A Finite Rotating Shaft Element Using

Timoshenko Beam Theory

H. D. Nelson
Professor of Engineering Sciences,
Arisona State University,
Tempe, Ariz.
The use of finite elements for simulation of rotor systems has received considerable
attention within the last few years. The published works have included the study of the
effects of rotatory inertia, gyroscopic moments, axial load, and internal damping; but
have not included shear deformation or axial torque effects. This paper generalizes
the previous works by utilizing Timoshenko beam theory for establishing the shape
functions and thereby including transverse shear effects. Internal damping is not
included but the extension is straightforward. Comparison is made of the finite element
analysis with classical closed form Timoshenko beam theory analysis for nonrotating
and rotating shafts.

1 Introduction
Since 1970, several researchers in the general area of rotor dy-
namic analysis have studied the use of the finite element method
for modeling rotor systems. To the author's knowledge the first X ; *
works in the area were by Ruhl [1] in 1970 and by Ruhl and
Booker [2] in 1972. Ruhl's finite element included translational
inertia and bending stiffness but neglected rotatory inertia,
gyroscopic moments, shear deformation, axial load, axial torque
and internal damping. At about the same time Thorkildsen [3]
developed a finite element which was more general than Ruhl's
in that it also included rotatory inertia and gyroscopic moments.
In 1974, Polk [4] presented a study on natural whirl speed and
critical speed analysis using a Rayleigh beam finite element. In
an addenda to Polk's paper, he presented the development of a
Timoshenko beam finite element but did not present any numer-
ical results. Diana, et al. [5] in 1975 published the results of a
finite element analysis of a rotating shaft. Their element was Fig. 1 Typical element and coordinate systems
similar to Ruhl's. Also in 1975, Dimaragonas [6] presented the
general development of an element with all the above mentioned The purpose of this paper is to more accurately document the
effects except shear deformation, axial load, and axial torque. work of Polk and to present the results of numerical studies to
In 1976, Gasch [7] published a paper quite similar to that of determine the accuracy of the Timoshenko beam finite rotating
Dimaragonas, but also included the effect of distributed eccentric- shaft element. The finite element analyses are compared with
ity. Nelson and McVaugh [8] presented a study in 1976 which classical closed form solution of continuous systems as presented
utilized a Rayleigh Beam rotating shaft element similar to that by Dym and Shames [10] and by Eshleman and Eubanks [11]
of Polk. In addition the element equations were developed in in their study of the critical speeds of a continuous rotor.
both a fixed and rotating frame Of reference. This paper was gen-
eralized in 1977 by Zorzi and Nelson [9] by the inclusion of Coordinates and Shape Functions
internal viscous and hysteretic damping such as was presented
earlier by Dimaragonas and by Gasch. This work was also pre- A typical finite rotating shaft element is illustrated in Fig. 1
sented in both a fixed and rotating reference frame. with the two primary reference systems which are utilized to
describe its motion. The (XYZ) triad is a fixed reference with
the X axis coinciding with the undeformed centerline of the
element. The [XYZ] triad is a rotating reference with its x axis
coincident with X. The (xyz) triad rotates at a uniform rate co
Contributed by the Design Engineering Division and presented at the Winter about the X axis. The element is considered to be initially
Annual Meeting, New York, December 2-7, 1979 of the AMERICAN SOCIETY OF
MECHANICAL ENGINEERS. Manuscript received at ASME Headquarters Aug. 9, straight and is modeled as an eight degree of freedom element:
1979. Paper No. 79-WA/DE-5. two translations and two rotations at each end-point of the ele-

Journal of Mechanical Design OCTOBER 1980, Vol. 102/793

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 ment. The cross-section of the element is circular and is con-
sidered to be uniform for this study.
A typical cross-section of the element, located at a distance s
from the left end point, translates and rotates during the general
motion of the element. The translation of the cross-section
centerline neglecting axial motion is given by the two displace-
ments (V, W) which consist of a contribution (Vp, Wp) due to
bending and a contribution (V, W) due to shear deformation.
The rotation of the cross-section is described by the rotation
angles (B = dWp/ds, T = dVp/ds) which are associated
with the bending deformation of the element.
The translation of a typical point internal to the element is
approximated by the relation
tions are related to the bending and shear deformation respec-
tively for the Timoshenko Beam.
The derivation of the shape functions is provided in detail in
reference [13] and due to the length of the development is not
repeated here. The functions are listed in the appendix.
Element Equations
The element equations can be determined by use of the ex-
tended Hamilton's Principle, which states that the true path
renders the definite integral

V(s,T) j _ |~ ^, o o fa fa o o fa"
W(s,T) j L o fa-fa o o fa fa o .
q{t) r (T - V + W)dt

stationary with respect to any variation of the path between two

(3)

- [*<)] {(} (1) instants ti and U providing the path variation vanishes at the end
points. The equations of motion are thus determined by the
The indivisual shape functions; \pi{s) = j(s) + $fli(s), i = 1, relation
2, 3, 4; represent the static displacement modes associated with
unit displacements of one of the endpoint coordinates with all
other coordinates constrained to zero. The <Xi(s) functions are [5(7'-V) + 8W]dt = 0 (4)
associated with the bending deformation of a Timoshenko Beam
/.:
and the /3,(s) functions are due to the shear deformation. where T and V are the kinetic and potential energies respectively
The rotation of a typical cross section of the element is ap- of the element and 8W represents the variational work done by
proximated by the relation nonconservative forces and any forces not accounted for in the
potential energy function.
B(s,t) J _ 0 -fa fa 0 0 -xj, Qfa 0 "j I The element kinetic energy consists of both translational and
(0
T(s,t) ) I fa 0 0 fa fa 0 0 ^4 J 1 rotational forms. The rotational form includes rotatory terms
such as included in Rayleigh beam theory and also rotary terms
[*(*)] {9(0} (2) associated with the spinning of the shaft. The total kinetic energy
The individual shape functions; 0,-(s) = <(s) + 3?5,(s), i = 1, expression is
2, 3, 4; represent static rotation shape functions associated with
unit displacements of one of the endpoint coordinates with all T = -
2
2
other coordinates constrained to zero. The et'(s) and 5<(s) func- Jo \w ) \w }

-Nomenclature-
;
(/3, I") = small angle rotations about ( F , Z) axes P axial load
fa- = a, + $j3 r = translation displacement functions; r = :
r radius of element cross-section
:
1, 2, 3, 4 R slenderness ratio, r/2L
0 r = r + 4?5,. = rotation displacement functions; r = 1, 2, s axial distance along element
3,4 <y,w) centerline displacements in ( F , Z) direc-
4> spin speed tions
* = 12EI/kAGZ 2 = transverse shear effect bending contribution to (V, W)
A = I2/w = spin/whirl ratio (.V,, W.) shear contribution to (V4 W)
v = s/l matrix of translation displacement func-
( i W j !"W) = element mass center location tions
(VL, tL) = (1J(0), f(0)) m matrix of rotation displacement functions
(17* !R) = W), fd)) ti)Av) displacement vectors relative to (Y, Z) and
co = whirl speed (y, z) references respectively
Q spin speed = 0 (p, Pot) cosine and sine components respectively of
T, V, W = kinetic energy, potential energy, and work distibuted unbalance force in V direction
functions respectively (Pwc, p . . ) cosine and sine components respectively of
A = cross sectional area distributed unbalance force in W direc-
EI = bending stiffness per unit of curvature tion
{.}, \Q.\ cosine and sine element unbalance force
0 = shear modulus
vectors associated with {q}
J = action integral element unbalance force vector associated
\P)
Id, IP = diametral and polar mass moments of iner- with {p}
tial per unit length [R] rotation matrix
Ip = polar mass moment of inertia of the element [M] element translational and rotatory mass
as a rigid body m matrices respectively
k = transverse shear form factor [G] element gyroscopic matrix
1 = element length [K] element stiffness matrix
L = system rotor length [A] element axial load incremental stiffness
m = mass per unit of length matrix
p = nondimensional frequency, p = mlRfi/EI [M] - transformed element mass matrix

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 + if.'"
ITBds (5)
+
The potential energy of the element consists of elastic bending and
shear energy and energy due to axial load. The total potential
energy function is
Fig. 2 Typical rotor-schematic
V
If We" Wp"
ds

[0] = [H]-[H)T
(IV W
+ If kAG
W,' HV = [G] + $[(?], + $ 2 [ G ] 2 (12d)

V [A] = [A}0 + $ [ 4 ] , + *[A] 2 (12e)

ds (6)
+ 2 J0 |W I w and the equivalent distributed four vectors are of the similar
form
The only variational work included in this study for the element
is due to the distributed unbalance force. The variational work KM = (13a)
expression is
(13b)

"-r(rJ(d-H':H
with the detailed form of the force components listed in the ap-
ds (7) Equation (11) relates the element motion to fixed frame coordi-
nates and all of the matrices are symmetric with the exception of
the skew symmetric gyroscopic matrix, [G] . Each of the coefficient
matrices and the lateral force vectors include the effect of shear
pendix. The substitution of relations (1, 2) in the energy expres-
deformation. If shear deformation effects are ignored, the param-
sions (5, 6) and in the variational work expression (7); and the
eter $ is zero and ony terms with a zero subscript remain. The
evaluation of the indicated integrals yields the following form for equation of motion then reduces to the equation presented by
eqs. (5, 6, 7) respectively. Nelson and McVaugh [8].
T 2 When analyzing systems with isotropic supports for natural
T = - M '([M] + {N})U\-4>U} [H}{q\ + ~ h<i> (8) frequencies of whirl or unbalance response, it is convenient to
utilize a rotating reference system. Such a reference is shown in
Fig. 1 and the equation of transformation between fixed and
V = HlK\-[A\){q\ (9)
rotating frame coordinates is

cos co( sin cot

? sin cot cos a)/ Pi

cos cot sin cot V*

sin col cos cot p>

cos cot sin cot pi

9 sin cot cos cot p

cos cot sin cot pi

78 sin cot cos cot ps

W = \8q}T {\QC} cos 0< + \Q.) sin 2/) (10)

The i ndividual matrices and vectors appearing in the above {?} = [B] M (14)
equations are developed in detail in [13] and are listed in the ap- Introduction of the transformation equation (14) into equation
pendix. The application of Hamiltons extended principle, equa- (11) and premultiplication by [R]T gives
tion (4), with the energy and work functions, equations (8, 9, 10),
produces the following matrix equation of motion for the finite W\ + [N]) {p\ + co (2[Afl + ( 1 - X ) [G]) jp)
rotating shaft element
+ ( [Kl-[A)-u* ({M} + d - 2 X ) [JV]) ) {p} = {P\ (15)
A
([M] + [N]){q] - <j>[G]{q\ + ([K]-[A]) {q\ .
The matrix [M] which appears in these rotating reference equa-
= {Qc} cos Sit + {<?} sin Qt (11) tions is a skew symmetric matrix and X is the ratio of the rotor
spin speed Q and the rotating reference co. The element un-
The coefficient matrices of the equation of motion are of the form balance force vector {P} = {Pj + $>{P}i with {P} = {Qc}0
and (P}i = [Q.}i.
[K] = [K\0 + $[K\i (12a) The equation of motion of a rotor composed of an assemblage of
[M] = [M} + * [M], + $2 [M)3 (126) finite elements may be either formulated in terms of fixed refer-
ence coordinates by using equation (11) or in terms of fixed
2
IN] = [N]0 + $ [N]i + * [A']2 (12c) reference coordinates by using equation (15). The primary

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 3.1

Bernoul1i-Euler
A Finite Element

Eshleman-Eubanks (eqs.41,42)
ffi *.tf A Bernoul1i-tuler
Rayleigh . Eshleman-Eubanks (eq.15)
9 Finite Element
Q Timoshenko (5 Elements)
Shear Effect B = Backward Whirl
F = Forward Whi r l
Bernoul1i-Euler
Rayleigh Closed Form
Solutions 0 .02 .04 .06 .08 .10
Timoshenko
Slenderness Ratio, R.
Shear Effect
Fig. 5 First p r i m a r y critical speed of a simply s u p p o r t e d uniform

t
shaft: c o m p a r i s o n s

0 .02 .04 .06 .08 .10

Slenderness Ratio, R

Fig. 3 First n a t u r a l f r e q u e n c y of a s i m p l y supported b e a m : c o m p a r i -

sons

2TT

6.2

5.5

g b.3

8ernoulli-Euler
A Finite Element
Eshleman-Eubanks (eqs.41,12)
Eshleman-Eubanks (en.15)

j, Bernoul 1 i-Euler E = Forward Whirl

Rayleigh
3 Timoshenko ackward Whir
- Shear Cffact
BernouIIi'-Euler'
Rayleigh
Timoshenko
Shear Effect 0.04 0.06 0.0B
Slenderness Ratio, R

Fig. 6 Second p r i m a r y critical speed of a s i m p l y s u p p o r t e d u n i f o r m

shaft: c o m p a r i s o n s

i 0 .02 .04 .06

Slenderness Ratio, R
.08 .10 motion reduces to
( ([iE]-[il])-([M] + (1-2X)[JV]) ) {p} (16)
Fig. 4 Second n a t u r a l f r e q u e n c y of a simply supported b e a m : c o m -
parisons and its nontrivial solutions are obtained by solving the eigenvalue
problem.
purpose of the remainder of this paper is to investigate the in- {[K]-[A]) {p} - ([itf] + d-2X)[JV]) {p\ (17)
fluences of rotatory inertia, gyroscopic moment, and transverse
shear on the natural whirl speeds of a rotor system. Thus, it is In the above equation, the matrices [K], [A], [M], and [JV] are
convenient to utilize the rotating reference coordinates and to all symmetric and all have the property that the (x, y) and
also impose undamped isotropic supports. In this case, we seek (x, z) planar motions are uncoupled. It is possible, therefore, to
a nontrivial solution for a specified spin/whirl ratio (X) in {p} simplify the case of a two plane rotor dynamics problem into a
space with {p} equal to a constant. The element equation of planar one. The result is
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 Table 1 Natural frequencies of a nonrotating simply supported
Timoshenko beam

Rotatory inertia Shear deformation Rotatory inertia and shear

* =0 effect only effect only effects combined

(Rayleiqh Beam) (Timoshenko Beam)

R p(s) , p(s) | P(5)
Pi P 2 P(?) | P3
.02 3.1387 j 3.1385 3.1346 ; 3.1342 3.1316 3.1313 i 3.1312
1st .04 3.1295 j 3.1293 3.1136 ' 3.1125 3.1023 3.1017 3.1012
Mode .06 3.1145 j 3.1143 3.0801 ,' 3.0780 3.0571 3.0561 ! 3.0551
1
.08 3.0940 j 3.0939 3.0361 I 3.0327 3.0005 2.9989 j 2.9g71
.10 3.0687 ! 3.0685 2.9838 1 2.9790 2.9364 2.9343 ! 2.9311
1
.02 6.2638 ! 6.2586 6.2371 6.2250 6.2143 6.2074 ; 6.2024

.04 6.1928 6.1877 6.0949 6.0653 6.0222 ' 6.0079 | 5.9943

2nd
.06 6.0829 i 6.0779 5.8893 5.8387 5.7705 5.7482 j 5.7190
Mode :
.08 5.9440 5.9391 5.6510 5.5811 5.5043 5.4752 ; 5.3995

.10 5.7864 5.7817 5.4038 5.3188 5.2470 5.2126 4.9737

T a b l e 2 P r i m a r y critical speeds of a simply supported rotating

Timoshenko beam

X = X = -1
R p(s) p(s) p( 7 ) P.. p(.) p(s) p( 7 ) P5
0.02 3.1392 3.1376 3.1374 3.1373 3.1270 3.1256 3.1253 3.1251
1st 0.04 3.1278 3.1251 3.1246 3.1245 3.0827 3.0802 3.0796 3.0780
Mode 0.06 3.1085 3.1038 3.1027 3.1037 3.0174 3.0135 3.0125 3.0067

0.08 3.0806 3.0734 3.0715 3.0757 2.9398 2.9342 2.9328 2.9193

0.10 3.0441 3.0338 3.0311 3.0416 2.8566 2.8493 2.8475 2.8234

0.02 6.3024 6.2604 6.2532 6.2489 6.2103 6.1699 6.1631 6.1560

0.04 6.2421 6.1717 6.1551 6.1515 5.9458 5.8878 5.8748 5.8387

2nd
0.06 6.1268 6.0171 5.9873 6.0045 5.6333 5.5575 5.5380 5.4493
Mode
0.08 5.9537 5.8052 5.7623 5.8250 5.3313 5.2396 5.2146 5.0670

0.10 5.7370 5.5596 5.5069 5.6287 5.0573 4,9530 4.9238 4.7231

X].-IA].) jp}. = w([M], + ( i - 2 \ M ] . ) {p}* (18) Computational Results

where the matrices are all symmetric and of size (4 X 4).
System Equations
A typical rotor system is illustrated in Fig. 2 and consists of
uniform finite elements, rigid discs, and isotropic undamped
supports. The various system components are assembled using
classical assembly procedures and the system equations are of
the form
[K], {A} = ([M], + ( l - 2 \ ) [ i V ] s ) {A}
where the size of the matrices are (2n, X 2n s ) with n, equal to the
number of rotor stations. The solution of eq. (19) yields the
natural frequencies of whirl; ur,r = 1, 2, . . ., 2n,; for a specified
spin/whirl ratio, X, and the natural whirl modes {A} r .
In order to evaluate the accuracy of the Timoshenko beam
finite rotating shaft element, computed results were compared
with well established analyses of classical problems. The first
comparison was for the natural frequencies of a uniform non-
rotating simply supported beam, X = 0, and the results are
compared to the values obtained from Timoshenko beam theory
as published in D y m and Shames [10]. The results of this com-
parison are presented in tabular form in Table 1 and in graphical
form in Figs. 3 and 4. The second comparison was for the primary
forward and backward critical speeds, X = 1 , for the same
(19)
beam and the results are compared to the values published by
Eshleman and Eubanks [11]. These comparisons are listed in
Table 2 and are graphed in Figs. 5 and 6.
T h e study was conducted with different numbers of elements in
order to establish a measure of analytical accuracy for a particular

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 number of finite elements used in the system model. This in-
developed in this paper provides an accurate representation of
formation is also listed in the tables and graphs below. The
rotating shaft dynamics. The inclusion of shear deformation
following notation is used in the tables: pi,2,3 represents the
effects yields a more precise finite element than any presented
values of p from equations 7.70, 7.71, 7.75 respectively of refer-
previously and it can be incorporated easily in existing computer
ence [10], p4,5 represents the values of p from equations 41, 42
programs with negligible increase in computation time and
respectively of reference [11], and p<"> represents the value of p
storage requirements.
using n finite elements.

References
Summary and Conclusions
1 Ruhl, R. L., "Dynamics of Distributed Parameter Rotor
The equations of motion for a uniform rotating shaft element Systems: Transfer Matrix and Finite Element Techniques,"
have been formulated using deformation shape functions de- P h D dissertation, Cornell University, 1970.
2 Ruhl, R. L., and Booker, J. F., "A Finite Element Model
veloped from Timoshenko beam theory. The model thus includes for Distributed Parameter Turborotor Systems," ASME,
the effects of translational and rotational inertia, gyroscopic Journal of Engineering for Industry, Feb. 1972, pp. 128-132.
moments, bending and shear deformation, and axial load. The 3 Thorkildsen, T., "Solution of a Distributed Mass and Un-
effects of internal damping are not included b u t the generaliza- balanced Rotor System Using a Consistent Mass Matrix Ap-
tion is straight forward. The inclusion of axial torque effects proach," M S E Engineering Report, Arizona State University,
June, 1972.
will be presented in a later publication which is presently in 4 Polk, S. R., "Finite Element Formulation and Solution of
progress. Flexible Rotor-Rigid Disc Systems for Natural Frequencies and
The numerical effort in this study included two separate con- Critical Whirl Speeds," M S E Engineering Report, Arizona State
University, May 1974.
figurations: i) a nonrotating uniform Tomoshenko beam with
5 Diana, G., Massa, E., and Pizzigoni, "A Finite Element
simply supported boundary conditions, ii) a rotating uniform Method for Computing Oil Whirl Instability of a Rotating Shaft
Timoshenko beam including gyroscopic moments. For both of Supported by Elastic Bearings," 7. Mech. E., 1975, pp. 659-663.
these cases the study included the variation of the shaft slender- 6 Dimaragonas, A. D., "A General Method for Stability
ness ratio over the range 0.02 to 0.10, and the variation of the Analysis of Rotating Shafts," Ingenieur - Archive 44, H. 1, 1975,
pp. 9-20.
number of finite elements from 1 to 7. The results of the numer- 7 Gasch, R., "Vibration of Large Turbo-Rotors in Fluid-
ical work is contained in Tables 1 and 2. As expected, the ac- Film Bearings on an Elastic Foundation," J. of Sound and Vibra-
curacy of the finite element model improves as the number of tion, 47(i), 1976, pp. 53-73.
elements is increased. 8 Nelson, H. D., and McVaugh, J. M., "The Dynamics of
Rotor-Bearing Systems Using Finite Elements," ASME, Journal
For the nonrotating beam, three separate finite element of Engineering for Industry, Vol. 98, No. 2, May 1976, pp. 5 9 3 -
simulations were made and the results are included in Table 1. 600.
The effects of rotatory inertia (Rayleigh Beam) and shear de- 9 Zorzi, E. S., and Nelson, H. D., "Finite Element Simula-
formation were studied separately and also in combination tion of Rotor-Bearing Systems with Internal Damping," ASME,
Journal of Engineering for Power, Vol. 99, Series A, No. 1, Jan.
(Timoshenko Beam). The finite element simulations are com- 1977, pp. 71-76.
pared with closed form solutions for the three cases in Table 1 10 Dym, C. L., and Shames, I. H., Solid Mechanics - A
and are also displayed graphically in Figs. 3 and 4. The first Variational Approach, McGraw-Hill, 1973.
natural frequency calculations using five finite elements yield 11 Eshleman, R. L., and Eubanks, R. A., "On the Critical
results which are within a fraction of a percent of the closed Speeds of a Continuous Rotor," ASME, Journal of Engineering
for Industry, Vol. 91, (4B), Nov., 1969, pp. 1180-1188.
form solutions for all three cases over the slenderness ratio range 12 Ziegler, H., Principles of Structural Stability, Blaisdell
0.02 to 0.10. For the second natural frequency the Rayleigh Publishing Co., 1968.
beam comparison is also very accurate while the shear effect and 13 Nelson, H. D., "A Finite Rotating Shaft Element Using
Timoshenko beam comparisons are less accurate with the per- Timoshenko Beam Theory," Engineering Research Center Re-
port ERC-R-77023, Arizona State University, Sept. 1977, p. 61.
centage error increasing with the slenderness ratio. All of the
finite element predictions are high and at a slenderness ratio of
0.10 the percentage deviations are less than 2 percent for the APPENDIX
shear effect and less than 5 percent for the Timoshenko Beam.
For the rotating shaft, the first and second primary critical
Shape Functions and Element Matrices
speeds were determined using three, five, and seven equal length Shape Functions
finite element models. The computed values are listed in Table 2
for a range of slenderness ratios from 0.02 to 0.010. Table 2 also fr{s) = .]___ lotr{s) + ^r(a)])r = lt 2, 3, 4
includes the critical speeds as determined by approximate rela-
tions developed by Eshleman and Eubanks [11]. These approxi- s
mate relations do not include interaction effects between the v =
I
transverse shear and rotatory inertia and the transverse shear
and gyroscopic effects. The general equations of motion solved ai = 1 - 3l/2 + 2J;3 /3i = 1 - v
by Eshleman and Eubanks includes all of the interaction effects.
These results were available only in graphical form and are a 2 = l{v - 2c 2 + v>) j3 2 = - (v - )
reproduced in Figs. 4 and 5, together with the approximate
results from Eshleman and Eubanks and the finite element
a 3 = Zv'i 2v3 fa = v
results.
A comparison of results from Figs. 4 and 5 indicates t h a t the I I
finite element simulation yields primary critical speeds which 0,4 =
2 (
~" +
"2) (- + c2)
are less than 1 percent higher than predicted by Eshleman and
Eubank's closed form solution. In addition the error appears 1
<f>r(s) [er(s) + $8r(s)]
to be reasonably insensitive to the slenderness ratio for the range 1+ *
of the study. The approximate results presented by Eshleman
and Eubanks provide less accurate predictions but are still e, = - (6y - 6v) Si = 0
within 5 percent of the closed form solution.
The numerical results indicate t h a t the finite element model
e2 = 1 - iv + 3v SI = 1

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 ea = - (-6^2 + 6J>) 83 = 0

u = Av2

Element Matrices

(0 Stiffness Matr _x IA-] = [A'|. + * [A'J.

12

0 12 sym

0 -6/ 4/2

EI 6/ 0 0 4/2

m\ + $) -12 0 0 -6/ 12

0 -12 6/ 0 (1 12

0 -6/ 2/2 0 0 6/ 4/2

6/ 0 I) 2/2 -6/ 0 0

r
o
0 0 sym

0 0 /2

/ 0 0 0 P
[]i
/3(1 + $) 0 0 0 0 0

0 0 0 0 0 0

0 0 -I* 0 0 0 /2

0 0 0 -/a 0 0 0

(ii) Translational Mass Matrix

[M] = [M], + * [M], + $2 [M)a

156
0 156 sym

0 -22/ 4/2

ml 22/ 0 0 4/2
[M] =
420(1 + *)2 54 0 0 13/ 156

0 54 -12/ 0 0 156

0 13/ -3/2 0 0 22/ 4/2

- 13/ 0 0 -3/2 -22/ 0 0

294

0 294 sym

0 -38.5/ 7/2

38.5/ 0 0 7/2
ml
[M], =
420(1 + $)2 126 0 0 31.5/ 294

0 126 -31.5/ 0 0

0 31.5/ -7/2 0 0

-31.5/ 0 0 -7/2 -38.5/

Journal of Mechanical Design

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 p 140
0 140 sym
0 -17.5/ 3.5/2

ml 17.5/ 0 0 3.5/2
[Af], =
420(1 + $)2 70 0 0 15.7/ 140
0 70 -17.5/ 0 0 140
0 17.5/ -3.5/2 0 0 17.5/ 3.5/2

-17.5/ 0 0 -3.5P -17.5/ 0 0 3.5/2

(Hi) Rotatory Mass Matrix

IN) = UV] + $UV], + $2[A>]2

36

0 36 sym

0 -3/ 4/2
2 3/ 0 0 4/2
mr
[N]. =
120/(1 + * ) 2 -36 0 0 -3/ 36

0 -36 3/ 0 0 36

0 -3/ -/2 0 0 3/ 4/2

3/ 0 0 -/2 -3/ 0

0 0 sym

0 15/ 5/2

mr 1 -15/ 0 0 5/2
[N]i = 120/(l + co)2
0 0 0 15/ 0

0 0 -15/ 0 0 0

0 15/ -5P 0 5 -15/ S/2

-15/ 0 0 -5/2 15/ 0 0 5/2

0
0 0 sym

0 0 10/2

mr2 0 0 0 10/2
[JV]i =
120/(l+$)2 0 0 0 0 0

0 0 0 0 0 0

0 0 5/2 0 0 0 10/2

0 0 0 5/2 0 0 0 10/2

(w) Gyroscopic Matrix

[G] = [H] - [H]T

= [G]0 + $ [ G ] 1 + $2[G] 2

800/Vol. 102, OCTOBER 1980 Transactions of the ASME

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 0
36 0 skew sym
-3? 0 0

2mr 2 0 -31 4P 0
[0].
120/ 0 36 -Zl 0 0

-36 0 0 -3/ 36 0

-3? 0 0 P Zl 0 0

0 -3; -I* 0 0 3/ 4/a

0 0 skew sym

lbl 0 0
2 0 lbl bP 0
2mr
[Oli
~ 120T 0 0 lbl 0 0

0 0 0 15/ 0 0

lbl 0 0 bP -15/ 0

0 151 -bP 0 0 -15/

0 0 skew sym

0 0 0

2mrJ 0 0 10Z 0
^1
J-Jj - 120/ 0 0 0 0 0
0 0 0 0 0 0
0 0 0 -bP 0 0 0
0 0 bP 0 0 0 10/2

() Axial Load Incremental Stiffness Matrix

36
0 36 sym
0 -3/ 4/
3 0 0 4/<>
[A]. =
30/(l + *)2 -36 0 0 -3/ 36
0 -36 3/ 0 0 36
0 -3/ -P 0 0 3/ 4/>

3/ 0 0 -P -3/ 0 0

60
0 60 sym
0 0 5/

0 0 0 bP
Mli -
30/(l + $)2 60 0 0 0 60
0 -60 0 0 0 60
0 0 -bP 0 0 0 bP

0 0 0 -5Z 0 0 0

Journal of Mechanical Design

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 30

0 30 sym

0 0 2.5Z>

0 0 0 2.5Z
U]t =
30K1 + * ) 2 -30 0 0 0 30

0 -30 0 0 0 30

0 0 -2.5P 0 0 0 2..5Z*
0 0 0 -2.W 0 0 0 2.5Z

(vi) Unbalance Force Vector

{Q} = {Qc} cosUt+ {Q,\ sin fl(

{Qc\ = {Qc\o+ 0 {Qc\l

{Qs} = {0.}c + *{Q.ji

For the linear distribution of unbalance specified by the relations

V(s) = VL(1 v) + I]RV

f(s) = fz,(l - v) + f B v,
the components of the unbalance force vector are:

11 si
20 " " ' +
20" " * ' 3
+ 6

+ U[
7 3
W + W
2?) 27) 3 6

fJ 2 - UP
f
To * - ii5 '" 24 24

5i? +
""24 24
(Q)o = m$2 \Q,\, = mQ><
r/d rid
20 " ' + 27) ' " ' 6
+ 3

2-0 f ' ' ' + 20 !*> 6

+ U3
U[2 W2
24
+ 24
2
1 1 W
- - VLP + - V
30 ' 20 '
2
24
- 24

'20 f t
' ~ 20 U
' 3
+ 6

rid
20 " J
+ 2~0 " " '
+ 6

2i'2 VRP
24
- 24
20 ' 30 '

24
- 24
"20 ' * - 30 ' " "
j<34 = " ^ HlflV

f i f i
ft
+ U
3
"20 ' ~~ 20 ' 6/

5[
6
+ 3

ruP W2
30 ' 20 ' 24
+ 24

W 2
W2
3 0 ^ + 2 0 ^ 24
+ 24

802/Vol. 102, OCTOBER 1980 Transactions of the ASME

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 (vii) Pseudo Gyroscopic Matrix

[M] = [MU = *[A/] , + *W*

0

156 0 ske N sym

22/ 0 0

ml 0 22/ iP 0
Wh 420(1 + * ) * 0 54 13/ 0 0

54 0 0 13/ 156 0

13/ 0 0 3/2 22/ 0 0

2
0 13/ -3/ 0 0 22/ 4/2 0

-i
0
294 0 skew sym
38.5/ 0 0

ml 0 38.5/ 7/2 0
[M]l
420(l + $)2 0 126 31.5/ 0 0

126 0 0 31.5/ 294 0

31.5/ 0 (1 7/2 38.5/ 0 0

0 31 .51 7/2 0 0 38.5/ 7/2 0

i

0
140 0 skew sym

17.5/ 0 0

ml 0 17.5/ 3.5/2 0
[M.\i 420(l + $)2 0 70 17.5/ 0 0

70 0 0 17.5/ 0 140

17.5/ 0 0 3.5Z2 17.5/ 0 0

0 17 . 5 / -3.5/2 0 0 17.5/ \i .5/2 0

Journal of Mechanical Design OCTOBER 1980, Vol. 102 / 803

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