Analysis and modeling the size effect on vibration of

functionally graded nanobeams based on nonlocal Timoshenko

beam theory
O. Rahmani

, O. Pedram
Smart Structures and New Advanced Materials Laboratory, Department of Mechanical Engineering, University of Zanjan, Zanjan, Iran
a r t i c l e i n f o
Article history:
Received in revised form 23 November 2013
Keywords:
Nanobeam
Vibration
Nonlocal elasticity theory
Functionally gradient materials
a b s t r a c t
In this study Timoshenko beam theory that applies the size dependent effects in function-
ally graded material (FGM) beamis discussed. The material properties of FG nanobeams are
considered to vary over the thickness based to the power law. The equations of motion
according to Eringen nonlocal theory, using Hamiltons principle are derived and a
closed-form solution is presented for vibration behavior of the proposed model. The non-
local elasticity theory contains a material length scale parameter that can apply the size
effect in a FG material. The model is veried by comparing the obtained results with bench-
mark results available in the literature. In following a parametric study is accompanied to
examine the effects of the gradient index, length scale parameter and length-to-thickness
ratio on the vibration of FGM nanobeams. It is observed that these parameters are vital in
investigation of the free vibration of a FG nanobeam.
2013 Elsevier Ltd. All rights reserved.
1. Introduction
A functionally graded material (FGM) is described by a continuous material variant in one or more dimensions by steadily
changing the microstructure from one material to another for the optimum distribution of component materials. FGMs pres-
ent numerous prots (Byrd & Birman, 2007) containing improved stress spreading, enhanced thermal resistance, higher frac-
ture toughness, and inferior stress intensity factors that introduce them very eye-catching choice in various engineering
elds. This category of materials affords the specic prots of both ingredients. The continuously compositional variation
of the constituents in FGMs from one surface to the other offers an elegant solution to the problem of appearing high shear
stresses that may be induced in laminated composites, where two materials with great differences in properties are joined
(Asghari, Ahmadian, Kahrobaiyan, & Rahaeifard, 2010; Bhangale, Ganesan, & Padmanabhan, 2006). Actually, material grada-
tion will reduce maximum stresses and change the spatial location where such maximums arise. This provides the oppor-
tunity of tting material variation to attain desired stresses in a structure. The inspiration for using functionally graded
materials (FGMs) is their advantages of superior stress relaxation and abilities of enduring high temperature gradients.
The ceramic part of the material delivers the high temperature resistance due to its low thermal conductivity. The ductile
metal part avoids fracture produced by stresses owing to high temperature gradient in a very short period of time (Sims ek,
2010). The mechanical and thermal reaction of FG materials is of extensive concentration in several technological areas such
as biomechanics, optoelectronics, high temperature technology and nanotechnology. They are also perfect for reducing ther-
momechanical incompatibility in metalceramic bonding. Gradations in microstructure are also usually found in biological
0020-7225/$ - see front matter 2013 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.ijengsci.2013.12.003

Corresponding author. Tel.: +98 9122414371; fax: +98 2412283204.

E-mail address: omid.rahmani@znu.ac.ir (O. Rahmani).
International Journal of Engineering Science 77 (2014) 5570
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cellular materials, where biological adaptation has dispersed the strongest microstructure in regions that experience the
highest stress (Khanchehgardan, Rezazadeh, & Shabani, 2013).
With the quick growth of nanostructures, FGMs are extensively used in micro- and nano-structures such as thin lms
(Craciunescu & Wuttig, 2003; Fu, Du, & Zhang, 2003, 2004; Lee et al., 2006; L, Chen, & Lim, 2009; L, Lim, & Chen, 2009;
Mahmud, Liu, & Nam, 2007, 2008; Meng, Liu, Yang, Shariat, & Nam, 2012; Miyazaki, Fu, & Huang, 2009; Shariat, Liu, &
Rio, 2013; Shariat, Liu, & Rio, 2013), microswitches (Jia, Yang, & Kitipornchai, 2010, 2011; Jia, Yang, Kitipornchai, & Lim,
2010; Shariat, Liu, & Rio, 2012; Shariat, Liu, Meng, & Rio, 2013), micro piezoactuator (Carbonari, Silva, & Paulino, 2009),
and micro/nano-electromechanical systems (MEMS and NEMS) (Batra, Porri, & Spinello, 2008; Chen, Zhang, Richardson,
& Luo, 2008; Hasanyan, Batra, & Harutyunyan, 2008; Jia, Yang, Kitipornchai, & Lim, 2012; Lun, Zhang, Gao, & Jia, 2006;
Mohammadi-Alasti, Rezazadeh, Borgheei, Minaei, & Habibifar, 2011; Moser & Gijs, 2007; Witvrouw & Mehta, 2005; Zhang
& Fu, 2012). Jia, Yang, Kitipornchai, and Lim(2011) investigated the forced vibration of non-homogeneous FG micro-switches
under combined electrostaticc, intermolecular forces and axial residual stress. In this study the effects of material composi-
tion, gap ratio, slenderness ratio, intermolecular force, axial residual stress on the pull-in instability were shown. In another
study, they investigated the nonlinear pull-in characteristics of the microswitches made of either homogeneous material or
non-homogeneous functionally graded material (FGM) with two material phases under the combined electrostatic and inter-
molecular Casimir force (Jia et al., 2010). As it is challenging for a single layer to encounter all material and economical
necessities pretended to an MEMS structural layer, Witvrouw and Mehta (2005) recommended the use of a non-homoge-
nous functionally graded material layer, to attain the favorite mechanical and electrical properties. Fine-tuning of the stress
gradient was achieved by the use of a top stress compensation layer, whose optimum thickness was estimated from an
assessment of the stress gradient shape through thickness.
Carbonari et al. (2009) developed the idea of functionally graded materials and multifunctional by adapting piezoelectric
and elastic properties of the piezoceramics to obtain improved micro-tool performance. Micro/Nano-tools offer signicant
promise in a wide range of applications such as cell manipulation, microsurgery, and nanotechnology processes. Such special
tools consist of multi-exible structures actuated by two or more piezoceramic devices that must generate output displace-
ments and forces at different specied points of the domain and at different directions. The design of these micro/nano-tools
involves minimization of the coupling among movements generated by various piezoceramics. To obtain enhanced tool per-
formance, the concept of multifunctional and functionally graded materials is extended by tailoring elastic and piezoelectric
properties of the piezoceramics. The design process considers the inuence of piezoceramic property gradation. In the fol-
lowing they considered the design of a single piezoactuator, an XY nano-positioner actuated by two graded piezoceramics,
and a micro-gripper actuated by three graded piezoceramics. The results show that material gradation plays an important
role to improve actuator performance, which may also lead to optimal displacements and coupling ratios with reduced
amount of piezoelectric material (Carbonari et al., 2009). Hasanyan et al. (2008) investigated the pull-in instabilities in a
functionally graded MEMS according to the heat created by the electric current. The material properties of the two-phase
MEMS are presumed to vary continuously in the thickness. It was shown that the pull-in voltage strongly depends upon
the variation through the thickness of the volume fractions of the two constituents. Rahaeifard, Kahrobaiyan, and Ahmadian
(2009) suggested an enhanced FGM micro cantilever beam to improve the atomic force microscopes sensitivity. According to
the characteristic size of beams used in MEMS and NEMS the small-scale-effect in their behavior is signicant.
Fu, Du, Huang, Zhang, and Hu (2004) in their review paper, argued serious subjects and problems in the growth of TiNi
thin lms, including characterization and preparation considerations, frequency improvement, residual stress and adhesion,
fatigue and stability, modeling the functionally graded or composite thin lms. To further improve the properties of TiNi
lms functionally graded TiNi-based lms can be designed. So far, there are different design models for the functionally
graded TiNi thin lms. The rst type is through the gradual change in composition (Ti/Ni ratio), crystalline structures, trans-
formation temperatures, and/or residual stress through lm thickness (Quandt et al., 1996; Takabayashi et al., 1996). As the
Ti or Ni content changes in the lm, the material properties could change from pseudo-elastic to shape memory. The seam-
less integration of pseudo-elastic with shape memory characteristics produces a two-way reversible actuation, because
residual stress variations in thickness will enable biasing force to be built inside the thin lm. In order to improve biocom-
patibility and adhesion of TiNi lms, a functionally graded Ti/TiNi/Ti/Si graded layer could be proposed. A thin layer of sur-
face Ti layer can improve biocompatibility (prevent potential Ni allergic reactions), while the Ti interlayer is used to improve
lm adhesion. Other functionally graded designs include the combination of TiNi lms with piezoelectric, ferromagnetic, or
magnetostrictive thin lms (Craciunescu & Wuttig, 2003). Response time of the piezoelectricity mechanisms (PZT lms) is
fast, but the displacement is relatively small. TiNi lm, on the other hand, has a large forcedisplacement, but with slow re-
sponse frequency. By coupling TiNi and PZT lms to fabricate a newhybrid hetero structure composite or functionally graded
lms, it is possible to tune or tailor the static and dynamic properties of TiNi thin lms, which may generate a larger dis-
placement than conventional piezoelectric or magnetrostrictive thin lms and have an improved dynamic response com-
pared with that of single layer TiNi lms (Fu et al., 2004).
For structures with submicron sizes, due to the increasing surface-to-bulk ratio, surface effects are likely to be signicant
and can considerably modify macroscopic properties (Cammarata, 1994; Mller & Sal, 2004). It is known that there exists a
size-dependent mechanical response of nano-scale structures (Cammarata & Sieradzki, 1989; Miller & Shenoy, 2000; Wolf,
1991). Atomistic simulations results have shown that elastic constants of nano structures can be larger or smaller than their
bulk counter-parts due to the effect of surface energy (Shim, Zhou, Huang, & Cale, 2005; Zhou & Huang, 2004). In addition,
the atomistic lattice model further demonstrates that the values of elastic constants of nano structures are thickness
56 O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570
dependent and approach the bulk value as the structure thickness increases (Guo & Zhao, 2005; Sun & Zhang, 2003; Zhang &
Sun, 2004). However, systematic atomistic studies of mechanical response of nano structures need tremendous computa-
tional efforts; therefore, they are of limited usage in practical applications (Shaat, Mahmoud, Alieldin, & Alshorbagy, 2013).
Accompanied by current experimental techniques (Falvo et al., 1997) which can be challenging at the nano-scale, there
are several theoretical methods including molecular dynamics modeling (Snchez-Portal, Artacho, Soler, Rubio, & Ordejn,
1999) and continuum mechanics approaches (Krishnan, Dujardin, Ebbesen, Yianilos, & Treacy, 1998) for modeling the mi-
cro/nanostructures. Continuum mechanics comprises classical theories that are used for assessing nanostructures for
large-scale problems. Continuum mechanics methodologies have low computational cost comparing other available meth-
ods and their formulations are rationally simple.
In these models nanostructures composed of covalent bonded carbon atoms are treated as continuous and homogenous
macrostructures whereas their material microstructures, such as the lattice spacing between individual carbon atoms, are
ignored. While many studies have been done based on the classical continuum methods, their prociency at very small
scales is unpredictable. Wang and Hu (2005) showed that the classical beam theories cannot predict the velocities of wave
propagation in a carbon nanotube (CNT). In the initial stage of this study, the molecular dynamics simulation, based on the
TerroffBrenner potential, showed that the microstructure of a carbon nanotube had a major effect on the dispersion of ex-
ural waves such that no traditional beam models, neither the Euler beam nor the Timoshenko beam, could predict the reduc-
tion of the phase velocity. Thus, there was a need to study the dispersion of exural waves in CNTs based on the model of
nonlocal continuum mechanics so as to take the effect of the microstructure of CNTs on the wave dispersion into consider-
ation. For this purpose, the dynamic equation was established for a nonlocal elastic beam Timoshenko, characterizing the
microstructure of CNTs. In the following, a comparison is made between the theoretical results of beam models and those
simulated by the molecular dynamics for the propagation of exural waves in CNTs. The simulation results show that only
the nonlocal elastic beam theory is able to predict the decrease of phase velocity when the wave number is so large that the
microstructure of carbon nanotubes has a signicant inuence on the exural wave dispersion.
In another study Chan, Fu, and Lu (2011) investigated the size effect on micro-scale deformation via experimental test as
well as Finite Element (FE) simulation. The experimental results show the occurrence of various size-effect related deforma-
tion phenomena, including the decrease of ow stress and the increases of irrational local deformation with the decreasing
specimen size. The research further veries that the established non-classical models are able to predict micro deformation
behavior (Chan et al., 2011). Also Lam et al. in their study showed that the conventional strain-based theory can lead to
underestimates of stresses and size-dependent behaviors in small-scale structures (Lam, Yang, Chong, Wang, & Tong,
2003). McFarland and Colton examined the effect of microstructure upon microcantilever bending stiffness. An existing
beam theory model was compared to a non-classical model as well as experimental test. A consequence of the non-classical
model was the prediction of an increased bending stiffness as the cantilever thickness decreasesstiffening due to the mate-
rial microstructure which becomes measurable at micron-order thicknesses. This outcome was also conrmed by the exper-
imental result (McFarland & Colton, 2005). Moreover, Ma, Gao, and Reddy (2008) demonstrated that the bending rigidity
values predicted by the non-classical beam model agree fairly well with the experimental results of Lam et al., 2003, while
the classical model signicantly under-predicts the actual (measured) values. This experimentally validated analysis of the
cantilever beam bending provided additional evidence of the applicability of the non-classical Timoshenko beam model. Sun
and Zhang (2003) indicated the importance of a semi-continuum model in analyzing nanomaterials after pointing out the
limitations of the applicability of classical continuum models to nanotechnology. In their semi-continuum model for nano-
structured materials with plate like geometry, material properties were found completely dependent on the thickness of the
plate structure contrary to classical continuum models. Chen, Lee, and Eskandarian (2004) evidenced that the nonlocal con-
tinuum theory based models are physically reasonable from the atomistic viewpoint of lattice dynamics and molecular
dynamics (MD) simulations. They concluded that the molecular dynamics formulation is in the nonlocal arena and even
in the limit case when the unit cell or the material particle only consists of one atom, the expressions and derivation are still
applicable to nonlocal phenomena.
According to the literature it can be observed that the material properties at the nano-scale are size dependent and con-
sequently the small length scale effect should be considered for an enhanced modeling of the mechanical behavior of nano-
materials (Arash & Wang, 2012). To overcome this restriction, several amendments of the classical continuum mechanics
have been offered to admit size effect in the nanostructures modeling. One broadly used size-dependent theory is the non-
local elasticity theory initiated by Eringen (2002).
In the classical or local elasticity theory, the stress state at a given point is dependent uniquely on the strain state at the
same point whereas the Eringens nonlocal elasticity theory assumes that the stress state is a function of the strain states of
all points in the body. Thus, this nonlocal elasticity theory contains information about long range forces between atoms. Ped-
dieson, Buchanan, and McNitt (2003) showed that nonlocal continuum mechanics could potentially employed in nanotech-
nology applications. Based on the nonlocal theory of Eringen, a number of studies have been published trying to develop
nonlocal continuum models and apply them to analyze the general behavior of nanostructures (Aksencer & Aydogdu,
2011,Ansari, Shahabodini, & Rouhi, 2013a; Aydogdu, 2009; Ghorbanpour Arani, Shajari, Amir, & Loghman, 2012; Ke & Wang,
2011; Khodami Maraghi, Ghorbanpour Arani, Kolahchi, Amir, & Bagheri, 2013; Lee & Chang, 2008; Narendar, Roy Mahapatra,
& Gopalakrishnan, 2011; Reddy, 2007; Roque, Ferreira, & Reddy, 2011; Thai, 2012; Thai & Vo, 2012). Also the nonlocal con-
tinuum mechanics have been used by many researchers in the study of the buckling of nanotubes (Adali, 2008; Ansari, Shah-
abodini, & Rouhi, 2013b; Gao & Lei, 2009; Mehdipour, Barari, Kimiaeifar, & Domairry, 2012; Murmu & Pradhan, 2010;
O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570 57
Setoodeh, Khosrownejad, & Malekzadeh, 2011; Shen, 2010; Shen & Zhang, 2010; Yang & Lim, 2011), nanobeams (Artan &
Tepe, 2008; Murmu & Adhikari, 2011) and graphene sheets (Murmu & Pradhan, 2009; Pradhan, 2009; Pradhan & Murmu,
2009).
According to the growing usage of micro/nano FG structure (Batra et al., 2008; Bhangale et al., 2006; Carbonari et al.,
2009; Chen et al., 2008; Craciunescu & Wuttig, 2003; Fu et al., 2003, 2004; Hasanyan et al., 2008; Jia et al., 2010, 2011,
2012; Jia, Yang & Kitipornchai et al., 2010; Khanchehgardan et al., 2013; Lee et al., 2006; L et al., 2009; L & Lim et al.,
2009; Lun et al., 2006; Mahmud et al., 2007, Mahmud, Liu, & Nam, 2008; Meng et al., 2012; Miyazaki et al., 2009; Moham-
madi-Alasti et al., 2011; Sims ek, 2010; Shariat et al., 2012; Shariat et al., 2013; Shariat, Liu & Meng et al., 2013; Shariat & Liu
et al., 2013), in the recent years, mechanical behavior analysis of these structures has been presented by numerous research-
ers (Adali, 2008; Gao & Lei, 2009; Ke & Wang, 2011; Lee & Chang, 2008; Mehdipour et al., 2012; Murmu & Pradhan, 2010;
Narendar et al., 2011; Reddy, 2007; Roque et al., 2011; Setoodeh et al., 2011; Shen, 2010; Shen & Zhang, 2010; Thai, 2012;
Thai & Vo, 2012; Yang & Lim, 2011). Asghari et al. (2010) studied the size-dependent static and vibration behavior of micro-
beams made of FG materials on the basis of the modied couple stress theory in the elastic range. Ansari, Gholami, and
Sahmani (2011) studied the free vibration characteristics of microbeams made of FG materials based on the strain gradient
Timoshenko beam theory. Kahrobaiyan, Rahaeifard, Tajalli, and Ahmadian (2012) developed a size-dependent FG EulerBer-
noulli beam model based on the strain gradient theory. They obtained the governing equation and both classical and non-
classical boundary conditions and investigated the static and free-vibration of FG simply supported. Simsek and Yurtcu
(2013) examined the static bending and buckling of a FG nanobeam based on the nonlocal Timoshenko and EulerBernoulli
beam theory. In this study the Navier-type solution was developed for simply-supported boundary conditions. Reddy and
Arbind (2012) used modied couple stress theory to formulate through thickness FG beams according to the BernoulliEuler
and Timoshenko beam theories. In this study bending relationships between analytical solutions of the FG Timoshenko
Fig. 1. Schematic of the FG beam.
Table 1
Material properties of FGM constituents.
Properties Steel Alumina (Al
2
O
3
)
E 210 (GPa) 390 (GPa)
q 7800 (kg/m
3
) 3960 (kg/m
3
)
m 0.30 0.24
Table 2
Comparison of non-dimensional fundamental natural frequencies ^ x
1
x
1
L
2

q
a
A=E
a
I
_
_ _
of simply supported
beams (b = 1000 10
9
m, L = 10,000 10
9
m, k = 0, K
s
= 5/6, 100 term series).
L/h g
2
= (e
0
a)
2
10
12
Ref. Eltaher et al. (2012) Present
20 0 9.8797 9.8296
1 9.4238 9.3777
2 9.0257 8.9829
3 8.6741 8.6341
4 8.3607 8.3230
5 8.0789 8.0433
50 0 9.8724 9.8631
1 9.4172 9.4097
2 9.0205 9.0136
3 8.6700 8.6636
4 8.3575 8.3515
5 8.0765 8.0708
100 0 9.8700 9.8680
1 9.4162 9.4143
2 9.0197 9.0180
3 8.6695 8.6678
4 8.3571 8.3555
5 8.0762 8.0747
58 O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570
beams with microstructural scale parameter in terms of the classical BernoulliEuler beam solutions were derived. Akgz
and Civalek (2013) investigated the vibration response of non-homogenous and non-uniform microbeams in conjunction
with BernoulliEuler beam and modied couple stress theory. In this study the boundary conditions of the microbeam were
considered as xed at one end and free at the other end. Also it was taken into consideration that material properties and
cross section of the microbeam vary continuously along the longitudinal direction. Eltaher, Emam, and Mahmoud (2012)
presented free vibration analysis of FG nanobeams using nite element method. The size-dependent nanobeam was inves-
tigated on the basis of the nonlocal continuummodel and EulerBernoulli beam theory. Kiani (2013) suggested a mathemat-
ical model to explore vibrations and instabilities of moving FG nanobeams. The longitudinal and lateral equations of motion
of the moving nanostructure were extracted by employing the nonlocal Rayleigh beam model. Using Galerkin approach and
admissible mode shapes, the longitudinal and transverse frequencies were calculated. Sims ek (2012) studied the free longi-
tudinal vibration of axially FG tapered nanorods with variable cross-section based on the nonlocal elasticity theory. In this
study Clampedclamped and clamped-free boundary conditions were considered. Nateghi, Salamat-talab, Rezapour, and
Daneshian (2012) presented the buckling analysis of FG micro beams based on modied couple stress theory. To study
the effect of boundary conditions, beams with hingedhinged, clampedclamped and clampedhinged ends were studied.
In this work generalized differential quadrature method was applied to solve the obtained differential equations. Ansari,
Gholami, and Sahmani (2013) on the basis of the modied strain gradient elasticity theory, investigated the free vibration
characteristics of curved microbeams made of FG materials. They developed a size-dependent beam model containing three
internal material length scale parameters to incorporate small-scale effect. Eltaher, Emam, and Mahmoud (2013) investi-
gated the size-dependent static-buckling behavior of FG nanobeams on the basis of the nonlocal continuum model. The
nanobeam was modeled according to the EulerBernoulli beam theory with small deformation and the equilibrium equa-
tions were derived using the principle of virtual displacement. The Galerkin nite element method was used to discretize
the model and obtain a numerical approximation of equilibrium equations.
This paper makes the rst effort to explore the vibration of FG nanobeams based on the nonlocal elastisity and Timo-
shenko beam model. This non-classical beam theory includes a material length scale parameter and can capture the size ef-
fect. The beam is supposed to be functionally graded in the thickness direction; while Poisson ratio is presumed to be
constant, but it is not neglected. The principal of minimum potential energy is used to achieve to the governing equations
and boundary conditions of the FG beam. The effects of the gradient index, length scale parameter and length-to-thickness
ratio on the vibration characteristics of FGM nanobeams with simply supported boundary conditions are investigated.
2. Nonlocal elasticity theory
According to Eringen theory (Eringen, 2002), nonlocal characteristic equation comes from:
1 e
0
a
2
r
2
t
kl
ke
rr
d
kl
le
kl
1
In Eq. (1), t
kl
is nonlocal stress tensor, e
kl
is strain tensor, k and l are lames constant. (e
0
a)
2
is the material constant, called
nonlocal parameter, in which, e
0
is a constant appropriate to each material and a is an internal characteristics length. Thus,
the nonlocal constitutive relation takes the following form:
Table 3
Comparison of non-dimensional fundamental natural frequencies ^ x
1
x
1
L
2

q
a
A=E
a
I
_
_ _
of simply supported
beams (b = 1000 10
9
m, L = 10,000 10
9
m, k = 0.2, K
s
= 5/6, 100 term series).
L/h g
2
= (e
0
a)
2
10
12
Ref. Eltaher et al. (2012) Present
20 0 8.7200 8.6600
1 8.3175 8.2620
2 7.9661 7.9140
3 7.6557 7.6068
4 7.3791 7.3327
5 7.1303 7.0863
50 0 8.7115 8.6895
1 8.3114 8.2901
2 7.9613 7.9411
3 7.6520 7.6327
4 7.3762 7.3577
5 7.1282 7.1104
100 0 8.7111 8.6938
1 8.3106 8.2941
2 7.9607 7.9449
3 7.6515 7.6365
4 7.3758 7.3613
5 7.1279 7.1139
O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570 59
r
xx
e
0
a
2
@
2
r
xx
@x
2
Ee
xx
2
r
xz
e
0
a
2
@
2
r
xz
@x
2
Gc
xz
3
where E is the elasticity modulus, G = E/2(1 + m) is the shear modulus (where m is the Poissons ratio), r
xx
is the axial normal
stress, r
xz
is the shear stress, e
xx
is the axial strain and c
xz
is the shear strain. When the nonlocal parameter is taken as
(e
0
a)
2
= 0, the constitutive relation of the local theory is obtained.
3. Functionally graded materials
In Fig. 1 a functionally graded (FG) nanobeam of length L, width b, and thickness h is presented. The x
1
= x, x
2
= y and x
3
= z
coordinates are selected along the length, width, and the thickness of FG nanobeam, respectively. We supposed that the FG
nanobeam is made of two dissimilar materials, and the effective material properties of the FG nanobeam vary continuously
in the thickness direction (in the z direction).
Based onto the rule of mixture, the effective material properties (P) can be obtained as:
P P
a
V
a
P
s
V
s
4
where P
a
, P
s
are the effective material properties, V
a
and V
s
are the volume fractions of the rst and the second material re-
lated by:
V
a
V
s
1 5
In this study the effective material properties of the FG nanobeamare dened by the power-lawform. The volume fraction of
the second material is supposed by:
V
a

z
h

1
2
_ _
k
6
where k is the power-law exponent which determines the material variation contour through the thickness of the beam.
Using Eqs. (4) and (6), the effective material properties of the FG nanobeam can be given as:
Pz P
a
P
s

z
h

1
2
_ _
k
P
s
7
Eq. (7) can be expressed in terms of Youngs modulus, density and shear modulus as follows:
Ez E
a
E
s

z
h

1
2
_ _
k
E
s
8
qz q
a
q
s

z
h

1
2
_ _
k
q
s
9
Gz G
a
G
s

z
h

1
2
_ _
k
G
s
10
It is simply realized that E = E
a
, q = q
a
and G = G
a
when z = + h/2, and E = E
s
, q = q
s
and G = G
s
when z = h/2.
4. Mathematical modeling
According to the Timoshenko beam theory, the axial displacement, u, and the transverse displacement of any point of the
beam, w, are expressed as follows:
ux; z; t u
0
x; t zhx; t 11
vx; z; t 0 12
wx; z; t w
0
x; t 13
where u and w are the axial and the transverse displacement of any point on the neutral axis, h is the total bending rotation
of the cross-sections at any point on the neutral axis. The nonzero strains of the Timoshenko beam theory are obtained as:
e
xx

@u
@x

@u
0
@x
z
@h
@x
14
c
xz

@w
0
@x
h 15
The governing equations will be obtained by applying Hamiltons principle:
60 O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570
_
t
0
dU T Vdt 0 16
In which, U is potential energy, T is kinetic energy and V is external forces work. The rst variation of the strain energy is
obtained as:
dU
_
V
r
ij
de
ij
dV
_
V
r
xx
de
xx
r
xz
dc
xz
dV 17
Substituting Eqs. (14) and (15) into Eq. (17), leads to Eqs. (18) and (19):
dU
_
L
0
_
A
r
xx
@du
0
@x
_ _
zr
xx
@dh
@x
_ _
r
xz
@dw
0
@x
dh
_ _ _ _
dAdx 18
dU
_
L
0
N
@du
0
@x
_ _
M
@dh
@x
_ _
Q
@dw
0
@x
dh
_ _ _ _
dx 19
Where N is the axial normal force, Q is the shear force and M is the bending moment. These stress resultants are dened as:
N
_
A
r
xx
dA; M
_
A
zr
xx
dA; Q
_
A
k
s
r
xz
dA 20
Table 4
Comparison of non-dimensional fundamental natural frequencies ^ x
1
x
1
L
2

q
a
A=E
a
I
_
_ _
of simply supported
beams (b = 1000 10
9
m, L = 10,000 10
9
m, k = 0.5, K
s
= 5/6, 100 term series).
L/h g
2
= (e
0
a)
2
10
12
Ref. Eltaher et al. (2012) Present
20 0 7.8061 7.7149
1 7.4458 7.3602
2 7.1312 7.0504
3 6.8533 6.7766
4 6.6057 6.5325
5 6.3830 6.3129
50 0 7.7998 7.7413
1 7.4403 7.3854
2 7.1269 7.0745
3 6.8500 6.7998
4 6.6031 6.5548
5 6.3811 6.3345
100 0 7.7981 7.7451
1 7.4396 7.3891
2 7.1263 7.0780
3 6.8496 6.8032
4 6.6028 6.5580
5 6.3808 6.3376
Table 5
Comparison of non-dimensional fundamental natural frequencies ^ x
1
x
1
L
2

q
a
A=E
a
I
_
_ _
of simply supported
beams (b = 1000 10
9
m, L = 10000 10
9
m, k = 1, K
s
= 5/6, 100 term series).
L/h g
2
= (e
0
a)
2
10
12
Ref. Eltaher et al. (2012) Present
20 0 7.0904 6.9676
1 6.7631 6.6473
2 6.4774 6.3674
3 6.2251 6.1202
4 6.0001 5.8997
5 5.7979 5.7014
50 0 7.0852 6.9917
1 6.7583 6.6703
2 6.4737 6.3895
3 6.2222 6.1414
4 5.9979 5.9201
5 5.7962 5.7212
100 0 7.0833 6.9952
1 6.7577 6.6736
2 6.4731 6.3927
3 6.2217 6.1444
4 5.9976 5.9231
5 5.7960 5.7240
O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570 61
Where k
s
is the shear correction factor. Kinetic energy for Timoshenko beam is derived from Eq. (21):
T
1
2
_
L
0
_
A
qz
@u
@t
_ _
2

@w
@t
_ _
2
_ _
dAdx 21
Substituting Eqs. (11) and (13) into Eq. (21), lead to Eq. (21):
T
1
2
_
L
0
_
A
qz
@u
0
@t
_ _
2
2z
@u
0
@t
_ _
@h
@t
_ _
z
2
@h
@t
_ _
2

@w
0
@t
_ _
2
_ _
dAdx 22
The rst variation of (22) is given as:
dT
_
L
0
I
0
@u
0
@t
@du
0
@t

@w
0
@t
@dw
0
@t
_ _
I
1
@du
0
@t
@h
@t

@u
0
@t
@dh
@t
_ _
I
2
@h
@t
@dh
@t
_ _
dx 23
Where I
0
, I
1
and I
2
are mass inertia and dened as:
I
0
; I
1
; I
2

_
A
qz1; z; z
2
dA 24
The rst variation of the external forces work is given as:
dV
_
L
0
f xdu
0
qxdw
0
dx 25
In which f(x) and q(x) are external axial and transverse loads distribution along length of beam, respectively. Substituting
Eqs. (19), (23) and (25) into Eq. (16), Hamiltons principal rewrite as:
_
t
0
_
L
0
N
@du
0
@x
_ _
M
@dh
@x
_ _
Q
@dw
0
@x
dh
_ _ _ _
dx
_
L
0
I
0
@u
0
@t
@du
0
@t

@w
0
@t
@dw
0
@t
_ _
I
1
@du
0
@t
@h
@t

@u
0
@t
@dh
@t
_ _
I
2
@h
@t
@dh
@t
_ _
dx
_

_
L
0
f xdu
0
qxdw
0
dx
_
dt 0 26
By integration by parts on (26), Eq. (27) is concluded:
_
t
0
_
L
0
@N
@x
I
0
@
2
u
0
@t
2
I
1
@
2
h
@t
2
f
_ _
du
0

@M
@x
Q I
1
@
2
u
0
@t
2
I
2
@
2
h
@t
2
_ _
dh
@Q
@x
q I
0
@
2
w
0
@t
2
_ _
dw
0
_ _
dx
_ _
dt

_
L
0
I
0
@u
0
@t
I
1
@h
@t
_ _
du
0
I
1
@u
0
@t
I
2
@h
@t
_ _
dh I
0
@w
0
@t
dw
0
_ _
t
0
dt
_
t
0
Ndu
0
Mdh Qdw
0

L
0
dt
0 27
According to Hamiltons principal, motion equations derived from Eq. (27):
Table 6
Comparison of non-dimensional fundamental natural frequencies ^ x
1
x
1
L
2

q
a
A=E
a
I
_
_ _
of simply supported
beams (b = 1000 10
9
m, L = 10000 10
9
m, k = 5, K
s
= 5/6, 100 term series).
L/h g
2
= (e
0
a)
2
10
12
Ref. Eltaher et al. (2012) Present
20 0 6.0025 5.9172
1 5.7256 5.6452
2 5.4837 5.4075
3 5.2702 5.1975
4 5.0797 5.0103
5 4.9086 4.8419
50 0 5.9990 5.9389
1 5.7218 5.6659
2 5.4808 5.4274
3 5.2679 5.2166
4 5.0780 5.0287
5 4.9072 4.8597
100 0 5.9970 5.9421
1 5.7212 5.6689
2 5.4803 5.4302
3 5.2675 5.2194
4 5.0777 5.03135
5 4.9071 4.8623
62 O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570
@N
@x
I
0
@
2
u
0
@t
2
I
1
@
2
h
@t
2
f 0 28
@Q
@x
q I
0
@
2
w
0
@t
2
0 29
@M
@x
Q I
1
@
2
u
0
@t
2
I
2
@
2
h
@t
2
0 30
By using Eqs. (2), (3), (14), (15) and (20), the forcestrain and the momentstrain relations of the nonlocal Timoshenko beam
theory can be obtained as follows:
Table 7
Comparison of non-dimensional fundamental natural frequencies ^ x
1
x
1
L
2

q
a
A=E
a
I
_
_ _
of simply supported
beams (b = 1000 10
9
m, L = 10000 10
9
m, k = 10, K
s
= 5/6, 100 term series).
L/h g
2
= (e
0
a)
2
10
12
Ref. Eltaher et al. (2012) Present
20 0 5.7058 5.6521
1 5.4425 5.3923
2 5.2126 5.1653
3 5.0096 4.9647
4 4.8286 4.7858
5 4.6659 4.6250
50 0 5.7001 5.6730
1 5.4389 5.4122
2 5.2098 5.1843
3 5.0074 4.9830
4 4.8269 4.8035
5 4.6646 4.6421
100 0 5.7005 5.6760
1 5.4384 5.4150
2 5.2094 5.1871
3 5.0071 4.9857
4 4.8267 4.8060
5 4.6644 4.6445
Fig. 2. The variation of the 1st frequency with material graduation for different nonlocality parameter at L/h = 100.
O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570 63
N g
2
@
2
N
@x
2
S
0
@u
0
@x
S
1
@h
@x
31
Mg
2
@
2
M
@x
2
S
1
@u
0
@x
S
2
@h
@x
32
Q g
2
@
2
Q
@x
2
S
3
@w
0
@x
h
_ _
33
In the above equations, g = e
0
a and the following cross-sectional rigidities are dened:
S
0

_
A
EzdA 34
S
1

_
A
EzzdA 35
S
2

_
A
Ezz
2
dA 36
S
3

_
A
k
s
GzdA 37
The explicit relation of the nonlocal normal force can be derived by substituting for the second derivative of N from Eq. (28)
into Eq. (31) as follows:
N S
0
@u
0
@x
S
1
@h
@x
g
2
I
0
@
3
u
0
@x@t
2
I
1
@
3
h
@x@t
2

@f
@x
_ _
38
Also the explicit relation of the nonlocal bending moment can be derived by substituting for the second derivative of M from
Eq. (30) and rst derivative of Q from Eq. (29) into Eq. (32) as follows:
M S
1
@u
0
@x
S
2
@h
@x
g
2
I
0
@
2
w
0
@t
2
I
1
@
3
u
0
@x@t
2
I
2
@
3
h
@x@t
2
q
_ _
39
By substituting for the second derivative of Q fromEq. (29) into Eq. (33), the following expression for the nonlocal shear force
is derived:
Q S
3
@w
0
@x
h
_ _
g
2
I
0
@
3
w
0
@x@t
2

@q
@x
_ _
40
As a nal point, the nonlocal governing equations in terms of the displacements can be derived by substituting for N, Mand Q
from Eqs. (38)(40), respectively, into Eqs. (28)(30) as follows:
Fig. 3. The variation of the 2nd frequency with material graduation for different nonlocality parameter.
64 O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570
S
0
@u
2
0
@x
2
S
1
@
2
h
@x
2
I
0
@u
2
0
@t
2
I
1
@
2
h
@t
2
f g
2
I
0
@
4
u
0
@x
2
@t
2
I
1
@
4
h
@x
2
@t
2

@
2
f
@x
2
_ _
0 41
S
3
@
2
w
0
@x
2

@h
@x
_ _
g
2
I
0
@
4
w
0
@x
2
@t
2

@
2
q
@x
2
_ _
q I
0
@
2
w
0
@t
2
0 42
S
1
@
2
u
0
@x
2
S
2
@h
@x
S
3
@w
0
@x
h
_ _
g
2
I
1
@
4
u
0
@x
2
@t
2
I
2
@
4
h
@x
2
@t
2
_ _
I
1
@
2
u
0
@t
2
I
2
@
2
h
@t
2
0 43
According to mechanical properties distribution from Eqs. (8)(10), I
0
, I
1
, I
2
, S
0
, S
1
, S
2
and S
3
can be calculated as follows:
I
0

_
A
qzdA bh q
s

q
a
q
s

k 1
_ _
44
I
1

_
A
qzzdA
bh
2
k
21 k2 k
q
a
q
s
45
I
2

_
A
qzz
2
dA bh
3
q
s
12

q
a
q
s

k 3

q
a
q
s

4k 1

q
a
q
s

k 2
_ _
46
S
0

_
A
EzdA bh E
s

E
a
E
s

k 1
_ _
47
S
1

_
A
EzzdA
bh
2
k
21 k2 k
E
a
E
s
48
S
2

_
A
Ezz
2
dA bh
3
E
s
12

E
a
E
s

k 3

E
a
E
s

4k 1

E
a
E
s

k 2
_ _
49
S
3

_
A
k
s
GzdA bhk
S
G
s

G
a
G
s

k 1
_ _
50
In this part, an analytical solution of the governing equations, based on the Navier method, for free vibration of a simply-
supported FG nanobeamis presented. Axial and transverse load distribution are assumed zero. For this purpose, the displace-
ment functions are expressed as product of undetermined coefcients and known trigonometric functions to satisfy the gov-
erning equations and the conditions at x = 0,L. The following displacement elds are assumed to be of the form:
u
0
x; t

1
n1
U
n
cos
npx
L
_ _
e
ixnt
51
w
0
x; t

1
n1
W
n
sin
npx
L
_ _
e
ixnt
52
hx; t

1
n1
H
n
cos
npx
L
_ _
e
ixnt
53
where (U
n
,W
n
,H
n
) are the unknown Fourier coefcients to be determined for each n value. Boundary conditions for simply-
supported beam are as Eq. (54):
w
0
j
x0;L
0;
@
2
w
0
@x
2

x0;L
0 54
Substituting Eqs. (51)(53) into Eqs. (41)(43) respectively, leads to Eqs. (55)(57):
S
0
np
L
_ _
2
I
0
x
2
n
1 g
2
np
L
_ _
2
_ _ _ _
U
n
S
1
np
L
_ _
2
I
1
x
2
n
1 g
2
np
L
_ _
2
_ _ _ _
H
n
0 55
S
3
np
L
_ _
H
n
S
3
np
L
_ _
2
I
0
x
2
n
1 g
2
np
L
_ _
2
_ _ _ _
W
n
0 56
S
1
np
L
_ _
2
I
1
x
2
n
1 g
2
np
L
_ _
2
_ _ _ _
U
n
S
2
np
L
_ _
2
S
3
I
2
x
2
n
1 g
2
np
L
_ _
2
_ _ _ _
H
n
S
3
np
L
_ _
W
n
0 57
By setting the determinant of the coefcient matrix of the above equations, we obtain a quadratic polynomial for x
2
n
. By set-
ting this polynomial to zero, we can nd x
n
.
O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570 65
5. Numerical results
The functionally graded nanobeam which has been investigated in this study is composed of steel and alumina (Al
2
O
3
)
where its properties vary through the thickness based on a power-law. The top surface of the beam is pure alumina, while
the bottom surface of the beam is pure steel. The material properties of steel and alumina are expressed in Table 1.
The beam length is equal to L = 10,000 nm and its width is b = 1000 nm. The frequencies are nondimensionalized accord-
ing to the following relation
^
x xL
2

q
a
A=E
a
I
_
_ _
, in which I
bh
3
12
is the moment of inertia of the cross section of the beam.
The nondimensional natural frequencies are expressed with varying nonlocal parameter, slenderness ratio, and material
distribution.
Fig. 4. The variation of the 3rd frequency with material graduation for different nonlocality parameter.
Fig. 5. The variation of the 4th frequency with material graduation for different nonlocality parameter.
66 O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570
To check the validity and accuracy of the present analysis, the results obtained from the present analysis are compared
with the solutions for EulerBernoulli FG nano beam(Eltaher et al., 2012) in Tables 27. The comparisons showthat the pres-
ent results agreed very well with those in the literature. From Tables it is further observed that the EulerBernoulli overes-
timate the fundamental frequency for the varying length-to-thickness ratios, when compared to the proposed nonlocal
Timoshenko theory. Actually as seen there are some discrepancies between the frequencies, by decreasing the thickness
of the beam the results discrepancies reduce and this is due to the shear effect which cannot be captured by EulerBernoulli
model.
Furthermore, the effects of material graduation and slenderness ratios, and nonlocal parameter on the dimensionless
frequency are presented in these tables. From the results, it can be observed that, when the thickness of beam reduces
Fig. 6. The variation of the 5th frequency with material graduation for different nonlocality parameter.
Fig. 7. The effect of nonlocality parameter on mode number at k = 0.5.
O. Rahmani, O. Pedram/ International Journal of Engineering Science 77 (2014) 5570 67
(slenderness ratio decreased), the frequencies rise. Also, it can be deduced that as the power index growths, the reduction of
frequency will be happen at the same situations (nonlocality and slenderness ratio). Furthermore it is shown that, as the
nonlocality parameter increased the fundamental frequencies reduced.
Figs. 26 demonstrate the variation of ve fundamental frequencies with varying of the material distribution and nonlo-
cality parameter at l/h = 100. It can be observed that, the 1st and 2nd frequency reduce with high rate where the power expo-
nent in range from 0 to 5 than that where power exponent in range between 5 and 10, as demonstrated in Figs. 2 and 3.
While the 3rd, 4th and 5th frequencies reduce have high rate in range from 0 to 2, as conrmed in Figs. 4 and 5.
The 1st frequency decreases as the nonlocality parameter increased with the same trend. Whereas, in higher frequencies
the effect of the nonlocality parameter is more obvious when increase from 0 to 3 10
12
than that nonlocality parameter
in interval between 3 10
12
and 5 10
12
, as shown in Figs. 35.
Furthermore, the power exponent is effective only in the range 05 for 3rd, 4th and 5th frequencies at a constant nonlocal
parameter.
Figs. 7 and 8 demonstrate the variation of mode number with changing of the nonlocality parameter at constant slender-
ness ratio (l/h = 50) and different material distribution. As presented, the inuence of nonlocality parameter on the nondi-
mensional frequency increased as the growing in mode number. Also, it can be deduced that, the inuence of nonlocality
parameter on the frequencies unaffected with the material distribution.
6. Conclusions
In the present study, vibration analysis of FG nanobeams based on Timoshenko beam theory is established. Nonlocal con-
stitutive equations of Eringen are being applied in the formulations to achieve the vibration performance of FG nanobeam.
Equations of motion are obtained fromthe Hamiltons principal. The newnonlocal beammodel produces smaller frequencies
than the classical (local) beammodel. Numerical results express that the nonlocal effects play an important role on the vibra-
tional behavior of the FG nanobeam. Consequently, the small scale effects should be reected in the study of dynamic behav-
ior of nanostructures. As well, it can be observed that rational selection of the value of the nonlocal parameter is also critical
to guarantee the accuracy of the nonlocal beam models. Additionally, it is observed that the power-law index has a impor-
tant effect on the vibration responses of FG nanobeam, and the dynamic behavior can be enhanced by selecting appropriate
values of the power-law index.
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