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The book covers analysis of vibration problems in engineering systems with one or more degrees of freedom, from simple translational and rotational systems to continuous systems modeled using finite elements.

The book covers vibration analysis of systems with one, two, multiple and infinite degrees of freedom. It also discusses nonlinear and discrete systems.

The book discusses methods like the energy method, Rayleigh's method, normal mode analysis and the iteration method for calculating natural frequencies and mode shapes. It also covers numerical methods for nonlinear systems.

VIBRATION

PROBLEMS
IN ENGINEERING
FIFTH EDITION

W. WEAVER, JR.
Professor Emeritus of Structural Engineering
Stanford University

The Late S. P. TIMOSHENKO


Professor Emeritus of Engineering Mechanics
Stanford University

The Late D. H. YOUNG


Professor Emeritus of Civil Engineering
Stanford University

WILEY
A WILEY-INTERSC1ENCE PUBLICATION

JOHN WILEY & SONS


New York

Chichester

Brisbane

Toronto

Singapore

CONTENTS

PREFACE
1 SYSTEMS WITH ONE DEGREE OF FREEDOM
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
1.10
1.11
1.12
1.13
1.14
1.15

xi
1

Examples of One-Degree Systems / 1


Undamped Free Translational Vibrations / 2
Rotational Vibrations / 12
Energy Method / 18
Rayleigh's Method / 24
Forced Vibrations: Steady State / 39
Forced Vibrations: Transient State / 48
Free Vibrations with Viscous Damping / 52
Forced Vibrations with Viscous Damping / 61
Equivalent Viscous Damping / 69
General Periodic Forcing Functions / 76
Arbitrary Forcing Functions / 84
Arbitrary Support Motions / 93
Response Spectra / 99
.
**
Step-by-Step Response Calculations / 107
References / 113
Problems / 114

2 SYSTEMS WITH NONLINEAR CHARACTERISTICS

139

2.1 Examples of Nonlinear Systems / 139


2.2 Direct Integration for Velocity and Period / 149
2.3 Approximate Methods for Free Vibrations / 157
vii

viii

CONTENTS

2.4 Forced Nonlinear Vibrations / 166


2.5 Piecewise-Linear Systems / 175
2.6 Numerical Solutions for Nonlinear Systems /
References / 207
Problems / 208

190

3 SYSTEMS WITH TWO DEGREES OF FREEDOM


3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8

217

Examples of Two-Degree Systems / 217


Action Equations: Stiffness Coefficients / 223
Displacement Equations: Flexibility Coefficients / 225
Inertial and Gravitational Coupling / 233
Undamped Free Vibrations / 241
Undamped Forced Vibrations / 251
Free Vibrations with Viscous Dampling / 260
Forced Vibrations with Viscous Damping / 265
References / 267
Problems / 267

4 SYSTEMS WITH MULTIPLE DEGREES OF FREEDOM

275

4.1 Introduction / 275


'
4.2 Frequencies and Mode Shapes for Undamped
Systems / 276
4.3 Principal and Normal Coordinates / 287
4.4 Normal-Mode Response to Initial Conditions / 295
4.5 Normal-Mode Response to Applied Actions / 301
4.6 Normal-Mode Response to Support Motions / 309
4.7 Iteration Method for Frequencies and Mode Shapes / 318
4.8 Damping in Multidegree Systems / 333
4.9 Damped Response to Periodic Forcing Functions / 337
4.10 Transient Response of Damped Systems / 343
4.11 Step-by-Step Response Calculations / 347
References / 352
Problems / 352
5 CONTINUA WITH INFINITE DEGREES OF FREEDOM
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8

Introduction / 363
Free Longitudinal Vibrations of Prismatic Bars / 364
Forced Longitudinal Response of Prismatic Bars / 373
Normal-Mode Method for Prismatic Bars / 380
Prismatic Bar with a Mass or Spring at the End / 387
Bars Subjected to Longitudinal Support Motions / 395
Torsional Vibrations of Circular Shafts / 401
Transverse Vibrations of Stretched Wires / 409

363

CONTENTS

5.9
5.10
5.11
5.12
5.13
5.14
5.15
5.16
5.17
5.18
5.19
5.20
5.21
5.22
5.23
5.24

Transverse Vibrations of Prismatic Beams / 416


Transverse Vibrations of a Simple Beam / 422
Vibrations of Beams with Other End Conditions / 425
Effects of Rotary Inertia and Shearing Deformations / 433
Forced Response of a Simple Beam / 436
Forced Response of Beams with Other End
Conditions / 442
Beams Subjected to Support Motions / 444
Beams Traversed by Moving Loads / 448
Effect of Axial Force on Vibrations of Beams / 454
Beams on Eastic Supports or Elastic Foundations / 456
Ritz Method for Calculating Frequencies / 461
Vibrations of Nonprismatic Beams / 466
Coupled Flexural and Torsional Vibrations of Beams / 474
Vibrations of Circular Rings / 478
Transverse Vibrations of Membranes / 484
Transverse Vibrations of Plates / 495
References / 505
Problems / 506

6 FINITE-ELEMENT METHOD FOR DISCRETIZED


CONTINUA
6.1
6.2
6.3
6.4
6.5

ix

511

Introduction / 511
Stresses and Strains in Continua / 513
Equations of Motion for Finite Elements / 516
One-Dimensional Elements / 520
Vibrations of Beams by Finite Elements / 534
References / 542
Problems / 543

BIBLIOGRAPHY

551

APPENDIX A SYSTEMS OF UNITS AND MATERIAL


PROPERTIES

553

A.I Systems of Units / 553


A.2 Material Properties / 555

APPENDIX B COMPUTER PROGRAMS


B.I Introduction / 557
B.2 Step-by-Step Solutions for Linear One-Degree
Systems / 558
B.3 Numerical Solutions for Nonlinear OneDegree Systems / 561

557

CONTENTS

B.4 Iteration of Eigenvalues and


Eigenvectors / 562
B.5 Step-By-Step Solutions for Linear Multidegree
Systems / 565
B.6 Program Notation / 567
Flowcharts for Programs / 569
ANSWERS TO PROBLEMS

587

INDEX

603

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