Acta Mechanica 32, 249--259 (1979) ACTA MECHANICA

9 by Springer-Verlag 1979

Free Vibration of Rectangular Beams of Arbitrary Depth

By

K. T. S u n d a r a R a j a I y e n g a r a n d P. V. R a m a n * , B a n g a l o r e , I n d i a

With 1 Figure

(Received November 2, 1977)

Summary - - Zusammenfassung

Free Vibration of Rectangular Beams of Arbitrary Depth. The state space approach
is extended to the two dimensional elastodynamic problems. The formulation is in a form
particularly amenable to consistent reduction to obtain approximate theories of any desired
order. Free vibration of rectangular beams of arbitrary depth is investigated using this
approach. The method does not involve the concept of the shear coefficient k. I t takes into
account the vertical normal stress and the transverse shear stress. The frequency values are
calculated using the Timoshenko beam theory and the present analysis for different values of
Poisson's ratio and they are in good agreement. Four cases of beams with different end
conditions are considered.
Freie Sehwingungen reehteekiger Balken beliebiger H/~he. Die Zustandsraum-
Tcchnik wird auf zweidimensionale elastodynamische Probleme ausgedehnt. Die Formu-
lierung ist besonders gecignet ffir die Aufstellung yon N~herungstheorien beliebigen Grades.
Freie Schwingnngen yon l~echteckbalken beliebiger HShe wurden mit ttilfe dieser Technik
untersucht. Das Verfahren umgeht den Begriff des Sehubbeiwerts /c. Es berfieksichtigt die
senkrechte Normalbeanspruchung und die Querkraft. Die Frequenzwerte werden mit Hilfe
der BMkentheorie yon Timoshenko und der vorliegenden Analyse bereehnet, und zwar fiir
verschiedene Werte der Querdehnzahl. Die berechneten Werte befinden sich in guter Uber-
einstimmung. Vier F~llc yon Balken mit versehiedenen Endbedingungen werden untersucht.

Notation

2h depth of beam
k Timoshenko shear constant
L length of the beam
n mode number
u, v displacement in x, y directions
A area of cross section
An coefficient in series representation
E modulus of elasticity
G modulus of rigidity
I moment of inertia about z-axis
mass density
/~ Poisson's ratio

* Research Scholar. (On leave from M. A. College of Technology, Bhopal 462007, India.)

0001-5970/79/0032/0249/$02.20
250 K.T. Sundara Raja Iyengar and P. V. l~aman:

0 rX~
&rx, ay direct stresses
tzy shear stress
eigenvalue of square matrix
w frequency of harmonic vibration
3. eigenvalue = V ~ ~L
eel 2
~9 frequency parameter ~ --]/~-A
.(2* frequency parameter ~ Q X 0

1. Introduction

The Bernoulli-Enler equation for beams does not consider the effects of shear
deformation, rotatory inertia and the vertical normal stress, l~ayleigh [1] intro-
duced the effect of rotatory inertia and Timoshenko [2] incorporated the effect of
shear deformation. The shear stress and shear strain are not uniformly distributed
over the cross section. Timoshenko introduced a dimensionless constant k to
account for this. By taking ]c as the ratio of the average shear stress on a cross
section to the product of the shear modulus and the angle of shear at the centroid,
he arrived at a value of 0.67 for rectangular cross sections. Later he [3] suggested
a value of 0.889 in order to bring the predictions of his equation into closer
agreement with the three dimensional theory of small vibrations of elastic bodies.
Cowper [4] derived the equations of the Timoshenko beam theory, by integration
of the equations of the theory of elasticity. He obtained expressions for shear
constant for different cross sections as functions of Poisson's ratio. For rectangular
cross section its value is 10(1 + ,u)/(12 ~- 11/x).
A different approach, using the two dimensional elasticity theory is given
here to determine the frequencies of beams of arbitrary depth. This method does
not resort to the selection of any shear constant.
Vlasov [5] developed the method of initial functions (MIF) for rectangular
regions by expanding the unknowns in Maclaurin series in thickness coordinate.
This method has been extended to twodimensional elastodynamic problems by
Das and Setlur [6]. Bahar [7] used state space view point to approach Vlasov's
formulation of elasticity. In the present pape r the state space approach is extended
to two dimensional elastodynamic problems. Using this method, the natural
frequencies have been calculated for beams with various boundary conditions.
The values by Timoshenko beam solution are also given for comparison.

2. Formulation of the Problem

The governing equations of the plane stress case, without body forces, of the
theory of elasticity are (Fig. 1)
~ax ~Vxy __ ~ ~27z
Ox + @ - - -~t~
(1)
&ry e ~2v
~x ~y ~t 2
 Free Vibration of Rectangular Beams of Arbitrary Depth 251

2h

Iy L
~ Y
2

Fig. I. Coordinate system

Using Hooke's law the stresses can be written as

(7x --

(2)
%--1-~

Let
U ~ Gu, V ~ Gv, X ---- ~:xy, Y ~- ay

(3)
_~, _=~, __ =~2.
~x ~y G ~t 2

B y eliminating ax between (1) and (2) the following basic equation is obtained

I 0 (4)
0 ~2 0 --

_ _--2(1 -~ ,u) ~2 _~ ~2 0 --#~

Let Z denote the state vector

[u, v, r , x ] ~ .
Eq. (4) can be written as
d
Yd--[Z] = [A] [Z]. (5)

The integration of the vector matrix differential equation yields

[Z] ~- exp [y. A] Z(0), (6)

252 K . T . Sundara Raja Iyengar and P. V. Raman:

where Z(0) correspond to Z at y = 0. The exponential m a t r i x is the transfer

m a t r i x t h a t m a p s the initial state vector into the field. The characteristic equation
of the d e t e r m i n a n t associated with the m a t r i x [A] is

[~72 -t- (c~2 - - $2)] [~2 @ (c~2 - ~-~

- ~IIXl= 0. (7)
2 /J
The roots are
= ~i61, • (8)
where

d1=V~-r ~=~ ~-~2~2. (9)

According to the Cayley-I-Iamilton t h e o r e m the square m a t r i x sarisfies its own
characteristic equation. Hence the exponential m a t r i x can be written as

exp [yA] ~ ao[ + a l A + a2A') + a3A 3. (lO)

The expression (10) m u s t also be satisfied if the m a t r i x A is replaced b y its own

eigenvalues. Hence
exp (yr/) = ao + a~7 + a2~ 2 + aarl a. (11)

Substituting the roots (8) into (11) and solving the system of equations the
following values are obtained for ao, aa, a,) and aa.

a0 = 2(622 cos ydl -- 612 cos y62)/(! + #) ~2

= 2 (6: ~---~ - ~ ~Y !q/(1

/ + '~) ~
(12)
a2 = 2(cos ybl - - cos y52)/(1 @ #) ~e

(sin yS, sin--Y6~-t/(1 ~2.

Substituting these values in (10) the transfer m a t r i x [L] is obtained. F r o m (6)

we get

= i L2q Vo (13)

where Uo, Vo, Yo, X0 are all initial u n k n o w n functions in the plane y = 0. The
coefficients Lll, L12 etc., of the transfer m a t r i x are all differential operators and
 Free Vibration of Rectangular Beams of Arbitrary Depth 253

h a v e t h e following v a l u e s

Ltl = L~4 - - ( - 2 ~ 2 § ~2) cos Y(~I 4. 2a--~cos Y~2

L12 ---- La4 - - 2~(c~ -- ~2) sin Y~I a(2a~ -- ~2) sin yb~
~2~ 1 ~262

a c~
L13 = L24 = ~'2 COS Y~I 4. - ~ COS y62

__ (X2
L14 (a2 _ ~2) sin Y~$1 4- - - sin Y~2

L21 = L4a - - ~(2~e -- ~) sin Y~I - - a[2a2 -- (1 - g) r~] sin Y($2

~z61 ~2~2
(14)
L22 = L33 = 2~---~cos Y~I (2~ - $~) cos Y52

c~ sin y ~ - - (2~~ --2 (1

L_~a = ~2(~-~ ~ -- t~) ~ ) sin y ~

L3~ = L~2 - - 2a(2~2 - ~) cos yO~ 2a(2~2 _ ~2) cos Y62

La2 = - 4 ~ ( ~ -- ~) sin y6~ 4- (2a~ -- ~)~ sin Y~2

L4 ~ - - (2a" -- ~2)e sin y ~ - - 2a212a ~ -- (1 -- ~) ~] sin y52.

T h e a b o v e coefficients of t h e t r a n s f e r m a t r i x are s y m m e t r i c w i t h respect to t h e

s e c o n d a r y d i a g o n a l , d u e to t h e i s o t r o p y of t h e elastic b o d y . T h r s e e x p r e s s i o n s are
i n a g r e e m e n t w i t h t h o s e g i v e n i n Ref. [6], w h e r e t h e y h a v e b e e n o b t a i n e d b y
a s s u m i n g t h e s o l u t i o n of (4) i n t h e f o r m of M a c l a u r i n series i n t h e y direction.

3. A p p l i c a t i o n of the Method

3.1. Beam Subjected to Symmetrical Loading

T a k i n g y = 0 as t h e reference p l a n e , b e c a u s e of s y m m e t r y in l o a d i n g we
obtain
Vo = X0 = 0. (15)
H e n c e E q s . (13) s i m p l i f y to
U = L l l Uo 4- L13 Yo

V - L21Uo 4- L2a Yo
(16)
Y = L31Uo 4- L33 Yo

X = LalUo 4. L43 Yo.

On the plane y = •
y = - p ( x , t), x = o. (17)
254 K.T. Sundara Raja Iyengar and P. V. t~aman:

Using these values of Y and X, the Eqs. (16) reduce to the following two equations

IL31L331 lUll = I--:]. (18)

Lal Laajy=h
The second equation is made an identity b y introducing an auxiliary function
such t h a t

The first equation of (18) becomes

(LalL4a - - La3Lal)a ~ z - - p . (20)

Substituting the values of the operators from Eq. (14), the following exact
partial differential equation is obtained for the free vibration symmetric with
respect to the middle plane
[2o~212~2 - (1 - ~t) : 2] sinh($2 (2a2-- :2, 2 ]
9 -~T cosh~l ~2 ~2 ' cosh~2(sinh~l)/~1 ~ ~-- 0 (21)

Expanding the trignometrie expressions and retaining terms up to h a, we get a

fourth order theory. Taking terms of higher powers of h, higher order theories arc
obtained. When ~ is known U0 and Y0 can be obtained from Eq. (19) and the
stresses can be obtained from Eq. (16).

3.2 B e a m Subjected to A n t i Symmetrical Loading

Taking y ~ 0 as the reference plane, because of a n t i s y m m e t r y in loading we

obtain
Uo ~-- Y0 -~ 0. (22)
On the plane y ~- ~ h
Y : :J:p(x, t) X : 0. (23)
Using these values of :Y and X, the Eqs. (13) reduce to the following two equations

L42 L44jy=h
Introducing an auxiliary function F such that
V0 ~44~,
T(~)~ Xo r (~ (25)

the second of Eq. (24) is identically satisfied and the first of Eq. (24) leads to the
following differential equation for the free vibration

~-~2 COSh(~1 sin h(~2 ~2~1 h l COS 0 (26)

Eq. (26) is the exact transcendental partial differential equation for the free
vibration anti-symmetric with respect to the middle plane. Expanding the
trignometric expressions and retaining a finite number of terms, solution of a
desired order can be obtained. When F is known, the values of X o and V0 can be
 Free Vibration of Rectangular Beams of Arbitrary Depth 255

obtained from Eq. (25) a n d the stresses can be obtained from Eq. (13). Since the
present formulation has no restriction on the d e p t h the t h e o r y could be used for
b o t h shallow (long) and deep (short) beams. Sundara R a j a I y e n g a r et al. [8] have
given detailed numerical work for higher order theories for static case.

3.3 Boundary Conditions

The b o u n d a r y conditions can be expressed in terms of the auxiliary function
or F. As an illustration, the b o u n d a r y conditions are given for a sixth order
t h e o r y of the a n t i s y m m e t r i c case.
(i) Hinged E n d (v ---- 0, u = 0)

v = 0 gives 1 2+#h~.2]F=O
2 J
u=0 gives a2F = ~dF = 0.
Combining t h e m we get the necessary conditions as
F = ~2F = ~4F = O. (27)
(ii) Clamped E n d (u = O, v = O)

~ F = ~aF = 0

IX -- 2m + ~ h 2 ~ ] F = O.
2 ] .(2s)
(iii) Free E n d (a. = O, z.u = O)
Of the two conditions a n y one can be satisfied exactly a n d the other approxi.
mately. Assuming t h a t as is satisfied exactly t h e n

~2F : ~4F : O. (29a)

The remaining condition is obtained b y satisfying zxy ~ 0 approximately as
h

f~xy dy : 0. (29b)
--h

3.4 Solution o/ the Differential Equation

As the methods of solution of the differential equation for the symmetric and
the anti-symmetric case are identical, the m e t h o d is explained for the anti-
symmetric case.
E x p a n d i n g the rignometric terms in Eq. (26) a n d retaining terms upto h 8 the
following differential equation is obtained

[2(l+tOh)~
3 2 (2 -~- kt) h3o~2~2 -~- 7 12
-~- --/z ha~4 _]_ he 21E = O. (30)

I n the e x p a n d e d form, this will be

[2(1 -k/~) ha a' 2(2 q-/z)~ h8 0a 7 - - # ha {0 ~2 04 h0 02]
k 3 ex' 3G ax2~t 2 -1- 12 k-G/ ~ + -G-~-~J F = 0 . (31)
256 K.T. Sundara Raja Iyengar and P. V. Raman:

For free vibration one can assmne

F ( x , t) = F l ( X ) cos (or, (32)
where o~ is the circular frequency and FI(x) is a function of x only. For a beam
with hinged ends, the required boundary conditions will be satisfied if FI is taken
as
Oo

F1 = z~
~ A,, sin n~_xx (33)
n=l L
Substituting Eqs. (32) and (33) into Eq. (31) we get a fourth degree polynomial in
o~from which c0 can be obtained. The frequency is expressed in the nondimensional
form as eigenvalue 2 where

2= oL. (34)

In the case of higher order theories, the polynomial in 2 will be correspondingly

of higher degree. From Eq. (25) as a first approximation one obtains
Vo = F . (35)
If in Eq. (31) the first and last term only are retained one has
[ 2 ( 1 + # ) h8 ~ ~o ~2]
3 --~
~x + h -5 ~7~ F = 0. (36)

Substituting Eq. (35) in Eq. (36) and simplifying we obtain the following familiar
equation of elementary beam theory.

[ 2 Eh ~ a~--~
~ +2hQ ~~'~] ~ = 0 (37)

where ~ is the transverse deflection of the middle plane.

The numerical values of 2 have been computed by the fourth, sixth and eighth
order M.I.F. theories. Some of the frequency values are given in Table 1 for
Poisson's ratio of 0.3. In Table 1 0 is defined as

0 = ~ V~-7-A (38)
L
The frequency parameter .(2 is defined as

~A o~L2 (39)
V
The value of D by the elementary theory is ~2 and is independent of the depth-
span ratio. The values of Q are also computed by the Timoshenko beam theory
using the shear constant k given by Cowper [4]. Table 2 gives the comparison
between the frequency values computed using the eighth order M.I.F. theory and
Timoshenko beam theory for different values of Poisson's ratio.
For beams with other boundary conditions, assuming trial values of 2, the
general solution is written for the ordinary differential equation in F 1. Substituting
this solution in the expressions for boundary conditions, we get a set of homo-
 Free Vibration of t~eetangular Beams of Arbitrary Depth 257

geneous simultaneous equations. For non-trivial solution the coefficient deter-

minant should be zero. The value of 2 which satisfies this condition is found. I n
Tables 3 to 5 the first five eigenvalues 2 computed using the fourth and sixth order
M.I.F. theories are given for beams with other boundary conditions. In these
three tables, the values of )~ are given for two values of r where r is defined as

r - -
g/V5
L
The value of the Poisson's ratio is 0.3 in all the cases. The eigcnvalues computed
using the Timoshenko beam theory and elementary beam theory are also given for
comparison.
I n the case of vibration symmetric with respect to the middle plane, for beam
with hinged ends, the frequency parameter D is ~/0 for a given value of 0. In
otherwords the parameter ~(2" = D X 0 is a constant and is g.

4. Discussion of Results and Conclusion

In the case of hinged beams the nth harmonic of a particular beam of span L,
correspond to the fundamental frequency of a shorter beam of span L/n. Hence
the depth span ratio and the mode number are combined in the single parameter 0
and the non-dimensional frequency parameter are given for different values of O.
From the values given in Table 1 it can be seen that the frequencies calculated
using the elementary beam theory are always higher and the difference increases
for higher values of O. From the same table it can be seen that the frequencies
computed using the present approach show convergence as the order is increased.

Table 1. Frequency parameter • /or beam with hinged ends,

Poisson's ratio = 0.3

0 MIF IV MIF VI ~IF VIII

0.01 9.847 6 9.8502 ) 8502

0.05 9.3633 9.422 9 9.4233
0.1 8.2703 8.4202 8.4237
0.5 3.1882 3.3132 3.3336
1.0 1.6957 1.7509 1.766 6
2.0 0.863 5 0.8863 0.898 3
3.0 0.577 7 0.592 0 0.595 0

From Table 2 it is clear that the frequencies depend on the value of the Poisson's
ratio and the frequency values a r e in agreement with the Timoshcnko beam
theory with the values of ]c given by Cowper.
From Tables 3 to 5 it is clear that the results by the present theory are in
agreement with Timoshenko beam theory. In the case of beams with both ends
clamped, and one end clamped and the other end hinged, the eigenvalucs obtained
by the sixth order M.I.F. theory are slightly higher than those obtained using
Timoshenko beam theory. I n the case of beam with one end clamped and the
other end free, the eigenvalues obtained using the sixth order M.I.F. theory are
258 K . T . Sundara R a j a Iyengar a n d P. V. R a m a n :

lower than those obtained using Timoshenko beam theory. Similar results are
also o b t a i n e d i n t h e c a s e of b e a m s w i t h o n e e n d h i n g e d a n d t h e o t h e r e n d free.
I n t h e c a s e of v i b r a t i o n s y m m e t r i c w i t h r e s p e c t t o t h e m i d d l e p l a n e , t h e
r e s u l t s a r e i n a g r e e m e n t w i t h t h e u s u a l t h e o r y of e x t e n s i o n ~ ! v i b r a t i o n of r o d s .

T~ble 2. Frequency parameter ~2 for beam with hinged ends ]or di]/erent values
of Poisson' 8 ratio

# = 0 # : 0.3 # ~ 0.50

MIF VIII Timoshenko MIF VIII Timoshenko I~HF V I I I Timoshenko

0.01 9.8531 9.8531 9.8502 9.8499 9.8482 9.8478

0.05 9.4859 9.4859 9.4233 9.4169 9.3822 9.3716
0.1 8.5976 8.5975 8.4237 8.4047 8.3125 8.2820
0.5 3.6066 3.6233 3.3336 3.3029 3.1767 2.1265
1.0 1.9230 1.9612 1.7666 1.7546 1.6703 1.6467
2.0 0.9701 1.0050 0.8983 0.8927 0.8432 0.8354
3.0 0.6571 0.6733 0.5950 0.5971 0.5627 0.5595

T~ble 3. Frequency parameter 2/or beam with clamped ends. Poisson's ratio ~ 0.3

r ~[ode Elementary Timoshenko MIF IV MIF VI

theory

1 1.082 3 1.0109 0.9852 1.0096

2 2.9833 2.584 7 2.5000 2.5897
0.03 3 5.8485 4.6498 4.6282 4.6706
4 9.6679 7.0408 6.956 8 7.112 9
5 14.4421 9.6461 9.5416 9.7798
0.06 1 2.1645 1.7229 1.7153 1.7277
2 5.966 6 3.9203 3.8533 3.9325
3 11.697 0 6.5127 6.492 4 6.712 9
4 19.335 8 9.2847 9.2817 9.5583
5 28.8843 12.1740 12.1145 12.5460

Table 4. Frequency parameter ~ /or beam with one end clamped and the other end hinged.
Poisson's ratio ~ 0.3

r Mode Elemantary Timoshenko MIF IV M I F VI

theory

0.03 1 0.7458 0.7161 0.7160 0.7162

2 2.417 0 2.179 5 2.1792 2.1798
3 5.042 8 4.2064 4.2019 4.2148
4 8.6235 6.6099 5. 1291 6.6750
5 13.1591 9.257 6 9.1895 9.3648
0.0~ 1 1.4917 1.290 6 1.2901 1.2913
2 4.8340 3.5204 3.519 8 3.523 5
3 10.0856 6.1979 6.1783 6.3246
4 17.2471 9.0796 9.0854 9.3608
5 26.3181 12.0541 12.076 6 12.4062
 Free Vibration of R e c t a n g u l a r Beams of A r b i t r a r y D e p t h 259

Table 5. Frequency parameter ~ /or beam with one end clamped and the other end/ree.
Poisson' s ratio = 0.3

r Mode Elementary Timoshenko MIF IV M I F VI

theory

0.03 1 0.1701 0.1687 0.1661 0.1635

2 1.0659 1.0081 0.9902 0.9762
3 2.984 5 2.643 0 2.6298 2.5847
4 5.848 4 4.778 3 4.675 3 4.5361
5 9.667 9 7.252 6 7.190 2 6.996 5
0.06 1 0.340 2 0.329 3 0.323 2 0.319 0
2 2.1318 1.759 6 1.743 7 1.717 8
3 5.969 0 4.165 8 4.146 8 4.022 8
4 11.696 9 6.887 3 6.865 4 6.742 8
5 19.335 8 9.765 9 9.799 9 9.584 7

References

[1] Lord Rayleigh: Theory of Sound. Vols. I a n d II. Dover Pub. 1945.
[2] Timoshenko, S. : On t h e correction for shear of t h e differential equation for transverse
vibrations of prismatic bars. Philosophical Magazine 41, 744--746 (1921).
[3] Timoshenko, S.: On the transverse vibration of bars of uniform cross section. Philo-
sophical Magazine 48, 125--131 (1922).
[4] Cowper, G. R.: The shear coefficient in Timoshenko's beam theory. J. App. Mech. 88,
335--340 (1966).
[5] Vlasov, V. Z., Leontev, U. :N. : Beams, Plates a n d Shells on Elastic Foundations. Israel
Prog. Scientific Translation. 1966.
[6] Das, Y. C., Setlur, A. V. : Method of initial functions in two dimensional elastodynamic
problems. J. App. Mech. 37, 137--140 (1970).
[7] Bahar, L. Y. : A state space approach to elasticity, g. Franklin I n s t i t u t e 299, 33--41
(1975).
[8] Sundara R a j a Iyengar, K. T., Chandrasekhara, K., Sebastian, V. K. : Thick rectangular
beams. J. Eng. Mech. Div. (ASCE) 100, 1277--1282 (1974).

Pro/. K. T. Sundara Ra]a Iyengar and P. V. Raman

Department o] Civil Engineering
Indian Institute o/ Science
Bangalore 560 012, India

17 Acta Mech. 32/4