Research Article: Exact Static Analysis of In-Plane Curved Timoshenko Beams With Strong Nonlinear Boundary Conditions
Research Article: Exact Static Analysis of In-Plane Curved Timoshenko Beams With Strong Nonlinear Boundary Conditions
Research Article: Exact Static Analysis of In-Plane Curved Timoshenko Beams With Strong Nonlinear Boundary Conditions
Research Article
Exact Static Analysis of In-Plane Curved Timoshenko Beams
with Strong Nonlinear Boundary Conditions
Copyright 2015 S.-Y. Lee and Q.-Z. Yan. This is an open access article distributed under the Creative Commons Attribution
License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly
cited.
Analytical solutions have been developed for nonlinear boundary problems. In this paper, the shifting function method is applied to
develop the static deflection of in-plane curved Timoshenko beams with nonlinear boundary conditions. Three coupled governing
differential equations are derived via the Hamiltons principle. The mathematical modeling of the curved beam system can be
decomposed into a complete sixth-order ordinary differential characteristic equation and the associated boundary conditions. It is
shown that the proposed method is valid and performs well for problems with strong nonlinearity.
1. Introduction and Urgueira [10] derived the dynamic stiffness matrices for
the out-of-plane vibration of curved beams using dynamic
Curved beam structures are widely used in engineering fields, equilibrium equations. Lee and Chao [11] developed the
such as mechanical, civil, and aerospace engineering. Reviews exact out-of-plane vibration solutions of curved nonuniform
of research on such structures have been conducted by Hen- beams. In the book by Cook and Young [12], the exact static
rych [1], Markus and Nanasi [2], Chidamparam and Leissa analysis of extensional circular curved Timoshenko beams
[3], and Auciello and De Rosa [4]. The in-plane and out-of- with some special conditions was revealed. Based on the
plane problems of plane curved beams have been studied. generalized Green function, Lin [13] developed the exact
In most general problems, they are coupled. However, if the solution of extensible curved Timoshenko beams. Lee and
cross section of the curved beam is doubly symmetric and Wu [14] studied the exact in-plane vibration solutions of
the plane is a principal plane of the cross section, then the extensible curved nonuniform Timoshenko beams.
in-plane and out-of-plane problems are uncoupled. For the beams with time dependent boundary conditions,
Many investigators have studied linear problems about Lee and Lin [15] generalized the solution method of Mindlin
the static and free vibration behaviors of curved beams.
and Goodman [16] and developed the shifting function
Washizu [5] obtained the equations for the coupled motions
method to study the problems with general time dependent
of a curved and pretwisted bar. Rao [6] used Hamiltons
elastic boundary conditions. Recently, Lee et al. [17, 18] extend
principle to derive the governing equations of motion in
consideration of the effects of rotatory inertia and shearing the shifting function method to study the exact large deflec-
deformation. Fettahlioglu and Mayers [7] studied the static tion of a Bernoulli-Euler beam and Timoshenko beam with
deflection of a ring. Bickford and Maganty [8] used a nonlinear boundary conditions. From the existing literatures,
formulation similar to that of Rao and developed equa- it shows that exact solutions for curved beam problems with
tions of motion for out-of-plane vibrations of symmetrical nonlinear boundary conditions are not available.
cross-section thick rings, accounting for curvature variation In the previous studies [17, 18], the governing differ-
through the thickness. Their frequency predictions were ential equations are fourth-order differential equations. In
validated with the experimental data of Kuhl [9]. Based on the the present study, one extends the previous studies and
moment-displacement relationships presented by Rao, Silva the shifting function method [15] to study the exact large
2 Mathematical Problems in Engineering
Pv (s)
z (s) Pu (s)
u(s) Mz(s)
v(s)
r
s=0 f2 f6 s = L
KL , KNL KVL , KNVL R KVR, KNVR KR , KNR
f3 0 f5
f4 r
f1
KUL, KNUL KUR, KNUR
z
r
dA
Figure 1: Geometry and coordinate system of uniform curved beam with nonlinear boundary conditions, subjected to loads V (), (), and
() in , , and directions, respectively.
static deflection of in-plane curved Timoshenko beams with Substituting (1) into the strain-displacement relations in
nonlinear boundaries. The beam with doubly symmetric cylindrical coordinates, only two nonzero strains, namely,
cross section is considered. The three coupled governing and , are obtained:
differential equations for the in-plane curved uniform beams V
of constant radius are derived via Hamiltons principle. These = [( ) ] ,
three coupled governing differential equations are decoupled
(2)
and reduced into a sixth-order differential equation with V
nonlinear boundary conditions. Consequently, the shifting = ( + ) .
function method is extended and applied to develop the exact
solution of the system. It can be shown that the proposed When is small in comparison with , the two strains
method is valid for problems with strong nonlinearity. reduce to
V
= ( ) ,
2. Mathematical Modeling of (3)
the Curved Beam System V
= ( + ) .
Consider the static response of an extensional curved uni-
The strain energy of the curved beam is
form Timoshenko beam resting on an elastic foundation
with nonlinear boundary conditions, subjected to loads V (), 1 V 2 V
(), and (), as shown in Figure 1. If the thickness of = [( ) 2 ( )
2 0
the curved beam is small in comparison with the radius of
the curved beam without considering the warping effects, 2 1 V
the displacement fields of the curved beam in cylindrical + 2 ( ) ] + ( + (4)
2 0
coordinates are
2
(, , ) = V (s) , ) ,
where denotes the second area moments of inertia of the The associated boundary conditions are as follows:
curved beam section about the -axes.
(i) At = 0
Considering the linear and nonlinear spring and moment
on the boundary of the curved beam end and the force and V
moment loads on the curved beam, the potential energy and V V3 + ( + ) = 1 ,
work are, respectively,
V
3 + ( ) = 2 , (10)
3
= [ V (0) + V (0)] V (0)
3 3 + ( ) = 3 .
+ [ V () + V ()] V ()
(ii) At =
+ [ (0) + 3 (0)] (0)
V
(6) V + V3 + ( + ) = 4 ,
+ [ () + 3 ()] ()
V
+ 3 + ( ) = 5 , (11)
+ [ (0) + 3 (0)] (0)
+ 3 + ( ) = 6 .
3
+ [ () + ()] () ,
In terms of the following nondimensional quantities,
= [V () V () + () () + () ()] V
0 () = ,
(7)
+ 1 V (0) + 2 (0) + 3 (0) + 4 V ()
() = ,
+ 5 () + 6 () ,
() = ,
where , , , , , and are the linear spring
and rotational stiffness constants in the , , and directions V 3
at the left and right ends of the curved beam, respectively. V () = ,
, , , , , and are the nonlinear
spring and rotational stiffness constants in the , , and 3
directions at the left and right ends of the curved beam, () = ,
respectively. V (), (), and () are the force and moment
loads in the , , and directions, respectively, and 1 , 2 , 2
3 , 4 , 5 , and 6 are the force and moment loads in the , , () = ,
and directions at the left and right ends of the curved beam,
respectively. 1 2
The general form of Hamiltons principle is 1 = ,
2
( + ) = 0. 2 2
1
(8) 2 = ,
Based on Hamiltons principle, the governing differential 3
equations and the associated boundary conditions for the 3 = ,
curved uniform Timoshenko beam can be derived. The
governing differential equations for the in-plane are three 4 2
coupled differential equations: 4 = ,
2 V 1 V 5 2
( 2
+ ) ( ) = V , 5 = ,
2 1 V V 6
( )+ ( + ) = , (9) 6 = ,
2
2 V 3
( 2
) ( + ) = . = ,
4 Mathematical Problems in Engineering
3 1
= , + 3 + ( + 0 ) = 4 , (19)
5
= , + 3 + ( 0 ) = 5 , (20)
3 + 3 + = 6 . (21)
= ,
1
= , = { (4) + 3 (2) + 1 0 2
0 1 2
1 1
+ [ 0 2 ( + )] (22)
= ,
(1) 1 (2)
0 = , + 2 (2 0 V + + 0 )} ,
1 1 1 1
= (5) (3) + (1) + V
= , 3
0 1 0 1 0 0 2
2
2 (2) (1) 1 1 (3)
2 V + 2 ( (23)
= , 0 2 1 0 1 0 3 1
(1)
+ 0 ) ,
= ,
(12)
where the notation () denotes the th-order differentiation
with respect to . Consider
the nondimensional coupled governing characteristic differ-
ential equations are 1
1 = 1 + 0 2 ( + ) ,
1 2 1
( 2 + 0 ) 0 ( 0 ) = V , (13) 2 = + , (24)
2 1
( 0 ) + 0 ( + 0 ) = , (14) 3 = 1 + 20 2 ( + ) .
2
1
= [( 2 0 2 ) 6
0 1 () = () + () , (28)
=1
(1) 1 (2)
+ 2 (2 0 V + + 0 )]
where
1 1 (1)
[( 2 0 2 )
0 1 1 = 3 (0) ,
(2) 1 (3) (1)
+ 2 (2 0 V + + 0 )] 3 . 2 = 3 (0) ,
3 = 3 (0) ,
(ii) At = 1 (29)
(5) 1 (4) (3) 0 (2) 4 = 3 (1) ,
+
0 3 1 1 0 0 1 1 0
5 = 3 (1) ,
1 2 (2)
(1) + 3 = [ V V 6 = 3 (1) ,
0 2 0 2 1
1 1 1
(5) + (3) = ,
2
= 2, 0 = [( 2 0 2 )
1 0 1 0 1
2 (5) 2 (4) (1) 1 (2)
+ 3 (3) 3 (2) + 2 (2 0 V + + 0 )]
0 1 0 1 0 1 0 1
+ 0 (1) 0 = , = 3,
1 1
[( 2 0 2 )
(1)
0 1
(34)
(2) 1 (3) (1)
+ 2 (2 0 V + + 0 )] 3 .
(ii) at = 1
(37)
(5) 1
(4) (3) 0 (2)
0 3 1 1 0 0 1 1 (ii) At = 1
1 1 1 2 (2) (1)
(5) + (3) + = , = 5, (35) = [ V V + 2
1 0 2 1 0 2 0 2 1 0 1
+ 0 (1) + 0 = , = 6, +
1 (2)
2 0 2 0 2 ) + + 4 ,
0
where is a Kronecker symbol, then the differential equa- 1 (5) 1 (3) 1 (2)
2
+ + = (2 V
tion (30) and the associated boundary conditions (31)-(32) 1 0 1
1 0
can be reduced to
1 (3) (1) (1) 1
+ 2 0 + ) + V + 5 , (38)
(6) + 20 2 (4) + 0 4 (2) 0 0
(1) (3) (2) 2 (5) 2 (4)
= 0 V 2 0 V 0 2 + 0 2 (36) + + 3 (3) + 3 (2) + 0 (1)
0 1 0 1 0 1 0 1
1 (4) (2)
0 3 0 . 1
+ 0 = [( 2 0 2 )
0 1
(1) 1 (2)
(i) At = 0 + 2 (2 0 V + + 0 )]
1 (4) (3) 0 (2) (1) 1 1 (1)
3
(5) + [( 2 0 2 )
0 1 0 1 0 1 1 0 0 1
1 2 (2) (1)
+ 2 (2 0 V
(2) 1 (3) (1)
+ + 0 )] + 6 .
= [
2 V 2
V + 2
0 0 1
0 1
+
1 (2)
2 0 2 0 2 ) + 1 , () = () + 3 (0) 1 () + 3 (0) 2 ()
0
+ 3 (0) 3 () 3 (1) 4 () (39)
1 (5) 1 (3) 1 (2)
+ = (2 V
1 0 2 1 1 0 3 (1) 5 () 3 (1) 6 () .
1 (3) (1) (1) 1 Substituting (39) into (22) and (23) yields the solutions
+ 2 0 + ) + V 2 , () and (). It can be observed that final solutions include
0 0
the superposition of the linear and the nonlinear parts. The
2 (5) 2 (4) shifting function method can deal with the nonlinear parts of
+ 3 (3) 3 (2) + 0 (1)
0 1 0 1 0 1 0 1 the boundary conditions very well.
8 Mathematical Problems in Engineering
= 5 = 6 = 0, (40) (i) At = 0
1
= ( (4) + 3 (2) + 1 0 2 ) , (ii) At = 1
0 1 2
(41) 1 (4) (3) 0 (2) (1)
1 (5) 1 1 (5) +
= 3
(3) + (1) + . 0 3 1 1 0 0 1 1 0
0 1 0 1 0 0 2
The complete sixth-order ordinary differential character- = 2
+ 4 ,
0
istic equation in (25) and the associated boundary conditions (48)
in (26)-(27) become 1 (5) 1 (3)
+ = ,
1 0 2 1 0
(6) + 20 2 (4) + 0 4 (2) = 0. (42)
2 (5)
+ 3 (3) + 0 (1) = 0.
0 1 0 1
(i) At = 0
It can be found that the function () is
(5) 2 (3) 2 (1)
+ 0 0 1 = 0 1 , () = 1 + 2 + 3 sin (0 ) + 4 cos (0 )
= 0, (49)
(43) + 5 sin (0 ) + 6 cos (0 ) ,
3 (2) 0 2 1
(4) + + = 0. where 1 , 2 , 3 , 4 , 5 , and 6 are given in Appendix.
2 2
The shifting function 4 () satisfies the following differ-
ential equation and boundary conditions:
(ii) At = 1
4 (6) + 20 2 4 (4) + 0 4 4 (2) = 0. (50)
(5) 1 (4) (3) 0 (2)
0 3 1 1 0 0 1 1
(1) (i) At = 0
+ + 3 = 2 + 4 ,
0 0
(44) 4 (5) + 0 2 4 (3) 0 2 1 4 (1) = 0,
1 1
(5) + (3) = ,
1 0 2 1 0 4 = 0,
(51)
2
2 (5) 3 (2) 0 1
+ 3 (3) + 0 (1) = 0. 4 (4) + + = 0.
0 1 0 1 2 4 2 4
Mathematical Problems in Engineering 9
where 1 , 2 , 3 , 4 , 5 , and 6 are given in Appendix. Table 2: Neutral axis displacements in and directions and angle
Substituting (45), (49), and (53) into (41) yields the exact of rotation due to bending in direction for curved beam with linear
solutions of (), (), and (), respectively. and nonlinear boundaries subjected to uniform load in direction
Considering uniform straight Timoshenko beams as 0 = [0 = /2, = 100, = 0.01, = 1, = 1, 4 = 0, = 1].
0 and 4 = 0 with (41), (45), (49), and (53), one has
() () ()
1 0 0.00000 0.00000 0.00000
() = 1 + 2 2 + 3 , 0.00037
6 0.1 0.03283 0.00236
(54) 0.2 0.00004 0.05949 0.00767
(3 12 + 121 + 82 2 482 ) 0.3 0.00140 0.08033 0.15178
() = ,
24 0.4 0.00423 0.09584 0.02411
0.5 0.00860 0.10662 0.03372
where 0.6 0.01455 0.11342 0.04331
0.7 0.02201 0.11705 0.05228
12 + 24 3 (1)
1 = , 0.8 0.03083 0.11844 0.06011
8 (3 + + 3 ) 0.9 0.04079 0.11854 0.06643
(55)
24 24 3 (1) + 5 + 12 1.0 0.05161 0.11835 0.07101
2 = .
16 (3 + + 3 )
where
With both linear and nonlinear spring stiffness constants
being zeros (i.e., = = 0), (54) reduce to 12 + 24 3 (1)
3 = ,
8 (3 + )
3 32 + 3 (58)
() = , 24 24 3 (1) + 5
6 4 = .
(56) 16 (3 + )
4 43 + 6 (1 2) 2 + 24
() = .
24 It is the exact nondimensional deflection of cantilevered
Timoshenko and Bernoulli-Euler curved beams subjected to
For a Bernoulli-Euler beam without shear deformation uniform nondimensional distributed load . Equations (54)
(i.e., = 0), (54) and (55) reduce to (58) are exactly the same as those given by Lee et al. [18].
Table 1 shows that the exact solutions of the shifting
1 function method are the same as Lins results [13]. With
() = 3 + 4 2 + 3 , increasing distributed load, the amount of deflection in the
6
(57) direction increases at a given location on the curved beam.
(3 + 123 + 82 4 ) Table 2 shows the neutral axis displacements in the and
() = , directions and the angle of rotation due to bending in
24
10 Mathematical Problems in Engineering
4.5
4
3.5
3
V( = 1)
2.5
2
1.5
1
0.5
0
0 5 10 15 20 25 30 35 40 45 50
P
VR = 0, NVR = 0 VR = 1, NVR = 1
VR = 1, NVR = 0 VR = 1, NVR = 10
Figure 2: Deflections in direction at right end of curved beam (0 = /2) varying with the uniform load for various boundary conditions
and constants [ = 100, = 0.01, 4 = 0].
2.5 0.1
0.09
2 0.08
0.07
1.5
V( = 1)
V( = 1)
0.06
1 0.05
0.04
0.5 0.03
0.02
0 0.01
0 5 10 15 20 25 30 35 40 45 50 0 0.5 1 1.5 2 2.5 3
P 0
Figure 3: Deflections in direction at right end of curved beam Figure 4: Deflections in direction at right end of curved beam
varying with the uniform load for various center angles and varying with center angles for various boundary conditions and
constants [ = 100, = 0.01, = 1, = 1, 4 = 0]. constants [ = 100, = 0.01, 4 = 0, = 1].
the direction. The curved beam with linear and nonlinear the value of the deflection is less than 1, a linear spring has a
boundaries has lower deflection in the direction compared greater effect than that of a nonlinear spring. On the contrary,
to that of a beam without such boundaries. if the value of the deflection is over 1, a nonlinear spring has
Of note, for the curved beam subjected to uniform load in a greater effect than that of a linear spring.
the direction, the deflections at the right end of the curved
beam vary, as shown in Figures 24. According to (45), (49),
and (53), the nonlinear spring stiffness constant is zero, and
5. Conclusion
thus it is reasonable that the deflection at the right end of In this paper, the shifting function method is applied to
the curved beam is linearly related to uniform load in the develop the static deflection of in-plane curved Timoshenko
direction. When the nonlinear spring stiffness constant is beams with nonlinear boundary conditions. Three coupled
nonzero value, the relationship can be curvilinear. The spring
governing differential equations are derived via Hamiltons
at the right end of the curved beam is strong enough to
principle and decomposed into a complete sixth-order ordi-
reduce the deflection variation, as shown in Figure 2. Figure 3
shows the influence of curvature on the static deflection of nary differential characteristic equation that depends on the
the beam in the direction for a given set of boundary neutral axis displacement in the direction. The explicit rela-
conditions. When the center angle is increased, the deflection tions among the neutral axis displacement in the direction,
will decrease. The curved beam itself can be regarded as a the angle of rotation due to bending in the direction, and the
spring mechanism. Figure 4 shows that the center angle and neutral axis displacement in the direction are revealed. An
boundary conditions significantly affect deflection in the example was used to illustrate the analysis. It can be found
direction. If the load on the curved beam is insufficient and that the center angle and the linear and nonlinear spring
Mathematical Problems in Engineering 11
(20 2 1 ) sin (0 )
3 = ,
2 cos (0 )
4 = ,
Q
0 1 cos (0 )
5 = ,
0 1 sin (0 )
6 = ,
where References
= (20 2 + 1 ) 0 [1] J. Henrych, The Dynamics of Arches and Frames, Elsevier,
(A.2)
+ [ (23 31 ) 20 2 ] sin (0 ) cos (0 ) . Amsterdam, The Netherlands, 1981.
[2] S. Markus and T. Nanasi, Vibrations of curved beams, Shock
and Vibration Digest, vol. 13, no. 4, pp. 314, 1981.
Conflict of Interests
[3] P. Chidamparam and A. W. Leissa, Vibrations of planar curved
The authors declare that there is no conflict of interests beams, rings, and arches, Applied Mechanics Reviews, vol. 46,
regarding the publication of this paper. no. 9, pp. 467483, 1993.
[4] N. M. Auciello and M. A. De Rosa, Free vibrations of circular
Acknowledgment arches: a review, Journal of Sound and Vibration, vol. 176, no. 4,
pp. 433458, 1994.
It is gratefully acknowledged that this research was supported [5] K. Washizu, Some considerations on a naturally curved and
by the National Science Council of Taiwan, under Grant twisted slender beam, Journal of Mathematics and Physics, vol.
MOST 103-2218-E-006-016. 43, no. 2, pp. 111116, 1964.
12 Mathematical Problems in Engineering
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