VIBRATION OF CONTINUOUS SYSTEMS

In this module the equation of motion of continuous systems or distributed mass systems will be
derived. Different one-dimensional systems such as longitudinal vibration of rod, transverse
vibration of string, torsional vibration of rod and transverse vibration of Euler-Bernoulli beams are
example of continuous systems. However, transverse vibration of beams will be considered in this
module.

Introduction to Continuous systems

In the previous lectures we have studied about discrete mass system, which are modelled as single,
two or multi-degrees of freedom systems. In these cases the system has a definite number of
lumped masses, stiffness elements and damping elements. For example the cantilever beam with
a tip mass as shown in Figure 1 is modelled as a single degree of freedom system with a spring
and a mass. The stiffness k of the system was calculated using the following equation.

Fig 1: Cantilever beam with a tip mass

Here W is the weight of the attached mass, is the deflection of the beam with length L, Young's
modulus E and moment of inertia I. The natural frequency can be calculated using the formula

where m is the attached mass. In this calculation we have neglected the mass of the beam. Hence
it may be observed that by considering a point mass at the tip we obtained one natural frequency
of the system. Instead of modeling this system as a single-spring mass if one consider the beam to
be consist of several masses, then the system can be modeled as a multi-degree of freedom system
as shown in figure 2(a). But as the dimension of each elemental mass considered in the above case

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
is arbitrary, one may consider the beam as a continuous system with infinite number of distributed
mass and stiffness and hence has infinite number of natural frequencies as shown in fig 2 (b).

Fig. 2(a,b) Multidegree Freedom System

So in contrast to the discrete mass system, in distributed mass or continuous system the system has
infinite number of natural frequencies and corresponding to each natural frequency, the system
will have a distinct mode shape. It may be observed that the response of the continuous system
depends time and space coordinate (location). But in case of discrete system the response is only
a function of time. Hence while the equation of motion of discrete systems are written in terms of
ordinary differential equations, in case of continuous system they are written in terms of partial
differential equations.

It may be noted that all the real systems are continuous system. A continuous system for analysis
purpose can be reduced to a finite number of discrete models. Each discrete model can be reduced
to an eigen value problem.

In case of continuous system the solution yields infinite number of eigen values and eigen
functions where as in discrete system the eigen values and eigen vectors are finite. The concept of
orthogonality is applicable to both discrete and continuous systems. The eigen value problem in
case of discrete system takes the from of algebraic equations while in continuous systems
differential equations and sometimes integral equations are obtained. Eigenvectors of the discrete
system becomes eigen function of the continuous system.

The response of the system will depends on the boundary conditions. There are two different types
of boundary conditions viz., geometric boundary conditions and natural boundary conditions.
Geometry boundary conditions also known as essential or imposed boundary conditions result

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
from conditions of purely geometric compatibility. For example in case of a clamped-clamped
beam in both the ends deflections and slopes are zero (Fig. 3).

Free-free beam Bending moment and shear

forces are zero at both ends ( natural boundary
conditions at both ends)

Fig 3: Clamped-Clamped Beam

Simply supported beam
( mixed boundary conditions)

Natural boundary condition also known as additional or dynamic boundary condition, which
results from the balance of moments or forces in the boundary. For example in case of a free-free
beam which may be a model of a flying aeroplane or a spacecraft, at both the ends in this system
shear force and bending moments are zero (Fig. 3). Hence they constitute the natural boundary
conditions.

In some systems one may find both the geometric and natural boundary conditions. For example
in case of a simply supported beam, both deflection and bending moment at end points are zero.
Hence the boundary condition in this case may be termed as mixed boundary conditions. Now let
us consider specific examples of continuous one-dimensional systems.

Vibration of Euler-Bernoulli Beam

Lateral vibration of beam was discussed by Euler in 1744 and Daniel Bernoull in 1751. Equation
below appears to have been introduced by Jacob Bernoullin 1789.

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
When the deflection u(x, t) of the beam is assumed to be due to bending, then the beam is called
an Euler Bernoulli beam.

From strength of material it is known

In the Y direction net force Fy

Applying Newton's second law

m = mass per unit length of the beam

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
 ,

or

Essentially the problem of the vibration of a one-dimensional structural member can be described
by a linear hyperbolic partial differential equation

 Boundary conditions on the geometric configuration (displacement or slope) are Dirichlet

or geometric boundary conditions.
 Boundary conditions on the forces and moments are Neumann or Natural boundary
conditions.
 Combinations of the two types are mixed boundary conditions.

Table 3: Boundary conditions for transverse vibration of beam

Clamped (deflection, slope=0)

Pinned (deflection, moment=0

Sliding (slope, Shear

=0)

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
 Free (moment, shear =0)

Mass m and moment of inertia Jp

Damper c and spring

Transverse vibration of Beam with various boundary conditions

Solution of Euler Bernoulli equation

In some mechanical vibration textbooks, the equation of motion of lateral vibration of string,
longitudinal vibration of rod and torsional vibration of shafts were carried out using Newton's law
and Hamilton's principle. In all these three cases the equation of motion of the system reduces to
that of Wave equation, which can be given by

(1)

To find the response of the system one may use the variable separation method by using the
following equation.

(2)

is known as the mode shape of the system and q(t) is known as the time modulation. Now
equation (1) reduces to

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
 (3)

or (4)

Since the left side of equation (4) is independent of time t and the right side is independent of x the
equality holds for all values of t and x . Hence each side must be a constant. As the right side term

equals to a constant implies that the acceleration is proportional to displacement q(t), one

may take the proportionality constant equal to to have simple harmonic motion in the system.
If one take a positive constant, the response will grow exponentially and make the system unstable.
Hence one may write equation (4) as

(5)

Hence, (6)

And (7)

Taking (8)

The above equation can be written as

(9)

The solution of equation (6) and (9) can be given by

(10)

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
Hence,

(11)

Here constants C1 and C2 can be obtained from the initial conditions and constants A, B, C, D can
be obtained from the boundary conditions. Let us now determine the mode shapes of simply
supported beam, fixed-fixed beam, cantilever beam and free-free beams.

For beam simply supported at both the end the boundary conditions can be given by

Figure 4

13 (a-d)

Using equation 2 in 13(a-d) the boundary conditions reduces to

14(a-d)

Now using the expression for the mode shape (equation 11) and its second order derivative can be
given by the following expression.

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
 (15)

From 14(a) B+D = 0

From 14(b) B-D = 0

Hence both B-D = 0

Now from 14(c) and 14(d)

(17a,b)

From equation 17, (18)

As shown in Figure 1It may be noted that the hyperbolic function is not equal to zero.
Hence A=0.

Now as out of the four constants three constants A , B and D are zero, the other remaining
constant C should not be equal to zero. It may be noted that C = 0 correspond to the trivial solution
i.e, u = 0 of the system. As we are studying the vibration of the system i.e, about the nontrivial
solution of the system, from equation (18) one may obtain

(19)

(20)

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
Now from equation 8 and 20 one may write the expression for the frequency as

(21)

(22)

and the mode shape can be given by

(23)

Hence from equation (22) and (23) it may be noted that the simply supported system has a large
number of frequency and corresponding mode shapes. As are the system parameters and
are fixed for a particular system, the frequency of the nth mode is n 2 times the fundamental
frequency. For example, the second mode frequency is 4 times the fundamental or first mode
frequency and the third mode frequency is 9 times the fundamental frequency.

Fig 5. First four modes of simply supported beam

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
Cantilever beam
In case of cantilever beam the boundary conditions are

At left end i.e.,

(24)

At the free end i.e.,

(25)

(26)

(27)

Substituting these boundary conditions in the general soulution

(28)

From (26) A = -C and B = -D (29)

(30)

From (27 and 30) one may have (31)

or (32)

Hence one may solve the frequency equation to obtain frequencies of different
modes. For the first five modes the values of are calculated as 1.875, 4.694, 7.855, 10.996,

14.137. Since for higher roots will be quite high, so . Hence for more than 5 th
mode one may write

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
 for n>5 (33)

In this case the first 4 modes are shown in the following figures 6. The points with zero
displacements i.e., the node points are marked by circles.

Fig 6(a, b, c, d) Modes

Here the expression for mode shape can be given by

(34)

which are plotted in the above figure

Fixed at both the ends

Applying the fixed-fixed boundary condition and proceeding in the way mentioned in the above
two boundary conditions one will get the frequency equation as

(36)
Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon
Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
The first five roots of are

= 0, 4.7300, 7.853, 10.996, 14.137, 4.730

For higher values for n>5

 The first solution =0 represents the rigid body mode of the fixed-fixed beam.
 Thus the higher modes of a fixed-fixed beam have approximately the same frequencies as
those of the cantilever beam with same physical properties. But the mode shapes are
different.

Fig 7(a, b, c, d) Modes

Exercise Problems: In case of fixed-fixed beam the mode shape expression can be given by

(36
Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon
Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.
Free-Free beam

Frequencies for free-free beam are same as those of fixed-fixed beam, but the displacement curves
are different as the boundary conditions are different.

Exercise problem: Show that the frequency equation in case of a free-free beam can be given
by

The first five roots of this equation are 4.7300, 7.853, 10.996, 14.137, 4.730

For higher values for n>5

Engr. Kobe H. Ibrahim & Dr. I. O. Ohijeagbon

Department of Mechanical Engineering,
University of Ilorin, Ilorin Nigeria.