American Institute of Aeronautics and Astronautics

1
Structural Dynamic Analysis of Cyclic Symmetric Structures

Eric R. Christensen, Ph.D.
*

Senior Systems Engineer, SAIC, Huntsville, AL 35806
This paper discusses the theory for the dynamic analysis of simple rotationally symmetric
structures showing how the problem can be reduced to the analysis of a single segment. The
rotational transformation equations are derived and then inverted to obtain the decoupled
harmonic equations of motion. Using inter-segment compatibility, the degrees of freedom
are reduced to an independent set and the equations of motion are solved. Some special
relationsheip between the harmonics and the modal displacements are derived including the
relationship between the mode shapes for certain harmonics and the shape of the lateral
displacements around the circumference of the structure. Examples including an analysis of
the space shuttle main engine fuel turbopump third stage impeller are included.
I. Introduction
A structure is defined as symmetric if the application of an operation such as reflection, inversion or rotation does
not change the original configuration of the structure. There are several different types of symmetry that often occur
in the engineering analysis of structures. The three most common symmetries are reflective (or mirror) symmetry,
anti-symmetry (inversion), and cyclic symmetry A cyclically symmetric structure is one which possesses rotational
symmetry, i.e., the original configuration is obtained after the structure is rotated about the axis of symmetry by a
given angle. Examples of cyclic symmetry are shown in Fig. 1. A simple 45
o
rotational symmetry is illustrated in
Fig. 1(a). Fig 1(b) illustrates the special case of dihedral symmetry in which each segment also has a plane of
reflective symmetry. Note that in order for a structure to be structurally symmetric, the symmetry must be with
respect to all the physical properties of the structure, not just the geometry.

This paper is devoted to a discussion of the dynamics of simple cyclically symmetric structures such as the one
illustrated in Fig. 1(a). This type of cyclic symmetry is especially important in the analysis of turbomachinery and
other rotating components. Special relationships regarding the mode shapes will be derived and examples given.

One of the earliest treatments of this subject was given by MacNeal and Harder
1
in a discussion of the addition of
cyclic symmetry capability to NASTRAN. Another early reference by Evensen
2
on the vibrations of multi-

*
Senior Systems Engineer, Applied Technology Group, 675 Discovery Dr Suite 300, Huntsville, AL35806, AIAA
Associate Member
Segment 1
Segment 2
Segment n
Segment N
Side A
S
id
e
B
S
id
e
A
S
id
e
B
(a) Simple Rotational Symmetry (b) Dihedral Rotational Symmetry
Segment 1
Segment 2
Segment n
Segment N
Side A
S
id
e
B
S
id
e
A
S
id
e
B
Segment 1
Segment 2
Segment n
Segment N
Side A
S
id
e
B
S
id
e
A
S
id
e
B
(a) Simple Rotational Symmetry (b) Dihedral Rotational Symmetry
Figure 1. Cyclic Symmetry
46th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics & Materials Confer
18-21 April 2005, Austin, Texas
AIAA 2005-1865
Copyright 2005 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

American Institute of Aeronautics and Astronautics

2
symmetric structures discusses symmetry concepts in general but also has some examples that are cyclically
symmetric. Irons and Ahmad devoted an entire chapter of their book
3
to a discussion of symmetry that includes a
short discussion of sectorial symmetry and also a discussion of vibration of symmetric structures. A discussion of
the dynamics of rotationally periodic structures has been given by Thomas
4
.

In solving the rotational symmetry problem, we will transform the problem into a different set of unknowns that will
allow us to decouple the equations of motion for each segment and solve them independently. In order to do this we
will first derive the transformation equations and then derive the inverse transformation equations. Using the
transformed equations we will then eliminate the quantities that are redundant between segments using inter-
segment compatibility equations. This will allow us to then derive a set of decoupled, independent segment
differential equations.
II. Theory for Rotational Symmetry

Each segment of the structure in Fig. 1(a) has a side A and a side B, with side B of Segment n being identical to side
A for Segment n+1. In the following, a vector quantity is indicated by being enclosed in brackets {} and a matrix
quantity is enclosed by square brackets [ ]. Assuming that a finite element (or other discrete) model for a segment
has been created, we can define the following quantities for segment n:

( ) { } t u
n
= Vector of displacements in segment n

[ ] M = Segment mass matrix (same for all segments)

[ ] K = Segment stiffness matrix (same for all segments)

( ) { } t P
n
= Segment applied force vector (including boundary forces on Sides A and B)

Neglecting damping (which can be added later as modal damping), the equation of motion for segment n can be
written as follows:

[ ]{ } [ ]{ } { }
n n n
P u K u M + & & n = 1, 2, 3, , N (1)

The usual form of the Fourier series for a continuous function f(x) defined in 0 < x < L is

( )

,
_

+ +
1
0
2
sin
2
cos
k
k k
L
x
b
L
x
a a x f

(2)

Where a
k
and b
k
are constants . For the cyclically symmetric structure, the discrete domain 1 < n < N is analogous to
the continuous domain 0 < x < L and the continuous function f(x) is analogous to the set of discrete functions
{ } { } { }
N
u u u , , ,
2 1
L which can be expressed as the following discrete Fourier series:

{ } { } { }
( )
{ }
( )
1
]
1

N
n k
b
N
n k
a a u
k k
k
k
n
1 2
sin
1 2
cos
max
1
0

(3)

The value of kmax should be chosen so that the total number of unknown displacement vectors on the left side of
Eq(3) is the same as the total number of unknown displacement vectors on the right hand side of Eq(3). Since n
ranges from 1 to N, the total number of unknown displacement vectors on the left hand side of the equation is N.
The unknowns on the right hand side of the equation are { }
0
a , { }
k
a and { }
k
b where k = 1 to kmax. Therefore,

American Institute of Aeronautics and Astronautics

3
2
kmax
N
if N is even and
2
1
kmax

N
if N is odd. The values of k are commonly referred to as
harmonics, i.e., the displacement harmonic zero is { }
0
a and harmonics 1 through
2
N
are found from { }
k
a and
{ }
k
b .

The { }
k
a and { }
k
b terms can be found by an inverse transformation of Eq(3) is much the same way as the inverse
transformation for Eq(2) except that summations are used instead of integrals. Using these inverse transformation
equations and the inter-segment compatibility equations we can derive a set of decoupled segment equations of
motion that involve only a single segment mass and stiffness terms. This will greatly decrease the size of the
matrices involved in the analysis since only a single segment needs to be modeled.

For convenience, rename the unknown Fourier coefficients as follows:

{ } { }
0
0
u a (4a)
{ } { }
kc
k
u a (4b)
{ } { }
ks
k
u b (4c)
{ } { }
2 /
2 /
N
N
u a (4d)

Now sum each side of Eq(3) over n from1 to N and use some summation identities
5
to solve for { }
0
u ,

{ } { }

N
n
n
u
N
u
1
0
1
(5)

To solve for { }
kc
u , multiply each side of Eq(3) by
( )
N
n r 1 2
cos

, where r = 1, 2, . . . , m, and then sum n
from 1 to N. Again, using summation identities from Ref. 5 we can solve for { }
kc
u as

{ } { }
( )
N
n k
u
N
u
N
n
n kc
1 2
cos
2
1

(6)

In a similar manner we can solve for { }
ks
u by multiplying each side of Eq(3) by
( )
N
n r 1 2
sin

, and summing
n from 1 to N,

{ } { }
( )
N
n k
u
N
u
N
n
n ks
1 2
sin
2
1

(7)

Finally, if N is even, we can determine { }
2 / N
u by multiplying each side of Eq(3) by ( )
1
1

n
and then summing
over n from 1 to N. Using summation identities from Ref. 5, { }
2 / N
u is found to be

{ } ( ) { }

N
n
n n N
u
N
u
1
1 2 /
1
1
(8)

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4

Similar inverse transformation equations exist for other variables such as forces and moments. The values of k are
commonly referred to as harmonics, i.e., the displacement harmonic zero is found from Eq(5), harmonics 1 through
m are found from Eqs(6) and (7) and the (N/2)th harmonic is given by Eq(8).

The equation of motion for segment n is given by Eq(1). If we were to sum each term in Eq(1) over n and then
divide each term by N, the following would result:

[ ] { } [ ] { } { }
,
_

,
_

+
,
_

N
n
n
N
n
n
N
n
n
P
N
u
N
K u
N
M
1 1 1
1 1 1
& & (9)

Using Eq(5), Eq(9) can be rewritten in terms of the zeroth harmonic as

[ ]{ } [ ]{ } { }
0 0 0
P u K u M +
& &
(10)

If we multiply each term in Eq(1) by
( )
N
n k
N
1 2
cos
2
and then sum over n we obtain the following:

[ ] { }
( )
[ ] { }
( )
{ }
( )

,
_

,
_

+
,
_

N
n
n
N
n
n
N
n
n
N
n k
P
N
N
n k
u
N
K
N
n k
u
N
M
1
1 1
1 2
cos
2
1 2
cos
2 1 2
cos
2

& &
(11)

Using Eq(6), Eq(11) can be rewritten in terms of the kth harmonic cosine component as

[ ]{ } [ ]{ } { }
kc kc kc
P u K u M +
& &
(12)

The same thing can be done for the sine term to yield

[ ]{ } [ ]{ } { }
ks ks ks
P u K u M +
& &
(13)

Finally, multiplying each term in Eq(1) by ( )
1
1
1

n
N
and then summing over n results in
[ ] ( ) { } [ ] ( ) { } ( ) { }
,
_

,
_

+
,
_

N
n
n n
N
n
n n
N
n
n n
P
N
u
N
K u
N
M
1
1
1
1
1
1
1
1
1
1
1
1
& & (14)

Using Eq(8) in Eq(14) yields the differential equation for the (N/2)th harmonic:

[ ]{ } [ ]{ } { }
2 / 2 / 2 / N N N
P u K u M +
& &
(15)

Next, consider two adjacent segments n and n + 1. The inter-segment compatibility equations are

{ } { }
n
B
n
A
u u
+1
(16)

{ } { } { } { }
n
B
n
A
n
B
n
A
F F P P +
+ + 1 1
(17)


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5
where { } { }
n
B
n
A
F F
+1
is the applied load vector at the boundary (i.e., it does not include the inter-segment forces).
In order to write the segment differential equations of motion in terms of independent degrees of freedom, we need
to eliminate either { }
A
u or { }
B
u . Since it doesnt matter which one is eliminated, we will choose to eliminate
{ }
B
u by solving for { }
B
u in terms of { }
A
u . We can use Eqs(3)-(4) to evaluate the displacements on the
boundaries A and B in terms of their harmonic components:

{ } { } { } { } ( ) { }
2 /
1
0 1
1
2
sin
2
cos
N
A
n ks
A
kc
A
m
k
A
n
A
u
N
n k
u
N
n k
u u u +
1
]
1

+ +

+

(18)

{ } { } { }
( )
{ }
( )
( ) { }
2 / 1
1
0
1
1 2
sin
1 2
cos
N
B
n ks
B
kc
B
m
k
B
n
B
u
N
n k
u
N
n k
u u u

+
1
]
1

+


(19)

The sine and cosine terms in Eq(2.52) can also be written as follows:

( ) ( ) ( )
N
k
N
n k
N
k
N
n k
N
k
N
n k
N
n k 2
sin
1 2
sin
2
cos
1 2
cos
2 1 2
cos
2
cos

1
]
1

(20)

( ) ( ) ( )
N
k
N
n k
N
k
N
n k
N
k
N
n k
N
n k 2
sin
1 2
cos
2
cos
1 2
sin
2 1 2
sin
2
sin

+

1
]
1

(21)

Now, substitute Eqs(20) and (21) into Eq(18), and then substitute Eq(18) into Eq(16) to yield the following
displacement compatibility equation:

{ } { }
( )
{ }
( )
{ }
( )
{ }
( )
( ) { }
{ } { }
( )
{ }
( )
( ) { }
2 / 1
1
0
2 / 1
1
0
1
1 2
sin
1 2
cos
1 ]
2
sin
1 2
cos
2
cos
1 2
sin
2
sin
1 2
sin
2
cos
1 2
cos [
N
B
n
m
k
ks
B
kc
B B
N
A
n ks
A
ks
A
m
k
kc
A
kc
A A
u
N
n k
u
N
n k
u u
u
N
k
N
n k
u
N
k
N
n k
u
N
k
N
n k
u
N
k
N
n k
u u

+
1
]
1

(22)

In Eq(22), equating like coefficients of the sine and cosine terms leads to the following equations:

{ } { }
0 0
A B
u u (k = 0) (23)

{ } { } { }
N
k
u
N
k
u u
ks
A
kc
A
kc
B
2
sin
2
cos + k = 1, 2, . . . , m (24)

{ } { } { }
N
k
u
N
k
u u
ks
A
kc
A
ks
B
2
cos
2
sin + k = 1, 2, . . . , m (25)

{ } { }
2 / 2 / N
A
N
B
u u (k = N/2) (26)


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6
A similar procedure can be used to eliminate the redundant boundary forces { }
B
P . In Eqs(18)-(26) if we replace
{ }
1 + n
A
u by { } { }
1 1 + +

n
A
n
A
P F and { }
n
B
u by { }
n
B
P we will arrive at the following force equations that are analogous
to the displacement equations given by Eqs(23) (26):

{ } { } { }
0 0 0
A A B
P F P (k = 0) (27)

{ } { } { } ( ) { } { } ( )
N
k
P F
N
k
P F P
ks
A
ks
A
kc
A
kc
A
kc
B
2
sin
2
cos k = 1, 2, . . . , m (28)

{ } { } { } ( ) { } { } ( )
N
k
P F
N
k
P F P
ks
A
ks
A
kc
A
kc
A
ks
B
2
cos
2
sin + k = 1, 2, . . . , m (29)

{ } { } { } ( )
2 / 2 / 2 / N
A
N
A
N
B
P F P (k = N/2) (30)

Now that we have the boundary B quantities in terms of the boundary A quantities, we can eliminate them from the
harmonic equations of motion. First, partition { }
0
u into boundary displacements { }
0
A
u and { }
0
B
u and internal
displacements { }
0
I
u as follows:

{ }
{ }
{ }
{ }

'

0
0
0
0
B
I
A
u
u
u
u (31)

Substituting the relationship between boundaries A and B fromEq(23) into Eq(31) leads to

{ }
{ }
{ }
{ }
[ ]
[ ]
[ ]
{ }
{ }
[ ]{ }
0
0
0
0
0
0
0
0
~
0
0
0
u G
u
u
I
I
I
u
u
u
u
I
A
A
I
A

'

1
1
1
]
1

'

(32)

where

{ }
{ }
{ }

'

0
0
0
~
I
A
u
u
u = independent harmonic zero degree of freedom vector, (33)

[ ]
[ ]
[ ]
[ ] 1
1
1
]
1

0
0
0
0
I
I
I
G , (34)

and [ ] I = an identity matrix.

Substituting Eq(32) into Eq(10) and then pre-multiplying by [ ]
T
G
0
leads to the reduced zero harmonic differential
equation of motion,


American Institute of Aeronautics and Astronautics

7
[ ]{ } [ ]{ } { }
0 0 0 0 0
~
~ ~
P u K u M +
& &
(35)

where

[ ] [ ] [ ][ ]
0 0
0
G M G M
T
(36)

[ ] [ ] [ ][ ]
0 0
0
G K G K
T
(37)
{ } [ ] { }
[ ] [ ]
[ ]
{ }
{ }
{ }
{ } { }
{ }
{ }
{ }

'

'
+

'

1
]
1

0
0
0
0 0
0
0
0
0
0
0
0 0
0
~
I
A
I
B A
B
I
A
T
F
F
P
P P
P
P
P
I
I I
P G P (38)

Partitioning the displacements { }
kc
u and { }
ks
u in a manner similar to Eq(31) and then using Eqs(24) and (25) to
eliminate boundary B displacements leads to the following equations:

{ }
{ }
{ }
{ }
[ ]
[ ] [ ]
[ ]
{ }
{ }
{ }
{ }
[ ]{ }
k
ck
ks
I
kc
I
ks
A
kc
A
kc
A
kc
I
kc
A
kc
u G
u
u
u
u
I
I
N
k
I
N
k
I
u
u
u
u
~
0 0
0
0 0
2
sin
2
cos
0 0
0

'

1
1
1
1
]
1

'

(39)

{ }
{ }
{ }
{ }
[ ]
[ ] [ ]
[ ]
{ }
{ }
{ }
{ }
[ ]{ }
k
sk
ks
I
kc
I
ks
A
kc
A
ks
B
ks
I
ks
A
ks
u G
u
u
u
u
I
I
N
k
I
N
k
I
u
u
u
u
~
0 0
0
0 0
2
cos
2
sin
0 0
0

'

1
1
1
1
]
1

'

(40)

where

[ ]
[ ]
[ ] [ ]
[ ]
1
1
1
1
]
1

0 0
0
0 0
2
sin
2
cos
0 0
0
I
I
N
k
I
N
k
I
G
ck

, (41)

[ ]
[ ]
[ ] [ ]
[ ]
1
1
1
1
]
1

0 0
0
0 0
2
cos
2
sin
0 0
0
I
I
N
k
I
N
k
I
G
sk

, (42)

and

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8
{ }
{ }
{ }
{ }
{ }

'

ks
I
kc
I
ks
A
kc
A
k
u
u
u
u
u
~
(43)

Substituting Eqs(39) and (40) into Eq(12) and (13) and then pre-multiplying by [ ]
T
ck
G and [ ]
T
sk
G , respectively,
leads to the following two differential equations:

[ ] [ ][ ] ( ){ } [ ] [ ][ ] ( ){ } [ ] { }
kc T
ck
k
ck
T
ck
k
ck
T
ck
P G u G K G u G M G +
~ ~& &
(44)

[ ] [ ][ ] ( ){ } [ ] [ ][ ] ( ){ } [ ] { }
ks T
sk
k
sk
T
sk
k
sk
T
sk
P G u G K G u G M G +
~ ~& &
(45)

If we add Eqs(44) and (45) and then rewrite some of the terms we get the following:

[ ]{ } [ ]{ } { }
k k k k k
P u K u M
~
~ ~
+
& &
(46)

where

[ ] [ ] [ ][ ] ( ) [ ] [ ][ ] ( )
sk
T
sk ck
T
ck
k
G M G G M G M + (47)

[ ] [ ] [ ][ ] ( ) [ ] [ ][ ] ( )
sk
T
sk ck
T
ck
k
G K G G K G K + (48)

{ } [ ] { } [ ] { }
kc T
sk
kc T
ck
k
P G P G P +
~
(49)

In Eq(46), the displacement terms are independent but the force terms are not. Multiplying out the force terms in
Eq(49) leads to

[ ] { }
[ ] [ ]
[ ]
[ ]
{ }
{ }
{ }
{ } { }
{ }
{ }

'

'

1
1
1
1
1
1
]
1

0
2
sin
2
cos
0 0 0
0 0
2
sin 0 0
2
cos 0
kc
I
kc
B
kc
B
kc
A
kc
B
kc
I
kc
A
kc T
ck
P
P
N
k
P
N
k
P
P
P
P
I
I
N
k
I
N
k
I
P G

(50)

[ ] { }
[ ]
[ ] [ ]
[ ]
{ }
{ }
{ }
{ }
{ } { }
{ }

'

'

1
1
1
1
1
1
]
1

ks
I
ks
B
ks
A
ks
B
ks
B
ks
I
ks
A
ks T
sk
P
P
N
k
P
P
N
k
P
P
P
I
I
N
k
I
I
N
k
P G
0
2
sin
2
sin
0 0
0 0 0
2
cos 0
2
sin 0 0

(51)

Adding Eqs(50) and (51) together yields { }
k
P
~
,


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9
{ }
{ }
{ }
{ }
{ }
{ } { } { }
{ } { } { }
{ }
{ }

'

+ +
+

'

ks
I
kc
I
kc
B
ks
B
kc
A
ks
B
kc
B
kc
A
ks
I
kc
I
ks
A
kc
A
k
P
P
P
N
k
P
N
k
P
P
N
k
P
N
k
P
P
P
P
P
P


2
sin
2
cos
2
sin
2
cos
~
~
~
~
~
(52)

Note, however, that Eq(52) still contains terms that involve { }
B
P . These can be eliminated by using the force
compatibility equations from Eq(27)-(30) which when substituted into the terms in Eq(52) yield the following:

{ } { } { } { } ( ) { } { } ( )
{ } { } ( ) { } { } ( )
{ } { } { } ( ) { }
kc
A
kc
A
kc
A
kc
A
ks
A
ks
A
kc
A
kc
A
ks
A
ks
A
kc
A
kc
A
kc
A
kc
A
F
N
k
N
k
P F P
N
k
P F
N
k
P F
N
k
N
k
P F
N
k
P F
N
k
P P

1
]
1

,
_

,
_

+
1
]
1

1
]
1

+ +



2
cos
2
sin
2
cos
2
sin
2
sin
2
sin
2
cos
2
cos
~
2 2
(53)
Similarly, we can show that the second element in the vector on the right hand side of Eq(52) is

{ } { }
ks
A
ks
A
F P
~
(54)

Finally, the third and fourth terms are simply

{ } { } { }
kc
I
kc
I
kc
I
F P P
~
(55)

{ } { } { }
ks
I
ks
I
ks
I
F P P
~
(56)

Thus
{ }
{ }
{ }
{ }
{ }
{ }
{ }
{ }
{ }

'

'

ks
I
kc
I
ks
A
kc
A
ks
I
kc
I
ks
A
kc
A
k
F
F
F
F
P
P
P
P
P
~
~
~
~
~
(57)

The final set of differential equations for the (N/2)th harmonic is given from Eq(15). To eliminate { }
2 / N
B
u we can
use Eq(26) as follows:

{ }
{ }
{ }
{ }
[ ]
[ ]
[ ]
{ }
{ }
[ ]{ }
2 /
2 /
2 /
2 /
2 /
2 /
2 /
2 /
~
0
0
0
N
N
N
I
N
A
N
B
N
I
N
A
N
u G
u
u
I
I
I
u
u
u
u

'

1
1
1
]
1

'

(58)
where


American Institute of Aeronautics and Astronautics

10
[ ]
[ ]
[ ]
[ ] 1
1
1
]
1

0
0
0
2 /
I
I
I
G
N
(59)

and

{ }
{ }
{ }

'

2 /
2 /
2 /
~
N
I
N
A N
u
u
u (60)

Substituting Eq(58) into Eq(15) and pre-multiplying by [ ]
T
N
G
2 /
results in

[ ]{ } [ ]{ } { }
2 / 2 / 2 / 2 / 2 /
~
~ ~
N N N N N
P u K u M +
& &
(61)

where


[ ] [ ] [ ][ ]
2 / 2 /
2 /
N
T
N
N
G M G M (62)

[ ] [ ] [ ][ ]
2 / 2 /
2 /
N
T
N
N
G K G K (63)
{ } [ ] { }
[ ] [ ]
[ ]
{ }
{ }
{ }
{ } { }
{ }
{ }
{ }

'

'

'

1
]
1

2 /
2 /
2 /
2 / 2 /
2 /
2 /
2 /
2 /
2 /
2 /
0 0
0
~
N
I
N
A
N
I
N
B
N
A
N
B
N
I
N
A
N T
N
N
F
F
P
P P
P
P
P
I
I I
P G P (64)

Note that Eq(28) has also been used in Eq(64). The decoupled, independent equations of motion for the structure are
given by Eqs(35), (46), and (61).

The procedure for solving an N-segment cyclic symmetry problem is therefore as follows:

1. Calculate the total number of harmonics = N/2 if N is even or (N-1)/2 if N is odd

2. Create a finite element model of a single segment and calculate the segment mass and stiffness matrices. For n =
1, 2, . . . , N, determine { }
n
I
F , the applied forces for each segment interior, and { }
n
A
F , the applied forces acting
on boundary A of each segment. For a dynamics problem, the applied forces may be a function of time.

3. Calculate the [ ] G matrices as follows:
a. Calculate [ ]
0
G using Eq(34)
b. For k = 1, 2, . . . , m, calculate [ ]
sk
G and [ ]
ck
G using Eqs(41) and (42)
c. If N is even, calculate the [ ]
2 / N
G using Eq(59)

4. Calculate the [ ] M and [ ] K matrices as follows:
a. Calculate [ ]
0
M and [ ]
0
K using Eqs(36) and (37)
b. For k = 1, 2, . . . , m, calculate [ ]
k
M and [ ]
k
K using Eqs(47) and (48)
c. If N is even, calculate [ ]
2 / N
M and [ ]
2 / N
K using Eqs(62) and (63)

American Institute of Aeronautics and Astronautics

11

5. Calculate the force terms { } P
~
as follows:
a. Calculate { }
0
~
P using Eq(38). The { }
0
A
F and { }
0
I
F terms in Eq(38) can be calculated by using
equations similar to Eq(5),
{ } { }

N
n
n
A A
F
N
F
1
0
1
(65)
{ } { }

N
n
n
I I
F
N
F
1
0
1
(66)

b. Calculate { }
k
P
~
using Eq(57). The { }
kc
A
F , { }
ks
A
F , { }
kc
I
F and{ }
ks
I
F terms in Eq(57) can be
calculated by using equations similar to Eqs(6) and (7),
{ } { }
( )
N
n k
F
N
F
N
n
n
A
kc
A
1 2
cos
2
1

k = 1, 2, . . . , m (67)
{ } { }
( )
N
n k
F
N
F
N
n
n
A
ks
A
1 2
sin
2
1

k = 1, 2, . . . , m (68)
{ } { }
( )
N
n k
F
N
F
N
n
n
I
kc
I
1 2
cos
2
1

k = 1, 2, . . . , m (69)
{ } { }
( )
N
n k
F
N
F
N
n
n
I
ks
I
1 2
sin
2
1

k = 1, 2, . . . , m (70)

c. If N is even, Calculate { }
2 /
~
N
P using Eq(64). The { }
2 / N
A
F and { }
2 / N
I
F terms in Eq(64) can be
calculated by using equations similar to Eq(8),
{ } ( ) { }

N
n
n
A
n N
A
F
N
F
1
1 2 /
1
1
(71)
{ } ( ) { }

N
n
n
I
n N
I
F
N
F
1
1 2 /
1
1
(72)
6. The harmonic equations of motion are formed using Eq(35) for harmonic zero, Eq(46) for harmonics k = 1, 2, . .
. , m, and if N is even, Eq(61) for harmonic N/2. These equations can be solved for the{ } u
~
vector (and hence
the { } u vectors) using standard techniques. That means for static problems inverting the stiffness matrices and
for dynamic problems calculating the natural modes and frequencies. Properties of the natural modes and
frequencies are discussed in more detail in the next Section. Once the { } u vectors have been calculated, the
rotational transformation equation given by Eq(3) can be used to determine { }
n
u , the displacement in the nth
segment.

III. SPECIAL RELATIONSHIPS FOR MODE SHAPES

Because of the repeated nature of a cyclically symmetric structure there are some special relationships between the
segment modal displacements. The first of these involves the relationship between the mode shapes for various
harmonics. The second set of relationships are between the harmonic numbers and the number of displacement
waves around the circumference of a disk-like or cylindrical rotationally symmetric structure.


American Institute of Aeronautics and Astronautics

12
A. Relationships Between Harmonics and Mode Shapes

Consider an eigenvector { } of a cyclically symmetric structure. If the structure has N segments, then

{ } { } { } { } { }
]
T N n
L L
2 1
(73)

where { }
n
is the eigenvector for the n
th
segment. Now, let { }
1
R
be the vector obtained by rotating { } counter-
clockwise through one segment.

{ } { } { } { } { } { }
]
T N N
R
1 3 2 1
1

L (74)

Because all the segments are identical, { }
1
R
must also be an eigenvector. Next consider the relationship between
the original eigenvector and the rotated eigenvector for each of the harmonics.

1) Harmonic Zero

From Eq(3)-(4) the displacement in the n
th
segment due to the harmonic zero modes are

{ } { }
0

n
(75)

All segments thus have the same displacements so that

{ } { } { } { }
]
T 0 0 0
L (76)

and

{ } { } { } { }
]
{ }
T
R
0 0 0
1
L (77)

For harmonic zero modes, the rotated mode shape is identical to the original mode shape. We could rotate the mode
through an arbitrary number of segments and it would still be identical to the original mode shape. Therefore,
rotated modes are not independent of the original mode and thus all the eigenvalues are unique (i.e., no repeated
roots).

2) Harmonic N/2 (if N Even)

From Eq(3)-(4) the displacement in the nth segment due to the harmonic N/2 modes are

{ } ( ) { }
2 / 1
1
N n n


(78)

Each segment has the same mode shape as adjacent segments but is vibrating in anti-phase with them so that the
overall eigenvector is

{ } { } { } { }
]
T N N N 2 / 2 / 2 /
L (79)

Thus the rotated mode is

{ } { } { } { } { }
]
{ }
T N N N N
R
2 / 2 / 2 / 2 /
1
L (80)

Rotating the mode through two segments will result in

American Institute of Aeronautics and Astronautics

13

{ } { } { } { } { }
]
{ }
T N N N N
R
2 / 2 / 2 / 2 /
2
L (81)

It is clear from Eqs(80) and (81) that if we rotate the mode through an odd number of segments then we get the same
mode shape as { } , and if we rotate it through an even number of segments we get the same mode shape as the
original eigenvector{ } . Therefore, rotated modes are not independent of the original mode for harmonic N/2 and
thus the eigenvalues are unique.

3) Other Harmonics

From Eq(3)-(4) the displacements in the n
th
segment due to the k
th
harmonic are

{ } { } ( ) { } ( )
k
ks
k
kc n
n n 1 sin 1 cos + (82)

where
N
k
k

2
(83)

The overall structure original and rotated eigenvectors are given by Eqs(73) and (74). Note that for the rotated
eigenvector,

{ } { } { } ( ) { } ( )
{ } ( ) [ ] { } ( ) [ ]
k k
ks
k k
kc
k
ks
k
kc n n
R
n n
n n


+
+

1 sin 1 cos
2 sin 2 cos
1
1
(84)
and

{ } { }
1
1

N N
R
(85)

In general, if the mode is rotated through j segments, then

{ } { } ( ) [ ] { } ( ) [ ]
{ } ( ) { } ( )
k
ks
k
kc
k k
ks
k k
kc n
R
j n j n
j n j n
j


1 sin 1 cos
1 sin 1 cos
+
+
(86)

Now, from Eq(86) we can see that because it is not a simple multiple of { } , the rotated vector{ }
j
R
is an
eigenvector that is independent of{ } but not necessarily orthogonal to it. This implies that for harmonics other
than harmonic zero and harmonic N/2 the modes occur in degenerate pairs. This also implies that there must exist an
eigenvector { }

which is independent of and orthogonal to { } . Is there a value of j such that { } { }

j
R
? If so,
then the following orthogonality relationship must be true:

{ } [ ]{ } { } [ ]{ } 0
1

n
N
n
T
n
R
T
R
M M
j j
(87)

Assume that the eigenvectors are normalized such that

{ } [ ]{ } 1
1

n
N
n
T
n
M (88)

American Institute of Aeronautics and Astronautics

14

Substituting Eq(82) into Eq(88) results in

{ } ( ) { } ( ) [ ][ ] { } ( ) { } ( ) [ ] 1 1 sin 1 cos 1 sin 1 cos
1
+ +

k
ks
k
kc
N
n
k
T
ks
k
T
kc
n n M n n (89)

Expanding the terms in Eq(89),

{ } [ ]{ } ( ) { } [ ]{ } ( )
{ } [ ]{ } { } [ ]{ } [ ] ( ) ( ) 1 1 sin 1 cos
1 sin 1 cos
1
1 1
2 2
+ +
+

N
n
k k
kc
T
ks ks
T
kc
N
n
N
n
k
ks
T
ks
k
kc
T
kc
n n M M
n M n M


(90)

The following relations are proved in the Ref 5:

( )
2
1 cos
1
2
N
n
k
N
n

(91)

( )
2
1 sin
1
2
N
n
k
N
n

(92)

( ) ( ) 0 1 sin 1 cos
1

k k
N
n
n n (93)

Using Eqs(91)-(93) in Eq(90) results in the following normalization equation:

{ } [ ]{ } { } [ ]{ }
N
M M
ks
T
ks kc
T
kc
2
+ (94)


Now, substitute Eq(82) and (86) into the orthogonality relationship in Eq(87),

{ }[ ] { } { } [ ]{ } ( ) ( )
{ } [ ]{ } ( ) ( )
{ } [ ]{ } ( ) ( )
{ } [ ]{ } ( ) ( ) 0 1 sin 1 sin
1 sin 1 cos
1 cos 1 sin
1 cos 1 cos
1
1
1
1 1
+
+
+

N
n
k k
ks
T
ks
k k
N
n
kc
T
ks
k
N
n
k
ks
T
kc
N
n
k k
kc
T
kc
N
n
n n
R
n j n M
n j n M
n j n M
n j n M M
j




(95)

We will separately evaluate each of the terms on the right hand side of Eq(95). The first term involves the following
summation:


American Institute of Aeronautics and Astronautics

15
( ) ( ) ( )
k k
N
n
k k
N
n
n j n n j n cos cos 1 cos 1 cos
1
0 1




(96)

Expanding the ( )
k
j n cos term results in

( )

+
1
0
1
0
2
1
0
sin cos sin cos cos cos cos
N
n
k k k
N
n
k k k k
N
n
n n j n j n j n (97)

Using Eqs(91) and (93) in Eq(97) results in the following simplified expression for the first summation in Eq(95):

( )
k k k
N
n
j
N
n j n cos
2
cos cos
1
0

(98)

The second term in Eq(95) involves the following summation:

( ) ( ) ( )
k k
N
n
k k
N
n
j n n j n n



sin cos 1 sin 1 cos
1
0 1
(99)

As we did with Eq(97), expand the ( )
k
j n sin term in Eq(99) and then use Eqs(92) and (93) to obtain the
following:

( )
k
N
n
k k
N
n
k k k k k
N
n
j
N
n j n n j j n n sin
2
cos sin cos sin cos sin cos
1
0
2
1
0
1
0

(100)

Using a similar approach, we can simplify the summations in the third and fourth terms on the right hand side of
Eq(95) resulting in
( ) ( )
k
N
n
k k
N
n
k k k k k
N
n
j
N
n j n n j n j n

sin
2
sin sin cos sin cos 1 sin 1 cos
1
0
2
1
0 1

(101)
and

( ) ( )
k
N
n
k k k
N
n
k k k k
N
n
j
N
n n j n j n j n

cos
2
sin cos sin sin cos 1 sin 1 sin
1
0
1
0
2
1

(102)

Substituting Eqs(98), (100), (101) and (102) back into the expanded orthogonality relationship in Eq(95) and
simplifying results in

{ } [ ]{ } { } [ ]{ } [ ] 0 cos
2
+
ks
T
ks kc
T
kc
k
M M j
N
(103)

Note that the terms within the brackets in Eq(103) are equal to 2/N due to the normalization equation of Eq(94) so
that Eq(103) becomes simply


American Institute of Aeronautics and Astronautics

16
L ,
2
5
,
2
3
,
2
0 cos


k k
j j (104)

since
N
k
k

2
, Eq(104) can be written as

L ,
4
5
,
4
3
,
4 k
N
k
N
k
N
j (105)

Therefore, if L ,
4
5
,
4
3
,
4 k
N
k
N
k
N
are integers, then each set of repeated (i.e., degenerate) mode shapes are the
same except for a rotation through j segments. Note, however, if N is odd then the numerator in Eq(105) is always
odd and the denominator 4k is always even, so in this case it is not possible for j to be an integer and the degenerate
modes are not related by a simple rotation.

To summarize, for an N-segment cyclically symmetric structure,

1) Harmonic Zero Modes have unique natural frequencies and each segment has the same displacement
2) Harmonic N/2 Modes (exist only for N even) have unique natural frequencies and the displacement in
each segment is the negative of the adjacent segment.
3) Harmonic k Modes for N is even and j an integer, each set of repeated (i.e., degenerate) mode shapes
are the same except for a rotation through j segments, where j is the minimum integer value of
L ,
4
5
,
4
3
,
4 k
N
k
N
k
N
. If the minimum integer value of L ,
4
5
,
4
3
,
4 k
N
k
N
k
N
is greater than N, then the
repeated mode shapes are not related by a simple rotation. Also, for N odd, repeated mode shapes are not
related by a simple rotation. All possible integer values of j for N = 0 to 100 are given in Table 1. Notice
that integer values of j are possible only for N = 4, 8, 12, 16, etc. Notice also that for some values of N not
all the harmonics have integer values of j (e.g., for N = 12, j is an integer only for k = 1, 3, 5).

To further illustrate these results, consider the 8-segment and 5-segment plate problems illustrated in Fig. 2. For the
octagonal plate, N = 8, so the harmonics that exist are Harmonic 0, 1, 2, 3, and 4. For the pentagonal plate, N = 5, so
there are three harmonics, Harmonic 0, 1, and 2.

Fixed Inner
Boundary
10 30
10
30
Plate Properties:
t = 1.0 in
E = 10(10)
6
psi
= 0.3
= 2.519(10)
-4
lb-sec
2
/in
4
Fixed Inner
Boundary
10 30
10
30
Plate Properties:
t = 1.0 in
E = 10(10)
6
psi
= 0.3
= 2.519(10)
-4
lb-sec
2
/in
4
Figure 2. Plate Example Problem

American Institute of Aeronautics and Astronautics

17
The first two harmonic 0 mode shapes for each plate are shown in Fig. 3. Note that the displacement contours
indicate that each segment has identical displacements. The first two modes for the harmonic N/2 = 4 for the 8-
segment plate are shown in Fig. 4 (there is no corresponding harmonic N/2 for the 5-segment plate since N is odd).
As expected, the displacement contour in each segment is the negative of the one in the adjacent segment.

To illustrate the relationship between the mode shapes for the middle harmonics, consider the first two Harmonic 1
modes illustrated in Fig. 5. From Table 1, j = 2. If mode 1 is rotated counterclockwise through 2 segments you get
the same shape as mode 2. For the Harmonic 2 and Harmonic 3 modes illustrated in Figs. 6 and 7, j = 1 and 2
respectively. Notice that Harmonic 2 modes are related by a 1-segment rotation (j = 1) and Harmonic 3 modes by a
2-segment rotation (j = 2) as clearly indicated in Figs. 6 and 7. Finally, for N = 5 the repeated modes are not related
by a simple rotation as indicated in Figs. 8 and 9.

The second set of relationships that will be derived is the relationship between the harmonic number and the number
of displacement waves. There are many situations where the cyclically symmetric structure is a disk or ring-like
structure. For example, in turbomachinery, certain types of impellers will be disk shaped and much of the
displacement field will be due to the disk. For such objects, it is often of interest to know the frequency of the
displacement waves around the circumference of the disk. This information will be important when one is trying to
determine the type of applied forcing function that will excite a given mode of the disk.

Consider the lateral displacement at a constant radius R across the n
th
segment as illustrated in Fig. 10. This
displacment, ( )
n
, is a function of , the angle around the circumference. If the structure is vibrating in a k
th

harmonic mode, then using Eq(3)-(4) the displacement can be written as follows:

( ) ( )
( )
( )
( )
N
n k
N
n k
ks kc n
1 2
sin
1 2
cos

+

(106)

The unknown Fourier coefficients can be written in terms of a Fourier series as

( )

+
0
sin cos
q
kc
q
kc
q
kc
qN b qN a (107)
and
( )

+
0
sin cos
q
ks
q
ks
q
ks
qN b qN a (108)
where is defined in the interval
( )
N
n
N
n

2 1 2

. Substituting Eqs(107) and (108) into Eq(106) results

in

( ) ( ) ( )
( ) ( )
k
ks
q
ks
q
q
k
kc
q
kc
q
q
n
n qN b qN a
n qN b qN a


1 sin sin cos
1 cos sin cos
0
0
+ +
+

(109)




American Institute of Aeronautics and Astronautics

18
Table 1. Existing Integer Values of j = No. of segments to Rotate Repeated Modes

Harmonic
N 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49
4 1
6 - -
8 2 1 2
10 - - - -
12 3 - 1 - 3
14 - - - - - -
16 4 2 4 1 4 2 4
18 - - - - - - - -
20 5 - 5 - 1 - 5 - 5
22 - - - - - - - - - -
24 6 3 2 - 6 1 6 - 2 3 6
26 - - - - - - - - - - - -
28 7 - 7 - 7 - 1 - 7 - 7 - 7
30 - - - - - - - - - - - - - -
32 8 4 8 2 8 4 8 1 8 4 8 2 8 4 8
34 - - - - - - - - - - - - - - - -
36 9 - 3 - 9 - 9 - 1 - 9 - 9 - 3 - 9
38 - - - - - - - - - - - - - - - - - -
40 10 5 10 - 2 5 10 - 10 1 10 - 10 5 2 - 10 5 10
42 - - - - - - - - - - - - - - - - - - - -
44 11 - 11 - 11 - 11 - 11 - 1 - 11 - 11 - 11 - 11 - 11
46 - - - - - - - - - - - - - - - - - - - - - -
48 12 6 4 3 12 2 12 - 4 6 12 1 12 6 4 - 12 2 12 3 4 6 12
50 - - - - - - - - - - - - - - - - - - - - - - - -
52 13 - 13 - 13 - 13 - 13 - 13 - 1 - 13 - 13 - 13 - 13 - 13 - 13
54 - - - - - - - - - - - - - - - - - - - - - - - - - -
56 14 7 14 - 14 7 2 - 14 7 14 - 14 1 14 - 14 7 14 - 2 7 14 - 14 7 14
58 - - - - - - - - - - - - - - - - - - - - - - - - - - - -
60 15 - 5 - 3 - 15 - 5 - 15 - 15 - 1 - 15 - 15 - 5 - 15 - 3 - 5 - 15
62 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
64 16 8 16 4 16 8 16 2 16 8 16 4 16 8 16 1 16 8 16 4 16 8 16 2 16 8 16 4 16 8 16
66 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
68 17 - 17 - 17 - 17 - 17 - 17 - 17 - 17 - 1 - 17 - 17 - 17 - 17 - 17 - 17 - 17 - 17
70 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
72 18 9 6 - 18 3 18 - 2 9 18 - 18 9 6 - 18 1 18 - 6 9 18 - 18 9 2 - 18 3 18 - 6 9 18
74 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
76 19 - 19 - 19 - 19 - 19 - 19 - 19 - 19 - 19 - 1 - 19 - 19 - 19 - 19 - 19 - 19 - 19 - 19 - 19
78 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
80 20 10 20 5 4 10 20 - 20 2 20 5 20 10 4 - 20 10 20 1 20 10 20 - 4 10 20 5 20 2 20 - 20 10 4 5 20 10 20
82 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
84 21 - 7 - 21 - 3 - 7 - 21 - 21 - 7 - 21 - 21 - 1 - 21 - 21 - 7 - 21 - 21 - 7 - 3 - 21 - 7 - 21
86 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
88 22 11 22 - 22 11 22 - 22 11 2 - 22 11 22 - 22 11 22 - 22 1 22 - 22 11 22 - 22 11 22 - 2 11 22 - 22 11 22 - 22 11 22
90 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
92 23 - 23 - 23 - 23 - 23 - 23 - 23 - 23 - 23 - 23 - 23 - 1 - 23 - 23 - 23 - 23 - 23 - 23 - 23 - 23 - 23 - 23 - 23
94 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
96 24 12 8 6 24 4 24 3 8 12 24 2 24 12 8 - 24 4 24 6 8 12 24 1 24 12 8 6 24 4 24 - 8 12 24 2 24 12 8 3 24 4 24 6 8 12 24
98 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
100 25 - 25 - 5 - 25 - 25 - 25 - 25 - 5 - 25 - 25 - 25 - 25 - 1 - 25 - 25 - 25 - 25 - 5 - 25 - 25 - 25 - 25 - 5 - 25 - 25






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8-Segment Model
Harmonic 0, Mode 1
37.7 Hz
8-Segment Model
Harmonic 0, Mode 2
203.1 Hz
5-Segment Model
Harmonic 0, Mode 1
46.3 Hz
5-Segment Model
Harmonic 0, Mode 2
200.2 Hz
8-Segment Model
Harmonic 0, Mode 1
37.7 Hz
8-Segment Model
Harmonic 0, Mode 2
203.1 Hz
5-Segment Model
Harmonic 0, Mode 1
46.3 Hz
5-Segment Model
Harmonic 0, Mode 2
200.2 Hz
Figure 3. Harmonic Zero Modes
8-Segment Model
Harmonic 4, Mode 1
121.0 Hz
8-Segment Model
Harmonic 4, Mode 2
140.1 Hz
8-Segment Model
Harmonic 4, Mode 1
121.0 Hz
8-Segment Model
Harmonic 4, Mode 2
140.1 Hz
Figure 4. 8-Segment Plate harmonic 4 Modes

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Harmonic 1, Mode 1
36.6 Hz
Harmonic 1, Mode 2
36.6 Hz
Harmonic 1, Mode 1
36.6 Hz
Harmonic 1, Mode 2
36.6 Hz
Figure 5. 8-Segment Harmonic 1 Modes
Harmonic 2, Mode 1
45.9 Hz
Harmonic 2, Mode 2
45.9 Hz
Harmonic 2, Mode 1
45.9 Hz
Harmonic 2, Mode 2
45.9 Hz
Figure 6. 8-Segment Harmonic 2 Modes
Harmonic 3, Mode 1
79.3 Hz
Harmonic 3, Mode 2
79.3 Hz
Harmonic 3, Mode 1
79.3 Hz
Harmonic 3, Mode 2
79.3 Hz
Figure 7. 8-Segment harmonic 3 Modes

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Harmonic 1, Mode 1
44.9 Hz
Harmonic 1, Mode 2
44.9 Hz
Harmonic 1, Mode 1
44.9 Hz
Harmonic 1, Mode 2
44.9 Hz
Figure 8. 5-Segment harmonic 1 Modes
Harmonic 2, Mode 1
54.6 Hz
Harmonic 2, Mode 2
54.6 Hz
Harmonic 2, Mode 1
54.6 Hz
Harmonic 2, Mode 2
54.6 Hz
Figure 9. 5-Segment harmonic 2 Modes

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The Fourier coefficients
kc
q
a ,
kc
q
b ,
ks
q
a , and
ks
q
b are found from integrals such as the following:

( )
( )

N
n
N
n
kc kc
q
d qN
N
a

2
1 2
cos (110)

with similar expressions for the other coefficients. The quantity ( )
n
represents the displacement in the n
th

segment. Now define a quantity ( ) which represents the global lateral edge displacement defined over all
segments for 2 0 .






Expanding ( ) in a Fourier series yields

( ) ( )

+
0
sin cos
p
p p
p B p A (111)

where the Fourier coefficients A
p
and B
p
are determined from the following integrals:

( ) ( )
( )

d p d p A
N
n
N
n
N
n
n
p
cos
1
cos
1
1
2
1 2
2
0



(112)

( ) ( )
( )

d p d p B
N
n
N
n
N
n
n
p
sin
1
sin
1
1
2
1 2
2
0



(113)

If we substitute the expression for ( )
n
from Eq(109) into Eqs(112)-(113) and evaluate the integrals it can be
shown
5
that A
p
(and B
p
) will be non-zero only if

( )
N
n

1 2

N
n

( )
n

R
( )
N
n

1 2

N
n

( )
n

R
Figure 10. Lateral Displacement For nth Segment

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k qN p t , q = 0, 1, 2, . . . . (114)

where p is the number of displacement waves around the circumference of the structure. A table of possible values
of p for N = 4 to 8 is shown in Table 2. Note that a given mode will be a combination of the possible wave
frequencies. For example, the N = 8, Harmonic 2 modes (k = 2) will be linear combinations of waves with p = 2, 6,
10, 14, 18, . .
Table 2. Fourier Components

No. of
Segments
Harmonic Fourier Component
N = 4 k = 0
q p 4
p = 0, 4, 8, 12, . . .
k = 1
1 4 t q p
p = 1, 3, 5, 7, 9, . . .
k = 2
2 4 t q p
p = 2, 6, 10, 14, 18, . . .
N = 5 k = 0
q p 5
p = 0, 5, 10, 15, 20, . . .
k = 1
1 5 t q p
p = 1, 4, 6, 9, 11, . . .
k = 2
2 5 t q p
p = 2, 3, 7, 13, 17, . . .
N = 6 k = 0
q p 6
p = 0, 6, 12, 18, . . .
k = 1
1 6 t q p
p = 1, 5, 7, 11, 13, . . .
k = 2
2 6 t q p
p = 2, 4, 8, 10, 14, . . .
k = 3
3 6 t q p
p = 3, 9, 15, 21, 27, . . .
N = 7 k = 0 q p 7 p = 0, 7, 14, 21, . . .
k = 1
1 7 t q p
p = 1, 6, 8, 13, 15, . . .
k = 2
2 7 t q p
p = 2, 5, 9, 12, 16, . . .
k = 3
3 7 t q p
p = 3, 4, 10, 11, 17, . . .
N = 8 k = 0
q p 8
p = 0, 8, 24, 32, . . .
k = 1
1 8 t q p
p = 1, 7, 9, 15, 17, . . .
k = 2
2 8 t q p
p = 2, 6, 10, 14, 18, . . .
k = 3
3 8 t q p
p = 3, 5, 11, 13, 19, . . .
k = 4
4 8 t q p
p = 4, 12, 20, 28, 36, . . .

IV. Space Shuttle Main Engine (SSME) Fuel Turbopump Third Stage Impeller Example

The SSME fuel turbopump third stage impeller, pictured in Fig. 11, is a cyclically symmetric structure with N = 6. A
finite element model of the impeller was created and the EAL finite element code was used to calculate eigenvalues
(listed in Table 3) and eigenvectors for all harmonics. Note from Table 3 that, as expected, harmonics 0 and 3 have
unique eigenvalues while hamonics 1 and 2 have pairs of degenerate eigenvalues.

A Fourier analysis of the displacements around the outer edge circumference of the upper disk of the impeller was
done and the results are presented in Table 4. These results should agree with the values of p for N = 6 from Table 2.
An examination of both tables clearly indicates that the Fourier analysis is in agreement with the values in Table 2.






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Table 3. Impeller Natural Frequencies
Natural Frequencies (Hz)
Mode
Harmonic
0
Harmonic
1
Harmonic
2
Harmonic
3
1 3,710 4,210 5,180 4,900
2 8,360 4,210 5,180 6,530
3 9,780 7,190 5,750 6,850
4 10,100 7,190 5,750 10,400
5 10,500 8,740 7,900 11,500
6 11,200 8,740 7,900 13,200
7 12,100 9,670 10,000 14,300
8 13,500 9,670 10,000 14,900
9 16,200 11,200 11,500 15,200
10 17,500 11,200 11,500 15,900
11 17,800 12,500 13,300 16,000
12 18,000 12,500 13,300 16,500
13 18,600 13,000 14,000 18,900
14 18,900 13,000 14,000 19,300
15 19,500 14,700 14,400 19,600
16 19,800 14,700 14,400 19,900
17 20,300 15,400 15,400 21,400
18 21,000 15,400 15,400 21,500
19 21,300 16,200 15,500 22,200
20 21,700 16,200 15,500 23,200




Figure 11. SSME Third Stage Impeller FEM, N = 6

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Table 4a. Impeller Fourier Coefficients for Harmonic 0
Fourier Coefficients for Harmonic 0
Mode 1 Mode 2 Mode 3 Mode 4 Mode 5 Mode 6
p = 0 5.90 3.59 2.31 2.16 0.75 0.12
p = 1 6.79E-09 4.23E-09 2.79E-09 2.65E-09 1.05E-09 2.69E-09
p = 2 6.95E-09 4.67E-09 3.29E-09 3.25E-09 1.61E-09 5.28E-09
p = 3 7.30E-09 5.61E-09 4.38E-09 4.48E-09 2.68E-09 9.36E-09
p = 4 8.07E-09 7.72E-09 6.82E-09 7.15E-09 4.96E-09 1.73E-09
p = 5 1.05E-08 1.43E-08 1.46E-08 1.54E-08 1.21E-08 4.10E-08
p = 6 0.75 1.96 2.31 2.42 2.09 6.95
p = 7 3.50E-09 1.27E-08 1.74E-08 1.80E-08 1.69E-08 5.52E-08
p = 8 4.38E-09 5.98E-09 9.70E-09 9.84E-09 9.87E-09 3.22E-08
p = 9 5.23E-09 3.69E-09 7.29E-09 7.23E-09 7.71E-09 2.56E-08
p = 10 6.17E-09 2.43E-09 6.35E-09 6.14E-09 6.90E-09 2.43E-08

Table 4b. Impeller Fourier Coefficients for Harmonic 2
Fourier Coefficients for Harmonic 2
Mode 1 Mode 2 Mode 3 Mode 4 Mode 5 Mode 6
p = 0 1.00E-07 1.67E-07 4.27E-08 4.18E-08 9.08E-09 1.67E-07
p = 1 1.74E-07 2.30E-07 8.43E-08 1.10E-07 4.33E-08 1.97E-07
p = 2 2.05 2.05 1.41 1.41 0.96 0.96
p = 3 2.62E-07 2.69E-07 2.85E-07 7.07E-08 2.15E-07 1.65E-07
p = 4 1.63 1.63 1.31 1.31 1.30 1.30
p = 5 2.31E-07 1.77E-07 5.73E-07 2.70E-07 1.78E-07 1.42E-07
p = 6 1.64E-07 1.07E-07 3.52E-08 2.25E-07 1.77E-07 1.52E-07
p = 7 1.79E-07 1.10E-07 1.28E-07 2.93E-07 3.10E-07 2.96E-07
p = 8 0.96 0.96 2.05 2.05 3.34 3.34
p = 9 8.29E-08 1.54E-07 2.96E-07 4.73E-08 3.12E-07 2.99E-07
p = 10 0.65 0.65 0.98 0.98 0.61 0.61


Table 4c. Impeller Fourier Coefficients for Harmonic 3
Fourier Coefficients for Harmonic 3
Mode 1 Mode 2 Mode 3 Mode 4 Mode 5 Mode 6
p = 0 1.22E-07 4.24E-07 2.44E-07 1.89E-07 2.49E-07 1.63E-07
p = 1 1.39E-07 4.84E-07 3.11E-07 2.15E-07 2.95E-07 2.02E-07
p = 2 2.31E-07 8.10E-07 6.45E-07 3.56E-07 5.37E-07 4.07E-07
p = 3 1.40 4.94 4.80 2.15 3.64 3.06
p = 4 1.90E-07 6.80E-07 7.74E-07 2.97E-07 5.65E-07 5.19E-07
p = 5 9.14E-08 3.32E-07 4.28E-07 1.49E-07 3.13E-07 3.13E-07
p = 6 6.05E-08 2.25E-07 3.20E-07 1.07E-07 2.44E-07 2.71E-07
p = 7 4.70E-08 1.82E-07 2.83E-07 9.89E-08 2.38E-07 2.98E-07
p = 8 4.40E-08 1.87E-07 3.15E-07 1.29E-07 3.21E-07 4.68E-07
p = 9 0.11 0.51 0.93 0.59 1.48 2.64
p = 10 2.24E-08 4.49E-08 3.20E-09 5.82E-08 1.42E-07 3.37E-07


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V. Summary of Conclusions
Cyclic symmetry is a special case of symmetry and using it to advantage can result in smaller structural models and
quicker analyses using few computer resources. The natural frequencies occur in families of modes called
harmonics. For a rotationally symmetric structure with N cyclic segments there are N/2+1 harmonics with the
harmonics usually numbered from 0 to N/2. However, the N/2 harmonic only exists if N is even. The eigenvalues
for harmonics 0 and N/2 (if it exists) are unique. The eigenvalues for harmonics 1, 2, . . . , N/2-1 occur in pairs of
degenerate modes. The mode shapes for harmonic 0 are the same for each segment in the structure. For harmonic
N/2, the modal displacements in each segment are the negative of those in the adjacent segment. For harmonics 1, 2,
. . . , N/2-1, the pairs of mode shapes for each degenerate mode will be related by a simple rotation through a finite
number of segments if L ,
4
5
,
4
3
,
4 k
N
k
N
k
N
j is an integer < N. Finally, the Fourier decomposition of the
modal displacements around the circumference of a disk-like cyclic symmetric structure are limited to
components for which k qN p t , q = 0, 1, 2, . . . .
References

1. MacNeal, R. H., Harder, R. L., Mason, J. B., NASTRAN Cyclic Symmetry Capability, NASTRAN Users
Experiences 3
rd
Colloquium, Langley Research Center, Hampton, VA, p. 395-421, 1973, NASA Technical
Memoorandum NASA TM X-2893.

2. Evensen, D. A., Vibration Analysis of Multi-Stmmetric Structures, AIAA Journal, Vol. 14, No. 4, p. 446
453, April 1976.

3. Irons, B., Ahmad, S., Techniques of Finite Elements, Chapter 19, Wiley, 1980.

4. Thomas, D. L., Dynamics of Rotationally Periodic Structures, International Journal for Numerical Methods in
Engineering, Vol. 14, p. 81-102, 1979.

5. Christensen, E.R., Structural Dynamic Analyses of Cyclic Symmetric Structures, Prepared for NASA/MSFC
ED21, Contract No. GS-23F-0107J, Order No. NNM04AD80P, March 31, 2004.