SCHOOL OF MECHANICAL AND

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EX A uniform string has a length l=1m, a density

=0.01kg/m. The string is fixed at both ends with initial
tension set at T=100N. The string is plucked at the middle
as shown with h=0.01m and is released at t=0. Determine
(i) the first 3 natural frequencies of the string; (ii) the
corresponding first 3 mode shapes of the string; (iii) the
subsequent vibration of the string.

Lecture 5 & 6 1/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

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From what is given, the initial displacement can be

described as,

f ( x)

0.02 x
0.02 1 x

0 x 0. 5
0.5 x 1.0

The initial velocity is zero, g(x)=0.

(i) The natural frequencies for the string with fixed
boundary conditions are given as,

i
i
l
Therefore,

1
1
1

Lecture 5 & 6 2/35

i 1, 2,
100
100 rad / s
0.01
Uniform String Dynamics

2 200 rad / s
3 300 rad / s
Tuesday, November 17, 2015

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(ii) The mode shapes are given as,

ix
i x sin

l
So,

i 1, 2,

1 x sin x

2 x sin 2x

3 x sin 3x
(iii) Since g(x)=0, we have

2
Ej
j
Lecture 5 & 6 3/35

l
0

jx
g x sin
dx 0
l
Uniform String Dynamics

j 1, 2,
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SCHOOL OF MECHANICAL AND

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2
Fj
l
2

1
jx
f x sin
dx

2
f x sin jx dx

0
l

l
0

0.5
0

0.08

0.02 x sin jx dx 2

j
sin

2

Recall,
v x, t

i 1

ix
sin

i 1,3,5

1
0.5

0.02 1 x sin jx dx

0.08

1 j 1 / 2 j 1, 3, 5,

j 2, 4, 6 ,

j 2

0.08
v x, t
2

Lecture 5 & 6 4/35

NANYANG TECHNOLOGICAL
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Ei sin

T i
t Fi cos
l

T i
t
l

1 i 1 / 2 sin ix cos 100i t

i2

Uniform String Dynamics

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SCHOOL OF MECHANICAL AND

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Generalized Equations of Motion Forced Vibration

Once free vibration modes (i, i(x)) are determined, it is
straightforward to determine the response of a system
to any external loading. Express displacement in terms
of known mode shapes and generalized coordinates;

v x, t

i x i t

(1)

i1

The kinetic energy of the system becomes,

l
0

Lecture 5 & 6 5/35

1
v
dx

2
t

dx i x i t

2
i

l
t dx

i
i

2 0 i 1

l
0

Uniform String Dynamics

(2)

Tuesday, November 17, 2015

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Using the mathematical identity,

i1

ai

i1 j1

ai a j

To prove using simple example,

2
2
2
2

i
1
2
3
1
2
3 2a1a2 2a2 a3 2a1a3
i1

a1 a1 a2 a3 a2 a1 a2 a3 a3 a1 a2 a3

a1

a j a2

j1
3
3

i1 j1
Lecture 5 & 6 6/35

j1

a j a3

j1

aj

ai a j
Uniform String Dynamics

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SCHOOL OF MECHANICAL AND

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Then (2) can be re-written as,

K
2

i x i t j x j t dx

l
0

i1 j1

i t j t 0 i x j x dx

i1 j1

i 2 t
i1

(3)

Similarly, the potential energy of the system becomes,

l
0

Lecture 5 & 6 7/35

1 v
l 1
T
dx 0 T i x i t
2 i1
2 x

Uniform String Dynamics

dx

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l
0

l
0

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1
T i x i t

2 i1

1
T
2 i1

i1

i2

dx

i x i t j x j t dx

j1

l
0

i2 x dx

2 2

ix
T
i
l
2

i t
cos

2 i1
l2
l

T 2
i 2 2 l
dx
i t

2 i1
l2 2

l
l i 2 2 T 2
2 2

i t

i t

i
4 i1
4 i 1 l2
Lecture 5 & 6 8/35

Uniform String Dynamics

(4)

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The generalized force i(t) corresponding each

generalized coordinate i(t):

i t

Now, we have,
And we can solve for
i(t) using Lagranges
Equations.
Lecture 5 & 6 9/35

l
0

F x, t i x dx

l
K
4
l
P
4
i t

i 2 t

(3)

i2 i2 t

(4)

F x, t i x dx

(5)

i1

i1
l
0

Uniform String Dynamics

(5)

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

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Recall Lagranges Equation:

d
dt

L
K

i i
i

d K

dt i
L P

i i
i

L
i
i

l
4

i 1, 2,

l
2

i t 2 i t
i1

l
i t
2

l
4

i1

i2 i2

l 2

i i t
2

l
l 2
i t
i i t i t
2
2

Lecture 5 & 6 10/35

LK P

i 1, 2,

Uniform String Dynamics

(6)

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Equation (6) can be solved for i(t) since all the

coefficients and the RHS are known. Once i(t) are
solved, the forced response of the system can be
obtained,

v x, t

i x i t

i1

where i(x) has been established from the free vibration

analysis of the system.

Lecture 5 & 6 11/35

Uniform String Dynamics

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SCHOOL OF MECHANICAL AND

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EX A uniform string of length l, tension T and density

is subjected to a uniformly distributed load of simple
harmonic amplitude (in time) as shown (the magnitude
is F0 and frequency is ). Determine the forced
vibration response of the string.

Lecture 5 & 6 12/35

Uniform String Dynamics

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SCHOOL OF MECHANICAL AND

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From free vibration analysis, we have

i
i
l

i 1, 2,

ix
i x sin

i 1, 2,

From (5), the generalized force becomes

i t

l
0

F x, t i x dx

Lecture 5 & 6 13/35

l
0

ix
F0 sin t sin
dx
l
2 F0 l
sin t
i
0

Uniform String Dynamics

i 1, 3, 5
i 2, 4, 6
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SCHOOL OF MECHANICAL AND

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So, the generalized equations of motion become

l
l 2
2 F0 l
i t
i i t
sin t
2
2
i

i 1, 3,

(E1-1)

The general solution of (E1-1) has two parts

homogeneous and particular solutions. The
homogeneous part is the free vibration, that is

l
l 2
hi t
i hi t 0
2
2
hi t Ai sin i t Bi cos i t

i 1, 3,
i 1, 3,

(E1-2)
(E1-3)

The particular solution is the forced vibration, that is

l
l 2
2 F0 l
pi t
i pi t
sin t i 1, 3, (E1-4)
2
2
i
Lecture 5 & 6 14/35

Uniform String Dynamics

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SCHOOL OF MECHANICAL AND

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4 F0

sin t
i
Assume the solution is,

pi t

i2 pi t

i 1, 3,

(E1-5)

pi t A pi sin t
Frequency is the same the forcing frequency , but
what is Api?
pi t A pi sin t
t A 2 sin t
pi

pi

Substitute these into (E1-5), then

A pi 2 sin t A pi i2 sin t 4 F0 sin t

i 1, 3,
i
4 F0
4 F0
2
2
Api
A pi i
i
i (i2 2 )

Lecture 5 & 6 15/35

Uniform String Dynamics

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4 F0
pi t
sin t
2
2
i (i )

(E1-6)

The general solution of (E1-1) is therefore,

4 F0
i t Ai sin i t Bi cos i t
sin t
2
2
i (i )

i 1, 3,

The forced vibration response becomes,

v x, t

i x i t

i 1,3,

ix
sin

l
i 1,3,
Lecture 5 & 6 16/35

4
F
0
Ai sin i t Bi cos i t

sin

t
2
2

)
i

Uniform String Dynamics

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The initial condition are,

v x, 0 0
Hence,

and

v x, 0 0

ix
v x, 0 i x i 0 sin
Bi 0
l
i 1,3,
i 1,3,

Multiply both sides by sin(jx/l) and integrate over [0,l],

ix
jx
sin
dx 0
sin
l
l
Bi l 0 Bi 0 i 1, 3, 5
2
Update the solution,

4 F0
ix

v x, t sin
sin

t
Ai sin i t

i (i2 2 )
l
i 1,3,

l
Bi 0
i 1,3,

Lecture 5 & 6 17/35

Uniform String Dynamics

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SCHOOL OF MECHANICAL AND

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Apply the second initial condition,

4
F

0
Aii cos i t

cos

t
2
2

)
i

ix

v x, 0 sin

l
i 1,3,

ix
sin

l
i 1,3,

4 F0
Aii
2
2

)
i

t 0

Multiply both sides by sin(jx/l) and integrate over [0,l],

4 F0

Aii
2
2
i

)
i 1,3,
i

4 F0

Aii
2
2
i

)
i

Lecture 5 & 6 18/35

l
0

ix
jx
sin
sin
dx 0
l
l

l
4 F0
0 Ai
2
2
2
i

)
i i

Uniform String Dynamics

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SCHOOL OF MECHANICAL AND

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So, the final solution becomes,

4 F0

ix
v x, t

sin
i 1,3, l

i sin t sin i t

2
2

)
i i

What happens when i? Resonance occurs.

We only examine the time dependent part,
d
i sin t sin i t
i sin t sin i t
d
lim

lim
d
i
i
ii (i2 2 )
ii (i2 2 )
d

i t cos t sin i t
1
lim
i t cos i t sin i t

2
i
2ii
2ii

which tends to infinity as time increases!

Lecture 5 & 6 19/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

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Treatment of Concentrated Forces:

A concentrated force can be written,

F x, t Fc t x xc

i t 0

1
where x xc
0

F x, t i x dx

l
0

x xc
x xc

Fc t x xc i x dx

i t Fc t i xc
Lecture 5 & 6 20/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

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EX A uniform string of length l, tension T and density

is subjected to a concentrated load of amplitude F0 as
shown. Determine the vibration of the string given initial
velocity zero and initial displacement as

4x
v x, 0 h sin

Lecture 5 & 6 21/35

Uniform String Dynamics

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The generalized force becomes

i t

l
0

F x, t i x dx

l
0

F0 x xc

ix
sin
dx
l

F0 1 (i 1) / 2
i
ixc

F0 sin
F0 sin

l
0
2

Recall,

l
l 2
i t
i i t
2
2
Then,

i t i2 i t
Lecture 5 & 6 22/35

i 1, 2,

2
( i 1) / 2

l 0

Uniform String Dynamics

i odd
i even

(6)

i odd
i even
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The corresponding general solutions are,

i t Ai sin i t Bi cos i t

i t Ai sin i t Bi cos i t Ci
i2Ci

even

odd

2 F0 l
2 F0
( i 1) / 2
(i 1) / 2

1
i
l
i 2 2T

odd

So, the solution can be written,

v x, t

i x i t

i 1

ix
sin

l
i 1,3,

2 F0 l
(
i

1
)
/
2
Ai sin i t Bi cos i t

1
2 2

ix
sin
Ai sin i t Bi cos i t
l
i 2,4 ,
Lecture 5 & 6 23/35

Uniform String Dynamics

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SCHOOL OF MECHANICAL AND

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Consider the initial velocity first,

v x, t

i x i t

i 1

ix
sin
Aii cos i t Bii sin i t
l
i 1,3,

ix
sin
Aii cos i t Bii sin i t
l
i 2,4 ,

ix
ix

v x, 0 0 sin
Aii sin
Aii 0
l
l
i 1,3,
i 2,4 ,

ix
sin
Aii 0 Ai 0 i 1,2,
l
i 1, 2,
(Previously discussed)
Lecture 5 & 6 24/35

Uniform String Dynamics

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Hence, solution can be updated to become,

ix
v x, t sin

l
i 1,3,

2 F0 l
(
i

1
)
/
2
Bi cos i t

1
2 2

ix
sin
Bi cos i t
l
i 2,4 ,
Consider the initial displacement,

v x, 0 h sin

2 F0 l
ix
(
i

1
)
/
2

1
sin

i 2 2

i T
l
i 1,3,

Lecture 5 & 6 25/35

i 2,4 ,

Uniform String Dynamics

ix
4x

h
sin

Bi sin

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2 F0 l
ix
(
i

1
)
/
2

1
sin

i 2 2

i T
l
i 1,3,

ix
4x

h
sin

l
l

Bi sin

i 2,4 ,

Multiply both sides by sin(jx/l) and integrate over [0,l],

Bi

i 1,3,

2 F0l
( i 1) / 2
1
2 2

i T

Bi

i 2,4 ,

l
0

B
i

Lecture 5 & 6 26/35

ix
jx
sin
sin
dx
l
l

ix
jx
sin
sin
dx
l
l
2 F0 l
2

i T

4x
jx
h sin
sin
dx
l
l

l
0
2

(i 1) / 2

l
Bi
0
2
l
l
Bi
h
2
2

Uniform String Dynamics

( j i odd )
( j i even, i 4 )
( j i 4)
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2 F0 l
(
i

1
)
/
2
Bi

1
2 2

l
Bi
2
l
Bi

l
0
2

( i odd )

(i even , i 4 )

l
h
2

(i 4 )

Solving the above, we have

2 F0 l
Bi 2 2 1 (i 1) / 2
i T
B4 h
Bi 0

(i odd )

(i even; i 4 )

Hence the final solution becomes,

Lecture 5 & 6 27/35

Uniform String Dynamics

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2 F0 l
v x, t 2
T

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1 (i 1) / 2

i 1,3,

i2

ix
sin
1 cos i t
l

4x
cos 4 t
l

h sin
where,

i
i
l

Lecture 5 & 6 28/35

Uniform String Dynamics

Tuesday, November 17, 2015

SCHOOL OF MECHANICAL AND

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EX A uniform string of length l, tension T and density

is subjected to a concentrated loads of amplitude F0
and a distributed load, all of frequency , as shown.
Determine the vibration of the string given that the
initial displacement and initial velocity are zeros.

Lecture 5 & 6 29/35

Uniform String Dynamics

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The generalized force becomes

i t

l
0

F x, t i x dx

l
ix
F0 sin t x sin
dx
2

3x
ix
q0 1 sin
sin t sin
dx
l
l

q0 l
q0 l

sin t
1 cos i i 3 sin t
2
i

l
0

i
F0 sin

l
0

q0 l
q0 l

i
1 cos i i 3 sin t
F0 sin

i
2
2

t 2 t 2 F sin i q0 l 1 cos i q0 l i 3 sin t

i
i i
0

l
i
2
2

Lecture 5 & 6 30/35

Uniform String Dynamics

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To simplify, let

F i
Then,

2
q0l
q0 l

F0 sin
1 cos i
i3

l
i
2
2

i t i2 i t F i sin t

The corresponding general solution becomes,

F i
i t Ai sin i t Bi cos i t 2
sin t
2
i
So, the solution can be written,

v x, t

Lecture 5 & 6 31/35

i x i t

i 1

i 1

ix
sin

F
i
Ai sin i t Bi cos i t

sin

t
2
2

Uniform String Dynamics

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Consider the initial displacement,

ix
Bi 0 Bi 0 i 1,2,
v x, 0 0
l
i 1
(Previously discussed)
Consider the initial velocity,
v x, t

i 1

sin

F
i
Aii cos i t Bii sin i t

cos

t
2
2

F i
ix
0
Aii 2
sin
2

i
l
i 1

ix
sin

v x, 0 0

Multiply both sides by sin(jx/l) and integrate over [0,l],

i 1

F
i
Aii
2
2

Lecture 5 & 6 32/35

l
0

ix
jx
sin
sin
dx 0
l
l

Uniform String Dynamics

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F
i

i 1, 2,
Aii 2
0
2 2
i

F i
i 1, 2,
Ai
2
2
i (i )

v x, t

i 1

F i
ix
sin

2
2
i
l

sin t
sin i t
i

Close examination of F(i) reveals that,

0

2 F0

i 1 / 2 4q0
1
F i

i
l
4q0 q0 2 F0

3
l
Lecture 5 & 6 33/35

Uniform String Dynamics

i
i

even

odd , i 3

i 3
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v x, t

i 1,5 ,7 ,9 ,

2iF0 1 i 1 / 2 4 q0 l

ix
sin
sin i t
sin t
2
2
i
il i
l

4 q0 l 3q0 l 6 F0

3 l 32 2

3x
sin

sin t
sin 3 t
3

where,

i
i
l

Lecture 5 & 6 34/35

Uniform String Dynamics

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SUMMARY
1. Forced vibration of string;
2. Derivation of generalized force;
3. Derivation of generalized equations of
motion;
4. Prediction of forced vibration response of
string;

Lecture 5 & 6 35/35

Uniform String Dynamics

Tuesday, November 17, 2015