Table of Integrals

Basic Forms Integrals with Logarithms

Z
2
Z x ax + bdx = (2b2 + abx + 3a2 x2 ) ax + b (26)
1
Z
x dx = n
xn+1 (1) 15a2
ln axdx = x ln ax x (42)
n+1
Z
1
Z
ln ax 1
dx = ln |x| (2) Z p
1 dx = (ln ax)2 (43)
x
h
x(ax + b)dx =
p
(2ax + b) ax(ax + b) x 2
Z Z 4a3/2

udv = uv vdu (3) p i
b2 ln a x + a(ax + b)
Z  
 
(27) b
ln(ax + b)dx = x + ln(ax + b) x, a 6= 0 (44)
Z a
1 1
dx = ln |ax + b| (4)
ax + b a Z
x
b2 ln(x2 + a2 ) dx = x ln(x2 + a2 ) + 2a tan1
Z p  
Integrals of Rational Functions b x p 3 2x (45)
x3 (ax + b)dx = 2 + x (ax + b) a
12a 8a x 3
b3
 p 
+ 5/2 ln a x + a(ax + b) (28)
Z  
1 1
Z
8a x+a
dx = (5) ln(x2 a2 ) dx = x ln(x2 a2 ) + a ln 2x (46)
(x + a)2 x+a xa
(x + a)n+1
Z
(x + a)n dx = , n 6= 1 (6) Z
1p 2ax + b
Z p
n+1 1 p 1
 
ln ax2 + bx + c dx = 4ac b2 tan1
p
= x x2 a2 a2 ln x + x2 a2 


x2 a2 dx
 
2 2 a 4ac b2
Z
(x + a)n+1 ((n + 1)x a) (29) 
b

x(x + a)n dx = + x ln ax2 + bx + c


(7) 2x + (47)
(n + 1)(n + 2) 2a
Z
1 Z p
1 p 2 1 x
dx = tan1 x (8) a2 x2 dx = x a x2 + a2 tan1
Z
bx 1
1 + x2 2 2 a2 x2 x ln(ax + b)dx = x2
2a 4
Z
1 1 x (30)
dx = tan1 b2
 
(9) 1
a2 + x2 a a + x2 2 ln(ax + b) (48)
Z 2 a
Z
x 1
p 1 2
3/2
dx = ln |a2 + x2 | (10) x x2 a2 dx = x a2 (31)
a2 + x2 2 3 Z
1
x ln a2 b2 x2 dx = x2 +


Z 2
x x Z 2
dx = x a tan1 1
 
(11)
p
dx = ln x + x2 a2  (32)
 
a2 + x2 a x2 a2 1

a2

x 2 ln a2 b2 x2
2

(49)
Z
x3 1 1 2 b
dx = x2 a2 ln |a2 + x2 | (12) Z
1 x
a + x2
2 2 2 dx = sin1 (33)
a2 x2 a Integrals with Exponentials
Z
1 2 2ax + b
dx = tan1 (13) Z
x
ax2 + bx + c 4ac b 2 4ac b2
p Z
dx = x2 a2 (34) 1 ax
x a
2 2 eax dx = e (50)
a
Z
1 1 a+x
, a 6= b
Z
dx = ln (14) x p
1 ax

Z
(x + a)(x + b) ba b+x dx = a2 x2 (35) i
a x
2 2 xeax dx = xe + 3/2 erf i ax ,
Z a 2a
x a 2
Z x
dx = + ln |a + x| (15) where erf(x) =
2
et dt (51)
(x + a)2 a+x 0
x2
Z
1 p 1
 p 
dx = x x2 a2 a2 ln x + x2 a2 
 
Z
x 1 x a
2 2 2 2 Z
dx = ln |ax2 + bx + c| (36) xex dx = (x 1)ex (52)
ax2 + bx + c 2a
b 2ax + b
tan1
 

Z
(16) x 1
a 4ac b2 4ac b2 xeax dx = 2 eax (53)
Z p
b + 2ax p 2 a a
Integrals with Roots ax2 + bx + cdx = ax + bx + c
4a
Z
x2 ex dx = x2 2x + 2 ex


2
(54)
4ac b
 p 
+ ln

+ b + 2 a(ax2 + bx+ c) (37)

Z
2 8a3/2
2ax 
x adx = (x a)3/2 (17) x2
Z  
2x 2
3 x2 eax dx = 2 + 3 eax (55)
a a a

Z
1
dx = 2 x a (18)
Z
1  p 2 x3 ex dx = x3 3x2 + 6x 6 ex
Z

xa p (56)
x ax2 + bx + c = 2 a ax + bx + c
Z
1 48a5/2
dx = 2 a x (19) xn eax
Z Z
3b2 + 2abx + 8a(c + ax2 ) n


ax xn eax dx = xn1 eax dx (57)
 p  a a
+3(b3 4abc) ln b + 2ax + 2 a ax2 + bx + c (38)
 

Z
2 2
x x adx = a(x a)3/2 + (x a)5/2 (20) Z
(1)n
3 5 xn eax dx = [1 + n, ax],
an+1
Z

 
Z (58)
2b 2x Z
1 1 ta1 et dt
 
ax + bdx = + ax + b (21) where (a, x) =
p
dx = ln 2ax + b + 2 a(ax2 + bx + c)
 
3a 3 ax2 + bx + c a x
Z
2 (39)


Z
(ax + b)3/2 dx = (ax + b)5/2 (22) 2 i
eax dx = erf ix a (59)
5a 2 a

Z
x 2 Z


dx = (x 2a) x a (23)
Z 2
x 1p 2 eax dx = erf x a (60)
xa 3 dx = ax + bx + c
ax2 + bx + c a 2 a
b
  Z
p p 2 1 2
x(a x) 3/2 ln 2ax + b + 2 a(ax2 + bx + c) xeax dx = eax
Z r
(40)
 
x (61)
dx = x(a x) a tan1
p
(24) 2a 2a
ax xa

Z Z r
dx x 2 ax2 1 x ax2
= (41) x e dx = erf(x a) e (62)
Z r
x p  
(a2 + x2 )3/2 4 a3 2a
dx = x(a + x) a ln x + x + a (25) a2 a2 + x2
a+x

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 Integrals with Trigonometric Functions Z
1 x
Z
1 1 ex cos xdx = e (sin x + cos x) (106)
sec3 x dx = sec x tan x + ln | sec x + tan x| (84) 2
Z
1 2 2
sin axdx = cos ax (63)
a Z Z
1
sec x tan xdx = sec x (85) ebx cos axdx = ebx (a sin ax + b cos ax) (107)
Z
x sin 2ax a2 + b2
sin2 axdx = (64)
2 4a Z
1
sec2 x tan xdx = sec2 x (86) Z
2 1 x
Z xex sin xdx = e (cos x x cos x + x sin x) (108)
n
sin axdx = Z 2
1
n
sec x tan xdx = secn x, n 6= 0 (87)
1

1 1n 3
 n
cos ax 2 F1 , , , cos2 ax (65) Z
1 x
a 2 2 2 Z xex cos xdx = e (x cos x sin x + x sin x) (109)

x
 2
csc xdx = ln tan  = ln | csc x cot x| + C (88)

Z
3 cos ax cos 3ax 2
sin3 axdx = + (66) Integrals of Hyperbolic Functions
4a 12a Z
2 1
Z
1 csc axdx = cot ax (89)
cos axdx = sin ax (67) a
a
Z
1
cosh axdx = sinh ax (110)
Z
x sin 2ax
Z
1 1 a
cos2 axdx = + (68) csc3 xdx = cot x csc x + ln | csc x cot x| (90)
2 4a 2 2
Z
Z
1 eax cosh bxdx =
csc x cot xdx = cscn x, n 6= 0
n
Z
1 (91)
cosp axdx = cos1+p ax n ax
e
a(1 + p)
2 [a cosh bx b sinh bx] a 6= b
a b2
  Z
1+p 1 3+p 2 sec x csc xdx = ln | tan x| (92) 2ax (111)
F
2 1
2
,
2
,
2
, cos ax (69) e

+
x
a=b
4a 2
Products of Trigonometric Functions and
Z
3 sin ax sin 3ax
Z
cos3 axdx = + (70) 1
4a 12a Monomials sinh axdx = cosh ax (112)
a
Z
cos[(a b)x] cos[(a + b)x] Z Z
cos ax sin bxdx = , a 6= b x cos xdx = cos x + x sin x (93) eax sinh bxdx =
2(a b) 2(a + b)
(71) Z
ax
e
1 x
2 [b cosh bx + a sinh bx] a 6= b
x cos axdx = cos ax + sin ax (94) a b2 (113)
a2 a 2ax
e x
Z
2 sin[(2a b)x]
a=b
sin ax cos bxdx = Z
4a 2
4(2a b) x2 cos xdx = 2x cos x + x2 2 sin x


(95)
sin bx sin[(2a + b)x]
+ (72) Z
2b 4(2a + b) eax tanh bxdx =
a2 x2 2
Z
2 2x cos ax
Z x cos axdx = + sin ax (96) (a+2b)x
1 a 2 a3 e h a a i
sin2 x cos xdx = sin3 x (73)
2 F1 1 + , 1, 2 + , e2bx
3

(a + 2b) 2b 2b


1 ax ha i
Z
1 e 2 F 1 , 1, 1E, e2bx a 6= b (114)
xn cosxdx = (i)n+1 [(n + 1, ix) a 1 ax 2b
Z
cos[(2a b)x]

2 cos bx 2
eax 2 tan

[e ]
cos ax sin bxdx =

a=b
4(2a b) 2b
+(1)n (n + 1, ix)] (97) a
cos[(2a + b)x]
(74) Z
1
4(2a + b) tanh ax dx = ln cosh ax (115)
Z a
1
xn cosaxdx = (ia)1n [(1)n (n + 1, iax)
Z
1
cos2 ax sin axdx = cos3 ax (75) 2
3a
Z
1
(n + 1, ixa)] (98) cos ax cosh bxdx = [a sin ax cosh bx
a2 + b2
Z
x sin 2ax sin[2(a b)x] +b cos ax sinh bx] (116)
sin2 ax cos2 bxdx = Z
4 8a 16(a b) x sin xdx = x cos x + sin x (99)
sin 2bx sin[2(a + b)x]
+ (76)
8b 16(a + b)
Z Z
x cos ax sin ax 1
x sin axdx = + (100) cos ax sinh bxdx = [b cos ax cosh bx+
Z a a2 a2 + b2
x sin 4ax
sin2 ax cos2 axdx = (77) a sin ax sinh bx] (117)
8 32a Z
x2 sin xdx = 2 x2 cos x + 2x sin x


Z (101)
1
tan axdx = ln cos ax (78)
a
Z
1
sin ax cosh bxdx = [a cos ax cosh bx+
Z
1
Z 2 2 a2 + b2
tan2 axdx = x + 2a x 2x sin ax
tan ax (79) x2 sin axdx = cos ax + (102) b sin ax sinh bx] (118)
a a3 a2

tann+1 ax
Z Z
tann axdx = 1 Z
xn sin xdx = (i)n [(n + 1, ix) (1)n (n + 1, ix)] 1
a(1 + n) 2 sin ax sinh bxdx = [b cosh bx sin ax
  a2 + b2
n+1 n+3 (103)
2 F1 , 1, , tan2 ax (80) a cos ax sinh bx] (119)
2 2
Z Products of Trigonometric Functions and
1 1 Exponentials
tan3 axdx = ln cos ax + sec2 ax (81) Z
a 2a 1
sinh ax cosh axdx = [2ax + sinh 2ax] (120)
Z 4a
Z 1 x
x ex sin xdx = e (sin x cos x)

sec xdx = ln | sec x + tan x| = 2 tanh1 tan (82) (104)
2 2 Z
1
sinh ax cosh bxdx = [b cosh bx sinh ax
Z Z b2 a2
1 1
sec2 axdx = tan ax (83) ebx sin axdx = ebx (b sin ax a cos ax) (105) a cosh ax sinh bx] (121)
a a2 + b2
Other Structural Elements that can be Modelled by
the Wave Equation: Rod in Longitudinal Motion

Type of BC Left-end Right-end

Kinematic u = A (t ) A (t ) u = B (t ) B (t )
(displacement)

Dynamic u k u k
(elastic) EA = ku EA = ku
x x

Dynamic u u c u u c
(viscous) EA =c EA = c
x t x t

Dynamic u 2u m u 2u m
(inertial) EA = m 2 EA = m 2
x t x t

Basic boundary conditions

Lecture 13 Other Structural Elements modeled by the Wave Equation 14

CIE 4140 Structural Mechanics

Faculty of Civil Engineering and Geosciences
2017 Delft, The Netherlands
Other Structural Elements that can be Modelled by
the Wave Equation: Shear Beam

( x) ( x + x )
q

x
Type of BC Left-end Right-end
Kinematic w = A (t ) w = B (t )
(displacement) A B

Dynamic w w
(elastic) GA = kw GA =kw
x k x k

Dynamic w w w w
(viscous) GA =c GA =c
x t c x t c

Dynamic w 2w w 2 w
(inertial) GA =m 2 GA =m 2
x t m x t m

Basic boundary conditions

Lecture 13 Other Structural Elements modeled by the Wave Equation 18

CIE 4140 Structural Mechanics

Faculty of Civil Engineering and Geosciences
2017 Delft, The Netherlands
Other Structural Elements that can be Modelled by
the Wave Equation: Rod in Torsion
( x + x )

M t ( x + x )

Mt ( x)

x
x x + x
m

Type of BC Left-end Right-end

Kinematic = A (t ) = B (t )
(displacement)
Dynamic
(elastic) GJt = kt GJt = kt
x x
Dynamic
(viscous) GJ t = ct GJ t = ct
x t x t
Dynamic 2 2
(inertial) GJ t = It 2 GJ t = It 2
x t x t

Basic boundary conditions

Lecture 13 Other Structural Elements modeled by the Wave Equation 22

CIE 4140 Structural Mechanics

Faculty of Civil Engineering and Geosciences
2017 Delft, The Netherlands
Bending Vibrations of a Beam: Boundary Conditions
Basic Boundary Conditions

Type of BC Left-end Right-end

Kinematic w = A (t ) w = B (t )
(displacement)+ A B
w A w
Kinematic = A ( t ) = B (t ) B
(slope) x x
Kinematic w = A (t ) w = B (t )
(displacement)+ A B
Dynamic Moment 2 w kr w 2w kr w
= =
(elastic) x2 EI x kr x2 EI x kr

Kinematic w = A( t ) w = B(t )
(displacement)+ A B
Dynamic Moment 2w cr 2w 2w cr 2w
= =
(viscous) x2 EI t x cr x2 EI t x cr
Kinematic w = A( t ) w = B(t )
(displacement)+
Dynamic Moment 2w Ir 3w A 2w I r 3w B
= =
(inertial) x2 EI t 2 x Ir x2 EI t 2 x Ir

Lecture 14 Bending Vibrations of a Beam 8

CIE 4140 Structural Mechanics

Faculty of Civil Engineering and Geosciences
2017 Delft, The Netherlands
Bending Vibrations of a Beam: Boundary Conditions
Basic Boundary Conditions
Type of BC Left-end Right-end
Kinematic (slope) w w
+ = A ( t ) A = B (t )
x x k
Dynamic Force k
3w k 3w k B
(elastic) = w = w
x 3
EI x3 EI
Kinematic (slope) w w
+ = A ( t ) A = B (t )
x x c
Dynamic Force c
3w c w 3 w c w B
(viscous) = =
x 3
EI t x3 EI t
Kinematic (slope) w w
+ = A ( t ) A = B (t )
x x
Dynamic Force m m
3w m 2w 3w m 2 w B
(inertial) = =
x3 EI t 2 x3 EI t 2
Dynamic Moment 2w 2w
(elastic + viscous EI = EI =
x2 x2
+inertial)
+ w 2w w 2w
k
r w + cr + I r k
r w + cr + I r
Dynamic Force x t t 2 x t t 2
(elastic + viscous
3w w 2w 3w w 2w
+inertial) EI 3 = kw + c + m 2 EI 3 = kw + c +m 2
x t t x t t

Lecture 14 Bending Vibrations of a Beam 9

CIE 4140 Structural Mechanics

Faculty of Civil Engineering and Geosciences
2017 Delft, The Netherlands
Bending Vibrations of a Beam: Boundary Conditions
Most Basic Configurations
Type of fixation Schematization Boundary Conditions
Pined-Pined x=a x=b x = a : w = 2 w x 2 = 0
x = b : w = 2 w x 2 = 0

Clamped-Clamped
x=a x=b
x = a : w = w x = 0
x = b : w = w x = 0

Clamped-Free x=a x=b x = a : w = w x = 0

2 3
x = b : 2 w x = 3 w x = 0

Clamped-Pinned x=a x=b

x = a : w = w x = 0
x = b : w = w2 x 2 = 0

Pinned-Free x=a x=b

2
x = a : w = 2 w x = 0
2 3
x = b : 2 w x = 3 w x = 0

Lecture 14 Bending Vibrations of a Beam 10

CIE 4140 Structural Mechanics

Faculty of Civil Engineering and Geosciences
2017 Delft, The Netherlands
Bending Vibrations of a Beam: Natural Frequencies
and Normal Modes
1st step. Substitution of the harmonic form of the displacement into the equation of
motion, in which the external force is disregarded

2w 4w w( x ,t )=W ( x ) exp (it )

d 4W ( x ) A
A 2 + EI 4 = 0 4W ( x ) = 0, 4 = 2
t x dx 4
EI

2nd step. Writing the general solution of the above equation:

4 4

( ) C ( ) ( )
substitution to EQM
W ( x ) = Ck exp k x k
4
k 4 exp k x = 0
k =1 k =1

This gives the characteristic equation and the roots of it:

k4 4 = 0 1 = , 2 = , 3 = i , 4 = i
Thus, the general solution reads:

W ( x ) = C1 exp ( x ) + C2 exp ( x ) + C3 exp (i x ) + C4 exp ( i x )

Lecture 14 Bending Vibrations of a Beam 11

CIE 4140 Structural Mechanics

Faculty of Civil Engineering and Geosciences
2017 Delft, The Netherlands
Bending Vibrations of a Beam: Natural Frequencies
and Normal Modes
The general solution can also be written as:

W ( x ) = A cosh ( x ) + B sinh ( x ) + C cos ( x ) + D sin ( x )

3rd step. Substitution of the harmonic form of the displacement into the boundary
conditions. We will consider only 4 most basic configurations. The results are

Pinned-Pinned Beam: W (0 ) = W (0 ) = 0, W ( L ) = W ( L ) = 0
Clamped-Clamped Beam: W ( 0) = W ( 0) = 0, W ( L ) = W ( L ) = 0
Clamped-Free Beam: W ( 0) = W ( 0) = 0, W ( L ) = W ( L ) = 0

Clamped-Pinned Beam: W (0 ) = W (0 ) = 0, W ( L ) = W ( L ) = 0

Lecture 14 Bending Vibrations of a Beam 12

CIE 4140 Structural Mechanics

Faculty of Civil Engineering and Geosciences
2017 Delft, The Netherlands
Bending Vibrations of a Beam: Natural Frequencies
and Normal Modes
4th step. Substitution of the general solution into the boundary conditions. This gives
a system of 4 linear algebraic equations with respect to A, B, C, D.

5th step. Obtaining the frequency equation by setting the determinant of the
coefficient matrix to zero.

6th step. Solving the frequency equation, thereby determining the natural
frequencies.

7th step. Finding the ratios A/D, B/D, C/D from any three of the 4 algebraic
equations. Substitution of the natural frequencies into thus found expressions gives the
normal modes.

Lecture 14 Bending Vibrations of a Beam 13

CIE 4140 Structural Mechanics

Faculty of Civil Engineering and Geosciences
2017 Delft, The Netherlands