ARTICLE IN PRESS

International Journal of Non-Linear Mechanics 45 (2010) 409–418

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International Journal of Non-Linear Mechanics

journal homepage: www.elsevier.com/locate/nlm

A new non-linear higher-order shear deformation theory for large-amplitude

vibrations of laminated doubly curved shells
M. Amabili a,, J.N. Reddy b
a
Department of Mechanical Engineering, McGill University, Macdonald Engineering Building, 817 Sherbrooke Street West, Montreal, PQ, Canada H3A 2K6
b
Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843-3123, USA

a r t i c l e in fo abstract

Article history: A consistent higher-order shear deformation non-linear theory is developed for shells of generic shape,
Received 5 June 2009 taking geometric imperfections into account. The geometrically non-linear strain–displacement
Received in revised form relationships are derived retaining full non-linear terms in the in-plane displacements; they are
25 December 2009
presented in curvilinear coordinates in a formulation ready to be implemented. Then, large-amplitude
Accepted 30 December 2009
forced vibrations of a simply supported, laminated circular cylindrical shell are studied (i) by using the
developed theory, and (ii) keeping only non-linear terms of the von Kármán type. Results show that
Keywords: inaccurate results are obtained by keeping only non-linear terms of the von Kármán type for vibration
Shells amplitudes of about two times the shell thickness for the studied case.
Nonlinear theory
& 2010 Elsevier Ltd. All rights reserved.
Shear deformation
Vibrations
Nonlinear vibrations
Rotary inertia

1. Introduction Reddy [8] developed the non-linear higher-order shear

Classical shell theories, which neglect shear deformation and
rotary inertia, give inaccurate natural frequencies for moderately
thick or laminated anisotropic shells and plates (e.g. [1]). In order
to overcome this limitation, shear deformation theories have been
introduced. These theories can be classified as first- and higher-
order shear deformation theories [2]; in the first category, a shear
correction factor is required for the equilibrium since a uniform
shear strain is assumed through the shell thickness. Higher-order
shear deformation theories overcome this limitation since a
realistic shear stress distribution through the shell thickness is
assumed, which also satisfies the condition of zero shear stresses
at both top and bottom shell surfaces.
Several higher-order shear deformation shell theories have
been proposed. Librescu [3] developed a non-linear shell theory
by expanding the shell displacements with cubic terms in the
transverse coordinate. A linear higher-order shear deformation
theory of shells has been introduced by Reddy [4] and Reddy and
Liu [5]. Arciniega and Reddy [6] have improved the theory
developed in [5]. A review of shell theories has been presented by
Reddy and Arciniega [7].
 Corresponding author. Tel.: + 1 514 398 3068; fax: + 1 514 398 7365.
E-mail address: marco.amabili@mcgill.ca (M. Amabili).
deformation theory of plates, taking into account von Kármán
type non-linear terms. Dennis and Palazotto [9] and Palazotto and
Dennis [10] have extended Reddy shell theory [4] to non-linear
deformation by introducing the von Kármán type non-linear
terms. These theories have been also discussed in the books of
Amabili [2] and Reddy [11].
In the existing higher-order shear deformation geometrically
non-linear shell theories, the von Kármán type non-linear terms
(i.e. those involving the normal displacement only) have been
added to the linear equations, so that consistent derivation has
not been performed. Moreover, the von Kármán type non-linear
terms are known for being accurate for classical shell theories
only for small displacements and moderately small rotations, as
shown by Amabili [12] in case of vibrations. Therefore, it is
important to derive a consistent higher-order shear deformation
theory that keeps all the non-linear terms in the normal and in-
plane displacements.
In the present study, a consistent higher-order shear deforma-
tion non-linear theory is developed for shells of generic shape;
geometric imperfections are also taken into account. The
geometrically non-linear strain–displacement relationships are
derived retaining full non-linear terms in the in-plane displace-
ments. They are presented in curvilinear coordinates in a
formulation that can be readily implemented. Then, large-
amplitude forced vibrations of a simply supported, laminated
circular cylindrical shells are studied (i) by using the developed

0020-7462/$ - see front matter & 2010 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ijnonlinmec.2009.12.013
 ARTICLE IN PRESS
410 M. Amabili, J.N. Reddy / International Journal of Non-Linear Mechanics 45 (2010) 409–418

   
theory, and (ii) keeping only non-linear terms of the von Kármán @u2 1 1 @u3 u2 1 @u2 1 @A2 u3
g23 ¼ þ  þ þ u1 þ
type. Results show that inaccurate results are obtained by keeping @z 1 þ z=R2 A2 @a2 R2 A2 @a2 A1 A2 @a1 R2
only non-linear terms of the von Kármán type for vibra-     
@u2 1 @u1 1 @A2 @u1 1 @u3 u2 @u3
tion amplitudes of about two times the shell thickness for the  þ  u2 þ  ;
@z A2 @a2 A1 A2 @a1 @z A2 @a2 R2 @z
studied case.
ð2bÞ

"      #
2. Non-linear higher-order shear deformation theory @u 1 @u1 2 @u2 2 @u3 2
e33 ¼ 3 þ þ þ : ð2cÞ
@z 2 @z @z @z
A laminated shell of arbitrary shape, made of a finite number
of orthotropic layers, oriented arbitrarily with respect to the shell Eqs. (2a–c) are non-linear; in Eqs. (2a,b), R1 and R2 (functions of
principal curvilinear coordinates (a1, a2), is considered, as shown the coordinates a1 and a2) are the principal radii of curvature in a1
in Fig. 1. The development of the theory remains the same for and a2 directions, respectively, and A1 and A2 are the Lamé
shells made of isotropic, orthotropic or functionally graded parameters. The shear deformation, see Eqs. (2a,b), is neglected in
materials. The displacements of an arbitrary point (a1, a2) on classical shell theories, which is a very good approximation for
the middle surface of the shell are denoted by u, v and w, in the a1, thin and moderately thick isotropic shells and for very thin
a2 and z directions, respectively; w is taken positive outward from laminated shells [2,12]. For laminated shells that cannot be
the center of the smallest radius of curvature. Initial geometric considered very thin, shear deformation should be retained in
imperfections of the shell associated with zero initial tension are order to obtain accurate results. However, shear deformation
denoted by displacement w0 in normal direction, also taken plays a smaller role than in-plane strains and bending (since it is
positive outward. The thickness h of the shell is assumed to be even neglected in classical theories), so that it is reasonable to
small compared to the principal radii of curvature of the shell, so keep only linear displacement terms in Eqs. (2a,b). This assump-
that only moderately thick shells can be considered. The tion leads to the possibility of expressing the displacement field in
displacements (u1, u2, u3) of a generic point are related to the Eqs. (1a–c) by using only linear expressions in u, v, w, f1 and f2.
middle surface displacements by Therefore, the following relationships are obtained for the
transverse shear strains:
u1 ¼ ð1 þ z=R1 Þu þzf1 þz2 c1 þ z3 g1 þ z4 y1 ; ð1aÞ  
@u 1 @u3 u1
g13 ¼ 1 þ  ; ð3aÞ
@z 1 þ z=R1 A1 @a1 R1
u2 ¼ ð1 þ z=R2 Þv þ zf2 þ z2 c2 þz3 g2 þz4 y2 ; ð1bÞ  
@u2 1 @u3 u2
g23 ¼ þ  : ð3bÞ
u3 ¼ w þ zw þ w0 ; ð1cÞ @z 1 þ z=R2 A2 @a2 R2
It is also assumed that normals to the middle surface of the shell
where f1 and f2 are the rotations of the transverse normals at
before deformation are not elongated after deformation. This is
z= 0 about the a2 and a1 axes, respectively, and c1, c2, g1, g2, y1, y2
mathematically expressed by
and w are functions to be determined in terms of u, v, w, f1 and "      #
f2. Thus, the five variables describing the shell deformation are u, @u3 1 @u1 2 @u2 2 @u3 2
e33 jz ¼ 0 ¼ þ þ þ ¼ 0: ð4Þ
v, w, f1 and f2. In Eqs. (1) the in-plane displacements have been @z 2 @z @z @z
expanded up to the 4th order in z while the normal displacement
has been assumed to be linear in z; Eqs. (1a,b) give a high-order The constraint given by Eq. (4) could be removed and the shell
distribution of shear effects through the thickness. theory will become a six-variable theory, instead of having five
The shear and normal Green’s strains for three-dimensional variables, w being the additional variable.
elasticity are [2] The expressions for the transverse shear strains are
    obtained by substituting Eqs. (1a–c) into (3a,b); the vanishing of
@u1 1 1 @u3 u1 1 @u1 1 @A1 u3 @u1 the shear strains at the top and the bottom surfaces of the shell
g13 ¼ þ  þ þ u2 þ
@z 1 þ z=R1 A1 @a1 R1 A1 @a1 A1 A2 @a2 R1 @z requires
    
1 @u2 1 @A1 @u2 1 @u3 u1 @u3
þ  u1 þ  ; ð2aÞ g13 jz ¼ 7 h=2 ¼ 0; g23 jz ¼ 7 h=2 ¼ 0: ð5a; bÞ
A1 @a1 A1 A2 @a2 @z A1 @a1 R1 @z
The following approximation for moderately thick shell is
introduced
 
h h h
C 18 : ð6Þ
2R 7h 2R 2R
z
Collecting first- and third-order terms in h from Eq. (5a) into two
separate equations, the following expressions are obtained since
these expressions change sign if evaluated at z ¼ 7h=2 and must
be set equal to zero
e1 1 1
c  g þ y1 ¼ 0; ð7aÞ
e2 4R21 1 4R1 1

1 1 @w 1 @w
 f þ c1 þ  ¼ 0: ð7bÞ
1 2 2R1 1 2 A1 @a1 2R1 A1 @a1
Eqs. (7a,b) give
1 1 @w 1 @w
c1 ¼ f þ  ; ð8aÞ
Fig. 1. Doubly curved shell and curvilinear coordinate system. 2R1 1 2R1 @a1 2 A1 @a1
 ARTICLE IN PRESS
M. Amabili, J.N. Reddy / International Journal of Non-Linear Mechanics 45 (2010) 409–418 411

1 1 g12 ¼ o1 þ o2 þ ðe 1 o2 þ e 2 o1 þ YC Þ; ð14cÞ
y1 ¼ g  c : ð8bÞ
4R1 1 4R21 1
where
Then, Eq. (5a) gives  
" 1 1 @u1 1 @A1 u3
 # e1 ¼ þ u2 þ ; ð15aÞ
4 @w h2 @w @w 1 þ z=R1 A1 @a1 A1 A2 @a2 R1
g1 ¼ 2 f1 þ þ 2 f1  R1 : ð8cÞ
3h A1 @a1 8R1 A1 @a1 A1 @a1  
1 1 @u2 1 @A2 u3
Similarly, from Eq. (5b), the following expressions are e2 ¼ þ u1 þ ; ð15bÞ
1 þ z=R2 A2 @a2 A1 A2 @a1 R2
obtained:
 
1 1 @w 1 @w 1 1 @u2 1 @A1
c2 ¼ f þ  ; ð9aÞ o1 ¼  u1 ; ð15cÞ
2R2 2 2R2 @a2 2 A2 @a2 1 þz=R1 A1 @a1 A1 A2 @a2
 
1 1 1 1 @u1 1 @A2
y2 ¼ g  c ; ð9bÞ o2 ¼  u2 ; ð15dÞ
4R2 2 4R22 2 1 þz=R2 A2 @a2 A1 A2 @a1
"  
 # 1 1 @u3 u1
4 @w h2 @w @w Y¼  þ : ð15eÞ
g2 ¼ 2 f2 þ þ f2  R2 : ð9cÞ 1þ z=R1 A1 @a1 R1
3h A2 @a2 8R22 A2 @a2 A2 @a2
 
By using Eq. (4), the function w can be determined 1 1 @u3 u2
vffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
C¼  þ : ð15fÞ
u !2 !2ffi 1þ z=R2 A2 @a2 R2
u u v
t
w ¼ 1 þ 1 2 þ f1  2 þ f2
R1 R2 The strain–displacement equations for the higher-order shear
! deformation theory to be added to Eqs. (11a,b), keeping terms up
1 u v u2 v2 to z3 and using approximations (6) and (10), are obtained by
C f21 þ f22 þ 2f1 þ2f2 þ 2 þ 2 ; ð10aÞ
2 R1 R2 R1 R2 substituting Eqs. (1), (8), (9), (10b) into Eqs. (14) and (15)

where the approximation in Eq. (10a) is accurate for f1 ; f2 51. 2 ð2Þ

e11 ¼ e1;0 þ zðkð0Þ ð1Þ
1 þ zk1 þ z k1 Þ; ð16aÞ
Eq. (10a) shows that w is a second-order term with respect to the
other five variables, i.e. displacements and rotations, when the 2 ð2Þ
e22 ¼ e2;0 þ zðkð0Þ ð1Þ
2 þ zk2 þ z k2 Þ; ð16bÞ
constraint given by Eq. (4) is introduced. Therefore, it is possible to
approximate 2 ð2Þ
g12 ¼ g12;0 þzðkð0Þ ð1Þ
12 þzk12 þ z k12 Þ; ð16cÞ
w C0: ð10bÞ
where
Under this approximation, Eqs. (8a–c) and (9a–c) are linear; more- " 
over, Eqs. (1a–c) are also linear in the five variables describing 1 @u 1 @A1 w 1 @u 1 @A1 w 2
e1;0 ¼ þ vþ þ þ vþ
the shell deformation u, v, w, f1 and f2. The linear expression of A1 @a1 A1 A2 @a2 R1 2 A1 @a1 A1 A2 @a2 R1
Eqs. (1a–c) is a consequence of the assumption (10b) and of retaining  2   #
@v 1 @A1 @w u 2
only linear terms in Eqs. (2a,b). þ  u þ 
A1 @a1 A1 A2 @a2 A1 @a1 R1
By substituting Eqs. (1a–c) into (3a,b) and using the approx-    
imations (6) and Eqs. (8), (9), (10b), the following strain– w0 @u 1 @A1 w @w0 @w u
þ þ vþ þ  ;
displacement relationships are obtained for the shear strains R1 A1 @a1 A1 A2 @a2 R1 A1 @a1 A1 @a1 R1
keeping terms up to z3: ð17aÞ
2 ð2Þ
g13 ¼ g13;0 þ zðkð0Þ ð1Þ
13 þ zk13 þ z k13 Þ; ð11aÞ
" 2
1 @v 1 @A2 w 1 1 @u 1 @A2
g23 ¼ g ð0Þ ð1Þ 2 ð2Þ
23;0 þ zðk23 þ zk23 þ z k23 Þ; ð11bÞ e2;0 ¼ þ uþ þ  v
A2 @a2 A1 A2 @a1 R2 2 A2 @a2 A1 A2 @a1
where     #
1 @v 1 @A2 w 2 1 @w v 2
þ þ uþ þ 
@w A2 @a2 A1 A2 @a1 R2 A2 @a2 R2
g13;0 ¼ f1 þ ; ð12aÞ    
A1 @a1 w0 1 @v 1 @A2 w @w0 @w v
þ þ uþ þ  ;
@w R2 A2 @a2 A1 A2 @a1 R2 A2 @a2 A2 @a2 R2
g23;0 ¼ f2 þ ; ð12bÞ ð17bÞ
A2 @a2
 
4 @w u
kð0Þ
13 ¼ 0; kð1Þ
13 ¼  f1 þ þ 3; kð2Þ
13 ¼ 0; ð13a2cÞ
h2 A1 @a1 R1
1 @v 1 @u 1 @A1 1 @A2
  g12;0 ¼ þ  u v
4 @w v A1 @a1 A2 @a2 A1 A2 @a2 A1 A2 @a1
kð0Þ ¼ 0; kð1Þ ¼  2 f2 þ þ 3; kð2Þ ¼ 0: ð13d2fÞ   
23 23
h A2 @a2 R2 23 1 @u 1 @A1 w 1 @u 1 @A2
þ þ vþ  v
A @a A1 A2 @a2 R1 A @a A1 A2 @a1
Eqs. (11)–(13) show that the strain and stress distribution  1 1  2 2 
1 @v 1 @A2 w 1 @v 1 @A1
through the thickness is parabolic and therefore the shear þ þ uþ  u
A @a A1 A2 @a1 R2 A @a1 A1 A2 @a2
correction factor is no longer required.  2 2   1  
1 @w u 1 @w v w0 1 @u 1 @A2
The expressions of the other Green’s strain tensor eij in the þ   þ  v
A1 @a1 R1 A2 @a2 R2 R1 A2 @a2 A1 A2 @a1
curvilinear coordinate system, are [2]    
w0 1 @v 1 @A1 1 @w0 1 @w v
2
e11 ¼ e 1 þ 12ðe 21 þ o21 þ Y Þ; ð14aÞ þ  u þ 
R2 A1 @a1 A1 A2 @a2 A1 @a1 A2 @a2 R2
 
1 @w0 1 @w u
2 þ  ; ð17cÞ
e22 ¼ e 2 þ 12ðo22 þ e 22 þ C Þ; ð14bÞ A2 @a2 A1 @a1 R1
 ARTICLE IN PRESS
412 M. Amabili, J.N. Reddy / International Journal of Non-Linear Mechanics 45 (2010) 409–418

 
@f1 w v @A1 1 1 f2 @A1 ! !
kð0Þ
1 ¼  2þ  þ þ ; ð18aÞ @w @A1 1 1 @w @A2 1 1
A1 @a1 R1 A1 A2 @a2 R1 R2 A1 A2 @a2 þ 2 þ þ þ
A1 A2 @a1 @a2 6R21 2R1 R2 A1 A22 @a2 @a1 6R22 2R1 R2
!
1 @f1 @u @A1 @w @2 w !
kð1Þ
1 ¼ þ þ  @2 w 1 1 1
R1 A1 2 @a1 R1 @a1 2A21 @a1 @a1 2A1 @a21 þ þ  : ð18iÞ
    A1 A2 @a1 @a2 6R21 6R22 R1 R2
@A1 1 1 v @w
 f2  þ  ; ð18bÞ
A1 A2 @a2 R1 2R2 R1 R2 2R2 A2 @a2
Eqs. (18a–i) give the changes in curvature and torsion of the
middle surface, and they have been obtained retaining only linear
!
terms; in fact, non-linear terms in the changes in curvature and
4 @f1 @2 w f2 @A1 @w @A1 @w @A1 torsion play a very small role, at least for moderate vibration
kð2Þ
1 ¼ þ þ  þ
3h2 A1 @a1 A21 @a21 A1 A2 @a2 A31 @a1 @a1 A1 A22 @a2 @a2 amplitudes of the order of the shell thickness [12]. Eqs. (17a–c),
! ! giving the middle surface strains, are coincident with those
f2 @A1 1 1 @w @A1 1 1
 þ þ  obtained by using Novozhilov non-linear shell theory [2,13],
A1 A2 @a2 6R22 2R1 R2 A1 A22 @a2 @a2 6R22 2R1 R2
! which neglects shear deformation and rotary inertia. Moreover, it
1 2@f1 @2 w @w @A1 can be observed that kð1Þ ð1Þ ð1Þ
1 ; k2 ; k12 are negligible for shells that are
 2 þ  ; ð18cÞ
3R1 A1 @a1 A21 @a21 A31 @a1 @a1 not very thick.

 
@f2 w u @A2 1 1 f1 @A2 3. Elastic strain and kinetic energies, including rotary inertia,
kð0Þ
2 ¼  2þ  þ ; ð18dÞ
A2 @a2 R2 A1 A2 @a1 R1 R2 A1 A2 @a1 for laminated shells

! It is assumed that the transverse normal stress s3 ¼ 0 is

1 @f2 @v @A2 @w @2 w negligible (plane stress assumption); in general, it is verified that
kð1Þ
2 ¼ þ þ 
R2 A2 2 @a2 R2 @a2 2A22 @a2 @a2 2A2 @a22 s3 is small compared to t13 and t23 , except near the shell edges,
    so that the hypothesis is a good approximation of the actual
@A2 1 1 u @w
 f1  þ  ; ð18eÞ behavior of moderately thick shells. The stress–strain relations
A1 A2 @a1 R2 2R1 R1 R2 2R1 A1 @a1
for the k-th orthotropic lamina of the shell, in the material
principal coordinates (x,y,z), are obtained under the hypothesis
s3 ¼ 0 [2],
!
4 @f2 @2 w f1 @A2 @w @A2 @w @A2 8 9ðkÞ 3ðkÞ 8
kð2Þ
2 ¼
3h2
þ þ  þ
A2 @a2 A22 @a22 A1 A2 @a1 A32 @a2 @a2 A21 A2 @a1 @a1 > sx >
2
c11 c12 0 0 0 > exx 9>
>
> >
> >
> >
! ! >
>
> s >
>
>
6c
6 21 c22 0 0 7
0 7 > >
> eyy >>
>
>
f1 @A2 1 1 @w @A2 1 1 < y = 6 7 < =
 þ þ 2  tyz ¼6
6
0 0 Gyz 0 0 7 g
7 > yz >; ð19Þ
A1 A2 @a1 6R21 2R1 R2 A1 A2 @a1 @a1 6R21 2R1 R2 >
> > >g >
! >
>
> txz >
>
>
>
6 0
4 0 0 Gxz 0 75 > >
> xz >
>
>
@2 w >
:t > ; >
: >
1
 2
2@f2
þ 
@w @A2
; ð18fÞ xy 0 0 0 0 Gxy gxy ;
3R2 A2 @a2 A22 @a22 A32 @a2 @a2
where Gxy, Gxz and Gyz are the shear moduli in x–y, x–z and y–z
  directions, respectively, and the coefficients cij are given in
@f1 @f2 f @A1 f @A2 @u 1 1 Appendix A and in Ref. [11]; txz and tyz are the shear stresses
kð0Þ
12 ¼ þ  1  2 þ 
A2 @a2 A1 @a1 A1 A2 @a2 A1 A2 @a1 A2 @a2 R1 R2 and the superscript (k) refers to the k-th layer within a laminate.
 
@v 1 1 Eq. (19) is obtained (i) under the transverse isotropy assumption
þ  þ ; ð18gÞ
A1 @a1 R1 R2 with respect to planes orthogonal to the x axis, i.e. assuming fibers
in the direction parallel to axis x, so that Ey =Ez, Gxy = Gxz and
nxy = nxz, and (ii) solving the constitutive equations for ezz as
    function of exx and eyy and then eliminating it.
@f1 1 1 @f2 1 1 Eq. (19) can be transformed to the shell coordinates (a1, a2, z)
kð1Þ
12 ¼    
A2 @a2 R2 2R1 A1 @a1 R1 2R2 by the following equation [2]:
   
1 @u @v @2 w 1 1 8 9ðkÞ 8 9
 þ þ þ s1 > e11 >
R1 R2 A2 @a2 A1 @a1 2A1 A2 @a1 @a2 R1 R2 >
> > >
> >
>
> >
> >
> >
1 f1 @A1 f @A2 u @A1 v @A2 > >
< s2 >
> =
>
> e >
< 22 >
>
=
þ þ 2 þ þ t23 ðkÞ g23 ;
A1 A2 2R1 @a2 2R2 @a1 R21 @a2 R22 @a1 ¼ ½Q  ð20Þ
>
> > >
> >
@w @A1 @w @A2
 >
>
> t13 >
>
>
>
> g13 >
>
>
>
>
>
  ; ð18hÞ >
: >
; >
:g > ;
R1 A1 @a1 @a2 R2 A2 @a2 @a1 t12 12

where ½Q ðkÞ is the 5  5 matrix of the material properties of the

k-th layer expressed in the shell principal coordinates and it is
given in Appendix A. Eq. (20) can be rewritten as
4 @f1 @f2 @2 w @w @A1
kð2Þ
12 ¼  þ þ2 2 2 28 8 ð0Þ 9 8 8 ð2Þ 93
3h2 A2 @a2 A1 @a1 A1 A2 @a1 @a2 A1 A2 @a1 @a2
> e1;0 9> >
> k1 > > > 0 >
9
>
> k1 > >
! 6>> >
> >
> >
> >
> >
> >
> >
>7
@w @A2 f1 @A1 f2 @A2 f1 @A1 2 6>> e >
> >
> ð0Þ >
> >
> 0 >
> >
> ð2Þ >
>7
2   þ 6>< 2;0 > < k2 >
= > = >
< >
= < k2 >
> =7
A1 A22 @a2 @a1 A1 A2 @a2 A1 A2 @a1 A1 A2 @a2 3R21 6 ð1Þ 7
fsðkÞ g ¼ ½Q ðkÞ 6 g23;0 þ z 0 þz 2 k 23 þz 3
0 7: ð21Þ
! ! 6>> >
> >
> >
> >
> >
> >
> >
>7
f2 @A2 2 @f 1 1 1 @f 2 1 1
6>
4>> g >
>
13;0 > >
>
> 0 >
>
> >
>
>
ð1Þ >
k13 > > >
>
> 0 >7>
>5
þ  þ  þ >
:g ; >
> > >
> >
: >
; >
> >
>
A1 A2 @a1 3R22 A2 @a2 6R21 2R1 R2 A1 @a1 6R22 2R1 R2 12;0
: kð0Þ ; 0 : kð2Þ ;
12 12
 ARTICLE IN PRESS
M. Amabili, J.N. Reddy / International Journal of Non-Linear Mechanics 45 (2010) 409–418 413

In Eq. (21), kð1Þ ð1Þ ð1Þ

1 ; k2 ; k12 have been neglected, supposing a to discretize the system:
moderately thick shell.
The elastic strain energy US of the shell is given by M1 X
X N
uðx; y; tÞ ¼ ½um;j;c ðtÞcosðjyÞ þum;j;s ðtÞsinðjyÞcosðlm xÞ
K Z a Z b Z hðkÞ
1X m¼1j¼1
US ¼ ðsðkÞ e11 þ sðkÞ ðkÞ ðkÞ ðkÞ
2 e22 þ t12 g12 þ t13 g13 þ t23 g23 Þ
2 k ¼ 1 0 0 hðk1Þ 1
M2
X
 ð1 þ z=R1 Þð1 þ z=R2 Þ da1 da2 dz; þ um;0 ðtÞcosðlm xÞ; ð27aÞ
m¼1
ð22Þ
3M1 X
X 2N
where K is the total number of layers in the laminated shell and vðx; y; tÞ ¼ ½vm;j;c ðtÞsinðjyÞ þvm;j;s ðtÞcosðjyÞsinðlm xÞ; ð27bÞ
(h(k  1), h(k)) are the z coordinates of the k-th layer. For simplicity a m¼1j¼1

shell of rectangular base of dimension a and b in a1 and a2

M1 X
X N
directions, respectively, has been considered. wðx; y; tÞ ¼ ½wm;j;c ðtÞcosðjyÞ þwm;j;s ðtÞsinðjyÞsinðlm xÞ
The kinetic energy TS of the shell, including rotary inertia, is m¼1j¼1
given by M2
X
Z a Z b Z hðkÞ þ wm;0 ðtÞsinðlm xÞ; ð27cÞ
1X K
TS ¼ rðkÞ ðu_ 2 þ u_ 22 þ u_ 23 Þð1 þ z=R1 Þð1 þ z=R2 Þ da1 da2 dz: m¼1
2 k ¼ 1 S 0 0 hðk1Þ 1
ð23Þ
M1 X
X N
The z and z3 terms vanish after integration on z in the case of a f1 ðx; y; tÞ ¼ ½f1m;n;c ðtÞcosðjyÞ þ f1m;n;s ðtÞsinðjyÞcosðlm xÞ
laminate with symmetric density with respect to the z axis. m¼1j¼1
In particular, for a laminate with the same density for all the layers M2
X
and uniform thickness, the following simplified expression is þ f1m;0 ðtÞcosðlm xÞ; ð27dÞ
m¼1
obtained:

Z Z 
17  _ 2 _ 2 
a b M1 X
X N
1
TS ¼ rh u_ 2 þ v_ 2 þ w
_ 2 þh2 f1 þ f2 f2 ðx; y; tÞ ¼ ½f2m;n;c ðtÞsinðjyÞ þ f2m;n;s ðtÞcosðjyÞsinðlm xÞ;
2 S 315
0 0    m¼1j¼1
_ u_ 41 2 _ v_ 2 41
þf 1 þ þf 2 þ ð27eÞ
120R1 15R2 15R1 120R2
!  where j is the number of circumferential waves, m is the number of
1 u_ 2 v_ 2 1 1 w_2
þ þ þ þ longitudinal half-waves, lm ¼ mp=L and t is the time; um,j(t), vm,j(t),
4 R1 R2 R1 R2 12R1 R2
! wm,j(t), f1m;j and f2m;j are the generalized coordinates that are
@w _ @w _ u_ u_ f_ unknown functions of t; the additional subscript c or s indicates if
þ þ  8 1
A1 @a1 252A1 @a1 120R1 30R2 315 the generalized coordinate is associated to cosine or sine function
!#) in y except for v, for which the notation is reversed (no additional
@w _ @w _ v_ v_ f_ 2
þ þ  8 da1 da2 þ Oðh5 Þ: subscript is used for axisymmetric terms). The integers N, M1 and
A2 @a2 252A2 @a2 120R2 30R1 315
M2 must be selected with care in order to obtain the required
ð24Þ accuracy and acceptable dimension of the non-linear problem. By
using a different number of terms in the expansions, it is possible
to study the convergence and the accuracy of the solution.

4. Boundary conditions and discretization of a circular

cylindrical shell

In order to reduce the system to finite dimensions, the x

middle surface displacements u, v and w are expanded by
u3
using approximate functions. Circular cylindrical shells with u2
simply supported boundary conditions are analyzed in the u1
R
following part of the study, as shown in Fig. 2. In particular,
R1 ¼ 1, R2 ¼ R, a1 ¼ x, a2 ¼ y, A1 ¼ 1, A2 ¼ R, a ¼ L and b ¼ 2p. θ
The following boundary conditions are imposed at the shell
ends, x= 0, L: O
w ¼ 0; v ¼ 0; f2 ¼ 0; ð25a2cÞ L
h
Nx ¼ 0; Mx ¼ 0; ð25d; eÞ
where Nx is the axial stress resultant per unit length and Mx is the u3
axial stress moment resultant per unit length, i.e.,
( )
z
Nx XK Z hðkÞ
1 h
¼ sðkÞ
x ð1þ z=RÞ dz: ð26Þ
Mx hðk1Þ z u2
k¼1 R
Moreover, the three displacements and the two rotations must be
continuous in y.
The following base of shell displacements, which satisfy Fig. 2. Circular cylindrical shells: (a) symbols used for dimensions and displace-
identically the geometric boundary conditions (25a–c), is used ment of a generic point; (b) cross-section of the shell with close-up view.
 ARTICLE IN PRESS
414 M. Amabili, J.N. Reddy / International Journal of Non-Linear Mechanics 45 (2010) 409–418

The minimal expansion giving accurate results for excitation in terms at x= 0, L, the following expression is obtained:
the neighborhood of resonance of mode (m= 1, n) is
uðx; y; tÞ ¼ ½u1;n;c ðtÞcosðnyÞ þ u1;n;s ðtÞsinðnyÞcosðl1 xÞ X
N
ðkÞ ðkÞ ðkÞ
Nx ¼ fQ11 ; Q12 ; Q15 g
X3
28k¼1
"  9
þ u2m1;0 ðtÞcosðl2m1 xÞ; ð28aÞ  2 #
>
> @u^ 1 @v 2 @w @w @w0 >
>
>
m¼1 6>
> þ þ þ >
6>
> @x 2 @x @x @x @x >>
>
6>
>
> >
>
6<   2
= hðkÞ2 hðk1Þ2

6 1 1 @u
6 hðkÞ hðk1Þ þ
X
2 6>
> 2 R @y >
> 2R
6> >
>
vðx; y; tÞ ¼ ½v1;kn;c ðtÞsinðknyÞ þ v1;kn;s ðtÞcosðknyÞsinðl1 xÞ 6>
> >
>
4>
>
> @v 1 @u >
>
k¼1
>
: þ >
;
@x R @y
þ ½v3;2n;c ðtÞsinð2nyÞ þ v3;2n;s ðtÞcosð2nyÞsinðl3 xÞ; ð28bÞ 8 9
> 0 >
< = hðkÞ2 hðk1Þ2 hðkÞ3 hðk1Þ3 
þ 0 þ
wðx; y; tÞ ¼ ½w1;n;c ðtÞcosðnyÞ þ w1;n;s ðtÞsinðnyÞsinðl1 xÞ >
: kð0Þ >
; 2 3R
xy
X 3 8 9 3
w2m1;0 ðtÞsinðl2m1 xÞ; > 0 >
þ ð28cÞ < = hðkÞ4 hðk1Þ4 hðkÞ5 hðk1Þ5 
m¼1 0 7
þ þ 5¼0 at x ¼ 0; L;
>
: kð2Þ >
; 4 5R
xy

f1 ðx; y; tÞ ¼ ½f11;n;c ðtÞcosðnyÞ þ f11;n;s ðtÞsinðnyÞcosðl1 xÞ ð31aÞ

X
3
þ f12m1;0 ðtÞcosðl2m1 xÞ; ð28dÞ
^ y; tÞ has been neglected in second-order
m¼1
where the term uðx;
terms. In Eq. (31), all the linear terms ð@v=@xÞ þ ð1=RÞð@u=@yÞ, kð0Þ
xy
and kð2Þ
xy
can be eliminated since they establish a linear relation-
f2 ðx; y; tÞ ¼ ½f21;n;c ðtÞsinðnyÞ þ f21;n;s ðtÞcosðnyÞsinðl1 xÞ: ð28eÞ ship which is satisfied by using the minimization of energy in the
process of building the Lagrange equations of motion; in fact, this
This expansion has 23 generalized coordinates (degrees of
is equivalent to the Rayleigh–Ritz method and therefore it is
freedom) and guarantees good accuracy for the calculation
necessary only to satisfy only geometrical boundary conditions.
performed in the present work.
Therefore Eq. (31a) can be simplified into
Initial geometric imperfections of the shell are considered
only in radial direction. They are assumed to be associated with 28 "   2 # 9
zero initial stress. The imperfection w0 is expanded in the same >
> @u^ 1 @v 2 @w @w @w0 >
>
6>
> þ þ þ >
form of w XN n
ðkÞ
o6< @x 2
ðkÞ 6
@x @x @x @x >=
Nx ¼ Q11 ; Q12 6  
~1
M
X N~
X 6>
> 1 1 @u 2 >
>
k¼1 4>
> >
>
w0 ðx; yÞ ¼ ½Am;n cosðnyÞ þ Bm;n sinðnyÞsinðlm xÞ : ;
2 R @y
m¼1n¼1
 
M~2
X hðkÞ2 hðk1Þ2
 hðkÞ hðk1Þ þ ¼ 0 at x ¼ 0; L; ð31bÞ
þ Am;0 sinðlm xÞ; ð29Þ 2R
m¼1

where Am;n , Bm;n and Am;0 are the modal amplitudes of imperfec- which immediately gives
~ M
tions; N, ~ 1 and M ~ 2 are integers indicating the number of terms
N  " " 
in the expansion.
X hðkÞ2 hðk1Þ2 ðkÞ @u^ 1 @v 2
Nx ¼ hðkÞ hðk1Þ þ Q11 þ
Eq. (25d) is not identically satisfied by the shell displacements k¼1
2R @x 2 @x
given in Eqs. (27) and (28). In particular, after integration with  2 # !  2 #
@w @w @w0 ðkÞ 1 1 @u
respect to z as shown in Eq. (26), it becomes þ þ þ Q12 ¼ 0 at x ¼ 0; L:
@x @x @x 2 R @y
28 9
> e =
< x;0 >  ð31cÞ
X N
ðkÞ 6 hðkÞ2 hðk1Þ2
Nx ¼ ðkÞ
fQ11 ðkÞ
; Q12 ; Q15 g4 ey;0 hðkÞ hðk1Þ þ
>
:g >
; 2R
k¼1
xy;0
8 ð0Þ 9
> k > By introducing the notation
>
< xð0Þ >
= hðkÞ2 hðk1Þ2 hðkÞ3 hðk1Þ3 
þ ky þ X
N  
>
> > 2 3R hðkÞ2 hðk1Þ2
: kð0Þ >
ðkÞ
; D11 ¼ Q11 hðkÞ hðk1Þ þ ;
xy
k¼1
2R
8 ð2Þ 9 3
>
> k >
< xð2Þ >= hðkÞ4 hðk1Þ4 hðkÞ5 hðk1Þ5 7
þ ky þ 7 ¼ 0 at x ¼ 0; L; X
N  
> ð2Þ > > 4 5R 5 hðkÞ2 hðk1Þ2
>
:k ; D12 ¼ ðkÞ
Q12 hðkÞ hðk1Þ þ ;
xy
k¼1
2R
ð30Þ
Eq. (31c) can be expressed in the following form
"   2 # !
where Q11ðkÞ ðkÞ
; Q12 ðkÞ
; Q15 are given by Eqs. (A.6)–(A.8) in Appendix A @u^ 1 @v 2 @w @w @w0
Nx ¼ D11 þ þ þ
and the strain–displacement relations are given in Appendix B. In @x 2 @x @x @x @x
order to satisfy Eqs. (30) up to second-order non-linear terms, a  
second-order term uðx; ^ y; tÞ must be added to the expansion of u in 1 1 @u 2
þ D12 ¼0 at x ¼ 0; L: ð31dÞ
Eqs. (27a) and (28a). In particular, eliminating in Eq. (30) null 2 R @y
 ARTICLE IN PRESS
M. Amabili, J.N. Reddy / International Journal of Non-Linear Mechanics 45 (2010) 409–418 415

In Eq. (31d) it is necessary to retain only the resonant mode (m,n). 5. Lagrange equations of motion
The expression of u^ can be obtained from Eq. (31d) as
1 The virtual work W done by the external forces is written as
^ ¼  ½aðtÞ þbðtÞcosð2nyÞ þcðtÞsinð2nyÞsinð2mpx=LÞðmp=LÞ
uðtÞ Z L Z 2p
8
X ~1
N~ X
M W¼ ðqx u þqy v þ qz wÞ dxR dy; ð33Þ
i 0 0
½wm;n;c ðtÞcosðnyÞ þ wm;n;s ðtÞsinðnyÞ ½A cosðjyÞ
m þi i;j
j¼0i¼1 where qx, qy and qz are the distributed forces per unit area acting
þ Bi;j sinðjyÞsin½ðm þ iÞpx=L; ð32Þ in x, y and z directions, respectively, applied at the middle
surface. Only a single harmonic force orthogonal to the shell is
where considered; therefore, qx = qy = 0. The external distributed load qz
applied to the shell, due to the normal concentrated force f~ , is
aðtÞ ¼ ðmp=LÞðw2m;n;c þ w2m;n;s þ v2m;n;c þ v2m;n;s Þ given by
þ ðD12 =D11 Þ½Ln2 =ðmpR2 Þðu2m;n;c þ u2m;n;s Þ;
qz ¼ f~ dðxxÞ
~ dðyy~ ÞcosðotÞ; ð34Þ
bðtÞ ¼ ðm =LÞðw2m;n;c w2m;n;s þ v2m;n;s v2m;n;c Þ
p where o is the excitation frequency, t is the time, d is the Dirac
þ ðD12 =D11 Þ½Ln2 =ðm R2 Þðu2m;n;s u2m;n;c Þ;
p delta function, f~ gives the force magnitude positive in z direction
and x~ and y~ give the position of the point of application of the
cðtÞ ¼ ð2mp=LÞðwm;n;c wm;n;s þvm;n;c vm;n;s Þ force. Here, the point excitation is located at the center of shell,
2ðD12 =D11 Þ½Ln2 =ðmpR2 Þum;n;c um;n;s : that is, x~ ¼ L=2, y~ ¼ 0. Eq. (33) can be rewritten in the following
form:
The boundary condition (25e) is identically satisfied for
symmetric laminates if the term z/R is neglected in Eq. (26), i.e. W ¼ f~ cosðotÞðwÞx ¼ L=2;y ¼ 0 : ð35Þ
for thin shells. This is due to the expressions of kð0Þ ð2Þ
x and kx given
The non-conservative damping forces are assumed to be of
in Appendix B, which are zero at x= 0, L for the expansions
viscous type and are taken into account by using the Rayleigh
assumed in Eqs. (27a–e). Additional terms must be added to the
dissipation function
expansion of the in-plane displacement u for asymmetric
Z L Z 2p
laminates and moderately thick shells. In fact, bending and 1 _ 2 þ h2 f
_ 2 Þ dxR dy;
stretching are coupled for asymmetric laminates. F¼ c ðu_ 2 þ v_ 2 þ w
_ 2 þh2 f 1 2 ð36Þ
2 0 0

2 BP 1
TR TR

1.5 0.8
2
0.6
w 1,n,c/h

w 1,n,s/h

2
1 BP
TR 0.4 TR

0.5
1 0.2
1 BP BP
0 0
0.99 0.995 1 1.005 0.99 0.995 1 1.005
/1,n /1,n

0 0.012

–0.002 0.01
–0.004
0.008
w 1,0 /h

–0.006
11,n,c

0.006
–0.008
–0.01 0.004

–0.012 0.002
–0.014 0
0.99 0.995 1 1.005 0.99 0.995 1 1.005
/1,n /1,n

Fig. 3. Frequency–response curve of the circular cylindrical shell obtained by using the proposed non-linear theory; n= 4, 23 degrees of freedom; —, stable periodic
solution; -  - , stable quasi-periodic solution; - -, unstable solutions; BP, pitchfork bifurcation; TR, Neimark–Sacker bifurcation. (a) Maximum of the generalized coordinate
w1;n;c (driven mode) normalized with respect to the shell thickness h; (b) maximum of the generalized coordinate w1;n;s (companion mode) normalized with respect to the
shell thickness h; (c) maximum of the generalized coordinate w1;0 (first axisymmetric mode) normalized with respect to the shell thickness h; (d) maximum of the
generalized coordinate f11;n;c (rotation about the curvilinear coordinate y).
 ARTICLE IN PRESS
416 M. Amabili, J.N. Reddy / International Journal of Non-Linear Mechanics 45 (2010) 409–418

where c has a different value for each term of the mode Eq. (42) is pre-multiplied by M1 in order to diagonalize the
expansion; in particular mass matrix, as a consequence that the matrix M is always
2 0 13 invertible; the result is
N^ ^
1 Lp 4 X
N X
M
u_ 2m;n þ v_ 2m;n X X
M
w_ 2m;n
_ 2
_ 2
F¼ cm;n þ cm;n @ 2 þ f 1m;n þ f 2m;n A5: Iq€ þ M1 Cq_ þ ½M1 K þ M1 N2 ðqÞ þ M1 N3 ðq; qÞq ¼ M1 f 0 cosðotÞ;
2 2 n¼1m¼1 h2 n¼1m¼1
h
ð44Þ
ð37Þ
which can be rewritten in the following form
In Eq. (37) displacements are non-dimensionalized dividing by h,
while rotations are already non-dimensional. The damping ~ þM1 N2 ðqÞ þM1 N3 ðq; qÞq ¼ f~ 0 cosðotÞ;
Iq€ þ C~ q_ þ½K ð45Þ
coefficient cm,n is related to the modal damping ratio that can
where
be evaluated from experiments by zm;n ¼ cm;n =ð2mm;n om;n Þ, where
om;n is the natural circular frequency of mode (m, n) and mm,n is C~ ¼ M1 C; ~ ¼ M1 K
K and f~ 0 ¼ M1 f 0 : ð46a2cÞ
the modal mass of this mode.
The following notation is introduced for brevity: Eq. (45) is in the form suitable for numerical integration.

q ¼ fum;n ; vm;n ; wm;n ; f1m;n ; f2m;n gT ; ^ and n

m ¼ 1; . . . ; M or M
^
¼ 1; . . . ; N or N: ð38Þ 6. Numerical results

The dimensions and material properties of a simply supported,

The generic element of the time-dependent vector q is referred to imperfection-free, laminated circular cylindrical shell made of
as qj; the dimension of q is N, which is the number of degrees of graphite/epoxy plain weave fabric are: L= 520 mm, R= 150 mm,
freedom (dofs) used in the mode expansion. h=1 mm, E1 = E2 = 55  109 Pa, G12 =4.48  109 Pa, G13 = G23 =4.14
The generalized forces Qj are obtained by differentiation of the  109 Pa, n12 = n21 = 0.04 and r =1500 kg/m3; the fundamental
Rayleigh dissipation function and of the virtual work done by mode (m =1, n= 4) is considered, with natural frequency of
external forces: 309.7 Hz; it has n =4 circumferential waves.
@F @W
Qj ¼  þ : ð39Þ
@q_ j @qj 2
The Lagrange equations of motion are
!
d @TP @TP @UP
 þ ¼ Qj ; j ¼ 1; . . . ; N; ð40Þ 1.5
dt @q_ j @qj @qj

where @TP =@qj ¼ 0. The complicated term, derived from the

w 1,n,c /h

maximum potential energy of the plate, giving quadratic and

1
cubic non-linearities, can be written in the form

@U XN XN X N
¼ fj;i qi þ fj;i;k qi qk þ fj;i;k;l qi qk ql ; j ¼ 1; . . . ; N;
@qj i¼1 i;k ¼ 1 i;k;l ¼ 1 0.5
ð41Þ
where the coefficients f have long expressions that include also
geometric imperfections. It is interesting to observe that in 0
Eq. (41) there are quadratic and cubic terms. 0.985 0.99 0.995 1 1.005
/1,n
5.1. Inertial coupling in the equations of motion
1
For shells with rotary inertia, inertial coupling arises in the
equations of motion (see Eqs. (23) and (24)) so that they cannot be 0.8
immediately transformed in the form required for numerical
integration. In particular, the equations of motion take the following
form: 0.6
w 1,n,s/h

Mq€ þ Cq_ þ ½K þ N2 ðqÞ þ N3 ðq; qÞq ¼ f 0 cosðotÞ; ð42Þ

where M is the non-diagonal mass matrix of dimension N  N (N 0.4
being the number of degrees of freedom), C is the damping matrix, K
is the linear stiffness matrix, which does not present terms involving
q, N2 is a matrix that involves linear terms in q, therefore giving the 0.2
quadratic non-linear stiffness terms, N3 is a matrix that involves
quadratic terms in q, therefore giving the cubic non-linear stiffness 0
terms, f0 is the vector of excitation amplitudes and q is the vector of
0.985 0.99 0.995 1 1.005
the N generalized coordinates, defined in Eq. (38). In particular, by
/1,n
using Eq. (41), the generic elements kj,i, n2j;i and n3j;i , of the matrices K,
N2 and N3, respectively, are given by Fig. 4. Frequency–response curve of the circular cylindrical shell; n= 4;
—, solution keeping all the non-linear terms; - -, solution keeping only von
X
N X
N
kj;i ¼ fj;i ; n2j;i ðqÞ ¼ fj;i;k qk ; n3j;i ðq; qÞ ¼ fj;i;k;l qk ql : Kármán non-linear terms. (a) Maximum of the generalized coordinate w1;n;c
(driven mode) normalized with respect to the shell thickness h; (b) maximum of
k¼1 k;l ¼ 1
the generalized coordinate w1;n;s (companion mode) normalized with respect to
ð43a2cÞ the shell thickness h.
 ARTICLE IN PRESS
M. Amabili, J.N. Reddy / International Journal of Non-Linear Mechanics 45 (2010) 409–418 417

Numerical results have been obtained by using the software Usually, the lamina material axes (x,y) do not coincide with the
AUTO [14] for continuation and bifurcation analysis by using the plate reference axes (a1,a2), while the 3 axis is coincident with z.
pseudo-arc length continuation method. Then, the strains and stresses on material axes can be related to
Fig. 3 presents the frequency–response curve for forced vibrations the reference axes by using the following invertible expressions
of the shell around the resonance of the fundamental mode computed [11,15]:
by using the 3rd order shear deformation non-linear theory 8 9 8 9 8 9 8 9
>
>
sx > >
>
s1 > > exx > > e11 >
introduced in Section 2. A modal damping coefficient z1;n ¼ 0:001 >
>
>
>
> >
> > >
>
> >
>
>
>
>
>
>
>
>
>
>
> s >
< y> =
>
< s2 >
> > >
= >
e >
< yy >=
>
> e >
< 22 >
>
=
and harmonic point force excitation of magnitude 3.04 N and
frequency o applied at shell mid-length are assumed. The main tyz ¼ T1 t23 ; gyz ¼ T2 g23 ; ðA:2a; bÞ
>
> > >
> > > > > >
branch 1 in Fig. 3 corresponds to vibration with zero amplitude of the > txz >
> >
> > > >
> t13 >
> > gxz >
> >
>
>
> g13 >
> >
>
>
> > >
> > > > > >
:t > ; :t > ; > :g > ; >
:g > ;
companion mode w1;n;s ðtÞ. This branch has pitchfork bifurcations (BP) xy 12 xy 12
at o=o1;n ¼ 0:9905 and at 0.9997, where branch 2 appears. This new
branch corresponds to participation of both w1;n;c ðtÞ and w1;n;s ðtÞ, where
giving a traveling-wave response. The companion mode presents a 2 3
cos2 y sin2 y 0 0 2 sin y cos y
node at the location of the excitation force and therefore it is not 6 7
6 sin2 y cos2 y 0 0 2 sin y cos y 7
directly excited; its amplitude is different than zero only for large- 6 7
T1 ¼ 6 0 0 cos y sin y 0 7;
amplitude vibrations, due to non-linear coupling. In the narrow 6 7
6 7
frequency region where both w1;n;c ðtÞ and w1;n;s ðtÞ are different from 4 0 0 sin y cos y 0 5
zero, they give rise to a traveling wave around the shell; phase shift sin y cos y sin y cos y 0 0 cos2 ysin2 y
between the two coordinates is almost equal to p/2. The appearance ðA:3Þ
of branch 2 is related to the 1:1 internal resonance of w1;n;c ðtÞ and
2 3
w1;n;s ðtÞ, which is due to the axial symmetry of the circular cylindrical cos2 y sin2 y 0 0 sin y cos y
shell. This branch appears for sufficiently large excitation, and it can 6 2 7
6 sin y cos2 y 0 0 sin y cos y 7
be observed for vibration amplitude of the order of 1/10 of the shell 6 7
T2 ¼ 6 0 0 cos y sin y 0 7;
thickness. Branch 2 undergoes two Neimark–Sacker (torus) 6 7
6 7
4 0 0 sin y cos y 0 5
bifurcations (TR), at o=o1;n ¼ 0:9909 and 0.9965. Amplitude-
modulated (quasi-periodic) response is indicated in Fig. 3 on branch 2 sin y cos y 2 sin y cos y 0 0 cos2 ysin2 y
2 for 0:9909o o=o1;n o0:9965, that is, bracketed by the two ðA:4Þ
Neimark–Sacker bifurcations.
y being the angle between the shell principal coordinate a1 and
A comparison between the results obtained by using the
the material axis x.
present theory and those obtained keeping only von Kármán non-
It can be shown that [11,16]
linear terms in Eqs. (B.1)–(B.3), or in Eqs. (17a–c), is shown in
Fig. 4. Results indicate that, for the studied case, it is important to ðT1
1 Þ ¼ T2 : ðA:5Þ
retain non-linearities in the in-plane displacements in order to
Therefore, the matrix ½Q ðkÞ in Eqs. (20) and (21) is given by
obtain accurate results. In fact, the difference between the two
calculations is significant from the quantitative point of view, ½Q ðkÞ ¼ ½T1 1 ðkÞ
1 CðT1 Þ ; ðA:6Þ
even if the qualitative behavior is the same.
where C is the 5  5 matrix of cij and Gij coefficients in Eq. (19). As
7. Conclusion a consequence of the discontinuous variation of the stiffness
matrix ½Q ðkÞ from layer to layer, the stresses may be discontin-
The proposed theory is the first 3rd order shear deformation uous layer to layer. In particular,
theory retaining non-linearities in the in-plane displacements. More- ðkÞ
Q11 ¼ ½c11 cos4 y þ sin2 yð2c12 cos2 y þ 4c66 cos2 y þ c22 sin2 yÞðkÞ ;
over, it has been derived with consistency without introducing non-
ðA:7Þ
linearities of the von Kármán at the end of the derivation of the
theory. Numerical results show that, for the studied case, these non- ðkÞ
Q12 ¼ ½c12 ðsin4 y þcos4 yÞ þsin2 yðc11 cos2 y þc22 cos2 y4c66 cos2 yÞðkÞ :
linear terms are important to predict with accuracy the non-linear
forced response of a laminated graphite/epoxy plain weave fabric ðA:8Þ
circular cylindrical shell.
Acknowledgments
Appendix B. Strain–displacement relations for a circular
The first author acknowledges the financial support of cylindrical shell
the NSERC Discovery Grant, Canada Research Chair and Canada "   2  2 #
@u 1 @u 2 @v @w @w0 @w
Foundation for Innovation programs of Canada and the ex;0 ¼ þ þ þ þ ; ðB:1Þ
McGill University start-up grant. The second author gratefully @x 2 @x @x @x @x @x
"      #
acknowledge the support of this research by the Oscar S. Wyatt 1 @v w 1 1 @u 2 1 @v w 2 1 @w v 2
Endowed Chair. ey;0 ¼ þ þ þ þ þ 
R @y R 2 R @y R @y R R @y R
   
w0 1 @v w 1 @w0 1 @w v
þ þ þ  ; ðB:2Þ
Appendix A. Stress–strain relations for a layer within a R R @y R R @y R @y R
laminate    
@v 1 @u 1 @u @u 1 @v w @v @w 1 @w v
gxy;0 ¼ þ þ þ þ þ 
@x R @y R @x @y R @y R @x @x R @y R
The coefficients in Eq. (19) for a lamina are given by  
w0 @v @w0 1 @w v 1 @w0 @w
Ex Ey nxy Ey þ þ  þ ; ðB:3Þ
c11 ¼ ; c12 ¼ c21 ¼ ; c22 ¼ ; R @x @x R @y R R @y @x
1nxy nyx 1nxy nyx 1nxy nyx @w
nij Ej ¼ nji Ei : ðA:1Þ gxz;0 ¼ f1 þ ; ðB:4Þ
@x
 ARTICLE IN PRESS
418 M. Amabili, J.N. Reddy / International Journal of Non-Linear Mechanics 45 (2010) 409–418

1 @w Appendix C. Kinetic energy for a circular cylindrical shell

gyz;0 ¼ f2 þ ; ðB:5Þ
R @y

@f1 In particular, for a laminate with the same density for all the
kð0Þ
x ¼ ; ðB:6Þ layers and uniform thickness, the following simplified expression
@x
is obtained:
kð1Þ
x ¼ 0; ðB:7Þ Z2p Z L   
1 17  _ 2 _ 2  2
! TS ¼ rh u_ 2 þ v_ 2 þ w
_ 2 þ h2 f1 þ f2 þ f_ 1 u_
4 @f1 @2 w 2 S 315 15R
kð2Þ
x ¼ þ 2 ; ðB:8Þ 0 0
3h2 @x @x    
41 1 v_ 2 @w _ 1 @w_ 1 u_ 8 _
þ f_ 2 v_ þ 2 þ   f1
120R 4R @x 252 @x 30 R 315
1 @f2 w  

kð0Þ
y ¼  ; ðB:9Þ _
1 @w 1 @w _ v_ 8 _
R @y R2 þ þ  f2 R dy dx þ Oðh5 Þ: ðC:1Þ
R @y 252R @y 120R 315
!
1 1 @f2 1 @v 1 @2 w
kð1Þ
y ¼ þ  ; ðB:10Þ
R2 2 @y R @y 2R @y2 If the ratio h/R is negligible (i.e. for thin shells), Eq. (C.1) can be
! simplified.
4 1 @f2 1 @2 w
kð2Þ
y ¼  þ
3h2 R @y R2 @y2 References
!
1 2 @f2 1 @2 w
 2 þ 2 2 ; ðB:11Þ [1] M. Amabili, S. Farhadi, Shear deformable versus classical theories for
3R R @y R @y nonlinear vibrations of rectangular isotropic and laminated composite plates,
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1 @f1 @f2 1 @v 1 @u
kð0Þ
xy
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R @y @x R @x R @y shells, Quarterly of Applied Mathematics 45 (1987) 1–22.
[4] J.N. Reddy, Exact solutions of moderately thick laminated shells, Journal of
!
Engineering Mechanics 110 (1984) 794–809.
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kð1Þ
xy
¼  þ þ ; ðB:13Þ [5] J.N. Reddy, C.F. Liu, A higher-order shear deformation theory of laminated elastic
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xy
¼ 2 þ þ
3h R @y @x R @x @y Stavsky to present, Mechanics of Advanced Materials and Structures 11 (2004)
! 535–582.
2
1 @f 1@ w [8] J.N. Reddy, A general non-linear third-order theory of plates with moderate
þ  2þ ; ðB:14Þ thickness, International Journal of Non-Linear Mechanics 25 (1990) 677–686.
6R2 @x R @x @y
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kð1Þ
xz ¼  f1 þ ; ðB:16Þ [12] M. Amabili, Comparison of shell theories for large-amplitude vibrations of
h2 @x
circular cylindrical shells: Lagrangian approach, Journal of Sound and
Vibration 264 (2003) 1091–1125.
kð2Þ
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kð0Þ
yz ¼ 0; ðB:18Þ [14] E.J. Doedel, A.R. Champneys, T.F. Fairgrieve, Y.A. Kuznetsov, B. Sandstede, X. Wang,
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4 1 @w v [15] J.E. Ashton, J.M. Whitney, Theory of Laminated Plates, Technomic, Stamford,
kð1Þ
yz ¼  2
f2 þ þ 3; ðB:19Þ
h R @y R CT, USA, 1970.
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