Mechanical Vibrations Chapter 4

Continuous Systems
2
Definitions
ni
ui ti
Su Xi
Ss
x3 V0
x2

x1 V(t)

Strain evaluation : Green’s measure

B ds02  dxi dxi

A A’
xi  dxi
ds 2  d  xi  ui  d  xi  ui 
xi xi  ui B’
xi  ui  d  xi  ui 
ds 2  ds02  2  ij dxi dx j
Green’s symmetric strain tensor
3
Definitions

Green’s symmetric strain tensor

1  ui u j um um 

 ij    
2  x j xi xi x j 

1  ui u j 
A particular case: linear deformation  ij   
2  x j xi 
4
Example

y
v(x)

O u(x) x

2 2
du 1  du  1  dv 
 xx       
dx 2  dx  2  dx 

The infinitesimal case

du
 1 du
dx  xx 
dv dx
 1
dx
5
Example

Rotation without strain

y  
u ( x)  2 x sin sin
2 2

 
O x v( x)  2 x sin cos
2 2

2 2
du 1  du  1  dv 
 xx        0
dx 2  dx  2  dx 

which shows the importance of each term for a correct evaluation of the
strains.
6
Example

Large displacement approach

du dv
y 
dx dx

x du
O dx  1
dx

2
du 1  dv 
 xx    
dx 2  dx 
7
Stress-strain relationships

Hyperelastic material
s ij
dW *
*
s ij  f  kl 
W
W
dW  ij

Kirchhoff-Trefftz stress tensor

Strain energy density
W
W  ij    s ij d ij
 ij
s ij 
0  ij

Complementary energy density

W *
W *  s ij  ij  W  ij 
s ij
8
Linear material

s ij  Cijkl  kl

21 distinct coefficients

When the material has isotropic properties, it is characterized by the

simpler Hooke law

s ij   (11   22   33 )  ij  2 G  ij

Young’s modulus

E E
where  G (Lamé constants)
(1  ) (1  2  ) 2 (1  )

Poisson’s coefficient
9
Displacement variational principle

Among the feasible trajectories of the system subjected to the restrictive conditions

 u(t1) =  u(t2) = 0
at the end of the considered time interval [t1 , t2], the real trajectory of the system is
the stationary point of the mechanical action in Lagrange’s and Hamilton’s sense :

t2
 t T  V  dt  0
1

ui  u i on Su , t (a priori kinematic condition)

1
T (u )    0 ui ui dV
2 V0
Vint   W  ij  dV
V0
V  Vint  Vext
Vext    X i (t ) ui dV   t i (t ) ui dS
V0 Ss
essential condition natural condition
10
Derivation of equations of motion

After calculation, one obtains

t2 t2    u j 
 t T  V  dt  t
1 1
S t j  ni
 s
 s ij  s im

 u j dS
xm 
   u j   
   s ij  s im    0 u j  X j  u j dV  dt  0
V0 x xm 
 i   

  u j 
xi  s ij  s im x    0 u j  X j  0 in V
 m
 u j 
t j  ni  s ij  s im   t j on Ss
 xm 
the equilibrium equations are natural conditions to the principle
11
The linear case

When both rotations and displacements are small

1  ui u j 
 ij   
2  x j xi 

s ij
 0 u j  X j  0 in V
xi
t j  ni s ij  t j on Ss
12
Non-linear effects

1  ui u j  1  um um 

 ij    
2  x j xi  2  xi x j 


 ij1  ij2 

1 (1) ( 2 ) 1
W  Cijkl  ij  kl  Cijkl  ij  kl  Cijkl  ij( 2)  kl( 2)
(1) (1)
2 2
13
Non-linear effects (Example)

Example: the cable with central mass particle

y m
vm
x


If the analysis is limited to the transverse motion, the axial strain can be
expressed by
2
1  v  v vm
x    with 
2  x  x  2

2
E A  2 vm 
We deduce Nx  E A  x   
2   
14
Non-linear effects (Example)

Free-body diagram

m N N x  N cos 
N

F

The restoring force F is equal to

2 vm
F  2 N sin   2 N x tan   2 E A  x


2 3
1  2 vm   2 vm 
By noting that x    , we obtain F  E A 
2     
15
Non-linear effects (Example)

3
 2 vm 
Equation of motion m vm  E A   0
  
y m
vm
x


8EA 3
m vm  3 vm  0


Pure cubic stiffness  the frequency depends on the amplitude

16
The case of initial stresses

Initial state Prestressed state Deformed state

x3 *
x2
V
ui* V(t)
V0
x1
 ij0 , s ij0  ij* , s ij*
Hamilton principle for a prestressed structure
t2
 ij   ij0   ij*  u* t (T *  Vint
* *
 Vg  Vext ) dt  0
i 1

s ij  s ij0  s ij*  ui* (t1 )   ui* (t2 )  0

1  1 *(1) *(1) 
T   *  * ui* ui* dV
* *
Vint   * Cijkl   ij  kl  dV
2 V V 2 
 * * * *
Vg   s 0
 ij*(2) dV Vext    * X i ui dV   t i ui dS
V * ij V Ss
17
Structural stability analysis

Hamilton principle for a prestressed structure

t2
t (T *  Vint
* *
 u*  Vg  Vext ) dt  0
i 1

 ui* (t1 )   ui* (t2 )  0

reduces to the form

t2
t
*
 u* (Vint  Vg ) dt  0
i 1
18
The case of initial stresses (F. E. method)

Example: the prestressed simply supported beam

Y1 Y2
N0
N0
w( x, t )  N e q e
2
1   w 
Geometric strain energy : V g ,e   N 0   dx
2 0  x 

1 T  1 N 0 d NTe d N e  1 T
Vg , e  qe   2  d   q e  q e K g ,e q e
2  0  d d  2

 36 3   36 3 
 2 2
N0  3  4   3    
K g ,e  assembled matrix
30   36  3  36  3  
 3   2  3  4 2 
 
19
One-dimensional continuous systems

Assumption: the motion of the system is described by a displacement field

function of the sole coordinate x. If the displacement is supposed to occur
in a plane, we have:

u ( x, t ) v0 w( x, t )

The uniform bar in extension

d 2u
E A 2  2 m u  0
dx

The uniform taut string

d 2w  2 m
2
 w0
dx N0
20
One-dimensional continuous systems

The Euler-Bernoulli beam theory (classical beam theory)

d2  d 2w 

2 
E I 
2 
  2
mw0 (uniform beam)
dx  dx 

When the rotatory inertia of cross-sections is included, it is referred to as

Rayleigh’s beam model.

The Timoshenko beam theory (including shear deflection)

d 4w   m m r 2
 d 2
w m  m 2 2
r
   
2
  2  w    4
w0
  k  A G E I  dx k A G E I
4
dx EI 

(uniform beam)
21
Bending vibration of thin plates

The Kirchhoff’s plate model

 4w  4w 4w 2 m
 4 2 2 2  w0 (uniform plate)
x 4
y x y D

E h3
where D
12 (1  2 )
22
Bending vibration of thin plates

The first four eigenmodes of the clamped circular plates

Mode (0,1) Mode (0,2)

Mode (1,1) Mode (2,1)

Animation courtesy of Dr. Dan Russell, Grad. Prog. Acoustics, Penn State
23
Wave propagation in a homogeneous elastic medium

With the assumption of linear strains,

1  ui u j 
 ij   
2  x j xi 
Introducing Hooke’s law in the assumption of homogeneous medium,

s ij   (11   22   33 )  ij  2 G  ij

we obtain: uk  ui u j 

s ij    ij  G   

xk 
 jx xi 

s ij
The dynamic equilibrium equations  0 u j  X j  0 in V
xi
24
Wave propagation in a homogeneous elastic medium

are written for the displacements as:

e
G  u j  (  G )
2
 X j   uj ( j  1, 2, 3)
x j

 2
 2
 2
where    2 2
2
is the Laplacian operator
x1 x2 x3
2

u1 u2 u3 is the divergence of

e  11   22   33   
x1 x2 x3 the displacement field

They are called the Navier’s equations.

25
Propagation of free waves

Restriction: we only consider waves propagating in the (x,y) plane

u1 ( x1 , x2 , x3 , t )  u ( x, y, t )
u2 ( x1 , x2 , x3 , t )  v( x, y, t )
u3 ( x1 , x2 , x3 , t )  w( x, y, t )

The Navier’s equations becomes

 2 2    2u  2 v   2u
G  2  2  u  (  G )  2     2  0
 x y   x x y  t
 2 2    2u  2 v   2v
G  2  2  v  (  G )   2    2  0
 x y   x y x  t
 2 2  2w
G  2  2  w   2  0
 x y  t
26
Longitudinal (P) waves

The P wave (Primary wave) in an earthquake are examples of Longitudinal waves.

The P waves travel with the fastest velocity and are the first to arrive.

Animation courtesy of Dr. Dan Russell, Grad. Prog. Acoustics, Penn State
27
Transverse (S) waves

The S waves (Secondary waves) in an earthquake are examples of Transverse waves.

S waves propagate with a velocity slower than P waves, arriving several seconds later.

Animation courtesy of Dr. Dan Russell, Grad. Prog. Acoustics, Penn State
28
Rayleigh surface waves

The Rayleigh surface waves are the waves that cause the most damage during an earthquake.
They travel with velocities slower than S waves, and arrive later, but with much greater
amplitudes. These are also the waves that are most easily felt during an earthquake and
involve both up-down and side-to-side motion.

Particles at the surface

trace out a counter-
clockwise ellipse.

Particles at a depth
of more than 1/5th of
a wavelength trace out
clockwise ellispes.

Animation courtesy of Dr. Dan Russell, Grad. Prog. Acoustics, Penn State
29
Water waves

Water waves are an example of waves that involve a combination of both longitudinal and
transverse motions.

Particles travel
in clockwise
circles

Animation courtesy of Dr. Dan Russell, Grad. Prog. Acoustics, Penn State