Accepted Manuscript

The analysis of nonlinear vibrations of a pipe conveying an ideal fluid

B.G. Sinir, D Dönmez Demir

PII: S0997-7546(15)00015-1
DOI: http://dx.doi.org/10.1016/j.euromechflu.2015.01.005
Reference: EJMFLU 2860

To appear in: European Journal of Mechanics B/Fluids

Received date: 22 August 2014

Revised date: 19 January 2015
Accepted date: 20 January 2015

Please cite this article as: B.G. Sinir, D. Dönmez Demir, The analysis of nonlinear vibrations
of a pipe conveying an ideal fluid, European Journal of Mechanics B/Fluids (2015),
http://dx.doi.org/10.1016/j.euromechflu.2015.01.005

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 The analysis of nonlinear vibrations of a pipe conveying an ideal
fluid

B G SINIR, *D DÖNMEZ DEMİR

Department of Civil Engineering, Celal Bayar University, Manisa, Turkey, 45140

*
Department of Mathematics, Celal Bayar University, Manisa, Turkey, 45047
gultekin.sinir@cbu.edu.tr, *duygu.donmez@cbu.edu.tr

Abstract

In this study, the non-linear vibrations of fixed-fixed tensioned pipe with vanishing flexural
stiffness and conveying fluid with constant velocity are considered. The fractional calculus
approach is introduced in the constitutive relationship of viscoelastic material. The pipe is on fixed
support and the immovable end conditions result in the extension of the pipe during vibration and
hence is introduced further nonlinear terms to the equation of motion. Analytical solutions are
obtained by using the method of multiple scales. Nonlinear frequencies versus the amplitude of
deflection are calculated. For frequencies close to one times the natural frequency, stability of
steady-state solutions is analysed.

Keywords: Nonlinear vibrations; Pipes conveying fluid; Method of multiple time scales;
Fractional derivative

1. Introduction

The dynamics of pipes conveying fluid is the subject of a great number of

scientific investigations in the last years. The results of research can be directly or
indirectly applied in the engineering fields, such as, nuclear plant, aviation,
cosmonautics, oil transportation, municipal water supply, heat exchanger devices,
etc. However, the coupling effects between fluid and structure often cause
vibration and even rupture of pipe. Therefore, many research scholars are interest
in how to get the natural frequency of pipe conveying fluid [1].
Firstly, Ashley and Haviland attempted to explain the vibrations observed
in the Trans-Arabian pipeline in the 1950s. Soon after, Feodos’ev and Housner
have started with the linear equations of motion for pipes supported at both ends
[2]. A detailed description of almost all types of problems related to pipes
conveying fluid is discussed by Paidoussis and Li [3]. Semler et al. [4] have
presented the nonlinear equations of motion of pipe conveying fluid. Wiggert et
al. [5,6] and Lesmez et al. [7] investigated the transverse vibrations in dynamic
equations of pipe. The example of a cantilevered pipe conveying fluid has been
considered by Stangl et al. [8]. They present an alternative approach for deriving
the equations of motion for pipe systems. Housner [9] considered the transverse
vibrations of pipeline conveying fluid using Euler-Bernoulli beam model. In
addition, he presented the several major factors such as the elastic restoring force,
centrifugal force, Coriolis force and inertia force affecting the vibration of
pipeline conveying fluid. Utilizing Fourier series and Galerkin methods,
Chellapilla et al. [10] computed the critical velocity of pipeline conveying fluid.
1
Zhai and Wu [11] solved the dynamic equation of Timoshenko pipeline
introducing the fluid-structure interaction and the effect of shear deformation. Öz
and Boyaci [12] considered the transverse vibrations of tensioned pipes conveying
fluid with variable velocity. Mote [13] investigated non-linear effects with
considerable influences in string vibrations when the transport velocity is close to
critical velocity. The nonlinear transverse vibrations of highly tensioned pipes
conveying fluid which assumed to have negligible flexural stiffness have been
investigated by Öz [14].
Recently, fractional calculus has encountered much success in the description of
viscoelasticity [15-17]. In order to describe the viscoelasticity, the fractional
calculus approach is very important [16,18]. The fractional viscoelastic model is
obtained by considering fractional order time derivative instead of integer order.
Therefore, the fractional derivative models can be easily constructed [19,20]. Yin
[21] considered the nondirectional oscillating flow of a viscoelastic fluid with
fractional Maxwell model. Shah [22] discussed some simple flows of a
viscoelastic fluid with fractional Burgers' model in an annular pipe.
In this study, the vibrations of highly tensioned pipe subject to external
forcing are investigated. The damping term in the nonlinear integro-differential
equation of motion for a pipe conveying fluid is modeled by fractional derivative.
The ends of the pipe are on fixed supports. The pipe conveying fluid can be
thought as a string. The fluid velocity is assumed constant. Method of multiple
time scale is used for dynamical analysis. Finally, primary resonances are
considered.

2. Mathematical model

In this study, we consider that the pipe is initially straight cables. This pipe
is straight and horizontal. Thus, the gravity forces of both the pipe and fluid have
no effect on dynamic behaviors. We consider pipe-string conveying fluid with
fixed-fixed tension. ρ f and Af represent the density and the cross-sectional areas
of fluid, respectively. Similarly, ρ p and Ap denote those of pipe. P  tˆ  is tension
forced in the pipe. v̂ is the fluid velocity which has a constant value. L is the
length of pipe. Fˆ  xˆ, tˆ  is the excitation force. There are two well-known
methods to obtain equation of motion of any structural elements such as string,
beam, plate, shell and etc.: energy method and Newton’s second law method
(force balance method). Using either variational method [23] or Newton’s second
law method [24], the governing equation is derived as
wˆ 
 
L

L 0
ρ p Ap wˆ  ρ f Af wˆ  2vˆ wˆ   vˆ 2 wˆ   Pwˆ   Apδ dx  Fˆ ( xˆ, tˆ) (1)

wˆ  0, tˆ  wˆ  L, tˆ   0 . (2)

where wˆ  xˆ, tˆ  is the displacement, x̂ , tˆ are space and time variables,

respectively. The dot expresses differentiation with respect to time t . The prime
represents differentiation with respect to space. δ( xˆ , tˆ) is the disturbed stress of
the pipe. Eq. (1) is a nonlinear-integro differential equation known as Kirchhoff
form [25]. The Lagrangian strain [24] can be obtained as

2
 1 2
eˆ  wˆ  . (3)
2
from differential geometry for straight beam in Ref. [23]. In the present
investigation, the Kelvin-Voigt viscoelastic model is considered, thus the stress-
strain relation is
 α eˆ
δ  E eˆ  ηˆ (4)
tˆα
where E is the stiffness constant which is the modulus of elasticity of the pipe, η̂
is the viscosity coefficient. The Kelvin-Voigt model with fractional derivative is
used for desiring the viscoelastic features of the string material. Substituting Eqs.
(3)-(4) into Eq. (1) and then the resulting equation is obtained as
 
ρ p Ap wˆ  ρ f Af wˆ  vˆ 2 wˆ   2vˆ wˆ   Pwˆ 
L
η̂ Ap L (5)
wˆ  D α  wˆ 2  dxˆ  fˆ ( xˆ ) cos Ω
EAp ˆ tˆ
 wˆ  wˆ 2dx 
2L 0
2L 0

where D α denotes fractional derivative of order α . ŵ , 2vˆ wˆ  and vˆ 2 wˆ  represent

local, Coriolis and centripetal acceleration components, respectively. Let us
introduce the following dimensionless variables
x̂ ŵ tˆ P r EAp
x , w , t  , εvl  ,
L r L ρ f Af  ρ p Ap L P
α
1
fˆ L2 ˆL ρ A  ρ A Lα2 2
P
εf  , ΩΩ f f p p
, η  I ηˆ (6)
rP P ρ f Af  ρ p Ap
where r and I is the radius and moment of inertia, respectively. Furthermore,
non-dimensionless fluid velocity is
ρ f Af
v  vˆ (7)
P
and the ratio of the flowing fluid mass to the total mass per unit length is
ρ f Af
β . (8)
ρ f Af  ρ p Ap
Then, the dimensionless equation describing the dynamic response of a force
driven nonlinear oscillator with the damping features governed by Kelvin-Voigt
model with a fractional derivative is
ε  2 
1 1
w   v  1 w  2 β vw 
2
w  vl  w dx  η D α  w2  dx   ε f ( x) cos Ω t
  2
(9)
2  0 0 
w  0, t   w 1, t   0 (10)
where ε is a small dimensionless parameter. Several cases can be discussed for
restricted parameter values. For limiting case β  1 , the equation of motion for a
travelling string is obtained as a special case of the second order fluid-pipe

3
system. For a stationary fluid, β  1 and v  0 , the equation of motion for non-
linear string is obtained.

3. Approximate solution

The tensioned pipe conveying fluid is analysed by using method of multiple

time scale to determine a first order perturbation solution for small ε . Assuming a
first order expansion, we write
w  x, t ;ε   w0  x, T0 , T1   ε w1  x, T0 , T1   (11)

where w0 and w1 are the displacement functions at order 1 and ε , and Tn  ε nt .

Here, t  T0 is the usual fast-time scale characterizing motions occurring at ω n ,
one of natural frequencies of the corresponding unperturbed system, and εt  T1 is
the slow-time scale characterizing the modulation of the amplitudes and phases
due to possible resonance [26]. The relationship related to time derivatives can be
written as
d / dt  D0  ε D1  , d 2 / dt 2  D02  2ε D0 D1  (12)
α
d
    D0  εD1  ε D2  
α
2
 Dα  ε α Dα1D1  (13)
 
dt
where Dn   / Tn [27]. For calculating the fractional derivative of the
exponential function, the following formula is introduced
  iω eiωt
α iωt α
DRL e (14)

where i denotes complex number 1 . This formula can be valid only in the
case if the Riemann–Liouville fractional-order derivatives are defined as follows
[28]:
d w  s  ds
t
1
 w t     t  s α .
α
DRL (15)
Γ 1  α  dt 

On the other hand, Dα , Dα1, Dα2 , represent the Riemann-Liouville fractional
derivatives. Substituting Eqs. (11)-(13) into Eq. (9) and (10), we obtain the
equations and boundary conditions in the following for first two order of ε by
neglecting higher orders.
ε0 : D02 w0   v 2  1 w0  2v β D0 w0  0 (16)

w0  0, t   w0 1, t   0 (17)

ε1 : D02 w1   v 2  1 w1  2v β D0 w1  2 D0 D1w0  2v β D1w0  f cos Ω T0

1  2  (18)
1 1
 w0  vl   w0  dx  η D0α  w0  dx 
 
2 2

2  0 0 
w1  0, t   w1 1, t   0 . (19)

Assuming that the n th mode is directly excited and no internal resonances are
actively, the generating solution of Eq. (16) can be written as
4
 w0  x, T0 , T1   An T1  X n  x  ei ωn T0  An T1  X n  x  ei ωn T0 (20)

The function X n satisfies the following equation:

1  v  X   2 i v ω
2
n n β X n  ωn2 X n  0 (21)

X n  0   X n 1  0 (22)
The natural frequency equation for fixed-fixed tensioned pipe conveying fluid is
obtained as
n π 1  v 2 
ωn  ; n  1, 2, (23)
v 2 β  1  1

Then, one obtains

i nπv β
x
v 2 β 1 1
X n  x   Cn e sin nπx ; n  1,2, . (24)

Substituting Eq. (20) into ε1 -order, one obtains


D02 w1   v 2  1 w1  2v β D0 w1  2 D1 An iω n X n  v β X n ei ωnT0   1 i ΩT0
2
fe

1  1 1

 vl2 An2 An  2 X n X n X n dx  X n X n 2dx  ei ωnT0
2  0 0 
1
1
 η  2iωn  An2 An X nei ωnT0  X n 2dx  cc  NST
α

2 0
(25)
where cc represents the complex conjugate of all preceding terms on the right
hand of the equation and NST stands for the terms that will not bring secular
terms into the solution. In the next section, two different cases will be discussed.

4. Primary resonances

4.1. Ω is away from ω n

In this case which there is no any resonance, Eq. (25) becomes


D02 w1   v 2  1 w1  2v β D0 w1   2 D1 An iωn X n  v β X n
 
1 2 2  
1 1
 vl An An  2 X n X n X n dx  X n X n 2dx 
2  0 0 
1
1

 η  2iωn  An An X n X n 2dx  eiωnT0  cc  NST
α 2

2 0 
(26)
The solution of Eq. (26) is as follows:
w1  x, T0 , T1   φn  x, T1  ei ωn T0  W  x, T0 , T1   cc (27)

5
The first term is related to secular terms and the second term is related to non-
secular terms. Substituting Eq. (27) into Eq. (26), φ n satisfies
1  v  φ  2 i v ω
2
n n 
β φn  ωn2 φ n  2 D1 An iωn X n  v β X n 
1  1 1

 vl2 An2 An  2 X n X n X n dx  X n X n 2dx  (28)
2  0 0 
1
1
 η  2iωn  An2 An X n X n 2dx
α

2 0

φn  0  0, φn 1  0 . (29)
Eq. (28) has a bounded solution only if a solvability condition holds. The
solvability condition [29] demands the orthogonal relationships
1 2 2  
 
1 1

2 D1 An iωn X n  v β X n  vl An An  2 X n X n X n dx  X n X n 2dx 

2  0 0 
(30)
1
1
 η  2iωn  An2 An X n X n 2dx, X n  0
α

2 0

where the inner product is defined for complex functions on 0,1 as

1
f , g   f g dx (31)
0
Application of the distributive law of the inner product to Eq. (28) leads to
D1 An  bn An2 An  0 (32)
where

 
1 1 1 1
1 2
vl  η  2iωn   X n X n X n dxdx  vl  X n X n X n X ndxdx
α 2 2

2
bn  0
1
0
1
0 0
. (33)
2iωn  X n X n dx  2v β  X n X n dx
0 0

Here, bn is a complex number such that bn  bnR  i bnI . Substituting the

transformation
1
An T1   an T1  ei βn (T1 ) (34)
2
into Eq. (32) and separating the resulting equation into real and imaginary parts,
1
Re : an  bnR an3  0 (35)
4
1
Im : βn  bnI an2  0 (36)
4
are obtained. Solving Eq. (35) and (36), and substituting the results obtained into
Eq. (34), the amplitude is obtained as
1  bI 
An T1   exp  i nR ln bnRT1  k0  k1  (37)
2  bnRT1  k0   2bn 

6
where k0 and k1 are any constant.

4.2. Ω is close to ω n

To analyse primary resonances, the nearness of external excitation frequency

to one of the natural frequencies is expressed as Ω  ωn  ε σ where σ is a
detuning parameter. Applying the case of primary resonances to the Eq. (25) and
substituting the Eq. (27) to the resulting equation, we have


1  v2  φn  2 i v ωn β φn  ωn2 φn  2D1 An iωn X n  v β X n  12 f eiσT1 
1  1 1

 vl2 An2 An  2 X n X n X n dx  X n X n 2 dx 
2  0 0 
1
1
 η  2iωn  An2 An X n X n 2 dx .
α

2 0
(38)
Eq. (38) has a bounded solution only if a solvability condition holds. Then, one
obtains
1
D1 An  bn An2 An  f n eiσT1  0 (39)
2
where
1

 fX n dx
fn  1
0
1
. (40)
2iωn  X n X n dx  2v β  X n X n dx
0 0
Substituting Eq. (34) into Eq. (39), then
1
an  i an βn  bn an3  f n e  1 n   0
i σT β
(41)
4
is found. Separating Eq. (41) into real and imaginary parts,
1
an   bnR an3  f nR cos γn  f nI sin γ n (42)
4
1
an γ n  an σ  bnI an3  f nI cos γ n  f nR sin γ n . (43)
4
where γn  σT1  βn and f n  f nR  i f nI . For steady-state solutions,
an  γn  0 . (44)

Thus,
an  a0 (45)
Substituting the Eq. (44) into the Eqs. (42) and (43) and eliminating γ n between
the equations, one obtains
f nR 2  f nI 2  1 R 2 
2
1
σ   bnI a02    bn a0  (46)
4 a02 4 

7
For the stability analysis of the system, Eqs. (42) and (43) are rewritten as
follows:
1
an   bnR an3  f nR cos γ n  f nI sin γ n  F1  an , γ n  (47)
4
1 1 I 1 R
γ n  σ  bnI an2  f n cos γ n  f n sin γ n  F2  an , γ n  . (48)
4 an an
To determine the stability of fixed points, the Jacobian matrix is constructed

 F1 F1 
 a γ n 
 n  (49)
 F2 F2 
 a γ n  an a0
 n γn  γ0

Eigenvalues of the Jacobian matrix should not have positive real parts for
stability. Then, the approximate solution of the system is
w  x, t;ε   an cos  Ω t  γn  X nR  an sin  Ω t  γ n  X nI  o  ε  (50)
where X n can be decomposed into its real and imaginary parts
X n  X nR  i X nI (51)
an and γ n in the approximate solution are governed by Eqs. (47) and (48).

5. Numerical Results

In this section, numerical solutions of the governing equation for a

tensioned pipe conveying fluid will be given. The effects of the foundation
vibration amplitude, nonlinearity and the viscosity coefficient on the steady-state
response are discussed. η , α and vl are the coefficients occurred in nonlinear
terms, so none of them have an effect on linear frequency values. A hardening
effect is observed in the dynamic behaviour of the pipe due to cubic nonlinearity.

5.1. Effects of fractional order on dynamic behaviour

Substituting the Eq. (37) to the Eq. (20), the supplement terms which are
changed ωn are obtained. As seen in Fig. 1, the fractional damping has an
insignificant effect on natural frequency. However, natural frequency does not
change in the case of classical damping. Here, this effect is barely noticeable. This
effect is almost lost for small and large values of α . The variation on natural
frequencies in mid values of α is bigger. In Fig. 2, the frequency-response
diagram is seen. As the value of α diminishes, it is observed that the jumping
region enlarges. In addition, the hardening effect becomes greater as α value
decreases, thus unstable region enlarges.

8
 0.4

0.3

a0
0.2

Linear


0.1



2.4 2.6 2.8 3 3.2

Natural frequency

Fig. 1. Effects of variation of α on natural frequencies for β  0.5 , v  0.5 ,

vl  1.0 , η  1.5 .

0.8



0.6




a0

0.4



0.2

-8 -4 0 4 8


Fig. 2. Frequency-responce graph for β  0.5 , v  0.5 , vl  1.0 , η  1.5 ,

f n  0.5

5.2. Effects of damping coefficient on dynamic behavior of pipe

What we stated for fractional order is even valid for the damping
coefficient. As damping coefficient η increases, its effects on natural frequency
are transparently observable in Fig. 3. As value η decreases, the damping effect
diminishes, thus the jumping region enlarges (Fig.4). Furthermore, the hardening
effect of the system increases for smaller values η .

9
 0.6

Linear




0.4



a0 0.2

2.4 2.8 3.2 3.6 4

Natural frequency

Fig. 3. Effects of variation of η on natural frequencies for β  0.5 , v  0.5 ,

vl  1.0 , α  0.6 .

0.6




0.4


a0

0.2

-8 -4 0 4 8


Fig. 4. Frequency-responce graph for β  0.5 , v  0.5 , vl  1.0 , α  0.6 ,

f n  0.5

5.3. Effects of vl on dynamic behavior of pipe

In Fig. 5, increasing value vl lift effectiveness of nonlinear terms on the

system since vl is a coefficient of nonlinear terms. This can be easily seen when
natural frequency changes with value of vl . In Fig. 6, the effect of nonlinear terms

10
increases thanks to the value of vl rises, so does the hardening effect with value
vl .

0.5

Linear vl=1.0
vl=0.5 vl=1.5
0.4

0.3
a0

0.2

0.1

2.4 2.8 3.2 3.6 4 4.4

Natural frequency

Fig. 5. Effects of variation of vl on natural frequencies for β  0.5 , v  0.5 ,

η  1.0 , α  0.6 .

0.5

vl=0.5; 1.0; 1.5; 2.0

0.4

0.3
a0

0.2

0.1

-8 -4 0 4 8


Fig. 6. Frequency-responce graph for β  0.5 , v  0.5 , η  1.0 , α  0.6 ,

f n  0.5

11
5.4. Effects of the ratio of flowing fluid mass on dynamic behavior of pipe

In Fig. 7, the ratio of flowing fluid mass has a meaningful effect on natural
frequency. Furthermore, the values β have a significant effect on nonlinear
frequency curves similar to linear frequency. As values β enlarges, the force
coming from the fluid to the system increases, thus the jumping region enlarges as
seen in Fig. 8.
0.5

0.4

0.3
a0

0.2



0.1


2.4 2.6 2.8 3 3.2 3.4

Natural frequency

Fig. 7. Effects of variation of β on natural frequencies for vl  0.5 , v  0.5 ,

η  1.0 , α  0.6 .

0.5



0.4



0.3
a0

0.2

0.1

-8 -4 0 4 8


Fig. 8. Frequency-responce graph for vl  1.0 , v  0.5 , η  1.0 , α  0.6 , f n  0.5

12
 5.5. Effects of fluid velocity on dynamic behavior of pipe

Those mentioned for the ratio of flowing fluid mass can be also said for
fluid velocity. Altering of fluid velocity has very important impact on the natural
frequency of the system. Similar impact on nonlinear frequency can be also
observed in Figure 9. As the fluid velocity increases, linear natural frequency
decreases. The system which the velocity reaches to a critical level is exposed to
divergence. In this study, super-critical region cases are not studied. But, it is
clearly observable that the effect of nonlinear terms increases via the increasing
velocity. Furthermore, the fluid applied to the system increases. Thus the unstable
region enlarges as seen in Figure 10. As the effect of velocity on nonlinear terms,
the hardening effect of the system increases along with the fluid velocity. This is
due to the cubic nonlinearity existing in the system.
0.8

0.6

v=0.2
v=0.5
v=0.8
a0

0.4

0.2

1 2 3 4 5
Natural frequency

Fig. 9. Effects of variation of v on natural frequencies for vl  0.5 , β  0.5 ,

η  1.0 , α  0.6 .

13
 0.8

v=0.8

0.6

v=0.5

a0
0.4

v=0.2

0.2

-8 -4 0 4 8


Fig. 10. Frequency-responce graph for vl  1.0 , β  0.5 , η  1.0 , α  0.6 ,

f n  0.5

6. Conclusion

In this study, the dynamic analysis of fractional viscoelastic pipe conveying

fluid is examined. The dynamic behaviour of the pipe in subcritical region is
investigated. For fractional order derivative, the Riemann-Liouville fractional
derivative definition is used. The method of multiple time scales as a perturbation
technique is directly applied to solve the equation of motion. As a result of the
dynamic analysis, it has been observed that the fractional viscosity unlike classic
viscosity has even insignificantly changed the natural frequency of the system. As
the value vl increases, the effect of nonlinear terms on dynamic behaviour of pipe
rises, then the system shows hardening behaviour and the nonlinear frequency is
rapidly changed. The fluid velocity and the ratio of flowing fluid mass have an
important effect on both linear and nonlinear frequencies.

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16
 0.4

0.3

a0
0.2

Linear


0.1



2.4 2.6 2.8 3 3.2

Natural frequency

Fig. 1. Effects of variation of α on natural frequencies for β  0.5 , v  0.5 , vl  1.0 ,

η  1.5 .
0.8



0.6




a0

0.4



0.2

-8 -4 0 4 8


Fig. 2. Frequency-responce graph for β  0.5 , v  0.5 , vl  1.0 , η  1.5 , f n  0.5

17
 0.6

Linear




0.4



a0 0.2

2.4 2.8 3.2 3.6 4

Natural frequency

Fig. 3. Effects of variation of η on natural frequencies for β  0.5 , v  0.5 , vl  1.0 ,

α  0.6 .
0.6




0.4


a0

0.2

-8 -4 0 4 8


Fig. 4. Frequency-responce graph for β  0.5 , v  0.5 , vl  1.0 , α  0.6 , f n  0.5

18
 0.5

Linear vl=1.0
vl=0.5 vl=1.5
0.4

0.3

a0
0.2

0.1

2.4 2.8 3.2 3.6 4 4.4

Natural frequency

Fig. 5. Effects of variation of vl on natural frequencies for β  0.5 , v  0.5 , η  1.0 ,

α  0.6 .
0.5

vl=0.5; 1.0; 1.5; 2.0

0.4

0.3
a0

0.2

0.1

-8 -4 0 4 8


Fig. 6. Frequency-responce graph for β  0.5 , v  0.5 , η  1.0 , α  0.6 , f n  0.5

19
 0.5

0.4

0.3

a0
0.2



0.1


2.4 2.6 2.8 3 3.2 3.4

Natural frequency

Fig. 7. Effects of variation of β on natural frequencies for vl  0.5 , v  0.5 , η  1.0 ,

α  0.6 .
0.5



0.4



0.3
a0

0.2

0.1

-8 -4 0 4 8


Fig. 8. Frequency-responce graph for vl  1.0 , v  0.5 , η  1.0 , α  0.6 , f n  0.5

20
 0.8

0.6

v=0.2
v=0.5
v=0.8

a0
0.4

0.2

1 2 3 4 5
Natural frequency

Fig. 9. Effects of variation of v on natural frequencies for vl  0.5 , β  0.5 , η  1.0 ,

α  0.6 .
0.8

v=0.8

0.6

v=0.5
a0

0.4

v=0.2

0.2

-8 -4 0 4 8


Fig. 10. Frequency-responce graph for vl  1.0 , β  0.5 , η  1.0 , α  0.6 , f n  0.5

21