Contents

Preface

xv

Acknowledgements
Chapter

Part I

Introduction
1.1 The Making of This Book
1.2 How to Use This Book

Strength of Materials

xvii
1
1
4

Chapter 2

Static Analysis of Euler-Bernoulli Beams

2.1 Getting Started
2.2 Beam Theory
2.2.1 Static Problem
2.2.2 Solution Methods
2.2.3 Fundamentals of Euler-Bernoulli Beams
2.3 Static Analysis by the Toolbox
2.3.1 System Setup
2.3.2 Response to External Forces
2.3.3 Response to Boundary Disturbances
2.3.4 Total Response
2.3.5 Exact Analytical Solutions
2.3.6 Other Useful Functions
2.4 Moments of Inertia of Beam Cross-Section Area
2.5 Quick Solution Guide
2.6 References

9
9
11
11
16
23
25
26
28
33
34
36
40
42
46
51

Chapter 3

Static Analysis of Bars, Shafts, and Strings

3.1 Getting Started
3.2 System Description
3.3 Static Analysis by the Toolbox
3.3.1 System Setup

53
53
55
59
59

VII

3.4

3.5
3.6
3.7

60
63
65
67
67
68
74
78
83

Chapter

Buckling Analysis of Columns

4.1 Getting Started
4.2 Uniform Columns
4.2.1 Column Buckling Theory
4.2.2 Solution by the Toolbox
4.2.3 Eccentric Loading
4.2.4 Beam-Column Problem
4.2.5 Geometric Imperfection
4.3 Stepped and Nonuniform Columns
4.3.1 Constrained Stepped Columns
4.3.2 Nonuniform Columns
4.4 The Distributed Transfer Function Method
4.5 Quick Solution Guide
4.6 References

85
85
87
87
91
96
100
104
109
109
116
123
127
133

Chapter

Stress Analysis in Two-Dimensional Problems

5.1 Getting Started
5.2 Plane Stress and Strain
5.2.1 In-Plane Stresses
5.2.2 In-Plane Strains
5.2.3 Strain Rosette
5.2.4 Hooke's Law
5.2.5 Criteria of Failure
5.3 Quick Solution Guide
5.4 References

135
135
136
136
142
147
149
151
155
156

Part II

Structural Mechanics

Chapter 6

viii

3.3.2 Response to External Forces

3.3.3 Response to Boundary Disturbances
3.3.4 Total Response
Stepped Bars and Shafts
3.4.1 System Description
3.4.2 Solution by the Toolbox
The Distributed Transfer Function Method
Quick Solution Guide
References

Contents

Static Analysis of Constrained Multispan Beams

6.1 Getting Started
6.2 System Description
6.3 Solution by the Toolbox
6.3.1 System Setup
6.3.2 Response to External Forces
6.3.3 Response to Boundary Disturbances
6.3.4 Response to Support Settlement
6.3.5 Total Response
6.3.6 Influence Lines
6.4 The Distributed Transfer Function Method

157
159
159
161
166
166
171
176
178
181
183
189

6.5
6.6

Quick Solution Guide

References

200

Chapter 7

Static Analysis of Plane Trusses

7.1 Getting Started
7.2 System Description
7.3 Solution by the Toolbox
7.3.1 System Setup
7.3.2 Response to External Forces
7.3.3 Support Settlement
7.3.4 Fabrication Errors and Thermal Effects
7.3.5 Total Response
7.4 The Stiffness Method
7.5 Quick Solution Guide
7.6 References

201
201
203
205
205
210
213
216
220
224
230
235

Chapter 8

Stati c Analysis of Plane Frames

8.1 Getting Started
8.2 System Description
8.3 Solution by the Toolbox
8.3.1 System Setup
8.3.2 Response to External Forces
8.3.3 Response to Settlement of Supports
8.3.4 Total Response
8.3.5 Response of Frame Members
8.4 The Distributed Transfer Function Method
8.5 Quick Solution Guide
8.6 References

237
237
240
243
243
248
252
256
260
263
268
276

Part III

Dynamics and Vibrations

Chapter

277

Dynamics of Particles and Rigid Bodies

9.1 Getting Started
9.2 Dynamics of Particles
9.2.1 Preliminaries
9.2.2 Kinematics
9.2.3 Kinetics of Single Particle
9.2.4 Particle Motion via Numerical Integration
9.2.5 Systems of Particles
9.2.6 Central Force Motion
9.3 Dynamics of Rigid Bodies in Plane Motion
9.3.1 Plane Motion
9.3.2 Mass Moments of Inertia
9.3.3 Kinetics
9.3.4 Simulation of Dynamic Response
9.4 Rigid Body Dynamics in Three Dimensions
9.4.1 Kinematics
9.4.2 Inertia Properties
9.4.3 Energy and Momentum

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280
280
284
286
289
297
303
307
307
310
314
317
323
323
327
335

Contents

9.4.4
Equations of Motion
9.4.5
Rotation of Axisymmetric Bodies
9.5 Quick Solution Guide
9.6 References

336
340
349
350

Chapter 10

Vibration Analysis of One-Degree-of-Freedom Systems

10.1 Getting Started
10.2 System Description
10.3 Time Response
10.3.1 Free Response
10.3.2 Forced Response
10.3.3 Specific Forcing Functions
10.3.4 Total Response
10.3.5 Delayed Forcing Functions
10.3.6 Solution by Superposition
10.3.7 Mechanical Energy
10.3.8 Plotting Computed Response
10.4 Analytical Vibration Solutions
10.4.1 Analytical Methods
10.4.2 Solution by the Toolbox
10.5 Frequency Response
10.5.1 Harmonic Excitation
10.5.2 Base Excitation
10.5.3 Response under Rotating Unbalance
10.5.4 Vibration Isolation
10.6 Response to Periodic Excitation
10.6.1 Steady-State Solution in Fourier Series
10.6.2 Solution by the Toolbox
10.6.3 Fourier Coefficients of Certain Loads
10.7 Nonlinear Vibration
10.8 Quick Solution Guide
10.9 References

351
351
353
357
357
361
365
374
376
377
379
382
384
384
389
394
394
400
403
406
410
410
412
419
421
431
435

Chapter 11

Vibration and Control of Multiple-Degree-of-Freedom

Systems
11.1 Getting Started
11.2 System Description
11.2.1 Introduction
11.2.2 Modes of Vibration
11.2.3 Solution by the Toolbox
11.3 Dynamic Response
11.3.1 Modal Analysis
11.3.2 Laplace Transform Method
11.3.3 Plotting Analytical Solutions
11.3.4 Runge-Kutta Algorithm
11.3.5 Solution by Superposition
11.3.6 Harmonic Excitation
11.4 Dynamic Vibration Absorption
11.4.1 Undamped Vibration Absorbers
11.4.2 Damped Vibration Absorbers

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439
439
442
444
450
450
458
462
465
468
472
475
476
481

Contents

11.5 Transfer Function Formulation

11.5.1 Transfer Function and Green's Function
11.5.2 Open-Loop Transfer Function
11.6 Feedback Control
11.6.1 Vibration Control System
11.6.2 Position Control System
11.6.3 Solution by the Toolbox
11.7 Quick Solution Guide
11.8 References

Part IV

Structural Dynamics

487
491
497
497
501
506
515
518

519

Chapter 12

Dynamics and Control of Euler-Bernoulli Beams

12.1 Getting Started
12.2 System Description
12.2.1 Governing Equation
12.2.2 Eigenvalue Problem
12.2.3 System Setup by the Toolbox
12.2.4 Animation of Modes of Vibration
12.2.5 Distributed Transfer Function Method
12.3 Dynamic Response
12.3.1 Modal Expansion
12.3.2 Specification of Damping
12.3.3 Free Vibration
12.3.4 Forced Vibration
12.3.5 Total Response
12.3.6 Animation of Time Response
12.3.7 Frequency Response
12.4 Feedback Control
12.4.1 Control System Formulation
12.4.2 Solution by the Toolbox
12.5 Dynami cs and Control of Nonuniform Beams
12.5.1 Problem Statement
12.5.2 Rayleigh-Ritz Discretization
12.5.3 Modes of Vibration
12.5.4 Time Response
12.5.5 Control System Formulation
12.6 Quick Solution Guide
12.7 References

521
521
523
523
524
528
534
535
537
537
539
540
544
552
554
555
559
559
567
581
581
582
588
594
601
608
615

Chapter 13

Dynamic Analysis of Bars, Shafts, and Strings

13.1 Getting Started
13.2 System Description
13.2.1 Governing Equations
13.2.2 Eigenvalue Problem
13.2.3 System Setup by the Toolbox
13.2.4 Display of Modes of Vibration
13.3 Dynamic Response
13.3.1 Modal Expansion
13.3.2 Free Vibration

617
617
619
619
622
624
627
630
631
632

Contents

xi

Chapter 14

Part V

13.3.3 Forced Vibration

13.3.4 Total Response
13.3.5 Animation of Time Response
13.3.6 Frequency Response
13.4 Free Vibration of Stepped Systems
13.4.1 System Description
13.4.2 Free Vibration Analysis
13.4.3 Solution by the Toolbox
13.5 Quick Solution Guide
13.6 References

635
639
642
643
647
647
651
655
661
665

Dynamic Analysis of Constrained, Combined, and Stepped

Beams
14.1 Getting Started
14.2 Constrained Beams
14.2.1 System Description
14.2.2 System Setup and Eigensolutions
14.2.3 Eigenvalue Locus
14.2.4 Frequency Response
14.2.5 Multispan Beam Structures
14.2.6 Transient Response
14.3 Combined Beams
14.3.1 System Description
14.3.2 System Setup and Eigensolutions
14.3.3 Transient Response
14.3.4 Frequency Response
14.3.5 Oscillators for Vibration Absorption
14.4 Stepped Beams
14.4.1 Free Vibration Analysis
14.4.2 Solution by the Toolbox
14.5 Quick Solution Guide
14.6 References

667
667
670
670
675
683
687
689
691
691
692
696
698
707
712
715
715
721
729
736

Two-Dimensional Elastic Continua

;er 1 5

Static Analysis of Linearly Elastic Bodies

15.1 Getting Started
15.2 Theory of Linear Elasticity
15.2.1 Stress and Strain
15.2.2 Basic Equations of Elasticity
15.2.3 Conversion of Elasticity Constants
15.2.4 Strain Energy
15.2.5 Principal of Minimum Potential Energy
15.3 Elasticity Problems in Two Dimensions
15.3.1 Plane Stress and Plane Strain
15.3.2 Governing Equations
15.3.3 Solution by Stress Function
15.3.4 Thermal Stresses
15.3.5 Elasticity Problems in Polar Coordinates
15.3.6 Stress Concentrations

737
739
739
742
742
749
753
755
755
759
759
760
761
764
765
769

15.4 Finite Element Method for 2-D Elasticity Problems

15.4.1 Finite Element Formulation
15.4.2 MATLAB Solutions in Rectangular Regions
15.4.3 MATLAB Solutions in Arbitrary-Shaped
Regions
15.5 Quick Solution Guide
15.6 References

792
802
805

Chapter 16

Free Vibration of Membranes and Plates

16.1 Getting Started
16.2 Free Vibration of Membranes
16.2.1 Rectangular Membranes
16.2.2 Circular Membranes
16.3 Free Vibration of Rectangular Plates
16.3.1 Plate Theory
16.3.2 Eigenvalue Problem
16.3.3 Solution by the Toolbox
16.4 Free Vibration of Circular Plates
16.4.1 Equations in Polar Coordinates
16.4.2 Modes of Vibration
16.5 Quick Solution Guide
16.6 References

807
807
809
810
816
823
823
827
832
839
839
842
848
851

Appendix A

Commonly Used Mathematical Formulas

A.l Algebraic Formulas
A.2 Areas and Volumes of Common Shapes
A.3 Trigonometry
A.4 Hyperbolic Functions
A.5 Derivatives and Integration
A.6 Series Expansion
A.7 Analytical Geometry
A.8 Vector Analysis
A.9 Matrix Theory
A.10 Complex Numbers and Complex Functions
A.ll Laplace Transforms
A.12 Inverse Laplace Transform via Partial Fraction
Expansion

853
853
855
857
860
860
862
864
868
872
878
879

Appendix B

MATLAB Basics
B.l Getting Started
B.2 Matrix and Vector Manipulations
B.3 Graphics
B.4 M-Files
B.5 Control Flow
B.6 Solution of Algebraic and Differential Equations
B.7 Control System Toolbox

889
889
893
898
901
903
907
910

Appendix

The Distributed Transfer Function Method

C.l DTFM for One-Dimensional Continua
C.2 Transfer Function Synthesis of Multibody Structures

913
913
917

770
770
777

882

Contents

xiii

C.3
C.4

919
920

Appendix

Conversion of Units

923

Appendix

Mechanical Properties of Engineering Materials

925

Index

xiv

DTFM for Two- and Three-Dimensional Problems

References

Contents

929