28 wrRooucTION Fig. 1.7.1 hinged-sree beam supported by springs ‘There are three variational (energy) principles used in stractural mechanics: (2) the theorem of minimum potential energy, b) the theorem of minimum complementary energy, and (c) Reissner’s variational theorem (called stationary principle). Prinei- ple (a) isthe most widely used one, especialy for displacement-based formulations of structural dynamic problems. Principle (b) is used for stress-based formulations, and Principle (©) is used for displacement- and stess-based (or mixed) formula. ‘ions, which is usually used in finite-element analysis requiring high accuracy in both Gisplacement and stress solutions. We illustrate different variational and weighted residual methods inthe following chapters. ‘Todescrbe the characteristics of continuous systems and the methods of analyzing, them, we consider the beam shown in Figure 1.7.1 and use the extended Hamilton ° aia ‘formulate the problem. The kinetic and elastic energies, T and II are given by ; f (mi? + j)dr arp * pide + Fh(0,0) + Ferra + TL) 719) where the overdot denotes the derivative with respect tot, m is the mass per unit length, j is the rotary inertia per unit length, Lis the beam length, and ET is the bending rigidity. The curvature cand the rotation angle @ are approximated by their linear pars; that is, mo" and =v (7a where the prime denotes the derivative with respect to 2. Moreover, the variation ‘6W of the non-conservative energy is due to the applied distributed load f(t), ravity, and damping; itis given by %ne= f (f— mg ~ ci)évdz (rte)‘ANALYSES OF LINEAR CONTINUOUS SYSTEMS 29 were 9 isthe gravitational acceleration and cis the damping coefficient per unit lengt Substing (17.1) imo (1.7.10, taking the variation, integrating the result by ars, and assuming that do(x,t1) = Gu(eta) = Oand b!(2,t) = Ov Cc, fa), we obtain [ee [° [E (mio 50 doa [f (wstessv6efee =f [-n0 +99) fteae [ (ww]fe ana Similarly, substituting (1.7.1d) into(1.7.1¢), aking the variation, integrating the result by pas, and sing the identity ov |eaa= ff v8 a) Suds, where de) isthe Spatial Dirac deta function, we obtain a= [[ iu [e104 byebee— 0] ne held! thaobo (E+ [ BIG — (BLY oo]. (1728) ‘Substiuing (17:2), (1.7.25) and (17.1) int (1.7.18) yields IL. [oer 010 — dee) 45g] ate hs be ~ [ {ee Biya — fi = [ (ene Because dv is arbitrary, seuting the coefficient of év inthe first integral in (1.7.3) equal ‘o 2e70 yields the equation of motion mi— G8)! beim — (BV —hyoile—0)4f—mg (17a), ‘Moreover, using the fact that v = 0 and ois unknown at z = 0 and v and v’ are ‘unknown atx = L, we obtain from (1.7.3) the following boundary conditions ~ (et }n}a ~ (E10! + hyo]b0}"ae= 0 a3) Gil (EV)! unknown v=o Elo" — kyo! =0 of unknown 74) ate=Oand G8 (Elv") + hgv =0 unknown Blu" =0 o! unknown (1.7.46) atx = L. Onthe left side of (1.7.40,) are the so-called natural or dynamic boundary ‘conditions, and on the right side are the geometric or essential boundary conditions.