s a c c o u n t i n g f o r t h e good
agreement. However, f o r , t h e s h o r t e r r i s e time w e o b s e r v e a s u b s t a n t i a l
t r a n s i e n t a t small t i m e s and f o r t h e l a r g e r p e r f o r a t i o n . See F i g s . 6 ( a > .
We a l s o observe t h a t t h e t r a n s i e n t does n o t o c c u r f o r t h e s h o r t e r r i s e
time and f o r t h e smaller p e r f o r a t i o n . There a p p e a r t o be two p o s s i b l e
e x p l a n a t i o n s of t h i s behavior. For t h e l a r g e r p e r f o r a t i o n w e have shown
t h a t t h e e l a s t i c c a s i n g p l a y s a major r o l e . The p r e s e n c e of t h i s e l a s t i c
s t o r a g e element could account f o r i n i t i a t i o n o f t h e t r a n s i e n t o s c i l l a t i o n
and f o r s u s t a i n i n g it t h e r e a f t e r , For t h e smaller p e r f o r a t i o n we have
a l r e a d y demonstrated t h a t t h e c a s e p l a y s a s u b o r d i n a t e r o l e and s i n c e t h e r e
i s a l a c k of t h e e l a s t i c s t o r a g e e l e m e n t , t h e t r a n s i e n t o s c i l l a t i o n , if
i n i t i a t e d a t a l l , would a t t e n u a t e v e r y r a p i d l y as a consequence o f t h e
d i s s i p a t i v e q u a l i t y of t h e core material which p l a y s t h e major role. There
is a n o t h e r c a n d i d a t e e x p l a n a t i o n . I n F i g . 6 ( a ) f o r t h e smaller r i s e time
w e see t h a t t h e p e r i o d o f t h e t r a n s i e n t o s c i l l a t i o n , which i s , o f c o u r s e ,
t h e fundamental n a t u r a l p e r i o d o f t h e composite c y l i n d e r , h a s a v a l u e o f
about 4 or 5 m i l l i s e c o n d s . Thus, s i n c e t h e r i s e time v e r y n e a r l y c o i n c i d e s

36
 w i t h t h e n a t u r a l p e r i o d of t h e c y l i n d e r , w e expect t o e x c i t e a s u b s t a n t i a l
o s c i l l a t i o n which w i l l r a p i d l y a t t e n u a t e . For t h e smaller p e r f o r a t i o n , t h e
n a t u r a l p e r i o d chanees and t h e rise t i m e no l o n g e r c o i n c i d e s and we d o h o t
expect t o see a l a r g e t r a n s i e n t o s c i l l a t i o n . It i s d i f f i c u l t , w i t h o u t
e x t e n s i v e s t u d y , t o choose between t h e s e e x p l a n a t i o n s a l t h o u g h w e do f a v o r t h e
l a t t e r . There are, undoubtedly o t h e r f e a t u r e s o f t h e s e r e s u l t s t h a t b e a r
f u r t h e r d i s s c u s s i o n b u t w e f e e l t h a t w e have drawn a t t e n t i o n t o t h e s a l i e n t
features.

Achenbach ( 7 1 , 72) h a s r e c e n t l y completed t w o i n v e s t i g a t i o n s of g e n e r a l

import. The first o f t h e s e concerns t h e t r a n s i e n t , dynamic r e s p o n s e o f an
i n c o m p r e s s i b l e , e l a s t i c g r a i n w i t h an a b l a t i n g c i r c u l a r p o r t case-bonded t o a
t h i n , e l a s t i c case. D e s p i t e t h e f a c t t h a t t h i s s t u d y concerns an e l a s t i c
g r a i n , it is d i s c u s s e d h e r e because o f i t s c l o s e r e l a t i o n s h i p w i t h t h e
second study. An i n t e r n a l p r e s s u r e program i n t h e form o f a s t e p f u n c t i o n i n
t i m e i s a p p l i e d and an approximate s o l u t i o n o b t a i n e d by a s p p t o t i c i n t e g r a t i o n
of t h e e q u a t i o n of motion. I t is demonstrated t h a t burning time a f f e c t s t h e
p e r i o d o f t h e v i b r a t o r y r e s p o n s e b u t n o t t h e amplitude t h e r e o f . I n t h e
second i n v e s t i g a t i o n , Ref, (721, t h e dynamic r e s p o n s e i s c a l c u l a t e d i n an
i n f i n i t e l y - l o n g , composite c y l i n d e r c o n s i s t i n g of a thich-walled c y l i n d e r of
an i n c o m p r e s s i b l e , v i s c o e l a s t i c material case-bonded t o a t h i n e l a s t i c s h e l l .
Two dynamic l o a d i n g s are t r e a t e d : a t i m e s t e p i n i n t e r n a l p r e s s u r e and a time
s t e p i n e x t e r n a l p r e s s u r e , The l a t t e r l o a d i n g c o n d i t i o n is a p p l i e d t o an
i n o p e r a t i v e motor i n a missile l a u n c h i n g s i l o . The problem i s s o l v e d ,
numerial r e s u l t s p l o t t e d and d i s c u s s e d f o r a g r a i n o f a s t a n d a r d , l i n e a r
s o l i d ( t h r e e - p a r a m e t e r Maxwell m a t e r i a l , ) The manner of s o l u t i o n i s d i s c u s s e d
when measured d a t a is used f o r t h e g r a i n shear modulus.

We can judge by t h e c h a r a c t e r o f t h e s e l a s t few references t h a t a g r e a t

d e a l has been accomplished concerning t r a n s i e n t , dynamic r e s p o n s e s i n
v i s c o e l a s t i c g r a i n s , However, a d d i t i o n a l e f f o r t is r e q u i r e d t o p e r f e c t and
s i m p l i f y t h e a p p l i c a t i o n of t h e approximate methods f o r performing F o u r i e r
t r a n s f o r m s and i n v e r s i o n s , Then w e can look forward t o s o l v i n g many t r a n s i e n t
dynamic problems usinp, as i n p u t measured p r e s s u r e programs and material
property functions.

A g r e a t d e a l has been achieved i n t h e s o l u t i o n o f g e n e r a l wave propagation

problems i n l i n e a r v i s c o e l a s t i c i t y . See, f o r example, References ( 8 1, (73 1 -
( 9 1 ) . T h i s l i s t of references i s by no means complete n o r is i t a l i s t i n g o f
t h e more i m p o r t a n t papers. Despite t h e f a c t t h a t so much e f f o r t h a s been
expended i n i n v e s t i g a t i n g t h i s g e n e r a l problem, t h e r e b y t e s t i f y i n g t o i t s
importance, I was unable t o l o c a t e a s i n g l e r e f e r e n c e i n v o l v i n g a s o l u t i o n of
d i r e c t a p p l i c a b i l i t y t o s o l i d p r o p e l l a n t r o c k e t motors. I t seems e v i d e n t
t h e r e f o r e , t h a t a c o n s i d e r a b l e e f f o r t is r e q u i r e d t o e l u c i d a t e t h o s e
environments t h a t g i v e r i s e t o wave propagation problems and i n s o l v i n g t h e
problems posed.

1 37
 RISE TIME = 4 MILLISECONDS
TRANSIENT RESPONSE
QUASI-STATIC SOLUTION-- --

WO 200 300 400 CIOO 600 700 eo0 9OOlOOO

TIME IN MILLISECONDS
-0.1-

-0.2-

RISE TIME = 40 MILLISECONDS

-0.3
TRANSIENT RESPONSE -
se 0
-0.4-
QUASI-STATIC SOLUTION o 0 0

sol 45.
bcb
-0.0-

-0.7-

FIG. 6 (a) DIMENSIONLESS CIRCUMFERENTIAL STRESS RESPONSE AT INTERNAL

PERFORATION (r = a : a = 7 0 INCHES

38
 1.0-

0.8-
0
CL

b
*. 0.0-
m
-(Y RISE TIME = 4 MILLISECONDS
0.4- ,,

0.2-

I *.
(o 0.6-
u ( Y

bQ RISE TIME 8 40 MILLISECONDS

0.4-

0.2-
1

FIG. 6(b) DIMENSIONLESS CIRCUMFERENTW. STRESS RESPONSE AT INTERNAL

PERFORATION ( r = a ) : a = 1.3 INCHES
TRANSIENT RESPONSE
-
Q U N STATIC SOLUTION 0 0 0

39
 CON CLUSI ON

Ne have completed a s u r v e y of dynamic problems i n s o l i d p r o p e l l a n t

r o c k e t motors. A t t e n t i o n was r e s t r i c t e d t o l i n e a r a n a l y s i s of e l a s t i c
and v i s c o e l a s t i c g r a i n s . I t was n o t i n t e n d e d t h a t t h i s s u r v e y s h o u l d
be a b i b l i o g r a p h i c a l s t u d y b u t r a t h e r a p r e s e n t a t i o n of p r o g r e s s i n t h e
f i e l d i n an a t t e m p t t o e s t a b l i s h t h e c u r r e n t s t a t e - o f - t h e - a r t . Many
important r e l a t e d areas have been o m i t t e d i n t h e i n t e r e s t s o f c o n s e r v a t i o n
o f time and s p a c e . Consider, f o r example, n o n l i n e a r dynamic groblems,
shock problems, coupled thermo-mechanical problems, a c o u s t i c i n s t a b i l i t y
problems, and e x p e r i m e n t a l measurement of p r o p e l l a n t p r o p e r t i e s . E f f o r t
s h o u l d b e c o n t i n u e d and expanded i n t h e s e i m p o r t a n t a r e a s among o t h e r s .
ide have accomplished a g r e a t d e a l w i t h r e g a r d t o t h e dynamic problems of
s o l i d p r o p e l l a n t r o c k e t motors, however, a d d i t i o n a l e f f o r t i s a b s o l u t e l y
e s s e n t i a l t o e x t e n d t h e g o a l s t h a t w e have a l r e a d y reached.

40
 NOT AT1 ON

r a d i a l , c i r c u m f e r e n t i 1 and a x i a l c o o r d i n a t e v a r i a b l e s
o f p o l a r , c y l i n d r i c a l c o o r d i n a t e system

time

mass d e n s i t y

s h e a r modulus

r a d i a l , c i r c u m f e r e n t i a l and a x i a l components of
c7 i s p l a cement
dUr ur 1 due + 3u
cubical dilatation =
~r
+

- +

FTS?
Lzplacian d i f f e r e n t i a l o p e r a t o r = & + 1 --a + 1 -& +
ar2 r 3r r2 de2

4JrJ,,X d i s p lacsment p o t e n t i a l f u n c t i o n s
1/2
C d i l a t a t i o n a l wave v e l o c i t y = (G/plc2)
C

C s h e a r wave v e l o c i t y = ( G / p ) 1 / 2
S

K r a t i o of shear wave v e l o c i t y t o t h e d i l a t a t i o n a l
wave v e l o c i t y

r a d i a l * c i r c u m f e r e n t i a l a d a x i a l coDnponents of
normal stress

s h e a r s t r e s s components

Lame's second e l a s t i c c o n s t a n t = 2Gv/(1-2v) ;

dinens ion l e ss c i r c u l a r f requen cy c o e f f i c i e n t

radii

c i r c u l a r frequency and c i r c u l m frequency c o e f f i c i e n t ,

resp.

n mode numter

Bessel f u n c t i o n s of t h e first and second k i n d s , r e s p . ,

Jns n
'
and of t h e n - t h o r d e r

41
i

Primes o v e r a v a r i a b l e denote ordinary d e r i v a t i v e s of t h e v a r i a b l e with

r e s p e c t t o i t s argument; e.g., f'(r) = (d/dr)f(r)
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45
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