Transient Oscillations in Elastic Systems Citation Biot, Maurice A. (1932) Transient Oscillations in Elastic Systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/ZHSH-T443. https://resolver.caltech.edu/CaltechETD:etd-11252003-113841 Abstract No abstract. Item Type: Thesis (Dissertation (Ph.D.)) Subject Keywords: Aeronautics Degree Grantor: California Institute of Technology Division: Engineering and Applied Science Major Option: Aeronautics Thesis Availability: Public (worldwide access) Research Advisor(s): von Kármán, Theodore Group: GALCIT Thesis Committee: Unknown, Unknown Defense Date: 1 January 1932 Record Number: CaltechETD:etd-11252003-113841 Persistent URL: https://resolver.caltech.edu/CaltechETD:etd-11252003-113841 DOI: 10.7907/ZHSH-T443 Default Usage Policy: No commercial reproduction, distribution, display or performance rights in this work are provided. ID Code: 4661 Collection: CaltechTHESIS Deposited By: Imported from ETD-db Deposited On: 26 Nov 2003 Last Modified: 03 Oct 2019 23:37 Thesis Files Preview PDF - Final Version See Usage Policy. 1MB Repository Staff Only: item control page

mE:>IS M. BIOT California Institute of Technology TRANSIENT OSCILL..'>.TIONS Ill ELASTIC SYSTI!?t.S Chapt. I General Theorems Chapt. II Vibrations of Buildings During Earthqua.~e Chapt. III Critical Torsional Vibrations of Accelerated Rotating Shafts. CHAPTER I GENERAL THIDRIDB ON TRANSIE:NT OSCILLATIONS 1 .. '?RA.NSIENT VIBRATIONS OF ELASTIC SYSTEMS GENERAL PROPERTIES We call elastic system any system in which the potential energy is a definite positive quadratic form or the coordinates. SUch a system is generally realized if the forces a.:re conservative and if we consider displacements in the neigh- borhood of a position of stable equilibrium. The theorem of reciprocity is verified and the relations between forces and displacements are linear. Consider a continuous system. A volume force (XYZ) applied at the point (x'y'z') causes at the point (x y z) a displacement <; ~(J. ~ ·-· at'// x "/- C( I~ .};:' -f- o(_, $ 2 7 = «.?/ ,X + ~..! Y+- ~3 Z If the applied forces are harmonic and oi' same f'requency and phase, the displacanent has the same property. in account the inertia force we get )( == Taking X !ol/nt()t + C-<J .t,P f S~1w t / which gives three integral equations of the type, In order to simplify the notations we shall consider only the case where there is one displacement coordinate u From the reciprocity theorem ,., The equation corresponding to the tree oscillations is ' ;,_(x.J ... ""l/lt) "'(" rJ u(t)rir The kernel is symmetrisable by putting and the ti(~) : ---· u/"!) jo(/;,) equation becomes, There exists an infinite number of JO siti ve characteris2 ' tic values of Ill for which this equation has a solution. Fran Hilbert-Schmidt's theorem the solution of the non homogeneous equation may be expanded in a series absolutely and unifonnly convergent of characteristic functions multiplying then both sides by the orthogonal function yi and integrating we get the required solution for the harmonic oscillation I - I ::i~t Hence an harmonic impulse 1J i:·>t J e causes an harmonic I' / vibration. In order to find the motion corresponding to a sudden applied distributed load f{x) we consider as before the integral j ;;t = Lo which leads to the solution It is interesting to note the order of magnitude of the eoef'fic ients C; they are generally of the order of -'-"because 4-11 the characteristic functions u are asymptotic to the terms of .a trigonometric Fourier series. C:· ::= ::B.. •where B has an Putting ~ • .it t. upper limit J J '1'lre vharacteristic numbers w. are of the order of the 1 terms of the series of positive integers and therefore the eon~ vergenee will generally be very fast. If the loading of the syatem varies with time' and isi of the motion may be expl'essed by the form ~) 4. -,hich by putting takes the :f'onn $. -1: l(,.(x/J,;,,w.:;(!-w;rfrf:J dr . !() The Fourier integral gives ftt;,,. 1r-jZj.""'f(vu.t.,, r~·vdr ° fl ,... .,..C>Q .4ftc.,,_p , :;, wrd; .. ~< 00 The density of energy of the impulse spectrum ts, "" + / , ~ w ) J'k' >_J j:; / '1./1.41 "' ~ J ./ Hence we get the following theorem.: When an impulse acts on an elastic system each :free oscillation ot treque:aey-f:;_..' receives an energy proportional to the :product of a factor characteristic of that tree oscillation and of the spatial loading distribution, by the density of energy of the im.pulse spectrum at the frequency _cv.,· ·f-r CHAPTER II CALCULATION OF THE STRESSES OCCURRING IN A BUILDING DURING EARTHQUAKE •• In order to give a cle~ idea of the lll.ethod we shall at first suppose that the building has a simple structure and keep for the end the generalization to more complicated cases. Let it be of rectangular shape. The height of the first noor is generally greater than. that of the others. The most important deformation is an harizontal shear as shown in fig. 1. This would naturally not be true for very high buildings where the 9ending would have to be taken into account. Furthermore the shearing rigidity and the mass of each floor is supposed to be constant from the second floor to the top. Only the first floor will be of a different rigidity. Let h be the height of the building without the first floor, and x the coordinate counted downwards from the top as origin. We may consider this part or the building as 'an elastic continuous beam whose only possible deformation is shear. M is If its total mass, m 11:: Ja_ will be the mass per unit length. The number of upper floor:bedng n and 4 =~-their height, n if we call K the force that is necessary to displace two consecutive floors so that the relative glide would be equal to the unit length, the coefficient of corresponding shearing rigidity of the continuous beam will be r ': ;., The :rigid.1 ty of tbe first floor will be characterized by a coefficient G de·fined in the same way as K. (fig. 2.) The ground is supposed to move horizontally with a ' variable acceleration j(t). The equation of relative motion of the I beam is) \ JjlJ.. . r m;tt) ---;(") I E I f i_g. <.. 2. 'e define the following notations: c~,{i pro:pagation speed of a shear wave, L= to c Lt#. -- ' ;/tJ ~ (/of'{tj _-5_. ~· J; s /,{ = ti ;:t~~ ef' The equation of mot ion becomes <'Jt. ' ';} t. .. c)~ ~· = ?J~.t + All the quantities figuring in this equation are dimensionless. 6 1 FREE OSCILLATIONS This motion is given by the homogeneous equation .a ~~·= ~ .i ~ t'/\i whieh, by putting J.:::. zff}e , becomes d < .< ~+'A~= a ds 4 The general solutian is Considel" ·the boundary conditions, By putting !J:../b , ratio of the rigidity of the . .fk>cr · :first to that of the others, and ~ .= 7f!l ·tbesa conditions take the form ' /' ) --- + of;;, df ' R ~:f A~ F.rom equation (1) ·.23:::. O and From condition {2) A fgfi :: o( % -.;;;;; The roots JK of' this equation correspond to the free oscillation frequencies of the building. We choose certain values of e.<' cerPes- ponding to certain simple values of R and n as follows: Y1 Yi ~ 15 1.66 2.50 5 10 1.11 1.56 3.33 5 0.556 0.8~4 1.66 7?. ll The values ot A.k . as a .function of 1. 10 o< are given in the following table: « ').., j} I A.~ 2J 'A,, ~s ~.---·-·-----~ ~·~- 0 0 3.14 6.28 9.42 Ui,56 15.70 o.556 3.31 6.37 9.48 12.60 15.73 0.834 o.68 o.ao 3.38 6.41 9.51 12.62 15.75 1.11 0.89 3.45 6.45 9.54 12.65 15.77 1.56 1.03 3.58 6.53 9.59 12.69 15,80 2.50 1.15 3.73 6.65 9.67 12,76 15.85 3.33 1.23 3.86 6.74 9.75 12.82 15.91 5.oo 1.32 4.04 5.91 9.90 12.93 16.0 10 .. 0 1.44 4.30 7.22 10.13 13.20 16.24 ~ 1.57 4.72 7.85 11.0 14.12 17.30 In fig. 3 are plotted the values or ?/ /( where '.:.t A: T +' I ,,_~- Ak The period Tk corresponding to is, It is interesting to compare the fundamental pe.riod T to that 0 T0 ' which would oeeur if the building would be perfectly rigid from the second floor to the top, the only elasticity being due to the first floor. We get .1 The ratio of frequencies ..t. ~ I~ :: <""') ~ ''Pl - r: ~ -~- is a function of J , ,.,,_ C( . /,>/f! 0 1 0.556 0.910 0.834 0.875 1.11 0.844 1.56 o.ooo 2.50 0.725 3.33 0.674 5 0.590 10 o.455 0 § .t. FORJED HARMONIC OSCILIATIO:N In this ease ff-c): , and the equation of motion becomes I Which, by putting the form The solution of this equation ean be expressed as a sum of th.a" orthogonal fun.ct ions .f aa tisfying the corresponding ;homogeneous equation and the given boundary conditions ~ Z Z= " Carrying this expression into the differential equation """° Ej""R. dt' "-d· ~~·~.1- = :t ' ~~ <) ·S Taking into account the identity, d'~-~ =. - 'A-l: % ~ ' dt #- If we multiply both sides of' that equation by z and integrate ~ f , we get from O to 1 with respect to !'/( J: flij>/·:-A_/-7 ~.z~ df = z,..dt -!i v~ - l. o c- The eondi tion of I orthogonality£~ .,;:./f; iJ:f'or /''''.!'I:. ~ l(::j: t-' gives V'd ,) The required solution ia "'° z= L iP The value of ~ ___!!:~~-~ "'\ :;> - A. z IC • ' ) 2- K may be ~ z ;:; - f"4r' z"' A,..t x In this series the values of the coefficients unity when k (3k tend to increases indefinitely and the convergence is absolute and uniform • ._§~-EFFECT OF A SODDEN CONS'l'A.1"1'11 ACCELERATION With the :purpose of :f'i nding a more general solution we shall µse the preceding results for building a solution which corres-ponds to a.. Consider the integral in the eample:x: plane, d.l r· taken along the real axis (fig. 4}. For T< o the real :part of t-A l:' is negative. on the halt eircle of int'ini te radius ADC.· Renee we may add this pa.th to the contour of integration without any e:f'feet on the value of the integral. For T" < o it can then be written For the san:e reason, when T >P we may add the path ABC and is discontinuous at the origin where it jumps from O to 1 and is equal to a constant anywhere else. (fig. 5). The solution corresponding to each element o:t' this integral is Integrating term by term, we get the required solution in the form of contour integrals C.?4.1· y 1¥ z:._p~.iA,: (I ·-1 .t /l/¥: . e c'Ar ?11"'"~ t and by taking the residues , r d'A i f J / / .....--- - --- -- 2 / ........... .......... I ......... "'-,, . " \ I /\ \ I \ \ \ I I fl \\ \ (! ' I \ I \~ I "' '- . . . . . ____ . :JJ -- --- ---- 0 I _..- / //I I 7. ;we obtain f'inally By putting Bk.:. ~ ?' = z; :E!t ~.! :,\~.t Q Let us study the convergence of this series and compute the ordel:' of magnitude of the rest. Each of 1 ts term, the t'irst one excepted, satisfies the inequality J The following inequality gives an u~per 1:lmit for the rest, -e f 1< * 1 ....L.. 2- k(I /" ..,,,.;, The value of Ct4 is given by the Bernoulli number Z~ -.L~ ~ 7C.,"' ""lj ,Jlo =:: I, o I On the other band, so that ,.,. , ~-·- .ti if If J ....L- + / <t 17~,~ :-:;:. l. f-A I. :{'# .,,,.~, .> 1f,> " ' o} {)o ~ and finally \'R" l < Hence it we take only the four initial terms of the series the error due to the terms neglected will be smaller than ~- y 0. CJ(JG""' = r CV x o. ,.;: We also see that this series is absolutely and uniformly convergent. DiS;.t?lae ement The dimensionless function acceleration ~ 0 • corresponds to a sudden The real displaeanent is The values of Bk: are only functions of ' and a:t>e given in the following table: o( ~9· o. oO ;J...) o.556 I 3:3, j ...... -'? 0 0 u··· 2.336 -0.00890 0.000692 -0.000138 0.834 1.734 -O.Oll6 0.000970 -o.oooaoa l.ll 1.425 -0.0137 0.00122 -0.,000272 1.66 1.091 -0,0167 o.00177 ...0,000386 2.50 o.902 -0,0191 0.00234 -0;,000544 3.33 0.802 -0.0203 0.00274 5 0.710 -..0.0210 0,00334 -o.oooea2 -o.ooov1a 10 0.612 -0.0212 0.00404 -0.oOOlat; o.518 -0.0192 0.00416 -0.00150 ~ l•. ~. The maximum displacement takes place at the top, and its value is given v~ry accurately by It is praetieally tWi ee the statical deformation that would oecur under the same aeeeleration. Stresses The total stress due to the shearing deformation is It is the total inertia force multiplied by a dimensionless function whieh, by putting - - -:A - k :v. The values of the B'/( as functions. of tt' are given in the :f'ollo\Ving table i 2: f ! I ?S~ t ... ··· 1l 0 I I 0 0 0 o.556 ...1.588 0.0294 ..0.00440 0.00131 o.a34 -1.388 0.0394 -0.00622 0.00198 l.ll -1.268 0.04'13 -0.00788 o.002eo 1.66 -1.123 0.0598 ...0 .. 0115 0.003'70 2.50 -1.036 0.0712 -0.0155 0.00525 3.33 -0.98'7 0.0?74 ..0.0185 0.00660 5 -0.937 0.0850 ..0.0235 0.00912 10 -o.aao 0.0912 -0.0291 0.0127 -0.813 0.900 -0.0325 0.0155 As previously, we can easily compute the rest of this C""1 series. We encounter the expression Math. vol. 10, p. 299). But - 1- +· I" ~ iJ =I. toto:f (Stieltjes, Act. I. I 6 ,e, • Hence The error made by taking only the four first terms is smaller than The following table gives the values of these terms: J;:u. s '" 0 J.. 0 Q 0 i.oo 0.556 0.999 o.oosoo .0.000421 0.0000777 l,004 0.834 0.994 0.00950 o.oooso9 0.0001?9 l.003 l~ll 0.986 i 0.0144 0.00132 0.000311 1.00 1.66 0.;965 . 0.0254 0.00245 0.0000640 0,99 2.00 0.946 i0.0398 0.00562 0.00132 0.98 3.33 0.931 o.os11 0.00825 o.0021e 0.96 5 0.908 : 0.0666 0.,0138 0.00420 0.9'7 10 0.870 0.0830 0.0234 o.ooe7o 0.97 0.0900 0.0325 0.0165 0.95 0.813 ,. We could have :proved by direct considerations that the maximum value of the stress must be twice the static stress ../'1/~ We actually find ./_ .S//l :f'or this maximum, which is a very good approximation. The above calculation shows furthermore that this maximum stress is very nearly reached during the first fundamental oscillation. . O.S' r;.__----t--,---t----- Ot•O 11. 8 J OSCILLATION$ DUE ·To ABBI TaAJ:tY HOBI.ZONTAL ACCEL.EBATION Let the horizontal aeeeieration of the ground be ·I'= /0 f(~J We will calculate the corresponding motion of ,the building by considering the curve flt) as composed of an inf'inite. number of small jumps •. (fig. be. written df;;;. ~Citj dr: • ). Each of these increments can By using then the function cle previously mentioned, we get the elementary solution corresponding to the increment at the point Q ~ Z-(t: - fJ) d l"f.!!J dB d8 The function giving the total motion is the integral f{i~J-=j~(-r:-8) ~Jl~8-l 0 . 71'/~/: o, we get Integrating by parts and noting that the more eonvenient form t: 1{!t:) =fir(&) h k(-&-t!J) ..,,, t)· where - 0,)} ;;;:r - z 73;.;· :::tJ;; <:;;.'.~J ';}'* ! Hence, more explicitly, {3) Application IP~ resonance Consider the special case where B < <.::> fj >Cl fut ) 12. (~ '7' J l'J(<r:i "'/ =- . - t ~ ._'11 ;S11;, ">""' • il:' -"'~ ··· Cit>"~ ;of k. ;:. I(.::: () . ""i;,,.,{1 "\: d .C- ·,,,;... ~ 4 = A,t , we have res6nance, .and the value ot <fie. (r:) If' becomes .¢! 11?) ~ ~ ~ A .... -r: .,.. _L 'd1.-h L ~~ •. il~ After a certain time the value of to its principal term. "* (f~J l w ?(!;;;;I is reduced The amplitude increases indefinitely. - cc _&_r: C.Ck1 4 .. t ~ ::f_.,_- 't'. ~")~ ~ ""' ¢.it'fK Put The maximum amplitude takes place at the top and 1 ts actual value is 1 j.(._ : ~ C0 L Cll(; 'l: The coeff'ieien.ts CI: 0(. 0 t _L I ct> 0.0 /_J._ ! are given in the folloWing table: (!, CL s • l-<r;iJ " 0.794 0 0 0 -0.0147 0.00220 -0.0139 0.834 o.694 -0.0197 0.00311 ...0.0199 l.U 0.633 -0.023? 0.00394 ~~0254 1.66 0.562 -0.0299 0.00578 -0.0577 2.50 0.518 -0.0356 0.00778 ...0.0517 3.33 0.493 -0.0387 0.00924 -0,0623 5 0.468 -0.0425 0.011?5 -0.0812 10 0,440 -0.0456 0.-0145 -0.00655 ~ 0.406 "".0.0452 0 .. 0164 ...0 .. 00830 o.556 I We have shown previously thE\t the stress is where c• k _ The naximum stress occurs between the first and the second floor for the first harmonic and has the value The stresses due to higher harmonics are 1~ /~ 11.. T These stresses can be easily computed from the f'ollowing table or fig. 8: cl ct C0 0 -0.500 0 0 0 0 o.556 -0.540 -0.340 .,0.0486 -0.0139 ·0.00622 0.834 -0.555 -0.397 0.0666 -0.0199 0.00942 l.ll -0.564 -0.438 0.0818 -0.0254 0.0123 1.66 -0.578 -0.496 0.107 -0.0377 0.0177 2.50 ..0.596 ...o.544 0.133 -0.0517 0.0254 3.33 -0.606 -0.5'12 0.149 -0.0633 0.032& 5.0 -0.519 -0.600 0.172 -0.0812 0.0451 10 -0.635 -0.629 0.196 ..0.105 0.071 -0.63'1 -0.637 0.212 -0.129 0.091 p ci .tun )\) 1 I I c1.e. CJ ' -z; {!~I S'tn'l- ef,; A • ... ;;\ \ -o "t) ·~~ -~.,, I \ '-0 ti lo Q -..a ....~ ......... t--. ~ Q "'# \ ~1----"'°> ti -v ~ . 1;J. tn \\ -~ t.,) \ ~ \ ~ \- ~ - ti 0 14.. u:iwe!'. limit of.' resonance stresseE,1 Consider the case of reS$nance with the fundamental harmonic ...:0(1~.. .d'~i. A. f. T" .C:i>t14., 'C ..,. ">il .t + -(-:;'( . f ._!..~/!~. Stfi.i 'A.,.t ?.f "". iJ _A15 ';i: .· tJ(,~~ 'AL."f I:. ~ '"~ k>r I The last term may be neglected, for on the other hand, ...... hence . J -(oe °"' Z -~L .r£;,;t :J f ~·. (-r / / < 2 I -:15~ I __'!_,":'*c· '1. t. f 'A K ""'" I " "iii! ' Fl1r ,, . A : , ' ''" A * - ·::t;i Noting the values of B' in this expression, we see that k it is comparatively small. We can write, In this case the stress is never higjler than The valws of Tf (~l 4~';lfJl/+j are plotted in fig.f In case of resonam e with an harmonic of higher cbrder hence ""° )' + 4 k"' ~!--t •'11 I <.:!,< Most of the sismograms show the random. el:iaracter of earthquake aecelerationa~ with, very o:ften,. series of quasi periodic oscillations. It is therefore difficult to identify the action of' an earthgµake with that of the simple acceleration curves studied till now. We might, of course, apply equation {3) and calculate the displacement corresponding to a given sismogram.. But it is much more convenient to divide the problem, and to analyze separately the elastic properties of the building and the frequency distribution of the earthquake. We need there- fore a .general theorem which we shall here prove in the special ease of building oscillations. As we are more interested in the stresses, we will not give the corresponding equations of the displacement; the method being exactly the same as before, we get the stresses from the displacanent by a simple derivation. Equation (3) may be written (lt1 ,~Jr)= -lot l: /81{.s~ )Jt! /sv~·~,.r.f;s'AKfJf/b)dfJl Putting A~ 6 .~ L (/(fJ:::? f {b) the acceleration and ff6>) f,{w) = Considering then the Fourier integral ;/IJ = Jtjdw 1; ~ ~ ' l "f:./ where j(i) represents an acceleration record located in the time interval (Ot), we get .. ,The ex:pression l A(w}:::: .Z:f(A} r represents what migllt be · called the denSity of energy as a tunction of •, or ene:rc S.Jt~'tlµp.• Coming back to equation t lo > we iJ$/.- note 1:;hat t"""'.t . Jj' is the res", ................. (l) of free oscillations of amplitude .•.• The stress at a eerta:b1 manent is the sum of the. stresses due to each tree oscillation. existing at that moment. Each of these stresses may be wr1 tten or This result~ can be expressed in a more eomplete manner as follows: When an acceleration j{t} acts upon a building duri:m.g a time interval {Ot}, the :rmxinrom total stress at the final moment is the aum of the stresses due to every free os<?illation existil34t at that moment. Each of those stresses is a product of three factors; an effective mass, ..ftlk($j:::. .Lt. ~iX,4 Atl.t 7111:,,_f . 2: =- J!/1 Cf ~~;;,~) an eff'eetive acceleration and a coefficient The first factor depends only on the elastic properties of the building. The second factor, which has the dimension of an ac- eeleration, depends essentially ~n the shape or spectrum of the. sismogram.. The third one is the relative length of the earthquake. The problem is thus divided in two parts, 1) Calculation of the effective masses for a given building, 2} Calculation of the function /J.{t..v) or spectrum for a certain number of sismograms of the region. -----~~-·----------------------- The use of a Fourier analyzer will make this part of the work very easy. A great ad-vantage of this method is the fact that the effective acceleration may be derived in a very simple way ffom a ground displacement record. Putting . ' Let d(t} be the displacement. t- . .rj../:-w;'="" -LjC-t>:t~t. dftJ c.11- > wr . 1•l'J ~ I & I';. . fd /~) ~ ff/ AtA~ ~t d/t) de.,, we get .The acceleration takes the form = d(t-J = -0~d/~J ~~t·d'f,.tJ +· ./:;-41...(:d (w,}4'4·ir c.vl .:::I~..-,.~ ~ 'O Y hence >t. Putting then AJ'~} ::-[)~)+-{t~we find the required formula This enables us to express very s].mply the function A(~v corresponding to the acceleration record, when we know calculated from the displacement record. .t:.le1/'IA.!) fhe anll1'8!s of a siamogram gi..,es a function density of ener,gy Alw.J or e~fective acceleration z.r::-~· p/i having one or 1. yq~, . c: ' -""" more marlma as shown in :fig. 9. In a given region there generally \ # exists certain charaeteristie frequencies of the soil whieh appear in many sismograms. These frequencies will ea.use the mentioned maxima to be located in the vie inity of ftx:ed values of W. in different records. If three critical values '-ii ltJ2 , ~3 for the building are in the region of those maxima we should, if possible, In order to illustrate this method we will calculate the function IJ(w} tor the acceleration given by a f'ini te sine- wave of total length T: r1(tJ = 0 (/ ( iJ = rl~4;,,, Ilr £; (wJ= Ecw)= '!. . .'/ Near the maximum we hewe appro:x:ima. tely 19. ,This function is plotted in fig. 10. The stresses corresponding to dif'i'erent :free ose:i;llations are In case of' resonanee with the harmonic of order k the corresponding stress··. is r .11. k { fJ -tb- . t-., .-t I The stress may be put in the form already obtained by a previous method 8""11 b Gll!NERALIZED METHOD FOR BUILDINGS HAVING VARIABLE MASS AND RIGi:on'Y AT THE DIFFERENT FLnORS The method is absolutely general and could be used for any type of building considering both bending and shearing deformations. of variable We will restrict ourselves to the shear in ease f (x) and m(x). The equation of motion takes the form If the acceleration is an harmonic function of time the solution is u::;:;. :/ .fL~wf, and {) .1 ::.~ .n 20. Devalopin.g the solution in ternis of the orthogonal functions corresponding to the free oscillations and defined we get After multiplying both sides by yi and integrating along the total height fi, I IC•. _/<? ~-- w~- w~t, ;:. . with Finally, The displacement corresponding to a sudden acceleration is The amplitude of eaeh free oscillation is given as a function of' the density of energy .A(w,) by and the stress at the coordinate x due to that oscillation by The total maximum stress is the sum of each of these expressions. 21. TAe preceding considerations show that the problem is solved whenever we know the set of orthogonal functions y 1 multiplied by any f'ao~or of' proporti onali"J;y, i.e. when we lqlow the shape of' the free oscillations. From y f we easily deduce the f'requency or the corresponding wi by simple energy considerations. lating with that frequency. Consider the building oscil- The motion is supposed to be free. When the amplitude is maximum the kinetic energy is equal to zero and the potential energy is -L;.·µ/xJ h ~ . { ·~'I) On the other hand, the potential energy passes throu§h zero when the strain dis~ppears; at that moment the kinetic energy is maximum and has the value (5) which is independent of' any arbitrary constant multiplying y • 1 THE CALCO'IATION OF THE ORTBOGONAL FUNCTIONS The orthogonal functions y. may be found by two methods .. l. One is sem1-...&mpf;:t:tC:al and very are defined by equation (It// variable simple. . We note that those functions , which by a change o:f the independent - - -...""""~=-··- -·-.-- ----- ~. . . . -·......!------ _...,.....___{ __._ ----:---. --~ ~j-- becanes This is the equation of bucklin~ under a load P of a beam of' moment of inertia Jf we consider an ala.st ic strip of' uniform thickness h, its moment of inertia will have the value I under the condition tbat the variable width b satis:t"ies the equation . /~&.! ~ £..;? where A is an arbitrary con st Gm t • We may choose for z any scale convenient, for we are only interested in the shape of the :t'unctions y 1 • In order to realize the given limit conditions, the strip will be repeated symmetrically around a point repres.enting the top of the building. (fig. 11). The deformation of the half strip under different loads will give the different functions y 1 • Only the first deformation is stable, so that the others will have to be stabilized by a special but very simple device. We then compute by the energetic method the corresponding values of the frequencies. (equation 5). Another method is analytical and might be useful in case of only slight deviations from the case of constant rigidity and mass previously investigated. It is known in atomic physics as ttperturbation calculus". Putting tn(Xj ,,. - - . - b(j·.<' ' j1t fl ~· 0 -Ii· + tv ~ r "i} 23. ~ where , l"·_._l_, q_·A; f/J1_ are known and "' . /"' ~ C- f r .v q: (l I • I small variations. The equation beeo:rms / /-f(j-Q -r /(Ki,} ;I(/c·"t~"!/ -1- a K fl ct':IJ( . . and neglecting the small terms of higher order, we finally get This equation has only finite solutions if the function of the right side is orthogonal to the eharaeteristie functions of the equation obtained by equating the left side to zero(l)~. This condition may be written 1 ~ 1 v"l)-:?L<Jr!XJ-tl ax t~~h · t: PK and gives the values of (.-,: /i- . The second side of the equation is then entirely known and Ji is determined by Developing the solution in terms of the orthogonal functions putting this expression baek into the equation multiplying then both sides by (/A'» , and integrating from O to h, we get ------------~---------------- (1) Hilbert Coura.nt Chan. v , p. 277 • .!:' 24 .. where . Hence and the required orthogonal functions may finally be written CHAPTER III CRITICAL TORSIONAL VIBRATIONS OF A IDTATING ACCELERATED SHA.Fl' ,CRITICAL OSCILLATIONS :aY 'roRSION OF A WTATING ACCELERATED SHAF'f The method previously developed for the calculation of the transient shearing vibration of a building may be applied to the study of critical torsional vibrations· in a shaft rotating with a constant angular aeeeleration. These amplitudes will be functions olt! the angular acceleration and depend on the way the external moment is distributed on the shaft. The equation ot oscill.8.tion may be written (1) where f) is the angular coordinate of a cross section. The equation of the free oscillations is (2) Which has an infinite number of solutions of the type and where <Q/;<) verifies the equations e. = () (, . ,( (3} ,',,.; t" If the moment is harmonieA':;;4/xJe the solution of (1) may be expanded in a series of orthogonal functions. According to (1) and (3) we get fl(xlj _!1D (x} = Multiplying both sides by 6J(X) and integrating along the shaft, .1 / ' (Xj The required solution is The theory of integral equations shows.that this method . is quite general as well for flexion as for torsion. We must now calculate the defo:rmation cause by a distributed moment suddently applied to the shaft. Noting the value of the integral 1: this moment may be written, . +-~.#? e: ,~. ..,»I:" . 1 _/to(xJ c /- <.a air~ w If' the applied moment varies with the time and has the form 1'1.jx;l 'f/1:1 it may be considered as composed of an inf'ini te number of small jumps 11/>t.Jff di' and the corresponding solution is given by integration 4{xt"J=/~r~, e-r) A -i/'(o/vf'" ' Integrating by parts and assuming .. c By putting ~Iw ~) . -41yr/t;J /, {w'.) = U>4 jf!rJ ¢.,\. ""'r ck the amplitudes ot the free oseillaticns composing the motion are This formula gives the eomplete solution of the problem. Consider a shaft rotating with a uniform aeeeleration. In most cases the amplituoes of the torque variations will be constant. We eall v the angular acceleration and put f- jf . The variable part of the moment is, per unit length: .Applying the preeeding formula we get j(w,J-j:.,,w,?: ,.t,;,.j3r'dr j Put - ' f CllH~ - cl X.f-11'\' ~~:; ?' 4. These expressions may be reduced to the well kn.own We finally get /, ( ~,) - f !; If/!~p;-;,, _,_ :J(x-=::Oi1=""'.-fc(xf::;f,_ cr;_--;;fj-vtt xj By a similar treatment j(vy~.,,/j I j /er™J- c/;::J,_1er«Jfu.,J+r~rx~- Ptx-ro1/ +-rPfo1JJ.s""-"'} . The amplitude of the tree oscillations is then calculated by putting into (5) the expression This quantity has an upper limit independent of the time After a sui"fic i ently ~long time and for ot? f" the value of f reduces approximately to In short, when a shat't is rotating with a constant angular aceelera tion the maximum amplitude of a critical torsional ose illation is given oy ....,~--·--~----------- ....... /. / ---------- y'Jf~ _,,.~~~·- G!,fxJ ·~ w. f2i' * Tables o.f functions S & C: Johnke and Enide, Funktionentafiln p •. 23 ,. Application. As an illustration of the theory we shall treat a very simple example. a flywheel. Con.sider a crank (fig. l) conne~ted by a aha.t't to The system is supposed to receive TJower from a re... ciprocating engine. If the maximum torque on the shaft is M, the mean torque will be M/2. The variable part of the torque is and is applied with an angular velocity which is twice that of the shaft. If' K is the torsional rigidity of the shaft an angular displaca:nent e o:r the crank m11 produce a restoring moment Ka ; the characteristic value of tll for the free oscillation is w::. /'f where I is the moment of inertia of the erank. The characteristic function Si'(~) is reduced to a constant tba.t we put equal to 1, we get, {! = i~l"ofJ GJ,·l~<j d; /.,.,J/x:J c9e- .zt,,.9 tt''A': The angular acceleration is supposed to be V and the maximum torsional amplitude of vibration will. be, in radians, smaller than