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0
t 2 A x 4
EI
q&& 2
A
q
define 4
A 2
so that 4 0 which has the solution:
EI
6- 38
1
sin l
cos l
c1
0
1
0 c2
0
cos l sinh l cosh l c3
sin l cosh l sinh l c4
1
For a nonzero solution, the determinant must be zero to that (after expansion)
sin l sinh l
cos l cosh
cos l cosh
sin l sinh
1
and
cosh n l
n4 EI
frequencies are n
. The mode shapes are
A
n C1n sin n x C2n cos n x C3n sinh n x C4n cosh n x
Using the boundary condition information that C4 C2 and C3 C1 yields
cos n l cosh n l
n C2n
sin n x cos n x
sin n l sinh n l
cos n l cosh n l
sinh
cosh
n
n
sin n l sinh n l
6- 39
6.41
Plot the first three mode shapes calculated in Problem 6.40. Next calculate the
strain mode shape [i.e., X (x) ], and plot these next to the displacement mode
shapes X(x). Where is the strain the largest?
Solution: The following Mathcad session yields the plots using the values of
taken from Table 6.4.
6- 40
6.42
4 Ae x 0 or 4 4
, , j, and j
each of which corresponds to a solution, namely A1e-x, A2ex, A3e-jx and A4ejx.
The most general solution is the sum of each of these or
X (x) A1e x A2 e x A3e jx A4 e jx
(a)
Now recall equation (A.19), i.e., e x cos x j sin x , and add equations (A.21)
to yield e jx sinh x cosh x. Substitution of these two expressions into (a)
yields
6- 41
6.43
&
& 0.
Solution: Use w(x,t) = (x)q(t) in equation (6.29) with w(x,0)
0 or q(0)
& 0 yields A = 0.
Then the temporal solution q = A sin t + B cos t with q(0)
The spatial solution is = C1 sin x + C2 cos x + C3 sinh x + C4 cosh x where
A 2
4
. The boundary conditions become
EI
(0) (0) (l) (l) 0
Applied to (x) these yield the matrix equation
0
0
sin l
sin l
C1
1
0
1 C 2
0
cos l sinh l cosh l C3
cos l sinh l cosh l C4
1
sin l sinh C1
0
sin sinh C3
or sin l sinh l + sin l sinh l = 0,
C sin l
C3 1
, and C1 sin l C1 sin l 0 so that the frequency equation
sinh l
n
, n = 1,2,3,so
becomes sin l = 0 and thus nl = n, n = 1,2,3, and n =
l
n
that C3 = 0 and the frequencies are n
l
EI
with mode shapes n(x) =
A
C1n sin nx. The total solution is the series w(x,t) n1 n cos nt sin n x .
Applying the second initial condition yields w(x,0) sin
and therefore
0 n 1
Bn n 3,4,...
1 n 2
2 x
n x
n1 n sin
l
l
6- 42
so that
2 x
l
6- 43
6.44
(2)
(3)
0
1
0
1 a1 0
a
1
0
1
0
2 0
sin l cos l sinh l cosh l a 0
3
cos
sin
l
cosh
l
sinh
a4 0
The coefficient matrix must have zero determinant for a nonzero solution for the
an. Taking the determinant yields (expanding by minors across the top row).
sinh 2 l cosh 2 l sin l sinh l cos l cosh l
cos l cosh l sin l sinh l sin 2 l cos 2 l 0
which reduces to
1 2cos l cosh l 1 0 or cos l cosh l 1
since sinh2 l cosh2 l = -1 and sin2 x + cos2 x = 1. The solutions of this
characteristic equation are given in table 6.4. Next from equation (1) a2 = -a4 and
from equation (2) a1 = -a3 so equation (3) can be written as
a3 sin l a4 cos l a3 sinh l a4 cosh l 4
Solving this for a3 yields
cos l cosh l
a3 a4
sinh l sin l
Recall also that a1 = -a3. Substitution into the solution X(x) and factoring out a4
yields
cos l cosh l
X (x) a4 cosh x cosh x
sinh x sin x
sin l sinh l
in agreement with table 6.4. Note that a4 is arbitrary as it should be.
6- 44
6.45 Show that the eigenfunctions or mode shapes of Example 6.5.1 are
orthogonal. Make them normal.
Solution:
The easiest way to show the orthogonality is to use the fact that the eigenvalues
are not repeated and follow the solution to problem 6.2. The eigenfunctions are
(table 6.4 or example 6.5).
Note that the constant an is arbitrary (a constant times a mode shape is still a mode
shape) and normalizing involves choosing the constant an so that X n X n dx 1.
Calculating this integral yields:
l
so
1 sinh 2 n l sin 2 n l
1 an2
n
4
2
n
sinh n l sin 2 n l
1 sin n l sinh n l cosh n l cos n l
n
4
6- 45
6.46
x ( AGWxx Awtt ) / 2 AG
(a)
(b)
Equation (a) can be differentiated twice with respect to time to get an expression
for I xx in terms of w(x,t) which when substituted into (b) yields
6.47
Show that if shear deformation and rotary inertia are neglected, the Timoshenko
equation reduces to the Euler-Bernoulli equation and the boundary conditions for
each model become the same.
Solution:
This is a bit of a discussion problem. Since I is the inertia of the beam in
rotation about the term Iwxxxtt represents rotary inertia. The term
(IE/2G)wtttt is the shear distortion and the term (2I/2G)wxxtt is a combination
of shear distortion and rotary inertia. Removing these terms from equation
(6.109) results in equation (6.92).