Journal of Sound and Vibration (1978) 56(2),187-200

FINITE ELEMENT EIGENVALUE ANALYSIS OF TAPERED AND TWISTED TIMOSHENKO BEAMS

R. S.
Department
GUPTA

0/ Mechanical Engineering, Punjab Engineering

College, Chandigarh-Ti, India
AND

S. S. RAO
Department

0/ Mechanical Engineering, Indian Institute of Technology, Kanpur-208016, India

(Received 13 January 1977, and in revised form 14 September 1977)

The stiffnessand mass matrices of a twisted beam element with linearly varying breadth and depth are derived.The angle of twist is assumedto vary linearly along the length of the beam. The effects of shear deformation and rotary inertia are considered in deriving the elemental matrices. The first four natural frequenciesand mode shapes are calculated for cantilever beams of various depth and breadth taper ratios at differentangles of twist. The results are compared with those available in the literature.
1. INTRODUCfION

The analysis of tapered and twisted beams has wide application in many industrial problems. The vibration and deflection analysis of compressor blades, turbine blades, aircraft pro peller 6lades, helicopter rotor blades, gear teeth, springs of electromechanical devices, electrical contact switches, etc., all can be made by using such beam elements. Tapered .beams have been analyzed by many investigators using different techniques. Rao [1] used the Galerkin method to calculate the fundamental natural frequencies of beams tapered in depth. Housner and Keightley [2] applied the Myklestad [3] procedure to determine the first three modes of a tapered beam. Martin [4] obtained the frequencies of a tapered beam using the assumption that the eigenvalues and eigenvectors of a tapered beam can be expanded about those of a beam with zero taper in terms of the taper parameters. Rao and Carnegie [5] used the finite difference method to obtain the frequencies and mode shapes of tapered blading. Mabie and Rogers [6, 7] solved the differential equation of vibration of tapered beams with different boundary conditions using Bessel functions and tabulated the results of the first five vibrational frequencies for different breadth and depth taper ratios. In analyzing pretwisted beams, different approaches have been used by various investiga tors. Mendelson and Gendler [8J used station functions while Rosard [9]applied the Mykle stad method. The Rayleigh-Ritz method was used by Di Prima and Handelman [IOJ, Carnegie [11] and Dawson [12]. Rao [13] analyzed pretwisted beams using the Galerkin method. Carnegie and Thomas [14] used a finite difference procedure for the analysis of pretwisted beams. The finite element technique has also been applied by many investigators, mostly for the vibration analysis of beams of uniform cross-section. All these investigations differ one from the other in the nodal degrees of freedom taken for deriving the elemental stiffness and mass matrices. McCalley [15] derived consistent mass and stiffness matrices by selecting the
187

188

R. S. GUPTA AND S. S. RAO

total deflection and the total slope as nodal co-ordinates. Archer [16] analyzed various beams with specific boundary conditions. Kapur [17J took bending deflection, shear deflection, bending slope and shear slope as nodal degrees of freedom and derived the elemental matrices of beams with linearly varying inertia. Carnegie et al. [18] analyzed uniform beams by consi dering few internal nodes in it. Nickel and Secor [19] used total deflection, total slope and bending slope of the two nodes and the bending slope at the mid-point of the beam as the degrees of freedom to derive the elemental stiffness and the mass matrices of order seven. Thomas and Abbas [20Janalyzed uniform Timoshenko beams by taking total deflection, total slope, bending slope and the derivative of the bending slope as nodal degrees of freedom. In this work the finite element method is applied for finding the frequencies of natural vibration of doubly tapered and twisted beams. The stiffness and mass matrices of the beam element are developed by taking bending deflection, bending slope, shear deflection and shear slope in two planes as nodal degrees of freedom. The effects of shear deformation and rotary inertia, which are of significant importance at higher modes of vibration, are consid ered in the derivation. The elemental matrices of a doubly tapered beam without pretwist and a pretwisted beam without taper can be derived as special cases of the present matrices. The stiffness and mass matrices of a tapered beam and that of a uniform beam without shear deformation are also special cases of the general matrices. The first four natural fre quencies of vibration have been calculated for untwisted and a pretwisted doubly tapered cantilever beams by using the finite element thus developed. The effects of variation of depth and breadth taper ratios of the beam have also been studied. The results compare well with those reported in the literature. 2. ELEMENT STIFFNESS AND MASS MATRICES 2.1. DISPLACEMENT MODEL Figure I (a) shows a doubly tapered, twisted beam element of length I with the nodes as 1 and 2. The breadth, depth and the twist of the element are assumed to be linearly varying along its length. The breadth and depth at the two nodal points are shown as b., hi and h2' h2' respectively. The pretwist angles at the two nodes are denoted by 01 and O2, respectively (a list of notation is given in Appendix B). Figure 1(b) shows the nodal degrees offreedom of the element, with bending deflection, bending slope, shear deflection and shear slope in the two planes taken as the nodal degrees of freedom. The total deflections of the element in the y and x directions at a distance z from node I, namely, w(z) and v(z), are taken as w(z) = Wb(Z) + w.(z), v(z) = vb(z) + vs(z), (I) where wb(z) and Vb(Z) are the deflections due to bending in the yz and xz planes, respectively, and w.(z) and vs(z) are the deflections due to shear in the corresponding planes. The displacement models for wb(z), w.(z), Vb(Z) and vs(z) are assumed to be polynomials of third degree. They are similar in nature except for the nodal constants. These expressions are given by - (u3/ [2) (Z3 - 21 Z2 + f2 z) - (u4/ fl)(Z3 - I Z2), ws(z) = (u5/13)(2z3 - 31z2 - [3) + (u6/13){3/ Z2 2z3)- (U7/[2)(Z3 - 21z2 + f2 z) - (US/f2)(Z3 -lz2), Vb(Z) = (u9/f3){2z3 - 31z2 _/3) + (ulof'/3)(3Iz2 - 2z3) - (ulllf2)(z3 - 2 Z2 + f2 z) - (uul 12)(z3 Iz2), vs{z) 2z3)

= (u131 3)(2z3 - 3 Z2 _/3) + (uI4/[3)(3Iz2 - (ulsIP)(z3 - 21z2 +

[2 z)

- (uI6112)(z3 - Iz2),

(2)

TAPERED AND TWISTED TIMOSHENKO

BEAMS

l89

(c)

Figure 1. (a) An element of tapered and twisted beam; (b) degrees of freedom of an element; (c) angle of twist O.

where Ill' liz, U3 and 114represent the bending degrees of freedom and 115'116' U7 and Us are the shear degrees offreedom in the yz plane, U9, UIo, Uu and U12 represent the bending degrees of freedom and U13, 1114, UI5 and 1116 the shear degrees of freedom in the xz plane.
2.2.
ELEMENT STIFFNESS MATRIX

The total strain energy U of a beam of length I, due to bending and shear deformation, is given by

u-_ JI [{E-lx-:" +EI"y--iF--+W-b-,J2 Vb si; (0- +f-lA-G +(O(iF--Wb)2 2 OZ2 2- Vb)2) OZ2 OZ2 2 ozz {(ow-2s-)Z OZ Vs)2)]OZ o
= b(z) h(z) = {bl + (b1

dz.

(3)

As the cross-section of the element changes with z and as the element is twisted, the cross sectional area A, and the moments of inertia I;"",Iyy and I"y will be functions of z: A(z)
(4)

- bl) zll}

{hi + (hz - hi) zl/}

= (ll f2)(cl Z2 + C2 1z + c3IZ),

0,

where

In(z) 0,

= I". x' cos" 0 + Iy. r sin?

Iyy(z) = Iy.r' cos" 0 + Ix' x' sin!

(5)

Ixiz)

= (Ix x'

Iy. y)tsin 20,

(6)

190 .

R. S. GUPTA AND S. S. RAO

where x' x' and y'y' are the axes inclined at an angle e, the angle of twist, at any point in the element, to the original axes xx and yy as shown in Figure l(c). The value of Ix' y' = 0 and the values of Ix' x' and Iy' y' can be computed as Ix' x'(z) = where b(z)h3(z) 1 4 3 2 2 3 12 = 1214[al z + a2 Iz + a31 z + a41 z + as],
(

7)

(8) Iy'y'(Z)= where dl = (h2 - hI) (b2 - bl)3, b" d2

I h(z).b3(z) =--4{dlz 12 121
4

+d2l z

+d31 z +d41 z+

d 14]
5

(9)

= hl(b2 -

bl)3

+ 3(h2 -

hi) (b2

bl)2

a, = 3{h b (b2 l l

bl)2

+ (h2 - hI) (b2 - b,) bi},

(10)

By substituting the expressions for Wb, Ws, Vb' vS' A, I;r:xtIx)' and In from equations (2), (4) and (6) in equation (3), the strain energy U can be expressed as (II) where u is the vector of nodal displacements U" U2, , U16, and [K] is the elemental stiffness matrix of order 16. In terms of the integrals defined as (12) (13) (14) and

j si; (a;;b) (a;;:)

U12],

dz

= [ul U2

U3 u4f [DK] [U9

UlO

Ull

(15)

the element stiffness matrix can be expressed as

[AK] [K] =
l6xl6

[0]
[CK]

[DK]

[0]
[ [DK]

[0]
[BK]

[0]

[0] [0]

[0] [0] ] [0] ,

[CK]

(16)

[0]

where [AK], [BK], [CK] and [DK] are symmetric matrices of order 4 and [0] is a null matrix of order 4. The elements of matrices [AK], [BK], [CK] and [DK] are formulated in Appendix

A.

TAPERED AND TWISTED TlMOSHENKO

BEAMS

191

2.3. ELEMENT MASS MATRIX The kinetic energy of the element T, including the effects of shear deformation and rotary inertia, is given by

' Ib W+
T=
o

[PA 2g

(O- -ows)2 +p-A (O-Vb- +pI-n (0-2 -Vb)2 + +OV-.)2 ot ot ot 2g ot 2g ozot

(17)

+-P1 (0-2-Wb) (0- +pl-xx (0-2W2V-b) b)2] dz g ozot ozot 2g ozot .

xy

By defining (18)

(19)

(0 2 V I ozot - I

P In

[U9 UIO Uu

u n]
[CM]

[U9 UIO Ul1 Ull]'

(20)

2
and
o

dz =

(21) where U, denotes the time derivative of the nodal displacement u" i = 1,2, ... , 16, the kinetic energy of the element can be expressed as (22) where [M] is the mass matrix given by
[M] =
i6x16

and [AM], [BM], [CM] and [DM] are symmetric matrices of order 4 whose elements are defined in Appendix A. 2.4. BOUNDARY CONDITIONS The following boundary conditions are to be applied depending on the type of end conditions:

[AM] [AM] [DM]

+ [BM]

[AM1 [AM] [AM]

[DM] [AM] [AM] [AM] [0]

. ,

+ [eM]

[AM] [AM]

(23)

[0]

[0]

ow./oz = 0 and ov./oz = 0; clamped end: w. = 0, Wb = 0, V. = 0,

free end: (25)

(24)

Vb = 0,

owb/oz = 0

and

ovb/oz = 0;

hinged end: w. = 0,

Wb = 0,
(26)

Vs = 0

and

Vb = O.

It is to be noted here that all the forced boundary conditions could be satisfied by the present model. Among the natural boundary conditions, if the condition of zero bending moment is to be enforced at a free end, the element due to Thomas and Abbas [20] is expected to be better than the present one.

192

R. S. GUPTA AND S. S. RAO

3. NUMERICAL RESULTS The element stiffness and mass matrices developed are used for the dynamic analysis of cantilever beams. By using the standard procedures of structural analysis, the eigenvalue problem can be stated as ([K] - (1)[2M]) U = 0, (27) where [K) and [M] denote the stiffness and mass matrices of the structure, respectively, U indicates nodal displacement vector of the structure, and (1)is the natural frequency of vibration. A study of the convergence properties of the element is made by taking the special case ofa uniform beam with a length of 02540 m, breadth of 00762 m, depth of 00704 m, E = 207 X 1011 N/m2, G = 3E/8, mass density of 800 kg/m", J1 = 2/3 and 0 = 0. For this beam, the first, second, third and fourth natural frequencies obtained by the present method (with 4 elements) have been found to have 0'00%, 007%, 030% and 060% errors, respectively. The first four natural frequencies obtained by using 8 elements are 845'8, 3989,5, 88368 and 138271 Hz while the exact values are 845,8, 3988'9, 8834'2 and 138181 Hz, respectively [20]. The convergence of the natural frequencies of a pretwisted doubly tapered cantilever beam has also been studied and the results are shown in Table I. In this case the natural frequencies given by the method of reference [21] have been found to be slightly higher than those predicted by the present method. It can also be seen that reasonably accurate results can be obtained even by using four finite elements.
TABLE 1

Natural frequencies of a tapered and twisted Timoshenko beam (Hz) Number of elements
1 2 3 4 5 6 7 8

First mode
3048 298'7 2981 297'9 2978 2978 297-8 2978 2991

Second mode
11870 1146'8 1139'2 1137'9 1137-5 1137'4 1137-3 1137'3 1142'8

Third mode
2259'3 16853 1652'2 1647-3 1646'0 1645-3 1645'1 1645'0 1653-3

Fourth mode
45192 4046'5 36474 3593'5 35856 35788 3578'5 3578'3 35957

According to the method of reference [21]

Data: length of beam = 01524 m, breadth at root = 00254 m, depth taper ratio = 2'29, breadth taper Nlm",ratio = 2'56, twist = 45, shear coefficient= 0'833, mass density = 800 kg/ml, E= 207 x 1011 G= (3/8)E.

Table 2 shows the frequency ratios of an untwisted tapered beam for various combinations of depth and breadth taper ratios. Six finite elements are used to model the beam. It is observed that for constant depth taper ratio the frequency ratio of all the four modes increases with breadth taper ratio while for constant breadth taper ratio the frequency ratio decreases for the first mode and increases for the second, third and fourth modes with an increase in the depth taper ratios. The shear deformation effects reduce the frequency of modal vibration. The present results can be seen to compare well with those reported by Mabie and Rogers [6] which are also indicated in Table 2. Figure 2 shows comparison of the results given by the finite element method with those reported by Rosard [9) for a twisted beam of 00254 m x 0-00635 m cross-section and 02794 m length. It can be seen that the two sets of results are

193 quite comparable.

R. S. GUPTA AND S. S. RAO

TABLE

Comparison of 'frequency ratios of untwisted tapered beams

Depth taper ratio ex= 3 Breadth taper ratio

P= 3
ex=5 1'5920 1'5923 1'5786 4,9679 4,9715 48432 110251 110554 10,4713 19'9375 20'1406 183606

Method]
First mode Second mode Third mode Fourth mode (a) (b) (c) (a) (b) (c) (a) (b) (c) (a) (b) (c)

P=I 1-1452 1'1454 1'1369 4'8104 48124 4'6650 11'8752 1I 8957 11'1177 22-3834 22'5186 200672

P=2
13741 1'3743 1'3626 5'1337 5,1361 4'9759 122260 12,2477 11,4410 22,7437 22-8936 203905

P=3
1'5144 1'5148 1'5010 5-3381 5,3404 5'1708 12'4526 124771 116491 229902 231429 20'6016

P=4
16124 1-6124 1'5971 5'4905 5'4928 5'3156 126318 126549 11,8091 23-1798 23-3399 20'7669

P=5
1'6849 16850 16680 5'6125 5'6]49 5'4313 12'7788 12-8024 119413 23'3410 23'5060 20'9054

0:=1 1'3668 1'3668 1'3505 6,9511 6,9528 6'5228 18'2701 18'2998 159423 351250 35'3637 28'1545

ex=2 1'4556 14556 14413 5'7789 57805 5'5543 14'0614 14'0867 12'9227 263652 26'5329 229438

ex=4 1'5582 1'5584 15444 5-1073 4,1103 4'9670 11,5805 116056 109327 21,1320 21'3052 19,2481

P=l
0:=1
1

1 09905 62670 6,2685 5-8850 17'5484 17'5797 15'3303 34'3857 34'6158 27'5757
X

Data: length of beam = 0254 m, breadth at root = 0'0762 m, depth at root N/ml, G= 3/8 E. t Method (a): Mabie and Rogers [6]. Method (b): Finite element without shear deformation effectMethod (c): Finite element with shear deformation effect.

= 0,0254

m, shear coefficient = 0'833, mass density = 800 kg/rn", E = 2'07

lOll

194

R. S. GUPTA AND S. S. RAO

First mode

o
Angle of twist (degrees)

30

Figure 2. Comparison of results for an uniform twisted beam. ----, values by present method.

Values by Rosard method; --,

Figures 3 and 4 show the variation of modal frequencies with breadth taper ratio for beams having 0,30,60 and 90 twist with constant depth taper ratio while Figures 5 and 6 show similar variations for beams with constant breadth taper ratio and varying depth taper ratio. Here the length of the beam is taken as 0254 m and the root cross-section as 0076 x 0038 times the length of the beam. Again the effects of breadth and depth tapers are seen to

Breadth toper ratio

Figure 3. Effects of shear deformation and breadth taper ratio on the first and second natural frequencies of a twisted beam. e, Method of reference [22]; --, without shear deformation; ----, Timoshenko beam; depth taper ratio ex= 3.

TAPERED AND TWISTED TIMOSHENKO

BEAMS

195

4LI------2~----~3------74----~5 Breadth toper ratio, f3

Figure 4. Effectsof shear deformation and breadth taper ratio on the third and fourth natural frequencies of a twisted beam. --, Without shear deformation; ----, Timoshenko beam; depth taper ratio IX = 3.

be pronounced at higher modes of vibration. Here also the effect of shear deformation is seen to reduce the modal frequencies at higher rates in higher modes of vibration in all the cases. The results found by the method of Carnegie and Thomas [22}for the first two natural frequencies are also indicated in Figures 3 and 5. It can be seen that the present results compare excellently with those of Carnegie and Thomas.
4,-----,------,------,-----,

3
.Q

~
>u c
::> CT

'" ' "

LZ 2

Depth toper ratio, a

Figure 5. Effectsof shear deformation and depth taper ratio on the first and second natural frequenciesof a twisted beam. --, Without shear deformation; ----, Timoshenko beam; breadth taper ratio /3= 3. _, Method of reference [22].

196

R. S. GUPTA AND S. S. RAO

4~1-----72----~~----74----~5
Depth toper rotio

Figure 6. Effectsof shear deformation and depth taper ratio on the third and fourth natural frequencies of a twisted beam. --, Without shear deformation; ----, Timoshenko beam; breadth taper ratio p= 3. 4. CONCLUSION

The finite element procedure developed for the eigenvalue analysis of doubly tapered and twisted Timoshenko beams has been found to give reasonably accurate results even with four finite elements. The effects of breadth and depth taper ratios, twist angle and shear deforma tion on the natural frequencies of vibration of cantilever beams have been investigated. The present results are found to compare very well with those reported in the literature. The element developed is expected to be useful for the dynamic analysis of blades of roto-dynamic machines.
REFERENCES 1. J. S. RAo 1965 Aeronautical Quarterly 16, 139-144. The fundamental flexural vibration of cantilever beam of rectangular cross-section with uniform taper. 2. G. W. HOUSNERand W. O. KEIGHTLEY1962 Proceedings of the American Society of Ciuil Engin- eers 88, 95-123. Vibrations of linearly tapered beam. . 3. N. O. MVKLESTAD1944 Journal 0/ Aerospace Science 2,153-162. A new method for calculating natural modes of uncoupled bending vibrations of aeroplane wings and other types of beams. 4. A. I. MARTIN1956 Aeronautical Quarterly 7, 109-124. Some integrals relating to the vibration of a cantilever beams and approximations for the effect of taper on overtone frequencies. 5. J. S. RAO and W. CARNEGIE1971 Bulletin 0/ Mechanical Engineering Education 10, 239245. Determination of the frequencies of lateral vibration of tapered cantilever beams by the use of Ritz-Galerkin process. 6. H. H. MABIE,and C. B. ROGERS1972 Journal of the Acoustical Society 0/ AmericaS1, 17711774. Transverse vibrations of double-tapered cantilever beams. 7. H. H. MABIEand C. B. ROGERS1974 Journal of the Acoustical Society 0/ America 55, 986988. Vibration of doubly tapered cantilever beam with end mass and end support. 8. A. MENDELSONand S. GENDLER1949 NACA TN-2185. Analytical determination of coupled bending torsion vibrations of cantilever beams by means of station functions. 9. D. D. ROSARD1953 Journal 0/ Applied Mechanics 20, 241-244. Natural frequencies of twisted can tilevers. 10. R. C. OJ PRIMAand G. H. HANDELMAN1954 Quarterly on Applied Mathematics 12,241-

TAPERED AND TWISTED TIMOSHENKO

BEAMS

Vibration of twisted beams.

259.

195

TAPERED AND TWISTED

T1MOSHENKO BEAMS

197

11. W. CARNEGIE1959 Proceedings of the Institute of Mechanical Engineers 173, 343-346. Vibration of pretwisted cantilever blading. 12. B. DAWSON1968 Journal of Mechanical Engineering Science 10, 381-388. Coupled bending vibrations of pretwisted cantilever blading treated by Rayleigh-Ritz method. 13. J. S. RAo 1971 Journal of the Aeronautical Society of India 23, 62-64. Flexural vibration of pretwisted beams of rectangulc r cross-section. 14. W. CARNEGIEand J. THOMAS1972 Journal of Engineering for Industry, Transactions of the. American Society of Mechanical Engineers 94, 255-266. The coupled bending-bending vibration of pretwisted tapered blading. 15. R. MCCALLEY1963 General Electric Company, Schenectady, New York, Report No. DIG/SA, 63-73. Rotary inertia correction for mass matrices. . 16. J. S. ARCHER1965 American Institute of Aeronautics and Astronautics Journal 3, 1910-1918. Consistent matrix formulations for structural analysis using finite element techniques. 17. K. K. KAPUR1966 Journal of the Acoustical Society of America 40, 1058-1063. Vibrations of a Timoshenko beam, using finite element approach. 18. W. CARNEGIEJ, . THOMASand E. DOCUMAKI1969 Aeronautical Quarterly 20, 321-332. An improved method of matrix displacement analysis in vibration problems. 19. R. NICKELand G. SECOR1972 International Journal of Numerical Methods in Engineering 5, 243-253. Convergence of consistently derived Timoshenko beam finite elements. 20. J. THOMASand B. A. H. ABBAS1975 Journal of Sound and Vibration 41,291-299. Finite element model for dynamic analysis of Timoshenko beam. 21. J. S. RAo 1972 Journal of Engineering for Industry, Transactions of the American Society of Mechanical Engineers 94, 343-346. Flexural vibration of pretwisted tapered cantilever blades. 22. W. CARNEGIEand J. THOMAS1972 Journal of Engineering for Industry, Transactions of the Ameri can Society of Mechanical Engineers 94, 367-378. The effects of shear deformation and rotary inertia on the lateral frequencies of cantilever beams in bending.

APPENDIX

A: EXPRESSIONS

FOR [AK), [BK), ...

, [DM)

The following notation is used for convenience: U, = o

I Zl-I

dz,

i = 1,2, ...

,n,

(AI) (A2)

L, = 1'-1,

i = 1,2, ...

,n, + 01] dz,

i= 1,2, ... ,n;

v, =
s, =

j j

zl-lcos2

[(0

2 -

OI)Y

(A 3)

zl-l sin2

[(0

2 -

01)

T + OI]dZ,

i= 1,2, ...

,n,

(A4)

where 01 and O2 denote the values of pretwist at nodes I and 2, respectively, of the element. As Wb, w., Vb and Vs are all the same in nature except for their positions in the stiffness and mass matrices, one can use IV to denote anyone of the quantities Wb, IV., Vb or Vs and in a similar manner the set (17.,172,173,174) can be used to represent anyone of the sets (11.,112,113,114), (lIs,U6,1I7,lIS), (1I9,UlO,Ull,U12) or (1I13,1I14,1IIS,1I16T)'hus

w(z) = -(2z2 t
-

17

31z2 + 13)- f2
2

U3

(Z3 -

21z2 + f2 z)
/Z2)

a, + -(3/z2
f3

2z3)

ii4
-

(Z3 -

(A 5)

f2' U4
2

UI (
=

dw

6z2 -6Iz)--(3zU3 -4Iz+1 f3

2)

+U-2 (61z-6z)--2(3z
[3 [2

-2Iz)
'

(A6)
d z
2

dz

f2

d2w

Ul

U4

= 13 (I2z

- 61) - f2 (6z - 41) + 13 (61 - I2z) -

f2 (6z - 2/).
(A7)

By letting PI. 1. k(i = I, _.. , 4;j = i, ... ,4; k = 1, . c ,7) denote the coefficient of zk-1J1-k for the 1I1iil term in the expression of Ip2, QI. J. k(l = I, , 4; j = i, , 4; k = 1, _. _, 5) the coefficient of Zk-l/5-k for the ii,llJ term in the expression of (dlv/dz)2, R,.l. k(i = I, _. _, 4; j = i, , 4; k = I, , 3) the coefficient of Zk-l P:" for the ill LlJ term in the expression of (d 2Ir'/dz2)2, H,. j(i = I, , 4; j = i, .. _,4) the index coefficient of J to account for the difference in index of I due to multiplication of rotational degrees of freedom !II and ii2 and the displacement degrees offreedom Ll3 and ii4, the values of PIJ.b Q,.J.k, R,.J.k and HIi can be obtained as shown in Tables Al and A2_
TABLE

198 198

R. S. GUPTA AND S. S. RAO

Al RIJk,
Q,.).t for k

Values of
R,.J.tfork=
j

HI.}> Q,.).k

=
4 60 00 60 0'0 00 -6,0 00 -8'0 -2'0 00 5 00 00 00 00 00 00 00 1'0 00 00

H,.) 0 0 1 1 0 1 1 2 2 2

2 144-0 -144,0 -144,0 1440 -72,0 840 -72-0 600 1440 -144,0 720 -84,0 720 -60,0 360 -48'0 360 -36'0 360 -24,0

3 360 -360 -240 -12,0 360 240 120 160 80 40

1 360 -36,0 -18,0 -18,0 360 18:0 180 90 90 90

2 -72-0 72-0 420 300 -72-0 -420 -30,0 -240 -180 -120

3 360 -36,0 -30,0 -12,0 36'0 300 120 220 110 40

1 1 1 1 2 2 2 3 3 4

1 2 3 4 2 3 4 3 4 4

TABLE

A2

Values of P,.l.k
P',J.t for k
j

=
5 -6'0 30 20 1'0 00 00 00 10 00 00 6 00 00 -10 00 00 00 00 00 00 00 7 10 00 00 00 00 00 00 00 00 00

2 40 -40 -20 -20 40 2'0 2'0 10 10 1'0 -120 120 70 50 -12,0 -70 -5,0 -4'0 -30 -20

3 90 -9,0 -8,0 -3,0 90 80 30 60 30 10

4 4'0 -20 20 -10 00 -3,0 00 -4,0 -10 00

1 1 1 1 2 2 2 3 3 4

1 2 3 4 2 3 4 3 4 4

EVALUATION OF [BK]

As the procedure for the derivation of [AK], [BK], ... , [DM] is the same for each, the expression for [BK] is derived here as an illustration. One has

199 199

R. S. GUPTA AND S. S. RAO

(A 8)

TAPERED AND TWISTED TIMOSHENKO

BEAMS

199

where W =

Vb and

Putting the value of Iyy and

w in equation

(A8) gives

X [ J3 (12z - 6/) - P (6z - 4/) with BK11 = coefficient of iiI

iiI

iiI

ii3

+ 73(61 -

ii2

12z) - [2 (6z - 21)

a,

]2

dz, (A9)

== coefficient of

U9 U9

= 12~10 Ill,.} ![((a1Z4

+ d1z4 +a4J3 z

+ a21z3 + a3 J2 Z2 + a4 J3 z+

as 14)

+ d21z3 + d3 [2 Z2 + d4J3 z+ + as 14
S

ds) - (alz4

+ a21z3 + a3 J2 Z2 + + R1.13

cos? 02 - 01)]-+ 01)} {R111 Z2 + R1. i.2lz

F}] dz

= 12[10 L(Ht.t+1) 1~1{a,[R11. 1 US-I

+ L'+1 R1. 1. 2 U7-1 + LI+2 R1. 1.3 V6_,] +

This relation can be generalized as

1= 1, ... ,4,

J=/, ... ,4,

1= 1, ... ,4, Similarly

J= 1,....,4.

(All)

1= 1, ... ,4,

J = I, ... ,4,

(A12)

200

R. S. GUPTA AND S. S. RAO

1 = I ... 4. J = 1; ... 4.

(AI3)

1= 1... 4. J=I ... 4.

AMr.J

:8L L
3 7 S

(AI4)
[C,LCI.J+Ht.JIUOI-IJIPr.J.Jl. I

= 1... 4.

J = 1...4.

'=1 J-I

(AI5)

BMr.J = 12;[10

'_I

J=I

LL
s
5

[{d,L(l+J+Ht.JI U(Il-'-JI Qr.J.J}

+
(AI6)

1= 1.. 4. J=I ... 4.

CMr.J =

12;/

10

+ (d, (A 17)
DM1,J = 12;/10 Qr.J,Jl.

LL '-I
S
5 5

[{a,L(l+J+lIt.JI U(Il-'-JI Qr.J.J}

+
I

J=1

G,HL(l+J+Ht.JI V(II-I-Jl QI. J. j}l.

= I ... 4.

= I...4.
J= (AI8)

LL
1=1 J=1

[(al - d,)L(I+J+Ht.J) S(1I-1-J)

I = 1..... 4. I...4.

APPENDIX B: NOMENCLATURE area of cross-section b breadth of beam E Young's modulus g acceleration due to gravity G shear modulus h depth of beam I"",1",1xy moment of inertia of beam cross-section about xx, yy and xy axis. respectively [K] element stiffnessmatrix I length of an element L length of total beam [M] element mass matrix time parameter u nodal degreesof freedom U strain energy v displacementin xz plane w displacementin yz plane x.y co-ordinate axes z co-ordinate axis and length parameter frequencyratio ratio of modal frequency to frequency of fundamental mode of uniform beam with the same root cross-section and without shear deformation effects a depth taper ratio. = hl/h2 P breadth taper ratio. = b1/b2 o angle of twist p mass density u shear coefficient Subscripts: b, bending; s, shear.
A