Final Published 1002 JACM
Final Published 1002 JACM
1, (2014), 1-9
Nonlinear transversely vibrating beams by the homotopy
perturbation method with an auxiliary term
Hamid M. Sedighi
1
, Farhang Daneshmand
2,3,4
1
Mechanical Engineering Department, Faculty of Engineering, Shahid Chamran University
Golestan Street, Ahvaz, 61357-43337, Iran, [email protected],
2
Department of Mechanical Engineering, McGill University, 817 Sherbrooke Street West, Montreal, Quebec, Canada H3A 2K6
3
Department of Bioresource Engineering, McGill University, 21111 Lakeshore Road, Sainte-Anne-de-Bellevue, Quebec, Canada H9X 3V9
4
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
Abstract
This paper presents the high order frequency-amplitude relationship for nonlinear transversely
vibrating beams with odd and even nonlinearities using Homotopy Perturbation Method with an auxiliary
term (HPMAT). The governing equations of vibrating buckled beam, beam carrying an intermediate
lumped mass and quintic nonlinear beam are investigated to exhibit the reliability and ability of the
proposed asymptotic approach. It is demonstrated that two terms in series expansions are sufficient to
obtain a highly accurate periodic solutions. The integrity of the analytical solutions is verified by
numerical results.
Keywords: Homotopy Perturbation Method with an Auxiliary Term, Non-linear vibrating beams, Frequency-
amplitude relationship.
1. Introduction
Mathematical modeling of many engineering systems such as beam structures often leads to nonlinear
ordinary or partial differential equations. Structures like helicopter rotor blades, space craft antennae, flexible
satellites, airplane wings, robot arms, high-rise buildings, long-span bridges and drill strings can be modeled as a
beam-like member. An exact formulation of the beam problem was first investigated in terms of general elasticity
equations by Love [1]. The problem of the vibrating beams was formulated in terms of the partial differential
equation of motion by many researchers [2-19] with different boundary conditions. Sedighi et al. [2] have presented
the advantages of some effective analytical approaches such as Min-Max Approach, Parameter Expansion Method,
Hamiltonian Approach, Variational Iteration Method and Energy Balance Method on the asymptotic solutions of
governing equation of transversely vibrating cantilever beams. The analytical expression for geometrically non-
linear vibration of clamped-clamped Euler-Bernoulli beams including non-linear strain-displacement relationship
has been obtained by Barari et al. [3]. The application of new equivalent functions for dead-zone and preload
nonlinearities on the dynamical behavior of beam vibration using Parameter Expansion Method (PEM) have been
investigated by Sedighi et al. [4-9]. Nikkhah Bahrami et al. [10] used Modified wave approach for calculation of
natural frequencies and mode shapes of arbitrary non-uniform beams. Non-linear modal analysis of a rotating beams
studied by [11, 12]. Zohoor and Kakavand [12] obtained the equations of motion, for three-dimensional rotating
EulerBernoulli and Timoshenko beams on flying supports using finite element method. When the vibration
amplitudes are moderate or large, the geometric nonlinearity must be included. Numerical solutions such as finite
element and boundary element methods have no capability to give parametric solutions. Therefore, they cannot be
Received March 14 2014; revised May 17 2014; accepted for publication May 18 2014.
Corresponding author: [email protected], [email protected]
Hamid M. Sedighi, Farhang Daneshmand Vol. 1, No. 1, 2014
Journal of Applied and Computational Mechanics, Vol. 1, No. 1, (2014), 1-9
2
used to investigate the global and qualitative behavior of the system. Some approximate solutions such as
perturbation methods can overcome deficiencies of exact and numerical methods.
In recent years, substantial progresses have been made in analytical solutions for nonlinear equations without small
parameters. Such methods have also been used to find approximate solutions to nonlinear oscillators (REF). There
have been several classical approaches employed to solve the governing nonlinear differential equations to study the
nonlinear vibrations including perturbation methods: Hes Max-Min Approach (MMA) [20], Homotopy analysis
Method [21, 22], Variational Iteration Method-II [23], Variational Approach [24], Homotopy Perturbation Method
(HPM) [25], Adomian decomposition [26], Energy Balance Method [27, 28], Multistage Adomian Decomposition
Method [29], Variational Iteration Method [30, 31], Monotone Iteration Schemes [32], Hamiltonian Approach [33],
Navier and Levy-type solution [34, 35] and Parameter Expansion Method (PEM) [36].
In order to exhibit the accuracy of HPMAT to approximate the solution of nonlinear oscillators, different nonlinear
ordinary differential equations of vibrating beams are considered in this paper. The second-order frequency-
amplitude relation is achieved using the novel method called HPMAT. The results presented in this paper
demonstrate that Homotopy Perturbation Method with an auxiliary term is very effective and convenient for
nonlinear beam vibrations in which the highly nonlinear governing equations exist.
2. Homotopy Perturbation Method with an Auxiliary Term (HPMAT)
Consider a general nonlinear governing equation
( ) ( ) 0 L q N q + =
(1)
where L and N are the linear and nonlinear operator, respectively. Recently, He [37] proposed the homotopy
equation with an auxiliary term as follows
( ) ( ) ( ) ( ) ( ) ( ) 1 0 L q p L q L q N q p p q o + + + =
(2)
where o is an auxiliary parameter, p is an embedding parameter L
(3)
where e is the frequency which must be determined. The solution of the problem is then expressed in a power
series in p . Using the standard perturbation method, the nonlinear governing equation is divided into several
consequent linear equations which can be used in order to find the accurate solution of the system (REF).
3. Applications
The applicability of HPMAT approach described above is verified through the solution of different nonlinear
governing equations of vibrating beams. To check the validity of the proposed method, the results of the present
study are also compared with those obtained from the numerical solutions.
3.1 Uniform beam carrying a lumped mass
Figure 1 shows the schematic representation of the free vibration of a beam carrying a lumped mass along its
span. The uniform beam considered in this section has length l and mass m per unit length, hinged at the base
to a rotational spring with stiffness
r
K and carries a lumped mass M at an arbitrary intermediate point d
along the beam span. By neglecting the rotary inertia and shear deformation, the following non-dimensional
parameters are introduced:
, ,
s d M
l l ml
, q = = =
(4)
Fig. 1. Configuration of a beam carrying a lumped mass
The kinetic and potential energies of the beam can be expressed as [38]:
Nonlinear transversely vibrating beams by the homotopy perturbation method with an auxiliary term
Journal of Applied and Computational Mechanics, Vol. 1, No. 1, (2014), 1-9
3
( ) ( )
1
2 2
0
1
2
ml
T x y d o , q , = + + (
}
(5)
( )
1 4
2
2 4 4 2
0
2
EIl
U y y y y y d
,
(
'' ' '' ' '' = + +
}
(6)
where ( ) o , q is Diracs function, 1 l = and prime represents differentiation with respect to the
dimensionless arc length, . The solution can be assumed in the form ( ) ( ) ( ) , y t u t , | , = , with ( ) | , is a
normalized eigen-function of the corresponding linear problem, ( ) u t is the time dependent variable. Using
Rayleigh-Ritz procedure with single linear mode, the following Lagrangian function is obtained,
( )
4
2 2 2 2 2 2 2 4 4 2 4 4 2 2 2 4 4 6
1 3 4 5 6 2 7 8
2
ml EI
L u u u u u u u u u u u u
m
o o o o o o o o
(
= + + + + + +
(
(7-a)
in which
( )
2 2
1 1 1
2 2 2 2 2
1 2 3 4
0 0 0 0 0
1 1
2 4 2 4 2 2
5 6 7
0 0 0 0 0 0
, , ,
, , ,
d d d d d
d d d d d d
, q
, q
o | , | q o | , o | , o |
o | | , o | | o | | ,
=
=
(
| | | |
( '' ' ' = + = = = | |
| |
(
\ . \ .
( ( | || | | || |
' ' ' ' ' '' = = = ( ( | | | |
| | | |
( (
\ .\ . \ .\ .
} } } } }
} } } } } }
1
4 2
8
0
d o | | , ' '' =
}
(7-b)
In order to eliminate the variable x in the governing equations, the following constraint equation for the
inextensional beams is used [39]:
( ) ( )
2 2
1 1 x y ' ' + + =
(8)
Applying Euler-Lagrange equation, the following temporal governing equation for a restrained uniform beam
carrying an intermediate lumped mass is obtained as (see ref. [38]):
( ) ( )
2 2 4 3 2 3 5
1 1 2 2 3 4
2 0, 0 , 0 0, q q q q qq q q q q q q q A q c c c c c c + + + + + + + = = =
(9)
where
3 4 5 6 7 8
1 2 1 1 4 4
1 1 2 2
2 2
, , ,
p p
o o o o o o
c c c c
o o o o
= = = =
(10)
in which dots are derivatives with respect to the dimensionless time
( ) ( )
1 2
1 2
4
2 1
EI m t t o o = and the
following non-dimensional parameters are utilized:
2 4
4
,
pu m l
q p
l EI
e
= =
(11)
where e is the fundamental frequency of the beam. By comparing equations (9) and (1), one can find that the
linear and nonlinear parts of the governing equation are:
( )
( )
2 2 4 3 2 3 5
1 1 2 2 3 4
2
L q q q
N q q q qq q q q q q q
c c c c c c
= +
= + + + + +
(12)
Accordingly, using equation (12) the Homotopy equation can be constructed in the form:
( ) ( )
2 2 2 2 4 3 2 3 5
1 1 2 2 3 4
2 1 0 q q p q q q qq q q q q q q p p q e e c c c c c c o
(
+ + + + + + + + + =
(13)
Assume that the solution can be expressed in a power series in p as follows:
2
0 1 2
... q q pq p q = + + +
(14)
Substituting equation (14) into (13), and using the standard perturbation method gives the first differential
equation as:
( ) ( )
2
0 0 0 0
0, 0 , 0 0 q q q A q e + = = =
(15)
Solving equation (15) yields:
( )
0
cos q A et =
(16)
substituting
0
q into the governing equation results into:
( )
( )
( ) ( ) ( )
2 3 2 3 2 5 5 2
1 1 1 3 4 2
5 2 3 2 5 3
2 1 4 3
5 5 2
4 2 1 1
1 3 5 3
cos
2 4 8 8
7 1 5 1
cos 3
16 2 16 4
1 3
cos 5 0, 0 0, 0 0
16 16
q q A A A A A A A
A A A A
A A q q
e c e c e c o c e et
c e c e c c et
c c e et
| |
+ + + + +
|
\ .
| |
+ + +
|
\ .
| |
+ = = =
|
\ .
(17)
Hamid M. Sedighi, Farhang Daneshmand Vol. 1, No. 1, 2014
Journal of Applied and Computational Mechanics, Vol. 1, No. 1, (2014), 1-9
4
Eliminating the secular term leads to:
( )
3 2 3 2 5 5 2
1 1 3 4 2
1 3 5 3
, 0
2 4 8 8
c A A A A A A A e o c e c e c o c e = + + + =
(18)
Thereby, the first-order approximate solution with assumption 0 o = is achieved as:
4 2
4 3
2 4
1 2
8 5 6
8 4 3
A A
A A
c c
e
c c
+ +
=
+ +
(19)
In order to achieve the high accuracy solution, the third part of the right hand side of equation (14) must be
included. A special solution of equation (17) can be expressed as:
( )
( )
( )
( )
( )
3 2 2 2 2 5 2
2 1 4 3 4 2
1 2 2
7 8 5 4 3
1
cos 3 cos 5
128 384
A A A A
q
c e c e c c c c e
t et et
e e
+ +
=
(20)
Using the perturbation method and substituting equation (20) leads to the third differential equation for ( )
2
q t .
Solution of the third equation should not contain the so-called secular term ( ) cos et . To ensure so, the right-hand
side of this equation should not contain the terms cos, that is, the coefficients of cos must be zero:
( )
5 2 9 2 7 2 7 2 7 4 9 2 4
2 1 3 4 2 4 1 2 3 1 2 2
7 5 2 4 2 9 2 5 2
3 4 1 2 3
3 45 5 7 7 65
,
32 256 32 64 32 512
5 3 95 3
0
64 32 1536 128
c A A A A A A
A A A A A
e o c e c c e c c e c c e c c e c c e
c c c e oe c c
= + +
+ + + + =
(21)
Solving equations (18) and (21) simultaneously leads to:
(
6 2 8 2 4 4 2
2 1 2 1 2 1
4 6 4 2 6 8
3 1 3 2 4 3 1 4 2
6 8 2 2 4 12 2 14
4 3 4 3 3 1 2 4 2 4 2 3
4
6 2
3
1
112 65 48 - 512 -192 - 256
24 28 -160 -192 40 - 256 45
2
322 184320 94080 96768 180 180 56 147456
3
1382
A A A A A
A A A A A
A A A
A
A A A c
e
c c c c c c
c c c c c c c c
c c c c c c c c
c c
c c c c
=
+ +
+ + +
+
+ +
)
2 6 2 2 8 2 10 4 2 12 2 2 12 6
3 1 3 3 2 4 1 4 2 1 4 1 4
1 2
1 2
2 2 16 2 2 12 8 2 14 8 10 4
2 4 3 2 2 4 1 4 2 1 4 2 3 4 1 3
4 221184 19008 10560 184320 18720 180 46080
75 9 51840 120 28800 41760 27648
A A A A A A A A
A A A A A A A
c c c c c c c c c c c c c
c c c c c c c c c c c c c c c c
+ + +
( + +
(22)
In order to verify the effectiveness of the proposed approach to approximate the analytical solution, the analytical
solutions and numerical results, have been plotted simultaneously. As can be seen in Fig. 2, the second order
approximation for ( ) q t for different system parameters, exhibits an excellent agreement with numerical results.
Fig. 2. Comparison between numerical results (solid lines) and analytical solutions (symbols) for different initial
conditions
3.2 Transversely vibrating quintic nonlinear beam
In this example, the governing equation of quintic nonlinear beam shown in Fig. 3 is considered. The governing
equation of the hingedhinged vibrating beam without damping effects subjected to constant axial force
0
P is
expressed as [22]:
2 3 3 2 4 2
0 0
27 9 3
3 3 0
2 4 2
tt x xx xx x xxxx x xxxx xxxx xx x xx
mw EI w w w w w w w EIw P w P w w
(
+ + + + + =
(
(23)
Nonlinear transversely vibrating beams by the homotopy perturbation method with an auxiliary term
Journal of Applied and Computational Mechanics, Vol. 1, No. 1, (2014), 1-9
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Fig. 3. Shematic representation of transeversly vibrating beam
where the symbol w denotes the displacement of the flexible beam which may be represented as
( ) ( ) , sin w x t q t x l t = . By introducing the non-dimensional variables,
*
4 2
,
EI lq
q
ml r
t = =
(24)
where r is radius of gyration of beam cross-section and applying Bubnov-Galerkin decomposition method, the
non-linear governing equation of transverse vibrating beams can be extracted as:
( )
( ) ( ) ( ) ( ) ( )
2
3 5 2
2
0
n
d q
q q q
d
t
e t | t o t
t
+ + + =
(25)
where
( )
4 8
2 2
2 2 2 0
0 0 0
7 27
, , , ,
8 20 2
n
Pl r r r
l l EI l
t t t t
e t t c | c o c
| |
| | | |
= = + = = =
|
| |
\ . \ .
\ .
(26)
The homotopy equation for the quintic nonlinear beam vibration can be expressed as:
( ) ( )
2 2 2 3 5
1 0
n
q q p q q q p p q e e e | o o
(
+ + + + + =
(27)
Substituting equation (14) into (27) yields:
( ) ( )
2
0 0 0 0
0, 0 , 0 0 q q q A q e + = = =
(28)
( ) ( )
2 2 2 3 5
1 1 0 0 0 0 0 1 1
0, 0 0, 0 0
n
q q q q q q q q q e e e o | o + + + + + = = =
(29)
Solving equation (28) gives the following initial solution for
0
q as:
( )
0
cos q A et =
(30)
Substituting equation (30) into (29) results in,
( )
( ) ( ) ( ) ( )
2 5 3 2 2
1 1
3 5 5
1 1
5 3
cos
8 4
1 5 1
cos 3 cos 5 0, 0 0, 0 0
4 16 16
n
q q A A A A A
A A A q q
e o | e o e et
| o et o et
| |
+ + + + +
|
\ .
| |
+ + + = = =
|
\ .
(31)
Eliminating the secular term lead to:
( )
5 3 2 2
1
5 3
, 0
8 4
n
c A A A A A e o o | e o e = + + + =
(32)
The first-order approximate solution with assumption 0 o = is achieved as:
2 2 4
3 5
4 8
n
A A e e | o = + +
(33)
To achieve the high accuracy solution, the third part of the right hand side of equation (27) must be included. A
particular solution of equation (31) can be expressed as:
( )
( )
( ) ( )
3 2
5
1 2 2
5 4
1
cos 3 cos 5
128 384
A A
A
q
o |
o
t et et
e e
+
= +
(34)
Using the perturbation method and substituting equation (34) leads to the third differential equation for ( )
2
q t .
Solution of this equation should not contain the so-called secular term ( ) cos et , therefore, the coefficients of
cos must be zero:
( )
2 9 2 7 2 5
2
95 5 3
, 0
1536 64 128
c A A A A e o oe o o| | = + + + =
(35)
Solving equations (32) and (35) simultaneously leads to:
2 2 4 2 2 4 2 8 2 2 6 2 4
1 3 5 1
2304 1512 1470 3456 2880 2880
4 8 96 2
n n n n
A A A A A A A e e | o e | o e | |o e o = + + + + + + + +
(36)
In order to demonstrate the integrity of solutions by analytical approach, the analytical results together with the
corresponding numerical results are presented, graphically. The second-order approximation of ( ) q t using
Hamid M. Sedighi, Farhang Daneshmand Vol. 1, No. 1, 2014
Journal of Applied and Computational Mechanics, Vol. 1, No. 1, (2014), 1-9
6
HPMAT approach exhibits a good agreement with numerical results from fourth-order RungeKutta method, as
depicted in Fig. 4.
Fig. 4. Comparison between numerical results (solid lines) and analytical solutions (symbols) for different values
of
0
c
3.3 Buckled beam nonlinear vibration
Assume that the buckled beam shown in Fig. 5 is the EulerBernoulli beam subjected to axial force ( )
0
P P t +
.
The symbol v denotes the dynamic displacement of a point in the middle plane of the flexible beam in z
direction. The governing equation of motion of an initially straight buckled beam is given by [40]:
( ) ( )
( )
2
2 4 2 2
0 2 4 2 2
0 0
2 2
2 2 2 2
2 2 2
0 0 0
1
2
2 2
l l
l l l
v v EA v l EA v
m EI P P t dx dx
t x l x EA x l x x x
EA v v EA v EA v v
dx dx dx P t
l x x x l x x l x x x
(
c c c c c c c | |
+ + +
(
|
c c c c c c c
\ .
(
c c c c c c c c
| | | |
=
| |
c c c c c c c c
\ . \ .
} }
} } }
2
(37)
By introducing the the spatial and temporal variables as:
( )
( )
2 2 0
0 4
, , , , ,
P t
P x v EI l
x v t t P P t
l r mL r EA EA
= = = = = =
(38)
Fig. 5. Configuration of buckled beam subject to axial force
where r I A = denotes the radius of gyration of the cross-section, is a non-dimensional parameter which
measures the slenderness of the beam and l is the beam length. Thereby, the non-dimensional form of governing
equation can be obtained as:
( )
( )
2 2 1 1 1 1 2 4 2 2 2 2
0 2 4 2 2 2 2
0 0 0 0
2 1 2 2
2 2
0
1 1
2 2
1
2
v v v v v v v
P P t dx dx dx dx
x x x x x x t x x x x x
v v
dx P t
x x x
(
c c c c c c c c c c c c | | | |
+ + +
(
| |
c c c c c c c c c c c c
\ . \ .
(
c c c | |
=
|
c c c
\ .
} } } }
}
(39)
It is convenience to express the post-buckling deflection as:
( ) , b x =
(40)
where is the buckling mode corresponding to the eigenvalue and we have:
( )
2 2
0
4
c
b P P t =
(41)
In which
c
P represents the first buckling load for a clamped-clamped boundary conditions. Finally, the nonlinear
governing equation of vibrating initially straight buckled beam can be obtained as [40]:
Nonlinear transversely vibrating beams by the homotopy perturbation method with an auxiliary term
Journal of Applied and Computational Mechanics, Vol. 1, No. 1, (2014), 1-9
7
2
2 1 1 1 1 2 4 2 2 2 2 2
2
2 4 2 2 2 2 2
0 0 0 0
1 1
2 2
c
v v v v v v v v v
P b dx b dx b dx dx
x x x x x x t x x x x x x
c c c c c c c c c c c c c | | | |
+ + = + +
| |
c c c c c c c c c c c c c
\ . \ .
} } } }
(42)
For a clamped-clamped straight beam, the lowest eigenvalue, the corresponding buckling mode and critical load
are:
( ) ( )
2
1
2 , 1 cos 2 , 4
2
c
x x P t t t = = =
(43)
Applying the weighted residual Bubnov-Galerkin method, the governing equation for cantilever beam vibration
can be expressed as:
( ) ( ) ( ) ( ) ( )
2
2 3
1 2 3 2
0
d q
q q q
dt
| t | t | t + + + =
(44)
where
( )
( )
2
1
1 1 1 1
2
2
2
0 0 0 0
2
1
2
3
0
sin 2 cos 2
1
2
n
b xdx dx b xdx dx
dx
| e
| t | t | | t | t |
| |
=
| || | | || |
' '' ' = +
| | | |
\ .\ . \ .\ .
| |
' =
|
\ .
} } } }
}
(45)
in which
n
e represents the linear natural frequency and ( ) x | is the first eigenmode of clamped-clapmed beam.
To solve nonlinear ordinary equation (44) analytically, the homotopy equation can be writen as:
( ) ( )
2 2 2 3
1 2 3
1 0 q q p q q q p p q e | e | | o
(
+ + + + + =
(46)
Substituting equation (14) into (44) yields:
( ) ( )
2
0 0 0 0
0, 0 , 0 0 q q q A q e + = = =
(47)
( ) ( )
2 2 2 3
1 1 1 0 0 0 2 0 3 0 1 1
0, 0 0, 0 0 q q q q q q q q q e | e o | | + + + + + = = =
(48)
substituting the initial solution into (48) results into:
( ) ( ) ( )
( ) ( ) ( )
2 2 3 2
1 1 3 1 2
3
3 1 1
3 1
cos cos 2 1
4 2
1
cos 3 0, 0 0, 0 0
4
q q A A A A A
A q q
e e o | | et | et
| et
| |
+ + + + + + +
|
\ .
+ = = =
(49)
Eliminating the secular term leads to:
( )
2 3
1 3 1
3
, 0
4
c A A A A e o e o | | = + + + =
(50)
and the approximate frequency with assumption 0 o = is achieved as:
2
1 3
3
4
A e | | = +
(51)
a particular solution of equation (49) can be written as:
( ) ( ) ( ) ( )
3 2
3 2
1 2 2
1
cos 2 3 cos 3
6 32
A A
q
| |
t et et
e e
= +
(52)
Substituting equation (52) leads to the third governing equation for ( )
2
q t which should not contain the so-called
secular term ( ) cos et , therefore, the coefficients of cos must be zero:
( )
2 3 2 5 2
2 2 3
1 3
, 0
6 128
c A A A e o oe | | = + + =
(53)
Solving equations (50) and (53) simultaneously leads to:
2 2 2 4 2 2 2
1 3 1 3 3 1 2
1 3 1
576 378 864 384
4 24 2
A A A A e | | | | | | | = + + + + +
(54)
To illustrate of validity of the proposed approach for this example, the results are compared with the numerical
solution using fourth-order RungeKutta method. As can be seen in Fig. 6, the second approximations of ( ) q t
using analytical method for different values of parameters, shows an excellent agreement with numerical results.
Hamid M. Sedighi, Farhang Daneshmand Vol. 1, No. 1, 2014
Journal of Applied and Computational Mechanics, Vol. 1, No. 1, (2014), 1-9
8
Fig. 6. Comparison between numerical results (solid lines) and analytical solutions (symbols) for different initial
conditions
4. Conclusions
In this research, Homotopy perturbation method with an auxiliary term was employed to solve different
governing equation of nonlinear vibrating beams. In order to exhibit the accuracy of this approximate approach
different governing equations of nonlinear oscillators was studied. By employing this modern approach, high
order frequency-amplitude relation as a function of system parameters was obtained. It is clearly demonstrated
that this asymptotic approach is very effective and straightforward to study the nonlinear oscillator systems
includes odd and even nonlinear terms. The integrity of the obtained analytical solutions is verified by numerical
methods. The accuracy of the results demonstrates that the method can be potentiality used for the analysis of
strongly nonlinear oscillation problems.
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