String Dynamics 5&6 2015

SCHOOL OF MECHANICAL AND
AEROSPACE ENGINEERING
NANYANG TECHNOLOGICAL
UNIVERSITY, SINGAPORE
EX A uniform string has a length l=1m, a density

=0.01kg/m. The string is fixed at both ends with initial
tension set at T=100N. The string is plucked at the middle
as shown with h=0.01m and is released at t=0. Determine
(i) the first 3 natural frequencies of the string; (ii) the
corresponding first 3 mode shapes of the string; (iii) the
subsequent vibration of the string.
Lecture 5 & 6 1/35
Uniform String Dynamics
Tuesday, November 17, 2015

From what is given, the initial displacement can be

described as,
f ( x)
0.02 x
0.02 1 x
0 x 0. 5
0.5 x 1.0
The initial velocity is zero, g(x)=0.

(i) The natural frequencies for the string with fixed
boundary conditions are given as,
i
i
l
Therefore,
1
1
1
Lecture 5 & 6 2/35
i 1, 2,
100
100 rad / s
0.01
2 200 rad / s
3 300 rad / s

(ii) The mode shapes are given as,
ix
i x sin
l
So,
i 1, 2,
1 x sin x
2 x sin 2x
3 x sin 3x
(iii) Since g(x)=0, we have
2
Ej
j
Lecture 5 & 6 3/35
l
0
jx
g x sin
dx 0
l
j 1, 2,

2
Fj
l
2
1
jx
f x sin
dx
2
f x sin jx dx
0
l
l
0
0.5
0
0.08
0.02 x sin jx dx 2
j
sin

2
Recall,
v x, t
i 1
ix
sin
i 1,3,5
1
0.5
0.02 1 x sin jx dx
0.08
1 j 1 / 2 j 1, 3, 5,
j 2, 4, 6 ,
j 2
0.08
v x, t
2
Lecture 5 & 6 4/35
Ei sin
T i
t Fi cos
l
T i
t
l
1 i 1 / 2 sin ix cos 100i t

i2

Generalized Equations of Motion Forced Vibration

Once free vibration modes (i, i(x)) are determined, it is
straightforward to determine the response of a system
to any external loading. Express displacement in terms
of known mode shapes and generalized coordinates;
v x, t
i x i t
(1)
i1
The kinetic energy of the system becomes,
l
0
Lecture 5 & 6 5/35
1
v
dx
2
t
dx i x i t
2
i
l
t dx
i
i
2 0 i 1
l
0
(2)

Using the mathematical identity,
i1
ai
i1 j1
ai a j
To prove using simple example,
2
2
2
2
i
1
2
3
1
2
3 2a1a2 2a2 a3 2a1a3
i1
a1 a1 a2 a3 a2 a1 a2 a3 a3 a1 a2 a3
a1
a j a2
j1
3
3
i1 j1
Lecture 5 & 6 6/35
j1
a j a3
j1
aj
ai a j

Then (2) can be re-written as,
K
2
i x i t j x j t dx
l
0
i1 j1
i t j t 0 i x j x dx
i1 j1
i 2 t
i1
(3)
Similarly, the potential energy of the system becomes,
l
0
Lecture 5 & 6 7/35
1 v
l 1
T
dx 0 T i x i t
2 i1
2 x
dx

l
0
l
0
1
T i x i t
2 i1
1
T
2 i1
i1
i2
dx
i x i t j x j t dx
j1
l
0
i2 x dx
2 2
ix
T
i
l
2
i t
cos
2 i1
l2
l
T 2
i 2 2 l
dx
i t
2 i1
l2 2
l
l i 2 2 T 2
2 2
i t
i t
i
4 i1
4 i 1 l2
Lecture 5 & 6 8/35
(4)

The generalized force i(t) corresponding each

generalized coordinate i(t):
i t
Now, we have,
And we can solve for
i(t) using Lagranges
Equations.
Lecture 5 & 6 9/35
l
0
F x, t i x dx
l
K
4
l
P
4
i t
i 2 t
(3)
i2 i2 t
(4)
F x, t i x dx
(5)
i1
i1
l
0
(5)

Recall Lagranges Equation:
d
dt
L
K
i i
i
d K
dt i
L P

i i
i
L
i
i
l
4
i 1, 2,
l
2
i t 2 i t
i1
l
i t
2
l
4
i1
i2 i2
l 2
i i t
2
l
l 2
i t
i i t i t
2
2
Lecture 5 & 6 10/35
LK P
i 1, 2,
(6)

Equation (6) can be solved for i(t) since all the

coefficients and the RHS are known. Once i(t) are
solved, the forced response of the system can be
obtained,
v x, t
i x i t
i1
where i(x) has been established from the free vibration

analysis of the system.
Lecture 5 & 6 11/35

EX A uniform string of length l, tension T and density

is subjected to a uniformly distributed load of simple
harmonic amplitude (in time) as shown (the magnitude
is F0 and frequency is ). Determine the forced
vibration response of the string.
Lecture 5 & 6 12/35

From free vibration analysis, we have
i
i
l
i 1, 2,
ix
i x sin
i 1, 2,
From (5), the generalized force becomes
i t
l
0
F x, t i x dx
Lecture 5 & 6 13/35
l
0
ix
F0 sin t sin
dx
l
2 F0 l
sin t
i
0
i 1, 3, 5
i 2, 4, 6

So, the generalized equations of motion become
l
l 2
2 F0 l
i t
i i t
sin t
2
2
i
i 1, 3,
(E1-1)
The general solution of (E1-1) has two parts

homogeneous and particular solutions. The
homogeneous part is the free vibration, that is
l
l 2
hi t
i hi t 0
2
2
hi t Ai sin i t Bi cos i t
i 1, 3,
i 1, 3,
(E1-2)
(E1-3)
The particular solution is the forced vibration, that is

l
l 2
2 F0 l
pi t
i pi t
sin t i 1, 3, (E1-4)
2
2
i
Lecture 5 & 6 14/35

4 F0
sin t
i
Assume the solution is,
pi t
i2 pi t
i 1, 3,
(E1-5)
pi t A pi sin t
Frequency is the same the forcing frequency , but
what is Api?
pi t A pi sin t
t A 2 sin t
pi
pi
Substitute these into (E1-5), then
A pi 2 sin t A pi i2 sin t 4 F0 sin t

i 1, 3,
i
4 F0
4 F0
2
2
Api
A pi i
i
i (i2 2 )
Lecture 5 & 6 15/35

4 F0
pi t
sin t
2
2
i (i )
(E1-6)
The general solution of (E1-1) is therefore,
4 F0
i t Ai sin i t Bi cos i t
sin t
2
2
i (i )
i 1, 3,
The forced vibration response becomes,
v x, t
i x i t
i 1,3,
ix
sin
l
i 1,3,
Lecture 5 & 6 16/35
4
F
0
Ai sin i t Bi cos i t
sin
t
2
2
)
i

The initial condition are,
v x, 0 0
Hence,
and
v x, 0 0
ix
v x, 0 i x i 0 sin
Bi 0
l
i 1,3,
i 1,3,
Multiply both sides by sin(jx/l) and integrate over [0,l],
ix
jx
sin
dx 0
sin
l
l
Bi l 0 Bi 0 i 1, 3, 5
2
Update the solution,
4 F0
ix
v x, t sin
sin
t
Ai sin i t
i (i2 2 )
l
i 1,3,
l
Bi 0
i 1,3,
Lecture 5 & 6 17/35

Apply the second initial condition,
4
F
0
Aii cos i t
cos
t
2
2
)
i
ix
v x, 0 sin
l
i 1,3,
ix
sin
l
i 1,3,
4 F0
Aii
2
2
)
i
t 0
4 F0
Aii
2
2
i
)
i 1,3,
i
4 F0
Aii
2
2
i
)
i
Lecture 5 & 6 18/35
l
0
ix
jx
sin
sin
dx 0
l
l
l
4 F0
0 Ai
2
2
2
i
)
i i

So, the final solution becomes,
4 F0
ix
v x, t
sin
i 1,3, l
i sin t sin i t
2
2
)
i i
What happens when i? Resonance occurs.

We only examine the time dependent part,
d
i sin t sin i t
i sin t sin i t
d
lim
lim
d
i
i
ii (i2 2 )
ii (i2 2 )
d
i t cos t sin i t
1
lim
i t cos i t sin i t
2
i
2ii
2ii
which tends to infinity as time increases!

Lecture 5 & 6 19/35

Treatment of Concentrated Forces:
A concentrated force can be written,
F x, t Fc t x xc
i t 0
1
where x xc
0
F x, t i x dx
l
0
x xc
x xc
Fc t x xc i x dx
i t Fc t i xc
Lecture 5 & 6 20/35


is subjected to a concentrated load of amplitude F0 as
shown. Determine the vibration of the string given initial
velocity zero and initial displacement as
4x
v x, 0 h sin
Lecture 5 & 6 21/35

The generalized force becomes
i t
l
0
F x, t i x dx
l
0
F0 x xc
ix
sin
dx
l
F0 1 (i 1) / 2
i
ixc
F0 sin
F0 sin

l
0
2
Recall,
l
l 2
i t
i i t
2
2
Then,
i t i2 i t
Lecture 5 & 6 22/35
i 1, 2,
2
( i 1) / 2
l 0
i odd
i even
(6)
i odd
i even

The corresponding general solutions are,
i t Ai sin i t Bi cos i t
i t Ai sin i t Bi cos i t Ci
i2Ci
even
odd
2 F0 l
2 F0
( i 1) / 2
(i 1) / 2
1
i
l
i 2 2T
odd
So, the solution can be written,
v x, t
i x i t
i 1
ix
sin
l
i 1,3,
2 F0 l
(
i
1
)
/
2
1
2 2
ix
sin
l
i 2,4 ,
Lecture 5 & 6 23/35

Consider the initial velocity first,
v x, t
i x i t
i 1
ix
sin
Aii cos i t Bii sin i t
l
i 1,3,
ix
sin
l
i 2,4 ,
ix
ix
v x, 0 0 sin
Aii sin
Aii 0
l
l
i 1,3,
i 2,4 ,
ix
sin
Aii 0 Ai 0 i 1,2,
l
i 1, 2,
(Previously discussed)
Lecture 5 & 6 24/35

Hence, solution can be updated to become,
ix
v x, t sin
l
i 1,3,
2 F0 l
(
i
1
)
/
2
Bi cos i t
1
2 2
ix
sin
Bi cos i t
l
i 2,4 ,
Consider the initial displacement,
v x, 0 h sin
2 F0 l
ix
(
i
1
)
/
2
1
sin
i 2 2
i T
l
i 1,3,
Lecture 5 & 6 25/35
i 2,4 ,
ix
4x
h
sin
Bi sin

2 F0 l
ix
(
i
1
)
/
2
1
sin
i 2 2
i T
l
i 1,3,
ix
4x
h
sin
l
l
Bi sin
i 2,4 ,
Bi
i 1,3,
2 F0l
( i 1) / 2
1
2 2
i T
Bi
i 2,4 ,
l
0
B
i
Lecture 5 & 6 26/35
ix
jx
sin
sin
dx
l
l
ix
jx
sin
sin
dx
l
l
2 F0 l
2
i T
4x
jx
h sin
sin
dx
l
l
l
0
2
(i 1) / 2
l
Bi
0
2
l
l
Bi
h
2
2
( j i odd )
( j i even, i 4 )
( j i 4)

2 F0 l
(
i
1
)
/
2
Bi
1
2 2
l
Bi
2
l
Bi
l
0
2
( i odd )
(i even , i 4 )
l
h
2
(i 4 )
Solving the above, we have

2 F0 l
Bi 2 2 1 (i 1) / 2
i T
B4 h
Bi 0
(i odd )
(i even; i 4 )
Hence the final solution becomes,

Lecture 5 & 6 27/35

2 F0 l
v x, t 2
T
1 (i 1) / 2
i 1,3,
i2
ix
sin
1 cos i t
l
4x
cos 4 t
l
h sin
where,
i
i
l
Lecture 5 & 6 28/35


is subjected to a concentrated loads of amplitude F0
and a distributed load, all of frequency , as shown.
Determine the vibration of the string given that the
initial displacement and initial velocity are zeros.
Lecture 5 & 6 29/35

The generalized force becomes
i t
l
0
F x, t i x dx
l
ix
F0 sin t x sin
dx
2
3x
ix
q0 1 sin
sin t sin
dx
l
l
q0 l
q0 l
sin t
1 cos i i 3 sin t
2
i
l
0
i
F0 sin
l
0
q0 l
q0 l
i
1 cos i i 3 sin t
F0 sin

i
2
2
t 2 t 2 F sin i q0 l 1 cos i q0 l i 3 sin t

i
i i
0
l
i
2
2
Lecture 5 & 6 30/35

To simplify, let
F i
Then,
2
q0l
q0 l
F0 sin
1 cos i
i3

l
i
2
2
i t i2 i t F i sin t
The corresponding general solution becomes,

F i
i t Ai sin i t Bi cos i t 2
sin t
2
i
So, the solution can be written,
v x, t
Lecture 5 & 6 31/35
i x i t
i 1
i 1
ix
sin
F
i
sin
t
2
2

Consider the initial displacement,
ix
Bi 0 Bi 0 i 1,2,
v x, 0 0
l
i 1
(Previously discussed)
Consider the initial velocity,
v x, t
i 1
sin
F
i
cos
t
2
2
F i
ix
0
Aii 2
sin
2
i
l
i 1
ix
sin
v x, 0 0
i 1
F
i
Aii
2
2
Lecture 5 & 6 32/35
l
0
ix
jx
sin
sin
dx 0
l
l

F
i
i 1, 2,
Aii 2
0
2 2
i
F i
i 1, 2,
Ai
2
2
i (i )
v x, t
i 1
F i
ix
sin
2
2
i
l
sin t
sin i t
i
Close examination of F(i) reveals that,

0
2 F0
i 1 / 2 4q0
1
F i
i
l
4q0 q0 2 F0
3
l
Lecture 5 & 6 33/35
i
i
even
odd , i 3
i 3

v x, t
i 1,5 ,7 ,9 ,
2iF0 1 i 1 / 2 4 q0 l
ix
sin
sin i t
sin t
2
2
i
il i
l
4 q0 l 3q0 l 6 F0
3 l 32 2
3x
sin
sin t
sin 3 t
3
where,
i
i
l
Lecture 5 & 6 34/35

SUMMARY
1. Forced vibration of string;
2. Derivation of generalized force;
3. Derivation of generalized equations of
motion;
4. Prediction of forced vibration response of
string;
Lecture 5 & 6 35/35

String Dynamics 5&amp;6 2015

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SCHOOL OF MECHANICAL AND

EX A uniform string has a length l=1m, a density

Lecture 5 & 6 1/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

From what is given, the initial displacement can be

The initial velocity is zero, g(x)=0.

Lecture 5 & 6 2/35

SCHOOL OF MECHANICAL AND

(ii) The mode shapes are given as,

SCHOOL OF MECHANICAL AND

Lecture 5 & 6 4/35

1 i 1 / 2 sin ix cos 100i t

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

Generalized Equations of Motion Forced Vibration

The kinetic energy of the system becomes,

Lecture 5 & 6 5/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

Using the mathematical identity,

To prove using simple example,

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

Then (2) can be re-written as,

Similarly, the potential energy of the system becomes,

Lecture 5 & 6 7/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

The generalized force i(t) corresponding each

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

Recall Lagranges Equation:

Lecture 5 & 6 10/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

Equation (6) can be solved for i(t) since all the

where i(x) has been established from the free vibration

Lecture 5 & 6 11/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

EX A uniform string of length l, tension T and density

Lecture 5 & 6 12/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

From free vibration analysis, we have

From (5), the generalized force becomes

Lecture 5 & 6 13/35

Uniform String Dynamics

SCHOOL OF MECHANICAL AND

So, the generalized equations of motion become

The general solution of (E1-1) has two parts

The particular solution is the forced vibration, that is

String Dynamics 5&6 2015

String Dynamics 5&6 2015