Some equations associated with formulation

for free vibrations of Timoshenko beams

Transverse deflection v(x, t) and shear rotation φ(x, t) are functions of

co-ordinate x and time t.
The axial displacement u is defined as:

u = − y φ (x, t) (1)

The normal strain x and shear strain γxy are given by:

∂φ
x = − y (2)
 ∂x 
∂v
γxy = − φ (3)
∂x

The modulus of elasticity is E.

The modulus of elasticity in shear is G.
The shear correction factor is K.
The normal stress σx and shear stress τxy are given by:

∂φ
σx = − E y (4)
 ∂x 
∂v
τxy = G K − φ (5)
∂x

Strictly for the use of students of AE326 and AE715 (Academic Year 2017-18)
Prof.
c R. P. Shimpi, Aero. Engg. Dept., I.I.T. Bombay

1
The virtual entities δu, δx , δγxy in terms of virtual transverse displacement
δv and virtual shear rotation δφ are given by:

δu = − y δφ (6)
∂δφ
δx = − y (7)
 ∂x 
∂δv
δγxy = − δφ (8)
∂x
The virtual work principle applied to the beam can be written as:
∂ 2u ∂ 2v
ZZZ  
− ρ 2 δu − ρ 2 δv dV
∂t ∂t
V ol

ZZZ
− [ σx δx + τxy δγxy ] dV
V ol

= 0 (9)

Using expressions (1) through (8) in the preceeding equation, one gets:
 2
∂ 2v
ZZZ   
∂
−ρ (− y φ) (− y δφ) − ρ 2 δv dV
∂t2 ∂t
V ol
     
∂φ ∂δφ
−Ey −y
ZZZ   ∂x ∂x 

−  dV
 

    
V ol  ∂v ∂δv 
+GK − φ − δφ
∂x ∂x

= 0 (10)

Strictly for the use of students of AE326 and AE715 (Academic Year 2017-18)
Prof.
c R. P. Shimpi, Aero. Engg. Dept., I.I.T. Bombay

2
Carrying integrations over cross-sections, where necessary, in the preceding
equation, one gets:
x=L
∂ 2φ ∂ 2v
Z 
− ρI δφ − ρ 2 δv dx
∂t2 ∂t
x=0
 ∂φ ∂δφ 
EI
x=L
Z ∂x ∂x 
 
− 

 dx
   
x=0
 ∂v ∂δv 
+ GKA − φ − δφ
∂x ∂x

= 0 (11)

Carrying out partial integrations where required, one gets:

Zx=L
∂ 2φ ∂ 2v

− ρI δφ − ρA δv dx
∂t2 ∂t2
x=0

x=L Zx=L
∂ 2φ
 
∂φ
− EI δφ + EI δφ dx
∂x x=0 ∂x2
x=0

    x=L Zx=L  2 
∂v ∂ v ∂φ
− GKA − φ δv + GKA − δv dx
∂x x=0 ∂x2 ∂x
x=0

Zx=L  
∂v
+ GKA − φ δφ dx
∂x
x=0

= 0 (12)

Strictly for the use of students of AE326 and AE715 (Academic Year 2017-18)
Prof.
c R. P. Shimpi, Aero. Engg. Dept., I.I.T. Bombay

3
Rearranging the preceding equation, one gets:

Zx=L
∂ 2v ∂ 2v
  
∂φ
q + GKA 2
− − ρA 2 δv dx
∂x ∂x ∂t
x=0

Zx=L
∂ 2φ ∂ 2φ
  
∂v
+ EI + GKA − φ − ρI δφ dx
∂x2 ∂x ∂t2
x=0

    x=L
∂v
− GKA − φ δv
∂x x=0

  x=L
∂φ
− EI δφ
∂x x=0

= 0 (13)

Strictly for the use of students of AE326 and AE715 (Academic Year 2017-18)
Prof.
c R. P. Shimpi, Aero. Engg. Dept., I.I.T. Bombay

4
From the preceding equation, the following can be concluded:

Governing equations are:

∂ 2v ∂ 2v
 
∂φ
GKA 2
− + q − ρA = 0 (14)
∂x ∂x ∂t2

∂ 2φ ∂ 2φ
 
∂v
EI + GKA − φ − ρI = 0 (15)
∂x2 ∂x ∂t2

The boundary conditions are:

  
∂v
GKA − φ = 0 or [ v ]x=0 is specified (16)
∂x x=0

  
∂v
GKA − φ = 0 or [ v ]x=L is specified (17)
∂x x=L

 
∂φ
EI = 0 or [ φ ]x=0 is specified (18)
∂x x=0

 
∂φ
EI = 0 or [ φ ]x=L is specified (19)
∂x x=L

Strictly for the use of students of AE326 and AE715 (Academic Year 2017-18)
Prof.
c R. P. Shimpi, Aero. Engg. Dept., I.I.T. Bombay