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LOAN COPY:

METHOD OF CALCULATING THE

NORMAL MODES A N D FREQUENCIES
OF A BRANCHED TIMOSHENKO BEAM

by Francis J. Shaker
Lewis Research Center
Cleveland, Ohio

NATIONAL AERONAUTICS A N D SPACE A D M I N I S T R A T I O N WASHINGTON, D. C. MAY 1968 I

I
 TECH LIBRARY KAFB, NM

11ll11111IIII1l 11
1I 11 11110333235

M E T H O D O F CALCULATING T H E NORMAL MODES AND

F R E Q U E N C I E S O F A BRANCHED TIMOSHENKO B E A M

B y F r a n c i s J. S h a k e r

Lewis Research Center

C l e v e l a n d , Ohio

NATIONAL AERONAUTICS AND SPACE ADMINISTRATION

__ - - ._

For sale by the Clearinghouse for Federal Scientific and Technical Information
Springfield, Virginia 22151 - CFSTl price $3.00

L
 METHOD OF CALCULATING THE NORMAL MODES AND
FREQUENCIES OF A BRANCHED TIMOSHENKO BEAM
by Francis J. Shaker
Lewis Research Center

SUMMARY

A method is presented in this report for calculating the normal modes and frequen-
c i e s of a branched Timoshenko beam. The method is essentially a modified Stodola
method and requires an iteration procedure to determine the normal modes and frequen-
cies of the system. In this method, an arbitrary deflection, consistent with the boundary
condition, is assumed. Also, because of the presence of the spring-mass system, the
frequency is not a constant factor in the governing equations and must also be assumed.
Knowing the deflection and frequency, the corresponding shears, moments, slopes, and
new deflection can be determined by integrating the governing differential equations of
the system. The new deflection is then adjusted to satisfy the boundary conditions, and
a new frequency is subsequently calculated. The process is then repeated, and the fre-
quency is used as the criterion for convergence. Although the method can be applied for
any type of boundary conditions, particular attention was given to those boundary condi-
tions of interest in launch-vehicle dynamics, namely, the free-free beam and the
cantilevered-free beam.
In general, the iteration routine will always converge t o the lowest or fundamental
mode of vibration. To determine the higher modes, the lower mode components are re-
moved from the assumed shear and moment distribution by utilizing the second orthogo-
nality condition of the branched beam. The iteration routine will then converge to the
lowest mode whose components are not removed.

INTRODUCTION

Experimental and theoretical studies have shown that a launch vehicle airframe can
be idealized as a nonuniform beam for purposes of studying its lateral bending dynamics.
When major components of the vehicle are cantilevered f r o m the airframe, the vehicle
 can be represented as a beam with cantilevered branch beams. With such a representa-
tion, the bending dynamics of the components and their effect on gross vehicle dynamics
can be studied. For example, the engine shroud or the engine thrust structure could be
idealized as a branched beam at the aft portion of the vehicle, while the payload or the
nose fairing could be represented as a branched beam at the forward portion. For multi-
staged vehicles, the engine and engine- support structure frequently are suspended in the
interstage-adapter well, and this component can be represented as an intermediate
7
branch.
Because of the low aspect ratio (i. e . , L/D) of current vehicles, the bending dynamics
of airframes are accurately described by beam theory, only if the effects of shear flexi- '.
bility and rotational inertia of the beam elements are included. This beam theory, known
as the Timoshenko beam theory, is given in reference 1.
There are several methods for determining the normal modes and frequencies of a
nonuniform Timoshenko beam. For example, reference 2 presents a modified Myklestad
method which takes into account both shear flexibility and rotary inertia of the beam ele-
ments, while reference 3 gives a matrix iteration technique which accounts for rotational
inertia. Shear flexibility could also be handled in the second method by including the
shear deformation in the matrix of influence coefficients. Reference 4 gives a modified
Stodola method which also includes the effects of shear flexibility and rotational inertia of
beam elements. The effects of flexible branches could be handled by extending either of
these methods o r by using the component mode method presented in reference 5. This
report extends the method of reference 4 to account for the effect of the branches on the
normal modes and frequencies of the system.

SYMBOLS

effective shear area

AS

"i
distance from tip of ith branch beam to center of gravity of ith rigid m a s s

bi length of ith branch beam

E Young's modulus of elasticity
G modulus of elasticity in shear
I bending moment of inertia

Icgi
m a s s moment of inertia of ith rigid m a s s about center of gravity
m a s s moment of inertia of ith rigid m a s s about tip of ith branch beam
Ji
torsion spring rate attached to ith branch beam
5
2
 length of primary beam
moment distribution along ith branch beam
moment transferred to end of ith branch beam due to motion of spring-
m a s s system
moment distribution along primary beam
m a s s of rigid body attached to ith branch beam
moment transferred to primary beam due to motion of ith beam
natural frequency of ith spring-mass system
shear distribution along ith branch beam
shear transferred to end of ith branch beam due t o motion of spring-mass
system
shear distribution along primary beam
vertical shear transferred to primary beam due to motion of ith branch
beam
X longitudinal coordinate of primary beam

xi longitudinal distance from the end of primary beam to attachment point of

ith branch beam
vertical deflection function of primary beam
bending deflection of primary beam assumed fixed at x = 0
vertical deflection of primary beam at x = 0
bending slope of primary beam at x = 0
total angle of rotation of spring-mass system relative to horizontal
bending slope at tip of ith branch beam
bending slope of primary beam at attachment of ith branch beam
vertical deflection at tip of ith branch beam

vertical deflection of primary beam at attachment station of ith branch

beam
vertical deflection function of ith branch beam

bending deflection of ith branch beam assumed fixed at attachment station

angle of rotation of spring-mass system relative to static equilibrium po-
sition
3
 generalized m a s s corresponding t o jth normal mode
longitudinal coordinate of ith branch beam
m a s s per unit length
bending slope of primary beam
shear deflection of primary beam
bending slope of ith branch beam
circular frequency

integers referring to branch beams

integers r e f e r r i n g to normal modes

THEORETICAL ANALYSIS

Consider a launch vehicle idealized as a nonuniform beam with a cantilevered branch

beam attached at station xi as shown in figure 1. To make the analysis more general by
showing how a spring-mass component can be handled, assume that a rigid body m a s s is
attached t o the end of the branch beam by a pin connection with a torsion spring whose
spring rate is Ki. The governing equations will first be developed for a primary beam
with one branch, and then the equations will be generalized to include (in principle) any
number of branches.

LBranch beam

Figure 1. - Idealized l a u n c h vehicle coordinate system.

4
 Primary Beam Equations
An element taken along t h e length of the primary beam is shown in figure 2. The
concentrated moment and shear transferred t o the primary beam from the branch beam
are represented on the differential element by mi6(x - xi)& and qi6(x xi)&, respec- -
tively. The expression 6(x - xi) is the Dirac delta function. Some of the properties of
the Dirac delta function that will be used in the subsequent analysis are as follows:

p X<Xi

\
i

6(X - Xi)& = h(x - x.) =

X>Xi

JXJX 6(x - Xi)dX dx = Jx h(x - xi)& =

where h(x - xi) is the unit s t e p function. The equations of motion of the primary beam
are determined by summing f o r c e s and moments acting on the element and neglecting dif-
ferentials of higher order. Thus, for forces,

t, + qi(x7 t)6(x - xi) = -pAY(x, t) (3)

ax

aM
+-dx
bX

(
m

i -x

Figure 2.
x$dx

- Forces and moments acting on typical primary beam element.

5
and for moments,

Note that the rotatary inertia t e r m in equations (1) to (4)depends only on the bending
slope 5, since the shear forces produce only distortion of the c r o s s section and no rota-
tion. From the geometry of the system (fig. l), the bending slope is given by
.-
\,
+ Y$t) (5)

where Y$t) is the bending slope at x = 0 and %/ax is the bending,slope of the beam
cantilevered at x = 0. The total slope will be the bending slope minus t h e shear slope.
The shear slope is subtracted from the bending slope in this case because a positive
shear force tends to decrease the total slope as shown in figure 2; therefore,

From elementary beam theory, the angle of shear at the neutral axis is given by

where As is the effective shear area. Substituting equation (6) into equation (7) gives

The moment-curvature relations for the Bernoulli-Euler beam and the Timoshenko beam
are the same; therefore,

m(x, t) = E1 t, = E1 a2y(x, t) (9)

ax ax2

To eliminate the time dependency from equations (2) t o (5), (8), and (9), only harmonic
motions a r e considered; that is, it is assumed that the shear, moment, slope, and

6
 deflection functions are of the form

m(x, t) = M(x)eiwt , qi(t) = Qiei w t

q(x, t) = Q(x)eiwt, Y(x, t) = y(x)eiwt)

mi(t) = Mie i w t , -
@(x,t) = q(x)eiwg

From equations (3) to (6) and (8) to (lo), the following ordinary differential equations are
obtained:

dQ(x)
-- - w2pAy(x) - QiS(x - xi)
dx

dM(x)
~- - Q(x) + MiG(x - xi) - w21pq(x)
dx

M(x) = E d2y
1 (x2
dx2

Equations ( l l a ) represent the required differential equations of the primary beam. In the
Stodola method, a deflection function y(x) is assumed and equations (lla) are integrated
to obtain a new improved deflection. The constants of integration are adjusted such that
the boundary conditions are satisfied. The process is then repeated until it converges.
The values of Mi and Qi in these equations depend on the dynamics of the branch beam.

Boundary Conditions For Primary Beam

The boundary conditions for two cases will be considered: (1) a free-free beam and

7
(2) a free-cantilevered beam. Other types of boundary conditions can be handled in an
analogous manner.
Free-free-~beam. - For a beam free at x = 0 and x = 1 , the s h e a r s and moments at
the boundaries must vanish. Thus,

Q(0) = Q(l) = 0

M(0) = M(1) = 0

The first of equations (lla) and (12) yield the relation

u2 J 1pAy(x)dx - Qi = 0
The second of equations ( l l a ) and (13) yield the relation

The first of equations ( l l a ) yields

Substituting equation (16) into (15) results in

It is easily shown (ref. 6) that

Substituting equation (18) into (19) and rearranging yield

Z k 2 6' pAy(x)dx - QJ - U 2 6' Ipcp(x)dx - u2 6' pAxy(x)dx + Qixi + M i = 0

The first t e r m in brackets in equation (19) is simply the shear at x = 1 , which is zero for
this case. Thus, equation (19) becomes

8
 w2 pAxy(x)dx + u2 f 'Ipcp(x)dx - Qixi - Mi =0

Equations (14) and (20) represent the equations which must be satisfied t o ensure a van-
ishing moment and shear at the boundaries of the primary beam.
Free-cantilever beam. - For a beam free at x = 0 and fixed at x = 1, the boundary
conditions are

7
?

Q(0) = 0 M(0) = 0

1
,
e

y'(1) = --Q(1) y(l) = 0

ASG

Branch Beam Equations

The governing differential equations of the branch beam can be developed in a manner
analogous t o those of the primary beam. The coordinate system of the branch is as shown
in figure 1, and a n element along the length is as shown in figure 2, except that the con-
centrated shears and moments qi and mi will not be present. The governing equations
of the branch, corresponding t o equations ( l l a ) of the primary beam, will therefore be
given by

9
where the subscripts bi refer to the ith branch (for one branch i = 1) and y i is the
bending slope at the attachment station xi.

Branch Beam Boundary Conditions

To obtain expressions for the boundary conditions of the branch beam, the free-body ?
diagram of the branch beam shown in figure 3 is considered. In keeping with beam theory,
the slopes pi and yi are assumed to be small (i. e., tan 6.1 = p.1 and tan y 1. = y.).
1 I

For small deflections, Newton's second law gives the following equations for the
spring-mass system in harmonic motion:

Q~~= -mciw 2-lai +

I
1J
n
M e i. = w LIcgi (e i +pi) - Qe i.a.

or

2
M ei. = K.8.
1 1= w [Ji(ei + pi) + m c1.a.1 A 1. ] (24)

where Ji, the m a s s moment of inertia of the spring-mass system about the tip of the
branch beam, may be expressed as

Ji = I
cgi
+ mc i.a.21

Free body diagram

Mi of ith branch

Figure 3. -Coordinate system for ithbranch beam.

10
 Solving equation (24) for ei yields

,.=Piti+ )
1
w2
2

1--
w2
mciai
Ji

,f
J where pi is the natural frequency of the simple spring-mass system defined by

Substituting equation (2 5) into equations (23) and (24) yields the following expressions for
shear and moment at the right side of the branch beam.

-w m
2
Q .= ci
ei 3

1 - -wy

w2
Mei - KiOi = ~ (Jipi + m c1.a.1 A.)1
0
2
1-- n

The shear and moment at the left side of the branch beam can be obtained by integrating
the first and second of equations (22). Thus,

and
The first integral in equation (29) can be written in t h e following form:

Using this relation in equation (29) yields

For the adopted sign convention,

Mbi(0) = -Mi

&bi(O) = Qi

Then, f r o m equations (26) to (29) and (32),

Mbi(bi) = M

el
Qbi(bi) = Qei

Qi = -a2 0 fb. @A)biqi(<i)d<i Qei

+ (33)

b.
Mi = -Mei + biQei - 0 [Jbi dOA)bi<iqi(<i)d<i+ 0f
1
(@)bi*i(<i)d<i (34)

Eliminating Mei and Qei from these last two equations yields

12
 These two equations represent the shear and moment transferred to the primary beam as
a result of the dynamics of the branch-beam and spring-mass system.

Orthogonality Conditions

T o determine the orthogonality conditions f o r the branched Timoshenko beam, elimi-

nate m and q from equations (3) and (4) by using equations (8) and (9) to obtain

For a system vibrating in the jth normal mode,

Y ( x ,t) = y.(x)eiwjt, mi(t) = M..e i w j t

-
J u 7
+(x, t) = cp.(x)eiwt, qi(t) = Qije iw j t
J

13

I.
 From equations (37) and (38),

(EIy;)' + [AsG(y; - qj)] - MijB(x - X$ =

(39)
[A,G(y; - qj)]' - QijS(x - xi) 2
= -O.pAy.
3 J

where

and the primes denote d/dx. Let yk and q k represent the deflection and slope of the
beam vibrating in the kth normal mode. Then, multiplying the first of equations (39) by
qk dx and the second by yk dx, integrating over the length, and adding the resulting
equations yields

Integrating the first two integrals on the right side of equation (40)by parts yields

Now, f o r conventional boundary conditions (i. e. , free, pinned, o r fixed), the t e r m s in

brackets in equation (41) vanish. Thus,

14
II

Following the same procedure for the branch beam, the equation corresponding to equa-
tion (41) will be
I

Evaluating the t e r m s in brackets

then, substituting equations (44) into equation (43) and adding the resulting equation to
equation (42) gives

Also, from equations (23) and (24)

15
 2
MeijP, - .. Aik =
e11 -W.
J lk + m .a. A..)
0 . (JAY..
1 1J C1 1 1J

+ w 2j [ I c g i ~ i j ~ i k + m C .(A.-
l 1J
+ a.(Y..)(A&
1 1J
+ ai (Yi k)] (46)

From equation (24),

c
K.0..
J . o . . + m . a . ~ .=>
.
1 11 c1 1 1J w 2
j

Substituting equation (47) into equation (46) and substituting the resulting equation into
equation (45) gives

All the t e r m s which appear in equation (48) are symmetric with respect to j and k ex-
cept w 2 Therefore, if the system is considered to be vibrating in the kth mode and the
j'
s a m e procedure is followed as for the jth mode, a n equation identical to equation (48) is
obtained except w 2 will be replaced by ok; 2 that is,
j

16
 Subtracting equation (49) from equation (48) and assuming w 2
j # Wk
2 gives

+ ICgiaijaik+ m c1.(A..1J + a.a..)(A&

1 1J + ai ai k) = 0 (50)
I

Equation (50) represents the first orthogonality condition of the branched beam. To obtain
the second orthogonality condition, multiply equation (48) and (49) by wz and w2 re-
f
2 2 j,
spectively, and subtract. Then, for w . # w
J k'

An alternate form for the second orthogonality condition is obtained by using the relations

M = EIq', Q = A,G(q - y')

Generalized mass. - Equations (50)to (52) are valid for w 2 # wk.

2 To obtain the gen-
j
era1 expression for these orthogonality conditions, let

17
where p is r e f e r r e d to as the generalized m a s s of the system vibrating in the jth nor-
.i
m a l mode. Then, in t e r m s of the generalized mass, the first and second orthogonality
conditions become

+ IcgiCYijaik + m c1.(A..1J + a.a..)(A&

1 1J
ii
CY k) = p j6j k (544

and

where 6 is the Kronecker delta function defined by

jk

6jk = f j=k

j #k

Equations (54a) and (55a) satisfy equation (48) for j = k and equations (50) and (51) for
j # k.
Natural frequency.
- - An expression for the natural frequency of the system can be
obtained by setting j = k in equation (48). Thus,

18
 L J
w2
, =

P r i m a r y Beam with Several Branches

The equations developed on the preceding pages are for a primary beam with one
branch. The r e s u l t s can be immediately generalized to include any number of branches
by replacing Qi6(x - xi) and Mi6(x - xi) with Qi6(x - xi) and Mi6(x - xi), respec-
i i
tively, in the equilibrium equations. The development will then proceed in the same man-
ner, and the resulting equations will be similar to those previously developed, except that
the branch beam p a r a m e t e r s will be summed over all the branches. For example, as-
sume that there a r e n branches. Then, a summary of the pertinent equations will be as
follows.

Governing differential equations of primary beam :

-- dQ(x) = u2pAy(x)
dx
- En Qi6(x - xi)
i=1

n
m(x) Q(x) + 2
- - - Mi6(x - xi) - o Ipq(:
dx
i=1

19
The last three equations are independent of the number of branches and are included
herein only for later reference.

Free-free boundary conditions:

4

u2 L2 pAxy(x)dx +w

Generalize mass:

i=1

Orthogonality conditions :

n
+ [ ~ ~ + mci(Aij
~ ~ l + a.a..)(Aik
y 1~ 4 ~ a+ ai
~ A*)] = pj6jk (54b)
i=1

20
 Frequency equation:

MODIFIED STODOLA METHOD

In the previous section, the governing differential equations of a branched

Timoshenko beam have been developed. Also, the boundary conditions for the free-free
and the free-cantilevered primary beam have been expressed in integral equation form.
In this section, a modified Stodola method will be applied to solve the differential equa-
tions of motion subject t o the free-free and free-cantilevered type boundary conditions.
The Stodola method, as applied to beam vibration, starts by assuming a deflected
shape of the beam which satisfies the boundary condition. Based on this assumed deflec-
tion, the corresponding shears, moments, slopes, and new deflections can be determined
by integrating the governing differential equations. Then, by using the boundary condition
equations, the new deflection is adjusted t o satisfy the boundary conditions. At this point,
the natural frequency of vibration can be determined. Using the new improved deflection,
the process is repeated until the natural frequency converges. If the branched beam has
a n attached spring mass, as in the c a s e considered in this report, it is also necessary to
assume a frequency of vibration at the start of each iteration. The reason for this is that
the frequency does not appear as a constant factor in the governing equations as developed.
I This point will be clarified as the Stodola method is applied in detail.
For the free-free case, the iteration routine is started by assuming that the deflected
shape of the primary beam is a polynomial of the form

v=p
y(x) = Y(O)(X) =
P
v=1
1 (2)j
- P+2
(57)

21
where the superscript (0)r e f e r s t o the first iteration and the subscript p r e f e r e s to the
mode being determined. For a cantilevered beam, clamped at x = 1, the initial assumed
primary beam deflection can be taken as

P
y(x) = Y (0)(x) = (x - 1)
P
v= 1
(A);
A deflection must a l s o be assumed for each branch beam. For the ith branch, the de-
flected shape can be taken as

where xi") is the deflection of the primary beam at the attachment station and

is the slope at the attachment station.

Before starting the iteration routine, it will be convenient to normalize the deflection
t o unity at the tip of the primary beam. The branch beams should be multiplied by the
s a m e normalizing factor as the primary beam. Also for convenience, w 2 , which appears
as a factor, is set equal to one, since the mode shapes can only be determined to within a
constant factor. The w 2 t e r m s which do not appear as a factor a r e set equal to one in
the first iteration and then for subsequent iterations, the value determined by the previous
iteration is used.
First, consider the iteration routine of the ith branch beam. For the assumed shape,
the shear and moment at the t i p of the branch beam is given by equations (26) and (27) as

P;

1
Mei = ~ (JiPi + m c1.a.1 A .1)
w2
1--
2
Pi

22
 Then, the shear and moment at the attachment station will be given by equations (33) and
(34), respectively.

Since Qi o r Pi is not known in the first iteration, it is set equal to zero, and for subse-
quent iterations the values from the previous iteration are used.
The shear and moment distribution along the branch beam can now be calculated by
integrating the first and second of equations (22) and noting that, for the adopted sign con-
vent ion,

Therefor e,

When the shear and moment distribution is known, a new improved deflection of the
branch beam can be determined by utilizing the third, fourth, and fifth of equations (22);
t thus,

and

23
I III

T o determine the values of siand yi in equations (67) and (68), the deflection and slope
of the primary beam at the attachment point of the ith branch must be determined. This
can be done by a n integration procedure similar to that used for the branched beam.
For the primary beam, the shear and moment distribution can be determined by in-
tegrating the first and second of equations (llb). Thus,

and

M(x) = Jx Jx pAy(x)dx dx - Jx Ipcp(x)dx -

n

i=1
Qi LX h(x - xi)dx +
n

i=1
Mih(x - xi)

(70)

where h(x - xi) and Lx h(x - xi)& are given by

Then, from the third, fourth, and fifth of equations ( l l b ) ,
equations (1) and (2), respectively.

Y(X) = $JXMOdx dx - J X Qo dx + ybx + yo

E1 ASG

The constants of integration yu and yo must now be adjusted to satisfy the boundary
conditions. First, for compactness, the following quantities are defined: 7

24
 Using these substitutions, the deflection and bending slope of the beam can be written as

For the free-free beam, the boundary constants yh and yn must be adjusted t o satisfy
equations (14)and (20). The expressions for Qi and Mi, which should be used in these
equations, are given by equations (35). Therefore, the following equations must be sat-
isf ied

i= 1

) ,> Pi
[m .a.(x. + bi)
c1 1 1
+ Ji]pi =

i= 1 i=1

25
If equations (73)are substituted into equations (74), two equations in two unknown con-
stants a r e obtained, namely, yb and yo. Note that in equations (74) the expressions
for hi and Pi are given by

A i = ~ i b i=){ibi) - Oibi) + [?'(xi) + Yb]bi + ?(xi) - @(xi) + Y&

Pi = +ibi)= {bi) +?'(Xi) + Yb

}
+ YO
(75)

Substituting equations (73) and (75) into (74) yields

( - Ci(bi)

+ ,) 1--
Pi
2
- %){ti(bi)
JiPi

26
 i=1

Collecting t e r m s in y' and yo and rearranging yields equations (78a) and (79a).
0
Shear boundary condition:

I , '
i=1

c i=1 J

27
Moment boundary condition:

/ ,- P:
i=1

1--
2
Pi

i=1 1

28
 T o put equations (78a) and (79a) into a more convenient form, suitable for calcula-
tions, we define the constants given in the appendix. The subscripts r which appear
with the constants K in this appendix signify that K depends on the particular mode be-
ing sought. The other constants are independent of the mode and depend only on the m a s s
and geometric properties of the system. Using the appendix, equations (78a) and (79a)
can be written as

where

i=1

i=1

29

I
 e-
AQr = Mo + Po + 1
w2
1--
2
Pi
i=1

n
'21- = K2r - K3r +
(K2ri - K3ri - K6ri + K7ri + K8ri - Kllri)
i=1

Solving equations (78b) and (79b) yields, for yb and yo,

Equations (80) give the boundary constants for the free-free case. For the free-
cantilevered case, we obtain from equations (21) the following expressions for yb
and yo:

After the integration constants have been determined from either equations (80) o r (81),
a new deflection can then be obtained from equations (73). The frequency of vibration can
now be calculated from equation (56b). Before starting the next iteration, it will be nec-
essary, in general, to recalculate yo and yb for the free-free case based on the new
improved frequency. This is required because the assumed deflection must satisfy the
boundary conditions. Then, after determining a new improved deflection, the deflection
is normalized, and the process is repeated until two successive frequencies are equal.
A flow chart of the iteration routine is given in figure 4.
30
 Assumed primary
beam deflection Nor ma Iize

Set ~ ( 0=)O

I ,
-
I
I
?I2 I
0)
Recalculate
integration
constants
New improved free-free
beam deflections,
Y, 60, V i and Oi Sweeping
Q*
bi bi bi
-
Q . M".- Mbi Q*- Q, M*- M

I I
Test ifif Frequency, w
X
-1

Y =[ 4dx (Enbi dci

I
Branch beam bending slope Branch beam deflection 1

t
Primary beam bending slope
p = Y+Yb
f
Primary beam deflection
Y = Y - 9 + YbX + Yo
r=[
1t
XX
Tax
I 7i =/ 0
si

1
!id+

1L I, Integration X
constants, 9 = 4 $dx
Yb and Yo

I I 1 t II
Figure 4. - Iteration routine for branched beam.
 High Modes of Vibration

The iteration routine described in the previous section will always converge to the
first o r fundamental mode of vibration. To determine the higher modes of vibration, it is
necessary to remove all lower mode components from the assumed shape. Let y,*(x) and
* .(<) represent the assumed shape of the rth mode. Assume that the mode shapes of
Vr, 1
all the v = r - 1 modes a r e known and that it is required to determine the rth mode.
Since any arbitrary shape can be represented by a s e r i e s involving the normal modes of
the system,

where the Cvts a r e unknown constants that must be determined. The shear and moment
distribution, corresponding to the assumed deflection, can be expressed by the s e r i e s

Q:(x) = C,Q1(X) + C ~ Q ~ ( +
X) -- + CVQv(x) + - .-

For < = bi, the last equation becomes

Next, multiply the first of equations (83) by [%(x)/A,G]dx, the second by

[Mv(x)/EI]dx, the third by [Qvi(<)/(AsG)bild<, and the fourth by [Mvi(<)/(EI)bi]d<iyand
integrate over their respective lengths. Then multiply equation (84) by Mevi /Ki.
These operations yield the following set of equations:

32
 + c v pE1 + ..

2
M&.-iMevi= c1
MeliMevi +. . . 'vMevi + ...
Ki Ki Ki

Adding equations (85) and using the second orthogonality condition which is given by equa-
tion (55b) yield

where wv is the natural frequency of the vth mode and p v is the generalized m a s s of
the vth mode given by equation (53b).
For n branches, equation (86) becomes

33
 -
t
I d E,
1

(%
M:Mv M*.M *-Qv i
ri v i + Qri +M;riMevi\
+-QrQv
E1 AsG
9
i=1
cv= ~~

Knowing av, the purified shear and moment distribution becomes

v= 1

ri -
Mri= M*. CvMvil
v= 1 J
Equations (88) represent the shear and moment distribution which must be used in the
iteration routine to determine the higher modes of vibration (i. e., 2, 3, . . .).

CONCLUDING REMARKS

A computer program, based on the analysis presented in this report, has been writ-
ten for finding the normal modes and frequencies of a branched Timoshenko beam. Sev-
eral test cases have been run and the results obtained show that the iteration routine con-
verges in a reasonable length of time. A flow chart showing the iteration routine is given
in figure 4. An examination of this flow chart shows that a number of integrals must be
evaluated during each iteration. Any of the standard methods of numerical integration
can be used to evaluate these integrals, and the best method will depend, in general, on

34
t h e m a s s and stiffness distribution along the beam. The summation method, which is
thoroughly covered in reference 7, is particularly suitable for most practical cases.

Lewis Research Center,

National Aeronautics and Space Administration,
Cleveland, Ohio, October 23, 1967,
180-06-06-03-22.

35
 APPENDIX - DEFINITION OF CONSTANTS USED IN EQUATIONS (80)

mo = J6” p A dx

mbi = lbi bA)bi d6i

Ndi = mci(Xi + bi)

No =Jz p A x dx

Nbi = dbi @A)bi(xi + 5,)dti

Nci = m c1.(x.1 + bi + a i )

Mo = J 1pAx2 dx

Mbi = lbi ti) bA)bi(xi

2
d<i

2
Mci = m c1.(x.1 + bi + ai)

Mdi = m ci (x.1 + bi) 2

36
 I
ci i
- w2 & ( N di -
Ki

37
 P;

I--
2
Pi

38
I

REFERENCES

1. Timoshenko, S. : Vibration Problems in Engineering. Third ed., D. Van Nostrand

Co., Inc., 1955.
2. Fowler, J. : Generalized Missile Dynamics Analysis. V. Calculation of Bending
Modes. Rep. No. EM 8-16, GM-TR-0165-00445, Space Technology Labs., Apr. 7,
1958.
3. Scanlan, R. H. : A Note on Transverse Bending of Beams Having Both Translating and
Rotating Mass Elements. J. Aeron. Sci., vol. 15, no. 7, July 1948, pp. 425-426.
4. Ftheinfurth, M. : Modified Stodola Method Including Rotary Inertia and Shear Flexibil-
ity. Rep. No. DA-TR-4-59. Army Ballistic Missile Agency, 1959.
5. Hurty, Walter C. : Dynamic Analysis of Structural Systems by Component Mode Syn-
thesis. Tech. Rep. 32-530, Jet Propulsion Lab., California Inst. Tech., Jan. 15,
1964.
6. Hildebrand, Francis B. : Methods of Applied Mathematics. Second ed., Prentice-
Hall, Inc., 1965.
7. Houbolt, John C. ; and Anderson, Roger A . : Calculation of Uncoupled Modes and
Frequencies in Bending o r Torsion of Nonuniform Beams. NACA T N 1522, 1948.

NASA-Langley, 1968 -2 E-4152 39

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